mujoco-react 2.0.0 → 4.0.0

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mujoco-react",
-  "version": "2.0.0",
+  "version": "4.0.0",
   "description": "Composable React Three Fiber building blocks for MuJoCo WASM simulations",
   "type": "module",
   "main": "./dist/index.js",

package/src/components/ContactMarkers.tsx

@@ -12,7 +12,7 @@ import { useRef } from 'react';
 import { useFrame } from '@react-three/fiber';
 import type { ThreeElements } from '@react-three/fiber';
 import * as THREE from 'three';
-import { useMujocoSim } from '../core/MujocoSimProvider';
+import { useMujoco } from '../core/MujocoSimProvider';
 import { getContact } from '../types';
 
 const _dummy = new THREE.Object3D();
@@ -35,7 +35,7 @@ export function ContactMarkers({
   visible = true,
   ...groupProps
 }: ContactMarkersProps & Omit<ThreeElements['group'], 'ref' | 'visible'> = {}) {
-  const { mjDataRef, status } = useMujocoSim();
+  const { mjDataRef, status } = useMujoco();
   const meshRef = useRef<THREE.InstancedMesh>(null);
 
   useFrame(() => {

package/src/components/Debug.tsx

@@ -9,7 +9,7 @@ import { useEffect, useMemo, useRef } from 'react';
 import { useFrame, useThree } from '@react-three/fiber';
 import type { ThreeElements } from '@react-three/fiber';
 import * as THREE from 'three';
-import { useMujocoSim } from '../core/MujocoSimProvider';
+import { useMujoco } from '../core/MujocoSimProvider';
 import { getName } from '../core/SceneLoader';
 import { getContact } from '../types';
 import type { DebugProps } from '../types';
@@ -43,7 +43,7 @@ export function Debug({
   showTendons = false,
   ...groupProps
 }: DebugProps & Omit<ThreeElements['group'], 'ref'>) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const { scene } = useThree();
   const groupRef = useRef<THREE.Group>(null);
 

package/src/components/DragInteraction.tsx

@@ -7,7 +7,7 @@ import { useFrame, useThree } from '@react-three/fiber';
 import type { ThreeElements } from '@react-three/fiber';
 import { useEffect, useRef } from 'react';
 import * as THREE from 'three';
-import { useMujocoSim, useBeforePhysicsStep } from '../core/MujocoSimProvider';
+import { useMujoco, useBeforePhysicsStep } from '../core/MujocoSimProvider';
 import type { DragInteractionProps } from '../types';
 
 // Preallocated temps to avoid GC pressure
@@ -38,7 +38,7 @@ export function DragInteraction({
   showArrow = true,
   ...groupProps
 }: DragInteractionProps & Omit<ThreeElements['group'], 'ref'>) {
-  const { mjDataRef, mujocoRef, mjModelRef, status } = useMujocoSim();
+  const { mjDataRef, mujocoRef, mjModelRef, status } = useMujoco();
   const { gl, camera, scene, controls } = useThree();
 
   const draggingRef = useRef(false);

package/src/components/FlexRenderer.tsx

@@ -9,14 +9,14 @@ import { useEffect, useRef } from 'react';
 import { useFrame } from '@react-three/fiber';
 import type { ThreeElements } from '@react-three/fiber';
 import * as THREE from 'three';
-import { useMujocoSim } from '../core/MujocoSimProvider';
+import { useMujoco } from '../core/MujocoSimProvider';
 
