---
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`).