StandUp — getting up off the floor

Mjlab-StandUp-Flat-MicroDuck
Mjlab-StandUp-Rough-MicroDuck

Standing up from face-down, face-up and sitting, then holding the stand and accepting body-pose commands.

Three starting attitudes

This is worth noticing: it is not only “get up from lying face-down”. Face-up and face-down need completely different motions, and the policy has to work out which one it is in from its observations.

Which is why projected gravity matters so much — upright is about [0, 0, -1], and face-down, face-up and side-lying give distinctly different directions. The policy tells them apart from it.

After it is up

The policy does not end when the robot is standing. It goes on holding the stand and taking body-pose commands — the lean, tilt, rise and crouch that the sticks control after pressing B.

So it is both the recovery policy and the standing policy. [policy] stand in robotd.toml points at this family.