Web demo: ASE humanoid runs in the browser via PhysX WASM + ONNX Runtime#95

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zalo wants to merge 95 commits intoxbpeng:mainfrom

zalo:ovphysx-engine

Commits on Mar 23, 2026

Add ovphysx and warp engine backends with MJCF-to-PhysX-USD converter

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Rewrite MJCF-to-USD converter to match Isaac Lab's C++ importer

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Add ONNX export for ASE actor model

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Add browser-based PhysX WASM + three.js + ONNX demo

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Fix self-collision explosion and add debug GUI panel

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Fix observation pipeline to match Python reference implementation

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Fix joint rotation obs to use kinematic model's exp_map convention

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Fix Y-up to Z-up quaternion conversion (was negating all rotations)

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Refactor to Z-up everywhere, rotate only in Three.js

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Fix ground plane box orientation for Z-up

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Fix ONNX export: match normalizer clip=10 and min_std=1e-4

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Pack ONNX model weights internally (fix onnxruntime-web loading)

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Add diagnostic tools: test pose button, full obs dump, WS comparison

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Apply init_pose on spawn to match Newton/Isaac Lab reset

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Fix key body positions via JS-side forward kinematics

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Fix mass/inertia: use per-geom density instead of flat 1000

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Use exact reference masses from Newton/MuJoCo solver

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Fix solver iterations: 4,0 matching Isaac Lab (was 32,1)

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Add Run Diagnostic button for principled step-by-step debugging

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Set exact reference mass, inertia tensor, and COM per body

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Add PhysX parameter matching and action bounds clipping for web demo

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Fix action bounds clipping: add cache buster for JSON, proper joint limit bounds

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Add action smoothing and revert to training-matched solver settings

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Add drive velocity targets, reset action smoothing, tune alpha

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Fix ONNX export: use actual agent model instead of manual reconstruction

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Use v2 ONNX model in web demo, remove action smoothing

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Add root rotation debug logging (upVec, heading, quat)

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Add Isaac Lab CPU PhysX comparison and --cpu flag for test script

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Set joint friction to 0 matching Isaac Lab, add PhysX inspection tools

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Match all Isaac Lab PhysX parameters from USD inspection

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Add full observation audit: 155/158 dims match perfectly

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Add step-by-step physics audit, revert self-collision

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Fix armature mismatch: right_hand_y/z 0.003 -> 0.01 matching Isaac Lab

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Add closed-loop audit: sword FK position error 0.75 at init!

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Commits on Mar 24, 2026

Commits on Mar 25, 2026

Commits on Apr 1, 2026

Address PR review comments: fix pelvis offset, cache cylinder meshes, derive obs sizes

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