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Running on RTX PRO 6000
cabinet_file_a01: four bodies without mass, drawer drives that do nothing, no benchmark results
cabinet_file_a01 (package simready.hf.nvidia.simready-assets.cabinet_file_a01.2026.10.08_230651748368, root simready_usd/sm_cabinet_file_a01_01.usd) behaves well in PhysX. In my checks in Isaac Sim 5.1 it comes to rest after a 10 cm drop, and each of the six drawers and four doors reaches both limits when pushed and stops there. Some of the data looks unintended though.
Four of the 13 rigid bodies have no mass: door_03, door_04 and their glass panes glass_01 and glass_02, so PhysX computes them from density. door_01 and door_02 have 1.24 kg each. The cabinet body is exactly 100.0 kg, which looks like a placeholder next to the drawers' 5.17 and 5.24 kg.
The six drawer joints have a linear DriveAPI with stiffness 0, damping 0 and maxForce inf, so the drive does nothing. The doors have damping 0.1. If the drawers should have damping too, it is missing; if not, the drive could go.
All 13 bodies collide as SDF meshes. For a filing cabinet a convex decomposition would be much cheaper, unless the SDF is there for a reason I missed.
There is no ArticulationRootAPI: drawers and doors are free bodies held by joints, whose body0 and body1 point at the *_mesh_00 prims rather than the *_obj_00 rigid bodies. PhysX resolves both and it works. For a robot that opens the drawers an articulation would be easier to read and drive, but this may be on purpose.
The .metadata folder has no benchmark or validation results, while the OEM packages in the catalog have both. Is that planned for the NVIDIA assets?
Thanks for the feedback we will review the asset feedback.
These asset have been built for 6.1+ we have improved our mass compute since then.
We source the asset using SDF since that is the most accurate.
Look out for the next release we're we introduce optimization profile to help user configure optimization. Simready Asset are not focused on optimizations but are specs to solve interop between simulators.