import { ServerRPC } from '@vuer-ai/vuer';
export interface KeyFrame {
    /** * Name of this keyframe. */
    name?: string;
    /** * Simulation time, copied into mjData. */
    time?: number;
    /**  joint positions */
    qpos?: number[];
    /**  joint velocities */
    qvel?: number[];
    /**  actuator activations */
    act?: number[];
    /** control vector */
    ctrl?: number[];
    /** mocap body positions */
    mocap_pos?: number[];
    /** mocap body quaternions */
    mocap_quat?: number[];
    /** mocap body velocities */
    site_xpos?: number[];
    /** mocap body angular velocities */
    site_xmat?: number[];
    /** geom positions */
    geom_xpos?: number[];
    /** geom quaternions */
    geom_xmat?: number[];
    /** sensordata */
    sensordata?: number[];
    /**
     * Generalized forces applied directly to degrees of freedom (DoFs).
     * Shape: [nv] where nv is the number of velocity DoFs.
     *
     * Each element corresponds to a force/torque on a specific DoF:
     * - Hinge joint: 1 value (torque in Nm)
     * - Slide joint: 1 value (force in N)
     * - Ball joint: 3 values (torques around 3 axes)
     * - Free joint: 6 values (3 forces + 3 torques)
     *
     * Example: For joint i, use model.jnt_dofadr[i] to get the DoF index,
     * then set qfrc_applied[dof_index] = force_value
     */
    qfrc_applied?: number[];
    /**
     * External wrenches (force + torque) applied at each body's center of mass.
     * Shape: [nbody * 6] - flat array where nbody is the number of bodies.
     *
     * Each body occupies 6 consecutive values in world coordinates:
     * - [i*6 + 0:3]: Force vector [fx, fy, fz] in Newtons
     * - [i*6 + 3:6]: Torque vector [tx, ty, tz] in Newton-meters
     *
     * Example: To apply 10N force in X and 5Nm torque around Z to body i:
     * xfrc_applied[i*6 + 0] = 10;  // fx
     * xfrc_applied[i*6 + 1] = 0;   // fy
     * xfrc_applied[i*6 + 2] = 0;   // fz
     * xfrc_applied[i*6 + 3] = 0;   // tx
     * xfrc_applied[i*6 + 4] = 0;   // ty
     * xfrc_applied[i*6 + 5] = 5;   // tz
     *
     * Note: These forces are cleared after each simulation step unless reapplied.
     */
    xfrc_applied?: number[];
}
export declare const ALL_KEYFRAME_KEYS: string;
export type KeyFrameKeys = 'name' | 'time' | 'qpos' | 'qvel' | 'act' | 'ctrl' | 'mocap_pos' | 'mocap_quat' | 'site_xpos' | 'site_xmat' | 'geom_xpos' | 'geom_xmat' | 'sensordata' | 'qfrc_applied' | 'xfrc_applied';
export type WrenchTuple = [number, number, number, number, number, number];
export type MjStepEvent = ServerRPC & {
    key?: string;
    data: {
        /**
         * External force/torque to apply via sim.applyForce(), outside the
         *   xfrc_applied array.
         *
         * Contains 9 values: [fx, fy, fz, tx, ty, tz, px, py, pz]
         * - [0:3]: Force vector in world coordinates (Newtons)
         * - [3:6]: Torque vector in world coordinates (Newton-meters)
         * - [6:9]: Application point in world coordinates (meters)
         *
         * These values are passed to sim.applyForce() along with xfrc_bodyId.
         */
        xfrc: number[] | WrenchTuple;
        /**
         * Body ID that the force in xfrc should be applied to.
         * This is a single body ID, not an array.
         *
         * Example: If xfrc contains 9 values [fx, fy, fz, tx, ty, tz, px, py, pz]
         * and xfrc_bodyId = 2, the force will be applied to body 2.
         *
         * Note: For applying multiple forces to different bodies, use multiple
         * MjStepEvent messages or use the xfrc_applied array instead.
         */
        xfrc_bodyId: number;
        /**
         * Number of simulation steps to execute in this update.
         * If not specified, defaults to 1 step.
         */
        sim_steps?: number;
    } & KeyFrame;
};