  We present a dataset with models of 14 articulated objects commonly found in
human environments and with RGB-D video sequences and wrenches recorded of
human interactions with them. The 358 interaction sequences total 67 minutes of
human manipulation under varying experimental conditions (type of interaction,
lighting, perspective, and background). Each interaction with an object is
annotated with the ground truth poses of its rigid parts and the kinematic
state obtained by a motion capture system. For a subset of 78 sequences (25
minutes), we also measured the interaction wrenches. The object models contain
textured three-dimensional triangle meshes of each link and their motion
constraints. We provide Python scripts to download and visualize the data. The
data is available at https://tu-rbo.github.io/articulated-objects/ and hosted
at https://zenodo.org/record/1036660/.
