license: cc-by-4.0
pretty_name: projectsim Articulated Boxes
task_categories:
- robotics
size_categories:
- n<1K
tags:
- robotics
- simulation
- 3d
- usd
- blender
- isaac-sim
- articulated
- articulated-objects
- sim-ready
- synthetic
- warehouse
- digital-twin
configs:
- config_name: default
data_files: index.parquet
projectsim Articulated Boxes
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Try it before you download. Open the Boxes tab in projectsim Lab, fold every flap, then copy the API call that generates a set like it.
projectsim by Kaedim — sim-ready 3D assets for robot learning. Open in your engine in one paste.
Ten articulated cardboard shipping boxes (RSC four-flap cartons). Every box is a reduced-coordinate articulation — four flap hinges with real limits — with per-link mass and inertia from exact mesh integrals, per-zone physics materials (cardboard, tape), 4K AI textures, and MuJoCo-certified joints. Made with projectsim by Kaedim: projectsim.ai
Quickstart
Blender (macOS; elsewhere replace the last line with blender <file>.blend):
mkdir -p "$PWD/projectsim-assets"
cd "$PWD/projectsim-assets"
curl --fail --location --progress-bar \
"https://huggingface.co/datasets/projectsim/articulated-boxes/resolve/main/boxes/cardboard_box_0001/cardboard_box_0001.blend?download=true" \
--output cardboard_box_0001.blend
open -a Blender cardboard_box_0001.blend
Isaac Sim / any USD app: download a box's *_usd.zip, unzip, open
cardboard_box_NNNN_scene.usda and press Play — it carries a PhysicsScene and
a ground plane. cardboard_box_NNNN.usda is the bare asset for referencing
into your own stage (Z-up, meters, defaultPrim on the asset root).
The boxes
| id | size (m) | mass (kg) | joints | flap limits | Blender | USD |
|---|---|---|---|---|---|---|
| cardboard_box_0001 | 0.40 × 0.30 × 0.31 | 0.37 | 4 | 0–120° | .blend | .zip |
| cardboard_box_0002 | 0.25 × 0.20 × 0.16 | 0.11 | 4 | 0–120° | .blend | .zip |
| cardboard_box_0003 | 0.32 × 0.24 × 0.50 | 0.39 | 4 | 0–120° | .blend | .zip |
| cardboard_box_0004 | 0.45 × 0.29 × 0.13 | 0.32 | 4 | 0–120° | .blend | .zip |
| cardboard_box_0005 | 0.55 × 0.35 × 0.20 | 0.56 | 4 | 0–120° | .blend | .zip |
| cardboard_box_0006 | 0.59 × 0.35 × 0.21 | 0.38 | 4 | 0–120° | .blend | .zip |
| cardboard_box_0007 | 0.52 × 0.34 × 0.42 | 0.55 | 4 | 0–120° | .blend | .zip |
| cardboard_box_0008 | 0.51 × 0.40 × 0.32 | 0.65 | 4 | 0–120° | .blend | .zip |
| cardboard_box_0009 | 0.49 × 0.22 × 0.44 | 0.51 | 4 | 0–120° | .blend | .zip |
| cardboard_box_0010 | 0.45 × 0.27 × 0.42 | 0.54 | 4 | 0–120° | .blend | .zip |
What is in each box folder
boxes/cardboard_box_NNNN/
cardboard_box_NNNN.blend Blender file, textures packed
cardboard_box_NNNN_usd.zip cardboard_box_NNNN/ with the asset .usda,
textures/, and a play-ready *_scene.usda
manifest.json dims, mass, tris, per-joint limits, provenance
thumb.png 512 px render
The USD authors ArticulationRootAPI on the asset root, RigidBodyAPI +
MassAPI per link (mass/CoM/inertia from exact signed mesh integrals),
UsdPhysics revolute joints with limits in degrees and viscous damping, and
one UsdPhysics material per zone bound to each link's collider. Colliders
are convex hulls / SDF meshes chosen per link geometry. Texture paths are
relative; no absolute or Nucleus paths.
Manifest
See manifest.example.json for the schema. Every box
carries its source_variant — the generator's variant id — so any box can be
traced, re-posed, re-textured, or re-exported on request.
Generate your own
This dataset is sample output from the projectsim pipeline. For sim-ready assets of your objects, use the projectsim API:
- Standard asset - one image in, a sim-ready asset out
- Measured asset - mm-accurate, from a ChArUco-board capture
- Variation sets - procedural or high-fidelity families from a single object
Self-serve: get an API token and order your first set in minutes. Need 1,000–10,000 assets of a category? Request a larger dataset →
License
CC-BY-4.0. projectsim by Kaedim.