CALBEAR
Supported robots

Every robot CalBear can target today.

59 arms, 7 bimanual rigs, 14 humanoids, 13 mobile manipulators. Each has a profile with joint names and limits, gripper convention and workspace, and exports as LeRobotDataset v3 with an offline test kit. This page reads the live catalog, so it updates as profiles are added.

Request a robot
All 93Low-cost 22Cobots 37Bimanual 7Humanoids 14Mobile 136 DoF 7 DoF

Mobile manipulators · 13

Arms on wheels or legs, with lifts; the base path comes from camera odometry

Hello Robot Stretch 3
9 joints · One 5-DoF arm, grippers, mobile base, lift
LeKiwi (SO-101 on an omni base)
9 joints · One 5-DoF arm, grippers, mobile base
Toyota HSR
9 joints · One 5-DoF arm, grippers, mobile base, lift
Boston Dynamics Spot Arm
10 joints · One 6-DoF arm, grippers, mobile base
Clearpath Ridgeback + UR5e
10 joints · One 6-DoF arm, grippers, mobile base
Unitree B2 + Z1 arm
10 joints · One 6-DoF arm, grippers, mobile base
Unitree Go2 + Z1 arm
10 joints · One 6-DoF arm, grippers, mobile base
Fetch (7-DoF arm, torso lift, base)
12 joints · One 8-DoF arm, grippers, mobile base, lift
PAL TIAGo (7-DoF arm, lift, base)
12 joints · One 8-DoF arm, grippers, mobile base, lift
XLeRobot (two SO-101 on a base)
15 joints · Two 5-DoF arms, grippers, mobile base
Mobile ALOHA (ALOHA 2 on a Tracer base)
17 joints · Two 6-DoF arms, grippers, mobile base
PAL TIAGo Pro (two 7-DoF arms, lift, base)
20 joints · Two 7-DoF arms, grippers, mobile base
Galaxea R1 (two 6-DoF arms, torso, base)
21 joints · Two 6-DoF arms, grippers, mobile base

Missing yours?

A profile is a 20-line file: joint names and limits, gripper, workspace. Tell us what you have and we usually add it within a few days; you're emailed when it's live. Requests are made from inside a workspace, so we can link the profile to your footage.

Humanoids whose kinematics aren't published, such as Figure, Optimus, NEO, Apollo, Walker and Digit, are covered by the generic humanoid profiles: pick the matching arm and hand layout and bring your own URDF.

Create a free workspace and request it Start with one clip