simview 6.0.1__tar.gz → 6.1.0__tar.gz

{simview-6.0.1/simview.egg-info → simview-6.1.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: simview
-Version: 6.0.1
+Version: 6.1.0
 Summary: THREE.js-based simulation visualization tool
 Author-email: Jan Vlk <vlkjan6@fel.cvut.cz>, Ales Kucera <kuceral4@fel.cvut.cz>, David Korcak <david.korcak@gmail.com>
 License-Expression: BSD-3-Clause
@@ -61,6 +61,7 @@ Want to try it without installing anything? There's a
 - **Python API**: Easy-to-use API for generating scenes and launching the visualizer directly from your code.
 - **JSON Support**: Load and save simulation data using a portable JSON format.
 - **Remote Files**: Open a scene straight off a compute host with `simview host:path/to/scene.json` — fetched over SSH, compressed on the wire, and cached locally.
+- **Embeddable**: Drop the viewer into another web app as an iframe — drive time, camera and colour modes through the URL hash, hide its panels, load data from static files you host, and react to `simview:ready`/`simview:frame` events.
 - **Comparing Runs**: Merge several scene files into one, taking whole files or just picked batches — `simview gt.json method_a.json#1 method_b.json#1`.
 
 ---

{simview-6.0.1 → simview-6.1.0}/README.md

@@ -30,6 +30,7 @@ Want to try it without installing anything? There's a
 - **Python API**: Easy-to-use API for generating scenes and launching the visualizer directly from your code.
 - **JSON Support**: Load and save simulation data using a portable JSON format.
 - **Remote Files**: Open a scene straight off a compute host with `simview host:path/to/scene.json` — fetched over SSH, compressed on the wire, and cached locally.
+- **Embeddable**: Drop the viewer into another web app as an iframe — drive time, camera and colour modes through the URL hash, hide its panels, load data from static files you host, and react to `simview:ready`/`simview:frame` events.
 - **Comparing Runs**: Merge several scene files into one, taking whole files or just picked batches — `simview gt.json method_a.json#1 method_b.json#1`.
 
 ---

{simview-6.0.1 → simview-6.1.0}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "simview"
-version = "6.0.1"
+version = "6.1.0"
 readme = "README.md"
 requires-python = ">=3.12"
 license = "BSD-3-Clause"

{simview-6.0.1 → simview-6.1.0}/simview/__init__.py

@@ -3,6 +3,8 @@ from importlib.metadata import PackageNotFoundError
 from importlib.metadata import version as _version
 from typing import TYPE_CHECKING
 
+from simview.view import view_hash  # stdlib-only, safe to import eagerly
+
 CACHE_DIR = ".simview_cache"
 
 try:
@@ -19,7 +21,7 @@ del _version, PackageNotFoundError
 logging.getLogger(__name__).addHandler(logging.NullHandler())
 
 # Public authoring API. These live in submodules that depend on the optional
-# `authoring` extra (torch, einops), so they are imported lazily: a viewing-only
+# `authoring` extra (torch, numpy), so they are imported lazily: a viewing-only
 # install can still `import simview` without those dependencies, and only pays
 # the import cost (and dependency requirement) when an authoring symbol is used.
 _LAZY_EXPORTS = {
@@ -55,6 +57,7 @@ if TYPE_CHECKING:
 __all__ = [
     "__version__",
     "CACHE_DIR",
+    "view_hash",
     "SimulationScene",
     "ViewerHandle",
     "SimViewBody",

