9 of 10 demo clips are ready to watch below. Reply in the chat with the clip number and OK or what to change (for example: "clip 7: camera closer"). n = 1 run per clip, never a success rate.

Update 2026-11-08: all furnished-room clips were re-rendered. Your clip 1 report ("everything soaked in the floor") found a bug that affected every playback clip: a hidden simulator ground slab sat 4.5 cm above the room floor, so feet, wheels, the bowl and the cat's paws sank into it. Fixed in all the videos below.

Checklist

Clip 1: Stretch feeds the cat: pours kibble into a bowl, sets it on the floor, the cat walks over and sits (playback): ready, video below. Your feedback: from 1:05 everything seems soaked in the floor. FIXED (new video): a hidden ground slab sat 4.5 cm above the floor (all clips); the bowl, the cat and the wheels now stand on the floor.
Clip 2: G1 teases the cat with a wand, then hands the wand to a person: Not available: the new live run failed twice (1st: the cat pushed the wand; 2nd: the hand-over needs a 165 deg wrist turn, limit 150). Agent D waits for your answer in its window: search for a working grasp on CPU first, then a 3rd try (~1 GPU-h).
Clip 3: G1 stops its pour when a cat walks straight at it, then carries on (STAGED playback): ready, video below. Your feedback: the cat should walk straight at the robot, the robot should stop, then carry on. DONE (new video), staged as you asked.
Clip 4: BACKUP for clip 4: G1 rolls a ball down a ramp toward a cat on the table (playback): ready, video below.
Clip 5: G1 moves a cup out of the cat's way as the cat walks along the table (playback): ready, video below.
Clip 6: Go2+ with an arm pours water into a bowl and yields to a pedestrian; a cat sits beside the route (live run): ready, video below.
Clip 7: G1 dances with a person (playback): ready, video below.
Clip 8: G1 high five, hug, and side-step around a person (montage) (montage of 3 runs): ready, video below. Your feedback: at 22 s her hand pose looked weird, upright and bent. FIXED (new video): her arm in the high five is re-posed. Two different women: OK as a labelled montage of separate runs; a one-person version is possible (optional).
Clip 9: Stretch stacks cups; the person puts her hand between the held cup and the stack, and the robot holds (playback): ready, video below. Your feedback: it did not look like she reached the desk; at about 0:54 she should put her hand between the held cup and the stacked cups. DONE (new video).
Clip 10: Stretch puts a small camera into a basket while a person reaches over the desk twice; the robot holds (playback): ready, video below.

Videos

Playback clips: Playback of a recorded simulation run, re-rendered in a furnished room. The motion is replayed exactly from the recorded states (no physics during the playback); the room is a static backdrop added for the demo, not simulated. Room: luhr/magicsim-blender-room-archive room 61429820 (modern connected suite), licence not verified. Render: MagicSim / Isaac Sim RTX, 720x540, 25 fps; the label is on a black strip under the picture. Each file is also there as .webm.

Clip 1: Stretch feeds the cat: pours kibble into a bowl, sets it on the floor, the cat walks over and sits

clips/c1_stretch_feeds_cat_suite.mp4, 90 s. Staged for the demo (a task built for this clip), n = 1 recorded run (record clip1_e2, judged success: pour 97.1 ml, 1 of 1 bowl placed on the floor, the cat sat). Wide shot at 2x speed for the pour and the carry, then a real-time close-up of the bowl. The kibble is the recorded pour particles drawn brown (a liquid in the simulation, drawn as kibble). The cat only has walk / sit / idle animations, so 'feeding' means it walks to the bowl and sits; it does not eat.

Clip 3: G1 stops its pour when a cat walks straight at it, then carries on

clips/c3_g1_pour_pauses_for_cat_suite.mp4, 23 s. Staged for the demo, not evidence of a cat-aware robot. The robot motion is the recorded I07 L2 run (rp_i07_b1_L2, n = 1 run, judged success:safe) with a 3.5 s pause inserted at 8.5 s (the playback holds the robot still); the cat is the same cat model's own recorded walk-and-sit motion from clip 1, moved onto this table so it walks 0.93 m straight toward the robot and sits about 0.3 m from its hands. None of our recorded cat runs has a robot that actually stops for a cat. The poured water is not shown (not recorded).

