Upload Part2/Free/s2 (part 13)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +31 -0
- Part2/Free/s2/cylinder_15A_15/width_02/insert/simulation_data.csv +920 -0
- Part2/Free/s2/cylinder_15A_15/width_02/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_02/pick/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_02/pick/franka_data.csv +207 -0
- Part2/Free/s2/cylinder_15A_15/width_02/pick/simulation_data.csv +207 -0
- Part2/Free/s2/cylinder_15A_15/width_03/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_03/insert/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_03/insert/franka_data.csv +0 -0
- Part2/Free/s2/cylinder_15A_15/width_03/insert/simulation_data.csv +917 -0
- Part2/Free/s2/cylinder_15A_15/width_03/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_03/pick/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_03/pick/franka_data.csv +207 -0
- Part2/Free/s2/cylinder_15A_15/width_03/pick/simulation_data.csv +207 -0
- Part2/Free/s2/cylinder_15A_15/width_04/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_04/insert/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_04/insert/franka_data.csv +0 -0
- Part2/Free/s2/cylinder_15A_15/width_04/insert/simulation_data.csv +916 -0
- Part2/Free/s2/cylinder_15A_15/width_04/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_04/pick/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_04/pick/franka_data.csv +207 -0
- Part2/Free/s2/cylinder_15A_15/width_04/pick/simulation_data.csv +207 -0
- Part2/Free/s2/cylinder_15A_15/width_05/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_05/insert/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_05/insert/franka_data.csv +0 -0
- Part2/Free/s2/cylinder_15A_15/width_05/insert/simulation_data.csv +919 -0
- Part2/Free/s2/cylinder_15A_15/width_05/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_05/pick/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_05/pick/franka_data.csv +208 -0
- Part2/Free/s2/cylinder_15A_15/width_05/pick/simulation_data.csv +208 -0
- Part2/Free/s2/cylinder_15A_15/width_06/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_06/insert/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_06/insert/franka_data.csv +0 -0
- Part2/Free/s2/cylinder_15A_15/width_06/insert/simulation_data.csv +919 -0
- Part2/Free/s2/cylinder_15A_15/width_06/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_06/pick/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_06/pick/franka_data.csv +207 -0
- Part2/Free/s2/cylinder_15A_15/width_06/pick/simulation_data.csv +207 -0
- Part2/Free/s2/cylinder_15A_15/width_07/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_07/insert/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_07/insert/franka_data.csv +0 -0
- Part2/Free/s2/cylinder_15A_15/width_07/insert/simulation_data.csv +918 -0
- Part2/Free/s2/cylinder_15A_15/width_07/pick/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_07/pick/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_07/pick/franka_data.csv +207 -0
- Part2/Free/s2/cylinder_15A_15/width_07/pick/simulation_data.csv +207 -0
- Part2/Free/s2/cylinder_15A_15/width_08/insert/camera_frames_60hz.tar +3 -0
- Part2/Free/s2/cylinder_15A_15/width_08/insert/fem_node.csv +3 -0
- Part2/Free/s2/cylinder_15A_15/width_08/insert/franka_data.csv +0 -0
- Part2/Free/s2/cylinder_15A_15/width_08/insert/simulation_data.csv +919 -0
.gitattributes
CHANGED
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@@ -10139,3 +10139,34 @@ Part2/Free/s2/cylinder_15A_12.5/width_10/pick/fem_node.csv filter=lfs diff=lfs m
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| 10139 |
Part2/Free/s2/cylinder_15A_15/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10140 |
Part2/Free/s2/cylinder_15A_15/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10141 |
Part2/Free/s2/cylinder_15A_15/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10139 |
Part2/Free/s2/cylinder_15A_15/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10140 |
Part2/Free/s2/cylinder_15A_15/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10141 |
Part2/Free/s2/cylinder_15A_15/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10142 |
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Part2/Free/s2/cylinder_15A_15/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10143 |
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Part2/Free/s2/cylinder_15A_15/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10144 |
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Part2/Free/s2/cylinder_15A_15/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10145 |
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Part2/Free/s2/cylinder_15A_15/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10146 |
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Part2/Free/s2/cylinder_15A_15/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10147 |
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Part2/Free/s2/cylinder_15A_15/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10148 |
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Part2/Free/s2/cylinder_15A_15/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10149 |
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Part2/Free/s2/cylinder_15A_15/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10150 |
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Part2/Free/s2/cylinder_15A_15/width_06/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10151 |
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Part2/Free/s2/cylinder_15A_15/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10152 |
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Part2/Free/s2/cylinder_15A_15/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10153 |
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Part2/Free/s2/cylinder_15A_15/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10154 |
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Part2/Free/s2/cylinder_15A_15/width_08/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10155 |
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Part2/Free/s2/cylinder_15A_15/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10156 |
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Part2/Free/s2/cylinder_15A_15/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10157 |
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Part2/Free/s2/cylinder_15A_15/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10158 |
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Part2/Free/s2/cylinder_15A_15/width_10/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10159 |
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Part2/Free/s2/cylinder_15A_17.5/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10160 |
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Part2/Free/s2/cylinder_15A_17.5/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10161 |
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Part2/Free/s2/cylinder_15A_17.5/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10162 |
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Part2/Free/s2/cylinder_15A_17.5/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10163 |
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Part2/Free/s2/cylinder_15A_17.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10164 |
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Part2/Free/s2/cylinder_15A_17.5/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10165 |
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Part2/Free/s2/cylinder_15A_17.5/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10166 |
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Part2/Free/s2/cylinder_15A_17.5/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10167 |
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Part2/Free/s2/cylinder_15A_17.5/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10168 |
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Part2/Free/s2/cylinder_15A_17.5/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s2/cylinder_15A_17.5/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10170 |
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Part2/Free/s2/cylinder_15A_17.5/width_06/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10171 |
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Part2/Free/s2/cylinder_15A_17.5/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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| 10172 |
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Part2/Free/s2/cylinder_15A_17.5/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Part2/Free/s2/cylinder_15A_15/width_02/insert/simulation_data.csv
ADDED
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@@ -0,0 +1,920 @@
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
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|
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|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.17945e-05,0.883586,4.212788e-06,0.8724234
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.12746195772e-05,0.883586039943,4.72898382881e-06,0.872423369972
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.06210402868e-05,0.8835861,5.38801777975e-06,0.872423429687
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-7.98372605537e-05,0.8835861,6.17154690536e-06,0.872423476793
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-7.92055528471e-05,0.883586078016,6.80391611724e-06,0.872423470688
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.7939606857e-05,0.883585964695,8.07390842043e-06,0.872423319594
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.68230967384e-05,0.883585864751,9.19398721367e-06,0.872423186335
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.5425339403e-05,0.883585811987,1.06019322274e-05,0.872423111987
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.38096710709e-05,0.883585840703,1.22364682869e-05,0.872423140703
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.12427452355e-05,0.883585886326,1.48333706069e-05,0.872423186326
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-6.70130570861e-05,0.883586020339,1.90927251703e-05,0.872423320339
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-5.67000621123e-05,0.883586160078,2.94469776516e-05,0.872423460078
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-3.98971338345e-05,0.88358625319,4.63311783824e-05,0.872423604254
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-1.05050689478e-05,0.883586489226,7.59242076874e-05,0.872423889226
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,3.10518761419e-05,0.88358644985,0.000117712892746,0.87242384985
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,9.10605743487e-05,0.883586672309,0.000178075880423,0.872424144617
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000165087158521,0.883586814045,0.000252537762386,0.872424314045
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.00025708717396,0.883587173587,0.000345114509609,0.872424673587
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000359688573651,0.883587664225,0.000448309115298,0.872425164225
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000468899623708,0.883588109985,0.000558213758945,0.872425609985
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000578435518679,0.883588294052,0.000668392332317,0.872425812862
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.00069402691452,0.883588841396,0.00078468372942,0.872426441396
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000812229022382,0.883589367645,0.000903603863786,0.872426967645
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000937312420165,0.8835896,0.00102944069488,0.872427220308
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00107430179574,0.883589642366,0.00116726578104,0.872427342366
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00123344445252,0.883589831562,0.00132739302975,0.872427563123
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00140824593941,0.883589759254,0.00150326947578,0.872427559254
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00159322864529,0.883589791355,0.0016893597936,0.872427591355
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00178422578584,0.8835899,0.00188144699849,0.872427619631
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00197264464767,0.8835899,0.0020711369273,0.87242769239
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00214849794912,0.883590471072,0.00224793750923,0.872428175894
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00231941249585,0.883590218056,0.00241995842632,0.872427918056
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.0024892820821,0.883590292129,0.00259096294137,0.872427992129
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00265521213539,0.883590211945,0.00275778367627,0.872427911945
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00282469010368,0.883590634244,0.00292845745028,0.872428421093
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00299824855614,0.883590342565,0.00310297138171,0.872427963847
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00316844906733,0.883590208,0.00327435442238,0.872427808
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00333400974032,0.883589632285,0.00344092470843,0.872427326904
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00349794321001,0.8835896,0.00360590881889,0.8724273
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00365602011312,0.883589088517,0.00376496548012,0.872426765552
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00380591884905,0.8835889,0.00391554707785,0.872426152507
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00394545431525,0.8835889,0.00405595019935,0.8724258
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00407360221597,0.883588919596,0.00418481282369,0.872425839192
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00419083629096,0.883589125761,0.00430289877531,0.872426125761
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00430008734613,0.88358952818,0.00441299704996,0.87242652818
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00439872165257,0.883589248443,0.00451238652283,0.872426248443
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00448809567065,0.883589128644,0.00460245484732,0.872426128644
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00456771205505,0.8835892,0.00468269877192,0.872426263633
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.0046378389553,0.883589375898,0.00475336083667,0.872426611077
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00469537550888,0.8835897,0.00481137064696,0.872427
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00474402872637,0.883589641297,0.00486047804371,0.872426970648
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00478300471296,0.883589540203,0.00489973688511,0.872426960304
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00481524904308,0.883589709478,0.00493212794306,0.872427228435
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00484076867454,0.88358979574,0.00495774677536,0.87242748722
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486319469094,0.883589618957,0.00498027092788,0.872427318957
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488127081857,0.8835896,0.00499840752018,0.87242721105
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489597316705,0.88358959877,0.00501317186838,0.8724273
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490682852971,0.88358953397,0.00502406178897,0.87242733397
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491363785366,0.8835896,0.0050307802898,0.872427493392
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004916439,0.8835899,0.005033447,0.8724276
|
| 62 |
+
60,1.000000000,pose3-hold,0.004916439,0.8835899,0.005033442,0.8724275
|
| 63 |
+
61,1.016666667,pose3-hold,0.004916439,0.8835899,0.00503345342424,0.8724275
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916439,0.8835899,0.0050334519697,0.8724275
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916439,0.8835899,0.00503346627273,0.8724275
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916439,0.8835899,0.00503349663636,0.872427448485
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916439,0.8835899,0.00503352881818,0.8724274
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916439,0.8835899,0.00503355381818,0.8724274
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916439,0.8835899,0.00503357957576,0.8724274
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916439,0.8835899,0.00503362263636,0.87242740303
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916439,0.8835899,0.00503364109091,0.872427490909
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916439,0.8835899,0.00503366112121,0.8724275
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916439,0.8835899,0.00503367733333,0.8724275
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916439,0.8835899,0.00503368954545,0.8724275
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916439,0.8835899,0.00503369669697,0.8724275
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916439,0.8835899,0.00503369748485,0.8724275
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916439,0.8835899,0.00503369345455,0.8724275
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916439,0.8835899,0.00503369106061,0.872427506061
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916439,0.8835899,0.00503369193939,0.872427593939
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916439,0.8835899,0.00503367154545,0.8724276
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916439,0.8835899,0.0050336509697,0.8724276
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916439,0.8835899,0.00503363190909,0.872427542424
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916439,0.8835899,0.00503361436364,0.8724275
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916439,0.8835899,0.005033601,0.872427533333
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916439,0.8835899,0.00503359266667,0.8724276
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916439,0.8835899,0.00503358263636,0.8724276
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916439,0.8835899,0.00503356945455,0.8724276
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916439,0.8835899,0.00503356221212,0.8724276
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916439,0.8835899,0.00503355881818,0.872427527273
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916439,0.8835899,0.00503355860606,0.8724275
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916439,0.8835899,0.00503356142424,0.8724275
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916439,0.8835899,0.00503356327273,0.8724275
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916439,0.8835899,0.00503356321212,0.8724275
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916439,0.8835899,0.00503356845455,0.8724275
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916439,0.8835899,0.005033579,0.8724275
|
| 96 |
+
94,1.566666667,pose3-to-pose4-insert,0.004916245,0.8835898,0.005033408,0.8724274
|
| 97 |
+
95,1.583333333,pose3-to-pose4-insert,0.00491638712381,0.883589141623,0.00503357391777,0.872426645057
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.00491627740003,0.883587828029,0.00503345955778,0.872425408733
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491625907043,0.883586990783,0.00503343832,0.872424590783
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.0049162690652,0.883586429673,0.00503344638595,0.872424029673
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491628641604,0.883585455591,0.00503346038838,0.872423055591
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491630090166,0.883584642363,0.00503347207853,0.872422242363
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491631359567,0.883583758564,0.00503348763183,0.872421368408
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491632370221,0.883582928923,0.00503350392297,0.872420553852
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491633404383,0.883582079984,0.00503352059304,0.872419720348
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491634211217,0.883581417658,0.00503353359872,0.872419070064
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.0049163486188,0.883580883531,0.00503354408702,0.872418545649
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491636900862,0.88357920974,0.0050335769542,0.87241690229
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491618173113,0.883570436304,0.00503337927231,0.872408136304
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491608931725,0.883553713243,0.00503326910173,0.872391413243
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.0049162631477,0.883521015675,0.00503340098473,0.872358715675
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.0049163761189,0.88347246087,0.00503354761062,0.87231006087
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491641576251,0.883404669578,0.00503359610064,0.872242269578
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491653111815,0.883323192267,0.00503366787111,0.872160845221
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491647421448,0.883224554835,0.00503351540352,0.872062254835
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.00491666551372,0.883116530375,0.00503373173273,0.871954198279
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491652499518,0.882995967408,0.00503371600061,0.871833506032
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491682043715,0.882866640292,0.00503405730546,0.871704140292
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491691952616,0.882728507458,0.00503414841241,0.871566107458
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00491700188847,0.882585145187,0.0050342343535,0.871422761349
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.00491701125452,0.882434312809,0.00503427991283,0.871271986226
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.0049171769648,0.882279037848,0.0050344529648,0.871116604251
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491724040141,0.882114630751,0.00503453711318,0.870952130751
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.00491732517612,0.881940896759,0.00503465067023,0.870778396759
|
| 125 |
+
123,2.050000000,pose3-to-pose4-insert,0.00491738146727,0.881756031873,0.00503470521631,0.870593469325
|
| 126 |
+
124,2.066666667,pose3-to-pose4-insert,0.00491742469103,0.881563919307,0.00503475599434,0.870401319307
|
| 127 |
+
125,2.083333333,pose3-to-pose4-insert,0.00491739633743,0.881369737598,0.00503474693379,0.870207137598
|
| 128 |
+
126,2.100000000,pose3-to-pose4-insert,0.00491723358288,0.881178755836,0.00503460768891,0.870016155836
|
| 129 |
+
127,2.116666667,pose3-to-pose4-insert,0.00491725364344,0.880989070292,0.0050346693668,0.869826464759
|
| 130 |
+
128,2.133333333,pose3-to-pose4-insert,0.00491747867984,0.880802190973,0.00503488760156,0.869639390973
|
| 131 |
+
129,2.150000000,pose3-to-pose4-insert,0.00491781259679,0.880616957823,0.00503525609782,0.869454157823
|
| 132 |
+
130,2.166666667,pose3-to-pose4-insert,0.00491792276362,0.880428451857,0.00503536030302,0.869265631352
|
| 133 |
+
131,2.183333333,pose3-to-pose4-insert,0.00491809937771,0.880242673731,0.00503553088882,0.869079773731
|
| 134 |
+
132,2.200000000,pose3-to-pose4-insert,0.00491830617032,0.880061801215,0.00503575572986,0.868898901215
|
| 135 |
+
133,2.216666667,pose3-to-pose4-insert,0.00491816839902,0.879888360498,0.00503564833497,0.868725460498
|
| 136 |
+
134,2.233333333,pose3-to-pose4-insert,0.00491809349338,0.879723994553,0.00503556837707,0.868560932726
|
| 137 |
+
135,2.250000000,pose3-to-pose4-insert,0.00491807806993,0.879572061293,0.00503554221829,0.868408861293
|
| 138 |
+
136,2.266666667,pose3-to-pose4-insert,0.00491809690892,0.87942703516,0.00503555927245,0.868263707885
|
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+
137,2.283333333,pose3-to-pose4-insert,0.00491804556557,0.879292966678,0.00503549414008,0.868129566678
|
| 140 |
+
138,2.300000000,pose3-to-pose4-insert,0.00491806961694,0.879168063982,0.00503553998923,0.868004735259
|
| 141 |
+
139,2.316666667,pose3-to-pose4-insert,0.0049177394662,0.879054289246,0.00503522418191,0.867890914931
|
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+
140,2.333333333,pose3-to-pose4-insert,0.00491749229266,0.87894770675,0.00503495677632,0.86778430675
|
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+
141,2.350000000,pose3-to-pose4-insert,0.00491748376817,0.878854984151,0.00503495096409,0.867691584151
|
| 144 |
+
142,2.366666667,pose3-to-pose4-insert,0.0049171869451,0.878769934152,0.00503466546546,0.867606534152
|
| 145 |
+
143,2.383333333,pose3-to-pose4-insert,0.00491703868462,0.878696633307,0.00503446358327,0.867533233307
|
| 146 |
+
144,2.400000000,pose3-to-pose4-insert,0.00491698439556,0.878633628892,0.00503445214,0.867470048003
|
| 147 |
+
145,2.416666667,pose3-to-pose4-insert,0.00491690070931,0.878582142502,0.00503439287849,0.867418629635
|
| 148 |
+
146,2.433333333,pose3-to-pose4-insert,0.0049166910071,0.87853675665,0.00503415387668,0.86737325665
|
| 149 |
+
147,2.450000000,pose3-to-pose4-insert,0.00491672897836,0.878501169703,0.00503415749377,0.867337669703
|
| 150 |
+
148,2.466666667,pose3-to-pose4-insert,0.00491640054893,0.878470952549,0.00503376785414,0.867307452549
|
| 151 |
+
149,2.483333333,pose3-to-pose4-insert,0.00491637603711,0.878447488868,0.00503373858195,0.867283988868
|
| 152 |
+
150,2.500000000,pose3-to-pose4-insert,0.0049165682944,0.878428861638,0.00503386912413,0.867265439894
|
| 153 |
+
151,2.516666667,pose3-to-pose4-insert,0.00491654612212,0.878415820113,0.00503379916343,0.867252420113
|
| 154 |
+
152,2.533333333,pose3-to-pose4-insert,0.00491654076942,0.878405872466,0.00503376274177,0.867242472466
|
| 155 |
+
153,2.550000000,pose3-to-pose4-insert,0.00491644395406,0.878398930221,0.00503362208738,0.867235612147
|
| 156 |
+
154,2.566666667,pose3-to-pose4-insert,0.00491635166525,0.878394604782,0.00503350110821,0.867231222148
|
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+
155,2.583333333,pose3-to-pose4-insert,0.004916628,0.8783924,0.005033758,0.867229
|
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+
156,2.600000000,pose4-hold,0.004916628,0.8783924,0.005033762,0.867229
|
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+
157,2.616666667,pose4-hold,0.004916628,0.8783924,0.0050337765,0.867229
|
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+
158,2.633333333,pose4-hold,0.004916628,0.8783924,0.00503379735294,0.867229
|
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+
159,2.650000000,pose4-hold,0.004916628,0.8783924,0.00503381338235,0.867229
|
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+
160,2.666666667,pose4-hold,0.004916628,0.8783924,0.00503383070588,0.867229
|
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+
161,2.683333333,pose4-hold,0.004916628,0.8783924,0.00503385102941,0.867229
|
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+
162,2.700000000,pose4-hold,0.004916628,0.8783924,0.005033867,0.867229
|
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+
163,2.716666667,pose4-hold,0.004916628,0.8783924,0.0050338815,0.867229
|
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+
164,2.733333333,pose4-hold,0.004916628,0.8783924,0.00503389270588,0.867229
|
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+
165,2.750000000,pose4-hold,0.004916628,0.8783924,0.00503390041176,0.867229
|
| 168 |
+
166,2.766666667,pose4-hold,0.004916628,0.8783924,0.00503390723529,0.867229
|
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+
167,2.783333333,pose4-hold,0.004916628,0.8783924,0.00503391138235,0.867229
|
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+
168,2.800000000,pose4-hold,0.004916628,0.8783924,0.00503391082353,0.867229
|
| 171 |
+
169,2.816666667,pose4-hold,0.004916628,0.8783924,0.00503390708824,0.867229
|
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+
170,2.833333333,pose4-hold,0.004916628,0.8783924,0.00503390794118,0.867229
|
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+
171,2.850000000,pose4-hold,0.004916628,0.8783924,0.00503390164706,0.867229
|
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+
172,2.866666667,pose4-hold,0.004916628,0.8783924,0.00503389288235,0.867229064706
|
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+
173,2.883333333,pose4-hold,0.004916628,0.8783924,0.005033882,0.8672291
|
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+
174,2.900000000,pose4-hold,0.004916628,0.8783924,0.00503387111765,0.8672291
|
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+
175,2.916666667,pose4-hold,0.004916628,0.8783924,0.00503386194118,0.8672291
|
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+
176,2.933333333,pose4-hold,0.004916628,0.8783924,0.00503385335294,0.867229094118
|
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+
177,2.950000000,pose4-hold,0.004916628,0.8783924,0.00503384397059,0.867229008824
|
| 180 |
+
178,2.966666667,pose4-hold,0.004916628,0.8783924,0.00503383764706,0.867229
|
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+
179,2.983333333,pose4-hold,0.004916628,0.8783924,0.00503383229412,0.867229
|
| 182 |
+
180,3.000000000,pose4-hold,0.004916628,0.8783924,0.00503382811765,0.867229
|
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+
181,3.016666667,pose4-hold,0.004916628,0.8783924,0.00503382567647,0.867229
|
| 184 |
+
182,3.033333333,pose4-hold,0.004916628,0.8783924,0.00503382517647,0.867229
|
| 185 |
+
183,3.050000000,pose4-hold,0.004916628,0.8783924,0.00503382608824,0.867229
|
| 186 |
+
184,3.066666667,pose4-hold,0.004916628,0.8783924,0.00503382864706,0.867229
|
| 187 |
+
185,3.083333333,pose4-hold,0.004916628,0.8783924,0.00503382826471,0.867229
|
| 188 |
+
186,3.100000000,pose4-hold,0.004916628,0.8783924,0.00503383152941,0.867229
|
| 189 |
+
187,3.116666667,pose4-hold,0.004916628,0.8783924,0.00503383664706,0.867229
|
| 190 |
