update

.gitattributes

@@ -57,9 +57,3 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
-*.dae filter=lfs diff=lfs merge=lfs -text
-*.obj filter=lfs diff=lfs merge=lfs -text
-*.stl filter=lfs diff=lfs merge=lfs -text
-*.STL filter=lfs diff=lfs merge=lfs -text
-*.glb filter=lfs diff=lfs merge=lfs -text
-*.ply filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -1 +0,0 @@
-.DS_Store

README.md

@@ -1,97 +0,0 @@
-# 🍎 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` | <img src="arms/franka_research3/vis/FR3_visual.png" width="250"/> | <img src="arms/franka_research3/vis/FR3_collision.png" width="250"/>| `UR5e` | <img src="arms/universal_ur5e/vis/UR5e_visual.png" width="250"/> | <img src="arms/universal_ur5e/vis/UR5e_collision.png" width="250"/>
-
-### Grippers
-
-| Robot Name | Vis | Col | Robot Name | Vis | Col |
-|---|---|---|---|---|---|
-| `FrankaHand` | <img src="grippers/franka_hand/vis/FrankaHand_visual.png" width="250"/> | <img src="grippers/franka_hand/vis/FrankaHand_collision.png" width="250"/>|
-
-
-### Hands
-
-| Robot Name | Vis | Col | Robot Name | Vis | Col |
-|---|---|---|---|---|---|
-| `ShadowLeft` `ShadowLeftWristDof` | <img src="hands/shadow_hand/vis/ShadowLeft_visual.png" width="250"/> | <img src="hands/shadow_hand/vis/ShadowLeft_collision.png" width="250"/>| `ShadowRight` `ShadowRightWristDof`| <img src="hands/shadow_hand/vis/ShadowRight_visual.png" width="250"/> | <img src="hands/shadow_hand/vis/ShadowRight_collision.png" width="250"/>|
-| `ShadowLeftFull` | <img src="hands/shadow_hand/vis/ShadowLeftFull_visual.png" width="250"/> | <img src="hands/shadow_hand/vis/ShadowLeftFull_collision.png" width="250"/>| `ShadowRightFull`| <img src="hands/shadow_hand/vis/ShadowRightFull_visual.png" width="250"/> | <img src="hands/shadow_hand/vis/ShadowRightFull_collision.png" width="250"/>|
-| `InspireLeft` | | | `InspireRight` | | | 
-### Manipulators
-
-| Robot Name | Vis | Col | Robot Name | Vis | Col |
-|---|---|---|---|---|---|
-| `Panda` | <img src="manipulators/franka_panda/vis/Panda_visual.png" width="250"/> | <img src="manipulators/franka_panda/vis/Panda_collision.png" width="250"/> | `UR5eRobotiq85` | <img src="manipulators/universal_ur5e/vis/UR5eRobotiq85_visual.png" width="250"/> | <img src="manipulators/universal_ur5e/vis/UR5eRobotiq85_collision.png" width="250"/> |
-| `PandaRobotiq85` | <img src="manipulators/franka_panda/vis/PandaRobotiq85_visual.png" width="250"/> | <img src="manipulators/franka_panda/vis/PandaRobotiq85_collision.png" width="250"/> |  |  |  |
-| `WidowX250` | <img src="manipulators/trossen_wx250s/vis/WidowX250_visual.png" width="250"/> | <img src="manipulators/trossen_wx250s/vis/WidowX250_collision.png" width="250"/> | `Piper` | <img src="manipulators/agilex_piper/vis/Piper_visual.png" width="250"/> | <img src="manipulators/agilex_piper/vis/Piper_collision.png" width="250"/> |
-| `SoArm100` | <img src="manipulators/trs_so_arm100/vis/SoArm100_visual.png" width="250"/> | <img src="manipulators/trs_so_arm100/vis/SoArm100_collision.png" width="250"/> |
-
-### Humanoids
-
-| Robot Name | Vis | Col | Robot Name | Vis | Col |
-|---|---|---|---|---|---|
-| `G1Dof29` | <img src="humanoids/unitree_g1/vis/G1_visual.png" width="250"/> | <img src="humanoids/unitree_g1/vis/G1_collision.png" width="250"/> | `G1Dof12` |  |  |
-
-### Quadrupeds
-
-| Robot Name | Vis | Col | Robot Name | Vis | Col |
-|---|---|---|---|---|---|
-| `Go1` | <img src="quadrupeds/unitree_go1/vis/Go1_visual.png" width="250"/> | <img src="quadrupeds/unitree_go1/vis/Go1_collision.png" width="250"/> | `Go2` | <img src="quadrupeds/unitree_go2/vis/Go2_visual.png" width="250"/> | <img src="quadrupeds/unitree_go2/vis/Go2_collision.png" width="250"/> | 
-| `Go2W` | <img src="quadrupeds/unitree_go2w/vis/Go2W_visual.png" width="250"/> | <img src="quadrupeds/unitree_go2w/vis/Go2W_collision.png" width="250"/> | `A1` | <img src="quadrupeds/unitree_a1/vis/A1_visual.png" width="250"/> | <img src="quadrupeds/unitree_a1/vis/A1_collision.png" width="250"/> |
-
-
-## Known Issues
-- [ ] Robotiq2F85 has vmesh loading problem (which does not happen in PandaRobotiq85 or UR5eRobotiq85)
-    ```bash
-    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
-    ```bash
-    # 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
-
-```bibtex
-@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}
-}
-```
-
-```bibtex
-@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}
-}
-```

