Articulated asset classes
Collection
Sim-ready articulated 3D assets for robot learning: real joints with limits, per-link mass/inertia, physics materials, 4K textures. USD + Blender. • 4 items • Updated
id stringclasses 5
values | size_x_m float64 0.7 1.2 | size_y_m float64 0.6 1 | size_z_m float64 0.75 1.7 | mass_kg float64 39.5 133 | tris int64 18.9k 37.1k | joints int64 1 9 | joint_summary stringclasses 3
values | thumbnail stringclasses 5
values | blend stringclasses 5
values | usd_zip stringclasses 5
values |
|---|---|---|---|---|---|---|---|---|---|---|
cage_0001 | 0.8 | 0.72 | 1.7 | 94.203 | 18,908 | 8 | caster_swivel_deg 0-360deg; wheel_roll_deg 0-360deg | cages/cage_0001/thumb.png | cages/cage_0001/cage_0001.blend | cages/cage_0001/cage_0001_usd.zip |
cage_0002 | 1.2 | 1 | 0.9 | 132.815 | 27,060 | 1 | gate_open_deg 0-110deg | cages/cage_0002/thumb.png | cages/cage_0002/cage_0002.blend | cages/cage_0002/cage_0002_usd.zip |
cage_0003 | 0.85 | 0.7 | 1.5 | 110.462 | 37,096 | 9 | caster_swivel_deg 0-360deg; gate_open_deg 0-110deg; wheel_roll_deg 0-360deg | cages/cage_0003/thumb.png | cages/cage_0003/cage_0003.blend | cages/cage_0003/cage_0003_usd.zip |
cage_0004 | 0.7 | 0.6 | 0.75 | 39.469 | 19,280 | 8 | caster_swivel_deg 0-360deg; wheel_roll_deg 0-360deg | cages/cage_0004/thumb.png | cages/cage_0004/cage_0004.blend | cages/cage_0004/cage_0004_usd.zip |
cage_0005 | 0.7478 | 0.9135 | 0.9058 | 86.183 | 20,044 | 8 | caster_swivel_deg 0-360deg; wheel_roll_deg 0-360deg | cages/cage_0005/thumb.png | cages/cage_0005/cage_0005.blend | cages/cage_0005/cage_0005_usd.zip |
ProjectSim Logistics Cages
ProjectSim by Kaedim — sim-ready 3D assets for robot learning. Open in your engine in one paste.
Warehouse wire roll cages with articulated swivel casters, rolling wheels, and drop gates — joint chains included. Every asset is a reduced-coordinate articulation with per-link mass and inertia from exact mesh integrals, per-zone physics materials, 4K AI textures, and MuJoCo-certified joints. Made with ProjectSim by Kaedim: projectsim.ai · Try them in the browser: projectsim/procedural-lab
Quickstart
Blender (macOS; elsewhere replace the last line with blender <file>.blend):
mkdir -p "$PWD/projectsim-assets"
cd "$PWD/projectsim-assets"
curl --fail --location --progress-bar \
"https://huggingface.co/datasets/projectsim/articulated-logistics-cages/resolve/main/cages/cage_0001/cage_0001.blend?download=true" \
--output cage_0001.blend
open -a Blender cage_0001.blend
Isaac Sim / any USD app: download an asset's *_usd.zip, unzip, open
*_scene.usda and press Play — it carries a PhysicsScene and a ground plane.
The bare <id>.usda is for referencing into your own stage (Z-up, meters).
The assets
| id | size (m) | mass (kg) | joints | Blender | USD |
|---|---|---|---|---|---|
| cage_0001 | 0.80 × 0.72 × 1.70 | 94.2 | 8 | .blend | .zip |
| cage_0002 | 1.20 × 1.00 × 0.90 | 132.8 | 1 | .blend | .zip |
| cage_0003 | 0.85 × 0.70 × 1.50 | 110.5 | 9 | .blend | .zip |
| cage_0004 | 0.70 × 0.60 × 0.75 | 39.5 | 8 | .blend | .zip |
| cage_0005 | 0.75 × 0.91 × 0.91 | 86.2 | 8 | .blend | .zip |
Layout
cages/<id>/
<id>.blend Blender file, textures packed
<id>_usd.zip <id>/ with the asset .usda, textures/, and a play-ready *_scene.usda
manifest.json dims, mass, tris, per-joint limits (+units), provenance
thumb.png 512 px render
Sibling classes: articulated-boxes · articulated-desks · logistics-cages · wardrobes
License
CC-BY-4.0. ProjectSim by Kaedim.
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