| --- |
| license: cc-by-4.0 |
| pretty_name: PackingBench Assets |
| tags: |
| - robotics |
| - simulation |
| - isaac-sim |
| - usd |
| - benchmark |
| --- |
| |
| # PackingBench Assets |
|
|
| Simulation assets for the PackingBench robot-manipulation benchmark |
| (Cybernetic Labs). All scene files are OpenUSD, Z-up, meters. |
|
|
| ## Structure |
|
|
| ``` |
| backgrounds/ |
| packing_area_simple/ Self-contained warehouse packing-area scene in |
| scene.usd NVIDIA Isaac Sim's Simple_Warehouse shell |
| (~24x39 m hall). Flattened stage: warehouse |
| shell, packing bench, dressing props (loaded box |
| rack, box piles, pallet truck, cartons), tuned |
| lighting. Static colliders only. FRAME CONTRACT |
| -- reference at identity; the scene is the |
| anchor and everything else is placed in its |
| coordinates: origin at the table surface center, |
| x = table long axis (surface x -1.24..1.24, |
| y -0.38..0.38), y = away from the robot, floor |
| z=0, work surface z=0.994. Depth order along -y: |
| table, robot spot (~y=-0.5, kept clear), box |
| rack behind the robot, warehouse wall ~11.6 m |
| behind that; open warehouse beyond the table |
| (+y). |
| resource/ All referenced textures/materials |
| (self-contained; building-shell textures capped |
| at 512 px, prop textures at 2K) |
| objects/ |
| carton/ 4-flap packing carton (main: carton.usd), |
| 0.221 x 0.110 x 0.084 m, 4 articulated flaps |
| carton_small/ Same carton with 0.8 scale BAKED into the asset |
| (main: carton_small.usd), 0.177 x 0.088 x 0.067 m -- |
| reference it plainly, no scale config needed |
| shipping_box_small/ Small rigid shipping box (main: |
| shipping_box_small.usd), 0.8 scale baked in, |
| 0.051 x 0.039 x 0.037 m |
| pressure_pump/ Pump bottle, 2 joints (main: pressure_pump.usd), |
| 0.4 scale baked in, 0.042 x 0.038 x 0.113 m |
| stapler/ Stapler, 3 joints (main: stapler.usd), |
| 0.9 scale baked in, 0.029 x 0.099 x 0.047 m |
| spray_can/ Spray paint can with cap (main: spray_can.usd), |
| 0.9 scale baked in, 0.038 x 0.038 x 0.103 m |
| hobby_knife/ Pen-style hobby knife (main: hobby_knife.usd), |
| 0.9 scale baked in, 0.020 x 0.160 x 0.015 m |
| thinner_can/ Paint-thinner can (main: thinner_can.usd), |
| 0.9 scale baked in, 0.059 x 0.081 x 0.129 m |
| LICENSE Apache-2.0 (applies to objects/, from ArtVIP) |
| scripts/ Generator scripts that rebuild the background |
| deterministically from the source datasets |
| ``` |
|
|
| Each object folder is self-contained (main USD + `resource/`); copy the whole |
| folder, reference the main USD. |
|
|
| ## Usage |
|
|
| Reference `backgrounds/packing_area_simple/scene.usd` under an Xform in an |
| Isaac Sim / OpenUSD stage. The scene is fully self-contained — asset paths |
| resolve relative to `scene.usd`, so keep the folder together. The area in |
| front of the packing bench (world -y) is left clear for a robot; the bench's |
| long axis runs along x. |
|
|
| ## Provenance & license (per folder) |
|
|
| - **`backgrounds/packing_area_simple/`** — embeds environment content from |
| NVIDIA Isaac Sim (Simple_Warehouse, fetched from NVIDIA's public asset CDN), |
| combined with CC-BY-4.0 props from NVIDIA's |
| [PhysicalAI-SimReady-Warehouse-01](https://huggingface.co/datasets/nvidia/PhysicalAI-SimReady-Warehouse-01) |
| dataset (packing bench, box rack, piles, pallet truck, cartons), recomposed, |
| flattened, and with textures downscaled via |
| `scripts/package_simple_background.py`. NVIDIA Isaac Sim content remains |
| subject to NVIDIA's Isaac Sim Additional Software and Materials License; |
| attribution: NVIDIA. |
| - **`objects/`** — licensed per object: |
| - Apache-2.0 (see `objects/LICENSE`), derived from |
| [ArtVIP](https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP) by |
| X-Humanoid ([paper](https://arxiv.org/abs/2506.04941)): `carton` is |
| ArtVIP's `carton_10`; `carton_small` is the same asset with a baked 0.8 |
| uniform scale; `shipping_box_small` is ArtVIP's `model_box` |
| (Scenes/small_living_room/box) with a baked 0.8 uniform scale; |
| `pressure_pump` is ArtVIP's `pressure_pump_13` with a baked 0.4 uniform |
| scale; `stapler` is ArtVIP's `stapler_6` with a baked 0.9 uniform scale. |
| - CC-BY-4.0, derived from NVIDIA's PhysicalAI-SimReady-Warehouse-01, all |
| with a baked 0.9 uniform scale, attribution NVIDIA: `spray_can` |
| (`paint_container_spraycan_a01`), `hobby_knife` |
| (`tool_cutting_hobbyknife_a01`), `thinner_can` |
| (`paint_supplies_thinner_a01`). |
| |
