mujoco-react 6.0.1 → 7.0.0

package/dist/index.js

@@ -1,5 +1,5 @@
 import loadMujoco from 'mujoco-js';
-import { createContext, forwardRef, useEffect, useContext, useState, useRef, useCallback, useMemo } from 'react';
+import { createContext, forwardRef, useEffect, useContext, useState, useRef, useCallback, useMemo, useLayoutEffect } from 'react';
 import { jsx, jsxs } from 'react/jsx-runtime';
 import { Canvas, useThree, useFrame } from '@react-three/fiber';
 import * as THREE11 from 'three';
@@ -508,7 +508,7 @@ function scanDependencies(xmlString, currentFile, parser, downloaded, queue) {
   });
 }
 function SceneRenderer(props) {
-  const { mjModelRef, mjDataRef, mujocoRef, onSelectionRef, status } = useMujoco();
+  const { mjModelRef, mjDataRef, mujocoRef, onSelectionRef, hiddenBodiesRef, status } = useMujocoContext();
   const groupRef = useRef(null);
   const bodyRefs = useRef([]);
   const prevModelRef = useRef(null);
@@ -530,10 +530,13 @@ function SceneRenderer(props) {
     for (let i = 0; i < model.nbody; i++) {
       const bodyGroup = new THREE11.Group();
       bodyGroup.userData.bodyID = i;
-      for (let g = 0; g < model.ngeom; g++) {
-        if (model.geom_bodyid[g] === i) {
-          const mesh = geomBuilder.create(model, g);
-          if (mesh) bodyGroup.add(mesh);
+      const bodyName = getName(model, model.name_bodyadr[i]);
+      if (!hiddenBodiesRef.current.has(bodyName)) {
+        for (let g = 0; g < model.ngeom; g++) {
+          if (model.geom_bodyid[g] === i) {
+            const mesh = geomBuilder.create(model, g);
+            if (mesh) bodyGroup.add(mesh);
+          }
         }
       }
       group.add(bodyGroup);
@@ -647,14 +650,51 @@ var _rayGeomId = new Int32Array(1);
 var _projRaycaster = new THREE11.Raycaster();
 var _projNdc = new THREE11.Vector2();
 var MujocoSimContext = createContext(null);
-function useMujoco() {
+function useMujocoContext() {
   const ctx = useContext(MujocoSimContext);
   if (!ctx)
     throw new Error("useMujoco must be used inside <MujocoSimProvider>");
   return ctx;
 }
+function useMujoco() {
+  const ctx = useMujocoContext();
+  if (ctx.status === "ready") {
+    return {
+      status: "ready",
+      isPending: false,
+      isReady: true,
+      isError: false,
+      error: null,
+      api: ctx.api,
+      mjModelRef: ctx.mjModelRef,
+      mjDataRef: ctx.mjDataRef
+    };
+  }
+  if (ctx.status === "error") {
+    return {
+      status: "error",
+      isPending: false,
+      isReady: false,
+      isError: true,
+      error: ctx.errorRef.current ?? "Unknown error",
+      api: null,
+      mjModelRef: null,
+      mjDataRef: null
+    };
+  }
+  return {
+    status: "loading",
+    isPending: true,
+    isReady: false,
+    isError: false,
+    error: null,
+    api: null,
+    mjModelRef: null,
+    mjDataRef: null
+  };
+}
 function useBeforePhysicsStep(callback) {
-  const { beforeStepCallbacks } = useMujoco();
+  const { beforeStepCallbacks } = useMujocoContext();
   const callbackRef = useRef(callback);
   callbackRef.current = callback;
   useEffect(() => {
@@ -666,7 +706,7 @@ function useBeforePhysicsStep(callback) {
   }, [beforeStepCallbacks]);
 }
 function useAfterPhysicsStep(callback) {
-  const { afterStepCallbacks } = useMujoco();
+  const { afterStepCallbacks } = useMujocoContext();
   const callbackRef = useRef(callback);
   callbackRef.current = callback;
   useEffect(() => {
@@ -710,6 +750,10 @@ function MujocoSimProvider({
   const beforeStepCallbacks = useRef(/* @__PURE__ */ new Set());
   const afterStepCallbacks = useRef(/* @__PURE__ */ new Set());
   const resetCallbacks = useRef(/* @__PURE__ */ new Set());
+  const errorRef = useRef(null);
+  const bodyRegistryRef = useRef(/* @__PURE__ */ new Map());
+  const hiddenBodiesRef = useRef(/* @__PURE__ */ new Set());
+  const bodyReloadTimerRef = useRef(null);
   configRef.current = config;
   useEffect(() => {
     pausedRef.current = paused ?? false;
