mujoco-react 10.2.1 → 10.3.0

package/dist/spark.d.ts

@@ -1,6 +1,6 @@
 import * as react_jsx_runtime from 'react/jsx-runtime';
 import * as _sparkjsdev_spark from '@sparkjsdev/spark';
-import { n as SplatEnvironmentProps, q as PairedSplatEnvironmentConfig, S as SceneConfig, t as SplatEnvironmentReadiness, o as VisualScenarioConfig } from './types-B-J8fpPP.js';
+import { o as SplatEnvironmentProps, r as PairedSplatEnvironmentConfig, S as SceneConfig, u as SplatEnvironmentReadiness, p as VisualScenarioConfig } from './types-BOhNDICK.js';
 import 'react';
 import '@react-three/fiber';
 import 'three';

package/dist/spark.js

@@ -1,4 +1,4 @@
-import { useSplatSceneConfig, useSplatEnvironment, SplatEnvironment, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY } from './chunk-CYDGWNKQ.js';
+import { useSplatSceneConfig, useSplatEnvironment, SplatEnvironment, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY } from './chunk-6AZEFI6A.js';
 import { useThree } from '@react-three/fiber';
 import { useMemo, useState, useEffect, useCallback, useRef } from 'react';
 import * as THREE from 'three';
@@ -190,6 +190,9 @@ function SparkSplatEnvironment({
   const onErrorRef = useRef(onError);
   const [status, setStatus] = useState("idle");
   const { gl, invalidate } = useThree();
+  onStatusChangeRef.current = onStatusChange;
+  onLoadRef.current = onLoad;
+  onErrorRef.current = onError;
   const metadata = useSplatEnvironment({
     environment,
     scenario,
@@ -221,15 +224,6 @@ function SparkSplatEnvironment({
       lod
     ]
   );
-  useEffect(() => {
-    onStatusChangeRef.current = onStatusChange;
-  }, [onStatusChange]);
-  useEffect(() => {
-    onLoadRef.current = onLoad;
-  }, [onLoad]);
-  useEffect(() => {
-    onErrorRef.current = onError;
-  }, [onError]);
   useEffect(() => {
     let disposed = false;
     ensureSparkDisposeRejectionHandler();

