ALLSIDES/simready-scanned-objects

Allsides SimReady Assets

SimReady assets of real-world objects, captured with high-quality 3D scanning by Allsides and converted to physics-ready OpenUSD props for NVIDIA Isaac Sim.

Every asset in this dataset is a SimReady package for the NVIDIA SimReady Catalog. Each package is validated against the SimReady Foundation profile Robotics-Prop and tested in Isaac Sim. The validation and benchmark results travel with the package.

Contents

Objects	69 real-world objects, one package each
Profile	Robotics-Prop 4.0.0 (SimReady Foundation)
Up axis / units	Z-up, meters (metersPerUnit = 1), kilograms
Visual LODs	0 = full-resolution scan mesh (default, 0.8–2.6 M triangles), 1 = reduced mesh (about 600k triangles)
Colliders	convex decomposition (CoACD) by default; with the PhysX variant enabled, an SDF collider (default there) or the convex decomposition
Physics	rigid body with the mass of the weighed object, friction and restitution from the material class; plain UsdPhysics by default, PhysX-specific settings in an optional variant
Materials	UsdPreviewSurface PBR, with non-visual material classes for sensor simulation
Semantics	Wikidata Q-code labels for the object and its materials
License	CC-BY-4.0

Package layout

Each top-level folder is one package. The folder name is the object's category followed by its Allsides item ID, for example mug_A07RDPW843/ or drone_0SDU0DKMY8/.

<name>/
├─ com.nvidia.simready.packaging.json        package definition (package ID, version, license)
├─ .metadata/
│  ├─ com.nvidia.simready.packaging.bom.json  bill of materials: every file with its SHA-256 hash
│  ├─ com.nvidia.simready.conformance.*.json  packaging profile result
│  ├─ <name>_validation.json                  profile validation results
│  └─ <name>_benchmark.json                   Isaac Sim benchmark results
└─ simready_usd/
   ├─ <name>.usd                              entry file: open or reference this one
   ├─ .thumbs/256x256/
   │  ├─ <name>.usd.png                       thumbnail, dark background
   │  ├─ <name>.usd_light.png                 thumbnail, light background
   │  └─ <name>.usd_transparent.png           thumbnail, transparent background
   ├─ payloads/                               geometry, LOD and physics layers
   ├─ runnables/physics/physx.usda            PhysX-specific settings, loaded by the PhysX variant
   └─ textures/

Inside the USD, the root prim is /Asset:

/Asset
└─ bodies/<object>/
   ├─ mesh_obj       visual mesh (the selected LOD)
   ├─ colliders/     collider meshes (invisible, purpose "guide")
   └─ grasp/         grasp vectors, if present (purpose "guide")

The root layer carries the provenance metadata (SimReady_Metadata): author, license, category, Wikidata Q-code, extents, mass and rigid-body count.

Versions

Each package is uploaded at a fixed commit of this dataset. The package ID includes the version: simready.hf.ALLSIDES.simready-scanned-objects.<name>.<version>. The SimReady Catalog refers to each version by its commit-pinned URL:

https://huggingface.co/datasets/ALLSIDES/simready-scanned-objects/resolve/<commit>/<name>/com.nvidia.simready.packaging.json

The main branch always holds the newest version of each package. Earlier versions stay available at their commits.

Download

from huggingface_hub import snapshot_download

path = snapshot_download(repo_id="ALLSIDES/simready-scanned-objects", repo_type="dataset")

To download one asset only, pass allow_patterns, for example allow_patterns="mug_A07RDPW843/*". To download a fixed version, pass the commit as revision.

Using the assets in Isaac Sim

Drag <name>/simready_usd/<name>.usd into the viewport or the Stage window, or add it as a reference from Python. The asset appears under a prim of your choice (for example /World/Object), and its variant sets are available on that prim.

In the UI

Select the asset's top prim in the Stage window. In the Property panel, under Variants, set:

• lod: 0 (full resolution, default) or 1 (reduced);
• PhysX: Disabled (default) or Enabled;
• collision_mode, shown once PhysX is Enabled: sdf (default) or convexHull.

From Python

import omni.usd

stage = omni.usd.get_context().get_stage()
prim = stage.DefinePrim("/World/Object", "Xform")
prim.GetReferences().AddReference("/path/to/<name>/simready_usd/<name>.usd")

prim.GetVariantSet("lod").SetVariantSelection("1")                   # reduced mesh
prim.GetVariantSet("PhysX").SetVariantSelection("Enabled")           # load the PhysX settings
prim.GetVariantSet("collision_mode").SetVariantSelection("convexHull")

The selections are stored on your stage, not in the asset. The asset itself stays unchanged.

Level of detail (lod)

• 0 (default) is the original scan-resolution mesh, 0.8–2.6 million triangles.
• 1 is a reduced mesh of about 600,000 triangles, for simulation and synthetic data.

Each level is stored in its own file inside the package. Only the selected level is composed into the scene.

Physics (PhysX and collision_mode)

• PhysX = Disabled (default): the asset uses plain UsdPhysics only: a rigid body, its mass, a physics material and a convex decomposition of the object, made with CoACD. Any UsdPhysics-based simulator can use it.
• PhysX = Enabled: adds the PhysX-specific settings from runnables/physics/physx.usda, and with them the collision_mode variant set:
  • sdf (default): signed-distance-field mesh collision on a precise collider mesh. It is accurate for non-convex shapes.
  • convexHull: the CoACD convex decomposition. It is cheaper and works with more PhysX features, but it is less accurate for concave geometry.

Only the selected kind of collider is active. Mass and physics materials are the same in every mode.

Notes

• Colliders and grasp vectors use purpose = "guide", so they do not show up in rendered images or synthetic data.
• Do not edit the files of a package in place. The bill of materials records the hash of every file, so an edited package no longer matches it.