Unified Articulated Assets · experiment detail
Unified Articulated Assets - SceneSmith-Compatible Demo
以 SceneSmith ArtVIP VHACD 包为 gold format，抽取 cabinet、fridge、microwave 三个 articulated assets，建立统一资产库的 SceneSmith-compatible 交付层。该页面展示 SDF + VHACD + properties + embeddings 的 smoke validation 结果；当前 trellis2 环境缺少 pydrake，Drake load 留给 SceneSmith/Drake 环境执行。
Assets
Interactive Asset
small_furniture/cabinet_1
SceneSmith-ArtVIP VHACD demo asset. Two prismatic drawer joints; structural validator passes SDF links/joints, mesh URI existence, properties fields, and embedding metadata.
cabinet_1 visual preview
Portal GLB is a visual-only merge for inspection. The callable/simulatable asset is cabinet_1.sdf with VHACD collision pieces and properties JSON.
Interactive Asset
major_appliances/model_fridge_1
SceneSmith-ArtVIP VHACD demo asset. Mixed revolute and prismatic joints; useful as a higher-complexity appliance smoke case.
model_fridge_1 visual preview
Visual-only merged GLB for portal inspection; SDF remains the source used by SceneSmith/Drake.
Interactive Asset
small_appliances/model_microwave_1
SceneSmith-ArtVIP VHACD demo asset. Small appliance with revolute/prismatic articulation and complete properties metadata.
model_microwave_1 visual preview
Visual-only merged GLB for portal inspection; SDF remains the callable asset.