Upload Part2/Free/s1 (part 6)
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- .gitattributes +12 -0
- Part2/Free/s1/cylinder_0010_15/width_02/pick/franka_data.csv +207 -0
- Part2/Free/s1/cylinder_0010_15/width_02/pick/simulation_data.csv +207 -0
- Part2/Free/s1/cylinder_0010_15/width_03/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_03/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_15/width_03/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_03/insert/simulation_data.csv +907 -0
- Part2/Free/s1/cylinder_0010_15/width_03/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_03/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_03/pick/franka_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_15/width_03/pick/simulation_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_15/width_04/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_04/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_15/width_04/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_04/insert/simulation_data.csv +908 -0
- Part2/Free/s1/cylinder_0010_15/width_04/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_04/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_04/pick/franka_data.csv +204 -0
- Part2/Free/s1/cylinder_0010_15/width_04/pick/simulation_data.csv +204 -0
- Part2/Free/s1/cylinder_0010_15/width_05/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_05/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_15/width_05/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_05/insert/simulation_data.csv +907 -0
- Part2/Free/s1/cylinder_0010_15/width_05/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_05/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_05/pick/franka_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_15/width_05/pick/simulation_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_15/width_06/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_06/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_15/width_06/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_06/insert/simulation_data.csv +906 -0
- Part2/Free/s1/cylinder_0010_15/width_06/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_06/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_06/pick/franka_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_15/width_06/pick/simulation_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_15/width_07/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_07/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_15/width_07/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_07/insert/simulation_data.csv +908 -0
- Part2/Free/s1/cylinder_0010_15/width_07/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_07/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_07/pick/franka_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_15/width_07/pick/simulation_data.csv +206 -0
- Part2/Free/s1/cylinder_0010_15/width_08/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_08/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0010_15/width_08/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_08/insert/simulation_data.csv +905 -0
- Part2/Free/s1/cylinder_0010_15/width_08/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0010_15/width_08/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0010_15/width_08/pick/franka_data.csv +208 -0
.gitattributes
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Part2/Free/s1/cylinder_0010_15/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_15/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_12.5/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_15/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_15/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_15/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_15/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_15/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_15/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_15/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_15/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_17.5/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_17.5/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_17.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_17.5/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0010_15/width_02/pick/franka_data.csv
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79306886155e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001061_1793068861554394051_real.jpg,0.675960613878,-0.00544285234443,0.0968809499127,0.999999962952,0.000142947814207,-0.000214722406344,8.69250290246e-05,0.0466253049672
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79306886157e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001062_1793068861573085928_interpolated.jpg,0.675960284093,-0.00544593940676,0.0968828743686,0.999999963136,0.000141642676352,-0.000214561443008,8.73387455529e-05,0.0466253049672
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.79306886158e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001063_1793068861591777806_real.jpg,0.675960337655,-0.00544265432324,0.0968828492652,0.999999962666,0.000144500335056,-0.000214939376649,8.7110207822e-05,0.0465445482718
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.7930688616e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001063_1793068861591777806_real.jpg,0.675960408769,-0.00544262589325,0.096882464606,0.99999996269,0.000144286887947,-0.000214939525439,8.7192613672e-05,0.0465222075582
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79306886162e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001064_1793068861624174864_interpolated.jpg,0.675960468493,-0.00544392598729,0.0968820510874,0.999999962901,0.00014290259983,-0.000214794454939,8.74033692964e-05,0.0465222075582
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79306886164e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001064_1793068861624174864_interpolated.jpg,0.675959365698,-0.00544352853695,0.0968811733244,0.999999962604,0.000143061882811,-0.000216161310857,8.71769873465e-05,0.0465222075582
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79306886165e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001065_1793068861656571923_real.jpg,0.67595799579,-0.00544274101804,0.0968801889001,0.999999962187,0.000143575857577,-0.000217875564167,8.68501605114e-05,0.0465222075582
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79306886167e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001066_1793068861675235806_interpolated.jpg,0.675957079024,-0.00544416317309,0.0968798074175,0.999999962431,0.000140684627846,-0.000218836164453,8.6348456698e-05,0.0465222075582
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.79306886169e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001067_1793068861693899690_real.jpg,0.67595835292,-0.0054450449988,0.0968797899728,0.999999962414,0.000142224410297,-0.00021770883794,8.68684003448e-05,0.0465222075582
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79306886171e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001067_1793068861693899690_real.jpg,0.675958998363,-0.00544691990037,0.0968803148926,0.99999996249,0.000142103760962,-0.00021703300945,8.78835400827e-05,0.0465222075582
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79306886172e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001068_1793068861723724356_interpolated.jpg,0.675958856899,-0.00544955041866,0.0968811050675,0.999999962689,0.000140034784754,-0.000217010932447,8.89839297955e-05,0.0465222075582
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.79306886174e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001068_1793068861723724356_interpolated.jpg,0.675959210667,-0.00544796701491,0.0968815860944,0.9999999626,0.000141189275861,-0.000216828388792,8.86086871686e-05,0.0465222075582
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79306886176e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001069_1793068861753549022_real.jpg,0.675959404692,-0.00544584102161,0.0968818028593,0.999999962413,0.000142667413828,-0.000216981693407,8.79705370089e-05,0.0465222075582
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79306886177e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001070_1793068861773029563_interpolated.jpg,0.67595484431,-0.00544856324314,0.0968781731375,0.999999961448,0.000138725423377,-0.000223994340895,8.76652631902e-05,0.0465222075582
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,1.79306886179e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001071_1793068861792510105_real.jpg,0.675956646395,-0.00544507594488,0.0968810827053,0.999999961288,0.000142116617098,-0.000223006131468,8.65693159132e-05,0.0465222075582
|
| 17 |
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| 18 |
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16,0.266666667,pose1-to-pose2-lift,1.79306886182e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001072_1793068861822659564_interpolated.jpg,0.675952494918,-0.0054433503329,0.0968831789268,0.999999959698,0.000141323854095,-0.000231569594188,8.37027562074e-05,0.0465222075582
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,1.79306886184e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001072_1793068861822659564_interpolated.jpg,0.675951323865,-0.0054429831253,0.0968889278455,0.999999958926,0.000141945565232,-0.0002349477967,8.24510456377e-05,0.0465133453573
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,1.79306886186e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001073_1793068861852809023_real.jpg,0.675949972267,-0.00544259738474,0.0968962010009,0.99999995798,0.000142456355502,-0.000239232061517,8.07142266768e-05,0.0465044751763
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,1.79306886187e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001074_1793068861872296312_interpolated.jpg,0.675945189285,-0.00544211947516,0.0969127679202,0.999999955152,0.000140077259407,-0.000254122185608,7.41393231392e-05,0.0465044751763
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| 22 |
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20,0.333333333,pose1-to-pose2-lift,1.79306886188e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001075_1793068861891783601_real.jpg,0.675927701731,-0.00543937064991,0.0969386611452,0.999999946054,0.000138248877362,-0.000290930129946,6.43364818609e-05,0.0465044751763
|
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| 207 |
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|
Part2/Free/s1/cylinder_0010_15/width_02/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,207 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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| 5 |
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| 8 |
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| 26 |
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|
| 27 |
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25,0.416666667,pose1-to-pose2-lift,-8.32701923874e-05,0.845910983347,6.02620050999e-06,0.834950983347
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26,0.433333333,pose1-to-pose2-lift,-8.33930614325e-05,0.845977026541,5.90582923513e-06,0.835017026541
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| 29 |
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27,0.450000000,pose1-to-pose2-lift,-8.33753780833e-05,0.846051509779,5.92836602588e-06,0.835091509779
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| 32 |
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36,0.600000000,pose1-to-pose2-lift,-8.29622337242e-05,0.84698481112,6.38770444261e-06,0.836024794494
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38,0.633333333,pose1-to-pose2-lift,-8.20330740555e-05,0.847282827181,7.31250827171e-06,0.836322829954
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| 42 |
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| 43 |
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41,0.683333333,pose1-to-pose2-lift,-8.17563447459e-05,0.847841203252,7.58712798179e-06,0.836881284008
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42,0.700000000,pose1-to-pose2-lift,-8.20044504137e-05,0.848038122433,7.33437911057e-06,0.837078137232
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44,0.733333333,pose1-to-pose2-lift,-8.25052276485e-05,0.848458805693,6.807044242e-06,0.837498805693
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45,0.750000000,pose1-to-pose2-lift,-8.21029454712e-05,0.848687012125,7.23610262328e-06,0.837727012125
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60,1.000000000,pose1-to-pose2-lift,-8.24232704929e-05,0.853390341433,6.81707148381e-06,0.842430741433
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185,3.083333333,pose2-hold,-8.22527e-05,0.8835871,6.61332488889e-06,0.8726322
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| 188 |
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186,3.100000000,pose2-hold,-8.22527e-05,0.8835871,6.62129155556e-06,0.872632130556
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187,3.116666667,pose2-hold,-8.22527e-05,0.8835871,6.6261325e-06,0.8726321
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188,3.133333333,pose2-hold,-8.22527e-05,0.8835871,6.63236616667e-06,0.8726321
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| 191 |
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189,3.150000000,pose2-hold,-8.22527e-05,0.8835871,6.64416988889e-06,0.8726321
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| 192 |
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190,3.166666667,pose2-hold,-8.22527e-05,0.8835871,6.66035833333e-06,0.8726321
|
| 193 |
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191,3.183333333,pose2-hold,-8.22527e-05,0.8835871,6.66180261111e-06,0.8726321
|
| 194 |
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192,3.200000000,pose2-hold,-8.22527e-05,0.8835871,6.66849541667e-06,0.8726321
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| 195 |
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193,3.216666667,pose2-hold,-8.22527e-05,0.8835871,6.67895533333e-06,0.8726321
|
| 196 |
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194,3.233333333,pose2-hold,-8.22527e-05,0.8835871,6.68950194444e-06,0.8726321
|
| 197 |
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195,3.250000000,pose2-hold,-8.22527e-05,0.8835871,6.69972122222e-06,0.8726321
|
| 198 |
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196,3.266666667,pose2-hold,-8.22527e-05,0.8835871,6.70829725e-06,0.8726321
|
| 199 |
+
197,3.283333333,pose2-hold,-8.22527e-05,0.8835871,6.716176e-06,0.8726321
|
| 200 |
+
198,3.300000000,pose2-hold,-8.22527e-05,0.8835871,6.72371522222e-06,0.8726321
|
| 201 |
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199,3.316666667,pose2-hold,-8.22527e-05,0.8835871,6.73091633333e-06,0.8726321
|
| 202 |
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200,3.333333333,pose2-hold,-8.22527e-05,0.8835871,6.73720127778e-06,0.8726321
|
| 203 |
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201,3.350000000,pose2-hold,-8.22527e-05,0.8835871,6.74130455556e-06,0.872632177778
|
| 204 |
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202,3.366666667,pose2-hold,-8.22527e-05,0.8835871,6.74202008333e-06,0.8726322
|
| 205 |
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203,3.383333333,pose2-hold,-8.22527e-05,0.8835871,6.74645444444e-06,0.8726322
|
| 206 |
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204,3.400000000,pose2-hold,-8.22527e-05,0.8835871,6.75305711111e-06,0.8726322
|
| 207 |
+
205,3.416666667,pose2-hold,-8.22527e-05,0.8835871,6.749706e-06,0.8726322
|
Part2/Free/s1/cylinder_0010_15/width_03/insert/camera_frames_60hz.tar
ADDED
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size 46940160
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Part2/Free/s1/cylinder_0010_15/width_03/insert/fem_node.csv
ADDED
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version https://git-lfs.github.com/spec/v1
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size 38655751
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Part2/Free/s1/cylinder_0010_15/width_03/insert/franka_data.csv
ADDED
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The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s1/cylinder_0010_15/width_03/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,907 @@
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|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.31889e-05,0.8835847,5.570578e-06,0.8726298
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.29682032902e-05,0.8835849,5.78661017276e-06,0.87263
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.27462114499e-05,0.8835849,6.01098232693e-06,0.87263
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.25447247025e-05,0.8835849,6.21462952174e-06,0.87263
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.20566593906e-05,0.883584853194,6.70497265805e-06,0.872629976597
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.14700044809e-05,0.88358478063,7.29333608818e-06,0.872629940315
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.09414184644e-05,0.883584715248,7.82346151063e-06,0.872629907624
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.01645994262e-05,0.883584741487,8.59862764897e-06,0.872629920744
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.92660505577e-05,0.883584798528,9.49441033448e-06,0.872629949264
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.83648922645e-05,0.883584855734,1.03927944115e-05,0.872629977867
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.72231498574e-05,0.883584884499,1.15357398927e-05,0.872629984499
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.4416096058e-05,0.883584786594,1.43639509623e-05,0.872629886594
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.93080170307e-05,0.883584817896,1.95029599428e-05,0.87262994737
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-5.70498414605e-05,0.88358495999,3.18248576216e-05,0.87263015999
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-3.05544147739e-05,0.8835849,5.84616689296e-05,0.87263
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,1.87022632453e-05,0.8835849,0.000107958437228,0.872630094353
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,8.55942388715e-05,0.883585252637,0.000175220179098,0.872630489478
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000173926528007,0.88358566134,0.000264107979866,0.87263089201
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000278435532224,0.883586060777,0.000369268876333,0.872631273852
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000387859508659,0.883586490081,0.00047932278441,0.872631790081
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.00049912966452,0.88358709421,0.00059125533263,0.87263239421
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.00062313060011,0.883587623052,0.000716009674057,0.872632861526
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000748182680137,0.883588055199,0.000841815495223,0.872633326239
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000886263151177,0.883588612324,0.00098073850638,0.872633912324
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00103977896691,0.883589091175,0.00113517821155,0.872634391175
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.0011976576797,0.883589234175,0.00129400419658,0.872634625631
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00135953976836,0.883589567389,0.001456881017,0.872634883695
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00154024894996,0.883589525729,0.0016386849572,0.872634925729
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.0017170494795,0.883589920546,0.00181652218199,0.872635320546
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00189784439071,0.883590245305,0.00199840868958,0.872635645305
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00208602086269,0.883590046325,0.00218777668786,0.872635446325
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00226678728467,0.883589736256,0.00236965971314,0.872635136256
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.0024379454123,0.883589325612,0.0025418499831,0.872634725612
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.0026184263489,0.88358903353,0.00272344121821,0.87263443353
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00279066028143,0.883588800154,0.00289674340486,0.872634266769
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00296453520849,0.8835887,0.00307166687002,0.872634130986
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.0031450129614,0.883588777488,0.00325328608573,0.872634254977
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00331653739273,0.883588716485,0.00342584728611,0.872634132971
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00347589890072,0.883588956178,0.00358617115426,0.872634356178
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.003637097204,0.883589185467,0.00374837333385,0.872634585467
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00378282063691,0.883589010315,0.00389497838533,0.872634410315
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00391878176997,0.883589191123,0.00403178553117,0.872634686685
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00405244052134,0.883589296098,0.00416625656275,0.872634697399
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00417286706986,0.88358901372,0.00428747456755,0.872634509147
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.004279408793,0.883589305682,0.0043946495204,0.872634705682
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00438157510096,0.883589493419,0.00449745875458,0.872634886839
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00447063169402,0.883589413193,0.00458706959888,0.872634713193
