Datasets:

thisisrick25
/

nvidia-simready-catalog

---
license: cc-by-4.0
task_categories:
- robotics
tags:
- robotics
- simulation
- OpenUSD
- Isaac-Sim
- synthetic-data
- physics
- mujoco
size_categories:
- 1K<n<10K
pretty_name: SimReady Assets (NVIDIA)
---
# NVIDIA SimReady Assets — Community Dataset Card

> [!NOTE]
> This card was produced by the community catalog project and offered to NVIDIA; numbers are computed programmatically from the repo tree and payload files on 2026-11-04. Verify against https://huggingface.co/datasets/nvidia/simready-assets for the latest state.

NVIDIA's **SimReady Assets** are simulation-ready 3D models for robotics and Physical AI: every asset ships with tuned physics (mass, inertia, collision approximations), materials, and variants for **PhysX**, **MuJoCo**, and **Newton** physics engines. The dataset contains **2,677 assets** totaling **489.68 GB** under **CC-BY-4.0**.

## Dataset at a glance

|  |  |
|---|---|
| Assets | 2,677 |
| Total size | 489.68 GB |
| Files | 183,398 |
| Categories | 14 |
| Articulated assets | 5 (0.2%) |
| PhysX variant | 2,669 |
| MuJoCo variant | 2,669 |
| Newton variant | 2,669 |
| License | CC-BY-4.0 |
| Data as of | 2026-11-04 |

## Directory structure

Each asset lives in its own top-level directory:

```
<asset_name>/
├── com.nvidia.simready.packaging.json   # package id, license, sha256 hashes
├── .metadata/                           # bill of materials
├── simready_usd/
│   ├── sm_<asset_name>_01.usd           # main SimReady USD (binary USDC)
│   ├── payloads/
│   │   ├── base.usda                    # structure + variant sets
│   │   ├── instances.usda               # per-mesh physics (neutral)
│   │   ├── instances_physx.usda          # per-mesh physics (PhysX)
│   │   ├── instances_mujoco.usda         # per-mesh physics (MuJoCo)
│   │   ├── instances_newton.usda         # per-mesh physics (Newton)
│   │   ├── materials.usda                # material definitions
│   │   ├── geometries.usd                # mesh data (the big file)
│   │   └── PhysX/ MuJoCo/ Newton/ Physics/   # engine payload subdirs
│   ├── source_assets/                    # original DCC files
│   └── Textures/
└── .thumbs/256x256/                     # rendered thumbnails (lit/unlit)
```

**Tip:** for metadata and physics you only need the small text `.usda` payload files; `geometries.usd` holds the mesh data and dominates download size.

## Naming conventions

Asset names follow `<category>_<type>_<variant>` (e.g. `food_produce_banana_m01`, `appliance_dishwasher_a01`). Variant suffixes (`a01`, `b01`, `m01`, ...) distinguish design variants of the same object type. See NVIDIA's naming guide in the [simready-foundation](https://github.com/NVIDIA/simready-foundation) repo for the authoritative conventions.

