Upload Part2/Free/s1 (part 15)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +10 -0
- Part2/Free/s1/cylinder_0050_10/width_04/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0050_10/width_04/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_04/insert/simulation_data.csv +908 -0
- Part2/Free/s1/cylinder_0050_10/width_04/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_04/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_04/pick/franka_data.csv +206 -0
- Part2/Free/s1/cylinder_0050_10/width_04/pick/simulation_data.csv +206 -0
- Part2/Free/s1/cylinder_0050_10/width_05/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_05/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0050_10/width_05/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_05/insert/simulation_data.csv +906 -0
- Part2/Free/s1/cylinder_0050_10/width_05/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_05/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_05/pick/franka_data.csv +207 -0
- Part2/Free/s1/cylinder_0050_10/width_05/pick/simulation_data.csv +207 -0
- Part2/Free/s1/cylinder_0050_10/width_06/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_06/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0050_10/width_06/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_06/insert/simulation_data.csv +895 -0
- Part2/Free/s1/cylinder_0050_10/width_06/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_06/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_06/pick/franka_data.csv +205 -0
- Part2/Free/s1/cylinder_0050_10/width_06/pick/simulation_data.csv +205 -0
- Part2/Free/s1/cylinder_0050_10/width_07/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_07/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0050_10/width_07/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_07/insert/simulation_data.csv +905 -0
- Part2/Free/s1/cylinder_0050_10/width_07/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_07/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_07/pick/franka_data.csv +207 -0
- Part2/Free/s1/cylinder_0050_10/width_07/pick/simulation_data.csv +207 -0
- Part2/Free/s1/cylinder_0050_10/width_08/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_08/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0050_10/width_08/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_08/insert/simulation_data.csv +907 -0
- Part2/Free/s1/cylinder_0050_10/width_08/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_08/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_08/pick/franka_data.csv +204 -0
- Part2/Free/s1/cylinder_0050_10/width_08/pick/simulation_data.csv +204 -0
- Part2/Free/s1/cylinder_0050_10/width_09/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_09/insert/fem_node.csv +3 -0
- Part2/Free/s1/cylinder_0050_10/width_09/insert/franka_data.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_09/insert/simulation_data.csv +907 -0
- Part2/Free/s1/cylinder_0050_10/width_09/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_09/pick/fem_node.csv +0 -0
- Part2/Free/s1/cylinder_0050_10/width_09/pick/franka_data.csv +206 -0
- Part2/Free/s1/cylinder_0050_10/width_09/pick/simulation_data.csv +206 -0
- Part2/Free/s1/cylinder_0050_10/width_10/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/cylinder_0050_10/width_10/insert/fem_node.csv +3 -0
.gitattributes
CHANGED
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@@ -10649,3 +10649,13 @@ Part2/Free/s1/cylinder_0030_20/width_10/insert/fem_node.csv filter=lfs diff=lfs
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| 10649 |
Part2/Free/s1/cylinder_0050_10/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0050_10/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0050_10/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10649 |
Part2/Free/s1/cylinder_0050_10/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10650 |
Part2/Free/s1/cylinder_0050_10/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10651 |
Part2/Free/s1/cylinder_0050_10/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0050_10/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0050_10/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0050_10/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0050_10/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10656 |
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Part2/Free/s1/cylinder_0050_10/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10657 |
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Part2/Free/s1/cylinder_0050_10/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10658 |
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Part2/Free/s1/cylinder_0050_10/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10659 |
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Part2/Free/s1/cylinder_0050_12.5/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0050_12.5/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10661 |
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Part2/Free/s1/cylinder_0050_12.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/cylinder_0050_10/width_04/insert/fem_node.csv
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:955272ad128abdd708d99b5d6bcb84d5b46f2577e656585e6dcf774ea5361e11
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+
size 38697722
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Part2/Free/s1/cylinder_0050_10/width_04/insert/franka_data.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_0050_10/width_04/insert/simulation_data.csv
ADDED
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@@ -0,0 +1,908 @@
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.123071e-05,0.8835849,8.882026e-06,0.8726301
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.11140309712e-05,0.883584809712,9.01392756557e-06,0.872630009712
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.08992337461e-05,0.883584832927,9.22858615364e-06,0.872630032927
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.04312850511e-05,0.883584886794,9.69340648086e-06,0.872630086794
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-7.93443499516e-05,0.883584630365,1.07898474303e-05,0.872629830365
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.89970439732e-05,0.883584548428,1.11401907921e-05,0.872629748428
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.86676741866e-05,0.883584512083,1.14725745673e-05,0.872629708055
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.81554249899e-05,0.883584561959,1.19898546004e-05,0.872629741306
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.76796864845e-05,0.88358460828,1.24702653679e-05,0.872629772187
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.71495062018e-05,0.883584659902,1.30056525894e-05,0.872629806601
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.68223514262e-05,0.883584691756,1.33360203757e-05,0.872629827837
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.29689458469e-05,0.8835848,1.7209870723e-05,0.872629947872
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.49157276793e-05,0.883584916237,2.52980987947e-05,0.872630116237
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-4.5304856151e-05,0.883585067619,4.50368907009e-05,0.872630251429
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-1.20047416321e-05,0.883585059896,7.85461662903e-05,0.872630159896
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,3.63107616645e-05,0.883585338088,0.000127131390084,0.872630476177
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,9.62140264023e-05,0.883585647368,0.000187458405023,0.872630764912
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000175094318234,0.883585548354,0.000266818041255,0.872630578024
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000267695328918,0.883586316889,0.000359787374282,0.872631347407
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000372172946677,0.88358661329,0.000464707442073,0.872631609968
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000488184714695,0.883587089222,0.000581539995684,0.872631959482
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000618360656263,0.883587579479,0.000712638352576,0.872632435374
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000755179756755,0.883588028122,0.000850317597556,0.872632928122
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000911208032931,0.883589,0.0010070693026,0.872633898509
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00107314637286,0.883589062215,0.00116999227745,0.872633862215
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00124427923575,0.883589339211,0.0013419836574,0.8726341
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00142407409695,0.883589514788,0.00152305370469,0.872634214788
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00160165357541,0.883589877079,0.00170186683868,0.872634577079
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00176208213385,0.883590268401,0.00186334847502,0.872635035501
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00193311829991,0.883590331043,0.00203549230931,0.8726352
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00210027931212,0.883590366882,0.00220370260387,0.872635333765
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00226593350286,0.883590211322,0.00237036447186,0.872635211322
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.0024453244978,0.883589834766,0.00255087719705,0.872634901074
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00263107223041,0.883589773562,0.00273775371361,0.8726348
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00280584327937,0.883589499188,0.00291356786184,0.872634499188
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00299582180908,0.883589312615,0.00310469038734,0.872634312615
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00317948817352,0.883589496726,0.00328949929374,0.872634496726
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00335131640554,0.883589910735,0.0034623738956,0.872634910735
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00352027060802,0.883590144361,0.00363233798033,0.872635159148
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00367937128587,0.88359049089,0.00379242615386,0.872635613613
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00381170138774,0.88359081695,0.0039255654423,0.87263601695
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00394617131662,0.883590845607,0.00406087375056,0.872636045607
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00407193865384,0.883590505205,0.00418735758646,0.872635724164
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00418626442519,0.883590047825,0.00430217342755,0.872635330433
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00429836309105,0.883589709653,0.00441481471545,0.872634887066
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00440324140782,0.883589274801,0.00452046168087,0.872634374801
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00448842757258,0.883588941579,0.00460629443016,0.872634041579
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00456729998059,0.883588738029,0.00468576273788,0.872633869015
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00463528473535,0.883588538662,0.0047542156247,0.8726338
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00469182680963,0.8835884,0.00481114325816,0.8726338
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00474313313156,0.8835884,0.00486281564417,0.872633826986
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00478678390866,0.883588370556,0.0049067706845,0.872633870556
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00481905358582,0.883588258384,0.0049392153532,0.872633758384
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00484643524973,0.8835881,0.00496668039635,0.872633615667
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486813538367,0.883588064363,0.00498844148919,0.872633664363
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.0048836102252,0.883587803669,0.00500404146422,0.872633403669
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.0048961817319,0.883587894672,0.00501671697752,0.8726334
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.0049050569534,0.883587993775,0.00502565796911,0.8726334
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491062004635,0.883587728988,0.00503126569816,0.872633219325
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491438400185,0.883587892198,0.00503504553372,0.872633392198
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491625600036,0.883587865812,0.00503692852174,0.872633265812
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.004916899,0.8835879,0.005037608,0.8726332
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916899,0.8835879,0.005037613,0.8726332
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916899,0.8835879,0.00503761726471,0.8726332
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916899,0.8835879,0.00503762011765,0.8726332
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916899,0.8835879,0.00503762379412,0.872633255882
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916899,0.8835879,0.00503762558824,0.8726333
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916899,0.8835879,0.00503762314706,0.8726333
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916899,0.8835879,0.00503761741176,0.8726333
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916899,0.8835879,0.00503761314706,0.8726333
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916899,0.8835879,0.005037613,0.8726333
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916899,0.8835879,0.00503761164706,0.872633232353
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916899,0.8835879,0.00503760464706,0.8726332
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916899,0.8835879,0.00503760129412,0.8726332
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916899,0.8835879,0.00503760829412,0.8726332
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916899,0.8835879,0.00503761847059,0.8726332
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916899,0.8835879,0.00503761335294,0.8726332
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916899,0.8835879,0.00503760902941,0.8726332
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916899,0.8835879,0.00503760217647,0.8726332
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916899,0.8835879,0.0050376,0.8726332
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916899,0.8835879,0.00503759535294,0.8726332
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916899,0.8835879,0.00503758623529,0.8726332
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82,1.366666667,pose3-hold,0.004916899,0.8835879,0.00503759105882,0.8726332
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83,1.383333333,pose3-hold,0.004916899,0.8835879,0.00503759191176,0.8726332
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84,1.400000000,pose3-hold,0.004916899,0.8835879,0.005037592,0.8726332
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85,1.416666667,pose3-hold,0.004916899,0.8835879,0.00503759076471,0.8726332
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86,1.433333333,pose3-hold,0.004916899,0.8835879,0.00503758858824,0.8726332
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87,1.450000000,pose3-hold,0.004916899,0.8835879,0.00503758732353,0.8726332
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88,1.466666667,pose3-hold,0.004916899,0.8835879,0.00503758694118,0.8726332
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89,1.483333333,pose3-hold,0.004916899,0.8835879,0.00503758211765,0.8726332
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90,1.500000000,pose3-hold,0.004916899,0.8835879,0.00503758552941,0.8726332
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91,1.516666667,pose3-hold,0.004916899,0.8835879,0.00503758526471,0.8726332
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92,1.533333333,pose3-hold,0.004916899,0.8835879,0.00503758147059,0.8726332
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93,1.550000000,pose3-hold,0.004916899,0.8835879,0.005037579,0.8726332
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94,1.566666667,pose3-hold,0.004916899,0.8835879,0.00503757723529,0.8726332
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95,1.583333333,pose3-hold,0.004916899,0.8835879,0.00503757344118,0.8726332
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96,1.600000000,pose3-hold,0.004916899,0.8835879,0.005037576,0.8726332
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97,1.616666667,pose3-to-pose4-insert,0.004916899,0.8835879,0.005037576,0.8726332
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98,1.633333333,pose3-to-pose4-insert,0.00491686332252,0.883587596807,0.00503753339703,0.872632930495
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99,1.650000000,pose3-to-pose4-insert,0.0049167982452,0.883586743369,0.00503748390576,0.872632143369
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100,1.666666667,pose3-to-pose4-insert,0.00491679755199,0.883586507678,0.00503748473761,0.872631907678
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101,1.683333333,pose3-to-pose4-insert,0.00491679686003,0.883586272409,0.00503748556797,0.872631672409
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102,1.700000000,pose3-to-pose4-insert,0.00491679514058,0.883585687797,0.0050374876313,0.872631087797
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103,1.716666667,pose3-to-pose4-insert,0.00491679458045,0.883585497351,0.00503748830347,0.872630897351
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104,1.733333333,pose3-to-pose4-insert,0.00491680773463,0.883584984612,0.00503750385375,0.872630384612
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105,1.750000000,pose3-to-pose4-insert,0.0049168182411,0.883584743353,0.0050375152163,0.872630143353
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106,1.766666667,pose3-to-pose4-insert,0.00491684790651,0.883584062147,0.0050375472989,0.872629462147
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107,1.783333333,pose3-to-pose4-insert,0.00491686638554,0.883583637813,0.00503756728362,0.872629037813
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108,1.800000000,pose3-to-pose4-insert,0.00491693982969,0.883581482533,0.0050376429869,0.872626882533
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109,1.816666667,pose3-to-pose4-insert,0.00491700450126,0.883576309121,0.00503768997128,0.872621709121
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110,1.833333333,pose3-to-pose4-insert,0.00491685925586,0.883562554382,0.00503754861509,0.872607954382
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111,1.850000000,pose3-to-pose4-insert,0.00491705024922,0.883535208597,0.00503774533871,0.872580694978
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112,1.866666667,pose3-to-pose4-insert,0.00491682667805,0.88348844043,0.00503754623015,0.872533932809
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113,1.883333333,pose3-to-pose4-insert,0.00491687897219,0.883426768044,0.00503761788878,0.872472221192
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114,1.900000000,pose3-to-pose4-insert,0.0049170149779,0.883343531438,0.00503777486105,0.872389014164
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115,1.916666667,pose3-to-pose4-insert,0.00491718938581,0.883244303831,0.00503799508245,0.872289703831
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116,1.933333333,pose3-to-pose4-insert,0.00491707744185,0.883136730376,0.00503790285131,0.872182222068
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117,1.950000000,pose3-to-pose4-insert,0.00491728512638,0.883019946569,0.00503813495576,0.872065346569
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118,1.966666667,pose3-to-pose4-insert,0.00491714579362,0.882887631197,0.00503799828374,0.871933031197
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119,1.983333333,pose3-to-pose4-insert,0.00491732032546,0.882751898572,0.00503818975032,0.871797382477
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120,2.000000000,pose3-to-pose4-insert,0.00491771553967,0.882606666985,0.00503860551593,0.871652166985
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121,2.016666667,pose3-to-pose4-insert,0.00491779671272,0.88244951329,0.00503872346032,0.87149491329
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122,2.033333333,pose3-to-pose4-insert,0.0049181367799,0.882284882057,0.00503906234809,0.871330282057
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123,2.050000000,pose3-to-pose4-insert,0.00491843604802,0.88212029885,0.00503937355725,0.871165661581
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124,2.066666667,pose3-to-pose4-insert,0.0049187065132,0.881954310142,0.00503964899274,0.870999610142
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125,2.083333333,pose3-to-pose4-insert,0.00491887825253,0.88179214379,0.00503983607242,0.870837403624
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126,2.100000000,pose3-to-pose4-insert,0.00491876543056,0.881623573153,0.00503972761309,0.870668773153
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127,2.116666667,pose3-to-pose4-insert,0.00491862722728,0.881448664914,0.00503958857335,0.870493864914
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128,2.133333333,pose3-to-pose4-insert,0.0049184694527,0.881265384031,0.00503942753005,0.870310584031
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129,2.150000000,pose3-to-pose4-insert,0.00491818972608,0.881073360075,0.00503912100942,0.870118504711
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130,2.166666667,pose3-to-pose4-insert,0.00491773462982,0.880874807068,0.00503862819336,0.869919907068
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131,2.183333333,pose3-to-pose4-insert,0.00491707535846,0.880679523437,0.00503800206457,0.869724623437
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132,2.200000000,pose3-to-pose4-insert,0.00491665517544,0.880487881007,0.00503756931366,0.869532894801
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133,2.216666667,pose3-to-pose4-insert,0.00491600285354,0.880299058055,0.00503670597361,0.869344153833
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134,2.233333333,pose3-to-pose4-insert,0.00491532503169,0.880114351314,0.00503606742937,0.869159351314
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135,2.250000000,pose3-to-pose4-insert,0.00491548730992,0.879934627966,0.00503630644008,0.868979610762
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136,2.266666667,pose3-to-pose4-insert,0.00491576988676,0.879766698887,0.00503647472846,0.868811598887
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137,2.283333333,pose3-to-pose4-insert,0.00491597354993,0.879612695136,0.00503669331821,0.868657595136
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138,2.300000000,pose3-to-pose4-insert,0.00491616263838,0.879471279604,0.0050368194094,0.868516148279
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139,2.316666667,pose3-to-pose4-insert,0.00491644834725,0.879340355149,0.00503713974021,0.868385094409
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140,2.333333333,pose3-to-pose4-insert,0.00491668476068,0.879223370918,0.00503725762034,0.868267945765
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141,2.350000000,pose3-to-pose4-insert,0.0049167787796,0.879111203609,0.00503732323612,0.868155681133
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142,2.366666667,pose3-to-pose4-insert,0.00491721848508,0.879001665741,0.00503792954639,0.868046117782
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143,2.383333333,pose3-to-pose4-insert,0.00491761452887,0.878905791876,0.00503840761468,0.867950417305
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144,2.400000000,pose3-to-pose4-insert,0.00491766045737,0.878818884349,0.00503846311783,0.867863558923
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145,2.416666667,pose3-to-pose4-insert,0.00491770234872,0.878736754408,0.00503842193772,0.8677812899
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146,2.433333333,pose3-to-pose4-insert,0.00491794234855,0.878667229798,0.00503848309682,0.867711665965
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147,2.450000000,pose3-to-pose4-insert,0.00491817046954,0.878610821155,0.00503863590682,0.86765528818
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148,2.466666667,pose3-to-pose4-insert,0.00491812486545,0.878559808086,0.00503859531455,0.867604244041
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149,2.483333333,pose3-to-pose4-insert,0.00491815862684,0.878518090386,0.00503869252023,0.867562627225
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150,2.500000000,pose3-to-pose4-insert,0.0049182933417,0.878486048397,0.00503888159274,0.867530648397
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151,2.516666667,pose3-to-pose4-insert,0.00491835725727,0.878459219129,0.0050389770466,0.867503846993
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152,2.533333333,pose3-to-pose4-insert,0.00491843323812,0.878438532843,0.00503901957185,0.867483185218
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153,2.550000000,pose3-to-pose4-insert,0.00491843662647,0.878423164486,0.00503902837353,0.867467664486
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154,2.566666667,pose3-to-pose4-insert,0.00491845464398,0.878412099468,0.00503902302857,0.867456599468
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155,2.583333333,pose3-to-pose4-insert,0.00491850874988,0.878403937729,0.0050391165676,0.867448437729
