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b/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e82a70e5172bcade01ce40c8dc76218e2e677ce56dd2b22f7605a94d78650229 +size 24935262 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9c7623ad9193fc096e320210b9ce8e72fd9b9736 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_02/franka_data.csv @@ -0,0 +1,394 @@ +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..5586e097998f18cb9f805452611413935148be74 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab66ec269451983ed71959a678acc57bf32407b4c6db8c5a2dec3e38a73fcb94 +size 25186493 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..8988e6ddc9fccd517ed864f585eb6089cd608adb --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/franka_data.csv @@ -0,0 +1,398 @@ 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0000000000000000000000000000000000000000..ab91ba9f9cbc06f8626278bd63e15fd894f704eb --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9756fb6b99b3d6e011d5c90a24ad30bd4527077943e0f67b30a4a177da1a32c1 +size 25316747 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..641ee359fe4034957d05aeee6bcaae80c2c70b00 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/franka_data.csv @@ -0,0 +1,400 @@ 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sha256:05ef6cea755c1011e40ff86ce2307cce750c4a3c809ccc6be6b8db83adbe1099 +size 25567143 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..fb09521dfbe31208c5e6d62dfbd3ede621bf168c --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/franka_data.csv @@ -0,0 +1,404 @@ +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,764,743,712,671,660,633,877,784,799,649,628,650,0.400954670402,-0.00539239429612,0.0698196492277,0.999999935699,0.000210908217533,-0.000289325654583,2.02752546242e-05,1793192746654928128 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+39,0.650000000,BASELINE,764,742,711.30410707,671,659,633,877,783.30410707,799.69589293,649,628,651,0.40101391929,-0.00551280837357,0.0798565225135,0.999999982245,8.74630195611e-05,-0.000163132425856,3.53253376758e-05,1793192755377123328 +40,0.666666667,BASELINE,764,742,711.274410864,671.274410864,659,632.725589136,876.725589136,783,799.725589136,649,628.274410864,650.725589136,0.40101413462,-0.0055132840751,0.0798568358595,0.999999982369,8.68095647892e-05,-0.000162737389181,3.52483261234e-05,1793192755393790208 +41,0.683333333,BASELINE,764,742,711.851737521,671.851737521,659,632.148262479,876.148262479,783,799.148262479,649,628.851737521,650.148262479,0.401014037841,-0.00551443278112,0.0798572027376,0.999999982404,8.7680756817e-05,-0.000162037587757,3.53123993654e-05,1793192755410456832 +42,0.700000000,BASELINE,763.572409199,742,712,671.572409199,659,632,876.427590801,783,799.427590801,649,628.572409199,650,0.401013329237,-0.00551424964131,0.0798567453153,0.999999982274,8.78825413596e-05,-0.000162792149096,3.50422757143e-05,1793192755427123456 +43,0.716666667,BASELINE,763,742,712,671,659.003004035,632,877,783,799.996995965,649,628.003004035,650.003004035,0.401012419938,-0.00551361628958,0.0798560124357,0.999999982088,8.78399286428e-05,-0.000164033978832,3.46596397319e-05,1793192755443790080 +44,0.733333333,BASELINE,763,742,712,671,659.591891876,632,877,783,799.408108124,649,628.591891876,650.591891876,0.40101360159,-0.0055149343107,0.07985710867,0.999999982589,8.52454133603e-05,-0.000162294849918,3.48560338447e-05,1793192755460456704 +45,0.750000000,BASELINE,763.178619277,742,712,671,659.821380723,632.178619277,877.178619277,783,799,649,629,650.821380723,0.401013935467,-0.00551585982423,0.0798575233487,0.99999998277,8.39384162793e-05,-0.000161820343507,3.50478907496e-05,1793192755477123328 +46,0.766666667,BASELINE,763.760469427,742,712,671,659.239530573,632.760469427,877.760469427,783,799,649,629,650.239530573,0.401012355502,-0.00551589925639,0.0798563994239,0.99999998224,8.55379764449e-05,-0.000164200707464,3.5229504936e-05,1793192755493789952 +47,0.783333333,BASELINE,763.66298935,742.33701065,711.66298935,671.33701065,659,633,877.66298935,783,799,649,629,650,0.401012241587,-0.00551549636424,0.07985636348,0.999999982198,8.60624029177e-05,-0.000164180200477,3.52493920532e-05,1793192755510456832 +48,0.800000000,BASELINE,763.090162874,742.909837126,711.090162874,671.909837126,659,633,877.090162874,783,799,649,629,650,0.401013153509,-0.00551478396534,0.0798570888268,0.999999982498,8.58345282854e-05,-0.000162479736841,3.51561142119e-05,1793192755527123456 +49,0.816666667,BASELINE,763.482408632,742.517591368,711,671.517591368,659,632.517591368,876.517591368,783,799,649,628.517591368,650.482408632,0.401012852628,-0.00551669746648,0.0798571538634,0.999999982478,8.44474798166e-05,-0.00016323478838,3.55897349787e-05,1793192755543790336 +50,0.833333333,BASELINE,763.943132984,742,711.056867016,671.056867016,659,632,876,783,799,649,628,651,0.40101225202,-0.00551866511925,0.0798570239655,0.999999982375,8.31197676602e-05,-0.000164448842146,3.60230416873e-05,1793192755560456960 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+58,0.966666667,BASELINE,763.719713407,742,712,671.280286593,659,632,876.280286593,783,799,649,628.719713407,650.719713407,0.401012489364,-0.00551344917222,0.0798564455202,0.999999982041,8.89755262964e-05,-0.000163546835481,3.54045254243e-05,1793192755693790208 +59,0.983333333,BASELINE,763.701720009,742,711.701720009,671,659,632.298279991,876,783,799,649,629,650.701720009,0.401012973053,-0.00551419920457,0.0798570089365,0.999999982018,9.00700464355e-05,-0.000162959048428,3.59875899028e-05,1793192755710456832 +60,1.000000000,BASELINE,763.123290024,742,711.123290024,671,659,632.876709976,876,783,799,649,629,650.123290024,0.401013483026,-0.00551600528393,0.0798582563803,0.999999982208,8.94050502633e-05,-0.000162037939417,3.65201191579e-05,1793192755727123712 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b/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:097c25c1d648da77be7fbd74ce8c2140f3ff17510ed255c955ea0cc561e7c880 +size 25145258 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..cea34c870bc97788fb4636bf80a989b46868ce33 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/franka_data.csv @@ -0,0 +1,396 @@ +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/cylinder_0050_20/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..2cd658f968240a9fc4efaebd598488e9656a871b --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cada91ef43b6b47eb8bac3c0b2ff2fb15ed6cc943cc8fc56ff0cb37a7ecc08b3 +size 25451865 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ba3d3dd19399abcc1a69c11f3656b820001aecaa --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/franka_data.csv @@ -0,0 +1,401 @@ 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a/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..5af9e41bcc06192061454403ee64b913965f7938 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f71f9a334f26e89becddbce033e375d23ed2f5c50d4400808e04f96f126bf48c +size 25638669 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..0883558dc5f9cc78584a9a69a35a09eecc26ab3c --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/franka_data.csv @@ -0,0 +1,404 @@ 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0000000000000000000000000000000000000000..86802f02f4c5ede3852be9339185bce8049651cd --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9d57373bcc4434cb9e11f63e718af36b9138fc145d5e5dcc1ed540d64033cd2 +size 24711213 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..4f6e6d6cf5739a8ab5b5d95cdc2a92eb1947d90f --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/franka_data.csv @@ -0,0 +1,391 @@ 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a/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..2def017e31fe98f3e033039878629e31aac43f7b --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:139857ff218598f982e1e91624f1a402d116f1359c692ce5ef18bbb6c5bc4b23 +size 24904934 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..c634dfa4ae1aa638849003277a0a19e63396033c --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/franka_data.csv @@ -0,0 +1,394 @@ 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a/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..5686c42d7e8ebdf4b5b641beb17738810c02ac31 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:886fb374ac7a6b797cb2105eeacd0e0d4397b408ea6615128eed310d46f9bee3 +size 25098954 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..36327ceef7b9162a1fb08a7023b50a27da9ff366 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/franka_data.csv @@ -0,0 +1,397 @@ 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+49,0.816666667,BASELINE,763.486501474,742,711,671,661,633,875,783,800,649.486501474,629,650.513498526,0.400924488508,-0.0154508180738,0.0499197704556,0.999999972746,-1.18896810072e-05,-0.000229623491956,-4.04981445095e-05,1793192826251688704 +50,0.833333333,BASELINE,763.937198239,742,711.062801761,671,661,633,875,783,799.937198239,650,629,650,0.40092565273,-0.0154508088566,0.0499201894991,0.999999972928,-1.25433448642e-05,-0.000228800778905,-4.04645840161e-05,1793192826268355328 +51,0.850000000,BASELINE,763.350474685,742,711.649525315,671,661,633,875,783,799.350474685,650,629,650,0.400924150321,-0.0154514169908,0.0499200416661,0.999999972742,-1.24668170769e-05,-0.000229643185136,-4.03058481105e-05,1793192826285021696 +52,0.866666667,BASELINE,763.233215081,742,711.766784919,671.233215081,661,633,875,783,799,649.766784919,629,650,0.400924123523,-0.0154522519661,0.0499202645329,0.999999972899,-1.25594943173e-05,-0.000228957689056,-4.02820853453e-05,1793192826301688320 +53,0.883333333,BASELINE,763.812404195,742,711.187595805,671.812404195,661,633,875,783,799,649.187595805,629,650,0.400926285791,-0.0154534234592,0.049921037332,0.999999973559,-1.29031868276e-05,-0.000226005553393,-4.04585549306e-05,1793192826318354688 +54,0.900000000,BASELINE,763.60898431,742,711,671.60898431,661,633,875,783,799.39101569,649.39101569,629,650.39101569,0.400926845964,-0.015453339686,0.0499212047653,0.999999973598,-1.36989155372e-05,-0.000225782443816,-4.04806651294e-05,1793192826335021568 +55,0.916666667,BASELINE,763.030649544,742,711,671.030649544,661,633,875,783,799.969350456,649.969350456,629,650.969350456,0.400926638641,-0.0154526545678,0.0499210821935,0.99999997334,-1.47111956574e-05,-0.000226866695278,-4.04288282711e-05,1793192826351688704 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+66,1.100000000,BASELINE,763.642053185,742.642053185,711,671,661.642053185,633,875,783.357946815,799.357946815,649.357946815,629,650.357946815,0.400925362138,-0.0154518181244,0.0499197972908,0.999999972938,-1.27316709152e-05,-0.000228786426343,-4.02302155382e-05,1793192826535021312 +67,1.116666667,BASELINE,763.064338625,742.064338625,711,671,661.064338625,633,875,783.935661375,799.935661375,649.935661375,629,650.935661375,0.400925170196,-0.0154515523844,0.0499202899051,0.999999973023,-1.27540214727e-05,-0.000228438547227,-4.00924114473e-05,1793192826551687936 +68,1.133333333,BASELINE,763,742,711,671,661.509823345,633,875,784,800,649.490176655,629,650.490176655,0.400924292365,-0.0154521984957,0.0499194784276,0.999999972787,-1.30726653109e-05,-0.000229430283905,-4.02199351227e-05,1793192826568355584 +69,1.150000000,BASELINE,763,742.085936606,711,671,661.914063394,633,875,783.828126788,799.914063394,649,628.914063394,650,0.40092383248,-0.0154529511751,0.0499187924832,0.999999972643,-1.35293510825e-05,-0.0002300070562,-4.03360258514e-05,1793192826585022976 +70,1.166666667,BASELINE,763,742.676111351,711,671,661.323888649,633,875,782.647777298,799.323888649,649,628.323888649,650,0.400926329287,-0.0154536586202,0.0499198020758,0.999999973284,-1.45781268593e-05,-0.000227163914166,-4.01899243992e-05,1793192826601688832 +71,1.183333333,BASELINE,763.261219325,742.738780675,711.261219325,671,661.261219325,633,875,782.261219325,799.261219325,649.261219325,628.261219325,650,0.40092727149,-0.0154533067912,0.0499204721495,0.999999973536,-1.44006356145e-05,-0.000226056797354,-4.02422818766e-05,1793192826618355200 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+78,1.300000000,BASELINE,763,742.32064773,711.32064773,671.67935227,661,633,875.67935227,783,799.32064773,649.67935227,628.67935227,650.67935227,0.400923196601,-0.0154512267866,0.0499183931999,0.999999972401,-1.11362656636e-05,-0.000231102300011,-4.08022617058e-05,1793192826735021568 +79,1.316666667,BASELINE,763,742.898948943,711.898948943,671.101051057,661,633,875.101051057,783,799.898948943,649.101051057,628.101051057,650.101051057,0.400923894535,-0.0154518838085,0.0499192881927,0.999999972703,-1.21163065512e-05,-0.000229784832316,-4.05796239244e-05,1793192826751688192 +80,1.333333333,BASELINE,763.475681301,742.524318699,711.524318699,671,661,633,875,783,799.524318699,649,628.475681301,650,0.400923968237,-0.01545241556,0.0499185173207,0.999999972666,-1.38595084786e-05,-0.000229810182825,-4.07765378554e-05,1793192826768354816 +81,1.350000000,BASELINE,764,742,711,671,661,633,875,783,799,649,628.947073587,650,0.40092394936,-0.015452884192,0.0499175821173,0.999999972579,-1.53769298992e-05,-0.000230055836179,-4.09945646525e-05,1793192826785021696 +82,1.366666667,BASELINE,764,742,711,671,661,633,875,783,799,649,628.361322678,650,0.400924329084,-0.0154529844103,0.0499185435109,0.999999972723,-1.29945995212e-05,-0.000229656981104,-4.0530822108e-05,1793192826801688576 +83,1.383333333,BASELINE,764,742,711.223278707,671,661.223278707,633,875,783,799.223278707,649.223278707,628.223278707,650,0.400925383805,-0.0154531303921,0.0499194857616,0.999999973003,-1.17738784981e-05,-0.000228566961628,-4.01608443895e-05,1793192826818355456 +84,1.400000000,BASELINE,764,742,711.806029484,671,661.806029484,633,875,783,799.806029484,649.806029484,628.806029484,650,0.40092752525,-0.0154533500516,0.0499203971932,0.999999973505,-1.24233135848e-05,-0.00022636418798,-3.99418251771e-05,1793192826835022080 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0000000000000000000000000000000000000000..d729e4ca403074542ce342adf040aac5e850862a --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce926a0f802b5ff4d632d4a8cd3890b5b29e88fd525c82c33327cd2346d7d7a6 +size 24915061 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..018b25d9a1df5e15e4da3ac4ad7edd8e45add814 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/franka_data.csv @@ -0,0 +1,393 @@ 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+62,1.033333333,BASELINE,763,742,711,671,660,633,875.027630614,783,799.027630614,649,628.027630614,650.027630614,0.400961554068,-0.0154176128236,0.04984732972,0.999999952423,-0.000127732669651,-0.000274496043733,-5.90714258747e-05,1793192833159045632 +63,1.050000000,BASELINE,763,742,711,671,660,633,875,783,799.566464927,649,628.566464927,650,0.400962080087,-0.0154174222466,0.0498475933648,0.999999952555,-0.000127560993797,-0.000274026484071,-5.93998105009e-05,1793192833175712256 +64,1.066666667,BASELINE,763.1565342,742.1565342,711,671,660.1565342,633,875,783,799.8434658,649,629,650.1565342,0.400962934027,-0.0154170132901,0.0498479758722,0.999999952768,-0.000127480245536,-0.000273212573614,-5.9736876707e-05,1793192833192379136 +65,1.083333333,BASELINE,763.733517749,742.733517749,711,671,660.733517749,633,875,783,799.266482251,649,629,650.733517749,0.400964474501,-0.0154162317131,0.0498486647503,0.999999953171,-0.00012774957951,-0.000271555924775,-5.99580387588e-05,1793192833209045760 +66,1.100000000,BASELINE,763.689628057,742.689628057,711,671,661,633,875,783,799.620743887,649,629,651,0.40096469366,-0.0154160898259,0.0498487509892,0.99999995332,-0.000126973042667,-0.000271376783132,-5.99398943015e-05,1793192833225712128 +67,1.116666667,BASELINE,763.112884908,742.112884908,711,671,661,633,875,783,800.774230185,649,629,651,0.400963778823,-0.0154164969412,0.0498483200236,0.999999953248,-0.000125298905766,-0.000272465685875,-5.97163692733e-05,1793192833242378752 +68,1.133333333,BASELINE,763,742,711.460614464,670.539385536,661,633,875,783,800.539385536,649.460614464,629,650.539385536,0.400963808766,-0.0154157990926,0.0498483235846,0.999999953193,-0.000125135531288,-0.000272706396265,-5.98881693165e-05,1793192833259045376 +69,1.150000000,BASELINE,763,742,711.96541155,670.03458845,661,633,875,783,799.96541155,650,629,650.03458845,0.400964055951,-0.0154149063917,0.0498484364435,0.999999953157,-0.000125294454139,-0.000272713464541,-6.01235952829e-05,1793192833275712256 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+78,1.300000000,BASELINE,763,742.276284846,711,670.276284846,661,633,875,783.723715154,799.276284846,649,628,650,0.400964265498,-0.0154176018979,0.0498489817136,0.999999953581,-0.000125948451672,-0.000271037741529,-5.92710864555e-05,1793192833425712640 +79,1.316666667,BASELINE,763,742.852088311,711,670.852088311,661,633,875,783.147911689,799.852088311,649,628,650,0.400963170641,-0.015417582435,0.0498477605814,0.999999953167,-0.000126719400533,-0.000272153480217,-5.94955729603e-05,1793192833442379008 +80,1.333333333,BASELINE,763,742.574032942,711,671,661,633,875.425967058,783,799.574032942,649,628,650,0.400963676728,-0.0154161479417,0.0498480659585,0.999999953502,-0.000125367744867,-0.000271516433383,-5.96458680671e-05,1793192833459045376 +81,1.350000000,BASELINE,763,742.000819477,711,671,661,633,875.999180523,783,799.000819477,649,628,650,0.400964736223,-0.0154142243069,0.0498488990125,0.999999954091,-0.000123282356723,-0.000270273491497,-5.97705170378e-05,1793192833475712256 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0000000000000000000000000000000000000000..9933bf8e73a6376102deae2991d446209eb51e53 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58e4eba9ee65e518309a8a6534158257a9e564dcf9692e411761bc2499df6f98 +size 25044463 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..be3cfed391d2e189ba44a00aa41d08d2264011f3 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/franka_data.csv @@ -0,0 +1,395 @@ 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+32,0.533333333,BASELINE,763,742,711,670.567405525,660.432594475,633,875,783,799.432594475,649.432594475,628.432594475,650,0.400964215451,-0.0154161183537,0.0498482701854,0.99999995845,-7.64932637666e-05,-0.000271977762474,-5.72451325061e-05,1793192839379153920 +33,0.550000000,BASELINE,763.144381142,742,711,670.855618858,660.144381142,633,875,783.144381142,799,649,628.144381142,650,0.400966222333,-0.0154170319735,0.0498496377353,0.999999958983,-7.76946673523e-05,-0.000269744330188,-5.68823022806e-05,1793192839395820288 +34,0.566666667,BASELINE,763.719283158,742,711,670.280716842,660.719283158,633,875,783.719283158,799,649,628.719283158,650,0.400965772737,-0.0154155276775,0.0498492662183,0.999999959012,-7.5088653579e-05,-0.000270338460642,-5.7042386961e-05,1793192839412486912 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+43,0.716666667,BASELINE,763,742,711,670.956039848,660.956039848,633,875.956039848,783,800,649.043960152,629,650.956039848,0.400965799122,-0.0154154154397,0.0498494855999,0.999999959211,-7.7701850885e-05,-0.000268805278178,-5.73024315821e-05,1793192839562487040 +44,0.733333333,BASELINE,763,742,711,671,661,633,876,783,800,649,629,650.464667637,0.400965685239,-0.0154159264923,0.0498493918027,0.99999995909,-7.59517471299e-05,-0.000269800523122,-5.70889107514e-05,1793192839579153920 +45,0.750000000,BASELINE,763.112570178,742,711.112570178,670.887429822,661,633,876,783,799.887429822,649,629,650.112570178,0.400965716655,-0.0154162755796,0.0498492485591,0.999999959015,-7.42419631021e-05,-0.000270593440708,-5.68992850974e-05,1793192839595820544 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+58,0.966666667,BASELINE,763.650810585,742.349189415,711,671,660.349189415,633,875,783,799,650,628,650.650810585,0.400966853819,-0.0154169586802,0.0498496101382,0.999999959198,-7.68585854694e-05,-0.000269109400536,-5.72417874893e-05,1793192839812487168 +59,0.983333333,BASELINE,763.773542559,742,711,671,660.226457441,633,875.226457441,783,799.452914882,649.773542559,628,650.773542559,0.400967691119,-0.0154170717117,0.0498500775692,0.999999959459,-7.7965847913e-05,-0.000267803185151,-5.73111727735e-05,1793192839829153536 +60,1.000000000,BASELINE,763.199792162,742,711,671,660.800207838,633,875.800207838,783,800.600415675,649.199792162,628,650.199792162,0.400966276194,-0.0154166055122,0.0498497341193,0.999999959401,-7.65899961657e-05,-0.000268440590729,-5.7205598895e-05,1793192839845820160 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sha256:8312f18c959c03b457a87b1f8a38307e80f05b84093b965d78f5774e2807cfb8 +size 25481260 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..641f2303f58c12cf6928cf13abdc709ca6275b66 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/franka_data.csv @@ -0,0 +1,402 @@ +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,763,742,711,671,660,633,875,783,799,649,629,651,0.40096887599,-0.0154494725649,0.0498497585875,0.999999944363,-0.000193819436036,-0.000267875476738,-4.41658475048e-05,1793192852401578240 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+32,0.533333333,BASELINE,763.437584837,742,711,670.562415163,660,633,875.437584837,783.437584837,799.437584837,649,629,650.437584837,0.400970809113,-0.0154481484119,0.0498519455179,0.999999945621,-0.000193102569311,-0.000263671105506,-4.41168034001e-05,1793192852934910464 +33,0.550000000,BASELINE,763.135606797,742,711.135606797,670.864393203,660,633,875,783,799,649,629,650,0.400968955471,-0.0154493927666,0.0498511864865,0.999999944643,-0.000196132542296,-0.000265124350965,-4.42137042222e-05,1793192852951577344 +34,0.566666667,BASELINE,763.705400599,742,711.705400599,670.294599401,660,633,875,783,799,649,629,650,0.400969593331,-0.0154499401685,0.0498515669435,0.999999944937,-0.000195938727856,-0.000264172869233,-4.41125412722e-05,1793192852968244224 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+38,0.633333333,BASELINE,762.04312059,742,711,670,660.04312059,633,875,783.04312059,799,650,628.04312059,650,0.400968155908,-0.0154487988612,0.0498507915377,0.99999994536,-0.000191429110146,-0.000265891251616,-4.40067989847e-05,1793192853034910720 +39,0.650000000,BASELINE,762.616999439,742,711,670,660.616999439,633,875,783.616999439,799,650,628.616999439,650,0.40096791627,-0.015449732992,0.0498504308336,0.99999994502,-0.00019265373977,-0.000266314953427,-4.3820629556e-05,1793192853051577088 +40,0.666666667,BASELINE,763,742,711,670.19709616,660.80290384,633,875.19709616,784,799.19709616,649.80290384,628.80290384,650,0.400968431698,-0.0154505127663,0.0498507858627,0.999999944933,-0.000193988590376,-0.000265687330563,-4.37255408573e-05,1793192853068243968 +41,0.683333333,BASELINE,763,742,711,670.789669114,660.210330886,633,875.789669114,784,799.789669114,649.210330886,628.210330886,650,0.400970462178,-0.0154509828217,0.0498525770226,0.99999994535,-0.000195544601184,-0.000262950206861,-4.38132072012e-05,1793192853084910592 +42,0.700000000,BASELINE,763,742,711,671,660,633,875.62659093,783.62659093,799.62659093,649.37340907,628.37340907,650,0.400970244683,-0.0154504458888,0.0498523969049,0.999999945385,-0.000194923395361,-0.000263268179304,-4.38797542506e-05,1793192853101577472 +43,0.716666667,BASELINE,763,742,711,671,660,633,875.0477114,783.0477114,799.0477114,649.9522886,628.9522886,650,0.400968790226,-0.0154493548548,0.0498511320804,0.999999945207,-0.000193104163679,-0.000265267235833,-4.39346802855e-05,1793192853118244352 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+50,0.833333333,BASELINE,762.009610277,742,711.009610277,670.009610277,660.009610277,633,875,783,800,649.009610277,628.009610277,650.990389723,0.400969156284,-0.015447307473,0.0498510093663,0.999999945357,-0.000192136949841,-0.000265285479134,-4.46354360858e-05,1793192853234910720 +51,0.850000000,BASELINE,762.583149984,742,711.583149984,670.583149984,660.583149984,633,875,783,800,649.583149984,628.583149984,650.416850016,0.400969535829,-0.0154481083246,0.0498510409244,0.999999945587,-0.000190484604153,-0.000265655757689,-4.4361378061e-05,1793192853251577344 +52,0.866666667,BASELINE,763.161440872,742,711.838559128,671,660.838559128,633,875,783.161440872,799.838559128,649.838559128,629,650.161440872,0.400969757152,-0.0154485803148,0.0498509453077,0.99999994562,-0.000190093662694,-0.000265845228846,-4.41743834675e-05,1793192853268243968 +53,0.883333333,BASELINE,763.752371544,742,711.247628456,671,660.247628456,633,875,783.752371544,799.247628456,649.247628456,629,650.752371544,0.400969557548,-0.015448177417,0.0498505113616,0.999999945127,-0.000193058502593,-0.000265553688372,-4.42190084015e-05,1793192853284910848 +54,0.900000000,BASELINE,764,742,711.33644814,671,660.33644814,633,875,783.66355186,799,649.33644814,629,651,0.400968829081,-0.0154483005274,0.0498504123182,0.999999945045,-0.000193458059099,-0.000265534120379,-4.44411902245e-05,1793192853301577472 +55,0.916666667,BASELINE,764,742,711.915580776,671,660.915580776,633,875,783.084419224,799,649.915580776,629,651,0.400967719138,-0.0154488030545,0.0498505548446,0.999999945262,-0.000192007242624,-0.00026571072975,-4.47914461789e-05,1793192853318244096 +56,0.933333333,BASELINE,763.507101919,742,711.507101919,671,660.507101919,633,875.492898081,783,799.492898081,650,628.507101919,650.507101919,0.400968150398,-0.0154496996096,0.0498506005555,0.999999945324,-0.000191750069736,-0.000265722501872,-4.44385189588e-05,1793192853334910720 +57,0.950000000,BASELINE,763,742,711,670.930516591,660,633,875.930516591,783,800,649.930516591,628.069483409,650,0.400968924228,-0.0154507455204,0.0498507856055,0.999999945335,-0.000192168494059,-0.000265459011577,-4.39640537531e-05,1793192853351577344 +58,0.966666667,BASELINE,763,742,711,670.356994271,660,633,875.356994271,783,800,649.356994271,628.643005729,650,0.400970275297,-0.0154523871208,0.0498521012772,0.999999945154,-0.000196010200902,-0.000263402787929,-4.347838179e-05,1793192853368244224 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+62,1.033333333,BASELINE,763,742.970166977,711,671,660.970166977,633,876,783.029833023,799,649,628.970166977,650.970166977,0.400965767574,-0.0154493212683,0.0498495228736,0.999999943973,-0.000195342539398,-0.000268126165982,-4.47586902005e-05,1793192853434911232 +63,1.050000000,BASELINE,763,742.452001113,711,671,661,633,875.452001113,783,799,649.547998887,628.452001113,651,0.400967074658,-0.0154480085879,0.0498502205877,0.999999944944,-0.000192104006061,-0.000266915105171,-4.43140428601e-05,1793192853451577600 +64,1.066666667,BASELINE,763,742.124628649,711.124628649,671,661,633,875.124628649,783.124628649,799.124628649,650,628.124628649,650.875371351,0.40096847478,-0.0154472165788,0.0498510083804,0.999999945726,-0.00019010865196,-0.000265476847777,-4.39242533126e-05,1793192853468243968 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+68,1.133333333,BASELINE,763,742,711,670.543933017,660.543933017,633,875.456066983,783.543933017,799,650,628,650.543933017,0.400969957964,-0.0154494243912,0.0498522045099,0.999999946167,-0.000191521081431,-0.000262779482897,-4.39543754602e-05,1793192853534910720 +69,1.150000000,BASELINE,763,742,711,670,660,633,875.969245277,783.030754723,799,649.969245277,628.030754723,650,0.40097107938,-0.015449876371,0.0498539190675,0.999999946637,-0.000191091319451,-0.00026136678217,-4.35507095531e-05,1793192853551577344 +70,1.166666667,BASELINE,763,742,711,670,660,633,875.39295151,783.60704849,799,649.39295151,628.60704849,650,0.40096860753,-0.0154495613019,0.0498513023871,0.999999945759,-0.000191266958029,-0.00026453234231,-4.38307607894e-05,1793192853568244224 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a/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..1f9144c4e19364c09ff856cbfd2bc4430b8ba9a8 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd951af84711fd4b89b727a9adee654e26f252d817dbc613a61139f209dcbf15 +size 24792340 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..978a608377a3af0a4c525331de09ee6108f7fb7c --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/franka_data.csv @@ -0,0 +1,391 @@ 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+78,1.300000000,BASELINE,762.517556068,742,712,671,659.258778034,633,876,783,800,649,629,650.258778034,0.400991958115,-0.0155037247287,0.0698371811733,0.999999980036,6.29522240171e-05,-0.000188948636227,1.62044653845e-05,1793192862087876352 +79,1.316666667,BASELINE,763.691607223,742,712,671,659.845803611,633,876,783,800,649,629,650.845803611,0.400994626143,-0.0155038981251,0.0698388611622,0.999999980561,6.36827537141e-05,-0.000185884708288,1.64282944709e-05,1793192862104542720 +80,1.333333333,BASELINE,763.573705386,742.426294614,712,671,660,633,876,783,799.573705386,649,628.573705386,650.573705386,0.400993569712,-0.0155045266746,0.069838380086,0.999999980475,6.25600290613e-05,-0.000186728394801,1.63678462728e-05,1793192862121209344 +81,1.350000000,BASELINE,762.99552845,742.99552845,712,670.99552845,659.99552845,633,876,783,799,649,628.00447155,650,0.400991207946,-0.0155052951884,0.0698371406253,0.999999980171,6.07909255192e-05,-0.000188943464644,1.62026936851e-05,1793192862137876224 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+85,1.416666667,BASELINE,763,742.318829303,712,671,659.681170697,633,876.681170697,783,799,649,628.318829303,650.681170697,0.400993088623,-0.0155043150867,0.0698384961055,0.999999980627,5.96680303758e-05,-0.000186897085963,1.59884100503e-05,1793192862204543232 +86,1.433333333,BASELINE,763,742.906550463,712,671,659.093449537,633,876.093449537,783,799,649,628.906550463,650.093449537,0.400994159533,-0.0155067744915,0.069839793611,0.999999980943,5.9118688456e-05,-0.000185307164589,1.67433728641e-05,1793192862221209600 +87,1.450000000,BASELINE,762.512825448,742.512825448,712,671,659,633,876,783,799,649,629,650,0.400993138559,-0.0155058842511,0.0698392604856,0.999999980605,6.10149713929e-05,-0.0001865333893,1.64802973794e-05,1793192862237876224 +88,1.466666667,BASELINE,762.065546454,742,712,671,659,633.065546454,876,783,799,649,629,650.065546454,0.400991964878,-0.0155044280661,0.0698384935617,0.999999980208,6.3153016503e-05,-0.000187983870986,1.60670482231e-05,1793192862254542592 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+95,1.583333333,BASELINE,763,742,712,670.126457234,659.873542766,633,876,783,799.126457234,649,629,650.873542766,0.400989214773,-0.0155015273117,0.0698366434336,0.999999979531,6.47104754907e-05,-0.000191033448268,1.6020751803e-05,1793192862371209728 +96,1.600000000,BASELINE,763,742,712,670.702309699,659.297690301,633,876,783,799.702309699,649,629,650.297690301,0.400989686013,-0.0155029189562,0.0698366328663,0.999999979639,6.40834105786e-05,-0.00019067608531,1.60752088397e-05,1793192862387876352 +97,1.616666667,BASELINE,763,742,712,671,659.28297263,633,876,783,800,649,628.71702737,650.28297263,0.400990659199,-0.0155038588879,0.0698369711189,0.99999997986,6.28396855029e-05,-0.000189914382146,1.62231183849e-05,1793192862404542976 +98,1.633333333,BASELINE,763,742,712,671,659.868783704,633,876,783,800,649,628.131216296,650.868783704,0.400992169569,-0.0155043153948,0.0698376826802,0.9999999802,6.09360082808e-05,-0.000188719952491,1.64710411768e-05,1793192862421209600 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b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3bdfb983ec4df09e2909020468cafe8e4cec3ccdec2a65f0c434cf6bc3824e1 +size 25108993 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..a5970bdc36f15a44b2ad0b49cd6a9bab543fd148 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/franka_data.csv @@ -0,0 +1,396 @@ +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/cylinder_0050_20/position_07/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6e259d17f86e0067dc07ceb91f77f74300fb90c49f21bbc573c59a151bd7f85 +size 25239221 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..c7f6ba2dac54d40b4264789efb33cd84882c95a1 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_03/franka_data.csv @@ -0,0 +1,398 @@ +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..9b1ecf4e7238f6fa6eacefe6e8b53e48ad59cb22 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecbfb6be1a3a417c0e882719fac4aa0754ba7826e32618cae58539814b73a1c2 +size 25359500 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..27e770297b833bb71e936930212b99b0339c9903 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/franka_data.csv @@ -0,0 +1,400 @@ 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b/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c46b486e44c4965a87c5e864b7d64bfe8bb0af0f154279334ba3ecda457e58e6 +size 24878194 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..40eca0aa9488c8427d15d01d4c6ad26292a7488b --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/franka_data.csv @@ -0,0 +1,392 @@ +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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+45,0.750000000,BASELINE,763,742,712,671,660,632.89278465,876,783.89278465,799,648.89278465,628.10721535,650.89278465,0.401020160925,-0.0155072684452,0.0798625845082,0.999999982676,9.86397246437e-05,-0.000154912703998,3.03442128197e-05,1793192896719480832 +46,0.766666667,BASELINE,763,742,712,671,660,632.319260614,876,783.319260614,799,648.319260614,628.680739386,650.319260614,0.401019771665,-0.0155073257287,0.0798622100557,0.999999982636,9.88377187346e-05,-0.00015504752782,3.0328935614e-05,1793192896736147456 +47,0.783333333,BASELINE,763,742,712,671.261176442,659.738823558,632.261176442,876,783,799.261176442,648.261176442,628.738823558,650.261176442,0.401019105745,-0.0155072600504,0.0798616362965,0.99999998247,9.92840723501e-05,-0.000155831376983,3.03161532088e-05,1793192896752814080 +48,0.800000000,BASELINE,763,742,712,671.850293767,659.149706233,632.850293767,876,783,799.850293767,648.850293767,628.149706233,650.850293767,0.401018092441,-0.0155070399777,0.0798608122819,0.999999982144,0.000100042273574,-0.00015743016162,3.03065033475e-05,1793192896769480704 +49,0.816666667,BASELINE,763.432933099,742.432933099,712,671.567066901,659.432933099,633,876,783,799.134133803,649,628,650.567066901,0.401018838682,-0.0155078549943,0.079861545729,0.999999982518,9.82272747955e-05,-0.000156156362403,3.05027859398e-05,1793192896786148096 +50,0.833333333,BASELINE,763.986753792,742.986753792,711.986753792,671,659.986753792,633,876,783.013246208,798.013246208,648.986753792,628,650.013246208,0.40102013123,-0.0155089526255,0.0798627560515,0.999999983093,9.5652720496e-05,-0.000154006434342,3.07548118804e-05,1793192896802815232 +51,0.850000000,BASELINE,763.41149597,742.41149597,711.41149597,671,659.41149597,633,876,783.58850403,798.58850403,648.41149597,628,650.58850403,0.401019168129,-0.0155070786994,0.0798616859608,0.999999982531,9.80476418192e-05,-0.000156207635282,3.03951392608e-05,1793192896819481344 +52,0.866666667,BASELINE,763,742.162828174,711.162828174,671,659.162828174,632.837171826,876,783.837171826,799,648.162828174,628,651,0.401018872825,-0.0155059878433,0.0798611920398,0.99999998222,9.97082709158e-05,-0.000157182043405,3.01852640567e-05,1793192896836147456 +53,0.883333333,BASELINE,763,742.734806168,711.734806168,671,659.734806168,632.265193832,876,783.265193832,799,648.734806168,628,651,0.401020255542,-0.0155068646628,0.079862145901,0.999999982563,9.95237920759e-05,-0.000155073802681,3.03517953913e-05,1793192896852814080 +54,0.900000000,BASELINE,763,742.679967663,712,671,659.679967663,632.320032337,876.320032337,783,799,648.679967663,628,650.679967663,0.401020544811,-0.0155076547143,0.0798624428435,0.999999982823,9.81758653594e-05,-0.000154292634677,3.01659674317e-05,1793192896869480704 +55,0.916666667,BASELINE,763,742.083289388,712,671,659.083289388,632.916710612,876.916710612,783,799,648.083289388,628,650.083289388,0.401019888868,-0.0155083697608,0.0798621719249,0.999999983009,9.58222180009e-05,-0.000154658629857,2.96755490936e-05,1793192896886147328 +56,0.933333333,BASELINE,763,742,711.504253647,671,659.495746353,633,876.504253647,783,799,648,628.495746353,650,0.401019430652,-0.0155079214841,0.0798621314702,0.999999982645,9.78083259861e-05,-0.000155689285644,3.0075957855e-05,1793192896902813696 +57,0.950000000,BASELINE,763,742,711.071482104,671,660,632.928517896,876,783.071482104,799,648.071482104,628.928517896,650.071482104,0.40101905706,-0.0155073475732,0.0798620656359,0.999999982252,0.000100096037481,-0.000156666519904,3.05332500923e-05,1793192896919480576 +58,0.966666667,BASELINE,763,742,711.644148287,671,660,632.355851713,876,783.644148287,799,648.644148287,628.355851713,650.644148287,0.401019051883,-0.0155072160553,0.0798615597099,0.999999982334,9.95620093023e-05,-0.000156513161022,3.03760739028e-05,1793192896936147712 +59,0.983333333,BASELINE,763,742.224734785,712,671,660,632.224734785,876,783.775265215,799,649,628,650.775265215,0.401018563862,-0.015507551409,0.0798610187153,0.999999982304,9.88966458444e-05,-0.000157120746642,3.04042974454e-05,1793192896952814336 +60,1.000000000,BASELINE,763,742.818320772,712,671,660,632.818320772,876,783.181679228,799,649,628,650.181679228,0.401017283362,-0.0155086530263,0.0798604201635,0.999999982087,9.80157252134e-05,-0.000158977250138,3.07368125946e-05,1793192896969480960 +61,1.016666667,BASELINE,763,742.600070694,712,671,660,633,876,783.399929306,799,649,628.399929306,650.399929306,0.401017413797,-0.0155093278544,0.0798604674844,0.999999982304,9.66523925622e-05,-0.000158442546838,3.0769153455e-05,1793192896986147328 +62,1.033333333,BASELINE,763,742.023745077,712,671,660,633,876,783.976254923,799,649,628.976254923,650.976254923,0.401018166552,-0.015509814439,0.0798607996796,0.999999982708,9.50762831058e-05,-0.00015685315688,3.06690968026e-05,1793192897002813696 +63,1.050000000,BASELINE,763.552499988,742,712,671,659.447500012,633,876.552499988,784,799,648.447500012,628.447500012,651,0.401018821328,-0.0155102396021,0.0798614931822,0.999999982864,9.47214687875e-05,-0.000156064024017,3.07187190983e-05,1793192897019480576 +64,1.066666667,BASELINE,763.868485115,742,712,671,659,633,877,783.868485115,799,648.131514885,628,650.868485115,0.401019507072,-0.0155103325356,0.0798619817874,0.999999982979,9.45657451639e-05,-0.000155422811234,3.06949508795e-05,1793192897036146944 +65,1.083333333,BASELINE,763.279830411,742,712,671,659,633,877,783.279830411,799,648.720169589,628,650.279830411,0.401020315099,-0.0155092798281,0.0798617042112,0.999999982993,9.49196317134e-05,-0.000155176230725,3.03937235666e-05,1793192897052813824 +66,1.100000000,BASELINE,763,742,712,671,659,633,876.696201492,783,799,649,628,650,0.401020119915,-0.0155091510007,0.0798616178613,0.999999982895,9.53002853144e-05,-0.000155602046602,3.02752858449e-05,1793192897069480960 +67,1.116666667,BASELINE,763,742,712,671,659,633,876.117126545,783,799,649,628,650,0.401019015705,-0.015509859315,0.0798617047844,0.999999982693,9.57051929274e-05,-0.000156637131061,3.0322476562e-05,1793192897086148096 +68,1.133333333,BASELINE,763,742,712,671,659.458486817,633,876,783,799,649,628.458486817,650,0.401018549865,-0.0155091238564,0.0798613509453,0.999999982451,9.6913434438e-05,-0.000157461048131,3.02085841728e-05,1793192897102814464 +69,1.150000000,BASELINE,763,742,712,671,660,633,876,783,799,649,629,650,0.401018335128,-0.0155080552204,0.0798609843313,0.999999982234,9.82480627287e-05,-0.000158033351844,3.00739768493e-05,1793192897119481088 +70,1.166666667,BASELINE,763,742,712,671,660,633,876,783,799,649,629,650,0.401019575053,-0.0155075226746,0.079862231049,0.999999982637,9.83227697285e-05,-0.000155377164518,3.02674397215e-05,1793192897136147712 +71,1.183333333,BASELINE,763,742,712,671,660,633,876.378232558,783,799,649,629,650,0.401019870853,-0.0155073440989,0.0798625070531,0.999999982695,9.88782735203e-05,-0.000154627803775,3.03923563056e-05,1793192897152814080 +72,1.200000000,BASELINE,763,742,712,671,660,633,877.563840919,783,799,649,629,650,0.401018151324,-0.015507921108,0.0798607109709,0.999999982019,0.0001004600869,-0.000157948757495,3.03709539139e-05,1793192897169480704 +73,1.216666667,BASELINE,763,742.365143629,712,671,659.634856371,633,877.269712742,783,799,648.634856371,629,650,0.401018167388,-0.0155070227822,0.0798607143905,0.99999998188,0.000101675889217,-0.000158040458423,3.04231048544e-05,1793192897186147328 +74,1.233333333,BASELINE,763,742.942790877,712,671,659.057209123,633,876.114418246,783,799,648.057209123,629,650,0.40101919352,-0.0155052658517,0.079861765071,0.999999982055,0.000102678682997,-0.000156252822228,3.05180618266e-05,1793192897202814208 +75,1.250000000,BASELINE,763,743,712,671,660.555516095,633,876.518505365,783,799,648,629,650,0.401018731964,-0.0155059765492,0.0798616406714,0.99999998202,0.00010191938753,-0.000156998290912,3.03963173541e-05,1793192897219481600 +76,1.266666667,BASELINE,763,743,712,671,661.813593171,632.906796585,876.906796585,783,799,648,629,650,0.401018284623,-0.015506980886,0.0798615039156,0.99999998203,0.000100913027726,-0.000157605689665,3.02806729071e-05,1793192897236148992 +77,1.283333333,BASELINE,763,743,712,671,660.672432881,632.336216441,876.336216441,783,799,648,629,650,0.401018747689,-0.0155080998782,0.0798619654691,0.999999982397,9.96333295567e-05,-0.000156079716167,3.03182798134e-05,1793192897252814848 +78,1.300000000,BASELINE,763.24412829,742.75587171,712,671,660,632,876,783,799,648.24412829,628.75587171,650.24412829,0.401018849163,-0.0155091794369,0.0798618908189,0.999999982672,9.74694476516e-05,-0.000155673945708,3.03424048718e-05,1793192897269480960 +79,1.316666667,BASELINE,763.838481172,742.161518828,712,671,660,632,876,783,799,648.838481172,628.161518828,650.838481172,0.401018431899,-0.0155102024245,0.0798610469349,0.999999982813,9.40371225773e-05,-0.000156875210158,3.03471889699e-05,1793192897286147584 +80,1.333333333,BASELINE,763.578252866,742,712,671,659.578252866,632,876,783,799,648.578252866,628.421747134,650.578252866,0.401019591138,-0.0155090720022,0.079861956631,0.999999982942,9.4590280088e-05,-0.000155745937793,3.02084554177e-05,1793192897302813952 +81,1.350000000,BASELINE,763,742,712,671,659,632.000871945,876,783,799,648.000871945,628.999128055,650,0.401021332406,-0.0155071418742,0.0798635155733,0.99999998306,9.66308980251e-05,-0.000153754590355,3.00168789946e-05,1793192897319480320 +82,1.366666667,BASELINE,763,742,712,671,659,632.577395341,876,783,799,648.577395341,628.422604659,650,0.401018935464,-0.0155077688099,0.0798616877356,0.999999982369,9.88133344585e-05,-0.000156781706908,3.02960267834e-05,1793192897336147200 +83,1.383333333,BASELINE,763,742,712,671,659.156310011,633,876,783,799,648.843689989,628.156310011,650.156310011,0.401017569246,-0.0155085879163,0.0798606483739,0.99999998203,9.94019977215e-05,-0.000158516946307,3.05327899975e-05,1793192897352814080 +84,1.400000000,BASELINE,763,742,712,671,659.741790377,633,876,783,799,648.258209623,628.741790377,650.741790377,0.401019033018,-0.0155099346539,0.0798617738796,0.999999982681,9.56147408771e-05,-0.000156705162286,3.06531806717e-05,1793192897369480960 +85,1.416666667,BASELINE,763,742,712,671,660,633,876.325589909,783,799,648.325589909,628.674410091,650.674410091,0.401019841431,-0.0155088544792,0.0798623566061,0.99999998275,9.64040981489e-05,-0.000155776740437,3.06730250069e-05,1793192897386147584 +86,1.433333333,BASELINE,763,742,712,671,660,633,876.908063264,783,799,648.908063264,628.091936736,650.091936736,0.401020132781,-0.0155058595228,0.0798625110914,0.999999982353,0.000100804305902,-0.000155545272482,3.06135404325e-05,1793192897402814464 +87,1.450000000,BASELINE,763,742,712,671,659.516954003,633,876.516954003,783,799.483045997,648.516954003,628,650,0.401018996727,-0.0155067608125,0.0798620068776,0.999999982437,9.89143164643e-05,-0.000156275436473,3.03378486612e-05,1793192897419480832 +88,1.466666667,BASELINE,763,742,712,671,659,633,876,783,799.943046961,648,628.056953039,650.056953039,0.401017770934,-0.0155081154955,0.0798614125274,0.999999982548,9.64595029433e-05,-0.000157150128122,3.00730044515e-05,1793192897436147200 +89,1.483333333,BASELINE,763,742,712,671,659,633,876,783,799.36614354,648,628.63385646,650.63385646,0.401018168231,-0.015506942744,0.0798611223487,0.999999982146,9.9610992104e-05,-0.00015769887887,3.02771338677e-05,1793192897452813824 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0000000000000000000000000000000000000000..af7cf7199342a2ff766910226e1d8f1fa938a3e0 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40e97ae2d30d511cc0f7de8c73e672d1652cb8f21c4b3c84c40ea8b0b396964d +size 25073389 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..e2789b0238c1fcc9c444b30fabfaf7c8cba57ac4 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/franka_data.csv @@ -0,0 +1,395 @@ 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+53,0.883333333,BASELINE,763.250309769,742,712,671,659.250309769,633,877.749690231,783.250309769,799.749690231,648,628,650.250309769,0.400970291054,-0.0153810295155,0.0798412731672,0.999999931875,0.000247698357769,-0.000272328212456,2.70676618945e-05,1793192903573206784 +54,0.900000000,BASELINE,763.325733357,742,712,671,659.325733357,633,877.674266643,783,799.674266643,648,628.325733357,650,0.400970137828,-0.0153807455347,0.0798410749491,0.999999931814,0.000247817068837,-0.000272447779993,2.70404302027e-05,1793192903589873152 +55,0.916666667,BASELINE,763.901861002,742,712,671,659.901861002,633,877.098138998,783,799.098138998,648,628.901861002,650,0.400971442205,-0.0153818904412,0.0798417881418,0.999999932302,0.000247458761854,-0.000270944570667,2.73563977051e-05,1793192903606539776 +56,0.933333333,BASELINE,763.510250833,742,711.510250833,671,660,632.510250833,877,783.489749167,799,648,628.510250833,650,0.400970761611,-0.0153816560888,0.0798416855225,0.99999993238,0.000246624787612,-0.000271428325971,2.72522647079e-05,1793192903623206400 +57,0.950000000,BASELINE,763.0785635,742,711.0785635,671,659.9214365,632.0785635,877,783.9214365,799,648,628.0785635,650,0.400969902875,-0.0153811896686,0.0798414441839,0.999999932326,0.000246044554087,-0.000272166537391,2.71084812253e-05,1793192903639873024 +58,0.966666667,BASELINE,763.657890112,742,711.657890112,671,659.342109888,632.657890112,877,783.342109888,799,648,628.657890112,650,0.400970506365,-0.0153810490678,0.0798413862912,0.999999931978,0.00024770416148,-0.000271926336283,2.72617457144e-05,1793192903656539648 +59,0.983333333,BASELINE,763.764936506,742,712,671,659,632.764936506,877,783,799,648,628.764936506,650.235063494,0.400971122988,-0.0153803238016,0.079841610864,0.999999931658,0.000249484311633,-0.000271475059079,2.7243162905e-05,1793192903673207552 +60,1.000000000,BASELINE,763.190868391,742,712,671,659,632.190868391,877,783,799,648,628.190868391,650.809131609,0.400971758555,-0.0153787553407,0.0798422428037,0.999999931381,0.000251438306773,-0.000270719371444,2.69767448321e-05,1793192903689877248 +61,1.016666667,BASELINE,763,742,711.607564098,671,659.392435902,632.392435902,877,783,799,648,628.392435902,651,0.400970744887,-0.0153799866544,0.0798414759752,0.999999931607,0.000249235400307,-0.000271922436474,2.6941342188e-05,1793192903706543104 +62,1.033333333,BASELINE,763,742,711.019659382,671,659.980340618,632.980340618,877,783,799,648,628.980340618,651,0.40096890975,-0.015382612511,0.0798400124327,0.999999932066,0.000244961978202,-0.000274101138732,2.70210062787e-05,1793192903723206912 +63,1.050000000,BASELINE,763,742,711.560383431,671,659.439616569,633,876.439616569,783,799,648.560383431,628.439616569,650.439616569,0.400969961461,-0.015382810425,0.0798404690012,0.999999932218,0.00024633838044,-0.000272304712389,2.7060286644e-05,1793192903739873536 +64,1.066666667,BASELINE,763,742,712,671,659,633,876.139514794,783,799.139514794,649,628,650,0.400970623584,-0.0153825333825,0.0798408380757,0.999999932233,0.000247490250532,-0.000271203971533,2.70348925784e-05,1793192903756539904 +65,1.083333333,BASELINE,763,742,712,671,659,633,876.716640377,783,799.716640377,649,628,650,0.400969750428,-0.0153810300376,0.0798407243443,0.999999931869,0.000247324731461,-0.000272716734152,2.68110190253e-05,1793192903773206272 +66,1.100000000,BASELINE,763,742,712,671,659,632.70812996,877,783,799.70812996,648.70812996,628,650,0.400969303268,-0.0153805076936,0.0798403563284,0.999999931535,0.000247489591981,-0.000273789092743,2.68204493592e-05,1793192903789872896 +67,1.116666667,BASELINE,763,742,712,671,659,632.134729087,877,783,799.134729087,648.134729087,628,650,0.400969267015,-0.0153809315998,0.0798397430359,0.999999931231,0.000247973128729,-0.000274436648102,2.70549190322e-05,1793192903806539520 +68,1.133333333,BASELINE,763,742,712,671,659,632.452499602,877,783,799,648,628.452499602,650,0.400969954083,-0.0153815111178,0.079839954198,0.999999931456,0.000247541127557,-0.000274003397261,2.7099234597e-05,1793192903823206400 +69,1.150000000,BASELINE,763,742,712,671,659,632.957051447,876.957051447,783,799,648.042948553,629,650,0.4009707047,-0.0153820561651,0.0798403618977,0.999999931791,0.000246977737427,-0.000273284932887,2.71032399072e-05,1793192903839873024 +70,1.166666667,BASELINE,763,742,712,671,659,632.379385305,876.379385305,783,799,648.620614695,629,650,0.400969480658,-0.0153815770124,0.0798400639598,0.9999999315,0.000248279384177,-0.000273148316835,2.73324903049e-05,1793192903856539904 +71,1.183333333,BASELINE,763.197428006,742,712,671,659.197428006,632.197428006,876,783.197428006,799.197428006,648.802571994,628.802571994,650.197428006,0.400969170738,-0.015381746214,0.0798403112127,0.999999931632,0.000248446423352,-0.000272495500259,2.75043183328e-05,1793192903873206528 +72,1.200000000,BASELINE,763.772609633,742,712,671,659.772609633,632.772609633,876,783.772609633,799.772609633,648.227390367,628.227390367,650.772609633,0.400970609875,-0.0153831559596,0.0798416016196,0.999999932572,0.000246442534086,-0.000270854998985,2.75662759299e-05,1793192903889872896 +73,1.216666667,BASELINE,763.654431723,742,712,671,659.654431723,632.654431723,876.345568277,783.654431723,799.654431723,648,628,650.654431723,0.4009716501,-0.015382537295,0.079842520767,0.999999932777,0.000246963057108,-0.000269642149644,2.7370267708e-05,1793192903906539520 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+77,1.283333333,BASELINE,764,742,712,671,659,632.679497677,877.320502323,783.320502323,798.320502323,648,628,650.320502323,0.400970911087,-0.0153817767929,0.0798421899407,0.999999931902,0.0002501327735,-0.000269955837941,2.74422676573e-05,1793192903973206528 +78,1.300000000,BASELINE,764,742,712,671,659.254739598,633,876.745260402,783.254739598,798.254739598,648.254739598,628.254739598,650,0.400971057822,-0.0153823763374,0.079841609736,0.999999932213,0.000248681094499,-0.00027016642595,2.72203235913e-05,1793192903989873152 +79,1.316666667,BASELINE,764,742,712,671,659.830049127,633,876.169950873,783.830049127,798.830049127,648.830049127,628.830049127,650,0.400969286748,-0.0153814651983,0.0798398474185,0.999999931487,0.000247975487232,-0.00027351823604,2.68734173461e-05,1793192904006539520 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+68,1.133333333,BASELINE,763.462470037,742,711.462470037,670.537529963,659.462470037,632.537529963,876.537529963,783.462470037,799,648,628.462470037,650,0.400973702069,-0.0153915257207,0.0798434100213,0.999999936704,0.000232185508416,-0.000268196035201,2.74457963984e-05,1793192910572783360 +69,1.150000000,BASELINE,764,742,712,670.036660158,659.963339842,632.036660158,876.036660158,783.963339842,799,648,628.963339842,650,0.400975143544,-0.0153900018594,0.0798441680266,0.999999936657,0.000234643337096,-0.000266229376513,2.74105722489e-05,1793192910589450240 +70,1.166666667,BASELINE,764,742,712,670.625875953,659.374124047,632.625875953,876.625875953,783.374124047,799,648,628.374124047,650,0.400973176715,-0.0153887704221,0.0798426605161,0.99999993551,0.00023641664544,-0.000268952255548,2.7434126355e-05,1793192910606116864 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b/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd1325c569b9805d11031ac8985d2be86dbc55d7df1201521bcb49dc77addedb +size 25398755 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..119a3966828fb41566a1cae228c4038138dfbe4c --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/franka_data.csv @@ -0,0 +1,400 @@ +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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sha256:508752cdfc96b8c3c5da3bca6055f571457735f82c45027f4fdc754582842c7d +size 25649878 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..08c2dbaa951f8e1c582fc40c065b5c8c55eb17a0 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/franka_data.csv @@ -0,0 +1,404 @@ +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,764,742,712,671,660,632,877,783,799,648,628,650,0.400975854063,-0.0153847855293,0.0798434018957,0.999999935339,0.000238064614643,-0.000268259652186,2.61411002408e-05,1793192923081512448 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+68,1.133333333,BASELINE,764,742.461007811,711.461007811,671,659,633,876.461007811,784,798.461007811,648,628.538992189,650.538992189,0.400975228562,-0.0153870540285,0.0798443426247,0.999999935799,0.000237524126111,-0.000266978557708,2.65676623412e-05,1793192924214846208 +69,1.150000000,BASELINE,764,742.963084877,712,670.963084877,659.036915123,632.963084877,877,783.963084877,799.036915123,648,628.036915123,650.036915123,0.400976362331,-0.0153865771502,0.0798451485134,0.999999935892,0.000239632481422,-0.000264745062942,2.65163789717e-05,1793192924231512576 +70,1.166666667,BASELINE,764,742.374051854,712,670.374051854,659.625948146,632.374051854,877,783.374051854,799.625948146,648,628.625948146,650.625948146,0.400976643888,-0.0153878707605,0.0798455937119,0.999999936849,0.000236371933276,-0.000264057617321,2.65243398251e-05,1793192924248179456 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b/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1f989465c42c4d8267be1a2a036093147cf9d641b57d0a2b9d330c826f7560a +size 25181212 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2d5e910a1260d746aaea279014b24719fe13145c --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_03/franka_data.csv @@ -0,0 +1,398 @@ +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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+91,1.516666667,BASELINE,764,742,711,671.810836738,664.810836738,632.810836738,876.189163262,783,798.810836738,650,628,651,0.400953671239,0.00453203307671,0.0598412492694,0.999999957328,0.000127351979565,-0.000262065436691,2.11282644037e-05,1793192946628052480 +92,1.533333333,BASELINE,764.385401224,742.385401224,711,672,664.614598776,633,876,783,799.385401224,650,628.385401224,651,0.400952640941,0.00453209761432,0.0598408993839,0.9999999571,0.000126248000976,-0.000263469461686,2.11231631443e-05,1793192946644719104 +93,1.550000000,BASELINE,764.959581832,742.959581832,711,672,664.040418168,633,876,783,799.959581832,650,628.959581832,651,0.4009510728,0.00453241069763,0.0598404848793,0.99999995675,0.000124731257309,-0.000265512948207,2.10810189152e-05,1793192946661385984 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b/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c1eb6a8efd35c6707fcddce106ef71e1e42a97e92339d862531348d8e9933c6 +size 25307036 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5600ed1fd707104de2d9dd3239c3cb1766a6087f --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/franka_data.csv @@ -0,0 +1,400 @@ +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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+59,0.983333333,BASELINE,764,742.243660317,711,672,663.243660317,632.243660317,876.756339683,783.243660317,799.243660317,650,629,650,0.400953566602,0.00452641289303,0.0598409354796,0.999999953307,0.000152486527952,-0.000264128196136,1.92139137782e-05,1793192952901779200 +60,1.000000000,BASELINE,764,742.8225079,711,672,663.8225079,632.8225079,876.1774921,783.8225079,799.8225079,650,629,650,0.400955278047,0.00452612604505,0.0598413833765,0.99999995376,0.000151610686548,-0.000262921002097,1.91410050911e-05,1793192952918446080 +61,1.016666667,BASELINE,764,742.598601342,710.598601342,671.598601342,664,633,876.401398658,783.598601342,800,650,629,650.401398658,0.400955673441,0.00452708486085,0.0598416947024,0.999999953473,0.000154090889195,-0.000262565325341,1.91963697046e-05,1793192952935112704 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+77,1.283333333,BASELINE,764,743,711,672,664,632.662946888,877,783,799,650,629,651,0.40095528067,0.00452764494567,0.0598420563113,0.999999953913,0.000154267361119,-0.000260808376591,1.88359929259e-05,1793192953201779200 +78,1.300000000,BASELINE,764,742.753843596,711,672,664,633,877,783.246156404,799,650,628.753843596,650.753843596,0.400955592451,0.00452705852524,0.0598424681412,0.999999954295,0.000152662171679,-0.000260288746193,1.88119782018e-05,1793192953218446080 +79,1.316666667,BASELINE,764,742.153704214,711,672,664,633,877,783.846295786,799,650,628.153704214,650.153704214,0.400955531237,0.00452439635508,0.0598428689036,0.999999955223,0.000147000604898,-0.000259968695855,1.89963668199e-05,1793192953235112704 +80,1.333333333,BASELINE,764,742,711,672,664,633,877.424889038,783.575110962,799,650,628.424889038,650.424889038,0.400955449799,0.00452493675404,0.0598430394485,0.999999954977,0.000148526325367,-0.000260045510089,1.90505862371e-05,1793192953251779584 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0000000000000000000000000000000000000000..64a14aba6c0c8c3c644f2127819cc84f6ec647f9 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a75533d4640c3d6cf6dd6113431c19e57a87ff0354a1cf4572d3ce7e95387c08 +size 25435731 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..86207dc243fe7cf3956d8e69620435e1b99a744b --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/franka_data.csv @@ -0,0 +1,402 @@ 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b/Part2/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..3a770951859c667e6311bee501e3d78d92d13089 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da1a0c94fc10373da0d7011c34e1aecf292ccef234e2b13d9c802e0c67ef285c +size 24601577 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..752d287d97da124be8876952a614f021766c1e24 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/franka_data.csv @@ -0,0 +1,390 @@ 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+249,4.150000000,HOLD_POSE2,764,742.389559685,711,673,664.610440315,631.610440315,877,782.389559685,799.389559685,650,628.610440315,650,0.444148206557,0.00449610027554,0.0497969133628,0.999999947031,6.55970243931e-05,-0.000317644186423,2.71695145318e-05,1793192971001650432 +250,4.166666667,HOLD_POSE2,764,742.965398503,711,673,664.034601497,631.034601497,877,782.965398503,799.965398503,650,628.034601497,650,0.444148968265,0.00449654094345,0.0497976003631,0.999999947404,6.53086917713e-05,-0.000316568355791,2.66593821646e-05,1793192971018317056 +251,4.183333333,HOLD_POSE2,764,743,711,673,664,631,877,783,800,650,628.5561997,650,0.444147713087,0.00449565582705,0.0497974094874,0.999999947081,6.4884064069e-05,-0.000317663588932,2.6793616577e-05,1793192971034983936 +252,4.200000000,HOLD_POSE2,764,743,711,673,664.144759498,631,877.144759498,783,799.855240502,650,628.855240502,650,0.444146546254,0.00449507771936,0.0497967292159,0.999999946663,6.46907966157e-05,-0.000319006014847,2.68985084592e-05,1793192971051650560 +253,4.216666667,HOLD_POSE2,764,743,711,673,664.723727146,631,877.723727146,783,799.276272854,650,628.276272854,650,0.444146031171,0.00449567472082,0.0497947493362,0.999999946099,6.52176333255e-05,-0.00032067357603,2.67918232663e-05,1793192971068317184 +254,4.233333333,HOLD_POSE2,764.299286498,742.700713502,710.700713502,673.299286498,665,631.299286498,878,783,799.299286498,650,628.299286498,650,0.444147160594,0.00449619216152,0.0497951514741,0.999999946433,6.49275619827e-05,-0.000319694147703,2.67355172525e-05,1793192971084983808 +255,4.250000000,HOLD_POSE2,764.871735025,742.128264975,710.128264975,673.871735025,665,631.871735025,878,783,799.871735025,650,628.871735025,650,0.444149790977,0.00449663698621,0.0497977277055,0.999999947579,6.38918897758e-05,-0.000316298783264,2.67251928676e-05,1793192971101650432 +256,4.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,877,783,799,650,629,650,0.444149862536,0.00449510800272,0.0497968537289,0.999999946803,6.67429626259e-05,-0.00031813127188,2.70366305608e-05,1793192971133598976 +257,4.283333333,POSE2_TO_POSE3_RETREAT,764,742.579407454,711,672.579407454,664,631.420592546,877.579407454,783,799.579407454,650,629,650,0.444148304785,0.00449661164315,0.0497961474786,0.999999946548,6.74980120817e-05,-0.000318822133453,2.6466329141e-05,1793192971150265600 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sha256:15d86a380eaf4b85d7e7b86293a6786808e93aa0fb3091e7a3990069f021c8fd +size 24733391 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..b79e3fe87540c3b5b18efb6554cd0d260d48a0f2 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/franka_data.csv @@ -0,0 +1,392 @@ +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,764,742,711,672,665,632,876,783,799,650,629,651,0.400978994366,0.00456681556416,0.0498511216593,0.999999964257,4.77464770525e-05,-0.000259229940268,-4.47992820807e-05,1793192973460363264 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a/Part2/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..bb7e7df083d445f0e1168df05f55f8f3f37cb1a2 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/franka_data.csv @@ -0,0 +1,396 @@ +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,764,742,710,672,665,632,875,784,799,650,629,651,0.400982050386,0.00457232994613,0.0498540229274,0.999999965219,5.10831655575e-05,-0.000255126943941,-4.31517269079e-05,1793192980181320192 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+253,4.216666667,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156707235,0.0187273772222,1.03969820765 +254,4.233333333,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156707235,0.0187273772222,1.03969820765 +255,4.250000000,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156707235,0.0187273772221,1.03969820765 +256,4.266666667,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156707235,0.0187273772221,1.03969820765 +257,4.283333333,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156707235,0.0187273772221,1.03969820765 +258,4.300000000,pose2_to_pose3_retreat,0.619585978465,0.0100546490603,1.04002891316,0.590156707236,0.0187273772216,1.03969820765 +259,4.316666667,pose2_to_pose3_retreat,0.619585802748,0.0100544770645,1.04002876958,0.590156534472,0.0187272154401,1.03969806902 +260,4.333333333,pose2_to_pose3_retreat,0.619585689377,0.010054475547,1.04002877585,0.59015642066,0.0187272123736,1.03969807401 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+252,4.200000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592548,0.0187273068864,1.03969859688 +253,4.216666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592547,0.0187273068872,1.03969859688 +254,4.233333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592548,0.0187273068863,1.03969859688 +255,4.250000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592549,0.0187273068856,1.03969859688 +256,4.266666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592548,0.0187273068861,1.03969859688 +257,4.283333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592548,0.0187273068861,1.03969859688 +258,4.300000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592548,0.0187273068857,1.03969859688 +259,4.316666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592548,0.0187273068861,1.03969859688 +260,4.333333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592548,0.0187273068861,1.03969859688 +261,4.350000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592548,0.0187273068865,1.03969859688 +262,4.366666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592548,0.0187273068858,1.03969859688 +263,4.383333333,pose2_to_pose3_retreat,0.621585864195,0.0100545787753,1.0400293116,0.592156592549,0.0187273068855,1.03969859688 +264,4.400000000,pose2_to_pose3_retreat,0.621585865402,0.0100545787303,1.04002930669,0.592156593772,0.0187273068961,1.03969859195 +265,4.416666667,pose2_to_pose3_retreat,0.621585906804,0.0100545771875,1.04002913809,0.592156635743,0.018727307259,1.03969842277 +266,4.433333333,pose2_to_pose3_retreat,0.621585726548,0.0100545766435,1.04002906293,0.59215645417,0.0187273023732,1.03969835052 +267,4.450000000,pose2_to_pose3_retreat,0.621585433286,0.0100545731682,1.04002908276,0.592156159879,0.0187272955166,1.039698373 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b/Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..be6cbc3ab39f57d99d0195521576e13cb784c1f3 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5182a53ad5547282fc3425461dd52ada4dd0fa27e8e0857521b79333a0aa9eb9 +size 24889087 diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ff3c16241d852f17d5ed36317576936d40fcc9e3 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/franka_data.csv @@ -0,0 +1,392 @@ 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+36,0.600000000,BASELINE,764,742,711,671,662,632,876,783,799,650,628.111234096,650.888765904,0.401021878902,0.00447595130708,0.0698519953759,0.999999986473,3.25294589444e-05,-0.000159039885717,2.64881962333e-05,1793193002725492480 +37,0.616666667,BASELINE,764,742.469823769,711,671.469823769,662.469823769,632,876.469823769,783,799,649.530176231,628,651,0.401022126862,0.00447606280805,0.0698521146642,0.999999986602,3.3460809808e-05,-0.00015804853774,2.63839246629e-05,1793193002742159104 +38,0.633333333,BASELINE,763.950678935,742.950678935,711,671.950678935,663,632,876.950678935,783,798.950678935,649,628,650.950678935,0.401021849012,0.00447623533939,0.0698519840193,0.99999998665,3.45890756623e-05,-0.000157534216375,2.6214872125e-05,1793193002758825728 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+42,0.700000000,BASELINE,763.63820757,742.36179243,711,671.36179243,663,632.63820757,876.63820757,783,799,649.36179243,628.63820757,650.36179243,0.401021509488,0.00447718002164,0.0698524234991,0.999999986493,3.60995887633e-05,-0.000158148785426,2.64610113627e-05,1793193002825492480 +43,0.716666667,BASELINE,763.04847656,742.95152344,711,671.95152344,663,632.04847656,876.04847656,783,799,649.95152344,628.04847656,650.95152344,0.40102133758,0.00447458319512,0.0698523144857,0.999999986525,3.49044225486e-05,-0.000158198200325,2.65674233856e-05,1793193002842159104 +44,0.733333333,BASELINE,763,742.468104761,711,672,663,632,876,783,799,650,628,651,0.401019990776,0.00447448505071,0.0698513828283,0.99999998631,3.36191905595e-05,-0.000159856276995,2.63784806514e-05,1793193002858825728 +45,0.750000000,BASELINE,763,742,711,672,663,632.110688265,876,783,799,650,628.110688265,651,0.40101902742,0.00447481542747,0.06985073351,0.999999986149,3.28863830983e-05,-0.000161040059613,2.62108796798e-05,1793193002875492352 +46,0.766666667,BASELINE,763,742,711,672,663,632.68637021,876,783,799,650,628.68637021,651,0.401020116961,0.00447600586412,0.0698515797983,0.99999998632,3.45081600882e-05,-0.000159626107526,2.62440610656e-05,1793193002892158976 +47,0.783333333,BASELINE,763.261280674,742.261280674,711,671.738719326,663,632.738719326,876,783,799.261280674,650,629,651,0.401019814694,0.00447682689486,0.0698516179047,0.999999986276,3.56983248654e-05,-0.000159664814334,2.60992674721e-05,1793193002908825856 +48,0.800000000,BASELINE,763.835267888,742.835267888,711,671.164732112,663,632.164732112,876,783,799.835267888,650,629,651,0.401017846681,0.00447720581251,0.0698506887612,0.999999985975,3.63719267294e-05,-0.000161442095537,2.57414694562e-05,1793193002925492480 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a/Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..07849c979f1df2debb58bd35af378950f68e4cf8 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/franka_data.csv @@ -0,0 +1,396 @@ +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,764,742,711,672,662,632,877,783,799,650,629,651,0.400961192333,0.00447998944914,0.069823073817,0.999999959382,4.54126727332e-05,-0.000279778674362,2.99677456991e-05,1793193008817556736 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+24,0.400000000,BASELINE,763.091803056,742.908196944,711,672,662.908196944,632,877,783,799,650,628.908196944,650.091803056,0.400962179072,0.00447915467513,0.069825078827,0.999999960016,4.37327579749e-05,-0.000277742827237,3.02261196062e-05,1793193009217556480 +25,0.416666667,BASELINE,763.49720718,742.50279282,711,672,662.50279282,632,877,783,799.49720718,650,629,650.49720718,0.400962870603,0.00447858987236,0.0698250424748,0.999999960326,4.3437720451e-05,-0.000276678621194,3.01587712948e-05,1793193009234223872 +26,0.433333333,BASELINE,763.913544283,742,711,672,662.086455717,632,876.913544283,783,799.913544283,649.913544283,629,651,0.400964226252,0.00447798184826,0.0698254185446,0.999999960829,4.29937429506e-05,-0.000274933386126,3.0081519541e-05,1793193009250891264 +27,0.450000000,BASELINE,763.33768557,742,711,672,662.66231443,632,876.33768557,783,799.33768557,649.33768557,629,651,0.400965952267,0.00447849455416,0.0698265801516,0.99999996115,4.35500668568e-05,-0.000273664486448,3.01877165053e-05,1793193009267557888 +28,0.466666667,BASELINE,763.23797864,742,711,672,662.76202136,632,876.23797864,783,799.23797864,649,629,650.76202136,0.400966750116,0.00447922492714,0.0698272827545,0.999999961331,4.40384907366e-05,-0.000272932824134,3.01082612386e-05,1793193009284224000 +29,0.483333333,BASELINE,763.813367044,742,711,672,662.186632956,632,876.813367044,783,799.813367044,649,629,650.186632956,0.400966231995,0.00448026391183,0.0698273345744,0.999999961316,4.44306448844e-05,-0.00027296286527,2.97655853858e-05,1793193009300890112 +30,0.500000000,BASELINE,764,742,711,672,662.399221897,632,877,783,799.600778103,649.399221897,629,650,0.400966326351,0.00448013156217,0.0698272705821,0.999999961347,4.37604680653e-05,-0.000272952548023,2.98078845111e-05,1793193009317556736 +31,0.516666667,BASELINE,764,742,711,672,662.990101444,632,877,783,799.009898556,649.990101444,629,650,0.400966714743,0.00447943688063,0.069827150991,0.999999961399,4.25802895065e-05,-0.000272922855602,3.00350016652e-05,1793193009334223104 +32,0.533333333,BASELINE,764,742,711,672,663,632.569172893,877,783,799,649.430827107,629,650.569172893,0.400964732314,0.00447959973122,0.0698264627828,0.999999961051,4.31730103241e-05,-0.00027411420508,2.99343964742e-05,1793193009350889728 +33,0.550000000,BASELINE,764,742,711,672,663,632.852506643,876.852506643,783,799.147493357,649,629,650.852506643,0.400963574078,0.00447982718164,0.0698261090994,0.999999960896,4.33062947153e-05,-0.000274669115888,2.9825296697e-05,1793193009367556352 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+37,0.616666667,BASELINE,764,742.538720567,711,672,662.461279433,632.538720567,877,783.461279433,799.538720567,650,628.461279433,651,0.400963167474,0.00448006375553,0.0698252095898,0.99999996057,4.23653895352e-05,-0.000276004945905,2.97817342941e-05,1793193009434224128 +38,0.633333333,BASELINE,764,742.051630504,711,672,663,632,877,783.948369496,799,649.948369496,629,651,0.400962671684,0.00448035863409,0.069825810958,0.99999996075,4.29075995442e-05,-0.000275242410501,3.00144516067e-05,1793193009450890496 +39,0.650000000,BASELINE,764,742.629303354,711,672,663,632,877,783.370696646,799,649.370696646,629,651,0.400963244867,0.00448268974536,0.0698263179576,0.999999960715,4.77075768287e-05,-0.000274609855185,2.97096840214e-05,1793193009467557120 +40,0.666666667,BASELINE,764,742.793428449,711,672,662.793428449,632,877,783,799.206571551,649,629,651,0.400963638818,0.00448314735978,0.069826343218,0.99999996062,4.92811768167e-05,-0.000274690191408,2.96147843678e-05,1793193009484223488 +41,0.683333333,BASELINE,764,742.216885025,711,672,662.216885025,632,877,783,799.783114975,649,629,651,0.400963711761,0.00448024952101,0.0698255056783,0.999999960436,4.5076300002e-05,-0.000276047324104,2.98957604606e-05,1793193009500889856 +42,0.700000000,BASELINE,763.633901529,742,711,672.366098471,662.366098471,632.366098471,877,783,799.633901529,649.366098471,629,650.633901529,0.400964815802,0.00447925648196,0.0698265183207,0.999999961,4.26224518304e-05,-0.000274383780501,2.99457505133e-05,1793193009517556736 +43,0.716666667,BASELINE,763.047034493,742,711,672.952965507,662.952965507,632.952965507,877,783,799.047034493,649.952965507,629,650.047034493,0.400966541626,0.00447941209545,0.0698286466795,0.999999962012,4.12245275847e-05,-0.000270898676743,2.98564489157e-05,1793193009534223360 +44,0.733333333,BASELINE,763.533230763,742,711,672.466769237,662.466769237,633,877,783,799.533230763,650,629,650,0.40096393297,0.0044795740686,0.0698264304685,0.999999960961,4.37761556095e-05,-0.00027433416896,3.00470091147e-05,1793193009550890240 +45,0.750000000,BASELINE,764,742,711,672,662.112139895,632.887860105,877,783,799.887860105,650,628.887860105,650,0.400962164543,0.0044798076827,0.0698248391739,0.999999960169,4.61246050786e-05,-0.000276811385685,3.0158216457e-05,1793193009567557120 +46,0.766666667,BASELINE,764,742,711,672,662.687820846,632.312179154,877,783,799.312179154,650,628.312179154,650,0.400965430359,0.0044803351411,0.069827395736,0.999999961268,4.62107576987e-05,-0.000272835012941,2.98406183678e-05,1793193009584223744 +47,0.783333333,BASELINE,764,742,711,672,663,632,877,783.263499659,799,649.736500341,628.263499659,650.263499659,0.400966799076,0.00448030552663,0.069828514671,0.999999961793,4.50685231406e-05,-0.000271110859819,2.9698935342e-05,1793193009600890112 +48,0.800000000,BASELINE,764,742,711,672,663,632,877,783.839176016,799,649.160823984,628.839176016,650.839176016,0.400965920238,0.0044796159297,0.0698279304023,0.999999961648,4.24709779715e-05,-0.00027205498471,2.97656646265e-05,1793193009617556736 +49,0.816666667,BASELINE,764,742,711,671.577072349,662.577072349,632.422927651,877,783.577072349,799,649,628.577072349,650.577072349,0.400965995694,0.00447826545718,0.0698279862303,0.999999961717,4.23046849809e-05,-0.000271789213291,3.01046825229e-05,1793193009634223104 +50,0.833333333,BASELINE,764,742,711,671.009707553,662,632.990292447,877,783,799,649.009707553,628.009707553,650,0.400966418099,0.00447671003596,0.0698282684916,0.999999961859,4.30655508574e-05,-0.000271098448739,3.05371507935e-05,1793193009650889984 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+54,0.900000000,BASELINE,764,742.682161376,711.682161376,673,663,633,876.682161376,783,799,649.317838624,628.682161376,650.682161376,0.400963510819,0.00447819139982,0.0698260843663,0.999999960814,4.3817650463e-05,-0.000274854696642,3.01212468579e-05,1793193009717557248 +55,0.916666667,BASELINE,764,742.112007807,711.112007807,673,663,633,876.112007807,783,799,649.887992193,628.112007807,650.112007807,0.400964517897,0.00447717978741,0.069826863173,0.999999961407,3.88627629922e-05,-0.000273487201891,2.96880856359e-05,1793193009734223872 +56,0.933333333,BASELINE,764,742.478214912,711,672.521785088,663,632.521785088,876.478214912,783,799,649.521785088,628.478214912,650.478214912,0.40096491516,0.00447694862029,0.0698275821776,0.999999961498,3.93192189199e-05,-0.000273067376523,2.98813688042e-05,1793193009750890240 +57,0.950000000,BASELINE,763.928480109,743,711,672,663,632.071519891,877,783,799.071519891,649,629,650.928480109,0.400965272974,0.00447700508816,0.0698281788167,0.999999961491,4.10459059501e-05,-0.000272804675701,3.01811939356e-05,1793193009767556608 +58,0.966666667,BASELINE,763.348153595,743,711,672,663,632.651846405,877,783,799.651846405,649,629,650.348153595,0.400966410792,0.00447775043208,0.0698280089365,0.999999961652,4.23974032216e-05,-0.000272011523722,3.01494146618e-05,1793193009784223232 +59,0.983333333,BASELINE,763.22986948,742.77013052,711,672,662.77013052,632.77013052,876.77013052,783,799.77013052,649.22986948,629,650,0.400967118656,0.00447789450317,0.0698279681316,0.999999961813,4.31102180459e-05,-0.000271296899281,3.02279403573e-05,1793193009800890112 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