@@ -734,11 +778,22 @@ function MujocoSimProvider({
     if (!model?.opt) return;
     model.opt.timestep = timestep;
   }, [timestep]);
+  function buildMergedConfig(baseConfig) {
+    if (bodyRegistryRef.current.size === 0) return baseConfig;
+    const registeredNames = new Set(bodyRegistryRef.current.keys());
+    const baseObjects = (baseConfig.sceneObjects ?? []).filter((o) => !registeredNames.has(o.name));
+    const registeredBodies = Array.from(bodyRegistryRef.current.values()).map((e) => e.definition);
+    hiddenBodiesRef.current.clear();
+    for (const [name, entry] of bodyRegistryRef.current) {
+      if (entry.hasCustomChildren) hiddenBodiesRef.current.add(name);
+    }
+    return { ...baseConfig, sceneObjects: [...baseObjects, ...registeredBodies] };
+  }
   useEffect(() => {
     let disposed = false;
     (async () => {
       try {
-        const result = await loadScene(mujoco, config);
+        const result = await loadScene(mujoco, buildMergedConfig(config));
         if (disposed) {
           result.mjModel.delete();
           result.mjData.delete();
@@ -757,8 +812,10 @@ function MujocoSimProvider({
         setStatus("ready");
       } catch (e) {
         if (!disposed) {
+          const err = e instanceof Error ? e : new Error(String(e));
+          errorRef.current = err.message;
           setStatus("error");
-          onError?.(e instanceof Error ? e : new Error(String(e)));
+          onError?.(err);
         }
       }
     })();
@@ -1225,10 +1282,18 @@ function MujocoSimProvider({
       setStatus("ready");
     } catch (e) {
       if (gen !== loadGenRef.current) return;
+      errorRef.current = e instanceof Error ? e.message : String(e);
       setStatus("error");
       throw e;
     }
   }, [mujoco]);
+  const requestBodyReload = useCallback(() => {
+    if (bodyReloadTimerRef.current) clearTimeout(bodyReloadTimerRef.current);
+    bodyReloadTimerRef.current = setTimeout(() => {
+      bodyReloadTimerRef.current = null;
+      loadSceneApi(buildMergedConfig(configRef.current));
+    }, 0);
+  }, [loadSceneApi]);
   const getCanvasSnapshot = useCallback(
     (width, height, mimeType = "image/jpeg") => {
       if (width && height) {
@@ -1411,9 +1476,13 @@ function MujocoSimProvider({
       beforeStepCallbacks,
       afterStepCallbacks,
       resetCallbacks,
+      errorRef,
+      bodyRegistryRef,
+      hiddenBodiesRef,
+      requestBodyReload,
       status
     }),
-    [api, status]
+    [api, status, requestBodyReload]
   );
   return /* @__PURE__ */ jsxs(MujocoSimContext.Provider, { value: contextValue, children: [
     /* @__PURE__ */ jsx(SceneRenderer, {}),
@@ -1519,13 +1588,24 @@ function createController(options, Impl) {
   Controller.defaultConfig = options.defaultConfig ?? {};
   return Controller;
 }
-var IkContext = createContext(null);
-function useIk(options) {
-  const ctx = useContext(IkContext);
-  if (!ctx && !options?.optional) {
-    throw new Error("useIk() must be used inside an <IkController>");
-  }
-  return ctx;
+function createControllerHook(options, useImpl) {
+  const useController = (config) => {
+    const configObj = config;
+    const stableRef = useRef(configObj);
+    if (configObj && stableRef.current) {
+      if (!shallowEqual(stableRef.current, configObj)) {
+        stableRef.current = configObj;
+      }
+    } else {
+      stableRef.current = configObj;
+    }
+    const mergedConfig = useMemo(
+      () => stableRef.current ? { ...options.defaultConfig, ...stableRef.current } : null,
+      [stableRef.current]
+    );
+    return useImpl(mergedConfig);
+  };
+  return useController;
 }
 
 // src/core/GenericIK.ts
@@ -1753,6 +1833,8 @@ function solve6x6(A, b, x) {
     x[row] = sum / a[row * N + row];
   }
 }
+
+// src/hooks/useIkController.ts
 var _syncMat4 = new THREE11.Matrix4();
 function syncGizmoToSite(data, siteId, target) {
   if (siteId === -1) return;
@@ -1779,206 +1861,272 @@ function syncGizmoToSite(data, siteId, target) {