package/dist/spark.js.map

@@ -1 +1 @@
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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport {\n  useCallback,\n  useEffect,\n  useMemo,\n  useRef,\n  useState,\n} from 'react';\nimport * as THREE from 'three';\nimport {\n  SplatEnvironment,\n  useSplatEnvironment,\n  useSplatSceneConfig,\n} from './components/VisualScenario';\nimport {\n  CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY,\n} from './rendering/cameraFrameCapture';\nimport type {\n  CameraFrameCaptureRenderInput,\n  CameraFrameCaptureRenderResult,\n} from './rendering/cameraFrameCapture';\nimport type {\n  PairedSplatEnvironmentConfig,\n  SceneConfig,\n  SplatEnvironmentProps,\n  SplatEnvironmentReadiness,\n  VisualScenarioConfig,\n} from './types';\n\ntype SparkModule = typeof import('@sparkjsdev/spark');\ntype SparkRendererInstance = InstanceType<SparkModule['SparkRenderer']>;\ntype SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;\ntype SparkDisposable = {\n  dispose?: () => unknown;\n};\ntype SparkCaptureRenderer = {\n  renderer: SparkRendererInstance;\n  width: number;\n  height: number;\n};\ntype SparkWorkerMessage = {\n  reject?: (error: unknown) => void;\n};\ntype SparkWorkerLike = {\n  messages?: Record<string, SparkWorkerMessage>;\n};\ntype SparkResourceWithWorkers = SparkDisposable & {\n  worker?: SparkWorkerLike;\n  sortWorker?: SparkWorkerLike;\n  lodWorker?: SparkWorkerLike;\n};\n\nexport type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';\n\nlet sparkDisposeRejectionHandlerRegistered = false;\n\nexport interface SparkSplatRenderTuning {\n  /** Scale Spark's LoD splat budget for the live viewport. */\n  lodSplatScale?: number;\n  /** Minimum rendered LoD splat size. Higher values trade detail for speed. */\n  lodRenderScale?: number;\n  /** Minimum delay between Spark sort passes for the live viewport. */\n  minSortIntervalMs?: number;\n}\n\nexport interface SparkSplatCaptureTuning extends SparkSplatRenderTuning {\n  /** Maximum animation frames to wait for first-capture Spark warm-up. Default: 4. */\n  maxWarmupFrames?: number;\n  /** Number of pixels sampled when deciding whether a capture is blank. Default: 512. */\n  blankSampleCount?: number;\n  /** Alpha threshold used by the blank-capture detector. Default: 8. */\n  blankAlphaThreshold?: number;\n  /** Minimum visible sampled-pixel ratio before retrying capture. Default: 0.02. */\n  blankVisibleRatio?: number;\n  /** Minimum average sampled RGB sum before retrying capture. Default: 3. */\n  blankAverageColor?: number;\n}\n\ntype ResolvedSparkSplatCaptureTuning = Required<\n  Pick<\n    SparkSplatCaptureTuning,\n    | 'maxWarmupFrames'\n    | 'blankSampleCount'\n    | 'blankAlphaThreshold'\n    | 'blankVisibleRatio'\n    | 'blankAverageColor'\n  >\n> &\n  SparkSplatRenderTuning;\n\nfunction getDefaultLiveRenderTuning(\n  lod: SparkSplatEnvironmentProps['lod']\n): SparkSplatRenderTuning {\n  return {\n    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1 : 0.6,\n    lodRenderScale: lod === false || lod === 'quality' ? undefined : 1.2,\n    minSortIntervalMs: lod === false ? 0 : lod === 'quality' ? 32 : 80,\n  };\n}\n\nfunction getDefaultCaptureTuning(\n  lod: SparkSplatEnvironmentProps['lod']\n): ResolvedSparkSplatCaptureTuning {\n  return {\n    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1.25 : 1.15,\n    lodRenderScale: lod === false ? undefined : 0.6,\n    minSortIntervalMs: 0,\n    maxWarmupFrames: 4,\n    blankSampleCount: 512,\n    blankAlphaThreshold: 8,\n    blankVisibleRatio: 0.02,\n    blankAverageColor: 3,\n  };\n}\n\nfunction resolveRenderTuning(\n  defaults: SparkSplatRenderTuning,\n  tuning: SparkSplatRenderTuning | undefined\n): SparkSplatRenderTuning {\n  return {\n    lodSplatScale: tuning?.lodSplatScale ?? defaults.lodSplatScale,\n    lodRenderScale: tuning?.lodRenderScale ?? defaults.lodRenderScale,\n    minSortIntervalMs: tuning?.minSortIntervalMs ?? defaults.minSortIntervalMs,\n  };\n}\n\nfunction resolveCaptureTuning(\n  lod: SparkSplatEnvironmentProps['lod'],\n  tuning: SparkSplatCaptureTuning | undefined\n): ResolvedSparkSplatCaptureTuning {\n  const defaults = getDefaultCaptureTuning(lod);\n  return {\n    ...resolveRenderTuning(defaults, tuning),\n    maxWarmupFrames: tuning?.maxWarmupFrames ?? defaults.maxWarmupFrames,\n    blankSampleCount: tuning?.blankSampleCount ?? defaults.blankSampleCount,\n    blankAlphaThreshold:\n      tuning?.blankAlphaThreshold ?? defaults.blankAlphaThreshold,\n    blankVisibleRatio: tuning?.blankVisibleRatio ?? defaults.blankVisibleRatio,\n    blankAverageColor: tuning?.blankAverageColor ?? defaults.blankAverageColor,\n  };\n}\n\nfunction waitForNextAnimationFrame() {\n  return new Promise<void>((resolve) => {\n    requestAnimationFrame(() => resolve());\n  });\n}\n\nfunction isMostlyBlankCapture(\n  pixels: Uint8Array,\n  tuning: ResolvedSparkSplatCaptureTuning\n) {\n  const sampleCount = Math.max(1, Math.floor(tuning.blankSampleCount));\n  const stride = Math.max(4, Math.floor(pixels.length / sampleCount / 4) * 4);\n  let sampled = 0;\n  let visible = 0;\n  let colorTotal = 0;\n\n  for (let i = 0; i < pixels.length; i += stride) {\n    const alpha = pixels[i + 3];\n    const color = pixels[i] + pixels[i + 1] + pixels[i + 2];\n    sampled += 1;\n    if (alpha > tuning.blankAlphaThreshold) visible += 1;\n    colorTotal += color;\n  }\n\n  if (sampled === 0) return true;\n  return (\n    visible / sampled < tuning.blankVisibleRatio ||\n    colorTotal / sampled < tuning.blankAverageColor\n  );\n}\n\nexport interface SparkSplatLifecycle {\n  status: SparkSplatStatus;\n  error: Error | null;\n  isLoading: boolean;\n  isReady: boolean;\n  isError: boolean;\n  props: Pick<SparkSplatEnvironmentProps, 'onStatusChange' | 'onError'>;\n  reset: () => void;\n}\n\nexport interface SparkSplatEnvironmentState {\n  environment: PairedSplatEnvironmentConfig | undefined;\n  sceneConfig: SceneConfig;\n  readiness: SplatEnvironmentReadiness;\n  lifecycle: SparkSplatLifecycle;\n  props: Pick<\n    SparkSplatEnvironmentProps,\n    'environment' | 'scenario' | 'src' | 'format' | 'onStatusChange' | 'onError'\n  >;\n  enabled: boolean;\n}\n\nexport interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {\n  /** Enable Spark LoD handling for large splat assets. Default: true. */\n  lod?: boolean | 'quality';\n  /** Tune Spark's live viewport renderer. Defaults favor interactive FPS. */\n  renderTuning?: SparkSplatRenderTuning;\n  /** Tune Spark camera-frame capture. Defaults favor sharper snapshots. */\n  captureTuning?: SparkSplatCaptureTuning;\n  /**\n   * Hide meshes whose names include floor, ground, or plane while the splat is\n   * active. This mirrors the common hybrid-rendering setup where MJCF keeps\n   * collision geometry but the splat owns the visual environment.\n   */\n  hideGroundMeshes?: boolean;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n  onLoad?: (mesh: SparkSplatMeshInstance) => void;\n  onError?: (error: Error) => void;\n}\n\n/**\n * Resolve a visual scenario's paired splat environment, compose its MJCF\n * collision proxy into the MuJoCo scene config, and expose Spark lifecycle\n * props for `<SparkSplatEnvironment />`.\n */\nexport function useSparkSplatEnvironment({\n  sceneConfig,\n  scenario,\n  environment,\n  enabled = true,\n  renderer = 'spark',\n  onError,\n  onStatusChange,\n}: {\n  sceneConfig: SceneConfig;\n  scenario?: VisualScenarioConfig;\n  environment?: PairedSplatEnvironmentConfig;\n  enabled?: boolean;\n  renderer?: 'spark';\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n}): SparkSplatEnvironmentState {\n  const splatScene = useSplatSceneConfig({\n    sceneConfig,\n    scenario,\n    environment,\n    enabled,\n    renderer,\n  });\n  const metadata = useSplatEnvironment({\n    scenario,\n    environment: splatScene.environment,\n    renderer,\n  });\n  const renderEnabled = enabled && Boolean(metadata.src);\n  const readiness = enabled ? metadata.readiness : splatScene.readiness;\n  const lifecycle = useSparkSplatLifecycle({\n    enabled: renderEnabled,\n    onError,\n    onStatusChange,\n  });\n\n  return useMemo(\n    () => ({\n      environment: splatScene.environment,\n      sceneConfig: splatScene.sceneConfig,\n      readiness,\n      lifecycle,\n      props: {\n        environment: splatScene.environment,\n        scenario: enabled ? scenario : undefined,\n        src: enabled ? metadata.src : undefined,\n        format: metadata.format,\n        ...lifecycle.props,\n      },\n      enabled: renderEnabled,\n    }),\n    [enabled, lifecycle, metadata, readiness, renderEnabled, scenario, splatScene]\n  );\n}\n\n/**\n * Tracks Spark 3DGS loading state for UI that wraps `SparkSplatEnvironment`.\n *\n * Use the returned `props` with `<SparkSplatEnvironment {...lifecycle.props} />`\n * to avoid repeating status/error state in app code.\n */\nexport function useSparkSplatLifecycle({\n  enabled = true,\n  initialStatus,\n  onError,\n  onStatusChange,\n}: {\n  enabled?: boolean;\n  initialStatus?: SparkSplatStatus;\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n} = {}): SparkSplatLifecycle {\n  const [status, setStatus] = useState<SparkSplatStatus>(\n    initialStatus ?? (enabled ? 'loading' : 'idle')\n  );\n  const [error, setError] = useState<Error | null>(null);\n\n  useEffect(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  const handleStatusChange = useCallback(\n    (nextStatus: SparkSplatStatus) => {\n      setStatus(nextStatus);\n      if (nextStatus !== 'error') {\n        setError(null);\n      }\n      onStatusChange?.(nextStatus);\n    },\n    [onStatusChange]\n  );\n\n  const handleError = useCallback(\n    (nextError: Error) => {\n      setError(nextError);\n      setStatus('error');\n      onError?.(nextError);\n    },\n    [onError]\n  );\n\n  const reset = useCallback(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  return useMemo(\n    () => ({\n      status,\n      error,\n      isLoading: status === 'loading',\n      isReady: status === 'ready',\n      isError: status === 'error',\n      props: {\n        onStatusChange: handleStatusChange,\n        onError: handleError,\n      },\n      reset,\n    }),\n    [error, handleError, handleStatusChange, reset, status]\n  );\n}\n\n/**\n * Optional SparkJS-backed Gaussian splat renderer for React Three Fiber scenes.\n *\n * Import from `mujoco-react/spark` and install `@sparkjsdev/spark` in the app\n * that uses it. The core `mujoco-react` entrypoint does not depend on Spark.