diff --git a/.gitattributes b/.gitattributes index 14654d97aab46d37f752ee67008b4a89026a9734..0159148c83a16ada50862f3b97c18b552a23deb5 100644 --- a/.gitattributes +++ b/.gitattributes @@ -12951,3 +12951,45 @@ Part2/Free/digiy/ball_0050_17.5/width_04/pick/fem_node.csv filter=lfs diff=lfs m Part2/Free/digiy/ball_0050_17.5/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text Part2/Free/digiy/ball_0050_17.5/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text Part2/Free/digiy/ball_0050_17.5/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text +Part2/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text +Part2/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text +Part2/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text 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a/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..62fbfee65131880c2664e7579161f5ff07325512 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/franka_data.csv @@ -0,0 +1,413 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,766,746,714,679,666,636,881,788,803,653,632,654,0.400992608349,0.00460954457293,0.0498632998393,0.999999957341,0.000142610990006,-0.000251736999491,-4.00957059776e-05,1793239243649835008 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b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..b772856770587ed7ef21c5d69f4c291c6fe11229 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8405eb2e5ea42c65d5cd649fdc562b539234da35dedf7f63aae7367a83c19c8 +size 26152955 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d816a80afe4ade74b197f7860bf70164af937a9d --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/franka_data.csv @@ -0,0 +1,414 @@ 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b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..1dbb3f3f227888943a030dc2db40b4d356ad50b4 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f2ba6bd55c263741c3423b281a4b2559a5f3ecbacfa81b0152f6bd56f35d224 +size 26144095 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..28450f954e9178fdc73b1c5806a8b56455c9026d --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/franka_data.csv @@ -0,0 +1,414 @@ 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b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d839116714ba5b42556aed5dcbdc3c533df4e9f6e90da985d7621e5109c379d +size 26282149 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..03f39ca8cfdfe352f5d92e7024616a7af231aa47 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/franka_data.csv @@ -0,0 +1,416 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..7dbda51e18f23c333dec00b1b502e3c99d2e3c68 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae4b09c813df9060df50a9e01a16f1795c0b89f0c9f4c893d1748237272d86c9 +size 26466669 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..78f977f3c4de8e46ff1451c63617ebc6631637e4 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/franka_data.csv @@ -0,0 +1,419 @@ 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b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:463e519196a284bd2081273937fc0cf9f1fca6706402d88b7c88d574da266c38 +size 26167203 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..80906f1fb15042dc605fad07cdae3fcbe9fd7ada --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/franka_data.csv @@ -0,0 +1,415 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..1866bf56078aff9c02add791ce321b3c3c204d82 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae4edba9c6092ec9f77c3a2b376c67fe2d33fc4b21a64d266659abf6d3d08699 +size 26249150 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..1aefc5447e030bfbe42355843ccd44e729a3c7ce --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/franka_data.csv @@ -0,0 +1,416 @@ 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+74,1.233333333,BASELINE,766,746,715,680,663,635.947349921,878.947349921,787.947349921,803,652,631,653,0.400983138641,0.00448446641224,0.0798491535801,0.999999960062,9.36199626676e-05,-0.000262292033804,4.81154426399e-05,1793239325738540032 +75,1.250000000,BASELINE,766,745.477448149,715,680,663,636,879,787.477448149,803.522551851,652.522551851,631,652.477448149,0.400982396225,0.00448498072856,0.0798487614191,0.999999959931,9.46970847645e-05,-0.000262371877462,4.82899318607e-05,1793239325755206656 +76,1.266666667,BASELINE,766,745,715,680,663,635.899770022,879,787,803.899770022,652.899770022,631.100229978,652.100229978,0.400981692201,0.00448575903023,0.0798483909526,0.999999959736,9.61536395072e-05,-0.000262561489279,4.84185822074e-05,1793239325771873280 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+89,1.483333333,BASELINE,766,745,715,680.654019062,663,635,878.345980938,787.654019062,803.654019062,652,631,652.654019062,0.400982864214,0.00448719385862,0.0798493785712,0.999999959666,9.79814815848e-05,-0.000262110631437,4.86450869642e-05,1793239325988539648 +90,1.500000000,BASELINE,765.758302339,745,714.758302339,680.758302339,663,635,878.241697661,787.758302339,804,652,631,653,0.400981791663,0.00448652582763,0.07984877263,0.999999959324,9.87668467987e-05,-0.000263056006817,4.89753312386e-05,1793239326005206528 +91,1.516666667,BASELINE,765.181117302,745,714.181117302,680.181117302,663,635,878.818882698,787.181117302,804,652,631,653,0.400978677067,0.00448570672801,0.079846662414,0.999999958592,9.72909518132e-05,-0.000266430965995,4.86265123157e-05,1793239326021873152 +92,1.533333333,BASELINE,765.393976699,745,714.393976699,680,663,635.393976699,879,787,803.606023301,652,631.393976699,653,0.400979298731,0.00448600408043,0.0798469794834,0.999999958797,9.70290472694e-05,-0.000265767146325,4.85628345621e-05,1793239326038540032 +93,1.550000000,BASELINE,765.968114544,745,714.968114544,680,663,635.968114544,879,787,803.031885456,652,631.968114544,653,0.400981628944,0.00448681197383,0.0798484065232,0.99999995943,9.73222868681e-05,-0.000263256438486,4.86295486505e-05,1793239326055206400 +94,1.566666667,BASELINE,766,745,715,680,663,636,879,787,803.542074112,652,632,652.457925888,0.400981805899,0.00448672246859,0.0798485081953,0.999999959523,9.71561162056e-05,-0.000263016926304,4.83433142324e-05,1793239326071873280 +95,1.583333333,BASELINE,766,745,715,680,663,636,879,787,803.879650617,652,632,652.120349383,0.40098184796,0.00448630652154,0.0798485254971,0.999999959599,9.66837809577e-05,-0.000262934171751,4.81580295378e-05,1793239326088539904 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b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..8a8ff48721c468254c4c50a5d6f91d20b398918f --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10c04664e5ca9ea22d33a6daab84c93b9a4c876b691066a6378d066d483c58ac +size 26497488 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ba53305e3989568ae0aecf48e3d8f517940aec51 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/franka_data.csv @@ -0,0 +1,420 @@ 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a/Part2/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..d6213e36d0f8def3e3b057c05033b1d62aee024b --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e14d71bf06b6984021a72813f2a3b73820481d98d023aafbc17e080c4e22d9c6 +size 25480278 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..243c749a7ed1b55c022ce23f24462a28f6c12e4a --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/franka_data.csv @@ -0,0 +1,402 @@ 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+67,1.116666667,BASELINE,764,742,711,671,661,633,876.880073043,783,799,649.880073043,628.880073043,650.880073043,0.400946552791,-0.00539159356189,0.0598349004602,0.999999941397,0.000204762694229,-0.000274112745467,1.18635725815e-05,1793192195126445312 +68,1.133333333,BASELINE,764,742,711.462447504,671,661,633,877,783,799,649.537552496,628.537552496,651,0.40094696225,-0.00538992206079,0.0598355149235,0.999999941199,0.000206332065054,-0.000273671032336,1.15282327276e-05,1793192195143111680 +69,1.150000000,BASELINE,764,742,712,671,661,633,876.958474398,783,799,649,628.041525602,650.958474398,0.40094761148,-0.00538784833647,0.0598364891432,0.999999940953,0.000208563098405,-0.000272892881553,1.11564279491e-05,1793192195159778304 +70,1.166666667,BASELINE,764,742,712,671,661,633,876.383976685,783,799,649,628.616023315,650.383976685,0.400947185727,-0.00538895729635,0.0598356867691,0.999999940741,0.000208670976246,-0.000273578363111,1.13998049688e-05,1793192195176445184 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a/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..2cb4e1a61a7a35603040de74503a7acf64ce37a8 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58a976c2321ba196f62fad793fd7919b9ecd02b8c60e3d166a5e667adab2fef0 +size 24627444 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..74427f0fed8c508c5709600417049e23c35951bd --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/franka_data.csv @@ -0,0 +1,389 @@ 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+67,1.116666667,BASELINE,764,742,711,671,663,633,875,783,799,650,628,650.114037917,0.400930147018,-0.00546050832061,0.0499192567514,0.999999974214,-1.15115831369e-05,-0.000223920077573,-3.60511578892e-05,1793192203197208320 +68,1.133333333,BASELINE,764,742,711,671,663,633,875,783,799,650,628.461783911,650.461783911,0.400929080467,-0.00545996564429,0.0499185574782,0.999999974009,-1.08137937436e-05,-0.000224858533099,-3.60930220205e-05,1793192203213874688 +69,1.150000000,BASELINE,764,742,711,671,663,633,875,783,799,650,628.96160309,651,0.400928381597,-0.00545981650496,0.049917970657,0.999999973883,-1.0180529369e-05,-0.000225462012583,-3.60255520694e-05,1793192203230541568 +70,1.166666667,BASELINE,764,742,711,671,663,633,875,783,799,650,628.372605788,651,0.400929376801,-0.00545970160216,0.0499180620623,0.999999973991,-8.71591460121e-06,-0.000225049897628,-3.59860562071e-05,1793192203247208448 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+49,0.816666667,BASELINE,763,742,711,672,663,633,875,783,799,649.514708652,628.485291348,651,0.400967095347,-0.00544432293108,0.049847853115,0.99999996328,-3.35259083488e-07,-0.000266612338247,-4.85597818749e-05,1793192209533229568 +50,0.833333333,BASELINE,763.072857584,742,711,671.927142416,663.072857584,633,875,783.072857584,799,649,628.927142416,650.927142416,0.400967040031,-0.00544390052915,0.0498475096892,0.999999963045,-4.87629786166e-07,-0.000267459088175,-4.87447956627e-05,1793192209549896448 +51,0.850000000,BASELINE,763.651834302,742,711,671.348165698,663.651834302,633,875,783.651834302,799,649,628.348165698,650.348165698,0.400966665147,-0.00544382323495,0.0498470800749,0.999999962858,3.17767327566e-07,-0.000268159646616,-4.87179140436e-05,1793192209566563072 +52,0.866666667,BASELINE,764,742,711,671,664,633,875,783.770091659,799,649,628.229908341,650.229908341,0.400966644193,-0.00544336842998,0.0498469061072,0.999999962869,6.13968564345e-07,-0.000268108774007,-4.87684405321e-05,1793192209583229696 +53,0.883333333,BASELINE,764,742,711,671,664,633,875,783.193379298,799,649,628.806620702,650.806620702,0.400967157122,-0.00544234417089,0.0498471177682,0.999999963178,1.4207592865e-07,-0.000266924409171,-4.89357328723e-05,1793192209599896064 +54,0.900000000,BASELINE,764,742,711,671,663.619368595,633,875,783,799,649.380631405,629,651,0.400966585977,-0.00544324382772,0.049846650746,0.999999962866,-6.68927054906e-07,-0.000268112744165,-4.88211807243e-05,1793192209616562944 +55,0.916666667,BASELINE,764,742,711,671,663.046720809,633,875,783,799,649.953279191,629,651,0.400965467952,-0.00544511403869,0.0498458413499,0.999999962235,-1.65100035817e-06,-0.000270498030435,-4.85644470332e-05,1793192209633229568 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+63,1.050000000,BASELINE,763.384175955,742,711,671,663.384175955,633,875,783.615824045,799,649.615824045,628,651,0.400966714985,-0.0054459986774,0.0498472733921,0.999999962922,-1.29476614913e-06,-0.000268056105474,-4.79644723892e-05,1793192209766562560 +64,1.066666667,BASELINE,763,741.80548575,711,671,663.19451425,632.80548575,875,783.80548575,799.19451425,650,628.19451425,650.80548575,0.400966177865,-0.00544687562745,0.0498466278251,0.999999962637,-3.09048293761e-06,-0.000269065824406,-4.81755902293e-05,1793192209783229184 +65,1.083333333,BASELINE,763,741.227393141,711,671,663.772606859,632.227393141,875,783.227393141,799.772606859,650,628.772606859,650.227393141,0.400966358201,-0.00544534403937,0.0498467600319,0.999999962716,-7.26950429811e-07,-0.000268728578158,-4.85095458724e-05,1793192209799896064 +66,1.100000000,BASELINE,763.333058607,741.333058607,711,671,663.666941393,632.333058607,875.333058607,783,799.666941393,650,629,650.333058607,0.400966136341,-0.00544497760148,0.0498468404594,0.999999962841,-6.22948769461e-07,-0.000268269681313,-4.84759679685e-05,1793192209816562944 +67,1.116666667,BASELINE,763.88207202,741.88207202,711,671,663.11792798,632.88207202,875.88207202,783,799.11792798,650,629,650.88207202,0.4009656537,-0.00544536664566,0.0498468873134,0.999999962996,-1.98402432422e-06,-0.00026773190638,-4.82040817355e-05,1793192209833229568 +68,1.133333333,BASELINE,764,742,711,671,663.485248906,633,876,783.485248906,799,649.514751094,628.514751094,651,0.400964859955,-0.00544515121498,0.0498466093751,0.999999962668,-5.72930245203e-07,-0.000268946084792,-4.82777893647e-05,1793192209849896192 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a/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..6c280b8337301e4621e78aa2898fc7110963b2cb --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfadd894fd5bae717867f862a8d820ba2d6ebd6e0ecc35100ce2d5d6a0f02367 +size 25331124 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..6f90b67d336fb11e91593ff05828c0fe29eee5fe --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/franka_data.csv @@ -0,0 +1,400 @@ 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+32,0.533333333,BASELINE,763.566501701,742,712,671,659.566501701,633,876.566501701,783,799,649,628,650.433498299,0.400947583411,-0.00538532289418,0.069817951005,0.999999933747,0.000216870209485,-0.000291520752061,2.21228882895e-05,1793192244574822144 +33,0.550000000,BASELINE,764,742,712,671,660,632.854857225,876.854857225,783,799,649,628,650,0.400948546308,-0.00538682259829,0.0698190193053,0.999999934356,0.000216052587557,-0.000289996179905,2.26250418905e-05,1793192244591488512 +34,0.566666667,BASELINE,764,742,712,671,660,632.279710394,876.279710394,783,799,649,628,650,0.400948219947,-0.00538735426555,0.0698189282597,0.99999993434,0.00021560121279,-0.000290368636927,2.2849830518e-05,1793192244608155136 +35,0.583333333,BASELINE,764,742,711.699172886,671,659.699172886,632.300827114,876,783,799,649,628,650,0.400947381515,-0.0053883926778,0.0698187239583,0.999999934378,0.000214634620803,-0.000290951025861,2.2883103738e-05,1793192244624822016 +36,0.600000000,BASELINE,764,742,711.113531578,671,659.113531578,632.886468422,876,783,799,649,628,650,0.400946058267,-0.00538991086124,0.0698184124295,0.999999934465,0.000213180236373,-0.000291732172149,2.27350558742e-05,1793192244641488896 +37,0.616666667,BASELINE,764,742,711,671,659,632.531708762,876,783,799,649,628,650,0.400945567164,-0.00538772674788,0.0698179324393,0.999999933631,0.000216217705814,-0.000292381287338,2.23682927115e-05,1793192244658155520 +38,0.633333333,BASELINE,764,742,711.048911328,671,659,632,876,783,799,649,628,650.048911328,0.400945367214,-0.00538512670235,0.0698174666992,0.999999932687,0.000219817758781,-0.00029295293136,2.20251527228e-05,1793192244674822400 +39,0.650000000,BASELINE,764,742,711.626457304,671,659,632,876,783,799,649,628,650.626457304,0.400946151234,-0.00538765382218,0.0698175928191,0.99999993309,0.000217823534943,-0.000293030425486,2.25057910773e-05,1793192244691489024 +40,0.666666667,BASELINE,764,742,712,671,659.203313166,632,876,783,799,649,628.203313166,651,0.400947031273,-0.0053890734968,0.0698178707016,0.999999933556,0.000216403080164,-0.000292475108892,2.27195666158e-05,1793192244708155392 +41,0.683333333,BASELINE,764,742,712,671,659.778905351,632,876,783,799,649,628.778905351,651,0.40094808713,-0.00538846537037,0.0698184264709,0.999999934142,0.00021603323224,-0.000290761076614,2.24446997564e-05,1793192244724822016 +42,0.700000000,BASELINE,764,742,711.636985396,671,659.636985396,632.363014604,876,783,799,649,629,650.636985396,0.400947501097,-0.00538789827117,0.0698184040147,0.999999933937,0.000216880756442,-0.000290846976574,2.22848465765e-05,1793192244741488640 +43,0.716666667,BASELINE,764,742,711.047564203,671,659.047564203,632.952435797,876,783,799,649,629,650.047564203,0.400945891042,-0.00538735676003,0.069818020928,0.999999933237,0.00021848753681,-0.000292055466477,2.21967256587e-05,1793192244758155264 +44,0.733333333,BASELINE,763.46818163,742,711,671,659,633,876,783,799,649,628.46818163,650,0.400946886731,-0.00538752429527,0.0698184151024,0.999999933606,0.000218013407512,-0.000291128929034,2.2391484913e-05,1793192244774821888 +45,0.750000000,BASELINE,763,742.109123844,711.109123844,671.109123844,659.109123844,633,876.109123844,783,799.109123844,649,628.109123844,650,0.400947618431,-0.00538781501484,0.0698186630046,0.999999933993,0.000217104889048,-0.000290461377835,2.26039930937e-05,1793192244791488512 +46,0.766666667,BASELINE,763,742.681353889,711.681353889,671.681353889,659.681353889,633,876.681353889,783,799.681353889,649,628.681353889,650,0.400946259086,-0.00538836437306,0.069818000598,0.999999934059,0.000215128077179,-0.000291688281035,2.27864449603e-05,1793192244808155392 +47,0.783333333,BASELINE,763.261390178,742.738609822,712,671.738609822,659.738609822,632.738609822,876.738609822,783,800,649,628.738609822,650,0.400945570685,-0.00538834169833,0.0698177948885,0.999999933988,0.000214574439942,-0.000292338513769,2.28194877784e-05,1793192244824822016 +48,0.800000000,BASELINE,763.851235644,742.148764356,712,671.148764356,659.148764356,632.148764356,876.148764356,783,800,649,628.148764356,650,0.400945725373,-0.00538760022373,0.0698181630512,0.999999933747,0.000215809122247,-0.000292264119354,2.26647875611e-05,1793192244841488896 +49,0.816666667,BASELINE,764,742,712,671,659,632.433082327,876,783,799.566917673,649,628,650.433082327,0.400947135851,-0.00538746591505,0.0698190259309,0.999999934246,0.000215973106064,-0.000290446707199,2.24429868007e-05,1793192244858155520 +50,0.833333333,BASELINE,763.987781188,742,711.987781188,671.012218812,659.012218812,633,876.012218812,783,799,649,628,650.987781188,0.400948892674,-0.0053875137416,0.0698200218406,0.999999934959,0.000215807389121,-0.000288126611231,2.22020712244e-05,1793192244874822144 +51,0.850000000,BASELINE,763.40921922,742,711.40921922,671.59078078,659.59078078,633,876.59078078,783,799,649,628,650.40921922,0.400947071397,-0.00538651197465,0.0698194499965,0.999999934211,0.000217097805274,-0.000289754955493,2.21241370132e-05,1793192244891489024 +52,0.866666667,BASELINE,763.168252812,742,711.168252812,672,659.831747188,633,877,783.168252812,799,649,628,650,0.400946254937,-0.00538575470266,0.0698190422268,0.999999933708,0.000218060803155,-0.00029076083532,2.21804410065e-05,1793192244908155648 +53,0.883333333,BASELINE,763.743090965,742,711.743090965,672,659.256909035,633,877,783.743090965,799,649,628,650,0.400947866631,-0.00538558825628,0.0698190309453,0.999999933807,0.000218232589993,-0.000290262520783,2.25611335577e-05,1793192244924822016 +54,0.900000000,BASELINE,763.675369274,742,712,671.675369274,659.324630726,633,877,784,799,649,627.675369274,650,0.400948465687,-0.00538555473831,0.0698190968619,0.999999933806,0.000218691930055,-0.00028991256088,2.26232074431e-05,1793192244941488640 +55,0.916666667,BASELINE,763.088414172,742,712,671.088414172,659.911585828,633,877,784,799,649,627.088414172,650,0.400948246461,-0.00538562863582,0.0698192251601,0.999999933726,0.000219383633264,-0.000289682481944,2.24278151008e-05,1793192244958155520 +56,0.933333333,BASELINE,763,742,711.507843043,671.492156957,659.507843043,633,876.507843043,783.507843043,799,649,627.984313914,650,0.400947958106,-0.0053864698397,0.0698188798146,0.999999933574,0.000219509964867,-0.000290105802912,2.24776310442e-05,1793192244974822144 +57,0.950000000,BASELINE,763.071552441,742,711.071552441,671.928447559,659,633,876,783.071552441,799,649,628.928447559,650,0.400947566967,-0.00538742287947,0.0698184431648,0.999999933482,0.000219202918583,-0.00029065008367,2.2540642179e-05,1793192244991488768 +58,0.966666667,BASELINE,763.650639258,742,711.650639258,671.349360742,659,633,876,783.650639258,799,649,628.349360742,650,0.400946533721,-0.00538820396074,0.0698179546968,0.999999933899,0.000216533051772,-0.000291230411813,2.23887903027e-05,1793192245008155392 +59,0.983333333,BASELINE,764,742,712,671,659,633,876.227005074,784,798.772994926,649,628,650,0.400946009236,-0.0053886625927,0.0698178035995,0.999999934128,0.000214803507941,-0.000291723654372,2.23686743807e-05,1793192245024822016 +60,1.000000000,BASELINE,764,742,712,671,659,633,876.799232958,784,798.200767042,649,628,650,0.40094625846,-0.0053886308531,0.0698181655659,0.999999934083,0.000214503979939,-0.000292084459762,2.25488986989e-05,1793192245041488896 +61,1.016666667,BASELINE,764,742,712,671.384879598,659,633,877.384879598,783.615120402,798.384879598,649,628.384879598,650,0.400945922532,-0.00538725229365,0.0698179297195,0.999999933465,0.000216663586253,-0.000292616489789,2.24132580452e-05,1793192245058155264 +62,1.033333333,BASELINE,764,742,712,671.977778767,659,633,877.977778767,783.022221233,798.977778767,649,628.977778767,650,0.40094527034,-0.00538514580555,0.0698173707674,0.999999932527,0.000220152304514,-0.000293241063217,2.21068988068e-05,1793192245074821888 +63,1.050000000,BASELINE,764,742.555122318,712,672,659,632.444877682,876.889755364,783,799.555122318,649,628.444877682,650.555122318,0.400946852865,-0.00538550135658,0.0698186178837,0.999999933735,0.000218284256301,-0.000290501027291,2.21556704829e-05,1793192245091488768 +64,1.066666667,BASELINE,764,742.868272644,712,671.868272644,659,632.131727356,876.131727356,783,799.868272644,649,628,650.868272644,0.400947977552,-0.0053864117098,0.0698194274623,0.999999934733,0.000216232839029,-0.000288586198805,2.22374709657e-05,1793192245108155648 +65,1.083333333,BASELINE,764,742.292115697,712,671.292115697,659,632.707884303,876.707884303,783,799.292115697,649,628,650.292115697,0.400947263979,-0.00538887044366,0.0698185235828,0.999999934774,0.000214266491598,-0.000289897521181,2.23840516053e-05,1793192245124822272 +66,1.100000000,BASELINE,764,742.289681936,712,671,659,633,876.710318064,783,799,649.289681936,628,650,0.400946772666,-0.00538938719632,0.0698181570118,0.999999934649,0.00021396324703,-0.000290558123805,2.23088631436e-05,1793192245141488896 +67,1.116666667,BASELINE,764,742.877280569,712,671,659,633,876.122719431,783,799,649.877280569,628,650,0.400946509933,-0.00538790676314,0.0698183430236,0.999999934356,0.000215370382309,-0.00029054950865,2.20056013631e-05,1793192245158155264 +68,1.133333333,BASELINE,764,742.541994478,712,671.458005522,659,633,876,783,799,649.541994478,628,650,0.400947091628,-0.00538869383371,0.069818673085,0.999999934965,0.000213701674134,-0.000289680322086,2.20487270996e-05,1793192245174821888 +69,1.150000000,BASELINE,764,742,712,671.963217471,659.036782529,632.963217471,876.036782529,783,799,649,628,650,0.400947790014,-0.00539000698406,0.0698189928042,0.999999935722,0.000211423959106,-0.000288729045018,2.2185866877e-05,1793192245191488768 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0000000000000000000000000000000000000000..8b1b3464a35396187c90e2293beaf452acc99cef --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:745c493a7478dca603cf4c96b5dac8df3be86e96fde3a825651427cd5fc62c89 +size 25059108 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..46cf67596044415f97fceef75f67658ab8e55df1 