Data#

Overview#

In sum, three different datasets are recorded. Each dataset was measured with a different frequency (see table below). Detailed information and analysis can be found at the subpages. All dataset are saved in csv files and can be found in the repository (see link in table).

Overview Datasets#
Version	Measurement Frequency	Method	Files	Info
V1	50 Hz	Random Pick & place in cartesian and joint space	Data
V2	30 Hz	Random joint configurations.	Data	Includes voltage, current and power of robot in sum
V3	100 Hz	Random joint configurations. ISO9283 test trajectory.	Data	Dataset investigated in the paper

Directory structure#

Dataset v#
├── analysis: here you can find the analysis results in csv tables as well as svg images
│   ├── feature_distribution
│   ├── feature_errorbar
│   ├── frequency_analysis
|   └── trajectory_analysis
├── test: here you find the test dataset
│   ├── *_com.csv: raw command trajectory
│   ├── *_interp_com.csv: interpolated command trajectory (respect to measured timesteps and normalized)
│   ├── *_interp_rtbm.csv: interpolated matlab torques (respect to measured timesteps)
│   ├── *_meas.csv: raw measured attained trajectory
│   ├── *_rtbm.csv: Matlab torques respect to raw command trajectory
│   └── ...
└── train: here you find train dataset
    ├── *_com.csv: raw command trajectory
    ├── *_interp_com.csv: interpolated command trajectory (respect to measured timesteps)
    ├── *_meas.csv: raw measured attained trajectory
    └── ...

How trajectories are generated#

Three types of trajectories are used. You can look them up here.

What is saved and how?#

Command Trajectory (files ending with *_com.csv)#
Parameter	Unit	Variable name(s)
Time	seconds	t_com
Joint Positions	rad	q1_com, …, q7_com
Joint Velocities	rad/s	qd1_com, …, qd7_com
Joint Accelerations	rad/s ²	qdd1_com, …, qdd7_com

Measurements (files ending with *_meas.csv)#
Parameter	Unit	Variable name(s)
Time	seconds	t_meas
Joint Positions	rad	q1_meas, …, q7_meas
Joint Velocities	rad/s	qd1_meas, …, qd7_meas
Joint Torques	Nm	tau1_meas, …, tau7_meas
Voltage (total) updated every 500 ms, only V2	Volt	U
Current (total) updated every 500 ms, only V2	Ampere	I
Power (total) updated every 500 ms, only V2	Watt	P

Robot joint limits#

The robot joint limits in MoveIt are limited to 0.1 rad less in magnitude than the hardware limits. The robot acceleration limits in MoveIt are adjusted as stated in MoveIt configuration documentation:

As MoveIt! does not support jerk limits, the acceleration limits provided here are the highest values that guarantee that no jerk limits will be violated. More precisely, applying Euler differentiation in the worst case (from min accel to max accel in 1 ms) the acceleration limits are the ones that satisfy max_jerk = (max_acceleration - min_acceleration) / 0.001

MoveIt Limits#
Name	Joint 1	Joint 2	Joint 3	Joint 4	Joint 5	Joint 6	Joint 7	Unit
q _max	2.7973	1.6628	2.7973	-0.1698	2.7973	3.7525	2.7973	rad
q _min	-2.7973	-1.6628	-2.7973	-2.9718	-2.7973	0.0825	-2.7973	rad
qd _max	2.1750	2.1750	2.1750	2.1750	2.6100	2.6100	2.6100	rad/s
qdd _max	3.75	1.875	2.5	3.125	3.75	5	5	rad/s ²

source: ros-planning/panda_moveit_config

(adjusted)

Physical Limits#
Name	Joint 1	Joint 2	Joint 3	Joint 4	Joint 5	Joint 6	Joint 7	Unit
q _max	2.8973	1.7628	2.8973	-0.0698	2.8973	3.7525	2.8973	rad
q _min	-2.8973	-1.7628	-2.8973	-3.0718	-2.8973	-0.0175	-2.8973	rad
qd _max	2.1750	2.1750	2.1750	2.1750	2.6100	2.6100	2.6100	rad/s
qdd _max	15	7.5	10	12.5	15	20	20	rad/s ²
tau _max	87	87	87	87	12	12	12	Nm

source: https://frankaemika.github.io/docs/control_parameters.html#limits-for-panda