Upload Part2/Free/digit (part 12)
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- .gitattributes +10 -0
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.gitattributes
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| 1 |
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|
Part2/Free/digiy/ball_0050_17.5/width_01/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,202 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:593b28297fb12c8d0ef617c3c50d5b5be91e6c4a3d56a96db7d6b9356dbda8fd
|
| 3 |
+
size 88236178
|
Part2/Free/digiy/ball_0050_17.5/width_02/insert/franka_data.csv
ADDED
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The diff for this file is too large to render.
See raw diff
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Part2/Free/digiy/ball_0050_17.5/width_02/insert/simulation_data.csv
ADDED
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@@ -0,0 +1,873 @@
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
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11,0.183333333,pose2-to-pose3-side,8.11602043876e-05,0.902939323942,-0.000128602919906,0.873147623942
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128,2.133333333,pose3-to-pose4-insert,0.00507355492249,0.900426576722,0.00494689700145,0.870632466612
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132,2.200000000,pose3-to-pose4-insert,0.00507449804582,0.89964248996,0.00494793802481,0.869847685759
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135,2.250000000,pose3-to-pose4-insert,0.00507471608552,0.899118503757,0.00494816841339,0.869323248732
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136,2.266666667,pose3-to-pose4-insert,0.00507455288328,0.898961486133,0.00494801444495,0.869166052322
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137,2.283333333,pose3-to-pose4-insert,0.00507448195028,0.89882303427,0.00494793809661,0.869027501604
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138,2.300000000,pose3-to-pose4-insert,0.00507464311425,0.898688047949,0.00494812021174,0.868892412991
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139,2.316666667,pose3-to-pose4-insert,0.00507457023971,0.898568215302,0.00494805188224,0.868772483175
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140,2.333333333,pose3-to-pose4-insert,0.00507436177687,0.898458786193,0.00494784477687,0.868662958536
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141,2.350000000,pose3-to-pose4-insert,0.00507406413004,0.898359617137,0.00494756517629,0.868563695653
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142,2.366666667,pose3-to-pose4-insert,0.00507392331704,0.898259675754,0.00494748375903,0.868463675754
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143,2.383333333,pose3-to-pose4-insert,0.00507382109795,0.898174211994,0.00494736233302,0.868378188487
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144,2.400000000,pose3-to-pose4-insert,0.00507370958439,0.898093974048,0.00494725130767,0.868297846376
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146,2.433333333,pose3-to-pose4-insert,0.00507353063435,0.897956520628,0.00494709700271,0.86816027247
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147,2.450000000,pose3-to-pose4-insert,0.00507346056117,0.89790446602,0.00494701824758,0.86810816602
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150,2.500000000,pose3-to-pose4-insert,0.00507321089099,0.897806281196,0.00494676145299,0.868009924096
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151,2.516666667,pose3-to-pose4-insert,0.00507319960245,0.897789436735,0.0049467583916,0.867993077097
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152,2.533333333,pose3-to-pose4-insert,0.00507325937399,0.897776163134,0.00494681415769,0.867979840971
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153,2.550000000,pose3-to-pose4-insert,0.00507334314062,0.897765635625,0.00494688961562,0.867969235625
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156,2.600000000,pose3-to-pose4-insert,0.00507331557154,0.897748275715,0.00494687118079,0.86795191832
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160,2.666666667,pose4-hold,0.005073214,0.8977466,0.00494679165714,0.8679503
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|
Part2/Free/digiy/ball_0050_17.5/width_02/pick/simulation_data.csv
ADDED
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,7.475617e-05,0.8649433,-0.000134598,0.8351285
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,7.47101522527e-05,0.864943726243,-0.000134706694929,0.835128926243
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,7.4711205754e-05,0.86494469995,-0.000134670820974,0.83512989995
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,7.47264134061e-05,0.864944833284,-0.000134652897125,0.835130033284
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,7.47649286346e-05,0.864945170967,-0.000134607502799,0.835130370967
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,7.47204959904e-05,0.86494556805,-0.000134662698361,0.83513079434
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,7.4678047484e-05,0.864945895278,-0.000134715241857,0.835131144941
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,7.46340008809e-05,0.864947464844,-0.000134776095749,0.835132764844
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,7.46788063775e-05,0.864948282852,-0.000134726624051,0.835133582852
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,7.46976133923e-05,0.864948626209,-0.000134705858407,0.835133926209
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,7.47020224358e-05,0.864948706704,-0.00013470099019,0.835134006704
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,7.47283763624e-05,0.864949693566,-0.000134669435254,0.835134993566
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,7.47362076288e-05,0.864950087736,-0.00013465956829,0.835135387736
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,7.47620153552e-05,0.864951386712,-0.00013462705198,0.835136686712
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,7.4713285256e-05,0.86495398819,-0.000134671811008,0.835139245888
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,7.46090903929e-05,0.864957593393,-0.000134776198646,0.835142793393
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,7.45009612528e-05,0.864962169596,-0.000134890930593,0.835147369596
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,7.46954409541e-05,0.864969464928,-0.000134697976499,0.835154760461
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,7.47610771545e-05,0.864980077942,-0.000134637996636,0.835165377942
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,7.47999649813e-05,0.864996848606,-0.000134588291041,0.835182148606
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,7.46454458906e-05,0.865022299371,-0.00013473717426,0.835207599371
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,7.45700994033e-05,0.865055837354,-0.000134818702441,0.835241137354
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,7.46706146743e-05,0.865097145219,-0.00013473910129,0.835282445219
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,7.4602857313e-05,0.865144928824,-0.000134773794064,0.835330228824
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,7.45682745953e-05,0.865195684542,-0.000134794289613,0.835380984542
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,7.45997326572e-05,0.865248160259,-0.000134793330013,0.835433560259
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,7.45579124094e-05,0.865305268436,-0.00013483726833,0.835490668436
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,7.46199914685e-05,0.865368302939,-0.000134773538874,0.835553702939
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,7.4471073463e-05,0.865437309841,-0.000134926299669,0.835622745548
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,7.44687420413e-05,0.865516521867,-0.000134921123925,0.835702021867
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,7.44813967712e-05,0.865600351671,-0.000134901134476,0.835785851671
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,7.45364890629e-05,0.865688654792,-0.000134826514322,0.835874213557
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,7.44703584759e-05,0.865785737874,-0.000134896135027,0.835971274035
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,7.44484799508e-05,0.865893254042,-0.000134915767907,0.836078824899
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,7.4726939559e-05,0.866010624642,-0.000134653071954,0.836196303101
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,7.44717328345e-05,0.866144073939,-0.000134896135075,0.836329773939
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,7.48832056593e-05,0.866292237709,-0.000134484368706,0.836478030034
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,7.48789581664e-05,0.866451088589,-0.000134504502459,0.836636834663
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,7.51803363109e-05,0.866618646881,-0.00013418292889,0.836804546881
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,7.53130598948e-05,0.866796514638,-0.000134045253437,0.836982464247
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,7.52388302841e-05,0.866985420711,-0.000134116060738,0.837171483245
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,7.50916473016e-05,0.867184640241,-0.000134215803553,0.837370740241
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,7.50079148859e-05,0.867392182256,-0.000134314182578,0.837578282256
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,7.46854889258e-05,0.867608613522,-0.000134562074785,0.837794902988
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,7.45800168365e-05,0.867829267707,-0.000134668669946,0.838015667707
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,7.4867924734e-05,0.868061886844,-0.000134330878961,0.838248300411
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,7.49529474401e-05,0.868305630495,-0.00013428935041,0.83849224348
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,7.51292401049e-05,0.868564397753,-0.000134107451185,0.838751139385
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,7.52298668704e-05,0.868842437882,-0.000134001944757,0.839029337882
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,7.55064158967e-05,0.869139155795,-0.000133731336219,0.839326102088
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,7.58567250872e-05,0.869444920806,-0.000133370926131,0.839632039655
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,7.61822394789e-05,0.869765538777,-0.000133042296463,0.839952812324
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,7.57139539722e-05,0.870099157453,-0.000133543386503,0.840286544559
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,7.56508741314e-05,0.870434914473,-0.000133622970414,0.840622509309
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,7.51451839565e-05,0.8707797693,-0.00013411513606,0.840967382953
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,7.57386357332e-05,0.871134815234,-0.00013350440235,0.841322631483
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,7.61821300632e-05,0.871459053364,-0.000132988574552,0.84164696712
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,7.65227226588e-05,0.871787920287,-0.000132594313976,0.841975930341
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,7.50703383608e-05,0.87212414575,-0.000134090000621,0.842312264229
