Published March 3, 2021
| Version v1
Dataset
Open
A robot dataset of successful and failed placement executions
- 1. Hochschule Bonn-Rhein-Sieg
- 2. University of Bonn
Description
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
Files
(8.1 GB)
Name | Size | Download all |
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md5:701e3b17a831eef66efae7ac1ddcd700
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4.4 GB | Download |
md5:4f1083bf76a6b3a1c83a177833097105
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3.4 GB | Download |
md5:76cb0cab741c3a55eaf662df979f4637
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366.0 MB | Download |