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00454781430249,0.883589606708,0.00466474732931,0.872634910063
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00461966013131,0.883589784026,0.00473704098673,0.872635184026
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00468080629411,0.88358951502,0.004798461658,0.872634910013
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00473065204572,0.883589798154,0.00484850277211,0.872635098769
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00477530642098,0.883589504175,0.00489346213495,0.872634804175
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.0048115788987,0.883589693628,0.00492996253894,0.872634896814
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00484036858454,0.8835897,0.00495898220916,0.87263480724
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486477518338,0.883589890515,0.00498355097467,0.872635085772
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488285629424,0.883589707352,0.00500178185412,0.872634907352
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489537111106,0.883589791532,0.00501439364296,0.872635083064
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490454024261,0.88358970825,0.00502363271508,0.87263500825
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491036967284,0.8835897,0.00502954426023,0.872634907726
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491353515869,0.883589616874,0.00503275024021,0.872634733749
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491548719664,0.8835896,0.00503476480124,0.8726347
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.00491632091074,0.8835896,0.00503560134815,0.8726348
|
| 64 |
+
62,1.033333333,pose2-to-pose3-side,0.004916504,0.8835896,0.005035796,0.8726348
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916504,0.8835896,0.005035815,0.8726348
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916504,0.8835896,0.00503582694118,0.8726348
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916504,0.8835896,0.00503583535294,0.8726348
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916504,0.8835896,0.005035838,0.872634855882
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916504,0.8835896,0.00503584088235,0.8726349
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916504,0.8835896,0.00503584685294,0.872634926471
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916504,0.8835896,0.00503585211765,0.872635
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916504,0.8835896,0.00503585297059,0.872635
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916504,0.8835896,0.00503585135294,0.872634917647
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916504,0.8835896,0.00503584964706,0.8726349
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916504,0.8835896,0.00503584794118,0.872634952941
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916504,0.8835896,0.00503584547059,0.872635
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916504,0.8835896,0.00503584158824,0.872635
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916504,0.8835896,0.00503583514706,0.872635
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916504,0.8835896,0.00503581723529,0.872635
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916504,0.8835896,0.00503580885294,0.872635
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916504,0.8835896,0.00503580505882,0.872635
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916504,0.8835896,0.0050357975,0.872635
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916504,0.8835896,0.00503578747059,0.872635
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916504,0.8835896,0.00503577914706,0.872635
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916504,0.8835896,0.00503577152941,0.872635
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916504,0.8835896,0.00503576470588,0.872635
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916504,0.8835896,0.00503575558824,0.872635
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916504,0.8835896,0.00503574805882,0.872635
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916504,0.8835896,0.00503574029412,0.872635
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916504,0.8835896,0.00503573338235,0.872635
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916504,0.8835896,0.00503572770588,0.872635
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916504,0.8835896,0.00503571685294,0.872635
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916504,0.8835896,0.00503571258824,0.872635
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916504,0.8835896,0.00503570905882,0.872635
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916504,0.8835896,0.00503570505882,0.872634941176
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916504,0.8835896,0.00503569770588,0.8726349
|
| 97 |
+
95,1.583333333,pose3-hold,0.004916504,0.8835896,0.00503569217647,0.8726349
|
| 98 |
+
96,1.600000000,pose3-hold,0.004916504,0.8835896,0.00503569514706,0.8726349
|
| 99 |
+
97,1.616666667,pose3-hold,0.004916504,0.8835896,0.005035696,0.8726349
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.004916542,0.8835896,0.005035721,0.8726349
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491649402849,0.883589254675,0.00503567917239,0.87263462374
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491648746244,0.883588605676,0.00503567501169,0.872634005676
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491651632083,0.883588086225,0.00503570444725,0.872633486225
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491653864016,0.883587684477,0.00503572721296,0.872633084477
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491655384863,0.883587020392,0.00503574424667,0.872632420392
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491653833678,0.883586315308,0.00503573226024,0.872631715308
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491653002346,0.88358593743,0.00503572583631,0.87263133743
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491652133811,0.883585542641,0.0050357191249,0.872630942641
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491651580714,0.883585291234,0.00503571485097,0.872630691234
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491649863348,0.883584510613,0.00503570158042,0.872629910613
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109,1.816666667,pose3-to-pose4-insert,0.00491644838121,0.883580555174,0.00503566123262,0.872625887086
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110,1.833333333,pose3-to-pose4-insert,0.00491658102636,0.88356766624,0.0050357890482,0.87261296624
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111,1.850000000,pose3-to-pose4-insert,0.00491654660399,0.883538373376,0.00503575619869,0.872583773376
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112,1.866666667,pose3-to-pose4-insert,0.00491652578726,0.883492930164,0.00503577386921,0.872538246991
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113,1.883333333,pose3-to-pose4-insert,0.0049164799561,0.883430726533,0.00503570380136,0.872476073877
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114,1.900000000,pose3-to-pose4-insert,0.00491645587929,0.883355093204,0.00503564992959,0.872400493204
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115,1.916666667,pose3-to-pose4-insert,0.0049164497257,0.883256638896,0.00503563492572,0.872302038896
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116,1.933333333,pose3-to-pose4-insert,0.00491645484159,0.883151051777,0.00503559706032,0.872196451777
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117,1.950000000,pose3-to-pose4-insert,0.00491627965142,0.883034452696,0.00503540260778,0.872079852696
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118,1.966666667,pose3-to-pose4-insert,0.00491632067215,0.882905748542,0.00503546096905,0.871951148542
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119,1.983333333,pose3-to-pose4-insert,0.00491627280467,0.882769485979,0.0050353828111,0.871814817249
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120,2.000000000,pose3-to-pose4-insert,0.00491634453134,0.882639138138,0.00503546015832,0.871684512553
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121,2.016666667,pose3-to-pose4-insert,0.00491639616877,0.882490449998,0.00503549552379,0.871535849998
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122,2.033333333,pose3-to-pose4-insert,0.00491644747414,0.882337340457,0.00503553114427,0.871382645612
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123,2.050000000,pose3-to-pose4-insert,0.00491670053772,0.88217628744,0.00503580534245,0.871221584999
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124,2.066666667,pose3-to-pose4-insert,0.00491677174933,0.882001295475,0.00503587055992,0.871046495475
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125,2.083333333,pose3-to-pose4-insert,0.00491690444357,0.881820466787,0.00503602058285,0.870865666787
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126,2.100000000,pose3-to-pose4-insert,0.00491716865668,0.881649089823,0.00503630260872,0.870694263624
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127,2.116666667,pose3-to-pose4-insert,0.00491734663689,0.881461558559,0.00503647589446,0.870506658559
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128,2.133333333,pose3-to-pose4-insert,0.00491751495778,0.881277510677,0.00503665171039,0.870322610677
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129,2.150000000,pose3-to-pose4-insert,0.00491767054598,0.881094590629,0.00503683041423,0.870139690629
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130,2.166666667,pose3-to-pose4-insert,0.00491794709795,0.88090419824,0.00503711160797,0.86994929824
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131,2.183333333,pose3-to-pose4-insert,0.00491821844183,0.880714603881,0.0050373636526,0.869759590117
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132,2.200000000,pose3-to-pose4-insert,0.00491838994607,0.880541452459,0.00503753897063,0.869586408105
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133,2.216666667,pose3-to-pose4-insert,0.0049187446817,0.88035134776,0.00503789779693,0.869396282053
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134,2.233333333,pose3-to-pose4-insert,0.00491911330034,0.88016698574,0.00503828552984,0.869211810806
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135,2.250000000,pose3-to-pose4-insert,0.00491911974827,0.879989667104,0.00503842073021,0.869034467104
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136,2.266666667,pose3-to-pose4-insert,0.004919045758,0.879810251716,0.00503847278074,0.868855148881
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137,2.283333333,pose3-to-pose4-insert,0.00491882194911,0.879641693864,0.00503826465864,0.868686584035
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138,2.300000000,pose3-to-pose4-insert,0.00491863597553,0.879502672747,0.00503802370078,0.868547472747
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139,2.316666667,pose3-to-pose4-insert,0.00491859258821,0.879362259028,0.00503800997508,0.868407046584
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140,2.333333333,pose3-to-pose4-insert,0.00491840402883,0.879235047171,0.00503780062799,0.868279718926
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141,2.350000000,pose3-to-pose4-insert,0.00491805155436,0.879121545069,0.00503743542657,0.868166032587
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142,2.366666667,pose3-to-pose4-insert,0.00491780337297,0.879008521811,0.00503720264158,0.868052921811
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143,2.383333333,pose3-to-pose4-insert,0.00491777113243,0.878904141287,0.00503714394994,0.867948541287
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144,2.400000000,pose3-to-pose4-insert,0.00491757874996,0.87882091646,0.00503683345868,0.867865340429
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145,2.416666667,pose3-to-pose4-insert,0.00491736085992,0.878741080156,0.00503656557131,0.867785552168
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146,2.433333333,pose3-to-pose4-insert,0.00491699502587,0.87867262512,0.00503627490319,0.86771702512
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147,2.450000000,pose3-to-pose4-insert,0.00491701033214,0.878616317645,0.0050363431011,0.867660692013
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148,2.466666667,pose3-to-pose4-insert,0.00491693961018,0.878564099437,0.00503629307007,0.867608399437
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150,2.500000000,pose3-to-pose4-insert,0.00491675850652,0.878491081023,0.00503616522182,0.867535401426
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151,2.516666667,pose3-to-pose4-insert,0.00491682269234,0.878464806126,0.00503621195388,0.867509206126
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153,2.550000000,pose3-to-pose4-insert,0.00491664699442,0.878431091025,0.00503605308878,0.867475491025
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154,2.566666667,pose3-to-pose4-insert,0.00491647482686,0.878418638888,0.00503585966062,0.867463106803
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155,2.583333333,pose3-to-pose4-insert,0.0049164280083,0.878409159367,0.00503577298341,0.867453659367
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156,2.600000000,pose3-to-pose4-insert,0.00491650619643,0.878403467333,0.00503583180464,0.867447967333
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157,2.616666667,pose3-to-pose4-insert,0.00491658014632,0.878398830716,0.00503590970737,0.867443273642
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158,2.633333333,pose3-to-pose4-insert,0.00491645781602,0.878395848617,0.00503573601762,0.867440340361
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159,2.650000000,pose3-to-pose4-insert,0.004916634,0.8783949,0.005035921,0.8674394
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160,2.666666667,pose4-hold,0.004916634,0.8783949,0.005035906,0.8674394
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161,2.683333333,pose4-hold,0.004916634,0.8783949,0.00503589576471,0.8674394
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162,2.700000000,pose4-hold,0.004916634,0.8783949,0.00503588552941,0.867439329412
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164,2.733333333,pose4-hold,0.004916634,0.8783949,0.00503587376471,0.8674393
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166,2.766666667,pose4-hold,0.004916634,0.8783949,0.00503586423529,0.8674392
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167,2.783333333,pose4-hold,0.004916634,0.8783949,0.00503585144118,0.8674392
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168,2.800000000,pose4-hold,0.004916634,0.8783949,0.00503584935294,0.867439282353
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169,2.816666667,pose4-hold,0.004916634,0.8783949,0.00503585441176,0.8674393
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170,2.833333333,pose4-hold,0.004916634,0.8783949,0.00503585752941,0.8674393
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171,2.850000000,pose4-hold,0.004916634,0.8783949,0.00503585723529,0.867439261765
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174,2.900000000,pose4-hold,0.004916634,0.8783949,0.00503586352941,0.8674392
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177,2.950000000,pose4-hold,0.004916634,0.8783949,0.0050358825,0.8674392
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Part2/Free/s1/cylinder_0010_15/width_03/pick/camera_frames_60hz.tar
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Part2/Free/s1/cylinder_0010_15/width_03/pick/fem_node.csv
ADDED
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The diff for this file is too large to render.
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Part2/Free/s1/cylinder_0010_15/width_03/pick/franka_data.csv
ADDED
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aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
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| 188 |
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| 190 |
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| 191 |
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| 192 |
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196,3.266666667,pose2-hold,1.79306888773e+18,camera_frames_60hz/WAIT_POSE2/camera_00002106_1793068887727674581_interpolated.jpg,0.675879987453,-0.00536498518627,0.134503628233,0.999999914877,0.000118992062292,-0.000385741396711,-8.53877477971e-05,0.0460014715791
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| 200 |
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198,3.300000000,pose2-hold,1.79306888776e+18,camera_frames_60hz/WAIT_POSE2/camera_00002107_1793068887758352949_real.jpg,0.675880416408,-0.00536703871341,0.13450598761,0.999999915488,0.000115660940468,-0.000385239485409,-8.50680992774e-05,0.0460014715791
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| 204 |
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| 205 |
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203,3.383333333,pose2-hold,1.79306888785e+18,camera_frames_60hz/WAIT_POSE2/camera_00002111_1793068887858321592_real.jpg,0.675881548022,-0.00536866443203,0.134509984939,0.999999916849,0.000113918364359,-0.000382371525776,-8.43587877586e-05,0.0460014715791
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| 206 |
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204,3.400000000,pose2-hold,1.79306888786e+18,camera_frames_60hz/WAIT_POSE2/camera_00002111_1793068887858321592_real.jpg,0.675881094679,-0.00536773231019,0.134509514693,0.999999916624,0.000114466760735,-0.000382795042763,-8.43615409909e-05,0.0460014715791
|
Part2/Free/s1/cylinder_0010_15/width_03/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,6.6723e-06,0.8346294
|
| 3 |
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|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.2719740822e-05,0.84559006385,6.46202100638e-06,0.834630097888
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.26881729584e-05,0.845590672487,6.48694998933e-06,0.834630731547
|
| 6 |
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|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26867266395e-05,0.845592246247,6.51040094485e-06,0.834632346247
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26940678867e-05,0.845593300152,6.49988385271e-06,0.834633400152
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.26947673325e-05,0.845593387084,6.49827067218e-06,0.834633487084
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.27004077277e-05,0.845594088117,6.48526183521e-06,0.834634188117
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.2704692835e-05,0.845594620704,6.4753787935e-06,0.834634720704
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.26997725892e-05,0.845595077769,6.47838213643e-06,0.834635177769
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| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.26716602425e-05,0.845595775021,6.51049017534e-06,0.834635875021
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| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.2665200695e-05,0.845595935233,6.51786783774e-06,0.834636035233
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| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.26408978181e-05,0.845596538002,6.54562495553e-06,0.834636638002
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| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.26311252763e-05,0.845596780384,6.55678649804e-06,0.834636880384
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| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.26082739176e-05,0.845597347151,6.58288578895e-06,0.834637447151
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,-8.2629983874e-05,0.845599140168,6.56734555449e-06,0.834639217053
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,-8.27516734801e-05,0.845604039104,6.45187506169e-06,0.834644039104
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,-8.26113775647e-05,0.845612222841,6.58268732108e-06,0.834652277204
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| 21 |
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19,0.316666667,pose1-to-pose2-lift,-8.27887178137e-05,0.845625542831,6.42004565802e-06,0.834665548372
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| 22 |
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20,0.333333333,pose1-to-pose2-lift,-8.27307230416e-05,0.845652714064,6.46885512114e-06,0.834692814064
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| 23 |
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21,0.350000000,pose1-to-pose2-lift,-8.28256683041e-05,0.845688578246,6.39075147455e-06,0.834728675785
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,-8.2810398172e-05,0.845729538677,6.39692513458e-06,0.834769605487
|
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144,2.400000000,pose1-to-pose2-lift,-8.30390377218e-05,0.883091845864,5.78068922075e-06,0.872136517234
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153,2.550000000,pose1-to-pose2-lift,-8.32255355438e-05,0.883459659549,5.72806698732e-06,0.872504852415
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191,3.183333333,pose2-hold,-8.323152e-05,0.8835847,5.42667679412e-06,0.8726297
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192,3.200000000,pose2-hold,-8.323152e-05,0.8835847,5.44101494118e-06,0.8726297
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195,3.250000000,pose2-hold,-8.323152e-05,0.8835847,5.47677720588e-06,0.8726298
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196,3.266666667,pose2-hold,-8.323152e-05,0.8835847,5.48485164706e-06,0.8726298
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Part2/Free/s1/cylinder_0010_15/width_04/insert/camera_frames_60hz.tar
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.239633e-05,0.8835851,6.473572e-06,0.8726303
