Datasets:

projectsim
/

articulated-boxes

---
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

<a href="https://docs.projectsim.ai/getting-started/quickstart?utm_source=hf_dataset&utm_medium=banner&utm_content=articulated-boxes"><img src="https://huggingface.co/spaces/projectsim/lab/resolve/main/badges/made-with-api-banner.svg?v=1" alt="Made with the projectsim API — every asset here was generated by our API. Generate your own." width="100%"></a>

<a href="https://huggingface.co/spaces/projectsim/lab?class=cardboard_box">
  <img src="https://huggingface.co/spaces/projectsim/lab/resolve/main/thumbs/articulated-boxes.jpg" alt="projectsim Lab — boxes live in the browser" width="100%">
</a>

<div align="center"><table align="center"><tr>
<td><a href="https://docs.projectsim.ai/getting-started/quickstart?utm_source=hf_dataset&utm_medium=create_badge&utm_content=articulated-boxes"><img src="https://huggingface.co/spaces/projectsim/lab/resolve/main/badges/create-your-own-xl-dark.svg?v=3" alt="Create your own via the projectsim API"></a></td>
<td><a href="https://huggingface.co/spaces/projectsim/lab?class=cardboard_box"><img src="https://huggingface.co/datasets/huggingface/badges/resolve/main/open-in-hf-spaces-xl-dark.svg" alt="Open in HF Spaces"></a></td>
</tr></table></div>

> **Try it before you download.** Open the [Boxes tab in projectsim Lab](https://huggingface.co/spaces/projectsim/lab?class=cardboard_box),
> fold every flap, then copy the API call that generates a set like it.

![10 articulated boxes opening their flaps](hero.gif)

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](https://www.projectsim.ai)

## Quickstart

**Blender** (macOS; elsewhere replace the last line with `blender <file>.blend`):

```bash
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](boxes/cardboard_box_0001/cardboard_box_0001.blend) | [.zip](boxes/cardboard_box_0001/cardboard_box_0001_usd.zip) |
| cardboard_box_0002 | 0.25 × 0.20 × 0.16 | 0.11 | 4 | 0–120° | [.blend](boxes/cardboard_box_0002/cardboard_box_0002.blend) | [.zip](boxes/cardboard_box_0002/cardboard_box_0002_usd.zip) |
| cardboard_box_0003 | 0.32 × 0.24 × 0.50 | 0.39 | 4 | 0–120° | [.blend](boxes/cardboard_box_0003/cardboard_box_0003.blend) | [.zip](boxes/cardboard_box_0003/cardboard_box_0003_usd.zip) |
| cardboard_box_0004 | 0.45 × 0.29 × 0.13 | 0.32 | 4 | 0–120° | [.blend](boxes/cardboard_box_0004/cardboard_box_0004.blend) | [.zip](boxes/cardboard_box_0004/cardboard_box_0004_usd.zip) |
| cardboard_box_0005 | 0.55 × 0.35 × 0.20 | 0.56 | 4 | 0–120° | [.blend](boxes/cardboard_box_0005/cardboard_box_0005.blend) | [.zip](boxes/cardboard_box_0005/cardboard_box_0005_usd.zip) |
| cardboard_box_0006 | 0.59 × 0.35 × 0.21 | 0.38 | 4 | 0–120° | [.blend](boxes/cardboard_box_0006/cardboard_box_0006.blend) | [.zip](boxes/cardboard_box_0006/cardboard_box_0006_usd.zip) |
| cardboard_box_0007 | 0.52 × 0.34 × 0.42 | 0.55 | 4 | 0–120° | [.blend](boxes/cardboard_box_0007/cardboard_box_0007.blend) | [.zip](boxes/cardboard_box_0007/cardboard_box_0007_usd.zip) |
| cardboard_box_0008 | 0.51 × 0.40 × 0.32 | 0.65 | 4 | 0–120° | [.blend](boxes/cardboard_box_0008/cardboard_box_0008.blend) | [.zip](boxes/cardboard_box_0008/cardboard_box_0008_usd.zip) |
| cardboard_box_0009 | 0.49 × 0.22 × 0.44 | 0.51 | 4 | 0–120° | [.blend](boxes/cardboard_box_0009/cardboard_box_0009.blend) | [.zip](boxes/cardboard_box_0009/cardboard_box_0009_usd.zip) |
| cardboard_box_0010 | 0.45 × 0.27 × 0.42 | 0.54 | 4 | 0–120° | [.blend](boxes/cardboard_box_0010/cardboard_box_0010.blend) | [.zip](boxes/cardboard_box_0010/cardboard_box_0010_usd.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](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](https://docs.projectsim.ai/getting-started/quickstart?utm_source=hf_dataset&utm_medium=generate_section&utm_content=articulated-boxes):

- **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](https://dashboard.projectsim.ai/?utm_source=hf_dataset&utm_medium=generate_section&utm_content=articulated-boxes) and order your first set in minutes. Need 1,000–10,000 assets of a category? [Request a larger dataset →](https://www.projectsim.ai/access?dataset=articulated-boxes&utm_source=hf_dataset&utm_medium=generate_section&utm_content=articulated-boxes)

## License

CC-BY-4.0. projectsim by [Kaedim](https://www.projectsim.ai).

	---
	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

	<a href="https://docs.projectsim.ai/getting-started/quickstart?utm_source=hf_dataset&utm_medium=banner&utm_content=articulated-boxes"><img src="https://huggingface.co/spaces/projectsim/lab/resolve/main/badges/made-with-api-banner.svg?v=1" alt="Made with the projectsim API — every asset here was generated by our API. Generate your own." width="100%"></a>

	<a href="https://huggingface.co/spaces/projectsim/lab?class=cardboard_box">
	<img src="https://huggingface.co/spaces/projectsim/lab/resolve/main/thumbs/articulated-boxes.jpg" alt="projectsim Lab — boxes live in the browser" width="100%">
	</a>

	<div align="center"><table align="center"><tr>
	<td><a href="https://docs.projectsim.ai/getting-started/quickstart?utm_source=hf_dataset&utm_medium=create_badge&utm_content=articulated-boxes"><img src="https://huggingface.co/spaces/projectsim/lab/resolve/main/badges/create-your-own-xl-dark.svg?v=3" alt="Create your own via the projectsim API"></a></td>
	<td><a href="https://huggingface.co/spaces/projectsim/lab?class=cardboard_box"><img src="https://huggingface.co/datasets/huggingface/badges/resolve/main/open-in-hf-spaces-xl-dark.svg" alt="Open in HF Spaces"></a></td>
	</tr></table></div>

	> Try it before you download. Open the [Boxes tab in projectsim Lab](https://huggingface.co/spaces/projectsim/lab?class=cardboard_box),
	> fold every flap, then copy the API call that generates a set like it.

	![10 articulated boxes opening their flaps](hero.gif)

	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](https://www.projectsim.ai)

	## Quickstart

	Blender (macOS; elsewhere replace the last line with `blender <file>.blend`):

