Update ArtVIP-v1.1

Articulated_objects/README.md

@@ -0,0 +1,103 @@
+# 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)
+
+<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">
+  <!-- Magnetic Effect Dishwasher -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/modular-interaction/Magnetic_Effect_dishwasher.gif" width="100%" alt="Magnetic Effect Dishwasher">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Magnetic Effect Dishwasher
+    </p>
+  </div>
+  
+  <!-- Magnetic Effect Refrigerator -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/modular-interaction/Magnetic_Effect_refrigerator.gif" width="100%" alt="Magnetic Effect Refrigerator">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Magnetic Effect Refrigerator
+    </p>
+  </div>
+</div>
+
+### 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)
+
+<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">
+  <!-- Damping Effect Cabinet -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/modular-interaction/Damping_Effect_cabinet.gif" width="100%" alt="Damping Effect Cabinet">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Damping Effect Cabinet
+    </p>
+  </div>
+  
+  <!-- Damping Effect Cabinet 2 -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/modular-interaction/Damping_Effect_cabint_2.gif" width="100%" alt="Damping Effect Cabinet 2">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Damping Effect Cabinet 2
+    </p>
+  </div>
+</div>
+
+### 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)
+
+<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">
+  <!-- Trigger Interactions Table -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/modular-interaction/Trigger_Interactions_table_2.gif" width="100%" alt="Trigger Interactions Table">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Trigger Interactions Table
+    </p>
+  </div>
+  
+  <!-- Trigger Interactions Trash Can -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/modular-interaction/Trigger_Interactions_trash_can.gif" width="100%" alt="Trigger Interactions Trash Can">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Trigger Interactions Trash Can
+    </p>
+  </div>
+</div>

Interactive_scene/README.md

@@ -0,0 +1,99 @@
+
+
+
+## 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:
+<div align="center" style="margin: 1rem 0;">
+  <img src="../assets/Joint_drive.png" width="100%" alt="Joint Drive Visualization">
+</div>
+
+
+---
+
+### Pre-configured Joint States
+
+The following demonstration sets all joint target positions to the enabled state:
+
+
+<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">
+
+  <!-- Kitchen Scene -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/kitchen-open.gif" width="100%" alt="Kitchen Scene">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🔪 Kitchen Scene Interaction
+    </p>
+  </div>
+  <!-- Small Living Room Scene -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/smalllivingroom_open.gif" width="100%" alt="Small Living Room Scene">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      📺 Small Living Room Interaction
+    </p>
+  </div>
+
+  <!-- Kitchen_with_parlor Scene -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/parlor_open.gif" width="100%" alt="Parlor Scene">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🛋️ Parlor Scene Interaction
+    </p>
+  </div>
+  <!-- Bedroom Scene -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/bedroom_open.gif" width="100%" alt="Bedroom Scene">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🛏️ Bedroom Scene Interaction
+    </p>
+  </div>
+
+</div>
+
+---
+
+### Interactive Demonstrations
+
+The following is a demonstration of interacting with the environment using drag and drop:
+
+<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/Kitchen_interactive.gif" width="100%" alt="Kitchen Scene Example">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🍳 Kitchen Interaction Showcase
+    </p>
+  </div>
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/interactive_largelivingroom.gif" width="100%" alt="Living Room Scene Example">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🛋️ Living Room Interaction Showcase
+    </p>
+  </div>
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/interactive_childrenroom.gif" width="100%" alt="Children Room Scene Example">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🧸 Children Room Interaction Showcase
+    </p>
+  </div>
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/Interactive_kitchen_with_parlor.gif" width="100%" alt="Kitchen with Parlor Scene Example">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🍽️ Kitchen with Parlor Interaction Showcase
+    </p>
+  </div>
+</div>

Interactive_scene/childrenroom/Interactive_childrenroom.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe0b7957a43512efec95f70c73190134a2db5cb52ef0676b56bb7fe346ac48ce
+size 100362

Interactive_scene/diningroom/{diningroom.usd → Interactive_diningroom.usd}

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3debb1d4ba1a3568a1e9c3580b3e5ec860933e5ddbd1cb3e4e0f413e21bb4913
-size 23165797
+oid sha256:027639d902fc39b8621687695906ed028961e5cc2bf3a702bc6cb541a4c67632
+size 23210133

Interactive_scene/{diningroom/diningroom_target_position0.usd → kitchen/Interactive_kitchen.usd}

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8fa98daf3dd1cfc62b5cc8a98ac85fe2dc3b348e2b0f44f31361a95fdeedb6b0
-size 23193096
+oid sha256:7c0767f2efb2b8b7aea29f628030be91a808e739643287024058152920ba4f99
+size 20973332

