| --- |
| 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 |
|
|
| ```bash |
| hf download Suchenl/Robot-Customization-Assets --repo-type dataset |
| ``` |
|
|
| Python (same files): |
|
|
| ```python |
| 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`](GET_OFFICIAL_URDF.md). |
|
|
| ```bash |
| 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. |
|
|
| ```python |
| 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](https://creativecommons.org/publicdomain/zero/1.0/). |
| - Vendor robot meshes are **not** redistributed. Clone them yourself ([`GET_OFFICIAL_URDF.md`](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. |
|
|
