mujoco-react 8.11.0 → 9.0.0

package/README.md

@@ -154,7 +154,7 @@ import { ScenarioLighting, VisualScenarioEffects } from "mujoco-react";
 <MujocoCanvas config={sceneConfig}>
   <VisualScenarioEffects
     scenario={scenario}
-    materialFilter={(object) => object.name.startsWith("prop_")}
+    materialFilter={({ object }) => object.name.startsWith("prop_")}
   />
   <ScenarioLighting preset={scenario.lighting} />
 </MujocoCanvas>;
@@ -216,7 +216,7 @@ function Scene() {
 import { useBeforePhysicsStep } from "mujoco-react";
 
 function MyController() {
-  useBeforePhysicsStep((_model, data) => {
+  useBeforePhysicsStep(({ data }) => {
     data.ctrl[0] = Math.sin(data.time);
   });
 
@@ -284,7 +284,7 @@ import type { ControlGroupInfo } from "mujoco-react";
 function HoldTcpPose() {
   const armRef = useRef<ControlGroupInfo | null>(null);
 
-  useBeforePhysicsStep((model, data) => {
+  useBeforePhysicsStep(({ model, data }) => {
     armRef.current ??= resolveControlGroup(model, { siteName: RobotSites.franka.tcp });
     if (!armRef.current) return;
 
@@ -305,7 +305,7 @@ Build policy-ready observation vectors from common MuJoCo state without hard-cod
 import { buildObservation, useBeforePhysicsStep } from "mujoco-react";
 
 function PolicyDriver() {
-  useBeforePhysicsStep((model, data) => {
+  useBeforePhysicsStep(({ model, data }) => {
     const obs = buildObservation(model, data, {
       qpos: true,
       qvel: true,
@@ -361,7 +361,7 @@ function useWebSocketControls(url: string) {
   }, [url]);
 
   // Apply incoming actuator controls each physics step.
-  useBeforePhysicsStep((model, data) => {
+  useBeforePhysicsStep(({ model, data }) => {
     const ctrl = latestCtrlRef.current;
     if (!ctrl) return;
     for (let i = 0; i < Math.min(ctrl.length, model.nu); i++) {
@@ -370,7 +370,7 @@ function useWebSocketControls(url: string) {
   });
 
   // Send simulation feedback back after physics.
-  useAfterPhysicsStep((model, data) => {
+  useAfterPhysicsStep(({ data }) => {
     const ws = wsRef.current;
     if (!ws || ws.readyState !== WebSocket.OPEN) return;
 
@@ -433,8 +433,8 @@ The built-in `useIkController()` uses Damped Least-Squares. Pass `ikSolveFn` to
 import { RobotSites } from "mujoco-react";
 import type { IKSolveFn } from "mujoco-react";
 
-const myIK: IKSolveFn = (pos, quat, currentQ) => {
-  return myAnalyticalSolver(pos, currentQ); // return joint angles or null
+const myIK: IKSolveFn = ({ position, currentQ }) => {
+  return myAnalyticalSolver(position, currentQ); // return joint angles or null
 };
 
 const ik = useIkController({ siteName: RobotSites.franka.tcp, ikSolveFn: myIK });
@@ -526,7 +526,7 @@ interface SceneConfig {
   sceneObjects?: SceneObject[];     // Objects injected into scene XML at load time
   homeJoints?: number[];            // Initial joint positions
   xmlPatches?: XmlPatch[];          // Patches applied to XML files during loading
-  onReset?: (model, data) => void;  // Called during reset after mj_resetData
+  onReset?: ({ model, data }) => void;  // Called during reset after mj_resetData
 }
 ```
 
@@ -636,10 +636,10 @@ Thin wrapper around R3F `<Canvas>`. Accepts all R3F Canvas props plus:
 | Prop | Type | Description |
 |------|------|-------------|
 | `config` | `SceneConfig` | **Required.** Scene/robot configuration |
-| `onReady` | `(api: MujocoSimAPI) => void` | Fires when model is loaded |
+| `onReady` | `({ api }) => void` | Fires when model is loaded |
 | `onError` | `(error: Error) => void` | Fires on scene load failure |
-| `onStep` | `(time: number) => void` | Called each physics step |
-| `onSelection` | `(bodyId: number, name: string) => void` | Called on double-click |
+| `onStep` | `({ time, model, data }) => void` | Called each physics step |
+| `onSelection` | `({ bodyId, name }) => void` | Called on double-click |
 | `gravity` | `[number, number, number]` | Override model gravity |
 | `timestep` | `number` | Override model.opt.timestep |
 | `substeps` | `number` | mj_step calls per frame |
@@ -664,10 +664,10 @@ Physics provider for use inside your own R3F `<Canvas>`. Same physics props as `
 | Prop | Type | Description |
 |------|------|-------------|
 | `config` | `SceneConfig` | **Required.** Scene/robot configuration |
-| `onReady` | `(api: MujocoSimAPI) => void` | Fires when model is loaded |
+| `onReady` | `({ api }) => void` | Fires when model is loaded |
 | `onError` | `(error: Error) => void` | Fires on scene load failure |
-| `onStep` | `(time: number) => void` | Called each physics step |
-| `onSelection` | `(bodyId: number, name: string) => void` | Called on double-click |
+| `onStep` | `({ time, model, data }) => void` | Called each physics step |
+| `onSelection` | `({ bodyId, name }) => void` | Called on double-click |
 | `gravity` | `[number, number, number]` | Override model gravity |
 | `timestep` | `number` | Override model.opt.timestep |
 | `substeps` | `number` | mj_step calls per frame |
@@ -715,7 +715,7 @@ drei PivotControls gizmo that tracks a MuJoCo site and drives IK on drag. Requir
 | `controller` | `IkContextValue` | **required** | Controller from `useIkController()` |
 | `siteName` | `string?` | controller's site | MuJoCo site to track |
 | `scale` | `number?` | `0.18` | Gizmo handle scale |
-| `onDrag` | `(pos, quat) => void` | -- | Custom drag handler (disables auto-IK) |
+| `onDrag` | `({ position, quaternion }) => void` | -- | Custom drag handler (disables auto-IK) |
 
 ### `<DragInteraction />`
 
@@ -826,7 +826,7 @@ if (mujoco) {
 Run logic **before** `mj_step` each frame. Write to `data.ctrl`, apply forces, drive automation.
