metadata
license: apache-2.0
RoboVerse Data
Robot Asset Dependency Rules
These rules apply to robot assets under robots/. They are meant for robot description packages and composed robot models, not for all dataset assets.
- Keep shared upstream robot description packages as sibling directories under
robots/, and treat those directories as authoritative. A composed robot should reference them with repo-relative paths instead of copying their meshes into its own folder. - Keep each composed robot directory minimal. It should contain only the public entry files such as
.urdf,.xml/MJCF, and.usd, plus local meshes that are genuinely modified for that composition, such as adapters, mounts, trimmed links, or replacement collision pieces. - Do not keep simulator-converter scratch output, legacy variants, nested generated packages, cache folders, temporary USD layers, or duplicated upstream packages in the composed robot directory unless they are the supported public artifact. Stale
*_generated/,*_bimanual_*, copied upstream robot folders, and obsolete hand-description folders should be removed before publishing. - Use portable repo-relative references only. Robot description files must not contain absolute paths, user home directories, machine names,
/tmppaths, server paths, or references to obsolete dependency packages. - Robot USD files should either be standalone, with no external sublayers/assets, or should reference only stable repo-relative dependencies that are part of the published robot package. If a USD is advertised as standalone, verify that it has no unresolved dependencies, external asset attributes, or stale layer metadata.
- Before publishing a robot package, verify the directory from the consumer's point of view: parse URDF/MJCF mesh references, confirm every referenced file exists in the dataset, inspect USD dependencies with USD/PXR tools, grep for forbidden path fragments, and make sure the remote repository contains exactly the intended robot files with no stale leftovers.