| --- |
| 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. |
| |
