Add Unitree G1 with BrainCo hands (g1_body29_brainco)

Built with robotusd.from_urdf from unitree_ros g1_29dof_mode_15_brainco_hand.urdf (BSD-3, sha 3ae893d9). The left fingertip joints get the right hand's [0, 0] limits instead of the URDF's [1, 1].

.gitattributes

@@ -63,3 +63,4 @@ openarm_bimanual/simready_usd/openarm_bimanual.usd filter=lfs diff=lfs merge=lfs
 g1_body29_hand14/simready_usd/g1_body29_hand14.usd filter=lfs diff=lfs merge=lfs -text
 g1_body29_dex1/simready_usd/g1_body29_dex1.usd filter=lfs diff=lfs merge=lfs -text
 g1_body29_inspire/simready_usd/g1_body29_inspire.usd filter=lfs diff=lfs merge=lfs -text
+g1_body29_brainco/simready_usd/g1_body29_brainco.usd filter=lfs diff=lfs merge=lfs -text

README.md

@@ -17,11 +17,12 @@ tags:
 - humanoid
 - dex1
 - inspire
+- brainco
 ---
 
 # LeRobot robot USDs
 
-[OpenUSD](https://openusd.org) models of the robots in [LeRobot](https://github.com/huggingface/lerobot) datasets. Their joints and links carry the names of the URDFs in [`lerobot/robot-urdfs`](https://huggingface.co/buckets/lerobot/robot-urdfs), so a dataset's joint values drive them the way they drive the URDF.
+[OpenUSD](https://openusd.org) models of the robots in [LeRobot](https://github.com/huggingface/lerobot) datasets. Their joints and links carry the names of the URDFs in [`lerobot/robot-urdfs`](https://huggingface.co/buckets/lerobot/robot-urdfs) (for the BrainCo G1, those of Unitree's URDF), so a dataset's joint values drive them the way they drive the URDF.
 
 | Robot | Root USD | Size | Geometry | License |
 |---|---|---|---|---|
@@ -30,6 +31,7 @@ tags:
 | Unitree G1, 29 DoF with Dex3-1 hands | [`g1_body29_hand14/simready_usd/g1_body29_hand14.usd`](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`](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`](g1_body29_inspire/simready_usd/g1_body29_inspire.usd) | 12 MB | 59 meshes, 542k triangles | BSD-3-Clause |
+| Unitree G1, 29 DoF with BrainCo hands (five fingers) | [`g1_body29_brainco/simready_usd/g1_body29_brainco.usd`](g1_body29_brainco/simready_usd/g1_body29_brainco.usd) | 13 MB | 68 meshes, 627k triangles | BSD-3-Clause |
 
 Each is a single layer in meters, Z up, with UsdPhysics joints (limits in degrees) and UsdPreviewSurface materials.
 
@@ -55,11 +57,15 @@ Each is a single layer in meters, Z up, with UsdPhysics joints (limits in degree
 - 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`).
 
+**Unitree G1 with BrainCo hands**, as [`g1_29dof_mode_15_brainco_hand.urdf`](https://github.com/unitreerobotics/unitree_ros/blob/3ae893d905d11795ddf1075825ee5010364a1109/robots/g1_with_brainco_hand/g1_29dof_mode_15_brainco_hand.urdf), for each `<side>` (`left`, `right`):
+- Joints: the G1's 29 body joints above; `<side>_thumb_metacarpal_joint` (0 to 1.52 rad, swinging the thumb out to the side), `<side>_thumb_proximal_joint` (0 to 1.05 rad, bending it), `<side>_index_proximal_joint`, `middle`, `ring` and `pinky` (0 straight to 1.47 rad curled), all revolute. The thumb's and each finger's `distal` joint follow its `proximal` joint, as in the URDF (`<mimic>`): here they are PhysX mimic joints (`PhysxMimicJointAPI`). Each fingertip's `tip` joint (`right_thumb_tip` on the right thumb) is locked at 0.
+- Links: as the G1 above, without `pelvis_contour_link` and the hands; `<side>_base_link` and `<side>_base2_link` (meshes, fixed to the wrist) and each hand joint's child, with the URDF's names: `left_index_proximal_Link` on the left hand, `right_index_proximal_link` and the tips `right_index_tip` on the right.
+
 ## 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 `link0`s, 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`](https://www.npmjs.com/package/@huggingface/usd-web-viewer) with no warnings.
+- All six load in [`@huggingface/usd-web-viewer`](https://www.npmjs.com/package/@huggingface/usd-web-viewer) with no warnings.
 
