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 description files in both URDF and MJCF formats, together with the mesh assets they reference.

What Is Included

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

Repository Layout

.
├── revo2_system/
│   ├── meshes/
│   ├── urdf/
│   └── mjcf/
├── revo3_system/
│   ├── meshes/
│   ├── urdf/
│   └── mjcf/
├── revoarm_system/
│   ├── meshes/
│   ├── urdf/
│   └── mjcf/
└── revotron_system/
    ├── meshes/
    ├── urdf/
    └── mjcf/

Each system directory follows the same convention:

• urdf/: URDF robot description files.
• mjcf/: MuJoCo XML model files.
• meshes/: Visual and collision geometry referenced by the descriptions.
• README.md: Optional system-specific notes.

File Naming

The file names encode the robot configuration:

Pattern	Meaning
left / right	Left-hand or right-hand model
single_left / single_right	Single-arm system with the arm mounted on one side
bimanual	Dual-arm system
revo2	Configuration with Revo2 hand attached
revo3	Configuration with Revo3 hand attached

Examples:

revoarm_system/urdf/revoarm_single_right_revo3.urdf
revoarm_system/mjcf/revoarm_bimanual_revo2.xml
revotron_system/mjcf/revotron_bimanual_revo3.xml

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)

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.
• 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.
• USD compatibility and downstream scene-description adaptations.
• 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.