REMODEL. WP5. Cable Manipulation Planning, Execution and Interactive Perception. T5-2. Cable grasping. Data related to the validation of DLO Models from Shape Observation

These data provide the fitting of the model of deformable linear objects from the observation of the shape under the effect of known external forces like gravity. The model of the deformable linear object is based on dynamic splines, allowing to obtain a reliable prediction of the object behavior while preserving a suitable efficiency and simplicity of the model. The object shape is measured by means of a calibrated vision system, and a fitting between the observed shape and the theoretical model is defined for validation. Experiments are executed in different conditions to investigate the reliability of the proposed spline-based model. The datasets contain data related to the experiments presented in the publication: Palli, G., Pirozzi, S., “Validating DLO models from shape observation” (2021) IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2021-July, pp. 430-435. (DOI: 10.1109/AIM46487.2021.9517570)