Upload Part2/Free/digit (part 64)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +15 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/fem_node.csv +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/franka_data.csv +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/simulation_data.csv +902 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/fem_node.csv +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/franka_data.csv +208 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/simulation_data.csv +208 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/fem_node.csv +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/franka_data.csv +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/simulation_data.csv +904 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/fem_node.csv +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/franka_data.csv +208 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/simulation_data.csv +208 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/fem_node.csv +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/franka_data.csv +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/simulation_data.csv +903 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/fem_node.csv +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/franka_data.csv +208 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/simulation_data.csv +208 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/fem_node.csv +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/franka_data.csv +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/simulation_data.csv +904 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/fem_node.csv +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/franka_data.csv +207 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/simulation_data.csv +207 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/fem_node.csv +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/franka_data.csv +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/simulation_data.csv +904 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/fem_node.csv +3 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/franka_data.csv +208 -0
- Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/simulation_data.csv +208 -0
- Part2/Free/digiy/cylinder_15A_15/width_01/insert/camera_frames_60hz.tar +3 -0
.gitattributes
CHANGED
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@@ -14400,3 +14400,18 @@ Part2/Free/digiy/cylinder_15A_12.5/width_04/insert/fem_node.csv filter=lfs diff=
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Part2/Free/digiy/cylinder_15A_12.5/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 14401 |
Part2/Free/digiy/cylinder_15A_12.5/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 14402 |
Part2/Free/digiy/cylinder_15A_12.5/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 14412 |
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Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_15/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_15/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_15/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_15/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_15/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/fem_node.csv
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:f9037309ee748b6855891afdc8617cda0f8452a53a3da62e6a82f57e0a89effc
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+
size 91259387
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Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/franka_data.csv
ADDED
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The diff for this file is too large to render.
See raw diff
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Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/simulation_data.csv
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@@ -0,0 +1,902 @@
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|
|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.439842e-05,0.9029385,-0.0001369248,0.8731468
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.44265054663e-05,0.9029385,-0.000136909497416,0.8731468
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.4572320088e-05,0.902938478255,-0.000136770732241,0.873146778255
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.49538598014e-05,0.902938413537,-0.000136386312616,0.873146713537
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.50596549405e-05,0.9029384,-0.000136279542841,0.8731467
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.53403697238e-05,0.9029384,-0.000135994806993,0.8731467
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,7.55919794313e-05,0.9029384,-0.000135739593133,0.8731467
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,7.60026546765e-05,0.9029384,-0.00013532303522,0.8731467
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,7.74303204233e-05,0.902938425668,-0.000133870138736,0.873146725668
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,7.8027508059e-05,0.902938443577,-0.000133261061468,0.873146743577
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,7.96850318245e-05,0.902938493283,-0.000131570537441,0.873146793283
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,8.44030794097e-05,0.9029385,-0.000126756654065,0.8731468
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,9.33203807472e-05,0.9029385,-0.000117724184894,0.8731468
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,0.000110328626352,0.902938650569,-0.000100390663318,0.873146933713
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.000143208861082,0.9029386656,-6.70018469405e-05,0.873146943734
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000193085615779,0.9029390232,-1.62748633765e-05,0.873147264266
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000260551704998,0.9029396,5.231473455e-05,0.8731478
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000346354172082,0.902939764179,0.000139525910406,0.873148018905
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000449635350774,0.902940535007,0.000244534522595,0.873148829172
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000566310247759,0.902941328985,0.000363143685759,0.873149574782
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000694985061471,0.90294192282,0.000493985989467,0.873150142115
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.00083318188384,0.902942936923,0.000634453933993,0.873151127692
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000976263206424,0.902943532365,0.000779953429883,0.873151661411
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00111741889134,0.902944215091,0.000923445494139,0.873152376728
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00125903991565,0.902944605793,0.00106741173564,0.873152705793
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00140400345605,0.90294502318,0.00121477970058,0.87315312318
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00154397675875,0.902945266842,0.00135709768514,0.873153366842
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00168908481603,0.902945451609,0.00150462051117,0.873153551609
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00184808110824,0.902945719186,0.00166627167566,0.873153819186
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00201636183892,0.902946049996,0.00183733989396,0.873154149996
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00218892540691,0.902945739246,0.00201275820552,0.873153839246
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.002375429591,0.902945229381,0.00220237379804,0.873153294072
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00256332691682,0.902944793377,0.00239340540424,0.873152793377
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00274829356031,0.902944197636,0.00258146967512,0.873152147045
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00293168305448,0.902943657502,0.00276790721417,0.873151557502
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00311215470053,0.9029434,0.00295137342108,0.87315136339
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.0032891186816,0.902943678482,0.00313126741103,0.873151608862
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.0034643024874,0.902944110772,0.00330937220766,0.873152088465
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00363302751138,0.9029446277,0.00348089930999,0.8731526277
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00379304220357,0.902944976645,0.00364363030639,0.87315288443
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00394518760532,0.902945098962,0.0037982744821,0.873153097925
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.0040856582146,0.902945389226,0.00394107999037,0.873153292817
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00421549475372,0.902945086374,0.0040730814982,0.873153079561
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00433740842756,0.902944877148,0.00419698737961,0.8731528
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00444800524204,0.902944598035,0.00430940442284,0.873152698035
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00454626787622,0.902944,0.00440930450284,0.8731521
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00463370028277,0.902943972076,0.0044982581235,0.873152058113
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00471073384114,0.902943744227,0.0045766083648,0.873151755382
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00477970988991,0.9029433,0.00464675351377,0.873151390522
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00484233839871,0.902943262895,0.0047104310313,0.873151250527
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00489537727701,0.902942985286,0.00476440692531,0.873150885286
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00494029580386,0.9029429,0.00481008159793,0.8731508
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00497769729427,0.902942803193,0.00484810755862,0.873150703193
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00500528065572,0.9029425,0.00487613691282,0.8731504
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00502478739416,0.902942520116,0.00489598924242,0.873150420116
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00504024394235,0.902942780007,0.0049117022158,0.873150680007
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00505285656263,0.902942623615,0.00492451976669,0.873150611808
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.0050615400437,0.902942357463,0.00493335578005,0.873150276617
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.0050673626187,0.902942590933,0.00493924498538,0.873150490933
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00507170330064,0.902942528789,0.00494362669433,0.873150428789
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00507388472801,0.90294220501,0.00494587962848,0.873150140013
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.005074561,0.9029427,0.004946511,0.8731506
|
| 64 |
+
62,1.033333333,pose3-hold,0.005074561,0.9029427,0.004946505,0.8731506
|
| 65 |
+
63,1.050000000,pose3-hold,0.005074561,0.9029427,0.00494650329412,0.8731506
|
| 66 |
+
64,1.066666667,pose3-hold,0.005074561,0.9029427,0.00494650158824,0.8731506
|
| 67 |
+
65,1.083333333,pose3-hold,0.005074561,0.9029427,0.00494649764706,0.8731506
|
| 68 |
+
66,1.100000000,pose3-hold,0.005074561,0.9029427,0.00494649582353,0.8731506
|
| 69 |
+
67,1.116666667,pose3-hold,0.005074561,0.9029427,0.00494649779412,0.8731506
|
| 70 |
+
68,1.133333333,pose3-hold,0.005074561,0.9029427,0.00494650047059,0.8731506
|
| 71 |
+
69,1.150000000,pose3-hold,0.005074561,0.9029427,0.00494650388235,0.8731506
|
| 72 |
+
70,1.166666667,pose3-hold,0.005074561,0.9029427,0.00494650811765,0.8731506
|
| 73 |
+
71,1.183333333,pose3-hold,0.005074561,0.9029427,0.00494651373529,0.8731506
|
| 74 |
+
72,1.200000000,pose3-hold,0.005074561,0.9029427,0.00494651970588,0.8731506
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| 75 |
+
73,1.216666667,pose3-hold,0.005074561,0.9029427,0.00494652491176,0.8731506
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+
74,1.233333333,pose3-hold,0.005074561,0.9029427,0.004946528,0.8731506
|
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+
75,1.250000000,pose3-hold,0.005074561,0.9029427,0.00494652844118,0.8731506
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| 78 |
+
76,1.266666667,pose3-hold,0.005074561,0.9029427,0.00494653270588,0.8731506
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| 79 |
+
77,1.283333333,pose3-hold,0.005074561,0.9029427,0.004946533,0.8731506
|
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+
78,1.300000000,pose3-hold,0.005074561,0.9029427,0.00494653623529,0.8731506
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| 81 |
+
79,1.316666667,pose3-hold,0.005074561,0.9029427,0.004946539,0.8731506
|
| 82 |
+
80,1.333333333,pose3-hold,0.005074561,0.9029427,0.00494653929412,0.8731506
|
| 83 |
+
81,1.350000000,pose3-hold,0.005074561,0.9029427,0.00494653758824,0.8731506
|
| 84 |
+
82,1.366666667,pose3-hold,0.005074561,0.9029427,0.00494653588235,0.8731506
|
| 85 |
+
83,1.383333333,pose3-hold,0.005074561,0.9029427,0.00494653417647,0.8731506
|
| 86 |
+
84,1.400000000,pose3-hold,0.005074561,0.9029427,0.00494653247059,0.8731506
|
| 87 |
+
85,1.416666667,pose3-hold,0.005074561,0.9029427,0.00494653076471,0.8731506
|
| 88 |
+
86,1.433333333,pose3-hold,0.005074561,0.9029427,0.00494652811765,0.8731506
|
| 89 |
+
87,1.450000000,pose3-hold,0.005074561,0.9029427,0.00494652535294,0.8731506
|
| 90 |
+
88,1.466666667,pose3-hold,0.005074561,0.9029427,0.00494652347059,0.8731506
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| 91 |
+
89,1.483333333,pose3-hold,0.005074561,0.9029427,0.00494652097059,0.8731506
|
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+
90,1.500000000,pose3-hold,0.005074561,0.9029427,0.00494652011765,0.8731506
|
| 93 |
+
91,1.516666667,pose3-hold,0.005074561,0.9029427,0.00494651852941,0.8731506
|
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+
92,1.533333333,pose3-hold,0.005074561,0.9029427,0.00494651741176,0.8731506
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| 95 |
+
93,1.550000000,pose3-hold,0.005074561,0.9029427,0.004946517,0.8731506
|
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+
94,1.566666667,pose3-hold,0.005074561,0.9029427,0.00494651729412,0.8731506
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+
95,1.583333333,pose3-hold,0.005074561,0.9029427,0.00494651814706,0.8731506
|
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+
96,1.600000000,pose3-hold,0.005074561,0.9029427,0.004946519,0.8731506
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.005074561,0.9029427,0.00494652,0.8731506
|
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+
98,1.633333333,pose3-to-pose4-insert,0.00507452775097,0.902942622677,0.00494649564315,0.873150561338
|
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+
99,1.650000000,pose3-to-pose4-insert,0.00507447413608,0.902942495858,0.0049464561775,0.873150495858
|
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+
100,1.666666667,pose3-to-pose4-insert,0.00507438892863,0.902942087329,0.00494637505534,0.873150087329
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+
101,1.683333333,pose3-to-pose4-insert,0.00507433711294,0.902941671103,0.00494632406575,0.873149671103
|
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+
102,1.700000000,pose3-to-pose4-insert,0.00507436686387,0.902941198425,0.00494634630943,0.873149198425
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+
103,1.716666667,pose3-to-pose4-insert,0.0050744093869,0.902940522825,0.00494637810236,0.873148522825
|
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+
104,1.733333333,pose3-to-pose4-insert,0.00507442649216,0.902940251059,0.00494639089134,0.873148251059
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+
105,1.750000000,pose3-to-pose4-insert,0.00507445375137,0.902939652722,0.00494641686956,0.873147652722
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00507448336848,0.902938906463,0.00494644835232,0.873146906463
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+
107,1.783333333,pose3-to-pose4-insert,0.00507450509333,0.902938359066,0.00494647144567,0.873146359066
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00507451266531,0.902938168276,0.00494647949462,0.873146168276
|
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109,1.816666667,pose3-to-pose4-insert,0.00507456081008,0.902936316022,0.00494652987155,0.873144316022
|
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110,1.833333333,pose3-to-pose4-insert,0.0050745126814,0.902929004298,0.00494647644731,0.873137004298
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111,1.850000000,pose3-to-pose4-insert,0.00507440802457,0.902911448853,0.0049463907562,0.873119448853
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112,1.866666667,pose3-to-pose4-insert,0.00507439082833,0.902877744422,0.004946365338,0.873085609881
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113,1.883333333,pose3-to-pose4-insert,0.00507435229107,0.902824494506,0.00494631393661,0.873032350414
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+
114,1.900000000,pose3-to-pose4-insert,0.00507399505839,0.902752425152,0.00494594573408,0.872960125152
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+
115,1.916666667,pose3-to-pose4-insert,0.00507403726699,0.902661667175,0.00494598354005,0.872869367175
|
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+
116,1.933333333,pose3-to-pose4-insert,0.00507388159134,0.902551950375,0.00494584944648,0.872759550375
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117,1.950000000,pose3-to-pose4-insert,0.00507356847133,0.902425435758,0.00494551958265,0.872632955416
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| 120 |
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118,1.966666667,pose3-to-pose4-insert,0.00507327856188,0.90228414037,0.00494524740773,0.872491516638
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+
119,1.983333333,pose3-to-pose4-insert,0.00507286466306,0.902129921643,0.00494481184443,0.872337159985
|
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+
120,2.000000000,pose3-to-pose4-insert,0.00507303187489,0.901958769972,0.00494498187821,0.872165870027
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00507324649171,0.901784422326,0.00494518907175,0.871991394252
|
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+
122,2.033333333,pose3-to-pose4-insert,0.00507369228654,0.901610029421,0.00494564946923,0.871816881248
|
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+
123,2.050000000,pose3-to-pose4-insert,0.00507405420386,0.901434151721,0.00494601186181,0.871640825989
|
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124,2.066666667,pose3-to-pose4-insert,0.00507426570418,0.901253045472,0.00494623202032,0.871459493582
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+
125,2.083333333,pose3-to-pose4-insert,0.00507417709086,0.901072626539,0.004946166156,0.871278942278
|
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+
126,2.100000000,pose3-to-pose4-insert,0.0050741644199,0.900885473416,0.00494618080852,0.871091679861
|
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127,2.116666667,pose3-to-pose4-insert,0.00507417134888,0.900692680913,0.00494625900351,0.870898769381
