robokit assets

LICENSES.md

@@ -0,0 +1,96 @@
+# Asset licenses
+
+Assets are under their own licenses. Source licenses and notices are kept beside the assets.
+
+## Scope
+
+This inventory covers 59 robot-format folders and 12 dataset folders. It does not audit calibration or robot auxiliary YAML/JSON folders, and does not inspect licenses inside archives.
+
+License-file presence is not redistribution clearance. Existing notices were preserved, not certified. Source revisions below identify the copied notice, not necessarily the original asset import revision.
+
+## Restrictions and unresolved terms
+
+AMASS, ARCTIC, GRAB, MANO, and SMPL-X have restricted research terms, including redistribution restrictions. Private hosting does not itself establish permission. Existing assets were not deleted or made public by this notice-only update.
+
+See the per-folder notices for source/component scope. Unknown terms are not replaced with RoboKit's or an upstream tool's software license.
+
+| Folder | License documents | Follow-up |
+| --- | --- | --- |
+| [datasets/climb](datasets/climb/NOTICE.md) | [LICENSE](datasets/climb/LICENSE), [NOTICE](datasets/climb/NOTICE) | — |
+| [datasets/dex_retargeting](datasets/dex_retargeting/NOTICE.md) | [LICENSE-CC-BY-NC-4.0.txt](datasets/dex_retargeting/LICENSE-CC-BY-NC-4.0.txt) | dexycb_motion.pkl derives from DexYCB; the dex-retargeting software's MIT license does not replace the data license. |
+| [datasets/dexgraspnet](datasets/dexgraspnet/NOTICE.md) | [LICENSE-CC-BY-NC-4.0.txt](datasets/dexgraspnet/LICENSE-CC-BY-NC-4.0.txt) | The project declares CC-BY-NC-4.0 for its dataset; archived object-source licenses still need inspection. This is not a blanket license for all meshes. |
+| [datasets/dexmachina](datasets/dexmachina/NOTICE.md) | [LICENSE.html](datasets/dexmachina/LICENSE.html) | ARCTIC-derived clips selected by DexMachina. Redistribution permission is required under ARCTIC's terms. |
+| [datasets/dexycb](datasets/dexycb/NOTICE.md) | [LICENSE-CC-BY-NC-4.0.txt](datasets/dexycb/LICENSE-CC-BY-NC-4.0.txt) | Confirm any additional YCB object-mesh terms; DexYCB's data license is included. |
+| [datasets/gigahands](datasets/gigahands/NOTICE.md) | [LICENSE-CC-BY-NC-4.0.txt](datasets/gigahands/LICENSE-CC-BY-NC-4.0.txt) | — |
+| [datasets/hand_retargeting_vector](datasets/hand_retargeting_vector/NOTICE.md) | No license text located | Confirm recording ownership, participant permissions, and license for avp_data_right.pkl and manus_data_right.pkl. |
+| [datasets/oakink2](datasets/oakink2/NOTICE.md) | [LICENSE-CC-BY-SA-4.0.txt](datasets/oakink2/LICENSE-CC-BY-SA-4.0.txt) | — |
+| [datasets/omomo](datasets/omomo/NOTICE.md) | No license text located | Confirm data and mesh terms for the OMOMO and InterMimic files. Their software licenses and the unrelated InterAct license do not establish this bundle's data license. Sources: https://lijiaman.github.io/projects/omomo/ and https://sirui-xu.github.io/InterMimic/. |
+| [datasets/parahome](datasets/parahome/NOTICE.md) | [LICENSE-CC-BY-NC-SA-4.0.txt](datasets/parahome/LICENSE-CC-BY-NC-SA-4.0.txt) | — |
+| [datasets/saga](datasets/saga/NOTICE.md) | [LICENSE.html](datasets/saga/LICENSE.html) | SAGA uses GRAB object meshes; GRAB's terms are included for those components. Confirm the acquisition terms of the processed motion clips; SAGA's MIT code license does not relicense GRAB data. |
+| [datasets/sfu](datasets/sfu/NOTICE.md) | [LICENSE.html](datasets/sfu/LICENSE.html) | AMASS-format motion data; confirm original acquisition terms. AMASS prohibits redistribution without permission. |
+| [robots/robot_description/arms/franka_panda](robots/robot_description/arms/franka_panda/NOTICE.md) | [LICENSE](robots/robot_description/arms/franka_panda/LICENSE) | — |
+| [robots/robot_description/arms/xarm6](robots/robot_description/arms/xarm6/NOTICE.md) | [LICENSE](robots/robot_description/arms/xarm6/LICENSE) | — |
+| [robots/robot_description/arms/xarm7](robots/robot_description/arms/xarm7/NOTICE.md) | [LICENSE](robots/robot_description/arms/xarm7/LICENSE) | Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
+| [robots/robot_description/assembly/g1_inspire](robots/robot_description/assembly/g1_inspire/NOTICE.md) | [LICENSE](robots/robot_description/assembly/g1_inspire/licenses/unitree/LICENSE), [LICENSE.txt](robots/robot_description/assembly/g1_inspire/licenses/inspire/LICENSE.txt), [LICENSE-CC-BY-NC-SA-4.0.txt](robots/robot_description/assembly/g1_inspire/licenses/inspire/LICENSE-CC-BY-NC-SA-4.0.txt), [LICENSE-DEX-URDF](robots/robot_description/assembly/g1_inspire/licenses/inspire/LICENSE-DEX-URDF) | dex-urdf labels the model CC-BY-NC-SA-4.0; its per-model file supplies provenance only. Confirm the manufacturer's original CAD terms. |
