# 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.