Dataset Open Access

A robot dataset of successful and failed placement executions

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


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{
  "description": "<p>The dataset contains the following data from successful and failed executions of the Toyota HSR robot placing a book on a shelf.</p>\n\n<ul>\n\t<li>RGB images from the robot&#39;s head camera</li>\n\t<li>Depth images from the robot&#39;s head camera</li>\n\t<li>Rendered images of the robot&#39;s 3D model from the point of view of the robot&#39;s head camera</li>\n\t<li>Force-torque readings from a wrist-mounted force-torque sensor</li>\n\t<li>Joint efforts, velocities and positions</li>\n\t<li>extrinsic and intrinsic camera calibration parameters</li>\n\t<li>frame-level anomaly annotations</li>\n</ul>\n\n<p>The anomalies that occur during execution include:</p>\n\n<ul>\n\t<li>the manipulated book falling down</li>\n\t<li>books on the shelf being disturbed significantly</li>\n\t<li>camera occlusions</li>\n\t<li>robot being disturbed by an external collision</li>\n</ul>\n\n<p>The dataset is split into a train, validation and test set with the following number of trials:</p>\n\n<ul>\n\t<li><strong>Train</strong>: 48 successful trials</li>\n\t<li><strong>Validation</strong>: 6 successful trials</li>\n\t<li><strong>Test</strong>: 60 anomalous trials and 7 successful trials</li>\n</ul>\n\n<p>&nbsp;</p>", 
  "license": "https://creativecommons.org/licenses/by/4.0/legalcode", 
  "creator": [
    {
      "affiliation": "Hochschule Bonn-Rhein-Sieg", 
      "@type": "Person", 
      "name": "Thoduka, Santosh"
    }, 
    {
      "affiliation": "University of Bonn", 
      "@type": "Person", 
      "name": "Gall, Juergen"
    }, 
    {
      "affiliation": "Hochschule Bonn-Rhein-Sieg", 
      "@type": "Person", 
      "name": "Pl\u00f6ger, Paul G."
    }
  ], 
  "url": "https://zenodo.org/record/4578539", 
  "datePublished": "2021-03-03", 
  "@context": "https://schema.org/", 
  "distribution": [
    {
      "contentUrl": "https://zenodo.org/api/files/a3e60dc9-5695-43fd-971d-aaf64aa626de/place_action_test.tar.gz", 
      "encodingFormat": "gz", 
      "@type": "DataDownload"
    }, 
    {
      "contentUrl": "https://zenodo.org/api/files/a3e60dc9-5695-43fd-971d-aaf64aa626de/place_action_train.tar.gz", 
      "encodingFormat": "gz", 
      "@type": "DataDownload"
    }, 
    {
      "contentUrl": "https://zenodo.org/api/files/a3e60dc9-5695-43fd-971d-aaf64aa626de/place_action_validation.tar.gz", 
      "encodingFormat": "gz", 
      "@type": "DataDownload"
    }
  ], 
  "identifier": "https://doi.org/10.5281/zenodo.4578539", 
  "@id": "https://doi.org/10.5281/zenodo.4578539", 
  "@type": "Dataset", 
  "name": "A robot dataset of successful and failed placement executions"
}
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