mujoco-react 0.2.0 → 1.0.0

package/src/core/MujocoSimProvider.tsx

@@ -14,14 +14,12 @@ import {
   useState,
 } from 'react';
 import * as THREE from 'three';
-import { MujocoData, MujocoModel, MujocoModule } from '../types';
-import { GenericIK } from './GenericIK';
+import { MujocoData, MujocoModel, MujocoModule, getContact } from '../types';
 import {
   ActuatorInfo,
   BodyInfo,
   ContactInfo,
   GeomInfo,
-  IKSolveFn,
   JointInfo,
   ModelOptions,
   MujocoSimAPI,
@@ -39,6 +37,7 @@ import {
   findGeomByName,
   findSensorByName,
   findActuatorByName,
+  getActuatedScalarQposAdr,
   getName,
 } from './SceneLoader';
 
@@ -47,7 +46,6 @@ const JOINT_TYPE_NAMES = ['free', 'ball', 'slide', 'hinge'];
 // ---- Geom type names ----
 const GEOM_TYPE_NAMES = ['plane', 'hfield', 'sphere', 'capsule', 'ellipsoid', 'cylinder', 'box', 'mesh'];
 // ---- Sensor type names (subset — MuJoCo has many) ----
-// Sensor type names matching mjtSensor enum in mujoco WASM (mujoco-js 0.0.7)
 const SENSOR_TYPE_NAMES: Record<number, string> = {
   0: 'touch', 1: 'accelerometer', 2: 'velocimeter', 3: 'gyro',
   4: 'force', 5: 'torque', 6: 'magnetometer', 7: 'rangefinder',
@@ -72,6 +70,8 @@ const _applyPoint = new Float64Array(3);
 const _rayPnt = new Float64Array(3);
 const _rayVec = new Float64Array(3);
 const _rayGeomId = new Int32Array(1);
+const _projRaycaster = new THREE.Raycaster();
+const _projNdc = new THREE.Vector2();
 
 // ---- Internal context types ----
 
@@ -81,43 +81,15 @@ export interface MujocoSimContextValue {
   mjDataRef: React.RefObject<MujocoData | null>;
   mujocoRef: React.RefObject<MujocoModule>;
   configRef: React.RefObject<SceneConfig>;
-  siteIdRef: React.RefObject<number>;
-  gripperIdRef: React.RefObject<number>;
-  ikEnabledRef: React.RefObject<boolean>;
-  ikCalculatingRef: React.RefObject<boolean>;
   pausedRef: React.RefObject<boolean>;
   speedRef: React.RefObject<number>;
   substepsRef: React.RefObject<number>;
-  ikTargetRef: React.RefObject<THREE.Group>;
-  genericIkRef: React.RefObject<GenericIK>;
-  ikSolveFnRef: React.RefObject<IKSolveFn>;
-  firstIkEnableRef: React.RefObject<boolean>;
-  gizmoAnimRef: React.RefObject<{
-    active: boolean;
-    startPos: THREE.Vector3;
-    endPos: THREE.Vector3;
-    startRot: THREE.Quaternion;
-    endRot: THREE.Quaternion;
-    startTime: number;
-    duration: number;
-  }>;
-  cameraAnimRef: React.RefObject<{
-    active: boolean;
-    startPos: THREE.Vector3;
-    endPos: THREE.Vector3;
-    startRot: THREE.Quaternion;
-    endRot: THREE.Quaternion;
-    startTarget: THREE.Vector3;
-    endTarget: THREE.Vector3;
-    startTime: number;
-    duration: number;
-    resolve: (() => void) | null;
-  }>;
   onSelectionRef: React.RefObject<
     ((bodyId: number, name: string) => void) | undefined
   >;
   beforeStepCallbacks: React.RefObject<Set<PhysicsStepCallback>>;
   afterStepCallbacks: React.RefObject<Set<PhysicsStepCallback>>;
+  resetCallbacks: React.RefObject<Set<() => void>>;
   status: 'loading' | 'ready' | 'error';
 }
 