## What's in the catalog

| Category (taxonomy group) | Assets |
|---|---|
| common_assets | 2,314 |
| props_isaac | 92 |
| props_food | 91 |
| omniverse | 85 |
| props_warehouse | 32 |
| SIM_READY | 32 |
| props_kitchenware | 6 |
| props_automotive_workshop_tools | 5 |
| props_softbody | 4 |
| props_endeavor_kitchen | 3 |
| props_automotive_parts | 2 |
| props_automotive_equipment | 1 |
| props_kitchen_france | 1 |
| props_hospital | 1 |
![Assets per category](assets/categories.png)
## Physics
Per-mesh physics properties (`physics:mass`, `physics:centerOfMass`, `physics:diagonalInertia`, collision `physics:approximation`) are authored in the `instances_*.usda` payloads. Asset mass below is the sum of per-mesh masses from the PhysX instance file.
| Mass (per-asset sum) | Value |
|---|---|
| Minimum | 0.000109254 kg |
| Median | 0.923211 kg |
| Mean | 1790.49 kg |
| Maximum | 952461 kg |
> [!WARNING]
> **Known data quality note:** 22 assets (0.82%) report a summed mass above 5000 kg (e.g. warehouse structural modules, an exhaust manifold at ~500,000 kg) — these look like authoring/export defects in NVIDIA's source USD rather than real weights. We report the numbers as-is, unmodified; use the **median** above rather than the mean when reasoning about a typical asset.
Collision approximations in use: `convexDecomposition` (9), `sdf` (10,658)
![Mass distribution](assets/mass_hist.png)
![Download size](assets/sizes_hist.png)
### Heaviest assets
| Asset | Mass (kg) |
|---|---|
| modular_warehouse_h10m_corner_out_a01 | 952461 |
| exhaustSystem_exhaust_manifold_f01 | 501226 |
| modular_warehouse_h10m_straight_90_a04 | 404025 |
| warehouse_h10m_straight_90_a04 | 400081 |
| warehouse_h10m_straight_a04 | 399748 |
| modular_warehouse_h10m_straight_a04 | 398601 |
| modular_warehouse_h10m_center_a01 | 302944 |
| set_office_main_a01 | 267161 |
| structure_wall_corner_a01 | 217653 |
| structure_wall_entrance_a01 | 192774 |
### Lightest assets
| Asset | Mass (kg) |
|---|---|
| hardware_bearing_caster_a01 | 0.000109254 |
| factory_nut_m4_loose | 0.000267644 |
| factory_nut_m4_tight | 0.000268642 |
| hardware_screw_95_a01 | 0.000406182 |
| hardware_screw_99_physics_a01 | 0.0005 |
| factory_bolt_m04_loose | 0.00063011 |
| screw_high_res | 0.000635557 |
| factory_bolt_m04_tight | 0.000651707 |
| hardware_bearingPin_a01 | 0.000784414 |
| factory_nut_m8_loose | 0.000992802 |
## Physics engine variants
Each asset declares MuJoCo / Newton / PhysX physics variants in `base.usda` (`Variants → Physics`), so the same asset can be simulated in any of the three engines:
![Variant coverage](assets/variants.png)
## Validation (SimReady Foundation)
Assets embed their own validation results (`SimReady_Metadata → validation`), produced by NVIDIA's [simready-foundation](https://github.com/NVIDIA/simready-foundation) tooling against the `Robotics-Prop` profile. Overall pass rate across parsed validation rows: **55.6%**.
| Feature | Pass rate | Passed / total |
|---|---|---|
| FET000_CORE | 91.8% | 3,187 / 3,471 |
| FET001_BASE_NEUTRAL | 1.5% | 54 / 3,690 |
| FET003_BASE_NEUTRAL | 99.9% | 3,684 / 3,689 |
| FET003_BASE_PHYSX | 99.3% | 3,610 / 3,637 |
| FET004_BASE_NEUTRAL | 42.6% | 1,571 / 3,690 |
| FET004_BASE_PHYSX | 42.3% | 1,538 / 3,637 |
| FET005_BASE_NEUTRAL | 65.4% | 2,412 / 3,690 |
| FET006_BASE_MDL | 1.2% | 40 / 3,470 |
| FET100_BASE_ISAACSIM | 0.0% | 0 / 1 |
Most common failing requirements:
| Failing requirement | Occurrences |
|---|---|
| RB.MB.001 | 3,973 |
| AA.001 | 3,464 |
| VM.MDL.001 | 3,417 |
| GSP.001 | 1,190 |
| NP.008 | 169 |
| HI.009 | 83 |
| COL.001 | 38 |
| VM.MAT.001 | 25 |
| RB.001 | 20 |
| NP.005 | 9 |
| VM.TEX.002 | 3 |
| PMT.001 | 3 |
| NP.006 | 2 |
| JT.002 | 2 |
| ISA.001 | 1 |
![Validation pass rates](assets/validation.png)
## Growth
Packaging dates extracted from package IDs run 2026-10-08 → 2026-11-02:
![Growth](assets/growth.png)
## How to use
**Isaac Sim / Omniverse:** add the dataset as a local or cloud asset root; `sm_*.usd` files are drop-in placeable with physics already tuned.

