  Robots that succeed in factories stumble to complete the simplest daily task
humans take for granted, for the change of environment makes the task
exceedingly difficult. Aiming to teach robot perform daily interactive
manipulation in a changing environment using human demonstrations, we collected
our own data of interactive manipulation. The dataset focuses on position,
orientation, force, and torque of objects manipulated in daily tasks. The
dataset includes 1,593 trials of 32 types of daily motions and 1,596 trials of
pouring alone, as well as helper code. We present our dataset to facilitate the
research on task-oriented interactive manipulation.