|
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128,2.133333333,pose3-to-pose4-insert,0.00507403650856,0.900494974127,0.00494609616297,0.870700758845
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129,2.150000000,pose3-to-pose4-insert,0.00507390050255,0.900299869577,0.00494598168,0.870505544391
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+
130,2.166666667,pose3-to-pose4-insert,0.00507366817656,0.900111766803,0.00494570384839,0.870317304003
|
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+
131,2.183333333,pose3-to-pose4-insert,0.00507321388127,0.899919941059,0.00494520245012,0.870125259408
|
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+
132,2.200000000,pose3-to-pose4-insert,0.00507287945,0.899725477569,0.00494483331354,0.869930624227
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133,2.216666667,pose3-to-pose4-insert,0.0050726203168,0.899534389473,0.00494454764912,0.8697394228
|
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134,2.233333333,pose3-to-pose4-insert,0.00507277530856,0.899350778993,0.00494469020506,0.869555621137
|
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+
135,2.250000000,pose3-to-pose4-insert,0.00507335943368,0.899169333023,0.00494527431569,0.869374133023
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136,2.266666667,pose3-to-pose4-insert,0.00507364989139,0.899001117473,0.00494554319077,0.869205711104
|
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+
137,2.283333333,pose3-to-pose4-insert,0.00507391187633,0.898848792062,0.00494580117363,0.869053292062
|
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138,2.300000000,pose3-to-pose4-insert,0.00507455394323,0.898716707906,0.00494648102845,0.86892118177
|
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139,2.316666667,pose3-to-pose4-insert,0.00507466020113,0.898595183715,0.00494657526784,0.868799463602
|
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140,2.333333333,pose3-to-pose4-insert,0.00507465518376,0.898483917911,0.00494651862963,0.868688017911
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141,2.350000000,pose3-to-pose4-insert,0.00507453267709,0.898383592371,0.00494642210922,0.868587692371
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142,2.366666667,pose3-to-pose4-insert,0.00507450372285,0.898291967083,0.00494641818778,0.868495976472
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+
143,2.383333333,pose3-to-pose4-insert,0.00507452061649,0.898202985732,0.00494639481688,0.868406896566
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+
144,2.400000000,pose3-to-pose4-insert,0.00507425788353,0.898120116807,0.00494612504244,0.868324016807
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145,2.416666667,pose3-to-pose4-insert,0.00507449830783,0.898046689774,0.00494638241808,0.868250589774
|
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+
146,2.433333333,pose3-to-pose4-insert,0.00507443236226,0.897983763055,0.00494628239935,0.868187663055
|
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+
147,2.450000000,pose3-to-pose4-insert,0.00507434092221,0.897930235909,0.00494617408616,0.868133937959
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148,2.466666667,pose3-to-pose4-insert,0.00507450048689,0.897884737122,0.00494638268561,0.868088535301
|
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+
149,2.483333333,pose3-to-pose4-insert,0.00507436129854,0.897848184567,0.00494620040987,0.868051884567
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150,2.500000000,pose3-to-pose4-insert,0.0050742346593,0.897818792711,0.00494607726822,0.868022492711
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151,2.516666667,pose3-to-pose4-insert,0.00507430880217,0.897795609488,0.0049461413389,0.86799930434
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152,2.533333333,pose3-to-pose4-insert,0.00507447569919,0.897778142682,0.00494629844048,0.867981751073
|
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+
153,2.550000000,pose3-to-pose4-insert,0.00507447908623,0.89776540908,0.00494629044037,0.867969095232
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154,2.566666667,pose3-to-pose4-insert,0.00507422482172,0.897756661003,0.0049460556908,0.867960285348
|
| 157 |
+
155,2.583333333,pose3-to-pose4-insert,0.00507438828083,0.897750883358,0.00494622417682,0.867954532838
|
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+
156,2.600000000,pose3-to-pose4-insert,0.00507447775285,0.897747620699,0.00494631170743,0.867951220699
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157,2.616666667,pose3-to-pose4-insert,0.005074476,0.8977468,0.004946318,0.8679504
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158,2.633333333,pose4-hold,0.005074476,0.8977468,0.004946313,0.8679504
|
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+
159,2.650000000,pose4-hold,0.005074476,0.8977468,0.00494631051429,0.8679504
|
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+
160,2.666666667,pose4-hold,0.005074476,0.8977468,0.00494630934286,0.8679504
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+
161,2.683333333,pose4-hold,0.005074476,0.8977468,0.004946309,0.8679504
|
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162,2.700000000,pose4-hold,0.005074476,0.8977468,0.00494630931429,0.8679504
|
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+
163,2.716666667,pose4-hold,0.005074476,0.8977468,0.00494631014286,0.8679504
|
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+
164,2.733333333,pose4-hold,0.005074476,0.8977468,0.00494631097143,0.8679504
|
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165,2.750000000,pose4-hold,0.005074476,0.8977468,0.0049463102,0.8679504
|
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166,2.766666667,pose4-hold,0.005074476,0.8977468,0.00494630937143,0.8679504
|
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+
167,2.783333333,pose4-hold,0.005074476,0.8977468,0.00494630945714,0.8679504
|
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168,2.800000000,pose4-hold,0.005074476,0.8977468,0.00494631,0.8679504
|
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169,2.816666667,pose4-hold,0.005074476,0.8977468,0.00494631011429,0.8679504
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170,2.833333333,pose4-hold,0.005074476,0.8977468,0.00494631094286,0.8679504
|
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171,2.850000000,pose4-hold,0.005074476,0.8977468,0.004946311,0.8679504
|
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172,2.866666667,pose4-hold,0.005074476,0.8977468,0.0049463122,0.8679504
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173,2.883333333,pose4-hold,0.005074476,0.8977468,0.004946313,0.8679504
|
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174,2.900000000,pose4-hold,0.005074476,0.8977468,0.004946313,0.8679504
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175,2.916666667,pose4-hold,0.005074476,0.8977468,0.00494631308571,0.8679504
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176,2.933333333,pose4-hold,0.005074476,0.8977468,0.00494631391429,0.8679504
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177,2.950000000,pose4-hold,0.005074476,0.8977468,0.004946314,0.8679504
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178,2.966666667,pose4-hold,0.005074476,0.8977468,0.004946314,0.8679504
|
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179,2.983333333,pose4-hold,0.005074476,0.8977468,0.004946314,0.8679504
|
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180,3.000000000,pose4-hold,0.005074476,0.8977468,0.004946314,0.8679504
|
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181,3.016666667,pose4-hold,0.005074476,0.8977468,0.004946314,0.8679504
|
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182,3.033333333,pose4-hold,0.005074476,0.8977468,0.004946314,0.8679504
|
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183,3.050000000,pose4-hold,0.005074476,0.8977468,0.00494631328571,0.8679504
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184,3.066666667,pose4-hold,0.005074476,0.8977468,0.004946313,0.8679504
|
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185,3.083333333,pose4-hold,0.005074476,0.8977468,0.00494631262857,0.8679504
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186,3.100000000,pose4-hold,0.005074476,0.8977468,0.0049463118,0.8679504
|
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187,3.116666667,pose4-hold,0.005074476,0.8977468,0.00494631097143,0.8679504
|
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188,3.133333333,pose4-hold,0.005074476,0.8977468,0.00494631014286,0.8679504
|
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189,3.150000000,pose4-hold,0.005074476,0.8977468,0.00494630931429,0.8679504
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190,3.166666667,pose4-hold,0.005074476,0.8977468,0.004946309,0.8679504
|
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191,3.183333333,pose4-hold,0.005074476,0.8977468,0.00494630865714,0.8679504
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192,3.200000000,pose4-hold,0.005074476,0.8977468,0.004946308,0.8679504
|
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193,3.216666667,pose4-hold,0.005074476,0.8977468,0.004946308,0.8679504
|
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194,3.233333333,pose4-to-pose5-return,0.005074377,0.8977468,0.004946199,0.8679504
|
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195,3.250000000,pose4-to-pose5-return,0.00507402472488,0.897747277692,0.0049458615018,0.867950877692
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196,3.266666667,pose4-to-pose5-return,0.0050738413818,0.897747460878,0.00494567842514,0.867951069575
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197,3.283333333,pose4-to-pose5-return,0.00507344722172,0.897747810576,0.0049452787698,0.86795146923
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198,3.300000000,pose4-to-pose5-return,0.00507325426573,0.897747981767,0.00494508312368,0.867951664876
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199,3.316666667,pose4-to-pose5-return,0.00507255200186,0.897748703178,0.00494437095949,0.867952369668
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200,3.333333333,pose4-to-pose5-return,0.00507217640702,0.897749101335,0.00494399005588,0.867952745706
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201,3.350000000,pose4-to-pose5-return,0.00507202601705,0.897749260759,0.00494383754026,0.867952896273
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202,3.366666667,pose4-to-pose5-return,0.00507157349853,0.897749740461,0.00494337862572,0.867953349324
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203,3.383333333,pose4-to-pose5-return,0.00507113196901,0.897750189633,0.00494292697914,0.867953789633
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204,3.400000000,pose4-to-pose5-return,0.00507051788791,0.897750800764,0.00494229603926,0.867954400764
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205,3.416666667,pose4-to-pose5-return,0.00506938892638,0.897751924301,0.00494113608359,0.867955524301
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206,3.433333333,pose4-to-pose5-return,0.00506576414824,0.897755501395,0.00493745367444,0.867959160121
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207,3.450000000,pose4-to-pose5-return,0.00505677337339,0.897764770851,0.00492832624555,0.867968370851
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208,3.466666667,pose4-to-pose5-return,0.00504086831819,0.897781443802,0.00491216027717,0.86798509763
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209,3.483333333,pose4-to-pose5-return,0.00501545034919,0.897807684323,0.00488631229144,0.868011384323
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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,1.79310607156e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006840_1793106071556416326_real.jpg,0.675957834094,-0.00536945572955,0.109865510189,0.999999958292,0.000157135638839,-0.000223266885406,9.42119741662e-05,0.0610713139176
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79310607158e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006841_1793106071572844361_real.jpg,0.67595852023,-0.00536536645068,0.109864972013,0.999999958363,0.000157431459187,-0.000222770353363,9.41375705716e-05,0.0610713139176
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.79310607159e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006842_1793106071589633438_real.jpg,0.675960069535,-0.00536578853947,0.109865836306,0.999999958221,0.000159785238304,-0.000221520417897,9.46293374353e-05,0.0610713139176
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79310607161e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006843_1793106071605458712_real.jpg,0.675960176746,-0.00536813601187,0.109868440528,0.999999958665,0.000156965912019,-0.000221365021984,9.50209622729e-05,0.0610713139176
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79310607162e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006844_1793106071622033794_real.jpg,0.675958698215,-0.00536600716237,0.109864438418,0.999999958208,0.000158045154071,-0.000222995331581,9.42254416032e-05,0.0610713139176
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79310607164e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006845_1793106071638997602_real.jpg,0.675959626069,-0.00536578949621,0.109866867973,0.999999958168,0.000161266475727,-0.000221006863421,9.38783163014e-05,0.0610713139176
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79310607165e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006846_1793106071655060876_real.jpg,0.675960989736,-0.00536666761679,0.10986851752,0.99999995927,0.000157374534409,-0.000219332009002,9.26608520823e-05,0.0610713139176
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79310607167e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006847_1793106071671092681_real.jpg,0.675958836686,-0.0053685113628,0.109868382223,0.999999958259,0.000159120776337,-0.000221952067124,9.43411506753e-05,0.0610713139176
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.79310607169e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006848_1793106071687627257_real.jpg,0.675959370294,-0.00536734083035,0.109867532284,0.999999958028,0.000160661867308,-0.000221901315141,9.42943711671e-05,0.0610713139176
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.7931060717e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006849_1793106071704094726_real.jpg,0.675959885123,-0.00536732531939,0.109867831717,0.999999958393,0.000160037872166,-0.00022070421127,9.42981320192e-05,0.0610636450267
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79310607172e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006850_1793106071720793763_real.jpg,0.675959913407,-0.0053662094018,0.109867942809,0.999999958099,0.000159513006153,-0.00022229161667,9.45686848539e-05,0.0610161535442
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.79310607174e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006851_1793106071736874961_real.jpg,0.675961685532,-0.00536784891514,0.10987014627,0.999999959875,0.000154768967964,-0.000218446681764,9.26172016964e-05,0.0610161535442
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79310607175e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006852_1793106071753071017_real.jpg,0.675961565327,-0.00536991988463,0.109870663521,0.999999959496,0.000155350208615,-0.000218898601072,9.46463548202e-05,0.0610161535442
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79310607177e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006853_1793106071769385015_real.jpg,0.675960879459,-0.00537081865564,0.10987002508,0.999999958925,0.00015657291742,-0.000220730485755,9.44094452431e-05,0.0610161535442
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,1.79310607179e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006854_1793106071786154806_real.jpg,0.675959761906,-0.00536770994356,0.109869597923,0.999999958408,0.00015727836403,-0.00022312163438,9.30871783731e-05,0.0610161535442
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,1.79310607181e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006855_1793106071802164930_real.jpg,0.67595919831,-0.00536423000281,0.109870897894,0.999999958003,0.000158906516564,-0.000224086334955,9.23458112515e-05,0.0610161535442
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79310607182e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006856_1793106071818800366_real.jpg,0.675957184136,-0.00536543595848,0.109871811706,0.999999957428,0.000157294059219,-0.000227599641915,9.27458203427e-05,0.0610161535442
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.79310607184e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006857_1793106071835536343_real.jpg,0.675957325892,-0.00536926322034,0.10987790611,0.999999957954,0.000154178373982,-0.000228010270722,9.12869203762e-05,0.0610161535442
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79310607186e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006858_1793106071851887983_real.jpg,0.675956466031,-0.0053672917052,0.109882224801,0.999999957092,0.000156845410059,-0.000230391642107,9.01916463748e-05,0.0610161535442
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.79310607187e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006859_1793106071867929927_real.jpg,0.675953739165,-0.00536694315619,0.109887829296,0.999999955941,0.000157264622539,-0.000235698283113,8.84943193399e-05,0.0610161535442
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.79310607189e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006860_1793106071884413676_real.jpg,0.675949041612,-0.00536617220892,0.109899765252,0.999999954364,0.000155174286192,-0.000245101621207,8.43682704547e-05,0.0610161535442
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,1.79310607191e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006861_1793106071900616355_real.jpg,0.675934391784,-0.00536531282118,0.109918822649,0.999999946683,0.00015268875126,-0.0002783210305,7.65351440297e-05,0.0610161535442
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79310607192e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006862_1793106071916738110_real.jpg,0.675923129529,-0.00535994192012,0.109952262374,0.999999940401,0.000151917218141,-0.000303388017592,6.38359332272e-05,0.0610115329007
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,1.79310607194e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006863_1793106071932969502_real.jpg,0.675932078376,-0.00535750312321,0.109997376488,0.99999994681,0.00015064831731,-0.000283428898217,5.78999860516e-05,0.0610043331981
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79310607196e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006864_1793106071949801450_real.jpg,0.675930488129,-0.0053534786997,0.110036605399,0.999999946958,0.000149632234656,-0.000285293048659,4.79818140183e-05,0.0610043331981
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.79310607198e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006865_1793106071965826242_real.jpg,0.675918016631,-0.00534933728728,0.110072472156,0.999999940003,0.000148765421123,-0.000310763547262,3.59069514164e-05,0.0610043331981
