Kashu7100/eden_robolab

Eden RoboLab Assets

URDF conversions of the RoboLab USD asset library for use with Eden / Genesis: 309 tabletop manipulation objects (YCB, HOPE, HOT3D, HANDAL, VOMP, Objaverse, fruits & veggies, basic blocks) plus 12 fixtures (dining tables, kitchen counter sets, robot stand, work table, tote bin).

Use through eden.options.robolab:

from eden.options.robolab import ROBOLAB_REGISTRY

banana = ROBOLAB_REGISTRY.get("ycb/banana")(default_root_pos=(0.3, 0.0, 0.8))
kitchen = ROBOLAB_REGISTRY.get("fixtures/kitchen_island")()

Layout

objects/<dataset>/<name>/<name>.urdf   # single-link URDF
                         <name>.obj    # visual + collision mesh (world-space, Z-up, meters)
                         <name>.mtl    # materials (textures or flat colors)
                         textures/     # extracted USD textures
                         <name>_col_NNN.obj  # per-component collision meshes (multi-part objects only)
fixtures/<name>/<name>.urdf            # per-part collisions: inline <box>/<cylinder> + component meshes
object_catalog.json                    # original RoboLab semantic/physics catalog

Conversion notes

• Meshes are baked in stage world space (Z-up, meters); URDF base_link frame == USD stage frame.
• Fixtures are normalized to floor-standing (min z = 0). Source conventions varied (z-centered tables, top-at-zero stands).
• Masses come from the RoboLab catalog (mass, else density x mesh volume, fallback 500 kg/m^3, clamped to [0.01, 50] kg); inertia is a solid-box approximation from the AABB.
• Multi-part assets emit one <collision> per USD prim / connected component (Genesis' URDF loader merges a link's collision meshes and convexifies the union, which breaks multi-component assets). USD Cube/Cylinder/Sphere prims become exact inline URDF primitives; near-flat components become thin boxes (coplanar meshes cannot be convex-hulled).
• Kitchen/table fixtures bind MDL vMaterials whose textures live inside .mdl files; they are approximated by representative flat colors.
• Not converted from the source library: 3 HANDAL entries with missing USDs (salad_tongs, serving_spoon, serving_spoons), the articulated Franka+Robotiq robot USD, HDRI backgrounds, and the USD scene compositions.

Licenses

Sub-libraries keep their upstream licenses (YCB, HOPE, HOT3D, HANDAL, Objaverse). See the LICENSE files inside the corresponding source datasets before commercial use.