# Purpose This dataset has been created for the identification of the torque-current and friction parameters of the UR5 robotic manipulator (Universal Robots, Odense, Denmark). # Measurement files Each measurement file is a bag file, which is an open source data format developed by the Open Robotics Foundation (http://wiki.ros.org/rosbag). The files contain measurement over time of measured position, velocity, and current, and reference velocities for all the joints of the robot manipulator. These measurements were obtained while moving each joint of the robot with a fixed velocity over a specific range of motion. # Structure of the dataset For each of the 6 joints of the robot there is a folder with the corresponding measurements. To filname of each measurement reflects has the following structure J#_##.######_#.bag Where the first field denotes the joint number (J#), the second field is the reference velocity (##.######), and the last field is the repetition (#.bag) # Acknowledgments This work has been performed within project TRUE REHAB (http://rocon.utcluj.ro/true-rehab), which was supported by a grant of the Romanian Ministry of Education and Research, CNCS - UEFISCDI, project number PN-III-P1-1.1-TE-2019-1975, within PNCDI III.