projectsim/simready-assets

projectsim SimReady Assets

Sim-ready household, kitchen and workshop objects from projectsim by Kaedim, packaged for NVIDIA SimReady Central: 223 assets, 140 of them with moving parts (screw caps, hinged and twist lids, spray triggers, pump buttons, doors, latches, handles, knobs and cranks). The rest are single rigid objects such as fruit, vegetables and tableware, at real-world size.

Each asset is OpenUSD with rigid bodies, colliders, mass, Wikidata semantic labels and SimReady metadata; assets with moving parts also carry joints. Every asset is validated against the SimReady Foundation Robotics-Prop profile and run through the SimReady benchmark in Isaac Sim 6.1. Each asset's validation and benchmark results, including any failed tests, are in its .metadata/ folder. CC BY 4.0.

What's in it

Category	Assets	With moving parts
food container	49	47
fruit	39	0
household chemical container	32	30
personal care container	18	18
kitchen utensil	15	9
kitchen appliance	11	10
tableware	10	0
storage container	9	3
vegetable	6	0
food packaging	5	5
hand tool	5	5
furniture	4	0
packaging	4	3
hardware	3	1
tool storage	3	3
home decor	2	0
toy	2	2
garden tool	1	0
household	1	1
industrial equipment	1	1
lighting	1	1
musical instrument	1	0
plumbing fixture	1	1
Total	223	140

faucet_kitchen (wall or counter mounted) and desk_lamp (base fixed to the desk) are fixed to the world where you place them, so they do not fall.

All assets

Full list (223 assets)

Asset	Category	Rigid bodies	Mass	Size (x × y × z)
adhesive_remover_bottle	household chemical container	2	0.596 kg	0.09 × 0.05 × 0.23 m
aerosol_can	household chemical container	3	0.392 kg	0.07 × 0.07 × 0.20 m
all_purpose_cleaner_bottle	household chemical container	3	1.046 kg	0.11 × 0.07 × 0.28 m
angle_bracket_long	hardware	1	0.119 kg	4.0 × 7.6 × 9.0 cm
angle_bracket_short	hardware	1	0.133 kg	4.0 × 8.0 × 8.0 cm
antifreeze_bottle	household chemical container	2	5.946 kg	0.21 × 0.09 × 0.35 m
apple	fruit	1	0.180 kg	7.3 × 7.5 × 8.0 cm
apple_half	fruit	1	0.100 kg	7.9 × 3.4 × 9.0 cm
apricot	fruit	1	80.0 g	5.3 × 5.3 × 5.5 cm
apricot_half	fruit	1	40.0 g	4.6 × 3.5 × 5.0 cm
bag_clip	kitchen utensil	2	91.7 g	0.12 × 0.04 × 0.11 m
balsamic_vinegar_bottle	food container	2	1.411 kg	0.08 × 0.08 × 0.28 m
beverage_can	food container	2	0.283 kg	0.06 × 0.06 × 0.12 m
blackberry	fruit	1	4.0 g	1.8 × 1.9 × 2.8 cm
blackberry_half	fruit	1	3.0 g	1.9 × 1.0 × 3.0 cm
blackcurrant	fruit	1	1.0 g	1.1 × 1.1 × 1.2 cm
blackcurrant_half	fruit	1	1.0 g	1.4 × 1.2 × 1.5 cm
bleach_bottle	household chemical container	2	2.672 kg	0.16 × 0.09 × 0.31 m
blender	kitchen appliance	6	1.370 kg	0.21 × 0.19 × 0.45 m
blueberry	fruit	1	2.0 g	1.5 × 1.5 × 1.4 cm
blueberry_half	fruit	1	1.0 g	1.4 × 1.0 × 1.5 cm
bowl_ornate_01	tableware	1	15.014 kg	0.40 × 0.40 × 0.23 m
bowl_ornate_02	tableware	1	18.309 kg	0.52 × 0.52 × 0.28 m
bowl_ornate_03	tableware	1	2.349 kg	0.40 × 0.40 × 0.22 m
bowl_ornate_04	tableware	1	77.621 kg	0.75 × 0.75 × 0.53 m
bowl_ornate_05	tableware	1	30.559 kg	0.49 × 0.50 × 0.35 m
brake_fluid_bottle	household chemical container	2	2.836 kg	0.14 × 0.09 × 0.27 m
breakfast_cereal_box	food packaging	2	0.438 kg	0.19 × 0.07 × 0.32 m
broth_jar	food container	2	1.559 kg	0.09 × 0.09 × 0.17 m
bubble_bath_bottle	personal care container	3	1.266 kg	0.10 × 0.07 × 0.28 m
bubble_solution_bottle	toy	2	0.903 kg	0.07 × 0.07 × 0.29 m
bubble_solution_refill_bottle	toy	2	0.896 kg	0.07 × 0.07 × 0.28 m
butt_hinge	hardware	2	0.210 kg	0.08 × 0.01 × 0.10 m
cake_mix_box	food packaging	2	0.508 kg	0.16 × 0.06 × 0.25 m
can_opener	kitchen utensil	4	0.299 kg	0.22 × 0.07 × 0.04 m
caramel_sauce_jar	food container	2	0.745 kg	0.08 × 0.08 × 0.10 m
cardboard_shoe_box	packaging	2	0.666 kg	0.37 × 0.24 × 0.15 m
carpet_shampoo	household chemical container	2	1.805 kg	0.13 × 0.07 × 0.30 m
celeriac	vegetable	1	2.120 kg	0.16 × 0.16 × 0.22 m
ceramic_serving_bowl	tableware	1	1.688 kg	0.30 × 0.30 × 0.09 m
cherry	fruit	1	23.0 g	3.6 × 3.4 × 6.0 cm
cherry_half	fruit	1	12.0 g	3.3 × 3.1 × 6.0 cm
chilli_oil_jar	food container	2	1.015 kg	0.09 × 0.09 × 0.11 m
chocolate_assortment_box	food packaging	2	0.546 kg	0.30 × 0.24 × 0.05 m
chocolate_sauce_jar	food container	2	0.849 kg	0.08 × 0.08 × 0.11 m
clamshell_food_container	food container	2	72.3 g	0.24 × 0.24 × 0.08 m
coconut	fruit	1	0.967 kg	0.13 × 0.13 × 0.18 m
coconut_half	fruit	1	0.372 kg	0.11 × 0.13 × 0.07 m
coconut_milk_jar	food container	2	1.373 kg	0.09 × 0.09 × 0.15 m
colander	kitchen utensil	1	0.751 kg	0.40 × 0.32 × 0.14 m
combination_pliers	hand tool	2	0.290 kg	0.07 × 0.01 × 0.21 m
condensed_milk_jar	food container	2	1.736 kg	0.10 × 0.10 × 0.16 m
contact_lens_solution_bottle	personal care container	2	0.638 kg	0.07 × 0.07 × 0.23 m
cooking_oil_bottle	food container	2	1.361 kg	0.09 × 0.09 × 0.30 m
cough_syrup_bottle	personal care container	2	0.618 kg	0.06 × 0.06 × 0.16 m
cracker_box	food packaging	2	0.248 kg	0.22 × 0.06 × 0.20 m
cranberry	fruit	1	2.0 g	1.5 × 1.5 × 1.5 cm
cranberry_half	fruit	1	3.0 g	1.9 × 1.5 × 2.0 cm
crosne	vegetable	1	64.0 g	10.0 × 4.4 × 4.0 cm
cutting_board	kitchen utensil	1	1.884 kg	0.46 × 0.30 × 0.02 m
descaler_bottle	household chemical container	2	1.420 kg	0.12 × 0.06 × 0.27 m
desk_divider_screen	furniture	3	2.629 kg	0.60 × 0.14 × 0.72 m
desk_lamp	lighting	6	1.686 kg	0.51 × 0.19 × 0.79 m
dishwasher	kitchen appliance	2	50.808 kg	0.61 × 0.62 × 0.84 m
dishwasher_rinse_aid_bottle	household chemical container	3	0.735 kg	0.10 × 0.05 × 0.25 m
dishwashing_liquid	household chemical container	3	0.854 kg	0.11 × 0.05 × 0.24 m
disinfectant_bottle	household chemical container	3	0.778 kg	0.10 × 0.06 × 0.29 m
divided_shelf_tray	storage container	3	1.539 kg	0.45 × 0.44 × 0.07 m
drain_cleaner	household chemical container	2	2.418 kg	0.13 × 0.07 × 0.32 m
dropper_bottle	personal care container	2	40.8 g	3.0 × 3.0 × 8.6 cm
electric_deep_fryer	kitchen appliance	4	3.249 kg	0.37 × 0.40 × 0.38 m
electric_egg_cooker	kitchen appliance	3	1.124 kg	0.32 × 0.27 × 0.34 m
electric_kettle	kitchen appliance	2	1.858 kg	0.24 × 0.17 × 0.27 m
engine_degreaser_bottle	household chemical container	3	1.040 kg	0.12 × 0.06 × 0.28 m
eye_drop_bottle	personal care container	2	25.3 g	2.4 × 2.4 × 7.9 cm
face_cream_jar	personal care container	2	0.507 kg	7.6 × 7.6 × 7.9 cm
faucet_kitchen	plumbing fixture	5	1.574 kg	0.32 × 0.07 × 0.40 m
film_can	storage container	2	1.404 kg	0.24 × 0.24 × 0.16 m
finger_lime	fruit	1	29.0 g	2.9 × 2.7 × 8.0 cm
finger_lime_half	fruit	1	50.0 g	3.7 × 3.8 × 8.0 cm
fish_sauce_bottle	food container	2	1.325 kg	0.07 × 0.07 × 0.30 m
floor_cleaner_bottle	household chemical container	2	2.831 kg	0.17 × 0.07 × 0.31 m
folding_probe_thermometer	kitchen utensil	2	30.9 g	0.04 × 0.03 × 0.17 m
food_can	food container	1	0.465 kg	0.07 × 0.07 × 0.11 m
food_storage_container_large	food container	2	1.042 kg	0.27 × 0.23 × 0.26 m
food_storage_container_small	food container	2	0.468 kg	0.26 × 0.20 × 0.15 m
fruit_bowl	tableware	1	1.877 kg	0.30 × 0.30 × 0.12 m
furniture_polish	household chemical container	3	0.835 kg	0.09 × 0.08 × 0.25 m
garlic_press	kitchen utensil	2	0.545 kg	0.26 × 0.07 × 0.15 m
gazpacho_jar	food container	2	3.679 kg	0.12 × 0.12 × 0.25 m
glass_cleaner	household chemical container	3	0.804 kg	0.11 × 0.06 × 0.29 m
glycerin_bottle	personal care container	2	0.563 kg	0.06 × 0.06 × 0.17 m
gooseberry	fruit	1	3.0 g	1.8 × 1.8 × 2.5 cm
grape	fruit	1	4.0 g	1.7 × 1.6 × 2.5 cm
grape_half	fruit	1	2.0 g	2.1 × 0.9 × 2.5 cm
grapefruit	fruit	1	0.770 kg	0.12 × 0.12 × 0.12 m
