name stringlengths 6 16 | base_color_rgba listlengths 4 4 | roughness float64 0.08 0.85 | metallic float64 0 0.98 | hex stringlengths 7 7 |
|---|---|---|---|---|
ur-orange | [
0.93,
0.38,
0.07,
1
] | 0.42 | 0.12 | #ed6112 |
franka-pearl | [
0.92,
0.91,
0.88,
1
] | 0.28 | 0.08 | #ebe8e0 |
fanuc-yellow | [
0.95,
0.78,
0.1,
1
] | 0.38 | 0.05 | #f2c71a |
yaskawa-blue | [
0.05,
0.28,
0.62,
1
] | 0.35 | 0.18 | #0d479e |
kawasaki-red | [
0.72,
0.08,
0.1,
1
] | 0.36 | 0.1 | #b8141a |
anodized-alum | [
0.72,
0.76,
0.8,
1
] | 0.22 | 0.78 | #b8c2cc |
stainless | [
0.78,
0.8,
0.82,
1
] | 0.18 | 0.92 | #c7ccd1 |
cast-iron | [
0.18,
0.18,
0.19,
1
] | 0.62 | 0.35 | #2e2e30 |
abs-ivory | [
0.89,
0.86,
0.78,
1
] | 0.55 | 0.02 | #e3dbc7 |
abs-slate | [
0.28,
0.32,
0.36,
1
] | 0.58 | 0.04 | #47525c |
nitrile-black | [
0.06,
0.06,
0.06,
1
] | 0.82 | 0 | #0f0f0f |
safety-yellow | [
1,
0.84,
0,
1
] | 0.48 | 0.04 | #ffd600 |
carbon-black | [
0.1,
0.1,
0.11,
1
] | 0.3 | 0.25 | #1a1a1c |
teal-anodize | [
0.05,
0.45,
0.48,
1
] | 0.24 | 0.72 | #0d737a |
gold-pvd | [
0.83,
0.65,
0.22,
1
] | 0.16 | 0.88 | #d4a638 |
hospital-white | [
0.97,
0.97,
0.96,
1
] | 0.5 | 0.01 | #f7f7f5 |
cobalt | [
0.1,
0.22,
0.55,
1
] | 0.32 | 0.45 | #1a388c |
lime-safety | [
0.45,
0.82,
0.12,
1
] | 0.5 | 0.04 | #73d11f |
magenta-tool | [
0.72,
0.12,
0.48,
1
] | 0.4 | 0.08 | #b81f7a |
copper | [
0.72,
0.38,
0.18,
1
] | 0.28 | 0.7 | #b8612e |
abb-orange-deep | [
0.9,
0.22,
0.06,
1
] | 0.44 | 0.08 | #e6380f |
kuka-orange | [
0.9,
0.33,
0.05,
1
] | 0.4 | 0.1 | #e6540d |
panasonic-cream | [
0.93,
0.88,
0.72,
1
] | 0.48 | 0.03 | #ede0b8 |
omron-white | [
0.96,
0.96,
0.98,
1
] | 0.42 | 0.02 | #f5f5fa |
denso-gray | [
0.55,
0.58,
0.6,
1
] | 0.4 | 0.15 | #8c9499 |
epson-blue | [
0,
0.42,
0.78,
1
] | 0.35 | 0.12 | #006bc7 |
staubli-gray | [
0.42,
0.45,
0.48,
1
] | 0.38 | 0.22 | #6b737a |
navy-tool | [
0.08,
0.16,
0.38,
1
] | 0.4 | 0.18 | #142961 |
safety-orange | [
1,
0.45,
0,
1
] | 0.5 | 0.03 | #ff7300 |
safety-green | [
0,
0.62,
0.28,
1
] | 0.48 | 0.03 | #009e47 |
purple-anodize | [
0.42,
0.18,
0.62,
1
] | 0.22 | 0.75 | #6b2e9e |
pink-anodize | [
0.85,
0.35,
0.55,
1
] | 0.24 | 0.7 | #d9598c |
bronze | [
0.55,
0.35,
0.16,
1
] | 0.3 | 0.65 | #8c5929 |
titanium | [
0.62,
0.62,
0.64,
1
] | 0.2 | 0.85 | #9e9ea3 |
chrome | [
0.88,
0.9,
0.92,
1
] | 0.08 | 0.98 | #e0e6eb |
powder-blue | [
0.55,
0.7,
0.82,
1
] | 0.55 | 0.04 | #8cb2d1 |
