robokit assets

Robot descriptions and datasets for robokit. They live in the Hugging Face dataset 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 Paths:

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:

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.