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156,2.600000000,pose3-to-pose4-insert,0.00491834575642,0.878398037214,0.00503899959945,0.867442537214
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157,2.616666667,pose3-to-pose4-insert,0.00491838786912,0.878393971142,0.00503904606039,0.867438355034
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158,2.633333333,pose3-to-pose4-insert,0.004918683,0.8783926,0.005039443,0.8674373
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159,2.650000000,pose4-hold,0.004918683,0.8783926,0.005039434,0.8674371
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160,2.666666667,pose4-hold,0.004918683,0.8783926,0.00503942802941,0.867437014706
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161,2.683333333,pose4-hold,0.004918683,0.8783926,0.00503943123529,0.867436929412
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162,2.700000000,pose4-hold,0.004918683,0.8783926,0.00503943747059,0.8674369
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163,2.716666667,pose4-hold,0.004918683,0.8783926,0.00503944429412,0.8674369
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164,2.733333333,pose4-hold,0.004918683,0.8783926,0.00503944714706,0.867436926471
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165,2.750000000,pose4-hold,0.004918683,0.8783926,0.00503944223529,0.867437
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166,2.766666667,pose4-hold,0.004918683,0.8783926,0.00503944394118,0.867437
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167,2.783333333,pose4-hold,0.004918683,0.8783926,0.00503945141176,0.867437
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168,2.800000000,pose4-hold,0.004918683,0.8783926,0.00503945976471,0.867437
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169,2.816666667,pose4-hold,0.004918683,0.8783926,0.00503946141176,0.867437
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170,2.833333333,pose4-hold,0.004918683,0.8783926,0.00503946038235,0.867437
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171,2.850000000,pose4-hold,0.004918683,0.8783926,0.00503945794118,0.867437
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172,2.866666667,pose4-hold,0.004918683,0.8783926,0.005039448,0.867437
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173,2.883333333,pose4-hold,0.004918683,0.8783926,0.005039448,0.867437
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174,2.900000000,pose4-hold,0.004918683,0.8783926,0.00503944005882,0.867436920588
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175,2.916666667,pose4-hold,0.004918683,0.8783926,0.00503943347059,0.8674369
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176,2.933333333,pose4-hold,0.004918683,0.8783926,0.005039431,0.8674369
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177,2.950000000,pose4-hold,0.004918683,0.8783926,0.00503942958824,0.8674369
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178,2.966666667,pose4-hold,0.004918683,0.8783926,0.00503942494118,0.8674369
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179,2.983333333,pose4-hold,0.004918683,0.8783926,0.00503941741176,0.8674369
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180,3.000000000,pose4-hold,0.004918683,0.8783926,0.00503942338235,0.8674369
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181,3.016666667,pose4-hold,0.004918683,0.8783926,0.00503941864706,0.8674369
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182,3.033333333,pose4-hold,0.004918683,0.8783926,0.00503941452941,0.8674369
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183,3.050000000,pose4-hold,0.004918683,0.8783926,0.00503941252941,0.8674369
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184,3.066666667,pose4-hold,0.004918683,0.8783926,0.00503941038235,0.8674369
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185,3.083333333,pose4-hold,0.004918683,0.8783926,0.00503940682353,0.8674369
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186,3.100000000,pose4-hold,0.004918683,0.8783926,0.00503940594118,0.8674369
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187,3.116666667,pose4-hold,0.004918683,0.8783926,0.00503940423529,0.8674369
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188,3.133333333,pose4-hold,0.004918683,0.8783926,0.00503939885294,0.8674369
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189,3.150000000,pose4-hold,0.004918683,0.8783926,0.00503940111765,0.8674369
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190,3.166666667,pose4-hold,0.004918683,0.8783926,0.00503940267647,0.8674369
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191,3.183333333,pose4-hold,0.004918683,0.8783926,0.00503940129412,0.8674369
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192,3.200000000,pose4-hold,0.004918683,0.8783926,0.00503940214706,0.8674369
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194,3.233333333,pose4-to-pose5-return,0.004918683,0.8783926,0.005039381,0.8674369
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195,3.250000000,pose4-to-pose5-return,0.00491826703741,0.878392996286,0.00503896514085,0.867437396286
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196,3.266666667,pose4-to-pose5-return,0.00491800863059,0.878393328546,0.00503871327465,0.867437728546
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201,3.350000000,pose4-to-pose5-return,0.00491618672428,0.878395036098,0.00503684887367,0.867439377592
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Part2/Free/s1/cylinder_0050_10/width_04/pick/camera_frames_60hz.tar
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Part2/Free/s1/cylinder_0050_10/width_04/pick/fem_node.csv
ADDED
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Part2/Free/s1/cylinder_0050_10/width_04/pick/franka_data.csv
ADDED
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79307298004e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002901_1793072980044290983_real.jpg,0.675991370618,-0.00540602111329,0.0969095851011,0.999999968948,0.000152276706515,-0.000176355732186,8.83971983919e-05,0.036602601409
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79307298006e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002902_1793072980075253363_interpolated.jpg,0.675990366262,-0.00540705585901,0.0969088897626,0.999999968823,0.000151603119829,-0.000177100033611,8.94754222795e-05,0.036602601409
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.79307298008e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002902_1793072980075253363_interpolated.jpg,0.675989703861,-0.00540803728334,0.0969084557474,0.999999968741,0.000151131278531,-0.000177472273731,9.044949492e-05,0.036602601409
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79307298009e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002903_1793072980106215743_real.jpg,0.675991103165,-0.00540869722499,0.0969095972899,0.999999968927,0.000151875790717,-0.000175601299936,9.07956239282e-05,0.036602601409
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79307298011e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002903_1793072980106215743_real.jpg,0.675991498761,-0.00540896553149,0.0969101598597,0.999999969016,0.000151975689222,-0.000175150621575,9.05161373207e-05,0.036602601409
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79307298012e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002904_1793072980124517791_interpolated.jpg,0.675989926488,-0.0054076399343,0.096909371113,0.999999968836,0.000151438326571,-0.000177404154538,8.90035210941e-05,0.036602601409
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79307298015e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002905_1793072980142819840_real.jpg,0.675990669574,-0.00540414266396,0.0969090095634,0.999999968572,0.000154680639117,-0.000176111510587,8.89640385018e-05,0.036602601409
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79307298016e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002906_1793072980174596324_interpolated.jpg,0.675990247564,-0.00540567611744,0.0969083412593,0.999999968694,0.000152603350936,-0.00017730638547,8.88031998504e-05,0.036602601409
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.79307298018e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002906_1793072980174596324_interpolated.jpg,0.675990155603,-0.00540700341173,0.0969082594758,0.999999968855,0.000150970862584,-0.000177897914112,8.86022410172e-05,0.0365945919714
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79307298019e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002907_1793072980206372808_real.jpg,0.675991550259,-0.00540740211818,0.0969108195141,0.999999969209,0.000151341853751,-0.000175771834178,8.82205717697e-05,0.0365505062067
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79307298021e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002907_1793072980206372808_real.jpg,0.675992468612,-0.00540739120858,0.0969123556773,0.999999969402,0.000151654735315,-0.000174429373196,8.81525180679e-05,0.036518547684
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.79307298023e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002908_1793072980224867826_interpolated.jpg,0.675992011305,-0.0054064213145,0.0969112600291,0.999999969188,0.000151922708535,-0.000175144047235,8.87064477657e-05,0.036518547684
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79307298025e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002909_1793072980243362845_real.jpg,0.675990985805,-0.00540609455842,0.0969105256376,0.999999968988,0.000152631799785,-0.000175886657194,8.82682858114e-05,0.036518547684
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79307298026e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002910_1793072980274778846_interpolated.jpg,0.675990635455,-0.0054063647988,0.096910237333,0.999999968795,0.000151559435094,-0.00017777956686,8.85055417346e-05,0.036518547684
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,1.79307298028e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002910_1793072980274778846_interpolated.jpg,0.675990177113,-0.0054066012458,0.0969100596692,0.999999968559,0.000150622651631,-0.000179824962719,8.86426234572e-05,0.036518547684
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,1.79307298029e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002911_1793072980306194847_real.jpg,0.675989194214,-0.00540667354785,0.0969104194218,0.999999968127,0.000150344428218,-0.000182611031274,8.82931280395e-05,0.036518547684
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79307298031e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002911_1793072980306194847_real.jpg,0.675987328277,-0.00540716486646,0.0969103130572,0.999999967341,0.000150875285381,-0.000186772889423,8.75833932821e-05,0.036518547684
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.79307298033e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002912_1793072980324585375_interpolated.jpg,0.675983700445,-0.00540825734448,0.096909393848,0.999999965877,0.000152804341476,-0.000193568285009,8.61911476782e-05,0.036518547684
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79307298035e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002913_1793072980342975904_real.jpg,0.675981854693,-0.00540739882758,0.0969104329316,0.999999965365,0.000151866152085,-0.000197183339676,8.55874387938e-05,0.036518547684
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.79307298036e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002914_1793072980374297213_interpolated.jpg,0.675977503548,-0.00540712308097,0.0969158935079,0.999999964122,0.000150128991936,-0.000205826359917,8.27814431613e-05,0.036518547684
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.79307298038e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002914_1793072980374297213_interpolated.jpg,0.675970382876,-0.00540541134184,0.0969229748694,0.999999961435,0.000149162696922,-0.000220682641371,7.86169929572e-05,0.0365170826785
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,1.79307298039e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002915_1793072980405618523_real.jpg,0.675952158738,-0.00539794248476,0.0969365542112,0.999999952258,0.000151286920354,-0.000260448855913,6.90062864523e-05,0.0365097442379
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79307298041e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002915_1793072980405618523_real.jpg,0.675943885743,-0.0053922749124,0.0969697558518,0.999999948124,0.000151119066426,-0.00027835199826,5.86143323607e-05,0.0365047566593
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,1.79307298043e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002916_1793072980424236571_interpolated.jpg,0.675954455667,-0.00539199630972,0.0970329919836,0.999999955687,0.00014660565533,-0.000254521647717,4.85012129216e-05,0.0365047566593
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79307298045e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002917_1793072980442854619_real.jpg,0.675955995429,-0.00539690715818,0.097054588803,0.999999957445,0.000144177868652,-0.000249603911086,4.49579203001e-05,0.0365047566593
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.79307298046e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002918_1793072980474228982_interpolated.jpg,0.675956107851,-0.00539169788539,0.0971166358507,0.999999957669,0.00014236427777,-0.00025190888564,3.05977018647e-05,0.0365047566593
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.79307298048e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002918_1793072980474228982_interpolated.jpg,0.675955387922,-0.00538655427812,0.0971775369505,0.999999957541,0.000140328615617,-0.000254866260168,1.63941716897e-05,0.0365047566593
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79307298049e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002919_1793072980505603346_real.jpg,0.675951414586,-0.00538166733721,0.0972339588916,0.999999956656,0.000137424945041,-0.0002603736663,2.80308789488e-06,0.0365047566593
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,1.79307298051e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002919_1793072980505603346_real.jpg,0.675946441728,-0.00537583624857,0.0973070473619,0.999999954617,0.000133833933235,-0.000269535374694,-1.43245918056e-05,0.0365047566593
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,1.79307298053e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002920_1793072980524442371_interpolated.jpg,0.675941083164,-0.00536870895467,0.0973996028423,0.999999951108,0.000129846133288,-0.000282273665099,-3.52860732422e-05,0.0365047566593
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,1.79307298055e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002921_1793072980543281396_real.jpg,0.675943049253,-0.00536416130887,0.097430683111,0.999999952129,0.000130294143005,-0.000277530205196,-4.17390918217e-05,0.0365047566593
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,1.79307298056e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002922_1793072980574449310_interpolated.jpg,0.67594516095,-0.00535370672537,0.0975432760564,0.999999952034,0.000130166184918,-0.000274053804544,-6.23151937136e-05,0.0365047566593
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,1.79307298058e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002922_1793072980574449310_interpolated.jpg,0.675944335813,-0.00534646797543,0.0976535475707,0.999999950151,0.000136457050337,-0.000274595835675,-7.53321653742e-05,0.0365046227036
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,1.79307298059e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002923_1793072980605617224_real.jpg,0.675931030671,-0.00535289483266,0.0977539542201,0.999999941271,0.000170024551579,-0.000292214095967,-5.62267953719e-05,0.0365039195064
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,1.79307298061e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002923_1793072980605617224_real.jpg,0.675922826952,-0.0053601586969,0.097878400297,0.999999933265,0.000197489760672,-0.00030452764551,-4.16053172169e-05,0.0365034416318
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,1.79307298063e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002924_1793072980624236073_interpolated.jpg,0.675924775813,-0.00536779922737,0.0980327727816,0.999999930666,0.000208372926876,-0.000306174216515,-3.88025351737e-05,0.0365034416318
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,1.79307298065e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002925_1793072980642854922_real.jpg,0.675924687461,-0.00537155237263,0.0981111839405,0.999999932099,0.000195679944163,-0.0003091665544,-4.38978661368e-05,0.0365034416318
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,1.79307298066e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002926_1793072980674236749_interpolated.jpg,0.67593070635,-0.00539220352753,0.0982592026655,0.999999950119,8.42481374976e-05,-0.000302178599307,-3.67834564841e-05,0.0365034416318
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,1.79307298068e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002926_1793072980674236749_interpolated.jpg,0.675935206201,-0.00540929803779,0.0984094835542,0.999999955529,-5.18981843456e-07,-0.000296538724552,-3.17233316896e-05,0.0365034416318
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,1.79307298069e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002927_1793072980705618577_real.jpg,0.675933751695,-0.00541245113536,0.0985686317209,0.99999995535,1.92347209865e-05,-0.00029618309753,-3.47156387611e-05,0.0365034416318
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,1.79307298071e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002927_1793072980705618577_real.jpg,0.675930930452,-0.00540733036016,0.0987589481444,0.999999952861,5.20419539311e-05,-0.000300023342199,-3.94482660702e-05,0.0365034416318
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,1.79307298073e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002928_1793072980724769784_interpolated.jpg,0.675926505473,-0.00538764995945,0.0989805174447,0.999999945343,0.00010459970984,-0.000310151633164,-4.6677134307e-05,0.0365034416318
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,1.79307298074e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002929_1793072980743920992_real.jpg,0.675928196461,-0.00538252990167,0.0990373081169,0.999999944506,0.000117777553643,-0.00030789078794,-4.81530786714e-05,0.0365034416318
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,1.79307298076e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002930_1793072980774792923_interpolated.jpg,0.675923022958,-0.00538030601592,0.0992699124441,0.999999944341,8.99570381076e-05,-0.000317181224204,-5.12023870137e-05,0.0365034416318
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,1.79307298078e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002930_1793072980774792923_interpolated.jpg,0.675918679014,-0.00537711186585,0.0995008052578,0.999999943116,7.29338376112e-05,-0.000324833355343,-5.41557545726e-05,0.0365033213677
|
| 47 |
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45,0.750000000,pose1-to-pose2-lift,1.79307298079e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002931_1793072980805664855_real.jpg,0.675918388666,-0.00536917657969,0.0997233348678,0.999999939848,0.000108671043751,-0.00032448001169,-5.66403136391e-05,0.0365026134409
|
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|
Part2/Free/s1/cylinder_0050_10/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
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0,0.000000000,pose1-to-pose2-lift,-8.252678e-05,0.8455892,7.562627e-06,0.8346293
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1,0.016666667,pose1-to-pose2-lift,-8.25387771089e-05,0.845589543081,7.56751185299e-06,0.834629543081
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2,0.033333333,pose1-to-pose2-lift,-8.26855711049e-05,0.845589722489,7.41507921823e-06,0.834629783733
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3,0.050000000,pose1-to-pose2-lift,-8.27018333425e-05,0.845590169483,7.40261613914e-06,0.834630177112
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5,0.083333333,pose1-to-pose2-lift,-8.26854774134e-05,0.845590822552,7.40730574134e-06,0.834630822552
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6,0.100000000,pose1-to-pose2-lift,-8.26829985841e-05,0.84559119904,7.40791240548e-06,0.83463121231
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7,0.116666667,pose1-to-pose2-lift,-8.26833097749e-05,0.845591286454,7.40831881837e-06,0.834631305551
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8,0.133333333,pose1-to-pose2-lift,-8.26849464435e-05,0.845591746192,7.41045629538e-06,0.834631795938
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9,0.150000000,pose1-to-pose2-lift,-8.26880440402e-05,0.845592529047,7.41341626065e-06,0.834632629047
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11,0.183333333,pose1-to-pose2-lift,-8.269523913e-05,0.845593033818,7.40394991166e-06,0.834633133818
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15,0.250000000,pose1-to-pose2-lift,-8.27093290115e-05,0.845594022293,7.38541230634e-06,0.834634122293
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18,0.300000000,pose1-to-pose2-lift,-8.2615502187e-05,0.845598850843,7.48418302913e-06,0.834638934157
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24,0.400000000,pose1-to-pose2-lift,-8.29734302357e-05,0.845758622603,7.09552530749e-06,0.834798622603
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25,0.416666667,pose1-to-pose2-lift,-8.30769914651e-05,0.845812067202,7.0081244055e-06,0.834852067202
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33,0.550000000,pose1-to-pose2-lift,-8.39590274036e-05,0.846461681516,6.05446940876e-06,0.835501681516
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34,0.566666667,pose1-to-pose2-lift,-8.42019352926e-05,0.846572651792,5.80250799283e-06,0.835612651792
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35,0.583333333,pose1-to-pose2-lift,-8.38109233991e-05,0.846696420996,6.18338917833e-06,0.835736420996
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38,0.633333333,pose1-to-pose2-lift,-8.25337107738e-05,0.847126475981,7.44618974645e-06,0.836166475981
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39,0.650000000,pose1-to-pose2-lift,-8.20000884787e-05,0.847292824591,7.96013418602e-06,0.836332769448
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40,0.666666667,pose1-to-pose2-lift,-8.16886397948e-05,0.847457933405,8.27650494757e-06,0.836497892969
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41,0.683333333,pose1-to-pose2-lift,-8.1564105083e-05,0.847634898236,8.36763222774e-06,0.836674833299
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42,0.700000000,pose1-to-pose2-lift,-8.16543670469e-05,0.847826957749,8.25567095602e-06,0.836866857749
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58,0.966666667,pose1-to-pose2-lift,-8.20058614894e-05,0.852281893619,7.99417389065e-06,0.84132195998
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60,1.000000000,pose1-to-pose2-lift,-8.28223834234e-05,0.853014735358,7.12692895016e-06,0.842054735358
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61,1.016666667,pose1-to-pose2-lift,-8.30557267118e-05,0.853388090701,6.91429949866e-06,0.842428168571
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62,1.033333333,pose1-to-pose2-lift,-8.24214240966e-05,0.853750965732,7.57440145403e-06,0.842791065732
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63,1.050000000,pose1-to-pose2-lift,-8.17038526843e-05,0.854148299452,8.29565155992e-06,0.843188399452
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65,1.083333333,pose1-to-pose2-lift,-8.09323736304e-05,0.854930831823,9.13200493414e-06,0.843971031823
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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,-8.157207e-05,0.8835842,6.456266e-06,0.8726294
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.12271124495e-05,0.88358394652,6.7958569531e-06,0.87262906978
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.07388374907e-05,0.883584083332,7.28615057198e-06,0.872629274998
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.03541442005e-05,0.8835841,7.68032997098e-06,0.872629274122
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-7.97336028069e-05,0.8835841,8.31850299621e-06,0.872629224744
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.95284756348e-05,0.8835841,8.52945850919e-06,0.872629208421
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.9250841088e-05,0.8835841,8.81072714653e-06,0.8726292051
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.87843712152e-05,0.8835841,9.27889999268e-06,0.872629218946
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.78456125296e-05,0.8835841,1.02210858687e-05,0.872629246812
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.68601429065e-05,0.8835841,1.12101532129e-05,0.872629276064
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.44217806071e-05,0.8835841,1.36618161123e-05,0.872629271516
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.75742445415e-05,0.8835841,2.05516829232e-05,0.8726292
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-5.599012765e-05,0.883584142137,3.21909673373e-05,0.872629284274
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-3.2051157136e-05,0.88358438806,5.62603017678e-05,0.87262949403
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,5.82494759462e-06,0.883584691429,9.43739330329e-05,0.872629791429