 
 ```tsx
-useBeforePhysicsStep((model, data) => {
+useBeforePhysicsStep(({ data }) => {
   data.ctrl[0] = Math.sin(data.time);
 });
 ```

package/dist/{chunk-SEWQULWO.js → chunk-33CV6HSV.js}

@@ -341,7 +341,7 @@ function applyScenarioMaterials(scene, scenario, snapshots, materialFilter) {
     for (const material of normalizeMaterials(object.material)) {
       const mutable = getMutableScenarioMaterial(material);
       if (!mutable) continue;
-      if (materialFilter && !materialFilter(object, material)) continue;
+      if (materialFilter && !materialFilter({ object, material })) continue;
       if (!snapshots.has(material)) {
         snapshots.set(material, {
           color: mutable.color.clone(),
@@ -396,5 +396,5 @@ function clamp01(value) {
  */
 
 export { ScenarioLighting, SplatEnvironment, VisualScenarioEffects, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, getScenarioBackground, getScenarioCameraPosition, useSplatEnvironment, useVisualScenarioEffects, withSplatEnvironment };
-//# sourceMappingURL=chunk-SEWQULWO.js.map
-//# sourceMappingURL=chunk-SEWQULWO.js.map
+//# sourceMappingURL=chunk-33CV6HSV.js.map
+//# sourceMappingURL=chunk-33CV6HSV.js.map

package/dist/chunk-33CV6HSV.js.map

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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport type { ThreeElements } from '@react-three/fiber';\nimport type { ReactNode } from 'react';\nimport { useEffect, useMemo } from 'react';\nimport * as THREE from 'three';\nimport type {\n  PairedSplatEnvironmentConfig,\n  ScenarioMaterialConfig,\n  SceneConfig,\n  SplatCollisionProxyConfig,\n  SplatEnvironmentMetadata,\n  SplatEnvironmentMetadataInput,\n  SplatFormat,\n  SplatRendererKind,\n  SplatSceneInput,\n  ScenarioLightingPreset,\n  ScenarioLightingProps,\n  SplatEnvironmentProps,\n  VisualScenarioConfig,\n  VisualScenarioEffectsProps,\n} from '../types';\n\nconst DEFAULT_BACKGROUND = '#181a1f';\n\nexport function ScenarioLighting({\n  preset = 'studio',\n  castShadow = true,\n  intensity = 1,\n}: ScenarioLightingProps) {\n  if (preset === 'warehouse') {\n    return (\n      <>\n        <ambientLight intensity={0.18 * intensity} />\n        <directionalLight\n          position={[3.5, -2, 5]}\n          intensity={2.2 * intensity}\n          castShadow={castShadow}\n        />\n        <directionalLight position={[-2, 1.5, 2.5]} intensity={0.25 * intensity} />\n      </>\n    );\n  }\n\n  if (preset === 'low-light') {\n    return (\n      <>\n        <ambientLight intensity={0.08 * intensity} />\n        <directionalLight\n          position={[2, -2, 3]}\n          intensity={0.75 * intensity}\n          castShadow={castShadow}\n        />\n        <pointLight position={[-0.5, -0.8, 1.3]} intensity={0.6 * intensity} />\n      </>\n    );\n  }\n\n  if (preset === 'splat') {\n    return (\n      <>\n        <ambientLight intensity={0.42 * intensity} />\n        <directionalLight\n          position={[1.8, -2.4, 3.5]}\n          intensity={1.2 * intensity}\n          castShadow={castShadow}\n        />\n        <pointLight position={[0.4, 0.2, 1.4]} intensity={0.35 * intensity} />\n      </>\n    );\n  }\n\n  return (\n    <>\n      <ambientLight intensity={0.35 * intensity} />\n      <directionalLight\n        position={[2.5, -3, 4]}\n        intensity={1.6 * intensity}\n        castShadow={castShadow}\n      />\n    </>\n  );\n}\n\nexport function getScenarioBackground(\n  preset: ScenarioLightingPreset | undefined,\n  fallback = DEFAULT_BACKGROUND\n) {\n  if (preset === 'warehouse') return '#20242b';\n  if (preset === 'low-light') return '#0f1115';\n  if (preset === 'splat') return '#1b1f24';\n  return fallback;\n}\n\nexport function getScenarioCameraPosition(\n  basePosition: readonly [number, number, number],\n  scenario?: Pick<VisualScenarioConfig, 'camera'>\n): [number, number, number] {\n  const [x, y, z] = basePosition;\n  const jitter = scenario?.camera?.jitter ?? 0;\n\n  return [\n    Number((x + jitter * 0.6).toFixed(3)),\n    Number((y - jitter * 0.4).toFixed(3)),\n    Number((z + jitter * 0.25).toFixed(3)),\n  ];\n}\n\nexport function VisualScenarioEffects(props: VisualScenarioEffectsProps) {\n  useVisualScenarioEffects(props);\n  return null;\n}\n\nexport function useVisualScenarioEffects({\n  scenario,\n  enabled = true,\n  applyBackground = true,\n  applyFog = true,\n  applyRenderer = true,\n  applyMaterials = true,\n  background,\n  fogNear,\n  fogFar,\n  materialFilter,\n}: VisualScenarioEffectsProps) {\n  const { gl, scene, invalidate } = useThree();\n\n  useEffect(() => {\n    if (!enabled || !scenario) {\n      return undefined;\n    }\n\n    const previousExposure = gl.toneMappingExposure;\n    const previousBackground = scene.background;\n    const previousFog = scene.fog;\n    const materialSnapshots = new Map<\n      THREE.Material,\n      {\n        color?: THREE.Color;\n        roughness?: number;\n        metalness?: number;\n      }\n    >();\n\n    if (applyRenderer) {\n      gl.toneMappingExposure = scenario.camera?.exposure ?? 1;\n    }\n\n    if (applyBackground) {\n      scene.background = new THREE.Color(\n        background ?? getScenarioBackground(scenario.lighting)\n      );\n    }\n\n    if (applyFog) {\n      scene.fog = createScenarioFog(scenario, background, fogNear, fogFar);\n    }\n\n    if (applyMaterials && scenario.materials) {\n      applyScenarioMaterials(scene, scenario, materialSnapshots, materialFilter);\n    }\n\n    invalidate();\n\n    return () => {\n      gl.toneMappingExposure = previousExposure;\n      scene.background = previousBackground;\n      scene.fog = previousFog;\n\n      for (const [material, snapshot] of materialSnapshots) {\n        const mutable = getMutableScenarioMaterial(material);\n        if (!mutable) continue;\n        if (snapshot.color) mutable.color.copy(snapshot.color);\n        if (typeof snapshot.roughness === 'number') {\n          mutable.roughness = snapshot.roughness;\n        }\n        if (typeof snapshot.metalness === 'number') {\n          mutable.metalness = snapshot.metalness;\n        }\n        mutable.needsUpdate = true;\n      }\n\n      invalidate();\n    };\n  }, [\n    applyBackground,\n    applyFog,\n    applyMaterials,\n    applyRenderer,\n    background,\n    enabled,\n    fogFar,\n    fogNear,\n    gl,\n    invalidate,\n    materialFilter,\n    scenario,\n    scene,\n  ]);\n}\n\n/**\n * Renderer-agnostic Gaussian splat environment boundary.