kyoungsim/lerobot-simulator

🤗 LeRobot Physical AI Simulator (SO-101 & Push-T)

An interactive, browser-based physical AI simulation studio designed for the Hugging Face [LeRobot](https://github.com/huggingface/lerobot) community.

🌟 Key Features

1. 🦾 SO-101 / SO-ARM100 3D Robot Arm Simulator

• —6-DoF Kinematics: Base, Shoulder, Elbow, Wrist Pitch, Wrist Roll, and Gripper powered by Three.js WebGL.
• —Physics & Grasping: Interactive Pick & Place demonstration with realistic grasping physics.
• —Multi-Camera Observations: Overhead top-down view and PiP Wrist Camera stream.
• —Keyboard Teleoperation: Real-time joint control using <kbd>W</kbd>, <kbd>A</kbd>, <kbd>S</kbd>, <kbd>D</kbd>, <kbd>Q</kbd>, <kbd>E</kbd>, and <kbd>Space</kbd>.

2. 🎯 Push-T 2D Diffusion Policy Benchmark

• —Continuous Rigid Body Physics: Interactive T-block pushing task replicating the official LeRobot Push-T environment.
• —Diffusion Policy Replay: Autonomous expert demonstration playback.
• —Realtime Metrics: IoU coverage % and reward calculation.

3. 💾 LeRobot Dataset Recorder & Exporter

• —Record teleoperation episodes at 30Hz with standard state/action spaces.
• —Export directly to Hugging Face LeRobot v2.0 JSON dataset format.

🚀 Built with

• —HTML5, Vanilla JavaScript, CSS3 (Glassmorphism & Hugging Face Theme)
• —Three.js for 3D WebGL Rendering