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Datasets:
Hgodwarrior
/
Huhb3D-Industrial-Topology

Tasks:
Other
Image Segmentation
Robotics
Size:
n<1K
Tags:
topology
3d-object
step
cad
industrial
grasp-planning
License:
Dataset card Files
xet
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Duplicate
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
source_file: string
object_bounds: list<item: double>
  child 0, item: double
best_grasp_strategy: struct<method: string, gripper_type: string, target_face_id: int64, approach_direction: list<item: d (... 46 chars omitted)
  child 0, method: string
  child 1, gripper_type: string
  child 2, target_face_id: int64
  child 3, approach_direction: list<item: double>
      child 0, item: double
  child 4, confidence: double
  child 5, reasoning: string
face_recommendations: list<item: struct<face_id: int64, category_name: string, geom_type: string, area: double, grasp_meth (... 142 chars omitted)
  child 0, item: struct<face_id: int64, category_name: string, geom_type: string, area: double, grasp_method: string, (... 130 chars omitted)
      child 0, face_id: int64
      child 1, category_name: string
      child 2, geom_type: string
      child 3, area: double
      child 4, grasp_method: string
      child 5, gripper_type: string
      child 6, approach_direction: list<item: double>
          child 0, item: double
      child 7, grasp_point: list<item: double>
          child 0, item: double
      child 8, confidence: double
      child 9, notes: string
grasp_method_summary: struct<surface_grip: struct<face_count: int64, total_area: double>, lateral_pinch: struct<face_count (... 213 chars omitted)
  child 0, surface_grip: struct<face_count: int64, total_area: double>
      child 0, face_count: int64
      child 1, total_area: double
  child 1, lateral_pinch: struct<face_count: in
...
:  (... 47 chars omitted)
  child 0, dataset_license: string
  child 1, model_license: string
  child 2, original_work: bool
  child 3, commercial_use_allowed: bool
  child 4, attribution_required: bool
  child 5, note: string
objects: list<item: struct<name: string, num_faces: int64, num_triangles: int64, shape_bounds: list<item: dou (... 388 chars omitted)
  child 0, item: struct<name: string, num_faces: int64, num_triangles: int64, shape_bounds: list<item: double>, topol (... 376 chars omitted)
      child 0, name: string
      child 1, num_faces: int64
      child 2, num_triangles: int64
      child 3, shape_bounds: list<item: double>
          child 0, item: double
      child 4, topology_categories: list<item: string>
          child 0, item: string
      child 5, category_distribution: struct<LateralPlane_X: int64, ConvexFeature_Bolt: int64, ConcaveFeature_Hole: int64, FreeSurface: in (... 162 chars omitted)
          child 0, LateralPlane_X: int64
          child 1, ConvexFeature_Bolt: int64
          child 2, ConcaveFeature_Hole: int64
          child 3, FreeSurface: int64
          child 4, HorizontalPlane: int64
          child 5, LateralPlane_Z: int64
          child 6, Boss: int64
          child 7, Fillet: int64
          child 8, Chamfer: int64
          child 9, NearHorizontal: int64
          child 10, NearLateral_X: int64
          child 11, NearLateral_Z: int64
      child 6, has_step_file: bool
      child 7, has_grasp_recommendations: bool
version: string
to
{'dataset_name': Value('string'), 'version': Value('string'), 'display_name': Value('string'), 'description': Value('string'), 'industry': Value('string'), 'generated_at': Value('string'), 'num_objects': Value('int64'), 'total_faces': Value('int64'), 'total_triangles': Value('int64'), 'topology_categories_present': List(Value('string')), 'objects': List({'name': Value('string'), 'num_faces': Value('int64'), 'num_triangles': Value('int64'), 'shape_bounds': List(Value('float64')), 'topology_categories': List(Value('string')), 'category_distribution': {'LateralPlane_X': Value('int64'), 'ConvexFeature_Bolt': Value('int64'), 'ConcaveFeature_Hole': Value('int64'), 'FreeSurface': Value('int64'), 'HorizontalPlane': Value('int64'), 'LateralPlane_Z': Value('int64'), 'Boss': Value('int64'), 'Fillet': Value('int64'), 'Chamfer': Value('int64'), 'NearHorizontal': Value('int64'), 'NearLateral_X': Value('int64'), 'NearLateral_Z': Value('int64')}, 'has_step_file': Value('bool'), 'has_grasp_recommendations': Value('bool')}), 'total_statistics': {'total_faces': Value('int64'), 'total_triangles': Value('int64'), 'total_category_distribution': {'LateralPlane_X': Value('int64'), 'ConvexFeature_Bolt': Value('int64'), 'ConcaveFeature_Hole': Value('int64'), 'FreeSurface': Value('int64'), 'HorizontalPlane': Value('int64'), 'LateralPlane_Z': Value('int64'), 'Boss': Value('int64'), 'Fillet': Value('int64'), 'Chamfer': Value('int64'), 'NearHorizontal': Value('int64'), 'NearLateral_X': Value('int64'), 'NearLateral_Z': Value('int64')}}, 'pricing': {'personal': Value('int64'), 'commercial': Value('int64'), 'currency': Value('string')}, 'legal': {'dataset_license': Value('string'), 'model_license': Value('string'), 'original_work': Value('bool'), 'commercial_use_allowed': Value('bool'), 'attribution_required': Value('bool'), 'note': Value('string')}, 'source': {'topology_data': Value('string'), 'step_files': Value('string'), 'parser': Value('string')}}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
                  return get_rows(
                         ^^^^^^^^^
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                         ^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/utils.py", line 77, in get_rows
                  rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2815, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2352, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2377, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 310, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 130, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2369, in table_cast
                  return cast_table_to_schema(table, schema)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
