Upload Free (part 32)
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- .gitattributes +12 -0
- Free/s1/ball_0050_15/width_04/pick/franka_data.csv +205 -0
- Free/s1/ball_0050_15/width_04/pick/simulation_data.csv +205 -0
- Free/s1/ball_0050_15/width_05/insert/camera_frames_60hz.tar +3 -0
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- Free/s1/ball_0050_15/width_05/insert/franka_data.csv +0 -0
- Free/s1/ball_0050_15/width_05/insert/simulation_data.csv +905 -0
- Free/s1/ball_0050_15/width_05/pick/camera_frames_60hz.tar +3 -0
- Free/s1/ball_0050_15/width_05/pick/fem_node.csv +0 -0
- Free/s1/ball_0050_15/width_05/pick/franka_data.csv +207 -0
- Free/s1/ball_0050_15/width_05/pick/simulation_data.csv +207 -0
- Free/s1/ball_0050_15/width_06/insert/camera_frames_60hz.tar +3 -0
- Free/s1/ball_0050_15/width_06/insert/fem_node.csv +3 -0
- Free/s1/ball_0050_15/width_06/insert/franka_data.csv +0 -0
- Free/s1/ball_0050_15/width_06/insert/simulation_data.csv +905 -0
- Free/s1/ball_0050_15/width_06/pick/camera_frames_60hz.tar +3 -0
- Free/s1/ball_0050_15/width_06/pick/fem_node.csv +0 -0
- Free/s1/ball_0050_15/width_06/pick/franka_data.csv +207 -0
- Free/s1/ball_0050_15/width_06/pick/simulation_data.csv +207 -0
- Free/s1/ball_0050_15/width_07/insert/camera_frames_60hz.tar +3 -0
- Free/s1/ball_0050_15/width_07/insert/fem_node.csv +3 -0
- Free/s1/ball_0050_15/width_07/insert/franka_data.csv +0 -0
- Free/s1/ball_0050_15/width_07/insert/simulation_data.csv +905 -0
- Free/s1/ball_0050_15/width_07/pick/camera_frames_60hz.tar +3 -0
- Free/s1/ball_0050_15/width_07/pick/fem_node.csv +0 -0
- Free/s1/ball_0050_15/width_07/pick/franka_data.csv +207 -0
- Free/s1/ball_0050_15/width_07/pick/simulation_data.csv +207 -0
- Free/s1/ball_0050_15/width_08/insert/camera_frames_60hz.tar +3 -0
- Free/s1/ball_0050_15/width_08/insert/fem_node.csv +3 -0
- Free/s1/ball_0050_15/width_08/insert/franka_data.csv +0 -0
- Free/s1/ball_0050_15/width_08/insert/simulation_data.csv +906 -0
- Free/s1/ball_0050_15/width_08/pick/camera_frames_60hz.tar +3 -0
- Free/s1/ball_0050_15/width_08/pick/fem_node.csv +0 -0
- Free/s1/ball_0050_15/width_08/pick/franka_data.csv +206 -0
- Free/s1/ball_0050_15/width_08/pick/simulation_data.csv +206 -0
- Free/s1/ball_0050_15/width_09/insert/camera_frames_60hz.tar +3 -0
- Free/s1/ball_0050_15/width_09/insert/fem_node.csv +3 -0
- Free/s1/ball_0050_15/width_09/insert/franka_data.csv +0 -0
- Free/s1/ball_0050_15/width_09/insert/simulation_data.csv +906 -0
- Free/s1/ball_0050_15/width_09/pick/camera_frames_60hz.tar +3 -0
- Free/s1/ball_0050_15/width_09/pick/fem_node.csv +0 -0
- Free/s1/ball_0050_15/width_09/pick/franka_data.csv +206 -0
- Free/s1/ball_0050_15/width_09/pick/simulation_data.csv +206 -0
- Free/s1/ball_0050_15/width_10/insert/camera_frames_60hz.tar +3 -0
- Free/s1/ball_0050_15/width_10/insert/fem_node.csv +3 -0
- Free/s1/ball_0050_15/width_10/insert/franka_data.csv +0 -0
- Free/s1/ball_0050_15/width_10/insert/simulation_data.csv +906 -0
- Free/s1/ball_0050_15/width_10/pick/camera_frames_60hz.tar +3 -0
- Free/s1/ball_0050_15/width_10/pick/fem_node.csv +0 -0
- Free/s1/ball_0050_15/width_10/pick/franka_data.csv +207 -0
.gitattributes
CHANGED
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Free/s1/ball_0050_15/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_17.5/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_17.5/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_17.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_17.5/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_17.5/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_17.5/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s1/ball_0050_15/width_04/pick/franka_data.csv
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| 1 |
+
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| 2 |
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194,3.233333333,pose2-hold,1.79302010776e+18,camera_frames_60hz/WAIT_POSE2/camera_00002969_1793020107758281765_real.jpg,0.675887815062,-0.00537536085622,0.134520011068,0.999999921299,0.000109954701608,-0.000373896479023,-7.42477535233e-05,0.0460014715791
|
| 197 |
+
195,3.250000000,pose2-hold,1.79302010778e+18,camera_frames_60hz/WAIT_POSE2/camera_00002970_1793020107778519580_interpolated.jpg,0.675887642749,-0.00537519653253,0.134520654561,0.99999992153,0.000108015080475,-0.000373717258052,-7.48884771398e-05,0.0460014715791
|
| 198 |
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196,3.266666667,pose2-hold,1.7930201078e+18,camera_frames_60hz/WAIT_POSE2/camera_00002971_1793020107798757396_real.jpg,0.675887432577,-0.00537387311582,0.134519888349,0.999999921286,0.000108007765717,-0.000374318171371,-7.51559604858e-05,0.0460014715791
|
| 199 |
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197,3.283333333,pose2-hold,1.79302010781e+18,camera_frames_60hz/WAIT_POSE2/camera_00002972_1793020107828524460_interpolated.jpg,0.675887687064,-0.00537660030705,0.134520209781,0.999999921644,0.000105687773229,-0.000374087515439,-7.48384772237e-05,0.0460014715791
|
| 200 |
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198,3.300000000,pose2-hold,1.79302010783e+18,camera_frames_60hz/WAIT_POSE2/camera_00002972_1793020107828524460_interpolated.jpg,0.67588794537,-0.00537917720566,0.134520568544,0.999999921956,0.000103902488585,-0.00037384231559,-7.43889935786e-05,0.0460014715791
|
| 201 |
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199,3.316666667,pose2-hold,1.79302010785e+18,camera_frames_60hz/WAIT_POSE2/camera_00002973_1793020107858291525_real.jpg,0.675887936135,-0.00537817871655,0.13452049332,0.999999921613,0.000107198065119,-0.000374023701781,-7.34151297759e-05,0.0460014715791
|
| 202 |
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200,3.333333333,pose2-hold,1.79302010786e+18,camera_frames_60hz/WAIT_POSE2/camera_00002973_1793020107858291525_real.jpg,0.675887746892,-0.0053789123297,0.134520371567,0.999999921504,0.000107714807063,-0.000374211980753,-7.31835788506e-05,0.0460014715791
|
| 203 |
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201,3.350000000,pose2-hold,1.79302010788e+18,camera_frames_60hz/WAIT_POSE2/camera_00002974_1793020107877130221_interpolated.jpg,0.675887272067,-0.00538132391146,0.13452046316,0.999999921775,0.00010429721705,-0.000374291512974,-7.40158306286e-05,0.0460014715791
|
| 204 |
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202,3.366666667,pose2-hold,1.79302010789e+18,camera_frames_60hz/WAIT_POSE2/camera_00002975_1793020107895968918_real.jpg,0.6758870171,-0.00537800697555,0.134521498992,0.999999921733,0.000105846349259,-0.000374049217867,-7.36010202914e-05,0.0460014715791
|
| 205 |
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203,3.383333333,pose2-hold,1.79302010791e+18,camera_frames_60hz/WAIT_POSE2/camera_00002976_1793020107927129721_interpolated.jpg,0.675886743245,-0.00537885943612,0.13452053938,0.999999921321,0.000105014511985,-0.000375269041718,-7.41820765793e-05,0.0460014715791
|
Free/s1/ball_0050_15/width_04/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,205 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,6.830676e-06,0.8346294
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.27488431491e-05,0.84558989218,6.58973297577e-06,0.834629969135
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.26962410673e-05,0.845590223323,6.63825627965e-06,0.834630223323
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.2690756659e-05,0.845590528648,6.63562857255e-06,0.834630528648
|
| 6 |
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|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.2692441969e-05,0.84559309807,6.64714788675e-06,0.83463319807
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26975022608e-05,0.845593727003,6.63700293207e-06,0.834633827003
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.2699988958e-05,0.845594036069,6.63201756125e-06,0.834634136069
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.27050002831e-05,0.845594658917,6.62197077585e-06,0.834634758917
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.26822343808e-05,0.845595512758,6.64429730063e-06,0.834635612758
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.26529589336e-05,0.845596238858,6.67536167694e-06,0.834636338858
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.26312818057e-05,0.845596776501,6.69836342481e-06,0.834636876501
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.2624645093e-05,0.845596941108,6.70540568582e-06,0.834637041108
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.26001693966e-05,0.845597548163,6.7313770139e-06,0.834637648163
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.26042391344e-05,0.845598625822,6.73030696226e-06,0.834638714137
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.263124319e-05,0.845599165327,6.70498568473e-06,0.834639241654
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,-8.2646221932e-05,0.845599464583,6.6909403543e-06,0.834639534259
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,-8.27194721883e-05,0.845600928027,6.62225474282e-06,0.834640965182
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,-8.27240784575e-05,0.845604810415,6.62385704512e-06,0.834644810415
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,-8.26116106864e-05,0.845612332302,6.7227620608e-06,0.834652332302
|
| 22 |
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20,0.333333333,pose1-to-pose2-lift,-8.27890015796e-05,0.845624410526,6.55084836784e-06,0.834664410526
|
| 23 |
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21,0.350000000,pose1-to-pose2-lift,-8.27002915169e-05,0.845644685325,6.62783732098e-06,0.834684685325
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,-8.26606162573e-05,0.845675439005,6.66010156589e-06,0.834715539005
|
| 25 |
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23,0.383333333,pose1-to-pose2-lift,-8.2763067477e-05,0.845715962466,6.56396075355e-06,0.834755962466
|
| 26 |
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24,0.400000000,pose1-to-pose2-lift,-8.30165649242e-05,0.845765208693,6.32604386267e-06,0.834805208693
|
| 27 |
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25,0.416666667,pose1-to-pose2-lift,-8.30824596285e-05,0.845822134218,6.26403169792e-06,0.834862134218
|
| 28 |
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26,0.433333333,pose1-to-pose2-lift,-8.31290232389e-05,0.845882967903,6.19875682089e-06,0.834922967903
|
| 29 |
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27,0.450000000,pose1-to-pose2-lift,-8.34659785021e-05,0.845944926838,5.87243241259e-06,0.834984926838
|
| 30 |
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28,0.466666667,pose1-to-pose2-lift,-8.33526569881e-05,0.846009750996,5.97036404392e-06,0.835049750996
|
| 31 |
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29,0.483333333,pose1-to-pose2-lift,-8.34522865303e-05,0.846081912739,5.87681409473e-06,0.835121912739
|
| 32 |
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30,0.500000000,pose1-to-pose2-lift,-8.36278204208e-05,0.846161865476,5.69440220734e-06,0.835201865476
|
| 33 |
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31,0.516666667,pose1-to-pose2-lift,-8.37693591544e-05,0.846254045383,5.57730838444e-06,0.835294045383
|
| 34 |
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32,0.533333333,pose1-to-pose2-lift,-8.39944009873e-05,0.846355825146,5.36415441883e-06,0.835395825146
|
| 35 |
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33,0.550000000,pose1-to-pose2-lift,-8.39572320504e-05,0.846463950055,5.37639514401e-06,0.835503950055
|
| 36 |
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34,0.566666667,pose1-to-pose2-lift,-8.41797813681e-05,0.846583389205,5.13748325421e-06,0.835623389205
|
| 37 |
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35,0.583333333,pose1-to-pose2-lift,-8.37726505099e-05,0.846705010957,5.53208482225e-06,0.835745010957
|
| 38 |
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36,0.600000000,pose1-to-pose2-lift,-8.33017608505e-05,0.84682702644,5.98527456783e-06,0.835866985019
|
| 39 |
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37,0.616666667,pose1-to-pose2-lift,-8.30281376806e-05,0.846962508652,6.27389362421e-06,0.83600235918
|
| 40 |
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38,0.633333333,pose1-to-pose2-lift,-8.2580997359e-05,0.847111288404,6.71622795091e-06,0.836151288404
|
| 41 |
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39,0.650000000,pose1-to-pose2-lift,-8.20975238335e-05,0.847263293465,7.19099185752e-06,0.836303257611
|
| 42 |
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40,0.666666667,pose1-to-pose2-lift,-8.17031902706e-05,0.847441398541,7.59691167882e-06,0.836481298541
|
| 43 |
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41,0.683333333,pose1-to-pose2-lift,-8.16856815925e-05,0.847627239835,7.62527509922e-06,0.836667139835
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.17493848571e-05,0.847811986304,7.53363847585e-06,0.836851950855
|
| 45 |
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43,0.716666667,pose1-to-pose2-lift,-8.1961092723e-05,0.848008796307,7.30389278828e-06,0.837048796307
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| 46 |
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44,0.733333333,pose1-to-pose2-lift,-8.22097833989e-05,0.84821508046,7.05083832475e-06,0.83725508046
|
| 47 |
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45,0.750000000,pose1-to-pose2-lift,-8.24458248314e-05,0.848410972777,6.79203235839e-06,0.837450972777
|
| 48 |
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46,0.766666667,pose1-to-pose2-lift,-8.22417524736e-05,0.848617607029,7.00245538477e-06,0.837657607029
|
| 49 |
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47,0.783333333,pose1-to-pose2-lift,-8.18269371353e-05,0.848843644019,7.41792712028e-06,0.837883577788
|
| 50 |
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48,0.800000000,pose1-to-pose2-lift,-8.12238843431e-05,0.84907976587,7.99813595017e-06,0.838119733113
|
| 51 |
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49,0.816666667,pose1-to-pose2-lift,-8.05376581175e-05,0.849334930201,8.69686425818e-06,0.838374930201
|
| 52 |
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50,0.833333333,pose1-to-pose2-lift,-8.06829100809e-05,0.849609943633,8.56658194129e-06,0.838649943633
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| 53 |
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51,0.850000000,pose1-to-pose2-lift,-8.16491999577e-05,0.849895497754,7.57586891268e-06,0.838935497754
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| 54 |
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| 55 |
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53,0.883333333,pose1-to-pose2-lift,-8.30646816103e-05,0.850527849977,6.18105614125e-06,0.839567862906
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| 56 |
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54,0.900000000,pose1-to-pose2-lift,-8.21940243299e-05,0.850843814845,7.02463424399e-06,0.839883895176
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| 57 |
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55,0.916666667,pose1-to-pose2-lift,-8.14617220488e-05,0.851174311337,7.75488923236e-06,0.840214338947
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56,0.933333333,pose1-to-pose2-lift,-8.1143888511e-05,0.851528619304,8.06487417862e-06,0.840568679917
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57,0.950000000,pose1-to-pose2-lift,-8.23282972517e-05,0.851857958977,6.87740530277e-06,0.840897999133
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| 60 |
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58,0.966666667,pose1-to-pose2-lift,-8.3811202638e-05,0.852177886793,5.3690320154e-06,0.841217986793
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59,0.983333333,pose1-to-pose2-lift,-8.43741180009e-05,0.852529634109,4.77739020264e-06,0.841569734109
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60,1.000000000,pose1-to-pose2-lift,-8.33772050027e-05,0.852888145797,5.78088459292e-06,0.841928285089
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| 63 |
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61,1.016666667,pose1-to-pose2-lift,-8.25504499237e-05,0.853251788648,6.65248115375e-06,0.842291988648
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| 64 |
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62,1.033333333,pose1-to-pose2-lift,-8.22582332564e-05,0.853636147739,6.92285207897e-06,0.842676347739
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| 65 |
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63,1.050000000,pose1-to-pose2-lift,-8.26397328876e-05,0.854040819467,6.53675248928e-06,0.843081019467
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| 66 |
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64,1.066666667,pose1-to-pose2-lift,-8.28752993605e-05,0.85445664412,6.33101312678e-06,0.84349684412
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65,1.083333333,pose1-to-pose2-lift,-8.27173128337e-05,0.854863057951,6.4815855891e-06,0.843903319008
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| 68 |
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66,1.100000000,pose1-to-pose2-lift,-8.26846836925e-05,0.855260030687,6.48062821893e-06,0.844300390536
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68,1.133333333,pose1-to-pose2-lift,-8.21018482797e-05,0.85610752867,7.05259253739e-06,0.845147892905
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69,1.150000000,pose1-to-pose2-lift,-8.22329044618e-05,0.856514298954,6.85588476345e-06,0.84555463887
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70,1.166666667,pose1-to-pose2-lift,-8.24237526301e-05,0.856964707924,6.64857889432e-06,0.84600513762
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197,3.283333333,pose2-hold,-8.323152e-05,0.8835847,5.49967245455e-06,0.8726298
|
| 200 |
+
198,3.300000000,pose2-hold,-8.323152e-05,0.8835847,5.49692248485e-06,0.8726298
|
| 201 |
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199,3.316666667,pose2-hold,-8.323152e-05,0.8835847,5.50283448485e-06,0.8726298
|
| 202 |
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200,3.333333333,pose2-hold,-8.323152e-05,0.8835847,5.51151736364e-06,0.8726298
|
| 203 |
+
201,3.350000000,pose2-hold,-8.323152e-05,0.8835847,5.50450457576e-06,0.8726298
|
| 204 |
+
202,3.366666667,pose2-hold,-8.323152e-05,0.8835847,5.51493921212e-06,0.8726298
|
| 205 |
+
203,3.383333333,pose2-hold,-8.323152e-05,0.8835847,5.491139e-06,0.8726298
|
Free/s1/ball_0050_15/width_05/insert/camera_frames_60hz.tar
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7f6f937461869f2445d673d6e026f5925109a94bf8ad14e32eebfe6d7e625508
|
| 3 |
+
size 37888000
|
Free/s1/ball_0050_15/width_05/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bef9b3e64821e8f775d34351d0c1fc59afc34347c5c6e6fa07b0990b713ab863
|
| 3 |
+
size 38566933
|
Free/s1/ball_0050_15/width_05/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Free/s1/ball_0050_15/width_05/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,905 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.239633e-05,0.8835851,6.91768e-06,0.8726301
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.19332865648e-05,0.883585040648,7.40647080882e-06,0.872630040648
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.14525602898e-05,0.883585012913,7.90608574945e-06,0.872630025825
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.10815099417e-05,0.883585035099,8.28550736088e-06,0.872630070199
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.08476219229e-05,0.883585049084,8.52467212492e-06,0.872630098169
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.04348258996e-05,0.883585073767,8.94678123534e-06,0.872630147535
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.94387866979e-05,0.8835851,9.95706262916e-06,0.8726302
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.89835298563e-05,0.8835851,1.04158681912e-05,0.8726302
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.81918431648e-05,0.8835851,1.12137260689e-05,0.8726302
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.63881739055e-05,0.8835851,1.30315292607e-05,0.8726302
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.14672325849e-05,0.8835851,1.79940025895e-05,0.8726302
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-6.15280951319e-05,0.883585003734,2.80147958774e-05,0.8726301
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-3.99402122342e-05,0.883585206918,4.97176017793e-05,0.872630260377
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-5.39611793966e-06,0.883585310021,8.44239557802e-05,0.872630310021
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,4.19743868351e-05,0.883585567818,0.000132076302267,0.872630567818
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000105115592374,0.883585616114,0.000195624016424,0.872630612085
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000188765519066,0.883586,0.00027981457458,0.872631006597
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000280518405037,0.883586355001,0.000372133536463,0.872631366251
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000386349437868,0.883586598548,0.000478563988478,0.872631618258
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000504790628394,0.883587141094,0.000597706456203,0.872632194063
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000629531596536,0.883587768228,0.000723219705059,0.872632768228
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000760732082223,0.883588162242,0.000855209190293,0.872633243363
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.00091346983037,0.883588410333,0.00100885741846,0.872633410333
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00106926720949,0.8835887,0.00116559659931,0.8726337
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00123618678904,0.883588802348,0.00133351895051,0.872633802348
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00141408856523,0.883589,0.00151250905973,0.872634
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00158851832947,0.883588877197,0.00168800144791,0.872633938599
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00175533879344,0.8835888,0.00185581834842,0.872633836623
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00193459644277,0.883588589003,0.00203621553898,0.872633659335
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00210742874465,0.883588714533,0.00221003206939,0.872633743022
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00228423962392,0.883588356144,0.00238793585354,0.872633356144
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00247084849241,0.8835882,0.00257568896862,0.8726332
