I.AM. Archive containing experiments of a UR10 with vacuum gripper flipping and stacking boxes in a container for sequence 3

I.AM. dataset as part of the Impact-Aware Robotics Database. This dataset contains recordings of experiments with a robotic arm (UR10) that is manipulating various objects that arrive at a conveyor belt and places them into a container. This is also known as the Bin-Packing-Problem. The purpose of these experiments is to validate the modeling framework that includes the robot, gripper with suction cup, and the interaction with the objects and the surroundings. Therefore, these experiment support the validation of simulations run in a simulator based on these models, for which we use Algoryx Dynamics. In total, five different sequences are executed with different boxes arriving at the conveyor and this dataset contains one of these sequences. The whole experiment is executed 3 times. Besides these experiments, the dataset contains a calibration experiment used to calibrate the Force/Torque sensor placed between the robot and the gripper. This datasets concerns Sequence 3.

I.A.M. 数据集是感知影响型机器人数据库（Impact-Aware Robotics Database）的组成部分。本数据集收录了UR10机械臂的实验录制数据：该机械臂可对传送带上输送的各类物品进行分拣操作，并将其放置至收纳容器中。该任务也被称为装箱问题（Bin-Packing-Problem）。本次实验的核心目标为验证包含机器人、带吸盘的末端夹持器（gripper with suction cup），以及其与物品和周遭环境交互的建模框架。因此，本实验可用于验证基于上述建模框架在仿真器中运行的仿真结果，本次仿真所采用的平台为Algoryx Dynamics。本次实验共规划5种不同的传送带送箱序列，本数据集仅涵盖其中一种序列。整套实验流程共重复开展3次。除上述实验外，本数据集还包含一组校准实验，用于校准安装于机器人与末端夹持器之间的力扭矩传感器（Force/Torque sensor）。本数据集对应序列3。