Upload Part2/Free/s1 (part 3)
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- .gitattributes +12 -0
- Part2/Free/s1/cylinder_0010_10/width_06/pick/franka_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_10/width_06/pick/simulation_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_10/width_07/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_10/width_07/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_10/width_07/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_10/width_07/insert/simulation_data.csv +905 -0
- Part2/Free/s1/cylinder_0010_10/width_07/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_10/width_07/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_10/width_07/pick/franka_data.csv +208 -0
- Part2/Free/s1/cylinder_0010_10/width_07/pick/simulation_data.csv +208 -0
- Part2/Free/s1/cylinder_0010_10/width_08/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_10/width_08/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_10/width_08/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_10/width_08/insert/simulation_data.csv +878 -0
- Part2/Free/s1/cylinder_0010_10/width_08/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_10/width_08/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_10/width_08/pick/franka_data.csv +205 -0
- Part2/Free/s1/cylinder_0010_10/width_08/pick/simulation_data.csv +205 -0
- Part2/Free/s1/cylinder_0010_10/width_09/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_10/width_09/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_10/width_09/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_10/width_09/insert/simulation_data.csv +907 -0
- Part2/Free/s1/cylinder_0010_10/width_09/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_10/width_09/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_10/width_09/pick/franka_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_10/width_09/pick/simulation_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_10/width_10/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_10/width_10/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_10/width_10/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_10/width_10/insert/simulation_data.csv +907 -0
- Part2/Free/s1/cylinder_0010_10/width_10/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_10/width_10/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_10/width_10/pick/franka_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_10/width_10/pick/simulation_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_12.5/width_01/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_12.5/width_01/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_12.5/width_01/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_12.5/width_01/insert/simulation_data.csv +906 -0
- Part2/Free/s1/cylinder_0010_12.5/width_01/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_12.5/width_01/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_12.5/width_01/pick/franka_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_12.5/width_01/pick/simulation_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_12.5/width_02/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_12.5/width_02/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_12.5/width_02/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_12.5/width_02/insert/simulation_data.csv +906 -0
- Part2/Free/s1/cylinder_0010_12.5/width_02/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_12.5/width_02/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_12.5/width_02/pick/franka_data.csv +208 -0
.gitattributes
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Part2/Free/s1/cylinder_0010_10/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_10/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_10/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_10/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_10/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_10/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_12.5/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_12.5/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_12.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_12.5/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_12.5/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_12.5/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_12.5/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_12.5/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_10/width_06/pick/franka_data.csv
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79307227457e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004764_1793072274569511048_interpolated.jpg,0.675949637335,-0.00544561189884,0.0968654283694,0.999999962919,0.000117950198889,-0.000230700460459,8.38328434554e-05,0.0356221981347
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79307227459e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004765_1793072274588605596_real.jpg,0.67595236578,-0.00544470868712,0.0968693625354,0.999999963838,0.000119967200277,-0.000226177251448,8.23163702999e-05,0.0356221981347
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.7930722746e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004765_1793072274588605596_real.jpg,0.675953067318,-0.00544418027039,0.096871203452,0.999999964186,0.000119426548852,-0.000224926022614,8.23009353592e-05,0.0355772690521
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79307227462e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004766_1793072274619614116_interpolated.jpg,0.675953423241,-0.00544371576154,0.0968726874398,0.999999964438,0.000118449781295,-0.000224232712875,8.25414487541e-05,0.0355246789229
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79307227464e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004767_1793072274650622637_real.jpg,0.675952407691,-0.00544428231198,0.0968702608833,0.999999963981,0.000118900294192,-0.00022589636769,8.28927241745e-05,0.035524353385
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79307227466e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004767_1793072274650622637_real.jpg,0.675951441658,-0.00544456914773,0.0968680887466,0.999999963544,0.000119407967305,-0.000227424059218,8.32631186797e-05,0.035524353385
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79307227467e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004768_1793072274668968825_interpolated.jpg,0.675950878365,-0.0054431218909,0.0968677832653,0.99999996328,0.000120251712715,-0.00022794564905,8.37894389479e-05,0.035524353385
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79307227469e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004769_1793072274687315014_real.jpg,0.675951065068,-0.00544543316935,0.0968690828494,0.999999963024,0.000121755251303,-0.000227676743103,8.53884337397e-05,0.035524353385
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.7930722747e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004769_1793072274687315014_real.jpg,0.675951579075,-0.00544416484641,0.0968710805846,0.999999963499,0.000120952588496,-0.000226627978129,8.37366123765e-05,0.035524353385
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79307227472e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004770_1793072274719395919_interpolated.jpg,0.675952107971,-0.00544265769528,0.0968730978242,0.999999964017,0.000119977211477,-0.000225540821703,8.18678431079e-05,0.035524353385
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79307227474e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004771_1793072274751476825_real.jpg,0.675951332731,-0.00544449669131,0.0968705723084,0.999999963741,0.000118449881878,-0.000227142416501,8.30298307345e-05,0.035524353385
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.79307227476e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004771_1793072274751476825_real.jpg,0.675950475827,-0.00544589299751,0.096868034043,0.999999963394,0.000117268618678,-0.000228942323847,8.39336345771e-05,0.035524353385
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79307227477e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004772_1793072274770223893_interpolated.jpg,0.675948705308,-0.00544233679116,0.0968653531036,0.999999962312,0.000119958909379,-0.000232960854205,8.1949055396e-05,0.035524353385
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79307227479e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004773_1793072274788970962_real.jpg,0.67594938266,-0.00544486597962,0.0968678982525,0.999999962397,0.000119611568897,-0.00023244183291,8.28879842827e-05,0.035524353385
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,1.7930722748e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004773_1793072274788970962_real.jpg,0.67594853273,-0.0054449699862,0.0968688066626,0.999999961969,0.000119857268728,-0.000234462691305,8.20004142376e-05,0.0355154681077
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| 17 |
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15,0.250000000,pose1-to-pose2-lift,1.79307227482e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004774_1793072274819729386_interpolated.jpg,0.675947353286,-0.0054445309836,0.0968693385341,0.999999961419,0.000120249689631,-0.000237035729979,8.07188098865e-05,0.0355047939045
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,1.79307227483e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004775_1793072274850487811_real.jpg,0.675946300505,-0.00544397215481,0.0968715938248,0.999999960872,0.000118890913128,-0.000240383476187,7.96052853051e-05,0.0355046540499
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,1.79307227485e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004775_1793072274850487811_real.jpg,0.675944764963,-0.0054432284015,0.0968747389388,0.999999960087,0.000117868372437,-0.000244535395215,7.832587131e-05,0.0355046540499
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,1.79307227487e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004776_1793072274868889414_interpolated.jpg,0.675940451758,-0.00544145798366,0.0968828804647,0.999999957975,0.000119004914228,-0.00025317063362,7.61070193983e-05,0.0355046540499
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,1.79307227489e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004777_1793072274887291017_real.jpg,0.675940377266,-0.00544192445153,0.096884096826,0.999999957943,0.000119522924204,-0.000253088436807,7.59921936982e-05,0.0355046540499
|
| 22 |
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20,0.333333333,pose1-to-pose2-lift,1.7930722749e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004777_1793072274887291017_real.jpg,0.675926014254,-0.00543628281086,0.0969096297963,0.999999950216,0.000118448133156,-0.000285367827467,6.40616871628e-05,0.0355046540499
|
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| 204 |
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| 205 |
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| 206 |
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|
Part2/Free/s1/cylinder_0010_10/width_06/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 8 |
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|
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| 12 |
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| 13 |
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| 14 |
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| 16 |
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| 17 |
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| 18 |
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|
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|
| 20 |
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21,0.350000000,pose1-to-pose2-lift,-8.27967669141e-05,0.845686756985,4.7758023185e-06,0.8347267627
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| 24 |
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| 25 |
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23,0.383333333,pose1-to-pose2-lift,-8.28706772829e-05,0.845777654087,4.71359122988e-06,0.834817676367
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| 26 |
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24,0.400000000,pose1-to-pose2-lift,-8.30808376238e-05,0.845833663159,4.50754867304e-06,0.834873693201
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| 27 |
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| 28 |
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26,0.433333333,pose1-to-pose2-lift,-8.33872997912e-05,0.84596351201,4.18119716023e-06,0.83500351201
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| 29 |
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27,0.450000000,pose1-to-pose2-lift,-8.34033994581e-05,0.846032415063,4.14243056606e-06,0.835072415063
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| 30 |
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28,0.466666667,pose1-to-pose2-lift,-8.35595541011e-05,0.846115259974,3.99401415731e-06,0.835155259974
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| 32 |
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| 38 |
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36,0.600000000,pose1-to-pose2-lift,-8.27750820964e-05,0.847022894308,4.76524728596e-06,0.836062894308
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| 39 |
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38,0.633333333,pose1-to-pose2-lift,-8.18688106779e-05,0.84731287619,5.67405058531e-06,0.83635287619
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| 42 |
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41,0.683333333,pose1-to-pose2-lift,-8.10365141732e-05,0.84784206728,6.50538348895e-06,0.83688206728
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42,0.700000000,pose1-to-pose2-lift,-8.09189059148e-05,0.848046491296,6.6338336009e-06,0.837086491296
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44,0.733333333,pose1-to-pose2-lift,-8.08230308189e-05,0.848492778379,6.69584797883e-06,0.837532778379
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45,0.750000000,pose1-to-pose2-lift,-8.1000583194e-05,0.848707547085,6.51362867178e-06,0.837747540688
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60,1.000000000,pose1-to-pose2-lift,-8.30349001477e-05,0.853378315516,4.54240201273e-06,0.842418515516
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61,1.016666667,pose1-to-pose2-lift,-8.34785949134e-05,0.853744909081,4.12692988697e-06,0.842785109081
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62,1.033333333,pose1-to-pose2-lift,-8.39576335026e-05,0.85411765155,3.73211486176e-06,0.843157921829
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64,1.066666667,pose1-to-pose2-lift,-8.35566720146e-05,0.854952719566,4.22716375117e-06,0.843992919566
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189,3.150000000,pose2-hold,-8.147759e-05,0.8835853,5.88446120588e-06,0.8726304
|
| 192 |
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190,3.166666667,pose2-hold,-8.147759e-05,0.8835853,5.88896364706e-06,0.8726304
|
| 193 |
+
191,3.183333333,pose2-hold,-8.147759e-05,0.8835853,5.88846552941e-06,0.8726304
|
| 194 |
+
192,3.200000000,pose2-hold,-8.147759e-05,0.8835853,5.87903335294e-06,0.8726304
|
| 195 |
+
193,3.216666667,pose2-hold,-8.147759e-05,0.8835853,5.86984638235e-06,0.8726304
|
| 196 |
+
194,3.233333333,pose2-hold,-8.147759e-05,0.8835853,5.87503494118e-06,0.8726304
|
| 197 |
+
195,3.250000000,pose2-hold,-8.147759e-05,0.8835853,5.88743767647e-06,0.8726304
|
| 198 |
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196,3.266666667,pose2-hold,-8.147759e-05,0.8835853,5.89319647059e-06,0.8726304
|
| 199 |
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197,3.283333333,pose2-hold,-8.147759e-05,0.8835853,5.89880044118e-06,0.8726304
|
| 200 |
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198,3.300000000,pose2-hold,-8.147759e-05,0.8835853,5.89817523529e-06,0.8726304
|
| 201 |
+
199,3.316666667,pose2-hold,-8.147759e-05,0.8835853,5.89924929412e-06,0.8726304
|
| 202 |
+
200,3.333333333,pose2-hold,-8.147759e-05,0.8835853,5.896897e-06,0.8726304
|
| 203 |
+
201,3.350000000,pose2-hold,-8.147759e-05,0.8835853,5.89475152941e-06,0.872630444118
|
| 204 |
+
202,3.366666667,pose2-hold,-8.147759e-05,0.8835853,5.89247088235e-06,0.8726305
|
| 205 |
+
203,3.383333333,pose2-hold,-8.147759e-05,0.8835853,5.89016764706e-06,0.8726305
|
| 206 |
+
204,3.400000000,pose2-hold,-8.147759e-05,0.8835853,5.904915e-06,0.8726305
|
Part2/Free/s1/cylinder_0010_10/width_07/insert/camera_frames_60hz.tar
ADDED
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 38973440
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Part2/Free/s1/cylinder_0010_10/width_07/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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size 38569963
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Part2/Free/s1/cylinder_0010_10/width_07/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s1/cylinder_0010_10/width_07/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,905 @@
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|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.254508e-05,0.8835837,2.17105e-06,0.8726288
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.25279089558e-05,0.883583713279,2.18747277385e-06,0.872628813279
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.24414081721e-05,0.883583780173,2.27020407408e-06,0.872628880173
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.2262521713e-05,0.8835838,2.45879542806e-06,0.8726289
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.20665873508e-05,0.8835838,2.66856635162e-06,0.8726289
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.18572110777e-05,0.8835838,2.8927284315e-06,0.8726289
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.11495567286e-05,0.8835838,3.60312496506e-06,0.8726289
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.01802476954e-05,0.883583804261,4.56497016736e-06,0.872628904261
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.90702659806e-05,0.88358387071,5.68265401576e-06,0.87262897071
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.76331808051e-05,0.883583956741,7.12971108709e-06,0.872629056741
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.4737787822e-05,0.883584039916,1.00506283954e-05,0.872629139916
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.48575748088e-05,0.883584026527,1.99894219195e-05,0.872629053054
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-4.55349007679e-05,0.8835843,3.94379916249e-05,0.872629377225
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-1.38369979303e-05,0.883584455067,7.13284173236e-05,0.872629532601
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,3.11909868069e-05,0.883584617686,0.000116646986861,0.872629790248
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,9.26179145157e-05,0.883584866199,0.000178324408377,0.872629966199
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000173692957936,0.883585587765,0.000259783424,0.872630687765
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000263973613011,0.883585996827,0.000350491418316,0.872631031218
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000360803470665,0.883586642204,0.000447997258245,0.872631551837
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.00047164912979,0.883586823813,0.000559627177648,0.872631710056
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000593929275765,0.883587769651,0.000682641709668,0.872632569651
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000723241360873,0.883588541918,0.000812529092551,0.872633341918
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000857490935843,0.883589236633,0.000947410551534,0.872634036633
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00100593806788,0.883589688927,0.00109680904986,0.872634416695
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00116348712291,0.883589715502,0.00125553425113,0.872634415502
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00132994475638,0.8835897,0.00142320642281,0.8726344
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00149995595835,0.883589712447,0.00159431100874,0.872634531119
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00167670200269,0.883589915672,0.00177214950925,0.872635031345
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00185082838756,0.88359,0.00194734148008,0.872635241227
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00202816599535,0.88359,0.00212578560351,0.872635374753
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00221074499799,0.883590063097,0.00230948778122,0.872635363097
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00238781734735,0.88359023385,0.00248765196028,0.87263546615
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00256691149884,0.883590188279,0.00266784993615,0.872635288279
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.0027473925068,0.883590084078,0.00284941897415,0.872635142039
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00293224951761,0.8835902,0.0030353809757,0.8726352
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.0031013081331,0.883590096623,0.00320546159475,0.872635096623
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00326469243989,0.883589689136,0.00336986976404,0.872634740947
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00342851253902,0.8835894,0.00353469731851,0.8726345
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00359031979265,0.883589276074,0.00369732517069,0.872634376074
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00373293748865,0.8835892,0.00384072157166,0.872634239718
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00388142114021,0.883588926724,0.00398996915355,0.872633926724
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.0040232072356,0.883588956994,0.00413236405542,0.872633956994
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00415239957176,0.883589087029,0.00426248689988,0.872634
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00426979400036,0.883589382576,0.00438088086965,0.872634282576
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00437641872123,0.883589898746,0.00448831582177,0.872635
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00446359731311,0.88358980155,0.00457612229701,0.872635
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00454353337474,0.8835898,0.00465657109179,0.872635195991
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00461516640554,0.883590096827,0.00472875858813,0.872635496827
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.0046785082623,0.883590006215,0.00479252750963,0.872635409322
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00473325468913,0.883590388747,0.00484749111075,0.872635988747
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00477903754547,0.883590180954,0.00489348925829,0.872635780954
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00481548554811,0.883590052937,0.00493018075836,0.872635642349
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00484368601855,0.8835905,0.00495854531554,0.872636006057
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00486401227913,0.8835905,0.00497901938451,0.872636093003
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00488004634215,0.883590581948,0.00499517105565,0.8726361
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00489221768201,0.88359074105,0.00500741011269,0.87263624105
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00490126051287,0.883590561933,0.00501649234372,0.872636002416
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490728083103,0.883590356192,0.00502255442997,0.872635712384
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491180226484,0.883590425276,0.00502713214414,0.872635725276
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491481602971,0.883590735007,0.00503015207851,0.872636170014
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.004916225,0.8835903,0.005031593,0.8726358
|
| 63 |
+
61,1.016666667,pose3-hold,0.004916225,0.8835903,0.005031617,0.8726358
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916225,0.8835903,0.00503160591176,0.8726358
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916225,0.8835903,0.00503160188235,0.8726358
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916225,0.8835903,0.00503160435294,0.8726358
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916225,0.8835903,0.00503160988235,0.8726358
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916225,0.8835903,0.00503161055882,0.8726358
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916225,0.8835903,0.00503160111765,0.8726358
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916225,0.8835903,0.00503160197059,0.8726358
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916225,0.8835903,0.00503159788235,0.8726358
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916225,0.8835903,0.00503159497059,0.8726358
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916225,0.8835903,0.00503159505882,0.8726358
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916225,0.8835903,0.00503159217647,0.8726358
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916225,0.8835903,0.00503158788235,0.8726358
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916225,0.8835903,0.00503159391176,0.8726358
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916225,0.8835903,0.00503159305882,0.8726358
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916225,0.8835903,0.00503159141176,0.8726358
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916225,0.8835903,0.00503159488235,0.8726358
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916225,0.8835903,0.0050315955,0.8726358
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916225,0.8835903,0.00503159223529,0.8726358
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916225,0.8835903,0.00503158920588,0.8726358
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916225,0.8835903,0.00503158923529,0.8726358
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916225,0.8835903,0.00503157814706,0.8726358
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916225,0.8835903,0.00503157929412,0.8726358