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00265063098091,0.8835882,0.00275659978258,0.8726332
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.0028207968551,0.883588031025,0.00292779676792,0.872633031025
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00299980709454,0.883587819543,0.00310782516584,0.872632819543
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00316351177183,0.883588067088,0.00327263770472,0.872633156117
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00332338475055,0.883588804683,0.00343347168063,0.872633816598
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00348792155896,0.883588806503,0.0035989761225,0.872633806503
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00364238810994,0.883589284088,0.00375443252772,0.872634284088
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00378302316526,0.88358949098,0.00389588500434,0.87263449098
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00392836980209,0.88358999279,0.00404214906602,0.87263509279
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00405947897434,0.883589792106,0.00417406986178,0.872634892106
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00417791032944,0.883589680991,0.00429322043164,0.872634790495
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00429338162142,0.883589552504,0.004409434404,0.872634735003
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00439808727486,0.8835898,0.00451477102916,0.8726349
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.0044866684747,0.883589827235,0.00460390083505,0.872634927235
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00456641951621,0.8835899,0.00468413950157,0.872635030245
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00463442746767,0.883589839994,0.00475258307972,0.872635069997
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.0046914083721,0.88358967426,0.00480992063447,0.87263497426
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.0047405915339,0.88358964399,0.00485934321908,0.872634987979
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00478041336446,0.88358984006,0.00489941286912,0.87263534006
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00481460125333,0.8835900857,0.00493378198387,0.8726355857
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00484391952912,0.88358987557,0.00496331535977,0.87263537557
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00486666947875,0.883589614625,0.00498619522996,0.872635114625
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00488331638738,0.883589795421,0.00500294249349,0.872635295421
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00489695500686,0.883589616591,0.00501667789224,0.872635116591
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00490606420241,0.883589817436,0.00502586878185,0.872635317436
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00491164246544,0.883589827318,0.00503148170273,0.872635303091
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491498561769,0.8835896,0.00503489605812,0.872635
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004916457,0.8835895,0.005036364,0.8726349
|
| 62 |
+
60,1.000000000,pose3-hold,0.004916457,0.8835895,0.005036373,0.8726349
|
| 63 |
+
61,1.016666667,pose3-hold,0.004916457,0.8835895,0.00503637631429,0.8726349
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916457,0.8835895,0.00503638225714,0.872634834286
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916457,0.8835895,0.00503638645714,0.8726348
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916457,0.8835895,0.00503638988571,0.8726348
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916457,0.8835895,0.00503639485714,0.8726348
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916457,0.8835895,0.00503639982857,0.8726348
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916457,0.8835895,0.005036404,0.8726348
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916457,0.8835895,0.00503640625714,0.8726348
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916457,0.8835895,0.00503640791429,0.8726348
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916457,0.8835895,0.00503641557143,0.872634828571
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916457,0.8835895,0.00503643291429,0.8726349
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916457,0.8835895,0.00503643954286,0.8726349
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916457,0.8835895,0.00503642302857,0.8726349
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916457,0.8835895,0.005036427,0.8726349
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916457,0.8835895,0.00503643214286,0.8726349
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916457,0.8835895,0.00503643177143,0.8726349
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916457,0.8835895,0.00503643417143,0.8726349
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916457,0.8835895,0.00503643582857,0.8726349
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916457,0.8835895,0.00503643748571,0.8726349
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916457,0.8835895,0.00503644085714,0.8726349
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916457,0.8835895,0.0050364498,0.8726349
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916457,0.8835895,0.00503646045714,0.8726349
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916457,0.8835895,0.00503646171429,0.8726349
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916457,0.8835895,0.00503645757143,0.8726349
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916457,0.8835895,0.00503645557143,0.8726349
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916457,0.8835895,0.00503644957143,0.8726349
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916457,0.8835895,0.00503644722857,0.8726349
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916457,0.8835895,0.0050364514,0.8726349
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916457,0.8835895,0.00503645345714,0.872634902857
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916457,0.8835895,0.00503646671429,0.872634985714
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916457,0.8835895,0.00503644842857,0.872634931429
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916457,0.8835895,0.00503643848571,0.8726349
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916457,0.8835895,0.00503643868571,0.8726349
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916457,0.8835895,0.00503643897143,0.8726349
|
| 97 |
+
95,1.583333333,pose3-hold,0.004916457,0.8835895,0.005036434,0.8726349
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.004916457,0.8835895,0.005036427,0.8726349
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491625925388,0.883589160188,0.00503621473351,0.872634560188
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491633088907,0.883588078131,0.00503628205455,0.872633526476
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491637460392,0.883587682837,0.00503632344414,0.872633154435
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491639994384,0.883587453699,0.00503634743618,0.872632938776
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491641536864,0.883586836045,0.00503636436591,0.872632336045
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491639923492,0.883586371176,0.00503635206053,0.872631871176
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491637678461,0.883585724302,0.00503633493742,0.872631224302
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491636852318,0.883585486261,0.00503632863632,0.872630986261
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491632805871,0.883584320336,0.0050362977736,0.872629820336
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.0049163312534,0.883583152626,0.00503630085615,0.872628640412
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491641445204,0.883580618415,0.00503636684127,0.872626058385
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491640584024,0.88357197404,0.00503637571121,0.87261737404
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491608540532,0.8835541903,0.00503604945035,0.872599673383
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491631835839,0.883517936475,0.00503627539487,0.872563431969
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.004916099423,0.883466470432,0.00503605850095,0.872511870432
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491593401448,0.883396041798,0.00503587862501,0.872441363433
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491613483344,0.883310247914,0.005036056898,0.872355647914
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.00491580995871,0.883208627321,0.00503580208131,0.872254027321
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491566310176,0.88310035081,0.00503562663738,0.87214575081
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491538251884,0.882984715283,0.00503535758543,0.872030115283
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.0049152694563,0.882856027079,0.00503524297779,0.871901333598
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00491525693741,0.882716625681,0.00503524330317,0.871762025681
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.00491569158427,0.882573088516,0.00503568082768,0.871618488516
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00491589913741,0.882416497758,0.00503588990429,0.871461859414
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491633077829,0.882246539721,0.0050363101467,0.871291839721
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122,2.033333333,pose3-to-pose4-insert,0.00491682997863,0.88208370641,0.00503681667802,0.87112900641
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123,2.050000000,pose3-to-pose4-insert,0.00491721033746,0.881911741563,0.00503720833746,0.870957041563
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124,2.066666667,pose3-to-pose4-insert,0.00491747952308,0.881732687915,0.00503748057224,0.870777987915
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125,2.083333333,pose3-to-pose4-insert,0.00491792500308,0.881560168405,0.00503793395523,0.870605391159
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126,2.100000000,pose3-to-pose4-insert,0.004918256665,0.881380262682,0.00503825396017,0.870425462682
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127,2.116666667,pose3-to-pose4-insert,0.00491883799991,0.881185055028,0.00503883199991,0.870230163821
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128,2.133333333,pose3-to-pose4-insert,0.00491919437195,0.88099963685,0.00503915688047,0.87004473685
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129,2.150000000,pose3-to-pose4-insert,0.00491873092107,0.880819971075,0.0050387179981,0.869864974493
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130,2.166666667,pose3-to-pose4-insert,0.00491855013383,0.880631753638,0.00503857238519,0.869676753638
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131,2.183333333,pose3-to-pose4-insert,0.00491835868258,0.880447327442,0.00503835786058,0.869492318542
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132,2.200000000,pose3-to-pose4-insert,0.00491790982086,0.880274109682,0.00503791223174,0.869319009682
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133,2.216666667,pose3-to-pose4-insert,0.0049176078204,0.880098024163,0.00503762391621,0.869142924163
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134,2.233333333,pose3-to-pose4-insert,0.0049176028541,0.87990901946,0.00503761682124,0.86895388599
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135,2.250000000,pose3-to-pose4-insert,0.00491727338096,0.879736454476,0.00503726585988,0.868781208467
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136,2.266666667,pose3-to-pose4-insert,0.00491717548871,0.879577073552,0.00503711446942,0.868621828868
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137,2.283333333,pose3-to-pose4-insert,0.00491725518553,0.879422190553,0.00503722676427,0.868466990553
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138,2.300000000,pose3-to-pose4-insert,0.00491727661185,0.879285432464,0.00503727864381,0.868330158263
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139,2.316666667,pose3-to-pose4-insert,0.00491719651774,0.879173304299,0.00503715893819,0.868217868932
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140,2.333333333,pose3-to-pose4-insert,0.00491721909139,0.879060817363,0.00503718095623,0.868105248652
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142,2.366666667,pose3-to-pose4-insert,0.00491749492795,0.878871324916,0.00503748472926,0.867915724916
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153,2.550000000,pose3-to-pose4-insert,0.0049181969778,0.87840209778,0.00503819076201,0.86744669778
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Free/s1/ball_0050_15/width_05/pick/camera_frames_60hz.tar
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Free/s1/ball_0050_15/width_05/pick/fem_node.csv
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The diff for this file is too large to render.
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Free/s1/ball_0050_15/width_05/pick/franka_data.csv
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aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
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|
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|
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| 193 |
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| 194 |
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| 195 |
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195,3.250000000,pose2-hold,1.7930201306e+18,camera_frames_60hz/WAIT_POSE2/camera_00003879_1793020130601086770_real.jpg,0.675887140062,-0.00536876735488,0.134518768055,0.99999992049,0.00011151329298,-0.000375122534945,-7.660365055e-05,0.0455024018884
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196,3.266666667,pose2-hold,1.79302013061e+18,camera_frames_60hz/WAIT_POSE2/camera_00003879_1793020130601086770_real.jpg,0.675887933286,-0.005369930869,0.13451904528,0.999999920947,0.000110170983803,-0.000374397214867,-7.61194848427e-05,0.0455024018884
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198,3.300000000,pose2-hold,1.79302013065e+18,camera_frames_60hz/WAIT_POSE2/camera_00003880_1793020130632427891_interpolated.jpg,0.67588850945,-0.00537226569518,0.134519694193,0.999999921481,0.000108717481138,-0.000373528812919,-7.54698530813e-05,0.0455024018884
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199,3.316666667,pose2-hold,1.79302013066e+18,camera_frames_60hz/WAIT_POSE2/camera_00003881_1793020130663769013_real.jpg,0.675887641772,-0.00537198363013,0.134519166743,0.999999921017,0.00011039041496,-0.00037425288225,-7.559137203e-05,0.0455024018884
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| 202 |
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| 203 |
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201,3.350000000,pose2-hold,1.7930201307e+18,camera_frames_60hz/WAIT_POSE2/camera_00003883_1793020130703113532_real.jpg,0.675889111953,-0.00537214155939,0.134522638266,0.999999921859,0.000111006989259,-0.000371902661142,-7.51457553363e-05,0.0455024018884
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| 205 |
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| 206 |
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|
| 207 |
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205,3.416666667,pose2-hold,1.79302013076e+18,camera_frames_60hz/WAIT_POSE2/camera_00003885_1793020130763882909_real.jpg,0.675889228908,-0.00537450515559,0.134520798759,0.999999922282,0.00010636290557,-0.00037212056786,-7.51654420467e-05,0.0455024018884
|
Free/s1/ball_0050_15/width_05/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-05,0.8455893,7.062284e-06,0.8346294
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.25474681386e-05,0.8455895,7.02506248291e-06,0.834629584339
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.25865926003e-05,0.845589548619,6.98529011978e-06,0.834629648619
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.26267149956e-05,0.845589605321,6.94370140857e-06,0.834629705321
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.27205923635e-05,0.845589737991,6.84639319171e-06,0.834629837991
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.27460130711e-05,0.845589908874,6.81956000342e-06,0.834629981656
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.27323115928e-05,0.845589989697,6.83340332571e-06,0.834630042273
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.26960431137e-05,0.845590234343,6.869128736e-06,0.834630234343
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.26944346825e-05,0.845590323887,6.86835888284e-06,0.834630323887
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.26937170191e-05,0.84559036384,6.86801538326e-06,0.83463036384
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.26865126701e-05,0.845590764917,6.86456712214e-06,0.834630764917
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.2682506783e-05,0.845590987931,6.86264976014e-06,0.834630987931
|
| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.26834424163e-05,0.845591323712,6.86921145506e-06,0.834631366874
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.26849176849e-05,0.845591738114,6.87774425382e-06,0.834631836529
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.26867504673e-05,0.84559225294,6.88834487524e-06,0.834632419999
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.26873028428e-05,0.845592408102,6.89153975709e-06,0.834632595849
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,-8.26988587159e-05,0.845593895594,6.86439725045e-06,0.834634037444
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,-8.26265848148e-05,0.845596892998,6.93693523407e-06,0.834636992998
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,-8.27453711352e-05,0.845604215262,6.83363941718e-06,0.834644215262
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,-8.26750574347e-05,0.84561852014,6.88899433557e-06,0.83465852014
|
| 22 |
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20,0.333333333,pose1-to-pose2-lift,-8.26550566322e-05,0.845639926263,6.90533430666e-06,0.834679926263
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| 23 |
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21,0.350000000,pose1-to-pose2-lift,-8.26185468944e-05,0.845672275185,6.93556005484e-06,0.834712296952
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,-8.27570743155e-05,0.845714243403,6.80728920817e-06,0.834754243403
|
| 25 |
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23,0.383333333,pose1-to-pose2-lift,-8.3001371923e-05,0.845762888925,6.56478826066e-06,0.834802888925
|
| 26 |
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24,0.400000000,pose1-to-pose2-lift,-8.30809752326e-05,0.84581940141,6.50089708209e-06,0.83485940141
|
| 27 |
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25,0.416666667,pose1-to-pose2-lift,-8.31276026182e-05,0.84588139982,6.44139401783e-06,0.83492139982
|
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|
| 149 |
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| 150 |
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148,2.466666667,pose1-to-pose2-lift,-8.22794020454e-05,0.883301215423,7.13439337617e-06,0.872345958314
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154,2.566666667,pose1-to-pose2-lift,-8.21771379014e-05,0.883479654529,7.39417973365e-06,0.872524128804
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155,2.583333333,pose1-to-pose2-lift,-8.22689063157e-05,0.88349959385,7.24846026472e-06,0.87254409385
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164,2.733333333,pose1-to-pose2-lift,-8.22923132062e-05,0.883573235662,7.13563354358e-06,0.8726182046
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165,2.750000000,pose1-to-pose2-lift,-8.22811397951e-05,0.883577065417,7.21240464502e-06,0.87262191451
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167,2.783333333,pose1-to-pose2-lift,-8.23656566573e-05,0.883583455632,7.14537309102e-06,0.872628162586
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178,2.966666667,pose2-hold,-8.239633e-05,0.8835851,6.97821775e-06,0.8726304
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179,2.983333333,pose2-hold,-8.239633e-05,0.8835851,6.97501605556e-06,0.8726304
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186,3.100000000,pose2-hold,-8.239633e-05,0.8835851,6.91137566667e-06,0.8726303
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189,3.150000000,pose2-hold,-8.239633e-05,0.8835851,6.91491177778e-06,0.8726303
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191,3.183333333,pose2-hold,-8.239633e-05,0.8835851,6.91434266667e-06,0.8726303
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192,3.200000000,pose2-hold,-8.239633e-05,0.8835851,6.91685466667e-06,0.8726303
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193,3.216666667,pose2-hold,-8.239633e-05,0.8835851,6.922075e-06,0.8726303
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195,3.250000000,pose2-hold,-8.239633e-05,0.8835851,6.93820877778e-06,0.8726303
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205,3.416666667,pose2-hold,-8.239633e-05,0.8835851,6.932431e-06,0.8726302
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Free/s1/ball_0050_15/width_06/insert/camera_frames_60hz.tar
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ADDED
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Free/s1/ball_0050_15/width_06/insert/franka_data.csv
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Free/s1/ball_0050_15/width_06/insert/simulation_data.csv
ADDED
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.17945e-05,0.883586,7.208858e-06,0.8726311
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.13813654818e-05,0.883585999785,7.64074250019e-06,0.872630999785
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.11556772553e-05,0.88358608469,7.86960274935e-06,0.87263108469
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.09594838665e-05,0.8835861,8.06857482091e-06,0.872631109346
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.06681067029e-05,0.8835861,8.36408699597e-06,0.872631126858
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.99470013692e-05,0.8835861,9.09542572903e-06,0.872631170198
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.96692843935e-05,0.8835861,9.37708386084e-06,0.872631186889
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.89943197891e-05,0.883586059108,1.00582855485e-05,0.872631145477
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.85736771953e-05,0.883586021454,1.04818207033e-05,0.872631095272
