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license: apache-2.0
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# RoboVerse Data

## Robot Asset Dependency Rules

These rules apply to robot assets under `robots/`. They are meant for robot description packages and composed robot models, not for all dataset assets.

- Keep shared upstream robot description packages as sibling directories under `robots/`, and treat those directories as authoritative. A composed robot should reference them with repo-relative paths instead of copying their meshes into its own folder.
- Keep each composed robot directory minimal. It should contain only the public entry files such as `.urdf`, `.xml`/MJCF, and `.usd`, plus local meshes that are genuinely modified for that composition, such as adapters, mounts, trimmed links, or replacement collision pieces.
- Do not keep simulator-converter scratch output, legacy variants, nested generated packages, cache folders, temporary USD layers, or duplicated upstream packages in the composed robot directory unless they are the supported public artifact. Stale `*_generated/`, `*_bimanual_*`, copied upstream robot folders, and obsolete hand-description folders should be removed before publishing.
- Use portable repo-relative references only. Robot description files must not contain absolute paths, user home directories, machine names, `/tmp` paths, server paths, or references to obsolete dependency packages.
- Robot USD files should either be standalone, with no external sublayers/assets, or should reference only stable repo-relative dependencies that are part of the published robot package. If a USD is advertised as standalone, verify that it has no unresolved dependencies, external asset attributes, or stale layer metadata.
- Before publishing a robot package, verify the directory from the consumer's point of view: parse URDF/MJCF mesh references, confirm every referenced file exists in the dataset, inspect USD dependencies with USD/PXR tools, grep for forbidden path fragments, and make sure the remote repository contains exactly the intended robot files with no stale leftovers.