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916225,0.8835903,0.00503158123529,0.8726358
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916225,0.8835903,0.00503157917647,0.8726358
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916225,0.8835903,0.00503157373529,0.8726358
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916225,0.8835903,0.00503156935294,0.8726358
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916225,0.8835903,0.00503157105882,0.8726358
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916225,0.8835903,0.00503157276471,0.8726358
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916225,0.8835903,0.00503157226471,0.8726358
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916225,0.8835903,0.00503157258824,0.8726358
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916225,0.8835903,0.00503156991176,0.8726358
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916225,0.8835903,0.00503156717647,0.8726358
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916225,0.8835903,0.00503156911765,0.8726358
|
| 97 |
+
95,1.583333333,pose3-hold,0.004916225,0.8835903,0.005031564,0.8726358
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.004916225,0.8835903,0.005031563,0.8726358
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491638014397,0.883590165468,0.00503172568355,0.872635565468
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491634928757,0.883589889142,0.0050316911428,0.872635289142
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.0049163281375,0.883589699739,0.00503166746735,0.872635099739
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.0049163026979,0.883589264795,0.00503163533462,0.872634664795
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491628808418,0.883588922285,0.00503161524074,0.872634322285
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.0049162763224,0.883588646619,0.00503159906831,0.872634046619
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491626086375,0.883588284307,0.00503157781265,0.872633684307
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491625675238,0.883588187947,0.00503157215953,0.872633587947
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491627961653,0.883587676254,0.00503159798641,0.872633076254
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.0049163202029,0.883587030103,0.00503164523621,0.872632430103
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491643602162,0.883584215109,0.0050317814317,0.872629615109
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491632663763,0.883578019918,0.00503166325598,0.872623419918
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491631108926,0.883558998556,0.00503165934895,0.872604398556
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491645652653,0.88352506397,0.00503179384395,0.87257046397
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491652222055,0.883477887784,0.00503187157375,0.872523287784
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491665999286,0.883405119134,0.00503204128882,0.872450525025
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113,1.883333333,pose3-to-pose4-insert,0.00491656056396,0.883316444835,0.00503198459147,0.872361944835
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114,1.900000000,pose3-to-pose4-insert,0.00491682737845,0.883221176767,0.00503225184915,0.87226667206
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115,1.916666667,pose3-to-pose4-insert,0.00491704436842,0.883111563802,0.00503248453016,0.872156963802
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116,1.933333333,pose3-to-pose4-insert,0.00491718277828,0.88298982277,0.0050326273193,0.87203522277
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117,1.950000000,pose3-to-pose4-insert,0.00491739039091,0.882872364395,0.00503285478977,0.871917844391
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118,1.966666667,pose3-to-pose4-insert,0.00491737630995,0.882748311413,0.0050328480619,0.871793723816
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119,1.983333333,pose3-to-pose4-insert,0.00491754090995,0.882610431662,0.00503305273753,0.871655831662
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120,2.000000000,pose3-to-pose4-insert,0.00491751091514,0.882467547639,0.00503304456693,0.871512847639
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121,2.016666667,pose3-to-pose4-insert,0.0049175565968,0.88231352738,0.00503308069717,0.87135882738
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122,2.033333333,pose3-to-pose4-insert,0.00491738699004,0.8821463416,0.00503293480199,0.8711916416
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123,2.050000000,pose3-to-pose4-insert,0.00491735163393,0.88197402142,0.0050329200579,0.87101932142
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124,2.066666667,pose3-to-pose4-insert,0.00491726401776,0.88178877333,0.00503283314539,0.870834032296
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125,2.083333333,pose3-to-pose4-insert,0.00491710214266,0.881605166843,0.0050326745974,0.870650366843
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126,2.100000000,pose3-to-pose4-insert,0.00491699812274,0.881428232382,0.00503258749096,0.870473432382
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127,2.116666667,pose3-to-pose4-insert,0.00491683750554,0.881245379651,0.00503244786595,0.870290579651
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128,2.133333333,pose3-to-pose4-insert,0.00491672696232,0.881052199533,0.00503234630992,0.870097334293
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129,2.150000000,pose3-to-pose4-insert,0.00491700323613,0.880864891928,0.00503264066621,0.869909991928
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130,2.166666667,pose3-to-pose4-insert,0.00491743051812,0.880682286684,0.00503307255066,0.869727386684
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131,2.183333333,pose3-to-pose4-insert,0.00491767437374,0.880493611383,0.00503328573513,0.869538629054
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132,2.200000000,pose3-to-pose4-insert,0.00491802637315,0.880300644441,0.00503362473499,0.86934554961
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133,2.216666667,pose3-to-pose4-insert,0.00491841555128,0.880116753617,0.00503403121432,0.869161653617
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134,2.233333333,pose3-to-pose4-insert,0.00491846862371,0.879942888162,0.00503407571556,0.868987788162
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135,2.250000000,pose3-to-pose4-insert,0.00491845587807,0.879771005671,0.00503405112436,0.868815883209
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136,2.266666667,pose3-to-pose4-insert,0.00491828408332,0.879613328626,0.00503387553514,0.868658099756
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137,2.283333333,pose3-to-pose4-insert,0.00491809580468,0.87947605625,0.00503365932791,0.86852075625
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138,2.300000000,pose3-to-pose4-insert,0.00491797823645,0.879346223508,0.00503353442544,0.868390899694
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139,2.316666667,pose3-to-pose4-insert,0.0049179122941,0.879223587455,0.0050334134759,0.868268209991
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140,2.333333333,pose3-to-pose4-insert,0.00491771731577,0.87910584842,0.00503313630708,0.868150523441
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141,2.350000000,pose3-to-pose4-insert,0.00491742978716,0.87899515667,0.00503289058766,0.86803975667
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142,2.366666667,pose3-to-pose4-insert,0.00491723972816,0.878890669338,0.00503275154736,0.867935228966
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143,2.383333333,pose3-to-pose4-insert,0.00491707778973,0.878800949108,0.00503261188124,0.867845449108
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144,2.400000000,pose3-to-pose4-insert,0.00491683477179,0.878724464951,0.00503235088879,0.867768964951
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145,2.416666667,pose3-to-pose4-insert,0.00491666542624,0.878659359329,0.00503217181919,0.867703812136
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146,2.433333333,pose3-to-pose4-insert,0.00491654672154,0.878601562361,0.00503201930107,0.867645962361
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147,2.450000000,pose3-to-pose4-insert,0.00491636683704,0.878556487135,0.00503179816454,0.867600845703
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148,2.466666667,pose3-to-pose4-insert,0.00491623884777,0.878517936432,0.00503165996835,0.867562271512
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149,2.483333333,pose3-to-pose4-insert,0.00491622240909,0.878485471776,0.00503163338584,0.867529871776
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150,2.500000000,pose3-to-pose4-insert,0.00491622932062,0.878459154011,0.00503157619115,0.867503580089
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151,2.516666667,pose3-to-pose4-insert,0.00491607136144,0.878439693539,0.00503140578687,0.867484193539
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152,2.533333333,pose3-to-pose4-insert,0.00491601768685,0.878424365316,0.00503133391082,0.867468865316
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153,2.550000000,pose3-to-pose4-insert,0.00491589304558,0.878411620491,0.00503127277289,0.867456117083
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154,2.566666667,pose3-to-pose4-insert,0.00491587688447,0.878403039984,0.0050312484213,0.867447439984
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155,2.583333333,pose3-to-pose4-insert,0.00491592982412,0.878396994137,0.00503130851141,0.867441425571
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156,2.600000000,pose3-to-pose4-insert,0.00491578179122,0.878393493879,0.00503118763275,0.867437993879
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157,2.616666667,pose3-to-pose4-insert,0.00491578,0.8783923,0.005031212,0.8674366
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158,2.633333333,pose4-hold,0.00491578,0.8783923,0.005031231,0.8674366
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159,2.650000000,pose4-hold,0.00491578,0.8783923,0.00503125317647,0.867436685294
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160,2.666666667,pose4-hold,0.00491578,0.8783923,0.00503127676471,0.867436770588
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161,2.683333333,pose4-hold,0.00491578,0.8783923,0.00503129282353,0.867436855882
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162,2.700000000,pose4-hold,0.00491578,0.8783923,0.00503129652941,0.867436858824
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163,2.716666667,pose4-hold,0.00491578,0.8783923,0.00503129167647,0.867436773529
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164,2.733333333,pose4-hold,0.00491578,0.8783923,0.00503128917647,0.8674367
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165,2.750000000,pose4-hold,0.00491578,0.8783923,0.00503129770588,0.8674367
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166,2.766666667,pose4-hold,0.00491578,0.8783923,0.00503130129412,0.867436782353
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167,2.783333333,pose4-hold,0.00491578,0.8783923,0.00503129726471,0.8674368
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168,2.800000000,pose4-hold,0.00491578,0.8783923,0.00503129235294,0.867436747059
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169,2.816666667,pose4-hold,0.00491578,0.8783923,0.00503129114706,0.867436661765
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170,2.833333333,pose4-hold,0.00491578,0.8783923,0.00503129464706,0.867436623529
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171,2.850000000,pose4-hold,0.00491578,0.8783923,0.00503130141176,0.8674367
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172,2.866666667,pose4-hold,0.00491578,0.8783923,0.00503131505882,0.8674367
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173,2.883333333,pose4-hold,0.00491578,0.8783923,0.00503130805882,0.8674367
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174,2.900000000,pose4-hold,0.00491578,0.8783923,0.00503130470588,0.8674367
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175,2.916666667,pose4-hold,0.00491578,0.8783923,0.0050313035,0.8674367
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176,2.933333333,pose4-hold,0.00491578,0.8783923,0.00503130935294,0.8674367
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177,2.950000000,pose4-hold,0.00491578,0.8783923,0.00503132038235,0.8674367
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178,2.966666667,pose4-hold,0.00491578,0.8783923,0.00503131729412,0.8674367
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179,2.983333333,pose4-hold,0.00491578,0.8783923,0.00503130705882,0.8674367
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180,3.000000000,pose4-hold,0.00491578,0.8783923,0.00503130447059,0.8674367
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181,3.016666667,pose4-hold,0.00491578,0.8783923,0.00503130461765,0.8674367
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182,3.033333333,pose4-hold,0.00491578,0.8783923,0.00503130264706,0.8674367
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183,3.050000000,pose4-hold,0.00491578,0.8783923,0.00503129741176,0.8674367
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184,3.066666667,pose4-hold,0.00491578,0.8783923,0.00503129305882,0.8674367
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185,3.083333333,pose4-hold,0.00491578,0.8783923,0.005031298,0.8674367
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186,3.100000000,pose4-hold,0.00491578,0.8783923,0.005031298,0.8674367
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187,3.116666667,pose4-hold,0.00491578,0.8783923,0.00503129579412,0.8674367
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188,3.133333333,pose4-hold,0.00491578,0.8783923,0.00503129205882,0.8674367
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189,3.150000000,pose4-hold,0.00491578,0.8783923,0.00503129088235,0.8674367
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190,3.166666667,pose4-hold,0.00491578,0.8783923,0.00503129288235,0.8674367
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193,3.216666667,pose4-to-pose5-return,0.00491578,0.8783923,0.005031293,0.8674367
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194,3.233333333,pose4-to-pose5-return,0.00491565868448,0.878392695054,0.00503115114383,0.867437036043
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195,3.250000000,pose4-to-pose5-return,0.00491501991345,0.878393408954,0.00503050652043,0.867437765504
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Part2/Free/s1/cylinder_0010_10/width_07/pick/camera_frames_60hz.tar
ADDED
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Part2/Free/s1/cylinder_0010_10/width_07/pick/fem_node.csv
ADDED
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The diff for this file is too large to render.
See raw diff
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Part2/Free/s1/cylinder_0010_10/width_07/pick/franka_data.csv
ADDED
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
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|
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1,0.016666667,pose1-to-pose2-lift,1.79307229774e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005688_1793072297737294430_interpolated.jpg,0.675904583922,-0.0054520939051,0.0968283285715,0.999999950736,0.000114841132671,-0.000279942977427,8.34998188712e-05,0.0351283848286
|
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|
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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192,3.200000000,pose2-hold,1.79307230092e+18,camera_frames_60hz/WAIT_POSE2/camera_00005816_1793072300925200716_interpolated.jpg,0.675898069778,-0.00538074987657,0.134539175439,0.99999992951,0.000113059684238,-0.000349943163425,-7.5739976605e-05,0.0350023023784
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| 195 |
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193,3.216666667,pose2-hold,1.79307230094e+18,camera_frames_60hz/WAIT_POSE2/camera_00005817_1793072300956319685_real.jpg,0.675899052773,-0.00537880457062,0.134539671794,0.999999929635,0.000114504634671,-0.000348851394725,-7.69449687497e-05,0.0350023023784
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| 196 |
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194,3.233333333,pose2-hold,1.79307230096e+18,camera_frames_60hz/WAIT_POSE2/camera_00005817_1793072300956319685_real.jpg,0.675899726417,-0.00537810428995,0.134540334819,0.999999929751,0.000115477853506,-0.000348074825867,-7.75089061551e-05,0.0350023023784
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| 200 |
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198,3.300000000,pose2-hold,1.79307230103e+18,camera_frames_60hz/WAIT_POSE2/camera_00005820_1793072301024711479_interpolated.jpg,0.675900659202,-0.0053802624505,0.134542447603,0.999999930708,0.000111698745219,-0.000346607030798,-7.7270011323e-05,0.0350023023784
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| 201 |
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199,3.316666667,pose2-hold,1.79307230104e+18,camera_frames_60hz/WAIT_POSE2/camera_00005821_1793072301055254789_real.jpg,0.675899679276,-0.00538073966769,0.134541840669,0.999999930366,0.000111688158184,-0.000347538407921,-7.75274569099e-05,0.0350023023784
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| 202 |
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200,3.333333333,pose2-hold,1.79307230106e+18,camera_frames_60hz/WAIT_POSE2/camera_00005821_1793072301055254789_real.jpg,0.675898894303,-0.0053812619868,0.134541137124,0.999999930061,0.000111796892375,-0.000348397162304,-7.74504488635e-05,0.0350023023784
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| 203 |
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201,3.350000000,pose2-hold,1.79307230108e+18,camera_frames_60hz/WAIT_POSE2/camera_00005822_1793072301079427027_interpolated.jpg,0.67589844789,-0.00538186263044,0.134540265802,0.999999929821,0.000112112841243,-0.000349129799164,-7.67926246172e-05,0.0350023023784
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| 204 |
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202,3.366666667,pose2-hold,1.7930723011e+18,camera_frames_60hz/WAIT_POSE2/camera_00005823_1793072301103599265_real.jpg,0.67589961162,-0.00538280627474,0.134541475229,0.999999930408,0.00011141870089,-0.000347794343786,-7.62102954305e-05,0.0350023023784
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| 205 |
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203,3.383333333,pose2-hold,1.79307230111e+18,camera_frames_60hz/WAIT_POSE2/camera_00005823_1793072301103599265_real.jpg,0.675900029345,-0.00538264589952,0.134542183151,0.999999930638,0.000111231861584,-0.000347231914874,-7.60402796833e-05,0.0350023023784
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| 206 |
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| 207 |
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205,3.416666667,pose2-hold,1.79307230114e+18,camera_frames_60hz/WAIT_POSE2/camera_00005825_1793072301155118892_real.jpg,0.675898826663,-0.00538208059658,0.134541175586,0.999999930072,0.000111911037501,-0.000348568811796,-7.63642193666e-05,0.0350023023784
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| 208 |
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206,3.433333333,pose2-hold,1.79307230116e+18,camera_frames_60hz/WAIT_POSE2/camera_00005825_1793072301155118892_real.jpg,0.675898824401,-0.0053827829135,0.134540850964,0.99999993004,0.000111272257738,-0.000348814298738,-7.6594649015e-05,0.0350023023784
|
Part2/Free/s1/cylinder_0010_10/width_07/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,208 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.252678e-05,0.8455892,2.598831e-06,0.8346293
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.27400262641e-05,0.84558994419,2.39674029272e-06,0.83463004419
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.26872683838e-05,0.845590722846,2.44890688329e-06,0.834630822846
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.2684151963e-05,0.845591523023,2.45000687003e-06,0.834631623023
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.26847833685e-05,0.845591700384,2.45030117122e-06,0.834631800384
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26873386634e-05,0.845592418164,2.4514922066e-06,0.834632518164
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.26916728563e-05,0.845592783626,2.44527051685e-06,0.834632883626
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.26966360989e-05,0.845593131822,2.43746570549e-06,0.834633231822
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.27010694215e-05,0.845593442842,2.43049420521e-06,0.834633542842
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.2706051363e-05,0.845593792349,2.42265998934e-06,0.834633892349
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.27208022997e-05,0.8455948272,2.39946380727e-06,0.8346349272
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.27148749843e-05,0.845595054864,2.40552937801e-06,0.834635154864
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.26865736141e-05,0.845595684133,2.43680660026e-06,0.834635784133
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.26788579275e-05,0.845595855688,2.44533358129e-06,0.834635955688
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.26584562652e-05,0.84559630931,2.46788045168e-06,0.83463640931
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.26380254186e-05,0.845596763582,2.4904595751e-06,0.834636863582
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.26163853086e-05,0.84559724474,2.5143751145e-06,0.83463734474
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.26303388501e-05,0.84559914726,2.507609326e-06,0.834639223987
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.27976341628e-05,0.845602754453,2.35060835381e-06,0.834642754453
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.26065738418e-05,0.845609967286,2.53521017777e-06,0.834649991168
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.27432658416e-05,0.8456220462,2.39356560858e-06,0.8346621462
|
| 23 |
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21,0.350000000,pose1-to-pose2-lift,-8.27222044e-05,0.845644576804,2.39757790839e-06,0.834684676804
|
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Part2/Free/s1/cylinder_0010_10/width_08/insert/camera_frames_60hz.tar
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Part2/Free/s1/cylinder_0010_10/width_08/insert/simulation_data.csv
ADDED
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.396638e-05,0.8835865,1.959765e-07,0.8726317
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.35110519488e-05,0.883586709119,6.73455499259e-07,0.872631854559
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.27543334666e-05,0.883586647687,1.41620785784e-06,0.872631823843
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.19402218393e-05,0.883586741113,2.24156386541e-06,0.872631870557
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.14479915335e-05,0.883586797601,2.74059277789e-06,0.872631898801
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.1223589673e-05,0.883586787452,2.96604055941e-06,0.872631893726
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.09600387746e-05,0.8835867712,3.23057214064e-06,0.8726318856
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.03106079915e-05,0.883586731155,3.88241948023e-06,0.872631865577
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.92612616612e-05,0.883586666449,4.93567046787e-06,0.872631833225
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.75865406487e-05,0.883586631934,6.61718580591e-06,0.872631831934
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.4518652945e-05,0.883586796012,9.69937999656e-06,0.872631996012
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.57884107244e-05,0.883586666984,1.8487956622e-05,0.872631789312
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-5.01037041568e-05,0.883586793456,3.42619048622e-05,0.872631893456
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-2.40336970964e-05,0.8835866,6.0497158823e-05,0.8726317
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,1.61579183537e-05,0.883586860793,0.000100912321893,0.872631960793
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,7.67378196502e-05,0.883587132189,0.000161893536527,0.872632232189
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000153053276458,0.883587203714,0.00023862612156,0.872632303714
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000241369894294,0.883587934612,0.000327323122157,0.872632934612
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000342798008643,0.883587931628,0.000429235611601,0.872632931628
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000458297287024,0.883588401038,0.000545503095954,0.87263330083
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000575611265572,0.883588951113,0.000663664644616,0.872633751113
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000701730298136,0.883589261411,0.000790529001656,0.872634061411
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000838300204641,0.883589705406,0.000927679348296,0.872634549036
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000977579721667,0.8835901,0.0010677866966,0.872634949413
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.0011170994051,0.883589945568,0.00120833807848,0.87263469409
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00127107855952,0.883589685861,0.00136337198635,0.872634442931
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00143883364995,0.883589466285,0.0015322048634,0.8726344
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00160580843928,0.883589328165,0.00170025783859,0.8726344
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00177843841038,0.883589531101,0.00187397508725,0.872634631101
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.0019605941477,0.883589344074,0.00205703767463,0.872634529382
