Tritiumac/PPS_assets

PPS IsaacLab Assets

Scene and object assets for the IsaacLab manipulation tasks bundled with TritiumR/pps — a research codebase for steering pi0 / pi0.5 VLA policies.

The pps repository ships code only; these assets are distributed here because they are too large to commit. Unpack them into IsaacLab/assets/ and the task configs (which build asset paths relative to __file__) will resolve.

Contents

Path	Size	Source
ArtVIP/Interactive_scene/	~2.1 GB	X-Humanoid/ArtVIP (Apache-2.0)
everything else	~0.6 GB	this project

The six interactive scenes (kitchen, smalllivingroom, largelivingroom, kitchen_with_parlor, childrenroom, diningroom) are the only ArtVIP subset the tasks load, and are mirrored here so a single download is enough. The upstream Scenes/ and Articulated_objects/ splits are not included — fetch them from X-Humanoid/ArtVIP if you need them.

Project-specific assets include tianji/, objs/, table.usd, table_move.usd, droid/, and the per-task object folders (cup/, mug/, egg/, knife/, hanger/, scissors*/, drink*/, pastry*/, …).

Usage

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="Tritiumac/PPS_assets",
    repo_type="dataset",
    local_dir="IsaacLab/assets",
)

Or from the repo root:

python IsaacLab/fetch_assets.py

Then run an evaluation, e.g.

python eval_pi.py --task <task> --model_name pi05_droid \
  --prompt "<instruction>" --name demo

License

This dataset is distributed as a whole under Apache-2.0, because it contains Apache-2.0 material.

• The ArtVIP/ subtree is redistributed from X-Humanoid/ArtVIP and remains under Apache-2.0. Please cite ArtVIP if you use those scenes.
• The project's own assets (everything outside ArtVIP/) are additionally offered under the MIT license, matching TritiumR/pps.