Implementation:Haosulab ManiSkill Stompy

Knowledge Sources	Haosulab_ManiSkill
Domains	Robotics, Simulation, Humanoid_Control
Last Updated	2026-02-15 08:00 GMT

Overview

Concrete tool for simulating the Stompy humanoid robot in ManiSkill environments.

Description

Stompy is a full-body humanoid robot with 37 active joints including two legs, two arms with grippers, and a head. The robot has a free root link (fix_root_link=False) and disables all self-collisions. Gripper links on both arms use high-friction materials (static=2.0, dynamic=2.0). The pd_joint_pos controller uses moderate stiffness (100) and damping (10), while pd_joint_delta_pos uses lower values (stiffness=20, damping=5). A head camera is mounted on link_head_1_head_1 with 128x128 resolution and pi/2 FOV. Gravity compensation is disabled (balance_passive_force=False).

uid: stompy

URDF path: {ASSET_DIR}/robots/stompy/robot.urdf

Supported control modes: pd_joint_pos, pd_joint_delta_pos

Usage

Use Stompy for full-body humanoid locomotion and manipulation tasks. The dual-arm gripper design enables bimanual manipulation while standing. Suitable for whole-body control research combining locomotion with manipulation.

Code Reference

Source Location

• Repository: Haosulab_ManiSkill
• File: mani_skill/agents/robots/stompy/stompy.py

Signature

@register_agent(asset_download_ids=["stompy"])
class Stompy(BaseAgent):
    uid = "stompy"
    urdf_path = f"{ASSET_DIR}/robots/stompy/robot.urdf"
    fix_root_link = False
    disable_self_collisions = True
    keyframes = dict(standing=Keyframe(pose=sapien.Pose(p=[0, 0, 0.965]), qpos=np.array([...])))

Import

from mani_skill.agents.robots.stompy.stompy import Stompy

I/O Contract

Inputs

Name	Type	Required	Description
(inherited from BaseAgent)

Outputs

Name	Type	Description
robot agent	Stompy	Configured full-body humanoid with 37 joints, dual grippers, and head camera

Usage Examples

Creating Environment with Robot

import gymnasium as gym
import mani_skill.envs

env = gym.make("StandUp-v1", robot_uids="stompy")
obs, info = env.reset()

Related Pages

• Environment:Haosulab_ManiSkill_Python_SAPIEN_Core