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+48,0.800000000,BASELINE,765,745,715,679.146247665,658,634,877,784.853752335,809,651,629,652,0.400969948529,0.00451518351307,0.0798382126295,0.999999947376,0.000155102511426,-0.000281260559641,4.56421097311e-05,1793247860076205312 +49,0.816666667,BASELINE,765,745,715,679.436581619,658,634,877,784.563418381,809,651,629,652,0.400970859751,0.00451503794238,0.079838944819,0.999999947544,0.000155928785207,-0.000280166403769,4.58851309572e-05,1793247860092871936 +50,0.833333333,BASELINE,765,745,715,679.984947145,657.984947145,634,877.015052855,784,809,651.015052855,629,652,0.400972268396,0.00451473919683,0.0798400339965,0.999999947925,0.000156099257109,-0.000278659639491,4.61682334909e-05,1793247860109538560 +51,0.850000000,BASELINE,765,745,715,679.409133335,657.409133335,634,877.590866665,784,809,651.590866665,629,652,0.400972266835,0.00451567020245,0.0798408503318,0.999999948118,0.000156869885139,-0.000277544106815,4.60891964909e-05,1793247860126205696 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+66,1.100000000,BASELINE,765,745,715,680,658,634,877,784,809,651.71301499,629,652,0.400970714486,0.00451641463912,0.0798397333108,0.999999947684,0.000156898412787,-0.000279147686327,4.57284143001e-05,1793247860376205056 +67,1.116666667,BASELINE,765,745,715,680,658,634,877,784,809,651.121470235,629,652,0.40097187272,0.00451512658773,0.079840283388,0.999999948336,0.000155058348962,-0.000277874781387,4.55067290339e-05,1793247860392871424 +68,1.133333333,BASELINE,765,745,715,679.54596413,658,634,877,784,809,651.45403587,629,652,0.400971646792,0.00451539240534,0.0798401848483,0.999999947925,0.000156795642162,-0.000278337339487,4.5750454792e-05,1793247860409538304 +69,1.150000000,BASELINE,764.974123277,745,715,679.025876723,658,634,877,784,809,651.974123277,629,652,0.400971053751,0.00451604584241,0.0798398593941,0.999999947242,0.000159332956372,-0.00027929266057,4.60921217594e-05,1793247860426205184 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sha256:ac8bb5585606809715769122478c8e2badc63f4b52922547c46dc88d4cdcf316 +size 25708111 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_01/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..6b89255633490e3996679fd37758289c969f30ad --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_01/depth_01/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,766,745,714,679,659,636,878,787,804,652,631,652,0.40085507664,-0.00544741556331,0.0599082017716,0.999999957169,-9.37929310185e-05,-0.000275219182817,-3.34657848079e-05,1793242340021613312 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b/Part2/Obstacle_avoidance/ball_0050_15/position_01/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:716fabe6142d6233d1a26758185344ff5b9d4ebb23a0f3104e234bebd61d3aa6 +size 25839239 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_01/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..273dc9cdf86b3172ed1bc2328c418b68064ec7bc --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_01/depth_03/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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a/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..e80b124c6fba0a2d247a4dd9e7fd1a2ceb312e4d --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9aae8a76e7746068f4145cbee2eb959066ca03cb7b05f82f13ceddc21ebd7bf +size 25689611 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..cc8c6a0650f5798d87d49fc804bf54858691edc6 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_01/franka_data.csv @@ -0,0 +1,405 @@ 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sha256:84eacad4cd141437b4eb836696b7051c5cdae365e0efb59d6a5c38a14c762525 +size 25699845 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..45adc6e2260f5bffa195de75d3fef2b019757d54 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_02/franka_data.csv @@ -0,0 +1,405 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,745,714,679,661,635,878,787,805,653,631,652,0.400985589354,-0.00542424688673,0.0498549749851,0.999999963241,8.17051619379e-05,-0.000255857925692,-3.71342482478e-05,1793242382902201856 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0000000000000000000000000000000000000000..67e8dceb5c2fb0bd60c6a62a4d194d3cb0d22d63 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:503c1380a7efe4b20575a7298cc48672b97b502969b5155e87e0879fe9ebe2f1 +size 25892059 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ac97118806391d23bf16b229bc77c92e060ad2e2 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_02/depth_04/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..2763a19045c32d29852f5b212a8be6b8471c0cff --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b3b23e6b03c61b9172cd5482c3ca23d1c1331950441e83e16a2860f81ce42fd +size 25718850 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..da3a3f1e3e7090fc7961694fac9d828c15d3896d --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_01/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:491a39b4ba4edfb0b41fa0c4ed973c9925c144d37abe163da13da98174c5c7e4 +size 25726521 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..7fe6e2382c90399b80b19198732ad8bafcd78b8e --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_02/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d7dc41b69e048614ebdd3f7b1e25fa6f26b173701e267bf12cc7fe1559b47ba +size 25974857 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..53a7052970df6b8ce1527d300615376efcc5e7fe --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_04/franka_data.csv @@ -0,0 +1,410 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1c7db9910db229511aa956f765c19d08248abcaa1816085348b84a6c7a77d05 +size 26041876 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ec14a87ad2ce01728fcc25ba02d8821c11a7f345 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_03/depth_05/franka_data.csv @@ -0,0 +1,411 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..318b7c48e1135b5e8888f80b99ed74c62c9b4131 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d558f9e715f20bf253a756a1c8df9bb2f46a8f27da9c95a7f6c1779fdd606da +size 25677124 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d1d2519089d4eca5e141d3ca4c5ee721ba181881 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_01/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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a/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..6b6aedb8882e948cd4a429a26d3122525768870d --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5ba6686272b8b39644fcf568a3920a1e8161b7584edc62e21750c3e436174fc +size 25742039 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2bf2b1be5ef79092e0c6fcf88a9f0484b749c5aa --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_02/franka_data.csv @@ -0,0 +1,407 @@ 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+60,1.000000000,BASELINE,765,745,714,679.828340081,659.171659919,635,878.828340081,786.828340081,804.171659919,651.171659919,631.828340081,652,0.400967340192,-0.00539152031459,0.0798343001797,0.999999928082,0.000246838045461,-0.000284608019933,4.3641576559e-05,1793242456137057024 +61,1.016666667,BASELINE,765,745,714.404620474,679.595379526,659,635,879.404620474,787,804.404620474,651,631.595379526,652,0.400966682891,-0.00539171247891,0.0798339594283,0.999999928351,0.000245107412512,-0.000285179362063,4.35092427635e-05,1793242456153723648 +62,1.033333333,BASELINE,765,745,714.980466518,679.019533482,659,635,879.980466518,787,804.980466518,651,631.019533482,652,0.400965314755,-0.00539254498488,0.0798332848028,0.999999928623,0.000242401594645,-0.000286544562825,4.34365527014e-05,1793242456170390272 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+78,1.300000000,BASELINE,765,745,714,679.278383603,659,634.721616397,878.278383603,787,804,651.721616397,631,652,0.40096622849,-0.00539170930472,0.0798335952442,0.999999927842,0.000247793469625,-0.000284586016454,4.38656672035e-05,1793242456437056512 +79,1.316666667,BASELINE,765,745,714,679.851993286,659,634.148006714,878.851993286,787,804,651.148006714,631,652,0.400966803497,-0.00539113257014,0.079834177333,0.999999928413,0.00024587119395,-0.000284327188948,4.33593248317e-05,1793242456453723392 +80,1.333333333,BASELINE,765,745,714.424190449,679.575809551,659.424190449,634,879,787,804.424190449,651.424190449,631,652,0.400966052904,-0.00539163219322,0.0798339103195,0.999999928259,0.000245218246659,-0.00028540876903,4.34885589353e-05,1793242456470391040 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a/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..27a2380a6652cbb4fa0030e96d4def21e18719ed --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa7f0d70adf3735dbeb521cd9219e2ad1b61d0b0436be0066039c9404abb3fc3 +size 25805642 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..329fef364b4beb682e7c367c07109f2cddc680f9 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_03/franka_data.csv @@ -0,0 +1,408 @@ 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b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66c7b20dc90ceab5c905c5bf4625d3333e10a197616dd4798b8605694350d1d3 +size 25939097 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9b8030ce1a10a78eda543f9f047d9e0b6527b266 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_04/depth_04/franka_data.csv @@ -0,0 +1,410 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+58,0.966666667,BASELINE,765,745,714.342324193,680,659.657675807,635,878.342324193,787,804.342324193,651.657675807,630.342324193,652,0.400964977835,-0.00540428698013,0.0798333025108,0.999999930874,0.000231198864156,-0.000288284764294,4.11335335683e-05,1793242477012564992 +59,0.983333333,BASELINE,765,745,714.241969609,680,659.758030391,635,878.241969609,787,804,651.758030391,630.241969609,652,0.400965245683,-0.00540399146517,0.0798333347715,0.999999931204,0.000230369986664,-0.000287819997056,4.10106844683e-05,1793242477029231616 +60,1.000000000,BASELINE,765,745,714.8206596,680,659.1793404,635,878.8206596,787,804,651.1793404,630.8206596,652,0.400965720603,-0.00540356232345,0.0798337923178,0.999999931668,0.000229658730454,-0.000286793479551,4.08720622165e-05,1793242477045898240 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+92,1.533333333,BASELINE,765.388316747,745,714.611683253,679.388316747,660.388316747,635,879,787,804.388316747,651.611683253,631,652.388316747,0.400967849378,-0.00540362207343,0.0798352127139,0.999999932392,0.000230005075059,-0.000284006937944,4.06600705933e-05,1793242477579232000 +93,1.550000000,BASELINE,765.967896674,745,714.032103326,679.967896674,660.967896674,635,879,787,804.967896674,651.032103326,631,652.967896674,0.400968722402,-0.00540233378267,0.0798359086699,0.999999932545,0.000230786567014,-0.000282822800261,4.07247762892e-05,1793242477595898624 +94,1.566666667,BASELINE,765.459659477,745,714.540340523,679.459659477,660.459659477,635,879,787,804.459659477,651,631,652.459659477,0.400967560287,-0.00540359710432,0.0798353558525,0.999999932474,0.000229659570584,-0.000283972099552,4.08384040659e-05,1793242477612565248 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b/Part2/Obstacle_avoidance/ball_0050_15/position_05/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:696fa8cec751889f0da27eae8095baf4c32fd2abf5ebf91ddb67897da8e2c7ec +size 25592725 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_05/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..10cb2c3e1257fa441b7cc6a63ed964f7cd409bef --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_05/depth_01/franka_data.csv @@ -0,0 +1,405 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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sha256:0c2a82221ec7f1709757d2ed3bf2be6bf5162d26b8e6544cbff226c18d180abc +size 25669607 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_06/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..0318e37550b9bad4712a974455cf9f13490cc505 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_06/depth_01/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,744,715,679,660,635,879,787,805,652,631,652,0.400934924366,-0.0154328955639,0.0499307912913,0.999999972982,6.71053501058e-05,-0.000220140648865,-3.27384527695e-05,1793242520420892672 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0000000000000000000000000000000000000000..e9b3b949b2794414be38d91848368ae2ffb674c7 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_06/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:796ef3b6e23ec92b5e7499bd79883a4d1e16bc1751056c432deb4db6c5be3f2f +size 25680420 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_06/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..cb413af581940eb741ae752cb2c21ae1b57fe57c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_06/depth_02/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..abff36bdb84ab0e7ece9a858c40008a03377f3e0 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_06/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:788b52db5f99b83f3ddaf486914163ddd8a476163dd7748ae23da03d423d442c +size 25799347 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_06/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..44eb911038d8b62d76232944ccfb37f89ed57405 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_06/depth_04/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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a/Part2/Obstacle_avoidance/ball_0050_15/position_07/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_07/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..49e4d454ec7f1c3b8eab97fffd827be47cd8e1df --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_07/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2688bacbf0d3e99e6779f4e4eab07c4fa2df11a7694e6f5cf65cec6daa20a6c6 +size 25695892 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_07/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_07/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2a8af8a46436dfeabeac5444f034f12fef947c1d --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_07/depth_01/franka_data.csv @@ -0,0 +1,406 @@ 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sha256:fa7103176a3976aadc983fe5e168c9c0a5542cfa4231bc42070373fbe9c7dde9 +size 25940896 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_07/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_07/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ddc69c49886b125a27cab6a13dcdc15f04bedd81 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_07/depth_05/franka_data.csv @@ -0,0 +1,410 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,745,715,679,660,635,879,787,805,652,631,652,0.400955035039,-0.0153938780849,0.0698200193324,0.99999993679,0.000195670408298,-0.000296576802513,1.32189448292e-05,1793242584470694400 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sha256:73f1a10e49c406195443e8ce6dfe172dd4d1b74d1cb992a2e733693642a75f3f +size 25590848 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_08/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..04b98ed698858c4d40e684d83143d79086d05e83 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_08/depth_01/franka_data.csv @@ -0,0 +1,405 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,745,715,679,659,635,879,788,805,651,631,652,0.401029032959,-0.0154897145284,0.0798662461684,0.999999980511,0.000127798004663,-0.000144504637353,4.20034169133e-05,1793242592598674432 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0000000000000000000000000000000000000000..70934e6d53601eafa9a372b0dc48e9a0723310cb --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_08/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:503e90a32d40d152f315aa6cde488238bcb02dc02051c60a70ba2a2b93b7b60c +size 25784739 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_08/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_08/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..c1f6f2d8e9a0908f381aa45be6609330c1907b88 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_08/depth_02/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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sha256:708628a3e3a771972062a3f74cccf48ef2b3efc42b9e4f00e28f4a950d63abaf +size 25916655 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_08/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_08/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..4c773dcae2e0423f9a750d1267686fe5c1dcc1b3 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_08/depth_03/franka_data.csv @@ -0,0 +1,410 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,744,715,679,660,635,879,788,805,652,631,653,0.400970417331,-0.015388546686,0.0798373548403,0.999999928345,0.000245712294447,-0.000284922377584,4.19009945618e-05,1793242606442689792 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+48,0.800000000,BASELINE,765,744.866452781,714.866452781,679,660,635.866452781,879,788.866452781,805,651,631,652.133547219,0.400969857571,-0.015390474946,0.0798389888133,0.999999929943,0.0002415069043,-0.0002829849811,4.13377032074e-05,1793242607242689024 +49,0.816666667,BASELINE,765,745,715,679.441841837,660,635.558158163,879,788.116316325,805,651,631,652,0.400970002683,-0.0153906146016,0.0798391213464,0.999999929789,0.000242356039544,-0.000282779777084,4.14790129894e-05,1793242607259355392 +50,0.833333333,BASELINE,765,745,714.982892056,679.982892056,659.982892056,635,879,787,805,651.017107944,631,652,0.400970807503,-0.0153906354763,0.0798395723471,0.999999929715,0.000243659476063,-0.000281895299406,4.16533342956e-05,1793242607276022272 +51,0.850000000,BASELINE,765,745,714.392958881,679.392958881,659.392958881,635,879,787,805,651.607041119,631,652,0.400970264763,-0.0153905546132,0.07983918384,0.999999929519,0.000243500011396,-0.000282715480034,4.17361914283e-05,1793242607292689152 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+56,0.933333333,BASELINE,765,745,715,679,660,635,879,787.508865739,805,651,631,652.491134261,0.400971807226,-0.0153887332367,0.0798405102313,0.999999929656,0.000245493863085,-0.000280555152441,4.13439534457e-05,1793242607376022528 +57,0.950000000,BASELINE,765,745,715,679,660,635,879,788.097346606,805,651,631,652,0.400971316522,-0.01538893131,0.079840255485,0.999999929673,0.000244955092244,-0.000280975624958,4.12766538128e-05,1793242607392689152 +58,0.966666667,BASELINE,765,745,715,679,660,635,879,788.676733797,805,651,631,652,0.400971854421,-0.0153896025034,0.0798405104009,0.999999929898,0.000245499693386,-0.000279671563695,4.14369238576e-05,1793242607409355776 +59,0.983333333,BASELINE,765,744.746644343,715,679,660,635,879,788.746644343,805.253355657,651.253355657,631,652,0.40097204491,-0.0153901640939,0.0798405032376,0.999999929976,0.000245304732827,-0.000279552366319,4.15302083362e-05,1793242607426022656 +60,1.000000000,BASELINE,765,744.173512701,715,679,660,635,879,788.173512701,805.826487299,651.826487299,631,652,0.40097179691,-0.0153905873479,0.0798401652877,0.999999929866,0.00024417632537,-0.000280928659418,4.15389461736e-05,1793242607442689536 +61,1.016666667,BASELINE,765,744.411202639,715,678.588797361,660,635,879,788,805.588797361,651.588797361,631,652.411202639,0.400971046168,-0.015391159194,0.0798397212173,0.999999929903,0.000242886244943,-0.000281910326578,4.15542557723e-05,1793242607459356160 +62,1.033333333,BASELINE,765,744.999069354,715,678.000930646,660,635,879,788,805,651.000930646,631,653,0.400970080588,-0.0153917914291,0.0798392330724,0.999999930003,0.000241532325311,-0.000282716031232,4.15723404827e-05,1793242607476022528 +63,1.050000000,BASELINE,765,744.419833667,715,678.580166333,660,635,879,788,805,651.580166333,631,653,0.400971259495,-0.0153898578395,0.0798399892209,0.999999929955,0.000244129506999,-0.000280652293722,4.15417597305e-05,1793242607492689152 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+68,1.133333333,BASELINE,765,745,714.538145578,679,660,635,879,788,805,652,631,652,0.400971617926,-0.0153902974608,0.0798409588735,0.999999930486,0.000243360442188,-0.000279393809626,4.17463054715e-05,1793242607576022528 +69,1.150000000,BASELINE,765,745,714,678.963021656,660,635,879,787.963021656,805,651.963021656,631,652.036978344,0.400971561782,-0.0153907194832,0.0798408524228,0.999999930554,0.000243269913024,-0.000279239306111,4.16844424472e-05,1793242607592689408 +70,1.166666667,BASELINE,765,745,714,678.367568675,660,635,879,787.367568675,805,651.367568675,631,652.632431325,0.400969523404,-0.0153905405185,0.0798387660099,0.999999929721,0.000243523278777,-0.000282039146369,4.13233704589e-05,1793242607609356032 +71,1.183333333,BASELINE,765,745,714.219845573,678.219845573,660,635,879,787,805,651,631,653,0.400968831844,-0.0153899300035,0.0798379270642,0.999999929272,0.000244073467594,-0.000283183490152,4.11126419083e-05,1793242607626022400 +72,1.200000000,BASELINE,765,745,714.794293744,678.794293744,660,635,879,787,805,651,631,653,0.400970312651,-0.0153886234139,0.0798391002359,0.99999992945,0.000245102420835,-0.000281657581152,4.11444115827e-05,1793242607642689024 +73,1.216666667,BASELINE,765,744.62992199,715,679,660,635,879,787.37007801,805,651,631,652.62992199,0.400972083896,-0.0153896692034,0.0798403248674,0.999999930399,0.000243636056205,-0.000279534841402,4.12855641314e-05,1793242607659356160 +74,1.233333333,BASELINE,765,744.053392407,715,679,660,635,879,787.946607593,805,651,631,652.053392407,0.400974017164,-0.0153920272901,0.0798415782062,0.999999931766,0.000240777654457,-0.000277079153972,4.14877369653e-05,1793242607676023552 +75,1.250000000,BASELINE,765.532638027,744.532638027,715,679.532638027,660,635,879,788,805,651,631,652,0.400973567723,-0.0153920717141,0.0798416998896,0.999999931434,0.000241535433307,-0.000277590591727,4.16696042374e-05,1793242607692689664 +76,1.266666667,BASELINE,765.881931286,745,715,679.881931286,660,635,879,787.881931286,805,651.118068714,631,652.118068714,0.400973175749,-0.0153915077467,0.079841776118,0.999999930881,0.000243183693121,-0.000278114900966,4.18659089906e-05,1793242607709356032 +77,1.283333333,BASELINE,765.30263151,745,715,679.30263151,660,635,879,787.30263151,805,651.69736849,631,652.69736849,0.400973958257,-0.0153894895813,0.079842125971,0.999999930136,0.000246868807986,-0.000277506495544,4.21267090758e-05,1793242607726022912 +78,1.300000000,BASELINE,765,744.72772378,715,679,660,635,879,787.27227622,804.72772378,651.72772378,631,653,0.400974238169,-0.0153889005266,0.0798422662189,0.999999929837,0.000248155162667,-0.000277432959,4.2134337143e-05,1793242607742689792 +79,1.316666667,BASELINE,765,744.157620293,715,679,660,635,879,787.842379707,804.157620293,651.157620293,631,653,0.400973968319,-0.0153898746938,0.0798421771917,0.999999930038,0.000246817651581,-0.000277944484737,4.18650349135e-05,1793242607759356160 +80,1.333333333,BASELINE,764.578807438,744.421192562,715,679,660,635,879,787.578807438,804,651,631,653,0.4009733425,-0.015391468054,0.0798416148921,0.999999930842,0.000243623162772,-0.000277891392673,4.1708423561e-05,1793242607776022528 +81,1.350000000,BASELINE,764.003373602,745,715,679,660,635,879,787.003373602,804.003373602,651,631,652.996626398,0.400972590244,-0.0153932756699,0.079840878594,0.999999931857,0.000239752238288,-0.000277623312815,4.1593604927e-05,1793242607792689152 +82,1.366666667,BASELINE,764.592511169,745,715,679,660,635,879,787.592511169,804.592511169,651,631,652.407488831,0.40097350281,-0.0153912019518,0.0798413318324,0.999999931454,0.000241639451035,-0.000277488411675,4.12583931233e-05,1793242607809355776 +83,1.383333333,BASELINE,765,745,715,679,660,635,879,788,805,651.17783883,631,652.17783883,0.400973726086,-0.0153898441042,0.0798414417635,0.999999931,0.000243220769182,-0.000277764731537,4.11222537238e-05,1793242607826022912 +84,1.400000000,BASELINE,765,745,715,679,660,635,879,788,805,651.754619921,631,652.754619921,0.400972403093,-0.0153900921543,0.0798407815605,0.999999930435,0.000244115880507,-0.000278963535165,4.14326893714e-05,1793242607842689536 +85,1.416666667,BASELINE,765,745,715,679,660,635,879.330865852,788,805,651.669134148,631,653,0.400972079473,-0.0153899285248,0.0798406417506,0.99999993018,0.000245134589251,-0.000278960832296,4.15985092088e-05,1793242607859355904 +86,1.433333333,BASELINE,765,745,715,679,660,635,879.906715498,788,805,651.093284502,631,653,0.40097249582,-0.0153894600743,0.0798408872567,0.999999930153,0.000246244813475,-0.000278068495028,4.16572507979e-05,1793242607876022528 +87,1.450000000,BASELINE,765,745,715,679,660,635,880,788,805,651,631.493771851,652.506228149,0.400972250259,-0.0153893118762,0.0798407215118,0.999999930238,0.000245502204246,-0.000278424074568,4.16350367041e-05,1793242607892688896 +88,1.466666667,BASELINE,765,745,714.91840778,679,659.91840778,635,880,788,805,651,631.91840778,652,0.400971926287,-0.0153892598959,0.0798404735074,0.999999930258,0.000244757034675,-0.00027901534905,4.15801749545e-05,1793242607909355264 +89,1.483333333,BASELINE,765,745,714.339141085,679,659.339141085,635,880,788,805,651,631.339141085,652,0.400971904504,-0.0153894171902,0.0798402086649,0.999999929759,0.000246180921758,-0.000279572835614,4.14216324786e-05,1793242607926022400 +90,1.500000000,BASELINE,765,745,714.237940935,679,659.237940935,635,879.762059065,788,805,651.237940935,631,652.237940935,0.400972183187,-0.0153898108606,0.0798403202316,0.999999929847,0.00024588511576,-0.00027951708643,4.14447604611e-05,1793242607942689280 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+52,0.866666667,BASELINE,765,744,714.826113053,679,660,635,878.826113053,788.826113053,805,651.826113053,631,652.826113053,0.400974881133,-0.0153862703835,0.0798409166639,0.999999929978,0.000245727980183,-0.000279410300967,3.98861960636e-05,1793242621267624704 +53,0.883333333,BASELINE,765,744,714.252116463,679,660,635,878.252116463,788.252116463,805,651.252116463,631,652.252116463,0.400973818671,-0.0153874527862,0.0798406776288,0.999999930132,0.000244297197084,-0.000280112909538,3.99027876338e-05,1793242621284291328 +54,0.900000000,BASELINE,765,744.329700403,714,679,660.329700403,635,878,787.670299597,805,651,631,652,0.400972849825,-0.0153880708011,0.0798399857115,0.999999930025,0.000243541253515,-0.000281139498295,3.99814678531e-05,1793242621300957952 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+77,1.283333333,BASELINE,764.319678419,744.680321581,714,679,659.680321581,635,879,787.680321581,805,651,631,652.319678419,0.400973310628,-0.0153877233408,0.0798393546866,0.999999930412,0.000242235641788,-0.000280978179039,3.9355727741e-05,1793242621684291584 +78,1.300000000,BASELINE,764.25512075,745,714,679,660,635,879,788,805,651.25512075,631,652,0.400973030722,-0.0153876182705,0.0798390161497,0.999999929835,0.000243813515332,-0.000281640318689,3.95344174021e-05,1793242621700958208 +79,1.316666667,BASELINE,764.827051769,745,714,679,660,635,879,788,805,651.827051769,631,652,0.400973063751,-0.0153880451289,0.079839281222,0.999999929405,0.000246296935073,-0.000280914586001,4.01874626974e-05,1793242621717625088 +80,1.333333333,BASELINE,765,744.586351475,714,678.586351475,660,635,879,788,805,651.586351475,631,652.413648525,0.400973109112,-0.0153882129499,0.0798393772727,0.999999929526,0.000246152044144,-0.00028060551899,4.02312550004e-05,1793242621734291712 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sha256:6054b4fb977015bf811ccf8f719496635fc3a425cedaa280003c4840dddbe20a +size 25771406 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_09/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..1c1d4a4b52ab3b9ca5608634a60f7a1347dcd689 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_09/depth_03/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,746,714,679,662,635,880,787,804,652,631,652,0.400960855662,0.00452902087653,0.0598441296968,0.999999949627,0.000169100572686,-0.000267382160209,2.56380431414e-05,1793242642889831936 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0000000000000000000000000000000000000000..91082c38163f4b12aa1da690c4bf105a6b9d8b37 