Robot hardware and software, from the servo loop to embodied AI.
This page maps the NEXFORM ROBOTICS organization for developers, researchers and integrators: the three product lines, the six layers each of them is built from, and the repository to open first. Read it from the top down and you walk the stack from the application layer to the hardware.
NEXFORM (新元体) is an embodied-AI commercialization project led by an expert team from the Robotics Institute at Zhejiang University. We build general-purpose embodied robots, their key components and modular application solutions for hotels, property management, retail and logistics, and publish every product line as the same repositories.
| Product line | What it is | Documentation |
|---|---|---|
| LiteArm | 7-DoF collaborative manipulator series, in SE, S, SL, P and PL model variants | litearm-docs |
| W1 | Wheeled mobile robot with a lifting torso and two arms | w1-docs |
| LiteGrip | Adaptive two-finger parallel gripper, 87 mm effective stroke, driven over USB-CAN | litegrip-docs |
Each product line is published as the same six layers. A layer uses the one below it: an application drives a policy, the policy plans a motion, the planner commands a driver, and the driver reaches the hardware through the model that simulation has already validated.
Every repository in the organization, by layer and product line. A cell is the
product-line prefix, so python under LiteArm is
litearm-python.
| Layer | LiteArm | W1 | LiteGrip |
|---|---|---|---|
| 5 · Applications and documentation | studio · docs | studio · docs | studio · docs |
| 4 · Agents and embodied AI | vla · lerobot · dsh · hermes · openclaw | vla | — |
| 3 · Planning and teleoperation | moveit1 · moveit2 · teleop-isomorphic · teleop-vr | — | moveit2 |
| 2 · Simulation and models | description · mujoco · pybullet · isaacsim | urdf · mujoco · pybullet · isaacsim | description · mujoco · pybullet · isaacsim |
| 1 · Drivers and SDKs | python · cpp · js · ros1 · ros2 · ros2-control | python · cpp · ros1 · ros2 | python · cpp · ros1 · ros2 |
| 0 · Robot hardware | 7-DoF collaborative manipulator | wheeled mobile robot | two-finger parallel gripper |
The remaining repositories are organization infrastructure, not product code:
.github holds this page and the
community health files, and
repo-template holds the shared
repository standards.
No NEXFORM package is published to a registry yet, so each repository documents its own install and build steps. Pick the layer that matches what you are doing, then open it in the product line you have.
| I want to | Go to |
|---|---|
| Understand a product | the -docs repository of its product line |
| Drive a robot from Python or C++ | the -python or -cpp repository |
| Use a desktop application | the -studio repository |
| Integrate with ROS 1 or ROS 2 | the -ros1 or -ros2 repository |
| Simulate before buying | the -mujoco, -pybullet or -isaacsim repository |
| Train or run a policy | the -vla or -lerobot repository |
Every product repository is licensed under the Apache License 2.0. Copyright © 2026 NEXFORM ROBOTICS.