   );
   target.quaternion.setFromRotationMatrix(_syncMat4);
 }
-function IkControllerImpl({
-  config,
-  children
-}) {
-  const { mjModelRef, mjDataRef, mujocoRef, configRef, resetCallbacks, status } = useMujoco();
-  const ikEnabledRef = useRef(false);
-  const ikCalculatingRef = useRef(false);
-  const ikTargetRef = useRef(new THREE11.Group());
-  const siteIdRef = useRef(-1);
-  const genericIkRef = useRef(new GenericIK(mujocoRef.current));
-  const firstIkEnableRef = useRef(true);
-  const needsInitialSync = useRef(true);
-  const gizmoAnimRef = useRef({
-    active: false,
-    startPos: new THREE11.Vector3(),
-    endPos: new THREE11.Vector3(),
-    startRot: new THREE11.Quaternion(),
-    endRot: new THREE11.Quaternion(),
-    startTime: 0,
-    duration: 1e3
-  });
-  useEffect(() => {
-    const model = mjModelRef.current;
-    if (!model || status !== "ready") {
-      siteIdRef.current = -1;
-      return;
-    }
-    siteIdRef.current = findSiteByName(model, config.siteName);
-    const data = mjDataRef.current;
-    if (data && ikTargetRef.current) {
-      syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
-    }
-  }, [config.siteName, status, mjModelRef, mjDataRef]);
-  const ikSolveFn = useCallback(
-    (pos, quat, currentQ) => {
-      if (config.ikSolveFn) return config.ikSolveFn(pos, quat, currentQ);
+var useIkController = createControllerHook(
+  { defaultConfig: { damping: 0.01, maxIterations: 50 } },
+  function useIkControllerImpl(config) {
+    const { mjModelRef, mjDataRef, mujocoRef, resetCallbacks, status } = useMujocoContext();
+    const ikEnabledRef = useRef(false);
+    const ikCalculatingRef = useRef(false);
+    const ikTargetRef = useRef(new THREE11.Group());
+    const siteIdRef = useRef(-1);
+    const genericIkRef = useRef(new GenericIK(mujocoRef.current));
+    const firstIkEnableRef = useRef(true);
+    const needsInitialSync = useRef(true);
+    const gizmoAnimRef = useRef({
+      active: false,
+      startPos: new THREE11.Vector3(),
+      endPos: new THREE11.Vector3(),
+      startRot: new THREE11.Quaternion(),
+      endRot: new THREE11.Quaternion(),
+      startTime: 0,
+      duration: 1e3
+    });
+    useEffect(() => {
+      if (!config) {
+        siteIdRef.current = -1;
+        return;
+      }
       const model = mjModelRef.current;
-      const data = mjDataRef.current;
-      if (!model || !data || siteIdRef.current === -1) return null;
-      return genericIkRef.current.solve(
-        model,
-        data,
-        siteIdRef.current,
-        config.numJoints,
-        pos,
-        quat,
-        currentQ,
-        {
-          damping: config.damping,
-          maxIterations: config.maxIterations
-        }
-      );
-    },
-    [config.ikSolveFn, config.numJoints, config.damping, config.maxIterations, mjModelRef, mjDataRef]
-  );
-  const ikSolveFnRef = useRef(ikSolveFn);
-  ikSolveFnRef.current = ikSolveFn;
-  useFrame(() => {
-    if (needsInitialSync.current && siteIdRef.current !== -1) {
-      const data = mjDataRef.current;
-      if (data && ikTargetRef.current) {
-        syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
-        needsInitialSync.current = false;
+      if (!model || status !== "ready") {
+        siteIdRef.current = -1;
+        return;
       }
-    }
-    const ga = gizmoAnimRef.current;
-    const target = ikTargetRef.current;
-    if (!ga.active || !target) return;
-    const now = performance.now();
-    const elapsed = now - ga.startTime;
-    const t = Math.min(elapsed / ga.duration, 1);
-    const ease = 1 - Math.pow(1 - t, 3);
-    target.position.lerpVectors(ga.startPos, ga.endPos, ease);
-    target.quaternion.slerpQuaternions(ga.startRot, ga.endRot, ease);
-    if (t >= 1) ga.active = false;
-  });
-  useBeforePhysicsStep((model, data) => {
-    if (!ikEnabledRef.current) {
-      ikCalculatingRef.current = false;
-      return;
-    }
-    const target = ikTargetRef.current;
