Adds SimReady_Metadata (SR.004) to each root USD, makes the guide-only collision meshes of SO-101 and the Dex3 G1 invisible (VG.008), re-hashes each package, and adds scripts/simready.py. All six pass simready-validate 2026.8.0 Robot-Body 3.0.0 and Package 1.0.0.
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].
2 days ago
Make the Inspire hands' following finger joints PhysX mimic joints
Each finger's intermediate joint and the thumb's intermediate and distal joints follow their motor joint as in the URDF's <mimic>, so the model moves its fingers without the URDF. robotusd.from_urdf now writes PhysxMimicJointAPI for <mimic> joints; nothing else in the USD changed.
Add Unitree G1 with Inspire hands (g1_body29_inspire)
