mujoco-react 8.9.0 → 8.9.2

package/README.md

@@ -32,7 +32,6 @@ export default defineConfig({
     mujocoReact({
       models: {
         franka: "models/panda/scene.xml",
-        spot: "models/spot/scene.xml",
       },
     }),
   ],
@@ -57,15 +56,6 @@ const generatedRobotResources = {
     geoms: { floor: "floor" },
     keyframes: { home: "home" },
   },
-  spot: {
-    actuators: { fl_hx: "fl_hx", fl_hy: "fl_hy", fl_kn: "fl_kn" },
-    sensors: {},
-    bodies: { body: "body", fl_hip: "fl_hip", fl_uleg: "fl_uleg" },
-    joints: { fl_hx: "fl_hx", fl_hy: "fl_hy", fl_kn: "fl_kn" },
-    sites: {},
-    geoms: { floor: "floor" },
-    keyframes: { home: "home" },
-  },
 };
 
 registerRobotResources(generatedRobotResources);
@@ -82,19 +72,10 @@ declare module "mujoco-react" {
         geoms: "floor";
         keyframes: "home";
       };
-      spot: {
-        actuators: "fl_hx" | "fl_hy" | "fl_kn";
-        sensors: never;
-        bodies: "body" | "fl_hip" | "fl_uleg";
-        joints: "fl_hx" | "fl_hy" | "fl_kn";
-        sites: never;
-        geoms: "floor";
-        keyframes: "home";
-      };
     };
-    actuators: "joint1" | "joint2" | "joint3" | "gripper" | "fl_hx" | "fl_hy" | "fl_kn";
+    actuators: "joint1" | "joint2" | "joint3" | "gripper";
     sensors: "force_sensor" | "torque_sensor";
-    bodies: "link0" | "link1" | "hand" | "body" | "fl_hip" | "fl_uleg";
+    bodies: "link0" | "link1" | "hand";
   }
 }
 ```
@@ -104,7 +85,7 @@ Once generated, hooks like `useCtrl`, `useSensor`, `useBodyState`, and API metho
 Non-Vite projects can generate the same file with:
 
 ```bash
-npx mujoco-react codegen franka=models/panda/scene.xml spot=models/spot/scene.xml
+npx mujoco-react codegen franka=models/panda/scene.xml
 ```
 
 ## Load a Model
@@ -228,14 +209,14 @@ Use control groups when a robot's actuator order does not match a simple `qpos[0
 
 ```tsx
 import { useRef } from "react";
-import { resolveControlGroup, useBeforePhysicsStep } from "mujoco-react";
+import { resolveControlGroup, RobotSites, useBeforePhysicsStep } from "mujoco-react";
 import type { ControlGroupInfo } from "mujoco-react";
 
 function HoldTcpPose() {
   const armRef = useRef<ControlGroupInfo | null>(null);
 
   useBeforePhysicsStep((model, data) => {
-    armRef.current ??= resolveControlGroup(model, { siteName: "tcp" });
+    armRef.current ??= resolveControlGroup(model, { siteName: RobotSites.franka.tcp });
     if (!armRef.current) return;
 
     armRef.current.writeCtrl(data, armRef.current.readQpos(data));
@@ -798,7 +779,9 @@ await moveCameraTo(
 Read sensor values by name. Returns a `SensorHandle` with `read()`, `dim`, and `name`:
 
 ```tsx
-const force = useSensor("force_sensor_1");
+import { RobotSensors, useSensor } from "mujoco-react";
+
+const force = useSensor(RobotSensors.franka.force_sensor);
 // force.read() -> Float64Array, force.dim -> number
 ```
 
@@ -823,7 +806,9 @@ const { position, velocity } = useJointState("joint1");
 Read/write actuator control by name. Returns a `CtrlHandle` with `read()`, `write()`, `name`, and `range`:
 
 ```tsx
-const gripper = useCtrl("gripper");
+import { RobotActuators, useCtrl } from "mujoco-react";
+
+const gripper = useCtrl(RobotActuators.franka.gripper);
 // gripper.read() -> number, gripper.write(0.04), gripper.range -> [min, max]
 ```
 
@@ -843,11 +828,13 @@ useContactEvents("block_1", {
 Map keyboard keys to actuators:
 
 ```tsx
+import { RobotActuators, useKeyboardTeleop } from "mujoco-react";
+
 useKeyboardTeleop({
   bindings: {
     "w": { actuator: "forward", delta: 0.1 },
     "s": { actuator: "forward", delta: -0.1 },
-    "v": { actuator: "gripper", toggle: [0, 0.04] },
+    "v": { actuator: RobotActuators.franka.gripper, toggle: [0, 0.04] },
   },
 });
 ```

package/bin/mujoco-react.mjs

@@ -6,7 +6,7 @@ import { generateMujocoRegister } from '../dist/vite.js';
 const usage = `
 Usage:
   mujoco-react codegen <scene.xml> [...more.xml] [--out src/mujoco-register.gen.ts] [--watch]
-  mujoco-react codegen franka=models/panda/scene.xml spot=models/spot/scene.xml
+  mujoco-react codegen franka=models/panda/scene.xml
 
 Vite users usually do not need this command. Prefer:
 

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mujoco-react",
-  "version": "8.9.0",
+  "version": "8.9.2",
   "description": "Composable React Three Fiber building blocks for MuJoCo WASM simulations",
   "type": "module",
   "main": "./dist/index.js",