diff --git a/.gitattributes b/.gitattributes index 8b4b0a6b11357801425ed62211d520a75f8d7f54..af5bc5a54fc4d07caa0c9d7f466e02855632a506 100644 --- a/.gitattributes +++ b/.gitattributes @@ -13467,18 +13467,44 @@ Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/fem_node.csv filte Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text -Part2/Free/digiy/ball_15A_15/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text -Part2/Free/digiy/ball_15A_15/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text -Part2/Free/digiy/ball_15A_15/width_08/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text -Part2/Free/digiy/ball_15A_15/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text 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+38,0.633333333,BASELINE,790,749,728.951772578,708,696,654,930.048227422,802,837,666,656,673,0.400979744249,0.00448264797863,0.0798393440188,0.99999995323,0.000120521464118,-0.000275912468829,5.37230334333e-05,1793256175102471936 +39,0.650000000,BASELINE,790,749,728.378724568,708,696,654,930.621275432,802,837,666,656,673,0.400980548708,0.0044828799393,0.0798397244268,0.999999953606,0.000119969933716,-0.000274813227062,5.36064471359e-05,1793256175119138560 +40,0.666666667,BASELINE,790,749,728.19538905,708,696,654,931,802,836.80461095,666,656,672.80461095,0.400981527515,0.0044828796938,0.0798404012192,0.999999953987,0.000119651316605,-0.000273574219676,5.35484460334e-05,1793256175135805440 +41,0.683333333,BASELINE,790,749,728.77157944,708,696,654,931,802,836.22842056,666,656,672.22842056,0.400982846116,0.00448242689261,0.0798416556465,0.99999995438,0.000119786633321,-0.000272062817689,5.36046239092e-05,1793256175152472576 +42,0.700000000,BASELINE,790,749,728.64283745,708,695.64283745,654,930.64283745,802,836,666,656,672.35716255,0.40098298044,0.00448216226009,0.0798417929289,0.999999954437,0.000119910045048,-0.000271802170712,5.35896522735e-05,1793256175169139200 +43,0.716666667,BASELINE,790,749,728.051085082,708,695.051085082,654,930.051085082,802,836,666,656,672.948914918,0.400982336912,0.00448202121964,0.0798411964534,0.999999954273,0.000120025637392,-0.00027236303879,5.35279485495e-05,1793256175185805568 +44,0.733333333,BASELINE,790,749,728,708,695,653.472410791,930,802,836.527589209,666,656,672.472410791,0.400982179247,0.0044825922223,0.0798410906046,0.999999954383,0.000118571889535,-0.000272640187704,5.33171347613e-05,1793256175202472448 +45,0.750000000,BASELINE,790.104379378,749,728,708,695,653.104379378,930,802,837,666,656,672.104379378,0.400982216839,0.00448328558045,0.0798411575022,0.999999954479,0.000117677849513,-0.000272701797736,5.31792411915e-05,1793256175219139072 +46,0.766666667,BASELINE,790.678252733,749,728,708,695,653.678252733,930,802,837,666,656,672.678252733,0.400982926204,0.00448422667651,0.079841792894,0.999999954408,0.000119968306684,-0.000271914501009,5.3432710087e-05,1793256175235805696 +47,0.783333333,BASELINE,790.747570029,749,728,708,695.252429971,653.747570029,930,802.252429971,837,666,656,673,0.400982933671,0.00448412056913,0.0798416857232,0.999999954343,0.000120299700853,-0.000271968056842,5.36200828168e-05,1793256175252472320 +48,0.800000000,BASELINE,790.173004918,749,728,708,695.826995082,653.173004918,930,802.826995082,837,666,656,673,0.400982045419,0.00448267808717,0.0798406309412,0.999999954289,0.000118131063221,-0.000273094655349,5.37231078411e-05,1793256175269138944 +49,0.816666667,BASELINE,790,749,728.415854206,708,695.584145794,653.415854206,930,802.584145794,837,666,656,673,0.400982690548,0.00448255151552,0.0798417171222,0.999999954603,0.000118513710138,-0.000271776266865,5.37243780148e-05,1793256175285805568 +50,0.833333333,BASELINE,790,749,728.989460939,708,695.010539061,653.989460939,930,802,836.989460939,666,656,673,0.400983987298,0.0044830027573,0.0798436875948,0.999999955062,0.000119977367236,-0.000269443057997,5.36805362403e-05,1793256175302472192 +51,0.850000000,BASELINE,790,749,728.412644375,708,695.587355625,653.412644375,930,802,836.412644375,666,656,673,0.400984799993,0.00448403845467,0.0798436107191,0.99999995508,0.00012046502982,-0.000269181605901,5.35683095256e-05,1793256175319138816 +52,0.866666667,BASELINE,790.163909609,749,728,708,695.836090391,653.163909609,930.163909609,802,836,666,656,672.836090391,0.400984787772,0.00448436744306,0.0798431158984,0.999999954931,0.00012046676838,-0.00026975430805,5.3466334065e-05,1793256175335805696 +53,0.883333333,BASELINE,790.739803567,749,728,708,695.260196433,653.739803567,930.739803567,802,836,666,656,672.260196433,0.400982702133,0.00448292012897,0.0798415705789,0.999999954357,0.000119247144144,-0.000272423644426,5.33901249848e-05,1793256175352472320 +54,0.900000000,BASELINE,791,749,728,708,695,654,931,802,836,666,656,672.322589551,0.400982251734,0.00448261157509,0.0798412604417,0.999999954406,0.000118248635613,-0.000272690495595,5.33368776959e-05,1793256175369138944 +55,0.916666667,BASELINE,791,749,728,708,695,654,931,802,836,666,656,672.911055882,0.400983149093,0.00448324158207,0.0798419683359,0.99999995497,0.00011743236966,-0.000270977229701,5.33025554107e-05,1793256175385805568 +56,0.933333333,BASELINE,791,749,728,708,695,653.507324795,931,802,836.492675205,666,656,673,0.400981747007,0.00448290113433,0.0798411179463,0.999999954463,0.000118290481921,-0.000272473558261,5.32957127666e-05,1793256175402472192 +57,0.950000000,BASELINE,791,749,728,708,695,653.072314857,931,802,836.927685143,666,656,672.927685143,0.400980473122,0.00448245686141,0.0798403208122,0.999999953983,0.000119035704456,-0.000273911698608,5.3258974289e-05,1793256175419139072 +58,0.966666667,BASELINE,791,749,728,708,695,653.646674439,931,802,836.353325561,666,656,672.353325561,0.400982931771,0.00448249142875,0.0798418197038,0.999999955046,0.000116927379459,-0.000270978270976,5.29807150316e-05,1793256175435805696 +59,0.983333333,BASELINE,790.778389171,749,728,708,695,654,931,802,836.221610829,666,656,672.221610829,0.400984202641,0.00448238201032,0.0798425916377,0.999999955526,0.000116568651952,-0.000269361471183,5.29547946391e-05,1793256175452472064 +60,1.000000000,BASELINE,790.202530656,749,728,708,695,654,931,802,836.797469344,666,656,672.797469344,0.400983574831,0.00448204242886,0.0798422015211,0.999999955087,0.000119006677612,-0.000269849317021,5.33322410382e-05,1793256175469138688 +61,1.016666667,BASELINE,790,749,728,708,695,654,930.615547768,802,836.615547768,666,656,673,0.400982296686,0.00448333407496,0.0798412700563,0.999999954374,0.000120697545364,-0.000271730014975,5.33638333582e-05,1793256175485805568 +62,1.033333333,BASELINE,790,749,728,708,695,654,930.022529934,802,836.022529934,666,656,673,0.400980665734,0.00448551066316,0.0798400449098,0.999999953506,0.000121983079285,-0.000274366336138,5.32077995778e-05,1793256175502472448 +63,1.050000000,BASELINE,790,749,728.554858846,708,695,654,930,802,836,666,656,673,0.400982129569,0.00448474279211,0.0798413098553,0.999999954232,0.000120387715155,-0.00027240983742,5.32417873485e-05,1793256175519139072 +64,1.066666667,BASELINE,790.132638263,749,729,708,695,653.867361737,930,802,836,666,656.132638263,673,0.400983324985,0.0044837762309,0.0798422590173,0.999999954819,0.000118906502782,-0.000270904864216,5.32342834308e-05,1793256175535805696 +65,1.083333333,BASELINE,790.713825996,749,729,708,695,653.286174004,930,802,836,666,656.713825996,673,0.400983199358,0.00448253099182,0.0798418077181,0.99999995474,0.000118196077008,-0.000271540224419,5.30610869597e-05,1793256175552472320 +66,1.100000000,BASELINE,791,749,729,708,695,653.29436483,930,802,836,666,656.70563517,673,0.400983119013,0.00448223371101,0.0798415683423,0.999999954654,0.000118109289757,-0.000271878500818,5.31489819439e-05,1793256175569138944 +67,1.116666667,BASELINE,791,749,729,708,695,653.874274172,930,802,836,666,656.125725828,673,0.400983082596,0.004482855984,0.0798415345398,0.999999954561,0.000118627454434,-0.000271928595165,5.34901450769e-05,1793256175585805824 +68,1.133333333,BASELINE,790.543774435,749,729,708,695,654,930.456225565,802,836,666,656,673,0.400983465762,0.00448279478505,0.0798420869332,0.999999954849,0.000118069187975,-0.000271165696256,5.31985009801e-05,1793256175602472448 +69,1.150000000,BASELINE,790.038168671,749,728.961831329,708,695.038168671,653.961831329,931,802,836.038168671,666,656,673,0.400983811385,0.00448257127915,0.0798426863228,0.999999955177,0.000117302955167,-0.000270370497076,5.2781823807e-05,1793256175619139072 +70,1.166666667,BASELINE,790.612060818,749,728.387939182,708,695.612060818,653.387939182,931,802,836.612060818,666,656,673,0.400981999857,0.0044827251911,0.0798416677768,0.999999954585,0.000117800052181,-0.000272280681355,5.30688806453e-05,1793256175635805696 +71,1.183333333,BASELINE,791,749,728,708,695.813479333,653,930.813479333,802,836.813479333,666,656,673,0.400981288256,0.00448256980525,0.079841141748,0.999999954322,0.000117965647545,-0.000273132560357,5.32779262909e-05,1793256175652472064 +72,1.200000000,BASELINE,791,749,728,708,695.237835027,653,930.237835027,802,836.237835027,666,656,673,0.400982871345,0.00448176915535,0.0798416432197,0.999999954751,0.000117439656756,-0.000271776579283,5.33242232733e-05,1793256175669138688 +73,1.216666667,BASELINE,791,749,728.345472186,708,695,653,930,802,836,666,656,673,0.400983105275,0.00448168007656,0.0798416232419,0.999999954801,0.000117379525464,-0.000271609091337,5.33625324367e-05,1793256175685805056 +74,1.233333333,BASELINE,791,749,728.934174443,708,695,653,930,802,836,666,656,673,0.400982389326,0.00448209198023,0.079841236137,0.999999954586,0.000117647383095,-0.000272278363362,5.33952177647e-05,1793256175702471680 +75,1.250000000,BASELINE,791,748.483116756,728.483116756,708,695,653.516883244,930,802,836,666,656,673,0.400982373607,0.0044823642824,0.0798414475402,0.999999954536,0.000118065154807,-0.000272269611855,5.34618172313e-05,1793256175719138560 +76,1.266666667,BASELINE,790.902683513,748.097316487,728,708,695,654,930,802,836,666,656,673,0.400982242701,0.00448275999429,0.0798414988565,0.999999954401,0.000118808177894,-0.000272441610202,5.34637455942e-05,1793256175735805440 +77,1.283333333,BASELINE,790.329685087,748.670314913,728,708,695,654,930,802,836,666,656,673,0.400981117877,0.00448384483606,0.0798403993747,0.999999953748,0.000121048775861,-0.000273914336825,5.31286930736e-05,1793256175752472320 +78,1.300000000,BASELINE,790,749,728,708,695,653.75646029,930,802,836,666,656,673,0.400981453214,0.00448435996853,0.0798405400521,0.999999953929,0.000121017987307,-0.000273319232253,5.28438787741e-05,1793256175769138944 +79,1.316666667,BASELINE,790,749,728,708,695,653.182928813,930,802,836,666,656,673,0.40098376704,0.0044841031554,0.0798423611223,0.999999955235,0.000117909512178,-0.000269922254839,5.26271363542e-05,1793256175785805568 +80,1.333333333,BASELINE,790,749,728,708,695,653.405413244,930,801.594586756,836.405413244,666,656,673,0.400983483491,0.0044837171278,0.0798421833195,0.999999954981,0.000118460104891,-0.000270564920868,5.29065795593e-05,1793256175802472192 +81,1.350000000,BASELINE,790.000669774,749,728.000669774,708,695,654,930.000669774,801.000669774,836.999330226,666,656,673,0.400981986279,0.00448327147584,0.0798410712805,0.999999953996,0.000120720694413,-0.000273094618982,5.34179313927e-05,1793256175819138816 +82,1.366666667,BASELINE,790.57723583,749,728.57723583,708,695,654,930.57723583,801.57723583,836.42276417,666,656,673,0.400982853417,0.00448359107433,0.0798415801276,0.999999954537,0.000119856073176,-0.00027146933218,5.35274633665e-05,1793256175835805440 +83,1.383333333,BASELINE,790.847294936,749,728.847294936,708,695,654,930.847294936,802,836,666,656,673,0.400983502538,0.00448385647977,0.0798418554764,0.999999954966,0.0001188630489,-0.000270323860882,5.35136557659e-05,1793256175852472064 +84,1.400000000,BASELINE,790.274840476,749,728.274840476,708,695,654,930.274840476,802,836,666,656,673,0.400983552383,0.00448397292164,0.0798414889951,0.999999955097,0.000117517075437,-0.000270497286342,5.31608174429e-05,1793256175869138944 +85,1.416666667,BASELINE,790.307785297,749,728.307785297,708,695,653.692214703,930.307785297,802,836,666,656,673,0.400982861575,0.0044836894445,0.0798413150689,0.999999954977,0.000117476689007,-0.00027097712767,5.30720742217e-05,1793256175885805568 +86,1.433333333,BASELINE,790.899804034,749,728.899804034,708,695,653.100195966,930.899804034,802,836,666,656,673,0.400981486788,0.0044830366503,0.0798413189634,0.999999954624,0.000118641985639,-0.000271739937786,5.32272174591e-05,1793256175902472192 +87,1.450000000,BASELINE,790.520134798,749,728.520134798,708,695,653.479865202,930.520134798,802,836,666,656,673,0.400981344106,0.00448150760472,0.07984112891,0.999999954771,0.000116359548725,-0.000272224945765,5.30252943498e-05,1793256175919139072 +88,1.466666667,BASELINE,790,749,728,708,695,654,930,802,836.057461132,666,656,673,0.400981537114,0.00448020747826,0.0798410029953,0.999999954997,0.000113852121526,-0.000272500388086,5.2801095899e-05,1793256175935805696 +89,1.483333333,BASELINE,790,749,728,708,695,654,930,802,836.634792927,666,656,673,0.400982496267,0.00448259353224,0.0798418148416,0.999999955078,0.000115663849777,-0.000271391851151,5.30334947096e-05,1793256175952472320 +90,1.500000000,BASELINE,790,749,728.209729771,708,695.209729771,654,930.209729771,802,836.790270229,666,656,672.790270229,0.400982730158,0.00448325475674,0.0798419980018,0.999999955089,0.000115935124975,-0.000271208958222,5.31658672806e-05,1793256175969138944 +91,1.516666667,BASELINE,790,749,728.780543259,708,695.780543259,654,930.780543259,802,836.219456741,666,656,672.219456741,0.400981715395,0.00448094640814,0.0798410987769,0.999999954981,0.000113554260954,-0.000272619711248,5.31260284812e-05,1793256175985805568 +92,1.533333333,BASELINE,790.365901636,749,729,708,695.634098364,654,930.634098364,802,836,666,656,672.365901636,0.400981838805,0.0044813831086,0.0798413029853,0.999999954849,0.000114745371073,-0.000272597159946,5.31661945684e-05,1793256176002472192 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+101,1.683333333,BASELINE,790.598916402,749,728.598916402,708,695,653.598916402,930,802,836,666.598916402,656,673,0.400982168774,0.0044821664624,0.0798411407865,0.999999954632,0.000117558606934,-0.000272253050182,5.28678570717e-05,1793256176152472064 +102,1.700000000,BASELINE,790.824604889,749,729,708,695,654,930,802,836,666.824604889,656,672.824604889,0.400983584532,0.00448253388725,0.079842228576,0.999999955075,0.000116995884773,-0.000270885340793,5.27467787531e-05,1793256176169138944 +103,1.716666667,BASELINE,790.249899665,749,729,708,695,654,930,802,836,666.249899665,656,672.249899665,0.400983856646,0.00448315373534,0.0798428015303,0.999999955005,0.000118614808352,-0.000270410269403,5.29020091452e-05,1793256176185805824 +104,1.733333333,BASELINE,790,749,728.666953649,708,695,654,930,802,836,666,656,672,0.400983980774,0.00448305184163,0.0798426088566,0.999999954928,0.000118718698406,-0.000270597118728,5.3175946489e-05,1793256176202472192 +105,1.750000000,BASELINE,790,749,728.07766725,708,695,654,930,802,836,666,656,672,0.400983991043,0.00448239465243,0.0798418271221,0.999999954845,0.00011765694829,-0.000271293238245,5.35412149055e-05,1793256176219138816 +106,1.766666667,BASELINE,790,749,728.502568025,708,695,654,930.502568025,802,836.502568025,666,656,672.502568025,0.400984547284,0.00448343417103,0.0798427819975,0.999999955222,0.000118694280062,-0.000269473651376,5.33945719179e-05,1793256176235805184 +107,1.783333333,POSE1_TO_POSE2_PRESS,791,749,728,708,695,654,931,802,836,666,656,672,0.400980049529,0.0044832489167,0.0798402780069,0.999999954612,0.000116228296123,-0.000272943529174,5.26102954884e-05,1793256176279131136 +108,1.800000000,POSE1_TO_POSE2_PRESS,790.424392156,749,728.575607844,708,695,653.424392156,930.424392156,802,836,666,656,672,0.400981275441,0.00448223873819,0.0798415102821,0.999999954809,0.000116410434222,-0.000272088567775,5.29021863987e-05,1793256176295798016 +109,1.816666667,POSE1_TO_POSE2_PRESS,790.155376507,749,729,708,695,653.155376507,930,802,836.155376507,666,656,672.155376507,0.40098206359,0.0044818956071,0.0798423614851,0.999999954868,0.000117174699205,-0.000271494374676,5.31411526736e-05,1793256176312464896 +110,1.833333333,POSE1_TO_POSE2_PRESS,790.746822789,749,729,708,695,653.746822789,930,802,836.746822789,666,656,672.746822789,0.400981623144,0.00448342456847,0.0798421431949,0.999999954542,0.000119572724336,-0.000271632037021,5.32315841167e-05,1793256176329131264 +111,1.850000000,POSE1_TO_POSE2_PRESS,791,749,729,708,695,654,930,802,837,666,656,673,0.40098145946,0.00448390093742,0.0798416091717,0.999999954401,0.000120521197205,-0.000271759706701,5.30969015685e-05,1793256176345797632 +112,1.866666667,POSE1_TO_POSE2_PRESS,791,749,729,708,695,654,930,802,837,666,656,673,0.400981502918,0.00448358949446,0.0798408388384,0.999999954401,0.000120384753872,-0.000271879897374,5.2793732655e-05,1793256176362464256 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+124,2.066666667,POSE1_TO_POSE2_PRESS,790.122357499,748.877642501,729,708,695.122357499,653,930.877642501,802,836,666,656,672.122357499,0.40145257693,0.00448817207078,0.0799443756132,0.999999988325,0.000115412588218,-9.02388162219e-05,4.34478083387e-05,1793256176562464000 +125,2.083333333,POSE1_TO_POSE2_PRESS,790,749,729,708,695,653.453946454,930.546053546,802,836.453946454,666,656,672.453946454,0.401560918944,0.00448919744772,0.0799488123034,0.999999989258,0.000112902850969,-8.44121353658e-05,4.01417409059e-05,1793256176579130624 +126,2.100000000,POSE1_TO_POSE2_PRESS,790,749,728.969970974,708,695,654,930,802,836.969970974,666,656,672.969970974,0.401674368396,0.00448996893642,0.0799523474457,0.999999990004,0.000109880706001,-8.11284472925e-05,3.65695745924e-05,1793256176595797248 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+262,4.366666667,HOLD_POSE2,788.45821235,745,728.54178765,707,678,649,932,797,836.54178765,667,656,674,0.455695308778,0.00472866412081,0.0795623969643,0.99999974411,0.000221834515784,-0.000676997143433,-6.51471641849e-05,1793256178879656192 +263,4.383333333,HOLD_POSE2,788,745,728.884337666,707.115662334,678,649,932.115662334,797,836.884337666,667,656,674,0.455694434685,0.00473019817482,0.07956203544,0.999999743142,0.000224350065046,-0.00067761617783,-6.4949469721e-05,1793256178896323072 +264,4.400000000,HOLD_POSE2,788,745,728.308932699,707.691067301,678,649,932.691067301,797,836.308932699,667,656,674,0.455696141017,0.0047277300369,0.0795632402732,0.999999745102,0.000220008539386,-0.000676151526136,-6.48955491385e-05,1793256178912989952 +265,4.416666667,POSE2_TO_POSE3_RETREAT,788,745,728,707,678,649,932,797,836,668,656,674,0.45569534789,0.00472649370201,0.0795616436229,0.999999743985,0.000222318548568,-0.000677168183096,-6.3627677802e-05,1793256178951160064 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+269,4.483333333,POSE2_TO_POSE3_RETREAT,789,745,728.350055063,707.649944937,678,649,932.350055063,797,836,667.649944937,656,674,0.455696541677,0.00472595309175,0.0795621398563,0.999999745292,0.000216711141469,-0.000676961865045,-6.4620807438e-05,1793256179017826304 +270,4.500000000,POSE2_TO_POSE3_RETREAT,789,745,728.940051166,707.059948834,678,649,932.940051166,797,836,667.059948834,656,674,0.455695983347,0.00472804256962,0.0795615946448,0.999999744039,0.000219553923391,-0.000677907838277,-6.44835190221e-05,1793256179034492928 +271,4.516666667,POSE2_TO_POSE3_RETREAT,788.479695484,745,728.479695484,707,678,649,932.479695484,797,836,667,656,674,0.4556957856,0.00472733374407,0.0795619359344,0.999999743794,0.000220304159328,-0.000678037418807,-6.43650149044e-05,1793256179051159552 +272,4.533333333,POSE2_TO_POSE3_RETREAT,788,745,728,707,678,649,932.098286647,797.098286647,836,667,656,674,0.455695571865,0.00472659689409,0.0795622354704,0.99999974374,0.000220577304716,-0.000678035259291,-6.4296212062e-05,1793256179067826176 +273,4.550000000,POSE2_TO_POSE3_RETREAT,788,745,728,707,678,649,932.670628981,797.670628981,836,667,656,674,0.455695084319,0.00472725137317,0.0795618500272,0.999999744055,0.000219690849425,-0.00067784304042,-6.44568811944e-05,1793256179084493312 +274,4.566666667,POSE2_TO_POSE3_RETREAT,788.245161887,745,728,707,678,649,932.754838113,797.754838113,836,667.245161887,656,674,0.455692621607,0.00472717580547,0.0795604486439,0.999999743295,0.000219095409081,-0.000679160922249,-6.44051613025e-05,1793256179101159936 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0000000000000000000000000000000000000000..befabd4bcbc9e0f10be4dbfd5e40bf7e779ce15e --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/franka_data.csv @@ -0,0 +1,413 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,790,749,728,708,695,654,931,802,837,666,656,673,0.400981834654,0.00448425263617,0.0798398563652,0.999999953055,0.000119792869941,-0.000276957407383,5.32392268831e-05,1793256181506921984 +1,0.016666667,BASELINE,790,749,728,708,695,653.413190799,930.413190799,802,836.413190799,666,656,673,0.400981148512,0.00448472424551,0.0798388445439,0.99999995281,0.000120734697677,-0.000277485831262,5.29670499934e-05,1793256181523588608 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+64,1.066666667,BASELINE,790,749,728,708,695,654,930,802,836,666,656.14438447,673,0.400983698595,0.00448586619341,0.0798426731462,0.999999954608,0.000122019699722,-0.000270512576854,5.2132219946e-05,1793256182573588992 +65,1.083333333,BASELINE,790,749,728,708,695,654,930,802,836,666,656.723364915,673,0.400983411905,0.00448598752798,0.0798426283368,0.999999954602,0.000122379236514,-0.000270388828478,5.20497563199e-05,1793256182590255616 +66,1.100000000,BASELINE,790,748.696539179,728,707.696539179,695,654,930,802,836,666,656.696539179,672.696539179,0.400982644424,0.00448646902512,0.0798420437572,0.9999999543,0.000123044653594,-0.000271201134116,5.20617142457e-05,1793256182606922240 +67,1.116666667,BASELINE,790,748.115422701,728,707.115422701,695,654,930,802,836,666,656.115422701,672.115422701,0.400981437038,0.00448728005796,0.0798409653075,0.999999953724,0.000123989940039,-0.000272869895274,5.21600644757e-05,1793256182623588864 +68,1.133333333,BASELINE,790,748.459872434,728,707,695,653.540127566,930,802,836,666,656,672.459872434,0.400981111289,0.00448597679769,0.0798407811147,0.999999953678,0.000123020703903,-0.000273463309733,5.22184995385e-05,1793256182640255488 +69,1.150000000,BASELINE,790,749,728,707.034363878,695,653.034363878,930,801.965636122,836,666,656,672.965636122,0.400981022724,0.00448435431433,0.079840829859,0.999999953764,0.000121697856266,-0.000273736641694,5.22504988158e-05,1793256182656921856 +70,1.166666667,BASELINE,790,749,728,707.61909087,695,653.61909087,930,801.38090913,836,666,656,672.38090913,0.40098123316,0.00448601196511,0.0798410594965,0.999999953861,0.000122311393472,-0.000273152223322,5.20175532728e-05,1793256182673588480 +71,1.183333333,BASELINE,790,749,728,708,695,653.796732606,930,801.203267394,836,666,656,672,0.400981131712,0.00448638877974,0.0798410421365,0.999999953944,0.000121852867196,-0.000273081498853,5.18678976138e-05,1793256182690255104 +72,1.200000000,BASELINE,790,749,728,708,695,653.213584737,930,801.786415263,836,666,656,672,0.40098044739,0.00448437187749,0.0798405631702,0.999999953997,0.000119390792997,-0.000273970801764,5.18738999378e-05,1793256182706921728 +73,1.216666667,BASELINE,790,749,728.364117219,708,695,653.364117219,930,802,836,666,656,672,0.400980858695,0.00448432690691,0.0798407371633,0.999999954037,0.00011926921471,-0.000273852869277,5.20228205595e-05,1793256182723588608 +74,1.233333333,BASELINE,790,749,728.938671738,708,695,653.938671738,930,802,836,666,656,672,0.400981903206,0.00448542159136,0.0798412885267,0.999999954068,0.000120500298891,-0.000273152816786,5.22543391442e-05,1793256182740255488 +75,1.250000000,BASELINE,789.485016553,749,728.485016553,707.485016553,695,654,930,802,836,665.485016553,656,672,0.400982489541,0.00448442367045,0.0798417910796,0.999999954495,0.000119392898209,-0.000272068349321,5.22843398028e-05,1793256182756921856 +76,1.266666667,BASELINE,789.093410882,748.906589118,728,707.093410882,695,654,930,802,836,665.093410882,656,672.093410882,0.400982638332,0.00448363745512,0.0798420175252,0.999999954762,0.000118566700113,-0.000271449717733,5.2279236838e-05,1793256182773588480 +77,1.283333333,BASELINE,789.6819396,748.3180604,728,707.6819396,695,654,930,802,836,665.6819396,656,672.6819396,0.400980758154,0.00448529878035,0.0798408113984,0.999999953938,0.000120712141245,-0.000273543696557,5.22157065719e-05,1793256182790255360 +78,1.300000000,BASELINE,790,748,728,708,695,653.733177904,930,802,836,666,656,673,0.400979979061,0.00448612135786,0.0798400604077,0.999999953507,0.000121823525726,-0.000274638642726,5.21337501957e-05,1793256182806921984 +79,1.316666667,BASELINE,790,748,728,708,695,653.152583264,930,802,836,666,656,673,0.400980494801,0.00448595760014,0.0798398446397,0.999999953547,0.000121718899132,-0.000274558764699,5.2030125426e-05,1793256182823588608 +80,1.333333333,BASELINE,790,748.423538589,728,708,695,653,930,802,836,666,656,673,0.400980707353,0.0044855582029,0.0798400918915,0.99999995369,0.000120903520055,-0.000274374056535,5.21575488547e-05,1793256182840255232 +81,1.350000000,BASELINE,790,748.998065969,728,708,695,653,930,802,836,666,656,673,0.400980811819,0.00448507480168,0.0798405042069,0.999999953869,0.000119834762268,-0.000274151977093,5.23673394764e-05,1793256182856921856 +82,1.366666667,BASELINE,790,749,728,707.427064127,695,653,930,802,836,666,656,673,0.400982833847,0.0044854843345,0.0798418235204,0.999999954545,0.00012080484613,-0.000271290705258,5.21234748228e-05,1793256182873588736 +83,1.383333333,BASELINE,790.152626756,748.847373244,728,707.152626756,695,653,930,802,836,666,656,673,0.400984112946,0.00448588010378,0.0798427293617,0.999999954907,0.000121905677025,-0.000269482614123,5.19991670742e-05,1793256182890255104 +84,1.400000000,BASELINE,790.746243864,748.253756136,728,707.746243864,695,653,930,802,836,666,656,673,0.400983226762,0.00448622739129,0.0798424316905,0.999999954376,0.000123364383044,-0.000270743274302,5.22247269587e-05,1793256182906921728 +85,1.416666667,BASELINE,790.668730318,748.331269682,728,708,695,653.331269682,930,801.668730318,836,666,656,673,0.400982926664,0.00448648438813,0.07984213294,0.99999995418,0.000123323042651,-0.000271503193619,5.21248645763e-05,1793256182923588608 +86,1.433333333,BASELINE,790.090119195,748.909880805,728,708,695,653.909880805,930,801.090119195,836,666,656,673,0.400983064167,0.0044866739697,0.0798418333838,0.999999954236,0.000122161697349,-0.000271889236307,5.17820266931e-05,1793256182940255232 +87,1.450000000,BASELINE,790,749,728.483076883,708,695,653.516923117,930,801.483076883,836,666,656,673,0.400982425091,0.00448574402856,0.0798417657893,0.999999954346,0.000120637444323,-0.000272128622992,5.19592039561e-05,1793256182956921600 +88,1.466666667,BASELINE,790,749,728.943000836,708,695,653.056999164,930.056999164,801.943000836,836,666,656,673,0.400981876021,0.0044848336798,0.0798417916367,0.999999954442,0.000119547937755,-0.000272207168548,5.22212107143e-05,1793256182973588480 +89,1.483333333,BASELINE,790,749,728.352944471,708,695,653.647055529,930.647055529,801.352944471,836,666,656,673,0.40098350852,0.00448603807456,0.0798422911493,0.999999954315,0.000123150313361,-0.000271034550983,5.23793610304e-05,1793256182990255360 +90,1.500000000,BASELINE,790,749,728,708,695,654,930.767464735,801.232535265,836,666,656,672.767464735,0.400984974719,0.00448617591045,0.0798429473187,0.999999954584,0.000124135932007,-0.000269576205513,5.24410229116e-05,1793256183006921984 +91,1.516666667,BASELINE,790,749,728,708,695,654,930.188797427,801.811202573,836,666,656,672.188797427,0.400986193378,0.00448472615822,0.079843836674,0.999999955452,0.000121226470468,-0.000267692550112,5.23590603753e-05,1793256183023588608 +92,1.533333333,BASELINE,790,749,728,708,695,654,930.388446468,802,836,666,656,672,0.400985264961,0.00448547734856,0.0798438574988,0.999999955349,0.000120817630535,-0.000268321758639,5.20372770757e-05,1793256183040255488 +93,1.550000000,BASELINE,790,749,728,708,695,654,930.965001116,802,836,666,656,672,0.400983296805,0.00448729436208,0.079843457731,0.999999954778,0.000121619735526,-0.00027016784062,5.15993587259e-05,1793256183056922112 +94,1.566666667,BASELINE,790.550491666,749,728,708,695,653.449508334,931,802,836.550491666,666,656,672.550491666,0.400982304486,0.00448664027588,0.0798424635042,0.999999954395,0.000122247008507,-0.000271246807503,5.18748563317e-05,1793256183073588736 +95,1.583333333,BASELINE,790.865056713,749,728,708,695,653.134943287,930.865056713,802,836.865056713,666,656,673,0.400981974673,0.00448603606502,0.0798419248698,0.999999954215,0.000122721426928,-0.000271649259533,5.21214133745e-05,1793256183090255360 +96,1.600000000,BASELINE,790.285925667,749,728,708,695,653.714074333,930.285925667,802,836.285925667,666,656,673,0.400983618015,0.00448612170088,0.0798430123498,0.999999954664,0.000122729891693,-0.000269988040747,5.2120943805e-05,1793256183106921984 +97,1.616666667,BASELINE,790,749,728,708,695,654,930,802,836,666,656,672.707006781,0.400983728211,0.00448625479631,0.0798427679625,0.999999954628,0.000122542370373,-0.000270230422433,5.19951747067e-05,1793256183123588608 +98,1.633333333,BASELINE,790,749,728,708,695,654,930,802,836,666,656,672.128294821,0.400982343328,0.00448643417299,0.0798412247756,0.999999954118,0.00012216372894,-0.000272329141814,5.17472170353e-05,1793256183140255488 +99,1.650000000,BASELINE,790,749,728,708,695,653.554310056,930,802,836.445689944,666,656,672.445689944,0.400981912891,0.00448535990025,0.0798412735379,0.999999954073,0.000121919628533,-0.00027255012964,5.20204805371e-05,1793256183156922112 +100,1.666666667,BASELINE,790.018867493,749,728,708,695,653.018867493,930,802,837,666,656,672.981132507,0.400981759888,0.0044839858563,0.0798417597595,0.99999995416,0.0001217255926,-0.000272239844061,5.24293075579e-05,1793256183173588480 +101,1.683333333,BASELINE,790.608354299,749,728,708,695,653.608354299,930,802,837,666,656,672.391645701,0.40098177545,0.00448434515043,0.0798417625579,0.999999954194,0.000121886688132,-0.000272037567886,5.24480294094e-05,1793256183190255104 +102,1.700000000,BASELINE,790.80562502,749,728,708,695,654,930,802,836.80562502,666,656,672.19437498,0.400981672003,0.00448510277607,0.0798416083418,0.999999954203,0.000121563324586,-0.000272174933942,5.23227724749e-05,1793256183206921984 +103,1.716666667,BASELINE,790.226465941,749,728,708,695,654,930,802,836.226465941,666,656,672.773534059,0.400981332969,0.00448664893751,0.0798411433005,0.999999954158,0.000120280927349,-0.000272984654712,5.19124955862e-05,1793256183223588608 +104,1.733333333,BASELINE,790,749,728.35160804,708,695,654,930,802,836.35160804,666,656,673,0.400981337622,0.00448685512883,0.0798411882237,0.999999954334,0.000119933709698,-0.000272536978647,5.16818369289e-05,1793256183240255488 +105,1.750000000,BASELINE,790,749,728.928985331,708,695,654,930,802,836.928985331,666,656,673,0.400981562959,0.00448620091891,0.0798415605977,0.999999954651,0.00012018697533,-0.000271281921973,5.15665119804e-05,1793256183256922368 +106,1.766666667,BASELINE,790,749,728.494612308,708,695,654,930,802,836.494612308,666,656.505387692,673,0.400981768509,0.00448535129617,0.0798417243686,0.999999954559,0.000120330697286,-0.000271454326496,5.21059976018e-05,1793256183273588736 +107,1.783333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,802,836,666,656,673,0.400982709905,0.00448610877989,0.0798422656629,0.999999953945,0.000124858091741,-0.000271633874763,5.23100878396e-05,1793256183316278272 +108,1.800000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.580502042,930.580502042,802,836,666,656.580502042,673,0.400982048074,0.00448520511704,0.0798419310852,0.999999954158,0.000121923443239,-0.000272249748338,5.19531701211e-05,1793256183332944896 +109,1.816666667,POSE1_TO_POSE2_PRESS,790,749,728.159864178,708,695,653.840135822,930.840135822,802,836,666,656.840135822,673,0.400981710983,0.00448469351884,0.0798416973356,0.999999954383,0.00011989934191,-0.000272366582472,5.17148713344e-05,1793256183349611776 +110,1.833333333,POSE1_TO_POSE2_PRESS,790,749,728.7362564,708,695,653.2637436,930.2637436,802,836,666,656.2637436,673,0.400982220009,0.00448520344957,0.0798417262947,0.999999954659,0.000120247681593,-0.000271183163468,5.17856355294e-05,1793256183366278144 +111,1.850000000,POSE1_TO_POSE2_PRESS,790,749,728.68770391,708,695,653.31229609,930,802,836,666,656.31229609,673,0.400982718391,0.00448536932521,0.0798420966242,0.999999954819,0.000120741720155,-0.000270347529091,5.19249464298e-05,1793256183382944768 +112,1.866666667,POSE1_TO_POSE2_PRESS,790,749,728.111961644,708,695,653.888038356,930,802,836,666,656.888038356,673,0.400983207793,0.00448524496344,0.0798427549261,0.99999995488,0.000121358667097,-0.000269805278315,5.21220818328e-05,1793256183399611648 +113,1.883333333,POSE1_TO_POSE2_PRESS,790.475848238,748.524151762,728,708,695,654,930,802,836,666,656.524151762,673,0.400982816517,0.00448533605608,0.0798427706773,0.999999954638,0.000121985000448,-0.000270410540298,5.2165096225e-05,1793256183416278016 +114,1.900000000,POSE1_TO_POSE2_PRESS,791,748.064981452,728,708,695,654,930,802,836,666,656,673,0.400982231614,0.0044854375525,0.0798425761399,0.999999954338,0.000122423198797,-0.000271316495412,5.21961577838e-05,1793256183432944640 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sha256:c65bda98fa63ba7e541a7a001c1cf9d2517a8f35a0e57c695b41cf147efaf6a3 +size 25877187 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..42d7b0c4d569bbf2ce87ab2972233c63502bd3b0 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/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,770,745,721,685,666,643,888,788,818,654,633,657,0.400850445805,-0.00544211185831,0.0598987713297,0.999999955277,-8.39461052318e-05,-0.000284683025644,-3.67986908593e-05,1793250437128578304 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+254,4.233333333,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520588,1.04970494639 +255,4.250000000,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520587,1.04970494639 +256,4.266666667,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520587,1.04970494639 +257,4.283333333,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520586,1.04970494639 +258,4.300000000,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520586,1.04970494639 +259,4.316666667,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520586,1.04970494639 +260,4.333333333,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520586,1.04970494639 +261,4.350000000,pose2_hold,0.617736796206,0.000150143967582,1.05003356487,0.588307472616,0.00882277520585,1.04970494639 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b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:517a55350ddabd8d2ddf90a76bb5c82371f87c029156664f28c44779cc2a0820 +size 25950222 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..aabe65cd0d228fd281fee6813ebdb4a8c98b0190 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/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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a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..8603b2c4cf3040f709b799770e711d1a45e98589 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/franka_data.csv @@ -0,0 +1,411 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,769,745,721,685,665,642,887,788,819,655,632,656,0.400967209992,-0.00537396002912,0.0598393364258,0.999999923429,0.000285292980508,-0.000266943518087,2.21697118403e-05,1793250451117736192 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0000000000000000000000000000000000000000..fc3e5ee816111e5778e40fabfc612fa884576404 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95bea309ffcc628e3acf8e852f12411ea82104c342114775328413c67c5d137b +size 26203167 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..49eca39dd1385056c845e18ed56be05cabad85c3 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/franka_data.csv @@ -0,0 +1,413 @@ 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+92,1.533333333,BASELINE,769,745,721,685,665.384076278,642,887.384076278,788,818.384076278,654.384076278,632,656,0.400973783256,-0.00537477339885,0.0598467762561,0.999999924149,0.000293303694565,-0.00025549509564,1.99331256843e-05,1793250459660207872 +93,1.550000000,BASELINE,769,745,721,685,665.955698703,642,887.955698703,788,818.955698703,654.955698703,632,656,0.400975915915,-0.00537271994568,0.0598483225392,0.999999923895,0.000296260725063,-0.000253079678362,1.97489457619e-05,1793250459676874240 +94,1.566666667,BASELINE,769,745,721,685,665.467120984,642,887.467120984,788,819,655,632,656,0.400973440571,-0.00537355190756,0.0598467089326,0.999999923405,0.000295594944934,-0.000255791093044,1.96321335631e-05,1793250459693540864 +95,1.583333333,BASELINE,768.886612212,745,721,684.886612212,665,642,887.113387788,788,819,654.886612212,631.886612212,656,0.400971053136,-0.00537431883366,0.0598450942273,0.999999922935,0.00029486342189,-0.000258465492709,1.95344986997e-05,1793250459710207488 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+256,4.266666667,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418624,0.00882291552797,1.04970502114 +257,4.283333333,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418624,0.00882291552797,1.04970502114 +258,4.300000000,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418624,0.00882291552806,1.04970502114 +259,4.316666667,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418625,0.008822915528,1.04970502114 +260,4.333333333,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418625,0.00882291552754,1.04970502114 +261,4.350000000,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418625,0.00882291552758,1.04970502114 +262,4.366666667,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418625,0.00882291552755,1.04970502114 +263,4.383333333,pose2_hold,0.621736744231,0.000150285566351,1.05003362646,0.592307418625,0.00882291552774,1.04970502114 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0000000000000000000000000000000000000000..04d3d66f22a29e7c1763662526cab300707ce0c4 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f983324163beeed126326163c0dcbf886a847da40af8d76c8dda30555c12021 +size 25926783 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..845bf565f0feb48f47d3c514d2d579e311bf3c3c --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/franka_data.csv @@ -0,0 +1,409 @@ 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+234,3.900000000,pose1_to_pose2_press,0.619559938023,0.000150199116545,1.04003339651,0.590130613166,0.00882282931657,1.03970479184 +235,3.916666667,pose1_to_pose2_press,0.61956002408,0.000150189592272,1.04003339418,0.590130699593,0.00882282105023,1.03970478993 +236,3.933333333,pose1_to_pose2_press,0.61956011842,0.000150179151417,1.04003339163,0.590130794336,0.00882281198837,1.03970478783 +237,3.950000000,pose1_to_pose2_press,0.619560184163,0.000150171875482,1.04003338986,0.59013086036,0.00882280567341,1.03970478636 +238,3.966666667,pose1_to_pose2_press,0.619560249232,0.000150164674093,1.0400333881,0.590130925708,0.00882279942315,1.03970478492 +239,3.983333333,pose1_to_pose2_press,0.619560410714,0.000150146802377,1.04003338374,0.590131087881,0.00882278391187,1.03970478132 +240,4.000000000,pose1_to_pose2_press,0.619560553844,0.000150180950416,1.04003340782,0.590131230434,0.00882281613106,1.03970480611 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+248,4.133333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582137,1.03970477029 +249,4.150000000,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582132,1.0397047703 +250,4.166666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.0088227458213,1.0397047703 +251,4.183333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582126,1.0397047703 +252,4.200000000,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582124,1.0397047703 +253,4.216666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582117,1.0397047703 +254,4.233333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582114,1.0397047703 +255,4.250000000,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582109,1.0397047703 +256,4.266666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582105,1.0397047703 +257,4.283333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582102,1.0397047703 +258,4.300000000,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582099,1.0397047703 +259,4.316666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582095,1.0397047703 +260,4.333333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582092,1.0397047703 +261,4.350000000,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582089,1.0397047703 +262,4.366666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582087,1.0397047703 +263,4.383333333,pose2_to_pose3_retreat,0.619561053796,0.000150143058239,1.04003353459,0.590131730445,0.00882277829004,1.03970492855 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0000000000000000000000000000000000000000..d450252f68695247821729b3b43a8d6c3a5763f8 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a298c883a13a458b2b2b4f337dfa8746b3d522b20d9ed835ce5942b102249c0 +size 26063284 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9e711eb4f87ecfc098304c73b0abcae1a7d29e58 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/franka_data.csv @@ -0,0 +1,411 @@ 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sha256:522e52da553c8e0f3ca426ba86b501a74ca80cb61b57cb7498f7eb0f47d76714 +size 26190448 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..6165d059e9d0c812be49cda6aea2e00342ed4cfc --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/franka_data.csv @@ -0,0 +1,413 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,770,746,721,683,666,642,888,789,819,655,631,656,0.400989238708,-0.00540002769197,0.0498515961342,0.999999957499,0.000136381208139,-0.000254899400111,-3.78008567357e-05,1793250501357304576 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0000000000000000000000000000000000000000..3d87effbefda4e935232cfc5bfdf81db54cdf46c --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ced3111ccbffd361b8e6ae25904a647310f885b198b8a22d47e90739663adbeb +size 25968790 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..95e19964a26532fc5662348ac03a692f31bd91f6 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/franka_data.csv @@ -0,0 +1,410 @@ 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+53,0.883333333,BASELINE,770,745.245517888,722.245517888,685.245517888,667.754482112,642,888,789,819,655,632,656,0.401016937337,-0.00549571808752,0.0698488761459,0.999999985097,4.42528806776e-05,-0.000166167132936,1.53369165941e-05,1793250510714801408 +54,0.900000000,BASELINE,770,745.338932757,722.338932757,685.338932757,667.661067243,642,888,788.661067243,819.338932757,655,632,656,0.401016398654,-0.00549608551193,0.069848450431,0.999999984996,4.44933560342e-05,-0.000166702161449,1.54710981363e-05,1793250510731468288 +55,0.916666667,BASELINE,770,745.918805359,722.918805359,685.918805359,667.081194641,642,888,788.081194641,819.918805359,655,632,656,0.401015282103,-0.00549618831467,0.0698478704399,0.999999984866,4.45661565989e-05,-0.000167458720993,1.54800205157e-05,1793250510748135168 +56,0.933333333,BASELINE,770,746,722.508938194,686,667,642,888,788.491061806,819.508938194,655,632,656,0.401014812392,-0.00549477638668,0.069847676346,0.999999984738,4.52953017278e-05,-0.000168056028358,1.51434296915e-05,1793250510764801536 +57,0.950000000,BASELINE,770,745.937057613,722.062942387,686,667,642,888,789,819.062942387,655,632,656.062942387,0.40101445104,-0.00549353931357,0.06984750314,0.999999984621,4.58418424707e-05,-0.000168634405831,1.48108339766e-05,1793250510781468416 +58,0.966666667,BASELINE,770,745.358092398,722.641907602,686,667,642,888,789,819.641907602,655,632,656.641907602,0.401014114625,-0.00549575770078,0.069846986066,0.999999984593,4.40152082487e-05,-0.000169270167325,1.49722004903e-05,1793250510798135040 +59,0.983333333,BASELINE,770,745.226467007,722.773532993,686,667,642,888,789,820,655,632,657,0.401014335525,-0.00549719756221,0.069847250433,0.999999984736,4.22635807862e-05,-0.000168863162268,1.50954264906e-05,1793250510814801664 +60,1.000000000,BASELINE,770,745.820096146,722.179903854,686,667,642,888,789,820,655,632,657,0.401015459979,-0.00549737523049,0.0698487817198,0.999999985154,4.06335585726e-05,-0.000166765560538,1.51568167885e-05,1793250510831468032 +61,1.016666667,BASELINE,770,746,722,685.598763902,667,642,888,789,819.598763902,655,632,656.598763902,0.401015868841,-0.00549726318094,0.0698488349498,0.99999998518,4.11065691808e-05,-0.000166495834282,1.5131752057e-05,1793250510848134656 +62,1.033333333,BASELINE,770,746,722,685.023054768,667,642,888,789,819.023054768,655,632,656.023054768,0.401015966537,-0.00549702515081,0.0698482454632,0.999999985036,4.24940602173e-05,-0.000167020939384,1.5069093318e-05,1793250510864801280 +63,1.050000000,BASELINE,770,746,722,685.548755179,667,642.548755179,888,789,819,655,632,656,0.401016873353,-0.00549559044114,0.0698495944439,0.999999985382,4.38783642784e-05,-0.000164576915268,1.50031636911e-05,1793250510881467904 +64,1.066666667,BASELINE,770,745.875101575,722.124898425,686,666.875101575,642.875101575,888,789,819,655,632,656.124898425,0.401017188975,-0.0054945514217,0.0698504690872,0.99999998553,4.52012933108e-05,-0.000163310418992,1.5024464344e-05,1793250510898134784 +65,1.083333333,BASELINE,770,745.282108385,722.717891615,686,666.282108385,642.282108385,888,789,819,655,632,656.717891615,0.401015162418,-0.00549518246648,0.0698492629373,0.999999984879,4.62946989883e-05,-0.000166921274413,1.53731983435e-05,1793250510914801408 +66,1.100000000,BASELINE,770,745.302927711,723,686,666.302927711,642.302927711,888,788.697072289,819,655,632,656.697072289,0.401014414214,-0.00549620924218,0.06984845666,0.999999984655,4.57883067168e-05,-0.00016837731135,1.55590157848e-05,1793250510931468288 +67,1.116666667,BASELINE,770,745.880743216,723,686,666.880743216,642.880743216,888,788.119256784,819,655,632,656.119256784,0.401014826035,-0.0054975951187,0.069848013242,0.999999984826,4.38301986428e-05,-0.000167877986215,1.55969967053e-05,1793250510948134912 +68,1.133333333,BASELINE,770,746,722.543569447,686,667,643,888.456430553,788,819.456430553,655,632,656.456430553,0.401015226632,-0.00549775202,0.0698478643942,0.999999984742,4.41451977813e-05,-0.000168290258496,1.56414139816e-05,1793250510964801536 +69,1.150000000,BASELINE,770,746,722.032235652,685.967764348,667,642.967764348,888.967764348,788.032235652,819.967764348,655,632,656.967764348,0.401015595629,-0.00549755654471,0.0698477904976,0.999999984608,4.49533596488e-05,-0.000168870425938,1.56672996683e-05,1793250510981468416 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+74,1.233333333,BASELINE,770,746,722.938938877,685.938938877,667,642,888.938938877,788.061061123,819,655,632,656,0.401016343466,-0.00549549529159,0.0698490191555,0.999999985145,4.33321140347e-05,-0.00016618768269,1.46245758343e-05,1793250511064801792 +75,1.250000000,BASELINE,770,746,722.48591673,685.48591673,667,642,889,788.51408327,819,655,632,656,0.401015458045,-0.00549623718433,0.0698484330099,0.999999984978,4.30938863519e-05,-0.000167230334954,1.48647122352e-05,1793250511081468416 +76,1.266666667,BASELINE,770,746,722,685.091893166,667,642,888.908106834,789,819,655,631.908106834,656.091893166,0.401014588035,-0.00549687987118,0.0698478839384,0.9999999848,4.34289086392e-05,-0.00016817741471,1.51801094399e-05,1793250511098135040 +77,1.283333333,BASELINE,770,746,722,685.683537841,667,642,888.316462159,789,819,655,631.316462159,656.683537841,0.401015304821,-0.00549617163302,0.0698484837268,0.999999984862,4.58088555797e-05,-0.000167148288146,1.5451523495e-05,1793250511114801664 +78,1.300000000,BASELINE,770,746,722.268578444,686,667,642,888,789,819,655,631.268578444,657,0.401015685958,-0.00549657672504,0.0698488375397,0.999999984978,4.53887424003e-05,-0.000166564386124,1.55236540128e-05,1793250511131468032 +79,1.316666667,BASELINE,770,746,722.84602427,686,667,642,888,789,819,655,631.84602427,657,0.401015681096,-0.00549826215584,0.0698489084788,0.999999985151,4.17485372889e-05,-0.000166492495996,1.53666068333e-05,1793250511148134656 +80,1.333333333,BASELINE,770,746,722.578610596,686,667,642,888,789,819,655,632,657,0.401015246601,-0.00549779328534,0.0698484493057,0.999999985014,4.25330215588e-05,-0.000167126340012,1.52290742609e-05,1793250511164801536 +81,1.350000000,BASELINE,770,746,722.004001965,686,667,642,888,789,819,655,632,657,0.401014655889,-0.00549654110061,0.0698477973812,0.999999984762,4.49263440144e-05,-0.000168016792376,1.50986372813e-05,1793250511181468160 +82,1.366666667,BASELINE,770.572131792,746,722,685.427868208,667,642.572131792,888,789,819.572131792,655,632,657,0.401013878248,-0.00549592394545,0.0698476635362,0.999999984504,4.65993343808e-05,-0.000169071250023,1.53154113049e-05,1793250511198134784 +83,1.383333333,BASELINE,770.847608963,746,722,685.152391037,667,642.847608963,888,789,820,655,632,657,0.401013687539,-0.00549548951198,0.0698476714489,0.999999984412,4.71783240996e-05,-0.000169446703416,1.54219746134e-05,1793250511214801408 +84,1.400000000,BASELINE,770.255475875,746,722,685.744524125,667,642.255475875,888,789,820,655,632,657,0.401015194278,-0.00549556949111,0.0698480779351,0.999999984801,4.46150265017e-05,-0.00016785949216,1.5203485167e-05,1793250511231468288 +85,1.416666667,BASELINE,770,746,722,686,667,642.326885983,888.326885983,789,819.673114017,655,632,657,0.401014900948,-0.00549563059433,0.0698480656472,0.999999984748,4.44002166326e-05,-0.000168227278465,1.52265164396e-05,1793250511248134656 