{simview-6.0.1 → simview-6.1.0}/simview/columnar.py

@@ -414,3 +414,33 @@ def expand_columnar_states(states_doc: Any, batch_size: int) -> list[dict]:
         states.append(state)
 
     return states
+
+
+def write_static_bundle(data: dict, directory) -> None:
+    """Write ``{"model": ..., "states": ...}`` (inline ``__b64__`` blobs) as a
+    static bundle any file server can host for the viewer's static mode:
+    ``model.json``, ``states.json`` and raw ``blob/<id>`` files, with blob
+    references rewritten to ``/blob/<id>`` (the viewer maps these to
+    ``<base>/blob/<id>``). Stdlib-only."""
+    import json
+    from pathlib import Path
+
+    out = Path(directory)
+    (out / "blob").mkdir(parents=True, exist_ok=True)
+    count = 0
+
+    def externalize(obj):
+        nonlocal count
+        if not isinstance(obj, (dict, list)):
+            return
+        for k, v in obj.items() if isinstance(obj, dict) else enumerate(obj):
+            if is_blob(v):
+                (out / "blob" / str(count)).write_bytes(blob_bytes(v))
+                obj[k] = f"/blob/{count}"
+                count += 1
+            else:
+                externalize(v)
+
+    for name in ("model", "states"):
+        externalize(data[name])
+        (out / f"{name}.json").write_text(json.dumps(data[name]))

{simview-6.0.1 → simview-6.1.0}/simview/diff.py

@@ -5,7 +5,7 @@ each other.
 
 Deliberately dependency-free (stdlib only: json, base64, struct, math via
 its imports) so it works on a base install without the `authoring` extra
-(torch/einops/numpy) -- see CLAUDE.md. Shares its blob-decoding and
+(torch/numpy) -- see CLAUDE.md. Shares its blob-decoding and
 body-resolution helpers with `simview/terrain.py`/`simview/info.py` via
 `simview.columnar`/`simview.utils`, which are stdlib-only on this read path.
 

{simview-6.0.1 → simview-6.1.0}/simview/info.py

@@ -3,9 +3,9 @@ agents inspecting simview-generated data files.
 
 Deliberately dependency-free (stdlib only: json, gzip via
 `simview.utils.read_maybe_gzipped_bytes`, base64) so it works on a base
-install without the `authoring` extra (torch/einops/numpy) -- see
+install without the `authoring` extra (torch/numpy) -- see
 CLAUDE.md. Does not import `simview.model`/`simview.server`: the former
-pulls in torch/einops at module scope, the latter fastapi/uvicorn just to
+pulls in torch at module scope, the latter fastapi/uvicorn just to
 reach a numpy-gated helper -- both wrong layering for a lightweight
 inspection tool. Shares its blob-decoding/body-label helpers with
 `simview/terrain.py`/`simview/diff.py` via `simview.columnar`/`simview.utils`,

{simview-6.0.1 → simview-6.1.0}/simview/live.py

@@ -82,6 +82,10 @@ class LiveViewer:
 
             webbrowser.open(self._threaded.url)
 
+    @property
+    def url(self) -> str:
+        return self._threaded.url
+
     def push_state(self, time, body_states, scalar_values=None) -> None:
         """Append one frame and hand it to the sender thread for broadcast.
 

{simview-6.0.1 → simview-6.1.0}/simview/model.py

@@ -1,3 +1,4 @@
+import json
 import logging
 import math
 from dataclasses import dataclass, field
@@ -293,8 +294,24 @@ class SimViewBody:
     # interpreted as local to the parent's current-frame pose rather than world.
     parent: str | None = None
     local_transform: list[float] | None = None
+    # Per-body look of the mesh/primitive representation (box/sphere/cylinder/
+    # mesh). `color` is an RGB triple in [0, 1]; `opacity` in (0, 1] (None =
+    # opaque); `visible=False` hides the whole body until the user shows it.
+    color: list[float] | None = None
+    opacity: float | None = None
+    visible: bool = True
 
