Upload Part2/Free/s1 (part 16)
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- .gitattributes +9 -0
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- Part2/Free/s1/cylinder_0050_12.5/width_05/pick/camera_frames_60hz.tar +3 -0
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- Part2/Free/s1/cylinder_0050_12.5/width_06/pick/camera_frames_60hz.tar +3 -0
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- Part2/Free/s1/cylinder_0050_12.5/width_07/pick/camera_frames_60hz.tar +3 -0
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- Part2/Free/s1/cylinder_0050_12.5/width_08/insert/camera_frames_60hz.tar +3 -0
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- Part2/Free/s1/cylinder_0050_12.5/width_09/pick/camera_frames_60hz.tar +3 -0
.gitattributes
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Part2/Free/s1/cylinder_0050_12.5/width_03/pick/camera_frames_60hz.tar
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Part2/Free/s1/cylinder_0050_12.5/width_03/pick/fem_node.csv
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The diff for this file is too large to render.
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Part2/Free/s1/cylinder_0050_12.5/width_03/pick/franka_data.csv
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| 1 |
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| 206 |
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|
Part2/Free/s1/cylinder_0050_12.5/width_03/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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| 3 |
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| 14 |
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| 26 |
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| 27 |
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27,0.450000000,pose1-to-pose2-lift,-8.33525371577e-05,0.84602797812,6.38280245512e-06,0.835068029206
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38,0.633333333,pose1-to-pose2-lift,-8.19474299686e-05,0.847308784558,7.76233508581e-06,0.836348753422
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| 43 |
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41,0.683333333,pose1-to-pose2-lift,-8.16633657019e-05,0.847836345171,8.02354531436e-06,0.836876345171
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42,0.700000000,pose1-to-pose2-lift,-8.15846292383e-05,0.848046016147,8.1227710681e-06,0.837086016147
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45,0.750000000,pose1-to-pose2-lift,-8.19204151539e-05,0.848713097485,7.74921182772e-06,0.837753097485
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57,0.950000000,pose1-to-pose2-lift,-8.18493049594e-05,0.852341633877,7.90084755417e-06,0.841381833877
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181,3.016666667,pose2-hold,-8.255948e-05,0.883582,6.83863988235e-06,0.872627138235
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| 184 |
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182,3.033333333,pose2-hold,-8.255948e-05,0.883582,6.83650829412e-06,0.8726272
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| 185 |
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183,3.050000000,pose2-hold,-8.255948e-05,0.883582,6.83836202941e-06,0.8726272
|
| 186 |
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184,3.066666667,pose2-hold,-8.255948e-05,0.883582,6.84574764706e-06,0.8726272
|
| 187 |
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185,3.083333333,pose2-hold,-8.255948e-05,0.883582,6.85991344118e-06,0.8726272
|
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186,3.100000000,pose2-hold,-8.255948e-05,0.883582,6.87053282353e-06,0.8726272
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187,3.116666667,pose2-hold,-8.255948e-05,0.883582,6.878378e-06,0.87262715
|
| 190 |
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188,3.133333333,pose2-hold,-8.255948e-05,0.883582,6.88438117647e-06,0.8726271
|
| 191 |
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189,3.150000000,pose2-hold,-8.255948e-05,0.883582,6.88846285294e-06,0.8726271
|
| 192 |
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190,3.166666667,pose2-hold,-8.255948e-05,0.883582,6.88992841176e-06,0.8726271
|
| 193 |
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191,3.183333333,pose2-hold,-8.255948e-05,0.883582,6.88993438235e-06,0.8726271
|
| 194 |
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192,3.200000000,pose2-hold,-8.255948e-05,0.883582,6.88921464706e-06,0.8726271
|
| 195 |
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193,3.216666667,pose2-hold,-8.255948e-05,0.883582,6.88954455882e-06,0.8726271
|
| 196 |
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194,3.233333333,pose2-hold,-8.255948e-05,0.883582,6.893566e-06,0.8726271
|
| 197 |
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195,3.250000000,pose2-hold,-8.255948e-05,0.883582,6.89643679412e-06,0.8726271
|
| 198 |
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196,3.266666667,pose2-hold,-8.255948e-05,0.883582,6.8963e-06,0.8726271
|
| 199 |
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197,3.283333333,pose2-hold,-8.255948e-05,0.883582,6.90764567647e-06,0.8726271
|
| 200 |
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198,3.300000000,pose2-hold,-8.255948e-05,0.883582,6.89603629412e-06,0.8726271
|
| 201 |
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199,3.316666667,pose2-hold,-8.255948e-05,0.883582,6.90345779412e-06,0.8726271
|
| 202 |
+
200,3.333333333,pose2-hold,-8.255948e-05,0.883582,6.90337423529e-06,0.8726271
|
| 203 |
+
201,3.350000000,pose2-hold,-8.255948e-05,0.883582,6.90147788235e-06,0.8726271
|
| 204 |
+
202,3.366666667,pose2-hold,-8.255948e-05,0.883582,6.90059823529e-06,0.8726271
|
| 205 |
+
203,3.383333333,pose2-hold,-8.255948e-05,0.883582,6.89706229412e-06,0.8726271
|
| 206 |
+
204,3.400000000,pose2-hold,-8.255948e-05,0.883582,6.896484e-06,0.8726271
|
Part2/Free/s1/cylinder_0050_12.5/width_04/insert/camera_frames_60hz.tar
ADDED
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version https://git-lfs.github.com/spec/v1
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size 37765120
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Part2/Free/s1/cylinder_0050_12.5/width_04/insert/fem_node.csv
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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size 38567633
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Part2/Free/s1/cylinder_0050_12.5/width_04/insert/franka_data.csv
ADDED
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The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s1/cylinder_0050_12.5/width_04/insert/simulation_data.csv
ADDED
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@@ -0,0 +1,905 @@
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|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.396235e-05,0.8835845,5.322002e-06,0.8726296
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.33653724591e-05,0.8835842,5.90425607669e-06,0.8726294
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.25626391471e-05,0.883584394922,6.70534121611e-06,0.872629516953
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.17603794924e-05,0.883584629316,7.51006763116e-06,0.87262965759
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.13754347292e-05,0.883584691245,7.89673942963e-06,0.872629695622
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.13735812952e-05,0.883584691131,7.8986056051e-06,0.872629695566
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.06854663344e-05,0.883584649006,8.59145101393e-06,0.872629674503
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.98284600493e-05,0.883584596542,9.45434879098e-06,0.872629648271
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.93760028542e-05,0.883584568843,9.90991640429e-06,0.872629634422
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.88885964471e-05,0.883584539005,1.0400673488e-05,0.872629619502
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.76823466028e-05,0.883584478692,1.16165025371e-05,0.872629578692
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.21928041289e-05,0.8835843,1.71496212191e-05,0.872629407952
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-5.83523508344e-05,0.8835843,3.1029834585e-05,0.87262941377
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-3.55635961129e-05,0.8835843,5.3961066823e-05,0.872629387388
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,5.83619031985e-06,0.883584517042,9.55642669031e-05,0.872629564202
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,6.55112858092e-05,0.8835851,0.000155603414639,0.8726302
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000141297444744,0.883585174968,0.000231873164447,0.872630274968
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000238920195737,0.883585863088,0.000330073844646,0.872630931544
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000349625146776,0.883586232527,0.000441422575929,0.872631310036
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000464086663882,0.883586920479,0.000556576779239,0.872632027306
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000591627980681,0.883587361018,0.000684883312651,0.872632528814
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000729248253556,0.88358802777,0.000823330762309,0.872633182399
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000868009284136,0.883588705448,0.000962955616281,0.872633905448
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00102737065347,0.883589076383,0.00112326452414,0.872634188192
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00119271726622,0.883588910029,0.00128962284541,0.872634010029
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00135399466084,0.8835891,0.0014518660213,0.8726342
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00152005888536,0.88358902403,0.00161894427576,0.87263412403
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00169273224905,0.883588725735,0.00179263391021,0.872633825735
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00186249954207,0.883588855836,0.00196345233301,0.872633955836
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00203547720578,0.883588940157,0.00213749735053,0.872634070078
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00221979407881,0.883588726007,0.0023229152784,0.872633926007
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00240984027343,0.883588646539,0.002514189892,0.872633846539
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00259435653692,0.883588594227,0.00269984254664,0.872633741341
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00276942117778,0.883588445484,0.0028759732312,0.8726336
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00294371169874,0.883588571021,0.00305129807881,0.872633714014
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00312104329903,0.88358844652,0.0032296663544,0.87263354652
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00328391494913,0.883588363613,0.00339354943415,0.872633527226
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00344099525567,0.88358852682,0.00355162413584,0.87263372682
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.0035962343357,0.883588666048,0.00370781873223,0.872633932096
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00374915257118,0.883588628008,0.00386167090099,0.872633928008
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.0038851072285,0.8835886,0.00399850237221,0.872633828539
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00401620600201,0.883588526417,0.0041304066087,0.8726338
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00414292241886,0.883588261914,0.00425792774421,0.872633561914
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00425945778228,0.883588370025,0.00437519886772,0.872633585013
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00436374897985,0.883588488638,0.00448015483138,0.872633777276
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00445834780503,0.883588221433,0.00457537643952,0.872633614289
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00454572185597,0.883588198808,0.00466328122953,0.872633598808
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00462124251996,0.883588117995,0.00473910482402,0.872633517995
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00468582440018,0.883588269135,0.00480397672247,0.872633684568
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00474182553362,0.883588124895,0.00486035569485,0.8726336
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.0047863730882,0.883588229695,0.00490522437503,0.872633629695
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00481908954381,0.883588232955,0.00493817994519,0.872633655303
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00484583335556,0.883587984216,0.00496513218699,0.872633468432
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00486726099184,0.883587937033,0.00498673213842,0.872633346291
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00488236158758,0.883588282229,0.00500195527872,0.872633777786
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00489541952545,0.883588206669,0.00501513058963,0.872633706669
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00490507487179,0.883588101217,0.00502487586182,0.872633502434
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00491131005713,0.883588297482,0.00503118835387,0.872633697482
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491495866391,0.88358801717,0.00503488383798,0.87263341717
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004916454,0.8835879,0.005036415,0.8726334
|
| 62 |
+
60,1.000000000,pose3-hold,0.004916454,0.8835879,0.00503641,0.8726333
|
| 63 |
+
61,1.016666667,pose3-hold,0.004916454,0.8835879,0.00503640585714,0.8726333
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916454,0.8835879,0.00503640434286,0.8726333
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916454,0.8835879,0.00503639962857,0.8726333
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916454,0.8835879,0.0050363928,0.8726333
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916454,0.8835879,0.00503638557143,0.8726333
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916454,0.8835879,0.00503637148571,0.8726333
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916454,0.8835879,0.005036363,0.8726333
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916454,0.8835879,0.0050363434,0.8726333
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916454,0.8835879,0.00503633345714,0.8726333
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916454,0.8835879,0.00503632714286,0.8726333
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916454,0.8835879,0.00503630988571,0.8726333
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916454,0.8835879,0.00503630905714,0.8726333
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916454,0.8835879,0.0050362928,0.8726333
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916454,0.8835879,0.005036288,0.8726333
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916454,0.8835879,0.00503628371429,0.8726333
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916454,0.8835879,0.00503627234286,0.8726333
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916454,0.8835879,0.00503625574286,0.8726333
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916454,0.8835879,0.00503625325714,0.8726333
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916454,0.8835879,0.00503625077143,0.8726333
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916454,0.8835879,0.00503624771429,0.872633357143
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916454,0.8835879,0.005036244,0.8726334
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916454,0.8835879,0.00503624031429,0.8726334
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916454,0.8835879,0.00503623794286,0.8726334
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916454,0.8835879,0.00503623711429,0.8726334
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916454,0.8835879,0.00503623771429,0.8726334
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916454,0.8835879,0.00503623854286,0.8726334
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916454,0.8835879,0.00503623751429,0.8726334
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916454,0.8835879,0.0050362352,0.8726334
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916454,0.8835879,0.00503623608571,0.8726334
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916454,0.8835879,0.00503623857143,0.8726334
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916454,0.8835879,0.00503624242857,0.8726334
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916454,0.8835879,0.00503624605714,0.872633348571
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916454,0.8835879,0.00503625108571,0.872633334286
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916454,0.8835879,0.00503625802857,0.872633382857
|
| 97 |
+
95,1.583333333,pose3-hold,0.004916454,0.8835879,0.005036263,0.8726333
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.004916454,0.8835879,0.005036269,0.8726333
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491648448054,0.88358804771,0.00503629711963,0.87263344771
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491642579061,0.8835874917,0.00503624522538,0.8726328917
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491638821418,0.883587010887,0.00503621043548,0.872632422011
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491638290725,0.883586862989,0.00503620451956,0.872632282813
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491635271256,0.883586021497,0.0050361708599,0.872631490821
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491633676746,0.883585577126,0.00503615308504,0.872631072589
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.0049163413276,0.883584940788,0.00503615887026,0.872630421505
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491634642966,0.883584551421,0.00503616504643,0.872630018711
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491635443584,0.883583940423,0.00503617473812,0.872629386644
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+
106,1.766666667,pose3-to-pose4-insert,0.00491636897171,0.883582831106,0.00503619233418,0.872628239075
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+
107,1.783333333,pose3-to-pose4-insert,0.00491626354993,0.883576107173,0.0050360979428,0.872621507173
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108,1.800000000,pose3-to-pose4-insert,0.00491651352223,0.883560135743,0.00503635652909,0.872605535743
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109,1.816666667,pose3-to-pose4-insert,0.00491641393724,0.883528339016,0.00503626913985,0.872573739016
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110,1.833333333,pose3-to-pose4-insert,0.004916461996,0.883477597686,0.0050363223964,0.872522921318
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111,1.850000000,pose3-to-pose4-insert,0.00491663985122,0.883410163803,0.00503652009771,0.872455563803
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112,1.866666667,pose3-to-pose4-insert,0.00491648483843,0.883329501229,0.00503633112824,0.872374961757
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113,1.883333333,pose3-to-pose4-insert,0.00491673229628,0.883227391497,0.00503660169268,0.872272791497
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114,1.900000000,pose3-to-pose4-insert,0.00491679652827,0.883119599382,0.00503665562114,0.872164999382
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115,1.916666667,pose3-to-pose4-insert,0.00491702235342,0.883005337834,0.00503688823458,0.87205068823
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116,1.933333333,pose3-to-pose4-insert,0.00491706809621,0.882878918406,0.00503692556529,0.871924289712
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117,1.950000000,pose3-to-pose4-insert,0.00491703652541,0.882744191211,0.00503689160451,0.871789502723
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118,1.966666667,pose3-to-pose4-insert,0.00491687565321,0.882615338925,0.00503672613794,0.871660638925
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119,1.983333333,pose3-to-pose4-insert,0.00491661514695,0.882464538666,0.00503646289213,0.871509938666
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120,2.000000000,pose3-to-pose4-insert,0.00491642148565,0.882309182126,0.00503630631874,0.871354582126
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121,2.016666667,pose3-to-pose4-insert,0.00491609651563,0.882147806204,0.00503596671521,0.871193186246
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122,2.033333333,pose3-to-pose4-insert,0.00491577731427,0.881971918006,0.00503564862793,0.871017218006
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123,2.050000000,pose3-to-pose4-insert,0.0049158723264,0.881789957232,0.00503572868689,0.870835214963
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124,2.066666667,pose3-to-pose4-insert,0.00491660230611,0.881621172891,0.00503646172207,0.870666372891
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125,2.083333333,pose3-to-pose4-insert,0.00491739264315,0.88144268506,0.00503728746355,0.87048788506
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126,2.100000000,pose3-to-pose4-insert,0.00491812815523,0.881260643101,0.00503802368055,0.870305793945
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127,2.116666667,pose3-to-pose4-insert,0.00491884594881,0.881080642251,0.00503874806212,0.870125742251
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128,2.133333333,pose3-to-pose4-insert,0.00491894254906,0.880898025046,0.00503882743088,0.869943125046
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129,2.150000000,pose3-to-pose4-insert,0.00491847957924,0.880709102013,0.00503834497694,0.86975414207
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130,2.166666667,pose3-to-pose4-insert,0.00491806908068,0.880523962829,0.00503795435863,0.869568962829
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131,2.183333333,pose3-to-pose4-insert,0.00491750520597,0.880329794272,0.00503739088233,0.869374716575
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132,2.200000000,pose3-to-pose4-insert,0.00491713001794,0.880143823325,0.00503701301794,0.869188723325
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133,2.216666667,pose3-to-pose4-insert,0.00491716980445,0.87996172344,0.00503703784356,0.869006523701
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134,2.233333333,pose3-to-pose4-insert,0.00491740830643,0.879783461119,0.00503727628501,0.868828347171
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135,2.250000000,pose3-to-pose4-insert,0.00491776054501,0.879621725835,0.00503760824636,0.868666502571
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136,2.266666667,pose3-to-pose4-insert,0.0049178924378,0.879489493398,0.00503776193278,0.868534193398
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137,2.283333333,pose3-to-pose4-insert,0.00491805596074,0.879367054038,0.00503786491948,0.868411737934
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138,2.300000000,pose3-to-pose4-insert,0.00491797371513,0.879246568034,0.00503784988729,0.868291068034
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139,2.316666667,pose3-to-pose4-insert,0.00491765130045,0.879134153421,0.00503750738149,0.868178653421
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140,2.333333333,pose3-to-pose4-insert,0.00491742385512,0.879022433959,0.00503728551695,0.868066933959
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141,2.350000000,pose3-to-pose4-insert,0.00491683209089,0.878917174754,0.00503665396411,0.867961674754
