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--- |
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language: |
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- en |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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pretty_name: ArtVIP |
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tags: |
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- usd |
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- articulations |
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- Robotics simulation |
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Modalities: |
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- 3D |
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Formats: |
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- webdataset |
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--- |
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# ArtVIP dataset card |
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[](https://opensource.org/licenses/Apache-2.0) |
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[](https://x-humanoid-artvip.github.io/) |
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[](https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP) |
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[](https://arxiv.org/abs/2506.04941) |
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[](https://huggingface.co/papers/2506.04941) |
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## Key Features |
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✅ 206 high-quality digital-twin articulated objects. |
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<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;"> |
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<!-- Digital Twin Scenes --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="./assets/digital_twin_scences.gif" width="100%" alt="Digital Twin Scenes"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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✅ 6 pre-configured digital-twin scenes, 6 user-defined scenes |
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</p> |
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</div> |
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<!-- Reusable Modular Interaction --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="./assets/Magnetic_attraction.gif" width="100%" alt="Modular Interaction"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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✅ Reusable Modular interaction |
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</p> |
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</div> |
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<!-- Physics Fidelity --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="assets/chair.gif" width="100%" alt="Physics Fidelity"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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✅ Physics fidelity |
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</p> |
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</div> |
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<!-- Pixel-level Affordance Annotations --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="assets/Seg_chair.gif" width="100%" alt="Affordance Annotations"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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✅ Pixel-level affordance annotations |
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</p> |
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</div> |
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</div> |
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--- |
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## [Version History](./assets/Release_history.md) |
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[Click here](./assets/Release_history.md) to view historical versions |
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| Version | Release Date | Description | Highlights | |
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|---------|--------------|-----------------------------------------------------------------------------|------------| |
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| v1.1 | 2024-08 | Optimized the details of interactive scenes. | ✅ Modify interactive scene joint drive configuration<br>✅Optimize collision volume decomposition within interactive scenes <br> ✅Including 48 modular interactive objects | |
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| v1.0 | 2024-06 | Initial release of ArtVIP dataset | ✅ 206 articulated objects<br>✅ 6 interactive scenes<br>✅ 6 digital twin scenes<br> | |
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### Dataset Information |
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### Description |
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[Click here](https://x-humanoid-artvip.github.io/) for a detailed dataset description and full video introduction. |
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### Dataset Structure |
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1. **Articulated objects** |
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[Click here](./Articulated_objects/README.md) for the introduction to Articulated objects. |
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The specific modular-interaction types: |
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<div align="center" style="display: grid; grid-template-columns: repeat(3, 1fr); gap: 20px; margin: 2rem 0;"> |
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<!-- Modular Interaction GIF 1 --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="assets/modular-interaction/Damping_Effect_cabinet.gif" width="100%" alt="Modular Interaction 1"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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Damping_Effect_cabinet |
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</p> |
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</div> |
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<!-- Modular Interaction GIF 2 --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="assets/modular-interaction/Magnetic_Effect_dishwasher.gif" width="100%" alt="Modular Interaction 2"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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Magnetic_Effect_dishwasher |
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</p> |
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</div> |
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<!-- Modular Interaction GIF 3 --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="assets/modular-interaction/Trigger_Interactions_table_2.gif" width="100%" alt="Modular Interaction 3"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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Trigger_Interactions_table |
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</p> |
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</div> |
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<!-- Modular Interaction GIF 4 --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="assets/modular-interaction/Damping_Effect_cabint_2.gif" width="100%" alt="Modular Interaction 4"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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Damping_Effect_cabint |
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</p> |
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</div> |
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<!-- Modular Interaction GIF 5 --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="assets/modular-interaction/Magnetic_Effect_refrigerator.gif" width="100%" alt="Modular Interaction 5"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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Magnetic_Effect_refrigerator |
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</p> |
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</div> |
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<!-- Modular Interaction GIF 6 --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="assets/modular-interaction/Trigger_Interactions_trash_can.gif" width="100%" alt="Modular Interaction 6"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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Trigger_Interactions_trash_can |
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</p> |
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</div> |
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</div> |
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2. **Scenes** |
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2.1 Digital Twin Scenes |
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📁 ``ArtVIP/Secenes`` contains **6** user-defined digital-twin scenes. |
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- [📘 Introduction to Digital-Twin Scenes](./Scenes/README.md) |
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2.2 Interactive_scene |
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📁 ``ArtVIP/Interactive_scene`` contains **6** pre-configured Interactive scenes. |