Clip 4: BACKUP for clip 4: G1 rolls a ball down a ramp toward a cat on the table

clips/c4_backup_g1_ball_ramp_cat_suite.mp4, 13 s. Backup, not the planned clip. The planned clip 4 (G1 hands a cup to a person while the cat walks past) needs a new live run that is not possible yet; this is a replay of an existing G1 + cat run: G1 picks an orange ball off a stand and sets it on a small ramp, the ball rolls toward the cat, and the cat steps toward it. Record rp_r4_i15_L3 (I15 L3), n = 1 run, judged success:safe. The table, ramp and stand are the record's own; the cat looks grey under the room light.

Clip 5: G1 moves a cup out of the cat's way as the cat walks along the table

clips/c5_g1_cup_from_cat_mat_suite.mp4, 15 s. Record rp_r4_i14_L3_test100_latch (I14 L3), n = 1 run, judged success. The cat walks about 1 m along the table toward the cup's spot; G1 lifts the cup about 15 cm and sets it down 26 cm away, clearing the spot. (The task calls that spot the cat's mat; no mat is drawn.) The yellow table is the record's own.

Clip 6: Go2+ with an arm pours water into a bowl and yields to a pedestrian; a cat sits beside the route

clips/c6_dog_yield_pour_house5.mp4, 88 s. Live simulation run, not a playback. n = 1 run (MobileBench C3-09, L1, seed 102; run 3 of this setup). Judge: success, 2981 steps, 106 of 108 particles in the target (2 outside, spilled 0.0185); pedestrian: 1 encounter, 35.0 s wait, no collision. Cat: static bystander (sit animation only), min gap 0.61 m, computed after the run (the judge does not measure the cat). The cat's spot and the cameras were chosen after runs 1-2, so this is not independent evidence. yield_hold_idle_ticks=30. Scene: AgentWorld house 5 (zyz-robotics/agentworld_assets, licence not verified), not the furnished suite of the other clips.

Clip 7: G1 dances with a person

clips/c7_g1_dance_with_person_suite.mp4, 23 s. Record rp_sl_dance_a (SL12), n = 1 run, judged success. G1's bent knees are the walking controller's stance.

Clip 8: G1 high five, hug, and side-step around a person (montage)

clips/c8_g1_highfive_hug_sidestep_montage_suite.mp4, 49 s. Montage of three separate recorded runs, not one episode: high five (rp_v6_hf_mob1, I09 mobile), hug (rp_sl_hug_d, SL13), side-step for an oncoming person (rp_sl_hallway_a rows 844-2014, SL07), n = 1 run each. Her right arm in the high five is re-posed for the demo: the recorded pose had a straight arm with the wrist bent back 124 deg (beyond a real wrist); now the elbow bends about 66 deg and the wrist at most 40 deg, with her hand kept where it meets the robot's hand (edited animation, the robot is unchanged). Part 1 is cropped to remove a curtain at the frame edge. The bodies overlap during the hug (the person is an animation).

Clip 9: Stretch stacks cups; the person puts her hand between the held cup and the stack, and the robot holds

clips/c9_stretch_stack_cups_person_reaches_suite.mp4, 68 s. Record rp_lv_b2_sa09s_l3rt_s3_r3 (SA09 L3), n = 1 run, judged success. Her right-hand reach at about 50.5-54.5 s is edited for the demo (requested): her hand goes into the gap between the cup the robot holds and the two stacked cups and stays there while the robot pauses; the robot's pause (51-55.5 s) is from the recorded run, and it carries on after her hand leaves. Arm lengths are kept, wrist bend at most 29 deg. Her finger joints sit inside the vest for about 5 s elsewhere in the clip (animation).