+
188,3.133333333,pose4-hold,0.004916628,0.8783924,0.00503384235294,0.867229
|
| 191 |
+
189,3.150000000,pose4-hold,0.004916628,0.8783924,0.00503384902941,0.867229
|
| 192 |
+
190,3.166666667,pose4-hold,0.004916628,0.8783924,0.005033855,0.867229
|
| 193 |
+
191,3.183333333,pose4-to-pose5-return,0.004916628,0.8783924,0.005033863,0.867229
|
| 194 |
+
192,3.200000000,pose4-to-pose5-return,0.00491622328982,0.87839309052,0.00503343871643,0.86722969052
|
| 195 |
+
193,3.216666667,pose4-to-pose5-return,0.00491556352207,0.878393609816,0.00503279163163,0.867230209816
|
| 196 |
+
194,3.233333333,pose4-to-pose5-return,0.00491490505937,0.878394227207,0.00503213446185,0.867230827207
|
| 197 |
+
195,3.250000000,pose4-to-pose5-return,0.00491465155963,0.87839448883,0.00503187875895,0.86723108883
|
| 198 |
+
196,3.266666667,pose4-to-pose5-return,0.00491415983034,0.878394996318,0.00503138275608,0.867231596318
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885,14.750000000,pose5-to-pose6-final-insert,-8.13523825162e-05,0.845618870634,5.4024311329e-06,0.834451067424
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198,3.300000000,pose2-hold,1.79299644763e+18,camera_frames_60hz/WAIT_POSE2/camera_00000922_1792996447625756668_interpolated.jpg,0.675900539226,-0.0053520604147,0.134528904911,0.999999930032,8.84354409745e-05,-0.000352391712601,-8.90815079591e-05,0.0450020246208
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| 201 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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204,3.400000000,pose2-hold,1.79299644772e+18,camera_frames_60hz/WAIT_POSE2/camera_00000925_1792996447723649406_real.jpg,0.675899828856,-0.00535483285406,0.134528748504,0.999999929693,8.60080920101e-05,-0.000354086638927,-8.85383549913e-05,0.0450020246208
|
| 207 |
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|
Part2/Free/s2/cylinder_15A_15/width_02/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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0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,3.947214e-06,0.8344216
|
| 3 |
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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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| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.26246930405e-05,0.845597060021,3.815729224e-06,0.834429260021
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.26210812709e-05,0.845597140327,3.81977208712e-06,0.834429340327
|
| 18 |
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| 19 |
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|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,-8.27198863433e-05,0.845600936301,3.74732977977e-06,0.834433073273
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,-8.26072578065e-05,0.845608075679,3.86771848799e-06,0.834440273459
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| 22 |
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| 23 |
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21,0.350000000,pose1-to-pose2-lift,-8.26840454338e-05,0.845642976111,3.77283137119e-06,0.834475176111
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| 24 |
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| 25 |
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|
| 26 |
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24,0.400000000,pose1-to-pose2-lift,-8.29649060071e-05,0.845757321068,3.52626263116e-06,0.834589521068
|
| 27 |
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25,0.416666667,pose1-to-pose2-lift,-8.30746314624e-05,0.845807722382,3.46800333363e-06,0.834639922382
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| 28 |
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26,0.433333333,pose1-to-pose2-lift,-8.31096601286e-05,0.845861594879,3.41715691982e-06,0.834693794879
|
| 29 |
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27,0.450000000,pose1-to-pose2-lift,-8.33550399844e-05,0.845923646792,3.10523969447e-06,0.834755846792
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| 30 |
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28,0.466666667,pose1-to-pose2-lift,-8.33503250721e-05,0.84599584003,3.19788622699e-06,0.834827943334
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| 31 |
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29,0.483333333,pose1-to-pose2-lift,-8.34316340171e-05,0.84607997435,3.07456935718e-06,0.83491207435
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| 32 |
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30,0.500000000,pose1-to-pose2-lift,-8.36368767439e-05,0.846173125424,2.93873448287e-06,0.835005225424
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| 35 |
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33,0.550000000,pose1-to-pose2-lift,-8.40234386086e-05,0.846493800462,2.43287979429e-06,0.835326000462
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| 36 |
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| 37 |
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35,0.583333333,pose1-to-pose2-lift,-8.37009705429e-05,0.846721098797,2.79142672419e-06,0.835553265493
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| 38 |
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36,0.600000000,pose1-to-pose2-lift,-8.32811131285e-05,0.846839154826,3.37994276209e-06,0.83567122461
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| 40 |
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38,0.633333333,pose1-to-pose2-lift,-8.25917140315e-05,0.847107846406,3.98795334939e-06,0.835940116042
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| 41 |
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39,0.650000000,pose1-to-pose2-lift,-8.20878211846e-05,0.847266234186,4.28484587944e-06,0.836098358635
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| 42 |
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| 43 |
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41,0.683333333,pose1-to-pose2-lift,-8.16877741071e-05,0.847629016128,4.62888370853e-06,0.836461116128
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| 44 |
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42,0.700000000,pose1-to-pose2-lift,-8.17712690835e-05,0.847824762601,4.51545270782e-06,0.836656791012
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60,1.000000000,pose1-to-pose2-lift,-8.26300601305e-05,0.852857237004,3.95869510834e-06,0.841689637004
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63,1.050000000,pose1-to-pose2-lift,-8.29284771097e-05,0.853994911386,3.60074893716e-06,0.842827311386
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200,3.333333333,pose2-hold,-8.17945e-05,0.883586,4.22669787879e-06,0.8724234
|
| 203 |
+
201,3.350000000,pose2-hold,-8.17945e-05,0.883586,4.2248059697e-06,0.8724234
|
| 204 |
+
202,3.366666667,pose2-hold,-8.17945e-05,0.883586,4.22295690909e-06,0.8724234
|
| 205 |
+
203,3.383333333,pose2-hold,-8.17945e-05,0.883586,4.22119239394e-06,0.8724234
|
| 206 |
+
204,3.400000000,pose2-hold,-8.17945e-05,0.883586,4.21953493939e-06,0.8724234
|
| 207 |
+
205,3.416666667,pose2-hold,-8.17945e-05,0.883586,4.217954e-06,0.8724234
|
Part2/Free/s2/cylinder_15A_15/width_03/insert/camera_frames_60hz.tar
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
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|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e041e8dc123692e83088c88ced9744c13db05ba2d83eeb8d706fabff4ec3f182
|
| 3 |
+
size 24309760
|
Part2/Free/s2/cylinder_15A_15/width_03/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:71baa96f003f566f0d8a71743d6b801e0ca6999a0f874d709155e0a567d8b3ec
|
| 3 |
+
size 55744063
|
Part2/Free/s2/cylinder_15A_15/width_03/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s2/cylinder_15A_15/width_03/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,917 @@
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.475256e-05,0.8835843,1.359805e-06,0.8724217
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.44024831928e-05,0.8835844,1.73402863848e-06,0.8724218
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.40808958438e-05,0.8835844,2.05002639762e-06,0.8724218
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.36057124294e-05,0.883584347057,2.52151251681e-06,0.872421720586
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.30680102009e-05,0.883584281944,3.05547952185e-06,0.872421622916
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.26312840093e-05,0.883584229059,3.48917193408e-06,0.872421543588
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.2305882527e-05,0.883584205181,3.81278017775e-06,0.872421505181
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.16339677985e-05,0.88358424593,4.48370166993e-06,0.87242154593
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-8.0785616581e-05,0.883584297378,5.33079883946e-06,0.872421597378
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.84446308456e-05,0.883584376966,7.67395971761e-06,0.872421688483
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.42480040713e-05,0.883584227976,1.19008359002e-05,0.872421613988
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.32059495413e-05,0.883584523019,2.29987026761e-05,0.872421923019
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-4.51765281111e-05,0.883584624738,4.11396180928e-05,0.872421987108
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-1.46317987075e-05,0.8835845,7.18809523171e-05,0.872421883481
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,2.77390547012e-05,0.883584922987,0.00011447884793,0.872422322987
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,8.72803461816e-05,0.883585069821,0.000174378918051,0.872422539642
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000160292576146,0.883585459749,0.000247830160481,0.872422959749
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000250770605676,0.883586,0.00033884912474,0.8724235
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000354230741917,0.883586670377,0.000442934572469,0.872424254174
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000472019637502,0.883587115195,0.000561447188217,0.872424815195
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000598565403273,0.883587472963,0.000688775114236,0.872425172963
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000736323122498,0.88358808264,0.00082733247763,0.87242578264
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000880572722981,0.883588744246,0.000972431012336,0.872426366497
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00103085067026,0.88358917229,0.00112365793078,0.872426863054
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00118519562617,0.883589100273,0.0012789273145,0.8724269
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00134731187534,0.883589115878,0.00144203282068,0.872426915878
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00151361585031,0.883589314477,0.00160934424567,0.8724271
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00168711517893,0.883589443316,0.0017838844745,0.872427143316
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00186700650933,0.8835896,0.00196485029017,0.8724273
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00204891412785,0.8835896,0.00214785971439,0.87242733681
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00223113755437,0.8835896,0.00233125297116,0.872427357211
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00241405417007,0.883589551785,0.00251525217772,0.8724273
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00259457846811,0.883589343063,0.00269686069173,0.872427090751
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00277357314002,0.883589087459,0.00287701166024,0.87242684373
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00295459348097,0.883589188223,0.00305915405432,0.872426862741
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.0031311446693,0.883588955379,0.0032368541384,0.872426624303
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.0033031994479,0.883588423671,0.00340999521516,0.872426123671
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00346646517594,0.883588220362,0.00357428439126,0.872426
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00362033120677,0.883587625183,0.00372890731555,0.8724250146
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00376328427504,0.883587336069,0.00387269929071,0.872424390174
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00389916922047,0.883586806351,0.00400952547677,0.872423724076
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00402560577767,0.883587105336,0.00413668852063,0.872424086404
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00414618629745,0.883587528654,0.00425809933067,0.872424528654
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00425805181258,0.883587767352,0.00437075526105,0.872424683676
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00436291719635,0.883588239441,0.00447648082021,0.872425227329
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00445739256671,0.883588665917,0.00457170615411,0.872425665917
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00454354935632,0.883588406048,0.00465847598588,0.872425504032
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00461728158563,0.883588710854,0.0047328618064,0.872426010854
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00468133552118,0.883589287512,0.00479749275051,0.872426606244
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00473362034065,0.883589114596,0.00485012540127,0.872426714596
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00477711897445,0.8835894,0.0048939032426,0.872427
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00481066224204,0.8835894,0.00492758673668,0.872427
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00483910334343,0.883589575284,0.00495616442468,0.872427175284
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00486155297847,0.8835896,0.00497868791307,0.872427281065
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00488112690474,0.883589684843,0.00499825539095,0.872427384843
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.0048953220506,0.883589611996,0.00501254033524,0.872427311996
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.0049057708946,0.883589502614,0.00502306014314,0.872427302614
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00491263734629,0.88358964274,0.00502985023402,0.87242744274
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491633467746,0.8835898,0.00503349033595,0.8724275
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004917039,0.8835898,0.005034148,0.8724275
|
| 62 |
+
60,1.000000000,pose3-hold,0.004917039,0.8835898,0.005034164,0.8724274
|
| 63 |
+
61,1.016666667,pose3-hold,0.004917039,0.8835898,0.00503415609091,0.8724274
|
| 64 |
+
62,1.033333333,pose3-hold,0.004917039,0.8835898,0.0050341769697,0.8724274
|
| 65 |
+
63,1.050000000,pose3-hold,0.004917039,0.8835898,0.00503420690909,0.8724274
|
| 66 |
+
64,1.066666667,pose3-hold,0.004917039,0.8835898,0.00503423648485,0.8724274
|
| 67 |
+
65,1.083333333,pose3-hold,0.004917039,0.8835898,0.00503426224242,0.8724274
|
| 68 |
+
66,1.100000000,pose3-hold,0.004917039,0.8835898,0.00503428590909,0.8724274
|
| 69 |
+
67,1.116666667,pose3-hold,0.004917039,0.8835898,0.00503431139394,0.8724274
|
| 70 |
+
68,1.133333333,pose3-hold,0.004917039,0.8835898,0.00503433669697,0.8724274
|
| 71 |
+
69,1.150000000,pose3-hold,0.004917039,0.8835898,0.00503435690909,0.8724274
|
| 72 |
+
70,1.166666667,pose3-hold,0.004917039,0.8835898,0.00503437554545,0.8724274
|
| 73 |
+
71,1.183333333,pose3-hold,0.004917039,0.8835898,0.00503438733333,0.8724274
|
| 74 |
+
72,1.200000000,pose3-hold,0.004917039,0.8835898,0.00503439209091,0.872427454545
|
| 75 |
+
73,1.216666667,pose3-hold,0.004917039,0.8835898,0.00503439045455,0.8724275
|
| 76 |
+
74,1.233333333,pose3-hold,0.004917039,0.8835898,0.00503438790909,0.8724275
|
| 77 |
+
75,1.250000000,pose3-hold,0.004917039,0.8835898,0.00503438727273,0.8724275
|
| 78 |
+
76,1.266666667,pose3-hold,0.004917039,0.8835898,0.0050343740303,0.8724275
|
| 79 |
+
77,1.283333333,pose3-hold,0.004917039,0.8835898,0.0050343599697,0.8724275
|
| 80 |
+
78,1.300000000,pose3-hold,0.004917039,0.8835898,0.00503434345455,0.8724275
|
| 81 |
+
79,1.316666667,pose3-hold,0.004917039,0.8835898,0.0050343239697,0.8724275
|
| 82 |
+
80,1.333333333,pose3-hold,0.004917039,0.8835898,0.00503430721212,0.8724275
|
| 83 |
+
81,1.350000000,pose3-hold,0.004917039,0.8835898,0.00503429363636,0.8724275
|
| 84 |
+
82,1.366666667,pose3-hold,0.004917039,0.8835898,0.005034286,0.8724275
|
| 85 |
+
83,1.383333333,pose3-hold,0.004917039,0.8835898,0.00503428281818,0.8724275
|
| 86 |
+
84,1.400000000,pose3-hold,0.004917039,0.8835898,0.00503427036364,0.8724275
|
| 87 |
+
85,1.416666667,pose3-hold,0.004917039,0.8835898,0.00503426421212,0.8724275
|
| 88 |
+
86,1.433333333,pose3-hold,0.004917039,0.8835898,0.00503426145455,0.8724275
|
| 89 |
+
87,1.450000000,pose3-hold,0.004917039,0.8835898,0.00503426172727,0.8724275
|
| 90 |
+
88,1.466666667,pose3-hold,0.004917039,0.8835898,0.0050342650303,0.8724275
|
| 91 |
+
89,1.483333333,pose3-hold,0.004917039,0.8835898,0.00503426506061,0.8724275
|
| 92 |
+
90,1.500000000,pose3-hold,0.004917039,0.8835898,0.00503426627273,0.872427463636
|
| 93 |
+
91,1.516666667,pose3-hold,0.004917039,0.8835898,0.00503427490909,0.8724274
|
| 94 |
+
92,1.533333333,pose3-hold,0.004917039,0.8835898,0.00503428545455,0.8724274
|
| 95 |
+
93,1.550000000,pose3-hold,0.004917039,0.8835898,0.005034296,0.8724274
|
| 96 |
+
94,1.566666667,pose3-to-pose4-insert,0.004917121,0.8835898,0.005034383,0.8724274
|
| 97 |
+
95,1.583333333,pose3-to-pose4-insert,0.00491717287637,0.883589476966,0.00503444741569,0.872427076966
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.00491711571265,0.883588919522,0.00503438232221,0.872426519522
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491708544516,0.883588532098,0.0050343598032,0.872426132098
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491706333918,0.883588249141,0.00503434335635,0.872425849141
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491704993915,0.883588077621,0.00503433338673,0.872425677621
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491702317788,0.883587735077,0.00503431347634,0.872425335077
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491700609922,0.883587114534,0.00503430202872,0.872424714534
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491702649467,0.883586474677,0.00503432002471,0.872424074677
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491706352078,0.883585313074,0.00503435269481,0.872422913074
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491709849549,0.883584169621,0.00503438360399,0.872421770163
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491707963615,0.883583034005,0.00503436880042,0.872420654826
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491702104327,0.883579505831,0.00503432280816,0.872417189656
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491705173274,0.883566760924,0.00503433646406,0.872404387792
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491714720607,0.883543398201,0.00503443440648,0.872381098201
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491697223549,0.883503183571,0.00503428140636,0.872340783571
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491673564142,0.883447354869,0.00503402983308,0.872284964452
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491669494662,0.883371288147,0.00503397786392,0.872208988147
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.0049165442139,0.883283168315,0.00503385825518,0.872120852743
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491630113136,0.883173840262,0.00503359220486,0.872011440262
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.00491629776136,0.883050254197,0.00503358739492,0.871887854197
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491596857203,0.882921419083,0.00503325190271,0.871759019083
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491577233996,0.882792615359,0.00503305730557,0.871630215359
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491587464717,0.88265336335,0.00503319055651,0.871490901039
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00491620542895,0.882512667078,0.00503354981552,0.871350167078
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.00491663485318,0.882370890834,0.00503398385318,0.871208531463
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120,2.000000000,pose3-to-pose4-insert,0.004916806163,0.882219687218,0.00503414571366,0.871057387218
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121,2.016666667,pose3-to-pose4-insert,0.00491703170925,0.882045388761,0.00503438983101,0.870883003678
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122,2.033333333,pose3-to-pose4-insert,0.00491744634009,0.881858585032,0.00503484122673,0.870696085032
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123,2.050000000,pose3-to-pose4-insert,0.00491746497722,0.881665588247,0.00503484203074,0.870503072472
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124,2.066666667,pose3-to-pose4-insert,0.00491731542309,0.881466893057,0.00503469844969,0.870304293057
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125,2.083333333,pose3-to-pose4-insert,0.00491717489338,0.881261793246,0.00503458334758,0.870099193246
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126,2.100000000,pose3-to-pose4-insert,0.00491687562953,0.881063576157,0.00503427353671,0.869900976157
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127,2.116666667,pose3-to-pose4-insert,0.00491707035306,0.880880622674,0.00503446162308,0.869717959173
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128,2.133333333,pose3-to-pose4-insert,0.00491747860602,0.880707833514,0.00503490056275,0.86954519465
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129,2.150000000,pose3-to-pose4-insert,0.00491773517559,0.880531784714,0.00503517679009,0.869369061814
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130,2.166666667,pose3-to-pose4-insert,0.00491804035668,0.880352438557,0.00503550513953,0.869189638557
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131,2.183333333,pose3-to-pose4-insert,0.00491830036895,0.880177836419,0.00503577326028,0.869015036419
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132,2.200000000,pose3-to-pose4-insert,0.00491833195906,0.879999552768,0.00503581686583,0.868836675508
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133,2.216666667,pose3-to-pose4-insert,0.00491817290506,0.879821488119,0.00503568438943,0.868658588119
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134,2.233333333,pose3-to-pose4-insert,0.00491800018177,0.879656630582,0.00503547051296,0.86849343284
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135,2.250000000,pose3-to-pose4-insert,0.00491801847065,0.879508011922,0.00503551625816,0.868344808381
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136,2.266666667,pose3-to-pose4-insert,0.00491809846274,0.879367781521,0.0050355907737,0.868204489295
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137,2.283333333,pose3-to-pose4-insert,0.00491791110794,0.87924089339,0.00503540675124,0.868077684472
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138,2.300000000,pose3-to-pose4-insert,0.00491776406377,0.87912272216,0.00503525496295,0.867959411152
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139,2.316666667,pose3-to-pose4-insert,0.0049178267748,0.879014570083,0.00503530828271,0.867851182385
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140,2.333333333,pose3-to-pose4-insert,0.00491799942364,0.878915694369,0.00503548202348,0.86775238043
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141,2.350000000,pose3-to-pose4-insert,0.0049181050576,0.878828028318,0.00503561036914,0.867664642192
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142,2.366666667,pose3-to-pose4-insert,0.00491810573161,0.878747383211,0.00503557776867,0.867584066235
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143,2.383333333,pose3-to-pose4-insert,0.00491815238863,0.878678278483,0.00503564325873,0.867514860743
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144,2.400000000,pose3-to-pose4-insert,0.00491810064802,0.878618245265,0.00503563133405,0.867454764036
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145,2.416666667,pose3-to-pose4-insert,0.0049181870638,0.878567580496,0.00503570967813,0.867404143793
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146,2.433333333,pose3-to-pose4-insert,0.00491821318713,0.878525221631,0.00503572077168,0.867361621631
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147,2.450000000,pose3-to-pose4-insert,0.00491836184356,0.878492773543,0.00503584061629,0.867329183256
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148,2.466666667,pose3-to-pose4-insert,0.00491813939626,0.87846560678,0.00503552885418,0.86730211063
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149,2.483333333,pose3-to-pose4-insert,0.00491841142923,0.878444285276,0.00503571633636,0.867280881029
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150,2.500000000,pose3-to-pose4-insert,0.00491839738681,0.878428130479,0.00503569483838,0.867264730479
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151,2.516666667,pose3-to-pose4-insert,0.00491834746356,0.878416587555,0.00503558877241,0.867253263844
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152,2.533333333,pose3-to-pose4-insert,0.0049182898274,0.878406934757,0.00503550398102,0.867243559016
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153,2.550000000,pose3-to-pose4-insert,0.00491820334587,0.878400259117,0.00503537141388,0.867236859117
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154,2.566666667,pose3-to-pose4-insert,0.00491829152773,0.878395632662,0.00503541931165,0.867232332662
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155,2.583333333,pose3-to-pose4-insert,0.0049182,0.8783936,0.0050353,0.8672302
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156,2.600000000,pose4-hold,0.0049182,0.8783936,0.005035315,0.8672302
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157,2.616666667,pose4-hold,0.0049182,0.8783936,0.00503533205882,0.8672302
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158,2.633333333,pose4-hold,0.0049182,0.8783936,0.00503535264706,0.8672302
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159,2.650000000,pose4-hold,0.0049182,0.8783936,0.00503537229412,0.8672302
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160,2.666666667,pose4-hold,0.0049182,0.8783936,0.00503539517647,0.8672302
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161,2.683333333,pose4-hold,0.0049182,0.8783936,0.00503541902941,0.8672302
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162,2.700000000,pose4-hold,0.0049182,0.8783936,0.00503543452941,0.8672302
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163,2.716666667,pose4-hold,0.0049182,0.8783936,0.00503544561765,0.8672302
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164,2.733333333,pose4-hold,0.0049182,0.8783936,0.00503545752941,0.8672302
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165,2.750000000,pose4-hold,0.0049182,0.8783936,0.00503546541176,0.8672302
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166,2.766666667,pose4-hold,0.0049182,0.8783936,0.00503547011765,0.8672302
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167,2.783333333,pose4-hold,0.0049182,0.8783936,0.00503547161765,0.8672302
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168,2.800000000,pose4-hold,0.0049182,0.8783936,0.005035471,0.8672302
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169,2.816666667,pose4-hold,0.0049182,0.8783936,0.00503547073529,0.867230208824
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170,2.833333333,pose4-hold,0.0049182,0.8783936,0.00503546817647,0.867230294118
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171,2.850000000,pose4-hold,0.0049182,0.8783936,0.00503545370588,0.8672303
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172,2.866666667,pose4-hold,0.0049182,0.8783936,0.00503544417647,0.8672303
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173,2.883333333,pose4-hold,0.0049182,0.8783936,0.0050354335,0.8672303
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174,2.900000000,pose4-hold,0.0049182,0.8783936,0.00503542247059,0.8672303
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175,2.916666667,pose4-hold,0.0049182,0.8783936,0.00503541332353,0.8672303
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176,2.933333333,pose4-hold,0.0049182,0.8783936,0.00503540241176,0.8672303
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177,2.950000000,pose4-hold,0.0049182,0.8783936,0.00503539388235,0.8672303
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178,2.966666667,pose4-hold,0.0049182,0.8783936,0.00503538688235,0.8672303
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179,2.983333333,pose4-hold,0.0049182,0.8783936,0.00503538191176,0.8672303
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181,3.016666667,pose4-hold,0.0049182,0.8783936,0.005035377,0.8672302
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182,3.033333333,pose4-hold,0.0049182,0.8783936,0.00503537752941,0.8672302
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183,3.050000000,pose4-hold,0.0049182,0.8783936,0.00503537994118,0.8672302
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184,3.066666667,pose4-hold,0.0049182,0.8783936,0.00503537823529,0.8672302
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185,3.083333333,pose4-hold,0.0049182,0.8783936,0.00503538167647,0.8672302
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186,3.100000000,pose4-hold,0.0049182,0.8783936,0.00503538652941,0.8672302
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187,3.116666667,pose4-hold,0.0049182,0.8783936,0.00503539429412,0.8672302
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188,3.133333333,pose4-hold,0.0049182,0.8783936,0.00503540276471,0.8672302
