task_categories:robotics language:en license:mit size_categories:100M<n<1B region:us
---
license: mit
task_categories:
- robotics
language:
- en
size_categories:
- 100M<n<1B
---
# ManipGen-PartNet
ManipGen-PartNet is used to train grasp handle, open, and close policies in [ManipGen](https://mihdalal.github.io/manipgen/). 

The dataset contains 2K+ cabinet assets (drawers and doors) for training robotic manipulation policies in simulation. We sample 1K+ handles from [PartNet](https://partnet.cs.stanford.edu/) and assemble them with procedually generated cabinet bodies.


### Structure
* `meshdata`: mesh and urdf
* `graspdata/`: pre-sampled grasp poses for Franka arm with UMI gripper
* `trainset3419.txt`: the list of 2655 objects used to train grasp handle, open, and close policies in ManipGen

