poppy_torso (dual_arm URDF from robot_descriptions)¶
Bimanual13 jointssim only
URDF from poppy-project/poppy_torso_description@6beeec3, compiled for MuJoCo on first use: 13 position actuators, fixed base.
from strands_robots import Robot
robot = Robot("poppy_torso") # clones the description and compiles the URDF on first use
print(robot.robot_action_keys("poppy_torso"))
robot.cleanup()
One action dict drives both arms; composition runs a policy per arm.
Policies verified on this robot¶
No checkpoint verified on this robot yet. Record one: Record, then train and run it with run_policy.