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Sprite: Open-Source 31-Joint Humanoid Design

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Beijing Dynamics published the mechanical design of its Sprite humanoid: 31 actuated joints, 0.95 m tall, with FreeCAD sources, a sanitized v4 URDF and MuJoCo scenes. The walking policy is not in that repo, but the sibling RL repo ships a qualified 16.4 MB checkpoint.

HumanoidOpen-source hardwareURDFMuJoCoCADReinforcement LearningIsaac LabLocomotionBeijing Dynamics
Category: humanoid
Author: @techniahqrobot
Date: 2026-10-14T00:00:00
Duration: 100.416s
Source: https://x.com/techniahqrobot/status/2110519250452467832
Reference: https://github.com/BeijingDynamics/open_sprite

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