So, I recently discovered this forum while searching for something and I decided to contribute some interesting information. I hope it's okay to use this topic even though it's 2 years old.
Some time ago I decided to take a look at the resources of Bionicle Heroes to see if I could find anything interesting. I've extracted the main archive and found the files that I assumed were models. After a week or two of effort I managed to make a more or less working script for a tool called Noesis that is able to open the models from the PC version of the game, but without the skeleton structure. Here is a bunch of pictures:
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Beside that I found out that there is a number of unused models. Those are the 3 matoran models mentioned in the first post, silver rahkshi and masks of Toa Metru. Unfortunately they have a slightly different structure from the rest and I still can't get my script to work properly with those models. However it's possible to get their textures (dds) with the exception of matoran who lack any. Here are textures of Toa Metru masks for example:
And here is a picture of Whenua's model:
I tweaked the script so it can open the model above, but it's still doesn't work for other Toa Metru masks and the UV coordinates are missing.
I also took a look at the models from the GameCube, PS2 and NDS ports. All three of them use different model format, but the ones for GameCube and PS2 are more or less similar to the one for the PC. DS port has a completely different format and on top of it the models and textures are aparently compressed.