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.