\n *\n * This component intentionally does not import a specific 3DGS renderer. Pass a\n * Spark/GaussianSplats3D object as `children` once the app chooses a renderer,\n * and pass MuJoCo/MJCF collision proxy visuals via `collisionProxy`.\n */\nexport function SplatEnvironment({\n  environment,\n  scenario,\n  renderer,\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  children,\n  showPlaceholder = true,\n  ...groupProps\n}: SplatEnvironmentProps) {\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n  const existingUserData =\n    typeof groupProps.userData === 'object' && groupProps.userData !== null\n      ? groupProps.userData\n      : {};\n\n  return (\n    <group\n      {...groupProps}\n      userData={{\n        ...existingUserData,\n        ...metadata.userData,\n      }}\n    >\n      {children}\n      {children || !showPlaceholder ? null : <SplatPlaceholder />}\n      {collisionProxy}\n    </group>\n  );\n}\n\nexport function useSplatEnvironment({\n  environment,\n  scenario,\n  renderer,\n  src,\n  format,\n  collisionProxy,\n}: SplatEnvironmentMetadataInput): SplatEnvironmentMetadata {\n  const scenarioEnvironment = useMemo(\n    () =>\n      environment ??\n      (scenario\n        ? createPairedSplatEnvironment(scenario, { renderer })\n        : undefined),\n    [environment, renderer, scenario]\n  );\n  const resolvedSrc = src ?? scenarioEnvironment?.splat.src ?? scenario?.splat?.src;\n  const resolvedFormat =\n    format ??\n    scenarioEnvironment?.splat.format ??\n    scenario?.splat?.format ??\n    'spz';\n  const resolvedCollisionProxy =\n    collisionProxy ??\n    scenarioEnvironment?.collisionProxy ??\n    scenario?.splat?.collisionProxy ??\n    undefined;\n\n  return useMemo(\n    () => ({\n      src: resolvedSrc,\n      format: resolvedFormat,\n      collisionProxy: resolvedCollisionProxy,\n      userData: createSplatEnvironmentUserData({\n        environment: scenarioEnvironment,\n        src: resolvedSrc,\n        format: resolvedFormat,\n        collisionProxy: resolvedCollisionProxy,\n      }),\n    }),\n    [scenarioEnvironment, resolvedSrc, resolvedFormat, resolvedCollisionProxy]\n  );\n}\n\n/**\n * Convert a generic visual scenario splat block into a paired visual/physics\n * environment config. Returns undefined until both the splat asset and MJCF\n * collision proxy are present.\n */\nexport function createPairedSplatEnvironment(\n  scenario: Pick<VisualScenarioConfig, 'id' | 'label' | 'environment' | 'splat'>,\n  options: {\n    id?: string;\n    label?: string;\n    description?: string;\n    renderer?: SplatRendererKind;\n  } = {}\n): PairedSplatEnvironmentConfig | undefined {\n  const splat = scenario.splat;\n  const collisionProxy = splat?.collisionProxy;\n\n  if (!splat?.enabled || !splat.src || !collisionProxy?.xmlPath) {\n    return undefined;\n  }\n\n  return {\n    id: options.id ?? scenario.id ?? 'splat-environment',\n    label: options.label ?? scenario.label ?? 'Gaussian splat environment',\n    description:\n      options.description ??\n      (scenario.environment\n        ? `Visual ${scenario.environment} splat paired with MJCF collision proxy.`\n        : undefined),\n    splat: {\n      src: splat.src,\n      format: splat.format ?? 'spz',\n      renderer: options.renderer,\n    },\n    collisionProxy: {\n      ...collisionProxy,\n      xmlPath: collisionProxy.xmlPath,\n    },\n  };\n}\n\nfunction isPairedSplatEnvironment(input: SplatSceneInput): input is PairedSplatEnvironmentConfig {\n  return !!input && 'collisionProxy' in input && 'splat' in input;\n}\n\nfunction sceneRelativePath(sceneConfig: SceneConfig, path: string): string {\n  const src = sceneConfig.src;\n  if (!src) return path;\n\n  const base = src.endsWith('/') ? src : src + '/';\n  if (path.startsWith(base)) return path.slice(base.length);\n  return path;\n}\n\nfunction uniquePaths(paths: readonly string[]): string[] {\n  const seen = new Set<string>();\n  const result: string[] = [];\n  for (const path of paths) {\n    if (seen.has(path)) continue;\n    seen.add(path);\n    result.push(path);\n  }\n  return result;\n}\n\n/**\n * Compose a MuJoCo scene config with a paired splat collision proxy.\n *\n * This keeps the common hybrid setup declarative:\n * robot XML remains `sceneFile`, the `.spz` remains a visual-only layer, and\n * the paired MJCF collision proxy is added to `environmentFiles`.\n */\nexport function withSplatEnvironment(\n  sceneConfig: SceneConfig,\n  input: SplatSceneInput,\n  options: { renderer?: SplatRendererKind } = {}\n): SceneConfig {\n  const environment = isPairedSplatEnvironment(input)\n    ? input\n    : input\n      ? createPairedSplatEnvironment(input, options)\n      : undefined;\n  const xmlPath = environment?.collisionProxy.xmlPath;\n  if (!xmlPath) return sceneConfig;\n\n  return {\n    ...sceneConfig,\n    environmentFiles: uniquePaths([\n      ...(sceneConfig.environmentFiles ?? []),\n      sceneRelativePath(sceneConfig, xmlPath),\n    ]),\n  };\n}\n\nexport function createSplatEnvironmentUserData({\n  environment,\n  src,\n  format = 'spz',\n  collisionProxy,\n}: {\n  environment?: PairedSplatEnvironmentConfig;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n}) {\n  return {\n    role: 'splat-environment',\n    environmentId: environment?.id,\n    environmentLabel: environment?.label,\n    splatSrc: src,\n    splatFormat: format,\n    splatRenderer: environment?.splat.renderer,\n    collisionProxyStatus: collisionProxy?.status ?? 