mujoco-react 11.0.0 → 12.1.0

package/dist/onnx.d.ts

@@ -1,5 +1,5 @@
 import * as ort from 'onnxruntime-web';
-import { bs as PolicyActionChunk } from './types-BP8iiYei.js';
+import { P as PolicyActionChunk } from './types-CSi3fIVs.js';
 import 'react';
 import '@react-three/fiber';
 import 'three';

package/dist/physics.worker.d.ts

@@ -0,0 +1,2 @@
+
+export {  }

package/dist/physics.worker.js

@@ -0,0 +1,78 @@
+import { SimulationEngine } from './chunk-U2Y2BODT.js';
+import loadMujoco from '@mujoco/mujoco';
+import wasmUrl from '@mujoco/mujoco/mujoco.wasm?url';
+
+// src/runtime/protocol.ts
+function createRuntimeHandler(load, send) {
+  let engine;
+  let generation = 0;
+  let busy = false;
+  let displayPending = false;
+  return async (request) => {
+    if (request.kind === "ack") {
+      displayPending = false;
+      return;
+    }
+    if (request.kind === "cancel") {
+      generation++;
+      return;
+    }
+    if (busy) {
+      send({ id: request.id, done: true, error: "Runtime is busy; await the current operation" });
+      return;
+    }
+    busy = true;
+    const current = generation;
+    let steps = 0, physicsMs = 0;
+    try {
+      if (request.kind === "initialize") {
+        if (engine) throw new Error("Runtime is already initialized");
+        engine = new SimulationEngine(await load(), request.initial);
+      } else if (!engine) throw new Error("Runtime is not initialized");
+      else if (request.kind === "reset") engine.reset();
+      else if (request.kind === "restore") engine.restore(request.state);
+      else if (request.kind === "advance") {
+        if (!Number.isSafeInteger(request.steps) || request.steps <= 0) throw new Error("Steps must be a positive safe integer");
+        engine.setControls(request.controls);
+        let lastDisplay = performance.now();
+        while (steps < request.steps && generation === current) {
+          const sliceStart = performance.now();
+          do {
+            const start = performance.now();
+            engine.step();
+            physicsMs += performance.now() - start;
+            steps++;
+          } while (steps < request.steps && performance.now() - sliceStart < 8);
+          if (!displayPending && performance.now() - lastDisplay >= 32) {
+            displayPending = true;
+            send({ id: request.id, done: false, display: engine.snapshot(false) });
+            lastDisplay = performance.now();
+          }
+          if (steps < request.steps) await new Promise((resolve) => setTimeout(resolve, 0));
+        }
+      }
+      send({ id: request.id, done: true, display: engine.snapshot(), cancelled: generation !== current, steps, physicsMs });
+    } catch (error) {
+      send({ id: request.id, done: true, error: error instanceof Error ? error.message : String(error) });
+    } finally {
+      busy = false;
+      displayPending = false;
+    }
+  };
+}
+
+// src/physics.worker.ts
+var scope = self;
+var handle = createRuntimeHandler(
+  () => loadMujoco({ locateFile: (file) => file.endsWith(".wasm") ? wasmUrl : file }),
+  (response) => {
+    const transfer = response.display ? Object.values(response.display.fields).map((value) => value.buffer) : [];
+    if (response.display?.integration) transfer.push(response.display.integration.values.buffer);
+    scope.postMessage(response, transfer);
+  }
+);
+scope.onmessage = (event) => {
+  void handle(event.data);
+};
+//# sourceMappingURL=physics.worker.js.map
+//# sourceMappingURL=physics.worker.js.map

package/dist/physics.worker.js.map

@@ -0,0 +1 @@
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initial: EngineInitialization } |\n  { kind: 'advance'; steps: number; controls?: Float64Array } |\n  { kind: 'restore'; state: EngineState } |\n  { kind: 'reset' | 'snapshot' | 'cancel' | 'ack' }\n);\nexport interface Response {\n  id: number; done: boolean; display?: DisplayState; error?: string;\n  cancelled?: boolean; steps?: number; physicsMs?: number;\n}\n/** Same protocol is exercised with a real engine in worker-thread tests. */\nexport function createRuntimeHandler(load: () => Promise<MainModule>, send: (response: Response) => void) {\n  let engine: SimulationEngine | undefined;\n  let generation = 0;\n  let busy = false;\n  let displayPending = false;\n  return async (request: Request) => {\n    if (request.kind === 'ack') { displayPending = false; return; }\n    if (request.kind === 'cancel') { generation++; return; }\n    if (busy) { send({ id: request.id, done: true, error: 'Runtime is busy; await the current operation' }); return; }\n    busy = true;\n    const current = generation;\n    let steps = 0, physicsMs = 0;\n    try {\n      if (request.kind === 'initialize') {\n        if (engine) throw new Error('Runtime is already initialized');\n        engine = new SimulationEngine(await load(), request.initial);\n      } else if (!engine) throw new Error('Runtime is not initialized');\n      else if (request.kind === 'reset') engine.reset();\n      else if (request.kind === 'restore') engine.restore(request.state);\n      else if (request.kind === 'advance') {\n        if (!Number.isSafeInteger(request.steps) || request.steps <= 0) throw new Error('Steps must be a positive safe integer');\n        engine.setControls(request.controls);\n        let lastDisplay = performance.now();\n        while (steps < request.steps && generation === current) {\n          const sliceStart = performance.now();\n          do {\n            const start = performance.now();\n            engine.step();\n            physicsMs += performance.now() - start;\n            steps++;\n          } while (steps < request.steps && performance.now() - sliceStart < 8);\n          if (!displayPending && performance.now() - lastDisplay >= 32) {\n            displayPending = true;\n            send({ id: request.id, done: false, display: engine.snapshot(false) });\n            lastDisplay = performance.now();\n          }\n          // A task yield is required: a microtask alone starves cancel messages.\n          if (steps < request.steps) await new Promise(resolve => setTimeout(resolve, 0));\n        }\n      }\n      send({ id: request.id, done: true, display: engine!.snapshot(), cancelled: generation !== current, steps, physicsMs });\n    } catch (error) {\n      send({ id: request.id, done: true, error: error instanceof Error ? error.message : String(error) });\n    } finally { busy = false; displayPending = false; }\n  };\n}\n","import loadMujoco from '@mujoco/mujoco';\nimport wasmUrl from '@mujoco/mujoco/mujoco.wasm?url';\nimport { createRuntimeHandler, type Request, type Response } from './runtime/protocol';\nconst scope = self as unknown as { onmessage: (event: MessageEvent<Request>) => void; postMessage: (response: Response, transfer: Transferable[]) => void };\nconst handle = createRuntimeHandler(\n  () => loadMujoco({ locateFile: (file: string) => file.endsWith('.wasm') ? wasmUrl : file }),\n  response => {\n    const transfer: Transferable[] = response.display ? Object.values(response.display.fields).map(value => value.buffer as ArrayBuffer) : [];\n    if (response.display?.integration) transfer.push(response.display.integration.values.buffer as ArrayBuffer);\n    scope.postMessage(response, transfer);\n  },\n);\nscope.onmessage = event => { void handle(event.data); };\n"]}

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 { p as SplatEnvironmentProps, s as PairedSplatEnvironmentConfig, S as SceneConfig, v as SplatEnvironmentReadiness, q as VisualScenarioConfig } from './types-BP8iiYei.js';
+import { S as SplatEnvironmentProps, a as PairedSplatEnvironmentConfig, b as SceneConfig, c as SplatEnvironmentReadiness, V as VisualScenarioConfig } from './types-CSi3fIVs.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-UCQ5MJP4.js';
+import { useSplatSceneConfig, useSplatEnvironment, SplatEnvironment, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY } from './chunk-XD3AY7XZ.js';
 import { useThree } from '@react-three/fiber';
 import { useMemo, useState, useEffect, useCallback, useRef } from 'react';
 import * as THREE from 'three';

package/dist/{types-BP8iiYei.d.ts → types-CSi3fIVs.d.ts}

@@ -2,6 +2,66 @@ import React__default, { ReactNode } from 'react';
 import { CanvasProps, ThreeElements } from '@react-three/fiber';
 import * as THREE from 'three';
 
