DragMesh-2 Hand-Object Interaction Trajectories
DragMesh-2官方在固定Hugging Face revision公开111个GAPartNet关节物体对应的277条手物交互trajectory.json，并提供对象manifest。抽样文件可直接下载，单条45661/handle_3轨迹为527,641字节、280步，包含approach/grasp/drag/release阶段、腕位姿、45维手指自由度和物体关节位置。数据只含启发式仿真有效轨迹，不含GAPartNet资产、失败轨迹、视觉/力/触觉或实机配对；许可证仅标other。
- 开放状态
- 数据可下载·许可证缺失
- 许可证
- Hugging Face metadata license: other; no specific reusable data grant
- 商业使用
- not established
- 人工评审结论
- verified_public_277_simulation_trajectories_license_unspecified_assets_excluded
- 机器人
- 51-DoF floating SMPL-X right hand、GAPartNet articulated objects
- 任务
- dexterous articulated-object approach、force-closure grasp、drawer or door drag、release and retract、contact-aware policy training
- 模态
- interaction phase、step index、virtual wrist translation、wrist Euler orientation、45 finger degrees of freedom、wrist position and quaternion、articulated-object joint positions
- 格式
- JSON trajectories plus JSONL manifest; object assets referenced by GAPartNet category/object/part identifiers
- 采集/生成方式
- NVIDIA Isaac Gym preview
- 已知问题
- No specific license, commercial-use grant, failed trajectory labels, vision/force/tactile streams, source assets, immutable formal release, full-download audit, independent quality audit or real-robot transfer result.