Interface and simulation¶
The scene is made of resources¶
Sim2Bot organizes the workspace into robots, objects, cameras, lights, sensors, rooms, and an environment. These resources appear in the Scene Tree and have task-oriented inspector panels. Cameras are scene-level streams even when they are mounted on a robot; the mount describes the relationship without changing stream identity.
Simulator and Edit modes¶
- Simulator mode interacts with the running physical scene. Dragging a robot link applies a force rather than teleporting it.
- Edit mode changes authored scene placement. Translation and rotation gizmos position robots, objects, cameras, and supported room elements.
Pause the simulation before making exact structural edits when you do not want physics to react during placement.
Physics resolution versus wall-clock scheduling¶
MuJoCo integrates the model at its configured timestep. A timestep of 0.002 s
means a simulated physics/control resolution of 500 Hz. This is similar in spirit
to a real robot's low-level control loop, but it is not the same scheduling model.
In the current browser runtime, MuJoCo steps happen in bursts inside the browser frame loop rather than in an independent real-time servo thread. The timestep therefore gives high simulation resolution, while command and display updates remain subject to browser scheduling.
Telemetry and displays¶
Telemetry packets can contain a high-rate samples batch so consumers retain
physics-substep information without requiring a 500 Hz network packet rate. GUI
derivative smoothing is display-only; SDK telemetry and exports retain raw
velocity, acceleration, and jerk values.
Cameras¶
Camera rendering is subscription-gated. A camera can be world-mounted, attached to a robot, attached to an object, or associated with a sensor anchor. Its global camera ID is used to subscribe; robot indices are used only for robot commands and per-robot telemetry.
Performance¶
Use the renderer's performance profiles on weaker machines. Keep the Quality / Current profile when exact authored appearance matters, and reduce reflections, shadows, camera previews, or resolution when throughput matters more.
Background tabs
Browsers may heavily throttle hidden tabs. Keep Sim2Bot visible while running a controller that depends on stable command, telemetry, or camera cadence.