One spec, every format
twin.json is the source. URDF, MJCF and USD are exported from it and checked to agree: joint limits, masses, frames at sampled poses.
Robot twins you can check.
A twin is only as good as the evidence that it moves like the robot. Every twin here passed the checks on its report card: one canonical spec, exports that agree, fitted to the robot's own recordings, run in more than one engine. Read the report before you trust the twin.
- armcertifiedv1.0.0SO-101 follower armThe Robot Studio / Hugging Facefeetech-sts3215 12V 1:345, lerobot P16 I0 D32, zero at mid-range
21 of 22 checks passed, 1 with a warningin mujoco, pybullet
Certified 04 Oct 2026 - mobile-manipulatorcertifiedv1.0.0XLeRobot dual-arm mobile robot (0.3, omni-wheel base)Vector Wang and the XLeRobot contributors17 x feetech-sts3215 12V 1:345; lerobot xlerobot driver: arms and head P16 I0 D43 (the SO-101 driver: D32), zero at mid-range; wheels in velocity mode under 3000 counts/s
20 of 26 checks passed, 6 with a warningin mujoco, pybullet
Certified 04 Oct 2026
What a certificate means.
Certification is a validation campaign run on SimCloud against the twin's bundle. Its report is published with the twin, check by check, including the warnings.
Fitted to the robot
System identification from the robot's own LeRobot recordings: gains, friction, backlash and latency, with tracking error per joint on the card.
Run in more than one engine
The same trajectories in MuJoCo and PyBullet, compared. A twin that only behaves in one engine says so.
Ready for a policy
Whether a policy's state and action names, order and units are the twin's - and a fault catalogue for mutational, so tests can be checked against it.
- Push a bundle and validate it from your console; a certified version can be published here, with its badge.
- Certification of your robot, with its recordings and our review: contact us.