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unitree_model / CATALOG.md
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kaweees
Add standalone BrainCo hands and reduced-joint G1/H1-2 variants
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# Model catalog
Ten inherited/recovered Unitree USD entry points and 79 generated variants. Paths link to the primary stage; keep adjacent textures or configuration layers with it.
## Original and recovered USD packages
| Entry point | Origin |
| --- | --- |
| [B2/usd/b2.usd](B2/usd/b2.usd) | Original Hugging Face collection |
| [G1/23dof/usd/g1_23dof_rev_1_0/g1_23dof_rev_1_0.usd](G1/23dof/usd/g1_23dof_rev_1_0/g1_23dof_rev_1_0.usd) | Original Hugging Face collection |
| [G1/29dof/usd/g1_29dof_rev_1_0/g1_29dof_rev_1_0.usd](G1/29dof/usd/g1_29dof_rev_1_0/g1_29dof_rev_1_0.usd) | Original Hugging Face collection |
| [Go2/usd/go2.usd](Go2/usd/go2.usd) | Original Hugging Face collection |
| [Go2W/usd/go2w.usd](Go2W/usd/go2w.usd) | Original Hugging Face collection |
| [H1/h1/usd/h1.usd](H1/h1/usd/h1.usd) | Original Hugging Face collection |
| [H1-2/h1_2/h1_2.usd](H1-2/h1_2/h1_2.usd) | Original Hugging Face collection |
| [H1-2/h1_2_handless/h1_2_handless.usd](H1-2/h1_2_handless/h1_2_handless.usd) | Original Hugging Face collection |
| [H2/H2_dae.usd](H2/H2_dae.usd) | Original Hugging Face collection |
| [H2_Plus/H2_with_sharpa.usd](H2_Plus/H2_with_sharpa.usd) | Unitree GitHub H2 Plus package |
## Generated variants
Source link/joint counts can include fixed or structural joints. Active-joint counts below include source revolute, continuous and prismatic joints, including mimic joints; they are not a product DOF specification.
| Model / variant | USD entry point | Source | Active joints | Base |
| --- | --- | --- | ---: | --- |
| a1_description/a1 | [USD](generated/a1_description/a1/a1.usdc) | [source](sources/unitree_ros/robots/a1_description/urdf/a1.urdf) | 12 | mobile |
| a2_description/a2 | [USD](generated/a2_description/a2/a2.usdc) | [source](sources/unitree_ros/robots/a2_description/urdf/a2.urdf) | 12 | mobile |
| aliengo_description/aliengo | [USD](generated/aliengo_description/aliengo/aliengo.usdc) | [source](sources/unitree_ros/robots/aliengo_description/urdf/aliengo.urdf) | 12 | mobile |
| as2_description/as2 | [USD](generated/as2_description/as2/as2.usdc) | [source](sources/unitree_ros/robots/as2_description/urdf/as2.urdf) | 12 | mobile |
| as2w_description/as2w | [USD](generated/as2w_description/as2w/as2w.usdc) | [source](sources/unitree_ros/robots/as2w_description/as2w.urdf) | 16 | mobile |
| b1_description/b1 | [USD](generated/b1_description/b1/b1.usdc) | [source](sources/unitree_ros/robots/b1_description/xacro/b1.urdf) | 12 | mobile |
| b2_description/b2_description | [USD](generated/b2_description/b2_description/b2_description.usdc) | [source](sources/unitree_ros/robots/b2_description/urdf/b2_description.urdf) | 12 | mobile |
| b2_description_mujoco/b2_description | [USD](generated/b2_description_mujoco/b2_description/b2_description.usdc) | [source](sources/unitree_ros/robots/b2_description_mujoco/xml/b2_description.urdf) | 12 | mobile |
| b2w_description/b2w_description | [USD](generated/b2w_description/b2w_description/b2w_description.usdc) | [source](sources/unitree_ros/robots/b2w_description/urdf/b2w_description.urdf) | 16 | mobile |
