Kashu7100/eden_assets

🍎 Eden Sim Ready Assets

Our Top-1 Principle: We must make it SUPER EASY to use.

• clean and sim ready assets
• verify visual/collision meshes
• modified the collision mesh for better sim

Robots

Arms

Robot Name	Vis	Col	Robot Name	Vis	Col
FR3			UR5e

Grippers

Robot Name	Vis	Col	Robot Name	Vis	Col
FrankaHand

Hands

Robot Name	Vis	Col	Robot Name	Vis	Col
ShadowLeft ShadowLeftWristDof			ShadowRight ShadowRightWristDof
ShadowLeftFull			ShadowRightFull
InspireLeft			InspireRight

Manipulators

Robot Name	Vis	Col	Robot Name	Vis	Col
Panda			UR5eRobotiq85
PandaRobotiq85
WidowX250			Piper
SoArm100

Humanoids

Robot Name	Vis	Col	Robot Name	Vis	Col
G1Dof29			G1Dof12

Quadrupeds

Robot Name	Vis	Col	Robot Name	Vis	Col
Go1			Go2
Go2W			A1

Known Issues

• Robotiq2F85 has vmesh loading problem (which does not happen in PandaRobotiq85 or UR5eRobotiq85)

  File "./genesis/engine/entities/rigid_entity/rigid_entity.py", line 743, in _add_by_info
  vmesh=g_info["vmesh"],
  KeyError: 'vmesh'
  

FQA

• [ERROR] ValueError: Error: number of faces should be between 1 and 200000 in STL file; perhaps this is an ASCII file?
  • check the file type by file <path to .stl>
  • if ASCII, check if you have initialized the git LFS

  # Install Git LFS
  apt install git-lfs
  # Initialize Git LFS in the repository
  cd ~/eden_assets
  git lfs install
  # Pull the actual STL files
  git lfs pull
  

  • check if the error is resolved.

Citation

@misc{Eden,
  author = {Eden Authors},
  title = {Eden: Embodied Development Environment Nexus for Generative Robot Learning},
  month = {January},
  year = {2025},
  url = {https://github.com/Genesis-Embodied-AI/Genesis}
}

@misc{Genesis,
  author = {Genesis Authors},
  title = {Genesis: A Generative and Universal Physics Engine for Robotics and Beyond},
  month = {December},
  year = {2024},
  url = {https://github.com/Genesis-Embodied-AI/Genesis}
}