From 7ccd7f2edcb82c57a5dc8500533e650483301c1f Mon Sep 17 00:00:00 2001
From: Lea Wedmann <wedmann.lea@gmail.com>
Date: Mon, 1 Jun 2026 18:36:12 +0200
Subject: [PATCH 1/2] Add viser based viewer

---
 pixi.toml                                           |  3 +++
 .../bitbots_mujoco_sim/simulation.py                | 13 +++++++++++++
 .../bitbots_mujoco_sim/launch/simulator.launch      |  2 ++
 3 files changed, 18 insertions(+)

diff --git a/pixi.toml b/pixi.toml
index 24faec9bf..858198cec 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -222,3 +222,6 @@ scripts = [
 default = ["ros", "format"]  # Full development environment (excluding robot-only deps)
 format = ["format"]  # Format only environment
 robot = ["ros", "format", "robot"]  # Robot environment with additional robot-only dependencies
+
+[pypi-dependencies]
+mjviser = ">=0.0.12, <0.0.15"
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/simulation.py b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/simulation.py
index 12bf57567..6ceb93400 100644
--- a/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/simulation.py
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/simulation.py
@@ -24,6 +24,7 @@ def __init__(self):
         super().__init__("sim_interface")
         self.declare_parameter("world_file", "")
         self.declare_parameter("use_namespace", True)
+        self.declare_parameter("web", False)
 
         # These default value are oriented on some real world data in standstill.
         # They are a bit worse than what was observed there.
@@ -135,6 +136,12 @@ def _key_callback(self, key: int) -> None:
             self.paused = not self.paused
 
     def run(self) -> None:
+        if self.get_parameter("web").get_parameter_value().bool_value:
+            self._run_web_viewer()
+        else:
+            self._run_native_viewer()
+
+    def _run_native_viewer(self) -> None:
         print("Starting simulation viewer...")
         with viewer.launch_passive(
             self.model, self.data, key_callback=self._key_callback, show_left_ui=False, show_right_ui=False
@@ -165,6 +172,12 @@ def run(self) -> None:
                 else:
                     view.sync()
 
+    def _run_web_viewer(self) -> None:
+        from mjviser import Viewer
+
+        print("Starting web simulation viewer (mjviser)...")
+        Viewer(self.model, self.data, step_fn=lambda model, data: self.step()).run()
+
     def step(self) -> None:
         self.step_number += 1
         self.time += self.timestep
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/launch/simulator.launch b/src/bitbots_simulation/bitbots_mujoco_sim/launch/simulator.launch
index 240ffea8b..8a1c16e25 100644
--- a/src/bitbots_simulation/bitbots_mujoco_sim/launch/simulator.launch
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/launch/simulator.launch
@@ -1,5 +1,7 @@
 <launch>
+  <arg name="web" default="false" description="Use web-based mjviser viewer instead of the native MuJoCo viewer"/>
   <node pkg="bitbots_mujoco_sim" exec="sim" name="sim_interface" output="screen">
     <param name="use_namespace" value="false"/>
+    <param name="web" value="$(var web)"/>
   </node>
 </launch>

From d3b11b12302c5f14e1edc0828288851e510dc545 Mon Sep 17 00:00:00 2001
From: Lea Wedmann <wedmann.lea@gmail.com>
Date: Mon, 1 Jun 2026 18:38:41 +0200
Subject: [PATCH 2/2] Update lock file

---
 pixi.lock | 806 ++++++++++++++++++++++++++++++++++++++++++++++++++++--
 1 file changed, 776 insertions(+), 30 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index a636e7816..a15650a67 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -988,10 +988,18 @@ environments:
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_3.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/tts-supertonic-1.0.0-h4616a5c_1.conda
-      - conda_source: bitbots_rust_nav[5fc18e15] @ src/bitbots_navigation/bitbots_rust_nav
+      - conda_source: bitbots_rust_nav[74eae2aa] @ src/bitbots_navigation/bitbots_rust_nav
+      - pypi: https://files.pythonhosted.org/packages/05/98/716a473cfb24750858ddd5d14e6527539dd206583a46408d08eeb2844a75/trimesh-4.12.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/0d/de/0880cf8af64b225bc8fde0924f76ea5e6cd8d8dc50c6dd61232beb54327f/mjviser-0.0.12-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/16/e1/3079a9ff9b8e11b846c6ac5c8b5bfb7ff225eee721825310c91b3b50304f/tqdm-4.67.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/18/29/71729b4671f21e1eaa5d6573031ab810ad2936c8175f03f97f3ff164c802/websockets-16.0-cp312-cp312-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl
       - pypi: https://files.pythonhosted.org/packages/1a/39/47f9197bdd44df24d67ac8893641e16f386c984a0619ef2ee4c51fbbc019/beautifulsoup4-4.14.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/3e/2b/b3461e44c999ad8e8819ac191e5437b0ed3444e9b1d6f2b22bc0bcc66b21/viser-1.0.29-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/46/2c/1462b1d0a634697ae9e55b3cecdcb64788e8b7d63f54d923fcd0bb140aed/soupsieve-2.8.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/49/fa/391e437a34e55095173dca5f24070d89cbc233ff85bf1c29c93248c6588d/imageio-2.37.3-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/4e/18/dc99a152bea18a898a8ac387bfeb9ec0829e0f5bed11cfec2e2ca189c5a2/syrupy-5.2.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/53/60/7be26e610767316c028a2cbedb9a3beabdbe33e2182c373f71a1c0b88f36/zstandard-0.25.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/b5/d1/d4cd9fe89c7d400d7a18f86ccc94daa3f0927f53558846fcb60791dce5d6/msgspec-0.21.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
       - pypi: https://files.pythonhosted.org/packages/ea/78/9a8a174011682d71cb4922f4014ebbeb9d3067922678e7059351fd9207cf/exhale-0.3.7-py3-none-any.whl
       linux-aarch64:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/_openmp_mutex-4.5-20_gnu.conda
@@ -1962,16 +1970,26 @@ environments:
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_3.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/tts-supertonic-1.0.0-h4616a5c_1.conda
-      - conda_source: bitbots_rust_nav[2511feae] @ src/bitbots_navigation/bitbots_rust_nav
+      - conda_source: bitbots_rust_nav[3e210d41] @ src/bitbots_navigation/bitbots_rust_nav
+      - pypi: https://files.pythonhosted.org/packages/05/98/716a473cfb24750858ddd5d14e6527539dd206583a46408d08eeb2844a75/trimesh-4.12.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/0d/de/0880cf8af64b225bc8fde0924f76ea5e6cd8d8dc50c6dd61232beb54327f/mjviser-0.0.12-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/16/e1/3079a9ff9b8e11b846c6ac5c8b5bfb7ff225eee721825310c91b3b50304f/tqdm-4.67.3-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/1a/39/47f9197bdd44df24d67ac8893641e16f386c984a0619ef2ee4c51fbbc019/beautifulsoup4-4.14.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/1e/15/efef5a2f204a64bdb5571e6161d49f7ef0fffdbca953a615efbec045f60f/zstandard-0.25.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl
