---
license: cc-by-4.0
task_categories:
  - robotics
tags:
  - simready
  - usd
  - openusd
  - kitchen
  - physical-ai
  - isaac-sim
  - 3d-assets
pretty_name: PhysicalAI SimReady Kitchen Assets
---

# PhysicalAI SimReady Kitchen Assets

The source asset library behind the **PhysicalAI SimReady Kitchens** scene
datasets: the textures, environment maps and SimReady models that the
generator composes into procedurally-varied kitchen scenes.

This repo holds the *ingredients*, not the scenes. For the generated scenes
themselves, see the companion dataset
[`imagine-io/PhysicalAI-SimReady-Kitchens-v1`](https://huggingface.co/datasets/imagine-io/PhysicalAI-SimReady-Kitchens-v1).

## Why this repo exists

Generated scenes used to be fully self-contained — every texture a scene
touched and every SimReady package it placed was copied into the scene's
`.usdz`. That makes a scene portable but very large (~700 MB each), and it
duplicates the same 127 MB HDRI and the same 141 MB floor normal map across
thousands of scenes.

Publishing the assets once, here, lets each scene reference them by URL
instead:

```usda
def Xform "Fryer" (
    prepend references = @https://huggingface.co/datasets/imagine-io/PhysicalAI-Simready-Kitchen-Assets/resolve/main/Models/appliances/Air_fryer_1.usdz[air_fryer_1.usd]@
)
{
}
```

## Layout

The repo mirrors the generator's asset tree verbatim — the path here is the
path on disk.

| Path | Size | Contents |
|---|---|---|
| `Materials/` | ~2.41 GiB | 246 PBR texture maps (`.jpg` / `.png`) + 37 `material.json` parameter files |
| `Models/` | ~2.89 GiB | 453 `.glb` source meshes + 102 `.usdz` SimReady packages |
| `hdri/` | ~765 MiB | 10 environment maps (`.exr` / `.hdr`), 2K–8K |

`Materials/` has two shapes: 37 named-material folders (`material.json` plus
2–3 maps) and 4 texture *pools* — `floor/`, `wall/`, `ceiling/`,
`wall_tiles_textures/` — whose leaves are `<name>_<size>_meter/` folders
carrying the physical tiling scale in the directory name.

`Models/` is flat within each category: `appliances/`, `backsplash/`,
`cabinets/`, `ceiling/`, `clutters/`, `doors/`, `faucets/`, `handles/`,
`props/`, `slabs/`. In `appliances/` and `clutters/` every `.glb` has a
matching `.usdz` twin; the `.usdz` is the SimReady package (physics APIs,
collision approximations, MDL materials) and the `.glb` is the mesh source.

## SimReady packages

Each `.usdz` is a stored (uncompressed) zip holding a root `.usd`, a
`gltf/pbr.mdl`, and `SubUSDs/textures/*`. The root member is declared in
`.metadata/com.nvidia.simready.root_usds.json`. Address a prim inside one
with USD's package-relative syntax:

```
<package>.usdz[<root>.usd]
```

## Usage

```python
from huggingface_hub import hf_hub_download, snapshot_download

# One file.
p = hf_hub_download(
    "imagine-io/PhysicalAI-Simready-Kitchen-Assets",
    "Models/appliances/Air_fryer_1.usdz",
    repo_type="dataset",
)

# Just the HDRIs.
snapshot_download(
    "imagine-io/PhysicalAI-Simready-Kitchen-Assets",
    repo_type="dataset",
    allow_patterns=["hdri/**"],
)
```

Files are also fetchable anonymously over plain HTTP at
`https://huggingface.co/datasets/imagine-io/PhysicalAI-Simready-Kitchen-Assets/resolve/main/<path>`,
which is what the reference arcs above rely on.

## Resolving references

A USD runtime needs an HTTP-capable asset resolver to follow these URLs.
**NVIDIA Isaac Sim and Omniverse Kit resolve `https://` asset paths.** Stock
OpenUSD with `ArDefaultResolver` (`usdview`, Blender's USD importer) does
**not**, and will report the references as unresolved — for those consumers,
download the assets locally or use a scene built with assets embedded.

Pin a commit sha rather than `main` if you need a fixed snapshot; `main`
moves when assets are updated.