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README.md

Manipulation Kinodynamics Dataset

Download the manipulation kinodynamics dataset.

The archive contains 193 folders, indexed between 000 and 192, each describing a manipulation experiment through the following files:

  • info.csv: object-grasp parameters
    • object mass, inertia
    • for each finger: friction coefficient, contact location w.r.t. center of mass and contact space in object frame
  • kinematics.csv: object kinematics expressed in world frame (AHRS measurements)
    • object orientation as unit quaternion (convention: qX,qY,qZ,qW)
    • rotational velocity and acceleration
    • linear acceleration
  • dynamics.csv: 3D contact force per finger in object frame (force transducer measurements)

All physical quantities are expressed in SI units.

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