Add the garlic press back: 8 objects

GET_MORE.md

@@ -1,6 +1,6 @@
 # Want more assets like this?
 
-This is part of a free sample from **projectsim by Kaedim**: 7 sim-ready,
+This is part of a free sample from **projectsim by Kaedim**: 8 sim-ready,
 articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim).
 Enough to try in your simulator, not enough to train on.
 

README.md

@@ -25,11 +25,11 @@ configs:
 
 # Sim-Ready Articulated Objects (Free Sample)
 
-Free sample of 7 sim-ready, articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim):
+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/request-assets or email team@projectsim.ai.
 
-<a href="https://huggingface.co/datasets/projectsim/request-assets"><img src="https://huggingface.co/datasets/projectsim/articulated-objects-sample/resolve/main/preview_grid.jpg" alt="The 7 objects in this sample, plus a tile: 100,000+ more assets like these" width="100%"></a>
+<a href="https://huggingface.co/datasets/projectsim/request-assets"><img src="https://huggingface.co/datasets/projectsim/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
@@ -39,7 +39,7 @@ and it moves.
 
 | If you need | This sample has | Ask us for |
 | ----------- | --------------- | ---------- |
-| Enough data to train a policy | 7 objects, enough to test | 1,000 to 1M+ assets. We have 100,000+ like these |
+| 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 |
@@ -57,6 +57,7 @@ and it moves.
 | 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) | 32203.7 kg |
+| Garlic press | `garlic_press` | Hinged garlic press | 1 (1 revolute) | 0.55 kg |
 
 ## Download
 

assets/desk_lamp/GET_MORE.md

@@ -1,6 +1,6 @@
 # Want more assets like this?
 
-This is part of a free sample from **projectsim by Kaedim**: 7 sim-ready,
+This is part of a free sample from **projectsim by Kaedim**: 8 sim-ready,
 articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim).
 Enough to try in your simulator, not enough to train on.
 

assets/faucet_kitchen/GET_MORE.md

@@ -1,6 +1,6 @@
 # Want more assets like this?
 
-This is part of a free sample from **projectsim by Kaedim**: 7 sim-ready,
+This is part of a free sample from **projectsim by Kaedim**: 8 sim-ready,
 articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim).
 Enough to try in your simulator, not enough to train on.
 

assets/forklift/GET_MORE.md

@@ -1,6 +1,6 @@
 # Want more assets like this?
 
-This is part of a free sample from **projectsim by Kaedim**: 7 sim-ready,
+This is part of a free sample from **projectsim by Kaedim**: 8 sim-ready,
 articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim).
 Enough to try in your simulator, not enough to train on.
 

assets/garlic_press/GET_MORE.md

@@ -0,0 +1,18 @@
+# Want more assets like this?
+
+This is part of a free sample from **projectsim by Kaedim**: 8 sim-ready,
+articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim).
+Enough to try in your simulator, not enough to train on.
+
+Ask us if you need:
+
+- **More assets:** 1,000 to 1M+. We have 100,000+ assets like these.
+- **Variants:** one object in many sizes, shapes and materials
+- **Your own objects:** sim-ready assets made from your photos
+- **Another simulator:** Isaac Sim (Newton), Genesis, MuJoCo, SAPIEN, Unreal / Unity
+
+- Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/request-assets
+- Or email: team@projectsim.ai
+- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
+
+License: CC BY 4.0. Credit "projectsim by Kaedim".

assets/garlic_press/garlic_press.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d21551d436ea724e953dcdeeb85bfd0be1218dd084e5e25ba17338ffd4bb1a4a
+size 4244047

