| --- |
| 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](https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample) |
|
|
| <p align="center"> |
| <a href="https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample">Free sample (8 objects)</a> · |
| <strong>Full access (this page)</strong> · |
| <a href="https://huggingface.co/spaces/projectsim/lab">projectsim Lab</a> |
| </p> |
|
|
| <a href="https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample"><img src="https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample/resolve/main/preview_grid.jpg" alt="Objects from the free sample: utility knife, industrial shears, meat slicer, pipe valve, desk lamp, kitchen faucet, forklift" width="100%"></a> |
|
|
| <table> |
| <tr> |
| <td><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="Cardboard boxes with hinged flaps, in projectsim Lab"></a></td> |
| <td><a href="https://huggingface.co/spaces/projectsim/lab?class=desk_with_drawers"><img src="https://huggingface.co/spaces/projectsim/lab/resolve/main/thumbs/articulated-desks.jpg" alt="Desks with sliding drawers, in projectsim Lab"></a></td> |
| </tr> |
| <tr> |
| <td><a href="https://huggingface.co/spaces/projectsim/lab?class=logistics_cage"><img src="https://huggingface.co/spaces/projectsim/lab/resolve/main/thumbs/articulated-logistics-cages.jpg" alt="Roll cages with swivel casters, in projectsim Lab"></a></td> |
| <td><a href="https://huggingface.co/spaces/projectsim/lab?class=wardrobe"><img src="https://huggingface.co/spaces/projectsim/lab/resolve/main/thumbs/articulated-wardrobes.jpg" alt="Wardrobes with hinged doors, in projectsim Lab"></a></td> |
| </tr> |
| </table> |
|
|
| ## 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: |
|
|
| ```bash |
| 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`. |
|
|