| dexterous_hand_description/dex1_1 | [USD](generated/dexterous_hand_description/dex1_1/dex1_1.usdc) | [source](sources/unitree_ros/robots/dexterous_hand_description/dex1_1/dex1_1.urdf) | 2 | fixed |
| dexterous_hand_description/Left_Hand | [USD](generated/dexterous_hand_description/Left_Hand/Left_Hand.usdc) | [source](sources/unitree_ros/robots/dexterous_hand_description/dex2_5/Left_Hand.urdf) | 10 | fixed |
| dexterous_hand_description/Left_Hand_G1_5010_Wrist | [USD](generated/dexterous_hand_description/Left_Hand_G1_5010_Wrist/Left_Hand_G1_5010_Wrist.usdc) | [source](sources/unitree_ros/robots/dexterous_hand_description/dex2_5/Left_Hand_G1_5010_Wrist.urdf) | 10 | fixed |
| dexterous_hand_description/Right_Hand | [USD](generated/dexterous_hand_description/Right_Hand/Right_Hand.usdc) | [source](sources/unitree_ros/robots/dexterous_hand_description/dex2_5/Right_Hand.urdf) | 10 | fixed |
| dexterous_hand_description/Right_Hand_G1_5010_Wrist | [USD](generated/dexterous_hand_description/Right_Hand_G1_5010_Wrist/Right_Hand_G1_5010_Wrist.usdc) | [source](sources/unitree_ros/robots/dexterous_hand_description/dex2_5/Right_Hand_G1_5010_Wrist.urdf) | 10 | fixed |
| dexterous_hand_description/dex3_1_l | [USD](generated/dexterous_hand_description/dex3_1_l/dex3_1_l.usdc) | [source](sources/unitree_ros/robots/dexterous_hand_description/dex3_1/dex3_1_l.urdf) | 7 | fixed |
| dexterous_hand_description/dex3_1_r | [USD](generated/dexterous_hand_description/dex3_1_r/dex3_1_r.usdc) | [source](sources/unitree_ros/robots/dexterous_hand_description/dex3_1/dex3_1_r.urdf) | 7 | fixed |
| dexterous_hand_description/Dex5-URDF-L | [USD](generated/dexterous_hand_description/Dex5-URDF-L/Dex5_URDF_L.usdc) | [source](sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-L/Dex5-URDF-L.urdf) | 20 | fixed |
| dexterous_hand_description/Dex5-URDF-R | [USD](generated/dexterous_hand_description/Dex5-URDF-R/Dex5_URDF_R.usdc) | [source](sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/Dex5-URDF-R.urdf) | 20 | fixed |
| g1_d_description/g1_d | [USD](generated/g1_d_description/g1_d/g1_d.usdc) | [source](sources/unitree_ros/robots/g1_d_description/g1_d.urdf) | 34 | mobile |
| g1_d_description/g1_d_with_dex1_1 | [USD](generated/g1_d_description/g1_d_with_dex1_1/g1_d_with_dex1_1.usdc) | [source](sources/unitree_ros/robots/g1_d_description/g1_d_with_dex1_1.urdf) | 32 | mobile |
| g1_description/g1_23dof | [USD](generated/g1_description/g1_23dof/g1_23dof.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_23dof.urdf) | 23 | mobile |
| g1_description/g1_23dof_mode_10 | [USD](generated/g1_description/g1_23dof_mode_10/g1_23dof_mode_10.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_23dof_mode_10.urdf) | 23 | mobile |
| g1_description/g1_23dof_rev_1_0 | [USD](generated/g1_description/g1_23dof_rev_1_0/g1_23dof_rev_1_0.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_23dof_rev_1_0.urdf) | 23 | mobile |
| g1_description/g1_29dof | [USD](generated/g1_description/g1_29dof/g1_29dof.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof.urdf) | 29 | mobile |
| g1_description/g1_29dof_lock_waist | [USD](generated/g1_description/g1_29dof_lock_waist/g1_29dof_lock_waist.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_lock_waist.urdf) | 27 | mobile |