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,7.37676689981e-05,0.872473337018,-0.00013543316229,0.842661740662
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,7.27866840047e-05,0.872826179302,-0.000136425812698,0.843014679398
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,7.40551399929e-05,0.873215084025,-0.000135150847967,0.843403791007
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,7.52712550292e-05,0.873617849763,-0.000133948297084,0.843806766536
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,7.47126398338e-05,0.87402642327,-0.000134533889847,0.844215536075
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,7.35866178217e-05,0.874430016277,-0.000135660925068,0.844619244638
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,7.29249808321e-05,0.874852380645,-0.000136346997151,0.845041816529
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,7.34217770718e-05,0.875285397398,-0.000135745329561,0.845475064023
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,7.39416967363e-05,0.875750110752,-0.000135223061257,0.845940107577
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,7.3792376065e-05,0.876230312025,-0.00013538013338,0.846420512025
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,7.37909331956e-05,0.87671875412,-0.000135413389463,0.846909179284
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,7.41140028092e-05,0.877206132893,-0.000135086300676,0.847396867634
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,7.41108697571e-05,0.877712153022,-0.000135124155844,0.847903115148
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,7.40928895285e-05,0.878194316716,-0.000135097225556,0.848385492452
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,7.41040356005e-05,0.878677170745,-0.000135145837346,0.848868557795
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,7.39734438741e-05,0.879166869173,-0.000135326036979,0.849358568049
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,7.40428112789e-05,0.87965298926,-0.000135286956739,0.849844897191
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,7.51582069949e-05,0.880135486384,-0.000134134134444,0.850327605291
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,7.6087750153e-05,0.880624081108,-0.000133177659492,0.850816509075
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,7.4938511496e-05,0.881111229247,-0.000134313633385,0.851303964707
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,7.42485779874e-05,0.881597690979,-0.000134946721977,0.851790731979
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,7.38705057489e-05,0.882073562278,-0.000135370193577,0.85226690108
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,7.37694971619e-05,0.882553004036,-0.000135504716237,0.852746641958
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,7.342437541e-05,0.883037865074,-0.000135896579802,0.853231791254
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,7.33631196638e-05,0.883526146493,-0.0001360120496,0.853720288899
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,7.37585524004e-05,0.884017763529,-0.000135611114667,0.854212227337
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,7.42994443436e-05,0.884506284942,-0.000135051328477,0.854701119183
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,7.45139886234e-05,0.884973987811,-0.000134890527939,0.855169030465
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,7.50584139927e-05,0.885438462822,-0.000134318152824,0.855633805888
|
| 90 |
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88,1.466666667,pose1-to-pose2-lift,7.60631570135e-05,0.885907201922,-0.000133373268032,0.856102918165
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,7.6960119905e-05,0.88637353664,-0.000132457626035,0.856569447588
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,7.60983253396e-05,0.88686390398,-0.000133335924274,0.857060027451
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,7.51577012049e-05,0.887374490885,-0.000134356480141,0.857570966321
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,7.44073727257e-05,0.887875925928,-0.000135045925714,0.858072890839
|
| 95 |
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93,1.550000000,pose1-to-pose2-lift,7.41668650629e-05,0.888373821394,-0.000135341350837,0.858571077716
|
| 96 |
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94,1.566666667,pose1-to-pose2-lift,7.50357574524e-05,0.888867555013,-0.000134520989092,0.859065058817
|
| 97 |
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95,1.583333333,pose1-to-pose2-lift,7.56791501424e-05,0.889347781441,-0.000133999167056,0.859545637146
|
| 98 |
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96,1.600000000,pose1-to-pose2-lift,7.57564073521e-05,0.889821800437,-0.000133973875361,0.860019986126
|
| 99 |
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97,1.616666667,pose1-to-pose2-lift,7.5725320484e-05,0.890288604545,-0.000134059432504,0.86048709028
|
| 100 |
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98,1.633333333,pose1-to-pose2-lift,7.5428601558e-05,0.89073707884,-0.000134422237985,0.86093587383
|
| 101 |
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99,1.650000000,pose1-to-pose2-lift,7.51705431937e-05,0.891183337914,-0.000134698200575,0.861382484634
|
| 102 |
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100,1.666666667,pose1-to-pose2-lift,7.50089624428e-05,0.891635598802,-0.000134846704323,0.861835105489
|
| 103 |
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101,1.683333333,pose1-to-pose2-lift,7.48320987842e-05,0.892082959855,-0.000135090466181,0.862282731947
|
| 104 |
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102,1.700000000,pose1-to-pose2-lift,7.46647159351e-05,0.892536776124,-0.000135271920311,0.862736870225
|
| 105 |
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103,1.716666667,pose1-to-pose2-lift,7.46794226609e-05,0.892991585485,-0.000135306739568,0.86319193388
|
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|
|
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|
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|
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.521608e-05,0.9029425,-0.0001356546,0.8731508
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.52744101257e-05,0.902942393958,-0.000135599458201,0.873150729305
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.56394234969e-05,0.902942264836,-0.00013524946703,0.873150632418
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.58443199561e-05,0.902942316263,-0.000135051860292,0.873150658131
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.64965341554e-05,0.902942334673,-0.000134396516681,0.873150634673
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.67533197277e-05,0.902942282017,-0.000134127641465,0.873150582017
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,7.6930056052e-05,0.902942245777,-0.000133942584272,0.873150545777
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,7.71942456205e-05,0.902942191603,-0.000133665956474,0.873150491603
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,7.74953635492e-05,0.902942129857,-0.000133350661704,0.873150429857
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,7.8155880573e-05,0.902942160034,-0.00013267512482,0.873150460034
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,7.91863071492e-05,0.902942280172,-0.000131628359429,0.873150580172
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,8.08170496928e-05,0.902942470302,-0.000129971759244,0.873150770302
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,8.43211296554e-05,0.902942555842,-0.000126410629758,0.873150855842
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,9.40360904365e-05,0.902942265977,-0.000116522511982,0.873150649483
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.000115734634467,0.902942375832,-9.45020306635e-05,0.873150717222
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000153791946102,0.90294237071,-5.58249009788e-05,0.873150585355
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000210536917928,0.902942542084,1.88995932779e-06,0.873150842084
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000289012157731,0.902942413497,8.16931091638e-05,0.873150660123
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000383974917196,0.902942512487,0.000178212236203,0.873150712487
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000494584297512,0.902942419021,0.000290658088916,0.873150679348
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000617179145476,0.902942502349,0.000415316674875,0.873150701175
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000749850867556,0.902942732309,0.000550178259016,0.873150832309
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000889999163097,0.902942970803,0.000692665886538,0.873151070803
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00103681980573,0.902942871041,0.000841927686237,0.873150971041
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00118760780288,0.9029428,0.000995217024417,0.8731509
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.0013433084055,0.902943399816,0.00115349968248,0.873151499816
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00150469095221,0.902943292058,0.00131758997169,0.873151384116
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00167061837818,0.9029432,0.00148628298205,0.8731512
|
| 30 |
+
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102,1.700000000,pose3-to-pose4-insert,0.00507459393013,0.902942341812,0.00494690914411,0.873150241812
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103,1.716666667,pose3-to-pose4-insert,0.0050745801958,0.902942108329,0.00494689815664,0.873150008329
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108,1.800000000,pose3-to-pose4-insert,0.0050745640442,0.902939154251,0.00494689240741,0.873147106986
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111,1.850000000,pose3-to-pose4-insert,0.00507455973509,0.90291638204,0.00494690024075,0.873124326342
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116,1.933333333,pose3-to-pose4-insert,0.00507480820861,0.902563959105,0.00494710443708,0.872771543708
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117,1.950000000,pose3-to-pose4-insert,0.00507482528841,0.902444675338,0.00494712493106,0.87265211708
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119,1.983333333,pose3-to-pose4-insert,0.00507482995302,0.902178592005,0.00494714370969,0.872385854438
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120,2.000000000,pose3-to-pose4-insert,0.00507502503957,0.902034271238,0.00494734185916,0.872241371238
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121,2.016666667,pose3-to-pose4-insert,0.00507512664782,0.901883750862,0.00494743195784,0.872090796097
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123,2.050000000,pose3-to-pose4-insert,0.00507508745296,0.901549792295,0.00494735082223,0.871756517235
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153,2.550000000,pose3-to-pose4-insert,0.00507626558364,0.897766776396,0.00494846137945,0.867970376396
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156,2.600000000,pose3-to-pose4-insert,0.00507619189703,0.897748922426,0.00494838467063,0.867952522426
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158,2.633333333,pose3-to-pose4-insert,0.005076142,0.8977458,0.00494835,0.8679494
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160,2.666666667,pose4-hold,0.005076142,0.8977458,0.00494835582857,0.8679494
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161,2.683333333,pose4-hold,0.005076142,0.8977458,0.00494835731429,0.8679494
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162,2.700000000,pose4-hold,0.005076142,0.8977458,0.00494835751429,0.8679494
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163,2.716666667,pose4-hold,0.005076142,0.8977458,0.00494835731429,0.8679494
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164,2.733333333,pose4-hold,0.005076142,0.8977458,0.00494835842857,0.8679494
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Part2/Free/digiy/ball_0050_17.5/width_03/pick/camera_frames_60hz.tar
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79308530866e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002694_1793085308663633619_real.jpg,0.675912538047,-0.0054493170799,0.111781650136,0.9999999351,0.000141567796003,-0.000316996465247,9.62920950997e-05,0.0700446665287
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79308530868e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002695_1793085308679985809_real.jpg,0.675913074363,-0.00545043867669,0.111781159207,0.999999935397,0.000141711045297,-0.000316094632371,9.59615376184e-05,0.0700446665287
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.7930853087e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002696_1793085308696717806_real.jpg,0.675912612024,-0.0054496810552,0.111780814938,0.999999935195,0.000140669490786,-0.0003171127382,9.62366330649e-05,0.0700446665287
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79308530871e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002697_1793085308713370172_real.jpg,0.675912069347,-0.0054481862041,0.111779283344,0.999999934392,0.000142638013151,-0.000318573023545,9.68560829354e-05,0.0700446665287
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79308530873e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002698_1793085308729234122_real.jpg,0.675913310311,-0.00545040191257,0.111780794757,0.999999935088,0.000141926597591,-0.000316767831208,9.66398075491e-05,0.0700446665287
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79308530875e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002699_1793085308745473329_real.jpg,0.675914941558,-0.00544767090743,0.111783966672,0.999999936053,0.000141893117061,-0.000313770610081,9.64813966763e-05,0.0700446665287
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79308530877e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002700_1793085308761850526_real.jpg,0.675914498639,-0.00545100971074,0.111782731333,0.999999935663,0.000141951490126,-0.000314676616567,9.74765217853e-05,0.0700446665287
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79308530878e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002701_1793085308778350115_real.jpg,0.675914392839,-0.00544856006819,0.111781868304,0.999999935525,0.000144228245295,-0.000314155960674,9.72329208158e-05,0.0700446665287
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.7930853088e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002702_1793085308794398231_real.jpg,0.675914980021,-0.00544961827706,0.111783514559,0.999999935798,0.000144974382654,-0.000313218552376,9.63343211432e-05,0.0700446665287
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79308530882e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002703_1793085308811077008_real.jpg,0.675915822923,-0.00544775875299,0.111783093134,0.999999936266,0.000143122727287,-0.000312756475099,9.57407020171e-05,0.0700392114841
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79308530883e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002704_1793085308828004363_real.jpg,0.67591514815,-0.00545031743906,0.11178419437,0.999999936192,0.000141133180743,-0.000313835049905,9.59429257421e-05,0.070008546114
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.79308530885e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002705_1793085308844417579_real.jpg,0.67591544422,-0.00544720575283,0.111784980638,0.999999935906,0.000144719161897,-0.000313069531235,9.60828604383e-05,0.070008546114
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79308530887e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002706_1793085308860046064_real.jpg,0.675915849411,-0.00545056347894,0.111785126593,0.999999935851,0.000144468917126,-0.000312782776006,9.79471099733e-05,0.070008546114
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79308530888e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002707_1793085308883295997_real.jpg,0.675917323883,-0.00545108534561,0.111790308288,0.999999937651,0.000140686280983,-0.000309026624818,9.69939257757e-05,0.070008546114
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,1.7930853089e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002708_1793085308909593010_real.jpg,0.675917093739,-0.00544965319435,0.111792663047,0.999999937588,0.000140727008613,-0.000309460216307,9.62021024702e-05,0.070008546114
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,1.79308530892e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002708_1793085308909593010_real.jpg,0.675916259942,-0.00544753614649,0.111793882843,0.999999936924,0.000141971535089,-0.000311377857011,9.50764882904e-05,0.070008546114
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79308530893e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002709_1793085308925717030_real.jpg,0.675915354161,-0.00544578257911,0.111796026665,0.999999936312,0.000143204048426,-0.000313442638626,9.28557524507e-05,0.070008546114
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.79308530895e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002710_1793085308942455869_real.jpg,0.67591568352,-0.00544845820394,0.111804468733,0.999999937147,0.000140692063459,-0.000312257556235,9.16914178536e-05,0.070008546114
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79308530896e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002711_1793085308958330889_real.jpg,0.675915162037,-0.00545185466499,0.111812451747,0.999999937313,0.000138242786046,-0.000312826329142,9.166444664e-05,0.070008546114
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.79308530898e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002712_1793085308974612156_real.jpg,0.675915786897,-0.00544702927109,0.111824684929,0.99999993803,0.00014020399189,-0.000310740655387,8.78760712368e-05,0.070008546114
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.79308530899e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002713_1793085308991047403_real.jpg,0.675916211714,-0.00544253187845,0.111846341376,0.999999939243,0.00014131100954,-0.000307733309868,8.27401476799e-05,0.070008546114
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,1.79308530901e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002714_1793085309007482299_real.jpg,0.675910178211,-0.00544297711144,0.111879010962,0.999999935467,0.000139644168795,-0.000322469387501,7.46968179189e-05,0.070008546114
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79308530903e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002715_1793085309023957221_real.jpg,0.67590233013,-0.00543898166234,0.111923301156,0.999999928956,0.000137396747348,-0.000345519793548,6.18576704136e-05,0.0700062435847
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,1.79308530904e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002716_1793085309040233337_real.jpg,0.675908722723,-0.00543589663459,0.111971133589,0.999999934749,0.000135893519219,-0.000330321910513,5.40616072119e-05,0.0700026378036
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79308530906e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002717_1793085309056714852_real.jpg,0.675912749467,-0.00543276712733,0.11201512175,0.999999937833,0.000135272187494,-0.000322335419852,4.62157793857e-05,0.0700026378036
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.79308530908e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002718_1793085309072904114_real.jpg,0.675907519009,-0.00542708714631,0.112063249108,0.99999993498,0.000134963674576,-0.000332687682633,3.38216466294e-05,0.0700026378036
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.7930853091e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002719_1793085309089671508_real.jpg,0.675901465708,-0.00542396285812,0.112113073351,0.999999931118,0.000132382092453,-0.000346120266169,2.09530364975e-05,0.0700026378036
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79308530911e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002720_1793085309105934069_real.jpg,0.675894180997,-0.00542013192957,0.112169664125,0.999999926944,0.000126540557601,-0.000360646352216,5.77719156079e-06,0.0700026378036
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,1.79308530913e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002721_1793085309122749814_real.jpg,0.675888869949,-0.00541395700463,0.112240711881,0.999999923206,0.000123251754978,-0.00037187398428,-1.03475381136e-05,0.0700026378036
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,1.79308530915e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002723_1793085309154833243_real.jpg,0.675883759357,-0.005409448063,0.112316148073,0.999999919284,0.000119642241684,-0.000382742207105,-2.50380105859e-05,0.0700026378036
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,1.79308530916e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002724_1793085309171609072_real.jpg,0.675879240285,-0.00540926043916,0.112387516922,0.999999915708,0.000114570669369,-0.00039259518747,-3.64158376933e-05,0.0700026378036
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,1.79308530918e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002725_1793085309187768258_real.jpg,0.67587671759,-0.00541375884312,0.112459352843,0.999999913295,0.000110534685209,-0.000399195261365,-4.28290328618e-05,0.0700026378036
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,1.7930853092e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002726_1793085309204429993_real.jpg,0.675871418429,-0.00543039397899,0.112568029591,0.999999909201,0.000100681961306,-0.000411414230326,-4.6890505831e-05,0.0700026378036
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,1.79308530921e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002726_1793085309204429993_real.jpg,0.675869772766,-0.00545438108333,0.112677648199,0.999999904624,0.000123392114077,-0.000418544030625,-1.86403030948e-05,0.0700026378036
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,1.79308530923e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002727_1793085309227681479_real.jpg,0.675871382434,-0.00547142718121,0.112777654648,0.999999897272,0.00016772876979,-0.000420494049829,2.25138705221e-05,0.0700024559052
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,1.79308530925e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002728_1793085309256105113_real.jpg,0.675870254177,-0.00546081753682,0.112935834887,0.999999895633,0.000166586089974,-0.000425410286511,-3.13516047776e-06,0.070001298168
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,1.79308530926e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002729_1793085309270430149_real.jpg,0.675869853041,-0.00545218972233,0.113059771436,0.999999894349,0.000163356563009,-0.000429269187633,-1.85673030422e-05,0.0700006633997
