liyang
aed6e20a90
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
9 lines
404 B
Bash
Executable File
9 lines
404 B
Bash
Executable File
#!/usr/bin/env bash
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# 启动双臂操作沙盒的静态服务器并打印访问地址。用法: ./start.sh [端口,默认 8000]
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cd "$(dirname "$0")"
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PORT="${1:-8000}"
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echo "双臂操作沙盒(默认,两台 SO-101): http://127.0.0.1:${PORT}/manip.html"
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echo "P7 双臂 + SO-101 夹爪场景: http://127.0.0.1:${PORT}/manip.html?scene=p7_bimanual"
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echo "Ctrl+C 停止"
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exec python3 serve.py "$PORT"
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