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sim-ready-articulated-objects

Tasks:
Robotics
Modalities:
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Tags:
robotics
simulation
sim-ready
articulated-objects
manipulation
usd
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sim-ready-articulated-objects / README.md
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metadata 
pretty_name: Sim-Ready Articulated Objects
task_categories:
  - robotics
tags:
  - robotics
  - simulation
  - sim-ready
  - articulated-objects
  - manipulation
  - usd
  - openusd
  - isaac-sim
  - genesis
  - 3d
  - synthetic-data
viewer: false
extra_gated_heading: Get access to Sim-Ready Articulated Objects
extra_gated_description: >-
  Answer 3 quick questions and GET_STARTED.md opens right away: how to generate
  these assets with the projectsim API. Approval is automatic.
extra_gated_prompt: >-
  We use your answers only to understand who uses this data, and to reply if you
  ask us for more.
extra_gated_fields:
  Work email: text
  Company: text
  Role: text
extra_gated_button_content: Get access

Sim-Ready Articulated Objects

Sim-ready 3D objects with real joints, masses and colliders, for robot learning in NVIDIA Isaac Sim. We have 100,000+ assets like these. Access is free and instant: answer 3 quick questions in the form on this page, then generate the assets you need with the projectsim API.

Want to try first? 8 objects are free, no form: projectsim/simready-articulated-objects-sample

Free sample (8 objects) · Full access (this page) · projectsim Lab

Objects from the free sample: utility knife, industrial shears, meat slicer, pipe valve, desk lamp, kitchen faucet, forklift

Cardboard boxes with hinged flaps, in projectsim Lab Desks with sliding drawers, in projectsim Lab
Roll cages with swivel casters, in projectsim Lab Wardrobes with hinged doors, in projectsim Lab

What sim-ready means here

  • Real joints with limits: hinges and sliders that move in the simulator
  • Physics on every moving part: its own mass, colliders and friction
  • PBR textures: base color, normal, roughness, metallic
  • OpenUSD that opens in Isaac Sim

What you can generate

Route Use it for
Standard asset One object from an image, text or both, with moving parts if it has them
Procedural variation set Many variants of a geometric object, such as boxes, cabinets or desks with drawers
High-fidelity variation set Many variants with detailed appearance and organic shapes (no moving parts)
Measured asset One object at measured real-world scale, from an image and a ChArUco capture video

Moving parts are generated for Isaac Sim and Genesis (USD). Rigid objects can also be generated for MuJoCo, SAPIEN and other engines.

How access works

  1. Log in to Hugging Face and fill in the form at the top of this page. Approval is automatic.
  2. GET_STARTED.md in this repo opens right away, with sign-up and ready-to-run API calls. Download it with:
hf auth login
hf download projectsim/sim-ready-articulated-objects GET_STARTED.md --repo-type dataset --local-dir .

Questions

Open a Discussion on this repo, or email team@projectsim.ai.