-    if (!target) return;
-    ikCalculatingRef.current = true;
-    const numJoints = config.numJoints;
-    const currentQ = [];
-    for (let i = 0; i < numJoints; i++) currentQ.push(data.qpos[i]);
-    const solution = ikSolveFnRef.current(target.position, target.quaternion, currentQ);
-    if (solution) {
-      for (let i = 0; i < numJoints; i++) data.ctrl[i] = solution[i];
-    }
-  });
-  useEffect(() => {
-    const cb = () => {
+      siteIdRef.current = findSiteByName(model, config.siteName);
       const data = mjDataRef.current;
       if (data && ikTargetRef.current) {
         syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
       }
-      gizmoAnimRef.current.active = false;
-      firstIkEnableRef.current = true;
-      ikEnabledRef.current = false;
-      needsInitialSync.current = true;
-    };
-    resetCallbacks.current.add(cb);
-    return () => {
-      resetCallbacks.current.delete(cb);
-    };
-  }, [resetCallbacks, mjDataRef]);
-  const setIkEnabled = useCallback(
-    (enabled) => {
-      ikEnabledRef.current = enabled;
-      const data = mjDataRef.current;
-      if (enabled && data && !gizmoAnimRef.current.active && ikTargetRef.current) {
-        syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
-        firstIkEnableRef.current = false;
+    }, [config?.siteName, status, mjModelRef, mjDataRef, config]);
+    const ikSolveFn = useCallback(
+      (pos, quat, currentQ) => {
+        if (!config) return null;
+        if (config.ikSolveFn) return config.ikSolveFn(pos, quat, currentQ);
+        const model = mjModelRef.current;
+        const data = mjDataRef.current;
+        if (!model || !data || siteIdRef.current === -1) return null;
+        return genericIkRef.current.solve(
+          model,
+          data,
+          siteIdRef.current,
+          config.numJoints,
+          pos,
+          quat,
+          currentQ,
+          { damping: config.damping, maxIterations: config.maxIterations }
+        );
+      },
+      [config, mjModelRef, mjDataRef]
+    );
+    const ikSolveFnRef = useRef(ikSolveFn);
+    ikSolveFnRef.current = ikSolveFn;
+    useFrame(() => {
+      if (!config) return;
+      if (needsInitialSync.current && siteIdRef.current !== -1) {
+        const data = mjDataRef.current;
+        if (data && ikTargetRef.current) {
+          syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
+          needsInitialSync.current = false;
+        }
       }
-    },
-    [mjDataRef]
-  );
-  const syncTargetToSiteApi = useCallback(() => {
-    const data = mjDataRef.current;
-    const target = ikTargetRef.current;
-    if (data && target) syncGizmoToSite(data, siteIdRef.current, target);
-  }, [mjDataRef]);
-  const solveIK = useCallback(
-    (pos, quat, currentQ) => {
-      return ikSolveFnRef.current(pos, quat, currentQ);
-    },
-    []
-  );
-  const moveTarget = useCallback(
-    (pos, duration = 0) => {
-      if (!ikEnabledRef.current) setIkEnabled(true);
+      const ga = gizmoAnimRef.current;
       const target = ikTargetRef.current;
-      if (!target) return;
-      const targetPos = pos.clone();
-      const targetRot = new THREE11.Quaternion().setFromEuler(
-        new THREE11.Euler(Math.PI, 0, 0)
-      );
-      if (duration > 0) {
-        const ga = gizmoAnimRef.current;
-        ga.active = true;
-        ga.startPos.copy(target.position);
-        ga.endPos.copy(targetPos);
-        ga.startRot.copy(target.quaternion);
-        ga.endRot.copy(targetRot);
-        ga.startTime = performance.now();
-        ga.duration = duration;
-      } else {
-        gizmoAnimRef.current.active = false;
-        target.position.copy(targetPos);
-        target.quaternion.copy(targetRot);
+      if (!ga.active || !target) return;
+      const now = performance.now();
+      const elapsed = now - ga.startTime;
+      const t = Math.min(elapsed / ga.duration, 1);
+      const ease = 1 - Math.pow(1 - t, 3);