**Plain OpenUSD (Python):**
```python
# pip install usd-core
from pxr import Usd, UsdPhysics
stage = Usd.Stage.Open("food_produce_banana_m01/simready_usd/sm_food_produce_banana_m01_01.usd")
for prim in stage.Traverse():
    mass = UsdPhysics.MassAPI(prim)
    if mass:
        print(prim.GetPath(), mass.GetMassAttr().Get())
```

**MuJoCo / Newton:** load the same `sm_*.usd` and activate the MuJoCo (or Newton) physics variant; or use `payloads/instances_mujoco.usda` directly.

## License & attribution

The assets are © NVIDIA Corporation, licensed [CC-BY-4.0](https://creativecommons.org/licenses/by/4.0/). When using assets (or derived data such as this catalog), credit "NVIDIA SimReady Assets" and link to https://huggingface.co/datasets/nvidia/simready-assets.

## Citation

```bibtex
@dataset{nvidia_simready_assets,
  title  = {NVIDIA SimReady Assets},
  author = {NVIDIA Corporation},
  year   = {2026},
  url    = {https://huggingface.co/datasets/nvidia/simready-assets},
  license = {CC-BY-4.0}
}
```

## Companion resources

- **Catalog parquets** (per-asset physics/validation/size tables): see this project's companion dataset
- **Interactive stats portal**: see this project's Space
- **SimReady Foundation** (validation specs & tooling): https://github.com/NVIDIA/simready-foundation
- **Isaac Sim**: https://developer.nvidia.com/isaac/sim

_Generated from repository data as of 2026-11-04; the dataset grows daily — re-run the pipeline for fresh numbers._

	---
	license: cc-by-4.0
	task_categories:
	- robotics
	tags:
	- robotics
	- simulation
	- OpenUSD
	- Isaac-Sim
	- synthetic-data
	- physics
	- mujoco
	size_categories:
	- 1K<n<10K
	pretty_name: SimReady Assets (NVIDIA)
	---

	# NVIDIA SimReady Assets — Community Dataset Card

	> [!NOTE]
	> This card was produced by the community catalog project and offered to NVIDIA; numbers are computed programmatically from the repo tree and payload files on 2026-11-04. Verify against https://huggingface.co/datasets/nvidia/simready-assets for the latest state.

	NVIDIA's SimReady Assets are simulation-ready 3D models for robotics and Physical AI: every asset ships with tuned physics (mass, inertia, collision approximations), materials, and variants for PhysX, MuJoCo, and Newton physics engines. The dataset contains 2,677 assets totaling 489.68 GB under CC-BY-4.0.

	## Dataset at a glance

	\| \| \|
	\|---\|---\|
	\| Assets \| 2,677 \|
	\| Total size \| 489.68 GB \|
	\| Files \| 183,398 \|
	\| Categories \| 14 \|
	\| Articulated assets \| 5 (0.2%) \|
	\| PhysX variant \| 2,669 \|
	\| MuJoCo variant \| 2,669 \|
	\| Newton variant \| 2,669 \|
	\| License \| CC-BY-4.0 \|
	\| Data as of \| 2026-11-04 \|

	## Directory structure

	Each asset lives in its own top-level directory:

	```
	<asset_name>/
	├── com.nvidia.simready.packaging.json # package id, license, sha256 hashes
	├── .metadata/ # bill of materials
	├── simready_usd/
	│ ├── sm_<asset_name>_01.usd # main SimReady USD (binary USDC)
	│ ├── payloads/
	│ │ ├── base.usda # structure + variant sets
	│ │ ├── instances.usda # per-mesh physics (neutral)
	│ │ ├── instances_physx.usda # per-mesh physics (PhysX)
	│ │ ├── instances_mujoco.usda # per-mesh physics (MuJoCo)
	│ │ ├── instances_newton.usda # per-mesh physics (Newton)
	│ │ ├── materials.usda # material definitions
	│ │ ├── geometries.usd # mesh data (the big file)
	│ │ └── PhysX/ MuJoCo/ Newton/ Physics/ # engine payload subdirs
	│ ├── source_assets/ # original DCC files
	│ └── Textures/
	└── .thumbs/256x256/ # rendered thumbnails (lit/unlit)
	```

	Tip: for metadata and physics you only need the small text `.usda` payload files; `geometries.usd` holds the mesh data and dominates download size.

