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Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objects
Disclaimer: this repository contains data that is still under development and is continuously being verified and improved. We are committed to making it as clean and useful as possible for the community. If you find any issues with the data, please file an issue on huggingface. Your feedback is an important part of the community effort to bring more high-quality articulated object data to everyone. Thank you!
This repo contains samples of the Artiverse data. Current release contains a subset of our furniture models. In the future, they will be refined with more interior completion (currently featured in armoire models), as well as releasing the USD files with part functionality.
Our data structure is organized by semantic category, source, and model id:
data/
{category}/
{source}/
{model_id}/
{model_id}.segmented.glb
{model_id}.articulations.json
material.json
mass_furniture_heuristic.json
imgs/
urdf_w_collider/
Where:
{category}is the object class, for examplearmoire,bookcase,chest_of_drawers,desk,sideboard,tv_stand, orwall_cabinet.{source}is the upstream asset source. The current release usesfpModel.{model_id}is the unique model identifier within that source.- Note - this structure will be updated in the full release.
Each model folder contains:
{model_id}.segmented.glb: segmented geometry with part structure and metadata used by our processing pipeline.{model_id}.articulations.json: articulation annotations, including articulated part ids, joint types, axes, and motion ranges.material.json: inferred material assignments and densities for the segmented parts.mass_furniture_heuristic.json: per-part and total mass estimates.imgs/: reference renderings for the object.urdf_w_collider/: URDF export with visual meshes and collision geometry for simulation use.
pygltftoolkit can be used to load the GLBs and parse the segmentation annotations. The annotation formats largely follow S2O, so please check out the documentation.
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