Available Scenes
April 10, 2026 ยท View on GitHub
A list of USD scenes available in the scene directory.
Total scenes: 61 | Total unique objects: 79 | Average objects per scene: 4.25
| scene | dynamic_bodies | kinematic_bodies | static_bodies | Preview |
|---|---|---|---|---|
| bagel_plate_banana_bowl.usda | table, bowl, plate_large, banana, bagel_00, bagel_06 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| banana_bowl.usda | table, bowl, banana | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| banana_crate.usda | table, banana, purple_crate | franka_table, GroundPlane |  | |
| bananas_5_grey_bin.usda | table, banana, banana_01, banana_02, banana_03, banana_04, grey_bin | franka_table, GroundPlane |  | |
| bananas_5_in_crate.usda | table, banana, purple_crate, banana_01, banana_02, banana_03, banana_04 | franka_table, GroundPlane |  | |
| base_empty.usda | table | PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| bin_condiments.usda | table, grey_bin, mug, mustard, bowl, ranch_dressing, bbq_sauce_bottle, oatmeal_raisin_cookies, canned_tuna, soft_scrub, wood_block, coffee_pot, bbq_sauce_bottle_01 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| bin_mug_mustard_marker_bowl.usda | table, grey_bin, mug, bowl, mustard, dry_erase_marker | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| bin_mug_mustard_marker_bowl_spoon_mayo_soup.usda | table, grey_bin, mug, bowl, mustard, dry_erase_marker, alphabet_soup_can, mayonnaise_bottle, spoon | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| blue.usda | table, plasticjerrican_a02, plasticpail_a02, pitcher | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| bottles_crate.usda | salad_dressing_bottle, ceramic_mug, bbq_sauce_bottle, table, purple_crate | franka_table, GroundPlane |  | |
| bowl_5_table.usda | bowl_1, bowl_2, bowl_3, bowl_4, bowl_center, table | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| bowls_2.usda | bowl_1, bowl_2 | table, world_camera, PhysicsScene, white_void |  | |
| bowls_2_table.usda | table, bowl_1, bowl_2 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| bowls_5.usda | bowl_center, bowl_1, bowl_2, bowl_3, bowl_4 | table, world_camera, PhysicsScene, white_void |  | |
| breakfast_table.usda | table, bowl, banana, bagel_07, coffee_can, banana_01, yogurt_cup, coffee_pot, ceramic_mug, pitcher, fork_big, spoon_big, apple_01, orange2, milk_carton, orange_juice_carton, bagel_01, bagel_02, plate_small, plate_large | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| butter_on_top_of_raisin_box.usda | table, butter, raisin_box | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| butter_raisin_box.usda | table, butter, raisin_box | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| butter_raisin_box_grey_bin.usda | table, butter, raisin_box, grey_bin | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| cartons_in_crate.usda | table, alphabet_soup_can, milk_carton, orange_juice_carton, smartphone, mug, container_a01, mayonnaise_bottle, ketchup_bottle | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| cartons_in_vertical_crate.usda | table, alphabet_soup_can, milk_carton, orange_juice_carton, smartphone, mug, container_a01, mayonnaise_bottle, ketchup_bottle | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| cartons_on_box.usda | table, alphabet_soup_can, milk_carton, orange_juice_carton, smartphone, mug, mayonnaise_bottle, ketchup_bottle, cubebox_a02 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| cleaning_products.usda | whitepackerbottle_a01, whitepackerbottle_a02, utilityjug_a01, utilityjug_a02, squarepail_a01, plasticpail_a02, whitepackerbottle_a03 | table | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane | No image |
| clutter_fruit_bottle_bluebin.usda | table, lemon_01, lemon_02, lime01, lime01_01, orange_01, orange_02, pomegranate01, pumpkinlarge, pumpkinsmall, whitepackerbottle_a01, avocado01, crabbypenholder, milkjug_a01, serving_bowl, utilityjug_a03, right_bin, red_onion | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| clutter_shelf.usda | table, lemon_01, lemon_02, lime01, lime01_01, orange_01, orange_02, pomegranate01, pumpkinlarge, pumpkinsmall, whitepackerbottle_a01, avocado01, crabbypenholder, milkjug_a01, serving_bowl, utilityjug_a03, heavydutysteelshelving_a01 | PhysicsScene, PhysicsMaterial, franka_table, GroundPlane, redonion |  | |