Interactive_scene/kitchen/interactive_objects/script/fridge_control.py

@@ -0,0 +1,241 @@
+import carb
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.dynamic_control import _dynamic_control
+from enum import Enum
+from pxr import Gf
+from threading import Thread
+import marshal,json
+import omni.kit.commands
+from omni.isaac.core.prims import XFormPrim
+import numpy as np
+from pxr import Gf, Sdf, Usd, UsdGeom
+from omni.isaac.core import SimulationContext, World
+import math
+from omni.replicator.core import utils
+from pxr import PhysxSchema, UsdGeom, UsdPhysics
+import math
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+    
+    def _find_prim(prim):
+        if prim.GetName() == prim_name:
+            return prim.GetPath().pathString
+        for child in prim.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+    
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+
+        
+# 1. prim init
+# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
+# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
+# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
+
+# 2. articulation Root prim
+root_articulation_prim = find_prim_path_by_name("fridge_E_body_61")
+stage = omni.usd.get_context().get_stage()
+# 3. joint name 
+joint_names = ["RevoluteJoint_fridge_left","RevoluteJoint_fridge_right"]
+joint_threshold = 0.4
+# 4. Joint information
+joints_info = {}
+for joint_name in joint_names:
+    joint_prim_path = find_prim_path_by_name(joint_name)
+    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+    
+    joints_info[joint_name] = {
+        'prim': joint,
+        'lower_limit': joint.GetLowerLimitAttr().Get(),
+        'upper_limit': joint.GetUpperLimitAttr().Get()
+    }
+
+# 5. Joint limits and limit differences
+joint_limits = {}
+joint_limit_diffs = {}
+
+for i, joint_name in enumerate(joint_names):
+    joint_limits[joint_name] = {
+        'lower': joints_info[joint_name]['lower_limit'],
+        'upper': joints_info[joint_name]['upper_limit']
+    }
+    joint_limit_diffs[joint_name] = (
+        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+    )
+# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
+# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
+# 5. light prim
+light_scopes=[
+     XFormPrim(find_prim_path_by_name("fridge_light"))
+]
+
+class CupboardControl(BehaviorScript):
+    def on_init(self):
+        self.phsx_freq = 120
+        self.joint_handles = []
+        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
+        light_scopes[0].set_visibility(False)  
+        # light_scopes[1].set_visibility(False)
+        # init_pose
+        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
+        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
+        
+        # Find Root
+        self.art = self.dc.get_articulation(root_articulation_prim)
+        if self.art == _dynamic_control.INVALID_HANDLE:
+            print('the prim is not an articulation')
+   
+   
+    def on_destroy(self):
+        pass
+
+    def on_play(self):
+        # 
+        self.simulation_context = SimulationContext(
+            stage_units_in_meters=1.0,
+            physics_dt=1.0/120,
+            rendering_dt=1.0/120
+        )
+       
+    def on_pause(self):
+        pass
+
+    def on_stop(self):
+        self.init_start=True
+        # for light in light_scopes:
+        #     light.set_visibility(False)
+        light_scopes[0].set_visibility(False) 
+        # light_scopes[1].set_visibility(False) 
+        # back to initial pose
+        # joint_prim.set_local_pose(translation=self.local_pose_button)
+        pass
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        self.active_art()
+        self.apply_behavior() 
+
+    def active_art(self):
+        # Find Root
+        self.art = self.dc.get_articulation(root_articulation_prim)
+        if self.art == _dynamic_control.INVALID_HANDLE:
+            print('the prim is not an articulation')
+        self.dc.wake_up_articulation(self.art)
+        
+        # Find joint  
+        self.joint_handles = []
+        for joint_name in joint_names:
+            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
+    
+    def apply_behavior(self):
+        self.light_control()
+        self.damping_stiffness_change()
+        self.target_pose_control()
+        
+        
+    def light_control(self):
+        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
+        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
+        # print("self.Joint1_state",self.Joint1_state)
+            # 联合判断双门状态
+        doors_open = [
+            self.left_joint_state > math.radians(30),
+            self.right_joint_state > math.radians(30)
+        ]
+
+        # 灯光控制逻辑
+        current_visibility = light_scopes[0].get_visibility()
+        if any(doors_open):
+            if not current_visibility:
+                for light in light_scopes:
+                    light.set_visibility(True)
+        else:
+            if current_visibility:
+                for light in light_scopes:
+                    light.set_visibility(False)
+                    
+        # if self.right_joint_state > math.radians(30) :
+        #     if light_scopes[0].get_visibility() == False:
+        #         for light in light_scopes:
+        #             light.set_visibility(True)
+        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
+
+        # elif self.right_joint_state < math.radians(30):
+        #     if light_scopes[0].get_visibility() == True:
+        #         for light in light_scopes:
+        #             light.set_visibility(False)
+                # self.dc.set_dof_position_target(self.joint_handles[1], 0)
+
+    
+    def damping_stiffness_change(self):
+ 
+        for i, joint_name in enumerate(joint_names):
+            # Get joint state
+            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
+            # Get joint drive API
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
+            # Get joint limit difference and set stiffness
+            
+            joint_limit_diff = joint_limit_diffs[joint_names[i]]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
+            # stiffness = joint_drive.GetStiffnessAttr().Get()
+            # damping = joint_drive.GetDampingAttr().Get()
+            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
+    def calculate_stiffness(self,joint_state):
+        """Calculate stiffness value based on joint angle
+        
+        Args:
+            joint_state (float): Joint angle (radians)
+            joint_limit (float): Joint limit value
+            
+        Returns:
+            float: Stiffness value
+        """
+        max_stiffness = 20 # 最大刚度
+        # max_stiffness = 50 # 最大刚度
+        min_stiffness = 2   # 最小刚度
+        decay_rate = 3   # 衰减率
+        # 使用指数衰减函数计算刚度
+        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
+            return min_stiffness
+        
+        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
+        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
+        
+        # 确保刚度值在最小值和最大值之间
+        return max(min_stiffness, min(stiffness, max_stiffness))       
+    
+    def target_pose_control(self):
+        for i, joint_handle in enumerate(self.joint_handles):
+            # Get joint state
+            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
+            
+            # print("joint_state", joint_state)
+            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
+            # Get joint limit difference
+            # Set target position based on joint state                     
+            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
+                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
+                    
+                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
+                else:
+                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+            else:
+                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
+                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                else:
+                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
+            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))

