valtsblukis/robolab_longhorizon_simready_assets

RoboLab Long-Horizon SimReady Assets

34 NVIDIA Isaac SimReady 6.0 assets used by the long-horizon manipulation benchmark, post-processed with physics and material patches for simulation.

Contents

Category	Count	Assets
baskets	2	mini_plastic_basket, plastic_basket
boxes_packaging	3	open_cardboard_box, open_cardboard_box_002, open_cardboard_box_004
dishware	7	bowl_002, bowl_003, bowl_005, bowl_011, bowl_015, bowl_016, bowl_019, large_plastic_plate
food_and_drink	9	avocado, banana_2, beer_bottle_003, bitter_melon, coffee_cup_e01, eggplant, lime, orange, soda_can_008
kitchenware	2	cup_d01, cutting_board_b01
storage_containers	8	beige_office_compost_can, black_office_trash_can, green_crate, green_crate_002, green_recycle_container_004, red_crate, white_crate, white_crate_002
toys_recreation	2	golf_ball_002, ping_pong_paddle

Structure

<category>/<asset_name>/
├── <asset_name>.usda          # Wrapper USD (entry point, includes physics patches)
└── source/                    # Original SimReady source files
    ├── *.usd                  # Root USD
    ├── payloads/              # Geometry, materials, physics layers
    │   ├── base.usda
    │   ├── geometries.usd
    │   ├── instances.usda
    │   ├── materials.usda
    │   └── Physics/
    └── textures/              # PBR texture maps

Modifications from Original SimReady

All 34 assets have a wrapper USDA that references the source payloads.

Physics patches (14 assets): Added PhysicsRigidBodyAPI + PhysicsMassAPI on wrapper root with calibrated mass, center of mass, and diagonal inertia. Nested rigid bodies in source payloads are disabled to prevent PhysX conflicts.

Material patches (2 assets):

• soda_can_008: metallic 1.0→0.30, roughness→0.38 (was over-reflective)
• beer_bottle_003: opacity→1.0 (transparent glass caused detection issues)

Usage

Place at assets/objects/simready/ in your RoboLab workspace:

# Clone directly
git clone https://huggingface.co/datasets/valtsblukis/robolab_longhorizon_simready_assets assets/objects/simready

# Or download with huggingface_hub
from huggingface_hub import snapshot_download
snapshot_download("valtsblukis/robolab_longhorizon_simready_assets", repo_type="dataset", local_dir="assets/objects/simready")

Source & License

Original assets from NVIDIA Isaac SimReady 6.0:

• S3: s3://omniverse-content-production/Assets/Isaac/6.0/Isaac/SimReady/
• License: NVIDIA Omniverse License Agreement

Download Script

download_simready_assets.py can reproduce these assets from the original NVIDIA S3 source + patches. See script docstring for usage.