The dataset consists of color images of different outcomes of the copper ring insertion task as well as the corresponding Cartesian pose of the robot end-effector and force torque data measured in the robot wrist. Data is organized into folders, representing one of four possible insertion slots from 1 to 4. In each of the folder, data is further split into 13 cases: - error in insertion target position ranging from -3 to 3 mm in x direction, - error in insertion target position ranging from -3 to 3 mm in y direction, - no positional error. Multiple attempts were made for each case. Each entry has unique date-time tag and comprises five files: RGB image (.jpg) and .csv files with robot reference and measured target pose in Cartesian space (positions and quaternions) and raw force-torque sensor data and force-torque data transformed to the tool frame. Total number of entries is 300. The experiments were performed with Franka Emika Panda collaborative robot. For acquisition of image data an Intel Realsense D435 RGB-D camera has been utilized. Force-torque measurements were done using ATI Nano25 sensor.