Interactive_scene/kitchen/interactive_objects/script/light_control.py

@@ -123,19 +123,19 @@ class RoomLightControl(BehaviorScript):
             current_visibility = light_scopes[0].get_visibility()
             
             # 定义开关阈值和状态
-            SWITCH_ON_THRESHOLD = math.radians(1)
+            SWITCH_ON_THRESHOLD = math.radians(11)
             SWITCH_ON_POSITION = math.radians(13)
             SWITCH_OFF_POSITION = math.radians(0)
             
             # 判断开关状态并控制灯光
-            if self.Joint1_state > SWITCH_ON_THRESHOLD:
+            if self.Joint1_state < SWITCH_ON_THRESHOLD:
                 # 开关打开状态
                 if not current_visibility:
                     # 如果灯是关闭的，则打开所有灯
                     for light in light_scopes:
                         light.set_visibility(True)
                     # 设置开关到打开位置
-                    self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_ON_POSITION)
+                    self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_OFF_POSITION)
             else:
                 # 开关关闭状态
                 if current_visibility:
@@ -143,7 +143,7 @@ class RoomLightControl(BehaviorScript):
                     for light in light_scopes:
                         light.set_visibility(False)
                     # 设置开关到关闭位置
-                    self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_OFF_POSITION)
+                    self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_ON_POSITION)
                     
         except Exception as e:
             carb.log_error(f"Error in light control: {str(e)}")

Interactive_scene/kitchen/kitchen.usd

@@ -1,3 +0,0 @@
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Interactive_scene/kitchen/kitchen_target_position0.usd

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-oid sha256:68dd2324c3997d564db72de4b910af44172d42fb510fd97fe17b72e6fd5cb804
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Interactive_scene/kitchen_with_parlor/Interactive_kitchen_with_parlor.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c48ff13bc03db8d38900d14ab4bb45ff7bd9ac52935c45df3dbac291222d75f
+size 88799

Interactive_scene/kitchen_with_parlor/oven/resource/script/.vscode/extensions.json

@@ -0,0 +1,8 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846
+	// for the documentation about the extensions.json format
+	"recommendations": [
+		"ms-python.python",
+		"ms-python.vscode-pylance"
+	],
+}

Interactive_scene/kitchen_with_parlor/oven/resource/script/.vscode/launch.json

@@ -0,0 +1,25 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: Attach (windows-x86_64/linux-x86_64)",
+            "type": "python",
+            "request": "attach",
+            "pathMappings": [
+            {
+                "localRoot": "${workspaceFolder}",
+                "remoteRoot": "${workspaceFolder}"
+            }],
+            "port": 3000,
+            "host": "127.0.0.1",
+            "subProcess": true,
+            "runtimeArgs": [
+                "--preserve-symlinks",
+                "--preserve-symlinks-main"
+            ]
+        }
+    ]
+}

