ALLSIDES/ALLSIDES-Dataset-Sample

SimReady Dataset Sample with Real Objects

100 SimReady assets of real, 3D-scanned objects for NVIDIA Isaac Sim. The same 100 objects come in three formats, one folder each (see below). Each USD asset is a SimReady package with a physics setup and five visual levels of detail. It loads ready to simulate in Isaac Sim: PhysX is enabled and the medium level of detail is selected by default. The level of detail, the physics runtime and the collider type are USD variant sets, so you can switch them in Isaac Sim without re-exporting.

Formats

Folder	Format	Per object	Use it for
usdz/	USDZ package	usdz/<name>.usdz, one self-contained file	Isaac Sim: drag in or reference, nothing to unpack
usda/	USD layer tree	usda/<name>/simready_usd/<name>.usd + payloads/ + runnables/ + textures/ + .thumbs/	Isaac Sim / USD tools, when you want to inspect or edit the layers
glb/	glTF binary	glb/<name>.glb	other engines and DCC tools; textured mesh only, no physics

usdz/ and usda/ hold the same USD asset: the .usdz is the usda/ tree zipped into one file. glb/ holds the same objects as plain textured scan meshes, without colliders, mass or grasp vectors.

<name> is the object's category followed by its Allsides item ID, for example balance_board_BJ2USD8NG9 or drone_0SDU0DKMY8. It's the same in all three folders.

Each usda/<name>/simready_usd/ folder is laid out like this:

simready_usd/
├─ <name>.usd                              entry file: open or reference this one
├─ .thumbs/256x256/
│  ├─ <name>.usd.png                       thumbnail, dark background
│  ├─ <name>.usd_light.png                 thumbnail, light background
│  └─ <name>.usd_transparent.png           thumbnail, transparent background
├─ payloads/                               geometry, LOD and physics layers
├─ runnables/physics/physx.usda            PhysX-specific settings, loaded by the PhysX variant
└─ textures/

Contents

Objects	100, each as .usdz, as a USD layer tree (usda/) and as .glb
Up axis / units	Z-up, meters (metersPerUnit = 1), kilograms
Visual LODs	five levels, 0 (full-resolution scan, 0.8–2.6 M triangles) to 4 (10–28k triangles); default 2 (120–200k triangles)
Colliders	PhysX is enabled by default, with an SDF collider (default) or the convex decomposition (CoACD); with PhysX disabled, the convex decomposition
Physics	rigid body with the mass of the weighed object, friction and restitution from the material class; objects made of clearly different materials (a steel head on a wooden handle, a rubber sole under a textile upper) carry one physics material per material region, with the centre of mass and inertia that follow from it
Grasps	grasp vectors for a parallel-jaw gripper, reviewed per object
Semantics	Wikidata Q-code labels for the object and its materials
Profile	made from packages validated against Robotics-Prop 4.0.0 (SimReady Foundation); see the note on the profile below
License	CC-BY-4.0

Inside each USD asset (.usdz or usda/), the root prim is /Asset:

/Asset
└─ bodies/<object>/
   ├─ mesh_obj       visual mesh (the selected LOD)
   ├─ colliders/     collider meshes (purpose "guide": not rendered)
   └─ grasp/         grasp vectors, if present (purpose "guide")

The root layer carries the provenance metadata (SimReady_Metadata): description, category, Wikidata Q-code, author, license, extents, mass and rigid-body count.

Download

from huggingface_hub import snapshot_download

path = snapshot_download(repo_id="ALLSIDES/ALLSIDES-Dataset-Sample", repo_type="dataset")

To download one format only, pass allow_patterns, e.g. allow_patterns="usdz/*", "usda/*" or "glb/*".

Using the assets in Isaac Sim

Drag a .usdz (or the <name>.usd entry file of a usda/ folder) into the viewport or the Stage window, or add it as a reference from Python. Either way, the asset appears under a prim of your choice (e.g. /World/Object), and its variant sets are available on that prim.

In the UI

Select the asset's top prim in the Stage window. In the Property panel, under Variants, set:

• lod: 0 (full resolution) to 4 (lightest); 2 is the default;
• PhysX: Enabled (default) or Disabled;
• collision_mode, shown while PhysX is Enabled: sdf (default) or convexHull.

From Python

import omni.usd

stage = omni.usd.get_context().get_stage()
prim = stage.DefinePrim("/World/Object", "Xform")
prim.GetReferences().AddReference("/path/to/<name>.usdz")  # or ".../usda/<name>/simready_usd/<name>.usd"

prim.GetVariantSet("lod").SetVariantSelection("0")                   # full-resolution scan mesh
prim.GetVariantSet("collision_mode").SetVariantSelection("convexHull")  # PhysX is enabled by default
# prim.GetVariantSet("PhysX").SetVariantSelection("Disabled")       # plain UsdPhysics only

The selections are stored on your stage, not in the asset. The asset itself stays unchanged.

Level of detail (lod)

Level	Triangles
0	0.8–2.6 M	the original scan-resolution mesh
1	420–600k
2	120–200k	default: for simulation and synthetic data
3	28–58k
4	10–28k	the lightest level

Every level has its own baked textures. All levels have the same size and position as level 0 (within 2 mm), so the colliders fit every level.

Each level is stored in its own file inside the package, and only the selected level is composed into the scene.

Physics (PhysX and collision_mode)

• PhysX = Disabled: the asset uses plain UsdPhysics only: a rigid body, its mass, its physics materials and a convex decomposition of the object, made with CoACD. Any UsdPhysics-based simulator can use it.
• PhysX = Enabled (default): adds the PhysX-specific settings from runnables/physics/physx.usda, and with them the collision_mode variant set:
  • sdf (default): signed-distance-field mesh collision on a precise collider mesh. It's accurate for non-convex shapes.
  • convexHull: the CoACD convex decomposition. It's cheaper and works with more PhysX features, but less accurate for concave geometry.

Only the selected kind of collider is active. Mass and physics materials are the same in every mode.

Grasp vectors

Each grasp under grasp/ is a line for a parallel-jaw gripper: its two end points are where the jaws start, just outside the surface, and the jaws close along the line until they touch the object. The first grasp is the main one, chosen at a part made for holding where the object has one (a handle, a neck, a rim) and checked with NVIDIA's SimReady grasp-and-lift benchmark; further grasps are alternatives.

Notes

• Profile: the packages were made from assets validated against the SimReady Foundation profile Robotics-Prop 4.0.0. They ship with PhysX enabled by default so that they simulate straight away. The profile doesn't allow that: its rule RV.001 requires every physics runtime to default to Disabled. So the packages don't carry the profile stamp in their metadata. Set PhysX to Disabled to get the validated configuration.
• Colliders and grasp vectors use purpose = "guide", so they don't show up in rendered images or synthetic data.
• A few objects were turned into the pose they rest in when dropped (for example a curved sausage lying on its side), so the USD assets can differ in orientation from the raw scans in glb/.
• To modify an asset, edit its usda/ tree (or extract the .usdz, a zip archive of the same files).