+interface RuntimeMetrics {
+    steps: number;
+    physicsMs: number;
+    elapsedMs: number;
+    realTimeFactor: number;
+    captureMs: number;
+    busy: boolean;
+}
+interface RuntimeState {
+    time: number;
+    qpos: Float64Array;
+    qvel: Float64Array;
+    ctrl: Float64Array;
+    sensors: Float64Array;
+    contacts: ContactInfo[];
+}
+interface RuntimeSnapshot {
+    readonly modelId: string;
+    readonly signature: number;
+    readonly values: Float64Array;
+}
+interface AdvanceOptions {
+    steps: number;
+    controls?: ArrayLike<number>;
+    signal?: AbortSignal;
+}
+/** One operation at a time. Await advance/observe rather than queueing work. */
+interface SimulationRuntime {
+    readonly state: RuntimeState;
+    readonly metrics: Readonly<RuntimeMetrics>;
+    advance(options: AdvanceOptions): Promise<RuntimeState>;
+    observe(cameras?: PolicyCameraFrameCaptureOptions): Promise<RuntimeState & {
+        cameras?: PolicyCameraFrameCaptureResult;
+    }>;
+    saveState(): Promise<RuntimeSnapshot>;
+    restoreState(snapshot: RuntimeSnapshot): Promise<RuntimeState>;
+    cancel(): Promise<void>;
+    reset(): Promise<RuntimeState>;
+    dispose(): Promise<void>;
+}
+interface WorkerPort {
+    postMessage(message: unknown): void;
+    terminate(): void;
+    onmessage: ((event: MessageEvent) => void) | null;
+    onerror: ((event: ErrorEvent) => void) | null;
+    onmessageerror: ((event: MessageEvent) => void) | null;
+}
+interface RuntimeOptions {
+    /** Override worker construction for custom bundlers or runtime tests. */
+    createWorker?: () => WorkerPort;
+}
+
+interface PhysicsPerformance {
+    steps: number;
+    physicsMs: number;
+    realTimeFactor: number;
+    backlogSteps: number;
+    budgetExceeded: boolean;
+}
+
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -366,10 +426,14 @@ interface MujocoModel {
     flex_shellnum: Int32Array;
     flex_shell: Int32Array;
     flex_rgba: Float32Array;
+    /** Number of stateful plastic deformation coordinates. */
+    nplastic: number;
+    jnt_plasticadr: Int32Array;
     opt: {
         timestep: number;
         gravity: Float64Array;
         integrator: number;
+        enableflags: number;
         [key: string]: unknown;
     };
     delete: () => void;
@@ -382,6 +446,8 @@ interface MujocoData {
     time: number;
     qpos: Float64Array;
     qvel: Float64Array;
+    /** Plastic rest offsets, included in full integration snapshots. */
+    plastic: Float64Array;
     ctrl: Float64Array;
     act: Float64Array;
     xpos: Float64Array;
@@ -416,6 +482,11 @@ interface MujocoBuffer {
     delete(): void;
 }
 interface MujocoModule {
+    mjtEnableBit: {
+        mjENBL_SPECULATIVE: {
+            value: number;
+        };
+    };
     DoubleBuffer: new (size: number) => MujocoBuffer;
     mj_jacSite(model: MujocoModel, data: MujocoData, jacp: MujocoBuffer | null, jacr: MujocoBuffer | null, site: number): void;
     mj_integratePos(model: MujocoModel, qpos: MujocoBuffer, velocity: number[], dt: number): void;
@@ -588,6 +659,8 @@ interface PhysicsConfig {
     timestep?: number;
     /** Override the MJCF integrator. Omit to preserve model settings. */
     integrator?: MujocoIntegrator;
+    /** Main-thread physics time budget per frame. Default 8 ms; at most 100 steps. */
+    physicsBudgetMs?: number;
     substeps?: number;
     paused?: boolean;
     speed?: number;
@@ -856,6 +929,8 @@ interface PolicyConfig {
      * - replace is useful for receding-horizon policies where a fresh chunk should supersede stale queued actions.
      */
     queueStrategy?: 'append' | 'replace';
+    /** Maximum buffered actions; overflow fails explicitly. Default: 256. */
+    maxQueuedActions?: number;
     /**
      * Clear queued actions and ignore in-flight async results when `stop()` is called.
      * Defaults to false so callers can choose pause/resume behavior explicitly.
@@ -1272,6 +1347,9 @@ interface BodyProps {
     children?: ReactNode;
 }
 interface MujocoSimAPI {
+    /** Dedicated worker owner for exact stepping and policy observations. */
+    createRuntime(options?: RuntimeOptions): Promise<SimulationRuntime>;
+    getPerformance(): PhysicsPerformance;
     readonly status: 'loading' | 'ready' | 'error';
     readonly config: SceneConfig;
     reset(): void;
@@ -1627,6 +1705,8 @@ type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {
     timestep?: number;
     /** Override the MJCF integrator. Omit to preserve model settings. */
     integrator?: MujocoIntegrator;
+    /** Main-thread physics time budget per frame. Default 8 ms; at most 100 steps. */
+    physicsBudgetMs?: number;
     substeps?: number;
     paused?: boolean;
     speed?: number;
@@ -1702,4 +1782,4 @@ interface ArrayJointStateResult {
     velocity: React__default.RefObject<Float64Array>;
 }
 