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,6.0851387301e-05,0.883585116382,0.000149727407037,0.872630304096
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000130296715401,0.8835855,0.000219656136987,0.872630450781
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000219884629874,0.883586012333,0.000309682332511,0.8726309148
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000322049044865,0.883586706908,0.000412262310659,0.872631706908
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000439227444307,0.883587547246,0.000530146219013,0.87263239089
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000567452080042,0.883588164237,0.000659299130327,0.872632964237
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000706390817694,0.883589111404,0.000799062388613,0.872633876803
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.00084956902156,0.883590068935,0.000942991939668,0.87263482164
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.001002463879,0.883590261199,0.00109691118802,0.872635061199
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00116194566,0.88359003358,0.00125744201511,0.87263483358
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00132798264519,0.883589809523,0.00142453369509,0.872634609523
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00149891656782,0.883589494821,0.00159655249304,0.872634394821
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00167285203367,0.8835894,0.00177154136106,0.872634312818
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00185654971179,0.883589330217,0.00195642118403,0.872634330217
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.002033261876,0.883589072498,0.00213418052136,0.872634044996
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00220389867387,0.883588919073,0.00230583567751,0.872633846048
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00237990234598,0.883588728787,0.00248294129617,0.872633728787
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00256131307207,0.883588766372,0.00266544317859,0.872633766372
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00273180251628,0.883588634763,0.00283697694379,0.872633602145
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00291829855198,0.883588542135,0.00302463318419,0.87263348427
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35,0.583333333,pose2-to-pose3-side,0.00310123478145,0.883588908846,0.00320868208196,0.87263396032
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36,0.600000000,pose2-to-pose3-side,0.00327100438752,0.883589144449,0.00337948400991,0.872634188898
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37,0.616666667,pose2-to-pose3-side,0.00343467031029,0.883589396059,0.00354416359819,0.87263445527
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38,0.633333333,pose2-to-pose3-side,0.00359366757497,0.883589855678,0.00370411973687,0.872634891758
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39,0.650000000,pose2-to-pose3-side,0.0037327576151,0.883590059884,0.00384405080773,0.872635119768
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40,0.666666667,pose2-to-pose3-side,0.0038779408509,0.883590492407,0.00399011486974,0.872635657808
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41,0.683333333,pose2-to-pose3-side,0.0040154980208,0.88359048363,0.00412853245006,0.87263568363
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42,0.700000000,pose2-to-pose3-side,0.0041397164276,0.883590324147,0.00425353118695,0.872635524147
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43,0.716666667,pose2-to-pose3-side,0.0042538531175,0.883589983964,0.004368373688,0.872635183964
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44,0.733333333,pose2-to-pose3-side,0.00436010792292,0.8835899,0.00447530603871,0.872635184452
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45,0.750000000,pose2-to-pose3-side,0.00444759168352,0.883589498909,0.0045633050155,0.872634798909
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46,0.766666667,pose2-to-pose3-side,0.00453178125218,0.883589566488,0.00464802179561,0.872634783244
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47,0.783333333,pose2-to-pose3-side,0.00460636162416,0.88358942749,0.00472307491022,0.8726348
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48,0.800000000,pose2-to-pose3-side,0.00466944497207,0.883589572318,0.00478654565307,0.872634972318
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49,0.816666667,pose2-to-pose3-side,0.00472191996185,0.883589350457,0.00483937574096,0.872634750457
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50,0.833333333,pose2-to-pose3-side,0.00476841881958,0.883589634549,0.00488615913073,0.872635034549
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51,0.850000000,pose2-to-pose3-side,0.00480427467086,0.88358954589,0.00492225670194,0.87263494589
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52,0.866666667,pose2-to-pose3-side,0.00483363504781,0.8835895,0.00495180054552,0.872634969943
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53,0.883333333,pose2-to-pose3-side,0.00485797507503,0.883589236357,0.00497623428061,0.872634736357
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54,0.900000000,pose2-to-pose3-side,0.00487817368925,0.8835891,0.00499653494527,0.872634668861
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55,0.916666667,pose2-to-pose3-side,0.00489265646193,0.883588959302,0.00501110018874,0.872634488953
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56,0.933333333,pose2-to-pose3-side,0.004902584769,0.883588968752,0.00502109864519,0.872634468752
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57,0.950000000,pose2-to-pose3-side,0.00491038688551,0.883589087924,0.00502894586655,0.8726345
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58,0.966666667,pose2-to-pose3-side,0.00491450852769,0.8835891,0.00503307496331,0.8726345
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59,0.983333333,pose2-to-pose3-side,0.00491622985224,0.8835891,0.00503484116342,0.8726345
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60,1.000000000,pose2-to-pose3-side,0.00491669,0.8835891,0.005035311,0.8726344
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61,1.016666667,pose3-hold,0.00491669,0.8835891,0.005035318,0.8726344
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62,1.033333333,pose3-hold,0.00491669,0.8835891,0.00503532311765,0.8726344
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63,1.050000000,pose3-hold,0.00491669,0.8835891,0.00503533035294,0.8726344
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64,1.066666667,pose3-hold,0.00491669,0.8835891,0.00503533132353,0.8726344
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65,1.083333333,pose3-hold,0.00491669,0.8835891,0.00503533452941,0.872634441176
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66,1.100000000,pose3-hold,0.00491669,0.8835891,0.00503533808824,0.8726345
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67,1.116666667,pose3-hold,0.00491669,0.8835891,0.00503533058824,0.872634488235
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68,1.133333333,pose3-hold,0.00491669,0.8835891,0.00503533485294,0.872634402941
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69,1.150000000,pose3-hold,0.00491669,0.8835891,0.00503533664706,0.8726344
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70,1.166666667,pose3-hold,0.00491669,0.8835891,0.00503533429412,0.8726344
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71,1.183333333,pose3-hold,0.00491669,0.8835891,0.00503533405882,0.8726344
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72,1.200000000,pose3-hold,0.00491669,0.8835891,0.00503533041176,0.8726344
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73,1.216666667,pose3-hold,0.00491669,0.8835891,0.00503532276471,0.8726344
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74,1.233333333,pose3-hold,0.00491669,0.8835891,0.00503532235294,0.8726344
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75,1.250000000,pose3-hold,0.00491669,0.8835891,0.00503532576471,0.8726344
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76,1.266666667,pose3-hold,0.00491669,0.8835891,0.00503532917647,0.8726344
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77,1.283333333,pose3-hold,0.00491669,0.8835891,0.00503532223529,0.8726344
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+
78,1.300000000,pose3-hold,0.00491669,0.8835891,0.005035318,0.8726344
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79,1.316666667,pose3-hold,0.00491669,0.8835891,0.00503531588235,0.8726344
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80,1.333333333,pose3-hold,0.00491669,0.8835891,0.00503531117647,0.8726344
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81,1.350000000,pose3-hold,0.00491669,0.8835891,0.00503530829412,0.8726344
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82,1.366666667,pose3-hold,0.00491669,0.8835891,0.00503531255882,0.8726344
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83,1.383333333,pose3-hold,0.00491669,0.8835891,0.00503530917647,0.8726344
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84,1.400000000,pose3-hold,0.00491669,0.8835891,0.00503531047059,0.8726344
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85,1.416666667,pose3-hold,0.00491669,0.8835891,0.005035312,0.8726344
|
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86,1.433333333,pose3-hold,0.00491669,0.8835891,0.00503531135294,0.8726344
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87,1.450000000,pose3-hold,0.00491669,0.8835891,0.00503531035294,0.8726344
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| 90 |
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88,1.466666667,pose3-hold,0.00491669,0.8835891,0.00503531179412,0.8726344
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89,1.483333333,pose3-hold,0.00491669,0.8835891,0.00503530582353,0.8726344
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90,1.500000000,pose3-hold,0.00491669,0.8835891,0.00503530867647,0.8726344
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91,1.516666667,pose3-hold,0.00491669,0.8835891,0.00503531,0.8726344
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92,1.533333333,pose3-hold,0.00491669,0.8835891,0.00503530911765,0.8726344
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93,1.550000000,pose3-hold,0.00491669,0.8835891,0.005035308,0.8726344
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94,1.566666667,pose3-hold,0.00491669,0.8835891,0.00503530770588,0.8726344
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95,1.583333333,pose3-hold,0.00491669,0.8835891,0.005035306,0.8726344
|
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96,1.600000000,pose3-to-pose4-insert,0.00491669,0.8835891,0.005035305,0.8726344
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+
97,1.616666667,pose3-to-pose4-insert,0.00491666388795,0.8835891,0.00503527379292,0.8726344
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98,1.633333333,pose3-to-pose4-insert,0.00491661945475,0.8835891,0.00503522068983,0.8726344
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99,1.650000000,pose3-to-pose4-insert,0.00491661885283,0.883588869788,0.00503521785283,0.872634169788
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100,1.666666667,pose3-to-pose4-insert,0.00491664726829,0.883588327113,0.0050352479204,0.872633631972
|
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101,1.683333333,pose3-to-pose4-insert,0.00491666176674,0.883588158526,0.00503526624014,0.872633474625
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102,1.700000000,pose3-to-pose4-insert,0.00491673428223,0.883587315323,0.00503535786825,0.872632687635
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103,1.716666667,pose3-to-pose4-insert,0.00491676619908,0.883586552488,0.00503539713573,0.872631941628
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104,1.733333333,pose3-to-pose4-insert,0.00491675954291,0.883585943923,0.00503538686621,0.872631314046
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105,1.750000000,pose3-to-pose4-insert,0.00491675086023,0.883585150078,0.00503537347007,0.872630495393
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106,1.766666667,pose3-to-pose4-insert,0.00491674943485,0.883585019758,0.00503537127091,0.872630361
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107,1.783333333,pose3-to-pose4-insert,0.00491674550419,0.883582499521,0.0050353616479,0.872627820958
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108,1.800000000,pose3-to-pose4-insert,0.00491678070226,0.883576632506,0.00503540255873,0.872622016018
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109,1.816666667,pose3-to-pose4-insert,0.00491677997814,0.883561338754,0.00503537052612,0.872606702666
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110,1.833333333,pose3-to-pose4-insert,0.00491658722732,0.883527599205,0.00503522623729,0.872572999205
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111,1.850000000,pose3-to-pose4-insert,0.00491668950419,0.883477998512,0.00503534829401,0.872523473303
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112,1.866666667,pose3-to-pose4-insert,0.00491664463689,0.883414520215,0.00503534992548,0.872459920215
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113,1.883333333,pose3-to-pose4-insert,0.00491668159891,0.883330783824,0.00503536806579,0.872376183824
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114,1.900000000,pose3-to-pose4-insert,0.00491679138181,0.883231859249,0.00503552537354,0.872277259249
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115,1.916666667,pose3-to-pose4-insert,0.00491673651092,0.883129223395,0.0050354846807,0.872174623395
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116,1.933333333,pose3-to-pose4-insert,0.00491674431258,0.883007310383,0.00503548501244,0.872052661559
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117,1.950000000,pose3-to-pose4-insert,0.0049167526097,0.882877520777,0.00503548681599,0.871922820777
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118,1.966666667,pose3-to-pose4-insert,0.0049169075442,0.882747712329,0.00503568063529,0.8717930989
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119,1.983333333,pose3-to-pose4-insert,0.00491675124371,0.882607132997,0.00503539885675,0.871652631784
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120,2.000000000,pose3-to-pose4-insert,0.00491672849954,0.882456746911,0.00503546950689,0.871502146911
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121,2.016666667,pose3-to-pose4-insert,0.00491668501898,0.882309341062,0.00503550187849,0.871354728197
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122,2.033333333,pose3-to-pose4-insert,0.00491647633848,0.882139559373,0.00503532613002,0.871184859373
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123,2.050000000,pose3-to-pose4-insert,0.00491660274459,0.881962257022,0.00503547460165,0.871007557022
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124,2.066666667,pose3-to-pose4-insert,0.00491666539623,0.881787427618,0.00503552909144,0.870832727618
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125,2.083333333,pose3-to-pose4-insert,0.00491700689702,0.88160581294,0.00503585892972,0.870651062395
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126,2.100000000,pose3-to-pose4-insert,0.00491746897242,0.881418311774,0.00503634627799,0.870463453075
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127,2.116666667,pose3-to-pose4-insert,0.00491792319054,0.881244567297,0.00503680754341,0.870289667297
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128,2.133333333,pose3-to-pose4-insert,0.00491836141597,0.881069709642,0.00503724504464,0.870114809642
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129,2.150000000,pose3-to-pose4-insert,0.00491846662528,0.880885249188,0.00503737202052,0.869930289204
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130,2.166666667,pose3-to-pose4-insert,0.00491811795868,0.88069999461,0.00503700715963,0.86974499461
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131,2.183333333,pose3-to-pose4-insert,0.00491778469988,0.88051340794,0.00503664945834,0.86955840794
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132,2.200000000,pose3-to-pose4-insert,0.00491773825938,0.880323158573,0.00503660251866,0.869368158573
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133,2.216666667,pose3-to-pose4-insert,0.00491779721325,0.880134934379,0.00503663980767,0.869179934379
|
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134,2.233333333,pose3-to-pose4-insert,0.00491756136283,0.87995131514,0.00503636036283,0.868996122108
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135,2.250000000,pose3-to-pose4-insert,0.00491713807851,0.879782978174,0.00503593431405,0.868827862816
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136,2.266666667,pose3-to-pose4-insert,0.00491709581382,0.87963103898,0.00503583768902,0.868675856603
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137,2.283333333,pose3-to-pose4-insert,0.00491685366277,0.87948927661,0.00503542310572,0.868534158289
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138,2.300000000,pose3-to-pose4-insert,0.0049165259591,0.879352682951,0.00503511294463,0.868397440283
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139,2.316666667,pose3-to-pose4-insert,0.0049164974186,0.879232534527,0.00503496494141,0.868277134527
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140,2.333333333,pose3-to-pose4-insert,0.00491681894452,0.879110277807,0.00503526183769,0.868154901787
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141,2.350000000,pose3-to-pose4-insert,0.00491700417855,0.878995411676,0.00503558688841,0.86804007859
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142,2.366666667,pose3-to-pose4-insert,0.00491708022841,0.878893629271,0.00503576279861,0.867938229271
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143,2.383333333,pose3-to-pose4-insert,0.00491720735555,0.878803987404,0.00503591874073,0.867848587404
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144,2.400000000,pose3-to-pose4-insert,0.00491718389054,0.878722834965,0.00503576122432,0.867767381824
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145,2.416666667,pose3-to-pose4-insert,0.00491727506834,0.878658197623,0.0050356915341,0.867702697623
|
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146,2.433333333,pose3-to-pose4-insert,0.00491726716761,0.878600397708,0.0050356259734,0.867644844932
|
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147,2.450000000,pose3-to-pose4-insert,0.00491733026948,0.878552666178,0.00503572510496,0.867597066178
|
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148,2.466666667,pose3-to-pose4-insert,0.00491744287246,0.878514287729,0.00503589503575,0.867558734741
|
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149,2.483333333,pose3-to-pose4-insert,0.00491753381706,0.87848423568,0.0050359956912,0.86752873568
|
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150,2.500000000,pose3-to-pose4-insert,0.00491768102663,0.878459616634,0.0050361391847,0.867504116634
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151,2.516666667,pose3-to-pose4-insert,0.00491769580279,0.878440821378,0.00503616687541,0.8674853122
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152,2.533333333,pose3-to-pose4-insert,0.00491758534097,0.878425248071,0.00503603739966,0.867469648351
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153,2.550000000,pose3-to-pose4-insert,0.00491748360303,0.878412376266,0.00503594952026,0.867456776266
|
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154,2.566666667,pose3-to-pose4-insert,0.00491762038331,0.878403025585,0.00503605965933,0.867447425585
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155,2.583333333,pose3-to-pose4-insert,0.00491761923434,0.8783971682,0.00503612739921,0.8674415682
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156,2.600000000,pose3-to-pose4-insert,0.00491765960538,0.878393928271,0.00503622738663,0.867438261337
|
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157,2.616666667,pose3-to-pose4-insert,0.004917688,0.8783926,0.005036308,0.8674372
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158,2.633333333,pose4-hold,0.004917688,0.8783926,0.005036299,0.8674371
|
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159,2.650000000,pose4-hold,0.004917688,0.8783926,0.00503629558824,0.867436929412
|
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160,2.666666667,pose4-hold,0.004917688,0.8783926,0.00503629923529,0.8674369
|
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161,2.683333333,pose4-hold,0.004917688,0.8783926,0.00503630491176,0.8674369
|
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162,2.700000000,pose4-hold,0.004917688,0.8783926,0.00503631088235,0.8674369
|
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163,2.716666667,pose4-hold,0.004917688,0.8783926,0.00503631658824,0.8674369
|
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164,2.733333333,pose4-hold,0.004917688,0.8783926,0.00503632123529,0.8674369
|
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165,2.750000000,pose4-hold,0.004917688,0.8783926,0.00503632294118,0.8674369
|
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166,2.766666667,pose4-hold,0.004917688,0.8783926,0.00503631970588,0.8674369
|
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167,2.783333333,pose4-hold,0.004917688,0.8783926,0.00503632982353,0.8674369
|
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168,2.800000000,pose4-hold,0.004917688,0.8783926,0.00503633552941,0.8674369
|
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169,2.816666667,pose4-hold,0.004917688,0.8783926,0.00503633638235,0.8674369
|
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170,2.833333333,pose4-hold,0.004917688,0.8783926,0.00503633652941,0.8674369
|
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+
171,2.850000000,pose4-hold,0.004917688,0.8783926,0.00503633385294,0.8674369
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198,3.300000000,pose2-hold,1.7930730069e+18,camera_frames_60hz/WAIT_POSE2/camera_00003973_1793073006909674253_real.jpg,0.675904080845,-0.00537398191736,0.134545570678,0.999999933577,9.88257107718e-05,-0.000343416938003,-7.17232308292e-05,0.0360024049878
|
| 201 |
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199,3.316666667,pose2-hold,1.79307300691e+18,camera_frames_60hz/WAIT_POSE2/camera_00003973_1793073006909674253_real.jpg,0.675905245545,-0.00537390398063,0.134547490968,0.999999934356,9.87372446232e-05,-0.000341288094796,-7.11464834356e-05,0.0360024049878
|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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204,3.400000000,pose2-hold,1.793073007e+18,camera_frames_60hz/WAIT_POSE2/camera_00003977_1793073007009990678_real.jpg,0.675900704144,-0.00537516526564,0.134542876217,0.999999932012,9.70596609139e-05,-0.000348244277474,-7.26674943248e-05,0.0360024049878
|
| 207 |
+
205,3.416666667,pose2-hold,1.79307300701e+18,camera_frames_60hz/WAIT_POSE2/camera_00003977_1793073007009990678_real.jpg,0.675900744265,-0.00537549578231,0.134543423172,0.999999931938,9.68081524248e-05,-0.00034864397189,-7.21083155494e-05,0.0360024049878
|
Part2/Free/s1/cylinder_0050_10/width_05/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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|
| 3 |
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|
| 4 |
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|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.2686633824e-05,0.845590758173,5.68183707737e-06,0.834630758173
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.27166898422e-05,0.845594538691,5.65034652155e-06,0.834634653746
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.27101047197e-05,0.845595160929,5.65544528817e-06,0.834635260929
|
| 18 |
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|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,-8.25826305606e-05,0.845597995263,5.78225692173e-06,0.834638095263
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,-8.27611416316e-05,0.845601760528,5.61878403471e-06,0.834641779183
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,-8.26073855707e-05,0.845610348428,5.77234381439e-06,0.834650377461
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| 22 |
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20,0.333333333,pose1-to-pose2-lift,-8.27852330726e-05,0.845625772533,5.59320618684e-06,0.834665865011
|
| 23 |
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21,0.350000000,pose1-to-pose2-lift,-8.27789226244e-05,0.845649170944,5.57223709285e-06,0.834689260176
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,-8.27274074488e-05,0.845682818697,5.60836369221e-06,0.834722918697
|
| 25 |
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23,0.383333333,pose1-to-pose2-lift,-8.27963668736e-05,0.845725513976,5.53838168845e-06,0.834765513976
|
| 26 |
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24,0.400000000,pose1-to-pose2-lift,-8.30514870593e-05,0.845775613022,5.30361091525e-06,0.834815629115
|
| 27 |
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25,0.416666667,pose1-to-pose2-lift,-8.30877838461e-05,0.845831936226,5.25573785194e-06,0.83487197038
|
| 28 |
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26,0.433333333,pose1-to-pose2-lift,-8.30961075584e-05,0.84589228524,5.2207247374e-06,0.83493228524
|
| 29 |
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27,0.450000000,pose1-to-pose2-lift,-8.34682555555e-05,0.845955003674,4.85243134071e-06,0.834995003674