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.79310607199e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006866_1793106071982063295_real.jpg,0.675904676703,-0.00534536698827,0.110108499697,0.999999932138,0.000146299647167,-0.000337321576899,2.31273629988e-05,0.0610043331981
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79310607201e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006867_1793106071998598652_real.jpg,0.675892563676,-0.00533988907444,0.110150664407,0.999999924982,0.000145362955174,-0.000358894625093,1.00043020646e-05,0.0610043331981
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,1.79310607203e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006868_1793106072014820237_real.jpg,0.675884096048,-0.00533506865767,0.110206635033,0.999999919947,0.000141921130203,-0.000374097416049,-3.81609028363e-06,0.0610043331981
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,1.79310607204e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006870_1793106072047612195_real.jpg,0.675875538211,-0.00533011767412,0.110276013232,0.999999915231,0.000137593766368,-0.000387549386509,-2.03000439651e-05,0.0610043331981
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,1.79310607206e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006871_1793106072063987330_real.jpg,0.675874656973,-0.00532628062917,0.110359667609,0.999999914774,0.000134690504631,-0.000388520895526,-3.69046356773e-05,0.0610043331981
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,1.79310607208e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006872_1793106072080604833_real.jpg,0.675878583696,-0.00532313548405,0.110456327424,0.999999917146,0.000130189523857,-0.0003821734362,-5.19913368347e-05,0.0610043331981
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,1.79310607209e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006873_1793106072096823181_real.jpg,0.675885066339,-0.00532107545011,0.110567771559,0.999999920271,0.000126116645839,-0.00037285949609,-6.7293119961e-05,0.0610043331981
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,1.7931060721e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006874_1793106072113087687_real.jpg,0.675889423043,-0.00532541991241,0.110683820483,0.999999921996,0.000121173749082,-0.000367649433562,-7.84733515169e-05,0.0610043331981
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,1.79310607212e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006875_1793106072131326867_real.jpg,0.675891759372,-0.00535202610654,0.110803510484,0.999999919435,0.000157385129,-0.000367373595975,-3.73780472277e-05,0.0610028939457
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,1.79310607214e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006876_1793106072145924070_real.jpg,0.675896231496,-0.00537950389851,0.110950561164,0.999999915816,0.000192857301569,-0.000362179982092,-1.38149621026e-08,0.0610017068684
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,1.79310607215e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006877_1793106072163033513_real.jpg,0.675898692143,-0.00538059794913,0.111084087145,0.999999917033,0.000189481709441,-0.000360410697963,-1.16129904743e-05,0.0610017068684
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,1.79310607217e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006878_1793106072178800828_real.jpg,0.675899746109,-0.00536793015786,0.111232669585,0.999999928873,9.99214049287e-05,-0.000362525175779,-2.90576724658e-05,0.0610017068684
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,1.79310607219e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006879_1793106072196067138_real.jpg,0.675900241455,-0.00535466685861,0.1113735117,0.999999930186,7.06206652471e-05,-0.000365131143003,-3.63264361691e-05,0.0610017068684
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,1.7931060722e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006880_1793106072211806862_real.jpg,0.675901236601,-0.00534572617121,0.111550928234,0.999999926985,0.000106388387698,-0.000364952226023,-3.89967794996e-05,0.0610017068684
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,1.79310607222e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006881_1793106072228458239_real.jpg,0.675900172512,-0.00533970044269,0.111711185525,0.999999925083,0.000129531599796,-0.000362087720542,-4.41347903597e-05,0.0610017068684
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,1.79310607224e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006882_1793106072245465549_real.jpg,0.67588997696,-0.00533791808954,0.111871119872,0.999999921067,0.000141334351771,-0.000368223746857,-4.79777785454e-05,0.0610017068684
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,1.79310607225e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006883_1793106072260806157_real.jpg,0.675882593976,-0.00533788826513,0.112061103314,0.99999991596,0.000147668624868,-0.000379158391484,-5.01330677915e-05,0.0610017068684
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,1.79310607227e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006884_1793106072277087335_real.jpg,0.675882830783,-0.00533424774803,0.112244711524,0.999999915394,0.000143324582279,-0.000382473536906,-4.88191760792e-05,0.0610017068684
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,1.79310607229e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006885_1793106072293892593_real.jpg,0.675879618645,-0.00532249093101,0.112469396415,0.999999911965,0.00013777895776,-0.000392637860824,-5.40552821785e-05,0.0610017068684
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| 47 |
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45,0.750000000,pose1-to-pose2-lift,1.7931060723e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006885_1793106072293892593_real.jpg,0.675877805539,-0.00531524990186,0.112668759649,0.999999907414,0.000146743809243,-0.000400141509379,-5.93670374731e-05,0.0610013951146
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| 48 |
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46,0.766666667,pose1-to-pose2-lift,1.79310607232e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006886_1793106072320231338_real.jpg,0.675877170316,-0.00530979525589,0.112864082147,0.999999902347,0.00016396204389,-0.000405785308012,-6.13208139375e-05,0.0610010512173
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| 49 |
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47,0.783333333,pose1-to-pose2-lift,1.79310607234e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006887_1793106072343302295_real.jpg,0.675877491089,-0.00530229809942,0.113104164155,0.999999894239,0.000198880791954,-0.000411569161969,-5.07839624982e-05,0.0610010512173
|
| 50 |
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48,0.800000000,pose1-to-pose2-lift,1.79310607236e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006888_1793106072359458366_real.jpg,0.675878936831,-0.00529470207652,0.113362621942,0.999999896858,0.000177288900468,-0.000414039175107,-5.85228002394e-05,0.0610010512173
|
| 51 |
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49,0.816666667,pose1-to-pose2-lift,1.79310607237e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006889_1793106072375582445_real.jpg,0.67587488547,-0.00529010661045,0.113671063295,0.999999897041,0.000154708025923,-0.000422091832832,-6.18270394802e-05,0.0610010512173
|
| 52 |
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50,0.833333333,pose1-to-pose2-lift,1.79310607239e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006890_1793106072392226128_real.jpg,0.67587224836,-0.00529031469441,0.113924985728,0.999999890601,0.000185966154839,-0.000425036928683,-5.96454301045e-05,0.0610010512173
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| 53 |
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51,0.850000000,pose1-to-pose2-lift,1.79310607241e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006891_1793106072408519358_real.jpg,0.675867282061,-0.00529240951045,0.114163207218,0.999999886194,0.000202173437506,-0.000427110849613,-6.56858962845e-05,0.0610010512173
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,1.79310607242e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00006892_1793106072424483425_real.jpg,0.67586480834,-0.00529568479598,0.114462598104,0.999999895225,0.000136706728484,-0.000432642522407,-6.06787948828e-05,0.0610010512173
|
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| 206 |
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| 207 |
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| 208 |
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206,3.433333333,pose2-hold,1.79310607499e+18,camera_frames_60hz/WAIT_POSE2/camera_00007044_1793106074996527895_real.jpg,0.675845908033,-0.00536964120186,0.147436728775,0.999999883432,0.000122982087802,-0.000463735261195,-5.4415483157e-05,0.0610017068684
|
Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,208 @@
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,7.475617e-05,0.8649433,-0.0001350326,0.8351285
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,7.45883806728e-05,0.864943503233,-0.00013523331498,0.835128802155
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,7.4715344004e-05,0.864943944604,-0.000135139883965,0.835129144604
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,7.46980271628e-05,0.864944419224,-0.000135129984752,0.835129619224
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,7.47245906786e-05,0.86494478236,-0.000135106517925,0.83512998236
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,7.47251678038e-05,0.864944787882,-0.000135106091944,0.835129987882
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,7.47439594138e-05,0.864944967682,-0.000135092221701,0.835130167682
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,7.47344935679e-05,0.864945460145,-0.000135111166319,0.835130678727
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.533348e-05,0.9029414,-0.0001352802,0.8731497
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.56143234366e-05,0.9029412,-0.000135015640012,0.8731495
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.6294363227e-05,0.902941237646,-0.00013432205421,0.87314955647
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.77068083474e-05,0.902941387451,-0.000132875019269,0.873149781176
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.82584649248e-05,0.902941361103,-0.000132312755615,0.873149735171
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.91245293302e-05,0.902941283362,-0.000131431283061,0.873149605604
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,7.95018810228e-05,0.90294124949,-0.000131047217906,0.87314954915
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,8.02776186758e-05,0.902941179858,-0.000130257679108,0.873149433096
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,8.06281427167e-05,0.902941148394,-0.000129900918895,0.873149380656
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,8.09845020874e-05,0.902941116406,-0.000129538219536,0.873149327343
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,8.29790234217e-05,0.902941163645,-0.00012751507755,0.873149395468
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,8.67608016445e-05,0.902941296496,-0.000123680345079,0.873149594744
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,9.52492232551e-05,0.902940917313,-0.000115032180574,0.873149312985
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,0.000111380853447,0.9029412,-9.86625101591e-05,0.8731495
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.000141125002262,0.9029412,-6.84252938084e-05,0.8731495
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000188195813511,0.9029414,-2.05536185157e-05,0.8731497
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.00025302612057,0.9029414,4.53191024299e-05,0.8731497
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000335074542766,0.902941595181,0.000128747083033,0.873149830121
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000436887514248,0.902941661409,0.000232259868685,0.873149874272
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000553702235137,0.9029415,0.000351024673043,0.8731498
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000675396706841,0.902941681865,0.000474738788175,0.873149921244
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000805507830197,0.9029418,0.000606997060921,0.87315
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000943931088233,0.90294191298,0.000747739439394,0.873150109735
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00107581303407,0.902942345491,0.000881795350731,0.873150445491
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00120917744215,0.902942881103,0.00101743683869,0.873150987402
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00135114781552,0.902942646624,0.00116174405971,0.873150840796
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.0014976197704,0.902943419339,0.00131064733248,0.873151519339
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00164802379762,0.902943904442,0.00146357450818,0.873152003553
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00181489849406,0.902944421891,0.00163321620662,0.873152421891
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.0019905762827,0.90294492059,0.00181183725041,0.87315292059
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00217215731997,0.902945047795,0.0019964050975,0.873153047795
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.0023576848287,0.90294459842,0.00218503439951,0.87315259842
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00254566842157,0.902943932814,0.0023761076595,0.873151899222
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00273186612691,0.902943718191,0.00256541872276,0.873151659095
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.0029147689185,0.902943459306,0.00275135838793,0.873151459306
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00309653030901,0.902943192852,0.00293615037514,0.873151139279
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00327290657042,0.902943159274,0.00311547554143,0.873151059274
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.0034449804693,0.902943460319,0.00329040654554,0.873151360319
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00361379933164,0.9029436,0.00346204055658,0.8731515
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00377452400862,0.9029436,0.00362545912748,0.8731515
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00392622124848,0.902943769783,0.00377964038832,0.873151669783
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00407150302392,0.902943891986,0.0039273351983,0.873152067946
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00420430048529,0.902943319611,0.00406237383486,0.873151519611
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00432501730954,0.90294300215,0.00418511023311,0.873151102867
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00443663796376,0.902942992528,0.00429863538888,0.873150995018
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00453584572064,0.902942694475,0.00439946806809,0.873150791713
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.0046247255874,0.902942497749,0.00448986958012,0.873150497749
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00470735798155,0.902942363547,0.00457392009687,0.873150363547
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00477962134414,0.902941837144,0.00464739696016,0.873149827858
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00484338405437,0.9029422,0.004712252067,0.873150114431
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00489986817945,0.902942101815,0.00476969190299,0.873150077269
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51,0.850000000,pose2-to-pose3-side,0.00494271595028,0.9029418,0.00481327338983,0.873149725032
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52,0.866666667,pose2-to-pose3-side,0.00497543511354,0.902941783703,0.00484651462107,0.873149783703
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53,0.883333333,pose2-to-pose3-side,0.00500218951261,0.902941714531,0.00487371070308,0.8731497
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54,0.900000000,pose2-to-pose3-side,0.00502245935598,0.902941889906,0.00489432077396,0.8731497
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55,0.916666667,pose2-to-pose3-side,0.00503754713007,0.902941664461,0.00490965895813,0.873149621487
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56,0.933333333,pose2-to-pose3-side,0.00505079568133,0.9029416,0.00492309625784,0.87314952699
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57,0.950000000,pose2-to-pose3-side,0.00506048877425,0.902941529326,0.00493293683824,0.873149429326
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58,0.966666667,pose2-to-pose3-side,0.00506728500798,0.902941797377,0.00493983150958,0.873149697377
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59,0.983333333,pose2-to-pose3-side,0.00507114301845,0.902941583034,0.00494374309231,0.873149483034
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60,1.000000000,pose2-to-pose3-side,0.00507325731224,0.902941585412,0.0049458919358,0.873149485412
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61,1.016666667,pose2-to-pose3-side,0.005074402,0.9029415,0.004947052,0.8731494
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62,1.033333333,pose3-hold,0.005074402,0.9029415,0.004947051,0.8731494
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63,1.050000000,pose3-hold,0.005074402,0.9029415,0.00494705270588,0.8731494
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64,1.066666667,pose3-hold,0.005074402,0.9029415,0.00494705582353,0.8731494
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65,1.083333333,pose3-hold,0.005074402,0.9029415,0.00494705923529,0.8731494
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66,1.100000000,pose3-hold,0.005074402,0.9029415,0.00494706264706,0.8731494
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67,1.116666667,pose3-hold,0.005074402,0.9029415,0.00494706685294,0.8731494
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68,1.133333333,pose3-hold,0.005074402,0.9029415,0.00494707247059,0.8731494
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69,1.150000000,pose3-hold,0.005074402,0.9029415,0.00494707588235,0.8731494
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70,1.166666667,pose3-hold,0.005074402,0.9029415,0.00494708011765,0.8731494
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71,1.183333333,pose3-hold,0.005074402,0.9029415,0.00494708302941,0.8731494
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72,1.200000000,pose3-hold,0.005074402,0.9029415,0.00494708505882,0.8731494
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73,1.216666667,pose3-hold,0.005074402,0.9029415,0.00494708676471,0.8731494
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74,1.233333333,pose3-hold,0.005074402,0.9029415,0.00494708847059,0.8731494
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75,1.250000000,pose3-hold,0.005074402,0.9029415,0.00494709,0.8731494
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76,1.266666667,pose3-hold,0.005074402,0.9029415,0.00494709,0.8731494
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77,1.283333333,pose3-hold,0.005074402,0.9029415,0.00494708841176,0.8731494
