mujoco-react 10.7.0 → 10.9.0

package/dist/index.js

@@ -1,5 +1,5 @@
-import { withContacts, getContact, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, CAPTURE_EXCLUDE_KEY, createCaptureCamera, prepareCaptureCamera } from './chunk-EN55TTGH.js';
-export { CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY, CAPTURE_EXCLUDE_KEY, ModelActuators, ModelBodies, ModelCameras, ModelGeoms, ModelJoints, ModelKeyframes, ModelResources, ModelSensors, ModelSites, ScenarioLighting, SplatEnvironment, SplatEnvironmentReadinessStatus, VisualScenarioEffects, captureCameraFrame, captureCameraFrameBlob, captureCameraFrameTensor, createCameraFrameCaptureSession, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, dataUrlToPolicyImageTensor, getContact, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, imageDataToPolicyImageTensor, pixelsToPolicyImageTensor, registerModelResources, renderCameraFrameToCanvas, useSplatEnvironment, useSplatSceneConfig, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment } from './chunk-EN55TTGH.js';
+import { withContacts, getContact, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, CAPTURE_EXCLUDE_KEY, createCaptureCamera, prepareCaptureCamera } from './chunk-5WFYM73E.js';
+export { CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY, CAPTURE_EXCLUDE_KEY, ModelActuators, ModelBodies, ModelCameras, ModelGeoms, ModelJoints, ModelKeyframes, ModelResources, ModelSensors, ModelSites, ScenarioLighting, SplatEnvironment, SplatEnvironmentReadinessStatus, VisualScenarioEffects, captureCameraFrame, captureCameraFrameBlob, captureCameraFrameTensor, createCameraFrameCaptureSession, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, dataUrlToPolicyImageTensor, getContact, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, imageDataToPolicyImageTensor, pixelsToPolicyImageTensor, registerModelResources, renderCameraFrameToCanvas, useSplatEnvironment, useSplatSceneConfig, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment } from './chunk-5WFYM73E.js';
 import loadMujoco from '@mujoco/mujoco';
 import defaultMujocoWasmUrl from '@mujoco/mujoco/mujoco.wasm?url';
 import { createContext, forwardRef, useRef, useEffect, useContext, useState, useCallback, useMemo, useLayoutEffect, useId } from 'react';
@@ -1001,14 +1001,34 @@ var GeomBuilder = class {
       const vNum = mjModel.mesh_vertnum[mId];
       const fAdr = mjModel.mesh_faceadr[mId];
       const fNum = mjModel.mesh_facenum[mId];
-      geo = new THREE11.BufferGeometry();
-      geo.setAttribute("position", new THREE11.Float32BufferAttribute(mjModel.mesh_vert.subarray(vAdr * 3, (vAdr + vNum) * 3), 3));
-      geo.setIndex(Array.from(mjModel.mesh_face.subarray(fAdr * 3, (fAdr + fNum) * 3)));
-      const smoothingTolerance = this.getMeshNormalSmoothingTolerance();
-      if (smoothingTolerance !== null) {
-        geo = mergeVertices(geo, smoothingTolerance);
+      const tAdr = mjModel.mesh_texcoordadr?.[mId] ?? -1;
+      if (map && tAdr >= 0 && mjModel.mesh_texcoord && mjModel.mesh_facetexcoord) {
+        const corners = fNum * 3;
+        const positions = new Float32Array(corners * 3);
+        const uvs = new Float32Array(corners * 2);
+        for (let c = 0; c < corners; c++) {
+          const v = vAdr + mjModel.mesh_face[fAdr * 3 + c];
+          positions[c * 3] = mjModel.mesh_vert[v * 3];
+          positions[c * 3 + 1] = mjModel.mesh_vert[v * 3 + 1];
+          positions[c * 3 + 2] = mjModel.mesh_vert[v * 3 + 2];
+          const t = tAdr + mjModel.mesh_facetexcoord[fAdr * 3 + c];
+          uvs[c * 2] = mjModel.mesh_texcoord[t * 2];
+          uvs[c * 2 + 1] = 1 - mjModel.mesh_texcoord[t * 2 + 1];
+        }
+        geo = new THREE11.BufferGeometry();
+        geo.setAttribute("position", new THREE11.Float32BufferAttribute(positions, 3));
+        geo.setAttribute("uv", new THREE11.Float32BufferAttribute(uvs, 2));
