I.AM. Archive containing experiments of a UR10 with vacuum gripper flipping and stacking boxes in a container for sequence 1

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 1.

I.AM. 数据集为感知影响型机器人数据库（Impact-Aware Robotics Database）的组成部分。该数据集包含UR10机械臂的实验录制数据：机械臂对传送带上抵达的各类物品进行操作，并将其放置至容器中，该任务也被称为装箱问题（Bin-Packing-Problem）。本次实验的核心目的为验证建模框架，该框架涵盖机械臂、带吸盘的夹爪，以及机械臂与物品、周边环境的交互模型。因此，本实验数据可用于验证基于上述模型在模拟器中运行的仿真结果，本次仿真所使用的平台为Algoryx Dynamics。实验中共执行5种不同的序列，对应传送带上输送的不同箱型物品，本数据集仅包含其中一种序列，整套实验共重复执行3次。除上述实验外，本数据集还包含一组校准实验，用于校准安装于机械臂与夹爪之间的力扭矩传感器（Force/Torque sensor）。本数据集对应序列1。