'missing',\n    collisionProxyXmlPath: collisionProxy?.xmlPath,\n    collisionProxyPrimitives: collisionProxy?.primitives ?? [],\n  };\n}\n\nexport function createSparkSplatViewerUrl({\n  viewerUrl,\n  splatSrc,\n}: {\n  viewerUrl: string;\n  splatSrc: string;\n}) {\n  const url = new URL(viewerUrl, 'http://mujoco-react.local');\n  url.searchParams.set('splat', splatSrc);\n  return viewerUrl.startsWith('http') ? url.toString() : `${url.pathname}${url.search}`;\n}\n\nfunction SplatPlaceholder() {\n  return (\n    <group>\n      <mesh position={[0, 0, 1.2]}>\n        <boxGeometry args={[2.4, 2.4, 2.4]} />\n        <meshBasicMaterial\n          color=\"#8b8b8b\"\n          transparent\n          opacity={0.06}\n          wireframe\n          side={THREE.DoubleSide}\n        />\n      </mesh>\n    </group>\n  );\n}\n\nfunction createScenarioFog(\n  scenario: VisualScenarioConfig,\n  background: THREE.ColorRepresentation | undefined,\n  fogNear: number | undefined,\n  fogFar: number | undefined\n) {\n  if (scenario.lighting === 'low-light') {\n    return new THREE.Fog(\n      background ?? getScenarioBackground(scenario.lighting),\n      fogNear ?? 2.5,\n      fogFar ?? 9\n    );\n  }\n\n  if (scenario.lighting === 'warehouse') {\n    return new THREE.Fog(\n      background ?? getScenarioBackground(scenario.lighting),\n      fogNear ?? 5,\n      fogFar ?? 16\n    );\n  }\n\n  return null;\n}\n\nfunction applyScenarioMaterials(\n  scene: THREE.Scene,\n  scenario: VisualScenarioConfig,\n  snapshots: Map<\n    THREE.Material,\n    {\n      color?: THREE.Color;\n      roughness?: number;\n      metalness?: number;\n    }\n  >,\n  materialFilter: VisualScenarioEffectsProps['materialFilter']\n) {\n  const materials = scenario.materials;\n  if (!materials) return;\n\n  scene.traverse((object) => {\n    if (!(object instanceof THREE.Mesh)) {\n      return;\n    }\n\n    for (const material of normalizeMaterials(object.material)) {\n      const mutable = getMutableScenarioMaterial(material);\n      if (!mutable) continue;\n      if (materialFilter && !materialFilter({ object, material })) continue;\n\n      if (!snapshots.has(material)) {\n        snapshots.set(material, {\n          color: mutable.color.clone(),\n          roughness: mutable.roughness,\n          metalness: mutable.metalness,\n        });\n      }\n\n      applyScenarioMaterial(mutable, object, scenario, materials);\n    }\n  });\n}\n\nfunction applyScenarioMaterial(\n  material: THREE.MeshStandardMaterial | THREE.MeshPhysicalMaterial,\n  object: THREE.Object3D,\n  scenario: VisualScenarioConfig,\n  materials: ScenarioMaterialConfig\n) {\n  const seed = scenario.seed ?? 0;\n  const objectKey = `${scenario.id ?? 'scenario'}:${object.name}:${material.name}:${seed}`;\n  const variation = hashToUnitInterval(objectKey);\n\n  if (materials.randomizeObjectColors) {\n    material.color.setHSL(variation, 0.38, 0.42);\n  }\n\n  if (materials.randomizeTableMaterial) {\n    material.roughness = clamp01(\n      materials.roughness ?? 0.35 + variation * 0.45\n    );\n    material.metalness = clamp01(\n      materials.metalness ?? variation * 0.12\n    );\n  }\n\n  material.needsUpdate = true;\n}\n\nfunction normalizeMaterials(\n  material: THREE.Material | THREE.Material[]\n): THREE.Material[] {\n  return Array.isArray(material) ? material : [material];\n}\n\nfunction getMutableScenarioMaterial(\n  material: THREE.Material\n): THREE.MeshStandardMaterial | THREE.MeshPhysicalMaterial | null {\n  if (\n    material instanceof THREE.MeshStandardMaterial ||\n    material instanceof THREE.MeshPhysicalMaterial\n  ) {\n    return material;\n  }\n\n  return null;\n}\n\nfunction hashToUnitInterval(value: string) {\n  let hash = 2166136261;\n  for (let index = 0; index < value.length; index += 1) {\n    hash ^= value.charCodeAt(index);\n    hash = Math.imul(hash, 16777619);\n  }\n  return (hash >>> 0) / 4294967295;\n}\n\nfunction clamp01(value: number) {\n  return Math.max(0, Math.min(1, value));\n}\n\nexport type SplatCollisionProxy = ReactNode | ThreeElements['group'];\n"]}

package/dist/index.d.ts

@@ -1,6 +1,6 @@
 import * as react_jsx_runtime from 'react/jsx-runtime';
-import { M as MujocoContextValue, a as MujocoCanvasProps, b as MujocoSimAPI, S as SceneConfig, c as MujocoModule, P as PhysicsStepCallback, d as MujocoModel, e as MujocoData, C as ControlGroupInfo, A as ActuatedJointInfo, f as ControlGroupSelector, O as ObservationConfig, g as ObservationResult, I as IkConfig, h as IkContextValue, B as BodyProps, i as IkGizmoProps, D as DragInteractionProps, j as SceneLightsProps, k as ScenarioLightingProps, l as SplatEnvironmentProps, V as VisualScenarioEffectsProps, m as VisualScenarioConfig, n as SplatRendererKind, o as PairedSplatEnvironmentConfig, p as SplatFormat, q as SplatCollisionProxyConfig, r as SplatCollisionPrimitive, s as ScenarioLightingPreset, t as SplatEnvironmentMetadataInput, u as SplatEnvironmentMetadata, v as SplatSceneInput, w as DebugProps, G as GeomInfo, x as ContactListenerProps, T as TrajectoryPlayerProps, y as ActuatorInfo, z as Sites, E as SitePositionResult, F as Sensors, H as SensorHandle, J as SensorInfo, K as Joints, L as JointStateResult, N as Bodies, Q as BodyStateResult, R as Actuators, U as CtrlHandle, W as ContactInfo, X as KeyboardTeleopConfig, Y as PolicyConfig, Z as PolicyVector, _ as ObservationHandle, $ as TrajectoryInput, a0 as PlaybackState, a1 as TrajectoryFrame } from './types-BmneHLBM.js';
