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ManipulaTHOR is an environment within the AI2-THOR framework that facilitates visual manipulation of objects using a robotic arm.
Code
Dataset
Paper
API Reference

Key Features

Mobile Manipulation
ManipulaTHOR enables navigation and object manipulation simultaneously.
Sensor Suite
ManipulaTHOR provides a suite of visual and non-visual sensors, such as egocentric RGB-D images and touch sensors.
Real Arm Design
The arm is designed based on the Kinova Gen3 Modular Robotic Arm specification, bringing the simulation a step closer to reality.
6-DOF Manipulation
The framework enables 6-DOF manipulation of objects, enabling fine-grained translation and rotation of the objects.