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78,1.300000000,pose3-hold,0.005074402,0.9029415,0.00494708735294,0.8731494
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79,1.316666667,pose3-hold,0.005074402,0.9029415,0.004947086,0.8731494
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80,1.333333333,pose3-hold,0.005074402,0.9029415,0.00494708429412,0.8731494
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81,1.350000000,pose3-hold,0.005074402,0.9029415,0.00494708258824,0.8731494
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82,1.366666667,pose3-hold,0.005074402,0.9029415,0.00494708082353,0.8731494
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83,1.383333333,pose3-hold,0.005074402,0.9029415,0.00494707826471,0.8731494
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84,1.400000000,pose3-hold,0.005074402,0.9029415,0.00494707647059,0.8731494
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86,1.433333333,pose3-hold,0.005074402,0.9029415,0.00494707305882,0.8731494
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87,1.450000000,pose3-hold,0.005074402,0.9029415,0.004947072,0.8731494
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88,1.466666667,pose3-hold,0.005074402,0.9029415,0.00494707182353,0.8731494
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89,1.483333333,pose3-hold,0.005074402,0.9029415,0.004947071,0.8731494
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90,1.500000000,pose3-hold,0.005074402,0.9029415,0.004947071,0.8731494
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91,1.516666667,pose3-hold,0.005074402,0.9029415,0.00494707173529,0.8731494
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92,1.533333333,pose3-hold,0.005074402,0.9029415,0.004947072,0.8731494
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93,1.550000000,pose3-hold,0.005074402,0.9029415,0.00494707244118,0.8731494
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94,1.566666667,pose3-hold,0.005074402,0.9029415,0.00494707329412,0.8731494
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95,1.583333333,pose3-hold,0.005074402,0.9029415,0.00494707414706,0.8731494
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96,1.600000000,pose3-hold,0.005074402,0.9029415,0.004947075,0.8731494
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97,1.616666667,pose3-to-pose4-insert,0.005074402,0.9029415,0.004947076,0.8731494
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98,1.633333333,pose3-to-pose4-insert,0.00507433662905,0.902941462213,0.00494701176265,0.873149362213
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99,1.650000000,pose3-to-pose4-insert,0.00507423981378,0.902941358608,0.004946915572,0.873149258608
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100,1.666666667,pose3-to-pose4-insert,0.0050743949632,0.902940764734,0.00494705290523,0.873148664734
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101,1.683333333,pose3-to-pose4-insert,0.00507443787632,0.902940600473,0.00494709089052,0.873148500473
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102,1.700000000,pose3-to-pose4-insert,0.00507438796138,0.902939735135,0.00494706011196,0.873147635135
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103,1.716666667,pose3-to-pose4-insert,0.00507436979369,0.902939018021,0.00494705285622,0.873146918021
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104,1.733333333,pose3-to-pose4-insert,0.00507439697545,0.902938631384,0.00494707804622,0.873146531384
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105,1.750000000,pose3-to-pose4-insert,0.00507442347867,0.902938254398,0.00494710260739,0.873146154398
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106,1.766666667,pose3-to-pose4-insert,0.00507448404222,0.902937392934,0.00494715873309,0.873145292934
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107,1.783333333,pose3-to-pose4-insert,0.0050745327784,0.902936699704,0.00494720389809,0.873144599704
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108,1.800000000,pose3-to-pose4-insert,0.00507457594153,0.902936085745,0.0049472438984,0.873143985745
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109,1.816666667,pose3-to-pose4-insert,0.00507453386416,0.902933930863,0.00494719477774,0.873141830863
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110,1.833333333,pose3-to-pose4-insert,0.00507444725492,0.902924788539,0.00494711531479,0.873132688539
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111,1.850000000,pose3-to-pose4-insert,0.00507445347031,0.90290273165,0.00494711352673,0.87311063165
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112,1.866666667,pose3-to-pose4-insert,0.00507440703803,0.9028656138,0.0049470617479,0.8730735138
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113,1.883333333,pose3-to-pose4-insert,0.00507463044828,0.902811621144,0.00494729024968,0.873019442631
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114,1.900000000,pose3-to-pose4-insert,0.00507465440551,0.902741388831,0.00494732552257,0.872949152794
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115,1.916666667,pose3-to-pose4-insert,0.00507475102927,0.902655782438,0.00494740668916,0.87286339627
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116,1.933333333,pose3-to-pose4-insert,0.00507513320685,0.902553001177,0.00494780233328,0.872760601177
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117,1.950000000,pose3-to-pose4-insert,0.00507516414294,0.902432669453,0.00494785430299,0.872640194927
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118,1.966666667,pose3-to-pose4-insert,0.00507533476455,0.902295421938,0.00494801976455,0.87250280633
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119,1.983333333,pose3-to-pose4-insert,0.0050755961828,0.90213975109,0.00494827279869,0.872346995196
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120,2.000000000,pose3-to-pose4-insert,0.00507565193217,0.901973452944,0.00494834017913,0.872180561709
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121,2.016666667,pose3-to-pose4-insert,0.00507519362781,0.901803318869,0.00494791875741,0.872010301865
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122,2.033333333,pose3-to-pose4-insert,0.00507507767118,0.901629047788,0.00494781260169,0.871835836432
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123,2.050000000,pose3-to-pose4-insert,0.00507497016397,0.901452073194,0.00494775140182,0.871658620461
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124,2.066666667,pose3-to-pose4-insert,0.0050748702002,0.901274150886,0.00494767377782,0.871480587035
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125,2.083333333,pose3-to-pose4-insert,0.00507461580646,0.901089390354,0.00494740977247,0.871295715184
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126,2.100000000,pose3-to-pose4-insert,0.00507450517448,0.900899169671,0.00494728379889,0.871105383208
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127,2.116666667,pose3-to-pose4-insert,0.00507447650824,0.90070562667,0.00494727206931,0.870911631291
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128,2.133333333,pose3-to-pose4-insert,0.00507439712453,0.900505417739,0.00494714528348,0.870711206945
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129,2.150000000,pose3-to-pose4-insert,0.00507445145103,0.900304355204,0.00494722391535,0.870510031263
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130,2.166666667,pose3-to-pose4-insert,0.00507445686699,0.900104337966,0.00494724398047,0.870309864385
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131,2.183333333,pose3-to-pose4-insert,0.00507446283099,0.899903629839,0.00494724495263,0.870108927406
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132,2.200000000,pose3-to-pose4-insert,0.00507449027167,0.899709290468,0.00494728493355,0.869914426619
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133,2.216666667,pose3-to-pose4-insert,0.00507473918412,0.899522595706,0.00494751882307,0.869727621241
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134,2.233333333,pose3-to-pose4-insert,0.00507418539662,0.899340994111,0.0049469258974,0.869545823062
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135,2.250000000,pose3-to-pose4-insert,0.00507359085586,0.899169262804,0.00494631358144,0.869373968385
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136,2.266666667,pose3-to-pose4-insert,0.00507299790452,0.899018001682,0.00494572370955,0.869222701682
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137,2.283333333,pose3-to-pose4-insert,0.00507215389197,0.898878128899,0.00494486039622,0.869082550389
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138,2.300000000,pose3-to-pose4-insert,0.00507178927323,0.898747209294,0.00494450322655,0.868951609294
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139,2.316666667,pose3-to-pose4-insert,0.00507142304824,0.898626674649,0.00494410780899,0.868830990651
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140,2.333333333,pose3-to-pose4-insert,0.00507178322162,0.898515731719,0.00494451473817,0.868719954488
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141,2.350000000,pose3-to-pose4-insert,0.00507220197491,0.898405655805,0.00494495359231,0.868609778848
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142,2.366666667,pose3-to-pose4-insert,0.00507278415107,0.898300105344,0.00494554610604,0.868504123935
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143,2.383333333,pose3-to-pose4-insert,0.00507316811199,0.898205720653,0.00494596015806,0.868409635665
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144,2.400000000,pose3-to-pose4-insert,0.00507369334892,0.898121977063,0.00494648152547,0.868325877063
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145,2.416666667,pose3-to-pose4-insert,0.00507413451878,0.898047777263,0.00494695650833,0.868251585185
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146,2.433333333,pose3-to-pose4-insert,0.00507461802833,0.897983441298,0.00494743918161,0.868187241298
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147,2.450000000,pose3-to-pose4-insert,0.00507467915411,0.897929413151,0.00494752075038,0.868133115074
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148,2.466666667,pose3-to-pose4-insert,0.00507464377883,0.897885130386,0.00494747990513,0.868088830386
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149,2.483333333,pose3-to-pose4-insert,0.00507493951995,0.89784952706,0.00494778404609,0.86805322706
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150,2.500000000,pose3-to-pose4-insert,0.00507521617617,0.897821316897,0.00494807356551,0.868025016897
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151,2.516666667,pose3-to-pose4-insert,0.00507519748186,0.897799478253,0.00494803385866,0.868003097455
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152,2.533333333,pose3-to-pose4-insert,0.00507527151192,0.89778343095,0.00494811123018,0.86798703095
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153,2.550000000,pose3-to-pose4-insert,0.00507537968505,0.89776960097,0.00494821156839,0.86797320097
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154,2.566666667,pose3-to-pose4-insert,0.00507531445694,0.897759453646,0.00494815364529,0.867963053646
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155,2.583333333,pose3-to-pose4-insert,0.00507535483467,0.897752139274,0.00494821345483,0.867955739274
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156,2.600000000,pose3-to-pose4-insert,0.00507529470632,0.897747368253,0.00494814689591,0.867951066357
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157,2.616666667,pose3-to-pose4-insert,0.005075599,0.8977454,0.004948483,0.867949
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159,2.650000000,pose4-hold,0.005075599,0.8977454,0.00494847,0.867949
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160,2.666666667,pose4-hold,0.005075599,0.8977454,0.00494847061111,0.867949
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161,2.683333333,pose4-hold,0.005075599,0.8977454,0.004948471,0.867949
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162,2.700000000,pose4-hold,0.005075599,0.8977454,0.004948471,0.867949
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163,2.716666667,pose4-hold,0.005075599,0.8977454,0.00494847102778,0.867949
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164,2.733333333,pose4-hold,0.005075599,0.8977454,0.00494847183333,0.867949
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165,2.750000000,pose4-hold,0.005075599,0.8977454,0.004948472,0.867949
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166,2.766666667,pose4-hold,0.005075599,0.8977454,0.004948472,0.867949
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167,2.783333333,pose4-hold,0.005075599,0.8977454,0.004948472,0.867949
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168,2.800000000,pose4-hold,0.005075599,0.8977454,0.00494847205556,0.867949
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169,2.816666667,pose4-hold,0.005075599,0.8977454,0.00494847286111,0.867949
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170,2.833333333,pose4-hold,0.005075599,0.8977454,0.004948473,0.867949
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171,2.850000000,pose4-hold,0.005075599,0.8977454,0.00494847347222,0.867949
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172,2.866666667,pose4-hold,0.005075599,0.8977454,0.00494847427778,0.867949
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173,2.883333333,pose4-hold,0.005075599,0.8977454,0.00494847508333,0.867949
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174,2.900000000,pose4-hold,0.005075599,0.8977454,0.00494847588889,0.867949
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179,2.983333333,pose4-hold,0.005075599,0.8977454,0.004948477,0.867949
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180,3.000000000,pose4-hold,0.005075599,0.8977454,0.00494847627778,0.867949
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182,3.033333333,pose4-hold,0.005075599,0.8977454,0.00494847566667,0.867949
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183,3.050000000,pose4-hold,0.005075599,0.8977454,0.004948475,0.867949
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185,3.083333333,pose4-hold,0.005075599,0.8977454,0.004948475,0.867949
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186,3.100000000,pose4-hold,0.005075599,0.8977454,0.00494847444444,0.867949
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187,3.116666667,pose4-hold,0.005075599,0.8977454,0.00494847363889,0.867949
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188,3.133333333,pose4-hold,0.005075599,0.8977454,0.00494847283333,0.867949
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189,3.150000000,pose4-hold,0.005075599,0.8977454,0.00494847202778,0.867949
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190,3.166666667,pose4-hold,0.005075599,0.8977454,0.004948472,0.867949
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191,3.183333333,pose4-hold,0.005075599,0.8977454,0.00494847141667,0.867949
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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,1.79310609397e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008104_1793106093964970529_real.jpg,0.675964788357,-0.00536259605403,0.109876196709,0.999999959938,0.000161973014133,-0.000212415960584,9.36437407496e-05,0.0608322881162
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79310609398e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008105_1793106093981503645_real.jpg,0.675964972387,-0.00536110495741,0.109875107276,0.99999995969,0.000163628654812,-0.000213073357215,9.18958898387e-05,0.0608322881162
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.793106094e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008106_1793106093997264799_real.jpg,0.675964108116,-0.00536185684706,0.109873349279,0.999999960042,0.000160444479457,-0.000214405444073,9.05771301895e-05,0.0608322881162
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79310609402e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008107_1793106094013811761_real.jpg,0.675964870764,-0.00536736036702,0.109873951014,0.99999996059,0.000156436298169,-0.000213275058041,9.41319993149e-05,0.0608322881162
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79310609403e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008108_1793106094030157713_real.jpg,0.675964701273,-0.00536189521163,0.109874347457,0.999999960124,0.000160071358949,-0.000213639490877,9.21231386302e-05,0.0608322881162
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79310609405e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008109_1793106094046138223_real.jpg,0.675964182614,-0.00536467085841,0.109873408061,0.999999960128,0.000158385703838,-0.000214350205227,9.33355451695e-05,0.0608322881162
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79310609406e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008110_1793106094062789262_real.jpg,0.675965119342,-0.00536800763485,0.10987499248,0.999999960453,0.000158142908071,-0.000212364953629,9.47987565747e-05,0.0608322881162
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79310609408e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008111_1793106094078995229_real.jpg,0.675966478041,-0.00536352673843,0.10987602863,0.999999960267,0.000162917186454,-0.000210074490462,9.37724974703e-05,0.0608322881162
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.7931060941e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008112_1793106094095706311_real.jpg,0.675965904135,-0.00536289520464,0.109876191385,0.999999960042,0.000162378040167,-0.000211545554272,9.37946708859e-05,0.0608322881162
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79310609411e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008113_1793106094111976760_real.jpg,0.675964796808,-0.00536744212071,0.109873965203,0.999999960096,0.000158626226683,-0.000213820261267,9.4477761194e-05,0.0608292151125
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79310609413e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008114_1793106094137567640_real.jpg,0.675963920002,-0.0053682683875,0.109872712485,0.999999959982,0.000157286380837,-0.00021520759587,9.47769856548e-05,0.0608121082431
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.79310609415e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008115_1793106094149085819_real.jpg,0.675963822519,-0.00536301307965,0.109874014615,0.999999959307,0.000161172533259,-0.000215495197354,9.47161092967e-05,0.0608060210943
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79310609417e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008116_1793106094177642380_real.jpg,0.675963474366,-0.00536390525791,0.109874725203,0.999999959782,0.000159325290208,-0.000215187708674,9.35213476315e-05,0.0608060210943
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79310609418e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008116_1793106094177642380_real.jpg,0.675963181585,-0.00536524456375,0.109875075374,0.99999996,0.000158058552944,-0.00021534372217,9.29770176266e-05,0.0608060210943
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,1.7931060942e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008117_1793106094193761242_real.jpg,0.675963662237,-0.00536617087457,0.109876185826,0.999999959536,0.000159835402726,-0.000215880674421,9.36790008581e-05,0.0608060210943
