Dataset for "Estimating Force/Torque Sensor Offsets and Gravity Parameters Using Only Wrench Measurements to Facilitate Human Demonstration of Robot Manipulation Tasks in Contact"

This dataset supports the results of “Estimating Force/Torque Sensor Offsets and Gravity Parameters Using Only Wrench Measurements to Facilitate Human Demonstration of Robot Manipulation Tasks in Contact” (IEEE CASE 2025) and the associated public implementation in the RobotGenSkill repository (https://gitlab.kuleuven.be/robotgenskill/public_code/offset_gravity_estimation). It contains raw sensor data used to validate the proposed method for estimating gravity parameters and force/torque sensor offsets. Users can reproduce the experiments, explore alternative estimation strategies, and extend the dataset for related research on gravity and offset estimation.本数据集用于支撑发表于IEEE CASE 2025的论文《仅利用Wrench（力扭矩）测量值估计力/扭矩传感器（Force/Torque Sensor）偏移与重力参数，以辅助接触场景下机器人操控任务的人机演示》的相关研究成果，以及RobotGenSkill仓库（https://gitlab.kuleuven.be/robotgenskill/public_code/offset_gravity_estimation）中配套的公开实现代码。本数据集包含用于验证所提出的重力参数与力/扭矩传感器偏移估计方法的原始传感器数据。研究者可复现相关实验、探索其他可选估计策略，并针对重力与偏移估计的相关研究方向拓展本数据集。