Mini Pi+ is HighTorque Robotics’ compact dual-arm humanoid — about 65 cm tall and 11 kg with battery, built as a lightweight step up from the arms-free Mini Pi walker, with the same research-and-rapid-iteration focus as the company’s larger Mini Hi platform.
The mechanism
Twenty-four actuated revolute joints: 6 per leg (hip pitch/roll, thigh, calf, ankle pitch/roll), 5 per arm (shoulder pitch/roll, upper-arm roll, elbow, wrist), and 2 in the head (yaw and pitch) — no mimic joints, no closed kinematic loops, no separate waist joint (unlike the larger Mini Hi).
About this file — read before importing
This links directly to
HighTorque-Robotics/ht_robot_urdf,
HighTorque Robotics’ own repository — specifically its pi_plus_24dof/ package, one of
three sibling robot descriptions in the same monorepo (the others are
Mini Hi and Mini Pi). ARMOR links
directly to the repository rather than re-hosting anything, so what you get is exactly what
HighTorque Robotics publishes, unmodified.