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Huhb3D-Industrial-Topology

Tasks:
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Image Segmentation
Robotics
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n<1K
Tags:
topology
3d-object
step
cad
industrial
grasp-planning
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metadata 
license: cc-by-4.0
task_categories:
  - other
  - image-segmentation
  - robotics
tags:
  - topology
  - 3d-object
  - step
  - cad
  - industrial
  - grasp-planning
  - synthetic
size_categories:
  - n<1K

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.

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