Upload Part2/Free/s1 (part 9)
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- .gitattributes +9 -0
- Part2/Free/s1/ball_PLA_12.5/width_10/pick/franka_data.csv +205 -0
- Part2/Free/s1/ball_PLA_12.5/width_10/pick/simulation_data.csv +205 -0
- Part2/Free/s1/ball_PLA_15/width_01/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_01/insert/fem_node.csv +3 -0
- Part2/Free/s1/ball_PLA_15/width_01/insert/franka_data.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_01/insert/simulation_data.csv +907 -0
- Part2/Free/s1/ball_PLA_15/width_01/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_01/pick/fem_node.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_01/pick/franka_data.csv +205 -0
- Part2/Free/s1/ball_PLA_15/width_01/pick/simulation_data.csv +205 -0
- Part2/Free/s1/ball_PLA_15/width_02/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_02/insert/fem_node.csv +3 -0
- Part2/Free/s1/ball_PLA_15/width_02/insert/franka_data.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_02/insert/simulation_data.csv +904 -0
- Part2/Free/s1/ball_PLA_15/width_02/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_02/pick/fem_node.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_02/pick/franka_data.csv +207 -0
- Part2/Free/s1/ball_PLA_15/width_02/pick/simulation_data.csv +207 -0
- Part2/Free/s1/ball_PLA_15/width_03/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_03/insert/fem_node.csv +3 -0
- Part2/Free/s1/ball_PLA_15/width_03/insert/franka_data.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_03/insert/simulation_data.csv +904 -0
- Part2/Free/s1/ball_PLA_15/width_03/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_03/pick/fem_node.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_03/pick/franka_data.csv +204 -0
- Part2/Free/s1/ball_PLA_15/width_03/pick/simulation_data.csv +204 -0
- Part2/Free/s1/ball_PLA_15/width_04/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_04/insert/fem_node.csv +3 -0
- Part2/Free/s1/ball_PLA_15/width_04/insert/franka_data.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_04/insert/simulation_data.csv +906 -0
- Part2/Free/s1/ball_PLA_15/width_04/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_04/pick/fem_node.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_04/pick/franka_data.csv +206 -0
- Part2/Free/s1/ball_PLA_15/width_04/pick/simulation_data.csv +206 -0
- Part2/Free/s1/ball_PLA_15/width_05/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_05/insert/fem_node.csv +3 -0
- Part2/Free/s1/ball_PLA_15/width_05/insert/franka_data.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_05/insert/simulation_data.csv +905 -0
- Part2/Free/s1/ball_PLA_15/width_05/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_05/pick/fem_node.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_05/pick/franka_data.csv +206 -0
- Part2/Free/s1/ball_PLA_15/width_05/pick/simulation_data.csv +206 -0
- Part2/Free/s1/ball_PLA_15/width_06/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_06/insert/fem_node.csv +3 -0
- Part2/Free/s1/ball_PLA_15/width_06/insert/franka_data.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_06/insert/simulation_data.csv +906 -0
- Part2/Free/s1/ball_PLA_15/width_06/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s1/ball_PLA_15/width_06/pick/fem_node.csv +0 -0
- Part2/Free/s1/ball_PLA_15/width_06/pick/franka_data.csv +207 -0
.gitattributes
CHANGED
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@@ -10416,3 +10416,12 @@ Part2/Free/s1/ball_PLA_12.5/width_07/insert/fem_node.csv filter=lfs diff=lfs mer
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Part2/Free/s1/ball_PLA_12.5/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_12.5/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_12.5/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_12.5/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_12.5/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_12.5/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_15/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_15/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_15/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_15/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_15/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_15/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_15/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_15/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_15/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s1/ball_PLA_12.5/width_10/pick/franka_data.csv
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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,1.79325809928e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008437_1793258099277344702_real.jpg,0.750907806695,-0.00532567266531,0.0967322176389,0.999999936626,2.4145442992e-05,-0.000325972445069,-0.00014109265261,0.0375764369965
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,1.79325809929e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008438_1793258099298484166_interpolated.jpg,0.750906902529,-0.00531908622952,0.0967314285342,0.999999935604,2.37203246009e-05,-0.000327637799715,-0.000144505729055,0.0375764369965
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,1.79325809931e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008439_1793258099319623630_real.jpg,0.750907617025,-0.0053196613761,0.0967319456831,0.999999936032,2.22492283581e-05,-0.000326355406282,-0.000144684756914,0.0375764369965
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79325809933e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008439_1793258099319623630_real.jpg,0.750908145021,-0.00532223934574,0.0967321484282,0.999999936473,2.08568573679e-05,-0.000325458361529,-0.000143862476627,0.0375764369965
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,1.79325809934e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008440_1793258099348430429_interpolated.jpg,0.750907769007,-0.00532409418206,0.0967314317457,0.999999936316,2.00002357337e-05,-0.000326260571565,-0.000143254518476,0.0375764369965
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79325809936e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008440_1793258099348430429_interpolated.jpg,0.750907761603,-0.00532316647434,0.0967322211428,0.999999936473,2.06253793004e-05,-0.000325709220051,-0.000143325613067,0.0375764369965
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79325809938e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008441_1793258099377237229_real.jpg,0.750907882354,-0.00532126052031,0.0967335381637,0.999999936736,2.17645118303e-05,-0.000324685231784,-0.000143641279877,0.0375761254556
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,1.79325809939e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008442_1793258099398313373_interpolated.jpg,0.750907257265,-0.00532331114456,0.0967324278506,0.999999936288,1.97269728926e-05,-0.000326082840192,-0.000143890412947,0.0375278336557
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.79325809941e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008443_1793258099419389517_real.jpg,0.750907256404,-0.00532207994688,0.0967320987975,0.999999935935,2.11825803062e-05,-0.000326820622806,-0.000144465756712,0.0375153683126
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,1.79325809943e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008443_1793258099419389517_real.jpg,0.750907051823,-0.00532162474391,0.0967320512236,0.999999935611,2.26189253428e-05,-0.000327675495138,-0.000144553032133,0.0375153683126
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79325809944e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008444_1793258099448333149_interpolated.jpg,0.750906386319,-0.00532326971486,0.0967320142172,0.999999935286,2.27032469321e-05,-0.000328909989195,-0.00014398155314,0.0375153683126
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,1.79325809946e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008444_1793258099448333149_interpolated.jpg,0.750906333699,-0.0053244176923,0.096732103707,0.999999935291,2.12344255515e-05,-0.00032919297178,-0.000143522978443,0.0375153683126
|
| 14 |
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12,0.200000000,pose1-to-pose2-lift,1.79325809948e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008445_1793258099477276782_real.jpg,0.750906488988,-0.00532538846979,0.0967322397473,0.999999935406,1.92274116679e-05,-0.00032915097572,-0.000143104102479,0.0375153683126
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,1.79325809949e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008446_1793258099497608036_interpolated.jpg,0.750905023218,-0.00532558224007,0.096732928715,0.999999934832,1.85620806147e-05,-0.000331091701462,-0.000142725073096,0.0375153683126
|
| 16 |
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| 17 |
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| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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20,0.333333333,pose1-to-pose2-lift,1.79325809961e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008451_1793258099618873692_real.jpg,0.750882054174,-0.00532239483337,0.0967479819894,0.999999915165,2.20866565242e-05,-0.000385816843493,-0.000142577729814,0.0375035479665
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| 23 |
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| 24 |
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|
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| 203 |
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| 205 |
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|
Part2/Free/s1/ball_PLA_12.5/width_10/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,205 @@
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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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|
| 4 |
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| 5 |
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| 6 |
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| 8 |
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|
| 9 |
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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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| 18 |
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| 20 |
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| 21 |
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| 24 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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63,1.050000000,pose1-to-pose2-lift,-8.37150167202e-05,0.854640498522,-1.11349000702e-05,0.843666834338
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189,3.150000000,pose2-hold,-8.715033e-05,0.8835867,-1.42782970588e-05,0.8726318
|
| 192 |
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190,3.166666667,pose2-hold,-8.715033e-05,0.8835867,-1.42801394118e-05,0.8726318
|
| 193 |
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191,3.183333333,pose2-hold,-8.715033e-05,0.8835867,-1.42803147059e-05,0.8726318
|
| 194 |
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192,3.200000000,pose2-hold,-8.715033e-05,0.8835867,-1.42809647059e-05,0.8726318
|
| 195 |
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193,3.216666667,pose2-hold,-8.715033e-05,0.8835867,-1.42817370588e-05,0.8726318
|
| 196 |
+
194,3.233333333,pose2-hold,-8.715033e-05,0.8835867,-1.42824702941e-05,0.8726318
|
| 197 |
+
195,3.250000000,pose2-hold,-8.715033e-05,0.8835867,-1.42834223529e-05,0.8726318
|
| 198 |
+
196,3.266666667,pose2-hold,-8.715033e-05,0.8835867,-1.42847873529e-05,0.8726318
|
| 199 |
+
197,3.283333333,pose2-hold,-8.715033e-05,0.8835867,-1.42861605882e-05,0.8726318
|
| 200 |
+
198,3.300000000,pose2-hold,-8.715033e-05,0.8835867,-1.42894235294e-05,0.8726318
|
| 201 |
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199,3.316666667,pose2-hold,-8.715033e-05,0.8835867,-1.42912064706e-05,0.8726318
|
| 202 |
+
200,3.333333333,pose2-hold,-8.715033e-05,0.8835867,-1.42920373529e-05,0.8726318
|
| 203 |
+
201,3.350000000,pose2-hold,-8.715033e-05,0.8835867,-1.42938164706e-05,0.872631829412
|
| 204 |
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202,3.366666667,pose2-hold,-8.715033e-05,0.8835867,-1.42967441176e-05,0.872631885294
|
| 205 |
+
203,3.383333333,pose2-hold,-8.715033e-05,0.8835867,-1.429526e-05,0.8726318
|
Part2/Free/s1/ball_PLA_15/width_01/insert/camera_frames_60hz.tar
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:529f1755534d495a79bed828708fa12911e17bd8a2dbdc49f60008df9a300587
|
| 3 |
+
size 47462400
|
Part2/Free/s1/ball_PLA_15/width_01/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
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|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:c575ecd5962eda6b6aaa1004cb928ebdc0d417b46bd5d5bc4305861da825de2f
|
| 3 |
+
size 38642298
|
Part2/Free/s1/ball_PLA_15/width_01/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s1/ball_PLA_15/width_01/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,907 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.256296e-05,0.883586,6.487447e-06,0.872631
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.2371789123e-05,0.883585914023,6.6496194001e-06,0.872630914023
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.21140468871e-05,0.8835859,6.89993579754e-06,0.8726309
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.17800384133e-05,0.8835859,7.22996925459e-06,0.8726309
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.11232633492e-05,0.883585974079,7.88895955806e-06,0.872631011119
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.00499232505e-05,0.883586096486,8.96610160388e-06,0.872631194729
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.95473620979e-05,0.8835861,9.46665640655e-06,0.8726312
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.89530226475e-05,0.8835861,1.00583306146e-05,0.8726312
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.8189590991e-05,0.8835861,1.08183387555e-05,0.8726312
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.78973369198e-05,0.8835861,1.11092822491e-05,0.8726312
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.72548526889e-05,0.8835861,1.17488853383e-05,0.8726312
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.51289740632e-05,0.883586071051,1.3852005466e-05,0.872631171051
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.86943579761e-05,0.883585973448,2.02148107105e-05,0.872631073448
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-5.51483113636e-05,0.883586068976,3.36431757161e-05,0.872631112651
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-3.2447707071e-05,0.883586296526,5.6128718139e-05,0.872631393053
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,1.02208906306e-05,0.883586374775,9.84444358601e-05,0.872631437387
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,7.53697980294e-05,0.8835866,0.000163040459224,0.872631661718
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000154939275887,0.883586992566,0.000241937732716,0.872632090707
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000254343725064,0.88358700696,0.000340528498522,0.87263210348
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000373038702917,0.883587413527,0.000458220194666,0.872632513527
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000497539459363,0.883587897017,0.000581689090557,0.872632957614
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000621597487698,0.883588376685,0.000704687077327,0.87263343558
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000748254306385,0.883588918957,0.000836288186996,0.872634018957
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000875936725257,0.883589173179,0.000965129996466,0.8726342
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00100615251655,0.8835892,0.00109403146989,0.872634271813
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00114244898028,0.883589338604,0.00123388909097,0.872634438604
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00129283816974,0.8835894,0.00138477970168,0.8726345
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00146074906873,0.883589561925,0.00155566359695,0.872634742888
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00163921315951,0.883589692728,0.00173325257818,0.8726348
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00181882068665,0.883589794802,0.00191664778734,0.872634896535
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00200989292299,0.883589514742,0.00210960037954,0.872634714742
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00220073468241,0.883589574131,0.00229961981567,0.8726348
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00238379158953,0.8835895,0.00248555408565,0.8726348
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00256542812129,0.8835895,0.00266783519958,0.8726348
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00275469864734,0.883589407654,0.0028553534514,0.872634661481
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00292835134165,0.883589348019,0.0030275825624,0.872634548019
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00310538134372,0.883589453925,0.0032032350656,0.8726346
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00328099959336,0.8835895,0.00338375692088,0.87263466177
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00344202908746,0.8835895,0.00354704260608,0.872634763849
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00359228591642,0.883589626104,0.00369947329481,0.872634926104
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00374514077093,0.883589768653,0.0038529490411,0.872635068653
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00387875460669,0.883589535606,0.00398537247295,0.872634901705
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00401006444646,0.883589536049,0.00411550703576,0.872634868025
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00413857428258,0.88358974994,0.00424285484528,0.87263512491
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00425366573257,0.8835898,0.0043569666333,0.872635121088
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00435452265143,0.883590035919,0.00445695928358,0.872635335919
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00445037385338,0.883589932968,0.00455199062461,0.872635232968
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00453209130837,0.883590066922,0.0046330356373,0.872635366922
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00460321811235,0.8835901,0.00471301864135,0.8726354
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00466656731654,0.883590181464,0.00477983204469,0.872635481464
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00472346753653,0.883590114856,0.00483812920373,0.8726355
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00477005382113,0.883590272459,0.00488700164904,0.872635672459
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00480784507854,0.8835903,0.00492475465881,0.87263561376
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.0048378123279,0.883590383688,0.00495577538015,0.872635767376
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486258058245,0.8835904,0.00498049548308,0.8726358
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488014607404,0.88359023954,0.00499865851868,0.87263555931
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489323860792,0.883590420867,0.00501182273354,0.872635720867
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490218580422,0.883590374837,0.0050210761193,0.872635674837
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00490989341799,0.883590527624,0.00502890574968,0.872635827624
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.0049142768481,0.883590504217,0.00503363165443,0.872635804217
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491641048026,0.8835905,0.00503572232208,0.8726358
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.00491704,0.8835906,0.005036527,0.872636
|
| 64 |
+
62,1.033333333,pose3-hold,0.00491704,0.8835906,0.005036501,0.872636
|
| 65 |
+
63,1.050000000,pose3-hold,0.00491704,0.8835906,0.00503648564706,0.872636
|
| 66 |
+
64,1.066666667,pose3-hold,0.00491704,0.8835906,0.00503647241176,0.872636
|
| 67 |
+
65,1.083333333,pose3-hold,0.00491704,0.8835906,0.00503648420588,0.872636
|
| 68 |
+
66,1.100000000,pose3-hold,0.00491704,0.8835906,0.00503649164706,0.872636
|
| 69 |
+
67,1.116666667,pose3-hold,0.00491704,0.8835906,0.005036493,0.872636
|
| 70 |
+
68,1.133333333,pose3-hold,0.00491704,0.8835906,0.00503651541176,0.872636
|
| 71 |
+
69,1.150000000,pose3-hold,0.00491704,0.8835906,0.00503649664706,0.872636
|
| 72 |
+
70,1.166666667,pose3-hold,0.00491704,0.8835906,0.00503648364706,0.872636
|
| 73 |
+
71,1.183333333,pose3-hold,0.00491704,0.8835906,0.00503647355882,0.872636
|
| 74 |
+
72,1.200000000,pose3-hold,0.00491704,0.8835906,0.005036524,0.872636
|
| 75 |
+
73,1.216666667,pose3-hold,0.00491704,0.8835906,0.00503655708824,0.872636
|
| 76 |
+
74,1.233333333,pose3-hold,0.00491704,0.8835906,0.00503653064706,0.872636
|
| 77 |
+
75,1.250000000,pose3-hold,0.00491704,0.8835906,0.00503652652941,0.872636
|
| 78 |
+
76,1.266666667,pose3-hold,0.00491704,0.8835906,0.00503656064706,0.872636
|
| 79 |
+
77,1.283333333,pose3-hold,0.00491704,0.8835906,0.00503658682353,0.872636
|
| 80 |
+
78,1.300000000,pose3-hold,0.00491704,0.8835906,0.00503657811765,0.872636
|
| 81 |
+
79,1.316666667,pose3-hold,0.00491704,0.8835906,0.005036565,0.872636
|
| 82 |
+
80,1.333333333,pose3-hold,0.00491704,0.8835906,0.00503655717647,0.872636
|
| 83 |
+
81,1.350000000,pose3-hold,0.00491704,0.8835906,0.00503655014706,0.872636
|
| 84 |
+
82,1.366666667,pose3-hold,0.00491704,0.8835906,0.00503654264706,0.872636
|
| 85 |
+
83,1.383333333,pose3-hold,0.00491704,0.8835906,0.00503653752941,0.872636
|
| 86 |
+
84,1.400000000,pose3-hold,0.00491704,0.8835906,0.00503653164706,0.872636
|
| 87 |
+
85,1.416666667,pose3-hold,0.00491704,0.8835906,0.00503652629412,0.872636
|
| 88 |
+
86,1.433333333,pose3-hold,0.00491704,0.8835906,0.00503652164706,0.872636
|
| 89 |
+
87,1.450000000,pose3-hold,0.00491704,0.8835906,0.00503651738235,0.872636
|
| 90 |
+
88,1.466666667,pose3-hold,0.00491704,0.8835906,0.00503651329412,0.872636
|
| 91 |
+
89,1.483333333,pose3-hold,0.00491704,0.8835906,0.00503650988235,0.872636
|
| 92 |
+
90,1.500000000,pose3-hold,0.00491704,0.8835906,0.00503650647059,0.872636
|
| 93 |
+
91,1.516666667,pose3-hold,0.00491704,0.8835906,0.00503655894118,0.872636
|
| 94 |
+
92,1.533333333,pose3-hold,0.00491704,0.8835906,0.00503656388235,0.872636
|
| 95 |
+
93,1.550000000,pose3-hold,0.00491704,0.8835906,0.00503655135294,0.872636
|
| 96 |
+
94,1.566666667,pose3-hold,0.00491704,0.8835906,0.00503654682353,0.872636
|
| 97 |
+
95,1.583333333,pose3-hold,0.00491704,0.8835906,0.00503654341176,0.872636
|
| 98 |
+
96,1.600000000,pose3-hold,0.00491704,0.8835906,0.00503654,0.872636
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491704,0.8835906,0.005036537,0.872636
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491694793538,0.883590063146,0.0050364332134,0.87263552931
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491707591278,0.883589265038,0.00503655770902,0.872634665038
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491708771211,0.883588460538,0.00503657862601,0.872633860538
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491706071635,0.883587536559,0.00503655358441,0.872632951787
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491700266663,0.883586523427,0.00503649170122,0.872631966037
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.0049169830275,0.883586180669,0.00503647076516,0.872631632542
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491696803256,0.883585918964,0.00503645477999,0.872631377911
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.004916951001,0.883585621716,0.00503643662371,0.872631088696
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491692256984,0.883585125511,0.00503640631502,0.872630605903
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491690752457,0.883584862929,0.00503639027619,0.872630350417
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491688884393,0.883583643621,0.0050363662021,0.872629171635
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491692235459,0.883580412236,0.00503638415424,0.872626059931
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.0049167805155,0.883571128356,0.00503629526413,0.872616828356
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491686838351,0.883552698923,0.00503634986738,0.872598690321
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491666173563,0.883521247292,0.00503615488308,0.872567703054
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491656279752,0.883467707501,0.00503605735785,0.872515092521
|
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114,1.900000000,pose3-to-pose4-insert,0.00491625490068,0.88339346624,0.0050357520793,0.872441984101
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115,1.916666667,pose3-to-pose4-insert,0.00491624786943,0.883304131744,0.00503574410638,0.872353992587
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116,1.933333333,pose3-to-pose4-insert,0.00491602456283,0.883203550958,0.00503555582608,0.872255066853
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117,1.950000000,pose3-to-pose4-insert,0.0049157999013,0.88309436805,0.00503534960681,0.872147567653
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118,1.966666667,pose3-to-pose4-insert,0.0049156734516,0.882972236759,0.00503526707649,0.872027312796
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119,1.983333333,pose3-to-pose4-insert,0.0049153772924,0.88284847759,0.00503501826362,0.871905394858
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120,2.000000000,pose3-to-pose4-insert,0.00491523694372,0.882712365609,0.00503488055993,0.871771370488
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121,2.016666667,pose3-to-pose4-insert,0.00491557093308,0.882558459255,0.00503523434624,0.871619804899
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122,2.033333333,pose3-to-pose4-insert,0.00491625610927,0.882396624081,0.00503593655301,0.871460420018
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123,2.050000000,pose3-to-pose4-insert,0.00491669712205,0.882240550842,0.00503641262967,0.871306695433
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124,2.066666667,pose3-to-pose4-insert,0.00491702384216,0.882076312626,0.00503671523463,0.871134197335
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125,2.083333333,pose3-to-pose4-insert,0.00491766747892,0.881902329494,0.00503728460557,0.870949388192
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126,2.100000000,pose3-to-pose4-insert,0.0049180199668,0.881734613551,0.00503764016883,0.870781663136
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127,2.116666667,pose3-to-pose4-insert,0.00491839511931,0.881563709475,0.00503803830714,0.870613450968
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128,2.133333333,pose3-to-pose4-insert,0.00491860968107,0.88137992883,0.00503831597458,0.8704325958
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129,2.150000000,pose3-to-pose4-insert,0.00491901431894,0.881190464251,0.005038771629,0.870246062755
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130,2.166666667,pose3-to-pose4-insert,0.00491904386518,0.8810101255,0.00503885301571,0.870068564375
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131,2.183333333,pose3-to-pose4-insert,0.00491848292212,0.880814443102,0.00503832414967,0.86987595927
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132,2.200000000,pose3-to-pose4-insert,0.00491791400712,0.880621308117,0.00503776776197,0.869684261067
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133,2.216666667,pose3-to-pose4-insert,0.00491728218316,0.880436929257,0.00503688829921,0.869487723222
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134,2.233333333,pose3-to-pose4-insert,0.00491656425956,0.880249589186,0.00503606269048,0.869295358197
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135,2.250000000,pose3-to-pose4-insert,0.00491619011367,0.880058898363,0.00503573341014,0.869106246531
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136,2.266666667,pose3-to-pose4-insert,0.00491610118524,0.879878243039,0.00503567445581,0.868926098399
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137,2.283333333,pose3-to-pose4-insert,0.00491594306879,0.879708133803,0.00503554515536,0.868758799175
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138,2.300000000,pose3-to-pose4-insert,0.00491575057983,0.879544780723,0.00503539583908,0.868597997453
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139,2.316666667,pose3-to-pose4-insert,0.00491559472455,0.879394230111,0.00503527663165,0.868449789553
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144,2.400000000,pose3-to-pose4-insert,0.00491658895787,0.878845731941,0.00503617122805,0.867895029766
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147,2.450000000,pose3-to-pose4-insert,0.00491705049632,0.878625412082,0.0050366741751,0.867672373797
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150,2.500000000,pose3-to-pose4-insert,0.00491769461452,0.878490963946,0.0050373113322,0.867536651016
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153,2.550000000,pose3-to-pose4-insert,0.00491766006481,0.878424574811,0.00503729192813,0.867468880566
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154,2.566666667,pose3-to-pose4-insert,0.00491773795678,0.878413422098,0.00503738309714,0.867457816367
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156,2.600000000,pose3-to-pose4-insert,0.00491784633378,0.878397682008,0.00503749830379,0.867442340808
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165,2.750000000,pose4-hold,0.004917844,0.878393,0.00503741605882,0.8674374
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Part2/Free/s1/ball_PLA_15/width_01/pick/camera_frames_60hz.tar
ADDED
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Part2/Free/s1/ball_PLA_15/width_01/pick/fem_node.csv
ADDED
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The diff for this file is too large to render.
