mujoco-react 9.0.0 → 9.1.0

package/dist/spark.d.ts

@@ -1,6 +1,6 @@
 import * as react_jsx_runtime from 'react/jsx-runtime';
 import * as _sparkjsdev_spark from '@sparkjsdev/spark';
-import { n as SplatEnvironmentProps } from './types-izZlUweI.js';
+import { n as SplatEnvironmentProps } from './types-C5gTvR7b.js';
 import 'react';
 import '@react-three/fiber';
 import 'three';

package/dist/{types-izZlUweI.d.ts → types-C5gTvR7b.d.ts}

@@ -837,7 +837,10 @@ interface MujocoSimAPI {
     addBody(body: SceneObject): Promise<void>;
     removeBody(name: Bodies): Promise<void>;
     recompile(patches?: XmlPatch[]): Promise<void>;
+    getCanvas(): HTMLCanvasElement | null;
     getCanvasSnapshot(width?: number, height?: number, mimeType?: string): string;
+    captureFrame(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureResult>;
+    captureFrameBlob(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureBlobResult>;
     project2DTo3D(x: number, y: number, cameraPos: THREE.Vector3, lookAt: THREE.Vector3): {
         point: THREE.Vector3;
         bodyId: number;
@@ -849,6 +852,34 @@ interface MujocoSimAPI {
     readonly mjModelRef: React__default.RefObject<MujocoModel | null>;
     readonly mjDataRef: React__default.RefObject<MujocoData | null>;
 }
+type FrameCaptureStatus = 'idle' | 'capturing' | 'captured' | 'error';
+type FrameCaptureTarget = HTMLCanvasElement | HTMLElement | null | undefined;
+type FrameCaptureTargetRef = React__default.RefObject<HTMLCanvasElement | HTMLElement | null>;
+interface FrameCaptureOptions {
+    target?: FrameCaptureTarget | FrameCaptureTargetRef;
+    type?: string;
+    quality?: number;
+    waitForAnimationFrame?: boolean;
+}
+type MujocoFrameCaptureOptions = Omit<FrameCaptureOptions, 'target'>;
+interface FrameCaptureResult {
+    canvas: HTMLCanvasElement;
+    dataUrl: string;
+    type: string;
+}
+interface FrameCaptureBlobResult {
+    canvas: HTMLCanvasElement;
+    blob: Blob;
+    type: string;
+}
+interface FrameCaptureAPI {
+    status: FrameCaptureStatus;
+    error: Error | null;
+    isCapturing: boolean;
+    capture: (options?: FrameCaptureOptions) => Promise<FrameCaptureResult>;
+    captureBlob: (options?: FrameCaptureOptions) => Promise<FrameCaptureBlobResult>;
+    reset: () => void;
+}
 type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {
     config: SceneConfig;
     /** R3F content rendered while the MuJoCo WASM module is still loading. */
@@ -907,4 +938,4 @@ interface JointStateResult {
     velocity: React__default.RefObject<number | Float64Array>;
 }
 
