---
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
  - robot-appearance
  - robot-morphology
  - domain-randomization
  - visual-randomization
  - pbr
  - albedo
  - base-color
  - sapien
  - robotwin
  - urdf
  - franka
  - ur5
  - aloha
  - arx
  - piper
  - image
  - 3d
  - tabular
  - simulation
  - sim-to-real
configs:
  - config_name: swatches
    default: true
    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

A **robot customization asset library** for visual and kinematic randomization in simulation (SAPIEN / RoboTwin). Use it to recolor links, apply albedo maps, scale joint-origin `xyz` on the same kinematics, or pair left/right arms across families.

This is **not** a demonstration dataset: there are no episode HDF5 files, RGB videos, OEM CAD, or MuJoCo Menagerie meshes.

| Asset | Count | What you get |
|---|---|---|
| Color swatches | 114 | RGB + roughness + metallic (industrial robot colors) |
| Albedo / base-color maps | 287 | 66 procedural + 126 ambientCG + 95 Poly Haven |
| Morph specs | 382 | Shared joint-origin scale ratios (same URDF family) |
| Compositions | 12 | Ordered left/right pairs among ARX X5, Franka, UR5, Piper |

Intended use: domain randomization for embodied AI, sim-to-real, and VLA / imitation data generation on Franka, UR5, Aloha, ARX, and Piper.

## Download

```bash
hf download Suchenl/Robot-Customization-Assets --repo-type dataset
```

Python (same files):

```python
from huggingface_hub import snapshot_download
snapshot_download("Suchenl/Robot-Customization-Assets", repo_type="dataset")
```

PNG maps: `appearance_assets/textures/`. Full JSON tables: `appearance_assets/catalog.json` and `morph_specs/`.

Official robot URDFs are **not** in this repo (vendor meshes). How to clone RoboTwin 2.0 / Menagerie and apply `morphs.json` locally: [`GET_OFFICIAL_URDF.md`](GET_OFFICIAL_URDF.md).

```bash
python scripts/apply_morph_to_urdf.py \
  --embodiment-dir /path/to/RoboTwin/assets/embodiments/franka-panda \
  --spec morph_specs/morphs.json \
  --morph-id link_short_3pct
```

## Browse / load catalogs

The Dataset Viewer above reads the `index/*.jsonl` catalogs. The dropdown is **subset** (swatches / textures / morphs / compositions), not a train/test split.

```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")
```

## Layout

| Path | Contents |
|---|---|
| `appearance_assets/colors/swatches.json` | 114 swatches |
| `appearance_assets/textures/procedural/` | Procedural albedo (Apache-2.0) |
| `appearance_assets/textures/cc0_ambientcg/` | ambientCG Color maps (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` | Left/right arm pairs |
| `GET_OFFICIAL_URDF.md` | Clone RoboTwin / Menagerie; do not expect URDFs here |
| `scripts/apply_morph_to_urdf.py` | Stdlib: write a morphed URDF from an official source |
| `index/*.jsonl` | Hub-loadable catalogs (Viewer) |

## Appearance vs morph vs PBR

- **Swatch**: one RGB for a whole link, plus scalar roughness and metallic.
- **Texture**: a spatial albedo / base-color map (brushed metal, rust, fabric, …).
- **PBR**: the shading model, not a third folder. This pack binds swatch RGB + roughness + metallic and an optional base-color texture. No normal / roughness / metalness maps yet.
- **Morph**: scale joint-origin `xyz` (and same-type finger length/width). Not a new robot family. Mesh scale is anisotropic-unsafe for mplib/FCL, so triangle meshes are not resized.
- **Composition**: official single-arm left + official single-arm right among ARX / Franka / UR5 / Piper. Aloha cannot be split. Piper-involving pairs are held out.

## License

- **Apache-2.0**: catalogs, procedural maps, morph and composition tables.
- **CC0-1.0**: ambientCG and Poly Haven maps (copy, modify, redistribute, including commercially; attribution not required). See [CC0 1.0](https://creativecommons.org/publicdomain/zero/1.0/).
- Vendor robot meshes are **not** redistributed. Clone them yourself ([`GET_OFFICIAL_URDF.md`](GET_OFFICIAL_URDF.md)) and run `scripts/apply_morph_to_urdf.py`.

Related names: robot appearance library, robot skin dataset, colorway pack, albedo pack, morphology specification, embodiment composition, visual domain randomization.