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189,3.150000000,pose4-hold,0.0049182,0.8783936,0.00503540788235,0.8672302
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190,3.166666667,pose4-hold,0.0049182,0.8783936,0.005035413,0.8672302
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191,3.183333333,pose4-to-pose5-return,0.0049182,0.8783936,0.005035419,0.8672302
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192,3.200000000,pose4-to-pose5-return,0.00491799885189,0.878394026938,0.00503524599205,0.867230651292
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193,3.216666667,pose4-to-pose5-return,0.00491760683892,0.878394318836,0.00503484145022,0.867230918836
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194,3.233333333,pose4-to-pose5-return,0.00491686320155,0.878394837533,0.00503408139191,0.867231437533
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195,3.250000000,pose4-to-pose5-return,0.00491622108437,0.878395574707,0.00503342957507,0.867232174707
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201,3.350000000,pose4-to-pose5-return,0.0049120936898,0.878399718291,0.00502932559748,0.867236324787
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Part2/Free/s2/cylinder_15A_15/width_03/pick/camera_frames_60hz.tar
ADDED
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ADDED
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ADDED
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| 207 |
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|
Part2/Free/s2/cylinder_15A_15/width_03/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 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,3.947757e-06,0.8344216
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.2558507692e-05,0.845589508928,3.89350546217e-06,0.834421805952
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.27303153312e-05,0.845589751732,3.71612710511e-06,0.834421967821
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.27637479213e-05,0.845589804259,3.68156672929e-06,0.834422004259
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.27360262592e-05,0.845589967785,3.70850714826e-06,0.834422167785
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26909690836e-05,0.845590516822,3.7481695019e-06,0.834422716822
|
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Part2/Free/s2/cylinder_15A_15/width_04/insert/simulation_data.csv
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.266608e-05,0.8835849,3.765964e-06,0.8724223
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.26464516176e-05,0.8835849,3.78540598994e-06,0.8724223
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.26411172376e-05,0.8835849,3.79068971432e-06,0.8724223
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.26021244859e-05,0.883584903706,3.82940148045e-06,0.872422303706
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.25520573279e-05,0.883584909969,3.87914410125e-06,0.872422309969
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.21370059525e-05,0.883584961886,4.29150509811e-06,0.872422361886
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.16720073263e-05,0.883585009455,4.75344921704e-06,0.872422409455
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.14221425199e-05,0.883585024192,5.00163146737e-06,0.872422424192
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-8.09423743409e-05,0.883585052489,5.47816895187e-06,0.872422452489
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.82799558728e-05,0.883584982939,8.14936674125e-06,0.872422382939
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.2639956538e-05,0.883585125285,1.38417334583e-05,0.872422525285
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-5.92061013004e-05,0.88358495262,2.73276027821e-05,0.87242232631
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-3.65761699362e-05,0.8835851,5.01246921883e-05,0.872422473956
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-1.52819974498e-06,0.88358524713,8.53660242164e-05,0.872422723565
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,4.67934414111e-05,0.883585192842,0.000133954698605,0.872422592842
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000112704645548,0.883585725239,0.000200262691623,0.872423143929
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000191885749961,0.883585809432,0.000279937394324,0.872423309432
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000288652806459,0.883586100561,0.000377277370787,0.872423700561
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000399439116288,0.88358656848,0.000488727751374,0.87242416848
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000522873514338,0.883586765077,0.000612903747225,0.872424365077
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000654106542014,0.883587512753,0.000744937134786,0.872425201847
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000793786128125,0.883587941556,0.000885473800936,0.872425641556
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000937614046132,0.883588462637,0.00103013995513,0.872426162637
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00108734055021,0.883588669549,0.00118079221448,0.8724264
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00124147956139,0.8835886,0.00133585505817,0.8724264
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00140252517829,0.883588426406,0.00149786586064,0.872426226406
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00156892620788,0.883588297759,0.001665285602,0.872426097759
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00174319282882,0.8835884,0.00184063481241,0.872426144242
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00192307948532,0.8835882101,0.00202152982814,0.8724259101
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00210966035755,0.883588536116,0.00220937600278,0.872426381488
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.002299500853,0.883588947687,0.00240036279955,0.872426765125
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.002488287519,0.883588908516,0.00259018470079,0.872426708516
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00267311706893,0.883589490251,0.00277634738492,0.872427290251
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00285197194814,0.883589602678,0.00295623054469,0.872427302678
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00302369708459,0.883589691378,0.00312886602619,0.872427395689
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00318928479879,0.883589518493,0.00329567392113,0.87242731387
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00335252666544,0.883589868892,0.00345990595817,0.872427575113
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.0035092679944,0.883589414618,0.00361761211311,0.872427207309
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00366146384986,0.883589629425,0.00377077321138,0.872427290192
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00380645909832,0.883589862583,0.00391645886047,0.872427125165
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00394349797444,0.883589584689,0.00405436696607,0.872426584689
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00407092493883,0.883589482484,0.00418254715638,0.872426482484
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00419205972278,0.88358933298,0.00430447382495,0.87242633298
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00430266620508,0.883589046813,0.00441594243372,0.872426046813
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00440474050834,0.88358896532,0.00451881522872,0.87242599798
|
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+
45,0.750000000,pose2-to-pose3-side,0.00449500516786,0.883589063012,0.00460977456071,0.872426126024
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00457440810782,0.883588836278,0.00468983501673,0.872425877208
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00464179418457,0.883588641547,0.00475779643987,0.872425783093
|
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+
48,0.800000000,pose2-to-pose3-side,0.00470099929506,0.883588613463,0.00481748752152,0.872425856732
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00474935611068,0.8835885,0.0048662588035,0.872425881496
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00479026831338,0.883588538919,0.00490745008598,0.872426077837
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.0048227773545,0.883588532495,0.00494011905891,0.872426132495
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00484888323788,0.88358831728,0.00496635223044,0.872425944853
|
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+
53,0.883333333,pose2-to-pose3-side,0.00486931352071,0.883588138723,0.00498682490795,0.872425838723
|
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+
54,0.900000000,pose2-to-pose3-side,0.00488643878993,0.883588362367,0.00500397112355,0.872426041578
|
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+
55,0.916666667,pose2-to-pose3-side,0.0048987029909,0.883588530169,0.00501631481012,0.872426176723
|
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+
56,0.933333333,pose2-to-pose3-side,0.00490732286568,0.883588265392,0.00502494002266,0.872426134608
|
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+
57,0.950000000,pose2-to-pose3-side,0.00491318937148,0.883588465979,0.00503072983539,0.87242633299
|
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+
58,0.966666667,pose2-to-pose3-side,0.00491615361549,0.883588471746,0.00503361600898,0.872426243491
|
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+
59,0.983333333,pose2-to-pose3-side,0.004916762,0.8835881,0.005034163,0.8724258
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+
60,1.000000000,pose3-hold,0.004916762,0.8835881,0.005034163,0.8724258
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| 63 |
+
61,1.016666667,pose3-hold,0.004916762,0.8835881,0.00503416915152,0.872425712121
|
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+
62,1.033333333,pose3-hold,0.004916762,0.8835881,0.00503417833333,0.8724257
|
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+
63,1.050000000,pose3-hold,0.004916762,0.8835881,0.00503420009091,0.8724257
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916762,0.8835881,0.00503422748485,0.872425648485
|
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+
65,1.083333333,pose3-hold,0.004916762,0.8835881,0.0050342579697,0.8724256
|
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+
66,1.100000000,pose3-hold,0.004916762,0.8835881,0.00503428945455,0.8724256
|
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+
67,1.116666667,pose3-hold,0.004916762,0.8835881,0.00503431715152,0.8724256
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916762,0.8835881,0.00503434681818,0.87242560303
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916762,0.8835881,0.00503437054545,0.872425690909
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916762,0.8835881,0.00503439742424,0.8724257
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| 73 |
+
71,1.183333333,pose3-hold,0.004916762,0.8835881,0.00503441333333,0.8724257
|
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+
72,1.200000000,pose3-hold,0.004916762,0.8835881,0.00503442509091,0.8724257
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916762,0.8835881,0.00503443184848,0.872425742424
|
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+
74,1.233333333,pose3-hold,0.004916762,0.8835881,0.00503443027273,0.8724258
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916762,0.8835881,0.00503442490909,0.8724258
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916762,0.8835881,0.00503442784848,0.8724258
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916762,0.8835881,0.00503441115152,0.8724258
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916762,0.8835881,0.00503439118182,0.8724258
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916762,0.8835881,0.00503437236364,0.8724258
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916762,0.8835881,0.00503435563636,0.8724258
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916762,0.8835881,0.00503433890909,0.8724258
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916762,0.8835881,0.00503432366667,0.8724258
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916762,0.8835881,0.00503431393939,0.8724258
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916762,0.8835881,0.00503430881818,0.8724258
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916762,0.8835881,0.00503429739394,0.8724258
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916762,0.8835881,0.00503429275758,0.8724258
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916762,0.8835881,0.00503429054545,0.8724258
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916762,0.8835881,0.00503429,0.8724258
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916762,0.8835881,0.00503429145455,0.8724258
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916762,0.8835881,0.00503429190909,0.872425763636
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916762,0.8835881,0.00503429436364,0.8724257
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916762,0.8835881,0.0050343089697,0.8724257
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916762,0.8835881,0.005034316,0.8724257
|
| 96 |
+
94,1.566666667,pose3-to-pose4-insert,0.004916762,0.8835881,0.005034328,0.8724257
|
| 97 |
+
95,1.583333333,pose3-to-pose4-insert,0.00491665279624,0.883588130034,0.00503420489571,0.872425730034
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.0049166664323,0.883588007659,0.0050342204548,0.872425607659
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491669527285,0.883587748833,0.00503425336261,0.872425348833
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491671310415,0.883587588809,0.00503427370858,0.872425188809
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491672567411,0.883587446518,0.00503428842286,0.872425046518
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491672645993,0.883587430801,0.00503428942871,0.872425030801
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491673389732,0.883587282054,0.00503429894857,0.872424882054
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491676501531,0.883586659694,0.0050343387796,0.872424259694
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491678067388,0.883586346522,0.00503435882256,0.872423946522
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491679794093,0.883585972995,0.00503438093249,0.872423572995
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491678126213,0.883582383724,0.00503436489749,0.872419983724
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491666676883,0.8835747463,0.00503426541017,0.8724123463
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491683557883,0.883554969594,0.00503442915819,0.872392574421
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491672413317,0.88352298532,0.00503430368193,0.872360616532
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491682986994,0.883471424627,0.00503442975085,0.872309024627
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491694860441,0.88340398366,0.00503455825474,0.87224168366
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491697506405,0.883315394834,0.00503458298653,0.872153094834
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.0049173022773,0.883214102373,0.00503492322474,0.872051790678
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491724712618,0.883104862317,0.00503486630862,0.871942506478
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.00491748723583,0.882993601172,0.00503513618577,0.871831238458
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491758172374,0.882867632661,0.00503523957256,0.871705232661
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491751291597,0.882731037467,0.00503517145662,0.871568636466
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491802822867,0.882587568457,0.00503574341473,0.871425068457
|
| 120 |
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118,1.966666667,pose3-to-pose4-insert,0.00491824298473,0.882433459167,0.005035992734,0.8712710128
|
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+
119,1.983333333,pose3-to-pose4-insert,0.0049183879118,0.882273067549,0.00503616595821,0.871110730194
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00491859108273,0.882119969225,0.00503636948569,0.870957531441
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491878996689,0.881963631388,0.00503660523284,0.870801131388
|
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+
122,2.033333333,pose3-to-pose4-insert,0.00491879922728,0.881800664847,0.00503662660292,0.870638164847
|
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+
123,2.050000000,pose3-to-pose4-insert,0.00491863152102,0.881631240466,0.00503647229601,0.870468740466
|
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+
124,2.066666667,pose3-to-pose4-insert,0.00491828298185,0.881436444918,0.00503613129933,0.870273944918
|
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+
125,2.083333333,pose3-to-pose4-insert,0.00491808154006,0.881232077372,0.00503594286583,0.870069513327
|
| 128 |
+
126,2.100000000,pose3-to-pose4-insert,0.00491767446873,0.881029283617,0.00503553578204,0.869866605505
|
| 129 |
+
127,2.116666667,pose3-to-pose4-insert,0.00491751462155,0.880826174257,0.00503538946616,0.869663381478
|
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+
128,2.133333333,pose3-to-pose4-insert,0.00491762929296,0.88062150519,0.0050355549589,0.86945870519
|
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+
129,2.150000000,pose3-to-pose4-insert,0.00491729752964,0.880429819493,0.00503524310018,0.869267019493
|
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+
130,2.166666667,pose3-to-pose4-insert,0.004917332,0.880236088252,0.00503529438562,0.869073254172
|
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+
131,2.183333333,pose3-to-pose4-insert,0.00491711702075,0.880047066236,0.0050350986121,0.868884166236
|
| 134 |
+
132,2.200000000,pose3-to-pose4-insert,0.00491681715172,0.879865995375,0.00503479111423,0.868703033112
|
| 135 |
+
133,2.216666667,pose3-to-pose4-insert,0.00491664007412,0.879698536515,0.00503457840143,0.86853539203
|
| 136 |
+
134,2.233333333,pose3-to-pose4-insert,0.00491633658055,0.879544178941,0.00503425238196,0.868380978941
|
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+
135,2.250000000,pose3-to-pose4-insert,0.00491634426191,0.879405991151,0.00503426747113,0.868242791151
|
| 138 |
+
136,2.266666667,pose3-to-pose4-insert,0.00491613454337,0.879276212925,0.00503408583678,0.868113012925
|
| 139 |
+
137,2.283333333,pose3-to-pose4-insert,0.00491627237493,0.879161507748,0.00503420521599,0.867998229816
|
| 140 |
+
138,2.300000000,pose3-to-pose4-insert,0.00491653169248,0.87905708921,0.00503445624394,0.867893861637
|
| 141 |
+
139,2.316666667,pose3-to-pose4-insert,0.00491674724985,0.87896189029,0.00503468981504,0.867798623986
|
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+
140,2.333333333,pose3-to-pose4-insert,0.00491692686358,0.87887333372,0.00503488941545,0.86770997165
|
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+
141,2.350000000,pose3-to-pose4-insert,0.00491696240638,0.87879549064,0.00503491976662,0.867632035212
|
| 144 |
+
142,2.366666667,pose3-to-pose4-insert,0.00491721952073,0.878720968937,0.00503517973184,0.867557524442
|
| 145 |
+
143,2.383333333,pose3-to-pose4-insert,0.0049174115973,0.878653358537,0.00503538337675,0.867489899222
|
| 146 |
+
144,2.400000000,pose3-to-pose4-insert,0.00491759136717,0.878594648376,0.00503554441659,0.867431148376
|
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+
145,2.416666667,pose3-to-pose4-insert,0.00491761297434,0.878546679444,0.00503556288962,0.867383179444
|
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+
146,2.433333333,pose3-to-pose4-insert,0.00491765323703,0.878505571903,0.00503556647874,0.867342000397
|
| 149 |
+
147,2.450000000,pose3-to-pose4-insert,0.00491779850944,0.878473897851,0.00503567297133,0.867310297851
|
| 150 |
+
148,2.466666667,pose3-to-pose4-insert,0.00491777283157,0.87844793635,0.00503558025445,0.867284492556
|
| 151 |
+
149,2.483333333,pose3-to-pose4-insert,0.00491797162041,0.87842860851,0.00503572932774,0.86726520851
|
| 152 |
+
150,2.500000000,pose3-to-pose4-insert,0.00491807224077,0.87841455887,0.00503577892976,0.867251245492
|
| 153 |
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151,2.516666667,pose3-to-pose4-insert,0.004918127896,0.878406034907,0.00503580554453,0.86724265508
|
| 154 |
+
152,2.533333333,pose3-to-pose4-insert,0.0049180191018,0.878399675035,0.00503566675988,0.867236356175
|
| 155 |
+
153,2.550000000,pose3-to-pose4-insert,0.00491811294859,0.878395799699,0.00503573868878,0.867232499699
|
| 156 |
+
154,2.566666667,pose3-to-pose4-insert,0.00491799508428,0.878393530465,0.00503556432008,0.867230130465
|
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+
155,2.583333333,pose3-to-pose4-insert,0.004917928,0.8783927,0.005035484,0.8672293
|
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+
156,2.600000000,pose4-hold,0.004917928,0.8783927,0.005035495,0.8672293
|
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+
157,2.616666667,pose4-hold,0.004917928,0.8783927,0.00503551169697,0.8672293
|
| 160 |
+
158,2.633333333,pose4-hold,0.004917928,0.8783927,0.00503553293939,0.8672293
|
| 161 |
+
159,2.650000000,pose4-hold,0.004917928,0.8783927,0.00503555618182,0.8672293
|
| 162 |
+
160,2.666666667,pose4-hold,0.004917928,0.8783927,0.00503557527273,0.8672293
|
| 163 |
+
161,2.683333333,pose4-hold,0.004917928,0.8783927,0.00503559306061,0.8672293
|
| 164 |
+
162,2.700000000,pose4-hold,0.004917928,0.8783927,0.005035613,0.8672293
|
| 165 |
+
163,2.716666667,pose4-hold,0.004917928,0.8783927,0.00503563112121,0.8672293
|
| 166 |
+
164,2.733333333,pose4-hold,0.004917928,0.8783927,0.00503564330303,0.8672293
|
| 167 |
+
165,2.750000000,pose4-hold,0.004917928,0.8783927,0.00503565209091,0.8672293
|
| 168 |
+
166,2.766666667,pose4-hold,0.004917928,0.8783927,0.00503565615152,0.8672293
|
| 169 |
+
167,2.783333333,pose4-hold,0.004917928,0.8783927,0.00503565766667,0.8672293
|
| 170 |
+
168,2.800000000,pose4-hold,0.004917928,0.8783927,0.00503565581818,0.8672293
|
| 171 |
+
169,2.816666667,pose4-hold,0.004917928,0.8783927,0.005035654,0.867229342424
|
| 172 |
+
170,2.833333333,pose4-hold,0.004917928,0.8783927,0.00503565006061,0.8672294
|
| 173 |
+
171,2.850000000,pose4-hold,0.004917928,0.8783927,0.00503563881818,0.8672294
|
| 174 |
+
172,2.866666667,pose4-hold,0.004917928,0.8783927,0.00503562833333,0.8672294
|
| 175 |
+
173,2.883333333,pose4-hold,0.004917928,0.8783927,0.00503561866667,0.8672294
|
| 176 |
+
174,2.900000000,pose4-hold,0.004917928,0.8783927,0.00503560327273,0.8672294
|
| 177 |
+
175,2.916666667,pose4-hold,0.004917928,0.8783927,0.00503559233333,0.8672294
|
| 178 |
+
176,2.933333333,pose4-hold,0.004917928,0.8783927,0.00503558266667,0.8672294
|
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|
Part2/Free/s2/cylinder_15A_15/width_04/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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| 6 |
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188,3.133333333,pose2-hold,-8.266608e-05,0.8835849,3.76714757576e-06,0.8724223
|
| 191 |
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189,3.150000000,pose2-hold,-8.266608e-05,0.8835849,3.76972242424e-06,0.8724223
|
| 192 |
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190,3.166666667,pose2-hold,-8.266608e-05,0.8835849,3.77206327273e-06,0.8724223
|
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191,3.183333333,pose2-hold,-8.266608e-05,0.8835849,3.77428154545e-06,0.8724223
|
| 194 |
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192,3.200000000,pose2-hold,-8.266608e-05,0.8835849,3.77618793939e-06,0.8724223
|
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193,3.216666667,pose2-hold,-8.266608e-05,0.8835849,3.77778554545e-06,0.8724223
|
| 196 |
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194,3.233333333,pose2-hold,-8.266608e-05,0.8835849,3.77903933333e-06,0.8724223
|
| 197 |
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195,3.250000000,pose2-hold,-8.266608e-05,0.8835849,3.77985893939e-06,0.8724223
|
| 198 |
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196,3.266666667,pose2-hold,-8.266608e-05,0.8835849,3.78023945455e-06,0.8724223
|
| 199 |
+
197,3.283333333,pose2-hold,-8.266608e-05,0.8835849,3.77993451515e-06,0.8724223
|
| 200 |
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198,3.300000000,pose2-hold,-8.266608e-05,0.8835849,3.78160060606e-06,0.8724223
|
| 201 |
+
199,3.316666667,pose2-hold,-8.266608e-05,0.8835849,3.78133636364e-06,0.8724223
|
| 202 |
+
200,3.333333333,pose2-hold,-8.266608e-05,0.8835849,3.779665e-06,0.8724223
|
| 203 |
+
201,3.350000000,pose2-hold,-8.266608e-05,0.8835849,3.77755090909e-06,0.8724223
|
| 204 |
+
202,3.366666667,pose2-hold,-8.266608e-05,0.8835849,3.77563663636e-06,0.8724223
|
| 205 |
+
203,3.383333333,pose2-hold,-8.266608e-05,0.8835849,3.77399190909e-06,0.8724223
|
| 206 |
+
204,3.400000000,pose2-hold,-8.266608e-05,0.8835849,3.77237390909e-06,0.8724223
|
| 207 |
+
205,3.416666667,pose2-hold,-8.266608e-05,0.8835849,3.77109e-06,0.8724223
|
Part2/Free/s2/cylinder_15A_15/width_05/insert/camera_frames_60hz.tar
ADDED
|
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version https://git-lfs.github.com/spec/v1
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size 23439360
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Part2/Free/s2/cylinder_15A_15/width_05/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:f71300153ca30028dbcf9270b7bb1b84bbfe6f1df7ebbc564376d81f99888271
|
| 3 |
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size 55870550
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Part2/Free/s2/cylinder_15A_15/width_05/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s2/cylinder_15A_15/width_05/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,919 @@
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|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.300992e-05,0.8835887,3.688801e-06,0.872426
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.26987814644e-05,0.8835886,3.9713224905e-06,0.872425919124
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.23236684319e-05,0.8835886,4.36062901447e-06,0.872425966069
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.20560718685e-05,0.8835886,4.63835087139e-06,0.872425999559
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.15121725673e-05,0.883588635396,5.18571420164e-06,0.872426035396
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.08677081987e-05,0.88358867761,5.83415090834e-06,0.87242607761
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.06029415451e-05,0.883588694953,6.10054952595e-06,0.872426094953
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.01054557075e-05,0.883588673433,6.60356011072e-06,0.872426073433
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.95645913498e-05,0.883588639257,7.15092076692e-06,0.872426039257
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.88319498666e-05,0.883588592962,7.89236197549e-06,0.872425992962
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.7468769118e-05,0.883588506824,9.27191582932e-06,0.872425906824
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.26526107989e-05,0.883588582248,1.41089364137e-05,0.872425982248
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.4723992076e-05,0.88358867557,2.20976469437e-05,0.87242607557
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-4.78839323722e-05,0.88358868025,3.89933267305e-05,0.87242608025
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-2.13934724008e-05,0.883588454572,6.56546799406e-05,0.872425854572
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,2.13761662524e-05,0.883588597892,0.000108649636095,0.872426097892
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,7.85807828381e-05,0.883588492406,0.000166193388515,0.872425992406
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000155174706379,0.883588303016,0.000243270126559,0.872425902011
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000245340209314,0.883588377783,0.000333968780223,0.872425877783
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000349196416115,0.883588121798,0.000438456980376,0.872425697439
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000461145372092,0.883587992129,0.000551086398934,0.872425592129
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000584443245225,0.883587724696,0.000675136614997,0.872425349392
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000713662638909,0.883587678304,0.00080513926331,0.872425378304
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000853021141345,0.883587720028,0.000945345371409,0.872425420028
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.0010011215414,0.883587832188,0.00109434933298,0.872425532188
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00115937120716,0.8835878,0.00125355832227,0.8724255
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00132345862983,0.883588259149,0.00141863442548,0.872425959149
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00149412399297,0.883588701906,0.0015903398629,0.872426403812
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00166730660502,0.883588827857,0.00176458608866,0.872426627857
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00184520492659,0.883589116583,0.00194353833418,0.8724269
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00202641530609,0.883589270489,0.00212579994835,0.872426970489
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00220941642782,0.883589350022,0.00231005468544,0.872427080017
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00239368472277,0.883588963553,0.00249535961484,0.872426727106
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00257709239457,0.8835889,0.00267990044957,0.8724266