See raw diff
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Part2/Free/s1/ball_PLA_15/width_01/pick/franka_data.csv
ADDED
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+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
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| 191 |
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| 192 |
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| 203 |
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| 204 |
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| 205 |
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203,3.383333333,pose2-hold,1.79302063563e+18,camera_frames_60hz/WAIT_POSE2/camera_00000263_1793020635616033071_real.jpg,0.675885321793,-0.00535772705456,0.134506386779,0.999999916378,0.000107278319844,-0.000381108092722,-0.000102433970917,0.0475019551814
|
Part2/Free/s1/ball_PLA_15/width_01/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,205 @@
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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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0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,6.777044e-06,0.8346295
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| 3 |
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|
| 4 |
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|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.27281183554e-05,0.845590014432,6.55787204026e-06,0.834630114432
|
| 6 |
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|
| 7 |
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|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26834178673e-05,0.84559093721,6.59463339177e-06,0.83463103721
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.2682566691e-05,0.845591077722,6.59635470877e-06,0.834631177722
|
| 10 |
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|
| 11 |
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|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.26870994383e-05,0.845592350966,6.61558238522e-06,0.834632450966
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.26922022467e-05,0.845593068275,6.60728273603e-06,0.834633144597
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| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.26990290056e-05,0.845593916759,6.59153028163e-06,0.834633957727
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.27021081011e-05,0.845595019842,6.57854371358e-06,0.834635019842
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.2656473991e-05,0.845596151676,6.62829380671e-06,0.834636151676
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.2581494917e-05,0.845598011334,6.7100356422e-06,0.834638011334
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,-8.27021248643e-05,0.84560058145,6.59452064357e-06,0.834640471164
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,-8.26978024057e-05,0.845605544859,6.60255648892e-06,0.834645344859
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,-8.26142023997e-05,0.845613549223,6.67227390286e-06,0.834653276936
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,-8.27275356222e-05,0.845629575752,6.56736819004e-06,0.834669095135
|
| 22 |
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20,0.333333333,pose1-to-pose2-lift,-8.27014673899e-05,0.845655322027,6.58101965122e-06,0.834694438888
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| 23 |
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21,0.350000000,pose1-to-pose2-lift,-8.28141701236e-05,0.845691950357,6.47553410951e-06,0.834730383117
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,-8.28390781737e-05,0.845737765173,6.42279129914e-06,0.834775573337
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| 25 |
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23,0.383333333,pose1-to-pose2-lift,-8.30617128021e-05,0.845789532265,6.24452405979e-06,0.834826500452
|
| 26 |
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24,0.400000000,pose1-to-pose2-lift,-8.30940416527e-05,0.845843456994,6.18914961399e-06,0.834879590389
|
| 27 |
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25,0.416666667,pose1-to-pose2-lift,-8.31925619827e-05,0.845901172052,6.08126559476e-06,0.834936410591
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147,2.450000000,pose1-to-pose2-lift,-8.28307565355e-05,0.883258263742,6.13751601047e-06,0.872302376257
|
| 150 |
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148,2.466666667,pose1-to-pose2-lift,-8.28322802272e-05,0.883303568357,6.09577902816e-06,0.872348198184
|
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149,2.483333333,pose1-to-pose2-lift,-8.29325793717e-05,0.883341239058,5.96571748783e-06,0.8723861715
|
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150,2.500000000,pose1-to-pose2-lift,-8.29053397534e-05,0.883374992591,6.00285725175e-06,0.872419903309
|
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151,2.516666667,pose1-to-pose2-lift,-8.26983683007e-05,0.883405858432,6.19790568491e-06,0.872450330653
|
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152,2.533333333,pose1-to-pose2-lift,-8.27386519174e-05,0.883431989691,6.16604297005e-06,0.872475964173
|
| 155 |
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153,2.550000000,pose1-to-pose2-lift,-8.28341128299e-05,0.883454067087,6.08276847083e-06,0.872498434623
|
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154,2.566666667,pose1-to-pose2-lift,-8.2722351374e-05,0.883474750451,6.20384692534e-06,0.872519154645
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155,2.583333333,pose1-to-pose2-lift,-8.26132804189e-05,0.883492087402,6.33542691321e-06,0.872536417087
|
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156,2.600000000,pose1-to-pose2-lift,-8.27625535862e-05,0.883507291874,6.24042808183e-06,0.872552001095
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158,2.633333333,pose1-to-pose2-lift,-8.27375515453e-05,0.883536593558,6.30815665015e-06,0.872581514776
|
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159,2.650000000,pose1-to-pose2-lift,-8.27194783214e-05,0.883549894219,6.32884800162e-06,0.872594595997
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160,2.666666667,pose1-to-pose2-lift,-8.28203230523e-05,0.883560729094,6.26788057019e-06,0.872605395531
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162,2.700000000,pose1-to-pose2-lift,-8.26174484397e-05,0.883572924362,6.45420873391e-06,0.872618023821
|
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163,2.716666667,pose1-to-pose2-lift,-8.26464282662e-05,0.883576880953,6.45351589097e-06,0.872621892487
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164,2.733333333,pose1-to-pose2-lift,-8.27089504788e-05,0.88357965848,6.37600882417e-06,0.87262465848
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167,2.783333333,pose1-to-pose2-lift,-8.25713085237e-05,0.883584438601,6.50878850385e-06,0.872629365113
|
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168,2.800000000,pose1-to-pose2-lift,-8.25527347742e-05,0.883585453823,6.48528251142e-06,0.872630453823
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169,2.816666667,pose1-to-pose2-lift,-8.256296e-05,0.883586,6.458388e-06,0.872631
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170,2.833333333,pose2-hold,-8.256296e-05,0.883586,6.458899e-06,0.872631
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171,2.850000000,pose2-hold,-8.256296e-05,0.883586,6.45941572727e-06,0.872631
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174,2.900000000,pose2-hold,-8.256296e-05,0.883586,6.46241439394e-06,0.872631
|
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175,2.916666667,pose2-hold,-8.256296e-05,0.883586,6.46549990909e-06,0.872631
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176,2.933333333,pose2-hold,-8.256296e-05,0.883586,6.46981281818e-06,0.872631
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177,2.950000000,pose2-hold,-8.256296e-05,0.883586,6.46991345455e-06,0.872631
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178,2.966666667,pose2-hold,-8.256296e-05,0.883586,6.470747e-06,0.872631
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179,2.983333333,pose2-hold,-8.256296e-05,0.883586,6.48023e-06,0.872631
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180,3.000000000,pose2-hold,-8.256296e-05,0.883586,6.47886154545e-06,0.872631
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181,3.016666667,pose2-hold,-8.256296e-05,0.883586,6.47814766667e-06,0.872631
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182,3.033333333,pose2-hold,-8.256296e-05,0.883586,6.47817027273e-06,0.872631
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183,3.050000000,pose2-hold,-8.256296e-05,0.883586,6.47970954545e-06,0.872631
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184,3.066666667,pose2-hold,-8.256296e-05,0.883586,6.4815200303e-06,0.872631
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185,3.083333333,pose2-hold,-8.256296e-05,0.883586,6.48104872727e-06,0.872631
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186,3.100000000,pose2-hold,-8.256296e-05,0.883586,6.48081757576e-06,0.872631
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187,3.116666667,pose2-hold,-8.256296e-05,0.883586,6.47715742424e-06,0.872631
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188,3.133333333,pose2-hold,-8.256296e-05,0.883586,6.47811509091e-06,0.872631
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189,3.150000000,pose2-hold,-8.256296e-05,0.883586,6.47857009091e-06,0.872631
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190,3.166666667,pose2-hold,-8.256296e-05,0.883586,6.47871721212e-06,0.872631
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191,3.183333333,pose2-hold,-8.256296e-05,0.883586,6.47885418182e-06,0.872631
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192,3.200000000,pose2-hold,-8.256296e-05,0.883586,6.47667633333e-06,0.872631
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193,3.216666667,pose2-hold,-8.256296e-05,0.883586,6.47253875758e-06,0.872631
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194,3.233333333,pose2-hold,-8.256296e-05,0.883586,6.47418127273e-06,0.872631
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195,3.250000000,pose2-hold,-8.256296e-05,0.883586,6.47462857576e-06,0.872631
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196,3.266666667,pose2-hold,-8.256296e-05,0.883586,6.47496218182e-06,0.872631
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197,3.283333333,pose2-hold,-8.256296e-05,0.883586,6.47538118182e-06,0.872631
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198,3.300000000,pose2-hold,-8.256296e-05,0.883586,6.47678669697e-06,0.872631
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199,3.316666667,pose2-hold,-8.256296e-05,0.883586,6.47735260606e-06,0.872631
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200,3.333333333,pose2-hold,-8.256296e-05,0.883586,6.47714609091e-06,0.872631
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201,3.350000000,pose2-hold,-8.256296e-05,0.883586,6.47735087879e-06,0.872631
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202,3.366666667,pose2-hold,-8.256296e-05,0.883586,6.47765748485e-06,0.872631
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203,3.383333333,pose2-hold,-8.256296e-05,0.883586,6.47798e-06,0.872631
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Part2/Free/s1/ball_PLA_15/width_02/insert/camera_frames_60hz.tar
ADDED
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ADDED
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ADDED
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Part2/Free/s1/ball_PLA_15/width_02/insert/simulation_data.csv
ADDED
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|
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|
|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.213127e-05,0.8835846,7.842572e-06,0.8726297
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.18543511202e-05,0.8835846,8.11918126759e-06,0.8726297
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.13816247325e-05,0.883584607935,8.5881394177e-06,0.872629707935
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.08837854747e-05,0.883584635655,9.07700794449e-06,0.872629735655
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.04138158649e-05,0.883584661823,9.53850901579e-06,0.872629761823
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.99642463834e-05,0.883584686855,9.97997755536e-06,0.872629786855
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.94139721319e-05,0.883584681229,1.05210104365e-05,0.872629781229
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.88571512006e-05,0.883584647963,1.10689926499e-05,0.872629747963
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.82670278383e-05,0.883584612708,1.16497486669e-05,0.872629712708
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.64941396233e-05,0.883584506791,1.33944948744e-05,0.872629606791
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.37532927064e-05,0.883584592508,1.61256556252e-05,0.872629692508
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.85128919165e-05,0.883584749444,2.1337422125e-05,0.872629849444
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-4.9505071791e-05,0.883584707535,4.01938244812e-05,0.872629807535
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-1.18956549174e-05,0.883585035305,7.74869109239e-05,0.872630067653
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,4.45316673783e-05,0.883585262062,0.000133423947591,0.872630262062
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000118309399676,0.883585543324,0.000206579098528,0.872630571662
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000208368978232,0.883586075072,0.000295888145937,0.872631175072
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000312573808823,0.883586659031,0.000399249541899,0.872631659031
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.00042235910606,0.883587037958,0.000508122181321,0.872632037958
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000539596148719,0.8835878543,0.000624383882609,0.8726328543
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000671281412678,0.883588331738,0.000754926038212,0.872633231738
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000812325767791,0.883589138085,0.000894746894175,0.87263401507
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000952779957647,0.883589632322,0.00103759531366,0.872634529286
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00110735323755,0.88358965526,0.00120065824007,0.872634710519
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00126532015438,0.8835896,0.00135986714648,0.8726346
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00142572898585,0.88358965844,0.00151865670328,0.872634716881
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.0015952603191,0.8835897,0.00168872757268,0.8726348653
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00176810950196,0.883589841883,0.00186100257869,0.872634970942
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00193432674998,0.883590039973,0.00203103772992,0.87263520996
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00211525804816,0.883589948156,0.00221231511173,0.872635148156
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00229537080258,0.883589739908,0.00239566133994,0.872634939908
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00247402068887,0.883589534228,0.00257366582871,0.872634734228
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00266036777811,0.883589228566,0.00276347618784,0.872634428566
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00284616781503,0.8835892,0.00294799556799,0.8726344
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00301589013385,0.883589100846,0.00311627822604,0.872634300846
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00318919375892,0.883588882941,0.00328817173341,0.872633987206
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00335330839483,0.883588526196,0.00345109561303,0.872633726196
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00350586796058,0.88358889502,0.00360264373966,0.87263409502
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00365751591798,0.883588792894,0.00375439084421,0.872634
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00380276493806,0.883588680432,0.00391179501422,0.872633990216
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00393126808341,0.883588523191,0.00403865975732,0.872633923191
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00405884953995,0.8835888702,0.004165142268,0.8726342702
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00417703989811,0.883588508639,0.00428217952048,0.872633908639
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.0042821327011,0.883588594139,0.00438635936551,0.872633994139
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00438210020062,0.883588528168,0.00448543282174,0.872633921126
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00447342262489,0.883588919983,0.00457705838807,0.872634219983
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00455086149192,0.883589085806,0.00466369401585,0.872634385806
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00462157152421,0.88358889199,0.00473605187977,0.87263419199
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00468337983517,0.883588819194,0.0047992041719,0.872634128791
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00473377209705,0.883589022683,0.00485179948977,0.872634422683
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00477727990869,0.883589392469,0.00489480161015,0.872634789959
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00481287747564,0.883589101987,0.00493181479137,0.87263440265
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00484079291917,0.883589192592,0.00495936862694,0.872634492592
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00486360740237,0.883589376253,0.00498203266935,0.872634764379
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00488142215029,0.883589143738,0.0050007767563,0.872634543738
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00489465821685,0.883589265594,0.00501405912907,0.872634665594
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00490479667516,0.883589033904,0.00502477150397,0.872634345205
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.0049116295086,0.883589296647,0.00503158568808,0.872634597765
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491530773956,0.883589070953,0.00503562132281,0.872634470953
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004917288,0.8835893,0.005037732,0.8726347
|
| 62 |
+
60,1.000000000,pose3-hold,0.004917288,0.8835893,0.005037708,0.8726347
|
| 63 |
+
61,1.016666667,pose3-hold,0.004917288,0.8835893,0.00503769557143,0.8726347
|
| 64 |
+
62,1.033333333,pose3-hold,0.004917288,0.8835893,0.00503768445714,0.8726347
|
| 65 |
+
63,1.050000000,pose3-hold,0.004917288,0.8835893,0.00503770914286,0.8726347
|
| 66 |
+
64,1.066666667,pose3-hold,0.004917288,0.8835893,0.00503773057143,0.8726347
|
| 67 |
+
65,1.083333333,pose3-hold,0.004917288,0.8835893,0.005037708,0.8726347
|
| 68 |
+
66,1.100000000,pose3-hold,0.004917288,0.8835893,0.0050376964,0.8726347
|
| 69 |
+
67,1.116666667,pose3-hold,0.004917288,0.8835893,0.0050376856,0.8726347
|
| 70 |
+
68,1.133333333,pose3-hold,0.004917288,0.8835893,0.00503767608571,0.8726347
|
| 71 |
+
69,1.150000000,pose3-hold,0.004917288,0.8835893,0.00503766742857,0.8726347
|
| 72 |
+
70,1.166666667,pose3-hold,0.004917288,0.8835893,0.00503770542857,0.8726347
|
| 73 |
+
71,1.183333333,pose3-hold,0.004917288,0.8835893,0.00503780817143,0.8726347
|
| 74 |
+
72,1.200000000,pose3-hold,0.004917288,0.8835893,0.00503776591429,0.8726347
|
| 75 |
+
73,1.216666667,pose3-hold,0.004917288,0.8835893,0.00503779848571,0.8726347
|
| 76 |
+
74,1.233333333,pose3-hold,0.004917288,0.8835893,0.005037827,0.8726347
|
| 77 |
+
75,1.250000000,pose3-hold,0.004917288,0.8835893,0.00503782785714,0.8726347
|
| 78 |
+
76,1.266666667,pose3-hold,0.004917288,0.8835893,0.00503781017143,0.8726347
|
| 79 |
+
77,1.283333333,pose3-hold,0.004917288,0.8835893,0.00503780122857,0.8726347
|
| 80 |
+
78,1.300000000,pose3-hold,0.004917288,0.8835893,0.00503779377143,0.8726347
|
| 81 |
+
79,1.316666667,pose3-hold,0.004917288,0.8835893,0.00503778557143,0.8726347
|
| 82 |
+
80,1.333333333,pose3-hold,0.004917288,0.8835893,0.005037779,0.8726347
|
| 83 |
+
81,1.350000000,pose3-hold,0.004917288,0.8835893,0.0050377732,0.8726347
|
| 84 |
+
82,1.366666667,pose3-hold,0.004917288,0.8835893,0.00503776762857,0.8726347
|
| 85 |
+
83,1.383333333,pose3-hold,0.004917288,0.8835893,0.00503776288571,0.8726347
|
| 86 |
+
84,1.400000000,pose3-hold,0.004917288,0.8835893,0.00503776122857,0.8726347
|
| 87 |
+
85,1.416666667,pose3-hold,0.004917288,0.8835893,0.005037756,0.8726347
|
| 88 |
+
86,1.433333333,pose3-hold,0.004917288,0.8835893,0.00503779145714,0.8726347
|
| 89 |
+
87,1.450000000,pose3-hold,0.004917288,0.8835893,0.00503781371429,0.8726347
|
| 90 |
+
88,1.466666667,pose3-hold,0.004917288,0.8835893,0.0050377966,0.8726347
|
| 91 |
+
89,1.483333333,pose3-hold,0.004917288,0.8835893,0.00503779085714,0.8726347
|
| 92 |
+
90,1.500000000,pose3-hold,0.004917288,0.8835893,0.00503778671429,0.8726347
|
| 93 |
+
91,1.516666667,pose3-hold,0.004917288,0.8835893,0.00503778257143,0.8726347
|
| 94 |
+
92,1.533333333,pose3-hold,0.004917288,0.8835893,0.00503777894286,0.8726347
|
| 95 |
+
93,1.550000000,pose3-hold,0.004917288,0.8835893,0.00503777562857,0.8726347
|
| 96 |
+
94,1.566666667,pose3-hold,0.004917288,0.8835893,0.00503778311429,0.8726347
|
| 97 |
+
95,1.583333333,pose3-hold,0.004917288,0.8835893,0.005037832,0.8726347
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.004917273,0.8835893,0.005037787,0.8726347
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491719011968,0.8835893,0.0050376816568,0.8726347
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.0049171678866,0.883589267888,0.00503765332815,0.872634667888
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491717212831,0.883589195688,0.0050376585626,0.872634595688
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491717728438,0.883589107925,0.00503766492541,0.872634507925
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.0049171822403,0.883589023569,0.00503767104123,0.872634423569
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491719885736,0.883588740726,0.00503769154738,0.872634140726
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491719256511,0.883587911198,0.00503768995053,0.872633345833
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.0049171568718,0.883586882747,0.0050376566771,0.872632377879
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491715406612,0.883586796432,0.00503765405143,0.872632296432
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491717550529,0.883585639397,0.00503767072634,0.872631139397
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491721465533,0.883582902929,0.00503769896716,0.872628412308
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491715097305,0.883575829326,0.00503762077927,0.872621480932
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491698410123,0.883556102139,0.00503747028524,0.872602015739
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491724050712,0.883522839348,0.00503772178042,0.872569255935
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491715191684,0.883472397662,0.00503761571696,0.872519702928
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491734929921,0.883397690555,0.00503783431369,0.872446150145
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491754807874,0.883308015758,0.0050380623948,0.87235790498
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.00491775616665,0.883210449904,0.0050382775,0.872261849905
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491776271208,0.883099340675,0.00503830778449,0.8721523974
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491800884567,0.882979109178,0.00503855929347,0.872033973331
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491816403675,0.882855996231,0.00503874873842,0.871912790632
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00491822225088,0.882713071624,0.00503882022179,0.871772061806
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.0049179102994,0.882563593194,0.00503854176551,0.871624862051
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00491765130078,0.882412528438,0.00503831648235,0.871476104861
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491724757678,0.882251487095,0.00503794694304,0.87131748569
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.00491686721044,0.882083480569,0.0050376249844,0.871151996126
|
| 125 |
+
123,2.050000000,pose3-to-pose4-insert,0.00491646402672,0.881918820784,0.00503722536334,0.870989705964
|
| 126 |
+
124,2.066666667,pose3-to-pose4-insert,0.00491688896796,0.881733520096,0.00503763590441,0.87079204682
|
| 127 |
+
125,2.083333333,pose3-to-pose4-insert,0.00491745528456,0.881545788953,0.0050379990277,0.870591868818
|
| 128 |
+
126,2.100000000,pose3-to-pose4-insert,0.00491795443563,0.881362689777,0.00503854207012,0.870410254017
|
| 129 |
+
127,2.116666667,pose3-to-pose4-insert,0.00491833036297,0.881174886111,0.00503889772798,0.870225349609
|
| 130 |
+
128,2.133333333,pose3-to-pose4-insert,0.00491907259156,0.880984791598,0.00503969530421,0.870038254027
|
| 131 |
+
129,2.150000000,pose3-to-pose4-insert,0.00491860160557,0.88080500608,0.00503928804054,0.869861302364
|
| 132 |
+
130,2.166666667,pose3-to-pose4-insert,0.00491778778248,0.880606643839,0.00503852968393,0.869666068034
|
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+
131,2.183333333,pose3-to-pose4-insert,0.00491737937438,0.880411109468,0.00503818048649,0.869473535635
|
| 134 |
+
132,2.200000000,pose3-to-pose4-insert,0.00491667099228,0.880225767879,0.00503754190596,0.869291025453
|
| 135 |
+
133,2.216666667,pose3-to-pose4-insert,0.00491651706662,0.880043648076,0.00503741741495,0.869111659819
|
| 136 |
+
134,2.233333333,pose3-to-pose4-insert,0.00491686980878,0.879862936019,0.00503775102307,0.868933587205
|
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+
135,2.250000000,pose3-to-pose4-insert,0.0049170137078,0.879697892359,0.00503790757169,0.868771020309
|
| 138 |
+
136,2.266666667,pose3-to-pose4-insert,0.00491718439758,0.879540201615,0.00503809623074,0.86861557937
|
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+
137,2.283333333,pose3-to-pose4-insert,0.00491741337993,0.879389850034,0.00503830091724,0.868467244643
|
| 140 |
+
138,2.300000000,pose3-to-pose4-insert,0.00491766821828,0.879251438313,0.00503854641364,0.868330779706
|
| 141 |
+
139,2.316666667,pose3-to-pose4-insert,0.00491789347005,0.879133201365,0.00503880267651,0.868214259208
|
| 142 |
+
140,2.333333333,pose3-to-pose4-insert,0.00491784395784,0.879033479945,0.00503873049725,0.868115752975
|
| 143 |
+
141,2.350000000,pose3-to-pose4-insert,0.00491833738998,0.878938249824,0.00503920591835,0.868021853173
|
| 144 |
+
142,2.366666667,pose3-to-pose4-insert,0.00491875008834,0.878846054231,0.00503962494096,0.86793082802
|
| 145 |
+
143,2.383333333,pose3-to-pose4-insert,0.00491882191844,0.878766320487,0.00503969266054,0.867852184435
|
| 146 |
+
144,2.400000000,pose3-to-pose4-insert,0.0049189737371,0.878693326529,0.00503986820889,0.867779960983
|
| 147 |
+
145,2.416666667,pose3-to-pose4-insert,0.00491917468842,0.878627086513,0.00504008048419,0.867714470628
|
| 148 |
+
146,2.433333333,pose3-to-pose4-insert,0.00491922750553,0.878570775619,0.00504014648115,0.867658803113
|
| 149 |
+
147,2.450000000,pose3-to-pose4-insert,0.00491927487904,0.878529904355,0.0050401529834,0.867618303406
|
| 150 |
+
148,2.466666667,pose3-to-pose4-insert,0.00491943810294,0.878492884573,0.005040332395,0.867581590831
|
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+
149,2.483333333,pose3-to-pose4-insert,0.00491940703461,0.878463083153,0.00504031434495,0.86755208721
|
| 152 |
+
150,2.500000000,pose3-to-pose4-insert,0.00491966711462,0.878441170064,0.0050405584582,0.867530271386
|
| 153 |
+
151,2.516666667,pose3-to-pose4-insert,0.00491960521624,0.878425094963,0.00504052058009,0.86751428867
|
| 154 |
+
152,2.533333333,pose3-to-pose4-insert,0.00491965093738,0.878412559799,0.00504045171947,0.867473613274
|
| 155 |
+
153,2.550000000,pose3-to-pose4-insert,0.00491954253789,0.878404318677,0.00504012151229,0.867449241197
|
| 156 |
+
154,2.566666667,pose3-to-pose4-insert,0.00491959581436,0.878397820656,0.00504014640763,0.867439868245
|
| 157 |
+
155,2.583333333,pose3-to-pose4-insert,0.00491965513333,0.878393578204,0.00504021124232,0.86743592507
|
| 158 |
+
156,2.600000000,pose3-to-pose4-insert,0.004919696,0.8783916,0.00504025,0.8674344
|
| 159 |
+
157,2.616666667,pose4-hold,0.004919696,0.8783916,0.005040256,0.8674345
|
| 160 |
+
158,2.633333333,pose4-hold,0.004919696,0.8783916,0.00504026097143,0.8674345
|
| 161 |
+
159,2.650000000,pose4-hold,0.004919696,0.8783916,0.00504026594286,0.867434565714
|
| 162 |
+
160,2.666666667,pose4-hold,0.004919696,0.8783916,0.00504027042857,0.8674346
|
| 163 |
+
161,2.683333333,pose4-hold,0.004919696,0.8783916,0.00504027425714,0.867434631429
|
| 164 |
+
162,2.700000000,pose4-hold,0.004919696,0.8783916,0.00504027757143,0.8674347
|
| 165 |
+
163,2.716666667,pose4-hold,0.004919696,0.8783916,0.00504028088571,0.8674347
|
| 166 |
+
164,2.733333333,pose4-hold,0.004919696,0.8783916,0.0050402826,0.86743478
|
| 167 |
+
165,2.750000000,pose4-hold,0.004919696,0.8783916,0.00504028425714,0.8674348
|
| 168 |
+
166,2.766666667,pose4-hold,0.004919696,0.8783916,0.00504028545714,0.867434845714
|
| 169 |
+
167,2.783333333,pose4-hold,0.004919696,0.8783916,0.00504028657143,0.8674349
|
| 170 |
+
168,2.800000000,pose4-hold,0.004919696,0.8783916,0.00504028811429,0.867434911429
|
| 171 |
+
169,2.816666667,pose4-hold,0.004919696,0.8783916,0.00504028894286,0.867434994286
|
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+
170,2.833333333,pose4-hold,0.004919696,0.8783916,0.00504028977143,0.867435
|
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171,2.850000000,pose4-hold,0.004919696,0.8783916,0.0050402906,0.867435
|
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172,2.866666667,pose4-hold,0.004919696,0.8783916,0.005040291,0.867435042857
|
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173,2.883333333,pose4-hold,0.004919696,0.8783916,0.005040291,0.8674351
