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

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:

# 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 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.