--- pipeline_tag: robotics library_name: mujoco language: - en - ko license: apache-2.0 short_description: "MuJoCo v3.3.0 10-in-1 Cute Playable Physics Arcade & Physical AI Sandbox with 3-Way Cameras, Procedural Web Audio BGM, and Smart Autonomous Robotics Controllers by HWIHWA LAB." tags: - mujoco - physical-ai - robotics - robotics-environment - robot-learning - control-systems - sim-to-real - reinforcement-learning - reinforcement-learning-environments - gymnasium - gym - autonomous-agents - cartpole - inverted-pendulum - lqr - pure-pursuit - inverse-kinematics - pid-controller - multi-body-dynamics - physics-simulation - physics-engine - game-physics - digital-twin - simulation - web-game - arcade - interactive-demo - web-audio-api - procedural-generation - zero-asset - fall-guys - party-animals - educational - solopreneur - fastapi - hwihwalab --- # ๐Ÿฌ Jelly Bean PlayEngine: 10 Pop Physics Bricks & Robotics Sandbox [![Language: English](https://img.shields.io/badge/Language-English-007ACC)](#) [![Language: ํ•œ๊ตญ์–ด](https://img.shields.io/badge/Language-ํ•œ๊ตญ์–ด-7cb342)](README_KR.md) [![๐Ÿค— Spaces 3D Live Arcade](https://img.shields.io/badge/๐Ÿค—%20Spaces%203D%20Live-PlayEngine-blue?logo=huggingface)](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) [![HWIHWA LAB](https://img.shields.io/badge/Research%20Lab-HWIHWA%20LAB-d0f991?labelColor=050807)](https://huggingface.co/hwihwalab) [![License: Apache 2.0](https://img.shields.io/badge/License-Apache%202.0-green.svg)](https://huggingface.co/hwihwalab/mujoco-physics-playengine/blob/main/LICENSE) [![MuJoCo](https://img.shields.io/badge/MuJoCo-WebAssembly%20(500Hz%20PGS)-E11D48?logo=google)](https://mujoco.org) [![Physics Core](https://img.shields.io/badge/Physics-10--in--1%20Procedural%20Bricks-9d4edd)](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) [![Engine](https://img.shields.io/badge/Engine-100%25%20Client--Side%20WASM%20(60%20FPS)-06B6D4)](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) [![Robotics](https://img.shields.io/badge/Robotics-LQR%20%C2%B7%20Pure%20Pursuit%20%C2%B7%20IK-10B981)](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) [![Audio](https://img.shields.io/badge/Audio-0%20KB%20Web%20Audio%20Synthesis-ff7b00)](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) > โ€œ**Jelly Bean PlayEngine: 10-in-1 Cute Playable Physics Arcade & Physical AI Sandbox | HWIHWA LAB** > A high-performance interactive physics playground and autonomous robotics sandbox built on Google DeepMind's MuJoCo WebAssembly engine (60 FPS Three.js WebGL client-side rendering) and 500Hz PGS numerical solver ($dt=0.002\text{s}$). Features 10 standalone procedural physics bricks, zero Docker/backend server dependency, autonomous robotics controllers (LQR inverted pendulum balancer, Pure Pursuit waypoint navigation, 3-stage Inverse Kinematics claw rescue, ballistic demolition sniper), 3-way camera perspective switching, and zero-asset procedural 8-bit chiptune audio synthesis. > > ๐ŸŒ [English Documentation](https://huggingface.co/hwihwalab/mujoco-physics-playengine) | ๐Ÿ‡ฐ๐Ÿ‡ท [ํ•œ๊ตญ์–ด ๋งค๋‰ด์–ผ](https://huggingface.co/hwihwalab/mujoco-physics-playengine/blob/main/README_KR.md) | ๐Ÿฌ [Interactive 3D Arcade](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine)โ€ > *Developed by [Hwihwa Lab](https://github.com/Hwihwa-Lab) ยท AI ร— Automation ร— Aesthetics โœจ*
