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liyang/wasm-bimanual-grasp

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liyang aed6e20a90 双臂操作沙盒(MuJoCo WASM 浏览器版)首次入库

从 ~/mujoco-web-spike 抽出 manip.html 的依赖闭包:
- manip.html + src/{manip,autograsp,scene-bridge,math}.js
- scenes/so101_pair(桌面并排两台 SO-101,默认)与 scenes/p7_bimanual(P7 双臂 + SO-101 夹爪)
  —— 自包含 MJCF,网格已内联
- serve.py(COOP/COEP + no-store 的静态服务器)、start.sh、README
- tools/export_manip_scene.py 场景生成脚本(仅供参考,跑页面不需要)

快照对应 2026-08-31 的最后一次改动(自动抓取规划 autograsp.js 落地版)。

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_016tgfYxR5mWNRKQ67PKga4T

2026-09-01 17:16:41 +08:00

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 __pycache__/
 *.pyc
 *.bak
 MUJOCO_LOG.TXT
 .DS_Store
 release/