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a/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..f3011f9311fcf69acbeb2febbfdf8011f6cc6973 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba319a87f7cb8cac1fac507de8cef383c7a28e1c09946eaf56075909e9ee99ae +size 24744647 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..62f815d002016600063b15ebc4530d57db023133 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_01/franka_data.csv @@ -0,0 +1,392 @@ 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b/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89c5f16aecf7e7f6b0a70e30bf4066348371d1860d969d1b1cae8cd4ecbc0de3 +size 25251699 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..257d4553e7077c31a035eea48bbb9fa0d6be586f --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_04/franka_data.csv @@ -0,0 +1,400 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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sha256:38263179a199d837b0fc965aad1c51d8587f96efe17fa75f9c031c6ab3785e1b +size 25430730 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..abcf4e028dadc0e16a1cb3e4f6180f076a92dbc0 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_04/depth_05/franka_data.csv @@ -0,0 +1,403 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,742,712,671,660,632,876,781,798,649,625,647,0.400955688925,-0.00548408996244,0.0798308032616,0.999999952822,0.000101262701727,-0.00028819264915,3.23666416385e-05,1793189985936547072 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b/Part2/Obstacle_avoidance/ball_0050_20/position_05/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52a699ce99cbc9630d9531bfb59135f32da7d695012e509e1e58773b90f69fea +size 24580087 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_05/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..b98d830843de6209aee3bb3f407fa18f96241eba --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_05/depth_01/franka_data.csv @@ -0,0 +1,389 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0050_20/position_05/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3caa5e79ecff983f9d153c2cf39b50e6ca17166dc8e12f2ee48744719fa7e7e +size 25338577 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_05/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5bf983b7f084736e38b87c68bc405d34b20d3cb8 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_05/depth_05/franka_data.csv @@ -0,0 +1,401 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..13eca410094a34c0f491dd589c6e75a57f56f3f3 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_07/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d67be056e896654ac343588b0f84d3eef86aa60b7225cc4e0e0adfe96659dd0a +size 24794705 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_07/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..0d0587ecdab637a0a4041423315f39bdebeb7eea --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_07/depth_02/franka_data.csv @@ -0,0 +1,392 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+38,0.633333333,BASELINE,763,742,712,670,660,632,876.946720232,781.946720232,798.106559535,649,626,648,0.401016118675,-0.0155037861822,0.0798626039996,0.999999982513,9.53086375215e-05,-0.000158122980829,2.97900256818e-05,1793190100275346688 +39,0.650000000,BASELINE,763,742,712,670,660,632,876.373426696,781.373426696,799.253146608,649,626,648,0.401013618653,-0.0155030345096,0.0798610381732,0.999999982116,9.6460589969e-05,-0.000159930429161,2.9754803037e-05,1793190100292013312 +40,0.666666667,BASELINE,763,742,712,670.199999525,660,632,876,781.199999525,799.60000095,649,625.800000475,648,0.401012322521,-0.015502605763,0.079860193119,0.999999981886,9.72034380315e-05,-0.000160945022592,2.96164185062e-05,1793190100308679936 +41,0.683333333,BASELINE,763,742,712,670.773673618,660,632,876,781.773673618,798.452652765,649,625.226326382,648,0.401013275709,-0.0155027803639,0.0798606947392,0.999999981972,9.71819246898e-05,-0.000160478263835,2.92852886546e-05,1793190100325346816 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+48,0.800000000,BASELINE,763.144895972,742,711,670.144895972,659.855104028,632.144895972,876.855104028,782,798.855104028,649,625.144895972,648,0.401016820956,-0.0155028951848,0.0798632235516,0.999999982714,9.68257876892e-05,-0.000156000222441,2.93258620812e-05,1793190100442013184 +49,0.816666667,BASELINE,763,742,711,670,660,632,877,781.563411454,799.436588546,649,625.436588546,648,0.401016949924,-0.015502460838,0.0798630277797,0.999999982663,9.72494386209e-05,-0.000156103169888,2.91296980349e-05,1793190100458679808 +50,0.833333333,BASELINE,763,741.984244549,711.015755451,670,660,632,876.984244549,781.015755451,799.968489098,649,626,648.015755451,0.401016544491,-0.0155021760607,0.0798621982067,0.999999982445,9.79218640394e-05,-0.000157110894367,2.89324354187e-05,1793190100475346432 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+54,0.900000000,BASELINE,763,741,711.325571126,670.325571126,660,632,876,781,799,649,625.674428874,648,0.40101590605,-0.015501854872,0.0798626834454,0.999999982386,9.70777598339e-05,-0.000157900739201,2.9517953815e-05,1793190100542013184 +55,0.916666667,BASELINE,763,741,711.915832444,670.915832444,660,632,876,781,799,649,625.084167556,648,0.401014652608,-0.0155038527955,0.0798619390111,0.9999999823,9.50857631013e-05,-0.000159622352165,2.96559024148e-05,1793190100558679808 +56,0.933333333,BASELINE,763.494770515,741.494770515,712,670.505229485,660,632,876,781.494770515,799,648.505229485,625.494770515,648,0.401013948885,-0.0155036690944,0.0798616306015,0.999999982291,9.50261180516e-05,-0.000159746195841,2.94930871517e-05,1793190100575346688 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+41,0.683333333,BASELINE,763.779023979,741,712,670,660,632,876.220976021,781.220976021,798,648.779023979,626,648,0.400969278168,-0.0153901860325,0.0798429821328,0.999999937466,0.000225418715406,-0.000271399238077,2.44283165873e-05,1793190127351624960 +42,0.700000000,BASELINE,764,741,711.635695889,670,660,632,876.364304111,781.364304111,798.364304111,648.635695889,626,648.364304111,0.400970022287,-0.0153901958268,0.0798433394003,0.999999937442,0.000225890045772,-0.00027108860517,2.45266856399e-05,1793190127368291840 +43,0.716666667,BASELINE,764,741,711.045330991,670,660,632,876.954669009,781.954669009,798.954669009,648.045330991,626,648.954669009,0.400970301184,-0.015389664824,0.0798431250057,0.999999936869,0.000227130245508,-0.000272160122017,2.45697183009e-05,1793190127384958464 +44,0.733333333,BASELINE,764,741,711.533900014,670,660,632,877,782,799,648.533900014,626,648.466099986,0.400968161637,-0.0153891162101,0.0798414817564,0.999999936385,0.000226190427661,-0.000274732624475,2.42996206393e-05,1793190127401624832 +45,0.750000000,BASELINE,764,741,712,670,660,632,876.888595445,782,799,648.888595445,625.888595445,648,0.400966322373,-0.0153886108127,0.0798401046387,0.999999935963,0.000225540063547,-0.000276817048707,2.40407772542e-05,1793190127418291456 +46,0.766666667,BASELINE,764,741,712,670,660,632,876.314416123,782,799,648.314416123,625.314416123,648,0.400966566039,-0.0153882910209,0.0798403266901,0.999999935798,0.000226845270543,-0.000276355415177,2.39368683633e-05,1793190127434957824 +47,0.783333333,BASELINE,764,741.260498668,712,670,660,632,876.260498668,782,798.739501332,648,625,648.260498668,0.400966672473,-0.0153879381087,0.0798404349164,0.999999935792,0.000227122112654,-0.000276162631677,2.37744607197e-05,1793190127451624704 +48,0.800000000,BASELINE,764,741.836303745,712,670,660,632,876.836303745,782,798.163696255,648,625,648.836303745,0.400966612803,-0.0153875451079,0.0798404053695,0.99999993598,0.000226154226739,-0.000276295262977,2.35412464371e-05,1793190127468291328 +49,0.816666667,BASELINE,763.576119416,742,711.576119416,670,660,632,876.576119416,781.576119416,798.423880584,648,625.423880584,649,0.400966551785,-0.0153885116773,0.0798408625251,0.999999936234,0.000225583815126,-0.000275808082239,2.39475026906e-05,1793190127484957952 +50,0.833333333,BASELINE,763.015757774,742,711,670.015757774,660,632,876,781.015757774,799,648,626,648.984242226,0.400966491906,-0.0153899682714,0.0798414696836,0.999999936503,0.000225175636941,-0.000275112734932,2.45731156938e-05,1793190127501624320 +51,0.850000000,BASELINE,763.594224278,742,711,670.594224278,660,632,876,781.594224278,799,648,626,648.405775722,0.40096649185,-0.0153896387149,0.079840529781,0.999999936392,0.00022492280444,-0.000275775532034,2.39613375299e-05,1793190127518291200 +52,0.866666667,BASELINE,764,742,711.171049187,671,660,632,876.171049187,782,799,648.171049187,626,648.171049187,0.400966773492,-0.0153892478513,0.079840187288,0.999999936269,0.000225348027686,-0.000275901215773,2.36378957684e-05,1793190127534958080 +53,0.883333333,BASELINE,764,742,711.744016766,671,660,632,876.744016766,782,799,648.744016766,626,648.744016766,0.400967717045,-0.015388712933,0.0798412485429,0.999999936117,0.000227366494861,-0.000274764831272,2.39919650283e-05,1793190127551624448 +54,0.900000000,BASELINE,764.324440094,741.675559906,711.675559906,671,660,632,877,782,798.675559906,648.675559906,626,649,0.400968431844,-0.0153882802998,0.0798417706409,0.99999993598,0.00022876320077,-0.00027409275758,2.40941994339e-05,1793190127568291328 +55,0.916666667,BASELINE,764.910884344,741.089115656,711.089115656,671,660,632,877,782,798.089115656,648.089115656,626,649,0.400968961911,-0.0153879302677,0.0798418573386,0.999999935859,0.000229657798368,-0.0002737956418,2.39930626005e-05,1793190127584957696 +56,0.933333333,BASELINE,764.505042061,741,711.494957939,670.505042061,660,632,876.505042061,782,798,648,626,648.505042061,0.400968569225,-0.0153896357705,0.0798418026056,0.999999936307,0.000227536369677,-0.000273930461774,2.39940057524e-05,1793190127601624576 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+60,1.000000000,BASELINE,763,741.199806354,711,670.800193646,660.800193646,632,877,781.199806354,799,648.800193646,625.800193646,648.199806354,0.400968959878,-0.0153891101305,0.0798421388043,0.99999993586,0.00022999543701,-0.000273468996414,2.44284940851e-05,1793190127668291328 +61,1.016666667,BASELINE,763.388106257,741.388106257,711,670.611893743,660.611893743,632,876.611893743,781,798.611893743,648.611893743,626,648,0.400968386584,-0.0153890612845,0.0798418755711,0.999999935867,0.000229400475912,-0.000273944951376,2.4394607254e-05,1793190127684957696 +62,1.033333333,BASELINE,763.98032547,741.98032547,711,670.01967453,660.01967453,632,876.01967453,781,798.01967453,648.01967453,626,648,0.400967298419,-0.0153886720075,0.07984135944,0.999999935884,0.000228300168567,-0.000274828557968,2.40897515655e-05,1793190127701624320 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sha256:22cc16a551cd3194091a3e93fe2a1e6b0fc347c731392930b81fe2a67fd6cff9 +size 25102400 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_09/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..95b0abccd1c17708b86b7d3ca273f47e8ab6d0a0 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_09/depth_03/franka_data.csv @@ -0,0 +1,396 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,742,711,671,665,632,876,781,799,650,626,649,0.400949080969,0.0045218539401,0.0598398190262,0.999999958209,0.000100156741564,-0.000270157365454,2.37730942313e-05,1793190148612217856 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0000000000000000000000000000000000000000..de781fc04dbffb428a44635c6830b9b1afdf452f --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_09/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eceb530d722964918deca1012bcfca34f0223d406b32316c2230081ebad016ff +size 25301492 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_09/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..13eea17a786444785f8a5380accdb63e55a258dc --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_09/depth_04/franka_data.csv @@ -0,0 +1,399 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+66,1.100000000,BASELINE,764,742,710,671,665,632,876,781,798,650,626,649,0.400950131292,0.00453510466776,0.0598418791733,0.999999951695,0.000162464479596,-0.000264315750835,1.87584266878e-05,1793190163269654528 +67,1.116666667,BASELINE,764,742,710,671,665,632,876,781,798,650,626,649,0.400950975975,0.00453549875408,0.059842603848,0.999999951854,0.000163593911328,-0.000263011451677,1.88184167783e-05,1793190163286321152 +68,1.133333333,BASELINE,764.460685284,742,710,671,665,632,876,781.460685284,798.460685284,650,626,649,0.400951313358,0.00453497548312,0.0598429595857,0.999999952,0.000163024270465,-0.000262793273617,1.9041306172e-05,1793190163302988032 +69,1.150000000,BASELINE,764.959540279,742,710.040459721,671,665,632,876.040459721,782,798.959540279,650,626,649,0.400951497424,0.00453418753952,0.0598431698994,0.999999952119,0.000162110382966,-0.000262886997838,1.92843391452e-05,1793190163319654656 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b/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8ab28044d1dc70e62f95fe10723f3d244207e66576d8a2cf1f3ac28d0d018dd +size 24500370 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5b0db376956e7e36c02d762694cd0f3faefb8af2 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_01/franka_data.csv @@ -0,0 +1,388 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..3baee49dc1553981dc0af55aa60bc86155d67d3f --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32aff934fea66d6d2e3ad517acf18ca15f06732a28301ed84a5f55829128c0ed +size 25137009 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..32b0725a08639d28c27b4fe685676e764721bd76 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_04/franka_data.csv @@ -0,0 +1,398 @@ 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0000000000000000000000000000000000000000..b63a20b115fe04341ac2438517d2e55189cbc91c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:824fffac2688c82e1269817d26cadae01051599a83aa4e5a58bb33d51d818291 +size 25271631 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..6821d76eb7879fcc6b8b1c19103df0f55edf36b1 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_10/depth_05/franka_data.csv @@ -0,0 +1,400 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0050_20/position_11/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..733b3632abcb5de5f028645277a5b78d7c090347 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_11/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25367525b4309eec8cea4cf4c897f40e17d283482028f88849c994345306ee83 +size 24698670 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_11/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d532454ea904f067ef8b9ee4cff53379bed1b473 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_11/depth_01/franka_data.csv @@ -0,0 +1,390 @@ 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+56,0.933333333,BASELINE,764,742,711,671,663.499559177,631.500440823,877,782,798.500440823,650,626,649,0.400956547959,0.00448544236191,0.0698256383625,0.999999959377,5.03700194033e-05,-0.000279143289597,2.80862904797e-05,1793190213024289024 +57,0.950000000,BASELINE,764,742,711,671,664,631.074864154,876.925135846,782,798,650,626,649,0.400955794503,0.00448504886601,0.0698257213613,0.999999959324,4.85381315384e-05,-0.000279652155034,2.81138905545e-05,1793190213040955648 +58,0.966666667,BASELINE,764,742,711,671,664,631.648152859,876.351847141,782,798,650,626,649,0.400952709408,0.00448524557238,0.0698242652222,0.999999958345,4.93301374643e-05,-0.000282967442326,2.839282496e-05,1793190213057622016 +59,0.983333333,BASELINE,764,742,711,671,664,632,876,782,798,650,626,649,0.400951223438,0.00448473860806,0.0698232422143,0.999999957757,4.90732321174e-05,-0.000285056465092,2.86328550135e-05,1793190213074288896 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sha256:f77b942e2e0ab5e499549c06d8c4552c072108d4e4a328948b301dac63399957 +size 25035208 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_11/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ad10d4e227f43c45e413cebfda4090f7a89540e8 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_11/depth_03/franka_data.csv @@ -0,0 +1,395 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,742,711,671,664,632,877,782,799,650,627,649,0.400951465121,0.00448494326578,0.069820581179,0.999999956001,5.54659830316e-05,-0.000289990165004,2.87706225024e-05,1793190218840892160 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+82,1.366666667,BASELINE,764.423365293,742,711,671,663.423365293,632,877,781.576634707,799,650,626.576634707,649,0.40095382731,0.00447694120762,0.0698238550236,0.999999957593,5.10364878512e-05,-0.000285300625794,2.85149053847e-05,1793190233763837184 +83,1.383333333,BASELINE,764,742,711,671,663,632,877,782,799,650,626.844885458,649,0.400954461548,0.00447718064892,0.0698242273566,0.999999957954,5.04976627456e-05,-0.000284127447494,2.85247249573e-05,1793190233780504064 +84,1.400000000,BASELINE,764,742,711,671,663,632,877,782,799,650,626.267420386,649,0.400952128122,0.00447620310591,0.0698234529113,0.999999957549,4.8566185302e-05,-0.00028589594319,2.84219291071e-05,1793190233797170688 +85,1.416666667,BASELINE,764,741.685592021,711,671,663.314407979,632,877,781.685592021,799,650,626,648.685592021,0.4009516558,0.00447595469641,0.0698233976632,0.999999957453,4.7470929071e-05,-0.00028641278663,2.84401006591e-05,1793190233813837312 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sha256:140746c5cca2ac0b5a2c42f757d863689e71d32b0dbea90ae012f692278c3024 +size 24778543 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..21235e4d2c8e614ca997207fbb6109bd3b348c64 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_02/franka_data.csv @@ -0,0 +1,393 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,742,711,671,662,631,877,781,799,649,626,649,0.400950692216,0.00445937345597,0.0798267226791,0.999999954585,4.44535479405e-05,-0.000295263395472,4.09014564802e-05,1793190247189199616 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+42,0.700000000,BASELINE,764,742,711.359320117,671,662,632,876.640679883,781.359320117,798.359320117,649,626.359320117,649,0.400953600911,0.00445656240695,0.0798293810067,0.999999956084,4.12505731097e-05,-0.000290655943303,4.06172684532e-05,1793190247889198080 +43,0.716666667,BASELINE,764,742,711.950479163,671,662,632,876.049520837,781.950479163,798.950479163,649,626.950479163,649,0.400952935962,0.00445650869109,0.0798281492827,0.999999955536,4.26038889835e-05,-0.000292349665457,4.05612257329e-05,1793190247905864704 +44,0.733333333,BASELINE,764,742,711.471047202,671,662.528952798,632,876.528952798,782,798.471047202,649.528952798,626.471047202,649,0.400951977209,0.00445612309169,0.0798276029493,0.999999955278,4.21763060728e-05,-0.000293286847397,4.05969138195e-05,1793190247922531328 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b/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe08959969d1795be808110686322b42448c41f6d2e32e9b3ad3a23c17524ab5 +size 24971341 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..3b6673df8375738ed8e02f9782643f892806b6fb --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_03/franka_data.csv @@ -0,0 +1,396 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+31,0.516666667,BASELINE,764.007869222,742,711,671,662.992130778,632,877,781.992130778,798.007869222,649.007869222,626.992130778,649,0.400948959958,0.00445924323789,0.079827009766,0.99999995439,4.35920317e-05,-0.000296230864624,3.95904257609e-05,1793190254426853888 +32,0.533333333,BASELINE,764,742,711,671.565756552,662.434243448,632,877,782,798,649.565756552,627,649,0.400950765339,0.00445951197878,0.0798288136965,0.999999955266,4.46190277323e-05,-0.00029313945524,3.93120479143e-05,1793190254443520512 +33,0.550000000,BASELINE,764,742,711,672,662.144198367,632,877,782,798,650,627,649,0.400951532175,0.004459751691,0.0798296416108,0.999999955635,4.58661205304e-05,-0.000291709678227,3.9145513699e-05,1793190254460187136 +34,0.566666667,BASELINE,764,742,711,672,662.737709146,632,877,782,798,650,627,649,0.400948997892,0.0044599130724,0.0798273425107,0.999999954388,4.77780748846e-05,-0.000295624719225,3.93379541431e-05,1793190254476853760 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+43,0.716666667,BASELINE,764,742,711,672,662,632,877,781.95736729,798,649.04263271,626.04263271,649,0.400950159922,0.00445969689874,0.0798286941336,0.999999955038,4.64249115926e-05,-0.000293606632756,3.95473625131e-05,1793190254626853888 +44,0.733333333,BASELINE,764,742,711,672,662,632,877,782,798.531457205,649,626,649,0.400949965248,0.00445809508446,0.0798285629606,0.999999955266,4.27600549537e-05,-0.000293420608291,3.93027962608e-05,1793190254643520768 +45,0.750000000,BASELINE,764,742,711,671.891216314,662,632,877,781.891216314,798.891216314,649.108783686,626,648.891216314,0.400949576501,0.00445689069093,0.0798282955006,0.999999955324,4.02621086233e-05,-0.000293597999403,3.91180874866e-05,1793190254660187136 +46,0.766666667,BASELINE,764,742,711,671.299087581,662,632,877,781.299087581,798.299087581,649.700912419,626,648.299087581,0.400949033697,0.00445791788966,0.0798277850008,0.999999954809,4.33894641949e-05,-0.000294889077636,3.92460200814e-05,1793190254676853760 +47,0.783333333,BASELINE,764,742,711,671,662,632,877,781.285955669,798,649.714044331,626,648,0.400948676245,0.0044586548267,0.079827206244,0.999999954382,4.52521240466e-05,-0.000296039816437,3.93556972699e-05,1793190254693520384 +48,0.800000000,BASELINE,764,742,711,671,662,632,877,781.863767307,798,649.136232693,626,648,0.400948507969,0.00445909551302,0.0798265578219,0.999999954054,4.58239933087e-05,-0.000297047320253,3.94467423929e-05,1793190254710187264 +49,0.816666667,BASELINE,764,742,711,671,662,632,877.439939905,782,798,649,626.439939905,648.439939905,0.400949118419,0.00445916315211,0.0798273831481,0.999999954375,4.6298426948e-05,-0.000295874565586,3.95488846786e-05,1793190254726853888 +50,0.833333333,BASELINE,764,742,711,671,662,632,877.984390897,782,798.015609103,649.015609103,626.984390897,648.984390897,0.400949975136,0.00445907830414,0.0798286417896,0.999999954895,4.66879609185e-05,-0.000294037830444,3.96542549296e-05,1793190254743520512 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+54,0.900000000,BASELINE,764.345525526,742,711,671,662,631.345525526,877,781.345525526,798,649.345525526,626,649,0.400950221136,0.00445936726702,0.0798282067939,0.999999955247,4.62888601939e-05,-0.000293013475654,3.8813547245e-05,1793190254810187008 +55,0.916666667,BASELINE,764.9223158,742,711,671,662,631.9223158,877,781.9223158,798,649.9223158,626,649,0.400949657416,0.0044574498168,0.0798279058075,0.999999955175,4.41273676698e-05,-0.000293553659524,3.9096858227e-05,1793190254826853632 +56,0.933333333,BASELINE,764.501355046,742,711,671.498644954,662,632,877,782,798,649.501355046,626.498644954,649,0.40095060563,0.0044573384454,0.0798289475444,0.999999955586,4.41428417841e-05,-0.00029212396633,3.92920504127e-05,1793190254843520512 +57,0.950000000,BASELINE,764,742,711,671.923451169,662,632,877,782,798,649.076548831,626.923451169,649,0.400951393921,0.00445746397953,0.0798298643226,0.999999955932,4.43549884537e-05,-0.000290881977582,3.94422968559e-05,1793190254860186880 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0000000000000000000000000000000000000000..b7ad4c839a595edef372f5062b6363be7bfdece1 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef354ae496874cbc8ab337f7ed9c22ea031fdf7275f82fda4b0e364e2e2f1bd2 +size 25228146 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..4be53ee5cf819ae6260810ac5c33c123fc780314 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_04/franka_data.csv @@ -0,0 +1,400 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..7a1703b03d7caae8b4f17bb3859ae33d471e340b --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7aca7bf6f960f9b825fdb923534a5dade19ec14128623e9e1df80ca8d28aff81 +size 25412272 diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..7e914f574eb7ba9fcd795a25bed1c1290868b2dc --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0050_20/position_12/depth_05/franka_data.csv @@ -0,0 +1,403 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+68,1.133333333,BASELINE,764.500447952,742.500447952,711,672,662.499552048,631.499552048,877.000895904,782.499552048,798.499552048,649.500447952,626,649,0.400957087989,0.00446430086486,0.0798338328973,0.999999957939,5.06425305999e-05,-0.000283063204025,3.78569418971e-05,1793190268629816064 +69,1.150000000,BASELINE,764,742,711,671.91806545,662.91806545,632,876.08193455,782.91806545,798.91806545,649.08193455,626,649,0.400957177487,0.00446411015451,0.0798334453712,0.9999999579,5.04791746171e-05,-0.000283250524289,3.76898936523e-05,1793190268646482432 +70,1.166666667,BASELINE,764,742,711,671.327671002,662.327671002,632,876.672328998,782.327671002,798.327671002,649.672328998,626,649,0.400955824091,0.0044647387193,0.0798334196412,0.999999957442,5.07442622979e-05,-0.00028478730916,3.7920721869e-05,1793190268663149056 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+23,0.383333333,BASELINE,771.357179486,749,727,703,671,641.357179486,895,793,823,653.357179486,634,654,0.400775558617,-0.00544890931393,0.0598690558719,0.999999932081,-9.1280710886e-05,-0.000355429513746,-3.42982847899e-05,1793253064237732864 +24,0.400000000,BASELINE,771.932686162,749,727,703,671,641.932686162,895,793,823,653.932686162,634,654,0.400777266716,-0.00544934181016,0.0598704277724,0.999999932602,-9.24187713381e-05,-0.000353671163953,-3.42256838572e-05,1793253064254399744 +25,0.416666667,BASELINE,771.49252469,749,727,703,671,641.49252469,895,793,823,653.49252469,634.50747531,654,0.400775668822,-0.00544859228139,0.0598692896851,0.999999932089,-9.02372503438e-05,-0.000355656892756,-3.44457292135e-05,1793253064271066368 +26,0.433333333,BASELINE,771,749,727,703,671.084561828,641,895,793,823,653,634.915438172,654.084561828,0.40077395733,-0.00544814810367,0.0598681232682,0.999999931547,-8.84481777481e-05,-0.000357609363754,-3.46277100481e-05,1793253064287732992 +27,0.450000000,BASELINE,771,749,727,703,671.675988737,641,895,793,823,653,634.324011263,654.675988737,0.400774189725,-0.00545047267541,0.0598687798505,0.999999931704,-9.1647032431e-05,-0.00035638987215,-3.43491846989e-05,1793253064304399616 +28,0.466666667,BASELINE,771,749,727,703,671.748303277,641.251696723,895,793,822.748303277,653.251696723,634.251696723,655,0.400773894516,-0.00545131439046,0.0598686336446,0.999999931484,-9.33411050535e-05,-0.000356573306949,-3.42640738937e-05,1793253064321066240 +29,0.483333333,BASELINE,771,749,727,703,671.191640987,641.808359013,895,793,822.191640987,653.808359013,634.808359013,655,0.40077296004,-0.00545035941837,0.0598675147489,0.999999930818,-9.32119248569e-05,-0.000358456582166,-3.441331171e-05,1793253064337732608 +30,0.500000000,BASELINE,771,749,727,703,671.392369155,642,895,793,822.392369155,653.607630845,635,654.607630845,0.40077312722,-0.00544983406584,0.0598677655647,0.999999931092,-9.15031923191e-05,-0.000358139817079,-3.43410608115e-05,1793253064354399488 +31,0.516666667,BASELINE,771,749,727,703,671.990737262,642,895,793,822.990737262,653.009262738,635,654.009262738,0.400773872784,-0.00544953426924,0.0598687354972,0.999999931853,-8.89651740945e-05,-0.000356668001922,-3.41525254289e-05,1793253064371066368 +32,0.533333333,BASELINE,771.578794151,749,727,703,671.421205849,642,895,793.578794151,823,653,635,654,0.400773782574,-0.00545031912849,0.0598686050566,0.999999931764,-8.9933054027e-05,-0.000356702000186,-3.38881606895e-05,1793253064387732992 +33,0.550000000,BASELINE,772,749,727,703,671,642,895,794,823,653,635,654,0.400773797825,-0.00545100455763,0.0598686011102,0.999999931677,-9.1385553757e-05,-0.000356586484511,-3.37803456598e-05,1793253064404400128 +34,0.566666667,BASELINE,772,749,727,703,671,642,895,794,823,653,635,654,0.400774112772,-0.00545139564208,0.0598689605212,0.999999931629,-9.39233434967e-05,-0.000356033334367,-3.40711285145e-05,1793253064421067008 +35,0.583333333,BASELINE,772,749.320810974,727,703,671,642,895,793.679189026,823,653.320810974,635,654.320810974,0.400773876044,-0.00545066240021,0.0598686251131,0.999999931529,-9.3176264374e-05,-0.000356497623803,-3.42105413704e-05,1793253064437733632 +36,0.600000000,BASELINE,772,749.897673536,727,703,671,642,895,793.102326464,823,653.897673536,635,654.897673536,0.400773199002,-0.00544903179027,0.059867735143,0.99999993138,-8.98074052343e-05,-0.000357773970872,-3.42291400347e-05,1793253064454400512 +37,0.616666667,BASELINE,771.525221055,749.525221055,727,703,671,641.525221055,894.525221055,793.474778945,823,653.525221055,634.525221055,655,0.400774759313,-0.00544886127994,0.059868821481,0.999999931965,-9.05459084968e-05,-0.000355947607858,-3.42479614399e-05,1793253064471066880 +38,0.633333333,BASELINE,771,749,727,703,671,641.052843004,894.052843004,793.947156996,823,653,634.052843004,654.947156996,0.400776511684,-0.00544912695015,0.0598701184771,0.999999932583,-9.2069173349e-05,-0.000353812817355,-3.42486545526e-05,1793253064487733248 +39,0.650000000,BASELINE,771,749,727,703,671,641.640072455,894.640072455,793.359927545,823,653,634.640072455,654.359927545,0.400775327407,-0.0054506196205,0.0598692361582,0.999999932007,-9.257177881e-05,-0.00035532492007,-3.40655356332e-05,1793253064504399872 +40,0.666666667,BASELINE,771,749,727,703,671,642,895,793.223952754,823,653,634.776047246,654,0.400775091067,-0.00545143521662,0.0598689155452,0.999999931826,-9.2677674431e-05,-0.000355817848918,-3.39455574768e-05,1793253064521066496 +41,0.683333333,BASELINE,771,749,727,703,671,642,895,793.80252971,823,653,634.19747029,654,0.400776355765,-0.00545117868067,0.059869484381,0.999999932273,-9.21553888173e-05,-0.000354696938532,-3.39255613246e-05,1793253064537733376 +42,0.700000000,BASELINE,771,749,727,703,671,641.621750063,894.621750063,793.621750063,823,653.378249937,634.378249937,654,0.400776071631,-0.00545114537827,0.0598697718691,0.999999932307,-9.19492990254e-05,-0.000354653260977,-3.3944405735e-05,1793253064554400000 +43,0.716666667,BASELINE,771,749,727,703,671,641.047510067,894.047510067,793.047510067,823,653.952489933,634.952489933,654,0.40077498497,-0.00545122774425,0.059869913577,0.999999932127,-9.19070459929e-05,-0.000355167751232,-3.39833753683e-05,1793253064571066624 +44,0.733333333,BASELINE,771.529600671,749,727,703,671,641,894.529600671,793,823,653.470399329,635,654,0.400774417423,-0.00545062638838,0.0598694327002,0.999999931914,-9.19404413894e-05,-0.000355765610502,-3.39028280384e-05,1793253064587733504 +45,0.750000000,BASELINE,772,749,727,703,671.109348877,641.109348877,895,793,823,653,634.890651123,654,0.400774057119,-0.00545017301747,0.0598690152235,0.999999931688,-9.23575864813e-05,-0.000356294812242,-3.38798414657e-05,1793253064604400128 +46,0.766666667,BASELINE,772,749,727,703,671.699556455,641.699556455,895,793,823,653,634.300443545,654,0.400774402259,-0.00545064160074,0.0598691234913,0.999999931416,-9.44322548774e-05,-0.000356489026374,-3.41573824526e-05,1793253064621066752 +47,0.783333333,BASELINE,771.715582134,749,727,703,671.715582134,641.715582134,895,793.284417866,823,653,634,654.284417866,0.400774665948,-0.00545055300203,0.0598689558195,0.999999931353,-9.47787670477e-05,-0.000356545937588,-3.44275416759e-05,1793253064637733376 +48,0.800000000,BASELINE,771.136263859,749,727,703,671.136263859,641.136263859,895,793.863736141,823,653,634,654.863736141,0.400774845184,-0.00544988668583,0.059868502038,0.999999931511,-9.3333430083e-05,-0.000356460485453,-3.46900471061e-05,1793253064654400000 +49,0.816666667,BASELINE,771.440033089,749,727,703,671,641.440033089,895,793.559966911,823,653.440033089,634.440033089,654.559966911,0.400773786336,-0.00544983127603,0.0598685442152,0.99999993133,-9.17685792104e-05,-0.000357409031837,-3.43139874856e-05,1793253064671066368 +50,0.833333333,BASELINE,771.984310148,749.015689852,727,703,671,642,895,793,823,654,635,654.015689852,0.40077240313,-0.00544997577337,0.0598687187758,0.99999993105,-9.0231186615e-05,-0.000358633712211,-3.37585475798e-05,1793253064687733248 +51,0.850000000,BASELINE,771.398142606,749.601857394,727,703,671,642,895,793,823,654,635,654.601857394,0.400773071344,-0.00545055729423,0.0598681606357,0.999999931083,-9.10286422073e-05,-0.000358335724706,-3.38217281947e-05,1793253064704399872 +52,0.866666667,BASELINE,771,750,727,703,671,641.813312944,894.813312944,793,823,653.813312944,635,655,0.400773583136,-0.00545072496679,0.0598680016381,0.999999931187,-9.14874428982e-05,-0.000357912906138,-3.39826505078e-05,1793253064721066752 +53,0.883333333,BASELINE,771,750,727,703,671,641.231316274,894.231316274,793,823,653.231316274,635,655,0.400773763704,-0.00545001631603,0.0598686878238,0.999999931444,-9.12291421999e-05,-0.000357225757966,-3.43505407445e-05,1793253064737733376 +54,0.900000000,BASELINE,771,750,727,703,671,641,894.347214452,793.347214452,823,653,634.652785548,654.652785548,0.400773027088,-0.00544909783522,0.0598682287622,0.999999931169,-9.05810546342e-05,-0.000358132107585,-3.46170674375e-05,1793253064754400000 +55,0.916666667,BASELINE,771,750,727,703,671,641,894.923458944,793.923458944,823,653,634.076541056,654.076541056,0.400771685478,-0.00544804094606,0.0598670142709,0.999999930541,-8.96758553673e-05,-0.000360089562275,-3.4816732566e-05,1793253064771066368 +56,0.933333333,BASELINE,771,749.503281061,727,703,671.496718939,641,895,793.503281061,823,653,634.496718939,654,0.400773083393,-0.00544861066529,0.0598678453947,0.999999931182,-8.98257751874e-05,-0.000358283800632,-3.46407214069e-05,1793253064787732992 +57,0.950000000,BASELINE,771,749,727,703,671.928052862,641,895,793.071947138,823,653,635,654,0.40077457423,-0.00544946851546,0.0598688391876,0.99999993184,-9.02988038094e-05,-0.000356348144321,-3.43918716336e-05,1793253064804399872 +58,0.966666667,BASELINE,771,749,727,703,671.335267426,641,895,793.664732574,823,653,635,654,0.400773700024,-0.00545060853767,0.0598687422972,0.999999931239,-9.19409098296e-05,-0.000357644988289,-3.40322975283e-05,1793253064821066240 +59,0.983333333,BASELINE,771,749.250903975,727,703,671,641.250903975,895,794,823,653.250903975,635,654.250903975,0.400772546065,-0.00545143940859,0.0598679609617,0.99999993059,-9.32252553179e-05,-0.000359135428577,-3.39099310007e-05,1793253064837732864 +60,1.000000000,BASELINE,771,749.828464521,727,703,671,641.828464521,895,794,823,653.828464521,635,654.828464521,0.400771027887,-0.00545186778982,0.0598662885342,0.99999992988,-9.40438259134e-05,-0.000360877915711,-3.40963894002e-05,1793253064854399744 +61,1.016666667,BASELINE,771.404552224,749.595447776,727,703,671,642,895,793.595447776,823,654,635,654.595447776,0.400771315787,-0.00545040122644,0.0598668156254,0.999999930238,-9.23667720036e-05,-0.000360285024852,-3.44483213894e-05,1793253064871066624 +62,1.033333333,BASELINE,771.980017653,749.019982347,727,703,671,642,895,793.019982347,823,654,635,654.019982347,0.400772366709,-0.0054481340963,0.0598682719583,0.99999993104,-8.96353790578e-05,-0.000358705495046,-3.48701618235e-05,1793253064887733504 +63,1.050000000,BASELINE,772,749.567280795,727,703,671.567280795,641.432719205,895,793.567280795,823,653.432719205,634.432719205,654,0.400772742664,-0.0054492934718,0.0598684284024,0.999999930831,-9.28230187747e-05,-0.000358483048074,-3.48151442371e-05,1793253064904399872 +64,1.066666667,BASELINE,771.847309987,749.847309987,727,703,671.847309987,641,894.847309987,794,823,653,634.152690013,654,0.400773020313,-0.00544992778147,0.0598683585845,0.99999993074,-9.4468142913e-05,-0.000358314761443,-3.4745362956e-05,1793253064921066752 +65,1.083333333,BASELINE,771.268262577,749.268262577,727,703,671.268262577,641,894.268262577,794,823,653,634.731737423,654,0.40077309126,-0.00544875176242,0.059867787544,0.999999931099,-9.12115381717e-05,-0.000358161391642,-3.46822560747e-05,1793253064937733376 +66,1.100000000,BASELINE,771,749,727,703,671,641.310131857,894.310131857,793.689868143,823,653,635,654.310131857,0.400772835659,-0.00544875924405,0.0598675610343,0.999999931159,-9.00924051907e-05,-0.000358292174492,-3.45343277044e-05,1793253064954399744 +67,1.116666667,BASELINE,771,749,727,703,671,641.887962626,894.887962626,793.112037374,823,653,635,654.887962626,0.400772298188,-0.00544978829718,0.059867631916,0.999999930966,-9.08182904058e-05,-0.000358668231596,-3.43131833171e-05,1793253064971066624 +68,1.133333333,BASELINE,771.462037552,749,727,703,671,641.537962448,895,793,823,653.462037552,635,654.537962448,0.400773597911,-0.00545007552153,0.0598683299628,0.999999931121,-9.26658185102e-05,-0.000357759829504,-3.43217152055e-05,1793253064987733248 +69,1.150000000,BASELINE,771.963759934,749,727,703,671,641.036240066,895,793.036240066,823,654,635,654,0.400775118446,-0.00545014374644,0.0598690701908,0.999999931336,-9.44546240093e-05,-0.000356684471294,-3.43902614478e-05,1793253065004399872 +70,1.166666667,BASELINE,771.373805626,749,727,703,671,641.626194374,895,793.626194374,823,654,635,654,0.400773260968,-0.00544959214208,0.0598681500296,0.99999993124,-9.12240781026e-05,-0.000357778666433,-3.45316929622e-05,1793253065021067008 +71,1.183333333,BASELINE,771,749,727,703,671,642,895,794,823,654,634.788053268,654,0.400772545157,-0.00545039317053,0.0598678579355,0.999999931149,-9.0625265307e-05,-0.000358192966493,-3.44406858195e-05,1793253065037733888 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+40,0.666666667,BASELINE,771,749,726.777133961,703,671.222866039,640,892,794,823,653.777133961,634.222866039,654.777133961,0.400961133404,-0.0054044929532,0.0598353770963,0.99999993637,0.000227255746406,-0.000273483326638,2.86494172453e-05,1793253071587085568 +41,0.683333333,BASELINE,771,749,726.197671849,703,671.802328151,640,892,794,823,653.197671849,634.802328151,654.197671849,0.400961335082,-0.00540420500321,0.0598350868481,0.999999936589,0.000226118411197,-0.000273658485444,2.834226935e-05,1793253071603752192 +42,0.700000000,BASELINE,771.379489911,749,726.379489911,703,671.620510089,640,892,794,823,653.379489911,634.620510089,654,0.400962891004,-0.00540429489144,0.0598359111842,0.999999937146,0.000225632417714,-0.000271999090649,2.8539651814e-05,1793253071620418816 +43,0.716666667,BASELINE,771.955460645,749,726.955460645,703,671.044539355,640,892,794,823,653.955460645,634.044539355,654,0.400965148085,-0.00540458040534,0.0598373125962,0.999999937873,0.000225483656311,-0.000269389856097,2.89982547777e-05,1793253071637085440 +44,0.733333333,BASELINE,771.470526361,749,727,703,671,640,892,794,823,654,634.529473639,654,0.400963648669,-0.00540424488578,0.0598366292357,0.999999937711,0.000224860459072,-0.000270561575964,2.85080401311e-05,1793253071653752064 +45,0.750000000,BASELINE,771.106412932,749,727,703,671,640,892,794,822.893587068,653.893587068,635,654,0.400962170235,-0.00540408688823,0.0598359417676,0.999999937491,0.000224360927937,-0.000271826100254,2.8115342665e-05,1793253071670418944 +46,0.766666667,BASELINE,771.697425489,749,727,703,671,640,892,794,822.302574511,653.302574511,635,654,0.400962221083,-0.00540497434635,0.0598360312843,0.999999937358,0.00022460564361,-0.000272070183063,2.85288671747e-05,1793253071687085568 +47,0.783333333,BASELINE,772,749,727,703,671,640,892,794,822.282957857,653,634.717042143,654,0.400962260695,-0.00540538347366,0.0598360424339,0.999999937297,0.000224934866533,-0.000272007490773,2.86794659451e-05,1793253071703752448 +48,0.800000000,BASELINE,772,749,727,703,671,640,892,794,822.86274152,653,634.13725848,654,0.400962288518,-0.00540529082696,0.0598359713758,0.999999937311,0.000225352738491,-0.000271622988164,2.85542528647e-05,1793253071720419328 +49,0.816666667,BASELINE,772,749,727,703,671,640.438405449,892,794,822.561594551,653,634.438405449,654,0.40096189715,-0.00540506474834,0.059835819467,0.999999937192,0.000225528294177,-0.000271909848813,2.86181311269e-05,1793253071737085696 +50,0.833333333,BASELINE,771.986914015,749,727,703,671,640.986914015,892,793.986914015,822.013085985,653,635,654,0.400961417371,-0.00540480503716,0.0598356665291,0.999999937039,0.000225629176833,-0.00027237400728,2.87338806191e-05,1793253071753752320 +51,0.850000000,BASELINE,771.399305376,749,727,703,671,640.399305376,892,793.399305376,822.600694624,653,635,654,0.400962764406,-0.00540488576124,0.0598365694053,0.99999993726,0.000225751416726,-0.000271479805496,2.85519890185e-05,1793253071770418944 +52,0.866666667,BASELINE,771.185489067,749,727,703,671,640,892,793.185489067,823,653,634.814510933,654,0.400963664337,-0.00540512219863,0.0598369932677,0.999999937496,0.00022551012864,-0.000270823018685,2.8419265442e-05,1793253071787085312 +53,0.883333333,BASELINE,771.764315848,749,727,703,671,640,892,793.764315848,823,653,634.235684152,654,0.400963616167,-0.0054056888329,0.0598364013602,0.999999937766,0.000224497963498,-0.000270669680808,2.83908048318e-05,1793253071803751936 +54,0.900000000,BASELINE,771.657254124,749,727,703,671.342745876,640,892,794,823,653,634.342745876,654,0.40096292529,-0.00540500891797,0.0598360193555,0.999999937509,0.000225306965077,-0.000270969773607,2.81905996059e-05,1793253071820418560 +55,0.916666667,BASELINE,771.079096627,749,727,703,671.920903373,640,892,794,823,653,634.920903373,654,0.400961792978,-0.00540347282301,0.0598357815204,0.999999936886,0.00022736681708,-0.000271581300794,2.78724332876e-05,1793253071837085184 +56,0.933333333,BASELINE,771.494581497,749,727,703,671.505418503,640,892,793.505418503,823,653.494581497,635,654,0.400961469414,-0.00540326967724,0.0598357007772,0.999999936485,0.000227799670096,-0.000272666788244,2.81233301875e-05,1793253071853752320 +57,0.950000000,BASELINE,771.930393831,749.069606169,727,703,671,640,892,793.069606169,823,653.930393831,634.930393831,654,0.400961394836,-0.00540330901784,0.059835693192,0.999999936196,0.000227964377909,-0.000273555305697,2.84230696727e-05,1793253071870419200 +58,0.966666667,BASELINE,771.339982463,749.660017537,727,703,671,640,892,793.660017537,823,653.339982463,634.339982463,654,0.400962224152,-0.00540358199669,0.0598360466991,0.999999936489,0.000228052164431,-0.000272408010815,2.84134303752e-05,1793253071887085568 +59,0.983333333,BASELINE,771,749.75441801,727,703,671,640,892,794,823,653.24558199,634,654,0.400962467658,-0.00540372423048,0.0598361448465,0.999999936752,0.000227483964469,-0.000271934507218,2.82590014397e-05,1793253071903752192 +60,1.000000000,BASELINE,771,749.175433648,727,703,671,640,892,794,823,653.824566352,634,654,0.400961915869,-0.00540368896465,0.0598358963175,0.999999936973,0.000226025196576,-0.000272375743223,2.79080059363e-05,1793253071920418816 +61,1.016666667,BASELINE,771,749.402052858,727,703,671,640,892,794,823,653.597947142,634.402052858,654,0.400961664419,-0.0054048392458,0.0598359754205,0.999999937281,0.000224693781393,-0.000272317157506,2.81801501225e-05,1793253071937085184 +62,1.033333333,BASELINE,771,749.978888173,727,703,671,640,892,794,823,653.021111827,634.978888173,654,0.400961543534,-0.00540650491395,0.0598361969534,0.999999937627,0.000223417729714,-0.000272041286728,2.87231887757e-05,1793253071953751808 +63,1.050000000,BASELINE,771,749.445375791,727,703,671,640,892,794,823,653.554624209,635,654,0.400961986348,-0.0054049024391,0.0598364017238,0.999999937646,0.000223868278184,-0.00027166072354,2.81239152641e-05,1793253071970418688 +64,1.066666667,BASELINE,771.133444028,749.133444028,727,703,671,640,892.133444028,794,822.866555972,654,635,654,0.400962330133,-0.00540365637391,0.0598365832452,0.999999937581,0.000224520781718,-0.00027140759399,2.76776609575e-05,1793253071987085568 +65,1.083333333,BASELINE,771.722945659,749.722945659,727,703,671,640,892.722945659,794,822.277054341,654,635,654,0.400962262288,-0.00540405268781,0.0598366874872,0.99999993727,0.0002256393148,-0.000271603573602,2.79026749931e-05,1793253072003752448 +66,1.100000000,BASELINE,772,749.693150544,726.693150544,703,671,640,892.693150544,794,822.306849456,653.693150544,635,654,0.400961734624,-0.00540365781672,0.0598363055138,0.99999993678,0.00022701850286,-0.000272248870248,2.80022147556e-05,1793253072020419328 +67,1.116666667,BASELINE,772,749.114210509,726.114210509,703,671,640,892.114210509,794,822.885789491,653.114210509,635,654,0.400960799228,-0.00540256138339,0.0598354924018,0.999999936128,0.000228628819716,-0.000273292586793,2.79904935375e-05,1793253072037085696 +68,1.133333333,BASELINE,772,749,726,703,671,640,892,794,823,653.460860874,635,654,0.400962230259,-0.00540364258339,0.0598363583272,0.999999936491,0.000228852624433,-0.000271741865161,2.83037129908e-05,1793253072053752320 +69,1.150000000,BASELINE,772,749,726,703,671,640,892,794,823,653.964158081,635,654,0.40096399505,-0.00540516013028,0.0598374808066,0.999999937064,0.000228575036295,-0.000269822654036,2.86549087719e-05,1793253072070418944 +70,1.166666667,BASELINE,772,749,726,703,671,640,892,794,823,653.375916955,635,654,0.40096194063,-0.00540515462656,0.0598361977474,0.999999937094,0.000225821527511,-0.000272051021749,2.83606438742e-05,1793253072087085312 +71,1.183333333,BASELINE,771.790266435,749,726.209733565,703,671,640,892,794,823,653.209733565,634.790266435,654,0.400961368302,-0.00540502952249,0.0598359295182,0.999999937282,0.000224700987183,-0.000272309887681,2.81690256896e-05,1793253072103751936 +72,1.200000000,BASELINE,771.20920245,749,726.79079755,703,671,640,892,794,823,653.79079755,634.20920245,654,0.400963419996,-0.00540469266764,0.0598374580314,0.999999937756,0.000226471594799,-0.000269081777916,2.81591420636e-05,1793253072120418816 +73,1.216666667,BASELINE,771.3684075,749,726.6315925,703,671,640,892.3684075,793.6315925,823,653.6315925,634,654,0.400963806554,-0.00540418924724,0.0598380113188,0.99999993772,0.000227114460862,-0.000268677539555,2.81310519025e-05,1793253072137085696 +74,1.233333333,BASELINE,771.944074239,749,726.055925761,703,671,640,892.944074239,793.055925761,823,653.055925761,634,654,0.400963256337,-0.00540359212017,0.0598380159621,0.9999999374,0.000227122880303,-0.000269861959156,2.80927190825e-05,1793253072153752576 +75,1.250000000,BASELINE,772,749,726.515091726,703,671.515091726,640,892.484908274,793,822.484908274,653,634.515091726,653.484908274,0.400962444026,-0.00540443929498,0.0598374295765,0.999999937791,0.000224423409487,-0.000270679824598,2.79950718704e-05,1793253072170418944 +76,1.266666667,BASELINE,772,749,726.910274255,703,671.910274255,640,892.089725745,793.17945149,822,653,634.910274255,653.089725745,0.400961746943,-0.00540506618217,0.0598367885963,0.999999938024,0.000222502819513,-0.000271413415378,2.79073933032e-05,1793253072187085568 +77,1.283333333,BASELINE,772,749,726.312321735,703,671.312321735,640,892.687678265,794.375356529,822,653,634.312321735,653.687678265,0.400961862286,-0.00540356502556,0.0598361986052,0.999999936964,0.000226644413232,-0.00027189306602,2.79123308147e-05,1793253072203751936 +78,1.300000000,BASELINE,771.724937101,749.275062899,726.275062899,703,671,640,892.724937101,794.724937101,822.275062899,653.275062899,634.275062899,654,0.400961886872,-0.00540318361317,0.0598361741172,0.99999993656,0.000228403197834,-0.000271884893892,2.81069531931e-05,1793253072220418560 +79,1.316666667,BASELINE,771.149107913,749.850892087,726.850892087,703,671,640,892.149107913,794.149107913,822.850892087,653.850892087,634.850892087,654,0.40096181222,-0.00540402658017,0.0598367679759,0.999999936889,0.000227556510258,-0.000271343314124,2.85089856361e-05,1793253072237085184 +80,1.333333333,BASELINE,771,749.57384491,726.57384491,703,671,640,892,794,823,653.57384491,634.57384491,654,0.400961628865,-0.00540349510967,0.0598366833034,0.999999936706,0.000228139988515,-0.000271528159547,2.85162134353e-05,1793253072253751808 +81,1.350000000,BASELINE,771.001244495,749,726.001244495,703,671.001244495,640.001244495,892,793.998755505,823,653,634,654,0.400961412394,-0.00540249193055,0.0598363649651,0.999999936347,0.000229210673641,-0.000271959752421,2.83855400291e-05,1793253072270418688 +82,1.366666667,BASELINE,771.587711878,749,726.587711878,703,671.587711878,640.587711878,892,793.412288122,823,653,634,654,0.400963485414,-0.00540551264907,0.0598376602078,0.999999938229,0.000224388336096,-0.000269059572754,2.82803482648e-05,1793253072287085824 +83,1.383333333,BASELINE,772,749,727,703,671.826808333,640.826808333,892,793.173191667,823,653.173191667,634,654.173191667,0.400964835118,-0.00540727135445,0.0598385119039,0.99999993931,0.000221685786524,-0.000267279529211,2.82417894245e-05,1793253072303752448 +84,1.400000000,BASELINE,772,749,727,703,671.243666096,640.243666096,892,793.756333904,823,653.756333904,634,654.756333904,0.400964472709,-0.00540604283237,0.0598383137101,0.999999938557,0.000224000846292,-0.000268150885437,2.83609529647e-05,1793253072320418816 +85,1.416666667,BASELINE,772,749,726.66531581,703,671,640,892,794,823,653.66531581,634.33468419,654.66531581,0.400963679563,-0.00540561579516,0.0598378804436,0.999999938202,0.000224676363561,-0.000268918757468,2.826660181e-05,1793253072337085440 +86,1.433333333,BASELINE,772,749,726.090405083,703,671,640,892,794,823,653.090405083,634.909594917,654.090405083,0.400962577245,-0.00540576404045,0.0598372784488,0.999999938135,0.000224175064966,-0.000269612351513,2.80189960355e-05,1793253072353752064 +87,1.450000000,BASELINE,771.516221275,749,726.483778725,703,671,640,892.483778725,794,823,653,634.516221275,654,0.400961197689,-0.00540661026526,0.0598364533607,0.999999938086,0.000222862850553,-0.000270884501717,2.79629745624e-05,1793253072370418688 +88,1.466666667,BASELINE,771,749,727,703,671,640,893,794,822.940365615,653,634.059634385,654,0.40096002727,-0.0054074205234,0.0598357989902,0.999999938069,0.000221584201838,-0.000271993257108,2.79731618455e-05,1793253072387085056 +89,1.483333333,BASELINE,771,749,727,703,671,640,893,794,822.348374467,653,634.651625533,654,0.400961185618,-0.00540674707353,0.0598370402273,0.999999938335,0.000221955947035,-0.000270679677146,2.82552710086e-05,1793253072403752192 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a/Part2/Obstacle_avoidance/ball_15A_10/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_01/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..6ee711030a35eb033f5db240dd5c24ce70b2bc7d --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_01/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb3a0dcccaeac66bdf309f69c38e34e0d42b25dc4fa7683e0d72376a145b69b1 +size 26284730 diff --git a/Part2/Obstacle_avoidance/ball_15A_10/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_01/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..1a13fe1da6c6559c87b8cee030e2e13beea5886c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_01/depth_03/franka_data.csv @@ -0,0 +1,415 @@ 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+90,1.500000000,BASELINE,771,749.25262523,727,703,671,640,893,794,822.74737477,653,635,654,0.400962997605,-0.00539408762561,0.0598363225218,0.999999932008,0.000250147697414,-0.000269854435796,2.4283686529e-05,1793253079486841600 +91,1.516666667,BASELINE,771,749.828267309,727,703,671,640,893,794,822.171732691,653,635,654,0.400965881879,-0.00539400174671,0.0598384336708,0.999999932277,0.000252406295847,-0.000266711903883,2.45510176405e-05,1793253079503508480 +92,1.533333333,BASELINE,771.40442632,750,727,703,671,640,892.59557368,794,822.40442632,653,635,654,0.400966575518,-0.00539350287764,0.059838642412,0.999999932063,0.000253945788354,-0.000266036897612,2.46963964155e-05,1793253079520175104 +93,1.550000000,BASELINE,771.980805167,750,727,703,671,640,892.019194833,794,822.980805167,653,635,654,0.40096633775,-0.00539282841489,0.0598380422944,0.999999931647,0.000255179534184,-0.000266411024747,2.47899239576e-05,1793253079536841984 +94,1.566666667,BASELINE,771.430367794,749.430367794,727,703,671,640,892.569632206,794,823,653,635,654,0.400965308861,-0.00539371084502,0.0598375603977,0.999999931557,0.000254292174062,-0.000267601453408,2.47002070502e-05,1793253079553508864 +95,1.583333333,BASELINE,771.156153249,749,727,703,671.156153249,640,893,794,823,653.156153249,634.843846751,654,0.400964663061,-0.00539478549398,0.0598371796315,0.999999931687,0.00025304085015,-0.000268306712229,2.46569935263e-05,1793253079570175744 +96,1.600000000,BASELINE,771.735266787,749,727,703,671.735266787,640,893,794,823,653.735266787,634.264733213,654,0.400965128729,-0.00539623551576,0.0598370617581,0.999999932382,0.000251001608468,-0.000267621658944,2.47568388965e-05,1793253079586842112 +97,1.616666667,BASELINE,771.687697759,749,727,703,671.687697759,640,892.687697759,793.687697759,823,653.687697759,634.312302241,654,0.400965626463,-0.00539594942984,0.0598374112838,0.999999932617,0.000250874538214,-0.000266871170525,2.46632490767e-05,1793253079603508736 +98,1.633333333,BASELINE,771.112412254,749,727,703,671.112412254,640,892.112412254,793.112412254,823,653.112412254,634.887587746,654,0.400966151198,-0.00539420140342,0.0598381543966,0.999999932465,0.000252357668139,-0.00026606558057,2.44067714732e-05,1793253079620175104 +99,1.650000000,BASELINE,771.469199855,749,727,703,671.469199855,640,892.469199855,793.938399709,823,653.469199855,635,654,0.400965841867,-0.00539259793071,0.0598379771712,0.999999932012,0.000253650851054,-0.000266546820671,2.42857463775e-05,1793253079636841984 +100,1.666666667,BASELINE,772,749,727,703,671.94771101,640,893,794.94771101,823,654,635,654,0.400965274024,-0.00539129103666,0.059837543148,0.999999931514,0.000254753890937,-0.000267368736643,2.42193172152e-05,1793253079653508608 +101,1.683333333,BASELINE,772,749,727,703,671.365224484,640,893,794.365224484,823,654,635,654,0.400964138826,-0.00539263541164,0.0598367716038,0.999999931304,0.000254396674729,-0.000268476183201,2.43729234832e-05,1793253079670175232 +102,1.700000000,BASELINE,772,749,727,703,671,640,893,794,823,654,635,654.215655404,0.400963576475,-0.00539321625211,0.0598363224133,0.999999931266,0.000254055701765,-0.000268945226332,2.43466043332e-05,1793253079686842368 +103,1.716666667,BASELINE,772,749,727,703,671,640,893,794,823,654,635,654.793834422,0.400963977097,-0.00539251356659,0.0598364151096,0.999999931516,0.000253742034252,-0.000268341092826,2.40178248e-05,1793253079703509504 +104,1.733333333,BASELINE,772,749,727,703,671,640.369493603,893,794.369493603,823,654,635,654.630506397,0.400964078413,-0.00539305315066,0.0598363497444,0.999999931867,0.000252543059992,-0.000268165443598,2.39731079502e-05,1793253079720175872 +105,1.750000000,BASELINE,772,749,727,703,671,640.943756372,893,794.943756372,823,654,635,654.056243628,0.400964013857,-0.0053942811864,0.0598361967834,0.999999932273,0.000250853458737,-0.000268227255444,2.40858153897e-05,1793253079736842240 +106,1.766666667,BASELINE,771.468255401,749,727,703.531744599,671.531744599,641,893,794.468255401,823,654,634.468255401,654,0.400963976101,-0.00539368976723,0.0598363122104,0.99999993209,0.000251384144045,-0.000268403484953,2.41924657319e-05,1793253079753508608 +107,1.783333333,POSE1_TO_POSE2_PRESS,772,750,727,703,671,640,893,794,823,654,634,654,0.400961314989,-0.0053952081395,0.0598352900661,0.999999931399,0.000250918452353,-0.000271360441522,2.46080247633e-05,1793253079795563776 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+19,0.316666667,BASELINE,771.023597957,749,727,703,671,640,892.023597957,794,822.023597957,653,634.023597957,654.023597957,0.40096867702,-0.00538644125141,0.0598382082065,0.999999928066,0.000268634022391,-0.000266962902029,2.08513565297e-05,1793253085397245440 +20,0.333333333,BASELINE,771.599510421,749,727,703,671,640,892.599510421,794,822.599510421,653,634.599510421,654.599510421,0.400967531476,-0.00538543701287,0.0598370954722,0.999999927523,0.000269135732416,-0.000268496761362,2.07271996082e-05,1793253085413912064 +21,0.350000000,BASELINE,772,749,727,703,671,640,893,794,823,653,634.82436462,654.82436462,0.400967175467,-0.00538463859627,0.0598366190959,0.999999927151,0.000269919291999,-0.000269100649507,2.06569498967e-05,1793253085430578688 +22,0.366666667,BASELINE,772,749,727,703,671,640,893,794,823,653,634.24775462,654.24775462,0.400968621964,-0.00538431007022,0.0598375955214,0.999999927171,0.000271346312532,-0.000267581418251,2.07097700708e-05,1793253085447245312 +23,0.383333333,BASELINE,772,749,727,703,671,640,892.663098219,794,823,653,634,654,0.400968915287,-0.00538534571729,0.0598375655294,0.999999928145,0.000268290335837,-0.000267034796396,2.05371260263e-05,1793253085463912192 +24,0.400000000,BASELINE,772,749,727,703,671,640,892.07237972,794,823,653,634,654,0.400968339825,-0.00538740911178,0.059836777318,0.999999929808,0.000261856936824,-0.000267220923618,2.01946206468e-05,1793253085480578816 +25,0.416666667,BASELINE,772,749,727,703,671,640,892.506913746,794,823,653,634,654,0.40096756468,-0.00538648985424,0.0598363856909,0.999999928962,0.000264119788896,-0.000268144762919,2.03547339098e-05,1793253085497245184 +26,0.433333333,BASELINE,772,749,727,703,671,640,892.915738106,794,822.915738106,653,634.084261894,654,0.400966916583,-0.00538535629929,0.0598362352353,0.999999927891,0.000267325927467,-0.000268941726959,2.06219103033e-05,1793253085513911808 +27,0.450000000,BASELINE,772,749,727,703,671,640,892.340429114,794,822.340429114,653,634.659570886,654,0.400967171367,-0.00538540105407,0.059837167514,0.999999927591,0.000268952550062,-0.000268398990489,2.11040012409e-05,1793253085530578688 +28,0.466666667,BASELINE,771.759991001,749,727,703,671,640,892,794,822.240008999,653.240008999,635,654,0.400966814255,-0.00538565074524,0.0598372158223,0.99999992752,0.000268928955131,-0.000268670965028,2.1285535759e-05,1793253085547245312 +29,0.483333333,BASELINE,771.172118904,749,727,703,671,640,892,794,822.827881096,653.827881096,635,654,0.400965570277,-0.00538619746616,0.0598359829259,0.999999927781,0.000266513575692,-0.000270123761558,2.10314512176e-05,1793253085563912192 +30,0.500000000,BASELINE,771.409738004,749,727,703,671,640,892,794,823,654,634.590261996,654,0.400966918178,-0.00538595305977,0.0598365939583,0.999999927847,0.000267425776015,-0.00026899435927,2.0778104118e-05,1793253085580578816 +31,0.516666667,BASELINE,771.989104651,749,727,703,671,640,892,794,823,654,634.010895349,654,0.400969339098,-0.00538538113225,0.0598379683643,0.999999927826,0.000269715570951,-0.000266795944845,2.05250623202e-05,1793253085597245440 +32,0.533333333,BASELINE,772,749.56616659,727,703,671,640,892.56616659,793.43383341,823,653.43383341,634,654,0.400969988418,-0.00538649923247,0.0598383369463,0.99999992846,0.000267922581107,-0.000266211144375,2.07138301258e-05,1793253085613912064 +33,0.550000000,BASELINE,772,750,727,703,671,640,893,793.142903439,823,653,634.142903439,654,0.400970400959,-0.00538739111491,0.0598387377105,0.999999929022,0.000266294460997,-0.000265718749874,2.09058979484e-05,1793253085630578688 +34,0.566666667,BASELINE,772,750,727,703,671,640,893,793.718789034,823,653,634.718789034,654,0.400970198964,-0.00538749943967,0.0598392943926,0.999999929336,0.00026540297065,-0.000265412631381,2.10823080719e-05,1793253085647245312 +35,0.583333333,BASELINE,772,749.69915695,727,703,671,640,893,794.30084305,822.69915695,653,634.69915695,654,0.400969892678,-0.00538714313646,0.0598393551251,0.999999929247,0.000265581383918,-0.000265573346121,2.10706686042e-05,1793253085663911936 +36,0.600000000,BASELINE,772,749.111216278,727,703,671,640,893,794.888783722,822.111216278,653,634.111216278,654,0.400969486865,-0.00538634343401,0.0598389425676,0.99999992877,0.000266780817122,-0.000266179564589,2.08795714955e-05,1793253085680578560 +37,0.616666667,BASELINE,771.530399299,749,727,703,671,640,893,794.530399299,822.469600701,653,634.469600701,654,0.400968132602,-0.00538651252716,0.0598376675952,0.999999928325,0.00026728925483,-0.000267327230876,2.10188075723e-05,1793253085697245440 +38,0.633333333,BASELINE,771.048476842,749,726.951523158,703,671,640,893,794,823,653,634.951523158,654,0.400966608641,-0.00538699825259,0.0598362364593,0.999999927987,0.0002672756001,-0.000268588890171,2.11885886819e-05,1793253085713912320 +39,0.650000000,BASELINE,771.624318962,749,726.375681038,703,671,640,893,794,823,653,634.375681038,654,0.400965645676,-0.00538846980042,0.0598352952079,0.999999928736,0.00026333594819,-0.000269716494618,2.08523006419e-05,1793253085730578944 +40,0.666666667,BASELINE,772,749,726.198898774,703,671,640,893,794,823,653,634,654,0.400965357008,-0.00538892251358,0.0598352198684,0.999999929157,0.000261597672298,-0.000269865579568,2.06184063517e-05,1793253085747245312 +41,0.683333333,BASELINE,772,749,726.771109335,703,671,640,893,794,823,653,634,654,0.400966333926,-0.0053874629826,0.0598367697532,0.999999928983,0.000263991144669,-0.00026817808772,2.05766942304e-05,1793253085763911936 +42,0.700000000,BASELINE,771.644210282,749,727,703,671,640,893,794,823,653,634.355789718,654,0.400967034426,-0.00538704841032,0.0598373203799,0.99999992885,0.000265125191097,-0.000267545697402,2.07010887565e-05,1793253085780578816 +43,0.716666667,BASELINE,771.051216318,749,727,703,671,640,893,794,823,653,634.948783682,654,0.400967550639,-0.00538733050985,0.0598372048034,0.999999928748,0.000265419580842,-0.000267616741093,2.09362262318e-05,1793253085797245440 +44,0.733333333,BASELINE,771,749,726.469772095,703,671,640,893,794,823,653,634.469772095,654,0.400969610807,-0.00538762045485,0.0598385520224,0.999999929527,0.000264907672562,-0.000265186277077,2.11308205165e-05,1793253085813912064 +45,0.750000000,BASELINE,771.109119063,749,726.109119063,703,671,640,892.890880937,793.890880937,823,653,634,654,0.400971363821,-0.00538744096162,0.0598397418857,0.999999930051,0.0002649827756,-0.000263122295865,2.12008920055e-05,1793253085830578688 +46,0.766666667,BASELINE,771.681802424,749,726.681802424,703,671,640,892.318197576,793.318197576,823,653,634,654,0.400971191908,-0.0053852640299,0.0598396758006,0.999999929158,0.000267875457018,-0.000263619835689,2.07582425967e-05,1793253085847245312 +47,0.783333333,BASELINE,772,749,727,703,671,640,892.26139376,793.26139376,823,653.26139376,634.26139376,654,0.40097024208,-0.00538486865696,0.0598391482337,0.999999929006,0.000267579449854,-0.000264526176122,2.03979893255e-05,1793253085863912192 +48,0.800000000,BASELINE,772,749,727,703,671,640,892.849622595,793.849622595,823,653.849622595,634.849622595,654,0.40096831958,-0.00538670086522,0.0598380436505,0.999999929772,0.000263296449386,-0.000265943662632,2.01407604427e-05,1793253085880578816 +49,0.816666667,BASELINE,772,749.430920136,727,703,671,640,893,794,823,653.569079864,635,654,0.400967500302,-0.00538709002221,0.0598375197314,0.999999929212,0.000264555812762,-0.000266776426287,2.03873042083e-05,1793253085897245440 +50,0.833333333,BASELINE,772,749.990180464,727,703,671,640,893,794,822.990180464,653.009819536,635,654,0.400967101684,-0.00538697707024,0.0598372177413,0.999999928226,0.000267626000447,-0.000267380681587,2.07959022626e-05,1793253085913911808 +51,0.850000000,BASELINE,772,749.412298925,727,703,671,640,893,794,822.412298925,653.587701075,635,654,0.40096911922,-0.00538648798733,0.0598382175803,0.999999929107,0.000265335409671,-0.000266383133689,2.0570269594e-05,1793253085930578432 +52,0.866666667,BASELINE,772,749.163830554,727,703,671,640,893,794,822.163830554,653.836169446,634.836169446,654,0.400970607449,-0.00538645543027,0.0598389507947,0.999999929776,0.000263754547881,-0.000265445189489,2.05249569279e-05,1793253085947245568 +53,0.883333333,BASELINE,772,749.735597393,727,703,671,640,893,794,822.735597393,653.264402607,634.264402607,654,0.400970777705,-0.00538755961762,0.0598390201168,0.999999929927,0.00026394090363,-0.000264655657901,2.09286391048e-05,1793253085963912192 +54,0.900000000,BASELINE,772,749.682018392,727,703,671,640,893,794,823,653,634,654,0.4009700026,-0.0053873587078,0.059838663827,0.999999929713,0.000264483848812,-0.000264936660915,2.07485929449e-05,1793253085980578816 +55,0.916666667,BASELINE,772,749.090500866,727,703,671,640,893,794,823,653,634,654,0.400968414271,-0.00538603511993,0.0598379414149,0.999999929183,0.000265333541337,-0.00026613856523,2.00664087109e-05,1793253085997245440 +56,0.933333333,BASELINE,772,749.490748226,727,703,671,640.490748226,893,794,823,653.490748226,634.490748226,654,0.40096806359,-0.00538593236188,0.0598377890129,0.999999929005,0.000265839578785,-0.000266284772255,2.02732506223e-05,1793253086013912064 +57,0.950000000,BASELINE,772,749.930422502,727,703,671,640.930422502,893,794,823,654,635,654,0.40096804064,-0.00538615945686,0.0598378063941,0.999999928984,0.000266029697271,-0.000266147505833,2.06352411238e-05,1793253086030578944 +58,0.966666667,BASELINE,772,749.355695479,727,703,671,640.355695479,893,794,823,654,635,654,0.400968773979,-0.00538718030773,0.059838308902,0.999999929631,0.000264376853596,-0.000265336647508,2.09577345907e-05,1793253086047245568 +59,0.983333333,BASELINE,772,749,727,703,671,640,892.781410662,794,823,654,635,654,0.400968480362,-0.00538773619245,0.059838323721,0.999999929885,0.000263231496132,-0.000265513461337,2.10298460515e-05,1793253086063912448 +60,1.000000000,BASELINE,772,749,727,703,671,640,892.207843874,794,823,654,635,654,0.400966519024,-0.00538753699706,0.0598375465593,0.999999929502,0.000262910268998,-0.000267294202045,2.06953505134e-05,1793253086080579072 +61,1.016666667,BASELINE,772,749,727,703,671,640,892.379940686,794,823,653.620059314,635,654,0.400966261372,-0.00538778760976,0.0598374565593,0.999999929393,0.000263160842368,-0.000267451740371,2.07407929171e-05,1793253086097245696 +62,1.033333333,BASELINE,772,749,727,703,671,640,892.975805309,794,823,653.024194691,635,654,0.400966971941,-0.00538829385273,0.0598377570799,0.99999992944,0.00026373637547,-0.000266686797107,2.10021577181e-05,1793253086113912320 +63,1.050000000,BASELINE,772,749,727,703,671,640,893,794,823,653,635,654,0.400966453992,-0.00538806893556,0.0598375468436,0.99999992877,0.000264893348104,-0.000268049785224,2.09811082813e-05,1793253086130578944 +64,1.066666667,BASELINE,772,749,727,703,671,640,893,794,823,653,635,654,0.400966470414,-0.00538804559994,0.0598376371572,0.99999992853,0.000265333148249,-0.000268513883509,2.09587726468e-05,1793253086147245568 +65,1.083333333,BASELINE,772,749,727,703,671,640,893,794,823,653,635,654,0.400968636134,-0.0053888745782,0.0598389083565,0.999999929975,0.000263053987658,-0.000265353034234,2.09755340808e-05,1793253086163912448 +66,1.100000000,BASELINE,772,749,727,703,671,640,893,794,823,653,635,654,0.400969590742,-0.00538807280642,0.0598393405809,0.999999930229,0.000263318735943,-0.000264133647384,2.0947698855e-05,1793253086180578816 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+25,0.416666667,BASELINE,771.507561928,749,727,704,671,639.507561928,892,794,822.507561928,654,635,654.507561928,0.400966503342,-0.00538778356558,0.0598384904362,0.999999933486,0.000246585368646,-0.000268165079048,1.76195645655e-05,1793253092592282624 +26,0.433333333,BASELINE,772,749,727,704,671,640,892,794,823,653.915455768,634.915455768,654.915455768,0.400965796377,-0.00538858463107,0.059838176198,0.99999993343,0.000246271006644,-0.000268662900823,1.76437989735e-05,1793253092608949248 +27,0.450000000,BASELINE,772,749,727,704,671,640,892,794,823,653.325764612,634.325764612,654.325764612,0.400965332113,-0.00538912199074,0.0598379765756,0.999999933726,0.000244601326546,-0.000269056109938,1.80681058575e-05,1793253092625615616 +28,0.466666667,BASELINE,772,749,727,703.740707827,671,639.740707827,892,794,823,653,634,654,0.400965397393,-0.00538901002472,0.0598377559426,0.999999933571,0.000245032842997,-0.000269229776698,1.82501256216e-05,1793253092642282240 +29,0.483333333,BASELINE,772,749,727,703.161371281,671,639.161371281,892,794,823,653,634,654,0.40096611629,-0.00538809659586,0.0598375093762,0.999999932853,0.000248057866791,-0.000269132462266,1.81330903282e-05,1793253092658948864 +30,0.500000000,BASELINE,772,749.41437886,727,703.41437886,671,639.41437886,892,794,823,653,634,654,0.400966221527,-0.00538773317806,0.0598377258831,0.99999993304,0.000247590724972,-0.00026888509828,1.78979098712e-05,1793253092675615744 +31,0.516666667,BASELINE,772,749.988744321,727,703.988744321,671,639.988744321,892,794,823,653,634,654,0.400966089839,-0.00538758211283,0.0598381211769,0.999999933575,0.000245775300722,-0.000268579802001,1.76171150166e-05,1793253092692282624 +32,0.533333333,BASELINE,772.564732821,749.435267179,727,703.435267179,671,640,892,794,823,653,634.564732821,654,0.400965295145,-0.0053870697791,0.0598372693689,0.999999932841,0.00024734111634,-0.000269880849839,1.74773500175e-05,1793253092708949248 +33,0.550000000,BASELINE,772.854797672,749.145202328,727,703.145202328,671,639.854797672,892,794,823,653,634.854797672,654,0.400965239093,-0.00538670926078,0.0598370084726,0.999999932371,0.000248919647634,-0.000270170004769,1.74948112202e-05,1793253092725615872 +34,0.566666667,BASELINE,772.260571532,749.739428468,727,703.739428468,671,639.260571532,892,794,823,653,634.260571532,654,0.400967508197,-0.00538684054742,0.059838651998,0.9999999328,0.000250328498612,-0.000267230689173,1.7989761531e-05,1793253092742282240 +35,0.583333333,BASELINE,771.677257399,749.677257399,726.677257399,703.677257399,671,639.322742601,892,794,822.677257399,653,634.322742601,654,0.400967496297,-0.00538622539,0.0598390009314,0.99999993284,0.00025082892985,-0.000266622109679,1.78446083782e-05,1793253092758948864 +36,0.600000000,BASELINE,771.102465066,749.102465066,726.102465066,703.102465066,671,639.897534934,892,794,822.102465066,653,634.897534934,654,0.400965703019,-0.00538502728808,0.0598383388375,0.999999932579,0.000250619919872,-0.000267833746381,1.71995587467e-05,1793253092775615488 +37,0.616666667,BASELINE,771.473107203,749,726.473107203,703,671,640,892,794,822.473107203,653,635,654,0.400966849346,-0.0053851490052,0.0598391429662,0.999999933214,0.000249397016257,-0.000266597777359,1.7261342693e-05,1793253092792282112 +38,0.633333333,BASELINE,772,749.048616334,727,703,671,640,892,794,822.951383666,653,634.951383666,653.951383666,0.400968434971,-0.00538556675082,0.059840118387,0.999999933939,0.000248107639289,-0.000265063149937,1.74811333043e-05,1793253092808948992 +39,0.650000000,BASELINE,772,749.621619858,727,703,671,640,892,794,822.378380142,653,634.378380142,653.378380142,0.40096788049,-0.00538608924683,0.0598395105494,0.999999933586,0.00024847370324,-0.00026603434519,1.77512806867e-05,1793253092825616128 +40,0.666666667,BASELINE,772,749.797432075,727,703,671,640.202567925,892,794,822.202567925,653.202567925,634.202567925,653.202567925,0.400967401348,-0.0053862063005,0.059838940411,0.999999933223,0.000249075887606,-0.00026682531462,1.78762191336e-05,1793253092842283008 +41,0.683333333,BASELINE,772,749.201038534,727,703,671,640.798961466,892,794,822.798961466,653.798961466,634.798961466,653.798961466,0.400967068676,-0.00538553510703,0.0598384435662,0.999999932843,0.000250137129167,-0.000267265895122,1.77188473299e-05,1793253092858949376 +42,0.700000000,BASELINE,771.619161865,749,727,703,671,640.238323729,892,794,823,654,634.619161865,654,0.400967278273,-0.00538593009017,0.0598389111681,0.999999933261,0.000248633382122,-0.000267099315413,1.77892967102e-05,1793253092875616000 +43,0.716666667,BASELINE,771.044667062,749,727,703,671,639.089334124,892,794,823,654,634.044667062,654,0.400967763615,-0.00538686722546,0.0598398691924,0.999999934079,0.000245825335131,-0.000266623993963,1.79755934518e-05,1793253092892282624 +44,0.733333333,BASELINE,771.5298242,749.5298242,727,703,671,639.5298242,892,794,822.4701758,654,634,654,0.400966113742,-0.00538741137291,0.059838934179,0.999999933702,0.000245838125598,-0.000268043182338,1.77038343711e-05,1793253092908949248 +45,0.750000000,BASELINE,772,750,727,703,671,640,892.107188606,794,822.107188606,653.892811394,634,654,0.400964618581,-0.00538749320967,0.0598379721556,0.999999933197,0.000246553457072,-0.000269283675946,1.74463791739e-05,1793253092925615360 +46,0.766666667,BASELINE,772,750,727,703,671,640,892.697504198,794,822.697504198,653.302495802,634,654,0.400964632095,-0.00538564062065,0.0598376077153,0.999999932577,0.00024936345067,-0.000268998861685,1.74274493056e-05,1793253092942281984 +47,0.783333333,BASELINE,772,749.717115259,727,703,671,639.717115259,892.717115259,794,823,653,634,654,0.400965953831,-0.00538531104543,0.0598383229136,0.999999932655,0.000250502768465,-0.000267633522293,1.76325255475e-05,1793253092958948864 +48,0.800000000,BASELINE,772,749.136921331,727,703,671,639.136921331,892.136921331,794,823,653,634,654,0.400968650494,-0.00538658214307,0.0598401728019,0.999999933467,0.000249886222149,-0.000265132561183,1.80730300888e-05,1793253092975616000 +49,0.816666667,BASELINE,772,749.440409401,727,703,671,639.440409401,892,794,823,653.440409401,634.440409401,654,0.400967898629,-0.00538705270197,0.0598399798144,0.999999933738,0.000248133181645,-0.000265748526254,1.8216979815e-05,1793253092992282624 +50,0.833333333,BASELINE,772,750,727,703,671,640,892,794.017139476,823,654,635,654,0.400966143792,-0.00538729688567,0.0598391749426,0.999999933831,0.000246100774305,-0.000267282322508,1.82629375389e-05,1793253093008949504 +51,0.850000000,BASELINE,772,750,727,703,671,640,892,794.603290855,823,654,635,654,0.400966455085,-0.00538823496563,0.0598390053096,0.999999933737,0.000246448124523,-0.000267323893356,1.80967560541e-05,1793253093025615872 +52,0.866666667,BASELINE,772,749.812837719,726.812837719,703,671,639.812837719,892,794.812837719,823,653.812837719,635,654,0.400966697248,-0.00538821703695,0.0598389167956,0.999999933488,0.000247476151359,-0.000267321664164,1.78576806105e-05,1793253093042281984 +53,0.883333333,BASELINE,772,749.233740755,726.233740755,703,671,639.233740755,892,794.233740755,823,653.233740755,635,654,0.400966794644,-0.00538619714,0.0598389981521,0.99999993291,0.000249929576353,-0.000267227713737,1.74659586586e-05,1793253093058948864 +54,0.900000000,BASELINE,772,749.343451858,726.343451858,703,671,639.343451858,892,794,823,653,634.656548142,654,0.400967335424,-0.00538633975659,0.0598394230008,0.999999933321,0.000248988686941,-0.000266575437034,1.73256339667e-05,1793253093075615488 +55,0.916666667,BASELINE,772,749.919355561,726.919355561,703,671,639.919355561,892,794,823,653,634.080644439,654,0.400968176291,-0.00538794598527,0.0598400803288,0.999999934396,0.000245750489577,-0.000265545279212,1.73554576123e-05,1793253093092282368 +56,0.933333333,BASELINE,772,750,727,703,671,640,892.49491315,794,822.50508685,653,634.49491315,654,0.400967242245,-0.00538759220019,0.0598392229132,0.999999933711,0.000247171361455,-0.000266785171325,1.76148258481e-05,1793253093108949248 +57,0.950000000,BASELINE,772,750,726.927877193,703,671,640,892.927877193,794,822.072122807,653,635,654,0.400966391695,-0.00538710980058,0.0598384162719,0.999999933032,0.000248722765264,-0.000267866194178,1.78815286546e-05,1793253093125616128 +58,0.966666667,BASELINE,772,750,726.338413181,703,671,640,892.338413181,794,822.661586819,653,635,654,0.400968213185,-0.00538799415575,0.0598397430725,0.999999934484,0.000245768645532,-0.000265156198294,1.79327324323e-05,1793253093142282496 +59,0.983333333,BASELINE,772,750,726,703,671,640,892,794,822.753327215,653.246672785,635,654,0.400968157048,-0.00538777432873,0.0598400613814,0.999999934714,0.000245141757763,-0.000264875926046,1.78264527155e-05,1793253093158949120 +60,1.000000000,BASELINE,772,750,726,703,671,640,892,794,822.174142716,653.825857284,635,654,0.400965569892,-0.00538606607856,0.0598390202566,0.999999933304,0.000247651948073,-0.000267870889354,1.75078872984e-05,1793253093175615488 +61,1.016666667,BASELINE,772,749.599933837,726.400066163,703,671,640,892,794,822.400066163,654,635,654,0.400964489614,-0.00538509501489,0.0598382562158,0.999999932588,0.00024892943722,-0.000269377046207,1.71414926361e-05,1793253093192282112 +62,1.033333333,BASELINE,772,749.027864197,726.972135803,703,671,640,892,794,822.972135803,654,635,654,0.400964057201,-0.00538444089548,0.0598376113039,0.999999932175,0.000249676941668,-0.000270243109044,1.67545344033e-05,1793253093208948736 +63,1.050000000,BASELINE,772,749.54972833,727,703.54972833,671,640,892.54972833,794,823,653.45027167,635,654,0.400965844476,-0.00538651928544,0.0598389058421,0.999999933299,0.00024745280118,-0.000268075090423,1.74845485047e-05,1793253093225615616 +64,1.066666667,BASELINE,772,750,727,703.869554001,671,640,892.869554001,794,823,653,635,654,0.400967223608,-0.00538813969594,0.0598399849251,0.999999934147,0.000245886531599,-0.000266305143185,1.81187724837e-05,1793253093242282240 +65,1.083333333,BASELINE,772,750,727,703.278806602,671,640,892.278806602,794,823,653,635,654,0.4009667615,-0.00538765035327,0.0598399533293,0.999999933778,0.000247178572501,-0.000266488039249,1.82131766685e-05,1793253093258949120 +66,1.100000000,BASELINE,772,750,727,703,671,640,892,794.305768764,822.694231236,653,635,654,0.400966534851,-0.00538726783096,0.0598396172631,0.999999933615,0.000247339627238,-0.000266950294936,1.82038515062e-05,1793253093275615744 +67,1.116666667,BASELINE,772,750,727,703,671,640,892,794.884827656,822.115172344,653,635,654,0.400966518652,-0.00538698078261,0.0598390090671,0.999999933636,0.000246489828646,-0.000267662236769,1.81018150818e-05,1793253093292282368 +68,1.133333333,BASELINE,772,749.538372951,727,703,671,640,892,794.538372951,822.461627049,653,635,654,0.400966648337,-0.00538660707963,0.0598389421515,0.999999933696,0.00024681426458,-0.000267161780728,1.77393225277e-05,1793253093308948992 +69,1.150000000,BASELINE,772,749,727,703,671,640,892,794,823,653,634.961506987,654,0.400966884206,-0.00538633686455,0.0598390913973,0.999999933801,0.000247312195572,-0.00026633360082,1.73571136494e-05,1793253093325615616 +70,1.166666667,BASELINE,772,749,727,703,671,640,892,794,823,653,634.375719082,654,0.400968114832,-0.00538784393598,0.0598404033052,0.999999934409,0.000246131824749,-0.00026512560976,1.76139906019e-05,1793253093342282240 +71,1.183333333,BASELINE,772,749,727,703,671,640,892.208740099,794,822.791259901,653,634.208740099,654,0.400968476862,-0.00538870702227,0.0598408981533,0.999999934608,0.000245668552935,-0.000264790240322,1.78129581025e-05,1793253093358948608 +72,1.200000000,BASELINE,772,749,727,703,671,640,892.790822885,794,822.209177115,653,634.790822885,654,0.400967285363,-0.00538841830737,0.0598399316471,0.999999934079,0.000246487850365,-0.000266015600527,1.7908351534e-05,1793253093375615232 +73,1.216666667,BASELINE,771.631530494,749,727,703,671,640,892.631530494,794,822.368469506,653,635,654,0.400966589331,-0.00538778096791,0.0598393383741,0.999999933808,0.000247099570741,-0.000266476333976,1.77978082224e-05,1793253093392282112 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b/Part2/Obstacle_avoidance/ball_15A_10/position_02/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:819fb1cd2776b8184a2bfc469d008e0a3174d07b9f8227df41c2e2bde4cb0156 +size 26158030 diff --git a/Part2/Obstacle_avoidance/ball_15A_10/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_02/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..a7bbbe87dcdb7202ac511e4ca5a426cfa78df21b --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_02/depth_01/franka_data.csv @@ -0,0 +1,413 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+30,0.500000000,BASELINE,772,749.596417486,727,702,671,639.403582514,892,794,822,654,635,654,0.400935633903,-0.00543887824645,0.0499307982161,0.999999976172,5.39127654804e-05,-0.000209360265446,-3.02946992838e-05,1793253100919050496 +31,0.516666667,BASELINE,772,749.008221741,727,702,671,639.991778259,892,794,822,654,635,654,0.400936348088,-0.00543784809196,0.0499304274674,0.999999976208,5.49569455223e-05,-0.000208911771575,-3.03197412985e-05,1793253100935717120 +32,0.533333333,BASELINE,772,749.57145096,727,702.57145096,671,640,892,794,822,654,635,654,0.400935457964,-0.00543789934358,0.0499301497477,0.999999975911,5.6465311293e-05,-0.000209995804419,-2.98464736732e-05,1793253100952383744 +33,0.550000000,BASELINE,772,749.8503097,727,703,671.1496903,640,892,794.1496903,822,653.8503097,634.8503097,654.1496903,0.400935400947,-0.00543777723963,0.0499303467455,0.999999975796,5.78484862997e-05,-0.000210214544489,-2.95161155623e-05,1793253100969050624 +34,0.566666667,BASELINE,772,749.27579547,727,703,671.72420453,640,892,794.72420453,822,653.27579547,634.27579547,654.72420453,0.400937772852,-0.00543711964226,0.0499318872582,0.999999976215,5.88576921913e-05,-0.000207915910492,-2.96113854111e-05,1793253100985717760 +35,0.583333333,BASELINE,772,749.285534377,727,702.714465623,671.714465623,640,892,794.714465623,822,653.285534377,634.285534377,654.714465623,0.400937984672,-0.00543711849836,0.0499320857159,0.999999976278,5.91525076856e-05,-0.000207527556786,-2.96215759857e-05,1793253101002384640 +36,0.600000000,BASELINE,772,749.834691657,727,702.165308343,671.165308343,640,892,794.165308343,822,653.834691657,634.834691657,654.165308343,0.400936202169,-0.00543772343261,0.0499310451058,0.999999976015,5.87877541324e-05,-0.000208902891102,-2.95532161517e-05,1793253101019051264 +37,0.616666667,BASELINE,771.565102398,750,727,702.434897602,671,639.565102398,892.434897602,794,822.434897602,654,635,654,0.400935495436,-0.0054379107594,0.049930579451,0.999999975929,5.73328448308e-05,-0.000209692549245,-2.97447303914e-05,1793253101035717120 +38,0.633333333,BASELINE,771,749.946866343,727,703,671,639.053133657,892.946866343,794,822.946866343,654,635,654,0.400935284598,-0.00543795959659,0.0499303680716,0.999999975935,5.53846942281e-05,-0.000210144111288,-3.00178437628e-05,1793253101052383488 +39,0.650000000,BASELINE,771,749.367774616,727,703,671,639.632225384,892.367774616,794,822.367774616,654,635,654,0.40093539649,-0.0054384178193,0.0499302226702,0.999999976138,5.32013975562e-05,-0.000209745677221,-2.99908442265e-05,1793253101069050112 +40,0.666666667,BASELINE,771.210547009,749.210547009,727,702.789452991,671.210547009,640,892,794.210547009,822.210547009,654,635,654,0.400935511028,-0.00543831540629,0.0499299659634,0.999999976209,5.23150297991e-05,-0.000209617018653,-3.00833245847e-05,1793253101085716480 +41,0.683333333,BASELINE,771.78752832,749.78752832,727,702.21247168,671.78752832,640,892,794.78752832,822.78752832,654,635,654,0.40093563017,-0.00543723726739,0.0499295155416,0.999999976056,5.3685826713e-05,-0.000209957875199,-3.0383746782e-05,1793253101102383104 +42,0.700000000,BASELINE,772,749.630296758,727,702.369703242,672,640,892,795,822.630296758,654,635,654,0.400935743091,-0.00543744960341,0.0499294945008,0.999999976065,5.37644120101e-05,-0.000209881923467,-3.04704039891e-05,1793253101119050240 +43,0.716666667,BASELINE,772,749.045094514,727,702.954905486,672,640,892,795,822.045094514,654,635,654,0.400935852384,-0.00543841415375,0.0499297237451,0.999999976169,5.30897706675e-05,-0.000209563015326,-3.04324581618e-05,1793253101135717376 +44,0.733333333,BASELINE,772,749.537833832,727,702.462166168,671.462166168,640,892,795,822,653.462166168,635,654,0.400936579951,-0.00543787752384,0.0499305591373,0.999999976357,5.34829466819e-05,-0.000208593893813,-3.02361254662e-05,1793253101152384000 +45,0.750000000,BASELINE,772,749.881342026,727,702,671,639.881342026,892,794.881342026,822,653.118657974,634.881342026,654.118657974,0.400937261713,-0.00543748258515,0.0499312233578,0.999999976514,5.37226697509e-05,-0.000207798212902,-3.00795562931e-05,1793253101169050368 +46,0.766666667,BASELINE,772,749.307855939,727,702,671,639.307855939,892,794.307855939,822,653.692144061,634.307855939,654.692144061,0.400937570026,-0.00543811118956,0.0499310374722,0.999999976534,5.30324559672e-05,-0.000207875436986,-3.01260937077e-05,1793253101185716736 +47,0.783333333,BASELINE,772,749,727,702,671,639.266779563,892,794,822,654,634.266779563,655,0.400937720369,-0.00543760600498,0.0499310837393,0.999999976448,5.45121104986e-05,-0.000207906141779,-3.01091692704e-05,1793253101202383360 +48,0.800000000,BASELINE,772,749,727,702,671,639.842747272,892,794,822,654,634.842747272,655,0.40093768763,-0.00543578679887,0.0499313990633,0.99999997623,5.85065661189e-05,-0.000207882932354,-3.00186947809e-05,1793253101219049984 +49,0.816666667,BASELINE,771.569685531,749.430314469,727,702,671,640,892,794,822,654,635,654.569685531,0.40093774585,-0.00543674221523,0.0499316672275,0.999999976368,5.75767414292e-05,-0.000207484512658,-2.99951569661e-05,1793253101235716352 +50,0.833333333,BASELINE,771.021658466,749.978341534,727,702,671,639.978341534,892,794.021658466,822,653.978341534,635,654,0.400937778782,-0.00543869033243,0.0499318991175,0.999999976616,5.4846249914e-05,-0.000207025575579,-2.99932055532e-05,1793253101252383488 +51,0.850000000,BASELINE,771.598157732,749.401842268,727,702,671,639.401842268,892,794.598157732,822,653.401842268,635,654,0.400936288787,-0.00543937454479,0.0499316554677,0.999999976367,5.336327138e-05,-0.00020862621888,-2.9900250833e-05,1793253101269050624 +52,0.866666667,BASELINE,771.825936585,749,727,702,671.34812683,639.174063415,892,794.825936585,822,653.174063415,635,654,0.400935651007,-0.00543945893088,0.0499315629625,0.99999997624,5.33756016161e-05,-0.000209239274281,-2.98278710408e-05,1793253101285717504 +53,0.883333333,BASELINE,771.251396623,749,727,702,672.497206753,639.748603377,892,794.251396623,822,653.748603377,635,654,0.400936973958,-0.00543816326616,0.0499318182032,0.999999976396,5.6828264832e-05,-0.000207580135905,-2.98028290372e-05,1793253101302383872 +54,0.900000000,BASELINE,771.332424795,749.332424795,727,702.332424795,672.667575205,639.667575205,892,794,822,654,635,654,0.400937403871,-0.00543744366434,0.049931881469,0.999999976399,5.86243849224e-05,-0.000207077050695,-2.9728416826e-05,1793253101319050240 +55,0.916666667,BASELINE,771.923466904,749.923466904,727,702.923466904,672.076533096,639.076533096,892,794,822,654,635,654,0.400937139025,-0.00543717222362,0.0499317953835,0.999999976291,5.913176003e-05,-0.000207473343014,-2.96155959575e-05,1793253101335716608 +56,0.933333333,BASELINE,772,750,727,703,672,639.503584158,892,794.503584158,822,654,635,654,0.400936529447,-0.00543743023601,0.0499308792671,0.999999976135,5.77093327445e-05,-0.000208580226327,-2.99036124444e-05,1793253101352383232 +57,0.950000000,BASELINE,772,750,727,702.918262692,671.918262692,640.081737308,892,794.918262692,822,654,635,654.081737308,0.400935922942,-0.00543772741958,0.0499300152087,0.999999975988,5.62922517125e-05,-0.000209633667531,-3.01531711684e-05,1793253101369050112 +58,0.966666667,BASELINE,772,750,727,702.342160339,671.342160339,640.657839661,892,794.342160339,822,654,635,654.657839661,0.400935645171,-0.0054377851852,0.0499302127636,0.999999975959,5.66436939304e-05,-0.000209724580609,-2.98095070793e-05,1793253101385716736 +59,0.983333333,BASELINE,772,750,727,702.23300585,671,640.76699415,892,794,822,654,635,654.76699415,0.40093545871,-0.00543810765008,0.049930119387,0.999999975943,5.60139946585e-05,-0.000209996947731,-2.96152448851e-05,1793253101402383360 +60,1.000000000,BASELINE,772,750,727,702.806802903,671,640.193197097,892,794,822,654,635,654.193197097,0.400935405797,-0.00543881726052,0.0499296004978,0.999999975943,5.39492911738e-05,-0.000210534707093,-2.96394958299e-05,1793253101419050496 +61,1.016666667,BASELINE,772,749.609485125,727,703,671.390514875,640,892,794.390514875,822,653.609485125,635,654,0.400935569882,-0.00543871982785,0.0499295438652,0.999999976114,5.37413036988e-05,-0.00020976503084,-2.97208116009e-05,1793253101435717632 +62,1.033333333,BASELINE,772,749.020740258,727,703,671.979259742,640,892,794.979259742,822,653.020740258,635,654,0.400935844119,-0.00543821273046,0.0499297218795,0.99999997637,5.44758074659e-05,-0.000208331684695,-2.98310941546e-05,1793253101452384768 +63,1.050000000,BASELINE,772,749.561204095,727,702.438795905,671.438795905,640,892.561204095,795,822,653.561204095,635,654,0.400937446242,-0.00543954460205,0.0499312709308,0.999999976712,5.41883915911e-05,-0.000206807338372,-2.9500578193e-05,1793253101469050880 +64,1.066666667,BASELINE,772,750,727,702,671,640,892.858588082,794.858588082,822.141411918,653.858588082,635,654,0.400938581015,-0.0054399304391,0.0499322805449,0.999999976902,5.40794646113e-05,-0.000205925998849,-2.94228523938e-05,1793253101485716992 +65,1.083333333,BASELINE,772,750,727,702,671,640,892.282950074,794.282950074,822.717049926,653.282950074,635,654,0.400938131836,-0.00543720514835,0.0499314800139,0.999999976622,5.46331940823e-05,-0.000207029309503,-3.01707793473e-05,1793253101502383616 +66,1.100000000,BASELINE,771.709883545,750,727,702.290116455,671,640,892.290116455,794,823,653,635,654,0.400938042156,-0.00543608377599,0.0499311442384,0.999999976555,5.54954000813e-05,-0.000207089576503,-3.04110776678e-05,1793253101519049984 +67,1.116666667,BASELINE,771.139302975,750,727,702.860697025,671,640,892.860697025,794,823,653,635,654,0.400938300014,-0.00543651295888,0.0499312577556,0.999999976693,5.66558193859e-05,-0.000206141502444,-3.01606364068e-05,1793253101535716352 +68,1.133333333,BASELINE,771.448306762,750,727,703,671,640,892.551693238,794,822.551693238,653.448306762,635,654,0.400937406885,-0.00543822138482,0.0499310994399,0.999999976655,5.41288568088e-05,-0.000207035312408,-2.99505354125e-05,1793253101552383488 +69,1.150000000,BASELINE,772,750,727,703,671.040478439,640,892,794,822,654,635,654,0.400936238504,-0.0054401155669,0.0499308104703,0.999999976534,5.08244854977e-05,-0.000208476253541,-2.97706137364e-05,1793253101569050624 +70,1.166666667,BASELINE,772,750,727,703,671.620148311,640,892,794,822,654,635,654,0.400936355801,-0.00543898013751,0.0499299506967,0.99999997625,5.30297039862e-05,-0.000209280492393,-2.98191299422e-05,1793253101585717504 +71,1.183333333,BASELINE,772,750,727,703,671.801423857,640,892.198576143,794.198576143,822.198576143,653.801423857,634.801423857,654,0.400936604031,-0.00543812508645,0.0499299689639,0.99999997619,5.45415136345e-05,-0.000209175310729,-2.9857957231e-05,1793253101602384384 +72,1.200000000,BASELINE,772,750,727,703,671.225357028,640,892.774642972,794.774642972,822.774642972,653.225357028,634.225357028,654,0.400937101164,-0.00543780303077,0.0499316563754,0.99999997656,5.47351624017e-05,-0.000207341332532,-2.98783660218e-05,1793253101619050496 +73,1.216666667,BASELINE,772,750,727.34948889,703,671,640,892.65051111,795,822.65051111,653.34948889,634,654.34948889,0.400937936356,-0.00543727246352,0.0499322433505,0.999999976672,5.59952492001e-05,-0.000206458897675,-2.99216564686e-05,1793253101635716864 +74,1.233333333,BASELINE,772,750,727.923550248,703,671,640,892.076449752,795,822.076449752,653.923550248,634,654.923550248,0.400938988774,-0.00543660791218,0.0499321232139,0.999999976615,5.79406013185e-05,-0.000206187899919,-2.9979650071e-05,1793253101652383488 +75,1.250000000,BASELINE,772,749.486884724,727.486884724,702.486884724,671,640,892,794.486884724,822.513115276,653.486884724,634.513115276,655,0.400936790074,-0.00543760279015,0.0499304458134,0.999999976209,5.60755713478e-05,-0.000208662156045,-2.99652510096e-05,1793253101669050112 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+37,0.616666667,BASELINE,771,749.519457674,727,701.519457674,671.519457674,640,892,794,822,653,635,654,0.400988290962,-0.00543057986956,0.0498525589366,0.999999965386,6.31876302446e-05,-0.000252279682642,-3.98891535224e-05,1793253108073254656 +38,0.633333333,BASELINE,771,749,727,701,671.068028746,640,892,794,822,653.068028746,635,654,0.40098797042,-0.0054311116797,0.0498516515737,0.999999965393,6.26691967779e-05,-0.000252359973586,-4.00110257233e-05,1793253108089921024 +39,0.650000000,BASELINE,771,749,727,701,671.647325557,640,892,794,822,653.647325557,635,654,0.400989402348,-0.00543040873864,0.0498529544398,0.999999965454,6.44849128068e-05,-0.00025163918304,-4.0132784911e-05,1793253108106587648 +40,0.666666667,BASELINE,771,749,727,701.225080838,671.774919162,640,892,794,822.225080838,654,635,654,0.400990533804,-0.0054304756102,0.0498538259612,0.999999965696,6.49277557514e-05,-0.000250567375564,-4.01153000456e-05,1793253108123254528 +41,0.683333333,BASELINE,771,749,727,701.800437124,671.199562876,640,892,794,822.800437124,654,635,654,0.40099119766,-0.00543174048012,0.0498540262151,0.999999966218,6.32341051433e-05,-0.000248949308336,-3.9881120702e-05,1793253108139922176 +42,0.700000000,BASELINE,771,749,727,702,671.3821318,640,892,794,822.6178682,654,635,654,0.400990793969,-0.00543226308549,0.0498534386154,0.999999966104,6.25679322694e-05,-0.000249615413182,-3.96197690923e-05,1793253108156589312 +43,0.716666667,BASELINE,771,749,727,702,671.967192422,640,892,794,822.032807578,654,635,654,0.400989823364,-0.00543239151564,0.0498524326308,0.999999965651,6.24473953981e-05,-0.000251494514094,-3.93439878194e-05,1793253108173255936 +44,0.733333333,BASELINE,771,749,727,702,671.45191204,640,892.54808796,794.54808796,822,654,635,654,0.400988924075,-0.00543165052072,0.0498520094511,0.999999965261,6.34769168973e-05,-0.000252785370128,-3.93475636858e-05,1793253108189922304 +45,0.750000000,BASELINE,771,749,727,702,671.128225109,640,892.871774891,794.871774891,822,654,634.871774891,654,0.400988016397,-0.00543115209714,0.0498517593221,0.999999964934,6.43562369748e-05,-0.000253844181529,-3.94047842949e-05,1793253108206589184 +46,0.766666667,BASELINE,771,749,727,702,671.706568484,640,892.293431516,794.293431516,822,654,634.293431516,654,0.400987064394,-0.00543168650016,0.0498519951282,0.999999964827,6.44684601261e-05,-0.000254211101541,-3.9592060915e-05,1793253108223255296 +47,0.783333333,BASELINE,771.281755391,749,727,702,672,640,892,794,822,654,634.281755391,654.281755391,0.400987394128,-0.00543210481877,0.0498523688738,0.999999964924,6.44125160058e-05,-0.000253850330342,-3.95466095057e-05,1793253108239921664 +48,0.800000000,BASELINE,771.853691514,749,727,702,672,640,892,794,822,654,634.853691514,654.853691514,0.400989043925,-0.00543240358175,0.049852884684,0.999999965231,6.41833759168e-05,-0.000252740107807,-3.92614708169e-05,1793253108256588288 +49,0.816666667,BASELINE,772,749.440400593,727,702,672,640,892.440400593,794,822,654,634.559599407,654.559599407,0.400988283563,-0.00543171090835,0.0498522189557,0.999999965072,6.3227791902e-05,-0.000253546556737,-3.96592677504e-05,1793253108273254656 +50,0.833333333,BASELINE,772,749.968497933,727,701.968497933,672,640,892.968497933,794.031502067,822.031502067,654,634.031502067,654,0.400986799517,-0.00543074918769,0.0498512689133,0.999999964776,6.22340267957e-05,-0.000254865871228,-4.02302730705e-05,1793253108289921280 +51,0.850000000,BASELINE,772,749.389318285,727,701.389318285,672,640,892.389318285,794.610681715,822.610681715,654,634.610681715,654,0.400987137514,-0.00543103498714,0.0498524370576,0.999999964935,6.49178440218e-05,-0.000253647160556,-3.9731220214e-05,1793253108306588416 +52,0.866666667,BASELINE,772,749,727,701.188914608,671.811085392,640,892,794.811085392,823,653.811085392,635,654,0.400987753127,-0.00543104127098,0.0498531981858,0.999999965139,6.66552544871e-05,-0.000252430283685,-3.94762604688e-05,1793253108323255552 +53,0.883333333,BASELINE,772,749,727,701.765206109,671.234793891,640,892,794.234793891,823,653.234793891,635,654,0.400988938004,-0.00543047439695,0.0498531247113,0.999999965448,6.64520202196e-05,-0.000251217167172,-3.97218233539e-05,1793253108339922176 +54,0.900000000,BASELINE,771.660446463,749,727,701.660446463,671,640,892,794,822.660446463,653.339553537,635,654,0.400989247643,-0.00543057138805,0.049852815707,0.999999965534,6.60602726242e-05,-0.000250974441491,-3.97432252678e-05,1793253108356588544 +55,0.916666667,BASELINE,771.087435689,749,727,701.087435689,671,640,892,794,822.087435689,653.912564311,635,654,0.400988955519,-0.00543112481417,0.0498523447662,0.999999965467,6.5538914252e-05,-0.000251398900081,-3.96105071429e-05,1793253108373254912 +56,0.933333333,BASELINE,771,749,727,701,671,640,892,794,822,654,635,654,0.40098866205,-0.00543092334379,0.0498522242757,0.999999965302,6.53237754303e-05,-0.000252133017535,-3.94622808454e-05,1793253108389921536 +57,0.950000000,BASELINE,771,749,727,701,671,640,892,794,822,653.907731577,635,654,0.400988326918,-0.00543087772628,0.0498521815577,0.999999965174,6.51212310098e-05,-0.000252715468576,-3.93147985059e-05,1793253108406588160 +58,0.966666667,BASELINE,771,749,727,701,671,640,892,794,822,653.328658803,635,654,0.400987773256,-0.00543237155038,0.049852216229,0.999999965336,6.46942188533e-05,-0.000252203550893,-3.91859744211e-05,1793253108423254528 +59,0.983333333,BASELINE,771.248513786,749.248513786,727,701.248513786,671.248513786,640,892,794,822.248513786,653.248513786,635,654,0.400988020751,-0.00543227926844,0.0498526192371,0.999999965469,6.52696024669e-05,-0.00025151669978,-3.92572115916e-05,1793253108439921152 +60,1.000000000,BASELINE,771.823192535,749.823192535,727,701.823192535,671.823192535,640,892,794,822.823192535,653.823192535,635,654,0.400989319734,-0.00543010528239,0.0498535056732,0.999999965561,6.71605926306e-05,-0.000250600255067,-3.95910215896e-05,1793253108456587776 +61,1.016666667,BASELINE,772,749.593212129,727,702,671.593212129,640,892,794,822.593212129,653.593212129,635,654,0.400989011062,-0.00543082621634,0.0498530535309,0.999999965508,6.57089581797e-05,-0.000251206273911,-3.95313959381e-05,1793253108473254400 +62,1.033333333,BASELINE,772,749.005654444,727,702,671.005654444,640,892,794,822.005654444,653.005654444,635,654,0.400987987975,-0.00543283360508,0.0498520065464,0.999999965382,6.27719164179e-05,-0.00025248885048,-3.92969339584e-05,1793253108489921024 +63,1.050000000,BASELINE,771.426091262,749,727,702,671,640,892,794,822,653,635,654,0.400988789768,-0.00543136820876,0.0498526038022,0.999999965449,6.56614695242e-05,-0.000251476581523,-3.93618563032e-05,1793253108506587648 +64,1.066666667,BASELINE,771.15345806,749,727,702,671.15345806,640,892,794,822,653,635,654,0.40098962168,-0.00543040700128,0.049853157379,0.99999996556,6.75635229875e-05,-0.000250527130716,-3.93994730257e-05,1793253108523254528 +65,1.083333333,BASELINE,771.733184636,749,727,702,671.733184636,640,892,794,822,653,635,654,0.400990487998,-0.00543094004265,0.0498535452451,0.999999965807,6.65652760536e-05,-0.00024981411538,-3.93531605464e-05,1793253108539921152 +66,1.100000000,BASELINE,772,749,727,702,671.689780467,640,892,794.310219533,822.310219533,653,635,654,0.400990049832,-0.00543116385781,0.0498531736955,0.999999965787,6.58068611041e-05,-0.000250085482307,-3.93991116794e-05,1793253108556587776 +67,1.116666667,BASELINE,772,749,727,702,671.11504076,640,892,794.88495924,822.88495924,653,635,654,0.40098849935,-0.00543112399978,0.0498521546021,0.99999996554,6.525294783e-05,-0.000251196219267,-3.95237348011e-05,1793253108573254400 +68,1.133333333,BASELINE,772,749.469024877,727,702,671.469024877,640,892,794.530975123,822.530975123,653.469024877,635,654,0.40099001486,-0.00543192467635,0.0498527968579,0.999999965767,6.5977390681e-05,-0.000250164706739,-3.91229218569e-05,1793253108589921280 +69,1.150000000,BASELINE,771.945236479,750,727,702,671.945236479,640,892,794,822.054763521,653.945236479,635,654,0.400991843126,-0.00543274269674,0.0498537074258,0.999999966041,6.68374940442e-05,-0.000248907351043,-3.86735228311e-05,1793253108606587648 +70,1.166666667,BASELINE,771.365829106,750,727,702,671.365829106,640,892,794,822.634170894,653.365829106,635,654,0.400989317055,-0.0054317117246,0.0498532054484,0.999999965659,6.59324391779e-05,-0.000250622338968,-3.90183734559e-05,1793253108623254528 +71,1.183333333,BASELINE,771.212441464,749.787558536,727,701.787558536,671.212441464,640,892,794,822.787558536,653,635,654,0.400987587463,-0.00543094962163,0.0498526671749,0.999999965366,6.52738687143e-05,-0.000251921275982,-3.92811737102e-05,1793253108639921152 +72,1.200000000,BASELINE,771.788764943,749.211235057,727,701.211235057,671.788764943,640,892,794,822.211235057,653,635,654,0.400987222122,-0.00543064805316,0.0498520667312,0.999999965229,6.50374908331e-05,-0.000252507577235,-3.94034334045e-05,1793253108656588032 +73,1.216666667,BASELINE,771.634897021,749,727,701,672,640,892,794.365102979,822.365102979,653.365102979,635,654,0.40098827476,-0.00543019420197,0.0498528227536,0.999999965429,6.64087497511e-05,-0.000251340464986,-3.94941769771e-05,1793253108673254656 +74,1.233333333,BASELINE,771.058550598,749,727,701,672,640,892,794.941449402,822.941449402,653.941449402,635,654,0.40099014782,-0.00542965224216,0.0498543636081,0.999999965817,6.87101647079e-05,-0.000249158852326,-3.95666857576e-05,1793253108689921280 +75,1.250000000,BASELINE,771,749,727,701,671.471275976,640,892,795,822.471275976,654,635,654,0.400990153742,-0.00543043867135,0.0498547428832,0.999999966096,6.63668862585e-05,-0.000248690544144,-3.94598156835e-05,1793253108706587904 +76,1.266666667,BASELINE,771,749,727,701.115145002,671,640,892,794.884854998,822,654,635,654,0.400990144566,-0.00543123283911,0.0498548910171,0.999999966301,6.43732713481e-05,-0.000248408872205,-3.93394468145e-05,1793253108723254784 +77,1.283333333,BASELINE,771,749,727,701.693166818,671,640,892,794.306833182,822,654,635,654,0.40099092343,-0.00543145428035,0.0498546379852,0.999999966282,6.58965865389e-05,-0.000248098665002,-3.92463523196e-05,1793253108739922176 +78,1.300000000,BASELINE,771,749,727,701.729532339,671,640,892,794,822.270467661,654,635,654,0.400990903938,-0.0054315196947,0.0498541560678,0.999999966232,6.52556931203e-05,-0.000248466273396,-3.9282097103e-05,1793253108756589056 +79,1.316666667,BASELINE,771,749,727,701.153047271,671,640,892,794,822.846952729,654,635,654,0.400989981158,-0.00543140857427,0.0498534151808,0.999999966139,6.2166131592e-05,-0.00024960078818,-3.94636155563e-05,1793253108773255168 +80,1.333333333,BASELINE,771,749,727,701,671,640,892,794,822.568926311,654,635,654,0.400989638914,-0.00543193077611,0.0498533685103,0.999999966124,6.21445869718e-05,-0.000249693673194,-3.9292608055e-05,1793253108789921536 +81,1.350000000,BASELINE,771.017728182,749,727,701.017728182,671.017728182,640.017728182,892,794.017728182,822,654,635,654,0.400989492224,-0.00543265508058,0.0498535708244,0.999999966135,6.31716198195e-05,-0.00024943313899,-3.90077443988e-05,1793253108806588160 +82,1.366666667,BASELINE,771.597207817,749,727,701.597207817,671.597207817,640.597207817,892,794.597207817,822,654,635,654,0.400988893161,-0.00543253000766,0.0498537118864,0.999999966068,6.22871069917e-05,-0.000249903534954,-3.9152579997e-05,1793253108823254784 +83,1.383333333,BASELINE,772,749,727,702,671.823696545,640.823696545,892,794.823696545,822.176303455,653.823696545,634.823696545,654,0.400988686785,-0.00543213986536,0.0498536360994,0.999999965937,6.28053241845e-05,-0.00025028548447,-3.92260015447e-05,1793253108839921408 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+268,4.466666667,POSE2_TO_POSE3_RETREAT,771.270523235,749,726,701,673,638,904,791,830,653,634.729476765,655,0.458121961135,-0.00555470236757,0.0498117944296,0.999999957651,7.29429240495e-05,-0.000280342759387,2.80061424134e-05,1793253111986906880 +269,4.483333333,POSE2_TO_POSE3_RETREAT,771,749,726,701,672.68783002,638,904,791.31216998,830,653,635,654.68783002,0.458121406661,-0.00555469713718,0.0498111918734,0.999999957544,7.27208524667e-05,-0.000280790134205,2.79447992844e-05,1793253112003572992 +270,4.500000000,POSE2_TO_POSE3_RETREAT,771,749,726,701,672.098261805,638,904,791.901738195,830,653,635,654.098261805,0.458119427315,-0.00555461440267,0.0498098431523,0.999999957263,7.1377846194e-05,-0.000282105528012,2.82031010945e-05,1793253112020239360 +271,4.516666667,POSE2_TO_POSE3_RETREAT,771,749,726,701,672.482898601,638,904,791.517101399,830,653,634.517101399,654.482898601,0.458119588277,-0.0055553563158,0.0498097739892,0.999999957353,7.05338970967e-05,-0.00028199487844,2.82512443498e-05,1793253112036905984 +272,4.533333333,POSE2_TO_POSE3_RETREAT,771,749,726,701,673,638,904,791.062039731,830,653,634.062039731,655,0.458119975974,-0.00555643239934,0.04980989984,0.999999957502,6.97457217255e-05,-0.000281657472424,2.83073246311e-05,1793253112053572608 +273,4.550000000,POSE2_TO_POSE3_RETREAT,771,749,726,701,673,638,904,791.638381352,830,653,634.638381352,655,0.458118694684,-0.00555891146204,0.0498095208442,0.999999957527,6.85924746214e-05,-0.000281804640939,2.87776415713e-05,1793253112070239488 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+54,0.900000000,BASELINE,771.328169686,750,727,701,672,640,892,794.671830314,822.328169686,653.671830314,634.671830314,654.328169686,0.400994747379,-0.00541549075681,0.0498536519455,0.999999964592,9.30830462568e-05,-0.000245863861332,-4.12548067488e-05,1793253115421982464 +55,0.916666667,BASELINE,771.916023261,750,727,701,672,640,892,794.083976739,822.916023261,653.083976739,634.083976739,654.916023261,0.400997006993,-0.0054147289287,0.0498560555755,0.99999996523,9.55618263101e-05,-0.000242301101425,-4.12166370546e-05,1793253115438649088 +56,0.933333333,BASELINE,771.504461408,750,727,701,671.504461408,640,892,794,822.504461408,653.495538592,634.495538592,654.504461408,0.400995767808,-0.00541549507024,0.0498547807527,0.999999964991,9.37228911729e-05,-0.000243991215672,-4.12572331589e-05,1793253115455316480 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+69,1.150000000,BASELINE,771.039476591,749.039476591,727,701.960523409,672,640,892.960523409,794,822,653.039476591,635,654,0.400996271129,-0.00541556371431,0.0498538342421,0.999999964942,9.31109687993e-05,-0.000244429315883,-4.12352241654e-05,1793253115671982592 +70,1.166666667,BASELINE,771.617632022,749.617632022,727,701.382367978,672,640,892.382367978,794,822,653.617632022,635,654,0.400995028443,-0.00541639446481,0.0498532529565,0.999999964593,9.1733159261e-05,-0.000246419000033,-4.09484461123e-05,1793253115688649216 +71,1.183333333,BASELINE,772,750,727,701,672,640,892,794,822,654,634.805629916,654,0.400994824967,-0.0054171044341,0.0498534463978,0.999999964663,9.00985997086e-05,-0.00024675975268,-4.08128470119e-05,1793253115705315840 +72,1.200000000,BASELINE,772,750,727,701,672,640,892,794,822,654,634.23165984,654,0.400996651042,-0.00541757852078,0.0498551528616,0.999999965553,8.79626134497e-05,-0.00024388018301,-4.09724966369e-05,1793253115721982464 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+91,1.516666667,BASELINE,771.791343995,749.208656005,727,701,671,639.791343995,892,794,822.208656005,654,634.791343995,654.208656005,0.40099308993,-0.005417310367,0.0498536138277,0.999999964664,9.19784853614e-05,-0.000246035698833,-4.09795935749e-05,1793253116038649088 +92,1.533333333,BASELINE,771.625629547,749.374370453,727,701,671,640,892,794,822,654,635,654,0.400993760484,-0.00541684350065,0.0498538060692,0.999999964678,9.27109554356e-05,-0.000245691611985,-4.10499999931e-05,1793253116055316224 +93,1.550000000,BASELINE,771.038602212,749.961397788,727,701,671,640,892,794,822,654,635,654,0.400994970345,-0.00541636591564,0.0498543254393,0.999999964792,9.3365252191e-05,-0.000244990366892,-4.09798279667e-05,1793253116071983104 +94,1.566666667,BASELINE,771.542451583,749.457548417,727,701.542451583,671,640,892,794,822,654,635,654,0.400995483055,-0.00541637657323,0.049854972602,0.999999964972,9.35819935897e-05,-0.00024418224978,-4.091126516e-05,1793253116088649984 +95,1.583333333,BASELINE,771.87801465,749,727,702,671,640,892,794,822,654,634.87801465,654,0.400995303666,-0.0054161241797,0.0498550987455,0.999999964938,9.40857907237e-05,-0.000244125123477,-4.09190134331e-05,1793253116105316608 +96,1.600000000,BASELINE,771.302568182,749,727,702,671,640,892,794,822,654,634.302568182,654,0.40099273392,-0.00541476618492,0.0498532546458,0.999999964088,9.57711599813e-05,-0.000246887649214,-4.121001492e-05,1793253116121982976 +97,1.616666667,BASELINE,771,749,727,701.727553077,671.272446923,640,892,794,822,654,634,654,0.400991804176,-0.00541482251185,0.0498526013841,0.999999963896,9.54586159594e-05,-0.000247781432563,-4.12431477897e-05,1793253116138649344 +98,1.633333333,BASELINE,771,749,727,701.153016304,671.846983696,640,892,794,822,654,634,654,0.400992692868,-0.00541644704241,0.0498532685267,0.999999964435,9.29307804445e-05,-0.000246603149372,-4.09903552552e-05,1793253116155315968 +99,1.650000000,BASELINE,771,749,727,701.434900392,672,640,891.565099608,794,822,653.565099608,634,654,0.400993740474,-0.0054168594533,0.0498535531179,0.999999964671,9.17216441362e-05,-0.000246110089743,-4.0925755698e-05,1793253116171982848 +100,1.666666667,BASELINE,771,749,727,702,672,640,891,794,822,653.026924024,634.026924024,654,0.400994800297,-0.00541680751435,0.0498537149242,0.999999964793,9.11099919035e-05,-0.000245839960455,-4.0923873913e-05,1793253116188649728 +101,1.683333333,BASELINE,771,749,727,702,672,640,891,794,822,653.603630678,634.603630678,654,0.400994931615,-0.00541625860234,0.0498542051845,0.999999964827,9.2923853429e-05,-0.000245042736881,-4.08076774749e-05,1793253116205316608 +102,1.700000000,BASELINE,771,749,727,701.817573056,671.817573056,640,891.182426944,794,822,653.817573056,635,654,0.400995352181,-0.00541587208076,0.0498549224441,0.999999965023,9.40556357103e-05,-0.000243811757023,-4.07777722785e-05,1793253116221983232 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b/Part2/Obstacle_avoidance/ball_15A_10/position_02/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4031cb58f7a26e9b5b91a29175b708b88c0c6d0e36e1d2e796530b77d6b89cc1 +size 26406846 diff --git a/Part2/Obstacle_avoidance/ball_15A_10/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_02/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9aa8c7a92d5af00e48fec9a3ebfbd9642548637c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_02/depth_04/franka_data.csv @@ -0,0 +1,417 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+18,0.300000000,BASELINE,771.554095972,749,727,702,672,640,892.554095972,794.445904028,822.445904028,654,635,654,0.400992376607,-0.00540688829597,0.0498496116939,0.999999959769,0.000123878340341,-0.000252247613605,-3.85629552467e-05,1793253121916825856 +19,0.316666667,BASELINE,771,749,727.02334136,702,672,640,892.02334136,794.97665864,822.97665864,654,635,654,0.400993198648,-0.00540666472375,0.0498491491073,0.999999959775,0.000123773288935,-0.000252313858058,-3.830824758e-05,1793253121933492224 +20,0.333333333,BASELINE,771,749,727.59905626,702,672,640,892.59905626,794.40094374,822.40094374,654,635,654,0.400992064403,-0.00540739328919,0.0498499463322,0.999999960077,0.000121987977646,-0.00025193034107,-3.86857116327e-05,1793253121950159360 +21,0.350000000,BASELINE,771,749,727.821116396,702,672,640,893,794,822,653.821116396,634.821116396,654,0.400991941988,-0.00540768252713,0.0498507204087,0.999999960405,0.000120633573607,-0.000251241377622,-3.89186996198e-05,1793253121966826240 +22,0.366666667,BASELINE,771,749,727.231854749,702,672,640,893,794,822,653.231854749,634.231854749,654,0.400994140819,-0.00540696390087,0.0498514413801,0.999999960801,0.000120267716948,-0.000249851687511,-3.88202440712e-05,1793253121983492352 +23,0.383333333,BASELINE,771,749.350969295,727,701.649030705,671.649030705,640,892.649030705,794,822.350969295,653.350969295,634,654,0.400993350956,-0.0054070802317,0.0498508108034,0.99999996062,0.000120013644267,-0.000250731620879,-3.86076415405e-05,1793253122000158976 +24,0.400000000,BASELINE,771,749.929617236,727,701.070382764,671.070382764,640,892.070382764,794,822.929617236,653.929617236,634,654,0.400990622287,-0.00540773821069,0.0498493034586,0.99999996006,0.000119832087364,-0.000253083890304,-3.8320990271e-05,1793253122016825600 +25,0.416666667,BASELINE,771.505211397,750,727,701,671.505211397,640,892,794,822.494788603,654,634.505211397,654,0.400992370932,-0.00540845975098,0.0498500174709,0.999999960537,0.000118519773703,-0.00025179775207,-3.84336315726e-05,1793253122033492224 +26,0.433333333,BASELINE,772,749.919512797,727,701.080487203,672,640,892.080487203,794,822,653.919512797,635,654,0.400994237242,-0.00540899237665,0.0498508218332,0.99999996102,0.0001174244828,-0.000250369894974,-3.85614342143e-05,1793253122050158848 +27,0.450000000,BASELINE,772,749.343593372,727,701.656406628,672,640,892.656406628,794,822,653.343593372,635,654,0.400993011452,-0.00540830797617,0.0498502888981,0.999999960681,0.000118628891368,-0.000251171005406,-3.84422121825e-05,1793253122066825728 +28,0.466666667,BASELINE,772,749,727,701.761552033,672,640,893,794,822.238447967,653.238447967,635,654,0.400992286037,-0.00540847725313,0.0498502213596,0.999999960592,0.000118893702207,-0.000251418967892,-3.83313281672e-05,1793253122083492608 +29,0.483333333,BASELINE,772,749,727,701.170456864,672,640,893,794,822.829543136,653.829543136,635,654,0.400992300638,-0.00540990905699,0.0498508421089,0.999999960872,0.000117768916258,-0.00025084886474,-3.82327754791e-05,1793253122100159488 +30,0.500000000,BASELINE,772,749,727,701,671.588092784,640,893,794,823,654,634.588092784,654,0.400992488862,-0.00540941357637,0.049850674271,0.999999960793,0.000118271208356,-0.000250909393806,-3.83485216979e-05,1793253122116825856 +31,0.516666667,BASELINE,772,749,727,701,671.009266852,640,893,794,823,654,634.009266852,654,0.400992747444,-0.00540813709495,0.049850186871,0.999999960568,0.000119432847463,-0.00025122547636,-3.85511090742e-05,1793253122133492224 +32,0.533333333,BASELINE,771.436119704,749,727,701,671.563880296,640,892.436119704,794,822.436119704,654,634.563880296,654,0.40099199596,-0.00540843303784,0.0498498979582,0.999999960358,0.00011984331589,-0.000251868428065,-3.85127113299e-05,1793253122150159104 +33,0.550000000,BASELINE,771,749.138339407,727,701,672,640,892.138339407,794,822.138339407,654,635,654,0.400991781531,-0.0054083693701,0.0498499153359,0.999999960293,0.000120475265568,-0.000251825637984,-3.85250888587e-05,1793253122166825472 +34,0.566666667,BASELINE,771,749.717271096,727,701,672,640,892.717271096,794,822.717271096,654,635,654,0.400993329889,-0.00540707891054,0.0498508979222,0.999999960681,0.000121851527476,-0.000249581915156,-3.87116662433e-05,1793253122183492096 +35,0.583333333,BASELINE,771,749.699137127,727,701,671.699137127,640,892.699137127,794,822.699137127,654,634.699137127,654,0.400994152118,-0.00540811549347,0.0498514023502,0.999999961043,0.000120692828193,-0.00024872590894,-3.85054379006e-05,1793253122200158976 +36,0.600000000,BASELINE,771,749.111097175,727,701,671.111097175,640,892.111097175,794,822.111097175,654,634.111097175,654,0.400994281248,-0.00541137326513,0.0498514503706,0.999999961374,0.000117114479412,-0.000249194493954,-3.79242719874e-05,1793253122216826112 +37,0.616666667,BASELINE,771,749,727,701,671.469166557,640,892.469166557,794,822,653.530833443,634.469166557,654,0.400994363389,-0.00541022241248,0.0498519739195,0.999999961318,0.000118302729488,-0.000248804865761,-3.8273341132e-05,1793253122233492992 +38,0.633333333,BASELINE,771.094526906,749,727,701,672,640,893,794,822,653,635,654,0.40099447462,-0.00540810255084,0.0498525649686,0.999999961186,0.000120458281648,-0.000248220239882,-3.87932473359e-05,1793253122250159616 +39,0.650000000,BASELINE,772.242796226,749,727,701,672,640,893,794,822,653,635,654,0.400995032162,-0.00540662833753,0.0498526736917,0.999999961249,0.000121019618008,-0.000247690360505,-3.88020589366e-05,1793253122266825984 +40,0.666666667,BASELINE,772.798915834,749,727,701.201084166,672,640,893,794,822,653.201084166,635,654,0.400994503129,-0.00540607470567,0.049851991068,0.999999961047,0.000120856401687,-0.000248583824758,-3.88127301654e-05,1793253122283492352 +41,0.683333333,BASELINE,772.208480887,749,727,701.791519113,672,640,893,794,822,653.791519113,635,654,0.400991870209,-0.00540730355689,0.049849776193,0.99999996032,0.000119290264567,-0.000252233249212,-3.88270021126e-05,1793253122300159232 +42,0.700000000,BASELINE,772,749,727,702,672,640,892.626845936,794.373154064,822,654,635,654,0.400990605014,-0.00540736870036,0.0498491215936,0.999999959949,0.000119814400569,-0.000253444333764,-3.88886097405e-05,1793253122316825600 +43,0.716666667,BASELINE,772,749,727,702,672,640,892.05001428,794.94998572,822,654,635,654,0.40099008636,-0.00540679866058,0.049849318635,0.999999959775,0.000121479464295,-0.000253324506252,-3.89760544646e-05,1793253122333492480 +44,0.733333333,BASELINE,772,749,727,701.471380977,672,640,892.528619023,794.471380977,822.528619023,654,635,654,0.400991673375,-0.00540712816498,0.0498508782837,0.999999960434,0.000120039013011,-0.000251427323508,-3.88137599067e-05,1793253122350158848 +45,0.750000000,BASELINE,771.891291787,749,727,701,672,640,892.891291787,794,823,654,635,654,0.400992986105,-0.00540768693977,0.0498520165907,0.999999961021,0.000118411608327,-0.000249883362418,-3.86767122981e-05,1793253122366825472 +46,0.766666667,BASELINE,771.305564778,749,727,701,672,640,892.305564778,794,823,654,635,654,0.400992218059,-0.00540887702844,0.0498507383757,0.999999960967,0.000117257561525,-0.000250629787194,-3.87544884824e-05,1793253122383492096 +47,0.783333333,BASELINE,771.277010798,749,727,701,672,640,892,794,823,653.722989202,635,654,0.400992062983,-0.00540894464764,0.0498501478423,0.999999960865,0.000117223233031,-0.000251043305038,-3.87964014181e-05,1793253122400158720 +48,0.800000000,BASELINE,771.856149269,749,727,701,672,640,892,794,823,653.143850731,635,654,0.400992576453,-0.00540778802196,0.0498503073429,0.999999960713,0.000118410148801,-0.000251093731001,-3.87991993543e-05,1793253122416825600 +49,0.816666667,BASELINE,772,749.434786122,727,701.434786122,672.434786122,640,892.434786122,794,822.565213878,653.434786122,635,654.434786122,0.400992474499,-0.00540732445422,0.0498504530999,0.999999960741,0.0001182500892,-0.000251006130794,-3.91155625307e-05,1793253122433491968 +50,0.833333333,BASELINE,772,749.986826786,727,701.986826786,672.986826786,640,892.986826786,794,822,653.986826786,634.986826786,654.986826786,0.400992155,-0.00540710331247,0.0498505850291,0.999999960819,0.000117701447275,-0.000250895099624,-3.95074406982e-05,1793253122450158848 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+54,0.900000000,BASELINE,771.338579949,749,727,701.661420051,672,640,892.661420051,794,822,653,634.338579949,654,0.40099206302,-0.00540746602452,0.0498507749038,0.999999960847,0.000118348152568,-0.000250587587728,-3.88054932163e-05,1793253122516825856 +55,0.916666667,BASELINE,771.919613407,749,727,701.080386593,672,640,892.080386593,794,822,653,634.919613407,654,0.400991987488,-0.00540768490164,0.0498508610217,0.999999960614,0.000119648759199,-0.000250836141013,-3.92150441691e-05,1793253122533493504 +56,0.933333333,BASELINE,772,749,727,701.49487842,671.50512158,640,892,794,822,653.49487842,635,654,0.40099244377,-0.00540604286585,0.0498512857631,0.999999960579,0.000121778537008,-0.000249943275089,-3.92579694917e-05,1793253122550159616 +57,0.950000000,BASELINE,772,749.068991471,727,701.931008529,671.068991471,640,892.068991471,794,822,654,635,654,0.400992991278,-0.00540454714683,0.049851771085,0.999999960624,0.000123493395349,-0.000248921477856,-3.92284030428e-05,1793253122566825472 +58,0.966666667,BASELINE,772,749.641456805,727,701.358543195,671.641456805,640,892.641456805,794,822,654,635,654,0.400993581356,-0.0054062997117,0.0498523017195,0.999999961064,0.000121208747614,-0.000248296242789,-3.90994111419e-05,1793253122583492096 +59,0.983333333,BASELINE,772,749.776915442,727,701,672,640.223084558,893,794,822,654,635,654.223084558,0.400993728255,-0.00540807991977,0.0498524304223,0.999999961309,0.000119313135601,-0.000248280992906,-3.87598075206e-05,1793253122600158720 +60,1.000000000,BASELINE,772,749.179930963,727,701,672,640.820069037,893,794,822,654,635,654.820069037,0.400993132365,-0.00540990645939,0.0498518854694,0.999999961233,0.000118069564883,-0.000249288105986,-3.80672090054e-05,1793253122616825344 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+30,0.500000000,BASELINE,771.553154317,749,727,701,671.553154317,639.553154317,892.446845683,794,822.446845683,654,635,654,0.400986474437,-0.00540460785632,0.0498468979845,0.999999958088,0.000127122171453,-0.00025728458442,-3.83296240763e-05,1793253129212833024 +31,0.516666667,BASELINE,771.022246879,749.022246879,727,701.022246879,671.022246879,639.022246879,893,794.022246879,823,654,635,654,0.40098466843,-0.00540462160685,0.0498454215633,0.999999957434,0.000127025104465,-0.000259901444541,-3.80531659623e-05,1793253129229498880 +32,0.533333333,BASELINE,771.615041683,749.615041683,727,701.615041683,671.615041683,639.615041683,893,794.615041683,823,654,635,654,0.40098692108,-0.00540434182657,0.0498475117538,0.999999958329,0.000126566833021,-0.000256640075365,-3.82036837903e-05,1793253129246165504 +33,0.550000000,BASELINE,772,749.797484828,727,701.797484828,672,640,893,794.797484828,823,654,634.797484828,654,0.400988484383,-0.00540394848621,0.0498487042945,0.999999958894,0.00012621130518,-0.000254567052412,-3.84502658144e-05,1793253129262832128 +34,0.566666667,BASELINE,772,749.219867635,727,701.219867635,672,640,893,794.219867635,823,654,634.219867635,654,0.400988770865,-0.00540334480797,0.0498482341931,0.999999958866,0.000126046080826,-0.000254695104772,-3.88747795494e-05,1793253129279498752 +35,0.583333333,BASELINE,772,749,727,701,672,640,893,794,822.644326251,654,634.355673749,654,0.400989716004,-0.00540409099958,0.0498485798277,0.999999959307,0.000125374323845,-0.00025329342983,-3.88673595531e-05,1793253129296165888 +36,0.600000000,BASELINE,772,749,727,701,672,640,893,794,822.070060572,654,634.929939428,654,0.400991065944,-0.00540566680155,0.0498494268019,0.99999996003,0.000124391259239,-0.000250951606683,-3.85944793896e-05,1793253129312833280 +37,0.616666667,BASELINE,772,749,727,701,672,640,893,794,822,654,635,654,0.40099049699,-0.00540563997885,0.0498494960604,0.99999995963,0.000125865154122,-0.000251854843584,-3.82997031982e-05,1793253129329499904 +38,0.633333333,BASELINE,772,749,727,701,672,640,893,794,822,654,635,654,0.400989687309,-0.00540546974226,0.0498494230028,0.999999959163,0.000127193024723,-0.000253077765309,-3.80526388748e-05,1793253129346166528 +39,0.650000000,BASELINE,772,749,727,701,672,640,893,794,822,654,635,654,0.400989033474,-0.00540577639376,0.049849143907,0.999999959254,0.000125588727695,-0.000253511289829,-3.81108939665e-05,1793253129362832896 +40,0.666666667,BASELINE,772,749,727,701,672,640,893,794,822,653.74057704,635,654,0.400988968166,-0.00540552665964,0.0498488990707,0.999999959273,0.000124830800923,-0.000253796029856,-3.81892490676e-05,1793253129379499776 +41,0.683333333,BASELINE,772,749,727,701,672,640,893,794,822,653.163968351,635,654,0.400989622424,-0.00540459665579,0.049848696122,0.999999959209,0.000125107696172,-0.000253898857206,-3.82921796159e-05,1793253129396166144 +42,0.700000000,BASELINE,771.587455297,749,727,701.412544703,672,640,893,794,822,653.412544703,635,654.412544703,0.400989813376,-0.00540463804588,0.0498489854963,0.999999959269,0.000125474809321,-0.000253481928275,-3.82822632021e-05,1793253129412832768 +43,0.716666667,BASELINE,771.010980258,749,727,701.989019742,672,640,893,794,822,653.989019742,635,654.989019742,0.400989820227,-0.00540506543279,0.0498494705019,0.999999959378,0.000125877771793,-0.000252858467003,-3.82275054869e-05,1793253129429499392 +44,0.733333333,BASELINE,771,749,727,701.422004191,672,640,892.422004191,794,822.577995809,654,635,654.422004191,0.400990462017,-0.00540639304084,0.049849439148,0.999999959611,0.000125917844468,-0.000251951977967,-3.79943356601e-05,1793253129446166016 +45,0.750000000,BASELINE,771.164350332,749,727,701.164350332,672,639.835649668,892,794,822.835649668,654,635,654,0.4009905061,-0.00540658888412,0.0498492377807,0.999999959505,0.000126866144296,-0.000251903687561,-3.79376419869e-05,1793253129462832640 +46,0.766666667,BASELINE,771.743476105,749,727,701.743476105,672,639.256523895,892,794,822.256523895,654,635,654,0.400989010621,-0.00540388434745,0.0498486326493,0.999999958532,0.00013012434475,-0.000254035126048,-3.83350688649e-05,1793253129479499264 +47,0.783333333,BASELINE,772,749,727,701.680443486,672,639.319556514,892,794,822,654,635,654,0.400988577358,-0.00540331535801,0.0498486168836,0.999999958429,0.000130355333539,-0.000254331298505,-3.82839649506e-05,1793253129496166144 +48,0.800000000,BASELINE,772,749,727,701.106784603,672,639.893215397,892,794,822,654,635,654,0.400988988739,-0.00540444449548,0.0498490697649,0.999999959021,0.000128179168942,-0.000253168119162,-3.78762019843e-05,1793253129512833280 +49,0.816666667,BASELINE,772,749,727,701.466244496,672,639.533755504,892.466244496,794,822,653.533755504,635,654,0.400990197458,-0.00540423826933,0.0498496402683,0.999999959398,0.000127879997896,-0.000251789072487,-3.81301622453e-05,1793253129529499904 +50,0.833333333,BASELINE,772,749,727.040706235,701.959293765,672,639.040706235,892.959293765,794,822,653.040706235,635,654,0.400991370889,-0.00540380438454,0.049850144666,0.999999959673,0.000127922082044,-0.00025061360757,-3.85026135372e-05,1793253129546166272 +51,0.850000000,BASELINE,772,749,727.636675639,701.363324361,672,639.636675639,892.363324361,794,822,653.636675639,635,654,0.400989575292,-0.00540443132484,0.0498493803596,0.999999959251,0.000126763027341,-0.000252888640957,-3.84268319818e-05,1793253129562832384 +52,0.866666667,BASELINE,771.774159923,749,727.774159923,701.225840077,671.774159923,640,892.225840077,794,822,654,635,654,0.400988692571,-0.00540476835299,0.049848929521,0.999999959005,0.000126373668369,-0.000254075995303,-3.82882719476e-05,1793253129579498752 +53,0.883333333,BASELINE,771.195622914,749,727.195622914,701.804377086,671.195622914,640,892.804377086,794,822,654,635,654,0.400989235498,-0.00540465262211,0.0498489682286,0.99999995904,0.000127186351761,-0.000253564709189,-3.8051670077e-05,1793253129596165376 +54,0.900000000,BASELINE,771,749,727,702,671.380590384,640,893,794,822.380590384,653.619409616,635,654,0.400990316624,-0.00540508252439,0.0498494939316,0.999999959356,0.000126859609387,-0.000252494468412,-3.79659933549e-05,1793253129612832000 +55,0.916666667,BASELINE,771,749,727,702,671.955616527,640,893,794,822.955616527,653.044383473,635,654,0.400991672704,-0.00540579117937,0.0498502684304,0.999999959813,0.000125950757916,-0.000251138669265,-3.79574211785e-05,1793253129629498880 +56,0.933333333,BASELINE,771.541879266,749,727,701.458120734,672,640,893,794.541879266,822.458120734,653,634.458120734,654,0.400993014432,-0.00540551899003,0.0498514298458,0.999999960173,0.000127229603728,-0.000249030315069,-3.80819812656e-05,1793253129646166016 +57,0.950000000,BASELINE,771.872161735,749,727,701,672,640,892.872161735,794.872161735,822,653,634.127838265,654,0.400993658026,-0.00540521660692,0.0498521139397,0.999999960391,0.000128040378977,-0.000247723403807,-3.8172294744e-05,1793253129662832896 +58,0.966666667,BASELINE,771.290616423,749,727,701,672,640,892.290616423,794.290616423,822,653,634.709383577,654,0.400991828149,-0.00540509822547,0.0498509891301,0.999999960147,0.000126540525341,-0.000249484264988,-3.81015445411e-05,1793253129679499520 +59,0.983333333,BASELINE,771.287330325,749,727,701,672,640,892.287330325,794,822,653.287330325,635,654,0.400990333565,-0.00540529789049,0.0498500381473,0.99999995987,0.000125462287405,-0.000251138365992,-3.8049452008e-05,1793253129696165888 +60,1.000000000,BASELINE,771.861682446,749,727,701,672,640,892.861682446,794,822,653.861682446,635,654,0.400989173912,-0.00540581526044,0.0498492608044,0.999999959564,0.000124805212267,-0.000252685821669,-3.8015997102e-05,1793253129712832512 +61,1.016666667,BASELINE,772,749,727,701,672,640,893,794,822,654,635,654,0.400990811499,-0.00540664503821,0.0498504512773,0.999999960159,0.000124804318569,-0.000250353199496,-3.77989620396e-05,1793253129729498880 +62,1.033333333,BASELINE,771.98617936,749,727,701,672,640,893,794,822,654,635,654,0.400993259337,-0.0054075486903,0.0498522020393,0.999999961004,0.000124978565914,-0.000246907426982,-3.75365676089e-05,1793253129746165760 +63,1.050000000,BASELINE,771.398046465,749,727,701,672,640,893,794,822,654,635,654,0.400992504117,-0.00540740405632,0.04985129599,0.999999960785,0.000123781059483,-0.000248351638161,-3.78092042685e-05,1793253129762832640 +64,1.066666667,BASELINE,771,749,727,701,672,640,893,794.187385676,822,654,635,654,0.400991497055,-0.00540715422067,0.0498504194316,0.999999960363,0.000124096622843,-0.000249858405465,-3.80163078123e-05,1793253129779499264 +65,1.083333333,BASELINE,771,749,727,701,672,640,893,794.767162326,822,654,635,654,0.400989962628,-0.00540668408974,0.0498496046279,0.999999959511,0.000127580597763,-0.000251496166998,-3.80861831179e-05,1793253129796166144 +66,1.100000000,BASELINE,771,749,727.344755183,701,672,640,893,794.655244817,822,653.655244817,634.655244817,654,0.400990328452,-0.00540649029132,0.0498499947781,0.999999959664,0.000127663621355,-0.000250849442623,-3.80547932963e-05,1793253129812833024 +67,1.116666667,BASELINE,771,749,727.920882429,701,672,640,893,794.079117571,822,653.079117571,634.079117571,654,0.400991969573,-0.00540648194518,0.049851193597,0.999999960491,0.000125464198687,-0.000248669554228,-3.79554424298e-05,1793253129829499648 +68,1.133333333,BASELINE,771.506157065,749,727.493842935,701.506157065,672,640,893,794,822.506157065,653.506157065,634,654,0.400991679822,-0.00540578485703,0.0498510902762,0.99999996028,0.000125931787694,-0.000249252464507,-3.81241313161e-05,1793253129846166016 +69,1.150000000,BASELINE,772,749,727,701.908417712,672,640,892.908417712,794,822.908417712,654,634.091582288,654,0.400991104793,-0.00540539219935,0.0498506754904,0.999999960011,0.000126160753932,-0.000250194571139,-3.82613822706e-05,1793253129862832640 +70,1.166666667,BASELINE,772,749,727,701.32993378,672,640,892.32993378,794,822.32993378,654,634.67006622,654,0.400990647223,-0.0054072009617,0.0498497068208,0.999999960303,0.0001228639082,-0.000250708132833,-3.80046427695e-05,1793253129879499008 +71,1.183333333,BASELINE,772,749,727,701.248345267,672,640,892.248345267,794.248345267,822,653.751654733,634.751654733,654,0.40099050601,-0.00540766037364,0.0498490896833,0.999999960351,0.000121710364505,-0.000251066345693,-3.80927482974e-05,1793253129896165632 +72,1.200000000,BASELINE,772,749,727,701.826352423,672,640,892.826352423,794.826352423,822,653.173647577,634.173647577,654,0.400990784739,-0.00540632861254,0.0498489391811,0.999999960084,0.000123401911819,-0.000251218343339,-3.86386127212e-05,1793253129912832512 +73,1.216666667,BASELINE,772,749,727,701.600877798,672,640,893,795,822,653.399122202,634.399122202,654,0.400990094253,-0.00540593817607,0.0498490717441,0.99999995967,0.000125011978811,-0.000252085098341,-3.85446638788e-05,1793253129929499392 +74,1.233333333,BASELINE,772,749,727,701.030357186,672,640,893,795,822,653.969642814,634.969642814,654,0.400988987549,-0.00540595198066,0.0498493258661,0.999999959189,0.000126587054921,-0.000253258797608,-3.81759546001e-05,1793253129946166272 +75,1.250000000,BASELINE,771.437516845,749,727,701,672.562483155,640,893,794.437516845,822,654,635,654,0.400988999854,-0.00540704019551,0.0498493088119,0.999999959449,0.000125601018263,-0.000252740409729,-3.80542070932e-05,1793253129962832896 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+36,0.600000000,BASELINE,772,749.111262771,727,703,671,641,894,794,824,653.888737229,635,654,0.401022578896,-0.00549551625992,0.0698486364042,0.999999985836,4.2513043082e-05,-0.000162171284866,1.48865540285e-05,1793253137870818048 +37,0.616666667,BASELINE,772,749.466790669,727.466790669,703,671,641,894,794,824,653.533209331,635,654,0.401022160161,-0.00549537010428,0.0698483116524,0.999999985687,4.21591943762e-05,-0.000163176368347,1.48896369295e-05,1793253137887484672 +38,0.633333333,BASELINE,772,749.955700614,728,703,671,641,894,794,824,653,635,654,0.401021415825,-0.00549556883351,0.0698477368,0.999999985476,4.11514102984e-05,-0.000164721570059,1.48984787993e-05,1793253137904151296 +39,0.650000000,BASELINE,772,749.380879139,728,703,671,641,894,794,824,653,635,654,0.401022141186,-0.00549557853773,0.069847928475,0.999999985672,4.15284621545e-05,-0.00016342529098,1.49327331871e-05,1793253137920817920 +40,0.666666667,BASELINE,771.801339453,749.198660547,728,703,671,641,894.198660547,794,824,653,635,654,0.401022415875,-0.00549575999978,0.069848225599,0.999999985818,4.14484325854e-05,-0.000162544851762,1.49768598912e-05,1793253137937484800 +41,0.683333333,BASELINE,771.21253381,749.78746619,728,703,671,641,894.78746619,794,824,653,635,654,0.401021805501,-0.00549627877326,0.0698487298122,0.999999985868,4.04707507977e-05,-0.000162481071416,1.5040374619e-05,1793253137954151424 +42,0.700000000,BASELINE,771.370141135,750,727.629858865,703,671,641,895,794,824,653.370141135,634.629858865,654,0.401021841716,-0.00549583150512,0.0698487798183,0.999999985864,4.09666373502e-05,-0.000162393103727,1.491911458e-05,1793253137970818048 +43,0.716666667,BASELINE,771.949353189,750,727.050646811,703,671,641,895,794,824,653.949353189,634.050646811,654,0.401022243152,-0.00549483857697,0.0698485732695,0.999999985828,4.22948558721e-05,-0.000162291474034,1.46934861597e-05,1793253137987484672 +44,0.733333333,BASELINE,772,750,727,703,671,641,895,794,824,653.474609241,634.525390759,654.525390759,0.401022682007,-0.00549655875098,0.0698487482289,0.999999985981,3.98933749604e-05,-0.000161924962368,1.50278351288e-05,1793253138004151552 +45,0.750000000,BASELINE,772,750,727,703,670.896978162,641,894.896978162,794,824,653,635,655,0.401022822442,-0.00549816340072,0.0698488173519,0.999999986071,3.79911505102e-05,-0.000161799836244,1.53271959417e-05,1793253138020818176 +46,0.766666667,BASELINE,772,750,727,703,670.310440792,641,894.310440792,794,824,653,635,655,0.401021545464,-0.0054980057412,0.0698482181808,0.999999985807,4.01093936809e-05,-0.000162926733016,1.52105170108e-05,1793253138037484800 +47,0.783333333,BASELINE,772,750,727,703,670.272154938,641,894,794,824,653.272154938,634.727845062,654.727845062,0.401021071815,-0.00549725996773,0.0698480039639,0.999999985615,4.20759589161e-05,-0.000163604497143,1.52822205267e-05,1793253138054151424 +48,0.800000000,BASELINE,772,750,727,703,670.850318793,641,894,794,824,653.850318793,634.149681207,654.149681207,0.40102150142,-0.00549585292344,0.0698482225863,0.999999985505,4.38719789186e-05,-0.000163777260126,1.55657398005e-05,1793253138070818048 +49,0.816666667,BASELINE,772,750,727,703,671,641,894,794.428017301,824,653.571982699,634.428017301,654,0.401021064646,-0.00549545822355,0.0698478106412,0.999999985391,4.45819306717e-05,-0.000164301539023,1.53235903315e-05,1793253138087485696 +50,0.833333333,BASELINE,772,750,727.00552192,703,671,641,894.00552192,794.99447808,824,653,635,654,0.401020333687,-0.00549543083889,0.0698471851805,0.999999985279,4.48845773374e-05,-0.000164938902549,1.48994077166e-05,1793253138104153344 +51,0.850000000,BASELINE,772,750,727.579803052,703,671,641,894.579803052,794.420196948,824,653,635,654,0.401020474822,-0.00549681192871,0.0698472559763,0.999999985455,4.23124394068e-05,-0.000164576147442,1.46398103081e-05,1793253138120819712 +52,0.866666667,BASELINE,772,750,728,703,671,641,894.841664401,794,824,653.158335599,635,654,0.401020806825,-0.00549748306988,0.0698474883358,0.999999985605,4.07250656318e-05,-0.000164074250557,1.45491112484e-05,1793253138137485824 +53,0.883333333,BASELINE,772,750,728,703,671,641,894.251538026,794,824,653.748461974,635,654,0.401021659336,-0.00549621813793,0.0698481612893,0.999999985698,4.18232035707e-05,-0.000163192905636,1.4919008242e-05,1793253138154151936 +54,0.900000000,BASELINE,772,749.665871813,727.665871813,703,671,641,894,794,824,653.665871813,634.665871813,654,0.401022601481,-0.00549628588054,0.0698488785036,0.99999998591,4.13014829094e-05,-0.000162009664729,1.50775371084e-05,1793253138170818816 +55,0.916666667,BASELINE,772,749.083519092,727.083519092,703,671,641,894,794,824,653.083519092,634.083519092,654,0.401023610216,-0.00549734366997,0.0698496285995,0.999999986207,3.95763658273e-05,-0.000160602144696,1.50790401305e-05,1793253138187485696 +56,0.933333333,BASELINE,772,749.489850731,727,703,671,641,894,794,824,653.489850731,634.489850731,654,0.40102150495,-0.00549694807425,0.0698482220477,0.999999985754,4.06322154708e-05,-0.000163130404118,1.51327679953e-05,1793253138204152064 +57,0.950000000,BASELINE,772,749.937993633,727,703,671.062006367,641,894,794,824,654,635,654,0.401019442877,-0.00549647447449,0.0698468099937,0.999999985283,4.19635699894e-05,-0.000165658343287,1.52088210782e-05,1793253138220818176 +58,0.966666667,BASELINE,772,749.363442763,727,703,671.636557237,641,894,794,824,654,635,654,0.401022047512,-0.005497367529,0.0698483371858,0.999999985769,4.17234837459e-05,-0.0001627366496,1.5397136941e-05,1793253138237484800 +59,0.983333333,BASELINE,771.782313338,749,727.217686662,703,671.782313338,641,894.217686662,794,824,654,635,654,0.401023041915,-0.00549763883405,0.0698489826241,0.999999985934,4.20873582429e-05,-0.000161623398904,1.54312457064e-05,1793253138254151680 +60,1.000000000,BASELINE,771.189858204,749,727.810141796,703,671.189858204,641,894.810141796,794,824,654,635,654,0.401021264147,-0.00549683973792,0.069848110039,0.999999985552,4.34910090527e-05,-0.000163623555822,1.51998721916e-05,1793253138270818816 +61,1.016666667,BASELINE,771,749,728,703.394418002,671,641,894.605581998,794,824,653.605581998,635,654,0.401020548783,-0.00549653313701,0.0698478919277,0.999999985441,4.25423430161e-05,-0.000164562855421,1.50799241507e-05,1793253138287485440 +62,1.033333333,BASELINE,771,749,728,703.974837124,671,641,894.025162876,794,824,653.025162876,635,654,0.401020334431,-0.00549645878891,0.0698479824556,0.999999985455,4.04843625044e-05,-0.000165001871832,1.50125225662e-05,1793253138304152064 +63,1.050000000,BASELINE,771.550803224,749.550803224,727.449196776,702.898393552,671,641,894,794,824,653.550803224,635,654.550803224,0.401021468032,-0.00549614846164,0.0698484204498,0.999999985603,4.07666374513e-05,-0.00016405137137,1.48044879322e-05,1793253138320818688 +64,1.066666667,BASELINE,771.871300294,750,727.128699706,702.128699706,671,641,894,794.128699706,824,653.871300294,635,654.871300294,0.40102237442,-0.00549597445968,0.0698488569051,0.999999985734,4.11437747984e-05,-0.000163171115404,1.46662417387e-05,1793253138337484800 +65,1.083333333,BASELINE,771.285836581,750,727.714163419,702.714163419,671,641,894,794.714163419,824,653.285836581,635,654.285836581,0.401022257613,-0.00549632223927,0.0698492320146,0.999999985784,4.14811897386e-05,-0.000162763645229,1.47982982222e-05,1793253138354151424 +66,1.100000000,BASELINE,771,750,727.703628648,703,671,641,894,795,824,653.296371352,634.703628648,654,0.401022045039,-0.00549705144825,0.0698492864895,0.999999985839,4.10662920256e-05,-0.000162513146883,1.49753334658e-05,1793253138370818304 +67,1.116666667,BASELINE,771,750,727.12452668,703,671,641,894,795,824,653.87547332,634.12452668,654,0.401021741103,-0.00549814453101,0.0698490350874,0.999999985898,3.99337074482e-05,-0.000162412395633,1.51952772775e-05,1793253138387485184 +68,1.133333333,BASELINE,771.453249532,750,727.453249532,703,671,641,894,794.546750468,824,653.546750468,634.453249532,654,0.401020043664,-0.005497502222,0.0698480482218,0.999999985528,4.00360155144e-05,-0.000164668070479,1.5014954762e-05,1793253138404152064 +69,1.150000000,BASELINE,772,749.969441489,728,703,671,641,894,794.030558511,824,653.030558511,635,654,0.40101822323,-0.00549641970306,0.0698469763146,0.999999985081,4.05842703338e-05,-0.000167253048241,1.47418872329e-05,1793253138420818176 +70,1.166666667,BASELINE,772,749.393988682,728,703,671,641,894,794.606011318,824,653.606011318,635,654,0.401021016509,-0.00549596456756,0.0698479805252,0.999999985483,4.30522182477e-05,-0.000164199479844,1.4770242462e-05,1793253138437484800 +71,1.183333333,BASELINE,772,749.185346984,727.814653016,703,671,641,894.185346984,794.814653016,824,654,635,654,0.401022826312,-0.00549565609828,0.0698489096292,0.999999985745,4.46342714504e-05,-0.00016216070715,1.4909924891e-05,1793253138454151424 +72,1.200000000,BASELINE,772,749.773113094,727.226886906,703,671,641,894.773113094,794.226886906,824,654,635,654,0.401022500829,-0.00549566606568,0.0698496756641,0.999999985727,4.42929003835e-05,-0.000162325224113,1.52913171905e-05,1793253138470818048 +73,1.216666667,BASELINE,772,750,727.355978663,703,671,641,894.644021337,794.355978663,824.355978663,654,635,654,0.401021600606,-0.00549585219487,0.0698490862899,0.999999985521,4.39854558989e-05,-0.000163660635705,1.54146066539e-05,1793253138487484928 +74,1.233333333,BASELINE,772,750,727.935763199,703,671,641,894.064236801,794.935763199,824.935763199,654,635,654,0.401020339042,-0.00549614907802,0.069847644762,0.999999985193,4.36993412757e-05,-0.000165732195604,1.53756253276e-05,1793253138504151552 +75,1.250000000,BASELINE,772,750,727.486098981,703,671,641,894,794.486098981,824.486098981,653.486098981,635,654,0.401019927924,-0.00549604508934,0.0698478162841,0.999999985187,4.42151688891e-05,-0.000165635849633,1.5322746028e-05,1793253138520817920 +76,1.266666667,BASELINE,772,749.909184553,727.090815447,703,671,641,894,794,824,653,635,654,0.401019773809,-0.00549608243747,0.0698481793318,0.999999985237,4.46075550998e-05,-0.000165234693933,1.5301469287e-05,1793253138537485056 +77,1.283333333,BASELINE,772,749.337659799,727.662340201,703,671,641,894,794,824,653,635,654,0.401020419181,-0.0054971323063,0.0698484923101,0.999999985366,4.38176255422e-05,-0.000164649912403,1.54566391436e-05,1793253138554152704 +78,1.300000000,BASELINE,771.757693136,749.242306864,728,703,671.242306864,641,894.242306864,794,823.757693136,653,635,654,0.401020911379,-0.0054977396455,0.0698488725502,0.999999985529,4.22334502336e-05,-0.000164070082625,1.54527523239e-05,1793253138570819584 +79,1.316666667,BASELINE,771.165537894,749.834462106,728,703,671.834462106,641,894.834462106,794,823.165537894,653,635,654,0.40102118242,-0.00549770804987,0.0698493499045,0.999999985738,3.95025242083e-05,-0.000163497402353,1.52192157027e-05,1793253138587485952 +80,1.333333333,BASELINE,771.417258988,750,727.582741012,703,671.165482024,641,894.165482024,794,823,653,635,654,0.401021867442,-0.00549684337527,0.0698499786159,0.99999998579,4.14597003763e-05,-0.000162699973312,1.51437072257e-05,1793253138604152064 +81,1.350000000,BASELINE,771.996424648,750,727.003575352,703,670.007150703,641,893.007150703,794,823,653,635,654,0.401022713098,-0.00549565544568,0.0698506660574,0.99999998577,4.52359743983e-05,-0.000161815336215,1.51295175062e-05,1793253138620818432 +82,1.366666667,BASELINE,772,750,727.570270334,702.429729666,670.570270334,641,893.570270334,794,823.570270334,653,634.429729666,654,0.401021961897,-0.00549608062334,0.0698494239713,0.999999985601,4.40584799235e-05,-0.000163191674543,1.50033456903e-05,1793253138637485056 +83,1.383333333,BASELINE,772,750,727.852277466,702.147722534,671,641,894,794,824,653,634.147722534,654,0.401021271014,-0.00549621400952,0.069848582246,0.99999998546,4.34288372283e-05,-0.00016423195478,1.48716665423e-05,1793253138654151680 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+88,1.466666667,BASELINE,771,749.941913619,727,703.941913619,671,640,893,794,823,653,634.941913619,654,0.400976472925,-0.0053634214514,0.0698288776943,0.999999941709,0.000210587038987,-0.000268345182781,1.50399259888e-05,1793253145803644672 +89,1.483333333,BASELINE,771,749.366865071,727,703.366865071,671,640,893,794,823,653,634.366865071,654,0.400975178213,-0.00536249636416,0.0698276386458,0.999999940733,0.000212885616987,-0.000270166004405,1.4979135201e-05,1793253145820311296 +90,1.500000000,BASELINE,771,749.212770238,727,703,671,640,893,793.787229762,823,653,634.212770238,654,0.400974546688,-0.00536166181552,0.0698269825263,0.999999940078,0.000215022938562,-0.000270895358159,1.49719843706e-05,1793253145836978432 +91,1.516666667,BASELINE,771,749.800488366,727,703,671,640,893,793.199511634,823,653,634.800488366,654,0.400975083845,-0.00536098681588,0.0698273536559,0.99999994,0.000216876090659,-0.000269701305615,1.50593589321e-05,1793253145853645824 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+96,1.600000000,BASELINE,771,749.296101969,727,703,671,640,892.296101969,793.703898031,823,653,634.703898031,654.703898031,0.400975401958,-0.0053625072959,0.0698271128629,0.999999940536,0.000213462272175,-0.000270440726997,1.49788442015e-05,1793253145936978176 +97,1.616666667,BASELINE,771,749,727,703,671,640,892.286377785,794,823,653,635,654.713622215,0.400974967535,-0.00536170447004,0.0698269920679,0.999999940296,0.000214376389659,-0.000270614516601,1.4797876783e-05,1793253145953644544 +98,1.633333333,BASELINE,771,749,727,703,671,640,892.865633367,794,823,653,635,654.134366633,0.400974390461,-0.00536098338411,0.0698273299643,0.999999940194,0.000215101519543,-0.000270420941794,1.46719061028e-05,1793253145970310912 +99,1.650000000,BASELINE,771,749.44192134,727,703,670.55807866,640,893.44192134,794,823,653.44192134,635,654,0.400975322415,-0.00536122001087,0.0698280877334,0.999999940555,0.000214765331402,-0.000269337181114,1.49225768606e-05,1793253145986977792 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+9,0.150000000,BASELINE,771,749,727,703,671,640,893,793.782721843,823,653,634,654.217278157,0.400974622006,-0.00535861651807,0.0698247931491,0.999999937929,0.00022109729087,-0.000273928048382,1.48631768114e-05,1793253151553211392 +10,0.166666667,BASELINE,771,749,727,703,671,640,893,793.191901699,823,653,634,654.808098301,0.400974855736,-0.00535911622904,0.069824670781,0.99999993796,0.000220909194807,-0.000273962455563,1.49339036722e-05,1793253151569878016 +11,0.183333333,BASELINE,771,749.391053581,727,703.391053581,671.391053581,640,893,793.391053581,823,653,634.391053581,654.608946419,0.400975990364,-0.00535927776161,0.0698254917216,0.999999938216,0.000221662496156,-0.000272411216962,1.50551199218e-05,1793253151586544640 +12,0.200000000,BASELINE,771,749.97022548,727,703.97022548,671.97022548,640,893,793.97022548,823,653,634.97022548,654.02977452,0.400977558373,-0.00535927661179,0.0698267664456,0.999999938573,0.000222868661512,-0.000270097195373,1.52006243557e-05,1793253151603211264 +13,0.216666667,BASELINE,771.546104476,750,727,703.453895524,671.453895524,640,893,794,823,653,634.453895524,654,0.400976558797,-0.00535947389667,0.0698260944407,0.999999938798,0.000220181229116,-0.000271489582986,1.47445863552e-05,1793253151619877888 +14,0.233333333,BASELINE,771.878931268,749.878931268,727,703.121068732,671,640,893,794,823,653.121068732,634.121068732,654,0.400975742729,-0.00535952427645,0.0698255751361,0.999999938839,0.000218632785464,-0.000272601839366,1.44629049827e-05,1793253151636544512 +15,0.250000000,BASELINE,771.306710535,749.306710535,727,703.693289465,671,640,893,794,823,653.693289465,634.693289465,654,0.400976129019,-0.00535898715296,0.0698260180022,0.99999993825,0.000222115004072,-0.000271921693415,1.49524310949e-05,1793253151653211136 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+24,0.400000000,BASELINE,771,750,727,703.936777038,671,640,893,793.063222962,823,653,635,654,0.400975956665,-0.00535913318419,0.0698258691413,0.999999939053,0.000219043281295,-0.000271476655004,1.46222942625e-05,1793253151803211264 +25,0.416666667,BASELINE,771,749.487841042,727,704,671,640,893,793,823,653,635,654,0.400976151646,-0.00535929683098,0.0698267941999,0.999999938805,0.000220378240477,-0.000271286919649,1.50508560246e-05,1793253151819877888 +26,0.433333333,BASELINE,771,749.089041734,727,704,671,640,893,793,823,653.089041734,635,654,0.400976190392,-0.00535940879111,0.0698274870151,0.999999938452,0.000221749911225,-0.000271450638126,1.54254126028e-05,1793253151836544768 +27,0.450000000,BASELINE,771,749.676336367,727,704,671,640,893,793,823,653.676336367,635,654,0.400975402383,-0.0053599408858,0.0698261836386,0.999999938175,0.000221214474814,-0.000272919388403,1.51433507438e-05,1793253151853211392 +28,0.466666667,BASELINE,771,750,727,703.739816017,670.739816017,639.739816017,893,793.260183983,823,653.739816017,635,654,0.400975094842,-0.00535983740181,0.0698255231667,0.999999937878,0.000221680562269,-0.000273634912922,1.50155262815e-05,1793253151869878272 +29,0.483333333,BASELINE,771,750,727,703.160200388,670.160200388,639.160200388,893,793.839799612,823,653.160200388,635,654,0.40097537718,-0.00535895360864,0.069825651998,0.999999937557,0.000223376235119,-0.000273425691178,1.50770613229e-05,1793253151886545408 +30,0.500000000,BASELINE,771,749.582401771,727.417598229,703,670.417598229,639.417598229,893,793.582401771,823,653.417598229,635,654,0.400976203557,-0.00535912319105,0.0698264433494,0.999999937846,0.000223380299532,-0.000272374674322,1.48875876459e-05,1793253151903212032 +31,0.516666667,BASELINE,771,749.005297197,727.994702803,703,670.994702803,639.994702803,893,793.005297197,823,653.994702803,635,654,0.400977237737,-0.00535969512214,0.0698274877579,0.999999938366,0.000222738235014,-0.000271002124347,1.46022383611e-05,1793253151919878400 +32,0.533333333,BASELINE,771,749,728,703,671,640,893.570008843,793.570008843,823,654,634.429991157,654,0.40097456849,-0.0053598688768,0.0698257255211,0.999999937696,0.000222239073934,-0.000273863952578,1.46745621646e-05,1793253151936545024 +33,0.550000000,BASELINE,771,749,728,703,670.851212541,640,893.851212541,794,823,654,634,654,0.400972938158,-0.00535986075665,0.0698247073006,0.999999937305,0.000221931405898,-0.00027553776896,1.46996847788e-05,1793253151953211648 +34,0.566666667,BASELINE,771,749,728,703,670.262108085,640,893.262108085,794,823,654,634,654,0.400974483891,-0.00535932531798,0.069825967845,0.999999937787,0.000222186518781,-0.000273579731945,1.4575315871e-05,1793253151969878272 +35,0.583333333,BASELINE,771,749,727.680973119,703,670.319026881,640,892.680973119,794,823,653.680973119,634,654.319026881,0.40097459963,-0.00535926392778,0.0698262855072,0.999999937995,0.000221532203536,-0.000273351004619,1.45755037513e-05,1793253151986544896 +36,0.600000000,BASELINE,771,749,727.106226137,703,670.893773863,640,892.106226137,794,823,653.106226137,634,654.893773863,0.40097356914,-0.00535958251717,0.0698258473901,0.999999937982,0.000220148924507,-0.000274508427507,1.46755317139e-05,1793253152003211520 +37,0.616666667,BASELINE,771,749,727,703,671,640,892.471376287,794,823,653,634.471376287,654.528623713,0.400974558342,-0.00536053382906,0.0698265857679,0.999999938534,0.00022038917921,-0.000272285780367,1.48741259434e-05,1793253152019878144 +38,0.633333333,BASELINE,771.049220419,749,727,703,671,639.950779581,893,794,823,653,635,654,0.400975859298,-0.00536136633073,0.0698274640327,0.999999939098,0.000221055579651,-0.000269651059512,1.50429350617e-05,1793253152036544768 +39,0.650000000,BASELINE,771.622743409,749,727,703,671,639.377256591,893,794,823,653,635,654,0.400975603298,-0.00535940514833,0.0698269910141,0.999999938511,0.000222340309901,-0.000270790154562,1.46564196895e-05,1793253152053211648 +40,0.666666667,BASELINE,771.796467152,749.203532848,727,703,671,639.203532848,893,793.796467152,823,653,634.796467152,654,0.400975728988,-0.0053583348091,0.0698267191816,0.999999938337,0.000222603455251,-0.000271228917097,1.44098523011e-05,1793253152069878016 +41,0.683333333,BASELINE,771.20171043,749.79828957,727,703,671,639.79828957,893,793.20171043,823,653,634.20171043,654,0.400976588348,-0.00535897681825,0.0698268340622,0.99999993896,0.000220902944991,-0.000270321524374,1.44322881605e-05,1793253152086544640 +42,0.700000000,BASELINE,770.61970351,749.61970351,727,703,671,640,893,793.38029649,823,653,634.38029649,654,0.400976143276,-0.00535930829661,0.0698261743452,0.999999938778,0.000220406412832,-0.000271401348668,1.43710979585e-05,1793253152103211264 +43,0.716666667,BASELINE,770.044239775,749.044239775,727,703,671,640,893,793.955760225,823,653,634.955760225,654,0.400975028772,-0.00535948041128,0.0698251171065,0.999999938181,0.000220527759391,-0.000273501007981,1.42669910623e-05,1793253152119877888 +44,0.733333333,BASELINE,770.531176148,749,727,703.531176148,671,640,893,794,823,653,634.468823852,654,0.400975844324,-0.00536027108623,0.0698262092043,0.999999938907,0.000219449298726,-0.000271696451846,1.44804191467e-05,1793253152136544256 +45,0.750000000,BASELINE,771.109184621,749.109184621,727,703.890815379,671,640,893,794,823,653.109184621,634.109184621,654,0.4009763258,-0.00536081414977,0.0698270242587,0.999999939415,0.000218612586088,-0.000270487250388,1.46569010136e-05,1793253152153211136 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+50,0.833333333,BASELINE,771,749.015560494,727,703.984439506,671,640,893,794,823,653,634,654,0.40097643589,-0.00536009793723,0.0698271558295,0.999999939782,0.00021697175049,-0.000270485986909,1.4048504348e-05,1793253152236544256 +51,0.850000000,BASELINE,771,749.589720095,727,703.410279905,671,640,893,794,823,653,634,654,0.400977034555,-0.00536040266496,0.0698272806488,0.999999939684,0.000217945017478,-0.000270046216408,1.44015099791e-05,1793253152253211136 +52,0.866666667,BASELINE,771,750,727,703.16830269,671,640,893,794,823,653,634.16830269,654,0.400977588627,-0.00536056524925,0.0698276093573,0.999999939643,0.00021890121079,-0.00026940550956,1.46993215876e-05,1793253152269877760 +53,0.883333333,BASELINE,771,750,727,703.757958407,671,640,893,794,823,653,634.757958407,654,0.400978031061,-0.00536037197129,0.0698284485112,0.999999939748,0.000219814659362,-0.000268261749943,1.48589525643e-05,1793253152286544640 +54,0.900000000,BASELINE,771,749.658352062,727,703.658352062,671,640,893,793.658352062,823,653,635,654,0.400978294497,-0.00535955359496,0.0698287788394,0.999999939593,0.000220952573274,-0.000267903759598,1.49066683214e-05,1793253152303211264 +55,0.916666667,BASELINE,771,749.078816774,727,703.078816774,671,640,893,793.078816774,823,653,635,654,0.400978433299,-0.00535829996649,0.0698287548754,0.999999939256,0.00022224678098,-0.000268092895597,1.48764581953e-05,1793253152319877888 +56,0.933333333,BASELINE,771,749,727,703,671,640,893,793.497188108,823,653,634.502811892,654,0.400977056279,-0.00535875115699,0.069827758335,0.999999938696,0.000223228968936,-0.000269367929689,1.47510913869e-05,1793253152336544768 +57,0.950000000,BASELINE,771,749.072467754,727,703,671,640,893,794,823,653,634.072467754,654.072467754,0.400975585495,-0.00535945357258,0.0698267452803,0.999999938153,0.000223967003095,-0.000270774648446,1.46491374471e-05,1793253152353211648 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+21,0.350000000,BASELINE,771,749,727,703,671,640,893,794.788170914,823,653,634.211829086,654,0.400974980307,-0.00536082843377,0.0698259229909,0.999999938346,0.000219880788645,-0.000273405839174,1.4468820125e-05,1793253158848332288 +22,0.366666667,BASELINE,771,749,727,703,671,640,893,794.209461633,823,653,634.790538367,654,0.40097675385,-0.00536206237733,0.0698258759783,0.999999939079,0.000218218228345,-0.000272046228521,1.45876459488e-05,1793253158864998912 +23,0.383333333,BASELINE,771,749.366310147,727,703,671,640,893,793.633689853,823,653,634.633689853,654,0.400976795049,-0.00536177707956,0.0698257528401,0.999999939223,0.000217917340903,-0.000271763951818,1.45025649968e-05,1793253158881665536 +24,0.400000000,BASELINE,771,749.940415636,727,703,671,640,893,793.059584364,823,653,634.059584364,654,0.40097585355,-0.00536062996775,0.0698255865184,0.999999939034,0.000218388884209,-0.000272092810055,1.43018146468e-05,1793253158898332160 +25,0.416666667,BASELINE,771,750,727.527647615,703.527647615,671,640,893,793.527647615,823,653,634.527647615,654,0.400975184989,-0.00536092938631,0.0698250236373,0.999999938175,0.00022062273531,-0.000273429522676,1.45754337921e-05,1793253158914998784 +26,0.433333333,BASELINE,771,750,727.884962334,703.884962334,671,640,893,794,823,653.115037666,635,654,0.400974980763,-0.00536124081954,0.0698247910199,0.999999937518,0.000222567676298,-0.000274239683708,1.48449872193e-05,1793253158931665664 +27,0.450000000,BASELINE,771,750,727.303099325,703.303099325,671,640,893,794,823,653.696900675,635,654,0.40097653255,-0.00536092122464,0.069826084979,0.999999938022,0.000222512033623,-0.000272439455208,1.4875116238e-05,1793253158948332288 +28,0.466666667,BASELINE,771,749.724296316,727,703,671,640,893,794,823,654,634.724296316,654,0.400976978788,-0.00536073324139,0.0698264774032,0.999999938237,0.000222630714083,-0.000271550568095,1.48624695291e-05,1793253158964999168 +29,0.483333333,BASELINE,771,749.148820475,727,703,671,640,893,794,823,654,634.148820475,654,0.400976222962,-0.00536068835932,0.0698258895899,0.999999938142,0.000222938935803,-0.000271652581063,1.48033128414e-05,1793253158981665792 +30,0.500000000,BASELINE,771,749.422504412,727,703,671,640,893,794,823,654,634,654,0.400975737504,-0.00536250527872,0.069825934885,0.999999938756,0.000219463116279,-0.000272221780468,1.48138129489e-05,1793253158998333184 +31,0.516666667,BASELINE,771,749.992381406,727,703,671,640,893,794,823,654,634,654,0.400975346353,-0.00536497160789,0.0698262010128,0.999999939597,0.000214667395914,-0.000272953937859,1.4848609849e-05,1793253159015000832 +32,0.533333333,BASELINE,771,750,727,703,670.414506373,640,892.414506373,793.414506373,823,653.414506373,634.585493627,654,0.400975178126,-0.00536418754983,0.0698262462208,0.999999939177,0.000217406430977,-0.000272324445226,1.48280457858e-05,1793253159031666944 +33,0.550000000,BASELINE,771,750,727,703,670,640,892.174971294,793.174971294,823,653,635,654,0.400975237991,-0.0053632517739,0.0698262203888,0.999999938825,0.000219676081704,-0.000271797530623,1.47630254643e-05,1793253159048333056 +34,0.566666667,BASELINE,771,750,727,703,670,640,892.755299303,793.755299303,823,653,635,654,0.400975819278,-0.0053620665466,0.0698260369132,0.999999938687,0.000220621781559,-0.000271551003038,1.45967510032e-05,1793253159064999936 +35,0.583333333,BASELINE,771,750,727,703,670.332086412,640,892.667913588,794,823,653,635,654,0.400975571753,-0.00536131905775,0.0698255796558,0.999999938207,0.000221641004618,-0.000272489449162,1.45163940314e-05,1793253159081666304 +36,0.600000000,BASELINE,771,750,727,703,670.906291964,640,892.093708036,794,823,653,635,654,0.400974719954,-0.00536089071719,0.0698249227882,0.999999937476,0.000222713832419,-0.000274291841533,1.44986781741e-05,1793253159098332672 +37,0.616666667,BASELINE,771,750,727,703,671,640,892.481664339,794,823,653,634.518335661,654,0.400974710566,-0.00536021698457,0.0698253539691,0.999999937676,0.000222590425131,-0.000273655421668,1.46224281665e-05,1793253159114999040 +38,0.633333333,BASELINE,771,749.940893744,727,703,670.940893744,640,893,794,823,653,634,654,0.400974856683,-0.00535980377183,0.0698259358596,0.999999938083,0.00022203579593,-0.00027261044097,1.4774676325e-05,1793253159131665664 +39,0.650000000,BASELINE,771,749.346778494,727,703,670.346778494,640,893,794,823,653,634,654,0.400974923289,-0.00536218187814,0.0698259612124,0.999999938718,0.000219689586278,-0.000272172494644,1.49351532563e-05,1793253159148332544 +40,0.666666667,BASELINE,771.239433095,749,727,703,670.239433095,640,893,794,823,653,634.239433095,654,0.400974916622,-0.00536351675796,0.0698262008435,0.999999939062,0.000218600848343,-0.000271776847809,1.50871464533e-05,1793253159164999424 +41,0.683333333,BASELINE,771.814563319,749,727,703,670.814563319,640,893,794,823,653,634.814563319,654,0.400974807224,-0.00536338898211,0.0698267409036,0.999999939003,0.00021927514856,-0.000271440506995,1.52272450223e-05,1793253159181666304 +42,0.700000000,BASELINE,771.611738953,749,727,703.388261047,671,640,893,794,823,653,635,654,0.40097549304,-0.00536312745646,0.0698270394124,0.999999939072,0.000219785965441,-0.000270783594949,1.50435045988e-05,1793253159198333184 +43,0.716666667,BASELINE,771.0387229,749,727,703.9612771,671,640,893,794,823,653,635,654,0.40097655726,-0.00536280228565,0.0698272229784,0.999999939201,0.000220218988342,-0.000269974138275,1.47056645627e-05,1793253159215000064 +44,0.733333333,BASELINE,771,749,727,703.450548865,671,640,893,794,823,653,635,654.549451135,0.400976823281,-0.00536147806425,0.0698273592849,0.99999993911,0.000220226334943,-0.000270316895177,1.44946268289e-05,1793253159231666432 +45,0.750000000,BASELINE,771.137001102,749,727,703.137001102,671,639.862998898,892.862998898,794,823,653,635,655,0.400976937174,-0.00536082737549,0.069827432963,0.999999939149,0.000219775115113,-0.000270546732288,1.43555413445e-05,1793253159248332544 +46,0.766666667,BASELINE,771.718956128,749,727,703.718956128,671,639.281043872,892.281043872,794,823,653,635,655,0.400976744866,-0.00536259935667,0.0698273143602,0.999999939661,0.000217934755324,-0.000270138612902,1.44202959415e-05,1793253159264999168 +47,0.783333333,BASELINE,772,749,727,703.7028876,671,639.2971124,892.2971124,794,823,653,635,654.7028876,0.400976363245,-0.00536215597601,0.0698269839268,0.999999939494,0.00021816737438,-0.000270576211028,1.4248352621e-05,1793253159281665792 +48,0.800000000,BASELINE,772,749,727,703.128279207,671,639.871720793,892.871720793,794,823,653,635,654.128279207,0.400975804811,-0.0053596434997,0.0698264556484,0.999999938691,0.00022033610671,-0.000271803689373,1.38553390198e-05,1793253159298332672 +49,0.816666667,BASELINE,771.549900909,749,727,703,671,640,893,794,823,653,634.549900909,654,0.400974825278,-0.0053604952767,0.0698257058629,0.999999938678,0.000219487303498,-0.000272530376724,1.39963089618e-05,1793253159314999296 +50,0.833333333,BASELINE,771,749.029823998,727,703.029823998,671,640,893,794,823,653,634.029823998,654,0.400973769327,-0.0053622199635,0.0698249290673,0.999999938854,0.000217940495764,-0.000273110574219,1.42829695869e-05,1793253159331666176 +51,0.850000000,BASELINE,771,749.614443904,727,703.614443904,671,640,893,794,823,653,634.614443904,654,0.40097354321,-0.00536219587982,0.0698248341039,0.999999938356,0.00021954238324,-0.000273643191153,1.44248819064e-05,1793253159348333568 +52,0.866666667,BASELINE,771,749.802454787,727,704,671,640,893,794,822.802454787,653,634.802454787,654,0.400973461114,-0.00536153480035,0.0698248120425,0.999999937986,0.00022059367041,-0.000274154666895,1.4306442975e-05,1793253159365000192 +53,0.883333333,BASELINE,771,749.222294804,727,704,671,640,893,794,822.222294804,653,634.222294804,654,0.400973657964,-0.00535963995775,0.0698249311811,0.999999937869,0.000220578529164,-0.00027462519536,1.36837436056e-05,1793253159381666304 +54,0.900000000,BASELINE,771,749,727,704,671,640,893,794,822.354094137,653,634,654,0.400974676413,-0.00535987433142,0.0698256934776,0.99999993832,0.000220135526358,-0.000273335127992,1.36991951904e-05,1793253159398332928 +55,0.916666667,BASELINE,771,749,727,704,671,640,893,794,822.928140601,653,634,654,0.400976205215,-0.00536143130848,0.0698268552839,0.999999939119,0.000219426749181,-0.000270951432918,1.4111046437e-05,1793253159414999552 +56,0.933333333,BASELINE,771.502221852,749.502221852,727,703.497778148,671.502221852,640,893,794,823,653,634,654,0.400976489369,-0.00536184881076,0.0698269397953,0.999999939335,0.000218765210795,-0.000270685218025,1.41668531786e-05,1793253159431665920 +57,0.950000000,BASELINE,771.920785087,749.920785087,727,703,671.920785087,640,893,794,823,653,634.079214913,654,0.400976748374,-0.00536231437877,0.0698270346014,0.999999939568,0.000217968748811,-0.000270464223346,1.4235736464e-05,1793253159448332800 +58,0.966666667,BASELINE,771.324830238,749.324830238,727,703,671.324830238,640,893,794,823,653,634.675169762,654,0.400978005114,-0.00536415711552,0.0698282021457,0.999999940447,0.000216248050369,-0.000268561686311,1.47222651983e-05,1793253159464999424 +59,0.983333333,BASELINE,771,749,727,703,671,640,893,793.738760253,823,653,634.738760253,654,0.40097790824,-0.00536428646516,0.0698283862658,0.999999940559,0.000216002607322,-0.000268339808594,1.48194572419e-05,1793253159481666560 +60,1.000000000,BASELINE,771,749,727,703,671,640,893,793.164533097,823,653,634.164533097,654,0.400976189622,-0.00536236303176,0.0698273921603,0.999999939752,0.000217524645333,-0.00027013150326,1.44501909203e-05,1793253159498333696 +61,1.016666667,BASELINE,771,749,727,703,671,640,893,793.409770734,823,653,634.409770734,654,0.400975756063,-0.00536175128662,0.0698269038,0.999999939346,0.000218506776837,-0.00027084548531,1.4360463852e-05,1793253159515000064 +62,1.033333333,BASELINE,771,749,727,703,671,640,893,793.984105324,823,653,634.984105324,654,0.400975838585,-0.00536166631537,0.069826618547,0.999999939102,0.00021927208189,-0.000271126658055,1.4382999721e-05,1793253159531666176 +63,1.050000000,BASELINE,771,749.576559137,727,703,671,640,893,794,823,653,635,654,0.400975782598,-0.00536165700979,0.0698269055051,0.99999993915,0.000219507210316,-0.000270754358359,1.44734333443e-05,1793253159548333056 +64,1.066666667,BASELINE,771,749.834428091,727,703,671,640,893,794,823,653,635,654,0.400975402878,-0.00536154214158,0.0698267513419,0.999999939091,0.000219542021999,-0.000270939239377,1.45210421797e-05,1793253159564999680 +65,1.083333333,BASELINE,771,749.255298368,727,703,671,640,893,794,823,653,635,654,0.400974224398,-0.00536115822471,0.0698254546864,0.999999938745,0.000219114183493,-0.000272562277591,1.44568582138e-05,1793253159581666048 +66,1.100000000,BASELINE,771,749,727,703.320419185,671,640,893,794,823,653,635,654,0.4009741018,-0.00536181780889,0.0698252448596,0.999999938986,0.000218234484413,-0.000272390561101,1.43159781179e-05,1793253159598332416 +67,1.116666667,BASELINE,771,749,727,703.893446665,671,640,893,794,823,653,635,654,0.400974811626,-0.00536330005614,0.069825891854,0.999999939689,0.000216998552846,-0.000270803917002,1.41146332354e-05,1793253159614999296 +68,1.133333333,BASELINE,771.479571979,749,727,704,671,640,893,794,823,653,635,654,0.400976193499,-0.00536233032343,0.0698269414071,0.999999939815,0.000217451088997,-0.000269973192718,1.41521151813e-05,1793253159631666176 +69,1.150000000,BASELINE,771.932405341,749.067594659,727,704,671,640,893,793.932405341,823,653,634.932405341,654,0.400977539711,-0.00536118716081,0.0698279468496,0.999999939864,0.000218037599612,-0.000269310867212,1.42479886203e-05,1793253159648333056 +70,1.166666667,BASELINE,771.352675363,749.647324637,727,704,671,640,893,793.352675363,823,653,634.352675363,654,0.400977452641,-0.0053629735403,0.0698279213919,0.999999940336,0.000216717012048,-0.00026861618598,1.43729408493e-05,1793253159664999424 +71,1.183333333,BASELINE,771,750,727,703.774257097,671,640,893,793.225742903,823,653,634.225742903,654,0.4009769756,-0.00536413581362,0.0698277357191,0.999999940455,0.00021589329433,-0.000268831851586,1.44730754776e-05,1793253159681666048 +72,1.200000000,BASELINE,771,750,727,703.197876177,671,640,893,793.802123823,823,653,634.802123823,654,0.400975892832,-0.00536432868639,0.0698273011904,0.999999940026,0.000215841345777,-0.00027046152482,1.45346618728e-05,1793253159698332672 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b/Part2/Obstacle_avoidance/ball_15A_10/position_03/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fed8834eee61776179ab33ba52c8a309adb875a49048eed1ca342ddefb02191 +size 26411026 diff --git a/Part2/Obstacle_avoidance/ball_15A_10/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_03/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..76dd4c6bea7ef4d43174bff4d47e419ff53a8b3e --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_03/depth_05/franka_data.csv @@ -0,0 +1,418 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+36,0.600000000,BASELINE,771.894526044,749,727.894526044,703.105473956,671,640,893,793.105473956,822.894526044,653.105473956,634.894526044,654,0.400975381387,-0.00536100682716,0.0698243554514,0.999999937771,0.000220360995164,-0.000275160635541,1.36299020533e-05,1793253166221140992 +37,0.616666667,BASELINE,771.530870653,749,727.530870653,703,671,640,893,793.469129347,823,653,634.530870653,654,0.400975095916,-0.00536165441418,0.0698246550159,0.999999938216,0.000218667846389,-0.000274893129799,1.36213534749e-05,1793253166237807616 +38,0.633333333,BASELINE,771,749,727,703,671,640,893,793.956181738,823,653,634,654,0.400974923856,-0.00536249125656,0.0698251349922,0.999999938849,0.00021658716632,-0.000274239994603,1.35962546034e-05,1793253166254474240 +39,0.650000000,BASELINE,771,749,727,703,671,640,893,793.367821125,823,653,634,654,0.400975731759,-0.00536262463746,0.0698255051031,0.999999938706,0.000218236529079,-0.000273432207028,1.39594180266e-05,1793253166271140608 +40,0.666666667,BASELINE,771,749.217195251,727,703,671,640,893,793,823,653,634,654,0.40097541461,-0.00536263144118,0.0698251327619,0.999999938359,0.000219054062529,-0.000274044486136,1.40569855242e-05,1793253166287807232 +41,0.683333333,BASELINE,771,749.796633994,727,703,671,640,893,793,823,653,634,654,0.400973221071,-0.00536242713641,0.0698235221409,0.999999937667,0.000218484250838,-0.000277025186844,1.37115856922e-05,1793253166304473856 +42,0.700000000,BASELINE,771.37604082,749.62395918,727,703,671,640,893,793,823,653.37604082,634.37604082,654,0.400972689781,-0.00536172662748,0.069823263241,0.999999937664,0.000218478020534,-0.000277052684515,1.34526949294e-05,1793253166321140736 +43,0.716666667,BASELINE,771.955430367,749.044569633,727,703,671,640,893,793,823,653.955430367,634.955430367,654,0.400973057374,-0.00536075779,0.069823735301,0.999999938035,0.000218776553859,-0.000275483200993,1.32405850276e-05,1793253166337807616 +44,0.733333333,BASELINE,772,749,727,703.531180985,670.468819015,640,893,793.531180985,823,654,635,654,0.400973052823,-0.00536093645533,0.0698240233707,0.999999937942,0.000219604452342,-0.000275153180549,1.34326412426e-05,1793253166354474240 +45,0.750000000,BASELINE,771.891314428,749,727,704,670.108685572,640,893.108685572,794,823,653.891314428,634.891314428,654,0.400973217131,-0.00536138978705,0.0698243372566,0.999999937941,0.000219867380577,-0.000274938238352,1.36206995564e-05,1793253166371140864 +46,0.766666667,BASELINE,771.3047649,749,727,704,670.6952351,640,893.6952351,794,823,653.3047649,634.3047649,654,0.400974260223,-0.0053626303067,0.0698248320652,0.999999938513,0.000217452309029,-0.000274775119146,1.36430906809e-05,1793253166387807232 +47,0.783333333,BASELINE,771.278199515,749,727,703.721800485,671,640,893.721800485,794,823,653,634.278199515,654.278199515,0.400975158696,-0.00536292309569,0.0698255717891,0.999999939126,0.000216246959079,-0.000273492033953,1.36719156865e-05,1793253166404474112 +48,0.800000000,BASELINE,771.857286514,749,727,703.142713486,671,640,893.142713486,794,823,653,634.857286514,654.857286514,0.400975900757,-0.00536219086403,0.0698265764019,0.999999939783,0.000216349986691,-0.000270997646313,1.37076992774e-05,1793253166421140736 +49,0.816666667,BASELINE,772,749,727,703,671,640,893,793.565590264,823,653,635,654.565590264,0.400975967461,-0.00536186938132,0.0698258170951,0.999999939312,0.000217515496382,-0.000271810145322,1.34918830693e-05,1793253166437807360 +50,0.833333333,BASELINE,771.989135913,749,727,703.010864087,671,640,893,793.010864087,823,653,635,654,0.400975810304,-0.00536171769355,0.069824509972,0.999999938495,0.000218960404459,-0.000273664790271,1.32069158872e-05,1793253166454473984 +51,0.850000000,BASELINE,771.414062706,749,727,703.585937294,671,640,893,793.585937294,823,653,635,654,0.400975497823,-0.00536340765893,0.0698247122236,0.999999938997,0.000216869671822,-0.000273475725803,1.36040056554e-05,1793253166471140608 +52,0.866666667,BASELINE,771.165156927,749.165156927,727,703.834843073,671,640,893,793.834843073,823,653,635,654,0.400975336736,-0.00536419813882,0.0698249830351,0.999999939419,0.000215366138896,-0.000273114434374,1.3727359546e-05,1793253166487807488 +53,0.883333333,BASELINE,771.755039684,749.755039684,727,703.244960316,671,640,893,793.244960316,823,653,635,654,0.400975564978,-0.00536267545665,0.0698254301585,0.999999939644,0.000215372678307,-0.000272310235466,1.31467605088e-05,1793253166504473856 +54,0.900000000,BASELINE,771.66103958,749.66103958,727,703.33896042,671,640,893,793,823,653,635,654,0.400976035174,-0.00536280848671,0.0698257825468,0.999999939666,0.000215789056817,-0.000271908315536,1.30020691249e-05,1793253166521140480 +55,0.916666667,BASELINE,771.081353034,749.081353034,727,703.918646966,671,640,893,793,823,653,635,654,0.400976677204,-0.00536411738623,0.0698260676554,0.999999939542,0.000216496498743,-0.000271792089941,1.31669547967e-05,1793253166537807360 +56,0.933333333,BASELINE,771,749,727,703.505050173,671,640,893,793.494949827,823,653,635,654,0.400976257642,-0.00536226831618,0.0698258028937,0.999999938751,0.000219659984917,-0.000272160012552,1.32994470753e-05,1793253166554473984 +57,0.950000000,BASELINE,771,749.070676298,727,703,671,640,893,793.929323702,823,653,635,654,0.400975680953,-0.00536047430813,0.0698254349989,0.999999938022,0.000222391181737,-0.00027261273008,1.34285833543e-05,1793253166571140608 +58,0.966666667,BASELINE,771,749.64623101,727,703,671,640,893,793.35376899,823,653,635,654,0.400975219834,-0.00536275640855,0.0698249716183,0.999999938597,0.000219170107077,-0.000273106577265,1.35715225017e-05,1793253166587807232 +59,0.983333333,BASELINE,771.227402062,750,727.227402062,703.227402062,671,640,893,793.227402062,823,653,635,654,0.400975665084,-0.0053638050811,0.0698250729821,0.999999939162,0.000217195360466,-0.000272610628828,1.36379694579e-05,1793253166604473856 +60,1.000000000,BASELINE,771.817531796,750,727.817531796,703.817531796,671,640,893,793.817531796,823,653,635,654,0.400977556078,-0.00536288632057,0.0698260751664,0.999999939723,0.000217208623781,-0.000270535863386,1.35824041989e-05,1793253166621140736 +61,1.016666667,BASELINE,771.601282736,750,727.601282736,703.601282736,671,640,893,793.601282736,823,653,635,654,0.40097657305,-0.00536283533728,0.0698254205871,0.999999939248,0.000217429228938,-0.000272109419677,1.3575843442e-05,1793253166637807360 +62,1.033333333,BASELINE,771.024100732,750,727.024100732,703.024100732,671,640,893,793.024100732,823,653,635,654,0.400974303619,-0.00536317276873,0.069824024445,0.999999938302,0.000217742639723,-0.000275315954775,1.35912169676e-05,1793253166654473984 +63,1.050000000,BASELINE,771,750,727,703.551482241,671,640,893,793.551482241,823,653,635,654,0.400975722359,-0.00536381754549,0.0698251942086,0.999999938959,0.000217402233008,-0.000273177350773,1.38979566555e-05,1793253166671140608 +64,1.066666667,BASELINE,771.129824702,750,727.129824702,703.870175298,671,640,893,794,823,653,634.870175298,654,0.400976889462,-0.0053640851786,0.0698262329288,0.999999939419,0.000217454838703,-0.00027143250956,1.41253857909e-05,1793253166687807232 +65,1.083333333,BASELINE,771.718159069,750,727.718159069,703.281840931,671,640,893,794,823,653,634.281840931,654,0.400976600239,-0.00536297353114,0.0698264139484,0.999999938957,0.000218996090933,-0.000271900949255,1.40278684749e-05,1793253166704473856 +66,1.100000000,BASELINE,771.697110266,749.697110266,727.697110266,703,671,640,893,794,823,653,634,654,0.400976344512,-0.00536258405167,0.0698263911697,0.999999938754,0.000219773827437,-0.00027201656741,1.40844420731e-05,1793253166721140480 +67,1.116666667,BASELINE,771.115693474,749.115693474,727.115693474,703,671,640,893,794,823,653,634,654,0.400976119584,-0.00536285865328,0.0698261809851,0.999999938791,0.000219849460868,-0.000271807742898,1.42827124198e-05,1793253166737807360 +68,1.133333333,BASELINE,771,749,727,703.460705215,671.460705215,640,893,794,822.539294785,653.460705215,634,654,0.400975868089,-0.00536353541518,0.0698258069704,0.999999939222,0.000217577273547,-0.000272063847115,1.40285912738e-05,1793253166754473728 +69,1.150000000,BASELINE,771.035783936,749.035783936,727,703.964216064,671.964216064,640,893,794,822.035783936,653.964216064,634.035783936,654.035783936,0.400975583644,-0.00536425010878,0.0698254135825,0.999999939691,0.000214927342146,-0.000272464428495,1.36767519391e-05,1793253166771140608 +70,1.166666667,BASELINE,771.609758282,749.609758282,727,703.390241718,671.390241718,640,893,794,822.609758282,653.390241718,634.609758282,654.609758282,0.400974902883,-0.00536403274796,0.0698253409218,0.99999993937,0.000215368042656,-0.000273300884896,1.35454511045e-05,1793253166787807232 +71,1.183333333,BASELINE,771.809800555,749.809800555,727,703,671.190199445,640,893,793.809800555,822.809800555,653,635,654.809800555,0.400975156281,-0.00536427494385,0.0698256451245,0.999999939477,0.000215113690734,-0.000273106334742,1.3593268804e-05,1793253166804473856 +72,1.200000000,BASELINE,771.215623987,749.215623987,727,703,671.784376013,640,893,793.215623987,822.215623987,653,635,654.215623987,0.400977393799,-0.00536549322246,0.0698267497722,0.99999994049,0.00021338307128,-0.00027072196204,1.40215281256e-05,1793253166821140480 +73,1.216666667,BASELINE,771,749,727,703,671.633120836,640,893,793,822,653.366879164,635,654,0.400977488365,-0.00536503121559,0.0698264831744,0.999999940415,0.000213849976663,-0.000270633085492,1.39970018474e-05,1793253166837807360 +74,1.233333333,BASELINE,771,749,727,703,671.057266913,640,893,793,822,653.942733087,635,654,0.400976362302,-0.00536361211627,0.0698254355135,0.999999939719,0.000215568594622,-0.000271851726126,1.37145683869e-05,1793253166854474240 +75,1.250000000,BASELINE,771,749,727,703,670.483079779,640,893,793,822.516920221,653.483079779,635,654.516920221,0.400976144389,-0.00536446303325,0.0698259399596,0.999999939627,0.00021619192475,-0.00027168612188,1.3922571968e-05,1793253166871140608 +76,1.266666667,BASELINE,771.093124596,749.093124596,727.093124596,703.093124596,670.093124596,640,893,793,823,653,635,654.906875404,0.40097617467,-0.0053651632348,0.0698266623487,0.999999939713,0.000216375560645,-0.000271216040861,1.40858598796e-05,1793253166887807232 +77,1.283333333,BASELINE,771.681024584,749.681024584,727.681024584,703.681024584,670.681024584,640,893,793,823,653,635,654.318975416,0.400976990798,-0.00536373082965,0.0698276320376,0.999999940388,0.000214865700021,-0.000269940415017,1.37238254517e-05,1793253166904473856 +78,1.300000000,BASELINE,771.733368558,750,727.733368558,704,671,640,893,793.266631442,823,653,634.733368558,654,0.40097724263,-0.00536285628967,0.0698276026384,0.999999940203,0.000215910042386,-0.000269798367957,1.36049604154e-05,1793253166921140480 +79,1.316666667,BASELINE,771.150481658,750,727.150481658,704,671,640,893,793.849518342,823,653,634.150481658,654,0.400976825141,-0.00536264344184,0.0698263882061,0.999999938988,0.000219983962437,-0.000271000875383,1.37745221818e-05,1793253166937807360 +80,1.333333333,BASELINE,771.426307803,749.573692197,727.426307803,704,671,640,893,794,823,653,634.426307803,654,0.400976250583,-0.00536444138592,0.0698256983855,0.999999939126,0.000218090981683,-0.000272013474197,1.38904000905e-05,1793253166954475008 +81,1.350000000,BASELINE,771.999021491,749,727.999021491,703.999021491,671,640,893,793.999021491,823,653,635,654.000978509,0.400975625087,-0.00536693240582,0.0698251937904,0.999999939724,0.000214130395248,-0.000272955085709,1.39872965609e-05,1793253166971142912 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+37,0.616666667,BASELINE,771,749,727.458849798,704,670.541150202,640,894,793,824,653,634,654.458849798,0.401026083014,-0.00549882597625,0.0798519313986,0.99999997745,0.000125905205132,-0.000164428642926,4.7019951154e-05,1793253174481151232 +38,0.633333333,BASELINE,771.046614155,749,727.953385845,704,670,640,893.953385845,793,824,653,634,655,0.401025768897,-0.00549903885042,0.0798520091786,0.99999997752,0.000125142912331,-0.000164590004882,4.70003771777e-05,1793253174497817856 +39,0.650000000,BASELINE,771.62651468,749,727.37348532,704,670,640,893.37348532,793,824,653,634,655,0.401026024486,-0.00549901332604,0.0798516463451,0.999999977406,0.000125680646982,-0.000164902568745,4.68896969554e-05,1793253174514484992 +40,0.666666667,BASELINE,771.795117159,749,727,704,670,640,893.204882841,793,824,653,634,654.795117159,0.401025940246,-0.00549831936795,0.0798514220133,0.999999977176,0.000127003340664,-0.000165300598294,4.68449188401e-05,1793253174531151616 +41,0.683333333,BASELINE,771.219521674,749,727,704,670,640,893.780478326,793,824,653,634,654.219521674,0.401025241123,-0.00549641595363,0.079851448285,0.999999976729,0.000129746330105,-0.000165853268448,4.69193832418e-05,1793253174547817984 +42,0.700000000,BASELINE,771,749,727,703.645591825,670,640,894,793,824,653,634.354408175,654,0.401025901642,-0.0054972055728,0.079851925868,0.999999977027,0.000128471332451,-0.000165041603483,4.69345592772e-05,1793253174564484608 +43,0.716666667,BASELINE,771,749,727,703.072688871,670,640,894,793,824,653,634.927311129,654,0.401027400389,-0.00549965546342,0.0798526816872,0.999999977774,0.000124719221409,-0.000163388817665,4.69131836736e-05,1793253174581151232 +44,0.733333333,BASELINE,771.520003569,749.520003569,727.520003569,703.520003569,670,640,894.520003569,793,824,653,634.479996431,654,0.401027102605,-0.00549918982135,0.0798527623874,0.999999977724,0.000125540667086,-0.000163079817628,4.68659607182e-05,1793253174597818112 +45,0.750000000,BASELINE,771.887987686,749.887987686,727.887987686,704,670,640,894.887987686,793.112012314,824,653,634,654.112012314,0.401026399524,-0.00549855842619,0.0798526817521,0.999999977579,0.000126458724738,-0.000163281112224,4.67996108558e-05,1793253174614484992 +46,0.766666667,BASELINE,771.310762189,749.310762189,727.310762189,704,670,640,894.310762189,793.689237811,824,653,634,654.689237811,0.401025097406,-0.00549899822917,0.0798523385072,0.999999977518,0.000125017759135,-0.000164790765211,4.66694221462e-05,1793253174631151360 +47,0.783333333,BASELINE,771,749.265115939,727,703.734884061,670,640,894,793.734884061,824,653,634,654.734884061,0.401025367666,-0.00549904649868,0.0798523814253,0.999999977473,0.0001252953997,-0.000164850023141,4.66756106189e-05,1793253174647817984 +48,0.800000000,BASELINE,771,749.839422778,727,703.160577222,670,640,894,793.160577222,824,653,634,654.160577222,0.401027471706,-0.00549863814317,0.0798528747051,0.999999977445,0.000127577360854,-0.000163217761125,4.68408486728e-05,1793253174664485120 +49,0.816666667,BASELINE,771,749.577616829,727,703,670,640,893.577616829,793,824,653,634,654,0.401026885417,-0.00549800165948,0.079852619205,0.999999977234,0.000128829842108,-0.000163527498203,4.68396283697e-05,1793253174681151488 +50,0.833333333,BASELINE,771,749,727,703.008624025,670,640,893.008624025,793,824,653,634,654,0.401025289934,-0.00549730238497,0.0798520866664,0.999999976963,0.000129628733418,-0.000164566320807,4.67711893632e-05,1793253174697818112 +51,0.850000000,BASELINE,771,749,727,703.589678712,670,640,893.589678712,793,824,653,634,654,0.401026016376,-0.00549831233483,0.07985245544,0.99999997743,0.000126841517054,-0.000163969275683,4.65293293689e-05,1793253174714484736 +52,0.866666667,BASELINE,771,749,727,703.830508784,670,640.169491216,893.830508784,793,824,652.830508784,634,654,0.401026578714,-0.00549846134212,0.0798527378603,0.999999977616,0.000126041151162,-0.00016350296206,4.63551954163e-05,1793253174731151360 +53,0.883333333,BASELINE,771,749,727,703.253681634,670,640.746318366,893.253681634,793,824,652.253681634,634,654,0.401026746664,-0.00549654125778,0.0798528127488,0.999999977132,0.000130015756138,-0.000163350833714,4.63438265527e-05,1793253174747817984 +54,0.900000000,BASELINE,771,749,727,703.320577508,670,640.679422492,893.320577508,793,824,652.320577508,634.320577508,654,0.401027197294,-0.00549649591752,0.0798533683741,0.99999997713,0.000130706244124,-0.000162755134241,4.65462978605e-05,1793253174764484608 +55,0.916666667,BASELINE,771,749,727,703.892820638,670,640.107179362,893.892820638,793,824,652.892820638,634.892820638,654,0.401027869837,-0.00549792232326,0.0798543013963,0.999999977511,0.000128818574299,-0.000161811214451,4.69166418942e-05,1793253174781150976 +56,0.933333333,BASELINE,771,749.482519243,727,704,670.482519243,640.482519243,894,793,824,653,635,654,0.4010270417,-0.00549853102108,0.0798536097601,0.999999977375,0.000128280459417,-0.000163035002271,4.70600456103e-05,1793253174797818368 +57,0.950000000,BASELINE,771,749.925919233,727,703.925919233,670.925919233,640.925919233,894,793,824,653,634.925919233,654,0.401025769062,-0.00549874572632,0.0798524651403,0.999999977096,0.000128160417365,-0.000164825602228,4.70761333275e-05,1793253174814485760 +58,0.966666667,BASELINE,771,749.349018233,727,703.349018233,670.349018233,640.349018233,894,793,824,653,634.349018233,654,0.401023826827,-0.00549756532145,0.0798507872834,0.999999976668,0.000128766987764,-0.000167072581114,4.65830599752e-05,1793253174831152128 +59,0.983333333,BASELINE,771,749,727.228003395,703.228003395,670,640,894,793,824,653,634,653.771996605,0.401023308817,-0.0054968228378,0.0798503702113,0.99999997642,0.000130268619826,-0.000167436286857,4.64226582844e-05,1793253174847818496 +60,1.000000000,BASELINE,771,749,727.805209861,703.805209861,670,640,894,793,824,653,634,653.194790139,0.401024972107,-0.00549675106078,0.0798518841187,0.999999976444,0.000133141101219,-0.00016491562903,4.6771766325e-05,1793253174864484608 +61,1.016666667,BASELINE,771,749,727.621906553,704,670.378093447,640,894,793,824,653,634.378093447,653.378093447,0.401025510796,-0.00549714557144,0.0798523228636,0.99999997682,0.000131001281893,-0.000164384605891,4.66455301102e-05,1793253174881151232 +62,1.033333333,BASELINE,771,749,727.051224932,704,670.948775068,640,894,793,824,653,634.948775068,653.948775068,0.401025476651,-0.00549777759346,0.0798522139565,0.999999977362,0.000126308363811,-0.000164867036357,4.62771693862e-05,1793253174897818368 +63,1.050000000,BASELINE,771,749,727,704,671,640,894,793,824,653,635,654,0.401026063093,-0.00549821256535,0.079852485382,0.999999977405,0.000126872873739,-0.000164088868895,4.65604009655e-05,1793253174914484992 +64,1.066666667,BASELINE,771,749.134288902,727.134288902,704,670.865711098,640,894,793,824,653,634.865711098,654,0.401026385478,-0.00549818263155,0.0798526342239,0.999999977361,0.000127816754458,-0.000163566470162,4.67728989277e-05,1793253174931151616 +65,1.083333333,BASELINE,771,749.710412867,727.710412867,704,670.289587133,640,894,793,824,653,634.289587133,654,0.40102563772,-0.00549668700646,0.079852256343,0.99999997719,0.000128303044948,-0.000164294602464,4.65412591009e-05,1793253174947818496 +66,1.100000000,BASELINE,771,749.713942941,727.713942941,703.713942941,670,640,894,793,824,653,634,654,0.401025239152,-0.00549641516562,0.0798520560701,0.999999977167,0.0001279705702,-0.000164706181103,4.6486945194e-05,1793253174964485376 +67,1.116666667,BASELINE,771,749.138783664,727.138783664,703.138783664,670,640,894,793,824,653,634,654,0.401025193492,-0.00549738013667,0.0798520352957,0.999999977294,0.000126810614197,-0.000164797836232,4.66118449052e-05,1793253174981152000 +68,1.133333333,BASELINE,771.445729826,749,727.445729826,703.445729826,670,640,894,793.445729826,824,653,634,654,0.401024691867,-0.00549854291669,0.0798517967667,0.999999977235,0.000126622505965,-0.00016528893746,4.66533112374e-05,1793253174997818368 +69,1.150000000,BASELINE,771.967084871,749,727.967084871,704,670.032915129,640,894,793.967084871,824,653,634,654,0.401024098137,-0.00549962134578,0.0798515481029,0.999999977123,0.000126792469531,-0.000165834810421,4.66618306977e-05,1793253175014484736 +70,1.166666667,BASELINE,771.384959023,749,727.384959023,704,670.615040977,640,894,793.384959023,824,653,634,654,0.401024387229,-0.00549824261742,0.0798522858842,0.999999977111,0.00012777983156,-0.000165174860276,4.65633624018e-05,1793253175031151360 +71,1.183333333,BASELINE,771,749,727,703.804975466,670.804975466,640,893.804975466,793,824,653,634,654,0.401024491454,-0.00549713070714,0.0798526320262,0.999999977042,0.000128613868816,-0.000164979831375,4.6434994253e-05,1793253175047817984 +72,1.200000000,BASELINE,771,749,727,703.229174527,670.229174527,640,893.229174527,793,824,653,634,654,0.401024234732,-0.00549653974662,0.0798522135105,0.999999976864,0.000129148546705,-0.000165692539636,4.62482480032e-05,1793253175064484608 +73,1.216666667,BASELINE,771,749.342625374,727,703.342625374,670,640,893.342625374,793,824,653,634,654,0.401024460707,-0.00549683283366,0.0798520291258,0.999999976909,0.000128869499344,-0.000165637974722,4.6255588911e-05,1793253175081151744 +74,1.233333333,BASELINE,771,749.911779925,727,703.911779925,670,640,893.911779925,793,824,653,634,654,0.40102500582,-0.005497710415,0.0798519995385,0.9999999771,0.000128052451775,-0.000165076121703,4.63912519207e-05,1793253175097818880 +75,1.250000000,BASELINE,771,749.49550483,727,703.49550483,670,640,893.49550483,793,824,653,634.50449517,654,0.401025508381,-0.00549799307889,0.0798526422475,0.999999977176,0.000127547080816,-0.000165002081486,4.64165612991e-05,1793253175114485760 +76,1.266666667,BASELINE,771,749,727,703.09833999,670.09833999,640,893,793.09833999,824,653,634.90166001,654,0.401025969714,-0.00549816656265,0.0798531924319,0.99999997722,0.000127262500307,-0.000164943790067,4.64466120415e-05,1793253175131152384 +77,1.283333333,BASELINE,771,749,727,703.676605654,670.676605654,640,893,793.676605654,824,653,634.323394346,654,0.401026267934,-0.00549833979442,0.079852689224,0.999999977217,0.000127776420477,-0.000164525661722,4.65985916858e-05,1793253175147818496 +78,1.300000000,BASELINE,771,749,727,703.746863384,670.746863384,640,893.253136616,793.746863384,824,653,634,654,0.401026195952,-0.00549812401047,0.0798525041953,0.999999977125,0.000128731833266,-0.000164291617565,4.67632607154e-05,1793253175164484608 +79,1.316666667,BASELINE,771,749,727,703.172533549,670.172533549,640,893.827466451,793.172533549,824,653,634,654,0.401025654238,-0.00549741462266,0.0798527228894,0.99999997692,0.000130247435364,-0.00016429114926,4.69440307013e-05,1793253175181151232 +80,1.333333333,BASELINE,771,749,727,703.411574636,670,640,893.588425364,793,823.588425364,653,634,654,0.401025661816,-0.00549739062052,0.0798526409197,0.999999977032,0.000129255128015,-0.000164468172118,4.66915862308e-05,1793253175197817856 +81,1.350000000,BASELINE,771,749,727,703.99988175,670,640,893.00011825,793,823.00011825,653,634,654,0.401025905264,-0.00549766092681,0.0798524298433,0.999999977276,0.000127185910289,-0.000164721410687,4.62531170367e-05,1793253175214484736 +82,1.366666667,BASELINE,771,749.578825317,727,703.421174683,670.578825317,640,893,793,823.578825317,653,634.578825317,654,0.401026861718,-0.00549713541264,0.0798531693788,0.999999977432,0.000127621488797,-0.000163462029763,4.61425068537e-05,1793253175231151872 +83,1.383333333,BASELINE,771,749.842728979,727,703.157271021,670.842728979,640,893.157271021,793.157271021,824,653,634.842728979,654,0.401027659968,-0.00549664080955,0.0798537719363,0.999999977545,0.000128163499005,-0.000162361844796,4.60836542146e-05,1793253175247818752 +84,1.400000000,BASELINE,771,749.265607219,727,703.734392781,670.265607219,640,893.734392781,793.734392781,824,653,634.265607219,654,0.401028035496,-0.00549622915369,0.0798540083076,0.999999977544,0.000128988295075,-0.000161687460917,4.61627975364e-05,1793253175264485376 +85,1.416666667,BASELINE,771,749,727,704,670,640,894,793.6839747,824,653,634,654,0.401027919392,-0.00549617821265,0.0798538583397,0.999999977418,0.000129631307584,-0.000161906455559,4.63149571915e-05,1793253175281151744 +86,1.433333333,BASELINE,771,749,727,704,670,640,894,793.0984962,824,653,634,654,0.401027384108,-0.00549643482855,0.0798533789667,0.999999977186,0.000130119325609,-0.000162887173122,4.65293728847e-05,1793253175297817856 +87,1.450000000,BASELINE,771,749.481185642,727.481185642,704,670.481185642,640,894,793.481185642,824,653,634,654,0.401025216584,-0.00549706142175,0.0798523601132,0.999999977132,0.000127945399407,-0.000164946786798,4.64623896689e-05,1793253175314484480 +88,1.466666667,BASELINE,771.059824627,749.940175373,728,703.940175373,670.940175373,640,894,793.940175373,824,653,634,654,0.401023227784,-0.0054977714543,0.0798514999715,0.999999977137,0.00012553358162,-0.000166775228705,4.63945986751e-05,1793253175331151104 +89,1.483333333,BASELINE,771.6395897,749.3604103,728,703.3604103,670.3604103,640,894,793.3604103,824,653,634,654,0.401025661498,-0.00549855630297,0.0798529675275,0.999999977437,0.00012573350767,-0.000164698009859,4.68144421121e-05,1793253175347817728 +90,1.500000000,BASELINE,772,749,727.782878313,703.217121687,670.217121687,640,894,793,824,653,634,654,0.401026323286,-0.0054982032638,0.0798534097069,0.999999977359,0.00012713072659,-0.000164083322778,4.68696322732e-05,1793253175364484864 +91,1.516666667,BASELINE,772,749,727.20901545,703.79098455,670.79098455,640,894,793,824,653,634,654,0.401024073714,-0.00549598062114,0.0798521671439,0.999999976656,0.000130495154168,-0.000165871644597,4.63256798559e-05,1793253175381152256 +92,1.533333333,BASELINE,772,749.374049718,727,704,671,640,894,793,824,653,634.374049718,654,0.401023987455,-0.00549582170437,0.0798523807091,0.999999976615,0.000130621313762,-0.000166043652488,4.62382297307e-05,1793253175397818880 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+101,1.683333333,BASELINE,771.39733121,750,727.39733121,704,670,640,894,793,823.39733121,653,634.39733121,654,0.401026664128,-0.0054970297398,0.0798536871792,0.999999977629,0.000126063306966,-0.000163431615836,4.62698516094e-05,1793253175547817472 +102,1.700000000,BASELINE,771.181034744,749.818965256,727,703.818965256,670.181034744,640,894.181034744,793,823.181034744,653.181034744,634,654,0.401027171745,-0.00549723275912,0.0798537110953,0.99999997765,0.000126310661815,-0.000163061541022,4.64353359613e-05,1793253175564484096 +103,1.716666667,BASELINE,771.757140981,749.242859019,727,703.242859019,670.757140981,640,894.757140981,793,823.757140981,653.757140981,634,654,0.401026604141,-0.0054972430994,0.0798535001742,0.999999977302,0.000128927649557,-0.000163068063134,4.67186724066e-05,1793253175581150976 +104,1.733333333,BASELINE,771.666585856,749,727,703.333414144,670.666585856,640,894.666585856,793.333414144,824,653.666585856,634,654,0.401026667906,-0.00549674995444,0.0798537317685,0.999999977202,0.000130196896313,-0.000162716141843,4.65638716389e-05,1793253175597817600 +105,1.750000000,BASELINE,771.090190983,749,727,703.909809017,670.090190983,640,894.090190983,793.909809017,824,653.090190983,634,654,0.40102719179,-0.00549588988679,0.0798542858527,0.999999977286,0.000130483956191,-0.000162102999364,4.60897716099e-05,1793253175614484224 +106,1.766666667,BASELINE,771.496488518,749.496488518,727,703.503511482,670,640.496488518,893.503511482,793.503511482,824,653,634.496488518,654,0.4010262949,-0.00549574512833,0.0798537088548,0.999999977054,0.000130406654465,-0.000163578798725,4.61259248644e-05,1793253175631150848 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+49,0.816666667,BASELINE,771,749.57073711,727,704,671,640,893,793,823,653,634,654.42926289,0.400968048647,-0.00538601363584,0.0798255836279,0.999999922972,0.000259639027165,-0.000290992522959,4.43445423209e-05,1793253181747160320 +50,0.833333333,BASELINE,771,749,727,704,670.987069307,640,893.012930693,792.987069307,823,653,634,654.987069307,0.400968290374,-0.00538614218281,0.0798257075811,0.999999923373,0.000257863725612,-0.00029119455789,4.4341278179e-05,1793253181763826944 +51,0.850000000,BASELINE,771,749,727,704,670.407844611,640,893.592155389,792.407844611,823,653,634,654.407844611,0.40096878746,-0.0053860619146,0.0798263714798,0.999999923683,0.000257830689943,-0.00029013556651,4.44761321303e-05,1793253181780493568 +52,0.866666667,BASELINE,771,749.170068609,727,704,670,640,893.829931391,792.170068609,823,653,634.170068609,654,0.400968959354,-0.0053859762773,0.0798265423477,0.999999923692,0.000258225938018,-0.000289736267419,4.45875565862e-05,1793253181797160192 +53,0.883333333,BASELINE,771,749.744860789,727,704,670,640,893.255139211,792.744860789,823,653,634.744860789,654,0.400968357364,-0.00538587786281,0.0798255399172,0.999999922984,0.000259640401382,-0.000290906881977,4.4643224307e-05,1793253181813826816 +54,0.900000000,BASELINE,771,749.673175417,727,704,670,640,893,793,823,653,634.673175417,654.326824583,0.400967909885,-0.00538554521472,0.0798253193569,0.999999922798,0.000260323009966,-0.000290954024601,4.45228695793e-05,1793253181830493440 +55,0.916666667,BASELINE,771,749.085487442,727,704,670,640,893,793,823,653,634.085487442,654.914512558,0.400967585732,-0.00538502560708,0.0798257228663,0.99999992303,0.00026042146989,-0.00029010443934,4.42620180344e-05,1793253181847160320 +56,0.933333333,BASELINE,771,749,727,704,670,640,893,793.494793629,823,653,634,654.505206371,0.400968285249,-0.00538517268375,0.0798258586893,0.999999923088,0.000260688020688,-0.000289659767387,4.43148533731e-05,1793253181863826944 +57,0.950000000,BASELINE,771,749.073834327,727,704,670,640,893.073834327,793.926165673,823,653,634.073834327,654.073834327,0.400968964877,-0.00538540553174,0.0798258911057,0.999999923113,0.000260868980996,-0.000289400100184,4.43830498244e-05,1793253181880493568 +58,0.966666667,BASELINE,771,749.65301486,727,704,670,640,893.65301486,793.34698514,823,653,634.65301486,654.65301486,0.400968315731,-0.00538544868576,0.07982552765,0.999999923123,0.000260268292576,-0.000289934909492,4.41909122932e-05,1793253181897160192 +59,0.983333333,BASELINE,771,750,727,704,670,640,894,793,823,653,635,654.770582245,0.400967871483,-0.00538568387468,0.0798253846874,0.999999923281,0.000259519547035,-0.000290086082591,4.40184015146e-05,1793253181913826816 +60,1.000000000,BASELINE,771,750,727,704,670,640,894,793,823,653,635,654.198330077,0.40096773343,-0.00538620603429,0.0798255712222,0.999999923661,0.000258549549673,-0.000289663962332,4.38752202865e-05,1793253181930493696 +61,1.016666667,BASELINE,771,750,727,704,670.385236049,640.385236049,893.614763951,793,823,653,634.614763951,654,0.400967201377,-0.00538632278189,0.0798250097206,0.999999923309,0.000258949252739,-0.000290524662502,4.38430809714e-05,1793253181947160064 +62,1.033333333,BASELINE,771,750,727,704,670.974803117,640.974803117,893.025196883,793,823,653,634.025196883,654,0.400966460345,-0.005386224497,0.079824051457,0.999999922567,0.000260075451435,-0.000292065776705,4.38698388194e-05,1793253181963826944 +63,1.050000000,BASELINE,771,749.445406782,727,704,671,640.445406782,893,793,823,653,634.554593218,654,0.400967522712,-0.00538649534422,0.0798245616214,0.999999923517,0.0002572837644,-0.000291279637043,4.39033407674e-05,1793253181980493568 +64,1.066666667,BASELINE,771,749,727,704,670.866639282,640,893.133360718,793,823,653,634.866639282,654,0.400968399695,-0.00538678854727,0.0798252006779,0.999999924249,0.000255387830017,-0.000290419028699,4.3993393771e-05,1793253181997160192 +65,1.083333333,BASELINE,771,749,727,704,670.289820736,640,893.710179264,793,823,653,634.289820736,654,0.400968392504,-0.00538710128801,0.0798260503312,0.999999924032,0.000257052144198,-0.000289656295644,4.42704919889e-05,1793253182013826816 +66,1.100000000,BASELINE,771,749.290409116,727,704,670.290409116,640,894,793,823,653,634,654,0.400969316356,-0.00538680003383,0.0798268038044,0.999999923904,0.000258785710698,-0.00028853381755,4.43763050372e-05,1793253182030493696 +67,1.116666667,BASELINE,771,749.874083794,727,704,670.874083794,640,894,793,823,653,634,654,0.400971180408,-0.00538587874549,0.0798274601516,0.999999923867,0.000260589210577,-0.000287048056034,4.43091481489e-05,1793253182047160320 +68,1.133333333,BASELINE,771,749.545124471,727,704,671,640,893.545124471,793,823,653,634.454875529,654,0.400970152242,-0.00538594398785,0.0798268870444,0.999999923655,0.00026047057629,-0.000287914130986,4.41713692327e-05,1793253182063826688 +69,1.150000000,BASELINE,771,749.034856745,727,704,671,640,893.034856745,793,823,653,634.965143255,654.034856745,0.400968387105,-0.00538620657154,0.0798260204549,0.99999992339,0.000259922594656,-0.000289349284459,4.40217421111e-05,1793253182080493568 +70,1.166666667,BASELINE,771,749.614563675,727,704,671,640,893.614563675,793,823,653,634.385436325,654.614563675,0.400967537902,-0.00538531206164,0.0798258526594,0.999999923066,0.000260927981161,-0.000289567644697,4.39905660657e-05,1793253182097160192 +71,1.183333333,BASELINE,771,749.806913362,727,704,670.806913362,640,894,793,823,653,634.193086638,654.806913362,0.400967492588,-0.00538431673441,0.0798258714262,0.999999922716,0.000262422551398,-0.00028942146149,4.40162977395e-05,1793253182113826816 +72,1.200000000,BASELINE,771,749.230739311,727,704,670.230739311,640,894,793,823,653,634.769260689,654.230739311,0.400969042207,-0.00538312138358,0.0798262603357,0.999999922311,0.000264887671272,-0.00028855201747,4.41549353611e-05,1793253182130493440 +73,1.216666667,BASELINE,771,749.350683651,727,704,670,640,893.649316349,793,823.350683651,653,635,654,0.400969265388,-0.00538431962194,0.0798262924312,0.999999922868,0.000262875575518,-0.000288462688548,4.41475461342e-05,1793253182147160320 +74,1.233333333,BASELINE,771,749.935612683,727,704,670,640,893.064387317,793,823.935612683,653,635,654,0.400968602551,-0.00538711670082,0.0798260861865,0.999999924051,0.00025787284382,-0.000288894451422,4.40426156679e-05,1793253182163826944 +75,1.250000000,BASELINE,771,750,727,704,670.518543916,640,893.518543916,793,823.481456084,653,635,654.518543916,0.40096926486,-0.00538661393591,0.0798266782185,0.999999923981,0.000258931464064,-0.000288194854558,4.3998260387e-05,1793253182180493568 +76,1.266666667,BASELINE,771,749.899981025,727,704,671,640.100018975,894,793,823,653,635,654.899981025,0.400969868552,-0.00538573278527,0.0798271568786,0.999999923855,0.000260186413923,-0.000287510720262,4.39394458677e-05,1793253182197160192 +77,1.283333333,BASELINE,771,749.324256459,727,704,671,640.675743541,894,793,823,653,635,654.324256459,0.400969413869,-0.0053849932802,0.079826626696,0.999999924204,0.000258809229359,-0.000287565710033,4.37762244637e-05,1793253182213827072 +78,1.300000000,BASELINE,771,749.250902936,727,704.250902936,671,640.749097064,893.749097064,793,823,653,635,654,0.400968785498,-0.00538470174794,0.0798262770768,0.999999924045,0.000258779830564,-0.000288147756804,4.37489297191e-05,1793253182230493440 +79,1.316666667,BASELINE,771,749.825333526,727,704.825333526,671,640.174666474,893.174666474,793,823,653,635,654,0.400967933166,-0.00538498785582,0.0798261602856,0.999999923231,0.000260488338874,-0.000289409419034,4.3896906086e-05,1793253182247160064 +80,1.333333333,BASELINE,771.41129932,750,727,704.58870068,671.41129932,640,893,793,823,653,634.58870068,654,0.400969022826,-0.0053849685602,0.0798267937521,0.999999923131,0.000261874450071,-0.000288476893859,4.40518396272e-05,1793253182263826944 +81,1.350000000,BASELINE,771.997747157,750,727,704,671.997747157,640.002252843,893,793,823,653,634.002252843,654,0.400970945028,-0.0053848184592,0.0798277460639,0.999999923341,0.000263102193871,-0.000286602163172,4.42079560101e-05,1793253182280493568 +82,1.366666667,BASELINE,771.420157308,750,727,704,671.420157308,640.579842692,893,793,823,653,634.579842692,654,0.400968791087,-0.00538534070517,0.0798264100713,0.999999923531,0.000259859587422,-0.000288938040729,4.38898453402e-05,1793253182297160192 +83,1.383333333,BASELINE,771,750,727.156882025,704,671,641,893.156882025,793,823.156882025,653.156882025,634.843117975,654.156882025,0.4009674193,-0.00538576177845,0.0798256920257,0.99999992371,0.000257746728066,-0.000290231900889,4.37324954961e-05,1793253182313826816 +84,1.400000000,BASELINE,771,750,727.73245226,704,671,641,893.73245226,793,823.73245226,653.73245226,634.26754774,654.73245226,0.400968134937,-0.00538591284122,0.0798266231625,0.999999923895,0.000258648947583,-0.000288744815827,4.40041855748e-05,1793253182330493440 +85,1.416666667,BASELINE,771,749.68529601,727.68529601,704,671,640.68529601,893.68529601,793,823.68529601,653.68529601,634,655,0.400968511862,-0.00538597920101,0.0798267624731,0.999999923983,0.000258807812172,-0.000288292230885,4.4053729566e-05,1793253182347160064 +86,1.433333333,BASELINE,771,749.097240781,727.097240781,704,671,640.097240781,893.097240781,793,823.097240781,653.097240781,634,655,0.400968594583,-0.00538597198794,0.079826214005,0.999999923986,0.000258321000146,-0.00028873821071,4.3910317906e-05,1793253182363826688 +87,1.450000000,BASELINE,771.483491605,749.483491605,727,704,671,640,893.483491605,793.483491605,823,653,634,655,0.400969088474,-0.00538599135163,0.0798269610256,0.999999923853,0.0002596805528,-0.000287956101505,4.4054180921e-05,1793253182380493568 +88,1.466666667,BASELINE,772,750,727,704,670.937536328,640,893.937536328,793.937536328,823,653,634,654.937536328,0.400969585979,-0.00538604223491,0.079827771712,0.999999923692,0.000261165093921,-0.000287146659522,4.42195040951e-05,1793253182397160448 +89,1.483333333,BASELINE,772,750,727,704,670.361110929,640,893.361110929,793.361110929,823,653,634,654.361110929,0.400969442935,-0.00538630914198,0.0798269943766,0.999999923549,0.000260668163001,-0.000288114319445,4.40930969765e-05,1793253182413827072 +90,1.500000000,BASELINE,771.78502362,749.78502362,727.21497638,704.21497638,670,640,893,793,823,653,634.21497638,654,0.400969262152,-0.00538668316292,0.0798265573207,0.999999923483,0.000260388783769,-0.000288600852988,4.40504015495e-05,1793253182430493440 +91,1.516666667,BASELINE,771.20950339,749.20950339,727.79049661,704.79049661,670,640,893,793,823,653,634.79049661,654,0.400969018074,-0.00538723682796,0.0798266909584,0.999999923549,0.000260474267567,-0.000288280473803,4.41481017241e-05,1793253182447160064 +92,1.533333333,BASELINE,771,749.375139732,727.624860268,704.624860268,670,640,893,793,823,653,634.624860268,654.375139732,0.400968747429,-0.00538767842389,0.0798266471246,0.999999923714,0.00025954478603,-0.000288514714807,4.43551497423e-05,1793253182463826944 +93,1.550000000,BASELINE,771,749.965004737,727.034995263,704.034995263,670,640,893,793,823,653,634.034995263,654.965004737,0.400968461577,-0.00538805587292,0.0798265017084,0.999999923934,0.000258034351079,-0.000289066413412,4.4624787103e-05,1793253182480493568 +94,1.566666667,BASELINE,771,749.455447612,727,704,670.544552388,640,893,793,823,653,634,654.455447612,0.400968747778,-0.00538688905281,0.0798263968633,0.999999923775,0.000258731650697,-0.000289078173825,4.40592914949e-05,1793253182497160192 +95,1.583333333,BASELINE,771,749,727,704,671,640.118620374,893,793,823,653,634.118620374,654,0.400968807533,-0.00538589651448,0.0798262189579,0.99999992356,0.000259491146214,-0.000289206129718,4.36335689808e-05,1793253182513826816 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0000000000000000000000000000000000000000..a50ba489e5c9c5a0087c787de87c603da97e22f3 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_04/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53dcee1f15327a328601964b02537583fbcd3796d319d0658f5a3d6bdf9f2dbd +size 26448212 diff --git a/Part2/Obstacle_avoidance/ball_15A_10/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_04/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..6745e6e0cd5b14af28f49c8bfb12ef40cd308d01 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_04/depth_03/franka_data.csv @@ -0,0 +1,417 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+18,0.300000000,BASELINE,771,750,727,704,670,640,894,793,823,653,634.448239639,655,0.400973182094,-0.00539126125433,0.0798294080233,0.999999926285,0.000252879365175,-0.00028561636598,4.36562185379e-05,1793253195391368704 +19,0.316666667,BASELINE,771,749.975944782,727,704.024055218,670.024055218,640,894,793,823,653,634.975944782,654.975944782,0.400974418439,-0.00539229799688,0.0798304213238,0.999999926942,0.000252560945119,-0.000283566547102,4.38023739403e-05,1793253195408035840 +20,0.333333333,BASELINE,771,749.388108389,727,704.611891611,670.611891611,640,894,793,823,653,634.388108389,654.388108389,0.400971821285,-0.00539047678047,0.0798288926166,0.999999926046,0.00025234219499,-0.000287015530529,4.30463122616e-05,1793253195424702208 +21,0.350000000,BASELINE,771,749,727,704.803153335,671,640,893.803153335,793,823,653,634.196846665,654,0.400970458875,-0.0053893378805,0.0798281093466,0.999999925509,0.000252363356239,-0.000288930459121,4.25846548652e-05,1793253195441368576 +22,0.366666667,BASELINE,771,749,727,704.223797321,671,640,893.223797321,793,823,653,634.776202679,654,0.400971495797,-0.0053895248473,0.0798287745985,0.999999925689,0.00025285070954,-0.000287864436045,4.26950793374e-05,1793253195458034944 +23,0.383333333,BASELINE,771,749.354346891,727.354346891,704,670.645653109,640,893,793,823,653,634.645653109,654,0.400971827952,-0.00538952479263,0.0798289123259,0.99999992558,0.000253671575336,-0.000287533797163,4.26085053028e-05,1793253195474701568 +24,0.400000000,BASELINE,771,749.931728423,727.931728423,704,670.068271577,640,893,793,823,653,634.068271577,654,0.400971716508,-0.00538940702206,0.0798287180165,0.999999925289,0.000254702362139,-0.00028766602706,4.23979355784e-05,1793253195491368192 +25,0.416666667,BASELINE,771,750,728,704,670.50689544,640,893,793,823,653,634,654.50689544,0.400971020774,-0.00539013149474,0.0798286329722,0.999999925451,0.000253771603773,-0.000287876491867,4.27305514834e-05,1793253195508034816 +26,0.433333333,BASELINE,771,750,727.916313113,704,671,640,893.083686887,793,823,653,634,654.916313113,0.40097053239,-0.00539078812175,0.0798286261585,0.999999925726,0.000252577646475,-0.000287920431158,4.3064364032e-05,1793253195524701696 +27,0.450000000,BASELINE,771,750,727.327934014,704,671,640,893.672065986,793,823,653,634,654.327934014,0.400971767003,-0.00539035445285,0.079829002767,0.999999926325,0.000251382747962,-0.000286896831691,4.29661089496e-05,1793253195541368832 +28,0.466666667,BASELINE,771,749.743111928,727,704,671,640,894,792.743111928,823,653,634.256888072,654,0.400972380078,-0.00538995890036,0.0798291216332,0.999999926457,0.000251471273586,-0.000286385050537,4.28009140505e-05,1793253195558035456 +29,0.483333333,BASELINE,771,749.162768617,727,704,671,640,894,792.162768617,823,653,634.837231383,654,0.400972210556,-0.00538961134139,0.0798289159685,0.999999925999,0.000253175795926,-0.000286517714765,4.25514332883e-05,1793253195574702080 +30,0.500000000,BASELINE,771,749,727,704,670.58527782,640,893.58527782,792.41472218,823,653,635,654,0.400973256774,-0.00539009933094,0.0798299230877,0.999999926202,0.000254024678271,-0.000285038476842,4.26690154899e-05,1793253195591368704 +31,0.516666667,BASELINE,771,749,727,704,670.008898932,640,893.008898932,792.991101068,823,653,635,654,0.400974776881,-0.00539091301327,0.0798314029442,0.999999926658,0.000254540036231,-0.000282930927226,4.29296770711e-05,1793253195608035072 +32,0.533333333,BASELINE,771,749.56433806,727,704,670.56433806,640,893,793,823,653,635,654,0.400974350346,-0.00539097047349,0.0798314091351,0.999999926938,0.000253088083734,-0.000283249608469,4.29048159357e-05,1793253195624701696 +33,0.550000000,BASELINE,771,749.858117196,727,704,670.858117196,640,893,793,823,653,635,654.141882804,0.400973452272,-0.00539061423818,0.079831076555,0.999999926866,0.000252481111145,-0.00028405120957,4.2844470486e-05,1793253195641368320 +34,0.566666667,BASELINE,771,749.266770152,727,704,670.266770152,640,893,793,823,653,635,654.733229848,0.400971157138,-0.00538898504177,0.0798297440044,0.999999925693,0.000254648642698,-0.000286262103839,4.26858996842e-05,1793253195658034944 +35,0.583333333,BASELINE,771,749.317266307,727,704,670.317266307,640,893,793,823,653,634.682733693,654.682733693,0.400971503965,-0.00538860369654,0.0798300741666,0.99999992577,0.000254864412932,-0.000285806569048,4.26567836005e-05,1793253195674701824 +36,0.600000000,BASELINE,771,749.895294251,727,704,670.895294251,640,893,793,823,653,634.104705749,654.104705749,0.400974022224,-0.00538924796182,0.0798317709149,0.999999926872,0.000253476027946,-0.00028315949259,4.27340665196e-05,1793253195691368704 +37,0.616666667,BASELINE,771,750,727,704,670.528171688,640,893.471828312,793.471828312,823,653,634.471828312,654,0.400974024571,-0.00538818666102,0.0798313223383,0.999999926869,0.000253924833351,-0.000282845585706,4.22198170595e-05,1793253195708035584 +38,0.633333333,BASELINE,771,750,727,704,670.048971792,640,893.951028208,794,823,653,635,654,0.400973504606,-0.00538714239274,0.0798304862136,0.999999926657,0.000254554393835,-0.000283104733219,4.17167659103e-05,1793253195724701952 +39,0.650000000,BASELINE,771,750,727,704,670.636450957,640,893.363549043,794,823,653,635,654,0.400973361208,-0.00539043426895,0.0798306070823,0.999999926831,0.000252702555671,-0.000283989826106,4.27757779438e-05,1793253195741368576 +40,0.666666667,BASELINE,771,750,727,704,671,640,893.220563408,793.558873183,823,653,634.779436592,654,0.400972853587,-0.00539238061126,0.0798303023756,0.999999926912,0.000251071085376,-0.000285081437948,4.32191195247e-05,1793253195758035200 +41,0.683333333,BASELINE,771,750,727,704,671,640,893.799209988,792.401580025,823,653,634.200790012,654,0.400971754651,-0.00539214248837,0.0798293067499,0.999999926847,0.000249797380906,-0.000286508331841,4.26629243112e-05,1793253195774701824 +42,0.700000000,BASELINE,771,750,727,704,671,640,894,792,823,653,634,654,0.400971717588,-0.00539181585927,0.079829210023,0.999999927109,0.000249107681833,-0.000286230923461,4.24223505598e-05,1793253195791368448 +43,0.716666667,BASELINE,771,750,727,704,671,640,894,792,823,653,634,654,0.400972244795,-0.00539144219869,0.0798295909637,0.999999927544,0.000248728318653,-0.000285047862275,4.23494955771e-05,1793253195808035328 +44,0.733333333,BASELINE,770.471438576,749.471438576,727,704,670.471438576,640,894,792.528561424,823,653,634.528561424,654.528561424,0.400972049946,-0.00539052929805,0.0798296816955,0.999999927411,0.000248654580669,-0.000285613949714,4.21161311227e-05,1793253195824702208 +45,0.750000000,BASELINE,770.106046468,749,727,704,670,640,893.893953532,792.893953532,823,653,634.893953532,654.893953532,0.400971728112,-0.00538952378825,0.0798296526769,0.99999992703,0.000249423277895,-0.000286299507922,4.19689475876e-05,1793253195841369088 +46,0.766666667,BASELINE,770.696124469,749,727,704,670,640,893.303875531,792.303875531,823,653,634.303875531,654.303875531,0.400971114527,-0.00538831054716,0.0798291927688,0.999999925733,0.000253915293819,-0.000286833073625,4.22791096376e-05,1793253195858036480 +47,0.783333333,BASELINE,771,749,727,704,670.281174742,640.281174742,893,792.281174742,823,653,634,654,0.400971141281,-0.00538770700339,0.0798295743885,0.999999925255,0.000256220848019,-0.000286401890925,4.25969765064e-05,1793253195874703616 +48,0.800000000,BASELINE,771,749,727,704,670.860886895,640.860886895,893,792.860886895,823,653,634,654,0.400971847916,-0.00538775080585,0.0798308495007,0.999999925661,0.000256204926046,-0.000284946386235,4.29230240092e-05,1793253195891370240 +49,0.816666667,BASELINE,771,749.43727251,727,704,670.56272749,640.56272749,893.43727251,792.56272749,823,653.43727251,634.43727251,654,0.400971634475,-0.00538864015219,0.0798302498437,0.999999925893,0.000254559926946,-0.000285649411387,4.26235739128e-05,1793253195908036096 +50,0.833333333,BASELINE,771,750,727,704,670.025660351,640,893.987169824,792,823,653.987169824,634.987169824,654,0.400971162848,-0.00538978071938,0.0798290968518,0.999999926068,0.000252445285415,-0.000286982484285,4.21432252168e-05,1793253195924702208 +51,0.850000000,BASELINE,771,750,727,704,671.196628035,640,893.401685983,792,823,653.401685983,634.401685983,654,0.400972133539,-0.00539021840214,0.0798296666055,0.999999926364,0.000252326477271,-0.000286017906076,4.24035069325e-05,1793253195941368576 +52,0.866666667,BASELINE,771,749.818101556,727,704,671.818101556,640,893.181898444,792.181898444,823.181898444,653,634.181898444,654,0.400972274789,-0.00538983427004,0.079829877119,0.999999926312,0.000252892367685,-0.00028568889713,4.24601320392e-05,1793253195958035200 +53,0.883333333,BASELINE,771,749.238668293,727,704,671.238668293,640,893.761331707,792.761331707,823.761331707,653,634.761331707,654,0.400970603314,-0.00538765408064,0.0798293025216,0.999999925502,0.000254954650887,-0.000286748910088,4.20716703462e-05,1793253195974702080 +54,0.900000000,BASELINE,771,749.340052785,727,704,671,640,894,793,823.659947215,653,635,654,0.400970860352,-0.00538710476419,0.0798295245236,0.999999925613,0.000255223586592,-0.000286117413088,4.20834594613e-05,1793253195991368704 +55,0.916666667,BASELINE,771,749.918275029,727,704,671,640,894,793,823.081724971,653,635,654,0.400972468101,-0.00538769769441,0.0798303044556,0.99999992637,0.000254236480134,-0.000284301199927,4.23755801272e-05,1793253196008035584 +56,0.933333333,BASELINE,771,750,727.493505421,704,671,640,893.506494579,793,823,653,635,654.493505421,0.400971579924,-0.00538871041802,0.0798296249313,0.999999926156,0.000254141897242,-0.000285151238452,4.22923428819e-05,1793253196024702208 +57,0.950000000,BASELINE,771,750,727.930140598,704,671,640,893.069859402,792.930140598,823,653,634.930140598,655,0.40097053479,-0.00538957567374,0.0798288686908,0.999999925871,0.000254023101407,-0.000286274542154,4.21486291111e-05,1793253196041368576 +58,0.966666667,BASELINE,771,750,727.341792717,704,671,640,893.658207283,792.341792717,823,653,634.341792717,655,0.400971373933,-0.00538883359214,0.0798293260381,0.999999926259,0.000252634234993,-0.000286168721507,4.20146272154e-05,1793253196058035200 +59,0.983333333,BASELINE,771,750,727,704,671,640,893.757246265,792.242753735,823,653,634,655,0.400972377652,-0.00538918008193,0.0798298511889,0.999999926477,0.000252359158784,-0.000285622541392,4.21955963446e-05,1793253196074701824 +60,1.000000000,BASELINE,771,750,727,704,671,640,893.177969548,792.822030452,823,653,634,655,0.400973609518,-0.00539103562889,0.079830470334,0.999999926459,0.000253628099818,-0.000284465902762,4.28132013249e-05,1793253196091368448 +61,1.016666667,BASELINE,771,750,727,704,670.60404294,640,893,793,823,653,634.39595706,655,0.40097308453,-0.00539049452332,0.0798301651605,0.999999926345,0.000253505834682,-0.00028503497867,4.24285071436e-05,1793253196108035072 +62,1.033333333,BASELINE,771,750,727,704,670.032489002,640,893,793,823,653,634.967510998,655,0.400971780421,-0.00538889056324,0.0798294500752,0.999999926186,0.000252766604947,-0.000286369365117,4.15993187605e-05,1793253196124701696 +63,1.050000000,BASELINE,771,750,727,704,670.54639915,640,893.54639915,793,823.54639915,653,634.45360085,654.45360085,0.40097242073,-0.00538909774667,0.0798300438913,0.999999926909,0.000251597273283,-0.000284843093194,4.17675358761e-05,1793253196141369088 +64,1.066666667,BASELINE,771,749.871725226,727,704,671,640.128274774,893.871725226,793,823.871725226,653,634,654,0.400973037286,-0.00538947214328,0.0798305955899,0.99999992734,0.000251162662527,-0.000283671131956,4.20364307718e-05,1793253196158036224 +65,1.083333333,BASELINE,771,749.280666279,727,704,671,640.719333721,893.280666279,793,823.280666279,653,634,654,0.400973145358,-0.00539005599554,0.0798307107361,0.999999926533,0.000253472265968,-0.000284399449191,4.24516741923e-05,1793253196174702080 +66,1.100000000,BASELINE,771,749.30177612,727,704,671,640.69822388,893,793,823,653,634,654,0.400972780365,-0.00539045291473,0.0798303790754,0.999999926354,0.000253893049387,-0.0002846518615,4.24745234227e-05,1793253196191368448 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+30,0.500000000,BASELINE,770.398793108,749.398793108,727,704,671.601206892,640,893,793,823,653,634,654,0.400974722052,-0.00538984105302,0.0798336655282,0.999999927775,0.000252282637609,-0.000281069736026,4.24556689281e-05,1793253202714677504 +31,0.516666667,BASELINE,770.986479798,749.986479798,727,704,671.013520202,640,893,793,823,653,634,654,0.400974868511,-0.00538893559228,0.0798342167381,0.999999927686,0.000252838640815,-0.000280927245137,4.21948684387e-05,1793253202731343872 +32,0.533333333,BASELINE,771,749.432717244,727,704,671,640,893,793,823,653,634,654,0.400974950778,-0.00538989076735,0.0798342614268,0.999999927927,0.000252048850649,-0.000280702954728,4.27027934037e-05,1793253202748010496 +33,0.550000000,BASELINE,771,749,727,704,670.853341007,640,893,793,823,653,634,654,0.400975126237,-0.00539070303753,0.0798343536979,0.999999928277,0.000251092911989,-0.000280265520924,4.29979353562e-05,1793253202764677120 +34,0.566666667,BASELINE,771,749,727,704,670.277664252,640,893,793,823,653,634,654,0.400975578732,-0.00539096910542,0.0798346200515,0.999999928927,0.000249743645828,-0.000279210218892,4.26176764657e-05,1793253202781343232 +35,0.583333333,BASELINE,771,749,727,704,670.296625559,640,893,793,823,653,634,654,0.400975438287,-0.0053910459056,0.0798344105048,0.999999928881,0.00024965724474,-0.000279490914244,4.23566086447e-05,1793253202798009856 +36,0.600000000,BASELINE,771,749,727,704,670.869623192,640,893,793,823,653,634,654,0.400974745387,-0.00539094636121,0.0798337575522,0.999999928187,0.000250747480605,-0.00028101638545,4.2206593527e-05,1793253202814676480 +37,0.616666667,BASELINE,770.543214631,749.456785369,727,703.543214631,671,640,893,793,823,653,634,654,0.400974172631,-0.00539020740166,0.0798334212844,0.999999927717,0.000251940394128,-0.000281608931196,4.22812782793e-05,1793253202831343360 +38,0.633333333,BASELINE,770.09424206,749.95287897,727,703.04712103,670.95287897,640,893,792.95287897,823,653,634,654,0.400973864649,-0.00538945295368,0.0798333844808,0.999999927432,0.00025299969363,-0.000281652063479,4.24194592941e-05,1793253202848010496 +39,0.650000000,BASELINE,771.25236435,749.373817825,727,703.626182175,670.373817825,640,893,792.373817825,823,653,634,654,0.400976146151,-0.00539064983603,0.0798356752334,0.999999928483,0.000252209228712,-0.000278595129039,4.25272675709e-05,1793253202864677376 +40,0.666666667,BASELINE,771.795736339,749,727,704,670.204263661,640,893,792.204263661,823,653,634,654,0.400977081575,-0.00539158584856,0.0798365651067,0.99999992915,0.000250849672934,-0.000277422039635,4.25653361759e-05,1793253202881343744 +41,0.683333333,BASELINE,771.219439179,749,727,704,670.780560821,640,893,792.780560821,823,653,634,654,0.400975565335,-0.00539204672845,0.0798349035028,0.999999929123,0.000248453609473,-0.000279680072019,4.24763851474e-05,1793253202898010368 +42,0.700000000,BASELINE,771,749,727,704,670.636902835,640,893,793,823,653,634,654,0.400974376324,-0.005391983161,0.079833831782,0.999999928742,0.000248037016849,-0.00028141821807,4.24028404607e-05,1793253202914676736 +43,0.716666667,BASELINE,771,749,727,704,670.050529912,640,893,793,823,653,634,654,0.400973388534,-0.0053915971003,0.079833122792,0.999999928145,0.000248837640793,-0.000282836675466,4.23387694474e-05,1793253202931343104 +44,0.733333333,BASELINE,771,749.531359033,727,704,670.531359033,640,893,793,823,653,634.531359033,654,0.400975879401,-0.00539086026516,0.0798342954147,0.999999928617,0.000249871657307,-0.000280215162263,4.25459655981e-05,1793253202948009728 +45,0.750000000,BASELINE,771,750,727,704,670.88828785,640,893,792.88828785,823,653,634.88828785,654,0.400978134944,-0.00539020752479,0.0798354857428,0.9999999291,0.000250734875468,-0.000277686313659,4.26998885776e-05,1793253202964676608 +46,0.766666667,BASELINE,771,750,727,704,670.3125579,640,893,792.3125579,823,653,634.3125579,654,0.400978050466,-0.00539004148408,0.0798360126006,0.999999929247,0.000250797231589,-0.000277124792007,4.25262778819e-05,1793253202981343744 +47,0.783333333,BASELINE,770.731508224,750,727,704,670.268491776,640,893,792.268491776,823,653,634,654,0.400978088901,-0.00539092055113,0.0798364751826,0.999999929678,0.000250065840152,-0.000276233122129,4.24908289853e-05,1793253202998010624 +48,0.800000000,BASELINE,770.144140468,750,727,704,670.855859532,640,893,792.855859532,823,653,634,654,0.400978273312,-0.00539304084711,0.0798368614271,0.999999930444,0.000248391749338,-0.000274949349518,4.26194688136e-05,1793253203014677504 +49,0.816666667,BASELINE,770.437047667,749.562952333,727,704,671,640,893,793,823,653,634,654.437047667,0.400975873984,-0.00539154176374,0.0798357542068,0.99999992923,0.000250187147626,-0.000277761433099,4.23786985062e-05,1793253203031343616 +50,0.833333333,BASELINE,771,749,727,704,671,640,893,793,823,653,634.01620081,654.98379919,0.400972796554,-0.00538895906846,0.0798342271945,0.999999927416,0.000253038494254,-0.000281731176571,4.20344664342e-05,1793253203048009984 +51,0.850000000,BASELINE,771,749,727,704,671,640,893,793,823,653,634.594476099,654.405523901,0.40097534471,-0.005389618,0.0798349862719,0.999999927903,0.000253379629135,-0.000279652344365,4.22686859516e-05,1793253203064676352 +52,0.866666667,BASELINE,771,749,727,703.828393972,671,640,893,793,823,653,634.828393972,654,0.400976952997,-0.00539004023174,0.0798356318836,0.999999928268,0.000253464314867,-0.000278247028676,4.24031417303e-05,1793253203081342976 +53,0.883333333,BASELINE,771,749,727,703.253952745,671,640,893,793,823,653,634.253952745,654,0.400976354994,-0.0053899068244,0.0798360111413,0.999999928355,0.000252947001084,-0.000278422754074,4.2303407905e-05,1793253203098009856 +54,0.900000000,BASELINE,771,749.328313153,727,703.328313153,671,640,893,793,823,653,634,654,0.400976271845,-0.00539046159782,0.0798360140509,0.999999928545,0.000252094368664,-0.000278489982086,4.24487806285e-05,1793253203114676480 +55,0.916666667,BASELINE,771,749.916779234,727,703.916779234,671,640,893,793,823,653,634,654,0.400976596664,-0.00539156168062,0.079835718745,0.999999928817,0.000250976032247,-0.000278471237556,4.27883739843e-05,1793253203131343360 +56,0.933333333,BASELINE,771,750,727,703.503116031,671,640,893,793,823,653,634,654,0.400976094541,-0.0053911439403,0.0798354243428,0.999999928652,0.000251114925091,-0.00027894966216,4.27240258526e-05,1793253203148010496 +57,0.950000000,BASELINE,771,749.924619625,727,703.075380375,671,640,893,793,823,653,634,654,0.400975549412,-0.0053906034026,0.079835188208,0.999999928509,0.000251193710904,-0.000279409450859,4.25968348076e-05,1793253203164677376 +58,0.966666667,BASELINE,771,749.347661229,727,703.652338771,671,640,893,793,823,653,634,654,0.400975624453,-0.00539090930698,0.0798353387918,0.999999928997,0.000249494626443,-0.000279200340517,4.24942084876e-05,1793253203181343744 +59,0.983333333,BASELINE,771,749,727.228397241,704,670.771602759,640,893,793,823,653,634,654.228397241,0.400975579169,-0.00539155622148,0.0798353530034,0.999999929437,0.000248146206747,-0.000278844468911,4.23729547576e-05,1793253203198010368 +60,1.000000000,BASELINE,771,749,727.803091328,704,670.196908672,640,893,793,823,653,634,654.803091328,0.400975351446,-0.005392720177,0.079835160447,0.999999929807,0.000247329466165,-0.000278266077239,4.22234580562e-05,1793253203214676736 +61,1.016666667,BASELINE,771,749,727.612406927,704,670.387593073,640,893,792.612406927,823,653,634.387593073,654.612406927,0.400976322292,-0.00539201314606,0.0798362697875,0.999999929889,0.000248436339003,-0.000276964984971,4.23376537182e-05,1793253203231343360 +62,1.033333333,BASELINE,771,749,727.022793285,704,670.977206715,640,893,792.022793285,823,653,634.977206715,654.022793285,0.400977917853,-0.00539033092285,0.0798380577004,0.999999929815,0.000250545834235,-0.000275287208023,4.2589290651e-05,1793253203248009728 +63,1.050000000,BASELINE,771,749,727,704,671,640,893,792.55597617,823,653,635,654,0.400976941941,-0.00539013088582,0.0798369602185,0.999999929281,0.000251245264376,-0.000276611363313,4.24185066969e-05,1793253203264676864 +64,1.066666667,BASELINE,770.866059614,749.133940386,727,704,671,640,893,793,823,653,634.866059614,654.133940386,0.400975975405,-0.00539036597925,0.0798359769209,0.999999928867,0.000251480446822,-0.000277911421065,4.23017192111e-05,1793253203281343744 +65,1.083333333,BASELINE,770.289315881,749.710684119,727,704,671,640,893,793,823,653,634.289315881,654.710684119,0.400975381724,-0.00539184255824,0.0798357547025,0.999999928912,0.000250368295005,-0.000278732731316,4.24195999203e-05,1793253203298010112 +66,1.100000000,BASELINE,770,750,727,704,671,640,893,793,823,653,634.292266364,654.707733636,0.40097514216,-0.00539225720128,0.0798358505642,0.999999929013,0.000249593966879,-0.000279061429591,4.2439077192e-05,1793253203314676480 +67,1.116666667,BASELINE,770,750,727,704,671,640,893,793,823,653,634.878718868,654.121281132,0.400975259041,-0.00539160293287,0.0798362665953,0.999999929172,0.000249159681535,-0.000278894280081,4.23595046477e-05,1793253203331342848 +68,1.133333333,BASELINE,770.459408817,750,727,704,671,640.459408817,893.459408817,793,823,653,634.540591183,654.459408817,0.40097640039,-0.0053910148914,0.0798366231483,0.999999929242,0.00025022436101,-0.000277683929149,4.23742529868e-05,1793253203348009472 +69,1.150000000,BASELINE,771,749.961470873,727,704,670.961470873,641,893.961470873,793,823,653,634.038529127,654.961470873,0.400977586588,-0.00539047971427,0.0798368344554,0.999999929223,0.000251646051761,-0.000276458373169,4.24043344178e-05,1793253203364676096 +70,1.166666667,BASELINE,771,749.383292457,727,704,670.383292457,641,893.383292457,793,823,653,634.616707543,654.383292457,0.400975659823,-0.00539044312464,0.0798352286085,0.99999992833,0.00025259427095,-0.000278829378187,4.23047376029e-05,1793253203381342720 +71,1.183333333,BASELINE,770.806678498,749.193321502,727,704.193321502,670.193321502,640.806678498,893,793,823.193321502,653,634.806678498,654,0.400974462372,-0.00539038533585,0.0798345230226,0.999999928084,0.000252395516811,-0.000279909981417,4.21814502077e-05,1793253203398009600 +72,1.200000000,BASELINE,770.233141337,749.766858663,727,704.766858663,670.766858663,640.233141337,893,793,823.766858663,653,634.233141337,654,0.400974699301,-0.00539028585355,0.0798355880276,0.999999929114,0.000249940949511,-0.00027845268338,4.20115692726e-05,1793253203414677248 +73,1.216666667,BASELINE,770.349779942,750,727,704.650220058,671,640,893,793,823.650220058,653,634,654.349779942,0.400974725083,-0.00539075778156,0.0798353014293,0.999999929234,0.00024935993925,-0.00027853336278,4.20743529524e-05,1793253203431344384 +74,1.233333333,BASELINE,770.939128485,750,727,704.060871515,671,640,893,793,823.060871515,653,634,654.939128485,0.400974606248,-0.00539162107554,0.0798340891012,0.999999928733,0.000250062151486,-0.000279667422005,4.22964915098e-05,1793253203448011008 +75,1.250000000,BASELINE,771,749.480271651,727,704,670.480271651,640,893,793,823,653,634.519728349,654.480271651,0.400976020676,-0.00539270139609,0.0798349544167,0.999999929016,0.000249813107846,-0.000278848162975,4.24806609709e-05,1793253203464677120 +76,1.266666667,BASELINE,771,749.098558253,727,704,670.098558253,640,893,793,823,653,634.901441747,654,0.400977026666,-0.00539337610437,0.0798358132145,0.999999929258,0.000249600072392,-0.000278153235078,4.26049188111e-05,1793253203481343488 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+34,0.566666667,BASELINE,772,749,727,704,670,640,894,793,822.252970377,653.252970377,634,654.252970377,0.40091535459,-0.0154297969562,0.0599255405308,0.999999972128,-8.71282491831e-05,-0.000215366692164,-4.2059635634e-05,1793253211369870336 +35,0.583333333,BASELINE,772,749.32496952,727,703.67503048,670,640,894,793,822,653,634.32496952,654,0.400915170078,-0.0154305547072,0.0599258785693,0.999999972066,-8.86514055629e-05,-0.000215033448902,-4.20758364704e-05,1793253211386536960 +36,0.600000000,BASELINE,772,749.89935915,727,703.10064085,670,640,894,793,822,653,634.89935915,654,0.40091498974,-0.0154320877157,0.0599260899189,0.999999971941,-9.09726103265e-05,-0.000214625227007,-4.21684335006e-05,1793253211403203584 +37,0.616666667,BASELINE,771.526166631,749.526166631,727,703.473833369,670,640,893.526166631,793.473833369,822,653,634.526166631,654,0.400917212115,-0.0154317593058,0.0599269158083,0.999999972427,-9.04416945585e-05,-0.000212610158766,-4.19981379638e-05,1793253211419870464 +38,0.633333333,BASELINE,771,749,727,704,670,639.950413556,893,794,822,653,634,654,0.400919522314,-0.0154310986719,0.0599277284298,0.999999972951,-8.9357198774e-05,-0.00021063193486,-4.17994869578e-05,1793253211436537344 +39,0.650000000,BASELINE,771,749,727,704,670,639.360931593,893,794,822,653,634,654,0.400917231309,-0.0154311262272,0.0599269751687,0.99999997254,-8.88422557853e-05,-0.000212771481826,-4.190016916e-05,1793253211453204224 +40,0.666666667,BASELINE,771,749,727,704,670,639.225138214,893,793.774861786,822.225138214,653.225138214,634.225138214,654,0.400915963314,-0.0154313804616,0.0599264692452,0.999999972292,-8.84616660082e-05,-0.000214075685615,-4.19692859278e-05,1793253211469871104 +41,0.683333333,BASELINE,771,749,727,704,670,639.805819436,893,793.194180564,822.805819436,653.805819436,634.805819436,654,0.400916310879,-0.0154319926724,0.0599263539224,0.99999997231,-8.82932496839e-05,-0.000214060697739,-4.19885538909e-05,1793253211486537728 +42,0.700000000,BASELINE,771.382155728,749,727,704,670,640,893.382155728,793,823,654,634.617844272,654,0.400916149915,-0.0154314578519,0.0599259649685,0.999999972217,-8.79481502735e-05,-0.000214659975156,-4.18588764355e-05,1793253211503204352 +43,0.716666667,BASELINE,771.956309078,749,727,704,670,640,893.956309078,793,823,654,634.043690922,654,0.400915733464,-0.015430346755,0.0599254385403,0.999999972068,-8.75142840904e-05,-0.000215567863611,-4.16543677935e-05,1793253211519870720 +44,0.733333333,BASELINE,771.454661459,749,727,703.454661459,670,640,894,793,823,654,634.545338541,654,0.400916343858,-0.0154304393217,0.0599255376245,0.999999972275,-8.77405416193e-05,-0.000214487161865,-4.17835544634e-05,1793253211536537088 +45,0.750000000,BASELINE,771,749,727,703.133024068,670.133024068,640,893.866975932,793,823,654,635,654,0.400917339515,-0.0154306017205,0.0599260385836,0.999999972557,-8.79808595138e-05,-0.000213053243504,-4.18677897016e-05,1793253211553203712 +46,0.766666667,BASELINE,771,749,727,703.712094649,670.712094649,640,893.287905351,793,823,654,635,654,0.40091934341,-0.0154306658514,0.0599277143285,0.999999972993,-8.80860129666e-05,-0.000210984147065,-4.17091383174e-05,1793253211569870336 +47,0.783333333,BASELINE,771,749,727,704,670.710841033,640,893.289158967,793,822.710841033,653.710841033,635,654,0.400920165726,-0.0154308575891,0.0599284575326,0.999999973238,-8.79247829998e-05,-0.000209906438513,-4.16166085052e-05,1793253211586537216 +48,0.800000000,BASELINE,771,749,727,704,670.135760445,640,893.864239555,793,822.135760445,653.135760445,635,654,0.40091981969,-0.0154311755048,0.0599282786366,0.999999973297,-8.75001519844e-05,-0.000209809018285,-4.15894599668e-05,1793253211603204352 +49,0.816666667,BASELINE,771.43782215,749,727,704,670,640,893.56217785,793,822.43782215,653.43782215,635,654,0.400919590393,-0.0154309948553,0.059927711574,0.999999973256,-8.69809929045e-05,-0.000210247710825,-4.14610338214e-05,1793253211619871232 +50,0.833333333,BASELINE,771.988660012,749,727,703.988660012,670.011339988,640,893,793,823,654,635,654,0.400919368191,-0.0154306836324,0.0599270207914,0.999999973176,-8.64326153134e-05,-0.000210880623648,-4.13045555611e-05,1793253211636537600 +51,0.850000000,BASELINE,771.394683384,749,727,703.394683384,670.605316616,640,893,793,823,654,635,654,0.400917656983,-0.0154315795623,0.0599261364479,0.999999972778,-8.58838724754e-05,-0.000212980335364,-4.13148061663e-05,1793253211653203968 +52,0.866666667,BASELINE,771,749,727,703.194017661,670.805982339,640,893.194017661,793,823,653.805982339,635,654,0.400916431693,-0.0154321427987,0.0599255522012,0.999999972497,-8.62996081185e-05,-0.000214102124941,-4.14508102813e-05,1793253211669870336 +53,0.883333333,BASELINE,771,749,727,703.772270826,670.227729174,640,893.772270826,793,823,653.227729174,635,654,0.400916168727,-0.0154320471637,0.059925562271,0.999999972452,-8.86254115379e-05,-0.000213287222631,-4.1835858545e-05,1793253211686536960 +54,0.900000000,BASELINE,771,749,727,704,670.348104865,640,894,793,823,653,635,654,0.400916291785,-0.015431705823,0.0599256052668,0.99999997253,-8.78007599879e-05,-0.000213262991577,-4.18213190767e-05,1793253211703203584 +55,0.916666667,BASELINE,771,749,727,704,670.92236722,640,894,793,823,653,635,654,0.400916665637,-0.0154312048518,0.0599256696539,0.999999972685,-8.49293142461e-05,-0.000213752445493,-4.15471746091e-05,1793253211719869952 +56,0.933333333,BASELINE,771.508993404,749,727,704,670.491006596,640,894,793.508993404,823,653.508993404,635,654,0.400919166195,-0.0154316037373,0.0599272619341,0.999999973211,-8.66208197355e-05,-0.000210563527646,-4.16917925721e-05,1793253211736537600 +57,0.950000000,BASELINE,772,749,727,703.903939824,670.096060176,639.903939824,893.903939824,793.903939824,823,653.903939824,635,654,0.400921005429,-0.0154320332826,0.0599283538654,0.999999973501,-8.86958649375e-05,-0.000208271998712,-4.18864195932e-05,1793253211753204992 +58,0.966666667,BASELINE,772,749,727,703.324383477,670.675616523,639.324383477,893.324383477,793.324383477,823,653.324383477,635,654,0.400917842759,-0.0154319091426,0.0599257252678,0.99999997238,-8.91112532749e-05,-0.000213391394622,-4.20032746412e-05,1793253211769871360 +59,0.983333333,BASELINE,772,749.253973639,727,703,670.746026361,639.253973639,893.253973639,793,822.746026361,653.253973639,634.746026361,654,0.400916654892,-0.0154316265389,0.0599248347815,0.999999971997,-8.88263468225e-05,-0.000215297656139,-4.19958313185e-05,1793253211786537728 +60,1.000000000,BASELINE,772,749.830806333,727,703,670.169193667,639.830806333,893.830806333,793,822.169193667,653.830806333,634.169193667,654,0.400917977457,-0.0154311424913,0.0599261538352,0.999999972574,-8.76512042793e-05,-0.000213119283668,-4.18303761227e-05,1793253211803204096 +61,1.016666667,BASELINE,772,749.593406606,727,703,670,640,894,793,822,654,634.406593394,654,0.400917320682,-0.0154306977736,0.0599259766896,0.999999972575,-8.63593425586e-05,-0.000213635920137,-4.18492192634e-05,1793253211819870208 +62,1.033333333,BASELINE,772,749.018053578,727,703,670,640,894,793,822,654,634.981946422,654,0.400915842368,-0.0154302693801,0.0599251785354,0.999999972335,-8.50190357391e-05,-0.000215271140387,-4.19445568191e-05,1793253211836536832 +63,1.050000000,BASELINE,771.429602694,749,727,703.570397306,670,640,894,793,822,653.429602694,635,654,0.400916004069,-0.0154319691142,0.0599254315442,0.999999972058,-8.83414961684e-05,-0.000215223795457,-4.19322092592e-05,1793253211853203456 +64,1.066666667,BASELINE,771,749,727,703.843413468,670,639.843413468,894,793,822,653,634.843413468,654,0.400916819454,-0.0154329436853,0.0599259770919,0.999999972068,-9.08097468194e-05,-0.000214141845889,-4.19706395345e-05,1793253211869870592 +65,1.083333333,BASELINE,771,749,727,703.264469063,670,639.264469063,894,793,822,653,634.264469063,654,0.400919254706,-0.0154317763372,0.059927219851,0.999999972873,-9.05665313998e-05,-0.00021041629569,-4.21554411826e-05,1793253211886537984 +66,1.100000000,BASELINE,771,749,727.313697454,703.313697454,670,639.313697454,894,793,822,653.313697454,634.313697454,654,0.400919830774,-0.0154314505805,0.0599273677465,0.999999973071,-8.98070113338e-05,-0.000209796619483,-4.21784501559e-05,1793253211903204864 +67,1.116666667,BASELINE,771,749,727.891209749,703.891209749,670,639.891209749,894,793,822,653.891209749,634.891209749,654,0.400918843296,-0.0154318325897,0.0599265948782,0.999999972762,-8.86132868364e-05,-0.000211788936789,-4.20653939132e-05,1793253211919871232 +68,1.133333333,BASELINE,771,749,727.068128016,704,670,640,894,793,822,653.534064008,635,654,0.400918331455,-0.0154310481662,0.0599259240415,0.999999972707,-8.82032358521e-05,-0.00021220563271,-4.21191808853e-05,1793253211936537600 +69,1.150000000,BASELINE,771,749,726.041170287,703.958829713,670,640,893.958829713,793,822.041170287,653.041170287,635,654,0.400917860301,-0.0154300297813,0.0599252872102,0.999999972684,-8.79344055183e-05,-0.000212412870191,-4.22029928248e-05,1793253211953204224 +70,1.166666667,BASELINE,771,749,726.631815014,703.368184986,670,640,893.368184986,793,822.631815014,653.631815014,635,654,0.400916458793,-0.0154295021073,0.0599247881649,0.999999972266,-8.71227814008e-05,-0.000214705384301,-4.2170700554e-05,1793253211969870336 +71,1.183333333,BASELINE,771,749,727,703,670,640,893.21742853,793,822.78257147,653.78257147,635,654,0.400916023082,-0.0154295986699,0.0599247127816,0.999999972147,-8.6725220145e-05,-0.000215452174173,-4.20029439373e-05,1793253211986536960 +72,1.200000000,BASELINE,771,749,727,703,670,640,893.794715167,793,822.205284833,653.205284833,635,654,0.400917185825,-0.0154307283838,0.0599253385861,0.999999972527,-8.70129592463e-05,-0.000213640692058,-4.16109851702e-05,1793253212003203584 +73,1.216666667,BASELINE,771,749,727,703.370475308,670,640,894,793,822.370475308,653,635,654,0.400917509677,-0.0154305579144,0.0599258238532,0.999999972713,-8.74699845177e-05,-0.000212575476666,-4.16382551463e-05,1793253212019870464 +74,1.233333333,BASELINE,771,749,727,703.945393036,670,640,894,793,822.945393036,653,635,654,0.400917370596,-0.0154296699541,0.0599262315665,0.999999972793,-8.80204283439e-05,-0.000211922079853,-4.18968715722e-05,1793253212036537600 +75,1.250000000,BASELINE,771.533442792,749,727,703.466557208,670.533442792,640,894,793,822.466557208,653.533442792,635,654,0.40091771549,-0.0154302453259,0.0599259141544,0.999999972603,-8.80651344328e-05,-0.000212804660563,-4.1873650914e-05,1793253212053203968 +76,1.266666667,BASELINE,772,749,727,703.120734613,671,640,894,793,822,654,635,654,0.400917807648,-0.0154309522313,0.0599255575825,0.999999972408,-8.81712228686e-05,-0.000213688638093,-4.17948178066e-05,1793253212069870592 +77,1.283333333,BASELINE,772,749,727,703.699915152,671,640,894,793,822,654,635,654,0.40091674726,-0.0154315754326,0.0599253412866,0.999999972308,-8.87119311387e-05,-0.000213965813827,-4.16171320826e-05,1793253212086537216 +78,1.300000000,BASELINE,771.722064336,749,727,703.722064336,670.722064336,640,893.722064336,793,822,654,634.722064336,654,0.400916641178,-0.015431396704,0.0599252920772,0.999999972342,-8.78423993792e-05,-0.000214164550052,-4.16245943122e-05,1793253212103203584 +79,1.316666667,BASELINE,771.145291129,749,727,703.145291129,670.145291129,640,893.145291129,793,822,654,634.145291129,654,0.400917561169,-0.0154303557372,0.0599254225198,0.999999972516,-8.54565718316e-05,-0.000214278947782,-4.18311283777e-05,1793253212119870208 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b/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..0fe2c795718868160bcd28f45351bce9aeca477f --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_02/franka_data.csv @@ -0,0 +1,415 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,771,749,727,702,671,640,893,793,822,653,634,654,0.400969946019,-0.0153891513297,0.0598346590955,0.999999940157,0.00021209098905,-0.000272410241908,2.22861750844e-05,1793253217839604224 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+66,1.100000000,BASELINE,771.308990234,749.308990234,726.308990234,703,671.308990234,640,892.308990234,793.691009766,822.308990234,654,634,654,0.400972553505,-0.0153937465152,0.0598377874873,0.999999942643,0.000208359206802,-0.000266097528129,2.22009248999e-05,1793253218939603968 +67,1.116666667,BASELINE,771.889005449,749.889005449,726.889005449,703,671.889005449,640,892.889005449,793.110994551,822.889005449,654,634,654,0.400971182238,-0.0153939683742,0.0598365794115,0.99999994211,0.000208382823038,-0.000268124496535,2.15799698354e-05,1793253218956271104 +68,1.133333333,BASELINE,772,750,727,703,671.536839175,640,893,793,823,654,634.463160825,654,0.400970508053,-0.0153943283507,0.0598367670828,0.999999942182,0.000207793115159,-0.000268297582675,2.17670292214e-05,1793253218972937472 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+90,1.500000000,BASELINE,771.237370416,749,727,702.237370416,671,639,893,793.762629584,822.237370416,653.237370416,634.237370416,654,0.400971767318,-0.0153938018107,0.0598388465078,0.999999943173,0.00020657210528,-0.000265516593616,2.19683252251e-05,1793253219339603968 +91,1.516666667,BASELINE,771.817253529,749,727,702.817253529,671,639,893,793.182746471,822.817253529,653.817253529,634.817253529,654,0.400971458075,-0.0153930436036,0.0598381218285,0.999999942568,0.000208456925488,-0.000266314011618,2.20546386778e-05,1793253219356270592 +92,1.533333333,BASELINE,772,749,727,703,670.606238219,639,893,793.393761781,823,653.606238219,634.606238219,654,0.400971270597,-0.0153927720378,0.0598377771817,0.99999994227,0.00020934166828,-0.000266749951547,2.19308487532e-05,1793253219372937216 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+96,1.600000000,BASELINE,771.719064366,749,726.280935634,703.280935634,671,640,893,793,822,653.719064366,634,654,0.400971103764,-0.0153931824383,0.0598390534486,0.999999942609,0.000209021983363,-0.000265704888967,2.22094648085e-05,1793253219439604224 +97,1.616666667,BASELINE,771.701906556,749,726,703,671,640.298093444,893,793,822.298093444,654,634,654,0.400971299841,-0.0153942901354,0.0598389410154,0.999999942867,0.000207550562235,-0.000265879655366,2.22701708196e-05,1793253219456270848 +98,1.633333333,BASELINE,771.122901189,749,726,703,671,640.877098811,893,793,822.877098811,654,634,654,0.40097135799,-0.0153961671605,0.0598380258845,0.999999943372,0.000203658450292,-0.00026700741987,2.20508120261e-05,1793253219472937728 +99,1.650000000,BASELINE,771.452656942,749,726.452656942,702.547343058,671,640.547343058,893,793.452656942,823,653.547343058,634.452656942,654,0.400970785482,-0.0153949119516,0.0598380332069,0.999999942756,0.000206564855615,-0.000267084009929,2.20044257374e-05,1793253219489604096 +100,1.666666667,BASELINE,772,749,727,702.027942265,671,640,893,793.972057735,822.972057735,653.027942265,635,654,0.400970160321,-0.0153929197061,0.0598382737397,0.999999941896,0.000210985000279,-0.000266852252522,2.20027959571e-05,1793253219506270464 +101,1.683333333,BASELINE,772,749,727,702.616388262,671,640,893,793.383611738,822.383611738,653.616388262,635,654,0.400971887771,-0.0153930732245,0.0598382063098,0.999999942504,0.000209022670688,-0.00026611701585,2.19640078555e-05,1793253219522937088 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0000000000000000000000000000000000000000..98e28124137e0b4624498026af82678dd999f36a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f1a09a7d8581c51d0480ef0d069c7c4ef03aa4c12d4fb5ce7281fedcba907d0 +size 26312363 diff --git a/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..f91c1490d8ead8b05d6d108255a076c1434d2bfc --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_03/franka_data.csv @@ -0,0 +1,415 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+24,0.400000000,BASELINE,771,749,727,703,671,640,894,793.063311866,822.936688134,653.936688134,635,654,0.400971570541,-0.0153939962335,0.0598363508098,0.999999942754,0.000205865218792,-0.000267704628777,2.11219309489e-05,1793253225305243136 +25,0.416666667,BASELINE,771.524304642,749,727,703,671,640,894,793,823,653.475695358,635,654,0.400971742364,-0.0153947960858,0.0598366599418,0.999999943098,0.000204712896582,-0.000267323288846,2.08447968774e-05,1793253225321909760 +26,0.433333333,BASELINE,771.888172914,749,727,703,671,640,894,793,822.888172914,653.111827086,635,654,0.400972216321,-0.0153950311354,0.0598371694878,0.999999943309,0.000204504390224,-0.000266710932793,2.06031715108e-05,1793253225338576384 +27,0.450000000,BASELINE,771.308333136,749,727,703,671,640,894,793,822.308333136,653.691666864,635,654,0.400973613479,-0.0153929055118,0.0598381099639,0.999999942828,0.000208165853372,-0.000265668652923,2.07594701493e-05,1793253225355243520 +28,0.466666667,BASELINE,771.269625567,749,727,703,671,640,894,793,822,654,635,654,0.400973648753,-0.0153918054161,0.059838087229,0.99999994239,0.000210118601338,-0.000265783500241,2.07101650398e-05,1793253225371910144 +29,0.483333333,BASELINE,771.845448016,749,727,703,671,640,894,793,822,654,635,654,0.400972137421,-0.0153918699484,0.0598369706356,0.999999942013,0.0002101308682,-0.00026721242455,2.04273686128e-05,1793253225388576256 +30,0.500000000,BASELINE,772,749,727,703,671,640,893.581203723,793.418796277,822,654,634.581203723,654,0.400971766869,-0.0153923743407,0.059836554837,0.999999942534,0.000207780439271,-0.000267109892503,2.03119611365e-05,1793253225405242880 +31,0.516666667,BASELINE,772,749,727,703,671,640,893.008763183,793.991236817,822,654,634.008763183,654,0.400971814836,-0.0153930401049,0.0598363961397,0.999999943375,0.000204563205468,-0.000266445513298,2.02579638397e-05,1793253225421909504 +32,0.533333333,BASELINE,771.420244441,749,726.420244441,703,671,640,893.579755559,793.420244441,822.579755559,654,634,654,0.400971111274,-0.015392644457,0.0598360846583,0.999999942834,0.000205572647971,-0.00026770602123,2.01343781983e-05,1793253225438576128 +33,0.550000000,BASELINE,771,749,726,703,671,640,893.832950961,793,822.832950961,653.832950961,634,654,0.400970659365,-0.0153927567855,0.0598358939037,0.999999942448,0.000206274871716,-0.000268603991502,2.01789543931e-05,1793253225455242752 +34,0.566666667,BASELINE,771,749,726,703,671,640,893.24933629,793,822.24933629,653.24933629,634,654,0.400970864132,-0.0153941769899,0.0598360101255,0.999999942507,0.000206047133481,-0.000268523287744,2.06455689742e-05,1793253225471909376 +35,0.583333333,BASELINE,771.329323113,749,726,702.670676887,671,640,893.329323113,793,822,653.329323113,634.329323113,654,0.400971733867,-0.0153940277584,0.0598368443201,0.999999942861,0.000205756899639,-0.0002674128324,2.07897722534e-05,1793253225488576512 +36,0.600000000,BASELINE,771.904286472,749,726,702.095713528,671,640,893.904286472,793,822,653.904286472,634.904286472,654,0.400973099598,-0.0153927078936,0.0598382140465,0.999999943433,0.000205420050652,-0.000265534291168,2.06934908169e-05,1793253225505243392 +37,0.616666667,BASELINE,772,749,726.489578689,702.489578689,671,640,894,793.489578689,822.489578689,654,635,654,0.400972917231,-0.0153918395185,0.0598384723373,0.999999943153,0.0002072006869,-0.00026521952205,2.05125882916e-05,1793253225521909760 +38,0.633333333,BASELINE,771.9242455,749,727,703,671,640,894,794,823,653.9242455,634.9242455,654,0.400972542593,-0.0153913921711,0.0598384806506,0.999999942823,0.000208875335862,-0.000265159992056,2.03814540526e-05,1793253225538576384 +39,0.650000000,BASELINE,771.345893134,749,727,703,671,640,894,794,823,653.345893134,634.345893134,654,0.400972943578,-0.0153931399235,0.0598383031505,0.999999943314,0.00020704108916,-0.000264721826962,2.06926353913e-05,1793253225555243008 +40,0.666666667,BASELINE,771,749,726.768439,703,671,640,893.768439,794,822.768439,653.231561,634,654,0.400972605961,-0.0153937345374,0.0598376863243,0.999999943331,0.000206176170648,-0.00026532872295,2.07614590832e-05,1793253225571909632 +41,0.683333333,BASELINE,771,749,726.192321447,703,671,640,893.192321447,794,822.192321447,653.807678553,634,654,0.400971169323,-0.0153926133119,0.0598364157928,0.999999942641,0.000206753586579,-0.000267490641809,2.04696610831e-05,1793253225588576256 +42,0.700000000,BASELINE,771.384920647,749,726.384920647,703,671,640,893,793.615079353,822.384920647,654,634,654,0.400971377528,-0.0153921754894,0.0598367796573,0.999999942565,0.000207812459404,-0.000266950788112,2.05456533639e-05,1793253225605242880 +43,0.716666667,BASELINE,771.962726236,749,726.962726236,703,671,640,893,793.037273764,822.962726236,654,634,654,0.400972409968,-0.0153920801223,0.0598379625228,0.999999942792,0.000209112591767,-0.000265057067664,2.08059465147e-05,1793253225621909760 +44,0.733333333,BASELINE,772,749.550318729,727,703,671,640,893,793.550318729,823,653.449681271,634.550318729,654,0.400971457066,-0.0153930819159,0.0598376631936,0.999999942666,0.000208427179127,-0.000266055808693,2.09822283292e-05,1793253225638576384 +45,0.750000000,BASELINE,771.863292397,749.863292397,727,703,671,640,893.136707603,793.863292397,823,653.136707603,635,654,0.400970731095,-0.0153938936745,0.059837325455,0.999999942595,0.000207576006354,-0.000266983490412,2.10427029891e-05,1793253225655243008 +46,0.766666667,BASELINE,771.28299896,749.28299896,727,703,671,640,893.71700104,793.28299896,823,653.71700104,635,654,0.40097118569,-0.0153938433195,0.059837194731,0.999999942783,0.000206631248629,-0.000267033406063,2.07462068025e-05,1793253225671909632 +47,0.783333333,BASELINE,771,749,727,703,671,640,893.70541313,793.29458687,822.70541313,654,635,654,0.400971138002,-0.0153931856524,0.0598369967473,0.999999942666,0.000207052692818,-0.000267159036826,2.05801368106e-05,1793253225688576256 +48,0.800000000,BASELINE,771,749,727,703,671,640,893.130404643,793.869595357,822.130404643,654,635,654,0.400970612184,-0.0153919498761,0.0598367347382,0.999999942256,0.000208774644788,-0.000267356741936,2.0538221416e-05,1793253225705242880 +49,0.816666667,BASELINE,771,749,727,703,671,640,893,794,822,653.546059589,635,654,0.400971495135,-0.0153936233513,0.0598373686065,0.999999943323,0.000205507392309,-0.000265885613716,2.06377792404e-05,1793253225721909504 +50,0.833333333,BASELINE,771,749,727,703,671,640,893.040455058,793.959544942,822,653.040455058,634.959544942,654,0.400972729109,-0.0153958409192,0.059838190565,0.999999944627,0.000201376252705,-0.000264124925424,2.07623883725e-05,1793253225738575872 +51,0.850000000,BASELINE,771,749,727,703,671,640,893.61939811,793.38060189,822,653.61939811,634.38060189,654,0.400973135469,-0.0153939427168,0.0598380185389,0.999999943609,0.000205224553329,-0.000265025291628,2.06681215671e-05,1793253225755242752 +52,0.866666667,BASELINE,771.198298172,749,727,703,671,640,894,793.198298172,822.198298172,654,634.198298172,654,0.400973139976,-0.0153926557661,0.0598379986349,0.999999942854,0.000208062635974,-0.000265664179558,2.06270388334e-05,1793253225771909376 +53,0.883333333,BASELINE,771.777115707,749,727,703,671,640,894,793.777115707,822.777115707,654,634.777115707,654,0.400972373356,-0.0153925417615,0.0598382706416,0.999999942628,0.000208962185642,-0.000265801310184,2.06880123617e-05,1793253225788576512 +54,0.900000000,BASELINE,772,749,727,703,671,640,894,793.648220566,823,654,635,654,0.400971205764,-0.0153922186873,0.0598378378997,0.999999942484,0.00020846534304,-0.000266727762075,2.07544014111e-05,1793253225805242880 +55,0.916666667,BASELINE,772,749,727,703,671,640,894,793.076157961,823,654,635,654,0.400969787085,-0.0153917646943,0.0598369638464,0.999999942387,0.000207094083976,-0.000268148484441,2.08241816404e-05,1793253225821909504 +56,0.933333333,BASELINE,771.487119188,749,727,703,671,640,893.487119188,793,823,653.487119188,634.487119188,654,0.400970072191,-0.0153926821346,0.0598363926618,0.99999994246,0.000206207800844,-0.000268556520932,2.08794500834e-05,1793253225838576384 +57,0.950000000,BASELINE,771.102312865,749,727,703,671,640,893,793.102312865,823,653,634.102312865,654,0.40097062271,-0.0153935057864,0.0598361863249,0.999999942559,0.000205861279827,-0.000268452080985,2.0894463885e-05,1793253225855243008 +58,0.966666667,BASELINE,771.681427832,749,727,703,671,640,893,793.681427832,823,653,634.681427832,654,0.400971190734,-0.0153929108405,0.0598374635039,0.999999942659,0.00020768308545,-0.000266684149081,2.07322674797e-05,1793253225871909888 +59,0.983333333,BASELINE,771.740890982,749,727,703,671,640,893.259109018,794,823,653,635,654,0.400972381042,-0.0153926504667,0.0598384194706,0.999999942994,0.00020834979251,-0.000264904140572,2.06831540489e-05,1793253225888576512 +60,1.000000000,BASELINE,771.164962841,749,727,703,671,640,893.835037159,794,823,653,635,654,0.400974332233,-0.0153927991826,0.0598389826831,0.999999943621,0.000207604131697,-0.000263109365459,2.07723099986e-05,1793253225905242880 +61,1.016666667,BASELINE,771,749,727,703,671,640,894,794,823,653.418361617,635,654,0.400973536598,-0.0153930918129,0.0598385316774,0.999999943723,0.000206533020509,-0.00026356859962,2.07338244566e-05,1793253225921909760 +62,1.033333333,BASELINE,771.004602524,749,727,703,671,639.995397476,894,794,822.995397476,653.995397476,634.995397476,654,0.400971658734,-0.0153934259848,0.059837682712,0.999999943608,0.000205367359709,-0.000264918979696,2.06423579096e-05,1793253225938576640 +63,1.050000000,BASELINE,771.584293203,749,727,703,671,639.415706797,894,794,822.415706797,653.415706797,634.415706797,654,0.400972324581,-0.0153917326926,0.0598379771293,0.999999943015,0.000208710814288,-0.000264567427922,2.0332816262e-05,1793253225955243264 +64,1.066666667,BASELINE,771.836605105,749,727,703,671,639.163394895,894,794,822,653.163394895,634,654,0.400972820339,-0.015390950497,0.0598380884164,0.99999994258,0.000210979482976,-0.000264416604171,2.02673602438e-05,1793253225971909888 +65,1.083333333,BASELINE,771.258996554,749,727,703,671,639.741003446,894,794,822,653.741003446,634,654,0.400972884917,-0.0153924779736,0.0598377354599,0.99999994257,0.000210523519266,-0.000264774635316,2.08206726627e-05,1793253225988576256 +66,1.100000000,BASELINE,771,749,726.682222659,703,671,640,893.682222659,794,822.317777341,654,634.317777341,654,0.400972943261,-0.0153936893077,0.0598376621335,0.999999942986,0.000208425604644,-0.000264858779749,2.08867385199e-05,1793253226005242880 +67,1.116666667,BASELINE,771,749,726.106127275,703,671,640,893.106127275,794,822.893872725,654,634.893872725,654,0.400972996537,-0.0153946436526,0.0598378161157,0.999999943739,0.000204992964464,-0.000264720284377,2.05567264627e-05,1793253226021909504 +68,1.133333333,BASELINE,771.479373965,749,726.479373965,703,671.479373965,640,893,794,822.520626035,654,634.520626035,654,0.400972936702,-0.0153935190277,0.0598385399359,0.999999944052,0.000204660732715,-0.000263817562265,2.02678905499e-05,1793253226038576128 +69,1.150000000,BASELINE,772,749,727,703,671.934112011,640,893.065887989,793.934112011,822.065887989,654,634.065887989,654,0.400972799366,-0.0153920561359,0.0598391968545,0.999999944104,0.000205362577865,-0.000263091643305,2.00303983851e-05,1793253226055243008 +70,1.166666667,BASELINE,772,749,727,703,671.356233258,640,893.643766742,793.356233258,822.643766742,654,634.643766742,654,0.400972258273,-0.015391612767,0.0598383339848,0.999999942894,0.000208659412898,-0.000265080620285,2.01196256068e-05,1793253226071910144 +71,1.183333333,BASELINE,771.7784818,749,727,703,671,640,893.7784818,793.2215182,823,653.7784818,635,654,0.400972628996,-0.0153919464553,0.0598382496772,0.999999942784,0.000209117654387,-0.000265126130517,2.02291506691e-05,1793253226088577024 +72,1.200000000,BASELINE,771.200934843,749,727,703,671,640,893.200934843,793.799065157,823,653.200934843,635,654,0.400974465209,-0.0153935290464,0.059839416691,0.999999944443,0.000205013648555,-0.00026204806002,2.03712988659e-05,1793253226105243136 +73,1.216666667,BASELINE,771,749.373048209,727,703,671,640,893,794,822.626951791,653,635,654,0.400973970371,-0.0153941051503,0.0598391805992,0.999999944314,0.000204668143585,-0.000262787266436,2.06501966606e-05,1793253226121909504 +74,1.233333333,BASELINE,771,749.945129768,727,703,671,640,893,794,822.054870232,653,635,654,0.400972231842,-0.0153941442603,0.059838195905,0.999999943232,0.000206327921275,-0.000265563114386,2.10020548038e-05,1793253226138576128 +75,1.250000000,BASELINE,771,749.479533088,727,703,671,640,893,793.479533088,822,653,635,654,0.400972805489,-0.0153942392979,0.0598383227878,0.999999943734,0.000205308458032,-0.00026448826514,2.06591695413e-05,1793253226155242752 +76,1.266666667,BASELINE,771.099750309,749,726.900249691,703,671,640,893.099750309,793.099750309,822.099750309,653.099750309,635,654,0.400973490326,-0.0153944955005,0.05983853065,0.999999944287,0.000204208073823,-0.000263270675904,2.03570014006e-05,1793253226171909632 +77,1.283333333,BASELINE,771.696992576,749,726.303007424,703,671,640,893.696992576,793.696992576,822.696992576,653.696992576,635,654,0.400973506331,-0.0153955259018,0.0598385542483,0.99999994427,0.000204121702251,-0.000263378606363,2.0625495861e-05,1793253226188576256 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+82,1.366666667,BASELINE,771,749.609500964,727,703,671,639.390499036,893.390499036,794,822.390499036,653.609500964,634,654,0.400973693396,-0.0153944827104,0.0598386136739,0.999999943799,0.000206439041486,-0.000263380678499,2.03889077371e-05,1793253226271909632 +83,1.383333333,BASELINE,771.18798769,749.81201231,727,703,671,639.18798769,893.18798769,794,822,653.81201231,634,654,0.400973277195,-0.015394629478,0.059838276212,0.999999943636,0.000206419050664,-0.000264011199679,2.04473442184e-05,1793253226288576256 +84,1.400000000,BASELINE,771.765534027,749.234465973,727,703,671,639.765534027,893.765534027,794,822,653.234465973,634,654,0.400973055876,-0.0153929263835,0.0598383252738,0.999999943198,0.000208698567042,-0.000263883746594,2.03515947479e-05,1793253226305242880 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+91,1.516666667,BASELINE,771.804057064,749,726.195942936,702.195942936,671,640.804057064,893,794,822.195942936,653.804057064,635,653.804057064,0.400975843352,-0.0153950552128,0.0598392168368,0.999999946052,0.000197783023907,-0.000261670918817,1.75180398534e-05,1793253233515246336 +92,1.533333333,BASELINE,771.612708327,749,726.387291673,702,671.387291673,640.612708327,893,794,822.387291673,653.612708327,634.612708327,654,0.400975712894,-0.0153950540469,0.0598391090929,0.999999945956,0.000197466449372,-0.000262278150604,1.7453126604e-05,1793253233531912960 +93,1.550000000,BASELINE,771.036499596,749,726.963500404,702,671.963500404,640.036499596,893,794,822.963500404,653.036499596,634.036499596,654,0.400975326553,-0.0153949289364,0.059838608589,0.999999945794,0.000196283841408,-0.00026379360448,1.72770098171e-05,1793253233548579328 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+98,1.633333333,BASELINE,772,749,726.133667119,703,671,640,893,793.866332881,822,653,634,654,0.400975556303,-0.0153951984346,0.0598393403148,0.999999945536,0.000198821975709,-0.00026282763474,1.78611108011e-05,1793253233631912704 +99,1.650000000,BASELINE,772,749,726.445786823,703,671,640,893,794.445786823,822,653,634.445786823,654,0.400974953194,-0.0153952771868,0.0598391929923,0.999999945536,0.000198304440967,-0.000263221514696,1.78098573616e-05,1793253233648579584 +100,1.666666667,BASELINE,771.98065774,749,727,702.98065774,671,640,893,794.98065774,822.01934226,653.01934226,635,654,0.400974395364,-0.0153951294255,0.0598389638723,0.999999945676,0.00019737237464,-0.000263398550867,1.76827118495e-05,1793253233665246208 +101,1.683333333,BASELINE,771.404126341,749,727,702.404126341,671,640,893,794.404126341,822.595873659,653.595873659,635,654,0.400974468372,-0.0153946082869,0.059838697682,0.999999945734,0.0001974589223,-0.000263119397167,1.76373585912e-05,1793253233681912576 +102,1.700000000,BASELINE,771,749,726.823801366,702.176198634,671.176198634,640,893.176198634,793.823801366,822.823801366,653.823801366,634.823801366,654,0.400974659053,-0.0153943735187,0.059838518318,0.999999945855,0.000197264394513,-0.000262815218353,1.74885155691e-05,1793253233698579200 +103,1.716666667,BASELINE,771,749,726.234584133,702.765415867,671.765415867,640,893.765415867,793.234584133,822.234584133,653.234584133,634.234584133,654,0.400975125564,-0.0153948100174,0.0598385424793,0.999999946125,0.000196411011512,-0.000262452379438,1.70970872607e-05,1793253233715245824 +104,1.733333333,BASELINE,771.346873425,749,726.346873425,702.653126575,671.653126575,639.653126575,893.653126575,793,822.346873425,653,634.346873425,654,0.400975343235,-0.0153955226935,0.05983894276,0.999999946283,0.000196264726589,-0.000261938385123,1.73745980045e-05,1793253233731912704 