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00214704715445,0.883589205636,0.00224456300076,0.872634216909
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00233269457253,0.883588908938,0.00243139018327,0.872633905363
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00252314618987,0.883589365678,0.00262309980894,0.872634165678
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00271912211367,0.88358914966,0.0028203123042,0.87263399932
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00291082457145,0.883589262701,0.00301320509605,0.872634337299
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00308696651352,0.883589115055,0.00319044395114,0.8726344
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00324740722494,0.88358908127,0.00335191926975,0.872634440635
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00340667257418,0.883589158907,0.00351209455643,0.872634458907
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.0035650400998,0.883589144837,0.00367124546226,0.872634355163
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00370957818876,0.8835892,0.00381655646974,0.8726343
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00384922987572,0.8835892,0.00395697184257,0.8726343
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00398597291368,0.883589101677,0.00409468777831,0.872634103355
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00411592058229,0.883588831978,0.00422559400336,0.872633731978
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00423249000714,0.8835887,0.00434297159115,0.872633659809
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00434361867203,0.883588563313,0.00445488564413,0.8726337
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00444762687,0.883588419057,0.00455953267885,0.8726337
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00453980403612,0.883588306437,0.00465232911962,0.8726337
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00461488661409,0.883588201642,0.00472789710927,0.872633601642
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.0046743985724,0.883587821986,0.00478780403676,0.872633316489
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00472605408616,0.883587891073,0.00483976076822,0.872633482145
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00477093382001,0.883587720275,0.00488491763809,0.872633230412
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00480658254925,0.883587615667,0.0049207058682,0.872633115667
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00483723427444,0.883587516515,0.00495146593402,0.872633016515
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00486198825905,0.883587585169,0.00497635308949,0.872633085169
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00488106238275,0.883587512633,0.00499558192825,0.8726331
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00489371424882,0.88358741947,0.00500833861101,0.872632938939
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00490338179822,0.883587318371,0.00501806026619,0.872632736742
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00491007706609,0.8835873,0.00502480092018,0.872632609871
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491435107449,0.883587631976,0.00502909517865,0.872633031976
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004916097,0.8835876,0.00503088,0.872633
|
| 62 |
+
60,1.000000000,pose3-hold,0.004916097,0.8835876,0.005030889,0.872633
|
| 63 |
+
61,1.016666667,pose3-hold,0.004916097,0.8835876,0.00503088388235,0.872633
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916097,0.8835876,0.00503089288235,0.872633
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916097,0.8835876,0.00503089476471,0.872633
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916097,0.8835876,0.00503089382353,0.872633
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916097,0.8835876,0.00503089526471,0.872633
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916097,0.8835876,0.00503089576471,0.872633
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916097,0.8835876,0.00503089405882,0.872633
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916097,0.8835876,0.00503089894118,0.872633
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916097,0.8835876,0.00503089661765,0.872633
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916097,0.8835876,0.00503089711765,0.872633
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916097,0.8835876,0.00503089823529,0.872633
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916097,0.8835876,0.00503089582353,0.872633
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916097,0.8835876,0.00503089173529,0.872633
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916097,0.8835876,0.00503088917647,0.872633
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916097,0.8835876,0.00503089058824,0.872633
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916097,0.8835876,0.00503089294118,0.872633
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916097,0.8835876,0.0050308935,0.872633
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916097,0.8835876,0.00503089264706,0.872633
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916097,0.8835876,0.00503089076471,0.872633
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916097,0.8835876,0.00503088588235,0.872633
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916097,0.8835876,0.00503088417647,0.872633
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916097,0.8835876,0.00503088782353,0.872633
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916097,0.8835876,0.00503088282353,0.872633
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916097,0.8835876,0.00503087805882,0.872633
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916097,0.8835876,0.00503087635294,0.872633
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916097,0.8835876,0.00503087605882,0.872633
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916097,0.8835876,0.00503088061765,0.872633
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916097,0.8835876,0.00503086952941,0.872633
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916097,0.8835876,0.00503087094118,0.872633
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916097,0.8835876,0.005030872,0.872633
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916097,0.8835876,0.00503087111765,0.872633
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916097,0.8835876,0.00503086941176,0.872633
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916097,0.8835876,0.00503086829412,0.872633
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916097,0.8835876,0.00503087,0.872633
|
| 97 |
+
95,1.583333333,pose3-to-pose4-insert,0.004916097,0.8835876,0.005030873,0.872633
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.00491620167326,0.883587546866,0.00503098564331,0.872632946866
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491635055717,0.883586672646,0.00503113139798,0.872631980606
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.0049163533832,0.883586026698,0.00503113341657,0.872631375029
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491635481462,0.883585699516,0.00503113443901,0.872631068296
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.0049163577581,0.88358485344,0.0050311340506,0.87263026427
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491635827424,0.88358461749,0.00503113272338,0.872630035693
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491636094719,0.883583395572,0.00503112585009,0.87262885196
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.0049163616823,0.883583059522,0.00503112395981,0.872628526412
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491636275085,0.883582571038,0.00503112121209,0.872628053193
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491636364999,0.883582160005,0.00503111890003,0.872627655005
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491637348313,0.883581389592,0.00503112573911,0.872626878691
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491645023348,0.883576305827,0.00503118867149,0.872621704732
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491635506094,0.883563322848,0.00503114265484,0.872608658381
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491629831898,0.883541162527,0.00503108637721,0.872586562527
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491644036848,0.883502329934,0.0050312277181,0.872547729934
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491657538827,0.883445492031,0.00503136566752,0.872490892031
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491674742776,0.883366228109,0.00503158707481,0.872411628109
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491697201513,0.883272168972,0.00503185491719,0.872317640214
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.00491718510651,0.883162171699,0.00503207980552,0.872207571699
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.0049173034481,0.883040978408,0.00503219458274,0.872086378408
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491757827171,0.882914426061,0.00503247528062,0.871959826061
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491774845763,0.882792475455,0.00503266252944,0.871837827708
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00491767583314,0.882653199099,0.00503260789015,0.871698561076
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.00491763841133,0.882508238239,0.00503255812744,0.871553566223
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00491748830588,0.882357390916,0.00503242679983,0.871402770584
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491729260743,0.882192435209,0.00503227570558,0.871237744499
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.00491713290922,0.8820196577,0.00503210690922,0.8710649577
|
| 125 |
+
123,2.050000000,pose3-to-pose4-insert,0.00491707663451,0.881856627922,0.00503205158184,0.870901927922
|
| 126 |
+
124,2.066666667,pose3-to-pose4-insert,0.00491756109934,0.881684054805,0.00503258139279,0.870729349758
|
| 127 |
+
125,2.083333333,pose3-to-pose4-insert,0.00491788214744,0.881506671034,0.00503288982269,0.870551871034
|
| 128 |
+
126,2.100000000,pose3-to-pose4-insert,0.0049181284465,0.881328347088,0.00503314596072,0.870373547088
|
| 129 |
+
127,2.116666667,pose3-to-pose4-insert,0.00491857822537,0.881147721344,0.00503361560925,0.870192908912
|
| 130 |
+
128,2.133333333,pose3-to-pose4-insert,0.00491865571337,0.880959467422,0.00503367912435,0.870004567422
|
| 131 |
+
129,2.150000000,pose3-to-pose4-insert,0.00491803694566,0.880768702177,0.0050330473587,0.869813775727
|
| 132 |
+
130,2.166666667,pose3-to-pose4-insert,0.00491754808063,0.880581149631,0.00503254771264,0.869626149631
|
| 133 |
+
131,2.183333333,pose3-to-pose4-insert,0.00491709667122,0.880397436114,0.00503209243572,0.869442396276
|
| 134 |
+
132,2.200000000,pose3-to-pose4-insert,0.00491663974783,0.880211319049,0.00503161340464,0.869256219049
|
| 135 |
+
133,2.216666667,pose3-to-pose4-insert,0.00491640250377,0.880026579819,0.00503134546418,0.869071417814
|
| 136 |
+
134,2.233333333,pose3-to-pose4-insert,0.00491625714774,0.879857897906,0.00503120110242,0.868902697906
|
| 137 |
+
135,2.250000000,pose3-to-pose4-insert,0.00491644170378,0.879701859821,0.00503139247703,0.868746589155
|
| 138 |
+
136,2.266666667,pose3-to-pose4-insert,0.004916748891,0.879549585676,0.00503171652192,0.868594361403
|
| 139 |
+
137,2.283333333,pose3-to-pose4-insert,0.00491672402276,0.879409872306,0.00503169446564,0.86845459445
|
| 140 |
+
138,2.300000000,pose3-to-pose4-insert,0.00491684887458,0.879284171099,0.00503181357599,0.868328871099
|
| 141 |
+
139,2.316666667,pose3-to-pose4-insert,0.00491700387941,0.879161967399,0.00503194659572,0.868206667399
|
| 142 |
+
140,2.333333333,pose3-to-pose4-insert,0.00491729936117,0.879046110298,0.00503221223743,0.868090727113
|
| 143 |
+
141,2.350000000,pose3-to-pose4-insert,0.00491741998888,0.878945336208,0.00503230872958,0.867989852471
|
| 144 |
+
142,2.366666667,pose3-to-pose4-insert,0.00491749023937,0.878849969813,0.00503236629572,0.867894469813
|
| 145 |
+
143,2.383333333,pose3-to-pose4-insert,0.00491751312541,0.878764810556,0.00503236061736,0.867809310556
|
| 146 |
+
144,2.400000000,pose3-to-pose4-insert,0.00491786008857,0.878694405649,0.0050326843991,0.867738905649
|
| 147 |
+
145,2.416666667,pose3-to-pose4-insert,0.00491794806827,0.878632777962,0.00503275406505,0.8676771835
|
| 148 |
+
146,2.433333333,pose3-to-pose4-insert,0.00491790171903,0.878579783117,0.00503270102684,0.867624183117
|
| 149 |
+
147,2.450000000,pose3-to-pose4-insert,0.0049181980562,0.878538019794,0.0050329970562,0.867582331577
|
| 150 |
+
148,2.466666667,pose3-to-pose4-insert,0.00491832691143,0.878502636589,0.00503308851877,0.867546936589
|
| 151 |
+
149,2.483333333,pose3-to-pose4-insert,0.00491824290138,0.878473151865,0.00503295891119,0.867517531011
|
| 152 |
+
150,2.500000000,pose3-to-pose4-insert,0.00491816995662,0.878450555934,0.00503284160679,0.867495029019
|
| 153 |
+
151,2.516666667,pose3-to-pose4-insert,0.00491833996662,0.878432153148,0.00503302013265,0.867476653148
|
| 154 |
+
152,2.533333333,pose3-to-pose4-insert,0.00491833804786,0.878418682399,0.00503301866578,0.867463117921
|
| 155 |
+
153,2.550000000,pose3-to-pose4-insert,0.00491832664554,0.878409812228,0.00503300069655,0.867454212228
|
| 156 |
+
154,2.566666667,pose3-to-pose4-insert,0.00491839591495,0.878403352113,0.00503306276959,0.867447752113
|
| 157 |
+
155,2.583333333,pose3-to-pose4-insert,0.00491842518769,0.878398733741,0.00503315874117,0.867443175949
|
| 158 |
+
156,2.600000000,pose3-to-pose4-insert,0.00491837887481,0.878395880305,0.0050331887664,0.867440439236
|
| 159 |
+
157,2.616666667,pose3-to-pose4-insert,0.004918371,0.8783944,0.005033104,0.8674387
|
| 160 |
+
158,2.633333333,pose4-hold,0.004918371,0.8783944,0.005033126,0.8674387
|
| 161 |
+
159,2.650000000,pose4-hold,0.004918371,0.8783944,0.00503315244118,0.8674387
|
| 162 |
+
160,2.666666667,pose4-hold,0.004918371,0.8783944,0.00503318452941,0.867438841176
|
| 163 |
+
161,2.683333333,pose4-hold,0.004918371,0.8783944,0.00503320102941,0.8674389
|
| 164 |
+
162,2.700000000,pose4-hold,0.004918371,0.8783944,0.005033205,0.867438858824
|
| 165 |
+
163,2.716666667,pose4-hold,0.004918371,0.8783944,0.00503320738235,0.867438826471
|
| 166 |
+
164,2.733333333,pose4-hold,0.004918371,0.8783944,0.00503321376471,0.867438888235
|
| 167 |
+
165,2.750000000,pose4-hold,0.004918371,0.8783944,0.00503321205882,0.867438802941
|
| 168 |
+
166,2.766666667,pose4-hold,0.004918371,0.8783944,0.00503320623529,0.8674388
|
| 169 |
+
167,2.783333333,pose4-hold,0.004918371,0.8783944,0.005033205,0.867438732353
|
| 170 |
+
168,2.800000000,pose4-hold,0.004918371,0.8783944,0.00503320870588,0.8674387
|
| 171 |
+
169,2.816666667,pose4-hold,0.004918371,0.8783944,0.00503321352941,0.8674387
|
| 172 |
+
170,2.833333333,pose4-hold,0.004918371,0.8783944,0.00503321717647,0.8674387
|
| 173 |
+
171,2.850000000,pose4-hold,0.004918371,0.8783944,0.00503322135294,0.8674387
|
| 174 |
+
172,2.866666667,pose4-hold,0.004918371,0.8783944,0.00503322476471,0.8674387
|
| 175 |
+
173,2.883333333,pose4-hold,0.004918371,0.8783944,0.00503322817647,0.8674387
|
| 176 |
+
174,2.900000000,pose4-hold,0.004918371,0.8783944,0.00503323417647,0.8674387
|
| 177 |
+
175,2.916666667,pose4-hold,0.004918371,0.8783944,0.005033236,0.8674387
|
| 178 |
+
176,2.933333333,pose4-hold,0.004918371,0.8783944,0.00503324911765,0.867438735294
|
| 179 |
+
177,2.950000000,pose4-hold,0.004918371,0.8783944,0.00503327747059,0.867438820588
|
| 180 |
+
178,2.966666667,pose4-hold,0.004918371,0.8783944,0.00503328494118,0.8674389
|
| 181 |
+
179,2.983333333,pose4-hold,0.004918371,0.8783944,0.00503325508824,0.8674389
|
| 182 |
+
180,3.000000000,pose4-hold,0.004918371,0.8783944,0.00503323670588,0.867438823529
|
| 183 |
+
181,3.016666667,pose4-hold,0.004918371,0.8783944,0.00503323694118,0.867438738235
|
| 184 |
+
182,3.033333333,pose4-hold,0.004918371,0.8783944,0.00503323764706,0.8674387
|
| 185 |
+
183,3.050000000,pose4-hold,0.004918371,0.8783944,0.00503323338235,0.8674387
|
| 186 |
+
184,3.066666667,pose4-hold,0.004918371,0.8783944,0.00503322982353,0.8674387
|
| 187 |
+
185,3.083333333,pose4-hold,0.004918371,0.8783944,0.00503322897059,0.8674387
|
| 188 |
+
186,3.100000000,pose4-hold,0.004918371,0.8783944,0.00503322811765,0.8674387
|
| 189 |
+
187,3.116666667,pose4-hold,0.004918371,0.8783944,0.00503322652941,0.8674387
|
| 190 |
+
188,3.133333333,pose4-hold,0.004918371,0.8783944,0.00503322482353,0.8674387
|
| 191 |
+
189,3.150000000,pose4-hold,0.004918371,0.8783944,0.005033224,0.8674387
|
| 192 |
+
190,3.166666667,pose4-hold,0.004918371,0.8783944,0.00503322194118,0.8674387
|
| 193 |
+
191,3.183333333,pose4-hold,0.004918371,0.8783944,0.00503321773529,0.8674387
|
| 194 |
+
192,3.200000000,pose4-hold,0.004918371,0.8783944,0.005033222,0.8674387
|
| 195 |
+
193,3.216666667,pose4-to-pose5-return,0.00491834,0.8783944,0.005033171,0.8674387
|
| 196 |
+
194,3.233333333,pose4-to-pose5-return,0.00491818765182,0.878394556314,0.00503301068424,0.867438956314
|
| 197 |
+
195,3.250000000,pose4-to-pose5-return,0.00491815127603,0.87839462166,0.00503297550646,0.86743902166
|
| 198 |
+
196,3.266666667,pose4-to-pose5-return,0.00491775246592,0.878395207377,0.00503258101744,0.867439607377
|
| 199 |
+
197,3.283333333,pose4-to-pose5-return,0.00491759225608,0.878395337177,0.00503241543019,0.867439737177
|
| 200 |
+
198,3.300000000,pose4-to-pose5-return,0.00491739717947,0.878395495225,0.00503221380586,0.867439895225
|
| 201 |
+
199,3.316666667,pose4-to-pose5-return,0.00491688336681,0.878395913171,0.00503168754092,0.867440313171
|
| 202 |
+
200,3.333333333,pose4-to-pose5-return,0.00491655908387,0.878396179817,0.00503136366821,0.867440579817
|
| 203 |
+
201,3.350000000,pose4-to-pose5-return,0.00491601296769,0.878396628869,0.00503081824287,0.867441028869
|
| 204 |
+
202,3.366666667,pose4-to-pose5-return,0.00491567324141,0.878396908214,0.00503047894635,0.867441308214
|
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Part2/Free/s1/cylinder_0010_10/width_08/pick/camera_frames_60hz.tar
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Part2/Free/s1/cylinder_0010_10/width_08/pick/fem_node.csv
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Part2/Free/s1/cylinder_0010_10/width_08/pick/franka_data.csv
ADDED
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79307232095e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006614_1793072320943811175_interpolated.jpg,0.675897713586,-0.005449727383,0.0968212635747,0.999999948108,0.000113850615922,-0.000289568762365,8.34978250975e-05,0.0346391648054
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79307232096e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006615_1793072320963575603_real.jpg,0.675897483713,-0.00544908691561,0.0968215888136,0.999999948249,0.000111464896719,-0.000290151209198,8.30062965109e-05,0.0346391648054
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.79307232098e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006615_1793072320963575603_real.jpg,0.675897404947,-0.00545067676045,0.0968218690338,0.999999948353,0.000110702120242,-0.000290122190913,8.28691485415e-05,0.0345871385823
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.793072321e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006616_1793072320993032359_interpolated.jpg,0.675897400022,-0.00545270156188,0.0968222055146,0.999999948475,0.000110246495884,-0.000289901428023,8.27776175562e-05,0.0345262214541
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79307232101e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006617_1793072321022489116_real.jpg,0.675898197821,-0.0054532128169,0.0968238994554,0.999999949105,0.000108498781503,-0.000288616541683,8.1966294869e-05,0.0345262214541
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79307232103e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006617_1793072321022489116_real.jpg,0.675899180638,-0.00545327295004,0.0968248966217,0.999999949571,0.000107643986882,-0.000287310331069,8.20002175249e-05,0.0345262214541
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79307232105e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006618_1793072321042386198_interpolated.jpg,0.675900309588,-0.00545206364746,0.0968240330478,0.999999949526,0.000109134636199,-0.000286334761657,8.39623392878e-05,0.0345262214541
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79307232106e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006619_1793072321062283280_real.jpg,0.675897895407,-0.00544972581344,0.0968224955951,0.999999948468,0.000111070593288,-0.000289484539597,8.32223177046e-05,0.0345262214541
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.79307232108e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006619_1793072321062283280_real.jpg,0.675897524619,-0.00545104665636,0.0968227035731,0.999999948181,0.000111644639799,-0.000290122465342,8.36815911807e-05,0.0345262214541
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.7930723211e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006620_1793072321092393940_interpolated.jpg,0.675897461889,-0.00545279780807,0.0968230876108,0.99999994805,0.000111800703126,-0.000290354186738,8.42379323947e-05,0.0345262214541
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79307232111e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006621_1793072321122504601_real.jpg,0.675898043013,-0.00545439688674,0.0968230846334,0.999999948578,0.000109239346817,-0.000289498305621,8.42711382805e-05,0.0345262214541
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.79307232112e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006621_1793072321122504601_real.jpg,0.675898915242,-0.00545495221784,0.0968234104421,0.999999948995,0.000107796453879,-0.00028868233756,8.39731783301e-05,0.0345262214541
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79307232114e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006622_1793072321141286405_interpolated.jpg,0.675900038484,-0.00545276716567,0.0968246003459,0.999999948989,0.000109609857408,-0.000288325941366,8.29155801807e-05,0.0345262214541
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79307232116e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006623_1793072321160068210_real.jpg,0.675898355696,-0.0054504328908,0.096825795865,0.999999948137,0.000113298412674,-0.000289996755196,8.24118298591e-05,0.0345259621266
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,1.79307232118e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006624_1793072321191207940_interpolated.jpg,0.675897257296,-0.00544992211313,0.0968245840131,0.999999947458,0.000112025360943,-0.000292953705585,8.19270336416e-05,0.0345154166807
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,1.79307232119e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006624_1793072321191207940_interpolated.jpg,0.675896032223,-0.00544956439128,0.0968236698539,0.999999946702,0.000110909524057,-0.000296068577893,8.14729217776e-05,0.0345065183938
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79307232121e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006625_1793072321222347671_real.jpg,0.675894122832,-0.00545003350806,0.0968243638911,0.999999945573,0.000110642993645,-0.000300036576447,8.11845730168e-05,0.0345065183938
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.79307232122e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006625_1793072321222347671_real.jpg,0.675891715539,-0.00545129944198,0.0968258355984,0.999999944234,0.000109722517449,-0.000304980583829,8.05027827972e-05,0.0345065183938
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79307232124e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006626_1793072321241323465_interpolated.jpg,0.675888549545,-0.00545384092694,0.0968302429531,0.999999942555,0.000107484252236,-0.000311691688511,7.86529322304e-05,0.0345065183938
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.79307232126e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006627_1793072321260299260_real.jpg,0.675887947149,-0.0054523585031,0.096840625182,0.999999941808,0.000106972802638,-0.000315000875498,7.5597375568e-05,0.0345065183938
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.79307232128e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006628_1793072321291955015_interpolated.jpg,0.675874897603,-0.00544578842082,0.0968704605118,0.999999932557,0.000107761044616,-0.000345302585336,6.35597870874e-05,0.0345065183938
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,1.7930723213e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006628_1793072321291955015_interpolated.jpg,0.67586477342,-0.00543985500625,0.096902218853,0.999999924493,0.000108162092821,-0.000369586393573,5.21660421586e-05,0.0345065183938
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79307232131e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006629_1793072321323610771_real.jpg,0.675877989597,-0.00543900132368,0.096949320179,0.999999933576,0.000105473868463,-0.000345855632471,4.59092831011e-05,0.0345065183938
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,1.79307232133e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006629_1793072321323610771_real.jpg,0.675889502292,-0.00543662141437,0.0970063692564,0.999999940745,0.000103068336453,-0.000326445783411,3.63349968161e-05,0.0345065183938
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79307232135e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006630_1793072321342519362_interpolated.jpg,0.675894242569,-0.00542864792185,0.0970965617236,0.99999994236,0.000102014118261,-0.000323479341648,1.52976730237e-05,0.0345065183938
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.79307232136e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006631_1793072321361427954_real.jpg,0.67589373211,-0.00542161311415,0.0971411819904,0.999999941686,0.000104538227824,-0.000325084091726,4.58012976288e-06,0.0345065183938
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.79307232138e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006631_1793072321361427954_real.jpg,0.675894328548,-0.00541689452827,0.0971970931096,0.999999941221,0.000101441104321,-0.000327416192042,-8.17883657547e-06,0.03450593162