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.79561079479e-05,0.883585966172,1.11036366837e-05,0.872631021563
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.73225165269e-05,0.883585909457,1.17415850146e-05,0.872630945942
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.45645872472e-05,0.883585827285,1.45284985233e-05,0.872630827285
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.43238263699e-05,0.883586113861,2.48763469337e-05,0.872631113861
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-4.52505445333e-05,0.883586162649,4.40110801873e-05,0.872631183532
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-1.16489526051e-05,0.883586484298,7.78170735682e-05,0.8726315
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,3.69463064578e-05,0.883586481766,0.000126689599364,0.872631381766
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000101866606398,0.883586696516,0.000192000123203,0.872631693033
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000177760963698,0.883586834511,0.000268354116029,0.872631834511
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000270182895338,0.883587265993,0.00036143088262,0.872632265993
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000373311687173,0.88358771816,0.000465150367492,0.87263271816
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000491605042054,0.883588132907,0.00058413429675,0.872633132907
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000622182620852,0.883588496018,0.000715475934194,0.872633496018
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000765071103718,0.88358920456,0.000859227764264,0.872634288653
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000911231385818,0.883589699141,0.00100627131341,0.872634699141
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00106643076527,0.883589631548,0.00116238746915,0.872634631548
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00122753646321,0.883589827596,0.00132449365892,0.872634827596
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00139270676969,0.883589789282,0.00149066874605,0.872634789282
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00156184270623,0.883589732803,0.00166082082087,0.872634732803
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00173585333879,0.8835899,0.00183585853217,0.8726349
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00190638338407,0.8835899,0.0020074395634,0.8726349
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00207996860056,0.883590230986,0.00218210527479,0.872635230986
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00225725452153,0.883590325798,0.00236047761633,0.872635267731
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00243822794977,0.883590262631,0.0025425498195,0.872635162631
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00262361177002,0.883590230214,0.0027290537293,0.8726352
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00280972771486,0.883590512345,0.00291634075959,0.872635512345
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00298592683206,0.883590353817,0.00309356433612,0.872635271756
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00315668786137,0.883590215109,0.00326541538301,0.872635115109
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00332169007821,0.8835896782,0.00343142900272,0.872634665167
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00347928310254,0.8835896,0.00358999171454,0.8726346
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00363297841775,0.883589149768,0.0037446175363,0.872634149768
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00378150654282,0.883588911848,0.00389406058971,0.872633911848
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00391832053135,0.8835889,0.00403168029775,0.8726339
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00404494933781,0.8835889,0.00415912409856,0.8726339
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00416455031502,0.883588996922,0.00427947369507,0.872633996922
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00427302072843,0.883589582084,0.00438861963226,0.872634679098
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00437505523526,0.883589301738,0.00449128766073,0.872634401738
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00446851633724,0.883589104144,0.00458531509681,0.872634204144
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00454849632281,0.8835892,0.00466579620189,0.872634304756
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00461716244676,0.883589208365,0.00473488586757,0.872634410039
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00467787044957,0.8835897,0.00479591264097,0.872635000059
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.0047278897089,0.8835897,0.00484623630963,0.872635094304
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00477071355735,0.883589521774,0.00488934054969,0.872635010887
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00480819262375,0.883589677206,0.00492703591848,0.872635088603
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00483827129712,0.883589787323,0.00495728237944,0.872635361968
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486059362017,0.883589641206,0.00497974471576,0.872635161809
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00487887062271,0.8835896,0.0049981356602,0.8726351
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489181479849,0.8835896,0.00501118763852,0.8726351
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490105121454,0.883589542565,0.0050205081622,0.872634985131
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00490765174729,0.883589548448,0.00502716600228,0.872634948448
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491243874376,0.8835896,0.0050319941964,0.872635
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491505920595,0.883589743392,0.00503462720595,0.872635071696
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.004916439,0.8835899,0.005036019,0.8726352
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916439,0.8835899,0.005036023,0.8726352
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916439,0.8835899,0.00503602739394,0.8726352
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+
64,1.066666667,pose3-hold,0.004916439,0.8835899,0.00503603178788,0.8726352
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+
65,1.083333333,pose3-hold,0.004916439,0.8835899,0.00503604,0.8726352
|
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+
66,1.100000000,pose3-hold,0.004916439,0.8835899,0.00503604606061,0.8726352
|
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+
67,1.116666667,pose3-hold,0.004916439,0.8835899,0.00503605115152,0.8726352
|
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+
68,1.133333333,pose3-hold,0.004916439,0.8835899,0.00503605790909,0.8726352
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+
69,1.150000000,pose3-hold,0.004916439,0.8835899,0.00503606406061,0.8726352
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70,1.166666667,pose3-hold,0.004916439,0.8835899,0.00503607036364,0.8726352
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+
71,1.183333333,pose3-hold,0.004916439,0.8835899,0.00503608090909,0.8726352
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+
72,1.200000000,pose3-hold,0.004916439,0.8835899,0.0050360930303,0.8726352
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+
73,1.216666667,pose3-hold,0.004916439,0.8835899,0.00503608466667,0.8726352
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+
74,1.233333333,pose3-hold,0.004916439,0.8835899,0.00503609318182,0.872635254545
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+
75,1.250000000,pose3-hold,0.004916439,0.8835899,0.00503610330303,0.8726353
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+
76,1.266666667,pose3-hold,0.004916439,0.8835899,0.00503610312121,0.872635269697
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+
77,1.283333333,pose3-hold,0.004916439,0.8835899,0.00503610745455,0.8726352
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+
78,1.300000000,pose3-hold,0.004916439,0.8835899,0.00503610524242,0.8726352
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79,1.316666667,pose3-hold,0.004916439,0.8835899,0.00503610875758,0.8726352
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80,1.333333333,pose3-hold,0.004916439,0.8835899,0.00503611636364,0.8726352
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+
81,1.350000000,pose3-hold,0.004916439,0.8835899,0.00503612636364,0.8726352
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82,1.366666667,pose3-hold,0.004916439,0.8835899,0.00503612827273,0.872635257576
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+
83,1.383333333,pose3-hold,0.004916439,0.8835899,0.00503612654545,0.8726353
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84,1.400000000,pose3-hold,0.004916439,0.8835899,0.00503612533333,0.8726353
|
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85,1.416666667,pose3-hold,0.004916439,0.8835899,0.00503612357576,0.8726353
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86,1.433333333,pose3-hold,0.004916439,0.8835899,0.005036124,0.8726353
|
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87,1.450000000,pose3-hold,0.004916439,0.8835899,0.00503614333333,0.8726353
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88,1.466666667,pose3-hold,0.004916439,0.8835899,0.00503612109091,0.8726353
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89,1.483333333,pose3-hold,0.004916439,0.8835899,0.00503612063636,0.8726353
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90,1.500000000,pose3-hold,0.004916439,0.8835899,0.00503611472727,0.8726353
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91,1.516666667,pose3-hold,0.004916439,0.8835899,0.00503610660606,0.8726353
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92,1.533333333,pose3-hold,0.004916439,0.8835899,0.00503610227273,0.8726353
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93,1.550000000,pose3-hold,0.004916439,0.8835899,0.00503609954545,0.8726353
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94,1.566666667,pose3-hold,0.004916439,0.8835899,0.005036099,0.8726353
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95,1.583333333,pose3-hold,0.004916439,0.8835899,0.005036128,0.8726353
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96,1.600000000,pose3-to-pose4-insert,0.004916253,0.8835898,0.005035925,0.8726352
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97,1.616666667,pose3-to-pose4-insert,0.00491634929982,0.883589563406,0.00503606017663,0.872635054257
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98,1.633333333,pose3-to-pose4-insert,0.00491635780218,0.883589491045,0.00503605854852,0.872634963807
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99,1.650000000,pose3-to-pose4-insert,0.0049163885876,0.883589229042,0.00503605265344,0.872634636302
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100,1.666666667,pose3-to-pose4-insert,0.00491638138357,0.883589072902,0.00503604100975,0.872634472902
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+
101,1.683333333,pose3-to-pose4-insert,0.00491634442424,0.883588630431,0.00503600274904,0.872634030431
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102,1.700000000,pose3-to-pose4-insert,0.00491628119025,0.883587873404,0.0050359372885,0.872633273404
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103,1.716666667,pose3-to-pose4-insert,0.00491625577693,0.883587228144,0.0050359136654,0.872632628144
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104,1.733333333,pose3-to-pose4-insert,0.00491626702421,0.883586698861,0.00503593053631,0.872632098861
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105,1.750000000,pose3-to-pose4-insert,0.00491626838944,0.883586634615,0.00503593258416,0.872632034615
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106,1.766666667,pose3-to-pose4-insert,0.00491627117625,0.883586503471,0.00503593676437,0.872631903471
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107,1.783333333,pose3-to-pose4-insert,0.00491631540207,0.883584422256,0.0050360031031,0.872629822256
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108,1.800000000,pose3-to-pose4-insert,0.00491637354372,0.883578844813,0.00503604369853,0.872624343999
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109,1.816666667,pose3-to-pose4-insert,0.00491612808651,0.883565065626,0.00503575557176,0.872610565626
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110,1.833333333,pose3-to-pose4-insert,0.00491619074045,0.883540266986,0.00503581395991,0.872585766986
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111,1.850000000,pose3-to-pose4-insert,0.00491632276649,0.883498548452,0.00503595923181,0.872543948452
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112,1.866666667,pose3-to-pose4-insert,0.00491640162643,0.883437094275,0.00503604995611,0.872482494275
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113,1.883333333,pose3-to-pose4-insert,0.00491652804844,0.883356012341,0.0050361016511,0.872401412341
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114,1.900000000,pose3-to-pose4-insert,0.0049165031531,0.88325893784,0.00503615542357,0.87230443784
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115,1.916666667,pose3-to-pose4-insert,0.00491675772763,0.88314930133,0.00503641664973,0.87219480133
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116,1.933333333,pose3-to-pose4-insert,0.00491647226705,0.883031713441,0.00503614051811,0.872077163417
|
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117,1.950000000,pose3-to-pose4-insert,0.00491671524124,0.882906778874,0.0050363650115,0.871952174081
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118,1.966666667,pose3-to-pose4-insert,0.00491689790772,0.882773273688,0.00503648697591,0.871818773688
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119,1.983333333,pose3-to-pose4-insert,0.00491699151982,0.882630658009,0.00503669425843,0.871676158009
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120,2.000000000,pose3-to-pose4-insert,0.00491696736206,0.882479525746,0.00503670036206,0.871524931114
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121,2.016666667,pose3-to-pose4-insert,0.0049171440878,0.882322650783,0.00503684968258,0.871368050783
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122,2.033333333,pose3-to-pose4-insert,0.00491724948305,0.88216542304,0.00503695061804,0.871210814051
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123,2.050000000,pose3-to-pose4-insert,0.00491724595093,0.882005108769,0.00503698993872,0.871050408769
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124,2.066666667,pose3-to-pose4-insert,0.00491741470541,0.881837905232,0.00503716438176,0.870883191564
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125,2.083333333,pose3-to-pose4-insert,0.00491737217994,0.881662824814,0.00503710824675,0.870708024814
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126,2.100000000,pose3-to-pose4-insert,0.00491743225727,0.881477620966,0.00503717300308,0.870522795547
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127,2.116666667,pose3-to-pose4-insert,0.00491733470506,0.881288679394,0.00503707470506,0.870333779394
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128,2.133333333,pose3-to-pose4-insert,0.00491723625646,0.881093316827,0.00503697449332,0.870138416827
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129,2.150000000,pose3-to-pose4-insert,0.00491735878078,0.880897229732,0.00503710455555,0.869942275427
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130,2.166666667,pose3-to-pose4-insert,0.00491765861949,0.880710406198,0.00503743226918,0.869755406198
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131,2.183333333,pose3-to-pose4-insert,0.00491786923457,0.880525973641,0.00503764656926,0.869570909205
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132,2.200000000,pose3-to-pose4-insert,0.00491796277769,0.880332918275,0.00503771043205,0.869377818275
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133,2.216666667,pose3-to-pose4-insert,0.00491832532845,0.88014969057,0.00503807379239,0.86919459057
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134,2.233333333,pose3-to-pose4-insert,0.00491818804903,0.879972161506,0.00503795299863,0.869017061506
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135,2.250000000,pose3-to-pose4-insert,0.00491815232073,0.879793383031,0.00503792117751,0.868838267788
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136,2.266666667,pose3-to-pose4-insert,0.00491804761106,0.879630715193,0.00503780363358,0.868675415193
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137,2.283333333,pose3-to-pose4-insert,0.00491810533551,0.879486597842,0.00503786286389,0.868531278555
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138,2.300000000,pose3-to-pose4-insert,0.00491807462959,0.879348716758,0.00503779550551,0.868393340047
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139,2.316666667,pose3-to-pose4-insert,0.00491803853941,0.879224974709,0.00503767472614,0.868269674709
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140,2.333333333,pose3-to-pose4-insert,0.00491800920772,0.879116447328,0.0050376080336,0.868161147328
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141,2.350000000,pose3-to-pose4-insert,0.00491759591922,0.879012866811,0.00503720727551,0.868057553113
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142,2.366666667,pose3-to-pose4-insert,0.00491748296843,0.87891534243,0.00503710485887,0.86795994243
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+
143,2.383333333,pose3-to-pose4-insert,0.00491744205055,0.878828475937,0.00503719365491,0.867873062749
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144,2.400000000,pose3-to-pose4-insert,0.00491711459584,0.878747091092,0.00503684880371,0.867791608293
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145,2.416666667,pose3-to-pose4-insert,0.00491701498623,0.878674194784,0.00503668804228,0.867718746898
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146,2.433333333,pose3-to-pose4-insert,0.0049169517306,0.878611521799,0.00503666884606,0.867655921799
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147,2.450000000,pose3-to-pose4-insert,0.00491681104886,0.878560185853,0.00503654068944,0.867604585853
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148,2.466666667,pose3-to-pose4-insert,0.00491669012433,0.878518162492,0.00503638265015,0.867562562492
|
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+
149,2.483333333,pose3-to-pose4-insert,0.0049166389548,0.878486336444,0.00503630779214,0.867530736444
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150,2.500000000,pose3-to-pose4-insert,0.00491637393668,0.878460430727,0.00503603290183,0.867504810157
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151,2.516666667,pose3-to-pose4-insert,0.00491641286958,0.87844086543,0.00503608999089,0.8674851743
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152,2.533333333,pose3-to-pose4-insert,0.00491661049038,0.878425602752,0.00503623908872,0.867469999846
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153,2.550000000,pose3-to-pose4-insert,0.00491659806317,0.878414168285,0.00503621989858,0.867458568285
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154,2.566666667,pose3-to-pose4-insert,0.00491656033674,0.878405909857,0.00503619756209,0.867450309857
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155,2.583333333,pose3-to-pose4-insert,0.00491647065241,0.878400128494,0.00503610086265,0.867444589398
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156,2.600000000,pose3-to-pose4-insert,0.00491635549674,0.878395716558,0.00503600806493,0.867440216558
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157,2.616666667,pose3-to-pose4-insert,0.00491644728126,0.878393162684,0.00503611605516,0.867437757353
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158,2.633333333,pose3-to-pose4-insert,0.004916628,0.8783924,0.005036267,0.8674367
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159,2.650000000,pose4-hold,0.004916628,0.8783924,0.005036262,0.8674367
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160,2.666666667,pose4-hold,0.004916628,0.8783924,0.00503627223529,0.8674367
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161,2.683333333,pose4-hold,0.004916628,0.8783924,0.00503627188235,0.8674367
|
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162,2.700000000,pose4-hold,0.004916628,0.8783924,0.00503627267647,0.867436755882
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163,2.716666667,pose4-hold,0.004916628,0.8783924,0.00503627647059,0.8674368
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164,2.733333333,pose4-hold,0.004916628,0.8783924,0.00503627841176,0.867436773529
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165,2.750000000,pose4-hold,0.004916628,0.8783924,0.00503627447059,0.8674367
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166,2.766666667,pose4-hold,0.004916628,0.8783924,0.00503627788235,0.8674367
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167,2.783333333,pose4-hold,0.004916628,0.8783924,0.00503627882353,0.8674367
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168,2.800000000,pose4-hold,0.004916628,0.8783924,0.00503628035294,0.8674367
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169,2.816666667,pose4-hold,0.004916628,0.8783924,0.00503628417647,0.8674367
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170,2.833333333,pose4-hold,0.004916628,0.8783924,0.005036287,0.8674367
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171,2.850000000,pose4-hold,0.004916628,0.8783924,0.00503628794118,0.8674367
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172,2.866666667,pose4-hold,0.004916628,0.8783924,0.00503629038235,0.8674367
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173,2.883333333,pose4-hold,0.004916628,0.8783924,0.00503628441176,0.8674367
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174,2.900000000,pose4-hold,0.004916628,0.8783924,0.00503628558824,0.8674367
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175,2.916666667,pose4-hold,0.004916628,0.8783924,0.00503628535294,0.867436764706
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176,2.933333333,pose4-hold,0.004916628,0.8783924,0.0050362845,0.8674368
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177,2.950000000,pose4-hold,0.004916628,0.8783924,0.00503628541176,0.8674368
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178,2.966666667,pose4-hold,0.004916628,0.8783924,0.00503628552941,0.8674368
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179,2.983333333,pose4-hold,0.004916628,0.8783924,0.00503627770588,0.8674368