 /**
  * Renders MuJoCo flex (deformable) bodies as dynamic meshes.
  * Vertices are updated every frame from flexvert_xpos.
  */
 export function FlexRenderer(props: Omit<ThreeElements['group'], 'ref'>) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const groupRef = useRef<THREE.Group>(null);
   const meshesRef = useRef<THREE.Mesh[]>([]);
 

package/src/components/IkController.tsx

@@ -11,7 +11,7 @@ import { useFrame } from '@react-three/fiber';
 import * as THREE from 'three';
 import { createController } from '../core/createController';
 import { IkContext, type IkContextValue } from '../core/IkContext';
-import { useMujocoSim, useBeforePhysicsStep } from '../core/MujocoSimProvider';
+import { useMujoco, useBeforePhysicsStep } from '../core/MujocoSimProvider';
 import { GenericIK } from '../core/GenericIK';
 import { findSiteByName } from '../core/SceneLoader';
 import type { IkConfig, IKSolveFn, MujocoData } from '../types';
@@ -41,7 +41,7 @@ function IkControllerImpl({
   children?: React.ReactNode;
 }) {
   const { mjModelRef, mjDataRef, mujocoRef, configRef, resetCallbacks, status } =
-    useMujocoSim();
+    useMujoco();
 
   // All IK state lives here, NOT in the provider
   const ikEnabledRef = useRef(false);

package/src/components/IkGizmo.tsx

@@ -7,7 +7,7 @@ import { PivotControls } from '@react-three/drei';
 import { useFrame, useThree } from '@react-three/fiber';
 import { useEffect, useRef } from 'react';
 import * as THREE from 'three';
-import { useMujocoSim } from '../core/MujocoSimProvider';
+import { useMujoco } from '../core/MujocoSimProvider';
 import { useIk } from '../core/IkContext';
 import { findSiteByName } from '../core/SceneLoader';
 import type { IkGizmoProps } from '../types';
@@ -31,7 +31,7 @@ const _scale = new THREE.Vector3(1, 1, 1);
  *   When provided, the consumer handles what happens during drag.
  */
 export function IkGizmo({ siteName, scale = 0.18, onDrag }: IkGizmoProps) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const { ikTargetRef, siteIdRef, ikEnabledRef, setIkEnabled } = useIk();
 
   const wrapperRef = useRef<THREE.Group>(null);

package/src/components/SceneRenderer.tsx

@@ -10,14 +10,14 @@ import * as THREE from 'three';
 import { GeomBuilder } from '../rendering/GeomBuilder';
 import { MujocoModel } from '../types';
 import { getName } from '../core/SceneLoader';
-import { useMujocoSim } from '../core/MujocoSimProvider';
+import { useMujoco } 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'>) {
-  const { mjModelRef, mjDataRef, mujocoRef, onSelectionRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, mujocoRef, onSelectionRef, status } = useMujoco();
   const groupRef = useRef<THREE.Group>(null);
   const bodyRefs = useRef<(THREE.Group | null)[]>([]);
   const prevModelRef = useRef<MujocoModel | null>(null);

package/src/components/TendonRenderer.tsx

@@ -15,7 +15,7 @@ import { useEffect, useRef } from 'react';
 import { useFrame } from '@react-three/fiber';
 import type { ThreeElements } from '@react-three/fiber';
 import * as THREE from 'three';
-import { useMujocoSim } from '../core/MujocoSimProvider';
+import { useMujoco } from '../core/MujocoSimProvider';
 
 const DEFAULT_TENDON_COLOR = new THREE.Color(0.3, 0.3, 0.8);
 const DEFAULT_TENDON_WIDTH = 0.002;
@@ -24,7 +24,7 @@ const DEFAULT_TENDON_WIDTH = 0.002;
 const _tmpVec = new THREE.Vector3();
 
 export function TendonRenderer(props: Omit<ThreeElements['group'], 'ref'>) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const groupRef = useRef<THREE.Group>(null);
   const meshesRef = useRef<THREE.Mesh[]>([]);
   const curvesRef = useRef<THREE.CatmullRomCurve3[]>([]);

package/src/core/MujocoCanvas.tsx

@@ -5,7 +5,7 @@
 
 import { Canvas } from '@react-three/fiber';
 import { forwardRef, useEffect } from 'react';
-import { useMujoco } from './MujocoProvider';
+import { useMujocoWasm } from './MujocoProvider';
 import { MujocoSimProvider } from './MujocoSimProvider';
 import { MujocoCanvasProps, MujocoSimAPI } from '../types';
 
