hcltech-robotics/isaac-material-properties

Isaac Material Property Seed Dataset

A lightweight material-property catalogue intended to support material retrieval and automatic material assignment in NVIDIA Isaac Sim and related USD simulation workflows.

The initial release contains 150 major material subgroups.

Schema

Identity fields:

• material_description
• material_class
• material_family

Physical parameters:

• rho: density, canonical unit kg/m^3
• E: Young's modulus, canonical unit Pa
• nu: Poisson's ratio, dimensionless
• mu_s: static-friction coefficient, dimensionless
• mu_d: dynamic-friction coefficient, dimensionless
• e: coefficient of restitution, dimensionless
• G: shear modulus, canonical unit Pa
• K: bulk modulus, canonical unit Pa

Each physical parameter has exactly three fields:

• <parameter>_value: nullable floating-point value in the canonical unit
• <parameter>_source: nullable URL, citation, or stable source identifier
• <parameter>_dt_obtained: nullable ISO 8601 timestamp recording when the value was obtained

schema.json is the machine-readable schema and unit contract. data/train.jsonl is the canonical Hub data file; data/train.csv is included for convenient manual editing and spreadsheet workflows.

Curation rules

1. Never populate a numeric value without its source and acquisition timestamp.
2. Convert all values into canonical units before storage.
3. We prefer representative subgroup values or midpoints over false grade-level precision.
4. Preserve ranges and test conditions in the source record during later enrichment.
5. Treat friction and restitution as simulation priors unless their counterface and measurement conditions are known.
6. Values derived from other fields must identify the derivation in the source field.

Useful isotropic derivations, when E and nu are grounded, are:

G = E / (2 * (1 + nu))
K = E / (3 * (1 - 2 * nu))