mujoco-react 2.0.0 → 4.0.0

package/README.md

@@ -23,22 +23,19 @@ import {
   IkController,
   IkGizmo,
 } from 'mujoco-react';
-import type { SceneConfig, MujocoSimAPI } from 'mujoco-react';
+import type { SceneConfig } from 'mujoco-react';
 import { OrbitControls } from '@react-three/drei';
 
 const config: SceneConfig = {
-  robotId: 'franka_emika_panda',
+  modelId: 'franka_emika_panda',
   sceneFile: 'scene.xml',
   homeJoints: [1.707, -1.754, 0.003, -2.702, 0.003, 0.951, 2.490],
 };
 
 function App() {
-  const apiRef = useRef<MujocoSimAPI>(null);
-
   return (
     <MujocoProvider>
       <MujocoCanvas
-        ref={apiRef}
         config={config}
         camera={{ position: [2, -1.5, 2.5], up: [0, 0, 1], fov: 45 }}
         shadows
@@ -56,25 +53,26 @@ function App() {
 }
 ```
 
-## Direct WASM Access
+## `useMujoco()`
 
-`useMujoco()` gives you the full typed MuJoCo WASM binary — `mj_step`, `mj_forward`, `MjModel`, `MjData`, and everything else:
+Inside `<MujocoCanvas>` or `<MujocoPhysics>`, `useMujoco()` gives you the simulation API, refs to the live model/data, and status:
 
 ```tsx
 import { useMujoco } from 'mujoco-react';
 
-const { mujoco, status } = useMujoco();
+function StatusOverlay() {
+  const { status, api, mjModelRef, mjDataRef } = useMujoco();
 
-if (mujoco) {
-  const model = mujoco.MjModel.loadFromXML('/path/to/scene.xml');
-  const data = new mujoco.MjData(model);
-  mujoco.mj_step(model, data);
-  console.log(data.qpos);  // joint positions after one step
+  if (status !== 'ready') return <span>Loading...</span>;
+
+  return (
+    <button onClick={() => api?.reset()}>
+      Reset ({mjModelRef.current?.nq} joints)
+    </button>
+  );
 }
 ```
 
-Most users won't need this — `<MujocoCanvas>` and hooks like `useBeforePhysicsStep` handle the model/data lifecycle for you. But the raw module is always available when you need it.
-
 ## Writing a Controller
 
 A controller is a React component that calls `useBeforePhysicsStep` to write `data.ctrl` each frame:
@@ -183,22 +181,22 @@ const ikCtx = useIk({ optional: true });
 Models are loaded from any HTTP source via `SceneConfig.baseUrl`. Defaults to [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie) on GitHub.
 
 ```tsx
-// Menagerie robots: just set robotId
+// Menagerie models: just set modelId
 const franka: SceneConfig = {
-  robotId: 'franka_emika_panda',
+  modelId: 'franka_emika_panda',
   sceneFile: 'scene.xml',
 };
 
 // Any GitHub repo
 const so101: SceneConfig = {
-  robotId: 'so101',
+  modelId: 'so101',
   sceneFile: 'SO101.xml',
   baseUrl: 'https://raw.githubusercontent.com/your-org/your-repo/main/models/',
 };
 
 // Self-hosted
 const custom: SceneConfig = {
-  robotId: 'my_robot',
+  modelId: 'my_robot',
   sceneFile: 'robot.xml',
   baseUrl: 'http://localhost:3000/models/my_robot/',
 };
@@ -210,7 +208,7 @@ The loader fetches the scene XML, parses it for dependencies (meshes, textures,
 
 ```ts
 interface SceneConfig {
-  robotId: string;                  // e.g. 'franka_emika_panda'
+  modelId: string;                  // e.g. 'franka_emika_panda'
   sceneFile: string;                // Entry XML file, e.g. 'scene.xml'
   baseUrl?: string;                 // Base URL for fetching model files
   sceneObjects?: SceneObject[];     // Objects injected into scene XML at load time
@@ -224,7 +222,7 @@ interface SceneConfig {
 
 ```tsx
 const config: SceneConfig = {
-  robotId: 'franka_emika_panda',
+  modelId: 'franka_emika_panda',
   sceneFile: 'scene.xml',
   sceneObjects: [
     { name: 'ball', type: 'sphere', size: [0.03, 0.03, 0.03],
@@ -390,24 +388,27 @@ Plays back recorded qpos trajectories with scrubbing.
 
