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NBtools includes short clips cut from public YouTube videos (videos/raw, videos/frames_10fps) and data derived from DexYCB. The videos belong to their owners and are provided for non-commercial research only; do not re-distribute them. Data licence: CC BY-NC 4.0.
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NBtools: where the hand goes on a power drill and a glue bottle
Two tools, each as real meshes with per-vertex hand-contact annotations:
| card | what is in it | key frames |
|---|---|---|
035_power_drill |
11 real cordless drills (DeWalt DCD709 / DCD780 / DCD799, Hilti SFC 22-A / Nuron SF 4H-22 / SF 6H-A22, Bosch GSB 18V-65, Metabo HPT DS18DDX, Milwaukee 2902-20, Craftsman CMCD700, Black+Decker LDX120C), each with its own mesh at the maker's size, synthesis templates per use, a shape family; the YCB drill itself (mesh/) has templates for pick up / hand over (5 DexYCB takes, measured), drilling, holding, place and carry (templates/) |
keyframes/: 21 (14 web-video frames, one per video and use, each verified by overlay review + independent critic; 5 DexYCB takes, one key frame each, left-hand takes mirrored to the right; 2 camera-only estimates); keyframes_v54_archive/: the 67 earlier frames as they were (its 42 web-video frames were re-run through the current pipeline: 30 pass, and the best one per video and use is in keyframes/) |
x03_bambu_liquid_glue |
Bambu Lab liquid glue bottle: grasp, open cap, press sponge, spread, close cap, plus carry / hand over / place | keyframes/: 10 filmed key frames + 32 derived shape / symmetry variants |
Units are metres. Every array lives in its mesh's object frame and follows that mesh's vertex order.
Download
The whole dataset (with the videos) is a few hundred MB. To get everything:
pip install -U huggingface_hub
hf download henrybao135/NBtools --repo-type dataset --local-dir NBtools
To get one tool, or one drill model (mesh, templates, family and its key frames):
hf download henrybao135/NBtools --repo-type dataset --local-dir NBtools --include "x03_bambu_liquid_glue/*"
hf download henrybao135/NBtools --repo-type dataset --local-dir NBtools \
--include "035_power_drill/models/dewalt_dcd799/*" "035_power_drill/keyframes/dewalt_dcd799/*"
To get the archived 67-frame drill card (keyframes_v54_archive/), with the meshes its frames refer to:
hf download henrybao135/NBtools --repo-type dataset --local-dir NBtools \
--include "035_power_drill/keyframes_v54_archive/*" "035_power_drill/mesh/*" "035_power_drill/models/*/mesh/*" "keyframes_index.json"
To keep only the archived frames that passed review, filter keyframes_index.json on set == "keyframes_v54_archive"
and review_accept == true, then download just those folders:
import json
from huggingface_hub import hf_hub_download, snapshot_download
ix = json.load(open(hf_hub_download("henrybao135/NBtools", "keyframes_index.json", repo_type="dataset")))
good = [r["path"] + "/*" for r in ix if r["set"] == "keyframes_v54_archive" and r["review_accept"]]
snapshot_download("henrybao135/NBtools", repo_type="dataset", local_dir="NBtools", allow_patterns=good)
The same from Python:
from huggingface_hub import snapshot_download
root = snapshot_download("henrybao135/NBtools", repo_type="dataset",
allow_patterns=["035_power_drill/models/dewalt_dcd799/*", "035_power_drill/keyframes/dewalt_dcd799/*",
"keyframes_index.json"])
Where each key frame's affordance is
Each key frame has its own folder: <card>/keyframes/<tool model>/K<nn>_<kind>_<clip>_<frame>/. <tool model> is a drill model, or card for the card's own mesh. All key frames are listed in keyframes_index.json.
| file | content |
|---|---|
affordance.json |
card, tool model, use, time, kind, source frame, digits in contact (vertex counts), status, review (verdicts and notes), mesh (the mesh path, relative to the card folder) |
affordance.npz |
digit: per tool vertex, 0 palm, 1 thumb, 2 index, 3 middle, 4 ring, 5 little, 255 none (uint8), as revieweddigit_tips / digit_links: the same map as fingertip pads only / whole fingers (middle and proximal links added along the surface toward the palm)contact_mm: tool surface to hand distance, clipped to -10..40 mmhand_vertices: 778 x 3 MANO, object framehand_contact_mm: hand surface to tool distance |
fingers.ply |
the tool mesh coloured by digit; open it in any mesh viewer (MeshLab, Blender, trimesh) to see each finger |
contact.ply |
the tool mesh coloured by contact (light to red = touching) |
hand.obj |
the MANO hand mesh of this key frame |
frame.jpg |
the key frame image (video or DexYCB frame) |
../<clip>.mp4 |
the raw clip this key frame comes from (one level up, shared by the key frames of that clip) |
status says how far to trust a frame:
verified: marked fingertips + expected regions; overlay review + independent critic: the drill's pose was fitted in the frame, every visible fingertip was marked on the frame and cast onto the mesh (measured), a finger hidden on this frame but seen within 1 s of the same grip takes that spot, and a finger never seen gets the region its use expects (e.g. middle / ring / little in thirds of the grip below the trigger).affordance.npz["provenance"]says which: 1 measured, 2 neighbouring frame, 3 expected region;affordance.json["digits_source"]lists the fingers per source. No hand mesh. When the frame cannot show which side of the grip the thumb is on, no left / right side region is drawn.verified: x-ray fit + overlay review + independent critic: the hand was fitted in that frame's camera, hidden fingers were predicted from the grasp for this drill and use, and two reviewers checked the overlay on the full-resolution frame.as shown on the page: DexYCB-measured or estimated frames (drill), and the filmed glue frames. The glue frames were released by the owner's review;reviewkeeps the overlay reviewer's notes (fingers on the far side not drawn in several frames).derived from a filmed key frame: glue shape and symmetry variants (rotations, shifts, turns) of a filmed grasp.archived v54 key frame (not re-verified): the earlier 67-frame drill card.review.acceptis the 10-20 overlay verdict when that frame was reviewed.