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79307232139e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006632_1793072321396550813_interpolated.jpg,0.675894991894,-0.00541231594366,0.0972536867642,0.999999940594,9.80041985466e-05,-0.000329792259663,-2.10612100103e-05,0.0345053093777
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,1.79307232141e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006632_1793072321396550813_interpolated.jpg,0.675897097401,-0.00540807362718,0.097319485495,0.999999940467,9.50700424336e-05,-0.000329925974324,-3.42924210465e-05,0.0345052070916
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,1.79307232142e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006633_1793072321431673673_real.jpg,0.67589948661,-0.00540389746161,0.0973870950549,0.99999994029,9.22347875761e-05,-0.000329618571673,-4.75922556583e-05,0.0345052070916
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,1.79307232144e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006634_1793072321450736417_interpolated.jpg,0.6759067202,-0.0053965119975,0.0975065004131,0.999999941506,9.19109003404e-05,-0.000322448232056,-6.758830715e-05,0.0345052070916
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,1.79307232146e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006635_1793072321469799161_real.jpg,0.675914952265,-0.00538866062354,0.0976254361029,0.999999943088,9.51122651582e-05,-0.000312735547761,-8.35080641627e-05,0.0345052070916
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,1.79307232148e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006635_1793072321469799161_real.jpg,0.675922455169,-0.00539181361346,0.0977279052037,0.999999943739,0.000121887143188,-0.000304719566411,-6.93707084683e-05,0.0345052070916
|
| 35 |
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33,0.550000000,pose1-to-pose2-lift,1.79307232149e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006636_1793072321495880412_interpolated.jpg,0.675929763077,-0.00540827067518,0.0978273422475,0.999999939552,0.000176241759667,-0.000298839579986,-2.30233376611e-05,0.0345052070916
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| 36 |
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34,0.566666667,pose1-to-pose2-lift,1.79307232151e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006637_1793072321521961664_real.jpg,0.675942248404,-0.0054343341309,0.0979865740873,0.999999946514,0.000161686694383,-0.000283145523366,-2.56691436755e-05,0.0345052070916
|
| 37 |
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35,0.583333333,pose1-to-pose2-lift,1.79307232153e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006637_1793072321521961664_real.jpg,0.67595362636,-0.0054574564963,0.0981367210656,0.999999953265,0.000142500259118,-0.000268519646969,-3.25813436814e-05,0.0345052070916
|
| 38 |
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36,0.600000000,pose1-to-pose2-lift,1.79307232155e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006638_1793072321543651574_interpolated.jpg,0.675960926015,-0.00547086655253,0.0982487851345,0.999999956891,0.00013349300604,-0.000259369567177,-3.35515781446e-05,0.0345052070916
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| 39 |
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37,0.616666667,pose1-to-pose2-lift,1.79307232156e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006639_1793072321565341484_real.jpg,0.675968396659,-0.00546584895333,0.0984466544257,0.999999967438,-4.95568746234e-08,-0.000252941967388,-3.38330877442e-05,0.0345052070916
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| 40 |
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38,0.633333333,pose1-to-pose2-lift,1.79307232158e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006639_1793072321565341484_real.jpg,0.675956554415,-0.00545313079521,0.0986112072582,0.999999964242,-1.51206226849e-05,-0.000263874949607,-4.07074998924e-05,0.0345049355761
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| 41 |
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39,0.650000000,pose1-to-pose2-lift,1.7930723216e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006640_1793072321593843459_interpolated.jpg,0.675936754333,-0.00543723958624,0.0987620332798,0.999999958811,1.86237050362e-05,-0.00028196132836,-5.02985226702e-05,0.0345045521825
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| 42 |
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40,0.666666667,pose1-to-pose2-lift,1.79307232161e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006641_1793072321622345434_real.jpg,0.675931617422,-0.00543985508185,0.0989238945946,0.99999995329,5.10009036759e-05,-0.000297681724903,-4.69597026556e-05,0.0345045514405
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| 43 |
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41,0.683333333,pose1-to-pose2-lift,1.79307232162e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006641_1793072321622345434_real.jpg,0.67592149676,-0.00544022123882,0.0991123410287,0.999999945751,6.71058410293e-05,-0.000319184471953,-4.60099645751e-05,0.0345045514405
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| 44 |
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42,0.700000000,pose1-to-pose2-lift,1.79307232164e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006642_1793072321641471669_interpolated.jpg,0.675902204668,-0.00543473165462,0.0993481422074,0.999999936268,4.90433863321e-05,-0.000349962301828,-5.08380723869e-05,0.0345045514405
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| 45 |
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43,0.716666667,pose1-to-pose2-lift,1.79307232166e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006643_1793072321660597905_real.jpg,0.675902654835,-0.00542798960032,0.0994716450738,0.99999993498,6.81363859593e-05,-0.000349898494709,-5.44888092444e-05,0.0345045514405
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50,0.833333333,pose1-to-pose2-lift,1.79307232178e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006648_1793072321791778025_interpolated.jpg,0.675933490301,-0.00536601639466,0.101278822306,0.999999948934,9.2340383493e-05,-0.000294158330318,-8.41162828529e-05,0.0345038436135
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| 53 |
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51,0.850000000,pose1-to-pose2-lift,1.7930723218e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006648_1793072321791778025_interpolated.jpg,0.675938759012,-0.00536139328406,0.101569851335,0.999999951295,9.47179173489e-05,-0.000284480877494,-8.66522517866e-05,0.034503236413
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52,0.866666667,pose1-to-pose2-lift,1.79307232181e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006649_1793072321823470027_real.jpg,0.675941904011,-0.00535182698384,0.101857101936,0.99999994966,0.000122755597705,-0.00028010030453,-8.45906013049e-05,0.034503236413
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| 182 |
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| 190 |
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| 193 |
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| 201 |
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201,3.350000000,pose2-hold,1.79307232433e+18,camera_frames_60hz/WAIT_POSE2/camera_00006747_1793072324326037933_real.jpg,0.675902243379,-0.00538324926262,0.13454665427,0.999999932197,0.000110510508056,-0.000343292585639,-7.44539978288e-05,0.0345025807619
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| 204 |
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| 205 |
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203,3.383333333,pose2-hold,1.79307232436e+18,camera_frames_60hz/WAIT_POSE2/camera_00006748_1793072324347800517_interpolated.jpg,0.675902023449,-0.0053793883243,0.13454604422,0.9999999312,0.000114840915371,-0.000344404107434,-7.61364692684e-05,0.0345025807619
|
Part2/Free/s1/cylinder_0010_10/width_08/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,205 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.252678e-05,0.8455892,2.15061e-06,0.8346293
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.25481494541e-05,0.8455895,2.13988877745e-06,0.834629673197
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.27626470601e-05,0.845589797424,1.91823399061e-06,0.834629898283
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.2715294276e-05,0.845590090079,1.97153597238e-06,0.83463011756
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.26911224335e-05,0.845590508285,1.99309084711e-06,0.83463054682
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26836609068e-05,0.84559092368,1.99395434878e-06,0.834631014139
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26837742082e-05,0.845591416912,1.99643297855e-06,0.834631516912
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.26846301404e-05,0.845591657343,1.99777089359e-06,0.834631757343
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.26858039834e-05,0.845591987074,1.99960573767e-06,0.834632087074
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.26874336581e-05,0.845592444848,2.00215309626e-06,0.834632544848
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.26955689455e-05,0.845593056956,1.98861175001e-06,0.834633156956
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.444801e-05,0.8835844,2.036362e-06,0.8726295
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.42103848882e-05,0.8835844,2.26973982162e-06,0.8726295
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.4029913131e-05,0.883584348975,2.45319982513e-06,0.872629474487
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.37787689086e-05,0.883584273106,2.70909456354e-06,0.872629436553
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.31268679272e-05,0.883584280473,3.36520826237e-06,0.872629453649
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.23632751362e-05,0.883584430383,4.12812146032e-06,0.872629553589
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.15639259531e-05,0.8835845,4.92848256514e-06,0.8726296
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.06014143134e-05,0.8835845,5.89386720958e-06,0.8726296
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.91026566339e-05,0.8835845,7.39709853667e-06,0.8726296
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.76001164858e-05,0.883584464776,8.90451296049e-06,0.872629564776
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.6136260028e-05,0.883584413198,1.03733089759e-05,0.872629513198
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.21668559463e-05,0.88358431755,1.43594463775e-05,0.87262941755
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.51470938214e-05,0.883584480369,2.14338752356e-05,0.872629580369
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-5.47548010901e-05,0.883584647436,3.19108779844e-05,0.872629747436
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-3.00850946428e-05,0.8835846,5.67585765569e-05,0.8726297
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,1.08405071942e-05,0.883584670443,9.78858711084e-05,0.872629770443
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,6.82863265698e-05,0.883584873826,0.000155591962803,0.872629973826
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000152149913728,0.883585184315,0.000239824833775,0.872630284315
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000257491845607,0.88358557336,0.000345903064844,0.872630615574
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.00037071409764,0.883586403347,0.000459923991695,0.872631206694
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000500571229065,0.883586630195,0.000590299918051,0.872631530195
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000641167614225,0.883587421882,0.000731563417252,0.872632321882
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000775492192045,0.883587787888,0.000866785814993,0.872632593944
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000919375507757,0.883588492384,0.00101176231907,0.872633192384
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00106917376959,0.883588418153,0.00116254185758,0.872633118153
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00121551598095,0.88358845967,0.00130959212702,0.872633179835
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00137236523022,0.883588324472,0.00146746456505,0.872633173417
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00154195787955,0.88358843257,0.00163823739375,0.872633497709
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00170737194461,0.883588638294,0.00180470150985,0.872633872868
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00188502656244,0.8835889,0.0019834692271,0.8726342
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00206841164898,0.883588801963,0.00216797701187,0.872634101963
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.0022441565771,0.883588852514,0.0023448016939,0.872634152514
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00242527825656,0.883589,0.00252704428208,0.8726343
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00261471059976,0.883589,0.00271762967661,0.8726343
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00279122836454,0.883589066698,0.00289522469123,0.872634433395
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00297217443815,0.883589246424,0.0030772762558,0.872634573212
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.0031505810124,0.883589219325,0.00325679560762,0.872634519325
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00331511553646,0.883589529925,0.00342233307955,0.872634912407
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00347623644799,0.883589514417,0.0035844332054,0.872634914417
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00363772568967,0.883589874162,0.00374668166867,0.872635274162
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00378141534902,0.883590182916,0.00389122066012,0.872635394305
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00392333716008,0.883589901254,0.00403386532971,0.872635101254
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00405776594913,0.883589680701,0.0041688689044,0.872634874268
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00417623847439,0.883589384369,0.00428828326714,0.872634460922
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00428490922405,0.8835892,0.00439784468541,0.872634018014
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00439042174434,0.883589149157,0.00450415110745,0.872634183052
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00447886783178,0.883588865457,0.00459323367142,0.8726341
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00456069791539,0.883588721534,0.00467557935436,0.872634143068
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00463283378406,0.883588746582,0.00474821624247,0.872634246582
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00469239649395,0.883588572916,0.00480820022387,0.872634072916
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00474156580983,0.883588476303,0.00485768892794,0.872633952607
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00478532867781,0.883588348852,0.00490173868842,0.872633774426
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00481904002293,0.883588158952,0.0049355986736,0.872633679476
|
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+
53,0.883333333,pose2-to-pose3-side,0.00484687874162,0.883588037477,0.00496352185678,0.872633618739
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+
54,0.900000000,pose2-to-pose3-side,0.0048697435527,0.883588179077,0.00498648333428,0.872633679077
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488736880917,0.883588156517,0.00500422845991,0.872633656517
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+
56,0.933333333,pose2-to-pose3-side,0.00489876690657,0.883588275293,0.0050156884836,0.872633775293
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+
57,0.950000000,pose2-to-pose3-side,0.00490650872536,0.8835882,0.00502348306218,0.872633680612
|
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+
58,0.966666667,pose2-to-pose3-side,0.00491171913582,0.883588146799,0.00502873522933,0.872633546799
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+
59,0.983333333,pose2-to-pose3-side,0.00491492782297,0.88358797301,0.00503197365921,0.872633348673
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491595981565,0.883588190883,0.00503299621072,0.872633493922
|
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+
61,1.016666667,pose2-to-pose3-side,0.004916702,0.8835881,0.005033783,0.8726335
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+
62,1.033333333,pose3-hold,0.004916702,0.8835881,0.005033792,0.8726334
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+
63,1.050000000,pose3-hold,0.004916702,0.8835881,0.00503379541176,0.8726334
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64,1.066666667,pose3-hold,0.004916702,0.8835881,0.00503379882353,0.8726334
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+
65,1.083333333,pose3-hold,0.004916702,0.8835881,0.00503380055882,0.8726334
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+
66,1.100000000,pose3-hold,0.004916702,0.8835881,0.00503380305882,0.8726334
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67,1.116666667,pose3-hold,0.004916702,0.8835881,0.00503380520588,0.8726334
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+
68,1.133333333,pose3-hold,0.004916702,0.8835881,0.00503380347059,0.8726334
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+
69,1.150000000,pose3-hold,0.004916702,0.8835881,0.00503380688235,0.8726334
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70,1.166666667,pose3-hold,0.004916702,0.8835881,0.00503380535294,0.8726334
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+
71,1.183333333,pose3-hold,0.004916702,0.8835881,0.00503380838235,0.8726334
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+
72,1.200000000,pose3-hold,0.004916702,0.8835881,0.00503380682353,0.8726334
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+
73,1.216666667,pose3-hold,0.004916702,0.8835881,0.00503380514706,0.8726334
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+
74,1.233333333,pose3-hold,0.004916702,0.8835881,0.00503380629412,0.8726334
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+
75,1.250000000,pose3-hold,0.004916702,0.8835881,0.00503380452941,0.8726334
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+
76,1.266666667,pose3-hold,0.004916702,0.8835881,0.00503380964706,0.8726334
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+
77,1.283333333,pose3-hold,0.004916702,0.8835881,0.00503380444118,0.8726334
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+
78,1.300000000,pose3-hold,0.004916702,0.8835881,0.005033803,0.8726334
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+
79,1.316666667,pose3-hold,0.004916702,0.8835881,0.005033804,0.8726334
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+
80,1.333333333,pose3-hold,0.004916702,0.8835881,0.00503380464706,0.8726334
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+
81,1.350000000,pose3-hold,0.004916702,0.8835881,0.00503380420588,0.8726334
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+
82,1.366666667,pose3-hold,0.004916702,0.8835881,0.00503380405882,0.8726334
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+
83,1.383333333,pose3-hold,0.004916702,0.8835881,0.00503379041176,0.8726334
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+
84,1.400000000,pose3-hold,0.004916702,0.8835881,0.00503379511765,0.8726334
|
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+
85,1.416666667,pose3-hold,0.004916702,0.8835881,0.00503378526471,0.8726334
|
| 88 |
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86,1.433333333,pose3-hold,0.004916702,0.8835881,0.00503378270588,0.8726334
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+
87,1.450000000,pose3-hold,0.004916702,0.8835881,0.00503378832353,0.8726334
|
| 90 |
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88,1.466666667,pose3-hold,0.004916702,0.8835881,0.00503378864706,0.8726334
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+
89,1.483333333,pose3-hold,0.004916702,0.8835881,0.00503378688235,0.8726334
|
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+
90,1.500000000,pose3-hold,0.004916702,0.8835881,0.00503378347059,0.8726334
|
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91,1.516666667,pose3-hold,0.004916702,0.8835881,0.00503378005882,0.8726334
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92,1.533333333,pose3-hold,0.004916702,0.8835881,0.00503377958824,0.8726334
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+
93,1.550000000,pose3-hold,0.004916702,0.8835881,0.00503378132353,0.8726334
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94,1.566666667,pose3-hold,0.004916702,0.8835881,0.00503378064706,0.8726334
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95,1.583333333,pose3-hold,0.004916702,0.8835881,0.00503377529412,0.8726334
|
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+
96,1.600000000,pose3-hold,0.004916702,0.8835881,0.005033777,0.8726334
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491671,0.8835881,0.005033788,0.8726334
|
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+
98,1.633333333,pose3-to-pose4-insert,0.00491678449238,0.883587678419,0.00503385146502,0.872633078419
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+
99,1.650000000,pose3-to-pose4-insert,0.00491677366601,0.883587603236,0.00503384124012,0.872633003236
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491676156283,0.883587519186,0.00503382980934,0.872632919186
|
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+
101,1.683333333,pose3-to-pose4-insert,0.00491673365127,0.883587325356,0.00503380344843,0.872632725356
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491673021902,0.883586971468,0.00503380394239,0.872632371468
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| 105 |
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103,1.716666667,pose3-to-pose4-insert,0.0049167302943,0.88358685855,0.0050338052974,0.87263225855
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| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491673043316,0.883586650262,0.00503380779686,0.872632050262
|
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105,1.750000000,pose3-to-pose4-insert,0.00491673070449,0.883586243262,0.00503381268085,0.872631643262
|
| 108 |
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106,1.766666667,pose3-to-pose4-insert,0.00491673092059,0.883585919114,0.00503381657063,0.872631319114
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491672919775,0.883585493617,0.00503381349437,0.872630893617
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491673370792,0.883581364519,0.00503379851944,0.872626764519
|
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109,1.816666667,pose3-to-pose4-insert,0.00491691887516,0.883572089726,0.00503402052169,0.872617489726
|
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110,1.833333333,pose3-to-pose4-insert,0.00491681929217,0.883553355535,0.00503389207944,0.872598755535
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111,1.850000000,pose3-to-pose4-insert,0.00491683954299,0.883517727237,0.00503390685447,0.87256303779
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112,1.866666667,pose3-to-pose4-insert,0.00491695396842,0.883464491186,0.00503406406227,0.872509891186
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113,1.883333333,pose3-to-pose4-insert,0.00491684136115,0.883396849852,0.00503397523238,0.872442249852
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114,1.900000000,pose3-to-pose4-insert,0.0049171975617,0.88330646644,0.00503434938173,0.872351942841
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115,1.916666667,pose3-to-pose4-insert,0.00491730328099,0.883199811971,0.0050344997242,0.872245284131
|
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116,1.933333333,pose3-to-pose4-insert,0.00491733484076,0.883089006236,0.00503455144634,0.872134466252
|
| 119 |
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117,1.950000000,pose3-to-pose4-insert,0.00491745357942,0.882963966366,0.00503467462118,0.872009466366
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| 120 |
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118,1.966666667,pose3-to-pose4-insert,0.00491750857538,0.882826400935,0.00503476257538,0.871871783344
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119,1.983333333,pose3-to-pose4-insert,0.00491746850595,0.882685573104,0.00503471862691,0.871730908368
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120,2.000000000,pose3-to-pose4-insert,0.00491767362404,0.882535941623,0.00503491102909,0.87158129076
|
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121,2.016666667,pose3-to-pose4-insert,0.00491775882501,0.882370738031,0.00503502012229,0.871416038031
|
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122,2.033333333,pose3-to-pose4-insert,0.0049177389427,0.882209036102,0.00503499626303,0.871254415529
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123,2.050000000,pose3-to-pose4-insert,0.00491801078772,0.882040584831,0.00503526995933,0.871085896665
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124,2.066666667,pose3-to-pose4-insert,0.00491773347583,0.881863273961,0.00503499740716,0.870908475677
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125,2.083333333,pose3-to-pose4-insert,0.00491802764559,0.881684479705,0.00503532259401,0.870729679705
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126,2.100000000,pose3-to-pose4-insert,0.0049182159008,0.881507012506,0.00503550928543,0.870552212506
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127,2.116666667,pose3-to-pose4-insert,0.00491832940203,0.881324800951,0.00503561734009,0.87036998755
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128,2.133333333,pose3-to-pose4-insert,0.00491835003383,0.881151252623,0.00503564937279,0.870196340759
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129,2.150000000,pose3-to-pose4-insert,0.00491847098781,0.880976391456,0.00503580853044,0.870021401866
