Robotic Untangling of Herbs and Salads with Parallel Grippers

This data supports the work done in the paper titled "Robotic Picking of Tangle-prone Granular Materials using Parallel Grippers". The data folder consists of 5 csv files. Files follow the below naming convention. "Material"_"method(s)".csv A). protrusions.csv -- Picking data as collected to compare granular materials(GMs) with and without protrusions. columns: gw(mm): gripper aperture in mm. pw_with(g): picked mass in grams for GMs with protrusions. pw_without(g): picked mass in grams for GMs without protrusions. B). staples_FP_SnP.csv -- Picking data as collected to compare Fixed-point(FP) with Spread-and-Pick(SnP) for staples. columns: pw_FP(g): picked mass in grams for staples following FP-based picking. pw_SnP(g): picked mass in grams for staples following SnP-based picking. l(mm): protrusion length in mm. C). plastic_GI_SnP.csv -- Picking data as collected to compare Graspability-Index(GI) with Spread-and-Pick(SnP) for plastic herbs. columns: pw_GI(g): picked mass in grams for staples following GI-based picking. pw_SnP(g): picked mass in grams for staples following SnP-based picking. m_t(g): target mass in grams. D). wild_rocket_GI_SnP.csv -- Picking data as collected to compare GI with Spread-and-Pick(SnP) for wild rocket. columns: pw_GI(g): picked mass in grams for staples following GI-based picking. pw_SnP(g): picked mass in grams for staples following SnP-based picking. m_t(g): target mass in grams. E). parsley_GI_SnP.csv -- Picking data as collected to compare GI with Spread-and-Pick(SnP) for flat-leaf parsley. columns: pw_GI(g): picked mass in grams for staples following GI-based picking. pw_SnP(g): picked mass in grams for staples following SnP-based picking. m_t(g): target mass in grams.

本数据集支撑论文《采用平行夹持器的易缠结颗粒物料机器人拾取》中的研究工作。数据集文件夹共包含5个CSV文件，所有文件均遵循"Material"_"method(s)".csv的命名规范。

A) protrusions.csv：该文件存储了对比带凸起与不带凸起颗粒物料（granular materials, GMs）的拾取实验数据，包含如下列字段：gw(mm)：夹持器开口孔径（单位：毫米）；pw_with(g)：带凸起颗粒物料的拾取质量（单位：克）；pw_without(g)：不带凸起颗粒物料的拾取质量（单位：克）。
B) staples_FP_SnP.csv：该文件存储了对比定点拾取（Fixed-point, FP）与撒开拾取（Spread-and-Pick, SnP）两种策略对订书钉的拾取效果的实验数据，包含如下列字段：pw_FP(g)：采用FP式拾取的订书钉拾取质量（单位：克）；pw_SnP(g)：采用SnP式拾取的订书钉拾取质量（单位：克）；l(mm)：凸起长度（单位：毫米）。
C) plastic_GI_SnP.csv：该文件存储了对比抓取指数（Graspability-Index, GI）与SnP两种策略对塑料草本物料的拾取效果的实验数据，包含如下列字段：pw_GI(g)：采用GI式拾取的塑料草本物料拾取质量（单位：克）；pw_SnP(g)：采用SnP式拾取的塑料草本物料拾取质量（单位：克）；m_t(g)：目标拾取质量（单位：克）。
D) wild_rocket_GI_SnP.csv：该文件存储了对比GI与SnP两种策略对芝麻菜的拾取效果的实验数据，包含如下列字段：pw_GI(g)：采用GI式拾取的芝麻菜拾取质量（单位：克）；pw_SnP(g)：采用SnP式拾取的芝麻菜拾取质量（单位：克）；m_t(g)：目标拾取质量（单位：克）。
E) parsley_GI_SnP.csv：该文件存储了对比GI与SnP两种策略对平叶欧芹的拾取效果的实验数据，包含如下列字段：pw_GI(g)：采用GI式拾取的平叶欧芹拾取质量（单位：克）；pw_SnP(g)：采用SnP式拾取的平叶欧芹拾取质量（单位：克）；m_t(g)：目标拾取质量（单位：克）。