@@ -35,7 +35,7 @@ export const MujocoCanvas = forwardRef<MujocoSimAPI, MujocoCanvasProps>(
     },
     ref
   ) {
-    const { mujoco, status: wasmStatus, error: wasmError } = useMujoco();
+    const { mujoco, status: wasmStatus, error: wasmError } = useMujocoWasm();
 
     useEffect(() => {
       if (wasmStatus === 'error' && onError) {

package/src/core/MujocoPhysics.tsx

@@ -4,7 +4,7 @@
  */
 
 import { forwardRef, useEffect } from 'react';
-import { useMujoco } from './MujocoProvider';
+import { useMujocoWasm } from './MujocoProvider';
 import { MujocoSimProvider } from './MujocoSimProvider';
 import type { MujocoSimAPI, SceneConfig } from '../types';
 
@@ -53,7 +53,7 @@ export interface MujocoPhysicsProps {
  */
 export const MujocoPhysics = forwardRef<MujocoSimAPI, MujocoPhysicsProps>(
   function MujocoPhysics({ onError, children, ...props }, ref) {
-    const { mujoco, status: wasmStatus, error: wasmError } = useMujoco();
+    const { mujoco, status: wasmStatus, error: wasmError } = useMujocoWasm();
 
     useEffect(() => {
       if (wasmStatus === 'error' && onError) {

package/src/core/MujocoProvider.tsx

@@ -16,7 +16,7 @@ const MujocoContext = createContext<MujocoContextValue>({
 /**
  * Hook to access the MuJoCo WASM module.
  */
-export function useMujoco(): MujocoContextValue {
+export function useMujocoWasm(): MujocoContextValue {
   return useContext(MujocoContext);
 }
 

package/src/core/MujocoSimProvider.tsx

@@ -96,15 +96,15 @@ export interface MujocoSimContextValue {
 
 const MujocoSimContext = createContext<MujocoSimContextValue | null>(null);
 
-export function useMujocoSim(): MujocoSimContextValue {
+export function useMujoco(): MujocoSimContextValue {
   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;
 }
 
 export function useBeforePhysicsStep(callback: PhysicsStepCallback) {
-  const { beforeStepCallbacks } = useMujocoSim();
+  const { beforeStepCallbacks } = useMujoco();
   const callbackRef = useRef(callback);
   callbackRef.current = callback;
 
@@ -116,7 +116,7 @@ export function useBeforePhysicsStep(callback: PhysicsStepCallback) {
 }
 
 export function useAfterPhysicsStep(callback: PhysicsStepCallback) {
-  const { afterStepCallbacks } = useMujocoSim();
+  const { afterStepCallbacks } = useMujoco();
   const callbackRef = useRef(callback);
   callbackRef.current = callback;
 

package/src/core/SceneLoader.ts

@@ -156,7 +156,7 @@ export async function loadScene(
 
   const baseUrl =
     config.baseUrl ||
-    `https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/${config.robotId}/`;
+    `https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/${config.modelId}/`;
 
   const downloaded = new Set<string>();
   const queue: string[] = [config.sceneFile];

package/src/core/createController.tsx

@@ -37,7 +37,7 @@ export 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

package/src/hooks/useActuators.ts

@@ -4,7 +4,7 @@
  */
 
 import { useMemo } from 'react';
-import { useMujocoSim } from '../core/MujocoSimProvider';
+import { useMujoco } from '../core/MujocoSimProvider';
 import { getName } from '../core/SceneLoader';
 import type { ActuatorInfo } from '../types';
 
@@ -13,7 +13,7 @@ import type { ActuatorInfo } from '../types';
  * Computed once when the model loads. Consumer reads/writes data.ctrl[id] directly.
  */
 export function useActuators(): ActuatorInfo[] {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
 
   return useMemo(() => {
     if (status !== 'ready') return [];

package/src/hooks/useBodyState.ts

@@ -7,7 +7,7 @@
 
 import { useEffect, useRef } from 'react';
 import * as THREE from 'three';
-import { useMujocoSim, useAfterPhysicsStep } from '../core/MujocoSimProvider';
+import { useMujoco, useAfterPhysicsStep } from '../core/MujocoSimProvider';
 import { findBodyByName } from '../core/SceneLoader';
 import type { BodyStateResult } from '../types';
 