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180,3.000000000,pose4-hold,0.004916628,0.8783924,0.00503630244118,0.8674368
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181,3.016666667,pose4-hold,0.004916628,0.8783924,0.00503629964706,0.8674368
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182,3.033333333,pose4-hold,0.004916628,0.8783924,0.00503629676471,0.8674368
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183,3.050000000,pose4-hold,0.004916628,0.8783924,0.00503631388235,0.867436847059
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184,3.066666667,pose4-hold,0.004916628,0.8783924,0.005036323,0.8674369
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185,3.083333333,pose4-hold,0.004916628,0.8783924,0.00503631111765,0.8674369
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186,3.100000000,pose4-hold,0.004916628,0.8783924,0.00503636317647,0.867436897059
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187,3.116666667,pose4-hold,0.004916628,0.8783924,0.00503636829412,0.867436811765
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188,3.133333333,pose4-hold,0.004916628,0.8783924,0.00503634473529,0.8674368
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189,3.150000000,pose4-hold,0.004916628,0.8783924,0.00503632658824,0.8674368
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190,3.166666667,pose4-hold,0.004916628,0.8783924,0.00503631558824,0.8674368
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191,3.183333333,pose4-hold,0.004916628,0.8783924,0.00503630852941,0.8674368
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192,3.200000000,pose4-hold,0.004916628,0.8783924,0.00503630441176,0.8674368
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193,3.216666667,pose4-hold,0.004916628,0.8783924,0.005036301,0.8674368
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194,3.233333333,pose4-to-pose5-return,0.004916628,0.8783924,0.005036308,0.8674367
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195,3.250000000,pose4-to-pose5-return,0.00491638407695,0.878392735189,0.00503606452574,0.867437126392
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196,3.266666667,pose4-to-pose5-return,0.00491625757347,0.878393014755,0.00503591775376,0.867437336066
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197,3.283333333,pose4-to-pose5-return,0.00491590100415,0.87839334733,0.00503555217752,0.86743764733
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198,3.300000000,pose4-to-pose5-return,0.00491539459623,0.878393741203,0.0050350412682,0.867438041203
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199,3.316666667,pose4-to-pose5-return,0.00491486961458,0.878394263787,0.0050345124413,0.867438563787
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200,3.333333333,pose4-to-pose5-return,0.00491443575746,0.878394711549,0.00503407552055,0.867439011549
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201,3.350000000,pose4-to-pose5-return,0.00491392737895,0.878395236219,0.00503356355219,0.867439536219
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202,3.366666667,pose4-to-pose5-return,0.00491363522778,0.878395537733,0.00503326933803,0.867439837733
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203,3.383333333,pose4-to-pose5-return,0.00491359330184,0.878395581003,0.00503322711603,0.867439881003
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Free/s1/ball_0050_15/width_06/pick/fem_node.csv
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Free/s1/ball_0050_15/width_06/pick/franka_data.csv
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,1.79302015026e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004663_1793020150263832798_real.jpg,0.675914795794,-0.00546357345209,0.0968548551944,0.999999953691,0.000128487486172,-0.000257323978675,9.94636082216e-05,0.0451517440379
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79302015028e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004664_1793020150283228766_interpolated.jpg,0.67591434689,-0.00546486629955,0.0968541012847,0.999999953566,0.000128216363969,-0.0002577447758,9.99805202475e-05,0.0451517440379
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.7930201503e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004665_1793020150302624734_real.jpg,0.675916136898,-0.00546330037683,0.0968572909814,0.999999954306,0.000128377031292,-0.000254939037316,9.95674636647e-05,0.0451517440379
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79302015031e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004665_1793020150302624734_real.jpg,0.675916213491,-0.00546213720428,0.0968573866957,0.999999954263,0.00012878137414,-0.000255088326861,9.90947763597e-05,0.0451062661295
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79302015033e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004666_1793020150333373339_interpolated.jpg,0.675915242043,-0.00546144282076,0.0968555993889,0.999999953756,0.000129263223164,-0.000256984575229,9.86817327803e-05,0.0450386377239
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79302015035e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004666_1793020150333373339_interpolated.jpg,0.675916039109,-0.00546338780778,0.0968562280538,0.999999954028,0.000128662373966,-0.000255924346357,9.94616186795e-05,0.0450269766152
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79302015036e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004667_1793020150364121945_real.jpg,0.675917204659,-0.00546588273084,0.096857360104,0.999999954459,0.000127835935709,-0.000254248113058,0.000100490061598,0.0450269766152
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79302015038e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004668_1793020150382746384_interpolated.jpg,0.675917689077,-0.00546101296921,0.0968597064052,0.999999954948,0.00012940481442,-0.000252489814196,9.80172168844e-05,0.0450269766152
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.7930201504e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004669_1793020150401370823_real.jpg,0.675915975041,-0.00546119908988,0.0968569027952,0.999999954222,0.000128807603662,-0.000255477008908,9.84639734483e-05,0.0450269766152
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79302015042e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004669_1793020150401370823_real.jpg,0.675915951229,-0.00546235678004,0.0968561824701,0.999999954037,0.000129230054406,-0.000255731979867,9.91349098128e-05,0.0450269766152
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79302015043e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004670_1793020150432788832_interpolated.jpg,0.675916612688,-0.0054635696556,0.0968564369713,0.999999954097,0.000130112675568,-0.000254815466393,9.97247451285e-05,0.0450269766152
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,1.79302015045e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004670_1793020150432788832_interpolated.jpg,0.675914734384,-0.00546306032672,0.0968544388818,0.999999953264,0.000129950796474,-0.000258217648728,9.95449296391e-05,0.0450269766152
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,1.79302015052e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004673_1793020150500994589_real.jpg,0.675913669283,-0.00546171421251,0.0968569226062,0.999999952232,0.000129414072176,-0.000263205767556,9.7522128356e-05,0.0450189872421
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79302015053e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004674_1793020150532649411_interpolated.jpg,0.675912456717,-0.005463642589,0.0968568965485,0.999999951323,0.000129030595134,-0.000267115399799,9.67139078019e-05,0.0450086151882
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.79302015055e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004674_1793020150532649411_interpolated.jpg,0.675909559086,-0.00546315542065,0.0968574014045,0.999999949809,0.000128313844557,-0.000273390193046,9.57866890628e-05,0.0450072772801
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79302015056e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004675_1793020150564304233_real.jpg,0.675906411898,-0.00546231052126,0.0968579848873,0.999999948164,0.000127547736223,-0.000280015268905,9.4841845183e-05,0.0450072772801
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.79302015058e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004676_1793020150582774121_interpolated.jpg,0.67590406879,-0.00545846086465,0.0968639060292,0.999999946783,0.000127443449216,-0.000286041008331,9.15069160517e-05,0.0450072772801
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.7930201506e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004677_1793020150601244010_real.jpg,0.675891042541,-0.0054556203089,0.0968736320412,0.999999938095,0.000126109235988,-0.00031757577334,8.39761523962e-05,0.0450072772801
|
| 23 |
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21,0.350000000,pose1-to-pose2-lift,1.79302015062e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004677_1793020150601244010_real.jpg,0.67588329385,-0.00545193456204,0.0968977463979,0.999999933353,0.000125945227302,-0.00033439058292,7.49269132853e-05,0.0450072772801
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79302015063e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004678_1793020150632762952_interpolated.jpg,0.675877802715,-0.00544791883891,0.0969263351005,0.999999930325,0.000126224231857,-0.000345130599354,6.5596899628e-05,0.0450072772801
|
| 25 |
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23,0.383333333,pose1-to-pose2-lift,1.79302015065e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004678_1793020150632762952_interpolated.jpg,0.675885935028,-0.00544484109693,0.0969788542701,0.999999935484,0.000125195894128,-0.000332101647481,5.53690046349e-05,0.0450072772801
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79302015066e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004679_1793020150664281895_real.jpg,0.675896208075,-0.00544191073682,0.0970351338709,0.999999941585,0.000123962125163,-0.000315337736634,4.49999967089e-05,0.0450072772801
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.79302015068e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004680_1793020150682938681_interpolated.jpg,0.67589778478,-0.00543591970693,0.0971034116652,0.999999942193,0.000120172546131,-0.00031683270606,2.81102803367e-05,0.0450072772801
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.7930201507e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004681_1793020150701595467_real.jpg,0.675899289288,-0.00543027769892,0.0971402182999,0.999999942585,0.000123086519616,-0.000315186706123,1.83729420804e-05,0.0450072772801
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79302015071e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00004681_1793020150701595467_real.jpg,0.675899275805,-0.00542722066626,0.0972027294108,0.999999942605,0.000118171388956,-0.000317510189801,3.51625431114e-06,0.0450047093197
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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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| 41 |
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| 42 |
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|
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Free/s1/ball_0050_15/width_06/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-05,0.8455893,6.999832e-06,0.8346294
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,-8.27414746856e-05,0.845589935646,6.76509299714e-06,0.834630001734
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.26940055409e-05,0.845590347778,6.81141599988e-06,0.834630347778
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26828096888e-05,0.845590971068,6.80973311606e-06,0.834630971068
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,-8.2684438881e-05,0.845591603618,6.82047022949e-06,0.834631684101
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,-8.26867218998e-05,0.845592244916,6.83196056897e-06,0.834632410904
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.2692477637e-05,0.845593102503,6.82387869259e-06,0.834633277399
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.27008745096e-05,0.845594146133,6.8019628986e-06,0.834634277544
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.27052726809e-05,0.845594692772,6.79048369423e-06,0.834634801407
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.27067020469e-05,0.845594870425,6.78675305643e-06,0.834634971658
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.26567526867e-05,0.845596144764,6.84584175503e-06,0.834636244764
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.26392967071e-05,0.845596577713,6.86660979774e-06,0.834636677713
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.26294269619e-05,0.845596822506,6.87835220889e-06,0.834636922506
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.26024707652e-05,0.845597491083,6.91042302109e-06,0.834637591083
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.26126690291e-05,0.84559879424,6.90537449285e-06,0.834638878813
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.26823283281e-05,0.845600185942,6.83670051855e-06,0.834640239587
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.26938138097e-05,0.845600415406,6.82537749807e-06,0.834640463953
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.27669557045e-05,0.845601876686,6.75327018893e-06,0.834641892759
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.26997456677e-05,0.845605490543,6.82227655922e-06,0.834645490543
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.26170136146e-05,0.84561486921,6.88140022082e-06,0.83465486921
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.27126332678e-05,0.845630558064,6.79953801399e-06,0.834670558064
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.27086281998e-05,0.845654683684,6.79295504404e-06,0.834694683684
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.28113630613e-05,0.845686775895,6.70306535942e-06,0.834726869805
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.28172448419e-05,0.845731502557,6.67813995871e-06,0.834771502557
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.30565217485e-05,0.845782466222,6.46862890607e-06,0.834822466222
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.30922828948e-05,0.84584021908,6.4172279479e-06,0.83488021908
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.32203784395e-05,0.845903548649,6.28917439773e-06,0.834943548649
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.34073147663e-05,0.845970751909,6.09167942492e-06,0.835010751909
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.33667818025e-05,0.846035710795,6.12892530261e-06,0.835075710795
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.35554772136e-05,0.846113668042,5.93759190096e-06,0.835153668042
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.36573857902e-05,0.846198624823,5.84000109824e-06,0.835238720426
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.38561109151e-05,0.8462945697,5.672700522e-06,0.835334482251
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.40042722723e-05,0.846404511828,5.51155881305e-06,0.835444511828
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.41064821607e-05,0.84652591796,5.38864436459e-06,0.83556591796
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.39848293138e-05,0.846646673143,5.49995451492e-06,0.835686673143
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.3401809399e-05,0.846788242477,6.05586790716e-06,0.835828242477
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.31102285624e-05,0.846934728389,6.35793798123e-06,0.835974538004
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.26619213749e-05,0.847085297105,6.8039736953e-06,0.836125297105
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.2160432382e-05,0.847244226872,7.29674186163e-06,0.836284203471
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.17339397262e-05,0.847406455488,7.72000854668e-06,0.836446355488
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.16478304124e-05,0.847554670111,7.82386461318e-06,0.836594588291
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.17339150085e-05,0.847723731598,7.70085479798e-06,0.836763715919
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.18204162963e-05,0.847899453919,7.60600325334e-06,0.836939353919
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.20643252241e-05,0.848088035471,7.35094344944e-06,0.837127946254
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.2331320956e-05,0.848298691452,7.06489939865e-06,0.837338675921
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.24623425267e-05,0.848523684785,6.93009803927e-06,0.837563606944
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.22041114972e-05,0.84873784401,7.17713850947e-06,0.837777824422
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.18079295414e-05,0.84898223383,7.56510225802e-06,0.83802213383
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,-8.12979763284e-05,0.849231708455,8.05234378578e-06,0.83827163809
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.10592686088e-05,0.849489758538,8.27567471337e-06,0.838529758538
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,-8.16069029425e-05,0.849770824692,7.72558900039e-06,0.838810824692
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,-8.26881183929e-05,0.850080966344,6.62008217841e-06,0.839120966344
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,-8.35865847262e-05,0.850391953216,5.68403926877e-06,0.839431953216
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.31475477534e-05,0.850718141631,6.14810215899e-06,0.839758141631
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,-8.232204883e-05,0.851051565805,6.9918893372e-06,0.840091565805
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,-8.15741344177e-05,0.851387800282,7.77699397804e-06,0.840427896736
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,-8.18127719246e-05,0.851728592688,7.52879329487e-06,0.840768692688
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,-8.23510120418e-05,0.85207290838,6.94158848409e-06,0.841113012909
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,-8.27955809292e-05,0.852424244145,6.54189892442e-06,0.841464444145
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,-8.27261743058e-05,0.852772509168,6.59012883463e-06,0.841812709168
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,-8.23435093895e-05,0.853118114692,7.00135294655e-06,0.842158311359
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,-8.22141036487e-05,0.853471679654,7.10043313596e-06,0.84251177985
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,-8.27658737809e-05,0.853843002854,6.52455093553e-06,0.84288320134
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,-8.31493445106e-05,0.854215444663,6.13161522179e-06,0.843255644663
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,-8.29113726703e-05,0.854588710264,6.39758619209e-06,0.843628910264
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,-8.23452813013e-05,0.855001413809,6.89986213815e-06,0.844041709221
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,-8.20651292458e-05,0.855413629192,7.15909365325e-06,0.844454026893
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,-8.25499617835e-05,0.855826878779,6.69198814993e-06,0.844867181246
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,-8.30868106012e-05,0.856261310114,6.19279745172e-06,0.845301710114
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,-8.41199766834e-05,0.856707202704,5.07729976605e-06,0.845747607876
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,-8.48509309468e-05,0.857122651944,4.33139942582e-06,0.846163149814
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,-8.48218568872e-05,0.857583644922,4.39357435069e-06,0.846623964608
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,-8.37393703171e-05,0.858051022352,5.44962960212e-06,0.847091622352
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,-8.34279016462e-05,0.85852274817,5.74984219526e-06,0.847563365701
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,-8.36093868916e-05,0.859019258775,5.54652047918e-06,0.848059958775
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,-8.42743976151e-05,0.859540630305,4.81882710617e-06,0.848581370623
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,-8.48150277739e-05,0.860035716145,4.26203947412e-06,0.849076469165
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,-8.36534084529e-05,0.860518958818,5.46295749589e-06,0.849559709064
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,-8.16341252692e-05,0.860984898041,7.49639824442e-06,0.850025698041
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,-8.11362570467e-05,0.86144185573,7.98448830721e-06,0.850482747208
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,-8.18215176554e-05,0.86189879607,7.29355246449e-06,0.85093979607
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,-8.24330550195e-05,0.862336041135,6.67359109749e-06,0.851377041135
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,-8.31003675989e-05,0.86276800057,5.96291189474e-06,0.851809023951
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,-8.37205106685e-05,0.863240349592,5.28878934352e-06,0.852281449592
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,-8.37713961965e-05,0.863706327318,5.22701068639e-06,0.852747445248
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,-8.37825745855e-05,0.864172083684,5.21345854473e-06,0.853213297945
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,-8.31920164498e-05,0.864667110553,5.79889897406e-06,0.853708427436
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,-8.29378802914e-05,0.865175847956,6.05731182806e-06,0.854217247956
|
| 90 |
+
88,1.466666667,pose1-to-pose2-lift,-8.32711417174e-05,0.865645963008,5.75070448766e-06,0.854687363008
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,-8.30276816978e-05,0.866160242828,6.00605677647e-06,0.855201669467
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,-8.2131953883e-05,0.866671123314,6.90494054085e-06,0.855712656166
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,-8.20428718217e-05,0.867171568601,6.96506910509e-06,0.856213243309
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,-8.3678669894e-05,0.867687017975,5.30087054807e-06,0.856728817975
|
| 95 |
+
93,1.550000000,pose1-to-pose2-lift,-8.43319782679e-05,0.868199528653,4.62212826296e-06,0.857241382513
|
| 96 |
+
94,1.566666667,pose1-to-pose2-lift,-8.40431105174e-05,0.868654743688,4.91307103796e-06,0.857696643688
|
| 97 |
+
95,1.583333333,pose1-to-pose2-lift,-8.32898552736e-05,0.869131265476,5.67049054493e-06,0.858173217894
|
| 98 |
+