+      target.position.lerpVectors(ga.startPos, ga.endPos, ease);
+      target.quaternion.slerpQuaternions(ga.startRot, ga.endRot, ease);
+      if (t >= 1) ga.active = false;
+    });
+    useBeforePhysicsStep((model, data) => {
+      if (!config || !ikEnabledRef.current) {
+        ikCalculatingRef.current = false;
+        return;
       }
-    },
-    [setIkEnabled]
-  );
-  const getGizmoStats = useCallback(
-    () => {
       const target = ikTargetRef.current;
-      if (!ikCalculatingRef.current || !target) return null;
-      return {
-        pos: target.position.clone(),
-        rot: new THREE11.Euler().setFromQuaternion(target.quaternion)
+      if (!target) return;
+      ikCalculatingRef.current = true;
+      const numJoints = config.numJoints;
+      const currentQ = [];
+      for (let i = 0; i < numJoints; i++) currentQ.push(data.qpos[i]);
+      const solution = ikSolveFnRef.current(target.position, target.quaternion, currentQ);
+      if (solution) {
+        for (let i = 0; i < numJoints; i++) data.ctrl[i] = solution[i];
+      }
+    });
+    useEffect(() => {
+      if (!config) return;
+      const cb = () => {
+        const data = mjDataRef.current;
+        if (data && ikTargetRef.current) {
+          syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
+        }
+        gizmoAnimRef.current.active = false;
+        firstIkEnableRef.current = true;
+        ikEnabledRef.current = false;
+        needsInitialSync.current = true;
       };
-    },
-    []
-  );
-  const contextValue = useMemo(
-    () => ({
-      ikEnabledRef,
-      ikCalculatingRef,
-      ikTargetRef,
-      siteIdRef,
-      setIkEnabled,
-      moveTarget,
-      syncTargetToSite: syncTargetToSiteApi,
-      solveIK,
-      getGizmoStats
-    }),
-    [setIkEnabled, moveTarget, syncTargetToSiteApi, solveIK, getGizmoStats]
-  );
-  return /* @__PURE__ */ jsx(IkContext.Provider, { value: contextValue, children });
-}
-var IkController = createController(
-  {
-    name: "IkController",
-    defaultConfig: {
-      damping: 0.01,
-      maxIterations: 50
-    }
-  },
-  IkControllerImpl
+      resetCallbacks.current.add(cb);
+      return () => {
+        resetCallbacks.current.delete(cb);
+      };
+    }, [resetCallbacks, mjDataRef, config]);
+    const setIkEnabled = useCallback(
+      (enabled) => {
+        ikEnabledRef.current = enabled;
+        const data = mjDataRef.current;
+        if (enabled && data && !gizmoAnimRef.current.active && ikTargetRef.current) {
+          syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
+          firstIkEnableRef.current = false;
+        }
+      },
+      [mjDataRef]
+    );
+    const syncTargetToSiteApi = useCallback(() => {
+      const data = mjDataRef.current;
+      const target = ikTargetRef.current;
+      if (data && target) syncGizmoToSite(data, siteIdRef.current, target);
+    }, [mjDataRef]);
+    const solveIK = useCallback(
+      (pos, quat, currentQ) => {
+        return ikSolveFnRef.current(pos, quat, currentQ);
+      },
+      []
+    );
+    const moveTarget = useCallback(
+      (pos, duration = 0) => {
+        if (!ikEnabledRef.current) setIkEnabled(true);
+        const target = ikTargetRef.current;
+        if (!target) return;
+        const targetPos = pos.clone();
+        const targetRot = new THREE11.Quaternion().setFromEuler(
+          new THREE11.Euler(Math.PI, 0, 0)
+        );
+        if (duration > 0) {
+          const ga = gizmoAnimRef.current;
+          ga.active = true;
+          ga.startPos.copy(target.position);
+          ga.endPos.copy(targetPos);
+          ga.startRot.copy(target.quaternion);
+          ga.endRot.copy(targetRot);
+          ga.startTime = performance.now();
+          ga.duration = duration;
+        } else {
+          gizmoAnimRef.current.active = false;
+          target.position.copy(targetPos);
+          target.quaternion.copy(targetRot);
+        }
+      },
+      [setIkEnabled]
+    );
