Pollen Robotics Reachy 2

Pollen RoboticsHumanoid upper body on a wheeled baseAnnounced 2024

Reachy 2 is Pollen Robotics' open-source humanoid research platform: a human-scale upper body with two 7-DoF arms and a 3-DoF neck, built around Pollen's Orbita parallel-actuator joints, mounted on an omnidirectional wheeled mobile base with a LiDAR. Its height is manually adjustable from 136 to 166 cm and the complete robot weighs up to 50 kg; each arm can lift about 3 kg. It carries stereo fisheye cameras and a time-of-flight depth module in the head, a fixed RGB-D camera in the torso, microphones and speakers, and runs ROS 2 Humble under a high-level Python SDK (reachy2-sdk), with the ROS 2 workspace, SDK and a Unity-based VR teleoperation app all published as open-source, Apache-2.0-licensed repositories. It can be simulated through an official Docker image supporting Gazebo and (still work-in-progress) MuJoCo. Pollen Robotics, founded in Bordeaux in 2016, became part of Hugging Face in 2025, and Hugging Face's LeRobot library officially supports recording, training and evaluating imitation-learning policies on Reachy 2. As of an April 2025 Hugging Face announcement, Reachy 2 was sold for $70,000 through direct sales contact and was already used at research institutions including Cornell University and Carnegie Mellon University.

EDITORIALOverview reviewed against the cited sources by WBH, 29 SEP 2026.

HEIGHT: 136-166 cm (adjustable)adjustable
WEIGHT: Up to 50 kg (full robot)full robot
ARM DOF: 7 DoF per armper arm
PAYLOAD: ~3 kg per armper arm

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Last verified28 SEP 202652 sources

DATA · 27 FIELDS

Specifications

Official source
Community measured
Not published

PHYSICAL
Height	136-166 cm (adjustable)Manually adjustable via the tripod-style pillar (unscrew pods to raise/lower the torso).	Official source [1][19]
Weight	Up to 50 kg (full robot)Includes the omnidirectional mobile base, which alone weighs 25 kg (see mobile-base-weight).	Official source [1][19]
Degrees of freedom	Not publishedNo total is published. Pollen gives per-part counts: 7 per arm and 3 in the neck, plus a gripper per arm and the holonomic base.	Not published
Locomotion	Wheeled, omnidirectional mobile baseReachy 2 does not walk; the upper body is stationary relative to the wheeled base.	Official source [13][28]
Walking speed	Not publishedReachy 2 does not walk (wheeled base, no legs). The mobile base's maximum movement speed is recorded separately as mobile-base-max-speed.	Not published
Mobile base max speed	2.5 m/sMaximum movement speed of the wheeled mobile base, per the safety guidelines.	Official source [18]
Ingress protection	Not published	Not published
Arm DoF (per arm)	7 DoF per armEach 7-DoF arm uses 2x Orbita 2D actuators (shoulder, elbow) and 1x Orbita 3D actuator (wrist).	Official source [1][11]
Neck DoF	3 DoFNeck uses 1x Orbita 3D actuator, same design as the wrist.	Official source [11]
Mobile base dimensions	50 cm diameter x 25 cm height	Official source [13]
Mobile base weight	25 kgWeight of the mobile base alone (part of the 50 kg full-robot weight).	Official source [13]

JOINTS & ACTUATION
Max joint torque	16.5 N·m (Orbita 2D) · 15 N·m yaw (Orbita 3D)Peak torque. Nominal: 12 N·m (Orbita 2D, shoulders and elbows), 3 N·m (Orbita 3D, neck and wrists).	Official source [12]
Actuators	Orbita parallel actuators (Maxon brushless motors)Orbita 3D (neck, wrists): 3 concentric stepped axes, 40 W motors each. Orbita 2D (shoulders, elbows): differential mechanism, 60 W motors each.	Official source [12]

POWER
Battery	24V mobile-base battery (capacity not published)A battery charger is included in the box.	Official source [19][28]
Runtime	8 hMobile base battery life, as stated in the mobile base specifications.	Official source [13]
Charging time	Not published	Not published