|
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174,2.900000000,pose4-hold,0.004919696,0.8783916,0.005040291,0.8674351
|
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175,2.916666667,pose4-hold,0.004919696,0.8783916,0.005040291,0.8674351
|
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176,2.933333333,pose4-hold,0.004919696,0.8783916,0.005040291,0.867435174286
|
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177,2.950000000,pose4-hold,0.004919696,0.8783916,0.005040295,0.8674352
|
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178,2.966666667,pose4-hold,0.004919696,0.8783916,0.0050402976,0.86743524
|
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179,2.983333333,pose4-hold,0.004919696,0.8783916,0.00504029654286,0.8674353
|
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180,3.000000000,pose4-hold,0.004919696,0.8783916,0.00504029488571,0.8674353
|
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181,3.016666667,pose4-hold,0.004919696,0.8783916,0.00504029322857,0.8674353
|
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182,3.033333333,pose4-hold,0.004919696,0.8783916,0.00504029157143,0.867435371429
|
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183,3.050000000,pose4-hold,0.004919696,0.8783916,0.00504028991429,0.8674354
|
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184,3.066666667,pose4-hold,0.004919696,0.8783916,0.00504028788571,0.8674354
|
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185,3.083333333,pose4-hold,0.004919696,0.8783916,0.005040286,0.86743542
|
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186,3.100000000,pose4-hold,0.004919696,0.8783916,0.005040286,0.8674355
|
| 189 |
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187,3.116666667,pose4-hold,0.004919696,0.8783916,0.005040286,0.8674355
|
| 190 |
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188,3.133333333,pose4-hold,0.004919696,0.8783916,0.00504028531429,0.8674355
|
| 191 |
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189,3.150000000,pose4-hold,0.004919696,0.8783916,0.005040285,0.8674355
|
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190,3.166666667,pose4-hold,0.004919696,0.8783916,0.00504028465714,0.8674355
|
| 193 |
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191,3.183333333,pose4-hold,0.004919696,0.8783916,0.00504028382857,0.867435517143
|
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192,3.200000000,pose4-hold,0.004919696,0.8783916,0.005040283,0.8674356
|
| 195 |
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193,3.216666667,pose4-to-pose5-return,0.004919748,0.8783916,0.005040334,0.8674356
|
| 196 |
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194,3.233333333,pose4-to-pose5-return,0.00491972895925,0.8783916,0.0050402917792,0.867435765572
|
| 197 |
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195,3.250000000,pose4-to-pose5-return,0.00491970983845,0.878391616268,0.0050402680662,0.867435822775
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196,3.266666667,pose4-to-pose5-return,0.00491964899509,0.87839168155,0.00504020813679,0.86743591417
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197,3.283333333,pose4-to-pose5-return,0.00491943930513,0.87839190654,0.00504000159668,0.867436229155
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198,3.300000000,pose4-to-pose5-return,0.00491911086603,0.878392228952,0.00503967908984,0.867436628952
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199,3.316666667,pose4-to-pose5-return,0.00491890044135,0.878392412129,0.00503947324458,0.867436812129
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200,3.333333333,pose4-to-pose5-return,0.00491864395487,0.878392635404,0.00503922233996,0.867437035404
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201,3.350000000,pose4-to-pose5-return,0.00491852642211,0.878392737717,0.00503910736505,0.867437137717
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| 204 |
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202,3.366666667,pose4-to-pose5-return,0.00491835038161,0.878392890963,0.00503893515567,0.867437290963
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203,3.383333333,pose4-to-pose5-return,0.00491800099638,0.878393210343,0.00503858654404,0.867437610343
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204,3.400000000,pose4-to-pose5-return,0.00491758686194,0.878393589464,0.00503817307864,0.867437989464
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205,3.416666667,pose4-to-pose5-return,0.00491517625848,0.878396065593,0.00503578127827,0.867440465593
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206,3.433333333,pose4-to-pose5-return,0.00490923079496,0.878402453447,0.00502987380875,0.867446758378
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207,3.450000000,pose4-to-pose5-return,0.00489944700866,0.878412505403,0.00502018300837,0.867456676056
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Part2/Free/s1/ball_PLA_15/width_02/pick/camera_frames_60hz.tar
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Part2/Free/s1/ball_PLA_15/width_02/pick/fem_node.csv
ADDED
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Part2/Free/s1/ball_PLA_15/width_02/pick/franka_data.csv
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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,1.79302065517e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001044_1793020655163259148_interpolated.jpg,0.675950073866,-0.00548162497955,0.0968666999129,0.999999960753,0.000125651568104,-0.0002293360776,0.000100551489744,0.0471171475947
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79302065518e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001045_1793020655183549744_real.jpg,0.67594987014,-0.0054802397298,0.0968689261406,0.999999961288,0.000123371485641,-0.000228532230179,9.98783436195e-05,0.0471171475947
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.7930206552e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001045_1793020655183549744_real.jpg,0.675950884966,-0.00548102570995,0.0968698945621,0.999999961699,0.000122438927992,-0.00022709371867,0.000100195424061,0.0471171475947
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79302065522e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001046_1793020655213318160_interpolated.jpg,0.675952238389,-0.00548241499184,0.0968705135094,0.999999962073,0.000121880774135,-0.000225478839717,0.000100787649958,0.0471171475947
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79302065523e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001047_1793020655243086577_real.jpg,0.675951863466,-0.00548277408755,0.0968688787053,0.999999961754,0.000121872116715,-0.000226706009721,0.000101212550528,0.0470632938998
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79302065525e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001047_1793020655243086577_real.jpg,0.675951808508,-0.00548236428976,0.0968682914387,0.999999961668,0.000121979970482,-0.000227020225765,0.00010122568525,0.0470206178725
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79302065527e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001048_1793020655263532203_interpolated.jpg,0.675952977651,-0.00547908188981,0.0968716664664,0.999999962466,0.000122517877025,-0.000223869524433,9.96953387718e-05,0.0470206178725
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79302065528e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001049_1793020655283977830_real.jpg,0.675949971353,-0.00547860326727,0.0968657113975,0.999999961276,0.000121652501765,-0.000229671501919,9.94932022495e-05,0.0470206178725
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.7930206553e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001049_1793020655283977830_real.jpg,0.675950839437,-0.0054801491303,0.0968675120029,0.999999961498,0.000121323813845,-0.000228521197764,0.000100317366782,0.0470206178725
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79302065532e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001050_1793020655313494252_interpolated.jpg,0.675952974395,-0.00548233030806,0.0968718538196,0.999999962178,0.000121175024092,-0.000225089774996,0.000101464099546,0.0470206178725
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79302065533e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001051_1793020655343010674_real.jpg,0.675951853738,-0.00548114198196,0.0968700446229,0.999999961801,0.000121436978387,-0.000227017338509,0.000100570135525,0.0470206178725
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.79302065535e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001051_1793020655343010674_real.jpg,0.675950955481,-0.0054806570538,0.0968687219229,0.999999961476,0.000121732584672,-0.000228535603141,0.000100006908122,0.0470206178725
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79302065537e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001052_1793020655364062218_interpolated.jpg,0.675951039728,-0.00548291763757,0.0968694977254,0.99999996141,0.000122129660571,-0.000228278743721,0.00010075845871,0.0470206178725
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79302065538e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001053_1793020655385113763_real.jpg,0.675950901866,-0.00548066568379,0.0968693433122,0.999999961259,0.000122947903709,-0.000229239063509,9.90712615967e-05,0.0470206178725
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,1.7930206554e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001053_1793020655385113763_real.jpg,0.675950925975,-0.0054797369631,0.0968701668582,0.999999961113,0.000122869860813,-0.000230188823195,9.84383024789e-05,0.0470206178725
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,1.79302065542e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001054_1793020655414169908_interpolated.jpg,0.675951028375,-0.00547950956894,0.096871453729,0.999999960972,0.000122377067824,-0.000231105973654,9.83376402394e-05,0.0470206178725
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79302065543e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001055_1793020655443226054_real.jpg,0.675947600906,-0.00547990124088,0.0968698254684,0.999999959688,0.000122053211652,-0.000237234014532,9.71983443616e-05,0.0470124264716
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.79302065545e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001055_1793020655443226054_real.jpg,0.675944926072,-0.00548025466899,0.0968700364072,0.99999995866,0.000121558918047,-0.000242261074253,9.5986269334e-05,0.0470055118203
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79302065547e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001056_1793020655463800005_interpolated.jpg,0.675946030787,-0.00548031564761,0.0968781794105,0.99999995905,0.00012035267529,-0.000241748469949,9.47238085541e-05,0.0470055118203
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.79302065548e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001057_1793020655484373956_real.jpg,0.675945379753,-0.00547765623297,0.0968854397215,0.999999959025,0.000121604613334,-0.000242545162613,9.12894481413e-05,0.0470055118203
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.7930206555e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001057_1793020655484373956_real.jpg,0.675936931815,-0.00547640026128,0.0969009363756,0.999999954241,0.000119948143328,-0.000264481966874,8.47345567738e-05,0.0470055118203
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,1.79302065552e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001058_1793020655513567072_interpolated.jpg,0.675925666581,-0.00547568844262,0.0969194426416,0.999999946915,0.000117202767179,-0.00029409956926,7.70700015719e-05,0.0470055118203
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79302065553e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001059_1793020655542760189_real.jpg,0.675930848242,-0.00547038346558,0.0969637132024,0.999999950264,0.000118474483635,-0.000284439084282,6.73000462056e-05,0.0470055118203
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,1.79302065555e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001059_1793020655542760189_real.jpg,0.67593609604,-0.00546510920481,0.0970101089732,0.999999953657,0.000119039898129,-0.000274329360711,5.70878013777e-05,0.0470055118203
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79302065557e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001060_1793020655563649955_interpolated.jpg,0.675940529278,-0.00546022715471,0.097061998978,0.999999956958,0.000116986881528,-0.000265189416194,4.55269802499e-05,0.0470055118203
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.79302065558e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001061_1793020655584539722_real.jpg,0.675939793732,-0.0054609239248,0.0971079310502,0.999999956179,0.000112054571101,-0.000271845570546,3.44360152083e-05,0.0470055118203
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.7930206556e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001061_1793020655584539722_real.jpg,0.6759381524,-0.0054564492047,0.0971646321995,0.999999955405,0.000107723819789,-0.000277853739964,1.95872880014e-05,0.0470055118203
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79302065561e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001062_1793020655614428447_interpolated.jpg,0.675936211818,-0.00544994340149,0.0972255115558,0.999999954446,0.000103649760925,-0.000283468706868,3.29548779646e-06,0.0470055118203
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,1.79302065563e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001063_1793020655644317173_real.jpg,0.675936515952,-0.00544337040719,0.0972795545136,0.999999953842,0.000101792675898,-0.000286105423303,-9.94094427615e-06,0.047003470139
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,1.79302065564e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001063_1793020655644317173_real.jpg,0.675937692351,-0.00543731868397,0.0973389875496,0.999999953501,9.89096353447e-05,-0.000287494805976,-2.36845897407e-05,0.0470015741885
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,1.79302065566e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001064_1793020655664619041_interpolated.jpg,0.675943314692,-0.00543459607382,0.0974357740912,0.99999995532,8.84796692144e-05,-0.000282415954326,-4.20941123763e-05,0.0470015741885
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,1.79302065568e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001065_1793020655684920909_real.jpg,0.675946236892,-0.00543241278722,0.0975047802331,0.999999956533,8.46134019605e-05,-0.000277168107909,-5.43363021787e-05,0.0470015741885
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,1.7930206557e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001065_1793020655684920909_real.jpg,0.675947607936,-0.00544438852806,0.0976138821177,0.999999958617,8.54284259488e-05,-0.000269304123874,-5.42460844282e-05,0.0470015741885
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,1.79302065572e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001066_1793020655714046497_interpolated.jpg,0.675948417806,-0.00546240367618,0.0977412019754,0.999999961037,8.79973797225e-05,-0.000260326799409,-4.91123802322e-05,0.0470015741885
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,1.79302065573e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001067_1793020655743172085_real.jpg,0.675936847593,-0.00547899273307,0.0978484406347,0.999999955495,9.24540659528e-05,-0.000280787980787,-4.02509194401e-05,0.0470015741885
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,1.79302065575e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001067_1793020655743172085_real.jpg,0.675925192779,-0.00548886458001,0.0979674355174,0.999999951767,6.93936193837e-05,-0.00030055339393,-3.63036665693e-05,0.0470015741885
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,1.79302065577e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001068_1793020655763367981_interpolated.jpg,0.675915587098,-0.00547299649296,0.0981358134738,0.999999948143,-6.0594550205e-05,-0.000311972641487,-5.21032945713e-05,0.0470015741885
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,1.79302065578e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001069_1793020655783563877_real.jpg,0.675911436377,-0.00546333782068,0.0982756045029,0.999999947615,-2.76864321199e-05,-0.000317381154212,-5.72035148096e-05,0.0470015741885
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,1.7930206558e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001069_1793020655783563877_real.jpg,0.675916505047,-0.00545733690565,0.0984092459115,0.999999949807,-9.0908369143e-07,-0.000310987977493,-6.06007969677e-05,0.0470015741885
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,1.79302065581e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001070_1793020655815113007_interpolated.jpg,0.675924138183,-0.00545234588699,0.0985412246227,0.999999952303,2.38578480475e-05,-0.000301310260599,-6.35422393698e-05,0.0470015741885
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,1.79302065583e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001070_1793020655815113007_interpolated.jpg,0.675929778548,-0.0054474069786,0.0986862799733,0.999999953782,4.28018164372e-05,-0.000294047451107,-6.43381545386e-05,0.0470003410779
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,1.79302065585e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001071_1793020655846662138_real.jpg,0.675935169551,-0.00544247458171,0.0988329719936,0.999999954825,6.10171443522e-05,-0.000287086825445,-6.48655831669e-05,0.0469989536554
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,1.79302065586e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00001072_1793020655867789657_interpolated.jpg,0.675929507309,-0.00543475373397,0.0990959532747,0.999999953963,3.99526728141e-05,-0.000292021281513,-7.21219570509e-05,0.0469989478588
|
| 45 |
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|
Part2/Free/s1/ball_PLA_15/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,-8.250443e-05,0.8455893,7.855219e-06,0.8346295
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,-8.27480359148e-05,0.845589896942,7.61460073987e-06,0.834629996942
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.26948978764e-05,0.8455902981,7.66685354242e-06,0.8346303981
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26888088172e-05,0.845590637087,7.66599844699e-06,0.834630737087
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,-8.2683054377e-05,0.845590957446,7.66519034258e-06,0.834631057446
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,-8.26824145882e-05,0.845591034997,7.66569915188e-06,0.834631134997
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.26840300356e-05,0.845591488774,7.67368835594e-06,0.834631588774
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.26855386893e-05,0.845591912553,7.68114941119e-06,0.834632012553
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.26872811478e-05,0.845592402008,7.6897667497e-06,0.834632502008
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.26972074757e-05,0.845593690365,7.66856160862e-06,0.834633790365
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.26990267454e-05,0.845593916478,7.66420591334e-06,0.834634016478
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.27039103087e-05,0.845594523446,7.65251368662e-06,0.834634623446
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.27038481134e-05,0.845594976686,7.64872177711e-06,0.83463507429
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.26510976083e-05,0.845596285023,7.70778296309e-06,0.834636341741
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.26066413399e-05,0.845597387643,7.75755765106e-06,0.834637409904
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.25870852564e-05,0.84559828311,7.78098672497e-06,0.834638279041
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.26505922978e-05,0.845599551897,7.72050757432e-06,0.834639519633
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.27924398089e-05,0.845602899641,7.58592049319e-06,0.83464279429
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.26061403729e-05,0.845609763754,7.76683710344e-06,0.834649542622
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.27024210524e-05,0.845619934713,7.66232471964e-06,0.834659588103
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.26291410658e-05,0.845637199744,7.72584602259e-06,0.834676589748
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.26174352364e-05,0.845662812982,7.73095555202e-06,0.834701800689
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.27924027847e-05,0.845698334139,7.56970068791e-06,0.834736714264
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.28440528053e-05,0.845738868403,7.49968159332e-06,0.834776662537
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.30702648412e-05,0.845786788382,7.30993168855e-06,0.834823851186
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.30953445078e-05,0.845838314753,7.26497342968e-06,0.834874543352
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.31453373614e-05,0.84589234882,7.2056146926e-06,0.83492772741
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.34611427921e-05,0.845947055624,6.89627006384e-06,0.83498157526
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.33551588199e-05,0.846014349078,6.98590650966e-06,0.835047880111
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.34705385424e-05,0.846087529508,6.86000371374e-06,0.835119876374
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.36356857566e-05,0.846171644641,6.68799258282e-06,0.835202691364
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.3803901391e-05,0.846270519062,6.53805165494e-06,0.835300109958
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.40277499867e-05,0.846374846286,6.29512597632e-06,0.835402800162
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.39844051165e-05,0.846478704069,6.30886108169e-06,0.835505136371
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.41434636016e-05,0.846595178418,6.12477873582e-06,0.835619917902
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.37341753344e-05,0.846713646319,6.49455829196e-06,0.835736659378
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.32825251703e-05,0.846838325398,6.89769612279e-06,0.835859434091
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.29803703252e-05,0.846978673537,7.17025524524e-06,0.835997704521
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.25015452171e-05,0.847136806963,7.59821762491e-06,0.836153648136
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.19651632445e-05,0.847303409881,8.25147251505e-06,0.836328890836
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.16739756514e-05,0.847474597438,8.76281797136e-06,0.836512144798
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.17008259004e-05,0.847656014521,8.76709428698e-06,0.836693827152
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.17573291885e-05,0.847845335848,8.65510858247e-06,0.836883598523
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.20003941556e-05,0.848035378875,8.38220782444e-06,0.837071198557
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.2223105608e-05,0.848227190457,8.1394938779e-06,0.837259913633
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.24734414011e-05,0.848433210461,7.84752827963e-06,0.837462597111
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.21712317551e-05,0.848652868198,8.16873425442e-06,0.837687192465
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.17748017941e-05,0.84887339264,8.57336757218e-06,0.837912324048
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,-8.11285307885e-05,0.849112199052,9.16814080253e-06,0.838148761937
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.04345094195e-05,0.849374914336,9.90864228174e-06,0.838412388879
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,-8.07424560002e-05,0.849647761787,9.6374889209e-06,0.838687168996
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,-8.17340739408e-05,0.849923680355,8.6076526243e-06,0.838963771756
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,-8.25312890606e-05,0.850238624235,7.80249963792e-06,0.839278687706
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.29843572005e-05,0.850555158643,7.34094441676e-06,0.839594958643
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,-8.21275806598e-05,0.850877745239,8.15413559077e-06,0.839917514394
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,-8.132654165e-05,0.851220276512,8.93480091326e-06,0.840260018774
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,-8.12384399036e-05,0.851562985379,9.00158772789e-06,0.840602785379
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,-8.2473886189e-05,0.851888070461,7.76632276064e-06,0.840927870461
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,-8.40864318028e-05,0.852241803884,6.13400350832e-06,0.841281603884
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,-8.4203564628e-05,0.852587526366,5.99990902158e-06,0.841627326366
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,-8.32520799934e-05,0.852937714663,6.9663979361e-06,0.841977567812
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,-8.25700273044e-05,0.853313802651,7.66931694175e-06,0.842353702651
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,-8.24752282988e-05,0.853695463521,7.77838107286e-06,0.842735423102
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,-8.27111770734e-05,0.854062377727,7.57900787623e-06,0.843102377727
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,-8.27468109993e-05,0.85446355093,7.55678439961e-06,0.84350355093
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,-8.26607531103e-05,0.85485915696,7.63370321865e-06,0.84389915696
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,-8.26602596817e-05,0.85525706861,7.62491118008e-06,0.844297127452
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,-8.26506973893e-05,0.855683113839,7.63548041813e-06,0.844723151051
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,-8.26306999707e-05,0.856113606846,7.64212186293e-06,0.845153672815
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,-8.240434441e-05,0.856527468961,7.84538570435e-06,0.845567632682
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,-8.20438303958e-05,0.856976970736,8.17900290758e-06,0.846017170736
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,-8.22358650687e-05,0.857421195207,7.98444270962e-06,0.846461395207
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,-8.29117538693e-05,0.857871440586,7.31355344916e-06,0.846911640586
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,-8.32225603278e-05,0.858356508155,7.00349190882e-06,0.847396708155
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,-8.24364877862e-05,0.858843447954,7.76023131377e-06,0.847883736162
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,-8.18509558867e-05,0.859310648933,8.30863081021e-06,0.848350948933
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,-8.22216696221e-05,0.859811921792,7.96539730774e-06,0.848852221792
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,-8.28396045439e-05,0.860288954798,7.3021104501e-06,0.849329454798
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,-8.31989418708e-05,0.860749227587,6.93214259206e-06,0.849789727587
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,-8.36465535599e-05,0.861229698177,6.4227061389e-06,0.850270298177
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,-8.23827698089e-05,0.861703185933,7.69642437795e-06,0.850743786833
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,-8.14943652261e-05,0.862149035706,8.60409326546e-06,0.851189730213
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,-8.27447737011e-05,0.862623075654,7.34363893514e-06,0.851663868961
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,-8.41340102804e-05,0.863076310539,5.95773564154e-06,0.852117110539
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,-8.31879040856e-05,0.863521649795,6.94156983845e-06,0.852562449795
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,-8.17631361628e-05,0.863997577828,8.38443059397e-06,0.853038456254
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,-8.17063955226e-05,0.864479136994,8.44710723455e-06,0.853520036994
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,-8.19512608436e-05,0.864951478374,8.15948081219e-06,0.853992378374
|
| 90 |
+
88,1.466666667,pose1-to-pose2-lift,-8.18964054098e-05,0.86546620014,8.17468152929e-06,0.854507347356
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,-8.15817699934e-05,0.865971221977,8.49254412061e-06,0.855012334501
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,-8.21932796196e-05,0.866471283252,7.86565510598e-06,0.855512474533
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,-8.26346480814e-05,0.866997117533,7.41596478027e-06,0.856038418083
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,-8.0997727741e-05,0.867509531566,8.99033219747e-06,0.856550939739
|
| 95 |
+
93,1.550000000,pose1-to-pose2-lift,-7.96369804233e-05,0.867989328113,1.03605190217e-05,0.857030828113
|
| 96 |
+
94,1.566666667,pose1-to-pose2-lift,-8.11966917688e-05,0.868490993951,8.80294867931e-06,0.857532493951
|
| 97 |
+
95,1.583333333,pose1-to-pose2-lift,-8.28760841764e-05,0.868962366603,7.11059379147e-06,0.858003898197
|
| 98 |
+
96,1.600000000,pose1-to-pose2-lift,-8.29849259969e-05,0.869406411656,6.96086121068e-06,0.858448111656
|
| 99 |
+
97,1.616666667,pose1-to-pose2-lift,-8.29145521999e-05,0.869867694201,6.99081450313e-06,0.858909405607
|
| 100 |
+
98,1.633333333,pose1-to-pose2-lift,-8.3344571085e-05,0.870321544736,6.52884428785e-06,0.859363366138
|
| 101 |
+
99,1.650000000,pose1-to-pose2-lift,-8.40695594644e-05,0.870752579528,5.81244961587e-06,0.859794579528
|
| 102 |
+
100,1.666666667,pose1-to-pose2-lift,-8.39559346068e-05,0.871219757646,5.88954853549e-06,0.860261768149
|
| 103 |
+
101,1.683333333,pose1-to-pose2-lift,-8.37573440878e-05,0.871674641334,6.09271651253e-06,0.860716741334
|
| 104 |
+
102,1.700000000,pose1-to-pose2-lift,-8.32518478313e-05,0.872120735755,6.6148108486e-06,0.861162867288
|
| 105 |
+
103,1.716666667,pose1-to-pose2-lift,-8.23772134505e-05,0.872586879401,7.50365343177e-06,0.861629179401
|
| 106 |
+
104,1.733333333,pose1-to-pose2-lift,-8.19051791534e-05,0.873041586395,8.01781321635e-06,0.862083917521
|
| 107 |
+
