projectsim/industrial-parts-and-packaging

Industrial Parts & Packaging

Try it before you download. Every item in this dataset is live in projectsim Lab: orbit every variant at real scale, then copy the API call that generates a set like it. Jump straight to a class: Gas Cylinders · Pallet Racking.

Procedurally generated, sim-ready 3D industrial infrastructure - warehouse pallet racking bays and LPG / propane gas cylinders - shipped as OpenUSD (.usda) with per-zone PBR maps, plus a static glTF (.glb) for tooling that doesn't read USD. Every variant carries real per-link mass, inertia and colliders authored from the class rig.

Motivation

Industrial robotics pipelines - warehouse navigation, gas-bottle depot handling, storage-shelf perception - need assets that (a) look real, (b) sim-correctly in Isaac Sim / MuJoCo, and (c) come in enough parametric variation that a policy sees the distribution of shapes and materials, not one shape re-textured. Public assets are either scanned singletons (no variation, no reliable physics) or category-generic props (no PBR, guessed masses). This dataset is our procedural pipeline's output: every variant has a spec that produces watertight geometry, sim-authored physics, and PBR textures.

What's included

Class	Count	Articulation	Materials
pallet_racking	50	static (fixed rack bay between two uprights)	uprights, beams, bracing, decking, footplates (painted-steel palette + bare-steel option)
gas_cylinder	50	static (welded steel bottle, valve fixed)	body (painted steel), collar_and_foot (painted steel), valve (brass), label (printed band)

Total: 100 variants across 2 classes, ~2.6 GB.

Per-variant contents

assets/<class>/<vid>/
├── <vid>.usda            OpenUSD, textures referenced as ./textures/*.png
├── <vid>.glb             glTF binary, embedded textures, static pose
└── textures/*.png        PBR maps (base_color, normal, roughness, metallic)

Parametric variation covered

Every class is authored from a spec.json sampled deterministically from a (count, seed) pair; anchor rows are the class's presets and dimension extremes.

• pallet_racking - one selective pallet-rack bay between two upright frames. Uprights 2.5-6 m tall, frame depth 1100 mm (EUR pallets) or 1200 mm, perforated cold-rolled 90 x 70 mm columns with horizontal + diagonal bracing; 2-4 pairs of box-section step beams at 75 mm pitch with locking pins; optional wire-mesh or timber decking on beam levels; painted frames (blue uprights, orange beams typical) or a bare-steel option.
• gas_cylinder - welded steel LPG / propane bottle in real-world standard sizes driven by a size enum: 3 kg (Ø250 x 320 mm), 5 kg (Ø300 x 400 mm), 7 kg (Ø300 x 540 mm), and 9 kg (Ø315 x 590 mm). Only surface details and paint colour vary within a size (grey, blue, red, green, orange typical). Fixed brass valve with handwheel.

The exact per-variant parameter values are not shipped in v1.

Generate your own

This dataset is sample output from the projectsim pipeline. For sim-ready assets of your objects, use the projectsim API:

• Standard asset - one image in, a sim-ready asset out
• Measured asset - mm-accurate, from a ChArUco-board capture
• Variation sets - procedural or high-fidelity families from a single object

Self-serve: get an API token and order your first set in minutes. Need 1,000–10,000 assets of a category? Request a larger dataset →

Intended use

• Training and evaluating manipulation policies (gas-bottle grasp/carry/place, pallet loading onto racks)
• Perception (segmentation, category ID, pose estimation) from synthetic renders
• Domain-randomization sources for warehouse and depot robotics pipelines
• Sim-based experimentation before scanning real infrastructure
• Prototyping in Isaac Sim / MuJoCo / any USD-aware DCC

Tested simulators

Verified end-to-end:

• NVIDIA Isaac Sim 6.0.1 - loads <vid>.usda headless and GUI. Bottles stack and roll under gravity, rack bays hold a static-collider load.
• MuJoCo 3.11.0 - USD is not native; use our sibling MJCF drop or the sim-ready usd2mjcf converter (matching physics for static props).
• Blender 5.0 - USD and glTF import both work.

Physical properties - authored vs estimated

Property	How	Notes
Volume, COM, inertia	Computed from watertight mesh	Falls back to the convex hull for open-shell parts
Mass	Volume × density	Density per zone, classified by a material-analysis VLM. The VLM inspects the object's renders together with the zone names in context — e.g. reading rack uprights as painted steel, cylinder bodies as painted steel, valves as brass, decking as timber — and looks each zone's density up in a shared material table (steel ~7850, brass ~8500, timber ~600, painted ABS ~1150 kg/m³). Per-link mass = mesh volume × classified density.
Collision shape	Auto-classified per link	Author-time collision types per link, taken directly from the rig: • primitives (box, sphere, cylinder) where the rig is geometric — rack columns, beams, cylinder bodies • convexHull for sealed volumes with a single graspable shape (cylinder collar, valve body, footplates) • convexDecomposition with PhysX shrink-wrap for multi-part rigid props (rack braces + decking treated per member) • sdf (sdfResolution 256) for thin, non-convex shells where a decomposition would seal openings (wire-mesh decking)
Textures	4K PBR maps per zone (photoreal retexturing on one half of the run; a curated painted-steel palette on the shader half)	Zone-mapped so a downstream engine can rebind materials per zone
max_mass_kg	Cavity volume × water density	Meta-only hint for pick-and-place - not the physics mass. Gas cylinders report their advertised capacity by size enum. Rack bays report the pallet-payload rating.

Limitations

• Physics is in the .usda, not the .glb. glTF has no physics equivalent - the .glb is a visual copy (static pose, single mesh per link, no colliders). Use it for previews, tooling that can't read USD, Blender/Unity/three.js/model-viewer; use the .usda for simulation.
• Both classes are static props - no articulation is authored (valves are welded rigid, rack beams are locked into their columns).

License

Files: CC BY 4.0 - free to use, share, and adapt for any purpose, including commercial use; attribution required.

Citation

@dataset{kaedim_industrial_parts_and_packaging_2026,
  author = {{Kaedim} and {projectsim}},
  title = {Industrial Parts \& Packaging},
  year = {2026},
  publisher = {Hugging Face},
  version = {1.0},
  url = {https://huggingface.co/datasets/projectsim/industrial-parts-and-packaging}
}

Maintenance

New classes and variants are added as separate top-level assets/<class>/ folders; the on-disk <vid> prefix is stable across future commits - a v03_pallet_racking_983fda today will be the same asset next release. Regressions are republished as an additive commit; assets are only ever removed with a version bump.

Issues / questions: open a Discussion on this dataset repo, or email team@projectsim.ai.