A cargo truck, bicycle, and motorbike rendered from the SketchMobility articulated object collection.

SketchMobility

Paper Project Page Hugging Face

We thank Yijing Cui, Zehao Yu, and Tianxing Lei for their careful review of the data.

Although we have carefully checked the annotations, some errors may remain. The dataset will continue to be maintained and updated.

For questions or data suggestions, please contact arloyang397@gmail.com.

Data explanation

For some table assets, you may find that a drawer has only an exterior surface and no internal structure. We retain these cases intentionally.

Because this reflects a real issue in some 3D datasets, some meshes were designed as static objects, so motion—and the interior geometry it exposes—was never considered. Articulation makes those omissions visible. We regard it as a 3D completion problem: how can missing interiors be generated while preserving the original geometry as faithfully as possible?

Affected joints are tagged with emptyInside: true, so they can be filtered out when they are not relevant to your task :)

We thank the authors of Articraft, Infinigen-Articulated, PartNeXt, and Shape2Motion for their work and for making the source data available.

Citation

BibTeX

If you find our work useful for your research, please consider citing our paper.

@article{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},
  journal = {ACM Transactions on Graphics},
  volume = {45},
  number = {4},
  year = {2026},
  doi = {10.1145/3811375}
}