Mujoco webdemo

models/mujoco/.gitignore

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+# Generated by scripts/bootstrap_mujoco_models.py
+unitree_g1
+unitree_a1
+boston_dynamics_spot

models/mujoco/README.md

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+# MuJoCo Models (Bootstrap, Not Checked In)
+
+This folder is intentionally kept lightweight. Large MuJoCo model assets are **not** committed to this repository.
+
+## Bootstrap
+
+Run:
+
+```bash
+python scripts/bootstrap_mujoco_models.py
+```
+
+The script will sparse-clone MuJoCo Menagerie at a pinned commit and create local symlinks under this folder.
+
+## Source models
+
+Pinned source repository:
+- https://github.com/google-deepmind/mujoco_menagerie
+
+Pinned commit:
+- `a03e87bf13502b0b48ebbf2808928fd96ebf9cf3`
+
+Models fetched:
+- `unitree_g1`
+- `unitree_a1`
+- `boston_dynamics_spot`
+
+## Notes
+
+- No mesh/XML transforms are applied. Models are used as-is from menagerie.
+- `webdemo/public/examples/scenes/<model>` symlinks are also created by the bootstrap script.
+- `webdemo/public/examples/scenes/files.json` is regenerated by the script based on fetched assets.

scripts/bootstrap_mujoco_models.py

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+#!/usr/bin/env python3
+"""Bootstrap MuJoCo Menagerie models for GTDynamics webdemo.
+
+What it does:
+1. Sparse-clones/pulls google-deepmind/mujoco_menagerie at a pinned commit.
+2. Materializes only required model folders:
+   - unitree_g1
+   - unitree_a1
+   - boston_dynamics_spot
+3. Creates symlinks:
+   - models/mujoco/<model>
+   - webdemo/public/examples/scenes/<model>
+4. Regenerates webdemo/public/examples/scenes/files.json from on-disk assets.
+
+This keeps large binary model files out of this git repository.
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import shutil
+import subprocess
+from pathlib import Path
+
+MENAGERIE_URL = "https://github.com/google-deepmind/mujoco_menagerie.git"
+MENAGERIE_COMMIT = "a03e87bf13502b0b48ebbf2808928fd96ebf9cf3"
+MODELS = ["unitree_g1", "unitree_a1", "boston_dynamics_spot"]
+ASSET_EXTS = {".xml", ".obj", ".stl", ".png", ".jpg", ".jpeg", ".mtl", ".skn"}
+
+
+def run(cmd: list[str], cwd: Path | None = None) -> None:
+    subprocess.run(cmd, cwd=str(cwd) if cwd else None, check=True)
+
+
+def ensure_symlink(link_path: Path, target_path: Path) -> None:
+    if link_path.is_symlink():
+        if link_path.resolve() == target_path.resolve():
+            return
+        link_path.unlink()
+    elif link_path.exists():
+        if link_path.is_dir():
+            shutil.rmtree(link_path)
+        else:
+            link_path.unlink()
+
+    link_path.parent.mkdir(parents=True, exist_ok=True)
+    rel_target = os.path.relpath(target_path, link_path.parent)
+    link_path.symlink_to(rel_target)
+
+
+def generate_files_json(scenes_dir: Path) -> list[str]:
+    files: list[str] = []
+    for model in MODELS:
+        model_dir = scenes_dir / model
+        if not model_dir.exists():
+            continue
+        for path in sorted(model_dir.rglob("*")):
+            if not path.is_file():
+                continue
+            if path.suffix.lower() not in ASSET_EXTS:
+                continue
+            files.append(path.relative_to(scenes_dir).as_posix())
+    return files
+
+
+def main() -> int:
+    repo_root = Path(__file__).resolve().parents[1]
+    cache_root = Path.home() / ".cache" / "gtdynamics" / "mujoco_menagerie"
+    checkout_root = cache_root / MENAGERIE_COMMIT
+    menagerie_repo = checkout_root / "repo"
+
+    checkout_root.mkdir(parents=True, exist_ok=True)
+
+    if not menagerie_repo.exists():
+        run([
+            "git", "clone", "--filter=blob:none", "--sparse", MENAGERIE_URL, str(menagerie_repo)
+        ])
+
+    run(["git", "fetch", "--depth", "1", "origin", MENAGERIE_COMMIT], cwd=menagerie_repo)
+    run(["git", "checkout", "--detach", MENAGERIE_COMMIT], cwd=menagerie_repo)
+    run(["git", "sparse-checkout", "set", *MODELS], cwd=menagerie_repo)
+
+    models_dir = repo_root / "models" / "mujoco"
+    scenes_dir = repo_root / "webdemo" / "public" / "examples" / "scenes"
+
+    for model in MODELS:
+        source = menagerie_repo / model
+        ensure_symlink(models_dir / model, source)
+        ensure_symlink(scenes_dir / model, models_dir / model)
+
+    files = generate_files_json(scenes_dir)
+    files_json_path = scenes_dir / "files.json"
+    files_json_path.write_text(json.dumps(files, indent=2) + "\n", encoding="utf-8")
+
+    print("Bootstrap complete.")
+    print(f"Menagerie commit: {MENAGERIE_COMMIT}")
+    print(f"Model symlinks under: {models_dir}")
+    print(f"Scene symlinks under: {scenes_dir}")
+    print(f"Regenerated: {files_json_path}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