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130,2.166666667,pose3-to-pose4-insert,0.00491834413028,0.88080310032,0.00503567087036,0.869848192411
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131,2.183333333,pose3-to-pose4-insert,0.00491815427209,0.880633547611,0.00503550055947,0.869678547611
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132,2.200000000,pose3-to-pose4-insert,0.00491771926269,0.880456599375,0.00503504710901,0.869501594252
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133,2.216666667,pose3-to-pose4-insert,0.00491759915755,0.880270561234,0.00503492470577,0.869315474939
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134,2.233333333,pose3-to-pose4-insert,0.00491757657121,0.880096244552,0.00503490503011,0.869141226515
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135,2.250000000,pose3-to-pose4-insert,0.00491785835808,0.87991769279,0.00503518552227,0.868962563686
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136,2.266666667,pose3-to-pose4-insert,0.00491794905099,0.879741855243,0.00503528379577,0.868786655243
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137,2.283333333,pose3-to-pose4-insert,0.00491829942848,0.879582447486,0.00503562590838,0.868627195629
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138,2.300000000,pose3-to-pose4-insert,0.00491865861006,0.879433998035,0.00503597338253,0.868478698035
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139,2.316666667,pose3-to-pose4-insert,0.00491894300357,0.879290728468,0.00503617761045,0.868335498035
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140,2.333333333,pose3-to-pose4-insert,0.00491870553619,0.879170046231,0.00503589683209,0.868214776194
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141,2.350000000,pose3-to-pose4-insert,0.00491852433925,0.879057026185,0.0050357792733,0.868101654213
|
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142,2.366666667,pose3-to-pose4-insert,0.00491829040576,0.878952347629,0.00503558802926,0.867996947629
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143,2.383333333,pose3-to-pose4-insert,0.00491797175274,0.87886079869,0.00503524899466,0.86790532293
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144,2.400000000,pose3-to-pose4-insert,0.00491790013379,0.878780562788,0.00503515582395,0.867824988844
|
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145,2.416666667,pose3-to-pose4-insert,0.00491769835896,0.878705226091,0.00503491383636,0.867749626091
|
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+
146,2.433333333,pose3-to-pose4-insert,0.00491758577721,0.878643442357,0.00503479450741,0.867687916961
|
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147,2.450000000,pose3-to-pose4-insert,0.0049174386342,0.878589016336,0.00503462571797,0.867633442413
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148,2.466666667,pose3-to-pose4-insert,0.00491735648525,0.87854309399,0.00503445077103,0.86758749399
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149,2.483333333,pose3-to-pose4-insert,0.00491723483378,0.878506121971,0.00503428543255,0.867550521971
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150,2.500000000,pose3-to-pose4-insert,0.00491723239583,0.878476913187,0.00503429754138,0.867521374234
|
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151,2.516666667,pose3-to-pose4-insert,0.00491720294898,0.878451520574,0.00503429179508,0.86749608083
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152,2.533333333,pose3-to-pose4-insert,0.00491706250544,0.87843316549,0.0050341478218,0.867477712071
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153,2.550000000,pose3-to-pose4-insert,0.00491692010546,0.878419541073,0.00503398622479,0.867463996161
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154,2.566666667,pose3-to-pose4-insert,0.00491695999411,0.878408902531,0.0050340275515,0.867453302531
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155,2.583333333,pose3-to-pose4-insert,0.00491709939282,0.878401030074,0.00503418978706,0.867445381585
|
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156,2.600000000,pose3-to-pose4-insert,0.0049170760468,0.878396475246,0.00503418055296,0.867440885837
|
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157,2.616666667,pose3-to-pose4-insert,0.00491691190085,0.878393923454,0.00503404037619,0.867438423454
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158,2.633333333,pose3-to-pose4-insert,0.004917039,0.8783925,0.005034185,0.8674368
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159,2.650000000,pose4-hold,0.004917039,0.8783925,0.005034208,0.8674368
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160,2.666666667,pose4-hold,0.004917039,0.8783925,0.00503424211765,0.867436970588
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161,2.683333333,pose4-hold,0.004917039,0.8783925,0.00503426,0.867437070588
|
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162,2.700000000,pose4-hold,0.004917039,0.8783925,0.00503426164706,0.867437044118
|
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163,2.716666667,pose4-hold,0.004917039,0.8783925,0.00503425817647,0.867436958824
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164,2.733333333,pose4-hold,0.004917039,0.8783925,0.00503429723529,0.8674369
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165,2.750000000,pose4-hold,0.004917039,0.8783925,0.00503440252941,0.8674369
|
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166,2.766666667,pose4-hold,0.004917039,0.8783925,0.00503435561765,0.8674369
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167,2.783333333,pose4-hold,0.004917039,0.8783925,0.00503435811765,0.867436982353
|
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168,2.800000000,pose4-hold,0.004917039,0.8783925,0.00503431232353,0.867436932353
|
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169,2.816666667,pose4-hold,0.004917039,0.8783925,0.00503426352941,0.8674369
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170,2.833333333,pose4-hold,0.004917039,0.8783925,0.00503423732353,0.867436861765
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171,2.850000000,pose4-hold,0.004917039,0.8783925,0.00503423417647,0.8674368
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172,2.866666667,pose4-hold,0.004917039,0.8783925,0.00503423994118,0.8674368
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173,2.883333333,pose4-hold,0.004917039,0.8783925,0.00503425870588,0.8674368
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174,2.900000000,pose4-hold,0.004917039,0.8783925,0.00503426794118,0.8674368
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175,2.916666667,pose4-hold,0.004917039,0.8783925,0.00503427,0.8674368
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176,2.933333333,pose4-hold,0.004917039,0.8783925,0.0050342655,0.8674368
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177,2.950000000,pose4-hold,0.004917039,0.8783925,0.00503426276471,0.8674368
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178,2.966666667,pose4-hold,0.004917039,0.8783925,0.00503426661765,0.8674368
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179,2.983333333,pose4-hold,0.004917039,0.8783925,0.00503426911765,0.8674368
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180,3.000000000,pose4-hold,0.004917039,0.8783925,0.00503427082353,0.8674368
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181,3.016666667,pose4-hold,0.004917039,0.8783925,0.00503427482353,0.8674368
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182,3.033333333,pose4-hold,0.004917039,0.8783925,0.00503427414706,0.8674368
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183,3.050000000,pose4-hold,0.004917039,0.8783925,0.00503427205882,0.8674368
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184,3.066666667,pose4-hold,0.004917039,0.8783925,0.00503426970588,0.8674368
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185,3.083333333,pose4-hold,0.004917039,0.8783925,0.005034267,0.8674368
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186,3.100000000,pose4-hold,0.004917039,0.8783925,0.00503426702941,0.8674368
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187,3.116666667,pose4-hold,0.004917039,0.8783925,0.00503426788235,0.8674368
|
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+
188,3.133333333,pose4-hold,0.004917039,0.8783925,0.00503426358824,0.8674368
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Part2/Free/s1/cylinder_0010_10/width_09/pick/camera_frames_60hz.tar
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|
Part2/Free/s1/cylinder_0010_10/width_09/pick/simulation_data.csv
ADDED
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,4.274011e-06,0.8346294
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,-8.269619928e-05,0.845590225649,4.09526554439e-06,0.834630228855
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.26908085317e-05,0.84559052576,4.09379762523e-06,0.83463056648
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26837195437e-05,0.845590920415,4.09186726962e-06,0.834631010467
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,-8.26844851038e-05,0.845591616602,4.09565691865e-06,0.834631716602
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,-8.26871574021e-05,0.845592367248,4.10074429388e-06,0.834632467248
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.26943098757e-05,0.845592968626,4.09256319611e-06,0.834633068626
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.26990287362e-05,0.845593299677,4.08614824949e-06,0.834633399677
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.2706608033e-05,0.845593831402,4.07584474825e-06,0.834633931402
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.27149674895e-05,0.84559441786,4.06448067676e-06,0.83463451786
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.27205748794e-05,0.845594928129,4.05644237869e-06,0.834635028129
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.27086812211e-05,0.84559519258,4.0687051107e-06,0.83463529258
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.27060548788e-05,0.845595250975,4.07141295133e-06,0.834635350975
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.26986847918e-05,0.845595414846,4.07901174039e-06,0.834635514846
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.26760074412e-05,0.845595919067,4.1023927948e-06,0.834636019067
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.26529382574e-05,0.845596432001,4.12617784142e-06,0.834636532001
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.26031870663e-05,0.845597538198,4.17747286814e-06,0.834637638198
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.26670860974e-05,0.845601060728,4.12308722915e-06,0.834641229582
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.25679593074e-05,0.845608278112,4.22396487654e-06,0.834648378483
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.26875739978e-05,0.845619167188,4.09293144244e-06,0.834659267188
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.26446003751e-05,0.845638826184,4.12760342486e-06,0.834678909568
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.25860337723e-05,0.845669634202,4.16878160517e-06,0.834709734202
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.27500470338e-05,0.845710658024,4.00763466488e-06,0.834750661607
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.28134736864e-05,0.845757034372,3.9509563853e-06,0.834797034372
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.29881986059e-05,0.845806960813,3.80748790874e-06,0.834847057179
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.30492561531e-05,0.845863776139,3.70544747895e-06,0.834903776139
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.33299807504e-05,0.845926827618,3.42485222949e-06,0.834966898705
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.32717085621e-05,0.845988990607,3.49723537376e-06,0.835029005166
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.33612585006e-05,0.846063778739,3.38283969959e-06,0.835103778739
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.34474003069e-05,0.846153835527,3.2899407089e-06,0.835193835527
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.36668570113e-05,0.846252738988,3.09232781358e-06,0.835292738988
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.39019651646e-05,0.846359558095,2.88971736728e-06,0.835399558095
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.3938725463e-05,0.846471010023,2.80284400683e-06,0.835511010023
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.40189851324e-05,0.846580918598,2.71346894089e-06,0.835620908913
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.37223481179e-05,0.846689786308,2.98030342501e-06,0.835729699674
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.33913781557e-05,0.846804922072,3.34176132142e-06,0.835845019226
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.29389149193e-05,0.846924530365,3.78681034686e-06,0.835964533562
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.28764317967e-05,0.847055090384,3.84897531322e-06,0.836094997582
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.20833828865e-05,0.847208307573,4.67677260795e-06,0.836248207573
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.1591743958e-05,0.84737672451,5.15496816654e-06,0.836416715813
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.10161026328e-05,0.847547365592,5.7257080726e-06,0.836587265592
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.12283993935e-05,0.847733936466,5.50202266219e-06,0.836773836466
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.15154763488e-05,0.847936904701,5.22999405903e-06,0.836976836058
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.18644693859e-05,0.848133094068,4.86779751782e-06,0.837173061222
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.19734496338e-05,0.848348108288,4.72471317649e-06,0.83738804704
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.19997396109e-05,0.848578559911,4.69026057509e-06,0.837618559911
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.18301354825e-05,0.848806996052,4.87518580579e-06,0.837846996052
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.16018571451e-05,0.849054015694,5.1156154285e-06,0.838094015694
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,-8.14021975989e-05,0.849324333739,5.31233954808e-06,0.838364333739
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.14673622831e-05,0.84958745118,5.25296696003e-06,0.83862745118
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,-8.21019178802e-05,0.849870428896,4.65004760507e-06,0.838910428896
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,-8.2745657766e-05,0.850169821987,3.99634717713e-06,0.839209909373
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,-8.33533323734e-05,0.850464078458,3.39296455059e-06,0.839504178458
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.29214765174e-05,0.850774550868,3.86608560201e-06,0.839814650868
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,-8.22900770312e-05,0.851108994649,4.5201319399e-06,0.840149094649
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,-8.16951267432e-05,0.85143046648,5.1055333784e-06,0.840470558085
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,-8.18954793966e-05,0.851768589327,4.8932979197e-06,0.840808602234
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,-8.21466349541e-05,0.85211836688,4.67584519805e-06,0.84115846688
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,-8.24772137849e-05,0.852456881942,4.3336521576e-06,0.841496981942
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,-8.25115637031e-05,0.852813205656,4.27569628164e-06,0.841853323612
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,-8.27064816405e-05,0.853196783736,4.10818861646e-06,0.842236983736
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,-8.30006453864e-05,0.853563505092,3.83456831601e-06,0.842603705092
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,-8.34278630415e-05,0.853953158662,3.45781534564e-06,0.842993358662
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,-8.40777324081e-05,0.854356704648,2.84694978272e-06,0.843396904648
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,-8.41848225319e-05,0.854743935996,2.74610781088e-06,0.843784135996
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,-8.4436165961e-05,0.855144474862,2.51571963993e-06,0.844184705073
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,-8.42922439826e-05,0.855569322847,2.70946819896e-06,0.844609622847
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,-8.39140792429e-05,0.855969673689,3.15536064219e-06,0.845010004904
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,-8.32849367121e-05,0.856396114113,3.82033884504e-06,0.845436514113
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,-8.22114664817e-05,0.85684558617,4.89393785606e-06,0.84588602378
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,-8.18740786358e-05,0.857285123626,5.22062642301e-06,0.846325623626
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,-8.27511701019e-05,0.857745023873,4.36703893198e-06,0.846785523873
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,-8.36621149881e-05,0.858236855701,3.47939055409e-06,0.847277355701
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,-8.31539426616e-05,0.858699576693,3.99675097654e-06,0.847740076693
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,-8.23266925604e-05,0.859173757288,4.82314044144e-06,0.848214317943
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,-8.31161774338e-05,0.859653113738,4.05636727975e-06,0.848693713738
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,-8.40786206759e-05,0.860104282908,3.12142258571e-06,0.849145006731
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,-8.37051191219e-05,0.860561495109,3.53377737952e-06,0.849602235527
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,-8.24834211785e-05,0.861043981931,4.81736265157e-06,0.850084743874
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,-8.15051608809e-05,0.861494711739,5.83630012708e-06,0.850535568761
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,-8.06294090294e-05,0.861958419175,6.73731023391e-06,0.850999373536
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,-8.10102474671e-05,0.862433754628,6.37415128899e-06,0.851474754628
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,-8.23717516854e-05,0.862887099618,5.02151597086e-06,0.851928147796
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,-8.32090296131e-05,0.863354225898,4.16513469774e-06,0.852395325898
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,-8.32847053059e-05,0.863854201742,4.07157035053e-06,0.852895350942
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,-8.33889839898e-05,0.864332970393,3.99772336962e-06,0.853374218666
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,-8.38321449974e-05,0.864834089563,3.60019573492e-06,0.853875389563
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,-8.41984146825e-05,0.865349897323,3.27370940578e-06,0.8543912554
|
| 90 |
+
88,1.466666667,pose1-to-pose2-lift,-8.43090645137e-05,0.865842500146,3.18048135061e-06,0.854883960379
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,-8.40018442129e-05,0.866342506163,3.47819597694e-06,0.855384006163
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,-8.33505354019e-05,0.866866209697,4.13420018573e-06,0.85590778292
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,-8.33222523785e-05,0.867353227117,4.15895351439e-06,0.856394902258
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,-8.31086144744e-05,0.867845248675,4.40973956625e-06,0.856886948675
|
| 95 |
+
93,1.550000000,pose1-to-pose2-lift,-8.29140089447e-05,0.868335688871,4.61744982328e-06,0.857377471319
|
| 96 |
+
94,1.566666667,pose1-to-pose2-lift,-8.25002865302e-05,0.868793596857,5.04188845786e-06,0.857835476835
|
| 97 |
+
95,1.583333333,pose1-to-pose2-lift,-8.25327871453e-05,0.869248799884,4.97751449257e-06,0.858290777533
|
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.315599e-05,0.8835867,4.93287e-06,0.8726319
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.26442253672e-05,0.883586846617,5.44730974681e-06,0.872631973308
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.19248207203e-05,0.883586833458,6.16832969169e-06,0.872631933458
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.14703454196e-05,0.883586779606,6.62507782664e-06,0.872631879606
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.05194311984e-05,0.8835867,7.58146980788e-06,0.8726318
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.96352325204e-05,0.8835867,8.47237843355e-06,0.8726318
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.90067551153e-05,0.8835867,9.10562518584e-06,0.8726318
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.86454257999e-05,0.8835867,9.46969653289e-06,0.8726318
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.82533220946e-05,0.8835867,9.86477580852e-06,0.8726318
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.70072405872e-05,0.88358671813,1.11177840338e-05,0.872631827194
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.63906235802e-05,0.883586740667,1.1735935867e-05,0.872631861001
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11,0.183333333,pose2-to-pose3-side,-7.47134270723e-05,0.88358680197,1.34173070979e-05,0.872631952955
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12,0.200000000,pose2-to-pose3-side,-6.81659958988e-05,0.88358681329,2.00000109262e-05,0.87263201329
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13,0.216666667,pose2-to-pose3-side,-5.44214572659e-05,0.8835867,3.38413588219e-05,0.872631832494
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14,0.233333333,pose2-to-pose3-side,-3.32920997213e-05,0.883586605092,5.50777337548e-05,0.8726318
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15,0.250000000,pose2-to-pose3-side,9.97020723958e-06,0.8835868,9.86044177563e-05,0.872632
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16,0.266666667,pose2-to-pose3-side,7.47692456317e-05,0.883587038582,0.000163858292179,0.872632138582
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19,0.316666667,pose2-to-pose3-side,0.000366464756325,0.883587505109,0.000456897201543,0.872632507664
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21,0.350000000,pose2-to-pose3-side,0.000612494769562,0.88358840179,0.000704554913339,0.872633350895
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22,0.366666667,pose2-to-pose3-side,0.000746205604815,0.883588980102,0.000839222070705,0.87263374293
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26,0.433333333,pose2-to-pose3-side,0.00131949914222,0.883589778907,0.00141573583258,0.872634489453
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27,0.450000000,pose2-to-pose3-side,0.00147689641692,0.883590165278,0.00157426310789,0.872634865278
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28,0.466666667,pose2-to-pose3-side,0.00165205830547,0.883590400408,0.00175059665498,0.872635101634
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29,0.483333333,pose2-to-pose3-side,0.00184788472338,0.883590481557,0.00194768161826,0.872635518443
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31,0.516666667,pose2-to-pose3-side,0.00220598157408,0.883590171647,0.00230802378202,0.8726355
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32,0.533333333,pose2-to-pose3-side,0.00239304682543,0.883589954178,0.00249626748159,0.872635317722
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33,0.550000000,pose2-to-pose3-side,0.00258344314103,0.883589607288,0.00268784475137,0.872634860933
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34,0.566666667,pose2-to-pose3-side,0.00276389764942,0.883589192459,0.00286940578648,0.872634392459
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39,0.650000000,pose2-to-pose3-side,0.00360568443513,0.88358925489,0.0037161048048,0.87263435489
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40,0.666666667,pose2-to-pose3-side,0.00375283248909,0.883589349548,0.00386408350233,0.872634374774
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61,1.016666667,pose2-to-pose3-side,0.004917027,0.8835903,0.005035729,0.8726357
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63,1.050000000,pose3-hold,0.004917027,0.8835903,0.00503573382353,0.8726357
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64,1.066666667,pose3-hold,0.004917027,0.8835903,0.00503573570588,0.8726357
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66,1.100000000,pose3-hold,0.004917027,0.8835903,0.00503573988235,0.8726357
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67,1.116666667,pose3-hold,0.004917027,0.8835903,0.00503574347059,0.8726357
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68,1.133333333,pose3-hold,0.004917027,0.8835903,0.00503574176471,0.8726357
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69,1.150000000,pose3-hold,0.004917027,0.8835903,0.00503574005882,0.8726357
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70,1.166666667,pose3-hold,0.004917027,0.8835903,0.00503574247059,0.8726357
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71,1.183333333,pose3-hold,0.004917027,0.8835903,0.00503574502941,0.8726357
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72,1.200000000,pose3-hold,0.004917027,0.8835903,0.005035746,0.8726357
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73,1.216666667,pose3-hold,0.004917027,0.8835903,0.00503574523529,0.8726357
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74,1.233333333,pose3-hold,0.004917027,0.8835903,0.005035744,0.8726357
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75,1.250000000,pose3-hold,0.004917027,0.8835903,0.00503574338235,0.8726357
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76,1.266666667,pose3-hold,0.004917027,0.8835903,0.00503573741176,0.8726357
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77,1.283333333,pose3-hold,0.004917027,0.8835903,0.00503574176471,0.8726357
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78,1.300000000,pose3-hold,0.004917027,0.8835903,0.00503574235294,0.8726357
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79,1.316666667,pose3-hold,0.004917027,0.8835903,0.0050357425,0.8726357