-export { type SensorInfo as $, type ActuatedJointInfo as A, type BodyProps as B, type ControlGroupInfo as C, type DragInteractionProps as D, type VisualScenarioExecutionContextInput as E, type VisualScenarioExecutionContext as F, type ScenarioLightingPreset as G, type SplatEnvironmentMetadataInput as H, type IkConfig as I, type SplatEnvironmentMetadata as J, type SplatSceneInput as K, type CameraFrameCaptureOptions as L, type MujocoContextValue as M, type DebugProps as N, type ObservationConfig as O, type PhysicsStepCallback as P, type GeomInfo as Q, type ReadyCallbackInput as R, type SceneConfig as S, type ContactListenerProps as T, type TrajectoryPlayerProps as U, type VisualScenarioEffectsProps as V, type ActuatorInfo as W, type Sites as X, type SitePositionResult as Y, type Sensors as Z, type SensorHandle as _, type MujocoCanvasProps as a, type FrameCaptureTarget as a$, type Joints as a0, type ScalarJointStateResult as a1, type ArrayJointStateResult as a2, type JointStateOptions as a3, type JointStateResult as a4, type Bodies as a5, type BodyStateResult as a6, type Geoms as a7, type Actuators as a8, type CtrlHandle as a9, type FrameCaptureStatus as aA, type PolicyCameraFrameCaptureAPI as aB, type CameraFrameCaptureTensorOptions as aC, type CameraFrameTensorResult as aD, type CameraFrameSequenceRecorderAPI as aE, type ImagePointCoordinateSpace as aF, type ImagePointProjectionOptions as aG, type ImagePointProjectionResult as aH, type PolicyVector as aI, type ActuatorControlValue as aJ, type BodyInfo as aK, CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY as aL, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY as aM, CAPTURE_EXCLUDE_KEY as aN, type CameraFrameCaptureBlobResult as aO, type CameraFrameCaptureQuaternion as aP, type CameraFrameCaptureResult as aQ, type CameraFrameCaptureSession as aR, type CameraFrameCaptureVector3 as aS, type CameraFramePixelsResult as aT, type CameraFrameSequenceCameraSummary as aU, type CameraFrameSequenceFrame as aV, type CameraFrameSequenceSampleInput as aW, type CameraFrameSequenceStepInput as aX, type CameraInfo as aY, type ControlJointInfo as aZ, type DebugVirtualCamera as a_, type ContactInfo as aa, type KeyboardTeleopConfig as ab, type KeyboardIkTargetConfig as ac, type PolicyConfig as ad, type PolicyAPI as ae, type RemotePolicyConfig as af, type RemotePolicyAPI as ag, type ObservationHandle as ah, type ObservationOutput as ai, type TrajectoryInput as aj, type TrajectoryStateChangeInput as ak, type PlaybackState as al, type TrajectoryFrame as am, type FrameCaptureOptions as an, type FrameCaptureResult as ao, type FrameCaptureBlobResult as ap, type FrameCaptureAPI as aq, type CameraFrameCaptureAPI as ar, type Cameras as as, type CameraFrameSequenceCamera as at, type CameraFrameCaptureSource as au, type CameraFrameSequenceOptions as av, type CameraFrameSequenceResult as aw, type PolicyCameraFrameStream as ax, type PolicyCameraFrameCaptureOptions as ay, type PolicyCameraFrameCaptureResult as az, type MujocoSimAPI as b, type XmlPatch as b$, type FrameCaptureTargetRef as b0, type IKSolveFn as b1, type IkGizmoDragInput as b2, type IkSolveInput as b3, type JointInfo as b4, type JointStateKind as b5, type KeyBinding as b6, type KeyboardIkTargetAction as b7, type KeyboardIkTargetBinding as b8, type Keyframes as b9, type PolicyInferenceInput as bA, type PolicyInferenceOutput as bB, type PolicyInferenceResult as bC, type PolicyObservationInput as bD, type RayHit as bE, type Register as bF, type RegisteredModelMap as bG, type RemotePolicyRequestInfo as bH, type RemotePolicyRequestInput as bI, type RemotePolicyResponseInfo as bJ, type RemotePolicyStatus as bK, type ResetCallbackInput as bL, type ResolvedScenarioCameraConfig as bM, type ResolvedScenarioMaterialConfig as bN, type ResourceSelector as bO, type ScenarioCameraConfig as bP, type ScenarioMaterialConfig as bQ, type SceneMarker as bR, type SceneObject as bS, type SensorResult as bT, type SiteInfo as bU, type SplatAssetConfig as bV, type SplatScenarioConfig as bW, type StateSnapshot as bX, type TrajectoryData as bY, type TrajectoryFrameCallbackInput as bZ, type VisualScenarioMaterialFilterInput as b_, ModelActuators as ba, ModelBodies as bb, ModelCameras as bc, ModelGeoms as bd, ModelJoints as be, ModelKeyframes as bf, type ModelOptions as bg, type ModelResource as bh, ModelResources as bi, ModelSensors as bj, ModelSites as bk, type Models as bl, type MujocoContact as bm, type MujocoContactArray as bn, type MujocoFrameCaptureOptions as bo, type ObservationLayoutItem as bp, type PhysicsConfig as bq, type PhysicsStepInput as br, type PolicyActionChunk as bs, type PolicyActionInput as bt, type PolicyImageTensorLayout as bu, type PolicyImageTensorOptions as bv, type PolicyImageTensorPixelOptions as bw, type PolicyImageTensorRange as bx, type PolicyImageTensorResult as by, type PolicyImageTensorSourceOrigin as bz, type StepCallbackInput as c, captureCameraFrame as c0, captureCameraFrameBlob as c1, captureCameraFrameTensor as c2, createCameraFrameCaptureSession as c3, dataUrlToPolicyImageTensor as c4, getContact as c5, imageDataToPolicyImageTensor as c6, pixelsToPolicyImageTensor as c7, registerModelResources as c8, renderCameraFrameToCanvas as c9, type SelectionCallbackInput as d, type MujocoIntegrator as e, type MujocoModule as f, type MujocoRenderOptions as g, type MujocoModel as h, type MujocoData as i, type ControlGroupSelector as j, type ObservationResult as k, type IkContextValue as l, type IkGizmoProps as m, type SceneLightsProps as n, type ScenarioLightingProps as o, type SplatEnvironmentProps as p, type VisualScenarioConfig as q, type SplatRendererKind as r, type PairedSplatEnvironmentConfig as s, type SplatFormat as t, type SplatCollisionProxyConfig as u, type SplatEnvironmentReadiness as v, type SplatCollisionPrimitive as w, SplatEnvironmentReadinessStatus as x, type SplatSceneConfigInput as y, type SplatSceneConfigState as z };
+export { type SensorHandle as $, type ActuatedJointInfo as A, type BodyProps as B, type ControlGroupInfo as C, type DragInteractionProps as D, type SplatSceneConfigState as E, type VisualScenarioExecutionContextInput as F, type VisualScenarioExecutionContext as G, type ScenarioLightingPreset as H, type IkConfig as I, type SplatEnvironmentMetadataInput as J, type SplatEnvironmentMetadata as K, type SplatSceneInput as L, type MujocoContextValue as M, type CameraFrameCaptureOptions as N, type ObservationConfig as O, type PolicyActionChunk as P, type DebugProps as Q, type ReadyCallbackInput as R, type SplatEnvironmentProps as S, type GeomInfo as T, type ContactListenerProps as U, type VisualScenarioConfig as V, type TrajectoryPlayerProps as W, type ActuatorInfo as X, type Sites as Y, type SitePositionResult as Z, type Sensors as _, type PairedSplatEnvironmentConfig as a, type ControlJointInfo as a$, type SensorInfo as a0, type Joints as a1, type ScalarJointStateResult as a2, type ArrayJointStateResult as a3, type JointStateOptions as a4, type JointStateResult as a5, type Bodies as a6, type BodyStateResult as a7, type Geoms as a8, type Actuators as a9, type PolicyCameraFrameCaptureResult as aA, type FrameCaptureStatus as aB, type PolicyCameraFrameCaptureAPI as aC, type CameraFrameCaptureTensorOptions as aD, type CameraFrameTensorResult as aE, type CameraFrameSequenceRecorderAPI as aF, type ImagePointCoordinateSpace as aG, type ImagePointProjectionOptions as aH, type ImagePointProjectionResult as aI, type PolicyVector as aJ, type ActuatorControlValue as aK, type AdvanceOptions as aL, type BodyInfo as aM, CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY as aN, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY as aO, CAPTURE_EXCLUDE_KEY as aP, type CameraFrameCaptureBlobResult as aQ, type CameraFrameCaptureQuaternion as aR, type CameraFrameCaptureResult as aS, type CameraFrameCaptureSession as aT, type CameraFrameCaptureVector3 as aU, type CameraFramePixelsResult as aV, type CameraFrameSequenceCameraSummary as aW, type CameraFrameSequenceFrame as aX, type CameraFrameSequenceSampleInput as aY, type CameraFrameSequenceStepInput as aZ, type CameraInfo as a_, type CtrlHandle as aa, type ContactInfo as ab, type KeyboardTeleopConfig as ac, type KeyboardIkTargetConfig as ad, type PolicyConfig as ae, type PolicyAPI as af, type RemotePolicyConfig as ag, type RemotePolicyAPI as ah, type ObservationHandle as ai, type ObservationOutput as aj, type TrajectoryInput as ak, type TrajectoryStateChangeInput as al, type PlaybackState as am, type TrajectoryFrame as an, type FrameCaptureOptions as ao, type FrameCaptureResult as ap, type FrameCaptureBlobResult as aq, type FrameCaptureAPI as ar, type CameraFrameCaptureAPI as as, type Cameras as at, type CameraFrameSequenceCamera as au, type CameraFrameCaptureSource as av, type CameraFrameSequenceOptions as aw, type CameraFrameSequenceResult as ax, type PolicyCameraFrameStream as ay, type PolicyCameraFrameCaptureOptions as az, type SceneConfig as b, type SiteInfo as b$, type DebugVirtualCamera as b0, type FrameCaptureTarget as b1, type FrameCaptureTargetRef as b2, type IKSolveFn as b3, type IkGizmoDragInput as b4, type IkSolveInput as b5, type JointInfo as b6, type JointStateKind as b7, type KeyBinding as b8, type KeyboardIkTargetAction as b9, type PolicyImageTensorResult as bA, type PolicyImageTensorSourceOrigin as bB, type PolicyInferenceInput as bC, type PolicyInferenceOutput as bD, type PolicyInferenceResult as bE, type PolicyObservationInput as bF, type RayHit as bG, type Register as bH, type RegisteredModelMap as bI, type RemotePolicyRequestInfo as bJ, type RemotePolicyRequestInput as bK, type RemotePolicyResponseInfo as bL, type RemotePolicyStatus as bM, type ResetCallbackInput as bN, type ResolvedScenarioCameraConfig as bO, type ResolvedScenarioMaterialConfig as bP, type ResourceSelector as bQ, type RuntimeMetrics as bR, type RuntimeOptions as bS, type RuntimeSnapshot as bT, type RuntimeState as bU, type ScenarioCameraConfig as bV, type ScenarioMaterialConfig as bW, type SceneMarker as bX, type SceneObject as bY, type SensorResult as bZ, type SimulationRuntime as b_, type KeyboardIkTargetBinding as ba, type Keyframes as bb, ModelActuators as bc, ModelBodies as bd, ModelCameras as be, ModelGeoms as bf, ModelJoints as bg, ModelKeyframes as bh, type ModelOptions as bi, type ModelResource as bj, ModelResources as bk, ModelSensors as bl, ModelSites as bm, type Models as bn, type MujocoContact as bo, type MujocoContactArray as bp, type MujocoFrameCaptureOptions as bq, type ObservationLayoutItem as br, type PhysicsConfig as bs, type PhysicsPerformance as bt, type PhysicsStepInput as bu, type PolicyActionInput as bv, type PolicyImageTensorLayout as bw, type PolicyImageTensorOptions as bx, type PolicyImageTensorPixelOptions as by, type PolicyImageTensorRange as bz, type SplatEnvironmentReadiness as c, type SplatAssetConfig as c0, type SplatScenarioConfig as c1, type StateSnapshot as c2, type TrajectoryData as c3, type TrajectoryFrameCallbackInput as c4, type VisualScenarioMaterialFilterInput as c5, type WorkerPort as c6, type XmlPatch as c7, captureCameraFrame as c8, captureCameraFrameBlob as c9, captureCameraFrameTensor as ca, createCameraFrameCaptureSession as cb, dataUrlToPolicyImageTensor as cc, getContact as cd, imageDataToPolicyImageTensor as ce, pixelsToPolicyImageTensor as cf, registerModelResources as cg, renderCameraFrameToCanvas as ch, type MujocoCanvasProps as d, type MujocoSimAPI as e, type StepCallbackInput as f, type SelectionCallbackInput as g, type MujocoIntegrator as h, type MujocoModule as i, type MujocoRenderOptions as j, type PhysicsStepCallback as k, type MujocoModel as l, type MujocoData as m, type ControlGroupSelector as n, type ObservationResult as o, type IkContextValue as p, type IkGizmoProps as q, type SceneLightsProps as r, type ScenarioLightingProps as s, type VisualScenarioEffectsProps as t, type SplatRendererKind as u, type SplatFormat as v, type SplatCollisionProxyConfig as w, type SplatCollisionPrimitive as x, SplatEnvironmentReadinessStatus as y, type SplatSceneConfigInput as z };

