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". <br> <br> The data folder consists of 5 csv files. Files follow the below naming convention. <br> "Material"_"method(s)".csv <br> 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. <br> 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. <br> 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. <br> 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. <br> 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. <br> <br>

本数据集支撑题为《采用平行夹持器的易缠绕颗粒物料机器人拾取》的论文相关研究工作。<br><br>数据集文件夹包含5个CSV文件，文件命名遵循如下规则："物料_抓取方法.csv"。<br><br>A. protrusions.csv：用于对比带凸起与无凸起颗粒物料（Granular Materials, GMs）拾取效果的采集数据集。各列含义如下：gw(mm)：夹持器开口尺寸（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)：无凸起颗粒物料的拾取质量（单位：克）。<br><br>B. staples_FP_SnP.csv：用于对比钉形物料采用定点抓取法（Fixed-point, FP）与撒开拾取法（Spread-and-Pick, SnP）的拾取效果的采集数据集。各列含义如下：pw_FP(g)：采用FP抓取法的钉形物料拾取质量（单位：克）；pw_SnP(g)：采用SnP抓取法的钉形物料拾取质量（单位：克）；l(mm)：凸起长度（单位：毫米）。<br><br>C. plastic_GI_SnP.csv：用于对比塑料草本物料采用可抓取性指数法（Graspability-Index, GI）与撒开拾取法（Spread-and-Pick, SnP）的拾取效果的采集数据集。各列含义如下：pw_GI(g)：采用GI抓取法的钉形物料拾取质量（单位：克）；pw_SnP(g)：采用SnP抓取法的钉形物料拾取质量（单位：克）；m_t(g)：目标拾取质量（单位：克）。<br><br>D. wild_rocket_GI_SnP.csv：用于对比芝麻菜采用可抓取性指数法（Graspability-Index, GI）与撒开拾取法（Spread-and-Pick, SnP）的拾取效果的采集数据集。各列含义如下：pw_GI(g)：采用GI抓取法的钉形物料拾取质量（单位：克）；pw_SnP(g)：采用SnP抓取法的钉形物料拾取质量（单位：克）；m_t(g)：目标拾取质量（单位：克）。<br><br>E. parsley_GI_SnP.csv：用于对比平叶欧芹采用可抓取性指数法（Graspability-Index, GI）与撒开拾取法（Spread-and-Pick, SnP）的拾取效果的采集数据集。各列含义如下：pw_GI(g)：采用GI抓取法的钉形物料拾取质量（单位：克）；pw_SnP(g)：采用SnP抓取法的钉形物料拾取质量（单位：克）；m_t(g)：目标拾取质量（单位：克）。