CAD source files and a bill of materials are published, with a licence that covers the hardware. You can rebuild or modify the robot within the licence terms.
For example: Shanghai RoboParty ROBOTO Origin.
Open-source humanoid robots
34 of the 218 tracked humanoid robots publish design or software files: 1 the hardware design (CAD and a bill of materials) under a named licence, 19 a simulation model (URDF or MJCF) and 14 an SDK only. Licences were read from each repository on 29 Oct 2026: 16 permissive, 7 share-alike, 1 non-commercial, 1 under other terms, 2 without a licence file and 7 published on documentation pages without a licence. 7 of these robots can be ordered from the maker at a published price, the lowest at $4,900 (Unitree R1).
Three levels of openness
Hardware design (CAD + BOM) · 1
Simulation model (URDF / MJCF) · 19
A robot description (URDF or MJCF) loads the robot into simulators such as MuJoCo, Isaac or Gazebo. A complete hardware design (CAD and BOM) is not published.
For example: AeiROBOT Alice, AgiBot X2, Booster T1.
SDK only · 14
A software development kit to program the robot. No design files and no simulation model are published.
For example: Aldebaran NAO6, EngineAI PM01, isento pib.Pro.
| Published files | Repository / checked | ||||
|---|---|---|---|---|---|
| Shanghai RoboParty ROBOTO OriginShanghai RoboParty · CN | CAD + BOM | CADRoboparty/rpo_hardwareBOMRoboparty/rpo_hardwareSDKRoboparty/roboto_origin | CERN-OHL-W 2.0Share-alike · SDK: GPL 3.0 | Not published | github.comCode 29 Oct 2026 |
| AeiROBOT AliceAeiROBOT · KR | URDF / MJCF | URDF / MJCFeng.arobot4all.com | Documentation pageno licence on the page | Quoteno list price | eng.arobot4all.comVendor 29 Oct 2026 |
| AgiBot X2AgiBot · CN | URDF / MJCF | URDF / MJCFAgibotTech/agibot_x2_urdf | Mulan PSL v2Permissive | $25,600 | github.comCode 29 Oct 2026 |
| Booster T1Booster · CN | URDF / MJCF | URDF / MJCFBoosterRobotics/booster_assets | BSD 3-ClausePermissive | Not published | github.comCode 29 Oct 2026 |
| Fourier GR-1Fourier · CN | URDF / MJCF | URDF / MJCFFFTAI/Wiki-GRx-Models | GPL 3.0Share-alike | Not published | github.comCode 29 Oct 2026 |
| Fourier GR-2Fourier · CN | URDF / MJCF | URDF / MJCFFFTAI/Wiki-GRx-Models | GPL 3.0Share-alike | Quoteno list price | github.comCode 29 Oct 2026 |
| Fourier GR-3Fourier · CN | URDF / MJCF | URDF / MJCFFFTAI/Wiki-GRx-Models | GPL 3.0Share-alike | Quoteno list price | github.comCode 29 Oct 2026 |
| Fourier N1Fourier · CN | URDF / MJCF | URDF / MJCFFFTAI/Wiki-GRx-ModelsSDKfftai.github.io | GPL 3.0Share-alike · SDK: documentation page | Quoteno list price | github.comCode 29 Oct 2026 |
| Generative Bionics GENE.01Generative Bionics · IT | URDF / MJCF | URDF / MJCFgbionics/gb-robot-models | CC BY-NC 4.0Non-commercial | Not published | github.comCode 29 Oct 2026 |
| LimX LunaLimX · CN | URDF / MJCF | URDF / MJCFlimxdynamics/luna-description | Apache 2.0Permissive | ¥298,000≈ $44,702 | github.comCode 29 Oct 2026 |
| MenloAI Asimov 1MenloAI · SG | URDF / MJCF | URDF / MJCFmenloresearch/asimov-1SDKdocs.menlo.ai | CERN-OHL-S 2.0Share-alike · SDK: documentation pageHardware under CERN-OHL-S-2.0 (HARDWARE-LICENSE.txt), software under GPL-2.0 (SOFTWARE-LICENSE.txt); the README does not say which covers the simulation modelMechanical and electrical CAD (STEP) published under CERN-OHL-S-2.0 (HARDWARE-LICENSE.txt); the bill of materials is sent by email on request, not published in the repository. | $20,000 | github.comCode 29 Oct 2026 |