@@ -162,13 +134,12 @@ interface MujocoSimProviderProps {
   onError?: (error: Error) => void;
   onStep?: (time: number) => void;
   onSelection?: (bodyId: number, name: string) => void;
-  // Declarative physics config props (spec 1.1)
+  // Declarative physics config props
   gravity?: [number, number, number];
   timestep?: number;
   substeps?: number;
   paused?: boolean;
   speed?: number;
-  interpolate?: boolean;
   children: React.ReactNode;
 }
 
@@ -185,7 +156,6 @@ export function MujocoSimProvider({
   substeps,
   paused,
   speed,
-  interpolate,
   children,
 }: MujocoSimProviderProps) {
   const { gl, camera } = useThree();
@@ -196,21 +166,11 @@ export function MujocoSimProvider({
   const mjDataRef = useRef<MujocoData | null>(null);
   const mujocoRef = useRef<MujocoModule>(mujoco);
   const configRef = useRef<SceneConfig>(config);
-  const siteIdRef = useRef(-1);
-  const gripperIdRef = useRef(-1);
-  const ikEnabledRef = useRef(false);
-  const ikCalculatingRef = useRef(false);
   const pausedRef = useRef(paused ?? false);
   const speedRef = useRef(speed ?? 1);
   const substepsRef = useRef(substeps ?? 1);
-  const interpolateRef = useRef(interpolate ?? false);
-  const firstIkEnableRef = useRef(true);
-  const stepsToRunRef = useRef(0); // for single-step mode (spec 1.2)
-
-  // Interpolation state (spec 11.1)
-  const prevXposRef = useRef<Float64Array | null>(null);
-  const prevXquatRef = useRef<Float64Array | null>(null);
-  const interpAlphaRef = useRef(0);
+  const stepsToRunRef = useRef(0);
+  const loadGenRef = useRef(0);
 
   const onSelectionRef = useRef(onSelection);
   onSelectionRef.current = onSelection;
@@ -219,6 +179,7 @@ export function MujocoSimProvider({
 
   const beforeStepCallbacks = useRef(new Set<PhysicsStepCallback>());
   const afterStepCallbacks = useRef(new Set<PhysicsStepCallback>());
+  const resetCallbacks = useRef(new Set<() => void>());
 
   configRef.current = config;
 
@@ -226,9 +187,8 @@ export function MujocoSimProvider({
   useEffect(() => { pausedRef.current = paused ?? false; }, [paused]);
   useEffect(() => { speedRef.current = speed ?? 1; }, [speed]);
   useEffect(() => { substepsRef.current = substeps ?? 1; }, [substeps]);
-  useEffect(() => { interpolateRef.current = interpolate ?? false; }, [interpolate]);
 
-  // Sync gravity prop (spec 1.1)
+  // Sync gravity prop
   useEffect(() => {
     if (!gravity) return;
     const model = mjModelRef.current;
@@ -238,7 +198,7 @@ export function MujocoSimProvider({
     model.opt.gravity[2] = gravity[2];
   }, [gravity]);
 
-  // Sync timestep prop (spec 1.1)
+  // Sync timestep prop
   useEffect(() => {
     if (timestep === undefined) return;
     const model = mjModelRef.current;
@@ -246,66 +206,6 @@ export function MujocoSimProvider({
     model.opt.timestep = timestep;
   }, [timestep]);
 
