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.