+      - pypi: https://files.pythonhosted.org/packages/3e/2b/b3461e44c999ad8e8819ac191e5437b0ed3444e9b1d6f2b22bc0bcc66b21/viser-1.0.29-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/46/2c/1462b1d0a634697ae9e55b3cecdcb64788e8b7d63f54d923fcd0bb140aed/soupsieve-2.8.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/49/fa/391e437a34e55095173dca5f24070d89cbc233ff85bf1c29c93248c6588d/imageio-2.37.3-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/4e/18/dc99a152bea18a898a8ac387bfeb9ec0829e0f5bed11cfec2e2ca189c5a2/syrupy-5.2.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/8a/37/655101799590bcc5fddb2bd3fe0e6194e816c2d1da7c361725f5eb89a910/msgspec-0.21.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
+      - pypi: https://files.pythonhosted.org/packages/97/bb/21c36b7dbbafc85d2d480cd65df02a1dc93bf76d97147605a8e27ff9409d/websockets-16.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
       - pypi: https://files.pythonhosted.org/packages/ea/78/9a8a174011682d71cb4922f4014ebbeb9d3067922678e7059351fd9207cf/exhale-0.3.7-py3-none-any.whl
   format:
     channels:
     - url: https://data.bit-bots.de/conda-misc/output/
     - url: https://conda.anaconda.org/robostack-jazzy/
     - url: https://conda.anaconda.org/conda-forge/
+    indexes:
+    - https://pypi.org/simple
     packages:
       linux-64:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
@@ -2032,6 +2050,30 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/virtualenv-21.3.3-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/zipp-4.1.0-pyhcf101f3_0.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
+      - pypi: https://files.pythonhosted.org/packages/05/98/716a473cfb24750858ddd5d14e6527539dd206583a46408d08eeb2844a75/trimesh-4.12.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/16/e1/3079a9ff9b8e11b846c6ac5c8b5bfb7ff225eee721825310c91b3b50304f/tqdm-4.67.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/18/29/71729b4671f21e1eaa5d6573031ab810ad2936c8175f03f97f3ff164c802/websockets-16.0-cp312-cp312-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/18/a6/907a406bb7d359e6a63f99c313846d9eec4f7e6f7437809e03aa00fa3074/absl_py-2.4.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/3e/2b/b3461e44c999ad8e8819ac191e5437b0ed3444e9b1d6f2b22bc0bcc66b21/viser-1.0.29-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/43/e3/fdc657359e919462369869f1c9f0e973f353f9a9ee295a39b1fea8ee1a77/pillow-12.2.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/49/fa/391e437a34e55095173dca5f24070d89cbc233ff85bf1c29c93248c6588d/imageio-2.37.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/4b/f8/d0118a2f5f23b02cd166fa385c60f9b0d4f9194f574e2b31cef350ad7223/charset_normalizer-3.4.7-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/53/60/7be26e610767316c028a2cbedb9a3beabdbe33e2182c373f71a1c0b88f36/zstandard-0.25.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/59/8c/57e832b7af6d7c5abe66eb3fbe3a3a32f4d11ea23a1aa7131371035be991/certifi-2026.5.20-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/5a/3d/589663aeeacd59bb2f3e8596bfd3e81cf0fb18d70bb433199041f469771b/etils-1.14.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/5a/3f/efeb7c6801c46e11bd666a5180f0d615f74f72264212f74f39586c6fda9d/glfw-2.10.0-py2.py27.py3.py30.py31.py32.py33.py34.py35.py36.py37.py38.py39.py310.py311.py312.py313.py314-none-manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/99/60/14115e6364fa676c5397c2ad3004e527e9aa487abf5d0706ec81bbd08529/numpy-2.4.6-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/9c/c2/4534d678ad1b3f7dee6fd83110112800287be21ba007d988abb9ddc8e0ac/mjviser-0.0.14-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/a0/f4/c67b0b3f1b9245e8d266f0f112c500d50e5b4e83cb6f3b71b6528104182a/requests-2.34.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/b3/38/89ba8ad64ae25be8de66a6d463314cf1eb366222074cfda9ee839c56a4b4/mdurl-0.1.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/b3/76/6d163cfac87b632216f71879e6b2cf17163f773ff59c00b5ff4900a80fa3/rich-14.3.4-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/b3/81/4da04ced5a082363ecfa159c010d200ecbd959ae410c10c0264a38cac0f5/markdown_it_py-4.2.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/b5/d1/d4cd9fe89c7d400d7a18f86ccc94daa3f0927f53558846fcb60791dce5d6/msgspec-0.21.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/d5/01/b2a88b6b73df933d5ab38583240c296684b626a8de3c3bb9a7c2fd356f08/mujoco-3.9.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/d5/0c/043d5e551459da400957a1395e0febbf771446ff34291afcbe3d8be2a279/fsspec-2026.4.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/de/a7/f76514cc40ad6234098ecdebda08732d75964776c51a42845b7da10649e2/idna-3.17-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/de/e4/1ba6f44e491c4eece978685230dde56b14d51a0365bc1b774ddaa94d14cd/pyopengl-3.1.10-py3-none-any.whl
       linux-aarch64:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/_openmp_mutex-4.5-20_gnu.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/bzip2-1.0.8-h4777abc_9.conda
@@ -2090,6 +2132,30 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/virtualenv-21.3.3-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/zipp-4.1.0-pyhcf101f3_0.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
+      - pypi: https://files.pythonhosted.org/packages/05/98/716a473cfb24750858ddd5d14e6527539dd206583a46408d08eeb2844a75/trimesh-4.12.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/16/e1/3079a9ff9b8e11b846c6ac5c8b5bfb7ff225eee721825310c91b3b50304f/tqdm-4.67.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/18/a6/907a406bb7d359e6a63f99c313846d9eec4f7e6f7437809e03aa00fa3074/absl_py-2.4.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/1e/15/efef5a2f204a64bdb5571e6161d49f7ef0fffdbca953a615efbec045f60f/zstandard-0.25.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl
+      - pypi: https://files.pythonhosted.org/packages/2b/54/1789c455ed10176066b6e7e6da1b01e50e36f94ba584dc68d9eebfe9156d/pillow-12.2.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl
+      - pypi: https://files.pythonhosted.org/packages/3e/2b/b3461e44c999ad8e8819ac191e5437b0ed3444e9b1d6f2b22bc0bcc66b21/viser-1.0.29-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/49/fa/391e437a34e55095173dca5f24070d89cbc233ff85bf1c29c93248c6588d/imageio-2.37.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/59/8c/57e832b7af6d7c5abe66eb3fbe3a3a32f4d11ea23a1aa7131371035be991/certifi-2026.5.20-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/5a/3d/589663aeeacd59bb2f3e8596bfd3e81cf0fb18d70bb433199041f469771b/etils-1.14.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/8a/37/655101799590bcc5fddb2bd3fe0e6194e816c2d1da7c361725f5eb89a910/msgspec-0.21.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
+      - pypi: https://files.pythonhosted.org/packages/97/bb/21c36b7dbbafc85d2d480cd65df02a1dc93bf76d97147605a8e27ff9409d/websockets-16.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
