@konitif/viewer-3d 0.285.1 → 0.285.2

package/dist/renderer/Viewer3DRenderer.d.ts

@@ -58,6 +58,8 @@ export type RobotViewerQuaternion = {
     w: number;
 };
 export interface Viewer3DPhysicsObservation {
+    /** Root of the displayed projection, expressed in the physics ground frame. */
+    rootTransform?: BodyTransform;
     projectionStage?: 'simulated' | 'authored';
     jointAngles?: Readonly<Record<string, number>>;
     sampleId: string;
@@ -558,6 +560,12 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     loadPhysicsSubject(source: PhysicsSubjectSource): Promise<void>;
     resetPhysicsSimulation(): Promise<void>;
     getPhysicsSnapshot(): PhysicsServiceSnapshot;
+    /** Project an already assembled URDF root; presentation offsets are excluded. */
+    readDisplayedRobotRootTransform(target: 'simulated' | 'observed', frame: {
+        bodyName: string;
+        coordinateFrame: 'mujoco-z-up';
+        sceneYawRadians: number;
+    }): BodyTransform | null;
     readDisplayedRobotObservation(timeSeconds?: number): Viewer3DPhysicsObservation | null;
     readPhysicsObservation(): Viewer3DPhysicsObservation | null;
     readNavigationPhysicsObservation(): Viewer3DNavigationPhysicsObservation | null;

package/dist/renderer/Viewer3DRenderer.d.ts.map

@@ -1 +1 @@
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package/dist/renderer/Viewer3DRenderer.js

@@ -1276,15 +1276,34 @@ export class Viewer3D {
     getPhysicsSnapshot() {
         return this.physicsService.snapshot();
     }
+    /** Project an already assembled URDF root; presentation offsets are excluded. */
+    readDisplayedRobotRootTransform(target, frame) {
+        const robot = target === 'observed' ? this.observedRobotGhost : this.robot;
+        if (!robot)
+            return null;
+        // A hidden ghost still supplies its grounded projection to external viewers.
+        if (target === 'observed')
+            this.applyObservedRobotGhostGrounding();
+        robot.updateMatrix();
+        const reference = { bodyName: frame.bodyName, position: { x: 0, y: 0, z: 0 },
+            rotation: { x: 0, y: 0, z: 0, w: 1 },
+            metadata: { visualRoot: true, coordinateFrame: frame.coordinateFrame, sceneYawRadians: frame.sceneYawRadians } };
+        const canonical = this.createPhysicsCoordinateFrameMatrix(reference).invert().multiply(robot.matrix);
+        const position = new Vector3(), rotation = new Quaternion(), scale = new Vector3();
+        canonical.decompose(position, rotation, scale);
+        return { ...reference, position: { x: position.x, y: position.y, z: position.z },
+            rotation: { x: rotation.x, y: rotation.y, z: rotation.z, w: rotation.w } };
+    }
     readDisplayedRobotObservation(timeSeconds) {
         if (!this.robot)
             return null;
         const physical = this.readPhysicsObservation();
         const jointAngles = this.captureRuntimeHistoryVisualJointStates();
-        const bodies = physical?.bodyTransforms ?? this.physicsService.getBodyTransforms();
+        const bodies = this.projectedPhysicsBodyTransforms.length ? this.projectedPhysicsBodyTransforms : physical?.bodyTransforms.length ? physical.bodyTransforms : this.physicsService.getBodyTransforms();
         const root = bodies.find(body => body.metadata?.visualRoot === true) ?? bodies.find(body => body.bodyName === this.physicsVisualRootBodyName);
-        let bodyTransforms = [];
-        if (root && this.physicsVisualRootToRobotMatrix) {
+        let rootTransform;
+        const alignment = root ? this.physicsVisualRootToRobotMatrix ?? this.resolvePhysicsVisualRootToRobotMatrix(this.createPhysicsBodyViewerWorldMatrix(root), bodies) : null;
+        if (root && alignment) {
             this.robot.updateMatrix();
             const robotMatrix = this.robot.matrix.clone();
             if (this.robot.parent && this.robot.parent !== this.simulatedRobotPresentationRoot) {
@@ -1292,16 +1311,16 @@ export class Viewer3D {
                 robotMatrix.premultiply(this.robot.parent.matrixWorld);
             }
             const canonicalMatrix = this.createPhysicsCoordinateFrameMatrix(root).invert()
-                .multiply(robotMatrix).multiply(this.physicsVisualRootToRobotMatrix.clone().invert());
+                .multiply(robotMatrix).multiply(alignment.clone().invert());
             const position = new Vector3(), rotation = new Quaternion(), scale = new Vector3();
             canonicalMatrix.decompose(position, rotation, scale);
-            bodyTransforms = [{ ...structuredClone(root), position: { x: position.x, y: position.y, z: position.z }, rotation: { x: rotation.x, y: rotation.y, z: rotation.z, w: rotation.w } }];
+            rootTransform = { ...structuredClone(root), position: { x: position.x, y: position.y, z: position.z }, rotation: { x: rotation.x, y: rotation.y, z: rotation.z, w: rotation.w } };
         }
         const time = Number.isFinite(timeSeconds) ? timeSeconds : physical?.simulatedTimeSeconds ?? 0;
         return {
-            sampleId: `displayed:${time}:${JSON.stringify(jointAngles)}:${JSON.stringify(bodyTransforms)}`,
+            sampleId: `displayed:${time}:${JSON.stringify(jointAngles)}:${JSON.stringify(rootTransform)}`,
             observedAtMs: performance.now(), simulatedTimeSeconds: time,
-            jointAngles, bodyTransforms, centerOfMass: physical?.centerOfMass ?? null, navigation: null,
+            jointAngles, rootTransform, bodyTransforms: structuredClone(bodies), centerOfMass: this.projectedPhysicsCenterOfMass ?? physical?.centerOfMass ?? this.physicsService.getCenterOfMass(), navigation: null,
             projectionStage: this.displayedRecordedPhysicsObservation ? 'simulated' : 'authored'
         };
     }
@@ -2433,6 +2452,9 @@ export class Viewer3D {
         this.deferredBoundaryPreviewRuntimeHistoryProjection = null;
         if (!transition) {
             this.boundaryPosePreviewTransitionState = null;
+            this.groundSimulatedRobotOnSupportFloor(this.robot);
+            this.syncPhysicsKinematicPoseFromRobotPose({ holdFrames: 0, clearDynamics: true, resetCadence: false });
+            this.updateViewerDebugLayers();
             this.requestRender();
             return true;
         }
@@ -2943,6 +2965,10 @@ export class Viewer3D {
             poseChanged = this.applyDesiredProjectionJointValue(joint, value) || poseChanged;
         }
         if (poseChanged) {
+            // A catalogue pose owns joint angles, not the previous incarnation's root height.
+            // Ground only this authored preview; recorded physical samples retain their root.
+            if (this.robot)
+                this.groundSimulatedRobotOnSupportFloor(this.robot);
             this.robot?.updateMatrixWorld(true);
             this.updateViewerDebugLayers();
             this.syncPhysicsKinematicPoseFromRobotPose({