---
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.