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.22043965453e-05,0.883585082268,6.66107899493e-06,0.872630282268
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.16345173773e-05,0.883585002033,7.22865974303e-06,0.872630202033
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.12096559594e-05,0.883585027437,7.66175926542e-06,0.872630227437
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.07092852917e-05,0.883585057356,8.17183216943e-06,0.872630257356
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.00050741782e-05,0.883585099464,8.88969800549e-06,0.872630299464
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.97417850096e-05,0.8835851,9.15376639602e-06,0.8726303
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.92397706966e-05,0.8835851,9.65697572452e-06,0.8726303
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.86650099266e-05,0.8835851,1.02331046787e-05,0.8726303
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.76380395073e-05,0.8835851,1.12625197407e-05,0.8726303
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.72306995874e-05,0.8835851,1.16708293092e-05,0.8726303
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.61313099336e-05,0.8835851,1.27740783481e-05,0.8726303
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-7.29427467117e-05,0.8835851,1.5980875601e-05,0.8726303
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-6.12707851049e-05,0.88358500575,2.77217187939e-05,0.872630111501
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-3.91768451794e-05,0.883585215689,4.99216223745e-05,0.872630357844
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,3.13854957015e-06,0.883585338873,9.24365411004e-05,0.8726305
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,6.68451185978e-05,0.883585680915,0.000156519230792,0.8726308
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000146827263932,0.883585931628,0.000237035086432,0.872631048721
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000239201486806,0.883586121907,0.000329916735085,0.87263139143
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000344227644005,0.883586469512,0.000435558259312,0.872631669512
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000453237675416,0.883586971432,0.000545219496385,0.872632265719
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000568940542366,0.883587376648,0.000661645248555,0.872632676648
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000695888607591,0.883588051893,0.000789366208259,0.872633351893
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000825613689177,0.883588267813,0.000919864090189,0.872633567813
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.000960460048142,0.883588515149,0.0010555214801,0.872633815149
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00110716809326,0.8835887,0.00120311194676,0.872634044971
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00126347972895,0.883588857225,0.00136037160159,0.872634204816
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00143322394426,0.883589,0.00153115442629,0.872634363591
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00162289490619,0.883588834454,0.0017219855334,0.872634317227
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00182116226252,0.883588790581,0.00192143498664,0.872634193721
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.0020198281751,0.883588561429,0.00212137611795,0.872634040952
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00221521716379,0.883588595657,0.00231791510423,0.872633995657
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00240334376195,0.8835882,0.00250718802345,0.8726336
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00258303862426,0.8835882,0.00268799701563,0.872633646317
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00275989112354,0.883588101986,0.00286592615199,0.872633601986
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00292942273787,0.883587902895,0.00303646934217,0.872633354343
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00309524229866,0.883587943217,0.00320333579046,0.872633390956
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00325788484579,0.883588479025,0.00336699067438,0.872633979025
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00341801741776,0.883588851464,0.00352806640259,0.872634302929
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00357399359441,0.883589054732,0.00368500871773,0.872634505678
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00373145722658,0.883589418509,0.00384344059615,0.872634859255
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00387813760959,0.883589830041,0.00399102465999,0.87263529605
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.0040132612114,0.883589858467,0.00412699372882,0.8726352877
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00413608575304,0.883589726852,0.00425056856799,0.872635126852
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00424867373283,0.883589550411,0.00436387353953,0.872634950411
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.004348023002,0.883589717481,0.00446384438722,0.872635044987
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00444253120631,0.8835898,0.00455894910094,0.872635175069
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00452574780319,0.883589875995,0.00464267561809,0.8726352
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00459863758519,0.8835899,0.00471603060964,0.8726352
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00466044072642,0.883589755971,0.00477816537098,0.872635055971
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00471418773627,0.88358963127,0.00483215237912,0.87263493127
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00475872423544,0.883589725097,0.00487693374528,0.872635025097
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00480032026739,0.88359000138,0.00491877926085,0.872635234253
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00483433295751,0.883589952048,0.0049530353221,0.872635078071
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486105769574,0.883589655502,0.00497996983957,0.872634837001
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488018536663,0.883589767918,0.00499923211768,0.872634967918
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489369740507,0.883589638241,0.00501285803437,0.87263491912
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490157854018,0.883589721386,0.00502081434299,0.872635021386
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00490761743198,0.88358984406,0.00502691342709,0.8726351
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491158764111,0.883589832551,0.0050309292316,0.872635032551
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491430367647,0.8835896,0.00503369617737,0.8726348
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+
61,1.016666667,pose2-to-pose3-side,0.00491587432825,0.88358950945,0.00503530585577,0.87263470945
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62,1.033333333,pose2-to-pose3-side,0.004916457,0.8835895,0.005035884,0.8726348
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+
63,1.050000000,pose3-hold,0.004916457,0.8835895,0.005035901,0.8726348
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64,1.066666667,pose3-hold,0.004916457,0.8835895,0.00503591379412,0.8726348
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+
65,1.083333333,pose3-hold,0.004916457,0.8835895,0.00503592094118,0.8726348
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+
66,1.100000000,pose3-hold,0.004916457,0.8835895,0.00503592579412,0.8726348
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67,1.116666667,pose3-hold,0.004916457,0.8835895,0.00503592923529,0.872634841176
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+
68,1.133333333,pose3-hold,0.004916457,0.8835895,0.00503593205882,0.8726349
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69,1.150000000,pose3-hold,0.004916457,0.8835895,0.00503593535294,0.8726349
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70,1.166666667,pose3-hold,0.004916457,0.8835895,0.00503593791176,0.8726349
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+
71,1.183333333,pose3-hold,0.004916457,0.8835895,0.005035938,0.8726349
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72,1.200000000,pose3-hold,0.004916457,0.8835895,0.00503594002941,0.8726349
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73,1.216666667,pose3-hold,0.004916457,0.8835895,0.00503593676471,0.8726349
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74,1.233333333,pose3-hold,0.004916457,0.8835895,0.00503593223529,0.8726349
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75,1.250000000,pose3-hold,0.004916457,0.8835895,0.00503592958824,0.8726349
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76,1.266666667,pose3-hold,0.004916457,0.8835895,0.00503592314706,0.8726349
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77,1.283333333,pose3-hold,0.004916457,0.8835895,0.00503590523529,0.8726349
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+
78,1.300000000,pose3-hold,0.004916457,0.8835895,0.00503590479412,0.8726349
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79,1.316666667,pose3-hold,0.004916457,0.8835895,0.00503589594118,0.8726349
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80,1.333333333,pose3-hold,0.004916457,0.8835895,0.005035889,0.87263495
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81,1.350000000,pose3-hold,0.004916457,0.8835895,0.00503588417647,0.872635
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82,1.366666667,pose3-hold,0.004916457,0.8835895,0.00503587673529,0.872635
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83,1.383333333,pose3-hold,0.004916457,0.8835895,0.00503586735294,0.872635
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84,1.400000000,pose3-hold,0.004916457,0.8835895,0.00503585797059,0.872635
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85,1.416666667,pose3-hold,0.004916457,0.8835895,0.00503584858824,0.872635
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86,1.433333333,pose3-hold,0.004916457,0.8835895,0.00503583920588,0.872635
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87,1.450000000,pose3-hold,0.004916457,0.8835895,0.00503583123529,0.872635
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88,1.466666667,pose3-hold,0.004916457,0.8835895,0.00503582408824,0.872635
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89,1.483333333,pose3-hold,0.004916457,0.8835895,0.00503581658824,0.872635
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90,1.500000000,pose3-hold,0.004916457,0.8835895,0.00503580994118,0.872634997059
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91,1.516666667,pose3-hold,0.004916457,0.8835895,0.00503580823529,0.872634911765
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92,1.533333333,pose3-hold,0.004916457,0.8835895,0.00503580064706,0.8726349
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93,1.550000000,pose3-hold,0.004916457,0.8835895,0.00503579623529,0.8726349
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94,1.566666667,pose3-hold,0.004916457,0.8835895,0.00503579852941,0.8726349
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95,1.583333333,pose3-hold,0.004916457,0.8835895,0.00503580094118,0.8726349
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96,1.600000000,pose3-hold,0.004916457,0.8835895,0.00503579526471,0.8726349
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97,1.616666667,pose3-hold,0.004916457,0.8835895,0.005035791,0.8726349
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98,1.633333333,pose3-to-pose4-insert,0.004916457,0.8835895,0.005035791,0.8726349
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99,1.650000000,pose3-to-pose4-insert,0.00491626942127,0.883589297585,0.00503559967441,0.872634697585
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100,1.666666667,pose3-to-pose4-insert,0.00491624360723,0.883588948746,0.00503558153481,0.872634348746
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101,1.683333333,pose3-to-pose4-insert,0.00491628124236,0.883588527064,0.00503561344176,0.872633927064
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102,1.700000000,pose3-to-pose4-insert,0.00491631818164,0.883588193038,0.00503564428998,0.872633593038
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103,1.716666667,pose3-to-pose4-insert,0.00491638738851,0.883587567232,0.00503570208508,0.872632967232
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104,1.733333333,pose3-to-pose4-insert,0.00491642048911,0.883586983585,0.00503573033501,0.872632383585
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105,1.750000000,pose3-to-pose4-insert,0.00491640480422,0.883586531647,0.00503571850488,0.872631931647
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106,1.766666667,pose3-to-pose4-insert,0.00491637509551,0.883585675633,0.00503569609746,0.872631075633
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107,1.783333333,pose3-to-pose4-insert,0.00491636671919,0.883585434282,0.00503568977973,0.872630834282
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108,1.800000000,pose3-to-pose4-insert,0.00491633425906,0.88358449899,0.00503566529708,0.87262989899
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109,1.816666667,pose3-to-pose4-insert,0.00491648086811,0.883578238502,0.00503581917217,0.872623538502
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110,1.833333333,pose3-to-pose4-insert,0.00491625034779,0.883564722451,0.00503560037027,0.872610062901
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111,1.850000000,pose3-to-pose4-insert,0.00491622340274,0.883539140164,0.00503558749294,0.872584443468
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112,1.866666667,pose3-to-pose4-insert,0.00491618679879,0.883498821274,0.0050355730265,0.872544160197
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113,1.883333333,pose3-to-pose4-insert,0.0049160448398,0.883438648589,0.00503539454137,0.872484019932
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114,1.900000000,pose3-to-pose4-insert,0.00491600724316,0.883361406613,0.00503531382877,0.87240679422
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115,1.916666667,pose3-to-pose4-insert,0.00491602881772,0.883263077148,0.00503535949572,0.872308421214
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116,1.933333333,pose3-to-pose4-insert,0.00491568239663,0.88314862031,0.0050349651211,0.87219392587
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117,1.950000000,pose3-to-pose4-insert,0.0049155464686,0.883027681425,0.00503480749056,0.872073081425
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118,1.966666667,pose3-to-pose4-insert,0.0049152683583,0.882901881651,0.00503451264103,0.871947230706
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119,1.983333333,pose3-to-pose4-insert,0.00491521878355,0.882768027465,0.00503445662806,0.871813327465
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120,2.000000000,pose3-to-pose4-insert,0.00491557831654,0.882629846432,0.00503481912664,0.871675146432
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121,2.016666667,pose3-to-pose4-insert,0.00491576015477,0.882481570661,0.00503498916455,0.871526962894
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122,2.033333333,pose3-to-pose4-insert,0.00491613555765,0.882319188992,0.00503535490467,0.871364488992
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123,2.050000000,pose3-to-pose4-insert,0.00491660243524,0.882151969427,0.00503580229549,0.871197269427
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124,2.066666667,pose3-to-pose4-insert,0.00491709909051,0.8819814105,0.00503631877322,0.8710267105
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125,2.083333333,pose3-to-pose4-insert,0.00491737315649,0.881805242035,0.00503658150697,0.870850509045
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126,2.100000000,pose3-to-pose4-insert,0.0049177270687,0.881628003403,0.00503694301279,0.870673203403
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127,2.116666667,pose3-to-pose4-insert,0.00491815258201,0.88144760823,0.00503738237527,0.870492766163
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128,2.133333333,pose3-to-pose4-insert,0.00491859476311,0.881259242251,0.00503781482155,0.870304342251
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129,2.150000000,pose3-to-pose4-insert,0.00491906111339,0.881073761926,0.00503825667493,0.870118808141
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130,2.166666667,pose3-to-pose4-insert,0.00491893029539,0.880891504163,0.00503812743873,0.869936504163
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131,2.183333333,pose3-to-pose4-insert,0.00491861978707,0.880709199211,0.00503784897056,0.869754199211
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132,2.200000000,pose3-to-pose4-insert,0.00491845751335,0.880528089937,0.00503769976317,0.869573027445
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133,2.216666667,pose3-to-pose4-insert,0.00491808739129,0.880344560146,0.00503733107917,0.869389460146
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134,2.233333333,pose3-to-pose4-insert,0.00491765102394,0.880153289726,0.00503703141955,0.869198189726
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135,2.250000000,pose3-to-pose4-insert,0.00491771445085,0.879968063283,0.00503723273617,0.869012963283
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136,2.266666667,pose3-to-pose4-insert,0.00491735255959,0.879792709005,0.00503685197484,0.8688376007
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137,2.283333333,pose3-to-pose4-insert,0.00491716527605,0.879629048668,0.00503666739175,0.868673829825
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138,2.300000000,pose3-to-pose4-insert,0.00491721330014,0.879479053147,0.00503671164461,0.868523778703
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139,2.316666667,pose3-to-pose4-insert,0.0049172830504,0.879343425411,0.00503679235772,0.868388225411
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140,2.333333333,pose3-to-pose4-insert,0.00491723437318,0.879212700757,0.00503667271627,0.868257432391
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141,2.350000000,pose3-to-pose4-insert,0.0049171933302,0.87909328844,0.00503648201438,0.86813788844
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142,2.366666667,pose3-to-pose4-insert,0.0049173587044,0.87898447515,0.00503664070203,0.868029032296
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143,2.383333333,pose3-to-pose4-insert,0.00491749955444,0.878887823844,0.00503686253329,0.867932278866
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144,2.400000000,pose3-to-pose4-insert,0.00491752242014,0.87880158904,0.00503694553664,0.86784598904
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145,2.416666667,pose3-to-pose4-insert,0.00491760890278,0.878727984433,0.00503702694419,0.867772384433
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146,2.433333333,pose3-to-pose4-insert,0.0049177856298,0.878660743916,0.00503720545167,0.867705143916
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147,2.450000000,pose3-to-pose4-insert,0.00491790032326,0.878602860959,0.00503733564371,0.867647260959
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148,2.466666667,pose3-to-pose4-insert,0.00491783706287,0.878553988007,0.00503727778287,0.867598388007
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149,2.483333333,pose3-to-pose4-insert,0.00491796392219,0.878515379402,0.00503742082759,0.867559697645
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150,2.500000000,pose3-to-pose4-insert,0.00491817314186,0.878483492489,0.00503765629433,0.867527727311
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151,2.516666667,pose3-to-pose4-insert,0.00491811191504,0.878459125718,0.00503763379564,0.867503425718
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152,2.533333333,pose3-to-pose4-insert,0.00491811427412,0.878438947855,0.0050376443924,0.867483274736
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153,2.550000000,pose3-to-pose4-insert,0.00491831921556,0.878422988942,0.00503783684123,0.867467488942
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154,2.566666667,pose3-to-pose4-insert,0.00491808956868,0.878410384464,0.00503760112347,0.867454879518
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155,2.583333333,pose3-to-pose4-insert,0.00491822803322,0.878401968363,0.00503773080605,0.867446375935
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156,2.600000000,pose3-to-pose4-insert,0.00491815218478,0.878395584705,0.00503764496817,0.867440051902
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157,2.616666667,pose3-to-pose4-insert,0.00491813760628,0.878392326016,0.00503757038561,0.867436726016
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158,2.633333333,pose3-to-pose4-insert,0.004918196,0.8783908,0.005037619,0.8674354
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159,2.650000000,pose4-hold,0.004918196,0.8783908,0.0050376,0.8674354
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160,2.666666667,pose4-hold,0.004918196,0.8783908,0.00503758720588,0.8674354
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161,2.683333333,pose4-hold,0.004918196,0.8783908,0.00503758005882,0.867435329412
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162,2.700000000,pose4-hold,0.004918196,0.8783908,0.00503757352941,0.8674353
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163,2.716666667,pose4-hold,0.004918196,0.8783908,0.00503756547059,0.8674353
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164,2.733333333,pose4-hold,0.004918196,0.8783908,0.00503755741176,0.8674353
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165,2.750000000,pose4-hold,0.004918196,0.8783908,0.00503755241176,0.8674353