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+89,1.483333333,BASELINE,770,746,722.645284715,685.354715285,667,642.354715285,888,788.354715285,819.354715285,655,632,656,0.401015145566,-0.00549571672879,0.0698484801501,0.999999984869,4.44102944738e-05,-0.000167511407858,1.51527343185e-05,1793250511314801408 +90,1.500000000,BASELINE,770,746,723,685.229972619,667,642,888,788,819,655,632,656,0.401015176317,-0.00549559522924,0.0698486967347,0.999999984929,4.35865302441e-05,-0.000167380732972,1.5012291033e-05,1793250511331468032 +91,1.516666667,BASELINE,770,746,723,685.807958167,667,642,888,788,819,655,632,656,0.40101595326,-0.00549633131134,0.0698490625467,0.999999985125,4.22368004112e-05,-0.00016656280992,1.49233322955e-05,1793250511348134912 +92,1.533333333,BASELINE,770,746,722.613043496,686,667,642,888.386956504,788.386956504,819,655,632,656,0.401015738931,-0.00549645419132,0.0698491528829,0.999999985054,4.27940834034e-05,-0.000166835026827,1.50761777964e-05,1793250511364801792 +93,1.550000000,BASELINE,770,746,722.033541154,686,667,642,888.966458846,788.966458846,819,655,632,656,0.401015031354,-0.00549627194788,0.069849106145,0.999999984848,4.43002775336e-05,-0.000167649686831,1.53493427551e-05,1793250511381468416 +94,1.566666667,BASELINE,770,746,722.538876703,685.461123297,667,642.538876703,888.461123297,789,819.538876703,655,632,656.538876703,0.401014742561,-0.00549687264013,0.069848182423,0.999999984698,4.34166605504e-05,-0.000168791908868,1.51070189653e-05,1793250511398135040 +95,1.583333333,BASELINE,770,746,722.885586092,685.114413908,667,642.885586092,888,788.885586092,819.885586092,655,632,657,0.401014466762,-0.00549726654299,0.0698474774094,0.999999984598,4.27312494057e-05,-0.000169575464846,1.49333295564e-05,1793250511414801408 +96,1.600000000,BASELINE,770,746,722.295263287,685.704736713,667,642.295263287,888,788.295263287,819.295263287,655,632,657,0.401014138001,-0.00549660022543,0.0698479062272,0.999999984696,4.3480978121e-05,-0.000168783430743,1.51768560243e-05,1793250511431468288 +97,1.616666667,BASELINE,770,746,722,686,666.710488939,642,887.710488939,788,819,655,631.710488939,656.710488939,0.401014249546,-0.00549579051645,0.0698482126543,0.999999984777,4.40780698868e-05,-0.000168145104282,1.51932706521e-05,1793250511448134912 +98,1.633333333,BASELINE,770,746,722,686,666.131266915,642,887.131266915,788,819,655,631.131266915,656.131266915,0.401014801701,-0.00549483731707,0.0698483966062,0.999999984842,4.45224192655e-05,-0.000167660591641,1.49824166092e-05,1793250511464801536 +99,1.650000000,BASELINE,770,746,722,685.559423512,666.440576488,642,887.440576488,788.440576488,819.440576488,655,631,656,0.401015286631,-0.00549593237255,0.069848666439,0.999999985034,4.36369518469e-05,-0.000166731521663,1.51309765745e-05,1793250511481468160 +100,1.666666667,BASELINE,770,746,722,685,667,642,887.989335406,788.989335406,819.989335406,655,631.010664594,656.010664594,0.401015732588,-0.00549759425978,0.0698489589369,0.999999985253,4.2415189151e-05,-0.000165703732761,1.53803412253e-05,1793250511498134784 +101,1.683333333,BASELINE,770,746,722,685,667,642,887.397055414,788.397055414,819.397055414,655,631.602944586,656.602944586,0.401015127433,-0.00549743567944,0.0698491150401,0.999999985065,4.41050894028e-05,-0.000166396713244,1.53833889815e-05,1793250511514801408 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0000000000000000000000000000000000000000..724e85dc6fcd7fc25dbcafef686d8fda2b55276b --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a88dc5ca548e592369803ad265e844af52cfac7c35ab9e6abff576713eb1a61e +size 25892653 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..8864711c81b381c844fd758cf58b9b1c040b6dfe --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/franka_data.csv @@ -0,0 +1,409 @@ 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+84,1.400000000,BASELINE,770,745.273584429,722,685.726415571,666,642.273584429,887.726415571,788,819,654,632,656.726415571,0.400975483218,-0.00535640640196,0.0698304487129,0.999999938626,0.00022284266025,-0.000270003812598,1.37035762386e-05,1793250525249058816 +85,1.416666667,BASELINE,770,745.310924615,722,685.689075385,666,642.310924615,888,788,819,654,632,656.689075385,0.400974905567,-0.00535675250384,0.0698302050772,0.999999938584,0.00022282962859,-0.000270169373184,1.36991220344e-05,1793250525265725440 +86,1.433333333,BASELINE,770,745.902694219,722,685.097305781,666,642.902694219,888,788,819,654,632,656.097305781,0.400973518726,-0.00535657111539,0.0698297782148,0.999999938207,0.000222807819126,-0.000271578546334,1.37215595414e-05,1793250525282391808 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+90,1.500000000,BASELINE,769.786657752,745.213342248,722,685,666,642,887.213342248,788,819,654,632,656,0.400975636676,-0.00535576306862,0.0698313342809,0.999999938717,0.000224814893746,-0.000268013689669,1.38541794705e-05,1793250525349058304 +91,1.516666667,BASELINE,769.197732357,745.802267643,722,685,666,642,887.802267643,788,819,654,632,656,0.400977147578,-0.0053552066302,0.0698320473219,0.999999938881,0.000224614230379,-0.000267590168804,1.3480687919e-05,1793250525365725184 +92,1.533333333,BASELINE,769,745.615567984,722,685,666,642,888,788,819,654,632,656,0.400976768718,-0.00535447002619,0.0698316420461,0.999999938487,0.000225285757458,-0.00026850056305,1.3410585575e-05,1793250525382391808 +93,1.550000000,BASELINE,769,745.036820983,722,685,666,642,888,788,819,654,632,656,0.400975434659,-0.00535364235564,0.0698306715059,0.999999937808,0.000226398141852,-0.000270085197911,1.34938342883e-05,1793250525399058688 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+46,0.766666667,BASELINE,770,745,722,685.68036269,666,642.31963731,887.31963731,788,819.68036269,654.31963731,632,656.68036269,0.400972819889,-0.00535820225175,0.0698287194404,0.999999937535,0.00022328124165,-0.000273651807009,1.37716168702e-05,1793250531652991744 +47,0.783333333,BASELINE,769.744009126,745.255990874,722,686,666.255990874,642,887.255990874,788.255990874,819.744009126,654.255990874,632,656.744009126,0.400972597761,-0.00535776243876,0.0698284705231,0.999999937451,0.000223321990894,-0.000273937944691,1.35328426164e-05,1793250531669658368 +48,0.800000000,BASELINE,769.170243995,745.829756005,722,686,666.829756005,642,887.829756005,788.829756005,819.170243995,654.829756005,632,656.170243995,0.400974260576,-0.00535611748647,0.0698297018876,0.999999937621,0.000224203946087,-0.000272597116801,1.34717344143e-05,1793250531686325248 +49,0.816666667,BASELINE,769,745.598109192,721.598109192,686,667,642,887.598109192,788.598109192,819,654.598109192,632,656.401890808,0.400974455502,-0.00535672526615,0.0698305529005,0.99999993776,0.00022446074497,-0.000271859178814,1.37559255377e-05,1793250531702991616 +50,0.833333333,BASELINE,769,745.026662252,721.026662252,686,667,642,887.026662252,788.026662252,819,654.026662252,632,656.973337748,0.400974031131,-0.00535828346458,0.0698312434445,0.999999937887,0.000224453792842,-0.000271375597755,1.41857970745e-05,1793250531719658240 +51,0.850000000,BASELINE,769.569985381,745,721.569985381,685.430014619,666.430014619,642,887,788,819,654,632,656.430014619,0.400975316524,-0.00535731725545,0.0698312061568,0.999999937846,0.000225343795452,-0.000270801976034,1.39476386992e-05,1793250531736324864 +52,0.866666667,BASELINE,769.837779185,745,722,685,666.162220815,642,887,788,819,654,632,656.162220815,0.400975946545,-0.00535683686891,0.0698309705866,0.999999937856,0.000225444743764,-0.000270689269452,1.38043212877e-05,1793250531752991488 +53,0.883333333,BASELINE,769.26000568,745,722,685,666.73999432,642,887,788,819,654,632,656.73999432,0.400974683382,-0.00535791747251,0.0698303183338,0.999999938017,0.000223411961691,-0.000271768553773,1.39877035864e-05,1793250531769658112 +54,0.900000000,BASELINE,769,745,722,685,666.685463572,642,887,788,819.314536428,654,632,656.685463572,0.40097384005,-0.00535783432904,0.0698299755649,0.99999993795,0.000223006732386,-0.000272353055411,1.38650565515e-05,1793250531786324736 +55,0.916666667,BASELINE,769,745,722,685,666.113565503,642,887,788,819.886434497,654,632,656.113565503,0.400973340233,-0.0053567989783,0.0698298860236,0.999999937699,0.000223933207914,-0.000272532713324,1.34920085868e-05,1793250531802991616 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a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..bb2215d3d4af4f5e166dcc85505679c9fd2fdf4b --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8335733393d80bec1f11d3cbc898ad5a15ad1885c64f57a70bd8e145954432a0 +size 26209448 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..a858bed88dd5fbc8f7e1719efa069f37761f4425 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/franka_data.csv @@ -0,0 +1,414 @@ 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+258,4.300000000,pose2_hold,0.622165240284,0.000150095404612,1.06003364078,0.592735916268,0.00882273090992,1.05970502955 +259,4.316666667,pose2_hold,0.622165240284,0.000150095404612,1.06003364078,0.592735916268,0.00882273090997,1.05970502955 +260,4.333333333,pose2_hold,0.622165240284,0.000150095404612,1.06003364078,0.592735916268,0.00882273090995,1.05970502955 +261,4.350000000,pose2_hold,0.622165240284,0.000150095404612,1.06003364078,0.592735916268,0.00882273090996,1.05970502955 +262,4.366666667,pose2_hold,0.622165240284,0.000150095404612,1.06003364078,0.592735916269,0.00882273091055,1.05970502955 +263,4.383333333,pose2_hold,0.622165240284,0.000150095404612,1.06003364078,0.592735916269,0.00882273091049,1.05970502955 +264,4.400000000,pose2_hold,0.622165240284,0.000150095404612,1.06003364078,0.592735916269,0.00882273091051,1.05970502955 +265,4.416666667,pose2_hold,0.622165240284,0.000150095404612,1.06003364078,0.592735916269,0.00882273091056,1.05970502955 +266,4.433333333,pose2_hold,0.622165240284,0.000150095404612,1.06003364078,0.592735916269,0.00882273091059,1.05970502955 +267,4.450000000,pose2_hold,0.622165240284,0.000150095404612,1.06003364078,0.592735916269,0.00882273091061,1.05970502955 +268,4.466666667,pose2_to_pose3_retreat,0.622165240284,0.000150095404612,1.06003364078,0.592735916269,0.00882273091061,1.05970502955 +269,4.483333333,pose2_to_pose3_retreat,0.622165239095,0.000150076300828,1.060033581,0.592735915807,0.00882271437863,1.0597049726 +270,4.500000000,pose2_to_pose3_retreat,0.622165237052,0.00015005000577,1.06003349881,0.592735914762,0.00882269161726,1.0597048943 +271,4.516666667,pose2_to_pose3_retreat,0.622165214104,0.000150047747766,1.06003349709,0.592735891797,0.00882268931422,1.05970489288 +272,4.533333333,pose2_to_pose3_retreat,0.622165131047,0.000150039575445,1.06003349089,0.592735808681,0.00882268097889,1.05970488774 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a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..5d24f299b50a0d076a1b492fb0fcecb3eace2753 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:405b6b219cac3f03b0d5526613b943f03b61f164e0a505360841b7ad65f91a63 +size 25861642 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..e379c08d154552fe0f28bf47459d32cb5e114ab4 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/franka_data.csv @@ -0,0 +1,408 @@ 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+35,0.583333333,BASELINE,769,745.317524246,722,686.317524246,667,642,888,788,819.682475754,654.317524246,632,657,0.400976026667,-0.00539103733133,0.0798410911254,0.999999929896,0.00025045836968,-0.000274794620268,4.43404391592e-05,1793250553674154752 +36,0.600000000,BASELINE,769,745.896178876,722,686.896178876,667,642,888,788,819.103821124,654.896178876,632,657,0.400974233907,-0.00539305871186,0.0798390703472,0.999999929411,0.000249159327485,-0.000277716700484,4.43912387171e-05,1793250553690821120 +37,0.616666667,BASELINE,768.528862986,745.528862986,722.471137014,687,667,642,888,788,819,654.528862986,632,656.528862986,0.40097483713,-0.00539211655186,0.0798398622795,0.999999929479,0.000250022090082,-0.000276691707437,4.44063058285e-05,1793250553707487744 +38,0.633333333,BASELINE,768,745,722.954557443,686.954557443,667,642,887.954557443,788,819,654,632,656.045442557,0.40097595152,-0.00539065467659,0.0798412112705,0.99999992967,0.00025124784418,-0.000274884859379,4.44090335517e-05,1793250553724154112 +39,0.650000000,BASELINE,768,745,722.378433961,686.378433961,667,642,887.378433961,788,819,654,632,656.621566039,0.400976917481,-0.0053906905726,0.0798418837156,0.999999929922,0.00025119273152,-0.000274025829258,4.43588996002e-05,1793250553740820736 +40,0.666666667,BASELINE,768,745,722.202602952,686,667,642,887.202602952,788,819,654,632,657,0.400977098104,-0.00539056970378,0.0798421151903,0.999999929712,0.00025216702134,-0.000273884862466,4.44492042157e-05,1793250553757487360 +41,0.683333333,BASELINE,768,745,722.793045533,686,667,642,887.793045533,788,819,654,632,657,0.400975775365,-0.00539014874256,0.0798415025226,0.99999992861,0.000255111880062,-0.00027511847301,4.48083481633e-05,1793250553774154496 +42,0.700000000,BASELINE,768.375962209,745,722.624037791,686.375962209,667,642,887.624037791,788,819,654.375962209,632,657,0.400975774108,-0.00539086592428,0.0798414913877,0.99999992913,0.000253089720128,-0.000275107268269,4.47452714264e-05,1793250553790821120 +43,0.716666667,BASELINE,768.954817412,745,722.045182588,686.954817412,667,642,887.045182588,788,819,654.954817412,632,657,0.400976486005,-0.00539219731995,0.079841804878,0.999999930509,0.000248387042592,-0.000274424282406,4.44543376844e-05,1793250553807487232 +44,0.733333333,BASELINE,768.472461659,745,722,687,667,642,887,788,819,654.472461659,632,657,0.40097717102,-0.00539216690469,0.0798423837428,0.999999930379,0.000249918535003,-0.000273486086553,4.45969484306e-05,1793250553824154368 +45,0.750000000,BASELINE,768.101184906,745,722.101184906,686.898815094,667,642.101184906,887,788,819,654.101184906,632,657,0.40097763611,-0.0053917961582,0.0798428345207,0.999999930103,0.000251732104053,-0.000272816961751,4.46676813643e-05,1793250553840821504 +46,0.766666667,BASELINE,768.68167609,745,722.68167609,686.31832391,667,642.68167609,887,788,819,654.68167609,632,657,0.40097707021,-0.00539035943304,0.0798425721321,0.999999929766,0.000252381665671,-0.000273524760021,4.42240627095e-05,1793250553857488128 +47,0.783333333,BASELINE,769,745,722.732892124,686,667,642.732892124,887,788,819,654.732892124,632,656.732892124,0.40097682569,-0.00539012409175,0.0798424494874,0.999999929758,0.000252195911032,-0.000273730634263,4.41893006973e-05,1793250553874154752 +48,0.800000000,BASELINE,769,745,722.141461373,686,667,642.141461373,887,788,819,654.141461373,632,656.141461373,0.400976971392,-0.00539134747276,0.0798424965201,0.99999993015,0.000250995913949,-0.000273327071522,4.46509731125e-05,1793250553890821120 +49,0.816666667,BASELINE,769,745,722,686,667,642,887.437161332,788,819,654,632,656.437161332,0.400976673882,-0.0053905562023,0.0798425779539,0.999999929898,0.000251804088108,-0.000273511079741,4.4606526454e-05,1793250553907488000 +50,0.833333333,BASELINE,769,745,722,686.01179615,667,642,887.98820385,788,819,654,632,656.98820385,0.400976242282,-0.00538917910117,0.0798426658673,0.999999929457,0.000253192578483,-0.000273873791243,4.44083884995e-05,1793250553924154624 +51,0.850000000,BASELINE,769,745,722,686.588285605,667,642,887.411714395,788,819,654,632,656.411714395,0.40097606186,-0.00539007756532,0.0798425462489,0.9999999297,0.000252139046986,-0.000273948450822,4.44698264536e-05,1793250553940821504 +52,0.866666667,BASELINE,769,745,722,687,667.168732802,642,887,788.168732802,819.168732802,654,632,656,0.400976075347,-0.0053907369723,0.0798423673591,0.999999930002,0.000250946952429,-0.000273940119442,4.4481987128e-05,1793250553957488128 +53,0.883333333,BASELINE,769,745,722,687,667.759068954,642,887,788.759068954,819.759068954,654,632,656,0.400976573343,-0.00539079906023,0.0798420403711,0.999999930451,0.000249408638057,-0.000273724423119,4.43710213774e-05,1793250553974154496 +54,0.900000000,BASELINE,769,745,722,686.657205031,667.657205031,642,887,788.657205031,819.657205031,654,632,656.342794969,0.400976296842,-0.00539014788853,0.0798418432515,0.999999929916,0.000251060651261,-0.000274165362683,4.43795407821e-05,1793250553990820864 +55,0.916666667,BASELINE,769,745,722,686.078037036,667.078037036,642,887,788.078037036,819.078037036,654,632,656.921962964,0.40097548629,-0.00538900489124,0.0798417356821,0.999999928692,0.000254912543318,-0.000275059083141,4.44704507461e-05,1793250554007487744 +56,0.933333333,BASELINE,769,745,722,686.49397798,667,642,887,788.49397798,819,654,631.50602202,656.50602202,0.400974134829,-0.00539045328861,0.0798408684799,0.999999928908,0.000252564409888,-0.000276418226897,4.45870213485e-05,1793250554024154368 +57,0.950000000,BASELINE,769,745,722,686.934470006,667,642,887,788.934470006,819,654,631.065529994,656,0.400972976021,-0.00539206531884,0.0798400828489,0.999999929325,0.000249622754797,-0.000277570300786,4.46510643718e-05,1793250554040820992 +58,0.966666667,BASELINE,769,745,722,686.357841852,667,642,887,788.357841852,819,654,631.642158148,656,0.400973976764,-0.00539180622879,0.0798408560372,0.999999929637,0.000249582168638,-0.000276542064395,4.42742549002e-05,1793250554057487616 +59,0.983333333,BASELINE,769,745,722,686.224981688,667,642.224981688,887.224981688,788,819,654,632,656,0.400975082875,-0.00539192397775,0.0798415752119,0.999999930046,0.000249290950873,-0.00027534611795,4.41142248932e-05,1793250554074154240 +60,1.000000000,BASELINE,769,745,722,686.817938352,667,642.817938352,887.817938352,788,819,654,632,656,0.400976361325,-0.00539265807605,0.0798422060435,0.999999930616,0.000248589805698,-0.000273875868562,4.43087544298e-05,1793250554090820864 +61,1.016666667,BASELINE,768.600559422,745,722,687,667,642.600559422,887.600559422,788,819,654,632,656,0.400976848812,-0.00539106139153,0.0798420334503,0.999999929902,0.000251439134145,-0.000273873394655,4.43679193294e-05,1793250554107487744 +62,1.033333333,BASELINE,768.024132528,745,722,687,667,642.024132528,887.024132528,788,819,654,632,656,0.400976985835,-0.00538843197097,0.0798415048711,0.999999928602,0.000255861625909,-0.000274521270823,4.43671061128e-05,1793250554124154368 +63,1.050000000,BASELINE,768.546430476,745,722.546430476,687,667,642,887,788,819,654,632,656,0.400976701079,-0.00538934616308,0.0798421461929,0.999999929233,0.000254149498016,-0.000273818752471,4.43286431495e-05,1793250554140820992 +64,1.066666667,BASELINE,768.878297315,745,723,687,667,642.121702685,887,788,819,654,632,656,0.400976414949,-0.00539003374169,0.0798426834376,0.999999929701,0.000253019334614,-0.00027316068007,4.43096249142e-05,1793250554157487616 +65,1.083333333,BASELINE,768.283732525,745,723,687,667,642.716267475,887,788,819,654,632,656,0.400976195083,-0.00538923923208,0.0798426176857,0.999999929216,0.000255191816777,-0.000272904556896,4.4372548867e-05,1793250554174154240 +66,1.100000000,BASELINE,768.302676882,745,722.697323118,687,667,642.697323118,887,788,819,654,632,656.302676882,0.400976479807,-0.00539032375949,0.0798426193736,0.99999992946,0.000254502180114,-0.00027262521095,4.45482173343e-05,1793250554190820608 +67,1.116666667,BASELINE,768.881641895,745,722.118358105,687,667,642.118358105,887,788,819,654,632,656.881641895,0.400977225128,-0.00539312350096,0.0798426826218,0.999999930364,0.000251199957065,-0.000272324666914,4.48268007323e-05,1793250554207487232 +68,1.133333333,BASELINE,769,745,722,686.541386923,667.458613077,642,887,788.458613077,819.458613077,654,632,656.541386923,0.400976007512,-0.00539184583421,0.079842026389,0.999999929625,0.000252454529467,-0.000273898918314,4.46749944285e-05,1793250554224154112 +69,1.150000000,BASELINE,768.964952943,745,722.035047057,686.035047057,667.964952943,642,887.035047057,789,819.964952943,654,631.964952943,656,0.40097444207,-0.0053897563326,0.0798412814918,0.999999928586,0.000254572407693,-0.000275762673338,4.44413446845e-05,1793250554240820992 +70,1.166666667,BASELINE,768.388903455,745,722.611096545,686.611096545,667.388903455,642,887.611096545,789,819.388903455,654,631.388903455,656,0.400975293571,-0.00539130830714,0.0798420218014,0.999999929547,0.000251941815454,-0.000274658827681,4.46514936429e-05,1793250554257487616 +71,1.183333333,BASELINE,768,745,722.808865835,687,667,642,888,789,819.191134165,654,631.191134165,656,0.40097570157,-0.00539234922205,0.0798420481439,0.999999930108,0.000249915941946,-0.000274459115541,4.47016395706e-05,1793250554274154240 +72,1.200000000,BASELINE,768,745,722.220540467,687,667,642,888,789,819.779459533,654,631.779459533,656,0.400975187938,-0.00539232811679,0.079840590809,0.99999992985,0.000249146719063,-0.000276138260801,4.44192871783e-05,1793250554290820864 +73,1.216666667,BASELINE,768,745.361902393,722,686.638097607,667,642,888,789,819.638097607,654,632,656.361902393,0.400975662484,-0.00539221185665,0.0798410926665,0.999999930067,0.000248846521554,-0.000275634285004,4.43618809348e-05,1793250554307487488 +74,1.233333333,BASELINE,768,745.9408178,722,686.0591822,667,642,888,789,819.0591822,654,632,656.9408178,0.400976729586,-0.00539203853736,0.0798427693441,0.999999930566,0.000248827572881,-0.000273821211159,4.44393625747e-05,1793250554324154112 +75,1.250000000,BASELINE,768.512958342,745.487041658,722,686,667.512958342,642,887.487041658,789,819,654,632,657,0.400977083608,-0.00539096477455,0.0798430300581,0.999999930287,0.000251061060158,-0.000272813501771,4.43585443264e-05,1793250554340820736 +76,1.266666667,BASELINE,769,745,722.087727017,686.087727017,667.912272983,642.087727017,887,789,819,654,632,657,0.400977187397,-0.00538995126875,0.0798430814725,0.999999929897,0.000253276257851,-0.000272207011578,4.42757723041e-05,1793250554357487360 +77,1.283333333,BASELINE,769,745,722.682130355,686.682130355,667.317869645,642.682130355,887,789,819,654,632,657,0.400976314917,-0.00538987797796,0.0798428552924,0.999999929415,0.000253904463089,-0.000273388139856,4.42858251161e-05,1793250554374153984 +78,1.300000000,BASELINE,769,745,722.730507397,687,667.269492603,642.730507397,887.269492603,788.730507397,819,654.269492603,632,656.730507397,0.400975777292,-0.00538964241125,0.0798423519794,0.999999929061,0.0002545164156,-0.000274092364,4.44057974776e-05,1793250554390820608 +79,1.316666667,BASELINE,769,745,722.151238774,687,667.848761226,642.151238774,887.848761226,788.151238774,819,654.848761226,632,656.151238774,0.400975624577,-0.00538922031182,0.0798415301083,0.999999928857,0.000255109685901,-0.000274248396896,4.46521200242e-05,1793250554407487232 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+10,0.166666667,BASELINE,768.140326437,745,722,686,667,642,888,788,819,654,632,657,0.400974434737,-0.00539170072829,0.0798390167569,0.999999929685,0.000248203444572,-0.000277830624705,4.28343633056e-05,1793250560267877632 +11,0.183333333,BASELINE,768.434423276,745.434423276,722,686.434423276,667,642,887.565576724,788,819,654,632,657,0.400974360622,-0.00539293669284,0.07983926937,0.999999930244,0.000245362961418,-0.000278357612316,4.27237024899e-05,1793250560284544256 +12,0.200000000,BASELINE,768.99038425,745.99038425,722,686.99038425,667,642,887.00961575,788,819,654,632,657,0.400974246499,-0.00539501282495,0.0798396055885,0.999999930917,0.000241755299673,-0.000279112397308,4.26310469632e-05,1793250560301210624 +13,0.216666667,BASELINE,768.397388239,745.397388239,722,686.397388239,667,642,887.602611761,788,819,654,632,657,0.400975518622,-0.00539350979404,0.0798406269187,0.999999930825,0.000245288526602,-0.000276304973686,4.28938159026e-05,1793250560317876736 +14,0.233333333,BASELINE,768,745,722,686,667,642.189752441,887.810247559,788,819,654,632,656.810247559,0.40097611981,-0.00539230984232,0.0798410929726,0.999999930604,0.000247963095441,-0.000274693777774,4.30065741529e-05,1793250560334543616 +15,0.250000000,BASELINE,768,745,722,686,667,642.764997794,887.235002206,788,819,654,632,656.235002206,0.400975357956,-0.00539172561297,0.0798404309514,0.999999930156,0.000248893252031,-0.000275512786205,4.2814577179e-05,1793250560351210240 +16,0.266666667,BASELINE,768,744.659194227,722,686,667.340805773,642.659194227,887,787.659194227,819,654,632,656,0.400975031897,-0.00539214308752,0.0798399762766,0.999999930176,0.000247914715284,-0.000276301575213,4.29465584299e-05,1793250560367877120 +17,0.283333333,BASELINE,768,744.082997682,722,686,667.917002318,642.082997682,887,787.082997682,819,654,632,656,0.400975006838,-0.00539325242789,0.0798396648136,0.999999930515,0.000245617865137,-0.00027706949195,4.33023078631e-05,1793250560384543744 +18,0.300000000,BASELINE,768,744.490168731,722,686,667.509831269,642,887.490168731,787.490168731,819,654,632,656.490168731,0.400975279177,-0.00539449165849,0.0798402711347,0.999999930978,0.000244480561413,-0.000276421208253,4.31729858497e-05,1793250560401210368 +19,0.316666667,BASELINE,768,745,722,686.065463151,667,642,887.934536849,788,819,654,632,656.934536849,0.400975452389,-0.00539563080746,0.0798408245864,0.999999931365,0.000243654792996,-0.000275781872664,4.2980860489e-05,1793250560417877504 +20,0.333333333,BASELINE,768,745,722,686.66216459,667,642,887.33783541,788,819,654,632,656.33783541,0.400974415039,-0.0053957804034,0.0798396956356,0.999999930959,0.000243773633049,-0.000277149172151,4.29415145045e-05,1793250560434544128 +21,0.350000000,BASELINE,768,745,722,687,667,642,887.249521721,788.249521721,819,654,632,656,0.400974476485,-0.00539523430664,0.0798396363911,0.999999930693,0.000244789351852,-0.000277221463216,4.28922800988e-05,1793250560451211008 +22,0.366666667,BASELINE,768,745,722,687,667,642,887.824683935,788.824683935,819,654,632,656,0.400975971925,-0.00539378029008,0.0798409731761,0.999999930606,0.000246975550059,-0.000275603692164,4.2830140726e-05,1793250560467877376 +23,0.383333333,BASELINE,768.401375582,745,722,687,667,642,888,788.598624418,819,654.401375582,632,656,0.40097613166,-0.0053932958678,0.0798412218171,0.999999930818,0.000246613983285,-0.000275175149277,4.27118163385e-05,1793250560484543744 +24,0.400000000,BASELINE,768.978737872,745,722,687,667,642,888,788.021262128,819,654.978737872,632,656,0.400975705743,-0.00539323657269,0.0798409933518,0.999999931162,0.000245135326391,-0.000275268033961,4.25688571242e-05,1793250560501210112 +25,0.416666667,BASELINE,768.436372567,745,722,686.436372567,667,642,887.436372567,788,819,654.436372567,631.436372567,656,0.40097477444,-0.00539380530311,0.0798402756935,0.999999930773,0.000245284768207,-0.000276483144441,4.2980651437e-05,1793250560517876736 +26,0.433333333,BASELINE,768,745.148087005,722,686,667.148087005,642,887.148087005,788,819,654,631.148087005,656.148087005,0.400974063837,-0.00539409412056,0.0798397967609,0.999999930521,0.00024532445585,-0.00027731671926,4.32346576392e-05,1793250560534543360 +27,0.450000000,BASELINE,768,745.730441781,722,686,667.730441781,642,887.730441781,788,819,654,631.730441781,656.730441781,0.400974057105,-0.00539349167234,0.0798400727451,0.999999930761,0.000244859740318,-0.000276905607047,4.29637469273e-05,1793250560551209984 +28,0.466666667,BASELINE,768,745.692086146,722,686.307913854,667.692086146,642,887.692086146,788,819,654,632,656.692086146,0.400974691802,-0.00539371810238,0.0798407291684,0.999999931006,0.000245332989018,-0.000275608620435,4.28823033262e-05,1793250560567877376 +29,0.483333333,BASELINE,768,745.118821868,722,686.881178132,667.118821868,642,887.118821868,788,819,654,632,656.118821868,0.400975879261,-0.00539465883351,0.0798417134421,0.999999931253,0.000246614545664,-0.000273548215297,4.2964136507e-05,1793250560584544768 +30,0.500000000,BASELINE,768,745,722,687,667,642.46666536,887,788,819,654,632,656,0.400975710772,-0.00539323498986,0.0798411257947,0.999999930446,0.00024944732095,-0.000273910022751,4.30978486602e-05,1793250560601211392 +31,0.516666667,BASELINE,768.054441204,745,722,686.945558796,667,643,887.054441204,788,819,654,632,656.054441204,0.400975220646,-0.0053914792902,0.0798402204117,0.999999929527,0.000251985913819,-0.000274924006062,4.31845448431e-05,1793250560617877504 +32,0.533333333,BASELINE,768.633474551,745,722,686.366525449,667,643,887.633474551,788,819,654,632,656.633474551,0.40097504752,-0.00539248335413,0.0798402137766,0.99999993027,0.000247781512726,-0.000276119591002,4.26874897659e-05,1793250560634543872 +33,0.550000000,BASELINE,768.787515733,745,722,686.212484267,667,642.787515733,887.787515733,788,819,654,632,656.787515733,0.400974917717,-0.00539370545488,0.0798403308833,0.999999930942,0.000244527320367,-0.000276625243346,4.24465114522e-05,1793250560651210496 +34,0.566666667,BASELINE,768.208546838,745,722,686.791453162,667,642.208546838,887.208546838,788,819,654,632,656.208546838,0.400974862639,-0.00539530361699,0.0798406614151,0.999999931516,0.000242912011649,-0.000275940926568,4.26472044682e-05,1793250560667876864 +35,0.583333333,BASELINE,768,745,722,687,667,642,887,788,819,654,632,656,0.400974362989,-0.0053946447599,0.0798403941108,0.999999930834,0.000245200508765,-0.000276366471072,4.27719415468e-05,1793250560684543744 +36,0.600000000,BASELINE,768,745,722,687,667,642,887,788,819,654,632,656,0.400973613046,-0.00539271520557,0.0798397902259,0.99999992943,0.000249686840766,-0.000277416865235,4.28539155996e-05,1793250560701210624 +37,0.616666667,BASELINE,767.473710977,745,722,687,667,642.526289023,887,788,819,654,632,656,0.400973682267,-0.00539382975246,0.0798401969638,0.999999930367,0.000246234736973,-0.000277147724363,4.26961567882e-05,1793250560717877248 +38,0.633333333,BASELINE,767.227754213,745,722,687,667,642.886122894,887,788,819,654,632,656,0.400974097837,-0.00539515029545,0.0798407642489,0.999999931383,0.00024282747339,-0.00027649587396,4.26454464391e-05,1793250560734543872 +39,0.650000000,BASELINE,768.386491737,745,722,687,667,642.306754131,887,788,819,654,632,656,0.400975526358,-0.00539581602067,0.0798414908494,0.999999931628,0.000243507030062,-0.000274928483211,4.31501971862e-05,1793250560751210496 +40,0.666666667,BASELINE,768.728849071,745,722,687,667,642,887.271150929,788,819,654,632,656,0.400975663206,-0.00539585190028,0.0798414661085,0.99999993158,0.000243883082209,-0.000274753572886,4.32685920208e-05,1793250560767877120 +41,0.683333333,BASELINE,768.152591045,745,722,687,667,642,887.847408955,788,819,654,632,656,0.400974346624,-0.00539517905885,0.079840595936,0.999999931201,0.000243917621987,-0.000276145523072,4.29522476529e-05,1793250560784544000 +42,0.700000000,BASELINE,768,745,722.430659768,687,667,642.430659768,887.569340232,788,819,654,631.569340232,656,0.400974525039,-0.00539401556953,0.0798409117944,0.999999930962,0.000245243916972,-0.000275891512839,4.26171477658e-05,1793250560801210624 +43,0.716666667,BASELINE,768,745.016227469,722.983772531,687,667.016227469,642.983772531,887,788.016227469,819,654,631.016227469,656,0.400975223328,-0.0053927257301,0.0798416289235,0.999999930776,0.00024696876519,-0.000275073141829,4.22925849994e-05,1793250560817876992 +44,0.733333333,BASELINE,768,745.594806253,722.405193747,687,667.594806253,642.405193747,887,788.594806253,819,654,631.594806253,656,0.400975277891,-0.00539318126178,0.0798414485404,0.999999930863,0.000246382350268,-0.000275241050264,4.25672724489e-05,1793250560834543616 +45,0.750000000,BASELINE,768.173488444,745.826511556,722,687,667.826511556,642,887,788.826511556,819,654,632,656,0.400975485546,-0.00539342958523,0.0798414128119,0.999999931063,0.000246002954661,-0.000274826603758,4.27414577459e-05,1793250560851210496 +46,0.766666667,BASELINE,768.75241221,745.24758779,722,687,667.24758779,642,887,788.24758779,819,654,632,656,0.40097605097,-0.00539319367151,0.0798417151355,0.999999931526,0.000246107354716,-0.000273051217798,4.26807736275e-05,1793250560867877376 +47,0.783333333,BASELINE,768.669369304,745,722,687,667,642,887.330630696,788,819,654,632,656,0.400976245903,-0.0053932672322,0.0798418290908,0.999999931695,0.000246039807635,-0.000272490602859,4.27063954364e-05,1793250560884544256 +48,0.800000000,BASELINE,768.091677772,745,722,687,667,642,887.908322228,788,819,654,632,656,0.40097616399,-0.00539357204486,0.0798418022896,0.999999931644,0.0002458437746,-0.000272837714529,4.27965085726e-05,1793250560901210624 +49,0.816666667,BASELINE,768,745,722,686.51894196,667,642.48105804,888,788,819,654,632,656,0.400975333967,-0.00539365069709,0.0798409467007,0.999999931109,0.00024604767788,-0.000274606809252,4.28277345622e-05,1793250560917877248 +50,0.833333333,BASELINE,768.054727061,745,722,686.054727061,667,642.945272939,888,788,819,654,632,656,0.400974382616,-0.00539362311914,0.0798399324536,0.999999930479,0.000246371977193,-0.000276601940763,4.28244461758e-05,1793250560934543872 +51,0.850000000,BASELINE,768.646735656,745,722,686.646735656,667,642.353264344,888,788,819,654,632,656,0.400973625536,-0.00539297145344,0.0798388954078,0.999999929862,0.000247137623497,-0.000278182827288,4.25913663333e-05,1793250560951210496 +52,0.866666667,BASELINE,769,745,722,686.766628661,667.233371339,642,888,788,819,654,631.766628661,656.233371339,0.40097375147,-0.00539248234319,0.0798391048289,0.999999929854,0.000247473332621,-0.000277949048157,4.23440701893e-05,1793250560967877120 +53,0.883333333,BASELINE,769,745,722,686.187943185,667.812056815,642,888,788,819,654,631.187943185,656.812056815,0.40097518398,-0.00539223376253,0.079841158618,0.999999930747,0.000247172873669,-0.000275030150409,4.20757385286e-05,1793250560984544256 +54,0.900000000,BASELINE,768.612682195,745,722,686,667.612682195,642,887.612682195,788,819,654,631.387317805,657,0.400975882547,-0.00539389594006,0.0798419302882,0.999999931545,0.000244969152552,-0.000274070150191,4.22671815764e-05,1793250561001210880 +55,0.916666667,BASELINE,768.039068367,745,722,686,667.039068367,642,887.039068367,788,819,654,631.960931633,657,0.400976228094,-0.00539647717336,0.0798420852718,0.999999932291,0.00024184998121,-0.000274052360345,4.26797717081e-05,1793250561017878016 +56,0.933333333,BASELINE,768,745,722,686,667,642,887.552005178,788,819,654,632,656.447994822,0.400976779006,-0.00539623803196,0.0798423622103,0.999999932239,0.0002433043627,-0.000272931078243,4.28212850045e-05,1793250561034544384 +57,0.950000000,BASELINE,768,745,722,686.141136163,667,642,887.858863837,788,819,654,632,656,0.400976959304,-0.00539541235842,0.0798423854213,0.999999931907,0.000245285972921,-0.000272359635767,4.29170580177e-05,1793250561051210752 +58,0.966666667,BASELINE,768,745,722,686.720278216,667,642,887.279721784,788,819,654,632,656,0.40097594285,-0.00539340614354,0.0798415935453,0.999999930891,0.000247866423657,-0.000273744875749,4.29323651172e-05,1793250561067877120 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+63,1.050000000,BASELINE,768,745,722,687,667.613106418,642.386893582,887,788,819,654,632,656.386893582,0.400975457264,-0.00539430581823,0.0798411719722,0.999999931423,0.000244985268826,-0.000274494550098,4.22947036876e-05,1793250561151210752 +64,1.066666667,BASELINE,768,745,722,687,667.800491177,642,887.199508823,788,819,654,632,656,0.400975136776,-0.0053935925797,0.0798410550109,0.999999931197,0.00024623715304,-0.000274203451148,4.22565193567e-05,1793250561167877376 +65,1.083333333,BASELINE,768,745,722,687,667.222861047,642,887.777138953,788,819,654,632,656,0.400975197274,-0.00539425884555,0.0798414341723,0.99999993121,0.000246601393362,-0.000273789175824,4.25099856437e-05,1793250561184543744 +66,1.100000000,BASELINE,768,745,722,687,667,642,887.646465137,788,819,654,632,656.353534863,0.400975187429,-0.00539434427355,0.079841383251,0.999999931394,0.00024600255105,-0.000273639282355,4.26073433772e-05,1793250561201210624 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+38,0.633333333,BASELINE,768,745,722,687,667,642,887,788,819,654,631.048468587,656,0.400978578933,-0.00540032078606,0.079842950967,0.999999933391,0.000239927805276,-0.000271737969359,4.2556793854e-05,1793250567770541056 +39,0.650000000,BASELINE,768,745,722,687,667,642,887,788,819,654,631.635832059,656,0.40097752763,-0.00539816757425,0.0798420884031,0.999999932455,0.000242851643464,-0.000272639219696,4.22003947789e-05,1793250567787207936 +40,0.666666667,BASELINE,768,745,722,687.220641659,667,642.220641659,887,788,819.220641659,654,632,656,0.400976475838,-0.00539721038294,0.0798413696862,0.999999931718,0.000244612527302,-0.000273799666774,4.19792465636e-05,1793250567803874560 +41,0.683333333,BASELINE,768,745,722,687.801284303,667,642.801284303,887,788,819.801284303,654,632,656,0.400975423246,-0.00539820462997,0.0798408856712,0.999999931317,0.000244475923818,-0.000275383021614,4.19787749327e-05,1793250567820541184 +42,0.700000000,BASELINE,768,745,722,687.24026363,667.379868185,642.620131815,887,788,820,654,632,656,0.400976224198,-0.00539803166369,0.0798415162082,0.999999931705,0.000243756664523,-0.000274605472728,4.199666517e-05,1793250567837208064 +43,0.716666667,BASELINE,768,745,722,686.085238239,667.957380881,642.042619119,887,788,820,654,632,656,0.400977989543,-0.00539725139908,0.0798427266439,0.999999932502,0.000242734250804,-0.000272599551216,4.20241090433e-05,1793250567853874688 +44,0.733333333,BASELINE,768,745,722,686.529811213,668,642.529811213,887,788,819.470188787,654,632,656,0.400976989203,-0.00539806658702,0.0798420816371,0.99999993232,0.000242415450821,-0.000273538494647,4.20826594553e-05,1793250567870541312 +45,0.750000000,BASELINE,768.105160973,745,722,687,668,642.894839027,887,788,819,654,632,656,0.400976236476,-0.00539881456329,0.0798415707986,0.999999932192,0.000242211881699,-0.00027417736691,4.21400148955e-05,1793250567887207680 +46,0.766666667,BASELINE,768.69585952,745,722,687,668,642.30414048,887,788,819,654,632,656,0.400977644445,-0.00539866528314,0.0798423620064,0.999999932674,0.000242281498878,-0.000272347428725,4.21804095751e-05,1793250567903874560 +47,0.783333333,BASELINE,768.718863998,745,722,687,668,642,887,788,819,654,632,656,0.400978726996,-0.00539813602366,0.0798426921636,0.999999932927,0.000242562388881,-0.000271175474008,4.21057136414e-05,1793250567920541184 +48,0.800000000,BASELINE,768.139342191,745,722,687,668,642,887,788,819,654,632,656,0.400979464161,-0.00539720347025,0.0798425329813,0.999999932941,0.00024306751489,-0.000270701874757,4.19088654272e-05,1793250567937208064 +49,0.816666667,BASELINE,768,745,722,686.562987701,667.562987701,642,887,788,819,654,631.562987701,656,0.400978758863,-0.00539872974125,0.0798424552543,0.999999933305,0.000240984620948,-0.000271189893763,4.21116581646e-05,1793250567953874944 +50,0.833333333,BASELINE,768,745,722,686.012270521,667.012270521,642,887,788,819,654.012270521,631.012270521,656,0.400977605821,-0.00540094391762,0.0798423914541,0.999999933736,0.000238206836045,-0.000272003954866,4.24281291613e-05,1793250567970541568 +51,0.850000000,BASELINE,768,745,722,686.583267072,667.583267072,642,887,788,819,654.583267072,631.583267072,656,0.400976857041,-0.00539903936223,0.0798417876909,0.999999932565,0.00024109194172,-0.000273803126304,4.21603492102e-05,1793250567987208192 +52,0.866666667,BASELINE,767.839215625,745.160784375,722,687,667.839215625,642.160784375,887,787.839215625,819,654.839215625,631.839215625,656,0.400976592974,-0.00539800276826,0.0798414833698,0.99999993194,0.000242624093041,-0.000274756793818,4.19899625082e-05,1793250568003874816 +53,0.883333333,BASELINE,767.244082977,745.755917023,722,687,667.244082977,642.755917023,887,787.244082977,819,654.244082977,631.244082977,656,0.400977638323,-0.00539931091437,0.0798419879716,0.999999932813,0.000240501328188,-0.000273426388739,4.2082677194e-05,1793250568020541440 +54,0.900000000,BASELINE,767.340890333,745.659109667,722,686.659109667,667,643,887,787.340890333,819,654,631.340890333,656,0.400977315195,-0.0053991561435,0.0798418066708,0.999999932824,0.000240555249856,-0.000273349591432,4.20107537397e-05,1793250568037208064 +55,0.916666667,BASELINE,767.918799884,745.081200116,722,686.081200116,667,643,887,787.918799884,819,654,631.918799884,656,0.400976040571,-0.00539798421426,0.0798411484655,0.999999932236,0.000242122610068,-0.000274144420933,4.18243582664e-05,1793250568053874432 +56,0.933333333,BASELINE,768,745,722,686.492668706,667.492668706,642.507331294,887,788,819,654,632,656,0.400977200664,-0.00539752334433,0.0798416776751,0.999999932231,0.000243581546971,-0.000272889927755,4.16820101929e-05,1793250568070541312 +57,0.950000000,BASELINE,768,745,722.063507252,687,667.936492748,642.063507252,887,788,819.063507252,654.063507252,631.936492748,656,0.400978404161,-0.00539731388835,0.0798423044681,0.999999932307,0.000244652008566,-0.000271659077578,4.16188755126e-05,1793250568087207936 +58,0.966666667,BASELINE,768,745,722.616095879,687,667.383904121,642.616095879,887,788,819.616095879,654.616095879,631.383904121,656,0.400976876716,-0.00539814542354,0.0798421878602,0.999999932305,0.000242867248121,-0.000273190323412,4.21103243146e-05,1793250568103874816 +59,0.983333333,BASELINE,768,745,722.818718862,687,667.181281138,642.818718862,887,788,819.818718862,654.818718862,631.181281138,656,0.400976308082,-0.00539873464407,0.0798422411231,0.999999932435,0.000241702635364,-0.000273694808635,4.24493167969e-05,1793250568120541696 +60,1.000000000,BASELINE,768,745,722.224865176,687,667.775134824,642.224865176,887,788,819.224865176,654.224865176,631.775134824,656,0.400977921577,-0.00539877238774,0.07984268099,0.999999932875,0.00024194939861,-0.000271862519112,4.24413384074e-05,1793250568137208064 +61,1.016666667,BASELINE,768,745,722,687,668,642,887,788,819,654,632,656,0.400977864603,-0.0053984238018,0.0798421877566,0.999999932505,0.000242739861101,-0.000272554725223,4.22160123471e-05,1793250568153874432 +62,1.033333333,BASELINE,768,745,722,687,668,642,887,788,819,654,632,656,0.40097678963,-0.00539783978287,0.0798411258828,0.999999931636,0.000243861659115,-0.000274785383318,4.185823253e-05,1793250568170541056 +63,1.050000000,BASELINE,768,745,722,687,668,642,887.549164832,788,819,654,632,656,0.400977865383,-0.00539911081065,0.0798421647416,0.99999993276,0.000241900216565,-0.000272404636381,4.19544203597e-05,1793250568187207680 +64,1.066666667,BASELINE,768,745,722,687,668,642,887.872437733,788,819,654,632,656,0.40097843755,-0.0053996319239,0.0798428719656,0.999999933472,0.000240737390617,-0.000270811006657,4.19849616685e-05,1793250568203874304 +65,1.083333333,BASELINE,768,745,722,687,668,642,887.27853065,788,819,654,632,656,0.400976810899,-0.00539710287681,0.0798420173125,0.999999932377,0.000243007094444,-0.000272862093643,4.16999886313e-05,1793250568220541184 +66,1.100000000,BASELINE,768,745,722,687,667.692507829,642,887,788,819,654,631.692507829,656.307492171,0.400976275834,-0.0053962870728,0.0798417452129,0.999999931855,0.000244078507939,-0.000273827679767,4.16483849079e-05,1793250568237207808 +67,1.116666667,BASELINE,768,745,722,687,667.113448173,642,887,788,819,654,631.113448173,656.886551827,0.400976704823,-0.00539698435172,0.0798419876063,0.999999931843,0.00024409162871,-0.000273834585314,4.18028856908e-05,1793250568253874944 +68,1.133333333,BASELINE,768,745,722,687,667,642.461000831,887.461000831,788,819,654,631.461000831,656.538999169,0.400977103635,-0.00539743809057,0.0798421215782,0.999999932034,0.000243500813508,-0.000273642738107,4.19362343722e-05,1793250568270541824 +69,1.150000000,BASELINE,768,745,722.035202654,687,667.035202654,643,887.964797346,788,819.035202654,654,632,656,0.400977455736,-0.0053977752351,0.07984221332,0.999999932228,0.000242943286739,-0.000273410557766,4.20555506745e-05,1793250568287208448 +70,1.166666667,BASELINE,768,745,722.623162386,687,667.623162386,643,887.376837614,788,819.623162386,654,632,656,0.400977189812,-0.00539721335661,0.0798420567684,0.999999931702,0.00024521905448,-0.000273305467726,4.20354540763e-05,1793250568303875072 +71,1.183333333,BASELINE,768,745.208069475,722.791930525,686.791930525,668,643,887,788,819.791930525,654,632,656,0.40097654644,-0.00539670813508,0.0798415642436,0.999999931207,0.000246549736669,-0.000273926032539,4.19966196333e-05,1793250568320541440 +72,1.200000000,BASELINE,768,745.787527915,722.212472085,686.212472085,668,643,887,788,819.212472085,654,632,656,0.400975229351,-0.00539630404205,0.0798404720308,0.999999930771,0.000246193509887,-0.000275841838761,4.19243394892e-05,1793250568337208064 +73,1.216666667,BASELINE,768,745.633498657,722,686.366501343,668,642.633498657,887,788,819,654,632,656.366501343,0.400975130019,-0.0053968141322,0.0798402490111,0.999999931064,0.000244925116543,-0.000275918753263,4.18651446116e-05,1793250568353874688 +74,1.233333333,BASELINE,768,745.054806068,722,686.945193932,668,642.054806068,887,788,819,654,632,656.945193932,0.400975735726,-0.00539785350193,0.0798405292234,0.999999931777,0.000243128611218,-0.000274931014732,4.18135256422e-05,1793250568370541568 +75,1.250000000,BASELINE,768,745.519675515,722,687,668,642.519675515,886.480324485,788,819,654,632,656.480324485,0.400976342582,-0.00539751146811,0.079841458142,0.999999931957,0.000244129368299,-0.000273352737294,4.20033606996e-05,1793250568387208192 +76,1.266666667,BASELINE,768,745.904012736,722,687,667.904012736,643,886.191974528,788,819,654,631.904012736,656,0.400977073802,-0.00539715062799,0.0798424313897,0.999999932227,0.000244766017479,-0.000271774143601,4.21247605554e-05,1793250568403875072 +77,1.283333333,BASELINE,768,745.316063015,722,687,667.316063015,643,887.36787397,788,819,654,631.316063015,656,0.400978441808,-0.00539743407964,0.0798432840141,0.999999933249,0.000242036675219,-0.000270510563588,4.17659476609e-05,1793250568420541696 +78,1.300000000,BASELINE,768,745,722,687,667,642.730621304,887.730621304,788,819,654.269378696,631,656,0.400979113585,-0.00539751986914,0.0798436026545,0.999999933615,0.000241207248416,-0.000269918011394,4.16299113097e-05,1793250568437208320 +79,1.316666667,BASELINE,768,745,722,687,667,642.148095145,887.148095145,788,819,654.851904855,631,656,0.400978976009,-0.00539737588025,0.0798433005488,0.999999933226,0.000242586436339,-0.000270105515999,4.17528483555e-05,1793250568453874944 +80,1.333333333,BASELINE,768,745,722.427939705,687,667,642,887,788,819,654.572060295,631.427939705,656,0.400979208198,-0.00539788166224,0.0798435316012,0.999999933107,0.000242964052524,-0.00027017185323,4.19713326731e-05,1793250568470541312 +81,1.350000000,BASELINE,768,745,722.998233895,687,667.001766105,642,887,788,819,654,632,656,0.400979564126,-0.00539860560529,0.0798439439629,0.99999993308,0.00024300444862,-0.000270194702019,4.22220323541e-05,1793250568487208192 +82,1.366666667,BASELINE,768,745,722.422992871,687,667.577007129,642,887,788,819,654,632,656,0.400979169583,-0.00539824425876,0.0798442129863,0.999999932917,0.000244411948599,-0.00026950865515,4.23570708491e-05,1793250568503874816 +83,1.383333333,BASELINE,768,745,722,687,668,642,887,788,819,654,632,656.156637815,0.400978312293,-0.00539784663436,0.079843897894,0.999999932599,0.000245311027578,-0.000269867986418,4.23688681463e-05,1793250568520541184 +84,1.400000000,BASELINE,768,745,722,687,668,642,887,788,819,654,632,656.748464485,0.400976169348,-0.00539734821858,0.0798419599452,0.999999931853,0.000244797554273,-0.000273131705053,4.20382628693e-05,1793250568537208064 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+88,1.466666667,BASELINE,768,745,722,686.956662943,667.956662943,643,887.956662943,788,819,654,632,656,0.400977165783,-0.00539710429571,0.0798423293439,0.99999993248,0.000242720710463,-0.000272773546527,4.14875594378e-05,1793250568603874560 +89,1.483333333,BASELINE,768,745,722,686.357960953,667.357960953,643,887.357960953,788,819,654,632,656,0.400979035285,-0.00539715517827,0.0798435579768,0.999999932702,0.000244476002896,-0.000270339451181,4.17507770325e-05,1793250568620541184 +90,1.500000000,BASELINE,768,745,722,686.232930432,667,642.767069568,887,788,819,654,632,656,0.400980115564,-0.00539757683474,0.0798440686823,0.999999933124,0.000244329180606,-0.000268890203801,4.18605666249e-05,1793250568637207808 +91,1.516666667,BASELINE,768,745,722,686.812208074,667,642.187791926,887,788,819,654,632,656,0.400980022339,-0.00539854979964,0.079843511892,0.999999933848,0.000241354079678,-0.00026890533956,4.17422221536e-05,1793250568653874688 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+106,1.766666667,BASELINE,768,745,722,687,667.492903693,642,887,788.492903693,819,654,632,656.492903693,0.400977386301,-0.00539629658229,0.0798431188586,0.999999932216,0.000245807938198,-0.000270899148506,4.19537110561e-05,1793250568903874816 +107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642,888,788,819,654,631,656,0.400976681466,-0.00539861502199,0.0798422964077,0.999999933074,0.000241333797447,-0.000271741192297,4.20299720111e-05,1793250568946505472 +108,1.800000000,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642.582608976,887.417391024,788,819,654,631.582608976,656,0.400976624876,-0.00539686666447,0.0798425839737,0.999999932391,0.000243473225152,-0.000272403020473,4.16459922781e-05,1793250568963171840 +109,1.816666667,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642.837979117,887,788,819.162020883,654,632,656,0.400976547266,-0.00539600297529,0.0798426856149,0.999999932023,0.00024459318679,-0.000272779182733,4.14639296187e-05,1793250568979838208 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+250,4.166666667,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095647,0.00882285511407,1.06970513179 +251,4.183333333,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095647,0.00882285511446,1.06970513179 +252,4.200000000,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095647,0.00882285511437,1.06970513179 +253,4.216666667,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095647,0.00882285511421,1.06970513179 +254,4.233333333,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095647,0.00882285511425,1.06970513179 +255,4.250000000,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095647,0.00882285511432,1.06970513179 +256,4.266666667,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095647,0.00882285511442,1.06970513179 +257,4.283333333,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095648,0.00882285511468,1.06970513179 +258,4.300000000,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095648,0.00882285511455,1.06970513179 +259,4.316666667,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095648,0.00882285511446,1.06970513179 +260,4.333333333,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095648,0.00882285511446,1.06970513179 +261,4.350000000,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095648,0.00882285511438,1.06970513179 +262,4.366666667,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095648,0.00882285511498,1.06970513179 +263,4.383333333,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095648,0.0088228551147,1.06970513179 +264,4.400000000,pose2_hold,0.621586419729,0.000150220291847,1.07003373823,0.592157095648,0.00882285511521,1.06970513179 +265,4.416666667,pose2_to_pose3_retreat,0.621586419729,0.000150220291847,1.07003373823,0.592157095649,0.0088228551158,1.06970513179 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0000000000000000000000000000000000000000..f3d71a679b229486e0093158c8e122ba9c2351a3 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b0bf0f58ae670436ed74a45be68bde3324c497bc28579450c181cdfaf9ca990 +size 26227803 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..53c2de42d1ad0739977345d386b4e7ab1a50af05 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/franka_data.csv @@ -0,0 +1,414 @@ 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b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0aca59ce8498fcd2e6b9120dc51253057eadc0445616160b2cf93ac570263977 +size 26094833 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..8e01819e4ee86cd4943a5cb09d6c016866bf20bc --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/franka_data.csv @@ -0,0 +1,412 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..ce2fe669544fa38570394f79d79d25ee7e6209f9 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:788dc4760ccd60f5053cadc0f42c1ea03cf2cc21f47f255fd9f54c7dfdf32ea7 +size 26228655 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..05de65b7f7cb68638df1718df6a7bef9ad9605b4 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/franka_data.csv @@ -0,0 +1,414 @@ 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0000000000000000000000000000000000000000..43285bfe2bd9eb6312007bfea1beb8049edf2ce4 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6aa05edefe7d71fc5e559f582cac14d86aec693f2a9337e42283e1b1a8a17adb +size 25979533 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..30770fd0c6704618e1ba438ef97ff1092be24584 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/franka_data.csv @@ -0,0 +1,409 @@ 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b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a32d48898f555cc393e61bdb474ab35c02bf60e7c9041185685743058404462b +size 26166910 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d812a552b930c0cb7498aabd447ed61567663f98 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/franka_data.csv @@ -0,0 +1,412 @@ +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,770,746,723.972060484,686.972060484,670,642.972060484,887.027939516,789,819.972060484,655.972060484,632,656,0.400987893252,-0.0155033323309,0.0698254266492,0.999999978627,5.15883399401e-05,-0.00019997360023,9.7488265869e-06,1793250655779760640 +25,0.416666667,BASELINE,770,746,723.453674913,686.453674913,670,643,887.546325087,788.453674913,819.453674913,656,631.453674913,656.546325087,0.400988157694,-0.0155054595706,0.0698260297516,0.999999978935,4.78312533071e-05,-0.000199360584239,9.88086194437e-06,1793250655796427008 +26,0.433333333,BASELINE,770,745.876467824,723,685.876467824,670,643,887.876467824,788,819,656,631.123532176,656.876467824,0.400988119683,-0.0155069281398,0.0698263772967,0.999999979102,4.47963639183e-05,-0.000199226347701,9.93088046247e-06,1793250655813093120 +27,0.450000000,BASELINE,770,745.287636413,723,685.287636413,670,643,887.287636413,788,819,656,631.712363587,656.287636413,0.400986909796,-0.0155053455016,0.0698256519123,0.999999978719,4.55513379357e-05,-0.000200985679865,9.63399926523e-06,1793250655829759488 +28,0.466666667,BASELINE,770,745.297664083,723,685.297664083,670,643,887.297664083,788.297664083,819,656,632.297664083,656,0.400986818741,-0.0155048641669,0.069825558355,0.999999978661,4.57049444736e-05,-0.000201242804536,9.5255729969e-06,1793250655846426112 +29,0.483333333,BASELINE,770,745.879592577,723,685.879592577,670,643,887.879592577,788.879592577,819,656,632.879592577,656,0.400987796152,-0.0155054345595,0.0698260681824,0.999999978916,4.52842546972e-05,-0.000200065345112,9.59711817185e-06,1793250655863092480 +30,0.500000000,BASELINE,770,746,723,686,670,643,887.544745298,789,819.455254702,656,632.544745298,656,0.400989306367,-0.0155047734529,0.0698269723704,0.999999979299,4.77019998359e-05,-0.000197567738834,9.66096459355e-06,1793250655879759616 +31,0.516666667,BASELINE,770,746,723,686,670,643,887.029264115,789,820,656,632,656,0.400990794447,-0.0155039702467,0.0698279176574,0.999999979672,5.04910492546e-05,-0.000194965332686,9.72912835271e-06,1793250655896426496 +32,0.533333333,BASELINE,770,746,723,686,670,643,887.602941367,789,820,656,632,656,0.400989284752,-0.0155065005814,0.069827713498,0.999999979505,4.64112949489e-05,-0.000196820619244,9.91497533551e-06,1793250655913093632 +33,0.550000000,BASELINE,770,745.81728401,723,686,670,643,887.81728401,789,820,655.81728401,632,656,0.400988095954,-0.0155072948061,0.069827195798,0.999999979235,4.48841609596e-05,-0.000198538865532,9.90989288226e-06,1793250655929760512 +34,0.566666667,BASELINE,770,745.22380189,723,686,670,643,887.22380189,789,820,655.22380189,632,656,0.400987628572,-0.0155041860597,0.0698259732236,0.99999997876,4.90956055916e-05,-0.000199949029609,9.4755795203e-06,1793250655946426624 +35,0.583333333,BASELINE,769.639981888,745,723,685.639981888,669.639981888,643,887.360018112,789,819.639981888,655.360018112,632,656,0.400988436677,-0.0155032643913,0.0698263897639,0.999999978919,4.92531935522e-05,-0.00019912022476,9.30477760688e-06,1793250655963092992 +36,0.600000000,BASELINE,769.062011212,745,723,685.062011212,669.062011212,643,887.937988788,789,819.062011212,655.937988788,632,656,0.400990016953,-0.015503666765,0.0698277986131,0.999999979462,4.69566041223e-05,-0.000196935963188,9.29350372535e-06,1793250655979759616 +37,0.616666667,BASELINE,769.514455695,745.514455695,723,685.514455695,669.514455695,643,887.485544305,789,819,656,632,656,0.400988461169,-0.0155049571777,0.0698268796567,0.999999979121,4.55044210105e-05,-0.000198994592648,9.41015429456e-06,1793250655996426240 +38,0.633333333,BASELINE,770,745.907693967,723,686,670,643,887.092306033,789,819,655.907693967,632.092306033,656,0.40098683162,-0.0155060384514,0.0698258663685,0.999999978727,4.48866275909e-05,-0.000201095708404,9.53859352141e-06,1793250656013092352 +39,0.650000000,BASELINE,770,745.321473831,723,686,670,643,887.678526169,789,819,655.321473831,632.678526169,656,0.400986824155,-0.0155054295627,0.0698258453292,0.999999978653,4.8190478425e-05,-0.000200695574864,9.64784419376e-06,1793250656029759488 +40,0.666666667,BASELINE,769.738495267,745.261504733,723,686,670,643,887.738495267,789,819,655.261504733,632.738495267,656,0.400986822364,-0.0155044636643,0.0698258276559,0.999999978576,5.02680174266e-05,-0.000200566530744,9.6728245838e-06,1793250656046426368 +41,0.683333333,BASELINE,769.159452887,745.840547113,723,686,670,643,887.159452887,789,819,655.840547113,632.159452887,656,0.40098682746,-0.0155030642595,0.0698258140697,0.999999978507,5.08564811777e-05,-0.000200766662707,9.59547799657e-06,1793250656063092992 +42,0.700000000,BASELINE,769.419036847,746,723,686,669.580963153,643,887,789,819,656,632,656,0.400987279469,-0.0155037077593,0.0698262604062,0.999999978718,4.9936529501e-05,-0.000199935915694,9.7620018909e-06,1793250656079759872 +43,0.716666667,BASELINE,769.997316551,746,723,686,669.002683449,643,887,789,819,656,632,656,0.400987901314,-0.0155051276062,0.0698268815231,0.999999979033,4.8443348074e-05,-0.000198713412881,1.00212017232e-05,1793250656096426752 +44,0.733333333,BASELINE,770,745.431756024,723,686,669.568243976,643,887.568243976,789,819,655.431756024,632,656,0.400987295952,-0.0155056611409,0.0698262443135,0.999999978924,4.71446007777e-05,-0.000199576266997,9.96439803661e-06,1793250656113093120 +45,0.750000000,BASELINE,770,745.144237564,723,686,670,643,887.855762436,789,819.144237564,655.144237564,632,656,0.40098659461,-0.0155055681977,0.0698256614242,0.999999978743,4.64889211603e-05,-0.000200641893738,9.81259579212e-06,1793250656129759744 +46,0.766666667,BASELINE,770,745.736058203,723,686,670,643,887.263941797,789,819.736058203,655.736058203,632,656,0.400985613182,-0.0155035440547,0.0698252653002,0.999999978348,4.78259299904e-05,-0.000202306575014,9.37057541134e-06,1793250656146426368 +47,0.783333333,BASELINE,769.678947427,745.678947427,723,686,670,643,887.321052573,789,819.678947427,656,632,656,0.40098550127,-0.0155029467418,0.0698256806741,0.999999978387,4.87360718069e-05,-0.00020190513233,9.27822866085e-06,1793250656163092992 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+51,0.850000000,BASELINE,770,746,723,686,669.357309164,642.642690836,887,788.642690836,819,655,632,656,0.400987763564,-0.015505459685,0.0698271726791,0.999999979127,4.69775681579e-05,-0.000198609082368,9.63528532559e-06,1793250656229761024 +52,0.866666667,BASELINE,770,746,723,685.772548217,669.227451783,642.772548217,887,789,819.227451783,655.227451783,632,656,0.400986861751,-0.0155051930652,0.0698265115245,0.999999978847,4.84449454863e-05,-0.000199666280483,9.62863116178e-06,1793250656246428160 +53,0.883333333,BASELINE,770,746,723,685.194862987,669.805137013,642.194862987,887,789,819.805137013,655.805137013,632,656,0.400986922438,-0.0155048299001,0.069826798687,0.999999978866,4.9692954135e-05,-0.000199257124875,9.71914514486e-06,1793250656263093760 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sha256:8446ede64376e1f37d594554f291b1c1dc8b8511f1d199771e72c15bcd300e46 +size 26085679 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..bdda684f2637fa4cfd2f0ac831cb495a2cfcc7e8 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/franka_data.csv @@ -0,0 +1,411 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,769,745,723,685,670,642,887,788,820,655,632,657,0.400950281139,-0.0153684991664,0.0698070073587,0.999999929337,0.00022115465344,-0.000303889822104,8.27619496488e-06,1793250662358174720 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+31,0.516666667,BASELINE,768.028743231,745.014371616,723,688,669.014371616,643,887.971256769,788.985628384,819.014371616,655,632,656,0.401037985851,-0.0154926641755,0.0798670542055,0.99999998039,0.000128850331613,-0.000143954722218,4.3516325384e-05,1793250692174196992 +32,0.533333333,BASELINE,768.57314605,745.57314605,723,688,669.57314605,643,886.853707899,788.42685395,819.57314605,655.57314605,632,656,0.401036217887,-0.0154927661856,0.0798669368148,0.999999980273,0.000128485257918,-0.000145134194582,4.33741266818e-05,1793250692190863360 +33,0.550000000,BASELINE,769,746,723,688.158042179,669.841957821,643,886.158042179,788,820,656,632,656,0.401035220905,-0.015492574879,0.0798666662816,0.99999998015,0.0001284588075,-0.000146061820075,4.31872620166e-05,1793250692207529984 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a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..80c7f6ce8aea89429cc063ec6494c1c14a8316f1 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb27657587fa05921698b2aa2cd0d9a45f9d6456bffbbae3d0d0c1311e493090 +size 25898971 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ebace42ebcdb988c2afef2edd2f291490cf1349a --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/franka_data.csv @@ -0,0 +1,409 @@ 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+53,0.883333333,BASELINE,768,745,723,689.771192269,670,643,887,788,819.228807731,655,632,656,0.40097762152,-0.0153644239546,0.0798375761814,0.999999920347,0.000282796723631,-0.000278911365081,3.92405755664e-05,1793250699521227008 +54,0.900000000,BASELINE,768.347283295,745,723,689.652716705,670,643,887,788,819.347283295,655,632,656,0.400978672918,-0.0153645620217,0.0798381012371,0.999999920646,0.000282458739029,-0.000278178514045,3.92587301412e-05,1793250699537894144 +55,0.916666667,BASELINE,768.922154952,745,723,689.077845048,670,643,887,788,819.922154952,655,632,656,0.400979890521,-0.0153653311074,0.0798386809511,0.999999921188,0.000281222924377,-0.0002774716401,3.93360774928e-05,1793250699554560768 +56,0.933333333,BASELINE,768.489057856,745,723,689,670,643,887,788,819.489057856,655,632,656,0.400979800876,-0.015364761222,0.0798391885914,0.99999992136,0.000281152540673,-0.000276933518189,3.92575391928e-05,1793250699571227392 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+61,1.016666667,BASELINE,768,745.59500454,723,688.59500454,669.40499546,642.59500454,886.59500454,788,819.59500454,655,632,656,0.400979985859,-0.0153631201261,0.0798385628522,0.999999920514,0.000284072194697,-0.000277031226779,3.90916416464e-05,1793250699654560768 +62,1.033333333,BASELINE,768,745.021572215,723,688.021572215,669.978427785,642.021572215,886.021572215,788,819.021572215,655,632,656,0.400981456173,-0.0153632743034,0.0798399272898,0.999999921255,0.000283460865102,-0.000274972809637,3.91043288422e-05,1793250699671227648 +63,1.050000000,BASELINE,768.569280089,745,723,688.569280089,669.430719911,642,886.569280089,788,819.569280089,655,632,656,0.400979706808,-0.015364437987,0.0798392685436,0.999999921021,0.000282070779971,-0.000277221318387,3.92688681852e-05,1793250699687894272 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+90,1.500000000,BASELINE,768.242906364,745.757093636,723,689,670,643,886,788,820,655,632,656,0.400979986417,-0.0153650852533,0.0798396758544,0.999999921496,0.000281763413301,-0.000275799944093,3.93824901784e-05,1793250700137894144 +91,1.516666667,BASELINE,768.819800595,745.180199405,723,689,670,643,886,788,820,655,632,656,0.400978672254,-0.0153640488293,0.0798392995426,0.999999920331,0.000284795634552,-0.00027687004612,3.96561569894e-05,1793250700154560768 +92,1.533333333,BASELINE,769,745.394798767,723,689,670,642.605201233,886.394798767,788,820,655,632,656,0.400978114495,-0.0153644821309,0.0798389225313,0.999999920397,0.000284045626234,-0.000277414675177,3.95588905687e-05,1793250700171227136 +93,1.550000000,BASELINE,769,745.968935702,723,689,670,642.031064298,886.968935702,788,820,655,632,656,0.400977900333,-0.0153655830585,0.0798385452023,0.999999921021,0.000281577532474,-0.000277720607126,3.92931269742e-05,1793250700187893760 +94,1.566666667,BASELINE,769,746,723,689,670.558066946,642,887,788,820,655,632,656,0.400977291802,-0.015366745398,0.0798382435568,0.999999921407,0.00027965440784,-0.00027823974127,3.95220461894e-05,1793250700204560128 +95,1.583333333,BASELINE,768.854923429,745.854923429,723,689,670.854923429,642.145076571,887,788,820,655,632,656,0.400977141259,-0.0153674660381,0.0798382527379,0.999999921574,0.000278951499555,-0.000278315086143,3.97246966994e-05,1793250700221227008 +96,1.600000000,BASELINE,768.276806622,745.276806622,723,689,670.276806622,642.723193378,887,788,820,655,632,656,0.400978425101,-0.0153668577608,0.0798391767855,0.999999921132,0.00028179777662,-0.000277029358861,3.97644755899e-05,1793250700237893632 +97,1.616666667,BASELINE,768,745,723,689,670,643,886.699775444,788,820,655,632,656,0.400979891609,-0.0153656907405,0.0798400125758,0.999999921015,0.000283696508489,-0.000275524335461,3.96580299509e-05,1793250700254560256 +98,1.633333333,BASELINE,768,745,723,689,670,643,886.12374164,788,820,655,632,656,0.400981525927,-0.0153640104161,0.0798407672862,0.999999921201,0.000284724752677,-0.000273817849946,3.94172512697e-05,1793250700271226880 +99,1.650000000,BASELINE,768,745,723,689,670,642.546718959,886.453281041,788,820,655,632,656,0.400979860766,-0.01536398071,0.0798394790137,0.999999920715,0.000284523324654,-0.000275830867788,3.91741178269e-05,1793250700287894016 +100,1.666666667,BASELINE,768.031301004,745,723,689,670,642,887,788.031301004,820,655,632,656,0.400977480398,-0.0153644537189,0.0798377763976,0.999999920093,0.000284004032321,-0.000278633376415,3.89673764058e-05,1793250700304560896 +101,1.683333333,BASELINE,768.622316397,745,723,689,670,642,887,788.622316397,820,655,632,656,0.400978452666,-0.0153658409423,0.0798386593228,0.999999920484,0.000283816607075,-0.000277356715616,3.94229052387e-05,1793250700321227520 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sha256:0920b000e618ffb9acb5218e38bb0d033db9245f0f68fc3b70ab7712eb8a60aa +size 26089570 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9700dac6128714f393f2380dbf2b286c32822147 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/franka_data.csv @@ -0,0 +1,412 @@ +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,769,745,723,689,670,642,886,788,819,655,632,656,0.400981682758,-0.015362309537,0.0798411322504,0.999999920958,0.000282181768312,-0.000277450883756,3.8438081831e-05,1793250705646071552 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+44,0.733333333,BASELINE,768.528739177,745.528739177,723,690,670,642.528739177,886.471260823,788,819.528739177,655,632,656,0.400981445759,-0.0153658391776,0.0798421119786,0.999999924,0.000274574655774,-0.000274189560314,3.77896555239e-05,1793250706379404800 +45,0.750000000,BASELINE,768.890401046,746,723,690,670,643,886.109598954,788,820,655,632,656,0.400984296454,-0.0153656286717,0.0798439731721,0.999999924772,0.000275347749086,-0.000270528894685,3.81196676683e-05,1793250706396071424 +46,0.766666667,BASELINE,768.316697101,746,723,690,670,643,886.683302899,788,820,655,632,656,0.400983425466,-0.0153662061594,0.0798435674363,0.999999924778,0.000274312037353,-0.000271565284801,3.80556398685e-05,1793250706412738048 +47,0.783333333,BASELINE,768,746,723,690,670,643,887,788,820,655,632,655.742038588,0.400982844423,-0.0153660473945,0.0798431691372,0.999999924709,0.000273796100914,-0.000272371963227,3.78371387515e-05,1793250706429404672 +48,0.800000000,BASELINE,768,746,723,690,670,643,887,788,820,655,632,655.16620373,0.400982620665,-0.0153649813809,0.0798427800021,0.999999924547,0.000273920658444,-0.000272895579121,3.74282875839e-05,1793250706446071296 +49,0.816666667,BASELINE,768,746,723,690,670,643,886.579954879,788,820,655,632,655.420045121,0.400982690298,-0.0153649995415,0.0798427238574,0.999999924605,0.000273804187751,-0.000272796841165,3.74528605418e-05,1793250706462738432 +50,0.833333333,BASELINE,768.010321805,746.010321805,723,690,670,643,886,788,820,655,632,656,0.400982881234,-0.0153654539854,0.0798428091618,0.99999992476,0.000273572644493,-0.000272435557481,3.76438144549e-05,1793250706479405056 +51,0.850000000,BASELINE,768.5897096,746.5897096,723,690,670,643,886,788,820,655,632,656,0.400983196833,-0.0153657094247,0.0798432440892,0.999999925344,0.000272388535028,-0.000271521190698,3.73123042467e-05,1793250706496071680 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sha256:b585a318594ed44983149d5f86e3656d16f51dc13b3522f2a4d40fe22dac2d80 +size 26149857 diff --git a/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..050ed8c40e31064d3c7a6344cc9d8b2564d22654 --- /dev/null +++ b/Part2/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/franka_data.csv @@ -0,0 +1,413 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,768,746,723,689,670,642,886,787,820,655,632,656,0.400984297462,-0.0153647455397,0.0798417402737,0.999999923849,0.000273362941575,-0.000276006626328,3.73384161625e-05,1793250712656362240 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+42,0.700000000,BASELINE,768,746,723,690.422582191,670,643,886.422582191,788,819.422582191,655,632.577417809,656,0.400984049139,-0.015362986233,0.0798436951656,0.999999924368,0.000274566160451,-0.000272958038452,3.7034278715e-05,1793250713356361472 +43,0.716666667,BASELINE,768,746,723,690.997905879,670,643,886.997905879,788,819.997905879,655,632.002094121,656,0.400983910772,-0.0153622204447,0.0798435769349,0.999999924212,0.00027494372665,-0.00027318161084,3.67905296669e-05,1793250713373028352 +44,0.733333333,BASELINE,768,745.427730807,723,690.427730807,670,643,886.427730807,788,820,655,632,656,0.40098418053,-0.0153638654228,0.0798439147116,0.999999924572,0.000274454900146,-0.000272324069272,3.70107279708e-05,1793250713389695232 +45,0.750000000,BASELINE,768.150489483,745,723,690,670,643,886.150489483,788.150489483,820,655,632,656,0.400984274933,-0.0153649728826,0.0798441538195,0.999999924779,0.00027425828937,-0.000271739112467,3.71819259881e-05,1793250713406361856 +46,0.766666667,BASELINE,768.73997107,745,723,690,670,643,886.73997107,788.73997107,820,655,632,656,0.400983853457,-0.0153644866592,0.0798441002416,0.999999924535,0.000274923332599,-0.00027196083257,3.72052413211e-05,1793250713423028736 +47,0.783333333,BASELINE,768.67595487,745.32404513,723,690.32404513,670,643,886.67595487,788.67595487,820,655,632,656,0.400983657679,-0.0153644507555,0.0798438700429,0.999999924555,0.000274653354974,-0.000272186016886,3.70263101258e-05,1793250713439695104 +48,0.800000000,BASELINE,768.096148778,745.903851222,723,690.903851222,670,643,886.096148778,788.096148778,820,655,632,656,0.400983640038,-0.0153647702782,0.0798435004417,0.999999924781,0.000273645388136,-0.000272413935446,3.66877506534e-05,1793250713456361472 +49,0.816666667,BASELINE,768.47967434,746,723,690.040651321,670,642.52032566,886,788,820,655,632,656,0.400984206381,-0.0153646288928,0.0798437251122,0.999999924674,0.000274096486372,-0.000272329749027,3.68811878391e-05,1793250713473028096 +50,0.833333333,BASELINE,768.945431264,746,723,689.054568736,670.054568736,642.054568736,886,788,820,655,632,656,0.400984788562,-0.0153642697844,0.0798440779533,0.999999924485,0.000274914722714,-0.000272165720489,3.71294971817e-05,1793250713489694720 +51,0.850000000,BASELINE,768.371838855,746,723,689.628161145,670.628161145,642.628161145,886,788,820,655,632,656,0.400984417184,-0.0153627113228,0.0798445262147,0.999999924156,0.000276466123802,-0.000271832416677,3.68938085013e-05,1793250713506361344 +52,0.866666667,BASELINE,768,745.791491821,722.791491821,689.791491821,670.791491821,643,886,788,820,655.208508179,632,656,0.400984538872,-0.0153620343915,0.0798447640731,0.999999924225,0.000276732482344,-0.000271336553431,3.66852110643e-05,1793250713523027968 +53,0.883333333,BASELINE,768,745.198695816,722.198695816,689.198695816,670.198695816,643,886,788,820,655.801304184,632,656,0.400985569297,-0.0153629821513,0.0798446141515,0.999999925026,0.000274630462671,-0.000270541087516,3.65265437454e-05,1793250713539694848 +54,0.900000000,BASELINE,768,745.384308577,722.384308577,689,670,642.615691423,886,788,820,655.615691423,632,656,0.400985353615,-0.0153643001407,0.0798446808563,0.999999925441,0.000272582364095,-0.000271031533453,3.68561569036e-05,1793250713556361728 +55,0.916666667,BASELINE,768,745.962376258,722.962376258,689,670,642.037623742,886,788,820,655.037623742,632,656,0.400984509675,-0.0153658047909,0.0798448567787,0.999999925659,0.000270561451294,-0.000272170305112,3.743194929e-05,1793250713573028352 +56,0.933333333,BASELINE,768,745.462950283,723.537049717,689.537049717,670,642.537049717,886.537049717,788,820,655,632,656,0.400984642065,-0.0153650257825,0.0798450062706,0.999999925099,0.000273004385756,-0.000271849279986,3.70026446639e-05,1793250713589694976 +57,0.950000000,BASELINE,768.114204426,745.114204426,723.885795574,690,670.114204426,643,886.885795574,788,820,655,632,656,0.400984454675,-0.0153640493699,0.079844891021,0.999999924599,0.000275010669626,-0.000271730129042,3.65345027562e-05,1793250713606361344 +58,0.966666667,BASELINE,768.702643602,745.702643602,723.297356398,690,670.702643602,643,886.297356398,788,820,655,632,656,0.400982657155,-0.0153629134009,0.0798436840709,0.999999924601,0.000273913337793,-0.000272871263973,3.6195644817e-05,1793250713623027968 +59,0.983333333,BASELINE,768.713713647,745.713713647,723,689.713713647,670.713713647,642.713713647,886.286286353,788,820,655,632,656,0.400982540713,-0.0153629611777,0.0798433392838,0.999999924719,0.000273287634115,-0.000273070585534,3.61763349337e-05,1793250713639694592 +60,1.000000000,BASELINE,768.134970625,745.134970625,723,689.134970625,670.134970625,642.134970625,886.865029375,788,820,655,632,656,0.40098414158,-0.0153642182133,0.0798438752415,0.999999924955,0.000273143723437,-0.00027230779501,3.64834602678e-05,1793250713656361216 +61,1.016666667,BASELINE,768,745,723,689,669.556844309,642.443155691,886.556844309,788,820,655,632,656,0.400984675218,-0.0153650657249,0.0798440669894,0.99999992535,0.000272285840023,-0.000271710504047,3.65098252887e-05,1793250713673028352 +62,1.033333333,BASELINE,768,745,723,689.020943047,669.020943047,643,886,788,820,655,632,656,0.40098486143,-0.0153657059284,0.0798441102407,0.999999925751,0.000271293959951,-0.000271238408769,3.64446865871e-05,1793250713689695232 +63,1.050000000,BASELINE,768,745,723,689.594734904,669.594734904,643,886,788,820,655,632,656,0.400984444907,-0.0153641616178,0.0798429970788,0.999999925023,0.000272497147397,-0.000272742446869,3.62181992747e-05,1793250713706362112 +64,1.066666667,BASELINE,768,745,723,689.827079644,670,643,886,788,820,655,632,656,0.400983977155,-0.0153634242898,0.0798424927394,0.999999924577,0.000273347366908,-0.000273517431989,3.62629557975e-05,1793250713723028736 +65,1.083333333,BASELINE,768,745,723,689.238328725,670,643,886,788,820,655,632,656,0.400983386209,-0.015364627555,0.0798434524671,0.999999924818,0.000273348786013,-0.00027253922544,3.69599864781e-05,1793250713739695104 +66,1.100000000,BASELINE,768,745,723,689,670,643,886.346424676,788,820,655,632,656,0.40098447567,-0.0153652332053,0.0798445020713,0.999999925201,0.000273511606467,-0.000270934016324,3.71970107933e-05,1793250713756361472 +67,1.116666667,BASELINE,768,745,723,689,670,643,886.928459266,788,820,655,632,656,0.400986708006,-0.0153654324065,0.079845612802,0.999999925678,0.000273784199002,-0.000268902371052,3.71211761312e-05,1793250713773027840 +68,1.133333333,BASELINE,768,745,723,689.503329867,670,643,886.496670133,788,819.496670133,655,632,656,0.400986019819,-0.0153641055169,0.0798449744977,0.999999925139,0.000274885722701,-0.000269822050373,3.68174773839e-05,1793250713789694464 +69,1.150000000,BASELINE,768,745.079049432,723,690,670,643,886.079049432,788,819,655,632,656,0.400985159902,-0.0153628070065,0.0798443826608,0.999999924634,0.000275805331325,-0.000270789131295,3.65706416537e-05,1793250713806361344 +70,1.166666667,BASELINE,768,745.666690184,723,690,670,643,886.666690184,788,819,655,632,656,0.400985828365,-0.0153630670688,0.0798456667865,0.999999925272,0.00027480712983,-0.000269400154283,3.68951048893e-05,1793250713823028480 +71,1.183333333,BASELINE,768.250651149,746,723,690,670,642.749348851,887,788,819.250651149,655,632,656.250651149,0.40098618945,-0.0153633384097,0.0798461187203,0.999999925533,0.000274462959223,-0.000268764316962,3.7018944534e-05,1793250713839695360 +72,1.200000000,BASELINE,768.8297897,746,723,690,670,642.1702103,887,788,819.8297897,655,632,656.8297897,0.400986147706,-0.0153636245319,0.0798454800367,0.999999925302,0.000274975919632,-0.000269115496274,3.68798597459e-05,1793250713856361984 +73,1.216666667,BASELINE,768.592144802,746,723,690,670,642.407855198,886.592144802,788,820,655,632,656.592144802,0.400985893706,-0.0153641781425,0.0798453617431,0.999999925511,0.000273822350292,-0.000269541896675,3.67062447433e-05,1793250713873028352 +74,1.233333333,BASELINE,768.014525982,746,723,690,670,642.985474018,886.014525982,788,820,655,632,656.014525982,0.400985551357,-0.0153648430911,0.0798454600542,0.999999925898,0.000271975112853,-0.000269999606705,3.65182570639e-05,1793250713889694720 +75,1.250000000,BASELINE,768.558922354,745.441077646,723,690,670,642.441077646,886.558922354,788,820,655,632,656,0.400984147311,-0.0153644916931,0.0798443222667,0.999999924688,0.000275107211734,-0.000271297193147,3.65665751451e-05,1793250713906361344 +76,1.266666667,BASELINE,768.867211629,745.132788371,723,690,670,642.132788371,886.867211629,788,819.867211629,655,632.132788371,656,0.400983385589,-0.0153641623514,0.0798437165791,0.999999923809,0.000277598084665,-0.000271984361277,3.6698388722e-05,1793250713923027968 +77,1.283333333,BASELINE,768.291593959,745.708406041,723,690,670,642.708406041,886.291593959,788,819.291593959,655,632.708406041,656,0.400984857264,-0.0153639939992,0.0798449917045,0.999999924201,0.000277522200769,-0.000270563622613,3.70883182477e-05,1793250713939694592 +78,1.300000000,BASELINE,768,745.706594052,722.706594052,690,669.706594052,643,886,788,819.293405948,655,632.706594052,656,0.400985689131,-0.0153646527457,0.0798453591391,0.999999924836,0.000275845795786,-0.000269924608435,3.71273561582e-05,1793250713956361472 +79,1.316666667,BASELINE,768,745.111961875,722.111961875,690,669.111961875,643,886,788,819.888038125,655,632.111961875,656,0.400985864138,-0.0153661606359,0.0798447946898,0.999999925714,0.000272526210309,-0.000270088154485,3.68061499569e-05,1793250713973028608 +80,1.333333333,BASELINE,768,745,722.467224996,690,669.467224996,643,886,788,819.532775004,655,632,656,0.400985945702,-0.0153662982432,0.0798453352915,0.999999926097,0.000271630121088,-0.000269578651195,3.67550439591e-05,1793250713989695488 +81,1.350000000,BASELINE,768,745,723,689.95626313,670,643,886,788,819.04373687,655,632,656,0.400985955546,-0.0153659935159,0.0798459893714,0.999999926273,0.000271493136879,-0.000269061246119,3.67602498629e-05,1793250714006362368 +82,1.366666667,BASELINE,768,745,723,689.36845979,670,643,886,788,819.63154021,655,632,656,0.400985342858,-0.0153641403273,0.0798448664203,0.999999925287,0.000273806025786,-0.000270387643325,3.66865707083e-05,1793250714023028992 +83,1.383333333,BASELINE,768,745,723,689,670.216044672,643,886.216044672,788,820,655,632,656,0.400985015398,-0.0153638519689,0.0798445303428,0.999999924968,0.000274456443361,-0.000270898668771,3.67755521748e-05,1793250714039695360 +84,1.400000000,BASELINE,768,745,723,689,670.795007674,643,886.795007674,788,820,655,632,656,0.400985167073,-0.015366192259,0.079845516079,0.999999925772,0.000272314192015,-0.000270040008457,3.71377758281e-05,1793250714056361728 +85,1.416666667,BASELINE,768,745,723,689.373872426,670.626127574,643,887,788,820,655,632,656,0.400985187961,-0.0153663657913,0.079845831145,0.999999926112,0.000271503503336,-0.000269600243578,3.71130331384e-05,1793250714073028096 +86,1.433333333,BASELINE,768,745,723,689.952683287,670.047316713,643,887,788,820,655,632,656,0.400985137159,-0.0153653516137,0.0798457785826,0.999999926199,0.000271422711807,-0.000269390096582,3.68761745519e-05,1793250714089694720 +87,1.450000000,BASELINE,768.52605038,745.52605038,723,689.47394962,670,642.47394962,887,788,819.47394962,655,632,656,0.400984545165,-0.0153651801718,0.0798444474654,0.999999925275,0.000273360050531,-0.000270899831177,3.65724966789e-05,1793250714106361600 +88,1.466666667,BASELINE,768.898419,746,723,689,670,642.101581,887,788,819.101581,655,632,656,0.400984051308,-0.0153651201506,0.0798433181077,0.999999924492,0.000274959202513,-0.000272199943324,3.63337535237e-05,1793250714123028480 +89,1.483333333,BASELINE,768.310202054,746,723,689,670,642.689797946,887,788,819.689797946,655,632,656,0.4009842584,-0.0153652344866,0.0798437005935,0.99999992485,0.000274077520089,-0.000271762323489,3.64345856091e-05,1793250714139695872 +90,1.500000000,BASELINE,768,745.726381638,723,689.273618362,670,643,887,788,819.726381638,655,632,656,0.400984491554,-0.0153651136287,0.0798443754035,0.999999925113,0.000273750300755,-0.000271110473919,3.65203048731e-05,1793250714156362240 +91,1.516666667,BASELINE,768,745.1474668,723,689.8525332,670,643,887,788,819.1474668,655,632,656,0.400984753786,-0.0153647303476,0.0798453763816,0.999999925272,0.000274041737436,-0.000270219592238,3.6589161625e-05,1793250714173028096 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+95,1.583333333,BASELINE,768.838913497,746,723,689.838913497,670,643,886.838913497,788,819.838913497,655,632,656,0.400986127467,-0.0153664608653,0.0798461434316,0.999999926352,0.000272335509908,-0.000267874788815,3.70432261374e-05,1793250714239694848 +96,1.600000000,BASELINE,768.250203573,746,723,689.250203573,670,643,886.250203573,788,819.250203573,655,632,656,0.400986509101,-0.0153662350739,0.0798465231908,0.999999925869,0.00027393963948,-0.000268027379459,3.71532552504e-05,1793250714256361728 +97,1.616666667,BASELINE,768.333200168,745.666799832,723.333200168,689.333200168,670,643,886.333200168,788,819.333200168,655,632.333200168,656,0.400985372197,-0.0153658034961,0.0798454074003,0.99999992537,0.000273921767779,-0.000269929339583,3.6948105383e-05,1793250714273028608 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