105,1.750000000,pose1-to-pose2-lift,-8.19708005961e-05,0.873464575303,8.00445479463e-06,0.862506975303
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.201513e-05,0.8835871,3.975692e-06,0.8726322
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.18612894131e-05,0.883586801371,4.10636402875e-06,0.872631900685
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.15125560852e-05,0.88358693413,4.47276768022e-06,0.872631967065
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.12635164445e-05,0.883587,4.73103453244e-06,0.872632
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.08809520287e-05,0.883587,5.11591394087e-06,0.872632
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.03007016212e-05,0.883587,5.69967558811e-06,0.872632
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.01197846658e-05,0.883587,5.88168731708e-06,0.872632
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.9470401051e-05,0.883586964857,6.52388598188e-06,0.872631976571
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.89277610488e-05,0.883586917805,7.0549287919e-06,0.872631945203
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.85224683803e-05,0.883586882662,7.4515596275e-06,0.872631921775
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.72717859395e-05,0.883586774217,8.6755127364e-06,0.872631849478
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.23894728813e-05,0.883586917925,1.35097674338e-05,0.872632017925
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.24977186504e-05,0.883587094183,2.33147858714e-05,0.872632194183
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-4.19470028946e-05,0.883587159061,4.36794511293e-05,0.872632259061
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-5.53015911122e-06,0.883587118343,7.97993896516e-05,0.872632209172
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,5.13776154533e-05,0.88358721926,0.000136202609748,0.8726323
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000125512552854,0.883587373091,0.000209739672698,0.872632430788
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000218097723261,0.883587699707,0.000301578188253,0.8726327
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000322662950784,0.883587727399,0.000405258322868,0.872632784932
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000432214059678,0.8835879,0.000513918946097,0.8726329
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000546172470014,0.883588432637,0.000626897742827,0.872633432637
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21,0.350000000,pose2-to-pose3-side,0.000670815829858,0.883588413482,0.000750473626674,0.872633413482
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22,0.366666667,pose2-to-pose3-side,0.00080443408657,0.883588785396,0.000882886891808,0.872633768317
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23,0.383333333,pose2-to-pose3-side,0.000951476756958,0.883589263194,0.00103221910369,0.872634226388
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25,0.416666667,pose2-to-pose3-side,0.00127988265408,0.883588990021,0.00136716337951,0.872634026681
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26,0.433333333,pose2-to-pose3-side,0.00144703894183,0.883588882531,0.00153376381221,0.87263395502
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27,0.450000000,pose2-to-pose3-side,0.00161780932111,0.883589118416,0.00170908002374,0.872634218416
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28,0.466666667,pose2-to-pose3-side,0.0017887007741,0.883588949524,0.0018796373705,0.872634133016
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29,0.483333333,pose2-to-pose3-side,0.0019625318724,0.8835889,0.00205727286634,0.8726341
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30,0.500000000,pose2-to-pose3-side,0.0021418838337,0.8835889,0.00223547677681,0.8726341
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31,0.516666667,pose2-to-pose3-side,0.0023217674835,0.883589186969,0.002419179614,0.872634386969
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32,0.533333333,pose2-to-pose3-side,0.00250031185297,0.883589298481,0.00260021817114,0.872634596962
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33,0.550000000,pose2-to-pose3-side,0.00267922802016,0.883589098063,0.00277742898605,0.872634396125
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34,0.566666667,pose2-to-pose3-side,0.00285675925687,0.883589011056,0.00295346369805,0.872634216584
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35,0.583333333,pose2-to-pose3-side,0.00303259951185,0.883589219765,0.00312785102774,0.872634509882
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36,0.600000000,pose2-to-pose3-side,0.00320800514949,0.883589366969,0.00330192370885,0.872634566969
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37,0.616666667,pose2-to-pose3-side,0.00337324693289,0.883589140179,0.00346612466922,0.872634340179
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38,0.633333333,pose2-to-pose3-side,0.00352785213831,0.883588879709,0.00362255176433,0.872634120291
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39,0.650000000,pose2-to-pose3-side,0.00367416846602,0.8835888,0.00377851857499,0.8726342
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40,0.666666667,pose2-to-pose3-side,0.00381355795621,0.883588892109,0.00391631268458,0.872634292109
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41,0.683333333,pose2-to-pose3-side,0.00394554562224,0.8835893,0.00404718170782,0.8726347
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42,0.700000000,pose2-to-pose3-side,0.00407665519094,0.883589392608,0.00417701592788,0.872634792608
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43,0.716666667,pose2-to-pose3-side,0.00419832142435,0.8835897,0.00429757907037,0.8726351
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44,0.733333333,pose2-to-pose3-side,0.0043084522663,0.883589798882,0.00440673044156,0.872635198882
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45,0.750000000,pose2-to-pose3-side,0.004405328079,0.883590033783,0.00450655759452,0.8726354
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46,0.766666667,pose2-to-pose3-side,0.00449149363235,0.8835900666,0.00460017538998,0.8726354
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47,0.783333333,pose2-to-pose3-side,0.00456609638883,0.883590119736,0.00467623797702,0.872635519736
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48,0.800000000,pose2-to-pose3-side,0.00463435104104,0.883590459712,0.00474633740067,0.872635859712
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49,0.816666667,pose2-to-pose3-side,0.00469331289515,0.883590483752,0.00480741601782,0.872635883752
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50,0.833333333,pose2-to-pose3-side,0.00474324664013,0.883590336879,0.00485676569544,0.872635736879
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51,0.850000000,pose2-to-pose3-side,0.00478402107721,0.883590677825,0.00489759302612,0.872636077825
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52,0.866666667,pose2-to-pose3-side,0.00481819251912,0.88359063737,0.00493286925335,0.872636018685
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53,0.883333333,pose2-to-pose3-side,0.00484579973121,0.8835908,0.00496033644157,0.872636113349
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54,0.900000000,pose2-to-pose3-side,0.00486860938442,0.8835908,0.00498410381992,0.872636185016
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56,0.933333333,pose2-to-pose3-side,0.00490108694654,0.883590654519,0.00501700166325,0.872635954519
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57,0.950000000,pose2-to-pose3-side,0.00490991559159,0.8835909,0.00502608553354,0.872636279838
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58,0.966666667,pose2-to-pose3-side,0.00491502468838,0.88359088117,0.00503120793163,0.87263618117
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60,1.000000000,pose3-hold,0.004916691,0.883591,0.005033015,0.8726363
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61,1.016666667,pose3-hold,0.004916691,0.883591,0.00503300305882,0.8726363
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62,1.033333333,pose3-hold,0.004916691,0.883591,0.00503303770588,0.8726363
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63,1.050000000,pose3-hold,0.004916691,0.883591,0.00503304461765,0.8726363
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64,1.066666667,pose3-hold,0.004916691,0.883591,0.00503303182353,0.8726363
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65,1.083333333,pose3-hold,0.004916691,0.883591,0.00503304311765,0.8726363
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66,1.100000000,pose3-hold,0.004916691,0.883591,0.005033095,0.8726363
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67,1.116666667,pose3-hold,0.004916691,0.883591,0.005033066,0.8726363
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68,1.133333333,pose3-hold,0.004916691,0.883591,0.00503305429412,0.8726363
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69,1.150000000,pose3-hold,0.004916691,0.883591,0.00503310002941,0.8726363
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70,1.166666667,pose3-hold,0.004916691,0.883591,0.005033105,0.8726363
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71,1.183333333,pose3-hold,0.004916691,0.883591,0.00503308555882,0.8726363
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72,1.200000000,pose3-hold,0.004916691,0.883591,0.00503309341176,0.8726363
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73,1.216666667,pose3-hold,0.004916691,0.883591,0.00503313470588,0.8726363
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74,1.233333333,pose3-hold,0.004916691,0.883591,0.00503311252941,0.8726363
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75,1.250000000,pose3-hold,0.004916691,0.883591,0.00503315308824,0.8726363
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76,1.266666667,pose3-hold,0.004916691,0.883591,0.00503314717647,0.8726363
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77,1.283333333,pose3-hold,0.004916691,0.883591,0.0050331335,0.8726363
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78,1.300000000,pose3-hold,0.004916691,0.883591,0.00503312652941,0.8726363
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79,1.316666667,pose3-hold,0.004916691,0.883591,0.00503312055882,0.8726363
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80,1.333333333,pose3-hold,0.004916691,0.883591,0.00503311458824,0.8726363
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81,1.350000000,pose3-hold,0.004916691,0.883591,0.00503310861765,0.8726363
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82,1.366666667,pose3-hold,0.004916691,0.883591,0.00503310341176,0.8726363
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83,1.383333333,pose3-hold,0.004916691,0.883591,0.00503310076471,0.8726363
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84,1.400000000,pose3-hold,0.004916691,0.883591,0.00503309952941,0.8726363
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85,1.416666667,pose3-hold,0.004916691,0.883591,0.00503309673529,0.8726363
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86,1.433333333,pose3-hold,0.004916691,0.883591,0.00503310311765,0.8726363
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87,1.450000000,pose3-hold,0.004916691,0.883591,0.00503315435294,0.8726363
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88,1.466666667,pose3-hold,0.004916691,0.883591,0.00503313558824,0.8726363
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89,1.483333333,pose3-hold,0.004916691,0.883591,0.00503312785294,0.8726363
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90,1.500000000,pose3-hold,0.004916691,0.883591,0.00503312364706,0.8726363
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91,1.516666667,pose3-hold,0.004916691,0.883591,0.00503312023529,0.8726363
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92,1.533333333,pose3-hold,0.004916691,0.883591,0.00503311682353,0.8726363
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93,1.550000000,pose3-hold,0.004916691,0.883591,0.00503312311765,0.8726363
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94,1.566666667,pose3-hold,0.004916691,0.883591,0.005033176,0.8726363
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95,1.583333333,pose3-to-pose4-insert,0.004916975,0.883591,0.005033432,0.8726363
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96,1.600000000,pose3-to-pose4-insert,0.00491694414888,0.883590655573,0.0050333985191,0.872636055573
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97,1.616666667,pose3-to-pose4-insert,0.00491693572236,0.883590453337,0.00503339177788,0.872635853337
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98,1.633333333,pose3-to-pose4-insert,0.00491692631594,0.883590227583,0.00503338425276,0.872635627583
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99,1.650000000,pose3-to-pose4-insert,0.00491692380784,0.883589993035,0.00503338655163,0.872635393035
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100,1.666666667,pose3-to-pose4-insert,0.00491693536232,0.883589552864,0.00503341351209,0.872634952864
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101,1.683333333,pose3-to-pose4-insert,0.0049169411025,0.883589334191,0.00503342690582,0.872634734191
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102,1.700000000,pose3-to-pose4-insert,0.00491694881047,0.883589040553,0.0050334448911,0.872634440553
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103,1.716666667,pose3-to-pose4-insert,0.00491696190397,0.883588541754,0.00503347544259,0.872633941754
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104,1.733333333,pose3-to-pose4-insert,0.00491692897443,0.883588120621,0.00503344077341,0.872633520621
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105,1.750000000,pose3-to-pose4-insert,0.00491686977691,0.883587460579,0.00503337600679,0.872632860579
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106,1.766666667,pose3-to-pose4-insert,0.00491685464245,0.883587291832,0.00503335944854,0.872632691832
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107,1.783333333,pose3-to-pose4-insert,0.00491671686715,0.883585755662,0.0050332087118,0.872631155662
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108,1.800000000,pose3-to-pose4-insert,0.00491679263967,0.88357895686,0.0050333034574,0.872624473749
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109,1.816666667,pose3-to-pose4-insert,0.00491668618927,0.883563728703,0.00503319604732,0.87260948517
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110,1.833333333,pose3-to-pose4-insert,0.00491676584013,0.883531196244,0.0050332701301,0.872577525241
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111,1.850000000,pose3-to-pose4-insert,0.0049167931972,0.883479415097,0.00503329320653,0.872526566497
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112,1.866666667,pose3-to-pose4-insert,0.0049166574559,0.883410367231,0.00503319154782,0.872458626756
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113,1.883333333,pose3-to-pose4-insert,0.00491669478604,0.883327519774,0.00503321795502,0.872377035548
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114,1.900000000,pose3-to-pose4-insert,0.0049168791226,0.88322816339,0.00503342776677,0.872279207474
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115,1.916666667,pose3-to-pose4-insert,0.00491697198186,0.883120691769,0.00503354819175,0.872173471
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116,1.933333333,pose3-to-pose4-insert,0.00491697939663,0.883002610728,0.00503359765887,0.872057165951
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117,1.950000000,pose3-to-pose4-insert,0.0049169638952,0.882872689348,0.00503360316686,0.871929222076
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118,1.966666667,pose3-to-pose4-insert,0.00491682971902,0.882734685217,0.00503349603807,0.871793338074
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119,1.983333333,pose3-to-pose4-insert,0.00491690477435,0.882593121596,0.00503362371698,0.871653910122
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120,2.000000000,pose3-to-pose4-insert,0.00491667059341,0.882442665805,0.00503340281318,0.871505687783
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121,2.016666667,pose3-to-pose4-insert,0.00491668578588,0.882286666455,0.0050334401228,0.871352012503
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122,2.033333333,pose3-to-pose4-insert,0.0049167763329,0.882122039495,0.00503353309678,0.871189909388
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123,2.050000000,pose3-to-pose4-insert,0.00491682059515,0.881946771183,0.00503356597096,0.871017241425
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124,2.066666667,pose3-to-pose4-insert,0.00491691318865,0.881767454632,0.00503365160535,0.870829646873
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125,2.083333333,pose3-to-pose4-insert,0.00491724714364,0.881585694964,0.00503386876384,0.870634154096
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126,2.100000000,pose3-to-pose4-insert,0.00491764940186,0.881400718113,0.00503425256732,0.870447588369
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127,2.116666667,pose3-to-pose4-insert,0.00491792983017,0.881214761281,0.00503457445947,0.870264649627
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128,2.133333333,pose3-to-pose4-insert,0.00491845320663,0.881027801131,0.00503513475645,0.870080637334
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129,2.150000000,pose3-to-pose4-insert,0.00491805033564,0.8808347363,0.00503476505841,0.869890619878
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130,2.166666667,pose3-to-pose4-insert,0.00491794290289,0.880646201846,0.0050347306724,0.869704982363
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131,2.183333333,pose3-to-pose4-insert,0.00491760521829,0.880463606166,0.00503440444617,0.869525213378
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132,2.200000000,pose3-to-pose4-insert,0.00491730656491,0.880284129029,0.00503418435583,0.869348370159
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133,2.216666667,pose3-to-pose4-insert,0.00491679337237,0.880105812645,0.00503363937842,0.869170940125
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134,2.233333333,pose3-to-pose4-insert,0.00491682039563,0.879933557765,0.00503342320807,0.868984765518
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135,2.250000000,pose3-to-pose4-insert,0.00491686620437,0.879760203063,0.00503333212401,0.868805523811
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136,2.266666667,pose3-to-pose4-insert,0.00491683016031,0.879601681237,0.00503336587526,0.868649501134
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137,2.283333333,pose3-to-pose4-insert,0.00491680862029,0.879456725092,0.00503338312159,0.868506783934
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138,2.300000000,pose3-to-pose4-insert,0.0049168104472,0.879323519336,0.0050334091122,0.86837570148
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139,2.316666667,pose3-to-pose4-insert,0.00491670731713,0.879198435224,0.00503336116686,0.868252677103
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140,2.333333333,pose3-to-pose4-insert,0.00491687842878,0.879086314188,0.00503355542575,0.868142313885
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141,2.350000000,pose3-to-pose4-insert,0.00491713969691,0.878975852375,0.00503376890044,0.868028746195
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142,2.366666667,pose3-to-pose4-insert,0.00491711668576,0.878874104208,0.00503367510449,0.867920347523
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143,2.383333333,pose3-to-pose4-insert,0.00491718992451,0.87878557858,0.00503373991777,0.867830975211
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144,2.400000000,pose3-to-pose4-insert,0.00491724246193,0.878712663082,0.00503380594065,0.867759351211
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145,2.416666667,pose3-to-pose4-insert,0.00491721851442,0.878650471696,0.00503380171433,0.867698137406
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146,2.433333333,pose3-to-pose4-insert,0.00491721717575,0.878596515039,0.00503380518288,0.867645053755
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147,2.450000000,pose3-to-pose4-insert,0.00491720067402,0.878548390974,0.00503379404012,0.867597720663
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148,2.466666667,pose3-to-pose4-insert,0.00491722404846,0.878508253856,0.00503381570705,0.867555634363
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149,2.483333333,pose3-to-pose4-insert,0.0049173058953,0.878475680848,0.00503387020046,0.867520596106
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150,2.500000000,pose3-to-pose4-insert,0.00491723074761,0.878450134363,0.00503378748497,0.867494840423
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151,2.516666667,pose3-to-pose4-insert,0.00491719380095,0.878429988596,0.0050337368209,0.867475106506
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152,2.533333333,pose3-to-pose4-insert,0.00491739968767,0.878416932468,0.00503395402282,0.867461865774
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153,2.550000000,pose3-to-pose4-insert,0.0049173610263,0.87840755801,0.00503393987418,0.867452479916
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154,2.566666667,pose3-to-pose4-insert,0.00491714166445,0.878400881271,0.00503371738953,0.867445881271
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Part2/Free/s1/ball_PLA_15/width_03/pick/fem_node.csv
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Part2/Free/s1/ball_PLA_15/width_03/pick/franka_data.csv
ADDED
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192,3.200000000,pose2-hold,1.79302068141e+18,camera_frames_60hz/WAIT_POSE2/camera_00002088_1793020681416985811_interpolated.jpg,0.675886790315,-0.00538534742942,0.13450915852,0.999999920299,9.6058547509e-05,-0.000378201570377,-8.44918104368e-05,0.0465018488467
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| 195 |
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|
| 196 |
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194,3.233333333,pose2-hold,1.79302068145e+18,camera_frames_60hz/WAIT_POSE2/camera_00002089_1793020681447346338_real.jpg,0.67588536311,-0.00538478539939,0.134507124176,0.999999919324,9.64135406663e-05,-0.000380619788916,-8.47668316069e-05,0.0465018488467
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| 197 |
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|
| 198 |
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196,3.266666667,pose2-hold,1.79302068148e+18,camera_frames_60hz/WAIT_POSE2/camera_00002091_1793020681484729727_real.jpg,0.675884845062,-0.00538655807024,0.134509386634,0.999999919546,9.40659657588e-05,-0.000380710062745,-8.43794747035e-05,0.0465018488467
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| 199 |
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197,3.283333333,pose2-hold,1.79302068149e+18,camera_frames_60hz/WAIT_POSE2/camera_00002091_1793020681484729727_real.jpg,0.675885418501,-0.00538641249466,0.134509364623,0.999999919794,9.46529564218e-05,-0.000379965452133,-8.414183977e-05,0.0465018488467
|
| 200 |
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|
| 201 |
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|
| 202 |
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200,3.333333333,pose2-hold,1.79302068155e+18,camera_frames_60hz/WAIT_POSE2/camera_00002093_1793020681548207448_real.jpg,0.675882794955,-0.00538681829042,0.134504458209,0.999999917706,9.64809491721e-05,-0.000385044016905,-8.37933813037e-05,0.0465018488467
|
| 203 |
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201,3.350000000,pose2-hold,1.79302068156e+18,camera_frames_60hz/WAIT_POSE2/camera_00002094_1793020681568662458_interpolated.jpg,0.67588316833,-0.00538796363399,0.134505961064,0.999999918201,9.35059389143e-05,-0.000384405588816,-8.41839497366e-05,0.0465018488467
|
| 204 |
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202,3.366666667,pose2-hold,1.79302068158e+18,camera_frames_60hz/WAIT_POSE2/camera_00002094_1793020681568662458_interpolated.jpg,0.675884284008,-0.00538830104132,0.134507239532,0.999999918968,9.2991574017e-05,-0.000382550142235,-8.40981255696e-05,0.0465018488467
|
Part2/Free/s1/ball_PLA_15/width_03/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,204 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,3.774021e-06,0.8346294
|
| 3 |
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|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.2724624155e-05,0.845590035044,3.56199523642e-06,0.834630076283
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.26876106323e-05,0.845590703792,3.58897892008e-06,0.834630766766
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.26830079413e-05,0.845591201669,3.5909193689e-06,0.834631301669
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26845219803e-05,0.845591626961,3.59792789548e-06,0.834631726961
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26861855129e-05,0.845592094245,3.60562843128e-06,0.834632194245
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.26889733888e-05,0.845592666967,3.60935265723e-06,0.83463276001
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.27013971244e-05,0.845594211087,3.58195674396e-06,0.834634239792
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.26996073681e-05,0.845595081867,3.57753732524e-06,0.834635081867
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.26977476293e-05,0.845595127992,3.57951644369e-06,0.834635127992
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.26774037796e-05,0.845595632568,3.60116619764e-06,0.834635632568
|
| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.26645017588e-05,0.845595952568,3.61489641969e-06,0.834635952568
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.26369417759e-05,0.845596636121,3.64422552197e-06,0.834636636121
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.2615359889e-05,0.845597171403,3.66719278469e-06,0.834637171403
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.25859932989e-05,0.845597899763,3.6984444631e-06,0.834637899763
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,-8.26882060641e-05,0.845600303371,3.60467717524e-06,0.834640205443
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,-8.2700005562e-05,0.845605483279,3.60200130255e-06,0.834645231791
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,-8.26162476201e-05,0.845614509542,3.66429343199e-06,0.834654209542
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,-8.26831654144e-05,0.845632500484,3.60488532125e-06,0.834671969441
|
| 22 |
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20,0.333333333,pose1-to-pose2-lift,-8.26618136654e-05,0.845658856915,3.61561865337e-06,0.834697860858
|
| 23 |
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21,0.350000000,pose1-to-pose2-lift,-8.28014272188e-05,0.845695687512,3.49123276504e-06,0.834734123948
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,-8.28581576196e-05,0.845741022019,3.41464801938e-06,0.834778689892
|
| 25 |
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23,0.383333333,pose1-to-pose2-lift,-8.30629140115e-05,0.845791167347,3.24024432645e-06,0.834828107899
|
| 26 |
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24,0.400000000,pose1-to-pose2-lift,-8.30934772204e-05,0.845842417861,3.19279986873e-06,0.834878474871
|
| 27 |
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25,0.416666667,pose1-to-pose2-lift,-8.32077485927e-05,0.845901663653,3.07260617411e-06,0.834936894389
|
| 28 |
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26,0.433333333,pose1-to-pose2-lift,-8.34244586679e-05,0.845963204785,2.84690747891e-06,0.834997456219
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.33662014151e-05,0.846034644109,2.89436843751e-06,0.835067806957
|
| 30 |
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28,0.466666667,pose1-to-pose2-lift,-8.35748421654e-05,0.8461196273,2.66760988317e-06,0.835151453406
|
| 31 |
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29,0.483333333,pose1-to-pose2-lift,-8.3686583496e-05,0.846214568505,2.56966816485e-06,0.835244966679
|
| 32 |
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30,0.500000000,pose1-to-pose2-lift,-8.39004266574e-05,0.846314199313,2.36437619853e-06,0.835343046829
|
| 33 |
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31,0.516666667,pose1-to-pose2-lift,-8.39864826148e-05,0.84642699016,2.24364823937e-06,0.835454179624
|
| 34 |
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32,0.533333333,pose1-to-pose2-lift,-8.41366161375e-05,0.846537572422,2.06902049805e-06,0.835563146585
|
| 35 |
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33,0.550000000,pose1-to-pose2-lift,-8.39624842413e-05,0.84665392664,2.21417640418e-06,0.835677821585
|
| 36 |
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34,0.566666667,pose1-to-pose2-lift,-8.34400436664e-05,0.846779661184,2.67720688274e-06,0.835801677374
|
| 37 |
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35,0.583333333,pose1-to-pose2-lift,-8.31574480223e-05,0.846911795196,2.93920265674e-06,0.835931752324
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.27760814836e-05,0.847047806645,3.27895489241e-06,0.836065833209
|
| 39 |
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37,0.616666667,pose1-to-pose2-lift,-8.22756014215e-05,0.847209320945,3.72470978755e-06,0.836225214784
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.17632931616e-05,0.847373098843,4.4797120549e-06,0.836405129293
|
| 41 |
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39,0.650000000,pose1-to-pose2-lift,-8.16448213721e-05,0.847549604064,4.78149680387e-06,0.83658933233
|
| 42 |
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40,0.666666667,pose1-to-pose2-lift,-8.17330975559e-05,0.847743613768,4.64539965601e-06,0.836781086587
|
| 43 |
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41,0.683333333,pose1-to-pose2-lift,-8.18600181617e-05,0.847940431844,4.4747733686e-06,0.836977847275
|
| 44 |
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42,0.700000000,pose1-to-pose2-lift,-8.21197251018e-05,0.84813321673,4.18933689565e-06,0.837167444991
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| 45 |
