mujoco-react 12.2.1 → 12.3.0

package/README.md

@@ -318,6 +318,30 @@ reference objects and aligned RGB/depth previews.
 See [camera capture docs](docs/hooks/use-camera-frame-capture.mdx#metric-rgb-d-capture)
 for projection metadata, moving-camera sessions, and coordinate conventions.
 
+### Native classic appearance
+
+For comparisons with MuJoCo's classic OpenGL renderer, opt in per canvas:
+
+```tsx
+<MujocoCanvas config={config} renderOptions={{ appearance: "mujoco-classic" }}>
+  <Robot />
+</MujocoCanvas>
+// Capture the native display-code bytes without an additional sRGB transfer:
+const frame = api.captureCameraRGBD({
+  cameraName: "agentview", rgbColorSpace: "linear-srgb",
+});
+```
+
+This profile reads MJCF material emission, specular and shininess, compiled
+texture color spaces, mesh normals, model lights and the camera headlight.
+Three.js lights do not affect it. The standard appearance and sRGB RGB-D output
+remain the defaults. `frame.rgbColorSpace` records the selected readback.
+
+The classic profile currently supports finite planes, 2D/cube RGB textures and
+up to eight spot/directional lights including the headlight. It excludes shadows,
+planar reflections and mesh normal smoothing. It approximates the classic
+renderer; camera image agreement does not establish physics or policy score parity.
+
 ## WebSocket Control
 
 Stream actuator commands over a WebSocket and send simulation state back. Use a schema validator such as Zod at this boundary because socket messages are untrusted app input (`npm install zod` for this example):

package/dist/{chunk-OIMH4U5U.js → chunk-FVSVETBC.js}

@@ -731,6 +731,10 @@ function createCameraFrameCaptureSession(renderer, scene, fallbackCamera, option
       target.depthTexture = new THREE2.DepthTexture(width, height, THREE2.UnsignedIntType);
       depthReader = createMetricDepthReader(width, height, target.depthTexture);
     }
+    const rgbColorSpace = nextOptions.rgbColorSpace ?? options.rgbColorSpace ?? "srgb";
+    if (rgbColorSpace !== "srgb" && rgbColorSpace !== "linear-srgb") {
+      throw new Error("RGB-D capture requires srgb or linear-srgb RGB bytes");
+    }
     const rgb = new Uint8Array(width * height * 3);
     let depth;
     renderCaptureToTarget(captureOptions, () => {
@@ -741,7 +745,7 @@ function createCameraFrameCaptureSession(renderer, scene, fallbackCamera, option
           const src = ((height - y - 1) * width + sx) * 4;
           const dst = (y * width + x) * 3;
           for (let c = 0; c < 3; c++) {
-            rgb[dst + c] = linearByteToSrgbByte(pixels[src + c]);
+            rgb[dst + c] = rgbColorSpace === "srgb" ? linearByteToSrgbByte(pixels[src + c]) : pixels[src + c];
           }
         }
       }
@@ -749,6 +753,7 @@ function createCameraFrameCaptureSession(renderer, scene, fallbackCamera, option
     });
     return {
       rgb,
+      rgbColorSpace,
       depth,
       width,
       height,
@@ -1576,5 +1581,5 @@ function clamp01(value) {
  */
 
 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, captureCameraRGBD, createCameraFrameCaptureSession, createCaptureCamera, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, dataUrlToPolicyImageTensor, getContact, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, imageDataToPolicyImageTensor, pixelsToPolicyImageTensor, prepareCaptureCamera, registerModelResources, renderCameraFrameToCanvas, useSplatEnvironment, useSplatSceneConfig, useVisualScenarioEffects, useVisualScenarioExecutionContext, withContacts, withSplatEnvironment };
-//# sourceMappingURL=chunk-OIMH4U5U.js.map
-//# sourceMappingURL=chunk-OIMH4U5U.js.map
+//# sourceMappingURL=chunk-FVSVETBC.js.map
+//# sourceMappingURL=chunk-FVSVETBC.js.map