+| [robots/robot_description/assembly/g1_mano](robots/robot_description/assembly/g1_mano/NOTICE.md) | [LICENSE](robots/robot_description/assembly/g1_mano/licenses/unitree/LICENSE), [LICENSE.txt](robots/robot_description/assembly/g1_mano/licenses/mano/LICENSE.txt) | MANO-derived geometry: redistribution permission is required under the included MANO terms. |
+| [robots/robot_description/assembly/rby1_sharpa](robots/robot_description/assembly/rby1_sharpa/NOTICE.md) | [LICENSE](robots/robot_description/assembly/rby1_sharpa/licenses/rby1/LICENSE), [LICENSE.txt](robots/robot_description/assembly/rby1_sharpa/licenses/sharpa/LICENSE.txt), [NOTICE.txt](robots/robot_description/assembly/rby1_sharpa/licenses/sharpa/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_description/assembly/rby1_sharpa/licenses/sharpa/LICENSE-APACHE-2.0.txt) | The description wrapper's MIT license is included; confirm Rainbow Robotics' terms for the underlying meshes. |
+| [robots/robot_description/assembly/vega_sharpa](robots/robot_description/assembly/vega_sharpa/NOTICE.md) | [LICENSE](robots/robot_description/assembly/vega_sharpa/licenses/vega/LICENSE), [LICENSE.txt](robots/robot_description/assembly/vega_sharpa/licenses/sharpa/LICENSE.txt), [NOTICE.txt](robots/robot_description/assembly/vega_sharpa/licenses/sharpa/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_description/assembly/vega_sharpa/licenses/sharpa/LICENSE-APACHE-2.0.txt) | — |
+| [robots/robot_description/assembly/xarm6_sharpa](robots/robot_description/assembly/xarm6_sharpa/NOTICE.md) | [LICENSE](robots/robot_description/assembly/xarm6_sharpa/licenses/xarm/LICENSE), [LICENSE.txt](robots/robot_description/assembly/xarm6_sharpa/licenses/sharpa/LICENSE.txt), [NOTICE.txt](robots/robot_description/assembly/xarm6_sharpa/licenses/sharpa/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_description/assembly/xarm6_sharpa/licenses/sharpa/LICENSE-APACHE-2.0.txt) | — |
+| [robots/robot_description/assembly/xarm7_ability](robots/robot_description/assembly/xarm7_ability/NOTICE.md) | [LICENSE](robots/robot_description/assembly/xarm7_ability/licenses/xarm/LICENSE), [LICENSE](robots/robot_description/assembly/xarm7_ability/licenses/ability/LICENSE), [LICENSE.txt](robots/robot_description/assembly/xarm7_ability/licenses/dex_ability/LICENSE.txt), [LICENSE](robots/robot_description/assembly/xarm7_ability/licenses/dex_ability/LICENSE) | Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
+| [robots/robot_description/assembly/xarm7_inspire](robots/robot_description/assembly/xarm7_inspire/NOTICE.md) | [LICENSE](robots/robot_description/assembly/xarm7_inspire/licenses/xarm/LICENSE), [LICENSE.txt](robots/robot_description/assembly/xarm7_inspire/licenses/inspire/LICENSE.txt), [LICENSE-CC-BY-NC-SA-4.0.txt](robots/robot_description/assembly/xarm7_inspire/licenses/inspire/LICENSE-CC-BY-NC-SA-4.0.txt), [LICENSE-DEX-URDF](robots/robot_description/assembly/xarm7_inspire/licenses/inspire/LICENSE-DEX-URDF) | dex-urdf labels the model CC-BY-NC-SA-4.0; its per-model file supplies provenance only. Confirm the manufacturer's original CAD terms. Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
+| [robots/robot_description/assembly/xarm7_mano](robots/robot_description/assembly/xarm7_mano/NOTICE.md) | [LICENSE](robots/robot_description/assembly/xarm7_mano/licenses/xarm/LICENSE), [LICENSE.txt](robots/robot_description/assembly/xarm7_mano/licenses/mano/LICENSE.txt) | MANO-derived geometry: redistribution permission is required under the included MANO terms. Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
+| [robots/robot_description/assembly/xarm7_sharpa](robots/robot_description/assembly/xarm7_sharpa/NOTICE.md) | [LICENSE](robots/robot_description/assembly/xarm7_sharpa/licenses/xarm/LICENSE), [LICENSE.txt](robots/robot_description/assembly/xarm7_sharpa/licenses/sharpa/LICENSE.txt), [NOTICE.txt](robots/robot_description/assembly/xarm7_sharpa/licenses/sharpa/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_description/assembly/xarm7_sharpa/licenses/sharpa/LICENSE-APACHE-2.0.txt) | Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
+| [robots/robot_description/assembly/xarm7_xhand](robots/robot_description/assembly/xarm7_xhand/NOTICE.md) | [LICENSE](robots/robot_description/assembly/xarm7_xhand/LICENSE) | RobotEra XHand: obtain the supplier's model/mesh license; an SDK license is not a model license. |
+| [robots/robot_description/end_effectors/ability_hand](robots/robot_description/end_effectors/ability_hand/NOTICE.md) | [LICENSE](robots/robot_description/end_effectors/ability_hand/licenses/ability/LICENSE), [LICENSE.txt](robots/robot_description/end_effectors/ability_hand/licenses/dex_ability/LICENSE.txt), [LICENSE](robots/robot_description/end_effectors/ability_hand/licenses/dex_ability/LICENSE) | — |