-export { type PolicyConfig as $, type ActuatedJointInfo as A, type BodyProps as B, type ControlGroupInfo as C, type DragInteractionProps as D, type ActuatorInfo as E, type Sites as F, type GeomInfo as G, type SitePositionResult as H, type IkConfig as I, type Sensors as J, type SensorHandle as K, type SensorInfo as L, type MujocoContextValue as M, type Joints as N, type ObservationConfig as O, type PhysicsStepCallback as P, type JointStateResult as Q, type ReadyCallbackInput as R, type SceneConfig as S, type TrajectoryPlayerProps as T, type Bodies as U, type VisualScenarioEffectsProps as V, type BodyStateResult as W, type Actuators as X, type CtrlHandle as Y, type ContactInfo as Z, type KeyboardTeleopConfig as _, type MujocoCanvasProps as a, type PolicyVector as a0, type ObservationHandle as a1, type TrajectoryInput as a2, type TrajectoryStateChangeInput as a3, type PlaybackState as a4, type TrajectoryFrame as a5, type BodyInfo as a6, type ControlJointInfo as a7, type Geoms as a8, type IKSolveFn as a9, RobotResources as aA, RobotSensors as aB, RobotSites as aC, type Robots as aD, type ScenarioCameraConfig as aE, type ScenarioMaterialConfig as aF, type SceneMarker as aG, type SceneObject as aH, type SensorResult as aI, type SiteInfo as aJ, type SplatAssetConfig as aK, type SplatScenarioConfig as aL, type StateSnapshot as aM, type TrajectoryData as aN, type TrajectoryFrameCallbackInput as aO, type VisualScenarioMaterialFilterInput as aP, type XmlPatch as aQ, getContact as aR, registerRobotResources as aS, type IkGizmoDragInput as aa, type IkSolveInput as ab, type JointInfo as ac, type KeyBinding as ad, type Keyframes as ae, type ModelOptions as af, type MujocoContact as ag, type MujocoContactArray as ah, type ObservationLayoutItem as ai, type ObservationOutput as aj, type PhysicsConfig as ak, type PhysicsStepInput as al, type PolicyActionInput as am, type PolicyInferenceInput as an, type PolicyObservationInput as ao, type RayHit as ap, type Register as aq, type RegisteredRobotMap as ar, type ResetCallbackInput as as, type ResourceSelector as at, RobotActuators as au, RobotBodies as av, RobotGeoms as aw, RobotJoints as ax, RobotKeyframes as ay, type RobotResource as az, type MujocoSimAPI as b, type StepCallbackInput as c, type SelectionCallbackInput as d, type MujocoModule as e, type MujocoModel as f, type MujocoData as g, type ControlGroupSelector as h, type ObservationResult as i, type IkContextValue as j, type IkGizmoProps as k, type SceneLightsProps as l, type ScenarioLightingProps as m, type SplatEnvironmentProps as n, type VisualScenarioConfig as o, type SplatRendererKind as p, type PairedSplatEnvironmentConfig as q, type SplatFormat as r, type SplatCollisionProxyConfig as s, type SplatCollisionPrimitive as t, type ScenarioLightingPreset as u, type SplatEnvironmentMetadataInput as v, type SplatEnvironmentMetadata as w, type SplatSceneInput as x, type DebugProps as y, type ContactListenerProps as z };
+export { type PolicyConfig as $, type ActuatedJointInfo as A, type BodyProps as B, type ControlGroupInfo as C, type DragInteractionProps as D, type ActuatorInfo as E, type Sites as F, type GeomInfo as G, type SitePositionResult as H, type IkConfig as I, type Sensors as J, type SensorHandle as K, type SensorInfo as L, type MujocoContextValue as M, type Joints as N, type ObservationConfig as O, type PhysicsStepCallback as P, type JointStateResult as Q, type ReadyCallbackInput as R, type SceneConfig as S, type TrajectoryPlayerProps as T, type Bodies as U, type VisualScenarioEffectsProps as V, type BodyStateResult as W, type Actuators as X, type CtrlHandle as Y, type ContactInfo as Z, type KeyboardTeleopConfig as _, type MujocoCanvasProps as a, type PolicyVector as a0, type ObservationHandle as a1, type TrajectoryInput as a2, type TrajectoryStateChangeInput as a3, type PlaybackState as a4, type TrajectoryFrame as a5, type FrameCaptureOptions as a6, type FrameCaptureResult as a7, type FrameCaptureBlobResult as a8, type FrameCaptureAPI as a9, type ResetCallbackInput as aA, type ResourceSelector as aB, RobotActuators as aC, RobotBodies as aD, RobotGeoms as aE, RobotJoints as aF, RobotKeyframes as aG, type RobotResource as aH, RobotResources as aI, RobotSensors as aJ, RobotSites as aK, type Robots as aL, type ScenarioCameraConfig as aM, type ScenarioMaterialConfig as aN, type SceneMarker as aO, type SceneObject as aP, type SensorResult as aQ, type SiteInfo as aR, type SplatAssetConfig as aS, type SplatScenarioConfig as aT, type StateSnapshot as aU, type TrajectoryData as aV, type TrajectoryFrameCallbackInput as aW, type VisualScenarioMaterialFilterInput as aX, type XmlPatch as aY, getContact as aZ, registerRobotResources as a_, type BodyInfo as aa, type ControlJointInfo as ab, type FrameCaptureStatus as ac, type FrameCaptureTarget as ad, type FrameCaptureTargetRef as ae, type Geoms as af, type IKSolveFn as ag, type IkGizmoDragInput as ah, type IkSolveInput as ai, type JointInfo as aj, type KeyBinding as ak, type Keyframes as al, type ModelOptions as am, type MujocoContact as an, type MujocoContactArray as ao, type MujocoFrameCaptureOptions as ap, type ObservationLayoutItem as aq, type ObservationOutput as ar, type PhysicsConfig as as, type PhysicsStepInput as at, type PolicyActionInput as au, type PolicyInferenceInput as av, type PolicyObservationInput as aw, type RayHit as ax, type Register as ay, type RegisteredRobotMap as az, type MujocoSimAPI as b, type StepCallbackInput as c, type SelectionCallbackInput as d, type MujocoModule as e, type MujocoModel as f, type MujocoData as g, type ControlGroupSelector as h, type ObservationResult as i, type IkContextValue as j, type IkGizmoProps as k, type SceneLightsProps as l, type ScenarioLightingProps as m, type SplatEnvironmentProps as n, type VisualScenarioConfig as o, type SplatRendererKind as p, type PairedSplatEnvironmentConfig as q, type SplatFormat as r, type SplatCollisionProxyConfig as s, type SplatCollisionPrimitive as t, type ScenarioLightingPreset as u, type SplatEnvironmentMetadataInput as v, type SplatEnvironmentMetadata as w, type SplatSceneInput as x, type DebugProps as y, type ContactListenerProps as z };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mujoco-react",
-  "version": "9.0.0",
+  "version": "9.1.0",
   "description": "Composable React Three Fiber building blocks for MuJoCo WASM simulations",
   "type": "module",
   "main": "./dist/index.js",

