Sim-ready open-source robots

A URDF or MJCF model you can load in a simulator.

41 robots match this list. Robots that publish a URDF or an MJCF model in their sources. SDF, USD and Onshape documents are listed too when a robot has them. Every model is pinned to the commit it was found at; the robot page links to the file.

Compare them side by side

Sim-ready open-source robots compared
RobotCostDoFHardware licenseSim modelScore
OpenArmManipulator
not published
8
CERN-OHL-S-2.0Commercial use OK
URDF
89
SSG-48 Adaptive Electric GripperGripper
€774vendor kit, fully assembled SSG-48 gripper, store list price
1
Apache-2.0Commercial use OK
URDF
89
SO-101Manipulator
$122source total, follower arm only
6
Apache-2.0Commercial use OK
URDF
83
SO-ARM100 / SO-ARM101 (Standard Open Arm)ManipulatorDeprecated
$123source total, follower arm only
6
Apache-2.0Commercial use OK
URDF
83
UpkieWheeled biped
not published
6
Apache-2.0Commercial use OK
URDF
83
AndinoMobile base
not published
2
BSD-3-ClauseCommercial use OK
URDF
80
Berkeley Humanoid LiteHumanoid
$4.3ksource total, full humanoid incl. 22 actuators, 2 grippers, compute, battery (US prices)
24
CC-BY-SA-4.0Commercial use OK
URDF, MJCF, Onshape
80
LeKiwiMobile manipulator
$499source total, 5V build, including the SO-101 leader and follower arm set
9
Apache-2.0Commercial use OK
URDF
80
POPIQuadrupedDormant
€5.1ksource total, 2019 team purchase list (actuators, electronics, onboard computers, raw material) before subsidies; no fasteners listed
12
BSD-3-ClauseCommercial use OK
URDF
80
Poppy HumanoidHumanoidDormant
$8.5kestimate, upstream build estimate of 8,000 to 9,000 USD, mostly actuators
25
CC-BY-SA-4.0Commercial use OK
URDF
80
Solo-12QuadrupedDormant
not published
12
BSD-3-ClauseCommercial use OK
URDF
80
ThorManipulator
€350source total, hardware components, excluding the 3D printer
6
CC-BY-SA-4.0Commercial use OK
URDF
80
MEVITABiped
$12ksource total, full parts list: 10 motors, Jetson Orin Nano, MID-360, batteries, power electronics, meviy metal parts, MISUMI mechanics; excludes screws, printed parts, RUBIK LINK
10
MITCommercial use OK
URDF
73
MEVIUSQuadruped
$12ksource total, parts list: 12 AK70-10, NUC12WSKi7, ESD CAN-USB/2, T265, batteries, power electronics, meviy metal parts, MISUMI mechanics; excludes screws and printed parts
12
MITCommercial use OK
URDF
73
MEVIUS2Quadruped
$13ksource total, full system incl. motors, sensors, Jetson, batteries, metal parts (metal parts alone about 6,150 USD)
12
MITCommercial use OK
URDF
73
MuSHRAutonomous RC racecar
$930source total, fully equipped car
2
BSD-3-ClauseCommercial use OK
URDF
73
ORCA HandDexterous hand
$2.4ksource total, ORCA v1 legacy Dynamixel BOM incl. 210 USD shipping; v1 is no longer produced
17
CC-BY-4.0Commercial use OK
URDF, MJCF
73
PAROL6 Desktop Robot ArmManipulator
€2.4kvendor kit, PAROL6 kit, all parts except 3D printed parts and power supply
6
GPL-3.0Commercial use OK
URDF
73
PingTi ArmManipulator
$261source total, single PingTi arm: 2 STS3250, 6 STS3215, Feetech USB board, clamps, Dupont wire; excludes power supply and printed parts
