Implementation:Haosulab ManiSkill PartNetFaucetMeta

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

Overview

Metadata file containing geometric and semantic information for PartNet-Mobility faucet objects used in ManiSkill manipulation tasks.

Description

info_faucet_train.json is a JSON metadata file that stores precomputed geometric and semantic data for faucet assets from the PartNet-Mobility dataset. This data is used to configure faucet objects for tasks like faucet turning.

The file maps PartNet-Mobility object IDs (as string keys, e.g., "5000", "5001") to configuration dictionaries. Each entry contains:

• bbox -- Bounding box information with "min" and "max" 3D coordinates, defining the axis-aligned bounding box of the faucet model in its canonical pose.
• offset -- A 3-element array specifying the positional offset used to center the model.
• scale -- A float value representing the scaling factor to normalize the model to a standard size.
• semantics -- An array of arrays, each describing a link in the articulated faucet. Each link entry contains:
  • Link name (e.g., "link_0", "link_1", "link_2")
  • Joint type (e.g., "hinge", "free")
  • Semantic label (e.g., "switch", "faucet_base")

The file contains entries for a large number of faucet models (2158 lines), supporting diverse faucet geometries with varying numbers of switches and base configurations.

Usage

Loaded by ManiSkill environment classes for faucet manipulation tasks to retrieve model geometry, scaling, and semantic link information.

Code Reference

Source Location

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

Sample Structure

{
    "5000": {
        "bbox": {
            "max": [0.3984, 0.6822, 0.5873],
            "min": [-0.9809, -0.6575, -0.4623]
        },
        "offset": [0.2133, 0.1430, 0.1006],
        "scale": 0.2175,
        "semantics": [
            ["link_0", "hinge", "switch"],
            ["link_1", "hinge", "switch"],
            ["link_2", "free", "faucet_base"]
        ]
    }
}

JSON Schema

Key	Type	Description
{model_id}	object	Top-level key is the PartNet-Mobility ID as a string
bbox.min	array[float]	Bounding box minimum corner [x, y, z]
bbox.max	array[float]	Bounding box maximum corner [x, y, z]
offset	array[float]	Centering offset [x, y, z]
scale	float	Normalization scale factor
semantics	array[array]	Per-link semantic info: [link_name, joint_type, label]

Semantic joint types:

Joint Type	Description
hinge	Rotational joint (used for switches/handles)
free	Fixed/free part (typically the base)

Related Pages

• Environment:Haosulab_ManiSkill_Python_SAPIEN_Core