@@ -16,7 +16,7 @@ import type { BodyStateResult } from '../types';
  * All values are ref-based — updated every physics frame without re-renders.
  */
 export function useBodyState(name: string): BodyStateResult {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
   const bodyIdRef = useRef(-1);
   const position = useRef(new THREE.Vector3());
   const quaternion = useRef(new THREE.Quaternion());

package/src/hooks/useContacts.ts

@@ -7,7 +7,7 @@
  */
 
 import { useCallback, useEffect, useRef } from 'react';
-import { useMujocoSim, useAfterPhysicsStep } from '../core/MujocoSimProvider';
+import { useMujoco, useAfterPhysicsStep } from '../core/MujocoSimProvider';
 import { findBodyByName, getName } from '../core/SceneLoader';
 import { getContact } from '../types';
 import type { ContactInfo, MujocoModel } from '../types';
@@ -39,7 +39,7 @@ export function useContacts(
   bodyName?: string,
   callback?: (contacts: ContactInfo[]) => void,
 ): React.RefObject<ContactInfo[]> {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
   const contactsRef = useRef<ContactInfo[]>([]);
   const bodyIdRef = useRef(-1);
   const bodyResolvedRef = useRef(false);

package/src/hooks/useCtrl.ts

@@ -6,7 +6,7 @@
  */
 
 import { useCallback, useEffect, useRef } from 'react';
-import { useMujocoSim } from '../core/MujocoSimProvider';
+import { useMujoco } from '../core/MujocoSimProvider';
 import { findActuatorByName } from '../core/SceneLoader';
 
 /**
@@ -17,7 +17,7 @@ import { findActuatorByName } from '../core/SceneLoader';
  * - `setValue` writes directly to `data.ctrl[actuatorId]`.
  */
 export function useCtrl(name: string): [React.RefObject<number>, (value: number) => void] {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const actuatorIdRef = useRef(-1);
   const valueRef = useRef(0);
 

package/src/hooks/useCtrlNoise.ts

@@ -6,7 +6,7 @@
  */
 
 import { useRef } from 'react';
-import { useMujocoSim, useBeforePhysicsStep } from '../core/MujocoSimProvider';
+import { useMujoco, useBeforePhysicsStep } from '../core/MujocoSimProvider';
 
 interface CtrlNoiseConfig {
   /** Exponential filter rate (0-1). Higher = faster noise changes. Default: 0.01. */
@@ -25,7 +25,7 @@ interface CtrlNoiseConfig {
  * data.ctrl[i] += noise[i]
  */
 export function useCtrlNoise(config: CtrlNoiseConfig = {}) {
-  const { mjModelRef } = useMujocoSim();
+  const { mjModelRef } = useMujoco();
   const configRef = useRef(config);
   configRef.current = config;
   const noiseRef = useRef<Float64Array | null>(null);

package/src/hooks/useGamepad.ts

@@ -6,7 +6,7 @@
  */
 
 import { useEffect, useRef } from 'react';
-import { useMujocoSim, useBeforePhysicsStep } from '../core/MujocoSimProvider';
+import { useMujoco, useBeforePhysicsStep } from '../core/MujocoSimProvider';
 import { findActuatorByName } from '../core/SceneLoader';
 
 interface GamepadConfig {
@@ -29,7 +29,7 @@ interface GamepadConfig {
  * Buttons map their 0..1 pressed value to the actuator.
  */
 export function useGamepad(config: GamepadConfig) {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
   const configRef = useRef(config);
   configRef.current = config;
 

package/src/hooks/useJointState.ts

@@ -6,7 +6,7 @@
  */
 
 import { useEffect, useRef } from 'react';
-import { useMujocoSim, useAfterPhysicsStep } from '../core/MujocoSimProvider';
+import { useMujoco, useAfterPhysicsStep } from '../core/MujocoSimProvider';
 import { getName } from '../core/SceneLoader';
 import type { JointStateResult } from '../types';
 