| g1_description/g1_29dof_lock_waist_rev_1_0 | [USD](generated/g1_description/g1_29dof_lock_waist_rev_1_0/g1_29dof_lock_waist_rev_1_0.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_lock_waist_rev_1_0.urdf) | 27 | mobile |
| g1_description/g1_29dof_lock_waist_with_hand_rev_1_0 | [USD](generated/g1_description/g1_29dof_lock_waist_with_hand_rev_1_0/g1_29dof_lock_waist_with_hand_rev_1_0.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_lock_waist_with_hand_rev_1_0.urdf) | 41 | mobile |
| g1_description/g1_29dof_mode_11 | [USD](generated/g1_description/g1_29dof_mode_11/g1_29dof_mode_11.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_mode_11.urdf) | 29 | mobile |
| g1_description/g1_29dof_mode_12 | [USD](generated/g1_description/g1_29dof_mode_12/g1_29dof_mode_12.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_mode_12.urdf) | 27 | mobile |
| g1_description/g1_29dof_mode_13 | [USD](generated/g1_description/g1_29dof_mode_13/g1_29dof_mode_13.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_mode_13.urdf) | 29 | mobile |
| g1_description/g1_29dof_mode_14 | [USD](generated/g1_description/g1_29dof_mode_14/g1_29dof_mode_14.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_mode_14.urdf) | 27 | mobile |
| g1_description/g1_29dof_mode_15 | [USD](generated/g1_description/g1_29dof_mode_15/g1_29dof_mode_15.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_mode_15.urdf) | 29 | mobile |
| g1_description/g1_29dof_mode_15_with_dex1_1 | [USD](generated/g1_description/g1_29dof_mode_15_with_dex1_1/g1_29dof_mode_15_with_dex1_1.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_mode_15_with_dex1_1.urdf) | 33 | mobile |
| g1_description/g1_29dof_mode_16 | [USD](generated/g1_description/g1_29dof_mode_16/g1_29dof_mode_16.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_mode_16.urdf) | 27 | mobile |
| g1_description/g1_29dof_mode_18 | [USD](generated/g1_description/g1_29dof_mode_18/g1_29dof_mode_18.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_mode_18.urdf) | 29 | mobile |
| g1_description/g1_29dof_rev_1_0 | [USD](generated/g1_description/g1_29dof_rev_1_0/g1_29dof_rev_1_0.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_rev_1_0.urdf) | 29 | mobile |
| g1_description/g1_29dof_rev_1_0_with_inspire_hand_DFQ | [USD](generated/g1_description/g1_29dof_rev_1_0_with_inspire_hand_DFQ/g1_29dof_rev_1_0_with_inspire_hand_DFQ.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf) | 53 | mobile |
| g1_description/g1_29dof_rev_1_0_with_inspire_hand_FTP | [USD](generated/g1_description/g1_29dof_rev_1_0_with_inspire_hand_FTP/g1_29dof_rev_1_0_with_inspire_hand_FTP.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf) | 53 | mobile |
| g1_description/g1_29dof_with_hand | [USD](generated/g1_description/g1_29dof_with_hand/g1_29dof_with_hand.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_with_hand.urdf) | 43 | mobile |
| g1_description/g1_29dof_with_hand_rev_1_0 | [USD](generated/g1_description/g1_29dof_with_hand_rev_1_0/g1_29dof_with_hand_rev_1_0.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf) | 43 | mobile |
| g1_description/g1_comp | [USD](generated/g1_description/g1_comp/g1_comp.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_comp.urdf) | 25 | mobile |
| g1_description/g1_dual_arm | [USD](generated/g1_description/g1_dual_arm/g1_dual_arm.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_dual_arm.urdf) | 14 | fixed |