Jelly Bean PlayEngine 10 Physics Bricks
--- ## ๐ŸŒ English Documentation ### โšก Real-Time Physics & Robotics Architecture **Jelly Bean PlayEngine** transforms academic multi-body dynamics into a vibrant, high-performance 3D arcade. Built on **MuJoCo WebAssembly** with a 500Hz numerical solver (`dt=0.002s`) and 60 FPS Three.js WebGL client-side rendering, it delivers zero-latency interactive physics with 100% procedural geometric assets, autonomous robotics controllers (LQR, Pure Pursuit, Inverse Kinematics), zero Docker or server dependencies, and pure Web Audio API sound synthesis. ```text +---------------------------------------------------------------------------------------------------+ | ๐Ÿฌ JELLY BEAN PLAYENGINE [STATUS: ENGINE LIVE] | | Physical AI Sandbox & Arcade | HWIHWA LAB | +---------------------------------+---------------------------------+-------------------------------+ | ๐Ÿ‘ˆ 10 CUTE PHYSICS BRICKS | ๐ŸŽฎ 3D INTERACTIVE VIEWPORT | ๐Ÿ‘‰ PARAMETER CONTROL DECK | | - 01 Jelly Bean Skydiving Party | - 60 FPS Three.js WebGL (WASM) | - Human vs Smart AI Toggle | | - 02 Ball Pool Pinball Carnival | - 3-Way Camera (Front/45ยฐ/Top) | - Gravity Accelerator Slider | | - 03 Domino Knockdown Strike | - Victory Particle Confetti | - Dynamic Cannon Power Tuning | | - ... 10 Macaron Tower Cannon | - Keyboard Input Visualizer | - Standalone Python/XML Code | +---------------------------------+---------------------------------+-------------------------------+ ``` --- ### โญ The 4 Major System Upgrades 1. **๐Ÿ† Game-Specific Victory Banners with Confetti & Fanfares**: - Every mini-game features clear win conditions (e.g., `DOMINO CLEARED!`, `ALL COINS COLLECTED!`, `PINK BEAN WINS!`, `360ยฐ LOOP MASTER!`, `TOWER ANNIHILATED!`, `GOLDEN BALANCER!`). - Celebrated with dynamic canvas particle confetti explosions and browser-synthesized brass fanfares. 2. **๐ŸŽฅ 3-Way Camera Perspective Switcher**: - Seamlessly switch between **Front View (`cam_front`)**, **45ยฐ Quarter Isometric (`cam_quarter`)**, and **Top-Down Aerial (`cam_topdown`)** with a single click or by pressing the **[C]** key. 3. **๐ŸŽต Kawaii 8-Bit Chiptune BGM (Pure Web Audio API)**: - Zero-byte download footprint: 100% procedurally synthesized in JavaScript via Web Audio API. - Upbeat pentatonic arpeggios with syncopated bouncy bassline. Toggle on/off anytime via the top header button `[๐ŸŽต BGM ON/OFF]`. 