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README.md

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 ---
 license: other
-license_name: license
-license_link: LICENSE
+tags:
+  - usd
+  - usdz
+  - isaac-sim
+  - simready
+  - 3d
+  - robotics
+pretty_name: SimReady Dataset Sample with Real Objects
+size_categories:
+  - n<1K
 ---
+
+# SimReady Dataset Sample with Real Objects
+
+100 SimReady assets for NVIDIA Isaac Sim, one self-contained `.usdz` per object. Each
+asset has a physics setup and two visual levels of detail. Both the level of detail and
+the collider type are USD variant sets, so you can switch them in Isaac Sim without
+re-exporting.
+
+## Contents
+
+| | |
+|---|---|
+| Assets | 100 `.usdz` and `.glb` files |
+| Up axis / units | Z-up, meters (`metersPerUnit = 1`), kilograms |
+| Visual LODs | `0` = native mesh, `1` = 300k-triangle mesh (**default**) |
+| Colliders | `sdf` (**default**) and `convexHull` |
+| Physics | rigid body with mass, physics materials, collider meshes |
+
+Inside each package, the root prim is `/Asset`:
+
+```
+/Asset
+└─ bodies/<object>/
+   ├─ mesh_obj       visual mesh (the selected LOD)
+   ├─ colliders/     collider meshes (purpose "guide": not rendered)
+   └─ grasp/         grasp vectors, if present (purpose "guide")
+```
+
+## Download
+
+```python
+from huggingface_hub import snapshot_download
+
+path = snapshot_download(repo_id="ALLSIDES/ALLSIDES-Dataset-Sample-with-Real-Objects", repo_type="dataset")
+```
+
+## Using the assets in Isaac Sim
+
+Drag a `.usdz` into the viewport or the Stage window, or add it as a reference from
+Python. Either way, the asset appears under a prim of your choice (e.g. `/World/Object`),
+and both variant sets are available on that prim.
+
+### In the UI
+
+Select the asset's top prim in the Stage window. In the **Property** panel, under
+**Variants**, set:
+
+- **`lod`**: `1` (300k triangles, default) or `0` (native, full resolution);
+- **`collision_mode`**: `sdf` (default) or `convexHull`.
+
+### From Python
+
+```python
+import omni.usd
+
+stage = omni.usd.get_context().get_stage()
+prim = stage.DefinePrim("/World/Object", "Xform")
+prim.GetReferences().AddReference("/path/to/<asset>.usdz")
+
+prim.GetVariantSet("lod").SetVariantSelection("0")                   # native mesh
+prim.GetVariantSet("collision_mode").SetVariantSelection("convexHull")
+```
+
+The selections are stored on your stage, not in the `.usdz`. The package itself stays
+unchanged and read-only.
+
+### Level of detail (`lod`)
+
+- **`1`** (default) is the 300k-triangle version, meant for simulation and synthetic data.
+- **`0`** is the original scan-resolution mesh.
+
+Each level is stored in its own file inside the package, and only the selected level is
+composed into the scene.
+
+### Colliders (`collision_mode`)
+
+- **`sdf`** (default): signed-distance-field mesh collision on a precise collider mesh.
+  It's accurate for non-convex shapes and is what the SimReady COL.001 check requires.
+- **`convexHull`**: convex-hull colliders. They're cheaper and work with more PhysX
+  features, but less accurate for concave geometry.
+
+Only the selected kind is active; the other is deactivated. Mass and physics materials
+are the same in both modes.
+
+## Notes
+
+- Colliders and grasp vectors use `purpose = "guide"`, so they don't show up in rendered
+  images or synthetic data.
+- To modify an asset, extract the `.usdz` (it's a zip archive).