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DEVELOPMENT · /robots/with/urdf

Humanoid robots with URDF and MJCF models

16 humanoid robots with a URDF or MJCF model, from AGIBOT, Astribot and Booster and more: models, specifications and sources compared.

16 of the 51 humanoid robots in the WBH database publish a URDF or MJCF model, from 12 makers: AGIBOT, Astribot, Booster, Fourier, Istituto Italiano di Tecnologia, LimX Dynamics, Noetix and PAL and others.

Each robot's page lists the package, its versions and the source that states the support; the table shows what else each robot publishes for developers.

Compare the first 4 side by side · Sources last checked 29 SEP 2026

DATA · 16 ROBOTS

Robots

Humanoid robots with status, key figures, development support and topics
ROBOTSTATUSORIGINHEIGHTWEIGHTDOFSDKROS 2ISAACMUJOCOTOPICSCHECKED
AGIBOT A3AGIBOTStatus: SHIPPINGCN1.73 m55 kgNot publishedLocomotion, Manipulation, Reinforcement Learning +129 SEP 2026
AGIBOT X2 humanoid robot standing and waving beside an AGIBOT X2 banner in an ornate room, with visitors filming it.AGIBOT X2AGIBOTStatus: SHIPPINGCN≈1.31 m≈39 kg29–31ROS 2, Locomotion, Reinforcement Learning +328 SEP 2026
Astribot S1AstribotStatus: SHIPPINGNot published1.7 m80 kg7 per arm (total not published)ROS 2, Manipulation, Teleoperation +229 SEP 2026
Booster T1BoosterStatus: SHIPPINGNot published1.18 m~30 kg23ROS 2, Locomotion, Reinforcement Learning +328 SEP 2026
Fourier GR-3FourierStatus: PILOTNot published1.65 m≈71 kg55Locomotion, Manipulation, Teleoperation +328 SEP 2026
The iCub humanoid robot, child-sized with a white face and grey arm covers, standing in a robotics lab with its arms held out.iCubIstituto Italiano di TecnologiaStatus: SHIPPINGNot published1.04 mNot publishedNot publishedLocomotion, Manipulation, Gazebo29 SEP 2026
LimX OliLimX DynamicsStatus: SHIPPINGNot published1.65 m≤55 kg with battery33Locomotion, Manipulation29 SEP 2026
Noetix N2NoetixStatus: SHIPPINGNot published114 cm (site); 1140 mm standing H×W×D 1140×491.38×280 mm (SDK guide)30 kg (product page); about 33.5 kg with battery (SDK guide)18Locomotion, Manipulation, Reinforcement Learning29 SEP 2026
PAL Robotics KANGAROOPALStatus: SHIPPINGES1.6 m50–65 kg14–40ROS 2, Locomotion, Reinforcement Learning +328 SEP 2026
PAL Robotics TALOSPALStatus: SHIPPINGES1.75 m95 kg32ROS 2, Locomotion, Manipulation +328 SEP 2026
Pollen Robotics Reachy 2PollenStatus: SHIPPINGFR1.36–1.66 mUp to 50 kgNot publishedROS 2, Manipulation, Imitation Learning +328 SEP 2026
Unitree H1UnitreeStatus: SHIPPINGCN≈1.78–1.8 m≈47–70 kg27ROS 2, Locomotion, Reinforcement Learning +328 SEP 2026
Unitree H2UnitreeStatus: SHIPPINGCN1.82 m~70 kg31ROS 2, Locomotion, Manipulation +328 SEP 2026
Unitree R1UnitreeStatus: SHIPPINGCN1.23 m≈27–29 kg20–40Locomotion, Manipulation, Teleoperation +128 SEP 2026
VegaDexmateStatus: SHIPPINGNot publishedNot published135 kg24: arms 14 (7 each), torso 3, head 3, base 4 (2 steering, 2 drive)Manipulation, Teleoperation29 SEP 2026
Walker S2UBTECHStatus: SHIPPINGNot publishedNot publishedNot publishedNot publishedLocomotion, Manipulation, Teleoperation +129 SEP 2026
  • Official
  • Community
  • None
  • Not published
— Not published

IN SHORT

Quick answers

Which humanoid robots have a URDF or MJCF model?
AGIBOT A3, AGIBOT X2, Astribot S1, Booster T1, Fourier GR-3, iCub, LimX Oli and Noetix N2, and 8 more in the table.

DATA · 12 COMPARISONS

Head-to-head comparisons

All comparisons

  • 5 SPECIFICATIONS

    AGIBOT X2 vs Booster T1

    X2 and T1 compared: height, weight, walking speed, runtime and more, as their makers publish them.

  • 7 SPECIFICATIONS

    AGIBOT X2 vs Fourier GR-3

    X2 and GR-3 compared: height, weight, degrees of freedom, walking speed and more, as their makers publish them.

  • 6 SPECIFICATIONS

    AGIBOT X2 vs LimX Oli

    X2 and LimX Oli compared: height, weight, walking speed, runtime and more, as their makers publish them.

  • 6 SPECIFICATIONS

    AGIBOT X2 vs PAL Robotics KANGAROO

    X2 and KANGAROO compared: height, weight, walking speed, runtime and more, as their makers publish them.

  • 5 SPECIFICATIONS

    Booster T1 vs LimX Oli

    T1 and LimX Oli compared: height, weight, walking speed, runtime and more, as their makers publish them.

  • 6 SPECIFICATIONS

    Booster T1 vs PAL Robotics KANGAROO

    T1 and KANGAROO compared: height, weight, degrees of freedom, walking speed and more, as their makers publish them.

  • 5 SPECIFICATIONS

    Booster T1 vs Unitree H2

    T1 and H2 compared: height, weight, degrees of freedom, runtime and more, as their makers publish them.

  • 6 SPECIFICATIONS

    LimX Oli vs PAL Robotics KANGAROO

    LimX Oli and KANGAROO compared: height, weight, max moving speed, runtime and more, as their makers publish them.

  • 5 SPECIFICATIONS

    LimX Oli vs PAL Robotics TALOS

    LimX Oli and TALOS compared: height, weight, arm payload, battery and more, as their makers publish them.

  • 5 SPECIFICATIONS

    LimX Oli vs Unitree H2

    LimX Oli and H2 compared: height, weight, runtime, arm payload and more, as their makers publish them.

  • 5 SPECIFICATIONS

    LimX Oli vs Unitree R1

    LimX Oli and R1 compared: height, runtime, arm payload, battery and more, as their makers publish them.

  • 5 SPECIFICATIONS

    PAL Robotics KANGAROO vs PAL Robotics TALOS

    KANGAROO and TALOS compared: height, weight, degrees of freedom, battery and more, as their makers publish them.