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166,2.766666667,pose4-hold,0.004918196,0.8783908,0.00503754814706,0.8674353
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167,2.783333333,pose4-hold,0.004918196,0.8783908,0.005037534,0.8674353
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168,2.800000000,pose4-hold,0.004918196,0.8783908,0.00503753302941,0.8674353
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169,2.816666667,pose4-hold,0.004918196,0.8783908,0.00503753717647,0.8674353
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170,2.833333333,pose4-hold,0.004918196,0.8783908,0.00503753923529,0.8674353
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171,2.850000000,pose4-hold,0.004918196,0.8783908,0.005037538,0.8674353
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172,2.866666667,pose4-hold,0.004918196,0.8783908,0.005037538,0.867435291176
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173,2.883333333,pose4-hold,0.004918196,0.8783908,0.005037538,0.867435205882
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174,2.900000000,pose4-hold,0.004918196,0.8783908,0.00503754355882,0.8674352
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175,2.916666667,pose4-hold,0.004918196,0.8783908,0.00503754629412,0.8674352
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176,2.933333333,pose4-hold,0.004918196,0.8783908,0.0050375545,0.8674352
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177,2.950000000,pose4-hold,0.004918196,0.8783908,0.005037562,0.867435235294
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178,2.966666667,pose4-hold,0.004918196,0.8783908,0.00503756385294,0.8674353
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179,2.983333333,pose4-hold,0.004918196,0.8783908,0.00503757170588,0.867435294118
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180,3.000000000,pose4-hold,0.004918196,0.8783908,0.00503758194118,0.867435208824
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181,3.016666667,pose4-hold,0.004918196,0.8783908,0.00503758376471,0.8674352
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182,3.033333333,pose4-hold,0.004918196,0.8783908,0.00503759326471,0.8674352
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183,3.050000000,pose4-hold,0.004918196,0.8783908,0.00503759947059,0.8674352
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184,3.066666667,pose4-hold,0.004918196,0.8783908,0.00503760097059,0.8674352
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185,3.083333333,pose4-hold,0.004918196,0.8783908,0.00503760547059,0.8674352
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186,3.100000000,pose4-hold,0.004918196,0.8783908,0.00503761717647,0.8674352
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187,3.116666667,pose4-hold,0.004918196,0.8783908,0.00503762229412,0.8674352
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188,3.133333333,pose4-hold,0.004918196,0.8783908,0.00503762594118,0.8674352
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189,3.150000000,pose4-hold,0.004918196,0.8783908,0.00503762994118,0.8674352
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190,3.166666667,pose4-hold,0.004918196,0.8783908,0.00503763552941,0.867435244118
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191,3.183333333,pose4-hold,0.004918196,0.8783908,0.00503764176471,0.8674353
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192,3.200000000,pose4-hold,0.004918196,0.8783908,0.00503764585294,0.8674353
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193,3.216666667,pose4-hold,0.004918196,0.8783908,0.005037645,0.8674353
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194,3.233333333,pose4-to-pose5-return,0.004918196,0.8783908,0.005037662,0.8674352
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195,3.250000000,pose4-to-pose5-return,0.0049174260801,0.87839192859,0.00503688707657,0.86743632859
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196,3.266666667,pose4-to-pose5-return,0.00491640115473,0.878392710755,0.00503583876082,0.867437110755
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197,3.283333333,pose4-to-pose5-return,0.00491561890791,0.878393758832,0.00503507128236,0.867438158832
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198,3.300000000,pose4-to-pose5-return,0.00491533188739,0.878394143391,0.00503478968062,0.867438543391
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199,3.316666667,pose4-to-pose5-return,0.00491491169617,0.878394585393,0.00503436953112,0.867438975552
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200,3.333333333,pose4-to-pose5-return,0.00491464458673,0.878394836729,0.00503410051499,0.867439218221
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Part2/Free/s1/cylinder_0010_15/width_04/pick/simulation_data.csv
ADDED
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,6.498057e-06,0.8346294
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,-8.2757120803e-05,0.845589843352,6.25567606886e-06,0.834629932514
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.26914659364e-05,0.845590489162,6.31304552701e-06,0.834630489162
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26828658255e-05,0.845591161749,6.31635363834e-06,0.834631172532
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,-8.26840241665e-05,0.845591487125,6.3211264804e-06,0.8346315196
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,-8.26850872074e-05,0.845591785732,6.32550664673e-06,0.834631838115
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.26867114575e-05,0.845592241982,6.33219922661e-06,0.834632324781
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.26881282998e-05,0.845592561933,6.33493184167e-06,0.834632661933
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.26918628323e-05,0.84559302609,6.32704638876e-06,0.83463312609
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.2695173877e-05,0.845593437613,6.3200551292e-06,0.834633537613
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.26958405595e-05,0.845593520473,6.31864743115e-06,0.834633620473
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.26985110843e-05,0.845593852387,6.31300862722e-06,0.834633952387
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.26991585894e-05,0.845593932865,6.31164142237e-06,0.834634032865
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.27054707317e-05,0.845594717388,6.29831335512e-06,0.834634817388
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.26931575037e-05,0.845595241838,6.31053999452e-06,0.834635341838
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.26350737582e-05,0.845596682452,6.37514116669e-06,0.834636782452
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.26312397408e-05,0.845599165259,6.38780852656e-06,0.834639241586
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.27107749448e-05,0.845605182263,6.31787818331e-06,0.834645182263
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.26345087667e-05,0.845616423961,6.37636151093e-06,0.834656523961
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.26317483507e-05,0.845637474051,6.39227535486e-06,0.834677474051
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.25643018314e-05,0.845668195693,6.45256095536e-06,0.834708295693
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.27599032959e-05,0.845707865376,6.27615252538e-06,0.834747880842
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.29382192231e-05,0.845753246354,6.10804914829e-06,0.834793293316
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.30734825997e-05,0.845805607299,6.0074950926e-06,0.834845706784
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.3104162831e-05,0.845861128395,5.9636877562e-06,0.834901128395
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.33110830017e-05,0.845918113711,5.76240682779e-06,0.834958113711
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.33873071646e-05,0.845979559697,5.68509116212e-06,0.835019559697
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.33755046707e-05,0.846051742432,5.69940897903e-06,0.835091742432
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.3604374235e-05,0.846132714261,5.46696901501e-06,0.835172714261
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.37071663704e-05,0.846224384768,5.41021029296e-06,0.835264384768
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.39292663397e-05,0.846326973821,5.21054690417e-06,0.835366973821
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.39804214684e-05,0.846434648793,5.1495310506e-06,0.835474648793
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.41531881084e-05,0.846543981712,4.96672385026e-06,0.83558405633
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.39337745081e-05,0.846663246187,5.19390508913e-06,0.835703346187
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.33952743684e-05,0.846789709198,5.72231783771e-06,0.835829809198
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.3136177779e-05,0.846924289248,5.99527391226e-06,0.835964195378
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.27154265969e-05,0.847068112216,6.41828417651e-06,0.836108212216
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.22514914875e-05,0.847216628288,6.87942693159e-06,0.836256717539
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.17688239354e-05,0.847366813784,7.35625529958e-06,0.836406717067
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.16329024824e-05,0.847526885196,7.5251714975e-06,0.836566885196
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.17247500382e-05,0.847698943241,7.39961907516e-06,0.836738943241
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.18073458463e-05,0.847889335135,7.30926713383e-06,0.836929335135
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.20782651263e-05,0.848098705453,7.03154438856e-06,0.837138705453
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.23459978065e-05,0.848312622473,6.75226004407e-06,0.837352622473
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.24471619679e-05,0.848545342849,6.64436179515e-06,0.837585374948
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.21755121393e-05,0.848783361122,6.90623378063e-06,0.837823461122
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.17701189633e-05,0.84901703438,7.30197659349e-06,0.83805713438
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.12208912228e-05,0.849270754051,7.8364294576e-06,0.83831080856
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,-8.11832324562e-05,0.84955011724,7.85775043766e-06,0.838590173687
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.18485172277e-05,0.849819824753,7.20183363812e-06,0.838859865374
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,-8.27175953541e-05,0.850095842267,6.33359468127e-06,0.839135903167
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,-8.35781404998e-05,0.850395678928,5.45765015682e-06,0.839435778928
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,-8.34499215944e-05,0.850702511604,5.57004308454e-06,0.839742611604
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.29961624559e-05,0.851023620397,5.99257901989e-06,0.840063798952
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,-8.23041475613e-05,0.851365713572,6.62599115326e-06,0.840405913572
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,-8.24105191176e-05,0.851710252091,6.53375350719e-06,0.840750452091
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,-8.23090158349e-05,0.852048646789,6.58037046478e-06,0.841088943736
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,-8.26200169999e-05,0.852395132184,6.26486752013e-06,0.841435432184
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,-8.15908877994e-05,0.852744070181,7.27460774721e-06,0.841784370181
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,-8.03984007976e-05,0.853109103809,8.47861616511e-06,0.842149403809
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,-7.97415322724e-05,0.85349956643,9.09899843578e-06,0.84253986643
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,-8.01489089486e-05,0.853895808661,8.68065829351e-06,0.842936108661
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,-8.06879583311e-05,0.854285616296,8.13745149165e-06,0.843325916296
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,-8.12407082304e-05,0.854679233269,7.59688695173e-06,0.843719547592
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,-8.19251015892e-05,0.855070736056,6.89730860387e-06,0.844111136056
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,-8.25485618802e-05,0.855476674696,6.27274349883e-06,0.844517086889
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,-8.32050450192e-05,0.855904088943,5.60803572528e-06,0.844944604738
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,-8.37525253186e-05,0.856329622474,5.03828320062e-06,0.845370222474
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,-8.36152482161e-05,0.856784927418,5.18187931468e-06,0.845825527418
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,-8.35154544983e-05,0.85724291035,5.27516854613e-06,0.846283540005
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,-8.32628071059e-05,0.857689388014,5.52199884478e-06,0.846730088014
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,-8.29783974754e-05,0.858156284667,5.82218839194e-06,0.847197020462
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,-8.32953302535e-05,0.858652944307,5.47211171558e-06,0.847693744307
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,-8.35120329645e-05,0.859110235763,5.20237609406e-06,0.848151082123
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,-8.29389972446e-05,0.859560244984,5.75939069798e-06,0.848601144984
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,-8.16279621317e-05,0.860024759034,7.07562148511e-06,0.84906570336
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,-8.09846677204e-05,0.860478758745,7.69587161783e-06,0.849519800291
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,-8.11605593394e-05,0.860936170263,7.47277590827e-06,0.849977231366
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,-8.18098945731e-05,0.861416397225,6.78420073143e-06,0.850457437566
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,-8.30895434265e-05,0.861894034507,5.47559615668e-06,0.850935215718
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,-8.36081654617e-05,0.862362081458,4.92976192074e-06,0.851403343091
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,-8.33043770642e-05,0.862831413934,5.21031501318e-06,0.851872650028
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,-8.31651512712e-05,0.863297074176,5.32603387938e-06,0.852338407129
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,-8.32793900103e-05,0.863774277607,5.17778231635e-06,0.852815709861
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,-8.29056863019e-05,0.864276137711,5.51393114484e-06,0.853317637711
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,-8.13654763402e-05,0.864775248208,7.06519588535e-06,0.853816748208
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,-8.10255192728e-05,0.865264883759,7.41936041948e-06,0.85430646495
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,-8.2280144822e-05,0.865759529778,6.14367040639e-06,0.854801229778
|
| 90 |
+
88,1.466666667,pose1-to-pose2-lift,-8.30310203384e-05,0.866251259524,5.37456179731e-06,0.855293004551
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,-8.32192368116e-05,0.866748946499,5.14271583457e-06,0.855790795463
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,-8.28713046684e-05,0.867264823369,5.50234156442e-06,0.856306780307
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,-8.24207304053e-05,0.867763971168,6.00954782031e-06,0.856806032972
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,-8.28486022362e-05,0.868270441833,5.59018265671e-06,0.85731261045
|
| 95 |
+
93,1.550000000,pose1-to-pose2-lift,-8.39428648061e-05,0.868752657947,4.46577423359e-06,0.857794928887
|
| 96 |
+
94,1.566666667,pose1-to-pose2-lift,-8.39425819042e-05,0.869201278964,4.43376876795e-06,0.858243511872
|
| 97 |
+
95,1.583333333,pose1-to-pose2-lift,-8.32423362949e-05,0.869651646186,5.12591898093e-06,0.858693975271
|
| 98 |
+
96,1.600000000,pose1-to-pose2-lift,-8.28796926737e-05,0.870122871151,5.4781563682e-06,0.859165271151
|
| 99 |
+
97,1.616666667,pose1-to-pose2-lift,-8.315533182e-05,0.870557743306,5.21715186057e-06,0.85960020645
|
| 100 |
+
98,1.633333333,pose1-to-pose2-lift,-8.3241956037e-05,0.870993974043,5.13311177452e-06,0.860036534203
|
| 101 |
+
99,1.650000000,pose1-to-pose2-lift,-8.31913803472e-05,0.871450019026,5.20795596467e-06,0.86049268166
|
| 102 |
+
100,1.666666667,pose1-to-pose2-lift,-8.27853559977e-05,0.871900695673,5.6383530539e-06,0.860943395673
|
| 103 |
+
101,1.683333333,pose1-to-pose2-lift,-8.1794708218e-05,0.87235439186,6.6356439112e-06,0.861397161511
|
| 104 |
+
102,1.700000000,pose1-to-pose2-lift,-8.09136931447e-05,0.872823116935,7.5422159697e-06,0.861865996151
|
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.17945e-05,0.883586,9.241197e-06,0.8726311
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.15849107332e-05,0.883585923211,9.43451870664e-06,0.872631023211
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.13848043222e-05,0.883585998492,9.64167737902e-06,0.872631098492
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.09037273288e-05,0.8835861,1.01313900117e-05,0.872631212697
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.02307765212e-05,0.8835861,1.08015577545e-05,0.872631253142
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.93304454069e-05,0.883586089196,1.16989390136e-05,0.872631285595
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.86815617105e-05,0.883586031111,1.23492980617e-05,0.872631208148
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.82777583032e-05,0.883585994965,1.27540195874e-05,0.872631159953
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.82049660891e-05,0.883585988449,1.28269773075e-05,0.872631151265
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.8060679811e-05,0.883585975533,1.29715916459e-05,0.872631134044
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.77241397755e-05,0.883585945408,1.33088968646e-05,0.872631093877
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.58675621505e-05,0.883585804127,1.51716978911e-05,0.872630904127
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-7.14078941728e-05,0.883585883391,1.96799628636e-05,0.872630983391
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-5.82356796199e-05,0.883586171989,3.29288720729e-05,0.872631271989
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-3.38188678843e-05,0.883586355991,5.74547199567e-05,0.872631455991
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,6.62141582142e-06,0.883586451002,9.81120222939e-05,0.872631551002
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,7.17775533734e-05,0.883586629111,0.000163630230042,0.872631758221
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000152170338898,0.883586792033,0.000244496414592,0.872631992033
|
| 20 |
+
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78,1.300000000,pose3-hold,0.004916439,0.8835899,0.00503804405882,0.8726354
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81,1.350000000,pose3-hold,0.004916439,0.8835899,0.00503801573529,0.8726354
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82,1.366666667,pose3-hold,0.004916439,0.8835899,0.00503800641176,0.8726354
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83,1.383333333,pose3-hold,0.004916439,0.8835899,0.00503799788235,0.8726354
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84,1.400000000,pose3-hold,0.004916439,0.8835899,0.00503799011765,0.8726354
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88,1.466666667,pose3-hold,0.004916439,0.8835899,0.00503796023529,0.8726354
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89,1.483333333,pose3-hold,0.004916439,0.8835899,0.00503795194118,0.872635397059
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90,1.500000000,pose3-hold,0.004916439,0.8835899,0.00503795023529,0.872635311765
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93,1.550000000,pose3-hold,0.004916439,0.8835899,0.00503793723529,0.8726353
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96,1.600000000,pose3-hold,0.004916439,0.8835899,0.005037934,0.8726353
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97,1.616666667,pose3-to-pose4-insert,0.004916253,0.8835898,0.005037754,0.8726352
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98,1.633333333,pose3-to-pose4-insert,0.00491636744073,0.883589409015,0.00503787471118,0.872634813523
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100,1.666666667,pose3-to-pose4-insert,0.0049162834465,0.883587900416,0.00503778291758,0.872633276862
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101,1.683333333,pose3-to-pose4-insert,0.00491624980552,0.883587461105,0.00503774892707,0.872632861105
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102,1.700000000,pose3-to-pose4-insert,0.00491624543926,0.883586587852,0.00503774728972,0.872631987852
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103,1.716666667,pose3-to-pose4-insert,0.00491624405895,0.883586311789,0.0050377467721,0.872631711789
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104,1.733333333,pose3-to-pose4-insert,0.00491624198504,0.883585897008,0.00503774599439,0.872631297008
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105,1.750000000,pose3-to-pose4-insert,0.00491624011116,0.883585522231,0.00503774529168,0.872630922231
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106,1.766666667,pose3-to-pose4-insert,0.00491623914844,0.883585329688,0.00503774493067,0.872630729688
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107,1.783333333,pose3-to-pose4-insert,0.0049162363251,0.883584765019,0.00503774387191,0.872630165019
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108,1.800000000,pose3-to-pose4-insert,0.00491628747905,0.883582199037,0.00503779724303,0.872627599037
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109,1.816666667,pose3-to-pose4-insert,0.00491615882756,0.883568436356,0.00503765149302,0.872613836356
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110,1.833333333,pose3-to-pose4-insert,0.00491617103251,0.883542879781,0.00503766382673,0.872588279781
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111,1.850000000,pose3-to-pose4-insert,0.00491630458768,0.883505996715,0.0050378244846,0.872551396715
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112,1.866666667,pose3-to-pose4-insert,0.00491641266647,0.883447931136,0.00503794658189,0.872493331136
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113,1.883333333,pose3-to-pose4-insert,0.00491649694405,0.88336949091,0.00503798669091,0.87241489091
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114,1.900000000,pose3-to-pose4-insert,0.00491652251432,0.883281941594,0.0050380203153,0.872327341594
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115,1.916666667,pose3-to-pose4-insert,0.0049166217361,0.883185248424,0.00503808503796,0.872230648424
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116,1.933333333,pose3-to-pose4-insert,0.00491649828052,0.88307264403,0.0050379323074,0.87211804403
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117,1.950000000,pose3-to-pose4-insert,0.00491659534951,0.882952524798,0.00503801801101,0.871997824798
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118,1.966666667,pose3-to-pose4-insert,0.0049168753495,0.882823114592,0.00503830871844,0.871868414592
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119,1.983333333,pose3-to-pose4-insert,0.00491695348732,0.882682349489,0.00503839116147,0.871727689798
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120,2.000000000,pose3-to-pose4-insert,0.00491698555812,0.882535189146,0.00503841837839,0.871580589146
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121,2.016666667,pose3-to-pose4-insert,0.00491708496388,0.882373777939,0.00503850579001,0.871419177939
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122,2.033333333,pose3-to-pose4-insert,0.00491723163577,0.882206514145,0.00503863414113,0.871251832166
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123,2.050000000,pose3-to-pose4-insert,0.00491722714891,0.882040511411,0.00503865266262,0.871085722657
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124,2.066666667,pose3-to-pose4-insert,0.00491741628454,0.881867053379,0.00503885778304,0.870912253379
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126,2.100000000,pose3-to-pose4-insert,0.0049174353706,0.881506087433,0.00503887228133,0.870551278356
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127,2.116666667,pose3-to-pose4-insert,0.00491736725786,0.881324065484,0.00503879459996,0.870369165484
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130,2.166666667,pose3-to-pose4-insert,0.00491753158275,0.880775205916,0.0050389939218,0.86982012885
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131,2.183333333,pose3-to-pose4-insert,0.00491783484519,0.880581217492,0.00503931855664,0.869626184606
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132,2.200000000,pose3-to-pose4-insert,0.0049179359528,0.880396962685,0.00503946419961,0.869441862685
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134,2.233333333,pose3-to-pose4-insert,0.00491824442866,0.880014946794,0.00503997058085,0.869059846794
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135,2.250000000,pose3-to-pose4-insert,0.00491816486472,0.87984220843,0.00503990286472,0.86888710843
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136,2.266666667,pose3-to-pose4-insert,0.00491805957293,0.879683984445,0.00503979354037,0.868728803794
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138,2.300000000,pose3-to-pose4-insert,0.00491809296812,0.879399179956,0.00503983393625,0.868443879956
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139,2.316666667,pose3-to-pose4-insert,0.00491803259262,0.879268082215,0.00503976276435,0.868312782215
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144,2.400000000,pose3-to-pose4-insert,0.0049171249708,0.878753917236,0.0050387498697,0.867798317236
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146,2.433333333,pose3-to-pose4-insert,0.00491697342741,0.878624015346,0.00503862200522,0.867668322568
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149,2.483333333,pose3-to-pose4-insert,0.00491673888903,0.878494197937,0.00503837275274,0.867538497937
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150,2.500000000,pose3-to-pose4-insert,0.00491637894389,0.878465882253,0.00503800320906,0.867510182253
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151,2.516666667,pose3-to-pose4-insert,0.00491639164486,0.878443681741,0.00503812037731,0.867487981741
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152,2.533333333,pose3-to-pose4-insert,0.00491658071065,0.878427902704,0.00503829811278,0.867472286504
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| 206 |
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|
Part2/Free/s1/cylinder_0010_15/width_05/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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| 14 |
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185,3.083333333,pose2-hold,-8.17945e-05,0.883586,9.09029861765e-06,0.872631179412
|
| 188 |
+
186,3.100000000,pose2-hold,-8.17945e-05,0.883586,9.10729870588e-06,0.8726312
|
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+
187,3.116666667,pose2-hold,-8.17945e-05,0.883586,9.1230915e-06,0.8726312
|
| 190 |
+
188,3.133333333,pose2-hold,-8.17945e-05,0.883586,9.13631311765e-06,0.872631164706
|
| 191 |
+
189,3.150000000,pose2-hold,-8.17945e-05,0.883586,9.14419782353e-06,0.872631079412
|
| 192 |
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190,3.166666667,pose2-hold,-8.17945e-05,0.883586,9.14114841176e-06,0.872631
|
| 193 |
+
191,3.183333333,pose2-hold,-8.17945e-05,0.883586,9.16187488235e-06,0.872631
|
| 194 |
+
192,3.200000000,pose2-hold,-8.17945e-05,0.883586,9.1645e-06,0.872631
|
| 195 |
+
193,3.216666667,pose2-hold,-8.17945e-05,0.883586,9.17317894118e-06,0.872631
|
| 196 |
+
194,3.233333333,pose2-hold,-8.17945e-05,0.883586,9.18310941176e-06,0.872631047059
|
| 197 |
+
195,3.250000000,pose2-hold,-8.17945e-05,0.883586,9.19226764706e-06,0.8726311
|
| 198 |
+
196,3.266666667,pose2-hold,-8.17945e-05,0.883586,9.20239594118e-06,0.8726311
|
| 199 |
+
197,3.283333333,pose2-hold,-8.17945e-05,0.883586,9.21158452941e-06,0.8726311
|
| 200 |
+
198,3.300000000,pose2-hold,-8.17945e-05,0.883586,9.21876288235e-06,0.8726311
|
| 201 |
+
199,3.316666667,pose2-hold,-8.17945e-05,0.883586,9.22537358824e-06,0.8726311
|
| 202 |
+
200,3.333333333,pose2-hold,-8.17945e-05,0.883586,9.23638817647e-06,0.8726311
|
| 203 |
+
201,3.350000000,pose2-hold,-8.17945e-05,0.883586,9.23971244118e-06,0.8726311
|
| 204 |
+
202,3.366666667,pose2-hold,-8.17945e-05,0.883586,9.23723658824e-06,0.8726311
|
| 205 |
+
203,3.383333333,pose2-hold,-8.17945e-05,0.883586,9.240852e-06,0.8726311
|
| 206 |
+
204,3.400000000,pose2-hold,-8.17945e-05,0.883586,9.243926e-06,0.8726311
|
Part2/Free/s1/cylinder_0010_15/width_06/insert/camera_frames_60hz.tar
ADDED
|
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+
version https://git-lfs.github.com/spec/v1
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oid sha256:cc9ebbaeb7c920464fbca6205d5713ac595e4f3ed049238e005c15ac9303a033
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| 3 |
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size 39516160
|
Part2/Free/s1/cylinder_0010_15/width_06/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:30b5e323e2fd436695648a8782d6bcd72296093a23f7c55032138c8519b651c1
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| 3 |
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size 38616098
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Part2/Free/s1/cylinder_0010_15/width_06/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s1/cylinder_0010_15/width_06/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,906 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.475256e-05,0.8835843,3.960058e-06,0.8726294
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.44361156588e-05,0.8835844,4.30301986007e-06,0.872629520926
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.41129781513e-05,0.8835844,4.61736118595e-06,0.872629585909
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.35640489476e-05,0.883584343165,5.15638460533e-06,0.872629514747
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.3343001692e-05,0.883584316929,5.37373969434e-06,0.872629475393
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.30738199385e-05,0.88358428498,5.63842528762e-06,0.87262942747
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.25695918532e-05,0.883584225134,6.1342312187e-06,0.872629337701
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.20651413329e-05,0.883584209148,6.63861722897e-06,0.872629309148
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-8.16816014109e-05,0.883584221135,7.02670760431e-06,0.872629321135
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-8.07209167281e-05,0.883584251162,7.9987901901e-06,0.872629351162
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.89085067864e-05,0.883584295616,9.83092749097e-06,0.8726294
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.15837976852e-05,0.883584264184,1.71876155559e-05,0.872629464184
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-5.66370837407e-05,0.883584625627,3.2207660908e-05,0.872629825627
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-2.54534679923e-05,0.8835845,6.35560326958e-05,0.872629637039
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,2.50513499723e-05,0.883584915713,0.000114342580339,0.872630115713
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,9.16733566582e-05,0.883585079688,0.000181424991552,0.872630279688
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000169870032794,0.883585552908,0.000260032712368,0.872630752908
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.00027004954073,0.883586,0.000360684937101,0.8726312
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000375616286495,0.883586827962,0.000466960576909,0.872632127962
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000483033954188,0.883587126279,0.000575071747771,0.872632452558
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000596339295918,0.883587421679,0.000689070410092,0.872632784732
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000719334447526,0.883587985782,0.000812771913257,0.872633285782
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000844573702493,0.883588544768,0.000938757365382,0.872633894021
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000983710315532,0.883589067213,0.00107875327308,0.872634467213
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00113808018681,0.883589133383,0.00123404511395,0.872634533383
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00130362318715,0.8835891,0.00140058298165,0.872634579011
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00147542707419,0.883589280823,0.00157344873779,0.872634690412
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00165259200534,0.883589401644,0.00175166004475,0.872634801644
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00183556791455,0.8835896,0.00193572665522,0.872635
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00201398348512,0.8835896,0.00211529022524,0.872635
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00218778102351,0.8835896,0.0022901624218,0.872635
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00237495333138,0.883589574248,0.00247845764052,0.872634974248
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00255977747472,0.883589403491,0.00266438961269,0.872634835661
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00273858282852,0.883589128222,0.00284429665763,0.872634628222
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00292265939382,0.88358913149,0.00302952240294,0.87263458766
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00311195530947,0.883589013575,0.00321999379267,0.87263447086
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00328945136894,0.883588466493,0.00339856769789,0.872633966493
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00345899306504,0.883588225178,0.00356914859682,0.872633725178
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00361675856621,0.883587641978,0.00372787342826,0.872633141978
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00376108260634,0.883587339172,0.00387306312451,0.872632758758
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00389752868292,0.883586813694,0.0040103832582,0.872632213694
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00402476475436,0.883587102016,0.00413839501514,0.87263258242
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.0041480375345,0.883587534952,0.00426241777391,0.872632951214
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00426467215724,0.883587779541,0.0043797778022,0.872633179541
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00437024021937,0.883588276373,0.00448602211875,0.872633581099
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00446123868276,0.883588491665,0.00457759022114,0.872633887498
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00454093373712,0.883588405276,0.004657779513,0.872633710553
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00460897958125,0.883588669647,0.00472625695073,0.872634059529
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.0046703118904,0.883589137715,0.00478791415279,0.872634450172
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00472636631045,0.883589109511,0.00484421643572,0.872634319022
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00477406654085,0.883589386351,0.00489219052954,0.872634586351
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00481228768937,0.8835894,0.00493067223683,0.87263450176
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00484392411018,0.8835896,0.00496255610353,0.872634704888
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00486766327641,0.883589609652,0.00498648060399,0.872634809652
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00488550619274,0.883589687236,0.00500443359495,0.872634887236
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00489934195795,0.883589571905,0.00501838455791,0.8726348
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.0049084250023,0.88358955017,0.00502756512829,0.8726348
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00491296557368,0.88358965254,0.00503216831841,0.8726348
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491569084949,0.883589768965,0.0050349402975,0.87263493793
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491686324177,0.8835898,0.005036125201,0.872635097962
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.004917039,0.8835898,0.005036295,0.8726351
|
| 63 |
+
61,1.016666667,pose3-hold,0.004917039,0.8835898,0.005036314,0.8726351
|
| 64 |
+
62,1.033333333,pose3-hold,0.004917039,0.8835898,0.00503632679412,0.8726351
|
| 65 |
+
63,1.050000000,pose3-hold,0.004917039,0.8835898,0.00503633535294,0.8726351
|
| 66 |
+
64,1.066666667,pose3-hold,0.004917039,0.8835898,0.00503633967647,0.8726351
|
| 67 |
+
65,1.083333333,pose3-hold,0.004917039,0.8835898,0.00503634182353,0.872635141176
|
| 68 |
+
66,1.100000000,pose3-hold,0.004917039,0.8835898,0.00503634511765,0.8726352
|
| 69 |
+
67,1.116666667,pose3-hold,0.004917039,0.8835898,0.00503635076471,0.8726352
|
| 70 |
+
68,1.133333333,pose3-hold,0.004917039,0.8835898,0.00503634905882,0.8726352
|
| 71 |
+
69,1.150000000,pose3-hold,0.004917039,0.8835898,0.005036349,0.8726352
|
| 72 |
+
70,1.166666667,pose3-hold,0.004917039,0.8835898,0.00503635305882,0.8726352
|
| 73 |
+
71,1.183333333,pose3-hold,0.004917039,0.8835898,0.00503635288235,0.8726352
|
| 74 |
+
72,1.200000000,pose3-hold,0.004917039,0.8835898,0.00503634717647,0.8726352
|
| 75 |
+
73,1.216666667,pose3-hold,0.004917039,0.8835898,0.00503634005882,0.8726352
|
| 76 |
+
74,1.233333333,pose3-hold,0.004917039,0.8835898,0.00503633576471,0.8726352
|
| 77 |
+
75,1.250000000,pose3-hold,0.004917039,0.8835898,0.00503632382353,0.8726352
|
| 78 |
+
76,1.266666667,pose3-hold,0.004917039,0.8835898,0.00503632061765,0.8726352
|
| 79 |
+
77,1.283333333,pose3-hold,0.004917039,0.8835898,0.00503630770588,0.8726352
|
| 80 |
+
78,1.300000000,pose3-hold,0.004917039,0.8835898,0.005036299,0.87263525
|
| 81 |
+
79,1.316666667,pose3-hold,0.004917039,0.8835898,0.00503629452941,0.8726353
|
| 82 |
+
80,1.333333333,pose3-hold,0.004917039,0.8835898,0.00503628773529,0.8726353
|
| 83 |
+
81,1.350000000,pose3-hold,0.004917039,0.8835898,0.00503627852941,0.8726353
|
| 84 |
+
82,1.366666667,pose3-hold,0.004917039,0.8835898,0.00503627170588,0.8726353
|
| 85 |
+
83,1.383333333,pose3-hold,0.004917039,0.8835898,0.00503626182353,0.8726353
|
| 86 |
+
84,1.400000000,pose3-hold,0.004917039,0.8835898,0.00503625282353,0.8726353
|
| 87 |
+
85,1.416666667,pose3-hold,0.004917039,0.8835898,0.00503624382353,0.8726353
|
| 88 |
+
86,1.433333333,pose3-hold,0.004917039,0.8835898,0.00503623605882,0.8726353
|
| 89 |
+
87,1.450000000,pose3-hold,0.004917039,0.8835898,0.00503623058824,0.8726353
|
| 90 |
+
88,1.466666667,pose3-hold,0.004917039,0.8835898,0.00503622394118,0.872635297059
|
| 91 |
+
89,1.483333333,pose3-hold,0.004917039,0.8835898,0.00503622223529,0.872635211765
|
| 92 |
+
90,1.500000000,pose3-hold,0.004917039,0.8835898,0.00503621538235,0.8726352
|
| 93 |
+
91,1.516666667,pose3-hold,0.004917039,0.8835898,0.00503620888235,0.8726352
|
| 94 |
+
92,1.533333333,pose3-hold,0.004917039,0.8835898,0.00503620864706,0.8726352
|
| 95 |
+
93,1.550000000,pose3-hold,0.004917039,0.8835898,0.00503621111765,0.8726352
|
| 96 |
+
94,1.566666667,pose3-hold,0.004917039,0.8835898,0.00503620841176,0.8726352
|
| 97 |
+
95,1.583333333,pose3-hold,0.004917039,0.8835898,0.005036205,0.8726352
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.004917121,0.8835898,0.005036282,0.8726352
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491717529378,0.883589632942,0.00503635383485,0.872635032942
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.0049171574733,0.883589332562,0.00503632565568,0.872634732562
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491712775326,0.883589053937,0.00503628154,0.872634453937
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491707578392,0.883588408434,0.00503623528768,0.872633808434
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.0049170548309,0.883588140236,0.00503621819002,0.872633540236
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491704131754,0.883587967265,0.00503620716311,0.872633367265
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491702543821,0.883587764009,0.00503619420558,0.872633164009
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491701495345,0.883587629804,0.00503618565002,0.872633029804
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491699773019,0.883587377092,0.00503617176599,0.872632777092
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491700897966,0.883587024168,0.00503618356689,0.872632424168
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491706896721,0.883585142205,0.00503624649501,0.872630542205
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491701500973,0.883579142521,0.00503618949412,0.872624542521
|
| 111 |
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109,1.816666667,pose3-to-pose4-insert,0.00491707193969,0.883561969016,0.00503624358538,0.872607369016
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110,1.833333333,pose3-to-pose4-insert,0.00491712911793,0.883529836773,0.00503634327331,0.872575192829
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111,1.850000000,pose3-to-pose4-insert,0.00491681109338,0.88347811093,0.00503603954327,0.872523484164
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112,1.866666667,pose3-to-pose4-insert,0.00491676858281,0.883406620007,0.00503595204973,0.872452020007
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113,1.883333333,pose3-to-pose4-insert,0.00491659397135,0.883317550046,0.00503575295983,0.872362950046
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114,1.900000000,pose3-to-pose4-insert,0.00491646741309,0.883218777766,0.00503560699562,0.872264177766
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115,1.916666667,pose3-to-pose4-insert,0.00491623548265,0.88310819104,0.00503535163475,0.87215359104
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116,1.933333333,pose3-to-pose4-insert,0.00491615125121,0.882989492995,0.00503524784611,0.872034892995
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117,1.950000000,pose3-to-pose4-insert,0.00491595740898,0.882868130126,0.00503504311139,0.871913530126
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118,1.966666667,pose3-to-pose4-insert,0.00491575297549,0.882744230487,0.00503482722776,0.871789630487
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119,1.983333333,pose3-to-pose4-insert,0.00491598702397,0.882599065519,0.00503509042312,0.871644365519
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120,2.000000000,pose3-to-pose4-insert,0.0049163792331,0.88244990068,0.00503546448961,0.871495215665
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121,2.016666667,pose3-to-pose4-insert,0.00491678356397,0.88229166751,0.00503583253231,0.871337042906
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122,2.033333333,pose3-to-pose4-insert,0.00491691597608,0.882117976601,0.00503597485513,0.871163276601
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123,2.050000000,pose3-to-pose4-insert,0.00491726592331,0.88193722373,0.00503634032549,0.87098252373
