Dataset Open Access

A robot dataset of successful and failed placement executions

Thoduka, Santosh; Gall, Juergen; Plöger, Paul G.

The dataset contains the following data from successful and failed executions of the Toyota HSR robot placing a book on a shelf.

  • RGB images from the robot's head camera
  • Depth images from the robot's head camera
  • Rendered images of the robot's 3D model from the point of view of the robot's head camera
  • Force-torque readings from a wrist-mounted force-torque sensor
  • Joint efforts, velocities and positions
  • extrinsic and intrinsic camera calibration parameters
  • frame-level anomaly annotations

The anomalies that occur during execution include:

  • the manipulated book falling down
  • books on the shelf being disturbed significantly
  • camera occlusions
  • robot being disturbed by an external collision

The dataset is split into a train, validation and test set with the following number of trials:

  • Train: 48 successful trials
  • Validation: 6 successful trials
  • Test: 60 anomalous trials and 7 successful trials

 

Files (8.1 GB)
Name Size
place_action_test.tar.gz
md5:701e3b17a831eef66efae7ac1ddcd700
4.4 GB Download
place_action_train.tar.gz
md5:4f1083bf76a6b3a1c83a177833097105
3.4 GB Download
place_action_validation.tar.gz
md5:76cb0cab741c3a55eaf662df979f4637
366.0 MB Download
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