                  raise CastError(
              datasets.table.CastError: Couldn't cast
              source_file: string
              object_bounds: list<item: double>
                child 0, item: double
              best_grasp_strategy: struct<method: string, gripper_type: string, target_face_id: int64, approach_direction: list<item: d (... 46 chars omitted)
                child 0, method: string
                child 1, gripper_type: string
                child 2, target_face_id: int64
                child 3, approach_direction: list<item: double>
                    child 0, item: double
                child 4, confidence: double
                child 5, reasoning: string
              face_recommendations: list<item: struct<face_id: int64, category_name: string, geom_type: string, area: double, grasp_meth (... 142 chars omitted)
                child 0, item: struct<face_id: int64, category_name: string, geom_type: string, area: double, grasp_method: string, (... 130 chars omitted)
                    child 0, face_id: int64
                    child 1, category_name: string
                    child 2, geom_type: string
                    child 3, area: double
                    child 4, grasp_method: string
                    child 5, gripper_type: string
                    child 6, approach_direction: list<item: double>
                        child 0, item: double
                    child 7, grasp_point: list<item: double>
                        child 0, item: double
                    child 8, confidence: double
                    child 9, notes: string
              grasp_method_summary: struct<surface_grip: struct<face_count: int64, total_area: double>, lateral_pinch: struct<face_count (... 213 chars omitted)
                child 0, surface_grip: struct<face_count: int64, total_area: double>
                    child 0, face_count: int64
                    child 1, total_area: double
                child 1, lateral_pinch: struct<face_count: in
              ...
              :  (... 47 chars omitted)
                child 0, dataset_license: string
                child 1, model_license: string
                child 2, original_work: bool
                child 3, commercial_use_allowed: bool
                child 4, attribution_required: bool
                child 5, note: string
              objects: list<item: struct<name: string, num_faces: int64, num_triangles: int64, shape_bounds: list<item: dou (... 388 chars omitted)
                child 0, item: struct<name: string, num_faces: int64, num_triangles: int64, shape_bounds: list<item: double>, topol (... 376 chars omitted)
                    child 0, name: string
                    child 1, num_faces: int64
                    child 2, num_triangles: int64
                    child 3, shape_bounds: list<item: double>
                        child 0, item: double
                    child 4, topology_categories: list<item: string>
                        child 0, item: string
                    child 5, category_distribution: struct<LateralPlane_X: int64, ConvexFeature_Bolt: int64, ConcaveFeature_Hole: int64, FreeSurface: in (... 162 chars omitted)
                        child 0, LateralPlane_X: int64
                        child 1, ConvexFeature_Bolt: int64
                        child 2, ConcaveFeature_Hole: int64
                        child 3, FreeSurface: int64
                        child 4, HorizontalPlane: int64
                        child 5, LateralPlane_Z: int64
                        child 6, Boss: int64
                        child 7, Fillet: int64
                        child 8, Chamfer: int64
                        child 9, NearHorizontal: int64
                        child 10, NearLateral_X: int64
                        child 11, NearLateral_Z: int64
                    child 6, has_step_file: bool
                    child 7, has_grasp_recommendations: bool
              version: string
              to
              {'dataset_name': Value('string'), 'version': Value('string'), 'display_name': Value('string'), 'description': Value('string'), 'industry': Value('string'), 'generated_at': Value('string'), 'num_objects': Value('int64'), 'total_faces': Value('int64'), 'total_triangles': Value('int64'), 'topology_categories_present': List(Value('string')), 'objects': List({'name': Value('string'), 'num_faces': Value('int64'), 'num_triangles': Value('int64'), 'shape_bounds': List(Value('float64')), 'topology_categories': List(Value('string')), 'category_distribution': {'LateralPlane_X': Value('int64'), 'ConvexFeature_Bolt': Value('int64'), 'ConcaveFeature_Hole': Value('int64'), 'FreeSurface': Value('int64'), 'HorizontalPlane': Value('int64'), 'LateralPlane_Z': Value('int64'), 'Boss': Value('int64'), 'Fillet': Value('int64'), 'Chamfer': Value('int64'), 'NearHorizontal': Value('int64'), 'NearLateral_X': Value('int64'), 'NearLateral_Z': Value('int64')}, 'has_step_file': Value('bool'), 'has_grasp_recommendations': Value('bool')}), 'total_statistics': {'total_faces': Value('int64'), 'total_triangles': Value('int64'), 'total_category_distribution': {'LateralPlane_X': Value('int64'), 'ConvexFeature_Bolt': Value('int64'), 'ConcaveFeature_Hole': Value('int64'), 'FreeSurface': Value('int64'), 'HorizontalPlane': Value('int64'), 'LateralPlane_Z': Value('int64'), 'Boss': Value('int64'), 'Fillet': Value('int64'), 'Chamfer': Value('int64'), 'NearHorizontal': Value('int64'), 'NearLateral_X': Value('int64'), 'NearLateral_Z': Value('int64')}}, 'pricing': {'personal': Value('int64'), 'commercial': Value('int64'), 'currency': Value('string')}, 'legal': {'dataset_license': Value('string'), 'model_license': Value('string'), 'original_work': Value('bool'), 'commercial_use_allowed': Value('bool'), 'attribution_required': Value('bool'), 'note': Value('string')}, 'source': {'topology_data': Value('string'), 'step_files': Value('string'), 'parser': Value('string')}}
              because column names don't match