+| [robots/robot_description/end_effectors/inspire_hand](robots/robot_description/end_effectors/inspire_hand/NOTICE.md) | [LICENSE.txt](robots/robot_description/end_effectors/inspire_hand/LICENSE.txt), [LICENSE-CC-BY-NC-SA-4.0.txt](robots/robot_description/end_effectors/inspire_hand/LICENSE-CC-BY-NC-SA-4.0.txt), [LICENSE-DEX-URDF](robots/robot_description/end_effectors/inspire_hand/LICENSE-DEX-URDF) | dex-urdf labels the model CC-BY-NC-SA-4.0; its per-model file supplies provenance only. Confirm the manufacturer's original CAD terms. |
+| [robots/robot_description/end_effectors/mano_hand](robots/robot_description/end_effectors/mano_hand/NOTICE.md) | [LICENSE.txt](robots/robot_description/end_effectors/mano_hand/LICENSE.txt) | MANO-derived geometry: redistribution permission is required under the included MANO terms. |
+| [robots/robot_description/end_effectors/manus_hand](robots/robot_description/end_effectors/manus_hand/NOTICE.md) | No license text located | Confirm authorship and applicable terms for this marker-only skeleton. |
+| [robots/robot_description/end_effectors/orcahand](robots/robot_description/end_effectors/orcahand/NOTICE.md) | [LICENSE](robots/robot_description/end_effectors/orcahand/LICENSE) | — |
+| [robots/robot_description/end_effectors/paxini_hand](robots/robot_description/end_effectors/paxini_hand/NOTICE.md) | No license text located | PaXini DEXH13: obtain the supplier's model/mesh license. |
+| [robots/robot_description/end_effectors/robotiq_2f85](robots/robot_description/end_effectors/robotiq_2f85/NOTICE.md) | No license text located | The source package.xml declares BSD without a license text or variant: https://github.com/a-price/robotiq_arg85_description/blob/a65190bdbb0666609fe7e8c3bb17341e09e81625/package.xml. Obtain the original full license. |
+| [robots/robot_description/end_effectors/shadow_hand_mjcf](robots/robot_description/end_effectors/shadow_hand_mjcf/NOTICE.md) | [LICENSE.md](robots/robot_description/end_effectors/shadow_hand_mjcf/LICENSE.md), [LICENSE-CC-BY-NC-4.0.txt](robots/robot_description/end_effectors/shadow_hand_mjcf/LICENSE-CC-BY-NC-4.0.txt) | The OpenAI/Shadow notice covers source components; DexGraspNet declares CC-BY-NC-4.0 for its work. Both notices are retained. |
+| [robots/robot_description/end_effectors/sharpa_hand](robots/robot_description/end_effectors/sharpa_hand/NOTICE.md) | [LICENSE.txt](robots/robot_description/end_effectors/sharpa_hand/LICENSE.txt), [NOTICE.txt](robots/robot_description/end_effectors/sharpa_hand/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_description/end_effectors/sharpa_hand/LICENSE-APACHE-2.0.txt) | — |
+| [robots/robot_description/end_effectors/xhand](robots/robot_description/end_effectors/xhand/NOTICE.md) | No license text located | RobotEra XHand: obtain the supplier's model/mesh license; an SDK license is not a model license. |
+| [robots/robot_description/end_effectors/yam_gripper](robots/robot_description/end_effectors/yam_gripper/NOTICE.md) | [LICENSE](robots/robot_description/end_effectors/yam_gripper/LICENSE) | — |
+| [robots/robot_description/humanoids/booster_k1](robots/robot_description/humanoids/booster_k1/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/booster_k1/LICENSE) | Confirm separate terms for the ZED camera additions in K1_serial-ZED.urdf. |
+| [robots/robot_description/humanoids/fourier_gr3](robots/robot_description/humanoids/fourier_gr3/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/fourier_gr3/LICENSE) | — |
+| [robots/robot_description/humanoids/g1](robots/robot_description/humanoids/g1/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/g1/LICENSE) | — |
+| [robots/robot_description/humanoids/g1_inspire](robots/robot_description/humanoids/g1_inspire/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/g1_inspire/licenses/unitree/LICENSE), [LICENSE.txt](robots/robot_description/humanoids/g1_inspire/licenses/inspire/LICENSE.txt), [LICENSE-CC-BY-NC-SA-4.0.txt](robots/robot_description/humanoids/g1_inspire/licenses/inspire/LICENSE-CC-BY-NC-SA-4.0.txt), [LICENSE-DEX-URDF](robots/robot_description/humanoids/g1_inspire/licenses/inspire/LICENSE-DEX-URDF) | dex-urdf labels the model CC-BY-NC-SA-4.0; its per-model file supplies provenance only. Confirm the manufacturer's original CAD terms. |
+| [robots/robot_description/humanoids/rby1](robots/robot_description/humanoids/rby1/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/rby1/LICENSE) | The description wrapper's MIT license is included; confirm Rainbow Robotics' terms for the underlying meshes. |
