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b/Part2/Obstacle_avoidance/ball_0030_12.5/position_06/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58f3c6f7e89b8433591633dd43bbaffbe96d9a538c8c97ccd686c9ff4af85e5f +size 25756376 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_06/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..748fa9ad214ee4911a5ba199426cd078ec3dbdb0 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_06/depth_02/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0030_12.5/position_06/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61eadd28060104ea5f097c3d6c253f382eca80845f1a48680551bd8d9b2ecf40 +size 26084741 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_06/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..c73e7b870a38b99068a8f57395072b2c2e000357 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_06/depth_05/franka_data.csv @@ -0,0 +1,411 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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a/Part2/Obstacle_avoidance/ball_0030_12.5/position_07/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_07/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..b83bfa0639b795b8e49cf0d900016b0804b1af36 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_07/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5755bd538abffa9736dad808e13d6dac36d8a6354d88550567e76fb99edcadcc +size 25879773 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_07/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_07/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..6629134f712020b18af0624b141dccc451ee409f --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_07/depth_04/franka_data.csv @@ -0,0 +1,409 @@ 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+254,4.233333333,pose2_hold,0.628955914863,-0.0100722112655,1.06004217052,0.59952770709,-0.00139774740994,1.05966557218 +255,4.250000000,pose2_hold,0.628955914863,-0.0100722112655,1.06004217052,0.59952770709,-0.00139774741011,1.05966557218 +256,4.266666667,pose2_hold,0.628955914863,-0.0100722112655,1.06004217052,0.59952770709,-0.00139774741005,1.05966557218 +257,4.283333333,pose2_hold,0.628955914863,-0.0100722112655,1.06004217052,0.59952770709,-0.00139774741006,1.05966557218 +258,4.300000000,pose2_hold,0.628955914863,-0.0100722112655,1.06004217052,0.59952770709,-0.00139774741004,1.05966557218 +259,4.316666667,pose2_hold,0.628955914863,-0.0100722112655,1.06004217052,0.59952770709,-0.00139774740986,1.05966557218 +260,4.333333333,pose2_hold,0.628955914863,-0.0100722112655,1.06004217052,0.59952770709,-0.00139774741008,1.05966557218 +261,4.350000000,pose2_to_pose3_retreat,0.628955914863,-0.0100722112655,1.06004217052,0.59952770709,-0.00139774741004,1.05966557218 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0000000000000000000000000000000000000000..09539c4c43ff8844bfe4e2322446ee0cb72f99f1 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_07/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a19c5162836d836b79bdcc4b12f09c13a3e5e5cf28a61ae7f4d06ce33c34896f +size 26061654 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_07/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_07/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d32bc316009558498b8455a3e2e2e0a938653c7b --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_07/depth_05/franka_data.csv @@ -0,0 +1,412 @@ 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a/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..9602f7104a3833882406cc8301fa799a7f535864 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08005332f0f7e4e937ea671337a38c277fae4fac4d9ad55f3e8351019b25cfaf +size 25770411 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..8d87c22b1614db50b15adb37f1583f3747168f03 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_01/franka_data.csv @@ -0,0 +1,407 @@ 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+47,0.783333333,BASELINE,764.264671226,744,715,679.264671226,659,633.264671226,877,784.735328774,807.735328774,650.735328774,629,652,0.400979955864,-0.01539017174,0.079840601924,0.999999931583,0.000247052354881,-0.000272197818397,4.13152539779e-05,1793247234955147520 +48,0.800000000,BASELINE,764.853258715,744,715,679.853258715,659,633.853258715,877,784.146741285,807.146741285,650.146741285,629,652,0.400980869593,-0.0153904297248,0.0798413769963,0.999999932319,0.000245488631564,-0.000270909043137,4.12939074285e-05,1793247234971814144 +49,0.816666667,BASELINE,765,744,715,679.56533191,658.56533191,634,877,784,807,650.43466809,629,652,0.400981296537,-0.0153894127218,0.079841427608,0.999999931541,0.000248662345404,-0.000270883951551,4.13127190922e-05,1793247234988480512 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+58,0.966666667,BASELINE,765,744,714.655662764,679,658.655662764,634,877,784.344337236,808,651,629,652,0.400982236417,-0.0153907582585,0.0798424356002,0.9999999325,0.000246041864956,-0.00026975940963,4.11524778823e-05,1793247235138480640 +59,0.983333333,BASELINE,765,744,715,679.230669387,659,634,877,784.230669387,808,651.230669387,629.230669387,652,0.400981925799,-0.0153908489802,0.0798425475727,0.999999932462,0.000246254639293,-0.000269695809583,4.12153674977e-05,1793247235155147008 +60,1.000000000,BASELINE,765,744,715,679.794096938,659,634,877,784.794096938,808,651.794096938,629.794096938,652,0.400980339547,-0.0153903898066,0.0798413432186,0.999999931454,0.000248476934317,-0.000271350202497,4.14804964134e-05,1793247235171813632 +61,1.016666667,BASELINE,765,744,715,679.622546906,659,634,877,784.622546906,808,651.622546906,629.622546906,652,0.40098021633,-0.0153902495743,0.0798411326748,0.999999931516,0.000247956208137,-0.000271578781036,4.15932687996e-05,1793247235188480256 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+69,1.150000000,BASELINE,765,744,715,679.034140347,658.965859653,634,877.034140347,785,807.965859653,651,628.965859653,652,0.400981129665,-0.0153891199366,0.0798416102587,0.999999931997,0.000246986976141,-0.000270783365222,4.0989243192e-05,1793247235321813760 +70,1.166666667,BASELINE,765,744,715,679.611302019,658.388697981,634,877.611302019,785,807.388697981,651,628.388697981,652,0.40098196408,-0.0153896472304,0.0798422920956,0.999999931695,0.000249205372038,-0.000269782486797,4.15160750504e-05,1793247235338480384 +71,1.183333333,BASELINE,765,744,715,679.812691269,658.187308731,634,877.812691269,785,807.187308731,651,628.187308731,652.187308731,0.400982340694,-0.0153901108942,0.0798426690079,0.999999931728,0.000249660367051,-0.000269194615092,4.18036117344e-05,1793247235355147008 +72,1.200000000,BASELINE,765,744,715,679.239066503,658.760933497,634,877.239066503,785,807.760933497,651,628.760933497,652.760933497,0.400981773117,-0.0153904433242,0.0798424170264,0.999999932455,0.000246478425569,-0.000269458551433,4.1597612724e-05,1793247235371813888 +73,1.216666667,BASELINE,765,744,715,679,658.655889925,634,877,785,807.655889925,651,629,652.655889925,0.400982167216,-0.0153905367044,0.0798429804272,0.99999993273,0.000246004165226,-0.000268862902752,4.16455510037e-05,1793247235388480512 +74,1.233333333,BASELINE,765,744,715,679,658.065887911,634,877,785,807.065887911,651,629,652.065887911,0.400983248504,-0.0153904592658,0.0798441264786,0.999999932685,0.000247464742258,-0.000267653017379,4.18749461536e-05,1793247235405147392 +75,1.250000000,BASELINE,765,744,715,679,658,634,877,785,807,651,629,652,0.400982164616,-0.0153897955474,0.0798428538187,0.999999932068,0.000248225626887,-0.000269268575066,4.17529579823e-05,1793247235421813760 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+80,1.333333333,BASELINE,765,744.592932632,715,679,659,634,877,785,807.407067368,651,629,652,0.400982587279,-0.0153895378708,0.0798427000355,0.999999932154,0.000248346609603,-0.000268918341942,4.12095934643e-05,1793247235505147136 +81,1.350000000,BASELINE,765,744,715,679.002078703,658.997921297,634,877,785,808,651,629,652,0.40098197638,-0.0153902661849,0.0798420553556,0.999999932063,0.000247456238623,-0.000270008654856,4.16538350552e-05,1793247235521814016 +82,1.366666667,BASELINE,765,744,715,679.577577767,658.422422233,634,877,785,808,651,629,652,0.400980988744,-0.0153898530296,0.0798418041009,0.999999931494,0.000248985360208,-0.000270688594556,4.17906173712e-05,1793247235538480384 +83,1.383333333,BASELINE,765,744,715,679.847715105,658.152284895,634,877,784.847715105,808,651,629,652,0.400980841966,-0.0153899160186,0.0798419576674,0.99999993139,0.000249789944195,-0.000270320160524,4.1864279546e-05,1793247235555147008 +84,1.400000000,BASELINE,765,744,715,679.275193235,658.724806765,634,877,784.275193235,808,651,629,652,0.400983015573,-0.0153912929488,0.079843228356,0.999999932568,0.00024859513463,-0.000267058692457,4.17637589001e-05,1793247235571813632 +85,1.416666667,BASELINE,765,744.298114625,714.701885375,679,658.701885375,634,877,784.298114625,808,651,629,652.298114625,0.400983531336,-0.0153915427566,0.0798433423353,0.999999932888,0.000247736909079,-0.000266687842278,4.15810634757e-05,1793247235588480256 +86,1.433333333,BASELINE,765,744.872149923,714.127850077,679,658.127850077,634,877,784.872149923,808,651,629,652.872149923,0.400982512677,-0.0153907493537,0.0798423857194,0.999999932416,0.000247190209707,-0.000268992410305,4.13223110029e-05,1793247235605146880 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sha256:8ce213fa7a1cf6521f79fa9b91ecbd4cb8533641fb33a05a2f60c5773a1ad0dd +size 26017010 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..cf79a7c28d962bd0e260b474e398066c8d203fb3 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_04/franka_data.csv @@ -0,0 +1,411 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,744,715,679,659,634,878,784,808,651,630,652,0.400982768394,-0.0153838225093,0.0798408238256,0.999999929699,0.000252631841897,-0.000274156575367,4.02226358736e-05,1793247248132138496 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diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_04/simulation_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..c886d101d442815ac2330682564fb3af35fcada9 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_04/simulation_data.csv @@ -0,0 +1,411 @@ +frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m +0,0.000000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246 +1,0.016666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246 +2,0.033333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246 +3,0.050000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246 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a/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..33e4be6ac03b349e9f59deb95b507c1e61e8b6e7 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36c5591b6f90c153489ef1d71d1ff5fe272072a4951b39acc06db4d28493b91a +size 26144144 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..70d06d892f4cc8491c2ce64b81f7589a08246107 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_08/depth_05/franka_data.csv @@ -0,0 +1,413 @@ 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b/Part2/Obstacle_avoidance/ball_0030_12.5/position_09/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..f705932056c5cb52be57d8c7d2490fd4a2b01658 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_09/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b547cc2354b01a106e0425587168bd2bd06c0fcd0369fa4a87c8ba735b454b2 +size 25849375 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_09/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d9cfa466f875ace8ef6ead6e4bab045960de0ccb --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_09/depth_02/franka_data.csv @@ -0,0 +1,408 @@ 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+38,0.633333333,BASELINE,765,745,714.051052759,679.948947241,661.948947241,634,877.051052759,785,808,652.948947241,628,652,0.400961698236,0.00451640847447,0.0598370601012,0.999999954154,0.000133231826789,-0.00027043902516,2.83634558385e-05,1793247271372568576 +39,0.650000000,BASELINE,765,745,714.638393483,679.361606517,661.361606517,634,877.638393483,785,808,652.361606517,628,652,0.400962407188,0.00451730653008,0.0598373757415,0.999999954248,0.00013494947755,-0.000269256257694,2.81585122586e-05,1793247271389234944 +40,0.666666667,BASELINE,765,745,714.77747754,679.22252246,661,634,877.77747754,785,808,652,628.22252246,652,0.400962671914,0.00451803279508,0.0598376185208,0.999999954354,0.000135576530663,-0.000268561450232,2.80407711973e-05,1793247271405901312 +41,0.683333333,BASELINE,765,745,714.198493535,679.801506465,661,634,877.198493535,785,808,652,628.801506465,652,0.400962225027,0.00451848386646,0.0598377445831,0.999999954481,0.000134456541503,-0.000268648312152,2.80627209662e-05,1793247271422567936 +42,0.700000000,BASELINE,765,745.380575939,714.380575939,679.619424061,661,634,877,785.380575939,808,652.380575939,629,652,0.400961448169,0.00451805679796,0.0598370833507,0.999999954243,0.000134558995178,-0.000269496936983,2.79057475153e-05,1793247271439234560 +43,0.716666667,BASELINE,765,745.95968998,714.95968998,679.04031002,661,634,877,785.95968998,808,652.95968998,629,652,0.400960499173,0.00451717162317,0.0598360114038,0.999999953814,0.000135299170446,-0.000270742956783,2.76554337522e-05,1793247271455901440 +44,0.733333333,BASELINE,765,745.466600457,715,679.533399543,661.533399543,634,877,785.466600457,808,653,629,652,0.400961778194,0.00451758198532,0.0598371225423,0.999999954509,0.000134163285116,-0.000268755871507,2.74347131746e-05,1793247271472567552 +45,0.750000000,BASELINE,765,745,715,680,661.890396212,634,877,785,808,653,629,652.109603788,0.400963144142,0.00451799805816,0.0598382457225,0.999999955147,0.00013344613814,-0.000266744624685,2.73028558264e-05,1793247271489233920 +46,0.766666667,BASELINE,765,745,715,680,661.301515285,634,877,785,808,653,629,652.698484715,0.400964161319,0.00451801527125,0.0598387073678,0.99999995519,0.000135173805223,-0.000265685426098,2.75498997137e-05,1793247271505900800 +47,0.783333333,BASELINE,765,745,715,679.717336439,661,634,877,785,808,652.717336439,629,652.717336439,0.400963565242,0.00451761997631,0.0598384395786,0.999999954946,0.000135470959745,-0.000266416709646,2.7883006198e-05,1793247271522567424 +48,0.800000000,BASELINE,765,745,715,679.138091129,661,634,877,785,808,652.138091129,629,652.138091129,0.400961276477,0.00451679186169,0.0598374064384,0.999999954398,0.000134267164326,-0.000269026637481,2.83064129809e-05,1793247271539234048 +49,0.816666667,BASELINE,765,745,715,679,661,634,877,785.43907778,808,652.43907778,629,652,0.400962411293,0.0045163598422,0.0598382120912,0.999999954689,0.000134776332986,-0.000267677183938,2.83942190832e-05,1793247271555900928 +50,0.833333333,BASELINE,765,745,714.984528698,679.015471302,661,634,877,785.984528698,807.984528698,652.984528698,629,652,0.400964548015,0.00451608622529,0.0598395415559,0.999999955217,0.000135802970585,-0.000265176689145,2.836684075e-05,1793247271572567296 +51,0.850000000,BASELINE,765,745,714.412644759,679.587355241,661,634,877,785.412644759,807.412644759,652.412644759,629,652,0.400964176203,0.00451705034868,0.0598390090993,0.999999955001,0.000136156104136,-0.000265853037904,2.79750045214e-05,1793247271589235200 +52,0.866666667,BASELINE,765,745,714.164884431,679.835115569,661,634,877.164884431,785.164884431,807.164884431,652.164884431,628.835115569,652.164884431,0.400964022388,0.00451740496354,0.0598388459798,0.999999954971,0.000135809041954,-0.000266162146519,2.778549495e-05,1793247271605902592 +53,0.883333333,BASELINE,765,745,714.757042414,679.242957586,661,634,877.757042414,785.757042414,807.757042414,652.757042414,628.242957586,652.757042414,0.400964433478,0.00451618012736,0.0598396399422,0.999999955423,0.000133647526346,-0.000265519606719,2.81202849307e-05,1793247271622568960 +54,0.900000000,BASELINE,764.658190393,745,714.658190393,679.341809607,661,634,877.658190393,785.658190393,808,653,628,652.658190393,0.400963918368,0.00451630076544,0.0598397591948,0.999999955354,0.00013348692455,-0.000265844010678,2.8304001342e-05,1793247271639235840 +55,0.916666667,BASELINE,764.078565396,745,714.078565396,679.921434604,661,634,877.078565396,785.078565396,808,653,628,652.078565396,0.400962758852,0.00451735752264,0.0598394090153,0.999999954921,0.000134718466569,-0.000266841169621,2.83826077038e-05,1793247271655902720 +56,0.933333333,BASELINE,764,745,714,679.502470093,661,633.502470093,877,785,808,653,628,652.497529907,0.400962401777,0.00451783028882,0.0598384314001,0.999999954724,0.000134550831215,-0.000267691590457,2.80821971765e-05,1793247271672569344 +57,0.950000000,BASELINE,764.074458009,745,714.074458009,679,661,633,876.925541991,785,808,653,628.074458009,652.925541991,0.400962423698,0.00451819327683,0.0598376544963,0.999999954639,0.000134282890868,-0.000268178241135,2.77542859488e-05,1793247271689235712 +58,0.966666667,BASELINE,764.660918231,745,714.660918231,679,661,633,876.339081769,785,808,653,628.660918231,652.339081769,0.400964186553,0.00451843105082,0.059838934269,0.999999955064,0.000134833818075,-0.000266321680519,2.76459282288e-05,1793247271705902080 +59,0.983333333,BASELINE,765.244328597,745,714.755671403,679,661,633.244328597,876.244328597,785,808,653,629,652,0.400964644882,0.0045179378672,0.0598394420377,0.999999955218,0.000134859307442,-0.000265711004468,2.78348976032e-05,1793247271722568448 +60,1.000000000,BASELINE,765.823558607,745,714.176441393,679,661,633.823558607,876.823558607,785,808,653,629,652,0.400963315096,0.00451644275941,0.0598388916199,0.999999955002,0.000134164578798,-0.000266808063172,2.84314134604e-05,1793247271739234816 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+250,4.166666667,pose2_hold,0.63125564472,0.00992775209519,1.05004237536,0.601827435953,0.0186022099086,1.04966575987 +251,4.183333333,pose2_hold,0.63125564472,0.00992775209519,1.05004237536,0.601827435954,0.0186022099073,1.04966575987 +252,4.200000000,pose2_hold,0.63125564472,0.00992775209519,1.05004237536,0.601827435954,0.0186022099084,1.04966575987 +253,4.216666667,pose2_hold,0.63125564472,0.00992775209519,1.05004237536,0.601827435954,0.0186022099095,1.04966575987 +254,4.233333333,pose2_hold,0.63125564472,0.00992775209519,1.05004237536,0.601827435955,0.0186022099086,1.04966575987 +255,4.250000000,pose2_hold,0.63125564472,0.00992775209519,1.05004237536,0.601827435956,0.0186022099083,1.04966575987 +256,4.266666667,pose2_hold,0.63125564472,0.00992775209519,1.05004237536,0.601827435957,0.018602209909,1.04966575987 +257,4.283333333,pose2_hold,0.63125564472,0.00992775209519,1.05004237536,0.601827435957,0.0186022099086,1.04966575987 +258,4.300000000,pose2_hold,0.63125564472,0.00992775209519,1.05004237536,0.601827435958,0.0186022099087,1.04966575987 +259,4.316666667,pose2_hold,0.63125564472,0.00992775209519,1.05004237536,0.601827435959,0.0186022099073,1.04966575987 +260,4.333333333,pose2_hold,0.63125564472,0.00992775209519,1.05004237536,0.60182743596,0.0186022099069,1.04966575987 +261,4.350000000,pose2_to_pose3_retreat,0.63125564472,0.00992775209519,1.05004237536,0.601827435963,0.0186022099068,1.04966575987 +262,4.366666667,pose2_to_pose3_retreat,0.631255441596,0.00992798078245,1.05004240933,0.601827231188,0.018602432785,1.0496657891 +263,4.383333333,pose2_to_pose3_retreat,0.631255342131,0.00992797696713,1.05004244474,0.601827132011,0.0186024295689,1.04966581574 +264,4.400000000,pose2_to_pose3_retreat,0.631255326614,0.00992797637193,1.05004245027,0.60182711654,0.0186024290672,1.0496658199 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+47,0.783333333,BASELINE,765,745,715,679,661,633.732929762,877,785,807.732929762,653,629,652,0.400964319723,0.00452289403593,0.0598396811286,0.999999952344,0.00015808118374,-0.000264015626897,2.48532431368e-05,1793247285453977088 +48,0.800000000,BASELINE,765,745,715,679,661,633.144578911,877,785,807.144578911,653,629,652,0.400962354627,0.00452300363651,0.0598382569667,0.999999951718,0.000158216581112,-0.000266301416414,2.48034099097e-05,1793247285470643456 +49,0.816666667,BASELINE,765,745,715,679,661,633.43666742,877,785,807.43666742,653,628.56333258,652,0.400962084725,0.00452253328274,0.0598376897047,0.999999951663,0.000157484344041,-0.000266928801285,2.4951173534e-05,1793247285487310080 +50,0.833333333,BASELINE,765,745.015573045,715,679,661,634,877,785,807.984426955,652.984426955,628.015573045,652,0.40096238187,0.00452190420766,0.0598374307637,0.999999951802,0.000156477943972,-0.000266980052957,2.51417229389e-05,1793247285503976448 +51,0.850000000,BASELINE,765,745.593537989,715,679,661,634,877,785,807.406462011,652.406462011,628.593537989,652,0.400963212025,0.00452236665918,0.0598382244124,0.999999952257,0.000155778807506,-0.000265737283942,2.45525756216e-05,1793247285520643328 +52,0.866666667,BASELINE,765,745.829168998,715,679,661,634,877,785,807.170831002,652.170831002,629,652,0.400963597421,0.00452270161594,0.0598387193573,0.999999952533,0.000155297493993,-0.000265012351179,2.41731831502e-05,1793247285537310208 +53,0.883333333,BASELINE,765,745.253468495,715,679,661,634,877,785,807.746531505,652.746531505,629,652,0.400962928739,0.00452273441007,0.0598385063742,0.999999952392,0.000155332420957,-0.000265514690482,2.42909097306e-05,1793247285553976832 +54,0.900000000,BASELINE,765,745,715,679.328452531,661,634,877,785,808,652.671547469,629,652,0.400963206828,0.00452250049065,0.0598388227285,0.9999999526,0.000154711586273,-0.000265091852878,2.43166453089e-05,1793247285570643712 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+62,1.033333333,BASELINE,765,744.975930433,714.024069567,679.024069567,660.975930433,634,877,785,808,652.975930433,628.024069567,652,0.400963388462,0.00452201389339,0.0598397013296,0.999999952571,0.00015677530087,-0.000263914844866,2.50784507355e-05,1793247285703976704 +63,1.050000000,BASELINE,765.55442917,745,714,679,661,634,876.44557083,785,808,652.44557083,628.55442917,652,0.40096422697,0.00452159437167,0.0598392198412,0.999999952704,0.000156781894291,-0.000263426854684,2.48368174192e-05,1793247285720643072 +64,1.066666667,BASELINE,765.868025694,745.131974306,714,679,661,634,876.131974306,785,808,652,629,652,0.400964617754,0.00452129244181,0.0598388445845,0.999999952793,0.000156408391203,-0.000263334790026,2.46177769004e-05,1793247285737309952 +65,1.083333333,BASELINE,765.291928414,745.708071586,714,679,661,634,876.708071586,785,808,652,629,652,0.400963274557,0.00452115142206,0.0598388462671,0.999999952718,0.000154470810877,-0.000264764813876,2.45517377974e-05,1793247285753976832 +66,1.100000000,BASELINE,765,745.715944621,714.284055379,679.284055379,660.715944621,634,877.284055379,785,808,652.284055379,629,652,0.400962799548,0.0045213285176,0.0598387831493,0.999999952717,0.000153365661393,-0.000265416430137,2.44910337686e-05,1793247285770643456 +67,1.116666667,BASELINE,765,745.140077452,714.859922548,679.859922548,660.140077452,634,877.859922548,785,808,652.859922548,629,652,0.400963216434,0.00452183241488,0.0598386534615,0.999999952796,0.000153115673218,-0.000265268383535,2.44358104976e-05,1793247285787310080 +68,1.133333333,BASELINE,765,745,715,679.553153301,660.446846699,634,877.553153301,785,808,652.553153301,629,652,0.400963240074,0.0045221970144,0.0598390620793,0.999999952715,0.000154386349311,-0.00026483511397,2.44492102255e-05,1793247285803976960 +69,1.150000000,BASELINE,765,745,715,679,661,634,877,785,808,652,629,652,0.400963081698,0.00452260554238,0.0598395245707,0.999999952535,0.000156185291235,-0.000264458938266,2.44555458439e-05,1793247285820643328 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+30,0.500000000,BASELINE,765.498707331,745,715,679,663,634,877.501292669,785.501292669,808,653,629,652,0.400936738295,0.00455491432354,0.0499270020617,0.999999974749,7.5900494115e-05,-0.000210164050327,-2.39023151253e-05,1793247300311226880 +31,0.516666667,BASELINE,765.923280169,745,714.923280169,679,663,634,877,785,807.923280169,653.076719831,629,652,0.400934345699,0.00455595595304,0.0499255839664,0.999999974016,7.78579234696e-05,-0.00021290353976,-2.40648352953e-05,1793247300327893504 +32,0.533333333,BASELINE,765.348480714,745,714.348480714,679,663,634,877,785,807.348480714,653.651519286,629,652,0.400937144948,0.00455456613799,0.049927599866,0.999999975046,7.44319156166e-05,-0.000209254256147,-2.41121689205e-05,1793247300344559872 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+36,0.600000000,BASELINE,765.020192248,745,715,679,663,634,877.979807752,786,807.020192248,653,629,652,0.400937644812,0.00455480558343,0.0499278937703,0.999999975127,7.67827122416e-05,-0.000208065124146,-2.36290770645e-05,1793247300411226880 +37,0.616666667,BASELINE,765,745.554320958,714.445679042,679,663,634,877.445679042,785.445679042,807.554320958,653,629,652,0.400938478794,0.00455335183,0.049928946226,0.999999975498,7.49088566535e-05,-0.000206986898987,-2.34396936665e-05,1793247300427893760 +38,0.633333333,BASELINE,765,745.870596165,714.129403835,679,663,634,877,785.129403835,808,653,629,652,0.400939156726,0.0045525146719,0.0499295577124,0.999999975767,7.34741084605e-05,-0.000206206710694,-2.33620222099e-05,1793247300444560128 +39,0.650000000,BASELINE,765,745.293015203,714.706984797,679,663,634,877,785.706984797,808,653,629,652,0.40093894476,0.00455404495408,0.0499284250481,0.99999997562,7.39121212942e-05,-0.000206723076755,-2.37163328202e-05,1793247300461227008 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+48,0.800000000,BASELINE,765,745.060624934,715,679,663,633.939375066,877.939375066,785.060624934,808,653,629,652,0.400940197651,0.00455233060676,0.0499288678978,0.999999975763,7.35098742291e-05,-0.000206269885082,-2.2880077301e-05,1793247300611227136 +49,0.816666667,BASELINE,765,745.519967197,715,679,663,634,877.480032803,785.519967197,807.480032803,653,629,652,0.400940198593,0.00455226596121,0.0499291654273,0.999999976059,7.24522738732e-05,-0.000205168916563,-2.31889143797e-05,1793247300627893760 +50,0.833333333,BASELINE,765,745.900412756,715,679,663,634,877.099587244,785.900412756,807,653,629,652.099587244,0.400940025578,0.00455226109184,0.0499293247739,0.999999976278,7.13631464988e-05,-0.00020444417641,-2.35310914418e-05,1793247300644560384 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+54,0.900000000,BASELINE,766,745,715,679,663,634,877.421372443,786,808,652.421372443,629,652,0.400939195605,0.00455396594986,0.049928417592,0.999999975431,7.60259487946e-05,-0.000206896776315,-2.34973988963e-05,1793247300711226880 +55,0.916666667,BASELINE,765.998696004,745,715,679.001303996,663,634,877.998696004,785.998696004,808,653,629,652,0.400939129219,0.00455427479441,0.049928996622,0.999999975334,7.83271681444e-05,-0.00020653291923,-2.32397213142e-05,1793247300727893504 +56,0.933333333,BASELINE,765.424713924,745,715,679.575286076,663,634,877.424713924,785.424713924,808,653,629,652,0.400938823841,0.00455419193774,0.0499279368823,0.999999975373,7.62024606051e-05,-0.000207112289806,-2.34705050996e-05,1793247300744560128 +57,0.950000000,BASELINE,765,745,715,679.849690527,663,634,877,785.150309473,808,653,629,652,0.400939048294,0.00455377562991,0.0499275148668,0.999999975576,7.39337845133e-05,-0.000206935741978,-2.36321341149e-05,1793247300761226752 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+66,1.100000000,BASELINE,765,745,715,679,663.390310557,633.609689443,877.390310557,786,808,653,629,652.609689443,0.400938676026,0.00455278039401,0.0499278140592,0.999999975627,7.08445981874e-05,-0.000207758139204,-2.37201751127e-05,1793247300911226624 +67,1.116666667,BASELINE,765,745,715,679,663.969596656,633.030403344,877.969596656,786,808,653,629,652.030403344,0.400938548263,0.00455343410001,0.0499279872781,0.999999975684,7.06693091131e-05,-0.000207519354058,-2.39387928859e-05,1793247300927893504 +68,1.133333333,BASELINE,765,745,714.454004687,679,663.454004687,633.545995313,878,786,808,653,629,652,0.400937709529,0.00455427010734,0.0499270185733,0.999999975145,7.4137370523e-05,-0.00020891406948,-2.38361557344e-05,1793247300944560128 +69,1.150000000,BASELINE,765,745.123721842,714.123721842,679,663.123721842,634,877.876278158,786,808,653,629,652,0.400937259634,0.00455461365965,0.0499263483759,0.999999974803,7.63764377695e-05,-0.000209762613237,-2.36866880943e-05,1793247300961226752 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0000000000000000000000000000000000000000..9b592920f133fd7c4bbb22681ba910fb57444293 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_10/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb04adfa4500d24a64eb24884e3c9ba838e07cf721d3859664181b6c061f8b51 +size 25854426 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_10/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..1c724dc61646cbc505450dbc00334656c1239e3c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_10/depth_02/franka_data.csv @@ -0,0 +1,408 @@ 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+53,0.883333333,BASELINE,765.752719225,745.752719225,714.752719225,678.752719225,663,634,876.752719225,786,808,652.752719225,629,652,0.400986752601,0.00457516654453,0.0498511053458,0.999999963437,9.0619732309e-05,-0.000252602301864,-3.3261211411e-05,1793247314595149312 +54,0.900000000,BASELINE,765.663901727,745.663901727,714.663901727,679,663.336098273,633.663901727,877,786,808,653,629,652,0.400986940466,0.00457498758278,0.0498514460707,0.999999963518,9.09758237798e-05,-0.000252181183463,-3.30406252552e-05,1793247314611815936 +55,0.916666667,BASELINE,765.083987138,745.083987138,714.083987138,679,663.916012862,633.083987138,877,786,808,653,629,652,0.400986238037,0.00457495657591,0.0498515843731,0.999999963484,9.09240404404e-05,-0.000252385995679,-3.26422186935e-05,1793247314628482304 +56,0.933333333,BASELINE,765,745,714.490694614,679,663.509305386,633.490694614,877,786,808,653,629,652,0.40098683565,0.00457502636446,0.0498516177008,0.999999963603,9.08859116808e-05,-0.000251924354282,-3.26897602853e-05,1793247314645149696 +57,0.950000000,BASELINE,765,745,714.935238545,678.935238545,663,633.935238545,877,786,808,653,629,652.064761455,0.400987413875,0.00457514639005,0.0498516381251,0.999999963722,9.07015581075e-05,-0.00025149723128,-3.28293152398e-05,1793247314661817344 +58,0.966666667,BASELINE,765,745,714.359029535,678.359029535,663,633.359029535,877,786,808,653,629,652.640970465,0.400986100238,0.00457552834852,0.0498516970453,0.99999996365,8.93441453252e-05,-0.000252234066049,-3.30991015469e-05,1793247314678483456 +59,0.983333333,BASELINE,765,745,714.222937985,678.222937985,663,633,877,786,808,653,629,652.777062015,0.400985513062,0.00457587347666,0.0498517788189,0.999999963668,8.85172395326e-05,-0.00025243422324,-3.32574202699e-05,1793247314695149568 +60,1.000000000,BASELINE,765,745,714.81442526,678.81442526,663,633,877,786,808,653,629,652.18557474,0.400986126836,0.00457615771889,0.0498518983724,0.999999963837,8.85673396321e-05,-0.000251747173551,-3.32314667187e-05,1793247314711816448 +61,1.016666667,BASELINE,765,745,714.602832559,679,663,633.397167441,876.602832559,786,808,653,629,652,0.400986362885,0.00457435398027,0.0498516106335,0.999999963929,8.68621949115e-05,-0.000252002567957,-3.304172231e-05,1793247314728483328 +62,1.033333333,BASELINE,765,745,714.024088487,679,663,633.975911513,876.024088487,786,808,653,629,652,0.400986426246,0.00457159566055,0.049851136689,0.999999963979,8.43545890394e-05,-0.000252688828092,-3.27770961551e-05,1793247314745150208 +63,1.050000000,BASELINE,765,745,714.548469669,679,662.451530331,634,876.548469669,785.451530331,808,653,629,652,0.400986832002,0.00457353754515,0.0498516456396,0.999999963798,8.89345784448e-05,-0.000251854917601,-3.26202481925e-05,1793247314761816320 +64,1.066666667,BASELINE,765,745,715,679,662.124627655,634,876.875372345,785.124627655,808,653,629.124627655,652,0.400986917287,0.00457522435878,0.049851836986,0.999999963616,9.20839594247e-05,-0.0002514423736,-3.26435468807e-05,1793247314778482688 +65,1.083333333,BASELINE,765,745,715,679,662.715250243,634,876.284749757,785.715250243,808,653,629.715250243,652,0.400985748699,0.00457519418221,0.0498506811697,0.999999963541,8.87332183478e-05,-0.000252852216859,-3.33229295965e-05,1793247314795149312 +66,1.100000000,BASELINE,765.297762619,745,714.702237381,679,663,634,876,786,807.702237381,652.702237381,629.702237381,652,0.400985423931,0.00457506489725,0.0498503192465,0.999999963562,8.65130146128e-05,-0.000253520586566,-3.34441151895e-05,1793247314811815936 +67,1.116666667,BASELINE,765.872724827,745,714.127275173,679,663,634,876,786,807.127275173,652.127275173,629.127275173,652,0.400985884708,0.00457484334818,0.0498506963915,0.999999963681,8.53452752373e-05,-0.000253498687668,-3.30456518569e-05,1793247314828482560 +68,1.133333333,BASELINE,765.549191662,745,714,678.549191662,663,634,876,786,807,652.450808338,629,652,0.400986673098,0.00457593861887,0.049851594558,0.999999963773,8.81181789805e-05,-0.00025218236859,-3.30758871723e-05,1793247314845149440 +69,1.150000000,BASELINE,765,745,714.029618461,678,663,634,876,786,807.029618461,653,629,652,0.400987449352,0.00457727201471,0.0498525516279,0.999999963823,9.17553417878e-05,-0.000250661965268,-3.32151922117e-05,1793247314861816320 +70,1.166666667,BASELINE,765,745,714.605463028,678,663,634,876,786,807.605463028,653,629,652,0.400986284138,0.00457609285751,0.0498518632854,0.999999963548,9.06704783928e-05,-0.000252164459712,-3.31183066094e-05,1793247314878483456 +71,1.183333333,BASELINE,765,745,714.813825047,678.186174953,663,634,876.186174953,786,808,653,629,652,0.400985336809,0.00457482138562,0.0498514197649,0.99999996341,8.9294027554e-05,-0.000253224706611,-3.29231768297e-05,1793247314895150080 +72,1.200000000,BASELINE,765,745,714.222521327,678.777478673,663,634,876.777478673,786,808,653,629,652,0.400984863613,0.00457334903078,0.0498515089925,0.999999963576,8.72830633262e-05,-0.000253322594463,-3.25142613322e-05,1793247314911816192 +73,1.216666667,BASELINE,765,745,714.361052763,678.638947237,663,634,877,786,808,653,629,652,0.400985364907,0.00457306321134,0.0498515538044,0.999999963668,8.69698948029e-05,-0.000253051095012,-3.26491715627e-05,1793247314928482816 +74,1.233333333,BASELINE,765,745,714.939962801,678.060037199,663,634,877,786,808,653,629,652,0.400986454204,0.00457349334101,0.0498515718162,0.999999963715,8.76811671027e-05,-0.000252556709264,-3.31122233071e-05,1793247314945149440 +75,1.250000000,BASELINE,765,745,715,678.5125973,663,634,877,785.4874027,808,652.4874027,629,652,0.400986493297,0.00457372506134,0.0498519540453,0.999999963881,8.72571458003e-05,-0.000252056578908,-3.30492686162e-05,1793247314961816064 +76,1.266666667,BASELINE,765,745,715,678.912209958,663,634,877,785,808,652.087790042,629,652,0.400986345246,0.00457371999866,0.0498523280623,0.999999964017,8.67395827522e-05,-0.000251714025013,-3.29036977191e-05,1793247314978482688 +77,1.283333333,BASELINE,765,745,715,678.318074008,663,634,877,785,808,652.681925992,629,652,0.400985818678,0.00457248165537,0.0498524116499,0.999999963908,8.64401516683e-05,-0.000252284157304,-3.2632658763e-05,1793247314995149824 +78,1.300000000,BASELINE,765,745,715,678.266634334,663,634,877,785.266634334,808,653,629,652,0.400986070391,0.00457194260227,0.0498525382358,0.999999963939,8.67462509634e-05,-0.000252078473812,-3.24632317904e-05,1793247315011816448 +79,1.316666667,BASELINE,765,745,715,678.840480304,663,634,877,785.840480304,808,653,629,652,0.400987218829,0.00457220925976,0.0498527143637,0.99999996413,8.77500322901e-05,-0.000250978908266,-3.24108804705e-05,1793247315028482816 +80,1.333333333,BASELINE,765,745,715,679,663,634,877,785.585053065,807.585053065,653,629,652,0.400987552539,0.0045740251457,0.0498527857989,0.999999964185,8.79317274601e-05,-0.000250644234133,-3.27946105652e-05,1793247315045149440 +81,1.350000000,BASELINE,765,745,715,679,663,634,877,785.010347425,807.010347425,653,629,652,0.400987572571,0.00457643750005,0.0498528169264,0.999999964189,8.77969113506e-05,-0.000250604050723,-3.33462363461e-05,1793247315061816064 +82,1.366666667,BASELINE,765,745,715,679,663.565012588,633.434987412,877,785,807.565012588,653,629,652,0.400985835661,0.0045747535415,0.0498520154266,0.999999963767,8.94673673015e-05,-0.000251756321611,-3.28651460509e-05,1793247315078482688 +83,1.383333333,BASELINE,765,745,715,679,663.855086433,633.144913567,877,785,808,652.855086433,629,652,0.400985026348,0.00457344155218,0.0498517147186,0.999999963597,9.02354922462e-05,-0.000252206790066,-3.2470953231e-05,1793247315095149312 +84,1.400000000,BASELINE,765,745,715,679,663.261152117,633.738847883,877,785,808,652.261152117,629,652,0.400987191047,0.00457351484157,0.049853013037,0.99999996424,8.81051473852e-05,-0.000250414949739,-3.24046857034e-05,1793247315111815936 +85,1.416666667,BASELINE,765,745,715,678.679016156,663.320983844,634,877,785.320983844,808,652.320983844,629,652,0.400986910502,0.00457474894412,0.0498525540237,0.999999964017,8.84216791341e-05,-0.000251156305287,-3.26894589065e-05,1793247315128482816 +86,1.433333333,BASELINE,765,745,715,678.106139034,663.893860966,634,877,785.893860966,808,652.893860966,629,652,0.400984711042,0.00457689399914,0.0498507159377,0.999999963109,9.06584066348e-05,-0.000253885595933,-3.32497126472e-05,1793247315145149952 +87,1.450000000,BASELINE,765,745,714.527441067,678.472558933,663.527441067,634,877,785.527441067,807.527441067,653,629,652,0.400985779738,0.00457762219758,0.0498515048646,0.999999963486,9.19622821958e-05,-0.000251896757713,-3.3451575022e-05,1793247315161816320 +88,1.466666667,BASELINE,765,745,714,679,663,634,877,785.053124053,807.053124053,653,629,652,0.40098725488,0.00457771420109,0.0498526919222,0.999999964063,9.26016567508e-05,-0.000249349252101,-3.35259698304e-05,1793247315178482944 +89,1.483333333,BASELINE,765,745,714,679,663,634,877,785.639140713,807.639140713,653,629,652,0.400985352023,0.00457465650729,0.0498518801076,0.999999963775,8.87033146258e-05,-0.000251960372484,-3.31392628892e-05,1793247315195149568 +90,1.500000000,BASELINE,765,745,714,679,663,634,877,785.777240604,808,653,629,652,0.400984786352,0.00457321763304,0.0498515250095,0.999999963733,8.68221302926e-05,-0.000252806230394,-3.29512223163e-05,1793247315211816192 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+246,4.100000000,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238795,0.0186021897268,1.0396657359 +247,4.116666667,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238794,0.0186021897278,1.0396657359 +248,4.133333333,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238795,0.0186021897283,1.0396657359 +249,4.150000000,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238797,0.0186021897269,1.0396657359 +250,4.166666667,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238796,0.0186021897287,1.0396657359 +251,4.183333333,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238796,0.0186021897296,1.0396657359 +252,4.200000000,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238797,0.0186021897296,1.03966573591 +253,4.216666667,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238798,0.0186021897284,1.03966573591 +254,4.233333333,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238798,0.0186021897297,1.03966573591 +255,4.250000000,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238799,0.018602189729,1.0396657359 +256,4.266666667,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238801,0.0186021897279,1.0396657359 +257,4.283333333,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238801,0.0186021897283,1.0396657359 +258,4.300000000,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238801,0.0186021897285,1.03966573591 +259,4.316666667,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238802,0.0186021897296,1.0396657359 +260,4.333333333,pose2_hold,0.630751446278,0.00992772720912,1.04004234356,0.601323238802,0.0186021897299,1.03966573591 +261,4.350000000,pose2_to_pose3_retreat,0.630751446278,0.00992772720912,1.04004234356,0.601323238805,0.0186021897306,1.0396657359 +262,4.366666667,pose2_to_pose3_retreat,0.630751468685,0.00992777003898,1.0400423976,0.60132326048,0.0186022299839,1.03966578777 +263,4.383333333,pose2_to_pose3_retreat,0.630751483386,0.00992779813938,1.04004243306,0.601323274701,0.0186022563939,1.0396658218 +264,4.400000000,pose2_to_pose3_retreat,0.63075148874,0.00992780837303,1.04004244598,0.601323279879,0.0186022660119,1.03966583419 +265,4.416666667,pose2_to_pose3_retreat,0.630751490032,0.00992781084314,1.04004244909,0.60132328113,0.0186022683334,1.03966583718 +266,4.433333333,pose2_to_pose3_retreat,0.630751499067,0.00992782811316,1.04004247088,0.601323289869,0.0186022845645,1.0396658581 +267,4.450000000,pose2_to_pose3_retreat,0.630751446463,0.00992784496075,1.04004252467,0.601323237022,0.018602300486,1.03966590964 +268,4.466666667,pose2_to_pose3_retreat,0.630751028783,0.00992784822646,1.04004264693,0.601322819639,0.0186023044855,1.03966602632 +269,4.483333333,pose2_to_pose3_retreat,0.63074933672,0.00992789806032,1.0400425649,0.601321127711,0.0186023548083,1.03966594541 +270,4.500000000,pose2_to_pose3_retreat,0.630744140575,0.00992781572046,1.04004242656,0.601315932853,0.0186022767062,1.03966580332 +271,4.516666667,pose2_to_pose3_retreat,0.630734028573,0.00992782554449,1.04004237214,0.601305820168,0.0186022846776,1.03966576028 +272,4.533333333,pose2_to_pose3_retreat,0.630715057613,0.00992782670796,1.04004247471,0.601286849033,0.0186022847882,1.03966585364 +273,4.550000000,pose2_to_pose3_retreat,0.630686691191,0.00992792249182,1.04004262142,0.601258481658,0.0186023775205,1.03966600447 +274,4.566666667,pose2_to_pose3_retreat,0.630647794457,0.00992777892691,1.04004242368,0.6012195851,0.0186022344704,1.03966580368 +275,4.583333333,pose2_to_pose3_retreat,0.630599417439,0.00992791233999,1.04004243994,0.601171208901,0.0186023709346,1.03966582698 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0000000000000000000000000000000000000000..cbc9ccc723a174c9009d9349a6a0e258549c6721 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_10/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a44365ff672faf7d616a6e22c4ac3a71a064c3ee120ad2e11700e2eed654e78 +size 25914318 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_10/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ccf5bf65c2acb3567075cd0a6798f568342d199c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_10/depth_04/franka_data.csv @@ -0,0 +1,409 @@ 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+31,0.516666667,BASELINE,765,745,715,678.008485981,663,634,876.008485981,786,807.008485981,653,628.008485981,652,0.4009888669,0.00458421946553,0.0498531814148,0.99999996273,0.000106216746808,-0.000249395480108,-3.25627518251e-05,1793247321208411136 +32,0.533333333,BASELINE,765,745,714.43066682,678.56933318,663,634,876.56933318,785.43066682,807.56933318,653.56933318,628.56933318,652,0.400988141447,0.00458345748867,0.0498517806188,0.999999962525,0.000104304994416,-0.000251022895007,-3.25416243028e-05,1793247321225077760 +33,0.550000000,BASELINE,765,745,714,678.853889073,663,634,877,785.146110927,808,653.853889073,629,652,0.400987638185,0.00458276162378,0.0498509013321,0.999999962426,0.000102872497941,-0.00025201796346,-3.24298156642e-05,1793247321241744384 +34,0.566666667,BASELINE,765,745,714,678.279525749,663,634,877,785.720474251,808,653.279525749,629,652,0.400987864798,0.00458235221796,0.0498516602616,0.999999962679,0.000102985820087,-0.000251013243837,-3.20652338018e-05,1793247321258411264 +35,0.583333333,BASELINE,765.302630546,745,714.302630546,678.605261091,663,634,877.302630546,786,808,653,629,652,0.400988552194,0.00458224436232,0.049852193848,0.999999962914,0.000102935356918,-0.000250104100096,-3.19963758663e-05,1793247321275077888 +36,0.600000000,BASELINE,765.892175168,745,714.892175168,679.784350336,663,634,877.892175168,786,808,653,629,652,0.400989676443,0.00458242239644,0.049852513794,0.999999963133,0.000102729614289,-0.000249285568593,-3.22078840265e-05,1793247321291744512 +37,0.616666667,BASELINE,765.527012977,745,715,679.054025954,663,634,877.527012977,786,808,653,629,652,0.400987588425,0.00458242059333,0.0498505934459,0.999999962361,0.000103078833459,-0.000252201409391,-3.2368851799e-05,1793247321308411136 +38,0.633333333,BASELINE,764.948501969,745,714.948501969,678,663,634,877,786,808,653,629,652,0.400985171014,0.00458237067182,0.0498485145187,0.999999961484,0.000103730052833,-0.000255378640201,-3.24585397102e-05,1793247321325077760 +39,0.650000000,BASELINE,764.373509451,745,714.373509451,678,663,634,877,786,808,653,629,652,0.400986714197,0.0045822408013,0.0498499210045,0.999999961919,0.000106188479025,-0.000252716032613,-3.1938640833e-05,1793247321341744640 +40,0.666666667,BASELINE,764.202554128,745,714.202554128,678.202554128,663,633.797445872,877,786,808,653,629,652,0.400987753923,0.00458216850081,0.0498511522431,0.999999962281,0.000107167450731,-0.000250896822174,-3.16938625075e-05,1793247321358411520 +41,0.683333333,BASELINE,764.780603209,745,714.780603209,678.780603209,663,633.219396791,877,786,808,653,629,652,0.400987860341,0.00458220292368,0.0498520586084,0.999999962524,0.000105403808771,-0.000250641101982,-3.19591028399e-05,1793247321375078144 +42,0.700000000,BASELINE,765,745,715,679.365152281,663,633.365152281,877,786,808,653,629,652,0.400988205733,0.00458267801298,0.0498522909086,0.999999962696,0.00010510128044,-0.000250038505184,-3.22945115587e-05,1793247321391744768 +43,0.716666667,BASELINE,765,745,715,679.953677542,663,633.953677542,877,786,808,653,629,652,0.400988697311,0.00458342266918,0.0498521108658,0.999999962825,0.000105692552717,-0.00024922371511,-3.2672844063e-05,1793247321408411392 +44,0.733333333,BASELINE,765.520124608,745,715,679.479875392,663,634,877,786,808,652.479875392,629,652,0.400987843224,0.00458379081394,0.0498517240408,0.999999962476,0.000106011960476,-0.000250478997499,-3.27065489922e-05,1793247321425078016 +45,0.750000000,BASELINE,765.911540306,745,715,679,663,634,877,786,808,652.088459694,629,652,0.40098736853,0.00458420963405,0.0498515727251,0.9999999622,0.000106503561969,-0.000251371583556,-3.26950380574e-05,1793247321441744640 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+58,0.966666667,BASELINE,765,745.652691117,715,679,663,634,876.347308883,786,808,653,629,652.347308883,0.400987764739,0.00458271441871,0.0498516785909,0.999999962394,0.000106120857347,-0.000250827630687,-3.21930395609e-05,1793247321658411264 +59,0.983333333,BASELINE,765,745.769987596,714.769987596,679,663,634,876.230012404,785.769987596,808,652.769987596,629,652,0.40098880065,0.00458172251972,0.0498521121568,0.999999962814,0.000104409059073,-0.000249881958412,-3.20760874511e-05,1793247321675077888 +60,1.000000000,BASELINE,765,745.196767922,714.196767922,679,663,634,876.803232078,785.196767922,808,652.196767922,629,652,0.400988881895,0.00458255424966,0.0498521526531,0.999999962824,0.000104743551346,-0.000249662340122,-3.23938492335e-05,1793247321691744512 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+65,1.083333333,BASELINE,765,745,715,678.292991276,663,633.707008724,876.707008724,786,808,653,629,652,0.400988119701,0.00458199813967,0.0498522731744,0.999999962921,0.000101798435705,-0.000250516256835,-3.22108963993e-05,1793247321775078144 +66,1.100000000,BASELINE,765.283512404,745,715,678,663,634,877,786,808,653,628.716487596,652,0.400987767665,0.00458120927417,0.0498521364112,0.999999962956,0.000100859115277,-0.000250785629645,-3.1969690135e-05,1793247321791744768 +67,1.116666667,BASELINE,765.856401199,745,715,678,663,634,877,786,808,653,628.143598801,652,0.400986595803,0.00458175000433,0.0498516386615,0.99999996266,0.00010166909994,-0.000251613514056,-3.21700129783e-05,1793247321808411392 +68,1.133333333,BASELINE,765.555957989,745,715,678,663,634,877.444042011,786,808,653,628.444042011,652.444042011,0.400986591784,0.00458286329452,0.049851703024,0.99999996235,0.000104135031174,-0.000251811012969,-3.23554354151e-05,1793247321825077760 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+251,4.183333333,pose2_hold,0.631751643989,0.00992776910879,1.04004264754,0.602323436172,0.018602229818,1.03966602579 +252,4.200000000,pose2_hold,0.631751643989,0.00992776910879,1.04004264754,0.602323436172,0.0186022298181,1.03966602579 +253,4.216666667,pose2_hold,0.631751643989,0.00992776910879,1.04004264754,0.602323436173,0.018602229818,1.03966602579 +254,4.233333333,pose2_hold,0.631751643989,0.00992776910879,1.04004264754,0.602323436173,0.018602229818,1.03966602579 +255,4.250000000,pose2_hold,0.631751643989,0.00992776910879,1.04004264754,0.602323436173,0.018602229818,1.03966602579 +256,4.266666667,pose2_hold,0.631751643989,0.00992776910879,1.04004264754,0.602323436173,0.0186022298177,1.03966602579 +257,4.283333333,pose2_hold,0.631751643989,0.00992776910879,1.04004264754,0.602323436174,0.0186022298177,1.03966602579 +258,4.300000000,pose2_hold,0.631751643989,0.00992776910879,1.04004264754,0.602323436174,0.0186022298177,1.03966602579 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b/Part2/Obstacle_avoidance/ball_0030_12.5/position_11/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..4fc5aa5a7c1d13867d1703093327df550a0c9184 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_11/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b1018a24a89d098a39484384b161ed608b8fdf1672289d18c5608efc35b5c74 +size 25880772 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_11/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d529607714037bea53e1a290df5b6adc85271b4e --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_11/depth_03/franka_data.csv @@ -0,0 +1,408 @@ 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+23,0.383333333,BASELINE,765.671044598,745,715,679.328955402,658,634,877,784.328955402,807,651.671044598,629,652,0.400973949426,0.00450235543459,0.0698320619238,0.999999963046,5.03031256136e-05,-0.000266398713427,2.02262710307e-05,1793247350432159744 +24,0.400000000,BASELINE,765.075336286,745,715,679.924663714,658,634,877,784.924663714,807,651.075336286,629,652,0.400974186831,0.00450400394155,0.0698313022593,0.999999962838,5.34097657667e-05,-0.000266596469773,1.99330332005e-05,1793247350448826368 +25,0.416666667,BASELINE,765,745,715,679.49656273,657.49656273,633.49656273,877,784.49656273,807,651.50343727,629,652,0.400975001821,0.00450357812486,0.0698326119676,0.999999963356,5.22630910707e-05,-0.000264871654114,1.99718921744e-05,1793247350465492992 +26,0.433333333,BASELINE,765,745,715,679.079220445,657.079220445,633.079220445,877,784,807.079220445,652,629,652,0.400975474273,0.00450288599289,0.0698337077992,0.999999963757,5.0697288465e-05,-0.000263654535064,2.00606294355e-05,1793247350482159616 +27,0.450000000,BASELINE,765,745,715,679.651650231,657.651650231,633.651650231,877,784,807.651650231,652,629,652,0.400973293566,0.00450240549143,0.0698316068916,0.999999962796,5.03557297255e-05,-0.000267331097934,2.01605690282e-05,1793247350498826240 +28,0.466666667,BASELINE,765,745,714.767999869,679.767999869,658,634,877,784,807.767999869,652,629,652,0.400971851327,0.00450207935384,0.0698301709111,0.999999962146,4.99710239279e-05,-0.000269822685874,2.01789656363e-05,1793247350515492608 +29,0.483333333,BASELINE,765,745,714.175337571,679.175337571,658,634,877,784,807.175337571,652,629,652,0.400971557097,0.00450199318686,0.0698297686112,0.999999961995,4.95192427093e-05,-0.000270472138324,2.00705973558e-05,1793247350532159232 +30,0.500000000,BASELINE,765,745,714.407474159,679,658,634,877,784.407474159,807,652,629,651.592525841,0.400971078133,0.00450185027561,0.0698296804525,0.999999961947,4.93443572786e-05,-0.000270676466781,2.01233886763e-05,1793247350548825856 +31,0.516666667,BASELINE,765,745,714.986147193,679,658,634,877,784.986147193,807,652,629,651.013852807,0.400970521553,0.00450168352345,0.069829724279,0.999999961943,4.92858086777e-05,-0.000270693777897,2.02438906547e-05,1793247350565492736 +32,0.533333333,BASELINE,765,745,715,679.560670535,658,634,877,784.439329465,807,652,629,651,0.400971704866,0.00450115367089,0.0698302688468,0.999999962336,4.90971450943e-05,-0.000269247321787,2.05578562952e-05,1793247350582159360 +33,0.550000000,BASELINE,765,745,715,680,657.865915708,633.865915708,877,784,807.134084292,652,629,651.134084292,0.40097269731,0.00450068520137,0.0698307452603,0.99999996267,4.89938438285e-05,-0.000268007406513,2.07735640077e-05,1793247350598826240 +34,0.566666667,BASELINE,765,745,715,680,657.295779536,633.295779536,877,784,807.704220464,652,629,651.704220464,0.400972930256,0.00450044531514,0.0698309600916,0.999999962784,4.91785251091e-05,-0.000267555928163,2.0654298963e-05,1793247350615492864 +35,0.583333333,BASELINE,765,745,715,679.712341477,657.287658523,633.287658523,877,784.287658523,808,652,629,651.712341477,0.400972976792,0.00450022890294,0.0698311859409,0.999999962811,4.87577239286e-05,-0.000267544050369,2.05289216007e-05,1793247350632159744 +36,0.600000000,BASELINE,765,745,715,679.114562789,657.885437211,633.885437211,877,784.885437211,808,652,629,651.114562789,0.40097282236,0.0045000377977,0.0698314236684,0.999999962741,4.76841615792e-05,-0.000268006099017,2.03969546295e-05,1793247350648826112 +37,0.616666667,BASELINE,765,745,715,679.465484786,657.534515214,634,876.534515214,784.534515214,808,652,629,651.465484786,0.400973139246,0.00450158524056,0.0698313308384,0.999999962652,5.08247276213e-05,-0.000267768560354,2.03135113099e-05,1793247350665492736 +38,0.633333333,BASELINE,765,745,715,680,657.041267532,633.958732468,876.041267532,784.041267532,807.958732468,651.958732468,629,651.958732468,0.400973476103,0.00450340525674,0.0698311583383,0.999999962548,5.46231195361e-05,-0.000267415206093,2.02403956769e-05,1793247350682159616 +39,0.650000000,BASELINE,765,745,715,680,657.616260982,633.383739018,876.616260982,784.616260982,807.383739018,651.383739018,629,651.383739018,0.400972626036,0.00450341967117,0.0698309690205,0.999999962504,5.40076750521e-05,-0.000267709104415,2.01520639701e-05,1793247350698826240 +40,0.666666667,BASELINE,765,745,714.803642806,679.803642806,658,633.196357194,877,784.803642806,807.196357194,651.196357194,629,651.196357194,0.400972182757,0.00450289608402,0.0698310258493,0.999999962494,5.32256316471e-05,-0.000267903679373,2.01863635271e-05,1793247350715492864 +41,0.683333333,BASELINE,765,745,714.213308285,679.213308285,658,633.786691715,877,784.213308285,807.786691715,651.786691715,629,651.786691715,0.400972555673,0.00450129303336,0.0698315765546,0.999999962548,5.21093188998e-05,-0.000267898968752,2.04667143617e-05,1793247350732159488 +42,0.700000000,BASELINE,765,745,714.37029341,679,658,633.62970659,877,784,807.62970659,652,629,652,0.400973096418,0.00450097547686,0.0698321296164,0.999999962851,5.13829712906e-05,-0.000266905070377,2.04710331764e-05,1793247350748826112 +43,0.716666667,BASELINE,765,745,714.950085887,679,658,633.049914113,877,784,807.049914113,652,629,652,0.400973732115,0.00450138520806,0.0698326840114,0.999999963294,5.08772523621e-05,-0.000265351524149,2.03191827139e-05,1793247350765492736 +44,0.733333333,BASELINE,765,745,715,679.525100931,658,633.525100931,877,784,807,652,629,652,0.400973857863,0.00450116126381,0.0698326581605,0.999999963321,4.97385605211e-05,-0.000265450491357,2.04768068138e-05,1793247350782159360 +45,0.750000000,BASELINE,765,745,715,679.900420389,657.900420389,634,876.900420389,784,807.099579611,652,629,652,0.400973880993,0.00450091361364,0.06983238737,0.999999963282,4.84850388367e-05,-0.000265825679597,2.05271342379e-05,1793247350798825984 +46,0.766666667,BASELINE,765,745,715,679.326353263,657.326353263,634,876.326353263,784,807.673646737,652,629,652,0.400973644055,0.00450083743252,0.0698312099087,0.999999963114,4.69684741747e-05,-0.000266775303915,1.99272952399e-05,1793247350815492864 +47,0.783333333,BASELINE,765,745,715,679,657.255606455,634,876.255606455,784,807.744393545,652,629,652,0.400973299386,0.00450058469151,0.0698306352243,0.999999962951,4.63395351095e-05,-0.000267498436005,1.98575153265e-05,1793247350832159488 +48,0.800000000,BASELINE,765,745,715,679,657.847964433,634,876.847964433,784,807.152035567,652,629,652,0.400972812786,0.00450009933973,0.0698308546745,0.9999999628,4.6880007896e-05,-0.000267923173565,2.04860674754e-05,1793247350848825856 +49,0.816666667,BASELINE,765,745,714.568435095,679.431564905,658,634,877,784.431564905,807,652,629,652,0.400972213294,0.00450035604164,0.0698306182516,0.999999962582,4.86244025829e-05,-0.00026841016161,2.06658653733e-05,1793247350865492736 +50,0.833333333,BASELINE,765,744.988042827,714.011957173,679.988042827,658,634,877.011957173,784.988042827,807,652,629,652,0.400971608569,0.00450083792397,0.0698302486152,0.999999962353,5.06930513088e-05,-0.000268880963249,2.06899592711e-05,1793247350882159616 +51,0.850000000,BASELINE,765,744.416281623,714.583718377,679.416281623,658,634,877.583718377,784.416281623,807,652,629,652,0.400972583804,0.00449986670609,0.0698310115498,0.999999962809,4.84807692417e-05,-0.000267587667218,2.06786093079e-05,1793247350898826240 +52,0.866666667,BASELINE,765,744.156583807,715,679,658,634,877.843416193,784,807,652,629,652,0.400973575519,0.00449946798243,0.0698318859976,0.999999963285,4.76177992931e-05,-0.000265963108979,2.06321006544e-05,1793247350915492864 +53,0.883333333,BASELINE,765,744.732405659,715,679,658,634,877.267594341,784,807,652,629,652,0.400974611356,0.00450060205689,0.0698330590111,0.999999963818,5.03674825774e-05,-0.000263451628196,2.04914579984e-05,1793247350932159488 +54,0.900000000,BASELINE,765,745,715,679.319121656,658,634,877,784.319121656,807.319121656,652,629,652,0.400974805869,0.00450112409688,0.0698329690393,0.999999963766,5.13264610822e-05,-0.000263474350552,2.0364934462e-05,1793247350948826112 +55,0.916666667,BASELINE,765,745,715,679.915295607,658,634,877,784.915295607,807.915295607,652,629,652,0.400974269967,0.00450111478598,0.0698317825796,0.999999963211,5.07308007613e-05,-0.000265697195737,2.02506687486e-05,1793247350965492992 +56,0.933333333,BASELINE,765,745,715,680,658.493062804,633.506937196,877,785,808,652,629,652,0.400973780326,0.0045011201789,0.0698316574036,0.999999963103,5.0003970073e-05,-0.000266255154398,2.00564245856e-05,1793247350982159616 +57,0.950000000,BASELINE,765,745,715,679.932551398,658.932551398,633.067448602,877,784.932551398,808,652,628.932551398,652,0.400973380857,0.00450108271831,0.0698317877269,0.99999996311,4.92685182105e-05,-0.000266376543021,1.99102711667e-05,1793247350998825984 +58,0.966666667,BASELINE,765,745,715,679.360656842,658.360656842,633.639343158,877,784.360656842,808,652,628.360656842,652,0.400973598497,0.00450070654564,0.069832514425,0.999999963422,4.8631055657e-05,-0.000265294951089,2.02228475745e-05,1793247351015492608 +59,0.983333333,BASELINE,765,745,715,679.219669981,658,633.780330019,877,784,808,652,628.219669981,652,0.400973774728,0.00450059685761,0.0698326581692,0.999999963598,4.7923356142e-05,-0.000264750834006,2.0374817409e-05,1793247351032159232 +60,1.000000000,BASELINE,765,745,715,679.814393737,658,633.185606263,877,784,808,652,628.814393737,652,0.400973880262,0.00450094215236,0.0698318066068,0.99999996354,4.70957373732e-05,-0.000265124375,2.02525754908e-05,1793247351048825856 +61,1.016666667,BASELINE,765,744.603054341,715,679.603054341,658,633.396945659,877,784.396945659,808,652,629,652,0.400972748341,0.00450138063476,0.0698312471636,0.999999963075,4.8479029287e-05,-0.000266621296884,2.0321667238e-05,1793247351065492736 +62,1.033333333,BASELINE,765,744.026024508,715,679.026024508,658,633.973975492,877,784.973975492,808,652,629,652,0.400971055018,0.00450186139401,0.0698308202477,0.999999962416,5.08653553346e-05,-0.00026862786815,2.04775622219e-05,1793247351082159360 +63,1.050000000,BASELINE,765,744.54730747,715,679.54730747,657.45269253,634,877,784.45269253,807.45269253,652,629,652,0.400972376478,0.00450107273517,0.0698314378748,0.999999962923,4.93728072715e-05,-0.00026702455793,2.03279736031e-05,1793247351098825984 +64,1.066666667,BASELINE,764.875754583,745,715,679.875754583,657,634,877,784,807,652,629,652,0.400973535639,0.00450046267806,0.0698319699929,0.999999963342,4.79958301654e-05,-0.000265716121803,2.01656022604e-05,1793247351115492864 +65,1.083333333,BASELINE,764.284609537,745,715,679.284609537,657,634,877,784,807,652,629,652,0.400973549807,0.00450074909215,0.0698319953833,0.999999963241,4.77416101971e-05,-0.000266156499811,2.00094147414e-05,1793247351132159488 +66,1.100000000,BASELINE,764.300179283,745,715,679.300179283,657.300179283,634,877.300179283,784.300179283,807.300179283,652,629,652,0.400973177832,0.00450092073146,0.0698317983523,0.999999963059,4.83103304531e-05,-0.000266727067123,2.01074358029e-05,1793247351148826368 +67,1.116666667,BASELINE,764.879066493,745,715,679.879066493,657.879066493,634,877.879066493,784.879066493,807.879066493,652,629,652,0.400972447334,0.00450098580563,0.0698313948093,0.999999962803,4.96431273207e-05,-0.000267418511476,2.04414823113e-05,1793247351165492736 +68,1.133333333,BASELINE,765,745,715,679.547596055,658,634,877.547596055,785,808,651.547596055,628.547596055,652,0.400972999375,0.00450084770826,0.0698316680322,0.999999962988,4.98055411881e-05,-0.000266693166839,2.04701443289e-05,1793247351182159360 +69,1.150000000,BASELINE,765,745,715,679,658,634,877.02467804,785,808,651.02467804,628,652,0.400973812382,0.00450075286351,0.0698321205572,0.999999963267,4.9796698314e-05,-0.000265650091536,2.04275441394e-05,1793247351198826240 +70,1.166666667,BASELINE,765,745,715,679,658,634,877.606023405,785,808,651.606023405,628,652,0.400972872276,0.00450284392057,0.0698325863012,0.999999963043,5.28964753678e-05,-0.000265879378643,2.0596570902e-05,1793247351215492864 