SAPIEN 2

该数据集提供了一个模拟环境，用于在多种操作任务中对Franka Emika Panda机械臂进行实验。此外，该数据集支持使用包括浮动抓爪和机械臂在内的不同变体进行实验，涵盖多种任务，包括不同形状和大小的物体操作。具体任务涉及学习用于舀取、悬挂和钩取物体的操作策略。

This dataset provides a simulated environment for conducting experiments on the Franka Emika Panda robotic arm across various manipulation tasks. Additionally, the dataset supports experiments using different variants including floating grippers and robotic arms, covering a wide range of tasks that involve manipulating objects of diverse shapes and sizes. Specific tasks involve learning manipulation strategies for scooping, hanging, and hooking objects.