ArtVIP dataset card

Key Features

✅ 206 high-quality digital-twin articulated objects.

✅ 6 pre-configured digital-twin scenes, 6 user-defined scenes

✅ Reusable Modular interaction

✅ Physics fidelity

✅ Pixel-level affordance annotations

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Version History

Version	Release Date	Description	Highlights
v1.0	2024-06	Initial release of ArtVIP dataset	✅ 206 articulated objects ✅ 6 interactive scenes ✅ 6 digital twin scenes

Current Version Details (v1.0)

• Dataset Size: 206 articulated objects across 26 categories
• Scene Coverage: 6 digital twin scenes, 6 fully interactive scenes
• Key Innovations:
  • Pixel-level affordance annotations
  • Embedded modular interaction behaviors
  • Physically accurate dynamic parameters
  • High-resolution textures (4K PBR materials)
• Supported Platforms: Isaac Sim 4.5

Dataset Information

Description

Click here for a detailed dataset description and full video introduction.

Dataset Structure

1. Articulated objects

📁 ArtVIP/Articulated_objects contains 206 articulated objects.

Articulated objects	Items
Household Items	basket, cardboard_box, mop, pump_bottle, stationery, tongs, toolbox, trash_can
Large Furniture	cupboard, wardrobe
Major Appliances	built-in_oven, dishwasher, refrigerator, standing_fan, toilet, washing_machine, water_dispenser
Small Appliances	coffee_machine, laptop, microwave, oven, rice_cooker, table_fan, water_dispenser
Small Furniture	cabinet, chair, faucet, filing_cabinet, shoe_cabinet, table

2. Scenes

📁 ArtVIP/Secenes contains 6 user-defined digital-twin scenes.

• 🏠 Children's Room
• 🍽️ Dining Room
• 🔪 Kitchen
• 🛋️ Kitchen with Parlor
• 🖼️ Large Living Room
• 📺 Small Living Room

📁 ArtVIP/Interactive_scene contains 6 pre-configured digital-twin scenes.

🔪 Kitchen Scene Interaction

📺 Small Living Room Interaction

🛋️ Parlor Scene Interaction

🛏️ Bedroom Scene Interaction

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How to use

1. Install Isaac Sim 4.5

   • Official Documentation: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html

   • Linux Version Download: https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone%404.5.0-rc.36%2Brelease.19112.f59b3005.gl.linux-x86_64.release.zip

   • Installation steps:

   # Create installation directory
   mkdir ~/isaacsim
   
   # Unzip package (assuming downloaded to ~/Downloads)
   cd ~/Downloads
   unzip "isaac-sim-standalone@4.5.0-rc.36+release.19112.f59b3005.gl.linux-x86_64.release.zip" -d ~/isaacsim
   
   # Run post-installation setup
   cd ~/isaacsim
   ./post_install.sh
   
   # Launch Isaac Sim
   ./isaac-sim.sh
   

Examples

Interaction Demo:

1. Locate the scene file: /Interactive_scene/kitchen/kitchen_target_position0.usd
2. Open in Isaac Sim and click ▶️ PLAY
3. Force Application:
   • Hold SHIFT + Left Click and drag to apply external forces (highlighted in green in the demonstration image)

🚪 Door Operation

💡 Light Switch Activation

🔥 Microwave Interaction

❄️ Refrigerator Interaction

Full Object Interactivity:

🍳 Kitchen Interaction Showcase

🛏️ Bedroom Interaction Showcase