Get 40 free sim-ready warehouse objects
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SimReady Warehouse Objects
40 free sim-ready warehouse objects for robot learning in NVIDIA Isaac Sim (OpenUSD): picking bins, parcel scales, small-parts drawer cabinets with sliding drawers, and wall-mounted emergency stop buttons. Fill in the short form on this page and the files open right away. We have 100,000+ more assets like these: email team@projectsim.ai.
Every object is simulation-ready: its own rigid bodies and colliders, a mass for every part, joints
with limits where something moves, and materials. Open the .usd in Isaac Sim and press Play.
What's included
| Object | Folder | Count | What it is | What moves | Mass |
|---|---|---|---|---|---|
| Picking bin | picking_bins |
10 | Open-front plastic shelf bin with a label holder | Rigid | 0.07 to 1.1 kg |
| Parcel scale | parcel_scales |
10 | Steel platform scale with a display on a post, in the base, or on a separate stand | Rigid | 4.2 to 13.9 kg |
| Small-parts drawer cabinet | drawer_cabinets |
10 | Steel or plastic frame with 9 to 20 clear pull-out drawers | Every drawer slides out (prismatic) | 1.2 to 5.0 kg |
| Emergency stop button | estop_buttons |
10 | Yellow control box with a red mushroom button, fixed to the wall | The button presses in (prismatic, 5 mm) | 0.12 to 0.37 kg |
Each class comes in different sizes, layouts and colours.
Is this enough for you?
| If you need | This dataset has | Ask us for |
|---|---|---|
| Enough data to train a policy | 40 objects, enough to test | 1,000 to 1M+ assets. We have 100,000+ like these |
| Other warehouse objects | 4 object types | Totes, crates, carts, racking, tools and more |
| 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 |
Email team@projectsim.ai, or generate your own with the projectsim API.
How to get the files
- Sign in to Hugging Face and fill in the form at the top of this page. Approval is automatic.
- Download:
hf auth login
hf download projectsim/simready-warehouse-objects --repo-type dataset --local-dir simready-warehouse-objects
One class only:
hf download projectsim/simready-warehouse-objects --repo-type dataset --include "assets/drawer_cabinets/*" --local-dir simready-warehouse-objects
assets/metadata.jsonl lists every object with its class, colour, joints, mass and file paths.
Files
assets/<class>/<variant>/
├── <variant>.usd OpenUSD (binary): geometry, materials, physics and joints
├── physics.json joints and limits, mass, colliders and friction, as authored in the USD
├── preview.png render of the object
└── textures/ texture maps, where the materials use them
Physics
- Metres, Z up. Authored for Isaac Sim with PhysX.
- Each moving part is its own rigid body with convex colliders.
- Drawers and buttons are prismatic joints with limits. The emergency stop boxes are fixed to the world.
- Masses are estimated per part from each part's material. Treat them as a starting point, not a measurement.
- Clear drawers use NVIDIA's
OmniGlassmaterial, which Isaac Sim provides.
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.
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