Bimanual-VLA-Dual-SO-101-Sim

A custom physics simulation built with MuJoCo and Python to evaluate bimanual robotic manipulation, mobile base navigation, and dynamic scene interaction using dual LeRobot SO-101 robotic arms. ## Overview This project provides an automated scene generation and real-time execution environment designed for dual-arm teleoperation research. The setup places two 6-DOF SO-101 arms on 3-DOF planar mobile bases surrounding a custom dining table and sliding pedestal unit. The environment automatically processes raw 3D mesh assets (`.obj`), computes bounding-box parameters, scales prop dimensions dynamically, and anchors object positions to surface levels without manual XML edits. ## Core Features - **Dynamic MJCF Generation:** Programmatically compiles base robot models, furniture geometries, and props into a single `dual_so101_phase1.xml` scene on launch. - **1:1 Kinematic Scaling:** Preserves real-world metric dimensions for both arms to keep force ranges, joint limits, and actuator torque responses accurate. - **Planar Mobile Base Control:** Mounts both robotic arms to independent 3-DOF bases (X, Y, Yaw slide/hinge joints) for coordinated approach and positioning. - **Interactive Props & Furniture:** Computes mesh centers and groundings for dining props (mugs, plates, forks) and incorporates a constrained sliding drawer mechanism. - **Dual-Window Execution:** Runs a primary passive viewer for active teleoperation inputs alongside a secondary background process for interactive 3D camera controls (orbit, pan, zoom).