     def __post_init__(self):
+        if self.color is not None:
+            if len(self.color) != 3 or not all(0.0 <= c <= 1.0 for c in self.color):
+                raise ValueError(
+                    f"Body '{self.name}' color must be an RGB triple of floats "
+                    f"in [0, 1]; got {self.color!r}."
+                )
+        if self.opacity is not None and not 0.0 < self.opacity <= 1.0:
+            raise ValueError(
+                f"Body '{self.name}' opacity must be in (0, 1]; got {self.opacity!r}."
+            )
         if self.local_transform is not None:
             if self.parent is None:
                 raise ValueError(
@@ -340,6 +357,9 @@ class SimViewBody:
         available_attributes: list[OptionalBodyStateAttribute | str] | None = None,
         parent: str | None = None,
         local_transform: Any | None = None,
+        color: Any | None = None,
+        opacity: float | None = None,
+        visible: bool = True,
         **kwargs,
     ) -> "SimViewBody":
         shape_dict = SimViewBody._create_shape_dict(body_type, **kwargs)
@@ -352,6 +372,9 @@ class SimViewBody:
             local_transform=list(local_transform)
             if local_transform is not None
             else None,
+            color=[float(c) for c in color] if color is not None else None,
+            opacity=opacity,
+            visible=visible,
         )
         if available_attributes is not None:
             body.set_available_attributes(available_attributes)
@@ -385,21 +408,28 @@ class SimViewBody:
                 f"points must have shape (N, 3); got {tuple(points.shape)}."
             )
         N = points.shape[0]
+        shape_extra: dict[str, Any] = {}
         if color is not None:
             if tuple(color.shape) != (N, 3):
                 raise ValueError(
                     f"color must have shape ({N}, 3) matching points; got {tuple(color.shape)}."
                 )
-            kwargs["color"] = color
+            shape_extra["color"] = color
         if embedding is not None:
             if embedding.ndim != 2 or embedding.shape[0] != N:
                 raise ValueError(
                     f"embedding must have shape ({N}, K) matching points; got {tuple(embedding.shape)}."
                 )
-            kwargs["embedding"] = embedding
-        return SimViewBody.create(
+            shape_extra["embedding"] = embedding
+        # Per-point `color` lives in the shape, so it can't go through
+        # `create`'s kwargs (where `color` is the body-level tint).
+        body = SimViewBody.create(
             name, BodyShapeType.POINTCLOUD, points=points, **kwargs
         )
+        body.shape.update(
+            SimViewBody._create_shape_dict(BodyShapeType.POINTCLOUD, **shape_extra)
+        )
+        return body
 
     @staticmethod
     def create_mesh(
@@ -417,6 +447,12 @@ class SimViewBody:
             r["parent"] = self.parent
         if self.local_transform is not None:
             r["localTransform"] = self.local_transform
+        if self.color is not None:
+            r["color"] = self.color
+        if self.opacity is not None:
+            r["opacity"] = self.opacity
+        if not self.visible:
+            r["visible"] = False
         return r
 
     @classmethod
@@ -438,6 +474,9 @@ class SimViewBody:
             else None,
             parent=d.get("parent"),
             local_transform=d.get("localTransform"),
+            color=d.get("color"),
+            opacity=d.get("opacity"),
+            visible=d.get("visible", True),
         )
 
 
@@ -612,8 +651,20 @@ class SimViewModel:
     # Optional episode boundaries for an episodic (e.g. RL) recording -- see
     # SimViewEpisode. None means "one continuous timeline", the default.
     episodes: list[SimViewEpisode] | None = None
+    # Initial viewer UI state (see docs/dev/json-format.md "viewerDefaults");
+    # lenient on purpose -- the frontend owns the key set.
+    viewer_defaults: dict[str, Any] | None = None
 
     def __post_init__(self):
+        if self.viewer_defaults is not None:
+            if not isinstance(self.viewer_defaults, dict):
+                raise ValueError("viewer_defaults must be a dict.")
+            try:
+                json.dumps(self.viewer_defaults)
+            except TypeError as e:
+                raise ValueError(
+                    f"viewer_defaults must be JSON-serializable: {e}"
+                ) from e
         if self.batch_names is not None and len(self.batch_names) != self.batch_size:
             raise ValueError(
                 f"batch_names length ({len(self.batch_names)}) must match batch size ({self.batch_size})"
@@ -661,6 +712,8 @@ class SimViewModel:
             r["metadata"] = self.metadata
         if self.episodes:
             r["episodes"] = [e.to_json() for e in self.episodes]
+        if self.viewer_defaults is not None:
+            r["viewerDefaults"] = self.viewer_defaults
         return r
 
