| --- |
| language: |
| - en |
| pretty_name: SketchMobility |
| tags: |
| - 3D |
| - articulated-objects |
| - robotics |
| - urdf |
| - motion |
| size_categories: |
| - 1K<n<10K |
| viewer: false |
| license: other |
| extra_gated_heading: Request access to SketchMobility |
| extra_gated_prompt: >- |
| Please provide the information below and acknowledge the applicable |
| SketchMobility and upstream license terms described in LICENSE.md and |
| LICENSE_MAP.json. Access is granted automatically after submission. |
| extra_gated_fields: |
| Name: text |
| PI/Advisor: text |
| Affiliation: text |
| Purpose: text |
| Country: country |
| I have read and agree to the applicable licenses: checkbox |
| --- |
| |
| # 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](https://arxiv.org/abs/2604.25781). |
|
|
| ## Dataset |
|
|
| | Source | Objects | License treatment | |
| | --- | ---: | --- | |
| | [Articraft](https://articraft3d.github.io/) (`Agentic`) | 205 | CC BY 4.0 | |
| | [Infinigen-Articulated](https://huggingface.co/datasets/princeton-vl/infinigen-articulated) | 726 | CC BY 4.0 | |
| | [PartNeXt](https://huggingface.co/datasets/AuWang/PartNeXt) | 2,177 | CC BY 4.0 | |
| | [Shape2Motion](https://github.com/wangxiaogang866/Shape2Motion) | 1,848 | GPL-3.0 | |
| | **Total** | **4,956** | **Mixed** | |
|
|
| After unpacking, each object has this layout: |
|
|
| ```text |
| 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. |
|
|
| ```bash |
| 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.md), [LICENSE_MAP.json](LICENSE_MAP.json), and |
| [ATTRIBUTION.md](ATTRIBUTION.md). |
|
|
| ## Citation |
|
|
| ```bibtex |
| @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} |
| } |
| ``` |
|
|