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| 30 |
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28,0.466666667,pose1-to-pose2-lift,-8.3351278612e-05,0.846022058365,4.96229261274e-06,0.835062058365
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| 31 |
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29,0.483333333,pose1-to-pose2-lift,-8.34857705781e-05,0.846095214587,4.8121898873e-06,0.835135214587
|
| 32 |
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30,0.500000000,pose1-to-pose2-lift,-8.36378593657e-05,0.846174347142,4.66802611599e-06,0.835214347142
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| 33 |
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31,0.516666667,pose1-to-pose2-lift,-8.37891017358e-05,0.846263460898,4.54325434389e-06,0.835303460898
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| 34 |
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32,0.533333333,pose1-to-pose2-lift,-8.40263649147e-05,0.846369983535,4.28670243058e-06,0.835409983535
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| 35 |
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33,0.550000000,pose1-to-pose2-lift,-8.39949029622e-05,0.846483446864,4.29489971861e-06,0.835523446864
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| 36 |
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34,0.566666667,pose1-to-pose2-lift,-8.41085868883e-05,0.846603975249,4.1669369692e-06,0.835643975249
|
| 37 |
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35,0.583333333,pose1-to-pose2-lift,-8.36217928187e-05,0.846738869433,4.62634015277e-06,0.835778869433
|
| 38 |
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36,0.600000000,pose1-to-pose2-lift,-8.32046527849e-05,0.846884067314,5.03924922136e-06,0.835924001901
|
| 39 |
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|
| 40 |
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38,0.633333333,pose1-to-pose2-lift,-8.23333523596e-05,0.847190827401,5.9100814501e-06,0.836230827401
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| 41 |
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39,0.650000000,pose1-to-pose2-lift,-8.17732920371e-05,0.847361736325,6.46130536864e-06,0.836401636471
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| 42 |
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40,0.666666667,pose1-to-pose2-lift,-8.16255223282e-05,0.84753257589,6.62486239511e-06,0.836572570546
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| 43 |
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41,0.683333333,pose1-to-pose2-lift,-8.15388774266e-05,0.847706478658,6.64688782061e-06,0.836746378658
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| 44 |
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42,0.700000000,pose1-to-pose2-lift,-8.16884824507e-05,0.847895205154,6.49854178104e-06,0.836935105154
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57,0.950000000,pose1-to-pose2-lift,-8.29886573372e-05,0.852057928501,5.23565084391e-06,0.841097928501
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60,1.000000000,pose1-to-pose2-lift,-8.20056433772e-05,0.853145850143,6.32891786923e-06,0.842185860716
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61,1.016666667,pose1-to-pose2-lift,-8.19182195878e-05,0.853520750013,6.45535050854e-06,0.842560850013
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63,1.050000000,pose1-to-pose2-lift,-8.37449231957e-05,0.854290421354,4.65908268781e-06,0.843330536529
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66,1.100000000,pose1-to-pose2-lift,-8.27631253938e-05,0.855473199201,5.64190127488e-06,0.844513410568
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71,1.183333333,pose1-to-pose2-lift,-8.42766097605e-05,0.857725360522,4.15465449479e-06,0.84676582141
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202,3.366666667,pose2-hold,-8.15119e-05,0.8835842,6.51024708571e-06,0.8726294
|
| 205 |
+
203,3.383333333,pose2-hold,-8.15119e-05,0.8835842,6.51714708571e-06,0.8726294
|
| 206 |
+
204,3.400000000,pose2-hold,-8.15119e-05,0.8835842,6.52654077143e-06,0.8726294
|
| 207 |
+
205,3.416666667,pose2-hold,-8.15119e-05,0.8835842,6.527893e-06,0.8726294
|
Part2/Free/s1/cylinder_0050_10/width_06/insert/camera_frames_60hz.tar
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ed4c6b17936d5d822f56ac5f2cc171521bba9c2a2bddffa028fd75937bbc31db
|
| 3 |
+
size 38277120
|
Part2/Free/s1/cylinder_0050_10/width_06/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d1b4dcddc563fe4b500bb36d91ba2c9fcf446c5d70dd9fcb757be1459ae09eec
|
| 3 |
+
size 38168343
|
Part2/Free/s1/cylinder_0050_10/width_06/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
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|
Part2/Free/s1/cylinder_0050_10/width_06/insert/simulation_data.csv
ADDED
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@@ -0,0 +1,895 @@
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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,-8.147759e-05,0.8835853,9.516984e-06,0.8726305
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.09937921091e-05,0.883585245723,9.99682785402e-06,0.872630391446
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.04216745416e-05,0.8835852,1.05669083133e-05,0.8726303
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-7.98866518975e-05,0.8835852,1.11074619887e-05,0.8726303
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-7.94407643991e-05,0.8835852,1.15579590448e-05,0.8726303
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.87216215015e-05,0.883585213321,1.2289088405e-05,0.872630313321
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.84439393017e-05,0.883585222281,1.25727030241e-05,0.872630322281
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.8233452642e-05,0.883585229073,1.27876865335e-05,0.872630329073
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.76935909582e-05,0.883585246493,1.33390818548e-05,0.872630346493
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.72217546482e-05,0.883585261717,1.38209985041e-05,0.872630361717
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.5937242341e-05,0.883585294805,1.51305676238e-05,0.872630394805
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.23629816506e-05,0.883585105515,1.86942595894e-05,0.872630205515
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.07591039785e-05,0.8835853,3.03155731366e-05,0.872630494273
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-3.9754726025e-05,0.883585350306,5.14788691484e-05,0.872630450306
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-7.09633959733e-06,0.8835853,8.43119465531e-05,0.8726304
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,3.93730945927e-05,0.883585487921,0.000131093470284,0.872630587921
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000110419000025,0.883585912796,0.000202482055804,0.872630825593
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000193246059258,0.88358617809,0.000285759000226,0.87263117809
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000292902469993,0.88358631908,0.000386072617593,0.87263122385
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000408873923893,0.883586875627,0.00050278726826,0.872631875627
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000535807485022,0.883587332875,0.000630502909541,0.872632332875
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000663976201763,0.883587497788,0.000759224063905,0.872632497788
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000812832235161,0.883587986158,0.000908785045735,0.872632862889
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000962090970362,0.883588639078,0.00105911409092,0.8726334
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00111764350612,0.883588648127,0.00121576385223,0.872633348127
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00128389322388,0.88358853434,0.00138311175421,0.8726333
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00145022022504,0.883588722624,0.00155048710758,0.872633596833
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00160364150841,0.883588518044,0.00170489241347,0.872633418044
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00177082968837,0.883588690042,0.00187308696407,0.872633662552
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00193347032551,0.883588869498,0.00203674151587,0.872633938996
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00209533964225,0.883589093325,0.00219960403598,0.872634064442
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00227317850431,0.883588997331,0.00237849182202,0.872634032444
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00245834546599,0.883589048756,0.00256479718556,0.872634074378
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00263803596367,0.883589021705,0.00274558201912,0.872633943409
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00283363456514,0.883589,0.00294237801849,0.872633992081
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00302227380216,0.883588984933,0.00313217984677,0.8726339887
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00319985906722,0.883588554893,0.00331084972269,0.872633654893
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00337485931523,0.883588325079,0.00348693831859,0.872633425079
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00353799633614,0.883588746437,0.0036510024884,0.872633846437
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00367951018401,0.883588532223,0.00379315390091,0.872633632223
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00381894599681,0.883588321785,0.00393347637829,0.872633378215
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00395184240195,0.883588421856,0.00406727949448,0.872633343712
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00407387428471,0.883588459969,0.00419012101509,0.872633459969
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00419269014588,0.883588345954,0.00430976021373,0.872633368931
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00430372589475,0.883588527683,0.00442150143952,0.872633683049
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00440650825947,0.8835886,0.00452493701651,0.872633934656
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00449553564512,0.883588714275,0.00461456119954,0.872634152367
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00457294262966,0.883588939034,0.00469243923292,0.8726344
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00464059837126,0.883589078801,0.00476053706609,0.872634518202
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00470132974618,0.883589288209,0.00482165714711,0.872634788209
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00474860911017,0.883589280983,0.00486922196939,0.872634780983
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00478966854502,0.8835891,0.00491054513166,0.8726346
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.0048235315182,0.883589173234,0.00494458005173,0.872634673234
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00485010844244,0.883589366,0.0049712420124,0.872634899
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.0048707197601,0.8835895,0.00499196564257,0.872635071558
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.0048883024388,0.883589461643,0.00500964220649,0.872634961643
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.0049004438775,0.88358944803,0.00502186686074,0.8726349
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490901871314,0.8835895,0.0050305207981,0.8726349
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491432109746,0.883589330129,0.00503586371293,0.872634730129
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004916296,0.8835893,0.005037893,0.8726347
|
| 62 |
+
60,1.000000000,pose3-hold,0.004916296,0.8835893,0.005037898,0.8726347
|
| 63 |
+
61,1.016666667,pose3-hold,0.004916296,0.8835893,0.00503790303846,0.8726347
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916296,0.8835893,0.00503791076923,0.8726347
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916296,0.8835893,0.00503790792308,0.8726347
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916296,0.8835893,0.00503790492308,0.8726347
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916296,0.8835893,0.00503790888462,0.8726347
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916296,0.8835893,0.00503790753846,0.8726347
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916296,0.8835893,0.00503789792308,0.8726347
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916296,0.8835893,0.00503789046154,0.8726347
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916296,0.8835893,0.00503789315385,0.8726347
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916296,0.8835893,0.00503789653846,0.8726347
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916296,0.8835893,0.00503789426923,0.872634673077
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916296,0.8835893,0.00503789192308,0.8726346
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916296,0.8835893,0.005037885,0.8726346
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916296,0.8835893,0.005037883,0.872634661538
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916296,0.8835893,0.005037883,0.8726347
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916296,0.8835893,0.00503787961538,0.8726347
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916296,0.8835893,0.005037879,0.8726347
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916296,0.8835893,0.00503787323077,0.872634607692
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916296,0.8835893,0.00503787657692,0.8726347
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916296,0.8835893,0.00503787992308,0.8726347
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916296,0.8835893,0.00503787988462,0.8726347
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916296,0.8835893,0.00503787969231,0.8726347
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916296,0.8835893,0.00503787938462,0.8726347
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916296,0.8835893,0.00503787569231,0.8726347
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916296,0.8835893,0.00503787057692,0.8726347
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916296,0.8835893,0.005037872,0.8726347
|
| 89 |
+
87,1.450000000,pose3-to-pose4-insert,0.004916296,0.8835893,0.005037872,0.8726347
|
| 90 |
+
88,1.466666667,pose3-to-pose4-insert,0.00491627516293,0.8835893,0.00503785039118,0.8726347
|
| 91 |
+
89,1.483333333,pose3-to-pose4-insert,0.0049163029311,0.883589159789,0.00503787947342,0.872634559789
|
| 92 |
+
90,1.500000000,pose3-to-pose4-insert,0.00491635225564,0.883588955968,0.00503793103998,0.872634355968
|
| 93 |
+
91,1.516666667,pose3-to-pose4-insert,0.00491649492231,0.883588366437,0.00503808019151,0.872633766437
|
| 94 |
+
92,1.533333333,pose3-to-pose4-insert,0.00491650915097,0.883588154024,0.00503809135559,0.872633554024
|
| 95 |
+
93,1.550000000,pose3-to-pose4-insert,0.00491650662506,0.88358795461,0.00503808364493,0.87263335461
|
| 96 |
+
94,1.566666667,pose3-to-pose4-insert,0.00491649807451,0.883587279567,0.00503805754324,0.872632679567
|
| 97 |
+
95,1.583333333,pose3-to-pose4-insert,0.00491649283697,0.883586866076,0.00503804155495,0.872632266076
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.00491648443067,0.883586487765,0.0050380304845,0.872631897227
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491645839874,0.883585413948,0.00503800119859,0.87263085595
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491633765321,0.883580991366,0.0050378833194,0.872626445755
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491627429063,0.883571332471,0.00503782109404,0.872616809109
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491641702106,0.883546075366,0.00503801680712,0.872591439143
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491654035738,0.883506631689,0.00503814578292,0.872552031689
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491674819561,0.883447400841,0.00503839202888,0.87249289287
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491686340735,0.883368494601,0.00503853061186,0.872413968084
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.0049170323857,0.883273911979,0.00503869307808,0.872319340185
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491743365783,0.883173836202,0.00503911250171,0.872219273275
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491787870008,0.883056122982,0.0050396221736,0.872101522982
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491796655703,0.882937082835,0.00503971338565,0.871982482835
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491820382236,0.882810756113,0.00503996421738,0.871856156113
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.0049182667257,0.88266982516,0.00504002317173,0.87171522516
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491813239477,0.882522665925,0.00503990718242,0.87156800431
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491799408058,0.882377424993,0.00503981414663,0.871422724993
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491789299832,0.882211268614,0.00503974525304,0.871256646583
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491773711305,0.882044125841,0.00503961963698,0.87108944028
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.0049176584062,0.8818735508,0.00503955450517,0.87091894179
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491798705144,0.881690103761,0.00503990419984,0.870735403761
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491824330576,0.881504313846,0.00504017821614,0.870549604743
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491852154181,0.881329978718,0.00504046215514,0.870375178718
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00491902312279,0.881142539031,0.005040931832,0.870187739031
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.00491922734521,0.880960810472,0.00504115220825,0.870005993211
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00491924002699,0.880782736911,0.00504116815183,0.869827836911
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491930994274,0.880592625477,0.0050412228233,0.869637725477
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.0049194335809,0.880401101809,0.00504130932476,0.869446166341
|
| 125 |
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123,2.050000000,pose3-to-pose4-insert,0.004919562,0.880222523206,0.00504142353352,0.869267523206
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124,2.066666667,pose3-to-pose4-insert,0.0049193187354,0.880036395099,0.00504116223707,0.869081341984
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125,2.083333333,pose3-to-pose4-insert,0.00491877293754,0.879863760704,0.00504058917262,0.868908598939
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126,2.100000000,pose3-to-pose4-insert,0.0049184054955,0.879708096755,0.00504021909222,0.868752896755
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127,2.116666667,pose3-to-pose4-insert,0.00491797743073,0.879556488057,0.00503965522244,0.868601356605
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128,2.133333333,pose3-to-pose4-insert,0.00491772527352,0.879415051389,0.00503937204664,0.868459879531
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129,2.150000000,pose3-to-pose4-insert,0.00491749184928,0.879293057959,0.00503908100689,0.868337924791
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130,2.166666667,pose3-to-pose4-insert,0.0049172909667,0.879171221735,0.00503877720817,0.868215984849
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131,2.183333333,pose3-to-pose4-insert,0.00491737973701,0.879053453308,0.00503881755149,0.868098228028
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132,2.200000000,pose3-to-pose4-insert,0.00491711386831,0.878947186706,0.00503867232166,0.867991826639
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133,2.216666667,pose3-to-pose4-insert,0.00491688384906,0.878850294268,0.00503855122868,0.867894981211
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134,2.233333333,pose3-to-pose4-insert,0.00491687244808,0.878762284081,0.00503856098814,0.867806888681
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135,2.250000000,pose3-to-pose4-insert,0.00491665788725,0.878689307921,0.00503828740907,0.86773380879
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136,2.266666667,pose3-to-pose4-insert,0.00491688230042,0.878629513737,0.00503851033332,0.867673917027
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137,2.283333333,pose3-to-pose4-insert,0.0049167407614,0.878579340796,0.00503819205558,0.867623740796
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138,2.300000000,pose3-to-pose4-insert,0.00491662603259,0.87853626899,0.00503801098787,0.86758066899
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139,2.316666667,pose3-to-pose4-insert,0.00491651534486,0.878499659676,0.0050379330425,0.867544145976
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140,2.333333333,pose3-to-pose4-insert,0.00491645028411,0.878469757792,0.0050379298985,0.867514342056
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141,2.350000000,pose3-to-pose4-insert,0.00491638633044,0.878446608826,0.00503786989873,0.867491128429
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142,2.366666667,pose3-to-pose4-insert,0.00491650405352,0.878429287505,0.0050379391964,0.867473787505
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143,2.383333333,pose3-to-pose4-insert,0.00491652198312,0.878416616786,0.00503797702523,0.867461116786
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144,2.400000000,pose3-to-pose4-insert,0.00491655598788,0.878407585448,0.00503803411238,0.867452032336
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145,2.416666667,pose3-to-pose4-insert,0.0049164951276,0.878400693699,0.00503797927946,0.867445093699
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146,2.433333333,pose3-to-pose4-insert,0.00491647351818,0.878396102349,0.00503797682181,0.867440502349
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147,2.450000000,pose3-to-pose4-insert,0.00491662677323,0.878393548087,0.00503817103621,0.867437948087
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148,2.466666667,pose3-to-pose4-insert,0.004916645,0.8783926,0.005038286,0.8674372
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149,2.483333333,pose4-hold,0.004916645,0.8783926,0.005038292,0.8674371
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150,2.500000000,pose4-hold,0.004916645,0.8783926,0.00503829990909,0.867437012121
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151,2.516666667,pose4-hold,0.004916645,0.8783926,0.00503830857576,0.867437
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152,2.533333333,pose4-hold,0.004916645,0.8783926,0.00503831481818,0.867437
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153,2.550000000,pose4-hold,0.004916645,0.8783926,0.00503832009091,0.867437
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154,2.566666667,pose4-hold,0.004916645,0.8783926,0.00503832418182,0.867437
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155,2.583333333,pose4-hold,0.004916645,0.8783926,0.00503832681818,0.867437
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156,2.600000000,pose4-hold,0.004916645,0.8783926,0.00503832854545,0.867437
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157,2.616666667,pose4-hold,0.004916645,0.8783926,0.00503832639394,0.867437
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158,2.633333333,pose4-hold,0.004916645,0.8783926,0.00503833781818,0.867437
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159,2.650000000,pose4-hold,0.004916645,0.8783926,0.005038339,0.867437
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160,2.666666667,pose4-hold,0.004916645,0.8783926,0.00503834633333,0.867437
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161,2.683333333,pose4-hold,0.004916645,0.8783926,0.00503834072727,0.867437
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162,2.700000000,pose4-hold,0.004916645,0.8783926,0.00503833045455,0.867437
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163,2.716666667,pose4-hold,0.004916645,0.8783926,0.00503832487879,0.867437
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164,2.733333333,pose4-hold,0.004916645,0.8783926,0.00503831763636,0.867437
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165,2.750000000,pose4-hold,0.004916645,0.8783926,0.00503830706061,0.867437
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166,2.766666667,pose4-hold,0.004916645,0.8783926,0.00503830793939,0.867437
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167,2.783333333,pose4-hold,0.004916645,0.8783926,0.005038299,0.867437
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168,2.800000000,pose4-hold,0.004916645,0.8783926,0.00503829630303,0.867437
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169,2.816666667,pose4-hold,0.004916645,0.8783926,0.00503829657576,0.867437
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170,2.833333333,pose4-hold,0.004916645,0.8783926,0.00503829245455,0.867437
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171,2.850000000,pose4-hold,0.004916645,0.8783926,0.00503828633333,0.867437
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172,2.866666667,pose4-hold,0.004916645,0.8783926,0.00503828415152,0.867437
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173,2.883333333,pose4-hold,0.004916645,0.8783926,0.00503828045455,0.867437
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174,2.900000000,pose4-hold,0.004916645,0.8783926,0.00503827518182,0.867437