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Huhb3D Industrial Topology Dataset (Complete)

Complete STEP topology annotated dataset for 20 industrial parts across 15 topology categories. The only publicly available dataset with STEP-parsed per-face topology labels for 6DoF pose estimation and robotic grasp planning.

What Makes This Dataset Unique

This is the only publicly available dataset that provides STEP-parsed per-face topology labels for industrial CAD models. Unlike mesh-only datasets, our topology annotations are derived directly from the STEP B-Rep structure using OpenCascade, providing:

  • Per-face semantic labels: Each mesh face is classified into one of 15 topology categories
  • STEP source files: Original parametric CAD models for precise geometry queries
  • Robotic grasp planning: Topology labels enable grasp strategy selection by face type
  • 6DoF pose estimation: Face-level annotations support pose refinement algorithms

Overview

  • 20 industrial mechanical parts
  • 863 total B-Rep faces
  • 46168 total mesh triangles
  • 12 topology categories with per-face semantic labels
  • Industry: Industrial Robotics & Manufacturing
  • Source models: STEP (ISO 10303-21) CAD files

Directory Structure 

Huhb3D-Industrial-All/
  README.md
  LICENSE
  DATASET_METADATA.json
  checksums.sha256
  source_step/
    bearing_block.step
    ...
  objects/
    bearing_block/
      topology_labels.json       # Per-triangle topology labels
      topology_summary.json      # Topology statistics summary
      grasp_recommendations.json # Grasp recommendations (if available)
    ...

