| --- |
| license: cc-by-4.0 |
| pretty_name: SimReady Warehouse Objects |
| task_categories: |
| - robotics |
| tags: |
| - robotics |
| - simulation |
| - simready |
| - sim-ready |
| - warehouse |
| - articulated-objects |
| - manipulation |
| - usd |
| - openusd |
| - isaac-sim |
| - physx |
| - 3d |
| - synthetic-data |
| size_categories: |
| - n<1K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: assets/metadata.jsonl |
| extra_gated_heading: Get 40 free sim-ready warehouse objects |
| extra_gated_description: >- |
| Answer 3 quick questions and the files open right away. Approval is automatic. |
| extra_gated_prompt: >- |
| We use your answers only to understand who uses this data, and to reply if you ask us for more. |
| extra_gated_fields: |
| Work email: text |
| Company: text |
| Role: text |
| extra_gated_button_content: Get the files |
| --- |
| |
| # SimReady Warehouse Objects |
|
|
| 40 free sim-ready warehouse objects for robot learning in NVIDIA Isaac Sim (OpenUSD): picking bins, |
| parcel scales, small-parts drawer cabinets with sliding drawers, and wall-mounted emergency stop buttons. |
| Fill in the short form on this page and the files open right away. We have 100,000+ more assets like |
| these: email team@projectsim.ai. |
|
|
| <img src="https://huggingface.co/spaces/projectsim/previews/resolve/main/simready-warehouse-objects/preview_grid.jpg" alt="Picking bins, parcel scales, drawer cabinets and emergency stop buttons from this dataset, plus a tile: 100,000+ more assets like these" width="100%"> |
|
|
| Every object is simulation-ready: its own rigid bodies and colliders, a mass for every part, joints |
| with limits where something moves, and materials. Open the `.usd` in Isaac Sim and press Play. |
|
|
| ## What's included |
|
|
| | Object | Folder | Count | What it is | What moves | Mass | |
| | ------ | ------ | ----- | ---------- | ---------- | ---- | |
| | Picking bin | `picking_bins` | 10 | Open-front plastic shelf bin with a label holder | Rigid | 0.07 to 1.1 kg | |
| | Parcel scale | `parcel_scales` | 10 | Steel platform scale with a display on a post, in the base, or on a separate stand | Rigid | 4.2 to 13.9 kg | |
| | Small-parts drawer cabinet | `drawer_cabinets` | 10 | Steel or plastic frame with 9 to 20 clear pull-out drawers | Every drawer slides out (prismatic) | 1.2 to 5.0 kg | |
| | Emergency stop button | `estop_buttons` | 10 | Yellow control box with a red mushroom button, fixed to the wall | The button presses in (prismatic, 5 mm) | 0.12 to 0.37 kg | |
|
|
| Each class comes in different sizes, layouts and colours. |
|
|
| ## Is this enough for you? |
|
|
| | If you need | This dataset has | Ask us for | |
| | ----------- | ---------------- | ---------- | |
| | Enough data to train a policy | 40 objects, enough to test | 1,000 to 1M+ assets. We have 100,000+ like these | |
| | Other warehouse objects | 4 object types | Totes, crates, carts, racking, tools and more | |
| | 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 | |
|
|
| Email `team@projectsim.ai`, or generate your own with the [projectsim API](https://docs.projectsim.ai/getting-started/quickstart?utm_source=hf_gate&utm_medium=get_more&utm_content=simready-warehouse-objects). |
|
|
| ## How to get the files |
|
|
| 1. Sign in to Hugging Face and fill in the form at the top of this page. Approval is automatic. |
| 2. Download: |
|
|
| ```bash |
| hf auth login |
| hf download projectsim/simready-warehouse-objects --repo-type dataset --local-dir simready-warehouse-objects |
| ``` |
|
|
| One class only: |
|
|
| ```bash |
| hf download projectsim/simready-warehouse-objects --repo-type dataset --include "assets/drawer_cabinets/*" --local-dir simready-warehouse-objects |
| ``` |
|
|
| `assets/metadata.jsonl` lists every object with its class, colour, joints, mass and file paths. |
|
|
| ## Files |
|
|
| ``` |
| assets/<class>/<variant>/ |
| ├── <variant>.usd OpenUSD (binary): geometry, materials, physics and joints |
| ├── physics.json joints and limits, mass, colliders and friction, as authored in the USD |
| ├── preview.png render of the object |
| └── textures/ texture maps, where the materials use them |
| ``` |
|
|
| ## Physics |
|
|
| - Metres, Z up. Authored for Isaac Sim with PhysX. |
| - Each moving part is its own rigid body with convex colliders. |
| - Drawers and buttons are prismatic joints with limits. The emergency stop boxes are fixed to the world. |
| - Masses are estimated per part from each part's material. Treat them as a starting point, not a measurement. |
| - Clear drawers use NVIDIA's `OmniGlass` material, which Isaac Sim provides. |
|
|
| ## 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`. |
|
|
