File size: 1,443 Bytes
44eee1b 2f95838 44eee1b 231c116 2f95838 231c116 44eee1b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 | # Robot Assets
This folder contains single-file USD robot assets associated with the
time-series data release.
## Files
- `g1_29dof_tri_hand_closed.usd`
- Flattened single-file G1 29-DOF asset with the right tri-hand and closed hand
visual pose.
- Intended companion asset for G1 data examples.
- No external USD or material dependencies.
- `h1_updated_arm_masses_no_gripper.usd`
- Flattened single-file H1 asset with updated left- and right-arm link masses.
- The custom gripper link and fixed gripper joint are omitted from this public
no-gripper variant.
- Active updated arm link mass total: 4.175 kg per arm.
- No external USD or material dependencies.
- `so101_camera_mass_23g_at_camera.usd`
- Flattened single-file SO-101 asset with a 23 g camera mass added at the
camera mount.
- Intended for runs where the simulated SO-101 should include the camera
payload.
- No external USD or material dependencies.
- `so101_no_camera_new_calib.usd`
- Flattened SO-101 no-camera calibrated asset.
- The default PhysX, Robot, and Sensors variants were resolved during
flattening.
- No external USD or material dependencies.
- Use this variant when the simulated SO-101 should not include the camera
payload.
## Notes
These are release copies exported from the local development assets. They are
intended for users who want robot geometry alongside the Parquet system-ID
time-series data.
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