NJC Articulated Hinge: Fifteen Physics-Valid Articulated 3D Objects

Fifteen household objects rebuilt as physics-valid articulated assets for robot learning. Each object has one revolute joint and ships as URDF and native MuJoCo MJCF with textured visual meshes, convex collision decomposition, computed mass and inertia, a tuned joint, and its own actuator. The dataset was created by leejason2025 and last updated on June 12, 2026.

Use Cases

• Training robot manipulation policies based on articulated object models.
• Benchmarking physics simulation environments using the provided MuJoCo MJCF files.
• Developing perception models for articulated objects based on textured visual meshes.
• Testing robotic control algorithms on objects with revolute joints like lids and doors.

Strengths

• Contains fifteen distinct articulated household objects.
• Each object includes both URDF and MuJoCo MJCF formats with textured meshes and collision models.
• All objects passed an automated 26-check verification process in MuJoCo simulation.

Limitations

• Description metadata is limited; actual data quality requires manual inspection after download.
• Column-level documentation is absent; field semantics must be inferred after download.
• The dataset size, row count, and file formats are unknown.

Provenance

Source

huggingface

Collection Method

Objects were rebuilt and simulated to be physics-valid.

Freshness

Last updated 2026-06-12 22:08:16; freshness should be verified.