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humanoidrobots.training

Aero Hand Open · published recipe

in-hand cube rotation about Z (60 mm, 117 g cube)

Source ↗Aero Hand Open robot page

Record

Robot
Aero Hand Open chestnut/aero-hand-open
Framework
MuJoCo Playground PPO, deployed via ROS 2 (rl_z_rotation_deploy) · MuJoCo Playground / MJX
Policy license
not stated by the package · robot software repos: Apache-2.0
File
ros2/src/aero_hand_open_rl/aero_hand_open_rl/ppo_TetheriaCubeRotateZAxisTendon_20250926_152920
Source
https://github.com/Chestnut-Robotics/aero-hand-open/tree/main/ros2/src/aero_hand_open_rl
Note
Pretrained checkpoint shipped in the repo; validated against firmware v0.1.0 kept in firmware/main/bin/rl_z_rotation.

Not in the tab yet

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.