Scene (physics)

A scene puts one or more robots (assemblies) into a world under real physics: gravity, mass, friction and contact. Control scripts and trained policies move them; a control pad lets you drive them by hand.

The simulator is a large download, so the first open may show Load simulator.

Layout

Canvas: the 3D world with the playback bar (play, pause, restart).
View toolbar: overlays, the camera mode and the active robot, see below.
Right: the tabs AI, Manual, Motions, Diagnostics (coming soon) and Training.
File: New, Import assembly, Close.

On a phone the tabs at the bottom are Scene, AI, Motions and Training.

A Unitree H1 from MuJoCo Menagerie, placed in a scene, with the colors from its MuJoCo materials

Menus

Robots are explained in Robots in a scene.

Menu	Item	What it does
File	New	Creates a new scene in this project.
	Import assembly → From this project…	Adds a workspace of this project as a robot.
	Import assembly → From MuJoCo Menagerie…	Adds a ready-made robot from MuJoCo Menagerie.
	Import assembly → From MJCF file…	Adds a robot from a MuJoCo MJCF file.
	Close	Goes back to the project page.
Help	Contact Us	Opens a short form to message the team.
	Terms of Service	Opens the terms in a new tab.
	Privacy Policy	Opens the privacy policy in a new tab.
	Discord Community	Opens the FloMotion Discord server.
	Reddit (r/FloMotion)	Opens the FloMotion subreddit.

Toolbars

Playback bar under the canvas: Play / Pause, Restart, and the speed dial (click to step the speed up, drag to change it, right-click to reset it).

View toolbar:

Button	What it does
Active assembly	Picks the active robot. A robot added to the scene can be removed here.
Collision	Shows the shapes the physics collides with.
Joint ranges	Shows how far each joint can turn or slide.
Skeleton	Shows the joints and links as a stick figure.
Labels	Names the bodies.
Camera	How the camera moves.
Camera → Free	Orbit, pan and zoom freely.
Camera → Look at	Keeps the robot in the middle of the view.
Camera → Follow	Moves with the robot.
Camera → Third person	Sits behind the robot.

Right tabs: AI (chat), Manual, Motions, Diagnostics (coming soon) and Training.

Robots in a sceneBring a robot in from the project, MuJoCo Menagerie or an MJCF file.Manual control and the control padPose joints by hand, and drive a robot with on-screen controls or keys.Motions and trainingControl scripts, motions from a prompt or a video, and trained policies.