ManiSkill2
Description
ManiSkill2 provides more than four million demonstration frames for 20 simulated manipulation skill families and over 2,000 object models. Its SAPIEN environments span stationary and mobile platforms, single- and dual-arm control, rigid and soft bodies, RGB-D and point-cloud observations, and tasks from picking and insertion to pouring and excavation.
License
Mixed and scope-specific: Hugging Face metadata declares Apache-2.0 for the repository, while its README assigns permissive licenses such as Apache-2.0 to rigid-body environments, the NVIDIA Source Code License for Warp to soft-body environments, and CC BY-NC 4.0 to assets.*
* Double-check the publisher's current license and usage terms before using this dataset.