README.md

metadata

pretty_name: Robot Customization Assets
language:
  - en
license:
  - apache-2.0
  - cc0-1.0
task_categories:
  - robotics
  - reinforcement-learning
size_categories:
  - n<1K
tags:
  - robotics
  - embodied-ai
  - embodiment
  - robot-appearance
  - robot-morphology
  - domain-randomization
  - visual-randomization
  - pbr
  - albedo
  - base-color
  - sapien
  - robotwin
  - urdf
  - franka
  - ur5
  - aloha
  - arx
  - piper
  - image
  - 3d
  - tabular
  - simulation
  - sim-to-real
configs:
  - config_name: swatches
    default: true
    data_files: index/swatches.jsonl
  - config_name: textures
    data_files: index/textures.jsonl
  - config_name: morphs
    data_files: index/morphs.jsonl
  - config_name: compositions
    data_files: index/compositions.jsonl

Robot Customization Assets

A robot customization asset library for visual and kinematic randomization in simulation (SAPIEN / RoboTwin). Use it to recolor links, apply albedo maps, scale joint-origin xyz on the same kinematics, or pair left/right arms across families.

This is not a demonstration dataset: there are no episode HDF5 files, RGB videos, OEM CAD, or MuJoCo Menagerie meshes.

Asset	Count	What you get
Color swatches	114	RGB + roughness + metallic (industrial robot colors)
Albedo / base-color maps	287	66 procedural + 126 ambientCG + 95 Poly Haven
Morph specs	382	Shared joint-origin scale ratios (same URDF family)
Compositions	12	Ordered left/right pairs among ARX X5, Franka, UR5, Piper

Intended use: domain randomization for embodied AI, sim-to-real, and VLA / imitation data generation on Franka, UR5, Aloha, ARX, and Piper.

Download

hf download Suchenl/Robot-Customization-Assets --repo-type dataset

Python (same files):

from huggingface_hub import snapshot_download
snapshot_download("Suchenl/Robot-Customization-Assets", repo_type="dataset")

PNG maps: appearance_assets/textures/. Full JSON tables: appearance_assets/catalog.json and morph_specs/.

Official robot URDFs are not in this repo (vendor meshes). How to clone RoboTwin 2.0 / Menagerie and apply morphs.json locally: GET_OFFICIAL_URDF.md.

python scripts/apply_morph_to_urdf.py \
  --embodiment-dir /path/to/RoboTwin/assets/embodiments/franka-panda \
  --spec morph_specs/morphs.json \
  --morph-id link_short_3pct

Browse / load catalogs

The Dataset Viewer above reads the index/*.jsonl catalogs. The dropdown is subset (swatches / textures / morphs / compositions), not a train/test split.

from datasets import load_dataset

swatches = load_dataset("Suchenl/Robot-Customization-Assets", "swatches")
textures = load_dataset("Suchenl/Robot-Customization-Assets", "textures")
morphs = load_dataset("Suchenl/Robot-Customization-Assets", "morphs")
compositions = load_dataset("Suchenl/Robot-Customization-Assets", "compositions")

Layout

Path	Contents
appearance_assets/colors/swatches.json	114 swatches
appearance_assets/textures/procedural/	Procedural albedo (Apache-2.0)
appearance_assets/textures/cc0_ambientcg/	ambientCG Color maps (CC0-1.0)
appearance_assets/textures/cc0_polyhaven/	Poly Haven Diffuse 1k (CC0)
morph_specs/morphs.json	Joint-origin morph ratios
morph_specs/compositions.json	Left/right arm pairs
GET_OFFICIAL_URDF.md	Clone RoboTwin / Menagerie; do not expect URDFs here
scripts/apply_morph_to_urdf.py	Stdlib: write a morphed URDF from an official source
index/*.jsonl	Hub-loadable catalogs (Viewer)

Appearance vs morph vs PBR

• Swatch: one RGB for a whole link, plus scalar roughness and metallic.
• Texture: a spatial albedo / base-color map (brushed metal, rust, fabric, …).
• PBR: the shading model, not a third folder. This pack binds swatch RGB + roughness + metallic and an optional base-color texture. No normal / roughness / metalness maps yet.
• Morph: scale joint-origin xyz (and same-type finger length/width). Not a new robot family. Mesh scale is anisotropic-unsafe for mplib/FCL, so triangle meshes are not resized.
• Composition: official single-arm left + official single-arm right among ARX / Franka / UR5 / Piper. Aloha cannot be split. Piper-involving pairs are held out.

License

• Apache-2.0: catalogs, procedural maps, morph and composition tables.
• CC0-1.0: ambientCG and Poly Haven maps (copy, modify, redistribute, including commercially; attribution not required). See CC0 1.0.
• Vendor robot meshes are not redistributed. Clone them yourself (GET_OFFICIAL_URDF.md) and run scripts/apply_morph_to_urdf.py.

Related names: robot appearance library, robot skin dataset, colorway pack, albedo pack, morphology specification, embodiment composition, visual domain randomization.