Skip to content

README.md

Latest commit

 

History

History
97 lines (69 loc) · 2.84 KB

README.md

File metadata and controls

97 lines (69 loc) · 2.84 KB
Raw

GT Dynamics MuJoCo Web Demo

Local-only Vite + Vue demo for MuJoCo trajectory playback.

Prerequisites

  • Node.js 18+
  • Git (for bootstrap script)

First-time setup

From repo root:

python scripts/bootstrap_mujoco_models.py

This downloads model assets on demand (sparse checkout from MuJoCo Menagerie), creates symlinks, and regenerates:

  • webdemo/public/examples/scenes/files.json

Model provenance is documented in:

  • models/mujoco/README.md

Run locally

cd webdemo
npm install
npm run dev

Control model

This demo runs MuJoCo dynamics; it is not pure kinematic teleporting.

  • Default behavior in this GTD fork: control_mode: "position"
  • Meaning: ctrl is sent as desired joint positions for MuJoCo <position> actuators
  • MuJoCo still resolves forces/torques, contacts, and friction physically

Optional fallback for custom models:

  • control_mode: "torque_pd" uses explicit torque-like PD in JS before writing ctrl

Per-robot controller mode is configured in:

  • webdemo/public/examples/configs/<robot>.json

Note:

  • If a clip includes root_pos / root_quat, the root can be replayed directly from the clip.
  • For fully dynamic locomotion evaluation, use clips/controllers that do not hard-impose root motion every tick.

File layout

  • Scene assets (symlinked by bootstrap script):
    • webdemo/public/examples/scenes/<model>/...
  • Scene preload list:
    • webdemo/public/examples/scenes/files.json
  • Robot configs:
    • webdemo/public/examples/configs/<robot>.json
  • Motion assets:
    • webdemo/public/examples/motions/<robot>/motions.json
    • webdemo/public/examples/motions/<robot>/motions/<clip>.json

Add a motion clip

  1. Put clip JSON files in:
    • webdemo/public/examples/motions/<robot>/motions/
  2. Register them in:
    • webdemo/public/examples/motions/<robot>/motions.json

Supported clip keys:

  • joint_pos or jointPos
  • root_pos or rootPos (optional)
  • root_quat or rootQuat (optional)

Export from GT Dynamics

Use the exporter in the main repo:

python scripts/export_motion_clip.py \
  --input /path/to/trajectory.json \
  --output webdemo/public/examples/motions/g1/motions/my_clip.json \
  --joint-names left_hip_pitch_joint right_hip_pitch_joint ... \
  --fps 60

Then add my_clip.json to webdemo/public/examples/motions/g1/motions.json.

Attribution

  • Direct code structure origin: Axellwppr/humanoid-policy-viewer Qingzhou Lu (Axellwppr on Github) said: "The framework code will be MIT-licensed (I’ll update the repo shortly). Mjlab and any motion datasets remain under their respective licenses."
  • Runtime dependencies: