id stringclasses 5
values | size_x_m float64 1 1.5 | size_y_m float64 0.55 0.69 | size_z_m float64 0.7 0.75 | mass_kg float64 14 73.5 | tris int64 6.92k 14.7k | joints int64 3 6 | joint_summary stringclasses 5
values | thumbnail stringclasses 5
values | blend stringclasses 5
values | usd_zip stringclasses 5
values |
|---|---|---|---|---|---|---|---|---|---|---|
desk_0001 | 1.5 | 0.65 | 0.75 | 73.506 | 14,092 | 6 | drawer1_open_m 0-0.46m; drawer2_open_m 0-0.46m; drawer3_open_m 0-0.46m | desks/desk_0001/thumb.png | desks/desk_0001/desk_0001.blend | desks/desk_0001/desk_0001_usd.zip |
desk_0002 | 1 | 0.55 | 0.7 | 31 | 6,922 | 3 | drawer1_open_m 0-0.365m; drawer2_open_m 0-0.365m; drawer3_open_m 0-0.365m | desks/desk_0002/thumb.png | desks/desk_0002/desk_0002.blend | desks/desk_0002/desk_0002_usd.zip |
desk_0003 | 1.4893 | 0.6475 | 0.7074 | 26.347 | 7,700 | 3 | drawer1_open_m 0-0.411631m; drawer2_open_m 0-0.411631m; drawer3_open_m 0-0.411631m | desks/desk_0003/thumb.png | desks/desk_0003/desk_0003.blend | desks/desk_0003/desk_0003_usd.zip |
desk_0004 | 1.2049 | 0.6096 | 0.7405 | 14.005 | 7,052 | 3 | drawer1_open_m 0-0.38473m; drawer2_open_m 0-0.38473m; drawer3_open_m 0-0.38473m | desks/desk_0004/thumb.png | desks/desk_0004/desk_0004.blend | desks/desk_0004/desk_0004_usd.zip |
desk_0005 | 1.1728 | 0.6906 | 0.7327 | 70.543 | 14,668 | 6 | drawer1_open_m 0-0.5m; drawer2_open_m 0-0.5m; drawer3_open_m 0-0.5m | desks/desk_0005/thumb.png | desks/desk_0005/desk_0005.blend | desks/desk_0005/desk_0005_usd.zip |
projectsim Articulated Desks
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Try it before you download. Open the Desks tab in projectsim Lab, slide every drawer, then copy a one-line download command for Isaac Sim, MuJoCo, usdview or Blender.
projectsim by Kaedim — sim-ready 3D assets for robot learning. Open in your engine in one paste.
Office desks with real sliding drawers — prismatic joints with limits in meters. Every asset is a reduced-coordinate articulation with per-link mass and inertia from exact mesh integrals, per-zone physics materials, 4K AI textures, and MuJoCo-certified joints. Made with projectsim by Kaedim: projectsim.ai · Try them in the browser: projectsim/lab
Quickstart
Blender (macOS; elsewhere replace the last line with blender <file>.blend):
mkdir -p "$PWD/projectsim-assets"
cd "$PWD/projectsim-assets"
curl --fail --location --progress-bar \
"https://huggingface.co/datasets/projectsim/articulated-desks/resolve/main/desks/desk_0001/desk_0001.blend?download=true" \
--output desk_0001.blend
open -a Blender desk_0001.blend
Isaac Sim / any USD app: download an asset's *_usd.zip, unzip, open
*_scene.usda and press Play — it carries a PhysicsScene and a ground plane.
The bare <id>.usda is for referencing into your own stage (Z-up, meters).
The assets
| id | size (m) | mass (kg) | joints | Blender | USD |
|---|---|---|---|---|---|
| desk_0001 | 1.50 × 0.65 × 0.75 | 73.5 | 6 | .blend | .zip |
| desk_0002 | 1.00 × 0.55 × 0.70 | 31.0 | 3 | .blend | .zip |
| desk_0003 | 1.49 × 0.65 × 0.71 | 26.3 | 3 | .blend | .zip |
| desk_0004 | 1.20 × 0.61 × 0.74 | 14.0 | 3 | .blend | .zip |
| desk_0005 | 1.17 × 0.69 × 0.73 | 70.5 | 6 | .blend | .zip |
Layout
desks/<id>/
<id>.blend Blender file, textures packed
<id>_usd.zip <id>/ with the asset .usda, textures/, and a play-ready *_scene.usda
manifest.json dims, mass, tris, per-joint limits (+units), provenance
thumb.png 512 px render
Sibling classes: articulated-boxes · articulated-desks · logistics-cages · wardrobes
Generate your own
This dataset is sample output from the projectsim pipeline. For sim-ready assets of your objects, use the projectsim API:
- Standard asset - one image in, a sim-ready asset out
- Measured asset - mm-accurate, from a ChArUco-board capture
- Variation sets - procedural or high-fidelity families from a single object
License
CC-BY-4.0. projectsim by Kaedim.
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