package/src/core/MujocoSimProvider.tsx

@@ -41,6 +41,10 @@ import {
   StepCallbackInput,
   XmlPatch,
 } from '../types';
+import {
+  captureFrame as captureCanvasFrame,
+  captureFrameBlob as captureCanvasFrameBlob,
+} from '../hooks/useFrameCapture';
 import {
   loadScene,
   createSceneConfigFromFiles,
@@ -1019,6 +1023,24 @@ export function MujocoSimProvider({
     [gl]
   );
 
+  const getCanvas = useCallback((): HTMLCanvasElement | null => {
+    return gl.domElement ?? null;
+  }, [gl]);
+
+  const captureFrameApi = useCallback(
+    (options = {}) => {
+      return captureCanvasFrame({ ...options, target: gl.domElement });
+    },
+    [gl]
+  );
+
+  const captureFrameBlobApi = useCallback(
+    (options = {}) => {
+      return captureCanvasFrameBlob({ ...options, target: gl.domElement });
+    },
+    [gl]
+  );
+
   const project2DTo3D = useCallback(
     (x: number, y: number, cameraPos: THREE.Vector3, lookAt: THREE.Vector3): { point: THREE.Vector3; bodyId: number; geomId: number } | null => {
       const virtCam = (camera as THREE.PerspectiveCamera).clone();
@@ -1128,7 +1150,10 @@ export function MujocoSimProvider({
       addBody: addBodyApi,
       removeBody: removeBodyApi,
       recompile: recompileApi,
+      getCanvas,
       getCanvasSnapshot,
+      captureFrame: captureFrameApi,
+      captureFrameBlob: captureFrameBlobApi,
       project2DTo3D,
       setBodyMass,
       setGeomFriction,
@@ -1146,7 +1171,8 @@ export function MujocoSimProvider({
       getActuatorsApi, getSensors, getModelOption, setGravity, setTimestepApi,
       raycast, getKeyframeNames, getKeyframeCount, loadSceneApi,
       loadFromFilesApi, addBodyApi, removeBodyApi, recompileApi,
-      getCanvasSnapshot, project2DTo3D,
+      getCanvas, getCanvasSnapshot, captureFrameApi, captureFrameBlobApi,
+      project2DTo3D,
       setBodyMass, setGeomFriction, setGeomSize,
     ]
   );