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b/Part2/Obstacle_avoidance/ball_0030_12.5/position_11/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..10055906ec1edca84eb2b1811d6de5521230c97c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_11/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d609513333b2f4ba7c79a079edf1cf46913674efac02ec526b98827d7fd92c5b +size 25952608 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_11/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d022ad85b6e172b5c87b9b4149a0e1dec63369ed --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_11/depth_04/franka_data.csv @@ -0,0 +1,409 @@ 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+42,0.700000000,BASELINE,765.377357561,745,715,680,658,633.622642439,877,784.622642439,807.622642439,652,629,652,0.400972902893,0.00449837583523,0.0698312754682,0.999999962514,5.10603209294e-05,-0.000268200292539,2.08228752497e-05,1793247357729290240 +43,0.716666667,BASELINE,765.950924131,745,715,680,658,633.049075869,877,784.049075869,807.049075869,652,629,652,0.400973894489,0.00449793658612,0.0698319921869,0.999999962927,5.20643417329e-05,-0.000266446395389,2.10149962761e-05,1793247357745956864 +44,0.733333333,BASELINE,765.474927068,745,714.474927068,679.474927068,658,633.525072932,877,784,807,652,629,652,0.400973952595,0.0044976003398,0.0698323631438,0.999999963086,4.86862017539e-05,-0.000266504096881,2.08008559912e-05,1793247357762623488 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+49,0.816666667,BASELINE,765,745,715,679.564876793,658,634,877.435123207,784.564876793,808,652,629,652,0.400973376751,0.00449662642488,0.0698323731598,0.999999962925,4.81075024619e-05,-0.00026719934342,2.09619650201e-05,1793247357845956864 +50,0.833333333,BASELINE,765,745,715,679.009900638,658,634,877.990099362,784.009900638,808,652,629,652,0.400973777043,0.00449582751317,0.0698330953344,0.999999963323,4.78976242105e-05,-0.000265752072176,2.08899324652e-05,1793247357862623744 +51,0.850000000,BASELINE,765,745,715,679.600331395,658,634,877.399668605,784.600331395,808,652,629,652,0.400975295042,0.00449568274091,0.0698340948248,0.999999963979,4.54407750222e-05,-0.000263706979697,2.08912732563e-05,1793247357879290624 +52,0.866666667,BASELINE,765.186744107,745,714.813255893,680,658,634,877,785,807.813255893,652,629,652,0.40097638806,0.00449583376929,0.0698346077975,0.999999964321,4.48301778856e-05,-0.000262508756747,2.0916754647e-05,1793247357895957504 +53,0.883333333,BASELINE,765.76473852,745,714.23526148,680,658,634,877,785,807.23526148,652,629,652,0.400976590696,0.00449660453392,0.06983410146,0.999999964017,4.80876905431e-05,-0.000263084822643,2.09928133604e-05,1793247357912623616 +54,0.900000000,BASELINE,765.662953035,745,714,679.662953035,658.337046965,634,877,784.662953035,807.337046965,652,629,652,0.400976654794,0.0044967350728,0.0698340830557,0.999999963994,4.88461351665e-05,-0.000263028468236,2.10349245222e-05,1793247357929289984 +55,0.916666667,BASELINE,765.094547622,745,714,679.094547622,658.905452378,634,877,784.094547622,807.905452378,652,629,652,0.400976623796,0.00449642614282,0.0698343995824,0.999999964169,4.78891495705e-05,-0.000262538002851,2.10537331335e-05,1793247357945956608 +56,0.933333333,BASELINE,765,745,714.498870784,679,658.002258432,633.501129216,877.498870784,784,808,652,629,652,0.400976006945,0.0044977069193,0.0698338765423,0.999999963892,5.03321843254e-05,-0.00026314935631,2.08589722337e-05,1793247357962622976 +57,0.950000000,BASELINE,765,745,715,679,657.094060137,633,877.905939863,784,807.905939863,652,628.905939863,652,0.400975201583,0.00449896763546,0.0698332142027,0.999999963514,5.25691452675e-05,-0.000264163513113,2.06381198014e-05,1793247357979289600 +58,0.966666667,BASELINE,765,745,715,679,657.672662597,633,877.327337403,784,807.327337403,652,628.327337403,652,0.400974027285,0.00449849103616,0.0698326972208,0.999999963117,5.02498318342e-05,-0.000266120172987,2.05023761732e-05,1793247357995956480 +59,0.983333333,BASELINE,765,745,715,679,658,633.249820186,877,784.249820186,807.249820186,652,628.249820186,652,0.400974163776,0.00449770804242,0.0698331019965,0.999999963234,4.8582165544e-05,-0.000265985413538,2.0586824486e-05,1793247358012623360 +60,1.000000000,BASELINE,765,745,715,679,658,633.82509554,877,784.82509554,807.82509554,652,628.82509554,652,0.400976007905,0.00449652589093,0.069834707599,0.999999964022,4.77634372571e-05,-0.000263126041756,2.09581295238e-05,1793247358029289984 +61,1.016666667,BASELINE,765,745,715,679.39948309,658.39948309,634,877,785,807.60051691,652,629,652,0.400975969938,0.00449666201538,0.0698344421769,0.999999963941,4.88269783556e-05,-0.000263234934155,2.10129694812e-05,1793247358045956352 +62,1.033333333,BASELINE,765,745,715,679.973482764,658.973482764,634,877,785,807.026517236,652,629,652,0.400975109766,0.00449737403665,0.0698333593862,0.999999963478,5.07128001698e-05,-0.000264640530727,2.09295597484e-05,1793247358062622720 +63,1.050000000,BASELINE,765,745,715,679.435063581,658.435063581,634,877,785,807.564936419,652,629,652,0.400974316934,0.0044977821094,0.0698331887852,0.999999963461,5.05834868718e-05,-0.000264736609327,2.08112560371e-05,1793247358079289344 +64,1.066666667,BASELINE,765,745,715,679,658.152404898,633.847595102,877,784.847595102,808,652,629,652,0.400973911929,0.00449835861007,0.0698329415787,0.999999963421,5.0744245321e-05,-0.000264870386269,2.06470764352e-05,1793247358095955712 +65,1.083333333,BASELINE,765,745,715,679,658.726507406,633.273492594,877,784.273492594,808,652,629,652,0.400974571003,0.00449944187764,0.0698323601596,0.999999963254,5.19776820796e-05,-0.000265283970682,2.03606366691e-05,1793247358112622336 +66,1.100000000,BASELINE,765,745,715,679,658.710751124,633,877.289248876,784,808,651.710751124,629,652,0.400975808566,0.00449904812942,0.0698331880111,0.999999963567,5.21410231995e-05,-0.000264060016704,2.04994963888e-05,1793247358129289216 +67,1.116666667,BASELINE,765,745,715,679,658.158345869,633,877.841654131,784,808,651.158345869,629,652,0.400977572434,0.00449731060363,0.0698352980061,0.999999964311,5.13307995579e-05,-0.000261346243002,2.10252902901e-05,1793247358145956352 +68,1.133333333,BASELINE,765,745,715,679,658,633.441511937,877.558488063,784.441511937,808,651.441511937,629,652,0.400977196909,0.00449608444868,0.069835020057,0.999999964335,4.93385826555e-05,-0.00026162334823,2.11876189008e-05,1793247358162622976 +69,1.150000000,BASELINE,765,745,715,679.056588446,658,634,877,784.943411554,808,652,629,652,0.40097601557,0.00449516596852,0.0698338526841,0.999999964087,4.7053451992e-05,-0.000262990899139,2.11699957494e-05,1793247358179289600 +70,1.166666667,BASELINE,765,745,715,679.636094435,658,634,877,784.363905565,808,652,629,652,0.400975331986,0.00449519179166,0.069833333362,0.999999964033,4.64505907524e-05,-0.000263329156586,2.08391161882e-05,1793247358195956224 +71,1.183333333,BASELINE,765,745,715,680,658,634.213369743,877,784,808,652,629,652,0.400974687818,0.00449534337124,0.0698328088258,0.999999963847,4.66863842949e-05,-0.000263997302778,2.0756047649e-05,1793247358212622848 +72,1.200000000,BASELINE,765,745,715,680,658,634.786880044,877,784,808,652,629,652,0.400974110178,0.00449570721146,0.069832275489,0.999999963438,4.83377186545e-05,-0.000265222258602,2.10912520436e-05,1793247358229289472 +73,1.216666667,BASELINE,765,745,715,679.639824008,658,634.279648015,877,784,807.639824008,652,629,652,0.400974402568,0.00449707121043,0.0698326022376,0.999999963377,5.01596360943e-05,-0.000265129790908,2.0888371707e-05,1793247358245956096 +74,1.233333333,BASELINE,765,745,715,679.066654853,658,633.133309705,877,784,807.066654853,652,629,652,0.400975209459,0.00449902666184,0.0698334376049,0.99999996352,5.2082429203e-05,-0.000264258253439,2.03672903286e-05,1793247358262622976 +75,1.250000000,BASELINE,765,744.474931041,715,679,658.525068959,633,877.525068959,784.525068959,807,652,629,652,0.400975357363,0.00449816060726,0.0698341155701,0.999999963786,5.0768643812e-05,-0.00026349984458,2.04714702179e-05,1793247358279289600 +76,1.266666667,BASELINE,765,744.115926151,715,679.115926151,658.884073849,633.115926151,877.884073849,784.884073849,807.115926151,652,629,652,0.400975425694,0.00449729023814,0.0698345644038,0.999999963977,4.9550099456e-05,-0.000262985067905,2.07046837774e-05,1793247358295956224 +77,1.283333333,BASELINE,765,744.693605714,715,679.693605714,658.306394286,633.693605714,877.306394286,784.306394286,807.693605714,652,629,652,0.400975522496,0.00449788162065,0.0698341830727,0.999999963822,5.04074202955e-05,-0.00026338142118,2.11241195742e-05,1793247358312623104 +78,1.300000000,BASELINE,765,745,715,680,658,634,877,784.270687429,808,652,629,652,0.400974819622,0.00449778837671,0.0698333675625,0.999999963401,5.08466819288e-05,-0.000264873795252,2.13052820762e-05,1793247358329289728 +79,1.316666667,BASELINE,765,745,715,680,658,634,877,784.847093884,808,652,629,652,0.400973213581,0.00449692190389,0.069832061683,0.999999962678,5.08137802643e-05,-0.000267604033986,2.12173346025e-05,1793247358345956352 +80,1.333333333,BASELINE,765,745,715,680,658,633.577540547,877,784.577540547,808,652,629,652,0.400972935355,0.00449781762573,0.0698317938868,0.999999962557,5.14412000809e-05,-0.000267950661441,2.10269786965e-05,1793247358362622720 +81,1.350000000,BASELINE,765,745,715,680,658,633.002550747,877,784.002550747,808,652,629,652,0.400973136542,0.00449934959357,0.0698319008937,0.999999962654,5.23070310942e-05,-0.000267436678582,2.07996478886e-05,1793247358379289088 +82,1.366666667,BASELINE,765,745,715,679.410358107,658,633,877,784.589641893,808.589641893,652,629,652,0.400974549428,0.00449828122055,0.0698328772603,0.999999963302,5.15840794519e-05,-0.000265132912222,2.09816038382e-05,1793247358395955968 +83,1.383333333,BASELINE,765,745.177115534,715,679,658,633.177115534,877,785,808.822884466,652,629,652,0.400975578369,0.00449735801757,0.0698336938629,0.999999963776,5.08654760484e-05,-0.000263467301129,2.11030229654e-05,1793247358412622592 +84,1.400000000,BASELINE,765,745.753771181,715,679,658,633.753771181,877,785,808.246228819,652,629,652,0.400975729019,0.00449678842927,0.0698341413291,0.999999963866,5.01726513816e-05,-0.000263259241118,2.10837681275e-05,1793247358429289472 +85,1.416666667,BASELINE,765,745.67005759,715,679.32994241,658,634,877.32994241,785,808,652,629,652,0.400975275726,0.0044976085152,0.0698339502393,0.999999963734,5.02758831821e-05,-0.000263765916217,2.07891085956e-05,1793247358445956096 +86,1.433333333,BASELINE,765,745.094247376,715,679.905752624,658,634,877.905752624,785,808,652,629,652,0.400974372384,0.00449946416417,0.0698332833077,0.999999963434,5.09723235657e-05,-0.000264805200494,2.02892218934e-05,1793247358462622720 +87,1.450000000,BASELINE,765,745,715,679.507459798,658,634,877.507459798,784.507459798,808,652,629,651.507459798,0.400975103967,0.0044990565067,0.0698338108779,0.99999996366,5.1371153291e-05,-0.000263855440346,2.05163552951e-05,1793247358479289344 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0000000000000000000000000000000000000000..8a5e7e663dcb0bf697bd845a895667f061f987bf --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed000c6621a13700e2039250938e27558307b596900e3e4b908fa3f1ae6e44da +size 25649920 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2b4c32a9bab9eb8a0f56c1dbae73a085a1aaee49 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_01/franka_data.csv @@ -0,0 +1,406 @@ 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a/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..256352abf30f7e754118628467922f5744d98057 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db00891d7220fc925cedbc68fd37f6aec94c1ab534436728aa73665d3127920e +size 25707887 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..92b4a02a58f02f1e26f9e5e10e95646f16a4b60f --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_02/franka_data.csv @@ -0,0 +1,407 @@ 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+53,0.883333333,BASELINE,765,745,715,679.741477519,658,634,877.741477519,784.741477519,807.741477519,652,629,652,0.400970600463,0.00450418740024,0.0798351728608,0.999999951502,0.000127783271267,-0.000279917334016,4.80908905733e-05,1793247380001477376 +54,0.900000000,BASELINE,765,745,715,680,658,634,877.675587859,785,808,652,629.324412141,652,0.400970237191,0.00450396337197,0.0798348808537,0.999999951411,0.000127724745618,-0.000280273903672,4.80657103057e-05,1793247380018144000 +55,0.916666667,BASELINE,765,745,715,680,658,634,877.086416054,785,808,652,629.913583946,652,0.400970330776,0.00450534197455,0.0798354739288,0.99999995143,0.000129604001848,-0.000279359686386,4.79597752997e-05,1793247380034810368 +56,0.933333333,BASELINE,764.506577474,745,715,680,658,634,877.493422526,784.506577474,808,652,629.506577474,652,0.400972050505,0.00450516695422,0.079836950528,0.99999995211,0.00012962622707,-0.000276919331675,4.7888621709e-05,1793247380051476992 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sha256:310d57effa3735adc1191a08cf40324633546d723e2c1d29dadc596e553ec7ea +size 25831567 diff --git a/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..a6d28fc61c17a5cda1882c6fdd1b7212739798db --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_12.5/position_12/depth_03/franka_data.csv @@ -0,0 +1,409 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,745,714,680,658,634,877,784,808,652,629,651,0.400971569008,0.00450898073191,0.0798362990655,0.999999950279,0.000137118280044,-0.000280060273579,4.69839580166e-05,1793247386098571776 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+24,0.400000000,BASELINE,765,745,715,679,658,634,877.065137148,784,807,651.934862852,629,652,0.400976026512,0.00450618523588,0.0798412073972,0.999999951972,0.000140911274766,-0.00027193334515,4.74571203643e-05,1793247393479064064 +25,0.416666667,BASELINE,765,745,715,679.507547207,658,633.492452793,877,784,807,651.492452793,629,652,0.400975441713,0.00450605197404,0.0798410816998,0.999999951779,0.00013988517238,-0.000273142684414,4.76108828571e-05,1793247393495730944 +26,0.433333333,BASELINE,765,745,715,679.916679786,658,633,877.083320214,784,807.083320214,651,629.083320214,652,0.400974801458,0.00450587143093,0.0798408680805,0.999999951599,0.000138544771417,-0.000274470014209,4.76845138316e-05,1793247393512397824 +27,0.450000000,BASELINE,765,745,715,679.32036021,658,633,877.67963979,784,807.67963979,651,629.67963979,652,0.400974260253,0.00450463011267,0.0798402360019,0.999999951824,0.000135840295198,-0.000275091363574,4.71549274087e-05,1793247393529064704 +28,0.466666667,BASELINE,765,745,715,679,658,633.266739198,878,784,808,651,629.466521604,652,0.400974667978,0.00450447816501,0.0798403704099,0.999999951873,0.00013613117771,-0.00027479610246,4.70018549806e-05,1793247393545731328 +29,0.483333333,BASELINE,765,745,715,679,658,633.843134914,878,784,808,651,628.313730172,652,0.400976177314,0.00450559086357,0.0798413946293,0.999999951712,0.000139899360917,-0.000273436751698,4.72858762454e-05,1793247393562397696 +30,0.500000000,BASELINE,764.582603297,745,715,679.417396703,658,633.582603297,877.582603297,784,807.582603297,651,628.417396703,652,0.400976123803,0.0045037200585,0.0798410685946,0.99999995187,0.000138531683745,-0.000273485758702,4.76896815136e-05,1793247393579064320 +31,0.516666667,BASELINE,764.009139408,745,715,679.990860592,658,633.009139408,877.009139408,784,807.009139408,651,628.990860592,652,0.400975485933,0.00450073370312,0.0798402376914,0.999999952141,0.000135243676826,-0.000274061359334,4.81382747478e-05,1793247393595730688 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+43,0.716666667,BASELINE,764,745,714.041510245,680,658,633.958489755,877.041510245,784,807,651.041510245,629,652,0.400977084545,0.00446472706765,0.0798420387394,0.999999957813,9.00041498327e-05,-0.00027085181926,5.39656098666e-05,1793247393795730688 +44,0.733333333,BASELINE,764.544439824,745,714.544439824,679.455560176,658,634,877,784,807.544439824,651,629,652,0.400976627006,0.00446559419595,0.0798417682957,0.999999957656,9.10150944801e-05,-0.000271136092868,5.37524523641e-05,1793247393812397312 +45,0.750000000,BASELINE,764.869878363,745,715,679.130121637,658,634,877,784,808,651,629,652,0.400976347414,0.00446667183075,0.0798417325132,0.999999957489,9.25785837229e-05,-0.000271258827144,5.35785182059e-05,1793247393829063936 +46,0.766666667,BASELINE,764.287997457,745,715,679.712002543,658,634,877,784,808,651,629,652,0.400977019423,0.00446756054935,0.0798425287421,0.999999957414,9.46834963442e-05,-0.000270790575496,5.3669505528e-05,1793247393845730304 +47,0.783333333,BASELINE,764.290028891,745,715,679.709971109,658,634,877.290028891,784,807.709971109,651.290028891,629,652,0.400977572895,0.00446719754324,0.0798430510732,0.999999957576,9.48674881722e-05,-0.000270057362646,5.40094950556e-05,1793247393862396928 +48,0.800000000,BASELINE,764.864277949,745,715,679.135722051,658,634,877.864277949,784,807.135722051,651.864277949,629,652,0.400978010205,0.0044656078822,0.0798433049923,0.999999957972,9.31690318289e-05,-0.000269064495205,5.45934997611e-05,1793247393879063552 +49,0.816666667,BASELINE,765,745,715,679,658,634,877.561008022,784.438991978,807.438991978,652,629,652,0.400976169175,0.00446523077314,0.0798420329269,0.99999995749,9.23826607706e-05,-0.000271186776884,5.42476546633e-05,1793247393895730176 +50,0.833333333,BASELINE,765,745,715,679,658,634,877,784.985716984,807.985716984,652,629,652,0.400973721435,0.00446524547707,0.0798403587899,0.999999956758,9.18961971482e-05,-0.000274158950164,5.36330163038e-05,1793247393912397056 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+55,0.916666667,BASELINE,765,745,715,679.111861896,657.888138104,634,877,784,807.111861896,651.111861896,629,652,0.400976215271,0.00446312196161,0.0798426410485,0.999999957432,9.12018049241e-05,-0.000271770836466,5.43885898233e-05,1793247393995730432 +56,0.933333333,BASELINE,765,745,715,679,658,634,877.487537434,784,807.487537434,651,629,652,0.400976890574,0.00446406058883,0.0798430345493,0.999999957542,9.24112146691e-05,-0.000270996848229,5.4196950757e-05,1793247394012396800 +57,0.950000000,BASELINE,764.905878755,745,715,679,658,633.905878755,877.81175751,784,807.905878755,651,629,652,0.400977442972,0.00446565051815,0.0798432296717,0.999999957548,9.44515097754e-05,-0.000270332767155,5.38737123007e-05,1793247394029063424 +58,0.966666667,BASELINE,764.323033194,745,715,679,658,633.323033194,876.646066387,784,807.323033194,651,629,652,0.400976841966,0.00446652602785,0.0798425659605,0.999999957453,9.47717228085e-05,-0.000270629002066,5.35899862845e-05,1793247394045730304 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+66,1.100000000,BASELINE,764.304317381,745,715,679.304317381,658,634,877.304317381,784,807.304317381,651.695682619,629,652,0.40097605737,0.00452334755692,0.079842117909,0.99999994932,0.000160815694526,-0.000271239841794,4.39097095768e-05,1793247401187480320 +67,1.116666667,BASELINE,764.884454276,745,715,679.884454276,658,634,877.884454276,784,807.884454276,651.115545724,629,652,0.400975078689,0.00452315916209,0.0798416487742,0.999999949022,0.000160867804517,-0.000272266051867,4.41496919362e-05,1793247401204147712 +68,1.133333333,BASELINE,764.54056107,745,715,679.54056107,658,634,878,784,808,651,629,652,0.400974955771,0.00452343077753,0.0798413510787,0.999999948792,0.000162115209197,-0.000272360809162,4.42067159032e-05,1793247401220814080 +69,1.150000000,BASELINE,764,745,714.966025006,679,658,633.966025006,877.966025006,784,807.966025006,651,629,652,0.400975032255,0.00452377068574,0.0798411223877,0.999999948608,0.000163480130562,-0.000272218115715,4.42153087308e-05,1793247401237479936 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+84,1.400000000,BASELINE,764,745,715,679.251843951,658,633.251843951,877.748156049,784,807.251843951,651.251843951,629,651.251843951,0.400975178263,0.00452398948654,0.0798419538781,0.999999949073,0.000162718518244,-0.000270954862008,4.42829681727e-05,1793247401487480832 +85,1.416666667,BASELINE,764,745,715,679.326863312,658.326863312,633.326863312,877.673136688,784,807.326863312,651,629,651.326863312,0.400975192937,0.00452434293225,0.07984167664,0.999999948945,0.000162719102259,-0.00027143811644,4.41990685237e-05,1793247401504147456 +86,1.433333333,BASELINE,764,745,715,679.906184512,658.906184512,633.906184512,877.093815488,784,807.906184512,651,629,651.906184512,0.400975764103,0.00452456197726,0.0798419647752,0.99999994923,0.000161907287789,-0.000270927515221,4.38592611635e-05,1793247401520814336 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b/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..acded2666ebc3ad2aa7ddd2b7b3e3150649d98fe --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_01/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,766,745,714,679,660,635,878,787,804,652,631,652,0.400849618907,-0.00545013305427,0.0599026480663,0.999999955454,-9.20465257178e-05,-0.000282009446614,-3.30270521593e-05,1793241843026436096 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b/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:915aabb62d3a6e8ffafa5d33dbec193ca67b42de5eb21c566a9dc5e706e5631e +size 25844650 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2fd229e7bbc59252e3bd36035e9844cfa5781ce7 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_02/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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a/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..487368d38482873432e6f6897f634fe03892b6da --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3deb3be216b13f85795205876d005f8bbcfb9750f7ecd01d7ecece33af61d401 +size 25835831 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2fb88861bf6fe2cc41135097e0495455202cb931 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_01/depth_03/franka_data.csv @@ -0,0 +1,408 @@ 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sha256:57823ccadc11b13486b5dfbb7af38ba712fd3217ea2a25f11221731b24ed5880 +size 25690343 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..dce783b3b4f2c9c9e911b9802f1ddd9c0034dd9c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_01/franka_data.csv @@ -0,0 +1,405 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,745,715,679,662,635,878,788,805,653,631,652,0.400942018578,-0.0054306568259,0.0499354771288,0.999999975033,7.72127277764e-05,-0.000207788214707,-2.82209026452e-05,1793241878985363200 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a/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..cec934c8eb915644a42bbd132acbc0e3f4445a26 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0faff51629da654df7f55e8a572d7d9ae52b688001482ff7b5cd26e8a060c2f2 +size 25892192 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9aac82c08fbbdd9f1fd3b0e3e78105e95799148a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_02/franka_data.csv @@ -0,0 +1,408 @@ 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a/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..defed0b1be465743494d89a82e3e0afe7da5f971 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46929db47b05e0858659e1fa4e3d38df2101cc4dc58423c13a86b71bac8ef939 +size 25892105 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..1c9dac52a29e3557eff62c2b3e72a0bbb537abe2 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_04/franka_data.csv @@ -0,0 +1,408 @@ 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a/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..ae95c3145fb0f939d18f320a80510f34261d8143 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ba9757de5a15850670de8cbe9d11115bcdb4e5c00c4d2fe9d18753dbacb5d79 +size 25936837 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..a69d2e650c9b1d4f98783bfbbbcb70e141c3ab11 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_02/depth_05/franka_data.csv @@ -0,0 +1,409 @@ 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sha256:7ad64cc0c3ddbb70fac49e965827f537800485b74702d7a53d0273b98a9b5b2a +size 25721078 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_03/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..57a3d4d4ef819486565cffefb1f1537eec6a930a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_03/depth_01/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,745,715,679,660,635,879,788,805,652,631,652,0.40101952875,-0.00549504529197,0.0698477100901,0.999999986631,2.96048670847e-05,-0.000160182145311,1.42340846364e-05,1793241915205074176 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0000000000000000000000000000000000000000..64b9498f903cb94591386f564c0962c8662ddb38 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_03/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5666150e582c430b286a704acf7aca3e3a44faa1f61bab4fd28fc03d036d7c43 +size 25787250 