| --- |
| license: apache-2.0 |
| tags: |
| - robotics |
| - simulation |
| - 3d-assets |
| - convex-decomposition |
| - collision-geometry |
| - benchmark |
| size_categories: |
| - 1K<n<10K |
| --- |
| |
| # Visibility Decomposition Benchmark |
|
|
| Benchmark dataset of diverse 3D meshes for evaluating convex decomposition methods. Used by |
| [visibility-decomposition](https://github.com/wernerpe/visibility-decomposition) to compare |
| visibility-based decomposition against [V-HACD](https://github.com/kmammou/v-hacd) and |
| [CoACD](https://github.com/SarahWeiii/CoACD). |
|
|
| ## Dataset Composition |
|
|
| | Subset | Meshes | Format | Description | |
| |--------|--------|--------|-------------| |
| | CoACD Examples | 5 | .obj | Smoke-test meshes from the [CoACD repo](https://github.com/SarahWeiii/CoACD) | |
| | ArtVIP | 528 | .obj | Per-link meshes from 205 articulated objects across 5 categories | |
| | SceneSmith | 500 | .glb | Stratified sample of generated objects from [SceneSmith](https://scenesmith.github.io/) scenes | |
|
|
| **Total: 1,033 meshes** |
|
|
| ## Directory Structure |
|
|
| ``` |
| coacd_examples/{object_name}/original.obj |
| artvip/{category}/{object_name}/{link_name}/original.obj |
| scenesmith/{category}/{object_name}/original.glb |
| manifest.json |
| ``` |
|
|
| ## Usage |
|
|
| ```bash |
| git clone https://github.com/wernerpe/visibility-decomposition |
| cd visibility-decomposition |
| python scripts/download_benchmark_dataset.py |
| python scripts/run_benchmark.py |
| ``` |
|
|
| ## Acknowledgments |
|
|
| ### ArtVIP |
|
|
| The articulated object meshes are derived from the |
| [ArtVIP](https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP) dataset |
| (Apache License 2.0). |
|
|
| > Zhao Jin, Zhengping Che, Tao Li, Zhen Zhao, Kun Wu, Yuheng Zhang, Yinuo Zhao, |
| > Zehui Liu, Qiang Zhang, Xiaozhu Ju, Jing Tian, Yousong Xue, Jian Tang. |
| > *ArtVIP: Articulated Digital Assets of Visual Realism, Modular Interaction, |
| > and Physical Fidelity for Robot Learning.* 2025. |
|
|
| ### SceneSmith |
|
|
| The generated object meshes are from scenes produced by |
| [SceneSmith](https://scenesmith.github.io/), sourced from |
| [scenesmith-example-scenes](https://huggingface.co/datasets/nepfaff/scenesmith-example-scenes). |
| Preprocessed ArtVIP assets used by SceneSmith are available at |
| [scenesmith-preprocessed-data](https://huggingface.co/datasets/nepfaff/scenesmith-preprocessed-data). |
|
|
| ### CoACD |
|
|
| The CoACD example meshes are from the [CoACD](https://github.com/SarahWeiii/CoACD) repository. |
|
|
