lerobot/robot-usds

LeRobot robot USDs

OpenUSD models of the robots in LeRobot datasets. Their joints and links carry the names of the URDFs in lerobot/robot-urdfs, so a dataset's joint values drive them the way they drive the URDF.

Robot	Root USD	Size	Geometry	License
SO-101, also used for SO-100	so101_new_calib/simready_usd/so101_new_calib.usd	6 MB	17 meshes, 399k triangles	Apache-2.0
OpenArm, bimanual	openarm_bimanual/simready_usd/openarm_bimanual.usd	6 MB	58 meshes, 404k triangles	Apache-2.0
Unitree G1, 29 DoF with Dex3-1 hands	g1_body29_hand14/simready_usd/g1_body29_hand14.usd	11 MB	49 meshes, 629k triangles	BSD-3-Clause
Unitree G1, 29 DoF with Dex1-1 grippers	g1_body29_dex1/simready_usd/g1_body29_dex1.usd	9 MB	38 meshes, 456k triangles	BSD-3-Clause
Unitree G1, 29 DoF with Inspire hands (five fingers)	g1_body29_inspire/simready_usd/g1_body29_inspire.usd	12 MB	59 meshes, 542k triangles	BSD-3-Clause

Each is a single layer in meters, Z up, with UsdPhysics joints (limits in degrees) and UsdPreviewSurface materials.

Joints and links

SO-101, as so101_new_calib_web.urdf:

• Joints: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper (revolute).
• Links: base_link, shoulder_link, upper_arm_link, lower_arm_link, wrist_link, gripper_link, moving_jaw_so101_v1_link, and the gripper_frame_link tip frame.

OpenArm, as openarm_bimanual_web.urdf, for each <side> (left, right):

• Joints: openarm_<side>_joint1 to joint7 (revolute), openarm_<side>_finger_joint1 and finger_joint2 (prismatic, the second following the first), <side>_openarm_hand_joint (fixed).
• Links: openarm_body_link0, openarm_<side>_link0 to link7, openarm_<side>_hand, openarm_<side>_left_finger, openarm_<side>_right_finger, and the openarm_<side>_hand_tcp tip frame.

Unitree G1, as g1_body29_hand14.urdf, for each <side> (left, right):

• Joints (revolute): waist_yaw_joint, waist_roll_joint, waist_pitch_joint; <side>_hip_pitch_joint, hip_roll, hip_yaw, knee, ankle_pitch, ankle_roll; <side>_shoulder_pitch_joint, shoulder_roll, shoulder_yaw, elbow, wrist_roll, wrist_pitch, wrist_yaw; <side>_hand_thumb_0_joint to thumb_2, middle_0 and middle_1, index_0 and index_1.
• Links: pelvis and each joint's child, named after it (<side>_knee_link, torso_link for waist_pitch_joint); fixed to them, pelvis_contour_link, head_link, logo_link and <side>_hand_palm_link (meshes), imu_in_pelvis and imu_in_torso (sites), d435_link and mid360_link (frames).

Unitree G1 with Dex1-1 grippers, as g1_body29_dex1.urdf, for each <side> (left, right):

• Joints: the G1's 29 body joints above; <side>_dex1_finger_joint_1 and finger_joint_2 (prismatic, from -0.02 m closed to 0.0245 m open, both following the gripper).
• Links: as the G1 above, without pelvis_contour_link and the hands; <side>_dex1_base_link (mesh, fixed to the wrist), <side>_dex1_finger_link_1 and finger_link_2.

Unitree G1 with Inspire hands, as g1_body29_inspire.urdf, for each <S> (L, R):

• Joints: the G1's 29 body joints above; <S>_index_proximal_joint, middle, ring and pinky (0 straight to 1.7 rad curled), <S>_thumb_proximal_yaw_joint and <S>_thumb_proximal_pitch_joint, all revolute. Each finger's intermediate joint, and the thumb's intermediate and distal joints, follow these, as in the URDF (<mimic>): here they are PhysX mimic joints (PhysxMimicJointAPI).
• Links: as the G1 above, without the hands; <S>_hand_base_link (mesh, fixed to the wrist) and each finger joint's child, named after it (<S>_index_proximal, <S>_thumb_distal).

Checked against the URDFs

• Every link and moving joint of each URDF is here, under the same name, except OpenArm's empty world root. Links the URDF fixes to another are plain frames here (tips, OpenArm's link0s, the G1's camera and lidar mounts) or, on the G1s, meshes and sites at the link's frame.
• Posed at 200 random joint configurations, every link lands within 0.006 mm and 0.002° of the URDF's: same zero pose, axes and directions. The URDFs take radians, these models degrees. OpenArm's finger bodies have their frames 1 mm from the URDF's at every pose, which leaves their motion unchanged.
• All five load in @huggingface/usd-web-viewer with no warnings.

Usage

import { loadUsd } from "@huggingface/usd-web-viewer";

const { root } = await loadUsd(
  "https://huggingface.co/datasets/lerobot/robot-usds/resolve/main/so101_new_calib/simready_usd/so101_new_calib.usd",
);
scene.add(root); // a THREE.Group, Y up

Sources and changes

SO-101, from robotstudio_so101 in newton-physics/newton-assets (Apache-2.0), converted there from the MuJoCo Menagerie model:

• composed into one layer;
• the wrist camera mount removed, as the URDF has none;
• links renamed to the URDF's;
• gripper_frame_link added where the URDF puts it;
• recolored from yellow to light grey with black servos, the colors the LeRobot visualizer has drawn it in.

OpenArm, from NVIDIA's openarm_bimanual for Isaac Sim 6.0 (Apache-2.0), also in enactic/openarm_isaac_lab:

• composed into one layer, without the sensors, render settings and colliders, so it is meant for display; for simulation, use NVIDIA's original;
• the ee_tcp bodies, 13 mm from the URDF's tool point, replaced by hand_tcp frames where the URDF puts them;
• the link7-to-hand joints made fixed, and they and the body link renamed to the URDF's;
• OmniPBR materials converted to UsdPreviewSurface;
• visual meshes decimated from 2.2M to 404k triangles, within 3.5 mm of the original.

Unitree G1, from unitree_g1 (g1_29dof_with_hand_rev_1_0) in newton-physics/newton-assets (BSD-3-Clause, by Unitree Robotics), converted there from the MuJoCo Menagerie model; its bodies and joints already had the URDF's names:

• composed into one layer, geometry, colliders and physics unchanged; the bodies stay nested as in the MJCF, which needs OpenUSD 25.11 or later for full support;
• moved to put the pelvis at the origin, like the URDF's root link: raise it 0.793 m to stand it on the ground;
• d435_link and mid360_link frames added where the URDF puts them.

Unitree G1 with Dex1-1 grippers, built from g1_29dof_mode_15_with_dex1_1.urdf in unitreerobotics/unitree_ros (BSD-3-Clause, by Unitree Robotics) and its STL meshes:

• a rigid body per link a moving joint drives, with the URDF's masses; links fixed to another are frames under its body;
• the URDF's colors as UsdPreviewSurface materials, the grippers dark grey instead of the URDF's CAD placeholder colors;
• no colliders, so it is meant for display.

Unitree G1 with Inspire hands, built the same way from g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf (Inspire RH56DFQ, without touch sensors) in unitreerobotics/unitree_ros, the hands dark grey: their URDF material is named dark but colored white.

scripts/ rebuilds all five (needs usd-core, numpy and, for OpenArm, fast-simplification). Each robot is a package in the SimReady packaging layout, with its file list, hashes and license (.metadata/LICENSE.txt); none has been through NVIDIA's SimReady validation.