-  const ikTargetRef = useRef<THREE.Group>(new THREE.Group());
-  const genericIkRef = useRef<GenericIK>(new GenericIK(mujoco));
-
-  const gizmoAnimRef = useRef({
-    active: false,
-    startPos: new THREE.Vector3(),
-    endPos: new THREE.Vector3(),
-    startRot: new THREE.Quaternion(),
-    endRot: new THREE.Quaternion(),
-    startTime: 0,
-    duration: 1000,
-  });
-
-  const cameraAnimRef = useRef({
-    active: false,
-    startPos: new THREE.Vector3(),
-    endPos: new THREE.Vector3(),
-    startRot: new THREE.Quaternion(),
-    endRot: new THREE.Quaternion(),
-    startTarget: new THREE.Vector3(),
-    endTarget: new THREE.Vector3(),
-    startTime: 0,
-    duration: 0,
-    resolve: null as (() => void) | null,
-  });
-
-  const orbitTargetRef = useRef(new THREE.Vector3(0, 0, 0));
-
-  // --- Helper: sync gizmo to actual MuJoCo site position ---
-  const syncGizmoToSite = useCallback((data: MujocoData, siteId: number, target: THREE.Group) => {
-    if (siteId === -1) return;
-    const sitePos = data.site_xpos.subarray(siteId * 3, siteId * 3 + 3);
-    const siteMat = data.site_xmat.subarray(siteId * 9, siteId * 9 + 9);
-    target.position.set(sitePos[0], sitePos[1], sitePos[2]);
-    const m = new THREE.Matrix4().set(
-      siteMat[0], siteMat[1], siteMat[2], 0,
-      siteMat[3], siteMat[4], siteMat[5], 0,
-      siteMat[6], siteMat[7], siteMat[8], 0,
-      0, 0, 0, 1
-    );
-    target.quaternion.setFromRotationMatrix(m);
-  }, []);
-
-  // IK solve function
-  const ikSolveFn = useCallback(
-    (pos: THREE.Vector3, quat: THREE.Quaternion, currentQ: number[]): number[] | null => {
-      const model = mjModelRef.current;
-      const data = mjDataRef.current;
-      if (!model || !data || siteIdRef.current === -1) return null;
-      return genericIkRef.current.solve(
-        model, data, siteIdRef.current,
-        configRef.current.numArmJoints ?? 7,
-        pos, quat, currentQ
-      );
-    },
-    []
-  );
-  const ikSolveFnRef = useRef<IKSolveFn>(ikSolveFn);
-  ikSolveFnRef.current = ikSolveFn;
-
   // --- Load scene on mount ---
   useEffect(() => {
     let disposed = false;
@@ -321,8 +221,6 @@ export function MujocoSimProvider({
 
         mjModelRef.current = result.mjModel;
         mjDataRef.current = result.mjData;
-        siteIdRef.current = result.siteId;
-        gripperIdRef.current = result.gripperId;
 
         // Apply declarative physics props after load
         if (gravity && result.mjModel.opt?.gravity) {
@@ -334,10 +232,6 @@ export function MujocoSimProvider({
           result.mjModel.opt.timestep = timestep;
         }
 
-        if (ikTargetRef.current) {
-          syncGizmoToSite(result.mjData, result.siteId, ikTargetRef.current);
-        }
-
         setStatus('ready');
       } catch (e: unknown) {
         if (!disposed) {
@@ -374,51 +268,12 @@ export function MujocoSimProvider({
   }, [status]);
 
   // --- Physics step (priority -1) ---
-  useFrame((state) => {
+  useFrame((_state, delta) => {
     const model = mjModelRef.current;
     const data = mjDataRef.current;
     if (!model || !data) return;
 
