Dataset for "Estimating Force/Torque Sensor Offsets and Gravity Parameters Using Only Wrench Measurements to Facilitate Human Demonstration of Robot Manipulation Tasks in Contact"

This dataset supports the results of “Estimating Force/Torque Sensor Offsets and Gravity Parameters Using Only Wrench Measurements to Facilitate Human Demonstration of Robot Manipulation Tasks in Contact” (IEEE CASE 2025) and the associated public implementation in the RobotGenSkill repository (https://gitlab.kuleuven.be/robotgenskill/public_code/offset_gravity_estimation). It contains raw sensor data used to validate the proposed method for estimating gravity parameters and force/torque sensor offsets. Users can reproduce the experiments, explore alternative estimation strategies, and extend the dataset for related research on gravity and offset estimation.