@menloresearch/aperture

Plain JavaScript MuJoCo scene-graph renderer for Three.js.

Install

npm install @menloresearch/aperture three

API

import * as THREE from 'three';
import { createAperture } from '@menloresearch/aperture';

const scene = new THREE.Scene();
const aperture = createAperture({
  engine: 'mujoco', // optional, defaults to 'mujoco'; plugin objects are also supported
  scene,
  renderer, // optional THREE.WebGLRenderer, enables shadow config
  debug: { level: 'info', sampleIntervalMs: 2000 },
  lighting: {
    enableShadows: true,
    shadowMapSize: 1024,
    useHeadlightAmbient: true,
    headlightAmbientScale: 1.6,
    useRoomDirectionalFill: true,
    roomDirectionalScale: 1.6,
  },
  effects: { groundReflection: false, reflectionTextureSize: 1024 },
  filters: { showCollisionGeoms: false, collisionGroups: [3, 4] },
});

aperture.init(sceneInitPayload);
aperture.step(framePayload);

const stats = aperture.getStats();
aperture.dispose();

Methods

• init(sceneInit) builds the static scene graph.
• step(frame) applies body/light transforms.
• reset(sceneInit) rebuilds from a new init payload.
• getStats() returns warning count, frame/drop estimates, and summaries.
• getStats() also returns material and light summaries.
• onWarning(callback) subscribes to validator/protocol warnings.
• dispose() releases resources.

Message Contract

See docs/protocol.md for the Phase 0 contract.

Protobuf draft scaffold lives in src/proto/.

Local examples

• Basic local fixture replay: examples/basic/
• Live WebSocket stream (Phase 2): examples/live/
• Live WebSocket stream: examples/live-websocket/

Sample payloads

• Scene/frame sample payloads live in src/tests/samples/.

Publishing

This package is configured to publish only minified files from dist/.

npm publish --access public