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,1.79310609421e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008118_1793106094210538229_real.jpg,0.675964889496,-0.00536621084456,0.109880090474,0.999999959826,0.000160565459591,-0.000214545345421,9.23962180934e-05,0.0608060210943
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79310609423e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008119_1793106094226574364_real.jpg,0.675963644272,-0.00536597400159,0.1098805442,0.999999959481,0.00015923585654,-0.000217113590439,9.24364596777e-05,0.0608060210943
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.79310609424e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008120_1793106094247121263_real.jpg,0.675960557765,-0.00536469492885,0.109882359235,0.999999958729,0.000157866086491,-0.000221836642573,9.17036993484e-05,0.0608060210943
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79310609426e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008121_1793106094260025213_real.jpg,0.675960447282,-0.00536347219501,0.10988625613,0.999999957994,0.000161059661902,-0.000223474092056,9.016959473e-05,0.0608060210943
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.79310609428e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008122_1793106094275652856_real.jpg,0.675959676664,-0.00536569608043,0.10989456454,0.999999957951,0.000158580473632,-0.000226094334315,8.84942191416e-05,0.0608060210943
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.7931060943e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008123_1793106094292274129_real.jpg,0.675954685047,-0.00536265594529,0.109904582246,0.999999956141,0.000157750480906,-0.000236221293921,8.38641128486e-05,0.0608060210943
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,1.79310609432e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008124_1793106094308969361_real.jpg,0.675939077882,-0.00535724476788,0.109916415807,0.999999948159,0.000159277927834,-0.000269384446813,7.57905779104e-05,0.0608060210943
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79310609433e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008125_1793106094325485675_real.jpg,0.675927531347,-0.00535500646457,0.109949651762,0.999999942204,0.000155094090477,-0.000295664877279,6.41922448224e-05,0.0608060210943
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,1.79310609435e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008126_1793106094341229598_real.jpg,0.675933167483,-0.00535319527634,0.109994973655,0.999999946327,0.000155257949219,-0.000282831334967,5.6978335211e-05,0.0608048883511
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79310609437e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008127_1793106094357631776_real.jpg,0.675934539751,-0.00535221163254,0.110033401384,0.999999947824,0.000153348168648,-0.000279956891648,4.95945609816e-05,0.0608033947647
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.79310609438e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008128_1793106094373874793_real.jpg,0.67592489674,-0.00534752563636,0.110070867194,0.999999943326,0.000152432624921,-0.000297901633899,3.69839448353e-05,0.0608033947647
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.7931060944e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008129_1793106094390087993_real.jpg,0.675910672131,-0.00534305685736,0.110102908253,0.999999935372,0.000149570540167,-0.000325911109675,2.58270270369e-05,0.0608033947647
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79310609442e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008131_1793106094422843818_real.jpg,0.675896737409,-0.00533967321348,0.110143649915,0.999999927347,0.00014621802908,-0.000351761450399,1.38182608317e-05,0.0608033947647
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,1.79310609444e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008132_1793106094439740030_real.jpg,0.675885564422,-0.00533628620163,0.110194975729,0.99999992133,0.000142600189513,-0.000370142172312,-7.21219805447e-07,0.0608033947647
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,1.79310609445e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008133_1793106094455774422_real.jpg,0.675874814595,-0.00533368851251,0.110255660625,0.999999915573,0.000137932104375,-0.000386780625229,-1.51245364098e-05,0.0608033947647
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,1.79310609446e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008134_1793106094472024282_real.jpg,0.675870831892,-0.0053298154608,0.110334883335,0.99999991267,0.000135186218109,-0.000394223906429,-3.11661263132e-05,0.0608033947647
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,1.79310609448e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008135_1793106094488832448_real.jpg,0.67587443219,-0.00532797661167,0.110432737305,0.999999915146,0.000128689234457,-0.000388518330108,-4.69137017546e-05,0.0608033947647
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,1.7931060945e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008136_1793106094504965217_real.jpg,0.675879277662,-0.00532493220094,0.110537517879,0.999999917744,0.00012650513209,-0.000380485645024,-6.11564727276e-05,0.0608033947647
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,1.79310609451e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008137_1793106094521128262_real.jpg,0.675884347349,-0.0053271343396,0.11064984101,0.999999919961,0.000120799441486,-0.000374285386008,-7.34522778343e-05,0.0608033947647
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,1.79310609453e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008138_1793106094537988356_real.jpg,0.675891484211,-0.00534370744564,0.110779940428,0.999999922201,0.000135070317029,-0.000365964633865,-5.85147882553e-05,0.0608033947647
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,1.79310609455e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008139_1793106094554046904_real.jpg,0.675896039872,-0.00537121025695,0.110917637284,0.999999918246,0.000180359855935,-0.000361669450939,-1.31528692594e-05,0.0608012841376
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,1.79310609456e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008140_1793106094570418294_real.jpg,0.675899309843,-0.00537450110945,0.111057581702,0.999999915888,0.000197169087849,-0.000359536807673,-9.00612072465e-06,0.0608001090586
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,1.79310609458e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008141_1793106094586811736_real.jpg,0.675899924896,-0.00536363973589,0.111195430969,0.999999929689,9.82570376668e-05,-0.000360996528776,-2.54749252436e-05,0.0608001090586
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,1.7931060946e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008142_1793106094603052599_real.jpg,0.675899883253,-0.00535293895499,0.111341455487,0.999999930476,6.93694237573e-05,-0.000364869867165,-3.32597133873e-05,0.0608001090586
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,1.79310609461e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008143_1793106094619749174_real.jpg,0.67590166171,-0.00534283538538,0.111503807008,0.999999927429,0.000100526808788,-0.000365450043245,-3.84922379502e-05,0.0608001090586
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,1.79310609463e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008144_1793106094635907150_real.jpg,0.675902834674,-0.0053382679284,0.111676716614,0.999999925555,0.000126200602648,-0.000362034134401,-4.35301040829e-05,0.0608001090586
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,1.79310609465e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008145_1793106094652753989_real.jpg,0.675905685514,-0.0053325270477,0.1118483028,0.999999926982,0.00014372247847,-0.000350837094376,-4.78968882435e-05,0.0608001090586
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,1.79310609466e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008146_1793106094669082507_real.jpg,0.675890409263,-0.00532791059981,0.112059125704,0.99999991993,0.000151715059734,-0.000366425846998,-5.34276285867e-05,0.0608001090586
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,1.79310609468e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008147_1793106094685955256_real.jpg,0.675886420418,-0.00532533700649,0.112241131227,0.999999916929,0.000147126977503,-0.000376218318332,-5.4360942001e-05,0.0608001090586
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,1.7931060947e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00008148_1793106094702185929_real.jpg,0.675884123356,-0.00532011967122,0.112430959797,0.999999914645,0.000138423799974,-0.000385632204222,-5.32560327724e-05,0.0608001090586
|
| 47 |
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Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/simulation_data.csv
ADDED
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,7.475617e-05,0.8649433,-0.000134999,0.8351285
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,7.46805053505e-05,0.86494338433,-0.000135094345869,0.835128626495
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,7.47161678993e-05,0.864943922023,-0.000135099738448,0.835129122023
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,7.47291590667e-05,0.864944826071,-0.00013506406647,0.835130026071
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,7.47598906406e-05,0.864945264364,-0.000135043855758,0.835130468961
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,7.47321143415e-05,0.864945478486,-0.000135073649399,0.835130698378
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,7.46999080794e-05,0.864945726759,-0.000135108194742,0.835130964385
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,7.4672585318e-05,0.864945937385,-0.000135137501905,0.835131190056
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,7.46366803163e-05,0.864946214171,-0.000135176014621,0.835131486612
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,7.46087001234e-05,0.864946429865,-0.000135206026964,0.835131717713
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,7.45972883792e-05,0.864946804184,-0.000135218967049,0.835132095306
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,7.4618149298e-05,0.864947203818,-0.000135197960177,0.835132477565
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,7.46405906049e-05,0.864947633728,-0.00013517536186,0.835132888783
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,7.46951780948e-05,0.864948679465,-0.000135120392448,0.835133889054
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,7.47301786422e-05,0.864949765095,-0.000135077997372,0.83513499131
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,7.47555706592e-05,0.864950700292,-0.000135044698689,0.835135954846
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,7.47592974348e-05,0.864953149014,-0.000135026012823,0.835138427925
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,7.46300778244e-05,0.864956464037,-0.00013514726901,0.835141669281
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,7.45352780323e-05,0.86496043566,-0.000135276478818,0.835145704839
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,7.46100808727e-05,0.864968138361,-0.000135215392725,0.835153438361
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,7.48438818743e-05,0.864983187892,-0.000134943518158,0.835168422271
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,7.48083311454e-05,0.865005270785,-0.00013498737447,0.835190570785
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,7.45663350948e-05,0.865034916988,-0.000135250508588,0.835220216988
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,7.47185043352e-05,0.865069903767,-0.000135107594289,0.835255203767
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,7.47001779034e-05,0.865109219942,-0.000135103854205,0.835294519942
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,7.46595215788e-05,0.865149662132,-0.000135157280566,0.835335034959
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,7.47424250905e-05,0.865192270012,-0.000135069262625,0.835377670012
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,7.46668184723e-05,0.865239645203,-0.000135145345263,0.835425045203
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,7.46114866387e-05,0.865291703768,-0.000135178020453,0.835477103768
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,7.45458088361e-05,0.8653580578,-0.000135236070353,0.835543546273
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,7.45530514118e-05,0.86543572108,-0.000135230242955,0.83562112108
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,7.46493889117e-05,0.865522125878,-0.000135121598566,0.835707525878
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,7.45632674744e-05,0.865620263803,-0.000135202575471,0.83580574334
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,7.45389440275e-05,0.865734054916,-0.000135231481765,0.835919564122
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,7.43352856561e-05,0.865854812112,-0.000135441107216,0.836040412112
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,7.43724427101e-05,0.865984224359,-0.000135398020873,0.836169879041
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,7.44135166831e-05,0.866124209723,-0.00013535681323,0.836309909723
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,7.42986905742e-05,0.866273021843,-0.000135496635888,0.836458814432
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,7.44806589679e-05,0.866428644393,-0.000135274843413,0.836614451242
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,7.42049343356e-05,0.866593895722,-0.000135564159003,0.836779795722
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,7.42595260679e-05,0.866770463951,-0.000135510218158,0.83695639638
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,7.42480578494e-05,0.866952557421,-0.000135524104678,0.837138599661
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,7.42683130503e-05,0.867140566137,-0.000135480889656,0.837326715481
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,7.44448188134e-05,0.867339243661,-0.000135274253142,0.837525500105
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,7.45827589784e-05,0.867542971706,-0.000135114572979,0.837729271706
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,7.48362473378e-05,0.867754217686,-0.000134855625869,0.837940581357
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,7.51116517994e-05,0.867980513353,-0.000134604134655,0.838167051123
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,7.50845177977e-05,0.868214806017,-0.000134652942558,0.838401479087
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,7.52434489734e-05,0.868462101524,-0.00013454256947,0.838648879807
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,7.52725890938e-05,0.86872278576,-0.00013460503134,0.83890958576
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,7.54797263375e-05,0.868983111855,-0.000134458935833,0.839170085333
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,7.57068888154e-05,0.869265950392,-0.000134286932489,0.839453043874
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,7.5946468975e-05,0.869568091264,-0.000134082413922,0.839755297565
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,7.60599544592e-05,0.869873999352,-0.000134032397186,0.840061409328
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,7.61109949273e-05,0.870194387797,-0.000133895169735,0.840381905575
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,7.59756513705e-05,0.87053944879,-0.000134063928244,0.840727078793
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,7.60747214748e-05,0.870877009046,-0.000133939202863,0.841064781779
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,7.63641494055e-05,0.871227965243,-0.000133670994368,0.841415953166
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,7.66658253826e-05,0.871595879059,-0.00013338712167,0.841784032488
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,7.6180715309e-05,0.871933770903,-0.000133907735078,0.842122073519
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,7.51250016756e-05,0.872278322337,-0.000135052020587,0.842466771127
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,7.42505282802e-05,0.872630180586,-0.00013603862074,0.84281872665
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,7.37558937442e-05,0.872984844065,-0.000136563366215,0.843173569767
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,7.36710631062e-05,0.873345752894,-0.000136614455084,0.84353469029
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,7.38390067615e-05,0.873742914697,-0.000136452123078,0.843932035583
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,7.42557744691e-05,0.874146674359,-0.000136070910937,0.84433606006
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,7.46706936124e-05,0.874567517381,-0.00013569985696,0.844757112971
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,7.48221818894e-05,0.874993092827,-0.000135541036124,0.845182844741
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,7.48727702405e-05,0.875425983812,-0.000135458196944,0.845615951692
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,7.4777846782e-05,0.875869153139,-0.000135551469421,0.846059374525
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,7.44677415306e-05,0.876312223306,-0.000135810082557,0.846502587122
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,7.46675612518e-05,0.876760103096,-0.000135576571343,0.846950769096
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,7.51391864346e-05,0.877210812026,-0.000135120071554,0.84740168056
|
| 75 |
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73,1.216666667,pose1-to-pose2-lift,7.56512869281e-05,0.877663659846,-0.000134600717548,0.847854769498
|
| 76 |
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74,1.233333333,pose1-to-pose2-lift,7.52632061337e-05,0.878140152041,-0.000135002425413,0.84833150296
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,7.47108728194e-05,0.878633348807,-0.000135542993207,0.848824999342
|
| 78 |
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76,1.266666667,pose1-to-pose2-lift,7.41916995942e-05,0.879128867253,-0.000136017587525,0.849320748629
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,7.37471829439e-05,0.879632591141,-0.000136456573462,0.849824787468
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,7.38306061388e-05,0.880135885043,-0.000136471116373,0.850328309163
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,7.36951127853e-05,0.880619527981,-0.000136674139926,0.850812344677
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,7.40139221452e-05,0.88109939935,-0.000136384398512,0.851292426736
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,7.41625884315e-05,0.881577369403,-0.000136205011657,0.851770687409
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,7.42437253839e-05,0.882047339212,-0.000136176077142,0.852240861537
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,7.45000550261e-05,0.882523742263,-0.00013596451853,0.852717562797
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,7.44920596519e-05,0.883007532834,-0.000135981236217,0.853201653094
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,7.41452550459e-05,0.883464994044,-0.000136407886984,0.853659397473