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43,0.716666667,pose1-to-pose2-lift,-8.23732497928e-05,0.848352533196,3.89142874232e-06,0.837383229792
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| 46 |
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44,0.733333333,pose1-to-pose2-lift,-8.23371415897e-05,0.848569911375,3.93304101041e-06,0.837601605118
|
| 47 |
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45,0.750000000,pose1-to-pose2-lift,-8.1906976055e-05,0.848797973512,4.40000755957e-06,0.837835511342
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| 48 |
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46,0.766666667,pose1-to-pose2-lift,-8.13224856489e-05,0.849046228011,4.93837441448e-06,0.838083904331
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| 49 |
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|
| 50 |
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48,0.800000000,pose1-to-pose2-lift,-8.05918676373e-05,0.849552121752,5.65975974784e-06,0.838586571441
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| 51 |
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| 52 |
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50,0.833333333,pose1-to-pose2-lift,-8.22568101779e-05,0.850130103341,4.02954487337e-06,0.839170363286
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| 53 |
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51,0.850000000,pose1-to-pose2-lift,-8.30379965642e-05,0.850435851087,3.25098151886e-06,0.839476107676
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52,0.866666667,pose1-to-pose2-lift,-8.23649261057e-05,0.850765752621,3.87500167388e-06,0.839805671324
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| 55 |
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53,0.883333333,pose1-to-pose2-lift,-8.16878467911e-05,0.851097422503,4.55166996328e-06,0.840137125602
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| 56 |
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54,0.900000000,pose1-to-pose2-lift,-8.08390354597e-05,0.851417816041,5.36460384774e-06,0.840457616041
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| 57 |
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57,0.950000000,pose1-to-pose2-lift,-8.46929298741e-05,0.852421417318,1.5396887091e-06,0.841461217318
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59,0.983333333,pose1-to-pose2-lift,-8.27344952468e-05,0.853171720363,3.53692944522e-06,0.842211720363
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60,1.000000000,pose1-to-pose2-lift,-8.23557492851e-05,0.853527081646,3.91922952149e-06,0.842567081646
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| 63 |
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61,1.016666667,pose1-to-pose2-lift,-8.27347775681e-05,0.853953760757,3.53348469113e-06,0.842993732971
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| 64 |
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62,1.033333333,pose1-to-pose2-lift,-8.29604425229e-05,0.854348486462,3.31182966742e-06,0.843388386462
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| 65 |
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63,1.050000000,pose1-to-pose2-lift,-8.26995498215e-05,0.854738312084,3.55501649108e-06,0.843778270436
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| 66 |
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64,1.066666667,pose1-to-pose2-lift,-8.20999614203e-05,0.855160496375,4.11540561405e-06,0.844200596375
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65,1.083333333,pose1-to-pose2-lift,-8.17517001535e-05,0.855581550428,4.46340065458e-06,0.844621650428
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| 68 |
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66,1.100000000,pose1-to-pose2-lift,-8.14088366611e-05,0.85598164732,4.80030454553e-06,0.845021781517
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67,1.116666667,pose1-to-pose2-lift,-8.09080294878e-05,0.856425893618,5.30436745099e-06,0.845466053977
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193,3.216666667,pose2-hold,-8.22527e-05,0.8835871,3.75432408824e-06,0.8726321
|
| 196 |
+
194,3.233333333,pose2-hold,-8.22527e-05,0.8835871,3.75381152941e-06,0.8726321
|
| 197 |
+
195,3.250000000,pose2-hold,-8.22527e-05,0.8835871,3.75332691176e-06,0.8726321
|
| 198 |
+
196,3.266666667,pose2-hold,-8.22527e-05,0.8835871,3.75178735294e-06,0.8726321
|
| 199 |
+
197,3.283333333,pose2-hold,-8.22527e-05,0.8835871,3.75143823529e-06,0.8726321
|
| 200 |
+
198,3.300000000,pose2-hold,-8.22527e-05,0.8835871,3.75042782353e-06,0.8726321
|
| 201 |
+
199,3.316666667,pose2-hold,-8.22527e-05,0.8835871,3.74831411765e-06,0.8726321
|
| 202 |
+
200,3.333333333,pose2-hold,-8.22527e-05,0.8835871,3.74614547059e-06,0.8726321
|
| 203 |
+
201,3.350000000,pose2-hold,-8.22527e-05,0.8835871,3.74538967647e-06,0.8726321
|
| 204 |
+
202,3.366666667,pose2-hold,-8.22527e-05,0.8835871,3.745788e-06,0.8726321
|
Part2/Free/s1/ball_PLA_15/width_04/insert/camera_frames_60hz.tar
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c7b5d31d99e657afb4317d0392b14902854252be8dec642b6ec353bbd9ebc364
|
| 3 |
+
size 39034880
|
Part2/Free/s1/ball_PLA_15/width_04/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d27461bd68f0317fbf8f50378d736b4dfffc5c04dc7ae953ee6145e407035dbb
|
| 3 |
+
size 38598107
|
Part2/Free/s1/ball_PLA_15/width_04/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s1/ball_PLA_15/width_04/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,906 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.31889e-05,0.8835847,3.124705e-06,0.8726298
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.30962452635e-05,0.883584818841,3.21518374954e-06,0.872629918841
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.30326546775e-05,0.8835849,3.27729744409e-06,0.872629999947
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.26634625383e-05,0.8835849,3.65716954195e-06,0.872629938199
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.22833821685e-05,0.883584881238,4.04229354427e-06,0.872629890619
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.16625020409e-05,0.88358480444,4.65677491225e-06,0.87262985222
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.0858924127e-05,0.883584705045,5.45207119223e-06,0.872629802522
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.02529317776e-05,0.88358473588,6.04810671504e-06,0.87262983588
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.9984532776e-05,0.883584752918,6.31197713942e-06,0.872629852918
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.94380846607e-05,0.883584787607,6.84920527831e-06,0.872629887607
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.89118061203e-05,0.883584821016,7.36660415454e-06,0.872629921016
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.5809694894e-05,0.8835848352,1.0471971125e-05,0.8726299352
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.73963783726e-05,0.883584903742,1.89631372694e-05,0.872630003742
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-4.61169000785e-05,0.883584823504,4.02883560714e-05,0.872629923504
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-9.99915956314e-06,0.8835849,7.60233310107e-05,0.87263
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,4.10807415332e-05,0.883584956149,0.000126684815034,0.872630112298
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000106992348825,0.883585418412,0.000192030587324,0.872630518412
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.00019151945326,0.883585718306,0.000275879591616,0.872630818306
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000287636821205,0.883586099675,0.000371203462357,0.872631099784
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.00039434970593,0.883586518974,0.000477065268883,0.872631589231
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000509759239059,0.883587169289,0.000591489827304,0.872632222044
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000633891851098,0.883587642949,0.000714543967873,0.8726326
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000770116020151,0.883588148573,0.000849556406763,0.872633138287
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000908417360188,0.883588699871,0.000986679336811,0.872633599897
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00105037439312,0.883589105368,0.00113831357885,0.872634205368
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00120533671303,0.88358925475,0.00129220115741,0.872634341063
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00136891153753,0.883589555333,0.00145981135275,0.872634577667
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00152825158352,0.883589495913,0.0016188042105,0.872634619891
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00169289088886,0.883589876715,0.00178727217695,0.872635076715
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00186911886172,0.883590194331,0.00196466426013,0.872635394331
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00204870167723,0.883590177009,0.00214256931022,0.872635377009
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00223268406258,0.883589755942,0.00232506261302,0.872634955942
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00242155933083,0.88358938223,0.00251443988715,0.872634529269
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00261386127455,0.883589036164,0.00271152110122,0.8726342
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00280828137938,0.883588769299,0.00291040504929,0.8726340462
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00298949652677,0.8835887,0.00309083451291,0.872634
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00315929665541,0.883588786129,0.00326306088879,0.872634086129
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.0033254923652,0.883588710917,0.00342822271896,0.872633921835
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00348737553106,0.883588978309,0.00358858593661,0.872634178309
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00363563206502,0.883589183504,0.00373550491536,0.872634383504
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00379013933854,0.883589000022,0.00389635262798,0.872634300011
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00393390175323,0.883589207249,0.0040384349381,0.872634507249
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00406227632012,0.883589270873,0.00416562587066,0.872634570873
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00418015558306,0.883589033836,0.0042824754439,0.872634333836
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00428818673704,0.883589323401,0.00438950823078,0.872634623401
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00437834998514,0.883589497016,0.00447888970922,0.872634794032
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00446921203236,0.883589409647,0.00456896213538,0.872634609647
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00455125413988,0.883589616407,0.00465119698119,0.872634832814
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00462230992714,0.883589771153,0.00473181235527,0.872635171153
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.0046831249183,0.883589528288,0.00479421646216,0.872634928288
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.0047355347023,0.883589769585,0.00484924776619,0.872635169585
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00477545218043,0.883589503202,0.00488869285865,0.872634903202
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00480947823814,0.883589682217,0.00492401973747,0.872635082217
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00483852845683,0.8835897,0.00495302429778,0.8726351
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486252569317,0.883589871255,0.00497781842829,0.872635271255
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488058935615,0.883589733081,0.00499592437801,0.872635133081
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489450192553,0.883589784828,0.00501046431344,0.872635184828
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.0049043845762,0.88358971002,0.00502038789247,0.87263511002
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491090014865,0.883589696869,0.00502752382935,0.872634996869
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491427404955,0.8835896,0.00503079242968,0.8726349
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491591645522,0.8835896,0.0050324997326,0.8726349
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.004916504,0.8835896,0.005033195,0.8726349
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916504,0.8835896,0.005033231,0.8726349
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916504,0.8835896,0.00503321905882,0.8726349
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916504,0.8835896,0.00503322194118,0.8726349
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916504,0.8835896,0.00503321673529,0.8726349
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916504,0.8835896,0.005033211,0.8726349
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916504,0.8835896,0.00503321232353,0.8726349
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916504,0.8835896,0.00503321411765,0.8726349
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916504,0.8835896,0.00503320047059,0.8726349
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916504,0.8835896,0.00503319176471,0.8726349
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916504,0.8835896,0.00503318391176,0.8726349
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916504,0.8835896,0.00503317782353,0.8726349
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916504,0.8835896,0.00503319297059,0.8726349
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916504,0.8835896,0.00503322035294,0.8726349
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916504,0.8835896,0.00503321932353,0.8726349
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916504,0.8835896,0.00503326111765,0.8726349
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916504,0.8835896,0.00503325764706,0.8726349
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916504,0.8835896,0.00503328770588,0.8726349
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916504,0.8835896,0.0050333385,0.8726349
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916504,0.8835896,0.00503336141176,0.8726349
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916504,0.8835896,0.00503333994118,0.8726349
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916504,0.8835896,0.00503333147059,0.8726349
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916504,0.8835896,0.00503332379412,0.8726349
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916504,0.8835896,0.00503331841176,0.8726349
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916504,0.8835896,0.00503331391176,0.8726349
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916504,0.8835896,0.00503332329412,0.8726349
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916504,0.8835896,0.00503333179412,0.8726349
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916504,0.8835896,0.00503332494118,0.8726349
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916504,0.8835896,0.00503333373529,0.8726349
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916504,0.8835896,0.00503332605882,0.8726349
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916504,0.8835896,0.00503332132353,0.8726349
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916504,0.8835896,0.00503331705882,0.8726349
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916504,0.8835896,0.00503331323529,0.8726349
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916504,0.8835896,0.00503330952941,0.8726349
|
| 97 |
+
95,1.583333333,pose3-hold,0.004916504,0.8835896,0.00503330541176,0.8726349
|
| 98 |
+
96,1.600000000,pose3-hold,0.004916504,0.8835896,0.005033302,0.8726349
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.004916542,0.8835896,0.005033333,0.8726349
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491653144235,0.883589424738,0.00503331359707,0.87263475979
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491646594656,0.88358912703,0.00503325346002,0.872634521624
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491647893708,0.883588759133,0.00503326561149,0.872634159133
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491651519526,0.883588106485,0.00503329933159,0.872633506485
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491653740977,0.883587706624,0.00503331999109,0.872633106624
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491655965526,0.883587306205,0.00503334067939,0.872632706205
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491653971718,0.883586808295,0.00503332379033,0.872632208295
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491651593415,0.883586231737,0.0050333036108,0.872631631737
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491649129194,0.88358563435,0.00503328270225,0.87263103435
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491646078947,0.883584894896,0.00503325682137,0.872630294896
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491642721213,0.883579924313,0.00503323057573,0.872625403099
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491657381142,0.88356709449,0.0050333660014,0.872612743784
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491652162472,0.883542055097,0.00503330554688,0.872588206394
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.0049165980814,0.883500388679,0.00503337481293,0.872547219551
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491641327761,0.883438740078,0.00503318618302,0.872486541486
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491645659931,0.883361632784,0.00503325892125,0.872410636895
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.00491645614955,0.883271143655,0.00503327925529,0.872321540634
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491646563765,0.883163049774,0.00503327453025,0.872215175947
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491626557884,0.883044253604,0.00503307351495,0.872098129975
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491634148826,0.882921317263,0.00503321884647,0.871977089971
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118,1.966666667,pose3-to-pose4-insert,0.00491626651883,0.882788343499,0.00503314536209,0.87184613791
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119,1.983333333,pose3-to-pose4-insert,0.00491634215268,0.882642884526,0.00503325673074,0.871702913343
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120,2.000000000,pose3-to-pose4-insert,0.00491639417129,0.882497912802,0.00503332822286,0.871560214461
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121,2.016666667,pose3-to-pose4-insert,0.00491644256396,0.882351610039,0.00503338265343,0.871416091352
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122,2.033333333,pose3-to-pose4-insert,0.00491667669236,0.882193529381,0.00503364227345,0.871260423327
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123,2.050000000,pose3-to-pose4-insert,0.00491676003704,0.882028766886,0.00503374063199,0.871097998338
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124,2.066666667,pose3-to-pose4-insert,0.00491683820433,0.881858077201,0.00503382710869,0.87092941756
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125,2.083333333,pose3-to-pose4-insert,0.00491714298086,0.881676832627,0.00503415940712,0.870730457694
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126,2.100000000,pose3-to-pose4-insert,0.00491732009299,0.881488148234,0.00503421197109,0.870533596857
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127,2.116666667,pose3-to-pose4-insert,0.00491751151481,0.88128801236,0.00503444683286,0.870336661317
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128,2.133333333,pose3-to-pose4-insert,0.0049176837443,0.881088609771,0.00503467942476,0.870140452084
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129,2.150000000,pose3-to-pose4-insert,0.00491795991502,0.880897878464,0.00503499527479,0.869952828197
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130,2.166666667,pose3-to-pose4-insert,0.00491822386695,0.880708581659,0.00503527569044,0.869766449295
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131,2.183333333,pose3-to-pose4-insert,0.0049184169545,0.880515991542,0.00503551691173,0.869576858421
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132,2.200000000,pose3-to-pose4-insert,0.00491878328425,0.88033538584,0.00503591053515,0.869399111062
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133,2.216666667,pose3-to-pose4-insert,0.00491912360095,0.88016127265,0.00503627867125,0.869227552922
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134,2.233333333,pose3-to-pose4-insert,0.00491911782774,0.879985913977,0.00503609632337,0.869040623268
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135,2.250000000,pose3-to-pose4-insert,0.00491891434236,0.879815204829,0.00503566786623,0.868860388843
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136,2.266666667,pose3-to-pose4-insert,0.00491884263482,0.879657287049,0.00503566971433,0.86870455954
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137,2.283333333,pose3-to-pose4-insert,0.00491863703936,0.879508204683,0.00503545351485,0.868557885968
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138,2.300000000,pose3-to-pose4-insert,0.00491859603446,0.879365053582,0.00503547949069,0.868417058268
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139,2.316666667,pose3-to-pose4-insert,0.00491840400529,0.879235039717,0.00503531296141,0.86828907991
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140,2.333333333,pose3-to-pose4-insert,0.00491804367549,0.879121690301,0.00503498087336,0.868177400194
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141,2.350000000,pose3-to-pose4-insert,0.00491774365859,0.879013537084,0.00503471466896,0.868070958346
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142,2.366666667,pose3-to-pose4-insert,0.00491780196393,0.878914051981,0.00503477415853,0.867971329731
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143,2.383333333,pose3-to-pose4-insert,0.00491761140321,0.878824895132,0.00503444721306,0.867873334136
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144,2.400000000,pose3-to-pose4-insert,0.00491739954986,0.878744062653,0.0050341908914,0.867788647458
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145,2.416666667,pose3-to-pose4-insert,0.00491699603854,0.878669003328,0.00503383733959,0.867714858536
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146,2.433333333,pose3-to-pose4-insert,0.00491701235767,0.87860812204,0.00503387977598,0.867654209912
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147,2.450000000,pose3-to-pose4-insert,0.00491690815792,0.878558973884,0.00503379030022,0.867604722421
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148,2.466666667,pose3-to-pose4-insert,0.00491674725983,0.878519068575,0.00503365052647,0.867564816268
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149,2.483333333,pose3-to-pose4-insert,0.00491677423088,0.878484977487,0.0050337078058,0.867529889834
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150,2.500000000,pose3-to-pose4-insert,0.00491682946567,0.878459680977,0.00503378362905,0.867504111206
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151,2.516666667,pose3-to-pose4-insert,0.00491677420026,0.878439786737,0.00503376088772,0.867484174393
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152,2.533333333,pose3-to-pose4-insert,0.00491654721718,0.878424005756,0.00503355590231,0.86746865838
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153,2.550000000,pose3-to-pose4-insert,0.00491642193214,0.878412761657,0.00503340643954,0.867457603545
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154,2.566666667,pose3-to-pose4-insert,0.00491643347896,0.878406182916,0.00503339349116,0.867451183221
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155,2.583333333,pose3-to-pose4-insert,0.00491657898345,0.878400992947,0.00503354270277,0.86744608593
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156,2.600000000,pose3-to-pose4-insert,0.00491657967263,0.878397932095,0.00503354969693,0.867442687849
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157,2.616666667,pose3-to-pose4-insert,0.00491645654942,0.878395831213,0.00503340900734,0.867440531213
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158,2.633333333,pose3-to-pose4-insert,0.004916634,0.8783949,0.005033564,0.8674395
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159,2.650000000,pose4-hold,0.004916634,0.8783949,0.005033516,0.8674393
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160,2.666666667,pose4-hold,0.004916634,0.8783949,0.00503350661765,0.867439214706
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161,2.683333333,pose4-hold,0.004916634,0.8783949,0.00503350711765,0.8674392
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162,2.700000000,pose4-hold,0.004916634,0.8783949,0.00503350967647,0.867439255882
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163,2.716666667,pose4-hold,0.004916634,0.8783949,0.00503351182353,0.8674393
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164,2.733333333,pose4-hold,0.004916634,0.8783949,0.00503351670588,0.8674393
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165,2.750000000,pose4-hold,0.004916634,0.8783949,0.00503352923529,0.8674393
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166,2.766666667,pose4-hold,0.004916634,0.8783949,0.00503354544118,0.8674393
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167,2.783333333,pose4-hold,0.004916634,0.8783949,0.00503354105882,0.8674393
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168,2.800000000,pose4-hold,0.004916634,0.8783949,0.00503354067647,0.8674393
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169,2.816666667,pose4-hold,0.004916634,0.8783949,0.00503354152941,0.8674393
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170,2.833333333,pose4-hold,0.004916634,0.8783949,0.005033542,0.8674393
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171,2.850000000,pose4-hold,0.004916634,0.8783949,0.00503354223529,0.8674393
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172,2.866666667,pose4-hold,0.004916634,0.8783949,0.005033543,0.8674393
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173,2.883333333,pose4-hold,0.004916634,0.8783949,0.005033543,0.8674393
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174,2.900000000,pose4-hold,0.004916634,0.8783949,0.00503354379412,0.8674393
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175,2.916666667,pose4-hold,0.004916634,0.8783949,0.005033544,0.8674393
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176,2.933333333,pose4-hold,0.004916634,0.8783949,0.005033544,0.8674393
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177,2.950000000,pose4-hold,0.004916634,0.8783949,0.005033544,0.8674393
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178,2.966666667,pose4-hold,0.004916634,0.8783949,0.005033544,0.8674393
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179,2.983333333,pose4-hold,0.004916634,0.8783949,0.005033544,0.8674393
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180,3.000000000,pose4-hold,0.004916634,0.8783949,0.005033544,0.8674393
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181,3.016666667,pose4-hold,0.004916634,0.8783949,0.00503353711765,0.8674393
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182,3.033333333,pose4-hold,0.004916634,0.8783949,0.00503353623529,0.8674393
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183,3.050000000,pose4-hold,0.004916634,0.8783949,0.00503353747059,0.8674393
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184,3.066666667,pose4-hold,0.004916634,0.8783949,0.005033538,0.8674393
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185,3.083333333,pose4-hold,0.004916634,0.8783949,0.00503353817647,0.8674393
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186,3.100000000,pose4-hold,0.004916634,0.8783949,0.005033539,0.8674393
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187,3.116666667,pose4-hold,0.004916634,0.8783949,0.005033539,0.8674393
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188,3.133333333,pose4-hold,0.004916634,0.8783949,0.005033539,0.8674393
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189,3.150000000,pose4-hold,0.004916634,0.8783949,0.00503353958824,0.8674393
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191,3.183333333,pose4-hold,0.004916634,0.8783949,0.00503354,0.8674393
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192,3.200000000,pose4-hold,0.004916634,0.8783949,0.00503354014706,0.8674393
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193,3.216666667,pose4-hold,0.004916634,0.8783949,0.005033541,0.8674393
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194,3.233333333,pose4-to-pose5-return,0.004916604,0.8783949,0.005033518,0.8674393
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195,3.250000000,pose4-to-pose5-return,0.00491617639427,0.878395346573,0.00503309859287,0.867439746573
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196,3.266666667,pose4-to-pose5-return,0.00491582048541,0.878395783552,0.00503274092839,0.86744015159
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199,3.316666667,pose4-to-pose5-return,0.00491445060629,0.878397427164,0.00503138266654,0.867441830559
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201,3.350000000,pose4-to-pose5-return,0.00491394861986,0.878397916012,0.00503089076261,0.867442380514
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202,3.366666667,pose4-to-pose5-return,0.00491336198002,0.878398478696,0.00503030958188,0.867442958789
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204,3.400000000,pose4-to-pose5-return,0.00491144528149,0.878400289343,0.00502839029672,0.867444640104
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205,3.416666667,pose4-to-pose5-return,0.00491047109787,0.878401227641,0.00502741671033,0.867445527641
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Part2/Free/s1/ball_PLA_15/width_04/pick/camera_frames_60hz.tar
ADDED
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Part2/Free/s1/ball_PLA_15/width_04/pick/fem_node.csv
ADDED
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The diff for this file is too large to render.
