Dataset · Hugging Face

nepfaff/scenesmith-sam3d-objects

Name: scenesmith-sam3d-objects
Creator: nepfaff
License: apache-2.0
Keywords: task_categories:robotics, license:apache-2.0, size_categories:10K<n<100K, arxiv:2602.09153, region:us, simulation, 3d-objects, sdformat, drake, robotics, scene-generation

SceneSmith SAM3D Objects This dataset contains 30,887 static, simulation-ready 3D object assets for Drake. The objects were generated with the SceneSmith SAM3D asset pipeline and are additional generated objects beyond those packaged in the SceneSmith Example Scenes dataset. Each object is packaged as a self-contained SDFormat asset directory containing: SDFormat model file (.sdf) final visual mesh referenced by the SDF (.gltf plus referenced buffers and images) convex… See the full description on the dataset page: https://huggingface.co/datasets/nepfaff/scenesmith-sam3d-objects.

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Author / organization	nepfaff
License (as declared)	apache-2.0
Downloads	178 (as reported by Hugging Face)
Likes	0
Created	31 May 2026
Last updated at source	31 May 2026

simulation3d-objectssdformatdrakeroboticsscene-generation

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