package/dist/vite.d.ts

@@ -42,10 +42,13 @@ declare function mujocoReact(options: MujocoReactPluginOptions): {
             chunkSizeWarningLimit?: number;
         };
     }): {
-        build: {
+        build?: {
             chunkSizeWarningLimit: number;
+        } | undefined;
+        optimizeDeps: {
+            exclude: string[];
         };
-    } | undefined;
+    };
     configResolved(config: ViteConfig): void;
     transform(code: string, id: string): string | undefined;
     buildStart(this: {

package/dist/vite.js

@@ -39,8 +39,12 @@ function mujocoReact(options) {
     name: "mujoco-react",
     enforce: "pre",
     config(userConfig) {
-      if (userConfig.build?.chunkSizeWarningLimit !== void 0) return;
-      return { build: { chunkSizeWarningLimit: 4e3 } };
+      return {
+        // Keep the worker URL relative to its real package file in dev. Vite's
+        // dependency prebundler otherwise relocates it into .vite/deps.
+        optimizeDeps: { exclude: ["mujoco-react"] },
+        ...userConfig.build?.chunkSizeWarningLimit === void 0 ? { build: { chunkSizeWarningLimit: 4e3 } } : {}
+      };
     },
     configResolved(config) {
       root = config.root;

package/dist/vite.js.map

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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { mkdir, readFile, writeFile } from 'node:fs/promises';\nimport path from 'node:path';\n\ntype ViteConfig = { root: string };\ntype ViteServer = {\n  watcher: {\n    add(paths: string | string[]): void;\n    on(event: 'add' | 'change' | 'unlink', listener: (file: string) => void): void;\n  };\n};\n\nexport interface MujocoReactPluginOptions {\n  /** Entry MJCF/URDF files to scan. Prefer a record for stable per-robot type names. */\n  models: ModelInput;\n  /** Generated resource module. Defaults to `src/mujoco-register.gen.ts`. */\n  generatedRegister?: string;\n  /** Module name to augment. Defaults to `mujoco-react`. */\n  moduleName?: string;\n  /** Disable console output. */\n  disableLogging?: boolean;\n}\n\nexport interface MujocoRegisterCodegenOptions {\n  models: ModelInput;\n  out: string;\n  moduleName?: string;\n  root?: string;\n}\n\nexport interface MujocoRegisterCodegenResult {\n  out: string;\n  files: string[];\n  counts: Record<RegisterKey, number>;\n}\n\ntype RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes' | 'cameras';\nexport type ModelInput = string | readonly string[] | Record<string, string>;\n\ninterface ModelEntry {\n  id: string;\n  file: string;\n  names: Record<RegisterKey, Set<string>>;\n}\n\nconst REGISTER_KEYS: RegisterKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes', 'cameras'];\nconst MODEL_EXTENSIONS = new Set(['.xml', '.mjcf', '.urdf']);\n\nfunction createEmptyNames(): Record<RegisterKey, Set<string>> {\n  return {\n    actuators: new Set(),\n    sensors: new Set(),\n    bodies: new Set(),\n    joints: new Set(),\n    sites: new Set(),\n    geoms: new Set(),\n    keyframes: new Set(),\n    cameras: new Set(),\n  };\n}\n\nexport function mujocoReact(options: MujocoReactPluginOptions) {\n  const models = normalizeModels(options.models);\n  let root = process.cwd();\n  let generatedRegister = options.generatedRegister ?? 'src/mujoco-register.gen.ts';\n  let watchedFiles: string[] = [];\n\n  async function generate() {\n    const result = await generateMujocoRegister({\n      models: options.models,\n      out: generatedRegister,\n      moduleName: options.moduleName,\n      root,\n    });\n    watchedFiles = result.files;\n    if (!options.disableLogging) {\n      const total = Object.values(result.counts).reduce((sum, count) => sum + count, 0);\n      console.log(`[mujoco-react] generated ${path.relative(root, result.out)} (${total} names)`);\n    }\n    return result;\n  }\n\n  return {\n    name: 'mujoco-react',\n    enforce: 'pre' as const,\n    config(userConfig: { build?: { chunkSizeWarningLimit?: number } }) {\n      // three + drei + MuJoCo WASM glue are inherently large; the large-chunk\n      // warning is expected, not a failure. Raise the limit so consumers don't\n      // see it. Vite merges plugin config on top of user config, so only set a\n      // default when the consumer hasn't specified their own limit.\n      if (userConfig.build?.chunkSizeWarningLimit !== undefined) return;\n      return { build: { chunkSizeWarningLimit: 4000 } };\n    },\n    configResolved(config: ViteConfig) {\n      root = config.root;\n      generatedRegister = path.resolve(root, generatedRegister);\n    },\n    transform(code: string, id: string) {\n      if (!shouldInjectRegisterImport(id, root, generatedRegister)) return;\n      return `${renderGeneratedImport(id, generatedRegister)}\\n${code}`;\n    },\n    async buildStart(this: { addWatchFile?: (file: string) => void }) {\n      const result = await generate();\n      for (const file of result.files) this.addWatchFile?.(file);\n    },\n    configureServer(server: ViteServer) {\n      generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n        console.error('[mujoco-react] register generation failed', error);\n      });\n\n      server.watcher.on('add', regenerateIfModelFile);\n      server.watcher.on('change', regenerateIfModelFile);\n      server.watcher.on('unlink', regenerateIfModelFile);\n\n      function regenerateIfModelFile(file: string) {\n        if (!shouldRegenerate(file, watchedFiles, models, root)) return;\n        generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n          console.error('[mujoco-react] register generation failed', error);\n        });\n      }\n    },\n  };\n}\n\nexport async function generateMujocoRegister(\n  options: MujocoRegisterCodegenOptions\n): Promise<MujocoRegisterCodegenResult> {\n  const root = path.resolve(options.root ?? process.cwd());\n  const out = path.resolve(root, options.out);\n  const moduleName = options.moduleName ?? 'mujoco-react';\n  const models = normalizeModels(options.models);\n  const names = createEmptyNames();\n  const seen = new Set<string>();\n  const declarationsOnly = out.endsWith('.d.ts');\n\n  for (const model of models) {\n    await scanModel(path.resolve(root, model.file), root, seen, model.names);\n    mergeNames(names, model.names);\n  }\n\n  await mkdir(path.dirname(out), { recursive: true });\n  await writeFile(out, renderRegister(moduleName, names, models, declarationsOnly), 'utf8');\n\n  return {\n    out,\n    files: [...seen].sort((a, b) => a.localeCompare(b)),\n    counts: Object.fromEntries(REGISTER_KEYS.map((key) => [key, names[key].size])) as Record<RegisterKey, number>,\n  };\n}\n\nasync function scanModel(\n  filePath: string,\n  root: string,\n  seen: Set<string>,\n  names: Record<RegisterKey, Set<string>>\n) {\n  const normalized = path.resolve(filePath);\n  if (seen.has(normalized)) return;\n  seen.add(normalized);\n\n  const xml = await readFile(normalized, 'utf8');\n  collectSimpleTagNames(xml, 'body', names.bodies);\n  collectSimpleTagNames(xml, 'joint', names.joints);\n  collectSimpleTagNames(xml, 'site', names.sites);\n  collectSimpleTagNames(xml, 'geom', names.geoms);\n  collectSimpleTagNames(xml, 'camera', names.cameras);\n  collectSimpleTagNames(xml, 'key', names.keyframes);\n  collectSectionNames(xml, 'actuator', names.actuators);\n  collectSectionNames(xml, 'sensor', names.sensors);\n\n  for (const includePath of collectIncludePaths(xml)) {\n    const next = path.resolve(path.dirname(normalized), includePath);\n    if (isPathInsideRoot(next, root)) await scanModel(next, root, seen, names);\n  }\n}\n\nfunction collectSimpleTagNames(xml: string, tag: string, target: Set<string>) {\n  const pattern = new RegExp(`<\\\\s*${tag}\\\\b([^>]*)>`, 'gi');\n  for (const match of xml.matchAll(pattern)) {\n    const name = readAttr(match[1], 'name');\n    if (name) target.add(name);\n  }\n}\n\nfunction collectSectionNames(xml: string, section: string, target: Set<string>) {\n  const sectionPattern = new RegExp(`<\\\\s*${section}\\\\b[^>]*>([\\\\s\\\\S]*?)