     @classmethod
@@ -710,6 +763,7 @@ class SimViewModel:
                 if d.get("episodes")
                 else None
             ),
+            viewer_defaults=d.get("viewerDefaults"),
         )
 
     @property

{simview-6.0.1 → simview-6.1.0}/simview/scene.py

@@ -1,6 +1,7 @@
 import gzip
 import json
 import logging
+import tempfile
 from collections.abc import Sequence
 from pathlib import Path
 from typing import Any, cast
@@ -14,6 +15,7 @@ from .columnar import (
     expand_columnar_states,
     inline_blob,
     is_columnar,
+    write_static_bundle,
 )
 from .model import (
     BodyShapeType,  # If used directly by users of SimulationData for body creation
@@ -134,6 +136,7 @@ class SimulationScene:
         batch_names: list[str] | None = None,
         metadata: dict[str, Any] | None = None,
         episodes: list[SimViewEpisode] | None = None,
+        viewer_defaults: dict[str, Any] | None = None,
     ) -> None:
         """
         Initializes the simulation data container.
@@ -148,6 +151,10 @@ class SimulationScene:
         `episodes` marks the frames an episodic (e.g. RL) recording resets at.
         Usually easier to build up as you go with `mark_episode()` than to pass
         here up front.
+
+        `viewer_defaults` declares the viewer's initial UI state (hidden point
+        clouds, collapsed panels, open/closed GUI folders, ...); see
+        docs/dev/json-format.md for the supported keys.
         """
         self.model = SimViewModel(
             batch_size=batch_size,
@@ -160,6 +167,7 @@ class SimulationScene:
             batch_names=batch_names,
             metadata=metadata,
             episodes=episodes,
+            viewer_defaults=viewer_defaults,
         )
         self.states: list[dict] = []
 
@@ -225,6 +233,7 @@ class SimulationScene:
             batch_names=model.batch_names,
             metadata=model.metadata,
             episodes=model.episodes,
+            viewer_defaults=model.viewer_defaults,
         )
         scene.states = list(states)
         return scene
@@ -512,11 +521,27 @@ class SimulationScene:
                 f.write("\n  ]\n}")
         logger.info("Simulation data successfully saved to %s", output_path)
 
+    def save_static(self, directory: str | Path) -> None:
+        """Write a static bundle (`model.json`, `states.json`, `blob/<id>`)
+        that the viewer's static mode (`#data=<base url>`, see
+        `simview.view_hash`) can load from any plain static file server.
+
+        Uses the same columnar layout and fallback as `save`.
+        """
+        # Reuse save() (attribute reconciliation, columnar fallback) via a
+        # temp file rather than duplicating it; ponytail: extra JSON roundtrip.
+        with tempfile.TemporaryDirectory() as tmp:
+            path = Path(tmp) / "scene.json"
+            self.save(path)
+            write_static_bundle(json.loads(path.read_text()), directory)
+
     def show(
         self,
         host: str = "127.0.0.1",
         preferred_port: int = 5420,
         open_browser: bool = False,
+        view: str | None = None,
+        height: int = 600,
     ) -> ViewerHandle:
         """Serve a snapshot of this scene on a background thread and return
         immediately, instead of blocking like `SimViewLauncher`/`SimViewServer.run`.
@@ -532,6 +557,10 @@ class SimulationScene:
         Multiple concurrent `show()` calls (on the same or different scenes)
         are fine -- each gets its own server thread and port (via
         `find_free_port`).
+
+        `view` is a view-link fragment (see `simview.view_hash`) the inline
+        iframe opens with, e.g. a fixed camera or `ui=False`; `height` is the
+        iframe height in pixels.
         """
         if not self.model.is_complete:
             raise ValueError(
@@ -545,6 +574,8 @@ class SimulationScene:
             host=host,
             preferred_port=preferred_port,
             thread_name="simview-show-server",
+            view=view,
+            iframe_height=height,
         )
 