-export { a2 as BodyInfo, a3 as ControlJointInfo, a4 as Geoms, a5 as IKSolveFn, a6 as JointInfo, a7 as KeyBinding, a8 as Keyframes, a9 as ModelOptions, aa as MujocoContact, ab as MujocoContactArray, ac as ObservationLayoutItem, ad as ObservationOutput, ae as PhysicsConfig, af as PolicyActionInput, ag as PolicyInferenceInput, ah as PolicyObservationInput, ai as RayHit, aj as Register, ak as RegisteredRobotMap, al as ResourceSelector, am as RobotActuators, an as RobotBodies, ao as RobotGeoms, ap as RobotJoints, aq as RobotKeyframes, ar as RobotResource, as as RobotResources, at as RobotSensors, au as RobotSites, av as Robots, aw as ScenarioCameraConfig, ax as ScenarioMaterialConfig, ay as SceneMarker, az as SceneObject, aA as SensorResult, aB as SiteInfo, aC as SplatAssetConfig, aD as SplatScenarioConfig, aE as StateSnapshot, aF as TrajectoryData, aG as XmlPatch, aH as getContact, aI as registerRobotResources } from './types-BmneHLBM.js';
+import { M as MujocoContextValue, a as MujocoCanvasProps, b as MujocoSimAPI, S as SceneConfig, R as ReadyCallbackInput, c as StepCallbackInput, d as SelectionCallbackInput, e as MujocoModule, P as PhysicsStepCallback, f as MujocoModel, g as MujocoData, C as ControlGroupInfo, A as ActuatedJointInfo, h as ControlGroupSelector, O as ObservationConfig, i as ObservationResult, I as IkConfig, j as IkContextValue, B as BodyProps, k as IkGizmoProps, D as DragInteractionProps, l as SceneLightsProps, m as ScenarioLightingProps, n as SplatEnvironmentProps, V as VisualScenarioEffectsProps, o as VisualScenarioConfig, p as SplatRendererKind, q as PairedSplatEnvironmentConfig, r as SplatFormat, s as SplatCollisionProxyConfig, t as SplatCollisionPrimitive, u as ScenarioLightingPreset, v as SplatEnvironmentMetadataInput, w as SplatEnvironmentMetadata, x as SplatSceneInput, y as DebugProps, G as GeomInfo, z as ContactListenerProps, T as TrajectoryPlayerProps, E as ActuatorInfo, F as Sites, H as SitePositionResult, J as Sensors, K as SensorHandle, L as SensorInfo, N as Joints, Q as JointStateResult, U as Bodies, W as BodyStateResult, X as Actuators, Y as CtrlHandle, Z as ContactInfo, _ as KeyboardTeleopConfig, $ as PolicyConfig, a0 as PolicyVector, a1 as ObservationHandle, a2 as TrajectoryInput, a3 as TrajectoryStateChangeInput, a4 as PlaybackState, a5 as TrajectoryFrame } from './types-izZlUweI.js';
+export { a6 as BodyInfo, a7 as ControlJointInfo, a8 as Geoms, a9 as IKSolveFn, aa as IkGizmoDragInput, ab as IkSolveInput, ac as JointInfo, ad as KeyBinding, ae as Keyframes, af as ModelOptions, ag as MujocoContact, ah as MujocoContactArray, ai as ObservationLayoutItem, aj as ObservationOutput, ak as PhysicsConfig, al as PhysicsStepInput, am as PolicyActionInput, an as PolicyInferenceInput, ao as PolicyObservationInput, ap as RayHit, aq as Register, ar as RegisteredRobotMap, as as ResetCallbackInput, at as ResourceSelector, au as RobotActuators, av as RobotBodies, aw as RobotGeoms, ax as RobotJoints, ay as RobotKeyframes, az as RobotResource, aA as RobotResources, aB as RobotSensors, aC as RobotSites, aD as Robots, aE as ScenarioCameraConfig, aF as ScenarioMaterialConfig, aG as SceneMarker, aH as SceneObject, aI as SensorResult, aJ as SiteInfo, aK as SplatAssetConfig, aL as SplatScenarioConfig, aM as StateSnapshot, aN as TrajectoryData, aO as TrajectoryFrameCallbackInput, aP as VisualScenarioMaterialFilterInput, aQ as XmlPatch, aR as getContact, aS as registerRobotResources } from './types-izZlUweI.js';
 import * as React$1 from 'react';
 import React__default from 'react';
 import { ThreeElements } from '@react-three/fiber';
@@ -56,13 +56,13 @@ interface MujocoPhysicsProps {
     /** Scene/robot configuration. */
     config: SceneConfig;
     /** Fires when model is loaded and API is ready. */
-    onReady?: (api: MujocoSimAPI) => void;
+    onReady?: (input: ReadyCallbackInput) => void;
     /** Fires on scene load failure. */
     onError?: (error: Error) => void;
     /** Called each physics step. */
-    onStep?: (time: number) => void;
+    onStep?: (input: StepCallbackInput) => void;
     /** Called on body double-click selection. */
-    onSelection?: (bodyId: number, name: string) => void;
+    onSelection?: (input: SelectionCallbackInput) => void;
     /** Override model gravity. */
     gravity?: [number, number, number];
     /** Override model.opt.timestep. */
@@ -133,10 +133,10 @@ interface MujocoSimProviderProps {
     mujoco: MujocoModule;
     config: SceneConfig;
     apiRef?: React.ForwardedRef<MujocoSimAPI>;
-    onReady?: (api: MujocoSimAPI) => void;
+    onReady?: (input: ReadyCallbackInput) => void;
     onError?: (error: Error) => void;
-    onStep?: (time: number) => void;
-    onSelection?: (bodyId: number, name: string) => void;
+    onStep?: (input: StepCallbackInput) => void;
+    onSelection?: (input: SelectionCallbackInput) => void;
     gravity?: [number, number, number];
     timestep?: number;
     substeps?: number;
@@ -243,7 +243,7 @@ type ControllerComponent<TConfig> = React.FC<{
  * const MyController = createController<{ speed: number }>(
  *   { name: 'my-controller', defaultConfig: { speed: 1.0 } },
  *   function MyControllerImpl({ config }) {
- *     useBeforePhysicsStep((_model, data) => {
+ *     useBeforePhysicsStep(({ data }) => {
  *       data.ctrl[0] = config.speed;
  *     });
  *     return null;
@@ -270,7 +270,7 @@ declare function createController<TConfig>(options: ControllerOptions<TConfig>,
  *   { name: 'useMyController', defaultConfig: { gain: 1.0 } },
  *   function useMyControllerImpl(config) {
  *     // config is MyConfig | null — hooks must be called unconditionally
- *     useBeforePhysicsStep((_model, data) => {
+ *     useBeforePhysicsStep(({ data }) => {
  *       if (!config) return;
  *       data.ctrl[0] = config.gain * Math.sin(data.time);
  *     });
@@ -312,7 +312,7 @@ declare function Body({ name, type, size, position, rgba, mass, freejoint, frict
  * - `controller` — IkContextValue from `useIkController()`.
