I.AM. Archive containing experiments of a UR10 with vacuum gripper flipping and stacking boxes in a container for sequence 4

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 4.

I.A.M. 数据集（I.AM. dataset）属于感知冲击机器人数据库（Impact-Aware Robotics Database）的一部分。本数据集收录了机械臂（UR10）开展实验的录制数据：该机械臂对传送带上的各类物品进行操作，并将其放置至容器中，该任务也被称为装箱问题（Bin-Packing-Problem）。本实验旨在验证包含机械臂、吸盘式夹爪，以及物品与周围环境交互关系的建模框架。因此，本实验可用于验证基于上述模型在模拟器中运行的仿真结果，本次仿真所使用的平台为Algoryx Dynamics。实验总计包含5种不同序列，对应传送带上输送的不同箱型物品，本数据集仅包含其中一种序列，且整套实验重复开展了3次。除上述实验外，本数据集还包含一项标定实验：用于标定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4。