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--- |
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license: mit |
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task_categories: |
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- robotics |
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language: |
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- en |
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size_categories: |
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- 100M<n<1B |
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--- |
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# ManipGen-PartNet |
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ManipGen-PartNet is used to train grasp handle, open, and close policies in [ManipGen](https://mihdalal.github.io/manipgen/). |
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The dataset contains 2K+ cabinet assets (drawers and doors) for training robotic manipulation policies in simulation. We sample 1K+ handles from [PartNet](https://partnet.cs.stanford.edu/) and assemble them with procedually generated cabinet bodies. |
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### Structure |
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* `meshdata`: mesh and urdf |
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* `graspdata/`: pre-sampled grasp poses for Franka arm with UMI gripper |
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* `trainset3419.txt`: the list of 2655 objects used to train grasp handle, open, and close policies in ManipGen |
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