\n */\nexport function SparkSplatEnvironment({\n  environment,\n  scenario,\n  renderer = 'spark',\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  showPlaceholder,\n  children,\n  lod = true,\n  renderTuning,\n  captureTuning,\n  hideGroundMeshes = false,\n  onStatusChange,\n  onLoad,\n  onError,\n  ...groupProps\n}: SparkSplatEnvironmentProps) {\n  const groupRef = useRef<THREE.Group>(null);\n  const sparkRef = useRef<SparkRendererInstance | null>(null);\n  const captureSparkRef = useRef<SparkCaptureRenderer | null>(null);\n  const meshRef = useRef<SparkSplatMeshInstance | null>(null);\n  const hiddenMeshesRef = useRef<THREE.Mesh[]>([]);\n  const onStatusChangeRef = useRef(onStatusChange);\n  const onLoadRef = useRef(onLoad);\n  const onErrorRef = useRef(onError);\n  const [status, setStatus] = useState<SparkSplatStatus>('idle');\n  const { gl, invalidate } = useThree();\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n  const resolvedRenderTuning = useMemo(\n    () => resolveRenderTuning(getDefaultLiveRenderTuning(lod), renderTuning),\n    [\n      lod,\n      renderTuning?.lodRenderScale,\n      renderTuning?.lodSplatScale,\n      renderTuning?.minSortIntervalMs,\n    ]\n  );\n  const resolvedCaptureTuning = useMemo(\n    () => resolveCaptureTuning(lod, captureTuning),\n    [\n      captureTuning?.blankAlphaThreshold,\n      captureTuning?.blankAverageColor,\n      captureTuning?.blankSampleCount,\n      captureTuning?.blankVisibleRatio,\n      captureTuning?.lodRenderScale,\n      captureTuning?.lodSplatScale,\n      captureTuning?.maxWarmupFrames,\n      captureTuning?.minSortIntervalMs,\n      lod,\n    ]\n  );\n\n  useEffect(() => {\n    onStatusChangeRef.current = onStatusChange;\n  }, [onStatusChange]);\n\n  useEffect(() => {\n    onLoadRef.current = onLoad;\n  }, [onLoad]);\n\n  useEffect(() => {\n    onErrorRef.current = onError;\n  }, [onError]);\n\n  useEffect(() => {\n    let disposed = false;\n    ensureSparkDisposeRejectionHandler();\n\n    function setLifecycleStatus(nextStatus: SparkSplatStatus) {\n      setStatus(nextStatus);\n      onStatusChangeRef.current?.(nextStatus);\n    }\n\n    function restoreHiddenMeshes() {\n      for (const mesh of hiddenMeshesRef.current) {\n        mesh.visible = true;\n      }\n      hiddenMeshesRef.current = [];\n    }\n\n    function disposeCaptureSpark() {\n      safelyDisposeSparkResource(captureSparkRef.current?.renderer);\n      captureSparkRef.current = null;\n    }\n\n    async function loadSplat() {\n      if (!metadata.src) {\n        setLifecycleStatus('idle');\n        return;\n      }\n\n      if (metadata.format !== 'spz') {\n        const unsupportedFormatError = new Error(\n          `SparkSplatEnvironment only supports .spz assets; received \"${metadata.format}\".`\n        );\n        setLifecycleStatus('error');\n        onErrorRef.current?.(unsupportedFormatError);\n        return;\n      }\n\n      setLifecycleStatus('loading');\n\n      try {\n        const sparkModule = await import('@sparkjsdev/spark');\n        if (disposed || !groupRef.current) return;\n\n        const spark = new sparkModule.SparkRenderer({\n          renderer: gl,\n          onDirty: invalidate,\n          ...resolvedRenderTuning,\n        });\n        spark.userData[CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY] = async ({\n          scene,\n          camera,\n          width,\n          height,\n        }: CameraFrameCaptureRenderInput): Promise<CameraFrameCaptureRenderResult> => {\n          let captureSpark = captureSparkRef.current;\n          if (\n            !captureSpark ||\n            captureSpark.width !== width ||\n            captureSpark.height !== height\n          ) {\n            disposeCaptureSpark();\n            captureSpark = {\n              renderer: new sparkModule.SparkRenderer({\n                renderer: gl,\n                autoUpdate: false,\n                lodSplatScale: resolvedCaptureTuning.lodSplatScale,\n                lodRenderScale: resolvedCaptureTuning.lodRenderScale,\n                minSortIntervalMs: resolvedCaptureTuning.minSortIntervalMs,\n                target: {\n                  width,\n                  height,\n                },\n              }),\n              width,\n              height,\n            };\n            captureSparkRef.current = captureSpark;\n          }\n\n          const captureRenderer = captureSpark.renderer;\n          const maxWarmupFrames = Math.max(\n            1,\n            Math.floor(resolvedCaptureTuning.maxWarmupFrames)\n          );\n          let pixels: Uint8Array | undefined;\n          for (let attempt = 0; attempt < maxWarmupFrames; attempt += 1) {\n            captureRenderer.renderSize.set(width, height);\n            await captureRenderer.update({ scene, camera });\n            pixels = await captureRenderer.renderReadTarget({\n              scene,\n              camera,\n            });\n            if (\n              captureRenderer.activeSplats > 0 &&\n              !isMostlyBlankCapture(pixels, resolvedCaptureTuning)\n            ) {\n              break;\n            }\n            if (attempt < maxWarmupFrames - 1) {\n              await waitForNextAnimationFrame();\n            }\n          }\n          if (!pixels) {\n            throw new Error('Spark camera frame capture did not produce pixels.');\n          }\n          return { pixels, width, height, flipY: true };\n        };\n        const mesh = new sparkModule.SplatMesh({\n          url: metadata.src,\n          lod,\n        });\n        mesh.name = 'GaussianSplatMesh';\n\n        groupRef.current.add(spark);\n        groupRef.current.add(mesh);\n        sparkRef.current = spark;\n        meshRef.current = mesh;\n\n        if (hideGroundMeshes && groupRef.current.parent) {\n          groupRef.current.parent.traverse((object) => {\n            if (\n              !(object instanceof THREE.Mesh) ||\n              object === (mesh as unknown as THREE.Object3D)\n            ) {\n              return;\n            }\n            const name = object.name.toLowerCase();\n            if (\n              name.includes('floor') ||\n              name.includes('ground') ||\n              name.includes('plane')\n            ) {\n              object.visible = false;\n              hiddenMeshesRef.current.push(object);\n            }\n          });\n        }\n\n        await mesh.initialized;\n        if (disposed) return;\n        setLifecycleStatus('ready');\n        onLoadRef.current?.(mesh);\n        invalidate();\n      } catch (error) {\n        const normalizedError =\n          error instanceof Error ? error : new Error(String(error));\n        setLifecycleStatus('error');\n        onErrorRef.current?.(normalizedError);\n      }\n    }\n\n    void loadSplat();\n\n    return () => {\n      disposed = true;\n      restoreHiddenMeshes();\n\n      if (meshRef.current) {\n        groupRef.current?.remove(meshRef.current);\n        safelyDisposeSparkResource(meshRef.current);\n        meshRef.current = null;\n      }\n\n      if (sparkRef.current) {\n        groupRef.current?.remove(sparkRef.current);\n        safelyDisposeSparkResource(sparkRef.current);\n        sparkRef.current = null;\n      }\n\n      disposeCaptureSpark();\n    };\n  }, [\n    gl,\n    hideGroundMeshes,\n    invalidate,\n    lod,\n    metadata.format,\n    metadata.src,\n    resolvedCaptureTuning.blankAlphaThreshold,\n    resolvedCaptureTuning.blankAverageColor,\n    resolvedCaptureTuning.blankSampleCount,\n    resolvedCaptureTuning.blankVisibleRatio,\n    resolvedCaptureTuning.lodRenderScale,\n    resolvedCaptureTuning.lodSplatScale,\n    resolvedCaptureTuning.maxWarmupFrames,\n    resolvedCaptureTuning.minSortIntervalMs,\n    resolvedRenderTuning.lodRenderScale,\n    resolvedRenderTuning.lodSplatScale,\n    resolvedRenderTuning.minSortIntervalMs,\n  ]);\n\n  return (\n    <SplatEnvironment\n      {...groupProps}\n      environment={environment}\n      scenario={scenario}\n      renderer={renderer}\n      src={metadata.src}\n      format={metadata.format}\n      collisionProxyMetadata={metadata.collisionProxy}\n      collisionProxy={collisionProxy}\n      showPlaceholder={showPlaceholder ?? status !== 'ready'}\n    >\n      <group ref={groupRef} />\n      {children}\n    </SplatEnvironment>\n  );\n}\n\nfunction safelyDisposeSparkResource(\n  resource: SparkDisposable | null | undefined\n) {\n  if (!resource) return;\n  try {\n    silenceSparkWorkerTerminateRejections(resource);\n    const result = resource.dispose?.();\n    if (isPromiseLike(result)) {\n      void Promise.resolve(result).catch(handleSparkDisposeError);\n    }\n  } catch (error) {\n    handleSparkDisposeError(error);\n  }\n}\n\nfunction isPromiseLike(value: unknown): value is PromiseLike<unknown> {\n  return (\n    typeof value === 'object' &&\n    value !== null &&\n    'then' in value &&\n    typeof (value as { then?: unknown }).then === 'function'\n  );\n}\n\nfunction silenceSparkWorkerTerminateRejections(resource: SparkDisposable) {\n  const workers = getSparkWorkers(resource);\n  for (const worker of workers) {\n    if (!worker.messages) continue;\n\n    for (const message of Object.values(worker.messages)) {\n      const reject = message.reject;\n      if (!reject) continue;\n\n      message.reject = (error: unknown) => {\n        if (!isSparkWorkerTerminateError(error)) {\n          reject(error);\n        }\n      };\n    }\n  }\n}\n\nfunction getSparkWorkers(resource: SparkDisposable): SparkWorkerLike[] {\n  const sparkResource = resource as SparkResourceWithWorkers;\n  return [\n    sparkResource.worker,\n    sparkResource.sortWorker,\n    sparkResource.lodWorker,\n  ].filter((worker): worker is SparkWorkerLike => Boolean(worker));\n}\n\nfunction handleSparkDisposeError(error: unknown) {\n  if (\n    error instanceof Error &&\n    error.message.toLowerCase().includes('worker terminate')\n  ) {\n    return;\n  }\n\n  console.warn('[mujoco-react] Spark resource disposal failed.', error);\n}\n\nfunction ensureSparkDisposeRejectionHandler() {\n  if (\n    sparkDisposeRejectionHandlerRegistered ||\n    typeof window === 'undefined' ||\n    typeof window.addEventListener !== 'function'\n  ) {\n    return;\n  }\n\n  sparkDisposeRejectionHandlerRegistered = true;\n  window.addEventListener('unhandledrejection', (event) => {\n    if (isSparkWorkerTerminateError(event.reason)) {\n      event.preventDefault();\n    }\n  });\n}\n\nfunction isSparkWorkerTerminateError(reason: unknown) {\n  return (\n    reason instanceof Error &&\n    reason.message.toLowerCase().includes('worker terminate')\n  );\n}\n"]}
