Robot handle grasping failure data

<strong>Short summary</strong> Accompanying dataset for our paper <code>A. Mitrevski, P. G. Plöger, and G. Lakemeyer, "Robot Action Diagnosis and Experience Correction by Falsifying Parameterised Execution Models," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021.</code> <strong>Contents</strong> The dataset includes a single zip archive, containing data from the experiment described in the paper (conducted with a Toyota HSR). The zip archive contains three subdirectories: <em>handle_grasping_failure_database</em>: A dump of a MongoDB database containing data from the handle grasping experiment, including ground-truth grasping failure annotations <em>pre_arm_motion_images</em>: Images collected from the robot's hand camera before moving the robot's hand towards the handle <em>pregrasp_images</em>: Images collected from the robot's hand camera just before closing the gripper for grasping The image names include the time stamp at which the images were taken; this allows matching each image with the execution data in the database. <strong>Database usage</strong> After unzipping the archive, the database can be restored with the command mongorestore handle_grasping_failure_database This will create a MongoDB database with the name <em>drawer_handle_grasping_failures</em>. Code for processing the data and failure analysis can be found in our GitHub repository.