PartNet-Mobility Dataset

PartNet-Mobility dataset is a collection of 2K articulated objects with motion annotations and rendering material. The dataset powers research for generalizable computer vision and manipulation. The dataset is a continuation of ShapeNet and PartNet.

The dataset is compatible with the SAPIEN simulator, a realistic and physics-rich simulated environment that hosts a large-scale set for articulated objects. SAPIEN enables various robotic vision and interaction tasks that require detailed part-level understanding. SAPIEN is a collaborative effort between researchers at UCSD, Stanford and SFU.

Terms of Use

After requesting access, you will be considered for approval by an administrator. After approval, you (the "Researcher") receive permission to use the PartNet-Mobility database (the "Database") from the University of California, San Diego, Stanford University, and Simon Fraser University. In exchange for being able to join the SAPIEN community and receive such permission, Researcher hereby agrees to the following terms and conditions:

1. Researcher shall use the Database only for non-commercial research and educational purposes.
2. The licensors make no representations or warranties regarding the Database, including but not limited to warranties of non-infringement or fitness for a particular purpose.
3. Researcher accepts full responsibility for his or her use of the Database and shall defend and indemnify the University of California, San Diego, Stanford University, and Simon Fraser University, including their employees, Trustees, officers and agents, against any and all claims arising from Researcher's use of the Database, including but not limited to Researcher's use of any copies of copyrighted 3D models that he or she may create from the Database.
4. Researcher may provide research associates and colleagues with access to the Database provided that they first agree to be bound by these terms and conditions.
5. The licensors reserve the right to terminate Researcher's access to the Database at any time.
6. If Researcher is employed by a for-profit, commercial entity, Researcher's employer shall also be bound by these terms and conditions, and Researcher hereby represents that he or she is fully authorized to enter into this agreement on behalf of such employer.

The Database builds upon ShapeNet. If you use the Database, you also agree to abide by the ShapeNet terms of use.

Citation

If you use this dataset, please cite the SAPIEN paper.

@inproceedings{xiang2020sapien,
  title     = {SAPIEN: A SimulAted Part-based Interactive ENvironment},
  author    = {Xiang, Fanbo and Qin, Yuzhe and Mo, Kaichun and Xia, Yinxue and Zhu, Hao and Liu, Fangchen and Liu, Minghua and Jiang, Hanxiao and Yuan, Yifu and Wang, Han and Yi, Li and Chang, Angel X. and Su, Hao},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year      = {2020}
}

Contact

For questions about access, please contact the SAPIEN team via the SAPIEN GitHub repository.