-    // Gizmo animation
-    const ga = gizmoAnimRef.current;
-    const target = ikTargetRef.current;
-    if (ga.active && target) {
-      const now = performance.now();
-      const elapsed = now - ga.startTime;
-      const t = Math.min(elapsed / ga.duration, 1.0);
-      const ease = 1 - Math.pow(1 - t, 3);
-      target.position.lerpVectors(ga.startPos, ga.endPos, ease);
-      target.quaternion.slerpQuaternions(ga.startRot, ga.endRot, ease);
-      if (t >= 1.0) ga.active = false;
-    }
-
-    // Camera animation
-    const ca = cameraAnimRef.current;
-    if (ca.active) {
-      const now = performance.now();
-      const progress = Math.min((now - ca.startTime) / ca.duration, 1.0);
-      const ease =
-        progress < 0.5
-          ? 4 * progress * progress * progress
-          : 1 - Math.pow(-2 * progress + 2, 3) / 2;
-      camera.position.lerpVectors(ca.startPos, ca.endPos, ease);
-      camera.quaternion.slerpQuaternions(ca.startRot, ca.endRot, ease);
-      orbitTargetRef.current.lerpVectors(ca.startTarget, ca.endTarget, ease);
-      const orbitControls = state.controls as { target?: THREE.Vector3 };
-      if (orbitControls?.target) {
-        orbitControls.target.copy(orbitTargetRef.current);
-      }
-      if (progress >= 1.0) {
-        ca.active = false;
-        camera.position.copy(ca.endPos);
-        camera.quaternion.copy(ca.endRot);
-        orbitTargetRef.current.copy(ca.endTarget);
-        ca.resolve?.();
-        ca.resolve = null;
-      }
-    }
-
-    // Check single-step mode (spec 1.2)
+    // Check single-step mode
     const shouldStep = !pausedRef.current || stepsToRunRef.current > 0;
     if (!shouldStep) return;
 
@@ -432,31 +287,17 @@ export function MujocoSimProvider({
       cb(model, data);
     }
 
-    // IK
-    if (ikEnabledRef.current && target) {
-      ikCalculatingRef.current = true;
-      const numArm = configRef.current.numArmJoints ?? 7;
-      const currentQ: number[] = [];
-      for (let i = 0; i < numArm; i++) currentQ.push(data.qpos[i]);
-      const solution = ikSolveFnRef.current(target.position, target.quaternion, currentQ);
-      if (solution) {
-        for (let i = 0; i < numArm; i++) data.ctrl[i] = solution[i];
-      }
-    } else {
-      ikCalculatingRef.current = false;
-    }
-
-    // Step physics with substeps (spec 1.1)
+    // Step physics with substeps
     const numSubsteps = substepsRef.current;
     if (stepsToRunRef.current > 0) {
-      // Single-step mode (spec 1.2)
       for (let s = 0; s < stepsToRunRef.current; s++) {
         mujoco.mj_step(model, data);
       }
       stepsToRunRef.current = 0;
     } else {
       const startSimTime = data.time;
-      const frameTime = (1.0 / 60.0) * speedRef.current;
+      const clampedDelta = Math.min(delta, 1 / 15); // cap to avoid spiral of death
+      const frameTime = clampedDelta * speedRef.current;
       while (data.time - startSimTime < frameTime) {
         for (let s = 0; s < numSubsteps; s++) {
           mujoco.mj_step(model, data);
@@ -479,19 +320,16 @@ export function MujocoSimProvider({
     const data = mjDataRef.current;
     if (!model || !data) return;
 
-    gizmoAnimRef.current.active = false;
     mujoco.mj_resetData(model, data);
 
     const homeJoints = configRef.current.homeJoints;
     if (homeJoints) {
-      for (let i = 0; i < homeJoints.length; i++) {
+      const homeCount = Math.min(homeJoints.length, model.nu);
+      for (let i = 0; i < homeCount; i++) {
         data.ctrl[i] = homeJoints[i];
-        if (model.actuator_trnid[2 * i + 1] === 1) {
-          const jointId = model.actuator_trnid[2 * i];
-          if (jointId >= 0 && jointId < model.njnt) {
-            const qposAdr = model.jnt_qposadr[jointId];
-            data.qpos[qposAdr] = homeJoints[i];
-          }
+        const qposAdr = getActuatedScalarQposAdr(model, i);
+        if (qposAdr !== -1) {
+          data.qpos[qposAdr] = homeJoints[i];
         }
       }
     }
@@ -499,61 +337,11 @@ export function MujocoSimProvider({
     configRef.current.onReset?.(model, data);
     mujoco.mj_forward(model, data);
 
