The dataset contains the following data from successful and failed executions of the Toyota HSR robot placing a book on a shelf. RGB images from the robot's head camera Depth images from the robot's head camera Rendered images of the robot's 3D model from the point of view of the robot's head camera Force-torque readings from a wrist-mounted force-torque sensor Joint efforts, velocities and positions extrinsic and intrinsic camera calibration parameters frame-level anomaly annotations The anomalies that occur during execution include: the manipulated book falling down books on the shelf being disturbed significantly camera occlusions robot being disturbed by an external collision The dataset is split into a train, validation and test set with the following number of trials: Train: 48 successful trials Validation: 6 successful trials Test: 60 anomalous trials and 7 successful trials