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80,1.333333333,pose3-hold,0.004917027,0.8835903,0.00503574017647,0.8726357
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81,1.350000000,pose3-hold,0.004917027,0.8835903,0.00503573479412,0.8726357
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82,1.366666667,pose3-hold,0.004917027,0.8835903,0.00503573364706,0.8726357
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83,1.383333333,pose3-hold,0.004917027,0.8835903,0.00503572852941,0.8726357
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84,1.400000000,pose3-hold,0.004917027,0.8835903,0.00503572952941,0.8726357
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85,1.416666667,pose3-hold,0.004917027,0.8835903,0.00503572938235,0.8726357
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86,1.433333333,pose3-hold,0.004917027,0.8835903,0.00503572805882,0.8726357
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87,1.450000000,pose3-hold,0.004917027,0.8835903,0.00503572570588,0.8726357
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88,1.466666667,pose3-hold,0.004917027,0.8835903,0.00503572282353,0.8726357
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89,1.483333333,pose3-hold,0.004917027,0.8835903,0.00503572188235,0.8726357
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90,1.500000000,pose3-hold,0.004917027,0.8835903,0.00503571847059,0.8726357
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91,1.516666667,pose3-hold,0.004917027,0.8835903,0.00503571726471,0.8726357
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92,1.533333333,pose3-hold,0.004917027,0.8835903,0.00503571582353,0.8726357
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93,1.550000000,pose3-hold,0.004917027,0.8835903,0.00503571411765,0.8726357
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94,1.566666667,pose3-hold,0.004917027,0.8835903,0.005035713,0.8726357
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95,1.583333333,pose3-hold,0.004917027,0.8835903,0.00503571270588,0.8726357
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96,1.600000000,pose3-hold,0.004917027,0.8835903,0.005035711,0.8726357
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97,1.616666667,pose3-to-pose4-insert,0.004917027,0.8835903,0.005035711,0.8726357
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98,1.633333333,pose3-to-pose4-insert,0.00491687701668,0.883589703336,0.00503555938893,0.872635103336
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99,1.650000000,pose3-to-pose4-insert,0.00491691576998,0.88358878414,0.00503560213318,0.87263418414
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100,1.666666667,pose3-to-pose4-insert,0.00491697611577,0.883587658838,0.00503567230872,0.872633058838
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101,1.683333333,pose3-to-pose4-insert,0.00491697720955,0.883587269937,0.00503567522547,0.872632669937
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102,1.700000000,pose3-to-pose4-insert,0.00491697754382,0.883587151087,0.00503567611684,0.872632551087
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103,1.716666667,pose3-to-pose4-insert,0.00491697842321,0.883586838413,0.00503567846191,0.872632238413
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104,1.733333333,pose3-to-pose4-insert,0.00491697870995,0.883586736462,0.00503567922653,0.872632136462
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105,1.750000000,pose3-to-pose4-insert,0.00491698057175,0.883586074489,0.00503568419134,0.872631474489
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106,1.766666667,pose3-to-pose4-insert,0.0049169836426,0.883584982632,0.00503569238026,0.872630382632
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107,1.783333333,pose3-to-pose4-insert,0.00491698477307,0.883584580686,0.00503569539485,0.872629980686
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108,1.800000000,pose3-to-pose4-insert,0.00491694695844,0.883581479053,0.00503564229427,0.872626879053
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109,1.816666667,pose3-to-pose4-insert,0.00491697028915,0.8835740607,0.00503566081914,0.8726194607
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110,1.833333333,pose3-to-pose4-insert,0.00491689693614,0.883554971411,0.00503558054695,0.872600371411
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111,1.850000000,pose3-to-pose4-insert,0.00491682757223,0.883519288362,0.00503550319501,0.872564688362
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112,1.866666667,pose3-to-pose4-insert,0.00491689775678,0.883465354937,0.00503560700217,0.872510754937
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113,1.883333333,pose3-to-pose4-insert,0.00491694089909,0.883390347739,0.00503567517837,0.872435847739
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114,1.900000000,pose3-to-pose4-insert,0.00491683928402,0.883294338497,0.00503557729569,0.872339838497
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115,1.916666667,pose3-to-pose4-insert,0.00491707148418,0.883190830137,0.00503586306925,0.872236313123
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116,1.933333333,pose3-to-pose4-insert,0.00491718937276,0.883079306395,0.00503597746274,0.872124760893
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117,1.950000000,pose3-to-pose4-insert,0.00491721571876,0.882957936674,0.00503601647267,0.872003336674
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118,1.966666667,pose3-to-pose4-insert,0.00491724248047,0.882828066679,0.00503606950695,0.871873549571
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119,1.983333333,pose3-to-pose4-insert,0.00491739756122,0.8826934565,0.00503622688167,0.8717388565
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120,2.000000000,pose3-to-pose4-insert,0.00491724707421,0.882551797188,0.00503607126308,0.871597197188
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121,2.016666667,pose3-to-pose4-insert,0.00491723747622,0.882400228764,0.00503607981925,0.87144557924
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122,2.033333333,pose3-to-pose4-insert,0.00491724701317,0.882241002884,0.00503610776647,0.871286302884
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123,2.050000000,pose3-to-pose4-insert,0.00491712526607,0.882086867383,0.00503599610798,0.871132226329
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124,2.066666667,pose3-to-pose4-insert,0.00491709406641,0.881921297386,0.00503596165986,0.870966634676
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125,2.083333333,pose3-to-pose4-insert,0.00491698448942,0.881740809893,0.00503585007719,0.870786038138
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126,2.100000000,pose3-to-pose4-insert,0.00491669771823,0.881562346145,0.00503555633048,0.870607546145
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127,2.116666667,pose3-to-pose4-insert,0.00491670481616,0.88138517146,0.00503556237687,0.870430293424
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128,2.133333333,pose3-to-pose4-insert,0.00491671408341,0.881194470362,0.00503553936139,0.870239570362
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129,2.150000000,pose3-to-pose4-insert,0.00491663567641,0.88100422196,0.00503543799167,0.87004932196
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130,2.166666667,pose3-to-pose4-insert,0.00491667697677,0.880821824931,0.00503550386192,0.86986682906
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131,2.183333333,pose3-to-pose4-insert,0.00491661610039,0.880638580787,0.00503544909243,0.869683680628
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132,2.200000000,pose3-to-pose4-insert,0.00491659795405,0.88045949167,0.00503543232331,0.86950439167
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133,2.216666667,pose3-to-pose4-insert,0.00491642809467,0.880286655437,0.00503524125105,0.869331555437
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134,2.233333333,pose3-to-pose4-insert,0.00491646924908,0.880118029948,0.00503528701413,0.869162929948
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135,2.250000000,pose3-to-pose4-insert,0.00491680546417,0.879947418679,0.00503563552131,0.868992318679
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136,2.266666667,pose3-to-pose4-insert,0.0049173009842,0.879777732945,0.00503610769532,0.86882261358
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137,2.283333333,pose3-to-pose4-insert,0.00491753002885,0.879611497088,0.00503629611514,0.868656297088
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138,2.300000000,pose3-to-pose4-insert,0.00491783246564,0.879455869083,0.00503649205794,0.868500626065
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139,2.316666667,pose3-to-pose4-insert,0.00491803933088,0.879312855617,0.00503674075935,0.868357555617
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140,2.333333333,pose3-to-pose4-insert,0.00491804480235,0.879182648979,0.00503679983478,0.868227289432
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141,2.350000000,pose3-to-pose4-insert,0.00491800368527,0.879063628076,0.00503677301762,0.868108161312
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142,2.366666667,pose3-to-pose4-insert,0.00491806170962,0.878957985755,0.00503682433446,0.868002485755
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143,2.383333333,pose3-to-pose4-insert,0.00491803540016,0.87886308085,0.00503677755022,0.867907655224
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144,2.400000000,pose3-to-pose4-insert,0.00491812455328,0.878781470656,0.00503685907701,0.867825923029
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Part2/Free/s1/cylinder_0010_10/width_10/pick/franka_data.csv
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| 206 |
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|
Part2/Free/s1/cylinder_0010_10/width_10/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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176,2.933333333,pose2-hold,-8.314054e-05,0.8835867,4.96289505882e-06,0.872631611765
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| 179 |
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| 180 |
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186,3.100000000,pose2-hold,-8.314054e-05,0.8835867,4.94811911765e-06,0.8726318
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187,3.116666667,pose2-hold,-8.314054e-05,0.8835867,4.945508e-06,0.87263185
|
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188,3.133333333,pose2-hold,-8.314054e-05,0.8835867,4.95070852941e-06,0.8726319
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| 191 |
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189,3.150000000,pose2-hold,-8.314054e-05,0.8835867,4.95823623529e-06,0.8726319
|
| 192 |
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190,3.166666667,pose2-hold,-8.314054e-05,0.8835867,4.95914529412e-06,0.8726319
|
| 193 |
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191,3.183333333,pose2-hold,-8.314054e-05,0.8835867,4.95464005882e-06,0.8726319
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| 194 |
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192,3.200000000,pose2-hold,-8.314054e-05,0.8835867,4.95122605882e-06,0.8726319
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| 195 |
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193,3.216666667,pose2-hold,-8.314054e-05,0.8835867,4.94488679412e-06,0.8726319
|
| 196 |
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194,3.233333333,pose2-hold,-8.314054e-05,0.8835867,4.94372635294e-06,0.8726319
|
| 197 |
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195,3.250000000,pose2-hold,-8.314054e-05,0.8835867,4.94632985294e-06,0.8726319
|
| 198 |
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196,3.266666667,pose2-hold,-8.314054e-05,0.8835867,4.94741676471e-06,0.8726319
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| 199 |
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197,3.283333333,pose2-hold,-8.314054e-05,0.8835867,4.95114291176e-06,0.8726319
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| 200 |
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198,3.300000000,pose2-hold,-8.314054e-05,0.8835867,4.94771835294e-06,0.8726319
|
| 201 |
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199,3.316666667,pose2-hold,-8.314054e-05,0.8835867,4.95263055882e-06,0.8726319
|
| 202 |
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200,3.333333333,pose2-hold,-8.314054e-05,0.8835867,4.95622370588e-06,0.8726319
|
| 203 |
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201,3.350000000,pose2-hold,-8.314054e-05,0.8835867,4.95661082353e-06,0.8726319
|
| 204 |
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202,3.366666667,pose2-hold,-8.314054e-05,0.8835867,4.95348282353e-06,0.8726319
|
| 205 |
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203,3.383333333,pose2-hold,-8.314054e-05,0.8835867,4.94814764706e-06,0.8726319
|
| 206 |
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204,3.400000000,pose2-hold,-8.314054e-05,0.8835867,4.947148e-06,0.8726319
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Part2/Free/s1/cylinder_0010_12.5/width_01/insert/camera_frames_60hz.tar
ADDED
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version https://git-lfs.github.com/spec/v1
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size 66099200
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Part2/Free/s1/cylinder_0010_12.5/width_01/insert/fem_node.csv
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 38612735
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Part2/Free/s1/cylinder_0010_12.5/width_01/insert/franka_data.csv
ADDED
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The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s1/cylinder_0010_12.5/width_01/insert/simulation_data.csv
ADDED
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@@ -0,0 +1,906 @@
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.372802e-05,0.8835839,5.230949e-06,0.8726289
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.32859612699e-05,0.8835839,5.67538220577e-06,0.8726289
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.30162867973e-05,0.883583813991,5.95489524866e-06,0.872628856995
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.26251424369e-05,0.883583694176,6.35915530105e-06,0.872628794176
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.22256161204e-05,0.883583638782,6.7598299348e-06,0.872628738782
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.16469811787e-05,0.883583558554,7.34012798714e-06,0.872628658554
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.16133547847e-05,0.883583553892,7.37385103006e-06,0.872628653892
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.07020013782e-05,0.883583578299,8.28700078967e-06,0.872628678299
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.92050463881e-05,0.883583802557,9.78590099556e-06,0.872628902557
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.69669773518e-05,0.883584,1.20293972432e-05,0.8726291
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.45216515304e-05,0.883584,1.44845951112e-05,0.8726291
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.07128892427e-05,0.883583956151,1.83156411096e-05,0.872629056151
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.47620477758e-05,0.883583749715,2.43230252695e-05,0.872628849715
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-5.04348269886e-05,0.8835839,3.8709527958e-05,0.872628900585
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-2.08398832897e-05,0.883584054334,6.84650680926e-05,0.872629154334
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,3.07751186898e-05,0.883584355967,0.000120402035359,0.872629455967
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000102584468702,0.883584600999,0.000192709534524,0.872629501999
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000190290906804,0.883585156451,0.000280956777612,0.872630099395
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000290359699612,0.88358532233,0.000381452822837,0.87263032552
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000406079044864,0.883586295185,0.000497908592903,0.872631395185
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000522809731671,0.883587026617,0.000615378909866,0.872632061293
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000645474368409,0.883587444172,0.000738578654892,0.872632525563
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000778080033381,0.883588264888,0.000872026194273,0.872633364888
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00091375343083,0.883588920059,0.00100864677995,0.872634116716
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00104745718619,0.883589497619,0.00114324214305,0.872634597619
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00120011282225,0.883589437576,0.00129680280954,0.872634537576
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00135802369546,0.883589843784,0.00145568813423,0.872634943784
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00152489591839,0.883590163481,0.00162355584572,0.872635263481
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00170417652026,0.883590527212,0.0018039086412,0.872635627212
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00188527465193,0.8835908,0.00198610158883,0.87263594044
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00205767199397,0.883590549009,0.0021595647769,0.872635749009
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00224396796537,0.883589899648,0.00234701508254,0.872635099648
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00242619569549,0.88358943434,0.00253035247396,0.872634579121
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00260717522864,0.883588882393,0.00271241414562,0.872634042051
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00279358830393,0.883588327422,0.0028999803981,0.872633527422
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00297402253736,0.8835882,0.00308153302754,0.8726334
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00313748483798,0.8835882,0.00324603240863,0.872633472815
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00330887698374,0.883588514732,0.00341842191672,0.872633657366
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00347108813343,0.883588353032,0.00358162530907,0.872633535355
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00362587613809,0.883588471074,0.00373738405374,0.872633756611
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00378211121778,0.883588689291,0.00389461076098,0.872633894646
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00392716466673,0.883588706854,0.00404053596591,0.872634006854
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00405035657306,0.883589000164,0.00416451175742,0.872634300164
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.0041707485588,0.8835891,0.00428564415913,0.872634402651
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00428290834094,0.883589085973,0.00439849592984,0.872634485973
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00438310507703,0.88358893577,0.00449934429277,0.87263433577
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.0044768128762,0.883589269456,0.00459360938948,0.872634654184
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00456009755319,0.883589142851,0.00467741282548,0.872634464277
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00462912908903,0.883589256753,0.00474688328619,0.872634656753
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00468721670819,0.883589136379,0.00480537382657,0.872634536379
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00473542084641,0.883589321584,0.00485388325731,0.872634721584
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00477557904827,0.883589502862,0.00489414679566,0.872634902862
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00481153033093,0.883589696242,0.00493028372316,0.872635096242
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00484021381429,0.883589415679,0.00495912908657,0.872634910452
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486171362656,0.883589653192,0.00498081232933,0.872635068795
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00487850582897,0.883589625687,0.00499773269246,0.872635025687
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489173085887,0.883589531989,0.00501106227019,0.872634863978
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490086258578,0.883589441554,0.00502026966718,0.872634741554
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00490811738108,0.88358959257,0.00502757299616,0.87263495676
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491274371805,0.883589467474,0.00503224769737,0.872634867474
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.0049152141055,0.8835895,0.00503475288442,0.8726349
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.00491575,0.8835895,0.005035306,0.8726349
|
| 64 |
+
62,1.033333333,pose3-hold,0.00491575,0.8835895,0.005035309,0.8726349
|
| 65 |
+
63,1.050000000,pose3-hold,0.00491575,0.8835895,0.00503531326471,0.8726349
|
| 66 |
+
64,1.066666667,pose3-hold,0.00491575,0.8835895,0.00503531611765,0.8726349
|
| 67 |
+
65,1.083333333,pose3-hold,0.00491575,0.8835895,0.00503531867647,0.8726349
|
| 68 |
+
66,1.100000000,pose3-hold,0.00491575,0.8835895,0.00503532123529,0.8726349
|
| 69 |
+
67,1.116666667,pose3-hold,0.00491575,0.8835895,0.00503532273529,0.8726349
|
| 70 |
+
68,1.133333333,pose3-hold,0.00491575,0.8835895,0.00503532176471,0.8726349
|
| 71 |
+
69,1.150000000,pose3-hold,0.00491575,0.8835895,0.00503532005882,0.8726349
|
| 72 |
+
70,1.166666667,pose3-hold,0.00491575,0.8835895,0.00503531917647,0.8726349
|
| 73 |
+
71,1.183333333,pose3-hold,0.00491575,0.8835895,0.00503531967647,0.8726349
|
| 74 |
+
72,1.200000000,pose3-hold,0.00491575,0.8835895,0.00503531894118,0.8726349
|
| 75 |
+
73,1.216666667,pose3-hold,0.00491575,0.8835895,0.00503531532353,0.8726349
|
| 76 |
+
74,1.233333333,pose3-hold,0.00491575,0.8835895,0.00503530982353,0.8726349
|
| 77 |
+
75,1.250000000,pose3-hold,0.00491575,0.8835895,0.00503530555882,0.8726349
|
| 78 |
+
76,1.266666667,pose3-hold,0.00491575,0.8835895,0.00503530129412,0.8726349
|
| 79 |
+
77,1.283333333,pose3-hold,0.00491575,0.8835895,0.00503529623529,0.8726349
|
| 80 |
+
78,1.300000000,pose3-hold,0.00491575,0.8835895,0.00503528852941,0.8726349
|
| 81 |
+
79,1.316666667,pose3-hold,0.00491575,0.8835895,0.0050352845,0.8726349
|
| 82 |
+
80,1.333333333,pose3-hold,0.00491575,0.8835895,0.00503528258824,0.8726349
|
| 83 |
+
81,1.350000000,pose3-hold,0.00491575,0.8835895,0.00503527814706,0.8726349
|
| 84 |
+
82,1.366666667,pose3-hold,0.00491575,0.8835895,0.00503527082353,0.8726349
|
| 85 |
+
83,1.383333333,pose3-hold,0.00491575,0.8835895,0.00503526826471,0.8726349
|
| 86 |
+
84,1.400000000,pose3-hold,0.00491575,0.8835895,0.00503526570588,0.8726349
|
| 87 |
+
85,1.416666667,pose3-hold,0.00491575,0.8835895,0.00503526005882,0.8726349
|
| 88 |
+
86,1.433333333,pose3-hold,0.00491575,0.8835895,0.00503525605882,0.8726349
|
| 89 |
+
87,1.450000000,pose3-hold,0.00491575,0.8835895,0.00503525435294,0.8726349
|
| 90 |
+
88,1.466666667,pose3-hold,0.00491575,0.8835895,0.00503525229412,0.8726349
|
| 91 |
+
89,1.483333333,pose3-hold,0.00491575,0.8835895,0.00503524897059,0.8726349
|
| 92 |
+
90,1.500000000,pose3-hold,0.00491575,0.8835895,0.00503524811765,0.8726349
|
| 93 |
+
91,1.516666667,pose3-hold,0.00491575,0.8835895,0.00503524579412,0.8726349
|
| 94 |
+
92,1.533333333,pose3-hold,0.00491575,0.8835895,0.00503524382353,0.8726349
|
| 95 |
+
93,1.550000000,pose3-hold,0.00491575,0.8835895,0.005035243,0.8726349
|
| 96 |
+
94,1.566666667,pose3-hold,0.00491575,0.8835895,0.005035243,0.8726349
|
| 97 |
+
95,1.583333333,pose3-hold,0.00491575,0.8835895,0.00503524285294,0.8726349
|
| 98 |
+
96,1.600000000,pose3-hold,0.00491575,0.8835895,0.005035242,0.8726349
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.004915731,0.8835895,0.005035209,0.8726349
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491588705701,0.883589053509,0.00503536411401,0.872634453509
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491589289813,0.883588618899,0.00503538504192,0.872634018899
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491588495433,0.883588441332,0.0050353782196,0.872633841332
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+
101,1.683333333,pose3-to-pose4-insert,0.00491585768109,0.883587831695,0.0050353547967,0.872633231695
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+
102,1.700000000,pose3-to-pose4-insert,0.00491581847931,0.88358695542,0.00503532112929,0.87263235542
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103,1.716666667,pose3-to-pose4-insert,0.00491581168248,0.883586204399,0.00503531804055,0.872631604399
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104,1.733333333,pose3-to-pose4-insert,0.00491580921997,0.883585807662,0.00503531749333,0.872631207662
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105,1.750000000,pose3-to-pose4-insert,0.00491580893016,0.883585760971,0.00503531742893,0.872631160971
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106,1.766666667,pose3-to-pose4-insert,0.00491580707868,0.883585462676,0.00503531701748,0.872630862676
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107,1.783333333,pose3-to-pose4-insert,0.00491580344842,0.883584877802,0.00503531621076,0.872630277802
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108,1.800000000,pose3-to-pose4-insert,0.00491579022702,0.88358158174,0.00503529686305,0.87262698174
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109,1.816666667,pose3-to-pose4-insert,0.00491568747614,0.883568508957,0.00503522159458,0.872613818562
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110,1.833333333,pose3-to-pose4-insert,0.00491569922309,0.883545060147,0.0050352399882,0.872590460147
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111,1.850000000,pose3-to-pose4-insert,0.00491601621772,0.883509192258,0.00503555516384,0.872554565771
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112,1.866666667,pose3-to-pose4-insert,0.00491618498926,0.88345896358,0.00503575072949,0.872504342584
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113,1.883333333,pose3-to-pose4-insert,0.00491618365851,0.883384024215,0.00503571721019,0.872429468698
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114,1.900000000,pose3-to-pose4-insert,0.00491622188383,0.88329778066,0.00503577717875,0.87234318654
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115,1.916666667,pose3-to-pose4-insert,0.00491616195695,0.883196211911,0.00503571793888,0.872241577001
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116,1.933333333,pose3-to-pose4-insert,0.00491638890248,0.883081362889,0.00503595648112,0.872126662889
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117,1.950000000,pose3-to-pose4-insert,0.00491643167636,0.882960096574,0.00503599867636,0.872005396574
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118,1.966666667,pose3-to-pose4-insert,0.00491689931025,0.882841985276,0.00503649242798,0.871887385276
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119,1.983333333,pose3-to-pose4-insert,0.00491690993787,0.882708812878,0.00503653056292,0.871754212878
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120,2.000000000,pose3-to-pose4-insert,0.00491684460205,0.882573544,0.00503645182907,0.87161891946
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121,2.016666667,pose3-to-pose4-insert,0.004916909747,0.882428645017,0.00503653197024,0.87147397535
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122,2.033333333,pose3-to-pose4-insert,0.00491678758081,0.882267954685,0.00503643312536,0.871313313761
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123,2.050000000,pose3-to-pose4-insert,0.00491672635044,0.882100706381,0.00503635878436,0.871145956033
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124,2.066666667,pose3-to-pose4-insert,0.00491652114669,0.88193559445,0.00503615439071,0.87098079445
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125,2.083333333,pose3-to-pose4-insert,0.00491676053105,0.881749837393,0.00503641640964,0.870795037393
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126,2.100000000,pose3-to-pose4-insert,0.00491743916592,0.881565769025,0.00503712069813,0.870610894896
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127,2.116666667,pose3-to-pose4-insert,0.00491782626527,0.881380675291,0.00503753035729,0.870425775291
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128,2.133333333,pose3-to-pose4-insert,0.00491836792233,0.881188395261,0.00503808487503,0.870233405734
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129,2.150000000,pose3-to-pose4-insert,0.00491876345461,0.881000482553,0.0050385185325,0.870045482553
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130,2.166666667,pose3-to-pose4-insert,0.00491852374745,0.880829292164,0.00503828624039,0.869874292164
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131,2.183333333,pose3-to-pose4-insert,0.00491820509889,0.880646841683,0.00503797758124,0.869691746859
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132,2.200000000,pose3-to-pose4-insert,0.00491774276665,0.880459624148,0.00503750690861,0.869504524148
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133,2.216666667,pose3-to-pose4-insert,0.00491731212889,0.880276058207,0.00503708499656,0.869320948868
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134,2.233333333,pose3-to-pose4-insert,0.00491700626442,0.880092638473,0.00503679472858,0.869137438473
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135,2.250000000,pose3-to-pose4-insert,0.00491714132591,0.879915816942,0.00503691633982,0.868960587081
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136,2.266666667,pose3-to-pose4-insert,0.00491736429416,0.87975652364,0.00503713995208,0.86880122364
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137,2.283333333,pose3-to-pose4-insert,0.00491746289074,0.87960710649,0.00503725215291,0.868651771733
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138,2.300000000,pose3-to-pose4-insert,0.00491755683785,0.879470011966,0.0050373474442,0.868514644869
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139,2.316666667,pose3-to-pose4-insert,0.00491769219417,0.879338903992,0.00503749446992,0.868383538971
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140,2.333333333,pose3-to-pose4-insert,0.00491770506689,0.879210031261,0.00503750052921,0.868254531261
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141,2.350000000,pose3-to-pose4-insert,0.00491747886094,0.879092020075,0.00503726303484,0.868136520075
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142,2.366666667,pose3-to-pose4-insert,0.00491739435478,0.878990212191,0.00503717888521,0.868034712191
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143,2.383333333,pose3-to-pose4-insert,0.00491735433484,0.878891758412,0.00503712116798,0.867936258412
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144,2.400000000,pose3-to-pose4-insert,0.00491724435743,0.878805338698,0.00503700079424,0.867849795872
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145,2.416666667,pose3-to-pose4-insert,0.00491715858795,0.87873148271,0.00503691073928,0.86777588271
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146,2.433333333,pose3-to-pose4-insert,0.00491722824392,0.878663416943,0.00503701811102,0.867707816943
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147,2.450000000,pose3-to-pose4-insert,0.00491717459172,0.878606262049,0.00503696796381,0.867650662049
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148,2.466666667,pose3-to-pose4-insert,0.00491705618702,0.878562142973,0.00503681160394,0.867606542973
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149,2.483333333,pose3-to-pose4-insert,0.00491692262244,0.878522187415,0.00503667328976,0.867566587415
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150,2.500000000,pose3-to-pose4-insert,0.00491687171434,0.878489349943,0.00503661322966,0.867533749943
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151,2.516666667,pose3-to-pose4-insert,0.00491689111218,0.878463904548,0.00503663930044,0.867508300275
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152,2.533333333,pose3-to-pose4-insert,0.00491680608177,0.878441376307,0.00503653632744,0.867485676307
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153,2.550000000,pose3-to-pose4-insert,0.00491696327262,0.878424485613,0.00503671206877,0.867468785613
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154,2.566666667,pose3-to-pose4-insert,0.00491692013571,0.878413831665,0.0050366566734,0.867458214747
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155,2.583333333,pose3-to-pose4-insert,0.00491692793981,0.878405218682,0.0050366560477,0.867449618682
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156,2.600000000,pose3-to-pose4-insert,0.00491706570234,0.878398425497,0.00503678748111,0.867442741073
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157,2.616666667,pose3-to-pose4-insert,0.00491681349073,0.878394013511,0.00503655556406,0.867438313511
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158,2.633333333,pose3-to-pose4-insert,0.004916924,0.8783916,0.005036656,0.8674359
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159,2.650000000,pose4-hold,0.004916924,0.8783916,0.005036663,0.8674359
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160,2.666666667,pose4-hold,0.004916924,0.8783916,0.00503666044118,0.8674359
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161,2.683333333,pose4-hold,0.004916924,0.8783916,0.00503666141176,0.8674359
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162,2.700000000,pose4-hold,0.004916924,0.8783916,0.00503666367647,0.867435955882
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163,2.716666667,pose4-hold,0.004916924,0.8783916,0.00503666541176,0.867436
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164,2.733333333,pose4-hold,0.004916924,0.8783916,0.00503666335294,0.867436
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165,2.750000000,pose4-hold,0.004916924,0.8783916,0.00503665635294,0.867436
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166,2.766666667,pose4-hold,0.004916924,0.8783916,0.00503665891176,0.867436
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167,2.783333333,pose4-hold,0.004916924,0.8783916,0.00503666064706,0.867436
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168,2.800000000,pose4-hold,0.004916924,0.8783916,0.005036661,0.867436
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169,2.816666667,pose4-hold,0.004916924,0.8783916,0.00503665888235,0.867436
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170,2.833333333,pose4-hold,0.004916924,0.8783916,0.00503665738235,0.867436
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171,2.850000000,pose4-hold,0.004916924,0.8783916,0.00503665894118,0.867436
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172,2.866666667,pose4-hold,0.004916924,0.8783916,0.00503666208824,0.867436
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173,2.883333333,pose4-hold,0.004916924,0.8783916,0.00503666294118,0.867436
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174,2.900000000,pose4-hold,0.004916924,0.8783916,0.00503666379412,0.867436
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175,2.916666667,pose4-hold,0.004916924,0.8783916,0.00503666335294,0.867436
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176,2.933333333,pose4-hold,0.004916924,0.8783916,0.005036663,0.867436
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177,2.950000000,pose4-hold,0.004916924,0.8783916,0.005036663,0.867436
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178,2.966666667,pose4-hold,0.004916924,0.8783916,0.005036663,0.867436
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179,2.983333333,pose4-hold,0.004916924,0.8783916,0.005036663,0.867436
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180,3.000000000,pose4-hold,0.004916924,0.8783916,0.005036663,0.867436
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181,3.016666667,pose4-hold,0.004916924,0.8783916,0.005036663,0.867436
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182,3.033333333,pose4-hold,0.004916924,0.8783916,0.005036663,0.867436
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183,3.050000000,pose4-hold,0.004916924,0.8783916,0.00503666441176,0.867436
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184,3.066666667,pose4-hold,0.004916924,0.8783916,0.00503666697059,0.867436
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185,3.083333333,pose4-hold,0.004916924,0.8783916,0.00503666935294,0.867436
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186,3.100000000,pose4-hold,0.004916924,0.8783916,0.00503667102941,0.867436
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187,3.116666667,pose4-hold,0.004916924,0.8783916,0.00503667188235,0.867436
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188,3.133333333,pose4-hold,0.004916924,0.8783916,0.005036672,0.867436
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189,3.150000000,pose4-hold,0.004916924,0.8783916,0.005036672,0.867436
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190,3.166666667,pose4-hold,0.004916924,0.8783916,0.005036672,0.867436
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191,3.183333333,pose4-hold,0.004916924,0.8783916,0.00503667170588,0.867436
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192,3.200000000,pose4-hold,0.004916924,0.8783916,0.00503667114706,0.867436
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193,3.216666667,pose4-hold,0.004916924,0.8783916,0.005036672,0.867436
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194,3.233333333,pose4-to-pose5-return,0.004916924,0.8783916,0.00503667,0.867436
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195,3.250000000,pose4-to-pose5-return,0.00491690263561,0.878392033082,0.00503663364501,0.867436433082
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196,3.266666667,pose4-to-pose5-return,0.00491623121981,0.878392651538,0.00503595881115,0.867437051538
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197,3.283333333,pose4-to-pose5-return,0.00491556770388,0.878393297662,0.00503530344033,0.867437684484
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198,3.300000000,pose4-to-pose5-return,0.0049149408439,0.87839386788,0.00503467582006,0.867438216688
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199,3.316666667,pose4-to-pose5-return,0.00491441827195,0.878394343234,0.0050341526143,0.867438660351
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200,3.333333333,pose4-to-pose5-return,0.00491418057436,0.878394559453,0.00503391462842,0.867438862156
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201,3.350000000,pose4-to-pose5-return,0.00491386613166,0.878394884526,0.00503359866592,0.867439193148
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202,3.366666667,pose4-to-pose5-return,0.00491355880169,0.878395208548,0.00503328966675,0.867439526989
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Part2/Free/s1/cylinder_0010_12.5/width_01/pick/camera_frames_60hz.tar
ADDED
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Part2/Free/s1/cylinder_0010_12.5/width_01/pick/fem_node.csv
ADDED
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The diff for this file is too large to render.
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|
Part2/Free/s1/cylinder_0010_12.5/width_01/pick/franka_data.csv
ADDED
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@@ -0,0 +1,206 @@
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79307038782e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000132_1793070387815865789_interpolated.jpg,0.67595894722,-0.00543024786928,0.0968813197726,0.999999967606,0.000113805893351,-0.000214893655979,7.521190231e-05,0.0472176149487
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79307038783e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000133_1793070387835372193_real.jpg,0.675961418481,-0.00542886018434,0.0968848571233,0.999999968217,0.00011425659946,-0.000211871720611,7.49733541801e-05,0.0472176149487
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.79307038785e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000133_1793070387835372193_real.jpg,0.675961349831,-0.00542898466227,0.0968850406756,0.99999996806,0.000115356554052,-0.000211644418253,7.60262483644e-05,0.0471361533581
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79307038787e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000134_1793070387865911638_interpolated.jpg,0.675960759524,-0.00542941971439,0.0968845354109,0.999999967742,0.000116589853951,-0.000211991089047,7.7344384251e-05,0.047037960853
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79307038788e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000135_1793070387896451084_real.jpg,0.675961613443,-0.00542550275002,0.0968848693914,0.99999996793,0.000117592484333,-0.000211067415515,7.59138851822e-05,0.0470376908779
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.7930703879e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000135_1793070387896451084_real.jpg,0.675961863155,-0.00542272076904,0.0968845734677,0.999999967977,0.000118434615812,-0.000210759535438,7.48349911197e-05,0.0470376908779
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79307038792e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000136_1793070387915249208_interpolated.jpg,0.675959172189,-0.00542589936896,0.0968812918447,0.999999967375,0.00011822268665,-0.000213438985668,7.56089145618e-05,0.0470376908779
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79307038793e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000137_1793070387934047333_real.jpg,0.675960115896,-0.00543301180816,0.096883639349,0.999999968261,0.000111652310279,-0.000212233593158,7.72559253907e-05,0.0470376908779
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.79307038795e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000137_1793070387934047333_real.jpg,0.675960303406,-0.00543098430834,0.0968829326631,0.999999967987,0.000114455697136,-0.000212153968662,7.69238772918e-05,0.0470376908779
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79307038797e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000138_1793070387965108372_interpolated.jpg,0.675960404735,-0.00542826653797,0.096882025062,0.999999967613,0.000117900124781,-0.000212224307713,7.63845796356e-05,0.0470376908779
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,1.79307038798e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000139_1793070387996169412_real.jpg,0.675960283734,-0.00543024356029,0.0968833111852,0.99999996781,0.000115124357679,-0.000213080801674,7.56477823468e-05,0.0470376908779
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| 13 |
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11,0.183333333,pose1-to-pose2-lift,1.793070388e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000139_1793070387996169412_real.jpg,0.675960041957,-0.00543131083795,0.0968838585882,0.999999967859,0.000113125481101,-0.000214065109973,7.52319493932e-05,0.0470376908779
|
| 14 |
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12,0.200000000,pose1-to-pose2-lift,1.79307038802e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000140_1793070388015542360_interpolated.jpg,0.675959263245,-0.00542841246174,0.0968811492178,0.999999967285,0.000114603744359,-0.000215594130716,7.62508042225e-05,0.0470376908779
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| 15 |
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13,0.216666667,pose1-to-pose2-lift,1.79307038803e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000141_1793070388034915309_real.jpg,0.675958820993,-0.00543204193333,0.0968818891257,0.999999967194,0.000115079104912,-0.00021558251097,7.6763289573e-05,0.0470376908779
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,1.79307038805e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000141_1793070388034915309_real.jpg,0.675957371935,-0.00543167533405,0.0968815598401,0.999999966283,0.000116062816687,-0.000219251379679,7.67582257663e-05,0.0470239319579
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| 17 |
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15,0.250000000,pose1-to-pose2-lift,1.79307038807e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000142_1793070388065595418_interpolated.jpg,0.675955779143,-0.00543066925125,0.0968811050512,0.999999965237,0.000117075626477,-0.000223482738979,7.66416002757e-05,0.04700813815
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16,0.266666667,pose1-to-pose2-lift,1.79307038808e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000143_1793070388096275528_real.jpg,0.67595565562,-0.0054313097967,0.0968838564092,0.999999965388,0.000114709774074,-0.000224590798182,7.4995155564e-05,0.04700813815
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| 19 |
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17,0.283333333,pose1-to-pose2-lift,1.7930703881e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000143_1793070388096275528_real.jpg,0.675955181947,-0.00543100899863,0.0968858987267,0.999999965261,0.000113446960088,-0.000226244667293,7.36237558033e-05,0.04700813815
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| 20 |
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18,0.300000000,pose1-to-pose2-lift,1.79307038812e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000144_1793070388116655156_interpolated.jpg,0.675953062448,-0.00542628347551,0.0968846080461,0.999999963851,0.000117369049098,-0.000230463951454,7.35453150276e-05,0.04700813815
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,1.79307038813e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000145_1793070388137034785_real.jpg,0.675953145406,-0.00542834173137,0.0968917945052,0.99999996388,0.000115756980841,-0.000231402065197,7.27545611331e-05,0.04700813815
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.79307038815e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000145_1793070388137034785_real.jpg,0.675939200649,-0.00542485529088,0.0969122910797,0.999999956844,0.000114297952055,-0.000263246827836,6.28410525032e-05,0.04700813815
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| 23 |
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21,0.350000000,pose1-to-pose2-lift,1.79307038817e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000146_1793070388166700085_interpolated.jpg,0.67592002343,-0.0054191918365,0.0969375580313,0.999999945388,0.000112997385102,-0.00030659113201,4.95641335943e-05,0.04700813815
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| 24 |
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22,0.366666667,pose1-to-pose2-lift,1.79307038818e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000147_1793070388196365385_real.jpg,0.675932677433,-0.00541751667801,0.0969823124567,0.999999952349,0.000112765444674,-0.000283964787989,4.41553599632e-05,0.04700813815
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| 25 |
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23,0.383333333,pose1-to-pose2-lift,1.7930703882e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000147_1793070388196365385_real.jpg,0.675945689995,-0.00541602377831,0.0970322967827,0.999999959141,0.000112009952656,-0.000260317073474,3.75114292733e-05,0.04700813815
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| 26 |
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24,0.400000000,pose1-to-pose2-lift,1.79307038822e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000148_1793070388216696933_interpolated.jpg,0.675952263903,-0.00541439478144,0.0971027922417,0.999999962947,0.000108424089928,-0.000248655041983,2.28151810013e-05,0.04700813815
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| 27 |
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25,0.416666667,pose1-to-pose2-lift,1.79307038823e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000149_1793070388237028481_real.jpg,0.675956281535,-0.00540722091988,0.0971570571383,0.999999964637,0.000106196342813,-0.000243612030166,1.00736132382e-05,0.04700813815
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| 28 |
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26,0.433333333,pose1-to-pose2-lift,1.79307038825e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000149_1793070388237028481_real.jpg,0.675960829511,-0.00539962064712,0.0972290267493,0.999999965832,0.000104443698309,-0.000239542280191,-6.86672271031e-06,0.0470065153988
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| 29 |
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27,0.450000000,pose1-to-pose2-lift,1.79307038827e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000150_1793070388266560596_interpolated.jpg,0.675965622968,-0.00539197033739,0.0973078516282,0.999999966611,0.000102840242103,-0.00023570376602,-2.53960962456e-05,0.047004293157
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| 30 |
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28,0.466666667,pose1-to-pose2-lift,1.79307038828e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000151_1793070388296092711_real.jpg,0.675967929818,-0.0053875284362,0.0973783790216,0.999999966786,0.000100502776155,-0.000234185499497,-3.8536314287e-05,0.0470042005181
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| 31 |
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29,0.483333333,pose1-to-pose2-lift,1.7930703883e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000151_1793070388296092711_real.jpg,0.675971416939,-0.00538159922832,0.0974613601549,0.999999966868,0.000100411500572,-0.000231104923472,-5.26442005606e-05,0.0470042005181
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| 32 |
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30,0.500000000,pose1-to-pose2-lift,1.79307038832e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000152_1793070388315701663_interpolated.jpg,0.675980456807,-0.00536867711778,0.0975992892679,0.999999966958,0.000110237878765,-0.000220854278696,-7.18005881069e-05,0.0470042005181
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| 33 |
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31,0.516666667,pose1-to-pose2-lift,1.79307038833e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000153_1793070388335310615_real.jpg,0.675982347867,-0.00536661737918,0.0976384573799,0.999999966462,0.000117400802094,-0.000219637119265,-7.10878522433e-05,0.0470042005181
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| 34 |
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| 38 |
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36,0.600000000,pose1-to-pose2-lift,1.79307038842e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000156_1793070388415683577_interpolated.jpg,0.675956254268,-0.00536379322064,0.0981592289113,0.999999940182,0.000223193457881,-0.000257787047014,-5.80170108527e-05,0.0470042005181
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| 39 |
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| 40 |
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38,0.633333333,pose1-to-pose2-lift,1.79307038845e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000157_1793070388435292619_real.jpg,0.675935819987,-0.0053488351212,0.0985265624758,0.999999946081,0.00013657981643,-0.0002925404433,-6.00349121138e-05,0.0470033035513
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| 206 |
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|
Part2/Free/s1/cylinder_0010_12.5/width_01/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,6.756802e-06,0.8346294
|
| 3 |
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|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.26936674938e-05,0.845590366597,6.56914086363e-06,0.834630366597
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.26837918272e-05,0.845590916391,6.56724613762e-06,0.834630916391
|
| 6 |
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|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26831307872e-05,0.845591236176,6.57006733811e-06,0.834631251921
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26846751556e-05,0.845591669988,6.57577860904e-06,0.834631714653
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.2686918267e-05,0.845592300075,6.5840739208e-06,0.834632386747
