Real-world grasp data of a dual-arm Yumi robot with a parallel gripper and suction cup end-effectors
Description
Ambidextrous grasp data collected incrementally over the course of three months using a dual arm Yumi robot with parallel gripper and suction cup.
Equipment used during the data collection:
- Yumi IRB-14000s, dual arm robot with suction cup and parallel gripper end-effectors
- Phoxi depth camera
Annotation is done automatically by comparing the side bin images before and after the grasp is executed.
Outliers approximated percentage is in the range 1~2%
Low quality samples fall in the range 5~10%
|
Label index |
name |
notes |
|
[0:3] |
Grasp center point (x,y,z) |
|
|
[3] |
Score (Ground truth) |
one for success and zero for failure |
|
[4] |
Using the parallel gripper head |
One if parallel gripper head is used to execute the grasp |
|
[5:21] |
[4*4] grasp pose transformation matrix |
Only when parallel gripper is used |
|
[21] |
Opening width |
|
|
[22] |
Approach distance |
|
|
[23] |
Using the suction head |
One if suction head is used to execute the grasp |
|
[24:27] |
Estimated normal direction |
The approach direction for the suction head |
Files
Files
(49.3 GB)
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md5:cab3ce217efd6bf33629b2a4d46d70e4
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5.9 MB | Download |
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md5:87fb1bb9220f3c3aa85757d33222f03b
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866.7 MB | Download |
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md5:4e0d7128ef5c8cd97426620e7d2660c8
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7.2 GB | Download |
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md5:aa93f7ebedcb476d689a37dabb027226
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7.2 GB | Download |
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md5:0797bda6c4d6b9c9d2afdb0099e46aa0
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5.9 GB | Download |
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md5:f2c779a2ff6cb517423796f728168720
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6.3 GB | Download |
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md5:778c826914320af13b8ac1925781b9d9
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6.4 GB | Download |
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md5:a109270d48fa8960eddfdc844a7fac98
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5.6 GB | Download |
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md5:f2602574e8b75d6154bf3dd2b8f3cd87
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4.8 GB | Download |
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md5:80d2590702c899dfe59f199830273181
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5.2 GB | Download |