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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport {\n  useCallback,\n  useEffect,\n  useMemo,\n  useRef,\n  useState,\n} from 'react';\nimport * as THREE from 'three';\nimport {\n  SplatEnvironment,\n  useSplatEnvironment,\n  useSplatSceneConfig,\n} from './components/VisualScenario';\nimport {\n  CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY,\n} from './rendering/cameraFrameCapture';\nimport type {\n  CameraFrameCaptureRenderInput,\n  CameraFrameCaptureRenderResult,\n} from './rendering/cameraFrameCapture';\nimport type {\n  PairedSplatEnvironmentConfig,\n  SceneConfig,\n  SplatEnvironmentProps,\n  SplatEnvironmentReadiness,\n  VisualScenarioConfig,\n} from './types';\n\ntype SparkModule = typeof import('@sparkjsdev/spark');\ntype SparkRendererInstance = InstanceType<SparkModule['SparkRenderer']>;\ntype SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;\ntype SparkDisposable = {\n  dispose?: () => unknown;\n};\ntype SparkCaptureRenderer = {\n  renderer: SparkRendererInstance;\n  width: number;\n  height: number;\n};\ntype SparkWorkerMessage = {\n  reject?: (error: unknown) => void;\n};\ntype SparkWorkerLike = {\n  messages?: Record<string, SparkWorkerMessage>;\n};\ntype SparkResourceWithWorkers = SparkDisposable & {\n  worker?: SparkWorkerLike;\n  sortWorker?: SparkWorkerLike;\n  lodWorker?: SparkWorkerLike;\n};\n\nexport type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';\n\nlet sparkDisposeRejectionHandlerRegistered = false;\n\nexport interface SparkSplatRenderTuning {\n  /** Scale Spark's LoD splat budget for the live viewport. */\n  lodSplatScale?: number;\n  /** Minimum rendered LoD splat size. Higher values trade detail for speed. */\n  lodRenderScale?: number;\n  /** Minimum delay between Spark sort passes for the live viewport. */\n  minSortIntervalMs?: number;\n}\n\nexport interface SparkSplatCaptureTuning extends SparkSplatRenderTuning {\n  /** Maximum animation frames to wait for first-capture Spark warm-up. Default: 4. */\n  maxWarmupFrames?: number;\n  /** Number of pixels sampled when deciding whether a capture is blank. Default: 512. */\n  blankSampleCount?: number;\n  /** Alpha threshold used by the blank-capture detector. Default: 8. */\n  blankAlphaThreshold?: number;\n  /** Minimum visible sampled-pixel ratio before retrying capture. Default: 0.02. */\n  blankVisibleRatio?: number;\n  /** Minimum average sampled RGB sum before retrying capture. Default: 3. */\n  blankAverageColor?: number;\n}\n\ntype ResolvedSparkSplatCaptureTuning = Required<\n  Pick<\n    SparkSplatCaptureTuning,\n    | 'maxWarmupFrames'\n    | 'blankSampleCount'\n    | 'blankAlphaThreshold'\n    | 'blankVisibleRatio'\n    | 'blankAverageColor'\n  >\n> &\n  SparkSplatRenderTuning;\n\nfunction getDefaultLiveRenderTuning(\n  lod: SparkSplatEnvironmentProps['lod']\n): SparkSplatRenderTuning {\n  return {\n    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1 : 0.6,\n    lodRenderScale: lod === false || lod === 'quality' ? undefined : 1.2,\n    minSortIntervalMs: lod === false ? 0 : lod === 'quality' ? 32 : 80,\n  };\n}\n\nfunction getDefaultCaptureTuning(\n  lod: SparkSplatEnvironmentProps['lod']\n): ResolvedSparkSplatCaptureTuning {\n  return {\n    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1.25 : 1.15,\n    lodRenderScale: lod === false ? undefined : 0.6,\n    minSortIntervalMs: 0,\n    maxWarmupFrames: 4,\n    blankSampleCount: 512,\n    blankAlphaThreshold: 8,\n    blankVisibleRatio: 0.02,\n    blankAverageColor: 3,\n  };\n}\n\nfunction resolveRenderTuning(\n  defaults: SparkSplatRenderTuning,\n  tuning: SparkSplatRenderTuning | undefined\n): SparkSplatRenderTuning {\n  return {\n    lodSplatScale: tuning?.lodSplatScale ?? defaults.lodSplatScale,\n    lodRenderScale: tuning?.lodRenderScale ?? defaults.lodRenderScale,\n    minSortIntervalMs: tuning?.minSortIntervalMs ?? defaults.minSortIntervalMs,\n  };\n}\n\nfunction resolveCaptureTuning(\n  lod: SparkSplatEnvironmentProps['lod'],\n  tuning: SparkSplatCaptureTuning | undefined\n): ResolvedSparkSplatCaptureTuning {\n  const defaults = getDefaultCaptureTuning(lod);\n  return {\n    ...resolveRenderTuning(defaults, tuning),\n    maxWarmupFrames: tuning?.maxWarmupFrames ?? defaults.maxWarmupFrames,\n    blankSampleCount: tuning?.blankSampleCount ?? defaults.blankSampleCount,\n    blankAlphaThreshold:\n      tuning?.blankAlphaThreshold ?? defaults.blankAlphaThreshold,\n    blankVisibleRatio: tuning?.blankVisibleRatio ?? defaults.blankVisibleRatio,\n    blankAverageColor: tuning?.blankAverageColor ?? defaults.blankAverageColor,\n  };\n}\n\nfunction waitForNextAnimationFrame() {\n  return new Promise<void>((resolve) => {\n    requestAnimationFrame(() => resolve());\n  });\n}\n\nfunction isMostlyBlankCapture(\n  pixels: Uint8Array,\n  tuning: ResolvedSparkSplatCaptureTuning\n) {\n  const sampleCount = Math.max(1, Math.floor(tuning.blankSampleCount));\n  const stride = Math.max(4, Math.floor(pixels.length / sampleCount / 4) * 4);\n  let sampled = 0;\n  let visible = 0;\n  let colorTotal = 0;\n\n  for (let i = 0; i < pixels.length; i += stride) {\n    const alpha = pixels[i + 3];\n    const color = pixels[i] + pixels[i + 1] + pixels[i + 2];\n    sampled += 1;\n    if (alpha > tuning.blankAlphaThreshold) visible += 1;\n    colorTotal += color;\n  }\n\n  if (sampled === 0) return true;\n  return (\n    visible / sampled < tuning.blankVisibleRatio ||\n    colorTotal / sampled < tuning.blankAverageColor\n  );\n}\n\nexport interface SparkSplatLifecycle {\n  status: SparkSplatStatus;\n  error: Error | null;\n  isLoading: boolean;\n  isReady: boolean;\n  isError: boolean;\n  props: Pick<SparkSplatEnvironmentProps, 'onStatusChange' | 'onError'>;\n  reset: () => void;\n}\n\nexport interface SparkSplatEnvironmentState {\n  environment: PairedSplatEnvironmentConfig | undefined;\n  sceneConfig: SceneConfig;\n  readiness: SplatEnvironmentReadiness;\n  lifecycle: SparkSplatLifecycle;\n  props: Pick<\n    SparkSplatEnvironmentProps,\n    'environment' | 'scenario' | 'src' | 'format' | 'onStatusChange' | 'onError'\n  >;\n  enabled: boolean;\n}\n\nexport interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {\n  /** Enable Spark LoD handling for large splat assets. Default: true. */\n  lod?: boolean | 'quality';\n  /** Tune Spark's live viewport renderer. Defaults favor interactive FPS. */\n  renderTuning?: SparkSplatRenderTuning;\n  /** Tune Spark camera-frame capture. Defaults favor sharper snapshots. */\n  captureTuning?: SparkSplatCaptureTuning;\n  /**\n   * Hide meshes whose names include floor, ground, or plane while the splat is\n   * active. This mirrors the common hybrid-rendering setup where MJCF keeps\n   * collision geometry but the splat owns the visual environment.\n   */\n  hideGroundMeshes?: boolean;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n  onLoad?: (mesh: SparkSplatMeshInstance) => void;\n  onError?: (error: Error) => void;\n}\n\n/**\n * Resolve a visual scenario's paired splat environment, compose its MJCF\n * collision proxy into the MuJoCo scene config, and expose Spark lifecycle\n * props for `<SparkSplatEnvironment />`.\n */\nexport function useSparkSplatEnvironment({\n  sceneConfig,\n  scenario,\n  environment,\n  enabled = true,\n  renderer = 'spark',\n  onError,\n  onStatusChange,\n}: {\n  sceneConfig: SceneConfig;\n  scenario?: VisualScenarioConfig;\n  environment?: PairedSplatEnvironmentConfig;\n  enabled?: boolean;\n  renderer?: 'spark';\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n}): SparkSplatEnvironmentState {\n  const splatScene = useSplatSceneConfig({\n    sceneConfig,\n    scenario,\n    environment,\n    enabled,\n    renderer,\n  });\n  const metadata = useSplatEnvironment({\n    scenario,\n    environment: splatScene.environment,\n    renderer,\n  });\n  const renderEnabled = enabled && Boolean(metadata.src);\n  const readiness = enabled ? metadata.readiness : splatScene.readiness;\n  const lifecycle = useSparkSplatLifecycle({\n    enabled: renderEnabled,\n    onError,\n    onStatusChange,\n  });\n\n  return useMemo(\n    () => ({\n      environment: splatScene.environment,\n      sceneConfig: splatScene.sceneConfig,\n      readiness,\n      lifecycle,\n      props: {\n        environment: splatScene.environment,\n        scenario: enabled ? scenario : undefined,\n        src: enabled ? metadata.src : undefined,\n        format: metadata.format,\n        ...lifecycle.props,\n      },\n      enabled: renderEnabled,\n    }),\n    [enabled, lifecycle, metadata, readiness, renderEnabled, scenario, splatScene]\n  );\n}\n\n/**\n * Tracks Spark 3DGS loading state for UI that wraps `SparkSplatEnvironment`.\n *\n * Use the returned `props` with `<SparkSplatEnvironment {...lifecycle.props} />`\n * to avoid repeating status/error state in app code.\n */\nexport function useSparkSplatLifecycle({\n  enabled = true,\n  initialStatus,\n  onError,\n  onStatusChange,\n}: {\n  enabled?: boolean;\n  initialStatus?: SparkSplatStatus;\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n} = {}): SparkSplatLifecycle {\n  const [status, setStatus] = useState<SparkSplatStatus>(\n    initialStatus ?? (enabled ? 'loading' : 'idle')\n  );\n  const [error, setError] = useState<Error | null>(null);\n\n  useEffect(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  const handleStatusChange = useCallback(\n    (nextStatus: SparkSplatStatus) => {\n      setStatus(nextStatus);\n      if (nextStatus !== 'error') {\n        setError(null);\n      }\n      onStatusChange?.(nextStatus);\n    },\n    [onStatusChange]\n  );\n\n  const handleError = useCallback(\n    (nextError: Error) => {\n      setError(nextError);\n      setStatus('error');\n      onError?.(nextError);\n    },\n    [onError]\n  );\n\n  const reset = useCallback(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  return useMemo(\n    () => ({\n      status,\n      error,\n      isLoading: status === 'loading',\n      isReady: status === 'ready',\n      isError: status === 'error',\n      props: {\n        onStatusChange: handleStatusChange,\n        onError: handleError,\n      },\n      reset,\n    }),\n    [error, handleError, handleStatusChange, reset, status]\n  );\n}\n\n/**\n * Optional SparkJS-backed Gaussian splat renderer for React Three Fiber scenes.\n *\n * Import from `mujoco-react/spark` and install `@sparkjsdev/spark` in the app\n * that uses it. The core `mujoco-react` entrypoint does not depend on Spark.