README.md

metadata

pretty_name: DragMesh-2 Hand-Object Interaction Trajectories
license: other

DragMesh-2 Hand-Object Interaction Trajectories

This repository contains simulation-generated hand-object interaction (HOI) trajectories and their object/part reference metadata. It does not redistribute GAPartNet geometry, URDFs, renders, or annotations.

Dataset construction

We selected 111 articulated objects with actionable parts from the PartNet-Mobility-derived portion of GAPartNet and generated 277 valid HOI trajectories using our simulation pipeline. The directory category, object ID, and handle_<part_id> names retain the identifiers used to align each trajectory with the corresponding GAPartNet object and manipulated part.

Our contributions in this release are:

• selecting and validating objects suitable for the DragMesh-2 HOI task;
• generating hand and articulated-object interaction trajectories in simulation;
• organizing trajectories by source object and manipulated part;
• providing a machine-readable object-level manifest.

Dataset layout

<category>/
  <object_id>/
    hoi_trajectories/
      handle_<part_id>/
        trajectory.json
dataset_manifest.jsonl

• <category> and <object_id> identify the corresponding GAPartNet object.
• handle_<part_id> identifies the manipulated actionable part.
• dataset_manifest.jsonl provides one machine-readable record per object.

Trajectory format

Each trajectory.json contains the following fields:

• phase
• step
• virtual_xyz
• wrist_rpy
• finger_dofs
• wrist_pos
• wrist_rot
• joint_positions

The trajectories were generated in simulation with a heuristic rule-based pipeline.

Corresponding object assets

The corresponding objects and primary manipulated parts are available through the official GAPartNet project. Users should obtain GAPartNet independently from its official source and comply with its applicable license and Terms & Conditions.

The GAPartNet and PartNet-Mobility assets are third-party data and are not part of this repository. This repository's category, object, and part identifiers are provided only to support alignment with independently obtained copies of the source data.