  * - `siteName` — MuJoCo site to track. Defaults to the controller's configured site.
  * - `scale` — Gizmo handle scale. Default: 0.18.
- * - `onDrag` — Custom drag callback `(pos, quat) => void`.
+ * - `onDrag` — Custom drag callback `({ position, quaternion }) => void`.
  *   When omitted, dragging enables IK and writes to the IK target.
  *   When provided, the consumer handles what happens during drag.
  */
@@ -655,7 +655,7 @@ interface TrajectoryPlayerOptions {
     loop?: boolean;
     mode?: 'kinematic' | 'physics';
     onComplete?: () => void;
-    onStateChange?: (state: PlaybackState) => void;
+    onStateChange?: (input: TrajectoryStateChangeInput) => void;
 }
 /**
  * Play back a trajectory, overriding simulation state.
@@ -896,4 +896,4 @@ interface CameraAnimationAPI {
  */
 declare function useCameraAnimation(): CameraAnimationAPI;
 
-export { ActuatedJointInfo, ActuatorInfo, Actuators, Bodies, Body, BodyProps, BodyStateResult, type CameraAnimationAPI, ContactInfo, ContactListener, ContactListenerProps, ContactMarkers, ControlGroupInfo, ControlGroupSelector, type ControllerComponent, type ControllerOptions, CtrlHandle, Debug, DebugProps, DragInteraction, DragInteractionProps, FlexRenderer, type FrameCaptureAPI, type FrameCaptureBlobResult, type FrameCaptureOptions, type FrameCaptureResult, type FrameCaptureStatus, type FrameCaptureTarget, type FrameCaptureTargetRef, GeomInfo, IkConfig, IkContextValue, IkGizmo, IkGizmoProps, InstancedGeomRenderer, JointStateResult, Joints, KeyboardTeleopConfig, MujocoCanvas, MujocoCanvasProps, MujocoContextValue, MujocoData, type MujocoLoader, type MujocoLoaderOptions, MujocoModel, MujocoModule, MujocoPhysics, type MujocoPhysicsProps, MujocoProvider, type MujocoProviderProps, MujocoSimAPI, MujocoSimProvider, type MujocoWasmVariant, ObservationConfig, ObservationHandle, ObservationResult, PairedSplatEnvironmentConfig, PhysicsStepCallback, PlaybackState, PolicyConfig, PolicyVector, ScenarioLighting, ScenarioLightingPreset, ScenarioLightingProps, SceneConfig, SceneLights, SceneLightsProps, SensorHandle, SensorInfo, Sensors, SitePositionResult, Sites, SplatCollisionPrimitive, SplatCollisionProxyConfig, SplatEnvironment, SplatEnvironmentMetadata, SplatEnvironmentMetadataInput, SplatEnvironmentProps, SplatFormat, SplatRendererKind, SplatSceneInput, TendonRenderer, TrajectoryFrame, TrajectoryInput, TrajectoryPlayer, TrajectoryPlayerProps, VisualScenarioConfig, VisualScenarioEffects, VisualScenarioEffectsProps, buildObservation, captureFrame, captureFrameBlob, createContiguousControlGroup, createController, createControllerHook, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getActuatedJoints, getControlMap, getName, getScenarioBackground, getScenarioCameraPosition, loadScene, resolveControlGroup, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useFrameCapture, useGamepad, useGravityCompensation, useIkController, useJointState, useKeyboardTeleop, useMujoco, useMujocoWasm, useObservation, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useSplatEnvironment, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder, useVisualScenarioEffects, withSplatEnvironment };
+export { ActuatedJointInfo, ActuatorInfo, Actuators, Bodies, Body, BodyProps, BodyStateResult, type CameraAnimationAPI, ContactInfo, ContactListener, ContactListenerProps, ContactMarkers, ControlGroupInfo, ControlGroupSelector, type ControllerComponent, type ControllerOptions, CtrlHandle, Debug, DebugProps, DragInteraction, DragInteractionProps, FlexRenderer, type FrameCaptureAPI, type FrameCaptureBlobResult, type FrameCaptureOptions, type FrameCaptureResult, type FrameCaptureStatus, type FrameCaptureTarget, type FrameCaptureTargetRef, GeomInfo, IkConfig, IkContextValue, IkGizmo, IkGizmoProps, InstancedGeomRenderer, JointStateResult, Joints, KeyboardTeleopConfig, MujocoCanvas, MujocoCanvasProps, MujocoContextValue, MujocoData, type MujocoLoader, type MujocoLoaderOptions, MujocoModel, MujocoModule, MujocoPhysics, type MujocoPhysicsProps, MujocoProvider, type MujocoProviderProps, MujocoSimAPI, MujocoSimProvider, type MujocoWasmVariant, ObservationConfig, ObservationHandle, ObservationResult, PairedSplatEnvironmentConfig, PhysicsStepCallback, PlaybackState, PolicyConfig, PolicyVector, ReadyCallbackInput, ScenarioLighting, ScenarioLightingPreset, ScenarioLightingProps, SceneConfig, SceneLights, SceneLightsProps, SelectionCallbackInput, SensorHandle, SensorInfo, Sensors, SitePositionResult, Sites, SplatCollisionPrimitive, SplatCollisionProxyConfig, SplatEnvironment, SplatEnvironmentMetadata, SplatEnvironmentMetadataInput, SplatEnvironmentProps, SplatFormat, SplatRendererKind, SplatSceneInput, StepCallbackInput, TendonRenderer, TrajectoryFrame, TrajectoryInput, TrajectoryPlayer, TrajectoryPlayerProps, TrajectoryStateChangeInput, VisualScenarioConfig, VisualScenarioEffects, VisualScenarioEffectsProps, buildObservation, captureFrame, captureFrameBlob, createContiguousControlGroup, createController, createControllerHook, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getActuatedJoints, getControlMap, getName, getScenarioBackground, getScenarioCameraPosition, loadScene, resolveControlGroup, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useFrameCapture, useGamepad, useGravityCompensation, useIkController, useJointState, useKeyboardTeleop, useMujoco, useMujocoWasm, useObservation, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useSplatEnvironment, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder, useVisualScenarioEffects, withSplatEnvironment };

package/dist/index.js

@@ -1,4 +1,4 @@
-export { ScenarioLighting, SplatEnvironment, VisualScenarioEffects, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, getScenarioBackground, getScenarioCameraPosition, useSplatEnvironment, useVisualScenarioEffects, withSplatEnvironment } from './chunk-SEWQULWO.js';