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124,2.066666667,pose3-to-pose4-insert,0.00491747400448,0.881767889224,0.00503653888394,0.870813134314
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125,2.083333333,pose3-to-pose4-insert,0.00491736586129,0.881582291804,0.00503640552524,0.870627427204
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126,2.100000000,pose3-to-pose4-insert,0.00491734191055,0.881398882619,0.00503639493386,0.870443982619
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127,2.116666667,pose3-to-pose4-insert,0.00491707703244,0.881217071301,0.00503613286463,0.870262171301
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128,2.133333333,pose3-to-pose4-insert,0.00491686605023,0.881027480222,0.0050358869036,0.870072499376
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129,2.150000000,pose3-to-pose4-insert,0.00491717762745,0.880830022077,0.00503619614724,0.869874930081
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130,2.166666667,pose3-to-pose4-insert,0.00491763750158,0.880641427113,0.00503670290886,0.869686425851
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131,2.183333333,pose3-to-pose4-insert,0.0049178140698,0.880454863143,0.00503686923418,0.869499857599
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132,2.200000000,pose3-to-pose4-insert,0.00491820158517,0.880266688713,0.00503729856195,0.869311604081
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133,2.216666667,pose3-to-pose4-insert,0.00491834998852,0.880083260993,0.00503759322066,0.869128209499
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134,2.233333333,pose3-to-pose4-insert,0.00491826924709,0.879911464694,0.00503759697986,0.868956297286
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135,2.250000000,pose3-to-pose4-insert,0.00491809739371,0.879749632071,0.00503742512996,0.868794457413
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136,2.266666667,pose3-to-pose4-insert,0.00491800622915,0.879591025034,0.00503730226558,0.868635725034
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137,2.283333333,pose3-to-pose4-insert,0.00491806099495,0.879449345744,0.00503736987229,0.868494045744
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138,2.300000000,pose3-to-pose4-insert,0.00491801376434,0.879321647034,0.00503733052355,0.868366391335
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139,2.316666667,pose3-to-pose4-insert,0.00491783584,0.879199212134,0.00503707585613,0.86824392279
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140,2.333333333,pose3-to-pose4-insert,0.00491779534241,0.879082065766,0.00503689137938,0.868126617031
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141,2.350000000,pose3-to-pose4-insert,0.00491790417657,0.878976058691,0.00503698180233,0.868020610052
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142,2.366666667,pose3-to-pose4-insert,0.00491805549664,0.878875770394,0.00503722017368,0.8679202528
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143,2.383333333,pose3-to-pose4-insert,0.00491809761416,0.878785600709,0.0050372975579,0.86783006775
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144,2.400000000,pose3-to-pose4-insert,0.0049181472959,0.878708479036,0.00503734591563,0.867752906641
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145,2.416666667,pose3-to-pose4-insert,0.00491810559056,0.878645838911,0.00503730629976,0.867690238911
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146,2.433333333,pose3-to-pose4-insert,0.00491815655114,0.878591564229,0.00503736590217,0.867635964229
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147,2.450000000,pose3-to-pose4-insert,0.00491817975472,0.878547617578,0.00503740620165,0.867591953545
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148,2.466666667,pose3-to-pose4-insert,0.00491830949175,0.878508809153,0.00503754476397,0.867553045542
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149,2.483333333,pose3-to-pose4-insert,0.00491821010719,0.878475725171,0.00503746932864,0.867519993469
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150,2.500000000,pose3-to-pose4-insert,0.00491835476076,0.87844913746,0.00503763523816,0.867493512298
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151,2.516666667,pose3-to-pose4-insert,0.00491840419986,0.878430913992,0.00503770558374,0.867475313992
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152,2.533333333,pose3-to-pose4-insert,0.0049183545523,0.878418051787,0.00503763086481,0.867462581124
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153,2.550000000,pose3-to-pose4-insert,0.004918304268,0.878409164183,0.00503757435754,0.867453713776
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154,2.566666667,pose3-to-pose4-insert,0.00491823484845,0.878402228028,0.00503749340215,0.867446728028
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155,2.583333333,pose3-to-pose4-insert,0.00491821971181,0.878398039169,0.00503744583455,0.867442539169
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156,2.600000000,pose3-to-pose4-insert,0.00491832338419,0.878395062599,0.00503753672996,0.867439562599
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157,2.616666667,pose3-to-pose4-insert,0.0049182,0.8783936,0.005037379,0.8674382
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158,2.633333333,pose4-hold,0.0049182,0.8783936,0.005037361,0.8674381
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159,2.650000000,pose4-hold,0.0049182,0.8783936,0.00503735076471,0.8674381
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160,2.666666667,pose4-hold,0.0049182,0.8783936,0.00503734264706,0.8674381
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161,2.683333333,pose4-hold,0.0049182,0.8783936,0.00503733441176,0.8674381
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162,2.700000000,pose4-hold,0.0049182,0.8783936,0.00503732670588,0.8674381
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163,2.716666667,pose4-hold,0.0049182,0.8783936,0.00503732041176,0.8674381
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164,2.733333333,pose4-hold,0.0049182,0.8783936,0.00503731517647,0.867438088235
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165,2.750000000,pose4-hold,0.0049182,0.8783936,0.00503730920588,0.867438002941
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166,2.766666667,pose4-hold,0.0049182,0.8783936,0.00503730076471,0.867438
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167,2.783333333,pose4-hold,0.0049182,0.8783936,0.00503729832353,0.867438
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168,2.800000000,pose4-hold,0.0049182,0.8783936,0.00503729852941,0.867438
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169,2.816666667,pose4-hold,0.0049182,0.8783936,0.00503729861765,0.867438
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170,2.833333333,pose4-hold,0.0049182,0.8783936,0.005037298,0.867438
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171,2.850000000,pose4-hold,0.0049182,0.8783936,0.00503729861765,0.867438
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172,2.866666667,pose4-hold,0.0049182,0.8783936,0.00503730458824,0.867438
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174,2.900000000,pose4-hold,0.0049182,0.8783936,0.00503730494118,0.867438
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183,3.050000000,pose4-hold,0.0049182,0.8783936,0.00503736788235,0.8674379
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186,3.100000000,pose4-hold,0.0049182,0.8783936,0.00503738794118,0.8674379
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Part2/Free/s1/cylinder_0010_15/width_06/pick/camera_frames_60hz.tar
ADDED
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Part2/Free/s1/cylinder_0010_15/width_06/pick/fem_node.csv
ADDED
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The diff for this file is too large to render.
See raw diff
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Part2/Free/s1/cylinder_0010_15/width_06/pick/franka_data.csv
ADDED
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+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
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| 206 |
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|
Part2/Free/s1/cylinder_0010_15/width_06/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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|
| 3 |
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| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.26934884032e-05,0.845590376568,6.30687788934e-06,0.834630376568
|
| 6 |
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|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26840235661e-05,0.84559090349,6.30276526282e-06,0.83463090349
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26850176066e-05,0.845591766182,6.31427805699e-06,0.83463181726
|
| 9 |
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| 11 |
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|
| 12 |
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| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.26662617872e-05,0.845596135758,6.32742545381e-06,0.834636235758
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| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.262897473e-05,0.84559696482,6.36954645984e-06,0.83463706482
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| 15 |
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|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.25890473998e-05,0.845598322311,6.41671605869e-06,0.834638417371
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| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.2621239859e-05,0.845598965474,6.38632731477e-06,0.834639046241
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,-8.26753382109e-05,0.845600046288,6.33526004618e-06,0.834640103037
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| 19 |
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17,0.283333333,pose1-to-pose2-lift,-8.27996178057e-05,0.845602529232,6.2179437283e-06,0.834642530804
|
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ADDED
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.266608e-05,0.8835849,9.433642e-06,0.87263
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.24766357216e-05,0.883584919403,9.63445981457e-06,0.872630019403
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.20876917671e-05,0.883584968055,1.00177382378e-05,0.872630068055
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.17798665455e-05,0.883585003093,1.03214234021e-05,0.872630106186
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.14358098795e-05,0.883585023386,1.06627243029e-05,0.872630146772
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.07878454859e-05,0.883585061604,1.13054987442e-05,0.872630223207
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.03382878636e-05,0.883585088119,1.17514555783e-05,0.872630276238
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.01572804951e-05,0.883585098795,1.19310131455e-05,0.87263029759
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.99631834564e-05,0.883585089052,1.2126706463e-05,0.872630289052
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.9467613588e-05,0.88358505781,1.26272983868e-05,0.87263025781
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.84798824421e-05,0.883584995542,1.36250391013e-05,0.872630195542
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.46284123879e-05,0.883585021693,1.75164009656e-05,0.872630181129
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.56803760562e-05,0.883585007126,2.65044021601e-05,0.872630171417
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-4.90606552976e-05,0.8835851,4.32483316208e-05,0.872630203431
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-2.02125106831e-05,0.883585149974,7.22135642699e-05,0.872630349974
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,2.48007552249e-05,0.883585371276,0.000117471571889,0.872630571276
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,8.58065890857e-05,0.883585532794,0.000178883626553,0.872630732794
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000168150164998,0.883585540776,0.000261708560523,0.872630740776
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000269617468552,0.8835861,0.000363649545665,0.872631373342
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000380401467668,0.883586525976,0.000475158625633,0.872631825976
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000496319311259,0.883586738296,0.000591805525324,0.872632
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000624390607551,0.883587293511,0.000720652463883,0.872632616889
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.0007509693252,0.883587817368,0.000848009584298,0.872633217368
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000875564148182,0.883588265521,0.000973319582553,0.872633665521
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00100520873409,0.883588613292,0.00110374182543,0.872634013292
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00115209007863,0.883588623937,0.00125153295307,0.872634023937
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00130953348566,0.8835886,0.00140990454463,0.872634
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00147149531255,0.883588248628,0.00157284806364,0.872633648628
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00165558665632,0.8835884,0.0017580517741,0.8726338
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00184832875047,0.883588343,0.00195196913868,0.872633743
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00203285826005,0.883588267416,0.00213767002847,0.872633667416
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00221562508906,0.883588802405,0.00232155199845,0.872634202405
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00240770610992,0.883588955002,0.00251479069119,0.872634355002
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00257938457201,0.883589164934,0.00268751844041,0.87263460909
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00275305576533,0.883589544969,0.00286224774311,0.872635
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00293109389162,0.88358964946,0.00304136939559,0.87263504946
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00309945359633,0.883589599701,0.00321076164078,0.87263504985
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00326508024591,0.883589706793,0.0033774073032,0.872635155095
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.0034409313358,0.88358958466,0.00355431839174,0.872635047728
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00360240176861,0.883589539501,0.00371680128159,0.872635039501
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00376014616861,0.883589837668,0.0038755402507,0.872635258445
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00391129747087,0.883589628691,0.00402761985823,0.872635028691
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00404575227682,0.883589503643,0.00416290486399,0.872634903643
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00416511045807,0.883589402305,0.00428299486279,0.872634802305
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.0042820975283,0.883589088354,0.00440067915579,0.872634488354
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.0043795366744,0.883588909288,0.00449873649405,0.872634309288
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00446957786146,0.883589094696,0.00458933618361,0.872634489392
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00455137547445,0.8835889671,0.00467167879017,0.872634275325
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00462076709829,0.883588607653,0.0047415297625,0.872634
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00467912842853,0.883588695962,0.00480014539497,0.872633993943
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00473364661977,0.8835885,0.00485492030461,0.8726337
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00477727279017,0.883588503637,0.00489881297426,0.872633707275
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00481482961124,0.883588586091,0.00493660399787,0.872633872181
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.0048460056664,0.883588354137,0.0049680351392,0.872633469425
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00487074972561,0.883588154767,0.00499294261005,0.872633354767
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488787874994,0.883588395779,0.00501020986886,0.872633595779
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00490080910833,0.88358845747,0.0050232360128,0.87263370498
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490785969364,0.883588255874,0.00503035028935,0.872633555874
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491206872051,0.883588329148,0.0050346255725,0.872633596861
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491423723835,0.883588593924,0.00503682453962,0.872633795443
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491571879011,0.883588516024,0.00503831938651,0.8726338
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.00491638985775,0.883588430444,0.00503901163775,0.872633730444
|
| 64 |
+
62,1.033333333,pose2-to-pose3-side,0.004916762,0.8835881,0.005039393,0.8726334
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| 65 |
+
63,1.050000000,pose3-hold,0.004916762,0.8835881,0.005039409,0.8726334
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916762,0.8835881,0.00503942520588,0.8726334
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916762,0.8835881,0.00503943929412,0.8726334
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916762,0.8835881,0.00503944679412,0.872633455882
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916762,0.8835881,0.00503944776471,0.8726335
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916762,0.8835881,0.00503944864706,0.8726335
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916762,0.8835881,0.00503945541176,0.8726335
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916762,0.8835881,0.00503945114706,0.8726335
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916762,0.8835881,0.005039451,0.8726335
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916762,0.8835881,0.00503945573529,0.8726335
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916762,0.8835881,0.00503945376471,0.8726335
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916762,0.8835881,0.00503945,0.8726335
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916762,0.8835881,0.00503944788235,0.8726335
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916762,0.8835881,0.00503943985294,0.8726335
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916762,0.8835881,0.00503942876471,0.8726335
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916762,0.8835881,0.00503942561765,0.8726335
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916762,0.8835881,0.00503941335294,0.8726335
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916762,0.8835881,0.005039404,0.87263355
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916762,0.8835881,0.00503939852941,0.8726336
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916762,0.8835881,0.00503939194118,0.8726336
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916762,0.8835881,0.00503938352941,0.8726336
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916762,0.8835881,0.00503937670588,0.8726336
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916762,0.8835881,0.00503936682353,0.8726336
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916762,0.8835881,0.00503936029412,0.8726336
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916762,0.8835881,0.00503935282353,0.8726336
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916762,0.8835881,0.00503934473529,0.8726336
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916762,0.8835881,0.00503933876471,0.8726336
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916762,0.8835881,0.00503933288235,0.8726336
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916762,0.8835881,0.00503932947059,0.8726336
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916762,0.8835881,0.00503932605882,0.872633526471
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916762,0.8835881,0.00503932088235,0.8726335
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916762,0.8835881,0.00503931976471,0.8726335
|
| 97 |
+
95,1.583333333,pose3-hold,0.004916762,0.8835881,0.00503932023529,0.8726335
|
| 98 |
+
96,1.600000000,pose3-hold,0.004916762,0.8835881,0.005039316,0.8726335
|
| 99 |
+
97,1.616666667,pose3-hold,0.004916762,0.8835881,0.005039316,0.8726335
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.004916762,0.8835881,0.005039311,0.8726335
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.004916725908,0.88358744184,0.00503925195488,0.872632837963
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491676384946,0.883586683011,0.00503930355527,0.872632028545
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491679793367,0.883585969676,0.00503934988629,0.872631269676
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491679674359,0.88358542564,0.00503934784615,0.87263072564
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.0049167962061,0.88358517993,0.00503934692474,0.87263047993
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491679535774,0.883584792109,0.00503934547041,0.872630092109
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491679342416,0.883583908187,0.0050393421557,0.872629208187
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491679173615,0.883583136528,0.00503933926198,0.872628436528
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491678652288,0.883582608611,0.00503933359123,0.872627912029
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491674131213,0.883580675938,0.00503928907072,0.872626013868
