mujoco-react 8.5.0 → 8.6.0

package/dist/vite.d.ts

@@ -0,0 +1,47 @@
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ */
+type ViteConfig = {
+    root: string;
+};
+type ViteServer = {
+    watcher: {
+        add(paths: string | string[]): void;
+        on(event: 'add' | 'change' | 'unlink', listener: (file: string) => void): void;
+    };
+};
+interface MujocoReactPluginOptions {
+    /** Entry MJCF/URDF files to scan. */
+    models: string | readonly string[];
+    /** Generated declaration file. Defaults to `src/mujoco-register.gen.d.ts`. */
+    generatedRegister?: string;
+    /** Module name to augment. Defaults to `mujoco-react`. */
+    moduleName?: string;
+    /** Disable console output. */
+    disableLogging?: boolean;
+}
+interface MujocoRegisterCodegenOptions {
+    models: readonly string[];
+    out: string;
+    moduleName?: string;
+    root?: string;
+}
+interface MujocoRegisterCodegenResult {
+    out: string;
+    files: string[];
+    counts: Record<RegisterKey, number>;
+}
+type RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes';
+declare function mujocoReact(options: MujocoReactPluginOptions): {
+    name: string;
+    enforce: "pre";
+    configResolved(config: ViteConfig): void;
+    buildStart(this: {
+        addWatchFile?: (file: string) => void;
+    }): Promise<void>;
+    configureServer(server: ViteServer): void;
+};
+declare function generateMujocoRegister(options: MujocoRegisterCodegenOptions): Promise<MujocoRegisterCodegenResult>;
+
+export { type MujocoReactPluginOptions, type MujocoRegisterCodegenOptions, type MujocoRegisterCodegenResult, generateMujocoRegister, mujocoReact };

