Blame for README.md

---

pipeline_tag: robotics
library_name: mujoco
language:
  - en
  - ko
license: apache-2.0
short_description: "MuJoCo v3.3.0 10-in-1 Cute Playable Physics Arcade & Physical AI Sandbox with 3-Way Cameras, Procedural Web Audio BGM, and Smart Autonomous Robotics Controllers by HWIHWA LAB."
tags:
  - mujoco
  - physical-ai
  - robotics
  - robotics-environment
  - robot-learning
  - control-systems
  - sim-to-real
  - reinforcement-learning
  - reinforcement-learning-environments
  - gymnasium
  - gym
  - autonomous-agents
  - cartpole
  - inverted-pendulum
  - lqr
  - pure-pursuit
  - inverse-kinematics
  - pid-controller
  - multi-body-dynamics
  - physics-simulation
  - physics-engine
  - game-physics
  - digital-twin
  - simulation
  - web-game
  - arcade
  - interactive-demo
  - web-audio-api
  - procedural-generation
  - zero-asset
  - fall-guys
  - party-animals
  - educational
  - solopreneur
  - fastapi
  - hwihwalab
---


# 🍬 Jelly Bean PlayEngine: 10 Pop Physics Bricks & Robotics Sandbox

[![Language: English](https://img.shields.io/badge/Language-English-007ACC)](#) [![Language: 한국어](https://img.shields.io/badge/Language-한국어-7cb342)](README_KR.md) [![🤗 Spaces 3D Live Arcade](https://img.shields.io/badge/🤗%20Spaces%203D%20Live-PlayEngine-blue?logo=huggingface)](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) [![HWIHWA LAB](https://img.shields.io/badge/Research%20Lab-HWIHWA%20LAB-d0f991?labelColor=050807)](https://huggingface.co/hwihwalab) [![License: Apache 2.0](https://img.shields.io/badge/License-Apache%202.0-green.svg)](https://huggingface.co/hwihwalab/mujoco-physics-playengine/blob/main/LICENSE)

[![MuJoCo](https://img.shields.io/badge/MuJoCo-WebAssembly%20(500Hz%20PGS)-E11D48?logo=google)](https://mujoco.org) [![Physics Core](https://img.shields.io/badge/Physics-10--in--1%20Procedural%20Bricks-9d4edd)](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) [![Engine](https://img.shields.io/badge/Engine-100%25%20Client--Side%20WASM%20(60%20FPS)-06B6D4)](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) [![Robotics](https://img.shields.io/badge/Robotics-LQR%20%C2%B7%20Pure%20Pursuit%20%C2%B7%20IK-10B981)](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) [![Audio](https://img.shields.io/badge/Audio-0%20KB%20Web%20Audio%20Synthesis-ff7b00)](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine)

> “**Jelly Bean PlayEngine: 10-in-1 Cute Playable Physics Arcade & Physical AI Sandbox | HWIHWA LAB**  
> A high-performance interactive physics playground and autonomous robotics sandbox built on Google DeepMind's MuJoCo WebAssembly engine (60 FPS Three.js WebGL client-side rendering) and 500Hz PGS numerical solver ($dt=0.002\text{s}$). Features 10 standalone procedural physics bricks, zero Docker/backend server dependency, autonomous robotics controllers (LQR inverted pendulum balancer, Pure Pursuit waypoint navigation, 3-stage Inverse Kinematics claw rescue, ballistic demolition sniper), 3-way camera perspective switching, and zero-asset procedural 8-bit chiptune audio synthesis.  
>  

> 🌐 [English Documentation](https://huggingface.co/hwihwalab/mujoco-physics-playengine) | 🇰🇷 [한국어 매뉴얼](https://huggingface.co/hwihwalab/mujoco-physics-playengine/blob/main/README_KR.md) | 🍬 [Interactive 3D Arcade](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine)”  
> *Developed by [Hwihwa Lab](https://github.com/Hwihwa-Lab) · AI × Automation × Aesthetics ✨*

<div align="center">
  <img src="assets/banner.png" alt="Jelly Bean PlayEngine 10 Physics Bricks" width="100%" style="border-radius: 16px; margin: 16px 0;">
</div>