Object List

Object Faces Triangles STEP Grasp Topology Categories
bearing_block 29 3892 ✓ ✓ Boss, ConcaveFeature_Hole, ConvexFeature_Bolt, FreeSurface, HorizontalPlane, LateralPlane_X, LateralPlane_Z
bearing_medium 29 3892 ✓ ✓ Boss, ConcaveFeature_Hole, ConvexFeature_Bolt, FreeSurface, HorizontalPlane, LateralPlane_X, LateralPlane_Z
bearing_small 35 4928 ✓ ✓ Boss, ConcaveFeature_Hole, ConvexFeature_Bolt, Fillet, FreeSurface, HorizontalPlane, LateralPlane_X, LateralPlane_Z
connector_housing 31 896 ✓ ✓ ConcaveFeature_Hole, ConvexFeature_Bolt, HorizontalPlane, LateralPlane_X, LateralPlane_Z
coupling 6 1160 ✓ ✓ Boss, ConcaveFeature_Hole, FreeSurface, LateralPlane_Z
flange 8 2516 ✓ ✓ Boss, ConvexFeature_Bolt, FreeSurface, LateralPlane_Z
flange_large 10 3296 ✓ ✓ Boss, ConvexFeature_Bolt, FreeSurface, LateralPlane_Z
flange_medium 8 2516 ✓ ✓ Boss, ConvexFeature_Bolt, FreeSurface, LateralPlane_Z
flange_small 13 2028 ✓ ✓ Boss, ConvexFeature_Bolt, FreeSurface, LateralPlane_Z
gear 127 2224 ✓ ✓ Boss, Chamfer, FreeSurface, HorizontalPlane, LateralPlane_X, LateralPlane_Z, NearHorizontal, NearLateral_X
gear_large 187 2464 ✓ ✓ Boss, Chamfer, HorizontalPlane, LateralPlane_X, LateralPlane_Z, NearHorizontal, NearLateral_X
gear_medium 127 2224 ✓ ✓ Boss, Chamfer, FreeSurface, HorizontalPlane, LateralPlane_X, LateralPlane_Z, NearHorizontal, NearLateral_X
gear_small 78 2004 ✓ ✓ Boss, Chamfer, FreeSurface, HorizontalPlane, LateralPlane_X, LateralPlane_Z, NearHorizontal, NearLateral_X
heat_sink 62 128 ✓ ✓ HorizontalPlane, LateralPlane_X, LateralPlane_Z
hex_bolt 17 634 ✓ ✓ Boss, Chamfer, HorizontalPlane, LateralPlane_Z, NearHorizontal, NearLateral_X, NearLateral_Z
l_bracket 22 876 ✓ ✓ Boss, ConcaveFeature_Hole, ConvexFeature_Bolt, HorizontalPlane, LateralPlane_X, LateralPlane_Z
mounting_plate 30 2308 ✓ ✓ Boss, Chamfer, ConcaveFeature_Hole, ConvexFeature_Bolt, HorizontalPlane, LateralPlane_X, LateralPlane_Z, NearHorizontal, NearLateral_X
pipe_tee 11 2456 ✓ ✓ Boss, LateralPlane_X, LateralPlane_Z
step_shaft 9 1936 ✓ ✓ Boss, LateralPlane_Z
valve_body 24 3790 ✓ ✓ Boss, FreeSurface, LateralPlane_X, LateralPlane_Z

Topology Categories

ID Category Description Color
0 FreeSurface 自由曲面（圆柱面、圆锥面、B样条曲面等） #7F7F7F
1 HorizontalPlane 法线平行于 Z 轴的平面（顶面/底面） #0000FF
2 LateralPlane_X 法线平行于 X 轴的平面（侧面） #00FF00
3 LateralPlane_Z 法线平行于 Z 轴的竖直平面 #FF0000
4 NearHorizontal 与水平面倾斜角 <30° 的平面 #FFFF00
5 NearLateral_X 与 X 侧面倾斜角 <30° 的平面 #FF00FF
6 NearLateral_Z 与 Z 侧面倾斜角 <30° 的平面 #00FFFF
8 ConvexFeature_Bolt 凸起圆柱特征（螺栓凸台、销钉、轴段） #7F00FF
9 ConcaveFeature_Hole 凹陷圆柱特征（孔、内腔、凹槽） #007FFF
11 Boss 凸起圆柱台（安装凸台、垫台） #00CC66
12 Chamfer 两个面之间的倾斜过渡边 #CC6600
13 Fillet 圆角过渡边（倒圆角） #6600CC

Grasp Recommendations

Some objects include grasp_recommendations.json with pre-computed robotic grasp poses. These files are generated by the grasp_recommendations.py module and contain:

  • Recommended grasp approach directions
  • Gripper opening widths
  • Grasp quality scores

Data Format

topology_labels.json

Per-object file containing:

  • source_file: Original STEP file name
  • total_triangles: Total number of mesh triangles
  • total_faces: Total number of B-Rep faces
  • shape_bounds: Bounding box [xmin, ymin, zmin, xmax, ymax, zmax]
  • category_names: Mapping from category ID to name
  • triangle_labels: Array of category IDs, one per triangle
  • faces: Array of face objects with:
    • face_id, geom_type, category_id, category_name
    • area, triangle_count, triangle_start
    • extra: Optional dict with radius, axis_direction, normal

topology_summary.json

Per-object file containing:

  • source_file, total_faces, total_triangles, shape_bounds
  • categories: Dict mapping category ID to name, face_count, triangle_count, total_area

grasp_recommendations.json (optional)

Per-object file containing pre-computed grasp poses with approach directions, gripper widths, and quality scores.

Pricing

License Price
Personal / Academic $49
Commercial $149

All prices in USD. Commercial license permits use in proprietary products.

Citation

If you use this dataset in your research, please cite:

@dataset{huhb3d_industrial_all,
  title   = {Huhb3D Industrial Topology Dataset (Complete)},
  author  = {Huhb},
  year    = {2026},
  version = {1.0.0},
  url     = {https://github.com/huhb-ai/Huhb3D-Topology-Dataset}
}

License

  • 3D Models: CC0 (Public Domain) — original creations, no restrictions
  • Dataset (annotations, metadata, packaging): CC-BY-4.0 — attribution required

You are free to share and adapt for any purpose, including commercially, as long as appropriate credit is given.

See LICENSE for the full license text.

Contact

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