package/dist/vite.js

@@ -0,0 +1,162 @@
+import { mkdir, writeFile, readFile } from 'fs/promises';
+import path from 'path';
+
+// src/vite.ts
+var REGISTER_KEYS = ["actuators", "sensors", "bodies", "joints", "sites", "geoms", "keyframes"];
+var MODEL_EXTENSIONS = /* @__PURE__ */ new Set([".xml", ".mjcf", ".urdf"]);
+function createEmptyNames() {
+  return {
+    actuators: /* @__PURE__ */ new Set(),
+    sensors: /* @__PURE__ */ new Set(),
+    bodies: /* @__PURE__ */ new Set(),
+    joints: /* @__PURE__ */ new Set(),
+    sites: /* @__PURE__ */ new Set(),
+    geoms: /* @__PURE__ */ new Set(),
+    keyframes: /* @__PURE__ */ new Set()
+  };
+}
+function mujocoReact(options) {
+  const models = Array.isArray(options.models) ? options.models : [options.models];
+  let root = process.cwd();
+  let generatedRegister = options.generatedRegister ?? "src/mujoco-register.gen.d.ts";
+  let watchedFiles = [];
+  async function generate() {
+    const result = await generateMujocoRegister({
+      models,
+      out: generatedRegister,
+      moduleName: options.moduleName,
+      root
+    });
+    watchedFiles = result.files;
+    if (!options.disableLogging) {
+      const total = Object.values(result.counts).reduce((sum, count) => sum + count, 0);
+      console.log(`[mujoco-react] generated ${path.relative(root, result.out)} (${total} names)`);
+    }
+    return result;
+  }
+  return {
+    name: "mujoco-react",
+    enforce: "pre",
+    configResolved(config) {
+      root = config.root;
+      generatedRegister = path.resolve(root, generatedRegister);
+    },
+    async buildStart() {
+      const result = await generate();
+      for (const file of result.files) this.addWatchFile?.(file);
+    },
+    configureServer(server) {
+      generate().then((result) => server.watcher.add(result.files)).catch((error) => {
+        console.error("[mujoco-react] register generation failed", error);
+      });
+      server.watcher.on("add", regenerateIfModelFile);
+      server.watcher.on("change", regenerateIfModelFile);
+      server.watcher.on("unlink", regenerateIfModelFile);
+      function regenerateIfModelFile(file) {
+        if (!shouldRegenerate(file, watchedFiles, models, root)) return;
+        generate().then((result) => server.watcher.add(result.files)).catch((error) => {
+          console.error("[mujoco-react] register generation failed", error);
+        });
+      }
+    }
+  };
+}
+async function generateMujocoRegister(options) {
+  const root = path.resolve(options.root ?? process.cwd());
+  const out = path.resolve(root, options.out);
+  const moduleName = options.moduleName ?? "mujoco-react";
+  const names = createEmptyNames();
+  const seen = /* @__PURE__ */ new Set();
+  for (const model of options.models) {
+    await scanModel(path.resolve(root, model), root, seen, names);
+  }
+  await mkdir(path.dirname(out), { recursive: true });
+  await writeFile(out, renderRegister(moduleName, names), "utf8");
+  return {
+    out,
+    files: [...seen].sort((a, b) => a.localeCompare(b)),
+    counts: Object.fromEntries(REGISTER_KEYS.map((key) => [key, names[key].size]))
+  };
+}
+async function scanModel(filePath, root, seen, names) {
