a3_model is an open-weight model from Haoyang Weng. Its published files total 14.7 MB.
Source: https://github.com/Renforce-Dynamics/mimicA3, revision c6874e31e07dd9128fc38eb9b79509de09bdc5a2. Complete MJCF, URDF and mesh bundle for MimicLite; resolve through mjhub. See provenance.json and LICENSESOURCE.md.
Parameters—
Context—
Weights14.7 MB
License—
AccessOpen weights
Monthly Downloads—
Model Card
Source: https://github.com/Renforce-Dynamics/mimicA3, revision c6874e31e07dd9128fc38eb9b79509de09bdc5a2. Complete MJCF, URDF and mesh bundle for MimicLite; resolve through mjhub. See provenance.json and LICENSESOURCE.md. Robot support is not a hardware deployment certification.
Excerpt from the card by Haoyang Weng.
Identity and Version
- Repository
- elijahgalahad/a3_model
- Publisher
- Haoyang Weng
- Task
- Not stated by the source
- Modality
- Other
- Library
- Not stated by the source
- Parameters
- Not stated by the source
- Languages
- Not stated by the source
- Revision
- 9c49294a27ad5ba4ff320d82105e9ff1317fd5d5
- First published
- 2026-10-10
- Last updated
- 2026-10-10
Files and Weights
118 files, 14.7 MB in total.
Configuration2 files · 10.2 KB
Documentation4 files · 16.7 KB
Other111 files · 14.7 MB
Repository1 file · 4.2 KB
Every file
| File | Type | Size | SHA-256 |
|---|---|---|---|
| mjlab/a3_31dof.fit.json | Configuration | 9.8 KB | — |
| provenance.json | Configuration | 407 B | — |
| LICENSE | Documentation | 11.4 KB | — |
| LICENSE_SOURCE.md | Documentation | 87 B | — |
| README.md | Documentation | 303 B | — |
| vendor/LICENSE | Documentation | 5.0 KB | — |
| a3.urdf | Other | 59.3 KB | — |
| generated_meshes/ellipsoid_100.obj | Other | 40.7 KB | — |
| generated_meshes/ellipsoid_12.obj | Other | 40.7 KB | — |
| generated_meshes/ellipsoid_2.obj | Other | 40.7 KB | — |
| generated_meshes/ellipsoid_22.obj | Other | 40.7 KB | — |
| generated_meshes/ellipsoid_23.obj | Other | 40.7 KB | — |
| generated_meshes/ellipsoid_60.obj | Other | 40.7 KB | — |
| generated_meshes/ellipsoid_68.obj | Other | 40.7 KB | — |
| generated_meshes/ellipsoid_74.obj | Other | 40.7 KB | — |
| generated_meshes/ellipsoid_76.obj | Other | 40.7 KB | — |
| generated_meshes/ellipsoid_98.obj | Other | 40.7 KB | — |
| mjlab/a3_31dof.xml | Other | 46.6 KB | — |
| mjlab/a3_31dof_fk.xml | Other | 20.8 KB | — |
| vendor/meshes/collision_optimized/head_pitch_Link_convex_00.STL | Other | 14.2 KB | — |
| vendor/meshes/collision_optimized/head_yaw_Link_convex_00.STL | Other | 4.9 KB | — |
| vendor/meshes/collision_optimized/left_ankle_pitch_Link_convex_00.STL | Other | 1.8 KB | — |
| vendor/meshes/collision_optimized/left_ankle_roll_Link_hull.STL | Other | 70.3 KB | — |
| vendor/meshes/collision_optimized/left_elbow_Link_convex_00.STL | Other | 7.8 KB | — |
| vendor/meshes/collision_optimized/left_hand_Link_convex_00.STL | Other | 6.6 KB | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_collision_preview_only.STL | Other | 13.3 KB | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_00.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_01.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_02.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_03.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_04.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_05.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_06.