96,1.600000000,pose1-to-pose2-lift,-8.19807437707e-05,0.869590321181,7.00937148128e-06,0.858632321181
|
| 99 |
+
97,1.616666667,pose1-to-pose2-lift,-8.14703786412e-05,0.870035912306,7.56492173343e-06,0.859077961295
|
| 100 |
+
98,1.633333333,pose1-to-pose2-lift,-8.20360002552e-05,0.870498271572,6.98365996595e-06,0.859540421709
|
| 101 |
+
99,1.650000000,pose1-to-pose2-lift,-8.27324976222e-05,0.870959890152,6.24897762582e-06,0.8600021424
|
| 102 |
+
100,1.666666667,pose1-to-pose2-lift,-8.29756514752e-05,0.871372101387,6.01442063905e-06,0.860414401387
|
| 103 |
+
101,1.683333333,pose1-to-pose2-lift,-8.29349453697e-05,0.871817144391,6.03801091161e-06,0.860859490182
|
| 104 |
+
102,1.700000000,pose1-to-pose2-lift,-8.306759881e-05,0.872257909682,5.88944234173e-06,0.861300356684
|
| 105 |
+
103,1.716666667,pose1-to-pose2-lift,-8.33621637983e-05,0.872694931103,5.61582698046e-06,0.861737431103
|
| 106 |
+
104,1.733333333,pose1-to-pose2-lift,-8.30840334273e-05,0.873151383665,5.87739882518e-06,0.862193997075
|
| 107 |
+
105,1.750000000,pose1-to-pose2-lift,-8.2251727306e-05,0.873607618516,6.74622451932e-06,0.862650385398
|
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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-05,0.8835843,4.376885e-06,0.8726294
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.44745914059e-05,0.8835844,4.70278035369e-06,0.872629486812
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.40827161024e-05,0.8835844,5.0910628496e-06,0.872629408005
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.34719179053e-05,0.88358433223,5.69982996128e-06,0.87262933223
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.32098113149e-05,0.883584301121,5.96117173454e-06,0.872629301121
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.26610009893e-05,0.883584235983,6.50838065221e-06,0.872629235983
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.24761939874e-05,0.883584214048,6.69264839428e-06,0.872629214048
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.22505035986e-05,0.883584203354,6.91896227417e-06,0.872629203354
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-8.15761973338e-05,0.88358422443,7.59935573635e-06,0.87262922443
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-8.04193810509e-05,0.883584260586,8.76661500236e-06,0.872629260586
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.81561686662e-05,0.883584282413,1.10500716138e-05,0.8726293
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.11787262411e-05,0.883584278041,1.80795615279e-05,0.872629378041
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-5.82025847885e-05,0.883584601206,3.11271852975e-05,0.872629650603
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-3.62852536068e-05,0.883584524754,5.31613598458e-05,0.872629524754
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,3.67856236767e-06,0.883584692633,9.33637655979e-05,0.872629692633
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,5.84825768972e-05,0.88358500514,0.00014850581554,0.87263000514
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.0001252998393,0.883585238021,0.000215718213593,0.872630238021
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000210693327875,0.883585949994,0.000301672556974,0.872630949994
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000309833053355,0.883586228655,0.000401380844451,0.872631228655
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000413125125891,0.883586953463,0.000505280977579,0.872632004617
|
| 22 |
+
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81,1.350000000,pose3-hold,0.004917039,0.8835898,0.00503683064706,0.8726352
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87,1.450000000,pose3-hold,0.004917039,0.8835898,0.00503682461765,0.8726352
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89,1.483333333,pose3-hold,0.004917039,0.8835898,0.00503680905882,0.8726352
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90,1.500000000,pose3-hold,0.004917039,0.8835898,0.00503681270588,0.8726352
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93,1.550000000,pose3-hold,0.004917039,0.8835898,0.00503679714706,0.8726352
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96,1.600000000,pose3-to-pose4-insert,0.00491716601245,0.8835896615,0.00503689639745,0.87263509225
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98,1.633333333,pose3-to-pose4-insert,0.00491716216376,0.883589376535,0.00503688571494,0.872634776535
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100,1.666666667,pose3-to-pose4-insert,0.0049170629295,0.883588243898,0.00503679330462,0.872633643898
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101,1.683333333,pose3-to-pose4-insert,0.00491702967912,0.883587818293,0.00503677096037,0.872633218293
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102,1.700000000,pose3-to-pose4-insert,0.00491699714599,0.88358739542,0.00503674912309,0.872632795563
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103,1.716666667,pose3-to-pose4-insert,0.00491700979548,0.883586998573,0.00503675978835,0.872632411118
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104,1.733333333,pose3-to-pose4-insert,0.00491702733671,0.88358644826,0.00503677457801,0.872631878002
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105,1.750000000,pose3-to-pose4-insert,0.00491704394579,0.883585927191,0.00503678858174,0.872631373216
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106,1.766666667,pose3-to-pose4-insert,0.00491708110808,0.883584761315,0.00503681991466,0.872630243774
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107,1.783333333,pose3-to-pose4-insert,0.00491706353314,0.883582064361,0.00503678275312,0.872627564361
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108,1.800000000,pose3-to-pose4-insert,0.00491702717952,0.883572246143,0.00503674943598,0.872617670502
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109,1.816666667,pose3-to-pose4-insert,0.00491711224053,0.883552298344,0.00503686777947,0.872597769191
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110,1.833333333,pose3-to-pose4-insert,0.0049170767508,0.883515342324,0.00503685310448,0.872560742324
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111,1.850000000,pose3-to-pose4-insert,0.00491676059457,0.883461184477,0.00503652135834,0.872506510954
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112,1.866666667,pose3-to-pose4-insert,0.00491673236625,0.883389242703,0.00503645981672,0.872434642703
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113,1.883333333,pose3-to-pose4-insert,0.00491657088903,0.883304653594,0.00503630610505,0.872350136265
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117,1.950000000,pose3-to-pose4-insert,0.00491591002401,0.882836733397,0.00503558666282,0.871882233397
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120,2.000000000,pose3-to-pose4-insert,0.00491652567675,0.882404636277,0.00503632552913,0.871450036277
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121,2.016666667,pose3-to-pose4-insert,0.00491679691573,0.88224914074,0.0050365525061,0.87129454074
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130,2.166666667,pose3-to-pose4-insert,0.00491767427737,0.880602751439,0.0050374379837,0.869647830588
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131,2.183333333,pose3-to-pose4-insert,0.00491789048326,0.880420275997,0.00503765292278,0.869465250343
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132,2.200000000,pose3-to-pose4-insert,0.00491823643965,0.880235338427,0.00503801361818,0.869280272534
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135,2.250000000,pose3-to-pose4-insert,0.00491806046657,0.879714304324,0.00503781030136,0.868759043475
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138,2.300000000,pose3-to-pose4-insert,0.00491794104269,0.879280643713,0.00503763491203,0.868325397246
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142,2.366666667,pose3-to-pose4-insert,0.00491807312752,0.878863217205,0.00503773724285,0.867907771401
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144,2.400000000,pose3-to-pose4-insert,0.00491815291524,0.878703219336,0.00503787869716,0.867747719336
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147,2.450000000,pose3-to-pose4-insert,0.00491817591099,0.878537119401,0.00503789180563,0.867581443289
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150,2.500000000,pose3-to-pose4-insert,0.00491838400024,0.878446435116,0.00503797018941,0.867490835116
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152,2.533333333,pose3-to-pose4-insert,0.00491835494845,0.878418133614,0.00503797121936,0.867462561652
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153,2.550000000,pose3-to-pose4-insert,0.00491829241415,0.878409494765,0.00503792780146,0.867453994765
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154,2.566666667,pose3-to-pose4-insert,0.00491822490921,0.878402800011,0.0050379219091,0.867447336374
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| 207 |
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|
Free/s1/ball_0050_15/width_07/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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| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
| 8 |
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|
| 9 |
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| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.26132924715e-05,0.845597222679,6.88637688151e-06,0.834637322679
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| 18 |
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| 19 |
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17,0.283333333,pose1-to-pose2-lift,-8.26527804508e-05,0.845599595614,6.85339644659e-06,0.834639662378
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| 20 |
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18,0.300000000,pose1-to-pose2-lift,-8.27923664839e-05,0.84560290169,6.72463732138e-06,0.83464290169
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| 21 |
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19,0.316666667,pose1-to-pose2-lift,-8.26067685726e-05,0.845608089354,6.91067896323e-06,0.834648089354
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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23,0.383333333,pose1-to-pose2-lift,-8.27562782035e-05,0.845708928519,6.74416645286e-06,0.834748939461
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| 26 |
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24,0.400000000,pose1-to-pose2-lift,-8.29833106468e-05,0.84576013121,6.52340916189e-06,0.83480013121
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| 27 |
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25,0.416666667,pose1-to-pose2-lift,-8.30798879149e-05,0.845817399633,6.4424153662e-06,0.834857399633
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| 28 |
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26,0.433333333,pose1-to-pose2-lift,-8.31219010182e-05,0.845875106387,6.38394384814e-06,0.834915106387
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| 29 |
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27,0.450000000,pose1-to-pose2-lift,-8.34417485174e-05,0.845936587981,6.06705626893e-06,0.834976587981
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| 30 |
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29,0.483333333,pose1-to-pose2-lift,-8.34344188286e-05,0.846076414236,6.06208836224e-06,0.835116414236
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| 32 |
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30,0.500000000,pose1-to-pose2-lift,-8.36270247267e-05,0.846160876171,5.86860123314e-06,0.835200921105
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| 33 |
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| 34 |
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32,0.533333333,pose1-to-pose2-lift,-8.39796588766e-05,0.846349295143,5.5377057376e-06,0.835389269741
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33,0.550000000,pose1-to-pose2-lift,-8.39661327635e-05,0.846452703454,5.53736443275e-06,0.835492703454
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| 36 |
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| 38 |
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36,0.600000000,pose1-to-pose2-lift,-8.3349339863e-05,0.846800018732,6.1047851807e-06,0.835840018732
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| 40 |
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38,0.633333333,pose1-to-pose2-lift,-8.26367077509e-05,0.847093395255,6.83291243624e-06,0.836133395255
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| 41 |
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39,0.650000000,pose1-to-pose2-lift,-8.21057320453e-05,0.847260805685,7.35537633501e-06,0.836300771456
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| 42 |
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40,0.666666667,pose1-to-pose2-lift,-8.17091207809e-05,0.847434659231,7.75128389308e-06,0.836474559231
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| 43 |
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41,0.683333333,pose1-to-pose2-lift,-8.1593297887e-05,0.847614879862,7.85465906794e-06,0.836654779862
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| 44 |
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42,0.700000000,pose1-to-pose2-lift,-8.17143633521e-05,0.847801990354,7.70857560406e-06,0.836841890354
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43,0.716666667,pose1-to-pose2-lift,-8.18435060761e-05,0.84799104181,7.56774261623e-06,0.8370310022
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44,0.733333333,pose1-to-pose2-lift,-8.18997807255e-05,0.848182151572,7.50260634013e-06,0.837222093617
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45,0.750000000,pose1-to-pose2-lift,-8.19754277597e-05,0.848383740997,7.42281768383e-06,0.837423697263
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46,0.766666667,pose1-to-pose2-lift,-8.19423653214e-05,0.84859714479,7.4478286911e-06,0.83763714479
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53,0.883333333,pose1-to-pose2-lift,-8.26195406542e-05,0.850493531138,6.70678635964e-06,0.839533531138
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54,0.900000000,pose1-to-pose2-lift,-8.26487480103e-05,0.850819434844,6.67303775057e-06,0.839859446313
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60,1.000000000,pose1-to-pose2-lift,-8.29234166677e-05,0.852899053822,6.38576778412e-06,0.841939196132
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|
| 207 |
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|
Free/s1/ball_0050_15/width_08/insert/camera_frames_60hz.tar
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size 34017280
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Free/s1/ball_0050_15/width_08/insert/fem_node.csv
ADDED
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version https://git-lfs.github.com/spec/v1
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size 38609254
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Free/s1/ball_0050_15/width_08/insert/franka_data.csv
ADDED
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The diff for this file is too large to render.
See raw diff
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Free/s1/ball_0050_15/width_08/insert/simulation_data.csv
ADDED
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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-05,0.8835849,6.654985e-06,0.8726299
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.23630986317e-05,0.883584933605,6.94269560551e-06,0.872629933605
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.1815712984e-05,0.883585000979,7.47948035368e-06,0.872630000979
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.14110937088e-05,0.883585024844,7.88844733035e-06,0.872630024844
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.09647770214e-05,0.883585051168,8.33955976495e-06,0.872630051168
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.04672137082e-05,0.883585080515,8.8424694787e-06,0.872630080515
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.02436076673e-05,0.883585093703,9.06847820379e-06,0.872630093703
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.99600757609e-05,0.883585088856,9.35816856909e-06,0.872630088856
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.95759123014e-05,0.883585064638,9.75322258534e-06,0.872630064638
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.93057040147e-05,0.883585047603,1.00310909412e-05,0.872630047603
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.84937706534e-05,0.883584996418,1.08660416045e-05,0.872629996418
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.46543284619e-05,0.883585020343,1.47669291035e-05,0.872630020343
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.71754534643e-05,0.883585059314,2.22766941604e-05,0.872630106209
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-5.24358367116e-05,0.883585057233,3.71173644972e-05,0.87263
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-2.59937708932e-05,0.883585125409,6.37426193116e-05,0.8726302
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,1.89002892225e-05,0.883585384129,0.000108841308442,0.872630384129
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,7.61138501141e-05,0.883585380551,0.000166416844435,0.872630280551
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000151552890067,0.883585431458,0.000242349848963,0.872630331458
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000242428062219,0.8835861,0.000333782072753,0.872631035038
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000341652699941,0.883586364813,0.000433601767294,0.87263129861
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000441991359523,0.883586663482,0.000534551282612,0.872631563482
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000549390774609,0.883586791821,0.000642732545278,0.872631691821
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000662398258362,0.883587573929,0.000756413323178,0.87263257067
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000786479106095,0.883587912609,0.000881201344585,0.872632912609
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00092976696882,0.883588445147,0.00102525796904,0.872633445147
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00108594069569,0.883588670535,0.0011824014639,0.872633670535
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00125243821863,0.8835886,0.00134991134404,0.87263364451
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00143503509664,0.883588342608,0.00153360211531,0.87263337826
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00161666015082,0.883588357154,0.0017163249903,0.872633357154
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00179993179107,0.8835884,0.00190068866294,0.8726334
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00198899969796,0.883588113972,0.00209096712631,0.872633113972
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00217681896723,0.883588735189,0.00227993225309,0.872633735189
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00235857231407,0.883588983346,0.00246277401441,0.872633983346
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00255590621826,0.883589083448,0.00266130825201,0.872634083448
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00274646128084,0.883589541125,0.0028530257342,0.872634541125
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00293403242643,0.883589651198,0.00304175756065,0.872634651198
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00312371445788,0.883589570342,0.00323257098292,0.872634570342
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00329953420643,0.883589792387,0.00340947371797,0.872634792387
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00345483656495,0.883589539953,0.00356571837287,0.872634611962
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00361094028399,0.88358955095,0.00372278999615,0.87263465095
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00375411885663,0.883589824949,0.00386686395599,0.872634849966
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00388864266284,0.883589679232,0.00400221530392,0.872634752821
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00402254071316,0.883589522037,0.00413693960681,0.872634622037
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00414488048486,0.883589419526,0.00426003491816,0.872634519526
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.0042513654968,0.883589169021,0.00436715117276,0.872634269021
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00435546717353,0.883588940174,0.00447188903978,0.872634040174
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00444806183465,0.88358906163,0.00456506828858,0.872634242445
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00452964529178,0.883589019856,0.00464717242996,0.872634139712
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00460579897837,0.883588658038,0.00472382892905,0.872633843528
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00467086046905,0.883588688398,0.00478929968679,0.872633888398
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00472257318442,0.883588532085,0.00484127715346,0.872633816042
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00476898365368,0.8835885,0.00488795444161,0.872633884507
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00480639077735,0.883588582689,0.00492557642489,0.872634148068
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00483492902271,0.883588450549,0.00495430944029,0.872633975824
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00485957537453,0.88358818033,0.00497908040119,0.87263368033
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00487921970837,0.883588249382,0.00499886199822,0.872633749382
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489263654359,0.883588506177,0.00501237427317,0.872634006177
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490255160723,0.883588397321,0.00502234195549,0.872633897321
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00490968211508,0.883588223562,0.00502954244374,0.872633723562
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491418948688,0.883588588094,0.00503408204039,0.87263399107
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491630371239,0.883588445505,0.00503621362249,0.872633845505
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.004916762,0.8835881,0.005036692,0.8726335
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916762,0.8835881,0.005036699,0.8726335
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916762,0.8835881,0.00503670497059,0.8726335
