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Robot Models Repository

This repository contains 3D models for eight Deep Robotics robots: Lite3, M20, M20S, X30, M20_Piper, DR02 Pro, DR02 Standard, and S10. Models are provided in MJCF, URDF, and, where available, USD formats. To visualize a model and take measurements, we recommend using this viewer tool — just drag the model folder onto the web page.

High-resolution models are available on Google Drive and are intended for use with modern simulators such as Isaac Lab and Isaac Sim. The low-resolution models bundled in this repository are provided for broad compatibility with older simulators.

Lite3 sensor frames were corrected on 2026-10-27: the D435i and MID360 mounting frames tilt downward by 20° and 15°, respectively. The URDF and USD define mounting frames; the USD also supplies optical frame transforms without active camera or lidar prims. The MJCF aligns its camera and single-ray rangefinder axes with these mounts.

Model Overview

Robot Model High-Resolution Render Low-Resolution Render
Lite3 High-resolution Lite3 render Low-resolution Lite3 render
M20 High-resolution M20 render Low-resolution M20 render
M20S — Low-resolution M20S render
M20_Piper — Low-resolution M20 Piper render
X30 High-resolution X30 render Low-resolution X30 render
DR02 Pro High-resolution DR02 Pro render Low-resolution DR02 Pro render
DR02 Standard High-resolution DR02 Standard render Low-resolution DR02 Standard render
S10 — Low-resolution S10 render

Contributors

See the Contributors page for a list of contributors.