Infinite Mobility: Scalable High-Fidelity Synthesis of Articulated Objects via Procedural Generation

Getting Started | Contributing | Join Us

What is this?

This repo is about the procedural generation of articulated objects like those in this scene.

TO DO

• Initial release of the code
• Make installation more self-contained
• Add usd format support
• Generate interactive environment with infinigen layout solvers.

Getting Started

First, follow installation instruction of Infinigen to setup the basic environment Installation Instructions.
important: we are based on an earlier version of Infinigen.(git 572bfe7)
It could break the pipeline if the newest version is installed
Then, please run setup.py to configure our dependencies.

python setup.py

Next, download our part dataset here Finally, configure dataset path in python code line 30. For example, if part dataset is /datasets/parts

AUXILIARY_PATH = "/datasets/parts"

It should work just fine now!🎊

Generate

We provide a script for you to generate as many articulated objects as you like!

python paralled_generate.py <Factory Name> <Number> <MaxProcess>

If you want to generate 100 officechairs, and generate 10 samples at the same time, run

python paralled_generate.py OfficeChairFactory 100 10

Results will be in outputs folder in the form of URDF.

For Factory Name we support now, refer to the form below.

Factory Name	GIFs
OfficeChairFactory
BarChairFactory
BeverageFridgeFactory
DishwasherFactory
MicrowaveFactory
OvenFactory
TVFactory
TapFactory
ToiletFactory
LitedoorFactory
LampFactory
PlateOnRackBaseFactory
KitchenCabinetFactory
VaseFactory
BottleFactory
CocktailTableFactory
DiningTableFactory
PotFactory
PanFactory
WindowFactory

Visualize

python show.py <path to dir or urdf file>

If you want to visualize one urdf file in ./outputs/***.urdf, run

python show.py ./outputs/***.urdf

We also support visualize all urdfs in one dir.If you want to visualize all urdfs in ./output, run

python show.py ./outputs

Contributing

We welcome contributions! You can contribute in many ways:

• Contribute code to Infinigen repository - Procedural generators for more categories with interactive parts are still needed, we are happy to update our articulation modifications as Infinigen evolves!
• Contribute more diverse parts with fine geometry - Compared to original infinigen, our work introduces substitution of certain parts with collected meshes. A more diversed parts dataset would boost our performance in many applications!

Join Us

We are seeking engineers, interns, researchers, and PhD candidates. If you have an interest in 3D content generation, please send your resume to [email protected].

Getting Help

If you are having difficulties running scripts in our repo, please open issues! We are happy to provide supports and have discussions!