SimReady 3D Assets

Sub-millimeter accurate 3D models with physics properties, collision meshes, and material data. Ready for NVIDIA Isaac Sim. 44 assets available in OpenUSD format.

Each asset includes: sub-millimeter geometry, 4K PBR textures, convex decomposition collision meshes, physics properties (mass, friction, restitution, density), and SimReady certification for NVIDIA Isaac Sim.

Appliances (9 assets)

Name	Material	Dimensions (W×H×D)	Mass	Friction (static)	Density	Collision	License
Chimney	Carbon steel	742×1248×709 mm	15 kg	0.6	7850 kg/m³	convexDecomposition	CC BY-NC 4.0
Dishwasher 2	Stainless steel	616×1185×898 mm	45 kg	0.74	7850 kg/m³	convexDecomposition	CC BY-NC 4.0
Faucet 1	Brass	49×223×178 mm	2.5 kg	0.5	8500 kg/m³	convexDecomposition	CC BY-NC 4.0
Microwave	Stainless steel	814×504×440 mm	18 kg	0.74	7850 kg/m³	convexDecomposition	CC BY-NC 4.0
Oven	Stainless steel	558×530×670 mm	35 kg	0.74	7850 kg/m³	convexDecomposition	CC BY-NC 4.0
Refrigerator	Carbon steel	927×1990×1350 mm	80 kg	0.3	7850 kg/m³	convexDecomposition	CC BY-NC 4.0
Single Sink	Stainless steel	584×147×457 mm	8 kg	0.74	7850 kg/m³	convexDecomposition	CC BY-NC 4.0
Stove Oven	Stainless steel	736×884×1054 mm	55 kg	0.74	7850 kg/m³	convexDecomposition	CC BY-NC 4.0
Stove Set	Ceramic glass	741×30×547 mm	12 kg	0.5	8500 kg/m³	convexHull	CC BY-NC 4.0

Cabinetry (11 assets)

Name	Material	Dimensions (W×H×D)	Mass	Friction (static)	Density	Collision	License
Base Cabinet Double Door	Walnut	914×1248×904 mm	35 kg	0.55	720 kg/m³	convexDecomposition	CC BY-NC 4.0
Base Cabinet Double Door And Drawer	Walnut	914×1160×1157 mm	38 kg	0.55	720 kg/m³	convexDecomposition	CC BY-NC 4.0
Base Cabinet Double Door And Two Drawer	Walnut	914×1160×1157 mm	40 kg	0.55	720 kg/m³	convexDecomposition	CC BY-NC 4.0
Base Cabinet Single Door	Walnut	457×1248×904 mm	22 kg	0.55	720 kg/m³	convexDecomposition	CC BY-NC 4.0
Base Cabinet Single Three Drawer	Walnut	457×1011×1157 mm	24 kg	0.55	720 kg/m³	convexDecomposition	CC BY-NC 4.0
Base Cabinet Single Two Drawer	Walnut	457×1055×1157 mm	23 kg	0.55	720 kg/m³	convexDecomposition	CC BY-NC 4.0
Oven Cabinet	Walnut	914×974×904 mm	30 kg	0.55	720 kg/m³	convexDecomposition	CC BY-NC 4.0
Single Door And Drawer	Walnut	457×1160×1157 mm	25 kg	0.55	720 kg/m³	convexDecomposition	CC BY-NC 4.0
Wall Cabinet Double Door	Walnut	741×1140×424 mm	16 kg	0.55	720 kg/m³	convexDecomposition	CC BY-NC 4.0
Wall Cabinet Single Door	Walnut	312×1140×424 mm	12 kg	0.55	720 kg/m³	convexDecomposition	CC BY-NC 4.0
Wall Microwave Cabinet	Walnut	757×912×496 mm	18 kg	0.55	720 kg/m³	convexDecomposition	CC BY-NC 4.0

Cookware (3 assets)

