| --- |
| license: other |
| language: |
| - en |
| tags: |
| - robotics |
| - grasping |
| - manipulation |
| - 3d-meshes |
| - usd |
| - simulation |
| - simvla |
| - bodex |
| size_categories: |
| - 100K<n<1M |
| pretty_name: SimVLA-BODex |
| --- |
| |
| # SimVLA-BODex |
|
|
| Preprocessed object meshes packaged for use with the |
| [SimVLA](https://github.com/exaFLOPs26/SimVLA) project. The contents are a |
| re-distribution of meshes generated by the |
| [BODex](https://github.com/JYChen18/BODex) preprocessing pipeline. |
|
|
| ## Contents |
|
|
| The dataset ships as **3 tarballs** (~2.1 GB compressed, ~6.3 GB extracted). |
|
|
| | Tarball | Compressed | Contents | |
| |---|---|---| |
| | `graspdata_final.tar.gz` | ~1.6 GB | Grasp pose data | |
| | `processed_data.tar.gz` | ~0.5 GB | Full object set, 2,339 dirs | |
| | `use_data.tar.gz` | ~28 MB | Curated 129-object kitchen subset — what `kitchen_scene_generator.py` actually uses | |
|
|
| After extraction, each `core_*/` object dir 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` + supporting `.usd` / `.usda` — physics-ready convex decomposition |
| - `info/` — per-object metadata |
|
|
| ## Use with SimVLA |
|
|
| The SimVLA repo provides a download helper that fetches and extracts the |
| tarballs transparently: |
|
|
| ```bash |
| # Full bundle (all 3 tarballs): |
| export BODEX_OBJ_DIR=/path/to/your/bodex |
| python scripts/tools/download_bodex.py |
| ``` |
|
|
| After it finishes you'll have `$BODEX_OBJ_DIR/{graspdata_final,processed_data,use_data}/`. |
| See [SimVLA's installation guide](https://github.com/exaFLOPs26/SimVLA/blob/main/docs/installation.md#7-scene-synthesizer) |
| for the scene-synthesizer config that points at `${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](https://github.com/JYChen18/BODex) |
| 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. |
|
|
