Duplicate from codepawl/simready-glb

Co-authored-by: An Xuan Nguyen <anxuanng@users.noreply.huggingface.co>

README.md

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+---
+license: cc-by-4.0
+pretty_name: SimReady GLB
+tags:
+- 3d
+- gltf
+- glb
+- web
+- three.js
+- simready
+- nvidia
+size_categories:
+- 1K<n<10K
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path:
+    - "thumbs/*.webp"
+    - "thumbs/metadata.jsonl"
+---
+
+# SimReady GLB
+
+![A grid of SimReady models rendered from this dataset](assets/hero.webp)
+
+**[Open the 3D viewer](https://huggingface.co/spaces/codepawl/simready-glb-viewer)** to search all 2,595 models and
+orbit any of them in the browser.
+
+Web-ready glTF binary (`.glb`) copies of the 3D models in
+[nvidia/simready-assets](https://huggingface.co/datasets/nvidia/simready-assets). Each file loads directly in
+three.js, Babylon.js, model-viewer or any glTF 2.0 viewer.
+
+Models by NVIDIA SimReady, licensed CC BY 4.0. This dataset converts and compresses them. It does not change what
+they show. If you use these files, credit NVIDIA as the original author and link the source dataset.
+
+| | Blender export | This dataset |
+|---|---|---|
+| Assets | 2,595 | 2,595 |
+| Total size | 228.1 GB | 3.2 GB |
+| Triangles | 821M | 415M |
+| Largest texture edge | 4096 px | 1024 px |
+
+Example: the V8 engine (`engineAssembly_v8_engine_a01`) is an 888 MB glb out of Blender and
+7.4 MB here. Its first frame in Chrome took 9.4 s before and 0.57 s after.
+
+## What is in it
+
+- `glb/<asset>.glb`: one file per SimReady asset folder, named like the folder in the source dataset.
+- `thumbs/<asset>.webp`: a 512 px render of each glb, with `thumbs/metadata.jsonl` holding its category, size,
+  triangles and draw calls. The Dataset Viewer above shows this table.
+- `manifest.jsonl`: one line per asset with size, triangles, draw calls and textures before and after optimization,
+  plus the number of hulls, concave parts and drives.
+- `newton_loader/`: the loader for NVIDIA Newton.
+
+## Download
+
+All files, about 3.2 GB:
+
+```bash
+hf download codepawl/simready-glb --repo-type dataset --local-dir simready-glb
+```
+
+One category, for example every food model:
+
+```bash
+hf download codepawl/simready-glb --repo-type dataset --include "glb/food_*" --local-dir simready-glb
+```
+
+One file from Python:
+
+```python
+from huggingface_hub import hf_hub_download
+
+path = hf_hub_download("codepawl/simready-glb", "glb/engineAssembly_v8_engine_a01.glb", repo_type="dataset")
+```
+
+## Loading in three.js
+
+The geometry uses `EXT_meshopt_compression` and the textures use `EXT_texture_webp`, so set the meshopt decoder:
+
+```js
+import { GLTFLoader } from 'three/addons/loaders/GLTFLoader.js';
+import { MeshoptDecoder } from 'three/addons/libs/meshopt_decoder.module.js';
+
+const loader = new GLTFLoader();
+loader.setMeshoptDecoder(MeshoptDecoder);
+loader.load('engineAssembly_v8_engine_a01.glb', (gltf) => scene.add(gltf.scene));
+```
+
+## Physics and moving parts
+
+2,587 files carry the rigid bodies, mass and physics materials of their SimReady USD. 929 of
+them also carry joints, 5,550 in all: door hinges, drawer slides, buttons, wheels and lids. Each file holds
+this data in two forms:
+
+- `KHR_physics_rigid_bodies`, the Khronos glTF physics extension. Each part has a `motion` with its mass, center of
+  mass and inertia. Each mesh has a convex hull `collider` with friction and restitution. Each joint has its limits.
+  Loaders that do not read the extension ignore it.
+- Plain node extras, which three.js puts in `object.userData`. A moving part has
+  `joints: [{ type, parent, pivot, axis, min, max, unit }]`, with the pivot and axis in model space at rest.
+  Revolute limits are in degrees and prismatic limits are in meters. Parts also have `mass` in kg and `density` in
+  kg/m³.
