Open Source RoboticsRobots, software & learning

MEVIUS2

Robot / hardware build

Metal-fabricated quadruped research platform with 12 RobStride03 motors, a ROS control package and MuJoCo descriptions; assembly files and parts lists are separate Drive snapshots. [1] [4] [5] [6]

Build & first use →Official websiteUpstream build guideBill of materials

For
Robotics researchers comfortable with metal fabrication, ROS, CAN motor control and reinforcement learning [1] [4] [6]
Cost
JPY 1,935,800.50–1,965,817.30 upstream parts estimates for 2 versions [6] · checked Nov 1, 2026 · DetailsNot included: printed parts and fastener/cable coverage not completely priced and tools, fabrication labor and first-working commissioning costs not established.
Source rights
Some licenses are unresolved. Review licenses
Unknowns
tools, operating system not fully established. Review gaps

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware
License
MIT · license not fully assessed for mechanical design, model weights · Details by part

Requirements · Research details and dates

On this page

Overview

MEVIUS2 is a quadruped research platform with a metal structure, twelve RobStride03 motors and a ROS control package that also has a MuJoCo route. Its useful starting point is a set of linked artifacts: the repository contains control code and robot descriptions, while a separate Drive folder holds the assembly STEP, parts list and fabrication files. Review those as a matched configuration before ordering metal parts. [1] [4] [5] [6]

Is this for you?

Known limitations
  • Root LICENSE is MIT while package.xml declares BSD; software metadata is inconsistent.
  • Drive CAD and BOM have no separate hardware license identified in the inspected accompanying README; root code MIT is not assumed to grant Drive design rights.
  • The BOM lists one CAN-USB converter, while the README and parameters configure two interfaces; reconcile the wiring selection before purchase.
  • The upstream BOM subtotal leaves printed parts, screws and cables without complete priced coverage; current delivered and first-working totals are unknown.
  • Assembly STEP and source descriptions were inspected without CAD-kernel validation, installation, motor commissioning or training.

Scope and source discrepancies observed during document and artifact inspection, not runtime tests.

[1] [2] [3] [4] [5] [6] [7] · Editorial assessment

What you need

Host computer

Parts list names Jetson Orin Nano 8GB and A603 carrier, with a mini-PC replacement note; training compute minimum not established.

[6]

Dependencies
  • ROS / catkin; README directs Ubuntu >=22.04 to ROS-O
  • PyTorch, SciPy, python-can, MuJoCo, mujoco-python-viewer, urdf_parser_py
  • legged_gym with the maintainer mevius2 branch for training
  • Maintainer FAST_LIO and livox_ros_driver2 forks for perception

[1]

Hardware & parts

Upstream bill of materials [6]

Hardware configuration

Four-legged quadruped with machined and welded sheet-metal structural parts

[1] [6]

Actuators
  • 12 RobStride03 motors

[4] [6]

Sensors
  • Parts-list optional perception selection: two Livox Mid-360 LiDARs and a Tier IV C1 camera

[6]

Degrees of freedom

12

[4]

Assembly & first use

Open the upstream getting-started guide [1] · Project documentation [5]

  • Match the selected STEP assembly, parts list and 12-motor parameter mapping before ordering or wiring.
  • Reconcile ROS/ROS-O and perception-fork versions before attempting catkin build.
  • Start by inspecting the MuJoCo descriptions and documented --sim route; separately verify CAN IDs, offsets and hardware safety before powered work.

Editorial assessment from the cited source scope; no reproduction or compatibility test.

[1] [4] [5] [6] · Editorial assessment

Calibration

The parameter file explicitly requires manual adjustment of motor offsets; stored values belong to the upstream configuration.

[4]

Cost

These are the project's published parts estimates, not current shop prices. They do not cover a complete build.

VersionPrice
Worksheet with Hip-Link and Thigh-Base; upstream subtotalJPY 1935800.50 [6]
Parts estimate
Worksheet with Hip-Link-Both and Thigh-Base-Both; upstream subtotalJPY 1965817.30 [6]
Parts estimate

Both prices were checked 2026-11-01. The following applies to both versions.

IncludedPriced mechanical and electrical worksheet rows; Optional perception and mechanical rows included in the worksheet sum
Not includedPrinted parts and fastener/cable coverage not completely priced; Tools, fabrication labor and first-working commissioning costs not established
StockSupplier stock and current prices not checked
Delivery and taxTreatment of delivery and tax not established
Price details

Reported incomplete worksheet subtotal including optional rows; original quote date and current delivered availability unestablished. Assembly-to-worksheet identity not independently matched.

Japan-oriented upstream worksheet · Checked 2026-11-01 · Quantity 1

Reconcile exact assembly, CAN interfaces, unpriced fabrication/fasteners/cables, tools, delivery and tax before ordering

Budget and rights remain configuration-specific

The upstream spreadsheet contains two selections. The worksheet using Hip-Link and Thigh-Base reports a ¥1,935,800.5 subtotal; the one using Hip-Link-Both and Thigh-Base-Both reports ¥1,965,817.3. Both sums include optional rows. These are separate incomplete source estimates, not a price range for one verified configuration: match the selected assembly to the appropriate part variant before using either. We have not independently matched every assembly part to a worksheet. [6]

Neither subtotal is a current complete delivered quote. Printed supports, screws and cables do not all have priced coverage, and supplier stock, tools, labor, delivery and tax were not rechecked. A blank or zero worksheet cell does not make a required part free. The complete first-working cost remains unknown. [6]

The repository root supplies an MIT license, while package.xml says BSD. Preserve that inconsistency rather than reporting one clean license for every layer. No separate hardware grant was identified in the reviewed Drive README and parts-list scope; the repository's software notice is not assumed to license external CAD, purchased motors or media. The design files are linked here, not redistributed. [2] [3] [5] [6]

This is source research and original-file inspection only. No upstream compilation, installation, CAD fit or strength validation, fabrication, powered commissioning, training or physical performance test was performed.

