Isaac Sim Dataset for Probabilistic human intent prediction for mobile manipulation. (GUIDER)

This contains the RAW ROSBAGS data generated on Isaac Sim for the experiments in the paper Probabilistic human intent prediction for mobile manipulation: an evaluation with human-inspired constraints. GUIDER Isaac Sim Experiment and Manipulation Dataset This dataset contains 100 independently compressed ZIP archives covering 20 experiments with 5 subtrials per experiment (experiment_1_subtrial_1 through experiment_20_subtrial_5). Each ZIP archive can be extracted independently and contains the corresponding experiment/subtrial data. Each archive contains: One ROS 2 SQLite3 bag (.db3) containing simulated robot, sensor, perception, mapping, transformation, control, and decision-related data. Representative topics include RGB and depth imagery, point clouds, occupancy maps, transforms, simulated time, joint states, odometry, velocity commands, gripper commands, and goal-selection signals. contact_delta.txt, recording the contact-time delta and target object identifier. base_methods_analysis.txt, summarizing Guider and Boir baseline performance, including top-1 status at contact, RTCP time, stability time, and stability percentage. A guider_manipulation_icp directory containing object goal coordinates, correct-object annotations, time-indexed object probabilities and decision-state tags, and kinematic variables consisting of position, velocity, and acceleration. metadata.yaml where available, providing ROS 2 bag duration, message counts, topic metadata, storage information, serialization formats, and QoS details. The collection contains 100 ROS 2 bag files and 753 total files across the ZIP archives. metadata.yaml is included in 53 archives; the remaining 47 archives contain the bag recordings and companion analysis files without that metadata file. The dataset supports analysis of object-goal selection, robotic manipulation guidance, contact timing, decision probabilities, trajectory and kinematic behavior, and comparison between the Guider and Boir methods in Isaac Sim.