Interactive_scene/kitchen_with_parlor/oven/resource/script/.vscode/settings.json

@@ -0,0 +1,10 @@
+{
+    "editor.rulers": [120],
+    "python.languageServer": "Pylance",
+    "python.formatting.provider": "black",
+    "python.formatting.blackArgs": ["--line-length", "120"],
+    "python.linting.enabled": true,
+    "python.linting.pylintEnabled": false,
+    "python.linting.flake8Enabled": true,
+    "python.linting.flake8Args": ["--max-line-length=120"]
+}

Interactive_scene/kitchen_with_parlor/oven/resource/script/fridge_control.py

@@ -0,0 +1,241 @@
+import carb
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.dynamic_control import _dynamic_control
+from enum import Enum
+from pxr import Gf
+from threading import Thread
+import marshal,json
+import omni.kit.commands
+from omni.isaac.core.prims import XFormPrim
+import numpy as np
+from pxr import Gf, Sdf, Usd, UsdGeom
+from omni.isaac.core import SimulationContext, World
+import math
+from omni.replicator.core import utils
+from pxr import PhysxSchema, UsdGeom, UsdPhysics
+import math
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+    
+    def _find_prim(prim):
+        if prim.GetName() == prim_name:
+            return prim.GetPath().pathString
+        for child in prim.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+    
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+
+        
+# 1. prim init
+# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
+# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
+# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
+
+# 2. articulation Root prim
+root_articulation_prim = find_prim_path_by_name("E_body_9")
+stage = omni.usd.get_context().get_stage()
+# 3. joint name 
+joint_names = ["RevoluteJoint_skbx_25_right1","RevoluteJoint_skbx_25_right"]
+joint_threshold = 0.4
+# 4. Joint information
+joints_info = {}
+for joint_name in joint_names:
+    joint_prim_path = find_prim_path_by_name(joint_name)
+    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+    
+    joints_info[joint_name] = {
+        'prim': joint,
+        'lower_limit': joint.GetLowerLimitAttr().Get(),
+        'upper_limit': joint.GetUpperLimitAttr().Get()
+    }
+
+# 5. Joint limits and limit differences
+joint_limits = {}
+joint_limit_diffs = {}
+
+for i, joint_name in enumerate(joint_names):
+    joint_limits[joint_name] = {
+        'lower': joints_info[joint_name]['lower_limit'],
+        'upper': joints_info[joint_name]['upper_limit']
+    }
+    joint_limit_diffs[joint_name] = (
+        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+    )
+# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
+# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
+# 5. light prim
+light_scopes=[
+     XFormPrim(find_prim_path_by_name("fridge_4_light"))
+]
+
+class CupboardControl(BehaviorScript):
+    def on_init(self):
+        self.phsx_freq = 120
+        self.joint_handles = []
+        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
+        light_scopes[0].set_visibility(False)  
+        # light_scopes[1].set_visibility(False)
+        # init_pose
+        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
+        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
+        
+        # Find Root
+        self.art = self.dc.get_articulation(root_articulation_prim)
+        if self.art == _dynamic_control.INVALID_HANDLE:
+            print('the prim is not an articulation')
+   
+   
+    def on_destroy(self):
+        pass
+
+    def on_play(self):
+        # 
+        self.simulation_context = SimulationContext(
+            stage_units_in_meters=1.0,
+            physics_dt=1.0/120,
+            rendering_dt=1.0/120
+        )
+       
+    def on_pause(self):
+        pass
+
+    def on_stop(self):
+        self.init_start=True
+        # for light in light_scopes:
+        #     light.set_visibility(False)
+        light_scopes[0].set_visibility(False) 
+        # light_scopes[1].set_visibility(False) 
+        # back to initial pose
+        # joint_prim.set_local_pose(translation=self.local_pose_button)
+        pass
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        self.active_art()
+        self.apply_behavior() 
+
+    def active_art(self):
+        # Find Root
+        self.art = self.dc.get_articulation(root_articulation_prim)
+        if self.art == _dynamic_control.INVALID_HANDLE:
