Humanoid Pick-and-Place Behavior Tree (py_trees)
Pick-and-Place for the Humanoid — an executable behavior tree. Captured/authored with RGB-D camera 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
- ONNX Runtime
Hardware
- RTX 3060Ouster OS1-64RTX 4090
Sensors
- RGB-D cameraGPS/RTKforce-torque sensor
Specs
- GPU: 8GB VRAM
- Size: 1.69 MB
- Duration: 10s
- Validation loss 0.3561 after 107 epochs
Tags
Free
Enterprise license
humanoid-pick-and-place-behavior-tree-py-trees.zip · 1.69 MB
ND-Dev✓
Trust score
Would you deploy this in production?
Not enough votes yet. (0/3 so far)
Sign in to vote.
Reviews
0 reviews
No reviews yet. Be the first to share your experience.
More from ND-Dev
View profile →3D LiDAR Calibration for Autonomous Mobile Robot (.yaml)
Visual Servoing for the Autonomous Mobile Robot — precise intrinsic + extrinsic calibration for the 3D LiDAR. Captured/authored with 3D LiDAR in the loop and validated against real Autonomous Mobile Robot kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Dual-Arm Torso Screw Driving Gym Environment
Screw Driving for the Dual-Arm Torso — a Gymnasium training environment. Captured/authored with joint encoders in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Hospital Ward Gazebo World (.sdf) — Dual-Arm Torso
Waypoint Navigation for the Dual-Arm Torso — a ready-to-load simulation world. Captured/authored with 2D LiDAR in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Related assets
Dual-Arm Torso Balance Recovery Behavior Tree (BT.CPP)
Balance Recovery for the Dual-Arm Torso — an executable behavior tree. Captured/authored with RGB-D camera in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
6-DoF Arm Object Handover Behavior Tree (py_trees)
Object Handover for the 6-DoF Arm — an executable behavior tree. Captured/authored with RGB-D camera in the loop and validated against real 6-DoF Arm kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Humanoid Balance Dataset
Dataset for humanoid robot balance and recovery behaviors