SimVLA-BODex

Preprocessed object meshes packaged for use with the SimVLA project. The contents are a re-distribution of meshes generated by the BODex preprocessing pipeline.

Contents

• ~37 GB across 2,587 object directories (core_*/).
• Each object directory contains:
  • mesh/simplified.obj — collision-friendly simplified mesh
  • mesh/normalized.obj — normalized mesh
  • mesh/material_0.png, mesh/material.mtl — material/texture
  • urdf/coacd_decomposed.urdf and supporting .usd / .usda files — physics-ready convex decomposition
  • info/ — per-object metadata, including segmentation .usda files and thumbnails

A curated use_data/ subdirectory contains 127 of these objects (~108 MB) — the set referenced by SimVLA's scene-synthesizer config and used by kitchen_scene_generator.py to populate kitchen scenes.

Use with SimVLA

The SimVLA repo provides a download helper:

# Full bundle (~37 GB):
export BODEX_OBJ_DIR=/path/to/your/bodex
python scripts/tools/download_bodex.py

# Or just the curated kitchen subset (~108 MB):
python scripts/tools/download_bodex.py --allow-patterns 'use_data/*'

See SimVLA's installation guide for the scene-synthesizer config that points at ${BODEX_OBJ_DIR}/use_data.

License

The underlying object meshes and grasp poses derive from BODex's processing of upstream sources. See the BODex repository for the license terms applicable to the underlying meshes. This redistribution is provided to streamline reproducibility for SimVLA users; if you need to use the meshes outside SimVLA, please consult the upstream license.