\n */\nexport function SparkSplatEnvironment({\n  environment,\n  scenario,\n  renderer = 'spark',\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  showPlaceholder,\n  children,\n  lod = true,\n  renderTuning,\n  captureTuning,\n  hideGroundMeshes = false,\n  onStatusChange,\n  onLoad,\n  onError,\n  ...groupProps\n}: SparkSplatEnvironmentProps) {\n  const groupRef = useRef<THREE.Group>(null);\n  const sparkRef = useRef<SparkRendererInstance | null>(null);\n  const captureSparkRef = useRef<SparkCaptureRenderer | null>(null);\n  const meshRef = useRef<SparkSplatMeshInstance | null>(null);\n  const hiddenMeshesRef = useRef<THREE.Mesh[]>([]);\n  const onStatusChangeRef = useRef(onStatusChange);\n  const onLoadRef = useRef(onLoad);\n  const onErrorRef = useRef(onError);\n  const [status, setStatus] = useState<SparkSplatStatus>('idle');\n  const { gl, invalidate } = useThree();\n  onStatusChangeRef.current = onStatusChange;\n  onLoadRef.current = onLoad;\n  onErrorRef.current = onError;\n\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n  const resolvedRenderTuning = useMemo(\n    () => resolveRenderTuning(getDefaultLiveRenderTuning(lod), renderTuning),\n    [\n      lod,\n      renderTuning?.lodRenderScale,\n      renderTuning?.lodSplatScale,\n      renderTuning?.minSortIntervalMs,\n    ]\n  );\n  const resolvedCaptureTuning = useMemo(\n    () => resolveCaptureTuning(lod, captureTuning),\n    [\n      captureTuning?.blankAlphaThreshold,\n      captureTuning?.blankAverageColor,\n      captureTuning?.blankSampleCount,\n      captureTuning?.blankVisibleRatio,\n      captureTuning?.lodRenderScale,\n      captureTuning?.lodSplatScale,\n      captureTuning?.maxWarmupFrames,\n      captureTuning?.minSortIntervalMs,\n      lod,\n    ]\n  );\n\n  useEffect(() => {\n    let disposed = false;\n    ensureSparkDisposeRejectionHandler();\n\n    function setLifecycleStatus(nextStatus: SparkSplatStatus) {\n      setStatus(nextStatus);\n      onStatusChangeRef.current?.(nextStatus);\n    }\n\n    function restoreHiddenMeshes() {\n      for (const mesh of hiddenMeshesRef.current) {\n        mesh.visible = true;\n      }\n      hiddenMeshesRef.current = [];\n    }\n\n    function disposeCaptureSpark() {\n      safelyDisposeSparkResource(captureSparkRef.current?.renderer);\n      captureSparkRef.current = null;\n    }\n\n    async function loadSplat() {\n      if (!metadata.src) {\n        setLifecycleStatus('idle');\n        return;\n      }\n\n      if (metadata.format !== 'spz') {\n        const unsupportedFormatError = new Error(\n          `SparkSplatEnvironment only supports .spz assets; received \"${metadata.format}\".`\n        );\n        setLifecycleStatus('error');\n        onErrorRef.current?.(unsupportedFormatError);\n        return;\n      }\n\n      setLifecycleStatus('loading');\n\n      try {\n        const sparkModule = await import('@sparkjsdev/spark');\n        if (disposed || !groupRef.current) return;\n\n        const spark = new sparkModule.SparkRenderer({\n          renderer: gl,\n          onDirty: invalidate,\n          ...resolvedRenderTuning,\n        });\n        spark.userData[CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY] = async ({\n          scene,\n          camera,\n          width,\n          height,\n        }: CameraFrameCaptureRenderInput): Promise<CameraFrameCaptureRenderResult> => {\n          let captureSpark = captureSparkRef.current;\n          if (\n            !captureSpark ||\n            captureSpark.width !== width ||\n            captureSpark.height !== height\n          ) {\n            disposeCaptureSpark();\n            captureSpark = {\n              renderer: new sparkModule.SparkRenderer({\n                renderer: gl,\n                autoUpdate: false,\n                lodSplatScale: resolvedCaptureTuning.lodSplatScale,\n                lodRenderScale: resolvedCaptureTuning.lodRenderScale,\n                minSortIntervalMs: resolvedCaptureTuning.minSortIntervalMs,\n                target: {\n                  width,\n                  height,\n                },\n              }),\n              width,\n              height,\n            };\n            captureSparkRef.current = captureSpark;\n          }\n\n          const captureRenderer = captureSpark.renderer;\n          const maxWarmupFrames = Math.max(\n            1,\n            Math.floor(resolvedCaptureTuning.maxWarmupFrames)\n          );\n          let pixels: Uint8Array | undefined;\n          for (let attempt = 0; attempt < maxWarmupFrames; attempt += 1) {\n            captureRenderer.renderSize.set(width, height);\n            await captureRenderer.update({ scene, camera });\n            pixels = await captureRenderer.renderReadTarget({\n              scene,\n              camera,\n            });\n            if (\n              captureRenderer.activeSplats > 0 &&\n              !isMostlyBlankCapture(pixels, resolvedCaptureTuning)\n            ) {\n              break;\n            }\n            if (attempt < maxWarmupFrames - 1) {\n              await waitForNextAnimationFrame();\n            }\n          }\n          if (!pixels) {\n            throw new Error('Spark camera frame capture did not produce pixels.');\n          }\n          return { pixels, width, height, flipY: true };\n        };\n        const mesh = new sparkModule.SplatMesh({\n          url: metadata.src,\n          lod,\n        });\n        mesh.name = 'GaussianSplatMesh';\n\n        groupRef.current.add(spark);\n        groupRef.current.add(mesh);\n        sparkRef.current = spark;\n        meshRef.current = mesh;\n\n        if (hideGroundMeshes && groupRef.current.parent) {\n          groupRef.current.parent.traverse((object) => {\n            if (\n              !(object instanceof THREE.Mesh) ||\n              object === (mesh as unknown as THREE.Object3D)\n            ) {\n              return;\n            }\n            const name = object.name.toLowerCase();\n            if (\n              name.includes('floor') ||\n              name.includes('ground') ||\n              name.includes('plane')\n            ) {\n              object.visible = false;\n              hiddenMeshesRef.current.push(object);\n            }\n          });\n        }\n\n        await mesh.initialized;\n        if (disposed) return;\n        setLifecycleStatus('ready');\n        onLoadRef.current?.(mesh);\n        invalidate();\n      } catch (error) {\n        const normalizedError =\n          error instanceof Error ? error : new Error(String(error));\n        setLifecycleStatus('error');\n        onErrorRef.current?.(normalizedError);\n      }\n    }\n\n    void loadSplat();\n\n    return () => {\n      disposed = true;\n      restoreHiddenMeshes();\n\n      if (meshRef.current) {\n        groupRef.current?.remove(meshRef.current);\n        safelyDisposeSparkResource(meshRef.current);\n        meshRef.current = null;\n      }\n\n      if (sparkRef.current) {\n        groupRef.current?.remove(sparkRef.current);\n        safelyDisposeSparkResource(sparkRef.current);\n        sparkRef.current = null;\n      }\n\n      disposeCaptureSpark();\n    };\n  }, [\n    gl,\n    hideGroundMeshes,\n    invalidate,\n    lod,\n    metadata.format,\n    metadata.src,\n    resolvedCaptureTuning.blankAlphaThreshold,\n    resolvedCaptureTuning.blankAverageColor,\n    resolvedCaptureTuning.blankSampleCount,\n    resolvedCaptureTuning.blankVisibleRatio,\n    resolvedCaptureTuning.lodRenderScale,\n    resolvedCaptureTuning.lodSplatScale,\n    resolvedCaptureTuning.maxWarmupFrames,\n    resolvedCaptureTuning.minSortIntervalMs,\n    resolvedRenderTuning.lodRenderScale,\n    resolvedRenderTuning.lodSplatScale,\n    resolvedRenderTuning.minSortIntervalMs,\n  ]);\n\n  return (\n    <SplatEnvironment\n      {...groupProps}\n      environment={environment}\n      scenario={scenario}\n      renderer={renderer}\n      src={metadata.src}\n      format={metadata.format}\n      collisionProxyMetadata={metadata.collisionProxy}\n      collisionProxy={collisionProxy}\n      showPlaceholder={showPlaceholder ?? status !== 'ready'}\n    >\n      <group ref={groupRef} />\n      {children}\n    </SplatEnvironment>\n  );\n}\n\nfunction safelyDisposeSparkResource(\n  resource: SparkDisposable | null | undefined\n) {\n  if (!resource) return;\n  try {\n    silenceSparkWorkerTerminateRejections(resource);\n    const result = resource.dispose?.();\n    if (isPromiseLike(result)) {\n      void Promise.resolve(result).catch(handleSparkDisposeError);\n    }\n  } catch (error) {\n    handleSparkDisposeError(error);\n  }\n}\n\nfunction isPromiseLike(value: unknown): value is PromiseLike<unknown> {\n  return (\n    typeof value === 'object' &&\n    value !== null &&\n    'then' in value &&\n    typeof (value as { then?: unknown }).then === 'function'\n  );\n}\n\nfunction silenceSparkWorkerTerminateRejections(resource: SparkDisposable) {\n  const workers = getSparkWorkers(resource);\n  for (const worker of workers) {\n    if (!worker.messages) continue;\n\n    for (const message of Object.values(worker.messages)) {\n      const reject = message.reject;\n      if (!reject) continue;\n\n      message.reject = (error: unknown) => {\n        if (!isSparkWorkerTerminateError(error)) {\n          reject(error);\n        }\n      };\n    }\n  }\n}\n\nfunction getSparkWorkers(resource: SparkDisposable): SparkWorkerLike[] {\n  const sparkResource = resource as SparkResourceWithWorkers;\n  return [\n    sparkResource.worker,\n    sparkResource.sortWorker,\n    sparkResource.lodWorker,\n  ].filter((worker): worker is SparkWorkerLike => Boolean(worker));\n}\n\nfunction handleSparkDisposeError(error: unknown) {\n  if (\n    error instanceof Error &&\n    error.message.toLowerCase().includes('worker terminate')\n  ) {\n    return;\n  }\n\n  console.warn('[mujoco-react] Spark resource disposal failed.', error);\n}\n\nfunction ensureSparkDisposeRejectionHandler() {\n  if (\n    sparkDisposeRejectionHandlerRegistered ||\n    typeof window === 'undefined' ||\n    typeof window.addEventListener !== 'function'\n  ) {\n    return;\n  }\n\n  sparkDisposeRejectionHandlerRegistered = true;\n  window.addEventListener('unhandledrejection', (event) => {\n    if (isSparkWorkerTerminateError(event.reason)) {\n      event.preventDefault();\n    }\n  });\n}\n\nfunction isSparkWorkerTerminateError(reason: unknown) {\n  return (\n    reason instanceof Error &&\n    reason.message.toLowerCase().includes('worker terminate')\n  );\n}\n"]}

