| 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. | |
| 1. Fetch RoboTwin 2.0 embodiments: see `../GET_OFFICIAL_URDF.md`. | |
| 2. Apply a spec: `python ../scripts/apply_morph_to_urdf.py --source <official.urdf> --spec morphs.json --morph-id link_short_3pct`. | |