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,1.79308530928e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002729_1793085309270430149_real.jpg,0.675871100015,-0.00544242589974,0.113187091,0.999999902823,9.68662945124e-05,-0.000429506265389,-2.22734801562e-05,0.0700006633997
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,1.7930853093e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002730_1793085309295804861_real.jpg,0.675872790854,-0.00543111652727,0.1133453827,0.999999907949,-2.31703755177e-06,-0.00042825617343,-2.63211259495e-05,0.0700006633997
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,1.79308530931e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002731_1793085309322192574_real.jpg,0.675873370422,-0.00543172342738,0.11350397439,0.999999907513,2.02440847488e-05,-0.000428649001917,-2.87229377723e-05,0.0700006633997
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,1.79308530933e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002731_1793085309322192574_real.jpg,0.675858133425,-0.00543019218176,0.113694780569,0.999999900209,5.17831151251e-05,-0.000442681969936,-3.05374246587e-05,0.0700006633997
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,1.79308530935e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002733_1793085309352492899_real.jpg,0.675836189564,-0.00542745765902,0.11389854649,0.99999988485,8.39309781407e-05,-0.000471366149168,-3.27030644386e-05,0.0700006633997
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,1.79308530937e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002734_1793085309368923097_real.jpg,0.675835798856,-0.00542310424859,0.1140334283,0.99999987965,9.87113081947e-05,-0.000479252724028,-3.56881752186e-05,0.0700006633997
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,1.79308530938e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002735_1793085309384349070_real.jpg,0.675833162183,-0.00541381401586,0.114232312862,0.999999875294,0.000112522432936,-0.000484904694008,-4.02361782334e-05,0.0700006633997
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,1.7930853094e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002736_1793085309402933291_real.jpg,0.675840200899,-0.00540365891241,0.114444817323,0.999999878176,0.000117223161729,-0.000477485462355,-4.3751348902e-05,0.0700006633997
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,1.79308530942e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002737_1793085309417552842_real.jpg,0.675849448617,-0.00539756696563,0.114664027954,0.999999887631,8.37760788875e-05,-0.000464405593034,-4.52411477416e-05,0.0700006633997
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,1.79308530943e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002738_1793085309433696739_real.jpg,0.675858522096,-0.00539004701645,0.114956038038,0.999999892969,9.96827226928e-05,-0.000448873041108,-5.13593826231e-05,0.0700006633997
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,1.79308530945e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002739_1793085309452229554_real.jpg,0.675870858878,-0.00537886701253,0.115250697108,0.999999897681,0.00012933495371,-0.000429621816471,-5.77554334969e-05,0.0700006633997
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,1.79308530946e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002740_1793085309466106805_real.jpg,0.675875940321,-0.00537024981454,0.115455808481,0.999999900995,0.000126810843337,-0.000421233839383,-6.70160184576e-05,0.0700006633997
|
| 51 |
+
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| 203 |
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201,3.350000000,pose2-hold,1.79308531201e+18,camera_frames_60hz/WAIT_POSE2/camera_00002894_1793085312021437547_real.jpg,0.675781272469,-0.00539485682745,0.147360123064,0.999999840301,0.00011181693803,-0.000551990857882,-4.69144845088e-05,0.0700013265014
|
Part2/Free/digiy/ball_0050_17.5/width_03/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,203 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,7.475617e-05,0.8649433,-0.0001345682,0.8351285
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,7.47074644055e-05,0.864943821853,-0.00013467473643,0.835129021853
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,7.47382847203e-05,0.864944937366,-0.000134609306581,0.835130137366
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,7.47544847754e-05,0.864945079401,-0.000134589076802,0.835130279401
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,7.47262489404e-05,0.864945523702,-0.000134625195189,0.835130746823
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,7.46303462378e-05,0.864946262999,-0.000134746915209,0.835131538928
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,7.46132404709e-05,0.864946394864,-0.000134768625904,0.835131680212
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,7.46311883882e-05,0.864947413497,-0.000134751963215,0.835132713497
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,7.4685057015e-05,0.864948396969,-0.000134690987932,0.835133696969
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.655568e-05,0.90294,-0.0001328498,0.8731483
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.68496068013e-05,0.902940099907,-0.000132584928757,0.873148499861
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.70785381354e-05,0.90294001738,-0.00013234312313,0.87314837607
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.71872464643e-05,0.902939978192,-0.000132228301427,0.873148317287
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.78661117697e-05,0.902939931543,-0.000131535673691,0.873148263086
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.82277241727e-05,0.902939956234,-0.000131172836605,0.873148312469
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,7.87632041583e-05,0.902939992797,-0.000130635543094,0.873148385595
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,7.93066225585e-05,0.902940040511,-0.000130086838658,0.873148427007
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,7.98536368858e-05,0.902940091112,-0.000129533667868,0.873148460741
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,8.0779939145e-05,0.902940176798,-0.000128596940389,0.873148517866
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,8.14015218391e-05,0.902940234297,-0.00012796836199,0.873148556198
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,8.3121276973e-05,0.902940265187,-0.000126223317801,0.873148582593
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,8.96966846271e-05,0.90294016165,-0.00011953546431,0.8731485411
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,0.000104740819241,0.902940463017,-0.000104245265765,0.873148763017
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.000134021431877,0.902940249611,-7.44602210639e-05,0.873148619689
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000181561178947,0.9029406,-2.61340921323e-05,0.873148903573
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000247393338105,0.902940804173,4.08150676167e-05,0.873149068058
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000332651069557,0.902941147666,0.000127467537105,0.873149347666
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000433850108915,0.9029415,0.000230351115034,0.8731497
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000549194699396,0.902942075011,0.000347583872449,0.873150350009
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000672965183157,0.902942542707,0.000473420231186,0.873150685413
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000799165490714,0.902942965825,0.000601742260186,0.873151065825
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000938232460975,0.90294329589,0.000743130145761,0.873151493835
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00108717918041,0.9029437,0.000894562443335,0.8731518
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00123978305271,0.9029437,0.00104969544007,0.8731518
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.0013913546494,0.902943602719,0.00120376597483,0.873151670292
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00154734412988,0.90294350669,0.00136234293304,0.87315150669
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00170982882341,0.902943583669,0.00152754635791,0.873151622446
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00187391084251,0.90294336036,0.00169438622203,0.873151420721
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00203370930284,0.902943335528,0.00185684885777,0.8731513
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00221084581938,0.902943200997,0.00203690694428,0.873151140797
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00239988703829,0.902942800914,0.00222909284162,0.873150751371
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00257567602307,0.902942649078,0.00240781169646,0.873150549078
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00274977633024,0.902942291967,0.00258480937586,0.873150191967
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00293000976508,0.902942055971,0.00276805629258,0.8731499
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00310080790288,0.9029421,0.00294166398365,0.873149956347
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00326669393869,0.902942155771,0.0031102977265,0.873150111543
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00343436480155,0.902942258926,0.00328077825179,0.873150258926
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00359725043677,0.902942362502,0.00344638722759,0.8731503
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00375465215996,0.902942333412,0.00360643718923,0.873150233412
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00390568330933,0.902942228714,0.00375996785068,0.873150128714
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00404709894212,0.902942424496,0.00390374613662,0.873150324496
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00418045962474,0.902942263467,0.00403932683726,0.873150084623
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00430591073649,0.902942620065,0.00416687495273,0.873150504078
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00442016773727,0.902942612029,0.00428304341907,0.873150424057
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00452472062822,0.9029426,0.00438937650085,0.873150492583
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00462086280818,0.902943191317,0.004487081693,0.873151091317
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00470611738148,0.902942825684,0.00457379376356,0.873150720547
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00478002804054,0.9029433109,0.00464891309651,0.873151121801
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00484481083195,0.902943345769,0.004714774887,0.873151245769
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00489766348525,0.902943142685,0.0047685246321,0.873151064027
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.0049414016163,0.9029433,0.00481298229318,0.8731513
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00497509719331,0.902943334833,0.00484722388134,0.873151317416
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00500187946615,0.9029435,0.00487445291966,0.8731514
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00502237960428,0.9029435,0.00489531895891,0.8731514
