projectsim/simready-articulated-objects-sample

SimReady Articulated Objects (Free Sample)

Free sample of 8 sim-ready, articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim): enough to try in your simulator, not enough to train on. We have 100,000+ more assets like these. Request them at https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects or email team@projectsim.ai.

Every object has real joints with limits (hinges and sliders), a mass for every moving part, per-part colliders, and 4K PBR textures. Open the .usd in Isaac Sim and it moves.

Is this sample enough for you?

If you need	This sample has	Ask us for
Enough data to train a policy	8 objects, enough to test	1,000 to 1M+ assets. We have 100,000+ like these
Many versions of one object	1 of each object	Variants in different sizes, shapes and materials
Your own objects	Our objects	Sim-ready assets made from your photos
Another simulator	OpenUSD for Isaac Sim (PhysX)	Isaac Sim (Newton), Genesis, MuJoCo, SAPIEN, Unreal / Unity: tell us which

Request assets → It's a short form on Hugging Face. Or email team@projectsim.ai.

What's included

Object	Folder	What it is	Joints	Mass
Utility knife	utility_knife	Snap-off box cutter with a sliding blade	1 (1 prismatic)	0.19 kg
Industrial shears	industrial_shears	Heavy cutting shears with a jaw pivot and a locking latch	2 (2 revolute)	4.28 kg
Meat slicer	meat_slicer	Flywheel meat slicer: crank, carriage, pusher, clamp and thickness knob	7 (5 revolute, 2 prismatic)	68.2 kg
Pipe valve	industrial_pipe_valve	Flanged pipe valve: the handwheel turns and the stem rises	2 (1 revolute, 1 prismatic)	89.15 kg
Desk lamp	desk_lamp	Balanced-arm desk lamp with a swivel base and tilting shade	5 (5 revolute)	1.69 kg
Kitchen faucet	faucet_kitchen	Kitchen tap: swivel spout, pull-out spray, flow and temperature levers; fixed to the world	4 (3 revolute, 1 prismatic)	1.57 kg
Forklift	forklift	Counterbalance forklift: rolling wheels, tilting mast and a lifting fork carriage	6 (5 revolute, 1 prismatic)	3870 kg
Garlic press	garlic_press	Hinged garlic press	1 (1 revolute)	0.55 kg

Download

hf download projectsim/simready-articulated-objects-sample --repo-type dataset --local-dir simready-articulated-objects-sample

One object only:

hf download projectsim/simready-articulated-objects-sample --repo-type dataset --include "assets/desk_lamp/*" --local-dir simready-articulated-objects-sample

Open it with USD's Python API, or File > Open in Isaac Sim:

from pxr import Usd
stage = Usd.Stage.Open("simready-articulated-objects-sample/assets/desk_lamp/desk_lamp.usd")

assets/metadata.jsonl lists every object with its joints, mass and file paths, so datasets.load_dataset("projectsim/simready-articulated-objects-sample") gives you the catalogue without the 300 MB of files.

Files

assets/<name>/
├── <name>.usd       OpenUSD (binary), textures referenced as ./textures/*.png
├── physics.json     joints, limits, per-link mass and colliders, as authored in the USD
├── preview.png      render of the object
├── textures/        base_color, normal, roughness, metallic (4K)
└── GET_MORE.md      how to get more assets like this one

Physics

• Units are meters, Z up. Engine: PhysX (Isaac Sim).
• Each moving part is its own rigid link with its own collider (convex decomposition).
• Joint limits, friction and the parent/child links are listed per joint in physics.json.
• Masses are estimated per part from the object's materials and are a starting point, not a measurement.

License

CC BY 4.0: free to use, share and adapt, including commercially. Credit "projectsim by Kaedim".

Questions: open a Discussion on this repo, or email team@projectsim.ai.