Rigid and articulated sim-ready assets for NVIDIA Isaac Sim

Rigid assets are easier to model than deformables, so their quality comes down to details that are easy to skip: mass, center of mass and inertia that match the real object, collision meshes that keep handles and clearances, and joints with the limits, damping and springs the real object has.

Every asset here ships with those properties set, plus labeled grasp regions and functional parts such as handles, lids, buttons and blades. Articulated objects carry revolute, prismatic and helical joints, and every asset ships as USD for NVIDIA Isaac Sim.