Berkeley Humanoid Lite

Berkeley Humanoid Lite is an open-source, sub-$5,000 humanoid robot built around modular, fully 3D-printed cycloidal gearbox actuators and widely available off-the-shelf parts. Standing roughly 0.8 m and weighing about 16 kg, it is designed to democratize humanoid robotics research. The repo ships the IsaacLab training environment, sim2sim/sim2real deployment code, low-level robot code, and robot descriptions (URDF, MJCF, USD) exported from an Onshape project; CAD and 3D-print files are published via the documentation releases.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A primary assembly 3D asset is available from data/robots/berkeley_humanoid/berkeley_humanoid_lite/urdf/berkeley_humanoid_lite.urdf.
• Source-backed bill-of-materials evidence is linked with per-part provenance where available. Prices marked estimated are not yet verified against a vendor.
• A transparent reproducibility score so buildability is a sortable, first-class property.
• Cross-links to the source repo, datasets, models, and forks.

Source

Canonical source: HybridRobotics/Berkeley-Humanoid-Lite. Original files stay intact and separately licensed under MIT; Motari adds a separate, adjacent metadata layer.