Add hand datasets

hand_morphology_topo_eval/README.md

@@ -0,0 +1,68 @@
+---
+pretty_name: hand_morphology_topo_eval
+size_categories:
+- 1K<n<10K
+tags:
+- robotics
+- morphology
+- voxel
+- synthetic
+---
+
+# hand_morphology_topo_eval
+
+4,500 procedurally generated robotic hand morphologies forming a labeled,
+finger-family-balanced evaluation bank: 17 canonical hand topologies, each
+realized as many independent geometry re-rolls (same finger/joint structure,
+varied palm and phalanx parameters). Used for topology-kNN evaluation and
+model checkpoint selection: with hundreds of labeled instances per topology,
+k-nearest-neighbour voting over a model's latent space measures how well the
+space organizes hands by their kinematic structure.
+
+To ensure fair representation of each finger-morphology family, every finger
+count from 1 to 5 holds exactly 900 hands. The catalog spans, per finger
+count, uniform joint-depth variants (e.g. `5f[4,4,4,4,4]`) and
+asymmetric/graded variants (e.g. `5f[5,4,3,2,1]`, `3f[6,5,4]`), including
+deliberately confusable same-finger same-joint-count pairs that stress
+within-family joint-configuration discrimination. Since one-finger hands admit
+the fewest morphology combinations and five-finger hands the most, families
+differ in topology count (three topologies of 300 hands for 1-4 fingers, five
+topologies of 180 for 5 fingers) while family totals stay uniform.
+
+## Topology catalog
+
+Names encode `<fingers>f[joints per finger]`:
+
+| fingers | topologies | hands per topology | family total |
+|---|---|---|---|
+| 1f | `[4]`, `[8]`, `[12]` | 300 | 900 |
+| 2f | `[2,2]`, `[4,4]`, `[6,4]` | 300 | 900 |
+| 3f | `[2,2,2]`, `[4,4,4]`, `[6,5,4]` | 300 | 900 |
+| 4f | `[2,2,2,2]`, `[3,3,3,3]`, `[5,4,3,2]` | 300 | 900 |
+| 5f | `[1,1,1,1,1]`, `[2,2,2,2,2]`, `[3,3,3,3,3]`, `[4,4,4,4,4]`, `[5,4,3,2,1]` | 180 | 900 |
+
+## Format
+
+One npz shard (`shard_00000.npz`) plus `manifest.json` (schema
+`hand_morphology:v1`), identical in layout to the sibling training datasets
+(`hand_morphology_200k`, `hand_morphology_2m`): 14 arrays holding per-hand
+rows (`lengths`, `finger_count`, `joint_count`, `palm_action`, `hard_error`,
+`node_lengths`, `edge_lengths`) and concatenated arrays sliced by their
+cumulative sums (`coords`, `seg_depth`, `finger_id`, `joint_feats`,
+`node_design`, `edge_src`, `edge_dst`). Every hand passed validation
+(`hard_error == 0`).
+
+Two extra files carry the evaluation labels and provenance:
+
+- `topo_labels.npz` — `topo` (int64, topology id per hand), `finger` (int64,
+  finger count per hand), `names` (str, the 17-entry topology catalog indexed
+  by `topo`).
+- `conversion_index.npy` — for each row, its index in the source bank.
+
+## Usage
+
+Loaded by `model/datamodule.py` as the topology bank (`topo_eval_dir =
+"data/hand_morphology_topo_eval"`): the eval suite embeds all hands in their
+canonical stored pose and computes `topo_knn@k` / `finger_knn@k` /
+`within_finger_knn@k`, and `topo_knn@10` is the checkpoint-selection metric
+(`eval/selection`).

hand_morphology_topo_eval/conversion_index.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb4c8f701e7fb44ef30607aab201fddd4462512d65024f81ac1ee4145ddba3d7
+size 36128

hand_morphology_topo_eval/manifest.json

@@ -0,0 +1,89 @@
+{
+  "schema_version": "hand_morphology:v1",
+  "name": "hand_morphology_topo_eval",
+  "resolution": 128,
+  "grid_half_extent": 0.25,
+  "has_joints": true,
+  "has_part_codes": true,
+  "has_design_params": true,
+  "joint_feat_dim": 6,
+  "finger_action_dim": 12,
+  "finger_action_fields": [
+    "length",
+    "taper",
+    "bend_pitch",
+    "bend_yaw",
+    "twist",
+    "freeform_intensity",
+    "asymmetry_strength",
+    "lobe_strength",
+    "radius_thickness_abs",
+    "radius_lateral_abs",
+    "surface_phase",
+    "joint_axis_mode"
+  ],
+  "max_total_joints": 25,
+  "n_hands": 4500,
+  "shard_size": 4500,
+  "shards": [
+    {
+      "file": "shard_00000.npz",
+      "n_hands": 4500
+    }
+  ],
+  "seed": 0,
+  "shuffle": "source order preserved (topology-grouped); 5-finger topologies downsampled 300->180 (seed=0)",
+  "sources": [
+    {
+      "dir": "topo_bank",
+      "n_hands": 5100,
+      "n_shards": 1
+    }
+  ],
+  "topology_catalog": [
+    "1f[4]",
+    "1f[8]",
+    "1f[12]",
+    "2f[2,2]",
+    "2f[4,4]",
+    "2f[6,4]",
+    "3f[2,2,2]",
+    "3f[4,4,4]",
+    "3f[6,5,4]",
+    "4f[2,2,2,2]",
+    "4f[3,3,3,3]",
+    "4f[5,4,3,2]",
+    "5f[1,1,1,1,1]",
+    "5f[2,2,2,2,2]",
+    "5f[3,3,3,3,3]",
+    "5f[4,4,4,4,4]",
+    "5f[5,4,3,2,1]"
+  ],
+  "distribution": {
+    "n_hands": 4500,
+    "finger_count": {
+      "1": 900,
+      "2": 900,
+      "3": 900,
+      "4": 900,
+      "5": 900
+    },
+    "joint_count_per_exact": {
+      "4": 600,
+      "5": 180,
+      "6": 300,
+      "8": 900,
+      "10": 480,
+      "12": 900,
+      "14": 300,
+      "15": 660,
+      "20": 180
+    },
+    "joint_count_mean": 10.133333333333333,
+    "voxels_per_hand_mean": 16618.940444444444,
+    "voxels_per_hand_min": 3138,
+    "voxels_per_hand_max": 41182,
+    "total_nodes": 50100,
+    "total_edges": 45600
+  }
+}

hand_morphology_topo_eval/shard_00000.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ae26222c84834e45b70fad02361ac1c9d9546a148d694b95cbcc551d8a3cad
+size 26328913

hand_morphology_topo_eval/topo_labels.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfa01f70f287f0732ee322824937068422eabea893e1f51096f49676e7370b7c
+size 927