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175,2.916666667,pose4-hold,0.004916645,0.8783926,0.0050382639697,0.867437
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176,2.933333333,pose4-hold,0.004916645,0.8783926,0.00503826636364,0.867437
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177,2.950000000,pose4-hold,0.004916645,0.8783926,0.00503826436364,0.867437
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178,2.966666667,pose4-hold,0.004916645,0.8783926,0.0050382610303,0.867437
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179,2.983333333,pose4-hold,0.004916645,0.8783926,0.00503825890909,0.867437
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180,3.000000000,pose4-hold,0.004916645,0.8783926,0.00503825578788,0.867437
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181,3.016666667,pose4-hold,0.004916645,0.8783926,0.005038252,0.867437
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182,3.033333333,pose4-hold,0.004916645,0.8783926,0.005038252,0.867437
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183,3.050000000,pose4-to-pose5-return,0.004916645,0.8783926,0.005038244,0.867437
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185,3.083333333,pose4-to-pose5-return,0.00491621418489,0.878392392144,0.0050378202794,0.867436792144
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186,3.100000000,pose4-to-pose5-return,0.00491612590048,0.878392525908,0.00503771761533,0.867436925908
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187,3.116666667,pose4-to-pose5-return,0.00491590845415,0.878392792488,0.00503748446001,0.867437192488
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188,3.133333333,pose4-to-pose5-return,0.00491572244493,0.878392960253,0.00503730390314,0.867437360253
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189,3.150000000,pose4-to-pose5-return,0.0049154071532,0.878393244619,0.00503699785333,0.867437644619
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190,3.166666667,pose4-to-pose5-return,0.00491508460206,0.878393542444,0.00503668327749,0.867437942444
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191,3.183333333,pose4-to-pose5-return,0.00491481183425,0.8783938363,0.00503640826254,0.8674382363
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192,3.200000000,pose4-to-pose5-return,0.00491478468424,0.878393865549,0.00503638088886,0.867438265549
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194,3.233333333,pose4-to-pose5-return,0.00491446512073,0.878394209819,0.0050360586927,0.867438609819
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195,3.250000000,pose4-to-pose5-return,0.00491386146512,0.878394860145,0.00503545006401,0.867439260145
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196,3.266666667,pose4-to-pose5-return,0.00491166625586,0.878397048733,0.00503322422668,0.867441389097
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197,3.283333333,pose4-to-pose5-return,0.00490732789487,0.878401778011,0.00502886825879,0.867446146207
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201,3.350000000,pose4-to-pose5-return,0.00482453934361,0.878487086675,0.00494562403728,0.867531360909
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Part2/Free/s1/cylinder_0050_10/width_06/pick/camera_frames_60hz.tar
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Part2/Free/s1/cylinder_0050_10/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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| 14 |
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| 191 |
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| 205 |
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|
Part2/Free/s1/cylinder_0050_10/width_06/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,205 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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| 20 |
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27,0.450000000,pose1-to-pose2-lift,-8.34607140549e-05,0.846060608571,7.65035926609e-06,0.835100608571
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39,0.650000000,pose1-to-pose2-lift,-8.10836359401e-05,0.847589958095,9.99212418919e-06,0.836629858095
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| 43 |
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41,0.683333333,pose1-to-pose2-lift,-8.09614843829e-05,0.847967551588,1.01122329371e-05,0.837007451588
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42,0.700000000,pose1-to-pose2-lift,-8.07242912769e-05,0.84817870864,1.03391187804e-05,0.83721860864
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44,0.733333333,pose1-to-pose2-lift,-8.08949642125e-05,0.848622849066,1.01500028563e-05,0.837662749066
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45,0.750000000,pose1-to-pose2-lift,-8.17257369294e-05,0.848865409537,9.30317412117e-06,0.837905309537
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168,2.800000000,pose1-to-pose2-lift,-8.147759e-05,0.8835853,9.557189e-06,0.8726305
|
| 171 |
+
169,2.816666667,pose2-hold,-8.147759e-05,0.8835853,9.573674e-06,0.8726305
|
| 172 |
+
170,2.833333333,pose2-hold,-8.147759e-05,0.8835853,9.57844876471e-06,0.8726305
|
| 173 |
+
171,2.850000000,pose2-hold,-8.147759e-05,0.8835853,9.58323341176e-06,0.8726305
|
| 174 |
+
172,2.866666667,pose2-hold,-8.147759e-05,0.8835853,9.58287838235e-06,0.8726305
|
| 175 |
+
173,2.883333333,pose2-hold,-8.147759e-05,0.8835853,9.57902864706e-06,0.8726305
|
| 176 |
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174,2.900000000,pose2-hold,-8.147759e-05,0.8835853,9.57420223529e-06,0.8726305
|
| 177 |
+
175,2.916666667,pose2-hold,-8.147759e-05,0.8835853,9.56468394118e-06,0.8726305
|
| 178 |
+
176,2.933333333,pose2-hold,-8.147759e-05,0.8835853,9.52767226471e-06,0.8726305
|
| 179 |
+
177,2.950000000,pose2-hold,-8.147759e-05,0.8835853,9.53689847059e-06,0.8726305
|
| 180 |
+
178,2.966666667,pose2-hold,-8.147759e-05,0.8835853,9.524682e-06,0.8726305
|
| 181 |
+
179,2.983333333,pose2-hold,-8.147759e-05,0.8835853,9.52404235294e-06,0.872630447059
|
| 182 |
+
180,3.000000000,pose2-hold,-8.147759e-05,0.8835853,9.53675717647e-06,0.8726304
|
| 183 |
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181,3.016666667,pose2-hold,-8.147759e-05,0.8835853,9.54296094118e-06,0.872630423529
|
| 184 |
+
182,3.033333333,pose2-hold,-8.147759e-05,0.8835853,9.52464473529e-06,0.872630491176
|
| 185 |
+
183,3.050000000,pose2-hold,-8.147759e-05,0.8835853,9.51469517647e-06,0.872630405882
|
| 186 |
+
184,3.066666667,pose2-hold,-8.147759e-05,0.8835853,9.5291965e-06,0.8726304
|
| 187 |
+
185,3.083333333,pose2-hold,-8.147759e-05,0.8835853,9.53304405882e-06,0.8726304
|
| 188 |
+
186,3.100000000,pose2-hold,-8.147759e-05,0.8835853,9.51671e-06,0.8726304
|
| 189 |
+
187,3.116666667,pose2-hold,-8.147759e-05,0.8835853,9.50373841176e-06,0.8726304
|
| 190 |
+
188,3.133333333,pose2-hold,-8.147759e-05,0.8835853,9.50723494118e-06,0.872630420588
|
| 191 |
+
189,3.150000000,pose2-hold,-8.147759e-05,0.8835853,9.49808652941e-06,0.872630494118
|
| 192 |
+
190,3.166666667,pose2-hold,-8.147759e-05,0.8835853,9.50962170588e-06,0.872630408824
|
| 193 |
+
191,3.183333333,pose2-hold,-8.147759e-05,0.8835853,9.50110782353e-06,0.8726304
|
| 194 |
+
192,3.200000000,pose2-hold,-8.147759e-05,0.8835853,9.49658676471e-06,0.8726304
|
| 195 |
+
193,3.216666667,pose2-hold,-8.147759e-05,0.8835853,9.50088311765e-06,0.8726304
|
| 196 |
+
194,3.233333333,pose2-hold,-8.147759e-05,0.8835853,9.5114985e-06,0.8726304
|
| 197 |
+
195,3.250000000,pose2-hold,-8.147759e-05,0.8835853,9.519875e-06,0.8726304
|
| 198 |
+
196,3.266666667,pose2-hold,-8.147759e-05,0.8835853,9.51308320588e-06,0.8726304
|
| 199 |
+
197,3.283333333,pose2-hold,-8.147759e-05,0.8835853,9.51627917647e-06,0.8726304
|
| 200 |
+
198,3.300000000,pose2-hold,-8.147759e-05,0.8835853,9.51223764706e-06,0.8726304
|
| 201 |
+
199,3.316666667,pose2-hold,-8.147759e-05,0.8835853,9.50576929412e-06,0.8726304
|
| 202 |
+
200,3.333333333,pose2-hold,-8.147759e-05,0.8835853,9.50496070588e-06,0.872630444118
|
| 203 |
+
201,3.350000000,pose2-hold,-8.147759e-05,0.8835853,9.50909952941e-06,0.8726305
|
| 204 |
+
202,3.366666667,pose2-hold,-8.147759e-05,0.8835853,9.51261691176e-06,0.8726305
|
| 205 |
+
203,3.383333333,pose2-hold,-8.147759e-05,0.8835853,9.521067e-06,0.8726305
|
Part2/Free/s1/cylinder_0050_10/width_07/insert/camera_frames_60hz.tar
ADDED
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size 36413440
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Part2/Free/s1/cylinder_0050_10/width_07/insert/fem_node.csv
ADDED
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version https://git-lfs.github.com/spec/v1
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|
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size 38567067
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Part2/Free/s1/cylinder_0050_10/width_07/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
Part2/Free/s1/cylinder_0050_10/width_07/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,905 @@
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.254508e-05,0.8835837,5.025317e-06,0.8726288
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.23632393864e-05,0.8835838,5.20610843316e-06,0.872628907818
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.20153923331e-05,0.8835838,5.57732923475e-06,0.872628959584
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.15594481737e-05,0.8835838,6.05135788807e-06,0.872629
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.11347698507e-05,0.8835838,6.47565859909e-06,0.872629
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.09846487296e-05,0.8835838,6.6256462367e-06,0.872629
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.07651792696e-05,0.8835838,6.84492055071e-06,0.872629
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.03152971783e-05,0.8835838,7.29440261952e-06,0.872629
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.94327328707e-05,0.883583849011,8.18131547002e-06,0.872629049011
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.75099449681e-05,0.883583964119,1.01144498598e-05,0.872629164119
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.46460429793e-05,0.883584041601,1.30094039181e-05,0.8726292
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.81243046897e-05,0.883584062841,1.95835009493e-05,0.872629162841
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-5.62394514934e-05,0.883584144309,3.15249627875e-05,0.872629292412
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-3.22205047286e-05,0.8835843,5.56693290474e-05,0.872629401057
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,7.29184587031e-06,0.883584607126,9.54306664018e-05,0.872629807126
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,6.60355535201e-05,0.883584507783,0.000154525469989,0.872629689819
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000141957411489,0.883585371418,0.000230910613321,0.872630471418
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000233574555092,0.883585868249,0.000323157083647,0.872630845499
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000332256255104,0.883586428523,0.000422363841314,0.872631328523
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000442486989321,0.8835867,0.000533026624823,0.872631682648
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000564324502317,0.883587633197,0.000655641604194,0.872632526558
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000699933443256,0.883588363219,0.000792184080679,0.872633163219
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.00084986998022,0.883589212427,0.00094294712046,0.872634012427
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00101079853003,0.883589703436,0.0011047916723,0.872634503436
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00117309944498,0.883589708747,0.00126815262359,0.872634508747
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00133822348486,0.8835897,0.00143438891623,0.8726345
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00150660823154,0.883589720718,0.00160383178921,0.872634531077
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00167617745448,0.883589915355,0.00177447491176,0.872634815355
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00185041812008,0.88359,0.00194981666149,0.872634920371
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00202697881911,0.88359,0.00212746812942,0.872635
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.0021983321441,0.88359004874,0.00229983241753,0.872635073111
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00236789505204,0.883590222363,0.00247043942634,0.8726353
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00254184167801,0.883590231789,0.0026454447355,0.872635231789
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00271781995811,0.883590049543,0.00282249676569,0.872635049543
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00289978808922,0.8835902,0.00300558477674,0.8726352
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00309405838333,0.883590105341,0.00320103703254,0.872635105341
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.0032718349585,0.883589662399,0.00337991437428,0.872634774932
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00343252528289,0.8835894,0.00354157722093,0.872634541949
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00358732890055,0.883589280081,0.00369735610706,0.872634380081
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00373354307312,0.8835892,0.00384448297593,0.872634360707
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00386564201619,0.883588973629,0.00397736074251,0.872634173629
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00399884516602,0.883588918421,0.00411119721946,0.872634118421
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00412685266052,0.883589065238,0.00423975637876,0.8726342
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00424203247207,0.883589305807,0.00435565039728,0.872634405807
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00434818814598,0.883589763376,0.00446260847235,0.872634790701
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00444178332214,0.883589825871,0.00455693026042,0.872634825871
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00452816520805,0.8835898,0.00464391390441,0.872634957643
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00460518077354,0.8835900545,0.00472149154174,0.872635339333
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00467045120185,0.883589835714,0.00478718401114,0.872635311905
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00472328338309,0.883590315515,0.00484035622648,0.872635901434
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00476840207133,0.883590231843,0.00488579380455,0.872635747764
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00480300632175,0.883590050614,0.00492065099273,0.872635550614
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00483159213933,0.883590321774,0.0049493167232,0.872635821774
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00485538856738,0.8835905,0.00497316558169,0.872636056115
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00487417084803,0.883590548508,0.00499205030393,0.8726361
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488720434277,0.883590662477,0.00500518308217,0.872636162477
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489725769061,0.883590742362,0.00501530675122,0.872636242362
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490474107687,0.883590405045,0.00502283145885,0.872635905045
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.0049101334215,0.88359030472,0.00502829397595,0.87263570944
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491367860536,0.883590592309,0.00503188352863,0.872635992309
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491544398173,0.883590759339,0.0050336194709,0.872636239009
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.004916225,0.8835903,0.00503445,0.8726358
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916225,0.8835903,0.005034455,0.8726358
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916225,0.8835903,0.00503445926471,0.8726358
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916225,0.8835903,0.00503446282353,0.8726358
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916225,0.8835903,0.00503446958824,0.8726358
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916225,0.8835903,0.00503447152941,0.872635841176
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916225,0.8835903,0.00503446667647,0.872635873529
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916225,0.8835903,0.00503446311765,0.8726358
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916225,0.8835903,0.00503446397059,0.8726358
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916225,0.8835903,0.00503445741176,0.8726358
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916225,0.8835903,0.00503445261765,0.8726358
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916225,0.8835903,0.00503444994118,0.8726358
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916225,0.8835903,0.00503445205882,0.8726358
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916225,0.8835903,0.00503445747059,0.8726358
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916225,0.8835903,0.00503445688235,0.8726358
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916225,0.8835903,0.00503443641176,0.8726358
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916225,0.8835903,0.00503443817647,0.8726358
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916225,0.8835903,0.00503443641176,0.8726358
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916225,0.8835903,0.005034436,0.8726358
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916225,0.8835903,0.00503443382353,0.8726358
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916225,0.8835903,0.00503442882353,0.8726358
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916225,0.8835903,0.00503443223529,0.8726358
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916225,0.8835903,0.00503443564706,0.8726358
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916225,0.8835903,0.00503443370588,0.8726358
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916225,0.8835903,0.00503443052941,0.8726358
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916225,0.8835903,0.00503442947059,0.8726358
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916225,0.8835903,0.00503443064706,0.8726358
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916225,0.8835903,0.00503443111765,0.8726358
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916225,0.8835903,0.00503442691176,0.8726358
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916225,0.8835903,0.00503442435294,0.8726358
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916225,0.8835903,0.00503442547059,0.8726358
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916225,0.8835903,0.00503442717647,0.8726358
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916225,0.8835903,0.00503442623529,0.8726358
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916225,0.8835903,0.00503442458824,0.8726358
|
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+
95,1.583333333,pose3-hold,0.004916225,0.8835903,0.00503442585294,0.8726358
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96,1.600000000,pose3-hold,0.004916225,0.8835903,0.005034425,0.8726358
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+
97,1.616666667,pose3-to-pose4-insert,0.004916225,0.8835903,0.005034423,0.8726358
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+
98,1.633333333,pose3-to-pose4-insert,0.00491633523326,0.883589763283,0.00503454532181,0.872635163283
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+
99,1.650000000,pose3-to-pose4-insert,0.00491629374528,0.883589054967,0.00503449656824,0.872634454967
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100,1.666666667,pose3-to-pose4-insert,0.00491626019395,0.883588268608,0.00503445410485,0.872633668608
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101,1.683333333,pose3-to-pose4-insert,0.00491626107656,0.883587875261,0.00503445455141,0.872633275261
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102,1.700000000,pose3-to-pose4-insert,0.00491627590525,0.883587462637,0.00503447208795,0.872632862637
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+
103,1.716666667,pose3-to-pose4-insert,0.00491628625341,0.883587174688,0.00503448432577,0.872632574688
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+
104,1.733333333,pose3-to-pose4-insert,0.00491629380118,0.883586964663,0.00503449325182,0.872632364663
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105,1.750000000,pose3-to-pose4-insert,0.00491629879661,0.88358682566,0.00503449915946,0.87263222566
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106,1.766666667,pose3-to-pose4-insert,0.00491632210256,0.883586177146,0.00503452672128,0.872631577146
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107,1.783333333,pose3-to-pose4-insert,0.00491633589348,0.883585793399,0.00503454303055,0.872631193399
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108,1.800000000,pose3-to-pose4-insert,0.0049163343472,0.883581810562,0.00503453410675,0.872627210562
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109,1.816666667,pose3-to-pose4-insert,0.00491640553987,0.88357287666,0.0050346069486,0.87261827666
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110,1.833333333,pose3-to-pose4-insert,0.0049162606781,0.883551759741,0.00503447916718,0.872597159741
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111,1.850000000,pose3-to-pose4-insert,0.00491657406673,0.883516117795,0.00503480189079,0.872561523288
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112,1.866666667,pose3-to-pose4-insert,0.00491658105271,0.883464987237,0.00503483684853,0.872510421543
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113,1.883333333,pose3-to-pose4-insert,0.00491665018998,0.883399087484,0.00503492089434,0.872444504908
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114,1.900000000,pose3-to-pose4-insert,0.00491655910292,0.883313478937,0.00503486185489,0.872358978937
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115,1.916666667,pose3-to-pose4-insert,0.0049168401932,0.883214921536,0.0050351469685,0.872260408921
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116,1.933333333,pose3-to-pose4-insert,0.00491705157194,0.883102638758,0.00503538339798,0.872148038758
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117,1.950000000,pose3-to-pose4-insert,0.00491719219969,0.882979756206,0.00503552078234,0.872025156206
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118,1.966666667,pose3-to-pose4-insert,0.00491743428692,0.882849554779,0.00503579641464,0.871894955844
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119,1.983333333,pose3-to-pose4-insert,0.00491739129974,0.882717176029,0.00503577027384,0.871762662939
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120,2.000000000,pose3-to-pose4-insert,0.00491753731803,0.882575099095,0.00503595706141,0.871620499095
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121,2.016666667,pose3-to-pose4-insert,0.0049175299297,0.882426320608,0.00503596858737,0.871471688896
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122,2.033333333,pose3-to-pose4-insert,0.0049175003256,0.882267440044,0.0050359346599,0.871312780627
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123,2.050000000,pose3-to-pose4-insert,0.00491738075219,0.882097249722,0.00503584617347,0.871142598483
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124,2.066666667,pose3-to-pose4-insert,0.00491732949675,0.881920892192,0.0050358267553,0.870966192192
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125,2.083333333,pose3-to-pose4-insert,0.0049172003612,0.881748123697,0.0050356995162,0.870793423697
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126,2.100000000,pose3-to-pose4-insert,0.00491704099305,0.88157117622,0.00503555059666,0.870616406679
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127,2.116666667,pose3-to-pose4-insert,0.00491699938716,0.881391479991,0.00503551831193,0.870436679991
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128,2.133333333,pose3-to-pose4-insert,0.00491677678407,0.881208529438,0.0050353121941,0.870253652388
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129,2.150000000,pose3-to-pose4-insert,0.00491673149355,0.881021265206,0.00503525826675,0.870066365206
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130,2.166666667,pose3-to-pose4-insert,0.00491708369265,0.88083332873,0.00503563252784,0.86987842873
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131,2.183333333,pose3-to-pose4-insert,0.00491750360239,0.880652691328,0.00503605196459,0.869697791328
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132,2.200000000,pose3-to-pose4-insert,0.0049176940954,0.880472453211,0.00503622413976,0.869517553211
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133,2.216666667,pose3-to-pose4-insert,0.00491804403747,0.88029178302,0.00503655803788,0.86933678301
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134,2.233333333,pose3-to-pose4-insert,0.00491841728547,0.880112133867,0.00503693528547,0.869157033867
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135,2.250000000,pose3-to-pose4-insert,0.00491847041178,0.879930015648,0.00503697893269,0.868974915648
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136,2.266666667,pose3-to-pose4-insert,0.00491843050788,0.879752544511,0.00503691366226,0.868797409784
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137,2.283333333,pose3-to-pose4-insert,0.00491825308831,0.87959227846,0.0050366423474,0.86863699134
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138,2.300000000,pose3-to-pose4-insert,0.00491806356848,0.87944622672,0.00503625381011,0.86849082672
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139,2.316666667,pose3-to-pose4-insert,0.00491796721317,0.879312266409,0.00503609455226,0.868356866409
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140,2.333333333,pose3-to-pose4-insert,0.0049178700482,0.879191436684,0.00503607599186,0.868236086652
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141,2.350000000,pose3-to-pose4-insert,0.00491763904736,0.879077976601,0.00503600872107,0.868122727411
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142,2.366666667,pose3-to-pose4-insert,0.00491738700169,0.878974021942,0.00503584870487,0.868018770184
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143,2.383333333,pose3-to-pose4-insert,0.00491722501516,0.878880358655,0.00503570913255,0.867925006699
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144,2.400000000,pose3-to-pose4-insert,0.00491706842636,0.878796968427,0.0050355165836,0.867841517318
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145,2.416666667,pose3-to-pose4-insert,0.00491682319404,0.878721726969,0.00503521340945,0.867766175008
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146,2.433333333,pose3-to-pose4-insert,0.00491666448419,0.878657620827,0.00503502247174,0.867702020827
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147,2.450000000,pose3-to-pose4-insert,0.00491653975783,0.878599799566,0.00503486279565,0.867644199566
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148,2.466666667,pose3-to-pose4-insert,0.00491634737159,0.878551680582,0.00503463834112,0.867596028275
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149,2.483333333,pose3-to-pose4-insert,0.00491623033534,0.878513280391,0.00503446859556,0.867557628368
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150,2.500000000,pose3-to-pose4-insert,0.00491622638065,0.878484114056,0.00503440242401,0.86752847873
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151,2.516666667,pose3-to-pose4-insert,0.00491623297281,0.878459566237,0.00503438452595,0.867503890508
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152,2.533333333,pose3-to-pose4-insert,0.00491607355071,0.878440354095,0.00503424655146,0.867484754095
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153,2.550000000,pose3-to-pose4-insert,0.00491601608722,0.878424204102,0.00503419801109,0.867468608722
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154,2.566666667,pose3-to-pose4-insert,0.00491589280836,0.878411551019,0.00503409453185,0.867456046763
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155,2.583333333,pose3-to-pose4-insert,0.00491587995107,0.878402854031,0.00503409988047,0.867447268873
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156,2.600000000,pose3-to-pose4-insert,0.00491593896747,0.878397298916,0.0050341732538,0.867441777007
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157,2.616666667,pose3-to-pose4-insert,0.00491580029039,0.878393787791,0.00503405819873,0.867438187791
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158,2.633333333,pose3-to-pose4-insert,0.00491578,0.8783923,0.005034125,0.8674366
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159,2.650000000,pose4-hold,0.00491578,0.8783923,0.005034146,0.8674366
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160,2.666666667,pose4-hold,0.00491578,0.8783923,0.00503416391176,0.8674366
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161,2.683333333,pose4-hold,0.00491578,0.8783923,0.005034179,0.8674366
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162,2.700000000,pose4-hold,0.00491578,0.8783923,0.00503418791176,0.867436711765
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163,2.716666667,pose4-hold,0.00491578,0.8783923,0.00503419264706,0.867436758824
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164,2.733333333,pose4-hold,0.00491578,0.8783923,0.00503419473529,0.8674367
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165,2.750000000,pose4-hold,0.00491578,0.8783923,0.00503419435294,0.867436688235
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166,2.766666667,pose4-hold,0.00491578,0.8783923,0.00503419691176,0.867436602941
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167,2.783333333,pose4-hold,0.00491578,0.8783923,0.00503420276471,0.8674366
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168,2.800000000,pose4-hold,0.00491578,0.8783923,0.00503420941176,0.8674366
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169,2.816666667,pose4-hold,0.00491578,0.8783923,0.00503420988235,0.867436652941
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170,2.833333333,pose4-hold,0.00491578,0.8783923,0.00503421220588,0.8674367
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171,2.850000000,pose4-hold,0.00491578,0.8783923,0.00503421852941,0.8674367
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172,2.866666667,pose4-hold,0.00491578,0.8783923,0.00503421735294,0.867436691176
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173,2.883333333,pose4-hold,0.00491578,0.8783923,0.00503422076471,0.867436605882
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174,2.900000000,pose4-hold,0.00491578,0.8783923,0.00503422020588,0.8674366
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175,2.916666667,pose4-hold,0.00491578,0.8783923,0.00503421029412,0.8674366
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176,2.933333333,pose4-hold,0.00491578,0.8783923,0.0050341985,0.8674366
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177,2.950000000,pose4-hold,0.00491578,0.8783923,0.00503418952941,0.8674366
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178,2.966666667,pose4-hold,0.00491578,0.8783923,0.00503418376471,0.8674366
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179,2.983333333,pose4-hold,0.00491578,0.8783923,0.005034179,0.8674366
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180,3.000000000,pose4-hold,0.00491578,0.8783923,0.005034179,0.8674366
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181,3.016666667,pose4-hold,0.00491578,0.8783923,0.00503417517647,0.8674366
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182,3.033333333,pose4-hold,0.00491578,0.8783923,0.00503417152941,0.8674366
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183,3.050000000,pose4-hold,0.00491578,0.8783923,0.00503416717647,0.8674366
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184,3.066666667,pose4-hold,0.00491578,0.8783923,0.00503416076471,0.8674366
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185,3.083333333,pose4-hold,0.00491578,0.8783923,0.00503415329412,0.8674366
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186,3.100000000,pose4-hold,0.00491578,0.8783923,0.00503414994118,0.8674366
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187,3.116666667,pose4-hold,0.00491578,0.8783923,0.00503414823529,0.8674366
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188,3.133333333,pose4-hold,0.00491578,0.8783923,0.00503414285294,0.8674366
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189,3.150000000,pose4-hold,0.00491578,0.8783923,0.00503413805882,0.8674366
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190,3.166666667,pose4-hold,0.00491578,0.8783923,0.00503413688235,0.8674366
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191,3.183333333,pose4-hold,0.00491578,0.8783923,0.00503413447059,0.8674366
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192,3.200000000,pose4-hold,0.00491578,0.8783923,0.00503412585294,0.8674366
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194,3.233333333,pose4-to-pose5-return,0.00491578,0.8783923,0.005034125,0.8674366
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195,3.250000000,pose4-to-pose5-return,0.00491566880111,0.878392685213,0.00503399780813,0.86743702817
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196,3.266666667,pose4-to-pose5-return,0.00491541197909,0.878392942825,0.00503373812184,0.867437247584
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Part2/Free/s1/cylinder_0050_10/width_07/pick/camera_frames_60hz.tar
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Part2/Free/s1/cylinder_0050_10/width_07/pick/fem_node.csv
ADDED
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Part2/Free/s1/cylinder_0050_10/width_07/pick/franka_data.csv
ADDED
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79307305012e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005692_1793073050115229094_interpolated.jpg,0.675928434513,-0.00546404253371,0.0968522769351,0.999999957569,0.000109332207653,-0.000253010331896,9.43144170517e-05,0.0351316668093
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79307305013e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005693_1793073050146076691_real.jpg,0.675929210466,-0.00546512205353,0.0968535514766,0.999999957628,0.000110164137031,-0.000251914004051,9.56398566767e-05,0.0351316668093
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.79307305015e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005693_1793073050146076691_real.jpg,0.67592988472,-0.00546619732101,0.0968545138168,0.999999957779,0.000110268949064,-0.000250904784067,9.65848522886e-05,0.035117505557
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79307305016e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005694_1793073050164634697_interpolated.jpg,0.675929970335,-0.0054672259839,0.0968537220406,0.999999958438,0.000106353560768,-0.000250422001189,9.53987309508e-05,0.0350259430707
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79307305018e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005695_1793073050183192703_real.jpg,0.675929827013,-0.00546765046707,0.0968536587294,0.99999995842,0.000105895996322,-0.000250736854391,9.52739934949e-05,0.0350259430707
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.7930730502e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005695_1793073050183192703_real.jpg,0.675929665176,-0.00546666220651,0.0968542195029,0.999999958322,0.000106799346186,-0.0002508789091,9.49202741782e-05,0.0350259430707
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79307305022e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005696_1793073050214329219_interpolated.jpg,0.67592949933,-0.00546566023034,0.0968547564993,0.999999958209,0.000107756172219,-0.000251030957605,9.46288310798e-05,0.0350259430707
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79307305023e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005697_1793073050245465736_real.jpg,0.675929290646,-0.00546650696728,0.0968539540042,0.999999957967,0.000107637614617,-0.00025161355866,9.57672294465e-05,0.0350259430707
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.79307305025e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005697_1793073050245465736_real.jpg,0.67592925665,-0.00546712309101,0.0968536461932,0.999999957868,0.000107515739774,-0.000251713815895,9.66635488369e-05,0.0350259430707
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79307305027e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005698_1793073050265232528_interpolated.jpg,0.675929988185,-0.00546672860425,0.0968555062242,0.999999958404,0.000107379327877,-0.000249700309807,9.64990115495e-05,0.0350259430707
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79307305028e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005699_1793073050284999321_real.jpg,0.675931999439,-0.00546563035235,0.0968576349749,0.999999958916,0.000108817798848,-0.000247584620302,9.50192770616e-05,0.0350259430707
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.7930730503e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005699_1793073050284999321_real.jpg,0.675931311807,-0.00546559637997,0.0968572975455,0.999999958562,0.000108897392151,-0.000248985372837,9.49918496322e-05,0.0350259430707
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79307305032e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005700_1793073050315056648_interpolated.jpg,0.675930015162,-0.00546580900469,0.0968564028052,0.99999995801,0.000108664707852,-0.000251178490125,9.52944443108e-05,0.0350259430707
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79307305033e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005701_1793073050345113975_real.jpg,0.675929548856,-0.00546630920806,0.0968561848313,0.999999957787,0.000108314494082,-0.00025218807682,9.53681055827e-05,0.0350259430707
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,1.79307305035e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005701_1793073050345113975_real.jpg,0.675928711025,-0.00546642183352,0.0968553793335,0.999999957397,0.000108346281166,-0.000253740080063,9.53013688592e-05,0.0350228126562
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,1.79307305037e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005702_1793073050366092930_interpolated.jpg,0.675926449181,-0.0054650489115,0.0968523219154,0.999999956364,0.000109842239437,-0.00025737111185,9.46965006157e-05,0.035007683675
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79307305038e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005703_1793073050387071886_real.jpg,0.675926250424,-0.00546628758336,0.0968549374017,0.999999955899,0.00010878214159,-0.000259598479372,9.47507730547e-05,0.0350068993866
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.7930730504e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005703_1793073050387071886_real.jpg,0.675924526971,-0.00546441911915,0.0968568842765,0.999999954636,0.000110199524164,-0.000264170825184,9.37989580939e-05,0.0350068993866
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79307305042e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005704_1793073050416021174_interpolated.jpg,0.675922065799,-0.00546108653071,0.0968583902417,0.999999952966,0.00011279599526,-0.00026983423108,9.23776493512e-05,0.0350068993866
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.79307305043e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005705_1793073050444970462_real.jpg,0.675920212313,-0.00546130178517,0.0968648201804,0.999999952103,0.000110122734936,-0.000274928518755,8.98948944963e-05,0.0350068993866
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.79307305045e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005705_1793073050444970462_real.jpg,0.675914409042,-0.00546115563932,0.0968742237177,0.999999948673,0.000107495367055,-0.000289522901601,8.52941614917e-05,0.0350068993866
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,1.79307305047e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005706_1793073050466431653_interpolated.jpg,0.675894118146,-0.00545904964576,0.0968935568972,0.999999934312,0.000105992124239,-0.000338801085687,7.31767465116e-05,0.0350068993866
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79307305048e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005707_1793073050487892844_real.jpg,0.675891264698,-0.00545565977185,0.0969196438947,0.999999934392,0.000105727872831,-0.000340144116167,6.5870881588e-05,0.0350068993866
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,1.7930730505e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005707_1793073050487892844_real.jpg,0.675898853561,-0.00545303868699,0.0969604485083,0.999999939938,0.000104622300117,-0.00032497529416,5.9742849565e-05,0.0350068993866
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79307305052e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005708_1793073050517429573_interpolated.jpg,0.675911549673,-0.00545090580751,0.0970092309793,0.999999947445,0.000102989658145,-0.000302620748207,5.40664223079e-05,0.0350068993866
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.79307305053e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005708_1793073050517429573_interpolated.jpg,0.675913303868,-0.00544651883737,0.0970668822995,0.999999948102,0.000102562051137,-0.00030260422116,4.13184872386e-05,0.0350068993866
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.79307305055e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005709_1793073050546966303_real.jpg,0.675913553119,-0.00544161484438,0.0971295027808,0.999999947682,0.000101897584771,-0.000305845080183,2.66717514689e-05,0.0350065479084
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79307305057e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005710_1793073050567842597_interpolated.jpg,0.675915306331,-0.00543506637692,0.0972263031431,0.999999947902,9.726627358e-05,-0.000307762525597,4.25248109253e-06,0.0350028778782
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,1.79307305059e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005711_1793073050588718891_real.jpg,0.675915082893,-0.0054268679073,0.0972684939997,0.999999947244,9.67331832014e-05,-0.000310018378241,-6.64511753091e-06,0.0350023023784
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,1.7930730506e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005711_1793073050588718891_real.jpg,0.675919737551,-0.00542005086006,0.0973565092337,0.999999948718,9.35547487985e-05,-0.000305335964812,-2.41097543298e-05,0.0350023023784
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,1.79307305062e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005712_1793073050616861794_interpolated.jpg,0.675928028488,-0.00541440398667,0.0974833301523,0.999999951244,8.80142572058e-05,-0.000295800396933,-4.76120788099e-05,0.0350023023784
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,1.79307305063e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005713_1793073050645004698_real.jpg,0.675934151289,-0.00540559589442,0.0975726982462,0.999999952311,9.02550454596e-05,-0.000288383863412,-6.37692156631e-05,0.0350023023784
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,1.79307305065e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005713_1793073050645004698_real.jpg,0.67594083374,-0.00539762914057,0.0976692206888,0.9999999532,9.58001222922e-05,-0.000280223233635,-7.67874770295e-05,0.0350023023784
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,1.79307305067e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005714_1793073050664530300_interpolated.jpg,0.675950256875,-0.00539480440437,0.0978064674669,0.999999954428,0.000112579150755,-0.000268821735028,-7.87765747842e-05,0.0350023023784
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| 36 |
+
34,0.566666667,pose1-to-pose2-lift,1.79307305068e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005715_1793073050684055903_real.jpg,0.675955362926,-0.00540973232381,0.0979294940112,0.999999948433,0.000178979886942,-0.000265388207233,-2.58862687095e-05,0.0350023023784
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,1.7930730507e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005715_1793073050684055903_real.jpg,0.675955251483,-0.00540388110948,0.0980457782506,0.999999947038,0.00018609506673,-0.000264365205691,-3.74735063799e-05,0.0350023023784
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,1.79307305072e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005716_1793073050714530709_interpolated.jpg,0.675953697619,-0.00539536983077,0.0981617790951,0.999999947082,0.000179998672586,-0.000264760984244,-5.77687280107e-05,0.0350023023784
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,1.79307305073e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005717_1793073050745005515_real.jpg,0.675936927452,-0.00539678773849,0.0982942139476,0.999999953752,7.36736811195e-05,-0.000289390224315,-5.76327401908e-05,0.0350023023784
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| 40 |
+
38,0.633333333,pose1-to-pose2-lift,1.79307305075e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005717_1793073050745005515_real.jpg,0.675922263629,-0.0054026301699,0.09843420925,0.999999949845,-6.47629900776e-06,-0.000311781346971,-5.53255250373e-05,0.035002185575
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| 41 |
+
39,0.650000000,pose1-to-pose2-lift,1.79307305077e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005718_1793073050764971364_interpolated.jpg,0.675915466151,-0.00542458075188,0.0986012385797,0.999999945894,9.80686923202e-06,-0.000325696399645,-4.51310419591e-05,0.0350016467273
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| 42 |
+
40,0.666666667,pose1-to-pose2-lift,1.79307305078e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005719_1793073050784937213_real.jpg,0.675915215572,-0.0054338266369,0.0987153096791,0.999999945964,2.34319917731e-05,-0.000325168336915,-4.22794266658e-05,0.0350016467273
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| 43 |
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41,0.683333333,pose1-to-pose2-lift,1.7930730508e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005719_1793073050784937213_real.jpg,0.67591600181,-0.00544343044629,0.0989239225485,0.999999945372,4.8848084854e-05,-0.000324349091339,-4.08429040264e-05,0.0350016467273
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| 44 |
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42,0.700000000,pose1-to-pose2-lift,1.79307305082e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005720_1793073050814982352_interpolated.jpg,0.675917013007,-0.00545274432144,0.0991529040328,0.999999943988,7.61031168433e-05,-0.000323487476393,-3.98399668476e-05,0.0350016467273
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| 45 |
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| 46 |
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| 47 |
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| 49 |
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| 50 |
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48,0.800000000,pose1-to-pose2-lift,1.79307305092e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005724_1793073050914736964_interpolated.jpg,0.675922742264,-0.0053983742033,0.100547313795,0.999999944724,8.92836126722e-05,-0.000313908167534,-6.35830923871e-05,0.0350016467273
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| 51 |
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| 52 |
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| 53 |
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51,0.850000000,pose1-to-pose2-lift,1.79307305097e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00005726_1793073050964794064_interpolated.jpg,0.675931024611,-0.00536151057059,0.101362699218,0.999999946724,9.90989800842e-05,-0.000300441973794,-8.04160667624e-05,0.0350016611334
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| 206 |
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| 207 |
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205,3.416666667,pose2-hold,1.79307305355e+18,camera_frames_60hz/WAIT_POSE2/camera_00005830_1793073053550527445_interpolated.jpg,0.675897278659,-0.00538257959773,0.134534933887,0.999999930605,9.54407157452e-05,-0.000353686228774,-6.7723839758e-05,0.0350023023784
|
Part2/Free/s1/cylinder_0050_10/width_07/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 |
+
0,0.000000000,pose1-to-pose2-lift,-8.252678e-05,0.8455892,5.461455e-06,0.8346293
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.27511225147e-05,0.845589878735,5.24263923371e-06,0.834629978735
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.27098905142e-05,0.845590121955,5.29110826814e-06,0.834630221955
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.26918211643e-05,0.845590469385,5.3063198907e-06,0.834630535712
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.26826678601e-05,0.84559110614,5.30601666121e-06,0.834631120293
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26855318523e-05,0.845591910633,5.30881093082e-06,0.83463203205
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.26870674661e-05,0.845592341985,5.31030916078e-06,0.834632520916
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.2697117154e-05,0.845593165571,5.29541066144e-06,0.834633337838
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.27121279293e-05,0.84559421865,5.27096955628e-06,0.83463434704
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.27205546008e-05,0.845594809823,5.25724893508e-06,0.83463491358
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.396638e-05,0.8835865,5.725097e-06,0.8726317
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.37796194338e-05,0.883586795014,5.96128246625e-06,0.872631897507
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.32779676756e-05,0.883586634572,6.44774364389e-06,0.872631817286
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.26806935511e-05,0.883586656137,7.0425789326e-06,0.872631828069
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.22746083363e-05,0.883586702739,7.44935688623e-06,0.87263185137
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.18136338071e-05,0.883586755641,7.91111778971e-06,0.87263187782
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.11774371965e-05,0.883586784606,8.54942232774e-06,0.872631892303
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.01132764014e-05,0.883586718987,9.61975754889e-06,0.872631859493
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.97878857403e-05,0.883586698922,9.9470361771e-06,0.872631849461
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.91940372945e-05,0.883586662304,1.05443302237e-05,0.872631831152
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.75348018601e-05,0.883586634701,1.22108913811e-05,0.872631834701