+| [robots/robot_description/humanoids/unitree_h1_2](robots/robot_description/humanoids/unitree_h1_2/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/unitree_h1_2/LICENSE) | — |
+| [robots/robot_description/humanoids/vega_1](robots/robot_description/humanoids/vega_1/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/vega_1/LICENSE) | — |
+| [robots/robot_mj_description/assembly/vega_sharpa](robots/robot_mj_description/assembly/vega_sharpa/NOTICE.md) | [LICENSE](robots/robot_mj_description/assembly/vega_sharpa/licenses/vega/LICENSE), [LICENSE.txt](robots/robot_mj_description/assembly/vega_sharpa/licenses/sharpa/LICENSE.txt), [NOTICE.txt](robots/robot_mj_description/assembly/vega_sharpa/licenses/sharpa/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_mj_description/assembly/vega_sharpa/licenses/sharpa/LICENSE-APACHE-2.0.txt) | — |
+| [robots/robot_mj_description/assembly/xarm7_shadow](robots/robot_mj_description/assembly/xarm7_shadow/NOTICE.md) | [LICENSE](robots/robot_mj_description/assembly/xarm7_shadow/licenses/xarm/LICENSE), [LICENSE](robots/robot_mj_description/assembly/xarm7_shadow/licenses/shadow/LICENSE) | — |
+| [robots/robot_mj_description/assembly/xarm7_xhand](robots/robot_mj_description/assembly/xarm7_xhand/NOTICE.md) | [LICENSE](robots/robot_mj_description/assembly/xarm7_xhand/LICENSE) | RobotEra XHand: obtain the supplier's model/mesh license; an SDK license is not a model license. |
+| [robots/robot_mj_description/end_effectors/shadow_hand](robots/robot_mj_description/end_effectors/shadow_hand/NOTICE.md) | [LICENSE](robots/robot_mj_description/end_effectors/shadow_hand/LICENSE) | — |
+| [robots/robot_mj_description/end_effectors/xhand](robots/robot_mj_description/end_effectors/xhand/NOTICE.md) | No license text located | RobotEra XHand: obtain the supplier's model/mesh license; an SDK license is not a model license. |
+| [robots/robot_mj_description/humanoids/vega_1](robots/robot_mj_description/humanoids/vega_1/NOTICE.md) | [LICENSE](robots/robot_mj_description/humanoids/vega_1/LICENSE) | — |
+| [robots/robot_mj_description/humanoids/vega_1u](robots/robot_mj_description/humanoids/vega_1u/NOTICE.md) | [LICENSE](robots/robot_mj_description/humanoids/vega_1u/LICENSE) | — |
+
+## Previously present
+
+These 21 folders already contained license/notice files; they were left unchanged.
+
+| Folder | Existing documents |
+| --- | --- |
+| robots/robot_description/arms/fr3 | [LICENSE](robots/robot_description/arms/fr3/LICENSE) |
+| robots/robot_description/arms/gen3 | [LICENSE](robots/robot_description/arms/gen3/LICENSE) |
+| robots/robot_description/arms/iiwa14 | [LICENSE](robots/robot_description/arms/iiwa14/LICENSE) |
+| robots/robot_description/arms/piper | [LICENSE](robots/robot_description/arms/piper/LICENSE) |
+| robots/robot_description/arms/rizon4 | [LICENSE](robots/robot_description/arms/rizon4/LICENSE) |
+| robots/robot_description/arms/ur5e | [LICENSE](robots/robot_description/arms/ur5e/LICENSE) |
+| robots/robot_description/arms/yam | [LICENSE](robots/robot_description/arms/yam/LICENSE) |
+| robots/robot_description/arms/z1 | [LICENSE](robots/robot_description/arms/z1/LICENSE) |
+| robots/robot_description/assembly/yam_gripper | [LICENSE](robots/robot_description/assembly/yam_gripper/LICENSE) |
+| robots/robot_description/end_effectors/allegro_hand | [LICENSE](robots/robot_description/end_effectors/allegro_hand/LICENSE) |
+| robots/robot_description/end_effectors/barrett_hand | [LICENSE](robots/robot_description/end_effectors/barrett_hand/LICENSE) |
+| robots/robot_description/end_effectors/dclaw_gripper | [LICENSE](robots/robot_description/end_effectors/dclaw_gripper/LICENSE) |
+| robots/robot_description/end_effectors/leap_hand | [LICENSE.txt](robots/robot_description/end_effectors/leap_hand/LICENSE.txt) |
+| robots/robot_description/end_effectors/schunk_hand | [LICENSE](robots/robot_description/end_effectors/schunk_hand/LICENSE) |
+| robots/robot_description/end_effectors/shadow_hand | [LICENSE](robots/robot_description/end_effectors/shadow_hand/LICENSE) |
+| robots/robot_description/humanoids/berkeley_humanoid_lite | [LICENCE](robots/robot_description/humanoids/berkeley_humanoid_lite/LICENCE) |
+| robots/robot_description/humanoids/unitree_g1 | [LICENSE](robots/robot_description/humanoids/unitree_g1/LICENSE) |
+| robots/robot_mj_description/arms/franka_panda | [LICENSE](robots/robot_mj_description/arms/franka_panda/LICENSE) |
+| robots/robot_mj_description/arms/xarm7 | [LICENSE](robots/robot_mj_description/arms/xarm7/LICENSE) |
+| robots/robot_mj_description/end_effectors/sharpa_hand | [LICENSE](robots/robot_mj_description/end_effectors/sharpa_hand/LICENSE) |
+| robots/robot_mj_description/end_effectors/umi_gripper | [LICENSE](robots/robot_mj_description/end_effectors/umi_gripper/LICENSE) |