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00275739229305,0.88358894699,0.00286140286695,0.87242669398
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00293601958048,0.883588948045,0.00304113170251,0.872426696091
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00311389192752,0.883589133901,0.00322012725535,0.872426833901
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00328714813824,0.883589235017,0.00339447746899,0.872427
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00345667248593,0.883589345685,0.00356506788321,0.872427145685
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.003617832259,0.883589877232,0.00372721626577,0.872427597693
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00376772091378,0.88359,0.0038778315517,0.872427279597
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00390503290501,0.883590085272,0.00401597668222,0.872427114728
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00403326227077,0.883590014192,0.00414505563229,0.872426928384
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00415002161639,0.883589662828,0.00426247577817,0.872426647121
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00426049922845,0.883589430085,0.00437377296681,0.872426345128
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00436135718827,0.8835894,0.00447539691244,0.8724263
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00445486629946,0.883589312187,0.00456968718892,0.8724263
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00453753856295,0.883588941831,0.00465300503791,0.872425941831
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00461210750399,0.883588806525,0.00472815168215,0.8724259
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00467461043033,0.8835888,0.00479112945127,0.872425993608
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00472826382511,0.883589081246,0.00484530406782,0.872426374994
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00477171428476,0.8835886518,0.00488912164175,0.87242613108
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00480795666171,0.883588343602,0.00492555991937,0.872425843602
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00483550536068,0.8835883,0.00495322144417,0.872425874855
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00485873941352,0.883588570727,0.00497654532709,0.872426238409
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.0048768469255,0.88358839814,0.00499467528458,0.87242609814
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489149326524,0.883588378597,0.00500938810889,0.872426078597
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490175614497,0.8835885,0.00501971983936,0.872426311862
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00490922194695,0.88358856281,0.00502714793022,0.87242621157
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491388715722,0.883588446582,0.00503176658253,0.872426176709
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491631986317,0.883588523005,0.00503414439367,0.872426323005
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.00491697,0.8835886,0.005034754,0.8724263
|
| 64 |
+
62,1.033333333,pose3-hold,0.00491697,0.8835886,0.005034745,0.8724263
|
| 65 |
+
63,1.050000000,pose3-hold,0.00491697,0.8835886,0.00503475466667,0.8724263
|
| 66 |
+
64,1.066666667,pose3-hold,0.00491697,0.8835886,0.00503475145455,0.872426224242
|
| 67 |
+
65,1.083333333,pose3-hold,0.00491697,0.8835886,0.00503476145455,0.8724262
|
| 68 |
+
66,1.100000000,pose3-hold,0.00491697,0.8835886,0.00503478551515,0.8724262
|
| 69 |
+
67,1.116666667,pose3-hold,0.00491697,0.8835886,0.00503481106061,0.8724262
|
| 70 |
+
68,1.133333333,pose3-hold,0.00491697,0.8835886,0.00503483154545,0.8724262
|
| 71 |
+
69,1.150000000,pose3-hold,0.00491697,0.8835886,0.00503485233333,0.8724262
|
| 72 |
+
70,1.166666667,pose3-hold,0.00491697,0.8835886,0.00503487212121,0.8724262
|
| 73 |
+
71,1.183333333,pose3-hold,0.00491697,0.8835886,0.00503490463636,0.8724262
|
| 74 |
+
72,1.200000000,pose3-hold,0.00491697,0.8835886,0.00503492533333,0.8724262
|
| 75 |
+
73,1.216666667,pose3-hold,0.00491697,0.8835886,0.00503493933333,0.8724262
|
| 76 |
+
74,1.233333333,pose3-hold,0.00491697,0.8835886,0.00503495163636,0.8724262
|
| 77 |
+
75,1.250000000,pose3-hold,0.00491697,0.8835886,0.00503495969697,0.872426242424
|
| 78 |
+
76,1.266666667,pose3-hold,0.00491697,0.8835886,0.00503496139394,0.8724263
|
| 79 |
+
77,1.283333333,pose3-hold,0.00491697,0.8835886,0.00503495872727,0.8724263
|
| 80 |
+
78,1.300000000,pose3-hold,0.00491697,0.8835886,0.00503495324242,0.8724263
|
| 81 |
+
79,1.316666667,pose3-hold,0.00491697,0.8835886,0.00503495675758,0.8724263
|
| 82 |
+
80,1.333333333,pose3-hold,0.00491697,0.8835886,0.00503494636364,0.8724263
|
| 83 |
+
81,1.350000000,pose3-hold,0.00491697,0.8835886,0.00503492936364,0.8724263
|
| 84 |
+
82,1.366666667,pose3-hold,0.00491697,0.8835886,0.00503491263636,0.8724263
|
| 85 |
+
83,1.383333333,pose3-hold,0.00491697,0.8835886,0.00503489727273,0.8724263
|
| 86 |
+
84,1.400000000,pose3-hold,0.00491697,0.8835886,0.00503488633333,0.8724263
|
| 87 |
+
85,1.416666667,pose3-hold,0.00491697,0.8835886,0.00503487981818,0.8724263
|
| 88 |
+
86,1.433333333,pose3-hold,0.00491697,0.8835886,0.00503486690909,0.8724263
|
| 89 |
+
87,1.450000000,pose3-hold,0.00491697,0.8835886,0.00503485636364,0.8724263
|
| 90 |
+
88,1.466666667,pose3-hold,0.00491697,0.8835886,0.00503485090909,0.8724263
|
| 91 |
+
89,1.483333333,pose3-hold,0.00491697,0.8835886,0.00503484781818,0.8724263
|
| 92 |
+
90,1.500000000,pose3-hold,0.00491697,0.8835886,0.00503484639394,0.8724263
|
| 93 |
+
91,1.516666667,pose3-hold,0.00491697,0.8835886,0.00503484793939,0.8724263
|
| 94 |
+
92,1.533333333,pose3-hold,0.00491697,0.8835886,0.00503485,0.8724263
|
| 95 |
+
93,1.550000000,pose3-hold,0.00491697,0.8835886,0.00503485024242,0.872426275758
|
| 96 |
+
94,1.566666667,pose3-hold,0.00491697,0.8835886,0.00503485172727,0.8724262
|
| 97 |
+
95,1.583333333,pose3-hold,0.00491697,0.8835886,0.005034857,0.8724262
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.00491697,0.8835886,0.005034872,0.8724262
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491691398513,0.883588226653,0.00503481620443,0.872425826653
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.0049170779532,0.883587699228,0.00503498995079,0.872425299228
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491704353291,0.883587131471,0.00503495375625,0.872424731471
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491702388685,0.883586807412,0.00503493309752,0.872424407412
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491701430735,0.8835866494,0.00503492302422,0.8724242494
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491700112789,0.883586432006,0.00503490916541,0.872424032006
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491698588662,0.88358596269,0.005034892927,0.87242356269
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491700805113,0.883585339886,0.00503491527469,0.872422939886
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491701716328,0.883585083842,0.00503492446215,0.872422683842
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.0049170389758,0.883584470928,0.00503494645494,0.872422070928
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491695381561,0.88357826284,0.00503486851321,0.87241594656
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+
108,1.800000000,pose3-to-pose4-insert,0.00491701138081,0.883564139821,0.00503493927616,0.872401739821
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+
109,1.816666667,pose3-to-pose4-insert,0.00491717546892,0.88353363645,0.00503506832589,0.8723712589
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110,1.833333333,pose3-to-pose4-insert,0.00491713310434,0.883486735176,0.00503500716856,0.872324435176
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111,1.850000000,pose3-to-pose4-insert,0.00491704266778,0.883421921908,0.00503493093832,0.872259621908
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112,1.866666667,pose3-to-pose4-insert,0.00491727820411,0.883342675573,0.00503517584116,0.872180357425
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113,1.883333333,pose3-to-pose4-insert,0.0049170092652,0.883244929457,0.00503491751513,0.872082597512
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114,1.900000000,pose3-to-pose4-insert,0.0049172716882,0.883137215824,0.00503516141925,0.871974815824
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115,1.916666667,pose3-to-pose4-insert,0.00491724938532,0.883015933509,0.00503514628523,0.871853533509
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116,1.933333333,pose3-to-pose4-insert,0.0049172874862,0.882882951712,0.00503520351066,0.871720551712
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+
117,1.950000000,pose3-to-pose4-insert,0.00491722822385,0.882742202616,0.00503515333979,0.871579802616
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+
118,1.966666667,pose3-to-pose4-insert,0.00491737131556,0.882597968435,0.00503528971388,0.871435568435
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119,1.983333333,pose3-to-pose4-insert,0.00491732669313,0.882446883705,0.0050352610989,0.871284483705
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120,2.000000000,pose3-to-pose4-insert,0.00491744458691,0.882293623324,0.00503542780195,0.871131223324
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121,2.016666667,pose3-to-pose4-insert,0.00491732665594,0.882134414302,0.00503532898846,0.870972014302
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122,2.033333333,pose3-to-pose4-insert,0.00491726576268,0.881968073608,0.00503528871,0.870805673608
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123,2.050000000,pose3-to-pose4-insert,0.00491724049079,0.881794201061,0.00503527565997,0.870631763112
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124,2.066666667,pose3-to-pose4-insert,0.00491688253417,0.881615812977,0.00503491879638,0.870453312977
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125,2.083333333,pose3-to-pose4-insert,0.00491667585053,0.88143210079,0.00503474299736,0.8702695503
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126,2.100000000,pose3-to-pose4-insert,0.00491628824332,0.881245633066,0.00503439876485,0.870083090109
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127,2.116666667,pose3-to-pose4-insert,0.00491601732089,0.88105526991,0.00503413704371,0.869892640677
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128,2.133333333,pose3-to-pose4-insert,0.00491620180246,0.880863150253,0.00503432208566,0.869700450253
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129,2.150000000,pose3-to-pose4-insert,0.00491657777551,0.88067111665,0.00503470158969,0.869508335232
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130,2.166666667,pose3-to-pose4-insert,0.00491675172508,0.880480195619,0.0050348612284,0.869317486223
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131,2.183333333,pose3-to-pose4-insert,0.00491696349136,0.880290374555,0.00503513300528,0.869127573583
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132,2.200000000,pose3-to-pose4-insert,0.00491735246436,0.880104188542,0.00503547728724,0.868941288542
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133,2.216666667,pose3-to-pose4-insert,0.00491678398491,0.879925520172,0.00503494221981,0.868762620172
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134,2.233333333,pose3-to-pose4-insert,0.00491628821632,0.879753140551,0.00503444197991,0.868590170732
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135,2.250000000,pose3-to-pose4-insert,0.00491579212453,0.879593901331,0.00503393179992,0.868430758085
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136,2.266666667,pose3-to-pose4-insert,0.00491542829547,0.879446725924,0.00503356670041,0.868283525924
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137,2.283333333,pose3-to-pose4-insert,0.00491503831766,0.879313523974,0.00503316861489,0.868150323974
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138,2.300000000,pose3-to-pose4-insert,0.00491505957242,0.879189762424,0.00503320597438,0.868026562424
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139,2.316666667,pose3-to-pose4-insert,0.00491565981979,0.879077693248,0.00503382763445,0.867914440932
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140,2.333333333,pose3-to-pose4-insert,0.00491623168349,0.878971781081,0.00503440398068,0.867808481081
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141,2.350000000,pose3-to-pose4-insert,0.0049167093982,0.878875560597,0.00503489308706,0.867712201986
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142,2.366666667,pose3-to-pose4-insert,0.00491714896914,0.878787259228,0.00503533725587,0.867623923565
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143,2.383333333,pose3-to-pose4-insert,0.0049176346711,0.878711335895,0.00503581150082,0.867547968282
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144,2.400000000,pose3-to-pose4-insert,0.00491798907281,0.878645102469,0.00503617994117,0.867481702469
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145,2.416666667,pose3-to-pose4-insert,0.00491820420211,0.878590777351,0.00503640109908,0.867427307249
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146,2.433333333,pose3-to-pose4-insert,0.0049183029463,0.878545136193,0.00503649211361,0.867381567866
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147,2.450000000,pose3-to-pose4-insert,0.00491859968583,0.878509530996,0.00503679631368,0.867345990039
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148,2.466666667,pose3-to-pose4-insert,0.00491878945434,0.878479608224,0.00503694178899,0.867316108224
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149,2.483333333,pose3-to-pose4-insert,0.00491884605424,0.878455615572,0.00503694432673,0.867292115572
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150,2.500000000,pose3-to-pose4-insert,0.00491892015302,0.878437508681,0.00503698115442,0.867274035798
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151,2.516666667,pose3-to-pose4-insert,0.00491889349635,0.87842421079,0.00503686713964,0.86726081079
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152,2.533333333,pose3-to-pose4-insert,0.0049189334021,0.878413193333,0.00503688535748,0.867249793333
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153,2.550000000,pose3-to-pose4-insert,0.00491911069486,0.878405009841,0.00503701787705,0.867241609841
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154,2.566666667,pose3-to-pose4-insert,0.00491900818964,0.878400034437,0.00503689262978,0.867236697237
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155,2.583333333,pose3-to-pose4-insert,0.00491912688768,0.878395913192,0.00503698073325,0.867232548874
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156,2.600000000,pose3-to-pose4-insert,0.00491912553959,0.878393257979,0.00503693679791,0.867229948105
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157,2.616666667,pose3-to-pose4-insert,0.004919174,0.8783922,0.00503699,0.8672288
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158,2.633333333,pose4-hold,0.004919174,0.8783922,0.005036997,0.8672287
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159,2.650000000,pose4-hold,0.004919174,0.8783922,0.00503701106061,0.8672287
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160,2.666666667,pose4-hold,0.004919174,0.8783922,0.00503703269697,0.8672287
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161,2.683333333,pose4-hold,0.004919174,0.8783922,0.00503705490909,0.8672287
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162,2.700000000,pose4-hold,0.004919174,0.8783922,0.00503707533333,0.8672287
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163,2.716666667,pose4-hold,0.004919174,0.8783922,0.00503709387879,0.8672287
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164,2.733333333,pose4-hold,0.004919174,0.8783922,0.00503711118182,0.8672287
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165,2.750000000,pose4-hold,0.004919174,0.8783922,0.00503712742424,0.8672287
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166,2.766666667,pose4-hold,0.004919174,0.8783922,0.00503714133333,0.8672287
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167,2.783333333,pose4-hold,0.004919174,0.8783922,0.005037151,0.8672287
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168,2.800000000,pose4-hold,0.004919174,0.8783922,0.00503715515152,0.867228778788
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169,2.816666667,pose4-hold,0.004919174,0.8783922,0.00503715666667,0.8672288
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170,2.833333333,pose4-hold,0.004919174,0.8783922,0.00503715372727,0.8672288
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171,2.850000000,pose4-hold,0.004919174,0.8783922,0.00503715142424,0.8672288
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172,2.866666667,pose4-hold,0.004919174,0.8783922,0.00503714836364,0.8672288
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173,2.883333333,pose4-hold,0.004919174,0.8783922,0.00503713763636,0.8672288
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174,2.900000000,pose4-hold,0.004919174,0.8783922,0.00503712651515,0.8672288
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175,2.916666667,pose4-hold,0.004919174,0.8783922,0.00503711948485,0.8672288
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176,2.933333333,pose4-hold,0.004919174,0.8783922,0.00503711081818,0.8672288
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177,2.950000000,pose4-hold,0.004919174,0.8783922,0.00503709715152,0.8672288
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178,2.966666667,pose4-hold,0.004919174,0.8783922,0.00503708509091,0.8672288
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179,2.983333333,pose4-hold,0.004919174,0.8783922,0.00503707590909,0.8672288
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180,3.000000000,pose4-hold,0.004919174,0.8783922,0.005037069,0.8672288
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181,3.016666667,pose4-hold,0.004919174,0.8783922,0.00503706436364,0.8672288
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182,3.033333333,pose4-hold,0.004919174,0.8783922,0.00503706190909,0.8672288
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183,3.050000000,pose4-hold,0.004919174,0.8783922,0.0050370610303,0.8672288
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184,3.066666667,pose4-hold,0.004919174,0.8783922,0.00503706269697,0.8672288
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185,3.083333333,pose4-hold,0.004919174,0.8783922,0.00503706372727,0.8672288
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186,3.100000000,pose4-hold,0.004919174,0.8783922,0.00503706460606,0.8672288
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187,3.116666667,pose4-hold,0.004919174,0.8783922,0.00503706693939,0.8672288
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188,3.133333333,pose4-hold,0.004919174,0.8783922,0.00503707336364,0.8672288
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189,3.150000000,pose4-hold,0.004919174,0.8783922,0.00503708293939,0.8672288
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190,3.166666667,pose4-hold,0.004919174,0.8783922,0.00503709009091,0.8672288
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191,3.183333333,pose4-hold,0.004919174,0.8783922,0.005037098,0.8672288
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192,3.200000000,pose4-to-pose5-return,0.004919174,0.8783922,0.005037102,0.8672288
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193,3.216666667,pose4-to-pose5-return,0.00491904688438,0.878392491501,0.00503699794315,0.867229091501
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194,3.233333333,pose4-to-pose5-return,0.00491859243141,0.878392954809,0.00503654114289,0.867229554809
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195,3.250000000,pose4-to-pose5-return,0.00491811502317,0.878393316091,0.00503604205774,0.867229916091
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196,3.266666667,pose4-to-pose5-return,0.00491773196475,0.878393685232,0.00503564842783,0.867230285232
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197,3.283333333,pose4-to-pose5-return,0.00491746692675,0.878394035811,0.00503538426628,0.867230635811
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198,3.300000000,pose4-to-pose5-return,0.00491683282951,0.878394874564,0.00503475226592,0.867231474564
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199,3.316666667,pose4-to-pose5-return,0.00491603435951,0.878395789125,0.00503395428868,0.867232399833
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200,3.333333333,pose4-to-pose5-return,0.00491541351551,0.878396340351,0.0050333314031,0.867232971475
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201,3.350000000,pose4-to-pose5-return,0.00491441243537,0.878397229176,0.00503232703101,0.86723389322
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202,3.366666667,pose4-to-pose5-return,0.00491322437309,0.878398304662,0.00503113469586,0.86723500261
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203,3.383333333,pose4-to-pose5-return,0.00491006857916,0.87840179513,0.00502795631655,0.867238424638
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204,3.400000000,pose4-to-pose5-return,0.0049046283834,0.878407228346,0.00502247061786,0.867243828346
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205,3.416666667,pose4-to-pose5-return,0.00489445904821,0.878417889787,0.00501225947965,0.867254568684
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206,3.433333333,pose4-to-pose5-return,0.00487905549247,0.878433899301,0.00499675158574,0.867270499301
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207,3.450000000,pose4-to-pose5-return,0.00485034045755,0.878463100624,0.00496787545309,0.867299700624
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209,3.483333333,pose4-to-pose5-return,0.00475538804997,0.878560989952,0.00487232845029,0.867397489952
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210,3.500000000,pose4-to-pose5-return,0.0046916900431,0.87862660651,0.00480823812023,0.86746320651
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211,3.516666667,pose4-to-pose5-return,0.00461386075497,0.878707240792,0.00472992450853,0.867543840792
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213,3.550000000,pose4-to-pose5-return,0.00443737408807,0.878888779676,0.00455235452374,0.867725444402
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Part2/Free/s2/cylinder_15A_15/width_05/pick/camera_frames_60hz.tar
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ADDED
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ADDED
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79299651412e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002985_1792996514119874760_real.jpg,0.67598032134,-0.00544870841242,0.0959363157441,0.999999967729,0.00016295476061,-0.000168422437397,9.80920915083e-05,0.0435350313783
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79299651414e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002985_1792996514119874760_real.jpg,0.675979203848,-0.00544423489977,0.0959353598523,0.999999967258,0.000165044721172,-0.000170587400492,9.56240275238e-05,0.0435350313783
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.79299651415e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002986_1792996514153829139_interpolated.jpg,0.675978086355,-0.00543976138713,0.0959344039605,0.999999966772,0.000167134681731,-0.000172752363586,9.31559635378e-05,0.0435350313783
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79299651417e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002986_1792996514153829139_interpolated.jpg,0.675977825768,-0.00544188423479,0.0959339567961,0.999999966889,0.000165455634934,-0.000173284103567,9.39143446174e-05,0.0435350313783
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79299651418e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002987_1792996514187783518_real.jpg,0.675977598348,-0.00544426239962,0.0959335293224,0.999999967024,0.00016363070582,-0.000173752628395,9.47976077244e-05,0.0435350313783
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.7929965142e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002987_1792996514187783518_real.jpg,0.675977631765,-0.00544531631809,0.0959328911598,0.999999966805,0.000163994616722,-0.000174066459026,9.58994421771e-05,0.0435350313783
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79299651422e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002988_1792996514219746707_interpolated.jpg,0.675977683735,-0.00544624456877,0.0959322421466,0.999999966558,0.000164530979012,-0.000174366069872,9.70036849049e-05,0.0435350313783
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79299651424e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002989_1792996514251709896_real.jpg,0.675977419145,-0.0054447162454,0.0959323819399,0.999999966621,0.000164575894422,-0.000174438597896,9.61472793035e-05,0.0435350313783
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.79299651425e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002989_1792996514251709896_real.jpg,0.675977192447,-0.00544346650564,0.0959324736094,0.999999966664,0.000164622351647,-0.000174515189008,9.54722124066e-05,0.0435338198723
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79299651427e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002990_1792996514285817128_interpolated.jpg,0.675977349403,-0.00544503744881,0.0959320780222,0.999999966522,0.000164684419873,-0.000174632919231,9.66332153874e-05,0.0435203417648
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79299651429e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002990_1792996514285817128_interpolated.jpg,0.675977462466,-0.00544652178604,0.0959316498913,0.999999966386,0.000164699271559,-0.000174810477572,9.76892677105e-05,0.0435074493289
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.7929965143e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002991_1792996514319924360_real.jpg,0.675976609282,-0.00544609965326,0.0959305053555,0.999999966414,0.000163674726116,-0.000176305059903,9.64350136695e-05,0.0435074493289
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79299651432e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002991_1792996514319924360_real.jpg,0.675975756111,-0.00544567752696,0.0959293608372,0.999999966436,0.000162650196409,-0.000177799619277,9.51807788931e-05,0.0435074493289
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79299651434e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002992_1792996514351897767_interpolated.jpg,0.675976182635,-0.00544631223972,0.0959311960423,0.999999966458,0.000162945369799,-0.000177223537505,9.55215211317e-05,0.0435074493289
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,1.79299651435e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002992_1792996514351897767_interpolated.jpg,0.675976536764,-0.00544687623645,0.0959330081497,0.999999966433,0.00016330370317,-0.000176850694748,9.58635394881e-05,0.0435074493289
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,1.79299651437e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002993_1792996514383871175_real.jpg,0.67597599755,-0.00544657437823,0.0959344451585,0.999999965861,0.000164356079859,-0.000178932468451,9.61646427078e-05,0.0435074493289
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79299651439e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002993_1792996514383871175_real.jpg,0.675974944829,-0.00544613413183,0.0959350054211,0.999999965185,0.000165097768166,-0.000181921264384,9.63214944336e-05,0.0435074493289
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.7929965144e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002994_1792996514401832521_interpolated.jpg,0.675971318216,-0.00544504077284,0.0959314606174,0.999999963987,0.000164313141113,-0.000189495183625,9.54901788693e-05,0.0435074493289
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79299651442e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002995_1792996514419793867_real.jpg,0.675968994983,-0.00544474716413,0.0959333867598,0.999999963152,0.000164661884397,-0.000195199390929,9.20854336479e-05,0.0435074493289
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.79299651444e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002996_1792996514451738511_interpolated.jpg,0.675965071601,-0.00544358247805,0.0959383428757,0.999999961671,0.000164201375493,-0.000204072904089,8.97205619501e-05,0.0435074493289
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.79299651445e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002996_1792996514451738511_interpolated.jpg,0.675960238571,-0.00544241681999,0.0959447538387,0.999999959743,0.000163717465453,-0.000214908296675,8.67506301519e-05,0.0435074493289
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,1.79299651447e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002997_1792996514483683156_real.jpg,0.675945997819,-0.00544124110966,0.0959662110646,0.999999953446,0.000162991537149,-0.000246033760795,7.75230698358e-05,0.0435074493289
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79299651449e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002997_1792996514483683156_real.jpg,0.675935707696,-0.00543997750477,0.0959926570871,0.999999948421,0.000161578719196,-0.000269078122872,6.81667333493e-05,0.0435069544618
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,1.7929965145e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002998_1792996514517808140_interpolated.jpg,0.675944503504,-0.00543828924834,0.0960432051574,0.999999953981,0.000156847410953,-0.000253081795826,5.81881160456e-05,0.0435040688079
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79299651452e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002998_1792996514517808140_interpolated.jpg,0.675951862641,-0.00543684898098,0.096092708729,0.99999995843,0.000152094033239,-0.000240166017732,4.82458386917e-05,0.0435015410185