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00503841843388,0.902943760843,0.00491160045381,0.873151747791
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00505026361672,0.9029438,0.00492365497201,0.8731518
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.005059590632,0.902943664246,0.00493310811509,0.873151596369
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00506536317385,0.902943704837,0.00493900657592,0.873151657256
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00506970294601,0.902943748079,0.0049434521567,0.873151748079
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00507265422394,0.9029437,0.00494638253665,0.8731517
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61,1.016666667,pose2-to-pose3-side,0.005073784,0.9029437,0.004947541,0.8731517
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62,1.033333333,pose3-hold,0.005073784,0.9029437,0.004947541,0.8731517
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63,1.050000000,pose3-hold,0.005073784,0.9029437,0.00494754355882,0.8731517
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64,1.066666667,pose3-hold,0.005073784,0.9029437,0.00494754541176,0.8731517
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65,1.083333333,pose3-hold,0.005073784,0.9029437,0.00494754655882,0.8731517
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66,1.100000000,pose3-hold,0.005073784,0.9029437,0.00494754741176,0.8731517
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67,1.116666667,pose3-hold,0.005073784,0.9029437,0.00494755647059,0.8731517
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68,1.133333333,pose3-hold,0.005073784,0.9029437,0.00494757823529,0.8731517
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69,1.150000000,pose3-hold,0.005073784,0.9029437,0.00494756544118,0.8731517
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70,1.166666667,pose3-hold,0.005073784,0.9029437,0.00494752876471,0.8731517
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71,1.183333333,pose3-hold,0.005073784,0.9029437,0.00494753520588,0.8731517
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72,1.200000000,pose3-hold,0.005073784,0.9029437,0.00494754888235,0.873151647059
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73,1.216666667,pose3-hold,0.005073784,0.9029437,0.00494755652941,0.8731516
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74,1.233333333,pose3-hold,0.005073784,0.9029437,0.00494755876471,0.8731516
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75,1.250000000,pose3-hold,0.005073784,0.9029437,0.00494755808824,0.8731516
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76,1.266666667,pose3-hold,0.005073784,0.9029437,0.00494755894118,0.8731516
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77,1.283333333,pose3-hold,0.005073784,0.9029437,0.004947559,0.8731516
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78,1.300000000,pose3-hold,0.005073784,0.9029437,0.004947559,0.8731516
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79,1.316666667,pose3-hold,0.005073784,0.9029437,0.0049475585,0.8731516
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80,1.333333333,pose3-hold,0.005073784,0.9029437,0.004947558,0.8731516
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81,1.350000000,pose3-hold,0.005073784,0.9029437,0.004947558,0.8731516
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82,1.366666667,pose3-hold,0.005073784,0.9029437,0.00494755794118,0.8731516
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83,1.383333333,pose3-hold,0.005073784,0.9029437,0.00494755708824,0.8731516
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84,1.400000000,pose3-hold,0.005073784,0.9029437,0.00494755623529,0.8731516
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85,1.416666667,pose3-hold,0.005073784,0.9029437,0.004947556,0.8731516
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86,1.433333333,pose3-hold,0.005073784,0.9029437,0.00494755505882,0.8731516
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87,1.450000000,pose3-hold,0.005073784,0.9029437,0.00494755432353,0.8731516
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88,1.466666667,pose3-hold,0.005073784,0.9029437,0.00494755447059,0.8731516
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89,1.483333333,pose3-hold,0.005073784,0.9029437,0.00494755214706,0.8731516
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90,1.500000000,pose3-hold,0.005073784,0.9029437,0.00494755641176,0.8731516
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91,1.516666667,pose3-hold,0.005073784,0.9029437,0.00494755479412,0.8731516
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92,1.533333333,pose3-hold,0.005073784,0.9029437,0.00494755752941,0.8731516
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93,1.550000000,pose3-hold,0.005073784,0.9029437,0.00494755558824,0.8731516
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94,1.566666667,pose3-hold,0.005073784,0.9029437,0.00494755352941,0.8731516
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96,1.600000000,pose3-hold,0.005073784,0.9029437,0.00494754,0.8731516
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97,1.616666667,pose3-to-pose4-insert,0.005073784,0.9029437,0.004947542,0.8731516
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98,1.633333333,pose3-to-pose4-insert,0.00507379460091,0.902943666872,0.00494755624497,0.873151566872
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99,1.650000000,pose3-to-pose4-insert,0.00507380020747,0.902943552858,0.00494756865748,0.873151452858
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100,1.666666667,pose3-to-pose4-insert,0.00507371111223,0.902943286902,0.00494747645942,0.873151186902
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101,1.683333333,pose3-to-pose4-insert,0.00507362036051,0.902943016002,0.0049473825472,0.873150916002
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102,1.700000000,pose3-to-pose4-insert,0.00507367876392,0.90294241141,0.00494744468786,0.87315031141
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103,1.716666667,pose3-to-pose4-insert,0.00507371214073,0.902942103316,0.00494748011863,0.873150003316
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104,1.733333333,pose3-to-pose4-insert,0.00507379399036,0.902941347781,0.00494756700515,0.873149247781
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105,1.750000000,pose3-to-pose4-insert,0.00507381331925,0.902940990007,0.00494758677733,0.873148890007
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106,1.766666667,pose3-to-pose4-insert,0.00507381887072,0.902940638791,0.00494759142244,0.873148538791
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107,1.783333333,pose3-to-pose4-insert,0.00507383118834,0.902939859513,0.00494760172902,0.873147759513
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108,1.800000000,pose3-to-pose4-insert,0.00507385000524,0.902938669057,0.00494761747377,0.873146569057
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109,1.816666667,pose3-to-pose4-insert,0.00507377378985,0.902934549577,0.00494753720772,0.873142449577
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110,1.833333333,pose3-to-pose4-insert,0.00507393381871,0.902925164782,0.00494771462041,0.873133064782
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111,1.850000000,pose3-to-pose4-insert,0.00507390210078,0.90290700853,0.00494765834885,0.873114883724
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112,1.866666667,pose3-to-pose4-insert,0.00507371357903,0.9028741358,0.00494750046322,0.8730819358
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113,1.883333333,pose3-to-pose4-insert,0.00507414814952,0.90282270844,0.00494792876608,0.873030556109
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114,1.900000000,pose3-to-pose4-insert,0.00507400526978,0.902752029391,0.00494780366694,0.872959811318
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115,1.916666667,pose3-to-pose4-insert,0.00507436529307,0.90265898352,0.00494814899117,0.872866765813
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116,1.933333333,pose3-to-pose4-insert,0.00507485971048,0.902544586443,0.00494863991544,0.872752186443
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117,1.950000000,pose3-to-pose4-insert,0.0050752291238,0.902412262861,0.004949030644,0.87261976586
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118,1.966666667,pose3-to-pose4-insert,0.00507554977338,0.902266126016,0.00494936731635,0.872473484111
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119,1.983333333,pose3-to-pose4-insert,0.00507594013933,0.902111554136,0.00494976342012,0.872318775482
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120,2.000000000,pose3-to-pose4-insert,0.00507583750037,0.9019504841,0.0049496733183,0.8721574841
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121,2.016666667,pose3-to-pose4-insert,0.00507559631196,0.901785007334,0.00494944574714,0.871991978708
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122,2.033333333,pose3-to-pose4-insert,0.00507541269925,0.901618698491,0.00494927414466,0.871825512355
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123,2.050000000,pose3-to-pose4-insert,0.00507528926327,0.901447510355,0.00494917888013,0.871654155432
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125,2.083333333,pose3-to-pose4-insert,0.00507509835094,0.901086688142,0.00494902040787,0.871293011675
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126,2.100000000,pose3-to-pose4-insert,0.00507505456835,0.900897616653,0.00494896955429,0.871103829635
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127,2.116666667,pose3-to-pose4-insert,0.0050751981737,0.90070267178,0.00494912796024,0.870908674152
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135,2.250000000,pose3-to-pose4-insert,0.00507505588155,0.899175805816,0.00494886009121,0.869380525709
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147,2.450000000,pose3-to-pose4-insert,0.00507510081803,0.897925984302,0.00494887104508,0.868129776122
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150,2.500000000,pose3-to-pose4-insert,0.00507508626046,0.897818558951,0.00494883457546,0.868022258951
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153,2.550000000,pose3-to-pose4-insert,0.00507516202272,0.897771308787,0.0049489292988,0.867974946355
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Part2/Free/digiy/ball_0050_17.5/width_04/pick/camera_frames_60hz.tar
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Part2/Free/digiy/ball_0050_17.5/width_04/pick/fem_node.csv
ADDED
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Part2/Free/digiy/ball_0050_17.5/width_04/pick/franka_data.csv
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|
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| 7 |
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| 9 |
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| 185 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 200 |
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| 201 |
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199,3.316666667,pose2-hold,1.79308533318e+18,camera_frames_60hz/WAIT_POSE2/camera_00004149_1793085333184487568_real.jpg,0.675841427641,-0.00539325414553,0.147432849604,0.999999879562,0.000121676995587,-0.000473542802002,-4.27560041745e-05,0.0698023512959
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| 203 |