 ### `useMujoco()`
 
-Access the WASM module lifecycle from any child of `<MujocoProvider>`:
+Access the simulation API and internal refs (must be inside `<MujocoCanvas>` or `<MujocoPhysics>`):
 
 ```tsx
-const { mujoco, status, error } = useMujoco();
+const { api, status, mjModelRef, mjDataRef } = useMujoco();
 ```
 
-| Field | Type | Description |
-|-------|------|-------------|
-| `mujoco` | `MujocoModule \| null` | The raw WASM module, or `null` while loading |
-| `status` | `'pending' \| 'error'` | Lifecycle state (absent once loaded) |
-| `error` | `string \| null` | Error message if loading failed |
-
-### `useMujocoSim()`
+### `useMujocoWasm()`
 
-Access the simulation API and internal refs (must be inside `<MujocoCanvas>` or `<MujocoPhysics>`):
+Access the raw WASM module lifecycle from any child of `<MujocoProvider>`. Most users won't need this — `useMujoco()` and hooks like `useBeforePhysicsStep` handle the model/data lifecycle for you.
 
 ```tsx
-const { api, mjModelRef, mjDataRef } = useMujocoSim();
+import { useMujocoWasm } from 'mujoco-react';
+
+const { mujoco, status } = useMujocoWasm();
+
+if (mujoco) {
+  const model = mujoco.MjModel.loadFromXML('/path/to/scene.xml');
+  const data = new mujoco.MjData(model);
+  mujoco.mj_step(model, data);
+  console.log(data.qpos);  // joint positions after one step
+}
 ```
 
 ### `useBeforePhysicsStep(callback)`
@@ -583,7 +584,7 @@ useSceneLights(1.5);
 
 ## MujocoSimAPI
 
-The full API object available via `ref` or `useMujocoSim().api`:
+The full API object available via `ref` or `useMujoco().api`:
 
 ### Simulation Control
 
@@ -663,27 +664,9 @@ The full API object available via `ref` or `useMujocoSim().api`:
 
 See [Building Controllers](https://dadd.mintlify.app/guides/building-controllers) for full patterns including config-driven controllers, IK gizmo coexistence, multi-arm support, and the `createController` factory.
 
-### Graspable Objects
-
-Objects need specific MuJoCo contact parameters to be picked up by grippers:
-
-```tsx
-sceneObjects: [{
-  name: 'cube',
-  type: 'box',
-  size: [0.025, 0.025, 0.025],
-  position: [0.4, 0, 0.025],
-  rgba: [0.9, 0.2, 0.15, 1],
-  mass: 0.05,
-  freejoint: true,
-  friction: '1.5 0.3 0.1',            // high sliding friction
-  solref: '0.01 1',                    // stiff contact solver
-  solimp: '0.95 0.99 0.001 0.5 2',    // tight impedance
-  condim: 4,                           // elliptic friction cone
-}]
-```
+### Contact Parameters
 
-Without `condim: 4` and high friction, objects slide out of the gripper when lifted. See [Graspable Objects](https://dadd.mintlify.app/guides/graspable-objects) for details.
+Objects that need stable contact (grasping, stacking, etc.) require tuned MuJoCo solver parameters — `friction`, `solref`, `solimp`, and `condim`. See [Contact Parameters](https://dadd.mintlify.app/guides/graspable-objects) for details.
 