+            print('the prim is not an articulation')
+        self.dc.wake_up_articulation(self.art)
+        
+        # Find joint  
+        self.joint_handles = []
+        for joint_name in joint_names:
+            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
+    
+    def apply_behavior(self):
+        self.light_control()
+        self.damping_stiffness_change()
+        self.target_pose_control()
+        
+        
+    def light_control(self):
+        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
+        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
+        # print("self.Joint1_state",self.Joint1_state)
+            # 联合判断双门状态
+        doors_open = [
+            self.left_joint_state > math.radians(30),
+            self.right_joint_state > math.radians(30)
+        ]
+
+        # 灯光控制逻辑
+        current_visibility = light_scopes[0].get_visibility()
+        if any(doors_open):
+            if not current_visibility:
+                for light in light_scopes:
+                    light.set_visibility(True)
+        else:
+            if current_visibility:
+                for light in light_scopes:
+                    light.set_visibility(False)
+                    
+        # if self.right_joint_state > math.radians(30) :
+        #     if light_scopes[0].get_visibility() == False:
+        #         for light in light_scopes:
+        #             light.set_visibility(True)
+        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
+
+        # elif self.right_joint_state < math.radians(30):
+        #     if light_scopes[0].get_visibility() == True:
+        #         for light in light_scopes:
+        #             light.set_visibility(False)
+                # self.dc.set_dof_position_target(self.joint_handles[1], 0)
+
+    
+    def damping_stiffness_change(self):
+ 
+        for i, joint_name in enumerate(joint_names):
+            # Get joint state
+            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
+            # Get joint drive API
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
+            # Get joint limit difference and set stiffness
+            
+            joint_limit_diff = joint_limit_diffs[joint_names[i]]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
+            # stiffness = joint_drive.GetStiffnessAttr().Get()
+            # damping = joint_drive.GetDampingAttr().Get()
+            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
+    def calculate_stiffness(self,joint_state):
+        """Calculate stiffness value based on joint angle
+        
+        Args:
+            joint_state (float): Joint angle (radians)
+            joint_limit (float): Joint limit value
+            
+        Returns:
+            float: Stiffness value
+        """
+        max_stiffness = 20 # 最大刚度
+        # max_stiffness = 50 # 最大刚度
+        min_stiffness = 2   # 最小刚度
+        decay_rate = 3   # 衰减率
+        # 使用指数衰减函数计算刚度
+        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
+            return min_stiffness
+        
+        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
+        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
+        
+        # 确保刚度值在最小值和最大值之间
+        return max(min_stiffness, min(stiffness, max_stiffness))       
+    
+    def target_pose_control(self):
+        for i, joint_handle in enumerate(self.joint_handles):
+            # Get joint state
+            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
+            
+            # print("joint_state", joint_state)
+            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
+            # Get joint limit difference
+            # Set target position based on joint state                     
+            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
+                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
+                    
+                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
+                else:
+                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+            else:
+                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
+                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                else:
+                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
+            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))

