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+# Articulated Objects
+
+📁 `ArtVIP/Articulated_objects` contains **206** articulated objects.
+
+## All object categories
+
+The articulated objects are organized into the following categories:
+
+| Category | 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 |
+
+## Modular Interactive Objects
+From all of the above objects, we selected a portion (**48**) and set up modular interactive functions, mainly providing three types of modular interactions that simulate physical behavior in the real world:
+
+### 1. Magnetic Door Effect
+
+Items like refrigerators with door closers or cabinets with magnetic strips exhibit different physical behavior near the closing point—such as increased pulling force and locking effect. Simulating this requires configuring joint control models to reflect the force change before and after the magnetic engagement threshold.
+
+**Objects with Magnetic Door Effect (14 total):**
+- `large_furniture/cupboard/` (2 items)
+- `major_appliances/dishwasher/` (4 items)
+- `major_appliances/refrigerator/fridge/` (4 items)
+- `major_appliances/refrigerator/refrigerator/` (4 items)
+
+
+
+
+
+
+ Magnetic Effect Dishwasher
+
+
+
+
+
+
+
+ Magnetic Effect Refrigerator
+
+
+
+
+### 2. Damping Effect
+
+For objects like drawers or hinged cabinet doors, varying resistance is felt at different opening angles. To replicate this in simulation, we adjust joint stiffness and damping parameters to reflect variable force responses—mimicking the real-world feel of changing resistance.
+
+**Objects with Damping Effect (24 total):**
+- `small_furniture/cabinet/` (9 items)
+- `small_furniture/filing_cabinet/double_door/` (2 items)
+- `small_furniture/filing_cabinet/drawers/` (5 items)
+- `small_furniture/table/` (5 items)
+- `major_appliances/dishwasher/` (3 items)
+
+
+
+
+
+
+ Damping Effect Cabinet
+
+
+
+
+
+
+
+ Damping Effect Cabinet 2
+
+
+
+
+### 3. Trigger Interactions
+
+Scenes often include cross-object and inter-object interactions, such as buttons controlling lights or doors, fridge doors activating interior lights, or foot pedals opening trash bins. These behaviors require building control logic to link components, often in combination with the physical effects described above.
+
+**Objects with Trigger Interactions (10 total):**
+- `household_items/trash_can/` (5 items)
+- `small_appliances/microwave/` (3 items)
+- `small_appliances/oven/` (1 item)
+- `small_furniture/table/` (1 item)
+
+
+
+
+
+
+ Trigger Interactions Table
+
+
+
+
+
+
+
+ Trigger Interactions Trash Can
+
+
+
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diff --git a/Interactive_scene/README.md b/Interactive_scene/README.md
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+
+
+
+## Introduction to Interactive Scenes
+
+📁 `ArtVIP/Interactive_scene` contains **6** pre-configured digital-twin scenes.
+
+### Scene Features
+
+Each scene's USD includes joint drivers with preset stiffness and damping values, and the target position of the drivers is set to 0.
+
+**Interaction modes:**
+- Clicking "Play" will not trigger any actions
+- Dragging the joint position will move the object, and it will stop at different positions depending on the magnitude of the drag force
+
+### Customization Options
+
+All joint driver parameters can be adjusted as needed, and you can also control the target position via scripting to achieve specific requirements.
+
+For example, to make a joint open automatically, you need to set the joint stiffness value and target position.
+Joint driver visualization:
+
+
+
+
+
+---
+
+### Pre-configured Joint States
+
+The following demonstration sets all joint target positions to the enabled state:
+
+
+
+
+
+
+
+
+ 🔪 Kitchen Scene Interaction
+
+
+
+
+
+
+ 📺 Small Living Room Interaction
+
+
+
+
+
+
+
+ 🛋️ Parlor Scene Interaction
+
+
+
+
+
+
+ 🛏️ Bedroom Scene Interaction
+
+
+
+
+
+---
+
+### Interactive Demonstrations
+
+The following is a demonstration of interacting with the environment using drag and drop:
+
+
-✅ We provide digital-twin scene assets and configured scenarios integrating articulated objects within scene for immediate use.
+
+
+
+
+ ✅ Reusable Modular interaction
+
+
-✅ All assets are provided in **USD format** and are **open-source**.
+
+
+
+
+ ✅ Physics fidelity
+
+
-✅ The detailed production process and standard offer comprehensive guidance to facilitate community adoption and replication.