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916762,0.8835881,0.00503671023529,0.8726335
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916762,0.8835881,0.00503671479412,0.872633444118
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916762,0.8835881,0.00503671823529,0.8726334
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916762,0.8835881,0.00503672238235,0.8726334
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916762,0.8835881,0.00503672958824,0.8726334
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916762,0.8835881,0.00503673385294,0.8726334
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916762,0.8835881,0.00503673564706,0.872633482353
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916762,0.8835881,0.00503673261765,0.8726335
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916762,0.8835881,0.00503673841176,0.8726335
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916762,0.8835881,0.00503675341176,0.8726335
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916762,0.8835881,0.00503676817647,0.8726335
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916762,0.8835881,0.00503677208824,0.8726335
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916762,0.8835881,0.00503677294118,0.8726335
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916762,0.8835881,0.00503677141176,0.8726335
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916762,0.8835881,0.00503676776471,0.8726335
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916762,0.8835881,0.0050367685,0.8726335
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916762,0.8835881,0.00503677170588,0.8726335
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916762,0.8835881,0.00503677567647,0.8726335
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916762,0.8835881,0.00503678658824,0.8726335
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916762,0.8835881,0.00503679511765,0.8726335
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916762,0.8835881,0.00503678911765,0.8726335
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916762,0.8835881,0.00503678885294,0.8726335
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916762,0.8835881,0.00503678764706,0.8726335
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916762,0.8835881,0.00503678952941,0.8726335
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916762,0.8835881,0.00503679582353,0.872633517647
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916762,0.8835881,0.00503678055882,0.872633597059
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916762,0.8835881,0.00503676776471,0.872633511765
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916762,0.8835881,0.00503677997059,0.872633573529
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916762,0.8835881,0.00503679617647,0.8726336
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916762,0.8835881,0.00503678723529,0.8726336
|
| 96 |
+
94,1.566666667,pose3-hold,0.004916762,0.8835881,0.00503676541176,0.872633570588
|
| 97 |
+
95,1.583333333,pose3-hold,0.004916762,0.8835881,0.00503676297059,0.8726335
|
| 98 |
+
96,1.600000000,pose3-hold,0.004916762,0.8835881,0.005036757,0.8726335
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.004916762,0.8835881,0.005036753,0.8726335
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491667154527,0.883587961773,0.00503664726786,0.872633461773
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491672563373,0.883587447325,0.00503670779256,0.872632943814
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491674858099,0.88358698838,0.00503674083663,0.872632454272
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491676814829,0.883586597034,0.00503676901354,0.872632036836
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491679785118,0.88358593197,0.00503681134096,0.87263133197
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491679716024,0.883585616109,0.00503680828106,0.872631016109
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491679658956,0.883585355226,0.00503680575375,0.872630755226
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491679545556,0.883584836827,0.00503680073176,0.872630236827
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491679374069,0.883584052889,0.00503679313736,0.872629452889
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491679122351,0.883582902174,0.00503678198981,0.872628302174
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108,1.800000000,pose3-to-pose4-insert,0.00491670844071,0.883579270748,0.00503668772691,0.872624670748
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109,1.816666667,pose3-to-pose4-insert,0.00491669527627,0.883567593616,0.00503666591524,0.872612993616
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110,1.833333333,pose3-to-pose4-insert,0.00491673418715,0.883541857285,0.0050367635659,0.872587338348
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111,1.850000000,pose3-to-pose4-insert,0.00491674338823,0.883499232196,0.00503672721336,0.872544632196
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112,1.866666667,pose3-to-pose4-insert,0.00491693847625,0.883440046377,0.00503695609442,0.87248537019
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113,1.883333333,pose3-to-pose4-insert,0.00491706731351,0.883367887811,0.00503702578416,0.872413287811
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114,1.900000000,pose3-to-pose4-insert,0.00491701779755,0.883274457352,0.00503699080118,0.872319957352
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115,1.916666667,pose3-to-pose4-insert,0.00491713210558,0.883171017496,0.00503715553989,0.872216451606
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116,1.933333333,pose3-to-pose4-insert,0.00491751837619,0.883057191341,0.00503756680221,0.872102689428
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117,1.950000000,pose3-to-pose4-insert,0.00491749950771,0.882929380922,0.00503755212621,0.871974806452
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118,1.966666667,pose3-to-pose4-insert,0.00491755944754,0.882793774565,0.00503753944654,0.871839274565
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119,1.983333333,pose3-to-pose4-insert,0.00491777644943,0.882663356063,0.00503783276918,0.871708801389
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120,2.000000000,pose3-to-pose4-insert,0.00491814430527,0.882513576498,0.00503830471939,0.871558976498
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121,2.016666667,pose3-to-pose4-insert,0.00491830707701,0.882359153803,0.00503847018457,0.871404553803
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122,2.033333333,pose3-to-pose4-insert,0.00491845355093,0.882199009067,0.00503856251456,0.871244409067
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123,2.050000000,pose3-to-pose4-insert,0.0049187453988,0.882026387244,0.00503891670134,0.871071689602
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124,2.066666667,pose3-to-pose4-insert,0.00491881370153,0.881846490884,0.00503899859367,0.870891690884
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126,2.100000000,pose3-to-pose4-insert,0.00491835707531,0.881495049161,0.00503852407531,0.870540249161
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127,2.116666667,pose3-to-pose4-insert,0.00491814121441,0.881310361277,0.00503830940488,0.870355541436
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128,2.133333333,pose3-to-pose4-insert,0.00491792298656,0.881125712869,0.00503808999455,0.870170812869
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129,2.150000000,pose3-to-pose4-insert,0.00491755337473,0.880933290457,0.00503770330835,0.869978326003
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132,2.200000000,pose3-to-pose4-insert,0.00491731129608,0.880375137895,0.00503751225892,0.869420037895
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138,2.300000000,pose3-to-pose4-insert,0.00491635106489,0.879373724939,0.00503637361902,0.868418524939
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153,2.550000000,pose3-to-pose4-insert,0.00491807381313,0.878414222711,0.00503810855982,0.867458622711
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156,2.600000000,pose3-to-pose4-insert,0.00491806714852,0.878396851404,0.00503817996884,0.867441451404
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Free/s1/ball_0050_15/width_08/pick/camera_frames_60hz.tar
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Free/s1/ball_0050_15/width_08/pick/fem_node.csv
ADDED
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The diff for this file is too large to render.
See raw diff
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Free/s1/ball_0050_15/width_08/pick/franka_data.csv
ADDED
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aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
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| 206 |
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|
Free/s1/ball_0050_15/width_08/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,206 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,6.943391e-06,0.8346294
|
| 3 |
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|
| 4 |
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|
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3,0.050000000,pose1-to-pose2-lift,-8.26955120457e-05,0.845590263908,6.75594431454e-06,0.83463035592
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.26864942398e-05,0.845590765944,6.75707012831e-06,0.834630795201
|
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5,0.083333333,pose1-to-pose2-lift,-8.26839791426e-05,0.845591474478,6.76431392828e-06,0.834631537742
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| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26844332597e-05,0.845591602039,6.76612027698e-06,0.834631682311
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.26856691109e-05,0.845591949188,6.77103614148e-06,0.834632075747
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| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.26868010846e-05,0.845592267159,6.77553881035e-06,0.834632436113
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.26885426153e-05,0.845592613427,6.77679677033e-06,0.834632808701
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.26943216194e-05,0.845593331688,6.76388364411e-06,0.834633497034
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| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.26996583511e-05,0.845593994979,6.75195877083e-06,0.834634132688
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| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.2702208571e-05,0.84559431194,6.74626033042e-06,0.834634436443
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.27052887984e-05,0.845594694776,6.73937759327e-06,0.834634803327
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.26983511062e-05,0.845595113025,6.74542203522e-06,0.834635213025
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| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.26930531814e-05,0.845595244426,6.75142632268e-06,0.834635344426
|
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Free/s1/ball_0050_15/width_09/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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|
|
|
|
|
|
|
|
|
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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,-8.301178e-05,0.8835887,6.331481e-06,0.8726337
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.29720175393e-05,0.883588675178,6.35084220815e-06,0.872633675178
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.29058566463e-05,0.883588633876,6.38305738797e-06,0.872633633876
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.26116272454e-05,0.8835886,6.66129714107e-06,0.8726336
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.19770340084e-05,0.883588604946,7.32396651999e-06,0.8726336
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.16636232017e-05,0.883588625476,7.63928448767e-06,0.8726336
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.16214610307e-05,0.883588628237,7.68170322299e-06,0.8726336
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.13444811088e-05,0.88358864638,7.96036861745e-06,0.8726336
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-8.07993005379e-05,0.883588682091,8.50886670994e-06,0.8726336
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.92101755553e-05,0.883588616861,1.01221648113e-05,0.872633558431
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.70487697408e-05,0.883588505451,1.23195200401e-05,0.872633505451
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.18401854951e-05,0.883588596441,1.76000501794e-05,0.872633596441
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-6.07635134197e-05,0.8835887,2.87521393469e-05,0.872633613435
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-3.77255943202e-05,0.883588566237,5.18902160054e-05,0.872633566237
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,-1.47969639165e-06,0.88358844947,8.83706988502e-05,0.87263344947
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,5.38138429133e-05,0.883588421832,0.00014393786009,0.872633421832
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000126916933538,0.883588463049,0.000217510672238,0.872633463049
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000213948643547,0.8835883,0.000305102059128,0.872633206153
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000308160515621,0.883588378192,0.000399862793569,0.872633302554
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000412807281916,0.883588,0.000505184819804,0.872632950901
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000524290219085,0.883587801052,0.000617340174107,0.872632767368
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000646298691831,0.883587781785,0.000740214725271,0.872632781785
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000779860381637,0.883587509159,0.000874585112639,0.872632509159
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000920379754188,0.88358789223,0.00101589453827,0.87263289223
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00106318732217,0.8835878,0.00115952890424,0.8726328
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00121496743388,0.883587895141,0.00131222668792,0.872632895141
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00137418923673,0.883588399227,0.00147241215569,0.872633399227
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00154415084551,0.883588732996,0.00164340855029,0.872633765993
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00172982762231,0.883588941379,0.00183019020766,0.872633994253
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00192249672433,0.883589162314,0.00202407099284,0.8726341
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00211426084222,0.883589424247,0.00221698342347,0.872634398996
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00230665472525,0.883589068975,0.00241054656763,0.872634068975
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00249792167752,0.883588903407,0.00260300294559,0.872633903407
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00268441936667,0.883588904434,0.00279060589523,0.872633813302
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00287282502788,0.883588985471,0.00298021923405,0.872634070942
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00305447997456,0.883588990262,0.00316294335766,0.872633990262
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00322343546714,0.883589274616,0.00333298191586,0.8726343
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00338188430274,0.883589249421,0.00349238108956,0.872634349421
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00353472611073,0.883589543839,0.00364614343014,0.872634619865
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00368038830154,0.88359,0.00379268710571,0.872635
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00382607050843,0.883590026582,0.00393928653321,0.872635026582
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.0039662648634,0.88359006722,0.004080344682,0.87263506722
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00409288439431,0.883589857762,0.00420773091197,0.872634893321
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00420749134774,0.883589564056,0.00432305508094,0.872634664056
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00431401401905,0.883589462661,0.00443025102872,0.872634562661
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00440755523422,0.883589364852,0.00452437084691,0.872634464852
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00449512661353,0.883589153634,0.00461248203419,0.872634253634
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00457586630361,0.883588857704,0.00469371091191,0.872634
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00464469153896,0.8835888,0.00476295837932,0.872634
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00470049483183,0.883588924107,0.00481910576949,0.872634165476
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00474857966109,0.883588910143,0.00486746001851,0.872634248115
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00478782137695,0.883588506958,0.00490695388025,0.872633937972
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00482186997878,0.8835883,0.00494121123482,0.8726338
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00485076635705,0.883588433985,0.0049702612275,0.872633933985
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00487366529809,0.883588489002,0.00499329435955,0.872633989002
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488997087734,0.883588343324,0.00500972004085,0.872633843324
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00490169545938,0.8835885,0.00502154697875,0.872634
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490846941058,0.883588450164,0.00502836688592,0.872633950164
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.0049128224535,0.8835884,0.00503274495182,0.8726339
|
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+
59,0.983333333,pose2-to-pose3-side,0.00491535338375,0.883588445941,0.00503529087085,0.872633945941
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00491658576589,0.883588567463,0.00503655319613,0.872634
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.00491697,0.8835886,0.005036968,0.8726339
|
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+
62,1.033333333,pose3-hold,0.00491697,0.8835886,0.005036969,0.8726339
|
| 65 |
+
63,1.050000000,pose3-hold,0.00491697,0.8835886,0.00503697667647,0.8726339
|
| 66 |
+
64,1.066666667,pose3-hold,0.00491697,0.8835886,0.00503698152941,0.8726339
|
| 67 |
+
65,1.083333333,pose3-hold,0.00491697,0.8835886,0.00503698579412,0.8726339
|
| 68 |
+
66,1.100000000,pose3-hold,0.00491697,0.8835886,0.00503699047059,0.8726339
|
| 69 |
+
67,1.116666667,pose3-hold,0.00491697,0.8835886,0.00503699558824,0.8726339
|
| 70 |
+
68,1.133333333,pose3-hold,0.00491697,0.8835886,0.00503700058824,0.8726339
|
| 71 |
+
69,1.150000000,pose3-hold,0.00491697,0.8835886,0.00503700485294,0.8726339
|
| 72 |
+
70,1.166666667,pose3-hold,0.00491697,0.8835886,0.00503700829412,0.8726339
|
| 73 |
+
71,1.183333333,pose3-hold,0.00491697,0.8835886,0.00503703470588,0.8726339
|
| 74 |
+
72,1.200000000,pose3-hold,0.00491697,0.8835886,0.00503704117647,0.8726339
|
| 75 |
+
73,1.216666667,pose3-hold,0.00491697,0.8835886,0.00503703905882,0.872633938235
|
| 76 |
+
74,1.233333333,pose3-hold,0.00491697,0.8835886,0.00503703976471,0.872634
|
| 77 |
+
75,1.250000000,pose3-hold,0.00491697,0.8835886,0.00503702776471,0.872634
|
| 78 |
+
76,1.266666667,pose3-hold,0.00491697,0.8835886,0.00503704482353,0.872634
|
| 79 |
+
77,1.283333333,pose3-hold,0.00491697,0.8835886,0.00503702614706,0.872634
|
| 80 |
+
78,1.300000000,pose3-hold,0.00491697,0.8835886,0.00503703976471,0.872633935294
|
| 81 |
+
79,1.316666667,pose3-hold,0.00491697,0.8835886,0.005037044,0.8726339
|
| 82 |
+
80,1.333333333,pose3-hold,0.00491697,0.8835886,0.00503704152941,0.8726339
|
| 83 |
+
81,1.350000000,pose3-hold,0.00491697,0.8835886,0.00503704841176,0.872633920588
|
| 84 |
+
82,1.366666667,pose3-hold,0.00491697,0.8835886,0.00503705052941,0.872634
|
| 85 |
+
83,1.383333333,pose3-hold,0.00491697,0.8835886,0.00503705820588,0.872634
|
| 86 |
+
84,1.400000000,pose3-hold,0.00491697,0.8835886,0.00503705823529,0.872634
|
| 87 |
+
85,1.416666667,pose3-hold,0.00491697,0.8835886,0.00503705676471,0.872634
|
| 88 |
+
86,1.433333333,pose3-hold,0.00491697,0.8835886,0.00503704894118,0.872634
|
| 89 |
+
87,1.450000000,pose3-hold,0.00491697,0.8835886,0.005037041,0.872634
|
| 90 |
+
88,1.466666667,pose3-hold,0.00491697,0.8835886,0.005037044,0.872634
|
| 91 |
+
89,1.483333333,pose3-hold,0.00491697,0.8835886,0.00503705782353,0.872634
|
| 92 |
+
90,1.500000000,pose3-hold,0.00491697,0.8835886,0.00503705270588,0.872634
|
| 93 |
+
91,1.516666667,pose3-hold,0.00491697,0.8835886,0.00503706155882,0.872634
|
| 94 |
+
92,1.533333333,pose3-hold,0.00491697,0.8835886,0.00503704970588,0.872634
|
| 95 |
+
93,1.550000000,pose3-hold,0.00491697,0.8835886,0.00503703944118,0.872634
|
| 96 |
+
94,1.566666667,pose3-hold,0.00491697,0.8835886,0.00503703764706,0.872634
|
| 97 |
+
95,1.583333333,pose3-hold,0.00491697,0.8835886,0.00503703302941,0.872634
|
| 98 |
+
96,1.600000000,pose3-hold,0.00491697,0.8835886,0.005037039,0.872634
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491697,0.8835886,0.005037027,0.872634
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00491691727755,0.883588504141,0.00503696708813,0.872633904141
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491687739254,0.883588344152,0.00503691835537,0.872633744152
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491699923069,0.883587952929,0.00503703292794,0.872633352929
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491707166276,0.883587631489,0.00503710087685,0.872633031489
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491704277733,0.883587319214,0.00503707296728,0.872632719214
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491698913566,0.883586739304,0.00503702113783,0.872632139304
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491694897892,0.883586305177,0.00503698233774,0.872631705177
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491694278546,0.883586238221,0.00503697635352,0.872631638221
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491693496915,0.883586153721,0.00503696880127,0.872631553721
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491695894463,0.883585527839,0.00503699361776,0.872630927839
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491701245659,0.883584470044,0.00503704837418,0.872629870044
