MuJoCo × ONNX · in browser

MICRODUCK

CAMERA HAND · LOCAL ONLY 手部互動已關閉 食指碰推 · 捏合抓放

CONTROL 移動／轉彎

100 M · LIVE PHYSICS5 × MuJoCo

LANE 1 Solar0.00 m
LANE 2 Cobalt0.00 m
LANE 3 Coral0.00 m
LANE 4 Violet0.00 m
LANE 5 Ember0.00 m

啟動 Worker

正在建立瀏覽器模擬環境。

等待 manifest

前進／後退 0.00 m/s 側向 0.00 m/s 旋轉 0.00 rad/s

速度

W/S 前後 · A/D 或 ←/→ 轉彎 · Space 歸零 · H 頭部 · B 身體 · T 暫停

scene d424a0c policy e36332d mode walk

Runtime gate

Dedicated worker
Asset SHA-256
MuJoCo WASM
ONNX probe
Native parity
Three.js scene

Verified identity

Model: —
Policy I/O: 61 → 14
Latest infer: —
Assets: —
Visible: —
Action range: —
Native parity: —
Maximum Δ: —
Behavior policies: —

Live simulation

Sim time: 0.00 s
Body height: 125.0 mm
Physics: 0 steps
Policy: 0 steps
Achieved fwd / lat / yaw: +0.00 / +0.00 / +0.00
Physical grab: released · 0.00 N
Timing backlog: 0 dropped
Active controller: base policy
Fall recovery: upright · gravity z -1.000
Ball xyz: not in scene
Pickup pouch xyz: not in scene
Mouth tip xyz: not available
Mouth grip: released · 0.00 N
Mouth jaw angle / target / torque: 0.000 / 0.000 rad · 0.0000 Nm
Hand proxy: parked below world

200:50Hz cadence

固定控制節拍 物理 0.005 秒一步；policy 每四步一次。

Physics truth

MuJoCo 是狀態來源。滑鼠與觸控抓取會施加限幅彈簧阻尼外力；Three.js 只呈現 MuJoCo snapshot。Ground Pick 先執行原始低頭 policy；下顎以被動 hinge 與限幅 torque 真實開合；嘴尖靠近布包後，才以等量反作用力的 MuJoCo 外力咬住，按 G 可放下。MediaPipe 只在本機 Worker 估算食指與捏合；食指驅動 MuJoCo mocap collider 產生接觸，影像不會傳送到伺服器。