Reachy 2 is Pollen Robotics’ full-size, fully open-source humanoid — built for embodied AI and robot-learning research rather than industrial deployment. It stands 136-166 cm tall (a manually adjustable torso height) and weighs around 50 kg in this dual-arm, mobile-base configuration.
The mechanism
Two 7-DOF arms — each built from two Orbita2D actuators (shoulder, elbow) and one
Orbita3D actuator (wrist) — mirror the reach and proportions of an adult human arm, each
rated to lift about 3 kg. A parallel-jaw gripper closes each hand, one real motor per hand
driving both fingers through mechanically-coupled linkages (mimic joints in the URDF, not
independent actuators). The head rides on a simplified single-joint neck linkage in this
particular description (Pollen’s real Orbita3D neck hardware is a 3-actuator parallel
mechanism — this repository’s own MuJoCo-oriented URDF export represents it more simply).
An omnidirectional mobile base with three omniwheels carries the whole platform.
About this file — read before importing
This links directly to
pollen-robotics/reachy2_mujoco, a
Pollen Robotics repository built around a MuJoCo-based fake SDK server for Reachy 2 — not
the canonical ROS 2 xacro description (reachy2_core’s reachy_description package),
which spans several sibling packages/repositories not resolvable with this gallery’s
single-repo tooling. This repo’s own “modified” URDF export is self-contained (every mesh
in one directory, no cross-package references) and was chosen over its sibling
“original_urdf” export for exactly that reason. ARMOR links directly to the repository
rather than re-hosting anything, so what you get is exactly what Pollen Robotics publishes,
unmodified.