What it is
Human-verified benchmark of articulated 3D objects with part physics, kinematics, structure, and object scale/mass for simulation-ready evaluation. 1,927 articulated 3D objects across 2 releases, with ~16K parts and ~5.5K motion-relevant components. Each object includes decomposed meshes, point clouds, URDF, and verified annotations for kinematics, part physics, affordance, dimensions, and mass.
Key results
- 1,927 articulated 3D objects across 2 releases
- ~16K parts and ~5.5K motion-relevant components
- CC BY-NC 4.0; OBJ, PLY, JSON, and URDF files
Useful for benchmarking simulation-ready 3D grounding: joint prediction, part physics estimation, and object scale/mass inference.