+      - pypi: https://files.pythonhosted.org/packages/9c/c2/4534d678ad1b3f7dee6fd83110112800287be21ba007d988abb9ddc8e0ac/mjviser-0.0.14-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/a0/f4/c67b0b3f1b9245e8d266f0f112c500d50e5b4e83cb6f3b71b6528104182a/requests-2.34.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/b3/38/89ba8ad64ae25be8de66a6d463314cf1eb366222074cfda9ee839c56a4b4/mdurl-0.1.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/b3/76/6d163cfac87b632216f71879e6b2cf17163f773ff59c00b5ff4900a80fa3/rich-14.3.4-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/b3/81/4da04ced5a082363ecfa159c010d200ecbd959ae410c10c0264a38cac0f5/markdown_it_py-4.2.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/c9/c6/50a46a6205feba2343f1d6d17438107c5dc491ed1c736e6ea68689fd906b/numpy-2.4.6-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl
+      - pypi: https://files.pythonhosted.org/packages/d5/0c/043d5e551459da400957a1395e0febbf771446ff34291afcbe3d8be2a279/fsspec-2026.4.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/de/a7/f76514cc40ad6234098ecdebda08732d75964776c51a42845b7da10649e2/idna-3.17-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/de/e4/1ba6f44e491c4eece978685230dde56b14d51a0365bc1b774ddaa94d14cd/pyopengl-3.1.10-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/f8/e3/0fadc706008ac9d7b9b5be6dc767c05f9d3e5df51744ce4cc9605de7b9f4/charset_normalizer-3.4.7-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
+      - pypi: https://files.pythonhosted.org/packages/f9/7e/eb1840f486d322cd5285a2dc2e422cbc22f4e273b66edc0cf9d96cbad47c/mujoco-3.9.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl
+      - pypi: https://files.pythonhosted.org/packages/ff/b4/f7b6cc022dd7c68b6c702d19da5d591f978f89c958b9bd3090615db0c739/glfw-2.10.0-py2.py27.py3.py30.py31.py32.py33.py34.py35.py36.py37.py38.py39.py310.py311.py312.py313.py314-none-manylinux_2_28_aarch64.whl
   robot:
     channels:
     - url: https://data.bit-bots.de/conda-misc/output/
@@ -3079,10 +3145,18 @@ environments:
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_3.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/tts-supertonic-1.0.0-h4616a5c_1.conda
-      - conda_source: bitbots_rust_nav[5fc18e15] @ src/bitbots_navigation/bitbots_rust_nav
+      - conda_source: bitbots_rust_nav[74eae2aa] @ src/bitbots_navigation/bitbots_rust_nav
+      - pypi: https://files.pythonhosted.org/packages/05/98/716a473cfb24750858ddd5d14e6527539dd206583a46408d08eeb2844a75/trimesh-4.12.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/0d/de/0880cf8af64b225bc8fde0924f76ea5e6cd8d8dc50c6dd61232beb54327f/mjviser-0.0.12-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/16/e1/3079a9ff9b8e11b846c6ac5c8b5bfb7ff225eee721825310c91b3b50304f/tqdm-4.67.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/18/29/71729b4671f21e1eaa5d6573031ab810ad2936c8175f03f97f3ff164c802/websockets-16.0-cp312-cp312-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl
       - pypi: https://files.pythonhosted.org/packages/1a/39/47f9197bdd44df24d67ac8893641e16f386c984a0619ef2ee4c51fbbc019/beautifulsoup4-4.14.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/3e/2b/b3461e44c999ad8e8819ac191e5437b0ed3444e9b1d6f2b22bc0bcc66b21/viser-1.0.29-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/46/2c/1462b1d0a634697ae9e55b3cecdcb64788e8b7d63f54d923fcd0bb140aed/soupsieve-2.8.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/49/fa/391e437a34e55095173dca5f24070d89cbc233ff85bf1c29c93248c6588d/imageio-2.37.3-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/4e/18/dc99a152bea18a898a8ac387bfeb9ec0829e0f5bed11cfec2e2ca189c5a2/syrupy-5.2.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/53/60/7be26e610767316c028a2cbedb9a3beabdbe33e2182c373f71a1c0b88f36/zstandard-0.25.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/b5/d1/d4cd9fe89c7d400d7a18f86ccc94daa3f0927f53558846fcb60791dce5d6/msgspec-0.21.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
       - pypi: https://files.pythonhosted.org/packages/ea/78/9a8a174011682d71cb4922f4014ebbeb9d3067922678e7059351fd9207cf/exhale-0.3.7-py3-none-any.whl
       linux-aarch64:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/_openmp_mutex-4.5-20_gnu.conda
@@ -4057,10 +4131,18 @@ environments:
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_3.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/tts-supertonic-1.0.0-h4616a5c_1.conda
-      - conda_source: bitbots_rust_nav[2511feae] @ src/bitbots_navigation/bitbots_rust_nav
+      - conda_source: bitbots_rust_nav[3e210d41] @ src/bitbots_navigation/bitbots_rust_nav
+      - pypi: https://files.pythonhosted.org/packages/05/98/716a473cfb24750858ddd5d14e6527539dd206583a46408d08eeb2844a75/trimesh-4.12.2-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/0d/de/0880cf8af64b225bc8fde0924f76ea5e6cd8d8dc50c6dd61232beb54327f/mjviser-0.0.12-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/16/e1/3079a9ff9b8e11b846c6ac5c8b5bfb7ff225eee721825310c91b3b50304f/tqdm-4.67.3-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/1a/39/47f9197bdd44df24d67ac8893641e16f386c984a0619ef2ee4c51fbbc019/beautifulsoup4-4.14.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/1e/15/efef5a2f204a64bdb5571e6161d49f7ef0fffdbca953a615efbec045f60f/zstandard-0.25.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl
+      - pypi: https://files.pythonhosted.org/packages/3e/2b/b3461e44c999ad8e8819ac191e5437b0ed3444e9b1d6f2b22bc0bcc66b21/viser-1.0.29-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/46/2c/1462b1d0a634697ae9e55b3cecdcb64788e8b7d63f54d923fcd0bb140aed/soupsieve-2.8.3-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/49/fa/391e437a34e55095173dca5f24070d89cbc233ff85bf1c29c93248c6588d/imageio-2.37.3-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/4e/18/dc99a152bea18a898a8ac387bfeb9ec0829e0f5bed11cfec2e2ca189c5a2/syrupy-5.2.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/8a/37/655101799590bcc5fddb2bd3fe0e6194e816c2d1da7c361725f5eb89a910/msgspec-0.21.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
+      - pypi: https://files.pythonhosted.org/packages/97/bb/21c36b7dbbafc85d2d480cd65df02a1dc93bf76d97147605a8e27ff9409d/websockets-16.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
       - pypi: https://files.pythonhosted.org/packages/ea/78/9a8a174011682d71cb4922f4014ebbeb9d3067922678e7059351fd9207cf/exhale-0.3.7-py3-none-any.whl
 packages:
 - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
@@ -9216,9 +9298,9 @@ packages:
   license_family: MIT
   size: 182907915
   timestamp: 1777536012536
-- conda: https://conda.anaconda.org/conda-forge/linux-64/rust_linux-64-1.95.0-hb4ea61c_1.conda
-  sha256: 2a26be1c1814352e37daff075b166589bbe7a087a9bffa83212c2016a81f2aa3
-  md5: 89800d6dac8bff3abbe804cdd5fb6bed
+- conda: https://conda.anaconda.org/conda-forge/linux-64/rust_linux-64-1.95.0-hb4ea61c_2.conda
+  sha256: f0e7e6b6dbec4ff4ef3c9c080a82f52af08c4983b568af0433f217be1045a6fe
+  md5: 371cfdd3ecb3fd19343bf7f21101da48
   depends:
   - gcc_linux-64
   - rust 1.95.0.*
@@ -9229,8 +9311,8 @@ packages:
   run_exports:
     strong_constrains:
     - __glibc >=2.17
-  size: 11526
-  timestamp: 1778593566250
+  size: 11761
+  timestamp: 1780066916977