	## Naming conventions

	Asset names follow `<category>_<type>_<variant>` (e.g. `food_produce_banana_m01`, `appliance_dishwasher_a01`). Variant suffixes (`a01`, `b01`, `m01`, ...) distinguish design variants of the same object type. See NVIDIA's naming guide in the [simready-foundation](https://github.com/NVIDIA/simready-foundation) repo for the authoritative conventions.

	## What's in the catalog

	\| Category (taxonomy group) \| Assets \|
	\|---\|---\|
	\| common_assets \| 2,314 \|
	\| props_isaac \| 92 \|
	\| props_food \| 91 \|
	\| omniverse \| 85 \|
	\| props_warehouse \| 32 \|
	\| SIM_READY \| 32 \|
	\| props_kitchenware \| 6 \|
	\| props_automotive_workshop_tools \| 5 \|
	\| props_softbody \| 4 \|
	\| props_endeavor_kitchen \| 3 \|
	\| props_automotive_parts \| 2 \|
	\| props_automotive_equipment \| 1 \|
	\| props_kitchen_france \| 1 \|
	\| props_hospital \| 1 \|

	![Assets per category](assets/categories.png)

	## Physics

	Per-mesh physics properties (`physics:mass`, `physics:centerOfMass`, `physics:diagonalInertia`, collision `physics:approximation`) are authored in the `instances_*.usda` payloads. Asset mass below is the sum of per-mesh masses from the PhysX instance file.

	\| Mass (per-asset sum) \| Value \|
	\|---\|---\|
	\| Minimum \| 0.000109254 kg \|
	\| Median \| 0.923211 kg \|
	\| Mean \| 1790.49 kg \|
	\| Maximum \| 952461 kg \|

	> [!WARNING]
	> Known data quality note: 22 assets (0.82%) report a summed mass above 5000 kg (e.g. warehouse structural modules, an exhaust manifold at ~500,000 kg) — these look like authoring/export defects in NVIDIA's source USD rather than real weights. We report the numbers as-is, unmodified; use the median above rather than the mean when reasoning about a typical asset.

	Collision approximations in use: `convexDecomposition` (9), `sdf` (10,658)

	![Mass distribution](assets/mass_hist.png)
	![Download size](assets/sizes_hist.png)

	### Heaviest assets

	\| Asset \| Mass (kg) \|
	\|---\|---\|
	\| modular_warehouse_h10m_corner_out_a01 \| 952461 \|
	\| exhaustSystem_exhaust_manifold_f01 \| 501226 \|
	\| modular_warehouse_h10m_straight_90_a04 \| 404025 \|
	\| warehouse_h10m_straight_90_a04 \| 400081 \|
	\| warehouse_h10m_straight_a04 \| 399748 \|
	\| modular_warehouse_h10m_straight_a04 \| 398601 \|
	\| modular_warehouse_h10m_center_a01 \| 302944 \|
	\| set_office_main_a01 \| 267161 \|
	\| structure_wall_corner_a01 \| 217653 \|
	\| structure_wall_entrance_a01 \| 192774 \|

	### Lightest assets

	\| Asset \| Mass (kg) \|
	\|---\|---\|
	\| hardware_bearing_caster_a01 \| 0.000109254 \|
	\| factory_nut_m4_loose \| 0.000267644 \|
	\| factory_nut_m4_tight \| 0.000268642 \|
	\| hardware_screw_95_a01 \| 0.000406182 \|
	\| hardware_screw_99_physics_a01 \| 0.0005 \|
	\| factory_bolt_m04_loose \| 0.00063011 \|
	\| screw_high_res \| 0.000635557 \|
	\| factory_bolt_m04_tight \| 0.000651707 \|
	\| hardware_bearingPin_a01 \| 0.000784414 \|
	\| factory_nut_m8_loose \| 0.000992802 \|

	## Physics engine variants

	Each asset declares MuJoCo / Newton / PhysX physics variants in `base.usda` (`Variants → Physics`), so the same asset can be simulated in any of the three engines:

	![Variant coverage](assets/variants.png)

	## Validation (SimReady Foundation)

	Assets embed their own validation results (`SimReady_Metadata → validation`), produced by NVIDIA's [simready-foundation](https://github.com/NVIDIA/simready-foundation) tooling against the `Robotics-Prop` profile. Overall pass rate across parsed validation rows: 55.6%.