---

## 🌐 English Documentation

### ⚡ Real-Time Physics & Robotics Architecture

**Jelly Bean PlayEngine** transforms academic multi-body dynamics into a vibrant, high-performance 3D arcade. Built on **MuJoCo WebAssembly** with a 500Hz numerical solver (`dt=0.002s`) and 60 FPS Three.js WebGL client-side rendering, it delivers zero-latency interactive physics with 100% procedural geometric assets, autonomous robotics controllers (LQR, Pure Pursuit, Inverse Kinematics), zero Docker or server dependencies, and pure Web Audio API sound synthesis.

```text

+---------------------------------------------------------------------------------------------------+

| 🍬 JELLY BEAN PLAYENGINE                                                    [STATUS: ENGINE LIVE] |

| Physical AI Sandbox & Arcade | HWIHWA LAB                                                         |

+---------------------------------+---------------------------------+-------------------------------+

| 👈 10 CUTE PHYSICS BRICKS       | 🎮 3D INTERACTIVE VIEWPORT      | 👉 PARAMETER CONTROL DECK     |

| - 01 Jelly Bean Skydiving Party | - 60 FPS Three.js WebGL (WASM)  | - Human vs Smart AI Toggle    |

| - 02 Ball Pool Pinball Carnival | - 3-Way Camera (Front/45°/Top)  | - Gravity Accelerator Slider  |

| - 03 Domino Knockdown Strike    | - Victory Particle Confetti     | - Dynamic Cannon Power Tuning |

| - ... 10 Macaron Tower Cannon   | - Keyboard Input Visualizer     | - Standalone Python/XML Code  |

+---------------------------------+---------------------------------+-------------------------------+

```

---

### ⭐ The 4 Major System Upgrades

1. **🏆 Game-Specific Victory Banners with Confetti & Fanfares**:
   - Every mini-game features clear win conditions (e.g., `DOMINO CLEARED!`, `ALL COINS COLLECTED!`, `PINK BEAN WINS!`, `360° LOOP MASTER!`, `TOWER ANNIHILATED!`, `GOLDEN BALANCER!`).
   - Celebrated with dynamic canvas particle confetti explosions and browser-synthesized brass fanfares.
2. **🎥 3-Way Camera Perspective Switcher**:
   - Seamlessly switch between **Front View (`cam_front`)**, **45° Quarter Isometric (`cam_quarter`)**, and **Top-Down Aerial (`cam_topdown`)** with a single click or by pressing the **[C]** key.

3. **🎵 Kawaii 8-Bit Chiptune BGM (Pure Web Audio API)**:

   - Zero-byte download footprint: 100% procedurally synthesized in JavaScript via Web Audio API.

   - Upbeat pentatonic arpeggios with syncopated bouncy bassline. Toggle on/off anytime via the top header button `[🎵 BGM ON/OFF]`.

4. **🤖 10-Game Smart AI Autonomous Controllers**:

   - In addition to human manual keyboard control, every mini-game features an intelligent autonomous AI controller:

     - **Game 01**: 1.6s Optimal Rhythm Drop AI

     - **Game 02**: Ball Pool Dual-Flipper Reaction Reflex AI

     - **Game 03**: Ballistic Domino Impact Striker AI

     - **Game 04**: Phase-Resonance 360° Swing Momentum Pumping AI

     - **Game 05**: Double Pendulum Acrobat Kick AI

     - **Game 06**: Hydrodynamic Slipstream Photo-Finish Boost AI

     - **Game 07**: LQR Inverted Pendulum Lollipop Cart Balancer AI

     - **Game 08**: Pure Pursuit Autonomous Navigation & 5-Coin Collector AI

     - **Game 09**: 3-Stage Inverse Kinematics (IK) Plushie Claw Rescue AI

     - **Game 10**: Center-of-Mass (CoM) Ballistic Demolition Sniper AI



---



### 🧸 The 10 Pop Physics Mini-Games & Controls



#### 🎮 Universal Global Keyboard Shortcuts

| Key | Function | Description |

|:---:|:---|:---|

| **`Space`** | **Primary Action Trigger** | Start simulation / Drop bean / Flap pinball rain / Strike domino / Acrobatic kick / Fire cannon |

| **`R`** | **Instant Reset** | Rebuilds arena and resets all objects, timers, and HUD metrics to initial ready state |

| **`C`** | **Cycle 3-Way Camera** | Switches perspective instantly: `Front 🎥` ➔ `45° Quarter 📐` ➔ `Top-Down 🚁` |

| **`M`** | **Smart AI / Manual Mode** | Toggles between Human Manual Control and Autonomous Smart AI Auto-Pilot |

| **`F`** | **16:9 Widescreen Fullscreen** | Toggles immersive full-screen arcade viewport |



