--- license: cc-by-4.0 task_categories: - robotics tags: - robotics - simulation - OpenUSD - Isaac-Sim - synthetic-data - physics - mujoco size_categories: - 1K [!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: ``` / ├── com.nvidia.simready.packaging.json # package id, license, sha256 hashes ├── .metadata/ # bill of materials ├── simready_usd/ │ ├── sm__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 `__` (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._