+
+
+
+
+ ✅ Pixel-level affordance annotations
+
+
+
---
+## [Version History](./assets/Release_history.md)
+
+| Version | Release Date | Description | Highlights |
+|---------|--------------|-----------------------------------------------------------------------------|------------|
+| v1.1 | 2024-08 | Optimized the details of interactive scenes. | ✅ Modify interactive scene joint drive configuration ✅Optimize collision volume decomposition within interactive scenes ✅Including 48 modular interactive objects |
+| v1.0 | 2024-06 | Initial release of ArtVIP dataset | ✅ 206 articulated objects ✅ 6 interactive scenes ✅ 6 digital twin scenes |
+
+### Dataset Information
+### Description
+[Click here](https://x-humanoid-artvip.github.io/) for a detailed dataset description and full video introduction.
### Dataset Structure
1. **Articulated objects**
+ [Click here](./Articulated_objects/README.md) for the introduction to Articulated objects.
+ The specific modular-interaction types:
-| 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 |
-
+
+
+
+
+
+ Damping_Effect_cabinet
+
+
+
+
+
+
+
+ Magnetic_Effect_dishwasher
+
+
+
+
+
+
+
+ Trigger_Interactions_table
+
+
+
+
+
+
+
+ Damping_Effect_cabint
+
+
+
+
+
+
+
+ Magnetic_Effect_refrigerator
+
+
+
+
+
+
+
+ Trigger_Interactions_trash_can
+
+
+
-2. **Scenes**
+1. **Scenes**
+ 1.1 Digital Twin Scenes
+ 📁 ``ArtVIP/Secenes`` contains **6** user-defined digital-twin scenes.
+ - [📘 Introduction to Digital-Twin Scenes](./Scenes/README.md)
+
+
+ 1.2 Interactive_scene
+ 📁 ``ArtVIP/Interactive_scene`` contains **6** pre-configured Interactive scenes.
+ - [📘 Introduction to Interactive scenes](./Interactive_scene/README.md)
-| Scene Type | Included Scenes |
-|---------------------|---------------------------------------------------------------------------------|
-| Children's Room | 🏠 `children_room` |
-| Dining Room | 🍽️ `dining_room` |
-| Kitchen | 🔪 `kitchen` |
-| Kitchen with Parlor | 🛋️ `kitchen_with_parlor` |
-| Large Living Room | 🖼️ `large_living_room` |
-| Small Living Room | 📺 `small_living_room` |
-3. **Interactive Scenes**
-Based on the **Scenes** files mentioned above, we have added articulated objects with interactive capabilities to the scenes and configured two types of USD files: one type has all joints opened by default when clicking PLAY, and the other type has all joints closed by default. Both types are interactive.
+
-
-
-
-
All joints opened by default
+
+
+
+
+ 🔪 Kitchen Scene Interaction
+
-
-
-
All joints closed by default
+
+
+
+
+ 📺 Small Living Room Interaction
+
-
----
+
+
+
+
+ 🛋️ Parlor Scene Interaction
+
+
+
+
+
+
+ 🛏️ Bedroom Scene Interaction
+
+
+
-## Dataset information
-### Description
+---
-ArtVIP, a com-prehensive open-source dataset comprising high-quality digital-twin articulated objects, accompanied by indoor-scene assets. Crafted by professional 3D modelers adhering to unified standards, ArtVIP ensures visual realism through precise ge-ometric meshes and high-resolution textures, while physical fidelity is achieved via fine-tuned dynamic parameters. Meanwhile, the dataset pioneers embedded modular interaction behaviors within assets and pixel-level affordance annotations. Feature-map visualization and optical motion capture are employed to quantitatively demonstrate ArtVIP’s visual and physical fidelity, with its applicability validated across imitation learning and reinforcement learning experiments. Provided in USD format with detailed production guidelines, ArtVIP is fully open-source, benefiting the research community and advancing robot learning research.
### How to use
1. **Install Isaac Sim 4.5**
@@ -124,20 +208,12 @@ ArtVIP, a com-prehensive open-source dataset comprising high-quality digital-twi
./isaac-sim.sh
### Examples
-**Kitchen Scene Interaction Demo**:
+**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)
-
- 
-
-1. **Available Interactions**:
- - Press switches to open doors
- - Toggle light switches
- - Operate microwave buttons
- - Open refrigerator doors
-
+
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+## Introduction to digital twin 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**
+
+### Scene Features
+The scenes in this directory are digital twin scenes modeled 1:1 based on real data collected from the factory site.
+- These scenes have basic collision volume decomposition but do not have scene interaction capabilities.
+- If you want to build your own simulation scenes based on these scenes, you can add 📁 ``ArtVIP/Articulated_objectses`` items to the scenes.
+
+The following is a comparison of the digital twin scene and the real scene:
+
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