Interactive_scene/kitchen_with_parlor/oven/resource/script/oven_control.py

@@ -0,0 +1,195 @@
+import carb
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.dynamic_control import _dynamic_control
+from enum import Enum
+from pxr import Gf
+from threading import Thread
+import marshal,json
+import omni.kit.commands
+from omni.isaac.core.prims import XFormPrim
+import numpy as np
+from pxr import PhysxSchema, UsdGeom, UsdPhysics
+import math
+from omni.isaac.core import SimulationContext, World
+# from isaacsim.core.prims import XFormPrim
+# stiffness :0.8 Damping: 0.05
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+    
+    def _find_prim(prim):
+        if prim.GetName() == prim_name:
+            return prim.GetPath().pathString
+        for child in prim.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+    
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+# # 1. prim init
+# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
+# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
+# # 2. articulation Root prim
+# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
+# # 3. joint name 
+# joint_names = ["PrismaticJoint", "RevoluteJoint"]
+# # 4. joint num
+# num_arm_dof = 2
+
+# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
+#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
+#             ]
+# for i in range(0, light_scopes.__len__()):
+#     light_scopes[i].set_visibility(False)
+# index = random.randint(0, len(light_scopes)-1)
+# light_scopes[index].set_visibility(True)
+button_prim = XFormPrim(find_prim_path_by_name("oven_E_button_5"))
+print("button_prim", button_prim.prim_path)
+# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
+# print("door_prim", door_prim.prim_path)
+root_articulation_prim = find_prim_path_by_name("oven_E_body_7")
+print("root_articulation_prim", root_articulation_prim)
+joint_names = ["PrismaticJoint_oven_down", "RevoluteJoint_oven_up"]
+light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
+            ]
+revolutejoint_path = find_prim_path_by_name("RevoluteJoint_oven_up")
+
+
+class MicrowaveOverControl(BehaviorScript):
+    def on_init(self):
+        self.phsx_freq = 120
+        self.joint_handles = []
+        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
+        light_scopes[0].set_visibility(False) 
+        self.Stiffness_max = 0.8
+        self.Stiffness_min = 0.08
+        
+        # 初始化门的锁定状态
+        self.door_locked = True
+        
+        # init_pose
+        self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
+        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
+        
+        # Find Root
+        self.art = self.dc.get_articulation(root_articulation_prim)
+        if self.art == _dynamic_control.INVALID_HANDLE:
+            print('the prim is not an articulation')
+        stage = omni.usd.get_context().get_stage()
+        self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
+        self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
+   
+   
+    def on_destroy(self):
+        pass
+
+    def on_play(self):
+        self.simulation_context = SimulationContext(
+            stage_units_in_meters=1.0,
+            physics_dt=1.0/120,
+            rendering_dt=1.0/120
+        )
+
+
+    def on_pause(self):
+        pass
+
+    def on_stop(self):
+        self.init_start=True
+        light_scopes[0].set_visibility(False) 
+        # back to initial pose
+        # button_prim.set_local_pose(translation=self.local_pose_button)
+        # door_prim.set_local_pose(translation=self.local_pose_door)
+        self.door_locked = True
+        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
+        pass
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        self.dc = _dynamic_control.acquire_dynamic_control_interface()
+        self.active_art() 
+        self.apply_behavior() 
+
+    def active_art(self):
+        # Find Root
+        self.art = self.dc.get_articulation(root_articulation_prim)
+        if self.art == _dynamic_control.INVALID_HANDLE:
+            print('the prim is not an articulation')
+        self.dc.wake_up_articulation(self.art)
+        
+        # Find joint  
+        self.joint_handles = []
+        for joint_name in joint_names:
+            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
+        # print("self.joint_handles",self.joint_handles)
+    def apply_behavior(self):
+        self.oven_control()
+    
+    # def oven_control(self):
+    #     self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
+    #     self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
+    #     # print("self.Joint0_state", self.Joint0_state)
+    #     # print("self.Joint1_state", self.Joint1_state)
+    #     # 按钮被按下且门处于锁定状态
+    #     if self.Joint0_state < -0.001 and self.door_locked:
+    #         self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-90))
+    #         # if self.Joint1_state > math.radians(100):
+    #         #     self.door_locked = False  # 解除锁定
+        
+    #         # 门开到30度后开灯，按钮归位s
+    #         if self.Joint1_state < math.radians(-30) :
+    #             self.door_locked = False  # 解除锁定
+    #             light_scopes[0].set_visibility(True)
+    #             self.dc.set_dof_position_target(self.joint_handles[0], 0)
+        
+    #     # 检测手动关门
+    #     if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
+            
+    #         self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
+    #         self.door_locked = True
+    #         if self.Joint1_state < math.radians(5):  # 当门完全关闭时
+    #             # 锁定门
+    #             self.door_locked = True
+    #             light_scopes[0].set_visibility(False)  # 关闭灯
+    def oven_control(self):
+
+        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
+        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
+        # print("self.Joint0_state", self.Joint0_state)
+        # print("self.Joint1_state", self.Joint1_state)
+        # 按钮被按下且门处于锁定状态
+        if self.Joint0_state < -0.001 and self.door_locked:
+            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-50))
+            # if self.Joint1_state > math.radians(100):
+            #     self.door_locked = False  # 解除锁定
+        
+            # 门开到30度后开灯，按钮归位s
+            if self.Joint1_state < math.radians(-30) :
+                self.door_locked = False  # 解除锁定
+                light_scopes[0].set_visibility(True)
+                self.dc.set_dof_position_target(self.joint_handles[0], 0)
+                
+        if abs(self.Joint1_state - math.radians(-50)) < math.radians(0.5) :
+            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-78))
+            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
+                
+        
+        # 检测手动关门
+        if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
+            
+            self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
+            self.door_locked = True
+            if self.Joint1_state < math.radians(5):  # 当门完全关闭时
+                # 锁定门
+                self.door_locked = True
+                light_scopes[0].set_visibility(False)  # 关闭灯
+                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)

Interactive_scene/largelivingroom/Interactive_largelivingroom.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:78a5aebfc264a4680a11f916b604f51a229302fe7b6def61cec6246a3d404875
+size 27047257

Interactive_scene/largelivingroom/largelivingroom.usd

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-version https://git-lfs.github.com/spec/v1
-oid sha256:5132d3a0f331dc13e31fcc1a4bac1e24c1cc98dce52de55fd6806773853d8822
-size 16227514