arms/franka_fr3/LICENSE

@@ -1,237 +0,0 @@
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arms/franka_fr3/fr3.xml

@@ -1,168 +0,0 @@
-<mujoco model="fr3">
-  <compiler angle="radian" meshdir="assets"/>
-
-  <option integrator="implicitfast"/>
-
-  <default>
-    <default class="fr3">
-      <!-- Overwritten in joints 5, 6, and 7. -->
-      <joint damping="0.21" armature="0.195" frictionloss="1.137"/>
-      <position inheritrange="1"/>
-      <default class="visual">
-        <geom type="mesh" group="2" contype="0" conaffinity="0"/>
-      </default>
-      <default class="collision">
-        <geom type="mesh" group="3" mass="0" density="0"/>
-      </default>
-      <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
-    </default>
-  </default>
-
-  <asset>
-    <material name="black" rgba=".2 .2 .2 1"/>
-    <material name="white" rgba="1 1 1 1"/>
-    <material name="red" rgba="1 0.072272 0.039546 1"/>
-    <material name="gray" rgba="0.863156 0.863156 0.863157 1"/>
-    <material name="button_green" rgba="0.102241 0.571125 0.102242 1"/>
-    <material name="button_red" rgba="0.520996 0.008023 0.013702 1"/>
-    <material name="button_blue" rgba="0.024157 0.445201 0.737911 1"/>
-
-    <mesh file="link0_0.obj"/>
-    <mesh file="link0_1.obj"/>
-    <mesh file="link0_2.obj"/>
-    <mesh file="link0_3.obj"/>
-    <mesh file="link0_4.obj"/>
-    <mesh file="link0_5.obj"/>
-    <mesh file="link0_6.obj"/>
-    <mesh file="link1.obj"/>
-    <mesh file="link2.obj"/>
-    <mesh file="link3_0.obj"/>
-    <mesh file="link3_1.obj"/>
-    <mesh file="link4_0.obj"/>
-    <mesh file="link4_1.obj"/>
-    <mesh file="link5_0.obj"/>
-    <mesh file="link5_1.obj"/>
-    <mesh file="link5_2.obj"/>
-    <mesh file="link6_0.obj"/>
-    <mesh file="link6_1.obj"/>
-    <mesh file="link6_2.obj"/>
-    <mesh file="link6_3.obj"/>
-    <mesh file="link6_4.obj"/>
-    <mesh file="link6_5.obj"/>
-    <mesh file="link6_6.obj"/>
-    <mesh file="link6_7.obj"/>
-    <mesh file="link7_0.obj"/>
-    <mesh file="link7_1.obj"/>
-    <mesh file="link7_2.obj"/>
-    <mesh file="link7_3.obj"/>
-
-    <mesh name="link0_coll" file="link0.stl"/>
-    <mesh name="link1_coll" file="link1.stl"/>
-    <mesh name="link2_coll" file="link2.stl"/>
-    <mesh name="link3_coll" file="link3.stl"/>
-    <mesh name="link4_coll" file="link4.stl"/>
-    <mesh name="link5_coll" file="link5.stl"/>
-    <mesh name="link6_coll" file="link6.stl"/>
-    <mesh name="link7_coll" file="link7.stl"/>
-  </asset>
-
-  <worldbody>
-    <body name="link0" childclass="fr3">
-      <geom mesh="link0_0" material="black" class="visual"/>
-      <geom mesh="link0_1" material="white" class="visual"/>
-      <geom mesh="link0_2" material="white" class="visual"/>
-      <geom mesh="link0_3" material="white" class="visual"/>
-      <geom mesh="link0_4" material="white" class="visual"/>
-      <geom mesh="link0_5" material="red" class="visual"/>
-      <geom mesh="link0_6" material="black" class="visual"/>
-      <geom name="link0_collision" mesh="link0_coll" class="collision"/>
-      <body name="link1" pos="0 0 0.333">
-        <inertial pos="4.128e-07 -0.0181251 -0.0386036" quat="0.998098 -0.0605364 0.00380499 0.0110109" mass="2.92747"
