I.AM. Archive containing experiments of a UR10 with vacuum gripper flipping and stacking boxes in a container for sequence 2

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 2.

I.A.M. 数据集（I.A.M. dataset）隶属于感知影响型机器人数据库（Impact-Aware Robotics Database）。本数据集收录了UR10机械臂的实验录制数据：该机械臂可对传送带上输送的各类物体进行操作，并将其放置至收纳容器中，此类任务亦被称为装箱问题（Bin-Packing-Problem）。本实验的核心目的为验证包含机器人本体、吸盘式夹爪，以及物体与周围环境交互关系在内的建模框架。基于该建模框架，我们借助Algoryx Dynamics仿真平台开展仿真实验，本数据集的实验数据可用于验证此类仿真结果的有效性。本次实验共设计5组不同的传送带物体输送序列，本数据集仅包含其中一组序列，且该序列已完整执行3次。除上述实验数据外，本数据集还包含一组校准实验数据：该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2。