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DragMesh-2

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text stringlengths 1 80
0 dishwasher Dish Washer
1 body Body
2 frame Frame
3 door Door
4 door_frame Door Frame
5 handle Handle
0 dishwasher dishwasher
1 body body
2 frame frame
3 door door
4 door_frame door_frame
5 handle handle
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Check out the documentation for more information.

DragMesh Hand-Object Interaction Dataset

This dataset pairs simulation-generated hand-object interaction (HOI) trajectories with the corresponding PartNet-Mobility object assets used to generate them. Only objects with validated HOI trajectories are included.

Dataset layout

<category>/
  <object_id>/
    hoi_trajectories/
      handle_<part_id>/
        trajectory.json
    partnet_mobility/
      mobility.urdf
      mobility_v2.json
      meta.json
      textured_objs/
      ...
dataset_manifest.jsonl

<category> is the PartNet-Mobility object category.
<object_id> is the source PartNet-Mobility directory identifier.
hoi_trajectories/ contains one trajectory directory per manipulated handle or articulated part.
partnet_mobility/ contains the complete matching source object directory.
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.

Source assets

The object geometry and articulation metadata under partnet_mobility/ are derived from PartNet-Mobility. Please cite the PartNet and PartNet-Mobility projects and follow their applicable terms when using or redistributing these assets.

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