mujoco-run-debug

Name: mujoco-run-debug
Author: Hebbian-Robotics

15stars0forks

How to install mujoco-run-debug?

hebbian-robotics/mujoco-workbench/mujoco-run-debug

$npx -y skills add Hebbian-Robotics/mujoco-workbench --skill mujoco-run-debug

Installs into the current project.

Summary

Use this when an agent needs to run mujoco-workbench scenes, inspect Viser/Rerun behavior, render snapshots or camera grids, export videos, run mwb debug commands, or produce file-based artifacts for simulation debugging.

Files · 1

View on GitHub

SKILL.md

1	# Mujoco Run Debug
2
3	Use `uv run mwb` as the only public CLI.
4
5	Primary scene:
6
7	```bash
8	examples.scenes.mobile_aloha_piper_indicator_check
9	```
10
11	Run the interactive Viser scene:
12
13	```bash
14	uv run mwb run examples.scenes.mobile_aloha_piper_indicator_check
15	```
16
17	Inspect without starting Viser:
18
19	```bash
20	uv run mwb run examples.scenes.mobile_aloha_piper_indicator_check --inspect
21	```
22
23	Render a snapshot:
24
25	```bash
26	uv run mwb debug snapshot \
27	--scene examples.scenes.mobile_aloha_piper_indicator_check \
28	--t 22 \
29	--camera top_d435i_cam \
30	--out /tmp/camera.png
31	```
32
33	Render a camera grid:
34
35	```bash
36	uv run mwb debug grid \
37	--scene examples.scenes.mobile_aloha_piper_indicator_check \
38	--t 22 \
39	--out /tmp/grid.png
40	```
41
42	Check timeline clearance after changing scene geometry or motion:
43
44	```bash
45	uv run mwb debug clearance \
46	--scene examples.scenes.mobile_aloha_piper_indicator_check \
47	--sample-dt 0.50 \
48	--max-distance 0.005 \
49	--exact-geom \
50	--top 12
51	```
52
53	`clearance` reports the worst arm-arm, arm-static, arm-grippable, and
54	grippable-static pairs with time and active step labels. It exits 0 by default
55	because some tasks intentionally touch objects; add `--fail-below 0` when any
56	penetration should fail the run.
57
58	Calculate placement values before hand-tuning camera/contact poses:
59
60	```bash
61	# Aim a MuJoCo fixed camera at a world target; output is ready for xyaxes.
62	uv run mwb debug camera-look-at \
63	--position 5.10,0.79,1.08 \
64	--target 5.10,1.04,1.00
65
66	# Pick a clearance point just outside a scene object.
67	uv run mwb debug surface-point \
68	--scene examples.scenes.mobile_aloha_piper_indicator_check \
69	--geom light_left_r3_s10 \
70	--normal 0,-1,0 \
71	--clearance 0.02
72
73	# Back a TCP/camera away from the target along an approach ray.
74	uv run mwb debug standoff \
75	--target 5.10,1.04,1.00 \
76	--direction 0,1,0 \
77	--distance 0.25
78	```
79
80	Print the task plan:
81
82	```bash
83	uv run mwb debug plan --scene examples.scenes.mobile_aloha_piper_indicator_check
84	```
85
86	Run phase contracts and write artifacts:
87
88	```bash
89	uv run mwb debug contracts \
90	--scene examples.scenes.mobile_aloha_piper_indicator_check \
91	--out-root results/runs
92	```
93
94	Export the indicator-check multi-camera videos:
95
96	```bash
97	uv run mwb video-export --out-dir /tmp/pov
98	```
99
100	Use `results/` for repo-local artifacts and `/tmp` for scratch renders. Avoid
101	committing generated videos, logs, caches, or run artifacts.
102
103	Headless rendering sets `MUJOCO_GL` before importing MuJoCo: `glfw` on macOS,
104	`egl` on Linux. If rendering fails on Linux, suspect EGL/driver availability
105	before changing scene code.

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mujoco-run-debug

15stars0forks

View on GitHub

How to install mujoco-run-debug?

hebbian-robotics/mujoco-workbench/mujoco-run-debug

$npx -y skills add Hebbian-Robotics/mujoco-workbench --skill mujoco-run-debug

Installs into the current project.

Summary

Files · 1

View on GitHub

SKILL.md

1	# Mujoco Run Debug
2
3	Use `uv run mwb` as the only public CLI.
4
5	Primary scene:
6
7	```bash
8	examples.scenes.mobile_aloha_piper_indicator_check
9	```
10
11	Run the interactive Viser scene:
12
13	```bash
14	uv run mwb run examples.scenes.mobile_aloha_piper_indicator_check
15	```
16
17	Inspect without starting Viser:
18
19	```bash
20	uv run mwb run examples.scenes.mobile_aloha_piper_indicator_check --inspect
21	```
22
23	Render a snapshot:
24
25	```bash
26	uv run mwb debug snapshot \
27	--scene examples.scenes.mobile_aloha_piper_indicator_check \
28	--t 22 \
29	--camera top_d435i_cam \
30	--out /tmp/camera.png
31	```
32
33	Render a camera grid:
34
35	```bash
36	uv run mwb debug grid \
37	--scene examples.scenes.mobile_aloha_piper_indicator_check \
38	--t 22 \
39	--out /tmp/grid.png
40	```
41
42	Check timeline clearance after changing scene geometry or motion:
43
44	```bash
45	uv run mwb debug clearance \
46	--scene examples.scenes.mobile_aloha_piper_indicator_check \
47	--sample-dt 0.50 \
48	--max-distance 0.005 \
49	--exact-geom \
50	--top 12
51	```
52
53	`clearance` reports the worst arm-arm, arm-static, arm-grippable, and
54	grippable-static pairs with time and active step labels. It exits 0 by default
55	because some tasks intentionally touch objects; add `--fail-below 0` when any
56	penetration should fail the run.
57
58	Calculate placement values before hand-tuning camera/contact poses:
59
60	```bash
61	# Aim a MuJoCo fixed camera at a world target; output is ready for xyaxes.
62	uv run mwb debug camera-look-at \
63	--position 5.10,0.79,1.08 \
64	--target 5.10,1.04,1.00
65
66	# Pick a clearance point just outside a scene object.
67	uv run mwb debug surface-point \
68	--scene examples.scenes.mobile_aloha_piper_indicator_check \
69	--geom light_left_r3_s10 \
70	--normal 0,-1,0 \
71	--clearance 0.02
72
73	# Back a TCP/camera away from the target along an approach ray.
74	uv run mwb debug standoff \
75	--target 5.10,1.04,1.00 \
76	--direction 0,1,0 \
77	--distance 0.25
78	```
79
80	Print the task plan:
81
82	```bash
83	uv run mwb debug plan --scene examples.scenes.mobile_aloha_piper_indicator_check
84	```
85
86	Run phase contracts and write artifacts:
87
88	```bash
89	uv run mwb debug contracts \
90	--scene examples.scenes.mobile_aloha_piper_indicator_check \
91	--out-root results/runs
92	```
93
94	Export the indicator-check multi-camera videos:
95
96	```bash
97	uv run mwb video-export --out-dir /tmp/pov
98	```
99
100	Use `results/` for repo-local artifacts and `/tmp` for scratch renders. Avoid
101	committing generated videos, logs, caches, or run artifacts.
102
103	Headless rendering sets `MUJOCO_GL` before importing MuJoCo: `glfw` on macOS,
104	`egl` on Linux. If rendering fails on Linux, suspect EGL/driver availability
105	before changing scene code.

People who liked this also viewed

6 picks

Type