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201,3.350000000,pose2-hold,1.79308533322e+18,camera_frames_60hz/WAIT_POSE2/camera_00004151_1793085333217414914_real.jpg,0.67584113631,-0.00539496959034,0.147430636983,0.999999879337,0.000120619834458,-0.000474346547953,-4.20994321723e-05,0.0698023512959
|
Part2/Free/digiy/ball_0050_17.5/width_04/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,203 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,7.475617e-05,0.8649433,-0.0001345384,0.8351285
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,7.46016091652e-05,0.864943443673,-0.000134732079132,0.835128643673
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
| 8 |
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|
| 9 |
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|
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| 11 |
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| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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| 16 |
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| 17 |
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15,0.250000000,pose1-to-pose2-lift,7.45600060779e-05,0.864959670722,-0.00013477428025,0.835144870722
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| 18 |
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|
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17,0.283333333,pose1-to-pose2-lift,7.46885939112e-05,0.864971375952,-0.000134653279095,0.835156675952
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| 20 |
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18,0.300000000,pose1-to-pose2-lift,7.47771188591e-05,0.864984249289,-0.000134548287763,0.835169549289
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| 21 |
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| 22 |
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20,0.333333333,pose1-to-pose2-lift,7.46184417511e-05,0.865032800668,-0.000134716180388,0.835218100668
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| 25 |
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23,0.383333333,pose1-to-pose2-lift,7.46425600643e-05,0.865158796203,-0.000134687017294,0.835344194776
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| 26 |
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24,0.400000000,pose1-to-pose2-lift,7.45105772651e-05,0.865210359485,-0.000134815960494,0.835395736019
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| 27 |
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25,0.416666667,pose1-to-pose2-lift,7.459524917e-05,0.865263444045,-0.000134720244773,0.835448818176
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| 28 |
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26,0.433333333,pose1-to-pose2-lift,7.46464829131e-05,0.865322153761,-0.000134681009939,0.835507653761
|
| 29 |
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27,0.450000000,pose1-to-pose2-lift,7.45928930158e-05,0.865387579697,-0.000134735734172,0.835573021058
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| 30 |
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28,0.466666667,pose1-to-pose2-lift,7.45289826428e-05,0.865456295851,-0.000134803770673,0.835641695851
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| 31 |
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29,0.483333333,pose1-to-pose2-lift,7.4529104433e-05,0.865528448583,-0.00013480405483,0.835713976035
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| 32 |
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30,0.500000000,pose1-to-pose2-lift,7.45422766745e-05,0.865608324904,-0.000134788833057,0.835793859726
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| 33 |
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| 34 |
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32,0.533333333,pose1-to-pose2-lift,7.44323233775e-05,0.865794956974,-0.000134877527313,0.835980456974
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33,0.550000000,pose1-to-pose2-lift,7.44260104811e-05,0.865906776811,-0.000134885384315,0.836092444758
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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37,0.616666667,pose1-to-pose2-lift,7.36405910957e-05,0.86647212003,-0.000135651741837,0.83665792003
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| 40 |
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38,0.633333333,pose1-to-pose2-lift,7.33912492718e-05,0.866635035479,-0.000135868407477,0.836820881796
|
| 41 |
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39,0.650000000,pose1-to-pose2-lift,7.31613506945e-05,0.866807905258,-0.000136108249243,0.83699386083
|
| 42 |
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40,0.666666667,pose1-to-pose2-lift,7.3170932066e-05,0.866993650361,-0.00013611148893,0.837179716494
|
| 43 |
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41,0.683333333,pose1-to-pose2-lift,7.31903296692e-05,0.867198447151,-0.000136124102764,0.837384628351
|
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Part2/Free/digiy/ball_0050_17.5/width_05/insert/camera_frames_60hz.tar
ADDED
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Part2/Free/digiy/ball_0050_17.5/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
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Part2/Free/digiy/ball_0050_17.5/width_05/insert/fem_node.csv
ADDED
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Part2/Free/digiy/ball_0050_17.5/width_05/insert/franka_data.csv
ADDED
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Part2/Free/digiy/ball_0050_17.5/width_05/insert/simulation_data.csv
ADDED
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.539804e-05,0.9029395,-0.0001336665,0.8731477
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.58796615084e-05,0.902939207917,-0.000133169321829,0.873147471945
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.65184616911e-05,0.9029391,-0.000132528527309,0.8731474
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.67093738801e-05,0.9029391,-0.000132335096414,0.8731474
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.68743654212e-05,0.9029391,-0.000132167928139,0.8731474
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.77216832664e-05,0.902939100368,-0.000131309368318,0.873147400184
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,7.82092838133e-05,0.902939131896,-0.000130809913139,0.873147415948
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,7.89723092141e-05,0.902939181234,-0.000130028336929,0.873147440617
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,7.994929268e-05,0.902939244405,-0.000129027600866,0.873147472203
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,8.03778603643e-05,0.902939272117,-0.000128588613768,0.873147486058
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,8.1434345793e-05,0.9029393,-0.000127513822988,0.8731475
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,8.48735148455e-05,0.9029393,-0.000124031633951,0.8731475
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,9.00669271607e-05,0.9029393,-0.000118747153816,0.8731475
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,0.000102692373741,0.902939355312,-0.000105904069627,0.873147555312
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.00012825437663,0.902939508959,-7.99441904082e-05,0.873147808959
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000171593448853,0.902939304172,-3.58791352535e-05,0.873147604172
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000232229478163,0.902939671944,2.57801247545e-05,0.873147907916
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.00031229529992,0.9029398,0.000107184419569,0.8731481
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000410829389731,0.902940250227,0.000207344350275,0.873148550227
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000524146893527,0.902940586991,0.000322531322312,0.873148790243
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000648954955291,0.902940898469,0.000449430053788,0.873149098469
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000789664803899,0.902941437364,0.000592495304627,0.873149637364
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000933504613735,0.902941874519,0.000738734333799,0.873149980889
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00108037060395,0.902942419876,0.000888048525894,0.873150519876
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00123294504382,0.902942644278,0.00104315395047,0.873150722139
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00138825031486,0.902942830134,0.00120105519507,0.873150830134
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00154368015935,0.9029429,0.00135904335687,0.8731509
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00171178418526,0.902942859851,0.00152995162686,0.873150859851
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.0018851192592,0.902942940193,0.0017061884829,0.873150893462
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00206341535781,0.902942886007,0.00188743409849,0.873150839505
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.002247485616,0.902942761499,0.00207456434417,0.8731507
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00243242866316,0.902942731421,0.0022625847359,0.873150631421
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00261539854317,0.902942625948,0.0024486166791,0.873150525948
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00279862290283,0.90294220137,0.00263489699888,0.87315010137
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.0029778370587,0.9029421,0.00281712013755,0.87315
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00315210970286,0.902941926218,0.00299426605813,0.873149913109
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00332362934221,0.902942534022,0.00316861659423,0.873150443448
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00349059168861,0.902942976361,0.00333840247286,0.873150876361
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00364141203766,0.902943455651,0.00349175706646,0.873151264521
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00378308314047,0.9029435,0.00363580046576,0.873151385859
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00391681370282,0.902943738223,0.00377173945833,0.873151558815
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00404206833469,0.902943942941,0.00389907126847,0.873151814411
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00416107155752,0.902944255707,0.00402005529695,0.87315209178
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00428347790331,0.902944269128,0.0041445024532,0.873152069128
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00440139833855,0.902944057265,0.00426438567068,0.873151928632
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00450890391688,0.90294392307,0.00437369010855,0.87315174614
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00460777026749,0.902943984995,0.00447421873703,0.873151869989
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00469579990654,0.902944,0.0045637070691,0.8731519
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00477175662151,0.902943901327,0.00464086178472,0.8731519
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00483636319691,0.902944,0.0047065779701,0.873151903507
