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humanoidrobots.training

Poppy Humanoid · published recipe

Dance beat, upper-body and head idle motion (scripted)

Source ↗Poppy Humanoid robot page

Record

Robot
Poppy Humanoid poppy/poppy-humanoid
Framework
pypot LoopPrimitive · other
Policy license
not stated by the package · robot software repos: GPL-3.0
File
software/poppy_humanoid/primitives/dance.py
Source
https://github.com/poppy-project/poppy-humanoid
Note
idle.py holds UpperBodyIdleMotion and HeadIdleMotion; interaction.py holds ArmsTurnCompliant and PuppetMaster (arm copy).

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To replay this policy in the browser we need an ONNX export of a trained checkpoint, the observation and action contract copied from the authors' own sim2sim or deploy script, and a MuJoCo model of the robot that the contract matches. Then it must walk 60 s in our runtime without a fall. Until then the source link is the way in.

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