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Hyperspawn Robotics · humanoid

Dropbear

Full-size open-source humanoid from Hyperspawn and Pointblank: FDM-printed structure on 20x20 aluminium extrusion, MyActuator CAN actuators, an ESP32 node per limb and a Jetson Orin brain. CAD, BOM, printables, firmware, URDF/MJCF/USD and simulation walking policies are public; a pre-assembled kit is on preorder.

Frames · Dropbear

16 items · credit and license on each
  • CAD render of the full Dropbear humanoid standing, open printed frame with yellow accent parts
    Full-assembly CAD render from dropbear_hardware.Hyperspawn · Hyperspawn · source
  • Simulation, not hardware: 30 s Isaac Lab rollout of the experimental v0.2.0 policy (model_10479.pt) at 50 Hz.Hyperspawn; policy by Hyperspawn Robotics and robit-man (dropbear-locomotion) · CC-BY-NC-SA-4.0 · source
  • Studio render of Dropbear with its open printed frame, three-quarter view from below
    Blender studio render of the open-frame build.Hyperspawn · Hyperspawn · source
  • Dropbear with white and grey covered body panels, three-quarter view
    Covered-shell finish study (the kit's optional full-cover finish). Design render, not a shipping unit.Hyperspawn · Hyperspawn · source
  • Dropbear with covered body panels, front view
    Covered-shell finish study, front. Design render.Hyperspawn · Hyperspawn · source
  • Exploded render of Dropbear with its body panels floating away from the frame
    Exploded view: printed panels off the extrusion-and-actuator frame.Hyperspawn · Hyperspawn · source

+9 more on humanoidrobots.systems/hyperspawn/dropbear

Provenance

Model
Dropbear
Repo
Hyperspawn/dropbear_mjcf
Commit
afe0ea014384
Entry
dropbear_mjcf.xml
Files
666 · 180 MB, fetched from raw.githubusercontent.com, cached in your browser
License
MIT
Engine
MuJoCo 3.14.0, official WebAssembly build · three.js renderer
Controller
PD hold on the stand keyframe with an ankle-strategy tilt term; not a learned policy
Caveat
Meshes simplified in the tab and contact limited to the floor so it fits the WASM heap. It cannot stand as published: hip motors are limited to 10 N m, the ankles and the cut knee four-bars are unactuated, and the feet touch down on one bearing line. Press play and it folds.
Note
Full-detail CAD export, about 190 MB of STL. First load is slow; later loads come from the browser cache.

Policies listed for Dropbear

  • walk, flat ground (v0.1.0, validated in sim)

    Isaac Lab + RSL-RL PPO · not replayed in the tab: trained in Isaac Lab on the Dropbear USD with its own actuator groups and COM-guided observations. In the public MJCF the joints it drives as ankles (*_Revolute67/81) carry only tie-rod links, the ankles and knee four-bars are unactuated and the model cannot stand, so its contract cannot be reproduced here

    source

  • walk over low obstacles (v0.2.0, experimental)

    Isaac Lab + RSL-RL PPO · not replayed in the tab: trained in Isaac Lab on the Dropbear USD with its own actuator groups and COM-guided observations. In the public MJCF the joints it drives as ankles (*_Revolute67/81) carry only tie-rod links, the ankles and knee four-bars are unactuated and the model cannot stand, so its contract cannot be reproduced here

    source

Train on GPUs

mjlab ships no stock task for Dropbear. The training page gives you the pinned model and the steps to write a robot config.

Build the job →