Dataset of Manufacturing Tasks - DMT22

Description: The dataset of manufacturing tasks (DMT22), features five representative assembly primitive actions (PickUp, Place, Screw, Idle and Hold), collected from 5 different subjects featuring 3 different objects, a Wii remote, a hard disk drive, and an electric screwdriver.

Available Data: The DMT22 dataset contains recorded data from an event camera (DAVIS 240C), a depth camera (Intel RealSense D435) and a magnetic tracking system (Polhemus Liberty).

The event camera captured events and APS frames with a resolution of 240 pixels × 180 pixels. DAVIS APS data are captured at 30 fps (frames per second). Event data is available in the original recorded format, .aedat, together with a .txt file containing label and its corresponding timestamp range, and a .mat file which contains the information from the events (coordinates x and y, timestamp and polarity).

The electromagnetic tracker was used to capture pose data, at 20 Hz, from a sensor attached to the subject’s
wrist. The data is available in .mat format. It contains 6DOF data (position and orientation) followed by the timestamp of measured data (relative to the start of the recording).

RGB-D camera data is available, at 30fps, in the original recorded format, .bag.

The dataset features a total of 72 recordings: 4 right-handed subjects × 3 tasks × 4 performances + 1 left-handed subject × 2 configurations (left and right) × 3 tasks × 4 performances. Each task recording lasts approximately 25 seconds.