+export { ScenarioLighting, SplatEnvironment, VisualScenarioEffects, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, getScenarioBackground, getScenarioCameraPosition, useSplatEnvironment, useVisualScenarioEffects, withSplatEnvironment } from './chunk-33CV6HSV.js';
 import loadMujoco from '@mujoco/mujoco';
 import defaultMujocoWasmUrl from '@mujoco/mujoco/mujoco.wasm?url';
 import { createContext, forwardRef, useEffect, useContext, useState, useRef, useCallback, useMemo, useLayoutEffect } from 'react';
@@ -1285,7 +1285,7 @@ function SceneRenderer(props) {
           const model = mjModelRef.current;
           if (model && bodyID < model.nbody && onSelectionRef.current) {
             const name = getName(model, model.name_bodyadr[bodyID]);
-            onSelectionRef.current(bodyID, name);
+            onSelectionRef.current({ bodyId: bodyID, name });
           }
         }
       }
@@ -1420,7 +1420,7 @@ function useBeforePhysicsStep(callback) {
   const callbackRef = useRef(callback);
   callbackRef.current = callback;
   useEffect(() => {
-    const wrapped = (model, data) => callbackRef.current(model, data);
+    const wrapped = (input) => callbackRef.current(input);
     beforeStepCallbacks.current.add(wrapped);
     return () => {
       beforeStepCallbacks.current.delete(wrapped);
@@ -1432,7 +1432,7 @@ function useAfterPhysicsStep(callback) {
   const callbackRef = useRef(callback);
   callbackRef.current = callback;
   useEffect(() => {
-    const wrapped = (model, data) => callbackRef.current(model, data);
+    const wrapped = (input) => callbackRef.current(input);
     afterStepCallbacks.current.add(wrapped);
     return () => {
       afterStepCallbacks.current.delete(wrapped);
@@ -1576,7 +1576,7 @@ function MujocoSimProvider({
   useEffect(() => {
     if (status === "ready") {
       const api2 = apiRef.current;
-      if (onReady) onReady(api2);
+      if (onReady) onReady({ api: api2 });
       if (externalApiRef) {
         if (typeof externalApiRef === "function") {
           externalApiRef(api2);
@@ -1596,7 +1596,7 @@ function MujocoSimProvider({
       data.qfrc_applied[i] = 0;
     }
     for (const cb of beforeStepCallbacks.current) {
-      cb(model, data);
+      cb({ model, data });
     }
     const numSubsteps = substepsRef.current;
     if (!interpolateRef.current) {
@@ -1647,14 +1647,14 @@ function MujocoSimProvider({
       interpolationStateRef.current.alpha = Math.min(Math.max(physicsAccumulatorRef.current / stepDt, 0), 1);
       interpolationStateRef.current.valid = true;
       if (!stepped) {
-        onStepRef.current?.(data.time);
+        onStepRef.current?.({ time: data.time, model, data });
         return;
       }
     }
     for (const cb of afterStepCallbacks.current) {
-      cb(model, data);
+      cb({ model, data });
     }
-    onStepRef.current?.(data.time);
+    onStepRef.current?.({ time: data.time, model, data });
   }, -1);
   function ensureInterpolationBuffers(model) {
     const state = interpolationStateRef.current;
@@ -1685,7 +1685,7 @@ function MujocoSimProvider({
         }
       }
     }
-    configRef.current.onReset?.(model, data);
+    configRef.current.onReset?.({ model, data });
     mujoco.mj_forward(model, data);
     for (const cb of resetCallbacks.current) {
       cb();
@@ -2841,9 +2841,9 @@ var useIkController = createControllerHook(
       }
     }, [config?.siteName, config?.numJoints, config?.joints, config?.actuators, status, mjModelRef, mjDataRef, config]);
     const ikSolveFn = useCallback(
-      (pos, quat, currentQ) => {
+      ({ position, quaternion, currentQ, context }) => {
         if (!config) return null;
-        if (config.ikSolveFn) return config.ikSolveFn(pos, quat, currentQ);
+        if (config.ikSolveFn) return config.ikSolveFn({ position, quaternion, currentQ, context });
         const model = mjModelRef.current;
         const data = mjDataRef.current;
         const controlGroup = controlGroupRef.current;
@@ -2853,8 +2853,8 @@ var useIkController = createControllerHook(
           data,
           siteIdRef.current,
           controlGroup.qposAdr,
-          pos,
-          quat,
+          position,
+          quaternion,
           currentQ,
           { damping: config.damping, maxIterations: config.maxIterations }
         );
@@ -2883,7 +2883,7 @@ var useIkController = createControllerHook(
       target.quaternion.slerpQuaternions(ga.startRot, ga.endRot, ease);
       if (t >= 1) ga.active = false;
     });
-    useBeforePhysicsStep((model, data) => {
+    useBeforePhysicsStep(({ model, data }) => {
       if (!config || !ikEnabledRef.current) {
         ikCalculatingRef.current = false;
         return;
@@ -2894,12 +2894,21 @@ var useIkController = createControllerHook(
       const controlGroup = controlGroupRef.current;
       if (!controlGroup) return;
       const currentQ = Array.from(controlGroup.readQpos(data));
-      const solution = config.ikSolveFn ? config.ikSolveFn(target.position, target.quaternion, currentQ, {
-        model,
-        data,
-        siteId: siteIdRef.current,
-        controlGroup
-      }) : ikSolveFnRef.current(target.position, target.quaternion, currentQ);
+      const solution = config.ikSolveFn ? config.ikSolveFn({
+        position: target.position,
+        quaternion: target.quaternion,
+        currentQ,
+        context: {
+          model,
+          data,
+          siteId: siteIdRef.current,
+          controlGroup
+        }
+      }) : ikSolveFnRef.current({
+        position: target.position,
+        quaternion: target.quaternion,
+        currentQ
+      });
       if (solution) {
         controlGroup.writeCtrl(data, solution);
       }
@@ -2938,8 +2947,8 @@ var useIkController = createControllerHook(
       if (data && target) syncGizmoToSite(data, siteIdRef.current, target);
