mujoco-react 8.1.0 → 8.1.1

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Files changed (4) hide show
  1. package/dist/index.js +66 -45
  2. package/dist/index.js.map +1 -1
  3. package/package.json +1 -1
  4. package/src/core/SceneLoader.ts +77 -51
package/dist/index.js CHANGED
@@ -391,6 +391,18 @@ function sceneObjectToXml(obj) {
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  const condim = obj.condim ? ` condim="${obj.condim}"` : "";
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  return `<body name="${obj.name}" pos="${pos}">${joint}<geom type="${obj.type}" size="${size}" rgba="${rgba}" contype="1" conaffinity="1"${mass}${friction}${solref}${solimp}${condim}/></body>`;
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  }
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+ function ensureDir(mujoco, fname) {
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+ const dirParts = fname.split("/");
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+ dirParts.pop();
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+ let currentPath = "/working";
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+ for (const part of dirParts) {
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+ currentPath += "/" + part;
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+ try {
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+ mujoco.FS.mkdir(currentPath);
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+ } catch {
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+ }
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+ }
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+ }
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  async function loadScene(mujoco, config, onProgress) {
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  try {
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  mujoco.FS.unmount("/working");
@@ -402,66 +414,75 @@ async function loadScene(mujoco, config, onProgress) {
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  }
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  const baseUrl = config.src.endsWith("/") ? config.src : config.src + "/";
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  const downloaded = /* @__PURE__ */ new Set();
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- const queue = [config.sceneFile];
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+ const xmlQueue = [config.sceneFile];
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+ const assetFiles = [];
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  const parser = new DOMParser();
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- while (queue.length > 0) {
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- const fname = queue.shift();
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+ while (xmlQueue.length > 0) {
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+ const fname = xmlQueue.shift();
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  if (downloaded.has(fname)) continue;
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  downloaded.add(fname);
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+ if (!fname.endsWith(".xml")) {
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+ assetFiles.push(fname);
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+ continue;
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+ }
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  onProgress?.(`Downloading ${fname}...`);
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  const res = await fetch(baseUrl + fname);
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  if (!res.ok) {
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  console.warn(`Failed to fetch ${fname}: ${res.status} ${res.statusText}`);
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  continue;
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  }
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- const dirParts = fname.split("/");
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- dirParts.pop();
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- let currentPath = "/working";
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- for (const part of dirParts) {
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- currentPath += "/" + part;
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- try {
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- mujoco.FS.mkdir(currentPath);
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- } catch {
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- }
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- }
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- if (fname.endsWith(".xml")) {
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- let text = await res.text();
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- for (const patch of config.xmlPatches ?? []) {
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- if (fname.endsWith(patch.target) || fname === patch.target) {
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- if (patch.replace) {
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- const [from, to] = patch.replace;
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- if (text.includes(from)) {
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- text = text.replace(from, to);
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- } else {
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- const preview = from.length > 80 ? `${from.slice(0, 80)}...` : from;
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- console.warn(`XML patch replace pattern not found in ${fname}: "${preview}"`);
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- }
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+ let text = await res.text();
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+ for (const patch of config.xmlPatches ?? []) {
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+ if (fname.endsWith(patch.target) || fname === patch.target) {
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+ if (patch.replace) {
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+ const [from, to] = patch.replace;
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+ if (text.includes(from)) {
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+ text = text.replace(from, to);
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+ } else {
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+ const preview = from.length > 80 ? `${from.slice(0, 80)}...` : from;
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+ console.warn(`XML patch replace pattern not found in ${fname}: "${preview}"`);
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  }
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- if (patch.inject && patch.injectAfter) {
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- const idx = text.indexOf(patch.injectAfter);
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- if (idx !== -1) {
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- const tagEnd = text.indexOf(">", idx + patch.injectAfter.length);
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- if (tagEnd !== -1) {
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- text = text.slice(0, tagEnd + 1) + patch.inject + text.slice(tagEnd + 1);
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- } else {
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- console.warn(`XML patch inject failed in ${fname}: could not find tag end after "${patch.injectAfter}"`);
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- }
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+ }
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+ if (patch.inject && patch.injectAfter) {
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+ const idx = text.indexOf(patch.injectAfter);
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+ if (idx !== -1) {
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+ const tagEnd = text.indexOf(">", idx + patch.injectAfter.length);
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+ if (tagEnd !== -1) {
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+ text = text.slice(0, tagEnd + 1) + patch.inject + text.slice(tagEnd + 1);
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  } else {
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- const preview = patch.injectAfter.length > 80 ? `${patch.injectAfter.slice(0, 80)}...` : patch.injectAfter;
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- console.warn(`XML patch inject anchor not found in ${fname}: "${preview}"`);
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+ console.warn(`XML patch inject failed in ${fname}: could not find tag end after "${patch.injectAfter}"`);
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  }
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+ } else {
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+ const preview = patch.injectAfter.length > 80 ? `${patch.injectAfter.slice(0, 80)}...` : patch.injectAfter;
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+ console.warn(`XML patch inject anchor not found in ${fname}: "${preview}"`);
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  }
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  }
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  }
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- if (fname === config.sceneFile && config.sceneObjects?.length) {
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- const xml = config.sceneObjects.map((obj) => sceneObjectToXml(obj)).join("");
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- text = text.replace("</worldbody>", xml + "</worldbody>");
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- }
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- mujoco.FS.writeFile(`/working/${fname}`, text);
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- scanDependencies(text, fname, parser, downloaded, queue);
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- } else {
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- const buffer = new Uint8Array(await res.arrayBuffer());
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- mujoco.FS.writeFile(`/working/${fname}`, buffer);
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+ }
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+ if (fname === config.sceneFile && config.sceneObjects?.length) {
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+ const xml = config.sceneObjects.map((obj) => sceneObjectToXml(obj)).join("");
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+ text = text.replace("</worldbody>", xml + "</worldbody>");
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+ }
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+ ensureDir(mujoco, fname);
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+ mujoco.FS.writeFile(`/working/${fname}`, text);
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+ scanDependencies(text, fname, parser, downloaded, xmlQueue);
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+ }
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+ if (assetFiles.length > 0) {
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+ onProgress?.(`Downloading ${assetFiles.length} assets...`);
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+ const results = await Promise.all(
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+ assetFiles.map(async (fname) => {
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+ const res = await fetch(baseUrl + fname);
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+ if (!res.ok) {
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+ console.warn(`Failed to fetch ${fname}: ${res.status} ${res.statusText}`);
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+ return null;
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+ }
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+ return { fname, buffer: new Uint8Array(await res.arrayBuffer()) };
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+ })
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+ );
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+ for (const result of results) {
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+ if (!result) continue;
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+ ensureDir(mujoco, result.fname);
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+ mujoco.FS.writeFile(`/working/${result.fname}`, result.buffer);
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  }
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  }
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  onProgress?.("Loading model...");