package/src/hooks/useFrameCapture.ts

@@ -6,48 +6,14 @@
  */
 
 import { useCallback, useState } from 'react';
-import type React from 'react';
-
-export type FrameCaptureStatus = 'idle' | 'capturing' | 'captured' | 'error';
-
-export type FrameCaptureTarget =
-  | HTMLCanvasElement
-  | HTMLElement
-  | null
-  | undefined;
-
-export type FrameCaptureTargetRef =
-  React.RefObject<HTMLCanvasElement | HTMLElement | null>;
-
-export interface FrameCaptureOptions {
-  target?: FrameCaptureTarget | FrameCaptureTargetRef;
-  type?: string;
-  quality?: number;
-  waitForAnimationFrame?: boolean;
-}
-
-export interface FrameCaptureResult {
-  canvas: HTMLCanvasElement;
-  dataUrl: string;
-  type: string;
-}
-
-export interface FrameCaptureBlobResult {
-  canvas: HTMLCanvasElement;
-  blob: Blob;
-  type: string;
-}
-
-export interface FrameCaptureAPI {
-  status: FrameCaptureStatus;
-  error: Error | null;
-  isCapturing: boolean;
-  capture: (options?: FrameCaptureOptions) => Promise<FrameCaptureResult>;
-  captureBlob: (
-    options?: FrameCaptureOptions
-  ) => Promise<FrameCaptureBlobResult>;
-  reset: () => void;
-}
+import type {
+  FrameCaptureAPI,
+  FrameCaptureBlobResult,
+  FrameCaptureOptions,
+  FrameCaptureResult,
+  FrameCaptureStatus,
+  FrameCaptureTargetRef,
+} from '../types';
 
 function isTargetRef(
   target: FrameCaptureOptions['target']

package/src/index.ts

@@ -82,15 +82,6 @@ export {
   captureFrameBlob,
   useFrameCapture,
 } from './hooks/useFrameCapture';
-export type {
-  FrameCaptureAPI,
-  FrameCaptureBlobResult,
-  FrameCaptureOptions,
-  FrameCaptureResult,
-  FrameCaptureStatus,
-  FrameCaptureTarget,
-  FrameCaptureTargetRef,
-} from './hooks/useFrameCapture';
 export { useCtrlNoise } from './hooks/useCtrlNoise';
 export { useBodyMeshes } from './hooks/useBodyMeshes';
 export { useSelectionHighlight } from './hooks/useSelectionHighlight';
@@ -189,9 +180,17 @@ export type {
   ContactListenerProps,
   // API
   MujocoSimAPI,
+  MujocoFrameCaptureOptions,
   MujocoCanvasProps,
   MujocoContextValue,
   // Hook return types
+  FrameCaptureAPI,
+  FrameCaptureBlobResult,
+  FrameCaptureOptions,
+  FrameCaptureResult,
+  FrameCaptureStatus,
+  FrameCaptureTarget,
+  FrameCaptureTargetRef,
   SitePositionResult,
   SensorResult,
   CtrlHandle,

package/src/types.ts

@@ -1100,7 +1100,10 @@ export interface MujocoSimAPI {
   recompile(patches?: XmlPatch[]): Promise<void>;
 
   // Canvas
+  getCanvas(): HTMLCanvasElement | null;
   getCanvasSnapshot(width?: number, height?: number, mimeType?: string): string;
+  captureFrame(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureResult>;
+  captureFrameBlob(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureBlobResult>;
   project2DTo3D(
     x: number,
     y: number,
@@ -1118,6 +1121,49 @@ export interface MujocoSimAPI {
   readonly mjDataRef: React.RefObject<MujocoData | null>;
 }
 
+export type FrameCaptureStatus = 'idle' | 'capturing' | 'captured' | 'error';
+
+export type FrameCaptureTarget =
+  | HTMLCanvasElement
+  | HTMLElement
+  | null
+  | undefined;
+
+export type FrameCaptureTargetRef =
+  React.RefObject<HTMLCanvasElement | HTMLElement | null>;
+
+export interface FrameCaptureOptions {
+  target?: FrameCaptureTarget | FrameCaptureTargetRef;
+  type?: string;
+  quality?: number;
+  waitForAnimationFrame?: boolean;
+}
+
+export type MujocoFrameCaptureOptions = Omit<FrameCaptureOptions, 'target'>;
+
+export interface FrameCaptureResult {
+  canvas: HTMLCanvasElement;
+  dataUrl: string;
+  type: string;
+}
+
+export interface FrameCaptureBlobResult {
+  canvas: HTMLCanvasElement;
+  blob: Blob;
+  type: string;
+}
+
+export interface FrameCaptureAPI {
+  status: FrameCaptureStatus;
+  error: Error | null;
+  isCapturing: boolean;
+  capture: (options?: FrameCaptureOptions) => Promise<FrameCaptureResult>;
+  captureBlob: (
+    options?: FrameCaptureOptions
+  ) => Promise<FrameCaptureBlobResult>;
+  reset: () => void;
+}
+
 // ---- Canvas Props ----
 
 export type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {