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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. The dataset is in hdf5 format.

Dataset Description

Tools

exp_tools

Environments

exp_environments

Structure

The hierarchical dataset is structured as follows:

.
+ data # a group containing all datasets
  + 0 # a dataset for one interaction
    + attrs: label, label_string, tool, environment, hash,
  + 1
  + ...
+ labels # a label vector for all classes
  

Labels

Class ID Name
0 touch
1 press
2 press and slide
3 contour
4 insert
5 hand-over
6 turn
7 push

Dimensions

Each dataset is in the form of (N x D) with N samples and D=15 dimensions. N differs between datasets depending on the duration of the interaction. The following table shows the 0-indexed data columns and the unit in brackets [].

Data column Description
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)

Sample Rate

The sample rate is 50 Hz.

Read Dataset

Python

There is code in the repository (python) to load the hdf5 dataset. Adapt the variable file_path to the destination of the dataset.

Matlab

An example to display the whole dataset and read the first segment:

h5disp('DATASET_PATH', '/')
dataset0 = h5read('DATASET_PATH', '/data/0')

For more details, please check this guide.

Reference

If you find this dataset useful for your research, please consider citing it with the given reference

@InProceedings{eiband2019identification,
  author       = {Eiband, Thomas and Lee, Dongeui},
  booktitle    = {IEEE-RAS 2020 International Conference on Humanoid Robots (Humanoids)},
  date         = {2021},
  title        = {Identification of Common Force-based Robot Skills from the Human and Robot Perspective},
  organization = {IEEE},
}