	```bash
	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](boxes/cardboard_box_0001/cardboard_box_0001.blend) \| [.zip](boxes/cardboard_box_0001/cardboard_box_0001_usd.zip) \|
	\| cardboard_box_0002 \| 0.25 × 0.20 × 0.16 \| 0.11 \| 4 \| 0–120° \| [.blend](boxes/cardboard_box_0002/cardboard_box_0002.blend) \| [.zip](boxes/cardboard_box_0002/cardboard_box_0002_usd.zip) \|
	\| cardboard_box_0003 \| 0.32 × 0.24 × 0.50 \| 0.39 \| 4 \| 0–120° \| [.blend](boxes/cardboard_box_0003/cardboard_box_0003.blend) \| [.zip](boxes/cardboard_box_0003/cardboard_box_0003_usd.zip) \|
	\| cardboard_box_0004 \| 0.45 × 0.29 × 0.13 \| 0.32 \| 4 \| 0–120° \| [.blend](boxes/cardboard_box_0004/cardboard_box_0004.blend) \| [.zip](boxes/cardboard_box_0004/cardboard_box_0004_usd.zip) \|
	\| cardboard_box_0005 \| 0.55 × 0.35 × 0.20 \| 0.56 \| 4 \| 0–120° \| [.blend](boxes/cardboard_box_0005/cardboard_box_0005.blend) \| [.zip](boxes/cardboard_box_0005/cardboard_box_0005_usd.zip) \|
	\| cardboard_box_0006 \| 0.59 × 0.35 × 0.21 \| 0.38 \| 4 \| 0–120° \| [.blend](boxes/cardboard_box_0006/cardboard_box_0006.blend) \| [.zip](boxes/cardboard_box_0006/cardboard_box_0006_usd.zip) \|
	\| cardboard_box_0007 \| 0.52 × 0.34 × 0.42 \| 0.55 \| 4 \| 0–120° \| [.blend](boxes/cardboard_box_0007/cardboard_box_0007.blend) \| [.zip](boxes/cardboard_box_0007/cardboard_box_0007_usd.zip) \|
	\| cardboard_box_0008 \| 0.51 × 0.40 × 0.32 \| 0.65 \| 4 \| 0–120° \| [.blend](boxes/cardboard_box_0008/cardboard_box_0008.blend) \| [.zip](boxes/cardboard_box_0008/cardboard_box_0008_usd.zip) \|
	\| cardboard_box_0009 \| 0.49 × 0.22 × 0.44 \| 0.51 \| 4 \| 0–120° \| [.blend](boxes/cardboard_box_0009/cardboard_box_0009.blend) \| [.zip](boxes/cardboard_box_0009/cardboard_box_0009_usd.zip) \|
	\| cardboard_box_0010 \| 0.45 × 0.27 × 0.42 \| 0.54 \| 4 \| 0–120° \| [.blend](boxes/cardboard_box_0010/cardboard_box_0010.blend) \| [.zip](boxes/cardboard_box_0010/cardboard_box_0010_usd.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](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](https://docs.projectsim.ai/getting-started/quickstart?utm_source=hf_dataset&utm_medium=generate_section&utm_content=articulated-boxes):

	- 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](https://dashboard.projectsim.ai/?utm_source=hf_dataset&utm_medium=generate_section&utm_content=articulated-boxes) and order your first set in minutes. Need 1,000–10,000 assets of a category? [Request a larger dataset →](https://www.projectsim.ai/access?dataset=articulated-boxes&utm_source=hf_dataset&utm_medium=generate_section&utm_content=articulated-boxes)

	## License

	CC-BY-4.0. projectsim by [Kaedim](https://www.projectsim.ai).