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142,2.366666667,pose3-to-pose4-insert,0.00491634309065,0.878820338738,0.00503614226749,0.867864816355
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143,2.383333333,pose3-to-pose4-insert,0.00491599802478,0.878738545944,0.00503583044292,0.867782974307
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144,2.400000000,pose3-to-pose4-insert,0.00491567407579,0.878670614425,0.00503551181948,0.867715085364
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145,2.416666667,pose3-to-pose4-insert,0.00491564243393,0.878615196691,0.0050354656859,0.867659596691
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146,2.433333333,pose3-to-pose4-insert,0.00491564678266,0.878564686756,0.00503540814811,0.867609063998
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147,2.450000000,pose3-to-pose4-insert,0.00491538937527,0.878521622913,0.00503515437779,0.867565922913
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148,2.466666667,pose3-to-pose4-insert,0.00491519706485,0.878488996246,0.00503496285325,0.867533296246
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149,2.483333333,pose3-to-pose4-insert,0.00491499121561,0.878462571782,0.00503477532429,0.867506871782
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150,2.500000000,pose3-to-pose4-insert,0.00491489740707,0.878442319657,0.00503469115961,0.867486619657
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151,2.516666667,pose3-to-pose4-insert,0.00491485322298,0.878428005701,0.00503460544596,0.867472305701
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152,2.533333333,pose3-to-pose4-insert,0.00491480383796,0.878416279504,0.00503456294876,0.867460579504
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153,2.550000000,pose3-to-pose4-insert,0.0049148623317,0.8784071727,0.00503463567864,0.867451527037
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154,2.566666667,pose3-to-pose4-insert,0.00491488255976,0.878400526168,0.00503463516691,0.867444926168
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155,2.583333333,pose3-to-pose4-insert,0.00491470762035,0.878395621896,0.00503446048898,0.867440021896
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156,2.600000000,pose3-to-pose4-insert,0.00491474988251,0.878392888251,0.00503452617624,0.867437288251
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157,2.616666667,pose3-to-pose4-insert,0.004914781,0.8783919,0.005034568,0.8674363
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158,2.633333333,pose4-hold,0.004914781,0.8783919,0.005034582,0.8674363
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159,2.650000000,pose4-hold,0.004914781,0.8783919,0.00503458797059,0.8674363
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160,2.666666667,pose4-hold,0.004914781,0.8783919,0.005034589,0.8674363
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161,2.683333333,pose4-hold,0.004914781,0.8783919,0.00503458173529,0.8674363
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162,2.700000000,pose4-hold,0.004914781,0.8783919,0.005034576,0.8674363
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163,2.716666667,pose4-hold,0.004914781,0.8783919,0.00503457494118,0.8674363
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164,2.733333333,pose4-hold,0.004914781,0.8783919,0.00503457317647,0.8674363
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165,2.750000000,pose4-hold,0.004914781,0.8783919,0.00503458170588,0.8674363
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166,2.766666667,pose4-hold,0.004914781,0.8783919,0.00503458364706,0.8674363
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167,2.783333333,pose4-hold,0.004914781,0.8783919,0.00503457926471,0.8674363
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168,2.800000000,pose4-hold,0.004914781,0.8783919,0.00503458017647,0.8674363
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169,2.816666667,pose4-hold,0.004914781,0.8783919,0.00503458223529,0.8674363
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170,2.833333333,pose4-hold,0.004914781,0.8783919,0.00503458076471,0.8674363
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171,2.850000000,pose4-hold,0.004914781,0.8783919,0.00503458008824,0.8674363
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172,2.866666667,pose4-hold,0.004914781,0.8783919,0.00503458094118,0.8674363
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173,2.883333333,pose4-hold,0.004914781,0.8783919,0.00503458020588,0.8674363
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174,2.900000000,pose4-hold,0.004914781,0.8783919,0.00503458064706,0.8674363
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175,2.916666667,pose4-hold,0.004914781,0.8783919,0.0050345805,0.8674363
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176,2.933333333,pose4-hold,0.004914781,0.8783919,0.00503458,0.8674363
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177,2.950000000,pose4-hold,0.004914781,0.8783919,0.00503458020588,0.8674363
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178,2.966666667,pose4-hold,0.004914781,0.8783919,0.00503458129412,0.8674363
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179,2.983333333,pose4-hold,0.004914781,0.8783919,0.00503458555882,0.8674363
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180,3.000000000,pose4-hold,0.004914781,0.8783919,0.00503458752941,0.8674363
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181,3.016666667,pose4-hold,0.004914781,0.8783919,0.005034588,0.8674363
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182,3.033333333,pose4-hold,0.004914781,0.8783919,0.00503458752941,0.8674363
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183,3.050000000,pose4-hold,0.004914781,0.8783919,0.00503458797059,0.8674363
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184,3.066666667,pose4-hold,0.004914781,0.8783919,0.00503458929412,0.8674363
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185,3.083333333,pose4-hold,0.004914781,0.8783919,0.00503458611765,0.8674363
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186,3.100000000,pose4-hold,0.004914781,0.8783919,0.00503458952941,0.8674363
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187,3.116666667,pose4-hold,0.004914781,0.8783919,0.00503459220588,0.8674363
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188,3.133333333,pose4-hold,0.004914781,0.8783919,0.00503459064706,0.8674363
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189,3.150000000,pose4-hold,0.004914781,0.8783919,0.005034589,0.8674363
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190,3.166666667,pose4-hold,0.004914781,0.8783919,0.00503459047059,0.8674363
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191,3.183333333,pose4-hold,0.004914781,0.8783919,0.00503459326471,0.8674363
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192,3.200000000,pose4-hold,0.004914781,0.8783919,0.005034589,0.8674363
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193,3.216666667,pose4-to-pose5-return,0.004914781,0.8783919,0.005034588,0.8674363
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194,3.233333333,pose4-to-pose5-return,0.00491461021755,0.87839196255,0.00503440184384,0.86743636255
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195,3.250000000,pose4-to-pose5-return,0.00491444955056,0.878392208972,0.00503424758382,0.867436608972
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196,3.266666667,pose4-to-pose5-return,0.00491424681159,0.878392490601,0.00503404999279,0.867436881541
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197,3.283333333,pose4-to-pose5-return,0.00491408991061,0.878392672409,0.00503389345543,0.867437045169
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198,3.300000000,pose4-to-pose5-return,0.00491382339328,0.878392981236,0.00503362755575,0.867437323112
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201,3.350000000,pose4-to-pose5-return,0.00491329807864,0.878393545304,0.00503309944603,0.867437863467
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202,3.366666667,pose4-to-pose5-return,0.00491298639431,0.87839382159,0.00503278085457,0.867438174288
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|
Part2/Free/s1/cylinder_0050_12.5/width_04/pick/camera_frames_60hz.tar
ADDED
|
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+
version https://git-lfs.github.com/spec/v1
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size 8468480
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Part2/Free/s1/cylinder_0050_12.5/width_04/pick/fem_node.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
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|
Part2/Free/s1/cylinder_0050_12.5/width_04/pick/franka_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
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| 206 |
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204,3.400000000,pose2-hold,1.79307117195e+18,camera_frames_60hz/WAIT_POSE2/camera_00003031_1793071171956314820_real.jpg,0.675894609647,-0.00538518721995,0.134533483672,0.999999930657,5.67417107409e-05,-0.00035900205375,-8.11427708952e-05,0.0405025444925
|
Part2/Free/s1/cylinder_0050_12.5/width_04/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,6.865903e-06,0.8346294
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.25228338429e-05,0.8455895,6.85620555603e-06,0.834629505266
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.27379508352e-05,0.845589956432,6.6323896527e-06,0.834630017324
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.26909368576e-05,0.845590518616,6.67734654282e-06,0.834630558443
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.26833186613e-05,0.845590942733,6.67785442258e-06,0.834631035574
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| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26842373413e-05,0.845591547006,6.68503517174e-06,0.834631647006
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26875082086e-05,0.845592465789,6.69698118784e-06,0.834632565789
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.26984760862e-05,0.845593260906,6.67674678423e-06,0.834633360906
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.2702103013e-05,0.845593515353,6.66983166295e-06,0.834633615353
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.27089787736e-05,0.845593997722,6.65672229464e-06,0.834634097722
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.27183334157e-05,0.845594977967,6.63617641207e-06,0.834635077967
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.26862788651e-05,0.845595690687,6.67251663291e-06,0.834635790687
|
| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.2621793553e-05,0.84559712449,6.74562358469e-06,0.83463722449
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.25869942509e-05,0.845597898238,6.78507552829e-06,0.834637998238
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.25832277146e-05,0.845598206041,6.79041205506e-06,0.834638303685
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.26517513384e-05,0.845599575053,6.72649439677e-06,0.834639642274
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,-8.27531272709e-05,0.845601600412,6.63193266958e-06,0.834641622625
|
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Part2/Free/s1/cylinder_0050_12.5/width_05/insert/simulation_data.csv
ADDED
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.399852e-05,0.8835853,4.501064e-06,0.8726304
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.38348900348e-05,0.883585366134,4.67398453889e-06,0.872630466134
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.31645421171e-05,0.8835854,5.33294846671e-06,0.8726305
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.24822481492e-05,0.883585434898,6.01487783664e-06,0.872630569796
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.20684945641e-05,0.883585461285,6.43116670183e-06,0.87263062257
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.15258109577e-05,0.883585495895,6.97717560848e-06,0.872630691789
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.13169710896e-05,0.883585504729,7.18650634219e-06,0.8726307
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.05269999071e-05,0.88358553059,7.97700482382e-06,0.8726307
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.95692926074e-05,0.883585561942,8.93535138517e-06,0.8726307
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.87284307467e-05,0.883585589468,9.77677451408e-06,0.8726307
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.79862801157e-05,0.8835856,1.05214292388e-05,0.8726307
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.53026414381e-05,0.8835856,1.32196807077e-05,0.8726307
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.79905216906e-05,0.8835856,2.05729584676e-05,0.8726307
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-5.14015398933e-05,0.883585310012,3.72737735653e-05,0.872630410012
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-2.12251717644e-05,0.88358575271,6.76209073538e-05,0.872630801807
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,2.40013977756e-05,0.883585633396,0.000113124801568,0.872630733396
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,8.41491060649e-05,0.883585960813,0.00017362469596,0.872631060813
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000167089018784,0.8835864,0.000257048520352,0.8726315
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000261640814654,0.883586654673,0.000352165768389,0.872631691005
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.00036913106427,0.883587005385,0.000460304480616,0.872632105385
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000490701965914,0.883587400849,0.00058258927173,0.872632500849
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000622034229444,0.883587660508,0.000714699608752,0.872632760508
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000752837772947,0.88358837201,0.000846304128718,0.872633397342
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000903368607129,0.88358898303,0.00099774341434,0.872634174545
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00105884289859,0.8835888,0.00115416529071,0.872633988856
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00121992242072,0.88358877695,0.00131621925567,0.87263387695
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00139007783042,0.883588628596,0.00148738850556,0.872633728596
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00156195463339,0.883588455333,0.00166030298448,0.872633555333
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00171935857603,0.883588482701,0.00181868576596,0.872633582701
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00188586419418,0.883588558944,0.00198622867317,0.872633658944
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00205952511675,0.883588629778,0.00216098458621,0.872633729778
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.002235814312,0.883588845721,0.00233834746105,0.872633991441
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00241719622941,0.883589050824,0.00252081968377,0.872634250824
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00260327747443,0.883589430074,0.00270804287071,0.872634572556
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00278059723386,0.8835896,0.00288644458508,0.8726347
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00294394423767,0.883589486696,0.00305077969068,0.872634586696
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00310638269507,0.883589453969,0.0032141849708,0.872634607938
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00327272921357,0.883589443954,0.00338153326513,0.8726347
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00344083389193,0.8835894,0.00355069729122,0.87263463736
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00360215931351,0.883589192164,0.00371301428017,0.872634322885
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00375854520769,0.883589333631,0.00387038288884,0.872634589385
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.0039055169905,0.883588970655,0.00401827385494,0.872634270655
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00404054055312,0.8835889,0.00415414266808,0.872634107843
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00416298410376,0.88358918745,0.00427734756476,0.872634483266
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00427666639802,0.883589297996,0.00439174264951,0.872634597996
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00438128821046,0.883588920802,0.00449704994284,0.872634220802
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00447105581824,0.88358917714,0.00458737611628,0.87263448476
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00455045496987,0.883588907995,0.00466711282879,0.872634307995
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00461829652422,0.883589,0.00473532313261,0.8726344
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00467801254733,0.883589001118,0.00479534878535,0.872634402236
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00473215157842,0.883589103716,0.00484987610313,0.872634596284
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00477780813481,0.883589192387,0.00489590269932,0.8726345
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.0048124069048,0.88358909846,0.00493074035221,0.87263449769
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00484159518335,0.883588901255,0.00496011400324,0.872634201883
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486436816021,0.883588996895,0.00498308098098,0.87263439379
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488032569004,0.883589,0.00499917850701,0.8726344
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+
56,0.933333333,pose2-to-pose3-side,0.00489304237144,0.883589079384,0.00501200548814,0.872634479384
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57,0.950000000,pose2-to-pose3-side,0.0049021547411,0.883589026358,0.00502119229029,0.872634426358
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58,0.966666667,pose2-to-pose3-side,0.0049076355334,0.883589212555,0.00502671438303,0.872634559416
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59,0.983333333,pose2-to-pose3-side,0.00491208563297,0.883589177275,0.00503124476879,0.872634532956
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60,1.000000000,pose2-to-pose3-side,0.00491479362627,0.883589,0.00503398329012,0.8726344
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+
61,1.016666667,pose2-to-pose3-side,0.004915696,0.883589,0.005034888,0.8726344
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+
62,1.033333333,pose3-hold,0.004915696,0.883589,0.005034887,0.8726344
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63,1.050000000,pose3-hold,0.004915696,0.883589,0.00503488444118,0.8726344
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64,1.066666667,pose3-hold,0.004915696,0.883589,0.00503487976471,0.8726344
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+
65,1.083333333,pose3-hold,0.004915696,0.883589,0.00503487297059,0.8726344
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+
66,1.100000000,pose3-hold,0.004915696,0.883589,0.00503486323529,0.8726344
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67,1.116666667,pose3-hold,0.004915696,0.883589,0.00503485208824,0.8726344
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+
68,1.133333333,pose3-hold,0.004915696,0.883589,0.00503484070588,0.8726344
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69,1.150000000,pose3-hold,0.004915696,0.883589,0.00503481682353,0.8726344
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70,1.166666667,pose3-hold,0.004915696,0.883589,0.00503481517647,0.8726344
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71,1.183333333,pose3-hold,0.004915696,0.883589,0.00503480282353,0.8726344
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72,1.200000000,pose3-hold,0.004915696,0.883589,0.00503478852941,0.8726344
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73,1.216666667,pose3-hold,0.004915696,0.883589,0.00503477755882,0.8726344
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74,1.233333333,pose3-hold,0.004915696,0.883589,0.00503476917647,0.8726344
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75,1.250000000,pose3-hold,0.004915696,0.883589,0.00503475964706,0.8726344
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76,1.266666667,pose3-hold,0.004915696,0.883589,0.00503475623529,0.8726344
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77,1.283333333,pose3-hold,0.004915696,0.883589,0.00503474488235,0.8726344
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78,1.300000000,pose3-hold,0.004915696,0.883589,0.00503474005882,0.8726344
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79,1.316666667,pose3-hold,0.004915696,0.883589,0.005034733,0.8726344
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80,1.333333333,pose3-hold,0.004915696,0.883589,0.00503472452941,0.8726344
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81,1.350000000,pose3-hold,0.004915696,0.883589,0.00503471876471,0.8726344
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82,1.366666667,pose3-hold,0.004915696,0.883589,0.00503471376471,0.8726344
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83,1.383333333,pose3-hold,0.004915696,0.883589,0.00503471035294,0.8726344
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84,1.400000000,pose3-hold,0.004915696,0.883589,0.00503470770588,0.8726344
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85,1.416666667,pose3-hold,0.004915696,0.883589,0.00503470576471,0.8726344
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86,1.433333333,pose3-hold,0.004915696,0.883589,0.005034705,0.8726344
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87,1.450000000,pose3-hold,0.004915696,0.883589,0.005034705,0.8726344
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88,1.466666667,pose3-hold,0.004915696,0.883589,0.00503470482353,0.8726344
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89,1.483333333,pose3-hold,0.004915696,0.883589,0.005034704,0.8726344
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90,1.500000000,pose3-hold,0.004915696,0.883589,0.005034704,0.8726344
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91,1.516666667,pose3-hold,0.004915696,0.883589,0.005034704,0.8726344
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92,1.533333333,pose3-hold,0.004915696,0.883589,0.00503470694118,0.8726344
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93,1.550000000,pose3-hold,0.004915696,0.883589,0.00503471032353,0.8726344
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94,1.566666667,pose3-hold,0.004915696,0.883589,0.00503471494118,0.8726344
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95,1.583333333,pose3-hold,0.004915696,0.883589,0.00503472258824,0.8726344
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96,1.600000000,pose3-hold,0.004915696,0.883589,0.005034726,0.8726344
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97,1.616666667,pose3-to-pose4-insert,0.004915696,0.883589,0.005034738,0.8726344
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+
98,1.633333333,pose3-to-pose4-insert,0.00491580486846,0.883588865079,0.00503486663944,0.872634265079
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99,1.650000000,pose3-to-pose4-insert,0.00491578925084,0.88358856961,0.00503485271021,0.87263396961
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100,1.666666667,pose3-to-pose4-insert,0.00491576606398,0.883588066289,0.00503483340109,0.872633480036
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101,1.683333333,pose3-to-pose4-insert,0.0049157459883,0.883587541232,0.00503481857598,0.872632985866
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102,1.700000000,pose3-to-pose4-insert,0.00491572908503,0.883587099147,0.00503480609356,0.872632569785
