license: other
tags:
- robotics
- urdf
- retargeting
robokit assets
Robot descriptions and datasets for robokit. They live in the
Hugging Face dataset openrobokit/robokit.
Layout
robots/
robot_description/ # URDFs + meshes: arms/ end_effectors/ humanoids/ assembly/
robot_mj_description/ # MJCFs + meshes
collision_spheres/ # per-robot collision-sphere YAMLs
contact_points/ # per-hand contact-point JSONs
self_collision/ contact_avoid_points/
datasets/ # one lowercase folder per source
omomo/ # clips, metadata, objects/
parahome/ # seq/, smplx_seq/, objects/
dexycb/ # poses, contacts, object models
...
calibration/
Robot files are type-major: one robot's URDF, collision spheres, and contact points live under
different top-level robots/ subdirs keyed by the same robot name.
Each dataset keeps its motions and object meshes together under datasets/<name>/.
MANO/SMPL-X body models are not included; download them from their official sites.
Consuming
robokit reads assets through robokit.assets. Each named asset is a small module that exposes
static path symbols or access functions. Requested assets are cached under ~/.robokit/hf_cache/
and exposed at ~/.robokit/assets/<pinned-commit>/; the
symbols are then ready-to-use Paths:
from robokit.assets.robots.humanoids import unitree_g1
from robokit.assets.datasets import omomo
unitree_g1.URDF_PATH # a Path
unitree_g1.COLLISION_SPHERE_PATH
omomo.clip_path("sub3_largebox_003")
omomo.mesh_path("largebox")
For a path that is not known statically, fetch(patterns) downloads a subtree and returns the
asset root: fetch(["datasets/sfu/**"]) / "datasets/sfu/0005/x.npz".
RoboKit pins the dataset commit in src/robokit/assets/__init__.py; runtime does not follow main.
Authoring
The dataset is a plain git repo whose binary assets are stored with git-LFS, so install
git-lfs (git lfs install) before cloning or pushing. robokit.assets.checkout() clones it into
~/.robokit/hf_repo and symlinks <cwd>/robokit_assets to it, so robokit_assets/ is a normal git checkout:
cd robokit_assets && git add -A && git commit -m "add <asset>" && git push
Or clone it directly with git clone https://huggingface.co/datasets/openrobokit/robokit.
Every mesh/texture (.obj .glb .stl .dae .png .npz ...) is LFS-tracked via .gitattributes. When
adding a new binary extension, run git lfs track "*.<ext>" first so it is not committed as a raw blob.
Keep the type-major layout above. To expose the new asset as a static symbol, add a module under
src/robokit/assets/robots/ or src/robokit/assets/datasets/, and update RoboKit's pinned revision.
Assets are under their own licenses. See license files and outstanding gaps.