language:
- en
pretty_name: SketchMobility
tags:
- 3D
- articulated-objects
- robotics
- urdf
- motion
size_categories:
- 1K<n<10K
viewer: false
license: other
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SketchMobility and upstream license terms described in LICENSE.md and
LICENSE_MAP.json. Access is granted automatically after submission.
extra_gated_fields:
Name: text
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SketchMobility
SketchMobility is a curated release of 4,956 articulated 3D objects with human-reviewed motion annotations, URDF descriptions, source-sensitive mesh assets, and per-object normalization metadata.
This dataset accompanies Sketch2Arti: Sketch-based Articulation Modeling of CAD Objects.
Dataset
| Source | Objects | License treatment |
|---|---|---|
Articraft (Agentic) |
205 | CC BY 4.0 |
| Infinigen-Articulated | 726 | CC BY 4.0 |
| PartNeXt | 2,177 | CC BY 4.0 |
| Shape2Motion | 1,848 | GPL-3.0 |
| Total | 4,956 | Mixed |
After unpacking, each object has this layout:
data/
{source}/
{category}/
{display_id}/
annotation.json
mobility.urdf
meshes/
annotation.json retains the original upstreamId, release ID, joints, mesh
links, and exact normalization transform. Mesh encodings remain
source-sensitive.
Sketch images are not included. The sketch-generation script will be released with the Sketch2Arti system code.
Download and unpack
The dataset follows the Artiverse release convention: verified tar.gz chunks
are stored under dataset_chunks/, and each object directory stays within one
chunk.
hf download Arlo397/SketchMobility \
--repo-type dataset \
--local-dir SketchMobility
cd SketchMobility
python pack_dataset_chunks.py unpack \
--chunks-dir dataset_chunks \
--overwrite \
--verify-sha256
The command reconstructs data/. Chunk sizes and SHA-256 checksums are listed
in dataset_chunks/manifest.json.
License and attribution
SketchMobility is a mixed-license compilation. SketchMobility-original curation, annotations, corrections, normalization metadata, release identifiers, and documentation are CC BY 4.0 to the extent these rights are held by the contributors. Upstream terms continue to apply.
See LICENSE.md, LICENSE_MAP.json, and ATTRIBUTION.md.
Citation
@misc{yang2026sketch2arti,
title = {Sketch2Arti: Sketch-based Articulation Modeling of CAD Objects},
author = {Yang, Yi and Pan, Hao and Cui, Yijing and Sheffer, Alla and Li, Changjian},
year = {2026},
eprint = {2604.25781},
archivePrefix = {arXiv},
primaryClass = {cs.CV}
}