| g1_description/g1_pl | [USD](generated/g1_description/g1_pl/g1_pl.usdc) | [source](sources/unitree_ros/robots/g1_description/g1_pl.urdf) | 31 | mobile |
| g1_description/DFQ_left_hand | [USD](generated/g1_description/DFQ_left_hand/DFQ_left_hand.usdc) | [source](sources/unitree_ros/robots/g1_description/inspire_hand/DFQ_left_hand.urdf) | 12 | fixed |
| g1_description/DFQ_right_hand | [USD](generated/g1_description/DFQ_right_hand/DFQ_right_hand.usdc) | [source](sources/unitree_ros/robots/g1_description/inspire_hand/DFQ_right_hand.urdf) | 12 | fixed |
| g1_description/FTP_left_hand | [USD](generated/g1_description/FTP_left_hand/FTP_left_hand.usdc) | [source](sources/unitree_ros/robots/g1_description/inspire_hand/FTP_left_hand.urdf) | 12 | fixed |
| g1_description/FTP_right_hand | [USD](generated/g1_description/FTP_right_hand/FTP_right_hand.usdc) | [source](sources/unitree_ros/robots/g1_description/inspire_hand/FTP_right_hand.urdf) | 12 | fixed |
| g1_with_brainco_hand/g1_29dof_mode_15_brainco_hand | [USD](generated/g1_with_brainco_hand/g1_29dof_mode_15_brainco_hand/g1_29dof_mode_15_brainco_hand.usdc) | [source](sources/unitree_ros/robots/g1_with_brainco_hand/g1_29dof_mode_15_brainco_hand.urdf) | 61 | mobile |
| go1_description/go1 | [USD](generated/go1_description/go1/go1.usdc) | [source](sources/unitree_ros/robots/go1_description/urdf/go1.urdf) | 12 | mobile |
| go2_description/go2_description | [USD](generated/go2_description/go2_description/go2_description.usdc) | [source](sources/unitree_ros/robots/go2_description/urdf/go2_description.urdf) | 12 | mobile |
| go2w_description/go2w_description | [USD](generated/go2w_description/go2w_description/go2w_description.usdc) | [source](sources/unitree_ros/robots/go2w_description/urdf/go2w_description.urdf) | 16 | mobile |
| h1_2_description/h1_2 | [USD](generated/h1_2_description/h1_2/h1_2.usdc) | [source](sources/unitree_ros/robots/h1_2_description/h1_2.urdf) | 51 | mobile |
| h1_2_description/h1_2_handless | [USD](generated/h1_2_description/h1_2_handless/h1_2_handless.usdc) | [source](sources/unitree_ros/robots/h1_2_description/h1_2_handless.urdf) | 27 | mobile |
| h1_2_description/h1_2_with_FTP_hand | [USD](generated/h1_2_description/h1_2_with_FTP_hand/h1_2_with_FTP_hand.usdc) | [source](sources/unitree_ros/robots/h1_2_description/h1_2_with_FTP_hand.urdf) | 51 | mobile |
| h1_description/h1 | [USD](generated/h1_description/h1/h1.usdc) | [source](sources/unitree_ros/robots/h1_description/urdf/h1.urdf) | 19 | mobile |
| h1_description/h1_with_hand | [USD](generated/h1_description/h1_with_hand/h1_with_hand.usdc) | [source](sources/unitree_ros/robots/h1_description/urdf/h1_with_hand.urdf) | 45 | mobile |
| h2_description/H2 | [USD](generated/h2_description/H2/H2.usdc) | [source](sources/unitree_ros/robots/h2_description/H2.urdf) | 31 | mobile |
| h2_description/H2_dae | [USD](generated/h2_description/H2_dae/H2_dae.usdc) | [source](sources/unitree_ros/robots/h2_description/H2_dae.urdf) | 31 | mobile |
| h2_description/H2_loop | [USD](generated/h2_description/H2_loop/H2_loop.usdc) | [source](sources/unitree_ros/robots/h2_description/H2_loop.urdf) | 37 | mobile |
| h2_plus/H2_Plus | [USD](generated/h2_plus/H2_Plus/H2_Plus.usdc) | [source](sources/unitree_ros/robots/h2_plus/H2_Plus.urdf) | 75 | mobile |
