Official XMLEach course is a commit-pinned HumanoidBench MJCF file. Fragment mode fetches the task XML only. Complete-world mode expands includes under humanoid_bench/assets/ and records pinned mesh URLs. Browser-visible geoms follow visual-group-after-defaults (native visual group 2 plus the published floor plane). Collision group 3 and *_collision classes are omitted; native ngeom is not the displayed count.
Same engineVisual boxes, cylinders, inline vertex meshes, and pinned STL/OBJ mesh URLs are compiled in the browser into a primitive URDF and handed to the existing inspector engine. Robot meshes retain their original source geometry. Forest3D environmental derivatives are identified in their source lock. The viewer does not add MuJoCo WASM or a browser physics step.
Published articulation onlyA body’s hinge or slide joint becomes a driven URDF joint when the XML publishes a range after class defaults. Angles are radians because the suite compiles with angle="radian"; the degree column is a unit conversion. A ball joint, a free joint, or a joint without a range stays fixed and is listed as such — the page never invents travel.
Published robot bodyThe supported complete-world assembly loads HumanoidBench’s bundled Unitree H1 with two Shadow Hands from robots/h1hand_pos.xml. That is not a Unitree product-sheet revision and not a new row on the humanoids or robots catalogue. Optional Unitree G1 env XMLs are not Galbot G1. Licences stay per component: HumanoidBench compound (env/task XML), Unitree notice (H1 meshes), Apache-2.0 (Shadow Hands).
Recorded rolloutThe HumanoidBench cabinet episode is site-generated from unmodified pinned HumanoidEnv and Cabinet (gym.make, reset, random action_space.sample(), step). Reward and current_subtask are recorded task outputs. That failed random rollout stays an honest failure example. The twelve Meta-World recordings use each task’s unmodified scripted policy. They show native success for reaching, pushing, picking, opening, insertion, sweeping, basketball and hammering. These are scripted demonstrations, not learned-policy benchmark scores. Timeline play, seek, and frame-step replay those artefacts. Reduced motion stays paused. Space still orbits. P plays or pauses, comma and period step samples, Home and End jump ends. A shareable ?episode=&t=&speed=&loop= query never autoplays. Follow uses a source-mapped body (cabinet pelvis, LIBERO robot0_link0, Meta-World hand) as viewer look-at, not a recorded camera.
Recorded demonstrationThe LIBERO wooden-cabinet demonstration binds official demo_0 from the pinned Hugging Face HDF5 after restoring the embedded model_file. Timeline play, seek, and frame-step replay recorded flattened states through set_init_state on that recorded scene, not on the official .pruned_init workcell. Actions are stored and not re-applied. Follow robot0_link0 is viewer look-at, not a recorded camera. Source seed is unpublished. One successful episode is an example, not a benchmark score.
Physical recordingThe two DROID cards are physical human demonstrations, not simulation runs, autonomous policies, or reconstructed 3D worlds. Playback follows measured control timestamps (~14 Hz). Encoded camera clips are 60 fps and shorter than the physical duration; they are never treated as the task clock. Dataset-reported success=true is raw-metadata attribution, not a native score. Sample index i maps to encoded frame i. Registered 3D overlay is unpublished: neither UUID is in KarlP/droid cam2base_extrinsics.json at bcb840c3…. P plays or pauses, comma and period step samples, Home and End jump ends. A shareable ?episode=&t=&speed=&loop=&camera= query never autoplays.