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- [📘 Introduction to Interactive scenes](./Interactive_scene/README.md) |
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<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;"> |
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<!-- Kitchen Scene --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="./assets/kitchen-open.gif" width="100%" alt="Kitchen Scene"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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🔪 Kitchen Scene Interaction |
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</p> |
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</div> |
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<!-- Small Living Room Scene --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="./assets/smalllivingroom_open.gif" width="100%" alt="Small Living Room Scene"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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📺 Small Living Room Interaction |
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</p> |
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</div> |
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<!-- Kitchen_with_parlor Scene --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="./assets/parlor_open.gif" width="100%" alt="Parlor Scene"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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🛋️ Parlor Scene Interaction |
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</p> |
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</div> |
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<!-- Bedroom Scene --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="./assets/bedroom_open.gif" width="100%" alt="Bedroom Scene"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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🛏️ Bedroom Scene Interaction |
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</p> |
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</div> |
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</div> |
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--- |
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### How to use |
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1. **Install Isaac Sim 4.5** |
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- Official Documentation: [https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html) |
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- 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](https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone%404.5.0-rc.36%2Brelease.19112.f59b3005.gl.linux-x86_64.release.zip) |
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- Installation steps: |
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```bash |
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# Create installation directory |
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mkdir ~/isaacsim |
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# Unzip package (assuming downloaded to ~/Downloads) |
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cd ~/Downloads |
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unzip "[email protected]+release.19112.f59b3005.gl.linux-x86_64.release.zip" -d ~/isaacsim |
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# Run post-installation setup |
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cd ~/isaacsim |
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./post_install.sh |
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# Launch Isaac Sim |
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./isaac-sim.sh |
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### Examples |
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**Interaction Demo**: |
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1. Locate the scene file: `/Interactive_scene/kitchen/Interactive_kitchen.usd` |
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2. Open in Isaac Sim and click ▶️ PLAY |
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3. **Force Application**: |
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- Hold `SHIFT + Left Click` and drag to apply external forces (highlighted in green in the demonstration image) |
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<!--  --> |
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<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;"> |
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<!-- Door Opening --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<video controls muted playsinline width="100%"> |
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<source src="https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP/resolve/main/assets/open_door.mp4" type="video/mp4"> |
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</video> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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🚪 Door Operation |
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</p> |
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</div> |
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<!-- Light Switch --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<video controls muted playsinline width="100%"> |
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<source src="https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP/resolve/main/assets/turn_on.mp4" type="video/mp4"> |
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</video> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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💡 Light Switch Activation |
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</p> |
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</div> |
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<!-- Oven Operation --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<video controls muted playsinline width="100%"> |
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<source src="https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP/resolve/main/assets/oven_open.mp4" type="video/mp4"> |
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</video> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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🔥 Microwave Interaction |
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</p> |
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</div> |
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<!-- Refrigerator Demo --> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<video controls muted playsinline width="100%"> |
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<source src="https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP/resolve/main/assets/open_fridge.mp4" type="video/mp4"> |
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</video> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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❄️ Refrigerator Interaction |
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</p> |
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</div> |
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</div> |
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**Full Object Interactivity**: |
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<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;"> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="./assets/Kitchen_interactive.gif" width="100%" alt="Kitchen Scene Example"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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🍳 Kitchen Interaction Showcase |
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</p> |
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</div> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="./assets/interactive_largelivingroom.gif" width="100%" alt="Bedroom Scene Example"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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🛋️ livingroom Interaction Showcase |
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</p> |
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</div> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="./assets/interactive_childrenroom.gif" width="100%" alt="childrenroom Scene Example"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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🧸 childrenroom Interaction Showcase |
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</p> |
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</div> |
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<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);"> |
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<img src="./assets/Interactive_kitchen_with_parlor.gif" width="100%" alt="Bedroom Scene Example"> |
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<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;"> |
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🍽️ kitchen_with_parlor Interaction Showcase |
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</p> |
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</div> |
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</div> |