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_07.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_08.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_09.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_10.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_11.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_12.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_13.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_14.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_15.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_16.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_17.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_18.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_19.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_20.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hand_hold_20260801/left_hand_hold_plate_21.STL | Other | 684 B | — |
| vendor/meshes/collision_optimized/left_hip_pitch_Link_convex_00.STL | Other | 6.9 KB | — |
| vendor/meshes/collision_optimized/left_hip_roll_Link_convex_00.STL | Other | 6.7 KB | — |
| vendor/meshes/collision_optimized/left_hip_yaw_Link_convex_00.STL | Other | 7.8 KB | — |
| vendor/meshes/collision_optimized/left_knee_Link_convex_00.STL | Other | 8.5 KB | — |
| vendor/meshes/collision_optimized/left_shoulder_pitch_Link_convex_00.STL | Other | 5.8 KB | — |
| vendor/meshes/collision_optimized/left_shoulder_roll_Link_convex_00.STL | Other | 9.0 KB | — |
| vendor/meshes/collision_optimized/left_shoulder_yaw_Link_convex_00.STL | Other | 5.1 KB | — |
| vendor/meshes/collision_optimized/left_wrist_pitch_Link_convex_00.STL | Other | 4.1 KB | — |
| vendor/meshes/collision_optimized/left_wrist_roll_Link_convex_00.STL | Other | 2.7 KB | — |
| vendor/meshes/collision_optimized/left_wrist_roll_Link_convex_01.STL | Other | 2.6 KB | — |
| vendor/meshes/collision_optimized/left_wrist_yaw_Link_convex_00.STL | Other | 4.6 KB | — |
| vendor/meshes/collision_optimized/pelvis_link_convex_00.STL | Other | 11.4 KB | — |
| vendor/meshes/collision_optimized/right_ankle_pitch_Link_convex_00.STL | Other | 1.8 KB | — |
| vendor/meshes/collision_optimized/right_ankle_roll_Link_hull.STL | Other | 70.3 KB | — |
| vendor/meshes/collision_optimized/right_elbow_Link_convex_00.STL | Other | 7.8 KB | — |
| vendor/meshes/collision_optimized/right_hip_pitch_Link_convex_00.STL | Other | 6.8 KB | — |
| vendor/meshes/collision_optimized/right_hip_roll_Link_convex_00.STL | Other | 6.5 KB | — |
| vendor/meshes/collision_optimized/right_hip_yaw_Link_convex_00.STL | Other | 8.1 KB | — |
| vendor/meshes/collision_optimized/right_knee_Link_convex_00.STL | Other | 8.6 KB | — |
| vendor/meshes/collision_optimized/right_racket_face_collision.STL | Other | 6.7 KB | — |
| vendor/meshes/collision_optimized/right_shoulder_pitch_Link_convex_00.STL | Other | 6.1 KB | — |
| vendor/meshes/collision_optimized/right_shoulder_roll_Link_convex_00.STL | Other | 9.1 KB | — |
| vendor/meshes/collision_optimized/right_shoulder_yaw_Link_convex_00.STL | Other | 5.1 KB | — |
| vendor/meshes/collision_optimized/right_wrist_pitch_Link_convex_00.STL | Other | 3.4 KB | — |
| vendor/meshes/collision_optimized/right_wrist_roll_Link_convex_00.STL | Other | 5.2 KB | — |
| vendor/meshes/collision_optimized/right_wrist_yaw_Link_convex_00.STL | Other | 4.6 KB | — |
| vendor/meshes/collision_optimized/torso_Link_convex_00.STL | Other | 13.8 KB | — |
