Datasetpublic

projectsim/articulated-boxes

projectsim Articulated Boxes Try it before you download. Open the Boxes tab in projectsim Lab, fold every flap, then copy a one-line download command for Isaac Sim, MuJoCo, usdview or Blender. projectsim by Kaedim — sim-ready 3D assets for robot learning. Open in your engine in one paste. Ten articulated cardboard shipping boxes (RSC four-flap cartons). Every box is a reduced-coordinate articulation — four flap hinges with real limits — with per-link mass and… See the full description on the dataset page: https://huggingface.co/datasets/projectsim/articulated-boxes.

sourceHugging Facecc-by-4.0updated 5h agoView on Hugging Face

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Dataset Card

projectsim Articulated Boxes

Try it before you download. Open the Boxes tab in projectsim Lab, fold every flap, then copy a one-line download command for Isaac Sim, MuJoCo, usdview or Blender.

[image]

projectsim by Kaedim — sim-ready 3D assets for robot learning. Open in your engine in one paste.

Ten articulated cardboard shipping boxes (RSC four-flap cartons). Every box is a reduced-coordinate articulation — four flap hinges with real limits — with per-link mass and inertia from exact mesh integrals, per-zone physics materials (cardboard, tape), 4K AI textures, and MuJoCo-certified joints. Made with projectsim by Kaedim: projectsim.ai

Quickstart

Blender (macOS; elsewhere replace the last line with blender <file>.blend):

bash

mkdir -p "$PWD/projectsim-assets"
cd "$PWD/projectsim-assets"

curl --fail --location --progress-bar \
  "https://huggingface.co/datasets/projectsim/articulated-boxes/resolve/main/boxes/cardboard_box_0001/cardboard_box_0001.blend?download=true" \
  --output cardboard_box_0001.blend

open -a Blender cardboard_box_0001.blend

Isaac Sim / any USD app: download a box's *_usd.zip, unzip, open cardboard_box_NNNN_scene.usda and press Play — it carries a PhysicsScene and a ground plane. cardboard_box_NNNN.usda is the bare asset for referencing into your own stage (Z-up, meters, defaultPrim on the asset root).

The boxes

id	size (m)	mass (kg)	joints	flap limits	Blender	USD
cardboardbox0001	0.40 × 0.30 × 0.31	0.37	4	0–120°	.blend	.zip
cardboardbox0002	0.25 × 0.20 × 0.16	0.11	4	0–120°	.blend	.zip
cardboardbox0003	0.32 × 0.24 × 0.50	0.39	4	0–120°	.blend	.zip
cardboardbox0004	0.45 × 0.29 × 0.13	0.32	4	0–120°	.blend	.zip
cardboardbox0005	0.55 × 0.35 × 0.20	0.56	4	0–120°	.blend	.zip
cardboardbox0006	0.59 × 0.35 × 0.21	0.38	4	0–120°	.blend	.zip
cardboardbox0007	0.52 × 0.34 × 0.42	0.55	4	0–120°	.blend	.zip
cardboardbox0008	0.51 × 0.40 × 0.32	0.65	4	0–120°	.blend	.zip
cardboardbox0009	0.49 × 0.22 × 0.44	0.51	4	0–120°	.blend	.zip
cardboardbox0010	0.45 × 0.27 × 0.42	0.54	4	0–120°	.blend	.zip

What is in each box folder

boxes/cardboard_box_NNNN/
  cardboard_box_NNNN.blend      Blender file, textures packed
  cardboard_box_NNNN_usd.zip    cardboard_box_NNNN/ with the asset .usda,
                                textures/, and a play-ready *_scene.usda
  manifest.json                 dims, mass, tris, per-joint limits, provenance
  thumb.png                     512 px render

The USD authors ArticulationRootAPI on the asset root, RigidBodyAPI + MassAPI per link (mass/CoM/inertia from exact signed mesh integrals), UsdPhysics revolute joints with limits in degrees and viscous damping, and one UsdPhysics material per zone bound to each link's collider. Colliders are convex hulls / SDF meshes chosen per link geometry. Texture paths are relative; no absolute or Nucleus paths.

Manifest

See manifest.example.json for the schema. Every box carries its source_variant — the generator's variant id — so any box can be traced, re-posed, re-textured, or re-exported on request.

License

CC-BY-4.0. projectsim by Kaedim.