         logger.info("SimView viewer running on %s", handle.url)
@@ -710,10 +741,18 @@ class SimulationScene:
         available_attributes: list[OptionalBodyStateAttribute | str] | None = None,
         parent: str | None = None,
         local_transform: LocalTransformLike | None = None,
+        color: Sequence[float] | None = None,
+        opacity: float | None = None,
+        visible: bool = True,
         **kwargs,
     ) -> None:
         """Creates and adds a dynamic body to the simulation model.
 
+        ``color`` (RGB in [0, 1]) and ``opacity`` (in (0, 1]) style the
+        mesh/primitive representation (box/sphere/cylinder/mesh); a point
+        cloud's per-point colour is its shape's own ``color``. ``visible=False``
+        hides the body initially.
+
         ``parent``/``local_transform`` attach this body to another body already
         in the model, instead of it moving in world space:
 
@@ -734,6 +773,9 @@ class SimulationScene:
                 available_attributes=available_attributes,
                 parent=parent,
                 local_transform=local_transform,
+                color=color,
+                opacity=opacity,
+                visible=visible,
                 **kwargs,
             )
         )

{simview-6.0.1 → simview-6.1.0}/simview/server.py

@@ -636,9 +636,13 @@ class ViewerHandle:
         preferred_port: int = 5420,
         thread_name: str = "simview-server",
         log_level: str = "info",
+        view: str | None = None,
+        iframe_height: int = 600,
     ) -> None:
         self.host = host
         self.port = find_free_port(host, preferred_port)
+        self.view = view
+        self.iframe_height = iframe_height
 
         # Prefer uvicorn's modern sansio websocket implementation when the
         # `websockets` package is available -- the default "auto" still selects
@@ -678,6 +682,10 @@ class ViewerHandle:
     def url(self) -> str:
         return f"http://{dialable_host(self.host)}:{self.port}"
 
+    def url_for(self, view: str) -> str:
+        """`url` with a view-link fragment (see `simview.view_hash`) appended."""
+        return f"{self.url}/#{view.lstrip('#')}"
+
     def stop(self) -> None:
         """Signal the server to exit and wait for its thread to finish.
 
@@ -692,8 +700,9 @@ class ViewerHandle:
         """Jupyter calls this automatically when the handle is the result of
         a cell, embedding the viewer inline without the user having to open a
         separate browser tab."""
+        src = self.url_for(self.view) if self.view else self.url
         return (
-            f'<iframe src="{self.url}" width="100%" height="600" '
+            f'<iframe src="{src}" width="100%" height="{self.iframe_height}" '
             f'style="border:none;" allow="fullscreen"></iframe>'
         )
 

{simview-6.0.1 → simview-6.1.0}/simview/static/css/controls.css

@@ -996,3 +996,15 @@ body {
 .terrain-profile-controls .sv-control-group select {
     max-width: 160px;
 }
+
+/* Embedded mode (#ui=0): hide all floating chrome; the loading splash stays. */
+.sv-embed .lil-gui.root,
+.sv-embed .lil-gui.autoPlace,
+.sv-embed .sv-playback,
+.sv-embed .body-state-window,
+.sv-embed .analysis-container,
+.sv-embed .sv-legend,
+.sv-embed .batch-legend-container,
+.sv-embed .sv-live-badge {
+    display: none !important;
+}