4. **๐Ÿค– 10-Game Smart AI Autonomous Controllers**: - In addition to human manual keyboard control, every mini-game features an intelligent autonomous AI controller: - **Game 01**: 1.6s Optimal Rhythm Drop AI - **Game 02**: Ball Pool Dual-Flipper Reaction Reflex AI - **Game 03**: Ballistic Domino Impact Striker AI - **Game 04**: Phase-Resonance 360ยฐ Swing Momentum Pumping AI - **Game 05**: Double Pendulum Acrobat Kick AI - **Game 06**: Hydrodynamic Slipstream Photo-Finish Boost AI - **Game 07**: LQR Inverted Pendulum Lollipop Cart Balancer AI - **Game 08**: Pure Pursuit Autonomous Navigation & 5-Coin Collector AI - **Game 09**: 3-Stage Inverse Kinematics (IK) Plushie Claw Rescue AI - **Game 10**: Center-of-Mass (CoM) Ballistic Demolition Sniper AI --- ### ๐Ÿงธ The 10 Pop Physics Mini-Games & Controls #### ๐ŸŽฎ Universal Global Keyboard Shortcuts | Key | Function | Description | |:---:|:---|:---| | **`Space`** | **Primary Action Trigger** | Start simulation / Drop bean / Flap pinball rain / Strike domino / Acrobatic kick / Fire cannon | | **`R`** | **Instant Reset** | Rebuilds arena and resets all objects, timers, and HUD metrics to initial ready state | | **`C`** | **Cycle 3-Way Camera** | Switches perspective instantly: `Front ๐ŸŽฅ` โž” `45ยฐ Quarter ๐Ÿ“` โž” `Top-Down ๐Ÿš` | | **`M`** | **Smart AI / Manual Mode** | Toggles between Human Manual Control and Autonomous Smart AI Auto-Pilot | | **`F`** | **16:9 Widescreen Fullscreen** | Toggles immersive full-screen arcade viewport | #### ๐Ÿ•น๏ธ 10 Mini-Games Dual Controls (WASD & Arrow Keys) | # | Game Title | MuJoCo Physics Core | Target Goal & Gameplay | Controls (Dual WASD & Arrow Keys) | |---|------------|---------------------|------------------------|-----------------------------------| | **01** | **Jelly Bean Skydiving Party** | Multi-Agent Gravity & Floor Impact | Drop beans from the sky to safely pile up on foam mat | `Space`: Drop Extra Bean, `R`: Reset | | **02** | **Ball Pool Pinball Carnival** | Multi-Body Elastic Collision & Contact | Flip bumpers to bounce gumballs and score 1,000 pts | `A`/`D` or `โ†`/`โ†’`: Left/Right Flippers, `Space`: Rain | | **03** | **Domino Knockdown Strike** | Kinetic Chain Reaction & Momentum Transfer | Topple 7 dominoes to strike down the Gold Star target | `Space`: Strike 1st Domino, `R`: Reset | | **04** | **Giant Carnival Swing 360ยฐ** | Revolute Joint Kinematics & Resonance | Rhythm pumping to overcome gravity and execute a 360ยฐ loop | `W`/`โ†‘` or `Space`: Momentum Pump, `R`: Reset | | **05** | **Jelly Bean Acrobatic Twin** | Double Pendulum Chaotic Dynamics | Direct joint torque & aerial 3x somersault combo in the sky | `W`/`S` or `โ†‘`/`โ†“` (Joint 1), `A`/`D` or `โ†`/`โ†’` (Joint 2), `Space`: Chaos Kick | | **06** | **Waterpark Candy Slide Race** | Incline Tribology & Coulomb Friction | Pink Bean vs Mint Bean! Slide down rainbow ramp to splash pool | `Space`: Start, `A`/`โ†`: Pink Boost, `D`/`โ†’`: Mint Boost | | **07** | **Pudding Cart Balancer (โญ Flagship)** | **CartPole / Inverted Pendulum (RL)** | Balance Pink Bean on cart for 15s to win Golden Balancer | `A`/`D` or `โ†`/`โ†’`: Push Cart, `M`: AI Mode | | **08** | **Bumper Car Coin Collector** | **4-Wheel Chassis & Traction Dynamics** | Drive