     }, [mjDataRef]);
     const solveIK = useCallback(
-      (pos, quat, currentQ) => {
-        return ikSolveFnRef.current(pos, quat, currentQ);
+      (input) => {
+        return ikSolveFnRef.current(input);
       },
       []
     );
@@ -3153,7 +3162,7 @@ function IkGizmo({ controller, siteName, scale = 0.18, onDrag }) {
       onDrag: (_l, _dl, world) => {
         world.decompose(_pos, _quat, _scale);
         if (onDrag) {
-          onDrag(_pos.clone(), _quat.clone());
+          onDrag({ position: _pos.clone(), quaternion: _quat.clone() });
         } else {
           const target = ikTargetRef.current;
           if (target) {
@@ -3327,7 +3336,7 @@ function DragInteraction({
       window.removeEventListener("pointercancel", onPointerUp);
     };
   }, [gl, camera, scene, controls, mjDataRef]);
-  useBeforePhysicsStep((model, data) => {
+  useBeforePhysicsStep(({ model, data }) => {
     if (!draggingRef.current || bodyIdRef.current <= 0) return;
     const bid = bodyIdRef.current;
     const mujoco = mujocoRef.current;
@@ -4118,7 +4127,7 @@ function useContacts(bodyName, callback) {
     bodyIdRef.current = findBodyByName(model, bodyName);
     bodyResolvedRef.current = true;
   }, [bodyName, status, mjModelRef]);
-  useAfterPhysicsStep((model, data) => {
+  useAfterPhysicsStep(({ model, data }) => {
     if (bodyName && !bodyResolvedRef.current) {
       bodyIdRef.current = findBodyByName(model, bodyName);
       bodyResolvedRef.current = true;
@@ -4224,7 +4233,7 @@ function useTrajectoryPlayer(trajectory, options = {}) {
   const setState = useCallback((next) => {
     if (stateRef.current === next) return;
     stateRef.current = next;
-    optionsRef.current.onStateChange?.(next);
+    optionsRef.current.onStateChange?.({ state: next });
   }, []);
   const play = useCallback(() => {
     const traj = trajectoryRef.current;
@@ -4306,7 +4315,7 @@ function useTrajectoryPlayer(trajectory, options = {}) {
       }
     }
   });
-  useBeforePhysicsStep((model, data) => {
+  useBeforePhysicsStep(({ model, data }) => {
     if (stateRef.current !== "playing") return;
     if ((optionsRef.current.mode ?? "kinematic") !== "physics") return;
     const traj = trajectoryRef.current;
@@ -4391,7 +4400,10 @@ function TrajectoryPlayer({
     const currentFrame = player.frame;
     if (currentFrame !== lastReportedFrameRef.current && player.playing) {
       lastReportedFrameRef.current = currentFrame;
-      onFrameRef.current(currentFrame);
+      onFrameRef.current({
+        frameIndex: currentFrame,
+        frame: trajectory[currentFrame]
+      });
     }
   });
   return null;
@@ -4465,7 +4477,7 @@ function useSitePosition(siteName) {
 
 // src/hooks/useGravityCompensation.ts
 function useGravityCompensation(enabled = true) {
-  useBeforePhysicsStep((model, data) => {
+  useBeforePhysicsStep(({ model, data }) => {
     if (!enabled) return;
     for (let i = 0; i < model.nv; i++) {
       data.qfrc_applied[i] += data.qfrc_bias[i];
@@ -4492,7 +4504,7 @@ function useSensor(name) {
     }
     sensorIdRef.current = -1;
   }, [name, status, mjModelRef]);
-  useAfterPhysicsStep((_model, data) => {
+  useAfterPhysicsStep(({ data }) => {
     if (sensorIdRef.current < 0) return;
     const adr = sensorAdrRef.current;
     const dim = sensorDimRef.current;
@@ -4589,7 +4601,7 @@ function useJointState(name) {
     }
     jointIdRef.current = -1;
   }, [name, status, mjModelRef]);
-  useAfterPhysicsStep((_model, data) => {
+  useAfterPhysicsStep(({ data }) => {
     if (jointIdRef.current < 0) return;
     const qa = qposAdrRef.current;
     const da = dofAdrRef.current;
@@ -4619,7 +4631,7 @@ function useBodyState(name) {
     if (!model || status !== "ready") return;
     bodyIdRef.current = findBodyByName(model, name);
   }, [name, status, mjModelRef]);
-  useAfterPhysicsStep((_model, data) => {
+  useAfterPhysicsStep(({ data }) => {
     const bid = bodyIdRef.current;
     if (bid < 0) return;
     const i3 = bid * 3;
@@ -4715,7 +4727,7 @@ function useKeyboardTeleop(config) {
       window.removeEventListener("keyup", onKeyUp);
     };
   }, []);
-  useBeforePhysicsStep((_model, data) => {
+  useBeforePhysicsStep(({ data }) => {
     if (!enabledRef.current) return;
     const bindings = bindingsRef.current;
     const cache = actuatorCacheRef.current;
@@ -4743,7 +4755,7 @@ function usePolicy(config) {
   const configRef = useRef(config);
   configRef.current = config;
   isRunningRef.current = config.enabled ?? isRunningRef.current;
-  useBeforePhysicsStep((model, data) => {
+  useBeforePhysicsStep(({ model, data }) => {
     if (!isRunningRef.current) return;
     const cfg = configRef.current;
     model.opt?.timestep ?? 2e-3;
@@ -4800,7 +4812,7 @@ function useTrajectoryRecorder(options = {}) {
   const recordingRef = useRef(false);
   const framesRef = useRef([]);
   const fields = options.fields ?? ["qpos"];
-  useAfterPhysicsStep((_model, data) => {
+  useAfterPhysicsStep(({ data }) => {
     if (!recordingRef.current) return;
     const frame = {
       time: data.time,
@@ -4889,7 +4901,7 @@ function useGamepad(config) {
       buttonCacheRef.current.set(Number(idx), findActuatorByName(model, name));
     }
   }, [config.axes, config.buttons, status, mjModelRef]);
-  useBeforePhysicsStep((_model, data) => {
+  useBeforePhysicsStep(({ data }) => {
     const cfg = configRef.current;
     if (cfg.enabled === false) return;
     const gamepads = navigator.getGamepads?.();
@@ -5080,7 +5092,7 @@ function useCtrlNoise(config = {}) {
   const configRef = useRef(config);
   configRef.current = config;
   const noiseRef = useRef(null);
-  useBeforePhysicsStep((_model, data) => {
+  useBeforePhysicsStep(({ data }) => {
     const cfg = configRef.current;
     if (cfg.enabled === false) return;
     const rate = cfg.rate ?? 0.01;