Datasets:

nvidia
/

PhysicalAI-SimReady-Warehouse-01

@@ -1,97 +1,97 @@
----
-license: cc-by-4.0
-language:
-- en
-tags:
-- 3D
-- simready
-- warehouse
-- NVIDIA
-pretty_name: NVIDIA Physical AI SimReady Warehouse OpenUDS Dataset
-size_categories:
-- n<1K
-task_categories:
-- image-segmentation
-- robotics
-download_size: 10132336442
-dataset_size: 10132336442
-configs:
-- config_name: default
-  data_files: physical_ai_simready_warehouse_01.csv
-  image_field: asset_preview
----
-# NVIDIA Physical AI SimReady Warehouse OpenUSD Dataset
-![Physical AI SimReady Warehouse Dataset Preview](./images/PhysicalAI_Dataset_01.png)
-**Dataset Version:** 1.0.0<br>
-**Date:** March 18, 2025<br>
-**Author:** NVIDIA, Corporation
-**License:** [CC-BY-4.0](https://choosealicense.com/licenses/cc-by-4.0/) (Creative Commons Attribution 4.0 International)
-## Contents
-This dataset includes the following:
-* This README file
-* 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:
-    * asset_preview : A visual preview (thumbnail) of the asset
-    * asset_name : Name of the asset
-    * relative_path: location within archive of the asset Usd file
-    * classification: Asset Classification (Prop, Scenario, Assembly, etc.)
-    * label: Label name of q-code in English.
-    * q_code: Semantic Label (derived from [WikiData](https://wikidata.org) Q-Code)
-    * mass(kg): Approximate mass of the object in kilograms
-    * thumbnail_path: path to an image thumbnail (PNG format)
-* 578 OpenUSD 3D assets that are compatible with NVIDIA's IsaacSim application for simulation. The dataset archive is approximately 10GB in size.
-## Prerequisites
-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>
-For users who are new to OpenUSD as a format, NVIDIA encourages the following learning resources to get you started:
-* **Learn OpenUSD**: https://www.nvidia.com/en-us/learn/learning-path/openusd/
-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:
-* [**Learning Path: Robotics Fundamentals**](https://www.nvidia.com/en-us/learn/learning-path/robotics/)
-* [**IsaacSim: Quickstart with a Robot**](https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/quickstart_isaacsim_robot.html)
-* **IsaacSim: ROS 2 Tutorials**:
-    * [**ROS 2 Navigation**](https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_navigation.html)
-    * [**ROS 2 Joint Control**](https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_manipulation.html)
-## How to Use
-### Adding Rigid Body Physics to the Dataset Assets
-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>
-- **NOTE:** The initial load of this file might take several minutes as IsaacSim will need to compile all of the materials and physics colliders.
-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.
-To add Rigid Bodies to an asset, do the following within IsaacSim.
-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.
-   <img src="./images/PhysicalAI_Dataset_02.png" alt="Physical AI Dataset Preview" width="50%"/>
-2. In the Properties Panel, disable the **Instanceable** checkbox to make the asset unique.
-3. Next, in the Properties Panel, click **Add -> Physics -> Rigid Body** to add the RBD physics to the asset.
-   <img src="./images/PhysicalAI_Dataset_03.png" alt="Physical AI Dataset Preview" width="50%"/>
-4. Repeat this process for each asset you want to interact with when a simulation is run.
-5. When the assets are configured with Rigid Body Dynamics, hit the **Play** button in IsaacSim to begin the simulation.
-### Asset Classifications
-* **Prop**: A single object that can be placed in a scene.
-* **Assembly**: A collection of props that can be placed in a scene as a logical group.
-* **Scenario**: A collection of props and assemblies to make an environment for simulation. (ex: A warehouse)
-### Additional Questions
-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.

+---
+license: cc-by-4.0
+language:
+- en
+tags:
+- 3D
+- simready
+- warehouse
+- NVIDIA
+pretty_name: NVIDIA Physical AI SimReady Warehouse OpenUDS Dataset
+size_categories:
+- n<1K
+task_categories:
+- image-segmentation
+- robotics
+download_size: 10132336442
+dataset_size: 10132336442
+configs:
+- config_name: default
+  data_files: physical_ai_simready_warehouse_01.csv
+  image_field: asset_preview
+---
+# NVIDIA Physical AI SimReady Warehouse OpenUSD Dataset
+![Physical AI SimReady Warehouse Dataset Preview](./images/PhysicalAI_Dataset_01.png)
+**Dataset Version:** 1.0.0<br>
+**Date:** March 18, 2025<br>
+**Author:** NVIDIA, Corporation<br>
+**License:** [CC-BY-4.0](https://choosealicense.com/licenses/cc-by-4.0/) (Creative Commons Attribution 4.0 International)
+## Contents
+This dataset includes the following:
+* This README file
+* 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:
+    * asset_preview : A visual preview (thumbnail) of the asset
+    * asset_name : Name of the asset
+    * relative_path: location within archive of the asset Usd file
+    * classification: Asset Classification (Prop, Scenario, Assembly, etc.)
+    * label: Label name of q-code in English.
+    * q_code: Semantic Label (derived from [WikiData](https://wikidata.org) Q-Code)
+    * mass(kg): Approximate mass of the object in kilograms
+    * thumbnail_path: path to an image thumbnail (PNG format)
+* 578 OpenUSD 3D assets that are compatible with NVIDIA's IsaacSim application for simulation. The dataset archive is approximately 10GB in size.
+## Prerequisites
+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>
+For users who are new to OpenUSD as a format, NVIDIA encourages the following learning resources to get you started:
+* **Learn OpenUSD**: https://www.nvidia.com/en-us/learn/learning-path/openusd/
+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:
+* [**Learning Path: Robotics Fundamentals**](https://www.nvidia.com/en-us/learn/learning-path/robotics/)
+* [**IsaacSim: Quickstart with a Robot**](https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/quickstart_isaacsim_robot.html)
+* **IsaacSim: ROS 2 Tutorials**:
+    * [**ROS 2 Navigation**](https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_navigation.html)
+    * [**ROS 2 Joint Control**](https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_manipulation.html)
+## How to Use
+### Adding Rigid Body Physics to the Dataset Assets
+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>
+- **NOTE:** The initial load of this file might take several minutes as IsaacSim will need to compile all of the materials and physics colliders.
+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.
+To add Rigid Bodies to an asset, do the following within IsaacSim.
+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.
+   <img src="./images/PhysicalAI_Dataset_02.png" alt="Physical AI Dataset Preview" width="50%"/>
+2. In the Properties Panel, disable the **Instanceable** checkbox to make the asset unique.
+3. Next, in the Properties Panel, click **Add -> Physics -> Rigid Body** to add the RBD physics to the asset.
+   <img src="./images/PhysicalAI_Dataset_03.png" alt="Physical AI Dataset Preview" width="50%"/>
+4. Repeat this process for each asset you want to interact with when a simulation is run.
+5. When the assets are configured with Rigid Body Dynamics, hit the **Play** button in IsaacSim to begin the simulation.
+### Asset Classifications
+* **Prop**: A single object that can be placed in a scene.
+* **Assembly**: A collection of props that can be placed in a scene as a logical group.
+* **Scenario**: A collection of props and assemblies to make an environment for simulation. (ex: A warehouse)
+### Additional Questions
+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.