PartNet-Mobility Dataset

[TJU-ZM]

Is it possible to interact with the objects in the PartNet-Mobility Dataset? For example, loading dishes into a dishwasher

[fbxiang]

It can be non-trivial to simulation all of PartNet-Mobility assets, since SAPIEN rigid body requires convex collision shapes. You may look into approximate convex decomposition such as
https://github.com/SarahWeiii/CoACD
https://github.com/kmammou/v-hacd
However, the results do not always have the desired quality. In general, asset loading and pre-processing need to be fine-tuned per use case.

[catbest]

May I ask how to extend the current partnet-mobility dataset?I hope to expand more models into the dataset for training, but according to the content of the article, I was unable to find the source code for the pipeline part that intelligently segments the models

[fbxiang]

Everything related to model segmentation is from PartNet https://partnet.cs.stanford.edu/ and it is hard to say how intelligent they are. Annotating for segmentation in PartNet mobility is highly labor insensitive, and it is something future research could help address.