This is not a video or a canned animation — it is the GARMI robot model running in MuJoCo, compiled to WebAssembly and stepped live in your browser at 500 Hz. GARMI is an assistive humanoid developed for geriatric care research: a mecanum-wheel mobile base, a telescoping torso, a pan–tilt head and two Franka Research 3 arms.
The base is a free-floating rigid body; each wheel carries free-spinning 45° rollers, so the omnidirectional motion you feel when driving emerges from contact physics, not from scripted kinematics. Driving uses the same feedforward-plus-proportional twist controller as our simulation tooling — toggle closed-loop off to feel the raw open-loop mecanum drift.
Built with the official MuJoCo WASM bindings and three.js. Visual meshes are decimated for the web; physics runs the full model (94 joints). Model © Technical University of Munich, Apache-2.0; FR3 meshes from MuJoCo Menagerie.