grapefruit_half	fruit	1	0.320 kg	0.11 × 0.11 × 0.05 m
gravy_jar	food container	2	1.198 kg	0.09 × 0.09 × 0.15 m
hair_gel_jar	personal care container	2	0.839 kg	0.10 × 0.10 × 0.10 m
hard_equipment_case	storage container	5	9.995 kg	0.63 × 0.48 × 0.31 m
hinged_lid_carton_large	packaging	2	1.827 kg	0.61 × 0.41 × 0.23 m
hinged_lid_carton_small	packaging	2	0.652 kg	0.43 × 0.31 × 0.23 m
hinged_plastic_case	storage container	2	0.612 kg	0.36 × 0.24 × 0.14 m
hinged_toolbox	tool storage	4	4.458 kg	0.57 × 0.32 × 0.29 m
honey_jar	food container	2	1.210 kg	0.08 × 0.08 × 0.13 m
honey_jar_02	food container	2	1.963 kg	0.11 × 0.08 × 0.20 m
hot_sauce_bottle	food container	2	0.425 kg	0.05 × 0.05 × 0.19 m
hot_sauce_bottle_tall	food container	2	0.609 kg	0.06 × 0.06 × 0.23 m
hydrogen_peroxide_bottle	personal care container	2	0.891 kg	0.08 × 0.08 × 0.21 m
industrial_pipe_valve	industrial equipment	3	89.153 kg	0.48 × 0.36 × 0.59 m
industrial_shears	hand tool	3	4.276 kg	0.45 × 0.07 × 0.26 m
ink_jar	household chemical container	2	0.546 kg	7.8 × 7.8 × 8.7 cm
isopropyl_alcohol_bottle	personal care container	2	56.7 g	0.07 × 0.04 × 0.20 m
jam_jar	food container	2	0.927 kg	0.08 × 0.08 × 0.11 m
jewelry_cleaner_bottle	household chemical container	4	0.501 kg	0.07 × 0.07 × 0.19 m
juice_carton	food container	1	1.074 kg	0.08 × 0.07 × 0.23 m
kitchen_scale	kitchen appliance	2	0.526 kg	0.20 × 0.24 × 0.05 m
kitchen_shears	kitchen utensil	2	88.1 g	0.23 × 0.01 × 0.09 m
kiwifruit	fruit	1	90.0 g	4.9 × 4.9 × 7.0 cm
kiwifruit_half	fruit	1	0.195 kg	6.9 × 7.0 × 6.1 cm
kohlrabi	vegetable	1	3.050 kg	0.27 × 0.23 × 0.28 m
kumquat_half	fruit	1	6.0 g	2.4 × 1.4 × 4.0 cm
ladle	kitchen utensil	1	0.368 kg	0.40 × 0.13 × 0.14 m
laundry_detergent	household chemical container	2	2.828 kg	0.17 × 0.08 × 0.30 m
laundry_stain_remover_bottle	household chemical container	3	1.009 kg	0.11 × 0.06 × 0.30 m
lemon_half	fruit	1	0.170 kg	7.0 × 7.0 × 5.8 cm
lemon_juice_bottle	food container	2	0.974 kg	0.08 × 0.08 × 0.26 m
lime_half	fruit	1	77.0 g	6.0 × 6.0 × 3.6 cm
liquid_fertilizer_bottle	household chemical container	2	1.568 kg	0.09 × 0.09 × 0.30 m
liquid_glue_bottle	household chemical container	2	0.280 kg	0.07 × 0.03 × 0.18 m
liquid_hand_soap_jar	personal care container	3	2.166 kg	0.10 × 0.10 × 0.24 m
liquid_latex_jar	household chemical container	2	0.753 kg	0.09 × 0.09 × 0.13 m
liquid_latex_tub	household chemical container	2	0.681 kg	0.09 × 0.09 × 0.12 m
mandarin_half	fruit	1	0.175 kg	8.0 × 8.0 × 5.2 cm
mangosteen	fruit	1	0.135 kg	6.5 × 6.7 × 7.0 cm
maple_syrup_jar	food container	2	1.374 kg	0.08 × 0.08 × 0.16 m
maraschino_cherry_jar	food container	2	1.605 kg	0.10 × 0.10 × 0.16 m
mayonnaise_jar	food container	2	1.306 kg	0.09 × 0.09 × 0.16 m
meat_slicer	kitchen appliance	8	68.2 kg	1.17 × 0.65 × 0.98 m
metal_lunch_box	food container	3	1.861 kg	0.29 × 0.22 × 0.12 m
microwave_oven	kitchen appliance	3	19.689 kg	0.52 × 0.40 × 0.32 m
milk_carton	food container	2	1.008 kg	0.08 × 0.07 × 0.22 m