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/franka_data.csv @@ -0,0 +1,396 @@ 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a/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..c2f80e20eaec55903440714d77976a09184e8078 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:086c0079e6c3122ce028028527b33749e252367d228976d0784b1ccc108cdac8 +size 25249176 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..01226921f798663e8a205fe095678319e4801901 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/franka_data.csv @@ -0,0 +1,399 @@ 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b/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7eb5042dd27a08a341d9fc1cc8ecaeae7a5fc834526b14fde2969520c8e4d0d8 +size 25436870 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2a1d479f9e84f91208c3db4dbd0d6dbead0df198 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/franka_data.csv @@ -0,0 +1,402 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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a/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..5100081455606e7ac44cd169cbfe671076bffb87 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6153f400d232847beca80336dd99867f779221936d77906fa7ada7a12f15a12b +size 24872712 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..c02d35108b5d6e9a0314b1d75a2c42de0cafc6c0 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/franka_data.csv @@ -0,0 +1,392 @@ 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+53,0.883333333,BASELINE,763,742,711.226775486,671.226775486,659,632.226775486,877,783,799.773224514,648.773224514,628.773224514,650.226775486,0.401008127731,-0.00551321412087,0.0798543222492,0.999999981065,9.23742107486e-05,-0.000167220783832,3.70813346494e-05,1793192273329638912 +54,0.900000000,BASELINE,763,742,711,671,659,632,876.650356508,783,799.650356508,649,628.650356508,650,0.401007846642,-0.00551300428505,0.0798542073689,0.999999980996,9.30266437687e-05,-0.000167277050905,3.70337893212e-05,1793192273346305536 +55,0.916666667,BASELINE,763,742,711,671,659,632,876.076901972,783,799.076901972,649,628.076901972,650,0.401005783756,-0.00551203760209,0.0798527840511,0.999999980389,9.57293819554e-05,-0.000169387618396,3.69609300247e-05,1793192273362972160 +56,0.933333333,BASELINE,763.510403786,742,711.510403786,671.510403786,659,632.510403786,876,783,799,649,628.510403786,650.510403786,0.401005881795,-0.00551130329196,0.0798531972211,0.999999980405,9.63666820469e-05,-0.000168982872623,3.67091693524e-05,1793192273379638784 +57,0.950000000,BASELINE,763.901908737,742.098091263,712,671.901908737,659,633,876.098091263,783,799,649,628.901908737,650.901908737,0.401006455028,-0.00551109109582,0.0798538819234,0.999999980584,9.60504036798e-05,-0.000168143207001,3.65242579706e-05,1793192273396305408 +58,0.966666667,BASELINE,763.32286777,742.67713223,712,671.32286777,659,633,876.67713223,783,799,649,628.32286777,650.32286777,0.401007717284,-0.0055132624165,0.0798545034353,0.999999981075,9.26270388436e-05,-0.000167081094389,3.68029630004e-05,1793192273412972032 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+69,1.150000000,BASELINE,763,742.960020783,711.960020783,671.960020783,659.960020783,632,876,783,799,649,628,650.039979217,0.401006193734,-0.0055157503293,0.079853251874,0.999999981223,8.69855486382e-05,-0.000169274775875,3.6528041333e-05,1793192273596307456 +70,1.166666667,BASELINE,763,742.368732586,711.368732586,671.368732586,659.368732586,632,876,783,799,649,628,650.631267414,0.401005766495,-0.00551681467122,0.0798530600254,0.999999981002,8.73713226091e-05,-0.000170242573501,3.71526880128e-05,1793192273612973056 +71,1.183333333,BASELINE,763.217959026,742,711.217959026,671,659,632.217959026,876,783,799,649,628,650.782040974,0.401005595344,-0.00551714162702,0.0798531095635,0.999999980888,8.83073597813e-05,-0.000170365246447,3.74459431149e-05,1793192273629639168 +72,1.200000000,BASELINE,763.797035059,742,711.797035059,671,659,632.797035059,876,783,799,649,628,650.202964941,0.40100584848,-0.00551624687322,0.0798535590339,0.999999980949,9.01550793801e-05,-0.000169087707312,3.71901449607e-05,1793192273646305792 +73,1.216666667,BASELINE,764,742,712,671,659,633,876.372324381,783,799,649,628,650,0.40100680465,-0.00551656706322,0.0798546659554,0.999999981229,9.03882028764e-05,-0.000167249218452,3.74166137846e-05,1793192273662972416 +74,1.233333333,BASELINE,764,742,712,671,659,633,876.945570204,783,799,649,628,650,0.401008140204,-0.00551754288656,0.0798561276645,0.999999981624,8.97500242618e-05,-0.000165108018287,3.7903333582e-05,1793192273679639040 +75,1.250000000,BASELINE,763.466954206,742.533045794,712,671.533045794,659.533045794,633,876.466954206,783,799,649,628,650,0.401006739742,-0.00552010014715,0.0798547586131,0.999999981536,8.62660819208e-05,-0.000167444589685,3.80587211802e-05,1793192273696305920 +76,1.266666667,BASELINE,763,743,712,671.880259081,659.880259081,632.880259081,876.119740919,783,799,649,628,650.119740919,0.401005515219,-0.00552221941736,0.0798535505674,0.999999981459,8.28656435306e-05,-0.00016959830985,3.81063442057e-05,1793192273712972800 +77,1.283333333,BASELINE,763,743,712,671.302264127,659.302264127,632.302264127,876.697735873,783,799,649,628,650.697735873,0.401006062536,-0.0055220275288,0.0798540952516,0.999999981685,8.09273568105e-05,-0.000169254418361,3.78745775593e-05,1793192273729639680 +78,1.300000000,BASELINE,763,742.723863206,712,671,659,632.276136794,876.723863206,783,799,649,628,651,0.40100641834,-0.00552107140046,0.0798544735232,0.999999981694,8.22520604189e-05,-0.000168556508811,3.7872578625e-05,1793192273746306048 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+72,1.200000000,BASELINE,763.789434597,742,712,672,659.789434597,632,877,783,798.210565403,648.210565403,628,650.210565403,0.400954051144,-0.00548142020165,0.0798307534004,0.999999950336,0.000125353272551,-0.000286861891577,3.63934205428e-05,1793192280338111744 +73,1.216666667,BASELINE,764,742,712,672,659.639061092,632.360938908,876.639061092,783,798.360938908,648,628,650,0.400953787669,-0.00548064963398,0.0798305245322,0.999999950071,0.000126060413238,-0.000287465768053,3.64808006909e-05,1793192280354778112 +74,1.233333333,BASELINE,764,742,712,672,659.068862224,632.931137776,876.068862224,783,798.931137776,648,628,650,0.400953194644,-0.00547956376979,0.0798297222909,0.999999949551,0.000127323209463,-0.000288676512873,3.67664795464e-05,1793192280371444992 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a/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..fb0b1048184bd65fb9c7f9cd359ff61d7b08f9b7 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e20f9d944e7325a4284467a075c2644f36460fe2cd7d72d0770ca6ae841291e +size 25389808 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..e4241481172012f3150c2587132212c2a45582dc --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/franka_data.csv @@ -0,0 +1,400 @@ 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+55,0.916666667,BASELINE,763.103470085,742,711.896529915,670,659.896529915,633,875.896529915,783,799,649,628.103470085,650,0.400956699533,-0.0153925934384,0.0598399547236,0.999999947848,0.000179503497461,-0.000268253660494,1.10743540426e-05,1793192329108077568 +56,0.933333333,BASELINE,763.486590259,742.486590259,712,670.486590259,660,633,875.513409741,783,799,649,628.486590259,650,0.400956010337,-0.0153937276155,0.0598401259527,0.999999947772,0.00017899226254,-0.000268875886029,1.11395320277e-05,1793192329124744192 +57,0.950000000,BASELINE,764,742.921758583,711.921758583,670.921758583,660,633,875,783,799,649,628.921758583,650,0.400955090445,-0.015394790522,0.0598399807658,0.999999947507,0.00017892255508,-0.00026990030198,1.12661468065e-05,1793192329141411072 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+66,1.100000000,BASELINE,764,742,712,670.291076822,659.291076822,633,875.708923178,783,799,649,628,650,0.400953777413,-0.0153930274289,0.0598380318804,0.999999946716,0.00017988306783,-0.000272194458989,1.09505436274e-05,1793192329291411456 +67,1.116666667,BASELINE,764,742,712,670.867878155,659.867878155,633,875.132121845,783,799,649,628,650,0.400954469495,-0.0153935767718,0.0598384218746,0.999999947115,0.000179107640789,-0.000271225437755,1.12698968258e-05,1793192329308078080 +68,1.133333333,BASELINE,764,742,711.544235117,670.544235117,660,633,875,783,799,649,628,650,0.400954020594,-0.0153926722986,0.0598379268508,0.999999946956,0.000178909899702,-0.000271954262194,1.09683012572e-05,1793192329324744704 +69,1.150000000,BASELINE,763.954330593,742,711.045669407,670.045669407,659.954330593,633,875,783,799,649,628,650,0.400953378815,-0.0153914562917,0.0598373242186,0.999999946644,0.000179141273964,-0.000272962145593,1.05520439999e-05,1793192329341411840 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+76,1.266666667,BASELINE,764,742,711.894768107,670.105231893,660,633,875.105231893,783,799.105231893,649,628,650,0.400953715828,-0.0153929248064,0.0598378029035,0.999999946748,0.000179604151933,-0.000272245662988,1.13821856154e-05,1793192329458077952 +77,1.283333333,BASELINE,764,742,711.319227005,670.680772995,660,633,875.680772995,783,799.680772995,649,628,650,0.400954562597,-0.0153935978417,0.0598386915258,0.99999994695,0.000180260280995,-0.000271070308219,1.12872540485e-05,1793192329474744832 +78,1.300000000,BASELINE,764,742,711.261374359,671,660,633,875.738625641,783,799.738625641,649,628,650,0.400954634213,-0.0153934422454,0.0598387187171,0.999999946638,0.000182030544913,-0.000271043914227,1.11781191436e-05,1793192329491411456 +79,1.316666667,BASELINE,764,742,711.848277995,671,660,633,875.151722005,783,799.151722005,649,628,650,0.400953740413,-0.0153922546278,0.0598376730373,0.999999945677,0.00018518841051,-0.000272448496072,1.10512946668e-05,1793192329508077568 +80,1.333333333,BASELINE,763.570812794,741.570812794,711.570812794,671,660,633,875,783,799,649,628,650,0.400954389589,-0.0153921438742,0.059838341225,0.999999946161,0.000183906294156,-0.00027153312644,1.11987126801e-05,1793192329524744448 +81,1.350000000,BASELINE,763.008012087,741.008012087,711,671,659.991987913,632.991987913,875.008012087,783,799,649,628,650,0.40095553069,-0.0153924105679,0.0598395679434,0.999999947122,0.000181099150773,-0.000269867470574,1.14374301928e-05,1793192329541411072 +82,1.366666667,BASELINE,763.587230684,741.587230684,711,671,659.412769316,632.412769316,875.587230684,783,799,649,628,650,0.400953391029,-0.015392820463,0.0598380147141,0.999999946654,0.000179926856645,-0.000272375547254,1.13686891621e-05,1793192329558077696 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+86,1.433333333,BASELINE,763.908666494,742,711.091333506,670.091333506,659.091333506,633,876,783,799.908666494,649,628,650,0.400953700277,-0.0153939841055,0.0598382873441,0.999999946353,0.000181832873622,-0.000272212263976,1.14670154987e-05,1793192329624744704 +87,1.450000000,BASELINE,764,742,711,670.488969094,659.488969094,633,876,783,800,649,628,650,0.400955515253,-0.0153942201738,0.0598395725319,0.99999994708,0.000181699852307,-0.00026961679353,1.14644481034e-05,1793192329641411328 +88,1.466666667,BASELINE,764,742,711,671,660,633,876,783,799.932160607,649,628,650,0.400957367111,-0.0153939856818,0.0598409198433,0.9999999477,0.000182046415615,-0.000267074634507,1.14364400292e-05,1793192329658078208 +89,1.483333333,BASELINE,764,742,711,671,660,633,876,783,799.354306793,649,628,650,0.400955945281,-0.0153929933016,0.0598398208793,0.999999947069,0.000182221071977,-0.000269311583726,1.13435721827e-05,1793192329674744576 +90,1.500000000,BASELINE,763.777651722,742,711,671,660,633,875.777651722,783,799,649,628,650,0.400955211265,-0.0153927454671,0.0598393109193,0.999999946811,0.000182027294981,-0.000270406151234,1.11753510179e-05,1793192329691411200 +91,1.516666667,BASELINE,763.202896635,742,711,671,660,633,875.202896635,783,799,649,628,650,0.40095556739,-0.0153936776869,0.0598397344902,0.999999947149,0.000181249576301,-0.000269690121661,1.08877000071e-05,1793192329708077824 +92,1.533333333,BASELINE,763,742,711,670.619210367,660,633,875,783,799.380789633,649,628,650,0.400956479269,-0.0153940122535,0.0598402864837,0.999999947776,0.000180002908346,-0.00026819104932,1.09638994428e-05,1793192329724744448 +93,1.550000000,BASELINE,763,742,711,670.030650938,660,633,875,783,799.969349062,649,628,650,0.400957694384,-0.0153940207234,0.0598409085482,0.999999948557,0.000178500368084,-0.000266264726212,1.12386261405e-05,1793192329741411072 +94,1.566666667,BASELINE,763.550732927,742,711.550732927,670,659.449267073,633,875,783,799.449267073,649,628,650,0.400957526262,-0.0153939850964,0.0598406444927,0.999999948375,0.000178993060593,-0.00026662291826,1.11413258728e-05,1793192329758077952 +95,1.583333333,BASELINE,764,742,712,670.130293232,659.130293232,633,875.130293232,783,799.130293232,648.869706768,628,650,0.400957043568,-0.0153937987677,0.0598402065706,0.999999948015,0.00017973221552,-0.000267478274506,1.09879852977e-05,1793192329774744576 +96,1.600000000,BASELINE,764,742,712,670.704978619,659.704978619,633,875.704978619,783,799.704978619,648.295021381,628,650,0.400955747151,-0.015393106702,0.0598393416818,0.999999947231,0.000180938113406,-0.000269601238223,1.07132183215e-05,1793192329791411456 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0000000000000000000000000000000000000000..c291b500e1bb857561cc176531386643616565c2 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a80e31c265b93a8e608ab958b7a7b830ecf5a7335e7ea6498d343e35e2358ded +size 24599135 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..38c2eb2f65720f658479f5f8a77113af776758ce --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/franka_data.csv @@ -0,0 +1,388 @@ 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a/Part2/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..e326cdad0b3e3bb66441fca8b4138395540021c6 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0411a46916733f0c6ea001b7f912599ad88ea8efc047d495cab00809d3d7f10 +size 24847479 diff --git a/Part2/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..8259891a3e7ba8cfafaf6e00f5fc6c226b655741 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/franka_data.csv @@ -0,0 +1,392 @@ 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