+    const getGizmoStats = useCallback(
+      () => {
+        const target = ikTargetRef.current;
+        if (!ikCalculatingRef.current || !target) return null;
+        return {
+          pos: target.position.clone(),
+          rot: new THREE11.Euler().setFromQuaternion(target.quaternion)
+        };
+      },
+      []
+    );
+    const contextValue = useMemo(
+      () => ({
+        ikEnabledRef,
+        ikCalculatingRef,
+        ikTargetRef,
+        siteIdRef,
+        setIkEnabled,
+        moveTarget,
+        syncTargetToSite: syncTargetToSiteApi,
+        solveIK,
+        getGizmoStats
+      }),
+      [setIkEnabled, moveTarget, syncTargetToSiteApi, solveIK, getGizmoStats]
+    );
+    if (!config) return null;
+    return contextValue;
+  }
 );
+function Body({
+  name,
+  type,
+  size,
+  position = [0, 0, 0],
+  rgba = [0.5, 0.5, 0.5, 1],
+  mass,
+  freejoint,
+  friction,
+  solref,
+  solimp,
+  condim,
+  children
+}) {
+  const { bodyRegistryRef, hiddenBodiesRef, requestBodyReload, mjDataRef, mjModelRef, status } = useMujocoContext();
+  const bodyIdRef = useRef(-1);
+  const groupRef = useRef(null);
+  const initialLoadRef = useRef(true);
+  const hasChildren = children != null;
+  useLayoutEffect(() => {
+    const definition = {
+      name,
+      type,
+      size,
+      position,
+      rgba,
+      mass,
+      freejoint,
+      friction,
+      solref,
+      solimp,
+      condim
+    };
+    bodyRegistryRef.current.set(name, { definition, hasCustomChildren: hasChildren });
+    if (hasChildren) {
+      hiddenBodiesRef.current.add(name);
+    }
+    return () => {
+      bodyRegistryRef.current.delete(name);
+      hiddenBodiesRef.current.delete(name);
+      if (!initialLoadRef.current) {
+        requestBodyReload();
+      }
+    };
+  }, [name, type, size, position, rgba, mass, freejoint, friction, solref, solimp, condim, hasChildren, bodyRegistryRef, hiddenBodiesRef, requestBodyReload]);
+  useEffect(() => {
+    if (status !== "ready") return;
+    const model = mjModelRef.current;
+    if (!model) return;
+    bodyIdRef.current = findBodyByName(model, name);
+    initialLoadRef.current = false;
+  }, [status, name, mjModelRef]);
+  useFrame(() => {
+    if (!hasChildren) return;
+    const data = mjDataRef.current;
+    const id = bodyIdRef.current;
+    const group = groupRef.current;
+    if (!data || id < 0 || !group) return;
+    const i3 = id * 3;
+    const i4 = id * 4;
+    group.position.set(data.xpos[i3], data.xpos[i3 + 1], data.xpos[i3 + 2]);
+    group.quaternion.set(
+      data.xquat[i4 + 1],
+      data.xquat[i4 + 2],
+      data.xquat[i4 + 3],
+      data.xquat[i4]
+    );
+  });
+  if (!hasChildren) return null;
+  return /* @__PURE__ */ jsx("group", { ref: groupRef, children });
+}
 var _mat4 = new THREE11.Matrix4();
 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 } = useMujoco();
-  const { ikTargetRef, siteIdRef, ikEnabledRef, setIkEnabled } = useIk();
+function IkGizmo({ controller, siteName, scale = 0.18, onDrag }) {
+  const { mjModelRef, mjDataRef, status } = useMujocoContext();
+  const { ikTargetRef, siteIdRef, ikEnabledRef, setIkEnabled } = controller;
   const wrapperRef = useRef(null);
   const pivotRef = useRef(null);
   const draggingRef = useRef(false);
@@ -2075,7 +2223,7 @@ function ContactMarkers({
   visible = true,
   ...groupProps
 } = {}) {
-  const { mjDataRef, status } = useMujoco();
+  const { mjDataRef, status } = useMujocoContext();
   const meshRef = useRef(null);
   useFrame(() => {
     const mesh = meshRef.current;
@@ -2119,7 +2267,7 @@ function DragInteraction({
   showArrow = true,
   ...groupProps
 }) {
-  const { mjDataRef, mujocoRef, mjModelRef, status } = useMujoco();
+  const { mjDataRef, mujocoRef, mjModelRef, status } = useMujocoContext();
   const { gl, camera, scene, controls } = useThree();
   const draggingRef = useRef(false);
   const bodyIdRef = useRef(-1);
@@ -2277,7 +2425,7 @@ function DragInteraction({