3D preview

Preview not available yet. The original assembly STEP was downloaded and inspected as file content, without a CAD-kernel fit check. No hosted preview has been generated; the separate external hardware reuse terms remain unresolved.

Model sources

The original assembly STEP was downloaded and inspected as file content, without a CAD-kernel fit check. No hosted preview has been generated; the separate external hardware reuse terms remain unresolved.

Project notes

What is available to inspect

The original MEVIUS2.STEP download contains STEP solid geometry and assembly entities, rather than an image or download placeholder. We checked its file header, ending and entity declarations; we did not load it through a CAD kernel or validate assembly fit. The accompanying hardware document distinguishes parts for online metal fabrication from parts for 3D printing and links the assembly separately. Those are useful design-reference artifacts, but they do not establish that every supplier drawing and assembly step has been reproduced. [5] [7]

The parts list specifies machined and welded sheet-metal components, bought-in bearings and motors, electrical parts and printed supports. It also includes an optional perception selection with two Livox Mid-360 units and a C1 camera. Treat that selection separately from a basic locomotion build. [6]

Resolve the wiring count before purchasing

One source discrepancy affects a shopping list: the BOM has a quantity of one for its CAN-USB converter row, while the README describes two device rules and the selected parameters distribute the motors across can0 and can1. These are not interchangeable counts. Reconcile the wiring and exact interface hardware before using the sheet as an order list. [1] [4] [6]

The parameter file also contains motor directions, CAN IDs and offsets, with an explicit note that the offsets require manual adjustment. The stored numbers describe the upstream robot. Copying them is not calibration of another assembly. Start by identifying the mapping between physical legs, joint names and bus IDs; keep that record with the selected source revision. [4]

Separate simulation, training and the physical robot

The documented software path uses catkin and ROS. For Ubuntu 22.04 or later the README points to ROS-O rather than supplying a conventional ROS 2 port. Perception uses named maintainer forks of FAST_LIO and livox_ros_driver2, so replacing them with unrelated default branches is an unverified change. The same README names Python dependencies and an optional joystick route. [1]

For an initial software investigation, inspect the supplied robot descriptions and the documented --sim mode. Training is a separate route through the maintainer's mevius2 branch of legged_gym; the export step copies a policy into the control repository. A policy.pt file is listed in the pinned tree, but its payload, training provenance and compatibility were not validated in this review. We did not run either simulator or training. [1] [8] [10]

The BOM names a Jetson Orin Nano 8GB with an A603 carrier and notes a mini-PC alternative. That is a source configuration, not a measured minimum for control, perception or training. No training GPU or memory requirement was independently established. [6]

What we checked

Source research only. Original STEP payloads and selected source code were inspected, without CAD-kernel parsing, fit or strength validation, upstream compilation, dependency installation, simulation, fabrication, motor commissioning, training or physical performance tests. Source assets are linked, not redistributed. No supplier endorsement or current checkout quote.

Not yet established

  • Requirements: operating system, tools

Updates

Upstream last updated
Not established
Latest release
Not established
Profile updated
Nov 1, 2026
Sources last checked
Nov 1, 2026
Next review
Dec 1, 2026
Reviewed revision
4f09680bb575574377b903bbc971bdb2695d507b (software); Drive assembly snapshot retrieved 2026-11-01

Source files and licenses

Distinct physical research platform with inspected assembly STEP payload, parts list, simulation descriptions and control implementation. Include as a source-researched design reference; fabrication completeness and independent reproduction remain unverified.

LayerAvailability / license
mechanical designavailable · License not fully assessed
Original assembly STEP payload has ISO-10303 header/footer, solid and assembly entities. Separate Drive hardware license not identified; no commercial clearance or manufacturability claim. [5] [7]
electronicsnot found · License not fully assessed
No purchased actuator electronics/firmware source was identified in the reviewed repository tree and hardware README/parts-list scope. This bounded search does not prove source is absent elsewhere. [1] [6] [10]
firmwarenot found · License not fully assessed
No purchased actuator electronics/firmware source was identified in the reviewed repository tree and hardware README/parts-list scope. This bounded search does not prove source is absent elsewhere. [1] [6] [10]
softwareavailable · MIT
Root MIT declaration; package metadata says BSD. External Drive material and dependencies have separate unresolved rights. [1] [2] [3] [8]
model weightsavailable · License not fully assessed
Repository tree identifies policy.pt and README documents policy export/copy. Payload, provenance, weight-specific terms and compatibility were not independently validated. [1] [10]
documentationavailable · MIT
Root MIT declaration; package metadata says BSD. External Drive material and dependencies have separate unresolved rights. [1] [2] [3]

No dataset or learned policy is selected as a requirement for this profile's initial model-inspection workflow.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history