Interactive_scene/largelivingroom/largelivingroom_target_position0.usd

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-version https://git-lfs.github.com/spec/v1
-oid sha256:e559dc1f179351f888daaf8729a5f3fab47765945e9e561f2fe0ea64f09926b5
-size 27021067

Interactive_scene/smalllivingroom/Interactive_smalllivingroom.usd

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Interactive_scene/smalllivingroom/smalllivingroom.usd

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Interactive_scene/smalllivingroom/smalllivingroom_target_position0.usd

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README.md

@@ -24,82 +24,166 @@ Formats:
 [![arXiv](https://img.shields.io/badge/arXiv-ArtVIP-red.svg)](https://arxiv.org/abs/2506.04941)
 [![Paper](https://img.shields.io/badge/Hugging_Face-Paper-yellow.svg)](https://huggingface.co/papers/2506.04941)
 
-## Version History
 
-| Version | Release Date | Description                                                                 | Highlights |
-|---------|--------------|-----------------------------------------------------------------------------|------------|
-| v1.0    | 2024-06      | Initial release of ArtVIP dataset                                           | ✅ 206 articulated objects<br>✅ 6 interactive scenes<br>✅ 6 digital twin scenes<br> |
-
-### Current Version Details (v1.0)
-- **Dataset Size**: 206 articulated objects across 26 categories
-- **Scene Coverage**: 6 digital twin environments, 6 fully interactive environments
-- **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
 
 ## Key Features
 
-✅ We release a collection of 26 categories, **206 high-quality digital-twin articulated objects**. 
+✅ 206 high-quality digital-twin articulated objects. 
+ ![articulated objects](./assets/206_articulated_objects.gif) 
+
+<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">
+  
+  <!-- Digital Twin Scenes -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="./assets/digital_twin_scences.gif" width="100%" alt="Digital Twin Scenes">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      ✅ 6 pre-configured digital-twin scenes, 6 user-defined scenes
+    </p>
+  </div>
 
-✅ We provide digital-twin scene assets and configured scenarios integrating articulated objects within scene for immediate use. 
+  <!-- Reusable Modular Interaction -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="./assets/Magnetic_attraction.gif" width="100%" alt="Modular Interaction">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      ✅ Reusable Modular interaction
+    </p>
+  </div>
 
-✅ All assets are provided in **USD format** and are **open-source**. 
+  <!-- Physics Fidelity -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="assets/chair.gif" width="100%" alt="Physics Fidelity">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      ✅ Physics fidelity
+    </p>
+  </div>
 
-✅ The detailed production process and standard offer comprehensive guidance to facilitate community adoption and replication.
+  <!-- Pixel-level Affordance Annotations -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="assets/Seg_chair.gif" width="100%" alt="Affordance Annotations">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      ✅ Pixel-level affordance annotations
+    </p>
+  </div>
 
+</div>
 
 ---
+## [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<br>✅Optimize collision volume decomposition within interactive scenes <br> ✅Including 48 modular interactive objects |
+| v1.0    | 2024-06      | Initial release of ArtVIP dataset                                           | ✅ 206 articulated objects<br>✅ 6 interactive scenes<br>✅ 6 digital twin scenes<br> |
+
+### 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          |
-
+<div align="center" style="display: grid; grid-template-columns: repeat(3, 1fr); gap: 20px; margin: 2rem 0;">
+  <!-- Modular Interaction GIF 1 -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="assets/modular-interaction/Damping_Effect_cabinet.gif" width="100%" alt="Modular Interaction 1">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Damping_Effect_cabinet
+    </p>
+  </div>
+  
+  <!-- Modular Interaction GIF 2 -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="assets/modular-interaction/Magnetic_Effect_dishwasher.gif" width="100%" alt="Modular Interaction 2">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Magnetic_Effect_dishwasher
+    </p>
+  </div>
+  
+  <!-- Modular Interaction GIF 3 -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="assets/modular-interaction/Trigger_Interactions_table_2.gif" width="100%" alt="Modular Interaction 3">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Trigger_Interactions_table
+    </p>
+  </div>
+  
+  <!-- Modular Interaction GIF 4 -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="assets/modular-interaction/Damping_Effect_cabint_2.gif" width="100%" alt="Modular Interaction 4">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Damping_Effect_cabint
+    </p>
+  </div>
+  
+  <!-- Modular Interaction GIF 5 -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="assets/modular-interaction/Magnetic_Effect_refrigerator.gif" width="100%" alt="Modular Interaction 5">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Magnetic_Effect_refrigerator
+    </p>
+  </div>
+  
+  <!-- Modular Interaction GIF 6 -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="assets/modular-interaction/Trigger_Interactions_trash_can.gif" width="100%" alt="Modular Interaction 6">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      Trigger_Interactions_trash_can
+    </p>
+  </div>
+</div>
 