<\\\\s*/\\\\s*${section}\\\\s*>`, 'gi');\n  for (const sectionMatch of xml.matchAll(sectionPattern)) {\n    const tagPattern = /<\\s*[a-zA-Z0-9_:-]+\\b([^>]*)>/g;\n    for (const tagMatch of sectionMatch[1].matchAll(tagPattern)) {\n      const name = readAttr(tagMatch[1], 'name');\n      if (name) target.add(name);\n    }\n  }\n}\n\nfunction collectIncludePaths(xml: string): string[] {\n  const result: string[] = [];\n  const pattern = /<\\s*include\\b([^>]*)>/gi;\n  for (const match of xml.matchAll(pattern)) {\n    const file = readAttr(match[1], 'file');\n    if (file && !file.includes('://') && !file.startsWith('/')) result.push(file);\n  }\n  return result;\n}\n\nfunction readAttr(attrs: string, attr: string): string | undefined {\n  const pattern = new RegExp(`\\\\b${attr}\\\\s*=\\\\s*(['\"])(.*?)\\\\1`, 'i');\n  return attrs.match(pattern)?.[2];\n}\n\nfunction renderRegister(\n  moduleName: string,\n  names: Record<RegisterKey, Set<string>>,\n  models: readonly ModelEntry[],\n  declarationsOnly: boolean\n): string {\n  const fields = REGISTER_KEYS\n    .filter((key) => names[key].size > 0)\n    .map((key) => `    ${key}: ${renderUnion(names[key])};`);\n  const modelFields = models\n    .map((model) => `      ${quoteProperty(model.id)}: {\\n${renderModelFields(model.names)}\\n      };`);\n  const namespaceAliases = renderNamespaceAliases(models);\n  const registerImport = declarationsOnly ? '' : `import { registerModelResources } from '${moduleName}';\\n`;\n  const resources = declarationsOnly ? '' : `${renderResourceTypes(models)}\\n\\n${renderResourceConstants(models)}\\n\\nregisterModelResources(generatedModelResources);\\n\\n`;\n\n  return `// Auto-generated by mujoco-react. Do not edit.\n// Regenerate by running Vite with the mujocoReact() plugin or \\`mujoco-react codegen\\`.\n\n${registerImport}import type { ModelResource } from '${moduleName}';\n\n${resources}declare module '${moduleName}' {\n  interface Register {\n    models: {\n${modelFields.join('\\n')}\n    };\n${fields.join('\\n')}\n  }\n\n${namespaceAliases}\n}\n`;\n}\n\nfunction renderResourceTypes(models: readonly ModelEntry[]): string {\n  const modelTypes = models\n    .map((model) => `  readonly ${quoteProperty(model.id)}: {\\n${renderResourceTypeFields(model.names)}\\n  };`)\n    .join('\\n');\n  return `type GeneratedModelResources = {\\n${modelTypes}\\n};`;\n}\n\nfunction renderResourceTypeFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `    readonly ${key}: ${renderResourceObjectType(names[key])};`)\n    .join('\\n');\n}\n\nfunction renderResourceObjectType(values: Set<string>): string {\n  const entries = sortedValues(values)\n    .map((value) => `      readonly ${quoteProperty(value)}: '${escapeTs(value)}';`);\n  return entries.length > 0 ? `{\\n${entries.join('\\n')}\\n    }` : '{}';\n}\n\nfunction renderResourceConstants(models: readonly ModelEntry[]): string {\n  const entries = models\n    .map((model) => `  ${quoteProperty(model.id)}: {\\n${renderResourceConstantFields(model.names)}\\n  },`)\n    .join('\\n');\n  return `const generatedModelResources: GeneratedModelResources = {\\n${entries}\\n};`;\n}\n\nfunction renderResourceConstantFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `    ${key}: ${renderResourceObject(names[key])},`)\n    .join('\\n');\n}\n\nfunction renderResourceObject(values: Set<string>): string {\n  const entries = sortedValues(values)\n    .map((value) => `      ${quoteProperty(value)}: '${escapeTs(value)}',`);\n  return entries.length > 0 ? `{\\n${entries.join('\\n')}\\n    }` : '{}';\n}\n\nfunction renderModelFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `        ${key}: ${names[key].size > 0 ? renderUnion(names[key]) : 'never'};`)\n    .join('\\n');\n}\n\nfunction renderUnion(values: Set<string>): string {\n  return sortedValues(values).map((value) => `'${escapeTs(value)}'`).join(' | ');\n}\n\nfunction renderNamespaceAliases(models: readonly ModelEntry[]): string {\n  const namespaces: Record<RegisterKey, string> = {\n    actuators: 'ModelActuators',\n    sensors: 'ModelSensors',\n    bodies: 'ModelBodies',\n    joints: 'ModelJoints',\n    sites: 'ModelSites',\n    geoms: 'ModelGeoms',\n    keyframes: 'ModelKeyframes',\n    cameras: 'ModelCameras',\n  };\n\n  const blocks = REGISTER_KEYS\n    .map((key) => {\n      const modelAliases = models\n        .filter((model) => isIdentifier(model.id))\n        .map((model) => `    export type ${model.id} = ModelResource<'${escapeTs(model.id)}', '${key}'>;`);\n      if (modelAliases.length === 0) return '';\n      return `  export namespace ${namespaces[key]} {\\n${modelAliases.join('\\n')}\\n  }`;\n    })\n    .filter(Boolean)\n    .join('\\n\\n');\n\n  return blocks ? `${blocks}\\n` : '';\n}\n\nfunction escapeTs(value: string): string {\n  return value.replace(/\\\\/g, '\\\\\\\\').replace(/'/g, \"\\\\'\");\n}\n\nfunction sortedValues(values: Set<string>): string[] {\n  return [...values].sort((a, b) => a.localeCompare(b));\n}\n\nfunction quoteProperty(value: string): string {\n  return isIdentifier(value) ? value : `'${escapeTs(value)}'`;\n}\n\nfunction isIdentifier(value: string): boolean {\n  return /^[A-Za-z_$][A-Za-z0-9_$]*$/.test(value);\n}\n\nfunction toPosixPath(value: string): string {\n  return value.split(path.sep).join('/');\n}\n\nfunction shouldInjectRegisterImport(id: string, root: string, generatedRegister: string): boolean {\n  if (generatedRegister.endsWith('.d.ts')) return false;\n  const file = stripQuery(id);\n  if (!/\\.[cm]?[jt]sx?$/.test(file)) return false;\n  if (file.includes(`${path.sep}node_modules${path.sep}`)) return false;\n  const absolute = path.resolve(file);\n  if (absolute === generatedRegister) return false;\n  return isPathInsideRoot(absolute, root);\n}\n\nfunction renderGeneratedImport(id: string, generatedRegister: string): string {\n  const fromDir = path.dirname(stripQuery(id));\n  let relative = toPosixPath(path.relative(fromDir, generatedRegister));\n  if (!relative.startsWith('.')) relative = `./${relative}`;\n  return `import '${relative}';`;\n}\n\nfunction stripQuery(id: string): string {\n  return id.split('?')[0];\n}\n\nfunction normalizeModels(input: ModelInput): ModelEntry[] {\n  if (typeof input === 'string') return [createModelEntry(deriveModelId(input), input)];\n  if (Array.isArray(input)) return input.map((file) => createModelEntry(deriveModelId(file), file));\n  return Object.entries(input).map(([id, file]) => createModelEntry(sanitizeModelId(id), file));\n}\n\nfunction createModelEntry(id: string, file: string): ModelEntry {\n  return { id, file, names: createEmptyNames() };\n}\n\nfunction deriveModelId(file: string): string {\n  const normalized = file.replace(/\\\\/g, '/');\n  const parts = normalized.split('/').filter(Boolean);\n  const filename = parts.at(-1) ?? 