 - conda: https://conda.anaconda.org/conda-forge/linux-64/scipy-1.17.1-py312h54fa4ab_0.conda
   sha256: e3ad577361d67f6c078a6a7a3898bf0617b937d44dc4ccd57aa3336f2b5778dd
   md5: 3e38daeb1fb05a95656ff5af089d2e4c
@@ -9592,9 +9674,9 @@ packages:
   purls: []
   size: 14226
   timestamp: 1767012219987
-- conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.11.16-h29f5ae7_0.conda
-  sha256: 0105742813f9bc6aca2cbbeef09d3443c8eb8dd6a602f42f7b654750ddec93a9
-  md5: 78f3a3467d6b3c06f4d128ea333e046a
+- conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.11.17-h29f5ae7_0.conda
+  sha256: f878bf43a001a190133f5b59a5052cab016ef68ecfb62fb0eaaf72df89f0c4c3
+  md5: 4e1aa95123771c093d71b2b4fa0ada04
   depends:
   - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
@@ -9603,8 +9685,8 @@ packages:
   - __glibc >=2.17
   license: Apache-2.0 OR MIT
   run_exports: {}
-  size: 19364203
-  timestamp: 1779427265138
+  size: 19472836
+  timestamp: 1780020217784
 - conda: https://conda.anaconda.org/conda-forge/linux-64/viskores-1.1.1-cpu_hc82bd48_0.conda
   sha256: 2ebe8d6ae8c302ca5bf4aec532cd75ebfb00240db1c14dad9a91bace65aa083d
   md5: 24676eb7fd23ea3d8d69417f5f1224e0
@@ -15112,9 +15194,9 @@ packages:
   license_family: MIT
   size: 142750014
   timestamp: 1777536507521
-- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/rust_linux-aarch64-1.95.0-hd7b9871_1.conda
-  sha256: 15aba52722a27ce851e7618b1d8ea70f52df65f1e9cfae0dede7422e2d19b8ec
-  md5: 7eaa25b515bfa78d8f63062dd47a1a33
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/rust_linux-aarch64-1.95.0-hd7b9871_2.conda
+  sha256: 8e195b303c8c084edde2e6b8f28351f443fe0269c5d95ffe5ca0d542d0977c6a
+  md5: b744fc0a5b59c237214854870a845166
   depends:
   - gcc_linux-aarch64
   - rust 1.95.0.*
@@ -15125,8 +15207,8 @@ packages:
   run_exports:
     strong_constrains:
     - __glibc >=2.17
-  size: 11618
-  timestamp: 1778593544338
+  size: 11784
+  timestamp: 1780066885443
 - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/scipy-1.17.1-py312he5b0e10_0.conda
   sha256: 24e608c0c94865f40df5201175b921068a297663bcc56e538970003ddf964b59
   md5: bc10849473fe9b8c95f1a07a396baf26
@@ -15469,9 +15551,9 @@ packages:
   purls: []
   size: 14197
   timestamp: 1767012435525
-- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/uv-0.11.16-hda62842_0.conda
-  sha256: ceefd029a7caba5c98b4f861d15ec399ff8f17b1f16e8472bf757c461652ce2c
-  md5: 6f6d607a8b7ffff885398f9836323433
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/uv-0.11.17-hda62842_0.conda
+  sha256: 859dad6c478228fe35c25747ac5bf423955525adc955a3dff28a338602810830
+  md5: 4c04aacff7c5052cd220d301f1abb0ca
   depends:
   - libstdcxx >=14
   - libgcc >=14
@@ -15479,8 +15561,8 @@ packages:
   - __glibc >=2.17
   license: Apache-2.0 OR MIT
   run_exports: {}
-  size: 18822184
-  timestamp: 1779427277488
+  size: 18704215
+  timestamp: 1780020207883
 - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/viskores-1.1.1-cpu_hb695247_0.conda
   sha256: d086e094a199ba83f023fbec3753bcff561677910cac31bd8c38ab84fb764820
   md5: 8ce740ca4fe8871e8d90e00063e9a748
@@ -34660,7 +34742,7 @@ packages:
   license: LicenseRef-openrail
   size: 244991335
   timestamp: 1771976595791
-- conda_source: bitbots_rust_nav[2511feae] @ src/bitbots_navigation/bitbots_rust_nav
+- conda_source: bitbots_rust_nav[3e210d41] @ src/bitbots_navigation/bitbots_rust_nav
   variants:
     target_platform: linux-aarch64
   depends:
@@ -34682,7 +34764,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libstdcxx-15.2.0-hef695bb_19.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libzlib-1.3.2-hdc9db2a_2.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/rust-1.95.0-h6cf38e9_1.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/rust_linux-aarch64-1.95.0-hd7b9871_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/rust_linux-aarch64-1.95.0-hd7b9871_2.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/zstd-1.5.7-h85ac4a6_6.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-aarch64-4.18.0-h05a177a_9.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-aarch64-15.2.0-h55c397f_119.conda
@@ -34715,7 +34797,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/python-3.12.0-h43d1f9e_0_cpython.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/rust-1.91.1-h6cf38e9_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/tk-8.6.13-noxft_h0dc03b3_103.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/uv-0.11.16-hda62842_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/uv-0.11.17-hda62842_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/xz-5.8.3-hd704e39_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/xz-gpl-tools-5.8.3-hd704e39_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/xz-tools-5.8.3-he30d5cf_0.conda
@@ -34729,7 +34811,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/tomli-2.4.1-pyhcf101f3_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025c-hc9c84f9_1.conda
   - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
-- conda_source: bitbots_rust_nav[5fc18e15] @ src/bitbots_navigation/bitbots_rust_nav
+- conda_source: bitbots_rust_nav[74eae2aa] @ src/bitbots_navigation/bitbots_rust_nav
   variants:
     target_platform: linux-64
   depends:
@@ -34751,7 +34833,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_19.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_2.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/rust-1.95.0-h53717f1_1.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-64/rust_linux-64-1.95.0-hb4ea61c_1.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/rust_linux-64-1.95.0-hb4ea61c_2.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-4.18.0-he073ed8_9.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-15.2.0-hcc6f6b0_119.conda
@@ -34784,7 +34866,7 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.12.0-hab00c5b_0_cpython.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/rust-1.91.1-h53717f1_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h366c992_103.conda
-  - conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.11.16-h29f5ae7_0.conda
+  - conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.11.17-h29f5ae7_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.8.3-ha02ee65_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-gpl-tools-5.8.3-ha02ee65_0.conda
   - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.3-hb03c661_0.conda
@@ -34798,6 +34880,94 @@ packages:
   - conda: https://conda.anaconda.org/conda-forge/noarch/tomli-2.4.1-pyhcf101f3_0.conda
   - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025c-hc9c84f9_1.conda
   - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
+- pypi: https://files.pythonhosted.org/packages/05/98/716a473cfb24750858ddd5d14e6527539dd206583a46408d08eeb2844a75/trimesh-4.12.2-py3-none-any.whl
+  name: trimesh
+  version: 4.12.2
+  sha256: b5b5afa63c5272345f2858f7676bc8c217dc8a89f4fadf6193fe10a81b5ff2aa
+  requires_dist:
+  - numpy>=1.20
+  - colorlog ; extra == 'easy'
+  - manifold3d>=2.3.0 ; python_full_version < '3.14' and extra == 'easy'
+  - charset-normalizer ; extra == 'easy'
