metadata

language:
  - en
license: apache-2.0
task_categories:
  - robotics
pretty_name: ArtVIP
tags:
  - usd
  - articulations
  - Robotics simulation
Modalities:
  - 3D
Formats:
  - webdataset

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

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

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

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

How to use

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:

Locate the scene file: /Interactive_scene/kitchen/kitchen_target_position0.usd
Open in Isaac Sim and click ▶️ PLAY
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