+        geo.computeVertexNormals();
+      } else {
+        geo = new THREE11.BufferGeometry();
+        geo.setAttribute("position", new THREE11.Float32BufferAttribute(mjModel.mesh_vert.subarray(vAdr * 3, (vAdr + vNum) * 3), 3));
+        geo.setIndex(Array.from(mjModel.mesh_face.subarray(fAdr * 3, (fAdr + fNum) * 3)));
+        const smoothingTolerance = this.getMeshNormalSmoothingTolerance();
+        if (smoothingTolerance !== null) {
+          geo = mergeVertices(geo, smoothingTolerance);
+        }
+        geo.computeVertexNormals();
       }
-      geo.computeVertexNormals();
     }
     if (geo) {
       const isPlane = type === getVal(MG.mjGEOM_PLANE);
@@ -1051,6 +1071,7 @@ function SceneRenderer({ renderOptions, ...props }) {
     mujocoRef,
     onSelectionRef,
     hiddenBodiesRef,
+    hiddenBodiesVersion,
     interpolateRef,
     interpolationStateRef,
     status
@@ -1059,6 +1080,7 @@ function SceneRenderer({ renderOptions, ...props }) {
   const bodyRefs = useRef([]);
   const prevModelRef = useRef(null);
   const prevRenderOptionsKeyRef = useRef(null);
+  const prevHiddenVersionRef = useRef(null);
   const renderOptionsKey = getRenderOptionsKey(renderOptions);
   const geomBuilder = useMemo(() => {
     if (status !== "ready") return null;
@@ -1069,11 +1091,12 @@ function SceneRenderer({ renderOptions, ...props }) {
     const model = mjModelRef.current;
     const group = groupRef.current;
     if (!model || !group) return;
-    if (prevModelRef.current === model && prevRenderOptionsKeyRef.current === renderOptionsKey) {
+    if (prevModelRef.current === model && prevRenderOptionsKeyRef.current === renderOptionsKey && prevHiddenVersionRef.current === hiddenBodiesVersion) {
       return;
     }
     prevModelRef.current = model;
     prevRenderOptionsKeyRef.current = renderOptionsKey;
+    prevHiddenVersionRef.current = hiddenBodiesVersion;
     while (group.children.length > 0) {
       group.remove(group.children[0]);
     }
@@ -1094,7 +1117,7 @@ function SceneRenderer({ renderOptions, ...props }) {
       refs.push(bodyGroup);
     }
     bodyRefs.current = refs;
-  }, [status, geomBuilder, mjModelRef, renderOptionsKey]);
+  }, [status, geomBuilder, mjModelRef, renderOptionsKey, hiddenBodiesRef, hiddenBodiesVersion]);
   const syncBodiesToData = useCallback(() => {
     const data = mjDataRef.current;
     if (!data) return;
@@ -2275,6 +2298,7 @@ function MujocoSimProvider({
   speed,
   interpolate,
   renderOptions,
+  hiddenBodies,
   children
 }) {
   const { gl, camera, scene } = useThree();
@@ -2308,6 +2332,8 @@ function MujocoSimProvider({
   const errorRef = useRef(null);
   const bodyRegistryRef = useRef(/* @__PURE__ */ new Map());
   const hiddenBodiesRef = useRef(/* @__PURE__ */ new Set());
+  const providedHiddenBodiesRef = useRef(new Set(hiddenBodies ?? []));
+  const [hiddenBodiesVersion, setHiddenBodiesVersion] = useState(0);
   const bodyReloadTimerRef = useRef(null);
   configRef.current = config;
   mujocoRef.current = mujoco;
@@ -2329,15 +2355,37 @@ function MujocoSimProvider({
     if (!model?.opt) return;
     model.opt.timestep = timestep;
   }, [timestep]);
+  const hiddenBodiesKey = (hiddenBodies ?? []).join("\0");
+  useEffect(() => {
+    const next = new Set(hiddenBodies ?? []);
+    const prev = providedHiddenBodiesRef.current;
+    let unchanged = next.size === prev.size;
+    if (unchanged) {
+      for (const name of next) {
+        if (!prev.has(name)) {
+          unchanged = false;
+          break;
+        }
+      }
+    }
+    if (unchanged) return;
+    providedHiddenBodiesRef.current = next;
+    recomputeHiddenBodies();
+    setHiddenBodiesVersion((v) => v + 1);
+  }, [hiddenBodiesKey]);
+  function recomputeHiddenBodies() {
+    hiddenBodiesRef.current.clear();
+    for (const [name, entry] of bodyRegistryRef.current) {