+  const normalized = path.normalize(filePath);
+  if (seen.has(normalized)) return;
+  seen.add(normalized);
+  const xml = await readFile(normalized, "utf8");
+  collectSimpleTagNames(xml, "body", names.bodies);
+  collectSimpleTagNames(xml, "joint", names.joints);
+  collectSimpleTagNames(xml, "site", names.sites);
+  collectSimpleTagNames(xml, "geom", names.geoms);
+  collectSimpleTagNames(xml, "key", names.keyframes);
+  collectSectionNames(xml, "actuator", names.actuators);
+  collectSectionNames(xml, "sensor", names.sensors);
+  for (const includePath of collectIncludePaths(xml)) {
+    const next = path.resolve(path.dirname(normalized), includePath);
+    if (next.startsWith(root)) await scanModel(next, root, seen, names);
+  }
+}
+function collectSimpleTagNames(xml, tag, target) {
+  const pattern = new RegExp(`<\\s*${tag}\\b([^>]*)>`, "gi");
+  for (const match of xml.matchAll(pattern)) {
+    const name = readAttr(match[1], "name");
+    if (name) target.add(name);
+  }
+}
+function collectSectionNames(xml, section, target) {
+  const sectionPattern = new RegExp(`<\\s*${section}\\b[^>]*>([\\s\\S]*?)<\\s*/\\s*${section}\\s*>`, "gi");
+  for (const sectionMatch of xml.matchAll(sectionPattern)) {
+    const tagPattern = /<\s*[a-zA-Z0-9_:-]+\b([^>]*)>/g;
+    for (const tagMatch of sectionMatch[1].matchAll(tagPattern)) {
+      const name = readAttr(tagMatch[1], "name");
+      if (name) target.add(name);
+    }
+  }
+}
+function collectIncludePaths(xml) {
+  const result = [];
+  const pattern = /<\s*include\b([^>]*)>/gi;
+  for (const match of xml.matchAll(pattern)) {
+    const file = readAttr(match[1], "file");
+    if (file && !file.includes("://") && !file.startsWith("/")) result.push(file);
+  }
+  return result;
+}
+function readAttr(attrs, attr) {
+  const pattern = new RegExp(`\\b${attr}\\s*=\\s*(['"])(.*?)\\1`, "i");
+  return attrs.match(pattern)?.[2];
+}
+function renderRegister(moduleName, names) {
+  const fields = REGISTER_KEYS.filter((key) => names[key].size > 0).map((key) => `    ${key}: ${renderUnion(names[key])};`);
+  return `// Auto-generated by mujoco-react. Do not edit.
+// Regenerate by running Vite with the mujocoReact() plugin or \`mujoco-react codegen\`.
+
+import 'mujoco-react';
+
+declare module '${moduleName}' {
+  interface Register {
+${fields.join("\n")}
+  }
+}
+`;
+}
+function renderUnion(values) {
+  return [...values].sort((a, b) => a.localeCompare(b)).map((value) => `'${escapeTs(value)}'`).join(" | ");
+}
+function escapeTs(value) {
+  return value.replace(/\\/g, "\\\\").replace(/'/g, "\\'");
+}
+function shouldRegenerate(file, watchedFiles, models, root) {
+  const absolute = path.resolve(file);
+  if (watchedFiles.includes(absolute)) return true;
+  if (!MODEL_EXTENSIONS.has(path.extname(absolute).toLowerCase())) return false;
+  const modelDirs = models.map((model) => path.dirname(path.resolve(root, model)));
+  return modelDirs.some((dir) => absolute.startsWith(dir));
+}
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+export { generateMujocoRegister, mujocoReact };
+//# sourceMappingURL=vite.js.map
+//# sourceMappingURL=vite.js.map

