Multibody Lab — C++ / WebAssembly

Simulation Space: pause · R: reset

scene.py → .mbscene.json → generic WASM ABI

Actors Impulse perturbation

Spawn rigid body Keys 1–4

PD trajectory controller

Timeline speed1.00×

Trajectory amplitude1.00

Motor effort scale1.00×

Root balance PD0.72

Enable trajectory targets

Constraints & collision

Non-adjacent self-collision

Draw contact normals

Draw driven joint axes

Solver iterations22

Gravity−9.81

Solver telemetry

Simulation time

0.00 s

Contacts

Rigid bodies

Joints

Self contacts

Max penetration

0.0 mm

0Boxes

0Spheres

0Capsules

0Cylinders

0Convex

PD tracking actual / target

Scene compiler

Python validates convex geometry, contacts, actuators, trajectories, and sensors. The browser constructs the world through a generic C ABI, while native Python loads the same C++ core through ctypes.

Drag to orbit · wheel to zoom · double-click to reset camera

Creating sensorimotor scene

Loading generic WebAssembly engine