Missing USD asset: g1_full_reduced_handcollisions.usd

[Kinetra-Humanoid]

Hi, thanks for releasing the code.
I ran into a startup failure when creating the IsaacLab environment. The config appears to reference a USD file that is not included in the repository:

FileNotFoundError: USD file not found at path: softmimic_gym/softmimic_gym/assets/robots/data/g1_full_reduced_handcollisions.usd

This happens during environment creation, before training starts, when the robot articulation is spawned from the configured USD path.

Could you clarify how this USD asset is supposed to be obtained?

Questions:

• Is g1_full_reduced_handcollisions.usd expected to be included in the repo?
• Is it stored through Git LFS, or should it be downloaded/generated separately?
• If it is generated, could you provide the conversion/export script or instructions?
• Are there any other required robot assets that are not committed?

Environment:

• Repo: Improbable-AI/softmimic
• Task: G1 locomotion / tracking training
• Error occurs at IsaacLab scene creation when spawning the robot asset

Relevant error:

FileNotFoundError: USD file not found at path:
softmimic_gym/softmimic_gym/assets/robots/data/g1_full_reduced_handcollisions.usd

Thanks.