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.29142575825e-05,0.883586881819,1.68418557774e-05,0.872632081819
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.54386097345e-05,0.883586654972,2.43730257537e-05,0.872631773297
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-4.96262811594e-05,0.883586782015,4.02649562803e-05,0.872631882015
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-1.78241501885e-05,0.883586565036,7.2256055856e-05,0.872631665036
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,2.82145231432e-05,0.883586922119,0.000118575741117,0.872632022119
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,8.6141101874e-05,0.883587195268,0.000176876294998,0.872632295268
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000165005495884,0.883587313099,0.00025626207787,0.872632296942
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000260112025771,0.883587960972,0.000351751884006,0.872632921943
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000358946303865,0.883587911531,0.000451182030216,0.872632823061
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000476932741356,0.883588495134,0.000569964026422,0.872633376107
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000605812788023,0.883589034576,0.000699552002321,0.872633834576
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000734985229847,0.883589318047,0.000829244119774,0.87263417707
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000879095334344,0.883589931136,0.000974244390909,0.87263475526
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00103985950131,0.8835901,0.00113625025374,0.872634803059
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00119859932503,0.883589783134,0.00129605559658,0.872634491567
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00137842057128,0.883589544125,0.00147700772607,0.872634372063
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00156332294002,0.883589354582,0.00166305521839,0.8726343
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00173738624631,0.883589456595,0.00183821994413,0.872634456595
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00191106572511,0.883589431981,0.0020129680678,0.872634431981
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00208801860039,0.883589240101,0.00219097615759,0.872634240101
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00224751301379,0.883589042421,0.00235143701677,0.872634094947
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00242460347528,0.883589173453,0.00252960902367,0.872634218762
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00260678053559,0.883589220894,0.00271288267486,0.872634220894
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00278167761949,0.883589222742,0.00288884108208,0.872634161371
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00295861646123,0.883589234413,0.00306687416045,0.872634134413
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00314174628977,0.88358904878,0.00325113173223,0.87263402439
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00330424407946,0.883589151961,0.00341465056194,0.872634227942
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00347205867542,0.883589116795,0.00358347599309,0.872634216795
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00363306999048,0.883589190429,0.00374545133218,0.872634290429
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00377754756402,0.8835892,0.00389084158726,0.8726343
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.0039129977928,0.8835892,0.00402713893606,0.872634391922
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.0040464214342,0.883589005983,0.00416108831359,0.872634108975
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00415858358023,0.883588722904,0.00427373379688,0.872633915269
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00427199526269,0.8835887,0.00438794222288,0.872633803812
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.0043779329332,0.8835884966,0.00449473303378,0.8726334
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00447036754282,0.883588393003,0.00458783556643,0.8726334
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00455104332557,0.883588291452,0.00466908358539,0.872633408548
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00462686108338,0.883588129981,0.00474540595343,0.87263346499
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00468437121711,0.883587812415,0.00480330767051,0.872633324831
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00473662554872,0.883587873855,0.00485590789706,0.872633460782
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00478047989231,0.883587686404,0.0049000572014,0.8726332
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.0048146030346,0.883587592484,0.00493439459006,0.872633184968
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00484093587697,0.883587504089,0.0049607574867,0.872633008178
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486485790635,0.883587597492,0.00498475987476,0.872633194984
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488110416902,0.883587512399,0.00500113606637,0.872633024798
|
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+
56,0.933333333,pose2-to-pose3-side,0.00489448144466,0.883587413525,0.00501462829649,0.87263282705
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490508768371,0.8835873,0.00502530836207,0.872632798304
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491145364681,0.883587377398,0.00503171596875,0.872632803198
|
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+
59,0.983333333,pose2-to-pose3-side,0.0049142567324,0.88358762639,0.00503453919146,0.87263312639
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491579428787,0.883587640548,0.0050361208276,0.872633081096
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.004916097,0.8835876,0.005036434,0.872633
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+
62,1.033333333,pose3-hold,0.004916097,0.8835876,0.005036441,0.872633
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916097,0.8835876,0.00503644355882,0.872633
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916097,0.8835876,0.00503644823529,0.872633
|
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+
65,1.083333333,pose3-hold,0.004916097,0.8835876,0.00503645,0.872633
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916097,0.8835876,0.00503645288235,0.872633
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916097,0.8835876,0.00503645805882,0.872633
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916097,0.8835876,0.00503645970588,0.872633
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916097,0.8835876,0.00503645032353,0.872633
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916097,0.8835876,0.00503644588235,0.872633
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916097,0.8835876,0.00503643891176,0.872633
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916097,0.8835876,0.00503643547059,0.872633
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916097,0.8835876,0.00503643805882,0.872633
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916097,0.8835876,0.00503644158824,0.872633
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916097,0.8835876,0.00503643594118,0.872633
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916097,0.8835876,0.00503642570588,0.872633
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| 79 |
+
77,1.283333333,pose3-hold,0.004916097,0.8835876,0.00503642897059,0.872633
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916097,0.8835876,0.00503642417647,0.872633
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916097,0.8835876,0.0050364205,0.872633
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916097,0.8835876,0.00503641470588,0.872633
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916097,0.8835876,0.00503640726471,0.872633
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916097,0.8835876,0.005036416,0.872633
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916097,0.8835876,0.005036416,0.872633
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916097,0.8835876,0.00503641982353,0.872633
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916097,0.8835876,0.00503641605882,0.872633
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916097,0.8835876,0.00503641158824,0.872633
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916097,0.8835876,0.00503641097059,0.872633
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916097,0.8835876,0.005036413,0.872633
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916097,0.8835876,0.005036413,0.872633
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916097,0.8835876,0.005036413,0.872633
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916097,0.8835876,0.00503641594118,0.872633
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916097,0.8835876,0.00503641405882,0.872633
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916097,0.8835876,0.00503641023529,0.872633
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916097,0.8835876,0.00503640888235,0.872633
|
| 97 |
+
95,1.583333333,pose3-hold,0.004916097,0.8835876,0.00503641070588,0.872633
|
| 98 |
+
96,1.600000000,pose3-hold,0.004916097,0.8835876,0.005036409,0.872633
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.004916097,0.8835876,0.005036407,0.872633
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491631016523,0.883587297935,0.00503663625793,0.872632697935
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491632671647,0.883587091044,0.00503664778469,0.872632491044
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491633379285,0.883587002589,0.00503665271288,0.872632402589
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491634211469,0.883586898566,0.00503665850844,0.872632298566
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491635139061,0.883586482146,0.00503666221207,0.872631882146
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.0049163523993,0.883586251589,0.00503666091519,0.872631651589
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491635458512,0.883585751973,0.00503665810485,0.872631151973
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491635757946,0.883584935105,0.0050366541722,0.872630343383
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491635877631,0.883584387971,0.00503665246241,0.872629813347
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491635997779,0.883583838724,0.00503665074601,0.872629281264
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491638968322,0.883580346827,0.00503666861676,0.872625846827
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491640331259,0.883570541261,0.00503670456254,0.872615905012
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491630683444,0.883553509934,0.00503664522296,0.872598909934
|
| 113 |
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111,1.850000000,pose3-to-pose4-insert,0.00491634525155,0.883519310482,0.00503666787389,0.872564791222
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491655668205,0.883467141671,0.00503693671993,0.872512541671
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491671530146,0.883392280538,0.00503711090508,0.872437680538
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.00491682184388,0.883305504934,0.00503724247432,0.872350904934
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491726998743,0.883205098741,0.00503770990423,0.872250498741
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491720741313,0.883099685122,0.00503765266998,0.872145085122
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491744786984,0.882982131045,0.00503790874104,0.872027531045
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.0049176554895,0.882860428906,0.00503811760376,0.871905740332
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.00491781570932,0.882734243894,0.00503819268373,0.871779641625
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00491759592871,0.882589865543,0.00503804357267,0.871635354216
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491760741665,0.882436854017,0.00503810827776,0.871482277765
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.00491739746804,0.882286060754,0.00503796916081,0.871331504168
|
| 125 |
+
123,2.050000000,pose3-to-pose4-insert,0.00491722634189,0.88212316576,0.00503783467385,0.87116846576
|
| 126 |
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124,2.066666667,pose3-to-pose4-insert,0.00491710174562,0.881944167363,0.0050376987828,0.870989467363
|
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125,2.083333333,pose3-to-pose4-insert,0.00491731602576,0.881772840983,0.00503792505012,0.870818140983
|
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+
126,2.100000000,pose3-to-pose4-insert,0.00491773538256,0.881590466358,0.00503834504316,0.870635706677
|
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127,2.116666667,pose3-to-pose4-insert,0.00491801158752,0.881401613852,0.00503861839269,0.870446813852
|
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128,2.133333333,pose3-to-pose4-insert,0.00491841171256,0.881222062299,0.00503903269585,0.870267262299
|
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129,2.150000000,pose3-to-pose4-insert,0.00491871031669,0.881040600712,0.00503932904195,0.870085727965
|
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130,2.166666667,pose3-to-pose4-insert,0.00491827040417,0.880849111873,0.00503888155372,0.869894211873
|
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+
131,2.183333333,pose3-to-pose4-insert,0.00491778687258,0.880667638162,0.00503838847885,0.869712654225
|
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+
132,2.200000000,pose3-to-pose4-insert,0.00491723207512,0.88047217789,0.00503781571853,0.86951717789
|
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133,2.216666667,pose3-to-pose4-insert,0.00491686316812,0.880277396093,0.00503745167246,0.869322296093
|
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+
134,2.233333333,pose3-to-pose4-insert,0.00491637079784,0.88009531828,0.00503688598167,0.86914021828
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+
135,2.250000000,pose3-to-pose4-insert,0.00491636476399,0.879921344742,0.00503688781251,0.868966244742
|
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136,2.266666667,pose3-to-pose4-insert,0.00491633019404,0.879750342377,0.0050367909454,0.868795242377
|
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+
137,2.283333333,pose3-to-pose4-insert,0.0049166457184,0.879606290924,0.00503702435711,0.868651154878
|
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138,2.300000000,pose3-to-pose4-insert,0.00491676691974,0.879461082945,0.00503716481299,0.868505882945
|
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139,2.316666667,pose3-to-pose4-insert,0.00491678532065,0.879324807102,0.00503709893132,0.868369607102
|
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140,2.333333333,pose3-to-pose4-insert,0.00491695697014,0.879202097079,0.00503721158513,0.868246897079
|
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141,2.350000000,pose3-to-pose4-insert,0.00491717658692,0.879087791964,0.00503740445805,0.868132547266
|
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142,2.366666667,pose3-to-pose4-insert,0.00491739490054,0.878976257591,0.00503769851155,0.868020905215
|
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+
143,2.383333333,pose3-to-pose4-insert,0.0049174653364,0.878884483776,0.00503788832522,0.867929083776
|
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+
144,2.400000000,pose3-to-pose4-insert,0.0049175066395,0.878795294373,0.00503786450179,0.86783983767
|
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145,2.416666667,pose3-to-pose4-insert,0.00491774983829,0.878715524437,0.00503793287273,0.867760024437
|
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146,2.433333333,pose3-to-pose4-insert,0.00491792850159,0.878649588773,0.00503815650478,0.86769402187
|
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147,2.450000000,pose3-to-pose4-insert,0.00491791768627,0.878595539466,0.00503825354459,0.867640004209
|
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148,2.466666667,pose3-to-pose4-insert,0.0049181277758,0.878547203929,0.00503843131488,0.867591636443
|
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+
149,2.483333333,pose3-to-pose4-insert,0.00491829921828,0.878512031556,0.005038527164,0.867556431556
|
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150,2.500000000,pose3-to-pose4-insert,0.00491827547491,0.878480600852,0.00503847694236,0.867525000852
|
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151,2.516666667,pose3-to-pose4-insert,0.00491818292131,0.878455186183,0.00503838519579,0.867499586183
|
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+
152,2.533333333,pose3-to-pose4-insert,0.0049182855398,0.878435747372,0.00503850454611,0.867480147372
|
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+
153,2.550000000,pose3-to-pose4-insert,0.00491836781056,0.87842177868,0.00503860902483,0.86746625963
|
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154,2.566666667,pose3-to-pose4-insert,0.00491831982034,0.878410708672,0.00503856975715,0.867455308672
|
| 157 |
+
155,2.583333333,pose3-to-pose4-insert,0.00491838384574,0.878404025448,0.00503864725056,0.867448577352
|
| 158 |
+
156,2.600000000,pose3-to-pose4-insert,0.00491843598782,0.878399177582,0.00503870671368,0.867443577582
|
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+
157,2.616666667,pose3-to-pose4-insert,0.00491837928589,0.878395991885,0.00503865459176,0.867440338827
|
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158,2.633333333,pose3-to-pose4-insert,0.004918371,0.8783944,0.005038771,0.8674387
|
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+
159,2.650000000,pose4-hold,0.004918371,0.8783944,0.005038786,0.8674387
|
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160,2.666666667,pose4-hold,0.004918371,0.8783944,0.00503879794118,0.8674387
|
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161,2.683333333,pose4-hold,0.004918371,0.8783944,0.00503880635294,0.8674387
|
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162,2.700000000,pose4-hold,0.004918371,0.8783944,0.00503881179412,0.8674387
|
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163,2.716666667,pose4-hold,0.004918371,0.8783944,0.00503881523529,0.8674387
|
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164,2.733333333,pose4-hold,0.004918371,0.8783944,0.00503881752941,0.8674387
|
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165,2.750000000,pose4-hold,0.004918371,0.8783944,0.00503881958824,0.8674387
|
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166,2.766666667,pose4-hold,0.004918371,0.8783944,0.00503882385294,0.8674387
|
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+
167,2.783333333,pose4-hold,0.004918371,0.8783944,0.00503882070588,0.867438782353
|
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168,2.800000000,pose4-hold,0.004918371,0.8783944,0.00503882541176,0.8674388
|
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169,2.816666667,pose4-hold,0.004918371,0.8783944,0.00503883276471,0.8674388
|
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170,2.833333333,pose4-hold,0.004918371,0.8783944,0.00503883585294,0.8674388
|
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171,2.850000000,pose4-hold,0.004918371,0.8783944,0.00503883282353,0.8674388
|
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172,2.866666667,pose4-hold,0.004918371,0.8783944,0.00503882758824,0.867438791176
|
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+
173,2.883333333,pose4-hold,0.004918371,0.8783944,0.00503881394118,0.867438705882
|
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+
174,2.900000000,pose4-hold,0.004918371,0.8783944,0.00503879711765,0.8674387
|
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175,2.916666667,pose4-hold,0.004918371,0.8783944,0.00503878911765,0.8674387
|
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176,2.933333333,pose4-hold,0.004918371,0.8783944,0.0050387905,0.8674387
|
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177,2.950000000,pose4-hold,0.004918371,0.8783944,0.00503879047059,0.8674387
|
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178,2.966666667,pose4-hold,0.004918371,0.8783944,0.00503878379412,0.8674387
|
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179,2.983333333,pose4-hold,0.004918371,0.8783944,0.00503878264706,0.8674387
|
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180,3.000000000,pose4-hold,0.004918371,0.8783944,0.00503877752941,0.8674387
|
| 183 |
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181,3.016666667,pose4-hold,0.004918371,0.8783944,0.00503877164706,0.8674387
|
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182,3.033333333,pose4-hold,0.004918371,0.8783944,0.00503876691176,0.8674387
|
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183,3.050000000,pose4-hold,0.004918371,0.8783944,0.00503875982353,0.8674387
|
| 186 |
+
184,3.066666667,pose4-hold,0.004918371,0.8783944,0.00503875173529,0.867438732353
|
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202,3.366666667,pose2-hold,1.79307307674e+18,camera_frames_60hz/WAIT_POSE2/camera_00006752_1793073076736126694_interpolated.jpg,0.675900155309,-0.00538613403183,0.134539995019,0.999999932233,9.37357532872e-05,-0.00034947424765,-6.79429848373e-05,0.0345019251108
|
Part2/Free/s1/cylinder_0050_10/width_08/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,204 @@
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.252678e-05,0.8455892,7.685276e-06,0.8346293
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.27075960101e-05,0.84559013549,7.51274147455e-06,0.83463023549
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.26943426426e-05,0.845590329011,7.52453885864e-06,0.834630412884
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26865002563e-05,0.845590765609,7.52413227703e-06,0.834630794907
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.2684405864e-05,0.845591594344,7.52666026462e-06,0.83463167359
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26865571153e-05,0.845592198628,7.52945245996e-06,0.834632358445
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.26944874153e-05,0.845592981081,7.51990801389e-06,0.834633161036
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.27001911563e-05,0.845593381227,7.5108110389e-06,0.834633544509
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.27036639642e-05,0.845593624862,7.50527220971e-06,0.834633777992
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.27134508293e-05,0.845594311458,7.48966300377e-06,0.834634435981
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.2721191547e-05,0.845594854508,7.47731722666e-06,0.834634956403
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.27038510554e-05,0.845595299977,7.49637557117e-06,0.834635399977
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.26841823222e-05,0.845595737302,7.51834436542e-06,0.834635837302
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.26683731026e-05,0.845596088814,7.5360023146e-06,0.834636188814
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.26315703233e-05,0.845596907108,7.57710880964e-06,0.834637007108
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.25856382044e-05,0.845597928389,7.62841222904e-06,0.834638028389
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.26354120176e-05,0.845599248615,7.5822667738e-06,0.83463932309
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.27749331247e-05,0.845603388972,7.45063110822e-06,0.834643388972
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.26087374991e-05,0.845610983217,7.60832900888e-06,0.834651020828
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.27935709246e-05,0.84562464674,7.42215906917e-06,0.83466474674
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.27267668996e-05,0.845647470742,7.46688385114e-06,0.834687492379
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.27207990473e-05,0.845682228477,7.45833974551e-06,0.834722299763
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.27974664558e-05,0.845725829378,7.3769863297e-06,0.834765829378
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.30540575518e-05,0.845779111967,7.14089455007e-06,0.834819137916
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.30916326784e-05,0.845839022016,7.08827488978e-06,0.834879038587
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.31878410126e-05,0.845903275583,6.97577413592e-06,0.834943275583
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.342441204e-05,0.845970328045,6.73362628395e-06,0.835010328045
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.33564854335e-05,0.846046549417,6.7940338248e-06,0.835086549417
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.36035401517e-05,0.846131677225,6.5321848124e-06,0.835171677225
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.37174246297e-05,0.846229277076,6.4450926391e-06,0.835269277076
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.39531494149e-05,0.846337552804,6.21412737208e-06,0.835377552804
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.39657294451e-05,0.846453213072,6.16931678804e-06,0.835493213072
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.42174378699e-05,0.84656883062,5.89662407504e-06,0.83560883062
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.38008687879e-05,0.846692427974,6.27746497112e-06,0.835732327974
