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haosulab / SAPIEN

SAPIEN Embodied AI Platform
https://sapien.ucsd.edu/
MIT License
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PartNet-Mobility Dataset #143

Open TJU-ZM opened 12 months ago

TJU-ZM commented 12 months ago

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

fbxiang commented 11 months ago

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 commented 2 months ago

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 commented 1 month ago

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.