---
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`.