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491704174075,0.883580652731,0.00503707510542,0.872626091358
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491701252856,0.883565585991,0.00503705341431,0.872610985991
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491718230551,0.883537774389,0.00503720341368,0.872583174389
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491713675868,0.883494971487,0.00503713946955,0.872540371487
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491706149448,0.883428444543,0.00503707412759,0.872473844543
|
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+
114,1.900000000,pose3-to-pose4-insert,0.00491728175496,0.883346024293,0.00503723230667,0.872391524293
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491705472166,0.88325495282,0.00503707054549,0.87230045282
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491725677998,0.883147550866,0.0050372841499,0.872192956346
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491723169688,0.883029106035,0.00503724920744,0.872074580507
|
| 120 |
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118,1.966666667,pose3-to-pose4-insert,0.0049173426469,0.88291443351,0.0050373685452,0.871959871834
|
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+
119,1.983333333,pose3-to-pose4-insert,0.00491728701117,0.882783738179,0.0050373322114,0.871829183511
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00491732865548,0.882643371586,0.00503737649698,0.871688771586
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491731952706,0.882503349447,0.00503737677158,0.871548749447
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.00491743748725,0.882349357521,0.00503751449501,0.87139467327
|
| 125 |
+
123,2.050000000,pose3-to-pose4-insert,0.00491738107654,0.882178845549,0.00503746601169,0.871224145549
|
| 126 |
+
124,2.066666667,pose3-to-pose4-insert,0.0049171967615,0.882011365855,0.0050372842397,0.871056571169
|
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+
125,2.083333333,pose3-to-pose4-insert,0.00491737348277,0.881835977073,0.00503746677305,0.87088126417
|
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+
126,2.100000000,pose3-to-pose4-insert,0.0049168941111,0.881646269213,0.00503697612649,0.870691469213
|
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+
127,2.116666667,pose3-to-pose4-insert,0.00491673605003,0.881463093709,0.0050368432702,0.870508261083
|
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+
128,2.133333333,pose3-to-pose4-insert,0.00491635879958,0.881277775364,0.00503649115983,0.870322914176
|
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+
129,2.150000000,pose3-to-pose4-insert,0.00491604385234,0.881084323485,0.00503618534533,0.870129427007
|
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+
130,2.166666667,pose3-to-pose4-insert,0.004916136858,0.880897891625,0.00503626545611,0.869942891625
|
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+
131,2.183333333,pose3-to-pose4-insert,0.00491650310347,0.880708686685,0.00503662047335,0.869753686685
|
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+
132,2.200000000,pose3-to-pose4-insert,0.00491672515682,0.880518830295,0.00503681087905,0.869563830295
|
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133,2.216666667,pose3-to-pose4-insert,0.00491690968624,0.880335225024,0.00503703557738,0.869380150184
|
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+
134,2.233333333,pose3-to-pose4-insert,0.0049173499171,0.880150525239,0.00503744553321,0.869195425239
|
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+
135,2.250000000,pose3-to-pose4-insert,0.00491687816965,0.879961464496,0.00503697914582,0.869006264496
|
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+
136,2.266666667,pose3-to-pose4-insert,0.00491636598025,0.879792174931,0.00503646139006,0.868836974931
|
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+
137,2.283333333,pose3-to-pose4-insert,0.00491589781446,0.879634501038,0.00503596242468,0.868679301038
|
| 140 |
+
138,2.300000000,pose3-to-pose4-insert,0.00491551424372,0.879483915072,0.00503551550034,0.868528715072
|
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+
139,2.316666667,pose3-to-pose4-insert,0.00491517400053,0.879349917325,0.00503522902847,0.868394717325
|
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+
140,2.333333333,pose3-to-pose4-insert,0.004914933,0.879234506636,0.00503492527753,0.868279292307
|
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141,2.350000000,pose3-to-pose4-insert,0.00491553912559,0.879125946409,0.00503551354017,0.868170646409
|
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+
142,2.366666667,pose3-to-pose4-insert,0.00491603590762,0.879018901647,0.00503599318001,0.868063594317
|
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+
143,2.383333333,pose3-to-pose4-insert,0.00491647931925,0.87891632657,0.00503647490977,0.867960913609
|
| 146 |
+
144,2.400000000,pose3-to-pose4-insert,0.00491697523736,0.878825877043,0.0050370403393,0.867870392987
|
| 147 |
+
145,2.416666667,pose3-to-pose4-insert,0.00491740341641,0.878742024136,0.00503747964423,0.867786600239
|
| 148 |
+
146,2.433333333,pose3-to-pose4-insert,0.00491789521513,0.878667402761,0.00503793124319,0.86771193734
|
| 149 |
+
147,2.450000000,pose3-to-pose4-insert,0.0049181459103,0.878605962368,0.00503820828222,0.867650480458
|
| 150 |
+
148,2.466666667,pose3-to-pose4-insert,0.00491828477613,0.878559162287,0.00503834866379,0.867603562287
|
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+
149,2.483333333,pose3-to-pose4-insert,0.00491849099441,0.878517982214,0.00503855484135,0.867562382214
|
| 152 |
+
150,2.500000000,pose3-to-pose4-insert,0.00491879581468,0.878484156046,0.00503885368667,0.867528556046
|
| 153 |
+
151,2.516666667,pose3-to-pose4-insert,0.00491884221423,0.878457839955,0.00503884989553,0.867502239955
|
| 154 |
+
152,2.533333333,pose3-to-pose4-insert,0.00491891987617,0.878437388945,0.00503893568757,0.867481761136
|
| 155 |
+
153,2.550000000,pose3-to-pose4-insert,0.00491889794062,0.878422983785,0.00503886876888,0.867467298873
|
| 156 |
+
154,2.566666667,pose3-to-pose4-insert,0.0049189354555,0.878412626417,0.00503893238106,0.867457023059
|
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+
155,2.583333333,pose3-to-pose4-insert,0.00491914140593,0.878403738545,0.00503918884365,0.867448138545
|
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+
156,2.600000000,pose3-to-pose4-insert,0.00491896745648,0.87839762318,0.00503903450517,0.86744222318
|
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157,2.616666667,pose3-to-pose4-insert,0.00491918341828,0.878393987159,0.00503923374706,0.867438587159
|
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+
158,2.633333333,pose3-to-pose4-insert,0.004919174,0.8783922,0.005039192,0.8674365
|
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+
159,2.650000000,pose4-hold,0.004919174,0.8783922,0.005039156,0.8674365
|
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+
160,2.666666667,pose4-hold,0.004919174,0.8783922,0.0050391734,0.8674365
|
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+
161,2.683333333,pose4-hold,0.004919174,0.8783922,0.00503917371429,0.8674365
|
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+
162,2.700000000,pose4-hold,0.004919174,0.8783922,0.00503916714286,0.8674365
|
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+
163,2.716666667,pose4-hold,0.004919174,0.8783922,0.00503916514286,0.8674365
|
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+
164,2.733333333,pose4-hold,0.004919174,0.8783922,0.00503917142857,0.8674365
|
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+
165,2.750000000,pose4-hold,0.004919174,0.8783922,0.00503916811429,0.8674365
|
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+
166,2.766666667,pose4-hold,0.004919174,0.8783922,0.0050391664,0.8674365
|
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+
167,2.783333333,pose4-hold,0.004919174,0.8783922,0.00503916851429,0.8674365
|
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+
168,2.800000000,pose4-hold,0.004919174,0.8783922,0.00503917182857,0.8674365
|
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+
169,2.816666667,pose4-hold,0.004919174,0.8783922,0.00503917428571,0.8674365
|
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+
170,2.833333333,pose4-hold,0.004919174,0.8783922,0.0050391742,0.8674365
|
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171,2.850000000,pose4-hold,0.004919174,0.8783922,0.0050391684,0.8674365
|
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172,2.866666667,pose4-hold,0.004919174,0.8783922,0.00503916954286,0.8674365
|
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+
173,2.883333333,pose4-hold,0.004919174,0.8783922,0.00503917,0.8674365
|
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174,2.900000000,pose4-hold,0.004919174,0.8783922,0.00503917042857,0.8674365
|
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+
175,2.916666667,pose4-hold,0.004919174,0.8783922,0.00503916894286,0.8674365
|
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176,2.933333333,pose4-hold,0.004919174,0.8783922,0.00503916317143,0.867436508571
|
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177,2.950000000,pose4-hold,0.004919174,0.8783922,0.00503916482857,0.867436591429
|
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178,2.966666667,pose4-hold,0.004919174,0.8783922,0.00503916351429,0.867436525714
|
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179,2.983333333,pose4-hold,0.004919174,0.8783922,0.005039163,0.8674365
|
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180,3.000000000,pose4-hold,0.004919174,0.8783922,0.0050391806,0.86743654
|
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181,3.016666667,pose4-hold,0.004919174,0.8783922,0.00503920151429,0.8674366
|
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182,3.033333333,pose4-hold,0.004919174,0.8783922,0.0050391826,0.8674366
|
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183,3.050000000,pose4-hold,0.004919174,0.8783922,0.0050391768,0.8674366
|
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184,3.066666667,pose4-hold,0.004919174,0.8783922,0.005039191,0.8674366
|
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185,3.083333333,pose4-hold,0.004919174,0.8783922,0.00503921491429,0.8674366
|
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186,3.100000000,pose4-hold,0.004919174,0.8783922,0.00503923631429,0.8674366
|
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187,3.116666667,pose4-hold,0.004919174,0.8783922,0.0050392436,0.8674366
|
| 190 |
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188,3.133333333,pose4-hold,0.004919174,0.8783922,0.0050392296,0.8674366
|
| 191 |
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189,3.150000000,pose4-hold,0.004919174,0.8783922,0.005039218,0.8674366
|
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190,3.166666667,pose4-hold,0.004919174,0.8783922,0.00503921257143,0.8674366
|
| 193 |
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191,3.183333333,pose4-hold,0.004919174,0.8783922,0.005039211,0.8674366
|
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192,3.200000000,pose4-hold,0.004919174,0.8783922,0.00503920825714,0.8674366
|
| 195 |
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193,3.216666667,pose4-hold,0.004919174,0.8783922,0.00503920128571,0.867436582857
|
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194,3.233333333,pose4-hold,0.004919174,0.8783922,0.005039193,0.8674365
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+
195,3.250000000,pose4-to-pose5-return,0.004919174,0.8783922,0.005039192,0.8674365
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860,14.333333333,pose5-to-pose6-final-insert,-8.11757528152e-05,0.845637107494,8.48393305721e-06,0.834677107494
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882,14.700000000,pose5-to-pose6-final-insert,-8.12589624627e-05,0.845610049928,8.4152457893e-06,0.834650049928
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886,14.766666667,pose5-to-pose6-final-insert,-8.11923634544e-05,0.84560782755,8.49926280206e-06,0.83464782755
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887,14.783333333,pose5-to-pose6-final-insert,-8.11842760325e-05,0.84560773629,8.50791670251e-06,0.83464773629
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888,14.800000000,pose5-to-pose6-final-insert,-8.11882050638e-05,0.845607539211,8.50149730953e-06,0.83464754926
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893,14.883333333,pose5-to-pose6-final-insert,-8.10951826792e-05,0.845602713947,8.59153912788e-06,0.834642713947
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894,14.900000000,pose5-to-pose6-final-insert,-8.10846400651e-05,0.845600827776,8.6252341539e-06,0.834640894999
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896,14.933333333,pose5-to-pose6-final-insert,-8.10594144943e-05,0.845598073322,8.63351577579e-06,0.834638073322
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Free/s1/ball_0050_15/width_09/pick/simulation_data.csv
ADDED
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,7.011686e-06,0.8346294
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,-8.27096650313e-05,0.845590123285,6.80752445629e-06,0.834630223285
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.26840637085e-05,0.845590901255,6.82274524388e-06,0.834630913598
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26830980237e-05,0.845591226973,6.82558299165e-06,0.834631257236
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,-8.26846973765e-05,0.845591676229,6.83063622793e-06,0.834631766393
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,-8.26866566148e-05,0.845592226577,6.83682654012e-06,0.834632390121
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.26958886369e-05,0.845593526449,6.8215520871e-06,0.83463368368
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.26987128437e-05,0.845593877464,6.81527696583e-06,0.834634020069
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.2705141073e-05,0.845594676415,6.80099404615e-06,0.834634785731
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.26856978451e-05,0.845595426855,6.82141806927e-06,0.834635526855
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.26731537964e-05,0.845595737977,6.83583935007e-06,0.834635837977
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.26431949519e-05,0.845596481027,6.87028157208e-06,0.834636581027
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.2629912971e-05,0.845596810452,6.88555121767e-06,0.834636910452
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.25947167213e-05,0.845597683402,6.9260146289e-06,0.834637783402
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.25879840686e-05,0.845597850387,6.93375483124e-06,0.834637950387
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.2579093886e-05,0.845598070885,6.94397544048e-06,0.834638170885
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.25950496301e-05,0.845598442228,6.92912356713e-06,0.834638534623
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.27022068635e-05,0.845600583089,6.82777282465e-06,0.834640627909
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.27226278273e-05,0.845604850962,6.81017287123e-06,0.834644850962
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.26158270216e-05,0.845614312053,6.8948395343e-06,0.834654312053
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.27184781038e-05,0.845630172792,6.80326416005e-06,0.834670172792
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.27058256212e-05,0.845654933517,6.80370058188e-06,0.834694958997
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.28273973084e-05,0.845688071175,6.68576662542e-06,0.834728071175
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.28145521402e-05,0.84573073019,6.6851551175e-06,0.83477073019
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.3055197781e-05,0.845780664042,6.47647954187e-06,0.834820664042
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.30906986173e-05,0.845837302388,6.43415300656e-06,0.834877302388
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.31824823518e-05,0.845897892684,6.33665008548e-06,0.834937892684
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.34272712606e-05,0.84596196662,6.08641110394e-06,0.83500196662
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.33623180279e-05,0.846027506886,6.14638800148e-06,0.835067506886
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.35184426914e-05,0.846102271253,5.98548508514e-06,0.835142271253
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.36478791099e-05,0.846186804935,5.86102256743e-06,0.835226884673
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.38336924322e-05,0.846284639456,5.71173489754e-06,0.835324540748
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.40135006109e-05,0.846392851252,5.5116860725e-06,0.835432851252
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.40547081774e-05,0.84650589412,5.45497975715e-06,0.83554589412
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.40742161798e-05,0.846617657019,5.42489098655e-06,0.835657657019
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.36360816137e-05,0.846735662458,5.84236076551e-06,0.835775662458
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.32487864746e-05,0.846858143368,6.22578898094e-06,0.835898053175
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.29353655169e-05,0.846993903553,6.54919927481e-06,0.836033800318
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.24701286121e-05,0.847146897396,7.01095958792e-06,0.836186897396
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.19365362338e-05,0.847312086278,7.53111310055e-06,0.836352018554
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.16673359838e-05,0.847482142621,7.81672871539e-06,0.836522042621
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.15726857646e-05,0.847664853053,7.87754017688e-06,0.836704753053
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.17890108468e-05,0.847853751131,7.64626670395e-06,0.836893651131
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.18549483047e-05,0.848050784141,7.57344827749e-06,0.837090775975
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.19273971298e-05,0.848258581299,7.49948955444e-06,0.837298485111
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.2009094878e-05,0.848471140786,7.3937841738e-06,0.83751113889
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.18941355115e-05,0.848683383523,7.49035210576e-06,0.837723383523
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.15191319267e-05,0.848909849256,7.86084088764e-06,0.837949754539
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,-8.10190198265e-05,0.849150329924,8.37286584297e-06,0.838190326065
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.06051297791e-05,0.849412422853,8.7519930658e-06,0.838452422853
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,-8.11042524493e-05,0.84969658586,8.26416509553e-06,0.83873658586
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,-8.18085376601e-05,0.849991606119,7.51970624013e-06,0.839031628893
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,-8.23726181882e-05,0.850283612392,6.97029189417e-06,0.839323684403
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.26506247315e-05,0.850588537028,6.69462487356e-06,0.839628537028
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,-8.24923603502e-05,0.850902223355,6.83867160224e-06,0.839942262004
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,-8.18851857909e-05,0.851230546814,7.43664294991e-06,0.840270646814
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,-8.16701688506e-05,0.851578755881,7.66148511901e-06,0.840618855881
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,-8.16787952054e-05,0.851934248552,7.6950943439e-06,0.840974348552
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,-8.17236819592e-05,0.852281752607,7.65434064527e-06,0.841321852607
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,-8.23174784566e-05,0.852637994271,7.00578693433e-06,0.841678094271
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,-8.31635431021e-05,0.853001255277,6.1377655713e-06,0.842041426064
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,-8.3833696867e-05,0.853376618266,5.50501265991e-06,0.842416744515
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,-8.2838953265e-05,0.85376970751,6.50816466666e-06,0.84280980751
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,-8.14209844828e-05,0.854166982624,7.96802189063e-06,0.843207166005
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,-8.16068819433e-05,0.85458497546,7.75406727923e-06,0.84362517546
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,-8.23909243705e-05,0.854998306649,6.92653455175e-06,0.844038600821
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,-8.32028407108e-05,0.855398204281,6.07805211326e-06,0.844438411636
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,-8.29654219066e-05,0.855812514908,6.31808424931e-06,0.844852902108
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,-8.24272355314e-05,0.856251410827,6.86579887627e-06,0.845291810827
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,-8.2185004861e-05,0.856667819835,7.05968387568e-06,0.845708219835
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,-8.18363601449e-05,0.857086579195,7.3697539617e-06,0.846126979195
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,-8.23163584155e-05,0.857537545446,6.92405124807e-06,0.846577945446
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,-8.30917156533e-05,0.857996665363,6.09880520089e-06,0.847037165363
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,-8.34899354283e-05,0.858469615848,5.69914676391e-06,0.847510121409
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,-8.24998979826e-05,0.858965538157,6.75932949243e-06,0.848006152963
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,-8.15170408967e-05,0.85946308146,7.76052503013e-06,0.84850375808
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,-8.08572633604e-05,0.859933540156,8.39234455221e-06,0.848974190636
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,-8.09461680379e-05,0.860397765293,8.28531614045e-06,0.849438590238
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,-8.23452502385e-05,0.860857958959,6.87760330719e-06,0.849898836047
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,-8.3095680202e-05,0.861321329406,6.14837347783e-06,0.850362171259
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,-8.22762118085e-05,0.861797704878,6.95502754689e-06,0.850838704878
