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 1 1.54 | size_y_m float64 0.62 0.7 | size_z_m float64 1.71 2.35 | mass_kg float64 117 206 | tris int64 1.46k 3.08k | joints int64 2 2 | joint_summary stringclasses 1
value | thumbnail stringclasses 5
values | blend stringclasses 5
values | usd_zip stringclasses 5
values |
|---|---|---|---|---|---|---|---|---|---|---|
wardrobe_0001 | 1 | 0.62 | 2 | 117.223 | 1,456 | 2 | left_door_open_deg 0-120deg; right_door_open_deg 0-120deg | wardrobes/wardrobe_0001/thumb.png | wardrobes/wardrobe_0001/wardrobe_0001.blend | wardrobes/wardrobe_0001/wardrobe_0001_usd.zip |
wardrobe_0002 | 1.25 | 0.645 | 2.16 | 122.581 | 2,284 | 2 | left_door_open_deg 0-120deg; right_door_open_deg 0-120deg | wardrobes/wardrobe_0002/thumb.png | wardrobes/wardrobe_0002/wardrobe_0002.blend | wardrobes/wardrobe_0002/wardrobe_0002_usd.zip |
wardrobe_0003 | 1 | 0.62 | 2.35 | 143.061 | 2,564 | 2 | left_door_open_deg 0-120deg; right_door_open_deg 0-120deg | wardrobes/wardrobe_0003/thumb.png | wardrobes/wardrobe_0003/wardrobe_0003.blend | wardrobes/wardrobe_0003/wardrobe_0003_usd.zip |
wardrobe_0004 | 1.1026 | 0.6995 | 1.7147 | 120.478 | 3,084 | 2 | left_door_open_deg 0-120deg; right_door_open_deg 0-120deg | wardrobes/wardrobe_0004/thumb.png | wardrobes/wardrobe_0004/wardrobe_0004.blend | wardrobes/wardrobe_0004/wardrobe_0004_usd.zip |
wardrobe_0005 | 1.5362 | 0.6337 | 2.2376 | 205.643 | 2,052 | 2 | left_door_open_deg 0-120deg; right_door_open_deg 0-120deg | wardrobes/wardrobe_0005/thumb.png | wardrobes/wardrobe_0005/wardrobe_0005.blend | wardrobes/wardrobe_0005/wardrobe_0005_usd.zip |
ProjectSim Wardrobes
ProjectSim by Kaedim — sim-ready 3D assets for robot learning. Open in your engine in one paste.
Wardrobes with hinged doors — beveled edges, real hinge limits. 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-wardrobes/resolve/main/wardrobes/wardrobe_0001/wardrobe_0001.blend?download=true" \
--output wardrobe_0001.blend
open -a Blender wardrobe_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 |
|---|---|---|---|---|---|
| wardrobe_0001 | 1.00 × 0.62 × 2.00 | 117.2 | 2 | .blend | .zip |
| wardrobe_0002 | 1.25 × 0.65 × 2.16 | 122.6 | 2 | .blend | .zip |
| wardrobe_0003 | 1.00 × 0.62 × 2.35 | 143.1 | 2 | .blend | .zip |
| wardrobe_0004 | 1.10 × 0.70 × 1.71 | 120.5 | 2 | .blend | .zip |
| wardrobe_0005 | 1.54 × 0.63 × 2.24 | 205.6 | 2 | .blend | .zip |
Layout
wardrobes/<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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