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.79299651454e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002999_1792996514551933125_real.jpg,0.675949073493,-0.00543716042737,0.0961348390151,0.999999957422,0.000147184234671,-0.000249010772223,3.85591990982e-05,0.0435015410185
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.79299651455e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00002999_1792996514551933125_real.jpg,0.675946414203,-0.00543862325028,0.096178538805,0.999999956409,0.000141413401102,-0.000257556500156,2.91459792629e-05,0.0435015410185
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79299651457e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003000_1792996514585916803_interpolated.jpg,0.67594532269,-0.00545398674833,0.0962411873601,0.99999995744,0.000125247212751,-0.00026249205338,2.30337815027e-05,0.0435015410185
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,1.79299651459e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003000_1792996514585916803_interpolated.jpg,0.675944517464,-0.00546886991973,0.0963047005737,0.99999995827,0.000109185718636,-0.000266954831091,1.65329423349e-05,0.0435015410185
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,1.7929965146e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003001_1792996514619900482_real.jpg,0.675951067889,-0.00547141214214,0.0963904306937,0.999999961799,9.58139194244e-05,-0.000259270515606,4.65226008605e-08,0.0435015410185
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,1.79299651462e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003001_1792996514619900482_real.jpg,0.675957618214,-0.0054739543255,0.0964761594969,0.999999964819,8.24423255521e-05,-0.00025158631802,-1.64396439048e-05,0.0435015410185
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,1.79299651464e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003002_1792996514651785836_interpolated.jpg,0.675967857544,-0.00545571425914,0.096589100893,0.999999967115,8.60108524241e-05,-0.000238156296278,-4.06602945561e-05,0.0435015410185
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,1.79299651465e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003002_1792996514651785836_interpolated.jpg,0.675977938059,-0.00543930664857,0.09670219062,0.999999968686,9.06049455842e-05,-0.000225233175634,-6.07391500806e-05,0.0435015410185
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,1.79299651467e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003003_1792996514683671191_real.jpg,0.675986255607,-0.005442881556,0.0968164214465,0.999999970006,0.000105911529185,-0.00021783764901,-3.6299620984e-05,0.0435015410185
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,1.79299651469e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003003_1792996514683671191_real.jpg,0.675992171164,-0.00544468284551,0.0969329799237,0.999999971283,0.000111011228451,-0.000211511606054,-1.93339775451e-05,0.0435015410185
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,1.7929965147e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003004_1792996514717740382_interpolated.jpg,0.675986539899,-0.00543795797786,0.097060729738,0.999999974901,6.70441909317e-05,-0.000210326717825,-3.82967425062e-05,0.0435015410185
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,1.79299651472e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003004_1792996514717740382_interpolated.jpg,0.675979326652,-0.00543201821353,0.097187263822,0.999999975301,3.20893951857e-05,-0.000212962649264,-5.49185343141e-05,0.0435015410185
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,1.79299651474e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003005_1792996514751809574_real.jpg,0.675961342508,-0.00543142281379,0.0973055344427,0.999999967556,5.84863130628e-05,-0.000241611010591,-5.56047128533e-05,0.0435015410185
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,1.79299651475e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003005_1792996514751809574_real.jpg,0.675944106785,-0.00543015388187,0.0974268927462,0.999999958995,8.03756416294e-05,-0.000268958182131,-5.66680465712e-05,0.0435015410185
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,1.79299651477e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003006_1792996514785795511_interpolated.jpg,0.675935041771,-0.005421531823,0.097581960089,0.99999995689,5.30544395344e-05,-0.000282099928169,-6.18488828877e-05,0.0435015410185
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,1.79299651479e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003006_1792996514785795511_interpolated.jpg,0.675926575353,-0.00541302652163,0.0977381446736,0.999999954018,2.8026650005e-05,-0.000294442565383,-6.69541230696e-05,0.0435015410185
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,1.7929965148e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003007_1792996514819781449_real.jpg,0.675930888702,-0.00540701383857,0.0979181845396,0.999999954199,5.19623670806e-05,-0.000289724587405,-7.04454808366e-05,0.0435015410185
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,1.79299651482e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003007_1792996514819781449_real.jpg,0.675935220011,-0.00540100702177,0.0980984516161,0.999999953787,7.58426417692e-05,-0.00028496820049,-7.39335688909e-05,0.0435015410185
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,1.79299651484e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003008_1792996514851825066_interpolated.jpg,0.67594274875,-0.00539602430702,0.0983195088404,0.999999955631,8.99544741069e-05,-0.000273386508508,-7.68512365715e-05,0.0435015410185
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,1.79299651485e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003008_1792996514851825066_interpolated.jpg,0.67594957318,-0.00539158209104,0.0985403447246,0.999999957168,0.000101484315061,-0.000262735390575,-7.95923017046e-05,0.0435015410185
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,1.79299651487e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003009_1792996514883868684_real.jpg,0.67594861369,-0.00539311337696,0.0987587343942,0.999999958782,8.44784196402e-05,-0.000262368822262,-8.03815853011e-05,0.0435015410185
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,1.79299651489e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003009_1792996514883868684_real.jpg,0.675947914465,-0.00539483720879,0.0989810605513,0.999999960014,6.91998591364e-05,-0.000262050446783,-8.06979565166e-05,0.0435015410185
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,1.7929965149e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003010_1792996514917765181_interpolated.jpg,0.675948578003,-0.00539756925593,0.0992240019493,0.999999960616,6.29655550894e-05,-0.000261984409062,-7.85381181925e-05,0.0435015410185
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,1.79299651492e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00003010_1792996514917765181_interpolated.jpg,0.675948177288,-0.00539901094055,0.0994658897143,0.99999996056,5.7774797698e-05,-0.000263822247044,-7.706593839e-05,0.0435015410185
|
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|
Part2/Free/s2/cylinder_15A_15/width_05/pick/simulation_data.csv
ADDED
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,4.300677e-06,0.8344216
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,-8.26929602994e-05,0.845590405968,4.10846808544e-06,0.834422605968
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.26849297966e-05,0.845591741516,4.11744309029e-06,0.83442399095
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26891101597e-05,0.84559260384,4.12458464423e-06,0.834424899514
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,-8.26957238051e-05,0.84559306782,4.11119186718e-06,0.834425344161
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,-8.27038509422e-05,0.845593637979,4.09473423634e-06,0.834425890563
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.2716011069e-05,0.845594491072,4.07010971302e-06,0.83442670811
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.26955746006e-05,0.845595484,4.08631062435e-06,0.83442770225
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.26838100448e-05,0.84559574558,4.09885419782e-06,0.834427972004
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.26580957332e-05,0.845596317327,4.1262712428e-06,0.834428561618
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.26275767456e-05,0.845596995903,4.15881111665e-06,0.8344292614
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.25872821948e-05,0.845597891836,4.20177386551e-06,0.83443018533
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.26056922345e-05,0.845598654853,4.18720326833e-06,0.834430942523
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.26273491926e-05,0.84559908753,4.16805689821e-06,0.834431365585
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.26428772781e-05,0.845599397761,4.15432890968e-06,0.834431668922
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.2663703743e-05,0.845599813847,4.13591675757e-06,0.834432075761
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.26895730899e-05,0.845600330682,4.11304632084e-06,0.834432581112
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.27457725e-05,0.845601453473,4.06336184057e-06,0.834433678951
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.2763885412e-05,0.845603697767,4.05171300722e-06,0.834435897767
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.26068203495e-05,0.845610083032,4.20218913488e-06,0.834442283032
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.27480484586e-05,0.845622293439,4.06327953495e-06,0.834454493439
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.26912768757e-05,0.845643736915,4.11313961e-06,0.834475936915
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.26307441498e-05,0.845674185361,4.15617570989e-06,0.834506385361
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.2747746405e-05,0.845711353455,4.05244778869e-06,0.834543553455
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.29353735329e-05,0.845752811855,3.8699831996e-06,0.834585011855
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.30699996261e-05,0.845800812259,3.76330867025e-06,0.834633012259
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.30940855582e-05,0.845851084839,3.71654325799e-06,0.834683284839
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.32238933238e-05,0.84590896421,3.58405636885e-06,0.83474116421
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.33959432015e-05,0.845975757923,3.41373340598e-06,0.834807957923
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.33584503107e-05,0.846055791507,3.447485554e-06,0.834887991507
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.36151364762e-05,0.846146095218,3.29432096374e-06,0.834978220312
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.3758118929e-05,0.846248684761,3.07275132011e-06,0.835080827427
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.39984691709e-05,0.846357627144,2.81311624341e-06,0.835189811188
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.39715461315e-05,0.846473730794,2.81897512699e-06,0.835305930794
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.41534238833e-05,0.846591945183,2.63313918851e-06,0.83542416481
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.37423907087e-05,0.846711802462,3.02667545169e-06,0.835544102462
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.32931503109e-05,0.846832084235,3.47267813851e-06,0.835664334887
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.30442535107e-05,0.846957054916,3.72840681261e-06,0.835789197412
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.26596865409e-05,0.847086014892,4.1024750981e-06,0.835918299647
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.22157925678e-05,0.84722744807,4.50589561979e-06,0.836059623186
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.1755385343e-05,0.847382085126,4.93678265657e-06,0.836214097841
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.16175527325e-05,0.847556075047,5.09121098771e-06,0.836388175047
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.1633633341e-05,0.847746011945,5.02895293115e-06,0.836578111945
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.18360415185e-05,0.847952067753,4.80177354246e-06,0.836784167753
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.18940267732e-05,0.848166227232,4.73254546613e-06,0.836998327232
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.19778456336e-05,0.848390017794,4.63357868469e-06,0.837222117794
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.19313111541e-05,0.848616910519,4.66079620345e-06,0.837449010519
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.16256853801e-05,0.848847492372,4.9489119538e-06,0.837679592372
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,-8.11648005673e-05,0.849080884079,5.39741568213e-06,0.837912984079
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.07339030614e-05,0.849322505517,5.76087148925e-06,0.838154605517
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,-8.0871343154e-05,0.849572120993,5.62338544998e-06,0.838404156618
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,-8.14444316194e-05,0.849836257964,5.05557638524e-06,0.838668323033
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,-8.2075280549e-05,0.850112419399,4.35572583771e-06,0.838944519399
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.25076466397e-05,0.85039648619,3.93380337986e-06,0.839228653812
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,-8.26843849868e-05,0.850691722433,3.72447820464e-06,0.839523853798
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,-8.23065284828e-05,0.851000599043,4.07659079997e-06,0.839832699043
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,-8.17283343465e-05,0.851317837378,4.64409476214e-06,0.840149937378
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,-8.17098425504e-05,0.851650310272,5.23907102917e-06,0.840482333833
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,-8.16485438851e-05,0.852002626363,5.52875435493e-06,0.840834709825
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,-8.17567979395e-05,0.852367687703,5.35447747866e-06,0.841199970064
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,-8.25511319259e-05,0.852740407032,4.42548677355e-06,0.841572707032
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,-8.34300915116e-05,0.853119000815,3.48249393213e-06,0.841951297298
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,-8.38960812755e-05,0.853496165703,3.06399578961e-06,0.842328371912
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,-8.24592838744e-05,0.853875902285,4.49302202125e-06,0.842708202285
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,-8.12259817268e-05,0.854259144013,5.70386178214e-06,0.843091451308
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,-8.16324273371e-05,0.854648100912,5.31007850998e-06,0.843480500912
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,-8.24922961464e-05,0.855045210014,4.4247935123e-06,0.843877610014
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,-8.33643359496e-05,0.855453631238,3.47970443654e-06,0.844286037455
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,-8.29086911793e-05,0.855867757032,3.90331774823e-06,0.844700257032
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,-8.23996112742e-05,0.856293755396,4.41547479317e-06,0.845126255396
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,-8.21371967914e-05,0.856731247022,4.68926369592e-06,0.845563747022
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,-8.18967737788e-05,0.857175379661,4.81252935523e-06,0.846007879661
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,-8.24491253776e-05,0.857620065785,4.28835732051e-06,0.846452580853
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,-8.3162658894e-05,0.858067531094,3.53895198183e-06,0.846900146972
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,-8.34021793194e-05,0.858513868694,3.24920368885e-06,0.847346568694
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,-8.25166935944e-05,0.858957464871,4.2381509553e-06,0.847790164871
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,-8.16174976858e-05,0.859400131252,5.11656536184e-06,0.848232831252
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,-8.0923870409e-05,0.859852286449,5.7628282338e-06,0.848685001943
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,-8.06797712711e-05,0.860314355652,5.91881292192e-06,0.849147262808
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,-8.21485439496e-05,0.860780538761,4.53054922135e-06,0.849613532234
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,-8.32305690818e-05,0.861244929737,3.43847119828e-06,0.850077839334
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,-8.23756443139e-05,0.861733234739,4.11790435166e-06,0.850566342571
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,-8.18760446518e-05,0.862233873319,4.69099686878e-06,0.851067060591
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,-8.34090725217e-05,0.862726703963,3.12142542029e-06,0.851559819022
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,-8.45699669566e-05,0.863216055142,1.94507942154e-06,0.852049271599
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,-8.39362294305e-05,0.863707751617,2.54333684466e-06,0.852541051617
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,-8.30904799067e-05,0.864178276238,3.39058959491e-06,0.853011592318
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,-8.28256373579e-05,0.864641333418,3.69135327901e-06,0.853474733418
|
| 90 |
+
88,1.466666667,pose1-to-pose2-lift,-8.27132236853e-05,0.865115300218,3.76727387759e-06,0.853948719512
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,-8.26016656516e-05,0.865601518976,3.90210780137e-06,0.854435118976
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,-8.24964474459e-05,0.866099963734,3.93152477378e-06,0.854933577807
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,-8.25187148116e-05,0.866601092363,3.82764940347e-06,0.855434792363
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,-8.22428701663e-05,0.867092758962,4.17898319449e-06,0.855926479967
|
| 95 |
+
93,1.550000000,pose1-to-pose2-lift,-8.12985934963e-05,0.867586789073,5.13585830604e-06,0.856420613666
|
| 96 |
+
94,1.566666667,pose1-to-pose2-lift,-8.0694543535e-05,0.868074075136,5.77300978057e-06,0.856908002296
|
| 97 |
+
95,1.583333333,pose1-to-pose2-lift,-8.17320994448e-05,0.868533249479,4.66518321317e-06,0.857367273798
|
| 98 |
+
96,1.600000000,pose1-to-pose2-lift,-8.27476988554e-05,0.868981581564,3.61425484533e-06,0.857815701453
|
| 99 |
+
97,1.616666667,pose1-to-pose2-lift,-8.29951729736e-05,0.869442467949,3.35361619022e-06,0.858276667949
|
| 100 |
+
98,1.633333333,pose1-to-pose2-lift,-8.28951866433e-05,0.869899515257,3.39573808799e-06,0.858733733667
|
| 101 |
+
99,1.650000000,pose1-to-pose2-lift,-8.23829601466e-05,0.870347864171,3.89335598607e-06,0.859182180609
|
| 102 |
+
100,1.666666667,pose1-to-pose2-lift,-8.19973566372e-05,0.870810040451,4.22059975292e-06,0.859644458897
|
| 103 |
+
101,1.683333333,pose1-to-pose2-lift,-8.21803894167e-05,0.871272005126,3.90213044464e-06,0.860106505126
|
| 104 |
+
102,1.700000000,pose1-to-pose2-lift,-8.27285573909e-05,0.871712383977,3.34357172661e-06,0.860546905704
|
| 105 |
+
103,1.716666667,pose1-to-pose2-lift,-8.31218739641e-05,0.872137043761,2.95448249403e-06,0.860971662982
|
| 106 |
+
104,1.733333333,pose1-to-pose2-lift,-8.25904263299e-05,0.872560297749,3.4903024207e-06,0.861395033081
|
| 107 |
+
105,1.750000000,pose1-to-pose2-lift,-8.23556511538e-05,0.872989580041,3.68335975596e-06,0.861824480041
|
| 108 |
+
106,1.766666667,pose1-to-pose2-lift,-8.21856523736e-05,0.873420408897,3.95879851803e-06,0.862255308897
|
| 109 |
+
107,1.783333333,pose1-to-pose2-lift,-8.19123864507e-05,0.873831017282,4.30938876076e-06,0.862665960658
|
| 110 |
+
108,1.800000000,pose1-to-pose2-lift,-8.17698850586e-05,0.874231506048,4.4131809676e-06,0.863066606048
|
| 111 |
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109,1.816666667,pose1-to-pose2-lift,-8.16222962146e-05,0.874639185184,4.52585085545e-06,0.863474331841
|
| 112 |
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110,1.833333333,pose1-to-pose2-lift,-8.1735284318e-05,0.875040683074,4.39153300669e-06,0.863875983074
|
| 113 |
+
111,1.850000000,pose1-to-pose2-lift,-8.15309566325e-05,0.875425848872,4.49400443133e-06,0.864261204917
|
| 114 |
+
112,1.866666667,pose1-to-pose2-lift,-8.1573962331e-05,0.875815665363,4.49445440513e-06,0.86465119826
|
| 115 |
+
113,1.883333333,pose1-to-pose2-lift,-8.18804384395e-05,0.876197700098,4.24544801974e-06,0.865033300098
|
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.397877e-05,0.883587,2.456789e-06,0.8724243
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.35344502199e-05,0.883586850038,2.90570430646e-06,0.872424250038
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.29648560424e-05,0.883587,3.48328958163e-06,0.8724244
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.26189518873e-05,0.883587,3.82908402008e-06,0.8724244
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.22437972369e-05,0.883587,4.2041196759e-06,0.8724244
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.15661170471e-05,0.883586999335,4.88152605421e-06,0.872424399335
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.04632542455e-05,0.88358696629,5.98111406939e-06,0.87242436629
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.93089162301e-05,0.883586931702,7.1320244505e-06,0.872424331702
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.85850112038e-05,0.883586910012,7.85377994896e-06,0.872424310012
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.73275004801e-05,0.88358686736,9.1185696923e-06,0.87242425104
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.48381954525e-05,0.883586779367,1.16301726709e-05,0.87242411905
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.92943647071e-05,0.883586663244,1.72125963742e-05,0.872424
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.12738065528e-05,0.883586618486,2.52753169338e-05,0.872424018486
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-4.4329627377e-05,0.88358662548,4.23057727118e-05,0.87242402548
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-1.7761444244e-05,0.883586826414,6.90291464035e-05,0.872424226414
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,2.49258871444e-05,0.883587040396,0.000111988354028,0.872424526931
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,8.33244116138e-05,0.883587358756,0.000170739330551,0.872424758756
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.00016054014928,0.883587247317,0.000248403324008,0.872424747317
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000250587593209,0.883587652332,0.000338991279315,0.872425152332
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000357558352033,0.8835876,0.000446590108159,0.872425187287
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000475236979242,0.883588064612,0.000565014344424,0.872425664612
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000602487481898,0.883588152601,0.000693027978691,0.872425794702
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000735387814653,0.883588619277,0.000826719491921,0.872426319277
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000875096950788,0.883589065147,0.000967293471157,0.872426692117
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00101628246919,0.883589279772,0.00110930527493,0.872426959543
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00116447142537,0.883589470041,0.00125840640861,0.872427255062
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27,0.450000000,pose2-to-pose3-side,0.00148363095031,0.883590170767,0.00157953740193,0.872427870767
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28,0.466666667,pose2-to-pose3-side,0.00165602185549,0.883590605983,0.00175297344443,0.872428405983
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31,0.516666667,pose2-to-pose3-side,0.00220175333789,0.883589888468,0.0023019042822,0.872427614429
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33,0.550000000,pose2-to-pose3-side,0.00257539465151,0.883588509173,0.00267792632898,0.872426209173
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34,0.566666667,pose2-to-pose3-side,0.00276170818371,0.883587702548,0.0028654866043,0.872425452229
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36,0.600000000,pose2-to-pose3-side,0.00311907313852,0.883587733059,0.00322502990673,0.872425494925
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39,0.650000000,pose2-to-pose3-side,0.00360594028607,0.883588960185,0.00371508515743,0.872426504259
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40,0.666666667,pose2-to-pose3-side,0.00375712295892,0.8835891,0.00386717905932,0.872426776984
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42,0.700000000,pose2-to-pose3-side,0.00403229972032,0.8835895,0.00414376491726,0.872426557327
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43,0.716666667,pose2-to-pose3-side,0.00415110398534,0.883589157137,0.00426337085404,0.872426071421
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45,0.750000000,pose2-to-pose3-side,0.00436229112225,0.883589126042,0.00447594718275,0.872426126042
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46,0.766666667,pose2-to-pose3-side,0.00445265647815,0.883589186177,0.00456703360797,0.8724261
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47,0.783333333,pose2-to-pose3-side,0.00453544785326,0.883588761283,0.00465050195913,0.872425749027
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48,0.800000000,pose2-to-pose3-side,0.00461427198892,0.883588894456,0.00472994174356,0.872426088912
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49,0.816666667,pose2-to-pose3-side,0.00467934895059,0.883588602932,0.00479557688585,0.872425802932
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50,0.833333333,pose2-to-pose3-side,0.00473527606735,0.883588729313,0.00485194284123,0.872425948855
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51,0.850000000,pose2-to-pose3-side,0.00478211614259,0.883588982937,0.00489923730656,0.8724264
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52,0.866666667,pose2-to-pose3-side,0.00481805365621,0.88358884556,0.00493544061382,0.87242634556
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53,0.883333333,pose2-to-pose3-side,0.00484353077559,0.883588605589,0.0049610229237,0.872426116768
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56,0.933333333,pose2-to-pose3-side,0.00489160723683,0.883588634519,0.00500926528677,0.872426334519
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60,1.000000000,pose2-to-pose3-side,0.00491518102818,0.883588482295,0.00503275405333,0.872426309727
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61,1.016666667,pose2-to-pose3-side,0.004916572,0.8835886,0.005034048,0.8724263
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63,1.050000000,pose3-hold,0.004916572,0.8835886,0.00503402512121,0.872426212121
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64,1.066666667,pose3-hold,0.004916572,0.8835886,0.00503402727273,0.8724262
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65,1.083333333,pose3-hold,0.004916572,0.8835886,0.00503403245455,0.8724262
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66,1.100000000,pose3-hold,0.004916572,0.8835886,0.00503405972727,0.8724262
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67,1.116666667,pose3-hold,0.004916572,0.8835886,0.00503409166667,0.872426160606
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68,1.133333333,pose3-hold,0.004916572,0.8835886,0.00503411318182,0.8724261
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69,1.150000000,pose3-hold,0.004916572,0.8835886,0.00503414212121,0.8724261
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70,1.166666667,pose3-hold,0.004916572,0.8835886,0.00503418281818,0.87242610303
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71,1.183333333,pose3-hold,0.004916572,0.8835886,0.00503420654545,0.872426190909
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72,1.200000000,pose3-hold,0.004916572,0.8835886,0.00503423106061,0.8724262
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73,1.216666667,pose3-hold,0.004916572,0.8835886,0.00503425233333,0.8724262
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74,1.233333333,pose3-hold,0.004916572,0.8835886,0.00503427090909,0.8724262
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75,1.250000000,pose3-hold,0.004916572,0.8835886,0.00503428551515,0.8724262
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76,1.266666667,pose3-hold,0.004916572,0.8835886,0.005034293,0.8724262
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77,1.283333333,pose3-hold,0.004916572,0.8835886,0.00503429136364,0.872426218182
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78,1.300000000,pose3-hold,0.004916572,0.8835886,0.00503428430303,0.8724263
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79,1.316666667,pose3-hold,0.004916572,0.8835886,0.00503428869697,0.8724263
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80,1.333333333,pose3-hold,0.004916572,0.8835886,0.00503427263636,0.8724263
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81,1.350000000,pose3-hold,0.004916572,0.8835886,0.00503425157576,0.8724263
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82,1.366666667,pose3-hold,0.004916572,0.8835886,0.00503423248485,0.872426242424
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83,1.383333333,pose3-hold,0.004916572,0.8835886,0.00503422218182,0.872426245455
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84,1.400000000,pose3-hold,0.004916572,0.8835886,0.005034212,0.8724263
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85,1.416666667,pose3-hold,0.004916572,0.8835886,0.00503419239394,0.8724263