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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { mkdir, readFile, writeFile } from 'node:fs/promises';\nimport path from 'node:path';\n\ntype ViteConfig = { root: string };\ntype ViteServer = {\n  watcher: {\n    add(paths: string | string[]): void;\n    on(event: 'add' | 'change' | 'unlink', listener: (file: string) => void): void;\n  };\n};\n\nexport interface MujocoReactPluginOptions {\n  /** Entry MJCF/URDF files to scan. */\n  models: string | readonly string[];\n  /** Generated declaration file. Defaults to `src/mujoco-register.gen.d.ts`. */\n  generatedRegister?: string;\n  /** Module name to augment. Defaults to `mujoco-react`. */\n  moduleName?: string;\n  /** Disable console output. */\n  disableLogging?: boolean;\n}\n\nexport interface MujocoRegisterCodegenOptions {\n  models: readonly string[];\n  out: string;\n  moduleName?: string;\n  root?: string;\n}\n\nexport interface MujocoRegisterCodegenResult {\n  out: string;\n  files: string[];\n  counts: Record<RegisterKey, number>;\n}\n\ntype RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes';\n\nconst REGISTER_KEYS: RegisterKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes'];\nconst MODEL_EXTENSIONS = new Set(['.xml', '.mjcf', '.urdf']);\n\nfunction createEmptyNames(): Record<RegisterKey, Set<string>> {\n  return {\n    actuators: new Set(),\n    sensors: new Set(),\n    bodies: new Set(),\n    joints: new Set(),\n    sites: new Set(),\n    geoms: new Set(),\n    keyframes: new Set(),\n  };\n}\n\nexport function mujocoReact(options: MujocoReactPluginOptions) {\n  const models = Array.isArray(options.models) ? options.models : [options.models];\n  let root = process.cwd();\n  let generatedRegister = options.generatedRegister ?? 'src/mujoco-register.gen.d.ts';\n  let watchedFiles: string[] = [];\n\n  async function generate() {\n    const result = await generateMujocoRegister({\n      models,\n      out: generatedRegister,\n      moduleName: options.moduleName,\n      root,\n    });\n    watchedFiles = result.files;\n    if (!options.disableLogging) {\n      const total = Object.values(result.counts).reduce((sum, count) => sum + count, 0);\n      console.log(`[mujoco-react] generated ${path.relative(root, result.out)} (${total} names)`);\n    }\n    return result;\n  }\n\n  return {\n    name: 'mujoco-react',\n    enforce: 'pre' as const,\n    configResolved(config: ViteConfig) {\n      root = config.root;\n      generatedRegister = path.resolve(root, generatedRegister);\n    },\n    async buildStart(this: { addWatchFile?: (file: string) => void }) {\n      const result = await generate();\n      for (const file of result.files) this.addWatchFile?.(file);\n    },\n    configureServer(server: ViteServer) {\n      generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n        console.error('[mujoco-react] register generation failed', error);\n      });\n\n      server.watcher.on('add', regenerateIfModelFile);\n      server.watcher.on('change', regenerateIfModelFile);\n      server.watcher.on('unlink', regenerateIfModelFile);\n\n      function regenerateIfModelFile(file: string) {\n        if (!shouldRegenerate(file, watchedFiles, models, root)) return;\n        generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n          console.error('[mujoco-react] register generation failed', error);\n        });\n      }\n    },\n  };\n}\n\nexport async function generateMujocoRegister(\n  options: MujocoRegisterCodegenOptions\n): Promise<MujocoRegisterCodegenResult> {\n  const root = path.resolve(options.root ?? process.cwd());\n  const out = path.resolve(root, options.out);\n  const moduleName = options.moduleName ?? 