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491666543701,0.883575229084,0.00503921149196,0.872620606429
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491680335535,0.883558906247,0.00503935295279,0.872604206247
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.0049167192336,0.883528040784,0.00503929381557,0.872573440784
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491677192383,0.883482637984,0.00503936512841,0.872527937984
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491693951282,0.883417293551,0.00503950728202,0.872462669192
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.0049170277417,0.883330361194,0.00503956435487,0.872375800567
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491726667453,0.883234896634,0.00503980441044,0.872280396634
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491713309073,0.883124903538,0.00503964358648,0.872170303538
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491749387207,0.883003678052,0.00504001094811,0.872049025548
|
| 120 |
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118,1.966666667,pose3-to-pose4-insert,0.00491756281361,0.882881835091,0.00504008732363,0.871927204891
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.00491752521802,0.882752873779,0.00504003667774,0.871798273779
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00491798754624,0.882609141588,0.00504054342652,0.871654541588
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491821189472,0.882469503352,0.00504077514119,0.871514901812
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.00491834151078,0.882319915701,0.00504091812287,0.871365215701
|
| 125 |
+
123,2.050000000,pose3-to-pose4-insert,0.00491852701338,0.88215059141,0.0050410753929,0.871195873193
|
| 126 |
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124,2.066666667,pose3-to-pose4-insert,0.00491878852418,0.881968959549,0.00504136792228,0.871014159549
|
| 127 |
+
125,2.083333333,pose3-to-pose4-insert,0.00491879447641,0.881785623441,0.0050413635833,0.870830823441
|
| 128 |
+
126,2.100000000,pose3-to-pose4-insert,0.00491855300826,0.881595325057,0.00504111924257,0.870640525057
|
| 129 |
+
127,2.116666667,pose3-to-pose4-insert,0.00491825048313,0.881410740051,0.00504081148313,0.870455940051
|
| 130 |
+
128,2.133333333,pose3-to-pose4-insert,0.00491807501819,0.881223521639,0.00504063532943,0.870268652763
|
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129,2.150000000,pose3-to-pose4-insert,0.00491771230664,0.881043965387,0.00504025064761,0.870089065387
|
| 132 |
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130,2.166666667,pose3-to-pose4-insert,0.00491753070556,0.880870631464,0.00504018011822,0.869915663816
|
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+
131,2.183333333,pose3-to-pose4-insert,0.0049176180496,0.880690055072,0.0050404232765,0.86973498491
|
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132,2.200000000,pose3-to-pose4-insert,0.00491736414148,0.880498545611,0.00504022553469,0.869543445611
|
| 135 |
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133,2.216666667,pose3-to-pose4-insert,0.00491732464196,0.880322126809,0.00504019627303,0.869367026809
|
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134,2.233333333,pose3-to-pose4-insert,0.004917332,0.880140672541,0.00504018490999,0.869185572541
|
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135,2.250000000,pose3-to-pose4-insert,0.0049168844296,0.879956044233,0.00503975095368,0.869000939472
|
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136,2.266666667,pose3-to-pose4-insert,0.00491674725874,0.879785915276,0.00503958411884,0.868830715276
|
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+
137,2.283333333,pose3-to-pose4-insert,0.00491652632188,0.879628910303,0.0050393609508,0.868673690716
|
| 140 |
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138,2.300000000,pose3-to-pose4-insert,0.0049162975911,0.879472968731,0.00503912750358,0.868517668731
|
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139,2.316666667,pose3-to-pose4-insert,0.00491627811457,0.87934087124,0.00503911678414,0.86838557124
|
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140,2.333333333,pose3-to-pose4-insert,0.00491616810877,0.879216130003,0.0050389473638,0.868260798598
|
| 143 |
+
141,2.350000000,pose3-to-pose4-insert,0.00491644748664,0.879096321116,0.00503903449854,0.868140921116
|
| 144 |
+
142,2.366666667,pose3-to-pose4-insert,0.00491668524058,0.878989858689,0.0050392584301,0.868034420741
|
| 145 |
+
143,2.383333333,pose3-to-pose4-insert,0.00491687382013,0.878896283399,0.00503953403732,0.867940746986
|
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+
144,2.400000000,pose3-to-pose4-insert,0.00491696898842,0.878804659306,0.00503968420321,0.867849015426
|
| 147 |
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145,2.416666667,pose3-to-pose4-insert,0.00491715639673,0.878729712045,0.00503989589674,0.867774055148
|
| 148 |
+
146,2.433333333,pose3-to-pose4-insert,0.00491742144155,0.878663728939,0.00504017490102,0.867708086597
|
| 149 |
+
147,2.450000000,pose3-to-pose4-insert,0.00491753216014,0.878604503724,0.00504026893025,0.867648803724
|
| 150 |
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148,2.466666667,pose3-to-pose4-insert,0.00491763942686,0.878555171086,0.00504037540034,0.867599471086
|
| 151 |
+
149,2.483333333,pose3-to-pose4-insert,0.00491761316369,0.878517528211,0.00504035997829,0.867561828211
|
| 152 |
+
150,2.500000000,pose3-to-pose4-insert,0.00491774199986,0.878484790817,0.0050404861051,0.867529055291
|
| 153 |
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151,2.516666667,pose3-to-pose4-insert,0.00491781587532,0.878459448052,0.00504058465714,0.867503704156
|
| 154 |
+
152,2.533333333,pose3-to-pose4-insert,0.00491780356404,0.878439645048,0.00504060700261,0.867484045048
|
| 155 |
+
153,2.550000000,pose3-to-pose4-insert,0.00491802665087,0.878424305676,0.00504084836787,0.867468713694
|
| 156 |
+
154,2.566666667,pose3-to-pose4-insert,0.0049180790351,0.878413106289,0.00504088630128,0.867457604625
|
| 157 |
+
155,2.583333333,pose3-to-pose4-insert,0.00491813569358,0.878404917254,0.00504094733471,0.867449417254
|
| 158 |
+
156,2.600000000,pose3-to-pose4-insert,0.00491799913635,0.878398911256,0.0050408035732,0.867443411256
|
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157,2.616666667,pose3-to-pose4-insert,0.00491811610991,0.878395727106,0.00504090898903,0.867440134432
|
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+
158,2.633333333,pose3-to-pose4-insert,0.0049179382874,0.878393679869,0.00504066088478,0.867437983895
|
| 161 |
+
159,2.650000000,pose3-to-pose4-insert,0.004917928,0.8783927,0.005040637,0.8674373
|
| 162 |
+
160,2.666666667,pose4-hold,0.004917928,0.8783927,0.00504062,0.8674373
|
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+
161,2.683333333,pose4-hold,0.004917928,0.8783927,0.00504061171429,0.8674373
|
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+
162,2.700000000,pose4-hold,0.004917928,0.8783927,0.0050406008,0.867437234286
|
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+
163,2.716666667,pose4-hold,0.004917928,0.8783927,0.00504058968571,0.8674372
|
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+
164,2.733333333,pose4-hold,0.004917928,0.8783927,0.00504057954286,0.8674372
|
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+
165,2.750000000,pose4-hold,0.004917928,0.8783927,0.00504057214286,0.8674372
|
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+
166,2.766666667,pose4-hold,0.004917928,0.8783927,0.00504057297143,0.8674372
|
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+
167,2.783333333,pose4-hold,0.004917928,0.8783927,0.0050405674,0.86743712
|
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+
168,2.800000000,pose4-hold,0.004917928,0.8783927,0.00504055845714,0.8674371
|
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169,2.816666667,pose4-hold,0.004917928,0.8783927,0.00504055171429,0.8674371
|
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+
170,2.833333333,pose4-hold,0.004917928,0.8783927,0.005040551,0.867437128571
|
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+
171,2.850000000,pose4-hold,0.004917928,0.8783927,0.00504055565714,0.867437188571
|
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172,2.866666667,pose4-hold,0.004917928,0.8783927,0.00504055317143,0.867437105714
|
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+
173,2.883333333,pose4-hold,0.004917928,0.8783927,0.00504055068571,0.8674371
|
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174,2.900000000,pose4-hold,0.004917928,0.8783927,0.0050405524,0.8674371
|
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175,2.916666667,pose4-hold,0.004917928,0.8783927,0.00504055314286,0.8674371
|
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176,2.933333333,pose4-hold,0.004917928,0.8783927,0.0050405538,0.8674371
|
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177,2.950000000,pose4-hold,0.004917928,0.8783927,0.00504055951429,0.8674371
|
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178,2.966666667,pose4-hold,0.004917928,0.8783927,0.00504056448571,0.8674371
|
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179,2.983333333,pose4-hold,0.004917928,0.8783927,0.00504056871429,0.8674371
|
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180,3.000000000,pose4-hold,0.004917928,0.8783927,0.00504057628571,0.8674371
|
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181,3.016666667,pose4-hold,0.004917928,0.8783927,0.005040587,0.8674371
|
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182,3.033333333,pose4-hold,0.004917928,0.8783927,0.00504059531429,0.8674371
|
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183,3.050000000,pose4-hold,0.004917928,0.8783927,0.00504059322857,0.867437094286
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184,3.066666667,pose4-hold,0.004917928,0.8783927,0.00504059654286,0.867437011429
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185,3.083333333,pose4-hold,0.004917928,0.8783927,0.00504060414286,0.867437
|
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186,3.100000000,pose4-hold,0.004917928,0.8783927,0.00504061297143,0.867437
|
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187,3.116666667,pose4-hold,0.004917928,0.8783927,0.0050406206,0.867437037143
|
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188,3.133333333,pose4-hold,0.004917928,0.8783927,0.0050406258,0.8674371
|
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189,3.150000000,pose4-hold,0.004917928,0.8783927,0.00504062917143,0.8674371
|
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190,3.166666667,pose4-hold,0.004917928,0.8783927,0.00504063414286,0.8674371
|
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191,3.183333333,pose4-hold,0.004917928,0.8783927,0.00504064117143,0.8674371
|
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192,3.200000000,pose4-hold,0.004917928,0.8783927,0.00504064862857,0.8674371
|
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193,3.216666667,pose4-hold,0.004917928,0.8783927,0.00504064854286,0.8674371
|
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194,3.233333333,pose4-hold,0.004917928,0.8783927,0.00504064188571,0.8674371
|
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195,3.250000000,pose4-hold,0.004917928,0.8783927,0.005040651,0.8674371
|
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|
Part2/Free/s1/cylinder_0010_15/width_07/pick/simulation_data.csv
ADDED
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,9.565132e-06,0.8346294
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,-8.2746750472e-05,0.845589904525,9.32641134426e-06,0.834629978393
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.27019832681e-05,0.845590168599,9.37350240238e-06,0.834630176449
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26904532396e-05,0.84559054554,9.37968596243e-06,0.83463054554
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,-8.26832969619e-05,0.845591282854,9.38430949512e-06,0.834631320568
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,-8.26873049361e-05,0.84559240869,9.39965538285e-06,0.834632596515
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.2697193028e-05,0.845593688569,9.38026347085e-06,0.834633839045
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.27052657253e-05,0.845594691908,9.36284299973e-06,0.834634800578
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.26915038073e-05,0.845595282854,9.37659996412e-06,0.834635382854
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.26752205696e-05,0.845595686717,9.39492308685e-06,0.834635786717
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.26677172834e-05,0.845595872816,9.40336634833e-06,0.834635972816
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.26360926791e-05,0.84559665718,9.43895272972e-06,0.83463675718
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.25853544437e-05,0.845597915608,9.49604720528e-06,0.834638015608
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.26060825816e-05,0.845598662651,9.47771256204e-06,0.834638750148
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.26448596792e-05,0.845599437367,9.44094869202e-06,0.834639507648
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.27008555084e-05,0.84560055609,9.38786005173e-06,0.834640601511
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.27878318912e-05,0.845603028437,9.30658001381e-06,0.834643028437
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.26947361957e-05,0.845605630563,9.40201344049e-06,0.834645630563
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.26517711438e-05,0.845617316346,9.43057671648e-06,0.834657416346
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.26816743756e-05,0.845642726657,9.40830552956e-06,0.834682726657
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.2749222624e-05,0.845682102633,9.34980136534e-06,0.834722173293
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.28250866843e-05,0.845733751891,9.26952192435e-06,0.834773751891
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.30692712703e-05,0.845799820824,9.07789675102e-06,0.834839920824
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.31177261732e-05,0.845870498188,9.01844172994e-06,0.83491055293
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.3472018941e-05,0.845941105821,8.67905389327e-06,0.834981106404
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.33539680177e-05,0.846012160519,8.78982353822e-06,0.835052160519
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.3455479726e-05,0.846082895395,8.68880655575e-06,0.835122895395
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.36211289893e-05,0.846153545856,8.52765873748e-06,0.835193545856
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.37074835159e-05,0.846224536019,8.46185497793e-06,0.835264536019
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.3858684077e-05,0.84629570948,8.33504024991e-06,0.83533570948
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.40187238407e-05,0.846366598929,8.16757638373e-06,0.835406598929
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.39781914331e-05,0.84643746658,8.20003448013e-06,0.83547746658
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.40609208752e-05,0.846508296911,8.12238748944e-06,0.835548336849
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.41639454956e-05,0.846588529732,8.03307369575e-06,0.835628629732
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.38789887329e-05,0.846681030353,8.32275438953e-06,0.835721130353
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.34045364602e-05,0.846787630416,8.77366858852e-06,0.835827730416
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.31557916546e-05,0.846912768139,9.03036209821e-06,0.835952692327
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.27463309275e-05,0.84705787449,9.45260272916e-06,0.836097965469
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.22465495309e-05,0.847218126117,9.94897539243e-06,0.836258213412
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.17477190431e-05,0.847390796953,1.04398199934e-05,0.836430715049
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.16109437861e-05,0.847572098149,1.05953052901e-05,0.836612098149
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.16496845117e-05,0.84775714187,1.05264864252e-05,0.83679714187
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.18362557527e-05,0.847953186315,1.033621817e-05,0.836993186315
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.18907293423e-05,0.848157101433,1.0274016748e-05,0.837197101433
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.19712490964e-05,0.848372893193,1.01907750727e-05,0.837412944267
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.1940272747e-05,0.848600886479,1.02120728795e-05,0.837640928963
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.16380272759e-05,0.848840269686,1.0513214718e-05,0.837880269686
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.1160616141e-05,0.849082877422,1.09917041255e-05,0.838122945174
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,-8.07017160024e-05,0.849342239706,1.14236712415e-05,0.838382265872
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.09426941357e-05,0.849614923572,1.1205332558e-05,0.838654923572
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,-8.160566392e-05,0.849902457358,1.04827600138e-05,0.83894254736
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,-8.227769866e-05,0.850204266687,9.80468142787e-06,0.839244366816
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,-8.26268419603e-05,0.850515846971,9.47436841768e-06,0.839556037793
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.26395244641e-05,0.850824317606,9.44692245088e-06,0.839864430678
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,-8.20436897969e-05,0.851142336571,1.00361404793e-05,0.840182536571
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,-8.16098471552e-05,0.851469961334,1.04654655296e-05,0.840510161334
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,-8.17233459895e-05,0.851807496386,1.03609982951e-05,0.840847696386
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,-8.16748517862e-05,0.852157504754,1.04345791908e-05,0.841197704754
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,-8.20349998321e-05,0.852514180933,1.00564436374e-05,0.841554414261
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,-8.28367874368e-05,0.852862183106,9.22523869986e-06,0.841902483106
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,-8.35935548946e-05,0.853223337934,8.47717743897e-06,0.842263637934
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,-8.35071827102e-05,0.853596577435,8.57350412161e-06,0.842636877435
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,-8.20589596151e-05,0.853984608731,1.00106762383e-05,0.843024908731
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,-8.13220936945e-05,0.854387117082,1.07381964587e-05,0.843427457081
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,-8.20041038326e-05,0.854795480266,1.00378825042e-05,0.843835880266
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,-8.29998261664e-05,0.855185227208,9.02121241874e-06,0.844225627208
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,-8.34337987799e-05,0.855583312313,8.55349092915e-06,0.844623749956
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,-8.32142106672e-05,0.855992539969,8.74280275614e-06,0.845033076411
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,-8.28923211397e-05,0.856425383774,9.0547093744e-06,0.845465983774
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,-8.21913825487e-05,0.856886250004,9.74501428888e-06,0.845926850004
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,-8.16501157029e-05,0.857366571669,1.02597156326e-05,0.84640722905
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,-8.1924215219e-05,0.857837583877,9.95274152647e-06,0.846878283877
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,-8.24917675374e-05,0.858311768011,9.3701530935e-06,0.847352538491
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,-8.29027416785e-05,0.858781854365,8.93046541614e-06,0.847822654365
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,-8.31751237585e-05,0.859251225275,8.64162233074e-06,0.848292103309
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,-8.30661108474e-05,0.859725550446,8.69334594886e-06,0.848766531392
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,-8.30009282181e-05,0.860194365085,8.74062320149e-06,0.849235365085
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,-8.25112021924e-05,0.860638774889,9.19112323763e-06,0.849679774889
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,-8.19568240605e-05,0.861086735852,9.76877506026e-06,0.850127735852
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,-8.20075648589e-05,0.861541468154,9.73842326506e-06,0.850582601656
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,-8.24372010795e-05,0.86199587296,9.28423398121e-06,0.85103707296
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,-8.29053700089e-05,0.862459263172,8.79595992911e-06,0.851500522273
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,-8.33054776654e-05,0.862929859811,8.36077637067e-06,0.851971159811
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,-8.30216935009e-05,0.863397917264,8.60205916618e-06,0.852439271392
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,-8.20595484327e-05,0.863883548834,9.55875740919e-06,0.852925003748
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,-8.18596445662e-05,0.864383947937,9.76662100423e-06,0.853425506482
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,-8.2316397163e-05,0.864903653678,9.2823446307e-06,0.853945253678
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,-8.17702197816e-05,0.865441030323,9.81991751013e-06,0.854482707941