See raw diff
|
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|
Part2/Free/s1/ball_PLA_15/width_04/pick/franka_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
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|
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|
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|
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|
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 194 |
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| 197 |
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| 198 |
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196,3.266666667,pose2-hold,1.79302070439e+18,camera_frames_60hz/WAIT_POSE2/camera_00003004_1793020704385577915_interpolated.jpg,0.675885753706,-0.00537952030098,0.134508014601,0.999999919157,0.000101529744185,-0.000379737719677,-8.47155349055e-05,0.0460014715791
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198,3.300000000,pose2-hold,1.79302070443e+18,camera_frames_60hz/WAIT_POSE2/camera_00003005_1793020704415840581_real.jpg,0.675885189321,-0.00537717895492,0.134507052621,0.999999918328,0.000104659040376,-0.000381186655762,-8.41826952021e-05,0.0460014715791
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| 201 |
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| 202 |
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| 203 |
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201,3.350000000,pose2-hold,1.79302070448e+18,camera_frames_60hz/WAIT_POSE2/camera_00003008_1793020704486750003_interpolated.jpg,0.675884860477,-0.00537644683876,0.134505800105,0.999999918316,0.00010165517333,-0.000381764446839,-8.53807766544e-05,0.0460014715791
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| 204 |
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| 205 |
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| 206 |
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204,3.400000000,pose2-hold,1.79302070453e+18,camera_frames_60hz/WAIT_POSE2/camera_00003010_1793020704536123488_interpolated.jpg,0.675884081613,-0.00537893978225,0.13450598466,0.999999918054,0.000100063595971,-0.000382858728056,-8.54362631867e-05,0.0460014715791
|
Part2/Free/s1/ball_PLA_15/width_04/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,4.295326e-06,0.8346294
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| 3 |
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| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.26945913676e-05,0.845590315164,4.11133538371e-06,0.834630329559
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| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.26825331686e-05,0.845591068306,4.11206695716e-06,0.834631168306
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.26854438411e-05,0.84559188591,4.12257590181e-06,0.83463198591
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| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26861723169e-05,0.845592090538,4.12520605443e-06,0.834632190538
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26869059416e-05,0.845592296613,4.12785479659e-06,0.834632396613
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.26886385084e-05,0.845592625345,4.12815245983e-06,0.834632720123
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8,0.133333333,pose1-to-pose2-lift,-8.26910315714e-05,0.845592922774,4.12265560287e-06,0.834633005159
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.26939422724e-05,0.845593284539,4.11596973328e-06,0.83463335185
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.26984846518e-05,0.845593849102,4.10553590407e-06,0.83463389289
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| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.27051058801e-05,0.845594672041,4.09032696671e-06,0.834634681539
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| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.2668903392e-05,0.845595843398,4.12876883357e-06,0.834635843398
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| 15 |
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| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.26072677404e-05,0.845597372107,4.19788799531e-06,0.834637372107
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| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.25946762387e-05,0.845598434768,4.21525216541e-06,0.834638419889
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,-8.27367247286e-05,0.84560127271,4.08345621634e-06,0.834641131701
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,-8.26432389659e-05,0.845607069967,4.17729340845e-06,0.834646790146
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,-8.26240004225e-05,0.845615880728,4.17537624516e-06,0.834655577709
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| 21 |
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19,0.316666667,pose1-to-pose2-lift,-8.27108098113e-05,0.84563067826,4.09685244173e-06,0.834670178635
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| 22 |
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20,0.333333333,pose1-to-pose2-lift,-8.27139634206e-05,0.845654208082,4.08857141572e-06,0.83469326546
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21,0.350000000,pose1-to-pose2-lift,-8.28262231576e-05,0.845687893447,3.98267570462e-06,0.834726495037
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,-8.28099925872e-05,0.84572942234,3.98531031756e-06,0.834767256824
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| 25 |
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23,0.383333333,pose1-to-pose2-lift,-8.3054400315e-05,0.845779578535,3.76810685883e-06,0.834816714954
|
| 26 |
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24,0.400000000,pose1-to-pose2-lift,-8.3089383155e-05,0.845834880591,3.72266694451e-06,0.834871068522
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| 27 |
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25,0.416666667,pose1-to-pose2-lift,-8.31421154244e-05,0.845891867948,3.65974882225e-06,0.834927254171
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| 28 |
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26,0.433333333,pose1-to-pose2-lift,-8.34506805065e-05,0.845951661353,3.34869974734e-06,0.834986097318
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| 29 |
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27,0.450000000,pose1-to-pose2-lift,-8.33590426112e-05,0.846021487044,3.42573511304e-06,0.83505484119
|
| 30 |
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149,2.483333333,pose1-to-pose2-lift,-8.32369385914e-05,0.883339463162,2.65963523565e-06,0.872351269822
|
| 152 |
+
150,2.500000000,pose1-to-pose2-lift,-8.30900797312e-05,0.883373738054,2.79180201389e-06,0.87238525093
|
| 153 |
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151,2.516666667,pose1-to-pose2-lift,-8.30966851562e-05,0.883403624922,2.79944024943e-06,0.872414722833
|
| 154 |
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152,2.533333333,pose1-to-pose2-lift,-8.3168240107e-05,0.883431801156,2.70442020329e-06,0.872442717869
|
| 155 |
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153,2.550000000,pose1-to-pose2-lift,-8.32230061478e-05,0.883458399253,2.68014736507e-06,0.872469034555
|
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154,2.566666667,pose1-to-pose2-lift,-8.32515283155e-05,0.883481298124,2.65791904612e-06,0.872491732593
|
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155,2.583333333,pose1-to-pose2-lift,-8.32116934754e-05,0.883499552656,2.87274497517e-06,0.872525513537
|
| 158 |
+
156,2.600000000,pose1-to-pose2-lift,-8.32772140256e-05,0.88351456395,2.96562407796e-06,0.872553848661
|
| 159 |
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157,2.616666667,pose1-to-pose2-lift,-8.33464426165e-05,0.883527148003,2.96134632369e-06,0.872572293309
|
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158,2.633333333,pose1-to-pose2-lift,-8.33280884043e-05,0.883538414853,2.96290962769e-06,0.872583195464
|
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159,2.650000000,pose1-to-pose2-lift,-8.32731836872e-05,0.883548190426,3.07490623995e-06,0.872592801027
|
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160,2.666666667,pose1-to-pose2-lift,-8.33484522076e-05,0.883556627977,2.97423343734e-06,0.872600975461
|
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161,2.683333333,pose1-to-pose2-lift,-8.33982332533e-05,0.883564012224,2.90231538209e-06,0.872608156639
|
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162,2.700000000,pose1-to-pose2-lift,-8.33642487595e-05,0.883568898684,2.92643174043e-06,0.872612945372
|
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163,2.716666667,pose1-to-pose2-lift,-8.33434119693e-05,0.883572826939,2.94271700009e-06,0.872616800731
|
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164,2.733333333,pose1-to-pose2-lift,-8.33928010918e-05,0.883575976475,2.89309862057e-06,0.872619877022
|
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165,2.750000000,pose1-to-pose2-lift,-8.34147761937e-05,0.883578703027,2.86146028779e-06,0.872622512926
|
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166,2.766666667,pose1-to-pose2-lift,-8.32105373659e-05,0.883581183489,3.07918785804e-06,0.87262489251
|
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167,2.783333333,pose1-to-pose2-lift,-8.32924368511e-05,0.883583423508,2.95334333097e-06,0.872627066825
|
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168,2.800000000,pose1-to-pose2-lift,-8.3303406003e-05,0.883584569499,3.00402303586e-06,0.872628669499
|
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169,2.816666667,pose1-to-pose2-lift,-8.323152e-05,0.8835847,3.064655e-06,0.8726288
|
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170,2.833333333,pose2-hold,-8.323152e-05,0.8835847,3.062603e-06,0.8726288
|
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171,2.850000000,pose2-hold,-8.323152e-05,0.8835847,3.06038364706e-06,0.8726288
|
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172,2.866666667,pose2-hold,-8.323152e-05,0.8835847,3.05839794118e-06,0.8726288
|
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173,2.883333333,pose2-hold,-8.323152e-05,0.8835847,3.05077376471e-06,0.872629135294
|
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174,2.900000000,pose2-hold,-8.323152e-05,0.8835847,3.04226005882e-06,0.872629564706
|
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175,2.916666667,pose2-hold,-8.323152e-05,0.8835847,3.03844938235e-06,0.8726298
|
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176,2.933333333,pose2-hold,-8.323152e-05,0.8835847,3.04000247059e-06,0.8726298
|
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177,2.950000000,pose2-hold,-8.323152e-05,0.8835847,3.04106438235e-06,0.8726298
|
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178,2.966666667,pose2-hold,-8.323152e-05,0.8835847,3.04147982353e-06,0.8726298
|
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179,2.983333333,pose2-hold,-8.323152e-05,0.8835847,3.04313447059e-06,0.872629732353
|
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180,3.000000000,pose2-hold,-8.323152e-05,0.8835847,3.04341688235e-06,0.8726297
|
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181,3.016666667,pose2-hold,-8.323152e-05,0.8835847,3.04276002941e-06,0.8726297
|
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182,3.033333333,pose2-hold,-8.323152e-05,0.8835847,3.04224176471e-06,0.8726297
|
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183,3.050000000,pose2-hold,-8.323152e-05,0.8835847,3.04176452941e-06,0.8726297
|
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184,3.066666667,pose2-hold,-8.323152e-05,0.8835847,3.04130564706e-06,0.8726297
|
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185,3.083333333,pose2-hold,-8.323152e-05,0.8835847,3.04087852941e-06,0.8726297
|
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186,3.100000000,pose2-hold,-8.323152e-05,0.8835847,3.04048547059e-06,0.8726297
|
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187,3.116666667,pose2-hold,-8.323152e-05,0.8835847,3.040129e-06,0.87262965
|
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188,3.133333333,pose2-hold,-8.323152e-05,0.8835847,3.03980994118e-06,0.8726296
|
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189,3.150000000,pose2-hold,-8.323152e-05,0.8835847,3.03952829412e-06,0.8726296
|
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190,3.166666667,pose2-hold,-8.323152e-05,0.8835847,3.03928394118e-06,0.8726296
|
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191,3.183333333,pose2-hold,-8.323152e-05,0.8835847,3.03908008824e-06,0.8726296
|
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192,3.200000000,pose2-hold,-8.323152e-05,0.8835847,3.03891370588e-06,0.8726296
|
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193,3.216666667,pose2-hold,-8.323152e-05,0.8835847,3.03876461765e-06,0.8726296
|
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194,3.233333333,pose2-hold,-8.323152e-05,0.8835847,3.03868870588e-06,0.8726296
|
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195,3.250000000,pose2-hold,-8.323152e-05,0.8835847,3.03859641176e-06,0.8726296
|
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196,3.266666667,pose2-hold,-8.323152e-05,0.8835847,3.03841129412e-06,0.8726296
|
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197,3.283333333,pose2-hold,-8.323152e-05,0.8835847,3.03907755882e-06,0.872629605882
|
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198,3.300000000,pose2-hold,-8.323152e-05,0.8835847,3.06093076471e-06,0.872629776471
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199,3.316666667,pose2-hold,-8.323152e-05,0.8835847,3.06317073529e-06,0.872629726471
|
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200,3.333333333,pose2-hold,-8.323152e-05,0.8835847,3.06123258824e-06,0.872629758824
|
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201,3.350000000,pose2-hold,-8.323152e-05,0.8835847,3.06271629412e-06,0.872629844118
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202,3.366666667,pose2-hold,-8.323152e-05,0.8835847,3.06559229412e-06,0.8726299
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203,3.383333333,pose2-hold,-8.323152e-05,0.8835847,3.06446505882e-06,0.8726299
|
| 206 |
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204,3.400000000,pose2-hold,-8.323152e-05,0.8835847,3.064535e-06,0.8726299
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Part2/Free/s1/ball_PLA_15/width_05/insert/camera_frames_60hz.tar
ADDED
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Part2/Free/s1/ball_PLA_15/width_05/insert/fem_node.csv
ADDED
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Part2/Free/s1/ball_PLA_15/width_05/insert/franka_data.csv
ADDED
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Part2/Free/s1/ball_PLA_15/width_05/insert/simulation_data.csv
ADDED
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.239633e-05,0.8835851,1.719874e-06,0.8726302
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.23288438903e-05,0.8835851,1.77777007123e-06,0.8726302
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.20258841575e-05,0.883585054863,2.07436607049e-06,0.872630154863
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.15873204694e-05,0.883585004855,2.507011198e-06,0.872630104855
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.12019840094e-05,0.883585027896,2.89363702825e-06,0.872630127896
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.06624601911e-05,0.883585060156,3.43496614157e-06,0.872630160156
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.01652164632e-05,0.883585089888,3.93387369142e-06,0.872630189888
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.97524098091e-05,0.8835851,4.34504546991e-06,0.8726302
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.96260108353e-05,0.8835851,4.47030300493e-06,0.8726302
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.90988450391e-05,0.8835851,4.99270825983e-06,0.8726302
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.61289274656e-05,0.8835851,7.93615461862e-06,0.872630193062
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.90760433146e-05,0.883585077703,1.49347364165e-05,0.872630077703
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-4.84139724331e-05,0.883585109558,3.54194817236e-05,0.872630204779
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-1.33746798428e-05,0.8835853,7.0129952673e-05,0.872630378643
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,3.66975480144e-05,0.883585525149,0.00011977419852,0.872630525149
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000100333055606,0.883585605938,0.000182905618833,0.872630605938
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.00017932755295,0.883586,0.000261255905018,0.872630938008
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000275708572282,0.883586327866,0.000356836207337,0.872631327866
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000376642430214,0.883586544434,0.000456936748143,0.872631544434
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.00048135053921,0.88358706986,0.0005607545148,0.872632046574
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000597450376068,0.883587560898,0.000675858418828,0.872632460898
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000723692451835,0.883588099209,0.000800985360979,0.872632999209
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000857268169368,0.883588318091,0.000933375761446,0.872633159045
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00099926760232,0.883588601713,0.00108166129388,0.872633603425
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00115497654211,0.8835887,0.00123950897615,0.87263372135
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00131682222633,0.883588964478,0.00140259318691,0.872633964478
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00148374122073,0.883589,0.00156814278012,0.872634
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00164811745716,0.883588803092,0.00173867086535,0.872634
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00182688945542,0.883588780403,0.00191594982443,0.872633886935
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00201235635548,0.88358854838,0.00210620594063,0.87263374838
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00219560930285,0.883588663698,0.00229114281322,0.872633886415
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00238010912238,0.8835882,0.00247510603595,0.872633470729
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.0025648982717,0.8835882,0.00266146771898,0.8726334
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00274412114054,0.88358812036,0.00284097097959,0.87263332036
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00292721843413,0.883587905506,0.00302724521186,0.872633152753
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00310636848792,0.883587963405,0.00320668283281,0.872633317873
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00328146499297,0.883588596263,0.00338021829807,0.87263393423
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00345387504941,0.883588828401,0.00355120600401,0.872634056802
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00361253339729,0.883589183973,0.00370861242059,0.872634383973
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00375119520391,0.883589446249,0.00384628519502,0.872634646249
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00388640172103,0.883589860792,0.00398071656096,0.872635060792
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00402210772856,0.883589844469,0.00412515242251,0.8726352
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00413964127985,0.883589723823,0.00424412457501,0.872635123823
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00424927841009,0.883589549295,0.00435278572292,0.872635024647
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00435290286696,0.883589732214,0.00445545017104,0.872635154809
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.0044478945428,0.8835898,0.00454954872272,0.8726352
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00452267841137,0.883589872165,0.00462917717189,0.8726352
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.0045961442835,0.8835899,0.0047054169277,0.872635272192
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00466179460615,0.883589751598,0.0047730962644,0.872635151598
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00471748600829,0.883589625045,0.00482897600233,0.872635025045
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00476327647156,0.883589745459,0.00487437910074,0.872635218188
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00480242941037,0.883590018472,0.00491321019978,0.872635518472
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00483194944469,0.883589968192,0.00494405908335,0.872635336384
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00485708235938,0.883589706548,0.00496976730849,0.872635006548
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00487726783092,0.883589734829,0.00499052411997,0.872635102243
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00489341898856,0.883589642456,0.00500688743413,0.872635042456
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00490409453781,0.883589778412,0.00501805014852,0.872635089206
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00491110057043,0.883589879042,0.00502505922708,0.872635272056
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491485295775,0.8835896,0.00502909095884,0.872634952935
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004916457,0.8835895,0.005030859,0.8726349
|
| 62 |
+
60,1.000000000,pose3-hold,0.004916457,0.8835895,0.005031012,0.8726349
|
| 63 |
+
61,1.016666667,pose3-hold,0.004916457,0.8835895,0.00503115785294,0.8726349
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916457,0.8835895,0.00503113358824,0.8726349
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916457,0.8835895,0.00503110294118,0.8726349
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916457,0.8835895,0.00503108882353,0.8726349
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916457,0.8835895,0.00503107655882,0.8726349
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916457,0.8835895,0.00503106711765,0.8726349
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916457,0.8835895,0.00503106797059,0.8726349
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916457,0.8835895,0.00503105976471,0.8726349
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916457,0.8835895,0.00503105123529,0.8726349
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916457,0.8835895,0.00503104747059,0.8726349
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916457,0.8835895,0.00503104394118,0.8726349
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916457,0.8835895,0.00503103688235,0.8726349
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916457,0.8835895,0.00503102929412,0.8726349
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916457,0.8835895,0.00503102247059,0.8726349
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916457,0.8835895,0.00503101723529,0.8726349
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916457,0.8835895,0.00503101211765,0.8726349
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916457,0.8835895,0.0050310075,0.8726349
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916457,0.8835895,0.00503102264706,0.8726349
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916457,0.8835895,0.00503105088235,0.8726349
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916457,0.8835895,0.00503103476471,0.8726349
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916457,0.8835895,0.00503103135294,0.8726349
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916457,0.8835895,0.00503106541176,0.8726349
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916457,0.8835895,0.00503106364706,0.8726349
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916457,0.8835895,0.00503105317647,0.8726349
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916457,0.8835895,0.00503104838235,0.8726349
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916457,0.8835895,0.00503104429412,0.8726349
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916457,0.8835895,0.00503104088235,0.8726349
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916457,0.8835895,0.00503103747059,0.8726349
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916457,0.8835895,0.00503103626471,0.8726349
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916457,0.8835895,0.00503103482353,0.8726349
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916457,0.8835895,0.00503103223529,0.8726349
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916457,0.8835895,0.00503104176471,0.8726349
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916457,0.8835895,0.00503106779412,0.8726349
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916457,0.8835895,0.005031055,0.8726349
|
| 97 |
+
95,1.583333333,pose3-to-pose4-insert,0.004916457,0.8835895,0.005031051,0.8726349
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.00491636822947,0.883589450683,0.00503095433875,0.872634850683
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491626962572,0.883589300348,0.00503085021668,0.872634700348
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491624629984,0.883588843033,0.00503083599296,0.872634246384
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491627787572,0.883588557507,0.00503086101852,0.872633977653
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491630981408,0.883588268703,0.00503088633137,0.872633705838
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491640733981,0.883587386821,0.0050309636257,0.872632875831