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,7.46947956943e-05,0.883899096208,-0.000135822160619,0.854093770555
|
| 89 |
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87,1.450000000,pose1-to-pose2-lift,7.54012286306e-05,0.88435608112,-0.000135074199116,0.854550954116
|
| 90 |
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88,1.466666667,pose1-to-pose2-lift,7.57343427127e-05,0.884811215391,-0.000134735661012,0.855006437683
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,7.61736903069e-05,0.885252417126,-0.000134298077241,0.855447860771
|
| 92 |
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90,1.500000000,pose1-to-pose2-lift,7.5868200851e-05,0.885720656227,-0.000134581869439,0.85591636346
|
| 93 |
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91,1.516666667,pose1-to-pose2-lift,7.49908145382e-05,0.886217153619,-0.000135418101898,0.856413171527
|
| 94 |
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92,1.533333333,pose1-to-pose2-lift,7.41849081695e-05,0.886689361285,-0.000136224426507,0.856885676032
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| 95 |
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93,1.550000000,pose1-to-pose2-lift,7.34908778068e-05,0.887166725633,-0.000136939333382,0.857363341859
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| 96 |
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94,1.566666667,pose1-to-pose2-lift,7.38241321487e-05,0.887669559504,-0.000136589519762,0.857866494653
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| 97 |
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95,1.583333333,pose1-to-pose2-lift,7.46566730686e-05,0.888165918325,-0.000135775393328,0.85836325433
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| 98 |
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96,1.600000000,pose1-to-pose2-lift,7.52150749212e-05,0.888653217791,-0.000135221005249,0.85885079467
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| 99 |
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97,1.616666667,pose1-to-pose2-lift,7.56606918889e-05,0.889140234053,-0.000134818348897,0.859338209223
|
| 100 |
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98,1.633333333,pose1-to-pose2-lift,7.50812331903e-05,0.889615384933,-0.000135396403643,0.859813677582
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| 101 |
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99,1.650000000,pose1-to-pose2-lift,7.42368710583e-05,0.890074938467,-0.00013628323625,0.860273436409
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| 102 |
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100,1.666666667,pose1-to-pose2-lift,7.43512326156e-05,0.890533962051,-0.000136142109251,0.860732865812
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| 103 |
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101,1.683333333,pose1-to-pose2-lift,7.44980487777e-05,0.890978787535,-0.000135930587859,0.861177990638
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| 104 |
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102,1.700000000,pose1-to-pose2-lift,7.4454748735e-05,0.891415253809,-0.000135956940828,0.861614657814
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| 105 |
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103,1.716666667,pose1-to-pose2-lift,7.4346051001e-05,0.891849476289,-0.000136095980354,0.862049182633
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| 106 |
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104,1.733333333,pose1-to-pose2-lift,7.38730814143e-05,0.892276472458,-0.000136605814559,0.862476480648
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| 107 |
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105,1.750000000,pose1-to-pose2-lift,7.27814604295e-05,0.892699699772,-0.000137673695878,0.862900013812
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| 108 |
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106,1.766666667,pose1-to-pose2-lift,7.21979574463e-05,0.893132793659,-0.000138286473183,0.863333510639
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| 109 |
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107,1.783333333,pose1-to-pose2-lift,7.27297805447e-05,0.893560552004,-0.000137775395162,0.863761508138
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| 110 |
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108,1.800000000,pose1-to-pose2-lift,7.38523180157e-05,0.893986190479,-0.000136638299377,0.864187532845
|
| 111 |
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109,1.816666667,pose1-to-pose2-lift,7.47210409143e-05,0.894412176466,-0.000135775015109,0.864613737911
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| 112 |
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110,1.833333333,pose1-to-pose2-lift,7.51952902146e-05,0.894822263324,-0.000135307415028,0.865024079356
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| 113 |
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111,1.850000000,pose1-to-pose2-lift,7.54717396757e-05,0.895217740583,-0.000135038429318,0.865419875984
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.307182e-05,0.9029402,-0.0001379217,0.8731484
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.32360826221e-05,0.902940144356,-0.000137730238595,0.873148444356
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.3879175738e-05,0.902939895414,-0.000137108761132,0.873148195414
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.46932460899e-05,0.902939797241,-0.000136266578765,0.873148097241
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.54030555697e-05,0.90293971164,-0.000135532257676,0.87314801164
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.57764874271e-05,0.9029397081,-0.000135151038513,0.8731480081
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,7.60357029844e-05,0.902939715682,-0.00013488765347,0.873148015682
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,7.71160378383e-05,0.902939747283,-0.000133789941414,0.873148047283
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,7.85872177622e-05,0.902939790316,-0.00013229509754,0.873148090316
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,8.06163029971e-05,0.902939861887,-0.000130227042181,0.873148161887
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,8.30040854851e-05,0.902939948914,-0.000127791947618,0.873148248914
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,8.80132106994e-05,0.902939958476,-0.00012268861145,0.873148258476
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,9.79270571256e-05,0.902939937101,-0.000112624713011,0.873148274202
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,0.000117517663579,0.902939935475,-9.27184169204e-05,0.873148270951
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.000150758343882,0.9029402,-5.89585596772e-05,0.8731484
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000202032491313,0.902940335008,-6.80382173119e-06,0.873148602512
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000270291873176,0.902940485284,6.25974340576e-05,0.873148763963
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000357649555626,0.902941095254,0.000151397023276,0.873149369068
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000458916541629,0.902941417435,0.000254344530194,0.873149617435
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000565827417592,0.90294163564,0.000363031902182,0.87314983564
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000682541906054,0.90294207272,0.000481689015414,0.87315027272
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000808734565601,0.902942722629,0.000609974587747,0.873150835524
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000940940156866,0.902943201346,0.000744399389269,0.873151301346
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00107969381102,0.9029435,0.000885444371484,0.8731516
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00122922703791,0.902943460654,0.00103749028775,0.873151560654
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00138214309661,0.902943169381,0.00119295352538,0.873151269381
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00153850453127,0.902942740358,0.00135190092918,0.873150810537
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00169826516019,0.902942536927,0.00151429993458,0.873150536927
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00186583616318,0.902942260573,0.00168464764784,0.87315029543
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29,0.483333333,pose2-to-pose3-side,0.0020400396728,0.902942039397,0.0018617749229,0.873150060603
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31,0.516666667,pose2-to-pose3-side,0.00240763123913,0.902942470167,0.00223548629769,0.873150470167
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34,0.566666667,pose2-to-pose3-side,0.00296824073057,0.902943578056,0.00280539907001,0.873151578056
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40,0.666666667,pose2-to-pose3-side,0.00397425565624,0.9029443,0.00382819159236,0.8731522
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63,1.050000000,pose3-hold,0.005073583,0.9029442,0.00494587931429,0.8731521
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64,1.066666667,pose3-hold,0.005073583,0.9029442,0.00494588242857,0.8731521
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66,1.100000000,pose3-hold,0.005073583,0.9029442,0.00494589114286,0.8731521
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67,1.116666667,pose3-hold,0.005073583,0.9029442,0.00494589777143,0.8731521
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68,1.133333333,pose3-hold,0.005073583,0.9029442,0.0049459036,0.8731521
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69,1.150000000,pose3-hold,0.005073583,0.9029442,0.00494590877143,0.8731521
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70,1.166666667,pose3-hold,0.005073583,0.9029442,0.00494591145714,0.8731521
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71,1.183333333,pose3-hold,0.005073583,0.9029442,0.00494591342857,0.8731521
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72,1.200000000,pose3-hold,0.005073583,0.9029442,0.00494591711429,0.8731521
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73,1.216666667,pose3-hold,0.005073583,0.9029442,0.00494591794286,0.8731521
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74,1.233333333,pose3-hold,0.005073583,0.9029442,0.00494592031429,0.8731521
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75,1.250000000,pose3-hold,0.005073583,0.9029442,0.0049459246,0.8731521
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76,1.266666667,pose3-hold,0.005073583,0.9029442,0.00494592742857,0.8731521
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77,1.283333333,pose3-hold,0.005073583,0.9029442,0.00494592722857,0.8731521
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78,1.300000000,pose3-hold,0.005073583,0.9029442,0.00494592491429,0.8731521
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79,1.316666667,pose3-hold,0.005073583,0.9029442,0.00494592408571,0.8731521
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80,1.333333333,pose3-hold,0.005073583,0.9029442,0.00494592177143,0.8731521
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81,1.350000000,pose3-hold,0.005073583,0.9029442,0.00494591985714,0.8731521
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82,1.366666667,pose3-hold,0.005073583,0.9029442,0.0049459174,0.8731521
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83,1.383333333,pose3-hold,0.005073583,0.9029442,0.00494591431429,0.8731521
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84,1.400000000,pose3-hold,0.005073583,0.9029442,0.00494591188571,0.8731521
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85,1.416666667,pose3-hold,0.005073583,0.9029442,0.00494591022857,0.8731521
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86,1.433333333,pose3-hold,0.005073583,0.9029442,0.00494590785714,0.8731521
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87,1.450000000,pose3-hold,0.005073583,0.9029442,0.00494590591429,0.8731521
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88,1.466666667,pose3-hold,0.005073583,0.9029442,0.00494590462857,0.8731521
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89,1.483333333,pose3-hold,0.005073583,0.9029442,0.0049459038,0.8731521
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90,1.500000000,pose3-hold,0.005073583,0.9029442,0.00494590302857,0.8731521
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91,1.516666667,pose3-hold,0.005073583,0.9029442,0.00494590385714,0.8731521
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92,1.533333333,pose3-hold,0.005073583,0.9029442,0.00494590468571,0.8731521
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93,1.550000000,pose3-hold,0.005073583,0.9029442,0.004945905,0.8731521
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94,1.566666667,pose3-hold,0.005073583,0.9029442,0.00494590568571,0.8731521
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95,1.583333333,pose3-hold,0.005073583,0.9029442,0.00494590717143,0.8731521
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96,1.600000000,pose3-hold,0.005073583,0.9029442,0.004945908,0.8731521
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97,1.616666667,pose3-to-pose4-insert,0.005073539,0.9029441,0.004945867,0.873152
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98,1.633333333,pose3-to-pose4-insert,0.00507348782093,0.902943895523,0.00494581555233,0.873151795523
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99,1.650000000,pose3-to-pose4-insert,0.00507347671403,0.902943617851,0.00494578778508,0.873151517851
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100,1.666666667,pose3-to-pose4-insert,0.0050734721827,0.902943468027,0.00494577725607,0.873151368027
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101,1.683333333,pose3-to-pose4-insert,0.00507347371537,0.90294319981,0.00494578779317,0.87315109981
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102,1.700000000,pose3-to-pose4-insert,0.00507347888239,0.902942295582,0.00494582331641,0.873150195582
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103,1.716666667,pose3-to-pose4-insert,0.00507345960639,0.902941657729,0.00494580962357,0.873149545444
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104,1.733333333,pose3-to-pose4-insert,0.00507344591286,0.902941360761,0.00494579527011,0.873149240226
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105,1.750000000,pose3-to-pose4-insert,0.00507341050981,0.902940592984,0.00494575816089,0.873148451122
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106,1.766666667,pose3-to-pose4-insert,0.00507334744305,0.902939225271,0.00494569205476,0.873147045417
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107,1.783333333,pose3-to-pose4-insert,0.0050733186015,0.902938599791,0.00494566182325,0.873146402563
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108,1.800000000,pose3-to-pose4-insert,0.00507332545592,0.902937812645,0.00494566476457,0.873145625374
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109,1.816666667,pose3-to-pose4-insert,0.00507335866,0.9029358204,0.00494568726955,0.873143670022
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110,1.833333333,pose3-to-pose4-insert,0.00507336221015,0.902926934285,0.00494568237587,0.873134834285
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111,1.850000000,pose3-to-pose4-insert,0.00507339898104,0.902906451692,0.00494571617972,0.873114351692
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112,1.866666667,pose3-to-pose4-insert,0.00507344139843,0.902869387244,0.0049457683802,0.873077287244
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113,1.883333333,pose3-to-pose4-insert,0.00507355826146,0.902812360825,0.00494590222376,0.87302017812
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114,1.900000000,pose3-to-pose4-insert,0.0050736020514,0.902734892278,0.00494595386898,0.872942640454
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115,1.916666667,pose3-to-pose4-insert,0.00507341771162,0.902637771519,0.0049457526299,0.872845456214
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116,1.933333333,pose3-to-pose4-insert,0.00507354817476,0.902523308277,0.00494589652199,0.872730838717
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117,1.950000000,pose3-to-pose4-insert,0.00507348884094,0.902393355553,0.00494589359457,0.872600772435
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118,1.966666667,pose3-to-pose4-insert,0.00507368063846,0.902248076255,0.00494606524629,0.87245545839
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119,1.983333333,pose3-to-pose4-insert,0.005073633,0.902090893415,0.00494601051329,0.872298000259
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120,2.000000000,pose3-to-pose4-insert,0.00507386729964,0.901925441451,0.00494623986376,0.872132515685
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121,2.016666667,pose3-to-pose4-insert,0.00507403682797,0.901754550971,0.00494638982341,0.871961451952
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122,2.033333333,pose3-to-pose4-insert,0.00507426280294,0.901581483235,0.00494656748333,0.871788216225
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123,2.050000000,pose3-to-pose4-insert,0.00507455192592,0.901407343129,0.00494683967013,0.871613963756
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124,2.066666667,pose3-to-pose4-insert,0.0050745942436,0.901226661328,0.00494684808612,0.871433079094
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125,2.083333333,pose3-to-pose4-insert,0.00507474651808,0.901041532048,0.00494700332215,0.871247828219
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126,2.100000000,pose3-to-pose4-insert,0.00507498482029,0.900852098245,0.0049472762526,0.871058185615
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127,2.116666667,pose3-to-pose4-insert,0.00507513170457,0.900653176742,0.00494738857661,0.870859123708
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128,2.133333333,pose3-to-pose4-insert,0.00507543063648,0.900453209203,0.00494771843074,0.87065896949
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129,2.150000000,pose3-to-pose4-insert,0.00507548897602,0.900253527476,0.00494777172141,0.870459123233
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130,2.166666667,pose3-to-pose4-insert,0.00507548511708,0.900050997726,0.0049478105646,0.87025643136
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131,2.183333333,pose3-to-pose4-insert,0.00507540676189,0.899854185567,0.00494774104186,0.870059428367
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132,2.200000000,pose3-to-pose4-insert,0.00507517634353,0.899674419847,0.00494754289386,0.869879536778
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133,2.216666667,pose3-to-pose4-insert,0.0050750532701,0.899504739666,0.00494740796707,0.86970975574
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134,2.233333333,pose3-to-pose4-insert,0.00507513295982,0.899342773806,0.00494745980337,0.869547607209
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135,2.250000000,pose3-to-pose4-insert,0.0050749621388,0.899189125866,0.00494726791135,0.869393844729
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136,2.266666667,pose3-to-pose4-insert,0.00507500195426,0.899042320967,0.00494725138477,0.869246864043
