Cable Untangling Experiments

该数据集是一系列使用双边ABB YuMi机器人进行的物理电缆解缠实验，旨在评估滑动抓取解缠操纵（SGTM）算法在不同级别电缆配置上的性能。数据集包含了多种性能指标，如解缠检测率、解缠成功率以及各项任务的平均耗时。实验涵盖了从易到难三个难度级别的多种配置。任务目标是评估SGTM算法在不同初始配置电缆解缠中的有效性。

This dataset comprises a series of physical cable untying experiments conducted using dual-arm ABB YuMi robots, aiming to evaluate the performance of the Sliding Grasp Unwinding Manipulation (SGTM) algorithm across different cable configurations. The dataset includes multiple performance metrics, such as untying detection rate, untying success rate, and average time consumption per task. The experiments cover various configurations across three difficulty levels ranging from easy to hard. The core task objective is to assess the effectiveness of the SGTM algorithm in cable untying under different initial configurations.