Robotic assembly data of threaded fasteners: aeronautical collars

This dataset contains temporal data for position, orientation, force, and torque related to threaded fasteners' assembly for aircraft manufacturing called collars. A Kuka KR16 industrial robot inserts the nuts into the bolts, aligning them with an active interaction controller to avoid high forces/torques, running a backspin, and final screwing rotation.

The temporal data consists of kinematic (position and velocity) and dynamic (forces and torques) data obtained during the assembly. A single task has one possible outcome:
- Mounted: successful assembly;
- Jammed: failure, where the nut is stuck, and high torque is needed to continue or to remove the nut;
- Not mounted: failure, the nut is not assembled.

The "meta.csv" file contains the description for each experiment regarding the following parameters:
- idx: the index of the bolt in the matrix of bolts. Aeronautical nuts count as different bolts.
- individual_time: each experiment complete trial to finish;
- label: outcome for that bolt;
- experiment_id: the corresponding time series file name;

The folder "data" contains the time series for each individual experiment. A brief description is given for each column:
- time: current time step for that sample;
- x, y, z: position of the end-effector in the world frame;
- rotx, roty, rotz: Euler angles of the end-effector in the world frame. Kuka robots use A, B, and C for consecutive rotations along with Z (rotz), Y (roty), and X (rotx) axes, respectively.
- fx, fy, fz: forces measured by the force-torque sensor in the sensor frame;
- mx, my, mz: torques measured by the force-torque sensor in the sensor frame;
- vx, vy, vz: linear velocities of the end-effector in the world frame calculated by finite difference of one single step;
- vrotx, vroty, vrotz: angular velocities of the end-effector in the world frame calculated by finite difference of one single step.