#### 🕹️ 10 Mini-Games Dual Controls (WASD & Arrow Keys)

| # | Game Title | MuJoCo Physics Core | Target Goal & Gameplay | Controls (Dual WASD & Arrow Keys) |

|---|------------|---------------------|------------------------|-----------------------------------|

| **01** | **Jelly Bean Skydiving Party** | Multi-Agent Gravity & Floor Impact | Drop beans from the sky to safely pile up on foam mat | `Space`: Drop Extra Bean, `R`: Reset |

| **02** | **Ball Pool Pinball Carnival** | Multi-Body Elastic Collision & Contact | Flip bumpers to bounce gumballs and score 1,000 pts | `A`/`D` or `←`/`→`: Left/Right Flippers, `Space`: Rain |

| **03** | **Domino Knockdown Strike** | Kinetic Chain Reaction & Momentum Transfer | Topple 7 dominoes to strike down the Gold Star target | `Space`: Strike 1st Domino, `R`: Reset |

| **04** | **Giant Carnival Swing 360°** | Revolute Joint Kinematics & Resonance | Rhythm pumping to overcome gravity and execute a 360° loop | `W`/`↑` or `Space`: Momentum Pump, `R`: Reset |

| **05** | **Jelly Bean Acrobatic Twin** | Double Pendulum Chaotic Dynamics | Direct joint torque & aerial 3x somersault combo in the sky | `W`/`S` or `↑`/`↓` (Joint 1), `A`/`D` or `←`/`→` (Joint 2), `Space`: Chaos Kick |

| **06** | **Waterpark Candy Slide Race** | Incline Tribology & Coulomb Friction | Pink Bean vs Mint Bean! Slide down rainbow ramp to splash pool | `Space`: Start, `A`/`←`: Pink Boost, `D`/`→`: Mint Boost |

| **07** | **Pudding Cart Balancer (⭐ Flagship)** | **CartPole / Inverted Pendulum (RL)** | Balance Pink Bean on cart for 15s to win Golden Balancer | `A`/`D` or `←`/`→`: Push Cart, `M`: AI Mode |

| **08** | **Bumper Car Coin Collector** | **4-Wheel Chassis & Traction Dynamics** | Drive bumper car around arena to collect all 5 Star Coins | `W`/`S`/`A`/`D` or `↑`/`↓`/`←`/`→`: Drive & Steer (Compound Hold) |

| **09** | **Toy Claw Machine & Plushie Bean** | **2-DOF Robotic Arm (Robotics)** | Position robotic arm and activate magnetic grip to rescue plushie | `W`/`S` or `↑`/`↓`: Shoulder, `A`/`D` or `←`/`→`: Elbow, `Space`: Magnet |

| **10** | **Macaron Tower & Cannonball Bean** | Multi-Body Structural Collapse & Ballistics | Adjust cannon power and fire cannonball to crush 9-story tower | `Space`: Fire Cannon, `W`/`S` or `↑`/`↓`: Power (0.4x~2.5x) |



---



### 🚀 Run Locally (Standalone Desktop App Mode)



Clone and run in zero-install standalone desktop app mode (no browser address bar):



```bash

git clone https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine

cd mujoco-physics-playengine



# Install dependencies

pip install -r requirements.txt



# Launch Standalone Cockpit Window (No address bar)

python run.py

```

*(Windows users can simply double-click `PlayEngine.bat`)*



---



## 📂 Repository Contents



* `README.md`: Official Model Card overview & comprehensive English documentation.

* `README_KR.md`: Full Korean comprehensive manual ([한국어 매뉴얼](README_KR.md)).

* `mujoco_playengine_bundle.zip`: Complete production bundle containing all 10 MuJoCo procedural physics bricks, LQR/IK controllers, FastAPI server, and zero-asset Cybernetic Bento web cockpit.

* `assets/banner.png`: Official 16:9 3D rendered showcase cover banner.

* [`LICENSE`](https://huggingface.co/hwihwalab/mujoco-physics-playengine/blob/main/LICENSE): Official [Apache 2.0 Open-Source License](https://www.apache.org/licenses/LICENSE-2.0).



---



## 👤 About HWIHWA LAB



> *“AI × Automation × Aesthetics — Crafting tools you'll love ✨”*



**HWIHWA LAB** is an independent AI research & engineering studio dedicated to blending **practical on-device intelligence, autonomous operations, and refined aesthetics**. We engineer resilient systems that free solopreneurs and indie creators from operational overhead—giving people their time and creative joy back.