'mujoco-react';\n  const names = createEmptyNames();\n  const seen = new Set<string>();\n\n  for (const model of options.models) {\n    await scanModel(path.resolve(root, model), root, seen, names);\n  }\n\n  await mkdir(path.dirname(out), { recursive: true });\n  await writeFile(out, renderRegister(moduleName, names), 'utf8');\n\n  return {\n    out,\n    files: [...seen].sort((a, b) => a.localeCompare(b)),\n    counts: Object.fromEntries(REGISTER_KEYS.map((key) => [key, names[key].size])) as Record<RegisterKey, number>,\n  };\n}\n\nasync function scanModel(\n  filePath: string,\n  root: string,\n  seen: Set<string>,\n  names: Record<RegisterKey, Set<string>>\n) {\n  const normalized = path.normalize(filePath);\n  if (seen.has(normalized)) return;\n  seen.add(normalized);\n\n  const xml = await readFile(normalized, 'utf8');\n  collectSimpleTagNames(xml, 'body', names.bodies);\n  collectSimpleTagNames(xml, 'joint', names.joints);\n  collectSimpleTagNames(xml, 'site', names.sites);\n  collectSimpleTagNames(xml, 'geom', names.geoms);\n  collectSimpleTagNames(xml, 'key', names.keyframes);\n  collectSectionNames(xml, 'actuator', names.actuators);\n  collectSectionNames(xml, 'sensor', names.sensors);\n\n  for (const includePath of collectIncludePaths(xml)) {\n    const next = path.resolve(path.dirname(normalized), includePath);\n    if (next.startsWith(root)) await scanModel(next, root, seen, names);\n  }\n}\n\nfunction collectSimpleTagNames(xml: string, tag: string, target: Set<string>) {\n  const pattern = new RegExp(`<\\\\s*${tag}\\\\b([^>]*)>`, 'gi');\n  for (const match of xml.matchAll(pattern)) {\n    const name = readAttr(match[1], 'name');\n    if (name) target.add(name);\n  }\n}\n\nfunction collectSectionNames(xml: string, section: string, target: Set<string>) {\n  const sectionPattern = new RegExp(`<\\\\s*${section}\\\\b[^>]*>([\\\\s\\\\S]*?)<\\\\s*/\\\\s*${section}\\\\s*>`, 'gi');\n  for (const sectionMatch of xml.matchAll(sectionPattern)) {\n    const tagPattern = /<\\s*[a-zA-Z0-9_:-]+\\b([^>]*)>/g;\n    for (const tagMatch of sectionMatch[1].matchAll(tagPattern)) {\n      const name = readAttr(tagMatch[1], 'name');\n      if (name) target.add(name);\n    }\n  }\n}\n\nfunction collectIncludePaths(xml: string): string[] {\n  const result: string[] = [];\n  const pattern = /<\\s*include\\b([^>]*)>/gi;\n  for (const match of xml.matchAll(pattern)) {\n    const file = readAttr(match[1], 'file');\n    if (file && !file.includes('://') && !file.startsWith('/')) result.push(file);\n  }\n  return result;\n}\n\nfunction readAttr(attrs: string, attr: string): string | undefined {\n  const pattern = new RegExp(`\\\\b${attr}\\\\s*=\\\\s*(['\"])(.*?)\\\\1`, 'i');\n  return attrs.match(pattern)?.[2];\n}\n\nfunction renderRegister(moduleName: string, names: Record<RegisterKey, Set<string>>): string {\n  const fields = REGISTER_KEYS\n    .filter((key) => names[key].size > 0)\n    .map((key) => `    ${key}: ${renderUnion(names[key])};`);\n\n  return `// Auto-generated by mujoco-react. Do not edit.\n// Regenerate by running Vite with the mujocoReact() plugin or \\`mujoco-react codegen\\`.\n\nimport 'mujoco-react';\n\ndeclare module '${moduleName}' {\n  interface Register {\n${fields.join('\\n')}\n  }\n}\n`;\n}\n\nfunction renderUnion(values: Set<string>): string {\n  return [...values].sort((a, b) => a.localeCompare(b)).map((value) => `'${escapeTs(value)}'`).join(' | ');\n}\n\nfunction escapeTs(value: string): string {\n  return value.replace(/\\\\/g, '\\\\\\\\').replace(/'/g, \"\\\\'\");\n}\n\nfunction shouldRegenerate(file: string, watchedFiles: string[], models: readonly string[], root: string): boolean {\n  const absolute = path.resolve(file);\n  if (watchedFiles.includes(absolute)) return true;\n  if (!MODEL_EXTENSIONS.has(path.extname(absolute).toLowerCase())) return false;\n  const modelDirs = models.map((model) => path.dirname(path.resolve(root, model)));\n  return modelDirs.some((dir) => absolute.startsWith(dir));\n}\n"]}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mujoco-react",
-  "version": "8.5.0",
+  "version": "8.6.0",
   "description": "Composable React Three Fiber building blocks for MuJoCo WASM simulations",
   "type": "module",
   "main": "./dist/index.js",
@@ -13,9 +13,20 @@
         "default": "./dist/index.js"
       }
     },
+    "./vite": {
+      "import": {
+        "types": "./dist/vite.d.ts",
+        "default": "./dist/vite.js"
+      }
+    },
     "./package.json": "./package.json"
   },
+  "bin": {
+    "mujoco-react": "./bin/mujoco-react.mjs",
+    "mujoco-react-codegen": "./bin/mujoco-react-codegen.mjs"
+  },
   "files": [
+    "bin",
     "dist",
     "src"
   ],
@@ -55,6 +66,7 @@
     "@react-three/fiber": "^9.5.0",
     "@semantic-release/changelog": "^6.0.3",
     "@semantic-release/git": "^10.0.1",
+    "@types/node": "^25.9.1",
     "@types/react": "^19.0.0",
     "@types/three": "^0.181.0",
     "react": "^19.2.0",

