Auto-assembled, not yet reviewed

MuSHR

UW open-source robotic racecar for research and education.

Reproducibility73/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
MuSHR open-source 2-DoF self-driving RC car, 3D render from mushr_nano.urdf.xacro
main assembly 3D · mushr_nano.urdf.xacro

About MuSHR

MuSHR (Multi-agent System for non-Holonomic Racing) is an open-source robotic car platform from the Personal Robotics Lab at the University of Washington. It builds on a Redcat Blackout RC chassis with an NVIDIA Jetson Nano, a VESC motor controller, a YDLidar scanner, and an Intel RealSense camera. The repository hosts the URDF models, visualization meshes and a downloadable bill of materials (the printable parts and OpenSCAD CAD are in prl-mushr/mushr_cad), with full build instructions and tutorials at mushr.io. The README says no soldering is required, though the BOM notes the bullet connectors need soldering if the VESC lacks them. NVIDIA lists the Jetson Nano Developer Kit as end of life, and the repo was last updated in 2022.

Licenses

Hardware
BSD-3-Clause
Software
BSD-3-Clause
Docs
Not published

Degrees of freedom

2 DoF drive 1steering 1

Breakdown source

Ackermann steeringRC carsource

How to build MuSHR

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions.

  1. Gather parts from the BOM

    Download the MuSHR bill of materials PDF and order the chassis, Jetson Nano, VESC, YDLidar, and RealSense camera.

    Motari summarymushr.io/hardware/build_instructions

  2. Prepare the chassis

    Remove the stock servo and brushed motor from the Redcat Blackout SC chassis and install the brushless motor and replacement servo, or buy the Blackout SC Pro. Print each part in mushr_cad v3/stl once, and the cover image part twice.

    Motari summarymushr.io/hardware/build_instructions

  3. Mount compute and sensors

    Attach the Jetson Nano, lidar, and RealSense camera to the printed deck; no soldering required.

    Motari summarymushr.io/hardware/build_instructions

  4. Wire power and the VESC

    Route NiMH battery power through the buck converter and connect the VESC to the motor and Jetson per the build guide.

    Motari summarymushr.io/hardware/build_instructions

  5. Install software and calibrate

    Flash the MuSHR ROS stack, configure the VESC and sensors, and run the teleop and navigation tutorials.

    Motari summarymushr.io/hardware/build_instructions
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

MuSHR bill of materials

8 rows

Cost to build

$930USDsource total

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

MuSHR parts, as the source lists them. Prices are the source's, not checked against vendors.

MuSHR bill of materials
PartQtySpecSourceConfidence
Redcat Blackout RC chassisDonor 1/10 scale RC car platform for the MuSHR build
1Redcat Racing Blackout SC 1/10 Scale Electric Short Course Truck (or the Blackout SC Pro with a brushless motor installed)
Redcat Racing / compatible reseller$169.99MuSHR nano bill of materials PDF and hardware build instructions, read 2026-06-07
high
Sensorless brushless motorReplaces the stock brushed motor unless you buy the Blackout SC Pro
1sensorless BLDC motor (a sensored motor is also available)
Amazon$30.99MuSHR nano bill of materials PDF, read 2026-09-30
high
NVIDIA Jetson Nano compute stackOnboard computer and supporting storage/network accessories
1Jetson Nano developer kit with microSD and wireless/network accessories as listed by MuSHR
NVIDIA / electronics resellersprice not listedMuSHR nano bill of materials PDF and hardware build instructions, read 2026-06-07
high
VESC motor controller and steering electronicsDrive motor control and steering interface electronics
1VESC-class BLDC controller plus steering servo/control wiring from MuSHR BOM
VESC / servo and electronics resellersprice not listedMuSHR nano bill of materials PDF and hardware build instructions, read 2026-06-07
high
YDLidar scanner2D lidar mounted on the top plate
1YDLidar 360-degree scanner as listed by MuSHR
YDLidar / electronics resellersprice not listedMuSHR nano bill of materials PDF and URDF lidar model, read 2026-06-07
high
Intel RealSense D435 cameraDepth/RGB camera mounted on the MuSHR sensor deck
1Intel RealSense D435/D435i-class camera; D435 visual xacro is used by the source robot model
Intel RealSense / electronics resellersprice not listedMuSHR BOM/build guide and realsense2_description xacro dependency, read 2026-06-07
high
Power systemBattery and regulator stack for drive and electronics power
1NiMH batteries, charger and 5V buck/regulator components listed by MuSHR
battery/electronics resellersprice not listedMuSHR nano bill of materials PDF and hardware build instructions, read 2026-06-07
med
3D-printed MuSHR mounts and hardwarePrinted base/sensor mounts plus fasteners and wiring hardware
1MuSHR STL/DAE mounting parts and fasteners/cables from the hardware BOM
3D print yourself / hardware resellersprice not listedMuSHR BOM PDF, meshes and hardware build instructions, read 2026-06-07
high

Rows from the source's own parts list 3

mushr_docs/hardware/mushr_nano_bill_of_materials.pdf@2030b90pdf

Source rowQtyPrice and vendorLine
MuSHR nano source BOM
source BOM lists item quantities
MuSHR repository BOM PDFno price listed
L1

mushr_description/robots/mushr_nano.urdf.xacro@2030b90xacro

Source rowQtyPrice and vendorLine
MuSHR Nano visual assembly
1 robot model
MuSHR repositoryno price listed
L1

README.md@2030b90markdown

Source rowQtyPrice and vendorLine
MuSHR hardware build documentation
MuSHR repository and project siteno price listed
L1

MuSHR source files

12 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

MuSHR in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

The 3D specimen on this page is converted from mushr_description/robots/mushr_nano.urdf.xacro at 2030b90.

Builds of MuSHR

0 reviewed

No reviewed builds of MuSHR yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to prl-mushr/mushr: 2026-08-14 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: 2026-06-07 MuSHR BOM PDF and URDF visual.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain MuSHR? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 73/100

Markdown
[![Motari reproducibility score for MuSHR](https://motari.io/api/v1/badge/mushr)](https://motari.io/r/mushr)
HTML
<a href="https://motari.io/r/mushr"><img src="https://motari.io/api/v1/badge/mushr" alt="Motari reproducibility score for MuSHR" height="20"></a>

Not fully met yet: bom evidence (partial), wiring diagram (partial). The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed