REMODEL. WP5. Cable Manipulation Planning Execution And Interactive Perception. T4_3. Wiring harness manipulation. Wiring harness assembly routing. v0.

This dataset contains data generated in the framework of the Horizon 2020 project REMODEL. The files contain the data from which the results published in the paper are obtained (doi: 10.1109/AIM46323.2023.10196238). The test conducted consists on paths optimization for the routing of cable groups. The robot was equipped with a force sensor, the data generated by the sensor was recorded during the insertion of the cables into the clips in order to obtain a routing. The robot performed different routes to improve the handling of the force exerted during the task. The paths that generated these force values were also recorded.