Does Particulate support multi-joint articulation?

[2019EPWL]

Thanks for releasing Particulate — it’s been really useful.

I have a question about multi-joint articulated objects. I tested Particulate on several GLB meshes that contain multiple hinges/joints (e.g., multiple doors or drawers / multiple movable parts). However, the inferred URDF/result seems to contain only a single movable joint, and only that one joint actually moves during simulation/visualization. The other expected joints are either missing or treated as static.

Could you clarify:
1. Is Particulate currently designed to predict only a single joint / single-DoF articulation per object (or per inference run)?
2. If multi-joint objects are supported, are there recommended settings or constraints to make multi-joint prediction work reliably ?

[RuiningLi]

Hi, thanks for your interest in our work!

Yes, Particulate supports multi-joint articulation (see the toilet & cabinet examples in the demo).

If you share your failing examples with me (either here or via email), I can help take a look at what the issues are.