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137,2.283333333,pose3-to-pose4-insert,0.00507490999032,0.898894274646,0.00494716375076,0.869098693079
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138,2.300000000,pose3-to-pose4-insert,0.00507505180325,0.89874722782,0.00494728019091,0.86895162782
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139,2.316666667,pose3-to-pose4-insert,0.00507504654205,0.898610327572,0.00494729306505,0.86881462974
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140,2.333333333,pose3-to-pose4-insert,0.00507504821834,0.898487551757,0.00494729049965,0.868691651757
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141,2.350000000,pose3-to-pose4-insert,0.00507497565206,0.898372286133,0.00494722671506,0.868576376955
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142,2.366666667,pose3-to-pose4-insert,0.00507499114283,0.898269299636,0.00494721385714,0.868473299636
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143,2.383333333,pose3-to-pose4-insert,0.00507500444948,0.898178343569,0.00494723978723,0.868382325829
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144,2.400000000,pose3-to-pose4-insert,0.00507507930621,0.89809921819,0.0049473384113,0.868303099094
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145,2.416666667,pose3-to-pose4-insert,0.00507504434943,0.898028308258,0.00494724529916,0.868232108258
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146,2.433333333,pose3-to-pose4-insert,0.00507510109842,0.897968821545,0.00494732386257,0.868172598858
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147,2.450000000,pose3-to-pose4-insert,0.00507520099922,0.897918277435,0.00494744484948,0.868121977435
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148,2.466666667,pose3-to-pose4-insert,0.0050752613421,0.897876895648,0.00494752004559,0.86808057651
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149,2.483333333,pose3-to-pose4-insert,0.00507513362365,0.897842271781,0.00494738671441,0.868045871781
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150,2.500000000,pose3-to-pose4-insert,0.00507529807174,0.897813833794,0.00494756798119,0.868017433794
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151,2.516666667,pose3-to-pose4-insert,0.00507525819469,0.897792562015,0.00494751159735,0.867996162015
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152,2.533333333,pose3-to-pose4-insert,0.00507528424972,0.897776972408,0.00494752530625,0.867980572408
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153,2.550000000,pose3-to-pose4-insert,0.00507540264357,0.897765037544,0.00494760932769,0.867968637544
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154,2.566666667,pose3-to-pose4-insert,0.00507538352728,0.897755918102,0.00494760026364,0.867959518102
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155,2.583333333,pose3-to-pose4-insert,0.00507527601615,0.897750755368,0.00494751189565,0.867954355368
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156,2.600000000,pose3-to-pose4-insert,0.00507532936847,0.897747089459,0.00494757482089,0.867950689459
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157,2.616666667,pose3-to-pose4-insert,0.005075272,0.8977446,0.004947509,0.8679482
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158,2.633333333,pose4-hold,0.005075272,0.8977446,0.004947503,0.8679482
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159,2.650000000,pose4-hold,0.005075272,0.8977446,0.00494749637143,0.8679482
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160,2.666666667,pose4-hold,0.005075272,0.8977446,0.004947495,0.8679482
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161,2.683333333,pose4-hold,0.005075272,0.8977446,0.004947495,0.8679482
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162,2.700000000,pose4-hold,0.005075272,0.8977446,0.00494749531429,0.8679482
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163,2.716666667,pose4-hold,0.005075272,0.8977446,0.00494749614286,0.8679482
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164,2.733333333,pose4-hold,0.005075272,0.8977446,0.00494749697143,0.8679482
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206,3.433333333,pose2-hold,1.79310611984e+18,camera_frames_60hz/WAIT_POSE2/camera_00009657_1793106119845471402_real.jpg,0.675845140603,-0.00536636455713,0.147440497723,0.999999881855,0.000132487069171,-0.000464576019075,-5.39111118197e-05,0.060602452606
|
Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,208 @@
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,7.475617e-05,0.8649433,-0.0001350139,0.8351285
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,7.46114386421e-05,0.864943554979,-0.000135191449732,0.835128836653
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,7.47018979135e-05,0.864944313135,-0.00013510778349,0.835129513135
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,7.47204405717e-05,0.864944742652,-0.000135086231792,0.835129942652
|
| 6 |
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|
| 7 |
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|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,7.47199984151e-05,0.864945693052,-0.000135106704826,0.83513092827
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,7.46317946021e-05,0.864946616301,-0.000135207130882,0.835131915592
|
| 10 |
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|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,7.46533509315e-05,0.864947273593,-0.000135184182808,0.835132544307
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,7.46780749009e-05,0.864948027473,-0.000135157862581,0.835133265409
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,7.47057060414e-05,0.864948869997,-0.000135128447486,0.835134071302
|
| 14 |
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|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,7.47884746879e-05,0.864951912159,-0.000135015219887,0.835137203437
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,7.47215375069e-05,0.864954117714,-0.000135076946975,0.835139375098
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,7.46241965159e-05,0.864956614917,-0.000135171285772,0.835141816808
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,7.4551164566e-05,0.864959742374,-0.000135269546013,0.835144998714
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,7.45192386796e-05,0.864963281501,-0.000135321595403,0.835148581501
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,7.46278923126e-05,0.864969090646,-0.000135215371048,0.835154390646
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,7.48084610715e-05,0.864979481584,-0.00013499363904,0.835164684012
|
| 22 |
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20,0.333333333,pose1-to-pose2-lift,7.48696567766e-05,0.864997171892,-0.000134940208228,0.835182471892
|
| 23 |
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21,0.350000000,pose1-to-pose2-lift,7.46298700602e-05,0.865023226696,-0.000135216506057,0.835208526696
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,7.46379773071e-05,0.865055798859,-0.000135200833746,0.835241098859
|
| 25 |
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23,0.383333333,pose1-to-pose2-lift,7.47370893547e-05,0.865092650431,-0.00013508430555,0.835277950431
|
| 26 |
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24,0.400000000,pose1-to-pose2-lift,7.46653226888e-05,0.865129912475,-0.000135161087695,0.835315229035
|
| 27 |
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25,0.416666667,pose1-to-pose2-lift,7.46760683395e-05,0.865166665715,-0.000135161725788,0.835352065715
|
| 28 |
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26,0.433333333,pose1-to-pose2-lift,7.47491708152e-05,0.86520514885,-0.00013507705873,0.83539054885
|
| 29 |
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27,0.450000000,pose1-to-pose2-lift,7.46541443494e-05,0.865245515638,-0.000135172288013,0.835430915638
|
| 30 |
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28,0.466666667,pose1-to-pose2-lift,7.46086080204e-05,0.865294820625,-0.000135193181612,0.835480220625
|
| 31 |
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29,0.483333333,pose1-to-pose2-lift,7.45455051392e-05,0.865358916615,-0.000135250188758,0.835544403705
|
| 32 |
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30,0.500000000,pose1-to-pose2-lift,7.45561568782e-05,0.865438366593,-0.000135245420251,0.835623766593
|
| 33 |
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31,0.516666667,pose1-to-pose2-lift,7.46591389083e-05,0.86553141337,-0.000135129538018,0.83571681337
|
| 34 |
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32,0.533333333,pose1-to-pose2-lift,7.45334589932e-05,0.865641512584,-0.000135250502475,0.835827012584
|
| 35 |
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|
| 36 |
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|
| 37 |
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35,0.583333333,pose1-to-pose2-lift,7.44172241006e-05,0.866034026085,-0.000135380941602,0.836219725391
|
| 38 |
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36,0.600000000,pose1-to-pose2-lift,7.43865656876e-05,0.866181198093,-0.000135401490427,0.836366918889
|
| 39 |
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37,0.616666667,pose1-to-pose2-lift,7.43681735304e-05,0.866332981225,-0.000135431867067,0.836518781225
|
| 40 |
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38,0.633333333,pose1-to-pose2-lift,7.43449652405e-05,0.866493205404,-0.000135438592273,0.836679056716
|
| 41 |
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39,0.650000000,pose1-to-pose2-lift,7.42260302878e-05,0.866667868542,-0.000135561125577,0.836853768542
|
| 42 |
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40,0.666666667,pose1-to-pose2-lift,7.42885679655e-05,0.866849891438,-0.000135502012791,0.837035872775
|
| 43 |
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41,0.683333333,pose1-to-pose2-lift,7.41878150957e-05,0.867037047217,-0.000135603857339,0.83722313878
|
| 44 |
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42,0.700000000,pose1-to-pose2-lift,7.43624460431e-05,0.867233179508,-0.000135389742788,0.837419380129
|
| 45 |
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|
| 46 |
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44,0.733333333,pose1-to-pose2-lift,7.4647897471e-05,0.867632618905,-0.000135036746937,0.837818929662
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|
| 48 |
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.526749e-05,0.9029385,-0.0001341514,0.8731468
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.57459708596e-05,0.902938545101,-0.000133659101314,0.873146845101
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.60874549965e-05,0.902938607785,-0.000133306727597,0.873146907785
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.65830960463e-05,0.902938665096,-0.000132804111822,0.873146965096
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.66885981297e-05,0.902938677295,-0.0001326971251,0.873146977295
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.76572931895e-05,0.902938789305,-0.000131714798438,0.873147089305
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,7.85566540624e-05,0.902938750793,-0.000130803248827,0.873147050793
|
| 9 |
+
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123,2.050000000,pose3-to-pose4-insert,0.00507429420567,0.901496865825,0.00494836409156,0.871703542252
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142,2.366666667,pose3-to-pose4-insert,0.00507460816325,0.898284148033,0.00494861974751,0.868488149751
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150,2.500000000,pose3-to-pose4-insert,0.00507355049201,0.897829061649,0.0049475256942,0.868032692027
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153,2.550000000,pose3-to-pose4-insert,0.00507361663321,0.897773228809,0.00494757714729,0.867976877401
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| 1 |
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|
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|
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| 7 |
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| 206 |
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|
| 207 |
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|
Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,207 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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|
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Part2/Free/digiy/cylinder_15A_12.5/width_10/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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| 2 |
+
oid sha256:41b3408c82b39574b4d78e65f6495b402e19271955cb4aba4623f63e2c92540e
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| 3 |
+
size 9062400
|
Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/camera_franka_gripper_aligned_60hz.csv.bak
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:8479adf072f70788f1b7fbac5f81092a46b2c6b4fdca4d7c11f86072b6117b52
|
| 3 |
+
size 91468554
|
Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
|
Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/simulation_data.csv
ADDED
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@@ -0,0 +1,904 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.622e-05,0.9029366,-0.000134364,0.8731449
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.63765603438e-05,0.902936871979,-0.000134222077973,0.873145081319
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.65849876058e-05,0.902936754892,-0.00013401096941,0.873145003261
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.69854820596e-05,0.9029366,-0.000133607223954,0.8731449
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.83155054565e-05,0.9029366,-0.000132280355956,0.8731449
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.88563760951e-05,0.902936591949,-0.000131734081613,0.873144891949
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,7.94144964199e-05,0.90293657402,-0.000131162394339,0.87314487402
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,7.9938113383e-05,0.902936557199,-0.000130626049144,0.873144857199
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,8.07944482336e-05,0.90293652969,-0.000129748898259,0.87314482969
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,8.19137766929e-05,0.902936510362,-0.000128603279223,0.873144806908
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,8.28799622027e-05,0.902936561681,-0.00012761815554,0.873144841121
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,8.64889712943e-05,0.902936753371,-0.000123938406372,0.873144968914
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,9.42152193661e-05,0.902936876066,-0.000116086198621,0.873145076066
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,0.000107014848626,0.9029369,-0.000103079729483,0.873145184001
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.000130639314248,0.902936934607,-7.90681600545e-05,0.873145151911
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000169828463419,0.902937300861,-3.92281256481e-05,0.873145533907
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000226198647995,0.902937621166,1.808367842e-05,0.873145842332
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.00030085616961,0.902938222547,9.3998028112e-05,0.873146522547
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000396502742348,0.902938475937,0.000191199858619,0.873146775937
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000509796065804,0.902939610795,0.000306389736106,0.873147752841
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000634810713115,0.90294011279,0.000433470772506,0.873148293992
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000770981706174,0.902941013176,0.000571892144875,0.873149164823
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000913552510192,0.902942093489,0.000716844487771,0.873150216435
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00105513485114,0.902943028067,0.000860775538545,0.873151128067
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00119553989827,0.9029431,0.00100350707103,0.87315129597
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00134212359089,0.902943000616,0.00115254890408,0.873151101233
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00149753951312,0.902943285964,0.00131054327319,0.873151385964
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00166044479513,0.902942923929,0.00147618396743,0.873151015953
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.0018300768683,0.9029432,0.00164863060994,0.8731512
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00200921042257,0.902943178889,0.00183075867653,0.873151178889
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00219107554145,0.902943071581,0.00201564374774,0.873151071581
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00237044396073,0.902943163347,0.00219799174932,0.873151163347
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00255298740647,0.90294365217,0.00238357052127,0.87315165217
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00274192441827,0.9029439,0.00257567492949,0.8731519
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00292620709931,0.902943954049,0.00276301653074,0.8731519
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00310805178823,0.902944304993,0.00294788292048,0.873152204993
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00329016597213,0.902944359451,0.00313303808963,0.873152259451
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00346551772421,0.902943750767,0.00331128847078,0.873151650767
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00363239140607,0.902943685138,0.00348094668976,0.873151670275
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.003793795337,0.902943792791,0.00364504413088,0.8731517
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.0039455829936,0.9029438,0.00379938868638,0.87315179936
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00408511126634,0.902943593501,0.00394123451762,0.873151493501
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00420694269381,0.90294340058,0.00406500287013,0.87315130058
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00431686903396,0.902943213588,0.0041767851749,0.8731513
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00441931159095,0.902942851978,0.00428097132162,0.873150951978
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00451201485374,0.902942720633,0.00437521567072,0.873150820633
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.0045955887712,0.902942629552,0.00446021125522,0.873150659105
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.0046784103397,0.902942459266,0.00454444292231,0.873150459266
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00475431887626,0.902942253321,0.00462164715403,0.873150253321
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00481958689897,0.902942350457,0.00468803506461,0.873150350457
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00487703674359,0.902942479288,0.00474646033121,0.8731504
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00492444187998,0.902942010156,0.00479464622375,0.873149910156
