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microduck-simulator

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Running

Built a browser 50 Hz MuJoCo WebAssembly + ONNX Runtime Web 3D living-room testbench to try community Microduck .onnx policies (obstacles, carpets, soccer ball, charging dock, cat & Roomba) before flashing physical servos: https://duckspace.org

What works out of the box via ?hf=<org>/<repo>

• 1-click Hub policy loading: supports standard [1, 61] -> [1, 14] MLPs, 3-tensor [1, 1, 256] recurrent LSTMs (obs, h_in, c_in), manifest.command.idle vectors, phase clocks, Motion Lab motion_spec.json gestures, and automatic roller mode switching.
• Browser pre-flight safety gate: SHA-256 check + twin-noise finite non-constant output check + 50 Hz MuJoCo solver watchdog across Dynamixel XL330 and Feetech HD-1910 / HL-2915 / STS3215 servo profiles.
• Real hardware video catalog: side-by-side videos of physical community Microducks running .onnx gaits, tricks, and onboard 2.5D SLAM brains.

Live 1-click examples in the 3D room

• Recurrent LSTM basketball trick: https://duckspace.org/?hf=HannesVonEssen/microduck-basketball
• Lateral shoulder cartwheel: https://duckspace.org/?hf=guang384/microduck-side-roll-right
• Feetech HD-1910 walk (Kp=16): https://duckspace.org/?hf=Am1nadav/microduck-feetech-servo-policies
• Feetech HL-2915 forward roulade: https://duckspace.org/?hf=Am1nadav/microduck-feetech-servo-policies/roulade
• HF Space mirror: https://huggingface.co/spaces/Am1nadav/DuckSpace