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0000000000000000000000000000000000000000..b86139d7bd4807b827aba91f51a7debcca689362 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92d0f35b160ef9796c64f13c26be5aa12e4e6a4d40b280e33b2da56ab1d64e17 +size 25822664 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..3ea65bf2d7f3161a4f75564ae8fd2df5ab1b4b5c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_03/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+67,1.116666667,BASELINE,765,745,714,678.121747674,664,635,879,787,804,652.121747674,631,652,0.400984820257,0.00457991214586,0.0498562828749,0.999999963066,0.000100409977516,-0.000250297799526,-3.3720570143e-05,1793242183774594560 +68,1.133333333,BASELINE,765,745,714,678,664.459780027,635,879,787,804,652.459780027,631,652,0.400985354941,0.00458023739942,0.0498568575986,0.999999963154,0.000100380985671,-0.000249921359437,-3.39724155611e-05,1793242183791261184 +69,1.150000000,BASELINE,765,745,713.960866659,678,664.960866659,634.960866659,878.960866659,787,804,653,631,652,0.400986201578,0.00458052341041,0.0498575356446,0.999999963221,0.000100779786033,-0.000249461447065,-3.41995270577e-05,1793242183807928064 +70,1.166666667,BASELINE,765,745,713.384917779,678,664.384917779,634.384917779,878.384917779,787,804,653,631,652,0.400986094269,0.00458027404893,0.0498571431026,0.999999963051,0.000100812641911,-0.000250151932931,-3.4032301397e-05,1793242183824594688 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+79,1.316666667,BASELINE,765,745,714,678,664,635,879,787.843188285,805,652,631,652,0.400985476774,0.00457863731056,0.0498567271747,0.999999962962,0.000101144599117,-0.000250433484004,-3.36067494475e-05,1793242183974594816 +80,1.333333333,BASELINE,765,745,713.574882489,678,664,635,879,788,805,652,631,652,0.400984969454,0.00458001213821,0.0498566744666,0.999999962734,0.000102413196221,-0.000250800075524,-3.38030777844e-05,1793242183991261440 +81,1.350000000,BASELINE,765,745,713.004836549,678,664.004836549,635,879,787.995163451,804.995163451,652,631,652,0.400984731911,0.00458192695997,0.0498569159503,0.999999962682,0.000103074036286,-0.000250695710036,-3.41071364731e-05,1793242184007928064 +82,1.366666667,BASELINE,765,745,713.57931955,678,664.57931955,635,879,787.42068045,804.42068045,652,631,652,0.400985311339,0.00458146801111,0.0498572644003,0.999999962875,0.000102689340302,-0.000250096848976,-3.40130625902e-05,1793242184024595712 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sha256:63ca9ac800693e8c85e94ed38af4059ebfa6bb3056c56c1c92006107746f9a34 +size 25968443 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..925da09d14a46d5dc12f8b4613a566a2085f8aa5 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_10/depth_04/franka_data.csv @@ -0,0 +1,410 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,746,714,678,664,635,879,787,804,653,631,652,0.400993852064,0.00458242389463,0.0498592015559,0.999999963506,0.000109803942214,-0.000244558241146,-3.34916087464e-05,1793242189610384128 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0000000000000000000000000000000000000000..db3b78b4a7cdfa779b51011e5dcb55985c6d4f4a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f67410a22dbbc809a9061c31b860b0eae5c3af70c2c3e549516cdba3f290d03d +size 25609307 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..7da09d7d525c6eb9d501afc5d1a0973c3529bf73 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_01/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:964ff9bb10efc701fe8cfdfcfe9bd503dd61859c6b5e2278702bd473c15765a8 +size 25607187 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..0800345fdca17910a7b069d1cb90ec26b7711de0 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_02/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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sha256:aa1183103ce4d2d99cd196554f5303cfbba9cbf4b55288f189b3dfeedfcf208e +size 25735458 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2e0a7a9f5cdd2dab483847692f285b747f85f17b --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_04/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,745,714,679,661,634,879,787,804,652,631,652,0.400981644603,0.00449684166276,0.0698383650452,0.999999965283,4.5851965416e-05,-0.000258699169114,2.01469014036e-05,1793242225883634432 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0000000000000000000000000000000000000000..1693c530a3c0d4093ea8a497031206c05c52ddee --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5826e6e43defb80d6ed0c2f9121f745b3b75d446027dbfb3b2b6f96cf8ff8501 +size 25935678 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9c03e50bbc087d75460c659d68d1e0a95988c7fa --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_11/depth_05/franka_data.csv @@ -0,0 +1,411 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..a10b249ea105e028d5300d1fa5932bfd29c6c03c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebc9c50b97943e02eff4df0bfb9fa5f8b864cfa660d9d6a613c6244cbc255b65 +size 25714219 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..cefe852e6770a1489cd9dedca7c7a7557fa1920a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_01/franka_data.csv @@ -0,0 +1,406 @@ 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+68,1.133333333,BASELINE,765,745,714,679.550938119,659,635,878.550938119,787,804.550938119,651.550938119,631,652,0.400969014988,0.00447864755479,0.0798372735053,0.999999955486,0.000102095965529,-0.000275261724302,5.32476587141e-05,1793242249046232576 +69,1.150000000,BASELINE,765,745,714,679,659,635,878,787,804,651.040265348,631,652,0.400968881455,0.0044801997236,0.0798375337215,0.999999955473,0.000104294040008,-0.000274526808581,5.30306688571e-05,1793242249062899200 +70,1.166666667,BASELINE,765,745,714,679,659,635,878,787,804,651.617916034,631,652,0.400969620888,0.00448028466757,0.0798381369122,0.99999995587,0.000103491681473,-0.000273350218823,5.31918668751e-05,1793242249079566080 +71,1.183333333,BASELINE,765,745,714,679,659,635,878,787,804,652,631,652,0.400970150134,0.00448088476112,0.0798383596491,0.999999955968,0.00010428609156,-0.000272678234283,5.32404487466e-05,1793242249096232704 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diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_02/simulation_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..aa6bbe3e3d3bab1d70fbb0c31c94a3c73f087bf4 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_02/simulation_data.csv @@ -0,0 +1,406 @@ +frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m +0,0.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788 +1,0.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788 +2,0.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788 +3,0.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788 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b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..8d108779eb4aed6df5e27799b8fcf21ed13bf957 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46e52aa92e1c24f897b397acfad99d32ae45ca9b8ad7542993349d72b018e5f3 +size 25827122 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5b032d4c5929540850cf293a1ceb0df75d3cb6ec --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_03/franka_data.csv @@ -0,0 +1,408 @@ 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+42,0.700000000,BASELINE,765,744.621204108,714,680,658.621204108,635,878,786.621204108,804,651.378795892,631,652,0.40097355713,0.00447956198788,0.0798422684912,0.999999956788,0.000104178641467,-0.000269742006759,5.30175573262e-05,1793242255563699968 +43,0.716666667,BASELINE,765,744.045078455,714,680,658.045078455,635,878,786.045078455,804,651.954921545,631,652,0.400971971923,0.00448022957283,0.0798418018801,0.99999995606,0.000106092774734,-0.000271701403536,5.2945779812e-05,1793242255580366848 +44,0.733333333,BASELINE,765,744.531390734,714,679.468609266,658.531390734,635,878,786.531390734,804,652,631,652,0.4009731247,0.0044798633183,0.0798421148743,0.999999956509,0.000105083485137,-0.00027044609762,5.28961464924e-05,1793242255597033728 +45,0.750000000,BASELINE,765,745,714,679.110247927,659,635,878,787,804,651.889752073,631,652,0.400974095829,0.00447932521574,0.0798422380803,0.999999956915,0.000103601216001,-0.000269531340922,5.28164496359e-05,1793242255613700352 +46,0.766666667,BASELINE,765,745,714,679.699350426,659,635,878,787,804,651.300649574,631,652,0.400973268493,0.00447842187583,0.0798412495156,0.999999956705,0.00010114244793,-0.000271280987542,5.25980093214e-05,1793242255630366976 +47,0.783333333,BASELINE,765,745,714,680,659,634.716213391,878,787,804.283786609,651.283786609,631,652,0.40097336146,0.00447888406784,0.0798409883778,0.999999956712,0.000100924524716,-0.000271333596096,5.26112064347e-05,1793242255647033600 +48,0.800000000,BASELINE,765,745,714,680,659,634.13664076,878,787,804.86335924,651.86335924,631,652,0.400974413642,0.00448076953076,0.0798414854248,0.999999956947,0.000103042196209,-0.000269617410549,5.2865835327e-05,1793242255663699968 +49,0.816666667,BASELINE,765.440492368,745,714,679.559507632,659,634.440492368,878,787,804.559507632,652,631,652,0.400974290744,0.00448040478391,0.0798414422871,0.99999995689,0.000102331229834,-0.000270123408788,5.27447660706e-05,1793242255680366848 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+58,0.966666667,BASELINE,765,745,714,680,659.663112023,635,878,787,804.326224045,652,631,651.663112023,0.400974127519,0.00447950197011,0.0798419538976,0.999999957175,0.000103276652341,-0.000268752353629,5.24969743569e-05,1793242255830366976 +59,0.983333333,BASELINE,765,745,714,680,659.750539795,635,878.249460205,787,804.750539795,652,631,652,0.400974437434,0.00447980903824,0.0798416948125,0.999999957126,0.000104055936984,-0.000268661757408,5.23477169094e-05,1793242255847033344 +60,1.000000000,BASELINE,765,745,714,680,659.17141386,635,878.82858614,787,804.17141386,652,631,652,0.40097402038,0.00447841213102,0.0798409952355,0.999999956981,0.000101739595361,-0.000270009883452,5.27433979806e-05,1793242255863699968 +61,1.016666667,BASELINE,765,745.402499787,714,680,659,635,878.597500213,786.597500213,804.402499787,652,631,651.597500213,0.400973593523,0.00447849691668,0.0798408102567,0.999999956834,0.000101653809848,-0.000270588909435,5.2729723323e-05,1793242255880366592 +62,1.033333333,BASELINE,765,745.974222005,714,680,659,635,878.025777995,786.025777995,804.974222005,652,631,651.025777995,0.400973162545,0.00447920464852,0.0798408416298,0.999999956687,0.000102505814107,-0.000270844583658,5.25439437766e-05,1793242255897033216 +63,1.050000000,BASELINE,765,745.447209502,714.552790498,679.447209502,658.447209502,635,878,786.552790498,804.447209502,651.447209502,631,651.552790498,0.400972260084,0.00447910025032,0.0798403940358,0.999999956436,0.000103023348793,-0.00027151470773,5.28640843991e-05,1793242255913699840 +64,1.066666667,BASELINE,765,745,714.865364488,679.134635512,658.134635512,635,877.865364488,787,804,651.134635512,631.134635512,652,0.400971771233,0.00447897899685,0.0798402818612,0.999999956351,0.000103115992357,-0.000271753765351,5.30598730986e-05,1793242255930366464 +65,1.083333333,BASELINE,765,745,714.273489871,679.726510129,658.726510129,635,877.273489871,787,804,651.726510129,631.726510129,652,0.40097276266,0.00447893073054,0.0798413856178,0.99999995685,0.000101819286425,-0.000270462407717,5.27522198146e-05,1793242255947033344 +66,1.100000000,BASELINE,765,745,714,680,659,635,877.622111507,787,804,651.688944247,631.688944247,652,0.400973258225,0.00447932906809,0.0798419159318,0.999999956957,0.000102784851612,-0.000269723878192,5.26380659394e-05,1793242255963699712 +67,1.116666667,BASELINE,765,745,714,680,659,635,878.778611607,787,804,651.110694197,631.110694197,652,0.400973327849,0.00448011103464,0.0798419536634,0.999999956722,0.000105693688881,-0.000269460223461,5.26901264573e-05,1793242255980366080 +68,1.133333333,BASELINE,765,745,714.462516226,679.537483774,659,635,878.537483774,787,804,651.462516226,631,652,0.400973863611,0.00447920851193,0.0798422151497,0.999999956939,0.00010470704645,-0.00026906572103,5.25539366093e-05,1793242255997033216 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+73,1.216666667,BASELINE,765,745,714,680,659,635,878,787,804,651.630418743,631,652,0.40097521677,0.00447895804331,0.0798432917899,0.999999957324,0.000104115507385,-0.000267702165464,5.33679793519e-05,1793242256080366336 +74,1.233333333,BASELINE,765,745,714,680,659,635,878,787,804,651.057203814,631,652,0.400974724978,0.00447802077149,0.0798428718291,0.999999957083,0.00010490200122,-0.00026818997605,5.38853493707e-05,1793242256097032960 +75,1.250000000,BASELINE,765,745,714.521026055,679.478973945,659,635,878,787,804,651.521026055,631.521026055,652,0.400973434445,0.00447979663492,0.0798416410767,0.999999956579,0.000105269027697,-0.000270056684374,5.31917087856e-05,1793242256113699328 +76,1.266666667,BASELINE,765,745,714.898585287,679.101414713,659,635,878.101414713,787,804.101414713,652,631.898585287,652,0.400972342514,0.00448131477149,0.0798407103139,0.999999956204,0.000105399839724,-0.000271518510472,5.25461173609e-05,1793242256130366208 +77,1.283333333,BASELINE,765,745,714.310504972,679.689495028,659,635,878.689495028,787,804.689495028,652,631.310504972,652,0.400972628545,0.00448015280209,0.0798416504562,0.999999956603,0.000104620261997,-0.000270303854415,5.27753365777e-05,1793242256147033600 +78,1.300000000,BASELINE,765,745,714,680,659,635,879,787,804.726832006,652,631,652,0.400973496958,0.00447937053185,0.0798422474975,0.999999957016,0.000103639257299,-0.000269135736705,5.28569453141e-05,1793242256163700736 +79,1.316666667,BASELINE,765,745,714,680,659,635,879,787,804.148089286,652,631,652,0.400975016842,0.00447901300568,0.0798424607346,0.999999957444,0.000102432929799,-0.000268019678406,5.27734320839e-05,1793242256180367104 +80,1.333333333,BASELINE,765,745,714,680,659,635,878.571462913,787,804,652,631,652,0.400975610069,0.00447872572482,0.0798431170391,0.999999957628,0.00010219409736,-0.000267391486047,5.2933187169e-05,1793242256197033472 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0000000000000000000000000000000000000000..54f1ccfd3bcc501805927e3617df0a4122a99a16 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:453c88dd906d88e1e852e501a28245627a9d217654203d8a5a451dc31ec9e194 +size 25902332 diff --git a/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..81c04d9759c44c998ba88c63d874719c65224b09 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_15/position_12/depth_04/franka_data.csv @@ -0,0 +1,409 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+24,0.400000000,BASELINE,766,744.928053485,714,680,658.928053485,635,878.928053485,786.928053485,804,651.071946515,631,652,0.400971207016,0.00448155664854,0.0798401123671,0.999999955139,0.000108138232216,-0.000274514152661,5.16692689544e-05,1793242262242780416 +25,0.416666667,BASELINE,765.491243688,745,714,680,658.491243688,634.491243688,878.491243688,786.491243688,804,651,631,652,0.400972277084,0.00448164325569,0.0798408289308,0.999999955298,0.000108860238932,-0.000273647265684,5.16742609089e-05,1793242262259446784 +26,0.433333333,BASELINE,765,745,714,680,658,634.087140519,878,786.087140519,804,651.087140519,631,652,0.400973423371,0.00448158319734,0.0798415913524,0.999999955512,0.000109273381251,-0.000272693143712,5.17052698047e-05,1793242262276113664 +27,0.450000000,BASELINE,765,745,714,680,658,634.662669194,878,786.662669194,804,651.662669194,631,652,0.400973620418,0.00448097270079,0.0798420409261,0.9999999559,0.000107073337397,-0.000272167274491,5.15682676315e-05,1793242262292780288 +28,0.466666667,BASELINE,765,745,714.243175304,680,658.243175304,635,878,787,804,651.756824696,631,651.756824696,0.400973537337,0.00448083807073,0.0798417493095,0.999999955979,0.000106334155447,-0.000272176076032,5.15200540079e-05,1793242262309446912 +29,0.483333333,BASELINE,765,745,714.830730318,680,658.830730318,635,878,787,804,651.169269682,631,651.169269682,0.400973057546,0.00448137735273,0.0798404080347,0.999999955624,0.000107663815276,-0.000272942067002,5.15975808531e-05,1793242262326113792 +30,0.500000000,BASELINE,765,745,715,679.587260918,659,634.587260918,878,787,804,651.412739082,631,651.412739082,0.400973043776,0.00448272636557,0.0798404323534,0.99999995543,0.000109550756089,-0.000272904904768,5.15835315065e-05,1793242262342780416 +31,0.516666667,BASELINE,765,745,715,679.007496596,659,634.007496596,878,787,804,651.992503404,631,651.992503404,0.400973218593,0.00448440305631,0.0798410092939,0.999999955298,0.00011166321462,-0.000272542726393,5.1532423551e-05,1793242262359447040 +32,0.533333333,BASELINE,765,744.431575534,714.431575534,679.568424466,658.431575534,634,878,787,803.431575534,651.431575534,631.568424466,652,0.40097157054,0.00448265718053,0.0798402191038,0.999999954785,0.000110797046628,-0.000274740727546,5.16784336399e-05,1793242262376113664 +33,0.550000000,BASELINE,765,744.14428238,714,680,658.14428238,634,878,787,803.14428238,651,631.85571762,652,0.400970593622,0.00448132521448,0.0798397420249,0.999999954541,0.000109816118641,-0.000275999724636,5.17875980343e-05,1793242262392780288 +34,0.566666667,BASELINE,765,744.720101899,714,680,658.720101899,634,878,787,803.720101899,651,631.279898101,652,0.400971695438,0.0044813653177,0.0798402550017,0.999999955128,0.000108608656801,-0.00027434992569,5.17788366773e-05,1793242262409446912 +35,0.583333333,BASELINE,765,745,714,680,659,634.299830521,878.299830521,787,804,651.299830521,631,652,0.400972420695,0.00448182977897,0.079840738159,0.999999955472,0.00010849785431,-0.000273136316634,5.17818686777e-05,1793242262426113536 +36,0.600000000,BASELINE,765,745,714,680,659,634.883256645,878.883256645,787,804,651.883256645,631,652,0.400972789784,0.00448269562061,0.0798411931116,0.999999955588,0.000109424330238,-0.000272335278908,5.17960554597e-05,1793242262442780160 +37,0.616666667,BASELINE,765,745,714.468035682,679.531964318,659,635,878.531964318,787,804,651.531964318,631,652,0.400972377776,0.00448277006825,0.0798413103598,0.999999955518,0.000109501536934,-0.000272573627311,5.17386984959e-05,1793242262459446784 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+42,0.700000000,BASELINE,765,744.360767875,714.360767875,679.360767875,659,634.360767875,878,787,804.639232125,651,631,652,0.400972462689,0.00448193607935,0.0798416375892,0.999999956156,0.00010442159938,-0.000272280187388,5.14480527622e-05,1793242262542780416 +43,0.716666667,BASELINE,765,744.95208435,714.95208435,679.95208435,659,634.95208435,878,787,804.04791565,651,631,652,0.400973359854,0.00448114100444,0.0798420570876,0.999999956401,0.000104963892752,-0.000271134445742,5.16322625899e-05,1793242262559447040 +44,0.733333333,BASELINE,765,745,714.467973629,679.467973629,659,634.467973629,878,787,804,651.532026371,631,652,0.400972669767,0.0044804502526,0.0798417319254,0.999999956194,0.000104838526272,-0.000271900142755,5.18714687026e-05,1793242262576113664 +45,0.750000000,BASELINE,765,745,714.11058733,679,658.88941267,634.11058733,878,787,804,651.88941267,631,652,0.400972080902,0.0044799534697,0.0798413937025,0.999999956002,0.000104656320149,-0.000272644953834,5.20278258702e-05,1793242262592780032 +46,0.766666667,BASELINE,765,745,714.687553595,679,658.312446405,634.687553595,878,787,804,651.312446405,631,652,0.400972509173,0.00448023591583,0.0798412773156,0.999999956046,0.000104482687164,-0.000272590876721,5.18143334257e-05,1793242262609446656 +47,0.783333333,BASELINE,765,745,714.737159731,679.262840269,658.262840269,635,878,787,804,651.262840269,631,652,0.400972737939,0.00448084326266,0.0798412174609,0.999999956027,0.000104833543888,-0.000272557598632,5.16557061214e-05,1793242262626113280 +48,0.800000000,BASELINE,765,745,714.163856887,679.836143113,658.836143113,635,878,787,804,651.836143113,631,652,0.400972731052,0.00448183437686,0.079841224381,0.999999955932,0.000105803919149,-0.000272548887999,5.15618845848e-05,1793242262642779904 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b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..2ea568dc5d7d2f9ca71939b6062ea92e1467b2a9 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09f0b5f50afedd145536dca75ab34fb14b79b2b091125899ebaa8a1ec9ca85aa +size 25472860 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..12570a6ff7247b0868a270bfe8055c5035a4e7ab --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_01/franka_data.csv @@ -0,0 +1,402 @@ 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sha256:caf0d5ac259c0287a0768443dfcef359002edd0e8d85ab3de4490098d44bb22c +size 25610200 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..f3798a65b984aa1c67d5ee673f9ba78db52b96c3 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_02/franka_data.csv @@ -0,0 +1,404 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,743,712,674,661,634,877,784,800,649,630,650,0.400955019618,-0.00538647077365,0.0598389373411,0.999999938845,0.000221781228112,-0.000269673435579,1.99657886568e-05,1793195358084152064 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0000000000000000000000000000000000000000..b560237f1df8237ec5ab82e522e6ea9745605675 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8145fb9a23ce93d4be9a9f78272f24a07ab8310e28ca4a8ec50bc5ab5075f5c7 +size 25849753 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..04b06c1c3d6736ff838b7ce9fbb2d2d32fd58956 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_03/franka_data.csv @@ -0,0 +1,408 @@ 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+34,0.566666667,BASELINE,764.145780605,742.854219395,712,673.145780605,661,633.854219395,877,784.145780605,800.145780605,650,629.145780605,651,0.400953968487,-0.00538236991111,0.0598390240268,0.9999999375,0.00022862244547,-0.00026907810649,1.81362320357e-05,1793195365546924032 +35,0.583333333,BASELINE,764,743,712,673,661.434887625,633.565112375,877,784,800.434887625,649.565112375,629,651,0.400954443913,-0.0053834185751,0.0598394807848,0.999999937851,0.000227437054297,-0.000268764368726,1.83363799656e-05,1793195365563590656 +36,0.600000000,BASELINE,764,743,712,673,661.988496775,633,877,784,800.988496775,649,629,651,0.400955310196,-0.00538515789869,0.0598401398606,0.999999938383,0.000225834987485,-0.000268108086164,1.87195079048e-05,1793195365580257024 +37,0.616666667,BASELINE,764,743,712,673,661.413505725,633,877,784,800.413505725,649,629,651,0.400955003571,-0.00538303188134,0.0598397638581,0.999999937837,0.000227659961397,-0.000268647118048,1.80643077217e-05,1793195365596923904 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sha256:1986160970d0d6c78f1618b5d2e4496efc77352dff7fd198bb481521a3372e19 +size 25868189 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d1b5c2493f66c99c3e88f65c728ad3e2530fca95 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_04/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,743,712,673,661,634,877,785,800,649,629,651,0.400955487987,-0.00538812704215,0.0598388660679,0.999999939053,0.00022150928926,-0.000269347718041,1.67013071225e-05,1793195371926917888 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..3d425474f408346681dfdfc67272ce3a0632878a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0edc2ff067d051d425854f07ea7da3660815f0f7e17fba76fc0e9b4a2646c4aa +size 25862269 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..dc20bbef381d6cfbfe8f57a6954941c477bcc5b7 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_01/depth_05/franka_data.csv @@ -0,0 +1,408 @@ 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_02/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..880d8578dc5acddf0520d3db8f5627084f6f8f78 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_02/depth_04/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,743,712,673,664,633,877,785,801,650,629,651,0.400978933341,-0.00541879406604,0.0498518102518,0.999999955009,0.000145410300562,-0.00025807261656,-4.72982242779e-05,1793195407685754880 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+41,0.683333333,BASELINE,764,743,711,674,663.145061092,633.854938908,876.854938908,785,800.854938908,650,629.854938908,651,0.400978919831,-0.00541954080561,0.0498527594611,0.999999955619,0.00014590699532,-0.00025551056309,-4.67600646028e-05,1793195408369088768 +42,0.700000000,BASELINE,764.429747632,743,711,674,663.429747632,634,877,785,800.570252368,650,629.570252368,651,0.400979234842,-0.00541997567189,0.0498530322613,0.999999955784,0.000145495236437,-0.000255094690023,-4.67980002213e-05,1793195408385755392 +43,0.716666667,BASELINE,764.99697622,742.99697622,711.00302378,673.99697622,663.99697622,634,877,785,800,650,629,651,0.400979508018,-0.00542059932285,0.0498534253604,0.999999956012,0.000144760741233,-0.000254603684268,-4.68712789118e-05,1793195408402421504 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..59dfc2d9640bdbd9d883a5a446cf57a5d2905d35 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e855a9de405b333d060261b5d80949d1ba5adb6818b63da91f0b417ddb04c64 +size 25553064 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..f851d54026c62194e56cff68b2f0b4bfec00f2ee --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_01/franka_data.csv @@ -0,0 +1,404 @@ 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+78,1.300000000,BASELINE,764,743,712,674,659.329589652,633.329589652,877,784.670410348,800.329589652,649.329589652,629,650,0.401003222359,-0.00551206173439,0.0698432513693,0.999999981905,6.25425430167e-05,-0.000178303612149,2.20326323732e-05,1793195424351651584 +79,1.316666667,BASELINE,764,743,712,674,659.905506967,633.905506967,877,784.094493033,800.905506967,649.905506967,629,650,0.401002834054,-0.00551209746378,0.0698426024202,0.999999981832,6.20213282273e-05,-0.000178897170906,2.2025449098e-05,1793195424368318464 +80,1.333333333,BASELINE,764,743,712,673.520789691,659.520789691,633.520789691,877,784.479210309,801,649.520789691,629,650,0.401004253815,-0.00551216155596,0.0698437974589,0.99999998219,6.29068016641e-05,-0.000176550796334,2.22149721806e-05,1793195424384985088 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0000000000000000000000000000000000000000..f28fa50e997d6cc453336c1b82c7d8a697672e98 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df6b6f85d11457e3d6b87e30836744e298544d23df050abc07143ba2e41d16a5 +size 25538633 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..fdd3e3b66459157110ce4ae3e7d00b07711874e5 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_02/franka_data.csv @@ -0,0 +1,404 @@ 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0000000000000000000000000000000000000000..37198eaece1de308f817f6ada4be686feec460dc --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8e8071d14516d3de71dc4f19bdd78811c91b561eda316348e2d1567dd17da0d +size 25539583 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..039f936e8d0b0412526f4155da87c2ee0c5d841d --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_03/franka_data.csv @@ -0,0 +1,404 @@ 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0000000000000000000000000000000000000000..c36cbf870e8790d06038bc051b04780945b5efd1 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52451e154ea4f6cda13f6b273de9c4dc262e0434064d0edfa81432465ac9d1d1 +size 25672852 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..edd7a9c93ebfd2d36d5dec265d9632e665ddfa63 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_03/depth_04/franka_data.csv @@ -0,0 +1,406 @@ 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0000000000000000000000000000000000000000..8e70338f1eaa942170d6a468380f8363a58f1174 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02e349449f01d2f56d5cbe6ad381c5ed7328593b3fd8ff42c9d2ccedf1d9d9d5 +size 25523634 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..3162a2bc74747cf1834f0bc0f892b1479b8cac34 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_01/franka_data.csv @@ -0,0 +1,404 @@ 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..f684de64c96236b501ac7d848a122874b08a2698 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_04/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,742,712,674,659,633,877,784,800,648,629,650,0.400969415636,-0.00548111803449,0.0798352923437,0.999999953449,0.000118165106583,-0.000278684117238,3.84023481933e-05,1793195479683568896 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0000000000000000000000000000000000000000..168114572b95ba4d3211b093ec3a5dcddce9f8e1 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5eca29667d344fc87136e80ade029e9e72a8f07c384b16b6a244c25c35fe85eb +size 25907485 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..da5b659084fb9ea08799c488d3d40a7601e424bc --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_04/depth_05/franka_data.csv @@ -0,0 +1,410 @@ 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..31384f024047e8844d9b19769f3209422961770c --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:428d946877811a92b549b400ba213f1be8ef3d729ba7a3df578bc1078359eb24 +size 25548817 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..df4983a635cdadf40df33ff680109dee9ce26830 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_01/franka_data.csv @@ -0,0 +1,402 @@ 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..3c5140c3912f10e0d77b12209f863f25ff6f6c4a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32fc5b6aedaa6377cf0f66a900d8e169858d31f602949a4c20de6ba8846b890f +size 25801677 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5536c37c9241ff619031cd8f4d3eee34c71afd1b --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_03/franka_data.csv @@ -0,0 +1,406 @@ 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..32b9898f18a8624ef54dfcfcfac9bf6e9bc1d01d --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7050f42225603f22becb2b24e003a8f3dfeba308054f6a6046c0b054a55db16 +size 35982361 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..3ea8f07d2326ad6d9ede90d696636bce612a8071 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_05/depth_05/franka_data.csv @@ -0,0 +1,565 @@ 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+76,1.266666667,BASELINE,765,742.095743474,712,673.095743474,659.095743474,633.904256526,877,784.904256526,800,649.904256526,629,650.904256526,0.400970205953,-0.0153941756233,0.0598463721477,0.999999950391,0.000182961051152,-0.000256121613059,1.20026534887e-05,1793195524114881792 +77,1.283333333,BASELINE,765,742.684437892,712,673.684437892,659.684437892,633.315562108,877,784.315562108,800,649.315562108,629,650.315562108,0.40096874356,-0.0153930513637,0.0598456919851,0.999999950003,0.000183263373405,-0.000257426594571,1.17936849704e-05,1793195524131548672 +78,1.300000000,BASELINE,765,742.731233436,712,673.731233436,660,633.268766564,877,784,800.268766564,649,629,650,0.400967880596,-0.0153922581576,0.059845061148,0.999999949708,0.000183752616106,-0.000258226332196,1.17696122888e-05,1793195524148215296 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+82,1.366666667,BASELINE,764.571510837,742.428489163,712,673,660,633,876.571510837,785,800,649,629,650,0.400969440761,-0.0153930436883,0.0598460498804,0.999999949968,0.00018495046896,-0.000256329746103,1.23401159268e-05,1793195524214882560 +83,1.383333333,BASELINE,764.851582978,742.148417022,712,673,660,633.148417022,876.851582978,784.851582978,800,649,629.148417022,650,0.400968820441,-0.0153935865365,0.0598461112797,0.999999950104,0.000184096665759,-0.000256415922524,1.23263823325e-05,1793195524231548928 +84,1.400000000,BASELINE,764.256236475,742.743763525,712,673,660,633.743763525,876.256236475,784.256236475,800,649,629.743763525,650,0.400970367535,-0.0153939223856,0.0598465718349,0.999999950706,0.000183295350037,-0.000254638642072,1.22427020471e-05,1793195524248215552 +85,1.416666667,BASELINE,764.329798005,742.670201995,712,673,660,634,876,784,800.329798005,649,629.670201995,650,0.400971075031,-0.0153936475495,0.0598466151205,0.999999950731,0.000183473583837,-0.000254420008733,1.20881094693e-05,1793195524264881920 +86,1.433333333,BASELINE,764.908796151,742.091203849,712,673,660,634,876,784,800.908796151,649,629.091203849,650,0.400971148114,-0.0153929112707,0.0598463431112,0.99999995032,0.000184391979464,-0.000255379111788,1.18799345434e-05,1793195524281548800 +87,1.450000000,BASELINE,764.515373206,742.484626794,711.515373206,673,660,634,876.484626794,784.484626794,800.515373206,649,629,650.484626794,0.400970664342,-0.0153928499001,0.0598468050488,0.999999950486,0.000183606282644,-0.000255292469825,1.19732515833e-05,1793195524298215424 +88,1.466666667,BASELINE,764,742.93892958,711.06107042,673.06107042,659.93892958,634,877,784.93892958,800,649,629,651,0.400970140045,-0.015393052411,0.0598472812205,0.99999995074,0.000182508837987,-0.000255075922931,1.2111642016e-05,1793195524314881792 +89,1.483333333,BASELINE,764,742.352110352,711.647889648,673.647889648,659.352110352,634,877,784.352110352,800,649,629,651,0.40097016319,-0.0153944403032,0.0598466985565,0.99999995084,0.000181470533352,-0.000255424292146,1.21527765056e-05,1793195524331548672 +90,1.500000000,BASELINE,764,742.23295121,712,673.76704879,659.23295121,634,876.76704879,784,800,649,629,651,0.400970146245,-0.0153954984063,0.0598464481731,0.999999950936,0.000180850863091,-0.000255481090667,1.22419133113e-05,1793195524348215552 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..39bd41703b0ff99a0a08864568c3db1b9829eb2d --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_01/franka_data.csv @@ -0,0 +1,401 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,742,711,674,662,633,876,785,801,650,629,651,0.400929062705,-0.0154533742121,0.0499246130255,0.999999973852,-1.67012267477e-05,-0.000224554928559,-3.98915275596e-05,1793195533646723840 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0000000000000000000000000000000000000000..726c2cc37bc88f1e60770189850b172baf0e0ff0 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:521652375abf85329e20ee2db03cda567e5b4ec748886c2a5e43d47632cbf89d +size 25597476 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..4eef0f5937e492b431f538e005f2fa04723d1096 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_04/franka_data.csv @@ -0,0 +1,404 @@ 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ccce641a3b3f302dfdb624b828558a03a0645130 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_06/depth_05/franka_data.csv @@ -0,0 +1,407 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,742,712,672,660,634,876,785,799,649,629,651,0.400965234568,-0.0154127638494,0.0498468103147,0.999999960029,-3.92993682044e-05,-0.00027464787509,-5.44632524675e-05,1793195561217321472 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+39,0.650000000,BASELINE,764,742,712,673,659,633.648561297,877,784.648561297,801,649,629.648561297,650,0.400985269301,-0.0155059194283,0.0698311150785,0.999999978107,6.61316332112e-05,-0.000197804153161,1.69058413043e-05,1793195570311189504 +40,0.666666667,BASELINE,764,742,712,672.771888419,659,633.771888419,877,784.771888419,800.771888419,649,629.771888419,650,0.400984862539,-0.0155066684381,0.0698310181251,0.999999978076,6.47234528868e-05,-0.000198425316382,1.69366860511e-05,1793195570327856384 +41,0.683333333,BASELINE,764,742,712,672.193295133,659,633.193295133,877,784.193295133,800.193295133,649,629.193295133,650,0.400982878158,-0.0155053895242,0.0698295009458,0.999999977564,6.58449555602e-05,-0.000200665002311,1.64147055708e-05,1793195570344523008 +42,0.700000000,BASELINE,763.618088089,742.381911911,712,672,659,633.381911911,877,784,800,649,629,650,0.400983503099,-0.0155053663421,0.0698296515753,0.999999977687,6.63438371309e-05,-0.000199883381457,1.64800448394e-05,1793195570361189632 +43,0.716666667,BASELINE,763.04457986,742.95542014,712,672,659,633.95542014,877,784,800,649,629,650,0.400985437076,-0.0155059731315,0.0698306389056,0.999999978125,6.65303641504e-05,-0.000197586041236,1.68400287734e-05,1793195570377856256 +44,0.733333333,BASELINE,763.543578805,742.456421195,712,672,659,634,877,784,800,649,629,650,0.400983973182,-0.0155055190248,0.0698298321491,0.999999977927,6.52007884078e-05,-0.000199047853105,1.66063428853e-05,1793195570394522880 +45,0.750000000,BASELINE,764,742,712,672.130759354,659,633.869240646,877,784.130759354,800,649,629,650.130759354,0.400983123517,-0.0155050008775,0.0698294687795,0.999999977809,6.46861333299e-05,-0.000199822190979,1.63793237046e-05,1793195570411189760 +46,0.766666667,BASELINE,764,742,712,672.710344078,659,633.289655922,877,784.710344078,800,649,629,650.710344078,0.400985365164,-0.0155045698297,0.0698311463422,0.999999978161,6.74072622318e-05,-0.000197149288292,1.6346935655e-05,1793195570427856384 +47,0.783333333,BASELINE,763.711899379,742,712,673,659.288100621,633,877,784.711899379,800.288100621,649,629,650.711899379,0.400986127777,-0.0155043674126,0.0698316338919,0.999999978282,6.86756834535e-05,-0.000196085894569,1.64257511235e-05,1793195570444523008 +48,0.800000000,BASELINE,763.135969227,742,712,673,659.864030773,633,877,784.135969227,800.864030773,649,629,650.135969227,0.400985412747,-0.0155043934111,0.0698309325486,0.999999978185,6.84927642578e-05,-0.000196630495011,1.66156654687e-05,1793195570461189632 +49,0.816666667,BASELINE,763.447741724,742.447741724,712,673,659.552258276,633.447741724,877.447741724,784.447741724,800.552258276,649,629,650,0.400985860528,-0.0155043552361,0.0698313435507,0.999999978227,6.905955728e-05,-0.000196201728039,1.67554746232e-05,1793195570477856256 +50,0.833333333,BASELINE,764,742.966538595,712.033461405,673,659,633.966538595,877.966538595,784.966538595,800.033461405,649,629,650,0.400986572623,-0.0155043226071,0.0698320277138,0.999999978309,6.96431978666e-05,-0.000195567625282,1.68588462106e-05,1793195570494522880 +51,0.850000000,BASELINE,764,742.387276193,712.612723807,673,659,633.387276193,877.387276193,784.387276193,800.612723807,649,629,650,0.400985734287,-0.0155047039404,0.0698315601714,0.999999978332,6.67223468312e-05,-0.00019649096094,1.66204519347e-05,1793195570511189504 +52,0.866666667,BASELINE,764,742.191371413,712.808628587,673,659,633,877,784,801,649,629,650,0.400985222002,-0.0155046233397,0.0698311483487,0.999999978185,6.61828156527e-05,-0.000197428490011,1.651697684e-05,1793195570527856384 +53,0.883333333,BASELINE,764,742.768778814,712.231221186,673,659,633,877,784,801,649,629,650,0.400985367429,-0.0155036109221,0.0698308489241,0.999999977699,7.04469026521e-05,-0.000198394650093,1.66856618417e-05,1793195570544523008 +54,0.900000000,BASELINE,763.654131752,742.654131752,712,673,659.345868248,633,877,784,800.654131752,649,629,650,0.400986195864,-0.0155043418809,0.069831092752,0.999999977909,6.94670670768e-05,-0.000197660240898,1.69283787381e-05,1793195570561189632 +55,0.916666667,BASELINE,763.077254714,742.077254714,712,673,659.922745286,633,877,784,800.077254714,649,629,650,0.400987480485,-0.0155062372579,0.0698316994235,0.999999978573,6.49847640874e-05,-0.000195790004789,1.72205422549e-05,1793195570577856256 +56,0.933333333,BASELINE,763.509119451,742.509119451,712,673,659.490880549,633.509119451,877.509119451,784.509119451,800,649,629,650,0.400986125563,-0.0155042233486,0.0698315657296,0.999999978135,6.75325046744e-05,-0.000197171908766,1.70806079521e-05,1793195570594522880 +57,0.950000000,BASELINE,764,742.904430096,712,673,659,633.904430096,877.904430096,785,800,649,629,650,0.40098436481,-0.0155022136175,0.0698310878535,0.999999977564,7.0178526696e-05,-0.000199155474769,1.68285516648e-05,1793195570611189760 +58,0.966666667,BASELINE,764,742.325028081,712,673,659,633.325028081,877.325028081,785,800,649,629,650,0.400982615763,-0.0155032852713,0.0698294470873,0.999999977237,6.78189143956e-05,-0.000201639204074,1.63471175398e-05,1793195570627856384 +59,0.983333333,BASELINE,764,742.252572291,712,673,659,633,877,784.747427709,800,649,629,650,0.400982622681,-0.0155043403002,0.0698290237897,0.99999997733,6.6562712001e-05,-0.000201605724719,1.62487561132e-05,1793195570644523008 +60,1.000000000,BASELINE,764,742.82787068,712,673,659,633,877,784.17212932,800,649,629,650,0.400984873293,-0.0155053740868,0.0698301561213,0.999999977963,6.67163993803e-05,-0.00019835586389,1.66398685693e-05,1793195570661189632 +61,1.016666667,BASELINE,763.588476126,742.588476126,712,673,659,633,877,784,800.411523874,649,629,650,0.400985562308,-0.0155057300546,0.0698306032332,0.999999978001,6.71348876912e-05,-0.000198014255173,1.67944508041e-05,1793195570677856256 +62,1.033333333,BASELINE,763.001255958,742.001255958,712,673,659,633,877,784,800.998744042,649,629,650,0.400985584613,-0.015505796634,0.0698307577969,0.999999977785,6.76664302893e-05,-0.000198914297856,1.6848048636e-05,1793195570694522880 +63,1.050000000,BASELINE,763.578138218,742,712,673,659,633.578138218,877,784,801,648.421861782,629,650,0.400985316314,-0.0155046295301,0.0698311481804,0.99999997793,6.84790430988e-05,-0.000197935532134,1.65123170533e-05,1793195570711189504 +64,1.066666667,BASELINE,764,742.157168143,712,673,659,633.842831857,877,784.157168143,800.842831857,648.157168143,629,650,0.400985254862,-0.0155037795958,0.0698314300895,0.999999978022,6.87450342711e-05,-0.000197401768412,1.62082275825e-05,1793195570727856384 +65,1.083333333,BASELINE,764,742.735267408,712,673,659,633.264732592,877,784.735267408,800.264732592,648.735267408,629,650,0.400985749058,-0.0155037861941,0.0698314201266,0.999999977975,6.75454380025e-05,-0.000198070604065,1.59911176709e-05,1793195570744523008 +66,1.100000000,BASELINE,764,742.688092026,712,672.688092026,659,633,877,784.688092026,800,649,629,650,0.40098525348,-0.0155045568371,0.0698311274936,0.999999977993,6.57880665253e-05,-0.000198564747447,1.60862982037e-05,1793195570761189632 +67,1.116666667,BASELINE,764,742.112683801,712,672.112683801,659,633,877,784.112683801,800,649,629,650,0.40098392174,-0.015505972946,0.0698305960605,0.999999978062,6.35594859075e-05,-0.000198911310545,1.64453021094e-05,1793195570777856256 +68,1.133333333,BASELINE,763.526731683,742.473268317,712.473268317,672.473268317,659,633,877,784.473268317,800.473268317,648.526731683,629,650,0.400983864449,-0.0155060447017,0.0698305050773,0.999999977905,6.50281035474e-05,-0.000199199377211,1.67747770262e-05,1793195570794523136 +69,1.150000000,BASELINE,763.060802168,743,712.939197832,673,659.060802168,633.060802168,877,784.939197832,801,648.060802168,629,650,0.400984239273,-0.0155057423657,0.0698306182613,0.999999977744,6.71151193476e-05,-0.000199292618431,1.70164376707e-05,1793195570811189504 +70,1.166666667,BASELINE,763.639930678,743,712.360069322,673,659.639930678,633.639930678,877,784.360069322,801,648.639930678,629,650,0.400985652056,-0.0155050418232,0.0698315575634,0.99999997806,6.67985427748e-05,-0.00019784644894,1.6570800583e-05,1793195570827856128 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+75,1.250000000,BASELINE,764,742,712,673,659.466615504,633.533384496,877,785,800.533384496,649,629,650,0.400986281791,-0.0155055025278,0.0698315928316,0.999999978207,6.58089863978e-05,-0.000197442785241,1.64909689252e-05,1793195570911189504 +76,1.266666667,BASELINE,764,742.121571607,712,673,659,634,876.878428393,784.878428393,800.878428393,649,629,650,0.40098747993,-0.0155052064526,0.0698323619002,0.999999978346,6.68941739733e-05,-0.000196354968088,1.66717174285e-05,1793195570927856128 +77,1.283333333,BASELINE,764,742.700055423,712,673,659,634,876.299944577,784.299944577,800.299944577,649,629,650,0.400986902325,-0.0155044326751,0.0698323684324,0.999999978349,6.56338648634e-05,-0.000196781987234,1.64747414511e-05,1793195570944522752 +78,1.300000000,BASELINE,763.723617608,743,712,673,659,634,876.276382392,784,800.276382392,648.723617608,629,650.276382392,0.400985751839,-0.0155042222285,0.0698316832448,0.999999978115,6.58956606442e-05,-0.00019788136488,1.6426277449e-05,1793195570961189632 +79,1.316666667,BASELINE,763.149613274,743,712,673,659,634,876.850386726,784,800.850386726,648.149613274,629,650.850386726,0.400983984446,-0.015504618404,0.0698302531798,0.999999977624,6.77965327462e-05,-0.000199704770686,1.6537738345e-05,1793195570977856256 +80,1.333333333,BASELINE,763.435908193,743,712,673,659,634,876.564091807,784.435908193,801,648.435908193,629,650.564091807,0.400984214734,-0.0155049523541,0.0698311130181,0.99999997775,6.81668998456e-05,-0.00019892694367,1.67979854585e-05,1793195570994523136 +81,1.350000000,BASELINE,763.975145237,743,712,672.975145237,659,633.975145237,876,784.975145237,800.975145237,649,629,650,0.400985099875,-0.0155052655983,0.0698326640616,0.999999978068,6.80039407405e-05,-0.000197350529596,1.70965351156e-05,1793195571011189760 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b/Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4f6fb4af8595415e67d3d1c0054e00d416f8a4b81187b56b127d5753d0933d8 +size 25629930 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..890091a876cd07c12bb59a8da49d96140affe565 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_03/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+66,1.100000000,BASELINE,764,742,712,673.387457089,659.387457089,633,878.225085823,785,800.612542911,649,629.387457089,650,0.400945112948,-0.0153598737253,0.0698146618912,0.999999923974,0.000249061565698,-0.000299747679848,1.31314726539e-05,1793195584519507968 +67,1.116666667,BASELINE,764,742,712,673.966311507,659.966311507,633,877.067376986,785,800.033688493,649,629.966311507,650,0.400943985592,-0.0153603605203,0.0698138263172,0.999999923679,0.000248445080084,-0.000301233753398,1.32064255215e-05,1793195584536174592 +68,1.133333333,BASELINE,764.543084919,742.543084919,712,673.456915081,660,633.543084919,877.543084919,784.456915081,800.543084919,649,629.456915081,650.543084919,0.400945483025,-0.0153617568299,0.069814527937,0.999999924715,0.000246181733837,-0.000299651428867,1.316543771e-05,1793195584552841216 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+72,1.200000000,BASELINE,764,742.133829189,712,672.133829189,659,633.866170811,878,784,801,648.133829189,629.866170811,650,0.4009464236,-0.0153608811806,0.0698156315044,0.999999924663,0.0002478235595,-0.000298445167773,1.36766549598e-05,1793195584619507712 +73,1.216666667,BASELINE,764,742.447868443,712,672.895736885,659,634,877.552131557,784.447868443,800.552131557,648.447868443,629.552131557,650.447868443,0.400946373172,-0.0153610787482,0.0698157542711,0.999999924987,0.000246472528514,-0.000298489729443,1.34693046108e-05,1793195584636174592 +74,1.233333333,BASELINE,764,742.97299792,712,673.97299792,659.02700208,634,877.02700208,785,800.02700208,649,629,651,0.400945982476,-0.0153614925646,0.0698157815344,0.999999925493,0.000244429539301,-0.000298489842206,1.31297045062e-05,1793195584652841216 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+78,1.300000000,BASELINE,764,742.664730644,712,673.664730644,660,633.664730644,877,784.335269356,800,649,629.335269356,651,0.400946963239,-0.0153585096739,0.0698163902233,0.999999925276,0.000247633330338,-0.000296573197641,1.30585232795e-05,1793195584719507968 +79,1.316666667,BASELINE,764,742.072935369,712,673.072935369,660,633.072935369,877,784.927064631,800,649,629.927064631,651,0.400945899166,-0.0153613709283,0.0698158256456,0.999999925637,0.00024347864164,-0.000298778728899,1.32146352535e-05,1793195584736174592 +80,1.333333333,BASELINE,764,742.506523003,712,673,660,633,877.506523003,785,800,649,629.493476997,651,0.400944933086,-0.0153609111526,0.0698148979907,0.99999992488,0.000245052163993,-0.000300021445033,1.3291216652e-05,1793195584752841472 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..42ed7da3b9c0a76ac47fcad322bd3b502c5eeb3d --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04be440b4bcc94f0852bd2f83d737fc005539d00cc4b876cfb31658ca0f78c17 +size 25775105 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..77121d186ab0730a6679af562b6e2dee3262dafb --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_07/depth_04/franka_data.csv @@ -0,0 +1,408 @@ 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+256,4.266666667,pose2_hold,0.621299635734,-0.00999870787877,1.07001140218,0.591870867718,-0.00132505016583,1.06966094183 +257,4.283333333,pose2_hold,0.621299635734,-0.00999870787877,1.07001140218,0.591870867718,-0.00132505016596,1.06966094183 +258,4.300000000,pose2_hold,0.621299635734,-0.00999870787877,1.07001140218,0.591870867718,-0.00132505016595,1.06966094183 +259,4.316666667,pose2_hold,0.621299635734,-0.00999870787877,1.07001140218,0.591870867718,-0.00132505016595,1.06966094183 +260,4.333333333,pose2_hold,0.621299635734,-0.00999870787877,1.07001140218,0.591870867718,-0.00132505016595,1.06966094183 +261,4.350000000,pose2_hold,0.621299635734,-0.00999870787877,1.07001140218,0.591870867718,-0.00132505016595,1.06966094183 +262,4.366666667,pose2_hold,0.621299635734,-0.00999870787877,1.07001140218,0.591870867718,-0.00132505016595,1.06966094183 +263,4.383333333,pose2_to_pose3_retreat,0.621299573643,-0.00999871642898,1.0700113778,0.591870806986,-0.0013250539366,1.06966092162 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+66,1.100000000,BASELINE,763.707137514,742.292862486,712,674,659.292862486,633.707137514,877.707137514,784,800,648.707137514,629,651,0.400970818099,-0.0153759368242,0.0798398850668,0.999999929424,0.000253927292379,-0.000275560682678,2.71722945626e-05,1793195613465841664 +67,1.116666667,BASELINE,763.1149804,742.8850196,712,674,659.8850196,633.1149804,877.1149804,784,800,648.1149804,629,651,0.400969791922,-0.0153750495817,0.0798389972905,0.99999992832,0.000257681683819,-0.000276079098806,2.72239565399e-05,1793195613482508288 +68,1.133333333,BASELINE,763.464237749,743,712,673.535762251,659.535762251,633,877,784,800,648.464237749,629,650.535762251,0.40096942308,-0.0153754749291,0.0798383337823,0.999999928297,0.000256614079675,-0.000277157190434,2.71992320456e-05,1793195613499175168 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0000000000000000000000000000000000000000..eb2f3c4b80df060e1017dc467dd02b7df69f0ce5 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61b85867df29c76af5b40654fc05d8aa2bcd52457280b0034bd24ec88a93379d +size 25781513 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..add73ee51d8bf3dacf9631072baa3914090bd720 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_03/franka_data.csv @@ -0,0 +1,408 @@ 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+60,1.000000000,BASELINE,764,743,712.827468307,673,660,633.172531693,877,785,801,648.827468307,629.827468307,650.172531693,0.400971638437,-0.0153856383881,0.079840564506,0.999999932892,0.00024136843141,-0.000274220250426,2.75794857818e-05,1793195627208518400 +61,1.016666667,BASELINE,764.403939708,743,712.596060292,673,659.596060292,633,877.403939708,784.596060292,800.596060292,648.596060292,629.596060292,650.403939708,0.400972249402,-0.0153854060976,0.0798408620526,0.999999932778,0.000242565015034,-0.000273586974233,2.75145049337e-05,1793195627225185024 +62,1.033333333,BASELINE,764.978750542,743,712.021249458,673,659.021249458,633,877.978750542,784.021249458,800.021249458,648.021249458,629.021249458,650.978750542,0.400972186497,-0.0153842624999,0.0798408224082,0.999999932053,0.000245264180622,-0.000273837673039,2.74288582728e-05,1793195627241851392 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+66,1.100000000,BASELINE,764,742,712.690375955,673,659,633.690375955,877.690375955,785,799.61924809,648.309624045,629.690375955,650.309624045,0.400970642681,-0.0153849719478,0.0798397326786,0.999999932375,0.000241006198454,-0.000276465088823,2.70777465508e-05,1793195627308518656 +67,1.116666667,BASELINE,764,742,712.114164016,673,659,633.114164016,877.114164016,785,800.771671967,648.885835984,629.114164016,650.885835984,0.40097232911,-0.0153843944416,0.0798408871273,0.999999932442,0.000242709149053,-0.000274737366849,2.69784916219e-05,1793195627325185536 +68,1.133333333,BASELINE,764,742,712,673,659,633,877.461091385,785,800.538908615,649,629.461091385,651,0.400972483904,-0.015383711905,0.0798414686217,0.999999932394,0.000244316042284,-0.00027348790299,2.69612469761e-05,1793195627341851904 +69,1.150000000,BASELINE,764.037045238,742.037045238,712,673,659.037045238,633.037045238,878,784.962954762,799.962954762,648.962954762,629.962954762,651,0.40097228519,-0.0153831332553,0.0798418666804,0.999999932341,0.000245687945428,-0.000272448791312,2.69578934371e-05,1793195627358518272 +70,1.166666667,BASELINE,764.626949223,742.626949223,712,673,659.626949223,633.626949223,878,784.373050777,799.373050777,648.373050777,629.373050777,651,0.400972458552,-0.015384492293,0.079841639895,0.999999932688,0.000243907087605,-0.000272785407676,2.68594417907e-05,1793195627375184896 +71,1.183333333,BASELINE,764.787408864,743,712,673,660,633.787408864,878,784,799.212591136,648.212591136,629,651,0.400972273944,-0.0153851520242,0.0798412459221,0.999999932865,0.000242573079655,-0.000273321422296,2.68924699555e-05,1793195627391851520 +72,1.200000000,BASELINE,764.209098861,743,712,673,660,633.209098861,878,784,799.790901139,648.790901139,629,651,0.400971473523,-0.0153846087442,0.079840564338,0.999999932755,0.000242007783754,-0.000274200460229,2.71516817935e-05,1793195627408518400 +73,1.216666667,BASELINE,764,743,712,673,659.632989082,633,877.632989082,784,800,648.632989082,629,650.632989082,0.400971165893,-0.0153842874332,0.0798403340894,0.999999932612,0.000242180113285,-0.000274572788812,2.71064786379e-05,1793195627425185280 +74,1.233333333,BASELINE,764,743,712,673,659.058125411,633,877.058125411,784,800,648.058125411,629,650.058125411,0.400971137351,-0.0153840918319,0.07984035945,0.999999932451,0.000242770189214,-0.000274658147857,2.68888732535e-05,1793195627441851904 +75,1.250000000,BASELINE,764,743,712,673,659,633.517629262,877,784.517629262,800,648.517629262,629,650.517629262,0.400971790399,-0.0153847604975,0.079841219921,0.999999932563,0.00024288648521,-0.00027411799339,2.71869901425e-05,1793195627458518784 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..8e2dca5b16465187b85bfcf7a6a0a7c6af7e5f9b --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32a6c77064b8c95522d4110e343f4a4f3cdce320e2d0e5abae82f08474a898db +size 25797983 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5f9afedb138e7414e021993fa283659736499e72 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/franka_data.csv @@ -0,0 +1,408 @@ 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a/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..d86af9e86266c36251edc301a4b98a133c539b68 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:368d72b9bea3b4e34bc0e0f69602e0015d1491a0c4cf0c5fbaf749738f5b29ce +size 25451192 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..57b43c71558c9da5693c16cf5e48633db521da60 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/franka_data.csv @@ -0,0 +1,402 @@ 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+31,0.516666667,BASELINE,765,742.013506298,711.986493702,674.986493702,665,633.013506298,877,784,801,650,629,651,0.400921261889,0.00440813530066,0.0599291576987,0.999999968308,-0.000138124436197,-0.000207769432748,-3.37323736025e-05,1793195642348179456 +32,0.533333333,BASELINE,765,742,711.432582915,674.432582915,665,633.567417085,877,784,800.432582915,650,629.567417085,651,0.40092161315,0.00440763417482,0.0599287473427,0.999999968219,-0.000139007855005,-0.000207611280408,-3.37168138042e-05,1793195642364846080 +33,0.550000000,BASELINE,765,742.14658721,711,674.14658721,665,633.85341279,877,784,800,650,629.85341279,651,0.400921794155,0.00440727106566,0.0599284325509,0.99999996818,-0.000139504716241,-0.000207471256694,-3.36883899731e-05,1793195642381512704 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+49,0.816666667,BASELINE,765,743,711,674,664.564529406,633,877.564529406,784,800,650,629.564529406,651,0.400921169753,0.0044100916137,0.0599275910003,0.999999968266,-0.000137167699242,-0.000208546406328,-3.4073133682e-05,1793195642648179712 +50,0.833333333,BASELINE,765,743,711,674,664.014786621,633,877,784,800,650,629,651,0.400920465766,0.0044089697993,0.059926962696,0.99999996831,-0.000136703992078,-0.000208709182478,-3.36435368432e-05,1793195642664846336 +51,0.850000000,BASELINE,765,743,711,674,664.593299728,633,877,784,800,650,629,651,0.40092123379,0.00440746228557,0.0599272537656,0.999999968158,-0.000138970304292,-0.000207926470443,-3.37439973843e-05,1793195642681512960 +52,0.866666667,BASELINE,765,743,711,674.170479146,665,633.170479146,877,784,800.170479146,650,629,651,0.400921299988,0.00440666846231,0.0599272498576,0.999999967972,-0.000140264755872,-0.000207930208019,-3.38552441614e-05,1793195642698179328 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+63,1.050000000,BASELINE,765,743,711,674.555872752,664,633,877,784,800.444127248,650,629,651,0.400920294015,0.00440885675248,0.0599270650459,0.99999996799,-0.000138444171603,-0.000209118546959,-3.34949557025e-05,1793195642881512960 +64,1.066666667,BASELINE,765,742.865781615,711,675,664.134218385,633.134218385,877,784,800,650,629.134218385,651,0.400919987196,0.00440969643346,0.0599263333278,0.9999999681,-0.000136377207261,-0.000209956324478,-3.34721072801e-05,1793195642898179840 +65,1.083333333,BASELINE,765,742.29088479,711,675,664.70911521,633.70911521,877,784,800,650,629.70911521,651,0.400922016152,0.00440905964652,0.0599277160269,0.999999968654,-0.000136212818577,-0.000207429845926,-3.33351536273e-05,1793195642914846464 +66,1.100000000,BASELINE,765,742,711,674.7111466,665,634,877,784,800,650,630,651,0.400922078383,0.0044085682882,0.0599276786988,0.999999968615,-0.000136744272816,-0.000207271176906,-3.33211375623e-05,1793195642931513088 +67,1.116666667,BASELINE,765,742,711,674.126449926,665,634,877,784,800,650,630,651,0.400920126295,0.00440822587772,0.0599261869806,0.999999967968,-0.000137988408474,-0.000209537615458,-3.34330340218e-05,1793195642948179712 +68,1.133333333,BASELINE,765.454819214,742.454819214,711,674.454819214,665,633.545180786,877,784,800,650,629.545180786,651,0.400919898805,0.0044082692038,0.0599262521109,0.999999967822,-0.000138796029974,-0.000209720959669,-3.33120616908e-05,1793195642964846080 +69,1.150000000,BASELINE,765.964974142,743,711,674.964974142,665,633,877,784,800,650,629,651,0.400920187453,0.0044083763353,0.0599267410208,0.999999967829,-0.000139482847523,-0.000209258280839,-3.31405555807e-05,1793195642981512960 +70,1.166666667,BASELINE,765.386578503,743,711,674.386578503,665,633,877,784,800,650,629,651,0.400921100472,0.00440782204052,0.0599271396153,0.999999968059,-0.000140164219388,-0.000207690925124,-3.31819663888e-05,1793195642998179584 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b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:839ce03b7863ec123161ac4e8f149fa664d49e2092d99a0915b570aa37bbfa4a +size 25560855 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..3e497491d15adc9cdc609dbf441e3ed2418724e5 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_02/franka_data.csv @@ -0,0 +1,404 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff16dd62aaa9a329398ff0b3da0a66082910f6e9db5bd2501ca5682096396236 +size 25821594 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..afff1287f96ca6411182ed40c0acb1065b075f8a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_04/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81073e5acbd0fe0878926e7f810b13e39557c04cac268f64fbdd960c89aecf01 +size 25823568 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..8b7be216189c57a0182b3c14f7f2442f1ffa9087 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_09/depth_05/franka_data.csv @@ -0,0 +1,408 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+54,0.900000000,BASELINE,763,742.341891378,711,673.341891378,664,633.658108622,877,784,800.658108622,650.658108622,629.341891378,651,0.400960625861,0.00451540975559,0.0598445679613,0.999999966453,5.91368193328e-06,-0.000258138467168,2.05953035089e-05,1793195670389966080 +55,0.916666667,BASELINE,763,742.920257211,711,673.920257211,664,633.079742789,877,784,800.079742789,650.079742789,629.920257211,651,0.4009598284,0.00451604773176,0.0598441733521,0.999999966252,7.29154849289e-06,-0.000258883695539,2.05278809758e-05,1793195670406632960 +56,0.933333333,BASELINE,763.496903709,743,711,673.503096291,664,633.496903709,877,784,800.496903709,650,630,651,0.400958967029,0.00451530643507,0.0598437966726,0.99999996604,5.67255180345e-06,-0.000259732668806,2.06661313081e-05,1793195670423299328 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+60,1.000000000,BASELINE,764,742.820385701,711,673.820385701,663.820385701,633.179614299,877,784,800,650.820385701,629,651,0.400958739205,0.00451574884165,0.0598434247798,0.999999965974,5.20358188091e-06,-0.000259998499888,2.06184409553e-05,1793195670489966080 +61,1.016666667,BASELINE,764,743,711,674,664,633,877.401905614,784,800.401905614,650.598094386,629,651,0.400958435095,0.00451617889334,0.0598433360947,0.999999965912,5.90665537695e-06,-0.000260229184405,2.05176794222e-05,1793195670506632704 +62,1.033333333,BASELINE,764,743,711,674,664,633,877.978655634,784,800.978655634,650.021344366,629,651,0.400958409583,0.00451652301436,0.0598435968787,0.999999965992,6.438324209e-06,-0.00025992501933,2.03341067039e-05,1793195670523299328 +63,1.050000000,BASELINE,764,742.447078326,711,673.447078326,664,633,877.447078326,784,801,650,629,650.447078326,0.400958422948,0.0045143520315,0.0598433312278,0.999999965916,3.55235563792e-06,-0.000260267148636,2.03828779466e-05,1793195670539966208 +64,1.066666667,BASELINE,764,742.130888108,711,673.130888108,664,633,877,784,801,650,629,650.130888108,0.400958702029,0.00451321037428,0.0598433718673,0.999999965944,2.0629508276e-06,-0.000260175213858,2.04224235904e-05,1793195670556632832 +65,1.083333333,BASELINE,764,742.722207358,711,673.722207358,664,633,877,784,801,650,629,650.722207358,0.400959910575,0.00451602963488,0.0598445611255,0.999999966371,5.94832587882e-06,-0.00025846898068,2.03981058505e-05,1793195670573299456 +66,1.100000000,BASELINE,764,743,711,674,664,633.306999541,877.306999541,784,800.693000459,650,629,651,0.400960382641,0.00451695083696,0.0598450652543,0.999999966651,6.80889074916e-06,-0.000257377940699,2.02195915632e-05,1793195670589966080 +67,1.116666667,BASELINE,764,743,711,674,664,633.886008543,877.886008543,784,800.113991457,650,629,651,0.400960202166,0.00451619031039,0.0598449623406,0.999999966808,4.98939608069e-06,-0.000256831977748,1.99044551851e-05,1793195670606632704 +68,1.133333333,BASELINE,764,743,711,674,663.537087361,633.537087361,878,783.537087361,800,650,629.462912639,651,0.400959464935,0.00451696323251,0.0598446331203,0.999999966679,6.47531440869e-06,-0.000257299323589,1.99387720386e-05,1793195670623299328 +69,1.150000000,BASELINE,764,743,711,673.960899116,663.039100884,633,878,783.039100884,800.039100884,650,629.960899116,651,0.400958665964,0.00451794058803,0.0598442801646,0.999999966488,8.57534039183e-06,-0.000257967381652,2.00768457549e-05,1793195670639965952 +70,1.166666667,BASELINE,764,743,711,673.387442864,663.612557136,633,878,783.612557136,800.612557136,650,629.387442864,651,0.4009588884,0.00451657466937,0.0598443609705,0.999999966481,7.99462309085e-06,-0.000257983787803,2.04621946989e-05,1793195670656632576 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0000000000000000000000000000000000000000..a1989aa7ebe392254d85edaa435ea145f683562a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e5d4e2d43ff12f8ac1f697d70a077957a1c14c6a4b14bedbb5e39ba5cda0f75 +size 25454331 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..7ec35df3c34118654b8902c4d69c2cd7c38fac18 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_01/franka_data.csv @@ -0,0 +1,402 @@ 