Datasets:
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 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 ("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.