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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { mkdir, readFile, writeFile } from 'node:fs/promises';\nimport path from 'node:path';\n\ntype ViteConfig = { root: string };\ntype ViteServer = {\n  watcher: {\n    add(paths: string | string[]): void;\n    on(event: 'add' | 'change' | 'unlink', listener: (file: string) => void): void;\n  };\n};\n\nexport interface MujocoReactPluginOptions {\n  /** Entry MJCF/URDF files to scan. Prefer a record for stable per-robot type names. */\n  models: ModelInput;\n  /** Generated resource module. Defaults to `src/mujoco-register.gen.ts`. */\n  generatedRegister?: string;\n  /** Module name to augment. Defaults to `mujoco-react`. */\n  moduleName?: string;\n  /** Disable console output. */\n  disableLogging?: boolean;\n}\n\nexport interface MujocoRegisterCodegenOptions {\n  models: ModelInput;\n  out: string;\n  moduleName?: string;\n  root?: string;\n}\n\nexport interface MujocoRegisterCodegenResult {\n  out: string;\n  files: string[];\n  counts: Record<RegisterKey, number>;\n}\n\ntype RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes' | 'cameras';\nexport type ModelInput = string | readonly string[] | Record<string, string>;\n\ninterface ModelEntry {\n  id: string;\n  file: string;\n  names: Record<RegisterKey, Set<string>>;\n}\n\nconst REGISTER_KEYS: RegisterKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes', 'cameras'];\nconst MODEL_EXTENSIONS = new Set(['.xml', '.mjcf', '.urdf']);\n\nfunction createEmptyNames(): Record<RegisterKey, Set<string>> {\n  return {\n    actuators: new Set(),\n    sensors: new Set(),\n    bodies: new Set(),\n    joints: new Set(),\n    sites: new Set(),\n    geoms: new Set(),\n    keyframes: new Set(),\n    cameras: new Set(),\n  };\n}\n\nexport function mujocoReact(options: MujocoReactPluginOptions) {\n  const models = normalizeModels(options.models);\n  let root = process.cwd();\n  let generatedRegister = options.generatedRegister ?? 'src/mujoco-register.gen.ts';\n  let watchedFiles: string[] = [];\n\n  async function generate() {\n    const result = await generateMujocoRegister({\n      models: options.models,\n      out: generatedRegister,\n      moduleName: options.moduleName,\n      root,\n    });\n    watchedFiles = result.files;\n    if (!options.disableLogging) {\n      const total = Object.values(result.counts).reduce((sum, count) => sum + count, 0);\n      console.log(`[mujoco-react] generated ${path.relative(root, result.out)} (${total} names)`);\n    }\n    return result;\n  }\n\n  return {\n    name: 'mujoco-react',\n    enforce: 'pre' as const,\n    config(userConfig: { build?: { chunkSizeWarningLimit?: number } }) {\n      // three + drei + MuJoCo WASM glue are inherently large; the large-chunk\n      // warning is expected, not a failure. Raise the limit so consumers don't\n      // see it. Vite merges plugin config on top of user config, so only set a\n      // default when the consumer hasn't specified their own limit.\n      return {\n        // Keep the worker URL relative to its real package file in dev. Vite's\n        // dependency prebundler otherwise relocates it into .vite/deps.\n        optimizeDeps: { exclude: ['mujoco-react'] },\n        ...(userConfig.build?.chunkSizeWarningLimit === undefined\n          ? { build: { chunkSizeWarningLimit: 4000 } } : {}),\n      };\n    },\n    configResolved(config: ViteConfig) {\n      root = config.root;\n      generatedRegister = path.resolve(root, generatedRegister);\n    },\n    transform(code: string, id: string) {\n      if (!shouldInjectRegisterImport(id, root, generatedRegister)) return;\n      return `${renderGeneratedImport(id, generatedRegister)}\\n${code}`;\n    },\n    async buildStart(this: { addWatchFile?: (file: string) => void }) {\n      const result = await generate();\n      for (const file of result.files) this.addWatchFile?.(file);\n    },\n    configureServer(server: ViteServer) {\n      generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n        console.error('[mujoco-react] register generation failed', error);\n      });\n\n      server.watcher.on('add', regenerateIfModelFile);\n      server.watcher.on('change', regenerateIfModelFile);\n      server.watcher.on('unlink', regenerateIfModelFile);\n\n      function regenerateIfModelFile(file: string) {\n        if (!shouldRegenerate(file, watchedFiles, models, root)) return;\n        generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n          console.error('[mujoco-react] register generation failed', error);\n        });\n      }\n    },\n  };\n}\n\nexport async function generateMujocoRegister(\n  options: MujocoRegisterCodegenOptions\n): Promise<MujocoRegisterCodegenResult> {\n  const root = path.resolve(options.root ?? process.cwd());\n  const out = path.resolve(root, options.out);\n  const moduleName = options.moduleName ?? 'mujoco-react';\n  const models = normalizeModels(options.models);\n  const names = createEmptyNames();\n  const seen = new Set<string>();\n  const declarationsOnly = out.endsWith('.d.ts');\n\n  for (const model of models) {\n    await scanModel(path.resolve(root, model.file), root, seen, model.names);\n    mergeNames(names, model.names);\n  }\n\n  await mkdir(path.dirname(out), { recursive: true });\n  await writeFile(out, renderRegister(moduleName, names, models, declarationsOnly), 'utf8');\n\n  return {\n    out,\n    files: [...seen].sort((a, b) => a.localeCompare(b)),\n    counts: Object.fromEntries(REGISTER_KEYS.map((key) => [key, names[key].size])) as Record<RegisterKey, number>,\n  };\n}\n\nasync function scanModel(\n  filePath: string,\n  root: string,\n  seen: Set<string>,\n  names: Record<RegisterKey, Set<string>>\n) {\n  const normalized = path.resolve(filePath);\n  if (seen.has(normalized)) return;\n  seen.add(normalized);\n\n  const xml = await readFile(normalized, 'utf8');\n  collectSimpleTagNames(xml, 'body', names.bodies);\n  collectSimpleTagNames(xml, 'joint', names.joints);\n  collectSimpleTagNames(xml, 'site', names.sites);\n  collectSimpleTagNames(xml, 'geom', names.geoms);\n  collectSimpleTagNames(xml, 'camera', names.cameras);\n  collectSimpleTagNames(xml, 'key', names.keyframes);\n  collectSectionNames(xml, 'actuator', names.actuators);\n  collectSectionNames(xml, 'sensor', names.sensors);\n\n  for (const includePath of collectIncludePaths(xml)) {\n    const next = path.resolve(path.dirname(normalized), includePath);\n    if (isPathInsideRoot(next, root)) await scanModel(next, root, seen, names);\n  }\n}\n\nfunction collectSimpleTagNames(xml: string, tag: string, target: Set<string>) {\n  const pattern = new RegExp(`<\\\\s*${tag}\\\\b([^>]*)>`, 'gi');\n  for (const match of xml.matchAll(pattern)) {\n    const name = readAttr(match[1], 'name');\n    if (name) target.add(name);\n  }\n}\n\nfunction collectSectionNames(xml: string, section: string, target: Set<string>) {\n  const sectionPattern = new RegExp(`<\\\\s*${section}\\\\b[^>]*>([\\\\s\\\\S]*?)<\\\\s*/\\\\s*${section}\\\\s*>`, 'gi');\n  for (const sectionMatch of xml.matchAll(sectionPattern)) {\n    const tagPattern = /<\\s*[a-zA-Z0-9_:-]+\\b([^>]*)>/g;\n    for (const tagMatch of sectionMatch[1].matchAll(tagPattern)) {\n      const name = readAttr(tagMatch[1], 'name');\n      if (name) target.add(name);\n    }\n  }\n}\n\nfunction collectIncludePaths(xml: string): string[] {\n  const result: string[] = [];\n  const pattern = /<\\s*include\\b([^>]*)>/gi;\n  for (const match of xml.matchAll(pattern)) {\n    const file = readAttr(match[1], 'file');\n    if (file && !file.includes('://') && !file.startsWith('/')) result.push(file);\n  }\n  return result;\n}\n\nfunction readAttr(attrs: string, attr: string): string | undefined {\n  const pattern = new RegExp(`\\\\b${attr}\\\\s*=\\\\s*(['\"])(.*?)\\\\1`, 'i');\n  return attrs.match(pattern)?.[2];\n}\n\nfunction renderRegister(\n  moduleName: string,\n  names: Record<RegisterKey, Set<string>>,\n  models: readonly ModelEntry[],\n  declarationsOnly: boolean\n): string {\n  const fields = REGISTER_KEYS\n    .filter((key) => names[key].size > 0)\n    .map((key) => `    ${key}: ${renderUnion(names[key])};`);\n  const modelFields = models\n    .map((model) => `      ${quoteProperty(model.id)}: {\\n${renderModelFields(model.names)}\\n      };`);\n  const namespaceAliases = renderNamespaceAliases(models);\n  const registerImport = declarationsOnly ? '' : `import { registerModelResources } from '${moduleName}';\\n`;\n  const resources = declarationsOnly ? '' : `${renderResourceTypes(models)}\\n\\n${renderResourceConstants(models)}\\n\\nregisterModelResources(generatedModelResources);\\n\\n`;\n\n  return `// Auto-generated by mujoco-react. Do not edit.