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+73,1.216666667,BASELINE,764,742,710.635347804,673.364652196,665.270695608,633,876.635347804,784,800,650.635347804,629,651,0.400943184495,0.00454338791464,0.049927897445,0.999999977512,2.23700402872e-05,-0.000208548396927,-3.1344575814e-05,1793195678863435008 +74,1.233333333,BASELINE,764,742,710.060760226,673.939239774,664.121520451,633,876.060760226,784,800,650.060760226,629,651,0.400941579562,0.00454461986687,0.0499265955574,0.999999977111,2.30179693284e-05,-0.000210374303596,-3.14691339693e-05,1793195678880101632 +75,1.250000000,BASELINE,763.487693831,742,710.512306169,673.487693831,664.512306169,633,876.512306169,784,800.512306169,650,629.512306169,651,0.40094197053,0.00454435538861,0.0499264154012,0.999999977186,2.27078140004e-05,-0.000210068355741,-3.13488705419e-05,1793195678896768512 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+79,1.316666667,BASELINE,764,742.151952703,710.848047297,673,664,633.848047297,876,784,801,650.848047297,629,651,0.400941384761,0.00454188092062,0.0499266508254,0.999999976916,2.26900272548e-05,-0.000211403821907,-3.10100213883e-05,1793195678963434752 +80,1.333333333,BASELINE,764,742.42455798,711,673,664.42455798,633.57544202,876,784,801,651,629.42455798,651,0.400941975644,0.00454162532464,0.0499267016739,0.999999977029,2.24941022566e-05,-0.000210885347847,-3.10279708686e-05,1793195678980101632 +81,1.350000000,BASELINE,764,742.999607863,711,673.000392137,664.999607863,633,876.000392137,784,800.999607863,650.999607863,629.999607863,651,0.400942636475,0.00454195386908,0.0499269194183,0.999999977253,2.23461440076e-05,-0.00020982111994,-3.11481306624e-05,1793195678996768000 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+255,4.250000000,pose2_hold,0.623431691746,0.0100012683884,1.04001155828,0.594002925442,0.0186749316906,1.03966109518 +256,4.266666667,pose2_hold,0.623431691746,0.0100012683884,1.04001155828,0.594002925442,0.0186749316908,1.03966109517 +257,4.283333333,pose2_hold,0.623431691746,0.0100012683884,1.04001155828,0.594002925443,0.0186749316916,1.03966109517 +258,4.300000000,pose2_hold,0.623431691746,0.0100012683884,1.04001155828,0.594002925444,0.0186749316896,1.03966109518 +259,4.316666667,pose2_hold,0.623431691746,0.0100012683884,1.04001155828,0.594002925445,0.0186749316887,1.03966109518 +260,4.333333333,pose2_hold,0.623431691746,0.0100012683884,1.04001155828,0.594002925445,0.0186749316886,1.03966109518 +261,4.350000000,pose2_to_pose3_retreat,0.623431691746,0.0100012683884,1.04001155828,0.594002925441,0.0186749316937,1.03966109517 +262,4.366666667,pose2_to_pose3_retreat,0.623431624639,0.0100013475297,1.04001184357,0.594002859131,0.0186750130977,1.03966137024 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b/Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b26c5db20fd4d09a8d9bdb97b29ac0b035703e6f0c64c2837e62d8dde3ddc64b +size 25570264 diff --git a/Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..0a3625c15cbec36fa693998d3ab29f0989768c4a --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_02/franka_data.csv @@ -0,0 +1,404 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+251,4.183333333,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912838,0.0186749936433,1.03966132724 +252,4.200000000,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912839,0.0186749936428,1.03966132724 +253,4.216666667,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912838,0.0186749936427,1.03966132724 +254,4.233333333,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912839,0.0186749936417,1.03966132724 +255,4.250000000,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.59500291284,0.0186749936425,1.03966132724 +256,4.266666667,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912841,0.0186749936426,1.03966132724 +257,4.283333333,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912841,0.0186749936426,1.03966132724 +258,4.300000000,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912843,0.018674993642,1.03966132724 +259,4.316666667,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912843,0.0186749936417,1.03966132724 +260,4.333333333,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912844,0.018674993641,1.03966132724 +261,4.350000000,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912845,0.0186749936397,1.03966132725 +262,4.366666667,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912845,0.0186749936397,1.03966132725 +263,4.383333333,pose2_to_pose3_retreat,0.624431679377,0.0100013320714,1.04001178883,0.595002912847,0.0186749936398,1.03966132724 +264,4.400000000,pose2_to_pose3_retreat,0.62443164308,0.010001322334,1.04001173554,0.595002876933,0.0186749850501,1.03966127027 +265,4.416666667,pose2_to_pose3_retreat,0.62443163399,0.0100013198955,1.04001172219,0.59500286794,0.018674982899,1.03966125601 +266,4.433333333,pose2_to_pose3_retreat,0.624431484356,0.0100012916364,1.04001174746,0.595002718337,0.0186749547724,1.03966128185 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b/Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..f240148c934754088ce1c11a15904a361b0affe8 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_03/franka_data.csv @@ -0,0 +1,404 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,742,710,674,665,633,876,785,800,650,629,651,0.400976407216,0.00455478910477,0.049850516031,0.999999964934,2.94813511305e-05,-0.000260225143596,-3.93204048629e-05,1793195691404011264 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+29,0.483333333,BASELINE,763.813661851,742,710.186338149,674,665,633.186338149,877,784,800,650,629,651,0.400978241056,0.0045543880755,0.0498526148439,0.999999966048,2.96908420267e-05,-0.000255994645668,-3.85983634769e-05,1793195691887343872 +30,0.500000000,BASELINE,763.601569887,742.398430113,710.398430113,674,665,633,877,784,800,650.398430113,629,651,0.400976662999,0.00455440290032,0.0498514632501,0.999999965569,2.93614438869e-05,-0.000257897158775,-3.85934406055e-05,1793195691904010496 +31,0.516666667,BASELINE,763.011267677,742.988732323,710.988732323,674,665,633,877,784,800,650.988732323,629,651,0.400974026666,0.00455404670752,0.0498497782785,0.999999964789,2.82533864383e-05,-0.000261000289507,-3.876760172e-05,1793195691920676864 +32,0.533333333,BASELINE,763,742.431533487,711,674,664.431533487,633,877,784,800.568466513,650.431533487,629,651,0.400974672023,0.00455425703624,0.0498507827823,0.999999964955,2.83945177787e-05,-0.000260351417109,-3.87320010567e-05,1793195691937343488 +33,0.550000000,BASELINE,763.147308,742,710.852692,674,664.147308,633,877.147308,784,801,650,629,651,0.400975598695,0.00455474419847,0.0498517107609,0.999999965236,2.92448501521e-05,-0.000259169186343,-3.87780550534e-05,1793195691954010368 +34,0.566666667,BASELINE,763.724146025,742,710.275853975,674,664.724146025,633,877.724146025,784,801,650,629,651,0.400977159438,0.00455600642439,0.0498522629984,0.999999965788,3.20922356785e-05,-0.000256644647961,-3.90741049977e-05,1793195691970677248 +35,0.583333333,BASELINE,763.701326231,742,710.298673769,674,665,633,877.701326231,784,801,650.298673769,629,651,0.400977100268,0.0045570732516,0.0498518769718,0.999999965703,3.40902588657e-05,-0.000256691906623,-3.92672870868e-05,1793195691987343872 +36,0.600000000,BASELINE,763.128915811,742,710.871084189,674,665,633,877.128915811,784,801,650.871084189,629,651,0.400975556438,0.00455796099466,0.0498506310193,0.999999965036,3.53098357027e-05,-0.00025909623544,-3.93661900829e-05,1793195692004010752 +37,0.616666667,BASELINE,763.458736454,742.458736454,711,674,665,633.458736454,877,784,801,651,629,651,0.400976202597,0.00455663150675,0.0498517139652,0.99999996528,3.39952771354e-05,-0.000258391311619,-3.8966729157e-05,1793195692020677376 +38,0.633333333,BASELINE,764,742.950296115,711,674,665,633.950296115,877,784,800.950296115,650.950296115,629,651,0.400977317873,0.0045549492991,0.0498532413632,0.999999965724,3.21742989046e-05,-0.000256970468649,-3.85200754468e-05,1793195692037344000 +39,0.650000000,BASELINE,764,742.371207728,711,674,665,633.371207728,877,784,800.371207728,650.371207728,629,651,0.400976649451,0.00455637486627,0.0498522922859,0.999999965531,3.28052043734e-05,-0.0002575507333,-3.91137088021e-05,1793195692054010624 +40,0.666666667,BASELINE,764,742.206915983,711,674,665,633,877,784,800,650,629,651,0.400976299011,0.00455730075375,0.0498517342059,0.999999965398,3.33590836861e-05,-0.000257944348633,-3.94528196571e-05,1793195692070676992 +41,0.683333333,BASELINE,764,742.783317062,711,674,665,633,877,784,800,650,629,651,0.400976516382,0.00455733437466,0.0498518743211,0.999999965373,3.37754191319e-05,-0.000258004668555,-3.93374355228e-05,1793195692087343360 +42,0.700000000,BASELINE,764,743,711,674,665,633,877,784,800.365467063,650,629,651,0.400976129896,0.00455737411689,0.0498521442497,0.999999965328,3.32685023039e-05,-0.00025825305278,-3.92640723055e-05,1793195692104010240 +43,0.716666667,BASELINE,764,743,711,674,665,633,877,784,800.951080015,650,629,651,0.400975379665,0.00455741754642,0.0498524923738,0.999999965272,3.22054472675e-05,-0.000258614721037,-3.9216021174e-05,1793195692120677120 +44,0.733333333,BASELINE,764,742.469176468,710.469176468,674,665,633,877,784,801,650,629,651,0.400976546335,0.00455602080184,0.0498527105931,0.999999965676,3.11409591931e-05,-0.000257211827343,-3.89860884999e-05,1793195692137344000 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+260,4.333333333,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002856311,0.0186749508559,1.03966107497 +261,4.350000000,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002856311,0.0186749508566,1.03966107498 +262,4.366666667,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002856311,0.0186749508565,1.03966107498 +263,4.383333333,pose2_to_pose3_retreat,0.626431621325,0.0100012841032,1.04001153451,0.597002856314,0.0186749508561,1.03966107498 +264,4.400000000,pose2_to_pose3_retreat,0.62643161497,0.0100012896403,1.04001153223,0.597002849814,0.0186749559259,1.03966107326 +265,4.416666667,pose2_to_pose3_retreat,0.626431603252,0.0100012998497,1.04001152804,0.59700283783,0.0186749652736,1.0396610701 +266,4.433333333,pose2_to_pose3_retreat,0.626431598419,0.0100013040611,1.04001152631,0.597002832886,0.0186749691296,1.0396610688 +267,4.450000000,pose2_to_pose3_retreat,0.626431591557,0.01000131004,1.04001152385,0.597002825868,0.0186749746039,1.03966106695 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0000000000000000000000000000000000000000..84b1332aa19db0e1bdb9649ddd086884e3240358 --- /dev/null +++ b/Part2/Obstacle_avoidance/ball_0030_17.5/position_10/depth_05/franka_data.csv @@ -0,0 +1,406 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,743,711,674,666,633,877,784,801,650,629,651,0.400982982602,0.00457192818328,0.0498569092217,0.99999996651,5.10038024908e-05,-0.000250769364001,-3.86429581953e-05,1793195705247759872 +1,0.016666667,BASELINE,764,742.422762288,711,674,665.422762288,633,877,784,801,650,629,651,0.400982163087,0.00457265378398,0.0498559348663,0.999999966255,5.16289434244e-05,-0.000251613116968,-3.89254775977e-05,1793195705264426752 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+39,0.650000000,BASELINE,764,742.375294896,711,673.624705104,665,633,877,784.375294896,800.375294896,650.624705104,629,651,0.40098195424,0.00456950178859,0.0498560194464,0.999999966725,4.99715601923e-05,-0.000250102093743,-3.87636680357e-05,1793195705897759488 +40,0.666666667,BASELINE,764,742,711,673.795556473,664.795556473,633,876.795556473,784,800.204443527,650.795556473,629,651,0.400983337402,0.00456858879722,0.0498565979592,0.999999967201,4.99963787926e-05,-0.000248225300782,-3.851220865e-05,1793195705914426112 +41,0.683333333,BASELINE,764,742,711,673.201703775,664.201703775,633,876.201703775,784,800.798296225,650.201703775,629,651,0.400985301284,0.00456896350609,0.049857963224,0.999999967765,5.03308375208e-05,-0.000245881360416,-3.84526026151e-05,1793195705931092992 +42,0.700000000,BASELINE,764,742.377560724,711,673.377560724,664.377560724,633,876.377560724,784,800.622439276,650.377560724,629,651,0.400984034993,0.00456917214512,0.0498572792681,0.999999967335,5.05125883366e-05,-0.000247577021438,-3.85274791129e-05,1793195705947759872 +43,0.716666667,BASELINE,764,742.949321693,711,673.949321693,664.949321693,633,876.949321693,784,800.050678307,650.949321693,629,651,0.400981107247,0.00456929536528,0.0498555412854,0.999999966383,5.06157930642e-05,-0.000251350471677,-3.86715273749e-05,1793195705964426496 +44,0.733333333,BASELINE,764,742.470588567,711,674,665,633,877,784,800.529411433,650.470588567,629,651,0.400981732616,0.00456876931246,0.0498565477364,0.999999966617,5.04627296912e-05,-0.000250503530734,-3.83057980967e-05,1793195705981093120 +45,0.750000000,BASELINE,764,742.109341801,711,674,665,633,876.890658199,784,800.890658199,650,629,651,0.400982383901,0.00456838373267,0.0498575197316,0.999999966903,4.9999504229e-05,-0.000249494677426,-3.80242418902e-05,1793195705997759744 +46,0.766666667,BASELINE,764,742.685136573,711,674,665,633,876.314863427,784,800.314863427,650,629,651,0.400981671578,0.00456886679148,0.0498572060889,0.999999966921,4.83194490291e-05,-0.000249712077477,-3.83132723985e-05,1793195706014426368 +47,0.783333333,BASELINE,764,742.731780281,710.731780281,674,665,633.268219719,876.268219719,784,800.268219719,650.268219719,629,651,0.400981736678,0.00456901921208,0.0498569545019,0.999999966996,4.76731395827e-05,-0.000249514059382,-3.84569915728e-05,1793195706031092992 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+52,0.866666667,BASELINE,764,743,711.765958796,674.765958796,663,633,877.234041204,784.234041204,801,650,628.765958796,651,0.40100407151,0.00447504309046,0.0698413202727,0.999999983099,3.3765779688e-05,-0.000178715605669,2.68899137287e-05,1793195714560167680 +53,0.883333333,BASELINE,764,743,711.190594625,674.190594625,663,633,877.809405375,784.809405375,801,650,628.190594625,651,0.401004457909,0.00447517359245,0.06984177943,0.999999983228,3.41577584037e-05,-0.000177942813845,2.67242440902e-05,1793195714576834560 +54,0.900000000,BASELINE,764,743,711.395585318,674,663.395585318,633,878,784.604414682,800.604414682,650,628.395585318,651,0.401005453147,0.00447501079756,0.0698425207513,0.999999983414,3.48836719492e-05,-0.000176739987206,2.67981616378e-05,1793195714593501184 +55,0.916666667,BASELINE,764,743,711.987122809,674,663.987122809,633,878,784.012877191,800.012877191,650,628.987122809,651,0.401006749973,0.00447470271881,0.0698434018418,0.999999983627,3.57749992447e-05,-0.000175324143947,2.69907580885e-05,1793195714610167808 +56,0.933333333,BASELINE,764,743,711.438662673,674,663.438662673,633.561337327,877.438662673,784,800.561337327,650,629,651,0.40100497353,0.00447497080903,0.0698422180997,0.999999983187,3.5113352331e-05,-0.000177961571266,2.68757988957e-05,1793195714626834688 +57,0.950000000,BASELINE,764,743,711.136548149,674,663.136548149,633.863451851,877,784,800.726903703,650,629,651,0.40100373645,0.00447538334528,0.0698414334781,0.999999982905,3.45319648133e-05,-0.000179666617441,2.67699086273e-05,1793195714643501056 +58,0.966666667,BASELINE,764,743,711.716243283,674,663.716243283,633.283756717,877,784,799.567513433,650,629,651,0.401004471746,0.00447622304878,0.0698420932669,0.999999983203,3.43232038334e-05,-0.000178053028322,2.67156620158e-05,1793195714660167680 +59,0.983333333,BASELINE,764,743,712,674.299933795,663.700066205,633,877.299933795,784.299933795,799.599867589,650,629,651,0.401005147404,0.00447596728717,0.0698421476767,0.999999983336,3.42879179787e-05,-0.000177294774351,2.68080577703e-05,1793195714676834304 +60,1.000000000,BASELINE,764,743,712,674.887455289,663.112544711,633,877.887455289,784.887455289,800.774910579,650,629,651,0.401005765879,0.00447466115288,0.0698416216264,0.999999983314,3.44189665149e-05,-0.000177356647411,2.7041059684e-05,1793195714693501184 +61,1.016666667,BASELINE,764,743,711.531665344,674.531665344,663.468334656,633,878,784.531665344,800.531665344,650,628.531665344,651,0.401005826168,0.00447352839405,0.0698423769697,0.999999983394,3.31959056497e-05,-0.00017712433365,2.71506337872e-05,1793195714710167808 +62,1.033333333,BASELINE,764,743,711.047452663,674.047452663,663.952547337,633,878,784,800,650,628.047452663,651,0.401005577571,0.00447265308042,0.0698432509761,0.999999983449,3.19463321705e-05,-0.000177031974029,2.72157661946e-05,1793195714726834688 +63,1.050000000,BASELINE,764,743,711.624478336,674.624478336,663.375521664,633,878,784,800,650,628.624478336,651,0.401003357846,0.00447419239708,0.0698420608221,0.999999982985,3.39816071939e-05,-0.000179279437337,2.71113137225e-05,1793195714743501568 +64,1.066666667,BASELINE,764,743,712,674.799610148,663,633,877.799610148,784,800,650,629,651,0.401002101885,0.00447512305061,0.0698412479982,0.999999982733,3.518159903e-05,-0.000180464209029,2.70089737962e-05,1793195714760168192 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+68,1.133333333,BASELINE,764,742.528861371,711.471138629,674,663,633,877.528861371,783.528861371,800.471138629,649.471138629,629,650.528861371,0.401002302222,0.00447690254544,0.0698402717954,0.999999982589,3.61406602885e-05,-0.00018112632357,2.66231234574e-05,1793195714826834432 +69,1.150000000,BASELINE,764,742.892969401,711,674,663,633,877.892969401,784,800,649.107030599,629,650.892969401,0.401003577389,0.00447599801915,0.0698408367381,0.999999982896,3.51813226153e-05,-0.000179615004599,2.66351489328e-05,1793195714843501312 +70,1.166666667,BASELINE,764,742.318118148,711,674,663,633,877.318118148,784,800,649.681881852,629,650.318118148,0.401003705554,0.00447463817436,0.0698415252786,0.999999983094,3.42662483125e-05,-0.000178645231024,2.6913303519e-05,1793195714860168192 +71,1.183333333,BASELINE,764,742.262462331,711.262462331,674,663,633,877,784.262462331,800,650,629,650,0.40100391731,0.00447423785925,0.0698419829537,0.999999983188,3.42091205997e-05,-0.000178118382761,2.69810149524e-05,1793195714876835072 +72,1.200000000,BASELINE,764,742.850141976,711.850141976,674,663,633,877,784.850141976,800,650,629,650,0.401004232645,0.00447502649804,0.0698421545633,0.999999983154,3.52150751626e-05,-0.000178140363522,2.67879661217e-05,1793195714893501440 +73,1.216666667,BASELINE,764,743,711.566087068,674,663,633,877,784.566087068,800.433912932,649.566087068,629,650.433912932,0.40100457308,0.00447480462832,0.0698423140643,0.999999983242,3.45250789695e-05,-0.000177798408809,2.66950808656e-05,1793195714910167808 +74,1.233333333,BASELINE,764,742.983858059,711,674,663,633,877,784,800.983858059,649.016141941,629,651,0.401004923094,0.00447423928901,0.0698424665158,0.999999983369,3.32489461632e-05,-0.000177332556289,2.66416915125e-05,1793195714926834432 +75,1.250000000,BASELINE,764,742.408695369,711,674,663,633,877,784,800.408695369,649.591304631,629,651,0.401005307291,0.00447375735129,0.0698425183687,0.999999983492,3.17773194597e-05,-0.000176889919554,2.67687953348e-05,1793195714943501056 +76,1.266666667,BASELINE,764,742.166746702,711.166746702,674,663,633,877,784,800,650,629,651,0.401005122867,0.00447352093958,0.0698423625257,0.999999983453,3.11550451296e-05,-0.000177189656641,2.69780159375e-05,1793195714960167680 +77,1.283333333,BASELINE,764,742.742874651,711.742874651,674,663,633,877,784,800,650,629,651,0.401003542417,0.00447388732088,0.0698416967666,0.999999983017,3.26180231186e-05,-0.000179312002039,2.73888421382e-05,1793195714976834560 +78,1.300000000,BASELINE,764,743,711.675107233,674,663,633,877,784,800,650,629,651,0.401003502478,0.00447403611902,0.0698417341435,0.99999998303,3.3134128483e-05,-0.000179147905488,2.73669549094e-05,1793195714993501184 +79,1.316666667,BASELINE,764,743,711.088341499,674,663,633,877,784,800,650,629,651,0.401004704237,0.00447400953884,0.0698423382684,0.999999983405,3.28870270559e-05,-0.000177140870496,2.69962881219e-05,1793195715010168064 +80,1.333333333,BASELINE,764,743,711,674,663,633.493961791,877,784,800,650,629,651,0.401004383554,0.00447507991476,0.0698422326457,0.999999983236,3.27726333137e-05,-0.000178146386006,2.67870444281e-05,1793195715026834432 +81,1.350000000,BASELINE,764,743,711,674,663,633.925463684,877,784,800,650,629,651,0.401004124228,0.00447612495188,0.0698421739665,0.999999983055,3.29618204208e-05,-0.000179138134475,2.66956534922e-05,1793195715043501312 +82,1.366666667,BASELINE,764,743,711,674,663,633.351177407,877,784,800,650,629,651,0.401006085505,0.00447569651102,0.069843273474,0.999999983448,3.50287464619e-05,-0.000176457562564,2.72026102033e-05,1793195715060167936 +83,1.383333333,BASELINE,764,743,711.223647272,674,663,633.223647272,877,784,800,650,629,651,0.401006712155,0.00447595857333,0.069843426355,0.999999983514,3.69706467089e-05,-0.000175665011118,2.73260226021e-05,1793195715076834560 +84,1.400000000,BASELINE,764,743,711.799319493,674,663,633.799319493,877,784,800,650,629,651,0.401005238076,0.00447730750035,0.0698420892285,0.999999983076,3.87157543588e-05,-0.000177844238449,2.68457292259e-05,1793195715093500928 +85,1.416666667,BASELINE,764,742.614387378,711.614387378,674,663,633.614387378,877,784,800.385612622,649.614387378,628.614387378,651,0.401004758942,0.0044762801884,0.0698418959519,0.999999983085,3.71468360466e-05,-0.000178096480976,2.70521529846e-05,1793195715110167808 +86,1.433333333,BASELINE,764,742.022410402,711.022410402,674,663,633.022410402,877,784,800.977589598,649.022410402,628.022410402,651,0.401004812264,0.00447398120891,0.0698423148179,0.999999983326,3.38043843248e-05,-0.000177317478664,2.76260801417e-05,1793195715126834432 +87,1.450000000,BASELINE,764,742.553491779,711.553491779,674.553491779,663,633,877,784,801,649.553491779,628.553491779,651,0.4010065642,0.00447346157253,0.0698434817823,0.999999983577,3.24879742156e-05,-0.000176175156378,2.74479932634e-05,1793195715143501312 +88,1.466666667,BASELINE,764,743,712,674.870975814,663,633,877.129024186,784,801,650,629,651,0.401007520912,0.00447311147575,0.0698439995643,0.999999983682,3.14711282658e-05,-0.000175793846092,2.7257304686e-05,1793195715160168192 +89,1.483333333,BASELINE,764,743,712,674.294532432,663,633,877.705467568,784,801,650,629,651,0.401005488257,0.00447310651668,0.0698421640941,0.999999983285,3.12166481889e-05,-0.000178101081299,2.71255234425e-05,1793195715176834816 +90,1.500000000,BASELINE,764,742.719403387,711.719403387,674,663,633,877.719403387,784,800.719403387,650,629,651,0.40100410669,0.00447287021806,0.0698414898142,0.999999983077,3.0626316448e-05,-0.000179372634304,2.7077793229e-05,1793195715193501184 +91,1.516666667,BASELINE,764,742.145647558,711.145647558,674,663,633,877.145647558,784,800.145647558,650,629,651,0.401003405361,0.00447239222261,0.0698420287122,0.99999998307,2.96850966313e-05,-0.000179562136395,2.71178771056e-05,1793195715210167808 +92,1.533333333,BASELINE,764,742.44466758,711.44466758,674,663,633,877,784.44466758,800.44466758,650,629,651,0.401003823415,0.00447316497695,0.069842063021,0.999999983083,3.34584638397e-05,-0.000178800593395,2.72946351357e-05,1793195715226834432 +93,1.550000000,BASELINE,764,743,712,674,663.039208532,633,877,784.960791468,800.960791468,650,629,651,0.401004517776,0.00447426970523,0.0698418863317,0.999999983067,3.82412682581e-05,-0.000177896382727,2.74936348685e-05,1793195715243501056 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+259,4.316666667,HOLD_POSE2,764.880631709,743.119368291,712,677,661,631.880631709,879,784,801,650,629,651,0.449696803701,0.00460282861989,0.0698345625383,0.999999961239,9.41673187753e-05,-0.000255597487017,-5.76494738429e-05,1793195718060776192 +260,4.333333333,HOLD_POSE2,764.311107361,743.688892639,712,677,661,631.311107361,879,784,801,650,629,651,0.449696190719,0.00460277354243,0.0698339391858,0.999999960883,9.37328946803e-05,-0.000257084674565,-5.79347420864e-05,1793195718077443072 +261,4.350000000,HOLD_POSE2,764.269866466,743.730133534,711.730133534,677,661,631.269866466,879,784,801,649.730133534,629,651,0.449695739179,0.00460270480871,0.0698335981207,0.99999996068,9.32948137246e-05,-0.000257985485954,-5.81404025284e-05,1793195718094109440 +262,4.366666667,HOLD_POSE2,764.864624249,743.135375751,711.135375751,677,661,631.864624249,879,784,801,649.135375751,629,651,0.449695481998,0.00460261963428,0.0698335969004,0.999999960664,9.28523303126e-05,-0.000258180360997,-5.82502233924e-05,1793195718110775808 +263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,632,879,784,802,650,629,651,0.449694510321,0.00460142113264,0.0698314961921,0.999999960002,9.33965930704e-05,-0.000260630677488,-5.78269501069e-05,1793195718143634432 +264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,632,879,784,801.419568837,650,629,650.419568837,0.449694626142,0.00460152092452,0.0698317976989,0.999999960218,9.24316197637e-05,-0.000260153247574,-5.77921163886e-05,1793195718160301056 +265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,632,879,784,801,650,629.162676741,650.162676741,0.449694422701,0.00460204602532,0.0698318843862,0.999999960233,9.22073923848e-05,-0.000260175994387,-5.77931065652e-05,1793195718176967680 +266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,632,879,784,801,650,629.749654892,650.749654892,0.449693386543,0.00460368043762,0.0698314107706,0.999999959722,9.3915214444e-05,-0.000261503326429,-5.78875343634e-05,1793195718193634560 +267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711.332864631,677,661,632,879,783.667135369,801,650,629.667135369,650.667135369,0.449693771943,0.00460332880051,0.0698319570394,0.999999959932,9.2903678535e-05,-0.00026098305099,-5.82540725326e-05,1793195718210301440 +268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711.913271868,677,661,632,879,783.086728132,801,650,629.086728132,650.086728132,0.449695214518,0.004601500191,0.0698332617693,0.999999960668,8.98698280676e-05,-0.00025908875875,-5.88229719671e-05,1793195718226968320 +269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.509425703,677,661,631.509425703,879.490574297,783.490574297,801,650,629,650.490574297,0.449694421677,0.00460144845945,0.0698331099345,0.999999960605,9.10678895128e-05,-0.000258997087072,-5.84627435984e-05,1793195718243634688 +270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,631.067251162,879.932748838,784,800.932748838,649.932748838,629,651,0.44969193932,0.00460156409589,0.0698319089345,0.999999960108,9.256866259e-05,-0.000260486172765,-5.79766119572e-05,1793195718260301568 +271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,631.643321839,879.356678161,784,800.356678161,649.356678161,629,651,0.449679645394,0.00460058426594,0.0698247060092,0.999999957348,9.0734826053e-05,-0.000271539221541,-5.77728664088e-05,1793195718276968192 +272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,632,879,784,800.225192076,649.225192076,629,651,0.449658972147,0.00460028352644,0.0698136568618,0.999999952572,8.94308911229e-05,-0.000288981679952,-5.78520117735e-05,1793195718293634560 +273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,632,879,784,800.816490908,649.816490908,629,651,0.449624676194,0.00460108682056,0.0697963547067,0.999999944151,8.89884456155e-05,-0.000316811740868,-5.83910679676e-05,1793195718310301184 +274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,632,879,783.601425718,801,649.601425718,629,650.601425718,0.44957179753,0.00460264115694,0.069774309471,0.999999931578,9.24501122573e-05,-0.000353392574266,-5.83989369894e-05,1793195718326968064 +275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,632,879,783.023489334,801,649.023489334,629,650.023489334,0.449510556474,0.00460453346934,0.0697501298039,0.999999915956,9.7668665222e-05,-0.000393911337981,-5.81677668631e-05,1793195718343634944 +276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.44695976,711,677,661,632,879,783.55304024,801,649,629,650.55304024,0.44943592608,0.00460417109329,0.0697332218014,0.999999907915,9.75611788598e-05,-0.000413895746358,-5.78146635818e-05,1793195718360301568 +277,4.616666667,POSE2_TO_POSE3_RETREAT,764.131877931,742.131877931,711,677,661,632,878.868122069,784,800.868122069,649,629,651,0.44935750634,0.00460430270312,0.0697193250582,0.999999900591,9.7874458421e-05,-0.000431242754762,-5.71682687902e-05,1793195718376967936 +278,4.633333333,POSE2_TO_POSE3_RETREAT,764.718887133,742.718887133,711,677,661,632,878.281112867,784,800.281112867,649,629,651,0.449267966602,0.00460646879156,0.0697147574494,0.999999895518,0.000100418583489,-0.000442490005652,-5.5527507058e-05,1793195718393634560 +279,4.650000000,POSE2_TO_POSE3_RETREAT,764.698270269,742.698270269,711.301729731,676.698270269,661,632,878.301729731,784,800,649.301729731,629,650.698270269,0.449167488657,0.0046079857248,0.069711974806,0.999999892799,0.000104563529267,-0.000447861909116,-5.37403451618e-05,1793195718410300928 +280,4.666666667,POSE2_TO_POSE3_RETREAT,764.119256736,742.119256736,711.880743264,676.119256736,661,632,878.880743264,784,800,649.880743264,629,650.119256736,0.449056958715,0.00460890609679,0.0697108325116,0.99999989231,0.000110179598249,-0.000447834480996,-5.18186444414e-05,1793195718426967552 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+244,4.066666667,pose1_to_pose2_press,0.624390731342,0.0100013070594,1.06001168736,0.594961964828,0.0186749698556,1.05966121907 +245,4.083333333,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.59496196483,0.0186749698536,1.05966121907 +246,4.100000000,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.594961964829,0.0186749698553,1.05966121907 +247,4.116666667,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.594961964829,0.0186749698562,1.05966121907 +248,4.133333333,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.594961964829,0.0186749698561,1.05966121907 +249,4.150000000,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.594961964829,0.0186749698552,1.05966121907 +250,4.166666667,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.594961964831,0.0186749698529,1.05966121907 +251,4.183333333,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.594961964829,0.0186749698554,1.05966121907 +252,4.200000000,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.594961964829,0.0186749698552,1.05966121907 +253,4.216666667,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.594961964829,0.0186749698552,1.05966121907 +254,4.233333333,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.59496196483,0.0186749698552,1.05966121907 +255,4.250000000,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.59496196483,0.0186749698539,1.05966121907 +256,4.266666667,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.59496196483,0.0186749698555,1.05966121907 +257,4.283333333,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.59496196483,0.0186749698554,1.05966121907 +258,4.300000000,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.59496196483,0.0186749698554,1.05966121907 +259,4.316666667,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.59496196483,0.0186749698554,1.05966121907 +260,4.333333333,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.59496196483,0.0186749698554,1.05966121907 +261,4.350000000,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.59496196483,0.0186749698554,1.05966121907 +262,4.366666667,pose2_hold,0.624390731342,0.0100013070594,1.06001168736,0.594961964831,0.0186749698552,1.05966121907 +263,4.383333333,pose2_to_pose3_retreat,0.624390731342,0.0100013070594,1.06001168736,0.59496196483,0.0186749698549,1.05966121907 +264,4.400000000,pose2_to_pose3_retreat,0.624390647221,0.0100013239523,1.06001157539,0.594961880493,0.0186749862628,1.05966111328 +265,4.416666667,pose2_to_pose3_retreat,0.624390593186,0.0100013263193,1.06001154515,0.594961826343,0.0186749883207,1.05966108509 +266,4.433333333,pose2_to_pose3_retreat,0.624390543787,0.0100013135119,1.06001159107,0.59496177688,0.0186749752351,1.05966112946 +267,4.450000000,pose2_to_pose3_retreat,0.624390529444,0.0100013097933,1.06001160441,0.594961762518,0.0186749714356,1.05966114234 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+54,0.900000000,BASELINE,764,743,711,674,663,633,878,784,800,649,629,651,0.400957349533,0.0044644545536,0.0698229940954,0.999999959882,2.62865361488e-05,-0.000280083155744,3.31285037593e-05,1793195721484385280 +55,0.916666667,BASELINE,764,743,711,674,663,633,878,784,800,649,629,651,0.400955626033,0.00446588971509,0.0698222201837,0.99999995945,2.82857906307e-05,-0.000281437766212,3.30527282272e-05,1793195721501051904 +56,0.933333333,BASELINE,764,743,711.496013778,674,663,633,878,784,800,649.496013778,629,651,0.400956370017,0.00446615442475,0.0698225769193,0.999999959578,2.93814442864e-05,-0.000280869415131,3.30751997189e-05,1793195721517718528 +57,0.950000000,BASELINE,764.073141549,742.926858451,712,674,662.926858451,633,878,784,800,649.926858451,629,651,0.400957295277,0.00446615107182,0.0698231017631,0.999999959773,3.01141509403e-05,-0.000280090649409,3.3098481313e-05,1793195721534385408 +58,0.966666667,BASELINE,764.647683269,742.352316731,712,674,662.352316731,633,878,784,800,649.352316731,629,651,0.400956684192,0.00446562832423,0.0698235056251,0.999999959814,2.93764679482e-05,-0.000280035196735,3.3016664969e-05,1793195721551052032 +59,0.983333333,BASELINE,765,742.228090377,712,674,662.228090377,633,878,784,800,649,629,651,0.40095668293,0.00446488955713,0.0698239459622,0.999999959956,2.83158874679e-05,-0.000279630071053,3.30497448955e-05,1793195721567718912 +60,1.000000000,BASELINE,765,742.817796597,712,674,662.817796597,633,878,784,800,649,629,651,0.400957648485,0.00446380831135,0.0698244441269,0.99999996026,2.67433832698e-05,-0.000278670571692,3.3264982042e-05,1793195721584385536 +61,1.016666667,BASELINE,764.599882895,742.599882895,711.599882895,674,662.599882895,633,877.599882895,784,800,649,629,650.599882895,0.400957459665,0.00446471716,0.0698238544481,0.999999960155,2.75712281287e-05,-0.000278991703865,3.3077441002e-05,1793195721601051904 +62,1.033333333,BASELINE,764.020864735,742.020864735,711.020864735,674,662.020864735,633,877.020864735,784,800,649,629,650.020864735,0.400956754698,0.0044665158232,0.0698227783708,0.999999959863,2.94723213181e-05,-0.00027988543429,3.27098090673e-05,1793195721617718272 +63,1.050000000,BASELINE,764,742.556854278,711.556854278,674,662.556854278,633,877,784,800,649,629.556854278,650,0.40095676087,0.00446443596181,0.0698228707282,0.999999959874,2.68618909533e-05,-0.000280047057053,3.32148781943e-05,1793195721634384896 +64,1.066666667,BASELINE,764,743,712,674,663,633,877.136175291,784,800.136175291,649.136175291,630,650.136175291,0.400956731417,0.00446280783797,0.0698230109468,0.999999959907,2.47782363826e-05,-0.000280078941825,3.35957145506e-05,1793195721651051776 +65,1.083333333,BASELINE,764,743,712,674,663,633,877.720933493,784,800.720933493,649.720933493,630,650.720933493,0.400956497035,0.00446314541562,0.0698231649457,0.999999959991,2.4985419423e-05,-0.000279773601849,3.34598429839e-05,1793195721667718400 +66,1.100000000,BASELINE,764.302854103,743,712,674.302854103,663,633,877.697145897,784,800.697145897,650,629.697145897,651,0.400957019814,0.00446468710877,0.0698238637915,0.999999960227,2.78474020571e-05,-0.000278679574037,3.32973367436e-05,1793195721684385280 +67,1.116666667,BASELINE,764.88218424,743,712,674.88218424,663,633,877.11781576,784,800.11781576,650,629.11781576,651,0.400958233805,0.004467328041,0.0698250600289,0.999999960576,3.31329558006e-05,-0.000276865551752,3.31105156705e-05,1793195721701052160 +68,1.133333333,BASELINE,765,743,712,674.538455931,663,633,877,784,800,650,629,651,0.400958564899,0.0044674171497,0.0698246733686,0.999999960503,3.11728273335e-05,-0.000277407203973,3.26601712084e-05,1793195721717718784 +69,1.150000000,BASELINE,765,743,711.959505157,674,663,633,877,784,800,650,629,651,0.400958586268,0.0044667873371,0.0698239009468,0.999999960306,2.76667545193e-05,-0.000278538374134,3.22228815868e-05,1793195721734385408 +70,1.166666667,BASELINE,765,743,711.386038486,674,663,633,877,784,800,650,629,651,0.400957497618,0.00446526926053,0.0698233696693,0.99999996,2.81583413977e-05,-0.000279513704247,3.28428181848e-05,1793195721751052032 +71,1.183333333,BASELINE,765,743,711.192361554,674,662.807638446,633,877.192361554,784,800,650,629,651,0.400956622444,0.00446419743257,0.0698230523644,0.999999959797,2.76794466147e-05,-0.000280242839498,3.32166856768e-05,1793195721767718400 +72,1.200000000,BASELINE,765,743,711.78092277,674,662.21907723,633,877.78092277,784,800,650,629,651,0.400956186956,0.00446404472536,0.0698231757703,0.999999959805,2.52016883275e-05,-0.000280464896875,3.30837342485e-05,1793195721784385280 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+76,1.266666667,BASELINE,764,743,711.906292682,674,662,633.906292682,877,784,800.906292682,649.906292682,629.093707318,650.906292682,0.400957867765,0.00446609508173,0.0698255264065,0.999999960172,3.45417585337e-05,-0.000278188074897,3.27814037897e-05,1793195728743893760 +77,1.283333333,BASELINE,764,743,711.333744629,674,662,633.333744629,877,784,800.333744629,649.333744629,629.666255371,650.333744629,0.400958169098,0.00446563982204,0.0698259358104,0.999999960412,3.50026719951e-05,-0.000277252450423,3.28895417179e-05,1793195728760560384 +78,1.300000000,BASELINE,764,743,711.248811712,674,662,633,877,784,800,649.248811712,629.751188288,650.248811712,0.400958195698,0.00446550741247,0.0698259789874,0.999999960478,3.57939849803e-05,-0.000276893392935,3.3058699553e-05,1793195728777226752 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+256,4.266666667,HOLD_POSE2,764,743,711,677,660,631.216835897,878.216835897,784,801.216835897,649.216835897,629.216835897,651,0.450611361138,0.00464038786415,0.0697848086364,0.999999932545,0.00013230016972,-0.000337885122955,-5.69162305174e-05,1793195731791493888 +257,4.283333333,HOLD_POSE2,764,743,711,677,660,631.793286272,878.793286272,784,801.793286272,649.793286272,629.793286272,651,0.450612828887,0.00463993297154,0.0697859454054,0.999999933115,0.000130484098421,-0.000336852224934,-5.72228617697e-05,1793195731808160512 +258,4.300000000,HOLD_POSE2,764,743,711,677,660.366888688,632,879,784,801.266222624,650,629.633111312,650.633111312,0.450612466847,0.00463821534424,0.0697858524323,0.999999933334,0.000128078584097,-0.000337217059192,-5.66718609342e-05,1793195731824827136 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