Flatten SO-101 no-camera asset

.gitattributes

@@ -62,3 +62,4 @@ 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/so101_no_camera_new_calib.usd filter=lfs diff=lfs merge=lfs -text

robot_assets/README.md

@@ -1,7 +1,7 @@
 # Robot Assets
 
-This folder contains USD robot assets associated with the time-series data
-release.
+This folder contains single-file USD robot assets associated with the
+time-series data release.
 
 ## Files
 
@@ -25,10 +25,11 @@ release.
     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.
+- `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.
 

robot_assets/{so101_no_camera_new_calib/configuration/so101_new_calib_base.usd → so101_no_camera_new_calib.usd}

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2a42ba12ae1658b9624ad4b28955e729e33746e59e64f6bb2b8da8a4802b19dc
-size 23237479
+oid sha256:c6c82840925ace388b0ff0acb7d8538c2b419d92fbe01dc70fe833b974d6d462
+size 23242494

robot_assets/so101_no_camera_new_calib/so101_no_camera_new_calib.usda

@@ -1,55 +0,0 @@
-#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@
-        ) {
-
-        }
-    }
-}
-