-    if (ikTargetRef.current) {
-      syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
-    }
-    firstIkEnableRef.current = true;
-    ikEnabledRef.current = false;
-  }, [mujoco, syncGizmoToSite]);
-
-  const setIkEnabled = useCallback((enabled: boolean) => {
-    ikEnabledRef.current = enabled;
-    const data = mjDataRef.current;
-    if (enabled && data && !gizmoAnimRef.current.active && ikTargetRef.current) {
-      syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
-      firstIkEnableRef.current = false;
+    // Notify composable plugins (e.g. IkController)
+    for (const cb of resetCallbacks.current) {
+      cb();
     }
-  }, [syncGizmoToSite]);
-
-  const syncTargetToSite = useCallback(() => {
-    const data = mjDataRef.current;
-    const target = ikTargetRef.current;
-    if (data && target) syncGizmoToSite(data, siteIdRef.current, target);
-  }, [syncGizmoToSite]);
-
-  const solveIK = useCallback(
-    (pos: THREE.Vector3, quat: THREE.Quaternion, currentQ: number[]): number[] | null => {
-      return ikSolveFnRef.current(pos, quat, currentQ);
-    },
-    []
-  );
-
-  const moveTarget = useCallback(
-    (pos: THREE.Vector3, duration = 0) => {
-      if (!ikEnabledRef.current) setIkEnabled(true);
-      const target = ikTargetRef.current;
-      if (!target) return;
-
-      const targetPos = pos.clone();
-      const targetRot = new THREE.Quaternion().setFromEuler(new THREE.Euler(Math.PI, 0, 0));
-
-      if (duration > 0) {
-        const ga = gizmoAnimRef.current;
-        ga.active = true;
-        ga.startPos.copy(target.position);
-        ga.endPos.copy(targetPos);
-        ga.startRot.copy(target.quaternion);
-        ga.endRot.copy(targetRot);
-        ga.startTime = performance.now();
-        ga.duration = duration;
-      } else {
-        gizmoAnimRef.current.active = false;
-        target.position.copy(targetPos);
-        target.quaternion.copy(targetRot);
-      }
-    },
-    [setIkEnabled]
-  );
+  }, [mujoco]);
 
   const setSpeed = useCallback((multiplier: number) => {
     speedRef.current = multiplier;
@@ -564,17 +352,14 @@ export function MujocoSimProvider({
     return pausedRef.current;
   }, []);
 
-  // spec 1.1: declarative pause
   const setPaused = useCallback((p: boolean) => {
     pausedRef.current = p;
   }, []);
 
-  // spec 1.2: single-step mode
   const step = useCallback((n = 1) => {
     stepsToRunRef.current = n;
   }, []);
 
-  // spec 1.3: simulation time access
   const getTime = useCallback((): number => {
     return mjDataRef.current?.time ?? 0;
   }, []);
@@ -583,7 +368,6 @@ export function MujocoSimProvider({
     return mjModelRef.current?.opt?.timestep ?? 0.002;
   }, []);
 
-  // spec 4.1: state snapshot save/restore
   const saveState = useCallback((): StateSnapshot => {
     const data = mjDataRef.current;
     if (!data) return { time: 0, qpos: new Float64Array(0), qvel: new Float64Array(0), ctrl: new Float64Array(0), act: new Float64Array(0), qfrc_applied: new Float64Array(0) };
@@ -610,7 +394,6 @@ export function MujocoSimProvider({
     mujoco.mj_forward(model, data);
   }, [mujoco]);
 
-  // spec 4.3: qpos/qvel direct set/get
   const setQpos = useCallback((values: Float64Array | number[]) => {
     const model = mjModelRef.current;
     const data = mjDataRef.current;
@@ -635,18 +418,15 @@ export function MujocoSimProvider({
     return mjDataRef.current ? new Float64Array(mjDataRef.current.qvel) : new Float64Array(0);
   }, []);
 