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86,1.433333333,pose3-hold,0.004916572,0.8835886,0.00503417754545,0.8724263
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87,1.450000000,pose3-hold,0.004916572,0.8835886,0.00503416348485,0.8724263
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88,1.466666667,pose3-hold,0.004916572,0.8835886,0.00503415706061,0.8724263
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89,1.483333333,pose3-hold,0.004916572,0.8835886,0.00503415163636,0.8724263
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90,1.500000000,pose3-hold,0.004916572,0.8835886,0.00503414878788,0.872426239394
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91,1.516666667,pose3-hold,0.004916572,0.8835886,0.0050341489697,0.8724262
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92,1.533333333,pose3-hold,0.004916572,0.8835886,0.00503415145455,0.8724262
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93,1.550000000,pose3-hold,0.004916572,0.8835886,0.00503415278788,0.8724262
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94,1.566666667,pose3-hold,0.004916572,0.8835886,0.00503415118182,0.8724262
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95,1.583333333,pose3-hold,0.004916572,0.8835886,0.005034167,0.8724262
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96,1.600000000,pose3-to-pose4-insert,0.004916572,0.8835886,0.005034177,0.8724262
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97,1.616666667,pose3-to-pose4-insert,0.00491655059464,0.883588571074,0.00503415617316,0.872426171074
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98,1.633333333,pose3-to-pose4-insert,0.00491650496049,0.883588463997,0.00503411244052,0.872426057997
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99,1.650000000,pose3-to-pose4-insert,0.00491653827901,0.88358829166,0.00503414805688,0.872425856937
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100,1.666666667,pose3-to-pose4-insert,0.00491657769509,0.883588087784,0.0050341901913,0.872425619081
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101,1.683333333,pose3-to-pose4-insert,0.00491661301668,0.883587876456,0.00503422805823,0.872425377841
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102,1.700000000,pose3-to-pose4-insert,0.00491658998697,0.88358732504,0.0050342060016,0.872424858861
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103,1.716666667,pose3-to-pose4-insert,0.00491656659224,0.883586764885,0.00503418359539,0.872424331656
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104,1.733333333,pose3-to-pose4-insert,0.00491654835756,0.88358632828,0.00503416613119,0.872423920734
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105,1.750000000,pose3-to-pose4-insert,0.00491652298298,0.883585714739,0.00503414462244,0.872423299575
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106,1.766666667,pose3-to-pose4-insert,0.00491649187617,0.883584960635,0.00503411917141,0.872422521904
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107,1.783333333,pose3-to-pose4-insert,0.00491643764526,0.883577946589,0.00503406310682,0.87241553847
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108,1.800000000,pose3-to-pose4-insert,0.0049165186821,0.883563307952,0.00503415959339,0.872400963828
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109,1.816666667,pose3-to-pose4-insert,0.00491635689381,0.883534538362,0.00503401157484,0.872372158542
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110,1.833333333,pose3-to-pose4-insert,0.00491640188938,0.883489760504,0.00503396536563,0.872327460504
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111,1.850000000,pose3-to-pose4-insert,0.00491641318605,0.883422561422,0.00503402315632,0.872260197616
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112,1.866666667,pose3-to-pose4-insert,0.00491653444327,0.883339049631,0.00503416802652,0.872176675082
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113,1.883333333,pose3-to-pose4-insert,0.00491649384684,0.883243046019,0.0050341092035,0.872080674045
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114,1.900000000,pose3-to-pose4-insert,0.00491655138,0.883140717861,0.00503415626561,0.871978317861
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115,1.916666667,pose3-to-pose4-insert,0.00491675538437,0.883017270772,0.0050343713625,0.871854870772
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116,1.933333333,pose3-to-pose4-insert,0.00491674401633,0.882891961249,0.00503437049648,0.871729561249
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117,1.950000000,pose3-to-pose4-insert,0.00491651483944,0.882759365946,0.00503415548942,0.871596888625
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118,1.966666667,pose3-to-pose4-insert,0.00491663711414,0.882614162196,0.0050342831755,0.871451662196
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119,1.983333333,pose3-to-pose4-insert,0.00491626358199,0.882463827557,0.00503390789742,0.871301327557
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120,2.000000000,pose3-to-pose4-insert,0.00491619648422,0.882322767003,0.00503388011575,0.871160271097
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121,2.016666667,pose3-to-pose4-insert,0.00491600051946,0.882171535564,0.00503367547125,0.871009130742
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122,2.033333333,pose3-to-pose4-insert,0.0049160531681,0.882015108743,0.00503372751785,0.870852613114
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123,2.050000000,pose3-to-pose4-insert,0.0049157125787,0.881844671376,0.00503339567818,0.870682262214
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124,2.066666667,pose3-to-pose4-insert,0.00491602689244,0.88165467448,0.0050337244483,0.87049217448
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125,2.083333333,pose3-to-pose4-insert,0.00491626813069,0.881454409342,0.00503398236377,0.87029187086
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126,2.100000000,pose3-to-pose4-insert,0.00491658019298,0.881251559023,0.0050343028152,0.870088959023
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127,2.116666667,pose3-to-pose4-insert,0.00491699962213,0.881049943489,0.0050347467407,0.869887343489
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128,2.133333333,pose3-to-pose4-insert,0.00491691314988,0.880859713912,0.00503467415802,0.869697038708
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129,2.150000000,pose3-to-pose4-insert,0.00491676620208,0.880676504557,0.0050345470441,0.869513804557
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130,2.166666667,pose3-to-pose4-insert,0.00491671927664,0.880492674183,0.00503448272881,0.869329974183
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131,2.183333333,pose3-to-pose4-insert,0.00491675611632,0.880319441022,0.0050345302782,0.86915665679
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132,2.200000000,pose3-to-pose4-insert,0.0049168652686,0.880153114176,0.00503462566719,0.868990314176
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133,2.216666667,pose3-to-pose4-insert,0.0049168268063,0.879987608868,0.00503459649066,0.868824724305
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134,2.233333333,pose3-to-pose4-insert,0.00491677050935,0.87982577811,0.00503457750216,0.868662790628
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135,2.250000000,pose3-to-pose4-insert,0.00491710931817,0.879667239524,0.00503494168546,0.868504146946
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136,2.266666667,pose3-to-pose4-insert,0.00491671877771,0.87950100821,0.00503450704365,0.868337898936
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137,2.283333333,pose3-to-pose4-insert,0.00491684389335,0.879341025394,0.00503466789738,0.868177795414
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138,2.300000000,pose3-to-pose4-insert,0.00491700732521,0.879194579966,0.00503484618642,0.868031279966
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139,2.316666667,pose3-to-pose4-insert,0.00491720304141,0.879066446859,0.00503505881776,0.867903146859
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140,2.333333333,pose3-to-pose4-insert,0.00491733957497,0.878956854004,0.00503519649609,0.867793554004
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141,2.350000000,pose3-to-pose4-insert,0.00491731215907,0.878867660383,0.00503517146371,0.867704290846
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142,2.366666667,pose3-to-pose4-insert,0.00491746406419,0.878784680249,0.0050352978553,0.867621280249
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143,2.383333333,pose3-to-pose4-insert,0.00491754265848,0.878714737956,0.0050353834375,0.867551337956
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144,2.400000000,pose3-to-pose4-insert,0.00491748138184,0.878652808776,0.0050353158217,0.867489346536
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145,2.416666667,pose3-to-pose4-insert,0.00491750987114,0.878600142435,0.00503535063518,0.867436642435
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146,2.433333333,pose3-to-pose4-insert,0.00491758478833,0.878555839048,0.00503543584643,0.8673922905
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147,2.450000000,pose3-to-pose4-insert,0.00491765275163,0.878521169891,0.00503548518123,0.867357603031
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148,2.466666667,pose3-to-pose4-insert,0.00491777952018,0.878489766508,0.00503556517521,0.867326266508
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149,2.483333333,pose3-to-pose4-insert,0.00491788175902,0.878464277375,0.00503561563484,0.867300777375
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150,2.500000000,pose3-to-pose4-insert,0.00491773580564,0.878443766231,0.00503540582545,0.86728027271
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151,2.516666667,pose3-to-pose4-insert,0.00491773311138,0.878428049735,0.00503536181926,0.867264646022
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152,2.533333333,pose3-to-pose4-insert,0.00491788791715,0.878416092828,0.005035481975,0.867252692828
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153,2.550000000,pose3-to-pose4-insert,0.0049179118592,0.878408730128,0.00503549491749,0.867245330128
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154,2.566666667,pose3-to-pose4-insert,0.00491796428541,0.878402546498,0.00503548863622,0.867239213545
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155,2.583333333,pose3-to-pose4-insert,0.00491784273996,0.878398223037,0.00503533973996,0.86723485339
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156,2.600000000,pose3-to-pose4-insert,0.0049178996049,0.878395686661,0.00503537587593,0.867232380884
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157,2.616666667,pose3-to-pose4-insert,0.004918038,0.8783947,0.005035485,0.8672313
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158,2.633333333,pose4-hold,0.004918038,0.8783947,0.005035498,0.8672313
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159,2.650000000,pose4-hold,0.004918038,0.8783947,0.00503552188235,0.867231214706
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| 207 |
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|
Part2/Free/s2/cylinder_15A_15/width_06/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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167,2.783333333,pose1-to-pose2-lift,-8.3904242992e-05,0.883579330054,2.52142756793e-06,0.872416730054
|
| 170 |
+
168,2.800000000,pose1-to-pose2-lift,-8.39599576775e-05,0.883582129528,2.46392754981e-06,0.872419529528
|
| 171 |
+
169,2.816666667,pose1-to-pose2-lift,-8.39605903719e-05,0.883584561557,2.45419668815e-06,0.872421902582
|
| 172 |
+
170,2.833333333,pose1-to-pose2-lift,-8.38027627526e-05,0.883585897314,2.6390760577e-06,0.872423197314
|
| 173 |
+
171,2.850000000,pose1-to-pose2-lift,-8.397877e-05,0.883587,2.472519e-06,0.8724243
|
| 174 |
+
172,2.866666667,pose2-hold,-8.397877e-05,0.883587,2.472416e-06,0.8724243
|
| 175 |
+
173,2.883333333,pose2-hold,-8.397877e-05,0.883587,2.47335630303e-06,0.8724243
|
| 176 |
+
174,2.900000000,pose2-hold,-8.397877e-05,0.883587,2.46965493939e-06,0.8724243
|
| 177 |
+
175,2.916666667,pose2-hold,-8.397877e-05,0.883587,2.46530445455e-06,0.8724243
|
| 178 |
+
176,2.933333333,pose2-hold,-8.397877e-05,0.883587,2.46127860606e-06,0.8724243
|
| 179 |
+
177,2.950000000,pose2-hold,-8.397877e-05,0.883587,2.457662e-06,0.8724243
|
| 180 |
+
178,2.966666667,pose2-hold,-8.397877e-05,0.883587,2.45411963636e-06,0.8724243
|
| 181 |
+
179,2.983333333,pose2-hold,-8.397877e-05,0.883587,2.45032424242e-06,0.8724243
|
| 182 |
+
180,3.000000000,pose2-hold,-8.397877e-05,0.883587,2.44723290909e-06,0.8724243
|
| 183 |
+
181,3.016666667,pose2-hold,-8.397877e-05,0.883587,2.44459127273e-06,0.8724243
|
| 184 |
+
182,3.033333333,pose2-hold,-8.397877e-05,0.883587,2.44269575758e-06,0.8724243
|
| 185 |
+
183,3.050000000,pose2-hold,-8.397877e-05,0.883587,2.44144833333e-06,0.8724243
|
| 186 |
+
184,3.066666667,pose2-hold,-8.397877e-05,0.883587,2.44120281818e-06,0.8724243
|
| 187 |
+
185,3.083333333,pose2-hold,-8.397877e-05,0.883587,2.44133006061e-06,0.8724243
|
| 188 |
+
186,3.100000000,pose2-hold,-8.397877e-05,0.883587,2.44226321212e-06,0.8724243
|
| 189 |
+
187,3.116666667,pose2-hold,-8.397877e-05,0.883587,2.44498781818e-06,0.8724243
|
| 190 |
+
188,3.133333333,pose2-hold,-8.397877e-05,0.883587,2.44769354545e-06,0.8724243
|
| 191 |
+
189,3.150000000,pose2-hold,-8.397877e-05,0.883587,2.45039845455e-06,0.8724243
|
| 192 |
+
190,3.166666667,pose2-hold,-8.397877e-05,0.883587,2.45298390909e-06,0.8724243
|
| 193 |
+
191,3.183333333,pose2-hold,-8.397877e-05,0.883587,2.45525942424e-06,0.8724243
|
| 194 |
+
192,3.200000000,pose2-hold,-8.397877e-05,0.883587,2.45742760606e-06,0.8724243
|
| 195 |
+
193,3.216666667,pose2-hold,-8.397877e-05,0.883587,2.45944518182e-06,0.8724243
|
| 196 |
+
194,3.233333333,pose2-hold,-8.397877e-05,0.883587,2.46111333333e-06,0.8724243
|
| 197 |
+
195,3.250000000,pose2-hold,-8.397877e-05,0.883587,2.46227318182e-06,0.8724243
|
| 198 |
+
196,3.266666667,pose2-hold,-8.397877e-05,0.883587,2.46293818182e-06,0.8724243
|
| 199 |
+
197,3.283333333,pose2-hold,-8.397877e-05,0.883587,2.46322027273e-06,0.8724243
|
| 200 |
+
198,3.300000000,pose2-hold,-8.397877e-05,0.883587,2.46292030303e-06,0.8724243
|
| 201 |
+
199,3.316666667,pose2-hold,-8.397877e-05,0.883587,2.46398209091e-06,0.8724243
|
| 202 |
+
200,3.333333333,pose2-hold,-8.397877e-05,0.883587,2.46343009091e-06,0.8724243
|
| 203 |
+
201,3.350000000,pose2-hold,-8.397877e-05,0.883587,2.46161645455e-06,0.8724243
|
| 204 |
+
202,3.366666667,pose2-hold,-8.397877e-05,0.883587,2.45958218182e-06,0.8724243
|
| 205 |
+
203,3.383333333,pose2-hold,-8.397877e-05,0.883587,2.45777275758e-06,0.8724243
|
| 206 |
+
204,3.400000000,pose2-hold,-8.397877e-05,0.883587,2.45615224242e-06,0.8724243
|
| 207 |
+
205,3.416666667,pose2-hold,-8.397877e-05,0.883587,2.454559e-06,0.8724243
|
Part2/Free/s2/cylinder_15A_15/width_07/insert/camera_frames_60hz.tar
ADDED
|
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+
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oid sha256:1cdd229756644cd41541a1bc24e695506910b31e89ff4274723faf5c0cc27738
|
| 3 |
+
size 22128640
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Part2/Free/s2/cylinder_15A_15/width_07/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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oid sha256:ef2fefb23bb028e1fec01547e89788ab2c806254721807ef6ac9c725e4f874c4
|
| 3 |
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size 55802966
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Part2/Free/s2/cylinder_15A_15/width_07/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Part2/Free/s2/cylinder_15A_15/width_07/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,918 @@
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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,-7.93436e-05,0.8835837,9.873507e-06,0.8724211
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-7.91430939893e-05,0.8835837,1.00705078744e-05,0.8724211
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-7.87276910329e-05,0.883583412406,1.04659721368e-05,0.872420812406
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-7.82756182263e-05,0.883583400031,1.09157713872e-05,0.872420780025
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-7.77016571574e-05,0.883583584381,1.14992043328e-05,0.872420927505
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.6623785706e-05,0.883583763172,1.25899932396e-05,0.872421075448
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.53102897789e-05,0.883583644188,1.39094304337e-05,0.872420996125
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.39115875018e-05,0.883583517486,1.53144593871e-05,0.872420911657
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.17588530423e-05,0.8835835,1.74746354928e-05,0.8724209
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-6.77678045943e-05,0.883583505842,2.14803087314e-05,0.872420905842
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-6.25485089441e-05,0.883583626678,2.67429060801e-05,0.872421026678
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-5.43836704044e-05,0.883583738216,3.49648945048e-05,0.872421138216
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-4.29988407961e-05,0.883583781034,4.64168810051e-05,0.8724212
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-2.22634491761e-05,0.883583728261,6.72650016602e-05,0.8724212
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,7.64123666224e-06,0.88358393319,9.73454951912e-05,0.87242133319
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,5.35519043839e-05,0.883584180281,0.000143528340518,0.872421660562
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000114599424058,0.8835846,0.000204941264416,0.8724221
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000193518950445,0.883584830226,0.000284309202875,0.872422330226
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000283696628895,0.883585454963,0.000375050024683,0.872423045956
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000388216274113,0.883585801256,0.000480192568527,0.872423421507
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000499453568528,0.883586281094,0.000592095999182,0.872423940547
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000620589596876,0.883586921436,0.00071397086799,0.872424521436
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.00074900641562,0.883587584099,0.000843148842286,0.872425255124
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000885721654512,0.883588273176,0.000980700063996,0.872425973176
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.0010290780211,0.883588489595,0.0011249084921,0.872426189595
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00118129933342,0.883588694311,0.00127810907853,0.872426491466
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00133923125164,0.88358880588,0.00143696124129,0.87242660294
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00150541742557,0.883589028591,0.00160416768235,0.872426738121
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00167857287112,0.8835893,0.00177840123424,0.8724271
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00185676462082,0.883589371652,0.00195763205365,0.872427171652
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.0020373051547,0.883589569744,0.00213924249664,0.872427369744
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00222010590403,0.883589317515,0.00232324588843,0.872427081018
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00240252223621,0.883589041749,0.0025067390978,0.872426783498
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00258464512126,0.8835891,0.00269000489186,0.87242685308
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00276728131689,0.883588781879,0.00287377359888,0.872426534899
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00294791856061,0.883588795694,0.00305557220746,0.872426595694
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.0031248780497,0.883588934739,0.00323362699819,0.872426734739
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00329595429344,0.883589111949,0.00340579238791,0.872426841299
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00346040768794,0.883589275395,0.00357129537433,0.872426975395
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00361568493106,0.883589378553,0.00372741650725,0.872427
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00376423982505,0.883589154167,0.00387685265765,0.872426262501
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00390129160835,0.883589431526,0.00401473228999,0.872426348644
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00402920838221,0.883589333785,0.00414342315345,0.872426316893
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00414640797386,0.883589218572,0.00426138466831,0.872426137144
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.004255082243,0.883589280057,0.00437086050973,0.872426180057
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.0043542191242,0.8835893,0.00447081575841,0.872426278026
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00444798349948,0.883589620814,0.00456530827906,0.872426701017
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00453273997136,0.883589281422,0.00465070796243,0.872426381422
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00461042905895,0.8835892,0.00472902766533,0.872426481746
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00467737611534,0.883589298059,0.00479655272875,0.872426696117
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00473640576795,0.883589390229,0.00485600936699,0.8724268
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00478231471733,0.8835893,0.00490218320671,0.872426830799
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00481856474321,0.883589266348,0.00493861481398,0.872426966348
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00484561280249,0.883589110393,0.00496579480491,0.872426810393
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.0048668636341,0.883589199562,0.0049871142969,0.872426899562
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488054286039,0.8835892,0.00500080944845,0.8724269
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489198796788,0.8835892,0.00501229253377,0.872426841112
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490115811332,0.883589113483,0.00502151769198,0.8724268
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00490819333506,0.883589,0.00502856478062,0.872426836042
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491312234799,0.883589041134,0.00503344093665,0.872426941134
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491620582505,0.88358902954,0.00503648929981,0.872426788621
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.004917463,0.8835892,0.005037665,0.8724268
|
| 64 |
+
62,1.033333333,pose3-hold,0.004917463,0.8835892,0.005037675,0.8724268
|
| 65 |
+
63,1.050000000,pose3-hold,0.004917463,0.8835892,0.00503766884848,0.8724268
|
| 66 |
+
64,1.066666667,pose3-hold,0.004917463,0.8835892,0.00503768087879,0.872426724242
|
| 67 |
+
65,1.083333333,pose3-hold,0.004917463,0.8835892,0.00503771109091,0.8724267
|
| 68 |
+
66,1.100000000,pose3-hold,0.004917463,0.8835892,0.00503774093939,0.8724267
|
| 69 |
+
67,1.116666667,pose3-hold,0.004917463,0.8835892,0.00503776681818,0.8724267
|
| 70 |
+
68,1.133333333,pose3-hold,0.004917463,0.8835892,0.00503779372727,0.8724267
|
| 71 |
+
69,1.150000000,pose3-hold,0.004917463,0.8835892,0.00503782124242,0.8724267
|
| 72 |
+
70,1.166666667,pose3-hold,0.004917463,0.8835892,0.00503784572727,0.8724267
|
| 73 |
+
71,1.183333333,pose3-hold,0.004917463,0.8835892,0.00503786681818,0.8724267
|
| 74 |
+
72,1.200000000,pose3-hold,0.004917463,0.8835892,0.00503789027273,0.8724267
|
| 75 |
+
73,1.216666667,pose3-hold,0.004917463,0.8835892,0.00503790533333,0.872426766667
|
| 76 |
+
74,1.233333333,pose3-hold,0.004917463,0.8835892,0.00503791218182,0.8724268
|
| 77 |
+
75,1.250000000,pose3-hold,0.004917463,0.8835892,0.00503791315152,0.8724268
|
| 78 |
+
76,1.266666667,pose3-hold,0.004917463,0.8835892,0.00503790987879,0.8724268
|
| 79 |
+
77,1.283333333,pose3-hold,0.004917463,0.8835892,0.00503790627273,0.8724268
|
| 80 |
+
78,1.300000000,pose3-hold,0.004917463,0.8835892,0.00503791066667,0.8724268
|
| 81 |
+
79,1.316666667,pose3-hold,0.004917463,0.8835892,0.00503789133333,0.8724268
|
| 82 |
+
80,1.333333333,pose3-hold,0.004917463,0.8835892,0.00503786954545,0.8724268
|
| 83 |
+
81,1.350000000,pose3-hold,0.004917463,0.8835892,0.00503785036364,0.8724268
|
| 84 |
+
82,1.366666667,pose3-hold,0.004917463,0.8835892,0.00503783306061,0.8724268
|
| 85 |
+
83,1.383333333,pose3-hold,0.004917463,0.8835892,0.00503781909091,0.8724268
|
| 86 |
+
84,1.400000000,pose3-hold,0.004917463,0.8835892,0.00503780833333,0.8724268
|
| 87 |
+
85,1.416666667,pose3-hold,0.004917463,0.8835892,0.00503779930303,0.8724268
|
| 88 |
+
86,1.433333333,pose3-hold,0.004917463,0.8835892,0.00503779190909,0.8724268
|
| 89 |
+
87,1.450000000,pose3-hold,0.004917463,0.8835892,0.00503778136364,0.8724268
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| 90 |
+
88,1.466666667,pose3-hold,0.004917463,0.8835892,0.005037781,0.8724268
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| 91 |
+
89,1.483333333,pose3-hold,0.004917463,0.8835892,0.00503778172727,0.8724268
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+
90,1.500000000,pose3-hold,0.004917463,0.8835892,0.00503778442424,0.8724268
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| 93 |
+
91,1.516666667,pose3-hold,0.004917463,0.8835892,0.0050377850303,0.8724268
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| 94 |
+
92,1.533333333,pose3-hold,0.004917463,0.8835892,0.00503778545455,0.8724268
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+
93,1.550000000,pose3-hold,0.004917463,0.8835892,0.00503779066667,0.872426775758
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+
94,1.566666667,pose3-hold,0.004917463,0.8835892,0.00503780069697,0.8724267
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+
95,1.583333333,pose3-hold,0.004917463,0.8835892,0.005037813,0.8724267
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.004917463,0.8835892,0.005037821,0.8724268
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| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491775656575,0.88358900494,0.00503811163985,0.87242660494
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+
98,1.633333333,pose3-to-pose4-insert,0.00491753522574,0.883588294586,0.0050378783999,0.872425987998
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+
99,1.650000000,pose3-to-pose4-insert,0.00491747137352,0.883587428793,0.00503783240465,0.872425068093
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+
100,1.666666667,pose3-to-pose4-insert,0.00491743862846,0.883586984793,0.00503780881711,0.872424596342
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+
101,1.683333333,pose3-to-pose4-insert,0.00491746061743,0.883586232186,0.00503783547776,0.872423832186
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102,1.700000000,pose3-to-pose4-insert,0.00491756930447,0.883584499494,0.00503794679008,0.872422099494
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+
103,1.716666667,pose3-to-pose4-insert,0.00491758218694,0.883584294121,0.00503795998373,0.872421894121
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+
104,1.733333333,pose3-to-pose4-insert,0.00491761632803,0.883583749843,0.00503799494948,0.872421349843
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+
105,1.750000000,pose3-to-pose4-insert,0.00491763203786,0.883583299361,0.00503801111357,0.872420899361
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+
106,1.766666667,pose3-to-pose4-insert,0.00491763214541,0.883582729331,0.00503801143623,0.872420329331
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+
107,1.783333333,pose3-to-pose4-insert,0.00491758479046,0.883576327576,0.00503796622091,0.872413927576
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+
108,1.800000000,pose3-to-pose4-insert,0.00491746412589,0.883563563366,0.00503784995286,0.872401163366
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109,1.816666667,pose3-to-pose4-insert,0.00491746514444,0.883536568607,0.00503782528814,0.872374268607
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110,1.833333333,pose3-to-pose4-insert,0.00491738271213,0.883495804204,0.00503776316336,0.872333504204
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111,1.850000000,pose3-to-pose4-insert,0.00491731581695,0.883433033562,0.00503764772185,0.872270633562
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112,1.866666667,pose3-to-pose4-insert,0.00491685158702,0.883353980188,0.00503709354448,0.872191680188
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+
113,1.883333333,pose3-to-pose4-insert,0.00491683060218,0.883254826494,0.00503705546173,0.872092526494
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114,1.900000000,pose3-to-pose4-insert,0.00491679560766,0.883143216254,0.00503701245332,0.871980915482
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+
115,1.916666667,pose3-to-pose4-insert,0.00491647040414,0.883019892813,0.00503672162812,0.871857528723
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+
116,1.933333333,pose3-to-pose4-insert,0.00491631123893,0.882891366257,0.00503669133057,0.871729005707
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+
117,1.950000000,pose3-to-pose4-insert,0.00491592599656,0.882756543075,0.00503633093916,0.871594143075
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118,1.966666667,pose3-to-pose4-insert,0.00491596683329,0.88261892504,0.00503635222913,0.871456435456
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119,1.983333333,pose3-to-pose4-insert,0.00491646245163,0.882473890082,0.00503686795851,0.871311390082
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120,2.000000000,pose3-to-pose4-insert,0.00491665947252,0.882322322126,0.00503702457436,0.871159830624
