Add SO-101 no-camera calibrated asset

.gitattributes

@@ -61,3 +61,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 robot_assets/g1_29dof_tri_hand_closed.usd filter=lfs diff=lfs merge=lfs -text
 robot_assets/h1_updated_arm_masses_no_gripper.usd filter=lfs diff=lfs merge=lfs -text
 robot_assets/so101_camera_mass_23g_at_camera.usd filter=lfs diff=lfs merge=lfs -text
+robot_assets/so101_no_camera_new_calib/configuration/so101_new_calib_base.usd filter=lfs diff=lfs merge=lfs -text

robot_assets/README.md

@@ -1,7 +1,7 @@
 # Robot Assets
 
-This folder contains self-contained USD robot assets associated with the
-time-series data release.
+This folder contains USD robot assets associated with the time-series data
+release.
 
 ## Files
 
@@ -18,6 +18,20 @@ time-series data release.
   - 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/so101_no_camera_new_calib.usda`
+  - SO-101 no-camera calibrated asset package.
+  - Root layer references the included `configuration/` USD layers in the same
+    folder.
+  - 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

robot_assets/so101_no_camera_new_calib/configuration/so101_new_calib_base.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a42ba12ae1658b9624ad4b28955e729e33746e59e64f6bb2b8da8a4802b19dc
+size 23237479

robot_assets/so101_no_camera_new_calib/so101_no_camera_new_calib.usda

@@ -0,0 +1,55 @@
+#usda 1.0
+(
+    defaultPrim = "so101_new_calib"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "so101_new_calib" (
+    variants = {
+        string Physics = "PhysX"
+        string Robot = "Robot"
+        string Sensor = "Sensors"
+    }
+    prepend variantSets = ["Physics", "Sensor", "Robot"]
+)
+{
+    variantSet "Physics" = {
+        "None" (
+            prepend references = @configuration/so101_new_calib_base.usd@
+        ) {
+            over "joints" (
+                active = false
+            )
+            {
+            }
+
+        }
+        "PhysX" (
+            prepend payload = @configuration/so101_new_calib_physics.usd@
+        ) {
+
+        }
+    }
+    variantSet "Sensor" = {
+        "None" {
+
+        }
+        "Sensors" (
+            prepend payload = @configuration/so101_new_calib_sensor.usd@
+        ) {
+
+        }
+    }
+    variantSet "Robot" = {
+        "None" {
+
+        }
+        "Robot" (
+            prepend payload = @configuration/so101_new_calib_robot.usd@
+        ) {
+
+        }
+    }
+}
+