@@ -19,7 +19,7 @@ import type { JointStateResult } from '../types';
  * For free joints, position is pos+quat (7), velocity is lin+ang vel (6).
  */
 export function useJointState(name: string): JointStateResult {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const jointIdRef = useRef(-1);
   const qposAdrRef = useRef(0);
   const dofAdrRef = useRef(0);

package/src/hooks/useKeyboardTeleop.ts

@@ -6,7 +6,7 @@
  */
 
 import { useEffect, useRef } from 'react';
-import { useMujocoSim, useBeforePhysicsStep } from '../core/MujocoSimProvider';
+import { useMujoco, useBeforePhysicsStep } from '../core/MujocoSimProvider';
 import { findActuatorByName } from '../core/SceneLoader';
 import type { KeyboardTeleopConfig } from '../types';
 
@@ -19,7 +19,7 @@ import type { KeyboardTeleopConfig } from '../types';
  * - `set`: Set actuator to a fixed value while key is held
  */
 export function useKeyboardTeleop(config: KeyboardTeleopConfig) {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const pressedRef = useRef(new Set<string>());
   const toggleStateRef = useRef(new Map<string, boolean>());
   const enabledRef = useRef(config.enabled ?? true);

package/src/hooks/usePolicy.ts

@@ -6,7 +6,7 @@
  */
 
 import { useRef } from 'react';
-import { useMujocoSim, useBeforePhysicsStep } from '../core/MujocoSimProvider';
+import { useMujoco, useBeforePhysicsStep } from '../core/MujocoSimProvider';
 import type { PolicyConfig } from '../types';
 
 /**
@@ -20,7 +20,7 @@ import type { PolicyConfig } from '../types';
  * @returns { step, isRunning } control handles
  */
 export function usePolicy(config: PolicyConfig) {
-  const { mjModelRef } = useMujocoSim();
+  const { mjModelRef } = useMujoco();
   const lastActionTimeRef = useRef(0);
   const lastActionRef = useRef<Float32Array | Float64Array | number[] | null>(null);
   const isRunningRef = useRef(true);

package/src/hooks/useSceneLights.ts

@@ -10,10 +10,10 @@
 import { useEffect, useRef } from 'react';
 import * as THREE from 'three';
 import { useThree } from '@react-three/fiber';
-import { useMujocoSim } from '../core/MujocoSimProvider';
+import { useMujoco } from '../core/MujocoSimProvider';
 
 export function useSceneLights(intensity = 1.0) {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
   const { scene } = useThree();
   const lightsRef = useRef<THREE.Light[]>([]);
   const targetsRef = useRef<THREE.Object3D[]>([]);

package/src/hooks/useSensor.ts

@@ -6,7 +6,7 @@
  */
 
 import { useEffect, useRef, useMemo } from 'react';
-import { useMujocoSim, useAfterPhysicsStep } from '../core/MujocoSimProvider';
+import { useMujoco, useAfterPhysicsStep } from '../core/MujocoSimProvider';
 import { getName } from '../core/SceneLoader';
 import type { SensorInfo, SensorResult } from '../types';
 