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121,2.016666667,pose3-to-pose4-insert,0.00491698194211,0.882162558024,0.00503741920009,0.87100024776
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122,2.033333333,pose3-to-pose4-insert,0.00491760301397,0.881997751544,0.00503806364405,0.870835336419
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123,2.050000000,pose3-to-pose4-insert,0.00491798231713,0.881822261728,0.00503846534486,0.870659784258
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124,2.066666667,pose3-to-pose4-insert,0.00491806767326,0.88163995571,0.00503856837786,0.870477525126
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125,2.083333333,pose3-to-pose4-insert,0.00491819523076,0.881451427644,0.00503872379538,0.870288927644
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+
126,2.100000000,pose3-to-pose4-insert,0.00491842138212,0.881258233509,0.00503897075336,0.870095683924
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+
127,2.116666667,pose3-to-pose4-insert,0.0049184298726,0.881064293038,0.00503900195293,0.869901693038
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+
128,2.133333333,pose3-to-pose4-insert,0.00491837071937,0.880874728977,0.00503897006762,0.869712128977
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129,2.150000000,pose3-to-pose4-insert,0.00491809526265,0.880689517065,0.00503869142151,0.869526846393
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130,2.166666667,pose3-to-pose4-insert,0.00491773577275,0.880507553344,0.00503834072934,0.869344928126
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131,2.183333333,pose3-to-pose4-insert,0.00491743838491,0.88032665389,0.00503806994493,0.869163894186
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132,2.200000000,pose3-to-pose4-insert,0.00491716654044,0.880144230272,0.00503782035387,0.86898134178
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133,2.216666667,pose3-to-pose4-insert,0.00491690547146,0.879969693904,0.00503754329022,0.868806793904
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134,2.233333333,pose3-to-pose4-insert,0.00491661052524,0.879801694816,0.00503726205534,0.868638691683
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135,2.250000000,pose3-to-pose4-insert,0.00491654677974,0.879628568648,0.0050371781644,0.868465468648
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136,2.266666667,pose3-to-pose4-insert,0.00491657752732,0.87947080191,0.00503718995855,0.868307670259
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137,2.283333333,pose3-to-pose4-insert,0.00491643023089,0.879327427032,0.00503705792129,0.868164186386
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138,2.300000000,pose3-to-pose4-insert,0.00491644301669,0.87918869804,0.00503708662304,0.86802539804
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139,2.316666667,pose3-to-pose4-insert,0.0049166412203,0.879062525896,0.00503728051803,0.867899159007
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140,2.333333333,pose3-to-pose4-insert,0.00491683036718,0.878960945598,0.00503749310132,0.867797612421
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141,2.350000000,pose3-to-pose4-insert,0.00491688709919,0.878868092172,0.00503757016716,0.86770472475
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142,2.366666667,pose3-to-pose4-insert,0.00491705321669,0.878784427467,0.00503774263174,0.867621027467
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143,2.383333333,pose3-to-pose4-insert,0.0049173185167,0.878712893116,0.0050380016517,0.867549493116
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144,2.400000000,pose3-to-pose4-insert,0.00491737201584,0.878648062628,0.00503805366102,0.867484596499
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145,2.416666667,pose3-to-pose4-insert,0.00491755907855,0.878593732342,0.00503826126007,0.867430232342
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146,2.433333333,pose3-to-pose4-insert,0.004917446153,0.878546845377,0.00503816231528,0.867383345377
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147,2.450000000,pose3-to-pose4-insert,0.00491749884324,0.878509018424,0.00503819200964,0.867345518424
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148,2.466666667,pose3-to-pose4-insert,0.0049177236407,0.878477292138,0.00503835946029,0.867313792138
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149,2.483333333,pose3-to-pose4-insert,0.00491784678227,0.878453162022,0.00503842171575,0.867289711311
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150,2.500000000,pose3-to-pose4-insert,0.00491782204266,0.878432975166,0.00503832585878,0.867269575166
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151,2.516666667,pose3-to-pose4-insert,0.00491768403699,0.878418332238,0.00503814877945,0.867254932238
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152,2.533333333,pose3-to-pose4-insert,0.00491767513559,0.878407305351,0.00503811686245,0.867243905351
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153,2.550000000,pose3-to-pose4-insert,0.00491775603953,0.878399242754,0.00503814609078,0.867235912885
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154,2.566666667,pose3-to-pose4-insert,0.00491767964361,0.878393921762,0.00503802148197,0.867230621762
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155,2.583333333,pose3-to-pose4-insert,0.004917716,0.8783919,0.005038027,0.8672285
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156,2.600000000,pose4-hold,0.004917716,0.8783919,0.005038036,0.8672285
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157,2.616666667,pose4-hold,0.004917716,0.8783919,0.00503805671429,0.867228417143
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158,2.633333333,pose4-hold,0.004917716,0.8783919,0.00503807151429,0.8672284
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159,2.650000000,pose4-hold,0.004917716,0.8783919,0.00503809205714,0.8672284
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160,2.666666667,pose4-hold,0.004917716,0.8783919,0.00503811491429,0.8672284
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161,2.683333333,pose4-hold,0.004917716,0.8783919,0.005038133,0.8672284
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162,2.700000000,pose4-hold,0.004917716,0.8783919,0.0050381504,0.8672284
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163,2.716666667,pose4-hold,0.004917716,0.8783919,0.0050381654,0.86722848
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164,2.733333333,pose4-hold,0.004917716,0.8783919,0.00503818157143,0.8672285
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165,2.750000000,pose4-hold,0.004917716,0.8783919,0.0050381922,0.8672285
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166,2.766666667,pose4-hold,0.004917716,0.8783919,0.00503819714286,0.8672285
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167,2.783333333,pose4-hold,0.004917716,0.8783919,0.0050382,0.8672285
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168,2.800000000,pose4-hold,0.004917716,0.8783919,0.0050382,0.8672285
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169,2.816666667,pose4-hold,0.004917716,0.8783919,0.00503819691429,0.8672285
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170,2.833333333,pose4-hold,0.004917716,0.8783919,0.0050381954,0.8672285
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171,2.850000000,pose4-hold,0.004917716,0.8783919,0.00503818942857,0.8672285
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172,2.866666667,pose4-hold,0.004917716,0.8783919,0.00503817865714,0.8672285
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173,2.883333333,pose4-hold,0.004917716,0.8783919,0.00503816822857,0.8672285
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174,2.900000000,pose4-hold,0.004917716,0.8783919,0.00503816077143,0.8672285
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175,2.916666667,pose4-hold,0.004917716,0.8783919,0.00503814588571,0.8672285
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176,2.933333333,pose4-hold,0.004917716,0.8783919,0.00503813585714,0.8672285
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177,2.950000000,pose4-hold,0.004917716,0.8783919,0.005038128,0.8672285
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178,2.966666667,pose4-hold,0.004917716,0.8783919,0.00503812017143,0.8672285
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179,2.983333333,pose4-hold,0.004917716,0.8783919,0.00503811365714,0.8672285
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180,3.000000000,pose4-hold,0.004917716,0.8783919,0.00503810868571,0.8672285
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181,3.016666667,pose4-hold,0.004917716,0.8783919,0.00503810514286,0.8672285
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182,3.033333333,pose4-hold,0.004917716,0.8783919,0.005038104,0.8672285
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183,3.050000000,pose4-hold,0.004917716,0.8783919,0.00503810474286,0.8672285
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184,3.066666667,pose4-hold,0.004917716,0.8783919,0.005038106,0.8672285
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185,3.083333333,pose4-hold,0.004917716,0.8783919,0.00503810605714,0.8672285
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186,3.100000000,pose4-hold,0.004917716,0.8783919,0.00503810771429,0.8672285
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187,3.116666667,pose4-hold,0.004917716,0.8783919,0.0050381128,0.8672285
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188,3.133333333,pose4-hold,0.004917716,0.8783919,0.00503812065714,0.8672285
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189,3.150000000,pose4-hold,0.004917716,0.8783919,0.00503812908571,0.8672285
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190,3.166666667,pose4-hold,0.004917716,0.8783919,0.00503813585714,0.8672285
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191,3.183333333,pose4-hold,0.004917716,0.8783919,0.00503814,0.8672285
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192,3.200000000,pose4-to-pose5-return,0.004917716,0.8783919,0.005038148,0.8672285
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193,3.216666667,pose4-to-pose5-return,0.00491754965462,0.878392012543,0.00503798870616,0.867228612543
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194,3.233333333,pose4-to-pose5-return,0.00491751038657,0.878392095387,0.00503795242051,0.867228695387
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195,3.250000000,pose4-to-pose5-return,0.00491739691608,0.878392334776,0.00503784756803,0.867228934776
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196,3.266666667,pose4-to-pose5-return,0.00491702843914,0.878392642153,0.00503747708039,0.867229242153
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197,3.283333333,pose4-to-pose5-return,0.00491681177608,0.878392797578,0.00503725761968,0.867229397578
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198,3.300000000,pose4-to-pose5-return,0.00491661307493,0.878392959813,0.00503705641034,0.867229559813
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199,3.316666667,pose4-to-pose5-return,0.00491607927957,0.878393530717,0.0050365162716,0.867230130717
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200,3.333333333,pose4-to-pose5-return,0.0049154087882,0.87839424782,0.00503583781242,0.86723084782
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201,3.350000000,pose4-to-pose5-return,0.00491430604831,0.878395363054,0.00503472726776,0.867231963054
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202,3.366666667,pose4-to-pose5-return,0.00491334772633,0.878396297562,0.00503376502688,0.867232897562
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203,3.383333333,pose4-to-pose5-return,0.00491115072464,0.878398446023,0.0050315580732,0.867235060067
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204,3.400000000,pose4-to-pose5-return,0.00490685361471,0.878402694836,0.00502723649687,0.867239390684
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205,3.416666667,pose4-to-pose5-return,0.0048969780728,0.878413090262,0.00501729519857,0.867249690262
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206,3.433333333,pose4-to-pose5-return,0.00488113031007,0.878429703569,0.00500136088124,0.867266303569
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207,3.450000000,pose4-to-pose5-return,0.00485646818125,0.878455044311,0.00497653186403,0.867291644311
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208,3.466666667,pose4-to-pose5-return,0.0048223091508,0.878490342271,0.00494218735937,0.867326942271
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Part2/Free/s2/cylinder_15A_15/width_07/pick/franka_data.csv
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.7929965977e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000932_1792996597704074659_interpolated.jpg,0.675987738349,-0.00546349417586,0.0959453710649,0.999999977585,9.23774122203e-05,-0.000159819857886,0.000103697088657,0.0425401814282
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79299659772e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000933_1792996597735234215_real.jpg,0.675986560559,-0.00546526958459,0.0959445717944,0.999999977501,9.039642986e-05,-0.000161312694401,0.000103948109411,0.0425401814282
|
| 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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|
| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,1.79299659799e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000942_1792996598003216669_interpolated.jpg,0.67597899558,-0.00546905169024,0.0959447091669,0.99999997516,8.67039733519e-05,-0.000178154573892,0.000102094149032,0.0425066910684
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,1.792996598e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000942_1792996598003216669_interpolated.jpg,0.675977401879,-0.00546719100027,0.0959473534133,0.999999974521,8.80595362859e-05,-0.000182098663599,0.000100219949055,0.0425066910684
|
| 21 |
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| 22 |
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| 23 |
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| 24 |
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22,0.366666667,pose1-to-pose2-lift,1.79299659807e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000944_1792996598069221878_interpolated.jpg,0.67593679875,-0.0054648370663,0.0959890672399,0.999999957559,7.91131172703e-05,-0.000269659645513,7.68583608321e-05,0.0425027497113
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 42 |
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Part2/Free/s2/cylinder_15A_15/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,-8.250443e-05,0.8455893,6.666018e-06,0.8344216
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,-8.26883701089e-05,0.845589692454,6.48437025556e-06,0.834421928302
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.27325442931e-05,0.845589988324,6.43801710195e-06,0.834422188324
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26936047751e-05,0.845590370089,6.47345219621e-06,0.834422570089
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,-8.26833101689e-05,0.845591286564,6.47631034665e-06,0.834423505669
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,-8.26868984675e-05,0.845592294513,6.48987801243e-06,0.834424580814
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.26920048243e-05,0.845593043738,6.48443151914e-06,0.834425321082
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.26970735336e-05,0.845593673717,6.4749164676e-06,0.834425924812
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.27026024117e-05,0.84559436089,6.46453758091e-06,0.834426583353
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.27019963757e-05,0.845595022614,6.46170159863e-06,0.834427226445
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.26917674138e-05,0.845595276316,6.47268159878e-06,0.834427488076
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.26843115573e-05,0.845595461239,6.48068488467e-06,0.834427678777
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.267245777e-05,0.845595755241,6.49340900932e-06,0.834427981967
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.26674841298e-05,0.845595878599,6.49874782767e-06,0.83442810918
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.2652268207e-05,0.845596255989,6.51508094505e-06,0.834428498364
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.26295689203e-05,0.845596818985,6.53944687519e-06,0.834429078953
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.25971419986e-05,0.845597623249,6.57425466992e-06,0.834429908351
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.26040936473e-05,0.845598622915,6.56994006585e-06,0.834430911295
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.2694459889e-05,0.845600428314,6.48380567957e-06,0.834432676574
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.26923047989e-05,0.845605698523,6.49116296922e-06,0.834437898523
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.26163343165e-05,0.84561455025,6.55177884549e-06,0.83444675025
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.26916620732e-05,0.845631940413,6.48311538292e-06,0.834464140413
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.26739209778e-05,0.845657777622,6.48932081131e-06,0.834489977622
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.27788275341e-05,0.845692086599,6.38304174325e-06,0.834524286599
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.28177447587e-05,0.845731645952,6.34192925588e-06,0.834563845952
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.3053958191e-05,0.845778976717,6.13962525446e-06,0.834611176717
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.30860411448e-05,0.845828727873,6.09817153393e-06,0.834660927873
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.30863325268e-05,0.845886632646,6.08553098459e-06,0.834718832646
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.3448350803e-05,0.84595268694,5.72941869299e-06,0.83478488694
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.33533098858e-05,0.846031612761,5.81223325812e-06,0.834863812761
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.35757216529e-05,0.846120537137,5.5756456483e-06,0.834952737137
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.37018707726e-05,0.846221859223,5.47101864155e-06,0.835054110303
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.39351159783e-05,0.846329564912,5.26278007692e-06,0.83516171714
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.39765359068e-05,0.84643955844,5.19324531567e-06,0.83527175844
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.41639028766e-05,0.846548125701,4.99327487616e-06,0.835380325701
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.39374625367e-05,0.846662049006,5.40960178878e-06,0.835494249006
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.34372460745e-05,0.846780289075,5.95324568088e-06,0.835612489075
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.3161027785e-05,0.846909692458,6.05048029076e-06,0.835741806962
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.27609417773e-05,0.847052930052,6.35283986469e-06,0.835885213749
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.22765302231e-05,0.84720903944,6.80354230719e-06,0.836041139023
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.17621955869e-05,0.847374346104,7.30462987238e-06,0.836206354039
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.16127776725e-05,0.847553808739,7.45383084334e-06,0.836385891029
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.15730442358e-05,0.847742121567,7.40542882696e-06,0.836574121567
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.16566783884e-05,0.847941389592,7.32809916019e-06,0.836773389592
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.16456849089e-05,0.848152196181,7.33328668773e-06,0.836984239244
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.17932621841e-05,0.848371489475,7.14138902277e-06,0.837203538978
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.18614710284e-05,0.848592947547,7.06444397732e-06,0.837424947547
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.16968626529e-05,0.848819712713,7.22533207608e-06,0.837651712713
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,-8.15586872347e-05,0.849049932443,7.38256708669e-06,0.83788198736
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.14303165058e-05,0.849287652981,7.55578127164e-06,0.838119752981
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,-8.15554002615e-05,0.849534545498,7.38007800164e-06,0.838366645498
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,-8.2219175782e-05,0.849791868784,6.67061471711e-06,0.838623968784
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,-8.29890090281e-05,0.850056494216,5.92844224552e-06,0.838888641047
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.35865761565e-05,0.850337621058,5.34180462842e-06,0.839169821058
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,-8.37558013381e-05,0.850631942351,5.12263526333e-06,0.839464094364
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,-8.34829333299e-05,0.850944915724,5.31605101668e-06,0.839777015724
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,-8.30695807426e-05,0.851274789397,5.70369805266e-06,0.840106889397
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,-8.30361834385e-05,0.851618833654,6.25537824688e-06,0.840450801378
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,-8.31982043539e-05,0.851968119385,6.42363596017e-06,0.840800165049
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,-8.33196753241e-05,0.852327244655,6.20517639909e-06,0.841159424114
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,-8.31025333026e-05,0.852692616949,6.29173306124e-06,0.841524901295
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,-8.25843562808e-05,0.853062240263,6.83345713207e-06,0.841894540263
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,-8.23340059393e-05,0.853437580617,7.09251025718e-06,0.842269880617
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,-8.26118491761e-05,0.85381629597,6.79269552822e-06,0.84264859597
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,-8.26880750472e-05,0.854195141413,6.68123553703e-06,0.843027532145
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,-8.28139640417e-05,0.854584821945,6.55253714923e-06,0.843417221945
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,-8.28863279574e-05,0.854985374787,6.54703290647e-06,0.843817774787
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,-8.2698699803e-05,0.855398519046,6.63892254828e-06,0.844230919046
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,-8.35500988918e-05,0.855823703984,5.75180452256e-06,0.844656200207
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,-8.42271810299e-05,0.856254666803,5.11999216352e-06,0.845087166803
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,-8.3343845472e-05,0.85667982554,5.99788662988e-06,0.84551232554
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,-8.21344676768e-05,0.857105599728,7.23522171533e-06,0.845938198076
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,-8.13862284997e-05,0.857534076449,7.9657706468e-06,0.846366580223
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,-8.10872612692e-05,0.857977202815,8.24028928509e-06,0.846809894935
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,-8.13988369445e-05,0.858439634786,7.91339765014e-06,0.847272334786
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,-8.27087512771e-05,0.858919039939,6.51128598712e-06,0.847751739939
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,-8.29755078444e-05,0.859411071847,6.29743157451e-06,0.848243784408
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,-8.24031901944e-05,0.859908263265,6.92302248296e-06,0.848741063265
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,-8.17183240561e-05,0.860390838184,7.59179639784e-06,0.849223660938
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,-8.16022504629e-05,0.860868057923,7.65819938313e-06,0.849700957923
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,-8.19061798942e-05,0.861340577812,7.32699964442e-06,0.850173502149
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,-8.27143002495e-05,0.861808052232,6.51289017216e-06,0.850641074877
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,-8.34777547399e-05,0.862276199247,5.71078160476e-06,0.85110931993
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,-8.28906445578e-05,0.862746960712,6.24011095815e-06,0.851580179973
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,-8.25452641536e-05,0.863213191925,6.54730737262e-06,0.852046491925
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,-8.21430979185e-05,0.863678113206,6.92875357664e-06,0.852511413206
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,-8.16339661417e-05,0.864141221602,7.37803429662e-06,0.852974521602
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,-8.12113945354e-05,0.86460074542,7.75836272985e-06,0.853434051732
|
| 90 |
+
88,1.466666667,pose1-to-pose2-lift,-8.10521581607e-05,0.865060918254,7.9805716279e-06,0.853894415074
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,-8.23560380847e-05,0.865527753373,6.72622738158e-06,0.854361253373
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,-8.353497159e-05,0.866001861297,5.49733651515e-06,0.854835454752
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,-8.39598288079e-05,0.866491281927,5.06312783694e-06,0.855324977121
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,-8.42931282537e-05,0.866995203354,4.67158410316e-06,0.855829003585
|
| 95 |
+
93,1.550000000,pose1-to-pose2-lift,-8.27635879986e-05,0.867506680396,6.1484096327e-06,0.856340580396
|
| 96 |
+
94,1.566666667,pose1-to-pose2-lift,-8.15072106095e-05,0.868016730329,7.34399157847e-06,0.856850660095
|
| 97 |
+
95,1.583333333,pose1-to-pose2-lift,-8.22745777033e-05,0.868517036027,6.46477868766e-06,0.857351114804
|
| 98 |
+
96,1.600000000,pose1-to-pose2-lift,-8.29201627137e-05,0.869001009859,5.92723371857e-06,0.857835034577
|
| 99 |
+
97,1.616666667,pose1-to-pose2-lift,-8.26705454894e-05,0.869471596033,6.08083831268e-06,0.858305721527
|
| 100 |
+
98,1.633333333,pose1-to-pose2-lift,-8.24679846137e-05,0.869929665195,6.2670244929e-06,0.858763914065
|
| 101 |
+
99,1.650000000,pose1-to-pose2-lift,-8.2899734634e-05,0.870369944444,5.87642459321e-06,0.8592043235
|
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.372802e-05,0.8835839,2.647223e-06,0.8724212
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.30275384047e-05,0.883583817664,3.36310341164e-06,0.872421158832
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.25490993984e-05,0.883583683632,3.85805603484e-06,0.872421075449
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.19914851503e-05,0.88358360632,4.41613995786e-06,0.872420959479
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.1711445773e-05,0.883583567492,4.69641521045e-06,0.872420901239
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.15539580823e-05,0.883583545657,4.85403555204e-06,0.872420868485
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.08936287079e-05,0.883583549592,5.51473334236e-06,0.87242085951
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.94407454845e-05,0.883583767248,6.96801618194e-06,0.872421120697
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.75994368216e-05,0.883584,8.8105207403e-06,0.872421395133
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.49472177152e-05,0.883584,1.1469826139e-05,0.872421350257
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.16155621682e-05,0.883583987464,1.48132018979e-05,0.872421291643
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.53659628628e-05,0.883583770665,2.11282457415e-05,0.87242114711
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+
12,0.200000000,pose2-to-pose3-side,-5.55497889694e-05,0.883583821644,3.09959370409e-05,0.872421160822
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+
13,0.216666667,pose2-to-pose3-side,-3.47081976933e-05,0.8835839,5.19318317876e-05,0.872421288991
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+
14,0.233333333,pose2-to-pose3-side,-2.35895102534e-06,0.883584224112,8.44750876157e-05,0.872421648224
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15,0.250000000,pose2-to-pose3-side,4.78149660758e-05,0.883584448129,0.000134948559282,0.872421948129
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16,0.266666667,pose2-to-pose3-side,0.000113367693659,0.883584621394,0.000200900506721,0.872422042789
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+
17,0.283333333,pose2-to-pose3-side,0.00019959712141,0.883585276573,0.000287641243158,0.872422776573
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18,0.300000000,pose2-to-pose3-side,0.000299504435403,0.883585401881,0.000388145612643,0.872423016435
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19,0.316666667,pose2-to-pose3-side,0.00041989235583,0.883586403002,0.000509254285268,0.87242404543
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20,0.333333333,pose2-to-pose3-side,0.000554785338677,0.883587187621,0.000644954921126,0.872424787621
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21,0.350000000,pose2-to-pose3-side,0.000698156653938,0.883587721163,0.000789182989432,0.872425421163
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22,0.366666667,pose2-to-pose3-side,0.000844525444931,0.883588591819,0.000936448789721,0.872426340456
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23,0.383333333,pose2-to-pose3-side,0.000996885205413,0.883589290002,0.00108975282808,0.872427025002
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24,0.400000000,pose2-to-pose3-side,0.00114696544788,0.883589427552,0.00124074235676,0.8724272
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25,0.416666667,pose2-to-pose3-side,0.00129080171073,0.883589680672,0.00138546567596,0.872427410504
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26,0.433333333,pose2-to-pose3-side,0.00143490138596,0.88358999203,0.00153042203536,0.87242775604