+  - lxml ; extra == 'easy'
+  - jsonschema ; extra == 'easy'
+  - networkx ; extra == 'easy'
+  - svg-path ; extra == 'easy'
+  - pycollada<=0.9.0 ; python_full_version < '3.9' and extra == 'easy'
+  - pycollada ; python_full_version >= '3.9' and extra == 'easy'
+  - shapely ; extra == 'easy'
+  - xxhash ; extra == 'easy'
+  - rtree ; extra == 'easy'
+  - httpx ; extra == 'easy'
+  - scipy ; extra == 'easy'
+  - embreex ; extra == 'easy'
+  - pillow ; extra == 'easy'
+  - vhacdx ; python_full_version >= '3.9' and extra == 'easy'
+  - mapbox-earcut>=1.0.2 ; python_full_version >= '3.9' and extra == 'easy'
+  - sympy ; extra == 'recommend'
+  - pyglet<2 ; extra == 'recommend'
+  - scikit-image ; extra == 'recommend'
+  - fast-simplification ; extra == 'recommend'
+  - python-fcl ; extra == 'recommend'
+  - cascadio ; extra == 'recommend'
+  - manifold3d>=2.3.0 ; python_full_version >= '3.14' and extra == 'recommend'
+  - pytest-cov ; extra == 'test'
+  - pytest ; extra == 'test'
+  - pyinstrument ; extra == 'test'
+  - ruff ; extra == 'test'
+  - coveralls ; extra == 'test-more'
+  - ezdxf ; extra == 'test-more'
+  - meshio ; extra == 'test-more'
+  - xatlas ; extra == 'test-more'
+  - pytest-beartype ; python_full_version >= '3.10' and extra == 'test-more'
+  - matplotlib ; extra == 'test-more'
+  - pymeshlab ; python_full_version < '3.14' and extra == 'test-more'
+  - triangle ; python_full_version < '3.14' and extra == 'test-more'
+  - ipython ; extra == 'test-more'
+  - marimo ; extra == 'test-more'
+  - openctm ; extra == 'deprecated'
+  - trimesh[deprecated,easy,recommend,test,test-more] ; extra == 'all'
+  requires_python: '>=3.8'
+- pypi: https://files.pythonhosted.org/packages/0d/de/0880cf8af64b225bc8fde0924f76ea5e6cd8d8dc50c6dd61232beb54327f/mjviser-0.0.12-py3-none-any.whl
+  name: mjviser
+  version: 0.0.12
+  sha256: 3eb38970e94ba4b6c728c4431ef6783f5c7e3e0effbbb0336e9465bba89a3641
+  requires_dist:
+  - mujoco>=3.6.0
+  - numpy
+  - trimesh>=4.8.3
+  - viser>=1.0.26
+  - pillow
+  - pytest ; extra == 'dev'
+  - ruff ; extra == 'dev'
+  requires_python: '>=3.10,<3.14'
+- pypi: https://files.pythonhosted.org/packages/16/e1/3079a9ff9b8e11b846c6ac5c8b5bfb7ff225eee721825310c91b3b50304f/tqdm-4.67.3-py3-none-any.whl
+  name: tqdm
+  version: 4.67.3
+  sha256: ee1e4c0e59148062281c49d80b25b67771a127c85fc9676d3be5f243206826bf
+  requires_dist:
+  - colorama ; sys_platform == 'win32'
+  - importlib-metadata ; python_full_version < '3.8'
+  - pytest>=6 ; extra == 'dev'
+  - pytest-cov ; extra == 'dev'
+  - pytest-timeout ; extra == 'dev'
+  - pytest-asyncio>=0.24 ; extra == 'dev'
+  - nbval ; extra == 'dev'
+  - requests ; extra == 'discord'
+  - slack-sdk ; extra == 'slack'
+  - requests ; extra == 'telegram'
+  - ipywidgets>=6 ; extra == 'notebook'
+  requires_python: '>=3.7'
+- pypi: https://files.pythonhosted.org/packages/18/29/71729b4671f21e1eaa5d6573031ab810ad2936c8175f03f97f3ff164c802/websockets-16.0-cp312-cp312-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl
+  name: websockets
+  version: '16.0'
+  sha256: 9b5aca38b67492ef518a8ab76851862488a478602229112c4b0d58d63a7a4d5c
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/18/a6/907a406bb7d359e6a63f99c313846d9eec4f7e6f7437809e03aa00fa3074/absl_py-2.4.0-py3-none-any.whl
+  name: absl-py
+  version: 2.4.0
+  sha256: 88476fd881ca8aab94ffa78b7b6c632a782ab3ba1cd19c9bd423abc4fb4cd28d
+  requires_python: '>=3.10'
 - pypi: https://files.pythonhosted.org/packages/1a/39/47f9197bdd44df24d67ac8893641e16f386c984a0619ef2ee4c51fbbc019/beautifulsoup4-4.14.3-py3-none-any.whl
   name: beautifulsoup4
   version: 4.14.3
@@ -34811,11 +34981,201 @@ packages:
   - html5lib ; extra == 'html5lib'
   - lxml ; extra == 'lxml'
   requires_python: '>=3.7.0'
+- pypi: https://files.pythonhosted.org/packages/1e/15/efef5a2f204a64bdb5571e6161d49f7ef0fffdbca953a615efbec045f60f/zstandard-0.25.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl
+  name: zstandard
+  version: 0.25.0
+  sha256: 6dffecc361d079bb48d7caef5d673c88c8988d3d33fb74ab95b7ee6da42652ea
+  requires_dist:
+  - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/2b/54/1789c455ed10176066b6e7e6da1b01e50e36f94ba584dc68d9eebfe9156d/pillow-12.2.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl
+  name: pillow
+  version: 12.2.0
+  sha256: 7371b48c4fa448d20d2714c9a1f775a81155050d383333e0a6c15b1123dda005
+  requires_dist:
+  - furo ; extra == 'docs'
+  - olefile ; extra == 'docs'
+  - sphinx>=8.2 ; extra == 'docs'
+  - sphinx-autobuild ; extra == 'docs'
+  - sphinx-copybutton ; extra == 'docs'
+  - sphinx-inline-tabs ; extra == 'docs'
+  - sphinxext-opengraph ; extra == 'docs'
+  - olefile ; extra == 'fpx'
+  - olefile ; extra == 'mic'
+  - arro3-compute ; extra == 'test-arrow'
+  - arro3-core ; extra == 'test-arrow'
+  - nanoarrow ; extra == 'test-arrow'
+  - pyarrow ; extra == 'test-arrow'
+  - check-manifest ; extra == 'tests'
+  - coverage>=7.4.2 ; extra == 'tests'
+  - defusedxml ; extra == 'tests'
+  - markdown2 ; extra == 'tests'
+  - olefile ; extra == 'tests'
+  - packaging ; extra == 'tests'
+  - pyroma>=5 ; extra == 'tests'
+  - pytest ; extra == 'tests'
+  - pytest-cov ; extra == 'tests'
+  - pytest-timeout ; extra == 'tests'
+  - pytest-xdist ; extra == 'tests'
+  - trove-classifiers>=2024.10.12 ; extra == 'tests'
+  - defusedxml ; extra == 'xmp'
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/3e/2b/b3461e44c999ad8e8819ac191e5437b0ed3444e9b1d6f2b22bc0bcc66b21/viser-1.0.29-py3-none-any.whl
+  name: viser
+  version: 1.0.29
+  sha256: 807834e166c9156d08b2997cd992bef0c0892e780a1700ae5e1d65523978d780
+  requires_dist:
+  - imageio>=2.0.0,<3.0.0
+  - msgspec>=0.18.6,<1.0.0
+  - numpy>=1.0.0,<3.0.0
+  - requests>=2.0.0,<3.0.0
+  - rich>=13.3.3,<15.0.0
+  - tqdm>=4.0.0,<5.0.0
+  - trimesh>=3.21.7,<5.0.0
+  - typing-extensions>=4.0.0
+  - websockets>=13.1,<17.0.0
+  - zstandard>=0.20.0,<1.0.0
+  - gdown>=4.6.6 ; extra == 'dev'
+  - hypothesis[numpy] ; extra == 'dev'
+  - matplotlib>=3.7.1 ; extra == 'dev'
+  - nodeenv>=1.9.1,<2.0.0 ; extra == 'dev'
+  - opencv-python ; extra == 'dev'
+  - pandas ; extra == 'dev'
+  - playwright>=1.40.0 ; extra == 'dev'
+  - plotly>=5.21.0 ; extra == 'dev'
+  - plyfile ; extra == 'dev'
+  - pre-commit==3.3.2 ; extra == 'dev'
+  - psutil>=5.9.5,<8.0.0 ; extra == 'dev'
+  - pyliblzfse>=0.4.1 ; sys_platform != 'win32' and extra == 'dev'
+  - pyright>=1.1.308 ; extra == 'dev'
+  - pytest ; extra == 'dev'
+  - pytest-playwright>=0.4.0 ; extra == 'dev'
+  - pytest-xdist>=3.0.0 ; extra == 'dev'
+  - robot-descriptions>=1.18.0 ; extra == 'dev'
+  - ruff>=0.9.3 ; extra == 'dev'
+  - torch<2.5.0 ; python_full_version < '3.9' and extra == 'dev'
+  - torch>=1.13.1 ; extra == 'dev'
+  - tyro>=1.0.0 ; extra == 'dev'
+  - yourdfpy>=0.0.53,<1.0.0 ; extra == 'dev'
+  - gdown>=4.6.6 ; extra == 'examples'
+  - matplotlib>=3.7.1 ; extra == 'examples'
+  - opencv-python ; extra == 'examples'
+  - pandas ; extra == 'examples'
+  - plotly>=5.21.0 ; extra == 'examples'
+  - plyfile ; extra == 'examples'