\n// Regenerate by running Vite with the mujocoReact() plugin or \\`mujoco-react codegen\\`.\n\n${registerImport}import type { ModelResource } from '${moduleName}';\n\n${resources}declare module '${moduleName}' {\n  interface Register {\n    models: {\n${modelFields.join('\\n')}\n    };\n${fields.join('\\n')}\n  }\n\n${namespaceAliases}\n}\n`;\n}\n\nfunction renderResourceTypes(models: readonly ModelEntry[]): string {\n  const modelTypes = models\n    .map((model) => `  readonly ${quoteProperty(model.id)}: {\\n${renderResourceTypeFields(model.names)}\\n  };`)\n    .join('\\n');\n  return `type GeneratedModelResources = {\\n${modelTypes}\\n};`;\n}\n\nfunction renderResourceTypeFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `    readonly ${key}: ${renderResourceObjectType(names[key])};`)\n    .join('\\n');\n}\n\nfunction renderResourceObjectType(values: Set<string>): string {\n  const entries = sortedValues(values)\n    .map((value) => `      readonly ${quoteProperty(value)}: '${escapeTs(value)}';`);\n  return entries.length > 0 ? `{\\n${entries.join('\\n')}\\n    }` : '{}';\n}\n\nfunction renderResourceConstants(models: readonly ModelEntry[]): string {\n  const entries = models\n    .map((model) => `  ${quoteProperty(model.id)}: {\\n${renderResourceConstantFields(model.names)}\\n  },`)\n    .join('\\n');\n  return `const generatedModelResources: GeneratedModelResources = {\\n${entries}\\n};`;\n}\n\nfunction renderResourceConstantFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `    ${key}: ${renderResourceObject(names[key])},`)\n    .join('\\n');\n}\n\nfunction renderResourceObject(values: Set<string>): string {\n  const entries = sortedValues(values)\n    .map((value) => `      ${quoteProperty(value)}: '${escapeTs(value)}',`);\n  return entries.length > 0 ? `{\\n${entries.join('\\n')}\\n    }` : '{}';\n}\n\nfunction renderModelFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `        ${key}: ${names[key].size > 0 ? renderUnion(names[key]) : 'never'};`)\n    .join('\\n');\n}\n\nfunction renderUnion(values: Set<string>): string {\n  return sortedValues(values).map((value) => `'${escapeTs(value)}'`).join(' | ');\n}\n\nfunction renderNamespaceAliases(models: readonly ModelEntry[]): string {\n  const namespaces: Record<RegisterKey, string> = {\n    actuators: 'ModelActuators',\n    sensors: 'ModelSensors',\n    bodies: 'ModelBodies',\n    joints: 'ModelJoints',\n    sites: 'ModelSites',\n    geoms: 'ModelGeoms',\n    keyframes: 'ModelKeyframes',\n    cameras: 'ModelCameras',\n  };\n\n  const blocks = REGISTER_KEYS\n    .map((key) => {\n      const modelAliases = models\n        .filter((model) => isIdentifier(model.id))\n        .map((model) => `    export type ${model.id} = ModelResource<'${escapeTs(model.id)}', '${key}'>;`);\n      if (modelAliases.length === 0) return '';\n      return `  export namespace ${namespaces[key]} {\\n${modelAliases.join('\\n')}\\n  }`;\n    })\n    .filter(Boolean)\n    .join('\\n\\n');\n\n  return blocks ? `${blocks}\\n` : '';\n}\n\nfunction escapeTs(value: string): string {\n  return value.replace(/\\\\/g, '\\\\\\\\').replace(/'/g, \"\\\\'\");\n}\n\nfunction sortedValues(values: Set<string>): string[] {\n  return [...values].sort((a, b) => a.localeCompare(b));\n}\n\nfunction quoteProperty(value: string): string {\n  return isIdentifier(value) ? value : `'${escapeTs(value)}'`;\n}\n\nfunction isIdentifier(value: string): boolean {\n  return /^[A-Za-z_$][A-Za-z0-9_$]*$/.test(value);\n}\n\nfunction toPosixPath(value: string): string {\n  return value.split(path.sep).join('/');\n}\n\nfunction shouldInjectRegisterImport(id: string, root: string, generatedRegister: string): boolean {\n  if (generatedRegister.endsWith('.d.ts')) return false;\n  const file = stripQuery(id);\n  if (!/\\.[cm]?[jt]sx?$/.test(file)) return false;\n  if (file.includes(`${path.sep}node_modules${path.sep}`)) return false;\n  const absolute = path.resolve(file);\n  if (absolute === generatedRegister) return false;\n  return isPathInsideRoot(absolute, root);\n}\n\nfunction renderGeneratedImport(id: string, generatedRegister: string): string {\n  const fromDir = path.dirname(stripQuery(id));\n  let relative = toPosixPath(path.relative(fromDir, generatedRegister));\n  if (!relative.startsWith('.')) relative = `./${relative}`;\n  return `import '${relative}';`;\n}\n\nfunction stripQuery(id: string): string {\n  return id.split('?')[0];\n}\n\nfunction normalizeModels(input: ModelInput): ModelEntry[] {\n  if (typeof input === 'string') return [createModelEntry(deriveModelId(input), input)];\n  if (Array.isArray(input)) return input.map((file) => createModelEntry(deriveModelId(file), file));\n  return Object.entries(input).map(([id, file]) => createModelEntry(sanitizeModelId(id), file));\n}\n\nfunction createModelEntry(id: string, file: string): ModelEntry {\n  return { id, file, names: createEmptyNames() };\n}\n\nfunction deriveModelId(file: string): string {\n  const normalized = file.replace(/\\\\/g, '/');\n  const parts = normalized.split('/').filter(Boolean);\n  const filename = parts.at(-1) ?? 'model';\n  const parent = parts.length > 1 ? parts.at(-2) : undefined;\n  const base = filename.replace(/\\.(xml|mjcf|urdf)$/i, '');\n  return sanitizeModelId(parent && ['scene', 'model', 'robot'].includes(base.toLowerCase()) ? parent : base);\n}\n\nfunction sanitizeModelId(value: string): string {\n  const sanitized = value.replace(/[^A-Za-z0-9_$]/g, '_').replace(/^[^A-Za-z_$]+/, '');\n  return sanitized || 'model';\n}\n\nfunction mergeNames(target: Record<RegisterKey, Set<string>>, source: Record<RegisterKey, Set<string>>) {\n  for (const key of REGISTER_KEYS) {\n    for (const value of source[key]) target[key].add(value);\n  }\n}\n\nfunction shouldRegenerate(file: string, watchedFiles: string[], models: readonly ModelEntry[], root: string): boolean {\n  const absolute = path.resolve(file);\n  if (watchedFiles.includes(absolute)) return true;\n  if (!MODEL_EXTENSIONS.has(path.extname(absolute).toLowerCase())) return false;\n  const modelDirs = models.map((model) => path.dirname(path.resolve(root, model.file)));\n  return modelDirs.some((dir) => isPathInsideRoot(absolute, dir));\n}\n\nfunction isPathInsideRoot(filePath: string, root: string): boolean {\n  const relative = path.relative(path.resolve(root), path.resolve(filePath));\n  return relative === '' || (relative !== '' && !relative.startsWith('..') && !path.isAbsolute(relative));\n}\n"]}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mujoco-react",
-  "version": "11.0.0",
+  "version": "12.1.0",
   "description": "Composable React Three Fiber building blocks for MuJoCo WASM simulations",
   "type": "module",
   "main": "./dist/index.js",
@@ -31,6 +31,9 @@
         "types": "./dist/onnx.d.ts",
         "default": "./dist/onnx.js"
       }
+    },
+    "./physics.worker": {
+      "import": "./dist/physics.worker.js"
     }
   },
   "bin": {
@@ -63,7 +66,7 @@
     "build": "tsup",
     "dev": "tsup --watch",
     "typecheck": "tsc --noEmit",
-    "test:runtime": "tsup --config tests/tsup.config.ts && node --test .test-dist/runtime.js"
+    "test:runtime": "tsup --config tests/tsup.config.ts && node --test .test-dist/runtime.js .test-dist/simulation-runtime.js"
   },
   "peerDependencies": {
     "@react-three/drei": ">=9",
@@ -82,7 +85,7 @@
     }
   },
   "dependencies": {
-    "@mujoco/mujoco": "3.15.0"
+    "@mujoco/mujoco": "4.0.1"
   },
   "devDependencies": {
     "@react-three/drei": "^10.7.7",