COMPUTE & SENSING
Compute	Solidrun Bedrock v3000 (fanless CPU computer)Pollen notes that at this stage AI processing is done via the customer's own computer, not onboard the robot.	Official source [11]
Perception sensors	Stereo fisheye + ToF (head), RGB-D (torso), LiDAR (base), 2 mics + speaker	Official source [15][16]
Connectivity	Ethernet or WiFiRobot is reached at <robot-name>.local:8000 or via IP; WiFi is configured through the on-robot dashboard.	Official source [22][23]
Safety system	Emergency stop button + LiDAR anti-collision (base only); no arm collision detectionPollen explicitly warns the robot 'lacks automatic collision detection' for the arms.	Official source [18]

HANDS & PAYLOAD
End effector	Parallel gripper (interchangeable tips), 10N nominal / 50N peakDefault tip is a hybrid hard tip with rubber-like covering; tips are V-shaped for holding thin objects.	Official source [14]
Payload per arm	~3 kg per armSafety guidelines state a hard limit of 3 kg (6.6 lb) per lift.	Official source [1][18]
Mobile base payload	80 kgLoad capacity of the mobile base itself (distinct from the per-arm manipulation payload).	Official source [13]
Hand DOF	Not publishedParallel gripper driven by a single actuator; Pollen does not state a DOF count.	Not published

AVAILABILITY & PRICE
Indicative price	US$70,000 (April 2025)Stated by Hugging Face when it acquired Pollen (14 Apr 2025); pollen-robotics.com publishes no price, so it may have changed.	Official source [7]
Availability	Available via direct sales contact	Official source [4][7]
Warranty	Not published	Not published

DATA · SOFTWARE & SIMULATION

Development

INTERFACE	SUPPORT	PACKAGE / VERSION	SRC
SDK	Official	reachy2-sdk: pure-Python SDK, Apache-2.0, PyPI package 'reachy2-sdk', requires Python >= 3.10, latest GitHub release v1.0.15. Depends on numpy, protobuf, grpcio, opencv-python, reachy2-sdk-api. Auto-generated pdoc API reference published to GitHub Pages.	[26][37][43]
ROS 2	Official	Runs on ROS 2 Humble. The reachy2_core GitHub repo provides the full ROS 2 workspace: reachy_bringup, reachy_config, reachy_controllers, reachy_description (URDF), reachy_fake, reachy_gazebo, reachy_gazebo_gripper_glue, reachy_utils; Apache-2.0. The Python SDK sits on top of, and can be bypassed in favour of, the ROS 2 stack for advanced use.	[1][36][47]
Isaac Sim / Lab	Not published	No official or community NVIDIA Isaac Sim/Lab asset or environment for Reachy 2 was found in any retrieved source.
MuJoCo	Official	Official MuJoCo simulation via a Docker image (mujoco:=true flag), plus dedicated repositories reachy2_mujoco (fake SDK server) and reachy2_mujoco_assets (scenes: base, fruits, kitchen [adapted from RoboCasa], table), all Apache-2.0. Docs describe MuJoCo support as 'still a work in progress' with 'very low' performance so far.	[29][30][50]
Gazebo	Official	Official Gazebo simulation via the reachy_gazebo and reachy_gazebo_gripper_glue packages in reachy2_core, and via the same Docker image (gazebo:=true flag).	[30][36]
URDF / MJCF	Official	URDF/xacro robot description published in the reachy_description package of reachy2_core (GitHub), Apache-2.0; MJCF scenes published separately in reachy2_mujoco_assets. The docs.pollen-robotics.com 'Find CAD Files' page is still a stub ('Page in progress').	[17][45]
Languages	Official	Python (reachy2-sdk, official high-level API); ROS 2 stack in Python/Rust/C++ (reachy2_core: Python 33.8%, Rust 33.7%, C++ 27.9%, CMake, Shell per GitHub's language breakdown); C# (Unity-based Reachy2Teleoperation VR app).	[36][39]
VR teleoperation	Official	Reachy2Teleoperation: Unity 2022.3 app (GStreamer/WebRTC video), Apache-2.0, latest release v1.1.2.0 (API v1.0.19), Windows-only installer, tested with Meta Quest 2/3 (Oculus Link) and expected to support other Unity-XR-compatible headsets.	[32][40]
Hugging Face LeRobot integration	Official	Hugging Face's LeRobot documentation lists Reachy 2 as a supported robot type (--robot.type=reachy2) with lerobot-record, lerobot-replay, lerobot-train (e.g. ACT policy) and lerobot-eval commands, plus Gazebo/MuJoCo simulation via Docker and VR or robot-to-robot teleoperation. Requires reachy2-core >= 1.7.5.2 and webrtc >= 2.0.1.1 on the robot.	[41]