| # 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. |
|
|
