Dataset card: Hub tags, load_dataset configs, retrieval keywords

README.md

@@ -1,68 +1,105 @@
 ---
-license: other
-license_name: mixed-apache-2.0-and-cc0
+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
-  - appearance
-  - morph
+  - robot-appearance
+  - robot-morphology
+  - domain-randomization
+  - visual-randomization
   - pbr
-pretty_name: Robot-Customization-Assets
+  - albedo
+  - base-color
+  - sapien
+  - robotwin
+  - urdf
+  - franka
+  - ur5
+  - aloha
+  - arx
+  - piper
+  - image
+  - 3d
+  - tabular
+  - simulation
+  - sim-to-real
+configs:
+  - config_name: swatches
+    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
+# Robot Customization Assets
 
-Library of **robot appearance** (color swatches + albedo maps) and **morphology specs** (shared joint-origin scale ratios and left/right arm compositions).
+Search terms: **robot appearance dataset**, **robot PBR albedo**, **arm color swatches**, **joint-origin morph**, **cross-embodiment composition**, **domain randomization textures**, **SAPIEN robot skins**, **RoboTwin morphology specs**.
 
-This is not episode / video data and not vendor URDF or mesh.
+This Hugging Face dataset is a **robot customization asset library**, not demonstration videos. It ships:
 
-- **Customization** covers skins, link-length ratios, grippers, and cross-embodiment arm pairing.
-- Morphology is orthogonal to appearance: the same skeleton can change paint and link origins independently.
+1. **Appearance** — 114 industrial color swatches (RGB + roughness + metallic) and 287 albedo / base-color maps (procedural + ambientCG CC0 + Poly Haven CC0).
+2. **Morphology specs** — 382 shared joint-origin `xyz` scale ratios (same kinematics, not a new robot) and 12 left/right arm composition pairs among ARX X5, Franka, UR5, and Piper.
 
-## Layout
+Intended use: visual / kinematic randomization for **embodied AI**, **robotics simulation** (SAPIEN / RoboTwin), **sim-to-real**, and **VLA / imitation** data generation on Franka, UR5, Aloha, ARX, and Piper.
 
-| Path | Contents |
-|---|---|
-| `appearance_assets/` | Swatches and albedo textures |
-| `morph_specs/` | Joint-origin morph table and composition pairs |
+It does **not** include episode HDF5, RGB videos, OEM CAD, or MuJoCo Menagerie meshes.
 
-No vendor meshes. Files are regular files, not symlinks. Procedural maps are ordinary PNGs.
+## Load the catalogs
+
+```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")
+```
 
-## Swatch, texture, PBR
+Download files:
 
-**Swatch** — one RGB color for a whole part, plus scalar `roughness` and `metallic`. No spatial pattern.
+```bash
+hf download Suchenl/Robot-Customization-Assets --repo-type dataset
+```
 
-**Texture / map** — an image tiled on the surface (brushed metal, rust, fabric). Almost all maps here are **albedo / base color**.
+PNG maps live under `appearance_assets/textures/`. Spec tables also live as JSON under `appearance_assets/catalog.json` and `morph_specs/`.
 
-**PBR** is the shading model, not a third folder. Collection currently binds swatch RGB + roughness + metallic, and optional `set_base_color_texture`. Scene textures stay frozen.
+## Layout
 
-| Channel | Role | In this library |
-|---|---|---|
-| base color / albedo | Inherent color | Swatch RGB, or a map |
-| roughness | Specular spread | Scalar on the swatch; no roughness maps yet |
-| metallic | Conductor vs dielectric | Scalar on the swatch; no metalness maps yet |
-| normal / AO | Bump and occlusion | Not wired |
+| Path | What it is |
+|---|---|
+| `appearance_assets/colors/swatches.json` | 114 swatches |
+| `appearance_assets/textures/procedural/` | Procedural albedo (Apache-2.0) |
+| `appearance_assets/textures/cc0_ambientcg/` | ambientCG Color (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` | Ordered left/right arm pairs |
+| `index/*.jsonl` | Hub-loadable catalogs |
 
-## Contents
+## Appearance vs morph vs PBR
 
-| Path | License | Notes |
-|---|---|---|
-| `appearance_assets/catalog.json` | Apache-2.0 | Swatches, textures, colorways |
-| `appearance_assets/colors/swatches.json` | Apache-2.0 | 114 swatches |
-| `appearance_assets/textures/procedural/*.png` | Apache-2.0 | Procedural albedo |
-| `appearance_assets/textures/cc0_ambientcg/*.png` | CC0-1.0 | ambientCG Color |
-| `appearance_assets/textures/cc0_polyhaven/*.png` | CC0-1.0 | Poly Haven Diffuse 1k |
-| `morph_specs/morphs.json` | Apache-2.0 | Shared joint-origin ratios |
-| `morph_specs/compositions.json` | Apache-2.0 | Ordered left/right arm pairs |
+- **Swatch**: one RGB for a whole link, plus scalar roughness and metallic.
+- **Texture**: spatial albedo / base-color map (brushed metal, rust, fabric).
+- **PBR**: shading model, not a third folder. Collection currently binds swatch RGB + roughness + metallic and optional base-color texture. No normal / roughness / metalness maps yet.
+- **Morph**: scale joint-origin `xyz` (and same-type finger length/width). Not a new URDF family. mplib/FCL rejects anisotropic mesh scale, so meshes are not rescaled.
 
-Maps come from procedural generation and the official ambientCG / Poly Haven CC0 APIs. Do not add collected videos or OEM robot meshes to this repo.
+## Related names
 
-## Upload
+Robot-Customization-Assets, robot appearance library, robot skin dataset, robot colorway, albedo pack, morphology specification, embodiment composition, visual domain randomization.
 
-```bash
-hf upload Suchenl/Robot-Customization-Assets \
-  /m2v_intern/chenyuzhuo03/DATASETS/Robot-Customization-Assets \
-  --repo-type dataset
-```
+## License
 
-Use the `hf` CLI from huggingface_hub 1.x (not `huggingface-cli`). Keep the repo id `Robot-Customization-Assets`.
+Apache-2.0 for catalogs, procedural maps, and morph tables. CC0-1.0 for ambientCG and Poly Haven maps. Vendor robot meshes are not redistributed.