-          diaginertia="0.0239286 0.0227246 0.00610634"/>
-        <joint name="joint1" axis="0 0 1" range="-2.7437 2.7437" actuatorfrcrange="-87 87"/>
-        <geom name="link1_collision" class="collision" mesh="link1_coll"/>
-        <geom material="white" mesh="link1" class="visual"/>
-        <body name="link2" quat="1 -1 0 0">
-          <inertial pos="0.00318289 -0.0743222 0.00881461" quat="0.502599 0.584437 -0.465998 0.434366" mass="2.93554"
-            diaginertia="0.0629567 0.0411924 0.0246371"/>
-          <joint name="joint2" axis="0 0 1" range="-1.7837 1.7837" actuatorfrcrange="-87 87"/>
-          <geom material="white" mesh="link2" class="visual"/>
-          <geom name="link2_collision" class="collision" mesh="link2_coll"/>
-          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
-            <inertial pos="0.0407016 -0.00482006 -0.0289731" quat="0.921025 -0.244161 0.155272 0.260745" mass="2.2449"
-              diaginertia="0.0267409 0.0189869 0.0171587"/>
-            <joint name="joint3" axis="0 0 1" range="-2.9007 2.9007" actuatorfrcrange="-87 87"/>
-            <geom mesh="link3_0" material="white" class="visual"/>
-            <geom mesh="link3_1" material="black" class="visual"/>
-            <geom name="link3_collision" class="collision" mesh="link3_coll"/>
-            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
-              <inertial pos="-0.0459101 0.0630493 -0.00851879" quat="0.438018 0.803311 0.00937812 0.403414"
-                mass="2.6156" diaginertia="0.05139 0.0372717 0.0160047"/>
-              <joint name="joint4" axis="0 0 1" range="-3.0421 -0.1518" actuatorfrcrange="-87 87"/>
-              <geom mesh="link4_0" material="white" class="visual"/>
-              <geom mesh="link4_1" material="black" class="visual"/>
-              <geom name="link4_collision" class="collision" mesh="link4_coll"/>
-              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
-                <inertial pos="-0.00160396 0.0292536 -0.0972966" quat="0.919031 0.125604 0.0751531 -0.366003"
-                  mass="2.32712" diaginertia="0.0579335 0.0449144 0.0130634"/>
-                <joint name="joint5" axis="0 0 1" range="-2.8065 2.8065" actuatorfrcrange="-12 12"
-                  armature="0.074" frictionloss="0.763"/>
-                <geom mesh="link5_0" material="white" class="visual"/>
-                <geom mesh="link5_1" material="white" class="visual"/>
-                <geom mesh="link5_2" material="black" class="visual"/>
-                <geom name="link5_collision" class="collision" mesh="link5_coll"/>
-                <body name="link6" quat="1 1 0 0">
-                  <inertial pos="0.0597131 -0.0410295 -0.0101693" quat="0.621301 0.552665 0.510011 0.220081"
-                    mass="1.81704" diaginertia="0.0175039 0.0161123 0.00193529"/>
-                  <joint name="joint6" axis="0 0 1" range="0.5445 4.5169" actuatorfrcrange="-12 12"
-                    armature="0.074" frictionloss="0.44"/>
-                  <geom mesh="link6_0" material="button_green" class="visual"/>
-                  <geom mesh="link6_1" material="white" class="visual"/>
-                  <geom mesh="link6_2" material="white" class="visual"/>
