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Open Access
KROCO
- Citation Author(s):
-
ThomasEiband
- Submitted by:
- Thomas Eiband
- Last updated:
- Thu, 05/20/2021 - 07:26
- DOI:
- 10.21227/nhea-gt59
- Data Format:
- Links:
- License:
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Abstract
KROCO is an acronym for Kinesthetic Robot Contacts. The dataset consists of Learning from Demonstration (LfD, aka Programming by Demonstration (PbD)) samples that were collected via kinesthetic teaching. Each labeled sample is a contact-based (force-based) interaction with the environment.
Instructions:
Please find the usage instruction at:
https://teiband.github.io/KROCO
Data rows: samples
Data columns: dimensions
Dimensions:
0..2 position x,y,z in [m]
3..6 orientation quaternions in scalar-last (x,y,z,w) format
7..12 wrench in origin frame (f_x, f_y, f_z, m_x, m_y, m_z) [N, Nm]
13 gripper finger distance from 0..1, 0: fully open, 1: fully closed
14 grasp status (-1: no object in gripper, 0: gripper moving, 1: object in gripper)
Dataset Files
KROCO.hdf5 (54.40 MB)
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