6
Apache-2.0Commercial use OK
URDF
73
Aero Hand OpenDexterous hand
$316source total, one hand, all BOM.csv rows (printed parts, silicone, hardware, 7 servos, TTLinker, XIAO ESP32-S3); excludes 6V 10A supply and optional PCB
7
CC-BY-NC-SA-4.0Non-commercial
URDF, Onshape
70
Amazing HandDexterous hand
€128source total, one hand with the Waveshare serial bus driver, incl. 15 EUR printed parts; excludes the 5V supply
8
CC-BY-4.0Commercial use OK
MJCF, Onshape
70
ToddlerBotHumanoid
$5.7ksource total, 2XC essentials, tools excluded
30
CC-BY-NC-SA-4.0Non-commercial
MJCF, Onshape
70
OpenQuadruped (Adham Elarabawy)QuadrupedDormant
not published
12
MIT with an added attribution clause (non-standard)Unknown or unclear
URDF
68
BambotMobile Manipulator
$300estimate, approximate upstream BOM total; power bank listed separately
15
Apache-2.0Commercial use OK
URDF
65
Legolas (open-source biped)BipedDormant
not published
10
MITCommercial use OK
MJCF
65
ROBOTIS OpenManipulator-XManipulator
$1.6kvendor kit, RM-X52-TNM kit (5 XM430-W350-T, frames, cables, tools); excludes SMPS, U2D2/OpenCR, base plate
5
CC-BY-4.0Commercial use OK
URDF
65
F1TENTHAutonomous RC racecar
$3kestimate, master BOM estimate (updated 2026-05-15)
2
CC-BY-NC-SA-4.0Non-commercial
URDF
63
LEAP HandDexterous hand
$1.8ksource total, regular v1 hand, parts page as of Aug 2023
16
CC-BY-NC-4.0Non-commercial
URDF
63
Leo RoverOutdoor 4x4 rover
€4.8kvendor kit, Leo Rover 1.9 Developer Kit, all parts to assemble
4
CC BY-NC-SA (version not stated)Non-commercial
URDF
63
Open Duck MiniBiped
€398source total, base robot per the BOM sheet
16
Apache-2.0Commercial use OK
URDF
63
RUKA HandDexterous hand
$520source total, one hand, XL330-M288-T version, without tools, BOM as of 2024-12-19
11
No license stated for the printable partsUnknown or unclear
MJCF, Onshape
63
TidyBot++Mobile Manipulator
$5.4ksource total, mobile base for the Kinova reference design, arm not included
10
No hardware license statedUnknown or unclear
MJCF
63
TurtleBot3Mobile base
$758vendor kit, TurtleBot3 Burger RPi4 2GB kit [US]
2
Declared open source hardware, no license namedUnknown or unclear
URDF, Onshape
63
AR4 (Annin Robotics)Manipulator
not published
6
Annin Robotics Open Source Non-Commercial License 1.1Non-commercial
URDF
60
ReallyUsefulRobotMobile manipulatorDormant
not published
8
MITCommercial use OK
URDF
57
HOPEJrHumanoid
$3kestimate, announced target price for the full humanoid (secondary report)
66
Apache-2.0Unknown or unclear
URDF
53
Crazyflie 2.1+Nano quadcopter
not published
4
No repository licenseUnknown or unclear
URDF
50
Reachy 2Humanoid
$70kestimate, Reachy 2 robot as reported at the HF acquisition
24
Apache-2.0Unknown or unclear
MJCF
40
Linorobot2Mobile base
not published
2
No hardware design files releasedUnknown or unclear
URDF
33
ArduinobotManipulator
not published
4
CC-BY-NC-4.0Non-commercial
URDF
20
SigmaBan (Rhoban)Humanoid
not published
20
No license stated for the Onshape designUnknown or unclear
URDF, Onshape
10

