| --- |
| license: cc-by-4.0 |
| pretty_name: SimReady Articulated Objects (Free Sample) |
| task_categories: |
| - robotics |
| tags: |
| - robotics |
| - simulation |
| - simready |
| - sim-ready |
| - articulated-objects |
| - manipulation |
| - usd |
| - openusd |
| - isaac-sim |
| - physx |
| - 3d |
| size_categories: |
| - n<1K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: assets/metadata.jsonl |
| --- |
| |
| # SimReady Articulated Objects (Free Sample) |
|
|
| Free sample of 8 sim-ready, articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim): |
| enough to try in your simulator, not enough to train on. We have 100,000+ more assets like these. |
| Request them at https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects or email team@projectsim.ai. |
|
|
| <a href="https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"><img src="https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample/resolve/main/preview_grid.jpg" alt="Objects from this sample, plus a tile: 100,000+ more assets like these" width="100%"></a> |
|
|
| Every object has real joints with limits (hinges and sliders), a mass for every |
| moving part, per-part colliders, and 4K PBR textures. Open the `.usd` in Isaac Sim |
| and it moves. |
|
|
| ## Is this sample enough for you? |
|
|
| | If you need | This sample has | Ask us for | |
| | ----------- | --------------- | ---------- | |
| | Enough data to train a policy | 8 objects, enough to test | 1,000 to 1M+ assets. We have 100,000+ like these | |
| | Many versions of one object | 1 of each object | Variants in different sizes, shapes and materials | |
| | Your own objects | Our objects | Sim-ready assets made from your photos | |
| | Another simulator | OpenUSD for Isaac Sim (PhysX) | Isaac Sim (Newton), Genesis, MuJoCo, SAPIEN, Unreal / Unity: tell us which | |
|
|
| **[Request assets →](https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects)** It's a short form on Hugging Face. Or email `team@projectsim.ai`. |
|
|
| ## What's included |
|
|
| | Object | Folder | What it is | Joints | Mass | |
| | ------ | ------ | ---------- | ------ | ---- | |
| | Utility knife | `utility_knife` | Snap-off box cutter with a sliding blade | 1 (1 prismatic) | 0.19 kg | |
| | Industrial shears | `industrial_shears` | Heavy cutting shears with a jaw pivot and a locking latch | 2 (2 revolute) | 4.28 kg | |
| | Meat slicer | `meat_slicer` | Flywheel meat slicer: crank, carriage, pusher, clamp and thickness knob | 7 (5 revolute, 2 prismatic) | 68.2 kg | |
| | Pipe valve | `industrial_pipe_valve` | Flanged pipe valve: the handwheel turns and the stem rises | 2 (1 revolute, 1 prismatic) | 89.15 kg | |
| | Desk lamp | `desk_lamp` | Balanced-arm desk lamp with a swivel base and tilting shade | 5 (5 revolute) | 1.69 kg | |
| | Kitchen faucet | `faucet_kitchen` | Kitchen tap: swivel spout, pull-out spray, flow and temperature levers; fixed to the world | 4 (3 revolute, 1 prismatic) | 1.57 kg | |
| | Forklift | `forklift` | Counterbalance forklift: rolling wheels, tilting mast and a lifting fork carriage | 6 (5 revolute, 1 prismatic) | 3870 kg | |
| | Garlic press | `garlic_press` | Hinged garlic press | 1 (1 revolute) | 0.55 kg | |
|
|
| ## Download |
|
|
| ```bash |
| hf download projectsim/simready-articulated-objects-sample --repo-type dataset --local-dir simready-articulated-objects-sample |
| ``` |
|
|
| One object only: |
|
|
| ```bash |
| hf download projectsim/simready-articulated-objects-sample --repo-type dataset --include "assets/desk_lamp/*" --local-dir simready-articulated-objects-sample |
| ``` |
|
|
| Open it with USD's Python API, or File > Open in Isaac Sim: |
|
|
| ```python |
| from pxr import Usd |
| stage = Usd.Stage.Open("simready-articulated-objects-sample/assets/desk_lamp/desk_lamp.usd") |
| ``` |
|
|
| `assets/metadata.jsonl` lists every object with its joints, mass and file paths, |
| so `datasets.load_dataset("projectsim/simready-articulated-objects-sample")` gives you the catalogue without the 300 MB of files. |
|
|
| ## Files |
|
|
| ``` |
| assets/<name>/ |
| ├── <name>.usd OpenUSD (binary), textures referenced as ./textures/*.png |
| ├── physics.json joints, limits, per-link mass and colliders, as authored in the USD |
| ├── preview.png render of the object |
| ├── textures/ base_color, normal, roughness, metallic (4K) |
| └── GET_MORE.md how to get more assets like this one |
| ``` |
|
|
| ## Physics |
|
|
| - Units are meters, Z up. Engine: PhysX (Isaac Sim). |
| - Each moving part is its own rigid link with its own collider (convex decomposition). |
| - Joint limits, friction and the parent/child links are listed per joint in `physics.json`. |
| - Masses are estimated per part from the object's materials and are a starting point, not a measurement. |
|
|
| ## License |
|
|
| CC BY 4.0: free to use, share and adapt, including commercially. Credit "projectsim by Kaedim". |
|
|
| Questions: open a Discussion on this repo, or email `team@projectsim.ai`. |
|
|