 ### Click-to-Select
 

package/dist/index.d.ts

@@ -233,7 +233,7 @@ interface XmlPatch {
     replace?: [string, string];
 }
 interface SceneConfig {
-    robotId: string;
+    modelId: string;
     sceneFile: string;
     baseUrl?: string;
     sceneObjects?: SceneObject[];
@@ -491,7 +491,7 @@ interface JointStateResult {
 /**
  * Hook to access the MuJoCo WASM module.
  */
-declare function useMujoco(): MujocoContextValue;
+declare function useMujocoWasm(): MujocoContextValue;
 interface MujocoProviderProps {
     wasmUrl?: string;
     /** Timeout in ms for WASM module load. Default: 30000. */
@@ -573,7 +573,7 @@ interface MujocoSimContextValue {
     resetCallbacks: React.RefObject<Set<() => void>>;
     status: 'loading' | 'ready' | 'error';
 }
-declare function useMujocoSim(): MujocoSimContextValue;
+declare function useMujoco(): MujocoSimContextValue;
 declare function useBeforePhysicsStep(callback: PhysicsStepCallback): void;
 declare function useAfterPhysicsStep(callback: PhysicsStepCallback): void;
 interface MujocoSimProviderProps {
@@ -666,7 +666,7 @@ type ControllerComponent<TConfig> = React.FC<{
  * Factory that produces a typed controller component.
  *
  * Controllers are React components that plug into the MuJoCo simulation tree.
- * Inside `Impl`, use any hooks (`useMujocoSim`, `useBeforePhysicsStep`, etc.)
+ * Inside `Impl`, use any hooks (`useMujoco`, `useBeforePhysicsStep`, etc.)
  * to interact with the physics engine.
  *
  * @example
@@ -1154,4 +1154,4 @@ interface CameraAnimationAPI {
  */
 declare function useCameraAnimation(): CameraAnimationAPI;
 
-export { type ActuatorInfo, type BodyInfo, type BodyStateResult, type CameraAnimationAPI, type ContactInfo, ContactListener, type ContactListenerProps, ContactMarkers, type ControllerComponent, type ControllerOptions, Debug, type DebugProps, DragInteraction, type DragInteractionProps, FlexRenderer, type GeomInfo, type IKSolveFn, type IkConfig, type IkContextValue, IkController, IkGizmo, type IkGizmoProps, type JointInfo, type JointStateResult, type KeyBinding, type KeyboardTeleopConfig, type ModelOptions, MujocoCanvas, type MujocoCanvasProps, type MujocoContact, type MujocoContactArray, type MujocoContextValue, type MujocoData, type MujocoModel, type MujocoModule, MujocoPhysics, type MujocoPhysicsProps, MujocoProvider, type MujocoSimAPI, MujocoSimProvider, type PhysicsConfig, type PhysicsStepCallback, type PolicyConfig, type RayHit, type SceneConfig, SceneLights, type SceneLightsProps, type SceneMarker, type SceneObject, SelectionHighlight, type SelectionHighlightProps, type SensorInfo, type SensorResult, type SiteInfo, type SitePositionResult, type StateSnapshot, TendonRenderer, type TrajectoryData, type TrajectoryFrame, TrajectoryPlayer, type TrajectoryPlayerProps, type XmlPatch, createController, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getContact, getName, loadScene, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useGamepad, useGravityCompensation, useIk, useJointState, useKeyboardTeleop, useMujoco, useMujocoSim, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder };
+export { type ActuatorInfo, type BodyInfo, type BodyStateResult, type CameraAnimationAPI, type ContactInfo, ContactListener, type ContactListenerProps, ContactMarkers, type ControllerComponent, type ControllerOptions, Debug, type DebugProps, DragInteraction, type DragInteractionProps, FlexRenderer, type GeomInfo, type IKSolveFn, type IkConfig, type IkContextValue, IkController, IkGizmo, type IkGizmoProps, type JointInfo, type JointStateResult, type KeyBinding, type KeyboardTeleopConfig, type ModelOptions, MujocoCanvas, type MujocoCanvasProps, type MujocoContact, type MujocoContactArray, type MujocoContextValue, type MujocoData, type MujocoModel, type MujocoModule, MujocoPhysics, type MujocoPhysicsProps, MujocoProvider, type MujocoSimAPI, MujocoSimProvider, type PhysicsConfig, type PhysicsStepCallback, type PolicyConfig, type RayHit, type SceneConfig, SceneLights, type SceneLightsProps, type SceneMarker, type SceneObject, SelectionHighlight, type SelectionHighlightProps, type SensorInfo, type SensorResult, type SiteInfo, type SitePositionResult, type StateSnapshot, TendonRenderer, type TrajectoryData, type TrajectoryFrame, TrajectoryPlayer, type TrajectoryPlayerProps, type XmlPatch, createController, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getContact, getName, loadScene, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useGamepad, useGravityCompensation, useIk, useJointState, useKeyboardTeleop, useMujoco, useMujocoWasm, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder };

package/dist/index.js

@@ -11,7 +11,7 @@ var MujocoContext = createContext({
   status: "loading",
   error: null
 });
-function useMujoco() {
+function useMujocoWasm() {
   return useContext(MujocoContext);
 }
 function MujocoProvider({ wasmUrl, timeout = 3e4, children, onError }) {
@@ -400,7 +400,7 @@ async function loadScene(mujoco, config, onProgress) {
     mujoco.FS.mkdir("/working");
   } catch {
   }
-  const baseUrl = config.baseUrl || `https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/${config.robotId}/`;
+  const baseUrl = config.baseUrl || `https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/${config.modelId}/`;
   const downloaded = /* @__PURE__ */ new Set();
   const queue = [config.sceneFile];
   const parser = new DOMParser();
@@ -508,7 +508,7 @@ function scanDependencies(xmlString, currentFile, parser, downloaded, queue) {
   });
 }
 function SceneRenderer(props) {
-  const { mjModelRef, mjDataRef, mujocoRef, onSelectionRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, mujocoRef, onSelectionRef, status } = useMujoco();
   const groupRef = useRef(null);
   const bodyRefs = useRef([]);
   const prevModelRef = useRef(null);
@@ -647,14 +647,14 @@ var _rayGeomId = new Int32Array(1);
 var _projRaycaster = new THREE11.Raycaster();
 var _projNdc = new THREE11.Vector2();
 var MujocoSimContext = createContext(null);
-function useMujocoSim() {
+function useMujoco() {
   const ctx = useContext(MujocoSimContext);
   if (!ctx)
-    throw new Error("useMujocoSim must be used inside <MujocoSimProvider>");
+    throw new Error("useMujoco must be used inside <MujocoSimProvider>");
   return ctx;
 }
 function useBeforePhysicsStep(callback) {
-  const { beforeStepCallbacks } = useMujocoSim();
+  const { beforeStepCallbacks } = useMujoco();
   const callbackRef = useRef(callback);
   callbackRef.current = callback;
   useEffect(() => {
@@ -666,7 +666,7 @@ function useBeforePhysicsStep(callback) {
   }, [beforeStepCallbacks]);
 }
 function useAfterPhysicsStep(callback) {
-  const { afterStepCallbacks } = useMujocoSim();
+  const { afterStepCallbacks } = useMujoco();
   const callbackRef = useRef(callback);
   callbackRef.current = callback;
   useEffect(() => {
@@ -1436,7 +1436,7 @@ var MujocoCanvas = forwardRef(
     children,
     ...canvasProps
   }, ref) {
-    const { mujoco, status: wasmStatus, error: wasmError } = useMujoco();
+    const { mujoco, status: wasmStatus, error: wasmError } = useMujocoWasm();
     useEffect(() => {
       if (wasmStatus === "error" && onError) {
         onError(new Error(wasmError ?? "WASM load failed"));
@@ -1467,7 +1467,7 @@ var MujocoCanvas = forwardRef(
 );
 var MujocoPhysics = forwardRef(
   function MujocoPhysics2({ onError, children, ...props }, ref) {
-    const { mujoco, status: wasmStatus, error: wasmError } = useMujoco();
+    const { mujoco, status: wasmStatus, error: wasmError } = useMujocoWasm();
     useEffect(() => {
       if (wasmStatus === "error" && onError) {
         onError(new Error(wasmError ?? "WASM load failed"));
@@ -1783,7 +1783,7 @@ function IkControllerImpl({
   config,
   children
 }) {
-  const { mjModelRef, mjDataRef, mujocoRef, configRef, resetCallbacks, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, mujocoRef, configRef, resetCallbacks, status } = useMujoco();
   const ikEnabledRef = useRef(false);
   const ikCalculatingRef = useRef(false);
   const ikTargetRef = useRef(new THREE11.Group());
@@ -1977,7 +1977,7 @@ var _pos = new THREE11.Vector3();
 var _quat = new THREE11.Quaternion();
 var _scale = new THREE11.Vector3(1, 1, 1);
 function IkGizmo({ siteName, scale = 0.18, onDrag }) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const { ikTargetRef, siteIdRef, ikEnabledRef, setIkEnabled } = useIk();