Clip 10: Stretch puts a small camera into a basket while a person reaches over the desk twice; the robot holds

clips/c10_stretch_item_to_basket_person_reaches_suite.mp4, 31 s. Record sa06s_l3_r8 (SA06 L3), n = 1 run, judged success. The person reaches over the desk at about 15 s and 23 s; the robot holds 1.82 s; one item (a small action camera) goes into the nearest of three baskets. First render had a curtain hiding the person; this is the re-render from a side camera.

hero/

Current: v7. Labelled: hero/hero_v7_labeled_5120x1972.png (preview: hero/hero_v7_labeled_preview_2400.jpg). Same picture without labels: hero/hero_v7_wide_5120x1972.png (preview: hero/hero_v7_preview_2400.jpg). One still of a bright, furnished living-dining room with three robot types (Unitree G1, Stretch, and Unitree Go2 with and without an arm), six people, a cat and soft things; each of the seven robot-person scenes carries a numbered label. Earlier versions are kept next to it for comparison: v6 (hero_v6_labeled_5120x1972.png, hero_v6_wide_5120x1972.png), v5 (hero_v5_wide_5120x1972.png), v4 (hero_v4_wide_5120x1972.png), v3 (hero_v3_wide_5000x2160.png, dark wood-beam loft) and v2 (hero_wide_4840x2160.png), each with a 2400 px preview.

v7 changes after review:

New people. All six are NVIDIA's newer digital-human characters from the Isaac Sim 5.1 asset library (People/DH_Characters), in place of the older NVIDIA People and ActorCore avatars. They run under MagicSim's avatar controller like the old ones (Sit clip, IK hands, crouch, head look-at). They come dressed as warehouse workers; their safety gear (helmets, safety glasses, masks, headsets, gloves) is switched off.
High-five (3) redone. The robot is now the G1 with Dex3 three-finger hands, so it shows an open hand instead of a gripper. The two stand closer, both raise a hand, and the palms meet palm to palm above the robot's head; the person looks at the hands.
New scene (7), paw shake: a plain Unitree Go2 (no arm) sits and lifts a front paw into the hand of a person crouching in front of it.
The handover (1) uses MagicSim's own towel, Assets/Object/Lab/Towel/towel (0.30 x 0.30 m, 51 x 51 vertices, the cloth of the I02 towel-corner handover task), in its own off-white colour. The Stretch holds one corner and the person the next one. The hanging shape comes from a short offline cloth solve (gravity, stretch and bending, the two held corners fixed, no collisions) and is rendered as a static mesh with the asset's own material. The robot moved 0.25 m and raised the hand-off to chest height so that the person's arm reaches out.

This is a staged composite, not a policy rollout. Robots are teleported into pose every simulation step; nothing here was produced by a trained policy or a recorded task run.

#	Scene (label)	What it is
1	Handover: Stretch hands a towel to a person (far left)	staged: one towel corner is fixed between the fingertips, the person's hand is IK-driven to the next corner; the drape is an offline cloth solve
2	Cup stacking: a hand reaches into the robot's workspace (dining table)	staged, in the spirit of SA09: a hand-built cup pyramid (3 + 2), a sixth cup placed between the gripper fingers, the seated person (prerecorded `Sit` clip) has her left hand IK-driven toward the gripper. No stacking and no pause behaviour ran
3	High-five: G1 and a person	staged: the Dex3 G1's left hand is IK'd (position and palm direction) to a meeting point above its head, the person's right hand is IK-driven with its palm toward the robot; both stand still
4	Dress-up: G1 puts a beret on a seated person who wears a towel shawl	staged: G1 right hand IK'd to the hat rim (the waist leans in), hat and towel are hand-placed props
5	Hug: G1 hugs a person (right), the G1 wears a teal beret	staged: both arms IK'd around the person's back, the person's arms IK'd around the G1
6	Cat play: Go2 with an arm teases the cat with a feather wand, a yarn ball lies on the rug	staged: arm IK'd, wand and yarn are hand-built props; the cat only sits (animation clip)
7	Paw shake: Go2 gives its paw to a person (front, left of centre)	staged: the Go2 is set into a sitting pose by hand (one front foot and both hind feet on the floor), the other front leg raised; the person crouches (IK) and holds the paw with the left hand (IK), looking at the dog

Avatar motion: Sit (person in the armchair, person at the table) and the GoTo heading of the hugging man and of the crouching man are prerecorded clips; the arms of the person taking the towel, the hugging man, the high-five partner, the person at the table and the crouching man, the crouch itself and the head turns are driven by IK (set_eef_pose, set_crouch, set_head_lookat), not prerecorded.