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00489310770736,0.902944,0.00476423955785,0.873152
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00493766477711,0.902944015112,0.00480955625231,0.873152015112
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.0049731828597,0.9029441,0.00484568429133,0.8731521
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00500180581413,0.902944075693,0.00487476952273,0.873152063539
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00502472462553,0.902943953459,0.00489808130498,0.873151853459
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00504170455026,0.902944193487,0.00491530910775,0.873152093487
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00505468150019,0.902943605654,0.00492851674691,0.873151505654
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00506398560392,0.902944,0.00493801581512,0.8731519
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00506984227821,0.902944,0.00494401505901,0.873151974164
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.0050724476768,0.9029439,0.00494662634602,0.8731519
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.005073187,0.9029438,0.004947387,0.8731517
|
| 63 |
+
61,1.016666667,pose3-hold,0.005073187,0.9029438,0.00494739,0.8731517
|
| 64 |
+
62,1.033333333,pose3-hold,0.005073187,0.9029438,0.00494739082857,0.8731517
|
| 65 |
+
63,1.050000000,pose3-hold,0.005073187,0.9029438,0.004947414,0.8731517
|
| 66 |
+
64,1.066666667,pose3-hold,0.005073187,0.9029438,0.00494741968571,0.8731517
|
| 67 |
+
65,1.083333333,pose3-hold,0.005073187,0.9029438,0.00494741174286,0.8731517
|
| 68 |
+
66,1.100000000,pose3-hold,0.005073187,0.9029438,0.00494740614286,0.8731517
|
| 69 |
+
67,1.116666667,pose3-hold,0.005073187,0.9029438,0.00494738957143,0.8731517
|
| 70 |
+
68,1.133333333,pose3-hold,0.005073187,0.9029438,0.004947413,0.8731517
|
| 71 |
+
69,1.150000000,pose3-hold,0.005073187,0.9029438,0.00494739322857,0.8731517
|
| 72 |
+
70,1.166666667,pose3-hold,0.005073187,0.9029438,0.00494738485714,0.8731517
|
| 73 |
+
71,1.183333333,pose3-hold,0.005073187,0.9029438,0.00494739642857,0.8731517
|
| 74 |
+
72,1.200000000,pose3-hold,0.005073187,0.9029438,0.00494740511429,0.8731517
|
| 75 |
+
73,1.216666667,pose3-hold,0.005073187,0.9029438,0.00494740594286,0.8731517
|
| 76 |
+
74,1.233333333,pose3-hold,0.005073187,0.9029438,0.00494740445714,0.8731517
|
| 77 |
+
75,1.250000000,pose3-hold,0.005073187,0.9029438,0.004947404,0.8731517
|
| 78 |
+
76,1.266666667,pose3-hold,0.005073187,0.9029438,0.004947404,0.8731517
|
| 79 |
+
77,1.283333333,pose3-hold,0.005073187,0.9029438,0.00494740374286,0.8731517
|
| 80 |
+
78,1.300000000,pose3-hold,0.005073187,0.9029438,0.00494740291429,0.8731517
|
| 81 |
+
79,1.316666667,pose3-hold,0.005073187,0.9029438,0.00494740208571,0.8731517
|
| 82 |
+
80,1.333333333,pose3-hold,0.005073187,0.9029438,0.00494740125714,0.8731517
|
| 83 |
+
81,1.350000000,pose3-hold,0.005073187,0.9029438,0.00494740042857,0.8731517
|
| 84 |
+
82,1.366666667,pose3-hold,0.005073187,0.9029438,0.0049474004,0.8731517
|
| 85 |
+
83,1.383333333,pose3-hold,0.005073187,0.9029438,0.00494740054286,0.8731517
|
| 86 |
+
84,1.400000000,pose3-hold,0.005073187,0.9029438,0.00494739877143,0.8731517
|
| 87 |
+
85,1.416666667,pose3-hold,0.005073187,0.9029438,0.00494739545714,0.8731517
|
| 88 |
+
86,1.433333333,pose3-hold,0.005073187,0.9029438,0.00494739714286,0.8731517
|
| 89 |
+
87,1.450000000,pose3-hold,0.005073187,0.9029438,0.00494739854286,0.8731517
|
| 90 |
+
88,1.466666667,pose3-hold,0.005073187,0.9029438,0.00494739937143,0.8731517
|
| 91 |
+
89,1.483333333,pose3-hold,0.005073187,0.9029438,0.0049473998,0.8731517
|
| 92 |
+
90,1.500000000,pose3-hold,0.005073187,0.9029438,0.00494739902857,0.8731517
|
| 93 |
+
91,1.516666667,pose3-hold,0.005073187,0.9029438,0.00494739985714,0.8731517
|
| 94 |
+
92,1.533333333,pose3-hold,0.005073187,0.9029438,0.00494739862857,0.8731517
|
| 95 |
+
93,1.550000000,pose3-hold,0.005073187,0.9029438,0.004947398,0.8731517
|
| 96 |
+
94,1.566666667,pose3-hold,0.005073187,0.9029438,0.00494739765714,0.8731517
|
| 97 |
+
95,1.583333333,pose3-hold,0.005073187,0.9029438,0.00494739682857,0.8731517
|
| 98 |
+
96,1.600000000,pose3-hold,0.005073187,0.9029438,0.004947396,0.8731517
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.005073187,0.9029438,0.004947395,0.8731517
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00507306960927,0.902943313245,0.00494725560265,0.873151143709
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00507306930221,0.902942616462,0.00494726502212,0.873150476904
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.0050730694383,0.902942398728,0.00494726638295,0.873150286387
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00507306952434,0.902942261059,0.00494726724338,0.873150165927
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00507306969405,0.902941989515,0.00494726894053,0.873149928325
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| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00507306769729,0.902940809186,0.00494725703237,0.873148786159
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00507306640184,0.902940420552,0.00494724861195,0.87314838457
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00507306532044,0.902940096131,0.00494724158284,0.873148049335
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00507306241424,0.902939224272,0.00494722269255,0.873147148414
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+
107,1.783333333,pose3-to-pose4-insert,0.00507306032111,0.902938596333,0.00494720908722,0.873146499544
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00507304106233,0.902937398523,0.00494719482579,0.873145279199
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| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.0050729882869,0.902934328932,0.00494716089872,0.873142155755
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00507316995856,0.902926051156,0.00494735117381,0.873133929631
|
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+
111,1.850000000,pose3-to-pose4-insert,0.00507314338518,0.902904433892,0.00494731853888,0.873112333892
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+
112,1.866666667,pose3-to-pose4-insert,0.00507317074897,0.902866583011,0.0049473533248,0.873074466912
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+
113,1.883333333,pose3-to-pose4-insert,0.00507337154194,0.902809476353,0.00494757384847,0.873017276353
|
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+
114,1.900000000,pose3-to-pose4-insert,0.00507374750695,0.902729625837,0.00494795457549,0.872937363772
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+
115,1.916666667,pose3-to-pose4-insert,0.00507421965154,0.902626470161,0.00494843251048,0.872834138307
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+
116,1.933333333,pose3-to-pose4-insert,0.00507466614423,0.902505502054,0.00494889964466,0.872713102054
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+
117,1.950000000,pose3-to-pose4-insert,0.00507516189877,0.902369143233,0.00494941420072,0.87257660122
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+
118,1.966666667,pose3-to-pose4-insert,0.0050757628265,0.902222729923,0.00495001885594,0.87243004708
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+
119,1.983333333,pose3-to-pose4-insert,0.0050760891647,0.902069693036,0.00495033466528,0.872276878972
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+
120,2.000000000,pose3-to-pose4-insert,0.00507563789827,0.901912735473,0.00494991344188,0.872119762799
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+
121,2.016666667,pose3-to-pose4-insert,0.00507516799622,0.90175261351,0.00494945270006,0.871959461245
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+
122,2.033333333,pose3-to-pose4-insert,0.00507473295194,0.901588101081,0.00494901358931,0.871794836753
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+
123,2.050000000,pose3-to-pose4-insert,0.00507421866199,0.90141578934,0.00494847490686,0.871622413359
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+
124,2.066666667,pose3-to-pose4-insert,0.00507379083697,0.901246064219,0.0049480611906,0.871452582805
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+
125,2.083333333,pose3-to-pose4-insert,0.00507404011929,0.901069798611,0.00494832470257,0.871276124369
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+
126,2.100000000,pose3-to-pose4-insert,0.00507417299298,0.900887523977,0.00494848049123,0.871093730506
|
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+
127,2.116666667,pose3-to-pose4-insert,0.00507425874997,0.900708152481,0.00494857063249,0.870914160313
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+
128,2.133333333,pose3-to-pose4-insert,0.00507484111272,0.900525480187,0.00494920277933,0.870731380854
|
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+
129,2.150000000,pose3-to-pose4-insert,0.00507503190773,0.900332945535,0.004949393044,0.87053873114
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+
130,2.166666667,pose3-to-pose4-insert,0.00507488406661,0.900141151085,0.00494923499737,0.870346720059
|
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+
131,2.183333333,pose3-to-pose4-insert,0.00507487234954,0.899949444757,0.00494922982048,0.870154820241
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+
132,2.200000000,pose3-to-pose4-insert,0.00507470753412,0.899755616922,0.00494907171217,0.86996084432
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+
133,2.216666667,pose3-to-pose4-insert,0.00507463243236,0.899568214781,0.00494899341337,0.869773267988
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+
134,2.233333333,pose3-to-pose4-insert,0.00507453857342,0.899386245167,0.00494890529369,0.869591187999
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135,2.250000000,pose3-to-pose4-insert,0.00507427182239,0.899215621926,0.00494864043979,0.869420457444
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136,2.266666667,pose3-to-pose4-insert,0.0050738302061,0.899056065103,0.00494817616666,0.86926079572
|
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+
137,2.283333333,pose3-to-pose4-insert,0.00507357869329,0.898900431648,0.00494790592414,0.869105054726
|
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138,2.300000000,pose3-to-pose4-insert,0.0050736804724,0.898757295633,0.00494800774985,0.86896173176
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139,2.316666667,pose3-to-pose4-insert,0.00507334244483,0.898624409387,0.00494767645855,0.868828723476
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140,2.333333333,pose3-to-pose4-insert,0.00507341489866,0.898500642705,0.00494772187241,0.868704852297
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+
141,2.350000000,pose3-to-pose4-insert,0.00507357385791,0.898387341015,0.00494787033283,0.868591446952
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+
142,2.366666667,pose3-to-pose4-insert,0.00507348534901,0.89828713609,0.00494778324515,0.868491141283
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+
143,2.383333333,pose3-to-pose4-insert,0.00507362529862,0.898194329956,0.00494793606133,0.868398231781
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+
144,2.400000000,pose3-to-pose4-insert,0.00507365457261,0.898110842517,0.0049479820713,0.868314742517
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145,2.416666667,pose3-to-pose4-insert,0.00507359830873,0.898035572297,0.00494790884775,0.868239461304