### 🔬 Core Research & Engineering Pillars

- **Embodied AI & Physical Dynamics**: Researching physics-based reinforcement learning (RL), multi-body kinematics, and autonomous robotics control brains (LQR, MPC, Pure Pursuit, Inverse Kinematics).
- **Zero-Asset Procedural Engineering**: Designing zero-cost web architectures synthesizing 3D geometry and audio purely via code and mathematical formulations without heavy texture downloads.
- **Autonomous Decision OS**: Engineering deterministic, prefrontal-cortex-style reasoning architectures and state machine governance for complex physical environments.
- **Interactive Creative Aesthetics**: Fusing functional automation with refined visual craft and modern design philosophy to build delightful tools.

### 🌐 Physical AI & Robotics Ecosystem (Cross-Links)

- **Official Hub**: [🤗 Hugging Face (@hwihwalab)](https://huggingface.co/hwihwalab)
- **🚀 Related Robotics & Game AI Showcase**:
  - 🍬 **Physics Bricks & Web Arcade**: [mujoco-physics-playengine](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) *(Current Project)* — 10 MuJoCo procedural physics bricks & autonomous robotics arcade.
  - 🕹️ **Inverted Pendulum Control (PPO)**: [cartpole-v1-ppo](https://huggingface.co/hwihwalab/cartpole-v1-ppo) — Reinforcement learning benchmark directly paired with Brick #07 Cart Balancer.
  - 🤖 **Bimanual Robotic Manipulation**: [act-aloha-sim-transfer-cube](https://huggingface.co/hwihwalab/act-aloha-sim-transfer-cube) — Action Chunking Transformer simulation paired with Brick #09 Claw Machine kinematics.
  - 🦆 **3D Bipedal Locomotion & Teleop**: [microduck-3d-bipedal-teleop](https://huggingface.co/spaces/hwihwalab/microduck-3d-bipedal-teleop) — 3D interactive bipedal robotics simulator running live in browser.
  - 🍫 **Indie Game Studio Decision Brain**: [CHOCO-BRAIN-v1](https://huggingface.co/hwihwalab/connectailab-CHOCO-BRAIN-v1) — Edge prefrontal reasoning cortex for solo indie game creators & studio operations.

---

## 📜 License

Distributed under the [Apache 2.0 License](https://www.apache.org/licenses/LICENSE-2.0). See the [LICENSE](https://huggingface.co/hwihwalab/mujoco-physics-playengine/blob/main/LICENSE) file for complete details.

---

<details id="korean-documentation">
<summary><b>🇰🇷 한국어 요약 안내 (Click to expand Korean summary)</b></summary>
<br>

> **Jelly Bean PlayEngine**은 학술 연구용 다체 동역학 엔진인 **MuJoCo v3.3.0**의 강력한 수치 해석 역량을 대중 친화적인 인터랙티브 3D 아케이드로 승화시킨 **Physical AI & 로보틱스 시뮬레이션 플랫폼**입니다.  
> 10대 미니게임의 심층 물리 해석 수식, 로보틱스 제어 알고리즘 및 상세 플레이 가이드는 **[📖 한국어 매뉴얼](README_KR.md)**에서 확인하실 수 있습니다.

#### 🎮 필수 공통 단축키 요약 (Quick Shortcuts)
| 단축키 | 기능 명칭 | 상세 설명 |
|:---:|:---|:---|
| **`Space`** | **주요 액션 실행** | 물리 시작 / 젤리빈 투하 / 도미노 돌격 / 아크로바틱 킥 / 대포 발사 즉시 트리거 |
| **`R`** | **원위치 즉각 리셋** | 모든 오브젝트 위치, 타이머, 실시간 점수 HUD를 대기(Ready) 초기 상태로 원상 복구 |
| **`C`** | **3-Way 카메라 전환** | 정면 뷰(Front 🎥) ➔ 45도 쿼터 뷰(Quarter 📐) ➔ 탑다운 뷰(Top-Down 🚁) 순환 전환 |
| **`M`** | **스마트 AI / 수동 토글** | 인간 플레이어 직접 수동 조작 ↔ 똑똑한 스마트 AI 자율주행 모드 원클릭 전환 |
| **`F`** | **16:9 와이드 전체화면** | 군더더기 없는 아케이드 콕핏 전체화면 몰입 모드 토글 |

👉 **[📖 10대 미니게임별 상세 조작법 & 물리 이론 전체보기](README_KR.md)**

</details>

---

*Designed and engineered with [Jelly Bean PlayEngine](https://huggingface.co/spaces/hwihwalab/mujoco-physics-playengine) by **HWIHWA LAB** ([@hwihwalab](https://huggingface.co/hwihwalab))*