metadata

license: mit
task_categories:
  - robotics
language:
  - en
size_categories:
  - 100M<n<1B

ManipGen-PartNet

ManipGen-PartNet is used to train grasp handle, open, and close policies in ManipGen.

The dataset contains 2K+ cabinet assets (drawers and doors) for training robotic manipulation policies in simulation. We sample 1K+ handles from PartNet and assemble them with procedually generated cabinet bodies.

Structure

meshdata: mesh and urdf
graspdata/: pre-sampled grasp poses for Franka arm with UMI gripper
trainset3419.txt: the list of 2655 objects used to train grasp handle, open, and close policies in ManipGen