| PAL REEM-CPAL · ES | URDF / MJCF | URDF / MJCFpal-robotics/reemc_robotSDKwiki.ros.org | No licence filereuse terms not stated · SDK: documentation page | Quoteno list price | github.comCode 29 Oct 2026 |
| PNDbotics AdamPNDbotics · CN | URDF / MJCF | URDF / MJCFpndbotics/pnd_modelsSDKpndbotics/pnd_sdk_python | BSD 3-ClausePermissive · SDK: no licence file | Not published | github.comCode 29 Oct 2026 |
| ROBOTIS AI WorkerROBOTIS · KR | URDF / MJCF | URDF / MJCFROBOTIS-GIT/ai_workerSDKROBOTIS-GIT/ai_worker | Apache 2.0Permissive · SDK: Apache 2.0 | $60,000 | github.comCode 29 Oct 2026 |
| Shanghai RoboParty ROBOTO 01Shanghai RoboParty · CN | URDF / MJCF | URDF / MJCFRoboparty/rp1_descriptionSDKRoboparty/roboparty_deploy | No licence filereuse terms not stated · SDK: GPL 3.0 | Quoteno list price | github.comCode 29 Oct 2026 |
| UBTECH Walker S2UBTECH · CN | URDF / MJCF | URDF / MJCFUBTECH-Robot/WalkerS2-Model | OpenAtom Open Hardware Licence 0.4.3Other terms | Quoteno list price | github.comCode 29 Oct 2026 |
| Unitree G1Unitree · CN | URDF / MJCF | URDF / MJCFunitreerobotics/unitree_rosSDKunitreerobotics/unitree_sdk2 | BSD 3-ClausePermissive · SDK: BSD 3-Clause | $13,500–21,500 | github.comCode 29 Oct 2026 |
| Unitree H1Unitree · CN | URDF / MJCF | URDF / MJCFunitreerobotics/unitree_rosSDKunitreerobotics/unitree_sdk2 | BSD 3-ClausePermissive · SDK: BSD 3-Clause | Quoteno list price | github.comCode 29 Oct 2026 |
| Unitree H2Unitree · CN | URDF / MJCF | URDF / MJCFunitreerobotics/unitree_mujocoSDKunitreerobotics/unitree_sdk2 | BSD 3-ClausePermissive · SDK: BSD 3-Clause | $29,900not orderable 29 Oct 2026 | github.comCode 29 Oct 2026 |
| Unitree R1Unitree · CN | URDF / MJCF | URDF / MJCFunitreerobotics/unitree_mujocoSDKunitreerobotics/unitree_sdk2 | BSD 3-ClausePermissive · SDK: BSD 3-Clause | $4,900–10,500 | github.comCode 29 Oct 2026 |
| Aldebaran NAO6Aldebaran · FR | SDK only | SDKmaxtronics.com | Documentation pageno licence on the page | Quoteno list price | maxtronics.comVendor 29 Oct 2026 |
| EngineAI PM01EngineAI · CN | SDK only | SDKengineai-robotics/engineai_ros2_workspace | BSD 3-ClausePermissive | Not published | github.comCode 29 Oct 2026 |
| isento pib.Proisento · DE | SDK only | SDKpib-rocks/pib-sdk | AGPL 3.0Share-alikeREADME says MIT; the LICENSE file is AGPL-3.0 | Not published | github.comCode 29 Oct 2026 |
| K-Scale K-BotK-Scale · US | SDK only | SDKkscalelabs/kbot | MITPermissiveREADME says the software is GPL v3; the LICENSE file is MIT; hardware: LICENSE-HW (CERN-OHL-S)CAD published on Onshape under CERN-OHL-S (LICENSE-HW); no bill of materials found in the repository. | Not published | github.comCode 29 Oct 2026 |
| Noetix BumiNoetix · CN | SDK only | SDKNoetix-Robotics/noetix_sdk_bumi | BSD 3-ClausePermissive | Quoteno list price | github.comCode 29 Oct 2026 |
| Noetix E1Noetix · CN | SDK only | SDKweb.noetixrobotics.com | Documentation pageno licence on the page | Quoteno list price | web.noetixrobotics.comVendor 29 Oct 2026 |
| Noetix N2Noetix · CN | SDK only | SDKNoetix-Robotics/noetix_sdk_n2 | BSD 3-ClausePermissive | Quoteno list price | github.comCode 29 Oct 2026 |
| PAL ARIPAL · ES | SDK only | SDKwiki.ros.org | Documentation pageno licence on the page | Quoteno list price | wiki.ros.orgWeb 29 Oct 2026 |
