---
license: cc-by-4.0
pretty_name: Palatial NV Asset Library
language:
- en
tags:
- 3d
- robotics
- simulation
- isaac-sim
- usd
- articulated-objects
size_categories:
- 1K<n<10K
configs:
- config_name: default
  data_files:
  - split: train
    path: data/catalog.parquet
---

# Palatial NV Asset Library

The Palatial NV Asset Library was **generated and verified by Palatial in collaboration with NVIDIA Robotics** to support open robotics research.

**[Browse the visual gallery](https://palatialsim.github.io/palatial-nv-asset-library/) · [Source repository](https://github.com/PalatialSim/palatial-nv-asset-library) · [Download files](https://huggingface.co/datasets/PalatialSim/palatial-nv-asset-library/tree/main)**

This release contains **1,013 USD assets across 41 batches**, with textures, physics metadata, rendered and collision previews, and recorded simulation videos. The library is intended for researchers building simulation scenes and studying robotic perception, manipulation, and object interaction in NVIDIA Isaac Sim. The source snapshot is approximately 28.9 GB.

The gallery is the quickest way to preview assets without downloading them or installing Isaac Sim. Search by name or asset ID, select a batch, filter authored moving joints, switch between rendered and collision views, and open a batch montage. The dataset table provides a thumbnail, collision thumbnail, dimensions, authored-joint indicator, USD path, and download links for each asset.

## Download an asset

Keep the complete asset folder together so relative texture, material, and behavior-script references remain available. Downloading the USD alone may omit its dependencies.

```python
from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="PalatialSim/palatial-nv-asset-library",
    repo_type="dataset",
    allow_patterns=["batch10/D00006 Bamboo Basket/**", "LICENSE*", "LICENSING.md"],
    local_dir="palatial-assets",
)
```

To download the whole library:

```bash
hf download PalatialSim/palatial-nv-asset-library --repo-type dataset --local-dir palatial-assets
```

To browse the catalog programmatically:

```python
from datasets import load_dataset

assets = load_dataset("PalatialSim/palatial-nv-asset-library", split="train")
print(assets[0]["name"], assets[0]["usd_path"])
```

`train` is the Hub table split name; this release does not define a machine-learning training/test partition.

## Organization

The original batch and asset folder paths are preserved. Each asset has one USD and a physics JSON, plus its textures, material files, behavior scripts where supplied, and simulation recording. `gallery/` contains preview images, montages, and the browser gallery. `data/catalog.parquet` contains one searchable row per asset with embedded rendered and collision thumbnails, resized to fit within 512 × 512 pixels. Original preview images retain their source resolution. `data/catalog.jsonl` provides a readable index. The file manifest records Git blob hashes and byte sizes for the current source revision.

The gallery identifies 90 assets with enabled authored moving joints and 923 without. An authored-joint indicator does not mean a video exercises every joint. Bounds are transformed visual-mesh dimensions in X × Y × Z order, in metres; consult each USD and physics JSON for units and axis metadata.

## Verification and research use

The 2026-10-08 release fixes the reported metadata issues in 154 assets and applies 64 exact-ID name revisions from the supplied Drive handoff (207 distinct assets in total). For repaired metadata, `verified` and high confidence apply to consistency with the delivered USD. Native simulation has not been revalidated by this audit. See [release notes](RELEASE_NOTES.md), [verification policy](VERIFICATION.md), [metadata evidence](reports/metadata-repair-20261008.json) and [name revisions](reports/name-repair-20261008.json). The matched Drive entries are name-only changes; none requests a cover replacement for an asset in this repository.

Verification in this release is documented through per-asset physics metadata, collision previews, and simulation recordings. These records describe the available checks and observed behavior; review them when selecting assets for a research task.

Collision previews show the authored collision geometry, with colors distinguishing collision pieces. Simulation videos record observed test behavior, including tipping where it occurs. They do not establish universal physical stability, calibrated friction or mass, or completion of every possible mechanism test. Preserve per-asset validation fields when assessing suitability for a task.

## License and attribution

Assets, metadata, previews, and recordings: **[CC BY 4.0](https://creativecommons.org/licenses/by/4.0/)**. Software and automation: **[Apache 2.0](LICENSE-CODE)**. See [LICENSING.md](LICENSING.md) for the scope and [LICENSE](LICENSE) for the complete asset license.

Attribution: **Palatial Platforms — Palatial NV Asset Library**. Link to this dataset or the source repository and CC BY 4.0, and indicate modifications when sharing changed assets.

## Provenance

Published from [PalatialSim/palatial-nv-asset-library at `cfe694d57b21`](https://github.com/PalatialSim/palatial-nv-asset-library/tree/cfe694d57b216520cf5d44db72db6c4409219fc1). The 2026-10-08 commit is titled **release ready**. Repaired physics metadata, per-asset evidence, names and gallery fields match this source revision. D00350 Cocktail Shaker has one orphan fixed joint removed; its other authored properties were preserved. Textures and existing recordings retain their delivered bytes. The [release notes](RELEASE_NOTES.md) describe the changes and verification scope.

The gallery branding and resource footer were refreshed from [source commit `79328e20619e`](https://github.com/PalatialSim/palatial-nv-asset-library/commit/79328e20619eb24ae0df8219ed58d7f3684e0fd5). Asset catalog provenance remains tied to the metadata release above; the presentation update does not change asset packages or catalog values.

Finder metadata and GitHub deployment configuration are omitted from the dataset. The searchable catalog and dataset card are Hugging Face additions. The file manifest records the current source Git blob hashes and byte sizes.

## Asset name update register

The complete [205-record handoff register](reports/rename-register-20261008.csv) includes original asset IDs, old and corrected names, and preview links.

All 205 originals were found in the canonical Palatial Library with their corrected names. 65 are matched to this NV export: 64 by original ID and Masticating Juicer (D00423) by verified package content. The other 140 have no confirmed NV mapping; use their original preview links. [Reconciliation evidence](reports/rename-reconciliation-20261008.md) documents the checks and remaining metadata gaps. The broader Library retains its own per-asset license and attribution.

The confirmed juicer rename and full source register were published from [source commit 5a123e7bdf44](https://github.com/PalatialSim/palatial-nv-asset-library/commit/5a123e7bdf445ccc0e2f2849586d700554668f0d), titled **release ready**. The NV collection contains 1,013 models and 65 confirmed handoff name matches; original model and recording bytes are preserved.