mineral_water_bottle	food container	2	0.633 kg	0.07 × 0.07 × 0.23 m
molasses_jar	food container	2	2.144 kg	0.10 × 0.10 × 0.17 m
mortar_and_pestle	kitchen utensil	2	5.165 kg	0.24 × 0.19 × 0.12 m
motor_oil_bottle	household chemical container	2	1.786 kg	0.15 × 0.07 × 0.26 m
mouthwash_bottle	personal care container	2	0.194 kg	0.09 × 0.09 × 0.26 m
mustard_jar	food container	2	0.739 kg	0.07 × 0.07 × 0.13 m
nail_polish_bottle	personal care container	2	98.5 g	3.5 × 2.4 × 9.9 cm
nail_polish_bottle_square	personal care container	2	74.9 g	3.2 × 2.3 × 8.7 cm
oca	vegetable	1	0.206 kg	0.05 × 0.11 × 0.12 m
orange_half	fruit	1	0.250 kg	9.0 × 9.0 × 5.3 cm
oven_cleaner	household chemical container	3	1.465 kg	0.09 × 0.08 × 0.31 m
oven_mitt	kitchen utensil	1	0.132 kg	0.23 × 0.04 × 0.32 m
paint_can	household chemical container	3	16.352 kg	0.28 × 0.25 × 0.28 m
pasta_box	food packaging	2	34.5 g	0.16 × 0.07 × 0.27 m
pasta_machine	kitchen appliance	7	5.447 kg	0.42 × 0.18 × 0.25 m
pasta_sauce_jar	food container	2	1.575 kg	0.09 × 0.09 × 0.19 m
peach_jar	food container	2	1.177 kg	0.09 × 0.09 × 0.15 m
peanut_butter_jar	food container	2	1.021 kg	0.08 × 0.08 × 0.13 m
perfume_bottle	personal care container	3	0.431 kg	0.06 × 0.04 × 0.14 m
pesto_jar	food container	2	0.685 kg	0.08 × 0.08 × 0.10 m
picking_basket	storage container	1	3.598 kg	0.61 × 0.41 × 0.32 m
pickle_jar	food container	2	1.874 kg	0.10 × 0.10 × 0.17 m
pineapple_half	fruit	1	0.540 kg	0.12 × 0.09 × 0.28 m
plastic_compartment_tray	storage container	1	4.307 kg	0.62 × 0.42 × 0.11 m
plastic_lunch_box	food container	3	0.445 kg	0.25 × 0.18 × 0.10 m
plastic_shelf_bin	storage container	1	2.287 kg	0.62 × 0.20 × 0.15 m
plastic_storage_basket	storage container	1	4.748 kg	0.61 × 0.44 × 0.38 m
plate_ornate_01	tableware	1	0.513 kg	0.30 × 0.30 × 0.03 m
plate_ornate_02	tableware	1	5.977 kg	0.40 × 0.40 × 0.14 m
pliers_red_handles	hand tool	2	0.259 kg	0.06 × 0.01 × 0.20 m
pomelo_half	fruit	1	0.880 kg	0.15 × 0.15 × 0.07 m
porcelain_ginger_jar	home decor	2	9.034 kg	0.30 × 0.30 × 0.52 m
raspberry_half	fruit	1	2.0 g	1.8 × 1.1 × 2.5 cm
red_metal_toolbox	tool storage	7	9.531 kg	0.50 × 0.26 × 0.34 m
red_tool_chest	tool storage	4	15.851 kg	0.63 × 0.28 × 0.26 m
red_wine_vinegar_bottle	food container	2	1.284 kg	0.07 × 0.07 × 0.30 m
red_wine_vinegar_plastic_bottle	food container	2	0.795 kg	0.07 × 0.07 × 0.27 m
redcurrant_half	fruit	1	1.0 g	1.3 × 0.7 × 1.5 cm
retail_display_stand	furniture	1	18.100 kg	0.61 × 0.25 × 1.65 m
rice_cooker	kitchen appliance	3	4.199 kg	0.33 × 0.36 × 0.36 m
rubber_cement_jar	household chemical container	2	0.539 kg	0.07 × 0.07 × 0.14 m
rubbing_alcohol_bottle	personal care container	2	0.539 kg	0.08 × 0.05 × 0.23 m
rust_remover_bottle	household chemical container	3	0.887 kg	0.10 × 0.06 × 0.28 m
salad_dressing_jar	food container	2	1.029 kg	0.08 × 0.08 × 0.15 m
salad_spinner	kitchen utensil	4	1.797 kg	0.33 × 0.33 × 0.25 m
saline_nasal_spray_bottle	personal care container	3	67.5 g	0.04 × 0.04 × 0.14 m
salsa_jar	food container	2	1.384 kg	0.09 × 0.09 × 0.16 m
