{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/the-rbo-dataset-of-articulated-objects-and","title":"The RBO Dataset of Articulated Objects and Interactions","arxiv_id":"1806.06465","date":"2018-06-17","proceeding":null,"authors":["Roberto Martín-Martín","Clemens Eppner","Oliver Brock"],"abstract":"We present a dataset with models of 14 articulated objects commonly found in\nhuman environments and with RGB-D video sequences and wrenches recorded of\nhuman interactions with them. The 358 interaction sequences total 67 minutes of\nhuman manipulation under varying experimental conditions (type of interaction,\nlighting, perspective, and background). Each interaction with an object is\nannotated with the ground truth poses of its rigid parts and the kinematic\nstate obtained by a motion capture system. For a subset of 78 sequences (25\nminutes), we also measured the interaction wrenches. The object models contain\ntextured three-dimensional triangle meshes of each link and their motion\nconstraints. We provide Python scripts to download and visualize the data. The\ndata is available at https://tu-rbo.github.io/articulated-objects/ and hosted\nat https://zenodo.org/record/1036660/.","url_abs":"http://arxiv.org/abs/1806.06465v1","url_pdf":"http://arxiv.org/pdf/1806.06465v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[],"tasks":[],"methods":[],"datasets_introduced":[{"slug":"the-rbo-dataset-of-articulated-objects-and","name":"The RBO Dataset of Articulated Objects and Interactions","full_name":""}],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/1806.06465","atlas_url":"https://app.syntology.ai/?focus=1806.06465","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}