Articulated Objects
📁 ArtVIP/Articulated_objects contains 206 articulated objects.
All object categories
The articulated objects are organized into the following categories:
| Category | Items |
|---|---|
| Household Items | basket, cardboard_box, mop, pump_bottle, stationery, tongs, toolbox, trash_can |
| Large Furniture | cupboard, wardrobe |
| Major Appliances | built-in_oven, dishwasher, refrigerator, standing_fan, toilet, washing_machine, water_dispenser |
| Small Appliances | coffee_machine, laptop, microwave, oven, rice_cooker, table_fan, water_dispenser |
| Small Furniture | cabinet, chair, faucet, filing_cabinet, shoe_cabinet, table |
Modular Interactive Objects
From all of the above objects, we selected a portion (48) and set up modular interactive functions, mainly providing three types of modular interactions that simulate physical behavior in the real world:
1. Magnetic Door Effect
Items like refrigerators with door closers or cabinets with magnetic strips exhibit different physical behavior near the closing point—such as increased pulling force and locking effect. Simulating this requires configuring joint control models to reflect the force change before and after the magnetic engagement threshold.
Objects with Magnetic Door Effect (14 total):
large_furniture/cupboard/(2 items)major_appliances/dishwasher/(4 items)major_appliances/refrigerator/fridge/(4 items)major_appliances/refrigerator/refrigerator/(4 items)
2. Damping Effect
For objects like drawers or hinged cabinet doors, varying resistance is felt at different opening angles. To replicate this in simulation, we adjust joint stiffness and damping parameters to reflect variable force responses—mimicking the real-world feel of changing resistance.
Objects with Damping Effect (24 total):
small_furniture/cabinet/(9 items)small_furniture/filing_cabinet/double_door/(2 items)small_furniture/filing_cabinet/drawers/(5 items)small_furniture/table/(5 items)major_appliances/dishwasher/(3 items)
3. Trigger Interactions
Scenes often include cross-object and inter-object interactions, such as buttons controlling lights or doors, fridge doors activating interior lights, or foot pedals opening trash bins. These behaviors require building control logic to link components, often in combination with the physical effects described above.
Objects with Trigger Interactions (10 total):
household_items/trash_can/(5 items)small_appliances/microwave/(3 items)small_appliances/oven/(1 item)small_furniture/table/(1 item)