Fingertips or whole fingers
Every map comes in two views. Fingertips: each finger's distal pad (the part of its area within about 25 mm of its
point farthest from the palm, along the surface). Whole fingers: the finger's middle and proximal links added along
the surface path from its tip toward the palm contact, about 18 mm wide, up to the finger's length. Web key frames
measure fingertips, so their whole-finger area is grown, not measured; DexYCB and fitted MANO hands measure whole
fingers, so their fingertip view is the cut-down one. Key frames: affordance.npz["digit_tips"], ["digit_links"].
Templates: p_digit_tips / contact_tips, p_digit_links / contact_links next to p_digit / contact. Card
templates (use_templates.npz): <id>__digit_tips, <id>__digit_links.
Load a key frame
import json
from pathlib import Path
import numpy as np
import trimesh
root = Path("NBtools")
index = json.loads((root / "keyframes_index.json").read_text())
verified = [r for r in index if r["status"].startswith("verified")]
kf = root / verified[0]["path"]
info = json.loads((kf / "affordance.json").read_text())
a = np.load(kf / "affordance.npz")
tool = trimesh.load(root / info["card"] / info["mesh"], process=False) # same vertex order as the arrays
touch = a["contact_mm"] <= 5 # tool vertices the hand touches
thumb = tool.vertices[a["digit"] == 1] # where the thumb is
hand = trimesh.Trimesh(a["hand_vertices"], trimesh.load(kf / "hand.obj", process=False).faces, process=False)
print(info["use"], info["status"], int(touch.sum()), "contact vertices,", len(thumb), "thumb vertices")
Use a synthesis template
<card>/[models/<model>/]templates/<use>.npz pools all key frames of one use into one template:
t = np.load(root / "035_power_drill/models/dewalt_dcd799/templates/drilling.npz")
t["p_digit"] # (n_vertices, 6) soft contact probability per digit (palm, thumb, index, middle, ring, little)
t["contact"] # (n_vertices,) any digit
t["constraint"] # 2 must (the actuator digit, e.g. index on the trigger), 1 may, 0 none, -1 avoid
t["must_digit"] # the digit the 'must' vertices belong to
t["provenance"] # bits: 1 seen in video, 2 inferred hand, 4 VLM prior, 8 derived
t["instances"] # (n_grasps, n_vertices) one coherent grasp per row: digit per vertex, 255 none
<use>.json holds the use text, the prior (grasp type, approach, must-touch, avoid), the verified frames, physics (mass,
COM) and <use>_check.json the force-closure check per instance.
Other files per tool / model
| path | content |
|---|---|
mesh/tool.obj |
the mesh, metres |
mesh/convex/part_NN_<name>.obj |
convex hull per part, for collision |
mesh/labels_v2.npz, mesh/affordance_v2.json, mesh/faces.json |
per-vertex parts, hand/tool roles, named faces (part - side) |
physics.json |
published mass, centre of mass, inertia |
family/variants.npz |
V (n_variants x n_vertices x 3): shape variants with the same vertex ids, so every per-vertex map transfers unchanged |
models/<model>/xray_raw/ |
raw x-ray fits of the verified drill frames: camera pose + intrinsics, MANO pose, review overlay |
Raw video
Each clip behind a key frame sits next to its key frames, once per folder:
<card>/keyframes/<tool model or card>/<clip>.mp4 (web clips: the YouTube source segment t0..t1, native frame
rate, up to 720p; DexYCB: the take at 30 fps). A key frame's affordance.json["video"] gives file (relative to the
key frame folder, ../<clip>.mp4), keyframe_time_in_video_s, the YouTube url and source_time_s.
videos/clips.json lists every clip: url, video id, title, t0/t1 (seconds in the source), fps, frame size, cards,
and where its file lives.
Sources and licence
YCB power drill and DexYCB (CC BY-NC 4.0, hence this licence). YouTube clips are used for research only: frames and overlays are shown for reference, and the videos belong to their owners. Drill and glue model meshes are built from the makers' product photos at the published sizes. Priors come from Qwen3.6-27B. Research use only.
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