--- 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

Made with the projectsim API — every asset here was generated by our API. Generate your own.

projectsim Lab — boxes live in the browser

> **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 .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).