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projectsim/articulated-desks

projectsim Articulated Desks Try it before you download. Open the Desks tab in projectsim Lab, slide every drawer, 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. Office desks with real sliding drawers — prismatic joints with limits in meters. Every asset is a reduced-coordinate articulation with per-link mass and inertia from exact mesh… See the full description on the dataset page: https://huggingface.co/datasets/projectsim/articulated-desks.

sourceHugging Facecc-by-4.0updated 1d agoView on Hugging Face
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Dataset Card

projectsim Articulated Desks

<a href="https://huggingface.co/spaces/projectsim/lab?class=deskwithdrawers"> <img src="https://huggingface.co/spaces/projectsim/lab/resolve/main/thumbs/articulated-desks.jpg" alt="projectsim Lab — desks live in the browser" width="100%"> </a>

<div align="center"><table align="center"><tr> <td><a href="https://huggingface.co/spaces/projectsim/lab?class=deskwithdrawers"><img src="https://huggingface.co/datasets/huggingface/badges/resolve/main/open-in-hf-spaces-xl-dark.svg" alt="Open in HF Spaces"></a></td> <td><a href="https://docs.projectsim.ai/?utmsource=hfdataset&utm_content=articulated-desks"><img src="https://huggingface.co/spaces/projectsim/lab/resolve/main/badges/create-your-own-xl-dark.svg?v=2" alt="Create your own with the projectsim API"></a></td> </tr></table></div>

Try it before you download. Open the Desks tab in projectsim Lab, slide every drawer, 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.

Office desks with real sliding drawers — prismatic joints with limits in meters. 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/lab

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-desks/resolve/main/desks/desk_0001/desk_0001.blend?download=true" \
  --output desk_0001.blend

open -a Blender desk_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

idsize (m)mass (kg)jointsBlenderUSD
desk_00011.50 × 0.65 × 0.7573.56.blend.zip
desk_00021.00 × 0.55 × 0.7031.03.blend.zip
desk_00031.49 × 0.65 × 0.7126.33.blend.zip
desk_00041.20 × 0.61 × 0.7414.03.blend.zip
desk_00051.17 × 0.69 × 0.7370.56.blend.zip

Layout

desks/<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

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

License

CC-BY-4.0. projectsim by Kaedim.