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491640004664,0.883586394564,0.00503096057478,0.872631894564
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491638123393,0.883585852503,0.00503094750155,0.872631352503
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491635895338,0.883585210521,0.00503093201845,0.872630710521
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491634685658,0.883584861969,0.0050309236122,0.872630361969
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491631885725,0.883584055209,0.00503090415504,0.872629555209
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491636810516,0.88358203013,0.00503094875853,0.87262753013
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491644622192,0.883575345714,0.00503101368903,0.872620882391
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491610367226,0.883558909922,0.00503068569265,0.872604767502
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491628724699,0.883524883682,0.00503087153644,0.872571344835
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491609968176,0.883475811657,0.0050306695006,0.872523002599
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491591276816,0.883406090736,0.00503050361853,0.872454313181
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491611442594,0.883318252921,0.00503071690563,0.872367895394
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.0049158340704,0.883219969803,0.00503047575662,0.872271126108
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491566626751,0.883114375052,0.0050302866535,0.872167179989
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491540424788,0.882990409789,0.0050300524032,0.872045133537
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.0049152631595,0.8828645196,0.00502992615173,0.871921089254
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00491521577391,0.882727740707,0.00502991584146,0.871786504884
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.00491568825548,0.882577531297,0.00503039425404,0.871638573242
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00491587689393,0.88242575937,0.00503060075956,0.871489128017
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491624072091,0.882280053613,0.00503096714397,0.871345569001
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.00491668959773,0.882125820682,0.00503141950584,0.871193604703
|
| 125 |
+
123,2.050000000,pose3-to-pose4-insert,0.00491713566136,0.881958507828,0.00503185653679,0.871021664001
|
| 126 |
+
124,2.066666667,pose3-to-pose4-insert,0.0049174048335,0.881783634708,0.00503203075552,0.87083335252
|
| 127 |
+
125,2.083333333,pose3-to-pose4-insert,0.00491781926144,0.881596407607,0.00503240634904,0.870642935667
|
| 128 |
+
126,2.100000000,pose3-to-pose4-insert,0.00491821609585,0.881406512424,0.00503281743994,0.870456083382
|
| 129 |
+
127,2.116666667,pose3-to-pose4-insert,0.00491874565195,0.881213221156,0.00503337601303,0.870265829131
|
| 130 |
+
128,2.133333333,pose3-to-pose4-insert,0.00491915800067,0.881019868379,0.00503380472568,0.870075522135
|
| 131 |
+
129,2.150000000,pose3-to-pose4-insert,0.00491877401766,0.880835433609,0.00503349407534,0.869893994115
|
| 132 |
+
130,2.166666667,pose3-to-pose4-insert,0.00491856609225,0.880649527045,0.00503335004602,0.869710938686
|
| 133 |
+
131,2.183333333,pose3-to-pose4-insert,0.00491838070069,0.880455668076,0.00503320775098,0.869520073105
|
| 134 |
+
132,2.200000000,pose3-to-pose4-insert,0.0049178976398,0.880268422926,0.00503272902946,0.869333423542
|
| 135 |
+
133,2.216666667,pose3-to-pose4-insert,0.00491761084004,0.880094343827,0.00503227829232,0.86914567399
|
| 136 |
+
134,2.233333333,pose3-to-pose4-insert,0.00491760855688,0.879911564526,0.00503213569619,0.868956992389
|
| 137 |
+
135,2.250000000,pose3-to-pose4-insert,0.00491728379615,0.879743854218,0.00503183991038,0.868791998355
|
| 138 |
+
136,2.266666667,pose3-to-pose4-insert,0.00491717347559,0.879587318893,0.0050317714699,0.868637877689
|
| 139 |
+
137,2.283333333,pose3-to-pose4-insert,0.00491724605397,0.879434587333,0.00503188209653,0.868487636061
|
| 140 |
+
138,2.300000000,pose3-to-pose4-insert,0.00491727810548,0.879298885827,0.00503194762387,0.86835409294
|
| 141 |
+
139,2.316666667,pose3-to-pose4-insert,0.00491720693217,0.879184142686,0.00503190581099,0.868241095094
|
| 142 |
+
140,2.333333333,pose3-to-pose4-insert,0.00491721114846,0.879070829144,0.00503185932076,0.868123533248
|
| 143 |
+
141,2.350000000,pose3-to-pose4-insert,0.00491739577435,0.878970146425,0.00503197682042,0.86801663457
|
| 144 |
+
142,2.366666667,pose3-to-pose4-insert,0.00491748901903,0.878879396905,0.00503208244243,0.86792466871
|
| 145 |
+
143,2.383333333,pose3-to-pose4-insert,0.00491752813052,0.878789590439,0.0050321424398,0.867836451606
|
| 146 |
+
144,2.400000000,pose3-to-pose4-insert,0.00491763755729,0.878709158154,0.00503224390815,0.867757334911
|
| 147 |
+
145,2.416666667,pose3-to-pose4-insert,0.00491786377787,0.878642145887,0.00503249873094,0.86769140084
|
| 148 |
+
146,2.433333333,pose3-to-pose4-insert,0.00491787881539,0.878583318465,0.00503252049231,0.867633566157
|
| 149 |
+
147,2.450000000,pose3-to-pose4-insert,0.0049178085604,0.878535771215,0.00503245744383,0.867582755064
|
| 150 |
+
148,2.466666667,pose3-to-pose4-insert,0.00491814409469,0.87849897966,0.00503279752706,0.86754350605
|
| 151 |
+
149,2.483333333,pose3-to-pose4-insert,0.00491813105874,0.878467921735,0.00503276669916,0.867511772028
|
| 152 |
+
150,2.500000000,pose3-to-pose4-insert,0.00491808796662,0.878445749651,0.0050327233837,0.867489952497
|
| 153 |
+
151,2.516666667,pose3-to-pose4-insert,0.00491826880517,0.878428342783,0.00503290110311,0.867472864906
|
| 154 |
+
152,2.533333333,pose3-to-pose4-insert,0.00491814532718,0.878414053966,0.00503280031742,0.867458653966
|
| 155 |
+
153,2.550000000,pose3-to-pose4-insert,0.00491817662688,0.878403784559,0.0050328282064,0.867448547708
|
| 156 |
+
154,2.566666667,pose3-to-pose4-insert,0.00491815085707,0.878397485707,0.0050328315714,0.867442114278
|
| 157 |
+
155,2.583333333,pose3-to-pose4-insert,0.00491816038302,0.878392990338,0.0050328500559,0.867437646101
|
| 158 |
+
156,2.600000000,pose3-to-pose4-insert,0.004918196,0.8783908,0.005032912,0.8674352
|
| 159 |
+
157,2.616666667,pose4-hold,0.004918196,0.8783908,0.005032906,0.8674352
|
| 160 |
+
158,2.633333333,pose4-hold,0.004918196,0.8783908,0.0050329002,0.8674352
|
| 161 |
+
159,2.650000000,pose4-hold,0.004918196,0.8783908,0.00503290097143,0.8674352
|
| 162 |
+
160,2.666666667,pose4-hold,0.004918196,0.8783908,0.005032902,0.867435248571
|
| 163 |
+
161,2.683333333,pose4-hold,0.004918196,0.8783908,0.00503289665714,0.867435268571
|
| 164 |
+
162,2.700000000,pose4-hold,0.004918196,0.8783908,0.00503288571429,0.867435214286
|
| 165 |
+
163,2.716666667,pose4-hold,0.004918196,0.8783908,0.00503288985714,0.867435297143
|
| 166 |
+
164,2.733333333,pose4-hold,0.004918196,0.8783908,0.0050328908,0.8674353
|
| 167 |
+
165,2.750000000,pose4-hold,0.004918196,0.8783908,0.005032891,0.8674353
|
| 168 |
+
166,2.766666667,pose4-hold,0.004918196,0.8783908,0.00503289145714,0.8674353
|
| 169 |
+
167,2.783333333,pose4-hold,0.004918196,0.8783908,0.005032892,0.8674353
|
| 170 |
+
168,2.800000000,pose4-hold,0.004918196,0.8783908,0.005032892,0.8674353
|
| 171 |
+
169,2.816666667,pose4-hold,0.004918196,0.8783908,0.005032892,0.8674353
|
| 172 |
+
170,2.833333333,pose4-hold,0.004918196,0.8783908,0.00503289277143,0.8674353
|
| 173 |
+
171,2.850000000,pose4-hold,0.004918196,0.8783908,0.005032893,0.8674353
|
| 174 |
+
172,2.866666667,pose4-hold,0.004918196,0.8783908,0.005032893,0.8674353
|
| 175 |
+
173,2.883333333,pose4-hold,0.004918196,0.8783908,0.005032893,0.8674353
|
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+
174,2.900000000,pose4-hold,0.004918196,0.8783908,0.005032893,0.8674353
|
| 177 |
+
175,2.916666667,pose4-hold,0.004918196,0.8783908,0.005032893,0.8674353
|
| 178 |
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176,2.933333333,pose4-hold,0.004918196,0.8783908,0.005032893,0.8674353
|
| 179 |
+
177,2.950000000,pose4-hold,0.004918196,0.8783908,0.005032893,0.8674353
|
| 180 |
+
178,2.966666667,pose4-hold,0.004918196,0.8783908,0.005032893,0.8674353
|
| 181 |
+
179,2.983333333,pose4-hold,0.004918196,0.8783908,0.00503289254286,0.8674353
|
| 182 |
+
180,3.000000000,pose4-hold,0.004918196,0.8783908,0.00503289094286,0.8674353
|
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+
181,3.016666667,pose4-hold,0.004918196,0.8783908,0.00503289011429,0.8674353
|
| 184 |
+
182,3.033333333,pose4-hold,0.004918196,0.8783908,0.00503288928571,0.8674353
|
| 185 |
+
183,3.050000000,pose4-hold,0.004918196,0.8783908,0.005032889,0.8674353
|
| 186 |
+
184,3.066666667,pose4-hold,0.004918196,0.8783908,0.005032889,0.8674353
|
| 187 |
+
185,3.083333333,pose4-hold,0.004918196,0.8783908,0.005032889,0.8674353
|
| 188 |
+
186,3.100000000,pose4-hold,0.004918196,0.8783908,0.005032889,0.8674353
|
| 189 |
+
187,3.116666667,pose4-hold,0.004918196,0.8783908,0.005032889,0.8674353
|
| 190 |
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188,3.133333333,pose4-hold,0.004918196,0.8783908,0.005032889,0.8674353
|
| 191 |
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189,3.150000000,pose4-hold,0.004918196,0.8783908,0.005032889,0.8674353
|
| 192 |
+
190,3.166666667,pose4-hold,0.004918196,0.8783908,0.005032889,0.8674353
|
| 193 |
+
191,3.183333333,pose4-hold,0.004918196,0.8783908,0.00503288814286,0.8674353
|
| 194 |
+
192,3.200000000,pose4-hold,0.004918196,0.8783908,0.005032884,0.8674353
|
| 195 |
+
193,3.216666667,pose4-to-pose5-return,0.004918196,0.8783908,0.005032888,0.8674353
|
| 196 |
+
194,3.233333333,pose4-to-pose5-return,0.00491798869522,0.878391540047,0.00503269609569,0.867435940047
|
| 197 |
+
195,3.250000000,pose4-to-pose5-return,0.00491783476519,0.878391805492,0.0050325441061,0.867436205492
|
| 198 |
+
196,3.266666667,pose4-to-pose5-return,0.00491759122211,0.878391878849,0.00503229176026,0.867436278849
|
| 199 |
+
197,3.283333333,pose4-to-pose5-return,0.00491709459239,0.878392028436,0.00503177718006,0.867436428436
|
| 200 |
+
198,3.300000000,pose4-to-pose5-return,0.00491690520869,0.878392085479,0.00503158095117,0.867436485479
|
| 201 |
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199,3.316666667,pose4-to-pose5-return,0.00491664864088,0.878392379166,0.00503132911244,0.867436779166
|
| 202 |
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200,3.333333333,pose4-to-pose5-return,0.00491611733208,0.878393091029,0.00503081430593,0.867437491029
|
| 203 |
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201,3.350000000,pose4-to-pose5-return,0.00491527994226,0.878394212988,0.00503000292517,0.867438612988
|
| 204 |
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202,3.366666667,pose4-to-pose5-return,0.00491443451509,0.878395034395,0.00502916483312,0.867439409071
|
| 205 |
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203,3.383333333,pose4-to-pose5-return,0.00491372595506,0.878395701113,0.00502846110105,0.867440052799
|
| 206 |
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204,3.400000000,pose4-to-pose5-return,0.00491305161116,0.878396335635,0.00502779135197,0.867440665441
|
| 207 |
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205,3.416666667,pose4-to-pose5-return,0.00491042587957,0.878399084239,0.00502517903968,0.867443384239
|
| 208 |
+
206,3.433333333,pose4-to-pose5-return,0.00490495485539,0.878404820399,0.00501974490333,0.867449043329
|
| 209 |
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207,3.450000000,pose4-to-pose5-return,0.00489457949143,0.878415316921,0.00500946028728,0.867459416921
|
| 210 |
+
208,3.466666667,pose4-to-pose5-return,0.00487873402992,0.878431778737,0.00499375666073,0.867475577816
|
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Part2/Free/s1/ball_PLA_15/width_05/pick/camera_frames_60hz.tar
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Part2/Free/s1/ball_PLA_15/width_05/pick/fem_node.csv
ADDED
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ADDED
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79302072382e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003782_1793020723821219043_interpolated.jpg,0.675969832482,-0.00545169877603,0.0969078936931,0.999999967716,0.000135900740112,-0.000193671415685,9.268348632e-05,0.0456494949758
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79302072384e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003783_1793020723852353419_real.jpg,0.675970238724,-0.005451192646,0.0969092586193,0.999999967972,0.000135430947035,-0.000193033524915,9.19373502674e-05,0.0456494949758
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.79302072385e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003783_1793020723852353419_real.jpg,0.675970064976,-0.00545091362657,0.0969097756075,0.999999968023,0.000135073560859,-0.000193181668195,9.15960536122e-05,0.0456348664699
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79302072387e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003784_1793020723870909314_interpolated.jpg,0.67596618599,-0.00545210486481,0.0969048657653,0.999999966755,0.000135434446926,-0.000198340120742,9.38571345216e-05,0.0455260425806
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79302072389e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003785_1793020723889465209_real.jpg,0.675968175731,-0.00545202170403,0.096908017614,0.999999967617,0.000134666611787,-0.000194950752824,9.28713170893e-05,0.0455260425806
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.7930207239e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003785_1793020723889465209_real.jpg,0.675967891016,-0.00545324298014,0.0969070885761,0.999999967516,0.000134448217134,-0.000195451883178,9.32173983579e-05,0.0455260425806
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79302072392e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003786_1793020723921063342_interpolated.jpg,0.675967377932,-0.00545456953401,0.0969057550391,0.999999967317,0.000134301547821,-0.000196344103531,9.36952125546e-05,0.0455260425806
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79302072394e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003787_1793020723952661475_real.jpg,0.675967894397,-0.00545257968022,0.0969068253621,0.999999967325,0.0001356626939,-0.000195524096777,9.33581806791e-05,0.0455260425806
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.79302072395e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003787_1793020723952661475_real.jpg,0.675968409323,-0.00545120754497,0.0969078259187,0.999999967313,0.000136855325879,-0.000194804619147,9.3254465662e-05,0.0455260425806
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79302072397e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003788_1793020723971499672_interpolated.jpg,0.675968912229,-0.00545466257979,0.0969082812853,0.999999967155,0.000136731102073,-0.000194870727759,9.49740084917e-05,0.0455260425806
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79302072399e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003789_1793020723990337869_real.jpg,0.67596766942,-0.00545493414938,0.0969071852177,0.999999967862,0.000131284360276,-0.000196021011846,9.28194883891e-05,0.0455260425806
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.793020724e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003789_1793020723990337869_real.jpg,0.675967270331,-0.00545554773826,0.0969071541517,0.999999967571,0.000131486372259,-0.000197166953139,9.32416914083e-05,0.0455260425806
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79302072402e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003790_1793020724021317720_interpolated.jpg,0.675967021938,-0.00545622973608,0.0969073113775,0.999999967106,0.000132678490727,-0.000198308943254,9.41198154076e-05,0.0455260425806
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79302072404e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003791_1793020724052297572_real.jpg,0.67596597066,-0.00545500530478,0.096907412816,0.999999966592,0.000133833590808,-0.000200816614968,9.26165228015e-05,0.0455260425806
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,1.79302072405e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003791_1793020724052297572_real.jpg,0.675964372921,-0.00545400552618,0.0969069815224,0.999999965859,0.00013458360971,-0.000204478833962,9.14160812537e-05,0.0455260425806
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,1.79302072408e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003792_1793020724071587238_interpolated.jpg,0.675959313027,-0.00545451409213,0.0969031474123,0.999999963722,0.00013274597501,-0.000215468373122,9.22418458435e-05,0.0455260425806
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79302072409e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003793_1793020724090876904_real.jpg,0.675959305432,-0.00545401373324,0.0969037901847,0.999999963483,0.000133542125506,-0.000216360860175,9.15892084644e-05,0.0455077327851
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.79302072411e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003793_1793020724090876904_real.jpg,0.675958137177,-0.00545337003964,0.096910326685,0.999999963173,0.000132077863751,-0.000219632803441,8.92850302351e-05,0.0455043725669
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79302072413e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003794_1793020724121640539_interpolated.jpg,0.675956690087,-0.0054526999819,0.0969181301294,0.999999962814,0.000130106187999,-0.000223475098942,8.66269340265e-05,0.0455043725669
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.79302072414e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003795_1793020724152404174_real.jpg,0.675940477173,-0.00544556391503,0.0969292890583,0.999999953432,0.000132749985426,-0.000263916183443,7.65606924107e-05,0.0455043725669
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.79302072415e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003795_1793020724152404174_real.jpg,0.675925941929,-0.00543947363262,0.0969428683311,0.999999943949,0.000134655480381,-0.000299160730463,6.68815377124e-05,0.0455043725669
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,1.79302072417e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003796_1793020724171695543_interpolated.jpg,0.675925334328,-0.00544158515776,0.09697221794,0.999999946698,0.00013076179693,-0.000292866761858,6.11173616506e-05,0.0455043725669
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79302072419e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003797_1793020724190986912_real.jpg,0.675939443318,-0.00543889485771,0.0970152521887,0.999999953511,0.000131719277808,-0.000269766887201,5.34301057768e-05,0.0455043725669
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,1.79302072421e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003797_1793020724190986912_real.jpg,0.675943750811,-0.00543714531764,0.0970748852494,0.999999955879,0.000126458147111,-0.000265680100297,4.07920756222e-05,0.0455043725669
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79302072423e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003798_1793020724221664037_interpolated.jpg,0.67594571859,-0.00543564315389,0.0971382209991,0.999999957073,0.000119742736441,-0.000266052911772,2.70351689608e-05,0.0455043725669
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.79302072424e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003799_1793020724252341162_real.jpg,0.675943614008,-0.00544602953821,0.0971882794596,0.999999956802,0.000109196080469,-0.000272038403596,2.16068964734e-05,0.0455043725669
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.79302072425e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003799_1793020724252341162_real.jpg,0.675941566865,-0.00545905550868,0.0972447334055,0.999999956636,9.58284694462e-05,-0.000278033821476,1.55668292781e-05,0.0455043725669
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79302072428e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003800_1793020724271628624_interpolated.jpg,0.675940625495,-0.00548720673458,0.0973453806362,0.999999957829,6.47050249983e-05,-0.000283087676231,4.03349034229e-06,0.0455043725669
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,1.79302072429e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003801_1793020724290916086_real.jpg,0.675941083961,-0.00548903969603,0.0973720279397,0.999999957516,6.50463578612e-05,-0.000284141921691,1.09055388185e-06,0.0455032672838
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,1.79302072431e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003801_1793020724290916086_real.jpg,0.675948456545,-0.00547780958159,0.0974707588176,0.999999960075,6.33752447082e-05,-0.00027461189935,-2.05587216525e-05,0.0455030612648
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,1.79302072433e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003802_1793020724321608185_interpolated.jpg,0.67595735775,-0.00546382394593,0.0975859225218,0.999999962538,6.10807614692e-05,-0.000262752236098,-4.64130286914e-05,0.0455030612648
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,1.79302072434e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003803_1793020724352300284_real.jpg,0.675967276931,-0.00545273888136,0.0976974677243,0.999999964703,6.70912014624e-05,-0.000249636714603,-6.14381650981e-05,0.0455030612648
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,1.79302072435e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003803_1793020724352300284_real.jpg,0.675972164115,-0.00544528242726,0.0978176401902,0.999999965436,7.88113227136e-05,-0.000241095702957,-6.9211292845e-05,0.0455030612648
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,1.79302072437e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003804_1793020724370946355_interpolated.jpg,0.675944880647,-0.00546029391025,0.0979917811425,0.999999957372,0.000124351130233,-0.000262105934044,-3.3052792689e-05,0.0455030612648
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,1.79302072439e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003805_1793020724389592427_real.jpg,0.675929228415,-0.00545642993623,0.0980573423671,0.999999954081,8.23672790967e-05,-0.000287866574415,-4.67639289816e-05,0.0455030612648
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,1.7930207244e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003805_1793020724389592427_real.jpg,0.675919965601,-0.00544797253746,0.0981711027157,0.999999951712,3.57879107358e-05,-0.00030371523356,-5.52508819415e-05,0.0455030612648
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,1.79302072442e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003806_1793020724420952261_interpolated.jpg,0.675911556812,-0.00543906587745,0.098290717789,0.999999947327,-1.00452244329e-05,-0.000318234586721,-6.30246463014e-05,0.0455030612648
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,1.79302072444e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003807_1793020724452312095_real.jpg,0.675910846133,-0.0054347527277,0.0984322537719,0.999999946359,2.22327499523e-05,-0.000320538226403,-6.35873205301e-05,0.0455030612648
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,1.79302072445e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003807_1793020724452312095_real.jpg,0.675911379144,-0.00542924693645,0.0985906175837,0.999999944825,5.46585069978e-05,-0.000321146209622,-6.50228776575e-05,0.0455030612648
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,1.79302072447e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003808_1793020724471426467_interpolated.jpg,0.67591992103,-0.0054160610027,0.0988573459986,0.999999945218,8.8035926387e-05,-0.000310834833573,-7.20794578774e-05,0.0455030612648
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,1.79302072449e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003809_1793020724490540840_real.jpg,0.675922813422,-0.00541182674024,0.0989217005937,0.999999946233,8.40314398529e-05,-0.00030842989022,-7.31018994555e-05,0.0455019288951
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,1.7930207245e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003809_1793020724490540840_real.jpg,0.67592448815,-0.00540943642495,0.0991263099223,0.999999947442,7.76066287597e-05,-0.000305499811647,-7.59134044154e-05,0.0455017462373
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,1.79302072452e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003810_1793020724521431466_interpolated.jpg,0.675925945661,-0.00540737409905,0.0993579790973,0.999999948628,7.08125419792e-05,-0.000302451324098,-7.90783327468e-05,0.0455017462373
|
| 45 |
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|
Part2/Free/s1/ball_PLA_15/width_05/pick/simulation_data.csv
ADDED
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,1.764759e-06,0.8346294
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,-8.27585668444e-05,0.845589834822,1.52370880281e-06,0.834629926116
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.26921973717e-05,0.845590448441,1.58085678807e-06,0.834630479497
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26823954154e-05,0.845591029611,1.58255726635e-06,0.834631129611
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,-8.26842758206e-05,0.845591557815,1.59064265686e-06,0.834631657815
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,-8.26859929284e-05,0.845592040148,1.59802589852e-06,0.834632140148
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.26891736098e-05,0.845592691852,1.60166697995e-06,0.834632783858
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.2696862528e-05,0.845593647492,1.58474100725e-06,0.83463369968
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.27026041777e-05,0.84559436111,1.57210164699e-06,0.834634383563