+
+Open a door or a drawer in three.js from its rest pose (the part's parent is at the model origin):
+
+```js
+import * as THREE from 'three';
+
+function movePart(part, value) {
+  const { type, pivot, axis } = part.userData.joints[0];
+  const direction = new THREE.Vector3(...axis);
+  if (type === 'prismatic') {
+    part.position.addScaledVector(direction, value);
+    return;
+  }
+  const turn = new THREE.Quaternion().setFromAxisAngle(direction, THREE.MathUtils.degToRad(value));
+  const center = new THREE.Vector3(...pivot);
+  part.position.sub(center).applyQuaternion(turn).add(center);
+  part.quaternion.premultiply(turn);
+}
+
+movePart(gltf.scene.getObjectByName('door_01_obj_00'), 90);
+```
+
+The 3D viewer shows a slider for each moving part. The files from before the physics data are kept at the `v1` tag:
+add `--revision v1` to the download command.
+
+## Simulating in NVIDIA Newton
+
+Each file with physics data also carries the data that a simulator needs and a viewer does not:
+
+- 17,507 collision hulls in `extras.collisionHulls` of each body node. 2,852 of the 8,496 parts are concave.
+  A concave part gets up to 8 hulls, so a cabinet or a bin stays hollow. A hull has at most 48 points, or 32 in a concave part.
+- 2,145 joint drives in 333 files, in the `drives` array of the joint in `KHR_physics_rigid_bodies`.
+- Inertia of 256 small parts in 67 files, which the earlier rounding had set to zero.
+
+These additions make the set 0.17% larger: 3,180.2 MB to 3,185.5 MB, with a median file of 0.416 MB. Meshes, materials and
+textures are byte-identical to the earlier files in all 2,595 files. The hulls sit after the old binary data, so
+existing loaders read the files as before.
+
+Half of the files have hulls within 3.9 mm of the part's own convex shape. The figure is 12 mm at the 95th percentile
+and 177 mm in the worst file. A hull side that is nearly flat along an axis is then made exactly flat, which moves its
+points outward by up to 2 cm. Newton's contact code turns an uneven bottom into false depth, which kicks the part upward.
+
+`newton_loader/simready_newton` adds a file to a Newton model. It needs Newton 1.7, SciPy and meshoptimizer.
+
+```python
+import newton
+import newton.solvers
+from simready_newton import add_simready_glb
+
+builder = newton.ModelBuilder(up_axis=newton.Axis.Y)
+builder.add_ground_plane()
+add_simready_glb(builder, "glb/bin_waste_a01.glb", position=(0.0, 0.5, 0.0))
+model = builder.finalize()
+solver = newton.solvers.SolverXPBD(model, iterations=8, joint_linear_relaxation=0.3, joint_angular_relaxation=0.2)
+```
+
+Use these two relaxation values with `SolverXPBD`. The default linear value of 0.7 went NaN on
+`scaffold_rolling_steel_a03` within a few frames. The default angular value of 0.4 went NaN on
+`climate_shopFan_pedestal_a01` when every joint was pushed at once. The loader read all 2,595 files with no failures.
+8 files have no rigid bodies, so it adds nothing for them.
+
+In a file with joints, the loader raises any part's inertia below 1e-4 kg·m² to that value. A part's rotation is slower
+than the source says, and it no longer shakes or goes NaN. Set `jointed_part_inertia_floor` to change the value. Files
+with one rigid body use 1e-6 kg·m² (`inertia_floor`).
+
+43 files across the categories were simulated at 60 fps with 8 substeps. 42 of them were compared with their SimReady USD:
+
+| Check | Result |
+| --- | --- |
+| Mass, center of mass, joint type, pivot, axis, limits, friction, restitution | Match |
+| Dropped from 20 cm stays finite | 43 of 43 |
+| Dropped from 20 cm is at rest after 3 s | 31 of 43 |
+| Dropped from 20 cm is at rest after 9 s (the 12 files left) | 10 of 12 |
+| Every joint pushed at once on a pinned base stays finite | 43 of 43 |
+
+At rest means under 0.05 m/s and 0.5 rad/s. The push test stops pushing a free axle above 200 rad/s. `conveyor_belt_a61`
+stayed finite at 400 rad/s and went NaN at 800 rad/s, so keep free axles below that at 480 substeps per second.
