Synthetic Multimodal Dataset using ABB Studio: Single Robot Welding Station

## README

### Overview

This repository provides the setup and data collected from simulations conducted in RobotStudio for various ABB robot configurations. The simulation, based on Löppenberg et al. (2024), was designed to capture precise sensory data in a controlled environment that mirrors real-world welding conditions.

### Simulation Setup

The simulation tracks essential parameters of the ABB robot and its end-effector, including:- **Joint Angles**: Real-time angles for each joint.- **TCP Position**: 3D positional coordinates of the Tool Center Point.- **TCP Orientation**: Orientation captured as quaternions to represent rotational states.- **Additional Attributes**: Various other robot-specific details relevant to performance in a welding setup.

### Data Collection

To generate a high-resolution dataset, data were sampled at intervals between 12 ms and 96 ms. This detailed sampling provides accurate insights into the robot's operation in a simulated welding environment.

### Key Parameters

The dataset includes the following parameters:

- **Camera View**: One camera view with a resolution of 3 x 256 x 256, normalized to the range [0, 1].- **Motor Power (P)**: The power consumed by the robot’s motors, constrained within \([0, P_{\text{max}}]\).- **TCP Speed (v_TCP)**: The velocity of the end-effector, with a maximum cap of 5 m/s.- **TCP Acceleration (a_TCP)**: The acceleration of the TCP, bounded within \([a_{\text{min}}, a_{\text{max}}]\).- **TCP Orientation (q_TCP)**: Quaternion representing orientation, with a normalization condition \(||\mathbf{q}_{\text{TCP}}(t)|| = 1\).- **TCP Position (p_TCP)**: A 3D vector for positional coordinates, with each coordinate constrained within \([p_{\text{min}}, p_{\text{max}}]\).- **Braking Distance (d_brake)**: The distance each joint travels during braking, within bounds \([d_{\text{min}}, d_{\text{max}}]\).- **Holding Position (θ_hold)**: The maintained angles for each joint, constrained to the interval \([-π, π]\).- **Joint Angles (θ)**: The current angles of each joint, also within the interval \([-π, π]\).

Frame '02655_frame' is corrupted. That means the corresponding values of the other modality needs to be removed as well.

### Citation

For more details on the simulation methodology, please refer to:- Löppenberg, M., Yuwono, S., Diprasetya, M. R., & Schwung, A. (2024). Dynamic robot routing optimization: State-space decomposition for operations research-informed reinforcement learning. Robotics and Computer-Integrated Manufacturing, 90, 102812.