-                  <geom mesh="link6_3" material="gray" class="visual"/>
-                  <geom mesh="link6_4" material="button_red" class="visual"/>
-                  <geom mesh="link6_5" material="white" class="visual"/>
-                  <geom mesh="link6_6" material="black" class="visual"/>
-                  <geom mesh="link6_7" material="button_blue" class="visual"/>
-                  <geom name="link6_collision" class="collision" mesh="link6_coll"/>
-                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
-                    <inertial pos="0.00452258 0.00862619 -0.0161633" quat="0.727579 0.0978688 -0.24906 0.63168"
-                      mass="0.627143" diaginertia="0.000223836 0.000223642 5.64132e-07"/>
-                    <joint name="joint7" axis="0 0 1" range="-3.0159 3.0159" actuatorfrcrange="-12 12"
-                      armature="0.074" frictionloss="0.248"/>
-                    <geom mesh="link7_0" material="black" class="visual"/>
-                    <geom mesh="link7_1" material="white" class="visual"/>
-                    <geom mesh="link7_2" material="white" class="visual"/>
-                    <geom mesh="link7_3" material="black" class="visual"/>
-                    <geom name="link7_collision" class="collision" mesh="link7_coll"/>
-                    <body name="attachment" pos="0 0 0.107" quat="0.3826834 0 0 0.9238795">
-                      <site name="attachment_site"/>
-                    </body>
-                  </body>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <position class="fr3" name="joint1" joint="joint1" kp="4500" kv="450"/>
-    <position class="fr3" name="joint2" joint="joint2" kp="4500" kv="450"/>
-    <position class="fr3" name="joint3" joint="joint3" kp="3500" kv="350"/>
-    <position class="fr3" name="joint4" joint="joint4" kp="3500" kv="350"/>
-    <position class="fr3" name="joint5" joint="joint5" kp="2000" kv="200"/>
-    <position class="fr3" name="joint6" joint="joint6" kp="2000" kv="200"/>
-    <position class="fr3" name="joint7" joint="joint7" kp="2000" kv="200"/>
-  </actuator>
-
-  <contact>
-    <exclude body1="link0" body2="link1"/>
-  </contact>
-
-  <keyframe>
-    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853"/>
-  </keyframe>
-</mujoco>

arms/franka_research3/DEPRECATED.md

@@ -1,15 +0,0 @@
-# Deprecated: this is not a Franka Research 3
-
-`fr3.xml` in this directory is `<mujoco model="panda nohand">` — MuJoCo Menagerie's
-`panda_nohand.xml`, i.e. the **Franka Emika Panda** arm with its hand removed. It was filed
-here under the FR3's name by mistake, and `manipulators/franka_panda/panda*.xml` used to load
-their arm meshes out of `assets/` here for the same reason.
-
-Both are fixed (Eden issue #1029):
-
-* the real FR3 lives in **`arms/franka_fr3/`** (from Menagerie's `franka_fr3`, Apache-2.0);
-* the Panda's own meshes live in **`manipulators/franka_panda/assets/`**, and
-  `manipulators/franka_panda/panda_nohand.xml` is the hand-less Panda.
-
-This directory is kept only so Eden versions released before that fix keep resolving their
-assets. Nothing current should reference it.

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