bumper car around arena to collect all 5 Star Coins | `W`/`S`/`A`/`D` or `โ†‘`/`โ†“`/`โ†`/`โ†’`: Drive & Steer (Compound Hold) | | **09** | **Toy Claw Machine & Plushie Bean** | **2-DOF Robotic Arm (Robotics)** | Position robotic arm and activate magnetic grip to rescue plushie | `W`/`S` or `โ†‘`/`โ†“`: Shoulder, `A`/`D` or `โ†`/`โ†’`: Elbow, `Space`: Magnet | | **10** | **Macaron Tower & Cannonball Bean** | Multi-Body Structural Collapse & Ballistics | Adjust cannon power and fire cannonball to crush 9-story tower | `Space`: Fire Cannon, `W`/`S` or `โ†‘`/`โ†“`: Power (0.4x~2.5x) | --- ### ๐Ÿš€ Run Locally (Standalone Desktop App Mode) Clone and run in zero-install standalone desktop app mode (no browser address bar): ```bash git clone https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine cd mujoco-physics-playengine # Install dependencies pip install -r requirements.txt # Launch Standalone Cockpit Window (No address bar) python run.py ``` *(Windows users can simply double-click `PlayEngine.bat`)* --- ## ๐Ÿ“‚ Repository Contents * `README.md`: Official Model Card overview & comprehensive English documentation. * `README_KR.md`: Full Korean comprehensive manual ([ํ•œ๊ตญ์–ด ๋งค๋‰ด์–ผ](README_KR.md)). * `mujoco_playengine_bundle.zip`: Complete production bundle containing all 10 MuJoCo procedural physics bricks, LQR/IK controllers, FastAPI server, and zero-asset Cybernetic Bento web cockpit. * `assets/banner.png`: Official 16:9 3D rendered showcase cover banner. * [`LICENSE`](https://huggingface.co/hwihwalab/mujoco-physics-playengine/blob/main/LICENSE): Official [Apache 2.0 Open-Source License](https://www.apache.org/licenses/LICENSE-2.0). --- ## ๐Ÿ‘ค About HWIHWA LAB > *โ€œAI ร— Automation ร— Aesthetics โ€” Crafting tools you'll love โœจโ€* **HWIHWA LAB** is an independent AI research & engineering studio dedicated to blending **practical on-device intelligence, autonomous operations, and refined aesthetics**. We engineer resilient systems that free solopreneurs and indie creators from operational overheadโ€”giving people their time and creative joy back. ### ๐Ÿ”ฌ Core Research & Engineering Pillars - **Embodied AI & Physical Dynamics**: Researching physics-based reinforcement learning (RL), multi-body kinematics, and autonomous robotics control brains (LQR, MPC, Pure Pursuit, Inverse Kinematics). - **Zero-Asset Procedural Engineering**: Designing zero-cost web architectures synthesizing 3D geometry and audio purely via code and mathematical formulations without heavy texture downloads. - **Autonomous Decision OS**: Engineering deterministic, prefrontal-cortex-style reasoning architectures and state machine governance for complex physical environments. - **Interactive Creative Aesthetics**: Fusing functional automation with refined visual craft and modern design philosophy to build delightful tools. ### ๐ŸŒ Physical AI & Robotics Ecosystem (Cross-Links) - **Official Hub**: [๐Ÿค— Hugging Face (@hwihwalab)](https://huggingface.co/hwihwalab) - **๐Ÿš€ Related Robotics & Game AI Showcase**: - ๐Ÿฌ **Physics Bricks & Web Arcade**: [mujoco-physics-playengine](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) *(Current Project)* โ€” 10 MuJoCo procedural physics bricks & autonomous robotics arcade. - ๐Ÿ•น๏ธ **Inverted Pendulum Control (PPO)**: [cartpole-v1-ppo](https://huggingface.co/hwihwalab/cartpole-v1-ppo) โ€” Reinforcement learning benchmark directly paired with Brick #07 Cart Balancer. - ๐Ÿค– **Bimanual Robotic Manipulation**: [act-aloha-sim-transfer-cube](https://huggingface.co/hwihwalab/act-aloha-sim-transfer-cube) โ€” Action Chunking Transformer simulation paired with Brick #09 Claw Machine kinematics. - ๐Ÿฆ† **3D Bipedal Locomotion & Teleop**: [microduck-3d-bipedal-teleop](https://huggingface.co/spaces/hwihwalab/microduck-3d-bipedal-teleop) โ€” 3D interactive bipedal robotics simulator running live in browser. - ๐Ÿซ **Indie Game Studio Decision Brain**: [CHOCO-BRAIN-v1](https://huggingface.co/hwihwalab/connectailab-CHOCO-BRAIN-v1) โ€” Edge prefrontal reasoning cortex for solo indie game creators & studio operations. --- ## ๐Ÿ“œ License Distributed under the [Apache 2.0 License](https://www.apache.org/licenses/LICENSE-2.0). See the [LICENSE](https://huggingface.co/hwihwalab/mujoco-physics-playengine/blob/main/LICENSE) file for complete details. ---
๐Ÿ‡ฐ๐Ÿ‡ท ํ•œ๊ตญ์–ด ์š”์•ฝ ์•ˆ๋‚ด (Click to expand Korean summary)
> **Jelly Bean PlayEngine**์€ ํ•™์ˆ  ์—ฐ๊ตฌ์šฉ ๋‹ค์ฒด ๋™์—ญํ•™ ์—”์ง„์ธ **MuJoCo v3.3.0**์˜ ๊ฐ•๋ ฅํ•œ ์ˆ˜์น˜ ํ•ด์„ ์—ญ๋Ÿ‰์„ ๋Œ€์ค‘ ์นœํ™”์ ์ธ ์ธํ„ฐ๋ž™ํ‹ฐ๋ธŒ 3D ์•„์ผ€์ด๋“œ๋กœ ์Šนํ™”์‹œํ‚จ **Physical AI & ๋กœ๋ณดํ‹ฑ์Šค ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ํ”Œ๋žซํผ**์ž…๋‹ˆ๋‹ค. > 10๋Œ€ ๋ฏธ๋‹ˆ๊ฒŒ์ž„์˜ ์‹ฌ์ธต ๋ฌผ๋ฆฌ ํ•ด์„ ์ˆ˜์‹, ๋กœ๋ณดํ‹ฑ์Šค ์ œ์–ด ์•Œ๊ณ ๋ฆฌ์ฆ˜ ๋ฐ ์ƒ์„ธ ํ”Œ๋ ˆ์ด ๊ฐ€์ด๋“œ๋Š” **[๐Ÿ“– ํ•œ๊ตญ์–ด ๋งค๋‰ด์–ผ](README_KR.md)**์—์„œ ํ™•์ธํ•˜์‹ค ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค. #### ๐ŸŽฎ ํ•„์ˆ˜ ๊ณตํ†ต ๋‹จ์ถ•ํ‚ค ์š”์•ฝ (Quick Shortcuts) | ๋‹จ์ถ•ํ‚ค | ๊ธฐ๋Šฅ ๋ช…์นญ | ์ƒ์„ธ ์„ค๋ช… | |:---:|:---|:---| | **`Space`** | **์ฃผ์š” ์•ก์…˜ ์‹คํ–‰** | ๋ฌผ๋ฆฌ ์‹œ์ž‘ / ์ ค๋ฆฌ๋นˆ ํˆฌํ•˜ / ๋„๋ฏธ๋…ธ ๋Œ๊ฒฉ / ์•„ํฌ๋กœ๋ฐ”ํ‹ฑ ํ‚ฅ / ๋Œ€ํฌ ๋ฐœ์‚ฌ ์ฆ‰์‹œ ํŠธ๋ฆฌ๊ฑฐ | | **`R`** | **์›์œ„์น˜ ์ฆ‰๊ฐ ๋ฆฌ์…‹** | ๋ชจ๋“  ์˜ค๋ธŒ์ ํŠธ ์œ„์น˜, ํƒ€์ด๋จธ, ์‹ค์‹œ๊ฐ„ ์ ์ˆ˜ HUD๋ฅผ ๋Œ€๊ธฐ(Ready) ์ดˆ๊ธฐ ์ƒํƒœ๋กœ ์›์ƒ ๋ณต๊ตฌ | | **`C`** | **3-Way ์นด๋ฉ”๋ผ ์ „ํ™˜** | ์ •๋ฉด ๋ทฐ(Front ๐ŸŽฅ) โž” 45๋„ ์ฟผํ„ฐ ๋ทฐ(Quarter ๐Ÿ“) โž” ํƒ‘๋‹ค์šด ๋ทฐ(Top-Down ๐Ÿš) ์ˆœํ™˜ ์ „ํ™˜ | | **`M`** | **์Šค๋งˆํŠธ AI / ์ˆ˜๋™ ํ† ๊ธ€** | ์ธ๊ฐ„ ํ”Œ๋ ˆ์ด์–ด ์ง์ ‘ ์ˆ˜๋™ ์กฐ์ž‘ โ†” ๋˜‘๋˜‘ํ•œ ์Šค๋งˆํŠธ AI ์ž์œจ์ฃผํ–‰ ๋ชจ๋“œ ์›ํด๋ฆญ ์ „ํ™˜ | | **`F`** | **16:9 ์™€์ด๋“œ ์ „์ฒดํ™”๋ฉด** | ๊ตฐ๋”๋”๊ธฐ ์—†๋Š” ์•„์ผ€์ด๋“œ ์ฝ•ํ• ์ „์ฒดํ™”๋ฉด ๋ชฐ์ž… ๋ชจ๋“œ ํ† ๊ธ€ | ๐Ÿ‘‰ **[๐Ÿ“– 10๋Œ€ ๋ฏธ๋‹ˆ๊ฒŒ์ž„๋ณ„ ์ƒ์„ธ ์กฐ์ž‘๋ฒ• & ๋ฌผ๋ฆฌ ์ด๋ก  ์ „์ฒด๋ณด๊ธฐ](README_KR.md)**
--- *Designed and engineered with [Jelly Bean PlayEngine](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) by **HWIHWA LAB** ([@hwihwalab](https://huggingface.co/hwihwalab))*