Name	Material	Dimensions (W×H×D)	Mass	Friction (static)	Density	Collision	License
Baking Tray	Stainless steel	281×23×351 mm	0.8 kg	0.74	7850 kg/m³	sdf	CC BY-NC 4.0
Pan Sauce	Stainless steel	244×171×389 mm	1.5 kg	0.5	8500 kg/m³	sdf	CC BY-NC 4.0
Utensil Organizer	Marble/Wood	222×481×184 mm	1.5 kg	0.5	2400 kg/m³	sdf	CC BY-NC 4.0

Tableware (11 assets)

Name	Material	Dimensions (W×H×D)	Mass	Friction (static)	Density	Collision	License
Bowl Soup	Ceramic	196×94×196 mm	0.45 kg	0.05	2400 kg/m³	convexDecomposition	CC BY-NC 4.0
Bowl With Apples	Ceramic/Organic	252×97×252 mm	1.2 kg	0.5	850 kg/m³	sdf	CC BY-NC 4.0
Bowl With Orange	Clay/Organic	257×154×257 mm	0.7 kg	0.6	5000 kg/m³	sdf	CC BY-NC 4.0
Cereal Bowl	Ceramic	165×64×165 mm	0.35 kg	0.5	2400 kg/m³	convexDecomposition	CC BY-NC 4.0
Dinner Plate	Ceramic	229×16×229 mm	0.55 kg	0.5	2400 kg/m³	convexHull	CC BY-NC 4.0
Egg Carton	Cardboard	157×57×158 mm	0.72 kg	0.6	400 kg/m³	convexDecomposition	CC BY-NC 4.0
Glass Tumbler	Glass	66×130×66 mm	0.25 kg	0.94	2500 kg/m³	sdf	CC BY-NC 4.0
Glass Wine	Glass	79×190×79 mm	0.15 kg	0.94	2500 kg/m³	sdf	CC BY-NC 4.0
Mug Coffee	Ceramic	122×95×85 mm	0.35 kg	0.5	2400 kg/m³	sdf	CC BY-NC 4.0
Salad Plate	Bone china	203×16×203 mm	0.4 kg	0.5	2400 kg/m³	convexHull	CC BY-NC 4.0
Tea Cup	Ceramic	143×70×143 mm	0.5 kg	0.5	2400 kg/m³	sdf	CC BY-NC 4.0

Utensils (7 assets)

Name	Material	Dimensions (W×H×D)	Mass	Friction (static)	Density	Collision	License
Cutting Board	Wood	283×20×442 mm	1.2 kg	0.45	650 kg/m³	sdf	CC BY-NC 4.0
Fork	Stainless steel	22×21×192 mm	0.04 kg	0.74	7850 kg/m³	convexHull	CC BY-NC 4.0
Ladle	Stainless steel	95×73×340 mm	0.15 kg	0.74	7850 kg/m³	convexDecomposition	CC BY-NC 4.0
Spatula	Wood/Steel	133×10×412 mm	0.1 kg	0.45	650 kg/m³	convexHull	CC BY-NC 4.0
Spoon	Stainless steel	44×22×192 mm	0.04 kg	0.74	7850 kg/m³	convexHull	CC BY-NC 4.0
Table Knife	Stainless steel	20×8×194 mm	0.05 kg	0.74	7850 kg/m³	sdf	CC BY-NC 4.0
Whisk	Stainless steel	69×70×292 mm	0.08 kg	0.74	7850 kg/m³	convexDecomposition	CC BY-NC 4.0

Food (3 assets)

Name	Material	Dimensions (W×H×D)	Mass	Friction (static)	Density	Collision	License
Baguette Bread	Organic	179×84×413 mm	0.35 kg	0.5	250 kg/m³	convexHull	CC BY-NC 4.0
Rustic Round Loaf	Organic	193×84×197 mm	0.4 kg	0.5	250 kg/m³	convexHull	CC BY-NC 4.0
Sandwich Loaf	Organic	137×141×243 mm	0.5 kg	0.5	250 kg/m³	convexHull	CC BY-NC 4.0

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