   const wrapperRef = useRef(null);
   const pivotRef = useRef(null);
@@ -2075,7 +2075,7 @@ function ContactMarkers({
   visible = true,
   ...groupProps
 } = {}) {
-  const { mjDataRef, status } = useMujocoSim();
+  const { mjDataRef, status } = useMujoco();
   const meshRef = useRef(null);
   useFrame(() => {
     const mesh = meshRef.current;
@@ -2119,7 +2119,7 @@ function DragInteraction({
   showArrow = true,
   ...groupProps
 }) {
-  const { mjDataRef, mujocoRef, mjModelRef, status } = useMujocoSim();
+  const { mjDataRef, mujocoRef, mjModelRef, status } = useMujoco();
   const { gl, camera, scene, controls } = useThree();
   const draggingRef = useRef(false);
   const bodyIdRef = useRef(-1);
@@ -2277,7 +2277,7 @@ function DragInteraction({
   return /* @__PURE__ */ jsx("group", { ...groupProps, ref: groupRef });
 }
 function useSceneLights(intensity = 1) {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
   const { scene } = useThree();
   const lightsRef = useRef([]);
   const targetsRef = useRef([]);
@@ -2398,7 +2398,7 @@ function Debug({
   showTendons = false,
   ...groupProps
 }) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const { scene } = useThree();
   const groupRef = useRef(null);
   const debugGeometry = useMemo(() => {
@@ -2668,7 +2668,7 @@ var DEFAULT_TENDON_COLOR = new THREE11.Color(0.3, 0.3, 0.8);
 var DEFAULT_TENDON_WIDTH = 2e-3;
 new THREE11.Vector3();
 function TendonRenderer(props) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const groupRef = useRef(null);
   const meshesRef = useRef([]);
   const curvesRef = useRef([]);
@@ -2772,7 +2772,7 @@ function TendonRenderer(props) {
   return /* @__PURE__ */ jsx("group", { ...props, ref: groupRef });
 }
 function FlexRenderer(props) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const groupRef = useRef(null);
   const meshesRef = useRef([]);
   useEffect(() => {
@@ -2852,7 +2852,7 @@ function getGeomNameCached(model, geomId) {
   return name;
 }
 function useContacts(bodyName, callback) {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
   const contactsRef = useRef([]);
   const bodyIdRef = useRef(-1);
   const bodyResolvedRef = useRef(false);
@@ -2951,7 +2951,7 @@ function ContactListener({
   return null;
 }
 function useTrajectoryPlayer(trajectory, options = {}) {
-  const { mjModelRef, mjDataRef, mujocoRef, pausedRef } = useMujocoSim();
+  const { mjModelRef, mjDataRef, mujocoRef, pausedRef } = useMujoco();
   const fps = options.fps ?? 30;
   const loop = options.loop ?? false;
   const playingRef = useRef(false);
@@ -3106,7 +3106,7 @@ function SelectionHighlight({
   return null;
 }
 function useActuators() {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
   return useMemo(() => {
     if (status !== "ready") return [];
     const model = mjModelRef.current;
@@ -3125,7 +3125,7 @@ function useActuators() {
 }
 var _mat42 = new THREE11.Matrix4();
 function useSitePosition(siteName) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const siteIdRef = useRef(-1);
   const positionRef = useRef(new THREE11.Vector3());
   const quaternionRef = useRef(new THREE11.Quaternion());
@@ -3182,7 +3182,7 @@ function useGravityCompensation(enabled = true) {
   });
 }
 function useSensor(name) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const sensorIdRef = useRef(-1);
   const sensorAdrRef = useRef(0);
   const sensorDimRef = useRef(0);
@@ -3212,7 +3212,7 @@ function useSensor(name) {
   return { value: valueRef, size: sensorDimRef.current };
 }
 function useSensors() {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
   return useMemo(() => {
     const model = mjModelRef.current;
