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HumanoidFourier (Fourier Intelligence)2023CN

Fourier GR-1

Fourier's first general-purpose humanoid, a 1.65 m robot unveiled in 2023 and later succeeded by GR-2 and GR-3.

activeBuyL1 Compilednot buildable

Difficulty index

9.0/13
9.0
Index breakdown
Classhumanoid+5
Costunknown · midpoint+1.5
DOFunknown · midpoint+1.5
Partsunknown · midpoint+1
How the index works

Top of the ladder. This robot lives on the humanoid domains.

Specimen photographs

5 items
  • Fourier GR-1 studio render, three-quarter front view
    Studio render of the published URDF, the model's zero pose. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from FFTAI/Wiki-GRx-Models (GPL-3.0) · Hyperspawn render · source
  • Fourier GR-1 studio render, side view
    Side view of the same URDF render, the model's zero pose.Rendered by Hyperspawn from FFTAI/Wiki-GRx-Models (GPL-3.0) · Hyperspawn render · source
  • 4 s turntable of the URDF studio render.Rendered by Hyperspawn from FFTAI/Wiki-GRx-Models (GPL-3.0) · Hyperspawn render · source
  • Fourier Intelligence: The General-Purpose Robot GR-1 - Stunning Launch in July, 2023Fourier · official video, embedded · source
  • Fourier Intelligence's GR-1: Making History as World's First Mass-Produced Humanoid RobotFourier · official video, embedded · source

Spec card

2/13 known
Height
165 cm
Actuators
Fourier FSA smart actuators

Not in the registry: degrees of freedom, mass, payload, speed, runtime, battery, price, bom total, part count, compute, sensors. Left blank rather than guessed.

What you learn building it

  • +Whole-body control
  • +Dozens of actuators on one bus
  • +Balance and fall handling
  • +Safe bring-up of a full-size machine
  • +Testing in simulation (URDF/MJCF) before touching hardware

Openness

30/100
  • not publicCAD
  • not publicBOM
  • not publicFirmware
  • publicSim model
  • publicSoftware
  • not publicPolicies

Score 30/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10. Hardware license: Proprietary. Software license: MIT AND GPL-3.0 AND LGPL-3.0.

Repos & models

URDF ↗
SiteDocs

Build it

Closed hardware. Buy link only.

humanoidrobot.build/fourier/gr1 · Closed hardware. Buy link only.

Simulate

Load it in the browser simulator and train a policy before building.

Open on humanoidrobots.training ↗

Next rung

None. This is the top. Find people building it on humanoidrobots.team.

This is the top of the ladder.

NoteCurrent sales status is unverified. The model repo files GR1 under 'GR1_legacy', which suggests it has been superseded by GR-2/GR-3. Licenses: fourier-grx-GR1 and fourier-grx-client MIT, Wiki-GRx-Models GPL-3.0, Wiki-GRx-Gym and Wiki-GRx-Mujoco LGPL-3.0.

Sources

  1. [1]Wikipedia: Fourier (company)checked 2026-09-24
  2. [2]Wiki-GRx-Modelschecked 2026-09-24