oscarqjh/agent2gen-data

Unified robotics asset inventory

Dataset: oscarqjh/agent2gen-data.

A curated inventory of RoboTwin and RoboDojo resources, with normalized metadata, references to original assets, and generated model representations. Source representations reference pinned original downloads. Selected generated runtime representations include their required meshes and textures and can run from this dataset alone.

Repository layout

assets/
  objects/
    rigid/<asset-folder>/
    articulated/<asset-folder>/
    deformable/<asset-folder>/
    fluid/<asset-folder>/
    dynamic/<asset-folder>/
  embodiments/<asset-folder>/
  scenes/<asset-folder>/
  textures/<asset-folder>/
  materials/<asset-folder>/
  lighting/<asset-folder>/
  sensors/<asset-folder>/
catalog/
  assets.jsonl
  assets.parquet
  identities.json
  index.html
sources/<source-id>/
  source.json
  README.md
  locks/<revision>.json
schemas/*-1.schema.json

Both sources share each asset-kind folder. Objects are additionally grouped by object.physical_type; an unknown type remains null in metadata and uses objects/unknown/. The normalized robot kind is stored under embodiments/.

Readable folder names are independent of stable asset IDs. Catalog rows provide asset_id, package_name and the exact asset_path. Use those paths to locate records. catalog/identities.json records source-entry identities and package-name assignments.

Each asset package contains:

<asset-package>/
  asset.json
  source.json
  provenance.json
  representations/<representation-id>/
    representation.json
    build.json                       # generated representations only
    model.urdf, collision-0.glb, ...  # generated model files, when present
  previews/                          # optional generated images and preview.json

File	Contents
asset.json	Identity, kind, normalized properties and annotations.
source.json	Original source-entry identity, metadata references and source lock.
provenance.json	Origins of normalized values and references to source fields whose meaning remains unresolved.
representation.json	Format, entrypoints, included files, external dependencies, frame mapping and loader options.
build.json	Conversion inputs, tool versions, output hashes, transformations and assumptions.
preview.json	Generated preview files and their source linkage.

Catalog

catalog/assets.jsonl contains one summary per asset. catalog/assets.parquet contains the same summaries with explicit column types and is used by the HF dataset configuration. Both are derived from the asset records and sidecars.

Rows include names, categories, descriptions, source identity, physical type, available dimensions, reviewed surface preferences, representation formats and paths to detailed records. Full annotations and source details live in the referenced files. Downstream projects can implement their own queries over either catalog format.

The optional inventory browser can be opened locally after downloading the dataset.

Original asset downloads

Source representations keep upstream meshes, textures, URDF/USD/MDL files and thumbnails external. Download those originals at the pinned source revisions using these instructions:

• RoboTwin setup
• RoboDojo setup

Resource references contain a source ID and a path relative to that source's download root. Source locks record exact revisions, SHA-256 hashes and file sizes; RoboTwin locks also identify source archives and their members.

Self-contained generated representations have empty external_dependencies and unresolved_dependencies. Included unchanged runtime files carry a source reference in their file record, verified against the corresponding source lock. Build-only originals remain external.

Generated representations can still require original files at runtime. The name genesis-urdf-v1 does not imply a standalone bundle. Runtime dependencies are declared in representation.json; build-only inputs are recorded separately in build.json.

Using an asset

1. Download this dataset at a full HF commit revision and locate the asset through its catalog record.
2. Read asset.json and choose a representation from the catalog's manifest paths.
3. Read representation.json for entrypoints, included files, external dependencies, runtime requirements and loader options.
4. Map each dependency's source_id to your original download root. Verify the source-relative file against its pinned source lock.
5. Assemble a local runtime directory: place included generated files at their declared file paths and external resources at their declared dependency paths. These paths are relative to the representation directory. Load the declared entrypoint using the relevant loader options and frame mapping.

Consuming projects handle dependency materialization and simulator integration. Missing files, hash mismatches and unresolved package, shader or remote bindings need explicit resolution before loading. Use the pinned source bytes rather than substituting another release.

For reproducible selections, record the HF dataset revision, asset and representation IDs, manifest hashes, generated-file hashes and source locks.

Genesis bowl example

assets/objects/rigid/robotwin-002_bowl-1/representations/genesis-urdf-v1/ contains a generated URDF and collision parts. Its original visual GLB remains an external runtime dependency. The original collision GLB and metadata are build inputs.

The manifest declares metre-scale geometry, an identity representation-to-asset mapping, and Genesis loader options that preserve the authored origin and mesh axes. Apply the asset's optional upright orientation separately when placing it. Assumed mass and box-approximated inertia are documented in build.json; they are not original physical measurements in asset.json.

Prepared Genesis runtime assets

genesis-runtime-v2 is self-contained for the current pick-and-place dependencies: RoboTwin bottle 0, bowl 1, mug 9 and stapler 0; RoboDojo Franka, Simple_Room_nolight, basket 00005, two base materials and the brown-photostudio HDR adapter. Locate representations through catalog rows. Other representations may require original downloads.

runtime.json records prepared bounds, material maps, HDR approximation data or verified root-local basket support metadata. Object URDFs use unit-mass inertia templates; consumers apply their authored mass rather than treating the template as a measured property. The basket exposes authored collision geometry to Genesis while preserving mesh data. Materials and lighting use documented raster approximations.

Use the dataset root containing both assets/ and catalog/, and pin a full HF revision plus manifest hashes. No original-source binding is needed for these representations. Genesis SDF and compiled kernel caches remain local and platform dependent.

Metadata conventions

• Lengths are metres; angles are radians. Canonical asset coordinates are right-handed with Z up. Quaternions use wxyz order and active rotations. Origins are preserved; coordinate conventions do not imply that the source model is physically upright.
• asset_from_representation maps representation coordinates into canonical asset coordinates: p_asset = R(q) @ (scale_xyz * p_representation) + translation_m, using column vectors. Format-native node/link transforms apply first. A null mapping is unknown.
• A human upright orientation maps the canonical asset frame into a Z-up world placement. Dimensions have an explicit measurement scope.
• Unknown values are null; known-empty collections are empty arrays. Missing source scale is not replaced by an identity-scale claim.
• Contact candidates, target/functional frames, placement poses and support regions retain distinct meanings. Unresolved source semantics and frames are referenced in provenance.json under unmapped_fields. RoboDojo spatial annotations currently remain unresolved.
• RoboTwin rigid contact translations use declared actor scale componentwise, with actor-frame rotations retained. The representation declares this loading convention; an additional glTF Y-up rotation is not implicitly applied.
• Reviewed texture preferences are per surface: untiled, 0.5 m square repeats or 0.25 m square repeats. They describe appearance preferences, not physical patch dimensions or seamlessness. Only accepted reviewed textures are inventoried; the full image library remains external.
• Different source collections and independently addressed source variants retain separate identities, including entries sharing an upstream UUID. Conversions are representations of the same asset.

Scope and limitations

Room assets are curated to Simple_Room and Simple_Room_nolight. Colored variants remain in the original distribution and source lock. Evaluation layouts and trajectories are external benchmark compositions rather than object assets; see composition scope.

Inventory includes assets with unresolved dependencies or no converted representation. MDL materials, USD physics features and other source-specific resources may require their original runtime. Schema, hash and path integrity do not establish simulator or task suitability. Downstream projects verify those behaviors for their intended use.

Attribution

Sources retain their identities, hashes and authored notices. Collection-level license declarations do not establish terms for every component. No blanket asset license is assigned here. Generated models and previews retain upstream lineage; conversion does not erase attribution or applicable component terms.