+
+## How the files were made
+
+1. Download `simready_usd/` from each asset folder. `source_assets/` is skipped because it holds a second copy of
+   the textures for MDL shaders.
+2. Check that `.metadata/LICENSE.txt` is CC BY 4.0.
+3. Import the USD in Blender 5.2 and remove the collision, proxy and grasp helper prims. Export a glb with the
+   original textures.
+4. Optimize with glTF Transform 4.5. Remove the USD instance prototypes Blender brings in next to the placed parts,
+   remove duplicate mesh instances, then dedup, prune and weld.
+5. Resize textures to 1024 px as WebP. Compress geometry with meshopt at its high level
+   (`EXT_meshopt_compression` with octahedral normals and quantized attributes).
+6. Read the rigid bodies, mass, physics materials and joints from the USD layers and write them into the glb JSON.
+   The USD is Z-up, so joint frames and axes are turned to the glb's Y-up.
+7. Cut each concave part into convex pieces and keep the hull points that stick out most. Make nearly flat hull sides
+   exactly flat. Read the drives and the full inertia from the USD. Append the hulls after the binary data.
+
+Assets with UDIM textures have each tile split into its own material before the export, with its UVs moved into 0-1.
+Blender's own UDIM handling in the glTF exporter drops the faces of some tiles.
+
+No mesh simplification is applied. The triangle drop comes from removed duplicates and helper geometry.
+
+The conversion scripts are in
+[codepawl/3d-builds](https://github.com/codepawl/3d-builds/tree/main/works/2026-10-28-simready-showcase/batch).
+
+## Known gaps
+
+SimReady collides with signed distance fields built from each render mesh. The `collider` of each mesh in
+`KHR_physics_rigid_bodies` stays one convex hull, which every engine can build, so hollow parts collide as if filled
+there. Use `extras.collisionHulls` to keep them hollow. `KHR_physics_rigid_bodies` is still a Khronos review draft, so
+check that your engine reads it. The node extras work with any loader. USD simulation settings are not carried
+over. Materials are converted to glTF PBR, so MDL-only shader effects are lost.
+
+In Newton, parts of one file do not collide with each other, because SimReady's overlapping parts jam their hinges
+otherwise. Nothing latches a door or a drawer, so use a drive to hold them closed. Two sample files do not stay still:
+
+- `electrical_power_terminal_a01` is 5.1 m tall and 0.52 m deep, and it falls over when it stands free. Load it with
+  `fixed_base=True`.
+- `paint_supplies_brush_a05`, a 44 g brush, still rocks after 9 s. With `rigid_contact_relaxation=0.2` it settles in 9 s.
+
+Inertia differs from the USD where the loader raises it to its floor. Only 43 of the 2,595 files had these simulation
+checks, so other files can have the same problems.
+
+Two joints in the USD are left out because they hold nothing: the fixed joint of
+`ladder_multiPurpose_aluminium_a05` points at a part with no rigid body, and one fixed joint of
+`serviceTool_brakeCaliper_pistonWindBackKit_a01` joins a body to itself.
+
+## Changelog
+
+- 2026-11-01: Added collision hulls that keep concave parts hollow, joint drives and the inertia of small parts.
+  Added a loader for NVIDIA Newton. The set grows by 0.17%. Meshes, materials and textures do not change.
+- 2026-10-29: Added physics from the USD files: rigid bodies, mass, physics materials and 5,550 joints, as
+  `KHR_physics_rigid_bodies` and as node extras. The viewer shows a slider for each moving part. The files before this
+  change are at the `v1` tag.
+- 2026-10-29: Geometry is encoded at meshopt's high level. The set went from 4.0 GB to 3.2 GB with the same
+  triangles and no visible change in any of the 2,595 thumbnails.
+- 2026-10-29: 52 files with UDIM textures were missing geometry, because Blender's glTF exporter dropped
+  the faces of some texture tiles (for example crate_plywood_b01 kept only its metal frame). They are exported again
+  with the tiles split before the export.
+- 2026-10-29: 1,305 files carried a second copy of some parts at the origin, the USD instance prototypes
+  Blender imports next to the placed parts (for example the eyeglasses showed two pairs of arms). Those copies are
+  removed. Added thumbnails, the Dataset Viewer table and the 3D viewer Space.
+- 2026-10-28: first release.

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