package/dist/{types-B-J8fpPP.d.ts → types-BOhNDICK.d.ts}

@@ -223,6 +223,9 @@ interface MujocoModel {
     cam_pos?: Float64Array;
     cam_quat?: Float64Array;
     cam_fovy?: Float64Array;
+    cam_intrinsic?: Float64Array;
+    cam_resolution?: Int32Array;
+    cam_sensorsize?: Float64Array;
     ten_wrapadr: Int32Array;
     ten_wrapnum: Int32Array;
     ten_range: Float64Array;
@@ -556,6 +559,9 @@ interface CameraInfo {
     name: string;
     bodyId: number;
     fov: number | null;
+    resolution: [number, number] | null;
+    sensorSize: [number, number] | null;
+    intrinsic: [number, number, number, number] | null;
     position: [number, number, number] | null;
     quaternion: [number, number, number, number] | null;
 }
@@ -1162,6 +1168,49 @@ interface FrameCaptureAPI {
 }
 type CameraFrameCaptureVector3 = THREE.Vector3 | readonly [number, number, number];
 type CameraFrameCaptureQuaternion = THREE.Quaternion | readonly [number, number, number, number];
+interface CameraFrameVisualOverrides {
+    /**
+     * Override `scene.background` for this capture only.
+     * Use `null` or `false` to render without the viewer scene background.
+     */
+    sceneBackground?: THREE.Scene['background'] | THREE.ColorRepresentation | null | false;
+    /**
+     * Override `scene.environment` for this capture only.
+     * Use `null` or `false` to remove viewer environment lighting/maps.
+     */
+    sceneEnvironment?: THREE.Scene['environment'] | null | false;
+    /**
+     * Override `scene.fog` for this capture only.
+     * Use `null` or `false` to remove viewer fog.
+     */
+    sceneFog?: THREE.Scene['fog'] | null | false;
+    /** Override `renderer.shadowMap.enabled` while capturing. */
+    shadows?: boolean;
+    /** Override renderer tone mapping while capturing. */
+    toneMapping?: THREE.WebGLRenderer['toneMapping'];
+    /** Override renderer output color space while capturing. */
+    outputColorSpace?: THREE.WebGLRenderer['outputColorSpace'];
+}
+interface CameraFrameRenderIsolationOptions {
+    /**
+     * Use an independent offscreen WebGLRenderer for this capture.
+     *
+     * This prevents viewer renderer settings such as antialiasing, shadow-map
+     * configuration, tone mapping, and environment setup from leaking into
+     * policy/training images. Leave unset for the historical shared-renderer path.
+     */
+    enabled?: boolean;
+    /** Offscreen renderer antialiasing. Defaults to false for deterministic policy captures. */
+    antialias?: boolean;
+    /** Offscreen renderer alpha buffer. Defaults to false, matching Three.js WebGLRenderer. */
+    alpha?: boolean;
+    /** Offscreen renderer preserveDrawingBuffer flag. Defaults to false. */
+    preserveDrawingBuffer?: boolean;
+    /** Offscreen renderer power preference. Defaults to the browser's renderer default. */
+    powerPreference?: WebGLPowerPreference;
+    /** Reuse an offscreen renderer for matching capture dimensions/options. Defaults to true. */
+    cache?: boolean;
+}
 interface CameraFrameCaptureOptions {
     /** Existing Three camera to clone before applying pose overrides. */
     camera?: THREE.Camera;
@@ -1186,8 +1235,36 @@ interface CameraFrameCaptureOptions {
     fov?: number;
     near?: number;
     far?: number;
+    /**
+     * Explicit projection matrix for offscreen capture. This is useful when a
+     * MuJoCo camera has calibrated intrinsics that cannot be represented by a
+     * symmetric Three.js PerspectiveCamera fov alone.
+     */
+    projectionMatrix?: THREE.Matrix4 | readonly number[];
     /** Provenance for the camera pose used by the capture. Usually set by the MuJoCo provider. */
     source?: CameraFrameCaptureSource;
+    /**
+     * When resolving a named MuJoCo camera, derive Three capture settings from
+     * MuJoCo camera metadata where available: cam_resolution, cam_fovy,
+     * cam_intrinsic/cam_sensorsize, and visual map near/far clipping.
+     */
+    mujocoCameraCompatibility?: boolean | {
+        useResolution?: boolean;
+        useIntrinsics?: boolean;
+        useClipping?: boolean;
+        /**
+         * When a MuJoCo camera has `resolution` metadata and the caller supplies
+         * only width or only height, derive the missing dimension from the MuJoCo
+         * camera aspect ratio.
+         */
+        preserveAspect?: boolean;
+        /**
+         * Prefer the MuJoCo camera's configured resolution over width/height
+         * provided by the caller. Leave false when a policy wants fixed-size
+         * payloads while still preserving the camera aspect ratio.
+         */
+        preferResolution?: boolean;
+    };
     /** Hide rendered Three objects whose MuJoCo geom group is in this list. */
     hiddenGeomGroups?: readonly number[];
     /** When provided, only rendered Three objects whose MuJoCo geom group is in this list are visible. */
@@ -1198,6 +1275,15 @@ interface CameraFrameCaptureOptions {
     background?: THREE.ColorRepresentation;
     /** Optional clear alpha for this capture only. Defaults to the renderer's current clear alpha. */
     backgroundAlpha?: number;
+    /** Temporary scene/renderer visual overrides applied only for this offscreen capture. */
+    visualOverrides?: CameraFrameVisualOverrides;
+    /**
+     * Render this capture with a separate offscreen WebGLRenderer.
+     *
+     * This is useful for policy or training captures that should remain canonical
+     * while the interactive viewer uses richer visual effects.
+     */
+    renderIsolation?: boolean | CameraFrameRenderIsolationOptions;
     /** Mirror the captured image horizontally after rendering. Useful when matching policy datasets with mirrored camera frames. */
     flipX?: boolean;
 }
@@ -1307,6 +1393,17 @@ interface CameraFrameSequenceRecorderAPI {
     record: (options: CameraFrameSequenceOptions) => Promise<CameraFrameSequenceResult>;
     reset: () => void;
 }
+type MujocoMeshNormalSmoothing = boolean | {
+    /** Vertex merge tolerance used before recomputing mesh normals. Defaults to `1e-4`. */
+    tolerance?: number;
+};
+interface MujocoRenderOptions {
+    /**
+     * Smooth mesh normals by welding duplicate vertices before recomputing normals.
+     * Useful for faceted STL visuals; keep off for exact policy-render parity.
+     */
+    meshNormalSmoothing?: MujocoMeshNormalSmoothing;
+}
 type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {
     config: SceneConfig;
     /** R3F content rendered while the MuJoCo WASM module is still loading. */
@@ -1321,6 +1418,7 @@ type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {
     paused?: boolean;
     speed?: number;
     interpolate?: boolean;
+    renderOptions?: MujocoRenderOptions;
 };
 interface SitePositionResult {
     position: React__default.RefObject<THREE.Vector3>;
@@ -1384,4 +1482,4 @@ interface ArrayJointStateResult {
     velocity: React__default.RefObject<Float64Array>;
 }
 