webdemo/.browserslistrc

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+> 1%
+last 2 versions
+not dead
+not ie 11

webdemo/.editorconfig

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+[*.{js,jsx,ts,tsx,vue}]
+indent_style = space
+indent_size = 2
+trim_trailing_whitespace = true
+insert_final_newline = true

webdemo/README.md

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+# 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:
+
+```bash
+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
+
+```bash
+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:
+
+```bash
+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](https://github.com/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:
+  - [mujoco-js](https://www.npmjs.com/package/mujoco-js) (MuJoCo WASM)
+  - [three.js](https://threejs.org/)
+  - [Vue 3](https://github.com/vuejs/core)
+  - [Vite](https://github.com/vitejs/vite)

webdemo/index.html

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+<!doctype html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>GT Dynamics MuJoCo Clip Demo</title>
+  </head>
+  <body>
+    <div id="app"></div>
+    <script type="module" src="/src/main.js"></script>
+  </body>
+</html>

webdemo/jsconfig.json

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+{
+  "compilerOptions": {
+    "allowJs": true,
+    "target": "ES2020",
+    "module": "ESNext",
+    "baseUrl": ".",
+    "moduleResolution": "Bundler",
+    "paths": {
+      "@/*": [
+        "src/*"
+      ]
+    },
+    "lib": [
+      "ESNext",
+      "DOM"
+    ]
+  }
+}

webdemo/package.json

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+{
+  "name": "gtdynamics-webdemo",
+  "private": true,
+  "type": "module",
+  "version": "0.1.0",
+  "scripts": {
+    "dev": "vite",
+    "build": "vite build",
+    "preview": "vite preview"
+  },
+  "dependencies": {
+    "mujoco-js": "^0.0.7",
+    "three": "0.151.3",
+    "vue": "^3.5.13"
+  },
+  "devDependencies": {
+    "@vitejs/plugin-vue": "^5.2.3",
+    "vite": "^6.2.2"
+  }
+}

webdemo/public/examples/configs/a1.json

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+{
+  "scene": "unitree_a1/scene.xml",
+  "clip_joint_names": [
+    "FR_hip_joint",
+    "FR_thigh_joint",
+    "FR_calf_joint",
+    "FL_hip_joint",
+    "FL_thigh_joint",
+    "FL_calf_joint",
+    "RR_hip_joint",
+    "RR_thigh_joint",
+    "RR_calf_joint",
+    "RL_hip_joint",
+    "RL_thigh_joint",
+    "RL_calf_joint"
+  ],
+  "stiffness": [
+    100.0,
+    100.0,
+    100.0,
+    100.0,
+    100.0,
+    100.0,
+    100.0,
+    100.0,
+    100.0,
+    100.0,
+    100.0,
+    100.0
+  ],
+  "damping": [
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0,
+    2.0
+  ],
+  "default_joint_pos": [
+    0.0,
+    0.9,
+    -1.8,
+    0.0,
+    0.9,
+    -1.8,
+    0.0,
+    0.9,
+    -1.8,
+    0.0,
+    0.9,
+    -1.8
+  ],
+  "default_root_pos": [
+    0.0,
+    0.0,
+    0.27
+  ],
+  "default_root_quat": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+  ]
+}