powder-red | [
0.72,
0.12,
0.14,
1
] | 0.55 | 0.04 | #b81f24 |
esd-black | [
0.12,
0.12,
0.13,
1
] | 0.7 | 0.05 | #1f1f21 |
silicone-gray | [
0.58,
0.58,
0.56,
1
] | 0.85 | 0 | #94948f |
vixton-teal | [
0,
0.55,
0.52,
1
] | 0.36 | 0.2 | #008c85 |
mustard-shop | [
0.82,
0.68,
0.12,
1
] | 0.46 | 0.06 | #d1ad1f |
mint-cleanroom | [
0.72,
0.88,
0.78,
1
] | 0.5 | 0.02 | #b8e0c7 |
brick-tool | [
0.58,
0.18,
0.14,
1
] | 0.52 | 0.08 | #942e24 |
ice-blue | [
0.7,
0.82,
0.92,
1
] | 0.28 | 0.35 | #b2d1eb |
red-gloss | [
0.78,
0.351,
0.351,
1
] | 0.16 | 0.9 | #c75a5a |
red-satin | [
0.58,
0.348,
0.348,
1
] | 0.3 | 0.72 | #945959 |
red-powder | [
0.8,
0.224,
0.224,
1
] | 0.52 | 0.05 | #cc3939 |
red-abs | [
0.9,
0.648,
0.648,
1
] | 0.46 | 0.03 | #e6a5a5 |
red-rubber | [
0.32,
0.176,
0.176,
1
] | 0.84 | 0 | #522d2d |
vermilion-gloss | [
0.78,
0.428,
0.351,
1
] | 0.16 | 0.9 | #c76d5a |
vermilion-satin | [
0.58,
0.39,
0.348,
1
] | 0.3 | 0.72 | #946359 |
vermilion-powder | [
0.8,
0.328,
0.224,
1
] | 0.52 | 0.05 | #cc5439 |
vermilion-abs | [
0.9,
0.693,
0.648,
1
] | 0.46 | 0.03 | #e6b1a5 |
vermilion-rubber | [
0.32,
0.202,
0.176,
1
] | 0.84 | 0 | #52342d |
orange-gloss | [
0.78,
0.531,
0.351,
1
] | 0.16 | 0.9 | #c7875a |
orange-satin | [
0.58,
0.445,
0.348,
1
] | 0.3 | 0.72 | #947159 |
orange-powder | [
0.8,
0.466,
0.224,
1
] | 0.52 | 0.05 | #cc7739 |
orange-abs | [
0.9,
0.754,
0.648,
1
] | 0.46 | 0.03 | #e6c0a5 |
orange-rubber | [
0.32,
0.236,
0.176,
1
] | 0.84 | 0 | #523c2d |
amber-gloss | [
0.78,
0.608,
0.351,
1
] | 0.16 | 0.9 | #c79b5a |
amber-satin | [
0.58,
0.487,
0.348,
1
] | 0.3 | 0.72 | #947c59 |
amber-powder | [
0.8,
0.57,
0.224,
1
] | 0.52 | 0.05 | #cc9139 |
amber-abs | [
0.9,
0.799,
0.648,
1
] | 0.46 | 0.03 | #e6cca5 |
amber-rubber | [
0.32,
0.262,
0.176,
1
] | 0.84 | 0 | #52432d |
yellow-gloss | [
0.78,
0.711,
0.351,
1
] | 0.16 | 0.9 | #c7b55a |
yellow-satin | [
0.58,
0.543,
0.348,
1
] | 0.3 | 0.72 | #948a59 |
yellow-powder | [
0.8,
0.708,
0.224,
1
] | 0.52 | 0.05 | #ccb539 |
yellow-abs | [
0.9,
0.86,
0.648,
1
] | 0.46 | 0.03 | #e6dba5 |
yellow-rubber | [
0.32,
0.297,
0.176,
1
] | 0.84 | 0 | #524c2d |
lime-gloss | [
0.643,
0.78,
0.351,
1
] | 0.16 | 0.9 | #a4c75a |
lime-satin | [
0.506,
0.58,
0.348,
1
] | 0.3 | 0.72 | #819459 |
lime-powder | [
0.616,
0.8,
0.224,
1
] | 0.52 | 0.05 | #9dcc39 |
lime-abs | [
0.819,
0.9,
0.648,
1
] | 0.46 | 0.03 | #d1e6a5 |
lime-rubber | [
