SigmaBan (Rhoban)

SigmaBan2019 is the kid-size humanoid soccer platform from the Rhoban team (LaBRI / University of Bordeaux), multiple-time RoboCup Humanoid League champions. This catalog entry covers the version published in Rhoban's onshape-to-robot-examples repository, where the robot is exported as a fully articulated URDF and MuJoCo model with per-link STL, .part and OpenSCAD pure-shape collision geometry. It is a Dynamixel-based design (MX-64 / MX-106 class actuators with RX64 caps), instrumented with foot load cells, a 4S LiPo, a PointGrey camera and an Intel NUC. The repo is a simulation/export reference rather than a full build kit: there is no costed bill of materials, wiring diagram, or firmware here, but the geometry and joint model are complete and directly loadable in PyBullet and MuJoCo.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A primary assembly 3D asset is available from sigmaban2019_urdf/robot.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: Rhoban/onshape-to-robot-examples. Original files stay intact and separately licensed under MIT; Motari adds a separate, adjacent metadata layer.