In 3D

Renders come from each project's own source files.

OpenArm, 3D render from the project's source files
ManipulatorFull 3D

OpenArm

7-DoF open-source arm and gripper on DAMIAO CAN motors for physical AI.

CERN-OHL-S-2.0cost not published
SSG-48 Adaptive Electric Gripper, 3D render from the project's source files
GripperAssembly 3D

SSG-48 Adaptive Electric Gripper

Open-source BLDC parallel-jaw gripper with force feedback, 48 mm stroke.

Apache-2.0€774vendor kit
SO-101, 3D render from the project's source files
ManipulatorAssembly 3D

SO-101

Low-cost 6-DoF teleoperated arm, the LeRobot reference.

Apache-2.0$122source total
SO-ARM100 / SO-ARM101 (Standard Open Arm), 3D render from the project's source files
ManipulatorAssembly 3D

SO-ARM100 / SO-ARM101 (Standard Open Arm)

Deprecated

Deprecated first Standard Open Arm, superseded by SO-101: low-cost printable leader/follower arm.

Apache-2.0$123source total
Upkie, 3D render from the project's source files
Wheeled bipedFull 3D

Upkie

Wheeled biped that balances, build-it-yourself.

Apache-2.0cost not published
Andino, 3D render from the project's source files
Mobile baseAssembly 3D

Andino

Open ROS 2 differential-drive robot with a parts list, URDF and a printable chassis.

BSD-3-Clausecost not published
Berkeley Humanoid Lite, 3D render from the project's source files
HumanoidAssembly 3D

Berkeley Humanoid Lite

Sub-$5k open-source humanoid with modular 3D-printed cycloidal gearboxes.

CC-BY-SA-4.0$4.3ksource total
LeKiwi, 3D render from the project's source files
Mobile manipulatorAssembly 3D

LeKiwi

Mobile base + SO-arm, holonomic LeRobot rover.

Apache-2.0$499source total
POPI, 3D render from the project's source files
QuadrupedAssembly 3D

POPI

Dormant

Open-source student-built quadruped with full CATIA CAD, BOM and ROS stack.

BSD-3-Clause€5.1ksource total
Poppy Humanoid, 3D render from the project's source files
HumanoidAssembly 3D

Poppy Humanoid

Dormant

Open-source, mostly 3D-printed humanoid for research and education, driven by 25 Dynamixel actuators.

CC-BY-SA-4.0$8.5kestimate
Solo-12, 3D render from the project's source files
QuadrupedAssembly 3Dclaimed

Solo-12

Dormant

Open torque-controlled quadruped from the ODRI initiative.

BSD-3-Clausecost not published
Thor, 3D render from the project's source files
ManipulatorFull 3D

Thor

DIY 3D-printable 6-DoF robotic arm driven by stepper motors.

CC-BY-SA-4.0€350source total
MEVITA, 3D render from the project's source files
BipedAssembly 3D

MEVITA

Open-source 10-DoF biped built from e-commerce parts and sheet-metal welding.

MIT$12ksource total
MEVIUS, 3D render from the project's source files
QuadrupedAssembly 3D

MEVIUS

12-DoF quadruped built from e-commerce parts and MISUMI meviy sheet-metal and machined frame parts.

MIT$12ksource total
MEVIUS2, 3D render from the project's source files
QuadrupedAssembly 3D

MEVIUS2

Spot-sized 12-DoF open quadruped with sheet-metal welding and multimodal LiDAR perception.

MIT$13ksource total
MuSHR, 3D render from the project's source files
Autonomous RC racecarAssembly 3D

MuSHR

UW open-source robotic racecar for research and education.

BSD-3-Clause$930source total
ORCA Hand, 3D render from the project's source files
Dexterous handAssembly 3D

ORCA Hand

Open-source 17-DoF tendon-driven anthropomorphic hand from ETH Zurich, now published by ORCA Dexterity.

CC-BY-4.0$2.4ksource total
PAROL6 Desktop Robot Arm, 3D render from the project's source files
ManipulatorAssembly 3D

PAROL6 Desktop Robot Arm

Open-source 3D-printed 6-DoF desktop arm with industrial-style control.

GPL-3.0€2.4kvendor kit
PingTi Arm, 3D render from the project's source files
ManipulatorAssembly 3D

PingTi Arm

Human-scale low-cost arm based on SO-100, LeRobot-compatible.

Apache-2.0$261source total
Aero Hand Open, 3D render from the project's source files
Dexterous handAssembly 3D

Aero Hand Open

Non-commercial source-available tendon-driven 5-finger hand, 7 DoF, upstream BOM about $316.

CC-BY-NC-SA-4.0$316source total
Amazing Hand, 3D render from the project's source files
Dexterous handAssembly 3D

Amazing Hand

Fully 3D-printed 8-DoF, 4-finger hand with all servos inside, <200 EUR.

CC-BY-4.0€128source total
ToddlerBot, 3D render from the project's source files
HumanoidAssembly 3D

ToddlerBot

Low-cost, open-source humanoid platform for scalable policy learning (Stanford).

CC-BY-NC-SA-4.0$5.7ksource total
OpenQuadruped (Adham Elarabawy), 3D render from the project's source files
QuadrupedAssembly 3D

OpenQuadruped (Adham Elarabawy)

Dormant

3D-printed 12-DoF servo quadruped with Bezier-curve gaits and full pose IK.

MIT with an added attribution clause (non-standard)cost not published
Bambot, 3D render from the project's source files
Mobile ManipulatorAssembly 3D

Bambot

Sub-$300 wheeled, arm-equipped humanoid-style bot built from SO-100 + LeKiwi parts.

Apache-2.0$300estimate
Legolas (open-source biped), 3D render from the project's source files
BipedSimplified 3D

Legolas (open-source biped)

Dormant

Cassie-inspired mini hobby-servo biped for learning RL locomotion, with full SolidWorks CAD and STLs.

MITcost not published
ROBOTIS OpenManipulator-X, 3D render from the project's source files
ManipulatorAssembly 3D

ROBOTIS OpenManipulator-X

4-DoF + gripper DYNAMIXEL arm with full ROS 2 stack.

CC-BY-4.0$1.6kvendor kit
F1TENTH, 3D render from the project's source files
Autonomous RC racecarSimplified 3D

F1TENTH

1/10-scale autonomous research racecar with lidar, VESC, and Jetson.

CC-BY-NC-SA-4.0$3kestimate
LEAP Hand, 3D render from the project's source files
Dexterous handAssembly 3D

LEAP Hand

Low-cost 16-DoF anthropomorphic hand for robot learning, from CMU.

CC-BY-NC-4.0$1.8ksource total
Leo Rover, 3D render from the project's source files
Outdoor 4x4 roverAssembly 3D

Leo Rover

Rugged open-source 4x4 ROS rover for outdoor research, with shared CAD.

CC BY-NC-SA (version not stated)€4.8kvendor kit
Open Duck Mini, 3D render from the project's source files
BipedAssembly 3D

Open Duck Mini

Open Duck Mini v2, a roughly 42 cm BDX-style miniature biped.

Apache-2.0€398source total
RUKA Hand, 3D render from the project's source files
Dexterous handAssembly 3D

RUKA Hand

Open-source 15-DoF tendon-driven humanoid hand learned from data, from NYU.

No license stated for the printable parts$520source total
TidyBot++, 3D render from the project's source files
Mobile ManipulatorAssembly 3D

TidyBot++

Open-source holonomic powered-caster mobile manipulator for robot learning (CoRL 2024).

No hardware license stated$5.4ksource total
TurtleBot3, 3D render from the project's source files
Mobile baseAssembly 3D

TurtleBot3

ROS-standard differential-drive mobile robot with open CAD and control board.

Declared open source hardware, no license named$758vendor kit
AR4 (Annin Robotics), 3D render from the project's source files
ManipulatorAssembly 3D

AR4 (Annin Robotics)

Low-cost 6-DoF desktop arm (non-commercial license) with a community ROS 2 driver.

Annin Robotics Open Source Non-Commercial License 1.1cost not published
ReallyUsefulRobot, 3D render from the project's source files
Mobile manipulatorAssembly 3D

ReallyUsefulRobot

Dormant

James Bruton's ROS-driven mobile manipulator: differential base, vertical linear axis and a 4-servo arm.

MITcost not published
HOPEJr, 3D render from the project's source files
HumanoidSimplified 3D

HOPEJr

DIY humanoid arm and hand with tendon-driven fingers and LeRobot teleoperation.

Apache-2.0$3kestimate
Crazyflie 2.1+, 3D render from the project's source files
Nano quadcopterFull 3D

Crazyflie 2.1+

Palm-sized open-source development quadcopter from Bitcraze, with hardware docs, firmware and a simulation model.

No repository licensecost not published
Reachy 2, 3D render from the project's source files
HumanoidAssembly 3Dclaimed

Reachy 2

VR-teleoperable manipulation humanoid from Pollen Robotics with open software; mechanical CAD unpublished.

Apache-2.0$70kestimate
Linorobot2, 3D render from the project's source files
Mobile baseSimplified 3D

Linorobot2

ROS 2 software stack for DIY 2WD, 4WD and mecanum robots built from off-the-shelf parts; not a hardware design.

No hardware design files releasedcost not published
Arduinobot, 3D render from the project's source files
ManipulatorAssembly 3D

Arduinobot

Low-cost 3D-printed hobby-servo teaching arm with a full ROS 2 + MoveIt 2 stack.

CC-BY-NC-4.0cost not published
SigmaBan (Rhoban), 3D render from the project's source files
HumanoidAssembly 3D

SigmaBan (Rhoban)

Rhoban's RoboCup kid-size humanoid, shipped as a clean Onshape-to-robot sim export.

No license stated for the Onshape designcost not published

Parts these robots use

How many of the robots above list each part in their bill of materials.

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