usd/h1_2_without_hand.usd is converted from https://github.com/unitreerobotics/unitree_rl_gym/blob/main/resources/robots/h1_2/h1_2.urdf using URDF Importer in Isaac Sim 4.2.0. The original URDF is developed by Unitree Robotics. For more details, see the LICENSE file in the same directory.