     if (!model || status !== "ready") return [];
@@ -3249,7 +3249,7 @@ function useSensors() {
   }, [mjModelRef, status]);
 }
 function useJointState(name) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const jointIdRef = useRef(-1);
   const qposAdrRef = useRef(0);
   const dofAdrRef = useRef(0);
@@ -3309,7 +3309,7 @@ function useJointState(name) {
   return { position: positionRef, velocity: velocityRef };
 }
 function useBodyState(name) {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
   const bodyIdRef = useRef(-1);
   const position = useRef(new THREE11.Vector3());
   const quaternion = useRef(new THREE11.Quaternion());
@@ -3341,7 +3341,7 @@ function useBodyState(name) {
   return { position, quaternion, linearVelocity, angularVelocity };
 }
 function useCtrl(name) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const actuatorIdRef = useRef(-1);
   const valueRef = useRef(0);
   useEffect(() => {
@@ -3358,7 +3358,7 @@ function useCtrl(name) {
   return [valueRef, setValue];
 }
 function useKeyboardTeleop(config) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const pressedRef = useRef(/* @__PURE__ */ new Set());
   const toggleStateRef = useRef(/* @__PURE__ */ new Map());
   const enabledRef = useRef(config.enabled ?? true);
@@ -3421,7 +3421,7 @@ function useKeyboardTeleop(config) {
   });
 }
 function usePolicy(config) {
-  const { mjModelRef } = useMujocoSim();
+  const { mjModelRef } = useMujoco();
   const lastActionTimeRef = useRef(0);
   const lastActionRef = useRef(null);
   const isRunningRef = useRef(true);
@@ -3455,7 +3455,7 @@ function usePolicy(config) {
   };
 }
 function useTrajectoryRecorder(options = {}) {
-  const { mjModelRef } = useMujocoSim();
+  const { mjModelRef } = useMujoco();
   const recordingRef = useRef(false);
   const framesRef = useRef([]);
   const fields = options.fields ?? ["qpos"];
@@ -3531,7 +3531,7 @@ function useTrajectoryRecorder(options = {}) {
   };
 }
 function useGamepad(config) {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
   const configRef = useRef(config);
   configRef.current = config;
   const axisCacheRef = useRef(/* @__PURE__ */ new Map());
@@ -3627,7 +3627,7 @@ function useVideoRecorder(options = {}) {
   };
 }
 function useCtrlNoise(config = {}) {
-  const { mjModelRef } = useMujocoSim();
+  const { mjModelRef } = useMujoco();
   const configRef = useRef(config);
   configRef.current = config;
   const noiseRef = useRef(null);
@@ -3907,6 +3907,6 @@ function useCameraAnimation() {
  * useCameraAnimation — composable camera animation hook.
  */
 
-export { ContactListener, ContactMarkers, Debug, DragInteraction, FlexRenderer, IkController, IkGizmo, MujocoCanvas, MujocoPhysics, MujocoProvider, MujocoSimProvider, SceneLights, SelectionHighlight, TendonRenderer, TrajectoryPlayer, createController, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getContact, getName, loadScene, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useGamepad, useGravityCompensation, useIk, useJointState, useKeyboardTeleop, useMujoco, useMujocoSim, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder };
+export { ContactListener, ContactMarkers, Debug, DragInteraction, FlexRenderer, IkController, IkGizmo, MujocoCanvas, MujocoPhysics, MujocoProvider, MujocoSimProvider, SceneLights, SelectionHighlight, TendonRenderer, TrajectoryPlayer, createController, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getContact, getName, loadScene, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useGamepad, useGravityCompensation, useIk, useJointState, useKeyboardTeleop, useMujoco, useMujocoWasm, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder };
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