license: apache-2.0
tags:
- robotics
- simulation
- 3d-assets
- articulated-objects
- drake
- sdf
pretty_name: SceneSmith Preprocessed Data
SceneSmith Preprocessed Data
Preprocessed 3D assets for use with SceneSmith, a VLM-agent-based system for generating physically realistic, interactive indoor scenes.
ArtVIP (Articulated Objects)
Simulation-ready articulated objects (cabinets, drawers, appliances, etc.) converted from the ArtVIP dataset. Assets have been converted from USD to Drake SDFormat using mesh-to-sim-asset, with:
- Drake SDFormat (.sdf) model files with articulated joints
- Visual meshes in glTF and OBJ formats
- Collision geometries via convex decomposition (two variants available)
- Estimated physical properties (mass, inertia per link)
- Pre-computed CLIP embeddings for text-based retrieval
Variants
| Directory | Collision Method | Description |
|---|---|---|
artvip/vhacd/ |
VHACD | Tighter collision geometries (recommended) |
artvip/coacd/ |
CoACD | Can produce faster simulations |
Both variants include identical CLIP embeddings for retrieval.
Usage with SceneSmith
Download your preferred variant and place it at data/artvip_sdf/:
# Install Git LFS if needed
git lfs install
# Download VHACD variant (recommended)
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
--repo-type dataset \
--include "artvip/vhacd/**" \
--local-dir data/scenesmith-preprocessed-data
mv data/scenesmith-preprocessed-data/artvip/vhacd data/artvip_sdf
rm -rf data/scenesmith-preprocessed-data
# Or download CoACD variant
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
--repo-type dataset \
--include "artvip/coacd/**" \
--local-dir data/scenesmith-preprocessed-data
mv data/scenesmith-preprocessed-data/artvip/coacd data/artvip_sdf
rm -rf data/scenesmith-preprocessed-data
Asset Categories
| Category | Description |
|---|---|
large_furniture/ |
Cupboards, wardrobes, etc. |
small_furniture/ |
Nightstands, side tables, etc. |
major_appliances/ |
Refrigerators, washing machines, etc. |
small_appliances/ |
Microwaves, toasters, etc. |
household_items/ |
Storage boxes, bins, etc. |
Manual Preprocessing
To preprocess ArtVIP assets yourself (or to process updated versions), use mesh-to-sim-asset to convert from USD to Drake SDFormat.
Attribution
The articulated object assets are derived from the ArtVIP dataset, licensed under the Apache License 2.0.
Zhao Jin, Zhengping Che, Tao Li, Zhen Zhao, Kun Wu, Yuheng Zhang, Yinuo Zhao, Zehui Liu, Qiang Zhang, Xiaozhu Ju, Jing Tian, Yousong Xue, Jian Tang. ArtVIP: Articulated Digital Assets of Visual Realism, Modular Interaction, and Physical Fidelity for Robot Learning. 2025.