 ## Usage
 
@@ -100,4 +106,6 @@ scene.add(root); // a THREE.Group, Y up
 
 **Unitree G1 with Inspire hands**, built the same way from [`g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf`](https://github.com/unitreerobotics/unitree_ros/blob/3ae893d905d11795ddf1075825ee5010364a1109/robots/g1_description/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/`](scripts) rebuilds all five (needs `usd-core`, `numpy` and, for OpenArm, `fast-simplification`). Each robot is a package in the [SimReady packaging layout](https://github.com/NVIDIA/simready-foundation), with its file list, hashes and license (`.metadata/LICENSE.txt`); none has been through NVIDIA's SimReady validation.
+**Unitree G1 with BrainCo hands**, built the same way from [`g1_29dof_mode_15_brainco_hand.urdf`](https://github.com/unitreerobotics/unitree_ros/blob/3ae893d905d11795ddf1075825ee5010364a1109/robots/g1_with_brainco_hand/g1_29dof_mode_15_brainco_hand.urdf) in unitreerobotics/unitree_ros, the hands dark grey instead of the URDF's white. Its left index, middle, ring and pinky `tip` joints are locked at 1 rad (limits `[1, 1]`), which bends each fingertip off its finger: here they have the right hand's limits, `[0, 0]`, as the meshes are drawn.
+
+[`scripts/`](scripts) rebuilds all six (needs `usd-core`, `numpy` and, for OpenArm, `fast-simplification`). Each robot is a package in the [SimReady packaging layout](https://github.com/NVIDIA/simready-foundation), with its file list, hashes and license (`.metadata/LICENSE.txt`); none has been through NVIDIA's SimReady validation.

g1_body29_brainco/.metadata/LICENSE.txt

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

g1_body29_brainco/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,26 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/g1_body29_brainco.usd.png",
+      "size": 50324,
+      "hash": {
+        "sha256": "ccb131b757c066b9ee3277b2e13398e7863e6a903960f58a89b3573ef256ef27"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/g1_body29_brainco.usd_light.png",
+      "size": 50871,
+      "hash": {
+        "sha256": "faad590d75938bb4967fb29587205078d6e88adcc09c80fbc849f2235ac5d6b8"
+      }
+    },
+    {
+      "relative_path": "simready_usd/g1_body29_brainco.usd",
+      "size": 12956398,
+      "hash": {
+        "sha256": "6e6e1988071e5a067e581443469ab4e71d92d6d79aa6f2887725a4350d70e479"
+      }
+    }
+  ]
+}

g1_body29_brainco/.metadata/com.nvidia.simready.root_usds.json

@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "simready_usd/g1_body29_brainco.usd"
+  ]
+}

g1_body29_brainco/com.nvidia.simready.packaging.json

@@ -0,0 +1,19 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.lerobot.robot-usds.g1_body29_brainco.2026.11.03",
+  "license": "BSD-3-Clause",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "0e626a53dff057a88b9b8d033b356e33783e57aaea2c8b3fc050d9116b7ce519"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "1f8b719f8ead7142e109055bafe42610900a9df30a353852cd14c6612180e988"
+  },
+  "package_hash": {
+    "sha256": "ea2afcf6e507d94770a5e77992ebf7e74b486d28747f20441e774ece678e4f12"
+  }
+}

g1_body29_brainco/simready_usd/g1_body29_brainco.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6e1988071e5a067e581443469ab4e71d92d6d79aa6f2887725a4350d70e479
+size 12956398

