X-Humanoid/ArtVIP

ArtVIP是一个用于机器人模拟的铰接物体数据集，包含428个高质量的数字孪生铰接物体，涵盖家具、医疗设备等类别。数据集提供6个预配置的数字孪生场景和6个用户定义的交互场景，支持可重复使用的模块化交互（如阻尼效应、磁力效应、触发交互），并具有物理保真度和像素级功能标注。数据集以USD格式和WebDataset格式提供，兼容Isaac Sim 5.0，适用于机器人学习、模拟和交互研究。

ArtVIP is an articulated object dataset designed for robotic simulation, which comprises 428 high-quality digital twin articulated objects covering categories such as furniture and medical equipment. The dataset provides 6 pre-configured digital twin scenarios and 6 user-defined interaction scenarios, supporting reusable modular interactions including damping effects, magnetic effects and trigger interactions, while featuring physical fidelity and pixel-level functional annotations. It is distributed in USD and WebDataset formats, compatible with Isaac Sim 5.0, and applicable to robotic learning, simulation and interaction research.