README.md

@@ -0,0 +1,77 @@
+---
+license: other
+tags:
+  - robotics
+  - urdf
+  - retargeting
+---
+
+# robokit assets
+
+Robot descriptions and datasets for robokit. They live in the
+Hugging Face dataset [`openrobokit/robokit`](https://huggingface.co/datasets/openrobokit/robokit).
+
+## Layout
+
+```
+robots/
+  robot_description/   # URDFs + meshes: arms/ end_effectors/ humanoids/ assembly/
+  robot_mj_description/ # MJCFs + meshes
+  collision_spheres/   # per-robot collision-sphere YAMLs
+  contact_points/      # per-hand contact-point JSONs
+  self_collision/  contact_avoid_points/
+datasets/              # one lowercase folder per source
+  omomo/               # clips, metadata, objects/
+  parahome/            # seq/, smplx_seq/, objects/
+  dexycb/              # poses, contacts, object models
+  ...
+calibration/
+```
+
+Robot files are type-major: one robot's URDF, collision spheres, and contact points live under
+different top-level `robots/` subdirs keyed by the same robot name.
+
+Each dataset keeps its motions and object meshes together under `datasets/<name>/`.
+MANO/SMPL-X body models are not included; download them from their official sites.
+
+## Consuming
+
+robokit reads assets through `robokit.assets`. Each named asset is a small module that exposes
+static path symbols or access functions. Requested assets are cached under `~/.robokit/hf_cache/`
+and exposed at `~/.robokit/assets/<pinned-commit>/`; the
+symbols are then ready-to-use `Path`s:
+
+```python
+from robokit.assets.robots.humanoids import unitree_g1
+from robokit.assets.datasets import omomo
+
+unitree_g1.URDF_PATH              # a Path
+unitree_g1.COLLISION_SPHERE_PATH
+omomo.clip_path("sub3_largebox_003")
+omomo.mesh_path("largebox")
+```
+
+For a path that is not known statically, `fetch(patterns)` downloads a subtree and returns the
+asset root: `fetch(["datasets/sfu/**"]) / "datasets/sfu/0005/x.npz"`.
+
+RoboKit pins the dataset commit in `src/robokit/assets/__init__.py`; runtime does not follow `main`.
+
+## Authoring
+
+The dataset is a plain git repo whose binary assets are stored with **git-LFS**, so install
+`git-lfs` (`git lfs install`) before cloning or pushing. `robokit.assets.checkout()` clones it into
+`~/.robokit/hf_repo` and symlinks `<cwd>/robokit_assets` to it, so `robokit_assets/` is a normal git checkout:
+
+```shell
+cd robokit_assets && git add -A && git commit -m "add <asset>" && git push
+```
+
+Or clone it directly with `git clone https://huggingface.co/datasets/openrobokit/robokit`.
+
+Every mesh/texture (`.obj .glb .stl .dae .png .npz ...`) is LFS-tracked via `.gitattributes`. When
+adding a new binary extension, run `git lfs track "*.<ext>"` first so it is not committed as a raw blob.
+
+Keep the type-major layout above. To expose the new asset as a static symbol, add a module under
+`src/robokit/assets/robots/` or `src/robokit/assets/datasets/`, and update RoboKit's pinned revision.
+
+Assets are under their own licenses. See [license files and outstanding gaps](LICENSES.md).

calibration/maniskill_so100_mounted.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a87cf9dfcd72cc542edb5f13924b8df1d291015aa766b3cd82739c82227175c5
+size 736888

calibration/maniskill_stackcube.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f21f009f4743112e8ccb6b86e056a55f25fe806f79fbad16c5cf2543434b784a
+size 6995196

calibration/robodojo_x5/cam_head_intrinsic.json

@@ -0,0 +1,12 @@
+{
+ "_": "RoboDojo cam_head: f 286.311 px, 640x480, principal point at the centre.",
+ "intrinsic": [
+  286.311,
+  286.311,
+  320.0,
+  240.0,
+  480.0,
+  640.0,
+  0.00025
+ ]
+}

calibration/robodojo_x5/cam_head_pose.json

@@ -0,0 +1,29 @@
+{
+ "_": "RoboDojo cam_head (roboskills skills/robodojo/scripts/cams.json, OpenCV optical frame) relative to the table top at the workspace center (0, -0.1, 0.765) of RoboDojo's world.",
+ "T_base_camera": [
+  [
+   1.0,
+   -3.9e-05,
+   0.000107,
+   -2.3e-05
+  ],
+  [
+   -8.7e-05,
+   -0.866332,
+   0.499468,
+   -0.309029
+  ],
+  [
+   7.4e-05,
+   -0.499468,
+   -0.866332,
+   0.541127
+  ],
+  [
+   0.0,
+   0.0,
+   0.0,
+   1.0
+  ]
+ ]
+}

calibration/robots/panda/franka_description/meshes/visual/hand.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c2de5514714f7f8232a51b008eadb2eb421d290bfdc7341e5a12887cb70b661
+size 590608

calibration/robots/panda/franka_description/meshes/visual/link0.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:672626c2bbf38cd2ea28837e5dafdc2f264959761200177e9e256d532b9be4f9
+size 1519800

calibration/robots/panda/franka_description/meshes/visual/link1.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8376fac9a80cd04767a3749a723a68809c5b85fe34110f056e83b9c984c1f052
+size 970348

calibration/robots/panda/franka_description/meshes/visual/link2.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbab9909c2b0572d256cd60e6a9c1b63ca9b55047ac3da7124a99b8b1fe6b8fc
+size 983620

calibration/robots/panda/franka_description/meshes/visual/link3.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f904d2d91255086a5706ca9c039cac62de4b7877b4a91b8ef387f461b9fa915b
+size 1105564

calibration/robots/panda/franka_description/meshes/visual/link4.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e301a20f05f81d007741c2f8e199452a705ec4a489b729ff389ef14769c2283
+size 1131436