assets/garlic_press/physics.json

@@ -0,0 +1,156 @@
+{
+  "physics": {
+    "articulation": {
+      "schema_version": "articulation/2",
+      "root_link": "lower_handle_body",
+      "base_mode": "free",
+      "world_joint": null,
+      "behavior_sleep_threshold": null,
+      "handoff_base_mode": "free",
+      "base_mode_source": "handoff",
+      "collision_filter": {
+        "mode": "adjacent",
+        "explicit_excluded_link_pairs": [],
+        "handoff_excluded_link_pairs": [
+          [
+            "lower_handle_body",
+            "upper_handle"
+          ]
+        ],
+        "excluded_link_pairs": [
+          [
+            "lower_handle_body",
+            "upper_handle"
+          ]
+        ],
+        "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
+        "external_contacts": "enabled",
+        "other_engine_validation": "not_run"
+      },
+      "collider_aggregation": "link",
+      "joint_count": 1,
+      "joint_types": {
+        "revolute": 1
+      },
+      "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
+      "links": {
+        "lower_handle_body": {
+          "prim": "/garlic_press/lower_handle_body",
+          "mass_kg": 0.2572,
+          "mass_source": "VLM per-part estimate, 7 of 7 meshes",
+          "colliders": 1,
+          "collision": [
+            {
+              "prim": "/garlic_press/lower_handle_body/Collisions/link_collision",
+              "approximation": "convexDecomposition",
+              "basis": "combined rigid link; bounded concave cook",
+              "source_mesh_count": 7,
+              "source_meshes": [
+                "/garlic_press/lower_handle_body/lower_handle_body__visual_000/Deep_rounded_perforated_basket_003",
+                "/garlic_press/lower_handle_body/lower_handle_body__visual_005/Cylinder_065",
+                "/garlic_press/lower_handle_body/lower_handle_body__visual_003/Front_pivot_support_003",
+                "/garlic_press/lower_handle_body/lower_handle_body__visual_004/Cylinder_064",
+                "/garlic_press/lower_handle_body/lower_handle_body__visual_002/Front_pivot_support_002",
+                "/garlic_press/lower_handle_body/lower_handle_body__visual_001/Lower_tapered_solid_grip_001",
+                "/garlic_press/lower_handle_body/lower_handle_body__visual_006/Cylinder_066"
+              ],
+              "aggregation": "link",
+              "boolean_union": false,
+              "cooked_shape_count": null
+            }
+          ]
+        },
+        "upper_handle": {
+          "prim": "/garlic_press/upper_handle",
+          "mass_kg": 0.2879,
+          "mass_source": "VLM per-part estimate, 6 of 6 meshes",
+          "colliders": 1,
+          "collision": [
+            {
+              "prim": "/garlic_press/upper_handle/Collisions/link_collision",
+              "approximation": "convexDecomposition",
+              "basis": "combined rigid link; bounded concave cook",
+              "source_mesh_count": 6,
+              "source_meshes": [
+                "/garlic_press/upper_handle/upper_handle__visual_001/Cylinder_067",
+                "/garlic_press/upper_handle/upper_handle__visual_002/Cylinder_068",
+                "/garlic_press/upper_handle/upper_handle__visual_005/Cylinder_071",
+                "/garlic_press/upper_handle/upper_handle__visual_000/Upper_long_lever_grip_001",
+                "/garlic_press/upper_handle/upper_handle__visual_004/Cylinder_070",
+                "/garlic_press/upper_handle/upper_handle__visual_003/Cylinder_069"
+              ],
+              "aggregation": "link",
+              "boolean_union": false,
+              "cooked_shape_count": null
+            }
+          ]
+        }
+      },
+      "joints": {
+        "upper_handle_hinge": {
+          "path": "/garlic_press/Joints/upper_handle_hinge",
+          "type": "revolute",
+          "parent": "lower_handle_body",
+          "child": "upper_handle",
+          "axis_contract": [
+            0.0,
+            -1.0,
+            0.0
+          ],
+          "axis_token": "X",
+          "frame_alignment_wxyz": [
+            0.707106781,
+            0.0,
+            -0.0,
+            -0.707106781
+          ],
+          "limits": {
+            "lower": -5.729578,
+            "upper": 91.673247,
+            "unit": "deg"
+          },
+          "drive": {
+            "type": "force",
+            "stiffness": 0.0,
+            "damping": 0.0017453292519943296,
+            "damping_unit": "N*m*s/deg",
+            "damping_si": 0.1,
+            "damping_si_unit": "N*m*s/rad",
+            "note": "passive joint: damping only; no actuation authored"
+          },
+          "behavior": {
+            "intent": {
+              "confidence": "medium",
+              "mode": "none",
+              "reason": "User squeezes or lifts the lever; after release it is passive under gravity. No spring is visible or inferred for this hand press."
+            },
+            "status": "passive",
+            "simulator_status": "not_run"
+          }
+        }
+      },
+      "preview_controls": [],
+      "reference_pose": {
+        "upper_handle_hinge": 0.0
+      },
+      "provenance": {
+        "base_mode_reason": "Handheld kitchen garlic press with no mounting hardware; it is a freestanding movable tool, so the base is free.",
+        "base_mode_source": "author_explicit",
+        "contract_revision": "2.0",
+        "producer": "articulated-asset-generation",
+        "producer_version": "0.1.0"
+      }
+    },
+    "mass_kg": 0.5451,
+    "colliders": 2,
+    "status": "articulated_body",
+    "material_class": "metal_aluminum",
+    "engine": "physx",
+    "multipart_physx": false,
+    "static_friction": 0.45,
+    "dynamic_friction": 0.35,
+    "restitution": 0.25,
+    "friction_model": "legacy",
+    "friction_convention": "pair_value_on_steel_dry"
+  }
+}

assets/industrial_pipe_valve/GET_MORE.md

@@ -1,6 +1,6 @@
 # Want more assets like this?
 