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_09/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7189d866ea45bfa1d1887a208af27b1a7edb5db95adda7351972076d6f8905de +size 25823188 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_09/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..bb5316fab66eaddb5db99b41862edaf1cc62fcdc --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_09/depth_04/franka_data.csv @@ -0,0 +1,409 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..36ff5df1576c9172ea15dbf8d92764439ac014a8 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_09/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c04948ef61bf278ea0809e74a16a26fe0846be51ec3ac4dd9b427f665e350a8 +size 25881392 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_09/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9c608fd1bbfb41bd312b05be80207a5fa5ce48e2 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_09/depth_05/franka_data.csv @@ -0,0 +1,410 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0050_15/position_10/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7eaafa66b273b8d1f05251256b824280d196c390e30ce4f2495b0e0e8e2018bf +size 25708523 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_10/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d9f1890084cb8f8ee7ba2381f93cb57e0cb1ac46 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_10/depth_02/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..e03aa2dd05eaadd32203f894eeecfcf12db27a95 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_10/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f038b799c5fddd433bb3777816f8b90b066e2c3891be9a764aed6574adece07 +size 25893476 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_10/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..1fb08be02bbef19ff02af1db19d083e7583cc14c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_10/depth_05/franka_data.csv @@ -0,0 +1,409 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+74,1.233333333,BASELINE,765,745.057320973,714,679.942679027,660,635,878.057320973,787,804.942679027,652,631,652,0.401024709544,0.00448515179601,0.0698559877448,0.999999988256,2.28997729061e-05,-0.000150410457274,1.84314330631e-05,1793242702399904512 +75,1.250000000,BASELINE,765,745,714,680,660,635,878,787,804.465317834,652,631.534682166,652,0.401024202794,0.00448502488322,0.0698559451453,0.999999988142,2.22601381069e-05,-0.00015123978674,1.86041921108e-05,1793242702416571136 +76,1.266666667,BASELINE,764.874425084,745,714,679.874425084,660,635,878,787,804,652,631.748850168,652,0.401023918749,0.00448519024352,0.0698559549658,0.99999998805,2.16156180501e-05,-0.000151934523577,1.86580295685e-05,1793242702433238016 +77,1.283333333,BASELINE,764.295683866,745,714,679.295683866,660,635,878,787,804,652,630.591367732,652,0.401024159466,0.00448662274462,0.0698557427273,0.999999988024,2.1646212607e-05,-0.000152164427033,1.81481171747e-05,1793242702449904640 +78,1.300000000,BASELINE,764.280198371,745.280198371,714,679.280198371,660.280198371,634.719801629,878.280198371,787,804.280198371,652.280198371,630.280198371,652,0.401024819102,0.0044865608771,0.0698561042855,0.999999988105,2.13765898024e-05,-0.000151676054719,1.80964594011e-05,1793242702466571264 +79,1.316666667,BASELINE,764.853094058,745.853094058,714,679.853094058,660.853094058,634.146905942,878.853094058,787,804.853094058,652.853094058,630.853094058,652,0.401025916344,0.00448493798083,0.0698570652361,0.999999988297,2.07933576924e-05,-0.000150437366144,1.8523497867e-05,1793242702483238144 +80,1.333333333,BASELINE,765,745.561048179,714,680,660.561048179,634,878.561048179,787,804.561048179,652.561048179,631,652,0.40102522557,0.00448390502006,0.0698567381188,0.999999988246,1.83200412266e-05,-0.000151104041669,1.84315732518e-05,1793242702499905024 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0000000000000000000000000000000000000000..434e8b53e991f973d2ebc6b740cb59b7ed1f4593 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_11/depth_02/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,745,714,680,660,635,879,787,804,653,631,652,0.40097041883,0.00448937970686,0.0698319880217,0.999999962142,2.74012779048e-05,-0.000272925262221,2.18313811207e-05,1793242708087712256 +1,0.016666667,BASELINE,765,745,714,680,660,635,878.420445184,787,804.579554816,652.420445184,631,652,0.400970589456,0.00448923501241,0.069833167293,0.999999962437,2.58601845307e-05,-0.0002719813345,2.19666480957e-05,1793242708104378624 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+29,0.483333333,BASELINE,765.817737738,745.182262262,714,679.817737738,660.182262262,634.182262262,879,787.182262262,805,652,631,652,0.400972010643,0.0044875071986,0.0698355295017,0.999999963634,2.54216926241e-05,-0.000267574386558,2.2121479868e-05,1793242708571045120 +30,0.500000000,BASELINE,765.598659826,745.401340174,714,680,660.401340174,634.401340174,879,787.401340174,805,652,631,652,0.4009721647,0.00448693313178,0.069835300662,0.999999963718,2.36660406733e-05,-0.000267432048377,2.20049921795e-05,1793242708587711744 +31,0.516666667,BASELINE,765.012465504,745.987534496,714,680,660.987534496,634.987534496,879,787.987534496,805,652,631,652,0.400973098337,0.00448696941154,0.0698354566317,0.999999964035,2.16286873565e-05,-0.000266443748804,2.16682429806e-05,1793242708604378368 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b/Part2/Obstacle_avoidance/ball_0050_15/position_11/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..5be16a9aca998de989f45e31fa7006b3dedab32a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_11/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91fe68511d21964a7659d6c03dcf7334ff2b52432bbbc12c5e7658e922435261 +size 25742942 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_11/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2d506802abc406b6238f9dfd60dd8a235b025b49 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_11/depth_03/franka_data.csv @@ -0,0 +1,408 @@ 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0000000000000000000000000000000000000000..36c4b50342ec0258b1692d2752d27ad8b41754e7 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_11/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d8f0d620702ec042632a3bd7c9cacfcd99a8ab787cab8994ced90391bb41e77 +size 25798210 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_11/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..a4742b80539e5d487fa4abf890c344c19553371c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_11/depth_04/franka_data.csv @@ -0,0 +1,409 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+69,1.150000000,BASELINE,765,745,714.061559698,679,660,635,878.938440302,786.938440302,804.061559698,652,630.061559698,652,0.400975748505,0.00449599951981,0.069838114863,0.999999964719,4.65233431209e-05,-0.000260717578574,2.06061943539e-05,1793242723168392448 +70,1.166666667,BASELINE,765,745,714.641311234,679,660,635,878.358688766,786.358688766,804.641311234,652,630.641311234,652,0.400973978008,0.00449510525463,0.0698370946323,0.999999964346,4.45439668598e-05,-0.000262469181549,2.08032522163e-05,1793242723185059072 +71,1.183333333,BASELINE,765,745,714.782747957,679,660,635,878.217252043,786.217252043,805,652,631,651.782747957,0.400972904031,0.00449487499934,0.0698365345715,0.999999964166,4.34244434792e-05,-0.000263347065541,2.07662456124e-05,1793242723201725952 +72,1.200000000,BASELINE,765,745,714.21299021,679,660,635,878.78700979,786.78700979,805,652,631,651.21299021,0.400972960203,0.00449572214356,0.0698367211663,0.999999964304,4.37000875404e-05,-0.000262807283389,2.0349454075e-05,1793242723218392832 +73,1.216666667,BASELINE,765,745,714,679.371064616,660,634.628935384,878.628935384,787,804.628935384,652,631,651.371064616,0.400974327553,0.00449538101167,0.0698374606168,0.999999964675,4.35761394181e-05,-0.000261419182725,2.02801781729e-05,1793242723235059456 +74,1.233333333,BASELINE,765,745,714,679.963654762,660,634.036345238,878.036345238,787,804.036345238,652,631,651.963654762,0.400976477678,0.00449433047905,0.0698385301221,0.999999965181,4.32136347953e-05,-0.000259524636044,2.04183690869e-05,1793242723251725824 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+79,1.316666667,BASELINE,765,745,714.149939742,679.149939742,659,635,878,786,804,652,631,652,0.401024782275,0.00448068272026,0.0798614767354,0.999999981006,0.00010959518284,-0.000152802567644,5.12668572268e-05,1793242738471003392 +80,1.333333333,BASELINE,765,745,714,679.425555904,659,635,878,786.425555904,804,652,631,652,0.401023857724,0.00448173645478,0.0798611472685,0.999999980756,0.000111084596322,-0.000153435371493,5.10463544045e-05,1793242738487670272 +81,1.350000000,BASELINE,764.999725119,745,714,680,659,634.999725119,878,786.999725119,804,652,631,652,0.401022538266,0.00448339515281,0.0798604700258,0.999999980316,0.000113408292119,-0.000154679915919,5.07955531638e-05,1793242738504336896 +82,1.366666667,BASELINE,764.41048418,745,714,680,659,634.41048418,878,786.41048418,804,652,631,652,0.401023163652,0.00448375126058,0.0798605594548,0.99999998031,0.00011299975804,-0.000154940801475,5.10381356947e-05,1793242738521003520 +83,1.383333333,BASELINE,764,745,714,680,659,634,878,786.175797378,804,652,631,652,0.401023745137,0.00448356351344,0.0798607737733,0.999999980468,0.000111723969568,-0.000154822536201,5.11019824805e-05,1793242738537670400 +84,1.400000000,BASELINE,764,745,714,680,659,634,878,786.755283339,804,652,631,652,0.401024225813,0.00448212689669,0.079861274879,0.999999980998,0.000108456679762,-0.000153833615997,5.07553932724e-05,1793242738554337024 +85,1.416666667,BASELINE,764.332515336,745,714,680,659,634,878,787,804,652,631,652,0.401024369457,0.00448286254787,0.0798614706169,0.999999981057,0.000108486953171,-0.00015352367196,5.045956466e-05,1793242738571003904 +86,1.433333333,BASELINE,764.908099649,745,714,680,659,634,878,787,804,652,631,652,0.401024266731,0.00448518612875,0.0798614431306,0.999999980774,0.000110927748134,-0.000153710060106,5.02008421046e-05,1793242738587670528 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+64,1.066666667,BASELINE,764.150147666,745,714,679.150147666,659,634.150147666,878,786.849852334,804,652,631,652,0.400968443117,0.00448320879651,0.0798370287852,0.999999954757,0.000105463768234,-0.00027680497529,5.23648719057e-05,1793242745142972928 +65,1.083333333,BASELINE,764.732209419,745,714,679.732209419,659,634.732209419,878,786.267790581,804,652,631,652,0.400968022933,0.00448207469302,0.0798362639997,0.999999954689,0.000103877457645,-0.000277585461117,5.27091373849e-05,1793242745159639808 +66,1.100000000,BASELINE,764.690652379,745,714.309347621,680,659,634.690652379,878,786.309347621,804.309347621,652,631,652,0.400967612581,0.00448150127016,0.0798354706287,0.999999954397,0.000104500935296,-0.000278340551844,5.30304786402e-05,1793242745176306688 +67,1.116666667,BASELINE,764.117709564,745,714.882290436,680,659,634.117709564,878,786.882290436,804.882290436,652,631,652,0.400967210606,0.00448140560346,0.0798346529001,0.999999953911,0.0001070073742,-0.000279074003358,5.33322861401e-05,1793242745192973312 +68,1.133333333,BASELINE,764.456895877,745,714.543104123,680,659,634.456895877,878,787,805,651.543104123,631,652,0.400967464411,0.00448139595386,0.0798354025785,0.999999954198,0.000105972320081,-0.000278485166104,5.31030325124e-05,1793242745209640192 +69,1.150000000,BASELINE,765,745,714,680,659,635,878,787,804.966948266,651,631,652,0.400967888205,0.00448135422173,0.0798364846839,0.999999954662,0.000104101390934,-0.000277588843481,5.27577987197e-05,1793242745226306816 +70,1.166666667,BASELINE,765,745,714,680,659,635,878,787,804.371734881,651,631,652,0.400968319217,0.0044803885187,0.0798363275946,0.999999954801,0.000103588562962,-0.000277277931296,5.27754628832e-05,1793242745242973440 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sha256:cc32279bc3ae29ea712efab2d7f554c89575f2e4cf00d0a4c9e2ba131bd9260d +size 25964406 diff --git a/Part2/Obstacle_avoidance/ball_0050_15/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_15/position_12/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..b13defc7c69930bc082361b28f7e887a38b28808 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_15/position_12/depth_04/franka_data.csv @@ -0,0 +1,410 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,745,715,679,659,634,878,786,804,652,631,651,0.400964977888,0.0044815771546,0.0798319636479,0.99999995159,0.000109826936184,-0.000286497302535,5.1737423206e-05,1793242757977460480 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+68,1.133333333,BASELINE,764,745,714,680,659,634.464673974,878,786.464673974,804,651.535326026,631,652,0.400964150211,0.00448395538272,0.0798326470437,0.999999952151,0.000110699565677,-0.000284457810624,5.02770952145e-05,1793242759110792960 +69,1.150000000,BASELINE,764.040885666,745.040885666,714,680,659.081771332,634.959114334,878,787,804,651.040885666,631,652,0.400964424182,0.00448291045936,0.0798335184129,0.999999952179,0.000111038420671,-0.000284167098589,5.06173812968e-05,1793242759127459840 +70,1.166666667,BASELINE,764.628396847,745.628396847,714,680,660.256793694,634.371603153,878,787,804,651.628396847,631,652,0.400965720348,0.00448456285304,0.0798345284026,0.999999952511,0.000113198460266,-0.000282157925055,5.05029554533e-05,1793242759144126208 +71,1.183333333,BASELINE,765,745.785977961,714,680,660.571955923,634.214022039,877.785977961,786.785977961,804,652,631,652,0.400966052269,0.00448491695018,0.0798346491738,0.999999952642,0.000113444095197,-0.00028160547033,5.04533486498e-05,1793242759160792832 +72,1.200000000,BASELINE,765,745.203598685,714,680,659.407197369,634.796401315,877.203598685,786.203598685,804,652,631,652,0.400964724608,0.00448303652572,0.0798332394949,0.999999952427,0.000110394813667,-0.000283560200611,5.0515303061e-05,1793242759177459456 +73,1.216666667,BASELINE,765,745,714,680,659,634.626479944,877.373520056,786,804,652,631,652,0.400964554358,0.00448307399594,0.0798330213712,0.999999952358,0.00011106907012,-0.000283529629145,5.05901614977e-05,1793242759194126592 +74,1.233333333,BASELINE,765,745,714,680,659,634.052188833,877.947811167,786,804,652,631,652,0.400965006228,0.00448414235532,0.0798334437215,0.999999952363,0.000113744768541,-0.000282431936479,5.06719559833e-05,1793242759210793984 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+27,0.450000000,BASELINE,764.324604576,745,714,679.675395424,659,634,878,786.675395424,804,652,631,652,0.400960448666,0.00448581455679,0.0798302322491,0.999999950232,0.000113718081695,-0.000290039910892,4.98175528701e-05,1793242765435390720 +28,0.466666667,BASELINE,764.260074257,745,714,680,659,634,878,787,804,652,631,652,0.400960214993,0.00448646249521,0.0798301297849,0.999999950055,0.000114418482591,-0.000290389652116,4.97123895849e-05,1793242765452058624 +29,0.483333333,BASELINE,764.837484579,745,714,680,659,634,878,787,804,652,631,652,0.400960090517,0.0044870262283,0.079830032787,0.999999950055,0.000115904762172,-0.000289829970204,4.95378607382e-05,1793242765468728320 +30,0.500000000,BASELINE,764.585651429,745,714,680,659,634,878,787,804,652,631,652,0.40095952768,0.00448654896911,0.0798293234833,0.999999949891,0.000114977765707,-0.000290747102602,4.96450935521e-05,1793242765485393664 +31,0.516666667,BASELINE,764.009001448,745,714,680,659,634,878,787,804,652,631,652,0.400958793135,0.00448566395054,0.0798283743379,0.999999949658,0.000113105482725,-0.000292242707002,4.98626931425e-05,1793242765502057216 +32,0.533333333,BASELINE,764.565628951,745,714,680,659,634.565628951,878,787,803.434371049,652,631,652,0.40095923613,0.00448567422938,0.0798292778066,0.999999949953,0.000113086355039,-0.000291235929816,4.9876453395e-05,1793242765518724096 +33,0.550000000,BASELINE,765,745,714,680,659,635,878,787,803.144343303,652,631,652,0.400959453966,0.0044858565068,0.0798297448946,0.99999995006,0.000113369529849,-0.00029075079166,4.99066346295e-05,1793242765535390720 +34,0.566666667,BASELINE,765,745,714,680,659,635,878,787,803.735807278,652,631,652,0.400958916504,0.00448652759316,0.0798287692399,0.999999949562,0.000114498095315,-0.00029200441082,4.99976944701e-05,1793242765552057344 +35,0.583333333,BASELINE,765,745,714,680,659,634.679236636,878,787,804,652,631,652,0.400958712119,0.00448557779097,0.0798288118653,0.999999949573,0.000114453504886,-0.00029195959631,5.01430970327e-05,1793242765568724224 +36,0.600000000,BASELINE,765,745,714,680,659,634.099534041,878,787,804,652,631,652,0.400958776614,0.00448331951139,0.0798296765069,0.999999949995,0.000113461873489,-0.00029086660919,5.03323682763e-05,1793242765585390848 +37,0.616666667,BASELINE,765,745,714,680,659,634.475362626,878,786.524637374,804,652,631,652,0.400960922005,0.00448361459476,0.0798307386873,0.99999995082,0.000113119440579,-0.000288193264817,5.00898676583e-05,1793242765602057472 +38,0.633333333,BASELINE,765,745,714,680,659,635,878,786,804,651.949452751,631,652,0.40096308538,0.00448447493653,0.0798316245954,0.999999951537,0.000113082449673,-0.000285760329533,4.97938649648e-05,1793242765618724352 +39,0.650000000,BASELINE,765,745,714,680,659,635,878,786,804,651.360591632,631,652,0.40096084653,0.00448571837396,0.079830197172,0.99999995029,0.000114865173387,-0.000289376442015,4.98812499741e-05,1793242765635390976 +40,0.666666667,BASELINE,765,745,714,680,659,634.775618022,878,786,804.224381978,651,631,652,0.40095993297,0.00448649683072,0.0798298735666,0.999999949748,0.000116070607263,-0.000290753848643,4.99336006786e-05,1793242765652057600 +41,0.683333333,BASELINE,765,745,714,680,659,634.196785451,878,786,804.803214549,651,631,652,0.400961112938,0.00448654076907,0.0798312936352,0.99999995034,0.000116364110727,-0.000288594827463,4.99306085643e-05,1793242765668724224 +42,0.700000000,BASELINE,765,745,714,680,659,634.381169568,878,786,805,651.381169568,631,652,0.400960698177,0.00448637630244,0.0798308317576,0.999999950329,0.000115153939828,-0.000289122171591,4.98979831256e-05,1793242765685390848 +43,0.716666667,BASELINE,765,745,714,680,659,634.958672559,878,786,805,651.958672559,631,652,0.400959462001,0.00448610449023,0.0798294005242,0.999999950004,0.000113169253957,-0.000291033213062,4.98500941075e-05,1793242765702057472 +44,0.733333333,BASELINE,764.468405318,745,714,680,659,635,878,786,804.468405318,652,631,652,0.400960012971,0.0044857292658,0.0798302220465,0.999999950291,0.000113518273653,-0.000289886279309,4.99799785646e-05,1793242765718724608 +45,0.750000000,BASELINE,764.107657681,745,714,680,659,634.892342319,878,786,804,652,631,652,0.400960416203,0.00448542949394,0.0798309124178,0.999999950499,0.000114265443028,-0.000288855924339,5.00719260447e-05,1793242765735391744 +46,0.766666667,BASELINE,764.699432216,745,714,680,659,634.300567784,878,786,804,652,631,652,0.400959535643,0.00448550486192,0.079830232207,0.999999950147,0.000115994140866,-0.000289409717271,4.99316604113e-05,1793242765752058112 +47,0.783333333,BASELINE,765,745,714,680,659,634.285431149,878,786.285431149,804.285431149,651.714568851,631,652,0.400960007315,0.0044861031012,0.079830124864,0.999999950094,0.000117483730704,-0.000289016772423,4.97958935413e-05,1793242765768724480 +48,0.800000000,BASELINE,765,745,714,680,659,634.865468891,878,786.865468891,804.865468891,651.134531109,631,652,0.400961874688,0.00448724101998,0.0798306088042,0.999999950348,0.000118726526405,-0.000287646656117,4.96647700344e-05,1793242765785391104 +49,0.816666667,BASELINE,764.558800967,745,714,679.558800967,659,634.558800967,877.558800967,787,804.558800967,651.441199033,631,652,0.40096222927,0.00448609738473,0.0798311053083,0.999999950858,0.000116189350604,-0.000286941838868,4.94862429089e-05,1793242765802057728 +50,0.833333333,BASELINE,764.015990555,745,714,679.015990555,659,634,877.015990555,787,804,652,631,652,0.400962111401,0.00448434279744,0.0798315808523,0.999999951405,0.000112607722598,-0.000286494385136,4.92969148291e-05,1793242765818724096 +51,0.850000000,BASELINE,764.603732559,745,714,679.603732559,659,634,877.603732559,787,804,652,631,652,0.400961434702,0.00448537772536,0.079831171302,0.99999995097,0.000112494315199,-0.000288065724414,4.92332197318e-05,1793242765835390976 +52,0.866666667,BASELINE,765,745,714,680,659,634.18872908,878,786.81127092,804,652,631,652,0.400961054233,0.00448618094334,0.0798310235186,0.999999950666,0.000112863519683,-0.000288980120474,4.92050055704e-05,1793242765852057600 +53,0.883333333,BASELINE,765,745,714,680,659,634.768043636,878,786.231956364,804,652,631,652,0.400961286829,0.00448650462446,0.0798314174766,0.999999950637,0.000114231516685,-0.000288534935405,4.92502212111e-05,1793242765868724224 +54,0.900000000,BASELINE,765,745,714,680,659,635,878,786,804,652,631,652,0.400961648376,0.00448581827778,0.0798315349472,0.999999950642,0.000114732673588,-0.000288256703457,4.95970875615e-05,1793242765885390848 +55,0.916666667,BASELINE,765,745,714,680,659,635,878,786,804,652,631,652,0.400962096032,0.00448445746203,0.0798314677871,0.999999950672,0.000114654978226,-0.000288089958276,5.01453880394e-05,1793242765902057728 +56,0.933333333,BASELINE,765,745,714,680,659,635,878,786,804,652,631.498801821,652,0.400962192788,0.00448419805984,0.0798316178039,0.999999951165,0.00011270889986,-0.000287187375859,4.99074399829e-05,1793242765918724352 +57,0.950000000,BASELINE,765,745.075148356,714,680,659,634.924851644,878.075148356,786,804,652,631.924851644,652,0.4009623216,0.00448438787297,0.0798318288212,0.999999951648,0.000111303533609,-0.000286113028353,4.95547465613e-05,1793242765935390976 +58,0.966666667,BASELINE,765,745.665332944,714,680,659,634.334667056,878.665332944,786,804,652,631.334667056,652,0.400963034257,0.00448651345527,0.079832232541,0.999999951607,0.000115542866032,-0.000284625073652,4.923154892e-05,1793242765952057600 +59,0.983333333,BASELINE,765,745.749328381,714.250671619,680,659.250671619,634,878.749328381,786.250671619,804,652,631,652,0.400962658129,0.0044873232969,0.0798320953285,0.999999951317,0.000117149149181,-0.000284996444665,4.91822554809e-05,1793242765968724224 +60,1.000000000,BASELINE,765,745.170336617,714.829663383,680,659.829663383,634,878.170336617,786.829663383,804,652,631,652,0.400960855951,0.00448640983178,0.0798312496236,0.999999950712,0.000115306765202,-0.000287803089524,4.94917112959e-05,1793242765985390848 +61,1.016666667,BASELINE,765,745,714.593527764,680,659.593527764,634.406472236,878,787,804,652,631,652,0.400960404647,0.00448558427909,0.0798308452526,0.999999950605,0.000114019441289,-0.000288696667578,4.94286754694e-05,1793242766002057728 +62,1.033333333,BASELINE,765,745,714.017628831,680,659.017628831,634.982371169,878,787,804,652,631,652,0.400960516419,0.00448479537033,0.0798306248395,0.999999950708,0.000112963478907,-0.000288792836537,4.92103767972e-05,1793242766018724096 +63,1.050000000,BASELINE,765,745,714,680,659,635,878,786.431530966,804,651.431530966,631,652,0.400961007041,0.00448607833152,0.0798307527087,0.999999950574,0.000115123223187,-0.000288389922143,4.92907378253e-05,1793242766035390720 +64,1.066666667,BASELINE,765,745,714,679.846924895,659,634.846924895,878,786,804,651.153075105,631,651.846924895,0.400961483498,0.00448681092288,0.079830929617,0.9999999506,0.000116250286291,-0.000287848678752,4.92758533455e-05,1793242766052057344 +65,1.083333333,BASELINE,765,745,714,679.267372372,659,634.267372372,878,786,804,651.732627628,631,651.267372372,0.40096188716,0.00448582786973,0.0798312125108,0.999999951103,0.000114217321671,-0.000286965949609,4.89693332696e-05,1793242766068723712 +66,1.100000000,BASELINE,765,745,714,679.312173435,659,634.312173435,878,786.312173435,804,652,631.312173435,651.312173435,0.400962542861,0.00448498676946,0.0798318619511,0.99999995151,0.000113428946173,-0.000285850437087,4.90247812449e-05,1793242766085390336 +67,1.116666667,BASELINE,765,745,714,679.891713459,659,634.891713459,878,786.891713459,804,652,631.891713459,651.891713459,0.400963414426,0.00448426724736,0.0798328253266,0.999999951835,0.000113706521662,-0.000284535553072,4.93902433251e-05,1793242766102056960 +68,1.133333333,BASELINE,765,745,714,680,659,635,878,786.532362307,804,652,631.532362307,652,0.400962923214,0.00448414289409,0.0798324739279,0.999999951654,0.000113498622079,-0.000285233713863,4.95251428416e-05,1793242766118723840 +69,1.150000000,BASELINE,765,745,714,680,659,635,878,786.043625154,804,651.956374846,631,652,0.400962223727,0.00448421731451,0.0798318716729,0.999999951383,0.000113217763776,-0.000286283562139,4.95818505084e-05,1793242766135390208 +70,1.166666667,BASELINE,765,745,714,680,659,635,878,786.630750861,804,651.369249139,631,652,0.400962830735,0.00448506432375,0.0798319080103,0.999999951467,0.000113417747486,-0.000285952042804,4.93244533063e-05,1793242766152057088 +71,1.183333333,BASELINE,764.785008472,745,714.214991528,680,659,635,878,787,804,651.214991528,631,652,0.400962905023,0.00448572091685,0.0798319796462,0.999999951448,0.00011395821956,-0.000285819972465,4.9241611653e-05,1793242766168723712 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sha256:c4acbc870f22876cd9cea8413a3f442428a935bb81851ea744a909c3b17a27e2 +size 26822996 diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..c29d6cae887795c4a927bab23dd8322f6600de9a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_02/franka_data.csv @@ -0,0 +1,423 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,743,712,674,662,634,877,785,801,649,629,650,0.400951978417,-0.00539528066794,0.0598354348832,0.999999942304,0.000197525707377,-0.000275785057088,1.78403311041e-05,1793196339740370432 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+88,1.466666667,BASELINE,765,743,712,674,663,633.937302843,877,785,800,650,629.937302843,651,0.4009531135,-0.00539529427694,0.0598380129007,0.999999942322,0.000203360587157,-0.000271459148244,1.76099946048e-05,1793196341207036672 +89,1.483333333,BASELINE,765,743,712,674,663,633.351253049,877,785,800,650,629.351253049,651,0.400953246916,-0.00539553838471,0.0598383578403,0.999999942704,0.000201706228851,-0.000271279403263,1.77250670275e-05,1793196341223703296 +90,1.500000000,BASELINE,764.767903268,743,712,674,662.767903268,633.232096732,877.232096732,784.767903268,800,650,629,651,0.400952946434,-0.00539555148845,0.0598381526009,0.999999942817,0.00020078494695,-0.000271543935547,1.77734767412e-05,1793196341240369920 +91,1.516666667,BASELINE,764.188592724,743,712,674,662.188592724,633.811407276,877.811407276,784.188592724,800,650,629,651,0.400951996847,-0.00539521901302,0.0598371243004,0.99999994253,0.000200960338336,-0.000272473101081,1.77221598655e-05,1793196341257036544 +92,1.533333333,BASELINE,764.389781233,743,711.610218767,674,662,633.610218767,877.610218767,784,800.389781233,649.610218767,629.389781233,651,0.400951960463,-0.0053943058385,0.0598373113027,0.999999942469,0.000201434634538,-0.000272350136938,1.7644963706e-05,1793196341273703168 +93,1.550000000,BASELINE,764.967703168,743,711.032296832,674,662,633.032296832,877.032296832,784,800.967703168,649.032296832,629.967703168,651,0.400952364865,-0.00539311237049,0.0598380849108,0.999999942517,0.000202053206974,-0.000271719327967,1.75552760563e-05,1793196341290369792 +94,1.566666667,BASELINE,765,743,711,674,662.543901718,633,877,784.543901718,801,649,629.456098282,651,0.400950610403,-0.00539349722733,0.0598367068676,0.999999942267,0.000200459546412,-0.000273832600426,1.72346516945e-05,1793196341307036416 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0000000000000000000000000000000000000000..65e76ead6152dc5527e1c9298a5d6f9af1162d8c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8867ae676586884fde6eb4d1ecbd92db4f9ee085ea0783ed75d0d748c9289328 +size 26933667 diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d9f85fa8e75f251380e36a1a88b8b93e34ac2b56 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_03/franka_data.csv @@ -0,0 +1,425 @@ 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