minliu01/ManipGen-PartNet
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资源简介：
ManipGen-PartNet数据集用于训练机器人的抓握把手、开启和关闭策略。该数据集包含2000多个模拟橱柜资产（包括抽屉和门），以及从PartNet选取的1000多个把手，这些把手被组装到程序生成的橱柜主体上，以供Franka机械臂使用UMI夹爪进行训练。
ManipGen-PartNet dataset is used for training robotic grasp handle, open, and close policies. The dataset consists of over 2K cabinet assets (drawers and doors) for simulation-based robotic manipulation policy training, along with 1K+ handles sampled from PartNet assembled with procedurally generated cabinet bodies for Franka arm training with UMI gripper.
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minliu01