	\| Feature \| Pass rate \| Passed / total \|
	\|---\|---\|---\|
	\| FET000_CORE \| 91.8% \| 3,187 / 3,471 \|
	\| FET001_BASE_NEUTRAL \| 1.5% \| 54 / 3,690 \|
	\| FET003_BASE_NEUTRAL \| 99.9% \| 3,684 / 3,689 \|
	\| FET003_BASE_PHYSX \| 99.3% \| 3,610 / 3,637 \|
	\| FET004_BASE_NEUTRAL \| 42.6% \| 1,571 / 3,690 \|
	\| FET004_BASE_PHYSX \| 42.3% \| 1,538 / 3,637 \|
	\| FET005_BASE_NEUTRAL \| 65.4% \| 2,412 / 3,690 \|
	\| FET006_BASE_MDL \| 1.2% \| 40 / 3,470 \|
	\| FET100_BASE_ISAACSIM \| 0.0% \| 0 / 1 \|

	Most common failing requirements:

	\| Failing requirement \| Occurrences \|
	\|---\|---\|
	\| RB.MB.001 \| 3,973 \|
	\| AA.001 \| 3,464 \|
	\| VM.MDL.001 \| 3,417 \|
	\| GSP.001 \| 1,190 \|
	\| NP.008 \| 169 \|
	\| HI.009 \| 83 \|
	\| COL.001 \| 38 \|
	\| VM.MAT.001 \| 25 \|
	\| RB.001 \| 20 \|
	\| NP.005 \| 9 \|
	\| VM.TEX.002 \| 3 \|
	\| PMT.001 \| 3 \|
	\| NP.006 \| 2 \|
	\| JT.002 \| 2 \|
	\| ISA.001 \| 1 \|

	![Validation pass rates](assets/validation.png)

	## Growth

	Packaging dates extracted from package IDs run 2026-10-08 → 2026-11-02:

	![Growth](assets/growth.png)

	## How to use

	Isaac Sim / Omniverse: add the dataset as a local or cloud asset root; `sm_*.usd` files are drop-in placeable with physics already tuned.

	Plain OpenUSD (Python):
	```python
	# pip install usd-core
	from pxr import Usd, UsdPhysics
	stage = Usd.Stage.Open("food_produce_banana_m01/simready_usd/sm_food_produce_banana_m01_01.usd")
	for prim in stage.Traverse():
	mass = UsdPhysics.MassAPI(prim)
	if mass:
	print(prim.GetPath(), mass.GetMassAttr().Get())
	```

	MuJoCo / Newton: load the same `sm_*.usd` and activate the MuJoCo (or Newton) physics variant; or use `payloads/instances_mujoco.usda` directly.

	## License & attribution

	The assets are © NVIDIA Corporation, licensed [CC-BY-4.0](https://creativecommons.org/licenses/by/4.0/). When using assets (or derived data such as this catalog), credit "NVIDIA SimReady Assets" and link to https://huggingface.co/datasets/nvidia/simready-assets.

	## Citation

	```bibtex
	@dataset{nvidia_simready_assets,
	title = {NVIDIA SimReady Assets},
	author = {NVIDIA Corporation},
	year = {2026},
	url = {https://huggingface.co/datasets/nvidia/simready-assets},
	license = {CC-BY-4.0}
	}
	```

	## Companion resources

	- Catalog parquets (per-asset physics/validation/size tables): see this project's companion dataset
	- Interactive stats portal: see this project's Space
	- SimReady Foundation (validation specs & tooling): https://github.com/NVIDIA/simready-foundation
	- Isaac Sim: https://developer.nvidia.com/isaac/sim

	_Generated from repository data as of 2026-11-04; the dataset grows daily — re-run the pipeline for fresh numbers._