| h2d_description/h2d | [USD](generated/h2d_description/h2d/h2d.usdc) | [source](sources/unitree_ros/robots/h2d_description/h2d.urdf) | 24 | mobile |
| h2x_description/h2x | [USD](generated/h2x_description/h2x/h2x.usdc) | [source](sources/unitree_ros/robots/h2x_description/h2x.urdf) | 31 | mobile |
| laikago_description/laikago | [USD](generated/laikago_description/laikago/laikago.usdc) | [source](sources/unitree_ros/robots/laikago_description/urdf/laikago.urdf) | 12 | mobile |
| r1_7a_description/R1_7a | [USD](generated/r1_7a_description/R1_7a/R1_7a.usdc) | [source](sources/unitree_ros/robots/r1_7a_description/R1_7a.urdf) | 7 | fixed |
| r1_a5_description/r1_a5 | [USD](generated/r1_a5_description/r1_a5/r1_a5.usdc) | [source](sources/unitree_ros/robots/r1_a5_description/r1_a5.urdf) | 13 | fixed |
| r1_a7_description/r1_a7 | [USD](generated/r1_a7_description/r1_a7/r1_a7.usdc) | [source](sources/unitree_ros/robots/r1_a7_description/r1_a7.urdf) | 17 | fixed |
| r1_air_description/R1_AIR | [USD](generated/r1_air_description/R1_AIR/R1_AIR.usdc) | [source](sources/unitree_ros/robots/r1_air_description/R1_AIR.urdf) | 20 | mobile |
| r1_description/R1 | [USD](generated/r1_description/R1/R1.usdc) | [source](sources/unitree_ros/robots/r1_description/R1.urdf) | 26 | mobile |
| r1d_description/r1d | [USD](generated/r1d_description/r1d/r1d.usdc) | [source](sources/unitree_ros/robots/r1d_description/r1d.urdf) | 29 | mobile |
| z1_description/z1 | [USD](generated/z1_description/z1/z1.usdc) | [source](sources/unitree_ros/robots/z1_description/xacro/z1.urdf) | 6 | fixed |
| aliengoZ1_description/aliengo_z1 | [USD](generated/aliengoZ1_description/aliengo_z1/aliengo_z1.usdc) | [source](sources/unitree_ros/robots/aliengoZ1_description/xacro/robot.xacro) | 19 | mobile |
| Qmini/Qmini | [USD](generated/Qmini/Qmini/Qmini.usdc) | [source](sources/Qmini/urdf/Qmini.urdf) | 10 | mobile |
| UniArmL1/UniArmL1 | [USD](generated/UniArmL1/UniArmL1/UniArmL1.usdc) | [source](sources/UniArmL1/assets/uniarml1/urdf/UniArmL1.urdf) | 7 | fixed |
| z1_ros/z1 | [USD](generated/z1_ros/z1/z1.usdc) | [source](sources/z1_ros/z1_controller/config/z1.urdf) | 6 | fixed |
| brainco_hand/brainco_left | [USD](generated/brainco_hand/brainco_left/brainco_left.usdc) | [source](sources/xr_teleoperate/assets/brainco_hand/brainco_left.urdf) | 11 | fixed |
| brainco_hand/brainco_right | [USD](generated/brainco_hand/brainco_right/brainco_right.usdc) | [source](sources/xr_teleoperate/assets/brainco_hand/brainco_right.urdf) | 11 | fixed |
| unitree_rl_gym/g1_12dof | [USD](generated/unitree_rl_gym/g1_12dof/g1_12dof.usdc) | [source](sources/unitree_rl_gym/resources/robots/g1_description/g1_12dof.urdf) | 12 | mobile |
| unitree_rl_gym/h1_2_12dof | [USD](generated/unitree_rl_gym/h1_2_12dof/h1_2_12dof.usdc) | [source](sources/unitree_rl_gym/resources/robots/h1_2/h1_2_12dof.urdf) | 12 | mobile |
| unitree_rl_gym/h1_2_simplified | [USD](generated/unitree_rl_gym/h1_2_simplified/h1_2_simplified.usdc) | [source](sources/unitree_rl_gym/resources/robots/h1_2/h1_2_simplified.urdf) | 21 | mobile |
Every generated entry passed structural checks plus the independent mass, joint-count and forward-kinematics checks in [validation_report.json](validation_report.json). Runtime simulation remains untested; see [README.md](README.md) for limitations and source warnings.