{simview-6.0.1 → simview-6.1.0}/simview/static/js/SimView.js

@@ -22,7 +22,8 @@ import { StateStore } from "./components/StateStore.js";
 import { WindowedField } from "./components/WindowedField.js";
 import { bytesPerFrame, shouldWindowField } from "./utils/blobWindow.js";
 import { shouldFollowLive } from "./utils/liveFollow.js";
-import { parseViewState } from "./utils/viewState.js";
+import { parseViewState, parseStartupOptions, serializeViewState, toggleMapFromUiState } from "./utils/viewState.js";
+import { mergeUiDefaults, applyViewerDomDefaults } from "./utils/viewerDefaults.js";
 
 export class SimView {
     constructor() {
@@ -52,6 +53,9 @@ export class SimView {
         // flat static files (model.json, states.json, blob/N) instead of the
         // Python backend API endpoints. Set to null in normal server mode.
         this.staticBase = null;
+        this._rafId = null;
+        this._lastDispatchedFrame = -1;
+        this._onHashChange = () => this.applyViewStateFromHash();
     }
 
     static run() {
@@ -64,7 +68,12 @@ export class SimView {
             simView.staticBase = window.__simviewStaticBase;
             console.log(`SimView: static demo mode, base='${simView.staticBase}'`);
         }
-        window.__debugSimView = simView;
+        // Startup hash keys (see parseStartupOptions): `data` wins over the global.
+        const { data, ui } = parseStartupOptions(location.hash);
+        if (data) simView.staticBase = data;
+        if (!ui) document.body.classList.add("sv-embed");
+        window.simview = simView;
+        window.__debugSimView = simView; // alias kept for e2e tests / downstream consumers
         simView.initAndAnimate();
     }
 
@@ -439,6 +448,11 @@ export class SimView {
                 }
             }
 
+            // Authoring-time UI defaults (see utils/viewerDefaults.js). After the
+            // auto-detect above so they win, and before any Body/Terrain/Controls
+            // read uiState.
+            this.uiState = mergeUiDefaults(this.uiState, model.viewerDefaults?.ui);
+
             if (Array.isArray(model.bodies)) {
                 model.bodies.forEach((bodyData) => {
                     const body = new Body(bodyData, this);
@@ -499,6 +513,7 @@ export class SimView {
                 this.batchLegend = new BatchLegend(this);
             }
             this.animationController = new AnimationController(this, model.dt);
+            applyViewerDomDefaults(this, model.viewerDefaults);
         } catch (error) {
             console.error("Error during initFromModel:", error);
             const splash = document.getElementById("loading-splash");
@@ -514,9 +529,11 @@ export class SimView {
             this.scene = new Scene(this);
             await this.loadData();
             this.applyViewStateFromHash();
+            window.addEventListener("hashchange", this._onHashChange);
             this.animate();
             const splash = document.getElementById("loading-splash");
             if (splash) splash.remove();
+            window.dispatchEvent(new CustomEvent("simview:ready", { detail: { simview: this } }));
         } catch (error) {
             console.error("Initialization failed:", error);
             const splash = document.getElementById("loading-splash");
@@ -543,6 +560,14 @@ export class SimView {
     // independently guarded.
     applyViewStateFromHash() {
         const state = parseViewState(location.hash);
+        if (state) this.setViewState(state);
+    }
+
+    /**
+     * Applies a parsed view-state object (see utils/viewState.js): batch, pause +
+     * seek when `time` is present, camera, and UI toggles. Never touches location.hash.
+     */
+    setViewState(state) {
         if (!state) return;
 
