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HumanoidThe Robot Studio & Hugging Face2025FR

HopeJR

Open-source DIY full-size humanoid with dexterous hands and exoskeleton teleoperation, targeting ~$3,000, with LeRobot integration.

activeDIYL1 Compiledbuildable

Difficulty index

10.7/13
10.7
Index breakdown
Classhumanoid+5
Cost$3,000 list+1.5
DOF66 DOF+3
Parts163 parts+1.2
How the index works

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

Specimen photographs

3 items
  • HOPEJr humanoid artwork, three figures, one on a hoverboard base
    Concept artwork from the HOPEJr Humanoid folder, not a photo of a build.The Robot Studio (HOPEJr) · Apache-2.0 · source
  • HOPEJr assembled for the first time at Humanoids Summit London 25therobotstudio · official video, embedded · source
  • HOPEJr now integrated with LeRobot from HuggingFace!therobotstudio · official video, embedded · source

Spec card

4/13 known
Degrees of freedom
66
Price
$3,000 · ~$3,000 target (May 2025); first units planned for end of 2025, delivery not verified
Part count
163
Actuators
Robstride 02 (humanoid body update)

Not in the registry: height, mass, payload, speed, runtime, battery, bom total, 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
  • +FDM 3D printing: 7 parts
  • +Tools used: FDM printer, Arduino IDE (or arduino-cli) with ESP32 core, Host computer (Linux/macOS), Python, USB camera (OpenCV)
  • +14 assembly steps across 7 subassemblies
  • +Flashing firmware for Homunculus exoskeleton PCB (ESP32-C3, Arm/code/exo.cs), Homunculus glove PCB (ESP32-C3, Arm/code/glove.cs), Robot arm + hand: stock Feetech servo firmware driven from LeRobot over URT-1 / Waveshare bus adapters
  • +Testing in simulation (URDF/MJCF) before touching hardware

Openness

90/100
  • publicCAD
  • publicBOM
  • publicFirmware
  • publicSim model
  • publicSoftware
  • not publicPolicies

Score 90/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10.

Repos & models

URDF ↗
SiteDocs

Build it

Has an ORP build package.
Build it on humanoidrobot.build ↗Only one arm + dexterous hand and its exoskeleton/glove teleop (Arm/) are buildable from upstream. The full humanoid has a right-leg + pelvis URDF, a draft torso and a legs STEP; no assembly guide and no license on the Arm/ files.

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.

NoteRepo has no LICENSE detected by GitHub (license API returns none, 2026-09-25); Humanoid/LICENSE is Apache-2.0 text with an 'all rights reserved' header and covers only Humanoid/, so no license is declared here. Arm/hand + exoskeleton (Arm/ dir, LeRobot) is the most developed part. sim=true rests on the right-leg + pelvis URDF only. Commercial shipping status in 2026 unconfirmed. HQ left null (joint project). Repo last pushed May 2026.

Sources

  1. [1]TechCrunchchecked 2026-09-24
  2. [2]Official repochecked 2026-09-24
  3. [3]HOPEJr Humanoid/URDF/Right_Leg (only URDF)checked 2026-09-25
  4. [4]LeRobot HopeJR docs (arm, hand, exoskeleton, glove)checked 2026-09-25