ToolKinect dataset composed of 13 point clouds of 13 everyday tools with affordance and mass groundtruth for 5 tasks.
If you are using this dataset, please cite: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8206372
@inproceedings{abelha2017learning,
title={Learning How a Tool Affords by Simulating 3D Models from the Web},
author={Abelha Ferreira, Paulo and Guerin, Frank},
booktitle={Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS 2017)},
year={2017},
organization={IEEE Press}
}