         try {
@@ -584,6 +609,53 @@ export class SimView {
         }
     }
 
+    /** Returns the current view state: the object "Copy view link" serialises. */
+    getViewState() {
+        const { camera, controls } = this.scene;
+        return {
+            time: this.animationController ? this.animationController.getCurrentTime() : undefined,
+            camera: {
+                position: camera.position.clone(),
+                target: controls.target.clone(),
+                fov: camera.fov,
+            },
+            batchIndex: this.batchManager ? this.batchManager.currentlyActiveBatch : undefined,
+            bodyVisualizationMode: this.uiState.bodyVisualizationMode,
+            terrainColorMode: this.uiState.terrainColorMode,
+            toggles: toggleMapFromUiState(this.uiState),
+        };
+    }
+
+    /**
+     * Moves the camera and orbit target together so the target lands on the body's
+     * current world position. Returns false if the body/position isn't available yet.
+     */
+    focusBody(name, batchIndex = this.batchManager.currentlyActiveBatch) {
+        const pos = this.bodies && this.bodies.get(name) && this.bodies.get(name).positions[batchIndex];
+        if (!pos) return false;
+        const offset = this.batchManager.getBatchOffset(batchIndex);
+        const target = new THREE.Vector3(pos.x + offset.x, pos.y + offset.y, pos.z + offset.z);
+        const { camera, controls } = this.scene;
+        camera.position.add(target.clone().sub(controls.target));
+        controls.target.copy(target);
+        controls.update();
+        return true;
+    }
+
+    /** Stops the render loop, closes the live socket, and releases the scene, UI and renderer. */
+    destroy() {
+        cancelAnimationFrame(this._rafId);
+        if (this.liveSocket) this.liveSocket.close();
+        window.removeEventListener("hashchange", this._onHashChange);
+        this.disposeOfAll();
+        if (this.scene) {
+            this.scene.renderer.dispose();
+            this.scene.renderer.domElement.remove();
+        }
+        if (window.simview === this) window.simview = null;
+        if (window.__debugSimView === this) window.__debugSimView = null;
+    }
+
     disposeOfAll() {
         if (this.bodies) {
             for (const body of this.bodies.values()) {
@@ -637,12 +709,19 @@ export class SimView {
     }
 
     animate() {
-        requestAnimationFrame(this.animate);
+        this._rafId = requestAnimationFrame(this.animate);
         const now = performance.now();
         
         // 1. Update states and time
         if (this.animationController) {
             this.animationController.animate(now);
+            const index = this.animationController.getCurrentStateIndex();
+            if (index !== this._lastDispatchedFrame && this.animationController.store) {
+                this._lastDispatchedFrame = index;
+                window.dispatchEvent(
+                    new CustomEvent("simview:frame", { detail: { index, time: this.animationController.getCurrentTime() } })
+                );
+            }
         }
         
         // 2. Update UI components

{simview-6.0.1 → simview-6.1.0}/simview/static/js/config.js

@@ -124,14 +124,14 @@ const SHAPE_CONFIG = {
         opacity: 0.7,
         alphaTest: 0.5,
         transparent: false,
-        texture: "static/textures/points/ball1.png",
+        texture: new URL("../textures/points/ball1.png", import.meta.url).href,
     },
     contactPoints: {
         size: 0.7,
         opacity: 1.0,
         alphaTest: 0.5,
         transparent: false,
-        texture: "static/textures/contacts/red-cross0.png",
+        texture: new URL("../textures/contacts/red-cross0.png", import.meta.url).href,
     },
 };
 

{simview-6.0.1 → simview-6.1.0}/simview/static/js/objects/Body.js

@@ -92,6 +92,7 @@ export class Body {
         this.isPointCloud = bodyData.shape?.type === "pointcloud";
         this.representations = { mesh: [], wireframe: [], points: [] };
         this.createBatchGroups(bodyData);
+        if (bodyData.visible === false) this.group.visible = false;
 
         // Position/orientation history across all loaded states, per batch. Local
         // (un-offset) coordinates, shared by trail rendering and error metrics.
@@ -482,6 +483,13 @@ export class Body {
             let material;
             if (type === "mesh") {
                 material = createMesh(source, config).material;
+                // Per-body look declared at authoring time (SimViewBody.color/opacity).
+                if (bodyData.color) material.color.setRGB(...bodyData.color);
+                if (bodyData.opacity != null) {
+                    material.transparent = true;
+                    material.opacity = bodyData.opacity;
+                    material.depthWrite = false;
+                }
             } else if (type === "wireframe") {
                 // InstancedMesh only works with Mesh primitives, so we use a Mesh material with wireframe: true
                 material = new THREE.MeshBasicMaterial({