| --- |
| 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](https://pku-epic.github.io/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 |
|
|
| ```text |
| <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](https://pku-epic.github.io/GAPartNet/). Users |
| should obtain GAPartNet independently from its official source and comply with |
| its applicable license and |
| [Terms & Conditions](https://docs.google.com/document/d/1kjFCTcDLtaycZiJVmSVhT9Yw8oCAHl-3XKdJapvRdW0/edit?usp=sharing). |
|
|
| 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. |
|
|
