kitting_anomaly_dataset
[dataset] (37GB, 40GB)
The kitting anomaly dataset contains ROS bag topics and video for experimental trials where the baxter robot experienced anomalous conditions and later resolved them through recovery policies. The dataset consists of 538 rosbags. 85 of those rosbags are paired with RGB video that was captured by an external camera placed directly in front of the robot. The size of the 538 rosbags is of 37GB whilst the size of all videos is of 3.1GB. More details in the link.
Interaction Probabilistic Movement Primitives (IProMPs) for Handover Tasks with EMG data
Two datasets have been created for handover tasks when using IProMPs for handover tasks. Data is stored both for human motion and robot motion. About 5 tasks and more than 20 trials per each are saved for each fo the datasets. More details in the link.
robot_manipulator_snap_assembly_tasks
[dataset] (431MB)
We provide a dataset derived from snap assembly experiments of a male and female plastic camera mold parts. The male part consists of 4-cantilever snap assemblies. The assembly strategy and experimental details are presented in detail here and here.
The snap assembly has performed with a HIRO robot using the 6 DoF right arm and we have gathered success and failure data. We have also conducted the experiment with one and two arms for success and failure data.
Each experiment yields: cartesian, wrench, and joint angle data as well as a state vector of transition times between 4 sub-tasks in the snap assembly (guarded approach, alignment, insertion, and mating).
Data Format
For each of the three robot quantities is:
time_step indep_var1 indep_var2 … indep_var n.
For the state vector of transition times, there are 4 entries:
start_approach
start_alignment
start_insertion
start_mating