| --- |
| license: other |
| tags: |
| - robotics |
| - urdf |
| - retargeting |
| --- |
| |
| # robokit assets |
|
|
| Robot descriptions and datasets for robokit. They live in the |
| Hugging Face dataset [`openrobokit/robokit`](https://huggingface.co/datasets/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 `Path`s: |
|
|
| ```python |
| 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: |
|
|
| ```shell |
| 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](LICENSES.md). |
|
|
