Agimus Manipulation Dataset

About the Dataset

The Agimus Manipulation Dataset provides real-world robotic manipulation data using the Franka Emika Panda robot. Below you can find videos of the conducted experiments along with ROS bag files. Each ROS bag file contains:

• Image data from two cameras (in-hand and external)
• Subsampled pointclouds
• Robot joint values
• MPC debug data
• Control torques sent to the robot

The dataset focuses on bin picking tasks with objects from the T-LESS dataset. Tasks include moving 1, 2, or 3 objects at a time to designated bins.