@@ -15,7 +15,7 @@ import type { SensorInfo, SensorResult } from '../types';
  * updated every physics frame without causing React re-renders.
  */
 export function useSensor(name: string): SensorResult {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const sensorIdRef = useRef(-1);
   const sensorAdrRef = useRef(0);
   const sensorDimRef = useRef(0);
@@ -55,7 +55,7 @@ export function useSensor(name: string): SensorResult {
  * Returns a stable array recomputed only when the model changes.
  */
 export function useSensors(): SensorInfo[] {
-  const { mjModelRef, status } = useMujocoSim();
+  const { mjModelRef, status } = useMujoco();
 
   return useMemo(() => {
     const model = mjModelRef.current;

package/src/hooks/useSitePosition.ts

@@ -6,7 +6,7 @@
 import { useEffect, useRef } from 'react';
 import { useFrame } from '@react-three/fiber';
 import * as THREE from 'three';
-import { useMujocoSim } from '../core/MujocoSimProvider';
+import { useMujoco } from '../core/MujocoSimProvider';
 import { findSiteByName } from '../core/SceneLoader';
 import type { SitePositionResult } from '../types';
 
@@ -18,7 +18,7 @@ const _mat4 = new THREE.Matrix4();
  * Refs are updated every frame without triggering React re-renders.
  */
 export function useSitePosition(siteName: string): SitePositionResult {
-  const { mjModelRef, mjDataRef, status } = useMujocoSim();
+  const { mjModelRef, mjDataRef, status } = useMujoco();
   const siteIdRef = useRef(-1);
   const positionRef = useRef(new THREE.Vector3());
   const quaternionRef = useRef(new THREE.Quaternion());

package/src/hooks/useTrajectoryPlayer.ts

@@ -7,7 +7,7 @@
 
 import { useCallback, useRef } from 'react';
 import { useFrame } from '@react-three/fiber';
-import { useMujocoSim } from '../core/MujocoSimProvider';
+import { useMujoco } from '../core/MujocoSimProvider';
 
 interface TrajectoryPlayerOptions {
   fps?: number;
@@ -24,7 +24,7 @@ export function useTrajectoryPlayer(
   trajectory: number[][],
   options: TrajectoryPlayerOptions = {},
 ) {
-  const { mjModelRef, mjDataRef, mujocoRef, pausedRef } = useMujocoSim();
+  const { mjModelRef, mjDataRef, mujocoRef, pausedRef } = useMujoco();
   const fps = options.fps ?? 30;
   const loop = options.loop ?? false;
 

package/src/hooks/useTrajectoryRecorder.ts

@@ -6,7 +6,7 @@
  */
 
 import { useCallback, useRef } from 'react';
-import { useMujocoSim, useAfterPhysicsStep } from '../core/MujocoSimProvider';
+import { useMujoco, useAfterPhysicsStep } from '../core/MujocoSimProvider';
 import type { TrajectoryFrame } from '../types';
 
 interface RecorderOptions {
@@ -17,7 +17,7 @@ interface RecorderOptions {
  * Record simulation trajectories for analysis, replay, or training data.
  */
 export function useTrajectoryRecorder(options: RecorderOptions = {}) {
-  const { mjModelRef } = useMujocoSim();
+  const { mjModelRef } = useMujoco();
   const recordingRef = useRef(false);
   const framesRef = useRef<TrajectoryFrame[]>([]);
   const fields = options.fields ?? ['qpos'];

package/src/index.ts

@@ -4,11 +4,11 @@
  */
 
 // Core
-export { MujocoProvider, useMujoco } from './core/MujocoProvider';
+export { MujocoProvider, useMujocoWasm } from './core/MujocoProvider';
 export { MujocoCanvas } from './core/MujocoCanvas';
 export { MujocoPhysics } from './core/MujocoPhysics';
 export type { MujocoPhysicsProps } from './core/MujocoPhysics';
-export { MujocoSimProvider, useMujocoSim, useBeforePhysicsStep, useAfterPhysicsStep } from './core/MujocoSimProvider';
+export { MujocoSimProvider, useMujoco, useBeforePhysicsStep, useAfterPhysicsStep } from './core/MujocoSimProvider';
 export {
   loadScene,
   getName,

package/src/types.ts

@@ -284,7 +284,7 @@ export interface XmlPatch {
 }
 
 export interface SceneConfig {
-  robotId: string;
+  modelId: string;
   sceneFile: string;
   baseUrl?: string;
   sceneObjects?: SceneObject[];