package/src/components/InstancedGeomRenderer.tsx

@@ -0,0 +1,158 @@
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+import { useFrame } from '@react-three/fiber';
+import type { ThreeElements } from '@react-three/fiber';
+import { useMemo, useRef } from 'react';
+import * as THREE from 'three';
+import { useMujocoContext } from '../core/MujocoSimProvider';
+import { getName } from '../core/SceneLoader';
+import { GeomBuilder } from '../rendering/GeomBuilder';
+import type { GeomInfo, MujocoModel } from '../types';
+
+export interface InstancedGeomRendererProps extends Omit<ThreeElements['group'], 'ref'> {
+  /** Only render geoms from this MuJoCo geom group. */
+  geomGroup?: number;
+  /** Predicate for selecting geoms. */
+  filter?: (geom: GeomInfo) => boolean;
+  /** Optional material override for every instanced batch. */
+  material?: THREE.Material;
+  /** Hide or show the instanced batches. */
+  visible?: boolean;
+  castShadow?: boolean;
+  receiveShadow?: boolean;
+}
+
+interface GeomBatch {
+  key: string;
+  geomIds: number[];
+  geometry: THREE.BufferGeometry;
+  material: THREE.Material;
+}
+
+const GEOM_TYPE_NAMES = ['plane', 'hfield', 'sphere', 'capsule', 'ellipsoid', 'cylinder', 'box', 'mesh'];
+const _matrix = new THREE.Matrix4();
+
+function getGeomInfo(model: MujocoModel, geomId: number): GeomInfo {
+  const size = model.geom_size.subarray(geomId * 3, geomId * 3 + 3);
+  const type = model.geom_type[geomId];
+  return {
+    id: geomId,
+    name: getName(model, model.name_geomadr[geomId]),
+    type,
+    typeName: GEOM_TYPE_NAMES[type] ?? `type-${type}`,
+    size: [size[0], size[1], size[2]],
+    bodyId: model.geom_bodyid[geomId],
+  };
+}
+
+function geomSignature(model: MujocoModel, geomId: number): string {
+  const type = model.geom_type[geomId];
+  const size = Array.from(model.geom_size.subarray(geomId * 3, geomId * 3 + 3)).join(',');
+  const mat = model.geom_matid[geomId];
+  const data = model.geom_dataid[geomId];
+  const rgba = Array.from(model.geom_rgba.subarray(geomId * 4, geomId * 4 + 4)).join(',');
+  return [type, size, mat, data, rgba].join('|');
+}
+
+function firstMesh(object: THREE.Object3D): THREE.Mesh | null {
+  if (object instanceof THREE.Mesh) return object;
+  let mesh: THREE.Mesh | null = null;
+  object.traverse((child) => {
+    if (!mesh && child instanceof THREE.Mesh) mesh = child;
+  });
+  return mesh;
+}
+
+export function InstancedGeomRenderer({
+  geomGroup,
+  filter,
+  material,
+  visible = true,
+  castShadow = true,
+  receiveShadow = true,
+  ...groupProps
+}: InstancedGeomRendererProps = {}) {
+  const { mjModelRef, mjDataRef, mujocoRef, status } = useMujocoContext();
+  const meshRefs = useRef<(THREE.InstancedMesh | null)[]>([]);
+
+  const batches = useMemo<GeomBatch[]>(() => {
+    if (status !== 'ready') return [];
+    const model = mjModelRef.current;
+    if (!model) return [];
+
+    const builder = new GeomBuilder(mujocoRef.current);
+    const grouped = new Map<string, number[]>();
+
+    for (let geomId = 0; geomId < model.ngeom; geomId++) {
+      if (model.geom_group[geomId] === 3) continue;
+      if (geomGroup !== undefined && model.geom_group[geomId] !== geomGroup) continue;
+      const info = getGeomInfo(model, geomId);
+      if (filter && !filter(info)) continue;
+      const key = geomSignature(model, geomId);
+      const ids = grouped.get(key);
+      if (ids) ids.push(geomId);
+      else grouped.set(key, [geomId]);
+    }
+
+    const next: GeomBatch[] = [];
+    for (const [key, geomIds] of grouped) {
+      if (geomIds.length < 2) continue;
+      const object = builder.create(model, geomIds[0]);
+      if (!object) continue;
+      const mesh = firstMesh(object);
+      if (!mesh) continue;
+      const sourceMaterial = Array.isArray(mesh.material) ? mesh.material[0] : mesh.material;
+      next.push({
+        key,
+        geomIds,
+        geometry: mesh.geometry.clone(),
+        material: material ?? sourceMaterial.clone(),
+      });
+    }
+
+    return next;
+  }, [filter, geomGroup, material, mjModelRef, mujocoRef, status]);
+
+  useFrame(() => {
+    const data = mjDataRef.current;
+    if (!data || !visible) return;
+
+    batches.forEach((batch, batchIndex) => {
+      const mesh = meshRefs.current[batchIndex];
+      if (!mesh) return;
+      batch.geomIds.forEach((geomId, instanceId) => {
+        const p = geomId * 3;
+        const r = geomId * 9;
+        _matrix.set(
+          data.geom_xmat[r], data.geom_xmat[r + 1], data.geom_xmat[r + 2], data.geom_xpos[p],
+          data.geom_xmat[r + 3], data.geom_xmat[r + 4], data.geom_xmat[r + 5], data.geom_xpos[p + 1],
+          data.geom_xmat[r + 6], data.geom_xmat[r + 7], data.geom_xmat[r + 8], data.geom_xpos[p + 2],
+          0, 0, 0, 1
+        );
+        mesh.setMatrixAt(instanceId, _matrix);
+      });
+      mesh.count = batch.geomIds.length;
+      mesh.instanceMatrix.needsUpdate = true;
+    });
+  });
+
+  if (status !== 'ready' || batches.length === 0) return null;
+
+  return (
+    <group {...groupProps} visible={visible}>
+      {batches.map((batch, index) => (
+        <instancedMesh
+          key={batch.key}
+          ref={(mesh) => { meshRefs.current[index] = mesh; }}
+          args={[batch.geometry, batch.material, batch.geomIds.length]}
+          castShadow={castShadow}
+          receiveShadow={receiveShadow}
+          frustumCulled={false}
+        />
+      ))}
+    </group>
+  );
+}

