mujoco-react 10.8.0 → 10.9.0

package/dist/index.d.ts

@@ -311,6 +311,8 @@ interface GenericIKOptions {
     epsilon: number;
     posWeight: number;
     rotWeight: number;
+    /** Per-iteration |Δq| cap in radians; bounds near-singular DLS steps. */
+    maxStepRad: number;
     jointLimits?: ReadonlyArray<readonly [number, number] | null | undefined>;
 }
 /**

package/dist/index.js

@@ -3829,7 +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 {
@@ -3839,6 +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
   };
 }
@@ -3949,7 +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);