scouring_powder	household chemical container	1	98.0 g	0.09 × 0.09 × 0.18 m
screw_cap_glass_bottle	food container	2	1.626 kg	0.08 × 0.08 × 0.32 m
shampoo_bottle	personal care container	2	0.500 kg	0.08 × 0.04 × 0.24 m
singing_bowl	musical instrument	3	12.571 kg	0.33 × 0.30 × 0.30 m
socket_ratchet_wrench	hand tool	4	0.604 kg	0.04 × 0.04 × 0.26 m
soy_sauce_bottle	food container	2	1.091 kg	0.07 × 0.07 × 0.26 m
spatula	kitchen utensil	1	0.105 kg	0.32 × 0.07 × 0.01 m
spring_tea_infuser	kitchen utensil	2	23.1 g	0.06 × 0.05 × 0.16 m
stackable_parts_bin	storage container	1	7.488 kg	0.44 × 0.47 × 0.29 m
strawberry_half	fruit	1	5.0 g	3.2 × 1.9 × 5.0 cm
sugar_bowl	tableware	2	2.302 kg	0.18 × 0.18 × 0.15 m
sunchoke	vegetable	1	0.280 kg	9.1 × 8.8 × 10.0 cm
tahini_jar	food container	2	1.043 kg	0.09 × 0.09 × 0.11 m
tilt_head_stand_mixer	kitchen appliance	4	7.650 kg	0.42 × 0.23 × 0.44 m
toilet_bowl_cleaner	household chemical container	2	1.125 kg	0.10 × 0.06 × 0.31 m
tortilla_press	kitchen utensil	3	2.866 kg	0.25 × 0.32 × 0.06 m
trash_can	household	2	5.359 kg	0.41 × 0.34 × 0.71 m
tuck_flap_mailer_box	packaging	3	1.319 kg	0.62 × 0.41 × 0.24 m
unripe_banana	fruit	1	0.360 kg	0.22 × 0.05 × 0.12 m
unripe_tomato	vegetable	1	0.220 kg	7.9 × 8.0 × 7.8 cm
utility_knife	hand tool	2	0.188 kg	0.05 × 0.19 × 0.02 m
vacuum_flask	food container	3	0.452 kg	0.12 × 0.09 × 0.36 m
vanilla_extract_bottle	food container	2	0.452 kg	0.05 × 0.05 × 0.17 m
varnish_jar	household chemical container	2	0.477 kg	7.1 × 7.1 × 8.4 cm
vegetable_peeler	kitchen utensil	2	0.166 kg	0.09 × 0.03 × 0.19 m
vinegar_bottle	food container	2	1.459 kg	0.09 × 0.09 × 0.24 m
watering_can	garden tool	1	3.319 kg	0.56 × 0.29 × 0.42 m
watermelon_half	fruit	1	5.000 kg	0.24 × 0.25 × 0.15 m
white_wine_vinegar_bottle	food container	2	1.191 kg	0.07 × 0.07 × 0.30 m
wine_bottle	food container	2	1.488 kg	0.08 × 0.08 × 0.30 m
wooden_bookend	home decor	1	7.280 kg	0.46 × 0.11 × 0.82 m
wooden_shelving_worn	furniture	1	121.000 kg	1.04 × 0.43 × 1.80 m
wooden_wall_shelf	furniture	1	14.030 kg	1.20 × 0.32 × 0.24 m
yuzu_half	fruit	1	95.0 g	7.0 × 7.0 × 3.5 cm

Layout

Each asset is one SimReady package:

<asset>/
├── com.nvidia.simready.packaging.json   package definition
├── .metadata/                           validation and benchmark results, bill of materials
└── simready_usd/
    ├── <asset>.usd                      open this in Isaac Sim
    ├── textures/
    ├── materials/                       glass shaders (MDL), only on assets with glass
    └── .thumbs/256x256/<asset>.usd.png

Units are metres, Z up. Physics is authored for PhysX (Isaac Sim).

Download one asset

hf download projectsim/simready-assets --repo-type dataset --include "garlic_press/*" --local-dir simready-assets

More assets

These are a free sample. projectsim generates sim-ready objects like these at scale, including your own objects: see projectsim/sim-ready-articulated-objects or email team@projectsim.ai.

License

CC BY 4.0. Credit "projectsim by Kaedim".