| PAL TALOSPAL · ES | SDK only | SDKwiki.ros.org | Documentation pageno licence on the page | Quoteno list price | wiki.ros.orgWeb 29 Oct 2026 |
| Pollen Reachy 2Pollen · FR | SDK only | SDKpollen-robotics/reachy2-sdk | Apache 2.0Permissive | Quoteno list price | github.comCode 29 Oct 2026 |
| Rainbow RB-Y1Rainbow · KR | SDK only | SDKRainbowRobotics/rby1-sdk | Apache 2.0Permissive | Quoteno list price | github.comCode 29 Oct 2026 |
| ROBOTIS OP3ROBOTIS · KR | SDK only | SDKemanual.robotis.com | Documentation pageno licence on the page | $13,764.35 | emanual.robotis.comVendor 29 Oct 2026 |
| UBTECH YansheeUBTECH · CN | SDK only | SDKyandev.ubtrobot.com | Documentation pageno licence on the page | Not published | yandev.ubtrobot.comVendor 29 Oct 2026 |
| Unitree H2 PlusUnitree · CN | SDK only | SDKunitreerobotics/unitree_sdk2 | BSD 3-ClausePermissive | Quoteno list price | github.comCode 29 Oct 2026 |
Licence types:Permissive — MIT, BSD, Apache 2.0, Mulan PSL v2·Share-alike — GPL, AGPL, CERN-OHL-S/W, CC BY-SA·Non-commercial — CC BY-NC, CC BY-NC-SA
Prices
Prices and availability are collected from vendor pages and public sources on the date shown; they change without notice. Verify with the vendor before purchase. Details
Open hardware designs without a database card
Research projects that publish a full hardware design: CAD, a bill of materials and a hardware licence. They have no card in the robot database, so the rows list only what each repository publishes, checked on 29 Oct 2026.
| Project | CAD / BOM | Hardware licence | Code licence | Last update | Repository / checked |
|---|---|---|---|---|---|
| Berkeley Humanoid LitePaper · URDF / MJCF published | CAD · BOM | CC BY-SA 4.0Share-alike | MIT | 10 Mar 2026 | github.comCode 29 Oct 2026 |
| ToddlerBotPaper · URDF / MJCF published | CAD · BOM | CC BY-NC-SA 4.0Non-commercial | MIT | 31 Jul 2026 | github.comCode 29 Oct 2026 |
Berkeley Humanoid Lite: Robot description files (URDF, MJCF, USD) in the assets repository; CAD on Onshape and BOM linked from the release page. ToddlerBot: The design (Onshape document, STL files) is released under CC BY-NC-SA 4.0 according to the README; the code under MIT (LICENSE).
How openness and licences are checked
- A robot is listed when its maker publishes an SDK, a robot description for simulators, or design files, and links to them from an official page or repository.
- The level is the highest one with evidence: CAD + BOM needs CAD source files, a bill of materials and a licence that covers the hardware, all published; CAD without a published bill of materials does not count. URDF / MJCF needs a published robot description. Otherwise the robot is SDK only.
- The licence is read from the repository's own licence file; where a README states different terms, both are shown. A repository without a licence file is marked “no licence file”: its reuse terms are not stated. SDK documentation hosted on a maker's website carries no licence file.
- Each row links to the files and the licence; all were checked on 29 Oct 2026. Prices come from the same records as the price registry.
A licence describes what the files allow; it is not legal advice, and third-party parts inside a repository keep their own terms. How Robopear verifies data · sources and licences.
Humanoids you can order today with a budget filter: humanoid robots for sale. Also: Chinese humanoid robots · humanoid robot prices · all humanoid robots.