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103,1.716666667,pose3-to-pose4-insert,0.00491571748323,0.883586347848,0.00503479850716,0.872631839714
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104,1.733333333,pose3-to-pose4-insert,0.00491572482735,0.883586100383,0.00503480489335,0.872631584266
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105,1.750000000,pose3-to-pose4-insert,0.00491575184424,0.883585190031,0.0050348283863,0.872630644548
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106,1.766666667,pose3-to-pose4-insert,0.00491578423755,0.883584098517,0.00503485655439,0.872629517824
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+
107,1.783333333,pose3-to-pose4-insert,0.00491579100027,0.883583870643,0.00503486243502,0.872629282599
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108,1.800000000,pose3-to-pose4-insert,0.0049157864238,0.883582526488,0.00503486014085,0.872627926488
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109,1.816666667,pose3-to-pose4-insert,0.00491573559682,0.883579349801,0.00503482144303,0.872624749801
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110,1.833333333,pose3-to-pose4-insert,0.00491562552268,0.883569643809,0.00503472143809,0.872615043809
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111,1.850000000,pose3-to-pose4-insert,0.00491572866738,0.883547929928,0.00503480919605,0.872593329928
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112,1.866666667,pose3-to-pose4-insert,0.00491572483619,0.883507588887,0.00503481203186,0.872552918959
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113,1.883333333,pose3-to-pose4-insert,0.00491588004441,0.883452245328,0.00503499857121,0.872497645328
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114,1.900000000,pose3-to-pose4-insert,0.00491606027222,0.883374112962,0.00503514746343,0.872419512962
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115,1.916666667,pose3-to-pose4-insert,0.00491595579552,0.883278645166,0.00503504820182,0.872324065615
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116,1.933333333,pose3-to-pose4-insert,0.00491602084716,0.883173538872,0.00503511630238,0.872218914632
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117,1.950000000,pose3-to-pose4-insert,0.00491622451949,0.883062379718,0.00503531778982,0.872107771069
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118,1.966666667,pose3-to-pose4-insert,0.00491624238822,0.882935428287,0.00503534335538,0.871980809332
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119,1.983333333,pose3-to-pose4-insert,0.00491644630213,0.882809910244,0.00503554992774,0.871855177691
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120,2.000000000,pose3-to-pose4-insert,0.00491655639132,0.88267619999,0.00503568239132,0.87172139999
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121,2.016666667,pose3-to-pose4-insert,0.00491683998536,0.882529065665,0.00503597427503,0.87157432169
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122,2.033333333,pose3-to-pose4-insert,0.00491725500985,0.88237755158,0.00503640729773,0.87142285158
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123,2.050000000,pose3-to-pose4-insert,0.00491758078724,0.882222974064,0.00503670893359,0.871268274064
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124,2.066666667,pose3-to-pose4-insert,0.00491814244627,0.882048837325,0.00503729610754,0.871094055855
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125,2.083333333,pose3-to-pose4-insert,0.00491860193248,0.881876575134,0.00503777538343,0.870921863218
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126,2.100000000,pose3-to-pose4-insert,0.00491818217416,0.881699669902,0.00503733543935,0.870744969902
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127,2.116666667,pose3-to-pose4-insert,0.00491760186836,0.881513383039,0.00503678579516,0.870558483039
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128,2.133333333,pose3-to-pose4-insert,0.00491705453557,0.881331012914,0.00503621315242,0.870376112914
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129,2.150000000,pose3-to-pose4-insert,0.00491677278898,0.881155725276,0.00503595645018,0.870200817212
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130,2.166666667,pose3-to-pose4-insert,0.00491641418712,0.880968076724,0.00503557384747,0.870013090726
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131,2.183333333,pose3-to-pose4-insert,0.00491675059575,0.880786135936,0.00503592839362,0.869831219592
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132,2.200000000,pose3-to-pose4-insert,0.00491684262738,0.880601858229,0.00503602983655,0.869646837312
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133,2.216666667,pose3-to-pose4-insert,0.00491722519127,0.880408452901,0.0050364186581,0.869453352901
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134,2.233333333,pose3-to-pose4-insert,0.00491753912084,0.880220068687,0.00503674839906,0.869264925905
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135,2.250000000,pose3-to-pose4-insert,0.0049177645188,0.880042223697,0.00503699510002,0.869087023697
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136,2.266666667,pose3-to-pose4-insert,0.00491806558952,0.879860710458,0.00503729748518,0.868905510458
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137,2.283333333,pose3-to-pose4-insert,0.0049186681177,0.87969699433,0.00503791643056,0.86874179433
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138,2.300000000,pose3-to-pose4-insert,0.00491899378871,0.879547326944,0.00503825776762,0.868592052207
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139,2.316666667,pose3-to-pose4-insert,0.00491920074426,0.879402730547,0.00503847636462,0.868447430547
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140,2.333333333,pose3-to-pose4-insert,0.00491934123186,0.879272734522,0.00503860700846,0.868317271543
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141,2.350000000,pose3-to-pose4-insert,0.0049191604538,0.879159509243,0.00503842499,0.868204086052
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142,2.366666667,pose3-to-pose4-insert,0.00491901116469,0.879046481096,0.00503828414972,0.868091001246
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143,2.383333333,pose3-to-pose4-insert,0.00491859925726,0.878941052217,0.00503784781957,0.867985552217
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144,2.400000000,pose3-to-pose4-insert,0.00491837934319,0.878848153811,0.0050376436386,0.867892653811
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145,2.416666667,pose3-to-pose4-insert,0.00491834114754,0.878762813641,0.00503757432184,0.867807313641
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146,2.433333333,pose3-to-pose4-insert,0.00491801946387,0.878689173224,0.00503727307838,0.8677335749
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147,2.450000000,pose3-to-pose4-insert,0.00491791067849,0.878629546812,0.00503714650156,0.867673946812
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148,2.466666667,pose3-to-pose4-insert,0.00491770666189,0.878578818909,0.00503692781896,0.867623126623
|
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+
149,2.483333333,pose3-to-pose4-insert,0.00491772043294,0.878535147667,0.00503696549536,0.867579447667
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150,2.500000000,pose3-to-pose4-insert,0.00491754787814,0.878498550256,0.00503678614276,0.867542850256
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151,2.516666667,pose3-to-pose4-insert,0.00491752312713,0.878466868866,0.0050367507628,0.867511168866
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152,2.533333333,pose3-to-pose4-insert,0.00491758749925,0.878442177189,0.00503680259169,0.867486576419
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153,2.550000000,pose3-to-pose4-insert,0.00491730147203,0.878424788764,0.0050365399419,0.867469188764
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154,2.566666667,pose3-to-pose4-insert,0.00491726701117,0.878411985411,0.00503648659182,0.867456285411
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155,2.583333333,pose3-to-pose4-insert,0.00491715213803,0.878402730057,0.00503639158555,0.867447047074
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156,2.600000000,pose3-to-pose4-insert,0.00491729975936,0.878396813752,0.00503652982064,0.867441213752
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157,2.616666667,pose3-to-pose4-insert,0.00491740622958,0.878393525733,0.00503665658903,0.867437925733
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158,2.633333333,pose3-to-pose4-insert,0.004917377,0.8783924,0.005036655,0.8674368
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159,2.650000000,pose4-hold,0.004917377,0.8783924,0.005036661,0.8674368
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160,2.666666667,pose4-hold,0.004917377,0.8783924,0.00503665271429,0.8674368
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161,2.683333333,pose4-hold,0.004917377,0.8783924,0.00503665494286,0.8674368
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162,2.700000000,pose4-hold,0.004917377,0.8783924,0.00503665651429,0.8674368
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163,2.716666667,pose4-hold,0.004917377,0.8783924,0.00503665537143,0.8674368
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164,2.733333333,pose4-hold,0.004917377,0.8783924,0.00503665357143,0.8674368
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165,2.750000000,pose4-hold,0.004917377,0.8783924,0.00503665108571,0.8674368
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166,2.766666667,pose4-hold,0.004917377,0.8783924,0.0050366518,0.8674368
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167,2.783333333,pose4-hold,0.004917377,0.8783924,0.00503665011429,0.8674368
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168,2.800000000,pose4-hold,0.004917377,0.8783924,0.00503665174286,0.8674368
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169,2.816666667,pose4-hold,0.004917377,0.8783924,0.005036653,0.8674368
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170,2.833333333,pose4-hold,0.004917377,0.8783924,0.00503664868571,0.8674368
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171,2.850000000,pose4-hold,0.004917377,0.8783924,0.00503665365714,0.8674368
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172,2.866666667,pose4-hold,0.004917377,0.8783924,0.00503665708571,0.8674368
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173,2.883333333,pose4-hold,0.004917377,0.8783924,0.0050366568,0.8674368
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174,2.900000000,pose4-hold,0.004917377,0.8783924,0.00503665557143,0.8674368
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175,2.916666667,pose4-hold,0.004917377,0.8783924,0.005036655,0.8674368
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176,2.933333333,pose4-hold,0.004917377,0.8783924,0.00503665491429,0.8674368
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177,2.950000000,pose4-hold,0.004917377,0.8783924,0.00503665408571,0.8674368
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178,2.966666667,pose4-hold,0.004917377,0.8783924,0.00503665325714,0.8674368
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179,2.983333333,pose4-hold,0.004917377,0.8783924,0.00503665414286,0.8674368
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180,3.000000000,pose4-hold,0.004917377,0.8783924,0.0050366562,0.8674368
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181,3.016666667,pose4-hold,0.004917377,0.8783924,0.00503665845714,0.8674368
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182,3.033333333,pose4-hold,0.004917377,0.8783924,0.00503666005714,0.8674368
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183,3.050000000,pose4-hold,0.004917377,0.8783924,0.00503666088571,0.8674368
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184,3.066666667,pose4-hold,0.004917377,0.8783924,0.00503666028571,0.8674368
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185,3.083333333,pose4-hold,0.004917377,0.8783924,0.00503665945714,0.8674368
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186,3.100000000,pose4-hold,0.004917377,0.8783924,0.00503665937143,0.8674368
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187,3.116666667,pose4-hold,0.004917377,0.8783924,0.0050366594,0.8674368
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188,3.133333333,pose4-hold,0.004917377,0.8783924,0.00503665702857,0.8674368
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189,3.150000000,pose4-hold,0.004917377,0.8783924,0.00503665785714,0.8674368
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190,3.166666667,pose4-hold,0.004917377,0.8783924,0.00503665937143,0.8674368
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191,3.183333333,pose4-hold,0.004917377,0.8783924,0.00503665794286,0.8674368
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192,3.200000000,pose4-hold,0.004917377,0.8783924,0.00503665668571,0.8674368
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193,3.216666667,pose4-hold,0.004917377,0.8783924,0.005036658,0.8674368
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194,3.233333333,pose4-hold,0.004917377,0.8783924,0.005036658,0.8674368
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195,3.250000000,pose4-to-pose5-return,0.004917382,0.8783924,0.005036657,0.8674368
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196,3.266666667,pose4-to-pose5-return,0.00491662979421,0.878393016468,0.00503588740995,0.867437416468
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Part2/Free/s1/cylinder_0050_12.5/width_05/pick/camera_frames_60hz.tar
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Part2/Free/s1/cylinder_0050_12.5/width_05/pick/fem_node.csv
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The diff for this file is too large to render.
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ADDED
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Part2/Free/s1/cylinder_0050_12.5/width_05/pick/simulation_data.csv
ADDED
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,6.469804e-06,0.8346294
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,-8.25296608572e-05,0.8455895,6.45107285983e-06,0.834629550553
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.27185401683e-05,0.845590070932,6.25842057966e-06,0.834630103199
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26885478315e-05,0.845590651617,6.27946557868e-06,0.834630708069
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,-8.26830490409e-05,0.845590957743,6.27931481156e-06,0.834631052461
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,-8.268517807e-05,0.845591811256,6.29193606665e-06,0.834631911256
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.26880576219e-05,0.84559253,6.30192206798e-06,0.83463263
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.26909438886e-05,0.845592732486,6.29688059269e-06,0.834632832486
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.26919606719e-05,0.845592803818,6.29510456569e-06,0.834632903818
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.27002148116e-05,0.845593382887,6.28068696499e-06,0.834633482887
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.27024266703e-05,0.845593538059,6.27682348597e-06,0.834633638059
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.27100243241e-05,0.845594071072,6.26355257681e-06,0.834634171072
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.27161272241e-05,0.845594499221,6.25289257129e-06,0.834634599221
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.27212626789e-05,0.845594859498,6.24392241341e-06,0.834634959498
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.26986917319e-05,0.845595414692,6.26825758991e-06,0.834635514692
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.26639862897e-05,0.845596186353,6.30625440628e-06,0.834636286353
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.25862729222e-05,0.845597914276,6.39133790833e-06,0.834638014276
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.27016275895e-05,0.845600571516,6.28192385188e-06,0.834640616593
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.27153271402e-05,0.845605055024,6.2729947874e-06,0.834645055024
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.26118667343e-05,0.845612452528,6.36709603808e-06,0.834652509994
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.27693118519e-05,0.845626822005,6.21815992532e-06,0.834666838574
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.27471799251e-05,0.845649618351,6.23273708983e-06,0.834689624648
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.27255156642e-05,0.845682649735,6.24011823192e-06,0.834722749735
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.2795931593e-05,0.845725389122,6.17298203149e-06,0.834765389122
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.30525157796e-05,0.845777013312,5.95121682506e-06,0.834817093275
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.30876379516e-05,0.845831667631,5.90438147848e-06,0.834871667631
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.30941778035e-05,0.845892054042,5.88347145651e-06,0.834932154042
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.34612928101e-05,0.845957437322,5.52440492027e-06,0.834997537322
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.33522808097e-05,0.84602677235,5.63302107703e-06,0.835066825383
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.35254339384e-05,0.846106380406,5.44862291226e-06,0.835146380406
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.36559472985e-05,0.846196836311,5.32816880112e-06,0.835236836311
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.3852269868e-05,0.846292868312,5.16502302044e-06,0.835332868312
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.40073829338e-05,0.846400581315,4.99447868959e-06,0.835440611558
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.40810912752e-05,0.846518242758,4.90099480891e-06,0.835558342758
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.40140953051e-05,0.846635682304,4.97186371496e-06,0.835675782304
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.35306168728e-05,0.846759332948,5.43330490205e-06,0.835799432948
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.31975145496e-05,0.846888260284,5.76071013613e-06,0.835928291585
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.28794795139e-05,0.847012815859,6.08923048861e-06,0.836052815859
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.2466575351e-05,0.847148038638,6.50347878376e-06,0.836188096837
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.19781683433e-05,0.84729946824,6.98418594134e-06,0.836339449274
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.16873678054e-05,0.847459378868,7.2908182536e-06,0.836499339324
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.15611890878e-05,0.847639756342,7.3849434918e-06,0.836679756342
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.16649183018e-05,0.847837964847,7.26312735303e-06,0.836877964847
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.15916144206e-05,0.848035872578,7.35610068031e-06,0.837075872578
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.17310304243e-05,0.848250113563,7.17084833289e-06,0.837290205658
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.18428848813e-05,0.848480431308,7.07082775591e-06,0.837520433804
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.19079071966e-05,0.848712491124,7.00391297516e-06,0.837752591124
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.17164621106e-05,0.848960205763,7.2195437472e-06,0.838000305763
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,-8.15957680977e-05,0.849222949282,7.35890828995e-06,0.838263049282
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.15706924537e-05,0.849480138453,7.39259322669e-06,0.838520208466
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,-8.20372427576e-05,0.849752427407,6.90125241559e-06,0.838792427407
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,-8.24630509407e-05,0.850041006763,6.43669441067e-06,0.839081047906
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,-8.28981320118e-05,0.850330234042,5.96606526876e-06,0.839370334042
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.2836351911e-05,0.850640543986,6.02940757107e-06,0.839680643986
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,-8.22017410398e-05,0.850968795901,6.67209148721e-06,0.840008956366
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,-8.15920212054e-05,0.851287951826,7.27724489923e-06,0.840328151826
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,-8.20839312837e-05,0.851618276606,6.7423014946e-06,0.840658476606
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,-8.30213645636e-05,0.851962932548,5.76259667171e-06,0.841003132548
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,-8.39567509826e-05,0.85229748754,4.80710377291e-06,0.84133768754
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,-8.40987959512e-05,0.852650344641,4.64766957628e-06,0.841690544641
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,-8.38996541438e-05,0.853022657459,4.84787501541e-06,0.842062934168
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,-8.34223320627e-05,0.853386690885,5.30392996923e-06,0.842426990885
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,-8.29661425131e-05,0.853764105376,5.7441449957e-06,0.842804405376
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,-8.25192463994e-05,0.854170014164,6.17748560699e-06,0.843210397605
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,-8.20854850717e-05,0.8545815819,6.60237637248e-06,0.84362189272
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,-8.20034691061e-05,0.854988257935,6.64985466304e-06,0.844028649877
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,-8.16706646503e-05,0.855402190075,6.96474995109e-06,0.844442684627
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,-8.15244033777e-05,0.855809835729,7.10402751488e-06,0.844850335729
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,-8.13128713369e-05,0.856228865685,7.30714157171e-06,0.845269365685
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,-8.21831017414e-05,0.856655542999,6.4489866712e-06,0.845696136876
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,-8.36166278982e-05,0.857099038827,5.00041814248e-06,0.846139735412
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,-8.38766547246e-05,0.857574075879,4.71109278317e-06,0.846614780906
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,-8.36832874011e-05,0.858064132957,4.94909123883e-06,0.847104932957
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,-8.38015290404e-05,0.858529772746,4.84448834796e-06,0.847570572746
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,-8.35819953832e-05,0.859000505107,5.04488562595e-06,0.848041305107
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,-8.33458090543e-05,0.859477785513,5.321816751e-06,0.848518612316
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,-8.25787713318e-05,0.859933118192,6.0727788104e-06,0.848974018192
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,-8.22041150866e-05,0.860398008127,6.4741363162e-06,0.849438908127
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,-8.18350128486e-05,0.860874702358,6.86682771908e-06,0.849915628336
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,-8.18021702673e-05,0.861323624245,6.91603382501e-06,0.85036466573
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,-8.29226579429e-05,0.861777708452,5.75769347041e-06,0.850818892105
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,-8.3476457629e-05,0.862244782705,5.21468815644e-06,0.85128591096