-  // spec 3.1: ctrl set/get
   const setCtrl = useCallback((nameOrValues: string | Record<string, number>, value?: number) => {
     const model = mjModelRef.current;
     const data = mjDataRef.current;
     if (!model || !data) return;
 
     if (typeof nameOrValues === 'string') {
-      // Single actuator by name
       const id = findActuatorByName(model, nameOrValues);
       if (id >= 0 && value !== undefined) data.ctrl[id] = value;
     } else {
-      // Batch: { name: value, ... }
       for (const [name, val] of Object.entries(nameOrValues)) {
         const id = findActuatorByName(model, name);
         if (id >= 0) data.ctrl[id] = val;
@@ -658,7 +438,6 @@ export function MujocoSimProvider({
     return mjDataRef.current ? new Float64Array(mjDataRef.current.ctrl) : new Float64Array(0);
   }, []);
 
-  // spec 8.1: force/torque API
   const applyForce = useCallback((bodyName: string, force: THREE.Vector3, point?: THREE.Vector3) => {
     const model = mjModelRef.current;
     const data = mjDataRef.current;
@@ -711,7 +490,6 @@ export function MujocoSimProvider({
     }
   }, []);
 
-  // spec 2.1: sensor data
   const getSensorData = useCallback((name: string): Float64Array | null => {
     const model = mjModelRef.current;
     const data = mjDataRef.current;
@@ -723,7 +501,6 @@ export function MujocoSimProvider({
     return new Float64Array(data.sensordata.subarray(adr, adr + dim));
   }, []);
 
-  // spec 2.4: contacts
   const getContacts = useCallback((): ContactInfo[] => {
     const model = mjModelRef.current;
     const data = mjDataRef.current;
@@ -731,24 +508,20 @@ export function MujocoSimProvider({
     const contacts: ContactInfo[] = [];
     const ncon = data.ncon;
     for (let i = 0; i < ncon; i++) {
-      try {
-        const c = (data.contact as { get(i: number): { geom1: number; geom2: number; pos: Float64Array; dist: number } }).get(i);
-        contacts.push({
-          geom1: c.geom1,
-          geom1Name: getName(model, model.name_geomadr[c.geom1]),
-          geom2: c.geom2,
-          geom2Name: getName(model, model.name_geomadr[c.geom2]),
-          pos: [c.pos[0], c.pos[1], c.pos[2]],
-          depth: c.dist,
-        });
-      } catch {
-        break; // WASM contact access can fail
-      }
+      const c = getContact(data, i);
+      if (!c) break;
+      contacts.push({
+        geom1: c.geom1,
+        geom1Name: getName(model, model.name_geomadr[c.geom1]),
+        geom2: c.geom2,
+        geom2Name: getName(model, model.name_geomadr[c.geom2]),
+        pos: [c.pos[0], c.pos[1], c.pos[2]],
+        depth: c.dist,
+      });
     }
     return contacts;
   }, []);
 
-  // spec 5.1: model introspection
   const getBodies = useCallback((): BodyInfo[] => {
     const model = mjModelRef.current;
     if (!model) return [];
@@ -853,7 +626,6 @@ export function MujocoSimProvider({
     return result;
   }, []);
 
-  // spec 5.3: model options
   const getModelOption = useCallback((): ModelOptions => {
     const model = mjModelRef.current;
     if (!model?.opt) return { timestep: 0.002, gravity: [0, 0, -9.81], integrator: 0 };
@@ -878,7 +650,6 @@ export function MujocoSimProvider({
     model.opt.timestep = dt;
   }, []);
 
-  // spec 7.1: physics raycast
   const raycast = useCallback((origin: THREE.Vector3, direction: THREE.Vector3, maxDist = 100): RayHit | null => {
     const model = mjModelRef.current;
     const data = mjDataRef.current;
@@ -905,11 +676,10 @@ export function MujocoSimProvider({
         distance: dist,
       };
     } catch {
-      return null; // mj_ray may not be available in all WASM builds
+      return null;
     }
   }, [mujoco]);
 
