Robot object grasping and drawer throwing data

Contents

There are two zip archives included (grasping.zip and throwing.zip), corresponding to two experiments (grasping objects and throwing them in a drawer), both performed with a Toyota HSR. Each archive contains two directories - learning and generalisation - with object-specific learning and generalisation data. For each object, we provide a dump of a MongoDB database, which contains data sufficient for learning the models used in our experiments.

Usage

After unzipping the archives, each database can be restored with the command

mongorestore [data_directory_name]

This will create a MongoDB database with the name of the directory. Code for processing the data and model learning can be found in our GitHub repository.