RoHuCAD is a dataset of human-robot collaboration in a robotic workshop (check workshop_layout.png). Two robots (collaborative manipulator – cobot, autonomous mobile robot – AMR) assist three human operators in assembly of electronic devices.
There are two 8-min long recordings in the dataset. They mostly follow the same scenario, with slightly different anomalies. The data is in ROS Noetic rosbag format.
Included data
- RGBD camera data (color + depth)
- 3 cameras: Intel Realsense D435i
- color and depth data at 6 frames per second
- Intrinsic calibration data
- Extrinsic calibration data (positions and orientations)
- Information about positions of robots
- AMR: Ez-Wheel SWD® Starter Kit
- Cobot: Universal Robots UR10e