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.26945485411e-05,0.845595207337,1.57539793982e-06,0.834635207337
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.26513179056e-05,0.845596279559,1.62019669942e-06,0.834636279559
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.26199102266e-05,0.845597058543,1.65274364323e-06,0.834637058543
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.25833773211e-05,0.845597964646,1.69060172304e-06,0.834637964646
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.26266786207e-05,0.845599074133,1.65141591061e-06,0.834639030839
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.26757105285e-05,0.845600053727,1.60632349155e-06,0.834639966894
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.26965461928e-05,0.845600469996,1.58716187726e-06,0.834640364663
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.27957205123e-05,0.845602451369,1.49595575898e-06,0.834642257975
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.26499634038e-05,0.845606882011,1.64223336707e-06,0.834646605547
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.26179103961e-05,0.845615290288,1.65104478664e-06,0.834654990288
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.26982285379e-05,0.845631507574,1.58171406831e-06,0.834670993651
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.2692952963e-05,0.845656081036,1.57927488167e-06,0.834695116886
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.28186450153e-05,0.84569063799,1.46672086466e-06,0.834729181863
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.28262929787e-05,0.845734097901,1.43310857996e-06,0.834771863117
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.30575918418e-05,0.845783922829,1.23606064286e-06,0.834820985824
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.30896010818e-05,0.8458352818,1.19078629166e-06,0.834871462761
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.31592349869e-05,0.845894423031,1.11269731594e-06,0.834929768697
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.34388304204e-05,0.845956878023,8.33192852217e-07,0.834991230594
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.33628104809e-05,0.846028411959,8.92307831552e-07,0.83506166542
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.35509570613e-05,0.846112277037,6.94534386758e-07,0.835144222395
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.36684246138e-05,0.846205908279,5.74581631027e-07,0.835236444421
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.38753599804e-05,0.846303096054,3.91319643498e-07,0.835332107223
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.4002173947e-05,0.846407163192,2.33949560953e-07,0.835434643313
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.40902079548e-05,0.846519623831,1.15615273862e-07,0.835545459635
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.40357400086e-05,0.846630146878,1.39659806462e-07,0.83565438367
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.3614659026e-05,0.846740470541,5.16137958663e-07,0.835763078536
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.32402951039e-05,0.846863131164,8.54456756151e-07,0.835883851052
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.29293240731e-05,0.84699594803,1.13791340302e-06,0.836014700156
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.25208244587e-05,0.847129528969,1.50656619312e-06,0.836146421366
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.19972117694e-05,0.847292681515,1.97078364708e-06,0.836307160315
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.16772000724e-05,0.847470933272,2.41633017204e-06,0.836496026883
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.16986436167e-05,0.847649247225,2.57302363197e-06,0.836686898089
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.17771025564e-05,0.847840540307,2.50373212553e-06,0.836878250352
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.20098011997e-05,0.848046070515,2.25202760237e-06,0.837080581678
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.22635857956e-05,0.848240554965,1.96517056842e-06,0.837271965902
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.25023726948e-05,0.848461050906,1.69546107196e-06,0.837488884113
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.2299758506e-05,0.848691938989,2.001683134e-06,0.837727190895
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.19912084751e-05,0.848918443185,2.31468252953e-06,0.837958192655
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.14432914424e-05,0.849161607071,2.83692294158e-06,0.838197432489
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,-8.0979934521e-05,0.849426013899,3.27794674545e-06,0.838463858025
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.14249893204e-05,0.849681025519,2.81579380377e-06,0.838720561804
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,-8.2340686026e-05,0.849978473322,1.93280177904e-06,0.839018473322
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,-8.33014564552e-05,0.850292384228,9.62624973835e-07,0.839332321902
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,-8.36320410323e-05,0.850599086268,5.95959105817e-07,0.839638886268
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.31289447242e-05,0.850920995229,1.04254447669e-06,0.839960795229
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,-8.25291719311e-05,0.851263187772,1.57263861155e-06,0.840302987772
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,-8.23325859854e-05,0.851582644821,1.75525798564e-06,0.840622444821
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,-8.23465906687e-05,0.851939826719,1.71651347223e-06,0.840979690938
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,-8.25380984903e-05,0.852307528947,1.48002347219e-06,0.841347428947
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,-8.18480472923e-05,0.852658667925,2.1439107902e-06,0.841698567925
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,-8.06906338653e-05,0.853018885488,3.33120433298e-06,0.842058785488
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,-7.98539454021e-05,0.853397796636,4.16039014464e-06,0.842437696636
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,-7.99883190881e-05,0.85375193532,4.02670920441e-06,0.84279183532
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,-8.05017590671e-05,0.854149695819,3.49504636891e-06,0.843189595819
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,-8.10596467415e-05,0.854562836202,2.93234532338e-06,0.843602736202
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,-8.17424236918e-05,0.854961237528,2.26461182099e-06,0.84400122267
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,-8.2385472007e-05,0.855370048321,1.65878454082e-06,0.844410048321
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,-8.30356251909e-05,0.855797126455,1.04447950015e-06,0.844837126455
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,-8.36704969985e-05,0.856190786586,3.99754175133e-07,0.845230870904
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,-8.36516342472e-05,0.856631218307,4.57416481573e-07,0.845671318307
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,-8.35584993807e-05,0.857085810037,5.2868734029e-07,0.846125910037
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,-8.34322218978e-05,0.857528160288,6.23377305786e-07,0.84656835501
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,-8.29114958678e-05,0.857987623647,1.15896710797e-06,0.847027823647
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,-8.31458021956e-05,0.858479864406,9.48420485864e-07,0.847520164406
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,-8.35088528279e-05,0.85897505781,5.55427889801e-07,0.84801535781
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,-8.31992020878e-05,0.859468336894,8.60149526448e-07,0.848508636894
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,-8.17497729221e-05,0.859981432167,2.27924950721e-06,0.849021767195
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,-8.09904846491e-05,0.860491901984,2.99728816465e-06,0.849532346336
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,-8.11717646038e-05,0.860973767974,2.81977679751e-06,0.850014267974
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,-8.18077903991e-05,0.861415681208,2.18819470604e-06,0.850456221398
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,-8.30989914327e-05,0.861898142298,9.12821221034e-07,0.850938783763
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,-8.36062752656e-05,0.86236466836,4.1719031826e-07,0.851405329454
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,-8.33066275315e-05,0.862826959489,7.20975714248e-07,0.851867629825
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,-8.31667294122e-05,0.86331261613,8.52658797336e-07,0.852353452319
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,-8.32895869498e-05,0.863793683254,7.07040530769e-07,0.852834583254
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,-8.3036394675e-05,0.864233939428,9.52577765477e-07,0.853274839428
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,-8.16552411257e-05,0.864680776243,2.34389310984e-06,0.853721696139
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,-8.07409103863e-05,0.865164881798,3.27927687071e-06,0.854205901732
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,-8.20250368743e-05,0.865638431853,1.9939099261e-06,0.854679549665
|
| 90 |
+
88,1.466666667,pose1-to-pose2-lift,-8.29249448313e-05,0.866116346945,1.06719520162e-06,0.855157546945
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,-8.32296514027e-05,0.866620556257,7.5438942984e-07,0.855661800488
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,-8.30226467323e-05,0.867145362318,9.71616673951e-07,0.856186730403
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,-8.25375734511e-05,0.867616920968,1.49416712801e-06,0.856658251815
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,-8.2590645584e-05,0.868118809953,1.43644811911e-06,0.857160246561
|
| 95 |
+
93,1.550000000,pose1-to-pose2-lift,-8.3607465293e-05,0.868619689261,4.07707631066e-07,0.857661231921
|
| 96 |
+
94,1.566666667,pose1-to-pose2-lift,-8.40701877796e-05,0.869085869286,-9.60433690708e-08,0.858127469286
|
| 97 |
+
95,1.583333333,pose1-to-pose2-lift,-8.3438843666e-05,0.869541618299,4.98423353919e-07,0.858583258958
|
| 98 |
+
96,1.600000000,pose1-to-pose2-lift,-8.29062051117e-05,0.870007741071,1.0324488266e-06,0.859049483274
|
| 99 |
+
97,1.616666667,pose1-to-pose2-lift,-8.30125765438e-05,0.870425982629,9.58240584664e-07,0.859467816687
|
| 100 |
+
98,1.633333333,pose1-to-pose2-lift,-8.32828732227e-05,0.870877090181,7.56433073775e-07,0.859919024227
|
| 101 |
+
99,1.650000000,pose1-to-pose2-lift,-8.31864681537e-05,0.871334899226,8.99074541716e-07,0.860376935897
|
| 102 |
+
100,1.666666667,pose1-to-pose2-lift,-8.29731121582e-05,0.871771161734,1.16170942304e-06,0.860813261734
|
| 103 |
+
101,1.683333333,pose1-to-pose2-lift,-8.21574562991e-05,0.872212486805,1.99541354026e-06,0.861254623608
|
| 104 |
+
102,1.700000000,pose1-to-pose2-lift,-8.11520666972e-05,0.872675683642,3.01307179296e-06,0.861717928265
|
| 105 |
+
103,1.716666667,pose1-to-pose2-lift,-8.16169711947e-05,0.873099992912,2.54961414819e-06,0.862142337797
|
| 106 |
+
104,1.733333333,pose1-to-pose2-lift,-8.34403630371e-05,0.873553239457,7.0762637914e-07,0.862595693323
|
| 107 |
+
105,1.750000000,pose1-to-pose2-lift,-8.40810075768e-05,0.874020432521,5.34227275474e-08,0.863063000807
|
| 108 |
+
106,1.766666667,pose1-to-pose2-lift,-8.35174589519e-05,0.874472586387,6.13723833153e-07,0.863515267584
|
| 109 |
+
107,1.783333333,pose1-to-pose2-lift,-8.26171703524e-05,0.874887125908,1.46681025653e-06,0.863929912747
|
| 110 |
+
108,1.800000000,pose1-to-pose2-lift,-8.18671315383e-05,0.875287280109,2.22579834222e-06,0.864330080109
|
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.17945e-05,0.883586,7.940962e-06,0.8726311
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.14700635505e-05,0.883585966417,8.25668659421e-06,0.872631066417
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.12146372738e-05,0.883586062509,8.52206557363e-06,0.872631162509
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.07396112309e-05,0.8835861,8.99309081571e-06,0.87263122256
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-7.97082562062e-05,0.8835861,1.00027840624e-05,0.872631284547
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.91068413718e-05,0.88358606918,1.05947982139e-05,0.872631248634
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.83645521574e-05,0.883586002734,1.13284627514e-05,0.87263113789
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.79358422428e-05,0.883585964358,1.17521914748e-05,0.872631073931
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.74632920058e-05,0.883585922058,1.22192511389e-05,0.87263100343
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.59440126139e-05,0.883585802768,1.37220319622e-05,0.872630805536
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.44683866375e-05,0.883585828995,1.51914473386e-05,0.87263085799
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.09170522835e-05,0.883585892115,1.87278348716e-05,0.87263098423
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.12068530393e-05,0.883586195036,2.83565379061e-05,0.872631295036
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-3.75903332893e-05,0.883586292205,5.17386291511e-05,0.872631392205
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,1.25893344748e-06,0.883586468967,9.02739829341e-05,0.872631537934
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,5.99252654516e-05,0.883586602559,0.000148431008156,0.872631702559
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000137478311157,0.883586764296,0.00022533326534,0.872631864296
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000227711682372,0.883586966775,0.000314850656274,0.872632066775
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000323781428494,0.883587529677,0.000410111305489,0.872632586451
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.00042816391097,0.883587962565,0.000513612267374,0.872633028206
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000539195923209,0.883588180952,0.000623677541497,0.8726332
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000659377402748,0.883588667735,0.000742788529184,0.872633761282
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000792253616531,0.88358932695,0.000883159554829,0.87263442695
|
| 25 |
+
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78,1.300000000,pose3-hold,0.004916439,0.8835899,0.00503663511765,0.8726353
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81,1.350000000,pose3-hold,0.004916439,0.8835899,0.00503664029412,0.8726353
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82,1.366666667,pose3-hold,0.004916439,0.8835899,0.00503670529412,0.8726353
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83,1.383333333,pose3-hold,0.004916439,0.8835899,0.00503668055882,0.8726353
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84,1.400000000,pose3-hold,0.004916439,0.8835899,0.00503667341176,0.8726353
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86,1.433333333,pose3-hold,0.004916439,0.8835899,0.00503666511765,0.8726353
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87,1.450000000,pose3-hold,0.004916439,0.8835899,0.00503666170588,0.8726353
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88,1.466666667,pose3-hold,0.004916439,0.8835899,0.00503665829412,0.8726353
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89,1.483333333,pose3-hold,0.004916439,0.8835899,0.00503665491176,0.8726353
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90,1.500000000,pose3-hold,0.004916439,0.8835899,0.00503665235294,0.8726353
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91,1.516666667,pose3-hold,0.004916439,0.8835899,0.00503664979412,0.8726353
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92,1.533333333,pose3-hold,0.004916439,0.8835899,0.00503668664706,0.8726353
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93,1.550000000,pose3-hold,0.004916439,0.8835899,0.00503670373529,0.8726353
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94,1.566666667,pose3-hold,0.004916439,0.8835899,0.00503669082353,0.8726353
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95,1.583333333,pose3-hold,0.004916439,0.8835899,0.00503668741176,0.8726353
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96,1.600000000,pose3-hold,0.004916439,0.8835899,0.005036684,0.8726353
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97,1.616666667,pose3-to-pose4-insert,0.004916253,0.8835898,0.005036504,0.8726352
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98,1.633333333,pose3-to-pose4-insert,0.00491636701959,0.883589412599,0.00503661908259,0.872634865749
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99,1.650000000,pose3-to-pose4-insert,0.0049163564182,0.883588774021,0.00503660566417,0.872634199078
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100,1.666666667,pose3-to-pose4-insert,0.00491626884186,0.883587725572,0.00503651377068,0.872633212303
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101,1.683333333,pose3-to-pose4-insert,0.0049162591497,0.883586986332,0.00503650074189,0.872632486332
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102,1.700000000,pose3-to-pose4-insert,0.0049162755882,0.88358606347,0.00503651285446,0.87263156347
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103,1.716666667,pose3-to-pose4-insert,0.00491628691906,0.883585427351,0.00503652120351,0.872630927351
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104,1.733333333,pose3-to-pose4-insert,0.00491630176207,0.883584594059,0.00503653214047,0.872630094059
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105,1.750000000,pose3-to-pose4-insert,0.00491631653685,0.883583517124,0.00503654838367,0.872629031358
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106,1.766666667,pose3-to-pose4-insert,0.00491633344745,0.883582128941,0.00503657034221,0.872627668414
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107,1.783333333,pose3-to-pose4-insert,0.00491634393891,0.883581267702,0.00503658396545,0.872626822834
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108,1.800000000,pose3-to-pose4-insert,0.00491635745974,0.883580157783,0.00503660152234,0.872625733096
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109,1.816666667,pose3-to-pose4-insert,0.00491631563145,0.883576260968,0.00503655645986,0.872621919337
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110,1.833333333,pose3-to-pose4-insert,0.00491609500555,0.883561438328,0.00503631808435,0.872607376915
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111,1.850000000,pose3-to-pose4-insert,0.00491621177366,0.88353471927,0.00503643219365,0.872581012323
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112,1.866666667,pose3-to-pose4-insert,0.0049163314479,0.883494991486,0.00503654527372,0.872541969596
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113,1.883333333,pose3-to-pose4-insert,0.00491640287765,0.883432089416,0.00503663475529,0.872479999812
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114,1.900000000,pose3-to-pose4-insert,0.00491652925823,0.883351649063,0.00503677396966,0.872400813621
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115,1.916666667,pose3-to-pose4-insert,0.00491650594321,0.883262252859,0.00503678902603,0.872312857308
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116,1.933333333,pose3-to-pose4-insert,0.00491673706467,0.88315476324,0.00503700503455,0.872207015498
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117,1.950000000,pose3-to-pose4-insert,0.0049164719097,0.883031955698,0.00503677189093,0.872086102412
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118,1.966666667,pose3-to-pose4-insert,0.00491670993729,0.882908802651,0.00503703422627,0.871964779933
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119,1.983333333,pose3-to-pose4-insert,0.00491689732004,0.882774572136,0.00503725950874,0.871832637722
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120,2.000000000,pose3-to-pose4-insert,0.0049169958238,0.882624808304,0.00503739429005,0.871685139113
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121,2.016666667,pose3-to-pose4-insert,0.00491696776976,0.882480772941,0.00503736702155,0.871543340748
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122,2.033333333,pose3-to-pose4-insert,0.00491713194025,0.88233519792,0.00503756068248,0.871400008659
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123,2.050000000,pose3-to-pose4-insert,0.00491725183827,0.882178595457,0.00503766505199,0.871245708165
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124,2.066666667,pose3-to-pose4-insert,0.00491723489892,0.882014066424,0.00503768495342,0.871082521758
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125,2.083333333,pose3-to-pose4-insert,0.00491741878638,0.881847957622,0.00503785460554,0.870901075251
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126,2.100000000,pose3-to-pose4-insert,0.00491736590364,0.881674646334,0.0050376243452,0.870719861944
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127,2.116666667,pose3-to-pose4-insert,0.00491743680482,0.881491279301,0.00503774789065,0.870539553904
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128,2.133333333,pose3-to-pose4-insert,0.00491734535136,0.881300252315,0.00503770755373,0.870351533679
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129,2.150000000,pose3-to-pose4-insert,0.00491723372163,0.881114754211,0.00503764740544,0.870169050428
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130,2.166666667,pose3-to-pose4-insert,0.00491733185837,0.880920747243,0.00503780475581,0.869978016026
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131,2.183333333,pose3-to-pose4-insert,0.00491762631399,0.880726884795,0.00503816796177,0.869787141598
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132,2.200000000,pose3-to-pose4-insert,0.0049178600144,0.880540785124,0.00503844141088,0.86960399649
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133,2.216666667,pose3-to-pose4-insert,0.00491794978496,0.880363938401,0.0050383816717,0.869421084067
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134,2.233333333,pose3-to-pose4-insert,0.0049182651117,0.880174470947,0.00503849186968,0.869221060043
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135,2.250000000,pose3-to-pose4-insert,0.00491821352367,0.879991493666,0.00503846982502,0.869038076534
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136,2.266666667,pose3-to-pose4-insert,0.0049181626642,0.879813473397,0.0050384403321,0.868859723212
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137,2.283333333,pose3-to-pose4-insert,0.00491804557719,0.879634631755,0.00503835743753,0.868683560506
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138,2.300000000,pose3-to-pose4-insert,0.00491812352797,0.879471821671,0.00503847960796,0.86852335727
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139,2.316666667,pose3-to-pose4-insert,0.00491811596708,0.87933690425,0.00503849817761,0.868390555566
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140,2.333333333,pose3-to-pose4-insert,0.00491804676532,0.879219184283,0.00503840436249,0.868272386484
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142,2.366666667,pose3-to-pose4-insert,0.00491758440657,0.879007414088,0.00503788844204,0.868052402335
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143,2.383333333,pose3-to-pose4-insert,0.00491747464486,0.878909785425,0.00503780768174,0.867956286346
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144,2.400000000,pose3-to-pose4-insert,0.00491742937969,0.878817812272,0.00503781328,0.86786582867
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145,2.416666667,pose3-to-pose4-insert,0.00491710272915,0.878736183618,0.00503747413211,0.867784233581
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146,2.433333333,pose3-to-pose4-insert,0.00491700840771,0.87866547109,0.00503735652976,0.867712077043
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147,2.450000000,pose3-to-pose4-insert,0.0049169421582,0.878606009777,0.0050373523465,0.867652444427
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148,2.466666667,pose3-to-pose4-insert,0.00491679786946,0.878557613556,0.0050372658588,0.867602713861
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150,2.500000000,pose3-to-pose4-insert,0.00491655362369,0.878481492123,0.00503701461107,0.867526870461
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152,2.533333333,pose3-to-pose4-insert,0.00491647094498,0.878436380142,0.00503696441155,0.867481106158
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153,2.550000000,pose3-to-pose4-insert,0.00491661016612,0.878421154986,0.00503704830233,0.867465648175
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154,2.566666667,pose3-to-pose4-insert,0.00491658633523,0.87841077766,0.00503702439108,0.867455496096
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155,2.583333333,pose3-to-pose4-insert,0.00491653811107,0.878403156166,0.00503698718103,0.867447948379
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156,2.600000000,pose3-to-pose4-insert,0.00491641061831,0.878397553944,0.00503677242746,0.867442230873
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157,2.616666667,pose3-to-pose4-insert,0.00491638832759,0.878394081034,0.00503670165619,0.867438581034
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Part2/Free/s1/ball_PLA_15/width_06/pick/fem_node.csv
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Part2/Free/s1/ball_PLA_15/width_06/pick/franka_data.csv
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