Human manipulation kinodynamics dataset
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.gitignore Initial commit Aug 24, 2016
README.md Update README.md Aug 28, 2017

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.