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,-8.2005997406e-05,0.862273201321,7.24531935292e-06,0.851314201321
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,-8.340933768e-05,0.862726790957,5.81277843748e-06,0.851767806033
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,-8.46095146608e-05,0.863181485447,4.58548193488e-06,0.852222585447
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,-8.40851762559e-05,0.863637944879,5.13841164863e-06,0.852679048934
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,-8.31329636503e-05,0.864109578819,6.09173985214e-06,0.853150780714
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,-8.28328869847e-05,0.864610926691,6.45361462503e-06,0.853652226691
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,-8.27096544464e-05,0.865123606765,6.5571362685e-06,0.854164929506
|
| 90 |
+
88,1.466666667,pose1-to-pose2-lift,-8.25839400458e-05,0.865620596249,6.65297708852e-06,0.854662096249
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,-8.24989284319e-05,0.866122780453,6.69665189652e-06,0.855164280453
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,-8.25022991158e-05,0.866625839749,6.71320998736e-06,0.855667363266
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,-8.21473885547e-05,0.867130027786,7.08733020611e-06,0.8561716566
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,-8.11521426864e-05,0.867646716858,8.08994473992e-06,0.856688454049
|
| 95 |
+
93,1.550000000,pose1-to-pose2-lift,-8.08715831553e-05,0.868157589217,8.388252339e-06,0.857199389217
|
| 96 |
+
94,1.566666667,pose1-to-pose2-lift,-8.20163882689e-05,0.868639288353,7.20349677379e-06,0.857681135224
|
| 97 |
+
95,1.583333333,pose1-to-pose2-lift,-8.28291821266e-05,0.869103976244,6.39464026637e-06,0.858145922454
|
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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-05,0.883587,4.85038e-06,0.872632
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.36497723326e-05,0.88358678791,5.19127090736e-06,0.87263178791
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.29583728973e-05,0.883587,5.91885512448e-06,0.872632
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.21899931539e-05,0.883587,6.70422760683e-06,0.872632
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.19802109839e-05,0.883587,6.91864911518e-06,0.872632
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.14588750509e-05,0.883586996122,7.44794156421e-06,0.872631996122
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.14006192927e-05,0.883586994376,7.50587759411e-06,0.872631994376
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.08614825374e-05,0.883586978222,8.04205537556e-06,0.872631978222
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-8.01812260797e-05,0.883586957839,8.71857834454e-06,0.872631957839
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.94628965759e-05,0.883586936316,9.43296540108e-06,0.872631936316
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.70878149252e-05,0.883586858887,1.18116752977e-05,0.872631858887
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-7.08081230889e-05,0.883586680112,1.81429304964e-05,0.8726317
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+
12,0.200000000,pose2-to-pose3-side,-5.92764089079e-05,0.883586634233,2.97449800642e-05,0.8726317
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+
13,0.216666667,pose2-to-pose3-side,-3.62565779695e-05,0.883586534387,5.29032168201e-05,0.872631534387
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14,0.233333333,pose2-to-pose3-side,5.04503691833e-06,0.883587,9.44489575918e-05,0.872632
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15,0.250000000,pose2-to-pose3-side,6.03689914577e-05,0.88358730721,0.000150112654334,0.87263220721
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16,0.266666667,pose2-to-pose3-side,0.000126502436374,0.883587306483,0.000216660536546,0.872632253242
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+
17,0.283333333,pose2-to-pose3-side,0.000210661837192,0.883587650102,0.000301293670505,0.872632560082
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+
18,0.300000000,pose2-to-pose3-side,0.000305948655587,0.8835876,0.000397293873812,0.8726326
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19,0.316666667,pose2-to-pose3-side,0.000404410042598,0.88358780379,0.000496289932962,0.87263280379
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20,0.333333333,pose2-to-pose3-side,0.000523292150412,0.883587967638,0.000615880174813,0.872632967638
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21,0.350000000,pose2-to-pose3-side,0.00065237085103,0.883588428463,0.000745690959499,0.872633428463
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22,0.366666667,pose2-to-pose3-side,0.000783071268954,0.883588701006,0.000877206901289,0.872633701006
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23,0.383333333,pose2-to-pose3-side,0.000924353100515,0.883589211303,0.00101933694938,0.872634222606
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24,0.400000000,pose2-to-pose3-side,0.00107765184226,0.883589348063,0.00117353515834,0.872634448063
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25,0.416666667,pose2-to-pose3-side,0.00123578600258,0.8835895,0.00133264247613,0.872634566472
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26,0.433333333,pose2-to-pose3-side,0.00139880337509,0.883589788205,0.00149666315827,0.872634788205
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27,0.450000000,pose2-to-pose3-side,0.00157465392363,0.88359041009,0.00167357754434,0.87263541009
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+
28,0.466666667,pose2-to-pose3-side,0.00175988399699,0.883590731569,0.00185991371038,0.872635731569
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29,0.483333333,pose2-to-pose3-side,0.00194393412678,0.883590724535,0.00204508748768,0.872635649071
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30,0.500000000,pose2-to-pose3-side,0.00212050642808,0.883590305788,0.00222272771589,0.872635284631
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31,0.516666667,pose2-to-pose3-side,0.00230162927015,0.883589196779,0.00240496030089,0.872634196779
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32,0.533333333,pose2-to-pose3-side,0.00247770501279,0.883588829844,0.00258212304762,0.872633744766
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33,0.550000000,pose2-to-pose3-side,0.00264838220889,0.883588213497,0.00275385001738,0.872633113497
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34,0.566666667,pose2-to-pose3-side,0.00282332898522,0.883587415459,0.00292984519832,0.872632401026
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35,0.583333333,pose2-to-pose3-side,0.0029993082301,0.8835873,0.003106973655,0.8726323
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36,0.600000000,pose2-to-pose3-side,0.00317410106788,0.88358796597,0.00328276780823,0.87263296597
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37,0.616666667,pose2-to-pose3-side,0.00334560840057,0.883588106827,0.00345535229076,0.872633008534
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38,0.633333333,pose2-to-pose3-side,0.00350691153158,0.883588533286,0.00361762290088,0.872633527738
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39,0.650000000,pose2-to-pose3-side,0.00365798732039,0.8835891,0.00376965393813,0.872634014575
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40,0.666666667,pose2-to-pose3-side,0.00380241439544,0.883589137385,0.00391496638033,0.872634237385
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41,0.683333333,pose2-to-pose3-side,0.00393794560862,0.8835895,0.0040513171966,0.87263458909
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42,0.700000000,pose2-to-pose3-side,0.00406824721151,0.883589439203,0.00418240629451,0.872634439203
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43,0.716666667,pose2-to-pose3-side,0.00419016698366,0.883589141052,0.0043050914281,0.872634161578
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44,0.733333333,pose2-to-pose3-side,0.00430711286287,0.883589237834,0.00442275399639,0.872634368917
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45,0.750000000,pose2-to-pose3-side,0.00440923299407,0.883589137899,0.00452550720432,0.8726343
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46,0.766666667,pose2-to-pose3-side,0.0044986537021,0.883588990713,0.00461547454584,0.872634090713
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47,0.783333333,pose2-to-pose3-side,0.0045745959477,0.883588823983,0.00469190926931,0.872633965311
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48,0.800000000,pose2-to-pose3-side,0.00464157736409,0.883588876513,0.00475930795744,0.872634076513
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49,0.816666667,pose2-to-pose3-side,0.0046951999512,0.8835887,0.00481324006529,0.87263393275
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50,0.833333333,pose2-to-pose3-side,0.00474429784661,0.883588789538,0.0048625992219,0.872634119384
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51,0.850000000,pose2-to-pose3-side,0.00478672005051,0.883588970451,0.00490528744582,0.8726344
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52,0.866666667,pose2-to-pose3-side,0.00482164040727,0.883588809114,0.00494042797102,0.872634309114
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53,0.883333333,pose2-to-pose3-side,0.00484985639594,0.883588632541,0.00496879569924,0.872634132541
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54,0.900000000,pose2-to-pose3-side,0.00487150501636,0.8835887,0.00499057604495,0.8726342
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55,0.916666667,pose2-to-pose3-side,0.00488623129032,0.883588677379,0.00500541513703,0.872634154759
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56,0.933333333,pose2-to-pose3-side,0.00489847924163,0.883588544656,0.0050177561846,0.872633972328
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57,0.950000000,pose2-to-pose3-side,0.00490781380151,0.883588499365,0.00502716756009,0.872633949682
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58,0.966666667,pose2-to-pose3-side,0.00491393485844,0.883588695203,0.00503336017964,0.872634095203
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59,0.983333333,pose2-to-pose3-side,0.004916572,0.8835886,0.005036019,0.8726339
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60,1.000000000,pose3-hold,0.004916572,0.8835886,0.005036026,0.8726339
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61,1.016666667,pose3-hold,0.004916572,0.8835886,0.00503603111765,0.8726339
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62,1.033333333,pose3-hold,0.004916572,0.8835886,0.00503603694118,0.8726339
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63,1.050000000,pose3-hold,0.004916572,0.8835886,0.00503604179412,0.8726339
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64,1.066666667,pose3-hold,0.004916572,0.8835886,0.00503604688235,0.8726339
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65,1.083333333,pose3-hold,0.004916572,0.8835886,0.00503605285294,0.8726339
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66,1.100000000,pose3-hold,0.004916572,0.8835886,0.00503605847059,0.8726339
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67,1.116666667,pose3-hold,0.004916572,0.8835886,0.00503606188235,0.8726339
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68,1.133333333,pose3-hold,0.004916572,0.8835886,0.00503606858824,0.8726339
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69,1.150000000,pose3-hold,0.004916572,0.8835886,0.00503608082353,0.8726339
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70,1.166666667,pose3-hold,0.004916572,0.8835886,0.00503609288235,0.8726339
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71,1.183333333,pose3-hold,0.004916572,0.8835886,0.00503609326471,0.8726339
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72,1.200000000,pose3-hold,0.004916572,0.8835886,0.00503608776471,0.8726339
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73,1.216666667,pose3-hold,0.004916572,0.8835886,0.00503609991176,0.8726339
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74,1.233333333,pose3-hold,0.004916572,0.8835886,0.00503609905882,0.8726339
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75,1.250000000,pose3-hold,0.004916572,0.8835886,0.00503610773529,0.8726339
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76,1.266666667,pose3-hold,0.004916572,0.8835886,0.00503610676471,0.8726339
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77,1.283333333,pose3-hold,0.004916572,0.8835886,0.005036106,0.8726339
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78,1.300000000,pose3-hold,0.004916572,0.8835886,0.00503611088235,0.8726339
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79,1.316666667,pose3-hold,0.004916572,0.8835886,0.00503611779412,0.8726339
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80,1.333333333,pose3-hold,0.004916572,0.8835886,0.00503611764706,0.8726339
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81,1.350000000,pose3-hold,0.004916572,0.8835886,0.00503612702941,0.8726339
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82,1.366666667,pose3-hold,0.004916572,0.8835886,0.00503612494118,0.872633976471
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83,1.383333333,pose3-hold,0.004916572,0.8835886,0.00503612276471,0.872634
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84,1.400000000,pose3-hold,0.004916572,0.8835886,0.00503612341176,0.872634
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85,1.416666667,pose3-hold,0.004916572,0.8835886,0.00503612338235,0.872634
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86,1.433333333,pose3-hold,0.004916572,0.8835886,0.00503612123529,0.872634
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87,1.450000000,pose3-hold,0.004916572,0.8835886,0.00503612647059,0.872634
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88,1.466666667,pose3-hold,0.004916572,0.8835886,0.00503611111765,0.872634
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89,1.483333333,pose3-hold,0.004916572,0.8835886,0.00503612370588,0.872634
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90,1.500000000,pose3-hold,0.004916572,0.8835886,0.00503611605882,0.872634
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91,1.516666667,pose3-hold,0.004916572,0.8835886,0.00503610611765,0.872634
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92,1.533333333,pose3-hold,0.004916572,0.8835886,0.00503610235294,0.872634
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93,1.550000000,pose3-hold,0.004916572,0.8835886,0.00503609158824,0.872634
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94,1.566666667,pose3-hold,0.004916572,0.8835886,0.005036066,0.872634
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95,1.583333333,pose3-to-pose4-insert,0.004916572,0.8835886,0.005036083,0.872634
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96,1.600000000,pose3-to-pose4-insert,0.00491650562472,0.883588460562,0.00503601116461,0.872633853989
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97,1.616666667,pose3-to-pose4-insert,0.00491657356575,0.883588109143,0.00503607500575,0.872633444
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98,1.633333333,pose3-to-pose4-insert,0.00491660055124,0.883587577987,0.0050361001195,0.872632896929
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99,1.650000000,pose3-to-pose4-insert,0.00491655987857,0.883586604135,0.00503606116539,0.872631980362
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100,1.666666667,pose3-to-pose4-insert,0.00491653191134,0.883585931184,0.0050360382796,0.872631331184
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101,1.683333333,pose3-to-pose4-insert,0.00491653006206,0.883585886353,0.00503603715882,0.872631286353
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102,1.700000000,pose3-to-pose4-insert,0.00491651553365,0.883585534149,0.00503602835373,0.872630934149
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103,1.716666667,pose3-to-pose4-insert,0.00491648861437,0.88358488156,0.00503601203901,0.87263028156
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104,1.733333333,pose3-to-pose4-insert,0.00491643909731,0.883583681147,0.00503598202867,0.872629081147
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105,1.750000000,pose3-to-pose4-insert,0.00491641216944,0.88358277821,0.00503596387089,0.872628174178
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106,1.766666667,pose3-to-pose4-insert,0.00491641793478,0.883581684783,0.00503595830435,0.87262706087
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107,1.783333333,pose3-to-pose4-insert,0.00491643633595,0.883578194906,0.00503594053771,0.872623507541
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108,1.800000000,pose3-to-pose4-insert,0.00491663407695,0.883567536911,0.00503613616961,0.872613025569
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109,1.816666667,pose3-to-pose4-insert,0.00491632350035,0.883543422029,0.00503586051019,0.872588822029
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110,1.833333333,pose3-to-pose4-insert,0.00491644827078,0.883504114325,0.0050359327936,0.872549514325
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111,1.850000000,pose3-to-pose4-insert,0.00491650515466,0.883450966951,0.00503596540678,0.872496366951
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112,1.866666667,pose3-to-pose4-insert,0.00491646142942,0.883382125312,0.00503592124807,0.872427472379
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113,1.883333333,pose3-to-pose4-insert,0.00491640322503,0.883292290895,0.00503583432892,0.872337790895
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114,1.900000000,pose3-to-pose4-insert,0.00491653462232,0.883192854161,0.00503603247426,0.872238315641
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115,1.916666667,pose3-to-pose4-insert,0.00491669736802,0.883088079092,0.00503618684174,0.872133479092
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116,1.933333333,pose3-to-pose4-insert,0.00491671352167,0.88296833129,0.00503621934778,0.87201373129
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117,1.950000000,pose3-to-pose4-insert,0.00491673023004,0.882835535896,0.00503622876086,0.871881023845
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118,1.966666667,pose3-to-pose4-insert,0.0049164889159,0.882703433992,0.00503600498417,0.871748833992
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119,1.983333333,pose3-to-pose4-insert,0.00491649929282,0.882553396719,0.00503601307981,0.87159875737
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120,2.000000000,pose3-to-pose4-insert,0.00491623256728,0.882392393679,0.00503576811584,0.871437749215
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121,2.016666667,pose3-to-pose4-insert,0.00491607308778,0.882233897835,0.00503560606198,0.871279234416
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122,2.033333333,pose3-to-pose4-insert,0.00491604789668,0.882069707004,0.00503555316352,0.871115007004
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123,2.050000000,pose3-to-pose4-insert,0.00491577077284,0.881896135987,0.00503527343612,0.870941358265
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124,2.066666667,pose3-to-pose4-insert,0.00491592546423,0.881728609087,0.00503542710674,0.870773809087
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125,2.083333333,pose3-to-pose4-insert,0.00491613113714,0.881558769397,0.00503564779492,0.870603969397
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126,2.100000000,pose3-to-pose4-insert,0.00491638186907,0.881376532001,0.00503590037649,0.870421648915
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127,2.116666667,pose3-to-pose4-insert,0.00491668094814,0.881189596351,0.00503618735467,0.870234696351
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128,2.133333333,pose3-to-pose4-insert,0.00491711174914,0.881002945575,0.0050366356498,0.870048045575
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129,2.150000000,pose3-to-pose4-insert,0.00491683866284,0.880813177881,0.00503635683354,0.869858177881
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130,2.166666667,pose3-to-pose4-insert,0.00491674306889,0.880622416266,0.00503627032097,0.869667416266
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131,2.183333333,pose3-to-pose4-insert,0.00491672479537,0.880426871868,0.00503622717036,0.869471850278
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132,2.200000000,pose3-to-pose4-insert,0.00491680403917,0.880237329727,0.00503630519348,0.869282229727
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133,2.216666667,pose3-to-pose4-insert,0.00491685656905,0.880056488376,0.0050363321033,0.869101346332
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134,2.233333333,pose3-to-pose4-insert,0.00491678958673,0.879883157021,0.00503627536489,0.868927906226
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135,2.250000000,pose3-to-pose4-insert,0.00491699667747,0.879712567592,0.00503651714388,0.868757329972
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136,2.266666667,pose3-to-pose4-insert,0.00491685835274,0.879563692792,0.00503636602413,0.868608492792
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137,2.283333333,pose3-to-pose4-insert,0.00491679389184,0.879421339915,0.00503624920895,0.868466139915
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138,2.300000000,pose3-to-pose4-insert,0.00491685805937,0.879286936968,0.00503625131506,0.868331736968
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139,2.316666667,pose3-to-pose4-insert,0.00491707215832,0.879166144683,0.0050364743402,0.868210870618
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140,2.333333333,pose3-to-pose4-insert,0.00491721770499,0.879057132692,0.00503669584221,0.868101759716
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141,2.350000000,pose3-to-pose4-insert,0.00491734914816,0.878952339428,0.00503685521134,0.867996862849
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142,2.366666667,pose3-to-pose4-insert,0.00491730678264,0.878862854177,0.00503678004747,0.867907354177
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143,2.383333333,pose3-to-pose4-insert,0.00491748248135,0.878779013429,0.00503692751755,0.867823513429
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144,2.400000000,pose3-to-pose4-insert,0.00491754283905,0.878702134485,0.0050370155619,0.867746634485
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145,2.416666667,pose3-to-pose4-insert,0.00491745413615,0.878635965986,0.00503690261726,0.867680376225
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