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,-8.2960725146e-05,0.862699331197,5.75659161143e-06,0.851740631197
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,-8.24304270837e-05,0.86317212382,6.29918903711e-06,0.852213430584
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,-8.262181814e-05,0.863662305289,6.13153019747e-06,0.852703705289
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,-8.27957209014e-05,0.864135486452,5.95579318769e-06,0.853176893389
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,-8.37272404438e-05,0.864630372945,4.99857957984e-06,0.853671872945
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,-8.43145505763e-05,0.865148659291,4.46001997662e-06,0.854190176108
|
| 90 |
+
88,1.466666667,pose1-to-pose2-lift,-8.25314528308e-05,0.86565761228,6.19347787606e-06,0.854699234337
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,-8.13828654151e-05,0.866176104805,7.35056990642e-06,0.855217804805
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,-8.25212854305e-05,0.866700749464,6.22543947095e-06,0.855742488488
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,-8.34481653335e-05,0.867187521817,5.28509526249e-06,0.856229321817
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,-8.40575252872e-05,0.867668028172,4.68210968412e-06,0.856709911942
|
| 95 |
+
93,1.550000000,pose1-to-pose2-lift,-8.39461688842e-05,0.868148623901,4.78590735108e-06,0.857190623901
|
| 96 |
+
94,1.566666667,pose1-to-pose2-lift,-8.29794769434e-05,0.868604363454,5.74804042633e-06,0.857646403221
|
| 97 |
+
95,1.583333333,pose1-to-pose2-lift,-8.1807376159e-05,0.869065583104,6.92805438519e-06,0.858107683104
|
| 98 |
+
96,1.600000000,pose1-to-pose2-lift,-8.04043293881e-05,0.869533698995,8.3031348531e-06,0.858575876984
|
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.121017e-05,0.8835836,9.600962e-06,0.8726287
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.06774552822e-05,0.8835835,1.01557150044e-05,0.8726286
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.00188402746e-05,0.883583647445,1.08285824952e-05,0.872628747445
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-7.95298114308e-05,0.883583801232,1.13189492902e-05,0.872628901232
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-7.89364288809e-05,0.883583987836,1.19139552962e-05,0.872629087836
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.82576144761e-05,0.88358394077,1.26010631271e-05,0.87262904077
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.76487259697e-05,0.883583884431,1.32177395742e-05,0.872628984431
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.74027823693e-05,0.883583861674,1.34668288969e-05,0.872628961674
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.6977446599e-05,0.883583822319,1.3897604891e-05,0.872628922319
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.63995324191e-05,0.883583768846,1.44829108368e-05,0.872628868846
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.46352950964e-05,0.883583735231,1.62560184176e-05,0.872628835231
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.89303286542e-05,0.883583889202,2.19606997881e-05,0.872628989202
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+
12,0.200000000,pose2-to-pose3-side,-5.97618325138e-05,0.883583822446,3.11604559901e-05,0.872628922446
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+
13,0.216666667,pose2-to-pose3-side,-3.98999296988e-05,0.883584,5.11306757196e-05,0.8726291
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+
14,0.233333333,pose2-to-pose3-side,-9.17700407576e-06,0.883584275808,8.2063639421e-05,0.872629283872
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+
15,0.250000000,pose2-to-pose3-side,3.49665004431e-05,0.883584334931,0.000126455963367,0.872629434931
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+
16,0.266666667,pose2-to-pose3-side,9.52554203894e-05,0.883584760588,0.000187051904172,0.872629860588
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+
17,0.283333333,pose2-to-pose3-side,0.000175602932887,0.883585090942,0.000267924662185,0.872630260628
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18,0.300000000,pose2-to-pose3-side,0.000269623541536,0.88358551667,0.000362525429682,0.87263061667
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19,0.316666667,pose2-to-pose3-side,0.000379679273996,0.883586523089,0.00047322566513,0.872631623089
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20,0.333333333,pose2-to-pose3-side,0.000503005604712,0.88358705621,0.000597300854905,0.87263215621
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+
21,0.350000000,pose2-to-pose3-side,0.00063062707822,0.883587970774,0.000725681878403,0.872633070774
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+
22,0.366666667,pose2-to-pose3-side,0.000759664786475,0.88358875963,0.000855493653784,0.87263385963
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+
23,0.383333333,pose2-to-pose3-side,0.000896179844141,0.883589707068,0.000992848975329,0.872634717394
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+
24,0.400000000,pose2-to-pose3-side,0.00103782000099,0.883589416751,0.00113534893705,0.872634512564
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25,0.416666667,pose2-to-pose3-side,0.00118957819375,0.883589584705,0.00128800288202,0.872634784705
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26,0.433333333,pose2-to-pose3-side,0.0013524759046,0.883588977227,0.0014518769892,0.87263416584
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+
27,0.450000000,pose2-to-pose3-side,0.00152167972326,0.883588721772,0.001622118644,0.872633821772
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+
28,0.466666667,pose2-to-pose3-side,0.00169261020502,0.883588299247,0.00179407304912,0.872633424435
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+
29,0.483333333,pose2-to-pose3-side,0.00186813544286,0.883588030733,0.00197066858794,0.872633230733
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30,0.500000000,pose2-to-pose3-side,0.00204485398912,0.883588413424,0.00214847016394,0.872633578599
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+
31,0.516666667,pose2-to-pose3-side,0.00222686296653,0.883589405666,0.0023315350672,0.872634505666
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32,0.533333333,pose2-to-pose3-side,0.0024158094164,0.883590148783,0.00252166910998,0.872635298378
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33,0.550000000,pose2-to-pose3-side,0.00260246799539,0.883590930543,0.00270947003641,0.872636130543
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+
34,0.566666667,pose2-to-pose3-side,0.00278445056042,0.883591778079,0.00289257628083,0.872636978079
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+
35,0.583333333,pose2-to-pose3-side,0.00296333012891,0.883591931664,0.00307258542062,0.872637131664
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+
36,0.600000000,pose2-to-pose3-side,0.00313592583993,0.883591539852,0.00324623421318,0.872636667822
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+
37,0.616666667,pose2-to-pose3-side,0.00330336519665,0.883590873477,0.00341468281536,0.872636123912
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+
38,0.633333333,pose2-to-pose3-side,0.00347071386298,0.883590371969,0.00358306177779,0.872635589961
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39,0.650000000,pose2-to-pose3-side,0.00363013200065,0.883589771969,0.00374344768659,0.872635059975
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40,0.666666667,pose2-to-pose3-side,0.00377829296056,0.883589883285,0.00389255823692,0.872635091642
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41,0.683333333,pose2-to-pose3-side,0.00391758653687,0.88358914328,0.00403272403857,0.87263434328
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42,0.700000000,pose2-to-pose3-side,0.0040486707678,0.88358919794,0.00416462260058,0.87263439794
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43,0.716666667,pose2-to-pose3-side,0.00416878966067,0.883588899991,0.00428548172254,0.872634199991
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44,0.733333333,pose2-to-pose3-side,0.00428395032041,0.883588786322,0.00440137913339,0.872634093161
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45,0.750000000,pose2-to-pose3-side,0.00438947152264,0.883588643226,0.00450756478798,0.872634028817
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46,0.766666667,pose2-to-pose3-side,0.00448241879385,0.883588940068,0.00460110478009,0.872634240068
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47,0.783333333,pose2-to-pose3-side,0.00456180498154,0.88358899247,0.00468098525181,0.872634313976
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+
48,0.800000000,pose2-to-pose3-side,0.00463187393364,0.883588553788,0.00475133310827,0.872633953788
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+
49,0.816666667,pose2-to-pose3-side,0.00469074121457,0.883588507194,0.00481052324583,0.872633928632
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50,0.833333333,pose2-to-pose3-side,0.00474355860094,0.883588874852,0.00486365854703,0.872634349705
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51,0.850000000,pose2-to-pose3-side,0.00478777032102,0.883588771492,0.00490816958577,0.872634171492
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52,0.866666667,pose2-to-pose3-side,0.0048242292346,0.883588734214,0.00494489674437,0.872634134214
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53,0.883333333,pose2-to-pose3-side,0.00485183282225,0.8835888,0.00497273237084,0.8726342
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54,0.900000000,pose2-to-pose3-side,0.00487299825767,0.883588705651,0.00499407640008,0.872634137101
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55,0.916666667,pose2-to-pose3-side,0.00488718385817,0.883588483948,0.00500836734164,0.872633983948
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+
56,0.933333333,pose2-to-pose3-side,0.00489787998067,0.883588400313,0.00501913371782,0.872633900313
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57,0.950000000,pose2-to-pose3-side,0.00490498307676,0.883588480656,0.00502631450685,0.8726339
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+
58,0.966666667,pose2-to-pose3-side,0.00491046600762,0.883588564958,0.00503184978585,0.872633964958
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59,0.983333333,pose2-to-pose3-side,0.00491418183824,0.883588652163,0.00503560887669,0.872634052163
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60,1.000000000,pose2-to-pose3-side,0.0049168153147,0.883588498968,0.00503829479938,0.872633965979
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61,1.016666667,pose2-to-pose3-side,0.004918113,0.8835884,0.005039608,0.8726339
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62,1.033333333,pose3-hold,0.004918113,0.8835884,0.005039607,0.8726339
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63,1.050000000,pose3-hold,0.004918113,0.8835884,0.00503960273529,0.8726339
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64,1.066666667,pose3-hold,0.004918113,0.8835884,0.00503960129412,0.8726339
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65,1.083333333,pose3-hold,0.004918113,0.8835884,0.00503959708824,0.8726339
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66,1.100000000,pose3-hold,0.004918113,0.8835884,0.00503959070588,0.8726339
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67,1.116666667,pose3-hold,0.004918113,0.8835884,0.00503958017647,0.8726339
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68,1.133333333,pose3-hold,0.004918113,0.8835884,0.00503956352941,0.8726339
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69,1.150000000,pose3-hold,0.004918113,0.8835884,0.00503956011765,0.8726339
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70,1.166666667,pose3-hold,0.004918113,0.8835884,0.00503954023529,0.8726339
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71,1.183333333,pose3-hold,0.004918113,0.8835884,0.00503953329412,0.8726339
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72,1.200000000,pose3-hold,0.004918113,0.8835884,0.00503952352941,0.8726339
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73,1.216666667,pose3-hold,0.004918113,0.8835884,0.00503950873529,0.8726339
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74,1.233333333,pose3-hold,0.004918113,0.8835884,0.00503949676471,0.8726339
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75,1.250000000,pose3-hold,0.004918113,0.8835884,0.00503949547059,0.8726339
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76,1.266666667,pose3-hold,0.004918113,0.8835884,0.00503949035294,0.8726339
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77,1.283333333,pose3-hold,0.004918113,0.8835884,0.00503948126471,0.8726339
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78,1.300000000,pose3-hold,0.004918113,0.8835884,0.00503946411765,0.8726339
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79,1.316666667,pose3-hold,0.004918113,0.8835884,0.005039454,0.8726339
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80,1.333333333,pose3-hold,0.004918113,0.8835884,0.00503945164706,0.8726339
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81,1.350000000,pose3-hold,0.004918113,0.8835884,0.00503944935294,0.8726339
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82,1.366666667,pose3-hold,0.004918113,0.8835884,0.00503944294118,0.8726339
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83,1.383333333,pose3-hold,0.004918113,0.8835884,0.00503944208824,0.8726339
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84,1.400000000,pose3-hold,0.004918113,0.8835884,0.00503943894118,0.8726339
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85,1.416666667,pose3-hold,0.004918113,0.8835884,0.005039438,0.8726339
|
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86,1.433333333,pose3-hold,0.004918113,0.8835884,0.00503943752941,0.8726339
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87,1.450000000,pose3-hold,0.004918113,0.8835884,0.00503943667647,0.8726339
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88,1.466666667,pose3-hold,0.004918113,0.8835884,0.00503943564706,0.8726339
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89,1.483333333,pose3-hold,0.004918113,0.8835884,0.005039434,0.8726339
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90,1.500000000,pose3-hold,0.004918113,0.8835884,0.005039434,0.8726339
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91,1.516666667,pose3-hold,0.004918113,0.8835884,0.00503943620588,0.8726339
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92,1.533333333,pose3-hold,0.004918113,0.8835884,0.00503943876471,0.8726339
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93,1.550000000,pose3-hold,0.004918113,0.8835884,0.00503944397059,0.8726339
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94,1.566666667,pose3-hold,0.004918113,0.8835884,0.00503945047059,0.8726339
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95,1.583333333,pose3-hold,0.004918113,0.8835884,0.00503945488235,0.8726339
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96,1.600000000,pose3-hold,0.004918113,0.8835884,0.00503946,0.8726339
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97,1.616666667,pose3-to-pose4-insert,0.004918113,0.8835884,0.005039466,0.8726339
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98,1.633333333,pose3-to-pose4-insert,0.00491820303389,0.8835884,0.00503957967916,0.8726339
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99,1.650000000,pose3-to-pose4-insert,0.00491816376476,0.883588229256,0.00503954489906,0.87263368657
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100,1.666666667,pose3-to-pose4-insert,0.00491814275258,0.883588154876,0.00503952481663,0.872633593596
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101,1.683333333,pose3-to-pose4-insert,0.00491818604438,0.88358738315,0.00503957758366,0.87263278315
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102,1.700000000,pose3-to-pose4-insert,0.00491820482018,0.883587250093,0.00503959798571,0.872632650093
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103,1.716666667,pose3-to-pose4-insert,0.00491828461334,0.88358668463,0.00503968469009,0.87263208463
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104,1.733333333,pose3-to-pose4-insert,0.00491834998633,0.883586137782,0.00503975588912,0.872631535838
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105,1.750000000,pose3-to-pose4-insert,0.00491831524634,0.88358542057,0.00503972002848,0.872630796212
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106,1.766666667,pose3-to-pose4-insert,0.00491830101324,0.883585126725,0.00503970533625,0.872630493185
|
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+
107,1.783333333,pose3-to-pose4-insert,0.00491819401131,0.883582854717,0.00503959495848,0.87262816
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108,1.800000000,pose3-to-pose4-insert,0.00491807934969,0.88357596476,0.00503947871523,0.872621446484
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109,1.816666667,pose3-to-pose4-insert,0.00491824589641,0.883560341434,0.00503964073805,0.872605741434
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110,1.833333333,pose3-to-pose4-insert,0.00491806590938,0.883529579268,0.00503947090938,0.872574936569
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111,1.850000000,pose3-to-pose4-insert,0.00491792075982,0.883481739098,0.00503934596772,0.872527224403
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112,1.866666667,pose3-to-pose4-insert,0.00491808283257,0.883412782154,0.00503950489986,0.872458269269
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113,1.883333333,pose3-to-pose4-insert,0.00491794938445,0.883323450279,0.00503935143394,0.872368899042
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114,1.900000000,pose3-to-pose4-insert,0.00491770580699,0.883221136116,0.00503911491883,0.872266536116
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115,1.916666667,pose3-to-pose4-insert,0.00491753620594,0.88310942562,0.00503894741283,0.87215482562
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116,1.933333333,pose3-to-pose4-insert,0.00491730092335,0.882988210225,0.00503872949677,0.872033610225
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117,1.950000000,pose3-to-pose4-insert,0.00491719628435,0.882862546597,0.00503861913859,0.871907858186
|
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118,1.966666667,pose3-to-pose4-insert,0.00491702529473,0.882728755865,0.00503845506953,0.871774055865
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119,1.983333333,pose3-to-pose4-insert,0.00491723509719,0.882584184855,0.00503866387829,0.871629484855
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120,2.000000000,pose3-to-pose4-insert,0.00491722951779,0.882435937945,0.00503867867853,0.871481237945
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121,2.016666667,pose3-to-pose4-insert,0.00491731627509,0.882282377257,0.00503876170073,0.871327677257
|
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122,2.033333333,pose3-to-pose4-insert,0.00491743839076,0.882120048772,0.00503890447161,0.871165310562
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123,2.050000000,pose3-to-pose4-insert,0.0049175296368,0.881951484774,0.00503902819812,0.870996684774
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124,2.066666667,pose3-to-pose4-insert,0.00491796706487,0.881776217243,0.00503947196,0.870821417243
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125,2.083333333,pose3-to-pose4-insert,0.00491843603467,0.881589647423,0.00503992723026,0.870634847423
|
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126,2.100000000,pose3-to-pose4-insert,0.00491904137104,0.881403715312,0.00504055282341,0.870448848273
|
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127,2.116666667,pose3-to-pose4-insert,0.00491976537957,0.881221173696,0.00504128104321,0.870266273696
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128,2.133333333,pose3-to-pose4-insert,0.00492030091292,0.881040408441,0.00504180381122,0.870085508441
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129,2.150000000,pose3-to-pose4-insert,0.00491968452732,0.880861527839,0.00504119663936,0.869906627839
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130,2.166666667,pose3-to-pose4-insert,0.00491854912593,0.880681584487,0.00504005338893,0.869726684487
|
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131,2.183333333,pose3-to-pose4-insert,0.00491751221007,0.880491656202,0.00503901221007,0.869536588276
|
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132,2.200000000,pose3-to-pose4-insert,0.00491617486631,0.880292867151,0.00503769383666,0.869337866995
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133,2.216666667,pose3-to-pose4-insert,0.00491524685706,0.880100564285,0.00503672940056,0.869145364285
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134,2.233333333,pose3-to-pose4-insert,0.00491540632346,0.879918662973,0.00503690334189,0.868963434314
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135,2.250000000,pose3-to-pose4-insert,0.00491566626662,0.879744325298,0.00503718036998,0.868789025298
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136,2.266666667,pose3-to-pose4-insert,0.00491600886834,0.879585359648,0.00503753550039,0.868630059648
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137,2.283333333,pose3-to-pose4-insert,0.00491607382252,0.87944649652,0.00503760982252,0.868491094355
|
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138,2.300000000,pose3-to-pose4-insert,0.00491623870408,0.879318673689,0.00503775448838,0.868363222995
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+
139,2.316666667,pose3-to-pose4-insert,0.00491646975622,0.879191621062,0.00503797226475,0.868236167429
|
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140,2.333333333,pose3-to-pose4-insert,0.00491661688499,0.879079556338,0.00503813012047,0.868124056338
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141,2.350000000,pose3-to-pose4-insert,0.00491672802605,0.878979308829,0.00503825494363,0.868023808829
|
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142,2.366666667,pose3-to-pose4-insert,0.00491679906702,0.878885985264,0.00503833413116,0.867930485264
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+
143,2.383333333,pose3-to-pose4-insert,0.00491691258404,0.878797250455,0.00503844451897,0.867841697201
|
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+
144,2.400000000,pose3-to-pose4-insert,0.00491705852797,0.878724882415,0.00503859151197,0.867769282415
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145,2.416666667,pose3-to-pose4-insert,0.00491709254851,0.878662683776,0.00503862927403,0.867707083776
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146,2.433333333,pose3-to-pose4-insert,0.00491721462266,0.878607276145,0.00503875749387,0.867651714857
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147,2.450000000,pose3-to-pose4-insert,0.00491742381476,0.878559704617,0.00503896725436,0.867604135112
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150,2.500000000,pose3-to-pose4-insert,0.00491743705651,0.87846145264,0.00503897845948,0.86750585264
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156,2.600000000,pose3-to-pose4-insert,0.00491737149244,0.878394959315,0.0050389234008,0.867439359315
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Part2/Free/s1/cylinder_0050_12.5/width_06/pick/camera_frames_60hz.tar
ADDED
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size 7680000
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Part2/Free/s1/cylinder_0050_12.5/width_06/pick/fem_node.csv
ADDED
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The diff for this file is too large to render.