-This is part of a free sample from **projectsim by Kaedim**: 7 sim-ready,
+This is part of a free sample from **projectsim by Kaedim**: 8 sim-ready,
 articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim).
 Enough to try in your simulator, not enough to train on.
 

assets/industrial_shears/GET_MORE.md

@@ -1,6 +1,6 @@
 # Want more assets like this?
 
-This is part of a free sample from **projectsim by Kaedim**: 7 sim-ready,
+This is part of a free sample from **projectsim by Kaedim**: 8 sim-ready,
 articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim).
 Enough to try in your simulator, not enough to train on.
 

assets/meat_slicer/GET_MORE.md

@@ -1,6 +1,6 @@
 # Want more assets like this?
 
-This is part of a free sample from **projectsim by Kaedim**: 7 sim-ready,
+This is part of a free sample from **projectsim by Kaedim**: 8 sim-ready,
 articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim).
 Enough to try in your simulator, not enough to train on.
 

assets/metadata.jsonl

@@ -5,3 +5,4 @@
 {"name": "desk_lamp", "title": "Desk lamp", "description": "Balanced-arm desk lamp with a swivel base and tilting shade", "joint_count": 5, "joint_types": {"revolute": 5}, "joints": ["base_swivel (revolute, -148.969 to 148.969 deg)", "shoulder (revolute, -34.3775 to 25.7831 deg)", "elbow (revolute, -51.5662 to 51.5662 deg)", "shade_tilt (revolute, -45.8366 to 45.8366 deg)", "shade_swivel (revolute, -57.2958 to 68.7549 deg)"], "links": 6, "mass_kg": 1.69, "base": "free", "usd": "assets/desk_lamp/desk_lamp.usd", "physics": "assets/desk_lamp/physics.json", "preview": "assets/desk_lamp/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/request-assets"}
 {"name": "faucet_kitchen", "title": "Kitchen faucet", "description": "Kitchen tap: swivel spout, pull-out spray, flow and temperature levers; fixed to the world", "joint_count": 4, "joint_types": {"revolute": 3, "prismatic": 1}, "joints": ["spout_swivel (revolute, -120.321 to 120.321 deg)", "spray_pullout (prismatic, 0 to 0.35 m)", "lever_temperature (revolute, -45.8366 to 45.8366 deg)", "lever_flow (revolute, 0 to 28.6479 deg)"], "links": 5, "mass_kg": 1.57, "base": "fixed", "usd": "assets/faucet_kitchen/faucet_kitchen.usd", "physics": "assets/faucet_kitchen/physics.json", "preview": "assets/faucet_kitchen/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/request-assets"}
 {"name": "forklift", "title": "Forklift", "description": "Counterbalance forklift: rolling wheels, tilting mast and a lifting fork carriage", "joint_count": 6, "joint_types": {"revolute": 5, "prismatic": 1}, "joints": ["wheel_fl_roll (revolute, -180 to 180 deg)", "wheel_fr_roll (revolute, -180 to 180 deg)", "wheel_rl_roll (revolute, -180 to 180 deg)", "wheel_rr_roll (revolute, -180 to 180 deg)", "mast_tilt (revolute, -3.44 to 5.73 deg)", "fork_lift (prismatic, 0 to 1.15 m)"], "links": 7, "mass_kg": 32203.72, "base": "free", "usd": "assets/forklift/forklift.usd", "physics": "assets/forklift/physics.json", "preview": "assets/forklift/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/request-assets"}
+{"name": "garlic_press", "title": "Garlic press", "description": "Hinged garlic press", "joint_count": 1, "joint_types": {"revolute": 1}, "joints": ["upper_handle_hinge (revolute, -5.73 to 91.6732 deg)"], "links": 2, "mass_kg": 0.55, "base": "free", "usd": "assets/garlic_press/garlic_press.usd", "physics": "assets/garlic_press/physics.json", "preview": "assets/garlic_press/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/request-assets"}

assets/utility_knife/GET_MORE.md

@@ -1,6 +1,6 @@
 # Want more assets like this?
 
-This is part of a free sample from **projectsim by Kaedim**: 7 sim-ready,
+This is part of a free sample from **projectsim by Kaedim**: 8 sim-ready,
 articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim).
 Enough to try in your simulator, not enough to train on.