-export { type ArrayJointStateResult as $, type ActuatedJointInfo as A, type BodyProps as B, type ControlGroupInfo as C, type DragInteractionProps as D, type ScenarioLightingPreset as E, type SplatEnvironmentMetadataInput as F, type SplatEnvironmentMetadata as G, type SplatSceneInput as H, type IkConfig as I, type DebugProps as J, type GeomInfo as K, type ContactListenerProps as L, type MujocoContextValue as M, type ActuatorInfo as N, type ObservationConfig as O, type PhysicsStepCallback as P, type Sites as Q, type ReadyCallbackInput as R, type SceneConfig as S, type TrajectoryPlayerProps as T, type SitePositionResult as U, type VisualScenarioEffectsProps as V, type Sensors as W, type SensorHandle as X, type SensorInfo as Y, type Joints as Z, type ScalarJointStateResult as _, type MujocoCanvasProps as a, ModelActuators as a$, type JointStateOptions as a0, type JointStateResult as a1, type Bodies as a2, type BodyStateResult as a3, type Geoms as a4, type Actuators as a5, type CtrlHandle as a6, type ContactInfo as a7, type KeyboardTeleopConfig as a8, type KeyboardIkTargetConfig as a9, type CameraFrameSequenceRecorderAPI as aA, type CameraFrameCaptureResult as aB, type CameraFrameCaptureBlobResult as aC, type ImagePointCoordinateSpace as aD, type ImagePointProjectionOptions as aE, type ImagePointProjectionResult as aF, type PolicyVector as aG, type BodyInfo as aH, type CameraFrameCaptureQuaternion as aI, type CameraFrameCaptureVector3 as aJ, type CameraFrameSequenceCameraSummary as aK, type CameraFrameSequenceFrame as aL, type CameraFrameSequenceSampleInput as aM, type CameraFrameSequenceStepInput as aN, type CameraInfo as aO, type ControlJointInfo as aP, type FrameCaptureTarget as aQ, type FrameCaptureTargetRef as aR, type IKSolveFn as aS, type IkGizmoDragInput as aT, type IkSolveInput as aU, type JointInfo as aV, type JointStateKind as aW, type KeyBinding as aX, type KeyboardIkTargetAction as aY, type KeyboardIkTargetBinding as aZ, type Keyframes as a_, type PolicyConfig as aa, type PolicyAPI as ab, type RemotePolicyConfig as ac, type RemotePolicyAPI as ad, type ObservationHandle as ae, type ObservationOutput as af, type TrajectoryInput as ag, type TrajectoryStateChangeInput as ah, type PlaybackState as ai, type TrajectoryFrame as aj, type FrameCaptureOptions as ak, type FrameCaptureResult as al, type FrameCaptureBlobResult as am, type FrameCaptureAPI as an, type CameraFrameCaptureOptions as ao, type CameraFrameCaptureAPI as ap, type Cameras as aq, type CameraFrameSequenceCamera as ar, type CameraFrameCaptureSource as as, type CameraFrameSequenceOptions as at, type CameraFrameSequenceResult as au, type PolicyCameraFrameStream as av, type PolicyCameraFrameCaptureOptions as aw, type PolicyCameraFrameCaptureResult as ax, type FrameCaptureStatus as ay, type PolicyCameraFrameCaptureAPI as az, type MujocoSimAPI as b, ModelBodies as b0, ModelCameras as b1, ModelGeoms as b2, ModelJoints as b3, ModelKeyframes as b4, type ModelOptions as b5, type ModelResource as b6, ModelResources as b7, ModelSensors as b8, ModelSites as b9, type SceneMarker as bA, type SceneObject as bB, type SensorResult as bC, type SiteInfo as bD, type SplatAssetConfig as bE, type SplatScenarioConfig as bF, type StateSnapshot as bG, type TrajectoryData as bH, type TrajectoryFrameCallbackInput as bI, type VisualScenarioMaterialFilterInput as bJ, type XmlPatch as bK, getContact as bL, registerModelResources as bM, type Models as ba, type MujocoContact as bb, type MujocoContactArray as bc, type MujocoFrameCaptureOptions as bd, type ObservationLayoutItem as be, type PhysicsConfig as bf, type PhysicsStepInput as bg, type PolicyActionChunk as bh, type PolicyActionInput as bi, type PolicyInferenceInput as bj, type PolicyInferenceOutput as bk, type PolicyInferenceResult as bl, type PolicyObservationInput as bm, type RayHit as bn, type Register as bo, type RegisteredModelMap as bp, type RemotePolicyRequestInfo as bq, type RemotePolicyRequestInput as br, type RemotePolicyResponseInfo as bs, type RemotePolicyStatus as bt, type ResetCallbackInput as bu, type ResolvedScenarioCameraConfig as bv, type ResolvedScenarioMaterialConfig as bw, type ResourceSelector as bx, type ScenarioCameraConfig as by, type ScenarioMaterialConfig as bz, type StepCallbackInput as c, type SelectionCallbackInput as d, type MujocoModule as e, type MujocoModel as f, type MujocoData as g, type ControlGroupSelector as h, type ObservationResult as i, type IkContextValue as j, type IkGizmoProps as k, type SceneLightsProps as l, type ScenarioLightingProps as m, type SplatEnvironmentProps as n, type VisualScenarioConfig as o, type SplatRendererKind as p, type PairedSplatEnvironmentConfig as q, type SplatFormat as r, type SplatCollisionProxyConfig as s, type SplatEnvironmentReadiness as t, type SplatCollisionPrimitive as u, SplatEnvironmentReadinessStatus as v, type SplatSceneConfigInput as w, type SplatSceneConfigState as x, type VisualScenarioExecutionContextInput as y, type VisualScenarioExecutionContext as z };
+export { type ScalarJointStateResult as $, type ActuatedJointInfo as A, type BodyProps as B, type ControlGroupInfo as C, type DragInteractionProps as D, type VisualScenarioExecutionContext as E, type ScenarioLightingPreset as F, type SplatEnvironmentMetadataInput as G, type SplatEnvironmentMetadata as H, type IkConfig as I, type SplatSceneInput as J, type DebugProps as K, type GeomInfo as L, type MujocoContextValue as M, type ContactListenerProps as N, type ObservationConfig as O, type PhysicsStepCallback as P, type ActuatorInfo as Q, type ReadyCallbackInput as R, type SceneConfig as S, type TrajectoryPlayerProps as T, type Sites as U, type VisualScenarioEffectsProps as V, type SitePositionResult as W, type Sensors as X, type SensorHandle as Y, type SensorInfo as Z, type Joints as _, type MujocoCanvasProps as a, type Keyframes as a$, type ArrayJointStateResult as a0, type JointStateOptions as a1, type JointStateResult as a2, type Bodies as a3, type BodyStateResult as a4, type Geoms as a5, type Actuators as a6, type CtrlHandle as a7, type ContactInfo as a8, type KeyboardTeleopConfig as a9, type PolicyCameraFrameCaptureAPI as aA, type CameraFrameSequenceRecorderAPI as aB, type CameraFrameCaptureResult as aC, type CameraFrameCaptureBlobResult as aD, type ImagePointCoordinateSpace as aE, type ImagePointProjectionOptions as aF, type ImagePointProjectionResult as aG, type PolicyVector as aH, type BodyInfo as aI, type CameraFrameCaptureQuaternion as aJ, type CameraFrameCaptureVector3 as aK, type CameraFrameSequenceCameraSummary as aL, type CameraFrameSequenceFrame as aM, type CameraFrameSequenceSampleInput as aN, type CameraFrameSequenceStepInput as aO, type CameraInfo as aP, type ControlJointInfo as aQ, type FrameCaptureTarget as aR, type FrameCaptureTargetRef as aS, type IKSolveFn as aT, type IkGizmoDragInput as aU, type IkSolveInput as aV, type JointInfo as aW, type JointStateKind as aX, type KeyBinding as aY, type KeyboardIkTargetAction as aZ, type KeyboardIkTargetBinding as a_, type KeyboardIkTargetConfig as aa, type PolicyConfig as ab, type PolicyAPI as ac, type RemotePolicyConfig as ad, type RemotePolicyAPI as ae, type ObservationHandle as af, type ObservationOutput as ag, type TrajectoryInput as ah, type TrajectoryStateChangeInput as ai, type PlaybackState as aj, type TrajectoryFrame as ak, type FrameCaptureOptions as al, type FrameCaptureResult as am, type FrameCaptureBlobResult as an, type FrameCaptureAPI as ao, type CameraFrameCaptureOptions as ap, type CameraFrameCaptureAPI as aq, type Cameras as ar, type CameraFrameSequenceCamera as as, type CameraFrameCaptureSource as at, type CameraFrameSequenceOptions as au, type CameraFrameSequenceResult as av, type PolicyCameraFrameStream as aw, type PolicyCameraFrameCaptureOptions as ax, type PolicyCameraFrameCaptureResult as ay, type FrameCaptureStatus as az, type MujocoSimAPI as b, ModelActuators as b0, ModelBodies as b1, ModelCameras as b2, ModelGeoms as b3, ModelJoints as b4, ModelKeyframes as b5, type ModelOptions as b6, type ModelResource as b7, ModelResources as b8, ModelSensors as b9, type ScenarioMaterialConfig as bA, type SceneMarker as bB, type SceneObject as bC, type SensorResult as bD, type SiteInfo as bE, type SplatAssetConfig as bF, type SplatScenarioConfig as bG, type StateSnapshot as bH, type TrajectoryData as bI, type TrajectoryFrameCallbackInput as bJ, type VisualScenarioMaterialFilterInput as bK, type XmlPatch as bL, getContact as bM, registerModelResources as bN, ModelSites as ba, type Models as bb, type MujocoContact as bc, type MujocoContactArray as bd, type MujocoFrameCaptureOptions as be, type ObservationLayoutItem as bf, type PhysicsConfig as bg, type PhysicsStepInput as bh, type PolicyActionChunk as bi, type PolicyActionInput as bj, type PolicyInferenceInput as bk, type PolicyInferenceOutput as bl, type PolicyInferenceResult as bm, type PolicyObservationInput as bn, type RayHit as bo, type Register as bp, type RegisteredModelMap as bq, type RemotePolicyRequestInfo as br, type RemotePolicyRequestInput as bs, type RemotePolicyResponseInfo as bt, type RemotePolicyStatus as bu, type ResetCallbackInput as bv, type ResolvedScenarioCameraConfig as bw, type ResolvedScenarioMaterialConfig as bx, type ResourceSelector as by, type ScenarioCameraConfig as bz, type StepCallbackInput as c, type SelectionCallbackInput as d, type MujocoModule as e, type MujocoRenderOptions as f, type MujocoModel as g, type MujocoData as h, type ControlGroupSelector as i, type ObservationResult as j, type IkContextValue as k, type IkGizmoProps as l, type SceneLightsProps as m, type ScenarioLightingProps as n, type SplatEnvironmentProps as o, type VisualScenarioConfig as p, type SplatRendererKind as q, type PairedSplatEnvironmentConfig as r, type SplatFormat as s, type SplatCollisionProxyConfig as t, type SplatEnvironmentReadiness as u, type SplatCollisionPrimitive as v, SplatEnvironmentReadinessStatus as w, type SplatSceneConfigInput as x, type SplatSceneConfigState as y, type VisualScenarioExecutionContextInput as z };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mujoco-react",
-  "version": "10.2.1",
+  "version": "10.3.0",
   "description": "Composable React Three Fiber building blocks for MuJoCo WASM simulations",
   "type": "module",
   "main": "./dist/index.js",

