Humanoid Pick-and-Place Description (.urdf, 28-DoF)
Pick-and-Place for the Humanoid — a complete kinematic description with inertias and joint limits. Captured/authored with joint encoders in the loop and validated against real Humanoid kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Demonstration clipfree preview
Left: real-world source footage. Right: a signal derived from it (inter-frame motion field or edge/feature map). Source & license are credited in the clip.
Preview
Free preview — no purchase requiredDeployment
CPU/GPU host deployment; 8GB VRAM required.
Frameworks
- MuJoCoONNX Runtime
Hardware
- RTX A6000ARM Cortex-A78Intel RealSense D435i
Sensors
- joint encoders
Specs
- GPU: 8GB VRAM
- Size: 1.69 MB
- Duration: 10s
- Absolute trajectory error 0.236 m
- ROS compatible
Tags
Free
Research Only license
humanoid-pick-and-place-description-urdf-28-dof.zip · 1.69 MB
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