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.