I.AM. Archive containing experiments of a UR10 with vacuum gripper flipping and stacking boxes in a container for sequence 5

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 5.

I.A.M. 数据集作为影响感知机器人学数据库（Impact-Aware Robotics Database）的一部分。本数据集收录了机械臂（UR10）的实验录制数据，该机械臂可对输送带上的各类来料物体进行操作，并将其放置至收纳容器中，该任务场景也被称为装箱问题（Bin-Packing-Problem）。本实验的核心目标是验证包含机器人本体、吸盘式夹持器，以及物体与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模型在模拟器中运行的仿真结果，本次仿真所用的模拟器为Algoryx Dynamics。本次实验共设计了5组不同的序列，对应输送带上输送的不同箱体，本数据集仅包含其中一组序列，且整个实验流程重复执行了3次。除上述实验外，本数据集还包含一组校准实验，用于校准安装在机器人与夹持器之间的力/扭矩传感器（Force/Torque sensor）。本数据集对应序列5。