Add G1 29-DOF Inspire hand USD asset

.gitattributes

@@ -63,3 +63,4 @@ robot_assets/h1_updated_arm_masses_no_gripper.usd filter=lfs diff=lfs merge=lfs
 robot_assets/so101_camera_mass_23g_at_camera.usd filter=lfs diff=lfs merge=lfs -text
 robot_assets/so101_no_camera_new_calib/configuration/so101_new_calib_base.usd filter=lfs diff=lfs merge=lfs -text
 robot_assets/so101_no_camera_new_calib.usd filter=lfs diff=lfs merge=lfs -text
+robot_assets/g1_29dof_inspire_hand.usd filter=lfs diff=lfs merge=lfs -text

robot_assets/README.md

@@ -5,6 +5,16 @@ time-series data release.
 
 ## Files
 
+- `g1_29dof_inspire_hand.usd`
+  - Flattened single-file G1 29-DOF asset with bilateral wrist motors and
+    Inspire five-finger hands.
+  - Contains 29 body revolute joints plus 24 authored finger revolute joints
+    (12 per hand).
+  - Authored hand assembly mass is approximately 0.2764 kg per side.
+  - Exported from the canonical Isaac Lab 6.0
+    `Robots/Unitree/G1/g1_29dof_inspire_hand.usd` asset.
+  - No external USD or material dependencies.
+
 - `g1_29dof_tri_hand_closed.usd`
   - Flattened single-file G1 29-DOF asset with the right tri-hand and closed hand
     visual pose.

robot_assets/g1_29dof_inspire_hand.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75aac61aa99c36c1f893f9e41f9ea3436883807ba3119ef46e055eb54aca0ff9
+size 39097855