---
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](https://github.com/nepfaff/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](https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP) dataset. Assets have been converted from USD to Drake SDFormat using [mesh-to-sim-asset](https://github.com/nepfaff/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/`:

```sh
# 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](https://github.com/nepfaff/mesh-to-sim-asset) to convert from USD to Drake SDFormat.

## AmbientCG Material Embeddings

Pre-computed CLIP embeddings for [AmbientCG](https://ambientcg.com/) 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

```sh
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](https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP) dataset, licensed under the [Apache License 2.0](https://www.apache.org/licenses/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.