calibration/robots/panda/franka_description/meshes/visual/link5.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d620e7d92b38a90a9ff2536e2d278cf2d0fa665f6bf4982e7069589b5cbb02
+size 1423144

calibration/robots/panda/franka_description/meshes/visual/link6.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20f04024218fdafdf41926143e9038b970e27f0c84f574d34c2dd05df6a7a74f
+size 1666640

calibration/robots/panda/franka_description/meshes/visual/link7.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a207703b9d6d28c186949619e5c424072ee8331b8d51d6256ace975816a94a15
+size 930244

calibration/robots/panda/panda_v3.urdf

@@ -0,0 +1,375 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm.urdf.xacro           | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda">
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
+      <mass value="0.629769"/>
+      <inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
+    </inertial>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link1.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
+      <mass value="4.970684"/>
+      <inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link2.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003141 -0.02872  0.003495"/>
+      <mass value="0.646926"/>
+      <inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link3.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
+      <mass value="3.228604"/>
+      <inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link4.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link4.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
+      <mass value="3.587895"/>
+      <inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link5.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link5.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
+      <mass value="1.225946"/>
+      <inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link6.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link6.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
+      <mass value="1.666555"/>
+      <inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link7.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link7.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
+      <mass value="0.735522"/>
+      <inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/hand.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
+      <mass value="0.73"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
+    </inertial>
+  </link>
+  <!-- Define the hand_tcp frame -->
+  <link name="panda_hand_tcp"/>
+  <joint name="panda_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.1034"/>
+    <parent link="panda_hand"/>
+    <child link="panda_hand_tcp"/>
+  </joint>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.glb"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
+      <geometry>
+        <box size="22e-3 15e-3 20e-3"/>
+      </geometry>
+    </collision>
+    <!-- cartriage sledge -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
+      <geometry>
+        <box size="22e-3 8.8e-3 3.8e-3"/>
+      </geometry>
+    </collision>
+    <!-- diagonal finger -->
+    <collision>
+      <origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
+      <geometry>
+        <box size="17.5e-3 7e-3 23.5e-3"/>
+      </geometry>
+    </collision>
+    <!-- rubber tip with which to grasp -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
+      <geometry>
+        <box size="17.5e-3 15.2e-3 18.5e-3"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.glb"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
+      <geometry>
+        <box size="22e-3 15e-3 20e-3"/>
+      </geometry>
+    </collision>
+    <!-- cartriage sledge -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
+      <geometry>
+        <box size="22e-3 8.8e-3 3.8e-3"/>
+      </geometry>
+    </collision>
+    <!-- diagonal finger -->
+    <collision>
+      <origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
+      <geometry>
+        <box size="17.5e-3 7e-3 23.5e-3"/>
+      </geometry>
+    </collision>
+    <!-- rubber tip with which to grasp -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
+      <geometry>
+        <box size="17.5e-3 15.2e-3 18.5e-3"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  
+  <!--  camera mount-->
+  <joint name="realsense_joint" type="fixed">
+    <origin rpy="0 -1.5707 3.1415" xyz="0.035 0 0.036"/>
+    <parent link="panda_hand"/>
+    <child link="camera_base_link"/>
+  </joint>
+  <link name="camera_base_link"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.02 0.0115"/>
+    <parent link="camera_base_link"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 -0.02 0"/>
+      <geometry>
+        <mesh filename="realsense2_description/meshes/d415.stl"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0125 -0.02 0"/>
+      <geometry>
+        <box size="0.02005 0.099 0.023"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.564"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+</robot>

calibration/robots/panda/realsense2_description/meshes/d415.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ffbe0d4b4ffee3133b4b55b1fa68c053e46d186f4a4d2b4c0174a89f423481c
+size 21258084

calibration/robots/so100/meshes/Base.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb8afb0303c0125f265a797625cfaf646ac214d5d2dc9c986348c415755e2a74
+size 443484

calibration/robots/so100/meshes/Base_Motor.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac4485d448eca418d2a93df3f78f449bd59b21ec1af2a579171819fd44ea576
+size 154284

calibration/robots/so100/meshes/Fixed_Jaw.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5528867073033eaa4c27a8087180954f3f0635bd69d517d5cace92f01dd266b2
+size 264584

calibration/robots/so100/meshes/Fixed_Jaw_Motor.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0321bfb902d5a119c4f2a934ab4be7e9ea8c93a02e1685f066f99c24a5ca3ecf
+size 151884

calibration/robots/so100/meshes/Lower_Arm.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a04511bc65cbb702b2d6023764de947888b06a09fbf272803f39c22724329a3e
+size 347184

calibration/robots/so100/meshes/Lower_Arm_Motor.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07368fa4c50dea70e8157accee71072120c0cb374f672c85aba1d081702bc476
+size 151884

calibration/robots/so100/meshes/Moving_Jaw.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d9c923024c75e6f0a8d8300317c4d8a17dd49880260cbc60b7fe5e0c6dadfa8
+size 177184

calibration/robots/so100/meshes/Rotation_Pitch.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a1476f57d28d2c065bc0ede6a674cb3ebacf1193372916ef1e0ff32eeb92cf0
+size 347584

calibration/robots/so100/meshes/Rotation_Pitch_Motor.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4fbcf18d8f2e91d12a767c1679430140dce0c81ea1478cc153bfce3a162db61
+size 154284

calibration/robots/so100/meshes/Upper_Arm.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d97ad37c90400fe39bb2d5ace8b4290f3d1262e13f1d4f166494421752d5f3b7
+size 215184

