PingPongFSM Web Demo

Browser replay demo for a table-tennis robot workflow.

The app has two modes:

• Replay: recorded MuJoCo playback with ball, racket, target, and contact overlays.
• Physics: browser-side simplified physics mode. It runs MuJoCo WASM and a user-uploaded ONNX policy through onnxruntime-web.

Replay defaults to public/trajectories/pingpongfsm_play_20s.json. Use Upload NPZ in the UI to load replay .npz files directly in the browser; converted .json files are also accepted. Use Upload ONNX to enable Physics mode. The upload contract is documented in docs/replay_protocol.md.

Run

npm install
npm run dev -- --host 0.0.0.0 --port 5175

Production check:

npm run build
npm run preview -- --host 0.0.0.0 --port 4175

Convert Replay Files

python3 scripts/convert_replay_npz.py --out-dir ./converted input.npz

Source Data

• Scene: public/assets/g1_description/g1_scene_table_tennis_movable.xml
• Robot: public/assets/g1_description/g1_robot_movable_base.xml
• Meshes: public/assets/g1_description/meshes/
• Trajectory: public/trajectories/pingpongfsm_play_20s.json Policy files are intentionally not committed. Upload an ONNX file in the UI to run Physics mode.

Next Step

Physics mode is a browser demo. It is not the production controller.