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.26926936131e-05,0.845592855237,6.57860466308e-06,0.834632955237
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.27031583716e-05,0.845593589392,6.56186196716e-06,0.834633689392
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.27083098501e-05,0.845593950793,6.55362005327e-06,0.834634050793
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.27095758859e-05,0.845594039612,6.5515945071e-06,0.834634139612
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| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.27185378308e-05,0.845594668337,6.53725618119e-06,0.834634768337
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.26916844617e-05,0.845595570496,6.56397198203e-06,0.834635670496
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.26791848647e-05,0.845595848419,6.5772356942e-06,0.834635948419
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.26365242831e-05,0.845596796959,6.62250416769e-06,0.834636896959
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,-8.26183309385e-05,0.84559720148,6.64180969297e-06,0.83463730148
|
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Part2/Free/s1/cylinder_0010_12.5/width_02/insert/simulation_data.csv
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.12853e-05,0.883584,1.020583e-05,0.8726291
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.08245866279e-05,0.883584213007,1.06486446547e-05,0.872629313007
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.04917719934e-05,0.883584469379,1.0987791657e-05,0.872629569379
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.01603732662e-05,0.883584405769,1.13226624703e-05,0.872629505769
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.00591981077e-05,0.883584373079,1.14247797449e-05,0.872629473079
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.94086198622e-05,0.883584162878,1.20814160013e-05,0.872629262878
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.91893459133e-05,0.88358409203,1.23027317708e-05,0.87262919203
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.9016719086e-05,0.883584036255,1.24769660529e-05,0.872629136255
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.72481159851e-05,0.88358419161,1.42432656354e-05,0.872629243707
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.64071745003e-05,0.883584288889,1.50825071676e-05,0.872629316667
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.59938542941e-05,0.883584336701,1.54949918522e-05,0.872629352526
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.26109477947e-05,0.883584349609,1.89119348138e-05,0.8726294
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.58944620457e-05,0.883584253568,2.56571721433e-05,0.872629353568
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-4.03643259806e-05,0.883584282957,5.13138340401e-05,0.872629382957
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,5.321398498e-06,0.8835847,9.72954264963e-05,0.8726298
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,6.66442020119e-05,0.883584833835,0.000158982217207,0.872629916918
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000147272406356,0.883585414725,0.000240191833222,0.872630414725
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000248726069636,0.883586173393,0.000342157453393,0.872631173393
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000353675106996,0.883586805313,0.000447660939876,0.872631886376
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000465829252135,0.883587446121,0.000560551234024,0.872632546121
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.00058911717062,0.883588177011,0.00068459509455,0.872633277011
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000714258934753,0.883588975123,0.00081049320559,0.872634075123
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000840197568638,0.883589775609,0.000937222644595,0.872634875609
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000979194933858,0.8835901,0.00107703139149,0.8726352
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00112675707277,0.883589923095,0.00122548265961,0.872635082063
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00127725327675,0.883589738363,0.00137688829818,0.872634876726
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00143989475876,0.883589428947,0.00154051964206,0.872634528947
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00161696594199,0.883589221204,0.00171868417017,0.8726344
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00178908142148,0.883588949705,0.00189183639396,0.872634149705
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00197313226827,0.88358843672,0.00207706214469,0.87263363672
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00215986128255,0.883588591383,0.00226489779223,0.872633693106
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00234187183005,0.8835881,0.0024479828653,0.872633293043
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00251686430985,0.883588115855,0.00262407895529,0.872633223782
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00270105098657,0.883588256,0.00280942334592,0.872633456
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00287556466862,0.883588,0.00298498932658,0.872633216731
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00304765804398,0.883587980864,0.00315812208553,0.872633280864
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.0032271262646,0.883587871541,0.00333865970539,0.872633143081
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.0034000695615,0.883587912134,0.00351268551032,0.872633112134
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00355753970837,0.8835881,0.00367112112322,0.8726333
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00370811750791,0.883588231004,0.00382261902505,0.872633431004
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00385550924197,0.8835884,0.00397093326003,0.872633650121
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00398417390344,0.883588546247,0.00410039663185,0.872633846247
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00411189610576,0.883588913178,0.00422891987966,0.872634213178
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00423041541703,0.883588924968,0.00434817782014,0.872634224968
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00433498744207,0.883588978986,0.00445339634706,0.872634278986
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00442974875467,0.883589160814,0.00454874891984,0.872634460814
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.0045190307683,0.8835892,0.00463861223064,0.8726345
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00459477461428,0.883589269109,0.00471484045762,0.872634638218
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00465986077127,0.883589439695,0.00478032779524,0.872634909543
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00471646860116,0.883589571223,0.00483731027834,0.872634928777
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00476402304627,0.88358967183,0.00488515967802,0.87263504366
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00479985675323,0.883589888079,0.00492112856528,0.872635350771
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00482746550288,0.88358981396,0.00494884698861,0.87263531396
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00485337547985,0.8835896,0.00497490587103,0.8726351
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00487378228149,0.883589638631,0.00499545259167,0.8726351
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| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488814947624,0.883589726704,0.00500992931088,0.872635126704
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.0049003442122,0.8835898,0.00502220700714,0.8726352
|
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+
57,0.950000000,pose2-to-pose3-side,0.00490932859876,0.883589851512,0.00503127050527,0.872635251512
|
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+
58,0.966666667,pose2-to-pose3-side,0.00491384310801,0.8835899,0.00503583695302,0.872635247346
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+
59,0.983333333,pose2-to-pose3-side,0.00491670502149,0.8835899,0.00503874392861,0.8726352
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.004917736,0.8835896,0.005039803,0.872635
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| 63 |
+
61,1.016666667,pose3-hold,0.004917736,0.8835896,0.005039801,0.872635
|
| 64 |
+
62,1.033333333,pose3-hold,0.004917736,0.8835896,0.00503980697059,0.872635
|
| 65 |
+
63,1.050000000,pose3-hold,0.004917736,0.8835896,0.00503981223529,0.872635
|
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+
64,1.066666667,pose3-hold,0.004917736,0.8835896,0.00503981623529,0.872635
|
| 67 |
+
65,1.083333333,pose3-hold,0.004917736,0.8835896,0.00503981882353,0.872635
|
| 68 |
+
66,1.100000000,pose3-hold,0.004917736,0.8835896,0.00503982,0.872635
|
| 69 |
+
67,1.116666667,pose3-hold,0.004917736,0.8835896,0.00503981976471,0.872635
|
| 70 |
+
68,1.133333333,pose3-hold,0.004917736,0.8835896,0.00503981805882,0.872635
|
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+
69,1.150000000,pose3-hold,0.004917736,0.8835896,0.00503981635294,0.872635
|
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+
70,1.166666667,pose3-hold,0.004917736,0.8835896,0.00503981735294,0.872635
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+
71,1.183333333,pose3-hold,0.004917736,0.8835896,0.005039818,0.872635
|
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+
72,1.200000000,pose3-hold,0.004917736,0.8835896,0.00503981570588,0.872635
|
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+
73,1.216666667,pose3-hold,0.004917736,0.8835896,0.00503981035294,0.872635
|
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+
74,1.233333333,pose3-hold,0.004917736,0.8835896,0.00503980464706,0.872635
|
| 77 |
+
75,1.250000000,pose3-hold,0.004917736,0.8835896,0.00503980123529,0.872635
|
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+
76,1.266666667,pose3-hold,0.004917736,0.8835896,0.00503979702941,0.872635
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| 79 |
+
77,1.283333333,pose3-hold,0.004917736,0.8835896,0.00503979341176,0.872635
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| 80 |
+
78,1.300000000,pose3-hold,0.004917736,0.8835896,0.005039788,0.872635
|
| 81 |
+
79,1.316666667,pose3-hold,0.004917736,0.8835896,0.00503978223529,0.872635
|
| 82 |
+
80,1.333333333,pose3-hold,0.004917736,0.8835896,0.00503977817647,0.872635
|
| 83 |
+
81,1.350000000,pose3-hold,0.004917736,0.8835896,0.00503977464706,0.872635
|
| 84 |
+
82,1.366666667,pose3-hold,0.004917736,0.8835896,0.00503976952941,0.872635
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| 85 |
+
83,1.383333333,pose3-hold,0.004917736,0.8835896,0.00503976670588,0.872635
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| 86 |
+
84,1.400000000,pose3-hold,0.004917736,0.8835896,0.00503976167647,0.872635
|
| 87 |
+
85,1.416666667,pose3-hold,0.004917736,0.8835896,0.00503975805882,0.872635
|
| 88 |
+
86,1.433333333,pose3-hold,0.004917736,0.8835896,0.00503975570588,0.872635
|
| 89 |
+
87,1.450000000,pose3-hold,0.004917736,0.8835896,0.00503975264706,0.872635
|
| 90 |
+
88,1.466666667,pose3-hold,0.004917736,0.8835896,0.00503975094118,0.872635
|
| 91 |
+
89,1.483333333,pose3-hold,0.004917736,0.8835896,0.00503974923529,0.872635
|
| 92 |
+
90,1.500000000,pose3-hold,0.004917736,0.8835896,0.00503974752941,0.872635
|
| 93 |
+
91,1.516666667,pose3-hold,0.004917736,0.8835896,0.00503974641176,0.872635
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+
92,1.533333333,pose3-hold,0.004917736,0.8835896,0.00503974555882,0.872635
|
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+
93,1.550000000,pose3-hold,0.004917736,0.8835896,0.00503974470588,0.872635
|
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+
94,1.566666667,pose3-hold,0.004917736,0.8835896,0.005039744,0.872635
|
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+
95,1.583333333,pose3-hold,0.004917736,0.8835896,0.005039744,0.872635
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.004917734,0.8835896,0.005039719,0.872635
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491774678352,0.883589569588,0.00503974021797,0.872634969588
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491773186242,0.883589196561,0.00503973062584,0.872634596561
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491771980067,0.883588877219,0.00503972312814,0.872634277219
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491771368775,0.8835881786,0.00503972705788,0.8726335786
|
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+
101,1.683333333,pose3-to-pose4-insert,0.00491771021685,0.883587781926,0.00503972928917,0.872633181926
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491770672308,0.883587382638,0.00503973153516,0.872632782638
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491770070117,0.883586435454,0.0050397280956,0.872631835454
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.0049176948547,0.883585481556,0.00503972378767,0.872630881556
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491769147137,0.88358492954,0.0050397212947,0.87263032954
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491768991066,0.883584674896,0.00503972014469,0.872630074896
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491774292422,0.883582500645,0.00503977639601,0.872627900645
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491780302095,0.883576437571,0.00503984228402,0.872621837571
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491780934879,0.883558671068,0.00503986123488,0.872604071068
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491769666,0.883528572989,0.00503975095632,0.872573972989
|
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111,1.850000000,pose3-to-pose4-insert,0.00491783534047,0.883484909178,0.00503990947972,0.872530218742
|
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+
112,1.866666667,pose3-to-pose4-insert,0.00491776110583,0.883419398928,0.00503980851254,0.872464798928
|
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+
113,1.883333333,pose3-to-pose4-insert,0.00491775537582,0.883337128091,0.0050398084276,0.872382558751
|
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+
114,1.900000000,pose3-to-pose4-insert,0.004918111509,0.883246379234,0.00504017633217,0.872291740007
|
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+
115,1.916666667,pose3-to-pose4-insert,0.00491815404138,0.883139709352,0.00504021762167,0.872185102357
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491820604819,0.883021002173,0.00504027477519,0.872066302173
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491843389297,0.882902483632,0.0050405240386,0.871947783632
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00491855513082,0.882779397525,0.0050406271756,0.871824697525
|
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+
119,1.983333333,pose3-to-pose4-insert,0.00491838875112,0.882643808842,0.00504044846963,0.871689108842
|
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+
120,2.000000000,pose3-to-pose4-insert,0.0049180130326,0.88250188231,0.00504010055567,0.871547260947
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491763044702,0.882348609287,0.00503970459941,0.871393835557
|
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+
122,2.033333333,pose3-to-pose4-insert,0.00491735568248,0.882183561499,0.00503945291796,0.871228858667
|
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+
123,2.050000000,pose3-to-pose4-insert,0.00491665253793,0.882012084611,0.00503878367006,0.871057278585
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124,2.066666667,pose3-to-pose4-insert,0.00491633126024,0.881840599136,0.00503843292969,0.870885710154
|
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+
125,2.083333333,pose3-to-pose4-insert,0.00491615204986,0.881664950294,0.00503825991862,0.870710150294
|
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+
126,2.100000000,pose3-to-pose4-insert,0.00491595304507,0.881487420646,0.00503810823909,0.870532601244
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127,2.116666667,pose3-to-pose4-insert,0.00491585923056,0.881302778486,0.00503802477287,0.870347878486
|
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128,2.133333333,pose3-to-pose4-insert,0.00491555325091,0.881110202353,0.00503774725091,0.870155268269
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129,2.150000000,pose3-to-pose4-insert,0.0049154748248,0.880915818773,0.00503764836286,0.869960775237
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130,2.166666667,pose3-to-pose4-insert,0.00491583714911,0.880724765856,0.00503800304274,0.869769665856
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131,2.183333333,pose3-to-pose4-insert,0.00491620965775,0.880532740714,0.00503837563735,0.869577640714
|
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132,2.200000000,pose3-to-pose4-insert,0.00491657891632,0.880343401226,0.00503874193833,0.869388301226
|
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133,2.216666667,pose3-to-pose4-insert,0.00491689045031,0.880159257793,0.00503903786392,0.869204157793
|
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+
134,2.233333333,pose3-to-pose4-insert,0.00491712788633,0.879981724528,0.00503927075832,0.869026537329
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135,2.250000000,pose3-to-pose4-insert,0.00491745579879,0.879816303219,0.0050396034276,0.868861103219
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136,2.266666667,pose3-to-pose4-insert,0.00491758664385,0.879659858267,0.00503977730138,0.868704561318
|
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137,2.283333333,pose3-to-pose4-insert,0.0049178446357,0.8795209773,0.00504001486388,0.8685656773
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138,2.300000000,pose3-to-pose4-insert,0.00491813957383,0.87939424491,0.00504031301329,0.86843894491
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139,2.316666667,pose3-to-pose4-insert,0.00491838564072,0.879270065568,0.00504055617339,0.868314592201
|
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140,2.333333333,pose3-to-pose4-insert,0.00491818515247,0.8791455851,0.00504035056886,0.8681900851
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+
141,2.350000000,pose3-to-pose4-insert,0.00491782231718,0.879035788516,0.00503999193452,0.868080380863
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+
142,2.366666667,pose3-to-pose4-insert,0.00491779459791,0.87892825335,0.00503996968699,0.86797275335
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+
143,2.383333333,pose3-to-pose4-insert,0.0049174144969,0.878831499526,0.00503961154086,0.867875999526
|
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144,2.400000000,pose3-to-pose4-insert,0.00491720695977,0.878751258257,0.0050393920059,0.867795758257
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+
145,2.416666667,pose3-to-pose4-insert,0.00491705021468,0.878682740538,0.00503921454214,0.867727230326
|
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+
146,2.433333333,pose3-to-pose4-insert,0.00491713450424,0.878622298596,0.00503930916929,0.867666698596
|
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+
147,2.450000000,pose3-to-pose4-insert,0.00491670172292,0.87857499748,0.00503886470445,0.86761939748
|
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+
148,2.466666667,pose3-to-pose4-insert,0.00491658445306,0.878531607631,0.00503873961659,0.867576007631
|
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+
149,2.483333333,pose3-to-pose4-insert,0.00491668090876,0.878495500118,0.00503886596927,0.867539900118
|
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150,2.500000000,pose3-to-pose4-insert,0.00491663096004,0.878466648736,0.00503878475721,0.867510954022
|
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151,2.516666667,pose3-to-pose4-insert,0.00491667138323,0.878444041056,0.00503885411302,0.867488431438
|
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+
152,2.533333333,pose3-to-pose4-insert,0.00491645889848,0.878425793363,0.00503862098052,0.867470193363
|
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+
153,2.550000000,pose3-to-pose4-insert,0.0049165254682,0.878413064217,0.00503867737121,0.867457374251
|
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154,2.566666667,pose3-to-pose4-insert,0.00491633478017,0.878403882216,0.00503847758936,0.867448273225
|
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+
155,2.583333333,pose3-to-pose4-insert,0.00491648335836,0.878397510353,0.00503863252569,0.867441815931
|
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156,2.600000000,pose3-to-pose4-insert,0.00491652210807,0.878393439378,0.00503867353433,0.867437839378
|
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157,2.616666667,pose3-to-pose4-insert,0.004916601,0.8783918,0.005038763,0.8674362
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158,2.633333333,pose4-hold,0.004916601,0.8783918,0.005038761,0.8674362
|
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159,2.650000000,pose4-hold,0.004916601,0.8783918,0.00503876526471,0.8674362
|
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+
160,2.666666667,pose4-hold,0.004916601,0.8783918,0.00503876952941,0.8674362
|
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161,2.683333333,pose4-hold,0.004916601,0.8783918,0.00503876820588,0.8674362
|
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162,2.700000000,pose4-hold,0.004916601,0.8783918,0.00503876682353,0.8674362
|
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163,2.716666667,pose4-hold,0.004916601,0.8783918,0.00503876826471,0.8674362
|
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164,2.733333333,pose4-hold,0.004916601,0.8783918,0.00503876876471,0.8674362
|
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165,2.750000000,pose4-hold,0.004916601,0.8783918,0.00503876705882,0.8674362
|
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166,2.766666667,pose4-hold,0.004916601,0.8783918,0.00503876947059,0.8674362
|
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167,2.783333333,pose4-hold,0.004916601,0.8783918,0.00503877,0.8674362
|
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168,2.800000000,pose4-hold,0.004916601,0.8783918,0.00503877,0.8674362
|
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169,2.816666667,pose4-hold,0.004916601,0.8783918,0.00503876732353,0.8674362
|
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170,2.833333333,pose4-hold,0.004916601,0.8783918,0.00503876394118,0.8674362
|
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171,2.850000000,pose4-hold,0.004916601,0.8783918,0.00503876726471,0.8674362
|
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172,2.866666667,pose4-hold,0.004916601,0.8783918,0.00503876982353,0.8674362
|
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173,2.883333333,pose4-hold,0.004916601,0.8783918,0.00503877238235,0.8674362
|
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174,2.900000000,pose4-hold,0.004916601,0.8783918,0.005038773,0.8674362
|
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175,2.916666667,pose4-hold,0.004916601,0.8783918,0.0050387735,0.8674362
|
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176,2.933333333,pose4-hold,0.004916601,0.8783918,0.00503877329412,0.8674362
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177,2.950000000,pose4-hold,0.004916601,0.8783918,0.005038772,0.8674362
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178,2.966666667,pose4-hold,0.004916601,0.8783918,0.00503877194118,0.8674362
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179,2.983333333,pose4-hold,0.004916601,0.8783918,0.00503877108824,0.8674362
|
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180,3.000000000,pose4-hold,0.004916601,0.8783918,0.005038771,0.8674362
|
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181,3.016666667,pose4-hold,0.004916601,0.8783918,0.005038771,0.8674362
|
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182,3.033333333,pose4-hold,0.004916601,0.8783918,0.00503877147059,0.8674362
|
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183,3.050000000,pose4-hold,0.004916601,0.8783918,0.00503877361765,0.8674362
|
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184,3.066666667,pose4-hold,0.004916601,0.8783918,0.00503877735294,0.8674362
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185,3.083333333,pose4-hold,0.004916601,0.8783918,0.00503877902941,0.8674362
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186,3.100000000,pose4-hold,0.004916601,0.8783918,0.00503877988235,0.8674362
|
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187,3.116666667,pose4-hold,0.004916601,0.8783918,0.00503878,0.8674362
|
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188,3.133333333,pose4-hold,0.004916601,0.8783918,0.00503877941176,0.8674362
|
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189,3.150000000,pose4-hold,0.004916601,0.8783918,0.00503877855882,0.8674362
|
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190,3.166666667,pose4-hold,0.004916601,0.8783918,0.005038778,0.8674362
|
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191,3.183333333,pose4-hold,0.004916601,0.8783918,0.00503877785294,0.8674362
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192,3.200000000,pose4-hold,0.004916601,0.8783918,0.005038777,0.8674362
|
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193,3.216666667,pose4-to-pose5-return,0.004916601,0.8783918,0.005038778,0.8674362
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194,3.233333333,pose4-to-pose5-return,0.00491629317238,0.878392270766,0.00503846546472,0.867436627688
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Part2/Free/s1/cylinder_0010_12.5/width_02/pick/camera_frames_60hz.tar
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Part2/Free/s1/cylinder_0010_12.5/width_02/pick/fem_node.csv
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The diff for this file is too large to render.
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Part2/Free/s1/cylinder_0010_12.5/width_02/pick/franka_data.csv
ADDED
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