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.33684486595e-05,0.846821879339,6.71871093975e-06,0.835861779339
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.29006552458e-05,0.846956477066,7.19824898542e-06,0.835996377066
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.24684298406e-05,0.847098414178,7.60958501717e-06,0.836138337839
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.21382305304e-05,0.847247927408,7.94229555798e-06,0.836287901851
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.17298962906e-05,0.847399049688,8.34553695319e-06,0.836438949688
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.13166749238e-05,0.847560106004,8.74072906036e-06,0.836600006004
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.15482853706e-05,0.847733484106,8.53973626115e-06,0.836773363362
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.1923637823e-05,0.847922986531,8.1282408481e-06,0.836962810867
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.20352395831e-05,0.848129039356,8.01013482883e-06,0.837168939356
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.23476150162e-05,0.848344089361,7.69411726248e-06,0.837384026653
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.25084852675e-05,0.848577045607,7.52851366997e-06,0.837616998938
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.27862262103e-05,0.848817526451,7.2494121047e-06,0.837857426451
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.32105580258e-05,0.849057092973,6.81931431202e-06,0.838096992973
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.35247151911e-05,0.849315044959,6.51025800977e-06,0.838354944959
|
| 50 |
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48,0.800000000,pose1-to-pose2-lift,-8.31763420977e-05,0.849595842535,6.83276518676e-06,0.838635742535
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.25961225296e-05,0.849870218529,7.40430798034e-06,0.838910118529
|
| 52 |
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50,0.833333333,pose1-to-pose2-lift,-8.18554108418e-05,0.850145885983,8.11247076877e-06,0.839185785983
|
| 53 |
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51,0.850000000,pose1-to-pose2-lift,-8.12613213138e-05,0.850444548656,8.70260068413e-06,0.839484533601
|
| 54 |
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52,0.866666667,pose1-to-pose2-lift,-8.10328547227e-05,0.850751618868,8.90992955168e-06,0.839791529337
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.12321189705e-05,0.851067856386,8.98760204712e-06,0.84010785013
|
| 56 |
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54,0.900000000,pose1-to-pose2-lift,-8.1437881476e-05,0.851402169398,8.68177130097e-06,0.840442268427
|
| 57 |
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55,0.916666667,pose1-to-pose2-lift,-8.11800416992e-05,0.851745669199,8.76671567537e-06,0.840785575804
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56,0.933333333,pose1-to-pose2-lift,-8.11358863214e-05,0.852081287727,8.78032742728e-06,0.841121280417
|
| 59 |
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57,0.950000000,pose1-to-pose2-lift,-8.10011497133e-05,0.852422914975,8.95892696433e-06,0.841462822077
|
| 60 |
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58,0.966666667,pose1-to-pose2-lift,-8.18339578461e-05,0.852773906444,8.15617416017e-06,0.841813906444
|
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59,0.983333333,pose1-to-pose2-lift,-8.28435025419e-05,0.853139662353,7.19740154132e-06,0.842179680995
|
| 62 |
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60,1.000000000,pose1-to-pose2-lift,-8.3399343691e-05,0.853526730083,6.68446126744e-06,0.8425669155
|
| 63 |
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61,1.016666667,pose1-to-pose2-lift,-8.30780187646e-05,0.853923673459,7.03086469999e-06,0.8429637934
|
| 64 |
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62,1.033333333,pose1-to-pose2-lift,-8.2757488026e-05,0.854309137951,7.37949564417e-06,0.843349337951
|
| 65 |
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63,1.050000000,pose1-to-pose2-lift,-8.21941187625e-05,0.854698904957,7.93150646785e-06,0.843739104957
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| 66 |
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64,1.066666667,pose1-to-pose2-lift,-8.16334890255e-05,0.855093362372,8.51762159101e-06,0.844133580538
|
| 67 |
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65,1.083333333,pose1-to-pose2-lift,-8.14260564337e-05,0.855499753219,8.76894620072e-06,0.844540035159
|
| 68 |
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66,1.100000000,pose1-to-pose2-lift,-8.25801571975e-05,0.855928173935,7.59335857743e-06,0.844968395466
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| 69 |
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67,1.116666667,pose1-to-pose2-lift,-8.33169093355e-05,0.856370892579,6.85392522192e-06,0.845411192579
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73,1.216666667,pose1-to-pose2-lift,-8.24020958762e-05,0.859160190821,7.90078006464e-06,0.848200747915
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77,1.283333333,pose1-to-pose2-lift,-8.15670907774e-05,0.860980006581,8.82595121525e-06,0.850020703007
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.444801e-05,0.8835844,4.403197e-06,0.8726296
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.42129586057e-05,0.8835844,4.62358822029e-06,0.872629505674
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.39798781004e-05,0.883584333859,4.86641900003e-06,0.87262946693
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.3659269995e-05,0.883584237006,5.20259624764e-06,0.872629418503
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.3063816641e-05,0.883584292851,5.80206488628e-06,0.872629492851
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+
5,0.083333333,pose2-to-pose3-side,-8.29269110744e-05,0.883584319729,5.9384107715e-06,0.872629519729
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+
6,0.100000000,pose2-to-pose3-side,-8.27562708164e-05,0.883584353229,6.10835343793e-06,0.872629553229
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+
7,0.116666667,pose2-to-pose3-side,-8.23499185951e-05,0.883584433005,6.51304445758e-06,0.872629633005
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+
8,0.133333333,pose2-to-pose3-side,-8.21429269168e-05,0.883584473642,6.71918993667e-06,0.872629673642
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+
9,0.150000000,pose2-to-pose3-side,-8.17333294564e-05,0.8835845,7.12988485842e-06,0.872629691923
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+
10,0.166666667,pose2-to-pose3-side,-8.02081510597e-05,0.8835845,8.66418259438e-06,0.872629647181
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+
11,0.183333333,pose2-to-pose3-side,-7.6842922444e-05,0.883584438097,1.20438683953e-05,0.872629538097
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+
12,0.200000000,pose2-to-pose3-side,-6.96886069307e-05,0.883584375031,1.9230018134e-05,0.872629512547
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+
13,0.216666667,pose2-to-pose3-side,-5.22543062098e-05,0.883584686056,3.67819906051e-05,0.872629886056
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+
14,0.233333333,pose2-to-pose3-side,-2.10240093665e-05,0.8835846,6.82218208376e-05,0.872629745981
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+
15,0.250000000,pose2-to-pose3-side,2.43011277443e-05,0.883584724749,0.000113786556491,0.872629824749
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+
16,0.266666667,pose2-to-pose3-side,8.04316073447e-05,0.883584846574,0.000170272439318,0.872629946574
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+
17,0.283333333,pose2-to-pose3-side,0.000161146957169,0.883585222247,0.000251467080512,0.872630311123
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+
18,0.300000000,pose2-to-pose3-side,0.000254404097857,0.883585560329,0.00034536030147,0.872630506886
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19,0.316666667,pose2-to-pose3-side,0.000359476810669,0.883586328122,0.000450972488213,0.872631228122
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20,0.333333333,pose2-to-pose3-side,0.000479161681813,0.883586565677,0.000571102464319,0.872631543785
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21,0.350000000,pose2-to-pose3-side,0.000611893513031,0.883587205794,0.000704610502821,0.87263205507
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+
22,0.366666667,pose2-to-pose3-side,0.000741798268943,0.883587730438,0.000835444715824,0.872632465219
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+
23,0.383333333,pose2-to-pose3-side,0.000886937392419,0.883588377125,0.00098159316267,0.872633077125
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+
24,0.400000000,pose2-to-pose3-side,0.00104316826369,0.883588400154,0.00113854539098,0.872633100154
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+
25,0.416666667,pose2-to-pose3-side,0.00120789835505,0.883588469904,0.0013043486938,0.872633184952
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+
26,0.433333333,pose2-to-pose3-side,0.00137949641867,0.883588329065,0.00147710278136,0.872633129065
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+
27,0.450000000,pose2-to-pose3-side,0.00155693612938,0.883588441893,0.00165568555602,0.872633283785
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+
28,0.466666667,pose2-to-pose3-side,0.00172845662606,0.883588689379,0.00182829627614,0.872633684068
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+
29,0.483333333,pose2-to-pose3-side,0.00190548462196,0.8835889,0.00200642639444,0.872634053362
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30,0.500000000,pose2-to-pose3-side,0.00207769661386,0.88358879115,0.00217968438179,0.872634045575
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31,0.516666667,pose2-to-pose3-side,0.00225289967434,0.883588867634,0.00235596777425,0.872634223512
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32,0.533333333,pose2-to-pose3-side,0.00243598249712,0.883589,0.00254019249067,0.872634338713
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33,0.550000000,pose2-to-pose3-side,0.00261930864731,0.883589,0.00272463762265,0.8726343
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34,0.566666667,pose2-to-pose3-side,0.00278938943139,0.883589065629,0.0028957604382,0.872634431257
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35,0.583333333,pose2-to-pose3-side,0.00296675503923,0.883589240008,0.00307423067894,0.872634429996
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36,0.600000000,pose2-to-pose3-side,0.00314451975008,0.883589222998,0.00325309817393,0.872634245995
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37,0.616666667,pose2-to-pose3-side,0.00331457725494,0.883589528586,0.00342417393321,0.872634610733
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38,0.633333333,pose2-to-pose3-side,0.00347828006201,0.883589513102,0.00358885782332,0.872634613102
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39,0.650000000,pose2-to-pose3-side,0.00363605357194,0.883589869664,0.00374728126664,0.872634969664
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40,0.666666667,pose2-to-pose3-side,0.00377840509908,0.883590176565,0.00389051962107,0.872635184376
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41,0.683333333,pose2-to-pose3-side,0.00391244206143,0.883589925576,0.0040255171952,0.872634925576
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42,0.700000000,pose2-to-pose3-side,0.00403526205165,0.883589723657,0.00414916245436,0.872634635486
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43,0.716666667,pose2-to-pose3-side,0.00415153821099,0.883589441447,0.00426624061199,0.872634513816
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44,0.733333333,pose2-to-pose3-side,0.00426498346737,0.883589220312,0.00438039503178,0.872634410156
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45,0.750000000,pose2-to-pose3-side,0.00437329123342,0.8835892,0.00448940178817,0.8726344
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46,0.766666667,pose2-to-pose3-side,0.0044685405629,0.883588891129,0.00458526896206,0.872634286694
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47,0.783333333,pose2-to-pose3-side,0.00455357384684,0.883588711488,0.00467083344118,0.872634022976
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48,0.800000000,pose2-to-pose3-side,0.00462797252893,0.883588762329,0.00474568111825,0.872634162329
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+
49,0.816666667,pose2-to-pose3-side,0.00468866776613,0.883588579973,0.00480676125231,0.872633979973
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50,0.833333333,pose2-to-pose3-side,0.00473960303262,0.883588480675,0.00485801245151,0.872633880675
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51,0.850000000,pose2-to-pose3-side,0.0047800357655,0.883588377332,0.00489872730026,0.872633788666
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52,0.866666667,pose2-to-pose3-side,0.00481386269669,0.883588194091,0.00493272872432,0.872633697045
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53,0.883333333,pose2-to-pose3-side,0.00484319746052,0.883588006255,0.00496226302419,0.872633603127
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54,0.900000000,pose2-to-pose3-side,0.00486719094122,0.883588193502,0.00498631104963,0.872633693502
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55,0.916666667,pose2-to-pose3-side,0.0048838203986,0.883588101298,0.00500302875551,0.872633601298
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56,0.933333333,pose2-to-pose3-side,0.00489605997166,0.883588291767,0.00501532070769,0.872633791767
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57,0.950000000,pose2-to-pose3-side,0.00490501427749,0.883588204421,0.00502435469638,0.872633704421
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58,0.966666667,pose2-to-pose3-side,0.00491039206177,0.8835882,0.00502978158287,0.8726337
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59,0.983333333,pose2-to-pose3-side,0.00491388566371,0.883587960029,0.00503329846168,0.872633460029
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60,1.000000000,pose2-to-pose3-side,0.00491587293871,0.883588172542,0.00503525995913,0.872633581694
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61,1.016666667,pose2-to-pose3-side,0.004916702,0.8835881,0.005036177,0.8726335
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62,1.033333333,pose3-hold,0.004916702,0.8835881,0.005036182,0.8726335
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63,1.050000000,pose3-hold,0.004916702,0.8835881,0.00503618626471,0.8726335
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64,1.066666667,pose3-hold,0.004916702,0.8835881,0.00503619123529,0.8726335
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65,1.083333333,pose3-hold,0.004916702,0.8835881,0.00503619132353,0.8726335
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66,1.100000000,pose3-hold,0.004916702,0.8835881,0.00503619411765,0.8726335
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67,1.116666667,pose3-hold,0.004916702,0.8835881,0.00503620344118,0.8726335
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68,1.133333333,pose3-hold,0.004916702,0.8835881,0.00503621241176,0.8726335
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69,1.150000000,pose3-hold,0.004916702,0.8835881,0.00503620814706,0.8726335
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70,1.166666667,pose3-hold,0.004916702,0.8835881,0.00503619811765,0.8726335
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71,1.183333333,pose3-hold,0.004916702,0.8835881,0.00503619735294,0.8726335
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72,1.200000000,pose3-hold,0.004916702,0.8835881,0.00503619429412,0.8726335
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73,1.216666667,pose3-hold,0.004916702,0.8835881,0.00503618832353,0.8726335
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74,1.233333333,pose3-hold,0.004916702,0.8835881,0.00503618517647,0.8726335
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75,1.250000000,pose3-hold,0.004916702,0.8835881,0.00503618908824,0.8726335
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76,1.266666667,pose3-hold,0.004916702,0.8835881,0.00503618994118,0.8726335
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77,1.283333333,pose3-hold,0.004916702,0.8835881,0.00503618364706,0.872633420588
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78,1.300000000,pose3-hold,0.004916702,0.8835881,0.00503618394118,0.8726334
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79,1.316666667,pose3-hold,0.004916702,0.8835881,0.005036179,0.8726334
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80,1.333333333,pose3-hold,0.004916702,0.8835881,0.00503617441176,0.8726334
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81,1.350000000,pose3-hold,0.004916702,0.8835881,0.00503617494118,0.8726334
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82,1.366666667,pose3-hold,0.004916702,0.8835881,0.00503616723529,0.8726334
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83,1.383333333,pose3-hold,0.004916702,0.8835881,0.00503617064706,0.8726334
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84,1.400000000,pose3-hold,0.004916702,0.8835881,0.00503617711765,0.8726334
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85,1.416666667,pose3-hold,0.004916702,0.8835881,0.00503617467647,0.8726334
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86,1.433333333,pose3-hold,0.004916702,0.8835881,0.00503616917647,0.8726334
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87,1.450000000,pose3-hold,0.004916702,0.8835881,0.00503616794118,0.872633432353
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88,1.466666667,pose3-hold,0.004916702,0.8835881,0.00503617147059,0.8726335
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89,1.483333333,pose3-hold,0.004916702,0.8835881,0.00503616902941,0.872633497059
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90,1.500000000,pose3-hold,0.004916702,0.8835881,0.00503616988235,0.872633411765
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91,1.516666667,pose3-hold,0.004916702,0.8835881,0.00503616558824,0.872633473529
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92,1.533333333,pose3-hold,0.004916702,0.8835881,0.00503616694118,0.8726335
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93,1.550000000,pose3-hold,0.004916702,0.8835881,0.00503616767647,0.8726335
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94,1.566666667,pose3-hold,0.004916702,0.8835881,0.00503616629412,0.8726335
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95,1.583333333,pose3-hold,0.004916702,0.8835881,0.00503616685294,0.8726335
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96,1.600000000,pose3-hold,0.004916702,0.8835881,0.005036166,0.8726335
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97,1.616666667,pose3-to-pose4-insert,0.00491671,0.8835881,0.005036164,0.8726335
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98,1.633333333,pose3-to-pose4-insert,0.00491677067954,0.883587582497,0.00503622154956,0.872632982497
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99,1.650000000,pose3-to-pose4-insert,0.00491673004317,0.883587235248,0.00503618264752,0.872632635248
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100,1.666666667,pose3-to-pose4-insert,0.00491673034267,0.883586785996,0.00503618714004,0.872632185996
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101,1.683333333,pose3-to-pose4-insert,0.00491673061252,0.883586381223,0.00503619118777,0.872631781223
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102,1.700000000,pose3-to-pose4-insert,0.00491673074382,0.883586184273,0.00503619315727,0.872631584273
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103,1.716666667,pose3-to-pose4-insert,0.00491673093758,0.883585893637,0.00503619606363,0.872631293637
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104,1.733333333,pose3-to-pose4-insert,0.00491672985932,0.883585606085,0.00503619443347,0.872631011788
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105,1.750000000,pose3-to-pose4-insert,0.00491672704727,0.883585128036,0.00503618810635,0.872630547799
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106,1.766666667,pose3-to-pose4-insert,0.00491672182936,0.883584240991,0.00503617636605,0.872629686844
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107,1.783333333,pose3-to-pose4-insert,0.0049167183219,0.883583644724,0.00503616847428,0.872629108114
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108,1.800000000,pose3-to-pose4-insert,0.00491671261854,0.883582675151,0.00503615564171,0.872628167059
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109,1.816666667,pose3-to-pose4-insert,0.00491677625106,0.883579424552,0.00503623238931,0.872624872351
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110,1.833333333,pose3-to-pose4-insert,0.00491694630171,0.883570564011,0.00503642068456,0.872615964011
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111,1.850000000,pose3-to-pose4-insert,0.00491681763148,0.883553685784,0.00503627242336,0.872599085784
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112,1.866666667,pose3-to-pose4-insert,0.00491683730048,0.88351689534,0.0050363186647,0.872562202277
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113,1.883333333,pose3-to-pose4-insert,0.00491695562054,0.883464154229,0.0050364801132,0.872509554229
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114,1.900000000,pose3-to-pose4-insert,0.00491685503263,0.883392427716,0.00503639508524,0.872437827716
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115,1.916666667,pose3-to-pose4-insert,0.00491721837274,0.883302067418,0.00503676702966,0.872347467418
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116,1.933333333,pose3-to-pose4-insert,0.00491729883315,0.883197786298,0.00503688817507,0.872243186298
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117,1.950000000,pose3-to-pose4-insert,0.00491732615836,0.883091937787,0.00503694017262,0.872137337787
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118,1.966666667,pose3-to-pose4-insert,0.00491745275383,0.88296940973,0.00503707380204,0.87201480973
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119,1.983333333,pose3-to-pose4-insert,0.00491751927596,0.882841681885,0.00503719118513,0.871887081885
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120,2.000000000,pose3-to-pose4-insert,0.0049174548574,0.88270756827,0.00503712219251,0.87175296827
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121,2.016666667,pose3-to-pose4-insert,0.00491761515207,0.882561753922,0.00503727078465,0.871607122293
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122,2.033333333,pose3-to-pose4-insert,0.00491778307116,0.882408240503,0.00503745526148,0.871453583904
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123,2.050000000,pose3-to-pose4-insert,0.00491773547713,0.882260811616,0.00503742255229,0.871306211616
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124,2.066666667,pose3-to-pose4-insert,0.00491790855903,0.882092768232,0.0050376032485,0.871138168232
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125,2.083333333,pose3-to-pose4-insert,0.00491784752322,0.881921048438,0.00503755539917,0.870966385906
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126,2.100000000,pose3-to-pose4-insert,0.00491792003221,0.8817497835,0.00503764691107,0.8707950835
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127,2.116666667,pose3-to-pose4-insert,0.00491814995546,0.881572634849,0.00503788595546,0.870617864285
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128,2.133333333,pose3-to-pose4-insert,0.00491830303475,0.881384814175,0.00503804140655,0.870430014175
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129,2.150000000,pose3-to-pose4-insert,0.00491833150142,0.881201566445,0.00503806216335,0.870246683065
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130,2.166666667,pose3-to-pose4-insert,0.00491846825017,0.881013281711,0.00503823220909,0.870058381711
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131,2.183333333,pose3-to-pose4-insert,0.00491836453911,0.880824978824,0.00503811151399,0.869870078824
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132,2.200000000,pose3-to-pose4-insert,0.00491816571874,0.88063803131,0.00503793455296,0.869683130126
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133,2.216666667,pose3-to-pose4-insert,0.00491771485386,0.880449836546,0.00503746940091,0.869494827487
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134,2.233333333,pose3-to-pose4-insert,0.00491759520192,0.880263977651,0.00503734714032,0.869308895273
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135,2.250000000,pose3-to-pose4-insert,0.00491759155004,0.880089458053,0.00503735166122,0.869134435832
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136,2.266666667,pose3-to-pose4-insert,0.00491785938873,0.879921730339,0.00503761426647,0.868966603811
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137,2.283333333,pose3-to-pose4-insert,0.00491792567954,0.879754565585,0.0050376750262,0.868799400251
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Part2/Free/s1/cylinder_0050_10/width_09/pick/franka_data.csv
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| 206 |
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|
Part2/Free/s1/cylinder_0050_10/width_09/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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