FORWARD: Dataset of a forwarder operating in rough terrain

The FORWARD dataset comprises detailed sensor and log data from a Komatsu cut-to-length forwarder, collected during operations in challenging terrain as well as on gravel roads at two Swedish harvest sites. Sensor instrumentation includes RTK-GNSS for precise positioning, a 360-degree camera for visual documentation, operator seat vibration sensors, CAN-bus signal logging, and multiple IMUs mounted on the machine. The dataset provides time-stamped vehicle positions with centimeter-level accuracy, and machine event logs sampled at 5 Hz, covering variables such as driving speed, fuel consumption, and crane activity. Additionally, high resolution terrain data from helicopter-borne laser scanning (1500 points/m²) is included, along with StanForD production log files containing detailed event records for each work session.