{
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  "path": "/t/a-gymnasium-interface-for-a-real-300-robot-mock-backend-works-now-no-hardware-needed/176042#post_1",
  "publishedAt": "2026-05-15T12:38:55.000Z",
  "site": "https://discuss.huggingface.co",
  "tags": [
    "https://github.com/telleroutlook/3we-robot-platform",
    "https://3we.org/blog/dev-log-001/"
  ],
  "textContent": "I’ve been building an open-source robot platform (ESP32-S3 + Raspberry Pi 5, mecanum wheels, ROS2) with a Python SDK that wraps everything behind a simple API:\n\n\n    from threewe import Robot\n    async with Robot(backend=\"mock\") as robot:\n        await robot.move_to(x=3.0, y=2.0)\n        scan = robot.get_lidar_scan()  # 360 rays\n        pose = robot.get_pose()\n\n\nThe same code runs on `backend=\"mock\"` (pure Python, zero deps beyond numpy), `backend=\"gazebo\"`, or `backend=\"real\"` — no changes needed.\n\n**What works today:**\n\n  * Mock backend with 2D kinematics, collision detection, LiDAR raycasting — 309 tests passing\n\n  * `gymnasium.make(\"3we/Navigation-v1\")` for RL training\n\n  * VLM integration (GPT-4o / Qwen-VL → robot actions)\n\n  * Data recording in HDF5 format (LeRobot-compatible export planned)\n\n\n\n\n**Try it (30 seconds):**\n\n\n    git clone https://github.com/telleroutlook/3we-robot-platform.git\n    cd 3we-robot-platform && pip install -e sdk/threewe/\n    python examples/navigate_office.py\n\n\nRequires only Python 3.10+ and numpy.\n\n**What I’m looking for feedback on:**\n\n  1. For RL researchers: is the Gymnasium env interface what you’d expect? What observations/action spaces do you want?\n\n  2. For VLM/VLA researchers: the SDK has `robot.execute_instruction(\"go to the red door\")` — what would make this useful for your workflow?\n\n  3. For anyone doing imitation learning: trajectory recording exports to HDF5. Would direct LeRobot dataset format be more useful?\n\n\n\n\nHardware is <$500 to reproduce (full open BOM + KiCad PCB files in the repo). The full Sim2Real chain validation is the next milestone.\n\nGitHub: https://github.com/telleroutlook/3we-robot-platform\n\nDev Log (design decisions + honest status): https://3we.org/blog/dev-log-001/",
  "title": "A Gymnasium interface for a real $300 robot — mock backend works now, no hardware needed"
}