# mujoco-react ## Docs - [Forces](https://dadd.mintlify.app/api/forces.md): Apply forces, torques, and generalized forces - [IK Control](https://dadd.mintlify.app/api/ik-control.md): Inverse kinematics via useIkController - [Model Introspection](https://dadd.mintlify.app/api/model-introspection.md): Query bodies, joints, geoms, sensors, and actuators - [Model Mutation](https://dadd.mintlify.app/api/model-mutation.md): Modify physics parameters at runtime for domain randomization - [Scene Management](https://dadd.mintlify.app/api/scene-management.md): Runtime model loading and scene configuration - [Simulation Control](https://dadd.mintlify.app/api/simulation-control.md): Reset, pause, step, and control simulation timing - [Spatial Queries](https://dadd.mintlify.app/api/spatial-queries.md): Raycasting, 2D-to-3D projection, and canvas capture - [State Management](https://dadd.mintlify.app/api/state-management.md): Save, restore, and manipulate simulation state - [Architecture](https://dadd.mintlify.app/architecture.md): Provider pattern, physics loop, controller plugins, and rendering pipeline - [](https://dadd.mintlify.app/components/body.md): Declaratively add physics bodies to the MuJoCo simulation - [ContactListener](https://dadd.mintlify.app/components/contact-listener.md): Subscribe to contact enter/exit events - [ContactMarkers](https://dadd.mintlify.app/components/contact-markers.md): Visualize MuJoCo contact points - [Debug](https://dadd.mintlify.app/components/debug.md): Visualization overlays for debugging simulations - [DragInteraction](https://dadd.mintlify.app/components/drag-interaction.md): Click-drag to apply spring forces to bodies - [FlexRenderer](https://dadd.mintlify.app/components/flex-renderer.md): Render deformable flex bodies - [IkGizmo](https://dadd.mintlify.app/components/ik-gizmo.md): Interactive IK target with PivotControls - [MujocoCanvas](https://dadd.mintlify.app/components/mujoco-canvas.md): R3F Canvas wrapper with physics simulation - [MujocoPhysics](https://dadd.mintlify.app/components/mujoco-physics.md): Physics provider for use inside your own R3F Canvas - [MujocoProvider](https://dadd.mintlify.app/components/mujoco-provider.md): WASM module lifecycle provider - [SceneLights](https://dadd.mintlify.app/components/scene-lights.md): Auto-create Three.js lights from MJCF definitions - [TendonRenderer](https://dadd.mintlify.app/components/tendon-renderer.md): Render MuJoCo tendons as tubes - [TrajectoryPlayer](https://dadd.mintlify.app/components/trajectory-player.md): Component for playing back recorded trajectories - [Building Controllers](https://dadd.mintlify.app/guides/building-controllers.md): Custom controllers, IK solvers, and composing library hooks into robot-specific logic - [Click-to-Select](https://dadd.mintlify.app/guides/click-to-select.md): Implement body selection with raycasting and highlights - [Graspable Objects](https://dadd.mintlify.app/guides/graspable-objects.md): Configure objects that can be picked up by grippers - [useActuators](https://dadd.mintlify.app/hooks/use-actuators.md): Get all actuators with metadata - [useAfterPhysicsStep](https://dadd.mintlify.app/hooks/use-after-physics-step.md): Inject logic after mj_step each frame - [useBeforePhysicsStep](https://dadd.mintlify.app/hooks/use-before-physics-step.md): Inject logic before mj_step each frame - [useBodyMeshes](https://dadd.mintlify.app/hooks/use-body-meshes.md): Hook that returns Three.js meshes for a MuJoCo body - [useBodyState](https://dadd.mintlify.app/hooks/use-body-state.md): Track body position, rotation, and velocities - [useCameraAnimation](https://dadd.mintlify.app/hooks/use-camera-animation.md): Smooth camera animation hook - [useContacts](https://dadd.mintlify.app/hooks/use-contacts.md): Query contacts and subscribe to contact events - [useCtrl](https://dadd.mintlify.app/hooks/use-ctrl.md): Read/write a single actuator control by name - [useCtrlNoise](https://dadd.mintlify.app/hooks/use-ctrl-noise.md): Apply Gaussian noise to controls for robustness testing - [useGamepad](https://dadd.mintlify.app/hooks/use-gamepad.md): Map gamepad axes and buttons to actuator controls - [useGravityCompensation](https://dadd.mintlify.app/hooks/use-gravity-compensation.md): Apply gravity compensation torques - [useIkController](https://dadd.mintlify.app/hooks/use-ik-controller.md): Set up inverse kinematics for a MuJoCo site - [useJointState](https://dadd.mintlify.app/hooks/use-joint-state.md): Track joint position and velocity - [useKeyboardTeleop](https://dadd.mintlify.app/hooks/use-keyboard-teleop.md): Map keyboard keys to actuator controls - [useMujoco](https://dadd.mintlify.app/hooks/use-mujoco.md): Access the simulation API and status - [usePolicy](https://dadd.mintlify.app/hooks/use-policy.md): Framework-agnostic RL policy decimation loop - [useSceneLights](https://dadd.mintlify.app/hooks/use-scene-lights.md): Hook for creating Three.js lights from MJCF definitions - [useSelectionHighlight](https://dadd.mintlify.app/hooks/use-selection-highlight.md): Hook for applying emissive highlights to body meshes - [useSensor](https://dadd.mintlify.app/hooks/use-sensor.md): Read sensor values by name - [useSitePosition](https://dadd.mintlify.app/hooks/use-site-position.md): Track MuJoCo site world position and orientation - [useTrajectoryPlayer](https://dadd.mintlify.app/hooks/use-trajectory-player.md): Play back recorded trajectories - [useTrajectoryRecorder](https://dadd.mintlify.app/hooks/use-trajectory-recorder.md): Record simulation trajectories - [useVideoRecorder](https://dadd.mintlify.app/hooks/use-video-recorder.md): Record the canvas to a video file - [Installation](https://dadd.mintlify.app/installation.md): Install mujoco-react and its peer dependencies - [Introduction](https://dadd.mintlify.app/introduction.md): Composable React Three Fiber wrapper around mujoco-js - [Loading Models](https://dadd.mintlify.app/loading-models.md): SceneConfig, model sources, and XML patching - [mujoco-react](https://dadd.mintlify.app/overview.md): MuJoCo physics in the browser with React Three Fiber - [Roadmap](https://dadd.mintlify.app/roadmap.md): Planned features and known limitations