+      if (entry.hasCustomChildren) hiddenBodiesRef.current.add(name);
+    }
+    for (const name of providedHiddenBodiesRef.current) hiddenBodiesRef.current.add(name);
+  }
   function buildMergedConfig(baseConfig) {
+    recomputeHiddenBodies();
     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(() => {
@@ -3555,10 +3603,11 @@ function MujocoSimProvider({
       errorRef,
       bodyRegistryRef,
       hiddenBodiesRef,
+      hiddenBodiesVersion,
       requestBodyReload,
       status
     }),
-    [api, status, requestBodyReload]
+    [api, status, requestBodyReload, hiddenBodiesVersion]
   );
   return /* @__PURE__ */ jsxs(MujocoSimContext.Provider, { value: contextValue, children: [
     /* @__PURE__ */ jsx(SceneRenderer, { renderOptions }),
@@ -3580,6 +3629,7 @@ var MujocoCanvas = forwardRef(
     speed,
     interpolate,
     renderOptions,
+    hiddenBodies,
     loadingFallback,
     children,
     ...canvasProps
@@ -3615,6 +3665,7 @@ var MujocoCanvas = forwardRef(
         speed,
         interpolate,
         renderOptions,
+        hiddenBodies,
         children
       }
     ) });
@@ -3778,7 +3829,8 @@ var DEFAULTS = {
   tolerance: 1e-3,
   epsilon: 1e-6,
   posWeight: 1,
-  rotWeight: 0.3
+  rotWeight: 0.3,
+  maxStepRad: 0.5
 };
 function resolveOptions(opts) {
   return {
@@ -3788,6 +3840,7 @@ function resolveOptions(opts) {
     epsilon: opts?.epsilon ?? DEFAULTS.epsilon,
     posWeight: opts?.posWeight ?? DEFAULTS.posWeight,
     rotWeight: opts?.rotWeight ?? DEFAULTS.rotWeight,
+    maxStepRad: opts?.maxStepRad ?? DEFAULTS.maxStepRad,
     jointLimits: opts?.jointLimits
   };
 }
@@ -3898,7 +3951,20 @@ var GenericIK = class {
         }
         dq[j] = sum;
       }
-      for (let i = 0; i < n; i++) q[i] += dq[i];
+      for (let i = 0; i < n; i++) {
+        let step = dq[i];
+        if (step > o.maxStepRad) step = o.maxStepRad;
+        else if (step < -o.maxStepRad) step = -o.maxStepRad;
+        let next = q[i] + step;
+        const limits = o.jointLimits?.[i];
+        if (limits) {
+          const low = Math.min(limits[0], limits[1]);
+          const high = Math.max(limits[0], limits[1]);
+          if (next < low) next = low;
+          else if (next > high) next = high;
+        }
+        q[i] = next;
+      }
     }
     data.qpos.set(savedQpos);
     this.mujoco.mj_forward(model, data);
@@ -4058,7 +4124,16 @@ var useIkController = createControllerHook(
     const ikTargetRef = useRef(new THREE11.Group());
     const siteIdRef = useRef(-1);
     const controlGroupRef = useRef(null);
-    const genericIkRef = useRef(new GenericIK(mujocoRef.current));
+    const genericIkRef = useRef(null);
+    const genericIkModuleRef = useRef(null);
+    const getGenericIk = useCallback(() => {
+      const module = mujocoRef.current;
+      if (!genericIkRef.current || genericIkModuleRef.current !== module) {
+        genericIkRef.current = new GenericIK(module);
+        genericIkModuleRef.current = module;
+      }
+      return genericIkRef.current;
+    }, [mujocoRef]);
     const firstIkEnableRef = useRef(true);
     const needsInitialSync = useRef(true);
     const gizmoAnimRef = useRef({
@@ -4109,7 +4184,7 @@ var useIkController = createControllerHook(
         const data = mjDataRef.current;
         const controlGroup2 = controlGroupRef.current;
         if (!model || !data || !controlGroup2 || siteIdRef.current === -1) return null;
-        return genericIkRef.current.solve(
+        return getGenericIk().solve(
           model,
           data,
           siteIdRef.current,
@@ -4128,7 +4203,7 @@ var useIkController = createControllerHook(
           }
         );
       },
-      [config, mjModelRef, mjDataRef]
+      [config, mjModelRef, mjDataRef, getGenericIk]
     );
     const ikSolveFnRef = useRef(ikSolveFn);
     ikSolveFnRef.current = ikSolveFn;