| colored_blocks.usda | table, blue_block, green_block, red_block, yellow_block | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| conditionals_test_scene.usda | bowl, table, ketchup_bottle, grey_bin, mug, mug_01, mug_bottom, mug_top, banana_in_bin, banana_near, banana_far, rubiks_cube_middle, rubiks_cube_top, rubiks_cube_bottom, bowl_1, bowl_2, bowl_3, bowl_4 | PhysicsMaterial, franka_table, GroundPlane |  | |
| cooking_table.usda | table, redonion, serving_bowl, clay_plates, wooden_spoons, spatula, storage_box, tomato_sauce_can, measuring_cups_1, pink_spaghetti_spoon, spoon_1, green_serving_spoon, storage_box_01, ladle, wooden_bowl, potato_masher | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| cutlery_shelf.usda | table, sm_rack_m01, spatula_05, spatula_14, spoon_big, spoon_small, fork_big, fork_small | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane | No image | |
| food_packing.usda | table, bin_a06, cheez_it, chocolate_pudding, coffee_can, mustard, spam_can, sugar_box, tomato_soup_can, bin_b03 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| food_packing_dense.usda | table, bin_a06, cheez_it, chocolate_pudding, mustard, spam_can, sugar_box, tomato_soup_can, tuna_can | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| foodpacking_1bin_1box_1can.usda | table, bin_a06, cheez_it, mustard, tomato_soup_can | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| foodpacking_1bin_2box_2can.usda | table, bin_a06, cheez_it, mustard, sugar_box, tomato_soup_can, tuna_can | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| foodpacking_1bin_3box_3can.usda | table, bin_a06, cheez_it, chocolate_pudding, mustard, spam_can, sugar_box, tomato_soup_can, tuna_can | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| front_of_shelf.usda | table, sm_rack_m01, spatula_05, spoon_big, spoon_small, fork_big, fork_small, milkjug_a01, blackandbrassbowl_large, gardenplanter_large | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| fruits_in_basket.usda | table, lemon_01, lemon_02, lime01, lime01_01, orange_01, orange_02, pomegranate01, pumpkinlarge, pumpkinsmall, redonion, serving_bowl, clay_plates, wooden_bowl, wooden_spoons, spatula, storage_box | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| fruits_out_of_basket.usda | table, lemon_01, lemon_02, lime01, lime01_01, orange_01, orange_02, pomegranate01, pumpkinlarge, pumpkinsmall, redonion, serving_bowl, clay_plates, wooden_spoons, spatula, storage_box | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| fruits_out_of_basket_2oranges.usda | table, lemon_01, lemon_02, lime01, lime01_01, orange_01, orange_02, pomegranate01, pumpkinlarge, pumpkinsmall, redonion, serving_bowl, clay_plates, wooden_spoons, spatula, storage_box, orange_03, orange_04 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| green.usda | table, blackandbrassbowl_large, screwtoppail_a01, utilityjug_a02, frozen_vegetable_block | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| ladle_pot.usda | table, anza_medium, ladle, plate_large, plate_small, fork_big, fork_small, spatula_13, spatula_14, spatula_15, pink_spaghetti_spoon, ladle_01, red_serving_spoon, green_serving_spoon | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| mug_banana_ketchup_bowl_rubiks3_bin.usda | bowl, table, ketchup_bottle, grey_bin, mug, rubiks_cube_middle, rubiks_cube_top, rubiks_cube_bottom, banana | PhysicsMaterial, franka_table, GroundPlane |  | |
| mugs2_bananas2_ketchup_rubiks3_bin.usda | bowl, table, ketchup_bottle, grey_bin, mug, mug_01, banana_near, banana_far, rubiks_cube_middle, rubiks_cube_top, rubiks_cube_bottom | PhysicsMaterial, franka_table, GroundPlane |  | |
| mugs4_measuringcup_drill_bowl.usda | table, bowl, ceramic_mug, red_mug, measuring_cup, cordless_drill, sideways_white_mug, upright_white_mug | PhysicsMaterial, franka_table, GroundPlane |  | |
| mugs4_measuringcup_drill_bowl_v2.usda | table, bowl, ceramic_mug, red_mug, measuring_cup, cordless_drill, upright_white_mug, sideways_white_mug | PhysicsMaterial, franka_table, GroundPlane |  | |