See raw diff
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|
Part2/Free/s1/cylinder_0050_12.5/width_06/pick/franka_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
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|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,1.79307126396e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000188_1793071263962709311_interpolated.jpg,0.675957610814,-0.0055422501197,0.0968747118629,0.999999971799,3.49100556898e-05,-0.000213181733046,9.86753456013e-05,0.0395300202072
|
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
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|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,1.7930712641e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000192_1793071264118357768_interpolated.jpg,0.675957202299,-0.00554691051365,0.096876278017,0.999999971943,3.03822469443e-05,-0.000213020911243,9.90631573652e-05,0.0395179714915
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,1.79307126412e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000192_1793071264118357768_interpolated.jpg,0.675956493752,-0.00554781388094,0.0968758862077,0.999999971654,3.05549442117e-05,-0.000214086723048,9.96281238004e-05,0.0395109410043
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,1.79307126413e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000192_1793071264118357768_interpolated.jpg,0.675955553488,-0.00554743963751,0.0968751485967,0.999999971229,3.13312808789e-05,-0.000215918514258,9.96927538289e-05,0.039507035166
|
| 14 |
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|
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|
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|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,1.79307126421e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000194_1793071264210384862_interpolated.jpg,0.675950283008,-0.00553931592769,0.096872472114,0.99999996845,3.3910547969e-05,-0.000230045728425,9.50187640452e-05,0.039507035166
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,1.79307126423e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000194_1793071264210384862_interpolated.jpg,0.675950999307,-0.00554088988039,0.0968834062652,0.999999968739,3.33504389875e-05,-0.000229425754937,9.36666710957e-05,0.039507035166
|
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| 206 |
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|
Part2/Free/s1/cylinder_0050_12.5/width_06/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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44,0.733333333,pose1-to-pose2-lift,-8.18219049981e-05,0.848538806957,9.28983491987e-06,0.837578806957
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182,3.033333333,pose2-hold,-8.121017e-05,0.8835836,9.54358341176e-06,0.872628776471
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| 185 |
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183,3.050000000,pose2-hold,-8.121017e-05,0.8835836,9.53143035294e-06,0.8726287
|
| 186 |
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184,3.066666667,pose2-hold,-8.121017e-05,0.8835836,9.52499576471e-06,0.8726287
|
| 187 |
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185,3.083333333,pose2-hold,-8.121017e-05,0.8835836,9.52733538235e-06,0.8726287
|
| 188 |
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186,3.100000000,pose2-hold,-8.121017e-05,0.8835836,9.53616982353e-06,0.8726287
|
| 189 |
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187,3.116666667,pose2-hold,-8.121017e-05,0.8835836,9.544724e-06,0.87262875
|
| 190 |
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188,3.133333333,pose2-hold,-8.121017e-05,0.8835836,9.55254864706e-06,0.8726288
|
| 191 |
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189,3.150000000,pose2-hold,-8.121017e-05,0.8835836,9.56303111765e-06,0.8726288
|
| 192 |
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190,3.166666667,pose2-hold,-8.121017e-05,0.8835836,9.57720805882e-06,0.872628794118
|
| 193 |
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191,3.183333333,pose2-hold,-8.121017e-05,0.8835836,9.57543991176e-06,0.872628708824
|
| 194 |
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192,3.200000000,pose2-hold,-8.121017e-05,0.8835836,9.57768876471e-06,0.8726287
|
| 195 |
+
193,3.216666667,pose2-hold,-8.121017e-05,0.8835836,9.58204652941e-06,0.8726287
|
| 196 |
+
194,3.233333333,pose2-hold,-8.121017e-05,0.8835836,9.58542076471e-06,0.8726287
|
| 197 |
+
195,3.250000000,pose2-hold,-8.121017e-05,0.8835836,9.58458097059e-06,0.8726287
|
| 198 |
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196,3.266666667,pose2-hold,-8.121017e-05,0.8835836,9.58050364706e-06,0.8726287
|
| 199 |
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197,3.283333333,pose2-hold,-8.121017e-05,0.8835836,9.58209982353e-06,0.8726287
|
| 200 |
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198,3.300000000,pose2-hold,-8.121017e-05,0.8835836,9.57971670588e-06,0.8726287
|
| 201 |
+
199,3.316666667,pose2-hold,-8.121017e-05,0.8835836,9.58255491176e-06,0.8726287
|
| 202 |
+
200,3.333333333,pose2-hold,-8.121017e-05,0.8835836,9.59398029412e-06,0.8726287
|
| 203 |
+
201,3.350000000,pose2-hold,-8.121017e-05,0.8835836,9.59594588235e-06,0.8726287
|
| 204 |
+
202,3.366666667,pose2-hold,-8.121017e-05,0.8835836,9.59158629412e-06,0.8726287
|
| 205 |
+
203,3.383333333,pose2-hold,-8.121017e-05,0.8835836,9.59654588235e-06,0.8726287
|
| 206 |
+
204,3.400000000,pose2-hold,-8.121017e-05,0.8835836,9.593709e-06,0.8726287
|
Part2/Free/s1/cylinder_0050_12.5/width_07/insert/camera_frames_60hz.tar
ADDED
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version https://git-lfs.github.com/spec/v1
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size 33249280
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Part2/Free/s1/cylinder_0050_12.5/width_07/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:999742831ad32ae32668233ed9fb3ebd4c62ff2e0ded0230a7c3d39e38c2a241
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size 38485793
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Part2/Free/s1/cylinder_0050_12.5/width_07/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s1/cylinder_0050_12.5/width_07/insert/simulation_data.csv
ADDED
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@@ -0,0 +1,903 @@
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.381091e-05,0.8835853,4.70757e-06,0.8726304
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.34559190404e-05,0.8835856,5.06881531118e-06,0.872630694643
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.26854717951e-05,0.883585501793,5.85189503365e-06,0.872630526345
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.19310591178e-05,0.883585324996,6.58559543999e-06,0.872630393747
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.15917934906e-05,0.883585245488,6.91554658748e-06,0.872630334116
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.13779335133e-05,0.8835852,7.12434379384e-06,0.8726303
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.10328900372e-05,0.8835852,7.47403827558e-06,0.8726303
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.99472507395e-05,0.8835852,8.57431142358e-06,0.8726303
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.8467253313e-05,0.8835852,1.00742584419e-05,0.8726303
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.58992766685e-05,0.88358523846,1.26511739644e-05,0.87263033846
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.23039445097e-05,0.883585302411,1.62528949279e-05,0.872630402411
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.5728682878e-05,0.883585454021,2.28545290142e-05,0.872630554021
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-5.43131821953e-05,0.883585572925,3.43024213757e-05,0.872630672925
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-3.04161104402e-05,0.883585353769,5.83723135799e-05,0.872630453769
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,1.14608018824e-05,0.883585729228,0.00010044721172,0.872630829228
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,7.15100917056e-05,0.883585558968,0.000160861967352,0.872630658968
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.00014632564513,0.883585732102,0.000236155287346,0.872630832102
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000235965375051,0.88358616144,0.000326323402651,0.872631334534
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000335127700805,0.88358665895,0.000426085012753,0.87263175895
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000445141033284,0.88358704346,0.000536756516624,0.87263214346
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000558649126501,0.883587107892,0.00065096267329,0.872632207892
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000686995179388,0.883587727354,0.000780083961938,0.872632827354
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000830525716518,0.883588337529,0.000924476978257,0.872633437529
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000981076708827,0.88358861313,0.001075924102,0.872633766413
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00113407784164,0.883589053857,0.00122986242341,0.872634190393
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00130851425662,0.88358911778,0.00140534361607,0.87263421778
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00147947236357,0.883589565487,0.0015773334799,0.87263457239
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00165234867421,0.883589802455,0.00175128438971,0.872634902455
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00183331091632,0.883590130012,0.00193329026075,0.872635230012
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00201090425448,0.883590384929,0.00211201514614,0.872635484929
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00217870983552,0.88359032555,0.00228084561657,0.87263542555
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00236434147698,0.883590380703,0.00246765102437,0.872635500586
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00254377575409,0.883589923284,0.00264816970574,0.872635123284
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00272354447611,0.88359,0.00282898064664,0.8726352
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00291114969171,0.883589962521,0.00301776846353,0.872635162521
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00309225200741,0.883589763132,0.0032000158656,0.872634963132
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00325523913401,0.883589417867,0.00336396221909,0.872634617867
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00342482016586,0.883589252887,0.00353455199642,0.872634452887
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.0035800838024,0.883589079803,0.00369078671598,0.872634279803
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00372613511708,0.883589067019,0.00383776061627,0.872634322692
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00387397348997,0.883589073609,0.00398651506282,0.872634373609
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00401188772412,0.883588930004,0.00412527669464,0.872634230004
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00413246993412,0.883588476996,0.0042466104084,0.872633776996
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00425340099453,0.8835883794,0.00436833761627,0.8726336794
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.0043592312914,0.883588484359,0.00447484469111,0.872633784359
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00445102432563,0.883588160668,0.00456722650918,0.872633545501
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00453764307379,0.883588008836,0.00465438524685,0.872633408836
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00461259003205,0.883587712913,0.00472964302283,0.872633112913
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00467289428982,0.883587792692,0.00479024848925,0.872633285384
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00472844178313,0.883588088827,0.00484612686513,0.872633492551
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00477480827922,0.883588000917,0.00489282630903,0.872633400917
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00481105752021,0.883587806111,0.00492933736259,0.872633206111
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00484266507749,0.8835877,0.00496117094869,0.8726331
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00486687414615,0.883587673146,0.00498556354235,0.872633082097
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00488393504046,0.883587412647,0.00500278654182,0.872632912647
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00489654851465,0.883587609311,0.00501549138477,0.872633109311
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00490554226981,0.8835877,0.00502459130129,0.872633185028
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00491095878212,0.883587613363,0.00503006911396,0.872633013363
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491438893122,0.883587409556,0.00503353564794,0.872632809556
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004916171,0.8835876,0.005035371,0.872633
|
| 62 |
+
60,1.000000000,pose3-hold,0.004916171,0.8835876,0.005035375,0.872633
|
| 63 |
+
61,1.016666667,pose3-hold,0.004916171,0.8835876,0.00503537073529,0.872633
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916171,0.8835876,0.00503536929412,0.872633
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916171,0.8835876,0.00503536564706,0.872633
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916171,0.8835876,0.00503535847059,0.872633
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916171,0.8835876,0.00503534908824,0.872633
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916171,0.8835876,0.00503533947059,0.872633
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916171,0.8835876,0.00503532838235,0.872633
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916171,0.8835876,0.00503530658824,0.872633
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916171,0.8835876,0.00503530064706,0.872633
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916171,0.8835876,0.005035291,0.872633
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916171,0.8835876,0.00503527726471,0.872633
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916171,0.8835876,0.00503526447059,0.872633
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916171,0.8835876,0.00503525344118,0.872633
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916171,0.8835876,0.00503525770588,0.872633
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916171,0.8835876,0.0050352445,0.872633
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916171,0.8835876,0.00503523064706,0.872633
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916171,0.8835876,0.0050352205,0.872633
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916171,0.8835876,0.00503521247059,0.872633
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916171,0.8835876,0.00503520476471,0.872633
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916171,0.8835876,0.00503519982353,0.872633
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916171,0.8835876,0.00503519726471,0.872633
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916171,0.8835876,0.00503519623529,0.872633
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916171,0.8835876,0.00503519538235,0.872633
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916171,0.8835876,0.00503519452941,0.872633
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916171,0.8835876,0.00503519497059,0.872633
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916171,0.8835876,0.00503519682353,0.872633
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916171,0.8835876,0.00503519585294,0.872633
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916171,0.8835876,0.00503519158824,0.872633
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916171,0.8835876,0.00503519247059,0.872633
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916171,0.8835876,0.00503519594118,0.872633
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916171,0.8835876,0.00503520064706,0.872633
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916171,0.8835876,0.00503520605882,0.872633
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916171,0.8835876,0.00503521173529,0.872633
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916171,0.8835876,0.005035216,0.872633
|
| 97 |
+
95,1.583333333,pose3-to-pose4-insert,0.004916171,0.8835876,0.005035222,0.872633
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.0049161820063,0.883587276307,0.00503522930477,0.872632576307
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491626785741,0.883586883096,0.00503532564153,0.872632183096
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491629350377,0.883586555691,0.00503535908797,0.872631855691
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491631564682,0.883585834755,0.00503539770957,0.872631134755
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491632084334,0.883585665566,0.00503540677327,0.872630965566
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491632502778,0.883585529328,0.0050354140717,0.872630829328
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491630805341,0.883584606234,0.00503539255673,0.872629928283
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491628125052,0.883583590546,0.00503535616123,0.872628940809
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491626693365,0.883583048012,0.00503533672044,0.872628413345
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491625542454,0.883582611877,0.00503532109227,0.872627989325
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491623365509,0.8835816103,0.00503529306922,0.8726270103
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107,1.783333333,pose3-to-pose4-insert,0.00491622724593,0.883578085262,0.00503531293762,0.872623485262
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108,1.800000000,pose3-to-pose4-insert,0.00491615506008,0.883564052672,0.00503523835312,0.872609423258
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109,1.816666667,pose3-to-pose4-insert,0.00491606505431,0.883536284106,0.00503513913326,0.872581592001
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110,1.833333333,pose3-to-pose4-insert,0.0049162311037,0.883493870961,0.00503532725979,0.872539343913
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111,1.850000000,pose3-to-pose4-insert,0.00491615909868,0.883437954299,0.00503525503639,0.872483280077
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112,1.866666667,pose3-to-pose4-insert,0.0049163048068,0.883356347941,0.00503539198911,0.872401841864
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113,1.883333333,pose3-to-pose4-insert,0.00491640787229,0.883263925518,0.00503552206221,0.872309385014
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114,1.900000000,pose3-to-pose4-insert,0.00491670197301,0.883158259193,0.0050358069123,0.872203659193
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115,1.916666667,pose3-to-pose4-insert,0.00491669499657,0.883038257959,0.00503581127771,0.872083557959
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116,1.933333333,pose3-to-pose4-insert,0.00491687971326,0.88290971534,0.00503601380418,0.87195501534
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117,1.950000000,pose3-to-pose4-insert,0.0049169957243,0.882788069093,0.00503613859827,0.871833420143
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118,1.966666667,pose3-to-pose4-insert,0.00491739016744,0.882648416227,0.00503651800298,0.871693750767
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119,1.983333333,pose3-to-pose4-insert,0.00491762292447,0.882505718967,0.00503677393248,0.871551018967
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120,2.000000000,pose3-to-pose4-insert,0.00491828074098,0.882355639814,0.00503744978167,0.871401020221
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121,2.016666667,pose3-to-pose4-insert,0.00491894322564,0.882189807247,0.00503811883128,0.871235115134
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122,2.033333333,pose3-to-pose4-insert,0.00491922616387,0.882015245704,0.0050383615613,0.871060541729
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123,2.050000000,pose3-to-pose4-insert,0.00491979644701,0.881850701039,0.00503894288445,0.870895901039
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124,2.066666667,pose3-to-pose4-insert,0.00491951550661,0.881669931518,0.00503868544451,0.870715131518
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125,2.083333333,pose3-to-pose4-insert,0.00491929522583,0.881492303284,0.00503844600002,0.870537503284
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126,2.100000000,pose3-to-pose4-insert,0.00491920432976,0.88131654652,0.00503837120253,0.870361729757
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127,2.116666667,pose3-to-pose4-insert,0.00491901572651,0.88112989047,0.005038213398,0.87017496828
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128,2.133333333,pose3-to-pose4-insert,0.00491879135512,0.88094093355,0.00503797964706,0.86998593355
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129,2.150000000,pose3-to-pose4-insert,0.0049184592734,0.88076710493,0.00503764682875,0.86981210493
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130,2.166666667,pose3-to-pose4-insert,0.00491807020111,0.880575463671,0.00503725026443,0.869620463671
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131,2.183333333,pose3-to-pose4-insert,0.00491775450487,0.880386994109,0.00503696372368,0.869431994109
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132,2.200000000,pose3-to-pose4-insert,0.00491742681085,0.880204127863,0.00503663660437,0.869249075037
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133,2.216666667,pose3-to-pose4-insert,0.00491748083182,0.880016933504,0.00503668619004,0.869061766611
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134,2.233333333,pose3-to-pose4-insert,0.00491761623553,0.879835706308,0.00503680396991,0.868880424517
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135,2.250000000,pose3-to-pose4-insert,0.0049178165852,0.879681533953,0.00503702226845,0.868726233953
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136,2.266666667,pose3-to-pose4-insert,0.00491788189379,0.879527473329,0.00503707275752,0.868572173329
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137,2.283333333,pose3-to-pose4-insert,0.00491833321282,0.879388793,0.00503749214404,0.868433399035
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138,2.300000000,pose3-to-pose4-insert,0.004918241295,0.879264325633,0.00503739276652,0.868308833492
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139,2.316666667,pose3-to-pose4-insert,0.00491815001572,0.879141022005,0.00503726534407,0.868185522005
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140,2.333333333,pose3-to-pose4-insert,0.00491813057511,0.879026132616,0.00503725541967,0.868070632616
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141,2.350000000,pose3-to-pose4-insert,0.00491807729954,0.878930139725,0.00503719633222,0.867974639725
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142,2.366666667,pose3-to-pose4-insert,0.00491806614699,0.87883770949,0.00503719553847,0.86788220688
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143,2.383333333,pose3-to-pose4-insert,0.00491798869421,0.878757093317,0.00503713280545,0.867801493317
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144,2.400000000,pose3-to-pose4-insert,0.00491777733974,0.878690761981,0.00503692428162,0.867735161981
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145,2.416666667,pose3-to-pose4-insert,0.00491803523875,0.878629445787,0.00503713642009,0.8676737483
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146,2.433333333,pose3-to-pose4-insert,0.00491792545905,0.878575456574,0.00503703829831,0.867619954101
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147,2.450000000,pose3-to-pose4-insert,0.00491803002106,0.878533972591,0.00503710582069,0.86757837959
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148,2.466666667,pose3-to-pose4-insert,0.00491801824891,0.878497951591,0.00503711459111,0.867542351591
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149,2.483333333,pose3-to-pose4-insert,0.00491790771454,0.878467710334,0.00503702461297,0.867512020842
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150,2.500000000,pose3-to-pose4-insert,0.00491799775482,0.878445228189,0.00503709906752,0.867489612414
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151,2.516666667,pose3-to-pose4-insert,0.0049178806999,0.878427569107,0.00503698190696,0.867471969107
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152,2.533333333,pose3-to-pose4-insert,0.00491780727394,0.878414397674,0.00503691232979,0.867458797674
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153,2.550000000,pose3-to-pose4-insert,0.00491785246468,0.878405781231,0.00503695718769,0.867450181231
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154,2.566666667,pose3-to-pose4-insert,0.00491787167923,0.87840011958,0.00503697108586,0.86744451958
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155,2.583333333,pose3-to-pose4-insert,0.00491785889406,0.878395794314,0.0050369611628,0.867440194314
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156,2.600000000,pose3-to-pose4-insert,0.00491782424867,0.878392877349,0.00503694070907,0.867437215839
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157,2.616666667,pose3-to-pose4-insert,0.004917929,0.8783915,0.005037041,0.8674359
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158,2.633333333,pose4-hold,0.004917929,0.8783915,0.005037052,0.8674359
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159,2.650000000,pose4-hold,0.004917929,0.8783915,0.00503705285294,0.8674359
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160,2.666666667,pose4-hold,0.004917929,0.8783915,0.00503703888235,0.8674359
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161,2.683333333,pose4-hold,0.004917929,0.8783915,0.00503703802941,0.8674359
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162,2.700000000,pose4-hold,0.004917929,0.8783915,0.00503703952941,0.8674359
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163,2.716666667,pose4-hold,0.004917929,0.8783915,0.00503703732353,0.8674359
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164,2.733333333,pose4-hold,0.004917929,0.8783915,0.00503704135294,0.8674359
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165,2.750000000,pose4-hold,0.004917929,0.8783915,0.00503704391176,0.8674359
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166,2.766666667,pose4-hold,0.004917929,0.8783915,0.00503703329412,0.8674359
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167,2.783333333,pose4-hold,0.004917929,0.8783915,0.00503703573529,0.8674359
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168,2.800000000,pose4-hold,0.004917929,0.8783915,0.00503704011765,0.8674359
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169,2.816666667,pose4-hold,0.004917929,0.8783915,0.00503704161765,0.8674359
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170,2.833333333,pose4-hold,0.004917929,0.8783915,0.00503704147059,0.8674359
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171,2.850000000,pose4-hold,0.004917929,0.8783915,0.00503704326471,0.8674359
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172,2.866666667,pose4-hold,0.004917929,0.8783915,0.00503704582353,0.8674359
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173,2.883333333,pose4-hold,0.004917929,0.8783915,0.00503704679412,0.8674359
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174,2.900000000,pose4-hold,0.004917929,0.8783915,0.00503704570588,0.8674359
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180,3.000000000,pose4-hold,0.004917929,0.8783915,0.00503704852941,0.8674359
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186,3.100000000,pose4-hold,0.004917929,0.8783915,0.00503704523529,0.8674359
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|