-  // spec 4.2: keyframe improvements
   const applyKeyframe = useCallback((nameOrIndex: string | number) => {
     const model = mjModelRef.current;
     const data = mjDataRef.current;
@@ -933,7 +703,6 @@ export function MujocoSimProvider({
     const ctrlOffset = keyId * nu;
     for (let i = 0; i < nu; i++) data.ctrl[i] = model.key_ctrl[ctrlOffset + i];
 
-    // Also restore qvel if available (spec 4.2)
     if (model.key_qvel) {
       const qvelOffset = keyId * model.nv;
       for (let i = 0; i < model.nv; i++) data.qvel[i] = model.key_qvel[qvelOffset + i];
@@ -941,10 +710,11 @@ export function MujocoSimProvider({
 
     mujoco.mj_forward(model, data);
 
-    if (ikTargetRef.current) {
-      syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
+    // Notify composable plugins
+    for (const cb of resetCallbacks.current) {
+      cb();
     }
-  }, [mujoco, syncGizmoToSite]);
+  }, [mujoco]);
 
   const getKeyframeNames = useCallback((): string[] => {
     const model = mjModelRef.current;
@@ -960,10 +730,9 @@ export function MujocoSimProvider({
     return mjModelRef.current?.nkey ?? 0;
   }, []);
 
-  // spec 9.1: runtime model swap
   const loadSceneApi = useCallback(async (newConfig: SceneConfig): Promise<void> => {
+    const gen = ++loadGenRef.current;
     try {
-      // Clean up current model
       mjModelRef.current?.delete();
       mjDataRef.current?.delete();
       mjModelRef.current = null;
@@ -971,30 +740,24 @@ export function MujocoSimProvider({
       setStatus('loading');
 
       const result = await loadScene(mujoco, newConfig);
+
+      if (gen !== loadGenRef.current) {
+        result.mjModel.delete();
+        result.mjData.delete();
+        return;
+      }
+
       mjModelRef.current = result.mjModel;
       mjDataRef.current = result.mjData;
-      siteIdRef.current = result.siteId;
-      gripperIdRef.current = result.gripperId;
       configRef.current = newConfig;
 
-      if (ikTargetRef.current) {
-        syncGizmoToSite(result.mjData, result.siteId, ikTargetRef.current);
-      }
       setStatus('ready');
     } catch (e) {
+      if (gen !== loadGenRef.current) return;
       setStatus('error');
       throw e;
     }
-  }, [mujoco, syncGizmoToSite]);
-
-  const getGizmoStats = useCallback((): { pos: THREE.Vector3; rot: THREE.Euler } | null => {
-    const target = ikTargetRef.current;
-    if (!ikCalculatingRef.current || !target) return null;
-    return {
-      pos: target.position.clone(),
-      rot: new THREE.Euler().setFromQuaternion(target.quaternion),
-    };
-  }, []);
+  }, [mujoco]);
 
   const getCanvasSnapshot = useCallback(
     (width?: number, height?: number, mimeType = 'image/jpeg'): string => {
@@ -1020,9 +783,8 @@ export function MujocoSimProvider({
       virtCam.lookAt(lookAt);
       virtCam.updateMatrixWorld();
       virtCam.updateProjectionMatrix();
-      const ndc = new THREE.Vector2(x * 2 - 1, -(y * 2 - 1));
-      const raycaster = new THREE.Raycaster();
-      raycaster.setFromCamera(ndc, virtCam);
+      _projNdc.set(x * 2 - 1, -(y * 2 - 1));
+      _projRaycaster.setFromCamera(_projNdc, virtCam);
       const objects: THREE.Object3D[] = [];
       const scene = (camera as THREE.PerspectiveCamera).parent;
       if (scene) {
@@ -1030,12 +792,10 @@ export function MujocoSimProvider({
           if ((c as THREE.Mesh).isMesh) objects.push(c);
         });
       }
-      const hits = raycaster.intersectObjects(objects);
+      const hits = _projRaycaster.intersectObjects(objects);
       if (hits.length > 0) {
         const hitObj = hits[0].object;
-        // Find geomId from the hit object's userData
         const geomId = hitObj.userData.geomID !== undefined ? hitObj.userData.geomID : -1;
-        // Walk up to find bodyId
         let obj = hitObj;
         while (obj && obj.userData.bodyID === undefined && obj.parent) {
           obj = obj.parent;
@@ -1048,7 +808,7 @@ export function MujocoSimProvider({
     [camera, gl]
   );
 
