Athul P P@peepsbruh

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).

🌎 Hybrid Hackathon | 💻 Online Build: September 10–16, 2026 | 📍 On-site: September 15–17, 2026 The official hackathon of AI Infra Summit — co-organized by Kisaco Research and lablab.ai. Build production-grade AI applications on the modern AI infrastructure stack, alongside 8,000+ attendees, researchers, founders, and infra leaders. 📍 On-site Venue (September 15–17): Santa Clara Convention Center 5001 Great America Pkwy, Santa Clara, CA 📍 On-site participation is by invitation only. Travel and accommodation expenses will not be covered.

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