Part2/Free/s1/cylinder_0050_12.5/width_07/pick/camera_frames_60hz.tar
ADDED
|
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+
version https://git-lfs.github.com/spec/v1
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size 7802880
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Part2/Free/s1/cylinder_0050_12.5/width_07/pick/fem_node.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s1/cylinder_0050_12.5/width_07/pick/franka_data.csv
ADDED
|
@@ -0,0 +1,207 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79307128714e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001105_1793071287147057354_real.jpg,0.67595317413,-0.00548357506707,0.0968752342033,0.999999965671,9.17824456321e-05,-0.000221930967039,0.000104787972156,0.0390657559037
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79307128716e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001106_1793071287178570918_interpolated.jpg,0.675952802489,-0.00548089581083,0.0968743854005,0.999999965589,9.15524537125e-05,-0.000222795211583,0.000103938961893,0.0390657559037
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,1.79307128718e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001106_1793071287178570918_interpolated.jpg,0.675952654327,-0.00547898392219,0.0968739041929,0.999999965603,9.10687411977e-05,-0.000223247503511,0.000103254201645,0.0390657559037
|
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| 207 |
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|
Part2/Free/s1/cylinder_0050_12.5/width_07/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,207 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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3,0.050000000,pose1-to-pose2-lift,-8.27039430845e-05,0.845590157038,5.77273083963e-06,0.834630167779
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| 11 |
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| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.27152234805e-05,0.845594435819,5.75372564806e-06,0.834634535819
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15,0.250000000,pose1-to-pose2-lift,-8.26234082705e-05,0.845597088588,5.8496542788e-06,0.834637188588
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19,0.316666667,pose1-to-pose2-lift,-8.26048533126e-05,0.845609159423,5.8825225644e-06,0.834649172389
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| 24 |
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23,0.383333333,pose1-to-pose2-lift,-8.27652141576e-05,0.845716578214,5.71173980819e-06,0.834756578214
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| 26 |
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|
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Part2/Free/s1/cylinder_0050_12.5/width_08/insert/simulation_data.csv
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|
|
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|
|
|
|
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|
|
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|
|
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|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.175757e-05,0.883588,6.422773e-06,0.8726331
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-3.47310988556e-05,0.883587980775,5.36881849853e-05,0.872633
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,4.2000874227e-05,0.883588045193,0.000130861948477,0.8726331
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,0.00014856858112,0.883588171612,0.000238073538941,0.872633343225
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,0.000264389658066,0.883588003646,0.000354564315851,0.872633103646
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,0.000388858502531,0.883588077702,0.000479786706111,0.872633177702
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,0.00052554366136,0.883588135419,0.000617312825397,0.872633235419
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,0.000660059606787,0.883588294923,0.000752612202566,0.872633394923
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,0.00080102782932,0.8835883,0.000894431010646,0.8726334
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,0.000954204163698,0.883588435023,0.00104853528535,0.872633535023
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,0.001112474021,0.883588943086,0.00120774072546,0.872634091703
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,0.00127520858572,0.883589500587,0.00137149492035,0.872634640469
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,0.00146301140413,0.883590112095,0.00156045567062,0.872635294514
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,0.00164735148531,0.883590688254,0.00174591551021,0.872635790603
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.00183168016571,0.883591508985,0.00193128330593,0.872636608985
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.00202847624501,0.883591524634,0.00212936561842,0.872636649756
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.00222747276741,0.883591177103,0.00232950976182,0.872636336138
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.00241145668081,0.883590905495,0.002514643219,0.872636005495
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.00259706704433,0.883590418796,0.00270138001967,0.872635573253
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.00278662201775,0.883590035304,0.00289212262039,0.872635170607
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.00297263512169,0.883589702261,0.00307932599558,0.872634876695
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.0031605366961,0.883589425289,0.00326830050635,0.872634537933
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.00334920374509,0.883589095729,0.00345812955992,0.872634295729
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.0035316340236,0.88358895494,0.00364170362596,0.87263415494
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00369976328038,0.883588689798,0.00381086102887,0.872633889798
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00385574845386,0.883588303852,0.00396781811427,0.872633503852
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00399736067545,0.883588389535,0.0041103279833,0.872633647443
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00412609150063,0.883588793066,0.00423986737455,0.872634093066
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00424486156596,0.883589183641,0.00435938588263,0.872634483641
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.0043527130223,0.883589377021,0.00446792664699,0.872634677021
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00444566717825,0.883589713364,0.00456147607245,0.872635013364
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00452764914469,0.883589877932,0.00464398505511,0.872635177932
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00460024887907,0.883589977479,0.0047169220184,0.872635354958
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00466414630856,0.883590155397,0.0047811197345,0.872635555397
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00472179474069,0.883590447477,0.00483909064197,0.872635847477
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00477127518112,0.883590680746,0.00488889268454,0.872636080746
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00481035515816,0.883590794151,0.00492829961789,0.872636194151
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00484088908258,0.883590704349,0.00495906155888,0.872636104349
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00486489257812,0.883590797559,0.00498320823331,0.872636197559
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.0048827421251,0.883590508089,0.00500123821772,0.872636005393
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00489600899848,0.883590698834,0.00501460543873,0.872636099417
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00490536641323,0.883590812881,0.00502404485734,0.872636212881
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00491084267392,0.883590986238,0.00502958741709,0.872636390825
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00491408036088,0.883590707529,0.00503286259066,0.87263620251
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.0049157960188,0.883590963721,0.00503462511182,0.87263628186
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.004916565,0.8835908,0.005035419,0.8726362
|
| 48 |
+
46,0.766666667,pose3-hold,0.004916565,0.8835908,0.005035422,0.8726362
|
| 49 |
+
47,0.783333333,pose3-hold,0.004916565,0.8835908,0.00503541848485,0.8726362
|
| 50 |
+
48,0.800000000,pose3-hold,0.004916565,0.8835908,0.00503541724242,0.8726362
|
| 51 |
+
49,0.816666667,pose3-hold,0.004916565,0.8835908,0.00503541190909,0.8726362
|
| 52 |
+
50,0.833333333,pose3-hold,0.004916565,0.8835908,0.00503540333333,0.8726362
|
| 53 |
+
51,0.850000000,pose3-hold,0.004916565,0.8835908,0.00503539130303,0.8726362
|
| 54 |
+
52,0.866666667,pose3-hold,0.004916565,0.8835908,0.00503537963636,0.8726362
|
| 55 |
+
53,0.883333333,pose3-hold,0.004916565,0.8835908,0.00503537206061,0.8726362
|
| 56 |
+
54,0.900000000,pose3-hold,0.004916565,0.8835908,0.00503534990909,0.8726362
|
| 57 |
+
55,0.916666667,pose3-hold,0.004916565,0.8835908,0.00503534727273,0.8726362
|
| 58 |
+
56,0.933333333,pose3-hold,0.004916565,0.8835908,0.00503532651515,0.8726362
|
| 59 |
+
57,0.950000000,pose3-hold,0.004916565,0.8835908,0.005035317,0.8726362
|
| 60 |
+
58,0.966666667,pose3-hold,0.004916565,0.8835908,0.00503531336364,0.8726362
|
| 61 |
+
59,0.983333333,pose3-hold,0.004916565,0.8835908,0.00503530351515,0.8726362
|
| 62 |
+
60,1.000000000,pose3-hold,0.004916565,0.8835908,0.00503528987879,0.8726362
|
| 63 |
+
61,1.016666667,pose3-hold,0.004916565,0.8835908,0.00503528318182,0.8726362
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916565,0.8835908,0.00503527445455,0.8726362
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916565,0.8835908,0.00503526654545,0.8726362
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916565,0.8835908,0.00503526190909,0.8726362
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916565,0.8835908,0.00503525542424,0.8726362
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916565,0.8835908,0.00503525184848,0.8726362
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916565,0.8835908,0.00503525009091,0.8726362
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916565,0.8835908,0.005035249,0.8726362
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+
69,1.150000000,pose3-hold,0.004916565,0.8835908,0.00503524921212,0.8726362
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+
70,1.166666667,pose3-hold,0.004916565,0.8835908,0.00503525009091,0.8726362
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+
71,1.183333333,pose3-hold,0.004916565,0.8835908,0.0050352509697,0.8726362
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+
72,1.200000000,pose3-hold,0.004916565,0.8835908,0.00503524675758,0.8726362
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+
73,1.216666667,pose3-hold,0.004916565,0.8835908,0.00503524745455,0.8726362
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74,1.233333333,pose3-hold,0.004916565,0.8835908,0.00503524981818,0.8726362
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75,1.250000000,pose3-hold,0.004916565,0.8835908,0.00503525342424,0.8726362
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76,1.266666667,pose3-hold,0.004916565,0.8835908,0.00503525854545,0.8726362
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+
77,1.283333333,pose3-hold,0.004916565,0.8835908,0.00503526445455,0.8726362
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+
78,1.300000000,pose3-hold,0.004916565,0.8835908,0.00503526972727,0.8726362
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79,1.316666667,pose3-hold,0.004916565,0.8835908,0.005035275,0.8726362
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+
80,1.333333333,pose3-to-pose4-insert,0.004916283,0.8835908,0.005035004,0.8726362
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+
81,1.350000000,pose3-to-pose4-insert,0.00491650687151,0.883590862665,0.00503524524487,0.872636179832
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+
82,1.366666667,pose3-to-pose4-insert,0.00491646408126,0.883590282458,0.00503520825668,0.872635672151
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+
83,1.383333333,pose3-to-pose4-insert,0.00491651241435,0.883589813054,0.00503524919174,0.872635213054
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84,1.400000000,pose3-to-pose4-insert,0.00491656299917,0.883589453339,0.00503529213263,0.872634853339
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85,1.416666667,pose3-to-pose4-insert,0.00491665274749,0.883588815129,0.00503536831898,0.872634215129
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86,1.433333333,pose3-to-pose4-insert,0.00491666210541,0.883588305333,0.00503537381976,0.872633705333
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87,1.450000000,pose3-to-pose4-insert,0.00491663736848,0.883587956479,0.00503534992854,0.872633356479
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+
88,1.466666667,pose3-to-pose4-insert,0.00491658859771,0.883587268686,0.00503530282514,0.872632668686
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89,1.483333333,pose3-to-pose4-insert,0.00491652340789,0.883586349342,0.00503523986403,0.872631749342
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90,1.500000000,pose3-to-pose4-insert,0.00491644431637,0.883585013778,0.00503516316025,0.872630413778
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91,1.516666667,pose3-to-pose4-insert,0.00491640955356,0.883582889384,0.00503512723867,0.872628289384
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92,1.533333333,pose3-to-pose4-insert,0.0049163654674,0.88357852156,0.00503508673157,0.87262392156
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93,1.550000000,pose3-to-pose4-insert,0.00491632998604,0.883563544651,0.00503506806046,0.872608944651
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94,1.566666667,pose3-to-pose4-insert,0.00491664176779,0.88353590558,0.00503540232211,0.87258130558
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95,1.583333333,pose3-to-pose4-insert,0.00491652246343,0.883496069239,0.00503527846264,0.872541392764
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96,1.600000000,pose3-to-pose4-insert,0.00491663194374,0.883433900986,0.00503536805626,0.872479300986
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97,1.616666667,pose3-to-pose4-insert,0.00491654136296,0.883351954644,0.00503527174927,0.872397354644
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98,1.633333333,pose3-to-pose4-insert,0.00491686980968,0.883260283209,0.00503563330708,0.872305683209
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99,1.650000000,pose3-to-pose4-insert,0.00491678685491,0.883159432458,0.00503551117761,0.872204749797
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100,1.666666667,pose3-to-pose4-insert,0.00491677316076,0.883042971481,0.00503551559641,0.872088357544
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101,1.683333333,pose3-to-pose4-insert,0.00491691177567,0.882919774431,0.0050356767665,0.871965074431
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102,1.700000000,pose3-to-pose4-insert,0.00491705984812,0.882787464097,0.00503580965857,0.871832764097
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103,1.716666667,pose3-to-pose4-insert,0.00491694594275,0.882644770261,0.00503570620511,0.871690070261
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104,1.733333333,pose3-to-pose4-insert,0.00491688867404,0.882493287794,0.00503566338346,0.871538587794
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105,1.750000000,pose3-to-pose4-insert,0.00491649027591,0.88234001523,0.00503524899232,0.87138531523
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106,1.766666667,pose3-to-pose4-insert,0.00491629904732,0.882177446481,0.0050350690433,0.871222746481
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107,1.783333333,pose3-to-pose4-insert,0.0049162649246,0.88200686949,0.00503504400567,0.871052161384
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108,1.800000000,pose3-to-pose4-insert,0.00491590369979,0.881828927066,0.00503468336358,0.870874127066
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109,1.816666667,pose3-to-pose4-insert,0.00491647323209,0.881645718948,0.00503525070587,0.870690918948
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110,1.833333333,pose3-to-pose4-insert,0.00491711531049,0.881460030786,0.00503590280029,0.870505195968
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111,1.850000000,pose3-to-pose4-insert,0.00491761647717,0.881281009133,0.00503642923801,0.870326109133
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112,1.866666667,pose3-to-pose4-insert,0.004918052064,0.881102456016,0.00503685628035,0.870147556016
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113,1.883333333,pose3-to-pose4-insert,0.00491830260043,0.880923352654,0.00503710199715,0.869968412661
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+
114,1.900000000,pose3-to-pose4-insert,0.00491820958728,0.880739356136,0.00503702481097,0.869784356136
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115,1.916666667,pose3-to-pose4-insert,0.00491798933745,0.880548827003,0.0050367867468,0.869593827003
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116,1.933333333,pose3-to-pose4-insert,0.00491794227479,0.880359106875,0.00503675137625,0.869404045565
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117,1.950000000,pose3-to-pose4-insert,0.00491783252466,0.880193152898,0.00503662447899,0.869237993704
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118,1.966666667,pose3-to-pose4-insert,0.00491753495425,0.880045989788,0.00503632400623,0.869090741234
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119,1.983333333,pose3-to-pose4-insert,0.00491722025478,0.879918886305,0.00503602077543,0.868963586305
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120,2.000000000,pose3-to-pose4-insert,0.00491696282065,0.879809108533,0.00503575211801,0.868853808533
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121,2.016666667,pose3-to-pose4-insert,0.00491656536646,0.879709286605,0.00503534141013,0.868753986605
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122,2.033333333,pose3-to-pose4-insert,0.00491623673616,0.879602432484,0.00503500535496,0.868647132484
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123,2.050000000,pose3-to-pose4-insert,0.00491600216645,0.879494900701,0.00503477162148,0.868539600701
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124,2.066666667,pose3-to-pose4-insert,0.00491575005928,0.879387094875,0.00503452751772,0.868431794875
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125,2.083333333,pose3-to-pose4-insert,0.00491529006184,0.879279681661,0.00503403307211,0.868324302139
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126,2.100000000,pose3-to-pose4-insert,0.00491538337177,0.879172134284,0.00503412363468,0.868216734284
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127,2.116666667,pose3-to-pose4-insert,0.00491562445277,0.879064620112,0.00503437474343,0.868109153833
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128,2.133333333,pose3-to-pose4-insert,0.00491589729713,0.878957175124,0.0050346326704,0.868001675124
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129,2.150000000,pose3-to-pose4-insert,0.00491631878896,0.878849798165,0.00503507514269,0.867894298165
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130,2.166666667,pose3-to-pose4-insert,0.00491615949228,0.878742938334,0.00503490380575,0.867787338334
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131,2.183333333,pose3-to-pose4-insert,0.00491651595787,0.878649287094,0.005035253648,0.867693752588
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132,2.200000000,pose3-to-pose4-insert,0.00491654684082,0.878572248979,0.00503527691837,0.867616556734
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133,2.216666667,pose3-to-pose4-insert,0.00491671098377,0.878511751297,0.00503544251516,0.867556151297
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134,2.233333333,pose3-to-pose4-insert,0.00491686974176,0.878470249535,0.0050355867312,0.867514649535
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135,2.250000000,pose3-to-pose4-insert,0.00491682263793,0.878447777777,0.00503553587835,0.86749210182
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136,2.266666667,pose3-to-pose4-insert,0.00491698845942,0.878431818545,0.00503570264587,0.867476177867
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137,2.283333333,pose3-to-pose4-insert,0.0049170025269,0.878419416626,0.00503571333374,0.867463816626
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138,2.300000000,pose3-to-pose4-insert,0.00491685381399,0.878410760312,0.00503555787933,0.867455160312
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139,2.316666667,pose3-to-pose4-insert,0.00491690206157,0.878404174135,0.0050356015319,0.867448574135
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140,2.333333333,pose3-to-pose4-insert,0.00491690529091,0.878398714554,0.00503561539998,0.867443029099
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141,2.350000000,pose3-to-pose4-insert,0.00491693922343,0.878395125127,0.0050356650978,0.867439425127
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142,2.366666667,pose3-to-pose4-insert,0.00491696536062,0.878393120772,0.00503569404015,0.867437520772
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143,2.383333333,pose3-to-pose4-insert,0.00491695,0.8783924,0.005035672,0.8674367
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144,2.400000000,pose4-hold,0.00491695,0.8783924,0.005035657,0.8674367
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145,2.416666667,pose4-hold,0.00491695,0.8783924,0.00503566382353,0.8674367
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146,2.433333333,pose4-hold,0.00491695,0.8783924,0.00503566358824,0.8674367
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147,2.450000000,pose4-hold,0.00491695,0.8783924,0.00503566467647,0.8674367
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148,2.466666667,pose4-hold,0.00491695,0.8783924,0.00503565652941,0.8674367
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149,2.483333333,pose4-hold,0.00491695,0.8783924,0.00503564644118,0.8674367
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150,2.500000000,pose4-hold,0.00491695,0.8783924,0.00503565564706,0.8674367
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151,2.516666667,pose4-hold,0.00491695,0.8783924,0.00503565308824,0.8674367
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152,2.533333333,pose4-hold,0.00491695,0.8783924,0.00503565958824,0.8674367
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153,2.550000000,pose4-hold,0.00491695,0.8783924,0.00503566032353,0.8674367
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154,2.566666667,pose4-hold,0.00491695,0.8783924,0.00503565841176,0.8674367
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155,2.583333333,pose4-hold,0.00491695,0.8783924,0.00503565738235,0.8674367
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156,2.600000000,pose4-hold,0.00491695,0.8783924,0.00503565847059,0.8674367
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157,2.616666667,pose4-hold,0.00491695,0.8783924,0.00503565991176,0.8674367
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158,2.633333333,pose4-hold,0.00491695,0.8783924,0.00503565905882,0.8674367
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159,2.650000000,pose4-hold,0.00491695,0.8783924,0.00503566058824,0.8674367
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160,2.666666667,pose4-hold,0.00491695,0.8783924,0.00503566164706,0.8674367
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161,2.683333333,pose4-hold,0.00491695,0.8783924,0.005035662,0.8674367
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162,2.700000000,pose4-hold,0.00491695,0.8783924,0.005035662,0.8674367
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163,2.716666667,pose4-hold,0.00491695,0.8783924,0.00503566241176,0.8674367
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164,2.733333333,pose4-hold,0.00491695,0.8783924,0.00503566417647,0.8674367
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165,2.750000000,pose4-hold,0.00491695,0.8783924,0.00503566673529,0.8674367
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166,2.766666667,pose4-hold,0.00491695,0.8783924,0.00503566776471,0.8674367
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167,2.783333333,pose4-hold,0.00491695,0.8783924,0.005035668,0.8674367
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168,2.800000000,pose4-hold,0.00491695,0.8783924,0.00503566847059,0.8674367
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169,2.816666667,pose4-hold,0.00491695,0.8783924,0.005035669,0.8674367
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170,2.833333333,pose4-hold,0.00491695,0.8783924,0.00503566829412,0.8674367
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171,2.850000000,pose4-hold,0.00491695,0.8783924,0.00503566511765,0.8674367
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172,2.866666667,pose4-hold,0.00491695,0.8783924,0.00503566852941,0.8674367
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173,2.883333333,pose4-hold,0.00491695,0.8783924,0.00503566826471,0.8674367
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174,2.900000000,pose4-hold,0.00491695,0.8783924,0.00503566682353,0.8674367
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175,2.916666667,pose4-hold,0.00491695,0.8783924,0.00503566511765,0.8674367
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176,2.933333333,pose4-hold,0.00491695,0.8783924,0.00503566547059,0.8674367
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177,2.950000000,pose4-hold,0.00491695,0.8783924,0.00503566870588,0.8674367
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178,2.966666667,pose4-hold,0.00491695,0.8783924,0.005035667,0.8674367
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179,2.983333333,pose4-to-pose5-return,0.00491695,0.8783924,0.005035655,0.8674367
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180,3.000000000,pose4-to-pose5-return,0.00491674013854,0.878392464187,0.00503547121292,0.867436785583
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181,3.016666667,pose4-to-pose5-return,0.00491634870874,0.878392850097,0.0050350714222,0.867437250097
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182,3.033333333,pose4-to-pose5-return,0.00491589495075,0.878393145842,0.00503461512925,0.867437545842
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183,3.050000000,pose4-to-pose5-return,0.00491549558617,0.878393412817,0.00503421359258,0.867437812176
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186,3.100000000,pose4-to-pose5-return,0.00491389111311,0.87839554429,0.00503261140675,0.867439849265
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187,3.116666667,pose4-to-pose5-return,0.00491342941108,0.878396004089,0.00503215382706,0.86744032492
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188,3.133333333,pose4-to-pose5-return,0.00491284277238,0.87839658831,0.0050315724262,0.867440929287
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189,3.150000000,pose4-to-pose5-return,0.00491178581073,0.878397640917,0.00503052490171,0.867442018189
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191,3.183333333,pose4-to-pose5-return,0.00490529991038,0.878404478189,0.00502397131144,0.867448878189
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192,3.200000000,pose4-to-pose5-return,0.00489731159684,0.878412504848,0.00501594360365,0.867456880309
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Part2/Free/s1/cylinder_0050_12.5/width_08/pick/camera_frames_60hz.tar
ADDED
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Part2/Free/s1/cylinder_0050_12.5/width_08/pick/fem_node.csv
ADDED
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The diff for this file is too large to render.