| vendor/meshes/head_pitch_Link.STL | Other | 603.7 KB | 5f23bb1a26e7 |
| vendor/meshes/head_yaw_Link.STL | Other | 123.8 KB | f0a325956852 |
| vendor/meshes/imu_in_pelvis_Link.STL | Other | 555.5 KB | abc3fda96433 |
| vendor/meshes/imu_in_torso_Link.STL | Other | 555.5 KB | f895a472b6a3 |
| vendor/meshes/left_ankle_pitch_Link.STL | Other | 219.4 KB | c9050125b942 |
| vendor/meshes/left_ankle_roll_Link.STL | Other | 344.9 KB | 80e37cb823d7 |
| vendor/meshes/left_elbow_Link.STL | Other | 219.7 KB | 61b9ca8581fb |
| vendor/meshes/left_hand_Link.STL | Other | 150.1 KB | 3e2d7b0d1b08 |
| vendor/meshes/left_hand_hold_20260801_visual.STL | Other | 46.8 KB | — |
| vendor/meshes/left_hip_pitch_Link.STL | Other | 180.1 KB | fd4118aadb53 |
| vendor/meshes/left_hip_roll_Link.STL | Other | 129.7 KB | a1fb76dae364 |
| vendor/meshes/left_hip_yaw_Link.STL | Other | 281.8 KB | 614fce16f3b1 |
| vendor/meshes/left_knee_Link.STL | Other | 166.8 KB | 5a44c5cff46a |
| vendor/meshes/left_knee_shell_Link.STL | Other | 28.4 KB | — |
| vendor/meshes/left_shoulder_pitch_Link.STL | Other | 131.7 KB | cfbd0aff0a2a |
| vendor/meshes/left_shoulder_roll_Link.STL | Other | 216.3 KB | 8f4d5afb87e7 |
| vendor/meshes/left_shoulder_yaw_Link.STL | Other | 149.5 KB | d3747ec7eb12 |
| vendor/meshes/left_wrist_pitch_Link.STL | Other | 114.4 KB | eb0ecf59d663 |
| vendor/meshes/left_wrist_roll_Link.STL | Other | 131.2 KB | 408a268c8db3 |
| vendor/meshes/left_wrist_yaw_Link.STL | Other | 140.4 KB | e6b69e3eb9bb |
| vendor/meshes/pelvis_link.STL | Other | 222.6 KB | 162899b2ba77 |
| vendor/meshes/pingpang_black_Link.STL | Other | 9.0 KB | — |
| vendor/meshes/pingpang_red_Link.STL | Other | 9.0 KB | — |
| vendor/meshes/right_ankle_pitch_Link.STL | Other | 219.4 KB | 52b5a191e5d7 |
| vendor/meshes/right_ankle_roll_Link.STL | Other | 345.3 KB | e89922f499d5 |
| vendor/meshes/right_elbow_Link.STL | Other | 219.3 KB | 9f93d63f2e52 |
| vendor/meshes/right_hand_pingpang_Link.STL | Other | 513.0 KB | 442ff2ecb82d |
| vendor/meshes/right_hip_pitch_Link.STL | Other | 180.3 KB | 47dfd37c80c8 |
| vendor/meshes/right_hip_roll_Link.STL | Other | 130.6 KB | 5b97fae6df26 |
| vendor/meshes/right_hip_yaw_Link.STL | Other | 279.2 KB | 95c79979b7a5 |
| vendor/meshes/right_knee_Link.STL | Other | 166.2 KB | a38730630346 |
| vendor/meshes/right_knee_shell_Link.STL | Other | 26.5 KB | — |
| vendor/meshes/right_shoulder_pitch_Link.STL | Other | 132.1 KB | 00d0d7e5875f |
| vendor/meshes/right_shoulder_roll_Link.STL | Other | 216.4 KB | e6942f99c627 |
| vendor/meshes/right_shoulder_yaw_Link.STL | Other | 149.2 KB | f3d0de35358f |
| vendor/meshes/right_wrist_pitch_Link.STL | Other | 103.0 KB | fef914302ca5 |
| vendor/meshes/right_wrist_roll_Link.STL | Other | 132.3 KB | 5a510f657a26 |
| vendor/meshes/right_wrist_yaw_Link.STL | Other | 140.4 KB | 1b96ef7f1618 |
| vendor/meshes/torso_Link.STL | Other | 898.4 KB | aac4aec2ae0d |
| vendor/meshes/torso_shell_Link.STL | Other | 402.8 KB | 71088af2d9f9 |
| vendor/meshes/waist_roll_Link.STL | Other | 1.9 MB | 447bc2d680ce |
| vendor/meshes/waist_yaw_Link.STL | Other | 2.9 MB | b302eca1d942 |
| .gitattributes | Repository | 4.2 KB | — |
License and Download
- License
- Not stated by the source
- Access
- Open weights, no gate
Download from Haoyang Weng
Released by Haoyang Weng through its official repository on Hugging Face.