The acquisition of substantial volumes of 3D articulated object data is expensive and time-consuming, and consequently the scarcity of 3D articulated object data becomes an obstacle for deep learning methods to achieve remarkable performance in various articulated object understanding tasks. Meanwhile, pairing these object data with detailed annotations to enable training for various tasks is also difficult and labor-intensive to achieve. In order to expeditiously gather a significant number of 3D articulated objects with comprehensive and detailed annotations for training, we propose Articulated Object Procedural Generation toolbox, a.k.a. Arti-PG toolbox. Arti-PG toolbox consists of i) descriptions of articulated objects by means of a generalized structure program along with their analytic correspondence to the objects' point cloud, ii) procedural rules about manipulations on the structure program to synthesize large-scale and diverse new articulated objects, and iii) mathematical descriptions of knowledge (e.g. affordance, semantics, etc.) to provide annotations to the synthesized object. Arti-PG has two appealing properties for providing training data for articulated object understanding tasks: i) objects are created with unlimited variations in shape through program-oriented structure manipulation, ii) Arti-PG is widely applicable to diverse tasks by easily providing comprehensive and detailed annotations. Arti-PG now supports the procedural generation of 26 categories of articulate objects and provides annotations across a wide range of both vision and manipulation tasks, and we provide exhaustive experiments which fully demonstrate its advantages. We will make Arti-PG toolbox publicly available for the community to use.

翻译：获取大量三维铰接物体数据成本高昂且耗时，因此三维铰接物体数据的稀缺性成为深度学习模型在各种铰接物体理解任务中取得显著性能的障碍。同时，为这些物体数据配以详细标注以支持多种任务的训练也面临困难且需要大量人工。为快速收集大量具有全面精细标注的三维铰接物体用于训练，我们提出铰接物体程序化生成工具箱，简称Arti-PG工具箱。Arti-PG工具箱包含：i) 通过广义结构程序描述铰接物体及其与物体点云的解析对应关系；ii) 对结构程序进行操作以合成大规模多样化新铰接物体的程序化规则；iii) 知识的数学描述（如可供性、语义等）为合成物体提供标注。Arti-PG具备两项为铰接物体理解任务提供训练数据的突出特性：i) 通过面向程序的结构操作，可创建形状具有无限变化的物体；ii) 通过便捷提供全面精细的标注，Arti-PG可广泛适用于多样化任务。目前Arti-PG支持26类铰接物体的程序化生成，并为广泛的视觉与操作任务提供标注，我们通过详尽的实验充分展示了其优势。我们将公开Arti-PG工具箱供学术界使用。