-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.
+<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">
 
-<div align="center" style="display: flex; justify-content: space-around; margin: 1rem 0;">
-  <div style="text-align: center;">
-    <img src="./assets/Kitchen_Open.png" alt="All joints opened by default" style="max-width: 100%;">
-    <p style="margin-top: 8px; font-size: 0.9em;">All joints opened by default</p>
+  <!-- Kitchen Scene -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="./assets/kitchen-open.gif" width="100%" alt="Kitchen Scene">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🔪 Kitchen Scene Interaction
+    </p>
   </div>
-  <div style="text-align: center;">
-    <img src="./assets/Kitchen_Off.png" alt="All joints closed by default" style="max-width: 100%;">
-    <p style="margin-top: 8px; font-size: 0.9em;">All joints closed by default</p>
+  <!-- Small Living Room Scene -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="./assets/smalllivingroom_open.gif" width="100%" alt="Small Living Room Scene">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      📺 Small Living Room Interaction
+    </p>
   </div>
-</div>
 
----
+  <!-- Kitchen_with_parlor Scene -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="./assets/parlor_open.gif" width="100%" alt="Parlor Scene">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🛋️ Parlor Scene Interaction
+    </p>
+  </div>
+  <!-- Bedroom Scene -->
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="./assets/bedroom_open.gif" width="100%" alt="Bedroom Scene">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🛏️ Bedroom Scene Interaction
+    </p>
+  </div>
 
+</div>
 
 
-## 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)
-
- ![Oven Articulation](./assets/open_oven.png) 
-
-1. **Available Interactions**:
-   - Press switches to open doors
-   - Toggle light switches
-   - Operate microwave buttons
-   - Open refrigerator doors
-
+ <!-- ![Oven Articulation](./assets/open_oven.png)  -->
 
 <div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">
 
@@ -147,7 +223,7 @@ ArtVIP, a com-prehensive open-source dataset comprising high-quality digital-twi
       <source src="https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP/resolve/main/assets/open_door.mp4" type="video/mp4">
     </video>
     <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
-      🚪 Door Operation Demo
+      🚪 Door Operation
     </p>
   </div>
 
@@ -167,7 +243,7 @@ ArtVIP, a com-prehensive open-source dataset comprising high-quality digital-twi
       <source src="https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP/resolve/main/assets/oven_open.mp4" type="video/mp4">
     </video>
     <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
-      🔥 Oven Door Articulation
+      🔥 Microwave Interaction
     </p>
   </div>
 
@@ -180,5 +256,32 @@ ArtVIP, a com-prehensive open-source dataset comprising high-quality digital-twi
       ❄️ Refrigerator Interaction
     </p>
   </div>
+</div>
 
+ **Full Object Interactivity**:
+ <div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="./assets/Kitchen_interactive.gif" width="100%" alt="Kitchen Scene Example">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🍳 Kitchen Interaction Showcase
+    </p>
+  </div>
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="./assets/interactive_largelivingroom.gif" width="100%" alt="Bedroom Scene Example">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🛋️ livingroom Interaction Showcase
+    </p>
+  </div>
+    <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="./assets/interactive_childrenroom.gif" width="100%" alt="childrenroom Scene Example">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🧸 childrenroom Interaction Showcase
+    </p>
+  </div>
+    <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="./assets/Interactive_kitchen_with_parlor.gif" width="100%" alt="Bedroom Scene Example">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      🍽️ kitchen_with_parlor Interaction Showcase
+    </p>
+  </div>
 </div>

Scenes/README.md

@@ -0,0 +1,22 @@
+## 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:
+  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
+    <img src="../assets/digital_twin_scences.gif" width="100%" alt="Digital Twin Scenes">
+    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
+      ✅ 6 pre-configured digital-twin scenes, 6 user-defined scenes
+    </p>
+  </div>

assets/Release_history.md

@@ -0,0 +1,31 @@
+# Release History
+
+---
+### Current Version Details (v1.1)
+  The specific modular-interaction types:
+- **Dataset Size**: 
+  - 206 classified objects covering 26 categories
+  - Including 48 modular interactive objects
+- **Scene Coverage**: 
+  - 6 optimized fully interactive scenes
+  -  6 digital twin 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
+
+---
+### Version Details (v1.0)
+-**Release Date**: 2025-06
+- **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
+
+---