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Part2/Free/s1/cylinder_0050_12.5/width_08/pick/franka_data.csv
ADDED
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79307131028e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002024_1793071310284910979_interpolated.jpg,0.675953203183,-0.00544265865677,0.0968756216063,0.999999964169,0.00011965739203,-0.000223641529425,8.56042844187e-05,0.0385765396059
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.7930713103e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002025_1793071310315019570_real.jpg,0.675953640731,-0.00544251904254,0.096876218853,0.999999964578,0.000119043619142,-0.000222208181994,8.54212526707e-05,0.0385765396059
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.79307131032e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002025_1793071310315019570_real.jpg,0.67595390415,-0.00544235131754,0.0968763525131,0.999999964862,0.000118478252266,-0.000221315471466,8.51907822275e-05,0.0385765396059
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79307131033e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002026_1793071310335067509_interpolated.jpg,0.67595344176,-0.0054420664208,0.0968745538449,0.99999996464,0.000118114652035,-0.000222676251603,8.47625771213e-05,0.0385765396059
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79307131035e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002027_1793071310355115448_real.jpg,0.675953486494,-0.00543943974239,0.096874496666,0.99999996377,0.000124505187953,-0.000222824696308,8.54893423831e-05,0.0385765396059
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79307131037e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002027_1793071310355115448_real.jpg,0.675954191415,-0.0054410174193,0.0968763061369,0.999999964234,0.000123315799897,-0.000221335230718,8.56551686173e-05,0.0385765396059
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79307131038e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002028_1793071310385432440_interpolated.jpg,0.675955072961,-0.00544373410522,0.0968786142214,0.999999965053,0.000120066482374,-0.000219407446965,8.56668846501e-05,0.0385765396059
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.7930713104e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002029_1793071310415749433_real.jpg,0.67595478717,-0.0054444275284,0.0968775949192,0.999999964916,0.000119428452521,-0.000220214796326,8.6085311929e-05,0.0385433170373
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.79307131042e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002029_1793071310415749433_real.jpg,0.675954517395,-0.00544467933747,0.0968766645819,0.999999964769,0.00011923936694,-0.000220870942967,8.63673208899e-05,0.0385141558945
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79307131043e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002030_1793071310436025151_interpolated.jpg,0.675954552642,-0.00544279373904,0.0968768497001,0.999999964747,0.00012112150148,-0.000220166717503,8.57998860108e-05,0.0385141558945
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79307131045e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002031_1793071310456300869_real.jpg,0.67595158434,-0.00544409351899,0.096871909319,0.999999963742,0.000119301549573,-0.000225582149304,8.60019528421e-05,0.0385141558945
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.79307131047e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002031_1793071310456300869_real.jpg,0.675950705965,-0.00544383002757,0.0968717667908,0.999999963325,0.000119937676913,-0.000227095958591,8.59822189025e-05,0.0385141558945
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79307131048e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002032_1793071310485232649_interpolated.jpg,0.675950739172,-0.00544285806339,0.0968736668738,0.999999963175,0.00012165000017,-0.000226893446052,8.58529692088e-05,0.0385141558945
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.7930713105e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002033_1793071310514164429_real.jpg,0.675951507713,-0.00544368940259,0.0968746833482,0.999999963632,0.000120013575257,-0.000225871588179,8.55284351278e-05,0.0385141558945
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,1.79307131052e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002033_1793071310514164429_real.jpg,0.675951439508,-0.00544425924775,0.0968751581643,0.999999963622,0.000118679139674,-0.000226743890288,8.51934544197e-05,0.0385141558945
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,1.79307131054e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002034_1793071310533438346_interpolated.jpg,0.67594902896,-0.00544431017548,0.0968745649628,0.9999999623,0.000118227724859,-0.000232839191762,8.48987788239e-05,0.0385141558945
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79307131055e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002035_1793071310552712263_real.jpg,0.675949545898,-0.00544846016352,0.0968796409608,0.999999962819,0.000115177365816,-0.000232017275579,8.52302516168e-05,0.0385141558945
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.79307131057e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002036_1793071310583596022_interpolated.jpg,0.675947457079,-0.00544367819304,0.0968815414845,0.999999961558,0.000116860810231,-0.000237340621908,8.30480294111e-05,0.0385141558945
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79307131059e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002036_1793071310583596022_interpolated.jpg,0.675945019493,-0.0054388249198,0.0968840091183,0.999999960035,0.000118740033174,-0.000243566638908,8.06564298107e-05,0.0385136806467
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.7930713106e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002037_1793071310614479782_real.jpg,0.675940733019,-0.00544075694399,0.0968958044511,0.999999957361,0.000118867609655,-0.000255088617174,7.79646306225e-05,0.0385076575716
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.79307131062e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002037_1793071310614479782_real.jpg,0.675933022785,-0.0054405907363,0.0969074840074,0.999999952646,0.000119219204997,-0.000274143771978,7.30694164691e-05,0.0385029949248
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,1.79307131064e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002038_1793071310633750683_interpolated.jpg,0.675915769178,-0.00543381683107,0.0969223465888,0.99999994157,0.000120034780364,-0.000314225835083,6.0943054622e-05,0.0385029949248
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79307131065e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002039_1793071310653021584_real.jpg,0.675927799255,-0.00543484366392,0.0969850550427,0.999999949644,0.000116789837698,-0.000290263152867,5.31029691941e-05,0.0385029949248
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,1.79307131067e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002039_1793071310653021584_real.jpg,0.675933755522,-0.0054280171304,0.0970453708691,0.999999952666,0.000116581760588,-0.000281885528433,4.02128268801e-05,0.0385029949248
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79307131069e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002040_1793071310683487647_interpolated.jpg,0.675938627538,-0.0054208540522,0.0971047094219,0.999999954848,0.000116376190259,-0.000275745490772,2.69330080111e-05,0.0385029949248
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.7930713107e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002041_1793071310713953711_real.jpg,0.675938057658,-0.0054180667908,0.0971560019899,0.999999954927,0.000113112147056,-0.000277736154603,1.46130173733e-05,0.0385029949248
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.79307131072e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002041_1793071310713953711_real.jpg,0.675937513892,-0.00541364019867,0.0972182777501,0.999999954471,0.000109726702017,-0.000281102366232,-3.0300988437e-07,0.0385029949248
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79307131074e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002042_1793071310734027023_interpolated.jpg,0.675937119675,-0.00540483865279,0.0973102061189,0.999999952655,0.000106013496489,-0.000288033020557,-2.20768146284e-05,0.0385029949248
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,1.79307131075e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002043_1793071310754100335_real.jpg,0.675938050675,-0.00540235172357,0.0973659211819,0.999999952791,0.000102700611829,-0.000287762900629,-3.25942490834e-05,0.0385029949248
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,1.79307131077e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002043_1793071310754100335_real.jpg,0.675944994163,-0.00539319205713,0.0974744701703,0.99999995417,0.00010356008779,-0.000279829387458,-5.12879125072e-05,0.0385029949248
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,1.79307131079e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002044_1793071310784023110_interpolated.jpg,0.675952922921,-0.00538331852384,0.0975905218534,0.999999955332,0.000105305008834,-0.000270630654494,-7.07464612518e-05,0.0385029558968
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,1.7930713108e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002045_1793071310813945886_real.jpg,0.675959302277,-0.00538190942455,0.0976724192303,0.999999956318,0.000109559860616,-0.000263239217232,-7.78798560758e-05,0.0385022234433
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,1.79307131082e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002045_1793071310813945886_real.jpg,0.675966198496,-0.00538130629569,0.097780916727,0.999999956411,0.000130147521622,-0.0002545434257,-7.38022769018e-05,0.0385016798973
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,1.79307131084e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002046_1793071310833164674_interpolated.jpg,0.675973137153,-0.0053827176037,0.0979509000753,0.999999951426,0.00019036217547,-0.000243195033939,-4.20185702569e-05,0.0385016798973
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,1.79307131085e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002047_1793071310852383462_real.jpg,0.675967730997,-0.00538152626427,0.0979922773546,0.999999952092,0.000187622922889,-0.000241249498812,-4.91247654702e-05,0.0385016798973
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,1.79307131087e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002048_1793071310883205721_interpolated.jpg,0.675947005675,-0.00538076159059,0.0981310901617,0.999999955322,0.000106013909005,-0.000273740180672,-5.64151234203e-05,0.0385016798973
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,1.79307131089e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002048_1793071310883205721_interpolated.jpg,0.675926231894,-0.00538212648759,0.0982715498818,0.999999950614,2.80141808903e-05,-0.000306840275711,-6.1939240838e-05,0.0385016798973
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,1.7930713109e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002049_1793071310914027980_real.jpg,0.675911864443,-0.00540198285097,0.0983830055378,0.999999944084,1.68441699178e-05,-0.00032993203848,-5.18859392285e-05,0.0385016798973
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,1.79307131092e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002049_1793071310914027980_real.jpg,0.675901683419,-0.00542394585532,0.09852908701,0.999999939,1.41630857102e-05,-0.000346309668837,-4.3221410694e-05,0.0385016798973
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,1.79307131094e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002050_1793071310933484736_interpolated.jpg,0.675904011806,-0.0054499330529,0.0987663623889,0.999999939831,3.62875731716e-05,-0.00034279206396,-3.89124669281e-05,0.0385016798973
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,1.79307131095e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002051_1793071310952941492_real.jpg,0.675907915111,-0.00545244822776,0.0988855323203,0.999999940454,5.56203396575e-05,-0.00033853517057,-3.7325294178e-05,0.0385016798973
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,1.79307131097e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002052_1793071310983446403_interpolated.jpg,0.675909990686,-0.00543804954699,0.0990796743487,0.999999940764,5.4451649054e-05,-0.000337173119663,-4.26860987885e-05,0.0385016798973
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,1.79307131099e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002052_1793071310983446403_interpolated.jpg,0.675911891735,-0.00542294953008,0.0992799707108,0.999999940916,5.43820120842e-05,-0.000335960171473,-4.83906255697e-05,0.0385016798973
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| 45 |
+
43,0.716666667,pose1-to-pose2-lift,1.793071311e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002053_1793071311013951315_real.jpg,0.675913671885,-0.00541622095284,0.0994747500049,0.999999939451,8.46884828177e-05,-0.000333616818334,-5.1233735121e-05,0.0385016798973
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| 46 |
+
44,0.733333333,pose1-to-pose2-lift,1.79307131102e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002053_1793071311013951315_real.jpg,0.675915354562,-0.00540909697443,0.0997064695606,0.99999993937,9.42764785135e-05,-0.000330726746359,-5.46928059456e-05,0.0385016798973
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| 47 |
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45,0.750000000,pose1-to-pose2-lift,1.79307131104e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002054_1793071311033244347_interpolated.jpg,0.675916186116,-0.00540165200841,0.100024632578,0.999999943415,5.14003090579e-05,-0.000327129366685,-5.92889827727e-05,0.0385016798973
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| 48 |
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46,0.766666667,pose1-to-pose2-lift,1.79307131105e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002055_1793071311052537380_real.jpg,0.675911885641,-0.00540157517934,0.10016256124,0.999999940692,7.37787133102e-05,-0.000331348380925,-5.81409721798e-05,0.0385016798973
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| 49 |
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47,0.783333333,pose1-to-pose2-lift,1.79307131107e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002056_1793071311083249461_interpolated.jpg,0.67591129926,-0.00539076368133,0.100390912151,0.999999939459,8.03513944718e-05,-0.000332447336286,-6.40722382932e-05,0.0385016798973
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| 50 |
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48,0.800000000,pose1-to-pose2-lift,1.79307131109e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002056_1793071311083249461_interpolated.jpg,0.675911139911,-0.0053792036789,0.100629815212,0.999999938268,8.76293334476e-05,-0.000332919333155,-7.03513714191e-05,0.0385016798973
|
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| 185 |
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| 199 |
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| 200 |
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198,3.300000000,pose2-hold,1.79307131359e+18,camera_frames_60hz/WAIT_POSE2/camera_00002155_1793071313581933535_real.jpg,0.675890995462,-0.00537211499631,0.134524641513,0.999999923549,0.000115833738914,-0.000366109319949,-7.38180163899e-05,0.0385023355484
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| 201 |
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199,3.316666667,pose2-hold,1.7930713136e+18,camera_frames_60hz/WAIT_POSE2/camera_00002156_1793071313601511164_interpolated.jpg,0.67589275763,-0.00537356665259,0.134527837132,0.999999924574,0.000114472511177,-0.000363661187903,-7.41548099067e-05,0.0385023355484
|
Part2/Free/s1/cylinder_0050_12.5/width_08/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,201 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,6.168847e-06,0.8346294
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.27371169531e-05,0.845589761344,5.9391684505e-06,0.834629861344
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.27247799565e-05,0.845590034125,5.95028814591e-06,0.834630075594
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.27077797911e-05,0.845590134406,5.96692128229e-06,0.834630150805
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.26876768573e-05,0.845590700105,5.97745092624e-06,0.834630700105
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.2683251029e-05,0.845591269952,5.98059416332e-06,0.834631287949
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26859281619e-05,0.845592021956,5.9899350511e-06,0.834632090086
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.2689225879e-05,0.845592611959,5.9931899081e-06,0.834632711959
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.26919226364e-05,0.84559280115,5.98865595009e-06,0.83463290115
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.27000327008e-05,0.845593370111,5.97502080073e-06,0.834633470111
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.27106006516e-05,0.845594111504,5.9572532983e-06,0.834634211504
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.27101542621e-05,0.845595159827,5.95180436781e-06,0.834635259827
|
| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.26966027597e-05,0.845595461139,5.9673987648e-06,0.834635561139
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.26858265969e-05,0.845595700743,5.97979943858e-06,0.834635800743
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.2643392154e-05,0.845596644254,6.02863089148e-06,0.834636744254
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.25926533147e-05,0.845597772411,6.08701863194e-06,0.834637872411
|
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Part2/Free/s1/cylinder_0050_12.5/width_09/insert/simulation_data.csv
ADDED
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|
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|
|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.058097e-05,0.8835851,1.05562e-05,0.8726302
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.05181528713e-05,0.883585402733,1.06294462857e-05,0.872630502733
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.04254770343e-05,0.883585447098,1.07270547362e-05,0.872630547098
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.02979815111e-05,0.883585354058,1.0857332166e-05,0.872630454058
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.01862024141e-05,0.883585272486,1.09715502428e-05,0.872630372486
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.99067702599e-05,0.883585107803,1.12564958174e-05,0.872630205202
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.96365527896e-05,0.883585156759,1.15289472991e-05,0.872630237839
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.94821635008e-05,0.88358518473,1.16846129947e-05,0.872630256486
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.92191234729e-05,0.883585232385,1.19498276948e-05,0.872630288257
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.85330463492e-05,0.883585356683,1.26415769319e-05,0.872630371122
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.70298551072e-05,0.8835854,1.41564723692e-05,0.872630469136
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.21263124551e-05,0.8835854,1.90724210098e-05,0.872630554804
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.22545501699e-05,0.883585478876,2.89760382962e-05,0.872630578876
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-4.50666375293e-05,0.883585314761,4.62542943569e-05,0.8726304
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-1.07738011604e-05,0.883585566098,8.07530487402e-05,0.872630649148
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,4.05766972961e-05,0.883586043941,0.000132419208559,0.872631143941
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000105195833376,0.883586701868,0.000197426814522,0.872631803736
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000192838284136,0.883587031754,0.00028557904389,0.872632173816
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000293952485844,0.883587722262,0.000387305368592,0.872632822262
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000398750741402,0.883588394396,0.000492752790402,0.872633494396
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000515389826297,0.883589342518,0.000610068457679,0.872634442518
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000641629016682,0.883589910446,0.000737068902517,0.872635010446
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000762970740451,0.883590746271,0.000859146868077,0.872635846271
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000903003156498,0.883591664637,0.00100002960275,0.872636764637
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00105230645835,0.883591555364,0.00115023793391,0.872636661741
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00120168648388,0.883590856104,0.00130052872655,0.87263604513
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00136400974538,0.883590462104,0.00146381388991,0.872635562104
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00153940546259,0.8835903,0.0016402848044,0.8726354
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00170572959648,0.88359016692,0.00180760432313,0.87263526692
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00189041638308,0.883589636415,0.00199341933247,0.872634736415
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00207868278095,0.8835893,0.00218283746288,0.872634454456
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00225874833874,0.883589181986,0.00236398456434,0.872634381986
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00244416691528,0.883588968059,0.00255057689057,0.872634102088
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00264089739223,0.8835889,0.00274845469886,0.872634
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.0028303885279,0.883588630483,0.00293910131189,0.872633820322
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00301318704155,0.883588502195,0.0031230799876,0.872633702195
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00319681667631,0.883588718287,0.00330782146983,0.872633918287
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00337373353192,0.883588820549,0.00348582902914,0.872634020549
