mujoco-react 12.1.0 → 12.1.2

package/dist/index.js

@@ -1,6 +1,6 @@
 import { displayFields } from './chunk-U2Y2BODT.js';
-import { withContacts, getContact, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, CAPTURE_EXCLUDE_KEY, createCaptureCamera, prepareCaptureCamera } from './chunk-XD3AY7XZ.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-XD3AY7XZ.js';
+import { withContacts, getContact, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, CAPTURE_EXCLUDE_KEY, createCaptureCamera, prepareCaptureCamera } from './chunk-CV6LBHC4.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-CV6LBHC4.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';
@@ -1695,14 +1695,14 @@ var RuntimeClient = class {
     await this.cancel();
     this.close();
   }
-  close(error = new Error("Simulation runtime disposed")) {
+  close(error = new Error("Simulation runtime disposed"), restoreViewer = true) {
     if (this.closed) return;
     this.closed = true;
     this.generation++;
     this.worker.terminate();
     this.pending?.reject(error);
     this.pending = null;
-    this.release();
+    this.release(restoreViewer);
   }
 };
 async function attachSimulationRuntime(module, api, waitForDisplay, invalidate, options = {}) {
@@ -1740,14 +1740,24 @@ async function attachSimulationRuntime(module, api, waitForDisplay, invalidate,
     data.time = display.time;
     invalidate();
   };
-  const client = new RuntimeClient(worker, apply, () => {
-    if (api.mjModelRef.current === model && complete) apply(complete);
-    owners.delete(model);
+  const client = new RuntimeClient(worker, apply, (restoreViewer) => {
+    try {
+      if (api.mjModelRef.current === model && complete) {
+        apply(complete);
+        if (restoreViewer) {
+          module.mj_forward(model, data);
+          const state2 = complete.integration;
+          module.mj_setState(model, data, Array.from(state2.values), state2.signature);
+        }
+      }
+    } finally {
+      owners.delete(model);
+    }
   }, async (cameras) => {
     await waitForDisplay();
     return capturePolicyCameraFrames(api, cameras);
   });
-  owners.set(model, { close: () => client.close(), contacts: () => client.state.contacts });
+  owners.set(model, { close: () => client.close(void 0, false), contacts: () => client.state.contacts });
   try {
     await client.initialize({ model: binary, state: initialState });
     return client;
@@ -5722,7 +5732,7 @@ function useCameraStream(canvasRef, options) {
     }
     const session = sessionRef.current;
     inFlightRef.current = true;
-    session.captureAsync(api.resolveCameraCaptureOptions(opts)).then((frame) => {
+    session.captureAsync(api.resolveCameraCaptureOptions({ ...opts, renderMode: opts.renderMode ?? "preview" })).then((frame) => {
       const canvas = canvasRef.current;
       if (!mountedRef.current || !canvas) return;
       const ctx = canvas.getContext("2d");