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Development of humanoid robots is increasing rapidly, and humanoids are occupying a larger percentage of robotics research. They are seen in competitions like RoboCup, as consumer toys like the RoboSapien from WowWee, and in various research and DIY community projects. Equipping these humanoid hardware platforms with simple software systems that provide basic functionality is both cumbersome and time consuming. In this paper, we present a software framework for simple humanoid behavior that abstracts away the particulars of specific humanoid hardware.