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_03/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..f602c52eb3b9c794788834d35b3f40c7e97944b6 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_03/depth_02/franka_data.csv @@ -0,0 +1,407 @@ +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:f2ee11dcad7093868e0712544fe37731e1d72551428b594adf8c864607b9c184 +size 25783720 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_03/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..75f50e86c1d5cf4dff6379cf5b10f3517c4669d7 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_03/depth_03/franka_data.csv @@ -0,0 +1,407 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,745,714,680,659,635,878,787,804,652,631,652,0.400971473339,-0.00535299775119,0.0698289749044,0.999999939526,0.0002133401038,-0.000274342128043,1.30908911197e-05,1793241929104173568 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b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a45da778e0e8737a524e1905c5841721d2a9f0efa11eb3b8d176b3e0c013e9a +size 25743499 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2d8bb8ff8584f1daecfbf1d487ea58049c390409 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_02/franka_data.csv @@ -0,0 +1,407 @@ +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,765,745,714,679.01386292,660,635,878,787,804,651,631,652,0.40096995694,-0.00539054611598,0.0798355722157,0.999999930137,0.000244265822834,-0.000279727955331,4.2581006253e-05,1793241958629496320 +32,0.533333333,BASELINE,765,745,714,679,660,635,878.564332235,787,804.564332235,651,631,652,0.400970753209,-0.00539038233676,0.0798357465022,0.999999929892,0.000245429049317,-0.000279539143833,4.2885300568e-05,1793241958646163200 +33,0.550000000,BASELINE,765,745,714.141157418,679,660,635,878.858842582,786.858842582,804.858842582,651,631,652,0.400971068494,-0.00539033371538,0.0798358537862,0.999999929737,0.000246063499653,-0.000279502986183,4.30798723988e-05,1793241958662830080 +34,0.566666667,BASELINE,765,745,714.714164744,679,660,635,878.285835256,786.285835256,804.285835256,651,631,652,0.400969880217,-0.00539071026865,0.0798357776638,0.999999929899,0.000244965122234,-0.000279913302172,4.29204240974e-05,1793241958679496704 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sha256:885c663a812aeda515947bf73d0577ce87ad42596d5ab1ca6cdd6f179b3f9416 +size 25930715 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..cc5dd6d15611a199de91e7e886eac44aec06afbc --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_03/franka_data.csv @@ -0,0 +1,410 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,745,714,679,660,635,878,787,804,652,631,652,0.400969495058,-0.00539451086394,0.0798345811488,0.999999930784,0.000237849712647,-0.000282977032699,4.22200662302e-05,1793241965034787328 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a/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..f6c6b2e27e65cce6ba9db6c006d58ce419c6f6c0 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6df03b9750d36f1f1535c24bcdfe0824934cec5afb9acca34a64b40caa25a6bc +size 25939663 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..3a476e02a17df9593e2b95e63f6891af504e6d71 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_04/franka_data.csv @@ -0,0 +1,410 @@ 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a/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..540bac66a4be4b841cd91ede77f3e0aa5ed1a1c5 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55e44691cdd1f2a996c00c70d1fa8255138b63411cde9c31f5585d57d92af151 +size 25936282 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..c70e00d7230c727c99d1feba6d1e4d7589929ebc --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_04/depth_05/franka_data.csv @@ -0,0 +1,410 @@ 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sha256:673ac97db47151fe6115debcb2dedb9711f1d740f20bbf55f7ecbf07b6921a2f +size 25528918 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_05/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..4a50216b1186e47c91c93c2fee8dab4c1b231fc9 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_05/depth_01/franka_data.csv @@ -0,0 +1,404 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,766,744,714,680,659,635,878,786,804,652,631,652,0.400928310221,-0.0154306688958,0.0599341078185,0.999999973101,-0.000100163875571,-0.000204572429107,-4.37667422082e-05,1793241987495632128 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sha256:d6e240caff7137de6c300f73b7a49cdeac950ad28fd23666b684e49c05c1c91a +size 25606729 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_06/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..badbb1f48e6557ea85ad2e47237df4cd517d5b24 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_06/depth_01/franka_data.csv @@ -0,0 +1,405 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,766,745,715,679,660,635,878,787,804,652,631,652,0.400934249725,-0.0154305216111,0.0499346550809,0.999999974385,6.5141260091e-05,-0.000214152655767,-3.3535753247e-05,1793242023397477376 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0000000000000000000000000000000000000000..dd153e17d9e4b3b7a3de5427019e32e983c2c749 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_06/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8175c176b32f0f241ea567d2788bdca35ab57c71e0bdab7599e5f8fbe6e70771 +size 25799134 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_06/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ef3c1a75736f4ff39e50780cbfdeeda8a48af1ad --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_06/depth_05/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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a/Part2/Obstacle_avoidance/ball_0030_15/position_07/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_07/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..7e1ce0986bf6281a36f25940afbe766d13ac6526 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_07/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f380f1ee5ea89cf8ada53dcc5a9981dd27a25110a9d19d83fe5bfe681328c806 +size 26003736 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_07/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_07/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d67df1b3b5e7477a676faa9e5c9a869bbc949941 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_07/depth_05/franka_data.csv @@ -0,0 +1,411 @@ 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sha256:e243dd224d2f935a8969fa2144bdadf9ac25a41a618d2b1eab8b77d99122a9e3 +size 25656334 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_08/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..e4cdc3ed242c73c7cdc055f6d5113f357ef2b65b --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_08/depth_01/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,744,714,679,659,635,879,788,804,651,631,653,0.401036088688,-0.0154903731246,0.0798703721886,0.999999982344,0.000121423848145,-0.000137180195878,4.18401105048e-05,1793242095545489408 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0000000000000000000000000000000000000000..68c9368695ef968af91b7bb34b83eeee22e86182 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_08/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79e3031deabcf935c3295c9273d95f7aa017ee02ff3090bcba5798b9f01885b4 +size 25909770 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_08/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..20853ded0051777eb87c187b306fb26429be9f7e --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_08/depth_04/franka_data.csv @@ -0,0 +1,410 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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sha256:f4614b36a5563b45de9466133f9fe52356f20e19b91c1425817ae426dd6e7386 +size 25992696 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_08/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..aaf3e13d7b5bfc36f15688af76e8918f6c4be8ff --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_08/depth_05/franka_data.csv @@ -0,0 +1,411 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,744,714,679,659,635,878,788,804,651,631,653,0.400978402239,-0.0153891966051,0.0798399610729,0.999999931532,0.000240932304214,-0.000278026223814,3.98513816566e-05,1793242123377263104 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b/Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3aef1a78a2ac8f95227a9c0c33ca3383c1d74675a882cd986da3c056fbf76ee0 +size 25571840 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..284c83705547714aeb379ab83e690eea629c0a31 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_02/franka_data.csv @@ -0,0 +1,405 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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sha256:b6e777af79dd18cf14435ddcff9dcace0de6ca58951fc202cfdc6f7e0aaf9044 +size 25582793 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..323c8f7d950c7a3ea4ce17a527d47e12e7c612ac --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_03/franka_data.csv @@ -0,0 +1,405 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,745,714,679,662,636,879,787,804,653,631,653,0.400963475443,0.00451750180859,0.0598413171614,0.999999950917,0.000162608773054,-0.000266328611525,2.81824130139e-05,1793242145865531392 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+75,1.250000000,BASELINE,764.516626637,745,714.483373363,678.516626637,662,635,879,787,804.483373363,652,630.483373363,652,0.400965610379,0.00452892924973,0.0598468322844,0.999999951261,0.000173178185383,-0.000258684121328,2.38710522127e-05,1793242154066202368 +76,1.266666667,BASELINE,765,745,714,679.093474714,662,635,879,787,804.093474714,652,630.093474714,652,0.400964028253,0.00452841582848,0.0598462173412,0.999999950725,0.000173634673544,-0.000260439506712,2.39292940841e-05,1793242154082869248 +77,1.283333333,BASELINE,765,745,714,679.68068282,662,635,879,787,804.68068282,652,630.68068282,652,0.40096560197,0.00452905707021,0.059847138565,0.999999950974,0.000174923795135,-0.000258604568465,2.40470630026e-05,1793242154099535872 +78,1.300000000,BASELINE,765,745,714,679.735545526,662,635,879,787,804.735545526,652,631,652,0.400966693339,0.00452940836737,0.059847572397,0.999999951196,0.000175394458381,-0.000257427229282,2.40098188724e-05,1793242154116202752 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0000000000000000000000000000000000000000..e193e535c3f14c438ddf342dfdc797c29f8c8cb4 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a0dd134d70d6d91ce5d1177f22af1ad098070eaac7a970b6f0f9892643b941b +size 25882997 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..98527b5b0b2fe8f2136e25a1669d976ce7c25c6b --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_09/depth_05/franka_data.csv @@ -0,0 +1,410 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+67,1.116666667,BASELINE,765,745.121130968,714,678.878869032,662,635,879.878869032,787,804.878869032,652.121130968,631,652.121130968,0.400968081629,0.0045363185096,0.0598474794253,0.999999954176,0.000160920913079,-0.000255681213354,1.95001133776e-05,1793242160912127232 +68,1.133333333,BASELINE,765,745,714,679.45965731,662.45965731,635,879.54034269,787,804.54034269,652,631,652,0.400967497522,0.0045354530299,0.0598474729597,0.999999954088,0.00015941496812,-0.000256942123811,1.9772474527e-05,1793242160928793856 +69,1.150000000,BASELINE,765,745.03826677,714,679.96173323,663,635,879,787,804.03826677,652,631,652,0.400966945902,0.00453396763825,0.0598475054114,0.999999953933,0.00015774416081,-0.00025853923496,2.02208892318e-05,1793242160945460480 +70,1.166666667,BASELINE,765,745.61484274,714,679.38515726,663,635,879,787,804.61484274,652,631,652,0.400968628118,0.00453448490408,0.0598479426732,0.999999954396,0.00015814795846,-0.000256521297051,1.98519417339e-05,1793242160962127104 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sha256:c6a4bce4a2935aa23251e0189d5dada3a876ac6c88e53309bd0459cc1b23efd3 +size 26853840 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9aa4e9207d9710f9f19f9a48256418aa4a95ee63 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_02/franka_data.csv @@ -0,0 +1,424 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,745,714,679,664,635,879,787,805,653,631,653,0.402614993354,0.00456015186498,0.0498987146258,0.999999978686,9.61024479694e-05,-0.000181452635712,-2.16350142405e-05,1793242175448905728 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