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00496260548209,0.902941819202,0.00483347109233,0.873149719202
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00499311115846,0.902941878486,0.00486448281498,0.873149856972
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00501736724304,0.9029419,0.00488914259654,0.873149824022
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00503550452993,0.902941755094,0.00490753899837,0.873149655094
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00505027987747,0.9029417,0.00492258193702,0.8731496
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00506036853979,0.902941462458,0.0049328402255,0.873149362458
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00506747968928,0.902941860292,0.00494005149477,0.873149760292
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00507157909162,0.9029417,0.00494418867107,0.8731496
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00507324422396,0.9029417926,0.00494587559588,0.8731496926
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.005073448,0.9029417,0.004946057,0.8731496
|
| 64 |
+
62,1.033333333,pose3-hold,0.005073448,0.9029417,0.004946046,0.8731496
|
| 65 |
+
63,1.050000000,pose3-hold,0.005073448,0.9029417,0.00494604770588,0.8731496
|
| 66 |
+
64,1.066666667,pose3-hold,0.005073448,0.9029417,0.00494604658824,0.8731496
|
| 67 |
+
65,1.083333333,pose3-hold,0.005073448,0.9029417,0.00494604823529,0.8731496
|
| 68 |
+
66,1.100000000,pose3-hold,0.005073448,0.9029417,0.00494605164706,0.8731496
|
| 69 |
+
67,1.116666667,pose3-hold,0.005073448,0.9029417,0.00494605532353,0.8731496
|
| 70 |
+
68,1.133333333,pose3-hold,0.005073448,0.9029417,0.00494606029412,0.8731496
|
| 71 |
+
69,1.150000000,pose3-hold,0.005073448,0.9029417,0.00494606967647,0.8731496
|
| 72 |
+
70,1.166666667,pose3-hold,0.005073448,0.9029417,0.00494607082353,0.8731496
|
| 73 |
+
71,1.183333333,pose3-hold,0.005073448,0.9029417,0.00494607573529,0.8731496
|
| 74 |
+
72,1.200000000,pose3-hold,0.005073448,0.9029417,0.00494608117647,0.8731496
|
| 75 |
+
73,1.216666667,pose3-hold,0.005073448,0.9029417,0.00494608552941,0.8731496
|
| 76 |
+
74,1.233333333,pose3-hold,0.005073448,0.9029417,0.004946088,0.8731496
|
| 77 |
+
75,1.250000000,pose3-hold,0.005073448,0.9029417,0.00494608817647,0.8731496
|
| 78 |
+
76,1.266666667,pose3-hold,0.005073448,0.9029417,0.00494608988235,0.8731496
|
| 79 |
+
77,1.283333333,pose3-hold,0.005073448,0.9029417,0.00494609555882,0.8731496
|
| 80 |
+
78,1.300000000,pose3-hold,0.005073448,0.9029417,0.00494609764706,0.8731496
|
| 81 |
+
79,1.316666667,pose3-hold,0.005073448,0.9029417,0.004946097,0.8731496
|
| 82 |
+
80,1.333333333,pose3-hold,0.005073448,0.9029417,0.00494609529412,0.8731496
|
| 83 |
+
81,1.350000000,pose3-hold,0.005073448,0.9029417,0.00494609358824,0.8731496
|
| 84 |
+
82,1.366666667,pose3-hold,0.005073448,0.9029417,0.00494609182353,0.8731496
|
| 85 |
+
83,1.383333333,pose3-hold,0.005073448,0.9029417,0.00494608926471,0.8731496
|
| 86 |
+
84,1.400000000,pose3-hold,0.005073448,0.9029417,0.00494608747059,0.8731496
|
| 87 |
+
85,1.416666667,pose3-hold,0.005073448,0.9029417,0.00494608391176,0.8731496
|
| 88 |
+
86,1.433333333,pose3-hold,0.005073448,0.9029417,0.00494608058824,0.8731496
|
| 89 |
+
87,1.450000000,pose3-hold,0.005073448,0.9029417,0.00494607835294,0.8731496
|
| 90 |
+
88,1.466666667,pose3-hold,0.005073448,0.9029417,0.00494607664706,0.8731496
|
| 91 |
+
89,1.483333333,pose3-hold,0.005073448,0.9029417,0.00494607497059,0.8731496
|
| 92 |
+
90,1.500000000,pose3-hold,0.005073448,0.9029417,0.00494607411765,0.8731496
|
| 93 |
+
91,1.516666667,pose3-hold,0.005073448,0.9029417,0.00494607326471,0.8731496
|
| 94 |
+
92,1.533333333,pose3-hold,0.005073448,0.9029417,0.004946073,0.8731496
|
| 95 |
+
93,1.550000000,pose3-hold,0.005073448,0.9029417,0.00494607344118,0.8731496
|
| 96 |
+
94,1.566666667,pose3-hold,0.005073448,0.9029417,0.00494607429412,0.8731496
|
| 97 |
+
95,1.583333333,pose3-hold,0.005073448,0.9029417,0.00494607529412,0.8731496
|
| 98 |
+
96,1.600000000,pose3-hold,0.005073448,0.9029417,0.004946077,0.8731496
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.005073448,0.9029417,0.004946092,0.8731496
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00507346756696,0.902941181101,0.00494610068502,0.873149081101
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00507349534088,0.902940678257,0.00494611398579,0.873148590576
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00507357724083,0.902939739277,0.00494619014752,0.873147703762
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.0050736273968,0.902939011206,0.00494623694794,0.873147008144
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00507360322523,0.902938628159,0.0049462151539,0.873146611889
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00507355765185,0.902937905958,0.00494617406314,0.873145864784
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00507354021265,0.902937629599,0.00494615833928,0.873145578896
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00507351820745,0.902937280883,0.00494613849852,0.873145218155
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00507347921378,0.902936662951,0.00494610334029,0.873144578914
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.0050734569961,0.902936310867,0.00494608330795,0.87314421469
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00507348730687,0.902934832081,0.004946116794,0.87314270721
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00507351035874,0.902933986846,0.00494614138266,0.873141846607
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00507355440571,0.902926441193,0.00494618589431,0.873134291296
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00507356405707,0.902906261018,0.00494622168149,0.87311414422
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00507371919275,0.90287131753,0.00494636284879,0.873079207931
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00507373285786,0.902816992491,0.004946374549,0.873024792491
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.0050738091126,0.902741252539,0.00494642193201,0.872948987879
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00507398173216,0.902648458952,0.00494658100174,0.872856162322
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00507408852727,0.902539465,0.0049466928364,0.872747017726
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.0050743791502,0.902409959857,0.00494695075642,0.872617361495
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00507448067491,0.902265608675,0.00494705782104,0.872472967102
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.00507483365899,0.902110950631,0.00494738348474,0.872318171858
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00507489751498,0.901944532662,0.00494742855855,0.872151621153
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00507476406765,0.901772947378,0.00494729043526,0.87197991035
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.00507472046131,0.90160222118,0.0049472492877,0.871809012797
|
| 125 |
+
123,2.050000000,pose3-to-pose4-insert,0.00507468903858,0.901427531705,0.00494722336131,0.871634095981
|
| 126 |
+
124,2.066666667,pose3-to-pose4-insert,0.00507461467512,0.901248320231,0.00494710423267,0.871454820231
|
| 127 |
+
125,2.083333333,pose3-to-pose4-insert,0.00507458194121,0.90106368411,0.00494705975297,0.871269912346
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126,2.100000000,pose3-to-pose4-insert,0.00507446584176,0.900884679856,0.00494694003488,0.871090879856
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127,2.116666667,pose3-to-pose4-insert,0.00507440950723,0.900707249228,0.00494683981157,0.870913255025
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128,2.133333333,pose3-to-pose4-insert,0.00507424070678,0.900524054276,0.00494669045429,0.870729952647
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129,2.150000000,pose3-to-pose4-insert,0.00507419964759,0.900342174738,0.00494661986255,0.870547871454
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130,2.166666667,pose3-to-pose4-insert,0.0050740371743,0.900161894035,0.00494649524245,0.870367484186
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131,2.183333333,pose3-to-pose4-insert,0.00507392168309,0.8999703538,0.00494642277519,0.870175740356
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132,2.200000000,pose3-to-pose4-insert,0.00507385647002,0.899777484335,0.00494639184807,0.869982759965
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133,2.216666667,pose3-to-pose4-insert,0.00507401612857,0.899592373762,0.00494661224504,0.869797507981
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134,2.233333333,pose3-to-pose4-insert,0.00507382633485,0.899411166207,0.0049464417602,0.869616123786
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135,2.250000000,pose3-to-pose4-insert,0.0050737887608,0.89923773925,0.0049463888206,0.869442537256
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136,2.266666667,pose3-to-pose4-insert,0.00507367452632,0.899073606256,0.00494625947698,0.869278248033
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137,2.283333333,pose3-to-pose4-insert,0.00507373840674,0.898916242026,0.00494632301895,0.869120775646
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138,2.300000000,pose3-to-pose4-insert,0.00507385141461,0.898770978909,0.00494646629265,0.868975406551
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139,2.316666667,pose3-to-pose4-insert,0.00507390940244,0.898636810953,0.00494650426739,0.868841134282
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140,2.333333333,pose3-to-pose4-insert,0.00507400975914,0.898509937025,0.00494661066164,0.868714154233
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141,2.350000000,pose3-to-pose4-insert,0.00507417191149,0.898395241732,0.00494675497891,0.868599354513
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142,2.366666667,pose3-to-pose4-insert,0.00507413573751,0.898291325197,0.00494672846251,0.868495334304
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143,2.383333333,pose3-to-pose4-insert,0.00507418242584,0.898195700275,0.00494677060075,0.868399700275
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144,2.400000000,pose3-to-pose4-insert,0.00507439793513,0.898110543152,0.00494697230517,0.868314443152
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145,2.416666667,pose3-to-pose4-insert,0.00507433113485,0.898038022784,0.00494688875628,0.868241915016
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146,2.433333333,pose3-to-pose4-insert,0.00507425691091,0.8979749839,0.0049468188975,0.868178771846
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147,2.450000000,pose3-to-pose4-insert,0.00507458272938,0.897923112727,0.00494712351676,0.868126812727
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148,2.466666667,pose3-to-pose4-insert,0.0050746735291,0.897880668653,0.00494721648969,0.868084368653
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149,2.483333333,pose3-to-pose4-insert,0.00507472116281,0.897846731556,0.00494724062512,0.868050426933
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150,2.500000000,pose3-to-pose4-insert,0.00507464730067,0.897820390358,0.00494717566203,0.868023996744
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151,2.516666667,pose3-to-pose4-insert,0.00507452897105,0.897799771845,0.00494705054579,0.868003371845
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152,2.533333333,pose3-to-pose4-insert,0.00507463418486,0.897784019411,0.00494714481394,0.867987619411
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153,2.550000000,pose3-to-pose4-insert,0.00507463883121,0.897771835626,0.00494714980338,0.867975435626
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154,2.566666667,pose3-to-pose4-insert,0.00507460143262,0.89776260405,0.0049471135313,0.86796620405
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155,2.583333333,pose3-to-pose4-insert,0.00507466800633,0.897755834782,0.00494717498973,0.867959434782
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156,2.600000000,pose3-to-pose4-insert,0.00507474779856,0.897750976795,0.00494726860268,0.867954576795
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157,2.616666667,pose3-to-pose4-insert,0.00507463397318,0.897747224083,0.00494714472907,0.867950872578
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158,2.633333333,pose3-to-pose4-insert,0.005074721,0.8977458,0.00494725,0.8679495
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159,2.650000000,pose4-hold,0.005074721,0.8977458,0.004947238,0.8679495
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160,2.666666667,pose4-hold,0.005074721,0.8977458,0.00494723885294,0.8679495
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161,2.683333333,pose4-hold,0.005074721,0.8977458,0.004947239,0.8679495
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162,2.700000000,pose4-hold,0.005074721,0.8977458,0.004947239,0.8679495
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163,2.716666667,pose4-hold,0.005074721,0.8977458,0.004947239,0.8679495
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164,2.733333333,pose4-hold,0.005074721,0.8977458,0.00494723926471,0.8679495
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165,2.750000000,pose4-hold,0.005074721,0.8977458,0.00494724,0.8679495
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166,2.766666667,pose4-hold,0.005074721,0.8977458,0.00494724,0.8679495
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167,2.783333333,pose4-hold,0.005074721,0.8977458,0.00494724,0.8679495
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168,2.800000000,pose4-hold,0.005074721,0.8977458,0.00494724,0.8679495
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169,2.816666667,pose4-hold,0.005074721,0.8977458,0.00494724052941,0.8679495
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170,2.833333333,pose4-hold,0.005074721,0.8977458,0.004947241,0.8679495
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171,2.850000000,pose4-hold,0.005074721,0.8977458,0.00494724123529,0.8679495
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172,2.866666667,pose4-hold,0.005074721,0.8977458,0.004947242,0.8679495
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173,2.883333333,pose4-hold,0.005074721,0.8977458,0.004947242,0.8679495
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174,2.900000000,pose4-hold,0.005074721,0.8977458,0.00494724279412,0.8679495
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175,2.916666667,pose4-hold,0.005074721,0.8977458,0.00494724364706,0.8679495
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176,2.933333333,pose4-hold,0.005074721,0.8977458,0.004947244,0.8679495
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177,2.950000000,pose4-hold,0.005074721,0.8977458,0.00494724435294,0.8679495
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178,2.966666667,pose4-hold,0.005074721,0.8977458,0.004947245,0.8679495
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179,2.983333333,pose4-hold,0.005074721,0.8977458,0.00494724494118,0.8679495
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180,3.000000000,pose4-hold,0.005074721,0.8977458,0.00494724408824,0.8679495
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181,3.016666667,pose4-hold,0.005074721,0.8977458,0.004947244,0.8679495
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182,3.033333333,pose4-hold,0.005074721,0.8977458,0.004947244,0.8679495
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183,3.050000000,pose4-hold,0.005074721,0.8977458,0.00494724352941,0.8679495
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184,3.066666667,pose4-hold,0.005074721,0.8977458,0.004947243,0.8679495
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185,3.083333333,pose4-hold,0.005074721,0.8977458,0.00494724282353,0.8679495
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186,3.100000000,pose4-hold,0.005074721,0.8977458,0.00494724197059,0.8679495
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187,3.116666667,pose4-hold,0.005074721,0.8977458,0.00494724111765,0.8679495
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188,3.133333333,pose4-hold,0.005074721,0.8977458,0.00494724026471,0.8679495
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189,3.150000000,pose4-hold,0.005074721,0.8977458,0.00494724,0.8679495
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190,3.166666667,pose4-hold,0.005074721,0.8977458,0.00494723955882,0.8679495
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191,3.183333333,pose4-hold,0.005074721,0.8977458,0.00494723870588,0.8679495
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192,3.200000000,pose4-hold,0.005074721,0.8977458,0.00494723814706,0.8679495
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193,3.216666667,pose4-hold,0.005074721,0.8977458,0.004947239,0.8679495
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194,3.233333333,pose4-to-pose5-return,0.005074623,0.8977457,0.004947119,0.8679493
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195,3.250000000,pose4-to-pose5-return,0.00507468624851,0.8977457,0.00494718850386,0.8679493
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196,3.266666667,pose4-to-pose5-return,0.00507455753637,0.897745845774,0.00494706253637,0.867949494365
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197,3.283333333,pose4-to-pose5-return,0.0050742504901,0.897746167666,0.00494675297511,0.867949850899
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198,3.300000000,pose4-to-pose5-return,0.00507388932798,0.897746595583,0.00494638539424,0.867950236025
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199,3.316666667,pose4-to-pose5-return,0.00507352493438,0.897747023834,0.00494601481521,0.867950623834
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200,3.333333333,pose4-to-pose5-return,0.00507324570407,0.897747312361,0.00494573414227,0.867950912361
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201,3.350000000,pose4-to-pose5-return,0.00507304315666,0.897747521652,0.0049455305484,0.867951121652
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Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/camera_frames_60hz.tar
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Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/fem_node.csv
ADDED
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Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/franka_data.csv
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| 1 |
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|
| 2 |
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|
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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| 10 |
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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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|
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|
Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,208 @@
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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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Part2/Free/digiy/cylinder_15A_15/width_01/insert/camera_frames_60hz.tar
ADDED
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size 9103360
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