BrainCo Robot Description Assets

This repository contains public robot description assets for BrainCo robot hands, arms, and combined arm-hand systems. The package is intended for simulation, visualization, integration testing, and downstream robotics research.

The public release includes URDF, MJCF, and USD descriptions, together with the mesh assets they reference.

What Is Included

System	Description	Formats
revo2_system	Revo2 left and right dexterous hands	URDF, MJCF, USD
revo3_system	Revo3 left and right dexterous hands	URDF, MJCF, USD
revoarm_system	Single-arm and bimanual RevoArm assemblies with Revo2/Revo3 hands	URDF, MJCF, USD
revotron_system	Single-arm and bimanual RevoTron platform assemblies with Revo3 hands	URDF, MJCF, USD

Visual Catalog

The rendered previews below correspond to the robot description entry points in this repository. Arm: None means the model is a standalone dexterous hand with no arm assembly.

Standalone Hands

Preview	Description files	Arm	Hand	Configuration	Side
	URDF: revo2_system/urdf/revo2_left.urdf MJCF: revo2_system/mjcf/revo2_left.xml USD: revo2_system/usd/revo2_left.usd	None	Revo2	Single hand	Left
	URDF: revo2_system/urdf/revo2_right.urdf MJCF: revo2_system/mjcf/revo2_right.xml USD: revo2_system/usd/revo2_right.usd	None	Revo2	Single hand	Right
	URDF: revo3_system/urdf/revo3_left.urdf MJCF: revo3_system/mjcf/revo3_left.xml USD: revo3_system/usd/revo3_left.usd	None	Revo3	Single hand	Left
	URDF: revo3_system/urdf/revo3_right.urdf MJCF: revo3_system/mjcf/revo3_right.xml USD: revo3_system/usd/revo3_right.usd	None	Revo3	Single hand	Right

RevoArm Assemblies

Preview	Description files	Arm	Hand	Configuration	Side
	URDF: revoarm_system/urdf/revoarm_single_left_revo2.urdf MJCF: revoarm_system/mjcf/revoarm_single_left_revo2.xml USD: revoarm_system/usd/revoarm_single_left_revo2.usd	RevoArm	Revo2	Single arm	Left
	URDF: revoarm_system/urdf/revoarm_single_right_revo2.urdf MJCF: revoarm_system/mjcf/revoarm_single_right_revo2.xml USD: revoarm_system/usd/revoarm_single_right_revo2.usd	RevoArm	Revo2	Single arm	Right
	URDF: revoarm_system/urdf/revoarm_bimanual_revo2.urdf MJCF: revoarm_system/mjcf/revoarm_bimanual_revo2.xml USD: revoarm_system/usd/revoarm_bimanual_revo2.usd	RevoArm	Revo2	Bimanual	Left + right
	URDF: revoarm_system/urdf/revoarm_single_left_revo3.urdf MJCF: revoarm_system/mjcf/revoarm_single_left_revo3.xml USD: revoarm_system/usd/revoarm_single_left_revo3.usd	RevoArm	Revo3	Single arm	Left
	URDF: revoarm_system/urdf/revoarm_single_right_revo3.urdf MJCF: revoarm_system/mjcf/revoarm_single_right_revo3.xml USD: revoarm_system/usd/revoarm_single_right_revo3.usd	RevoArm	Revo3	Single arm	Right
	URDF: revoarm_system/urdf/revoarm_bimanual_revo3.urdf MJCF: revoarm_system/mjcf/revoarm_bimanual_revo3.xml USD: revoarm_system/usd/revoarm_bimanual_revo3.usd	RevoArm	Revo3	Bimanual	Left + right

RevoTron Assemblies

Preview	Description files	Arm	Hand	Configuration	Side
	URDF: revotron_system/urdf/revotron_single_left_revo3.urdf MJCF: revotron_system/mjcf/revotron_single_left_revo3.xml USD: revotron_system/usd/revotron_single_left_revo3.usd	RevoTron	Revo3	Single arm	Left
	URDF: revotron_system/urdf/revotron_single_right_revo3.urdf MJCF: revotron_system/mjcf/revotron_single_right_revo3.xml USD: revotron_system/usd/revotron_single_right_revo3.usd	RevoTron	Revo3	Single arm	Right
	URDF: revotron_system/urdf/revotron_bimanual_revo3.urdf MJCF: revotron_system/mjcf/revotron_bimanual_revo3.xml USD: revotron_system/usd/revotron_bimanual_revo3.usd	RevoTron	Revo3	Bimanual	Left + right

Using the Models

URDF files can be loaded by common robotics tools such as ROS, RViz, Pinocchio, and other URDF-compatible parsers.

MJCF files can be loaded directly with MuJoCo:

import mujoco

model = mujoco.MjModel.from_xml_path(
    "revoarm_system/mjcf/revoarm_bimanual_revo3.xml"
)
data = mujoco.MjData(model)

USD files can be opened with USD-compatible tools such as usdview or loaded in NVIDIA Isaac Sim / Isaac Lab:

usdview revo3_system/usd/revo3_left.usd

The top-level USD files, such as revo3_system/usd/revo3_left.usd, are the recommended entry points. The usd/configuration/ files are implementation layers used by the entry point to compose base geometry, physics properties, robot metadata, and optional sensor layers.

Mesh paths are stored as relative paths, so load models from the repository root or preserve the directory layout when copying files into another project.

Notes For Simulation

• MJCF files separate visual and collision geometry where applicable. Visual geoms are intended for rendering, while collision geoms are intended for contact simulation.
• USD files include the converted robot hierarchy, visual and collision geometry, PhysX articulation metadata, and Isaac robot/link/joint metadata where applicable.
• The models are provided as description assets. Controller gains, task-space policies, calibration data, and application-specific simulation settings are intentionally left to downstream projects.

Work In Progress

The public asset set is still evolving. Planned or ongoing work includes:

• MJCF actuator definitions and control-ready simulation settings.
• Additional validation across common robotics and simulation toolchains.

License

License information will be provided with the public release. Please review the accompanying license before redistributing or modifying these assets.