calibration/robots/so100/meshes/Upper_Arm_Motor.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bafdb2cb9e9a884e62b5fbf15b1f706a65771da82764dbe703df128d9f34d723
+size 152284

calibration/robots/so100/meshes/Wrist_Pitch_Roll.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e83ce1c8b24e1fa3a79672ea965ea4143986c81a21386dcd6da1cbcfdc94bb
+size 341684

calibration/robots/so100/meshes/Wrist_Pitch_Roll_Motor.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89ac3fb1d2536fa4f7c40e7449be4b934d7d776f9cd0453c842767f980ff6c18
+size 133684

calibration/robots/so100/so100.urdf

@@ -0,0 +1,556 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="SO_5DOF_ARM100_8j_URDF.SLDASM">
+  <material name="white">
+    <color rgba="0.95 0.95 0.95 1" />
+  </material>
+  <material name="motor">
+    <color rgba="0.05 0.05 0.05 1" />
+  </material>
+  <link
+    name="Base">
+    <inertial>
+      <origin
+        xyz="-2.45960666746703E-07 0.0311418169687909 0.0175746661003382"
+        rpy="0 0 0" />
+      <mass
+        value="0.193184127927598" />
+      <inertia
+        ixx="0.000137030709467877"
+        ixy="2.10136126944992E-08"
+        ixz="4.24087422551286E-09"
+        iyy="0.000169089551209259"
+        iyz="2.26514711036514E-05"
+        izz="0.000145097720857224" />
+    </inertial>
+    <visual name="base_link_chassis">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Base.stl" />
+      </geometry>
+      <material name="white">
+      </material>
+    </visual>
+    <visual name="base_link_motor">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Base_Motor.stl" />
+      </geometry>
+      <material name="motor">
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Base.stl" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Base_Motor.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Rotation_Pitch">
+    <inertial>
+      <origin
+        xyz="-9.07886224712597E-05 0.0590971820568318 0.031089016892169"
+        rpy="0 0 0" />
+      <mass
+        value="0.119226314127197" />
+      <inertia
+        ixx="5.90408775624429E-05"
+        ixy="4.90800532852998E-07"
+        ixz="-5.90451772654387E-08"
+        iyy="3.21498601038881E-05"
+        iyz="-4.58026206663885E-06"
+        izz="5.86058514263952E-05" />
+    </inertial>
+    <visual name="rotation_pitch_chassis">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Rotation_Pitch.stl" />
+      </geometry>
+      <material name="white">
+      </material>
+    </visual>
+    <visual name="rotation_pitch_motor">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Rotation_Pitch_Motor.stl" />
+      </geometry>
+      <material name="motor">
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Rotation_Pitch.stl" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Rotation_Pitch_Motor.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="shoulder_pan"
+    type="revolute">
+    <origin
+      xyz="0 -0.0452 0.0165"
+      rpy="1.5708 0 0" />
+    <parent
+      link="Base" />
+    <child
+      link="Rotation_Pitch" />
+    <axis
+      xyz="0 -1 0" />
+      <!-- note for the so100 arm there is no well defined effort/velocity limits at the moment -->
+    <limit
+      lower="-2.0"
+      upper="2.0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Upper_Arm">
+    <inertial>
+      <origin
+        xyz="-1.7205170190925E-05 0.0701802156327694 0.00310545118155671"
+        rpy="0 0 0" />
+      <mass
+        value="0.162409284599177" />
+      <inertia
+        ixx="0.000167153146617081"
+        ixy="1.03902689187701E-06"
+        ixz="-1.20161820645189E-08"
+        iyy="7.01946992214245E-05"
+        iyz="2.11884806298698E-06"
+        izz="0.000213280241160769" />
+    </inertial>
+    <visual name="upper_arm_chassis">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Upper_Arm.stl" />
+      </geometry>
+      <material name="white">
+      </material>
+    </visual>
+    <visual name="upper_arm_motor">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Upper_Arm_Motor.stl" />
+      </geometry>
+      <material name="motor">
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Upper_Arm.stl" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Upper_Arm_Motor.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="shoulder_lift"
+    type="revolute">
+    <origin
+      xyz="0 0.1025 0.0306"
+      rpy="0 0 0" />
+    <parent
+      link="Rotation_Pitch" />
+    <child
+      link="Upper_Arm" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.5708"
+      upper="1.5708"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Lower_Arm">
+    <inertial>
+      <origin
+        xyz="-0.00339603710186651 0.00137796353960074 0.0768006751156044"
+        rpy="0 0 0" />
+      <mass
+        value="0.147967774582291" />
+      <inertia
+        ixx="0.000105333995841409"
+        ixy="1.73059237226499E-07"
+        ixz="-1.1720305455211E-05"
+        iyy="0.000138766654485212"
+        iyz="1.77429964684103E-06"
+        izz="5.08741652515214E-05" />
+    </inertial>
+    <visual name="lower_arm_chassis">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Lower_Arm.stl" />
+      </geometry>
+      <material name="white">
+      </material>
+    </visual>
+    <visual name="lower_arm_motor">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Lower_Arm_Motor.stl" />
+      </geometry>
+      <material name="motor">
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Lower_Arm.stl" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Lower_Arm_Motor.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="elbow_flex"
+    type="revolute">
+    <origin
+      xyz="0 0.11257 0.028"
+      rpy="0 0 0" />
+    <parent
+      link="Upper_Arm" />
+    <child
+      link="Lower_Arm" />
+    <axis
+      xyz="1 0 0" />
