Morphology specs (joint-origin morphs and cross-embodiment compositions), not appearance assets. Orthogonal to appearance_assets: the same skeleton can change paint and link origins independently.
This folder is JSON only. Official robot URDFs and meshes are not stored here.
- Fetch RoboTwin 2.0 embodiments: see
../GET_OFFICIAL_URDF.md. - Apply a spec:
python ../scripts/apply_morph_to_urdf.py --source <official.urdf> --spec morphs.json --morph-id link_short_3pct.