|
| 90 |
+
88,1.466666667,pose1-to-pose2-lift,-8.09554358044e-05,0.865968099421,1.06283532493e-05,0.855009886684
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,-8.21878743374e-05,0.86646260043,9.38099734062e-06,0.85550440043
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,-8.41863045733e-05,0.866955598715,7.33674140008e-06,0.855997491178
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,-8.46796463274e-05,0.867446023349,6.82610424333e-06,0.856488018156
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,-8.52428140444e-05,0.867934212256,6.27386642704e-06,0.856976212256
|
| 95 |
+
93,1.550000000,pose1-to-pose2-lift,-8.51904806297e-05,0.868419202427,6.30044024064e-06,0.857461402427
|
| 96 |
+
94,1.566666667,pose1-to-pose2-lift,-8.48864093148e-05,0.868895435405,6.60424036246e-06,0.857937637087
|
| 97 |
+
95,1.583333333,pose1-to-pose2-lift,-8.30293414075e-05,0.869342183099,8.47964919566e-06,0.858384480712
|
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.301178e-05,0.8835887,6.519409e-06,0.8726338
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.29077508757e-05,0.883588635059,6.5963356118e-06,0.872633735059
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.25129430469e-05,0.8835886,6.98836654599e-06,0.8726337
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.20277265996e-05,0.883588601626,7.4898607478e-06,0.872633703252
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.16213016947e-05,0.883588628248,7.89892733735e-06,0.872633756496
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.11881721325e-05,0.883588656619,8.3348721594e-06,0.872633813238
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.04835675757e-05,0.883588697326,9.04425465676e-06,0.872633895989
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.93123255871e-05,0.883588623316,1.0228593007e-05,0.872633784974
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.84210056912e-05,0.883588566995,1.11298792872e-05,0.872633700492
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.62842292116e-05,0.883588518807,1.32840229878e-05,0.872633618807
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.16541798634e-05,0.88358859969,1.79377793042e-05,0.87263369969
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-5.82423236064e-05,0.8835887,3.14335162324e-05,0.872633833062
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+
12,0.200000000,pose2-to-pose3-side,-3.218986182e-05,0.883588504106,5.76000711637e-05,0.872633704106
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13,0.216666667,pose2-to-pose3-side,1.1560330953e-05,0.883588536837,0.000101566380069,0.872633705255
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14,0.233333333,pose2-to-pose3-side,7.46556319783e-05,0.883588474922,0.000165054489316,0.872633774922
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15,0.250000000,pose2-to-pose3-side,0.000154664463885,0.883588305906,0.000245598683466,0.872633605906
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16,0.266666667,pose2-to-pose3-side,0.000243886562699,0.883588373682,0.000335171711225,0.872633610523
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17,0.283333333,pose2-to-pose3-side,0.00034796773918,0.883588129475,0.000439921938508,0.872633429475
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18,0.300000000,pose2-to-pose3-side,0.000458245160344,0.883588,0.000550924624721,0.872633200333
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19,0.316666667,pose2-to-pose3-side,0.000574435885421,0.88358771546,0.000667821800342,0.87263301546
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20,0.333333333,pose2-to-pose3-side,0.000700984242807,0.8835877107,0.000795137234874,0.872633040466
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21,0.350000000,pose2-to-pose3-side,0.000834854364111,0.883587662577,0.000929810573615,0.872633021933
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22,0.366666667,pose2-to-pose3-side,0.000964768865486,0.883587859221,0.00106051292058,0.872633159221
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23,0.383333333,pose2-to-pose3-side,0.00111344585137,0.8835878,0.00121008331926,0.8726331
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24,0.400000000,pose2-to-pose3-side,0.00127048025056,0.883588081397,0.00136807157913,0.872633437676
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25,0.416666667,pose2-to-pose3-side,0.00142934990848,0.883588541189,0.00152790671818,0.872633880892
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+
26,0.433333333,pose2-to-pose3-side,0.00159356720976,0.883588763707,0.00169312290463,0.872634191122
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27,0.450000000,pose2-to-pose3-side,0.00177201453398,0.88358901798,0.00187261435053,0.87263444532
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28,0.466666667,pose2-to-pose3-side,0.0019487548623,0.883589177869,0.00205048132193,0.872634577869
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29,0.483333333,pose2-to-pose3-side,0.00212525945092,0.883589443517,0.00222808719515,0.872634843517
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30,0.500000000,pose2-to-pose3-side,0.00231642426878,0.883589040738,0.00242038716353,0.872634440738
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31,0.516666667,pose2-to-pose3-side,0.00251035595207,0.8835889,0.00261552737344,0.8726343
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32,0.533333333,pose2-to-pose3-side,0.00269378691672,0.883588909897,0.00280004559568,0.872634319794
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33,0.550000000,pose2-to-pose3-side,0.00287175298545,0.883588986106,0.00297913704135,0.872634472212
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34,0.566666667,pose2-to-pose3-side,0.00305157294321,0.883588983233,0.00316007151737,0.872634383233
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35,0.583333333,pose2-to-pose3-side,0.00321484940743,0.883589279952,0.00332436066404,0.8726347
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36,0.600000000,pose2-to-pose3-side,0.00338315289902,0.883589251054,0.00349366957815,0.872634751054
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37,0.616666667,pose2-to-pose3-side,0.00355161800186,0.883589611603,0.00366315228585,0.872635076336
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38,0.633333333,pose2-to-pose3-side,0.00370659015801,0.88359,0.00381908103261,0.8726354
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39,0.650000000,pose2-to-pose3-side,0.00384979857924,0.883590044218,0.00396318503301,0.872635444218
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40,0.666666667,pose2-to-pose3-side,0.00398992715475,0.8835901,0.00410418487902,0.8726355
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41,0.683333333,pose2-to-pose3-side,0.00411061205822,0.883589846412,0.00422561568948,0.872635246412
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42,0.700000000,pose2-to-pose3-side,0.0042275792724,0.883589545568,0.00434331248789,0.872634891136
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43,0.716666667,pose2-to-pose3-side,0.00433818473136,0.883589438218,0.00445461492473,0.8726348
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44,0.733333333,pose2-to-pose3-side,0.00443528962478,0.883589333981,0.00455232335157,0.872634667962
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45,0.750000000,pose2-to-pose3-side,0.00451841752145,0.883589037321,0.00463597346722,0.872634337321
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46,0.766666667,pose2-to-pose3-side,0.00459396062449,0.883588832151,0.00471197694555,0.872634132151
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47,0.783333333,pose2-to-pose3-side,0.00465388508541,0.8835888,0.00477221795842,0.8726341
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48,0.800000000,pose2-to-pose3-side,0.00470769381022,0.883588964845,0.00482629242306,0.872634264845
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49,0.816666667,pose2-to-pose3-side,0.00475613800239,0.88358882574,0.00487501233071,0.872634070888
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50,0.833333333,pose2-to-pose3-side,0.00479695145008,0.883588432886,0.00491609593978,0.872633632886
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51,0.850000000,pose2-to-pose3-side,0.00482926068295,0.8835883,0.00494861877941,0.872633446225
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52,0.866666667,pose2-to-pose3-side,0.00485649766327,0.88358853228,0.00497604080155,0.87263363228
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53,0.883333333,pose2-to-pose3-side,0.00487588510647,0.883588425608,0.00499557099714,0.872633580486
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54,0.900000000,pose2-to-pose3-side,0.00489032356865,0.883588351496,0.00501012916706,0.872633551496
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55,0.916666667,pose2-to-pose3-side,0.00490100570938,0.8835885,0.00502091638137,0.87263379515
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56,0.933333333,pose2-to-pose3-side,0.00490807577466,0.883588457284,0.00502805642408,0.872633814568
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57,0.950000000,pose2-to-pose3-side,0.00491205291971,0.8835884,0.00503207290676,0.872633676387
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58,0.966666667,pose2-to-pose3-side,0.00491490418786,0.88358841561,0.00503496696837,0.87263361561
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59,0.983333333,pose2-to-pose3-side,0.00491628594474,0.883588520616,0.0050363628406,0.872633720616
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60,1.000000000,pose2-to-pose3-side,0.00491697,0.8835886,0.005037101,0.8726339
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61,1.016666667,pose3-hold,0.00491697,0.8835886,0.005037118,0.8726339
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62,1.033333333,pose3-hold,0.00491697,0.8835886,0.00503713079412,0.8726339
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63,1.050000000,pose3-hold,0.00491697,0.8835886,0.00503713723529,0.8726339
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64,1.066666667,pose3-hold,0.00491697,0.8835886,0.00503714291176,0.872633955882
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65,1.083333333,pose3-hold,0.00491697,0.8835886,0.00503714682353,0.872634
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66,1.100000000,pose3-hold,0.00491697,0.8835886,0.00503714879412,0.872634
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67,1.116666667,pose3-hold,0.00491697,0.8835886,0.00503715147059,0.872634
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68,1.133333333,pose3-hold,0.00491697,0.8835886,0.00503715488235,0.872634
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69,1.150000000,pose3-hold,0.00491697,0.8835886,0.005037155,0.872634
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70,1.166666667,pose3-hold,0.00491697,0.8835886,0.00503715635294,0.872634067647
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71,1.183333333,pose3-hold,0.00491697,0.8835886,0.00503715435294,0.8726341
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72,1.200000000,pose3-hold,0.00491697,0.8835886,0.00503715085294,0.8726341
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73,1.216666667,pose3-hold,0.00491697,0.8835886,0.00503714711765,0.8726341
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74,1.233333333,pose3-hold,0.00491697,0.8835886,0.00503713941176,0.8726341
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75,1.250000000,pose3-hold,0.00491697,0.8835886,0.00503712405882,0.8726341
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76,1.266666667,pose3-hold,0.00491697,0.8835886,0.00503712141176,0.8726341
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77,1.283333333,pose3-hold,0.00491697,0.8835886,0.00503711129412,0.8726341
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78,1.300000000,pose3-hold,0.00491697,0.8835886,0.0050371025,0.8726341
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79,1.316666667,pose3-hold,0.00491697,0.8835886,0.00503709547059,0.8726341
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80,1.333333333,pose3-hold,0.00491697,0.8835886,0.00503708714706,0.8726341
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81,1.350000000,pose3-hold,0.00491697,0.8835886,0.00503707941176,0.8726341
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82,1.366666667,pose3-hold,0.00491697,0.8835886,0.00503707088235,0.8726341
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83,1.383333333,pose3-hold,0.00491697,0.8835886,0.00503706388235,0.8726341
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84,1.400000000,pose3-hold,0.00491697,0.8835886,0.00503705644118,0.8726341
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85,1.416666667,pose3-hold,0.00491697,0.8835886,0.00503704876471,0.8726341
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86,1.433333333,pose3-hold,0.00491697,0.8835886,0.00503704076471,0.8726341
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87,1.450000000,pose3-hold,0.00491697,0.8835886,0.00503703276471,0.8726341
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88,1.466666667,pose3-hold,0.00491697,0.8835886,0.00503702673529,0.8726341
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89,1.483333333,pose3-hold,0.00491697,0.8835886,0.00503701905882,0.8726341
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90,1.500000000,pose3-hold,0.00491697,0.8835886,0.00503701579412,0.8726341
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91,1.516666667,pose3-hold,0.00491697,0.8835886,0.00503701382353,0.872634041176
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92,1.533333333,pose3-hold,0.00491697,0.8835886,0.00503700902941,0.872634
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93,1.550000000,pose3-hold,0.00491697,0.8835886,0.00503700458824,0.872634029412
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94,1.566666667,pose3-hold,0.00491697,0.8835886,0.005037006,0.8726341
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95,1.583333333,pose3-hold,0.00491697,0.8835886,0.005037006,0.8726341
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96,1.600000000,pose3-to-pose4-insert,0.00491697,0.8835886,0.005037005,0.8726341
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97,1.616666667,pose3-to-pose4-insert,0.00491688443215,0.883588321548,0.00503690809593,0.872633710341
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98,1.633333333,pose3-to-pose4-insert,0.00491695643497,0.883588090346,0.00503697910789,0.87263344611
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99,1.650000000,pose3-to-pose4-insert,0.00491705450645,0.883587775438,0.00503707582975,0.872633086215
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100,1.666666667,pose3-to-pose4-insert,0.00491707085236,0.883587622728,0.005037091466,0.872632927558
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101,1.683333333,pose3-to-pose4-insert,0.00491705599208,0.883587462077,0.00503707580247,0.872632776947
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102,1.700000000,pose3-to-pose4-insert,0.00491703285548,0.883587211951,0.00503705141523,0.872632542454
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103,1.716666667,pose3-to-pose4-insert,0.00491701969689,0.883587069696,0.00503703754537,0.87263240909
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104,1.733333333,pose3-to-pose4-insert,0.00491696760158,0.883586506504,0.00503698263409,0.872631881097
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105,1.750000000,pose3-to-pose4-insert,0.0049169325342,0.883586049905,0.00503694576994,0.872631449905
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106,1.766666667,pose3-to-pose4-insert,0.00491693978412,0.883585906593,0.00503695369427,0.872631306593
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107,1.783333333,pose3-to-pose4-insert,0.0049170187113,0.883584346405,0.00503703996351,0.872629746405
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108,1.800000000,pose3-to-pose4-insert,0.00491697035146,0.883578227325,0.00503697909784,0.872623627325
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109,1.816666667,pose3-to-pose4-insert,0.00491701214916,0.883565107937,0.00503702627186,0.872610407937
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110,1.833333333,pose3-to-pose4-insert,0.00491717897798,0.883535760359,0.00503718973568,0.872581160359
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111,1.850000000,pose3-to-pose4-insert,0.00491713455384,0.883490002111,0.00503717303194,0.872535402111
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112,1.866666667,pose3-to-pose4-insert,0.00491706020806,0.883427998855,0.005037072623,0.872473398855
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113,1.883333333,pose3-to-pose4-insert,0.00491727834146,0.883342805097,0.00503725990656,0.872388205097
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114,1.900000000,pose3-to-pose4-insert,0.00491699316314,0.883241378875,0.00503697108853,0.872286778875
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115,1.916666667,pose3-to-pose4-insert,0.00491727026764,0.883135615447,0.00503721537017,0.872180923969
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116,1.933333333,pose3-to-pose4-insert,0.00491724670865,0.883017926815,0.00503716513671,0.872063326815
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117,1.950000000,pose3-to-pose4-insert,0.00491735010498,0.882889980033,0.00503727123105,0.871935380033
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118,1.966666667,pose3-to-pose4-insert,0.00491726285321,0.882763403781,0.00503717869177,0.871808731733
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119,1.983333333,pose3-to-pose4-insert,0.00491735805409,0.882618840299,0.00503726683966,0.871664229077
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120,2.000000000,pose3-to-pose4-insert,0.00491730614411,0.882464971911,0.00503723358867,0.871510271911
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121,2.016666667,pose3-to-pose4-insert,0.00491745481343,0.882312104993,0.0050373954189,0.871357404993
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122,2.033333333,pose3-to-pose4-insert,0.00491734412078,0.882148324112,0.00503727875311,0.871193605899
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123,2.050000000,pose3-to-pose4-insert,0.00491725715357,0.881973475075,0.0050371860208,0.871018703706
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124,2.066666667,pose3-to-pose4-insert,0.00491727351193,0.881804573804,0.00503720657935,0.870849842074
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125,2.083333333,pose3-to-pose4-insert,0.0049168518574,0.88161687967,0.00503677346947,0.87066207967
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126,2.100000000,pose3-to-pose4-insert,0.00491663015768,0.881425523991,0.00503657055651,0.870470669711
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127,2.116666667,pose3-to-pose4-insert,0.00491628149486,0.881242558769,0.00503625383386,0.870287658769
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128,2.133333333,pose3-to-pose4-insert,0.00491602012843,0.881058344342,0.00503599366518,0.870103381458
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129,2.150000000,pose3-to-pose4-insert,0.00491618719512,0.880870964299,0.00503614945783,0.869915964299
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130,2.166666667,pose3-to-pose4-insert,0.00491652602946,0.880697151842,0.00503657770755,0.869742085167
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131,2.183333333,pose3-to-pose4-insert,0.00491673488781,0.880504679805,0.00503672774829,0.869549656378
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132,2.200000000,pose3-to-pose4-insert,0.00491693723725,0.88031107572,0.00503702980415,0.869355986824
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133,2.216666667,pose3-to-pose4-insert,0.00491741295947,0.880127709906,0.00503736572667,0.869172609906
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134,2.233333333,pose3-to-pose4-insert,0.00491685072176,0.879950889869,0.00503694666011,0.868995689869
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135,2.250000000,pose3-to-pose4-insert,0.00491637525211,0.87977844008,0.00503655111462,0.86882324008
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136,2.266666667,pose3-to-pose4-insert,0.00491589593195,0.879633777892,0.00503609178423,0.868678562551
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137,2.283333333,pose3-to-pose4-insert,0.00491552618485,0.879489081908,0.00503571141468,0.868533799477
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138,2.300000000,pose3-to-pose4-insert,0.00491518230838,0.879352355707,0.005035368481,0.868397135593
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139,2.316666667,pose3-to-pose4-insert,0.00491496817368,0.879228288907,0.00503510101045,0.868272969273
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140,2.333333333,pose3-to-pose4-insert,0.00491560533205,0.879113156019,0.00503558339977,0.868157756019
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141,2.350000000,pose3-to-pose4-insert,0.00491613274435,0.87900155148,0.00503607474278,0.868046126482
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142,2.366666667,pose3-to-pose4-insert,0.00491653031859,0.878907290378,0.00503656555078,0.867951767299
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143,2.383333333,pose3-to-pose4-insert,0.00491701598472,0.878816819553,0.00503710880817,0.867861246847
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144,2.400000000,pose3-to-pose4-insert,0.00491745290531,0.878735456801,0.00503756058006,0.867779923548
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145,2.416666667,pose3-to-pose4-insert,0.00491789710764,0.878666953107,0.00503800834842,0.86771138842
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