|
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146,2.433333333,pose3-to-pose4-insert,0.00507389358174,0.89797024839,0.00494821699435,0.86817404839
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147,2.450000000,pose3-to-pose4-insert,0.00507401908925,0.897915282828,0.00494833247957,0.868119053059
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+
148,2.466666667,pose3-to-pose4-insert,0.00507404538853,0.897871766149,0.00494834358685,0.868075466149
|
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+
149,2.483333333,pose3-to-pose4-insert,0.00507398780646,0.897837066565,0.00494830405866,0.868040766565
|
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+
150,2.500000000,pose3-to-pose4-insert,0.00507399488791,0.897811793791,0.0049483041781,0.868015493791
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151,2.516666667,pose3-to-pose4-insert,0.00507394778184,0.897791704354,0.00494826226911,0.867995384839
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+
152,2.533333333,pose3-to-pose4-insert,0.00507398691323,0.89777741771,0.00494828698098,0.867981019968
|
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+
153,2.550000000,pose3-to-pose4-insert,0.00507410013893,0.897766446228,0.00494840283984,0.867970136258
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154,2.566666667,pose3-to-pose4-insert,0.00507402940052,0.897758324529,0.00494834490138,0.867961946399
|
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+
155,2.583333333,pose3-to-pose4-insert,0.00507408641409,0.897752517941,0.00494841373279,0.867956117941
|
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156,2.600000000,pose3-to-pose4-insert,0.00507407965001,0.89774878664,0.00494842384099,0.86795238664
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157,2.616666667,pose3-to-pose4-insert,0.00507405450497,0.897746044278,0.00494837017412,0.867949644278
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158,2.633333333,pose3-to-pose4-insert,0.005074138,0.8977452,0.004948463,0.8679488
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159,2.650000000,pose4-hold,0.005074138,0.8977452,0.004948463,0.8679488
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160,2.666666667,pose4-hold,0.005074138,0.8977452,0.00494846470588,0.8679488
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161,2.683333333,pose4-hold,0.005074138,0.8977452,0.004948465,0.8679488
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162,2.700000000,pose4-hold,0.005074138,0.8977452,0.00494846667647,0.8679488
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163,2.716666667,pose4-hold,0.005074138,0.8977452,0.004948468,0.8679488
|
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164,2.733333333,pose4-hold,0.005074138,0.8977452,0.00494846852941,0.8679488
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165,2.750000000,pose4-hold,0.005074138,0.8977452,0.00494847,0.8679488
|
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166,2.766666667,pose4-hold,0.005074138,0.8977452,0.00494847,0.8679488
|
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167,2.783333333,pose4-hold,0.005074138,0.8977452,0.00494847164706,0.8679488
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168,2.800000000,pose4-hold,0.005074138,0.8977452,0.004948472,0.8679488
|
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169,2.816666667,pose4-hold,0.005074138,0.8977452,0.00494847305882,0.8679488
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170,2.833333333,pose4-hold,0.005074138,0.8977452,0.00494847361765,0.8679488
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171,2.850000000,pose4-hold,0.005074138,0.8977452,0.004948473,0.8679488
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172,2.866666667,pose4-hold,0.005074138,0.8977452,0.00494847308824,0.8679488
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173,2.883333333,pose4-hold,0.005074138,0.8977452,0.00494847394118,0.8679488
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174,2.900000000,pose4-hold,0.005074138,0.8977452,0.004948474,0.8679488
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175,2.916666667,pose4-hold,0.005074138,0.8977452,0.004948474,0.8679488
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176,2.933333333,pose4-hold,0.005074138,0.8977452,0.004948474,0.8679488
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177,2.950000000,pose4-hold,0.005074138,0.8977452,0.004948474,0.8679488
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178,2.966666667,pose4-hold,0.005074138,0.8977452,0.004948474,0.8679488
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179,2.983333333,pose4-hold,0.005074138,0.8977452,0.004948474,0.8679488
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180,3.000000000,pose4-hold,0.005074138,0.8977452,0.004948474,0.8679488
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181,3.016666667,pose4-hold,0.005074138,0.8977452,0.00494847323529,0.8679488
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182,3.033333333,pose4-hold,0.005074138,0.8977452,0.00494847176471,0.8679488
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183,3.050000000,pose4-hold,0.005074138,0.8977452,0.00494847241176,0.8679488
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184,3.066666667,pose4-hold,0.005074138,0.8977452,0.00494847205882,0.8679488
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185,3.083333333,pose4-hold,0.005074138,0.8977452,0.00494846888235,0.8679488
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186,3.100000000,pose4-hold,0.005074138,0.8977452,0.00494847276471,0.8679488
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187,3.116666667,pose4-hold,0.005074138,0.8977452,0.00494846594118,0.8679488
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188,3.133333333,pose4-hold,0.005074138,0.8977452,0.00494847161765,0.8679488
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189,3.150000000,pose4-hold,0.005074138,0.8977452,0.00494846282353,0.8679488
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190,3.166666667,pose4-hold,0.005074138,0.8977452,0.00494845632353,0.8679488
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191,3.183333333,pose4-hold,0.005074138,0.8977452,0.00494846417647,0.8679488
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192,3.200000000,pose4-hold,0.005074138,0.8977452,0.00494847767647,0.8679488
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193,3.216666667,pose4-hold,0.005074138,0.8977452,0.00494847,0.8679488
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194,3.233333333,pose4-to-pose5-return,0.005074138,0.8977452,0.004948465,0.8679488
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195,3.250000000,pose4-to-pose5-return,0.0050737495217,0.897745356198,0.00494808314984,0.867948956198
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196,3.266666667,pose4-to-pose5-return,0.00507320628717,0.897745898239,0.00494753237328,0.867949498239
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197,3.283333333,pose4-to-pose5-return,0.0050730062224,0.897746153839,0.00494733300559,0.867949753839
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198,3.300000000,pose4-to-pose5-return,0.00507250249188,0.897746772465,0.00494682552084,0.867950372465
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199,3.316666667,pose4-to-pose5-return,0.0050719445798,0.897747395216,0.00494624965887,0.867950995216
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200,3.333333333,pose4-to-pose5-return,0.00507172176451,0.897747643927,0.00494601967486,0.867951243927
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201,3.350000000,pose4-to-pose5-return,0.00507148733627,0.8977479056,0.00494577770428,0.8679515056
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202,3.366666667,pose4-to-pose5-return,0.00507113478105,0.897748299128,0.00494541380618,0.867951899128
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203,3.383333333,pose4-to-pose5-return,0.00507083364644,0.897748622016,0.00494510766982,0.867952231775
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204,3.400000000,pose4-to-pose5-return,0.00507054427426,0.89774893226,0.00494481350297,0.867952551419
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205,3.416666667,pose4-to-pose5-return,0.00507001599162,0.897749498644,0.00494427646711,0.867953134967
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206,3.433333333,pose4-to-pose5-return,0.0050686572928,0.897750955339,0.00494289525574,0.867954635804
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207,3.450000000,pose4-to-pose5-return,0.00506602679756,0.897753473522,0.00494021866535,0.867957128914
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208,3.466666667,pose4-to-pose5-return,0.00506087633814,0.897758645855,0.0049349824046,0.867962245855
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209,3.483333333,pose4-to-pose5-return,0.00505117104721,0.897768789092,0.00492512340091,0.867972389092
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210,3.500000000,pose4-to-pose5-return,0.00503340562129,0.897787126363,0.00490702204862,0.867990733452
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211,3.516666667,pose4-to-pose5-return,0.00500403611877,0.897817884583,0.00487717696252,0.868021514656
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212,3.533333333,pose4-to-pose5-return,0.00496154587887,0.897862114434,0.00483394688059,0.868065814434
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213,3.550000000,pose4-to-pose5-return,0.00490488140253,0.897920630206,0.00477633219017,0.868124330206
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214,3.566666667,pose4-to-pose5-return,0.00483567352377,0.897992661333,0.0047059634018,0.868196426891
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216,3.600000000,pose4-to-pose5-return,0.00466903905031,0.898165671762,0.00453652282593,0.868369615572
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217,3.616666667,pose4-to-pose5-return,0.00457678559973,0.898261468717,0.00444270501826,0.868465455106
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219,3.650000000,pose4-to-pose5-return,0.0043769189092,0.898468770711,0.0042395039447,0.868672970711
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220,3.666666667,pose4-to-pose5-return,0.00427153889617,0.898578051505,0.0041324054811,0.868782251505
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221,3.683333333,pose4-to-pose5-return,0.00415926304921,0.898694837001,0.00401827441669,0.868899084244
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222,3.700000000,pose4-to-pose5-return,0.00404114555579,0.898817069734,0.00389819389913,0.869021425833
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| 203 |
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|
Part2/Free/digiy/ball_0050_17.5/width_05/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,203 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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|
| 3 |
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:29601a7e6fc233806bce95b048598ccf929820e8535c01b03f8470dbef652a6c
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| 3 |
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size 88152064
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Part2/Free/digiy/ball_0050_17.5/width_06/insert/franka_data.csv
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