| mugs_on_shelf.usda | table, ceramic_mug, mug, rack_l04, serving_bowl, utilityjug_a01 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| mustard_raisin_box.usda | table, raisin_box, mustard_bottle | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| objects_around_table.usda | bowl, banana, table, alphabet_soup_can, milk_carton, orange_juice_carton, smartphone, rubiks_cube, mug | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| rubiks_cube_2_bowl.usda | table, bowl, rubiks_cube2, rubiks_cube1 | PhysicsMaterial, franka_table, GroundPlane |  | |
| rubiks_cube_3.usda | table, rubiks_cube, rubiks_cube_1, rubiks_cube_2 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| rubiks_cube_banana_bowl.usda | bowl, rubiks_cube, banana, table | PhysicsMaterial, franka_table, GroundPlane |  | |
| rubiks_cube_banana_bowl_mug_bin.usda | bowl, rubiks_cube, banana, grey_bin, mug, table | PhysicsMaterial, franka_table, GroundPlane |  | |
| rubiks_cube_bowl.usda | table, bowl, rubiks_cube | PhysicsMaterial, franka_table, GroundPlane |  | |
| shelf2_with_condiments.usda | table, sm_rack_m01, rack_l04, ketchup_bottle, mustard | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| shelf2_without_condiments.usda | table, sm_rack_m01, rack_l04, ketchup_bottle, mustard | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| shelf_mugs_jug_bowl.usda | table, ceramic_mug, mug, rack_l04, serving_bowl, utilityjug_a01 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| shelf_with_cleaning_products.usda | whitepackerbottle_a01, whitepackerbottle_a02, utilityjug_a01, utilityjug_a02, squarepail_a01, plasticpail_a02, whitepackerbottle_a03 | table, large_storage_rack | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  |
| shelf_with_cleaning_products2.usda | whitepackerbottle_a01, whitepackerbottle_a02, utilityjug_a01, utilityjug_a02, squarepail_a01, plasticpail_a02, whitepackerbottle_a03 | table, large_storage_rack | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane | No image |
| spam_mug.usda | table, mug, spam_can, grey_bin | franka_table, GroundPlane |  | |
| tools_container.usda | table, cordless_drill, spring_clamp, red_hammer, husky_hammer, left_bin, right_bin | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| tools_picking.usda | table, clamp, cordless_drill, spring_clamp, clamp_01, right_bin, center_bin, left_bin, husky_hammer, wood_hammer, red_hammer, blue_hammer | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane, PushGraph |  | |
| tools_sorting.usda | table, clamp, cordless_drill, spring_clamp, husky_hammer, right_bin, center_bin, left_bin, blue_hammer, red_hammer, wood_hammer | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| toys_cleanup.usda | table, rubiks_cube, rubiks_cube_1, rubiks_cube_2, grey_bin, lizard_figurine, birdhouse, yellow_block, red_block, green_block, blue_block, lizard_figurine_01 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| two_bin.usda | table, mustard, grey_bin_right, grey_bin_left | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| wire_shelf_mugs_plate_spatula.usda | table, wireshelving_a01, spatula_01, plate_small, fork_big, fork_small, ceramic_mug, mug, mug_01 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| workdesk.usda | table, ceramic_mug, glasses, keyboard, lizard_figurine, marker, remote_control, rubiks_cube, smartphone, wooden_bowl, spoon_big, computer_mouse, yogurt_cup, oatmeal_raisin_cookies, granola_bars | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| workdesk_bin.usda | table, ceramic_mug, glasses, keyboard, lizard_figurine, marker, remote_control, smartphone, wooden_bowl, spoon_big, computer_mouse, yogurt_cup, granola_bars, grey_bin | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  | |
| workdesk_snacks.usda | table, ceramic_mug, glasses, keyboard, marker, remote_control, smartphone, wooden_bowl, spoon_big, computer_mouse, yogurt_cup, pitcher, plasticpail_a02, apple_01 | Looks, PhysicsScene, PhysicsMaterial, franka_table, GroundPlane |  |
This table was generated automatically from CSV data. Last updated: 2026-02-19 07:32:55