UCLA-VAIL/SidewalkBench-SimReady

SidewalkBench SimReady

The props and robots of SidewalkBench (UCLA VAIL) converted to OpenUSD in the NVIDIA SimReady package layout: 435 props for sidewalk scenes and 2 robots.

Validation

• Tool: simready-validate 2026.8.0
• Props: profile Robotics-Prop 4.0.0, 435 / 435 pass (no blocking failures)
• Robots: profile Robot-Body 3.0.0, 2 / 2 pass
• Per asset: <asset>/.metadata/<asset>_validation.json
• All assets: reports/validation_report.json, summary table reports/assets.csv

Runtime benchmarks were not run.

Sources, scale and mass

Source	Props
UrbanVerse-100K	274
Objaverse-1.0	161

• Props that are also in UrbanVerse-100K use the standardized UrbanVerse geometry (metric, annotated size and mass); see UrbanVerse-Assets-Sim-ready.
• The other props come from Objaverse 1.0 (Sketchfab). Where their height fell outside the 5th-95th percentile of their class in UrbanVerse-100K they were rescaled into that range (80 props; factor in scale_correction). Their mass (161 props) is estimated as class median density x bounding-box volume, clipped to the class 5th-95th percentile (mass_source says which).
• Robot masses are the sums of the URDF link masses.

Robots

Asset	Type	License	Mass (kg)	Extents (m)
sidewalkbench_robot_deeprobotics_m20	legged robot	BSD-3-Clause	34.491	0.82 x 0.50 x 0.68
sidewalkbench_robot_unitree_go2	quadruped robot	BSD-3-Clause	15.017	0.57 x 0.32 x 0.54

Robots keep their Isaac Lab importer layout (configuration/ layers with Physics / Robot / Sensor variants, defaulting to the full articulation).

Layout

<asset>/
├── .metadata/<asset>_validation.json
└── usd/
    ├── <asset>.usd                      # metres, Z-up, physics, SimReady_Metadata
    ├── .thumbs/256x256/<asset>.usd.png
    └── textures/

Each root USD carries SimReady_Metadata (asset name, type, Wikidata Q-code, extents, mass and how it was obtained, license, author, original source, SidewalkBench uid).

License and attribution

Licenses are per asset (column license in reports/assets.csv and in each USD's SimReady_Metadata). Some props are non-commercial (NC); filter on license if you need commercial use.

License	Props
CC-BY-4.0	407
CC-BY-NC-4.0	12
CC-BY-NC-SA-4.0	9
CC-BY-SA-4.0	7

Original creators and source links are listed per asset. Assets showing third-party brands, trademarks or real people, and a few broken or mislabelled models, are left out of this release.

Classes

Class	Props
bench	33
bonsai	32
trash bin	29
advertising board	27
tree	22
bollard	18
bicycle	17
table	17
traffic cone	16
traffic light	13
office building	12
stop sign	12
lamppost	11
fence	9
fire hydrant	9
handbag	8
traffic sign	8
street light	7
vending machine	7
apartment building	6
potted plant	6
mailbox	5
scooter	5
telephone booth	5
wall	5
wheelchair	5
bus	4
jersey barrier	4
train	4
backpack	3
barrel or bucket	3
bridge	3
chair	3
food truck	3
hotel	3
school	3
bus shelter	2
caution sign	2
chaise	2
fire station	2
fire truck	2
house	2
motorcycle	2
parking meter	2
pedestrian crosswalk	2
shrub	2
speed limit sign 60 km	2
traffic barricade	2
trailer	2
blackboard	1
caravan	1
casino	1
christmas tree	1
corded phone	1
dog	1
flower	1
gas station	1
government building	1
grass patch	1
grocery bag	1
guard rail	1
hatchback car	1
hospital	1
jewelry store	1
kiosk	1
no parking sign	1
obelisk	1
parking	1
pennant	1
picnic basket	1
postbox	1
real estate agency	1
road work detour ahead sign	1
self-service payment kiosk or terminal	1
shopping mall	1
speed limit sign 30 km	1
speed limit sign 40 km	1
sports car	1
tram	1
tricycle	1
utility pole	1