package/src/components/SceneRenderer.tsx

@@ -17,7 +17,16 @@ import { useMujocoContext } from '../core/MujocoSimProvider';
  * Accepts standard R3F group props (position, rotation, scale, visible, etc.).
  */
 export function SceneRenderer(props: Omit<ThreeElements['group'], 'ref'>) {
-  const { mjModelRef, mjDataRef, mujocoRef, onSelectionRef, hiddenBodiesRef, status } = useMujocoContext();
+  const {
+    mjModelRef,
+    mjDataRef,
+    mujocoRef,
+    onSelectionRef,
+    hiddenBodiesRef,
+    interpolateRef,
+    interpolationStateRef,
+    status,
+  } = useMujocoContext();
   const groupRef = useRef<THREE.Group>(null);
   const bodyRefs = useRef<(THREE.Group | null)[]>([]);
   const prevModelRef = useRef<MujocoModel | null>(null);
@@ -70,20 +79,47 @@ export function SceneRenderer(props: Omit<ThreeElements['group'], 'ref'>) {
     const data = mjDataRef.current;
     if (!data) return;
     const bodies = bodyRefs.current;
+    const interpolation = interpolationStateRef.current;
+    const useInterpolation = interpolateRef.current && interpolation.valid;
+
     for (let i = 0; i < bodies.length; i++) {
       const ref = bodies[i];
       if (!ref) continue;
-      ref.position.set(
-        data.xpos[i * 3],
-        data.xpos[i * 3 + 1],
-        data.xpos[i * 3 + 2]
-      );
-      ref.quaternion.set(
-        data.xquat[i * 4 + 1],
-        data.xquat[i * 4 + 2],
-        data.xquat[i * 4 + 3],
-        data.xquat[i * 4]
-      );
+      if (useInterpolation) {
+        const alpha = interpolation.alpha;
+        const i3 = i * 3;
+        ref.position.set(
+          THREE.MathUtils.lerp(interpolation.previousXpos[i3], interpolation.currentXpos[i3], alpha),
+          THREE.MathUtils.lerp(interpolation.previousXpos[i3 + 1], interpolation.currentXpos[i3 + 1], alpha),
+          THREE.MathUtils.lerp(interpolation.previousXpos[i3 + 2], interpolation.currentXpos[i3 + 2], alpha)
+        );
+        const i4 = i * 4;
+        _previousQuat.set(
+          interpolation.previousXquat[i4 + 1],
+          interpolation.previousXquat[i4 + 2],
+          interpolation.previousXquat[i4 + 3],
+          interpolation.previousXquat[i4]
+        );
+        _currentQuat.set(
+          interpolation.currentXquat[i4 + 1],
+          interpolation.currentXquat[i4 + 2],
+          interpolation.currentXquat[i4 + 3],
+          interpolation.currentXquat[i4]
+        );
+        ref.quaternion.copy(_previousQuat).slerp(_currentQuat, alpha);
+      } else {
+        ref.position.set(
+          data.xpos[i * 3],
+          data.xpos[i * 3 + 1],
+          data.xpos[i * 3 + 2]
+        );
+        ref.quaternion.set(
+          data.xquat[i * 4 + 1],
+          data.xquat[i * 4 + 2],
+          data.xquat[i * 4 + 3],
+          data.xquat[i * 4]
+        );
+      }
     }
   });
 
@@ -110,3 +146,6 @@ export function SceneRenderer(props: Omit<ThreeElements['group'], 'ref'>) {
     />
   );
 }
+
+const _previousQuat = new THREE.Quaternion();
+const _currentQuat = new THREE.Quaternion();

package/src/core/MujocoCanvas.tsx

@@ -30,6 +30,7 @@ export const MujocoCanvas = forwardRef<MujocoSimAPI, MujocoCanvasProps>(
       substeps,
       paused,
       speed,
+      interpolate,
       children,
       ...canvasProps
     },
@@ -62,6 +63,7 @@ export const MujocoCanvas = forwardRef<MujocoSimAPI, MujocoCanvasProps>(
           substeps={substeps}
           paused={paused}
           speed={speed}
+          interpolate={interpolate}
         >
           {children}
         </MujocoSimProvider>

package/src/core/MujocoPhysics.tsx

@@ -29,6 +29,8 @@ export interface MujocoPhysicsProps {
   paused?: boolean;
   /** Simulation speed multiplier. */
   speed?: number;
+  /** Interpolate rendered body poses between fixed physics steps. */
+  interpolate?: boolean;
   children: React.ReactNode;
 }