Welcome to mjswan!¶

Real-time Interactive AI Robot Simulation in Your Browser

What is mjswan?¶

mjswan is a powerful framework for creating interactive MuJoCo simulations with real-time policy control, running entirely in the browser. Built on top of mujoco wasm, onnxruntime, and three.js, it enables easy sharing of AI robot simulation demos as static sites, perfect for GitHub Pages hosting.

Key Features¶

Real-time Simulation

Run MuJoCo simulations and policy control in real time
Interactive

Change the state of objects by applying forces with intuitive controls
Client-only

All computation runs in the browser - no server required for simulation
Easy Sharing

Host as a static site for effortless demo distribution (e.g., GitHub Pages)
Cross-platform

Works seamlessly on desktop, mobile, and VR devices
Portable

Embed the simulation in any web page or Google Colab notebook output cell

Use Cases¶

mjswan is perfect for:

Research Demos: Share your robot learning research with interactive visualizations
Education: Create interactive physics and robotics tutorials
Prototyping: Quickly test and visualize different MuJoCo models and policies
Portfolio: Showcase your robotics projects in an accessible way

Live Demos¶

Main Demo - Main mjswan demos
MyoSuite - Musculoskeletal models
MuJoCo Menagerie - Various high-quality robot models
MuJoCo Playground - Interactive environments

Quick Example¶

import mujoco
import mjswan

builder = mjswan.Builder()
project = builder.add_project(name="My Robot")

spec = mujoco.MjSpec.from_string("""
<mujoco>
  <worldbody>
    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
    <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
    <body pos="0 0 1">
      <joint type="free"/>
      <geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
    </body>
  </worldbody>
</mujoco>
""")

project.add_scene(spec=spec, name="My Scene")

app = builder.build()
app.launch()

See Examples for a walkthrough and more patterns.

Links¶

License¶

mjswan is licensed under the Apache-2.0 License.