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
| Archive | Collision Method | Description |
|---|---|---|
artvip/artvip_vhacd.tar.gz |
VHACD | Tighter collision geometries (recommended) |
artvip/artvip_coacd.tar.gz |
CoACD | Can produce faster simulations |
Both variants include identical CLIP embeddings for retrieval.
Usage with SceneSmith
Download your preferred variant and extract to data/artvip_sdf/:
# Download VHACD variant (recommended)
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
artvip/artvip_vhacd.tar.gz --repo-type dataset --local-dir .
mkdir -p data/artvip_sdf
tar xzf artvip/artvip_vhacd.tar.gz -C data/artvip_sdf
rm -rf artvip
# Or download CoACD variant
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
artvip/artvip_coacd.tar.gz --repo-type dataset --local-dir .
mkdir -p data/artvip_sdf
tar xzf artvip/artvip_coacd.tar.gz -C data/artvip_sdf
rm -rf artvip
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.
AmbientCG Material Embeddings
Pre-computed CLIP embeddings for AmbientCG PBR materials, enabling text-based material retrieval for walls, floors, and surfaces.
The embeddings are computed from AmbientCG preview images using CLIP (ViT-H-14-378-quickgelu, 1024D).
Note: You still need to download the actual material textures from AmbientCG separately (see SceneSmith README). This dataset only contains the pre-computed embeddings to skip the computation step.
Usage with SceneSmith
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
--repo-type dataset \
--include "ambientcg/embeddings/**" \
--local-dir data/scenesmith-preprocessed-data
mv data/scenesmith-preprocessed-data/ambientcg/embeddings data/materials/embeddings
rm -rf data/scenesmith-preprocessed-data
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.