scripts/build_g1_brainco.py

@@ -0,0 +1,67 @@
+"""Unitree G1 with BrainCo hands, from unitree_ros' g1_29dof_mode_15_brainco_hand.urdf."""
+
+import json
+import os
+import sys
+import xml.etree.ElementTree as ET
+
+from pxr import Usd, UsdGeom
+
+import robotusd as ru
+
+URDF, OUT = sys.argv[1:3]
+
+# The left fingertip joints are locked at 1 rad (limits [1, 1]), bending each tip off its finger;
+# the right hand's are locked at 0, as the meshes are drawn. Give the left the right's limits.
+tree = ET.parse(URDF)
+joints = {j.get("name"): j for j in tree.getroot().findall("joint")}
+fixed_tips = {}
+for finger in ("thumb", "index", "middle", "ring", "pinky"):
+    left = joints[f"left_{finger}_tip_joint"].find("limit")
+    right = joints.get(f"right_{finger}_tip_joint", joints.get(f"right_{finger}_tip")).find("limit")
+    limits = {k: right.get(k) for k in ("lower", "upper")}
+    if {k: left.get(k) for k in limits} != limits:
+        fixed_tips[f"left_{finger}_tip_joint"] = f"[{left.get('lower')}, {left.get('upper')}] -> [{limits['lower']}, {limits['upper']}]"
+        left.attrib.update(limits)
+FIXED = os.path.join(os.path.dirname(URDF), "g1_body29_brainco.urdf")
+tree.write(FIXED)
+
+# The hands' URDF material is white; the real hands are dark grey, like the G1's.
+DARK = [0.2, 0.2, 0.2]
+links, urdf_joints = ru.urdf_joints(FIXED)
+parent_of = {j["child"]: j["parent"] for j in urdf_joints}
+
+
+def in_hand(link):
+    while link in parent_of:
+        if link in ("left_base_link", "right_base_link"):
+            return True
+        link = parent_of[link]
+    return False
+
+
+stage = ru.from_urdf(FIXED, "g1_body29_brainco", colors={link: DARK for link in links if in_hand(link)})
+root = UsdGeom.ModelAPI(stage.GetDefaultPrim())
+root.SetExtentsHint(root.ComputeExtentsHint(UsdGeom.BBoxCache(Usd.TimeCode.Default(), UsdGeom.Imageable.GetOrderedPurposeTokens())))
+
+layer = stage.GetRootLayer()
+layer.documentation = (
+    "Unitree G1 (29 DoF body, BrainCo hands) for LeRobot. Built by LeRobot from unitreerobotics/unitree_ros "
+    "g1_29dof_mode_15_brainco_hand.urdf (BSD-3-Clause): its visual meshes and joints, the hands colored dark grey "
+    "and the left fingertip joints given the right's limits."
+)
+layer.customLayerData = {
+    "lerobot:source": "https://github.com/unitreerobotics/unitree_ros/tree/3ae893d905d11795ddf1075825ee5010364a1109/robots/g1_with_brainco_hand",
+}
+layer.Export(OUT)
+
+out = Usd.Stage.Open(OUT)
+report = ru.check_against_urdf(out, FIXED)
+drawn = [p for p in out.Traverse() if p.IsA(UsdGeom.Mesh)]
+report["fixed_tip_limits"] = fixed_tips
+report["meshes"] = len(drawn)
+report["triangles"] = int(sum(len(UsdGeom.Mesh(p).GetFaceVertexCountsAttr().Get()) for p in drawn))
+report["frame_offsets_mm_deg"] = {k: v for k, v in report["frame_offsets_mm_deg"].items() if v != (0.0, 0.0)}
+r = UsdGeom.BBoxCache(Usd.TimeCode.Default(), ["default"]).ComputeWorldBound(out.GetDefaultPrim()).ComputeAlignedRange()
+report["min_z"] = round(r.GetMin()[2], 4)
+print(json.dumps(report, indent=1, default=str))