+  - pyliblzfse>=0.4.1 ; sys_platform != 'win32' and extra == 'examples'
+  - robot-descriptions>=1.18.0 ; extra == 'examples'
+  - torch<2.5.0 ; python_full_version < '3.9' and extra == 'examples'
+  - torch>=1.13.1 ; extra == 'examples'
+  - tyro>=1.0.0 ; extra == 'examples'
+  - yourdfpy>=0.0.53,<1.0.0 ; extra == 'examples'
+  - yourdfpy>=0.0.53,<1.0.0 ; extra == 'urdf'
+  requires_python: '>=3.8'
+- pypi: https://files.pythonhosted.org/packages/43/e3/fdc657359e919462369869f1c9f0e973f353f9a9ee295a39b1fea8ee1a77/pillow-12.2.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
+  name: pillow
+  version: 12.2.0
+  sha256: 62f5409336adb0663b7caa0da5c7d9e7bdbaae9ce761d34669420c2a801b2780
+  requires_dist:
+  - furo ; extra == 'docs'
+  - olefile ; extra == 'docs'
+  - sphinx>=8.2 ; extra == 'docs'
+  - sphinx-autobuild ; extra == 'docs'
+  - sphinx-copybutton ; extra == 'docs'
+  - sphinx-inline-tabs ; extra == 'docs'
+  - sphinxext-opengraph ; extra == 'docs'
+  - olefile ; extra == 'fpx'
+  - olefile ; extra == 'mic'
+  - arro3-compute ; extra == 'test-arrow'
+  - arro3-core ; extra == 'test-arrow'
+  - nanoarrow ; extra == 'test-arrow'
+  - pyarrow ; extra == 'test-arrow'
+  - check-manifest ; extra == 'tests'
+  - coverage>=7.4.2 ; extra == 'tests'
+  - defusedxml ; extra == 'tests'
+  - markdown2 ; extra == 'tests'
+  - olefile ; extra == 'tests'
+  - packaging ; extra == 'tests'
+  - pyroma>=5 ; extra == 'tests'
+  - pytest ; extra == 'tests'
+  - pytest-cov ; extra == 'tests'
+  - pytest-timeout ; extra == 'tests'
+  - pytest-xdist ; extra == 'tests'
+  - trove-classifiers>=2024.10.12 ; extra == 'tests'
+  - defusedxml ; extra == 'xmp'
+  requires_python: '>=3.10'
 - pypi: https://files.pythonhosted.org/packages/46/2c/1462b1d0a634697ae9e55b3cecdcb64788e8b7d63f54d923fcd0bb140aed/soupsieve-2.8.3-py3-none-any.whl
   name: soupsieve
   version: 2.8.3
   sha256: ed64f2ba4eebeab06cc4962affce381647455978ffc1e36bb79a545b91f45a95
   requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/49/fa/391e437a34e55095173dca5f24070d89cbc233ff85bf1c29c93248c6588d/imageio-2.37.3-py3-none-any.whl
+  name: imageio
+  version: 2.37.3
+  sha256: 46f5bb8522cd421c0f5ae104d8268f569d856b29eb1a13b92829d1970f32c9f0
+  requires_dist:
+  - numpy
+  - pillow>=8.3.2
+  - imageio-ffmpeg ; extra == 'ffmpeg'
+  - psutil ; extra == 'ffmpeg'
+  - fsspec[http] ; extra == 'freeimage'
+  - pillow-heif ; extra == 'pillow-heif'
+  - tifffile ; extra == 'tifffile'
+  - av ; extra == 'pyav'
+  - astropy ; extra == 'fits'
+  - rawpy ; extra == 'rawpy'
+  - numpy>2 ; extra == 'rawpy'
+  - gdal ; extra == 'gdal'
+  - itk ; extra == 'itk'
+  - black ; extra == 'linting'
+  - flake8 ; extra == 'linting'
+  - pytest ; extra == 'test'
+  - pytest-cov ; extra == 'test'
+  - fsspec[github] ; extra == 'test'
+  - sphinx<6 ; extra == 'docs'
+  - numpydoc ; extra == 'docs'
+  - pydata-sphinx-theme ; extra == 'docs'
+  - pytest ; extra == 'dev'
+  - pytest-cov ; extra == 'dev'
+  - fsspec[github] ; extra == 'dev'
+  - black ; extra == 'dev'
+  - flake8 ; extra == 'dev'
+  - av ; extra == 'all-plugins'
+  - astropy ; extra == 'all-plugins'
+  - fsspec[http] ; extra == 'all-plugins'
+  - imageio-ffmpeg ; extra == 'all-plugins'
+  - numpy>2 ; extra == 'all-plugins'
+  - pillow-heif ; extra == 'all-plugins'
+  - psutil ; extra == 'all-plugins'
+  - rawpy ; extra == 'all-plugins'
+  - tifffile ; extra == 'all-plugins'
+  - fsspec[http] ; extra == 'all-plugins-pypy'
+  - imageio-ffmpeg ; extra == 'all-plugins-pypy'
+  - pillow-heif ; extra == 'all-plugins-pypy'
+  - psutil ; extra == 'all-plugins-pypy'
+  - tifffile ; extra == 'all-plugins-pypy'
+  - astropy ; extra == 'full'
+  - av ; extra == 'full'
+  - black ; extra == 'full'
+  - flake8 ; extra == 'full'
+  - fsspec[github,http] ; extra == 'full'
+  - imageio-ffmpeg ; extra == 'full'
+  - numpydoc ; extra == 'full'
+  - numpy>2 ; extra == 'full'
+  - pillow-heif ; extra == 'full'
+  - psutil ; extra == 'full'
+  - pydata-sphinx-theme ; extra == 'full'
+  - pytest ; extra == 'full'
+  - pytest-cov ; extra == 'full'
+  - rawpy ; extra == 'full'
+  - sphinx<6 ; extra == 'full'
+  - tifffile ; extra == 'full'
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/4b/f8/d0118a2f5f23b02cd166fa385c60f9b0d4f9194f574e2b31cef350ad7223/charset_normalizer-3.4.7-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
+  name: charset-normalizer
+  version: 3.4.7
+  sha256: 5649fd1c7bade02f320a462fdefd0b4bd3ce036065836d4f42e0de958038e116
+  requires_python: '>=3.7'
 - pypi: https://files.pythonhosted.org/packages/4e/18/dc99a152bea18a898a8ac387bfeb9ec0829e0f5bed11cfec2e2ca189c5a2/syrupy-5.2.0-py3-none-any.whl
   name: syrupy
   version: 5.2.0
@@ -34823,6 +35183,358 @@ packages:
   requires_dist:
   - pytest>=8.0.0
   requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/53/60/7be26e610767316c028a2cbedb9a3beabdbe33e2182c373f71a1c0b88f36/zstandard-0.25.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
+  name: zstandard
+  version: 0.25.0
+  sha256: 5a56ba0db2d244117ed744dfa8f6f5b366e14148e00de44723413b2f3938a902
+  requires_dist:
+  - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/59/8c/57e832b7af6d7c5abe66eb3fbe3a3a32f4d11ea23a1aa7131371035be991/certifi-2026.5.20-py3-none-any.whl
+  name: certifi
+  version: 2026.5.20
+  sha256: 3c52e209ba0a4ad7aebe60436a4ab349c39e1e602e8c134221e546902ad25897
+  requires_python: '>=3.7'
+- pypi: https://files.pythonhosted.org/packages/5a/3d/589663aeeacd59bb2f3e8596bfd3e81cf0fb18d70bb433199041f469771b/etils-1.14.0-py3-none-any.whl
+  name: etils
+  version: 1.14.0
+  sha256: b5df7341f54dbe1405a4450b2741207b4a8c279780402b45f87202b94dfc52b4
+  requires_dist:
+  - etils[array-types] ; extra == 'all'
+  - etils[eapp] ; extra == 'all'
+  - etils[ecolab] ; extra == 'all'
+  - etils[edc] ; extra == 'all'
+  - etils[enp] ; extra == 'all'
+  - etils[epath] ; extra == 'all'
+  - etils[epath-gcs] ; extra == 'all'
+  - etils[epath-s3] ; extra == 'all'
+  - etils[epy] ; extra == 'all'
+  - etils[etqdm] ; extra == 'all'
+  - etils[etree] ; extra == 'all'
+  - etils[etree-dm] ; extra == 'all'
+  - etils[etree-jax] ; extra == 'all'
+  - etils[etree-tf] ; extra == 'all'
+  - etils[enp] ; extra == 'array-types'
+  - pytest ; extra == 'dev'
+  - pytest-subtests ; extra == 'dev'
+  - pytest-xdist ; extra == 'dev'
+  - pyink ; extra == 'dev'
+  - pylint>=2.6.0 ; extra == 'dev'
+  - chex ; extra == 'dev'
+  - fiddle ; extra == 'dev'
+  - torch ; extra == 'dev'
+  - optree ; extra == 'dev'
+  - tensorflow-datasets ; extra == 'dev'
+  - pydantic ; extra == 'dev'
+  - sphinx-apitree[ext] ; extra == 'docs'
+  - etils[dev,all] ; extra == 'docs'
+  - absl-py ; extra == 'eapp'
+  - simple-parsing ; extra == 'eapp'
+  - etils[epy] ; extra == 'eapp'
+  - jupyter ; extra == 'ecolab'
+  - numpy ; extra == 'ecolab'
+  - mediapy ; extra == 'ecolab'
+  - packaging ; extra == 'ecolab'
+  - protobuf ; extra == 'ecolab'
+  - etils[enp] ; extra == 'ecolab'
+  - etils[epy] ; extra == 'ecolab'
+  - etils[etree] ; extra == 'ecolab'