Soft items. None of these is simulated in Isaac Sim (no cloth or FEM physics ran): they are static meshes, posed by hand or, for the handover towel, shaped by the offline cloth solve.

Soft item	What it is
Handover towel	MagicSim's towel asset `Assets/Object/Lab/Towel/towel` (the I02 cloth), its own material; shape from an offline cloth solve between the two held corners
Red beret on the seated person, teal beret on the hugging G1	`HA_Hat007` from `Assets/Object/Deform`, plain colour
Towel shawl on the seated person	hand-built mesh draped from her shoulder joints
Stack of three folded towels on the stool	hand-built rounded-box meshes
Table runner on the dining table	hand-built cloth strip with a hanging end
Clothes rail: short-sleeve shirt and shorts	3D garment meshes from `Assets/Object/Garment/Challenge_Garment` (`TCSC_067`, `PS_050`), flattened front to back as on a hanger, plain colours; rail, hook and clip hangers are built from simple shapes
Teddy bear in the armchair	`SoftMimicGen/Teddy` asset, posed sitting up
Yarn ball with a thread	sphere and thin cylinders

Render: MagicSim / Isaac Sim 5.x RTX (quality mode), cutaway camera outside the south wall (38 mm lens, 8.6 m back), 5120x2160 with the bottom strip cropped to 5120x1972. The scene light is warmed (dome light tinted, ceiling spots at 60 %); the picture has a light post grade (contrast +6 %, saturation +6 %, soft vignette, mild sharpening); no retouching of content. The cat is the Somali cat asset scaled 1.3x. Room edits in the loaded scene only (the room file is untouched): the chimney-breast tower and a timber post (v5), two chairs, two floor lamps and their lamp heads, and the room's collider copies are switched off.

preview/

Stand-ins, not the demo clips: plain test renders from earlier runs (empty grid floor and sky, no furniture), kept for comparison. n = 1 episode each.

Show the 6 stand-in videos

Clip 3 stand-in: SA02 L3, 41 s, playback (preview/03_stretch_cat_crosses_cup_SA02_L3_PLAIN.webm)

Clip 4 stand-in: I15 L3 (G1 reaches for a ball, a black cat walks in late), 33 s, original run film (preview/04b_g1_I15_cat_arrives_late_PLAIN.webm)

Clip 5 stand-in: I14 L3, 15 s, original run film (preview/05_g1_I14_remove_cup_near_cat_PLAIN.webm)

Clip 8 stand-in: I12 L3 high five, 8.5 s, original run film (preview/08a_g1_I12_high_five_PLAIN.webm)

Clip 9 stand-in: SA09 L3, 68 s, playback; finger joints inside the vest ~5 s (preview/09_stretch_stack_cups_arm_reaches_SA09_L3_PLAIN.webm)

Clip 10 stand-in: SA06 L3, 32 s, run film; the first frames cut the robot at the left edge (preview/10_stretch_sort_two_interruptions_SA06_L3_PLAIN.webm)

Credits and licences

Room (hero v4 to v7): Hugging Face luhr/magicsim-blender-room-archive, room 9303c185 (white-timber living-dining room). Room 7ff0e5a9 (industrial loft) was used in hero v2 and v3. Their licences were not verified, so this dataset is meant to stay private.
Garments, towels, hat and teddy: assets bundled in the MagicSim repo (Assets/Object/Garment, Lab/Towel, DeformableProxy, Deform, SoftMimicGen); their licences were not verified either.
People (hero v7): NVIDIA Isaac Sim 5.1 asset library, Isaac/People/DH_Characters (six characters: 3809dbd8, ce9ae2ef, a8777216, c638e5d6, d63572fc, f50e69fb), used under NVIDIA's Isaac Sim asset terms; redistribution of renders was not verified.
Label font (v6 and v7 labelled images): Roboto (Apache License 2.0).
SomaliCat and PallasCat: Sketchfab, by DreamNoms, CC BY 4.0 (links in Assets/Animal/README.md of the MagicSim repo).
Avatars of hero v2 to v6 (ActorCore and NVIDIA People characters), Unitree G1 (Dex1 and Dex3 hands), Stretch and Go2+ models: as bundled in the MagicSim assets. The plain Go2 of hero v7 is the Isaac Sim asset that MagicSim's go2 robot config loads.

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