Auto-assembled, not yet reviewed

SigmaBan (Rhoban)

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

  • No license stated for the Onshape design
  • humanoid robot20 DoF
  • cost not published
Reproducibility10/100Sparse source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
SigmaBan (Rhoban) 20-DoF humanoid robot, 3D render from robot.urdf
main assembly 3D · robot.urdf

About 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 page 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.

Licenses

Hardware
No license stated for the Onshape designMIT covers the onshape-to-robot export examples repository only
Software
MIT
Docs
Not published

Degrees of freedom

20 DoF

No per-group breakdown has been sourced yet.

Humanoidsource

How to build SigmaBan (Rhoban)

4 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Install onshape-to-robot

    pip install onshape-to-robot. The repo ships the config.json and the resulting export so no Onshape API key is needed to view the result.

    Motari summarycad.onshape.com/documents/41654e89e61a392d020b728c/w/d555cee...

  2. Load the URDF in PyBullet

    Run onshape-to-robot-bullet sigmaban2019_urdf to load the full articulated humanoid with pure-shape (OpenSCAD) collisions.

    Upstream stepgithub.com/Rhoban/onshape-to-robot-examples/blob/7e40fd65320...

  3. Load the MuJoCo model

    Run onshape-to-robot-mujoco sigmaban2019_mujoco to simulate using robot.xml and scene.xml.

    Motari summarycad.onshape.com/documents/41654e89e61a392d020b728c/w/d555cee...

  4. Re-export from Onshape

    To re-export, make your own copy of the Onshape document, put its link in config.json, set your Onshape API key, and rerun onshape-to-robot; install openscad and meshlab to get the same results.

    Upstream stepgithub.com/Rhoban/onshape-to-robot-examples/blob/7e40fd65320...
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.

SigmaBan (Rhoban) bill of materials

Cost to build

The sources do not publish a cost total.

No itemized bill of materials is published in the sources, so none is shown here.

  • README identifies Sigmaban2019 as a 20-DOF humanoid Onshape-to-robot example with URDF/MuJoCo visualization commands and configuration links, but does not publish a build BOM, wiring list, or kit total. README.md

SigmaBan (Rhoban) source files

6 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.

SigmaBan (Rhoban) 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 sigmaban2019_urdf/robot.urdf at 7e40fd6.

Builds of SigmaBan (Rhoban)

0 reviewed

No reviewed builds of SigmaBan (Rhoban) 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 Rhoban/onshape-to-robot-examples: 2026-02-02 (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: source-reviewed 2026-06-08.

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 SigmaBan (Rhoban)? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 10/100

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

Not fully met yet: cad / mesh present (partial), bom evidence, wiring diagram, firmware linked, build instructions, oshw-compatible license. 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