Datasets:
File size: 1,994 Bytes
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license: other
license_name: see-upstream
tags:
- robotics
- manipulation
- eden
---
# eden_dextoolbench
The twelve DexToolBench hand-tool meshes — two variants per tool category — packaged for
[Eden](https://github.com/Kashu7100/Eden) and consumed by `eden.options.objects.dextoolbench`.
```
<tool>/
<tool>.obj visual mesh (+ material.mtl, material_0.png)
<tool>.urdf upstream URDF — uses a PyBullet <inertial><density> tag
<tool>_decomposed.urdf explicit mass/inertia + CoACD convex collision parts
<tool>_collision/ the convex decomposition
```
| Category | Variants |
| ----------- | ----------------------------------- |
| brush | `blue_brush`, `red_brush` |
| eraser | `flat_eraser`, `handle_eraser` |
| hammer | `claw_hammer`, `mallet_hammer` |
| marker | `sharpie_marker`, `staples_marker` |
| screwdriver | `long_screwdriver`, `short_screwdriver` |
| spatula | `flat_spatula`, `spoon_spatula` |
**Load the `_decomposed.urdf` variant.** Genesis' URDF parser cannot read the plain
`<tool>.urdf`: it declares inertia via the PyBullet `<inertial><density>` extension with no
explicit `<mass>`/`<inertia>`, which raises
`AttributeError: 'NoneType' object has no attribute 'attrib'`.
## Provenance
Assets originate from **DexToolBench**, obtained via
[tylerlum/simtoolreal](https://github.com/tylerlum/simtoolreal) ("SimToolReal: An
Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation"). Files are verbatim copies
of `assets/urdf/dextoolbench/<category>/<tool>/` from that repository (which ships the
convex decompositions and `_decomposed.urdf` files), flattened to `<tool>/` here.
No licence file accompanied the upstream assets, so no licence is asserted here — refer to
the upstream projects for terms, and treat this mirror as a convenience copy for
reproducing the SimToolReal port rather than a licence grant.
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