package/src/components/SceneRenderer.tsx

@@ -9,7 +9,7 @@ import { useCallback, useEffect, useMemo, useRef } from 'react';
 import * as THREE from 'three';
 import { GeomBuilder } from '../rendering/GeomBuilder';
 import { CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY } from '../rendering/cameraFrameCapture';
-import { MujocoModel } from '../types';
+import { MujocoModel, MujocoRenderOptions } from '../types';
 import { getName } from '../core/SceneLoader';
 import { useMujocoContext } from '../core/MujocoSimProvider';
 
@@ -17,7 +17,18 @@ import { useMujocoContext } from '../core/MujocoSimProvider';
  * SceneRenderer — creates and syncs MuJoCo body meshes every frame.
  * Accepts standard R3F group props (position, rotation, scale, visible, etc.).
  */
-export function SceneRenderer(props: Omit<ThreeElements['group'], 'ref'>) {
+export interface SceneRendererProps extends Omit<ThreeElements['group'], 'ref'> {
+  renderOptions?: MujocoRenderOptions;
+}
+
+function getRenderOptionsKey(renderOptions: MujocoRenderOptions | undefined) {
+  const smoothing = renderOptions?.meshNormalSmoothing;
+  if (!smoothing) return 'default';
+  if (smoothing === true) return 'meshNormalSmoothing:true';
+  return `meshNormalSmoothing:${smoothing.tolerance ?? 'default'}`;
+}
+
+export function SceneRenderer({ renderOptions, ...props }: SceneRendererProps) {
   const {
     mjModelRef,
     mjDataRef,
@@ -31,11 +42,13 @@ export function SceneRenderer(props: Omit<ThreeElements['group'], 'ref'>) {
   const groupRef = useRef<THREE.Group>(null);
   const bodyRefs = useRef<(THREE.Group | null)[]>([]);
   const prevModelRef = useRef<MujocoModel | null>(null);
+  const prevRenderOptionsKeyRef = useRef<string | null>(null);
+  const renderOptionsKey = getRenderOptionsKey(renderOptions);
 
   const geomBuilder = useMemo(() => {
     if (status !== 'ready') return null;
-    return new GeomBuilder(mujocoRef.current);
-  }, [status, mujocoRef]);
+    return new GeomBuilder(mujocoRef.current, renderOptions);
+  }, [status, mujocoRef, renderOptionsKey]);
 
   // Build body groups when model loads
   useEffect(() => {
@@ -45,8 +58,14 @@ export function SceneRenderer(props: Omit<ThreeElements['group'], 'ref'>) {
     if (!model || !group) return;
 
     // Skip if model hasn't changed
-    if (prevModelRef.current === model) return;
+    if (
+      prevModelRef.current === model &&
+      prevRenderOptionsKeyRef.current === renderOptionsKey
+    ) {
+      return;
+    }
     prevModelRef.current = model;
+    prevRenderOptionsKeyRef.current = renderOptionsKey;
 
     // Clear previous bodies
     while (group.children.length > 0) {
@@ -73,7 +92,7 @@ export function SceneRenderer(props: Omit<ThreeElements['group'], 'ref'>) {
       refs.push(bodyGroup);
     }
     bodyRefs.current = refs;
-  }, [status, geomBuilder, mjModelRef]);
+  }, [status, geomBuilder, mjModelRef, renderOptionsKey]);
 
   const syncBodiesToData = useCallback(() => {
     const data = mjDataRef.current;

package/src/core/MujocoCanvas.tsx

@@ -4,7 +4,7 @@
  */
 
 import { Canvas } from '@react-three/fiber';
-import { forwardRef, useEffect } from 'react';
+import { forwardRef, useEffect, useRef } from 'react';
 import { useMujocoWasm } from './MujocoProvider';
 import { MujocoSimProvider } from './MujocoSimProvider';
 import { MujocoCanvasProps, MujocoSimAPI } from '../types';
@@ -31,6 +31,7 @@ export const MujocoCanvas = forwardRef<MujocoSimAPI, MujocoCanvasProps>(
       paused,
       speed,
       interpolate,
+      renderOptions,
       loadingFallback,
       children,
       ...canvasProps
@@ -38,12 +39,14 @@ export const MujocoCanvas = forwardRef<MujocoSimAPI, MujocoCanvasProps>(
     ref
   ) {
     const { mujoco, status: wasmStatus, error: wasmError } = useMujocoWasm();
+    const onErrorRef = useRef(onError);
+    onErrorRef.current = onError;
 
     useEffect(() => {
-      if (wasmStatus === 'error' && onError) {
-        onError(new Error(wasmError ?? 'WASM load failed'));
+      if (wasmStatus === 'error') {
+        onErrorRef.current?.(new Error(wasmError ?? 'WASM load failed'));
       }
-    }, [wasmStatus, wasmError, onError]);
+    }, [wasmStatus, wasmError]);
 
     if (wasmStatus === 'loading' || !mujoco) {
       return loadingFallback ? (
@@ -71,6 +74,7 @@ export const MujocoCanvas = forwardRef<MujocoSimAPI, MujocoCanvasProps>(
           paused={paused}
           speed={speed}
           interpolate={interpolate}
+          renderOptions={renderOptions}
         >
           {children}
         </MujocoSimProvider>

package/src/core/MujocoPhysics.tsx

@@ -3,7 +3,7 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-import { forwardRef, useEffect } from 'react';
+import { forwardRef, useEffect, useRef } from 'react';
 import { useMujocoWasm } from './MujocoProvider';
 import { MujocoSimProvider } from './MujocoSimProvider';
 import type {
@@ -62,12 +62,14 @@ export interface MujocoPhysicsProps {
 export const MujocoPhysics = forwardRef<MujocoSimAPI, MujocoPhysicsProps>(
   function MujocoPhysics({ onError, children, ...props }, ref) {
     const { mujoco, status: wasmStatus, error: wasmError } = useMujocoWasm();
+    const onErrorRef = useRef(onError);
+    onErrorRef.current = onError;
 
     useEffect(() => {
-      if (wasmStatus === 'error' && onError) {
-        onError(new Error(wasmError ?? 'WASM load failed'));
+      if (wasmStatus === 'error') {
+        onErrorRef.current?.(new Error(wasmError ?? 'WASM load failed'));
       }
-    }, [wasmStatus, wasmError, onError]);
+    }, [wasmStatus, wasmError]);
 
     if (wasmStatus === 'error' || wasmStatus === 'loading' || !mujoco) {
       return null;

package/src/core/MujocoProvider.tsx

@@ -96,6 +96,8 @@ export function MujocoProvider({
   const [error, setError] = useState<string | null>(null);
   const moduleRef = useRef<MujocoModule | null>(null);
   const isMounted = useRef(true);
+  const onErrorRef = useRef(onError);
+  onErrorRef.current = onError;
 
   useEffect(() => {
     isMounted.current = true;
@@ -105,7 +107,7 @@ export function MujocoProvider({
       const err = new Error('MujocoProvider wasmVariant="threaded" requires a threadedLoader from @mujoco/mujoco/mt');
       setError(err.message);
       setStatus('error');
-      onError?.(err);
+      onErrorRef.current?.(err);
       return;
     }
     let selectedWasmUrl = wasmUrl ?? defaultMujocoWasmUrl;
@@ -115,7 +117,7 @@ export function MujocoProvider({
         const err = new Error('MujocoProvider wasmVariant="threaded" requires mtWasmUrl from @mujoco/mujoco/mt/mujoco.wasm?url');
         setError(err.message);
         setStatus('error');
-        onError?.(err);
+        onErrorRef.current?.(err);
         return;
       }
       selectedWasmUrl = mtWasmUrl;
@@ -152,14 +154,14 @@ export function MujocoProvider({
           const msg = err.message || 'Failed to init spatial simulation';
           setError(msg);
           setStatus('error');
-          onError?.(new Error(msg));
+          onErrorRef.current?.(new Error(msg));
         }
       });
 
     return () => {
       isMounted.current = false;
     };
-  }, [wasmUrl, mtWasmUrl, threadedLoader, wasmVariant, timeout, onError]);
+  }, [wasmUrl, mtWasmUrl, threadedLoader, wasmVariant, timeout]);
 
   return (
     <MujocoContext.Provider