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0000000000000000000000000000000000000000..f473408c87204838045674b6951b3807d5aaef85 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_01/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2df71af5c805de31e66dad82779ca4514c7d5424f773682c95ec4772f113fd5 +size 25416856 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_01/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..778cb70ab79d477e6305847300b8716990ad1a38 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_01/depth_05/franka_data.csv @@ -0,0 +1,401 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Obstacle_avoidance/cylinder_0010_20/position_02/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03d40fca203162105d9f1c08dafc255153ec64269cc8551e5f72ac6a41ffc364 +size 25200303 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_02/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d57ff1e89c30a78042f82fc75c9ab4a5d63f2679 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_02/depth_04/franka_data.csv @@ -0,0 +1,398 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Obstacle_avoidance/cylinder_0010_20/position_02/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e483f3328cb3eb2ebbea22b9493be5b4d33a1c8d5bcb365a6107354d33ad653 +size 25331481 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_02/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..b6ce23076dbf9668bc22dcf7a34c2faed71e33fc --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_02/depth_05/franka_data.csv @@ -0,0 +1,400 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+68,1.133333333,BASELINE,764,742,711,670.542202751,660,632,876,782.457797249,799.542202751,649,627,649.457797249,0.401012853038,-0.00551066878353,0.0698522529416,0.999999984594,5.29497664635e-05,-0.000165928026626,2.18042449863e-05,1793191328623338752 +69,1.150000000,BASELINE,763.969453403,742,711.030546597,670.030546597,659.969453403,632,876.030546597,783,799,649,627,650,0.401014012742,-0.00551189352364,0.0698531002012,0.999999984899,5.14906125062e-05,-0.000164527901488,2.19594833337e-05,1793191328640005376 +70,1.166666667,BASELINE,763.414864374,742,711.585135626,670.585135626,659.414864374,632,876.585135626,783,799,649,627,650,0.401014959837,-0.00551049500009,0.0698532113872,0.999999984884,5.36499154962e-05,-0.000163918515846,2.20181178904e-05,1793191328656672256 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0000000000000000000000000000000000000000..cd46d2460c4cce2e5b206fb5846c359200ba49cf --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_03/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:616475ebefc676919d5922bcaae539e0bf4ba7cd8f95b0e4e6f52413744f5c81 +size 24809616 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_03/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..7820b8fccb35f95428100ce8a00d7c358baff70a --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_03/depth_02/franka_data.csv @@ -0,0 +1,392 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Obstacle_avoidance/cylinder_0010_20/position_03/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbeb5c42ec3e488b27bf80008cead0348ba53ebe837b962d573e7b600fd49d9b +size 25376699 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_03/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..b71bbd95aa3c000cd5f576be411da49c706981a6 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_03/depth_04/franka_data.csv @@ -0,0 +1,401 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Obstacle_avoidance/cylinder_0010_20/position_03/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30bdde5dc6f9d8ad244bf92d4f5326aff86b597fc7080e2a5bed7ea6c10bfd92 +size 25438947 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_03/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..8872ea226d56634b4ffb68231f3ccced830da3e9 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_03/depth_05/franka_data.csv @@ -0,0 +1,402 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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sha256:13fd2468ee6ee3df243a6d9f771b271245c350fb4e58a92bd23ee7a7342bd7a4 +size 24878851 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_04/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..fb548247fafe8153b74667aaad39cf8a0dd39804 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_04/depth_01/franka_data.csv @@ -0,0 +1,392 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,763,742,711,670,660,632,877,783,799,649,627,649,0.401021340437,-0.00551158939241,0.0798615011581,0.999999983947,8.48731731965e-05,-0.00015393951893,3.47110687808e-05,1793191362557317120 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+42,0.700000000,BASELINE,764,742,712,671,659,632,876,783,798.35851705,649,627,649.64148295,0.401020227043,-0.00551147705178,0.0798622024279,0.999999983961,8.36780394256e-05,-0.000154666932613,3.39827747854e-05,1793191363257317120 +43,0.716666667,BASELINE,764,742,712,671,659,632,876,783,798.952084308,649,627,649.047915692,0.401018509674,-0.00550987331896,0.0798616814805,0.999999983395,8.60789392696e-05,-0.000156980636237,3.40167084198e-05,1793191363273983744 +44,0.733333333,BASELINE,764,741.46867441,711.46867441,671,659,632,876,782.46867441,799.53132559,649,627,649,0.4010181097,-0.00551069833065,0.0798609316451,0.999999983425,8.51867155675e-05,-0.000157245388419,3.41578240369e-05,1793191363290650112 +45,0.750000000,BASELINE,763.891503471,741.108496529,711.108496529,671,659,632,876,782.108496529,799.891503471,649,627,649.108496529,0.401017999863,-0.00551134250758,0.0798605424235,0.999999983499,8.44455148099e-05,-0.000157141872581,3.43170723377e-05,1793191363307316992 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0000000000000000000000000000000000000000..b8f2038bdbc5cbe724c306e4744f59c4198a0418 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_04/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ec1e4b9cd604ae9e240f14a68467938b1fba6c770a114c62e201fd9df5f7ec2 +size 25021108 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_04/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..c13b23beab2056fbd46e29d1dfe7dd64e262381c --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_04/depth_02/franka_data.csv @@ -0,0 +1,394 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..61eb691062722ec950b5890bfaab66269583b666 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d39e2c64561e00efd94b7c8e49d5abad4ea0e60a864301b6102bed4f9e616b50 +size 24647318 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..df446c6b4e1e1923c32b2bcc1e7ac3c8a3810915 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_01/franka_data.csv @@ -0,0 +1,390 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ed0a5109cac203132b2f8beba37aec6b828046412ff687df06e7d5450ad33c6 +size 25163418 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..e00f74575a327baa7e6d84329e166e2e4ed5286c --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_03/franka_data.csv @@ -0,0 +1,398 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..737f87be0c87a6235d654d5b88756d45a0ee6fa5 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bbeb7bae40719676762e7a67022e68d85855110fdbb5506bafa2bef7438909a +size 25210845 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..cd1f61b63505384822751345df6520c03a2eb93a --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_04/franka_data.csv @@ -0,0 +1,399 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72eb898a9150e832ae6292c8de3732471b8810063bde4e572c3b2fe4e4a6081e +size 25287027 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..464d16280722d73da0baad5d56972b22bd6abad2 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_05/depth_05/franka_data.csv @@ -0,0 +1,400 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..9c26f0926b5ca8375b88d465bd8de6f9d312ac29 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_06/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:033f8fa39c8383d8c3880f64f465cc07736844f56f5cad0559df5c5b3b3b13bb +size 24846196 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_06/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..e122210350034e73995420a48f12b76dadbffbbe --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_06/depth_02/franka_data.csv @@ -0,0 +1,392 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Obstacle_avoidance/cylinder_0010_20/position_06/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de028d2e0d0d6344e8ee05a1fe12f9b5e390ffd2f8fb7a381c858f5ddf2e86e0 +size 25041186 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_06/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..404be18901e5c55a75dec2a66d9cda29736774a8 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_06/depth_03/franka_data.csv @@ -0,0 +1,395 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..1511b7841ceade77bfed55737851d473d66bab4e --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_06/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d449404d3a2fba10ef0f9c5747ee99701b4e5ce057c3e3acaf652bdae7a941db +size 25240690 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_06/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..13d048b50492bf33a61bf4dd37d044b06cfb905b --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_06/depth_04/franka_data.csv @@ -0,0 +1,398 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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a/Obstacle_avoidance/cylinder_0010_20/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0010_20/position_07/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..88924b6e87c4d3511fcc51fbb596e80f2e756ea3 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_07/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:712f17ce1b77a4e3d72fe2f026eee3723f9d65a877563d5969fe58060ac160a3 +size 24980400 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_07/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..63a4bcf7ebbfe5d1545336faef1568dbc1a5a929 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_07/depth_02/franka_data.csv @@ -0,0 +1,394 @@ 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a/Obstacle_avoidance/cylinder_0010_20/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0010_20/position_07/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..9072e68da5707d154b759ef4ec1393f87df30030 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_07/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2c0dc1428c3c374fd6a9e5632ca0b6dc339bc85b1c55da296c6c38296cfd570 +size 25109900 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_07/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2fc68a331285c2806c723c768b0a401388cf4b7f --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_07/depth_03/franka_data.csv @@ -0,0 +1,396 @@ 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+85,1.416666667,BASELINE,763,742,712,670,659,632.681799054,876,783,798.681799054,648.318200946,627,649,0.400955913749,-0.0153723858314,0.0698177074284,0.999999930601,0.000231189150232,-0.00029186315268,1.28651388243e-05,1793191483134167808 +86,1.433333333,BASELINE,763,742,712,670,659,632.091595315,876,783,798.091595315,648.908404685,627,649,0.400957446501,-0.0153735702431,0.0698183163632,0.999999931256,0.000230135793161,-0.000290444931476,1.29144373893e-05,1793191483150834432 +87,1.450000000,BASELINE,763,742,712,670.488324126,659,632.488324126,876.488324126,783,798.488324126,649,627,649.488324126,0.40095753631,-0.015371802655,0.0698181943771,0.999999930839,0.000231789296022,-0.000290579335947,1.26433981383e-05,1793191483167501056 +88,1.466666667,BASELINE,763,741.933959124,711.933959124,671,659,632.933959124,876.933959124,783,799,648.933959124,627,649.933959124,0.400957143902,-0.015369944549,0.0698178853495,0.99999993029,0.000233514468347,-0.000291097532596,1.23911420068e-05,1793191483184167936 +89,1.483333333,BASELINE,763,741.35865942,711.35865942,671,659,632.35865942,876.35865942,783,799,648.35865942,627,649.35865942,0.400955077027,-0.0153715701627,0.0698171693994,0.999999930275,0.000231957834598,-0.000292375843419,1.27375098668e-05,1793191483200834560 +90,1.500000000,BASELINE,763,741,711,670.778588369,659,632.221411631,876.221411631,783,799.221411631,648.221411631,627,649.221411631,0.400953839051,-0.0153723294994,0.0698164193377,0.99999993016,0.000231054256612,-0.000293473877415,1.29283247547e-05,1793191483217501184 +91,1.516666667,BASELINE,763,741,711,670.190618162,659,632.809381838,876.809381838,783,799.809381838,648.809381838,627,649.809381838,0.400953973359,-0.015371654669,0.0698156128028,0.999999929885,0.000231231846874,-0.000294273453534,1.28616134979e-05,1793191483234168064 +92,1.533333333,BASELINE,763,741.391013861,711.391013861,670,659,632.608986139,876.608986139,783,799.608986139,648.608986139,627,649.608986139,0.40095519122,-0.0153712527379,0.0698159894146,0.999999930264,0.000231131943655,-0.000293071059239,1.25919680689e-05,1793191483250834688 +93,1.550000000,BASELINE,763,741.969605373,711.969605373,670,659,632.030394627,876.030394627,783,799.030394627,648.030394627,627,649.030394627,0.400956928884,-0.0153709817223,0.069816933607,0.999999930954,0.000230898920935,-0.000290908277297,1.22249708022e-05,1793191483267501312 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0000000000000000000000000000000000000000..38aff113c2186e8c4c6e78df93c4b3eb9ee91257 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_08/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:189c873feb99a46e384c64e8c705e13c29f410058d58b6941d9d52b352cf1bb7 +size 25136981 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_08/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..84ecea61fe8b9120f11500a10d964b28ebeb2e80 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_08/depth_03/franka_data.csv @@ -0,0 +1,396 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..49a94e1a513e77eebc347b4fa81ed74be20bfec6 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_08/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce64c7fc55dc000d575b5803c0d14b78bd6ea02876b67f80712b24a66ef7434d +size 25338489 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_08/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..082710d97018883c3a7d18b2c2427c7ce80fd581 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_08/depth_04/franka_data.csv @@ -0,0 +1,399 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+68,1.133333333,BASELINE,763.448683153,742,711.448683153,671,659,632,877,783,799,648,627,649.448683153,0.400966198902,-0.0153775929582,0.0798368049653,0.999999930528,0.000244291513699,-0.000280620569674,2.27744338214e-05,1793191524695924992 +69,1.150000000,BASELINE,763.961508727,741.961508727,712,670.961508727,659,632.038491273,877,783,799,648,627,650,0.400965559709,-0.0153770869023,0.0798361951938,0.999999930061,0.000245079882233,-0.000281594520917,2.27545553539e-05,1793191524712591616 +70,1.166666667,BASELINE,763.383062441,741.383062441,712,670.383062441,659,632.616937559,877,783,799,648,627,650,0.40096544213,-0.0153783744539,0.0798359221032,0.999999930485,0.00024402886354,-0.000280991911375,2.2900186067e-05,1793191524729258240 +71,1.183333333,BASELINE,763,741.194586678,712,670.194586678,659,632.805413322,877,783,799.194586678,648,627,649.805413322,0.400965107084,-0.015379224241,0.0798356977075,0.999999930531,0.000243769280979,-0.00028104620386,2.29862881367e-05,1793191524745924608 +72,1.200000000,BASELINE,763,741.770673001,712,670.770673001,659,632.229326999,877,783,799.770673001,648,627,649.229326999,0.400964345679,-0.0153792157632,0.079835568781,0.999999929837,0.000245061359456,-0.000282388394735,2.29556805143e-05,1793191524762591488 +73,1.216666667,BASELINE,763.353369211,742,712,671,659,632,877,783,799.646630789,648,627,649,0.400964669596,-0.0153791342869,0.0798358839405,0.999999929953,0.000244781935176,-0.000282221085416,2.29571005635e-05,1793191524779258112 +74,1.233333333,BASELINE,763.94043679,742,712,671,659,632,877,783,799.05956321,648,627,649,0.400965711284,-0.0153790045336,0.0798364927934,0.999999930603,0.000243463207961,-0.00028105547814,2.29797019011e-05,1793191524795924736 +75,1.250000000,BASELINE,764,742,712,670.479624994,659.520375006,632,876.479624994,783,799,648,627,649,0.400965699185,-0.0153790686264,0.0798363685842,0.999999930652,0.000244001639496,-0.000280415277001,2.29543059911e-05,1793191524812591360 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0000000000000000000000000000000000000000..98558e01925ba7206a6322da41c0d43a909e86b2 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_08/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d63c3cd5af5addea1362188b57b681d5b1ee819bdf2356f0bddd528a57084d44 +size 25522515 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_08/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..154eecc071b56b02b83a35a3a62bd36a1a7c4d01 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_08/depth_05/franka_data.csv @@ -0,0 +1,402 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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sha256:798124ff3eb1c576a6bc344ca033c1dd60d7449fa629b26843e9224b3a2f2ee4 +size 24799204 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_09/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..58d6d7e51ba438cb126db0c28089ee81a6f8ee74 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_09/depth_02/franka_data.csv @@ -0,0 +1,392 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,742,710,671,665,632,877,783,799,650,627,649,0.400947943018,0.00450759073289,0.0598392055965,0.999999960129,7.65000849525e-05,-0.000270390346195,2.79010950173e-05,1793191545592523264 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+54,0.900000000,BASELINE,764.351407745,742,711,671,664,632.648592255,876.648592255,783,798.648592255,650,627,649.351407745,0.400950002744,0.00450529499589,0.0598414772745,0.99999996109,7.69640319872e-05,-0.000266619520142,2.84787577313e-05,1793191546492523008 +55,0.916666667,BASELINE,764.927474335,742,711,671,664,632.072525665,876.072525665,783,798.072525665,650,627,649.927474335,0.400948273278,0.00450488127192,0.0598406505503,0.999999960845,7.52690430528e-05,-0.000268022049412,2.84399631939e-05,1793191546509189632 +56,0.933333333,BASELINE,764.498365597,742,710.498365597,671,664,632,876.501634403,783,798.501634403,650,627,649.498365597,0.40094999041,0.0045051225294,0.0598418805542,0.999999961357,7.43845286927e-05,-0.000266388154532,2.81228335121e-05,1793191546525856512 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sha256:386e136c66035659c5b47cdf9039db2a8a49e3598c0a368021ff0ba3cdd9120d +size 25117014 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_09/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..94da2be009f892ade5d1eb5ddca52689f0d1f31a --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_09/depth_03/franka_data.csv @@ -0,0 +1,397 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,742,711,671,664,632,877,783,799,650,627,649,0.400950478014,0.00452912080853,0.059837961031,0.999999956816,0.000110647950773,-0.000271235005323,2.35979544005e-05,1793191552313332736 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+38,0.633333333,BASELINE,763.950774264,742,710.049225736,671,664,632,876.950774264,783,799,649.950774264,626.049225736,649,0.400950822776,0.00453032126292,0.0598384610408,0.999999952961,0.000142993679996,-0.000270640535444,1.95877959156e-05,1793191559696038656 +39,0.650000000,BASELINE,763.371709397,742,710.628290603,671,664,632,876.371709397,783,799,649.371709397,626.628290603,649,0.400949421583,0.00453068309442,0.0598377046495,0.999999952416,0.000144253140118,-0.000271988227039,1.95357671865e-05,1793191559712705536 +40,0.666666667,BASELINE,763.206287466,741.793712534,710.793712534,671.206287466,664,632,876.206287466,783,799,649.206287466,627,649,0.400948902418,0.00453109476384,0.0598374895272,0.999999952205,0.000145113372117,-0.000272309021411,1.94819920322e-05,1793191559729372416 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+44,0.733333333,BASELINE,764,742,710.521402409,671.478597591,664,632.478597591,876.478597591,782.521402409,799,650,627,649,0.400948556135,0.00453107839626,0.059836834406,0.999999951878,0.00014471649389,-0.000273717756873,1.94917591461e-05,1793191559796038912 +45,0.750000000,BASELINE,763.88773224,742,711,671,664.11226776,632,876,783,799,650,627,649,0.400949334738,0.00453094677725,0.0598372501207,0.999999952533,0.000142211912024,-0.000272642747966,1.94048705634e-05,1793191559812705280 +46,0.766666667,BASELINE,763.309075862,742,711,671,664.690924138,632,876,783,799,650,627,649,0.400951626746,0.00453027365918,0.0598391272652,0.999999953168,0.000143595040997,-0.000269556222377,1.9617602087e-05,1793191559829371904 +47,0.783333333,BASELINE,763.26691486,742,711,671,664.73308514,632.26691486,876.26691486,783,799,650,626.73308514,649,0.400952065999,0.00452999545872,0.0598395133758,0.999999953351,0.000143907879759,-0.000268706701815,1.96194906596e-05,1793191559846038784 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0000000000000000000000000000000000000000..bfbd4922f5f7598d2d4abba66ba818951c456d82 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_09/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8111ab1f35cfe01630783608190b6830949e508815bea3a66853e4cd92c6c4e +size 25371756 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_09/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..21ae54ddd4cc77cafd823913f521c33169f1f6cf --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_09/depth_05/franka_data.csv @@ -0,0 +1,401 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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sha256:789695308a5ad317f251f6eef560c51e4a6773c852a6663e49b0762f964d06b9 +size 24476647 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_10/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9c928cefd7b54613bface6d6062477b5197b3e1f --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_10/depth_01/franka_data.csv @@ -0,0 +1,388 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,764,741,710,672,665,632,875,783,798,650,627,650,0.400926163601,0.00454833110275,0.049919810676,0.999999973093,3.00374883709e-05,-0.000227660119702,-3.29136049559e-05,1793191573912343552 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+247,4.116666667,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156704279,0.01872740218,1.03969845713 +248,4.133333333,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156704279,0.0187274021799,1.03969845712 +249,4.150000000,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156704279,0.0187274021799,1.03969845712 +250,4.166666667,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156704279,0.0187274021801,1.03969845712 +251,4.183333333,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156704279,0.0187274021805,1.03969845712 +252,4.200000000,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156704279,0.0187274021804,1.03969845712 +253,4.216666667,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156704278,0.0187274021809,1.03969845712 +254,4.233333333,pose2_to_pose3_retreat,0.617585975313,0.0100546755237,1.04002916292,0.58815670428,0.0187274021797,1.03969845712 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0000000000000000000000000000000000000000..753c1630cb154b6e51f9001e07c579f0819b4a4d --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_10/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cbaa42603799a85440a331c4a54a7678b01d18e2fb11d177652ec417efa6201 +size 24665420 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_10/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9d4e1d20d8ba0427b5f881dd0f509a8b2e277716 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_10/depth_02/franka_data.csv @@ -0,0 +1,391 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+244,4.066666667,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902716,1.03969811586 +245,4.083333333,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902716,1.03969811586 +246,4.100000000,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902716,1.03969811586 +247,4.116666667,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902715,1.03969811586 +248,4.133333333,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902715,1.03969811586 +249,4.150000000,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902715,1.03969811586 +250,4.166666667,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902714,1.03969811586 +251,4.183333333,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902714,1.03969811586 +252,4.200000000,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902714,1.03969811586 +253,4.216666667,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902714,1.03969811586 +254,4.233333333,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902713,1.03969811586 +255,4.250000000,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902713,1.03969811586 +256,4.266666667,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902713,1.03969811586 +257,4.283333333,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754278,0.0187271902712,1.03969811586 +258,4.300000000,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754279,0.0187271902714,1.03969811586 +259,4.316666667,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156754279,0.0187271902715,1.03969811586 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+242,4.033333333,pose1_to_pose2_press,0.621585864195,0.0100545787753,1.0400293116,0.592156592971,0.0187273067545,1.03969859689 +243,4.050000000,pose1_to_pose2_press,0.621585864195,0.0100545787753,1.0400293116,0.59215659297,0.0187273067543,1.03969859688 +244,4.066666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592973,0.0187273067527,1.03969859688 +245,4.083333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592973,0.018727306753,1.03969859688 +246,4.100000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592973,0.018727306753,1.03969859688 +247,4.116666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592973,0.0187273067529,1.03969859688 +248,4.133333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592974,0.0187273067526,1.03969859688 +249,4.150000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592973,0.0187273067529,1.03969859688 +250,4.166666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592973,0.0187273067529,1.03969859688 +251,4.183333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592973,0.0187273067528,1.03969859688 +252,4.200000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592973,0.0187273067528,1.03969859688 +253,4.216666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592973,0.0187273067528,1.03969859688 +254,4.233333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592973,0.0187273067528,1.03969859688 +255,4.250000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592974,0.0187273067528,1.03969859688 +256,4.266666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592974,0.0187273067527,1.03969859688 +257,4.283333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592974,0.0187273067527,1.03969859688 +258,4.300000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592974,0.0187273067526,1.03969859688 +259,4.316666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592974,0.0187273067527,1.03969859688 +260,4.333333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592974,0.0187273067526,1.03969859688 +261,4.350000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156592974,0.0187273067525,1.03969859688 +262,4.366666667,pose2_to_pose3_retreat,0.621585864195,0.0100545787753,1.0400293116,0.592156592974,0.0187273067522,1.03969859688 +263,4.383333333,pose2_to_pose3_retreat,0.621585876143,0.0100545783301,1.04002926295,0.592156605086,0.0187273068566,1.03969854806 +264,4.400000000,pose2_to_pose3_retreat,0.621585902663,0.0100545773419,1.04002915496,0.59215663197,0.0187273070883,1.03969843971 +265,4.416666667,pose2_to_pose3_retreat,0.62158575877,0.0100545766357,1.04002906466,0.592156487073,0.018727303065,1.03969835174 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b/Obstacle_avoidance/cylinder_0010_20/position_11/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..e068971c12c0f0334b83abbf279513d68c04b8d0 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_11/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61f7d9221cbe0779952c39432d22479bf7937f87169ba47099068a899cd708a9 +size 24762471 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_11/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..170b3a2425df1a9fd2048a51da425547b8600455 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_11/depth_01/franka_data.csv @@ -0,0 +1,390 @@ 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0000000000000000000000000000000000000000..09dbf22efa3bb6602b70aa9206b733e9092f718a --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_11/depth_02/franka_data.csv @@ -0,0 +1,394 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,765,742,711,672,662,632,878,783,798,650,627,649,0.400957857891,0.00447728431187,0.0698238948325,0.99999995933,4.00045373483e-05,-0.00028071226329,3.06513655734e-05,1793191615763107584 +1,0.016666667,BASELINE,764.386698522,742,711,671.386698522,662.613301478,632,877.386698522,783,798.613301478,649.386698522,627,649.613301478,0.400957258903,0.00447568402678,0.0698235308302,0.99999995927,3.83643392585e-05,-0.000281165064293,3.05580924706e-05,1793191615779774208 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b/Obstacle_avoidance/cylinder_0010_20/position_11/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..117b881445863d24d3a569b55baba3f8087ad38f --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_11/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7c6a9d660242ca020a16f1c5b92c5266664c675e4b1386a2b426e78d0a77a84 +size 25257935 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_11/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..6d243d60b99406efe587f6e3cc7a8d4b354e94e5 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_11/depth_04/franka_data.csv @@ -0,0 +1,398 @@ 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b/Obstacle_avoidance/cylinder_0010_20/position_12/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..002a0cd5651863bde8c63374c1750900f2a1a19b --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_12/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bab8768855a4633f39092b736e343b3beab7c73ce3e30c30f21acd640f7d64d +size 25229137 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_12/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..3b1e43875273237254fc74c21d55c71b50bb8b3d --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_12/depth_03/franka_data.csv @@ -0,0 +1,398 @@ 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+49,0.816666667,BASELINE,763.522082918,742,711,672.477917082,660,632,877,783,799,650,627,649,0.400959122481,0.00446341441022,0.0798365636766,0.999999958057,5.90519944379e-05,-0.000280639286652,4.05070856621e-05,1793191658340313856 +50,0.833333333,BASELINE,763.054564255,742,711,672.945435745,660,632.054564255,877,783,799.054564255,649.945435745,627,649.054564255,0.400957924348,0.00446355957429,0.0798357835108,0.999999957879,5.7947279196e-05,-0.000281537987894,4.02486475514e-05,1793191658356980224 +51,0.850000000,BASELINE,763.645231483,742,711,672.354768517,660,632.645231483,877,783,799.645231483,649.354768517,627,649.645231483,0.400955617105,0.00446490084368,0.0798340079282,0.999999956862,5.99932087544e-05,-0.000284686519274,4.0383544516e-05,1793191658373646848 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+56,0.933333333,BASELINE,763.451180277,742,711,672,659.451180277,632,877,782.548819723,799,649.451180277,627,649.548819723,0.400954813536,0.00446435490778,0.0798331150805,0.999999956355,5.93714369242e-05,-0.00028664470952,3.99939811239e-05,1793191658456980992 +57,0.950000000,BASELINE,763.134689134,742,711,672,659.134689134,632,877.134689134,783,799,649,627,649.865310866,0.400954495744,0.00446457508436,0.0798330300969,0.999999956241,5.94019506764e-05,-0.000287016452048,4.01284877927e-05,1793191658473647616 +58,0.966666667,BASELINE,763.71383972,742,711,672,659.71383972,632,877.71383972,783,799,649,627,649.28616028,0.400953449886,0.00446503375889,0.0798322305991,0.999999955954,6.04983752848e-05,-0.000287820483059,3.98889878417e-05,1793191658490313728 +59,0.983333333,BASELINE,764,742,711,672,660,632,877.708177069,782.708177069,799,649,627,649,0.400953791993,0.00446531505167,0.0798322619463,0.999999956029,6.08405803169e-05,-0.000287510625412,3.97248146661e-05,1793191658506980096 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+64,1.066666667,BASELINE,763.195392501,742,711,672,660,632,877,783,798.195392501,650,627,649.195392501,0.400955290823,0.00446465790097,0.079834119022,0.99999995687,5.85994867334e-05,-0.000285075427779,3.94726123786e-05,1793191658590313984 +65,1.083333333,BASELINE,763.774714285,742,711,672,660,632,877,783,798.774714285,650,627,649.774714285,0.400956020853,0.004464446159,0.0798347600088,0.999999957072,5.87658574427e-05,-0.000284285385714,3.98079292088e-05,1793191658606981120 +66,1.100000000,BASELINE,764,742,711.352257106,672,660,632,877,783,799,649.647742894,627,649.647742894,0.400956786779,0.0044643647947,0.0798354237352,0.999999957416,5.79213195762e-05,-0.000283250646776,3.97645726048e-05,1793191658623647232 +67,1.116666667,BASELINE,764,742,711.928667888,672,660,632,877,783,799,649.071332112,627,649.071332112,0.400957575547,0.00446436639434,0.0798361019315,0.999999957849,5.64335047671e-05,-0.00028206019858,3.94802526677e-05,1793191658640313600 +68,1.133333333,BASELINE,764,742,711.498404209,672,660.501595791,632,877,783,799,649,627,649,0.400956416489,0.00446433660242,0.0798346457656,0.999999957217,5.79021529978e-05,-0.000283995870818,3.94847406103e-05,1793191658656979968 +69,1.150000000,BASELINE,764,742,711.076699316,672.076699316,660.923300684,632,877,783,799,649,627,649,0.400955171232,0.00446432082316,0.0798331491881,0.999999956533,5.96415013319e-05,-0.00028602979158,3.95565995176e-05,1793191658673646848 +70,1.166666667,BASELINE,764,742,711.669761013,672.669761013,660.330238987,632,877,783,799,649,627,649,0.400955197643,0.00446442922829,0.0798334099002,0.999999956557,6.03922766167e-05,-0.000285752833996,3.98074210572e-05,1793191658690313472 +71,1.183333333,BASELINE,764,742,711.74400821,672.74400821,659.74400821,632,877,783.25599179,798.74400821,649.25599179,627,649,0.400955693545,0.00446471878249,0.0798336329733,0.999999956681,6.08756593495e-05,-0.000285195075933,3.99466932925e-05,1793191658706980352 +72,1.200000000,BASELINE,764,742,711.166360467,672.166360467,659.166360467,632,877,783.833639533,798.166360467,649.833639533,627,649,0.400956779365,0.00446523595211,0.0798338087527,0.999999956931,6.10230610714e-05,-0.000284284489542,3.99458028719e-05,1793191658723648000 +73,1.216666667,BASELINE,764,742,711,672,659.407145162,632,876.592854838,783.185709675,798.407145162,649.592854838,627,649,0.400957001692,0.00446623193305,0.079833871789,0.999999956891,6.20373278413e-05,-0.000284236274525,3.97446309198e-05,1793191658740314368 +74,1.233333333,BASELINE,764,742,711,672,659.978975325,632,876.021024675,782.04204935,798.978975325,649.021024675,627,649,0.400956874748,0.00446742158701,0.0798338892222,0.999999956731,6.34022304053e-05,-0.000284536877732,3.94624476548e-05,1793191658756980736 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+79,1.316666667,BASELINE,764,742,711,671.106860519,660,632,877,782.106860519,798,649,627,649.893139481,0.400954391239,0.00446522186325,0.0798333001533,0.999999956436,6.04208847981e-05,-0.000286158276139,3.98786929059e-05,1793191658840313600 +80,1.333333333,BASELINE,763.522705437,742,711,671.954589126,660,632,877,782,798.477294563,649,627,649.522705437,0.400955258142,0.00446519785068,0.0798342768347,0.999999956941,5.90489904586e-05,-0.000284698147418,3.97247999273e-05,1793191658856980480 +81,1.350000000,BASELINE,763,742.062571242,711,672.937428758,660,632,877,782,799,649.062571242,627,649,0.400956215039,0.00446530157073,0.0798351717321,0.999999957475,5.80406345524e-05,-0.000283044780674,3.95871294632e-05,1793191658873647360 +82,1.366666667,BASELINE,763,742.642058553,711,672.357941447,660,632,877,782,799,649.642058553,627,649,0.400955617971,0.00446525945821,0.0798342251366,0.999999956974,5.91460083472e-05,-0.000284562546644,3.97255638596e-05,1793191658890314240 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sha256:d0291d392839e8a5672c0f044eef5aecbb8232b1a207d57518fc043bb22a71a2 +size 25342826 diff --git a/Obstacle_avoidance/cylinder_0010_20/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0010_20/position_12/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ccb8f482b3f42292c535402a8f82ca074374ff10 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0010_20/position_12/depth_04/franka_data.csv @@ -0,0 +1,400 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,763,742,711,672,659,632,877,783,799,649,627,649,0.400957649402,0.00446717200595,0.0798335213483,0.999999956383,6.13933204756e-05,-0.000286204612552,3.9381879928e-05,1793191664300454912 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+247,4.116666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293267329,0.0187273524124,1.06969858453 +248,4.133333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293267329,0.0187273524124,1.06969858453 +249,4.150000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293267329,0.0187273524125,1.06969858453 +250,4.166666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293267329,0.0187273524122,1.06969858453 +251,4.183333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293267329,0.0187273524123,1.06969858453 +252,4.200000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293267329,0.0187273524123,1.06969858453 +253,4.216666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293267329,0.0187273524126,1.06969858453 +254,4.233333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.59229326733,0.0187273524124,1.06969858453 +255,4.250000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.59229326733,0.0187273524124,1.06969858453 +256,4.266666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.59229326733,0.0187273524124,1.06969858453 +257,4.283333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.59229326733,0.0187273524125,1.06969858453 +258,4.300000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.59229326733,0.0187273524125,1.06969858453 +259,4.316666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.59229326733,0.0187273524125,1.06969858453 +260,4.333333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.59229326733,0.0187273524127,1.06969858453 +261,4.350000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.59229326733,0.0187273524126,1.06969858453 +262,4.366666667,pose2_to_pose3_retreat,0.621722539241,0.0100546274631,1.07002930547,0.59229326733,0.0187273524128,1.06969858453 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b/Obstacle_avoidance/cylinder_0030_10/position_01/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acc12e8c0d638acffd7982caa54663d1a168b3d38533b2c959f96d1873179376 +size 26331182 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_01/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..99da9879528e91b085cff0abf00c11ade94adba1 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_01/depth_01/franka_data.csv @@ -0,0 +1,417 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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sha256:3a3bd9f17b6371eb4bac483ff9ba282044d938d73def2bf6eadef507a80a42d8 +size 26395016 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_01/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ac9e2f8f397e42a035e3324a26b129c4817081b0 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_01/depth_03/franka_data.csv @@ -0,0 +1,418 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,787,760,738,723,687,652,919,801,839,658,636,658,0.400962579652,-0.00540346998853,0.0598316996607,0.999999927426,0.000260759465015,-0.000276317139409,2.83153981712e-05,1793254597942574848 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+87,1.450000000,BASELINE,786,759.514327333,738,722,686.514327333,651.514327333,918,801,838.485672667,657.514327333,636,657,0.400963141662,-0.00540718631594,0.0598360019771,0.99999993012,0.000256678461861,-0.000270555884114,2.59920693715e-05,1793254606543058944 +88,1.466666667,BASELINE,786.060601669,759.060601669,738,722,686.060601669,651,918.060601669,801,838.939398331,657,636.060601669,657,0.400962798801,-0.00540676806249,0.0598356955699,0.999999929908,0.00025706838904,-0.00027098582391,2.58072895006e-05,1793254606559725568 +89,1.483333333,BASELINE,786.635098675,759.635098675,738,722,686.635098675,651,918.635098675,801,838.364901325,657,636.635098675,657,0.400962622711,-0.00540639982845,0.0598356693756,0.999999929717,0.000257858074623,-0.000270931007232,2.59226859086e-05,1793254606576392192 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a/Obstacle_avoidance/cylinder_0030_10/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_01/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..cc81e197efcbc8eb2fdf5c9a36c7e5edd33341da --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_01/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:293b39c615e3803ccadf25e69a2be627d548a7773549bee67a03bf735200b2c7 +size 26527926 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_01/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5c9d89006e443bbe171ba672d3e90490333b156a --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_01/depth_05/franka_data.csv @@ -0,0 +1,420 @@ 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+67,1.116666667,BASELINE,786.884385596,759,737.115614404,722,686.115614404,651,918,800.115614404,839,658,636,657,0.400967187282,-0.00540498929041,0.0598373072821,0.999999931485,0.000254913667061,-0.000267395143896,2.34339070875e-05,1793254613361577984 +68,1.133333333,BASELINE,786.540341362,759,737,722.459658638,686.459658638,651,918,800,838.540341362,658,636,657,0.400967735416,-0.00540482143974,0.059837728134,0.999999931466,0.000255330306572,-0.000267055485401,2.358003592e-05,1793254613378244864 +69,1.150000000,BASELINE,786,759,737,722.964451723,686.964451723,651,918,800.035548277,838.035548277,657.964451723,636,657.035548277,0.400968191434,-0.00540505127042,0.0598382124982,0.999999931554,0.000255315371853,-0.000266727714416,2.37285562322e-05,1793254613394911744 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+83,1.383333333,BASELINE,785.826501793,759,737,722,686.826501793,651,918,800,838,657.826501793,636,657.173498207,0.400966610881,-0.00540452783717,0.0598378662702,0.99999993194,0.000253497665472,-0.000267046113612,2.33403876634e-05,1793254613628244224 +84,1.400000000,BASELINE,785.247494904,759,737,722,686.247494904,651,918,800,838,657.247494904,636,657.752505096,0.400964220644,-0.00540363335787,0.0598360246195,0.999999930748,0.00025521438373,-0.000269866047899,2.32744903822e-05,1793254613644911104 +85,1.416666667,BASELINE,785.330275169,759.330275169,737.330275169,722,686.330275169,651,918,800,838,657,636,657.669724831,0.400964400604,-0.00540337680993,0.0598357610926,0.999999930413,0.0002560860226,-0.000270289526019,2.31812311729e-05,1793254613661577984 +86,1.433333333,BASELINE,785.907121844,759.907121844,737.907121844,722,686.907121844,651,918,800,838,657,636,657.092878156,0.400966499379,-0.00540359651856,0.0598366757362,0.999999930722,0.000256326755638,-0.000268923896399,2.30675445407e-05,1793254613678244864 +87,1.450000000,BASELINE,786,759.517640513,737.517640513,722,686.517640513,651,918,800.482359487,838,657,636,657.482359487,0.400967047085,-0.00540464463929,0.0598370836646,0.99999993108,0.000255887136585,-0.000268000967449,2.31968104342e-05,1793254613694911744 +88,1.466666667,BASELINE,786,759,737.058729091,722,686.058729091,651,918,801,838,657.058729091,636,657.941270909,0.400967211652,-0.0054055437545,0.0598373379056,0.999999931374,0.000255445870012,-0.000267310570886,2.33314023036e-05,1793254613711578368 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a/Obstacle_avoidance/cylinder_0030_10/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_02/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..06e0998ed21b43f63cffd28d91c54840fed54af0 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_02/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07b192a5f4590e5334929457889a2a81f4f9ee3f9171d6b868d6707691abda16 +size 26409630 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_02/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..b7821da9f74424854452f94b1dea2c24da5e7c05 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_02/depth_02/franka_data.csv @@ -0,0 +1,417 @@ 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+259,4.316666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200942914,0.00885598305699,1.03969224684 +260,4.333333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200942914,0.00885598305699,1.03969224684 +261,4.350000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200942914,0.008855983057,1.03969224684 +262,4.366666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200942914,0.00885598305702,1.03969224684 +263,4.383333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200942914,0.00885598305701,1.03969224684 +264,4.400000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200942914,0.00885598305701,1.03969224684 +265,4.416666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200942914,0.008855983057,1.03969224684 +266,4.433333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200942914,0.008855983057,1.03969224684 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a/Obstacle_avoidance/cylinder_0030_10/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_02/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..28ac65b24f42ede5a2e2a92cd32a4bffaa92ac80 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_02/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af4a50915cb13120ccf677a0755f352bb0edd7cbdedcfe7121d5f899fe5d9520 +size 26488203 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_02/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..b4b5d5832da1db639458914dbc590f51f2dc7f4a --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_02/depth_04/franka_data.csv @@ -0,0 +1,418 @@ 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0000000000000000000000000000000000000000..fb15ee77afe81ef3b524ac889c3a866390288f7d --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_02/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:488840036dd0516750c6d227a69571d6848efcc0e6db7dc36c1699199df40d8c +size 26481555 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_02/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..35fb0efb0a8ee99da62c1d4919aa8517d40e9b08 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_02/depth_05/franka_data.csv @@ -0,0 +1,418 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+49,0.816666667,BASELINE,785,760,738,721,686,651,918,801,839,657.432265169,637,657.432265169,0.401023493834,-0.00551629193551,0.0698454748147,0.999999986282,1.8643292271e-05,-0.000163928085478,1.47066536296e-05,1793254658355434240 +50,0.833333333,BASELINE,785,760,738,721,686,651.010647864,918.010647864,801,839,657.989352136,637,657.989352136,0.401023257047,-0.00551353234894,0.0698453875518,0.999999986235,2.17800406647e-05,-0.000163852519777,1.44124707305e-05,1793254658372101120 +51,0.850000000,BASELINE,785,760,738,721,686,651.58654118,918.58654118,801,839,657.41345882,637,657.41345882,0.401024321906,-0.00551431323884,0.0698459763602,0.999999986391,2.08268976292e-05,-0.00016304695199,1.41479500285e-05,1793254658388767744 +52,0.866666667,BASELINE,785,760,738,721,686,652,918.837342003,801,839,657.162657997,637,657.162657997,0.401025138065,-0.00551531022109,0.0698464679476,0.999999986547,1.96158568262e-05,-0.000162235753983,1.41492754222e-05,1793254658405434624 +53,0.883333333,BASELINE,785,760,738,721,686,652,918.260656321,801,839,657.739343679,637,657.739343679,0.401025321185,-0.00551685724215,0.0698467120695,0.999999986706,1.77483662474e-05,-0.000161410224935,1.48272822428e-05,1793254658422101504 +54,0.900000000,BASELINE,785.323078063,760,738,721,686,651.676921937,918,801,839,658,636.676921937,658,0.401024283766,-0.00551688812866,0.0698461415659,0.999999986504,1.81970570369e-05,-0.000162595079987,1.49685302818e-05,1793254658438768128 +55,0.916666667,BASELINE,785.912626084,760,738,721,686,651.087373916,918,801,839,658,636.087373916,658,0.401022239665,-0.00551566852998,0.0698448991714,0.999999985996,2.0556099696e-05,-0.000165438069839,1.4667067666e-05,1793254658455434752 +56,0.933333333,BASELINE,786,760,737.506882263,721,686,651,918,801,839,658,636.493117737,658,0.40102301017,-0.00551486433838,0.0698455128532,0.999999986074,2.12188656998e-05,-0.000164915097626,1.42920354468e-05,1793254658472101376 +57,0.950000000,BASELINE,785.928402856,760,737.071597144,721,686,651,918,801,839,657.928402856,637,657.928402856,0.401024168004,-0.00551433024837,0.0698463657008,0.999999986254,2.12369175064e-05,-0.000163843839363,1.39838219118e-05,1793254658488768000 +58,0.966666667,BASELINE,785.352995386,760,737.647004614,721,686,651,918,801,839,657.352995386,637,657.352995386,0.401024605359,-0.00551518819704,0.0698466290425,0.999999986432,1.87950885311e-05,-0.000163035488233,1.42358676698e-05,1793254658505434624 +59,0.983333333,BASELINE,785,760,737.772926221,721,686,651,918.227073779,801,839,657.227073779,637,657.227073779,0.4010244854,-0.00551583832901,0.069846350146,0.999999986396,1.85572614723e-05,-0.000163253870229,1.45313360308e-05,1793254658522101248 +60,1.000000000,BASELINE,785,760,737.185458279,721,686,651,918.814541721,801,839,657.814541721,637,657.814541721,0.401023480914,-0.00551615863029,0.0698452106505,0.999999986022,2.1817457573e-05,-0.000165101804513,1.48957214706e-05,1793254658538767872 +61,1.016666667,BASELINE,785,760,737.395993743,720.604006257,685.604006257,651,918.604006257,801,839,657.604006257,637,657.604006257,0.401023550221,-0.00551598282654,0.0698452799096,0.999999985963,2.36304255704e-05,-0.000165202966683,1.49343798155e-05,1793254658555434752 +62,1.033333333,BASELINE,785,760,737.974670418,720.025329582,685.025329582,651,918.025329582,801,839,657.025329582,637,657.025329582,0.401024114898,-0.00551557815571,0.0698459068009,0.999999986053,2.47757467747e-05,-0.000164498294159,1.48227711654e-05,1793254658572101888 +63,1.050000000,BASELINE,785,760,738,720.552192907,685.552192907,651,918,801,839,657.552192907,637,657.552192907,0.401023894101,-0.00551632661283,0.0698457897484,0.999999986106,2.21549058762e-05,-0.000164562744912,1.47044563622e-05,1793254658588768512 +64,1.066666667,BASELINE,785,760,737.870578295,721.129421705,686,651,918,801,839,658,636.870578295,657.870578295,0.401023347092,-0.00551686553964,0.0698455638542,0.999999986103,1.98205094762e-05,-0.000164886877326,1.46209605723e-05,1793254658605435136 +65,1.083333333,BASELINE,785,760,737.294181363,721.705818637,686,651,918,801,839,658,636.294181363,657.294181363,0.401021797642,-0.0055164985264,0.0698450796711,0.999999985935,1.90707834832e-05,-0.000165986263845,1.46587771057e-05,1793254658622101504 +66,1.100000000,BASELINE,785.287751509,760,737.287751509,721.712248491,686,651,918.287751509,801,839,658,636.287751509,657.287751509,0.401021696181,-0.00551677410718,0.0698452592283,0.999999985966,1.84385281904e-05,-0.000165863383808,1.47334016929e-05,1793254658638767872 +67,1.116666667,BASELINE,785.875455006,760,737.875455006,721.124544994,686,651,918.875455006,801,839,658,636.875455006,657.875455006,0.401023104103,-0.00551771952756,0.0698461306679,0.999999986204,1.79287243265e-05,-0.000164466413834,1.48463949691e-05,1793254658655434240 +68,1.133333333,BASELINE,786,760,738,721,686,651,918.543030376,801,839,657.543030376,636.543030376,657.543030376,0.401023424361,-0.00551698973674,0.0698463217519,0.999999986274,1.71886547255e-05,-0.000164153232773,1.4515940099e-05,1793254658672100608 +69,1.150000000,BASELINE,785.963571574,760,737.963571574,721,686,651.036428426,918,801,839,657,636.036428426,657,0.401023361117,-0.00551589219579,0.0698462694091,0.999999986279,1.65718155764e-05,-0.000164219885805,1.41005420371e-05,1793254658688767232 +70,1.166666667,BASELINE,785.389888877,760,737.389888877,721,686,651.610111123,918,801,839,657,636.610111123,657,0.401021955418,-0.00551601463154,0.0698453251455,0.999999986015,1.8685605566e-05,-0.000165590271351,1.41910321027e-05,1793254658705433856 +71,1.183333333,BASELINE,785,760,737.184660746,721,686,651.815339254,918,801,839,657.184660746,636.815339254,657,0.401021635378,-0.00551580343643,0.0698452627562,0.999999985964,1.99800475304e-05,-0.000165741317232,1.4237593602e-05,1793254658722100736 +72,1.200000000,BASELINE,785,760,737.76104952,721,686,651.23895048,918,801,839,657.76104952,636.23895048,657,0.401023618389,-0.0055148844972,0.069847071121,0.999999986374,1.95363750304e-05,-0.000163305730678,1.41909677407e-05,1793254658738767104 +73,1.216666667,BASELINE,785.346189938,760,738,721,686,651,918,801,839,658,636.346189938,657.346189938,0.401024789985,-0.00551502163287,0.0698476371053,0.999999986541,1.84296149715e-05,-0.000162401431119,1.42699507613e-05,1793254658755433728 +74,1.233333333,BASELINE,785.93752763,760,738,721,686,651,918,801,839,658,636.93752763,657.93752763,0.401025386994,-0.00551590660775,0.0698473233217,0.999999986537,1.68533022209e-05,-0.00016258148318,1.44378813015e-05,1793254658772100352 +75,1.250000000,BASELINE,786,760,738,721,686,651.517926233,918.517926233,801,839,658,636.482073767,658,0.401023897123,-0.00551541678548,0.0698465490079,0.999999986263,2.02331197417e-05,-0.000163865674377,1.45631093444e-05,1793254658788767232 +76,1.266666667,BASELINE,785.903621101,760,737.903621101,721,686,651.903621101,918.903621101,801,839,657.903621101,636,657.903621101,0.40102261496,-0.00551488781132,0.0698458893496,0.999999986024,2.32469848213e-05,-0.000164915763618,1.46129720089e-05,1793254658805434112 +77,1.283333333,BASELINE,785.328416403,760,737.328416403,721,686,651.328416403,918.328416403,801,839,657.328416403,636,657.328416403,0.401023589442,-0.0055149711452,0.0698460695871,0.999999986192,2.15341583389e-05,-0.000164154815826,1.43134680216e-05,1793254658822100736 +78,1.300000000,BASELINE,785,760,737.251207816,721,686,651.251207816,918,801,839,657,636.251207816,657,0.401024594088,-0.00551535716297,0.0698466613542,0.999999986369,2.05766031827e-05,-0.000163218696804,1.41092262966e-05,1793254658838767872 +79,1.316666667,BASELINE,785,760,737.836713316,721,686,651.836713316,918,801,839,657,636.836713316,657,0.401025638876,-0.00551614598079,0.0698478007691,0.999999986559,2.06241341495e-05,-0.000162049466713,1.40317559449e-05,1793254658855435776 +80,1.333333333,BASELINE,785,760,738,721,686,651.580586422,918,801,839,657,637,657,0.401025671392,-0.00551613658914,0.0698479238813,0.999999986659,1.92866566675e-05,-0.000161586651436,1.41095405961e-05,1793254658872102400 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+84,1.400000000,BASELINE,785.273187516,760,737.273187516,721,685.273187516,651,918.273187516,800.273187516,839,658,637,657.273187516,0.4010245292,-0.00551744009637,0.0698466553131,0.999999986418,1.63860697729e-05,-0.000163372943431,1.43031227571e-05,1793254658938768128 +85,1.416666667,BASELINE,785.309688808,760,737.309688808,721,685.309688808,651.309688808,918.309688808,800.309688808,839,658,637,657,0.401025405083,-0.00551720757662,0.0698473862058,0.999999986582,1.79348256596e-05,-0.000162193235197,1.43869260894e-05,1793254658955434496 +86,1.433333333,BASELINE,785.899795793,760,737.899795793,721,685.899795793,651.899795793,918.899795793,800.899795793,839,658,637,657,0.401025045668,-0.00551724380452,0.0698474480515,0.999999986569,1.91065827129e-05,-0.00016212548894,1.45624568944e-05,1793254658972101376 +87,1.450000000,BASELINE,785.519257258,760,738,721,686,651.519257258,919,801,839,657.519257258,637,657,0.40102311788,-0.00551703367257,0.0698458911769,0.999999986141,1.8836120889e-05,-0.000164801023635,1.42479681843e-05,1793254658988768512 +88,1.466666667,BASELINE,785,760,738,721,686,651.059447833,918.940552167,801,839,657,637,657,0.401021215548,-0.00551675102085,0.0698443307546,0.999999985695,1.84666454306e-05,-0.000167558828189,1.39149400539e-05,1793254659005435648 +89,1.483333333,BASELINE,785,760,738,721,686,651.634956004,918.365043996,801,839,657,637,657,0.401022318961,-0.00551627626448,0.0698456137037,0.999999985897,1.97984196209e-05,-0.000166159891091,1.42910425392e-05,1793254659022102272 +90,1.500000000,BASELINE,785.208578763,760,737.791421237,721,686,651.791421237,918,800.791421237,839,657,636.791421237,657,0.401023220288,-0.0055158253809,0.0698463619314,0.99999998605,2.12855613228e-05,-0.000165032458163,1.4560640483e-05,1793254659038768896 +91,1.516666667,BASELINE,785.77893127,760,737.22106873,721,686,651.22106873,918,800.22106873,839,657,636.22106873,657,0.401023771101,-0.00551541590402,0.0698461827004,0.999999986118,2.30421832756e-05,-0.000164375941395,1.46455093864e-05,1793254659055435008 +92,1.533333333,BASELINE,786,760,737,721,686,651,918,800.366764544,839,657,636.366764544,657,0.401023435526,-0.0055157839994,0.0698460502213,0.999999986135,2.19602268551e-05,-0.000164421801442,1.46181901447e-05,1793254659072101120 +93,1.550000000,BASELINE,786,760,737,721,686,651,918,800.965661807,839,657,636.965661807,657,0.401022538939,-0.00551664423601,0.0698459473325,0.999999986115,1.90816767888e-05,-0.000164912209953,1.45198647591e-05,1793254659088767744 +94,1.566666667,BASELINE,786,760,737.542116807,721,686,651,918,801,839,657,636.457883193,657.542116807,0.401023531314,-0.00551643528598,0.0698469582853,0.999999986339,1.94830946656e-05,-0.000163508749212,1.44312845942e-05,1793254659105434368 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+256,4.266666667,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948396796,0.00885591066881,1.05969221103 +257,4.283333333,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948396796,0.00885591066899,1.05969221103 +258,4.300000000,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948396796,0.00885591066888,1.05969221103 +259,4.316666667,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948396796,0.00885591066882,1.05969221103 +260,4.333333333,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948396796,0.00885591066867,1.05969221103 +261,4.350000000,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948396796,0.00885591066867,1.05969221103 +262,4.366666667,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948396796,0.00885591066868,1.05969221103 +263,4.383333333,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948396796,0.00885591066867,1.05969221103 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b/Obstacle_avoidance/cylinder_0030_10/position_03/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d08475594c67b83548eb7968e0a77a5f9e9baaf70e81fcef262d91005870d329 +size 26519819 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_03/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..7264024e88146675ec50a6bc7d11fdd892c7be18 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_03/depth_02/franka_data.csv @@ -0,0 +1,419 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+12,0.200000000,BASELINE,785,759,737.013993039,721,686,651,918,800,839.986006961,657.986006961,636,657.013993039,0.400967229282,-0.0053802449842,0.0698198900377,0.999999939702,0.000197034910373,-0.000285527283767,1.57378099297e-05,1793254664834994432 +13,0.216666667,BASELINE,785,759,737.602337327,721,686,651,918,800,839.397662673,657.397662673,636,657.602337327,0.400968246488,-0.00538000111843,0.0698210024268,0.99999994022,0.000196940384232,-0.000283778527013,1.56128045252e-05,1793254664851661568 +14,0.233333333,BASELINE,785,759,738,721,686,651,918,800,839,657,636,657.812026523,0.400968899978,-0.00538007522523,0.0698216073355,0.999999940461,0.000197004391325,-0.00028288405584,1.55973382965e-05,1793254664868328448 +15,0.250000000,BASELINE,785,759,738,721,686,651,918,800,839,657,636,657.232038032,0.400968794944,-0.00538081245755,0.0698211539035,0.999999940129,0.000197399016366,-0.000283771180224,1.58103138553e-05,1793254664884995328 +16,0.266666667,BASELINE,785,759,738,720.655473525,686,651,918,800,839,657,636,657,0.400968810997,-0.00537996945811,0.0698210607667,0.999999939802,0.000198700821593,-0.000284013101174,1.57993738884e-05,1793254664901661696 +17,0.283333333,BASELINE,785,759,738,720.081192407,686,651,918,800,839,657,636,657,0.400968907799,-0.00537807264823,0.0698212079002,0.999999939478,0.000200607598767,-0.000283824754745,1.56391111848e-05,1793254664918328064 +18,0.300000000,BASELINE,785,759,737.506307923,720.493692077,686,651,918,800,839,657.493692077,636,657.493692077,0.400968255505,-0.00538057697512,0.0698207519063,0.999999940087,0.000196487161209,-0.000284545283949,1.5886631929e-05,1793254664934994944 +19,0.316666667,BASELINE,785,759.070852584,737,721,686.070852584,651,918,800.070852584,839,658,636,658,0.400967735005,-0.00538305619423,0.0698204049871,0.999999940734,0.000192369995441,-0.000285072488153,1.61234741335e-05,1793254664951661568 +20,0.333333333,BASELINE,785,759.664060443,737,721,686.664060443,651,918,800.664060443,839,658,636,658,0.400969095505,-0.00538000755009,0.0698215943787,0.999999940682,0.000195593685569,-0.000283071089368,1.57865610709e-05,1793254664968328192 +21,0.350000000,BASELINE,785,759.749253336,737.250746664,721.250746664,687,651,918,800.749253336,839,658,636.250746664,657.749253336,0.40096999334,-0.00537847011035,0.0698222138215,0.99999994071,0.0001969987405,-0.00028201215575,1.55030230684e-05,1793254664984994560 +22,0.366666667,BASELINE,785,759.171083084,737.828916916,721.828916916,687,651,918,800.171083084,839,658,636.828916916,657.171083084,0.400970287031,-0.00537890599308,0.0698220890279,0.999999940856,0.000196029031525,-0.000282183888028,1.52891819473e-05,1793254665001661696 +23,0.383333333,BASELINE,785,759,738,721.596370712,686.596370712,651,918,800,839,658,636.596370712,657.403629288,0.400969339047,-0.00537930389656,0.0698215638896,0.99999994064,0.00019550734983,-0.000283302099374,1.54148923069e-05,1793254665018328320 +24,0.400000000,BASELINE,785,759,738,721.023111506,686.023111506,651,918,800,839,658,636.023111506,657.976888494,0.400967869236,-0.00537968583885,0.0698208705016,0.99999994027,0.000195173956743,-0.000284818079606,1.56833031199e-05,1793254665034994688 +25,0.416666667,BASELINE,785,759,738,721,686.567108065,651,918,800,839,658,636,657.432891935,0.400968744468,-0.00537953357972,0.0698209831515,0.999999940295,0.000196965879172,-0.000283490673685,1.57349204475e-05,1793254665051661312 +26,0.433333333,BASELINE,785,759,738,720.845222969,686.845222969,651,918,800,839,657.845222969,636.154777031,657,0.400969383305,-0.00537939992315,0.069821103821,0.999999940307,0.000198171040911,-0.000282611068025,1.56741385225e-05,1793254665068327936 +27,0.450000000,BASELINE,785,759,738,720.266491925,686.266491925,651,918,800,839,657.266491925,636.733508075,657,0.400969104785,-0.00537937869174,0.0698211537069,0.999999940249,0.000197524431233,-0.000283285231776,1.53304271039e-05,1793254665084994304 +28,0.466666667,BASELINE,785,759,737.689872742,720.310127258,686,651,918,800,839,657.310127258,637,657.310127258,0.400969009562,-0.00537969096671,0.0698212585916,0.999999940359,0.000196556249465,-0.000283575035269,1.52757440286e-05,1793254665101661440 +29,0.483333333,BASELINE,785,759,737.11505604,720.88494396,686,651,918,800,839,657.88494396,637,657.88494396,0.400969070781,-0.00538028788487,0.0698214104169,0.99999994061,0.000195313610283,-0.000283536792411,1.54677427781e-05,1793254665118329344 +30,0.500000000,BASELINE,785,759,737.469759806,720.530240194,686,651,917.530240194,800,839,657.530240194,636.530240194,658,0.400970342427,-0.00537982310646,0.0698226178638,0.999999941088,0.000195775266237,-0.000281533030379,1.53548003859e-05,1793254665134995712 +31,0.516666667,BASELINE,785,759,737.943685503,720.056314497,686,651,917.056314497,800.056314497,839,657,636,658,0.400971648015,-0.00537922617995,0.0698238206695,0.999999941536,0.000196499963291,-0.000279436426768,1.51864691695e-05,1793254665151661824 +32,0.533333333,BASELINE,785,759,737.364223129,720.635776871,686,651,917.635776871,800.635776871,839,657,636,658,0.400970454926,-0.00537986984102,0.0698225262726,0.99999994124,0.000195706136426,-0.000281046747247,1.52125104186e-05,1793254665168328960 +33,0.550000000,BASELINE,785,759,737,720.785344461,686,651,917.785344461,800.785344461,839,657.214655539,636,657.785344461,0.400969047706,-0.00538075326867,0.0698213948203,0.999999941034,0.000194627835953,-0.00028251624568,1.53522706429e-05,1793254665184995584 +34,0.566666667,BASELINE,785,759,737,720.207453586,686,651,917.207453586,800.207453586,839,657.792546414,636,657.207453586,0.400967278138,-0.00538204242392,0.069820539099,0.999999940983,0.000193068155635,-0.000283747448009,1.56844635897e-05,1793254665201661696 +35,0.583333333,BASELINE,785,759,737.368779261,720,686,651,917,800,839,657.631220739,636,657,0.400967602926,-0.00538184257599,0.0698203419965,0.999999940787,0.000194257590151,-0.000283634187213,1.55416639309e-05,1793254665218328320 +36,0.600000000,BASELINE,785,759,737.944083627,720,686,651,917,800,839,657.055916373,636,657,0.400969100603,-0.0053808088512,0.0698205137362,0.999999940505,0.000196986593815,-0.000282767995396,1.51328572151e-05,1793254665234995200 +37,0.616666667,BASELINE,785,759,737.469086601,720.530913399,686,651,917.530913399,799.469086601,839,657.530913399,636,657.530913399,0.40096864769,-0.00538104634412,0.0698204956945,0.999999940515,0.000196316760163,-0.000283187719744,1.53037195179e-05,1793254665251661824 +38,0.633333333,BASELINE,785,759,737,721,686,651,918,799.117066625,839,658,636,658,0.400968224682,-0.00538102848413,0.0698205684337,0.999999940556,0.000195752680359,-0.00028342724922,1.54311388711e-05,1793254665268328448 +39,0.650000000,BASELINE,785,759,737,721,686,651,918,799.69566099,839,658,636,658,0.400968747477,-0.00537946436157,0.0698210796202,0.999999940594,0.000197048115622,-0.000282410583425,1.51412550578e-05,1793254665284995072 +40,0.666666667,BASELINE,785,759,737,721,686,651,917.727399331,800,839,658,636.272600669,657.727399331,0.400969423865,-0.00537922090652,0.0698217738058,0.999999940839,0.000197411110434,-0.000281289558693,1.50884205795e-05,1793254665301661952 +41,0.683333333,BASELINE,785,759,737,721,686,651,917.152295877,800,839,658,636.847704123,657.152295877,0.400970270694,-0.00538044298576,0.069822671064,0.999999941315,0.000196739383453,-0.000280052727745,1.52986378704e-05,1793254665318329088 +42,0.700000000,BASELINE,785,759,737.422855571,720.577144429,686,651,917.422855571,800,839,658,637,657.422855571,0.400971312392,-0.00538020045726,0.0698231147306,0.999999941546,0.000196497556751,-0.000279397429809,1.53095794337e-05,1793254665334995456 +43,0.716666667,BASELINE,785,759,737.998024295,720.001975705,686,651,917.998024295,800,839,658,637,657.998024295,0.400972424282,-0.00537943037504,0.0698233950128,0.999999941688,0.00019641058073,-0.000278951600883,1.52487416039e-05,1793254665351661824 +44,0.733333333,BASELINE,785,759,737.410282723,720.589717277,686,651,918,800,839,658,637,657.410282723,0.400971746254,-0.0053811099204,0.0698229850222,0.999999942135,0.000193373574989,-0.000279466071683,1.53303195355e-05,1793254665368328192 +45,0.750000000,BASELINE,785,759,737.177533446,721,686,651,918,800,839,657.822466554,636.822466554,657,0.40097123531,-0.005382076037,0.0698227888555,0.999999942398,0.000191649475499,-0.000279712320158,1.53775198278e-05,1793254665384995072 +46,0.766666667,BASELINE,785,759,737.756455604,721,686,651,918,800,839,657.243544396,636.243544396,657,0.400971116078,-0.00538141005882,0.0698230815065,0.999999942257,0.000192916740543,-0.000279344656022,1.53458852075e-05,1793254665401661696 +47,0.783333333,BASELINE,785,759,737.667317303,721,686,651,918,800,839,657,636.332682697,657,0.400971017283,-0.00538062303534,0.0698230879657,0.999999942092,0.00019391367997,-0.000279256648365,1.51314370786e-05,1793254665418328320 +48,0.800000000,BASELINE,785,759,737.093047252,721,686,651,918,800,839,657,636.906952748,657,0.400970933328,-0.00537974811117,0.0698228865983,0.99999994191,0.000194714314608,-0.000279371721472,1.47842335243e-05,1793254665434994944 +49,0.816666667,BASELINE,785.492675108,759,737.492675108,721,686,651,918,800,839,657,637,657.492675108,0.400971823717,-0.00537974583481,0.0698238932905,0.999999942123,0.00019541209086,-0.000278096724501,1.51802915302e-05,1793254665451661824 +50,0.833333333,BASELINE,785.920598868,759,738,720.920598868,686,651,918,800,839,657,636.920598868,657.920598868,0.400972491324,-0.00538005498389,0.0698247254221,0.999999942268,0.000196011080229,-0.000277127313653,1.56554669789e-05,1793254665468328448 +51,0.850000000,BASELINE,785.341492091,759,738,720.341492091,686,651,918,800,839,657,636.341492091,657.341492091,0.400970571218,-0.00538126216717,0.0698229889145,0.99999994151,0.000196113526827,-0.00027977262514,1.57241087096e-05,1793254665484995072 +52,0.866666667,BASELINE,785,759,737.762641962,720.237358038,686,651,918,800,839,657,636,657,0.400969972595,-0.00538181504996,0.0698223012878,0.999999941277,0.000195941221526,-0.000280719256299,1.57858669008e-05,1793254665501661952 +53,0.883333333,BASELINE,785,759,737.184160715,720.815839285,686,651,918,800,839,657,636,657,0.400971273165,-0.00538142759342,0.0698231210784,0.999999941806,0.000195374051778,-0.000279224599503,1.58377322901e-05,1793254665518328320 +54,0.900000000,BASELINE,785,759,737.39187044,721,686,651,918,800,839,657,636.39187044,657.39187044,0.400971189741,-0.00538117493532,0.0698229981788,0.99999994208,0.000194133608329,-0.000279123977327,1.55795249636e-05,1793254665534994944 +55,0.916666667,BASELINE,785,759,737.966757306,721,686,651,918,800,839,657,636.966757306,657.966757306,0.400970459947,-0.00538098523253,0.0698224350117,0.999999942233,0.000192578723861,-0.000279674415358,1.51765034459e-05,1793254665551661568 +56,0.933333333,BASELINE,785,759,738,721,686,651,918,800,839,657.553305201,637,658,0.400971433201,-0.00538071859781,0.0698237495347,0.999999942412,0.000193901700442,-0.000278118220455,1.50937472052e-05,1793254665568328192 +57,0.950000000,BASELINE,785,759,737.861118438,721,686,651,918,800,839,657.861118438,636.861118438,657.861118438,0.40097203142,-0.0053804350614,0.0698244927088,0.999999942417,0.000195047636248,-0.000277301116517,1.50412038021e-05,1793254665584995072 +58,0.966666667,BASELINE,785,759,737.280903767,721,686,651,918,800,839,657.280903767,636.280903767,657.280903767,0.400971105721,-0.00538011281956,0.0698230540617,0.999999941873,0.000195069704938,-0.000279243530196,1.5022208024e-05,1793254665601661952 +59,0.983333333,BASELINE,785,759,737,721,686,651,917.702428225,800,839,657.297571775,636,657,0.400970362481,-0.00538032544382,0.0698224143051,0.999999941526,0.000195290906252,-0.000280330296777,1.50094009001e-05,1793254665618328320 +60,1.000000000,BASELINE,785,759,737,721,686,651,917.125584789,800,839,657.874415211,636,657,0.400969790479,-0.00538104004086,0.0698225243087,0.999999941366,0.000195698993903,-0.000280614037204,1.50024018375e-05,1793254665634994688 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+65,1.083333333,BASELINE,785,759,738,721,686.779798392,651,918,800,839,657.220201608,636,657.779798392,0.400970427343,-0.00538174789697,0.0698234304757,0.999999942056,0.00019384277801,-0.000279416237245,1.54859130033e-05,1793254665718328064 +66,1.100000000,BASELINE,785,759,738,720.644853893,686.644853893,651,917.644853893,800,839,657,636,658,0.400971220899,-0.00538128030816,0.0698240604857,0.999999942118,0.0001948941574,-0.000278456535755,1.55495431106e-05,1793254665734995200 +67,1.116666667,BASELINE,785,759,738,720.069924529,686.069924529,651,917.069924529,800,839,657,636,658,0.400971940649,-0.00538034030134,0.0698247832503,0.999999942186,0.000196174088314,-0.000277317706953,1.54493150898e-05,1793254665751662336 +68,1.133333333,BASELINE,785,759,737.493509908,720.506490092,686,651,917.506490092,800,839,657.506490092,636,657.493509908,0.400972213874,-0.00538000269341,0.0698243904538,0.999999942226,0.000195997980582,-0.00027730205323,1.53997526225e-05,1793254665768328960 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0000000000000000000000000000000000000000..8f29fe6c7befc1c1dd17345af2972dbe84ed715f --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_03/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3962e808386adeecdd2b058dbf192f8c18165a61ac09b9a0a8ef6545e6a1aed8 +size 26508618 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_03/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..45fa7af7d85cc27aad793740e2e6e158ce675901 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_03/depth_03/franka_data.csv @@ -0,0 +1,419 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..5d51abfa17350aaf99f856b53b2f2bff914e914f --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_03/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:daf79d447462b8547ade72946b003be1e9b485366dedf2bdd081164bf2bf5ff9 +size 26508444 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_03/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..77df7c910cd4b368e86855c9ba34af28b92310e4 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_03/depth_04/franka_data.csv @@ -0,0 +1,419 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+102,1.700000000,BASELINE,785,759,737.182912387,720.817087613,686,651,917.817087613,800,839,657,636,657.817087613,0.400972412058,-0.00538030904905,0.0698256703962,0.999999941446,0.000200805803301,-0.000276738282407,1.4142138217e-05,1793254680607954432 +103,1.716666667,BASELINE,785,759,737.756917037,720.243082963,686,651,917.243082963,800,839,657,636,657.243082963,0.400971538532,-0.00537885512044,0.0698254951595,0.99999994164,0.000199333087338,-0.000277132291344,1.35709512693e-05,1793254680624621312 +104,1.733333333,BASELINE,785,759,738,720,686,651,917,800,839,657,636,657.331569438,0.400969776696,-0.00537867851944,0.0698242784338,0.999999941072,0.00019924950812,-0.000279236760945,1.3537271504e-05,1793254680641287936 +105,1.750000000,BASELINE,785,759,738,720,686,651,917,800,839,657,636,657.906697713,0.40096736234,-0.00537944019664,0.0698222966683,0.999999939935,0.000200186338022,-0.000282597672712,1.38984248846e-05,1793254680657954816 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+30,0.500000000,BASELINE,785,759,737.397194494,720.397194494,686.397194494,651,917.397194494,800,839,657,636.602805506,657.602805506,0.400971407599,-0.00538207445388,0.0698244687014,0.999999941882,0.000195954339862,-0.000278654757887,1.37367708102e-05,1793254686559749120 +31,0.516666667,BASELINE,785,759,737.987258477,720.987258477,686.987258477,651,917.987258477,800,839,657,636.012741523,657.012741523,0.400972572961,-0.00537962331195,0.0698253151568,0.999999941332,0.000199748143553,-0.000277947034996,1.35167945227e-05,1793254686576415744 +32,0.533333333,BASELINE,785,759,737.433474021,720.433474021,686.433474021,651,918,800,839,657.566525979,636,657.566525979,0.400971747042,-0.00538049197156,0.0698243842555,0.999999941169,0.000198863560347,-0.000279161902499,1.35649150682e-05,1793254686593082368 +33,0.550000000,BASELINE,785,759,737.144182454,720.144182454,686,651,918,800,839,657.855817546,636,658,0.400971364569,-0.00538174274067,0.0698240376448,0.999999941417,0.000197012686164,-0.000279585543042,1.35921149503e-05,1793254686609749248 +34,0.566666667,BASELINE,785,759,737.717750682,720.717750682,686,651,918,800,839,657.282249318,636,658,0.400972433593,-0.00538391326162,0.0698255479129,0.999999942852,0.000192591620064,-0.000277526487817,1.35393906051e-05,1793254686626416640 +35,0.583333333,BASELINE,785,759,738,720.709079942,686.290920058,651,918,800,839,657.290920058,636,658,0.400972866153,-0.00538444234545,0.0698258729233,0.999999943245,0.000191671340542,-0.000276742420732,1.35980144638e-05,1793254686643083776 +36,0.600000000,BASELINE,785,759,738,720.136296933,686.863703067,651,918,800,839,657.863703067,636,658,0.400972682066,-0.00538338109469,0.0698250495763,0.999999942641,0.000194142858365,-0.000277193647808,1.37645199572e-05,1793254686659750400 +37,0.616666667,BASELINE,785,759,737.54699658,720.45300342,687,651,918,800,839,657.54699658,636.45300342,658,0.400972120789,-0.0053839120926,0.0698244309902,0.999999942417,0.000194479725274,-0.000277765299746,1.38032051868e-05,1793254686676416768 +38,0.633333333,BASELINE,785,759.046271107,737.046271107,720.953728893,687,651,918,800,839.046271107,657.046271107,636.953728893,658,0.40097153539,-0.00538480205485,0.0698239581014,0.999999942333,0.000194130978465,-0.000278311489519,1.3802287145e-05,1793254686693083392 +39,0.650000000,BASELINE,785,759.62582022,737.62582022,720.37417978,687,651,918,800,839.62582022,657.62582022,636.37417978,658,0.400972029409,-0.00538409890135,0.0698244274877,0.999999942493,0.000193562694344,-0.000278130839615,1.38049398364e-05,1793254686709749760 +40,0.666666667,BASELINE,785,759.796556036,737.796556036,720,687,651,918,800,839.796556036,658,636,658,0.400972001302,-0.00538326009588,0.0698246636507,0.999999942522,0.000193688589446,-0.000277942643127,1.36996213009e-05,1793254686726416128 +41,0.683333333,BASELINE,785,759.222440317,737.222440317,720,687,651,918,800,839.222440317,658,636,658,0.400971021888,-0.00538217413466,0.0698244748842,0.999999942312,0.000195079268383,-0.000277740696892,1.33975808608e-05,1793254686743082752 +42,0.700000000,BASELINE,785,759,737.360098928,720,686.639901072,651,918,800,839,657.639901072,636,658,0.400971446771,-0.0053815977306,0.0698245975428,0.999999942114,0.000196532946324,-0.000277424567022,1.34711350495e-05,1793254686759749632 +43,0.716666667,BASELINE,785,759,737.947966167,720,686.052033833,651,918,800,839,657.052033833,636,658,0.400972759893,-0.0053813436296,0.0698249171827,0.999999941923,0.000198026472085,-0.000277036214192,1.37822588379e-05,1793254686776417024 +44,0.733333333,BASELINE,785,759,737.471905795,720,686,651,918,800,839,657.528094205,636,657.471905795,0.400972959703,-0.00538262927254,0.0698252603418,0.999999942158,0.00019699470848,-0.000276916448256,1.39464758164e-05,1793254686793083136 +45,0.750000000,BASELINE,785,759,737.106974217,720,686,651,917.893025783,800,839,658,635.893025783,657,0.400973163845,-0.0053837048926,0.0698255543254,0.999999942402,0.000196103138768,-0.00027666276163,1.40678110948e-05,1793254686809749248 +46,0.766666667,BASELINE,785,759,737.683673981,720,686,651,917.316326019,800,839,658,635.316326019,657,0.400973861729,-0.00538320174555,0.0698256223497,0.999999942508,0.000196903956186,-0.000275706500599,1.40634937058e-05,1793254686826415872 +47,0.783333333,BASELINE,785,759,738,720,686,651,917.257031447,800,839,658,635.257031447,657.257031447,0.400973883789,-0.00538201936148,0.0698255321852,0.99999994224,0.000198269758787,-0.000275707300369,1.39619592379e-05,1793254686843082752 +48,0.800000000,BASELINE,785,759,738,720,686,651,917.826328458,800,839,658,635.826328458,657.826328458,0.400973084795,-0.0053800117774,0.0698252498383,0.999999941512,0.000200321957728,-0.000276870825954,1.37423164742e-05,1793254686859749120 +49,0.816666667,BASELINE,785,759,737.586963888,720.413036112,686,651,918,800,839,657.586963888,636,658,0.400972555919,-0.0053805583064,0.0698250385578,0.999999941523,0.000199822268775,-0.000277194137473,1.37115038601e-05,1793254686876416256 +50,0.833333333,BASELINE,784.992790285,759,737.007209715,720.992790285,686,651,917.992790285,800,839,657,636,657.992790285,0.40097214833,-0.00538221117917,0.0698248639032,0.999999941859,0.000198193060974,-0.000277150742511,1.37607796462e-05,1793254686893083136 +51,0.850000000,BASELINE,784.412676289,759,737.587323711,720.412676289,686,651,917.412676289,800,839,657,636,657.412676289,0.400971956141,-0.0053826832461,0.0698251206668,0.999999942293,0.000195825483329,-0.000277276636551,1.35872261731e-05,1793254686909749760 +52,0.866666667,BASELINE,784.166173034,759,738,720.166173034,686,651,917.166173034,800,839,657.166173034,636,657.166173034,0.400971566961,-0.00538301779211,0.069825246578,0.999999942503,0.000194451171038,-0.000277488376681,1.35369825248e-05,1793254686926416384 +53,0.883333333,BASELINE,784.741905336,759,738,720.741905336,686,651,917.741905336,800,839,657.741905336,636,657.741905336,0.400970692265,-0.00538301339639,0.0698250499829,0.999999942172,0.000195524915733,-0.000277911697838,1.37906551151e-05,1793254686943082752 +54,0.900000000,BASELINE,785,759,737.684992778,720.684992778,686,651,918,800,839,658,636,658,0.400970450766,-0.00538249342622,0.0698248288059,0.999999941829,0.000197002206074,-0.000278103200248,1.3823122697e-05,1793254686959749376 +55,0.916666667,BASELINE,785,759,737.114028249,720.114028249,686,651,918,800,839,658,636,658,0.400970723769,-0.00538155452901,0.0698245876549,0.999999941473,0.000198807395057,-0.000278106339646,1.36758514089e-05,1793254686976416000 +56,0.933333333,BASELINE,785,759,737.47596252,720,686,651,918,800,838.52403748,657.52403748,636,658,0.400970841028,-0.0053808824606,0.0698243075303,0.999999941118,0.000199992468602,-0.000278531025729,1.37144436067e-05,1793254686993082624 +57,0.950000000,BASELINE,785,759,737.931043835,720.068956165,686,651,918,800,838.068956165,657.068956165,636,658,0.400970820454,-0.00538040666378,0.0698239747586,0.999999940848,0.000200575629538,-0.000279074939846,1.37726254301e-05,1793254687009749248 +58,0.966666667,BASELINE,785,759,737.35098528,720.64901472,686,651,918,800,838.64901472,657.64901472,636,658,0.400970066343,-0.00538089208821,0.0698233238558,0.999999941213,0.000197844421761,-0.000279722853115,1.36322212784e-05,1793254687026416128 +59,0.983333333,BASELINE,785,759,737,721,686,651,918,800,839,658,636,657.772944149,0.400969325836,-0.00538160758351,0.0698227961759,0.999999941503,0.000195344293421,-0.000280449146916,1.34880466024e-05,1793254687043083008 +60,1.000000000,BASELINE,785,759,737,721,686,651,918,800,839,658,636,657.19799402,0.400968606172,-0.00538267559274,0.0698224572979,0.999999941685,0.000193198223872,-0.000281295535234,1.33380947199e-05,1793254687059750144 +61,1.016666667,BASELINE,785,759,737.384343162,721,686,651,918,800.384343162,839,657.615656838,636,657.384343162,0.400969179848,-0.00538264187775,0.0698230130549,0.999999941898,0.000193475416911,-0.000280336385182,1.35042542895e-05,1793254687076416512 +62,1.033333333,BASELINE,785,759,737.970560314,721,686,651,918,800.970560314,839,657.029439686,636,657.970560314,0.400970432843,-0.00538202948853,0.0698240387136,0.999999942125,0.000195025414539,-0.000278428886641,1.38364495539e-05,1793254687093082624 +63,1.050000000,BASELINE,785,759,738,720.446835739,686,651,918,800.446835739,839,657,636,658,0.40097065897,-0.00538122378317,0.0698244300991,0.999999942079,0.000195762825103,-0.000278088826201,1.35932774408e-05,1793254687109749248 +64,1.066666667,BASELINE,785,759,737.866188366,720.133811634,686.133811634,651,918,800,839,657.133811634,636,658,0.400970679647,-0.00538102327648,0.0698247349578,0.999999942049,0.000196077506684,-0.0002779804199,1.35200799205e-05,1793254687126415872 +65,1.083333333,BASELINE,785,759,737.291359848,720.708640152,686.708640152,651,918,800,839,657.708640152,636,658,0.400970202144,-0.00538285107429,0.0698248651734,0.999999942118,0.000195140562839,-0.000278362348898,1.41073523281e-05,1793254687143082752 +66,1.100000000,BASELINE,785,759,737.284048683,720.715951317,687,651,918,800,839,658,636,657.715951317,0.400970007107,-0.00538326608362,0.0698246823512,0.999999942027,0.000195037168722,-0.000278754818143,1.42208529264e-05,1793254687159749632 +67,1.116666667,BASELINE,785,759,737.860053336,720.139946664,687,651,918,800,839,658,636,657.139946664,0.400970102399,-0.00538222897546,0.069824177777,0.999999941773,0.000195790528572,-0.000279158121028,1.38473929179e-05,1793254687176416512 +68,1.133333333,BASELINE,785,759,738,720,686.554072049,651,917.554072049,800,839,657.554072049,636,657.445927951,0.400970391177,-0.00538314590993,0.069824186174,0.999999941777,0.000195942297573,-0.000279027973862,1.3985854013e-05,1793254687193083392 +69,1.150000000,BASELINE,784.965633486,759,737.965633486,720,686,651,917,800,839,657,636,658,0.400970696228,-0.00538454321498,0.0698243694494,0.999999941871,0.000195862213297,-0.000278736040424,1.42528894029e-05,1793254687209750016 +70,1.166666667,BASELINE,784.38676039,759,737.38676039,720,686,651,917,800,839,657,636,658,0.400970275254,-0.00538361536653,0.06982471509,0.99999994205,0.000195167676121,-0.00027859331129,1.39539799403e-05,1793254687226416384 +71,1.183333333,BASELINE,784.19076044,759,737,720,686,651,917.19076044,800,839,657,636,657.80923956,0.400970518168,-0.00538283164858,0.0698250880481,0.999999942251,0.000195039467616,-0.000277980315746,1.36210237276e-05,1793254687243083008 +72,1.200000000,BASELINE,784.765558998,759,737,720,686,651,917.765558998,800,839,657,636,657.234441002,0.400972097619,-0.00538233809337,0.0698255160014,0.99999994249,0.00019605138949,-0.000276420581807,1.32195246865e-05,1793254687259750144 +73,1.216666667,BASELINE,785,759,737,720,686,651,918,800,839,657.34820855,636,657,0.40097200715,-0.00538207519658,0.0698257003719,0.999999942329,0.000197170967134,-0.000276203825936,1.33138139312e-05,1793254687276416768 +74,1.233333333,BASELINE,785,759,737,720,686,651,918,800,839,657.936265895,636,657,0.400970766427,-0.00538197117915,0.0698257169606,0.999999941891,0.000198364698859,-0.000276912124042,1.37496060802e-05,1793254687293082880 +75,1.250000000,BASELINE,785,759,737,720,686,651,918,800,839,657.484063084,636,657,0.400970589928,-0.00538293380173,0.0698253170513,0.999999941897,0.000197117945042,-0.000277765277448,1.40613296854e-05,1793254687309749504 +76,1.266666667,BASELINE,785,759,737,720,686.09443995,651,918,800,839,657,636,657,0.400970766757,-0.00538382660569,0.0698250481394,0.999999942008,0.000195847530902,-0.000278248363511,1.43056842748e-05,1793254687326415872 +77,1.283333333,BASELINE,785,759,737,720,686.672182572,651,918,800,839,657,636,657,0.400972089755,-0.00538369858811,0.0698257087041,0.9999999424,0.000195974175776,-0.000276747496034,1.42824522591e-05,1793254687343083008 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+48,0.800000000,BASELINE,785,759,737,719,685,651,918,800.835324747,840,657.835324747,636.835324747,657.164675253,0.401026839151,-0.00549649564832,0.0798533354224,0.999999977672,0.000128538819794,-0.00016138652312,4.56900952107e-05,1793254695131800064 +49,0.816666667,BASELINE,785,759,737,718.578013227,685,651,918,800.578013227,839.578013227,657.578013227,636.578013227,657,0.401027964297,-0.00549612099419,0.0798543312663,0.999999977969,0.000128271837234,-0.000159797748683,4.55248915932e-05,1793254695148466688 +50,0.833333333,BASELINE,785,759,737,718,685.014610832,651,917.985389168,800,839,657,636,657,0.401029700268,-0.00549591753151,0.0798554320806,0.999999978373,0.000127588504946,-0.000157858659115,4.53502079051e-05,1793254695165133312 +51,0.850000000,BASELINE,785,759,737,718,685.593728737,651,917.406271263,800,839,657,636,657,0.401030032425,-0.00549619251219,0.0798544620779,0.999999978332,0.000126788910289,-0.000158679134751,4.56164524646e-05,1793254695181799936 +52,0.866666667,BASELINE,785,759,737,718.171275641,685.828724359,651,917,800.171275641,839.171275641,657,636,657,0.401030102526,-0.00549642390408,0.079853958408,0.999999978275,0.000126500890946,-0.00015918847104,4.59042866294e-05,1793254695198467072 +53,0.883333333,BASELINE,785,759,737,718.745129914,685.254870086,651,917,800.745129914,839.745129914,657,636,657,0.401029556671,-0.00549655284171,0.0798545508401,0.999999978178,0.000127415315209,-0.000158966482898,4.62428665457e-05,1793254695215133952 +54,0.900000000,BASELINE,785,759,737,718.680747512,685.319252488,651,917,800.680747512,840,657,636,657,0.4010293665,-0.00549663137504,0.079854837663,0.999999978264,0.000127159558173,-0.000158654552393,4.6172086903e-05,1793254695231800320 +55,0.916666667,BASELINE,785,759,737,718.106410592,685.893589408,651,917,800.106410592,840,657,636,657,0.401029460523,-0.00549666963508,0.0798548803026,0.999999978493,0.000125968820024,-0.000158270757471,4.57742267832e-05,1793254695248466688 +56,0.933333333,BASELINE,785,759,737,718.483859663,686,651,917.483859663,800.483859663,840,657,636,657,0.401028788908,-0.00549688881387,0.0798545493942,0.999999978644,0.000123779839437,-0.000159098066507,4.55884100567e-05,1793254695265133312 +57,0.950000000,BASELINE,785,759,737,718.924646979,685.924646979,651,918,801,839.924646979,657.075353021,636,657.075353021,0.401028023781,-0.00549704516506,0.0798540941133,0.999999978707,0.000121962822386,-0.000160131705007,4.54850015219e-05,1793254695281800192 +58,0.966666667,BASELINE,785,759,737,718.349087378,685.349087378,651,918,801,839.349087378,657.650912622,636,657.650912622,0.401027793699,-0.00549651134419,0.0798533771265,0.999999978343,0.000124121892481,-0.000160706735959,4.56085366492e-05,1793254695298466816 +59,0.983333333,BASELINE,785,759,737,718.225814972,685.225814972,651,917.774185028,800.774185028,839,658,636.225814972,658,0.401028081326,-0.00549621082774,0.0798532188104,0.999999978137,0.000125775332152,-0.000160685577798,4.56752692391e-05,1793254695315133440 +60,1.000000000,BASELINE,785,759,737,718.799704314,685.799704314,651,917.200295686,800.200295686,839,658,636.799704314,658,0.401029166956,-0.00549626992991,0.079853921637,0.999999978178,0.000126649386314,-0.000159745445455,4.56544456192e-05,1793254695331800832 +61,1.016666667,BASELINE,785,759,737,719,686,651,917.384675418,800.384675418,839.384675418,657.615324582,637,658,0.401029293613,-0.00549612794745,0.0798535355201,0.999999978093,0.000127205200693,-0.000159840428749,4.56396686278e-05,1793254695348467712 +62,1.033333333,BASELINE,785,759,737,719,686,651,917.975587778,800.975587778,839.975587778,657.024412222,637,658,0.401028906132,-0.00549587815701,0.0798525655852,0.999999977941,0.000127590396372,-0.000160490371099,4.56281334308e-05,1793254695365134080 +63,1.050000000,BASELINE,785,759,737,719,685.443461665,651,918,801,840,657,636.443461665,657.443461665,0.401028495566,-0.0054951046549,0.0798529132321,0.999999977881,0.000127787144223,-0.00016073916317,4.55115541487e-05,1793254695381800448 +64,1.066666667,BASELINE,785,759,737,719,685,651,917.864738743,800.864738743,840,657,636,657.135261257,0.401027822239,-0.00549483531989,0.0798529134973,0.999999977798,0.00012751316341,-0.000161507232341,4.53775454124e-05,1793254695398466816 +65,1.083333333,BASELINE,785,759,737,719,685,651,917.291834485,800.291834485,840,657,636,657.708165515,0.40102630196,-0.00549627025772,0.0798516060859,0.999999977623,0.000125742397025,-0.000164011374609,4.52017892291e-05,1793254695415133184 +66,1.100000000,BASELINE,785,759,737,719,685.282681669,651,917.282681669,800.282681669,840,657,636.282681669,658,0.401025902304,-0.00549617243709,0.0798512608797,0.999999977572,0.000125619577952,-0.000164456399324,4.50535970108e-05,1793254695431799808 +67,1.116666667,BASELINE,785,759,737,719,685.858871416,651,917.858871416,800.858871416,840,657,636.858871416,658,0.401026666192,-0.00549448315487,0.0798519147302,0.999999977654,0.000127207820942,-0.000162763444305,4.49340244396e-05,1793254695448466432 +68,1.133333333,BASELINE,785,759,737,718.552977373,686,651,918,800.552977373,839.552977373,657,636.552977373,658,0.401029143674,-0.00549502443679,0.0798536489318,0.9999999782,0.00012643574692,-0.000159964555364,4.50119975579e-05,1793254695465133568 +69,1.150000000,BASELINE,785,759,737.038174755,718.038174755,685.961825245,651,917.961825245,800.038174755,839,657,636.038174755,658,0.401031909205,-0.00549617522552,0.0798555827384,0.9999999788,0.000125271537816,-0.000157056096606,4.51781937108e-05,1793254695481800192 +70,1.166666667,BASELINE,785,759,737.616876863,718.616876863,685.383123137,651,917.383123137,800.616876863,839,657,636.616876863,658,0.401030882593,-0.00549571098674,0.0798553806433,0.999999978154,0.00012939615344,-0.000157675878023,4.56862175845e-05,1793254695498466816 +71,1.183333333,BASELINE,785,759,737.806759111,718.806759111,685,651,917,800.806759111,839,657.193240889,636.806759111,658,0.401029682395,-0.00549546571629,0.0798549017473,0.999999977767,0.000131162413169,-0.000158591871123,4.59529477319e-05,1793254695515133696 +72,1.200000000,BASELINE,785,759,737.234975094,718.234975094,685,651,917,800.234975094,839,657.765024906,636.234975094,658,0.401028142153,-0.00549564938683,0.0798538806208,0.999999977908,0.000128308846925,-0.000160088118843,4.57470032562e-05,1793254695531800064 +73,1.216666667,BASELINE,785,759,737,718.348501712,685,651,917.348501712,800.348501712,839,657.651498288,636.348501712,657.651498288,0.401027714592,-0.0054961660895,0.079853365403,0.999999978024,0.000126522332191,-0.000160797634846,4.56913854748e-05,1793254695548466688 +74,1.233333333,BASELINE,785,759,737,718.94013597,685,651,917.94013597,800.94013597,839,657.05986403,636.94013597,657.05986403,0.401028063293,-0.00549691513234,0.0798532031329,0.999999978127,0.000125480247114,-0.000160958286639,4.57406432653e-05,1793254695565133312 +75,1.250000000,BASELINE,785,759,737,719,685.520115314,651,918,800.479884686,839,657,636.479884686,657,0.401026720953,-0.00549653792122,0.079852273108,0.999999977442,0.000128976387384,-0.00016244213058,4.57604250656e-05,1793254695581799936 +76,1.266666667,BASELINE,785,759,737,719,686,651,917.901813775,800,839,657.098186225,636,657,0.401025624538,-0.00549595525084,0.0798515797226,0.999999976822,0.00013229152229,-0.00016358289435,4.57752731348e-05,1793254695598466816 +77,1.283333333,BASELINE,785,759,737,719,686,651,917.326640083,800,839,657.673359917,636,657,0.401026647636,-0.00549499039664,0.0798524558058,0.999999977032,0.000132245434652,-0.000162333341062,4.57822732653e-05,1793254695615133440 +78,1.300000000,BASELINE,785,759,737,719,686,651,917,800.247850226,839.247850226,657.752149774,636,657.247850226,0.401027319988,-0.00549529155195,0.0798531392426,0.999999977487,0.000129879425787,-0.00016144833867,4.57354649223e-05,1793254695631800320 +79,1.316666667,BASELINE,785,759,737,719,686,651,917,800.821442339,839.821442339,657.178557661,636,657.821442339,0.401027531365,-0.00549725658449,0.07985356949,0.999999978246,0.00012446441619,-0.000161042454345,4.5617937765e-05,1793254695648466944 +80,1.333333333,BASELINE,785,759,737,719,686,651,917.408889619,801,839.591110381,657.408889619,636,657.591110381,0.401027299397,-0.0054971377774,0.0798538106371,0.999999978056,0.000125399884392,-0.000161448068109,4.58004593343e-05,1793254695665133568 +81,1.350000000,BASELINE,785,759,737.002524293,718.997475707,685.997475707,651,918,800.997475707,839,657.997475707,636,657.002524293,0.401026867839,-0.0054960809745,0.0798539633208,0.999999977433,0.000129198635725,-0.000162216747994,4.61178249316e-05,1793254695681800192 +82,1.366666667,BASELINE,785,759,737.579044318,718.420955682,685.420955682,651,918,800.420955682,839,657.420955682,636,657.579044318,0.401026619207,-0.00549591344793,0.0798534363475,0.999999977157,0.000131367750462,-0.000162136046432,4.62579159296e-05,1793254695698466816 +83,1.383333333,BASELINE,785,759,738,718,685,651,918,800.155236782,839.155236782,657.155236782,636.155236782,658,0.401026726625,-0.0054955447783,0.0798532758421,0.999999977056,0.000132427523754,-0.000161894199468,4.62670807091e-05,1793254695715133184 +84,1.400000000,BASELINE,785,759,738,718,685,651,918,800.730542995,839.730542995,657.730542995,636.730542995,658,0.401027797513,-0.00549463181722,0.0798541069961,0.999999977437,0.00013048542888,-0.000161216294378,4.59219602711e-05,1793254695731799808 +85,1.416666667,BASELINE,785,759,737.688055839,718.311944161,685.311944161,651,918,800.688055839,840,657.688055839,636.688055839,658,0.401027885514,-0.00549434991187,0.0798539223997,0.999999977504,0.000129908057526,-0.000161310367054,4.57630513041e-05,1793254695748466688 +86,1.433333333,BASELINE,785,759,737.101284975,718.898715025,685.898715025,651,918,800.101284975,840,657.101284975,636.101284975,658,0.401027107578,-0.00549462397455,0.0798528429145,0.999999977297,0.00013053302475,-0.000162084561825,4.57681969889e-05,1793254695765133568 +87,1.450000000,BASELINE,785,759,737.479713244,719,686,651,917.520286756,800.479713244,840,657,636.479713244,658,0.401028491241,-0.00549412513454,0.0798536455741,0.999999977508,0.00013126230491,-0.000160185962635,4.57575524858e-05,1793254695781800192 +88,1.466666667,BASELINE,785,759,737.940905842,719,685.940905842,651,917,800.940905842,840,657.059094158,636.940905842,658,0.401029990886,-0.0054938327175,0.0798546320171,0.999999977777,0.000131585304172,-0.000158233014024,4.57625692073e-05,1793254695798467072 +89,1.483333333,BASELINE,785,759,737.36513571,719,685.36513571,651,917,800.36513571,840,657.63486429,636.36513571,658,0.401028561681,-0.00549675494213,0.0798537921585,0.999999977823,0.000128165806944,-0.000160680244202,4.5933318639e-05,1793254695815133696 +90,1.500000000,BASELINE,785,759,737.210858728,719,685.210858728,651,917.210858728,800,840,657.789141272,636,658,0.401027672432,-0.00549806306095,0.0798533913513,0.999999977847,0.000126406511038,-0.000161907028741,4.5978069519e-05,1793254695831800064 +91,1.516666667,BASELINE,785,759,737.78724194,719,685.78724194,651,917.78724194,800,840,657.21275806,636,658,0.401027719198,-0.00549657312027,0.0798537516416,0.999999977856,0.00012752518142,-0.000161018165412,4.58044013667e-05,1793254695848466432 +92,1.533333333,BASELINE,785,759,737.627195423,718.627195423,686,651,917.627195423,800.372804577,839.627195423,657,636,658,0.40102757973,-0.00549548244662,0.0798538188746,0.999999977577,0.000129581726544,-0.000161115149539,4.57981756372e-05,1793254695865133056 +93,1.550000000,BASELINE,785,759,737.036261824,718.036261824,686,651,917.036261824,800.963738176,839.036261824,657,636,658,0.401027331298,-0.0054946253851,0.079853714639,0.999999977123,0.000132187024963,-0.000161788955742,4.58899209305e-05,1793254695881799936 +94,1.566666667,BASELINE,784.456692148,759,737,718.543307852,686,651,917.543307852,800.456692148,839.543307852,657,636,658,0.401029639321,-0.00549688923613,0.0798551013256,0.999999978222,0.00012744809748,-0.000158817316502,4.57097671137e-05,1793254695898466304 +95,1.583333333,BASELINE,784.120922138,759,737,719,686,651,917.879077862,800,840,657.120922138,636,657.879077862,0.401031344385,-0.00549855061021,0.0798561468792,0.99999997904,0.000123874155912,-0.000156506414925,4.56158073303e-05,1793254695915133184 +96,1.600000000,BASELINE,784.694002857,759,737,719,686,651,917.305997143,800,840,657.694002857,636,657.305997143,0.401030169892,-0.00549719624864,0.079855552388,0.999999978539,0.000126451722189,-0.00015755732493,4.59106159132e-05,1793254695931800064 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+232,3.866666667,pose1_to_pose2_press,0.61874340793,0.000181928978664,1.07002051704,0.589314553695,0.00885616140481,1.06969222398 +233,3.883333333,pose1_to_pose2_press,0.618746833746,0.000181969214531,1.07002059311,0.58931797915,0.00885620036448,1.06969229877 +234,3.900000000,pose1_to_pose2_press,0.618749135867,0.000181912250345,1.07002070642,0.589320281836,0.00885614529001,1.06969241158 +235,3.916666667,pose1_to_pose2_press,0.618750598658,0.00018186937099,1.07002073174,0.589321745039,0.00885610379253,1.06969243646 +236,3.933333333,pose1_to_pose2_press,0.618751363812,0.000181835402196,1.07002066439,0.589322510504,0.00885607085928,1.0696923687 +237,3.950000000,pose1_to_pose2_press,0.618751920922,0.00018181066945,1.07002061535,0.58932306784,0.00885604688052,1.06969231937 +238,3.966666667,pose1_to_pose2_press,0.618752382253,0.0001817901888,1.07002057474,0.589323529358,0.00885602702422,1.06969227851 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+253,4.216666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785932,0.00885604534919,1.06969235264 +254,4.233333333,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785932,0.00885604534905,1.06969235264 +255,4.250000000,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785932,0.00885604534923,1.06969235264 +256,4.266666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785932,0.00885604534906,1.06969235264 +257,4.283333333,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785932,0.00885604534905,1.06969235264 +258,4.300000000,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785932,0.00885604534903,1.06969235264 +259,4.316666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785932,0.00885604534903,1.06969235264 +260,4.333333333,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785932,0.00885604534915,1.06969235264 +261,4.350000000,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785932,0.00885604534902,1.06969235264 +262,4.366666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785932,0.00885604534912,1.06969235264 +263,4.383333333,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785932,0.00885604534914,1.06969235264 +264,4.400000000,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785933,0.00885604534904,1.06969235264 +265,4.416666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785933,0.00885604534906,1.06969235264 +266,4.433333333,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785933,0.00885604534906,1.06969235264 +267,4.450000000,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785933,0.00885604534906,1.06969235264 +268,4.466666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325785933,0.008856045349,1.06969235264 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a/Obstacle_avoidance/cylinder_0030_10/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_04/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..6ff552d938f17e15718ea64be6856f4ca0e9d015 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_04/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0019f86878210db466f0932b99e331d7fa92f315b831a53bb100d3a19d4e547c +size 26485535 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_04/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..e41b63506056b2a119a0f5fb2ea9c29f9715b05c --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_04/depth_02/franka_data.csv @@ -0,0 +1,417 @@ 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+10,0.166666667,BASELINE,785,759,737.19268209,719,686,651,917.80731791,800,839.19268209,657,636,657.80731791,0.400969560366,-0.00540159337568,0.0798258429336,0.999999927944,0.000237451612173,-0.000292800979022,4.46854251062e-05,1793254701621956608 +11,0.183333333,BASELINE,785,759,737.390633408,719,686,651,917.609366592,800,839.390633408,657.390633408,636,658,0.400969208356,-0.00540111564434,0.079825678015,0.999999927896,0.000237387161845,-0.00029302231926,4.46473977764e-05,1793254701638622976 +12,0.200000000,BASELINE,785,759,737.978734364,719,686,651,917.021265636,800,839.978734364,657.978734364,636,658,0.400968677614,-0.00539990160406,0.0798257285266,0.999999927846,0.000237489533059,-0.000293123770613,4.45504432385e-05,1793254701655289600 +13,0.216666667,BASELINE,785,759,738,719,686,651,917.55959197,800,840,657.44040803,636.55959197,658,0.400969128295,-0.00540025552784,0.0798268112361,0.999999928142,0.000237932345022,-0.000291735754233,4.46686109343e-05,1793254701671956736 +14,0.233333333,BASELINE,785,759,737.860865394,719,686,651,918,800,839.860865394,657.139134606,636.860865394,657.860865394,0.400969774321,-0.0054006245265,0.079827816094,0.999999928603,0.000237538574874,-0.000290465831797,4.47092837039e-05,1793254701688623616 +15,0.250000000,BASELINE,785,759,737.2846002,719,686,651,918,800,839.2846002,657.7153998,636.2846002,657.2846002,0.400970918398,-0.00540085607372,0.0798284546963,0.999999929546,0.000234476319095,-0.00028974249565,4.44811282297e-05,1793254701705291776 +16,0.266666667,BASELINE,785,759,737,719,686,651,918,800,839,658,636,657.291767266,0.400970690397,-0.0054005522821,0.0798281656089,0.999999929381,0.00023487844784,-0.000290003889923,4.43670633199e-05,1793254701721958400 +17,0.283333333,BASELINE,785,759,737,719,686,651,918,800,839,658,636,657.868234494,0.400969123555,-0.0053997261188,0.0798269713027,0.99999992813,0.000238661045578,-0.000291226162125,4.43643254406e-05,1793254701738623744 +18,0.300000000,BASELINE,785,759,737,719,686,651,918,800,839,658,636.45362049,658,0.400969014636,-0.00540001504134,0.0798266077303,0.999999928371,0.000237521303674,-0.000291338563246,4.43074058714e-05,1793254701755290112 +19,0.316666667,BASELINE,785,759,737.040945129,719,686,651,918,800,839,657.959054871,636.959054871,658,0.400969323283,-0.00540052847485,0.0798265122449,0.999999928986,0.000235167744313,-0.000291149286973,4.42337125229e-05,1793254701771956992 +20,0.333333333,BASELINE,785,759,737.619034409,719,686,651,918,800,839,657.380965591,636.380965591,658,0.400969442811,-0.00539965277734,0.0798267045795,0.999999928739,0.000236024000009,-0.000291316553745,4.41505777151e-05,1793254701788623872 +21,0.350000000,BASELINE,785,759,737.803480389,719,686.196519611,651,918,800,839.196519611,657,636,658,0.400969268245,-0.00539941715399,0.0798267059845,0.999999928428,0.000236861792166,-0.000291716121784,4.40651984168e-05,1793254701805290496 +22,0.366666667,BASELINE,785,759,737.227162709,719,686.772837291,651,918,800,839.772837291,657,636,658,0.400968525311,-0.00540041855198,0.079826338395,0.999999927994,0.000237663901187,-0.000292564640281,4.39754813767e-05,1793254701821956608 +23,0.383333333,BASELINE,785,759,737,719,687,651,917.652261199,800,839.652261199,657.347738801,636,658,0.400968630936,-0.00540070294099,0.0798264617303,0.999999927837,0.00023839855786,-0.000292479913822,4.41258173863e-05,1793254701838623232 +24,0.400000000,BASELINE,785,759,737,719,687,651,917.078281002,800,839.078281002,657.921718998,636,658,0.400969288641,-0.00540052083884,0.0798269044649,0.999999927861,0.000239089329624,-0.000291788011483,4.4432333649e-05,1793254701855289856 +25,0.416666667,BASELINE,785,759,737,719,686.485768168,651,917.514231832,800,839,657.485768168,636.514231832,658,0.400969955817,-0.00540038024735,0.0798274435347,0.999999928881,0.000236650526276,-0.000290290903853,4.43302181254e-05,1793254701871956480 +26,0.433333333,BASELINE,785,759,737,719,686,651,918,800.105394079,839,657.105394079,636.894605921,658,0.40097008663,-0.0054001362508,0.0798276249348,0.999999929674,0.000234372714951,-0.000289435258539,4.41385502913e-05,1793254701888623104 +27,0.450000000,BASELINE,785,759,737,719,686,651,918,800.677611177,839,657.677611177,636.322388823,658,0.400967835102,-0.00539940520541,0.0798261547211,0.9999999288,0.000234997055923,-0.000291984071569,4.38360565284e-05,1793254701905290240 +28,0.466666667,BASELINE,785,759,737,719,686,651,917.747833933,800.747833933,839,658,636,658,0.400967186958,-0.00539965181309,0.0798258626623,0.999999928705,0.000234819785751,-0.000292459023552,4.37928064475e-05,1793254701921957120 +29,0.483333333,BASELINE,785,759,737,719,686,651,917.170262293,800.170262293,839,658,636,658,0.400968607887,-0.00540116002496,0.0798270909439,0.999999929617,0.000233608083206,-0.000290257778896,4.40840952065e-05,1793254701938623488 +30,0.500000000,BASELINE,785,759,737,719,686,651,917,800,839.41751082,657.58248918,636,658,0.400969291566,-0.0054004833131,0.0798274722381,0.999999929505,0.000234970787035,-0.000289585196595,4.38142431649e-05,1793254701955290112 +31,0.516666667,BASELINE,785,759,737,719,686,651,917.009331497,800,839.990668503,657,636.009331497,658,0.400969628193,-0.00539892128397,0.079827478983,0.999999928951,0.000237390418807,-0.000289598223658,4.33246594577e-05,1793254701971956480 +32,0.533333333,BASELINE,785,759,737,719,686,651,917.587925647,800,839.412074353,657,636.587925647,658,0.400967593661,-0.00539906849478,0.0798262355011,0.999999927805,0.000238637666556,-0.000292454196289,4.37400642823e-05,1793254701988623104 +33,0.550000000,BASELINE,785,759,737.165484662,719,686,651,918,800,839,657.165484662,636.834515338,658,0.400966610958,-0.00539917566554,0.0798256370724,0.999999927131,0.000239589141469,-0.000293936787371,4.40113234679e-05,1793254702005289984 +34,0.566666667,BASELINE,785,759,737.74048202,719,686,651,918,800,839,657.74048202,636.25951798,658,0.400968231137,-0.00539918375214,0.0798266349096,0.999999927643,0.000239808688962,-0.000292020771932,4.39258760028e-05,1793254702021956864 +35,0.583333333,BASELINE,785,759,737.677769212,719,686,651,918,800,839,657.677769212,636,658,0.400969314029,-0.00539972169004,0.07982763886,0.999999928593,0.000237776841159,-0.000290423039696,4.39350926144e-05,1793254702038623744 +36,0.600000000,BASELINE,785,759,737.09046657,719,686,651,918,800,839,657.09046657,636,658,0.400969954942,-0.00540069549151,0.0798286478394,0.999999929892,0.000233892962019,-0.000289087131761,4.40221812978e-05,1793254702055290624 +37,0.616666667,BASELINE,785,759,737,718.509993924,686,651,917.509993924,800.490006076,839,657.490006076,636,657.509993924,0.400969438211,-0.00540023183754,0.0798282037628,0.999999929308,0.000234928802432,-0.000290287405249,4.38836829688e-05,1793254702071957248 +38,0.633333333,BASELINE,785,759,737,718.069105757,686,651,917.069105757,801,839,658,636,657.069105757,0.400968810966,-0.00539956211218,0.0798275545666,0.999999928479,0.000236720576991,-0.000291709202201,4.37145678553e-05,1793254702088623872 +39,0.650000000,BASELINE,785,759,737,718.647253126,686,651,917.647253126,801,839,658,636,657.647253126,0.40096892237,-0.00539930244535,0.0798273433633,0.999999928404,0.000237482017974,-0.000291361082203,4.36224972003e-05,1793254702105290240 +40,0.666666667,BASELINE,785,759,737.224137938,719,686,651,917.775862062,800.775862062,839,657.775862062,636,658,0.400969394238,-0.00539926622568,0.0798274038567,0.99999992846,0.00023819083398,-0.000290562053841,4.37982263976e-05,1793254702121956608 +41,0.683333333,BASELINE,785,759,737.79904684,719,686,651,917.20095316,800.20095316,839,657.20095316,636,658,0.400970430227,-0.00539957969593,0.0798278895496,0.999999928721,0.000238817293007,-0.000289057363787,4.43930565062e-05,1793254702138623232 +42,0.700000000,BASELINE,785,759,737.618475065,719,686,651,917,800,839,657,636,658,0.400970880182,-0.00540035506316,0.0798282869308,0.999999929415,0.000236841708592,-0.000288283170767,4.43708421955e-05,1793254702155289856 +43,0.716666667,BASELINE,785,759,737.031929521,719,686,651,917,800,839,657,636,658,0.400971015219,-0.00540137864064,0.0798286368559,0.999999930334,0.000233467860288,-0.000287901526045,4.40170458083e-05,1793254702171956736 +44,0.733333333,BASELINE,785,759,737,718.451174033,686,651,917,800,839,657,636,657.451174033,0.400969602164,-0.00540073649473,0.0798274241795,0.999999929407,0.00023548651645,-0.00028951988605,4.37173645479e-05,1793254702188623616 +45,0.750000000,BASELINE,785,759,737,718.256207658,686,651,917,800,839,657,636.128103829,657.128103829,0.400968781528,-0.00540032506031,0.0798267068278,0.999999928778,0.000237007756206,-0.000290465609546,4.35901176747e-05,1793254702205290496 +46,0.766666667,BASELINE,785,759,737,719.406774251,686,651,917,800,839,657,636.703387125,657.703387125,0.400970340002,-0.00540105373559,0.0798280325624,0.999999929588,0.000235708932203,-0.000288661391068,4.40539223597e-05,1793254702221957376 +47,0.783333333,BASELINE,785,759,737,719.721402053,686,651,917,800.278597947,839,657,636.721402053,658,0.400971115632,-0.00540084749844,0.0798286998604,0.999999929773,0.000235959925814,-0.00028777551387,4.43019035414e-05,1793254702238624000 +48,0.800000000,BASELINE,785,759,737,719.146268301,686,651,917,800.853731699,839,657,636.146268301,658,0.400971058014,-0.00539964615352,0.0798286663275,0.999999929295,0.000237860523713,-0.000287867106216,4.43201652266e-05,1793254702255290368 +49,0.816666667,BASELINE,785.440241531,759,737,719,686,651,917.440241531,801,839,657.440241531,636.440241531,658,0.40097001627,-0.00539929315044,0.0798281513319,0.999999929066,0.000237602592804,-0.000288914920256,4.40599840353e-05,1793254702271956736 +50,0.833333333,BASELINE,785.969926465,759,737,719,686,651,917.969926465,800.969926465,839,658,636.969926465,657.969926465,0.400968795363,-0.00539930045824,0.0798275668713,0.999999928951,0.00023667371809,-0.000290123575583,4.37360972224e-05,1793254702288623360 +51,0.850000000,BASELINE,785.390285946,759,737,719,686,651,917.390285946,800.390285946,839,658,636.390285946,657.390285946,0.400970434009,-0.00540060479834,0.079828713736,0.999999929401,0.000236937067988,-0.000288311770187,4.39834539792e-05,1793254702305289984 +52,0.866666667,BASELINE,785,759,737,719,686,651,917,800.188011541,839.188011541,658,636,657,0.400971339563,-0.00540103119924,0.0798294374576,0.999999929543,0.000237694790741,-0.000287169330142,4.41481582356e-05,1793254702321956608 +53,0.883333333,BASELINE,785,759,737,719,686,651,917,800.763540817,839.763540817,658,636,657,0.400970734115,-0.00539964804617,0.0798292890231,0.999999929051,0.000239471484172,-0.000287406544587,4.41425042657e-05,1793254702338623488 +54,0.900000000,BASELINE,785,759,737,719,686,651,917.337462225,800.662537775,839.662537775,658,636.337462225,657,0.400969650066,-0.00539912937014,0.0798282045563,0.999999928827,0.000238820248763,-0.000288773689314,4.38320572291e-05,1793254702355290368 +55,0.916666667,BASELINE,785,759,737,719,686,651,917.910262321,800.089737679,839.089737679,658,636.910262321,657,0.400968232252,-0.00539921355923,0.0798264673238,0.999999928782,0.000236475835318,-0.000290928819666,4.33090549913e-05,1793254702371957248 +56,0.933333333,BASELINE,785,759,737,718.496671798,686,651,918,800,839,657.496671798,636.496671798,657.503328202,0.400969673645,-0.005400138144,0.0798275620822,0.999999929538,0.00023513924802,-0.000289357538092,4.36586829217e-05,1793254702388623616 +57,0.950000000,BASELINE,785,759,737,718.096444442,686,651,918,800,839,657,636,658,0.400971115965,-0.00540071943277,0.0798287901483,0.999999930152,0.000234396122277,-0.000287785842322,4.39760606401e-05,1793254702405290240 +58,0.966666667,BASELINE,785,759,737,718.671141441,686,651,918,800,839,657,636,658,0.400969928999,-0.00539882420266,0.0798280704484,0.999999929345,0.000235667473224,-0.000289644846349,4.33296517832e-05,1793254702421956864 +59,0.983333333,BASELINE,785,759,737,719,686,651,917.754205488,800.245794512,839.245794512,657,636,658,0.40096915071,-0.00539818947854,0.0798275166686,0.999999928858,0.00023665361427,-0.000290541619951,4.317114594e-05,1793254702438623744 +60,1.000000000,BASELINE,785,759,737,719,686,651,917.1796111,800.8203889,839.8203889,657,636,658,0.400968919105,-0.0053992409359,0.0798271848403,0.999999928807,0.000237258229563,-0.000290151215999,4.36653089731e-05,1793254702455290368 +61,1.016666667,BASELINE,785,759,737,719,686,651,917,800.595738136,839.595738136,657,636.404261864,658,0.400968732662,-0.00539913399065,0.0798274900764,0.999999928699,0.000238119946302,-0.000289780704709,4.39195790959e-05,1793254702471956736 +62,1.033333333,BASELINE,785,759,737,719,686,651,917,800.007645951,839.007645951,657,636.992354049,658,0.400968566754,-0.005398500284,0.0798280850052,0.999999928563,0.000239098574949,-0.000289419239248,4.40647624947e-05,1793254702488623104 +63,1.050000000,BASELINE,785,759,737,719,686,651,917.57509965,800,839.57509965,657.57509965,636.42490035,658,0.400969198835,-0.00539966817557,0.0798286085037,0.999999929325,0.000236977107243,-0.000288498431561,4.42742729763e-05,1793254702505290496 +64,1.066666667,BASELINE,785,759,737,719,686.155146183,651,917.844853817,800.155146183,839.844853817,657.844853817,636,658,0.400969882418,-0.00540045597845,0.0798290236309,0.999999929798,0.000235972454936,-0.000287661810601,4.44005161486e-05,1793254702521957120 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+397,6.616666667,pose2_to_pose3_retreat,0.575668517731,0.000181808874118,1.0700206795,0.546239663888,0.00885604091205,1.06969237478 +398,6.633333333,pose2_to_pose3_retreat,0.57566825789,0.000181829937329,1.07002064192,0.546239404385,0.00885606323284,1.06969234016 +399,6.650000000,pose2_to_pose3_retreat,0.575668095161,0.000181843128456,1.07002061839,0.546239241867,0.00885607721154,1.06969231848 +400,6.666666667,pose2_to_pose3_retreat,0.575668060836,0.000181845910887,1.07002061343,0.546239207587,0.00885608016009,1.0696923139 +401,6.683333333,pose2_to_pose3_retreat,0.575667924147,0.000181856991135,1.07002059366,0.546239071076,0.00885609190188,1.06969229569 +402,6.700000000,pose2_to_pose3_retreat,0.575667788265,0.000181868005993,1.07002057402,0.546238935371,0.00885610357438,1.06969227759 +403,6.716666667,pose2_to_pose3_retreat,0.575667607544,0.000181882655564,1.07002054788,0.546238754885,0.0088561190986,1.06969225351 +404,6.733333333,pose2_to_pose3_retreat,0.575667494833,0.000181891792109,1.07002053159,0.546238642321,0.00885612878064,1.06969223849 +405,6.750000000,pose2_to_pose3_retreat,0.575667486842,0.000181892439849,1.07002053043,0.546238634341,0.00885612946705,1.06969223743 +406,6.766666667,pose2_to_pose3_retreat,0.575667373036,0.000181901665214,1.07002051397,0.546238520682,0.00885613924322,1.06969222226 +407,6.783333333,pose2_to_pose3_retreat,0.575667257661,0.000181912893285,1.07002051098,0.546238405224,0.00885615015326,1.06969221833 +408,6.800000000,pose2_to_pose3_retreat,0.575667207739,0.000181918960515,1.07002051852,0.546238355116,0.00885615551793,1.06969222401 +409,6.816666667,pose2_to_pose3_retreat,0.575667126867,0.000181928789338,1.07002053072,0.546238273942,0.00885616420863,1.06969223321 +410,6.833333333,pose2_to_pose3_retreat,0.575666988603,0.000181945593185,1.07002055158,0.546238135162,0.00885617906668,1.06969224893 +411,6.850000000,pose2_to_pose3_retreat,0.575666924018,0.000181953442588,1.07002056133,0.546238070336,0.00885618600716,1.06969225627 +412,6.866666667,pose2_to_pose3_retreat,0.575666904051,0.000181955869263,1.07002056434,0.546238050294,0.00885618815284,1.06969225854 +413,6.883333333,pose2_to_pose3_retreat,0.57566686635,0.000181950081803,1.07002060074,0.546238012309,0.0088561815284,1.06969229827 +414,6.900000000,pose2_to_pose3_retreat,0.57566683644,0.000181940756054,1.07002064364,0.546237982109,0.00885617139875,1.06969234598 +415,6.916666667,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947913,1.06969235502 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_04/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..e335ed6a691421d14ffcb67470910fbebda0efad --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_04/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13d6864cb61651743d1eaa9f89175121cc6ce99253466a0248b974172e95380a +size 26612801 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_04/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..8cd1765fc68f41f1bc2b20f37e4b7492106f3a27 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_04/depth_03/franka_data.csv @@ -0,0 +1,419 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+38,0.633333333,BASELINE,785,759,737.92819968,719,686,651,918,801,840,658,636.92819968,658,0.400971568244,-0.00540406626603,0.0798294188106,0.999999930948,0.000230911227176,-0.000288054810727,4.25349124789e-05,1793254709211825920 +39,0.650000000,BASELINE,785,759,737.348785317,719,686,651,918,801,840,658,636.348785317,658,0.400970417353,-0.00540437634785,0.0798288436256,0.999999930705,0.000230735316854,-0.000288991801556,4.28476390017e-05,1793254709228492544 +40,0.666666667,BASELINE,785,759,737,719,686,651,918,800.770482704,839.770482704,657.770482704,636.229517296,658,0.400970365171,-0.00540420616777,0.0798288031143,0.999999930495,0.00023189297426,-0.000288766152826,4.30141779178e-05,1793254709245159168 +41,0.683333333,BASELINE,785,759,737,719,686,651,918,800.193861447,839.193861447,657.193861447,636.806138553,658,0.400971974591,-0.00540330967723,0.0798295712019,0.999999930327,0.000235067414928,-0.000286782219137,4.2959634142e-05,1793254709261825792 +42,0.700000000,BASELINE,785,759,737.380923337,719,686.380923337,651,917.619076663,800.380923337,839.380923337,657,637,658,0.400971988611,-0.00540183126087,0.0798295748502,0.999999929953,0.00023660582286,-0.000286832157517,4.2877562655e-05,1793254709278492416 +43,0.716666667,BASELINE,785,759,737.954777961,719,686.954777961,651,917.045222039,800.954777961,839.954777961,657,637,658,0.400971194587,-0.00540005810887,0.0798291913226,0.999999929479,0.000237315607535,-0.000287912218075,4.27815488453e-05,1793254709295159296 +44,0.733333333,BASELINE,785,759,738,719,686.456207563,651,917.543792437,800.456207563,839.456207563,657.543792437,636.456207563,657.456207563,0.400970574356,-0.00540227742331,0.0798288101501,0.999999930062,0.00023449793405,-0.000288185019189,4.28443926007e-05,1793254709311826176 +45,0.750000000,BASELINE,785,759,737.86841118,719,686,651,917.86841118,800.13158882,839,658,636,657.13158882,0.400970200433,-0.00540433280157,0.0798286674405,0.999999930672,0.000231871111404,-0.000288191334578,4.28655174221e-05,1793254709328492800 +46,0.766666667,BASELINE,785,759,737.28917052,719,686,651,917.28917052,800.71082948,839,658,636,657.71082948,0.400970613845,-0.00540466861145,0.0798293352724,0.999999931091,0.000230920093149,-0.000287526018289,4.26984884699e-05,1793254709345159424 +47,0.783333333,BASELINE,785,759,737,719,686,651,917,801,839,658,636.289106927,658,0.400970718735,-0.00540454991429,0.0798294257733,0.99999993099,0.000231418482905,-0.000287475961356,4.26959651791e-05,1793254709361826048 +48,0.800000000,BASELINE,785,759,737,719,686,651,917,801,839,658,636.866424219,658,0.400970516059,-0.00540397811963,0.0798289407337,0.999999930369,0.000233361785735,-0.000288039255691,4.28574373739e-05,1793254709378492672 +49,0.816666667,BASELINE,785,759,737,719,686,651,917,801,839,658,636.558578747,658,0.400970101014,-0.005404704025,0.0798288575797,0.99999993035,0.000233112075431,-0.000288288608204,4.29973076794e-05,1793254709395159552 +50,0.833333333,BASELINE,785,759,737,719,686,651,917.016225688,800.983774312,839.016225688,658,636,658,0.400969673712,-0.00540573963827,0.0798289140485,0.999999930501,0.000232303251129,-0.000288399612931,4.31253193166e-05,1793254709411825920 +51,0.850000000,BASELINE,785,759,737,719,686,651,917.609005959,800.390994041,839.609005959,658,636,658,0.400971082474,-0.00540389960941,0.0798296330938,0.99999993027,0.000235084380456,-0.000286952671339,4.30630129517e-05,1793254709428492544 +52,0.866666667,BASELINE,785,759,737,719.196393094,686,651,918,800.196393094,840,657.803606906,636,658,0.400972339706,-0.00540294751064,0.0798303725457,0.99999993038,0.00023632211056,-0.000285552464824,4.30345652918e-05,1793254709445159424 +53,0.883333333,BASELINE,785,759,737,719.773330105,686,651,918,800.773330105,840,657.226669895,636,658,0.400973303326,-0.00540371592256,0.0798311515389,0.999999931164,0.000234569250679,-0.000284242815296,4.30717244456e-05,1793254709461826048 +54,0.900000000,BASELINE,785,759,737,719.651472339,686.348527661,651,917.651472339,800.651472339,839.651472339,657,636,658,0.400972391444,-0.00540223733594,0.0798304455388,0.999999930345,0.000236720657628,-0.000285348227217,4.29977465458e-05,1793254709478492928 +55,0.916666667,BASELINE,785,759,737,719.077400467,686.922599533,651,917.077400467,800.077400467,839.077400467,657,636,658,0.40097026586,-0.00539930463941,0.0798287785486,0.999999928468,0.00024139864971,-0.000288016508338,4.28518480418e-05,1793254709495159552 +56,0.933333333,BASELINE,785,759,737,719,686.489387369,651,917.510612631,800,839,657.510612631,636,657.489387369,0.400971482043,-0.00540000789157,0.0798293241824,0.999999929137,0.000239520348468,-0.00028726762943,4.28054744796e-05,1793254709511826176 +57,0.950000000,BASELINE,785,759,737,718.901238065,686,651,917.901238065,800,839,657.901238065,636,657.098761935,0.400972641846,-0.00540124418625,0.0798298788112,0.999999929954,0.000237088964612,-0.000286441917226,4.28049256685e-05,1793254709528492800 +58,0.966666667,BASELINE,785,759,737,718.322975777,686,651,917.322975777,800,839,657.322975777,636,657.677024223,0.400970999491,-0.00540231745633,0.0798288030115,0.999999929586,0.000236932879556,-0.000287828638643,4.29515593549e-05,1793254709545159424 +59,0.983333333,BASELINE,785,759,737.25441202,718.25441202,686,651,917,800,839,657.25441202,636,658,0.40097086054,-0.00540303590383,0.0798287411145,0.999999929742,0.000236423036604,-0.000287705591262,4.29552117756e-05,1793254709561826304 +60,1.000000000,BASELINE,785,759,737.830693532,718.830693532,686,651,917,800,839,657.830693532,636,658,0.40097262362,-0.00540330544751,0.0798299619566,0.999999930559,0.000235465636653,-0.000285672459333,4.27779713973e-05,1793254709578492928 +61,1.016666667,BASELINE,785,759,737.597831199,719,686,651,917.402168801,800.402168801,839,657.597831199,636,658,0.400972933598,-0.0054038261239,0.0798303502152,0.999999930953,0.000234082514452,-0.000285440715188,4.27009850548e-05,1793254709595160064 +62,1.033333333,BASELINE,785,759,737.028355419,719,686,651,917.971644581,800.971644581,839,657.028355419,636,658,0.400972639067,-0.00540445127445,0.0798303921091,0.99999993117,0.000232522286814,-0.000285958369797,4.26657055879e-05,1793254709611827456 +63,1.050000000,BASELINE,785,759,737.566327862,719,686.566327862,651,918,801,839.566327862,657,636,658,0.40097093048,-0.00540405482341,0.0798292820689,0.99999993071,0.000232637279935,-0.000287476919338,4.26144045506e-05,1793254709628494080 +64,1.066666667,BASELINE,785,759,737.842765075,719,686.842765075,651,917.842765075,800.842765075,840,657.157234925,636,657.842765075,0.400969669835,-0.00540375188141,0.0798285543256,0.999999930291,0.000233131996863,-0.000288527433111,4.26586478491e-05,1793254709645160704 +65,1.083333333,BASELINE,785,759,737.265475073,719,686.265475073,651,917.265475073,800.265475073,840,657.734524927,636,657.265475073,0.400969803827,-0.00540384176484,0.0798290091532,0.999999930078,0.000234406635251,-0.000288187467321,4.29603819152e-05,1793254709661827584 +66,1.100000000,BASELINE,785,759,737,719,686,651,917,800,839.688136125,657.688136125,636,657.311863875,0.400970137963,-0.00540404290164,0.0798293074108,0.999999930327,0.000233879610548,-0.000287743372005,4.30095691206e-05,1793254709678493952 +67,1.116666667,BASELINE,785,759,737,719,686,651,917,800,839.110755533,657.110755533,636,657.889244467,0.400970642499,-0.00540433875808,0.0798294723668,0.999999930967,0.00023181867401,-0.000287210622223,4.28437413038e-05,1793254709695159808 +68,1.133333333,BASELINE,785,759,737,718.52561365,686,651,917,800,839,657.47438635,636,658,0.400970605821,-0.00540307915078,0.0798298103812,0.99999993047,0.000234212375636,-0.000286999055721,4.28394756595e-05,1793254709711826176 +69,1.150000000,BASELINE,785,759,737,718.060545828,686,651,917.060545828,800,839.060545828,658,636,657.939454172,0.400970513479,-0.00540172902821,0.0798301479169,0.999999929826,0.000237156979282,-0.000286824730878,4.28480521303e-05,1793254709728492544 +70,1.166666667,BASELINE,785,759,737,718.639642706,686,651,917.639642706,800,839.639642706,658,636,657.360357294,0.400971044606,-0.0054027656987,0.0798301295515,0.99999993031,0.00023576424116,-0.000286316449776,4.26381850563e-05,1793254709745159168 +71,1.183333333,BASELINE,785,759,737.217697379,719,686.217697379,651,918,800.217697379,839.782302621,658,636,657.217697379,0.400971725804,-0.00540368023004,0.0798302587814,0.99999993081,0.000234245959049,-0.000285831342707,4.25378772258e-05,1793254709761826048 +72,1.200000000,BASELINE,785,759,737.794035187,719,686.794035187,651,918,800.794035187,839.205964813,658,636,657.794035187,0.400972654236,-0.00540439354628,0.0798306311636,0.999999931337,0.000232520852226,-0.000285384413071,4.26180601626e-05,1793254709778493184 +73,1.216666667,BASELINE,785,759,737.630618278,719,687,651,918,801,839,658,636,658,0.400972778606,-0.0054039763625,0.0798305345511,0.999999931358,0.000232699984478,-0.000285160458224,4.26414220769e-05,1793254709795159808 +74,1.233333333,BASELINE,785,759,737.055823025,719,687,651,918,801,839,658,636,658,0.400972455836,-0.00540293050653,0.0798301771302,0.999999931098,0.000233938066007,-0.0002850604999,4.26331857611e-05,1793254709811826176 +75,1.250000000,BASELINE,785,759,737,719,686.467092482,651,918,800.467092482,839.532907518,658,636,658,0.40097102438,-0.00540208242169,0.0798297150658,0.999999930217,0.000236074399399,-0.000286381401429,4.26724009671e-05,1793254709828492800 +76,1.266666667,BASELINE,785,758.879174143,737,718.879174143,686,651,917.879174143,800,840,657.879174143,636,658,0.400969872291,-0.00540137643809,0.0798293753782,0.999999929498,0.000237790298629,-0.000287466992201,4.26893646708e-05,1793254709845159424 +77,1.283333333,BASELINE,785,758.300022646,737,718.300022646,686,651,917.300022646,800,840,657.300022646,636,658,0.400970232284,-0.0054011287886,0.0798295425966,0.999999929671,0.000237544869129,-0.00028708024263,4.26025610554e-05,1793254709861826304 +78,1.300000000,BASELINE,784.722550682,758.277449318,737,718.277449318,686,651,917.277449318,800.277449318,839.722550682,657,636,658,0.400970679954,-0.00540158162865,0.0798295904874,0.999999929997,0.000236790706734,-0.000286588762551,4.24665167721e-05,1793254709878492928 +79,1.316666667,BASELINE,784.146884008,758.853115992,737,718.853115992,686,651,917.853115992,800.853115992,839.146884008,657,636,658,0.400971221864,-0.00540278739232,0.0798295101184,0.999999930485,0.000235489731048,-0.000285984712547,4.22775459925e-05,1793254709895159296 +80,1.333333333,BASELINE,784.427927469,759,737,718.572072531,686,651,917.572072531,801,839,657,636,658,0.400972531503,-0.00540290053204,0.0798301424334,0.999999930989,0.000234352524101,-0.00028515511497,4.22744344542e-05,1793254709911825920 +81,1.350000000,BASELINE,785,759,737.002518988,718.002518988,686.002518988,651,917.002518988,801,839.002518988,657,636,657.997481012,0.400974087928,-0.00540264149428,0.0798310128668,0.999999931494,0.000233272540278,-0.00028425959079,4.23349776878e-05,1793254709928492800 +82,1.366666667,BASELINE,785,759,737.594172352,718.594172352,686.594172352,651,917.594172352,801,839.594172352,657,636,657.405827648,0.400971853814,-0.0054028764921,0.0798304756142,0.999999931181,0.000232455085802,-0.000286015572974,4.23924174869e-05,1793254709945159424 +83,1.383333333,BASELINE,784.81847198,759,738,719,686.81847198,651,918,800.81847198,840,657,636.18152802,657.18152802,0.400970723324,-0.00540336362977,0.0798302170979,0.999999931028,0.000232110343797,-0.000286804253384,4.2573480676e-05,1793254709961826048 +84,1.400000000,BASELINE,784.240502006,759,738,719,686.240502006,651,918,800.240502006,840,657,636.759497994,657.759497994,0.400972003054,-0.00540440141974,0.0798305673179,0.999999931227,0.000232797965988,-0.000285480428274,4.3024526981e-05,1793254709978492672 +85,1.416666667,BASELINE,784.333942017,759,737.666057983,719,686.333942017,651,918,800.333942017,839.666057983,657.333942017,636.666057983,658,0.400972735061,-0.00540414717635,0.0798308157734,0.999999931206,0.000233541516396,-0.000284926429399,4.31640845418e-05,1793254709995159296 +86,1.433333333,BASELINE,784.905873178,759,737.094126822,719,686.905873178,651,918,800.905873178,839.094126822,657.905873178,636.094126822,658,0.400973076724,-0.00540297214455,0.0798309917047,0.999999931028,0.000234324924905,-0.000284921059643,4.30816546162e-05,1793254710011826176 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+52,0.866666667,BASELINE,785,759.806642245,737,718.193357755,686,651,918,800.193357755,840,658,637,658,0.400973146819,-0.00540719040487,0.0798312795278,0.999999932226,0.000230240056336,-0.000284156046949,4.23350113274e-05,1793254716568161280 +53,0.883333333,BASELINE,785,759.228432873,737,718.771567127,686,651,918,800.771567127,840,658,637,658,0.400973197418,-0.00540689653449,0.0798320509052,0.999999931945,0.000232218021422,-0.000283517587026,4.24633799291e-05,1793254716584827648 +54,0.900000000,BASELINE,785,759,737.347584617,719,686,651,917.652415383,801,839.652415383,658,637,658,0.4009740101,-0.00540717112016,0.0798326495287,0.999999932293,0.000231961614988,-0.000282478457131,4.25877397205e-05,1793254716601494272 +55,0.916666667,BASELINE,785,759,737.922170606,719,686,651,917.077829394,801,839.077829394,658,637,658,0.400975320484,-0.00540781695445,0.0798331353296,0.999999933051,0.000230245979918,-0.000281177656783,4.27094814235e-05,1793254716618160896 +56,0.933333333,BASELINE,785,759,737.505351576,719,686,651,917.494648424,800.505351576,839,657.505351576,636.505351576,658,0.400973429309,-0.00540814020728,0.0798315724917,0.99999993221,0.000230977588725,-0.000283576210211,4.26001013701e-05,1793254716634827776 +57,0.950000000,BASELINE,785,759,737,719,686,651,918,800,839.069601767,657,636,658,0.400971219586,-0.00540829742675,0.0798298086214,0.999999931233,0.000231758128652,-0.000286399532293,4.23890534065e-05,1793254716651494400 +58,0.966666667,BASELINE,785,759,737,719,686,651,918,800,839.665782543,657,636,658,0.40097039479,-0.00540758087333,0.0798289521567,0.999999931193,0.000230008042822,-0.000288051486308,4.16827850373e-05,1793254716668160768 +59,0.983333333,BASELINE,785,759,737.252227326,719,686,651,918,800.252227326,840,657,636.252227326,658,0.400970985426,-0.00540736106232,0.0798293556817,0.999999931447,0.000229663422806,-0.000287473995939,4.14737419067e-05,1793254716684827648 +60,1.000000000,BASELINE,785,759,737.826250836,719,686,651,918,800.826250836,840,657,636.826250836,658,0.400973381894,-0.00540777500419,0.0798313667242,0.999999932073,0.000231111921254,-0.000284052140329,4.18990676317e-05,1793254716701494272 +61,1.016666667,BASELINE,785,759,737.597209148,719,686,651,918,801,839.597209148,657.402790852,637,658,0.400973654928,-0.00540786970725,0.0798319259902,0.999999932312,0.000230754961456,-0.000283468090094,4.21192159972e-05,1793254716718160896 +62,1.033333333,BASELINE,785,759,737.019576815,719,686,651,918,801,839.019576815,657.980423185,637,658,0.400973006231,-0.00540782583667,0.0798318550761,0.999999932385,0.000229614297093,-0.000284115860731,4.22503019535e-05,1793254716734827264 +63,1.050000000,BASELINE,785,759,737,719,686.569659575,651,918,800.430340425,839.569659575,657.430340425,636.430340425,658,0.400973212095,-0.00540830365081,0.0798317203537,0.999999932374,0.000229923534948,-0.000283872418851,4.24714731638e-05,1793254716751494144 +64,1.066666667,BASELINE,785,759,737.156455479,719,686.843544521,651,918,800,840,657.156455479,636,658,0.400973331017,-0.00540813409595,0.0798316592641,0.999999932155,0.000231004901295,-0.000283739170528,4.26475165053e-05,1793254716768160768 +65,1.083333333,BASELINE,785,759,737.735558962,719,686.264441038,651,918,800,840,657.735558962,636,658,0.400973134087,-0.00540616630392,0.079831803133,0.999999931378,0.000234034689969,-0.000283988055189,4.26931146266e-05,1793254716784827648 +66,1.100000000,BASELINE,785,759,738,719,686,651,918,800.311442548,840,657.688557452,636,658,0.400973981783,-0.00540624339392,0.079832330515,0.99999993148,0.000234677703148,-0.000283093996521,4.27151047919e-05,1793254716801494528 +67,1.116666667,BASELINE,785,759,738,719,686,651,918,800.884620115,840,657.115379885,636,658,0.400975707379,-0.00540803899437,0.0798331801998,0.999999932322,0.000233314879991,-0.000281239413028,4.2717254927e-05,1793254716818160896 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+72,1.200000000,BASELINE,785,759,737.209048266,719,686,651,918,801,839,657,636.209048266,658,0.40097381495,-0.00540699217423,0.0798325286499,0.999999931475,0.000234746549869,-0.000283076369614,4.25672270431e-05,1793254716901494016 +73,1.216666667,BASELINE,785,759,737,719,686,651,918,800.632923242,839,657,636,658,0.400973501367,-0.00540757108852,0.0798325669478,0.999999931594,0.000234305776936,-0.000283027647634,4.25171520316e-05,1793254716918160896 +74,1.233333333,BASELINE,785,759,737,719,686,651,918,800.057313782,839,657,636,658,0.400972811501,-0.00540772730259,0.0798322111555,0.999999931641,0.000233740190016,-0.000283353693998,4.23646660427e-05,1793254716934827776 +75,1.250000000,BASELINE,785,759,737,719,686,651,918,800,839.519038523,657.519038523,636,658,0.400973267725,-0.00540891353975,0.0798323485875,0.999999932067,0.000232181682455,-0.000283124015164,4.24096840792e-05,1793254716951494656 +76,1.266666667,BASELINE,785,759,737.098400923,719,686,651,918,800,840,658,636.098400923,657.901599077,0.400973557617,-0.00540959563306,0.0798323801944,0.999999932328,0.000231125398168,-0.00028306623064,4.24128355452e-05,1793254716968161024 +77,1.283333333,BASELINE,785,759,737.692513363,719,686,651,918,800,840,658,636.692513363,657.307486637,0.400972371125,-0.0054071642183,0.0798316039273,0.999999931554,0.000233152278056,-0.000284183972129,4.20950530238e-05,1793254716984827648 +78,1.300000000,BASELINE,785,759,737.721610238,719,686,651,918,800,840,657.721610238,636.721610238,657.278389762,0.400972517493,-0.00540600917558,0.0798317446191,0.999999931312,0.000234519219393,-0.000283913656606,4.20575700796e-05,1793254717001494272 +79,1.316666667,BASELINE,785,759,737.144569342,719,686,651,918,800,840,657.144569342,636.144569342,657.855430658,0.400974093727,-0.00540622340019,0.0798328690066,0.999999931645,0.000235178191332,-0.00028215426039,4.23207871019e-05,1793254717018160896 +80,1.333333333,BASELINE,785,759,737.429190145,719,686,651,917.570809855,800.429190145,839.570809855,657.429190145,636,658,0.40097484824,-0.00540692026472,0.0798332626284,0.999999931928,0.000234674110037,-0.000281560228309,4.23840680958e-05,1793254717034827520 +81,1.350000000,BASELINE,785,759,738,719,686,651,917.0019148,800.9980852,839,657.9980852,636,657.9980852,0.400975318646,-0.00540777251422,0.0798334067424,0.999999932191,0.000233787875847,-0.000281363860945,4.23804655578e-05,1793254717051494400 +82,1.366666667,BASELINE,785,759,738,719,686,651,917.593757358,800.406242642,839,657.406242642,636,657.406242642,0.40097288834,-0.00540679008898,0.0798319417409,0.99999993127,0.000234947352169,-0.000283662825151,4.23621843807e-05,1793254717068161024 +83,1.383333333,BASELINE,784.818818573,759,737.818818573,719,686,651,917.818818573,800.181181427,839,657.181181427,636,657.181181427,0.400971595493,-0.00540629381347,0.0798311242424,0.999999930912,0.000234980387394,-0.000284900953672,4.23207380779e-05,1793254717084827648 +84,1.400000000,BASELINE,784.241065623,759,737.241065623,719,686,651,917.241065623,800.758934377,839,657.758934377,636,657.758934377,0.40097279233,-0.00540686162665,0.0798317240039,0.999999931793,0.000232547858512,-0.000283817116018,4.22285877385e-05,1793254717101494272 +85,1.416666667,BASELINE,784,759,737.334526451,719,686,651,917.334526451,801,839,657.665473549,636,658,0.400973884975,-0.00540779744319,0.0798322592407,0.999999932451,0.000231230400393,-0.000282571204502,4.22418583656e-05,1793254717118160896 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+90,1.500000000,BASELINE,785,759,737,718.762566477,686,651,918,801,839.762566477,658,637,658,0.400971792139,-0.0054063064268,0.0798311361563,0.999999931354,0.000233157352328,-0.000284864804926,4.22165836818e-05,1793254717201494528 +91,1.516666667,BASELINE,785,759,737,718.18425818,686,651,918,801,839.18425818,658,637,658,0.400970852404,-0.00540681798587,0.079830388308,0.999999931223,0.000232195447454,-0.000286131526933,4.20364113959e-05,1793254717218161408 +92,1.533333333,BASELINE,785,759.391681917,737.391681917,718.391681917,686,651,917.608318083,801,839.391681917,657.608318083,637,658,0.400971497091,-0.00540668318875,0.0798308097386,0.999999931332,0.000232379742372,-0.000285610466778,4.19721828246e-05,1793254717234828032 +93,1.550000000,BASELINE,785,759.966514692,737.966514692,718.966514692,686,651,917.033485308,801,839.966514692,657.033485308,637,658,0.400972882656,-0.00540624615488,0.0798317779252,0.999999931552,0.000233100001382,-0.000284253437996,4.1962169635e-05,1793254717251494400 +94,1.566666667,BASELINE,785,759.443185901,738,718.443185901,686,651,917.556814099,800.443185901,839.443185901,657.556814099,636.443185901,658,0.40097301135,-0.00540730668388,0.0798322955802,0.999999931985,0.000232375436942,-0.00028326094036,4.2370483718e-05,1793254717268161024 +95,1.583333333,BASELINE,785,759,738,718,686,651,917.854929512,800.145070488,839,657.854929512,636,658,0.4009729545,-0.00540813476269,0.0798325683149,0.999999932285,0.000231668229917,-0.000282737836883,4.26423237323e-05,1793254717284827392 +96,1.600000000,BASELINE,785,759,738,718,686,651,917.275651366,800.724348634,839,657.275651366,636,658,0.400972574999,-0.00540798984319,0.0798321913939,0.999999932154,0.000231280467187,-0.00028355217898,4.24282375142e-05,1793254717301494272 +97,1.616666667,BASELINE,785,759,737.698801188,718.301198812,686,651,917,801,839.301198812,657,636,658,0.400972912957,-0.00540819571222,0.079832320298,0.999999932337,0.000230903049587,-0.00028324225862,4.22413054477e-05,1793254717318160640 +98,1.633333333,BASELINE,785,759,737.124155305,718.875844695,686,651,917,801,839.875844695,657,636,658,0.400973902269,-0.00540872004894,0.0798329084218,0.999999932804,0.000230535023966,-0.000281911662625,4.20790256266e-05,1793254717334827264 +99,1.650000000,BASELINE,785,759,737,719,686,651,917,801,839.539585804,657.460414196,636,658,0.400974616236,-0.00540837015923,0.0798332093657,0.99999993277,0.000231162091377,-0.000281524526231,4.20405092472e-05,1793254717351494400 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0000000000000000000000000000000000000000..566f6ec7200b0547a486a93cdd583ca7680f6e94 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_05/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3984556a711329facf759780b981e03a82e095586004cab71d0011325d0eac7a +size 26417340 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_05/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..78f31b28ee809a13c4939783e9df2d324947c86d --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_05/depth_02/franka_data.csv @@ -0,0 +1,417 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+56,0.933333333,BASELINE,785,759.494098371,738,722,687,651,918,800.505901629,839,658,636,657,0.400967308114,-0.0153790687733,0.0598363644376,0.999999938249,0.000222139117594,-0.000271746987582,1.76012813097e-05,1793254739526629632 +57,0.950000000,BASELINE,785,759.095434427,738,722,687,651,918,800.904565573,839,658,636,657,0.400966965671,-0.0153801610601,0.0598364759961,0.999999938759,0.000220206092469,-0.000271427177322,1.78202809776e-05,1793254739543296256 +58,0.966666667,BASELINE,785,759.675069121,738,722,687,651,918,800.324930879,839,658,636,657,0.400967805522,-0.0153808049825,0.0598368322171,0.999999939039,0.000219809999373,-0.000270724728421,1.77291893101e-05,1793254739559962880 +59,0.983333333,BASELINE,785,760,738,722.252618729,687,651,918,800.252618729,839,658,636,657,0.400968304783,-0.0153812349099,0.0598370771997,0.999999939215,0.000219404323572,-0.00027040554981,1.76775048484e-05,1793254739576629504 +60,1.000000000,BASELINE,785,760,738,722.82750843,687,651,918,800.82750843,839,658,636,657,0.400968369546,-0.0153813918394,0.0598371802732,0.999999939261,0.000218986422859,-0.000270575316993,1.76760929676e-05,1793254739593296128 +61,1.016666667,BASELINE,785,760,738,722.590521456,687,651,918,800.590521456,839,658,636,657,0.400968107999,-0.0153813875361,0.0598365178628,0.99999993892,0.000220029695572,-0.000270997432253,1.75269321521e-05,1793254739609962752 +62,1.033333333,BASELINE,785,760,738,722.005516295,687,651,918,800.005516295,839,658,636,657,0.400967706578,-0.015381314119,0.0598355273208,0.999999938411,0.000221699313284,-0.000271527718748,1.73144374427e-05,1793254739626629632 +63,1.050000000,BASELINE,785,760,738,722,687,651,918,800,839,657.421634221,636,657,0.400967497091,-0.0153818865216,0.0598358870846,0.999999938732,0.000220447548836,-0.000271325628267,1.79020145137e-05,1793254739643296512 +64,1.066666667,BASELINE,785.160167615,760,738,721.839832385,687,651,918,800.160167615,838.839832385,657.160167615,636,657,0.400967489068,-0.0153818555495,0.0598362076141,0.999999938834,0.000220240227793,-0.000271102540627,1.81544935552e-05,1793254739659963136 +65,1.083333333,BASELINE,785.736590921,760,738,721.263409079,687,651,918,800.736590921,838.263409079,657.736590921,636,657,0.400967999876,-0.0153802405044,0.0598363927728,0.999999938344,0.000222819558228,-0.000270843002512,1.75163012641e-05,1793254739676629504 +66,1.100000000,BASELINE,786,759.68947822,738,721.31052178,687,651,918,800.68947822,838.31052178,658,636,657,0.400968586733,-0.0153792491064,0.0598367954635,0.999999938246,0.00022360979767,-0.000270562363875,1.73937299417e-05,1793254739693296128 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+71,1.183333333,BASELINE,785,760,738.217893585,722,687,651,918,800,839,657.217893585,636,657,0.400968564315,-0.0153795223117,0.0598371309004,0.999999938061,0.000224409082906,-0.000270556483584,1.78125094153e-05,1793254739776629248 +72,1.200000000,BASELINE,785,760,738.791851427,722,687,651,918,800,839,657.791851427,636,657,0.400968436782,-0.0153805307567,0.0598367371575,0.999999938683,0.00022192436212,-0.000270316993234,1.76483376724e-05,1793254739793296128 +73,1.216666667,BASELINE,785.375541738,760,738.624458262,722,687,651,918.375541738,800,839,658,636,657,0.400968713657,-0.015380552996,0.0598369546432,0.99999993901,0.000221267666119,-0.000269648980656,1.76009717832e-05,1793254739809963520 +74,1.233333333,BASELINE,785.964769872,760,738.035230128,722,687,651,918.964769872,800,839,658,636,657,0.400969220643,-0.0153800140758,0.0598375199233,0.99999993917,0.000221651131688,-0.000268737135352,1.76200694134e-05,1793254739826631168 +75,1.250000000,BASELINE,785.455146958,760,738,722,687,651,917.910293916,800.544853042,838.455146958,657.455146958,636,657,0.400970008452,-0.0153799278692,0.0598380918982,0.999999939174,0.000222573141921,-0.000267955839169,1.77058715862e-05,1793254739843297024 +76,1.266666667,BASELINE,785,760,738,722,687,651,917.123507124,800.876492876,838.123507124,657.123507124,636,657,0.400970348848,-0.0153797691831,0.0598384074056,0.999999939112,0.000223305578633,-0.000267577305695,1.77004307622e-05,1793254739859962880 +77,1.283333333,BASELINE,785,760,738,722,687,651,917.699059138,800.300940862,838.699059138,657.699059138,636,657,0.400968986319,-0.0153792398467,0.0598377826655,0.999999938852,0.000223218814715,-0.000268642526786,1.73455083617e-05,1793254739876629760 +78,1.300000000,BASELINE,785.274730185,760,738,722,687,651,918,800.274730185,838.725269815,658,636,657.274730185,0.400968251951,-0.0153794342842,0.0598372026592,0.999999938801,0.000222237085758,-0.0002696456714,1.73362866359e-05,1793254739893296384 +79,1.316666667,BASELINE,785.850531642,760,738,722,687,651,918,800.850531642,838.149468358,658,636,657.850531642,0.400968205974,-0.015380421891,0.0598366716758,0.999999938976,0.000220274582666,-0.000270580787585,1.77059113319e-05,1793254739909962752 +80,1.333333333,BASELINE,786,760,738,722,687,651,918,800.563609663,838.436390337,657.563609663,636,658,0.400968587853,-0.0153811742333,0.0598373563906,0.999999939466,0.000219300116506,-0.000269538448795,1.80079464747e-05,1793254739926629632 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+84,1.400000000,BASELINE,785,759.752918579,738,722,686.752918579,651,918,800.752918579,838.752918579,657.247081421,636,657.752918579,0.400968824499,-0.015381605075,0.0598375498274,0.999999939071,0.000221083314999,-0.000269578367143,1.75199254676e-05,1793254739993296128 +85,1.416666667,BASELINE,785,760,738,722,687,651,918,800.664649842,839,657.335350158,636,657.664649842,0.40096844461,-0.0153813455626,0.0598372711945,0.999999938821,0.000221806552385,-0.000269908103634,1.75884899327e-05,1793254740009962752 +86,1.433333333,BASELINE,785,760,738,722,687,651,918,800.073992173,839,657.926007827,636,657.073992173,0.400968256518,-0.0153808991513,0.0598374458093,0.999999938835,0.000222221594052,-0.000269497182189,1.78800331035e-05,1793254740026629376 +87,1.450000000,BASELINE,785,760,738,722,687,651.506474716,918,800,839,658,636,657,0.400968237204,-0.0153798376187,0.059836981639,0.999999938384,0.000223462067433,-0.000270153345806,1.77334150989e-05,1793254740043296256 +88,1.466666667,BASELINE,785.08502277,760,738,722,687,651.91497723,918,800,839,658,636,657,0.400968326062,-0.0153790612779,0.0598366295563,0.999999938041,0.000224383644746,-0.000270667295699,1.75768211792e-05,1793254740059963136 +89,1.483333333,BASELINE,785.660918479,760,738,722,687,651.339081521,918,800,839,658,636,657,0.400968899885,-0.0153804400648,0.059837452763,0.999999938718,0.000222781615983,-0.000269477899082,1.77249117757e-05,1793254740076629760 +90,1.500000000,BASELINE,785.76251037,760,738,722,687,651.23748963,918,800.23748963,839,658,636,657,0.400968946744,-0.0153811033533,0.0598379891866,0.999999938974,0.000222421389098,-0.000268811580202,1.79166648968e-05,1793254740093296128 +91,1.516666667,BASELINE,785.184972139,760,738,722,687,651.815027861,918,800.815027861,839,658,636,657,0.400968239071,-0.0153807421583,0.0598381149808,0.999999938631,0.000223839231528,-0.000268894228244,1.81709360211e-05,1793254740109962752 +92,1.533333333,BASELINE,785.399841514,760,738,722,687,652,918,800.600158486,839.399841514,657.600158486,636,657,0.400968402797,-0.0153803010238,0.0598378206631,0.999999938668,0.000223501407111,-0.000269052008463,1.7944026214e-05,1793254740126629632 +93,1.550000000,BASELINE,785.988083304,760,738,722,687,652,918,800.011916696,839.988083304,657.011916696,636,657,0.400968977114,-0.0153798222229,0.059837328394,0.999999938884,0.00022233633475,-0.000269245190023,1.74903900449e-05,1793254740143296256 +94,1.566666667,BASELINE,785.432493237,760,738,722,687,651.432493237,918,800,839.432493237,657.567506763,636,657,0.400968335222,-0.0153797379637,0.0598370305193,0.99999993865,0.000222517452381,-0.000269956844597,1.75903403232e-05,1793254740159962880 +95,1.583333333,BASELINE,785.146351389,760,738,722,687,651,918,800.146351389,839,658,636,657,0.400968067247,-0.0153799152434,0.0598369184678,0.9999999386,0.000222360544787,-0.000270267257561,1.76708030925e-05,1793254740176629504 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b/Obstacle_avoidance/cylinder_0030_10/position_05/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d2b51b46a811baf3f2d73a6ff2b6d5d5381f7b72fd7be77ca8b22b20a1b2140 +size 26537508 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_05/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ebed848965a81bb894bf4aad169ddcdba4f6f2e1 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_05/depth_04/franka_data.csv @@ -0,0 +1,419 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+54,0.900000000,BASELINE,785.660468336,760,738,722,686.660468336,651,918,800,838.660468336,658,636,657.339531664,0.400973873703,-0.0153832673582,0.0598378199702,0.99999994098,0.000215231895567,-0.000267358745498,1.53181709097e-05,1793254753710296576 +55,0.916666667,BASELINE,785.080940303,760,738,722,686.080940303,651,918,800,838.080940303,658,636,657.919059697,0.400974330034,-0.0153836184539,0.0598380160522,0.999999941205,0.000215411229167,-0.000266375707462,1.52441162809e-05,1793254753726963200 +56,0.933333333,BASELINE,785.495140244,760,738,722,686.495140244,651,918,800,838,657.504859756,636,657.504859756,0.400972155563,-0.0153833513217,0.0598362951585,0.999999940045,0.000216903618252,-0.000269498405167,1.53034588083e-05,1793254753743629824 +57,0.950000000,BASELINE,786,760,738,722,687,651.070481919,918,800,838,657,636,657.070481919,0.400970102096,-0.015382925049,0.0598347561208,0.999999938907,0.000218395449572,-0.000272495997739,1.53389752979e-05,1793254753760296192 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+66,1.100000000,BASELINE,785,760,738,722,687,651,918,800.301410044,838.698589956,657.698589956,635.698589956,657.698589956,0.400974128085,-0.0153827365507,0.0598383135715,0.999999940696,0.000217386960417,-0.000266676770802,1.52825609631e-05,1793254753910297600 +67,1.116666667,BASELINE,785,760,738,722,687,651,918,800.877883089,838.122116911,657.122116911,635.122116911,657.122116911,0.400972061388,-0.0153818245352,0.0598374430078,0.999999940084,0.000218977778121,-0.000267678628586,1.5111861783e-05,1793254753926964736 +68,1.133333333,BASELINE,785,760,738,722,687,651,918,801,838,657.455875677,635.455875677,657,0.4009732655,-0.0153818507305,0.0598383651777,0.999999940624,0.000217885054751,-0.000266553029208,1.51133103788e-05,1793254753943631104 +69,1.150000000,BASELINE,785.033975938,760,738,722,687,651,918,801,838,658,636,657,0.400975150241,-0.0153821015595,0.0598395978962,0.999999941374,0.000216205891905,-0.000265098986533,1.51524277588e-05,1793254753960297984 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+74,1.233333333,BASELINE,785.057957143,760,738,722,687,651,918,800.057957143,839,658,636,657,0.400976559731,-0.0153844489415,0.0598399857499,0.999999942097,0.000215193890243,-0.000263176173152,1.53262500068e-05,1793254754043630336 +75,1.250000000,BASELINE,785.518493043,760,738,722,687,651,918.518493043,800.518493043,839,658,636,657,0.400974475256,-0.0153837269455,0.059838862473,0.999999941187,0.000216231322844,-0.000265780740809,1.52013391514e-05,1793254754060296960 +76,1.266666667,BASELINE,786,760,738,722,687,651,918.903598886,801,839,657.903598886,636,657,0.400972458829,-0.0153831788279,0.0598375291876,0.999999940287,0.000216984498097,-0.000268545767505,1.50818889796e-05,1793254754076963584 +77,1.283333333,BASELINE,786,760,738,722,687,651,918.317172066,801,839,657.317172066,636,657,0.400972683615,-0.0153843598682,0.0598367666606,0.999999940388,0.000215517794233,-0.000269340809875,1.52455004397e-05,1793254754093630464 +78,1.300000000,BASELINE,785.733994599,760,738,722,687,651,918,800.733994599,838.733994599,657.266005401,636,657,0.4009737193,-0.0153845843756,0.0598369112257,0.999999940624,0.000215004839935,-0.000268871406025,1.52781297403e-05,1793254754110297088 +79,1.316666667,BASELINE,785.154644788,760,738,722,687,651,918,800.154644788,838.154644788,657.845355212,636,657,0.400975710195,-0.0153836821229,0.0598381243115,0.999999941019,0.000215615367045,-0.000266912531785,1.51564669462e-05,1793254754126963456 +80,1.333333333,BASELINE,785,760,738,722,687,651,918.423150235,800.423150235,838.423150235,657.576849765,636,657,0.40097512244,-0.015383035261,0.059838422469,0.999999941014,0.000215708712868,-0.000266868877657,1.49129146561e-05,1793254754143630080 +81,1.350000000,BASELINE,785,760,737.999622954,722,687,651,918.999622954,800.999622954,839,657,636,657,0.400973597219,-0.0153824816642,0.0598383878946,0.999999940865,0.000215613955441,-0.000267521378213,1.4625287651e-05,1793254754160297216 +82,1.366666667,BASELINE,785,760,737.425627536,722,687,651,918.425627536,800.425627536,839,657,636,657,0.400974325894,-0.0153823412237,0.0598389836068,0.999999941134,0.000215845164116,-0.00026631676516,1.48063186366e-05,1793254754176963584 +83,1.383333333,BASELINE,785,760,737.152681897,722,687,651,918,800.152681897,839,657.152681897,636,657,0.400974796605,-0.01538242143,0.0598393077931,0.999999941376,0.000215781622864,-0.000265449697366,1.49381655062e-05,1793254754193629952 +84,1.400000000,BASELINE,785,760,737.743367212,722,687,651,918,800.743367212,839,657.743367212,636,657,0.400974527284,-0.0153831346125,0.0598388530446,0.999999941545,0.000214872523167,-0.000265550956123,1.49289163788e-05,1793254754210296576 +85,1.416666667,BASELINE,785,759.672366648,738,722.327633352,686.672366648,651,918,801,838.672366648,658,636,657,0.400974569201,-0.0153832132576,0.0598387947114,0.999999941609,0.000214933687772,-0.000265257943073,1.49458031881e-05,1793254754226963200 +86,1.433333333,BASELINE,785,759.093032015,738,722.906967985,686.093032015,651,918,801,838.093032015,658,636,657,0.400974850224,-0.0153828044254,0.0598390409205,0.999999941593,0.000215740248969,-0.000264662034359,1.49827686884e-05,1793254754243629824 +87,1.450000000,BASELINE,785,759.48287765,738,722.51712235,686.48287765,651,918,800.51712235,838,658,636,657.48287765,0.400973770404,-0.0153838305165,0.0598382301254,0.999999941484,0.000214565430711,-0.000266030687947,1.48949667345e-05,1793254754260296448 +88,1.466666667,BASELINE,785,760,738,722,687,651,918,800,838,658,636,658,0.400972740626,-0.0153848816709,0.0598374296317,0.999999941378,0.00021330058264,-0.000267446148598,1.48081552772e-05,1793254754276963072 +89,1.483333333,BASELINE,785,760,738,722,687,651,918,800,838,658,636,658,0.400974471866,-0.0153837138572,0.0598385195625,0.9999999415,0.000214606731185,-0.000265934737615,1.49424815364e-05,1793254754293629696 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a/Obstacle_avoidance/cylinder_0030_10/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_05/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..01e1b85697b1092bff9f053cec72a442b8f4ab44 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_05/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:275cda40a35043f657e98aed552829a742861b596b4526650670249115518d2a +size 26553530 diff --git a/Obstacle_avoidance/cylinder_0030_10/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_05/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..a174aa1bef927f1576a9238a12da1b1cde069a96 --- /dev/null +++ b/Obstacle_avoidance/cylinder_0030_10/position_05/depth_05/franka_data.csv @@ -0,0 +1,419 @@ 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+26,0.433333333,BASELINE,785.91154264,760,738,722.08845736,687,651,918,800.91154264,838,657,636,657,0.400978098985,-0.0153870339058,0.0598385912686,0.999999944712,0.000201671557153,-0.0002640699725,1.30945309886e-05,1793254760395709440 +27,0.450000000,BASELINE,785.322149649,760,738,722.677850351,687,651,918,800.322149649,838,657,636,657,0.400977954731,-0.0153856754647,0.0598384039314,0.999999944162,0.00020305271101,-0.000265092191266,1.31068125329e-05,1793254760412376064 +28,0.466666667,BASELINE,785,760,738,722.73795786,687,651,918,800.26204214,838,657,636,657,0.400977575787,-0.0153860329894,0.0598385803513,0.99999994434,0.000201828037535,-0.000265355866274,1.31290732397e-05,1793254760429042688 +29,0.483333333,BASELINE,785,760,738,722.160035919,687,651,918,800.839964081,838,657,636,657,0.400976913937,-0.0153884590324,0.0598391952638,0.999999945383,0.000197462158442,-0.000264705151452,1.31633633692e-05,1793254760445709312 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+38,0.633333333,BASELINE,785.949818446,760,738,722,687,651,918,800,838.050181554,658,636,658,0.400977014627,-0.0153832852981,0.0598387779941,0.999999943331,0.00020663081491,-0.000265506453739,1.2140566369e-05,1793254760595709184 +39,0.650000000,BASELINE,785.359553176,760,738,722,687,651,918,800,838.640446824,658,636,658,0.400976045422,-0.0153847778341,0.059837487803,0.999999943603,0.000203078557217,-0.000267202894338,1.24405952764e-05,1793254760612375808 +40,0.666666667,BASELINE,785,760,737.77373583,722,687,651,918.22626417,800,839,658,636,657.77373583,0.400975759676,-0.015385519074,0.0598371401991,0.999999943812,0.000201400177392,-0.00026768625348,1.2592018799e-05,1793254760629042432 +41,0.683333333,BASELINE,785,760,737.194850383,722,687,651,918.805149617,800,839,658,636,657.194850383,0.400976539066,-0.0153850894567,0.0598382615698,0.999999943938,0.000202642141754,-0.000266279086374,1.25118483206e-05,1793254760645709056 +42,0.700000000,BASELINE,785,760,737.382203794,722,687,651,918.617796206,800,838.617796206,658,635.617796206,657,0.400976764938,-0.0153861782969,0.0598387509348,0.999999944348,0.000201996270054,-0.000265217357185,1.27074141928e-05,1793254760662375680 +43,0.716666667,BASELINE,785,760,737.958328809,722,687,651,918.041671191,800,838.041671191,658,635.041671191,657,0.400976709967,-0.0153880375666,0.0598389196349,0.999999944901,0.000200392554664,-0.00026433089512,1.30428822113e-05,1793254760679042560 +44,0.733333333,BASELINE,785,760,738,722.532939764,687,651,918,800.532939764,838.532939764,657.467060236,635.532939764,657,0.400976065126,-0.0153878707307,0.0598384806778,0.999999944907,0.000199747590846,-0.000264796389263,1.29937917855e-05,1793254760695708928 +45,0.750000000,BASELINE,785,760,738,722.889392133,687,651,918.110607867,801,839,657,636,657,0.400975673343,-0.0153873718977,0.0598382152092,0.999999944756,0.000199962849839,-0.000265208103291,1.29098692365e-05,1793254760712375808 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+50,0.833333333,BASELINE,785,760,738,722,687,651.01549527,918,800,838.98450473,657.98450473,636,657,0.400976717773,-0.0153845391392,0.0598386457894,0.9999999441,0.000204214306515,-0.000264456354253,1.26228520803e-05,1793254760795708928 +51,0.850000000,BASELINE,785,760,738,722,687,651.590555797,918,800,838.409444203,657.409444203,636,657,0.400977572971,-0.0153846253887,0.0598396582059,0.999999944415,0.000203748688055,-0.00026361431227,1.28329386196e-05,1793254760812375552 +52,0.866666667,BASELINE,785,760,738,722,687,651.829131379,918,800.170868621,838.170868621,657.170868621,636,657,0.40097793093,-0.0153850638194,0.0598400812548,0.999999944684,0.000202897942352,-0.000263238585312,1.30024956866e-05,1793254760829042176 +53,0.883333333,BASELINE,785,760,738,722,687,651.235833624,918,800.764166376,838.764166376,657.764166376,636,657,0.40097705959,-0.0153863729279,0.0598390472423,0.999999944843,0.000201095067685,-0.000264015703501,1.30718539464e-05,1793254760845709056 +54,0.900000000,BASELINE,785,760,738,722,686.651860059,651.348139941,918,800.651860059,839,657.651860059,636,657.348139941,0.400977334084,-0.0153858609433,0.0598391631962,0.99999994478,0.000201957662338,-0.000263601636787,1.29323564419e-05,1793254760862375680 +55,0.916666667,BASELINE,785,760,738,722,686.074038064,651.925961936,918,800.074038064,839,657.074038064,636,657.925961936,0.40097836453,-0.0153841475094,0.0598400378296,0.999999944566,0.000204578775395,-0.000262401696998,1.26550683067e-05,1793254760879042560 +56,0.933333333,BASELINE,785,760,738,722,686.500946796,651.499053204,918.500946796,800,839,657,636,657.499053204,0.400976484113,-0.0153854736616,0.0598389166633,0.999999944147,0.000203150287527,-0.00026510427986,1.24814610368e-05,1793254760895708928 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