-  // --- Domain randomization (spec 10.3) ---
+  // --- Domain randomization ---
 
   const setBodyMass = useCallback((name: string, mass: number): void => {
     const model = mjModelRef.current;
@@ -1078,33 +838,6 @@ export function MujocoSimProvider({
     model.geom_size[id * 3 + 2] = size[2];
   }, []);
 
-  const getCameraState = useCallback((): { position: THREE.Vector3; target: THREE.Vector3 } => {
-    return { position: camera.position.clone(), target: orbitTargetRef.current.clone() };
-  }, [camera]);
-
-  const moveCameraTo = useCallback(
-    (position: THREE.Vector3, target: THREE.Vector3, durationMs: number): Promise<void> => {
-      return new Promise((resolve) => {
-        const ca = cameraAnimRef.current;
-        ca.active = true;
-        ca.startTime = performance.now();
-        ca.duration = durationMs;
-        ca.startPos.copy(camera.position);
-        ca.startRot.copy(camera.quaternion);
-        ca.startTarget.copy(orbitTargetRef.current);
-        ca.endPos.copy(position);
-        ca.endTarget.copy(target);
-        const dummyCam = (camera as THREE.PerspectiveCamera).clone();
-        dummyCam.position.copy(position);
-        dummyCam.lookAt(target);
-        ca.endRot.copy(dummyCam.quaternion);
-        ca.resolve = resolve;
-        setTimeout(resolve, durationMs + 100);
-      });
-    },
-    [camera]
-  );
-
   // --- Assemble API ---
   const api = useMemo<MujocoSimAPI>(
     () => ({
@@ -1145,15 +878,8 @@ export function MujocoSimProvider({
       getKeyframeNames,
       getKeyframeCount,
       loadScene: loadSceneApi,
-      setIkEnabled,
-      moveTarget,
-      syncTargetToSite,
-      solveIK,
-      getGizmoStats,
       getCanvasSnapshot,
       project2DTo3D,
-      getCameraState,
-      moveCameraTo,
       setBodyMass,
       setGeomFriction,
       setGeomSize,
@@ -1168,8 +894,7 @@ export function MujocoSimProvider({
       getSensorData, getContacts, getBodies, getJoints, getGeoms, getSites,
       getActuatorsApi, getSensors, getModelOption, setGravity, setTimestepApi,
       raycast, getKeyframeNames, getKeyframeCount, loadSceneApi,
-      setIkEnabled, moveTarget, syncTargetToSite, solveIK, getGizmoStats,
-      getCanvasSnapshot, project2DTo3D, getCameraState, moveCameraTo,
+      getCanvasSnapshot, project2DTo3D,
       setBodyMass, setGeomFriction, setGeomSize,
     ]
   );
@@ -1183,22 +908,13 @@ export function MujocoSimProvider({
       mjDataRef,
       mujocoRef,
       configRef,
-      siteIdRef,
-      gripperIdRef,
-      ikEnabledRef,
-      ikCalculatingRef,
       pausedRef,
       speedRef,
       substepsRef,
-      ikTargetRef,
-      genericIkRef,
-      ikSolveFnRef,
-      firstIkEnableRef,
-      gizmoAnimRef,
-      cameraAnimRef,
       onSelectionRef,
       beforeStepCallbacks,
       afterStepCallbacks,
+      resetCallbacks,
       status,
     }),
     [api, status]