Quadruped Drawer Manipulation Description (.xacro, 12-DoF)
Drawer Manipulation for the Quadruped — a complete kinematic description with inertias and joint limits. Captured/authored with joint encoders in the loop and validated against real Quadruped 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
Runs on Jetson Orin; 6GB VRAM (Jetson) required.
Frameworks
- ROS 2
Hardware
- A100 80GB
Sensors
- joint encodersRGB-D camera
Specs
- GPU: 6GB VRAM (Jetson)
- Size: 1.71 MB
- Duration: 10s
- Absolute trajectory error 0.108 m
- ROS compatible
- Jetson compatible
- Isaac Sim compatible
Tags
$299
Enterprise license
quadruped-drawer-manipulation-description-xacro-12-dof.zip · 1.71 MB
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