+  - etils[epy] ; extra == 'edc'
+  - numpy ; extra == 'enp'
+  - einops ; extra == 'enp'
+  - etils[epy] ; extra == 'enp'
+  - fsspec ; extra == 'epath'
+  - typing-extensions ; extra == 'epath'
+  - zipp ; extra == 'epath'
+  - etils[epy] ; extra == 'epath'
+  - gcsfs ; extra == 'epath-gcs'
+  - etils[epath] ; extra == 'epath-gcs'
+  - s3fs ; extra == 'epath-s3'
+  - etils[epath] ; extra == 'epath-s3'
+  - typing-extensions ; extra == 'epy'
+  - absl-py ; extra == 'etqdm'
+  - tqdm ; extra == 'etqdm'
+  - etils[epy] ; extra == 'etqdm'
+  - etils[array-types] ; extra == 'etree'
+  - etils[epy] ; extra == 'etree'
+  - etils[enp] ; extra == 'etree'
+  - etils[etqdm] ; extra == 'etree'
+  - dm-tree ; extra == 'etree-dm'
+  - etils[etree] ; extra == 'etree-dm'
+  - jax[cpu] ; extra == 'etree-jax'
+  - etils[etree] ; extra == 'etree-jax'
+  - tensorflow ; extra == 'etree-tf'
+  - etils[etree] ; extra == 'etree-tf'
+  - etils[ecolab] ; extra == 'lazy-imports'
+  requires_python: '>=3.11'
+- pypi: https://files.pythonhosted.org/packages/5a/3f/efeb7c6801c46e11bd666a5180f0d615f74f72264212f74f39586c6fda9d/glfw-2.10.0-py2.py27.py3.py30.py31.py32.py33.py34.py35.py36.py37.py38.py39.py310.py311.py312.py313.py314-none-manylinux_2_28_x86_64.whl
+  name: glfw
+  version: 2.10.0
+  sha256: ce6724bb7cb3d0543dcba17206dce909f94176e68220b8eafee72e9f92bcf542
+  requires_dist:
+  - glfw-preview ; extra == 'preview'
+- pypi: https://files.pythonhosted.org/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl
+  name: urllib3
+  version: 2.7.0
+  sha256: 9fb4c81ebbb1ce9531cce37674bbc6f1360472bc18ca9a553ede278ef7276897
+  requires_dist:
+  - brotli>=1.2.0 ; platform_python_implementation == 'CPython' and extra == 'brotli'
+  - brotlicffi>=1.2.0.0 ; platform_python_implementation != 'CPython' and extra == 'brotli'
+  - h2>=4,<5 ; extra == 'h2'
+  - pysocks>=1.5.6,!=1.5.7,<2.0 ; extra == 'socks'
+  - backports-zstd>=1.0.0 ; python_full_version < '3.14' and extra == 'zstd'
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/8a/37/655101799590bcc5fddb2bd3fe0e6194e816c2d1da7c361725f5eb89a910/msgspec-0.21.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
+  name: msgspec
+  version: 0.21.1
+  sha256: 846758412e9518252b2ac9bffd6f0e54d9ff614f5f9488df7749f81ff5c80920
+  requires_dist:
+  - tomli ; python_full_version < '3.11' and extra == 'toml'
+  - tomli-w ; extra == 'toml'
+  - pyyaml ; extra == 'yaml'
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/97/bb/21c36b7dbbafc85d2d480cd65df02a1dc93bf76d97147605a8e27ff9409d/websockets-16.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
+  name: websockets
+  version: '16.0'
+  sha256: e0334872c0a37b606418ac52f6ab9cfd17317ac26365f7f65e203e2d0d0d359f
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/99/60/14115e6364fa676c5397c2ad3004e527e9aa487abf5d0706ec81bbd08529/numpy-2.4.6-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
+  name: numpy
+  version: 2.4.6
+  sha256: 90f9849678c75fe7afa2d348ac842c168b0a4d3d61919687216dfc547976d853
+  requires_python: '>=3.11'
+- pypi: https://files.pythonhosted.org/packages/9c/c2/4534d678ad1b3f7dee6fd83110112800287be21ba007d988abb9ddc8e0ac/mjviser-0.0.14-py3-none-any.whl
+  name: mjviser
+  version: 0.0.14
+  sha256: 4b09f8e90506fc4a71d76fc628872147157947e9292428213ab78cfe137c9a26
+  requires_dist:
+  - mujoco>=3.6.0
+  - numpy
+  - trimesh>=4.8.3
+  - viser>=1.0.27
+  - pillow>=12.2.0
+  - pytest ; extra == 'dev'
+  - ruff ; extra == 'dev'
+  requires_python: '>=3.10,<3.15'
+- pypi: https://files.pythonhosted.org/packages/a0/f4/c67b0b3f1b9245e8d266f0f112c500d50e5b4e83cb6f3b71b6528104182a/requests-2.34.2-py3-none-any.whl
+  name: requests
+  version: 2.34.2
+  sha256: 2a0d60c172f83ac6ab31e4554906c0f3b3588d37b5cb939b1c061f4907e278e0
+  requires_dist:
+  - charset-normalizer>=2,<4
+  - idna>=2.5,<4
+  - urllib3>=1.26,<3
+  - certifi>=2023.5.7
+  - pysocks>=1.5.6,!=1.5.7 ; extra == 'socks'
+  - chardet>=3.0.2,<8 ; extra == 'use-chardet-on-py3'
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/b3/38/89ba8ad64ae25be8de66a6d463314cf1eb366222074cfda9ee839c56a4b4/mdurl-0.1.2-py3-none-any.whl
+  name: mdurl
+  version: 0.1.2
+  sha256: 84008a41e51615a49fc9966191ff91509e3c40b939176e643fd50a5c2196b8f8
+  requires_python: '>=3.7'
+- pypi: https://files.pythonhosted.org/packages/b3/76/6d163cfac87b632216f71879e6b2cf17163f773ff59c00b5ff4900a80fa3/rich-14.3.4-py3-none-any.whl
+  name: rich
+  version: 14.3.4
+  sha256: 07e7adb4690f68864777b1450859253bed81a99a31ac321ac1817b2313558952
+  requires_dist:
+  - ipywidgets>=7.5.1,<9 ; extra == 'jupyter'
+  - markdown-it-py>=2.2.0
+  - pygments>=2.13.0,<3.0.0
+  requires_python: '>=3.8.0'
+- pypi: https://files.pythonhosted.org/packages/b3/81/4da04ced5a082363ecfa159c010d200ecbd959ae410c10c0264a38cac0f5/markdown_it_py-4.2.0-py3-none-any.whl
+  name: markdown-it-py
+  version: 4.2.0
+  sha256: 9f7ebbcd14fe59494226453aed97c1070d83f8d24b6fc3a3bcf9a38092641c4a
+  requires_dist:
+  - mdurl~=0.1
+  - psutil ; extra == 'benchmarking'
+  - pytest ; extra == 'benchmarking'
+  - pytest-benchmark ; extra == 'benchmarking'
+  - commonmark~=0.9 ; extra == 'compare'
+  - markdown~=3.4 ; extra == 'compare'
+  - mistletoe~=1.0 ; extra == 'compare'
+  - mistune~=3.0 ; extra == 'compare'
+  - panflute~=2.3 ; extra == 'compare'
+  - markdown-it-pyrs ; extra == 'compare'
+  - linkify-it-py>=1,<3 ; extra == 'linkify'
+  - mdit-py-plugins>=0.5.0 ; extra == 'plugins'
+  - gprof2dot ; extra == 'profiling'
+  - mdit-py-plugins>=0.5.0 ; extra == 'rtd'
+  - myst-parser ; extra == 'rtd'
+  - pyyaml ; extra == 'rtd'
+  - sphinx ; extra == 'rtd'
+  - sphinx-copybutton ; extra == 'rtd'
+  - sphinx-design ; extra == 'rtd'
+  - sphinx-book-theme~=1.0 ; extra == 'rtd'
+  - jupyter-sphinx ; extra == 'rtd'
+  - ipykernel ; extra == 'rtd'
+  - coverage ; extra == 'testing'
+  - pytest ; extra == 'testing'
+  - pytest-cov ; extra == 'testing'
+  - pytest-regressions ; extra == 'testing'
+  - pytest-timeout ; extra == 'testing'
+  - requests ; extra == 'testing'
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/b5/d1/d4cd9fe89c7d400d7a18f86ccc94daa3f0927f53558846fcb60791dce5d6/msgspec-0.21.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
+  name: msgspec
+  version: 0.21.1
+  sha256: 21995e74b5c598c2e004110ad66ec7f1b8c20bf2bcf3b2de8fd9a3094422d3ff
+  requires_dist:
+  - tomli ; python_full_version < '3.11' and extra == 'toml'
+  - tomli-w ; extra == 'toml'
+  - pyyaml ; extra == 'yaml'
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/c9/c6/50a46a6205feba2343f1d6d17438107c5dc491ed1c736e6ea68689fd906b/numpy-2.4.6-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl
+  name: numpy
+  version: 2.4.6
+  sha256: 5f9fb9157b4ce2971008323afe46053787b526ef624fea915b261468a8421a0f
+  requires_python: '>=3.11'
+- pypi: https://files.pythonhosted.org/packages/d5/01/b2a88b6b73df933d5ab38583240c296684b626a8de3c3bb9a7c2fd356f08/mujoco-3.9.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
+  name: mujoco
+  version: 3.9.0
+  sha256: f8c6769ac1463752ff392d8c4d20014e54220112d772e6ccecdf6bcdb6d43e07
