Studio

Studio is where you build a scenario and watch it run. It simulates real MuJoCo physics in your browser, so there is no round trip to a server while you play, pause and step. Open it at studio.botmanifold.com (sign-in required).

What you can do

• Build a scene: drag a robot, objects and an environment from the asset library into a 3D scene. Start from a guided wizard or a blank canvas, or import a recorded robot log and convert it into an editable scenario (log2sim).
• Simulate in the browser: play, pause, reset and change the speed. A timeline and a state inspector show joints, bodies and contacts.
• Run a policy: attach an example policy or your own ONNX file and watch it control the robot. See Policies in Studio.
• Drive by hand: for policies that take velocity commands, turn on WASD drive mode.
• Debug a policy: step through what the policy observed and decided at each timestep.
• Use the copilot: describe a change in plain language and have the scene edited for you.
• Save, fork and share: save scenarios to your library, publish them, or fork a community scenario into your own account.
• Teleoperate hardware: the Teleop panel connects to a real arm. See Teleop and hardware.

The asset library

The library has robots (arms, a dual-arm ALOHA, quadrupeds, humanoids, grippers), objects (primitives, household items, furniture, props) and environments (kitchen, office, warehouse, lab bench, and more). Search it, preview an asset in 3D, and add it to the scene. Robot models come from MuJoCo Menagerie and other sources; each asset is defined by an MJCF model, which is the source of truth for its physics.

Scenarios

A scenario is a robot, a scene and a task with success criteria, stored as a scenario.yaml that compiles to MuJoCo MJCF. The built-in scenarios are described under Scenarios; you can also save your own from Studio and submit them to Verify.

The copilot

The copilot panel edits the scene from natural language ("move the red cube to the right of the plate", "add a shelf behind the robot"). It can generate a whole scenario from a description and refine it. Generated scenarios are validated and compiled before they are shown, and you can undo a change.

Import a robot log

If you have a recording of a real robot (MCAP), log2sim turns it into a simulation: it extracts the trajectory, reconstructs the scene, replays the physics, and produces a scenario you can edit. Start from Import from log in the new-scenario screen, or open log2sim directly.

Related

• Policies in Studio
• Verify: score a policy in the same scenarios
• Teleop and hardware