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--- |
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license: cc-by-4.0 |
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language: |
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- en |
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tags: |
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- 3D |
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- simready |
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- warehouse |
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- NVIDIA |
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pretty_name: NVIDIA Physical AI SimReady Warehouse OpenUDS Dataset |
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size_categories: |
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- n<1K |
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task_categories: |
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- image-segmentation |
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- robotics |
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download_size: 10132336442 |
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dataset_size: 10132336442 |
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configs: |
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- config_name: default |
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data_files: physical_ai_simready_warehouse_01.csv |
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image_field: asset_preview |
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--- |
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# NVIDIA Physical AI SimReady Warehouse OpenUSD Dataset |
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**Dataset Version:** 1.0.0<br> |
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**Date:** March 18, 2025<br> |
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**Author:** NVIDIA, Corporation |
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**License:** [CC-BY-4.0](https://choosealicense.com/licenses/cc-by-4.0/) (Creative Commons Attribution 4.0 International) |
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## Contents |
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This dataset includes the following: |
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* This README file |
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* A CSV catalog that enumerates all of the OpenUSD assets that are part of this dataset including a sub-folder of images that showcase each 3D asset ([physical_ai_simready_warehouse_01.csv](./physical_ai_simready_warehouse_01.csv)). The CSV file is organized in the following manner: |
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* asset_preview : A visual preview (thumbnail) of the asset |
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* asset_name : Name of the asset |
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* relative_path: location within archive of the asset Usd file |
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* classification: Asset Classification (Prop, Scenario, Assembly, etc.) |
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* label: Label name of q-code in English. |
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* q_code: Semantic Label (derived from [WikiData](https://wikidata.org) Q-Code) |
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* mass(kg): Approximate mass of the object in kilograms |
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* thumbnail_path: path to an image thumbnail (PNG format) |
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* 578 OpenUSD 3D assets that are compatible with NVIDIA's IsaacSim application for simulation. The dataset archive is approximately 10GB in size. |
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## Prerequisites |
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This dataset is intended for use within [NVIDIA IsaacSim](https://developer.nvidia.com/isaac/sim) version 4.x, and depicts an industrial warehouse environment.<br> |
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For users who are new to OpenUSD as a format, NVIDIA encourages the following learning resources to get you started: |
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* **Learn OpenUSD**: https://www.nvidia.com/en-us/learn/learning-path/openusd/ |
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For users who are new to IsaacSim and simulation, and want to learn how to add robots to your scenes (including the [scenario in this dataset](./physical_ai_simready_warehouse_01.usd)), here are some additional learning resources to explore: |
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* [**Learning Path: Robotics Fundamentals**](https://www.nvidia.com/en-us/learn/learning-path/robotics/) |
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* [**IsaacSim: Quickstart with a Robot**](https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/quickstart_isaacsim_robot.html) |
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* **IsaacSim: ROS 2 Tutorials**: |
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* [**ROS 2 Navigation**](https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_navigation.html) |
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* [**ROS 2 Joint Control**](https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_manipulation.html) |
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## How to Use |
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### Adding Rigid Body Physics to the Dataset Assets |
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To begin, open the [**physical_ai_simready_warehouse_01.usd**](./physical_ai_simready_warehouse_01.usd) file that is in the root of the dataset archive. This is a complete warehouse scene that has been pre-built as a starting point for simulation. This scene file uses OpenUSD composition arcs to payload in many other individual OpenUSD files.<br> |
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- **NOTE:** The initial load of this file might take several minutes as IsaacSim will need to compile all of the materials and physics colliders. |
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All of the 3D assets in this scene have USDPhysics Colliders applied, **but no Rigid Bodies are applied**. It is up to the user to add rigid body physics to individual assets as desired to satisfy their simulation goals. The application of a rigid body to an asset will determine if it should fall with gravity, collide with other assets and be interactive with other elements in the scene like a robot. |
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To add Rigid Bodies to an asset, do the following within IsaacSim. |
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1. Select any asset you wish to apply Rigid Bodies to in the Stage Panel. Be sure to select the top-level payload XForm prim that represents the entire 3D asset, not one of the geometry or material prims within it. |
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<img src="./images/PhysicalAI_Dataset_02.png" alt="Physical AI Dataset Preview" width="50%"/> |
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2. In the Properties Panel, disable the **Instanceable** checkbox to make the asset unique. |
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3. Next, in the Properties Panel, click **Add -> Physics -> Rigid Body** to add the RBD physics to the asset. |
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<img src="./images/PhysicalAI_Dataset_03.png" alt="Physical AI Dataset Preview" width="50%"/> |
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4. Repeat this process for each asset you want to interact with when a simulation is run. |
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5. When the assets are configured with Rigid Body Dynamics, hit the **Play** button in IsaacSim to begin the simulation. |
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### Asset Classifications |
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* **Prop**: A single object that can be placed in a scene. |
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* **Assembly**: A collection of props that can be placed in a scene as a logical group. |
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* **Scenario**: A collection of props and assemblies to make an environment for simulation. (ex: A warehouse) |
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### Additional Questions |
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If you have additional questions, you are encouraged to join our [**NVIDIA Omniverse Discord channel**](https://discord.com/invite/nvidiaomniverse) to interact with other Omniverse and IsaacSim users. |
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