+    <limit 
+      lower="-1.5708"
+      upper="1.5708"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Wrist_Pitch_Roll">
+    <inertial>
+      <origin
+        xyz="-0.00852653127372418 -0.0352278997897927 -2.34622481569413E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.066132067097723" />
+      <inertia
+        ixx="1.95717492443445E-05"
+        ixy="-6.62714374412293E-07"
+        ixz="5.20089016442066E-09"
+        iyy="2.38028417569933E-05"
+        iyz="4.09549055863776E-08"
+        izz="3.4540143384536E-05" />
+    </inertial>
+    <visual name="wrist_pitch_roll_chassis">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Wrist_Pitch_Roll.stl" />
+      </geometry>
+      <material name="white">
+      </material>
+    </visual>
+    <visual name="wrist_pitch_roll_motor">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Wrist_Pitch_Roll_Motor.stl" />
+      </geometry>
+      <material name="motor">
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Wrist_Pitch_Roll.stl" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Wrist_Pitch_Roll_Motor.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="wrist_flex"
+    type="revolute">
+    <origin
+      xyz="0 0.0052 0.1349"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="Lower_Arm" />
+    <child
+      link="Wrist_Pitch_Roll" />
+    <axis
+      xyz="1 0 0" />
+    <limit 
+      lower="-1.8"
+      upper="1.8"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Fixed_Jaw">
+    <inertial>
+      <origin
+        xyz="0.00552376906426563 -0.0280167153359021 0.000483582592841092"
+        rpy="0 0 0" />
+      <mass
+        value="0.0929859131176897" />
+      <inertia
+        ixx="4.3328249304211E-05"
+        ixy="7.09654328670947E-06"
+        ixz="5.99838530879484E-07"
+        iyy="3.04451747368212E-05"
+        iyz="-1.58743247545413E-07"
+        izz="5.02460913506734E-05" />
+    </inertial>
+    <visual name="fixed_jaw_chassis">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Fixed_Jaw.stl" />
+      </geometry>
+      <material name="white">
+      </material>
+    </visual>
+    <visual name="fixed_jaw_motor">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Fixed_Jaw_Motor.stl" />
+      </geometry>
+      <material name="motor">
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Fixed_Jaw_part1.ply" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Fixed_Jaw_part2.ply" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="wrist_roll"
+    type="revolute">
+    <origin
+      xyz="0 -0.0601 0"
+      rpy="0 1.5708 0" />
+    <parent
+      link="Wrist_Pitch_Roll" />
+    <child
+      link="Fixed_Jaw" />
+    <axis
+      xyz="0 1 0" />
+    <limit 
+      lower="-3.14159"
+      upper="3.14159"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Moving_Jaw">
+    <inertial>
+      <origin
+        xyz="-0.00161744605468241 -0.0303472584046471 0.000449645961853651"
+        rpy="0 0 0" />
+      <mass
+        value="0.0202443794940372" />
+      <inertia
+        ixx="1.10911325081525E-05"
+        ixy="-5.35076503033314E-07"
+        ixz="-9.46105662101403E-09"
+        iyy="3.03576451001973E-06"
+        iyz="-1.71146075110632E-07"
+        izz="8.9916083370498E-06" />
+    </inertial>
+    <visual name="moving_jaw_chassis">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Moving_Jaw.stl" />
+      </geometry>
+      <material name="white">
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Moving_Jaw_part1.ply" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Moving_Jaw_part2.ply" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Moving_Jaw_part3.ply" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="gripper"
+    type="revolute">
+    <origin
+      xyz="-0.0202 -0.0244 0"
+      rpy="0 3.14159 -0.9" />
+    <parent
+      link="Fixed_Jaw" />
+    <child
+      link="Moving_Jaw" />
+    <axis
+      xyz="0 0 1" />
+    <limit 
+      lower="-1.1"
+      upper="1.1"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+  <!-- fake joints for useful data -->
+  <joint name="Fixed_Jaw_tip_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01 -0.097 0"/>
+    <parent link="Fixed_Jaw"/>
+    <child link="Fixed_Jaw_tip"/>
+  </joint>
+  <link name="Fixed_Jaw_tip">
+    <!-- <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.01" />
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 0.5"/>
+      </material>
+    </visual> -->
+  </link>
+  <joint name="Moving_Jaw_tip_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.01 -0.073 0"/>
+    <parent link="Moving_Jaw"/>
+    <child link="Moving_Jaw_tip"/>
+  </joint>
+  <link name="Moving_Jaw_tip">
+    <!-- <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.01" />
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 0.5"/>
+      </material>
+    </visual> -->
+  </link>
+</robot>

datasets/climb/LICENSE

@@ -0,0 +1,175 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.

datasets/climb/NOTICE

@@ -0,0 +1 @@
+Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved.

datasets/climb/NOTICE.md

@@ -0,0 +1,10 @@
+# climb: upstream notices
+
+These assets retain their upstream terms; this notice does not grant or expand permissions.
+
+Source: https://github.com/amazon-far/holosoma/tree/bccd4d7451640a2800ddc77e469d911a84f91994/src/holosoma_retargeting/holosoma_retargeting/demo_data/climb/mocap_climb_seq_0
+
+- [LICENSE](LICENSE): copied from https://raw.githubusercontent.com/amazon-far/holosoma/bccd4d7451640a2800ddc77e469d911a84f91994/LICENSE
+- [NOTICE](NOTICE): copied from https://raw.githubusercontent.com/amazon-far/holosoma/bccd4d7451640a2800ddc77e469d911a84f91994/NOTICE
+
+This folder contains a selected or processed asset bundle, not a new license grant for the original data.