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00353362355272,0.883588523692,0.00364669538874,0.872633723692
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.0036788073031,0.883588687786,0.00379275996997,0.872633887786
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00382979910026,0.883588970176,0.0039446772393,0.872634170176
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00396734624398,0.883588865804,0.00408311770694,0.872634065804
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00408972273564,0.883588866843,0.00420626272766,0.872634100264
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.0042077683961,0.883588888925,0.0043250548329,0.87263422595
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00431775662338,0.883588826068,0.00443573120729,0.872634184046
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00441155925138,0.883588959626,0.00453012230897,0.872634259626
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00450074180211,0.883588810814,0.00461988118614,0.872634155407
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00458162271308,0.88358880258,0.00470119996444,0.87263420258
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.0046498030349,0.88358879113,0.00476967396054,0.872634245565
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00470820221683,0.883588528296,0.00482840108461,0.872633971062
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00475729799419,0.883588754135,0.00487782032471,0.872634213157
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00479653114434,0.883588772685,0.00491733330905,0.872634215856
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00482870012028,0.883588708816,0.00494973953849,0.872634108816
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00485552072425,0.883588856408,0.00497677328431,0.872634256408
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00487633943128,0.883588959918,0.00499775412634,0.872634359918
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00489196223316,0.883588730771,0.00501351371337,0.872634130771
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00490229137864,0.8835886,0.00502392988348,0.872634068947
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490825111907,0.88358870976,0.00502995676699,0.87263415488
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491204420018,0.8835888,0.00503380005625,0.8726342
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491455850925,0.883588750157,0.0050363434841,0.872634150157
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491581249239,0.883588619159,0.00503762398302,0.872634009579
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| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.004916623,0.8835888,0.005038448,0.8726342
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+
62,1.033333333,pose3-hold,0.004916623,0.8835888,0.00503845,0.8726342
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916623,0.8835888,0.00503844573529,0.872634114706
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916623,0.8835888,0.005038445,0.8726341
|
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+
65,1.083333333,pose3-hold,0.004916623,0.8835888,0.00503843997059,0.8726341
|
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+
66,1.100000000,pose3-hold,0.004916623,0.8835888,0.00503843270588,0.8726341
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916623,0.8835888,0.00503842297059,0.8726341
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916623,0.8835888,0.00503840817647,0.8726341
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916623,0.8835888,0.00503840220588,0.8726341
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| 72 |
+
70,1.166666667,pose3-hold,0.004916623,0.8835888,0.00503838223529,0.8726341
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+
71,1.183333333,pose3-hold,0.004916623,0.8835888,0.00503837597059,0.8726341
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+
72,1.200000000,pose3-hold,0.004916623,0.8835888,0.005038366,0.8726341
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+
73,1.216666667,pose3-hold,0.004916623,0.8835888,0.00503835341176,0.8726341
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+
74,1.233333333,pose3-hold,0.004916623,0.8835888,0.00503834247059,0.872634123529
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| 77 |
+
75,1.250000000,pose3-hold,0.004916623,0.8835888,0.00503833108824,0.872634191176
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+
76,1.266666667,pose3-hold,0.004916623,0.8835888,0.00503833194118,0.872634105882
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+
77,1.283333333,pose3-hold,0.004916623,0.8835888,0.00503832008824,0.8726341
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| 80 |
+
78,1.300000000,pose3-hold,0.004916623,0.8835888,0.00503831182353,0.8726341
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+
79,1.316666667,pose3-hold,0.004916623,0.8835888,0.0050383075,0.87263415
|
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+
80,1.333333333,pose3-hold,0.004916623,0.8835888,0.00503830317647,0.8726342
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+
81,1.350000000,pose3-hold,0.004916623,0.8835888,0.00503829655882,0.8726342
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916623,0.8835888,0.00503829088235,0.8726342
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+
83,1.383333333,pose3-hold,0.004916623,0.8835888,0.00503828917647,0.8726342
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916623,0.8835888,0.00503828670588,0.8726342
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916623,0.8835888,0.00503828476471,0.8726342
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916623,0.8835888,0.005038284,0.8726342
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916623,0.8835888,0.00503828432353,0.8726342
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916623,0.8835888,0.005038285,0.8726342
|
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+
89,1.483333333,pose3-hold,0.004916623,0.8835888,0.00503828488235,0.8726342
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+
90,1.500000000,pose3-hold,0.004916623,0.8835888,0.00503828147059,0.8726342
|
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+
91,1.516666667,pose3-hold,0.004916623,0.8835888,0.00503827952941,0.8726342
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+
92,1.533333333,pose3-hold,0.004916623,0.8835888,0.00503828429412,0.8726342
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+
93,1.550000000,pose3-hold,0.004916623,0.8835888,0.00503829020588,0.8726342
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+
94,1.566666667,pose3-hold,0.004916623,0.8835888,0.00503829417647,0.8726342
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+
95,1.583333333,pose3-hold,0.004916623,0.8835888,0.00503829744118,0.872634185294
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+
96,1.600000000,pose3-hold,0.004916623,0.8835888,0.0050383,0.8726341
|
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+
97,1.616666667,pose3-to-pose4-insert,0.004916525,0.8835885,0.00503821,0.8726339
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+
98,1.633333333,pose3-to-pose4-insert,0.00491648003988,0.883588356608,0.00503818952991,0.872633684913
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+
99,1.650000000,pose3-to-pose4-insert,0.00491645582472,0.883587971551,0.00503817437932,0.872633289798
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+
100,1.666666667,pose3-to-pose4-insert,0.00491645958111,0.883587295401,0.00503818339466,0.872632651212
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+
101,1.683333333,pose3-to-pose4-insert,0.00491646214635,0.883586833657,0.00503818955125,0.87263221512
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102,1.700000000,pose3-to-pose4-insert,0.00491646402598,0.883586419455,0.00503819368821,0.872631816857
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+
103,1.716666667,pose3-to-pose4-insert,0.00491646416674,0.883585983115,0.00503819199915,0.872631366441
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104,1.733333333,pose3-to-pose4-insert,0.0049164645094,0.883584920854,0.00503818788718,0.872630269914
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105,1.750000000,pose3-to-pose4-insert,0.0049164647471,0.883584183984,0.00503818503478,0.872629509274
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106,1.766666667,pose3-to-pose4-insert,0.00491646483167,0.883583921828,0.00503818401998,0.872629238661
|
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+
107,1.783333333,pose3-to-pose4-insert,0.00491646791523,0.883583079896,0.00503818617279,0.872628385612
|
| 110 |
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108,1.800000000,pose3-to-pose4-insert,0.00491651891989,0.883577015281,0.00503825655119,0.872622415281
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109,1.816666667,pose3-to-pose4-insert,0.00491653928945,0.883564705357,0.00503824691362,0.872610105357
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110,1.833333333,pose3-to-pose4-insert,0.0049166014763,0.883541940506,0.00503832272358,0.872587340506
|
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111,1.850000000,pose3-to-pose4-insert,0.00491656749117,0.88349988244,0.00503829759644,0.87254528244
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+
112,1.866666667,pose3-to-pose4-insert,0.00491666041934,0.883440743748,0.00503838320967,0.872486143748
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+
113,1.883333333,pose3-to-pose4-insert,0.00491669807251,0.883370832166,0.00503841376228,0.872416232166
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114,1.900000000,pose3-to-pose4-insert,0.00491686731833,0.883279956705,0.00503860119978,0.872325376112
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115,1.916666667,pose3-to-pose4-insert,0.00491705443779,0.883173122052,0.00503880758572,0.872218559094
|
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+
116,1.933333333,pose3-to-pose4-insert,0.00491720936567,0.883065690278,0.00503896788304,0.872111178212
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117,1.950000000,pose3-to-pose4-insert,0.00491736117925,0.882940750042,0.00503911774292,0.871986150042
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118,1.966666667,pose3-to-pose4-insert,0.00491760971827,0.882806745255,0.00503936982357,0.871852109342
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119,1.983333333,pose3-to-pose4-insert,0.00491764693011,0.882673705117,0.00503941516626,0.871719005117
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120,2.000000000,pose3-to-pose4-insert,0.00491759183104,0.882528979364,0.00503936026053,0.871574336523
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121,2.016666667,pose3-to-pose4-insert,0.00491741575751,0.882370293559,0.00503917892532,0.871415693559
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122,2.033333333,pose3-to-pose4-insert,0.00491733984181,0.882215691179,0.0050391104688,0.871261015272
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123,2.050000000,pose3-to-pose4-insert,0.00491737367931,0.882040021834,0.00503914142421,0.871085232475
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124,2.066666667,pose3-to-pose4-insert,0.00491737594066,0.881858882219,0.0050391341918,0.870904082219
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125,2.083333333,pose3-to-pose4-insert,0.00491725637963,0.881683076784,0.00503902937963,0.870728276784
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126,2.100000000,pose3-to-pose4-insert,0.00491727112529,0.881503071614,0.00503904589605,0.870548261198
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127,2.116666667,pose3-to-pose4-insert,0.00491721855595,0.881315694052,0.00503900355273,0.870360794052
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128,2.133333333,pose3-to-pose4-insert,0.00491724277955,0.881144595684,0.00503900323461,0.870189695684
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129,2.150000000,pose3-to-pose4-insert,0.00491715229479,0.880957215281,0.005038911361,0.870002296498
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130,2.166666667,pose3-to-pose4-insert,0.0049169015681,0.880768098015,0.00503867008088,0.869813098015
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131,2.183333333,pose3-to-pose4-insert,0.00491663391246,0.880587030591,0.00503840075347,0.869632001873
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132,2.200000000,pose3-to-pose4-insert,0.00491644002035,0.88040270626,0.0050381997243,0.86944760626
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133,2.216666667,pose3-to-pose4-insert,0.00491644972726,0.880211247464,0.00503818666849,0.869256099346
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134,2.233333333,pose3-to-pose4-insert,0.00491623259871,0.880040103045,0.00503795451883,0.869084851045
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135,2.250000000,pose3-to-pose4-insert,0.00491582681683,0.879865184279,0.00503756130282,0.868909946429
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136,2.266666667,pose3-to-pose4-insert,0.00491540978609,0.879698404708,0.00503713429093,0.868743132864
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137,2.283333333,pose3-to-pose4-insert,0.00491510041661,0.879551524749,0.00503682262185,0.868596224749
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138,2.300000000,pose3-to-pose4-insert,0.0049147983513,0.87941620784,0.00503647487884,0.868460762613
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139,2.316666667,pose3-to-pose4-insert,0.00491469568197,0.879283230327,0.00503635926148,0.868327730327
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140,2.333333333,pose3-to-pose4-insert,0.00491488249671,0.879168513291,0.00503656631218,0.868213085658
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141,2.350000000,pose3-to-pose4-insert,0.00491509095332,0.879052258308,0.00503679436283,0.868096858308
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142,2.366666667,pose3-to-pose4-insert,0.00491541242592,0.878943784173,0.00503709724141,0.867988298848
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143,2.383333333,pose3-to-pose4-insert,0.00491564501732,0.878849172068,0.005037312618,0.867893672068
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144,2.400000000,pose3-to-pose4-insert,0.00491567701165,0.878767152063,0.005037369406,0.867811652063
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145,2.416666667,pose3-to-pose4-insert,0.00491607752381,0.878691426475,0.00503778131529,0.867735926475
|
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+
146,2.433333333,pose3-to-pose4-insert,0.0049161536447,0.878629819768,0.00503783118284,0.867674221761
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147,2.450000000,pose3-to-pose4-insert,0.0049163544106,0.878578166542,0.0050380314106,0.867622469741
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148,2.466666667,pose3-to-pose4-insert,0.00491651566094,0.87853301985,0.0050381800157,0.867577417121
|
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149,2.483333333,pose3-to-pose4-insert,0.00491643731184,0.87849616534,0.00503809737431,0.86754056534
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+
150,2.500000000,pose3-to-pose4-insert,0.00491655265618,0.878468195056,0.00503820987865,0.867512595056
|
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151,2.516666667,pose3-to-pose4-insert,0.00491669122096,0.878448468268,0.00503834217553,0.867492868268
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+
152,2.533333333,pose3-to-pose4-insert,0.00491664798651,0.878431748246,0.0050383113734,0.867476082851
|
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+
153,2.550000000,pose3-to-pose4-insert,0.00491670418369,0.878418441316,0.00503835783792,0.867462799136
|
| 156 |
+
154,2.566666667,pose3-to-pose4-insert,0.00491673759855,0.878409096039,0.00503837405906,0.867453496039
|
| 157 |
+
155,2.583333333,pose3-to-pose4-insert,0.00491675392611,0.87840238767,0.00503838302769,0.86744678767
|
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+
156,2.600000000,pose3-to-pose4-insert,0.0049168992732,0.878397579747,0.0050385248509,0.867441979747
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157,2.616666667,pose3-to-pose4-insert,0.00491689910667,0.878394408489,0.00503853297519,0.86743874027
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158,2.633333333,pose3-to-pose4-insert,0.004916655,0.8783932,0.005038286,0.8674375
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159,2.650000000,pose4-hold,0.004916655,0.8783932,0.005038296,0.8674375
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160,2.666666667,pose4-hold,0.004916655,0.8783932,0.00503829320833,0.8674375
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161,2.683333333,pose4-hold,0.004916655,0.8783932,0.00503829233333,0.8674375
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162,2.700000000,pose4-hold,0.004916655,0.8783932,0.00503829,0.8674375
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163,2.716666667,pose4-hold,0.004916655,0.8783932,0.00503829083333,0.8674375
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164,2.733333333,pose4-hold,0.004916655,0.8783932,0.005038286375,0.8674375
|
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165,2.750000000,pose4-hold,0.004916655,0.8783932,0.0050382745,0.8674375
|
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166,2.766666667,pose4-hold,0.004916655,0.8783932,0.00503828108333,0.8674375
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167,2.783333333,pose4-hold,0.004916655,0.8783932,0.005038278,0.8674375
|
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168,2.800000000,pose4-hold,0.004916655,0.8783932,0.00503828225,0.8674375
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169,2.816666667,pose4-hold,0.004916655,0.8783932,0.00503828716667,0.8674375
|
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170,2.833333333,pose4-hold,0.004916655,0.8783932,0.00503828841667,0.8674375
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171,2.850000000,pose4-hold,0.004916655,0.8783932,0.005038286,0.8674375
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172,2.866666667,pose4-hold,0.004916655,0.8783932,0.005038285,0.8674375
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173,2.883333333,pose4-hold,0.004916655,0.8783932,0.00503828683333,0.8674375
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174,2.900000000,pose4-hold,0.004916655,0.8783932,0.005038291125,0.8674375
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175,2.916666667,pose4-hold,0.004916655,0.8783932,0.00503829233333,0.8674375
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176,2.933333333,pose4-hold,0.004916655,0.8783932,0.00503829354167,0.8674375
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177,2.950000000,pose4-hold,0.004916655,0.8783932,0.00503829475,0.8674375
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178,2.966666667,pose4-hold,0.004916655,0.8783932,0.00503828925,0.8674375
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179,2.983333333,pose4-hold,0.004916655,0.8783932,0.005038293,0.8674375
|
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180,3.000000000,pose4-hold,0.004916655,0.8783932,0.00503829175,0.8674375
|
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181,3.016666667,pose4-hold,0.004916655,0.8783932,0.00503829391667,0.8674375
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182,3.033333333,pose4-hold,0.004916655,0.8783932,0.00503829020833,0.8674375
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183,3.050000000,pose4-hold,0.004916655,0.8783932,0.005038291,0.8674375
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184,3.066666667,pose4-to-pose5-return,0.004916727,0.8783932,0.005038377,0.8674375
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185,3.083333333,pose4-to-pose5-return,0.00491667870696,0.878393266334,0.00503833593307,0.867437566334
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186,3.100000000,pose4-to-pose5-return,0.00491654206539,0.878393439663,0.00503819726931,0.867437739663
|
| 189 |
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187,3.116666667,pose4-to-pose5-return,0.00491635705079,0.878393674354,0.00503800951666,0.867437974354
|
| 190 |
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188,3.133333333,pose4-to-pose5-return,0.00491600825176,0.878393980324,0.0050376595523,0.867438310378
|
| 191 |
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189,3.150000000,pose4-to-pose5-return,0.00491571722129,0.878394190454,0.00503736887205,0.86743855553
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190,3.166666667,pose4-to-pose5-return,0.00491566742947,0.878394226405,0.00503731914015,0.867438597472
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191,3.183333333,pose4-to-pose5-return,0.00491531544751,0.878394520017,0.00503696826868,0.867438920017
|
| 194 |
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192,3.200000000,pose4-to-pose5-return,0.00491464688555,0.878395239308,0.00503630462818,0.867439639308
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193,3.216666667,pose4-to-pose5-return,0.00491430296314,0.878395609326,0.00503596323747,0.867440009326
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194,3.233333333,pose4-to-pose5-return,0.00491403212395,0.878395900716,0.00503569439201,0.867440300716
|
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195,3.250000000,pose4-to-pose5-return,0.00491359883029,0.878396369077,0.00503526292514,0.867440769077
|
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196,3.266666667,pose4-to-pose5-return,0.00491225419356,0.878397863118,0.00503389871132,0.867442263118
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| 199 |
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197,3.283333333,pose4-to-pose5-return,0.0049097948688,0.878400514747,0.00503141666459,0.867444887356
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198,3.300000000,pose4-to-pose5-return,0.00490560586477,0.878404854553,0.00502720866314,0.867449154553
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199,3.316666667,pose4-to-pose5-return,0.00489645242452,0.878414051604,0.00501799535608,0.867458351604
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