3D models

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3D models

Live assemblies fetch commit-pinned vendor or research URDFs and their visual meshes. Nothing is converted or re-modelled. Arms and hands stay components. Galbot G1 is wheeled; Unitree G1 is a biped.

How this works

Evidence boundary. A live card proves the upstream description is public and parses. It is not a specification source. Stills are site renders of the URDF zero pose, not vendor photos. Payload, mass, and DoF live on the class pages.
Source

Every live preview comes from an upstream robot-description repository pinned to a commit. A later upstream change therefore cannot silently alter the assembly shown here.

When a vendor ships only xacro, the card is a labeled recipe-produced preview bound to that exact command and configuration; it is not an upstream-published standalone model.

The reference index still records official packages that remain unexpanded.

Assembly

The browser reads the URDF, resolves each <visual> mesh against the same commit, and applies the joint tree. What you see is the publisher's kinematics, not a single exported scene file.

Formats

Visual meshes arrive as STL, Collada (.dae), or binary glTF (.glb). STL carries no colour, so those links are shaded with the material the URDF declares, or a neutral grey where it declares none.

Without JavaScript

The static render, the licence, and the source links are the whole card. The interactive control is added only when a viewer can actually run, and the 3D engine is downloaded only when you ask for a model.

Robot inspector

A separate workspace, Robot inspector, loads any catalogue model and expands upstream joint ids (LHipP, left_hip_pitch_joint) into readable names.

It is the same engine and the same commit-pinned files, not a second model set.

Engineering-description reference index

Publication comparison, not hardware. Comparable fields are formats and assembly state. “Source-only” means xacro, configuration, or a license-sensitive download is required before this browser can assemble the files.

Official upstream repositories, inspected 2026-08-30. Product names are used only where the publisher maps them; LimX model ids and Leju configuration ids are deliberately not relabelled as retail SKUs.
Upstream identityRegionPhysical classPublished formatsBrowser stateLicense boundary
Booster K1 (22-DoF description)#China [M20]biped / humanoidURDF, MuJoCo XML [M20]live previewBSD-3-Clause [M20]
Booster T1 (23- and 29-DoF descriptions)#China [M20]biped / humanoidURDF, MuJoCo XML; 29-DoF URDF [M20]live previewBSD-3-Clause [M20]
Booster T2 (31-DoF description)#China [M20]biped / humanoidURDF, MuJoCo XML [M20]live previewBSD-3-Clause [M20]
LimX HU_D04 (publisher model id)#China [M21]full-size humanoidURDF, SRDF, MJCF, USD; gripper and hand URDF/USD variants [M21]live base previewApache-2.0 [M21]
LimX TRON2A family#China [M22]modular: dual-arm, wheel-foot, sole-foot, combined bodiesURDF / xacro, MJCF, USD [M22]source-only; variants remain separate classesApache-2.0 [M22]
Leju Kuavo ROS descriptions#China [M23]biped / humanoid configurationsxacro / URDF, MuJoCo, Gazebo, Isaac Sim resources [M23]source-only; version/config generatedno repository-root license declared [M23]
Berkeley Humanoid Lite#United States [M25]open research humanoidURDF, MJCF, USD [M25]live previewCC BY-SA 4.0 assets [M25]
ToddlerBot 2XC#United States [M26]open miniature humanoidURDF, MJCF, Onshape / printable assets [M26]live previewMIT code; CC BY-NC-SA 4.0 design/assets [M26]
NASA Valkyrie description#United States [M27]research humanoidxacro + meshes; catkin generates the complete URDF [M27]source-only; ROS build requiredNASA 1.3 [M27]
Official wheeled mobile-manipulator descriptions, inspected 2026-09-08. Stretch 4 remains source-only; Stretch 3 and Fetch are checked-in URDFs.
Upstream identityRegionPhysical classPublished formatsBrowser stateLicense boundary
Hello Robot Stretch 3 / SE3#United States [M28]wheeled mobile manipulatorchecked-in URDF + STL; SE3 standard gripper sg3 [M28]live previewClear BSD [M28]
Hello Robot Stretch 4 / SE4#United States [M24]wheeled mobile manipulatorcomposable xacro + STL; Python exports configured URDF [M24]source-only; composition requiredClear BSD [M24]
Fetch Robotics Fetch#United States [M29]wheeled mobile manipulatorchecked-in URDF + Collada / STL [M29]live previewCC BY-NC-SA 4.0 assets [M29]

Wheeled mobile manipulators 4 models

Wheeled bases with a lifting or telescoping torso and one or two arms. Payload on a specification sheet is a wrist-centre arm rating, never a chassis rating. These cards are publication evidence only.

Bipeds and humanoids 20 models

Bipeds. The zero pose in a URDF is the vendor's kinematic reference, not a marketing pose: arms sit where the joint origins put them.

Mobile robot bases 2 models

Drive bases published as a complete description. A base carries no arm, so the zero pose is the whole robot.

Quadrupeds 7 models

Four-legged platforms, including wheeled-foot B2-W and Go2-W. ANYmal B and ANYmal C cards are simplified simulation descriptions, not production C or Generation D.

Robot arms 6 models

Fixed-base manipulators. Kinova Gen3 is a checked-in vendor URDF. Franka Research 3 and UR5e are labeled recipe-produced previews from the vendor xacro entrypoints; they are not upstream-published standalone models.

UR20 remains in the gaps list because its meshes use Graphical Documentation terms.

Hands and end-effectors 3 models

End-effectors, not robot platforms. A hand's grasp load never adds to an arm payload.

Open research hardware 2 models

Research platforms are kept separate from commercial robot families. The model repository establishes an inspectable kinematic artifact; paper performance and build cost remain on the research-systems page.

Classes with no public model

These are findings, not omissions. Each was checked against the vendor's own channels; none publishes a complete public description that a browser can assemble.

Industrial arms
  • UR5e is a labeled recipe-produced preview from the official ROS 2 description; UR20 remains here because its meshes use Universal Robots' Graphical Documentation terms rather than the repository's BSD-3-Clause. Repository mixed terms on UR20 [M5] [M33].
  • Franka Research 3 is a labeled recipe product on the arms list, not a standalone upstream URDF.
  • ABB, FANUC, and KUKA publish CAD through partner portals, not as public robot descriptions.
  • Plain URDFs for four KUKA arms do exist and do assemble, but the ROS-Industrial consortium publishes them, not KUKA, so they are not shown here as vendor models. Repository Apache-2.0 [M18]
Quadruped — Spot

Boston Dynamics points SDK users to defeatured detailed CAD in its Support Center rather than publishing meshes. No third-party Spot mesh is presented here as a vendor model.

Mechanical interfaces Boston Dynamics SDK terms [M6]

Mobile robots

MiR, OTTO, and Locus publish no public engineering model. Their entries stay specification-only. Mobile robots

Marine

Blue Robotics links an assembled BlueROV2 CAD view hosted on GrabCAD, under that host's download terms rather than a repository licence, so it is a download and not a preview.

3D model documentation GrabCAD download terms [M7]

Service, medical, consumer, aerial

Lely, Kärcher, Intuitive, Roborock, and DJI publish none. Full catalogue

Announced systems

Figure, Tesla, Apptronik, and Boston Dynamics Atlas have no public description, consistent with having no public specification sheet.

Galbot ET1 now has a vendor specification table and still no public URDF. Agility Digit exposes simulator and API access, but no official public URDF was verified.

ET1 sheet · Announced systems