Cybernetic-Labs/packingbench-assets

PackingBench Assets

Simulation assets for the PackingBench robot-manipulation benchmark (Cybernetic Labs). All scene files are OpenUSD, Z-up, meters.

Structure

backgrounds/
  packing_area_simple/        Self-contained warehouse packing-area scene in
    scene.usd                 NVIDIA Isaac Sim's Simple_Warehouse shell
                              (~24x39 m hall). Flattened stage: warehouse
                              shell, packing bench, dressing props (loaded box
                              rack, box piles, pallet truck, cartons), tuned
                              lighting. Static colliders only. FRAME CONTRACT
                              -- reference at identity; the scene is the
                              anchor and everything else is placed in its
                              coordinates: origin at the table surface center,
                              x = table long axis (surface x -1.24..1.24,
                              y -0.38..0.38), y = away from the robot, floor
                              z=0, work surface z=0.994. Depth order along -y:
                              table, robot spot (~y=-0.5, kept clear), box
                              rack behind the robot, warehouse wall ~11.6 m
                              behind that; open warehouse beyond the table
                              (+y).
    resource/                 All referenced textures/materials
                              (self-contained; building-shell textures capped
                              at 512 px, prop textures at 2K)
objects/
  carton/                     4-flap packing carton (main: carton.usd),
                              0.221 x 0.110 x 0.084 m, 4 articulated flaps
  carton_small/               Same carton with 0.8 scale BAKED into the asset
                              (main: carton_small.usd), 0.177 x 0.088 x 0.067 m --
                              reference it plainly, no scale config needed
  shipping_box_small/         Small rigid shipping box (main:
                              shipping_box_small.usd), 0.8 scale baked in,
                              0.051 x 0.039 x 0.037 m
  pressure_pump/              Pump bottle, 2 joints (main: pressure_pump.usd),
                              0.4 scale baked in, 0.042 x 0.038 x 0.113 m
  stapler/                    Stapler, 3 joints (main: stapler.usd),
                              0.9 scale baked in, 0.029 x 0.099 x 0.047 m
  spray_can/                  Spray paint can with cap (main: spray_can.usd),
                              0.9 scale baked in, 0.038 x 0.038 x 0.103 m
  hobby_knife/                Pen-style hobby knife (main: hobby_knife.usd),
                              0.9 scale baked in, 0.020 x 0.160 x 0.015 m
  thinner_can/                Paint-thinner can (main: thinner_can.usd),
                              0.9 scale baked in, 0.059 x 0.081 x 0.129 m
  LICENSE                     Apache-2.0 (applies to objects/, from ArtVIP)
scripts/                      Generator scripts that rebuild the background
                              deterministically from the source datasets

Each object folder is self-contained (main USD + resource/); copy the whole folder, reference the main USD.

Usage

Reference backgrounds/packing_area_simple/scene.usd under an Xform in an Isaac Sim / OpenUSD stage. The scene is fully self-contained — asset paths resolve relative to scene.usd, so keep the folder together. The area in front of the packing bench (world -y) is left clear for a robot; the bench's long axis runs along x.

Provenance & license (per folder)

• backgrounds/packing_area_simple/ — embeds environment content from NVIDIA Isaac Sim (Simple_Warehouse, fetched from NVIDIA's public asset CDN), combined with CC-BY-4.0 props from NVIDIA's PhysicalAI-SimReady-Warehouse-01 dataset (packing bench, box rack, piles, pallet truck, cartons), recomposed, flattened, and with textures downscaled via scripts/package_simple_background.py. NVIDIA Isaac Sim content remains subject to NVIDIA's Isaac Sim Additional Software and Materials License; attribution: NVIDIA.
• objects/ — licensed per object:
  • Apache-2.0 (see objects/LICENSE), derived from ArtVIP by X-Humanoid (paper): carton is ArtVIP's carton_10; carton_small is the same asset with a baked 0.8 uniform scale; shipping_box_small is ArtVIP's model_box (Scenes/small_living_room/box) with a baked 0.8 uniform scale; pressure_pump is ArtVIP's pressure_pump_13 with a baked 0.4 uniform scale; stapler is ArtVIP's stapler_6 with a baked 0.9 uniform scale.
  • CC-BY-4.0, derived from NVIDIA's PhysicalAI-SimReady-Warehouse-01, all with a baked 0.9 uniform scale, attribution NVIDIA: spray_can (paint_container_spraycan_a01), hobby_knife (tool_cutting_hobbyknife_a01), thinner_can (paint_supplies_thinner_a01).