Point to the franka_robotiq dataset for the robot

README.md

@@ -10,7 +10,8 @@ tags:
 
 Assets of the heterogeneous vision-language-action pick-and-place tasks of Isaac Lab
 (`isaaclab_tasks.contrib.heterogeneous_tasks`, registered as `IsaacContrib-VLA-PickPlace<NNN>-Franka` and
-`IsaacContrib-VLA-Heterogeneous-Franka`), as complete USD files. The tasks load them from
+`IsaacContrib-VLA-Heterogeneous-Franka`), as complete USD files. The robot is in the separate
+[franka_robotiq](https://huggingface.co/datasets/LiFanxing/franka_robotiq) dataset. The tasks load these assets from
 `https://huggingface.co/datasets/LiFanxing/HeteroTask/resolve/main`, or from the location in the
 `VLA_BENCHMARKS_ASSETS_DIR` environment variable.
 
@@ -20,7 +21,6 @@ Assets of the heterogeneous vision-language-action pick-and-place tasks of Isaac
 |---|---|
 | `objects/<name>/<name>.usd` | An object or piece of furniture with its physics: rigid body, mass and inertia, and convex-hull colliders (objects) or box colliders (furniture). |
 | `objects/<name>/materials/` | The textures and MDL materials of the object. |
-| `robots/franka_robotiq_2f_85/` | Franka arm with a Robotiq 2F-85 gripper. |
 | `scene/franka_table/` | Table that the robot stands on. |
 | `scene/home_office.exr` | Dome light texture. |
 
@@ -31,6 +31,6 @@ Assets of the heterogeneous vision-language-action pick-and-place tasks of Isaac
   objects). The ArchVis models, which have no physics, got rigid bodies, masses and colliders; colliders decomposed
   into convex hulls were baked into at most 32 hulls each (16 for ArchVis objects), and furniture collides with boxes
   of its boards and panels.
-- Robot, robot table and dome light texture: RoboLab.
+- Robot table and dome light texture: RoboLab.
 
 The assets keep the licenses of their sources.