Implementation:Haosulab ManiSkill PartNetChairMeta

Knowledge Sources	Haosulab_ManiSkill
Domains	Robotics, Simulation, Scene_Building
Last Updated	2026-02-15 08:00 GMT

Overview

Metadata file containing training configuration data for PartNet-Mobility chair objects used in ManiSkill manipulation tasks.

Description

info_chair_train.json is a JSON metadata file that stores pre-computed configuration data for chair assets from the PartNet-Mobility dataset. This data is used to initialize chair objects in simulation environments for tasks like seating manipulation.

The file maps PartNet-Mobility object IDs (as string keys, e.g., "3001", "3003") to configuration dictionaries. Each entry contains:

• initial_qpos -- An array of float values representing the initial joint positions (generalized coordinates) for the articulated chair object. The number of values varies by chair model and its degrees of freedom (typically 10-20 values).
• partnet_mobility_id -- The integer identifier corresponding to the PartNet-Mobility dataset model.
• position -- A 3-element array [x, y, z] specifying the initial position of the chair in the scene.
• rotation -- A 4-element array [w, x, y, z] quaternion specifying the initial orientation.

The file contains entries for multiple chair models from the training split.

Usage

Loaded by ManiSkill environment classes that involve chair manipulation to determine valid chair models and their default configurations.

Code Reference

Source Location

• Repository: Haosulab_ManiSkill
• File: mani_skill/assets/partnet_mobility/meta/info_chair_train.json

Sample Structure

{
    "3001": {
        "initial_qpos": [1.537, 0.984, 3.612, ...],
        "partnet_mobility_id": 3001,
        "position": [0.0144, -0.00326, 0.5994],
        "rotation": [0.9999, 0.000809, -4.688e-05, 0.01020]
    },
    "3003": {
        "initial_qpos": [-0.0614, 0.2017, ...],
        "partnet_mobility_id": 3003,
        "position": [...],
        "rotation": [...]
    }
}

JSON Schema

Key	Type	Description
{model_id}	object	Top-level key is the PartNet-Mobility ID as a string
initial_qpos	array[float]	Default joint positions for the articulated chair
partnet_mobility_id	int	PartNet-Mobility dataset identifier
position	array[float]	3D initial position [x, y, z]
rotation	array[float]	Initial orientation quaternion [w, x, y, z]

Related Pages

• Environment:Haosulab_ManiSkill_Python_SAPIEN_Core