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a/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..9a6aeec86f4835fb8cb4c79bfd12b94cb627ac08 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4a3cc03706f3538398fa9702cdd8378892cc86138a4d4438c09e73f7db6757e +size 26507758 diff --git a/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..73f5a6cb2960c22ce590c29af95cb731cff98ef0 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_05/depth_05/franka_data.csv @@ -0,0 +1,418 @@ 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+17,0.283333333,BASELINE,771.158220251,749,727,703,671,640,894,794,822.158220251,653,634,654,0.400974509008,-0.0153936664449,0.0598368664854,0.999999947279,0.000186331867685,-0.000265576936458,1.38034964926e-05,1793253239404511488 +18,0.300000000,BASELINE,771,749,727,703,671.428400001,640,894,793.571599999,822,653.428400001,634,653.571599999,0.400974557079,-0.01539379419,0.05983701914,0.99999994747,0.00018570419843,-0.000265317309365,1.34659028915e-05,1793253239421177856 +19,0.316666667,BASELINE,771.019968793,749,727,702.980031207,671.980031207,640,893.980031207,793,822.019968793,654,634.019968793,653.019968793,0.400974543031,-0.0153937749184,0.059836956934,0.999999947644,0.000184877655385,-0.00026526196012,1.29993010232e-05,1793253239437844480 +20,0.333333333,BASELINE,771.598195136,749,727,702.401804864,671.401804864,640,893.401804864,793,822.598195136,654,634.598195136,653.598195136,0.400972050579,-0.015393576333,0.0598355230751,0.99999994664,0.000186370726604,-0.000267975183583,1.32338197687e-05,1793253239454511104 +21,0.350000000,BASELINE,771.824285824,749,727,702.175714176,671,640,893.175714176,793.175714176,822.824285824,654,635,654,0.400970400887,-0.0153934731019,0.0598346955766,0.999999946084,0.00018694838383,-0.000269635288944,1.33613427142e-05,1793253239471177728 +22,0.366666667,BASELINE,771.248377762,749,727,702.751622238,671,640,893.751622238,793.751622238,822.248377762,654,635,654,0.400970670607,-0.0153935870428,0.0598352490806,0.999999946565,0.000185441160225,-0.000268896888396,1.32451797412e-05,1793253239487844864 +23,0.383333333,BASELINE,771.334402066,749,727,702.665597934,671,640.334402066,893.665597934,794,822,653.665597934,634.665597934,654,0.40097054384,-0.0153943026678,0.0598352833244,0.9999999466,0.000185049128982,-0.000269033691651,1.33346547385e-05,1793253239504511744 +24,0.400000000,BASELINE,771.922393058,749,727,702.077606942,671,640.922393058,893.077606942,794,822,653.077606942,634.077606942,654,0.400970116404,-0.015395474571,0.0598349237948,0.999999946297,0.000185502787432,-0.000269834192862,1.35800722774e-05,1793253239521178368 +25,0.416666667,BASELINE,772,749,727,702.486563095,671,640.513436905,893,794,822,653,634,654,0.400971014031,-0.0153937240926,0.0598352341797,0.99999994624,0.000187097743689,-0.00026895494639,1.33233383852e-05,1793253239537844736 +26,0.433333333,BASELINE,771.94990916,749,727,703,671,640,893.05009084,794,822.05009084,653.05009084,634,654,0.400972117308,-0.0153918191463,0.0598356790387,0.999999946268,0.000188668961294,-0.00026776417141,1.30842729527e-05,1793253239554511360 +27,0.450000000,BASELINE,771.353905508,749,727,703,671,640,893.646094492,794,822.646094492,653.646094492,634,654,0.400973265999,-0.0153930736363,0.0598364792908,0.999999946847,0.000188090134988,-0.000265961852261,1.38699191607e-05,1793253239571177728 +28,0.466666667,BASELINE,771.233962479,749,727,702.766037521,671,640,894,793.766037521,822.766037521,654,634.233962479,654,0.400973334081,-0.0153939816962,0.0598368452408,0.999999947115,0.000187262859008,-0.000265523641366,1.41185442613e-05,1793253239587844608 +29,0.483333333,BASELINE,771.809937498,749,727,702.190062502,671,640,894,793.190062502,822.190062502,654,634.809937498,654,0.400971822497,-0.0153943833352,0.0598365763164,0.999999946931,0.000186072392756,-0.000267079520107,1.35821376559e-05,1793253239604511232 +30,0.500000000,BASELINE,772,749,727,702.394274739,671,640,894,793.394274739,822.394274739,653.605725261,635,654,0.400970854125,-0.0153936217754,0.0598356620184,0.999999946473,0.000186893849753,-0.00026823093535,1.32979920889e-05,1793253239621177856 +31,0.516666667,BASELINE,772,749,727,702.982730369,671,640,894,793.982730369,822.982730369,653.017269631,635,654,0.400970153286,-0.0153922873384,0.0598344298729,0.999999945879,0.000188706181959,-0.000269183151677,1.31380854722e-05,1793253239637844992 +32,0.533333333,BASELINE,771.43669968,749.56330032,727,703,671,640.56330032,894,794,822.43669968,653.56330032,634.43669968,654,0.400970101061,-0.0153934002574,0.0598350256463,0.999999946223,0.000186521703649,-0.000269411136766,1.3454454397e-05,1793253239654511360 +33,0.550000000,BASELINE,771.142215387,750,727,703,671,640.857784613,894,794,822.142215387,654,634,654,0.400970257768,-0.0153942212741,0.0598357005191,0.999999946615,0.000184870401113,-0.000269082835161,1.3689300298e-05,1793253239671177984 +34,0.566666667,BASELINE,771.716823721,750,727,703,671,640.283176279,894,794,822.716823721,654,634,654,0.40097099009,-0.0153939298132,0.0598364478531,0.999999947077,0.000185207581517,-0.000267129769982,1.36325007815e-05,1793253239687844864 +35,0.583333333,BASELINE,771.702268666,749.702268666,727,703,671,640,894,794,822.702268666,654,634,654,0.400971525808,-0.0153935170308,0.0598366031365,0.999999947174,0.000185431717427,-0.000266615993759,1.35043497363e-05,1793253239704511232 +36,0.600000000,BASELINE,771.115240152,749.115240152,727,703,671,640,894,794,822.115240152,654,634,654,0.40097187049,-0.0153929863638,0.059836183141,0.999999946919,0.000185546011216,-0.000267500733977,1.33068684071e-05,1793253239721177856 +37,0.616666667,BASELINE,771.465633436,749,727,702.534366564,671.465633436,640,894,794,822,653.534366564,634,654,0.400971317154,-0.0153931275301,0.0598356449128,0.999999946776,0.000185295266957,-0.000268218112731,1.31467558396e-05,1793253239737844736 +38,0.633333333,BASELINE,771.95515854,749.04484146,727,702.04484146,671.95515854,640,894,794,822.04484146,653.04484146,634,654,0.400970613448,-0.0153934023631,0.0598351537095,0.999999946654,0.000185079587562,-0.000268826024165,1.30093782157e-05,1793253239754511360 +39,0.650000000,BASELINE,771.377875403,749.622124597,727,702.622124597,671.377875403,640,894,794,822.622124597,653.622124597,634,654,0.400970728849,-0.0153933157907,0.0598355637886,0.999999946476,0.000186338997991,-0.000268619540501,1.30335701352e-05,1793253239771178496 +40,0.666666667,BASELINE,771.198866733,749.801133267,727,703,671,640,894,794,823,654,634,654,0.40097086916,-0.0153933035137,0.0598359129707,0.999999946435,0.000187362954417,-0.000268053009776,1.31527266414e-05,1793253239787845120 +41,0.683333333,BASELINE,771.774583643,749.225416357,727,703,671,640,894,794,823,654,634,654,0.400971056678,-0.0153934320258,0.0598361467538,0.999999946656,0.000187940728133,-0.000266804194015,1.34518399471e-05,1793253239804511744 +42,0.700000000,BASELINE,771.641716408,749,727,703,671.358283592,640,894,794,823,654,634.358283592,654,0.400971378368,-0.0153933757798,0.0598361886182,0.999999946725,0.000187684997792,-0.000266720013815,1.35834649801e-05,1793253239821178112 +43,0.716666667,BASELINE,771.052879443,749,727,703,671.947120557,640,894,794,823,654,634.947120557,654,0.400971786399,-0.0153932006433,0.0598361069841,0.999999946695,0.000186892912493,-0.000267385269764,1.36073122879e-05,1793253239837844480 +44,0.733333333,BASELINE,771.529381327,749,727,703,671.470618673,640,894,794,823,654,635,654,0.400972630774,-0.0153928869542,0.0598374090046,0.999999946794,0.000189141602886,-0.000265414071565,1.39191730247e-05,1793253239854511360 +45,0.750000000,BASELINE,771.890200047,749,727,703,671,640,894,794,822.890200047,654,635,654,0.400973139381,-0.0153927853076,0.0598383443166,0.999999946835,0.000190740585167,-0.000264096549426,1.41501125432e-05,1793253239871177728 +46,0.766666667,BASELINE,771.314841304,749,727,703,671,640,894,794,822.314841304,654,635,654,0.400972041763,-0.0153936406968,0.0598371459235,0.99999994662,0.000188312686396,-0.000266653588947,1.39174534544e-05,1793253239887844352 +47,0.783333333,BASELINE,771.258742837,749,727,702.741257163,671,640,893.741257163,794,822,654,634.741257163,654,0.400971712791,-0.0153942315679,0.0598367331552,0.999999946766,0.000186652355019,-0.00026727744277,1.38179124721e-05,1793253239904511232 +48,0.800000000,BASELINE,771.830182404,749,727,702.169817596,671,640,893.169817596,794,822,654,634.169817596,654,0.400972312742,-0.0153945027628,0.0598372698327,0.999999947358,0.000185919646354,-0.000265564997091,1.38792477843e-05,1793253239921178368 +49,0.816666667,BASELINE,772,749,727,702.404007318,671,640,893.404007318,794,822,654,634,654,0.400971219485,-0.0153939420374,0.0598363158425,0.999999946662,0.000187531656401,-0.000267055409246,1.37828972386e-05,1793253239937844992 +50,0.833333333,BASELINE,772,749,727,702.978840793,671,640,893.978840793,794,822,654,634,654,0.400969410289,-0.0153930295516,0.0598347315542,0.999999945409,0.000190135082406,-0.000269900083831,1.36198724787e-05,1793253239954511616 +51,0.850000000,BASELINE,771.42445974,749,727,702.42445974,671,640,894,794,822.57554026,654,634.57554026,654,0.400968654074,-0.0153939640555,0.0598346033451,0.999999945877,0.000187627828072,-0.000269921816468,1.35375883631e-05,1793253239971177984 +52,0.866666667,BASELINE,771.166699494,749,727,702.166699494,671,640,894,794,823,654,634.833300506,654,0.400968738561,-0.0153950261249,0.0598349357212,0.999999946532,0.000184983790245,-0.000269317172037,1.35756571681e-05,1793253239987844352 +53,0.883333333,BASELINE,771.742222173,749,727,702.742222173,671,640,894,794,823,654,634.257777827,654,0.400970786142,-0.0153962279373,0.0598362611939,0.999999947491,0.000182483285463,-0.000267440940029,1.39013189689e-05,1793253240004511232 +54,0.900000000,BASELINE,771.676707078,749,727,703,671,640.323292922,893.676707078,794,823,654,634.323292922,654,0.400971496191,-0.0153959461885,0.0598367507976,0.999999947709,0.000182654146535,-0.000266504499677,1.39224057617e-05,1793253240021177856 +55,0.916666667,BASELINE,771.091135359,749,727,703,671,640.908864641,893.091135359,794,823,654,634.908864641,654,0.400971121138,-0.0153944608664,0.0598365622833,0.999999947329,0.000184992214544,-0.00026633048695,1.36963990779e-05,1793253240037844480 +56,0.933333333,BASELINE,771,749,727,703,671,640.507669323,893.492330677,794,822.507669323,654,635,654,0.400971076173,-0.0153953408543,0.0598369674727,0.999999947611,0.000184373248733,-0.00026570141303,1.36880312902e-05,1793253240054511360 +57,0.950000000,BASELINE,771,749,727,703,671,640,893.925641849,794,822,653.925641849,634.925641849,654,0.400971121258,-0.0153962420796,0.0598373296716,0.999999947867,0.000183682004977,-0.00026521544154,1.37050642604e-05,1793253240071178240 +58,0.966666667,BASELINE,771,749,727,703,671,640,893.350686464,794,822,653.350686464,634.350686464,654,0.400971362977,-0.0153943511696,0.0598366657222,0.99999994713,0.000186173548811,-0.000266257555816,1.36230334718e-05,1793253240087844864 +59,0.983333333,BASELINE,771.223945304,749,727,703,671,640,893.223945304,794,822.223945304,653.223945304,634.223945304,654,0.400971807228,-0.0153933945961,0.0598366093642,0.999999946949,0.000187108902329,-0.000266284426089,1.35600842797e-05,1793253240104511488 +60,1.000000000,BASELINE,771.798071123,749,727,703,671,640,893.798071123,794,822.798071123,653.798071123,634.798071123,654,0.400972568173,-0.0153938990328,0.0598375030891,0.999999947643,0.000185610860585,-0.000264723771972,1.35269727327e-05,1793253240121177856 +61,1.016666667,BASELINE,772,749,727,703,671,640.384450907,894,793.615549093,823,654,635,654,0.400972772065,-0.0153944067169,0.0598376069206,0.999999947787,0.000185437157759,-0.000264302899973,1.3502668994e-05,1793253240137844736 +62,1.033333333,BASELINE,772,749,727,703,671,640.977478827,894,793.022521173,823,654,635,654,0.400972673737,-0.0153949161627,0.0598372822094,0.999999947634,0.000185981951586,-0.000264500396616,1.34831437773e-05,1793253240154511360 +63,1.050000000,BASELINE,772,749,727,703,671,640.444377367,893.444377367,793.555622633,822.444377367,653.444377367,634.444377367,654,0.400973206178,-0.015394025401,0.0598375419987,0.999999947242,0.000188565145693,-0.000264152264834,1.34863924189e-05,1793253240171177728 +64,1.066666667,BASELINE,771.868471622,749,726.868471622,702.868471622,671,640.131528378,893.131528378,794,822.131528378,653.131528378,634.131528378,654,0.400973407249,-0.0153930849635,0.0598377057212,0.999999946925,0.000190414531492,-0.000264027723989,1.3489720955e-05,1793253240187844352 +65,1.083333333,BASELINE,771.298073122,749,726.298073122,702.298073122,671,640.701926878,893.701926878,794,822.701926878,653.701926878,634.701926878,654,0.400972419554,-0.015392163206,0.0598374719083,0.999999946906,0.000189546927379,-0.000264721107356,1.3490316336e-05,1793253240204511232 +66,1.100000000,BASELINE,771.281290236,749,726,702.281290236,671,640.718709764,894,794,822.718709764,654,634.718709764,654,0.400971297604,-0.0153927821874,0.059836958739,0.99999994694,0.000188069761344,-0.000265641020244,1.35601626434e-05,1793253240221178112 +67,1.116666667,BASELINE,771.870466018,749,726,702.870466018,671,640.129533982,894,794,822.129533982,654,634.129533982,654,0.400970028708,-0.0153950875808,0.0598361398008,0.999999947028,0.000185925400835,-0.000266808880426,1.37058073852e-05,1793253240237844480 +68,1.133333333,BASELINE,771.546850243,749,726.453149757,702.546850243,671,640,894,794,822.453149757,654,634,654,0.400970842713,-0.015394779406,0.0598366735244,0.999999947033,0.00018671548018,-0.000266234517308,1.38071160918e-05,1793253240254511104 +69,1.150000000,BASELINE,771.033871487,749,726.966128513,702.033871487,671,640,894,794,823,654,634.033871487,654,0.400972191121,-0.0153938092419,0.0598375544914,0.999999947035,0.000188176776736,-0.000265191364397,1.38736348806e-05,1793253240271177728 +70,1.166666667,BASELINE,771.612462397,749,726.387537603,702.612462397,671,640,894,794,823,654,634.612462397,654,0.400972693756,-0.0153940380447,0.0598378893635,0.999999947417,0.000187133273901,-0.000264505151103,1.35816008521e-05,1793253240287844096 +71,1.183333333,BASELINE,772,749,726.189723438,703,671,640.189723438,894,794,823,654,634.810276562,654,0.400972628538,-0.0153946039288,0.0598378113904,0.99999994765,0.000185887884927,-0.000264507294523,1.34393837744e-05,1793253240304510976 +72,1.200000000,BASELINE,772,749,726.764287044,703,671,640.764287044,894,794,823,654,634.235712956,654,0.400971411472,-0.0153958535577,0.0598368959913,0.999999947584,0.000184232984444,-0.000265905719246,1.36010594092e-05,1793253240321177600 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sha256:891d57f893a2cc2099f728d91f85c1c449ee8c12f05669d49bb086a067882f51 +size 26154766 diff --git a/Part2/Obstacle_avoidance/ball_15A_10/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_06/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..325d1b282920be92797d4c11922f13e9d69536bd --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_06/depth_01/franka_data.csv @@ -0,0 +1,413 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,772,750,727,702,673,640,895,794,822,654,635,654,0.400925828306,-0.015442502314,0.0499313994186,0.999999975236,2.53740066398e-05,-0.000217785195669,-3.81292678052e-05,1793253249202417408 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+38,0.633333333,BASELINE,772,750,727,702,673,641,895,794,822,653.962755145,634.037244855,654,0.40092921535,-0.0154455128255,0.0499308551857,0.999999975906,2.48039666259e-05,-0.000214897730894,-3.73057841257e-05,1793253249835750400 +39,0.650000000,BASELINE,772,750,727,702,673,641,895,794,822,653.38751694,634.61248306,654,0.400927840856,-0.01544499974,0.0499302470226,0.999999975697,2.31852277085e-05,-0.000215996852985,-3.76059506029e-05,1793253249852417024 +40,0.666666667,BASELINE,772,750,727,702,673,640.805853373,895,794,822.194146627,653.194146627,635,654,0.400926785517,-0.0154445855453,0.0499296675737,0.999999975504,2.21741456971e-05,-0.000216951012281,-3.78595020421e-05,1793253249869083648 +41,0.683333333,BASELINE,772,750,727,702,673,640.210925833,895,794,822.789074167,653.789074167,635,654,0.400926389013,-0.0154443754931,0.0499291474001,0.99999997535,2.24174625547e-05,-0.000217605921805,-3.80168250719e-05,1793253249885750272 +42,0.700000000,BASELINE,771.626982265,749.626982265,727,702,673,640,895,794.373017735,822.626982265,654,635,654,0.400928202657,-0.0154441541442,0.0499300580387,0.999999975787,2.34418665562e-05,-0.0002154830738,-3.79912740945e-05,1793253249902416896 +43,0.716666667,BASELINE,771.049072033,749.049072033,727,702,673,640,895,794.950927967,822.049072033,654,635,654,0.400931230298,-0.0154439265904,0.0499317545989,0.999999976536,2.48953088524e-05,-0.000211834449312,-3.78652734314e-05,1793253249919083520 +44,0.733333333,BASELINE,771.526294011,749,727,702,673,640.526294011,895,794.473705989,822,654,635,654.526294011,0.400930445383,-0.0154436076628,0.0499309650081,0.999999976156,2.38770892338e-05,-0.000213721795078,-3.79705537546e-05,1793253249935750400 +45,0.750000000,BASELINE,772,749.103700258,727,702,673,641,895,794,822,654,635,654.896299742,0.400929597354,-0.0154435856914,0.0499302582682,0.999999975829,2.26718858512e-05,-0.000215361213574,-3.80351647208e-05,1793253249952417024 +46,0.766666667,BASELINE,772,749.691737824,727,702,673,641,895,794,822,654,635,654.308262176,0.400930106881,-0.0154449902698,0.0499310159616,0.999999976271,2.16645603302e-05,-0.00021344343793,-3.7809592391e-05,1793253249969083648 +47,0.783333333,BASELINE,772,749.723112107,727,702,673,641,895,793.723112107,822,653.723112107,635,654,0.400930250266,-0.0154457202854,0.0499311773798,0.999999976366,2.16191594411e-05,-0.000213031370088,-3.76727834734e-05,1793253249985750272 +48,0.800000000,BASELINE,772,749.141143466,727,702,673,641,895,793.141143466,822,653.141143466,635,654,0.40092999023,-0.0154457070542,0.0499306818098,0.999999976078,2.26336266675e-05,-0.00021427832167,-3.76337758711e-05,1793253250002416896 +49,0.816666667,BASELINE,772,749,727,702,673,640.565296318,895,793.434703682,822,653.434703682,635,654,0.400928565792,-0.0154461232291,0.049929855935,0.999999975732,2.15464718741e-05,-0.000215976890494,-3.77512206524e-05,1793253250019083776 +50,0.833333333,BASELINE,772,749,727,702,673,640.008608338,895,794,822.008608338,654,635,654,0.40092682186,-0.0154466615313,0.0499289583651,0.999999975376,1.98390057654e-05,-0.000217754390392,-3.79145608738e-05,1793253250035750656 +51,0.850000000,BASELINE,772,749,727,702,673,640.583666088,895,794,822.583666088,654,635,654,0.400928586837,-0.015446189106,0.049930302151,0.999999975895,2.15918391979e-05,-0.000215210798327,-3.78016957501e-05,1793253250052417024 +52,0.866666667,BASELINE,772,749,727,702,673,640.835895536,895,794,822.835895536,653.835895536,635,654,0.400929487042,-0.0154457049169,0.0499310207191,0.999999976148,2.3203489015e-05,-0.00021388309272,-3.76729304401e-05,1793253250069083904 +53,0.883333333,BASELINE,772,749,727,702,673,640.241343769,895,794,822.241343769,653.241343769,635,654,0.400928118944,-0.0154451898711,0.0499300993357,0.999999975725,2.44448129895e-05,-0.000215744667052,-3.75024588237e-05,1793253250085750528 +54,0.900000000,BASELINE,771.656488482,749.343511518,727,702,673,640,895,794,822,653.343511518,635,654,0.400928090017,-0.0154445403314,0.0499302024922,0.999999975692,2.56781411561e-05,-0.000215734061904,-3.76283196651e-05,1793253250102417408 +55,0.916666667,BASELINE,771.078258734,749.921741266,727,702,673,640,895,794,822,653.921741266,635,654,0.400928976133,-0.0154437988932,0.0499310057072,0.999999975925,2.69060058104e-05,-0.000214444213831,-3.79566617293e-05,1793253250119084032 +56,0.933333333,BASELINE,771.493292004,750,727,702,673,640,895,794,822.493292004,654,635,654,0.400929100464,-0.0154432953659,0.0499310181964,0.999999976052,2.73336239313e-05,-0.000213806370606,-3.78851059173e-05,1793253250135750656 +57,0.950000000,BASELINE,772,749.935196543,727,702,673,640,895,794,822.935196543,654,635,654,0.400928966261,-0.0154430469093,0.0499308252327,0.999999976113,2.73043276535e-05,-0.000213551015437,-3.77407297493e-05,1793253250152417280 +58,0.966666667,BASELINE,772,749.35569404,727,702,673,640,895,794,822.35569404,654,635,654,0.400927725722,-0.0154445285703,0.0499299835022,0.999999975768,2.46408770936e-05,-0.000215522981204,-3.75151362237e-05,1793253250169083904 +59,0.983333333,BASELINE,771.771281654,749,727,702,673,640,895,794,822,654,635,654,0.400927593544,-0.0154452752766,0.0499298659863,0.999999975678,2.31037472821e-05,-0.000216132418158,-3.73891052169e-05,1793253250185750528 +60,1.000000000,BASELINE,771.179066004,749,727,702,673,640,895,794,822,654,635,654,0.40092922286,-0.0154448539349,0.0499308994493,0.999999976006,2.33566551641e-05,-0.000214576416757,-3.74213068132e-05,1793253250202417664 +61,1.016666667,BASELINE,771,749,727,702,673,640.401718771,895,794,822,653.598281229,634.598281229,654,0.400930214918,-0.0154441886793,0.0499310036523,0.999999976086,2.47398348585e-05,-0.000214032036669,-3.75092653399e-05,1793253250219084288 +62,1.033333333,BASELINE,771,749,727,702,673,640.977549178,895,794,822,653.022450822,634.022450822,654,0.400930930778,-0.0154434177073,0.0499307050983,0.999999976056,2.66128932502e-05,-0.000213926110273,-3.7621389851e-05,1793253250235750912 +63,1.050000000,BASELINE,771,749.553033912,727,702,673,640.446966088,895,794,822,653,634.553033912,654,0.400930307386,-0.015444167208,0.049930953008,0.999999976116,2.43304304898e-05,-0.000213886716253,-3.78023498072e-05,1793253250252417280 +64,1.066666667,BASELINE,771.131833287,749.868166713,727,702,673,640,895,794,822,653.131833287,635,654,0.40092968316,-0.0154451010824,0.0499310607971,0.999999976129,2.24897466668e-05,-0.000214026099642,-3.78115145656e-05,1793253250269083904 +65,1.083333333,BASELINE,771.722210425,749.277789575,727,702,673,640,895,794,822,653.722210425,635,654,0.400929245019,-0.0154464616898,0.0499306041046,0.999999975984,2.27720580831e-05,-0.000214777919875,-3.72134260159e-05,1793253250285750784 +66,1.100000000,BASELINE,771.69319844,749,727,702,673,640,895,794,822,654,635,654,0.400929963871,-0.0154466900337,0.0499309276581,0.999999976131,2.30162484268e-05,-0.000214084256132,-3.7099860342e-05,1793253250302417152 +67,1.116666667,BASELINE,771.113749227,749,727,702,673,640,895,794,822,654,635,654,0.400931710917,-0.0154459121602,0.0499319445988,0.999999976536,2.32265614147e-05,-0.000212106023214,-3.74168792939e-05,1793253250319083776 +68,1.133333333,BASELINE,771,749,727,701.538493854,673,640,895,794,822,654,635,654,0.400930575752,-0.0154457135732,0.0499316366817,0.999999976342,2.25305679966e-05,-0.00021307102972,-3.75330267513e-05,1793253250335750656 +69,1.150000000,BASELINE,771.036370133,749,727,701,673,640,895,794,822,653.963629867,635,654,0.400928781508,-0.0154456273315,0.0499309488934,0.999999975995,2.17791821404e-05,-0.000214762169898,-3.75971823624e-05,1793253250352417536 +70,1.166666667,BASELINE,771.620771252,749,727,701,673,640,895,794,822,653.379228748,635,654,0.400927664034,-0.0154451018844,0.0499294132346,0.999999975566,2.35287624059e-05,-0.000216562322806,-3.76172165404e-05,1793253250369084160 +71,1.183333333,BASELINE,771.79552397,749,727,701,673,640,895,794,822,653.20447603,635,654,0.40092723659,-0.0154447299246,0.049928791209,0.999999975382,2.48443964493e-05,-0.00021726812182,-3.75822148366e-05,1793253250385751040 +72,1.200000000,BASELINE,771.213106168,749,727,701,673,640,895,794,822,653.786893832,635,654,0.400928084558,-0.0154446416616,0.0499298578902,0.99999997566,2.53579494711e-05,-0.000215951180138,-3.74454879672e-05,1793253250402417408 +73,1.216666667,BASELINE,771,749.367017111,726.632982889,701.367017111,673,640.367017111,895,794,822,654,635,654,0.400929468631,-0.0154452106278,0.0499306532754,0.999999976101,2.42117793847e-05,-0.000214040166042,-3.73985029909e-05,1793253250419084032 +74,1.233333333,BASELINE,771,749.945816334,726.054183666,701.945816334,673,640.945816334,895,794,822,654,635,654,0.400931162056,-0.0154461588388,0.0499312921129,0.999999976629,2.21078891669e-05,-0.000211786350809,-3.74033023318e-05,1793253250435750656 +75,1.250000000,BASELINE,771.521289217,750,726.521289217,702,673,640.478710783,895,794,822,654,635,654,0.400928710639,-0.0154449421071,0.0499294263698,0.999999975777,2.35797893266e-05,-0.000215559784992,-3.77315911818e-05,1793253250452417280 +76,1.266666667,BASELINE,772,750,727,701.901596052,673,640.098403948,895,794,822,654,635,654,0.400926595634,-0.0154438521328,0.0499278643089,0.999999975035,2.49182281266e-05,-0.000218783034581,-3.79964225587e-05,1793253250469083904 +77,1.283333333,BASELINE,772,750,727,701.314623973,673,640.685376027,895,794,822,654,635,654,0.400928276322,-0.0154445016611,0.0499290943322,0.999999975636,2.37604105852e-05,-0.000216183944027,-3.77803100956e-05,1793253250485750784 +78,1.300000000,BASELINE,772,749.731134255,727,701,673.268865745,640.731134255,895,794,822,654,635,654,0.400928298278,-0.0154448916005,0.049929275012,0.999999975736,2.2542094528e-05,-0.000215874331284,-3.76478662975e-05,1793253250502417408 +79,1.316666667,BASELINE,772,749.151667494,727,701,673.848332506,640.151667494,895,794,822,654,635,654,0.400926404022,-0.0154449816559,0.0499282434617,0.999999975259,2.12538890215e-05,-0.000218209585705,-3.76120788298e-05,1793253250519084288 +80,1.333333333,BASELINE,772,749.428051043,727,701,673.571948957,640.428051043,895,794,822,654,635,654.428051043,0.400927209322,-0.0154456157683,0.0499285383045,0.999999975501,2.15923464457e-05,-0.000217086794377,-3.74836264434e-05,1793253250535750912 +81,1.350000000,BASELINE,772,749.992245119,727,701.007754881,673,640.992245119,895,794,822,654,635,654.992245119,0.400928941121,-0.0154464206613,0.0499292960117,0.999999975985,2.25110332789e-05,-0.000214778701309,-3.73252551376e-05,1793253250552417280 +82,1.366666667,BASELINE,772,749.420110718,727,701.579889282,673,640.420110718,895,794,822,654,635,654.420110718,0.400928447854,-0.0154456168993,0.0499295165356,0.999999975816,2.36865664322e-05,-0.000215431041425,-3.73803796605e-05,1793253250569084160 +83,1.383333333,BASELINE,772,749,727,702,673,640,895,794,822,653.84652648,635,654,0.400928456653,-0.0154451639648,0.049929760945,0.999999975753,2.36988798384e-05,-0.000215707797504,-3.74560710371e-05,1793253250585750528 +84,1.400000000,BASELINE,772,749,727,702,673,640,895,794,822,653.26893555,635,654,0.400929852889,-0.0154456805266,0.0499300713609,0.999999975982,2.04966862274e-05,-0.000214946643547,-3.75885980342e-05,1793253250602417152 +85,1.416666667,BASELINE,772,749.317410346,727,702,673,640,895,794,822,653.317410346,635,654,0.400930261647,-0.0154456551248,0.0499301686263,0.999999976027,2.07291491869e-05,-0.000214741659242,-3.74527961002e-05,1793253250619083776 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b/Part2/Obstacle_avoidance/ball_15A_10/position_06/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3e5415340b6864a218ce8ac4fa162b8813a7eccf6a832d190972f600a3954de +size 26157883 diff --git a/Part2/Obstacle_avoidance/ball_15A_10/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_06/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..7b96c6c3e93560862c788af0890489235a1234c6 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_06/depth_02/franka_data.csv @@ -0,0 +1,413 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+22,0.366666667,BASELINE,771,749,726.213368794,701,672,640,894.213368794,794.786631206,822,653.213368794,634.786631206,654,0.400981861223,-0.0154359793352,0.0498500951538,0.99999995501,-0.000138744499189,-0.000261367003864,-4.91565058416e-05,1793253256634708224 +23,0.383333333,BASELINE,771,749,726,701,672,640,894.362637621,795,822,653.362637621,634.637362379,654,0.400981035628,-0.0154370101924,0.0498495748389,0.999999954574,-0.000140279843576,-0.000262232742933,-4.90673963205e-05,1793253256651375360 +24,0.400000000,BASELINE,771,749,726,701,672,640,894.937649798,795,822,653.937649798,634.062350202,654,0.400980437093,-0.0154395970393,0.0498491600052,0.999999953924,-0.000143876100192,-0.000262792142846,-4.88990771073e-05,1793253256668042240 +25,0.416666667,BASELINE,771,749.525231703,726,701.525231703,672,640,895,794.474768297,822,653.474768297,634,654,0.400980664698,-0.0154377503589,0.0498498529899,0.99999995441,-0.000141716655466,-0.000262064609915,-4.91847745698e-05,1793253256684709120 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+34,0.566666667,BASELINE,771.751734383,749.751734383,726,702,673.503468766,640,895,794,822,653.248265617,634.751734383,654,0.400981528545,-0.0154379550182,0.0498507246821,0.999999955224,-0.000138994204685,-0.000260417748298,-4.91372083648e-05,1793253256834708992 +35,0.583333333,BASELINE,771.671327791,750,726,701.671327791,673.342655582,640,895,794,822,653.328672209,635,654,0.400981026031,-0.015437187728,0.049849990448,0.999999954928,-0.000138887013866,-0.000261595839043,-4.92122633848e-05,1793253256851375616 +36,0.600000000,BASELINE,771.097756858,750,726,701.097756858,672.195513716,640,895,794,822,653.902243142,635,654,0.400979595925,-0.0154368288885,0.0498488895592,0.999999954295,-0.000140119787458,-0.000263348844677,-4.92321370446e-05,1793253256868041984 +37,0.616666667,BASELINE,771,750,726,701,672,640,895,794,822,654,634.511669623,654,0.400981578803,-0.0154364803622,0.0498502328898,0.999999955057,-0.000139800046893,-0.000260623726084,-4.91650388906e-05,1793253256884708352 +38,0.633333333,BASELINE,771,749.924265783,726,701.075734217,672,640,895,794,822,654,634,654.075734217,0.400983676516,-0.0154363639542,0.0498516742319,0.999999955852,-0.000139400037466,-0.000257791683262,-4.90531233136e-05,1793253256901375232 +39,0.650000000,BASELINE,771,749.34520168,726,701.65479832,672,640,895,794,822,654,634,654.65479832,0.400981877217,-0.0154377761222,0.0498504295402,0.999999955034,-0.000140586415301,-0.000260363600416,-4.87621051651e-05,1793253256918041600 +40,0.666666667,BASELINE,771,749.233178952,726,702,672,640,895,794,822,654,634,654.766821048,0.400980931156,-0.0154377754937,0.0498498254357,0.999999954658,-0.000140711469403,-0.000261751758847,-4.86764216487e-05,1793253256934708480 +41,0.683333333,BASELINE,771,749.810550688,726,702,672,640,895,794,822,654,634,654.189449312,0.40098124455,-0.0154356894525,0.0498501668947,0.999999954944,-0.000139269915615,-0.000261392584417,-4.88938302518e-05,1793253256951375872 +42,0.700000000,BASELINE,771,749.613872153,726,701.613872153,672,640,895,793.613872153,822,653.613872153,634.386127847,654,0.400981648375,-0.0154360753275,0.0498503745131,0.999999955281,-0.000138589714653,-0.000260441081883,-4.90047226974e-05,1793253256968043008 +43,0.716666667,BASELINE,771,749.039171428,726,701.039171428,672,640,895,793.039171428,822,653.039171428,634.960828572,654,0.400982096364,-0.01543766841,0.049850516768,0.999999955643,-0.000138281334869,-0.000259200304664,-4.9063595945e-05,1793253256984709888 +44,0.733333333,BASELINE,771,749,726,701,672,640,895,793.54922943,822,653.54922943,634.45077057,654,0.400981207619,-0.0154379713074,0.0498504641496,0.999999955508,-0.000138488164394,-0.000259632848506,-4.89572194433e-05,1793253257001375744 +45,0.750000000,BASELINE,771,749.136180615,726,701.136180615,672,640,894.863819385,794,822,654,634,654,0.400980381194,-0.0154378877043,0.04985040471,0.999999955391,-0.000138166425662,-0.000260272049783,-4.8847065185e-05,1793253257018042112 +46,0.766666667,BASELINE,771,749.715159607,726,701.715159607,672,640,894.284840393,794,822,654,634,654,0.400980075325,-0.015436854227,0.0498503694389,0.999999955454,-0.000136003484494,-0.000261185233018,-4.87639296562e-05,1793253257034708736 +47,0.783333333,BASELINE,771,749.707966165,726,702,672.292033835,640,894.584067669,794,822,654,634.292033835,654.292033835,0.400979989936,-0.0154371324023,0.0498503701436,0.99999995531,-0.000136590648609,-0.000261406558664,-4.88886646092e-05,1793253257051375104 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+48,0.800000000,BASELINE,771,750,726,701.856065974,672,640,894.856065974,794.143934026,822,654,635,654.143934026,0.400985007281,-0.0154331092684,0.0498512159609,0.999999961058,-9.77102611662e-05,-0.00025705464311,-4.75288740104e-05,1793253264132718080 +49,0.816666667,BASELINE,771,749.562890694,726,701.562890694,672.437109306,640,895,794.437109306,822,654,635,654,0.40098540614,-0.0154341998531,0.0498517339118,0.999999961173,-9.83973936654e-05,-0.000256415951703,-4.7143649081e-05,1793253264149384448 +50,0.833333333,BASELINE,771,749.016297878,726,701.016297878,672.983702122,640,895,794.983702122,822,653.983702122,634.983702122,654,0.400986175973,-0.0154353510798,0.0498525852479,0.999999961417,-9.91730731476e-05,-0.000255252225696,-4.66669674708e-05,1793253264166050816 +51,0.850000000,BASELINE,771,749.594475472,726,701.594475472,672.405524528,640,895,794.405524528,822,653.405524528,634.405524528,654,0.400986138273,-0.0154349162283,0.0498529996429,0.999999961538,-9.96030252812e-05,-0.000254627794746,-4.65593469917e-05,1793253264182717440 +52,0.866666667,BASELINE,771,749.828649011,726,702,672,640,895,794,822,653.171350989,634,654,0.400986234834,-0.0154343851696,0.0498531073435,0.999999961644,-9.92712374501e-05,-0.000254338232982,-4.65713110793e-05,1793253264199384320 +53,0.883333333,BASELINE,771,749.254831822,726,702,672,640,895,794,822,653.745168178,634,654,0.400986646749,-0.0154336281413,0.0498524946859,0.999999961712,-9.71502881148e-05,-0.000254835206137,-4.68641533078e-05,1793253264216051200 +54,0.900000000,BASELINE,771,749,726,701.67246287,672,640,895,794,822,654,634,654,0.400985968222,-0.0154330126191,0.0498520635904,0.999999961627,-9.57678954719e-05,-0.000255669504823,-4.69850924897e-05,1793253264232717568 +55,0.916666667,BASELINE,771,749,726,701.083262093,672,640,895,794,822,654,634,654,0.40098441856,-0.0154325101438,0.0498517775417,0.999999961421,-9.49755228722e-05,-0.000256773286918,-4.69687013398e-05,1793253264249384192 +56,0.933333333,BASELINE,771,749,726,701.494748091,672,640,895,794,822,654,634,654,0.400985643259,-0.0154344535778,0.0498520616106,0.999999961416,-9.72911170059e-05,-0.000255952091327,-4.68183285642e-05,1793253264266051072 +57,0.950000000,BASELINE,771,749,726,701.928899991,672,640,895,794,822,653.928899991,634.071100009,654,0.400987021105,-0.0154363689716,0.0498523503886,0.999999961411,-9.9746434493e-05,-0.00025504091533,-4.67237014121e-05,1793253264282717440 +58,0.966666667,BASELINE,771,749,726,701.351241957,672,640,895,794,822,653.351241957,634.648758043,654,0.400986237157,-0.0154352167856,0.0498520042604,0.999999961229,-9.95531629184e-05,-0.000255745683109,-4.71833308078e-05,1793253264299384064 +59,0.983333333,BASELINE,771,749,726,701,672.225703896,640,895,794,822,653.225703896,635,654.225703896,0.400986189212,-0.015434250285,0.0498519798971,0.999999961239,-9.94569919458e-05,-0.000255707691667,-4.73709607249e-05,1793253264316050688 +60,1.000000000,BASELINE,771,749,726,701,672.801545021,640,895,794,822,653.801545021,635,654.801545021,0.400987283036,-0.0154335718402,0.0498524546915,0.999999961548,-9.95114543015e-05,-0.000254517448816,-4.71366345762e-05,1793253264332717312 +61,1.016666667,BASELINE,771,749.388197565,726,701.388197565,672.611802435,640,895,794,822,654,635,654.611802435,0.400986919345,-0.0154338906267,0.0498527442835,0.999999961615,-9.92049257995e-05,-0.000254417153425,-4.69102498618e-05,1793253264349383936 +62,1.033333333,BASELINE,771,749.980535445,726,701.980535445,672.019464555,640,895,794,822,654,635,654.019464555,0.400985789194,-0.0154347338244,0.0498529364836,0.999999961554,-9.87085640916e-05,-0.000254890025576,-4.66880413003e-05,1793253264366050560 +63,1.050000000,BASELINE,771,750,726,702,672,640,895,794,822,653.442254676,635,654,0.400985295758,-0.01543442653,0.0498520011516,0.999999961054,-9.93258157077e-05,-0.000256544356687,-4.70148569255e-05,1793253264382717440 +64,1.066666667,BASELINE,771,750,726,702,672.134821248,640,895,794,822,653.134821248,635,654.134821248,0.400985239079,-0.0154343205248,0.0498516060773,0.999999960827,-9.97664746282e-05,-0.000257238808788,-4.71273047156e-05,1793253264399384320 +65,1.083333333,BASELINE,771,750,726,702,672.71314735,640,895,794,822,653.71314735,635,654.71314735,0.400986547987,-0.0154350052665,0.049853114247,0.999999961548,-9.95017495248e-05,-0.000254643613194,-4.64732084992e-05,1793253264416051200 +66,1.100000000,BASELINE,771,749.703641192,726,701.703641192,672.703641192,640,895,794,822,654,635,654.703641192,0.400987335677,-0.015435144077,0.0498537526955,0.999999961918,-9.96963772912e-05,-0.000253136935332,-4.63340857249e-05,1793253264432717824 +67,1.116666667,BASELINE,771,749.115621862,726,701.115621862,672.115621862,640,895,794,822,654,635,654.115621862,0.400987610413,-0.015434745611,0.0498535352109,0.999999961946,-0.000100343075652,-0.000252701518681,-4.67017723666e-05,1793253264449384448 +68,1.133333333,BASELINE,771,749,726,701.465508164,672,640,895,794,822,653.534491836,635,654,0.400986420727,-0.01543522346,0.0498529433351,0.999999961465,-0.000101538424229,-0.000254110055057,-4.67676338646e-05,1793253264466051072 +69,1.150000000,BASELINE,771,749,726,702,672,640,895,794,822,653.044723971,635,654,0.400984953217,-0.0154357489009,0.0498523240395,0.999999960916,-0.000102644103806,-0.000255826280529,-4.67537750847e-05,1793253264482717696 +70,1.166666667,BASELINE,771,749,726,702,672,640,895,794,822,653.621228003,635,654,0.400984444091,-0.0154342899613,0.0498524682718,0.999999961076,-0.000101086907193,-0.000255834723016,-4.66703948105e-05,1793253264499384064 +71,1.183333333,BASELINE,771,749,726,702,672,640,895,794,822,654,635,654,0.400984288344,-0.0154334999855,0.0498524306171,0.99999996124,-9.92382132915e-05,-0.000255910988088,-4.66997220798e-05,1793253264516050944 +72,1.200000000,BASELINE,771,749,726,702,672,640,895,794,822,654,635,654,0.400984809523,-0.0154339914648,0.0498520445426,0.999999961412,-9.68311319088e-05,-0.000256117172942,-4.69449499725e-05,1793253264532718080 +73,1.216666667,BASELINE,771,749,726,702,672,640,895,794.35333512,822,653.64666488,635,654,0.400986198314,-0.0154339740325,0.0498525740278,0.999999961681,-9.71149224978e-05,-0.000254930941845,-4.70908692743e-05,1793253264549384704 +74,1.233333333,BASELINE,771,749,726,702,672,640,895,794.940714579,822,653.059285421,635,654,0.400988161801,-0.0154336195042,0.049853709967,0.999999962009,-9.91811099269e-05,-0.000252822393501,-4.71710079121e-05,1793253264566050816 +75,1.250000000,BASELINE,771,749,726,701.476302352,672,640,895,794.476302352,822,653.523697648,635,654,0.400987124168,-0.0154341397426,0.0498530206228,0.999999961882,-9.94480913457e-05,-0.000253261856897,-4.6958051484e-05,1793253264582717440 +76,1.266666667,BASELINE,771,749,726,701,672,640,895,794.104870048,822,654,635,654,0.400986277749,-0.0154347285907,0.0498524621461,0.999999961781,-9.94088935812e-05,-0.000253722123986,-4.67010456061e-05,1793253264599384064 +77,1.283333333,BASELINE,771,749,726,701,672,640,895,794.680134506,822,654,635,654,0.40098780025,-0.0154351846941,0.049853409807,0.99999996203,-9.8902329696e-05,-0.000252992640685,-4.63940456354e-05,1793253264616050944 +78,1.300000000,BASELINE,771.254811024,749.254811024,726,701.254811024,672,640,895,794.745188976,822,654,635,654,0.400989008101,-0.0154346956027,0.049854222988,0.999999962457,-9.77781895042e-05,-0.000251757817024,-4.6307915682e-05,1793253264632717312 +79,1.316666667,BASELINE,771.828751156,749.828751156,726,701.828751156,672,640,895,794.171248844,822,654,635,654,0.400989821878,-0.0154330227354,0.049854867744,0.9999999631,-9.58805876215e-05,-0.000249890097653,-4.6498406638e-05,1793253264649384192 +80,1.333333333,BASELINE,771.584501436,749.584501436,726,701.584501436,672,640,894.584501436,794,822,654,635,654,0.400988347132,-0.0154339105387,0.0498539009518,0.999999962686,-9.68115442666e-05,-0.000251226240438,-4.62694901052e-05,1793253264666051072 +81,1.350000000,BASELINE,771,749.007498744,726,701,672,640,894.007498744,794,822,653.992501256,635,654,0.400985934607,-0.015435851415,0.049852279744,0.999999961823,-9.89121840251e-05,-0.000253900439472,-4.58715274807e-05,1793253264682717440 +82,1.366666667,BASELINE,771,749.584779942,726,701,672,640,894.584779942,794,822,653.415220058,635,654,0.400986215033,-0.0154350659938,0.0498530074148,0.999999961643,-9.84907491205e-05,-0.00025471902802,-4.6181089792e-05,1793253264699384064 +83,1.383333333,BASELINE,771,750,726,701,672,640,895,794,822,653.161716002,635,654,0.40098661379,-0.0154340896984,0.0498535184135,0.999999961619,-9.78664047854e-05,-0.000254982003738,-4.65597000469e-05,1793253264716050944 +84,1.400000000,BASELINE,771,750,726,701,672,640,895,794,822,653.737767898,635,654,0.400987315725,-0.0154326243603,0.0498534742727,0.999999962,-9.67221819353e-05,-0.00025382143257,-4.71152195242e-05,1793253264732717568 +85,1.416666667,BASELINE,771,749.679975525,726,701,672,640,895,794,822,654,634.679975525,654,0.400986898785,-0.0154335791569,0.0498530041725,0.999999961946,-9.75703427311e-05,-0.000253718372221,-4.70680527214e-05,1793253264749383936 +86,1.433333333,BASELINE,771,749.092534268,726,701,672,640,895,794,822,654,634.092534268,654,0.400985546898,-0.0154365562509,0.049852178135,0.999999961525,-0.000100083366332,-0.000254498982292,-4.65172730734e-05,1793253264766050816 +87,1.450000000,BASELINE,771.488182623,749.488182623,726,701.488182623,672,640,894.511817377,794.488182623,822,654,634.488182623,654.488182623,0.400986771857,-0.01543711059,0.0498531721106,0.999999961813,-0.000100189357244,-0.000253406259827,-4.60527117425e-05,1793253264782717696 +88,1.466666667,BASELINE,771.932685523,749.932685523,726,701.932685523,672.067314477,640,894.067314477,794.932685523,822,654,635,654.932685523,0.400988057026,-0.015436736319,0.0498542136644,0.99999996216,-9.93419690853e-05,-0.000252416566725,-4.57899355809e-05,1793253264799384576 +89,1.483333333,BASELINE,771.356033661,749.356033661,726,701.356033661,672.643966339,640,894.643966339,794.356033661,822,654,635,654.356033661,0.400986152211,-0.015432763251,0.0498530403781,0.99999996194,-9.46861253986e-05,-0.00025485672399,-4.69319977119e-05,1793253264816051200 +90,1.500000000,BASELINE,771,749,726,701,672.779747301,640,895,794,822,654,635,654,0.40098556001,-0.0154309142824,0.0498527994281,0.999999961901,-9.28757312977e-05,-0.000255587801667,-4.7398852336e-05,1793253264832718080 +91,1.516666667,BASELINE,771,749,726,701,672.20405084,640,895,794,822,654,635,654,0.400987086108,-0.0154324931854,0.049854063082,0.999999962184,-9.56573236119e-05,-0.000253560766825,-4.67760571141e-05,1793253264849384704 +92,1.533333333,BASELINE,771.380262936,749.380262936,726,701.380262936,672,640,895,794,822,654,634.619737064,654,0.40098728025,-0.0154340611193,0.0498538604071,0.999999962054,-9.72992135354e-05,-0.000253493835793,-4.65355685936e-05,1793253264866051072 +93,1.550000000,BASELINE,771.969308075,749.969308075,726,701.969308075,672,640,895,794,822,654,634.030691925,654,0.400986743085,-0.0154356230308,0.049852852649,0.9999999617,-9.83153536008e-05,-0.000254503093584,-4.65049843424e-05,1793253264882717184 +94,1.566666667,BASELINE,771.451149413,750,726,702,672,640,895,794,822,654,634,654,0.400987293147,-0.0154361099575,0.0498532212991,0.999999961672,-0.000100495064746,-0.000253755050167,-4.6524247183e-05,1793253264899384320 +95,1.583333333,BASELINE,771,749.87290797,726,702,672,640,895,794,822,654,634,654,0.400987680386,-0.0154361226609,0.0498534670436,0.999999961658,-0.000101758905805,-0.000253295198579,-4.65823722329e-05,1793253264916050944 +96,1.600000000,BASELINE,771,749.297413833,726,702,672,640,895,794,822,654,634,654,0.400987282303,-0.0154346707057,0.0498530122184,0.999999961643,-9.95657419942e-05,-0.000254192944787,-4.6767942435e-05,1793253264932717568 +97,1.616666667,BASELINE,771,749.283506119,726,702,672,640,895,794,822,654,634.283506119,654,0.400987715913,-0.0154340648107,0.0498533468394,0.999999961942,-9.76839416117e-05,-0.00025375623717,-4.6717472957e-05,1793253264949384192 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+13,0.216666667,BASELINE,772,749.545314448,726,702,672,641,895.454685552,794,822,654,634,654,0.400980516176,-0.015429295777,0.0498483439319,0.999999962785,-6.20917508466e-05,-0.000261825548449,-4.49695633004e-05,1793253270643709696 +14,0.233333333,BASELINE,771.876518237,749.876518237,726,701.876518237,672,640.876518237,895.123481763,793.876518237,822,654,634.123481763,654,0.400980399584,-0.0154290697764,0.049848216318,0.999999962747,-6.14537726993e-05,-0.000262088489373,-4.51594606207e-05,1793253270660376320 +15,0.250000000,BASELINE,771.283362425,749.283362425,726,701.283362425,672,640.283362425,895.716637575,793.283362425,822,654,634.716637575,654,0.400979954949,-0.0154300572978,0.0498478418593,0.999999962421,-6.18384256911e-05,-0.000263297537967,-4.48246976906e-05,1793253270677042688 +16,0.266666667,BASELINE,771,749.300051802,726,701,672,640.300051802,895.699948198,793.300051802,822,654,634.699948198,654,0.400978748931,-0.0154304572041,0.04984727041,0.999999961976,-6.285646813e-05,-0.000264755484327,-4.4732088503e-05,1793253270693709312 +17,0.283333333,BASELINE,771,749.874555541,726,701,672,640.874555541,895.125444459,793.874555541,822,654,634.125444459,654,0.40097684649,-0.0154303196293,0.0498465187767,0.999999961421,-6.44538603767e-05,-0.000266441092884,-4.48609729686e-05,1793253270710376192 +18,0.300000000,BASELINE,771,749.551029843,726,701,672,641,895,794,822,654,634.448970157,654,0.40097761786,-0.015429774688,0.0498468570902,0.999999961709,-6.3560109298e-05,-0.000265577477944,-4.48494630061e-05,1793253270727042816 +19,0.316666667,BASELINE,771.024085212,749.024085212,726,701.024085212,672.024085212,640.975914788,895,794,822,653.975914788,635,654,0.400979075969,-0.0154291683768,0.0498474640176,0.999999962199,-6.21026387411e-05,-0.000264080985285,-4.48037081105e-05,1793253270743709440 +20,0.333333333,BASELINE,771.616310233,749.616310233,726,701.616310233,672.616310233,640.383689767,895,794,822,653.383689767,635,654,0.400979114287,-0.0154297987647,0.0498472250047,0.999999961992,-6.37631277584e-05,-0.000264453815831,-4.48752876514e-05,1793253270760376064 +21,0.350000000,BASELINE,771.796878959,749.796878959,726,702,672.796878959,640,895,794,822,653.203121041,634.796878959,654,0.400979112613,-0.0154306271011,0.0498471641442,0.99999996185,-6.54900433282e-05,-0.000264566210542,-4.48886662308e-05,1793253270777042432 +22,0.366666667,BASELINE,771.220029973,749.220029973,726,702,672.220029973,640,895,794,822,653.779970027,634.220029973,654,0.400979037354,-0.015431819648,0.0498474310709,0.999999961829,-6.73391787404e-05,-0.000264199422219,-4.47949592657e-05,1793253270793709056 +23,0.383333333,BASELINE,771,749,726,702,672,640.355343519,895,794,822,654,634.355343519,654,0.400980352109,-0.0154313921585,0.0498485397961,0.999999962485,-6.57597213436e-05,-0.000262112134912,-4.47465655138e-05,1793253270810375936 +24,0.400000000,BASELINE,771,749,726,702,672,640.929807213,895,794,822,654,634.929807213,654,0.400982524006,-0.0154299656847,0.0498501676107,0.999999963543,-6.20660455748e-05,-0.000258963913514,-4.47261138382e-05,1793253270827042560 +25,0.416666667,BASELINE,771,749,726,702,672.505526178,640.494473822,895.505526178,794.505526178,822,654,635,654,0.400982355902,-0.0154287727519,0.0498500730009,0.999999963605,-6.04999818518e-05,-0.000259069094953,-4.48677461044e-05,1793253270843709440 +26,0.433333333,BASELINE,771,749.083866605,726,701.916133395,672.916133395,640,895.916133395,794.916133395,822,654,635,654,0.400981750713,-0.0154280348947,0.0498496219533,0.999999963431,-5.98343780177e-05,-0.000259873555406,-4.49802891764e-05,1793253270860376064 +27,0.450000000,BASELINE,771,749.677066625,726,701.322933375,672.322933375,640,895.322933375,794.322933375,822,654,635,654,0.400980469186,-0.0154298633469,0.0498484622787,0.999999962655,-6.28387922023e-05,-0.000262174537107,-4.47791503705e-05,1793253270877042688 +28,0.466666667,BASELINE,771.263453328,749.736546672,726,701.263453328,672,640.263453328,895,794,822,654,634.736546672,654.263453328,0.400979958422,-0.0154304610789,0.049848032548,0.999999962363,-6.39260832249e-05,-0.000263028878411,-4.47665705652e-05,1793253270893709312 +29,0.483333333,BASELINE,771.841698969,749.158301031,726,701.841698969,672,640.841698969,895,794,822,654,634.158301031,654.841698969,0.400980368617,-0.015429588261,0.0498484750048,0.999999962659,-6.2722662307e-05,-0.000262154673266,-4.49792941484e-05,1793253270910375936 +30,0.500000000,BASELINE,772,749.41820484,726,701.58179516,672.41820484,641,895,794,822,654,634,654.58179516,0.400979771811,-0.0154290473703,0.049848278709,0.99999996265,-6.22665935793e-05,-0.000262301150745,-4.49653459781e-05,1793253270927042560 +31,0.516666667,BASELINE,772,749.994054878,726,701.005945122,672.994054878,641,895,794,822,654,634,654.005945122,0.40097879541,-0.0154286316018,0.0498478416308,0.999999962525,-6.20922444413e-05,-0.000262832381599,-4.48659523224e-05,1793253270943709184 +32,0.533333333,BASELINE,772,750,726,701.581082992,672.418917008,641,895,794,822,654,634.581082992,654,0.400979540731,-0.0154301485285,0.0498479231018,0.999999962478,-6.41298418747e-05,-0.000262530647028,-4.48252893584e-05,1793253270960375808 +33,0.550000000,BASELINE,771.834180331,749.834180331,726,702,672.165819669,641,895,794,822,654,635,654.165819669,0.400979853795,-0.0154309914177,0.0498478475558,0.999999962398,-6.52624477354e-05,-0.000262546654442,-4.48892077441e-05,1793253270977042688 +34,0.566666667,BASELINE,771.255440203,749.255440203,726,702,672.744559797,641,895,794,822,654,635,654.744559797,0.400979045738,-0.0154301056279,0.0498473675391,0.999999962241,-6.40840036617e-05,-0.000263375533874,-4.52120266454e-05,1793253270993709312 +35,0.583333333,BASELINE,771,749.323009163,726,702,672.676990837,640.676990837,895,794.323009163,822,654,635,654.676990837,0.400979035853,-0.0154296996427,0.0498475304316,0.999999962222,-6.32395508967e-05,-0.000263676019397,-4.5071522703e-05,1793253271010375936 +36,0.600000000,BASELINE,771,749.90122886,726,702,672.09877114,640.09877114,895,794.90122886,822,654,635,654.09877114,0.400979656606,-0.0154296727525,0.0498482012886,0.999999962312,-6.26589855664e-05,-0.000263559019355,-4.45649459902e-05,1793253271027042560 +37,0.616666667,BASELINE,771.475135414,750,726,701.524864586,672,640.475135414,895.475135414,795,822,654,634.524864586,654,0.400978874887,-0.0154297719393,0.0498479644549,0.999999962131,-6.19918839293e-05,-0.00026438121692,-4.46980335749e-05,1793253271043709184 +38,0.633333333,BASELINE,771.950429954,749.950429954,726,701.049570046,672.049570046,641,895.950429954,794.950429954,822,654,634,654,0.400977894591,-0.0154300441655,0.0498475910102,0.999999961898,-6.17316697663e-05,-0.000265281151477,-4.49254398087e-05,1793253271060376064 +39,0.650000000,BASELINE,771.360553884,749.360553884,726,701.639446116,672.639446116,641,895.360553884,794.360553884,822,654,634,654,0.40097789905,-0.0154319193912,0.0498477667247,0.999999961723,-6.610078248e-05,-0.000264919461949,-4.47445540537e-05,1793253271077042688 +40,0.666666667,BASELINE,771,749.224964029,726,702,673,641,895.224964029,794,822,654,634,654,0.400978266574,-0.015432449455,0.0498477942903,0.999999961778,-6.72468911227e-05,-0.000264444235154,-4.46239376339e-05,1793253271093709312 +41,0.683333333,BASELINE,771,749.803629755,726,702,673,641,895.803629755,794,822,654,634,654,0.400979204931,-0.0154308645759,0.0498475889275,0.999999962208,-6.33256026797e-05,-0.000263790498403,-4.45980802238e-05,1793253271110376448 +42,0.700000000,BASELINE,771,749.6206716,726,702,672.6206716,640.6206716,895.6206716,794,821.6206716,654,634,654,0.400979660789,-0.0154310086086,0.0498479915612,0.999999962364,-6.24715776772e-05,-0.000263439656482,-4.43624355332e-05,1793253271127043072 +43,0.716666667,BASELINE,771,749.046497045,726,702,672.046497045,640.046497045,895.046497045,794,821.046497045,654,634,654,0.400979868807,-0.0154320407157,0.0498487064991,0.999999962386,-6.31930859871e-05,-0.000263244399803,-4.40190313279e-05,1793253271143709696 +44,0.733333333,BASELINE,771,749,725.472905581,702,672,640,895,794,821.527094419,654,634.527094419,654,0.400980441922,-0.0154307174358,0.0498495107915,0.999999962877,-6.26464082656e-05,-0.000261421838192,-4.4508813532e-05,1793253271160376064 +45,0.750000000,BASELINE,771.104229782,749,725.104229782,702,672.104229782,640,895,794,822,654,634.895770218,654,0.400980755775,-0.0154297632686,0.0498499831632,0.999999963185,-6.27485324693e-05,-0.000260141400326,-4.49275708678e-05,1793253271177042688 +46,0.766666667,BASELINE,771.698260034,749,725.698260034,702,672.698260034,640,895,794,822,654,634.301739966,654,0.400979700114,-0.0154315189688,0.0498488587606,0.999999962453,-6.64246613749e-05,-0.000262082365397,-4.46675595891e-05,1793253271193709312 +47,0.783333333,BASELINE,771.716379134,749,726,702,672.716379134,640.283620866,894.716379134,794,822,654,634.283620866,654,0.400980019121,-0.015432195121,0.0498488410591,0.999999962368,-6.76737459325e-05,-0.000262100898563,-4.45758237787e-05,1793253271210375936 +48,0.800000000,BASELINE,771.139967934,749,726,702,672.139967934,640.860032066,894.139967934,794,822,654,634.860032066,654,0.40098175724,-0.0154317568236,0.0498499658384,0.999999962962,-6.64173201963e-05,-0.000260134847799,-4.46578037545e-05,1793253271227042816 +49,0.816666667,BASELINE,771.43569679,749,726,701.56430321,672,641,894.43569679,794,822,654,634.56430321,654,0.400980604243,-0.0154315273731,0.0498488824425,0.999999962702,-6.56195192721e-05,-0.000261290250575,-4.49055387575e-05,1793253271243709696 +50,0.833333333,BASELINE,772,749,726,701.011462457,672.011462457,641,895.011462457,794,822,654,634,654,0.400978588784,-0.0154313685223,0.0498471469756,0.999999962184,-6.49617995512e-05,-0.000263380543295,-4.51946316352e-05,1793253271260376320 +51,0.850000000,BASELINE,772,749,726,701.60449765,672.60449765,641,895.60449765,794,822,654,634,654,0.400979857216,-0.0154313934523,0.0498482575337,0.999999962596,-6.3948898147e-05,-0.000262113850162,-4.48850276152e-05,1793253271277042944 +52,0.866666667,BASELINE,771.816443238,749,726,702,672.816443238,641,895.816443238,794,822.183556762,654,634.183556762,654.183556762,0.400980706928,-0.0154315682997,0.0498493024133,0.999999962955,-6.33625280899e-05,-0.000260926656779,-4.46419193232e-05,1793253271293709312 +53,0.883333333,BASELINE,771.265367218,749,726,702,672.265367218,641,895.265367218,794,822.734632782,654,634.734632782,654.734632782,0.400980718276,-0.0154320433132,0.0498502157906,0.99999996321,-6.36301635956e-05,-0.000259898638701,-4.45319494889e-05,1793253271310376192 +54,0.900000000,BASELINE,771.31318633,749.31318633,726,702,672.31318633,641,895,794.31318633,822.68681367,654,634.68681367,654.68681367,0.40097991209,-0.0154322294082,0.0498499788311,0.999999963024,-6.42619321884e-05,-0.000260483156202,-4.43977793056e-05,1793253271327042560 +55,0.916666667,BASELINE,771.917261058,749.917261058,726,702,672.917261058,641,895,794.917261058,822.082738942,654,634.082738942,654.082738942,0.400978346575,-0.0154321471549,0.0498486734356,0.999999962423,-6.52319086643e-05,-0.000262565401617,-4.42411317722e-05,1793253271343709184 +56,0.933333333,BASELINE,771.506273939,749.506273939,726,701.506273939,672.506273939,641,895,794.506273939,822,654,634.493726061,654,0.400979714761,-0.0154323862969,0.0498494567359,0.999999962875,-6.52444406517e-05,-0.000260834246815,-4.42658052165e-05,1793253271360376064 +57,0.950000000,BASELINE,771,749,726,701.068476789,672,640.931523211,895,794,822,653.931523211,634.931523211,654,0.400981286712,-0.015432689625,0.0498503831956,0.99999996339,-6.51859574946e-05,-0.00025886459636,-4.42816653004e-05,1793253271377042944 +58,0.966666667,BASELINE,771,749,726,701.663748763,672,640.336251237,895,794,822,653.336251237,634.336251237,654,0.400980844396,-0.0154330943379,0.0498498608349,0.999999963144,-6.57501244308e-05,-0.000259716084283,-4.40083434996e-05,1793253271393709824 +59,0.983333333,BASELINE,771,749,726,701.747844681,672,640.252155319,895,794.252155319,822,653.252155319,634,654,0.400980175324,-0.0154327723252,0.0498492611975,0.999999962894,-6.61150407569e-05,-0.000260559150762,-4.41479283989e-05,1793253271410376448 +60,1.000000000,BASELINE,771,749,726,701.16835048,672,640.83164952,895,794.83164952,822,653.83164952,634,654,0.400979211884,-0.0154315069037,0.0498485612422,0.99999996264,-6.62212972501e-05,-0.000261391284945,-4.48235337532e-05,1793253271427043072 +61,1.016666667,BASELINE,771,749,726,701,672,640.594154741,895,794.594154741,822,654,634,654,0.400979531583,-0.0154308083383,0.0498486098818,0.999999962762,-6.46523692099e-05,-0.000261315194165,-4.48384711879e-05,1793253271443709440 +62,1.033333333,BASELINE,771,749,726,701,672,640.022128592,895,794.022128592,822,654,634,654,0.400980376688,-0.0154303418827,0.0498489650475,0.999999963034,-6.23975056942e-05,-0.000260867213727,-4.45828858126e-05,1793253271460375808 +63,1.050000000,BASELINE,771,749.567075247,726,701.567075247,672,640.567075247,895,794,822,653.432924753,634.567075247,654,0.400980564779,-0.0154304050749,0.049849321033,0.999999963088,-6.32287858058e-05,-0.000260461752262,-4.45618271379e-05,1793253271477042432 +64,1.066666667,BASELINE,771,749.845790447,726,701.845790447,672,641,895,794,822,653.154209553,635,654,0.400980780521,-0.0154306598899,0.049849625337,0.999999963108,-6.43824749232e-05,-0.000260098050789,-4.45826365179e-05,1793253271493709056 +65,1.083333333,BASELINE,771,749.266270428,726,701.266270428,672,641,895,794,822,653.733729572,635,654,0.400981145444,-0.0154313844181,0.0498497870124,0.999999963058,-6.60828514897e-05,-0.000259844804549,-4.46928890384e-05,1793253271510375936 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+37,0.616666667,BASELINE,771.52862649,749,725,701.52862649,672.47137351,642,895.52862649,794,821.47137351,653.47137351,634.52862649,654,0.400979532672,-0.0154278463371,0.0498462198471,0.999999948875,-0.000173110515639,-0.000265112588751,-4.46986307655e-05,1793253278137286656 +38,0.633333333,BASELINE,771,749.05055687,725,701,672.94944313,642,895,794,821.94944313,654,634.05055687,654,0.400978267908,-0.0154278666403,0.0498451080891,0.999999948706,-0.000172725337286,-0.000266020241493,-4.45848612016e-05,1793253278153953280 +39,0.650000000,BASELINE,771,749.628561862,725,701,672.371438138,642,895,794,821.371438138,654,634.628561862,654,0.400978501776,-0.0154278473165,0.049845366341,0.999999948706,-0.000172845583903,-0.000265946188573,-4.45445779472e-05,1793253278170619904 +40,0.666666667,BASELINE,771,749.79523906,725,701.20476094,672,642,895,794,821.20476094,653.79523906,634.79523906,654,0.400979368065,-0.0154283841016,0.0498458837955,0.999999948888,-0.00017316303122,-0.000265093271384,-4.43289840876e-05,1793253278187286272 +41,0.683333333,BASELINE,771,749.222287317,725,701.777712683,672,642,895,794,821.777712683,653.222287317,634.222287317,654,0.400981371539,-0.0154299208535,0.049846867335,0.999999949389,-0.000173835074892,-0.000262839839734,-4.37981555366e-05,1793253278203953152 +42,0.700000000,BASELINE,771,749.361103763,725,701.638896237,672,642,895,794,822,653,634,654,0.400980618708,-0.01543088877,0.0498461578119,0.999999948904,-0.000175695774804,-0.000263459167309,-4.37228565311e-05,1793253278220620032 +43,0.716666667,BASELINE,771,749.95111235,725,701.04888765,672,642,895,794,822,653,634,654,0.400978118647,-0.0154314960997,0.049844375051,0.999999947786,-0.000178309967662,-0.000265899546187,-4.39363191742e-05,1793253278237286656 +44,0.733333333,BASELINE,771,749.468392365,725,701.531607635,672.531607635,642,895,794,822,653.531607635,634,654,0.400978310811,-0.0154314553836,0.0498446887797,0.999999947812,-0.000177788340492,-0.00026614226451,-4.39887088575e-05,1793253278253953280 +45,0.750000000,BASELINE,771,749,725.11050822,701.88949178,672.88949178,642,895,794,822,654,634.11050822,654,0.400978902227,-0.0154310606021,0.049845313338,0.999999948055,-0.000176792900133,-0.00026589724243,-4.39571743635e-05,1793253278270619904 +46,0.766666667,BASELINE,771,749,725.686312999,701.313687001,672.313687001,642,895,794,822,654,634.686312999,654,0.400980150573,-0.0154294215396,0.0498464491455,0.999999948774,-0.000174995327066,-0.00026443457114,-4.36335479162e-05,1793253278287286528 +47,0.783333333,BASELINE,771,749.268009877,726,701.268009877,672,642,895,794,822,654,634.731990123,654,0.400980883694,-0.0154291979425,0.0498470698235,0.999999949089,-0.000174678705352,-0.000263462932242,-4.35433082351e-05,1793253278303953152 +48,0.800000000,BASELINE,771,749.856758149,726,701.856758149,672,642,895,794,822,654,634.143241851,654,0.400981000225,-0.0154306682907,0.0498470740252,0.999999948927,-0.000176134398531,-0.000263078931727,-4.3732372012e-05,1793253278320619776 +49,0.816666667,BASELINE,771.438184931,749.561815069,725.561815069,701.561815069,672,642,895,794,822,654,634,654,0.400980927566,-0.015430075962,0.0498471895512,0.999999949148,-0.000174388430841,-0.000263382082742,-4.38563883345e-05,1793253278337286400 +50,0.833333333,BASELINE,771.982843764,749,725,701.017156236,672.017156236,641.982843764,895,794,822,654,634,654,0.400980751439,-0.0154288909877,0.0498472942778,0.999999949452,-0.00017172940042,-0.000263954614516,-4.39584712704e-05,1793253278353953280 +51,0.850000000,BASELINE,771.407173253,749,725,701.592826747,672.592826747,641.407173253,895,794,822,654,634,654,0.400979187184,-0.0154300030102,0.0498458821893,0.999999948685,-0.000172858226395,-0.000266104213869,-4.40273830695e-05,1793253278370619904 +52,0.866666667,BASELINE,771,749,725.16881082,701.83118918,672.83118918,641,895,794,822,654,634,654,0.40097879185,-0.0154311970907,0.0498453060592,0.999999948329,-0.000174227935952,-0.000266569361494,-4.39109745251e-05,1793253278387286528 +53,0.883333333,BASELINE,771,749,725.745552577,701.254447423,672.254447423,641,895,794,822,654,634,654,0.400981221211,-0.0154325894645,0.0498467500208,0.999999948966,-0.000176179740036,-0.000262964035459,-4.33467398141e-05,1793253278403953152 +54,0.900000000,BASELINE,771.329037585,749,725.670962415,701,672,641,895.329037585,794,822,653.670962415,634.329037585,654,0.40098130277,-0.0154319821136,0.0498472303821,0.999999949071,-0.000176648432836,-0.00026221770955,-4.35374221618e-05,1793253278420619520 +55,0.916666667,BASELINE,771.91784628,749,725.08215372,701,672,641,895.91784628,794,822,653.08215372,634.91784628,654,0.400979530769,-0.0154297960047,0.0498469499929,0.999999948763,-0.000175946227509,-0.000263728529096,-4.43241022298e-05,1793253278437286144 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+67,1.116666667,BASELINE,771.121168353,749.121168353,725,701,672,642,895,794,821.878831647,654,634.121168353,654,0.4009807749,-0.0154312811587,0.0498481157932,0.999999949335,-0.000175610832159,-0.000261874255417,-4.37398041689e-05,1793253278637286912 +68,1.133333333,BASELINE,771,749,725.462022471,701,672,641.537977529,895.462022471,794,821.537977529,654,634,654,0.400980794901,-0.01543108613,0.0498479348035,0.999999949334,-0.000175666904389,-0.000261835633244,-4.37665949736e-05,1793253278653953024 +69,1.150000000,BASELINE,771,749,726,701,672,641.043241899,895.956758101,794,821,653.956758101,634,654,0.400981018955,-0.0154302903561,0.0498477413982,0.999999949382,-0.00017560793933,-0.000261659915871,-4.39441932581e-05,1793253278670619904 +70,1.166666667,BASELINE,771,749,726,701,672,641.618131997,895.381868003,794,821,653.381868003,634,654,0.400981261435,-0.0154308386809,0.0498486023451,0.99999994951,-0.000176026876652,-0.000260898783326,-4.38796107011e-05,1793253278687286784 +71,1.183333333,BASELINE,771.192538162,749,726,701,672,642,895,794,821.192538162,653.192538162,634,654,0.400981327989,-0.0154311460171,0.049848933185,0.999999949529,-0.000176276882629,-0.000260659967917,-4.38761593983e-05,1793253278703953408 +72,1.200000000,BASELINE,771.765987035,749,726,701,672,642,895,794,821.765987035,653.765987035,634,654,0.400981046501,-0.0154309765898,0.0498482152796,0.999999949331,-0.000176192680866,-0.000261454486179,-4.3993648002e-05,1793253278720620032 +73,1.216666667,BASELINE,771.650896525,749,725.650896525,701.349103475,672,642,895,794,822,654,634.349103475,654,0.400980937838,-0.0154303917542,0.0498475850631,0.999999949076,-0.000176655640101,-0.000262080480256,-4.42053184151e-05,1793253278737286656 +74,1.233333333,BASELINE,771.061115132,749,725.061115132,701.938884868,672,642,895,794,822,654,634.938884868,654,0.400980948324,-0.0154295205291,0.0498470153008,0.999999948781,-0.000177495821509,-0.000262590290825,-4.44819193744e-05,1793253278753953280 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+41,0.683333333,BASELINE,772,749,726,702,670,642,896,793,824,653.195149977,635,654.804850023,0.401005222501,-0.0154944733064,0.0698353456592,0.99999998217,5.48713131284e-05,-0.000180418323544,9.87609914387e-06,1793253286734221312 +42,0.700000000,BASELINE,772,749,726,702.381145133,670.381145133,642,896,793,824,653,635,654.618854867,0.401004735651,-0.0154944293176,0.0698349344194,0.999999981925,5.45787582848e-05,-0.000181859557972,9.88242940682e-06,1793253286750888192 +43,0.716666667,BASELINE,772,749,726,702.954281466,670.954281466,642,896,793,824,653,635,654.045718534,0.401003893111,-0.0154947294059,0.069834262755,0.999999981524,5.48764270388e-05,-0.000183963508234,9.94337946488e-06,1793253286767554816 +44,0.733333333,BASELINE,772,749,726,703,670.457826512,642,896,793.542173488,824,653,635,654,0.401003361,-0.0154949321833,0.0698345953035,0.999999981489,5.61355580196e-05,-0.000183756764277,1.01891909394e-05,1793253286784221440 +45,0.750000000,BASELINE,772,749,726,703,670.12911342,642.12911342,896.12911342,794,824,653.12911342,634.87088658,654,0.401003114092,-0.0154952400213,0.0698348781361,0.999999981511,5.69591665013e-05,-0.000183371886119,1.03683635503e-05,1793253286800887808 +46,0.766666667,BASELINE,772,749,726,703,670.708276061,642.708276061,896.708276061,794,824,653.708276061,634.291723939,654,0.401003767515,-0.0154959434708,0.0698346842491,0.999999981625,5.59741705326e-05,-0.000183064269592,1.02593974183e-05,1793253286817554432 +47,0.783333333,BASELINE,771.713504748,749,726,703,671,642.713504748,896.713504748,794,824,653.713504748,634,654,0.401004761368,-0.0154959279336,0.0698351590233,0.999999981906,5.55697805508e-05,-0.000181656111679,1.0093033978e-05,1793253286834220800 +48,0.800000000,BASELINE,771.136243005,749,726,703,671,642.136243005,896.136243005,794,824,653.136243005,634,654,0.401006100728,-0.0154951826908,0.0698363124272,0.999999982353,5.57546524535e-05,-0.000179131004818,9.86841750335e-06,1793253286850887424 +49,0.816666667,BASELINE,771,749,726,703,671,642,896,793.56144374,823.56144374,653,634.43855626,654,0.401004418912,-0.0154947351137,0.0698357335491,0.999999982083,5.60912767551e-05,-0.000180524075903,9.98679436654e-06,1793253286867554560 +50,0.833333333,BASELINE,771.01293685,749,726,703,671,642,896,793.01293685,823.01293685,653.01293685,635,654,0.401001891912,-0.0154943958273,0.069834651409,0.999999981597,5.64808227796e-05,-0.000183059976078,1.02078535165e-05,1793253286884221440 +51,0.850000000,BASELINE,771.602566964,749,726,703,671,642,896,793.602566964,823.602566964,653.602566964,635,654,0.401003294061,-0.0154947846485,0.0698349907688,0.999999981647,5.71396704645e-05,-0.000182582194728,1.02827909571e-05,1793253286900887808 +52,0.866666667,BASELINE,772,749,726,703,670.811695831,642,896,794,824,653.811695831,634.811695831,654,0.401003380018,-0.0154950693931,0.069834813171,0.999999981592,5.70892289169e-05,-0.000182894777889,1.02682305463e-05,1793253286917554176 +53,0.883333333,BASELINE,772,749,726,703,670.234008579,642,896,794,824,653.234008579,634.234008579,654,0.401000744299,-0.0154951389241,0.069833566587,0.999999981322,5.55720899656e-05,-0.00018484170923,1.00686028033e-05,1793253286934220800 +54,0.900000000,BASELINE,771.656052436,749,726,703,670.343947564,642,896,794,824,653.343947564,634,654,0.401001582675,-0.015494740887,0.0698343335834,0.999999981435,5.56679968525e-05,-0.000184195841457,1.01608766744e-05,1793253286950887680 +55,0.916666667,BASELINE,771.077913229,749,726,703,670.922086771,642,896,794,824,653.922086771,634,654,0.40100478654,-0.015494024486,0.0698364716134,0.999999981806,5.68622161401e-05,-0.000181784553678,1.04519044497e-05,1793253286967554048 +56,0.933333333,BASELINE,771.495766795,749,726,703,671,642,895.504233205,794,824,654,634.495766795,654,0.401004449688,-0.0154949955673,0.0698358732263,0.999999981722,5.69699241496e-05,-0.000182213447826,1.04387982596e-05,1793253286984221184 +57,0.950000000,BASELINE,772,749,726,703,671,642,895.070976818,794,824,653.929023182,634.929023182,653.929023182,0.4010035981,-0.0154958454931,0.0698349367159,0.999999981562,5.71748010925e-05,-0.0001830281534,1.03608650241e-05,1793253287000888064 +58,0.966666667,BASELINE,772,749,726,703,671,642,895.662501481,794,824,653.337498519,634.337498519,653.337498519,0.40100301606,-0.0154938792069,0.0698346462661,0.999999981365,5.9333467616e-05,-0.000183428014119,1.01549061006e-05,1793253287017554944 +59,0.983333333,BASELINE,771.752079166,749,726,703,671,642,896,793.752079166,824,653,634,653.247920834,0.401003112846,-0.0154931759327,0.0698345753287,0.999999981339,5.97541405823e-05,-0.000183435127534,1.01170521349e-05,1793253287034221568 +60,1.000000000,BASELINE,771.174771233,749,726,703,671,642,896,793.174771233,824,653,634,653.825228767,0.401004111518,-0.0154941506931,0.069834796035,0.999999981543,5.78657192663e-05,-0.000182920437762,1.03025420337e-05,1793253287050888448 +61,1.016666667,BASELINE,771.402036829,749,726,702.597963171,671,642,896,793.402036829,824,653.402036829,634,654,0.401004901378,-0.0154942657635,0.0698357055722,0.99999998175,5.79679284485e-05,-0.000181752380581,1.02939177846e-05,1793253287067554816 +62,1.033333333,BASELINE,771.978627824,749,726,702.021372176,671,642,896,793.978627824,824,653.978627824,634,654,0.401005600578,-0.0154940075785,0.0698369141821,0.999999981957,5.89344188818e-05,-0.000180300647918,1.02010140979e-05,1793253287084221184 +63,1.050000000,BASELINE,771.434477915,749,726.565522085,702.565522085,671,642,896,794,823.434477915,653.434477915,634.565522085,654,0.401003639834,-0.0154946651532,0.0698354206909,0.99999998164,5.82298967399e-05,-0.000182280719952,1.01916688705e-05,1793253287100887808 +64,1.066666667,BASELINE,771.1506687,749,726.8493313,703,671,642,896,794,823.1506687,653.1506687,634.8493313,654,0.401002056152,-0.0154949362538,0.0698342094325,0.999999981372,5.76285550419e-05,-0.00018394100511,1.0082108552e-05,1793253287117554176 +65,1.083333333,BASELINE,771.729718745,749,726.270281255,703,671,642,896,794,823.729718745,653.729718745,634.270281255,654,0.401001835648,-0.0154940083064,0.0698340963471,0.999999981314,5.75034584415e-05,-0.000184316481368,9.67847164865e-06,1793253287134220800 +66,1.100000000,BASELINE,771.691441453,749,726,703,670.691441453,642,896,793.691441453,824,653.691441453,634.308558547,654,0.401001788948,-0.0154932149356,0.0698340527481,0.999999981196,5.93048110128e-05,-0.00018437962559,9.72994838681e-06,1793253287150887680 +67,1.116666667,BASELINE,771.112785718,749,726,703,670.112785718,642,896,793.112785718,824,653.112785718,634.887214282,654,0.401001894388,-0.0154925393665,0.069834069974,0.999999981018,6.27924837657e-05,-0.000184169369475,1.01798095557e-05,1793253287167554560 +68,1.133333333,BASELINE,771.461603787,749,726,702.538396213,670.461603787,642,896,793,824,653,634.538396213,653.538396213,0.401002480461,-0.0154932430913,0.0698346262229,0.999999981352,5.9443048778e-05,-0.000183468535499,1.0100734545e-05,1793253287184220928 +69,1.150000000,BASELINE,771.964061033,749,726,702.035938967,670.964061033,642,896,793.035938967,824,653.035938967,634.035938967,653.035938967,0.401003220058,-0.0154942964658,0.0698353101174,0.999999981776,5.47446824587e-05,-0.000182629879353,9.91393482985e-06,1793253287200887296 +70,1.166666667,BASELINE,771.374657223,749,726,702.625342777,670.374657223,642,896,793.625342777,824,653.625342777,634.625342777,653.625342777,0.401004531991,-0.0154955920332,0.0698359501166,0.999999981979,5.47635626307e-05,-0.000181497778423,1.00402067899e-05,1793253287217553920 +71,1.183333333,BASELINE,771,749,726,702.789020351,670,642,896,794,824,654,635,654,0.401005130237,-0.015496383567,0.0698362437522,0.999999982056,5.48353213817e-05,-0.000181045155677,1.02264675813e-05,1793253287234220544 +72,1.200000000,BASELINE,771,749,726,702.209955364,670,642,896,794,824,654,635,654,0.401004483351,-0.0154962957394,0.0698359331055,0.999999981911,5.49993346728e-05,-0.000181777983376,1.05173878211e-05,1793253287250887424 +73,1.216666667,BASELINE,771.367348695,749.367348695,726,702.367348695,670.367348695,642,896,794,824,653.632651305,635,654,0.401004186794,-0.015495334903,0.0698357817363,0.999999981755,5.69842127283e-05,-0.000182025264823,1.05134198596e-05,1793253287267554048 +74,1.233333333,BASELINE,771.943651076,749.943651076,726,702.943651076,670.943651076,642,896,794,824,653.056348924,635,654,0.401004089511,-0.0154938774856,0.0698357209668,0.999999981585,6.0004827141e-05,-0.000181996359921,1.03417148579e-05,1793253287284220672 +75,1.250000000,BASELINE,772,749.480762758,726,703,671,642,896,793.480762758,824,653.519237242,634.480762758,654,0.401004154464,-0.0154924974268,0.0698360388788,0.999999981506,6.12692632765e-05,-0.000182034859206,9.82958640588e-06,1793253287300887296 +76,1.266666667,BASELINE,772,749,726,703,671,642,896,793.097584102,824,653.902415898,634,654,0.401004220031,-0.0154915271673,0.0698362803711,0.999999981479,6.1823067365e-05,-0.000182019551555,9.40250887432e-06,1793253287317554432 +77,1.283333333,BASELINE,772,749,726,703,671,642,896,793.690333219,824,653.309666781,634,654,0.401004199503,-0.0154925937872,0.069835925851,0.999999981663,5.9736695796e-05,-0.000181694148393,9.59420246664e-06,1793253287334221056 +78,1.300000000,BASELINE,771.724941888,749.275058112,726,703,671,642,896.275058112,794,824,653.275058112,634.275058112,654,0.401003669813,-0.0154931903016,0.0698355091862,0.999999981634,5.8255941146e-05,-0.000182335458862,9.63904121721e-06,1793253287350887424 +79,1.316666667,BASELINE,771.14899482,749.85100518,726,703,671,642,896.85100518,794,824,653.85100518,634.85100518,654,0.401002583144,-0.0154932725627,0.0698350245408,0.999999981371,5.7437677341e-05,-0.000184034267547,9.52323390154e-06,1793253287367554048 +80,1.333333333,BASELINE,771,749.573669738,726,703,671,642,896.573669738,794,824,654,634.573669738,653.573669738,0.401003560622,-0.0154939004106,0.069835681863,0.999999981636,5.76007334564e-05,-0.000182527817525,9.64041803407e-06,1793253287384220672 +81,1.350000000,BASELINE,771,749,726,703,671,642,896,794,824,654,634.001475448,653.002950897,0.401005250887,-0.0154947137356,0.0698367327864,0.999999982079,5.81086674522e-05,-0.000179913716979,9.83804126588e-06,1793253287400887296 +82,1.366666667,BASELINE,771,749,726,703,671,642,896,794,824,654,634.591423512,654.182847024,0.401003931954,-0.0154935655402,0.0698358234162,0.99999998168,5.9583259574e-05,-0.000181646421872,9.68920998327e-06,1793253287417553920 +83,1.383333333,BASELINE,771,749,726,702.821937244,671,642,896,793.821937244,824,653.821937244,635,654.821937244,0.401002955042,-0.0154930519126,0.0698351138256,0.999999981382,6.04967777944e-05,-0.000182988298224,9.61167138953e-06,1793253287434220544 +84,1.400000000,BASELINE,771,749,726,702.242751678,671,642,896,793.242751678,824,653.242751678,635,654.242751678,0.401002748602,-0.015493967779,0.0698348542793,0.999999981317,6.01463624855e-05,-0.000183449753617,9.69473414246e-06,1793253287450887168 +85,1.416666667,BASELINE,771,749,726,702.334325061,671,642,896.334325061,793,824,653.334325061,634.665674939,654,0.401003050944,-0.0154949630661,0.0698352884816,0.999999981588,5.83879266141e-05,-0.000182535864674,9.8187191411e-06,1793253287467553792 +86,1.433333333,BASELINE,771,749,726,702.909880155,671,642,896.909880155,793,824,653.909880155,634.090119845,654,0.401003720396,-0.0154960156586,0.0698362232536,0.99999998209,5.5613542851e-05,-0.000180629605102,9.97223131003e-06,1793253287484220672 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b/Part2/Obstacle_avoidance/ball_15A_10/position_07/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fda2992c28210376d5e9d762ee93f06fbe79815e61f0e86e908a761fe45e5b3 +size 26300284 diff --git a/Part2/Obstacle_avoidance/ball_15A_10/position_07/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_10/position_07/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..23e4b6f16464f23a3c3705ce210902d34012c0ff --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_15A_10/position_07/depth_03/franka_data.csv @@ -0,0 +1,415 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+35,0.583333333,BASELINE,771.690073435,749,726,703,671,641.309926565,895,793.309926565,823,654,635,654,0.400953075844,-0.0153892250556,0.0698111781724,0.99999993465,0.00019846813464,-0.000301976100865,1.09588447741e-05,1793253300764385280 +36,0.600000000,BASELINE,771.109278475,749,726,703,671,641.890721525,895,793.890721525,823,654,635,654,0.400952578442,-0.0153877162724,0.0698103852339,0.999999933712,0.000201842302904,-0.000302836611633,1.11859281822e-05,1793253300781051648 +37,0.616666667,BASELINE,771.469837166,749,726,703,671,642,895,793.530162834,823,654,634.530162834,653.530162834,0.400952706647,-0.0153885963591,0.0698107152476,0.999999934031,0.000200718820081,-0.000302532934259,1.11520799417e-05,1793253300797717760 +38,0.633333333,BASELINE,772,749,726,703,671,642,895,793,823,653.951741191,634,653.048258809,0.400952904337,-0.0153899581272,0.069811218172,0.999999934582,0.000198688046863,-0.00030205470192,1.10544720638e-05,1793253300814383872 +39,0.650000000,BASELINE,772,749,726,703,671,642,895,793,823,653.376646594,634,653.623353406,0.400952277737,-0.0153905342926,0.0698107675703,0.999999934524,0.00019813196231,-0.000302616376763,1.09209888196e-05,1793253300831050496 +40,0.666666667,BASELINE,771.797400119,749,726,703,671,642,895,793,822.797400119,653,634,654,0.400952283819,-0.0153901444276,0.0698107223774,0.999999934449,0.000198505252592,-0.000302624279301,1.07946808394e-05,1793253300847716864 +41,0.683333333,BASELINE,771.210273578,749,726,703,671,642,895,793,822.210273578,653,634,654,0.400953490706,-0.0153879210747,0.0698114466349,0.999999934339,0.00020064246004,-0.000301581143605,1.06819912376e-05,1793253300864383488 +42,0.700000000,BASELINE,771,749,726,703,671,642,895,793,822,653,634,654,0.400953898566,-0.0153885784777,0.069811393198,0.999999934624,0.000199759579085,-0.000301212887516,1.09242030187e-05,1793253300881050624 +43,0.716666667,BASELINE,771,749,726,703,671,642,895,793,822,653,634,654,0.400953860592,-0.015390843263,0.0698109058291,0.999999935126,0.00019719157203,-0.00030122119567,1.13644399858e-05,1793253300897717760 +44,0.733333333,BASELINE,771,749,726,703,671,642,894.469787868,793.530212132,822.530212132,653.530212132,634.530212132,654,0.400954231675,-0.0153887006215,0.0698110023297,0.999999934598,0.000200091136876,-0.00030106723673,1.12385397554e-05,1793253300914384128 +45,0.750000000,BASELINE,771,749,726,702.892448411,670.892448411,641.892448411,894.107551589,793.892448411,823,653.892448411,634.892448411,654,0.400954538006,-0.0153870280545,0.0698112623609,0.999999934212,0.000202365041109,-0.000300832926063,1.10885177698e-05,1793253300931050496 +46,0.766666667,BASELINE,771,749,726,702.319743974,670.319743974,641.319743974,894.680256026,793.319743974,823,653.319743974,634.319743974,654,0.400954403469,-0.0153891213414,0.0698120000968,0.999999934888,0.000199783387936,-0.000300314896644,1.10567523441e-05,1793253300947717120 +47,0.783333333,BASELINE,771,749,726,702.260533004,670.260533004,641,895,793,823,653,634,654,0.400953845722,-0.0153900043001,0.0698118904368,0.999999935023,0.00019861733947,-0.000300641256234,1.09839812343e-05,1793253300964383744 +48,0.800000000,BASELINE,771,749,726,702.85038181,670.85038181,641,895,793,823,653,634,654,0.400952753034,-0.0153893573945,0.069810709662,0.99999993448,0.000199240626336,-0.000302034930223,1.08593786074e-05,1793253300981050112 +49,0.816666667,BASELINE,771,749,726,703,671,641.434408862,895,793,823,653.434408862,634.434408862,654,0.400953024208,-0.0153894095742,0.0698108446793,0.999999934738,0.000198674827196,-0.000301550580211,1.08921113505e-05,1793253300997716736 +50,0.833333333,BASELINE,771,749,726,703,671,642,895,793,822.983768215,653.983768215,634.983768215,654,0.400953747056,-0.0153896795137,0.0698114184631,0.999999935244,0.00019776898538,-0.000300464965474,1.09733101025e-05,1793253301014383616 +51,0.850000000,BASELINE,771,749,726,703,671,642,895,793,822.409694899,653.409694899,634.409694899,654,0.400954062573,-0.0153892678314,0.0698117027749,0.999999934932,0.000199065528131,-0.00030065116072,1.08824496529e-05,1793253301031050240 +52,0.866666667,BASELINE,771,749,726,703,671,642,895,793,822.163434668,653,634,654,0.400953961582,-0.0153893240701,0.0698116578946,0.999999934732,0.000199613260311,-0.000300951668969,1.08683990038e-05,1793253301047716864 +53,0.883333333,BASELINE,771,749,726,703,671,642,895,793,822.734212015,653,634,654,0.400952822492,-0.0153905465495,0.0698107925397,0.999999934816,0.000198294665601,-0.000301537089611,1.1045788219e-05,1793253301064383744 +54,0.900000000,BASELINE,771,749,726,703,671,641.693343217,895,793,823,653,634.306656783,654,0.400953001127,-0.0153912917132,0.0698107232492,0.999999935151,0.000197328617776,-0.000301054998147,1.11890315911e-05,1793253301081050368 +55,0.916666667,BASELINE,771,749,726,703,671,641.119445378,895,793,823,653,634.880554622,654,0.400954328115,-0.0153916209124,0.0698113477023,0.999999935704,0.000196669802756,-0.000299642605816,1.13025180018e-05,1793253301097716992 +56,0.933333333,BASELINE,771,749,726,703,671,641.476679827,895,793,822.523320173,653.476679827,635,654,0.400955668904,-0.0153914285563,0.0698125978499,0.999999936144,0.000197490327527,-0.000297622287401,1.14246101484e-05,1793253301114383360 +57,0.950000000,BASELINE,771,749,726,703,671,641.924862984,895,793,822.075137016,653.924862984,634.924862984,654,0.400956563705,-0.0153912280239,0.0698136008356,0.999999936463,0.000198217059863,-0.000296061181045,1.14922631131e-05,1793253301131049984 +58,0.966666667,BASELINE,771,749,726,703,671,641.349762493,895,793,822.650237507,653.349762493,634.349762493,654,0.400954466755,-0.0153918852353,0.0698118649222,0.999999936195,0.000195732475672,-0.000298618886204,1.11826258346e-05,1793253301147716608 +59,0.983333333,BASELINE,771,749,726,703,671,641.225052521,895,793,823,653.225052521,634.225052521,654,0.400953433783,-0.0153920144908,0.0698110605882,0.999999935849,0.000194964784661,-0.000300282479884,1.1023835763e-05,1793253301164383488 +60,1.000000000,BASELINE,771,749,726,703,671,641.799424514,895,793,823,653.799424514,634.799424514,654,0.40095405228,-0.0153913242697,0.0698117022224,0.999999935393,0.000196862001083,-0.000300558262132,1.10991859534e-05,1793253301181050112 +61,1.016666667,BASELINE,771,749,726,703,671,642,895,793,823,653.613708513,635,654,0.400953682467,-0.0153910450039,0.0698112351608,0.999999935135,0.000197335337029,-0.000301111872799,1.09636373371e-05,1793253301197716736 +62,1.033333333,BASELINE,771,749,726,703,671,642,895,793,823,653.020136894,635,654,0.400952782335,-0.0153909862525,0.0698101731841,0.999999934983,0.000197044632897,-0.00030181456339,1.07149225344e-05,1793253301214383360 +63,1.050000000,BASELINE,771,749,726,703,671,642,895,793,823,653,634.443015157,654,0.400953998541,-0.015391239017,0.0698113352211,0.999999935783,0.000196282544861,-0.000299648570371,1.08518727494e-05,1793253301231050240 +64,1.066666667,BASELINE,771,749,726,703,671,642,895,793,823,653,634.132954021,654,0.400954872983,-0.0153912826131,0.0698123006129,0.99999993626,0.000196260827275,-0.000298061100355,1.10012100019e-05,1793253301247717120 +65,1.083333333,BASELINE,771,749,726,703,671,642,895,793,823,653,634.707015794,654,0.40095436697,-0.0153905959476,0.0698123544725,0.999999935568,0.000198750390772,-0.000298727244681,1.11467116562e-05,1793253301264384512 +66,1.100000000,BASELINE,771,749,726,703,671,642,895,793,823,653.289189084,634.710810916,654,0.400953632856,-0.0153901254487,0.0698119881339,0.999999935117,0.000199388821729,-0.000299805144175,1.12458008219e-05,1793253301281051136 +67,1.116666667,BASELINE,771,749,726,703,671,642,895,793,823,653.879817463,634.120182537,654,0.400952660981,-0.0153898802733,0.0698111837973,0.99999993492,0.000198097704984,-0.000301312240975,1.12965114309e-05,1793253301297716992 +68,1.133333333,BASELINE,771,749,726,703,670.539704944,642,895,793,822.539704944,654,634.460295056,654,0.400953817374,-0.0153905091737,0.069812139001,0.999999935626,0.000196900633249,-0.000299756470765,1.11619156092e-05,1793253301314383360 +69,1.150000000,BASELINE,771,749,726,703,670.038029666,642,895,793,822.038029666,654,635,654,0.400955429636,-0.0153912707968,0.0698134479925,0.999999936485,0.000195904612584,-0.000297542159382,1.09934539265e-05,1793253301331049984 +70,1.166666667,BASELINE,771,749,726,703,670.613645939,642,895,793,822.613645939,654,635,654,0.400955800344,-0.0153907520785,0.0698134039773,0.999999936326,0.000197411027042,-0.000297079506738,1.10154533116e-05,1793253301347717120 +71,1.183333333,BASELINE,771,749,726,702.80639277,670.80639277,641.80639277,895,793,822.80639277,653.80639277,635,653.80639277,0.400955796825,-0.0153905512809,0.0698130329335,0.999999936093,0.00019840013033,-0.000297204627637,1.09482524561e-05,1793253301364384000 +72,1.200000000,BASELINE,771,749,726,702.217561588,670.217561588,641.217561588,895,793,822.217561588,653.217561588,635,653.217561588,0.40095502937,-0.0153909994769,0.0698119943032,0.999999935715,0.000198333210494,-0.00029852961161,1.06989609265e-05,1793253301381050624 +73,1.216666667,BASELINE,771,749,726,702,670,641.365120456,895,793,822.365120456,653,635,653.365120456,0.400954545398,-0.0153904583627,0.0698118945586,0.999999935584,0.00019849273635,-0.000298859259876,1.07214322116e-05,1793253301397716992 +74,1.233333333,BASELINE,771,749,726,702,670,641.94419911,895,793,822.94419911,653,635,653.94419911,0.400954227543,-0.0153893375192,0.0698123449948,0.9999999356,0.000198784957906,-0.000298605647849,1.09031547428e-05,1793253301414383360 +75,1.250000000,BASELINE,771,749,726,702,670.520001851,642,895,792.479998149,822.479998149,653.520001851,634.479998149,654,0.400953994551,-0.0153894212018,0.0698119948047,0.999999935583,0.000198046280605,-0.000299151798895,1.09321287687e-05,1793253301431049984 +76,1.266666667,BASELINE,771.095138801,749,726,702.095138801,671,642,895,792.095138801,822.095138801,653.904861199,634,654,0.400953907488,-0.0153897614548,0.0698117893444,0.999999935607,0.000197461913726,-0.000299457982838,1.09567827515e-05,1793253301447716608 +77,1.283333333,BASELINE,771.668684435,749,726,702.668684435,671,642,895,792.668684435,822.668684435,653.331315565,634,654,0.400954508724,-0.0153907459763,0.0698127409774,0.999999935856,0.000198206294675,-0.000298128634318,1.10416211826e-05,1793253301464383488 +78,1.300000000,BASELINE,771.749707321,749,726,703,670.749707321,641.749707321,895,793,823,653.250292679,634.250292679,654,0.400954576792,-0.0153906981813,0.0698128939556,0.999999935759,0.000198456677403,-0.00029829377658,1.08457338312e-05,1793253301481050624 +79,1.316666667,BASELINE,771.157071309,749,726,703,670.157071309,641.157071309,895,793,823,653.842928691,634.842928691,654,0.400953915607,-0.0153892384124,0.0698119545559,0.999999935188,0.000198031383108,-0.000300503041679,1.02658775922e-05,1793253301497717504 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