Releases: UW-Lab/UWLab
NIST Assembly Task Board 1 — USD Assets
NIST Assembly Task Board 1 — USD Assets
This release contains USD-format assets for Task Board 1 of the NIST Assembly
Task Boards, with SDF colliders suitable for physics simulation (e.g. Isaac Sim /
Isaac Lab).
Contents
- All parts from Task Board 1 (board, plugs, sockets, fasteners) in USD format
- SDF colliders for every part, authored to support stable contact and assembly
- Plugs verified to fit their corresponding sockets in simulation
Provenance
The source STL meshes were originally published by NIST as part of the Robotic
Grasping and Manipulation Assembly benchmark:
The original collision meshes from that source exhibit self-interpenetration,
which makes them unreliable for contact-rich manipulation tasks. For this
release, every asset was manually repaired and re-authored so that:
- Collision geometry no longer interpenetrates
- All plug/socket pairs assemble cleanly end-to-end
- Each task-board interaction works as expected in simulation
Credits
These assets were created by Octi Zhang while a student at the
University of Washington, with contributions from fellow UW students:
- Alex Zhang
- Xinlei Liu
- Rosario Scalise
We thank them for their help in preparing and validating these assets.
License
These derivative assets are released under the BSD 3-Clause License
(see LICENSE inside the archive). The original NIST source meshes are in the
public domain as works of the U.S. federal government; this release covers only
the repaired/authored USD + SDF assets.
Citation
If you use these assets in published work, please credit:
- NIST Robotic Grasping and Manipulation Assembly (original source meshes)
- UW Lab — NIST Task Board 1 USD assets (released 2026-05-04), created by
Octi Zhang with contributions from Alex Zhang, Xinlei Liu, and Rosario Scalise