1471 right-hand grasps (MANO) on six tools - the YCB power drill, the YCB large marker, the Bambu Lab liquid glue bottle, the YCB spoon, the YCB fork and the YCB hammer - each as a per-vertex hand-contact map on the tool mesh plus the fitted MANO hand. Every grasp passed physical gates, a wrist check against verified web-video wrists, an automatic capability critic and an independent visual reviewer + critic. Code: github.com/pre-dex/grasping-data-harness (code/usage_v3, NB Tools v2).

card	tool	key frames	uses	most common grasp types (Feix)
`035_power_drill`	YCB power drill (035)	251 (251 seeds)	holding 2; drilling / driving 86; pick-up (table) 163	untyped 163, Light Tool 88
`040_large_marker`	YCB large marker (040)	187 (187 seeds)	writing (cap off; nib under the mesh's cap) 146; pick-up (table) 41	Palmar Pinch 124, Tripod 51, Tip Pinch 9, Quadpod 2
`x03_bambu_liquid_glue`	Bambu Lab liquid glue	326 (326 seeds)	applying (squeeze, sponge on the surface) 68; pick-up (table) 258	Quadpod 155, Tripod 150, Prismatic 4 Finger 21
`031_spoon`	YCB spoon (031)	211 (157 seeds)	stirring 39; eating (scooping) 82; pick-up (table) 90	Tripod 68, Palmar Pinch 48, Prismatic 4 Finger 30, Tip Pinch 26
`030_fork`	YCB fork (030)	313 (297 seeds)	mashing / whisking 26; eating (stabbing) 80; pick-up (table) 202; cutting (holding food down) 5	Tripod 144, Palmar Pinch 78, Quadpod 35, Tip Pinch 30
`048_hammer`	YCB hammer (048)	183 (183 seeds)	hammering 34; pick-up (table) 149	Tripod 98, Quadpod 76, Prismatic 4 Finger 6, Light Tool 3

Units are metres. Every array lives in its card mesh's object frame (<card>/mesh/tool.obj) and follows that mesh's vertex order.

Layout

<card>/mesh/tool.obj            the tool mesh (watertight v2)
<card>/mesh/faces.json          frame (front = toward the working end, up, left)
<card>/index.json               one row per key frame: use, phase, source, Feix + Dexonomy type, variant / seed, second use
<card>/keyframes/card/K..._<source>_<name>/
    affordance.npz              per tool vertex (N = mesh vertices):
                                  digit, digit_tips, digit_links  uint8  0 palm, 1 thumb, 2 index, 3 middle, 4 ring, 5 little, 255 none
                                                                  (tips: fingertip pads only; links: whole fingers)
                                  segment_links  uint8  1 distal, 2 middle, 3 proximal, 0 palm / metacarpal, 255 none
                                  contact_mm     float16 distance to the hand surface (99 = far)
                                  provenance     uint8  1 measured / observed, 3 use-spec prior, 8 derived variant
                                hand_vertices   (778, 3) float32  the fitted MANO right hand (flat_hand_mean, no PCA) in the tool frame
    affordance.json             use, role, source, gates passed, review verdicts, grasp_type (Feix: primary, optional second),
                                dexonomy_type (+ links, runner-up), applying_check / second_use_of where present
    hand.obj                    the same MANO hand as a mesh
    frame.jpg                   the source video frame, when the grasp was placed from a web video
summary.json                    counts per card: uses, sources, Feix and Dexonomy types

Key frames whose name contains _fam_ are derived variants of a seed (rolled about the axis of a round tool, slid along it, tilted, or turned 180 deg in place) that were re-settled and passed every gate again; they follow their seed's review. _app_ key frames are second-use copies: the glue grasps that also pass the "applying (squeeze, sponge on the surface)" use.

How the grasps were made (NB Tools v2, 11-03)

Tool spec first: watertight mesh, parts, grasp boxes per use, forbidden parts, the functional patch (drill: index pad on the centre strip of the trigger front only).
Uses: Qwen lists every use of each tool (use / pick-up / re-orient / release / hand-over); HowTo100M narrations are retrieved per use (MIL-NCE), the best frames picked and screened.
Web-video frames (video_v3): NB Tools V3 fits hand and tool jointly on the known mesh; a reviewer and an independent critic keep only frames whose tool, working end and wrist are right (verified frames). Each verified frame seeds variants that keep its wrist (slid along the grip, rolled a few degrees, measured symmetry), closed by a contact pass to <= 1 mm. Left hands in the videos are converted to right hands.
Designed grips (design_v3): a grip the video fingers are too small to show is placed by design from a verified template hand (the fork's index finger extension, index on the fork's convex back); its wrist must match a verified video wrist.
Pre-grasp banks (bank_v3): every realistic resting pose of the tool on a table x 12 yaws, palm-down and side approaches, the hand above the table and reachable by a right arm.
Earlier sources still in: measured motion capture (OakInk2, TACO, DexYCB) carried onto the meshes, the drill's web-video grasps.
Gates: hand in tool, self-collision, contacts in the use's grasp boxes and off forbidden parts, wrist within 20 deg of a verified video wrist, an automatic critic (tool not inside the hand, working end free), tool-use feasibility (friction 0.5: weight x1.5 and the use's forces - fork stab 8 N, spoon load 1.5 N, hammer impact 10 N, drill push 20 N + 1 N m, marker writing 2 N, sponge 5 N), flat handles clamped on both wide faces (spoon, fork), a coherent grip (thumb opposes, no pad on an end face), and pick-ups that work with the tool lying on a table.
Visual review: three views of every grasp judged by a reviewer AND an independent critic; only grasps both accept are here.
Grasp types: Feix names - the type both reviewers named when they agree, else a contact classifier; family variants carry their seed's type. dexonomy_type: the Dexonomy template ID whose contact links best match the hand's touching links within its Feix family, usable as tmpl_name in Dexonomy.

Not in

Left hands; a table plane for the pick-ups; the spoon lateral pinch; 101 glue grasps from a 10-31 NB Tools V3 session that are on the review page but have no release key frames yet.

Sources and licence

Derived from OakInk2, TACO, DexYCB and the earlier NBtools release; video frames (frame.jpg, 89 key frames) are stills from public YouTube videos, provided for non-commercial research only - do not re-distribute them. Data licence: CC BY-NC 4.0.

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