+  requires_dist:
+  - absl-py
+  - etils[epath]
+  - glfw
+  - numpy
+  - pyopengl
+  - absl-py ; extra == 'sysid'
+  - colorama ; extra == 'sysid'
+  - imageio[ffmpeg] ; extra == 'sysid'
+  - jinja2 ; extra == 'sysid'
+  - matplotlib ; extra == 'sysid'
+  - plotly ; extra == 'sysid'
+  - pyyaml ; extra == 'sysid'
+  - scipy ; extra == 'sysid'
+  - tabulate ; extra == 'sysid'
+  - typing-extensions ; extra == 'sysid'
+  - usd-core ; extra == 'usd'
+  - pillow ; extra == 'usd'
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/d5/0c/043d5e551459da400957a1395e0febbf771446ff34291afcbe3d8be2a279/fsspec-2026.4.0-py3-none-any.whl
+  name: fsspec
+  version: 2026.4.0
+  sha256: 11ef7bb35dab8a394fde6e608221d5cf3e8499401c249bebaeaad760a1a8dec2
+  requires_dist:
+  - adlfs ; extra == 'abfs'
+  - adlfs ; extra == 'adl'
+  - pyarrow>=1 ; extra == 'arrow'
+  - dask ; extra == 'dask'
+  - distributed ; extra == 'dask'
+  - pre-commit ; extra == 'dev'
+  - ruff>=0.5 ; extra == 'dev'
+  - numpydoc ; extra == 'doc'
+  - sphinx ; extra == 'doc'
+  - sphinx-design ; extra == 'doc'
+  - sphinx-rtd-theme ; extra == 'doc'
+  - yarl ; extra == 'doc'
+  - dropbox ; extra == 'dropbox'
+  - dropboxdrivefs ; extra == 'dropbox'
+  - requests ; extra == 'dropbox'
+  - adlfs ; extra == 'full'
+  - aiohttp!=4.0.0a0,!=4.0.0a1 ; extra == 'full'
+  - dask ; extra == 'full'
+  - distributed ; extra == 'full'
+  - dropbox ; extra == 'full'
+  - dropboxdrivefs ; extra == 'full'
+  - fusepy ; extra == 'full'
+  - gcsfs>2024.2.0 ; extra == 'full'
+  - libarchive-c ; extra == 'full'
+  - ocifs ; extra == 'full'
+  - panel ; extra == 'full'
+  - paramiko ; extra == 'full'
+  - pyarrow>=1 ; extra == 'full'
+  - pygit2 ; extra == 'full'
+  - requests ; extra == 'full'
+  - s3fs>2024.2.0 ; extra == 'full'
+  - smbprotocol ; extra == 'full'
+  - tqdm ; extra == 'full'
+  - fusepy ; extra == 'fuse'
+  - gcsfs>2024.2.0 ; extra == 'gcs'
+  - pygit2 ; extra == 'git'
+  - requests ; extra == 'github'
+  - gcsfs ; extra == 'gs'
+  - panel ; extra == 'gui'
+  - pyarrow>=1 ; extra == 'hdfs'
+  - aiohttp!=4.0.0a0,!=4.0.0a1 ; extra == 'http'
+  - libarchive-c ; extra == 'libarchive'
+  - ocifs ; extra == 'oci'
+  - s3fs>2024.2.0 ; extra == 's3'
+  - paramiko ; extra == 'sftp'
+  - smbprotocol ; extra == 'smb'
+  - paramiko ; extra == 'ssh'
+  - aiohttp!=4.0.0a0,!=4.0.0a1 ; extra == 'test'
+  - numpy ; extra == 'test'
+  - pytest ; extra == 'test'
+  - pytest-asyncio!=0.22.0 ; extra == 'test'
+  - pytest-benchmark ; extra == 'test'
+  - pytest-cov ; extra == 'test'
+  - pytest-mock ; extra == 'test'
+  - pytest-recording ; extra == 'test'
+  - pytest-rerunfailures ; extra == 'test'
+  - requests ; extra == 'test'
+  - aiobotocore>=2.5.4,<3.0.0 ; extra == 'test-downstream'
+  - dask[dataframe,test] ; extra == 'test-downstream'
+  - moto[server]>4,<5 ; extra == 'test-downstream'
+  - pytest-timeout ; extra == 'test-downstream'
+  - xarray ; extra == 'test-downstream'
+  - adlfs ; extra == 'test-full'
+  - aiohttp!=4.0.0a0,!=4.0.0a1 ; extra == 'test-full'
+  - backports-zstd ; python_full_version < '3.14' and extra == 'test-full'
+  - cloudpickle ; extra == 'test-full'
+  - dask ; extra == 'test-full'
+  - distributed ; extra == 'test-full'
+  - dropbox ; extra == 'test-full'
+  - dropboxdrivefs ; extra == 'test-full'
+  - fastparquet ; extra == 'test-full'
+  - fusepy ; extra == 'test-full'
+  - gcsfs ; extra == 'test-full'
+  - jinja2 ; extra == 'test-full'
+  - kerchunk ; extra == 'test-full'
+  - libarchive-c ; extra == 'test-full'
+  - lz4 ; extra == 'test-full'
+  - notebook ; extra == 'test-full'
+  - numpy ; extra == 'test-full'
+  - ocifs ; extra == 'test-full'
+  - pandas<3.0.0 ; extra == 'test-full'
+  - panel ; extra == 'test-full'
+  - paramiko ; extra == 'test-full'
+  - pyarrow ; extra == 'test-full'
+  - pyarrow>=1 ; extra == 'test-full'
+  - pyftpdlib ; extra == 'test-full'
+  - pygit2 ; extra == 'test-full'
+  - pytest ; extra == 'test-full'
+  - pytest-asyncio!=0.22.0 ; extra == 'test-full'
+  - pytest-benchmark ; extra == 'test-full'
+  - pytest-cov ; extra == 'test-full'
+  - pytest-mock ; extra == 'test-full'
+  - pytest-recording ; extra == 'test-full'
+  - pytest-rerunfailures ; extra == 'test-full'
+  - python-snappy ; extra == 'test-full'
+  - requests ; extra == 'test-full'
+  - smbprotocol ; extra == 'test-full'
+  - tqdm ; extra == 'test-full'
+  - urllib3 ; extra == 'test-full'
+  - zarr ; extra == 'test-full'
+  - zstandard ; python_full_version < '3.14' and extra == 'test-full'
+  - tqdm ; extra == 'tqdm'
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/de/a7/f76514cc40ad6234098ecdebda08732d75964776c51a42845b7da10649e2/idna-3.17-py3-none-any.whl
+  name: idna
+  version: '3.17'
+  sha256: 466e48829084efe2548012b855df21540b96f2e20e51bd124c851536556a592c
+  requires_dist:
+  - ruff>=0.6.2 ; extra == 'all'
+  - mypy>=1.11.2 ; extra == 'all'
+  - pytest>=8.3.2 ; extra == 'all'
+  requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/de/e4/1ba6f44e491c4eece978685230dde56b14d51a0365bc1b774ddaa94d14cd/pyopengl-3.1.10-py3-none-any.whl
+  name: pyopengl
+  version: 3.1.10
+  sha256: 794a943daced39300879e4e47bd94525280685f42dbb5a998d336cfff151d74f
 - pypi: https://files.pythonhosted.org/packages/ea/78/9a8a174011682d71cb4922f4014ebbeb9d3067922678e7059351fd9207cf/exhale-0.3.7-py3-none-any.whl
   name: exhale
   version: 0.3.7
@@ -34834,3 +35546,37 @@ packages:
   - lxml
   - six
   requires_python: '>=3.8'
+- pypi: https://files.pythonhosted.org/packages/f8/e3/0fadc706008ac9d7b9b5be6dc767c05f9d3e5df51744ce4cc9605de7b9f4/charset_normalizer-3.4.7-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
+  name: charset-normalizer
+  version: 3.4.7
+  sha256: 6178f72c5508bfc5fd446a5905e698c6212932f25bcdd4b47a757a50605a90e2
+  requires_python: '>=3.7'
+- pypi: https://files.pythonhosted.org/packages/f9/7e/eb1840f486d322cd5285a2dc2e422cbc22f4e273b66edc0cf9d96cbad47c/mujoco-3.9.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl
+  name: mujoco
+  version: 3.9.0
+  sha256: 8af0cb8c96f5b02e701f9ab7a9c905d1c655626b3226a4c4da7b28bf2771a4e7
+  requires_dist:
+  - absl-py
+  - etils[epath]
+  - glfw
+  - numpy
+  - pyopengl
+  - absl-py ; extra == 'sysid'
+  - colorama ; extra == 'sysid'
+  - imageio[ffmpeg] ; extra == 'sysid'
+  - jinja2 ; extra == 'sysid'
+  - matplotlib ; extra == 'sysid'
+  - plotly ; extra == 'sysid'
+  - pyyaml ; extra == 'sysid'
+  - scipy ; extra == 'sysid'
+  - tabulate ; extra == 'sysid'
+  - typing-extensions ; extra == 'sysid'
+  - usd-core ; extra == 'usd'
+  - pillow ; extra == 'usd'
+  requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/ff/b4/f7b6cc022dd7c68b6c702d19da5d591f978f89c958b9bd3090615db0c739/glfw-2.10.0-py2.py27.py3.py30.py31.py32.py33.py34.py35.py36.py37.py38.py39.py310.py311.py312.py313.py314-none-manylinux_2_28_aarch64.whl
+  name: glfw
+  version: 2.10.0
+  sha256: 27c9e9a2d5e1dc3c9e3996171d844d9df9a5a101e797cb94cce217b7afcf8fd9
+  requires_dist:
+  - glfw-preview ; extra == 'preview'