---
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.