%20scale(1.2222)'%3e%3crect%20x='1'%20y='1'%20width='34'%20height='34'%20fill='%23000000'%20stroke='%233f3f3f'%20stroke-width='2'%20/%3e%3cg%20fill='none'%20stroke='%2300ff41'%20stroke-width='3'%20stroke-linecap='square'%3e%3cpath%20d='M9%2012%20L16%2018%20L9%2024'%20/%3e%3cpath%20d='M20%2024%20H27'%20/%3e%3c/g%3e%3c/g%3e%3c!--%20LUCY%20wordmark%20drawn%20as%20paths%20(18×28%20letter%20box,%2010px%20gap)%20so%20it%20renders%20identically%20everywhere%20—%20SVGs%20loaded%20via%20%3cimg%3e%20cannot%20use%20webfonts.%20--%3e%3cg%20transform='translate(0%2058)'%20fill='none'%20stroke='%2300ff41'%20stroke-width='4'%20stroke-linecap='square'%3e%3cpath%20d='M2%202%20V26%20H16'%20/%3e%3cpath%20d='M30%202%20V26%20H44%20V2'%20/%3e%3cpath%20d='M72%202%20H58%20V26%20H72'%20/%3e%3cpath%20d='M86%202%20L93%2013%20L100%202%20M93%2013%20V26'%20/%3e%3c/g%3e%3c/svg%3e)
The open-source humanoid you can build, simulate
and
control from your browser
Lucy is an open-source humanoid robot by Sentience Robotics, based on the InMoov design and powered by ROS 2. The whole stack — robot software, Gazebo simulation, RViz and a web control panel — runs inside a single Docker container.
lucy — quick start
$ git clone https://github.com/Sentience-Robotics/lucy_ws.git
$ cd lucy_ws
$ python3 Lucy.pyThen enable Core + Control Panel and open http://localhost:5000. Only Docker, Git & Python 3 required.
Everything you need to drive Lucy
One control panel for the simulated and the real robot.
Ready to start?
Spin up the full simulation in one container, or jump straight into the live control panel.