0.274,
0.32,
0.176,
1
] | 0.84 | 0 | #46522d |
green-gloss | [
0.36,
0.78,
0.351,
1
] | 0.16 | 0.9 | #5cc75a |
green-satin | [
0.353,
0.58,
0.348,
1
] | 0.3 | 0.72 | #5a9459 |
green-powder | [
0.236,
0.8,
0.224,
1
] | 0.52 | 0.05 | #3ccc39 |
green-abs | [
0.653,
0.9,
0.648,
1
] | 0.46 | 0.03 | #a7e6a5 |
green-rubber | [
0.179,
0.32,
0.176,
1
] | 0.84 | 0 | #2e522d |
teal-gloss | [
0.351,
0.78,
0.729,
1
] | 0.16 | 0.9 | #5ac7ba |
teal-satin | [
0.348,
0.58,
0.552,
1
] | 0.3 | 0.72 | #59948d |
teal-powder | [
0.224,
0.8,
0.731,
1
] | 0.52 | 0.05 | #39ccba |
teal-abs | [
0.648,
0.9,
0.87,
1
] | 0.46 | 0.03 | #a5e6de |
teal-rubber | [
0.176,
0.32,
0.303,
1
] | 0.84 | 0 | #2d524d |
cyan-gloss | [
0.351,
0.729,
0.78,
1
] | 0.16 | 0.9 | #5abac7 |
cyan-satin | [
0.348,
0.552,
0.58,
1
] | 0.3 | 0.72 | #598d94 |
cyan-powder | [
0.224,
0.731,
0.8,
1
] | 0.52 | 0.05 | #39bacc |
cyan-abs | [
0.648,
0.87,
0.9,
1
] | 0.46 | 0.03 | #a5dee6 |
cyan-rubber | [
0.176,
0.303,
0.32,
1
] | 0.84 | 0 | #2d4d52 |
blue-gloss | [
0.351,
0.523,
0.78,
1
] | 0.16 | 0.9 | #5a85c7 |
blue-satin | [
0.348,
0.441,
0.58,
1
] | 0.3 | 0.72 | #597094 |
blue-powder | [
0.224,
0.454,
0.8,
1
] | 0.52 | 0.05 | #3974cc |
blue-abs | [
0.648,
0.749,
0.9,
1
] | 0.46 | 0.03 | #a5bfe6 |
blue-rubber | [
0.176,
0.234,
0.32,
1
] | 0.84 | 0 | #2d3c52 |
indigo-gloss | [
0.437,
0.351,
0.78,
1
] | 0.16 | 0.9 | #6f5ac7 |
indigo-satin | [
0.394,
0.348,
0.58,
1
] | 0.3 | 0.72 | #645994 |
indigo-powder | [
0.339,
0.224,
0.8,
1
] | 0.52 | 0.05 | #5639cc |
indigo-abs | [
0.698,
0.648,
0.9,
1
] | 0.46 | 0.03 | #b2a5e6 |
indigo-rubber | [
0.205,
0.176,
0.32,
1
] | 0.84 | 0 | #342d52 |
violet-gloss | [
0.643,
0.351,
0.78,
1
] | 0.16 | 0.9 | #a45ac7 |
End of preview. Expand in Data Studio
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
hf download Suchenl/Robot-Customization-Assets --repo-type dataset
Python (same files):
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.
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.
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.
- Vendor robot meshes are not redistributed. Clone them yourself (
GET_OFFICIAL_URDF.md) and runscripts/apply_morph_to_urdf.py.
Related names: robot appearance library, robot skin dataset, colorway pack, albedo pack, morphology specification, embodiment composition, visual domain randomization.
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