   return /* @__PURE__ */ jsx("group", { ...groupProps, ref: groupRef });
 }
 function useSceneLights(intensity = 1) {
-  const { mjModelRef, status } = useMujoco();
+  const { mjModelRef, status } = useMujocoContext();
   const { scene } = useThree();
   const lightsRef = useRef([]);
   const targetsRef = useRef([]);
@@ -2398,7 +2546,7 @@ function Debug({
   showTendons = false,
   ...groupProps
 }) {
-  const { mjModelRef, mjDataRef, status } = useMujoco();
+  const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const { scene } = useThree();
   const groupRef = useRef(null);
   const debugGeometry = useMemo(() => {
@@ -2668,7 +2816,7 @@ 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 } = useMujoco();
+  const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const groupRef = useRef(null);
   const meshesRef = useRef([]);
   const curvesRef = useRef([]);
@@ -2772,7 +2920,7 @@ function TendonRenderer(props) {
   return /* @__PURE__ */ jsx("group", { ...props, ref: groupRef });
 }
 function FlexRenderer(props) {
-  const { mjModelRef, mjDataRef, status } = useMujoco();
+  const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const groupRef = useRef(null);
   const meshesRef = useRef([]);
   useEffect(() => {
@@ -2852,7 +3000,7 @@ function getGeomNameCached(model, geomId) {
   return name;
 }
 function useContacts(bodyName, callback) {
-  const { mjModelRef, status } = useMujoco();
+  const { mjModelRef, status } = useMujocoContext();
   const contactsRef = useRef([]);
   const bodyIdRef = useRef(-1);
   const bodyResolvedRef = useRef(false);
@@ -2951,7 +3099,7 @@ function ContactListener({
   return null;
 }
 function useTrajectoryPlayer(trajectory, options = {}) {
-  const { mjModelRef, mjDataRef, mujocoRef, pausedRef } = useMujoco();
+  const { mjModelRef, mjDataRef, mujocoRef, pausedRef } = useMujocoContext();
   const fps = options.fps ?? 30;
   const loop = options.loop ?? false;
   const playingRef = useRef(false);
@@ -3054,7 +3202,7 @@ function TrajectoryPlayer({
   return null;
 }
 function useActuators() {
-  const { mjModelRef, status } = useMujoco();
+  const { mjModelRef, status } = useMujocoContext();
   return useMemo(() => {
     if (status !== "ready") return [];
     const model = mjModelRef.current;
@@ -3073,7 +3221,7 @@ function useActuators() {
 }
 var _mat42 = new THREE11.Matrix4();
 function useSitePosition(siteName) {
-  const { mjModelRef, mjDataRef, status } = useMujoco();
+  const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const siteIdRef = useRef(-1);
   const positionRef = useRef(new THREE11.Vector3());
   const quaternionRef = useRef(new THREE11.Quaternion());
@@ -3130,7 +3278,7 @@ function useGravityCompensation(enabled = true) {
   });
 }
 function useSensor(name) {
-  const { mjModelRef, mjDataRef, status } = useMujoco();
+  const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const sensorIdRef = useRef(-1);
   const sensorAdrRef = useRef(0);
   const sensorDimRef = useRef(0);
@@ -3160,7 +3308,7 @@ function useSensor(name) {
   return { value: valueRef, size: sensorDimRef.current };
 }
 function useSensors() {
-  const { mjModelRef, status } = useMujoco();
+  const { mjModelRef, status } = useMujocoContext();
   return useMemo(() => {
     const model = mjModelRef.current;
     if (!model || status !== "ready") return [];
@@ -3197,7 +3345,7 @@ function useSensors() {
   }, [mjModelRef, status]);
 }
 function useJointState(name) {
-  const { mjModelRef, mjDataRef, status } = useMujoco();
+  const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const jointIdRef = useRef(-1);
   const qposAdrRef = useRef(0);
   const dofAdrRef = useRef(0);
@@ -3257,7 +3405,7 @@ function useJointState(name) {
   return { position: positionRef, velocity: velocityRef };
 }
 function useBodyState(name) {
-  const { mjModelRef, status } = useMujoco();
+  const { mjModelRef, status } = useMujocoContext();
   const bodyIdRef = useRef(-1);
   const position = useRef(new THREE11.Vector3());
   const quaternion = useRef(new THREE11.Quaternion());
@@ -3289,7 +3437,7 @@ function useBodyState(name) {
   return { position, quaternion, linearVelocity, angularVelocity };
 }
 function useCtrl(name) {
-  const { mjModelRef, mjDataRef, status } = useMujoco();
+  const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const actuatorIdRef = useRef(-1);
   const valueRef = useRef(0);
   useEffect(() => {
@@ -3306,7 +3454,7 @@ function useCtrl(name) {
   return [valueRef, setValue];
 }
 function useKeyboardTeleop(config) {
-  const { mjModelRef, mjDataRef, status } = useMujoco();
+  const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const pressedRef = useRef(/* @__PURE__ */ new Set());
   const toggleStateRef = useRef(/* @__PURE__ */ new Map());
   const enabledRef = useRef(config.enabled ?? true);
@@ -3369,7 +3517,7 @@ function useKeyboardTeleop(config) {
   });
 }
 function usePolicy(config) {
-  const { mjModelRef } = useMujoco();
+  const { mjModelRef } = useMujocoContext();
   const lastActionTimeRef = useRef(0);
   const lastActionRef = useRef(null);
   const isRunningRef = useRef(true);
@@ -3403,7 +3551,7 @@ function usePolicy(config) {
   };
 }
 function useTrajectoryRecorder(options = {}) {
-  const { mjModelRef } = useMujoco();
+  const { mjModelRef } = useMujocoContext();
   const recordingRef = useRef(false);
   const framesRef = useRef([]);
   const fields = options.fields ?? ["qpos"];
@@ -3479,7 +3627,7 @@ function useTrajectoryRecorder(options = {}) {
   };
 }
 function useGamepad(config) {
-  const { mjModelRef, status } = useMujoco();
+  const { mjModelRef, status } = useMujocoContext();
   const configRef = useRef(config);
   configRef.current = config;
   const axisCacheRef = useRef(/* @__PURE__ */ new Map());
@@ -3575,7 +3723,7 @@ function useVideoRecorder(options = {}) {
   };
 }
 function useCtrlNoise(config = {}) {
-  const { mjModelRef } = useMujoco();
+  const { mjModelRef } = useMujocoContext();
   const configRef = useRef(config);
   configRef.current = config;
   const noiseRef = useRef(null);
@@ -3726,25 +3874,6 @@ function useCameraAnimation() {
  * @license
  * SPDX-License-Identifier: Apache-2.0
 */
-/**
- * @license
- * SPDX-License-Identifier: Apache-2.0
- *
- * createController — typed factory for BYOC (Bring Your Own Controller) plugins.
- */
-/**
- * @license
- * SPDX-License-Identifier: Apache-2.0
- *
- * IkContext — React context for the IK controller plugin.
- */
-/**
- * @license
- * SPDX-License-Identifier: Apache-2.0
- *
- * IkController — composable IK controller plugin.
- * Extracts all IK logic from MujocoSimProvider into an opt-in component.
- */
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -3908,6 +4037,6 @@ function useCameraAnimation() {
  * useCameraAnimation — composable camera animation hook.
  */
 
-export { ContactListener, ContactMarkers, Debug, DragInteraction, FlexRenderer, IkController, IkGizmo, MujocoCanvas, MujocoPhysics, MujocoProvider, MujocoSimProvider, SceneLights, TendonRenderer, TrajectoryPlayer, createController, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getContact, getName, loadScene, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useGamepad, useGravityCompensation, useIk, useJointState, useKeyboardTeleop, useMujoco, useMujocoWasm, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder };
+export { Body, ContactListener, ContactMarkers, Debug, DragInteraction, FlexRenderer, IkGizmo, MujocoCanvas, MujocoPhysics, MujocoProvider, MujocoSimProvider, SceneLights, TendonRenderer, TrajectoryPlayer, createController, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getContact, getName, loadScene, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useGamepad, useGravityCompensation, useIkController, useJointState, useKeyboardTeleop, useMujoco, useMujocoWasm, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder };
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