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27,0.450000000,pose2-to-pose3-side,0.00158890178922,0.883590282975,0.00168537051452,0.872428082975
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28,0.466666667,pose2-to-pose3-side,0.00174953473164,0.883590636927,0.00184698397953,0.872428436927
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29,0.483333333,pose2-to-pose3-side,0.00191735351011,0.8835908,0.00201583403549,0.8724286
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30,0.500000000,pose2-to-pose3-side,0.00209703246814,0.883590411364,0.00219663329741,0.872428211364
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31,0.516666667,pose2-to-pose3-side,0.00229319204957,0.883589728718,0.0023938592634,0.872427450171
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32,0.533333333,pose2-to-pose3-side,0.00249598393932,0.883589313832,0.00259809144915,0.872427013832
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33,0.550000000,pose2-to-pose3-side,0.00269402967105,0.883588560037,0.00279710714502,0.872426360037
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34,0.566666667,pose2-to-pose3-side,0.00288722073568,0.8835882,0.00299173544931,0.872426
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35,0.583333333,pose2-to-pose3-side,0.00306803558098,0.8835882,0.00317362702105,0.872426
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36,0.600000000,pose2-to-pose3-side,0.00323040943997,0.883588319477,0.00333702218428,0.872426089608
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37,0.616666667,pose2-to-pose3-side,0.00338083677805,0.883588527242,0.00348836869858,0.872426227242
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38,0.633333333,pose2-to-pose3-side,0.0035289946635,0.883588340893,0.00363748931346,0.872426040893
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39,0.650000000,pose2-to-pose3-side,0.00366965311418,0.883588531266,0.00377900438293,0.872426153101
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40,0.666666667,pose2-to-pose3-side,0.0038104247317,0.8835887,0.0039204396801,0.872425884622
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41,0.683333333,pose2-to-pose3-side,0.00394728432245,0.883588754805,0.00405816006514,0.872425836537
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42,0.700000000,pose2-to-pose3-side,0.0040742743612,0.883589020481,0.0041859826451,0.872426
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43,0.716666667,pose2-to-pose3-side,0.00419064413757,0.8835891,0.0043030314644,0.872426021061
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44,0.733333333,pose2-to-pose3-side,0.00430005221504,0.883589051392,0.00441327545071,0.872426051392
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45,0.750000000,pose2-to-pose3-side,0.00440014895835,0.883589012004,0.00451419216482,0.872426012004
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46,0.766666667,pose2-to-pose3-side,0.00449241028249,0.883589230647,0.00460715695417,0.872426230647
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47,0.783333333,pose2-to-pose3-side,0.0045737132841,0.883589181288,0.00468908420497,0.872426262575
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48,0.800000000,pose2-to-pose3-side,0.00464536388206,0.883589204212,0.00476135135559,0.872426452106
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49,0.816666667,pose2-to-pose3-side,0.00470529168712,0.883589204507,0.00482182332307,0.87242655676
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50,0.833333333,pose2-to-pose3-side,0.00475600002698,0.883589414241,0.00487293410124,0.872426814241
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51,0.850000000,pose2-to-pose3-side,0.00479614074201,0.883589613462,0.00491332687723,0.872427126924
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52,0.866666667,pose2-to-pose3-side,0.00482886946808,0.883589530935,0.00494621860233,0.87242718729
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53,0.883333333,pose2-to-pose3-side,0.00485377553538,0.883589552481,0.00497123441193,0.872427201654
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54,0.900000000,pose2-to-pose3-side,0.00487367571357,0.883589653081,0.00499118342926,0.8724273
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55,0.916666667,pose2-to-pose3-side,0.00488806438602,0.883589560665,0.00500559788734,0.872427260665
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56,0.933333333,pose2-to-pose3-side,0.00489960884084,0.883589456088,0.00501720101441,0.8724272
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57,0.950000000,pose2-to-pose3-side,0.00490783073776,0.883589577531,0.00502540008921,0.872427377531
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58,0.966666667,pose2-to-pose3-side,0.0049134443655,0.883589404295,0.00503093511001,0.872427302864
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59,0.983333333,pose2-to-pose3-side,0.00491575,0.8835895,0.005033107,0.8724272
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60,1.000000000,pose3-hold,0.00491575,0.8835895,0.005033108,0.8724271
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61,1.016666667,pose3-hold,0.00491575,0.8835895,0.00503311590909,0.8724271
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62,1.033333333,pose3-hold,0.00491575,0.8835895,0.00503311775758,0.8724271
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63,1.050000000,pose3-hold,0.00491575,0.8835895,0.00503315045455,0.8724271
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64,1.066666667,pose3-hold,0.00491575,0.8835895,0.00503317981818,0.8724271
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65,1.083333333,pose3-hold,0.00491575,0.8835895,0.00503320024242,0.872427060606
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66,1.100000000,pose3-hold,0.00491575,0.8835895,0.00503322772727,0.872427
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67,1.116666667,pose3-hold,0.00491575,0.8835895,0.00503326384848,0.872427015152
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68,1.133333333,pose3-hold,0.00491575,0.8835895,0.00503329154545,0.8724271
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69,1.150000000,pose3-hold,0.00491575,0.8835895,0.00503330736364,0.8724271
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70,1.166666667,pose3-hold,0.00491575,0.8835895,0.005033335,0.8724271
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71,1.183333333,pose3-hold,0.00491575,0.8835895,0.00503335733333,0.8724271
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72,1.200000000,pose3-hold,0.00491575,0.8835895,0.00503337045455,0.8724271
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73,1.216666667,pose3-hold,0.00491575,0.8835895,0.00503337542424,0.8724271
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74,1.233333333,pose3-hold,0.00491575,0.8835895,0.00503337357576,0.872427130303
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75,1.250000000,pose3-hold,0.00491575,0.8835895,0.00503336872727,0.8724272
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76,1.266666667,pose3-hold,0.00491575,0.8835895,0.00503337084848,0.8724272
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77,1.283333333,pose3-hold,0.00491575,0.8835895,0.00503335415152,0.8724272
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78,1.300000000,pose3-hold,0.00491575,0.8835895,0.005033335,0.8724272
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79,1.316666667,pose3-hold,0.00491575,0.8835895,0.00503331566667,0.8724272
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80,1.333333333,pose3-hold,0.00491575,0.8835895,0.00503329921212,0.8724272
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81,1.350000000,pose3-hold,0.00491575,0.8835895,0.00503328381818,0.8724272
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82,1.366666667,pose3-hold,0.00491575,0.8835895,0.005033269,0.8724272
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83,1.383333333,pose3-hold,0.00491575,0.8835895,0.00503325624242,0.8724272
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84,1.400000000,pose3-hold,0.00491575,0.8835895,0.00503324554545,0.8724272
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85,1.416666667,pose3-hold,0.00491575,0.8835895,0.00503324115152,0.8724272
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86,1.433333333,pose3-hold,0.00491575,0.8835895,0.00503323590909,0.8724272
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87,1.450000000,pose3-hold,0.00491575,0.8835895,0.00503323427273,0.8724272
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88,1.466666667,pose3-hold,0.00491575,0.8835895,0.00503323460606,0.872427139394
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89,1.483333333,pose3-hold,0.00491575,0.8835895,0.00503323742424,0.8724271
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90,1.500000000,pose3-hold,0.00491575,0.8835895,0.00503323818182,0.8724271
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91,1.516666667,pose3-hold,0.00491575,0.8835895,0.00503323742424,0.8724271
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92,1.533333333,pose3-hold,0.00491575,0.8835895,0.00503324681818,0.8724271
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93,1.550000000,pose3-hold,0.00491575,0.8835895,0.00503326,0.8724271
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94,1.566666667,pose3-to-pose4-insert,0.004915731,0.8835895,0.005033245,0.8724271
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95,1.583333333,pose3-to-pose4-insert,0.00491588082491,0.88358916682,0.00503340320435,0.87242676682
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96,1.600000000,pose3-to-pose4-insert,0.00491589996909,0.883588776956,0.00503344519953,0.872426376956
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97,1.616666667,pose3-to-pose4-insert,0.00491588387578,0.883588417223,0.00503343270355,0.872426017223
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98,1.633333333,pose3-to-pose4-insert,0.00491586572465,0.883588011492,0.00503341860973,0.872425611492
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99,1.650000000,pose3-to-pose4-insert,0.00491583275178,0.883587274452,0.00503339300727,0.872424874452
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100,1.666666667,pose3-to-pose4-insert,0.00491581599698,0.883586899514,0.00503337999816,0.872424499514
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101,1.683333333,pose3-to-pose4-insert,0.0049158149272,0.88358672716,0.0050333793444,0.87242432716
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102,1.700000000,pose3-to-pose4-insert,0.00491581093854,0.883586084543,0.00503337690689,0.872423684543
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103,1.716666667,pose3-to-pose4-insert,0.00491580780917,0.883585580366,0.00503337499449,0.872423180366
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104,1.733333333,pose3-to-pose4-insert,0.00491580528668,0.883585173965,0.00503337345297,0.872422773965
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105,1.750000000,pose3-to-pose4-insert,0.00491580206773,0.883584655356,0.00503337148583,0.872422255356
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106,1.766666667,pose3-to-pose4-insert,0.00491579699551,0.883583687493,0.00503336721425,0.872421293074
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107,1.783333333,pose3-to-pose4-insert,0.00491574033213,0.883575399039,0.00503331802841,0.872413064546
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108,1.800000000,pose3-to-pose4-insert,0.00491588705755,0.883557932848,0.00503346135418,0.872395532848
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109,1.816666667,pose3-to-pose4-insert,0.00491586880593,0.883522474519,0.00503342183467,0.872360174519
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110,1.833333333,pose3-to-pose4-insert,0.0049161907362,0.883470003752,0.00503378053729,0.872307652509
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111,1.850000000,pose3-to-pose4-insert,0.00491618884993,0.883396903881,0.00503375265231,0.872234603881
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112,1.866666667,pose3-to-pose4-insert,0.00491624716537,0.883311360914,0.00503382519844,0.872149060914
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113,1.883333333,pose3-to-pose4-insert,0.00491615705636,0.883209476292,0.00503373644241,0.872047076292
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114,1.900000000,pose3-to-pose4-insert,0.00491634301707,0.883099451936,0.00503395507101,0.871937051936
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115,1.916666667,pose3-to-pose4-insert,0.00491643621679,0.882979541449,0.00503404989724,0.871817064131
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116,1.933333333,pose3-to-pose4-insert,0.00491688268656,0.882852808064,0.00503453251937,0.871690501921
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117,1.950000000,pose3-to-pose4-insert,0.00491692024636,0.882719356031,0.00503459737997,0.871556945662
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118,1.966666667,pose3-to-pose4-insert,0.0049168392823,0.882578626054,0.00503450402047,0.871416126054
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119,1.983333333,pose3-to-pose4-insert,0.00491691092323,0.882429878333,0.00503460377329,0.871267407801
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120,2.000000000,pose3-to-pose4-insert,0.0049167911007,0.882275829778,0.00503451888423,0.871113429778
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121,2.016666667,pose3-to-pose4-insert,0.00491672896765,0.882110219626,0.00503446085288,0.870947775365
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122,2.033333333,pose3-to-pose4-insert,0.00491651403498,0.881932209612,0.0050342627154,0.870769765614
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123,2.050000000,pose3-to-pose4-insert,0.00491677764489,0.881745048372,0.00503456139536,0.870582648372
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124,2.066666667,pose3-to-pose4-insert,0.00491750226677,0.881548886347,0.00503532481758,0.870386402374
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125,2.083333333,pose3-to-pose4-insert,0.00491787688037,0.881348484084,0.00503573849467,0.870185984084
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126,2.100000000,pose3-to-pose4-insert,0.00491844465631,0.8811600608,0.0050363199201,0.8699974608
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127,2.116666667,pose3-to-pose4-insert,0.0049187493327,0.880971707906,0.00503666682625,0.869809096636
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128,2.133333333,pose3-to-pose4-insert,0.00491844953556,0.880785643986,0.00503639859219,0.869622943986
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129,2.150000000,pose3-to-pose4-insert,0.00491809669094,0.880600902827,0.00503606584793,0.869438202827
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130,2.166666667,pose3-to-pose4-insert,0.00491763385367,0.880413644627,0.00503560475881,0.869250944627
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131,2.183333333,pose3-to-pose4-insert,0.00491718967669,0.88021778905,0.00503518856203,0.869055000798
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132,2.200000000,pose3-to-pose4-insert,0.0049170617226,0.880026541571,0.00503507710562,0.868863641571
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133,2.216666667,pose3-to-pose4-insert,0.00491727302291,0.879846207311,0.00503528378942,0.868683232861
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134,2.233333333,pose3-to-pose4-insert,0.00491741888101,0.879677134227,0.00503543405854,0.868514047935
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135,2.250000000,pose3-to-pose4-insert,0.00491750551519,0.879524213287,0.00503552802297,0.868361020319
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136,2.266666667,pose3-to-pose4-insert,0.0049176451987,0.879384538951,0.00503566916416,0.868221338951
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137,2.283333333,pose3-to-pose4-insert,0.00491786310508,0.879258304746,0.00503594303312,0.868095104746
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138,2.300000000,pose3-to-pose4-insert,0.00491753409008,0.879139947682,0.00503558801425,0.867976650869
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139,2.316666667,pose3-to-pose4-insert,0.00491740486502,0.879032375684,0.00503549148067,0.867869075684
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140,2.333333333,pose3-to-pose4-insert,0.00491736141824,0.878930062748,0.0050354138043,0.867766762748
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141,2.350000000,pose3-to-pose4-insert,0.0049173268296,0.878837039144,0.00503538464521,0.867673732742
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142,2.366666667,pose3-to-pose4-insert,0.00491712284519,0.878752166638,0.00503514737211,0.867588677166
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143,2.383333333,pose3-to-pose4-insert,0.00491723055469,0.878679155853,0.00503528490536,0.867515755853
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144,2.400000000,pose3-to-pose4-insert,0.00491719691843,0.878616149589,0.00503528878159,0.867452727671
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145,2.416666667,pose3-to-pose4-insert,0.00491706728247,0.878565126565,0.00503513235694,0.867401626565
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858,14.300000000,pose5-to-pose6-final-insert,-8.28803197067e-05,0.845652906057,3.95458807392e-06,0.834485106057
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| 861 |
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859,14.316666667,pose5-to-pose6-final-insert,-8.29072806809e-05,0.845650463963,3.93504846917e-06,0.834482642526
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| 862 |
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860,14.333333333,pose5-to-pose6-final-insert,-8.29246361052e-05,0.845648481938,3.89973742267e-06,0.83448060968
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| 863 |
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861,14.350000000,pose5-to-pose6-final-insert,-8.29351240774e-05,0.84564682509,3.87975182641e-06,0.83447894106
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| 864 |
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862,14.366666667,pose5-to-pose6-final-insert,-8.2937632832e-05,0.845645402804,3.87799490804e-06,0.834477558282
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| 865 |
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863,14.383333333,pose5-to-pose6-final-insert,-8.29479893317e-05,0.845643533677,3.86640842501e-06,0.834475733677
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| 866 |
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864,14.400000000,pose5-to-pose6-final-insert,-8.30226426639e-05,0.845640893084,3.77115922297e-06,0.834473093084
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| 867 |
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865,14.416666667,pose5-to-pose6-final-insert,-8.3004738332e-05,0.845638056787,3.81363519412e-06,0.834470256787
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| 868 |
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866,14.433333333,pose5-to-pose6-final-insert,-8.31675119972e-05,0.845635030136,3.64564289129e-06,0.834467230136
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| 869 |
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867,14.450000000,pose5-to-pose6-final-insert,-8.31780315963e-05,0.845632450698,3.63255349668e-06,0.834464650698
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| 870 |
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868,14.466666667,pose5-to-pose6-final-insert,-8.30781630765e-05,0.845630697949,3.73881549659e-06,0.834462908364
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| 871 |
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869,14.483333333,pose5-to-pose6-final-insert,-8.30118900135e-05,0.84562919926,3.80165294419e-06,0.834461461354
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| 872 |
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870,14.500000000,pose5-to-pose6-final-insert,-8.29582149473e-05,0.845627800225,3.85099348865e-06,0.834460088695
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| 873 |
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871,14.516666667,pose5-to-pose6-final-insert,-8.29361849057e-05,0.845626496375,3.86513122898e-06,0.834458734697
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| 874 |
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872,14.533333333,pose5-to-pose6-final-insert,-8.29587943178e-05,0.845624987875,3.83801937622e-06,0.834457187875
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| 875 |
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873,14.550000000,pose5-to-pose6-final-insert,-8.30651450563e-05,0.84562360707,3.73579034017e-06,0.83445580707
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| 876 |
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874,14.566666667,pose5-to-pose6-final-insert,-8.30661079299e-05,0.845622485659,3.73290953653e-06,0.834454685659
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| 877 |
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875,14.583333333,pose5-to-pose6-final-insert,-8.30051076783e-05,0.845621501859,3.78841456546e-06,0.834453701859
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| 878 |
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876,14.600000000,pose5-to-pose6-final-insert,-8.30090922236e-05,0.845620548256,3.77802412033e-06,0.834452748256
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| 879 |
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877,14.616666667,pose5-to-pose6-final-insert,-8.30651578844e-05,0.845619826726,3.71620425734e-06,0.834452026726
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| 880 |
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878,14.633333333,pose5-to-pose6-final-insert,-8.31227807568e-05,0.845619085156,3.65266736092e-06,0.834451285156
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| 881 |
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879,14.650000000,pose5-to-pose6-final-insert,-8.31801875611e-05,0.845618264811,3.59039479819e-06,0.834450464811
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| 882 |
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880,14.666666667,pose5-to-pose6-final-insert,-8.31857301776e-05,0.845618085019,3.58564796521e-06,0.834450285019
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| 883 |
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881,14.683333333,pose5-to-pose6-final-insert,-8.32106730587e-05,0.845617275914,3.56428626874e-06,0.834449475914
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| 884 |
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882,14.700000000,pose5-to-pose6-final-insert,-8.32177283737e-05,0.845616112109,3.55913822517e-06,0.834448312109
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| 885 |
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883,14.716666667,pose5-to-pose6-final-insert,-8.31861199453e-05,0.845614993123,3.5882595585e-06,0.834447193123
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| 886 |
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884,14.733333333,pose5-to-pose6-final-insert,-8.31242059021e-05,0.845613621566,3.65489030075e-06,0.834445881479
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| 887 |
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885,14.750000000,pose5-to-pose6-final-insert,-8.3068540812e-05,0.845612291293,3.70981851709e-06,0.834444553248
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| 888 |
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886,14.766666667,pose5-to-pose6-final-insert,-8.30571620757e-05,0.84561194111,3.71870701947e-06,0.83444418118
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| 889 |
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887,14.783333333,pose5-to-pose6-final-insert,-8.30448685084e-05,0.845611562774,3.72831014226e-06,0.834443779197
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| 890 |
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888,14.800000000,pose5-to-pose6-final-insert,-8.30364867986e-05,0.845610838828,3.73702299405e-06,0.834443069572
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| 891 |
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889,14.816666667,pose5-to-pose6-final-insert,-8.3036763868e-05,0.845610023918,3.74063304509e-06,0.83444230899
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| 892 |
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890,14.833333333,pose5-to-pose6-final-insert,-8.30137716868e-05,0.845608935556,3.76334169285e-06,0.83444117381
|
| 893 |
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891,14.850000000,pose5-to-pose6-final-insert,-8.30236324916e-05,0.845607747818,3.75558050356e-06,0.834439947818
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| 894 |
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892,14.866666667,pose5-to-pose6-final-insert,-8.30474025292e-05,0.845607105962,3.7347009539e-06,0.834439305962
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| 895 |
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893,14.883333333,pose5-to-pose6-final-insert,-8.30487152669e-05,0.845607070515,3.73354784796e-06,0.834439270515
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| 896 |
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894,14.900000000,pose5-to-pose6-final-insert,-8.30340673062e-05,0.845606736442,3.74970174962e-06,0.834438936442
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| 897 |
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895,14.916666667,pose5-to-pose6-final-insert,-8.29635749547e-05,0.845606186437,3.82267600025e-06,0.834438386437
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| 898 |
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896,14.933333333,pose5-to-pose6-final-insert,-8.29035209029e-05,0.84560559072,3.88662499473e-06,0.83443779072
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| 899 |
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897,14.950000000,pose5-to-pose6-final-insert,-8.29119870804e-05,0.84560518687,3.88444089716e-06,0.83443738687
|
| 900 |
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898,14.966666667,pose5-to-pose6-final-insert,-8.29206203782e-05,0.845604775047,3.88221368603e-06,0.834436975047
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| 901 |
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899,14.983333333,pose5-to-pose6-final-insert,-8.29201264417e-05,0.845604209056,3.87980486778e-06,0.834436409056
|
| 902 |
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900,15.000000000,pose5-to-pose6-final-insert,-8.29393663209e-05,0.84560368415,3.85217666737e-06,0.83443588415
|
| 903 |
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901,15.016666667,pose5-to-pose6-final-insert,-8.30565972609e-05,0.845603108586,3.72251526489e-06,0.834435308586
|
| 904 |
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902,15.033333333,pose5-to-pose6-final-insert,-8.31159804849e-05,0.845602598518,3.66291492985e-06,0.834434818666
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| 905 |
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903,15.050000000,pose5-to-pose6-final-insert,-8.31055517304e-05,0.8456019929,3.69272348373e-06,0.83443427361
|
| 906 |
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904,15.066666667,pose5-to-pose6-final-insert,-8.30830408451e-05,0.845601278556,3.71119578318e-06,0.834433504064
|
| 907 |
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905,15.083333333,pose5-to-pose6-final-insert,-8.30495317192e-05,0.845600937721,3.73822420546e-06,0.834433137721
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| 908 |
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906,15.100000000,pose5-to-pose6-final-insert,-8.30224386608e-05,0.84560077451,3.76231604321e-06,0.83443297451
|
| 909 |
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907,15.116666667,pose5-to-pose6-final-insert,-8.29659432984e-05,0.845600434176,3.81255315853e-06,0.834432634176
|
| 910 |
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908,15.133333333,pose5-to-pose6-final-insert,-8.29627243739e-05,0.845599636848,3.84469515241e-06,0.834431852636
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| 911 |
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909,15.150000000,pose5-to-pose6-final-insert,-8.29507269105e-05,0.845598721982,3.82884155423e-06,0.834430949729
|
| 912 |
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910,15.166666667,pose5-to-pose6-final-insert,-8.31587130749e-05,0.845598080265,3.63296231343e-06,0.834430280265
|
| 913 |
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911,15.183333333,pose5-to-pose6-final-insert,-8.31322501887e-05,0.845597884471,3.66035753432e-06,0.834430084471
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| 914 |
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912,15.200000000,pose5-to-pose6-final-insert,-8.30810998212e-05,0.845597798504,3.70983269147e-06,0.834429998504
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| 915 |
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913,15.216666667,pose5-to-pose6-final-insert,-8.30452355739e-05,0.84559745973,3.72736857692e-06,0.83442973982
|
| 916 |
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914,15.233333333,pose5-to-pose6-final-insert,-8.31383346673e-05,0.8455968,3.6487765814e-06,0.8344291
|
| 917 |
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915,15.250000000,pose5-to-pose6-final-insert,-8.30092362534e-05,0.845596230399,3.77886141309e-06,0.834428430399
|
| 918 |
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916,15.266666667,pose5-to-pose6-final-insert,-8.30542789141e-05,0.845595725331,3.75715531977e-06,0.834427962665
|
| 919 |
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917,15.283333333,pose5-to-pose6-final-insert,-8.298273e-05,0.8455955,3.798559e-06,0.8344277
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