Semantic & material ready Embodied / Robotics Mixed (check per asset) Sign-up / registration

PartNet-Mobility Articulated Object Dataset

Provider：UCSD / Stanford / SFU (SAPIEN)

PartNet-Mobility has 2,346 3D articulated models (46 categories, 14K+ movable parts) with kinematic/dynamic annotations, SAPIEN-compatible, by non-commercial request.

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At a glance

Readiness
L2 · Semantic & material ready
Rationale
Manipulation L2: 2,346 3D articulated models with kinematic/dynamic motion annotations (hinge/slide/rotate) and rendering materials, loadable and joint-drivable in SAPIEN/PhysX, but access is by request, hence L2.
Scale
2,346 3D articulated models, 46 indoor categories, 14,068+ movable parts with kinematic and dynamic annotations (SAPIEN paper and Hugging Face repo: 2,346 models / 46 categories / 14,068 movable parts; a continuation of ShapeNet and PartNet. Checked 2026-10-25.)
License
Mixed (check per asset) — Access requires admin approval under terms allowing only non-commercial research and education; the dataset builds on ShapeNet, so its terms also apply.
Access
Sign-up / registration
Formats
obj · other
Runtimes
sapien
Physics properties
Joint structureMDL material
Domain
Solid / Structure
Published
2026-10-25
Updated
2026-10-25

Why it is listed

PartNet-Mobility is the reference articulated-object dataset for manipulation research: 2,346 3D models across 46 indoor categories, each annotated with kinematic and dynamic motion (hinge, slide, rotate) and rendering materials.

Readiness assessment

It is the asset set that powers SAPIEN, a PhysX-based part-level interactive simulator, so every model can be loaded and its joints driven in simulation — a true L2 articulated asset with motion annotations baked in.

Practical notes

Access is gated: you request access on Hugging Face and agree to non-commercial research/education terms; because the dataset builds upon ShapeNet, those terms also apply.

Disclaimer: license and usage terms follow the official source — verify them yourself before use. This site indexes and links only; it does not host or mirror any asset file.

License and usage terms are those of the official source — verify before use. No asset file is hosted or mirrored on this site.