package/src/components/CameraView.tsx

@@ -86,8 +86,11 @@ function CameraViewportRenderer({
   const mujoco = useMujoco();
 
   useFrame(() => {
-    const drawWidth = gl.domElement.width;
-    const drawHeight = gl.domElement.height;
+    // WebGLRenderer applies its pixel ratio in setViewport/setScissor. Pass
+    // logical pixels here; drawing-buffer dimensions would apply DPR twice.
+    const dpr = gl.getPixelRatio();
+    const drawWidth = gl.domElement.width / dpr;
+    const drawHeight = gl.domElement.height / dpr;
 
     // We own the render now: draw the main scene full-frame first.
     gl.setScissorTest(false);
@@ -97,7 +100,6 @@ function CameraViewportRenderer({
     const api = mujoco.api;
     if (!api || viewportsRef.current.size === 0) return;
 
-    const dpr = gl.getPixelRatio();
     const canvasRect = gl.domElement.getBoundingClientRect();
 
     for (const descriptor of viewportsRef.current.values()) {
@@ -112,12 +114,12 @@ function CameraViewportRenderer({
         rect.left > canvasRect.right;
       if (isOffscreen) continue;
 
-      const width = Math.floor(rect.width * dpr);
-      const height = Math.floor(rect.height * dpr);
+      const width = rect.width;
+      const height = rect.height;
       if (width <= 0 || height <= 0) continue;
 
-      const left = Math.floor((rect.left - canvasRect.left) * dpr);
-      const bottom = Math.floor((canvasRect.bottom - rect.bottom) * dpr);
+      const left = rect.left - canvasRect.left;
+      const bottom = canvasRect.bottom - rect.bottom;
 
       let resolved: CameraFrameCaptureOptions;
       try {

package/src/core/MujocoCanvas.tsx

@@ -29,6 +29,7 @@ export const MujocoCanvas = forwardRef<MujocoSimAPI, MujocoCanvasProps>(
       timestep,
       integrator,
       substeps,
+      physicsBudgetMs,
       paused,
       speed,
       interpolate,
@@ -74,6 +75,7 @@ export const MujocoCanvas = forwardRef<MujocoSimAPI, MujocoCanvasProps>(
           timestep={timestep}
           integrator={integrator}
           substeps={substeps}
+          physicsBudgetMs={physicsBudgetMs}
           paused={paused}
           speed={speed}
           interpolate={interpolate}

package/src/core/MujocoPhysics.tsx

@@ -34,6 +34,7 @@ export interface MujocoPhysicsProps {
   integrator?: MujocoIntegrator;
   /** mj_step calls per frame. */
   substeps?: number;
+  physicsBudgetMs?: number;
   /** Declarative pause. */
   paused?: boolean;
   /** Simulation speed multiplier. */