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b/Obstacle_avoidance/ball_0030_17.5/position_08/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61b85867df29c76af5b40654fc05d8aa2bcd52457280b0034bd24ec88a93379d +size 25781513 diff --git a/Obstacle_avoidance/ball_0030_17.5/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0030_17.5/position_08/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..add73ee51d8bf3dacf9631072baa3914090bd720 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_08/depth_03/franka_data.csv @@ -0,0 +1,408 @@ +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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+92,1.533333333,BASELINE,764,743,712,673,659.610984589,633.610984589,877,784.389015411,800.610984589,648.389015411,629,651,0.400971536358,-0.0153843221721,0.0798413281902,0.999999932261,0.000244297171535,-0.000273995046581,2.69025993034e-05,1793195627741851904 +93,1.550000000,BASELINE,764,743,712,673,659.035291907,633.035291907,877,784.964708093,800.035291907,648.964708093,629,651,0.400970561172,-0.0153836316937,0.0798401677606,0.999999931365,0.000245573010999,-0.000276142283808,2.6651695103e-05,1793195627758518784 +94,1.566666667,BASELINE,764,743,712,673,659,633,877,785,800,648.446913003,629,651,0.400970837534,-0.0153840750939,0.0798410513775,0.999999931876,0.000244962203749,-0.000274783392042,2.71129027341e-05,1793195627775185152 +95,1.583333333,BASELINE,764,743,712.139847079,673,659.139847079,633,877,785,800,648.139847079,629,651,0.40097102468,-0.0153845905801,0.0798415868081,0.999999932399,0.000243850912353,-0.000273842261906,2.73826628383e-05,1793195627791851520 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a/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..8e2dca5b16465187b85bfcf7a6a0a7c6af7e5f9b --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32a6c77064b8c95522d4110e343f4a4f3cdce320e2d0e5abae82f08474a898db +size 25797983 diff --git a/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5f9afedb138e7414e021993fa283659736499e72 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_08/depth_05/franka_data.csv @@ -0,0 +1,408 @@ 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+44,0.733333333,BASELINE,764,742.471101637,712,674,659,633.471101637,877.471101637,784.471101637,800,648,629.471101637,651,0.400969229747,-0.0153871691135,0.0798390377935,0.999999931973,0.000240878522174,-0.000278000382291,2.73417263335e-05,1793195633891689984 +45,0.750000000,BASELINE,764,742,712,673.893791679,659.106208321,633,877,784,800,648,629.106208321,651,0.400967838449,-0.0153871732231,0.0798381971287,0.999999931644,0.000240830538117,-0.000279219991389,2.73485927781e-05,1793195633908356608 +46,0.766666667,BASELINE,764,742,712,673.307129505,659.692870495,633,877,784,800,648,629.692870495,651,0.400968676151,-0.0153869866539,0.0798389105995,0.999999932104,0.000240124003219,-0.000278176704378,2.73928999534e-05,1793195633925023488 +47,0.783333333,BASELINE,764,742,712,673,659.722930158,633,877,784.277069842,800,648.277069842,629.722930158,651,0.400969281856,-0.0153873114858,0.0798391597246,0.999999932463,0.000239365339856,-0.000277541263208,2.73571571871e-05,1793195633941690112 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a/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..d86af9e86266c36251edc301a4b98a133c539b68 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:368d72b9bea3b4e34bc0e0f69602e0015d1491a0c4cf0c5fbaf749738f5b29ce +size 25451192 diff --git a/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..57b43c71558c9da5693c16cf5e48633db521da60 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_09/depth_01/franka_data.csv @@ -0,0 +1,402 @@ 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+67,1.116666667,BASELINE,765,742,711,674.126449926,665,634,877,784,800,650,630,651,0.400920126295,0.00440822587772,0.0599261869806,0.999999967968,-0.000137988408474,-0.000209537615458,-3.34330340218e-05,1793195642948179712 +68,1.133333333,BASELINE,765.454819214,742.454819214,711,674.454819214,665,633.545180786,877,784,800,650,629.545180786,651,0.400919898805,0.0044082692038,0.0599262521109,0.999999967822,-0.000138796029974,-0.000209720959669,-3.33120616908e-05,1793195642964846080 +69,1.150000000,BASELINE,765.964974142,743,711,674.964974142,665,633,877,784,800,650,629,651,0.400920187453,0.0044083763353,0.0599267410208,0.999999967829,-0.000139482847523,-0.000209258280839,-3.31405555807e-05,1793195642981512960 +70,1.166666667,BASELINE,765.386578503,743,711,674.386578503,665,633,877,784,800,650,629,651,0.400921100472,0.00440782204052,0.0599271396153,0.999999968059,-0.000140164219388,-0.000207690925124,-3.31819663888e-05,1793195642998179584 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+79,1.316666667,BASELINE,765,742.843266647,711,674.843266647,665.156733353,633.843266647,877,784.843266647,800.843266647,650,629,651,0.400919123504,0.00441037367687,0.0599256217135,0.999999967973,-0.000136500175898,-0.000210431668784,-3.37622394696e-05,1793195643148179456 +80,1.333333333,BASELINE,765,742.574430465,711,675,665,633.574430465,877,784.574430465,800.574430465,650,629.425569535,651,0.400920276152,0.00440957708794,0.0599259750377,0.999999968013,-0.000137496336705,-0.000209596171724,-3.37341780281e-05,1793195643164846336 +81,1.350000000,BASELINE,765.004679728,742,711,674.995320272,665,633,877,784,800,650,630,651,0.400922221843,0.00440902765088,0.0599266697219,0.999999968221,-0.00013807663438,-0.000208213895158,-3.37534891121e-05,1793195643181512960 +82,1.366666667,BASELINE,765.5818126,742,711,674.4181874,665,633,877,784,800,650,630,651,0.400921787266,0.0044082347128,0.0599270486703,0.999999968058,-0.000139276427763,-0.000208218701753,-3.362348736e-05,1793195643198179584 +83,1.383333333,BASELINE,765.842567099,742.157432901,711,674.157432901,665,633.157432901,877,784.157432901,800.157432901,650,630,651,0.400921434658,0.00440769624661,0.0599272250963,0.999999967927,-0.000140009703991,-0.000208367827778,-3.35607822892e-05,1793195643214846208 +84,1.400000000,BASELINE,765.270926264,742.729073736,711,674.729073736,665,633.729073736,877,784.729073736,800.729073736,650,630,651,0.400921297714,0.00440782729901,0.0599268686837,0.999999967882,-0.000139515568,-0.000208896660028,-3.36751356015e-05,1793195643231512832 +85,1.416666667,BASELINE,765,742.687859099,711,674.687859099,665,633.687859099,877,784.687859099,800.687859099,650,630,651,0.400921783997,0.00440777929253,0.0599271015088,0.999999968173,-0.000138408587429,-0.000208266523608,-3.34901393079e-05,1793195643248179712 +86,1.433333333,BASELINE,765,742.094497512,711,674.094497512,665,633.094497512,877,784.094497512,800.094497512,650,630,651,0.400922831773,0.00440756996448,0.0599278652027,0.999999968764,-0.000136749469786,-0.00020659222421,-3.3035446531e-05,1793195643264846080 +87,1.450000000,BASELINE,765,742.486825924,711,674.486825924,665,633,877,784,800,650,630,651,0.400923323406,0.00440790733803,0.0599277319009,0.999999968675,-0.000137257719763,-0.000206672099425,-3.31201272921e-05,1793195643281512704 +88,1.466666667,BASELINE,765,742.93446264,711.06553736,674.93446264,665,633.06553736,877,784,800.06553736,650,629.93446264,651,0.400923381109,0.00440834538372,0.0599273215341,0.999999968432,-0.00013805514279,-0.000207285565715,-3.33009235274e-05,1793195643298179584 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-0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:839ce03b7863ec123161ac4e8f149fa664d49e2092d99a0915b570aa37bbfa4a +size 25560855 diff --git a/Obstacle_avoidance/ball_0030_17.5/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0030_17.5/position_09/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..3e497491d15adc9cdc609dbf441e3ed2418724e5 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_09/depth_02/franka_data.csv @@ -0,0 +1,404 @@ +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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+31,0.516666667,BASELINE,764,742.011062141,711,673,664.988937859,633,877,784,800.988937859,650,629.988937859,651,0.400950864425,0.00451389691052,0.0598386818775,0.999999959575,8.35306100874e-05,-0.000270407291579,2.74290161021e-05,1793195649241807872 +32,0.533333333,BASELINE,764,742.589765199,711,673,664.410234801,633,877,784,800.410234801,650,629.410234801,651,0.400950999294,0.00451373656716,0.0598387113924,0.999999959743,8.26693101892e-05,-0.00027001305288,2.77894428493e-05,1793195649258474752 +33,0.550000000,BASELINE,764.167903582,742.832096418,711,673.167903582,664,633,876.832096418,784,800,650,629,651,0.400951360933,0.00451341836176,0.0598387361561,0.999999959885,8.22132465876e-05,-0.000269605634975,2.80004133093e-05,1793195649275141632 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+38,0.633333333,BASELINE,765,743,711,674,664.071747943,633,878,784,800,650,629,650.071747943,0.400951642296,0.0045137671125,0.0598384594973,0.999999959856,8.3883548275e-05,-0.000269244472855,2.75663944237e-05,1793195649358474752 +39,0.650000000,BASELINE,765,743,711,674,664.651175057,633,878,784,800,650,629,650.651175057,0.400952565067,0.00451347148014,0.0598391906513,0.999999960071,8.47966481606e-05,-0.000268123770252,2.78945360503e-05,1793195649375141120 +40,0.666666667,BASELINE,765,743,711,673.771582467,664.771582467,633.228417533,877.771582467,784,800,650,629,651,0.400952777863,0.00451419082092,0.0598395091843,0.999999960077,8.55582564504e-05,-0.000267861704776,2.78604288587e-05,1793195649391808000 +41,0.683333333,BASELINE,765,743,711,673.197644662,664.197644662,633.802355338,877.197644662,784,800,650,629,651,0.400951916701,0.00451644548081,0.0598392035578,0.999999959769,8.60907079449e-05,-0.000268898473698,2.72783588513e-05,1793195649408474880 +42,0.700000000,BASELINE,765,743,711,673.385934362,664,633.614065638,877,784,800.385934362,650.385934362,629,651,0.400952181338,0.00451605348545,0.0598395337741,0.999999959968,8.55248784834e-05,-0.000268317150173,2.74868521177e-05,1793195649425141504 +43,0.716666667,BASELINE,765,743,711,673.974577335,664,633.025422665,877,784,800.974577335,650.974577335,629,651,0.400953037291,0.00451427135775,0.0598401979611,0.999999960431,8.43821866479e-05,-0.000266885937873,2.8110581769e-05,1793195649441808128 +44,0.733333333,BASELINE,764.446945227,742.446945227,711,674,664,633,877.553054773,784,801,650.446945227,629,651,0.400953835826,0.00451414529798,0.0598410922671,0.999999960806,8.31949665462e-05,-0.000265869612829,2.79261169232e-05,1793195649458474752 +45,0.750000000,BASELINE,764,742.130373734,711,674,664,633.130373734,877.869626266,784,800.869626266,650,629,651,0.400954069957,0.004514275321,0.0598414370696,0.999999960919,8.28504663276e-05,-0.000265570334275,2.77618095752e-05,1793195649475141120 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+258,4.300000000,HOLD_POSE2,764.631121672,743,711.631121672,676,663,632,878,783.368878328,801,650,629.631121672,650.368878328,0.450662402612,0.00442869706962,0.0598072435307,0.999999952345,-6.3276281148e-05,-0.000299817824493,-3.76285902339e-05,1793195659965470976 +259,4.316666667,HOLD_POSE2,764.042800768,743,711.042800768,676,663,632,878,783.957199232,801,650,629.042800768,650.957199232,0.450661334729,0.00443029952376,0.0598062285724,0.999999952031,-6.0415372045e-05,-0.00030143205577,-3.77586827857e-05,1793195659982137600 +260,4.333333333,HOLD_POSE2,764,743,711,676,662.463480314,632,878,783.463480314,801,650,629.536519686,650.463480314,0.450661483865,0.00442942505647,0.0598061187601,0.999999951843,-6.23406941347e-05,-0.000301647183314,-3.79061487834e-05,1793195659998804480 +261,4.350000000,HOLD_POSE2,764,743,711,675.88537804,662.11462196,632,878.11462196,783,801.11462196,650,630,650,0.450661844445,0.00442849558383,0.0598063650642,0.999999951801,-6.38616741703e-05,-0.000301472023034,-3.78639307149e-05,1793195660015471616 +262,4.366666667,HOLD_POSE2,764,743,711,675.309336756,662.690663244,632,878.690663244,783,801.690663244,650,630,650,0.450662671828,0.00442812699642,0.0598077590597,0.999999952326,-6.22432567043e-05,-0.000300167624338,-3.70526379598e-05,1793195660032138240 +263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,676,663,632,878,783,801,650,630,650,0.450663416123,0.004426365031,0.0598068784631,0.999999952467,-6.18577423848e-05,-0.000299885603469,-3.61760965136e-05,1793195660069273344 +264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.579235023,711,676,663,632,878.579235023,783,801,650,629.420764977,650.579235023,0.450663702453,0.00442716018832,0.0598071513523,0.999999952667,-6.15457281003e-05,-0.000299243527015,-3.64829932097e-05,1793195660085940224 +265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,676,663,632,878.842605239,783.157394761,801,650,629.157394761,651,0.450663849317,0.00442756308155,0.059807423732,0.999999952724,-6.18796044553e-05,-0.00029894829193,-3.67721140771e-05,1793195660102607104 +266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,676,663,632,878.267300436,783.732699564,801,650,629.732699564,651,0.450663625875,0.00442692444663,0.0598076947589,0.999999952399,-6.39284309838e-05,-0.000299573979935,-3.70140371429e-05,1793195660119273728 +267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,676,663,632,878.307464306,783.692535694,801,650,629.692535694,650.692535694,0.450664245658,0.00442647545676,0.0598082836249,0.999999952581,-6.42061865027e-05,-0.000298900265356,-3.70588230712e-05,1793195660135940352 +268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,676,663,632,878.881760324,783.118239676,801,650,629.118239676,650.118239676,0.450665597231,0.00442619104966,0.0598091483263,0.999999953203,-6.29469247516e-05,-0.000297098869215,-3.69325242803e-05,1793195660152607232 +269,4.483333333,POSE2_TO_POSE3_RETREAT,763.52993063,743,711.47006937,676,663,631.52993063,878.52993063,783,801,650,629.47006937,650.47006937,0.450664094584,0.00442525591613,0.0598075772976,0.999999952438,-6.59162266828e-05,-0.000299024262316,-3.69327493417e-05,1793195660169274112 +270,4.500000000,POSE2_TO_POSE3_RETREAT,763.060551197,743,711.939448803,676,663,631.060551197,878.060551197,783.060551197,801.060551197,650,629.939448803,650.939448803,0.450661505009,0.00442431727858,0.0598054055672,0.999999951323,-6.92741397191e-05,-0.000301973439792,-3.69637260229e-05,1793195660185940480 +271,4.516666667,POSE2_TO_POSE3_RETREAT,763.638553688,743,711.361446312,676,663,631.638553688,878.638553688,783.638553688,801.638553688,650,629.361446312,650.361446312,0.450655950708,0.00442479044669,0.0598034970354,0.999999950461,-6.65841918474e-05,-0.000305414477107,-3.69771699652e-05,1793195660202607104 +272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,676,663,632,878.784726338,783.784726338,801.784726338,650,629.215273662,650.215273662,0.450645713827,0.00442543239788,0.0597990921764,0.999999948429,-6.47381316873e-05,-0.000312373683434,-3.70593596856e-05,1793195660219273728 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-0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff16dd62aaa9a329398ff0b3da0a66082910f6e9db5bd2501ca5682096396236 +size 25821594 diff --git a/Obstacle_avoidance/ball_0030_17.5/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0030_17.5/position_09/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..afff1287f96ca6411182ed40c0acb1065b075f8a --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_09/depth_04/franka_data.csv @@ -0,0 +1,408 @@ +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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+73,1.216666667,BASELINE,763.633194002,743,711,673,663.366805998,633,877,784,800.633194002,650,629,651,0.400959188869,0.0045164285034,0.0598441786492,0.999999966209,6.83161347076e-06,-0.000259066939194,2.04957960046e-05,1793195670706632704 +74,1.233333333,BASELINE,763.055496438,743,711,673,663.944503562,633,877,784,800.055496438,650,629,651,0.400958050369,0.0045173676183,0.0598440051346,0.999999966057,8.82581310403e-06,-0.000259616302893,2.01638440105e-05,1793195670723299584 +75,1.250000000,BASELINE,763,742.479468536,711,673.520531464,664,633,877,784,800,650,629,651,0.400958029576,0.00451661137121,0.0598440051507,0.999999966105,7.48195708396e-06,-0.000259490297657,1.99865506341e-05,1793195670739966208 +76,1.266666667,BASELINE,763,742.095839728,711,674,664,633,877,784,800,650,629,651,0.40095843207,0.00451579860022,0.059844240628,0.999999966252,6.18538126307e-06,-0.000258962266344,1.98999527522e-05,1793195670756632832 +77,1.283333333,BASELINE,763,742.668450728,711,674,664,633,877,784,800,650,629,651,0.400960349366,0.00451560094312,0.0598455557061,0.999999966802,6.88876791837e-06,-0.000256791340084,2.01827705529e-05,1793195670773299200 +78,1.300000000,BASELINE,763.249421233,743,711,673.750578767,664,633,877,784,800.249421233,650,629,651,0.400960772014,0.00451511878476,0.0598455717511,0.999999966843,6.02713454702e-06,-0.000256640971231,2.03315431886e-05,1793195670789965824 +79,1.316666667,BASELINE,763.841889108,743,711,673.158110892,664,633,877,784,800.841889108,650,629,651,0.400959138965,0.00451424533173,0.0598438011439,0.999999966179,3.01301851115e-06,-0.000259269617901,2.02959540154e-05,1793195670806632448 +80,1.333333333,BASELINE,764,743,711,673.422175214,663.577824786,633,877,784,801,650,629,651,0.400958984567,0.00451499116944,0.0598438856707,0.999999966113,4.49252810513e-06,-0.000259498654952,2.03342830053e-05,1793195670823299328 +81,1.350000000,BASELINE,764,743,711,673.998027063,663.001972937,633,877,784,801,650,629,651,0.400959368415,0.00451632644753,0.0598446454876,0.99999996626,7.60776888743e-06,-0.000258854206703,2.03995190541e-05,1793195670839966208 +82,1.366666667,BASELINE,764,743,711,674,663.576652529,633,877.576652529,784,801,650,629,651,0.400960305276,0.00451653639237,0.0598453014148,0.999999966804,6.98938926342e-06,-0.000256774533963,2.02429811209e-05,1793195670856632832 +83,1.383333333,BASELINE,764,743,711.157611754,674,664,633,877.842388246,784,801,650,629.157611754,651,0.40096107105,0.00451643976594,0.0598457173492,0.999999967137,6.50701097498e-06,-0.000255489152324,2.02427454917e-05,1793195670873299456 +84,1.400000000,BASELINE,764,743,711.744907442,674,664,633,877.255092558,784,801,650,629.744907442,651,0.400961365217,0.0045155179067,0.0598454799849,0.9999999669,6.43039498438e-06,-0.000256382632179,2.06707024848e-05,1793195670889966080 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+89,1.483333333,BASELINE,764,743,711,674,664,633.366119351,877,784,801,650,629,651,0.400959302049,0.00451618121371,0.0598441984616,0.99999996651,4.94208886332e-06,-0.000257976899424,2.0067864203e-05,1793195670973299456 +90,1.500000000,BASELINE,764,743,711,673.786620685,664,633,877,784,800.786620685,650,629,651,0.400959286834,0.00451667745659,0.0598440258613,0.999999966505,6.30858765332e-06,-0.000257959247953,2.01858928801e-05,1793195670989966336 +91,1.516666667,BASELINE,764,743,711,673.195342578,664,633,877,784,800.195342578,650,629,651,0.400958931983,0.00451610639734,0.0598439692948,0.999999966205,5.39230173926e-06,-0.000259119423864,2.04594604917e-05,1793195671006632960 +92,1.533333333,BASELINE,764,743,711,673.386490517,664,633.386490517,876.613509483,784,800.386490517,650,629.386490517,651,0.40095933767,0.00451592321234,0.0598441218478,0.999999966236,5.79592914087e-06,-0.000258986433414,2.04989696982e-05,1793195671023299584 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+37,0.616666667,BASELINE,764,743,711,673.468941281,664.468941281,633,876.468941281,784,800,650,629.468941281,650.468941281,0.400940025443,0.0045445919404,0.0499271726842,0.999999976812,2.61991075832e-05,-0.000211480645285,-3.1087578467e-05,1793195678263434752 +38,0.633333333,BASELINE,764,742.954737913,711,674,664.954737913,633,876.954737913,784,800,650.045262087,630,651,0.40094126521,0.00454380235843,0.0499274198825,0.999999977144,2.59876365266e-05,-0.000209997275893,-3.06252070033e-05,1793195678280101120 +39,0.650000000,BASELINE,764,742.367887884,711,674,664.367887884,633,876.367887884,784,800,650.632112116,630,651,0.400938710088,0.00454345121767,0.0499257379077,0.999999976381,2.49779860966e-05,-0.000213703652283,-3.0724486463e-05,1793195678296768000 +40,0.666666667,BASELINE,764,742.216110332,711,674,664.216110332,633,876.216110332,784,800,651,630,651,0.40093780746,0.00454328434096,0.0499252477787,0.999999976137,2.4130693362e-05,-0.000214922758633,-3.0844335136e-05,1793195678313434880 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+44,0.733333333,BASELINE,764,742.528277518,710.528277518,674,664.471722482,633,876.528277518,784,800.528277518,650.528277518,630,651,0.40094105294,0.00454293576816,0.0499271345508,0.999999976907,2.2571117625e-05,-0.000211462243513,-3.09942354872e-05,1793195678380101376 +45,0.750000000,BASELINE,764,742.895569884,711,674,664.104430116,633,877,784,801,651,629.895569884,651,0.400941912594,0.00454203135658,0.0499273123722,0.999999977077,2.18849567741e-05,-0.000210744372721,-3.08989885945e-05,1793195678396768256 +46,0.766666667,BASELINE,764,742.308012661,711,674,664.691987339,633,877,784,801,651,629.308012661,651,0.400941242123,0.00454296977065,0.0499273111892,0.99999997701,2.11166994634e-05,-0.000211134452293,-3.09141100373e-05,1793195678413434880 +47,0.783333333,BASELINE,764,742,711,673.724181795,664.724181795,633,877,784,801,651,629,651,0.400940979517,0.00454409714652,0.049927361341,0.999999976982,2.2508905176e-05,-0.000211105635569,-3.10346721743e-05,1793195678430101504 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+55,0.916666667,BASELINE,764,742,711,674,665,633,877,783.916562151,801,650.916562151,630,651,0.400939253456,0.00454488497462,0.0499265516756,0.999999976673,2.33259095103e-05,-0.000212424800864,-3.13996125116e-05,1793195678563434496 +56,0.933333333,BASELINE,763.507106014,742,711,674,664.507106014,633,877,784,800.507106014,651,629.507106014,651,0.400940323497,0.00454452432569,0.049926861198,0.999999976865,2.3935299475e-05,-0.000211448579312,-3.14027379817e-05,1793195678580101632 +57,0.950000000,BASELINE,763.070090763,742,711,673.929909237,664.070090763,633.070090763,877,784,800.070090763,650.929909237,629,651,0.400941280641,0.00454433550407,0.0499269895463,0.999999977025,2.47110042978e-05,-0.000210596299963,-3.14489433064e-05,1793195678596768768 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-0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b26c5db20fd4d09a8d9bdb97b29ac0b035703e6f0c64c2837e62d8dde3ddc64b +size 25570264 diff --git a/Obstacle_avoidance/ball_0030_17.5/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0030_17.5/position_10/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..0a3625c15cbec36fa693998d3ab29f0989768c4a --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_10/depth_02/franka_data.csv @@ -0,0 +1,404 @@ +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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+252,4.200000000,HOLD_POSE2,764,743,711.940478927,674.940478927,664,632,878,784,800,650,629,650,0.450272094804,0.00445856758539,0.0498823406707,0.999999986142,4.18459330027e-05,-0.000157260194016,3.51383180448e-05,1793195688763521536 +253,4.216666667,HOLD_POSE2,764,743,711.365413454,674.365413454,664,632,878,784,800,650,629,650,0.45026916787,0.00445937747847,0.0498808105218,0.999999985542,4.30368002368e-05,-0.000160783864705,3.4820746034e-05,1793195688780188160 +254,4.233333333,HOLD_POSE2,764,743,711,674.209145531,664.209145531,632,878,783.790854469,800.209145531,650,629,650.209145531,0.450267953675,0.00445962150042,0.0498802004137,0.999999985287,4.29015429973e-05,-0.00016243818285,3.46390704477e-05,1793195688796854784 +255,4.250000000,HOLD_POSE2,764,743,711,674.782821672,664.782821672,632,878,783.217178328,800.782821672,650,629,650.782821672,0.450269724705,0.00445887923609,0.0498811938929,0.999999985646,4.04549144051e-05,-0.000160834308982,3.46942558322e-05,1793195688813521408 +256,4.266666667,HOLD_POSE2,764,742.629132289,711,675.370867711,665,632,878.370867711,783.370867711,801,650,629,650.629132289,0.450270385066,0.00445932220545,0.0498814727747,0.999999985739,4.10346824694e-05,-0.000160135046818,3.45630204323e-05,1793195688830188032 +257,4.283333333,HOLD_POSE2,764,742.032332058,711,675.967667942,665,632,878.967667942,783.967667942,801,650,629,650.032332058,0.45027036881,0.00446048721883,0.0498813163239,0.999999985669,4.34581304226e-05,-0.000159986873737,3.43182175402e-05,1793195688846854656 +258,4.300000000,HOLD_POSE2,764,742.545630188,711,675.454369812,664.454369812,632,878.454369812,783.454369812,801,650,629,650,0.450269006309,0.00445904797273,0.0498811965802,0.999999985545,4.23663382389e-05,-0.000160892805063,3.50424222711e-05,1793195688863521536 +259,4.316666667,HOLD_POSE2,764,743,711,675,664.122075739,632,878.122075739,783,801.122075739,650,629,650,0.450268183992,0.00445800154736,0.0498811206566,0.999999985473,4.15355795188e-05,-0.000161450318473,3.55366837536e-05,1793195688880188160 +260,4.333333333,HOLD_POSE2,764,743,711,675,664.696898225,632,878.696898225,783,801.696898225,650,629,650,0.450269651056,0.00445896521808,0.0498811994522,0.99999998561,4.24196741305e-05,-0.000160491716446,3.4972298348e-05,1793195688896855040 +261,4.350000000,HOLD_POSE2,764,742.721155292,711,675,665,632,879,783,801.721155292,650,629.278844708,650.278844708,0.450269741875,0.00445958214167,0.0498809859077,0.999999985595,4.2353121137e-05,-0.000160675849978,3.46269989385e-05,1793195688913521664 +262,4.366666667,HOLD_POSE2,764,742.131262096,711,675,665,632,879,783,801.131262096,650,629.868737904,650.868737904,0.450268297506,0.00445981227222,0.0498804462608,0.99999998541,4.12261301741e-05,-0.000162134693677,3.45260878049e-05,1793195688930188288 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+251,4.183333333,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912838,0.0186749936433,1.03966132724 +252,4.200000000,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912839,0.0186749936428,1.03966132724 +253,4.216666667,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912838,0.0186749936427,1.03966132724 +254,4.233333333,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912839,0.0186749936417,1.03966132724 +255,4.250000000,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.59500291284,0.0186749936425,1.03966132724 +256,4.266666667,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912841,0.0186749936426,1.03966132724 +257,4.283333333,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912841,0.0186749936426,1.03966132724 +258,4.300000000,pose2_hold,0.624431679377,0.0100013320714,1.04001178883,0.595002912843,0.018674993642,1.03966132724 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+41,0.683333333,BASELINE,764,742.783317062,711,674,665,633,877,784,800,650,629,651,0.400976516382,0.00455733437466,0.0498518743211,0.999999965373,3.37754191319e-05,-0.000258004668555,-3.93374355228e-05,1793195692087343360 +42,0.700000000,BASELINE,764,743,711,674,665,633,877,784,800.365467063,650,629,651,0.400976129896,0.00455737411689,0.0498521442497,0.999999965328,3.32685023039e-05,-0.00025825305278,-3.92640723055e-05,1793195692104010240 +43,0.716666667,BASELINE,764,743,711,674,665,633,877,784,800.951080015,650,629,651,0.400975379665,0.00455741754642,0.0498524923738,0.999999965272,3.22054472675e-05,-0.000258614721037,-3.9216021174e-05,1793195692120677120 +44,0.733333333,BASELINE,764,742.469176468,710.469176468,674,665,633,877,784,801,650,629,651,0.400976546335,0.00455602080184,0.0498527105931,0.999999965676,3.11409591931e-05,-0.000257211827343,-3.89860884999e-05,1793195692137344000 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+258,4.300000000,HOLD_POSE2,764,743,711,675.080320553,664,632,879,783.459839723,801.540160277,650,630,651,0.451218369157,0.00449259874921,0.0498611149584,0.999999975524,6.96718138921e-05,-0.000208421171515,2.56454844638e-05,1793195702678212096 +259,4.316666667,HOLD_POSE2,764,743,711,675.883688493,664,632,878.883688493,783.116311507,801.767376985,650,629.883688493,650.883688493,0.451216707503,0.00449198842063,0.0498594252845,0.99999997518,6.80732276835e-05,-0.000210650235759,2.51682845134e-05,1793195702694878720 +260,4.333333333,HOLD_POSE2,764,743,711,675.308438673,664,632,878.308438673,783.691561327,800.616877346,650,629.308438673,650.308438673,0.451217163187,0.00449302753342,0.0498607165664,0.999999975372,6.89869406451e-05,-0.000209454601092,2.50240956947e-05,1793195702711545344 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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.097379969,743,711.902620031,675.902620031,664,631.097379969,878.902620031,783.097379969,800.097379969,650,630,650,0.451219540355,0.00449296965916,0.0498612393441,0.999999975864,6.99404085651e-05,-0.000206720281753,2.54377892868e-05,1793195702860864768 +269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.518372081,675.518372081,664,631,878.518372081,783.481627919,800,650,630,650,0.451218200264,0.00449235395336,0.0498607593367,0.99999997573,6.92737552164e-05,-0.000207604522839,2.53297962613e-05,1793195702877531392 +270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.940233165,711,675,664,631.059766835,878,784,800,650,630,650,0.451215731608,0.004491758676,0.0498597548123,0.99999997539,6.84596883206e-05,-0.000209527882033,2.51450255828e-05,1793195702894197760 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+252,4.200000000,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002856308,0.0186749508568,1.03966107497 +253,4.216666667,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002856309,0.0186749508566,1.03966107497 +254,4.233333333,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002856309,0.0186749508566,1.03966107497 +255,4.250000000,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002856309,0.0186749508567,1.03966107497 +256,4.266666667,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002856309,0.0186749508566,1.03966107497 +257,4.283333333,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.59700285631,0.0186749508574,1.03966107497 +258,4.300000000,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.59700285631,0.0186749508561,1.03966107497 +259,4.316666667,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.59700285631,0.018674950856,1.03966107497 +260,4.333333333,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002856311,0.0186749508559,1.03966107497 +261,4.350000000,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002856311,0.0186749508566,1.03966107498 +262,4.366666667,pose2_hold,0.626431621325,0.0100012841032,1.04001153451,0.597002856311,0.0186749508565,1.03966107498 +263,4.383333333,pose2_to_pose3_retreat,0.626431621325,0.0100012841032,1.04001153451,0.597002856314,0.0186749508561,1.03966107498 +264,4.400000000,pose2_to_pose3_retreat,0.62643161497,0.0100012896403,1.04001153223,0.597002849814,0.0186749559259,1.03966107326 +265,4.416666667,pose2_to_pose3_retreat,0.626431603252,0.0100012998497,1.04001152804,0.59700283783,0.0186749652736,1.0396610701 +266,4.433333333,pose2_to_pose3_retreat,0.626431598419,0.0100013040611,1.04001152631,0.597002832886,0.0186749691296,1.0396610688 +267,4.450000000,pose2_to_pose3_retreat,0.626431591557,0.01000131004,1.04001152385,0.597002825868,0.0186749746039,1.03966106695 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0000000000000000000000000000000000000000..84b1332aa19db0e1bdb9649ddd086884e3240358 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_10/depth_05/franka_data.csv @@ -0,0 +1,406 @@ +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,764,743,711,674,666,633,877,784,801,650,629,651,0.400982982602,0.00457192818328,0.0498569092217,0.99999996651,5.10038024908e-05,-0.000250769364001,-3.86429581953e-05,1793195705247759872 +1,0.016666667,BASELINE,764,742.422762288,711,674,665.422762288,633,877,784,801,650,629,651,0.400982163087,0.00457265378398,0.0498559348663,0.999999966255,5.16289434244e-05,-0.000251613116968,-3.89254775977e-05,1793195705264426752 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+55,0.916666667,BASELINE,764,742,711,674,665.078410294,633,876.078410294,784,800,650,629,651,0.40098086589,0.00456609474462,0.0498553550095,0.999999966802,4.45678408476e-05,-0.000250899145213,-3.818918566e-05,1793195706164426496 +56,0.933333333,BASELINE,763.498601864,742,710.498601864,674,665,633,876.501398136,784,800,650,629,651,0.400980864833,0.00456774948437,0.0498560985741,0.999999966734,4.64253632057e-05,-0.000250822750326,-3.82787828382e-05,1793195706181093376 +57,0.950000000,BASELINE,763.077944507,742,710.077944507,674,665,633,876.922055493,784,800,650,629,651,0.400980989167,0.00456992006354,0.0498568531855,0.99999996667,4.92158192206e-05,-0.000250521588402,-3.84316687786e-05,1793195706197760000 +58,0.966666667,BASELINE,763.650325165,742,710.650325165,674,665,633,876.349674835,784,800,650,629,651,0.400982171366,0.00457043211357,0.0498567619482,0.999999966897,5.10102961271e-05,-0.000249253948821,-3.84182469258e-05,1793195706214426368 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b/Obstacle_avoidance/ball_0030_17.5/position_11/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..04c4ee67a0ebb0e442a9b7a8f7695d94c697fa57 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_11/depth_03/franka_data.csv @@ -0,0 +1,406 @@ +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,765,743,711,675,663,633,877,784,800,649,630,651,0.400956313206,0.00446632495997,0.0698222193078,0.999999958701,3.7847985241e-05,-0.000282877436472,3.38383199118e-05,1793195727477226496 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+31,0.516666667,BASELINE,764.980615696,742.980615696,712,674.980615696,663.019384304,633,877.980615696,784,800.980615696,649.019384304,629,651,0.400956954388,0.0044654581485,0.0698236661871,0.999999959754,3.37169551467e-05,-0.000279753935606,3.30653575966e-05,1793195727993893120 +32,0.533333333,BASELINE,765,743,712,674.439817868,663,633,877.439817868,784,800.439817868,649.560182132,629,651,0.4009563954,0.00446618814899,0.0698239624501,0.999999959563,3.32377193876e-05,-0.000280480475658,3.31575959314e-05,1793195728010560000 +33,0.550000000,BASELINE,764.857701436,742.857701436,711.857701436,674,662.857701436,633.142298564,877.142298564,784,800,650,629.142298564,651,0.400956054644,0.00446681938226,0.0698240069127,0.999999959388,3.34928544446e-05,-0.000281067559693,3.32147490033e-05,1793195728027226624 +34,0.566666667,BASELINE,764.268339728,742.268339728,711.268339728,674,662.268339728,633.731660272,877.731660272,784,800,650,629.731660272,651,0.400956412888,0.00446692190944,0.0698231609204,0.999999959258,3.59394819029e-05,-0.000281233130413,3.31696315149e-05,1793195728043892992 +35,0.583333333,BASELINE,764.314682729,742.314682729,711.314682729,674,662,633.685317271,878,784,800.314682729,650,629.685317271,650.685317271,0.400956710156,0.00446587755185,0.0698232147049,0.999999959371,3.55546159045e-05,-0.000280870319609,3.32490067907e-05,1793195728060559616 +36,0.600000000,BASELINE,764.89240632,742.89240632,711.89240632,674,662,633.10759368,878,784,800.89240632,650,629.10759368,650.10759368,0.400956956454,0.00446387452213,0.0698240206056,0.999999959685,3.28029266731e-05,-0.00028006583879,3.34324446012e-05,1793195728077226240 +37,0.616666667,BASELINE,764.532567548,743,712,674,662.467432452,633,877.532567548,784,800.532567548,650,629,650.467432452,0.400956832146,0.00446473815539,0.0698236402668,0.999999959399,3.45499561338e-05,-0.000280878997198,3.33951456613e-05,1793195728093892864 +38,0.633333333,BASELINE,764,742.95808312,711.95808312,674,662.95808312,633,877.04191688,784,800,649.95808312,629,651,0.400956769105,0.00446609584683,0.0698231884477,0.999999959078,3.70559731138e-05,-0.000281710176208,3.33293729766e-05,1793195728110559488 +39,0.650000000,BASELINE,764,742.382635519,711.382635519,674,662.382635519,633,877.617364481,784,800,649.382635519,629,651,0.400958565468,0.00446539149374,0.0698252823121,0.999999960127,3.61178814001e-05,-0.000278058557024,3.35441822775e-05,1793195728127226368 +40,0.666666667,BASELINE,764,742.198526751,711.198526751,674.198526751,662,633,877.801473249,784,800,649.198526751,629,651,0.400958886005,0.00446507675047,0.0698260297569,0.999999960479,3.5495267475e-05,-0.0002768602491,3.36209964577e-05,1793195728143893248 +41,0.683333333,BASELINE,764,742.791029744,711.791029744,674.791029744,662,633,877.208970256,784,800,649.791029744,629,651,0.400956277767,0.00446553518772,0.0698241052326,0.999999959463,3.54987191276e-05,-0.000280530536424,3.34239593742e-05,1793195728160560128 +42,0.700000000,BASELINE,764,743,712,674.626026163,662.373973837,633,877.373973837,784,800.373973837,650,629,651,0.400956184353,0.00446528328498,0.0698239078349,0.999999959472,3.44499673682e-05,-0.000280659009671,3.31493020737e-05,1793195728177226752 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+254,4.233333333,pose2_hold,0.626390738215,0.0100014667861,1.06001181474,0.596961969524,0.0186751228155,1.05966134291 +255,4.250000000,pose2_hold,0.626390738215,0.0100014667861,1.06001181474,0.596961969524,0.0186751228155,1.05966134291 +256,4.266666667,pose2_hold,0.626390738215,0.0100014667861,1.06001181474,0.596961969524,0.0186751228155,1.05966134291 +257,4.283333333,pose2_hold,0.626390738215,0.0100014667861,1.06001181474,0.596961969524,0.0186751228158,1.05966134291 +258,4.300000000,pose2_hold,0.626390738215,0.0100014667861,1.06001181474,0.596961969524,0.0186751228162,1.05966134291 +259,4.316666667,pose2_hold,0.626390738215,0.0100014667861,1.06001181474,0.596961969524,0.0186751228163,1.05966134291 +260,4.333333333,pose2_hold,0.626390738215,0.0100014667861,1.06001181474,0.596961969524,0.0186751228162,1.05966134291 +261,4.350000000,pose2_hold,0.626390738215,0.0100014667861,1.06001181474,0.596961969525,0.0186751228157,1.05966134291 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-0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:148ad98445ce685eece6b2f551851c773d6dd0deabb44590431d4ebff62251a7 +size 25918839 diff --git a/Obstacle_avoidance/ball_0030_17.5/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0030_17.5/position_11/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..afd957be34fee72f61b856bbde9963d37216cb74 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_11/depth_05/franka_data.csv @@ -0,0 +1,410 @@ +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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+78,1.300000000,BASELINE,764,743,711.752335055,674.752335055,663,633,877.752335055,784,800.752335055,649.752335055,629,650.752335055,0.400957170133,0.0044634639598,0.0698259157344,0.999999959901,3.78667842627e-05,-0.000278745749089,3.26224332206e-05,1793195742649106688 +79,1.316666667,BASELINE,764,743,711.157449226,674.157449226,663,633,877.157449226,784,800.157449226,649.157449226,629,650.157449226,0.400956642212,0.00446406303872,0.0698251069002,0.999999959664,3.77090664918e-05,-0.000279596725408,3.28000371519e-05,1793195742665773312 +80,1.333333333,BASELINE,764,743,711.425139123,674,662.574860877,633,877,784,800.425139123,649.425139123,629,650.425139123,0.400957064314,0.00446467181598,0.0698255039536,0.999999959848,3.73900914823e-05,-0.000279015318038,3.2493088107e-05,1793195742682439936 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+84,1.400000000,BASELINE,764,742.258372904,712,674,662.741627096,633,877.258372904,784,800.741627096,649.741627096,629,651,0.400961118352,0.00446237850337,0.0698276602974,0.999999961375,3.50454607986e-05,-0.000273786473231,3.26108718396e-05,1793195742749106944 +85,1.416666667,BASELINE,764,742.326521095,711.673478905,674,663,633,877,784,800.673478905,649.673478905,629,650.673478905,0.400960988684,0.00446270854324,0.0698272571193,0.999999961254,3.441051307e-05,-0.000274322437388,3.24898942321e-05,1793195742765773568 +86,1.433333333,BASELINE,764,742.909732697,711.090267303,674,663,633,877,784,800.090267303,649.090267303,629,650.090267303,0.400959828602,0.00446441167728,0.0698260121348,0.999999960589,3.47369725288e-05,-0.000276710737016,3.23506463655e-05,1793195742782440192 +87,1.450000000,BASELINE,764,743,711,674,662.513226903,633,877,784,800,649,629,650,0.40095973428,0.00446541938373,0.0698262863157,0.999999960589,3.76860178787e-05,-0.000276325300223,3.23405569698e-05,1793195742799106560 +88,1.466666667,BASELINE,764,742.937461002,711.062538998,674,662,633,877.062538998,784,800,649,629,650.062538998,0.400959896669,0.00446609170816,0.0698268659477,0.999999960741,4.04316711793e-05,-0.000275385091041,3.23529817081e-05,1793195742815773440 +89,1.483333333,BASELINE,764,742.362877663,711.637122337,674,662,633,877.637122337,784,800,649,629,650.637122337,0.400960563016,0.00446506071481,0.0698276688025,0.999999961216,3.75799820667e-05,-0.000274061297047,3.23560955672e-05,1793195742832440320 +90,1.500000000,BASELINE,764,742.217708668,711.782291332,674,662,633,877.782291332,784,800,649.217708668,629,651,0.400960235678,0.00446449892773,0.0698274490028,0.999999961164,3.6286850708e-05,-0.000274428065055,3.23292805736e-05,1793195742849106944 +91,1.516666667,BASELINE,764,742.808584466,711.191415534,674,662,633,877.191415534,784,800,649.808584466,629,651,0.4009582051,0.0044647413915,0.0698254763053,0.999999960214,3.76651912451e-05,-0.000277692568858,3.22511655367e-05,1793195742865773568 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+95,1.583333333,BASELINE,764.11951527,743,712,674,662.11951527,633,877.11951527,784,800.88048473,649.88048473,629,651.11951527,0.400960360583,0.00446171945114,0.0698271213954,0.99999996113,3.39753599241e-05,-0.000274806512599,3.26605916853e-05,1793195742932440064 +96,1.600000000,BASELINE,764.70924027,743,712,674,662.70924027,633,877.70924027,784,800.29075973,649.29075973,629,651.70924027,0.400958468293,0.0044624751264,0.0698253259674,0.999999960371,3.50756324863e-05,-0.000277475321158,3.21768070202e-05,1793195742949107200 +97,1.616666667,BASELINE,764.706951413,743,712,674,663,633,877.706951413,784,800,649.293048587,629,651.706951413,0.400957291035,0.00446390992058,0.0698248904341,0.999999960047,3.68374543019e-05,-0.000278436407011,3.19660250227e-05,1793195742965773824 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0000000000000000000000000000000000000000..01b6cd389d329108ee6a312d5610b253b02746c4 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_12/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ad4f45d2655293b7506f639f8cae9476cc5ae6e72ee5bcf7eef42d933deef1f +size 25401586 diff --git a/Obstacle_avoidance/ball_0030_17.5/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0030_17.5/position_12/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..b41a11bc4a59d34ed7c40a51ef59acf02c61fdfa --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_12/depth_01/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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+43,0.716666667,BASELINE,764,743,712,674,660.042762199,633.042762199,877.957237801,784,799.957237801,649.042762199,629,650.957237801,0.401015929109,0.00446803366224,0.0798561083135,0.999999982637,8.38973862364e-05,-0.000160847391167,4.26058474226e-05,1793195750251673344 +44,0.733333333,BASELINE,764,743,712,674.54588486,660,633,877.45411514,784,800.54588486,649,629,651,0.401015861142,0.00446750320597,0.0798559033932,0.999999982764,8.22925403548e-05,-0.000160947460057,4.23875758676e-05,1793195750268339968 +45,0.750000000,BASELINE,764,743,712,674.866702098,660,633,877,784,801,649,629,650.866702098,0.401015397875,0.00446696166176,0.079855495423,0.999999982814,8.07368615143e-05,-0.000161465046154,4.22211240253e-05,1793195750285006592 +46,0.766666667,BASELINE,764,743,712,674.287304796,660,633,877,784,801,649,629,650.287304796,0.401013867126,0.00446689722226,0.0798546827647,0.999999982586,8.03607922862e-05,-0.000163035821431,4.23037224977e-05,1793195750301673728 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b/Obstacle_avoidance/ball_0030_17.5/position_12/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..dcb3facfcfe3926341a7ccd4398b2aa965b779a7 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_12/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a944400ac49725d5e2592c1a4b5f1666f5659f82f3071d4a46be4c76722be5e1 +size 25534917 diff --git a/Obstacle_avoidance/ball_0030_17.5/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0030_17.5/position_12/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..f91a61628a0ae4062e00807a6e429b8589734255 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_12/depth_02/franka_data.csv @@ -0,0 +1,404 @@ 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+31,0.516666667,BASELINE,764.991947542,743,712,674.991947542,660,633,877.991947542,783.008052458,800,649,629,650.008052458,0.400963854746,0.00446122656158,0.0798368184923,0.999999958025,7.2805942811e-05,-0.000276947491093,4.41494339826e-05,1793195763865490176 +32,0.533333333,BASELINE,765,743,712,674.435116243,660,633,877.435116243,783.564883757,800,649,629,650,0.400965526478,0.00446114984874,0.0798379016569,0.999999958498,7.41951002059e-05,-0.000274840950198,4.42859440817e-05,1793195763882156800 +33,0.550000000,BASELINE,765,743,712,673.857312184,660,633.142687816,877.285375632,783.857312184,800,649.142687816,629,650,0.400966632006,0.00446112539871,0.0798385302802,0.999999958772,7.54043327492e-05,-0.000273501051708,4.43641820322e-05,1793195763898823680 +34,0.566666667,BASELINE,765,743,712,673.264021216,660,633.735978784,878.471957569,783.264021216,800,649.735978784,629,650,0.400965850087,0.00446131044007,0.0798377083092,0.999999958408,7.59714933641e-05,-0.000274690288724,4.42483208796e-05,1793195763915490304 +35,0.583333333,BASELINE,765,743,712,673.320298287,660,633.679701713,878.679701713,783.320298287,800,649.679701713,629,650.320298287,0.400965649754,0.004461870388,0.0798374065958,0.999999958409,7.53897358204e-05,-0.000274855446322,4.41864372554e-05,1793195763932156928 +36,0.600000000,BASELINE,765,743,712,673.897424184,660,633.102575816,878.102575816,783.897424184,800,649.102575816,629,650.897424184,0.400965915758,0.00446273095062,0.0798375220451,0.999999958702,7.38867311249e-05,-0.000274199457385,4.41678348978e-05,1793195763948823552 +37,0.616666667,BASELINE,764.526221794,743,712,674.473778206,660,633,877.526221794,784,800,649,629,650.526221794,0.400965759633,0.00446101608818,0.0798372751733,0.999999958644,7.32349292576e-05,-0.000274552323392,4.437291945e-05,1793195763965490176 +38,0.633333333,BASELINE,764.049610091,743,712,674.950389909,660.049610091,633,877.049610091,783.950389909,800,649,629,650.049610091,0.400965482315,0.00445901005777,0.079836960249,0.999999958508,7.28534402053e-05,-0.000275112143306,4.46026882537e-05,1793195763982156800 +39,0.650000000,BASELINE,764.62170052,743,712,674.37829948,660.62170052,633,877.62170052,783.37829948,800,649,629,650.62170052,0.400964889599,0.00445980041207,0.0798367534286,0.999999958349,7.3381071984e-05,-0.000275554914486,4.45832076054e-05,1793195763998823424 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+44,0.733333333,BASELINE,764.530784525,743,712,674,660,633,877.469215475,783.530784525,800,649,630,650.530784525,0.400965720911,0.0044612285722,0.0798371641134,0.999999958429,7.59354544946e-05,-0.000274602890012,4.4376995581e-05,1793195764082156800 +45,0.750000000,BASELINE,764.892298213,743,711.892298213,674,660,633,877.107701787,784,800,649,629.892298213,651,0.400966368079,0.00446164895908,0.079837676387,0.999999958747,7.69984150267e-05,-0.000273124713312,4.4508109576e-05,1793195764098823424 +46,0.766666667,BASELINE,764.300781632,743,711.300781632,674,660,633,877.699218368,784,800,649,629.300781632,651,0.400965705065,0.00446254519797,0.0798372258761,0.99999995823,7.85591018144e-05,-0.000274576353766,4.44540551988e-05,1793195764115490048 +47,0.783333333,BASELINE,764,743,711.284684582,674.284684582,660.284684582,633.284684582,878,784,800,649.284684582,629.284684582,651,0.400965454083,0.0044624136613,0.0798371147445,0.999999958144,7.76434494338e-05,-0.000275184190444,4.42408117216e-05,1793195764132156672 +48,0.800000000,BASELINE,764,743,711.863891423,674.863891423,660.863891423,633.863891423,878,784,800,649.863891423,629.863891423,651,0.40096562937,0.00446121883296,0.07983735472,0.999999958497,7.41658846811e-05,-0.000274919064692,4.3862878134e-05,1793195764148823296 +49,0.816666667,BASELINE,764,743,711.560463049,674.560463049,661,633.560463049,878,784,800,649.560463049,629.560463049,651,0.400964980215,0.00446111212536,0.0798370697604,0.999999958385,7.36046323873e-05,-0.000275469643848,4.39261077158e-05,1793195764165490176 +50,0.833333333,BASELINE,764,743,711.014074674,674,661,633,878,784,800,649,629,651,0.400964112722,0.00446133722831,0.0798366411426,0.999999958139,7.39280496038e-05,-0.000276244756587,4.41180650235e-05,1793195764182156800 +51,0.850000000,BASELINE,764,743,711.588062462,674,661,633,878,784,800,649,629,651,0.400964634031,0.00446146555795,0.0798369122283,0.999999958223,7.38079861858e-05,-0.000275984343033,4.40400473483e-05,1793195764198823424 +52,0.866666667,BASELINE,764,743,712,674,661,633.167483983,878,784,800,649,629,651,0.400964995736,0.00446152933926,0.0798371768407,0.99999995831,7.38151321227e-05,-0.000275666531089,4.40332338568e-05,1793195764215490048 +53,0.883333333,BASELINE,764,743,712,674,661,633.760718215,878,784,800,649,629,651,0.400964951721,0.00446142903641,0.0798374249975,0.999999958406,7.41456487766e-05,-0.000275202810415,4.42074239396e-05,1793195764232156672 +54,0.900000000,BASELINE,764.345038816,743,712,674,661,633.654961184,878,784.345038816,800.345038816,649.345038816,629.345038816,651,0.400964986169,0.00446231591055,0.0798375541364,0.999999958311,7.66685200055e-05,-0.000274884910388,4.40334503238e-05,1793195764248823296 +55,0.916666667,BASELINE,764.923333528,743,712,674,661,633.076666472,878,784.923333528,800.923333528,649.923333528,629.923333528,651,0.40096507366,0.00446387014398,0.0798376028158,0.999999958074,8.067348427e-05,-0.000274665589215,4.36241082964e-05,1793195764265489920 +56,0.933333333,BASELINE,764.501941902,743,712,674,660.501941902,633,878,784.501941902,800.501941902,649.501941902,629.501941902,651,0.400964384484,0.00446265025234,0.079837637635,0.99999995811,7.88486453288e-05,-0.000275020196034,4.38865724613e-05,1793195764282156800 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+60,1.000000000,BASELINE,765,742.828022209,712,674.171977791,660.828022209,633.828022209,877.828022209,783.828022209,800.828022209,649.828022209,629,651,0.400965877359,0.00446012069166,0.0798376691838,0.999999958539,7.53531421023e-05,-0.000274282379069,4.48570518594e-05,1793195764348824064 +61,1.016666667,BASELINE,764.595530378,743,712,674,661,633.595530378,878,784,800.595530378,650,629,651,0.400965918052,0.00446034958836,0.0798375449992,0.99999995866,7.40670856184e-05,-0.000274256548362,4.44570523881e-05,1793195764365490432 +62,1.033333333,BASELINE,764.020384494,743,712,674,661,633.020384494,878,784,800.020384494,650,629,651,0.400966062756,0.00446114919128,0.0798376686144,0.999999958882,7.26114770771e-05,-0.000273949408754,4.37606052573e-05,1793195764382156800 +63,1.050000000,BASELINE,764.566396054,743,712,674,660.433603946,633,878.566396054,784,800,649.433603946,629,651,0.400965668443,0.00446212689831,0.0798377664139,0.999999958894,7.23493729309e-05,-0.000274005539257,4.35637201228e-05,1793195764398823168 +64,1.066666667,BASELINE,764.848370308,743,712,674.151629692,660.151629692,633,878.848370308,784,800,649.151629692,629,651,0.400965604111,0.00446289343474,0.0798379323742,0.999999958951,7.27988169536e-05,-0.000273690595301,4.34854063868e-05,1793195764415490048 +65,1.083333333,BASELINE,764.268710228,743,712,674.731289772,660.731289772,633,878.268710228,784,800,649.731289772,629,651,0.400966527181,0.00446304539082,0.0798382934213,0.999999959152,7.51330700984e-05,-0.000272290477412,4.36899867554e-05,1793195764432156672 +66,1.100000000,BASELINE,764.308439491,743,712,674.691560509,661,633,878,784,800,649.691560509,629,651,0.400966219239,0.00446255128791,0.0798379654247,0.999999958987,7.52052749743e-05,-0.000272859764053,4.37950572059e-05,1793195764448823552 +67,1.116666667,BASELINE,764.883419829,743,712,674.116580171,661,633,878,784,800,649.116580171,629,651,0.400964847506,0.00446149888712,0.0798370419846,0.999999958504,7.33227097356e-05,-0.000275130929959,4.38141352271e-05,1793195764465490432 +68,1.133333333,BASELINE,765,743,712,674,661,633,878.459182406,784,800,649.459182406,629,650.540817594,0.400966349771,0.00446253647378,0.079838189701,0.999999959049,7.42428246026e-05,-0.000272907694233,4.37239902001e-05,1793195764482157056 +69,1.150000000,BASELINE,765,743,712,674,661,633,878.963954438,784,800.036045562,650,629,650,0.400968229743,0.00446401472942,0.07983961996,0.999999959712,7.58811095471e-05,-0.000270024997454,4.36326268147e-05,1793195764498823680 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+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,678,657.908596649,632,880.908596649,783,801,650,629,650,0.451096187047,0.00463357303524,0.0797647057232,0.999999931135,0.000123114112482,-0.000345288362078,-5.78769394404e-05,1793195774833980928 +271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711.47941383,678.47941383,657.52058617,632,880.52058617,783,801,649.52058617,629,650,0.451095212129,0.00463304233469,0.0797636922191,0.999999930847,0.000121974794722,-0.000346432793144,-5.8407977227e-05,1793195774850647040 +272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711.949005347,679,657,631.949005347,879.949005347,783,801,649.050994653,629.050994653,650,0.451094381934,0.00463265352193,0.0797628172581,0.999999930643,0.000120856761161,-0.00034730908364,-5.90203288265e-05,1793195774867312896 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+401,6.683333333,pose2_to_pose3_retreat,0.578252407111,0.0100014242362,1.07001170574,0.548823638643,0.0186750784598,1.06966123075 +402,6.700000000,pose2_to_pose3_retreat,0.578252315284,0.0100014015113,1.07001169964,0.548823547203,0.0186750570863,1.06966122563 +403,6.716666667,pose2_to_pose3_retreat,0.578252252186,0.0100013477917,1.07001168548,0.548823485104,0.018675006862,1.06966121409 +404,6.733333333,pose2_to_pose3_retreat,0.578252213671,0.0100013150016,1.07001167684,0.548823447199,0.0186749762053,1.06966120705 +405,6.750000000,pose2_to_pose3_retreat,0.578252205872,0.0100013077549,1.0700116747,0.548823439545,0.0186749694686,1.06966120534 +406,6.766666667,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213829,1.06966118707 diff --git a/Obstacle_avoidance/ball_0030_17.5/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0030_17.5/position_12/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..1cbeb03a7c2bf231ee711693a9c5f9f72f5d65ca --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_12/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dadb153d987165868902c2f1f63deb565abaeee94d324bedcce2dc5e8f9ad95 +size 25916781 diff --git a/Obstacle_avoidance/ball_0030_17.5/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0030_17.5/position_12/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..0ed9c15def8ceb936412c55f276d559098462edb --- /dev/null +++ b/Obstacle_avoidance/ball_0030_17.5/position_12/depth_05/franka_data.csv @@ -0,0 +1,410 @@ +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/ball_0030_20/position_01/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..d3b6388c6ad0dccc9e4bff816b1526af34ff232b --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_01/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:683f3f93ae0c4bbd7ea22ad9f882a84d383ad87cc3544ef1d4c75987da5b4d91 +size 24631187 diff --git a/Obstacle_avoidance/ball_0030_20/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_01/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..902efe719452e14591607ed5889204b9f7b19c54 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_01/depth_01/franka_data.csv @@ -0,0 +1,390 @@ 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+54,0.900000000,BASELINE,763,739.655744137,714,670,669,631.655744137,877.655744137,781.655744137,798.655744137,650,626,649,0.400949058771,-0.00538759491471,0.0598413476777,0.999999943695,0.000199340694986,-0.000269227729153,1.97286034984e-05,1793189209014122752 +55,0.916666667,BASELINE,763,739.080640451,714,670,669,631.080640451,877.080640451,781.080640451,798.080640451,650,626,649,0.400949318801,-0.00538736369952,0.0598410303498,0.999999943344,0.000200985833459,-0.000269280701514,2.01304939584e-05,1793189209030789376 +56,0.933333333,BASELINE,763.493449035,739,714,669.506550965,669,631,876.506550965,781.493449035,797.506550965,650,626.493449035,649,0.400950313204,-0.00538857934172,0.0598421841048,0.999999944229,0.000199007296539,-0.000267437606298,2.03965280164e-05,1793189209047456512 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+66,1.100000000,BASELINE,763,739.312619279,714,669.312619279,669,632,877.312619279,782,798,650,626,649,0.400951065276,-0.00538638998281,0.0598432815895,0.999999944041,0.000201671669042,-0.00026617434179,1.9960344147e-05,1793189209214123008 +67,1.116666667,BASELINE,763,739.889085126,714,669.889085126,669,632,877.889085126,782,798,650,626,649,0.40095146707,-0.00538607790896,0.059843331589,0.99999994417,0.000201932695399,-0.000265502309043,1.98114293757e-05,1793189209230789888 +68,1.133333333,BASELINE,763.463132037,739.536867963,714,670,669.463132037,632,877.073735926,781.536867963,798,650,626,649,0.400951200361,-0.00538630961306,0.0598432718633,0.999999944439,0.000200901623131,-0.000265276820926,1.97235626205e-05,1793189209247456256 +69,1.150000000,BASELINE,764,739,714,670,669.962454025,631.962454025,876.037545975,781.037545975,798,650,626,649,0.400950651796,-0.00538660858612,0.0598431049261,0.99999994464,0.000199754944718,-0.000265387488094,1.96661552243e-05,1793189209264122624 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a/Obstacle_avoidance/ball_0030_20/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0030_20/position_01/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..e908de7ca0b003b783f5a4ee768da54daddfca47 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_01/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d4bd780f9353b60223a9f487242106e477ba81cf52144abaca1d99f23939a6a +size 25209787 diff --git a/Obstacle_avoidance/ball_0030_20/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_01/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..426257f5bf77cb6d588b4187cb425e31c44402ae --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_01/depth_04/franka_data.csv @@ -0,0 +1,399 @@ 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0000000000000000000000000000000000000000..8176d9951867fc0e2fcf39ef88e3228a38ccc06e --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_02/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 +0,0.000000000,BASELINE,764,740,715,669,669,632,876,782,798,650,626,649,0.400927912324,-0.00544822671523,0.0499162464214,0.9999999727,1.13541450157e-05,-0.00023066718104,-3.55605471917e-05,1793189236434135040 +1,0.016666667,BASELINE,764,740,714.423423352,669.576576648,669,632,876.576576648,782,798,650,626,649,0.400929002005,-0.00545015405779,0.0499165347844,0.999999973092,1.00794176825e-05,-0.000229085896338,-3.51344041646e-05,1793189236450801920 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b/Obstacle_avoidance/ball_0030_20/position_02/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c093b17077ef2bf234fd717dacedcf08247f7d4aa4b46e75999b85153310e22d +size 25244159 diff --git a/Obstacle_avoidance/ball_0030_20/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_02/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..46aadf0f698bcc68e3c6ab15043bd4ab391acd62 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_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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sha256:2ec7d158e724f3954044834a12c172a5d411829f231d5f2c631dfabccf78307a +size 24758769 diff --git a/Obstacle_avoidance/ball_0030_20/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_03/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..3c17d5f0b0aa5128694ca67f974a0b5161da1eb4 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_03/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 +0,0.000000000,BASELINE,764,740,714,670,669,632,877,782,798,649,626,649,0.401000716783,-0.00550893667411,0.0698440295246,0.999999982103,5.87620601317e-05,-0.000178308190146,2.33939204435e-05,1793189271677350656 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+48,0.800000000,BASELINE,763,739.160780528,715,670,669,631,877,781.839219472,798,649,626,649,0.401001063577,-0.00551054793122,0.069846767376,0.999999982437,5.79913596688e-05,-0.000176739302944,2.29185202212e-05,1793189272477350656 +49,0.816666667,BASELINE,763,739,714.575708748,670,669.424291252,631.424291252,877,781.575708748,798,649,626,649,0.401000884451,-0.0055093060129,0.0698464910478,0.999999982411,5.88559323851e-05,-0.000176627374964,2.27536069758e-05,1793189272494017280 +50,0.833333333,BASELINE,763,739.012647813,714.012647813,669.987352187,669.987352187,631.987352187,877,781,798,649,625.987352187,648.987352187,0.401000356266,-0.00550751537095,0.0698458607947,0.999999982371,5.95290254423e-05,-0.000176659652427,2.24780192332e-05,1793189272510684160 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+49,0.816666667,BASELINE,764,739.560483688,714.560483688,670,669,631.560483688,878,782,797.439516312,649,626.560483688,649,0.40095451437,-0.00539029576565,0.0698267448555,0.999999939127,0.000208728469826,-0.000278718119277,2.22294688626e-05,1793189279186835200 +50,0.833333333,BASELINE,764,739,714,669.985249705,669,631,877.985249705,782,797.985249705,649,626,648.985249705,0.400954454777,-0.00539018556371,0.0698263273573,0.999999938973,0.000208617834682,-0.000279342630546,2.236011173e-05,1793189279203501824 +51,0.850000000,BASELINE,764,739,714,669.39363677,669,631,877.39363677,782,797.39363677,649,626,648.39363677,0.400954471186,-0.00539097601687,0.0698269643124,0.999999939487,0.000207031760348,-0.000278687611273,2.23169287351e-05,1793189279220168704 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a/Obstacle_avoidance/ball_0030_20/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0030_20/position_03/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..7dcd1830cc4e3d20a44ce44d66a58ff9f376d3ea --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_03/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e28c864230dfd7a3320ca6157a3299656f0d9b1c679b6290e9c37bf08366350e +size 25465400 diff --git a/Obstacle_avoidance/ball_0030_20/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_03/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..930226b200174439dda8c139f45cd38b0d4144d6 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_03/depth_05/franka_data.csv @@ -0,0 +1,401 @@ 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a/Obstacle_avoidance/ball_0030_20/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0030_20/position_04/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..0e094e48ad2cb913ed7323dc63170833045625f4 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_04/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8df7ebc0e9d7b558602935cca8aeef838a4c31e0a9441c07989ed3d9f67b993e +size 24614405 diff --git a/Obstacle_avoidance/ball_0030_20/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_04/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5d90417de938dc06e6f65299a2b9f35fffc75324 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_04/depth_01/franka_data.csv @@ -0,0 +1,390 @@ 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+43,0.716666667,BASELINE,764,739,715,670,669,632,877.044813354,781.955186646,798,649.044813354,626,649,0.401009504355,-0.00551000387718,0.0798583338581,0.999999983611,6.9703587483e-05,-0.000164083172225,3.15723588937e-05,1793189307463907328 +44,0.733333333,BASELINE,763.453267714,739,715,670,669,632,877.546732286,781.453267714,798,649.546732286,626,649,0.401008648622,-0.00550955229026,0.0798575875094,0.999999983425,7.04110525423e-05,-0.000164939503685,3.14046720226e-05,1793189307480573952 +45,0.750000000,BASELINE,763,739,714.863975192,670,669,631.863975192,878,781.136024808,798,650,626,649,0.401007782802,-0.00550902691222,0.0798567939346,0.999999983185,7.11655292748e-05,-0.000166112353012,3.11667965204e-05,1793189307497240832 +46,0.766666667,BASELINE,763,739,714.286994905,670,669,631.286994905,878,781.713005095,798,650,626,649,0.401006952947,-0.00550857545766,0.0798559918808,0.999999982838,7.15709623305e-05,-0.000168089078847,3.07869132915e-05,1793189307513907456 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+57,0.950000000,BASELINE,763,740,714.901779193,670,669,632,877,781.098220807,799,649,626,649,0.401008177853,-0.0055086510985,0.0798585239129,0.999999983496,7.12393765126e-05,-0.000164275729535,3.07620464213e-05,1793189307697240832 +58,0.966666667,BASELINE,763,740,714.322588737,670,669,632,877,781.677411263,799,649,626,649,0.401007154218,-0.00550854534109,0.0798568083746,0.999999983161,7.15228653128e-05,-0.000166250380181,3.0378614395e-05,1793189307713907456 +59,0.983333333,BASELINE,763,740,714,670.255858112,669,631.744141888,877.511716224,781.744141888,798.744141888,649,626,649,0.401007230378,-0.00550795697989,0.0798562940696,0.999999983015,7.25316454917e-05,-0.000166681365711,3.04541269946e-05,1793189307730574080 +60,1.000000000,BASELINE,763,740,714,670.833370207,669,631.166629793,878.666740415,781.166629793,798.166629793,649,626,649,0.401008689153,-0.00550676190963,0.0798572899039,0.999999983104,7.44522313139e-05,-0.000165171721102,3.11066052893e-05,1793189307747240704 +61,1.016666667,BASELINE,763,740,714.408128189,670.591871811,669,631.408128189,878.183743623,781,798,649,626,649,0.401008683371,-0.00550666884558,0.0798571980628,0.999999983043,7.39681194901e-05,-0.00016577977237,3.09822630463e-05,1793189307763907328 +62,1.033333333,BASELINE,763,740,714.981769228,670.018230772,669,631.981769228,877.036461544,781,798,649,626,649,0.40100808365,-0.00550702269067,0.0798566651242,0.999999982919,7.25088032556e-05,-0.000167246636942,3.05428879257e-05,1793189307780573696 +63,1.050000000,BASELINE,763.571507665,739.428492335,714.428492335,670,669,631.428492335,877.571507665,781.571507665,798,649,626,649,0.401008817058,-0.00550825482846,0.079857959154,0.999999983251,7.25416632878e-05,-0.000165162065726,3.09224817103e-05,1793189307797240832 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b/Obstacle_avoidance/ball_0030_20/position_04/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4997f370df6a5aca9ca0161307b274b39bc83b876b1bfd58d1044e78e450e3d +size 24924439 diff --git a/Obstacle_avoidance/ball_0030_20/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_04/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..16052153200b9d50494a5f83f4fa736c2c179a25 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_04/depth_02/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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+22,0.366666667,BASELINE,763.777417251,739,714,671,669.222582749,632,878,781,798.777417251,649.777417251,626,649,0.400952242674,-0.00549006674623,0.0798323256861,0.999999953846,9.23051047806e-05,-0.0002874266295,3.42492109531e-05,1793189313805714688 +23,0.383333333,BASELINE,764,739.343416782,714,670.656583218,669,632,878,781,798.656583218,650,626,649,0.400953381079,-0.00549141898214,0.0798333252697,0.999999954425,9.02442647763e-05,-0.000286046366854,3.44114702815e-05,1793189313822381056 +24,0.400000000,BASELINE,764,739.898921798,714,670.101078202,669,632,878,781,798.101078202,650,626,649,0.400956364835,-0.00549314815658,0.0798352478772,0.999999955614,8.61833623443e-05,-0.000283139135688,3.42968040086e-05,1793189313839047680 +25,0.416666667,BASELINE,764,739.511298663,714,670.488701337,669,632,877.511298663,781,798,650,626,649,0.400956397398,-0.00549255869054,0.0798351793549,0.999999955446,8.85568976231e-05,-0.000282988352659,3.4404064769e-05,1793189313855714560 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+30,0.500000000,BASELINE,763,739.413097487,714,671,669,631,877.413097487,781,797.826194973,650,626,649,0.400955475616,-0.00548979575291,0.0798349832464,0.999999954836,9.42423303079e-05,-0.0002832658889,3.47385411898e-05,1793189313939047680 +31,0.516666667,BASELINE,763,739.98749365,714,671,669,631,877.98749365,781,798.974987299,650,626,649,0.400955378722,-0.00548984203756,0.079835591052,0.99999995473,9.40425621742e-05,-0.000283720477799,3.4613179042e-05,1793189313955714560 +32,0.533333333,BASELINE,763,739.424546742,714.575453258,670.424546742,669,631,878,781,798.424546742,649.424546742,626,649,0.400954726261,-0.0054899941249,0.0798341367699,0.999999954171,9.45769324924e-05,-0.000285513439832,3.45813318342e-05,1793189313972381184 +33,0.550000000,BASELINE,763,739,714.83874885,670.16125115,669,631.16125115,878,781,798,649,626,649,0.400954447795,-0.00548994985648,0.0798333034145,0.999999953876,9.48585195885e-05,-0.000286461206802,3.44851356641e-05,1793189313989048064 +34,0.566666667,BASELINE,763,739,714.259339704,670.740660296,669,631.740660296,878,781,798,649,626,649,0.400955171245,-0.00548939028963,0.0798341992735,0.999999954303,9.44422132076e-05,-0.00028513995646,3.4216671598e-05,1793189314005714688 +35,0.583333333,BASELINE,763,739,714,670.680260349,669,631.680260349,878,781,798.319739651,649.319739651,626,649,0.400956972478,-0.00548882740736,0.0798357256119,0.999999955002,9.4468004103e-05,-0.000282676872054,3.41367655114e-05,1793189314022381056 +36,0.600000000,BASELINE,763,739,714,670.101448146,669,631.101448146,878,781,798.898551854,649.898551854,626,649,0.400959646997,-0.00548826183867,0.0798377628031,0.999999955915,9.48520091085e-05,-0.000279288603958,3.42096405613e-05,1793189314039047680 +37,0.616666667,BASELINE,763,739,714.472387781,670.472387781,669,631.472387781,878,781,798.527612219,649.527612219,626,649,0.400959580248,-0.00548949792248,0.0798370305564,0.999999956052,9.24542248486e-05,-0.000279608810813,3.41604121689e-05,1793189314055714560 +38,0.633333333,BASELINE,763,739,715,671,669.046465438,632,878.046465438,781,798,649.046465438,626,649,0.400958771499,-0.00549096905966,0.0798357525205,0.999999955956,8.99051294401e-05,-0.000280785573696,3.41184200387e-05,1793189314072381184 +39,0.650000000,BASELINE,763,739,715,671,669.635721127,632,878.635721127,781,798,649.635721127,626,649,0.400956100323,-0.00549071331955,0.0798349740411,0.999999955151,9.2494382266e-05,-0.000282761834195,3.44640856935e-05,1793189314089047808 +40,0.666666667,BASELINE,763.221268753,739,715,670.778731247,669.778731247,632,878.778731247,781.221268753,798,649.778731247,626,649,0.400954948202,-0.00549041555683,0.0798345347285,0.999999954779,9.34671585679e-05,-0.000283751460409,3.45223392148e-05,1793189314105714432 +41,0.683333333,BASELINE,763.800812309,739,715,670.199187691,669.199187691,632,878.199187691,781.800812309,798,649.199187691,626,649,0.400956255711,-0.0054900497518,0.0798346445894,0.999999955117,9.18225619549e-05,-0.00028314354416,3.41152196172e-05,1793189314122381056 +42,0.700000000,BASELINE,764,739.376363341,715,670,669,631.623636659,878,782,798,649,626,649,0.400957061896,-0.00549028253706,0.0798351412728,0.999999955401,9.19818235715e-05,-0.000282109372158,3.39474941169e-05,1793189314139047680 +43,0.716666667,BASELINE,764,739.94982352,715,670,669,631.05017648,878,782,798,649,626,649,0.400957605543,-0.00549082879668,0.0798358405304,0.999999955654,9.30857435336e-05,-0.000280851975299,3.39051363639e-05,1793189314155714304 +44,0.733333333,BASELINE,763.463236059,739.463236059,714.463236059,670,669,631.536763941,878,781.463236059,798,649.536763941,626,649,0.400956926627,-0.00549084282238,0.0798353816582,0.999999955485,9.23475559724e-05,-0.000281681893685,3.40247875183e-05,1793189314172381184 +45,0.750000000,BASELINE,763.123725394,739,714.123725394,670.123725394,669.123725394,632,878,781,798,650,626,648.876274606,0.400956104215,-0.0054907850951,0.0798348469017,0.999999955274,9.16898983279e-05,-0.000282640385462,3.40629690898e-05,1793189314189047808 +46,0.766666667,BASELINE,763.705974339,739,714.705974339,670.705974339,669.705974339,632,878,781,798,650,626,648.294025661,0.400955184457,-0.00549065058637,0.0798344424704,0.999999955061,9.19852901538e-05,-0.000283333623466,3.37416550528e-05,1793189314205714688 +47,0.783333333,BASELINE,763.715246245,739.284753755,715,671,669.715246245,631.715246245,878.284753755,781,798,650,626,648.284753755,0.400954916627,-0.00549131631359,0.0798345570855,0.999999954929,9.12728222098e-05,-0.000284028228433,3.37621765798e-05,1793189314222381056 +48,0.800000000,BASELINE,763.140006135,739.859993865,715,671,669.140006135,631.140006135,878.859993865,781,798,650,626,648.859993865,0.40095531385,-0.00549279838695,0.0798352011964,0.999999954876,8.95322045159e-05,-0.000284724227965,3.41314153917e-05,1793189314239047680 +49,0.816666667,BASELINE,763,739.565235236,714.565235236,671,669,631,878.565235236,781,798,650,626,649,0.400955669103,-0.00549187258103,0.0798352953839,0.999999955006,8.95637862467e-05,-0.000284264953119,3.40662001849e-05,1793189314255714560 +50,0.833333333,BASELINE,763.009653257,739,714.009653257,671,669,631,878,781,798.009653257,649.990346743,626,649,0.400955985011,-0.00549020375551,0.0798352015769,0.999999955182,9.01856048072e-05,-0.000283469251489,3.38641843226e-05,1793189314272380928 +51,0.850000000,BASELINE,763.60071727,739,714.60071727,671,669,631,878,781,798.60071727,649.39928273,626,649,0.400954744348,-0.00549043500655,0.0798344395218,0.99999995464,9.20213772427e-05,-0.000284793748981,3.38401206911e-05,1793189314289047808 +52,0.866666667,BASELINE,763.811967074,739.188032926,714.811967074,670.811967074,669,631.188032926,878,781,798.811967074,649.188032926,626,649,0.400954279289,-0.00549051834049,0.0798340469694,0.999999954397,9.31628764838e-05,-0.000285279171782,3.38024475038e-05,1793189314305714432 +53,0.883333333,BASELINE,763.232455417,739.767544583,714.232455417,670.232455417,669,631.767544583,878,781,798.232455417,649.767544583,626,649,0.400955429016,-0.00549029371558,0.0798344237098,0.999999954787,9.28589203211e-05,-0.00028401766698,3.37364396446e-05,1793189314322381056 +54,0.900000000,BASELINE,763,739.655675956,714.344324044,670.344324044,669,632,878,781,798,650,626,649,0.400955691029,-0.00549015704253,0.0798348838705,0.999999955102,9.23657102856e-05,-0.000283053452248,3.3836537089e-05,1793189314339047680 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+19,0.316666667,BASELINE,763.024303883,739,714.024303883,670.024303883,669,631.975696117,877.024303883,781,797.024303883,649.975696117,626,649,0.400957742582,-0.00548827148991,0.0798374760141,0.999999955948,9.04473930591e-05,-0.000280799925013,3.27875122342e-05,1793189320476749056 +20,0.333333333,BASELINE,763.616833797,739,714.616833797,670.616833797,669,631.383166203,877.616833797,781,797.616833797,649.383166203,626,649,0.400957758417,-0.00548912415637,0.079836871987,0.999999955897,8.91684336521e-05,-0.000281387690893,3.28143055863e-05,1793189320493415680 +21,0.350000000,BASELINE,763.796728753,739.203271247,714.796728753,671,669,631.203271247,878,781,798,649,625.796728753,649,0.400958284267,-0.00548926390883,0.0798370354223,0.999999956077,8.84773246216e-05,-0.000280961010732,3.28440198797e-05,1793189320510082048 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+26,0.433333333,BASELINE,763,739,714.89733513,671,669,631,878.10266487,781,798,649.10266487,626,649,0.400957979331,-0.00548641089766,0.0798371579535,0.999999955582,9.29538073035e-05,-0.000281282989218,3.27932835049e-05,1793189320593414656 +27,0.450000000,BASELINE,763,739,714.341537013,671,669,631,878.658462987,781,798,649.658462987,626,649,0.400957320341,-0.00548772540229,0.0798369599015,0.99999995554,9.17085224444e-05,-0.000281807184104,3.30736564159e-05,1793189320610081536 +28,0.466666667,BASELINE,763,739.231422742,714,671,669.231422742,631.231422742,879,781,798,649.768577258,626,649,0.400957282846,-0.0054875516512,0.0798369606912,0.999999955509,9.22704763242e-05,-0.000281728756684,3.31178714051e-05,1793189320626748416 +29,0.483333333,BASELINE,763,739.831738498,714,671,669.831738498,631.831738498,879,781,798,649.168261502,626,649,0.400958236027,-0.00548500558722,0.0798372784392,0.999999955489,9.57132091541e-05,-0.000280689735829,3.27856453802e-05,1793189320643414784 +30,0.500000000,BASELINE,763,740,714.422333885,671,669.577666115,631.577666115,878.577666115,781,798,649.422333885,626,649,0.400957804083,-0.00548641596898,0.0798367950231,0.999999955635,9.2474725749e-05,-0.000281292892533,3.2433565061e-05,1793189320660081408 +31,0.516666667,BASELINE,763,739.990979881,715,671,669.009020119,631,878,781,798,650,626,648.990979881,0.400956864033,-0.00548932084699,0.0798360269238,0.999999955822,8.67469057354e-05,-0.000282493529061,3.20816810773e-05,1793189320676747776 +32,0.533333333,BASELINE,763,739.412101411,715,671,669.587898589,631,878,781,798,650,626,648.412101411,0.400957902999,-0.00548929921243,0.0798369852074,0.999999956106,8.81347385316e-05,-0.00028103706345,3.22306902899e-05,1793189320693414400 +33,0.550000000,BASELINE,763,739,714.833747119,671,669.833747119,631,878,781,798,650,626,648.166252881,0.400958443442,-0.00548954961174,0.0798376472802,0.999999956287,8.88401268356e-05,-0.00028014044517,3.24820338079e-05,1793189320710081024 +34,0.566666667,BASELINE,763,739,714.256688142,671,669.256688142,631,878,781,798,650,626,648.743311858,0.400957752045,-0.00549047219898,0.0798375774243,0.999999956221,8.78592141835e-05,-0.000280627193786,3.29862424345e-05,1793189320726747648 +35,0.583333333,BASELINE,763,739,714,671,669,631,878,781,798,649.67971797,626,649,0.400957933173,-0.00548933328436,0.0798378506826,0.999999956201,8.86815265937e-05,-0.000280429977334,3.30602685644e-05,1793189320743414528 +36,0.600000000,BASELINE,763,739,714,671,669,631,878,781,798,649.102818887,626,649,0.400958813385,-0.00548654264892,0.0798383988516,0.999999956215,9.09486227344e-05,-0.000279684752981,3.27896230093e-05,1793189320760081152 +37,0.616666667,BASELINE,763.479931639,739,714,671,669,631,878,781,798,649.479931639,626,649,0.400958627519,-0.00548680311187,0.0798380563332,0.999999956055,9.18911043639e-05,-0.000279948865181,3.27946982144e-05,1793189320776748032 +38,0.633333333,BASELINE,763.936168564,739,714.063831436,671,669,631.063831436,878,781,798,650,626,649,0.400958241685,-0.00548765437192,0.0798375293024,0.999999955898,9.21937118378e-05,-0.000280403639436,3.28249000364e-05,1793189320793414656 +39,0.650000000,BASELINE,763.353242643,739,714.646757357,671,669,631.646757357,878,781,798,650,626,649,0.400958109945,-0.00548792883069,0.0798370727011,0.999999956077,8.962895672e-05,-0.000280628728932,3.25731404807e-05,1793189320810081024 +40,0.666666667,BASELINE,763,739,714.773174066,670.773174066,669,631.773174066,878,781,798,650,626,649,0.400958417709,-0.00548754992369,0.0798374773705,0.999999956323,8.8847065612e-05,-0.000280013992029,3.2433108236e-05,1793189320826747648 +41,0.683333333,BASELINE,763,739,714.19749999,670.19749999,669,631.19749999,878,781,798,650,626,649,0.40095940141,-0.00548616616933,0.0798392066358,0.999999956678,9.0807139767e-05,-0.00027810763967,3.2464907614e-05,1793189320843414528 +42,0.700000000,BASELINE,763,739,714.377537974,670,669,631.377537974,878.377537974,781,798,650,626,649,0.400959646315,-0.00548697532844,0.0798393057835,0.999999956839,8.94263822181e-05,-0.000277973613008,3.24824707217e-05,1793189320860081152 +43,0.716666667,BASELINE,763,739,714.952243713,670,669,631.952243713,878.952243713,781,798,650,626,649,0.400959505387,-0.00548892972829,0.0798385536084,0.999999956893,8.63008880074e-05,-0.000278765176731,3.24925989906e-05,1793189320876748032 +44,0.733333333,BASELINE,763.541865986,739,715,670,669,631.458134014,878.458134014,781,798,649.458134014,626,649,0.400959534167,-0.00548845221941,0.0798386298275,0.999999956832,8.81262938479e-05,-0.000278375644139,3.28290518812e-05,1793189320893414656 +45,0.750000000,BASELINE,763.869809099,739.130190901,714.869809099,670,669,631,878,781,797.869809099,649,626.130190901,649,0.400959907073,-0.00548810925685,0.0798391261103,0.999999956959,8.97200103965e-05,-0.000277369610337,3.31305561371e-05,1793189320910081024 +46,0.766666667,BASELINE,763.290620816,739.709379184,714.290620816,670,669,631,878,781,797.290620816,649,626.709379184,649,0.40096141375,-0.00548899041494,0.0798408121746,0.999999957787,8.89672627007e-05,-0.000274606567085,3.32095368024e-05,1793189320926747648 +47,0.783333333,BASELINE,763,739.712718968,714,670.287281032,669.287281032,631.287281032,878,781.287281032,797.287281032,649.287281032,626.712718968,649,0.400961247765,-0.00548886982485,0.0798408831115,0.999999957703,8.92615690262e-05,-0.000274834451291,3.30392598051e-05,1793189320943414528 +48,0.800000000,BASELINE,763,739.136112638,714,670.863887362,669.863887362,631.863887362,878,781.863887362,797.863887362,649.863887362,626.136112638,649,0.400959397215,-0.00548774035835,0.0798393274283,0.9999999567,9.06103800218e-05,-0.000278074545785,3.26179514601e-05,1793189320960081152 +49,0.816666667,BASELINE,763.437058929,739.437058929,714,670.562941071,669.562941071,632,878,781.562941071,797.562941071,649.562941071,626,649,0.400958405358,-0.00548716901881,0.0798391448312,0.999999956397,9.11128124188e-05,-0.000278995785908,3.26467094003e-05,1793189320976747776 +50,0.833333333,BASELINE,764,740,714.009449909,670,669.009449909,631.990550091,878,781,797.009449909,649,626,649,0.400957676765,-0.00548675976632,0.0798393559048,0.999999956302,9.13962960873e-05,-0.000279224578152,3.28117531661e-05,1793189320993414144 +51,0.850000000,BASELINE,764,740,714.599080106,670,669.599080106,631.400919894,878,781,797.599080106,649,626,649,0.400956820856,-0.00548571357916,0.0798376874616,0.999999955555,9.42941428961e-05,-0.000280931683622,3.28058271658e-05,1793189321010081024 +52,0.866666667,BASELINE,764,739.814417547,715,670.185582453,669.814417547,631,878,781,798,649.185582453,626,649,0.400956775176,-0.00548516759969,0.0798370165329,0.999999955297,9.52991226267e-05,-0.000281520306484,3.27106914286e-05,1793189321026747648 +53,0.883333333,BASELINE,764,739.234560434,715,670.765439566,669.234560434,631,878,781,798,649.765439566,626,649,0.400958450849,-0.00548568432428,0.0798384648491,0.999999956091,9.22826577469e-05,-0.000279732684387,3.24260273285e-05,1793189321043414272 +54,0.900000000,BASELINE,763.65707105,739,714.65707105,671,669,631.34292895,878,781,797.65707105,650,626,649,0.400958855533,-0.005486394983,0.079838558439,0.999999956342,9.0515561731e-05,-0.000279410235237,3.24608727288e-05,1793189321060081152 +55,0.916666667,BASELINE,763.081190092,739,714.081190092,671,669,631.918809908,878,781,797.081190092,650,626,649,0.400958396833,-0.00548723738138,0.0798377317618,0.999999956228,8.95971634694e-05,-0.000280083079743,3.27127612926e-05,1793189321076748032 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0000000000000000000000000000000000000000..1d3b7fc65eca8f966332ce860f31e4ef6cefe263 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_04/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68908621078548987120d6d8c78ce4042695523d8f62d0a8026925e149c4191e +size 25124662 diff --git a/Obstacle_avoidance/ball_0030_20/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_04/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9d48dd7f19f4c3eaf648e127d432bbdd7556c7a0 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_04/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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+53,0.883333333,BASELINE,763.22572119,739.22572119,714,671,669,631.77427881,878,781,798,650,626,649,0.400955669664,-0.00548876682288,0.0798369366222,0.999999955205,9.39261322941e-05,-0.00028237584261,3.21312787841e-05,1793189327850479616 +54,0.900000000,BASELINE,763.349059258,739,714,670.650940742,669,632,878,781,798,650,626,649,0.400955266158,-0.00548802662333,0.0798368748165,0.999999955148,9.44661907306e-05,-0.000282402309086,3.20898809844e-05,1793189327867146240 +55,0.916666667,BASELINE,763.921995692,739,714,670.078004308,669,632,878,781,798,650,626,649,0.400955487764,-0.00548713531832,0.0798371851802,0.99999995539,9.44280311242e-05,-0.000281579655648,3.18707653441e-05,1793189327883812864 +56,0.933333333,BASELINE,763.49007906,739,714,670.50992094,669,632,878,781,798,649.49007906,626,649,0.400956759956,-0.00548794785061,0.0798378645895,0.999999955821,9.28115983101e-05,-0.000280578778506,3.19226825058e-05,1793189327900480000 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+68,1.133333333,BASELINE,763.474140929,739,715,670.474140929,669,632,877.474140929,781,798,649,625.525859071,649,0.400957031297,-0.00548897356048,0.0798375715356,0.999999955829,9.20334875892e-05,-0.000280879698803,3.1273038423e-05,1793189328100479744 +69,1.150000000,BASELINE,764,739,715,671,669,632,878,781,798,649.060569533,625.060569533,649,0.40095714794,-0.0054886932182,0.0798370862801,0.999999955772,9.1684068076e-05,-0.000281196721963,3.12944382707e-05,1793189328117146368 +70,1.166666667,BASELINE,764,739,715,671,669,632,878,781,798,649.639877841,625.639877841,649,0.400956759404,-0.00548913860837,0.0798372221897,0.999999955654,9.2400628659e-05,-0.000281359723456,3.14697119827e-05,1793189328133812992 +71,1.183333333,BASELINE,764,739,715,671,669,631.781742979,877.781742979,781,798,649.781742979,626,649,0.400956780126,-0.00548924173942,0.0798374326598,0.999999955644,9.30761146744e-05,-0.000281168628343,3.15074792715e-05,1793189328150479616 +72,1.200000000,BASELINE,764,739,715,671,669,631.20489026,877.20489026,781,798,649.20489026,626,649,0.400957473257,-0.00548878253971,0.0798377656325,0.99999995581,9.36841153994e-05,-0.00028039575349,3.1319323906e-05,1793189328167146240 +73,1.216666667,BASELINE,764,739,714.622898186,670.622898186,669,631,877.377101814,781,797.622898186,649.377101814,626,649,0.400957403768,-0.00548878476923,0.0798378189258,0.999999955832,9.42531739462e-05,-0.000280123243727,3.13621713006e-05,1793189328183813120 +74,1.233333333,BASELINE,764,739,714.038075206,670.038075206,669,631,877.961924794,781,797.038075206,649.961924794,626,649,0.4009569142,-0.0054890411705,0.0798377181616,0.999999955774,9.48007817121e-05,-0.000280126352997,3.1532263288e-05,1793189328200480256 +75,1.250000000,BASELINE,764,739.541442241,714,670.541442241,669,631.541442241,878,781,797.541442241,649.458557759,626,648.458557759,0.400957370245,-0.00548896752128,0.0798375337064,0.999999955769,9.32343080248e-05,-0.000280668415935,3.1549431878e-05,1793189328217146880 +76,1.266666667,BASELINE,763.879360188,739.879360188,714.120639812,671,669,631.879360188,878,781,798,649,626,648.120639812,0.400957659611,-0.00548917369792,0.0798374680424,0.999999955829,9.14065117085e-05,-0.000281051837241,3.15591393229e-05,1793189328233813760 +77,1.283333333,BASELINE,763.299974039,739.299974039,714.700025961,671,669,631.299974039,878,781,798,649,626,648.700025961,0.400957064759,-0.00549053134484,0.0798378762574,0.999999956135,8.91448405658e-05,-0.000280689284776,3.15809708387e-05,1793189328250479872 +78,1.300000000,BASELINE,763,739,715,670.722105278,669.277894722,631,877.722105278,781,798,649,626,649,0.400957238475,-0.00549054138602,0.0798383999804,0.999999956346,8.90626712015e-05,-0.000279963488719,3.15683477057e-05,1793189328267146496 +79,1.316666667,BASELINE,763,739,715,670.145865608,669.854134392,631,877.145865608,781,798,649,626,649,0.400958237318,-0.00548910465128,0.0798390477114,0.999999956456,9.13203929385e-05,-0.00027884771806,3.1518734411e-05,1793189328283813120 +80,1.333333333,BASELINE,763.426196155,739,714.573803845,670.426196155,669.573803845,631.426196155,877.426196155,781,797.573803845,649,626,649,0.400957355311,-0.00548712610234,0.0798382481936,0.999999955942,9.30071586203e-05,-0.000280188982834,3.09951306943e-05,1793189328300479488 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+90,1.500000000,BASELINE,763.243228121,739,714,670,669.243228121,631.243228121,878,781,797.243228121,649.243228121,626,649,0.400956820979,-0.00549156445563,0.0798376270947,0.999999956096,8.86821315729e-05,-0.000281018595351,3.11884697867e-05,1793189328467146752 +91,1.516666667,BASELINE,763.817616801,739,714,670,669.817616801,631.817616801,878,781,797.817616801,649.817616801,626,649,0.400956545047,-0.00549150447336,0.0798378765204,0.999999956106,8.89677158939e-05,-0.000280884004168,3.12532284428e-05,1793189328483813888 +92,1.533333333,BASELINE,764,739.401203649,714,670,669.598796351,631.598796351,877.598796351,781.401203649,797.598796351,649.598796351,626,649,0.400956924965,-0.00549039955287,0.0798379125625,0.999999956005,9.07907054023e-05,-0.000280651135276,3.13223009685e-05,1793189328500480768 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a/Obstacle_avoidance/ball_0030_20/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0030_20/position_05/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..4bcacdd8f53cd40f607feb97f266a70c97953ae4 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_05/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ed711df37cfde0bf17294d755a2799ea7655a9850f47e262400fdcc60701832 +size 24824606 diff --git a/Obstacle_avoidance/ball_0030_20/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_05/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2fa1a372501b210d47cfde93aa6ab5e3ba6044f3 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_05/depth_02/franka_data.csv @@ -0,0 +1,393 @@ 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0000000000000000000000000000000000000000..a8b5522db47017092ea5afd448a54763507717da --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_05/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ffabd2519a34e43c5430899cb483a5f33ee5faf1fc8d23f39231398a53786ea +size 25011339 diff --git a/Obstacle_avoidance/ball_0030_20/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_05/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..7d93717177e49328cdf27a75acb8bbb043fb50d2 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_05/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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b/Obstacle_avoidance/ball_0030_20/position_05/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbdafefd8909468adeb5728d1af3808d49d3c419dadd4710877f9386a1081445 +size 25146182 diff --git a/Obstacle_avoidance/ball_0030_20/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_05/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..765c1c783ba9580ecd4119d1e40cd705645e2941 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_05/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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0000000000000000000000000000000000000000..60e148346bcfbb28458a4c3b8b6d7a7680d6664a --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_06/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f96485f11293000c10e1d8651d6342e5b39d57fc2c2ff1aae73208962b2c4a96 +size 24568726 diff --git a/Obstacle_avoidance/ball_0030_20/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_06/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2d2d2f6a9ca4112ef2af4aeb390e54867273c281 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_06/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 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+21,0.350000000,BASELINE,763,739.824386706,714,669,669,632,876,782.175613294,798,650,625.824386706,649,0.400964816086,-0.0154200081868,0.0498503672263,0.999999955607,-0.00011636026127,-0.00026880188305,-5.47039370047e-05,1793189390877084672 +22,0.366666667,BASELINE,763,739.232205839,714,669,669,632,876,782.767794161,798,650,625.232205839,649,0.400966080128,-0.015420676374,0.0498507863735,0.999999955799,-0.000117256750625,-0.000267753921266,-5.44115758392e-05,1793189390893751040 +23,0.383333333,BASELINE,762.647966566,739.352033434,714,669.352033434,669,631.647966566,876,782.295933132,798,650,625.352033434,649,0.400966328241,-0.0154210026549,0.0498511538831,0.999999956047,-0.000116374624654,-0.000267272470785,-5.41116183751e-05,1793189390910417664 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+27,0.450000000,BASELINE,763,739.344714725,714,669.655285275,669,632,876.655285275,782,798,650,626,649,0.400963951582,-0.0154200354071,0.0498499689441,0.999999955455,-0.0001183582046,-0.000268470163153,-5.4817681762e-05,1793189390977084160 +28,0.466666667,BASELINE,763,739.236010217,714,670,669,632,877,782,798.236010217,650,626,649,0.400962963462,-0.0154213105737,0.0498493842503,0.999999955065,-0.000119086168952,-0.00026963264675,-5.46508018455e-05,1793189390993751040 +29,0.483333333,BASELINE,763,739.828244413,714,670,669,632,877,782,798.828244413,650,626,649,0.400961543567,-0.0154237742366,0.0498485437374,0.999999954438,-0.00011977071366,-0.000271743304388,-5.41672378795e-05,1793189391010417920 +30,0.500000000,BASELINE,763,740,714,670,669,632,876.588624383,782,798.588624383,650,626,649,0.400963070419,-0.0154228422407,0.0498498150309,0.999999955147,-0.000118498043263,-0.00026966520631,-5.42728267275e-05,1793189391027084544 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+37,0.616666667,BASELINE,762.526702899,739,714,669.526702899,669,631.473297101,876.526702899,782,797.526702899,650,626,649,0.400963772575,-0.0154212849471,0.0498498435377,0.999999955737,-0.000115690427248,-0.000268725093662,-5.41101959065e-05,1793189391143751424 +38,0.633333333,BASELINE,762.04825722,739.04825722,714,669,669,632,876,782,797.04825722,650,626,649,0.400963952234,-0.0154208828438,0.0498496410241,0.999999955552,-0.000116586912257,-0.000268983627639,-5.43195749798e-05,1793189391160418304 +39,0.650000000,BASELINE,762.622709371,739.622709371,714,669,669,632,876,782,797.622709371,650,626,649,0.400963301577,-0.0154212689631,0.0498492302377,0.999999955337,-0.000117150484309,-0.000269512693407,-5.44530214774e-05,1793189391177084672 +40,0.666666667,BASELINE,763,740,714,669,669,632,876.203075277,782,798,650,626,649,0.400963096508,-0.0154214459551,0.0498491432934,0.999999955336,-0.000117323253558,-0.000269437225642,-5.44701689236e-05,1793189391193751296 +41,0.683333333,BASELINE,763,740,714,669,669,632,876.79475778,782,798,650,626,649,0.400963744122,-0.0154212227585,0.0498496760573,0.999999955746,-0.000116748177957,-0.0002682049154,-5.42647651363e-05,1793189391210417664 +42,0.700000000,BASELINE,763,740,714.37713822,669,669,632,877,782,798.37713822,650.37713822,626,649,0.400964265876,-0.0154218183825,0.0498501014561,0.9999999558,-0.000117692376746,-0.000267605215865,-5.41914602405e-05,1793189391227084544 +43,0.716666667,BASELINE,763,740,714.954578224,669,669,632,877,782,798.954578224,650.954578224,626,649,0.400964720786,-0.0154228488902,0.0498504698323,0.999999955663,-0.000119443476988,-0.000267341502083,-5.41883143601e-05,1793189391243751168 +44,0.733333333,BASELINE,763,740,714.469682558,669.530317442,669,632,877,782,798.469682558,650.469682558,626.530317442,649,0.400964750812,-0.0154229253015,0.0498502407957,0.999999955576,-0.000120275336722,-0.000267281255452,-5.42517832121e-05,1793189391260417536 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+58,0.966666667,BASELINE,763,739.354590414,714,669.645409586,669.645409586,631.645409586,877,782,798,650,626.645409586,649,0.400964576729,-0.0154222739614,0.049850807616,0.999999956024,-0.000115940907152,-0.000267564732208,-5.40189254693e-05,1793189391493751040 +59,0.983333333,BASELINE,763,739.226088725,714,669.773911275,669.773911275,632,877,781.773911275,798.226088725,650,626.773911275,649,0.400964516945,-0.0154221449223,0.049851180162,0.999999956342,-0.000115008265131,-0.000266815615119,-5.38362915152e-05,1793189391510417408 +60,1.000000000,BASELINE,763,739.817202547,714,669.182797453,669.182797453,632,877,781.182797453,798.817202547,650,626.182797453,649,0.400964388693,-0.015421413596,0.0498509465534,0.999999956127,-0.000116001070923,-0.000267104544298,-5.42693315235e-05,1793189391527084032 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b/Obstacle_avoidance/ball_0030_20/position_06/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6f1c2c28241f40137387c22c4bf36d512f398f266a5a7334a35713c91c07481 +size 25201303 diff --git a/Obstacle_avoidance/ball_0030_20/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_06/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..959261d87bb3075ec2099c6544f55a4593f5272b --- /dev/null +++ b/Obstacle_avoidance/ball_0030_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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+40,0.666666667,BASELINE,763,740,714.218847933,669.218847933,669,632,877,782,798,650,626.218847933,649,0.400965864045,-0.0154205202009,0.0498506259871,0.99999995981,-8.08623180205e-05,-0.00026682917725,-5.14158399085e-05,1793189397914652416 +41,0.683333333,BASELINE,763,740,714.797814279,669.797814279,669,632,877,782,798,650,626.797814279,649,0.400965469566,-0.0154205919462,0.0498507217948,0.999999959716,-8.17540618395e-05,-0.000266946921889,-5.12154442154e-05,1793189397931319040 +42,0.700000000,BASELINE,763,740,714.625836928,669.625836928,669,632,877,782,798.374163072,649.625836928,626.625836928,649,0.400966357931,-0.0154207200843,0.04985119119,0.999999959982,-8.23045601326e-05,-0.000265787469604,-5.11788074845e-05,1793189397947985664 +43,0.716666667,BASELINE,763,740,714.050892768,669.050892768,669,632,877,782,798.949107232,649.050892768,626.050892768,649,0.400967934687,-0.0154208784836,0.0498518610575,0.999999960438,-8.26719413211e-05,-0.000263942655753,-5.12300460872e-05,1793189397964652544 +44,0.733333333,BASELINE,762.476658237,739.476658237,714,669.523341763,669,632,876.476658237,782,798.476658237,649.523341763,626,649,0.400967872006,-0.0154215072836,0.0498518472585,0.999999960526,-8.08200903057e-05,-0.000264236813999,-5.09379389545e-05,1793189397981318912 +45,0.750000000,BASELINE,762.100446311,739.100446311,714,669.899553689,669.100446311,632,876.100446311,782,798,650,626,649,0.400967624127,-0.0154216991124,0.0498517324033,0.999999960572,-7.89471461205e-05,-0.000264660031115,-5.07790975059e-05,1793189397997985024 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sha256:39e027dc8c2f00514ce2341dd01ada5f43d4c440ba9707fe0c7d711f9008a37f +size 24669014 diff --git a/Obstacle_avoidance/ball_0030_20/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_07/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2da364208e18d514d23d7073e216a68b146a8d6f --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_07/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 +0,0.000000000,BASELINE,762,739,714,669,669,631,877,781,798,649,626,648,0.400992573855,-0.0155061227317,0.069839473819,0.99999998105,5.65576330998e-05,-0.000185257217414,1.95342773803e-05,1793189412356318720 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b/Obstacle_avoidance/ball_0030_20/position_07/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc4c3544ad4053fb39106f95070712dce95e0c0dadd32d6320bceb345875f63c +size 24788811 diff --git a/Obstacle_avoidance/ball_0030_20/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_07/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..b0de72434318843db09bf130e4df1ba589a45401 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_07/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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0000000000000000000000000000000000000000..43e7494ea49759256f287168e6109e43f32b903d --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_07/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a496ee3f28117e6080b0bd9bb4847eeb7a48bd991992f29a5ad877304d4ad53 +size 25040034 diff --git a/Obstacle_avoidance/ball_0030_20/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_07/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..8b1fe7ff8b47a4ed2fc00a53471dacb7af0e1ebd --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_07/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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b/Obstacle_avoidance/ball_0030_20/position_07/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e06d1bffb63d00b18ec14a32c560ba68a20a53c1f822f5ecd9b3c14d5e07f9e +size 25299780 diff --git a/Obstacle_avoidance/ball_0030_20/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_07/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..1770768fe2db2b3279d9a8711246c9e5d7503c4e --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_07/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 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a/Obstacle_avoidance/ball_0030_20/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0030_20/position_07/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..67e1bcb2b0366146247015ad56ad0177a536fb62 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_07/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c15d3a5fdc0263f508d5e6091b4d2fb2786fcf9541654fd5da6f4192447812a2 +size 25369871 diff --git a/Obstacle_avoidance/ball_0030_20/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_07/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ec22e77067eaf6c8696c963b53440d19140b7cd7 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_07/depth_05/franka_data.csv @@ -0,0 +1,401 @@ 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sha256:c0a604e78621ab4f324f87e0232b482b42a8fe489f10cfeee97647614c4da766 +size 24698150 diff --git a/Obstacle_avoidance/ball_0030_20/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_08/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..aa2f7fb56ec39bf17fea4c8997f27ec2a742e075 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_08/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 +0,0.000000000,BASELINE,763,739,714,671,669,632,878,781,798,649,627,649,0.40103832534,-0.0155040940764,0.0798751877907,0.999999986736,8.84523949593e-05,-0.000133694438862,2.88073463585e-05,1793189447395099392 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+37,0.616666667,BASELINE,763,739,714,670,669.525871645,631.525871645,877.525871645,781,798,649,625.474128355,648,0.401034684638,-0.0155029387339,0.0798743643818,0.999999985815,9.15409627196e-05,-0.000138386270365,2.89592876843e-05,1793189448011764992 +38,0.633333333,BASELINE,763,739,714,670,669.050404567,631.050404567,877,781,798,649,625.949595433,648,0.401035389709,-0.0155046821384,0.0798750270677,0.999999985988,8.98901681623e-05,-0.000138218577374,2.89853063017e-05,1793189448028431616 +39,0.650000000,BASELINE,763,739,714,670,669.639196621,631.639196621,877,781,798,649,625.360803379,648,0.401035430118,-0.0155045385467,0.0798749524713,0.999999986238,8.89218039451e-05,-0.000137118351704,2.85689307113e-05,1793189448045098496 +40,0.666666667,BASELINE,763,739,714.224203443,670,669.775796557,632,877,781,798,649,625.224203443,648.224203443,0.401035366231,-0.0155043730954,0.0798747250891,0.999999986348,8.84431093804e-05,-0.000136661830425,2.8367639516e-05,1793189448061764864 +41,0.683333333,BASELINE,763,739,714.803219913,670,669.196780087,632,877,781,798,649,625.803219913,648.803219913,0.401035137291,-0.0155041730504,0.0798742559158,0.999999986241,8.87393412957e-05,-0.000137224003222,2.85067300293e-05,1793189448078431488 +42,0.700000000,BASELINE,763,739,714.618367577,669.618367577,669,632,877.381632423,781,798,649,626,649,0.401034745264,-0.0155039443107,0.0798738188858,0.999999986029,8.97502346048e-05,-0.000138103767145,2.85389067451e-05,1793189448095098368 +43,0.716666667,BASELINE,763,739,714.04026601,669.04026601,669,632,877.95973399,781,798,649,626,649,0.401034269279,-0.0155037007987,0.0798733984035,0.99999998576,9.11290445257e-05,-0.000139147030933,2.8516042897e-05,1793189448111765248 +44,0.733333333,BASELINE,763,739,714.533318867,669.533318867,669.533318867,631.466681133,878,781,798.533318867,649,626.533318867,649,0.401035056248,-0.0155030337983,0.0798740525148,0.999999985958,9.05181049641e-05,-0.000138214253528,2.80644596447e-05,1793189448128431872 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+66,1.100000000,BASELINE,762.69174832,739,714,670,669,631,877.69174832,781,798,649,626,648.30825168,0.40103402399,-0.0155035632758,0.0798737971626,0.999999986085,8.81407068241e-05,-0.000138813045496,2.81295610018e-05,1793189448495098112 +67,1.116666667,BASELINE,762.11385001,739,714,670,669,631,877.11385001,781,798,649,626,648.88614999,0.401031674202,-0.0155040788107,0.0798726153856,0.999999985906,8.73698864567e-05,-0.000140578832452,2.81603455065e-05,1793189448511764992 +68,1.133333333,BASELINE,762,738.537749598,714,670.462250402,669.462250402,631.462250402,877,781,798.462250402,649,626,648.537749598,0.401032358241,-0.0155036751183,0.079873175603,0.999999986064,8.69025603479e-05,-0.000139791587593,2.78895013354e-05,1793189448528431616 +69,1.150000000,BASELINE,762,738,714,670.922594405,669.961297202,632,877,781.038702798,798.961297202,649,626,648.038702798,0.401033648268,-0.0155030965993,0.0798740601684,0.999999986261,8.66900256535e-05,-0.000138568640465,2.75867882223e-05,1793189448545098496 +70,1.166666667,BASELINE,762,738,714,669.747191101,669.37359555,632,877,781.62640445,798.37359555,649,626,648.62640445,0.40103297604,-0.0155032372261,0.0798734831909,0.999999985841,8.90354974302e-05,-0.000140050216051,2.78817302628e-05,1793189448561765120 +71,1.183333333,BASELINE,762,738,714,669.210767593,669.210767593,631.789232407,877,781.789232407,798,649,626,648.789232407,0.401033228911,-0.0155036573841,0.0798735903725,0.999999985789,8.95353346744e-05,-0.000140066226009,2.80541985914e-05,1793189448578431744 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0000000000000000000000000000000000000000..e1742f6eeb07dccdfcf36877da156aa2f552a645 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_08/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b25a17d8bb95308a1445f4b3a4384b4dfcd6a9b6dba5c2662ef86f8b9c1c5f16 +size 24884976 diff --git a/Obstacle_avoidance/ball_0030_20/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_08/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d654b14a9d33bfee85d21f2ef6bdde765ea12880 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_08/depth_02/franka_data.csv @@ -0,0 +1,393 @@ +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/ball_0030_20/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0030_20/position_08/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..d1cfa3de349889e64b39c2d96da94243c08c3dfe --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_08/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de22a0dc62b251166a595c93053dd1d763e2bb4028b357adc50b90eb16a45c04 +size 25068312 diff --git a/Obstacle_avoidance/ball_0030_20/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_08/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..4f327c95214776ab21d1d36ec75d4cac5037b42a --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_08/depth_03/franka_data.csv @@ -0,0 +1,396 @@ 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+47,0.783333333,BASELINE,763,739,714,670,669,632,878,781.732581643,798.465163287,649,626,649,0.400974053005,-0.0153761905638,0.0798424484372,0.999999934499,0.000239636670507,-0.000270393862445,2.15451214909e-05,1793189461590527744 +48,0.800000000,BASELINE,763,739,714,670,669,632,878,781.141375625,797.282751249,649,626,649,0.400974116919,-0.0153778380882,0.0798428331449,0.999999935291,0.000237293891187,-0.00026950480718,2.18343167981e-05,1793189461607194368 +49,0.816666667,BASELINE,763,739,714,670,669,632,878,781.438603705,797,649,626,649,0.400975117507,-0.0153774519927,0.0798434001874,0.99999993544,0.000237783296903,-0.000268491411065,2.21674085832e-05,1793189461623860992 +50,0.833333333,BASELINE,763,739,714,670,669.014985849,632,878.014985849,782,797.014985849,649,626,649,0.400976346221,-0.0153764801065,0.0798439954552,0.999999935384,0.000239106285101,-0.000267494741529,2.25046216916e-05,1793189461640527616 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b/Obstacle_avoidance/ball_0030_20/position_08/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4090169b51123804b4f4eebfa12c01bb42324aa309241ff2483c6e5d65e4149f +size 25411490 diff --git a/Obstacle_avoidance/ball_0030_20/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_08/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d3530ea9c0ed2a60189088cbac43b8fae759e604 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_08/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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+53,0.883333333,BASELINE,763.245783483,740,714,670.245783483,668.245783483,631,877,783,797,650,626,649,0.400912937376,0.00440648166478,0.0599132917544,0.999999964882,-0.000135296196311,-0.000225477554702,-3.30348738515e-05,1793189483834273280 +54,0.900000000,BASELINE,763.339428141,740,714,670,668,631.339428141,877,783,797.339428141,650.339428141,626,649,0.400912907732,0.00440602353126,0.059913509901,0.999999964839,-0.000136411295721,-0.000224999911859,-3.29878165349e-05,1793189483850939904 +55,0.916666667,BASELINE,763.921832917,740,714,670,668,631.921832917,877,783,797.921832917,650.921832917,626,649,0.400914327611,0.00440473739263,0.0599145562873,0.999999965031,-0.000138375171833,-0.000222956131309,-3.28732073026e-05,1793189483867606272 +56,0.933333333,BASELINE,763.504630529,740,714,670.495369471,668.495369471,631.504630529,876.504630529,782.504630529,798,651,625.504630529,649,0.400912472852,0.00440551584344,0.0599129503207,0.999999964646,-0.000137386761776,-0.000225288336755,-3.28486666602e-05,1793189483884272640 +57,0.950000000,BASELINE,763,740,714,671,669,631.067779544,876.067779544,782.067779544,798.067779544,650.932220456,625.067779544,649.067779544,0.400910632889,0.00440655646047,0.0599112969721,0.99999996429,-0.000135918642295,-0.000227748563151,-3.28203939405e-05,1793189483900939008 +58,0.966666667,BASELINE,763,740,714,671,669,631.64204455,876.64204455,782.64204455,798.64204455,650.35795545,625.64204455,649.64204455,0.400912696812,0.00440716451338,0.059912362035,0.999999964891,-0.000134285790545,-0.000226096306503,-3.26598980586e-05,1793189483917606400 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+63,1.050000000,BASELINE,763,740,714,670,669,631,877,783,798,650.550773274,626,649.449226726,0.400913760983,0.00440703307655,0.0599133037963,0.999999965144,-0.000134437460352,-0.000224879752843,-3.26797924595e-05,1793189484000940032 +64,1.066666667,BASELINE,763,740,714,670.129227831,669,631.129227831,877,783,798,650.870772169,626,649,0.400913350497,0.00440804468076,0.0599128824811,0.999999965274,-0.000132944195698,-0.000225145918799,-3.29701620956e-05,1793189484017606656 +65,1.083333333,BASELINE,763,740,714,670.720559775,669,631.720559775,877,783,798,650.279440225,626,649,0.400914071889,0.00440804910991,0.0599132185865,0.999999965158,-0.000134885265595,-0.00022445387202,-3.33320525301e-05,1793189484034273024 +66,1.100000000,BASELINE,763,740,714,671,668.69512924,631.69512924,877,783,797.69512924,650,626,649,0.400914191888,0.00440829103525,0.0599134198326,0.999999965266,-0.000134510042096,-0.000224193726014,-3.33618870903e-05,1793189484050939648 +67,1.116666667,BASELINE,763,740,714,671,668.117108733,631.117108733,877,783,797.117108733,650,626,649,0.400913773067,0.00440874574594,0.0599135002512,0.999999965573,-0.000132059529426,-0.000224320542661,-3.30942153109e-05,1793189484067606784 +68,1.133333333,BASELINE,763,740,714,670.541310643,668.458689357,631.458689357,877,783,797.458689357,650.458689357,626,649.458689357,0.400914276616,0.00440839133333,0.0599139892926,0.999999965821,-0.000131252708847,-0.000223767465313,-3.25419926083e-05,1793189484084273664 +69,1.150000000,BASELINE,763.034653424,740,714,670,669,631.965346576,876.965346576,783.034653424,798,650.965346576,625.965346576,649.965346576,0.400914926759,0.00440789906295,0.059914511459,0.999999966031,-0.000130883501876,-0.000223125788989,-3.19721955936e-05,1793189484100940288 +70,1.166666667,BASELINE,763.622275881,740,714,670,669,631.377724119,876.377724119,783.622275881,798,650.377724119,625.377724119,649.377724119,0.400914176448,0.00440848748559,0.0599139054872,0.999999965871,-0.00013083317243,-0.000223826887852,-3.22756458846e-05,1793189484117606400 +71,1.183333333,BASELINE,764,740,714.206768736,670,669,631.206768736,876.206768736,783.793231264,798,650,625.206768736,649,0.400913749273,0.0044086938943,0.0599135404251,0.999999965771,-0.000130989539177,-0.000224157347748,-3.24676004702e-05,1793189484134272768 +72,1.200000000,BASELINE,764,740,714.785629789,670,669,631.785629789,876.785629789,783.214370211,798,650,625.785629789,649,0.400913903601,0.00440821284689,0.059913608894,0.999999965777,-0.000131517867693,-0.000223820821471,-3.24589121264e-05,1793189484150939392 +73,1.216666667,BASELINE,763.636507897,740,714.636507897,670.363492103,669,631.636507897,877,783,798,650.363492103,626,649,0.400913885414,0.00440791959425,0.0599134207514,0.999999965555,-0.00013323409941,-0.000223786255669,-3.25277447545e-05,1793189484167606272 +74,1.233333333,BASELINE,763.059233012,740,714.059233012,670.940766988,669,631.059233012,877,783,798,650.940766988,626,649,0.400913765764,0.0044077367905,0.0599130816864,0.999999965195,-0.000135648979703,-0.000223929283706,-3.26421702554e-05,1793189484184273152 +75,1.250000000,BASELINE,763.51560764,740.51560764,714,671,669,631,876.48439236,783,797.48439236,650.48439236,626,649,0.40091365959,0.00440805932654,0.0599124820701,0.999999965274,-0.000133589433153,-0.0002247843093,-3.28457078268e-05,1793189484200940288 +76,1.266666667,BASELINE,764,740.907491228,714,671,669,631,876.092508772,783,797,650.092508772,626,649,0.400913801198,0.00440831088079,0.059912192915,0.999999965429,-0.000131607043815,-0.000225242159943,-3.29865674728e-05,1793189484217606912 +77,1.283333333,BASELINE,764,740.318026042,714,671,669,631,876.681973958,783,797,650.681973958,626,649,0.400915265614,0.00440787072417,0.059913731594,0.999999965755,-0.000132787490675,-0.000223129056182,-3.27359860541e-05,1793189484234273536 +78,1.300000000,BASELINE,763.733301877,740,714,670.733301877,669,631.266698123,877,782.733301877,797.266698123,650.733301877,626,649,0.400915625158,0.00440761731058,0.0599142403122,0.99999996574,-0.000133970802698,-0.000222492936197,-3.26988375491e-05,1793189484250939904 +79,1.316666667,BASELINE,763.154132474,740,714,670.154132474,669,631.845867526,877,782.154132474,797.845867526,650.154132474,626,649,0.400914690204,0.0044075826906,0.059913542298,0.999999965329,-0.000135157471549,-0.000223587293534,-3.29117532743e-05,1793189484267606272 +80,1.333333333,BASELINE,763.423956145,740,714,670.423956145,669,632,876.576043855,782.423956145,798,650.423956145,626,649,0.400914571936,0.00440814804052,0.0599134206442,0.999999965497,-0.000133892478166,-0.00022362092685,-3.27536750618e-05,1793189484284272896 +81,1.350000000,BASELINE,763.998353657,740,714,671,669,632,876,783,798,650.998353657,626,649.001646343,0.400914748441,0.00440893058022,0.0599135070678,0.99999996587,-0.000131742474985,-0.000223272835559,-3.24627995172e-05,1793189484300939520 +82,1.366666667,BASELINE,763.422942731,740,714,671,669,632,876,783,798,650.422942731,626,649.577057269,0.400914442001,0.0044095809468,0.0599132693646,0.999999965806,-0.000131001957397,-0.000223945560457,-3.27774179926e-05,1793189484317606400 +83,1.383333333,BASELINE,763.155774479,740,714,671,669,631.844225521,876.155774479,782.844225521,798,650,626,649.844225521,0.400914374357,0.00441000063766,0.0599131081708,0.999999965783,-0.00013049317793,-0.000224313999096,-3.2982113285e-05,1793189484334273024 +84,1.400000000,BASELINE,763.743663366,740,714,671,669,631.256336634,876.743663366,782.256336634,798,650,626,649.256336634,0.400914969126,0.00440978044012,0.0599131592118,0.999999965876,-0.000130627233903,-0.000223838355612,-3.28818845602e-05,1793189484350939904 +85,1.416666667,BASELINE,763.673247659,740,714,670.673247659,669,631.326752341,877.326752341,782.326752341,798,650.326752341,626,649,0.400914775917,0.00440950275237,0.0599129525021,0.999999965681,-0.000131744604273,-0.000224060985596,-3.28304749896e-05,1793189484367606272 +86,1.433333333,BASELINE,763.093869727,740,714,670.093869727,669,631.906130273,877.906130273,782.906130273,798,650.906130273,626,649,0.400913973489,0.00440918061659,0.0599125465148,0.999999965261,-0.000133622215185,-0.000224823479364,-3.28168095085e-05,1793189484384272640 +87,1.450000000,BASELINE,763,740,714,670.483385469,668.516614531,631.516614531,877.516614531,783,798,650.516614531,626,649,0.400913479713,0.00440875278373,0.0599120350111,0.999999965277,-0.000131928003937,-0.000225750216932,-3.28333656778e-05,1793189484400939264 +88,1.466666667,BASELINE,763,740,714,671,668.059838054,631,877,783,798,650,626,649.059838054,0.40091309625,0.00440862116809,0.0599115410994,0.999999965384,-0.00012966704768,-0.000226576890859,-3.28794948238e-05,1793189484417605888 +89,1.483333333,BASELINE,763,740,714,671,668.63292668,631,877,783,798,650,626,649.63292668,0.400913147127,0.0044112055892,0.0599113730649,0.999999965599,-0.000128468330214,-0.000226272909547,-3.31291624472e-05,1793189484434272512 +90,1.500000000,BASELINE,763,740,714,670.787433158,669,631.212566842,877,783,798,650,625.787433158,649.787433158,0.400913259654,0.0044118088627,0.0599114033829,0.999999965656,-0.000128550524396,-0.00022597604738,-3.31255715647e-05,1793189484450939392 +91,1.516666667,BASELINE,763,740,714,670.196119683,669,631.803880317,877,783,798,650,625.196119683,649.196119683,0.400913482027,0.00440888217342,0.0599117871209,0.999999965429,-0.000130915017158,-0.000225691869974,-3.26707305663e-05,1793189484467605760 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0000000000000000000000000000000000000000..b558676fb68bb264d455379b2da8226ca71505b2 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_09/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d5085bfe673ce21b1279185bc2729bb4bee48412cb095244830c9362f0d2c1b +size 24976370 diff --git a/Obstacle_avoidance/ball_0030_20/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_09/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..292e723221424260c3038e6701598d40272a09c6 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_09/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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+47,0.783333333,BASELINE,763,740.680235219,714,670,668.680235219,631.680235219,877,783,798.680235219,650,626,649,0.400950246086,0.00451733635776,0.0598445619349,0.999999961039,8.77011530111e-05,-0.00026372229983,2.60916499672e-05,1793189490371110912 +48,0.800000000,BASELINE,763,740.082375218,714,670,668.082375218,631.082375218,877,783,798.082375218,650,626,649,0.400950442851,0.00451743544271,0.0598446389951,0.999999961476,8.57514786872e-05,-0.000262746260326,2.5688086321e-05,1793189490387777792 +49,0.816666667,BASELINE,763.495946654,740.495946654,714,670,668.495946654,631,877,783,798,650,626,649,0.400950214691,0.00451706808688,0.0598443087072,0.999999961215,8.59321008126e-05,-0.000263671874164,2.57379845358e-05,1793189490404444416 +50,0.833333333,BASELINE,764,740.928918689,714,670,669,631,876.928918689,783,797.928918689,650,625.928918689,649,0.400949953303,0.00451678796251,0.0598439965533,0.999999960869,8.66135305678e-05,-0.000264748670356,2.58644176404e-05,1793189490421111040 +51,0.850000000,BASELINE,764,740.35424422,714,670,669,631,876.35424422,783,797.35424422,650,625.35424422,649,0.400949937577,0.00451765393305,0.059844274055,0.999999960707,8.84312348003e-05,-0.000264743593466,2.6019692989e-05,1793189490437777664 +52,0.866666667,BASELINE,763.77284663,740,714,670,669,631,876.22715337,783,797.22715337,650,625,649,0.400949608694,0.00451771941091,0.0598441591734,0.999999960605,8.84528516615e-05,-0.000265112379783,2.6105625218e-05,1793189490454444288 +53,0.883333333,BASELINE,763.18064463,740,714,670,669,631,876.81935537,783,797.81935537,650,625,649,0.40094877655,0.00451649845059,0.0598434137092,0.999999960597,8.55880519198e-05,-0.00026608198594,2.60801190258e-05,1793189490471111168 +54,0.900000000,BASELINE,763.402574531,740,714,670.402574531,669,631,876.597425469,783.402574531,797.597425469,650,625.402574531,649,0.400949522164,0.00451643739567,0.0598436843145,0.999999960772,8.5940574163e-05,-0.000265301628791,2.61773118166e-05,1793189490487777792 +55,0.916666667,BASELINE,763.981850845,740,714,670.981850845,669,631,876.018149155,783.981850845,797.018149155,650,625.981850845,649,0.400950960303,0.00451688545734,0.0598444009027,0.999999961024,8.77052735741e-05,-0.000263753161333,2.63283607943e-05,1793189490504444416 +56,0.933333333,BASELINE,764,740,714,669.890147014,669,631,876,782.890147014,797.554926493,650.554926493,626,649,0.400951862864,0.00451785901095,0.0598456826304,0.999999961306,8.88384458632e-05,-0.000262337362347,2.59742362176e-05,1793189490521110784 +57,0.950000000,BASELINE,763.86859459,740,714,669.13140541,669,631.13140541,876,782.13140541,797.86859459,651,626,649,0.400952513731,0.0045182071672,0.0598465305006,0.999999961521,8.95119153585e-05,-0.000261308798038,2.57473499589e-05,1793189490537777664 +58,0.966666667,BASELINE,763.279565356,740,714,669.720434644,669,631.720434644,876,782.720434644,797.279565356,651,626,649,0.400952348393,0.00451631816446,0.0598458037899,0.999999961511,8.86555888157e-05,-0.000261613848313,2.60204780337e-05,1793189490554444288 +59,0.983333333,BASELINE,763.303612042,740,714,670,669,631.696387958,876,782.696387958,797,650.696387958,626,649,0.400951713825,0.00451626633638,0.0598452769505,0.999999961363,8.81842594535e-05,-0.000262332113604,2.60543454893e-05,1793189490571110912 +60,1.000000000,BASELINE,763.881503038,740,714,670,669,631.118496962,876,782.118496962,797,650.118496962,626,649,0.400950655362,0.00451787418647,0.059844930672,0.999999961092,8.80607311656e-05,-0.000263423671706,2.58720682141e-05,1793189490587777792 +61,1.016666667,BASELINE,764,740.460197051,714,670,669,631.460197051,876.460197051,782.460197051,797.460197051,650,626,649,0.400951103916,0.00451828021583,0.0598447999237,0.999999961031,8.89272187715e-05,-0.000263360774949,2.59147365478e-05,1793189490604444160 +62,1.033333333,BASELINE,764,740.961163206,714,670,669,631.961163206,877,782.961163206,798,650,626,649,0.400951919989,0.00451832510811,0.0598447930592,0.999999961046,8.99551371995e-05,-0.000262943589252,2.60070622136e-05,1793189490621110784 +63,1.050000000,BASELINE,764,740.386131944,714,670,669,631.386131944,877,782.386131944,798,650,626,649,0.40095244333,0.00451766398264,0.0598457290259,0.999999961385,8.96861466539e-05,-0.000261746252126,2.59838900694e-05,1793189490637777664 +64,1.066666667,BASELINE,764,740,714,670.1932482,669,631.1932482,877,782.1932482,798,650,626,649,0.400953040072,0.00451679290821,0.0598466984542,0.999999961732,8.9113421455e-05,-0.000260607953856,2.60387652435e-05,1793189490654444544 +65,1.083333333,BASELINE,764,740,714,670.781517922,669,631.781517922,877,782.781517922,798,650,626,649,0.400953786855,0.00451549267404,0.0598477362818,0.999999962097,8.79198277457e-05,-0.000259590337861,2.62531781045e-05,1793189490671110912 +66,1.100000000,BASELINE,764,740,714,670.635869935,669,631.635869935,877,783,797.635869935,650.364130065,626,649,0.400952755339,0.00451566782767,0.059847091025,0.999999961828,8.71923963992e-05,-0.000260867669911,2.62676918883e-05,1793189490687777536 +67,1.116666667,BASELINE,764,740,714,670.056600486,669,631.056600486,877,783,797.056600486,650.943399514,626,649,0.40095067315,0.00451671468641,0.0598454513493,0.999999961179,8.67403883362e-05,-0.000263500928771,2.61640990642e-05,1793189490704444160 +68,1.133333333,BASELINE,763.479664995,740,714,670.520335005,669,631,877,783,797,650.479664995,626,649,0.400951222652,0.00451611342448,0.0598453952394,0.999999961408,8.5819611313e-05,-0.00026294407803,2.60757557066e-05,1793189490721111040 +69,1.150000000,BASELINE,763,740,714,670.903093303,669,631,877,783,797.096906697,650,626,649,0.400951651944,0.00451544785129,0.0598453547202,0.999999961603,8.50098268067e-05,-0.000262475643242,2.59778387631e-05,1793189490737777920 +70,1.166666667,BASELINE,763,740,714,670.327070852,669,631,877,783,797.672929148,650,626,649,0.400950077892,0.00451534672481,0.0598445434387,0.999999961166,8.49997798886e-05,-0.000264152337,2.58244245498e-05,1793189490754444544 +71,1.183333333,BASELINE,763.254448274,740,714,670,669,631,877,783,798,650,626,649,0.400949093595,0.00451529769441,0.059844174538,0.999999960982,8.52964193539e-05,-0.00026474722628,2.58745952198e-05,1793189490771111168 +72,1.200000000,BASELINE,763.843188976,740,714,670,669,631,877,783,798,650,626,649,0.40094888411,0.00451531710744,0.0598443868339,0.999999961132,8.59959813206e-05,-0.000263920848367,2.61922343156e-05,1793189490787778048 +73,1.216666667,BASELINE,763.576322211,740,714,670,668.576322211,631.423677789,876.576322211,782.576322211,798,650.423677789,625.576322211,649,0.400949342968,0.00451623791923,0.0598443806221,0.999999961015,8.71755659494e-05,-0.000263995854108,2.60195882033e-05,1793189490804444672 +74,1.233333333,BASELINE,763,740,714,670,668.001167388,632,876.001167388,782.001167388,798,650.998832612,625,649,0.400950043454,0.00451748394472,0.0598442955836,0.999999960799,8.8526571839e-05,-0.00026439641795,2.56692217088e-05,1793189490821111296 +75,1.250000000,BASELINE,763,740,714,670,668.577006981,632,876.577006981,782.577006981,798,650.422993019,625,649,0.400950246328,0.0045177272834,0.0598444577135,0.999999960923,8.84747395253e-05,-0.000263966506445,2.5454946042e-05,1793189490837777920 +76,1.266666667,BASELINE,763.156014747,740,714,670,669.156014747,632,876.843985253,783,798,650,625.156014747,649,0.400950169914,0.00451754719289,0.0598446412797,0.999999960995,8.85208685827e-05,-0.000263681236291,2.54256312276e-05,1793189490854444544 +77,1.283333333,BASELINE,763.74379019,740,714,670,669.74379019,632,876.25620981,783,798,650,625.74379019,649,0.400949320585,0.00451619528953,0.0598448841694,0.999999960924,8.88380993865e-05,-0.000263796251726,2.59081835929e-05,1793189490871111168 +78,1.300000000,BASELINE,763.673297566,740,714,670,669.346595132,632,876.326702434,783,797.673297566,650,625.673297566,649,0.400949217232,0.00451638767924,0.0598449748277,0.999999960845,8.94612172944e-05,-0.000263865378728,2.61206723859e-05,1793189490887778048 +79,1.316666667,BASELINE,763.094143277,740,714,670,668.188286554,632,876.905856723,783,797.094143277,650,625.094143277,649,0.400949690316,0.00451777338627,0.0598449478527,0.999999960758,9.03207024716e-05,-0.000263899046487,2.61244756899e-05,1793189490904444672 +80,1.333333333,BASELINE,763.484822609,740.484822609,714,670,668,631.515177391,877,783,797.484822609,650,625.484822609,649,0.400950387936,0.00451741826024,0.0598449038262,0.999999960973,8.83016749568e-05,-0.00026379381829,2.58637367593e-05,1793189490921111296 +81,1.350000000,BASELINE,763.936995634,741,714,670,668.063004366,631,877,782.936995634,798.063004366,650,626,649,0.400951077079,0.00451678936579,0.0598448749254,0.999999961215,8.61398633737e-05,-0.000263619290573,2.55791062545e-05,1793189490937777664 +82,1.366666667,BASELINE,763.364855204,741,714,670,668.635144796,631,877,782.364855204,798.635144796,650,626,649,0.400951345528,0.00451667875865,0.0598449950015,0.999999961249,8.73393379461e-05,-0.000263102622495,2.55163591284e-05,1793189490954444544 +83,1.383333333,BASELINE,763,740.785954322,714,670,669,631,876.785954322,782.214045678,798.571908644,650,626,649,0.400951117533,0.00451642084063,0.0598449578792,0.999999961236,8.78976388006e-05,-0.000262966218571,2.55092780506e-05,1793189490971111168 +84,1.400000000,BASELINE,763,740.195153865,714,670,669,631,876.195153865,782.804846135,797.39030773,650,626,649,0.400950015719,0.00451590363175,0.0598446440622,0.999999961143,8.73273711068e-05,-0.000263499140563,2.56001781501e-05,1793189490987777792 +85,1.416666667,BASELINE,763.387444615,740.387444615,714,670.387444615,669,631,876.387444615,783,797.387444615,650,625.612555385,649,0.400950141222,0.00451608864912,0.0598448712578,0.999999961287,8.79659422763e-05,-0.000262731776614,2.57083155295e-05,1793189491004444672 +86,1.433333333,BASELINE,763.965997409,740.965997409,714,670.965997409,669,631,876.965997409,783,797.965997409,650,625.034002591,649,0.400950872103,0.00451662004165,0.0598453653095,0.999999961543,8.92007767554e-05,-0.00026132304282,2.58249552416e-05,1793189491021111296 +87,1.450000000,BASELINE,764,740.455696013,714,670.455696013,669,631.544303987,877,783,798,650,625.544303987,649,0.400950379438,0.00451654183308,0.059845722054,0.999999961493,8.77533801818e-05,-0.000261993687318,2.59423292395e-05,1793189491037777920 +88,1.466666667,BASELINE,764,740,714,670,669,631.878699867,877,783,798,650,626,649,0.400949796459,0.00451631214276,0.0598457438611,0.999999961348,8.64156142952e-05,-0.00026298199047,2.60326445712e-05,1793189491054444544 +89,1.483333333,BASELINE,764,740,714,670,669,631.306517574,877,783,798,650,626,649,0.400949161763,0.00451566087151,0.0598445525489,0.999999960929,8.61079012407e-05,-0.000264668431355,2.60222102738e-05,1793189491071111168 +90,1.500000000,BASELINE,763.725011988,740,714,670,669,631,877.274988012,782.725011988,798,650.274988012,626,649,0.400949150787,0.00451508790793,0.0598442795966,0.999999960884,8.55453062921e-05,-0.000265013615952,2.61081272706e-05,1793189491087778048 +91,1.516666667,BASELINE,763.13274945,740,714,670,669,631,877.86725055,782.13274945,798,650.86725055,626,649,0.400949859446,0.00451460529388,0.059845066226,0.99999996127,8.46886347921e-05,-0.000263811291329,2.63052120642e-05,1793189491104444672 +92,1.533333333,BASELINE,763,740,714,670.447908101,669,631,877.552091899,782,797.552091899,650.552091899,626,649,0.400949710207,0.00451468846077,0.0598449913115,0.999999961161,8.49917581007e-05,-0.000264123698104,2.63146200693e-05,1793189491121111296 +93,1.550000000,BASELINE,763.025160053,740,714,670.974839947,669,631.025160053,876.974839947,782.025160053,797.050320107,650.025160053,625.974839947,649,0.400949384727,0.00451501274176,0.0598446966805,0.999999960928,8.56815508684e-05,-0.000264790064402,2.62545781562e-05,1793189491137777664 +94,1.566666667,BASELINE,763.60125012,740,714,670.39874988,669,631.60125012,876.39874988,782.60125012,798.20250024,650.60125012,625.39874988,649,0.400950627051,0.00451703764907,0.0598450409255,0.999999961088,8.75015466771e-05,-0.000263625103729,2.58610080457e-05,1793189491154444544 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+1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8ecdb176f32b598a71edf7f524336f5d5d5f2de48bf8c85b39d36414f77fdf2 +size 25101678 diff --git a/Obstacle_avoidance/ball_0030_20/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_09/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..0cdbba93321a9c589f42cfc160b02f53f8d41833 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_09/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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+35,0.583333333,BASELINE,763.690776904,740,714,670,669,631,876.618446193,783,797.309223096,650.690776904,626,649,0.400947621825,0.00452597432172,0.0598396879937,0.999999958208,9.88489633793e-05,-0.00027073534939,2.27193052973e-05,1793189496890665472 +36,0.600000000,BASELINE,763.102995579,740,714,670,669,631,877.794008841,783,797.897004421,650.102995579,626,649,0.400946226276,0.00452519918229,0.0598385788225,0.999999958113,9.65878780254e-05,-0.000271902479738,2.26527020115e-05,1793189496907332096 +37,0.616666667,BASELINE,763.477842762,740,714,670,668.522157238,631.477842762,877.522157238,783,798,650.477842762,626,649.477842762,0.400947243881,0.00452464346652,0.0598397531177,0.999999958566,9.64328293373e-05,-0.000270278435858,2.27728990578e-05,1793189496923998720 +38,0.633333333,BASELINE,763.943180443,740,714,670,668.056819557,632,877,782.943180443,798,650.943180443,626,649.943180443,0.400948633516,0.00452424341847,0.0598412229253,0.999999959045,9.69701868709e-05,-0.000268294742495,2.29021763726e-05,1793189496940665344 +39,0.650000000,BASELINE,763.367730855,740,714,670,668.632269145,632,877,782.367730855,798,650.367730855,626,649.367730855,0.400948739266,0.00452483874117,0.0598409619143,0.999999958736,9.97435160902e-05,-0.00026844100616,2.27520872865e-05,1793189496957332224 +40,0.666666667,BASELINE,763.205978395,740.205978395,714,670,669,632,877,782.205978395,797.794021605,650.205978395,626,649.205978395,0.40094840197,0.00452518546858,0.0598401778764,0.999999958396,0.000101008487284,-0.000269241637766,2.26770617424e-05,1793189496973998848 +41,0.683333333,BASELINE,763.776606636,740.776606636,714,670,669,632,877,782.776606636,797.223393364,650.776606636,626,649.776606636,0.400947280337,0.00452509210009,0.0598384679078,0.999999958006,9.96031660099e-05,-0.00027120071693,2.27349234891e-05,1793189496990665472 +42,0.700000000,BASELINE,764,740.637739881,714,670,669,631.637739881,877,783,797,650.637739881,625.637739881,649.637739881,0.400947290082,0.00452542063001,0.0598386418579,0.999999958041,0.000100075808199,-0.000270895532399,2.27480516976e-05,1793189497007332096 +43,0.716666667,BASELINE,764,740.042419938,714,670,669,631.042419938,877,783,797,650.042419938,625.042419938,649.042419938,0.400948027699,0.00452602058801,0.0598400278259,0.999999958348,0.000101756637073,-0.000269133635146,2.27324006096e-05,1793189497023998720 +44,0.733333333,BASELINE,763.461807416,740,714,670.538192584,669,631.538192584,877.538192584,782.461807416,797.538192584,650.538192584,625.538192584,649.538192584,0.400948351379,0.00452578377741,0.0598405869581,0.999999958514,0.000100311704597,-0.00026906770122,2.264406571e-05,1793189497040665344 +45,0.750000000,BASELINE,763,740,714,670.766972389,669,631.883486194,877.883486194,782.116513806,797.883486194,650.883486194,626,649.883486194,0.400948587518,0.00452569716535,0.0598409166155,0.999999958593,9.95287895319e-05,-0.000269067198224,2.26049349037e-05,1793189497057332224 +46,0.766666667,BASELINE,763,740,714,669.619457611,669,631.309728806,877.309728806,782.690271194,797.309728806,650.309728806,626,649.309728806,0.400948604745,0.00452645192945,0.0598405946782,0.999999958379,0.000102285007585,-0.000268812836087,2.27807835503e-05,1793189497073998848 +47,0.783333333,BASELINE,763.264596276,740,714,669.264596276,669,631.264596276,877,783,797.264596276,650,626,649,0.400948522667,0.0045268619162,0.0598403204861,0.999999958298,0.000102906192669,-0.000268874929226,2.28379469698e-05,1793189497090665472 +48,0.800000000,BASELINE,763.839587385,740,714,669.839587385,669,631.839587385,877,783,797.839587385,650,626,649,0.400948324095,0.00452686744872,0.0598401023035,0.999999958375,0.000101022795605,-0.000269308252362,2.27558821437e-05,1793189497107332352 +49,0.816666667,BASELINE,764,740,714,670,669,631.570739182,877,783,797.570739182,650,626,649,0.400948704669,0.00452670840773,0.0598403237908,0.999999958669,0.000100436514077,-0.000268424004434,2.28682089039e-05,1793189497123998976 +50,0.833333333,BASELINE,764,740,714,670,669,631.023750788,877,783,797.023750788,650,626,649,0.400949298463,0.00452646883401,0.0598407038582,0.999999959028,0.000100359950572,-0.000267095138752,2.30500135325e-05,1793189497140665856 +51,0.850000000,BASELINE,764,740,714,670,669,631.598197277,877,783,797.598197277,650,626,649,0.400949640239,0.0045258384667,0.0598408163294,0.999999958968,0.000100464840776,-0.000267277776193,2.30987758196e-05,1793189497157332224 +52,0.866666667,BASELINE,763.827054884,740,714,670,668.827054884,631.827054884,877,782.827054884,797.827054884,650.172945116,626,649,0.400949358932,0.00452565243041,0.0598403991294,0.999999958721,0.000100497553829,-0.000268194438526,2.30302383783e-05,1793189497173998592 +53,0.883333333,BASELINE,763.251605728,740,714,670,668.251605728,631.251605728,877,782.251605728,797.251605728,650.748394272,626,649,0.400947627493,0.00452650050857,0.0598387491986,0.999999958035,0.000100362285291,-0.000270819434628,2.26887032597e-05,1793189497190665216 +54,0.900000000,BASELINE,763,740,714,670,668,631.332912305,877,782,797,651,626,649,0.400947573759,0.00452646374526,0.0598389966086,0.999999958096,0.000100195702546,-0.000270662033505,2.26179577356e-05,1793189497207331840 +55,0.916666667,BASELINE,763,740,714,670,668,631.924476251,877,782,797,651,626,649,0.400948823496,0.00452573951652,0.0598407181317,0.999999958737,0.000100004790665,-0.000268342886974,2.27575984812e-05,1793189497223998720 +56,0.933333333,BASELINE,763,740,714,670,668.503946706,631.496053294,877.503946706,782.503946706,797.503946706,650.496053294,626,649,0.400949366583,0.00452586576527,0.0598412563005,0.999999958796,0.000100684128314,-0.000267856074852,2.28891037607e-05,1793189497240665600 +57,0.950000000,BASELINE,763,740,714,670,669,631,877.918776185,783,798,650,626,649,0.400949538327,0.00452616848052,0.0598413706988,0.999999958722,0.000101365858641,-0.000267869984027,2.29546320705e-05,1793189497257332224 +58,0.966666667,BASELINE,763,740,714,670,669,631,877.344071912,783,798,650,626,649,0.400948082291,0.00452678710691,0.0598399626598,0.999999958354,0.00010128832255,-0.000269296793937,2.26265468909e-05,1793189497273998848 +59,0.983333333,BASELINE,763.236296598,740,714,670,669,631.236296598,876.763703402,783,798,650.236296598,625.763703402,649,0.400947512951,0.00452639059438,0.0598394122361,0.999999958269,0.000100558904623,-0.000269891401535,2.25633087432e-05,1793189497290665728 +60,1.000000000,BASELINE,763.825115465,740,714,670,669,631.825115465,876.174884535,783,798,650.825115465,625.174884535,649,0.40094826644,0.00452447963325,0.0598401412572,0.999999958605,9.88569679721e-05,-0.000269244477095,2.28951861643e-05,1793189497307332096 +61,1.016666667,BASELINE,763.592918724,740,714,670,669,632,876,782.592918724,798,650.592918724,625.407081276,649.407081276,0.400948609966,0.00452405282969,0.0598404133463,0.999999958848,9.74698028001e-05,-0.000268849106902,2.28707509258e-05,1793189497323998464 +62,1.033333333,BASELINE,763.013848319,740,714,670,669,632,876,782.013848319,798,650.013848319,625.986151681,649.986151681,0.400948780285,0.00452425307295,0.0598404923845,0.999999959051,9.62156265843e-05,-0.000268560016739,2.2695775941e-05,1793189497340665088 +63,1.050000000,BASELINE,763,740,714,670,669,631.436931377,876,782.563068623,798,650,626,650,0.400946938882,0.00452392978369,0.0598393898638,0.999999958488,9.64827321037e-05,-0.000270542115641,2.28420371191e-05,1793189497357331968 +64,1.066666667,BASELINE,763.139305634,740,714,670,669,631,876.139305634,783,797.860694366,650.139305634,625.860694366,649.860694366,0.400946000297,0.00452392093829,0.0598389026553,0.99999995817,9.70227125213e-05,-0.000271519463357,2.29058656611e-05,1793189497373998592 +65,1.083333333,BASELINE,763.713584318,740,714,670,669,631,876.713584318,783,797.286415682,650.713584318,625.286415682,649.286415682,0.400948034606,0.00452493397517,0.0598404271117,0.999999958681,9.82983467927e-05,-0.000269185788782,2.26877283515e-05,1793189497390665472 +66,1.100000000,BASELINE,763.704432499,740.295567501,714,670,669,631.295567501,877,783,797.295567501,650.704432499,625.295567501,649,0.400948666104,0.00452589977913,0.0598408518583,0.999999958749,9.96666005533e-05,-0.000268437205674,2.25660672201e-05,1793189497407332352 +67,1.116666667,BASELINE,763.11478359,740.88521641,714,670,669,631.88521641,877,783,797.88521641,650.11478359,625.88521641,649,0.400947901843,0.00452681858759,0.0598401824242,0.999999958381,0.000101127008044,-0.000269265744446,2.25403972046e-05,1793189497423998976 +68,1.133333333,BASELINE,763,740.533674058,714,670,669,631.533674058,876.533674058,783,798,650.466325942,626.466325942,649,0.400946673917,0.00452592761503,0.0598395497171,0.999999958058,0.000101261649971,-0.000270392612331,2.27694069576e-05,1793189497440665600 +69,1.150000000,BASELINE,763,740,714,670,668.954732885,631,876.045267115,782.954732885,798,651,626.954732885,649,0.400945499364,0.00452479085276,0.0598389809684,0.999999957801,0.00010099270349,-0.000271422534046,2.29946816677e-05,1793189497457332224 +70,1.166666667,BASELINE,763,740,714,670,668.377018285,631,876.622981715,782.377018285,798,651,626.377018285,649,0.400946270884,0.00452590854884,0.0598390600983,0.999999958198,9.97459916194e-05,-0.000270463938994,2.24519245756e-05,1793189497473998848 +71,1.183333333,BASELINE,763,740,714,670,668.199190337,631,877,782.199190337,798,650.800809663,625.800809663,649.199190337,0.400947184044,0.00452648438831,0.0598393157541,0.999999958453,9.94706740572e-05,-0.000269641845645,2.22218220318e-05,1793189497490665472 +72,1.200000000,BASELINE,763,740,714,670,668.772570004,631,877,782.772570004,798,650.227429996,625.227429996,649.772570004,0.400948363284,0.0045260423224,0.0598399030231,0.999999958442,0.000101020170619,-0.000269076177626,2.25790570985e-05,1793189497507332096 +73,1.216666667,BASELINE,763,740,714,670,669,631.35599579,877.35599579,783,798,650.35599579,625,649.64400421,0.400948625409,0.0045253264895,0.059839899307,0.999999958464,0.000100984663606,-0.000268998036944,2.26934157716e-05,1793189497523998976 +74,1.233333333,BASELINE,763,740,714,670,669,631.94602594,877.94602594,783,798,650.94602594,625,649.05397406,0.400948284616,0.00452443068013,0.0598395070728,0.999999958508,9.99071630124e-05,-0.000269240400502,2.26481056221e-05,1793189497540665600 +75,1.250000000,BASELINE,763,740,714,670,669,632,877.472994089,783,798,650.472994089,625.527005911,649,0.40095011824,0.00452503421138,0.0598414257013,0.99999995927,0.000100127911054,-0.00026629748122,2.27920079437e-05,1793189497557332480 +76,1.266666667,BASELINE,763,740.105916098,714,670,669,632,877,783,797.894083902,650.105916098,626,649,0.40095167629,0.00452581666669,0.0598430464701,0.999999959886,0.000100402107374,-0.000263864889186,2.28772770186e-05,1793189497573998848 +77,1.283333333,BASELINE,763,740.679708474,714,670,669,632,877,783,797.320291526,650.679708474,626,649,0.400951049875,0.0045267226307,0.0598423236442,0.999999959571,0.000100334974129,-0.00026510337467,2.26193805344e-05,1793189497590665472 +78,1.300000000,BASELINE,763.258872862,740.741127138,714,670,669,632,877,782.741127138,797.258872862,651,626,649,0.400949489748,0.00452697773433,0.0598412279428,0.999999959009,0.000100565650415,-0.000267135818233,2.25203941211e-05,1793189497607332096 +79,1.316666667,BASELINE,763.844824597,740.155175403,714,670,669,632,877,782.155175403,797.844824597,651,626,649,0.400946749899,0.00452641049337,0.0598396611233,0.99999995813,0.000101172601005,-0.000270171406297,2.26221863123e-05,1793189497623998720 +80,1.333333333,BASELINE,763.570828058,740,714,670,669,632,877,782.429171942,798,651,625.570828058,649,0.40094738612,0.00452513276,0.0598396536889,0.999999958293,9.97611269949e-05,-0.000270074735134,2.28340607189e-05,1793189497640665344 +81,1.350000000,BASELINE,763,740,714,670,668.987293888,631.987293888,876.987293888,783,797.987293888,651,625.012706112,649,0.400949181679,0.00452364715613,0.0598401948302,0.999999958816,9.76840130298e-05,-0.000268875921222,2.30729100322e-05,1793189497657331968 +82,1.366666667,BASELINE,763,740,714,670,668.414137865,631.414137865,876.414137865,783,797.414137865,651,625.585862135,649,0.400948471942,0.00452428164087,0.0598401559272,0.999999958773,9.8317048444e-05,-0.000268831350234,2.27524954372e-05,1793189497673998848 +83,1.383333333,BASELINE,763.15989783,740,714,670,668.15989783,631,876.15989783,783,797.15989783,650.84010217,626,649,0.400948121922,0.00452517804721,0.0598402133818,0.999999958727,9.92476180929e-05,-0.000268679438267,2.25224608833e-05,1793189497690665728 +84,1.400000000,BASELINE,763.736224617,740,714,670,668.736224617,631,876.736224617,783,797.736224617,650.263775383,626,649,0.400948708728,0.00452675658766,0.0598405217845,0.999999958672,0.000100953069386,-0.00026824797345,2.25278069807e-05,1793189497707332352 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+88,1.466666667,BASELINE,763.069619257,740.069619257,714,669.069619257,669,631,876.069619257,783,797.930380743,650,626,649,0.400948388068,0.00452425732226,0.059840858097,0.999999958634,0.000101021353077,-0.000268307794246,2.31957480895e-05,1793189497773998848 +89,1.483333333,BASELINE,763.645154416,740.645154416,714,669.645154416,669,631,876.645154416,783,797.354845584,650,626,649,0.400950029098,0.00452428384494,0.05984159234,0.999999959283,0.000100000110008,-0.000266283607749,2.29745318669e-05,1793189497790665472 +90,1.500000000,BASELINE,764,740.780781987,714,670,669,631,877,782.780781987,797.438436027,650,626,649.219218013,0.40095051406,0.00452430065558,0.0598417411716,0.999999959605,9.90123679125e-05,-0.000265456727588,2.27995161855e-05,1793189497807332096 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0000000000000000000000000000000000000000..c4f78f16eedbb90ff7911682ec8556a3b70fb4f0 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_09/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c52b0744f06d5e5a5df3cf89c57b58973b8782fde42f84555fa955652941864 +size 25238075 diff --git a/Obstacle_avoidance/ball_0030_20/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_09/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..fa0bea0c85ee2a7f07ecba99f65ba4f86a0160ea --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_09/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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+31,0.516666667,BASELINE,763.006548201,740,714,670,668.993451799,631,876.993451799,782.006548201,797.993451799,650,625.006548201,649,0.400949061085,0.00453472377744,0.059838780855,0.999999954693,0.000130190150105,-0.000270620196723,2.07138825971e-05,1793189503602701312 +32,0.533333333,BASELINE,763,740,714,670,669,631,877,782,798,650,625,649,0.400948793296,0.0045333412051,0.0598392580426,0.999999954864,0.000128653294479,-0.000270684543034,2.11992444662e-05,1793189503619367936 +33,0.550000000,BASELINE,763,740,714,670,668.858141572,631.141858428,877,782.141858428,797.858141572,650,625.141858428,649,0.400948449178,0.0045327573364,0.0598395637786,0.999999954953,0.000127816741168,-0.000270741549055,2.13659550063e-05,1793189503636034304 +34,0.566666667,BASELINE,763,740,714,670,668.266114872,631.733885128,877,782.733885128,797.266114872,650,625.733885128,649,0.400947899892,0.00453474301183,0.0598393085343,0.999999954786,0.000129203611277,-0.000270764681761,2.05058780348e-05,1793189503652701184 +35,0.583333333,BASELINE,763,740.318355368,714,670,668,631.681644632,876.681644632,783,797,650,626,649,0.400948930063,0.00453446075649,0.0598399360845,0.999999955101,0.000129140759899,-0.000269626042799,2.05371132598e-05,1793189503669367808 +36,0.600000000,BASELINE,763,740.896655639,714,670,668,631.103344361,876.103344361,783,797,650,626,649,0.4009512499,0.00453232668072,0.0598412844579,0.999999955806,0.000127894175811,-0.000267538789012,2.12961264809e-05,1793189503686034688 +37,0.616666667,BASELINE,763,740.526751458,714,670,668,631.473248542,876.473248542,782.526751458,797,650.473248542,625.526751458,649,0.400951101717,0.00453201200449,0.0598411260949,0.999999955716,0.000128035198462,-0.000267796816723,2.14473162905e-05,1793189503702701312 +38,0.633333333,BASELINE,763,740,714,670,668,631.949585759,877,782,797,650.949585759,625.050414241,649,0.400950326184,0.00453215125111,0.0598406091961,0.999999955454,0.000128422713722,-0.000268586915282,2.14697175247e-05,1793189503719367680 +39,0.650000000,BASELINE,763,740,714,670,668,631.362364853,877,782,797,650.362364853,625.637635147,649,0.400948588707,0.00453290855252,0.0598397655206,0.999999955204,0.00012821998374,-0.0002696087923,2.15290251302e-05,1793189503736034304 +40,0.666666667,BASELINE,763.221707335,740,714,670,668.221707335,631,876.778292665,782,797.221707335,650,625.778292665,649,0.400946768171,0.00453361628198,0.0598386504779,0.999999954637,0.000128620547517,-0.000271517276952,2.14534453e-05,1793189503752701184 +41,0.683333333,BASELINE,763.800705199,740,714,670,668.800705199,631,876.199294801,782,797.800705199,650,625.199294801,649,0.400944813782,0.00453424412415,0.0598370981158,0.999999953554,0.000129993344119,-0.000274854566368,2.11604887908e-05,1793189503769367808 +42,0.700000000,BASELINE,763.621568606,740,714,670,669,631,876,782.378431394,798,650.378431394,625.378431394,649,0.400945209463,0.00453456474207,0.0598376880535,0.999999953752,0.000129703439834,-0.000274283584851,2.10112503449e-05,1793189503786034432 +43,0.716666667,BASELINE,763.044509888,740,714,670,669,631,876,782.955490112,798,650.955490112,625.955490112,649,0.400946838626,0.00453472410714,0.0598394024203,0.99999995462,0.000128540833531,-0.000271661268685,2.09374452222e-05,1793189503802701312 +44,0.733333333,BASELINE,763.532125336,740,714,669.467874664,668.467874664,631,876,783,797.467874664,650.467874664,625.467874664,649,0.400948171731,0.00453581799997,0.0598397311569,0.999999954572,0.000130717042573,-0.000270811122362,2.07678569375e-05,1793189503819367936 +45,0.750000000,BASELINE,763.889213988,740,714,669.110786012,668,631.110786012,876.110786012,783,797,650,625,649,0.400948919677,0.00453637378622,0.0598398201436,0.99999995448,0.000132342939777,-0.000270366425224,2.0678184335e-05,1793189503836034560 +46,0.766666667,BASELINE,763.301685079,740,714,669.698314921,668,631.698314921,876.698314921,783,797,650,625,649,0.400947256005,0.00453427783495,0.0598393757809,0.99999995455,0.000130399841984,-0.000271029103617,2.0966860808e-05,1793189503852701184 +47,0.783333333,BASELINE,763,740,714,669.716578814,668,631.716578814,877,782.716578814,797,650,625.283421186,649,0.400946494016,0.00453317277036,0.0598390328111,0.999999954585,0.000129329227447,-0.000271405357026,2.10446162205e-05,1793189503869368064 +48,0.800000000,BASELINE,763,740,714,669.134029382,668,631.134029382,877,782.134029382,797,650,625.865970618,649,0.40094668368,0.00453311350663,0.0598387968534,0.999999954587,0.000129179448509,-0.000271479312005,2.089976147e-05,1793189503886034688 +49,0.816666667,BASELINE,763,740,714,669.440996093,668,631,876.559003907,782,797,650,626,649,0.400947066011,0.00453293101554,0.0598389284219,0.999999954664,0.000128577409081,-0.000271483526337,2.08973187136e-05,1793189503902701056 +50,0.833333333,BASELINE,763,740,714,670,668,631,876,782,797.013792644,650.013792644,626,649,0.40094751737,0.00453274211325,0.0598391848932,0.999999954769,0.000127875301944,-0.000271423524336,2.09367745076e-05,1793189503919367680 +51,0.850000000,BASELINE,763,740,714,670,668,631,876,782,797.587379131,650.587379131,626,649,0.400948433616,0.00453378753769,0.0598400532632,0.999999955169,0.000128596940265,-0.000269603045337,2.09495312896e-05,1793189503936034304 +52,0.866666667,BASELINE,763,740,714,669.832945596,668,631,876,782.167054404,797.832945596,650.832945596,626,648.832945596,0.400949063959,0.00453446953168,0.0598406578315,0.999999955414,0.000129257022671,-0.000268375542537,2.0946501025e-05,1793189503952700928 +53,0.883333333,BASELINE,763,740,714,669.237662304,668,631,876,782.762337696,797.237662304,650.237662304,626,648.237662304,0.400948961414,0.00453421990445,0.0598405861678,0.999999955272,0.000129759312004,-0.000268668080812,2.09030020911e-05,1793189503969367808 +54,0.900000000,BASELINE,763,740,714,669,668.346725727,631,876.346725727,783,797,650,625.653274273,648.346725727,0.400948897607,0.00453369558936,0.0598409102368,0.999999955396,0.000129285783024,-0.000268426350783,2.09996919549e-05,1793189503986034688 +55,0.916666667,BASELINE,763,740,714,669,668.923873128,631,876.923873128,783,797,650,625.076126872,648.923873128,0.400948859544,0.00453298872642,0.0598414972958,0.999999955696,0.000128163759631,-0.000267829564892,2.11895463447e-05,1793189504002701568 +56,0.933333333,BASELINE,763,740,714,669,668.500642855,631,876.500642855,782.500642855,797,650,625.499357145,649,0.400949349639,0.00453333038995,0.0598415693981,0.999999955755,0.000128516371499,-0.000267435893001,2.1234622682e-05,1793189504019368192 +57,0.950000000,BASELINE,763.076328702,740,714,669.076328702,668,631.076328702,876,782,797,650,625.923671298,649,0.400950027688,0.00453373438955,0.0598416623006,0.999999955834,0.000128955004479,-0.000266928918615,2.12588107821e-05,1793189504036034560 +58,0.966666667,BASELINE,763.664980885,740,714,669.664980885,668,631.664980885,876,782,797,650,625.335019115,649,0.400951428655,0.00453348744681,0.0598424199962,0.999999956288,0.000128467101207,-0.000265454303245,2.12904483525e-05,1793189504052701184 +59,0.983333333,BASELINE,763.750389275,740.249610725,714,670,668,631.750389275,876.249610725,782.249610725,797,650,625,649,0.400951439125,0.00453306828915,0.0598424596101,0.999999956311,0.000127829231139,-0.000265676633561,2.12750232239e-05,1793189504069368064 +60,1.000000000,BASELINE,763.171072389,740.828927611,714,670,668,631.171072389,876.828927611,782.828927611,797,650,625,649,0.400949612917,0.00453242165596,0.0598415507233,0.999999955762,0.000126993272654,-0.000268140427644,2.11974338564e-05,1793189504086034688 +61,1.016666667,BASELINE,763.40628856,740.59371144,714,670,668.40628856,631,876.59371144,782.59371144,797,650,625.40628856,649,0.400948578779,0.004533040053,0.0598406246362,0.999999955148,0.000128408110042,-0.000269755719618,2.11545097712e-05,1793189504102701568 +62,1.033333333,BASELINE,763.98282985,740.01717015,714,670,668.98282985,631,876.01717015,782.01717015,797,650,625.98282985,649,0.400947876553,0.00453418855325,0.0598396913414,0.999999954502,0.000130766129692,-0.000271015451835,2.11261119645e-05,1793189504119368192 +63,1.050000000,BASELINE,763.442602564,740,714,670,669,631,876.557397436,782,797,650,625.442602564,649,0.400948718228,0.00453442790287,0.059839939145,0.999999954969,0.000129485833034,-0.000269943724818,2.06427664442e-05,1793189504136034560 +64,1.066666667,BASELINE,763,740,714,670,669,631.135551722,877,782.135551722,797.135551722,650,625,649,0.400949045498,0.004534631883,0.0598400295614,0.999999955231,0.000128395837049,-0.000269519214441,2.02905577411e-05,1793189504152701440 +65,1.083333333,BASELINE,763,740,714,670,669,631.725944357,877,782.725944357,797.725944357,650,625,649,0.400947487674,0.00453481082216,0.0598394702181,0.999999954701,0.000128319130056,-0.000271506561245,2.04252345332e-05,1793189504169367808 +66,1.100000000,BASELINE,763,740,714,670,669,631.689887318,877,782.689887318,797.689887318,650.310112682,625.310112682,649,0.400948114831,0.00453459056524,0.0598399479541,0.999999955073,0.000127305810682,-0.000270598354125,2.05738770041e-05,1793189504186034688 +67,1.116666667,BASELINE,763,740,714,670,669,631.111111397,877,782.111111397,797.111111397,650.888888603,625.888888603,649,0.400950634926,0.0045340244685,0.059841324154,0.999999956219,0.000125481065879,-0.000267181610668,2.07346185041e-05,1793189504202701312 +68,1.133333333,BASELINE,763.464389907,740,714,670,668.535610093,631,876.535610093,782,797,650.535610093,626,649,0.400951797753,0.00453321787193,0.0598422554149,0.999999956646,0.000124948400335,-0.00026582219556,2.08585836159e-05,1793189504219367936 +69,1.150000000,BASELINE,763.960027996,740,714,670,668,631,876.039972004,782,797,650.039972004,626,649,0.400952442707,0.00453240288381,0.0598429520302,0.999999956847,0.000124803041802,-0.00026512162458,2.09963224897e-05,1793189504236034816 +70,1.166666667,BASELINE,763.372686196,740,714,670,668,631,876.627313804,782,797,650.627313804,626,649,0.400950411847,0.00453225544721,0.0598418830509,0.999999956285,0.000125757636394,-0.000266749662272,2.14423282963e-05,1793189504252701184 +71,1.183333333,BASELINE,763.211502408,740,714,670,668,631.211502408,877,782.211502408,797,650.788497592,626,649,0.400949040703,0.00453219584691,0.0598410554452,0.99999995586,0.000126522514699,-0.000267968712781,2.1546490907e-05,1793189504269367808 +72,1.200000000,BASELINE,763.790216512,740,714,670,668,631.790216512,877,782.790216512,797,650.209783488,626,649,0.40094881496,0.00453228874847,0.0598406469137,0.999999955679,0.000126958006655,-0.000268477677663,2.10571434698e-05,1793189504286034944 +73,1.216666667,BASELINE,763.631060417,740,714,670,668,631.631060417,876.631060417,782.631060417,797,650,626,649,0.400950095622,0.00453225692406,0.0598413939707,0.999999955999,0.000127348737936,-0.000267093416054,2.10809111366e-05,1793189504302701568 +74,1.233333333,BASELINE,763.052332281,740,714,670,668,631.052332281,876.052332281,782.052332281,797,650,626,649,0.400952232864,0.00453215417725,0.0598427981251,0.9999999566,0.000127714017118,-0.000264632617054,2.13964493009e-05,1793189504319367680 +75,1.250000000,BASELINE,763,740,713.479315501,670,668,631,876.520684499,782,797,650,626,649,0.400950296517,0.00453248137162,0.0598416982022,0.99999995617,0.000127134162979,-0.000266555342413,2.10840350152e-05,1793189504336034560 +76,1.266666667,BASELINE,763,740,713.096027806,670,668.096027806,631,877,782.096027806,797,650,626,649,0.400948593951,0.00453284471768,0.059840713406,0.999999955768,0.000126729028403,-0.000268272594884,2.08407310381e-05,1793189504352701184 +77,1.283333333,BASELINE,763,740,713.68626689,670,668.68626689,631,877,782.68626689,797,650,626,649,0.400950178808,0.00453317414062,0.0598416023256,0.999999956058,0.000127706672975,-0.000266689542593,2.12743980501e-05,1793189504369367808 +78,1.300000000,BASELINE,763,740,714,670,669.271373928,631,877,783,797,650,625.728626072,649,0.400951521675,0.00453310060005,0.0598425183342,0.999999956526,0.000127104535285,-0.000265214356517,2.12828969812e-05,1793189504386034432 +79,1.316666667,BASELINE,763,740,714,670,669.850657933,631,877,783,797,650,625.149342067,649,0.400952589971,0.00453256984337,0.059843465079,0.999999957196,0.000124709922916,-0.000263861559221,2.08089857369e-05,1793189504402701056 +80,1.333333333,BASELINE,763,740.426596362,714,670,669.573403638,631.426596362,877,782.573403638,797.426596362,650,625,649,0.400951257279,0.00453322940435,0.0598428468335,0.99999995651,0.000127421501852,-0.000265149745373,2.09469929362e-05,1793189504419367680 +81,1.350000000,BASELINE,763,740.998628049,714,669.998628049,668.998628049,631.998628049,876.998628049,782.001371951,798,650,625.001371951,649.001371951,0.400949095795,0.00453429622485,0.0598416863581,0.999999955337,0.000131891028141,-0.000267351329447,2.12963421392e-05,1793189504436034048 +82,1.366666667,BASELINE,763,740.424181561,714,669.424181561,668.424181561,631.424181561,876.424181561,782.575818439,798,650,625.575818439,649.575818439,0.400949106659,0.00453277233462,0.0598411005943,0.999999955468,0.000129798716579,-0.000267899414683,2.11401127573e-05,1793189504452701440 +83,1.383333333,BASELINE,763,740,714,669.154924657,668,631,876,783,797.845075343,650,625.845075343,649.845075343,0.40094909941,0.00453178825715,0.059840746847,0.999999955619,0.000127857425382,-0.000268278786624,2.09791962969e-05,1793189504469368320 +84,1.400000000,BASELINE,763,740,714,669.747184922,668,631,876,783,797.252815078,650,625.252815078,649.252815078,0.400949041028,0.00453232801255,0.0598410480572,0.999999955842,0.000126342447922,-0.000268181899245,2.08050486835e-05,1793189504486034688 +85,1.416666667,BASELINE,763.329895083,740,714,670,668.329895083,631,876,782.670104917,797,650,625,649,0.400948605573,0.00453244792493,0.059840809083,0.999999955871,0.000125253706484,-0.000268592229482,2.07039996318e-05,1793189504502701312 +86,1.433333333,BASELINE,763.905492397,740,714,670,668.905492397,631,876,782.094507603,797,650,625,649,0.40094788928,0.00453225514282,0.0598401677855,0.999999955756,0.000124482421039,-0.000269380329832,2.06573935955e-05,1793189504519367936 +87,1.450000000,BASELINE,763.520852004,740,713.520852004,670,668.520852004,631,876,782,797.479147996,650,625.479147996,649,0.400948774181,0.00453246737466,0.0598407722926,0.999999955918,0.000125569118797,-0.000268271226359,2.06764615441e-05,1793189504536034304 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+20,0.333333333,BASELINE,762.401975361,740,714,670,669.401975361,631.598024639,876.401975361,783,797,650,625.598024639,649,0.400943704569,0.00453692407678,0.059837057516,0.999999949033,0.000162474841669,-0.000274201104875,1.87141290294e-05,1793189510226321152 +21,0.350000000,BASELINE,762.174423186,740,714,670,668.825576814,631.825576814,876.174423186,782.825576814,797,650,625.825576814,649,0.400944239867,0.00453735145787,0.0598373604009,0.999999949117,0.000162690154763,-0.000273780233287,1.85280998505e-05,1793189510242988032 +22,0.366666667,BASELINE,762.747516851,740,714,670,668.252483149,631.252483149,876.747516851,782.252483149,797,650,625.252483149,649,0.400945862543,0.00453615889523,0.0598388136066,0.999999949984,0.000160825969104,-0.000271670826422,1.9047156799e-05,1793189510259654912 +23,0.383333333,BASELINE,763,740.330249893,714,670.330249893,668,631,876.669750107,782.330249893,797,650,625.330249893,649,0.400945227066,0.00453649025578,0.0598386037905,0.999999949955,0.000160237604219,-0.000272123837445,1.90361134697e-05,1793189510276321536 +24,0.400000000,BASELINE,763,740.920574078,714,670.920574078,668,631,876.079425922,782.920574078,797,650,625.920574078,649,0.400942813277,0.00453802171726,0.0598370843323,0.999999949221,0.000160653957656,-0.000274594771736,1.8607612212e-05,1793189510292987904 +25,0.416666667,BASELINE,763,740.497398458,714,669.994796916,668.502601542,631.502601542,876,782.497398458,797.502601542,650,625.497398458,649,0.40094459347,0.00453771699706,0.0598384640507,0.999999949475,0.000162190138662,-0.000272744626099,1.88270044384e-05,1793189510309654528 +26,0.433333333,BASELINE,763,740,714,669,668.917871953,631.917871953,876.164256095,782,797.917871953,650,625.082128047,649,0.400946471876,0.00453716658515,0.0598397905681,0.999999949765,0.000163550760544,-0.000270844337715,1.90997674157e-05,1793189510326321152 +27,0.450000000,BASELINE,763,740,714,669,668.345573627,631.345573627,877.308852746,782,797.345573627,650,625.654426373,649,0.400945045009,0.00453685351778,0.0598381095272,0.999999949392,0.000162824536714,-0.000272654143164,1.90899110862e-05,1793189510342987520 +28,0.466666667,BASELINE,763,740,714,669.227664176,668,631.227664176,877.772335824,782.227664176,797.227664176,650,626,649,0.400944189014,0.00453703954442,0.0598374580008,0.99999994919,0.000162814376406,-0.000273414142573,1.88910477227e-05,1793189510359654144 +29,0.483333333,BASELINE,763,740,714,669.802333895,668,631.802333895,877.197666105,782.802333895,797.802333895,650,626,649,0.400944203138,0.00453798628976,0.0598383756596,0.999999949251,0.00016389563955,-0.000272574028407,1.84041000006e-05,1793189510376321024 +30,0.500000000,BASELINE,763,740.39083206,714,670,668,631.60916794,877,782.60916794,797.60916794,650,625.60916794,649,0.400944058046,0.00453771963932,0.0598380052637,0.999999949189,0.000163589435205,-0.000272988619075,1.83801747607e-05,1793189510392987904 +31,0.516666667,BASELINE,763,740.986580574,714,670,668,631.013419426,877,782.013419426,797.013419426,650,625.013419426,649,0.400943829475,0.00453681679549,0.0598369595302,0.99999994906,0.000162555770237,-0.000274061061805,1.85990160222e-05,1793189510409654528 +32,0.533333333,BASELINE,763.561581751,740.438418249,714,670,668.561581751,631,877,782.561581751,797.561581751,650.561581751,625.561581751,649,0.400943640278,0.00453654940004,0.0598374324346,0.99999994929,0.000161270979309,-0.000273986196586,1.85521332928e-05,1793189510426321152 +33,0.550000000,BASELINE,763.863826298,740,714,670,668.863826298,631,877,782.863826298,797.863826298,650.863826298,626,649,0.400943920302,0.00453643751276,0.0598381100631,0.999999949539,0.000160762598088,-0.000273371949316,1.86010538419e-05,1793189510442987520 +34,0.566666667,BASELINE,763.289012575,740,714,670,668.289012575,631,877,782.289012575,797.289012575,650.289012575,626,649,0.400945708847,0.00453677937592,0.0598393344162,0.999999949823,0.000162773813762,-0.000271105420194,1.89782987553e-05,1793189510459654400 +35,0.583333333,BASELINE,763,740,714,670,668,631.294456352,877,782,797,650,626,649,0.400945940371,0.00453692396597,0.0598394016128,0.999999949838,0.000163031676218,-0.000270894873331,1.89917278404e-05,1793189510476321024 +36,0.600000000,BASELINE,763,740,714,670,668,631.88667781,877,782,797,650,626,649,0.400944597379,0.00453686906625,0.0598382986503,0.999999949583,0.000161516483584,-0.000272763411161,1.86372530095e-05,1793189510492987904 +37,0.616666667,BASELINE,763,740.466784973,714,670,668.466784973,631.533215027,877,782,797.466784973,650.466784973,626,649,0.400944563167,0.00453632156252,0.0598383226186,0.999999949389,0.000162905984191,-0.000272630947273,1.88793383133e-05,1793189510509654528 +38,0.633333333,BASELINE,763,740.956304788,714,670,668.956304788,631,876.956304788,782,798,650.956304788,626,648.956304788,0.400944917008,0.00453573505658,0.0598386619114,0.999999949273,0.000164744582799,-0.000271925077927,1.92300414579e-05,1793189510526321152 +39,0.650000000,BASELINE,763,740.383394666,714,670,668.383394666,631,876.383394666,782,798,650.383394666,626,648.383394666,0.40094621986,0.00453608795435,0.059839590529,0.999999949965,0.000163697723936,-0.000270009179439,1.91865576832e-05,1793189510542988032 +40,0.666666667,BASELINE,763.189966544,740,714,670,668.189966544,631.189966544,876.189966544,782.189966544,798.189966544,650.189966544,625.810033456,648.189966544,0.400946865071,0.00453627480865,0.0598400173529,0.999999950464,0.000162123693052,-0.00026912017135,1.90306975819e-05,1793189510559654400 +41,0.683333333,BASELINE,763.764240281,740,714,670,668.764240281,631.764240281,876.764240281,782.764240281,798.764240281,650.764240281,625.235759719,648.764240281,0.400946179858,0.0045361257527,0.059839429035,0.999999950575,0.000159483179703,-0.000270308589009,1.86474972905e-05,1793189510576321024 +42,0.700000000,BASELINE,763.648880161,740,714,670,669,631.648880161,877,782.648880161,798.648880161,650.648880161,625.351119839,649,0.400945326898,0.00453689114543,0.059838938164,0.999999950144,0.000160725558287,-0.000271168885334,1.86378479829e-05,1793189510592987648 +43,0.716666667,BASELINE,763.053221242,740,714,670,669,631.053221242,877,782.053221242,798.053221242,650.053221242,625.946778758,649,0.400944357112,0.00453829341027,0.0598385151603,0.999999949325,0.000164672195509,-0.000271800659945,1.88883600479e-05,1793189510609654272 +44,0.733333333,BASELINE,763.525136845,740.525136845,714,670,669,631,876.474863155,782.525136845,797.474863155,650.525136845,626,649,0.400943853537,0.00453708677425,0.0598385526381,0.999999949372,0.000163459750967,-0.00027234389208,1.91244061254e-05,1793189510626320896 +45,0.750000000,BASELINE,763.898367661,740.898367661,714,670,668.898367661,631,876.101632339,782.898367661,797,650.898367661,625.898367661,649,0.400943738771,0.00453613770741,0.0598387974877,0.999999949537,0.000162111733842,-0.000272535314876,1.92577023992e-05,1793189510642987520 +46,0.766666667,BASELINE,763.322642603,740.322642603,714,670,668.322642603,631,876.677357397,782.322642603,797,650.322642603,625.322642603,649,0.400945224335,0.00453758419941,0.0598397989266,0.999999949864,0.000162492534152,-0.000271126148155,1.89183140192e-05,1793189510659654400 +47,0.783333333,BASELINE,763,740,714,670,668,631,877,782.258704353,797.258704353,650,625.258704353,649,0.400945766757,0.00453860228623,0.0598396968469,0.999999949681,0.000163812947326,-0.000271020988366,1.87436053521e-05,1793189510676321280 +48,0.800000000,BASELINE,763,740,714,670,668,631,877,782.847218476,797.847218476,650,625.847218476,649,0.400945106811,0.00453907422004,0.0598381879445,0.999999948841,0.000166331227918,-0.000272578244266,1.8778838905e-05,1793189510692987904 +49,0.816666667,BASELINE,763,740,714,670,668,631,877,783,798,650,626,649,0.400944428183,0.00453834209875,0.0598377105822,0.999999948956,0.000164614165125,-0.000273210128883,1.86076097649e-05,1793189510709654528 +50,0.833333333,BASELINE,763,740,714,670,668.007820391,631,877,783,798,650.007820391,626,649,0.400943763517,0.0045372115198,0.059837611307,0.999999949398,0.000161446527562,-0.000273498272248,1.83643346909e-05,1793189510726321152 +51,0.850000000,BASELINE,763,740,714,670,668.582868577,631,877,783,798,650.582868577,626,649,0.400944586612,0.00453780152642,0.0598387013165,0.999999949813,0.000160779016833,-0.0002723882167,1.81461811047e-05,1793189510742987776 +52,0.866666667,BASELINE,763,740,714,670,668.841483273,631,876.841483273,783,797.841483273,650.841483273,626,649,0.400944754772,0.00453847374333,0.059839198675,0.999999949857,0.000161222447742,-0.000271970496749,1.80469205654e-05,1793189510759654144 +53,0.883333333,BASELINE,763,740,714,670,668.264250374,631,876.264250374,783,797.264250374,650.264250374,626,649,0.400943192942,0.00453936311568,0.0598381305677,0.999999948918,0.000164600390653,-0.000273381556183,1.82617117012e-05,1793189510776320768 +54,0.900000000,BASELINE,763,740,714,670,668,631,876.320922613,782.679077387,797.320922613,650,626,649,0.400943984651,0.00453890645084,0.0598383326913,0.999999948933,0.000165613013133,-0.000272695725648,1.85065522405e-05,1793189510792987392 +55,0.916666667,BASELINE,763,740,714,670,668,631,876.912799368,782.087200632,797.912799368,650,626,649,0.400946763446,0.00453731333021,0.0598396072677,0.999999949758,0.000164628601454,-0.000270239496211,1.87767634036e-05,1793189510809654272 +56,0.933333333,BASELINE,763.488117978,740,714,670,668.488117978,631.488117978,876.511882022,782,798.488117978,650,626,649,0.400946834188,0.00453714064451,0.0598398275826,0.999999949932,0.000163768353432,-0.000270113283856,1.88339558382e-05,1793189510826321152 +57,0.950000000,BASELINE,764,740,714,670,669,632,876,782.061171587,798.877656826,650.061171587,626,649,0.40094644021,0.00453715858869,0.0598398230115,0.999999950012,0.000162927143065,-0.000270323974456,1.8835064723e-05,1793189510842987776 +58,0.966666667,BASELINE,764,740,714,670,669,632,876,782.639261262,797.721477475,650.639261262,626,649,0.4009460732,0.00453671345283,0.0598394574011,0.999999950249,0.000162065517257,-0.000269979566343,1.8673276897e-05,1793189510859654400 +59,0.983333333,BASELINE,764,740,714,670,669,631.783950821,876.216049179,783,797,651,625.783950821,649,0.400945308605,0.00453654814298,0.059838926193,0.999999950164,0.000161449964399,-0.000270672135098,1.85245212877e-05,1793189510876321024 +60,1.000000000,BASELINE,764,740,714,670,669,631.209323349,876.790676651,783,797,651,625.209323349,649,0.400943884136,0.0045368472622,0.0598381201412,0.999999949543,0.000161242820351,-0.000273085781354,1.83973953113e-05,1793189510892987648 +61,1.016666667,BASELINE,763.622431067,740,714,670.377568933,669,631.377568933,877,782.622431067,797.377568933,650.622431067,625.377568933,649,0.400944193441,0.00453677028006,0.0598382881129,0.999999949759,0.000160810390474,-0.000272537774234,1.85896233454e-05,1793189510909654272 +62,1.033333333,BASELINE,763.028510946,740,714,670.971489054,669,631.971489054,877,782.028510946,797.971489054,650.028510946,625.971489054,649,0.400945496217,0.00453647778767,0.0598390142108,0.999999950451,0.000160248869331,-0.000270292706731,1.89648447776e-05,1793189510926321152 +63,1.050000000,BASELINE,763.54758611,740.54758611,714,670.45241389,669,632,877,782.54758611,797.45241389,650,625.45241389,649,0.400946122642,0.00453658887586,0.0598396815975,0.999999950375,0.000161093697242,-0.000270073815962,1.89214194333e-05,1793189510942987776 +64,1.066666667,BASELINE,763.754717295,740.877358647,714,670,669,631.877358647,876.877358647,783,797.122641353,650,625.122641353,649,0.400946264478,0.00453679607677,0.0598398536685,0.999999950143,0.000161950758515,-0.000270430965878,1.87914595653e-05,1793189510959654400 +65,1.083333333,BASELINE,762.605661257,740.302830628,714,670,669,631.302830628,876.302830628,783,797.697169372,650,625.697169372,649,0.40094474646,0.00453728243194,0.0598382115982,0.999999949475,0.000162591597975,-0.000272534146406,1.84204367402e-05,1793189510976321024 +66,1.100000000,BASELINE,762.279799881,740,714,670,668.720200119,631.279799881,876.279799881,783,797.720200119,650.279799881,626,649,0.400944185357,0.00453755749679,0.0598380309239,0.999999949352,0.000162633416737,-0.000272957379622,1.84489750282e-05,1793189510992987904 +67,1.116666667,BASELINE,762.871461289,740,714,670,668.128538711,631.871461289,876.871461289,783,797.128538711,650.871461289,626,649,0.40094469082,0.00453759706002,0.0598394791039,0.999999949839,0.00016200757431,-0.00027150816396,1.89228592733e-05,1793189511009654528 +68,1.133333333,BASELINE,763,740,714,670,668.453246128,631.546753872,876.546753872,782.546753872,797.453246128,650.546753872,625.546753872,649,0.400945586827,0.00453833208073,0.0598399371473,0.999999949814,0.00016371118803,-0.000270568575002,1.90819217853e-05,1793189511026321152 +69,1.150000000,BASELINE,763,740,714,670,668.967979381,631.032020619,876.032020619,782,798,650,625.032020619,649,0.400946472405,0.00453910879565,0.0598401139415,0.999999949677,0.000165737041818,-0.000269834908942,1.91446748072e-05,1793189511042987520 +70,1.166666667,BASELINE,763,740,714,670,668.393762691,631.606237309,876.606237309,782,798,650,625.606237309,649,0.400945345969,0.00453732310632,0.0598401817078,0.99999995015,0.000162271688974,-0.000270193016385,1.90561949723e-05,1793189511059654144 +71,1.183333333,BASELINE,763,740.180114197,714.180114197,670,668.180114197,631.819885803,877,782.180114197,798,650,625.819885803,649,0.40094535467,0.00453602571162,0.05984039325,0.999999950721,0.000159468530488,-0.000269759102575,1.89109632288e-05,1793189511076321024 +72,1.200000000,BASELINE,763,740.753249721,714.753249721,670,668.753249721,631.246750279,877,782.753249721,798,650,625.246750279,649,0.400947840316,0.00453579380836,0.0598409185211,0.999999951523,0.000158110324106,-0.000267596945031,1.86418949759e-05,1793189511092987904 +73,1.216666667,BASELINE,763,740.66116864,714.66116864,670,668.66116864,631,877,783,797.322337281,650,625.33883136,649,0.400947226305,0.00453704758524,0.0598402070123,0.999999950977,0.000159694489007,-0.000268698307233,1.85520935367e-05,1793189511109654528 +74,1.233333333,BASELINE,763,740.06617766,714.06617766,670,668.06617766,631,877,783,796.13235532,650,625.93382234,649,0.400944268925,0.00453942454997,0.0598385604865,0.999999949396,0.000163503113708,-0.00027226692047,1.85978194713e-05,1793189511126321152 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+1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de82f99ee3f3f7b1a7318a7fa4b421c6d0ce588f45afa4925db72b4abe774cfc +size 24502854 diff --git a/Obstacle_avoidance/ball_0030_20/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_10/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..b10ccf65b90f6fc77a2b8e41611b169e0ee0dc70 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_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 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+13,0.216666667,BASELINE,763,740,714,670.541481191,669,632,876.458518809,782.458518809,798,651,625.458518809,649,0.400968361395,0.00455311884691,0.0498519697662,0.999999963206,4.39654742501e-05,-0.000265010332947,-3.77333145146e-05,1793189524787629312 +14,0.233333333,BASELINE,763,740,714,670.880247173,669,631.880247173,876,782,797.880247173,651,625,649,0.400968369251,0.00455364521441,0.0498515124472,0.99999996301,4.45299086232e-05,-0.000265600706499,-3.81154168858e-05,1793189524804296192 +15,0.250000000,BASELINE,763,740,714,670.28924851,669,631.28924851,876,782,797.28924851,651,625,649,0.40096679378,0.00455246741668,0.0498508144585,0.999999962817,4.18140591905e-05,-0.000266782513216,-3.8003285132e-05,1793189524820962816 +16,0.266666667,BASELINE,763,740,714,670,669,631,876,782.295521143,797.591042287,650.704478857,625.295521143,649,0.400965863043,0.00455247650037,0.049850253582,0.999999962582,4.12728666248e-05,-0.00026774742077,-3.79925345926e-05,1793189524837629440 +17,0.283333333,BASELINE,763,740,714,670,669,631,876,782.874319823,798.748639647,650.125680177,625.874319823,649,0.400965550328,0.00455362329239,0.0498498241371,0.999999962311,4.28162338348e-05,-0.000268504415346,-3.80789649939e-05,1793189524854296064 +18,0.300000000,BASELINE,763,740,713.548303927,670,669,631,876,783,798.096607853,650,626,649,0.400966669416,0.00455282199875,0.0498502148536,0.999999962742,4.24326036516e-05,-0.000266947336205,-3.81475377318e-05,1793189524870962432 +19,0.316666667,BASELINE,763,740,713,669.970921201,669,631,876,783,797.058157599,650.029078799,626,649,0.400968148319,0.0045515696436,0.0498508489567,0.999999963338,4.1560338723e-05,-0.000264835496751,-3.81892146348e-05,1793189524887629312 +20,0.333333333,BASELINE,763,740,713,669.385871211,669,631,876,783,798.228257579,650.614128789,626,649,0.400968913683,0.00455202414836,0.0498517870737,0.999999963471,4.15647199816e-05,-0.000264388726588,-3.78113586758e-05,1793189524904295936 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+24,0.400000000,BASELINE,763,740,714,670,669,631.067175302,876,782.932824698,797,651,625.932824698,649,0.400966787306,0.00455176548389,0.0498508190311,0.999999963202,3.94969442847e-05,-0.000265704322115,-3.79180693609e-05,1793189524970962688 +25,0.416666667,BASELINE,763,740,714,670,669,631.508149704,876,783,797,651,626,649,0.400967652475,0.00455076176317,0.0498508708605,0.999999963139,3.95566197092e-05,-0.000265955658041,-3.7757347188e-05,1793189524987629056 +26,0.433333333,BASELINE,763,739.915034437,713.915034437,670,669,631.915034437,876,782.915034437,797,651,626,649,0.4009684278,0.00454979889629,0.0498510180907,0.999999963112,3.97862596716e-05,-0.000266047591872,-3.7566999478e-05,1793189525004295936 +27,0.450000000,BASELINE,763,739.327238727,713.327238727,670,669,631.327238727,876,782.327238727,797,651,626,649,0.40096841258,0.00455123864071,0.0498516583668,0.99999996352,4.13815854098e-05,-0.000264251544102,-3.76542481795e-05,1793189525020962560 +28,0.466666667,BASELINE,763.256688665,739.256688665,713,670,669,631.256688665,876,782.256688665,797.256688665,651,626,649,0.400969058409,0.00455204156509,0.0498524598595,0.999999963917,4.20059699385e-05,-0.000262641069009,-3.76988635466e-05,1793189525037629184 +29,0.483333333,BASELINE,763.835757722,739.835757722,713,670,669,631.835757722,876,782.835757722,797.835757722,651,626,649,0.400970534464,0.00455204469443,0.0498534638273,0.999999964303,4.14109300226e-05,-0.000261263658433,-3.76899348573e-05,1793189525054295808 +30,0.500000000,BASELINE,763.585878099,740,713.414121901,670,669,632,876,783,798,651,626,649.414121901,0.400969861162,0.00455209378114,0.0498532437129,0.999999964052,4.25066766137e-05,-0.000262048906879,-3.76885468361e-05,1793189525070962432 +31,0.516666667,BASELINE,763.007793015,740,713.992206985,670,669,632,876,783,798,651,626,649.992206985,0.400968336865,0.00455216106375,0.049852538948,0.999999963543,4.4271855904e-05,-0.000263690416409,-3.769014439e-05,1793189525087629056 +32,0.533333333,BASELINE,763,740,714,670,669,632,876,783,798,651,626,649.434338196,0.400967527702,0.00455226112168,0.0498515893822,0.99999996309,4.38307153088e-05,-0.000265520324163,-3.73919001712e-05,1793189525104295936 +33,0.550000000,BASELINE,763,740,714,670.143018481,669,631.856981519,876,783,797.856981519,651,626,649,0.400966994214,0.00455218296064,0.0498510621968,0.999999962815,4.31691396769e-05,-0.000266680446016,-3.72446365436e-05,1793189525120962560 +34,0.566666667,BASELINE,763,740,714,670.732760279,669,631.267239721,876,783,797.267239721,651,626,649,0.400967291286,0.00455154672739,0.0498518647802,0.999999963106,4.19131997326e-05,-0.000265740426017,-3.75817643612e-05,1793189525137629184 +35,0.583333333,BASELINE,763,740,714,670.683450391,669,631,876,783,797,651,626,649,0.400967841893,0.0045513129457,0.0498523228694,0.999999963384,4.150028532e-05,-0.000264747114607,-3.76748293343e-05,1793189525154295808 +36,0.600000000,BASELINE,763,740,714,670.10459348,669,631,876,783,797,651,626,649,0.400968602592,0.00455141265347,0.0498524954952,0.99999996365,4.17859397984e-05,-0.000263709643423,-3.75656528487e-05,1793189525170962688 +37,0.616666667,BASELINE,763.471774555,740,714,670,669,631,876,783,797.471774555,651,626,649,0.400968562023,0.00455256424247,0.0498521836885,0.999999963524,4.27831691576e-05,-0.000264017838761,-3.76428766494e-05,1793189525187629056 +38,0.633333333,BASELINE,763.952575419,740,714,670,669,631.047424581,876,783,797.952575419,651,626,649,0.40096822026,0.00455375983552,0.049851728313,0.999999963281,4.37978460046e-05,-0.000264756110564,-3.77475169103e-05,1793189525204295680 +39,0.650000000,BASELINE,763.378801932,740,714,670,669,631.621198068,876,783,797.378801932,651,626,649,0.400966496877,0.00455286914312,0.0498508652543,0.999999962716,4.32644574555e-05,-0.000266973886472,-3.77001941668e-05,1793189525220962560 +40,0.666666667,BASELINE,763,740,714,670,669,632,876,783,797,651,626,649,0.40096586176,0.00455228008114,0.0498505604235,0.999999962495,4.27061503124e-05,-0.000267889519964,-3.77014251909e-05,1793189525237629440 +41,0.683333333,BASELINE,763,740,714,670,669,632,876,783,797,651,626,649,0.400967340986,0.00455227704406,0.04985134015,0.999999962948,4.2099429931e-05,-0.000266275276504,-3.77969892576e-05,1793189525254296064 +42,0.700000000,BASELINE,763,740,714,670,669,632,876,783,797,651,625.624450257,649,0.400966919167,0.0045517871029,0.0498511694558,0.999999962837,4.20898236455e-05,-0.000266720374053,-3.76222754612e-05,1793189525270962688 +43,0.716666667,BASELINE,763,740,714,670,669,632,876,783,797,651,625.044887279,649,0.400965464627,0.00455103265649,0.0498504824561,0.999999962417,4.24045929933e-05,-0.000268284185829,-3.73007362086e-05,1793189525287629312 +44,0.733333333,BASELINE,763,740,713.469607492,670,669,631.469607492,876,783,797,651,625,649,0.400965717766,0.00455162917625,0.0498501310912,0.999999962688,4.21381385668e-05,-0.000267267994166,-3.76330244123e-05,1793189525304295936 +45,0.750000000,BASELINE,763,740,713.107413622,670,669,631,876,783,797,651,625.107413622,649.107413622,0.400966082769,0.0045523034893,0.0498500285954,0.999999963,4.18357124311e-05,-0.000266096775862,-3.79821117527e-05,1793189525320962816 +46,0.766666667,BASELINE,763,740,713.693802885,670,669,631,876,783,797,651,625.693802885,649.693802885,0.400966307316,0.00455281895087,0.049850910202,0.999999963241,4.1590468068e-05,-0.000265200112159,-3.81613437764e-05,1793189525337629184 +47,0.783333333,BASELINE,763,740,714,670,669,631,875.721513227,783,797.278486773,651,626,649.721513227,0.400966361725,0.00455235915923,0.0498513674312,0.999999963345,4.16823254503e-05,-0.000264805227929,-3.80833459371e-05,1793189525354295808 +48,0.800000000,BASELINE,763,740,714,670,669,631,875.138692918,783,797.861307082,651,626,649.138692918,0.400966230206,0.00455083359976,0.0498513608961,0.999999963299,4.21425714513e-05,-0.000264958693943,-3.77242443794e-05,1793189525370962432 +49,0.816666667,BASELINE,763,740,713.562087183,670,668.562087183,631.437912817,875.437912817,783,797.562087183,651,626,649,0.400966921726,0.00455169877109,0.0498517103926,0.999999963397,4.10893907782e-05,-0.000264734038997,-3.78722254711e-05,1793189525387629056 +50,0.833333333,BASELINE,763,740,713,670,668.012614984,632,876,783,797,651,625.987385016,649,0.400967892912,0.00455324329983,0.0498521853688,0.999999963549,3.95971271445e-05,-0.000264344965537,-3.81632679869e-05,1793189525404295936 +51,0.850000000,BASELINE,763,740,713,670,668.588977985,632,876,783,797,651,625.411022015,649,0.400969876137,0.00455178365718,0.0498532992807,0.999999964211,3.96033944771e-05,-0.000261885094071,-3.77709630214e-05,1793189525420962560 +52,0.866666667,BASELINE,762.830909411,740,713.169090589,670,668.830909411,631.830909411,876,783,797.169090589,651,625.169090589,649,0.400970821914,0.0045508760021,0.0498538129975,0.999999964545,3.9714072021e-05,-0.000260616025559,-3.75686405455e-05,1793189525437629184 +53,0.883333333,BASELINE,762.241475683,740,713.758524317,670,668.241475683,631.241475683,876,783,797.758524317,651,625.758524317,649,0.400969188691,0.00455134053575,0.0498528346863,0.999999964078,4.00843034302e-05,-0.000262307180197,-3.78385965121e-05,1793189525454295808 +54,0.900000000,BASELINE,762.341637615,740,714,670,668,631,876,783,797.658362385,651,626,649.341637615,0.400968442686,0.00455152334265,0.0498524211131,0.999999963878,4.01989613216e-05,-0.000263046321874,-3.78736941613e-05,1793189525470962432 +55,0.916666667,BASELINE,762.92036464,740,714,670,668,631,876,783,797.07963536,651,626,649.92036464,0.400968312392,0.00455151063701,0.0498523994564,0.999999963865,4.01362564831e-05,-0.000263124786253,-3.77458050038e-05,1793189525487629056 +56,0.933333333,BASELINE,763,740,714,670,668.496081106,631,876.496081106,783,797.496081106,651,626,650,0.400968539989,0.00455212627476,0.0498527135113,0.999999963864,4.17087987819e-05,-0.000262856533359,-3.79255104004e-05,1793189525504295936 +57,0.950000000,BASELINE,763,740,714,670,669,631,876.927292362,783,797.927292362,651,626,650,0.400968449195,0.00455246717783,0.0498528123505,0.999999963759,4.28763320757e-05,-0.000263046100988,-3.80846054826e-05,1793189525520962816 +58,0.966666667,BASELINE,763,740,714,670,669,631,876.340841488,783,797.340841488,651,626,650,0.40096570519,0.00455015842247,0.0498510120091,0.999999962906,3.93384849261e-05,-0.000266861473684,-3.77512774792e-05,1793189525537629440 +59,0.983333333,BASELINE,763,740,714,670,669,631,876,783,797.243908282,651,626,650,0.400965303997,0.0045487505706,0.0498507531824,0.999999962831,3.78040059543e-05,-0.00026740553761,-3.7449375915e-05,1793189525554295808 +60,1.000000000,BASELINE,763,740,714,670,669,631,876,783,797.826297449,651,626,650,0.400968154016,0.00454859293676,0.0498526335746,0.999999963854,3.90496773879e-05,-0.00026340988135,-3.71910859794e-05,1793189525570962432 +61,1.016666667,BASELINE,763,740,714,670,669.404086237,631,875.595913763,783,798,650.595913763,626,650,0.400968258161,0.00454864545882,0.0498528237312,0.99999996395,3.97330747674e-05,-0.000262958025895,-3.70814874038e-05,1793189525587629056 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+105,1.750000000,BASELINE,763,740,713.069173866,670,669,631.930826134,876,782.930826134,797,651,625.069173866,649,0.400968213373,0.00455167685254,0.0498535082759,0.999999964291,3.76172237288e-05,-0.000261906068001,-3.75177153283e-05,1793189526320963072 +106,1.766666667,BASELINE,763.507382576,740,713.507382576,670,668.492617424,631.492617424,876,783,798.014765152,651,625,649,0.400969212099,0.00455050190205,0.0498543973062,0.99999996467,3.74739020887e-05,-0.000260505751674,-3.73070630569e-05,1793189526337629952 +107,1.783333333,POSE1_TO_POSE2_PRESS,763,740,714,670,669,632,876,782,798,650,625,650,0.400968010308,0.0045498529491,0.0498535690226,0.999999964221,3.77161784072e-05,-0.000262199513933,-3.72498963881e-05,1793189526380298752 +108,1.800000000,POSE1_TO_POSE2_PRESS,763,740,714,670,669,631.417305026,876,782.582694974,797.417305026,650.582694974,625,649.417305026,0.400967708866,0.00454971476453,0.0498531564722,0.999999964045,3.79222598579e-05,-0.000262856208179,-3.7132088042e-05,1793189526396965376 +109,1.816666667,POSE1_TO_POSE2_PRESS,763,740,714,670,669,631.162898576,876,782.837101424,797.162898576,650.837101424,625.162898576,649,0.400967564325,0.00455002449735,0.0498528047348,0.999999963896,3.85225859002e-05,-0.000263340885009,-3.70835076779e-05,1793189526413632000 +110,1.833333333,POSE1_TO_POSE2_PRESS,763,740,714,670,669,631.736816177,876,782.263183823,797.736816177,650.263183823,625.736816177,649,0.400967815671,0.00455146439698,0.0498526064383,0.999999963815,4.01176538147e-05,-0.000263391534669,-3.72096005018e-05,1793189526430298880 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+68,1.133333333,BASELINE,763,740,714,670,668,631,876.555328106,782,797,650.444671894,625.555328106,649.555328106,0.400967145773,0.00455371355026,0.049850998163,0.999999963653,4.05886418916e-05,-0.000264104322764,-3.59944746264e-05,1793189532396528640 +69,1.150000000,BASELINE,763,740,714,670.035762106,668.035762106,631,876,782.035762106,797.035762106,651,625,649,0.40096699301,0.00455270062146,0.049850568974,0.999999963652,4.0090921478e-05,-0.00026414850934,-3.62471567965e-05,1793189532413195264 +70,1.166666667,BASELINE,763,740,714,670.614619057,668.614619057,631,876,782.614619057,797.614619057,651,625,649,0.400967342776,0.0045547075372,0.0498521286991,0.999999963752,4.26360470696e-05,-0.000263341957493,-3.645282292e-05,1793189532429862144 +71,1.183333333,BASELINE,763,740,713.807507661,670.807507661,669,631.192492339,876,782.807507661,798,651,625,649,0.400967863731,0.00455516194146,0.0498529720218,0.99999996393,4.3162657371e-05,-0.000262584647296,-3.64165071329e-05,1793189532446528768 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+98,1.633333333,BASELINE,763,740,714,670.851707598,669,632,876,782.851707598,797.148292402,651,626,649.148292402,0.400968473115,0.00455045256673,0.0498531685656,0.999999964441,3.82963213301e-05,-0.000261539931663,-3.53442225249e-05,1793189532896528384 +99,1.650000000,BASELINE,763,740,714,670.562754716,669,631.562754716,876.437245284,783,797.437245284,651,626,649.437245284,0.400968117473,0.00455145420691,0.0498530026235,0.999999964384,3.90908487638e-05,-0.000261601173694,-3.56133081154e-05,1793189532913195008 +100,1.666666667,BASELINE,763.025962216,740,713.974037784,670,669,631,876.974037784,783,798,651,625.974037784,649.974037784,0.400968041919,0.0045537655723,0.0498528755645,0.999999964367,4.15179201608e-05,-0.000261225361553,-3.61029479642e-05,1793189532929861632 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+53,0.883333333,BASELINE,763,740,713.840331734,671,669,631.159668266,875.159668266,782.840331734,797.840331734,651,626,649,0.400972846696,0.0045605370385,0.0498564852485,0.999999965159,5.41593840254e-05,-0.000256041206801,-3.450672657e-05,1793189538870441984 +54,0.900000000,BASELINE,763,740,714,670.581754482,669,631.418245518,875.418245518,782.581754482,798,651,626,649,0.400971775346,0.00456031157773,0.0498564779928,0.999999965051,5.31516421549e-05,-0.000256686758991,-3.44092133376e-05,1793189538887108352 +55,0.916666667,BASELINE,763,740,714,670.004129441,669,631.995870559,875.995870559,782.004129441,798,651,626,649,0.400969055362,0.00455993081808,0.0498553785741,0.999999964438,5.16530323898e-05,-0.000259378495112,-3.43199933298e-05,1793189538903774720 +56,0.933333333,BASELINE,763,740,714,670,668.430592972,631.430592972,876,782.569407028,797.430592972,650.430592972,625.430592972,649,0.400969905348,0.00455894775128,0.0498548030865,0.99999996447,5.28191691021e-05,-0.000259035029361,-3.42136589837e-05,1793189538920441344 +57,0.950000000,BASELINE,763.147356077,740,714,669.852643923,668.147356077,631,875.852643923,783,797.147356077,650.147356077,625.147356077,649,0.400970326177,0.00455836588553,0.0498541970552,0.999999964404,5.34679533681e-05,-0.000259162410798,-3.41873814005e-05,1793189538937107968 +58,0.966666667,BASELINE,763.738688601,740,714,669.261311399,668.738688601,631,875.261311399,783,797.738688601,650.738688601,625.738688601,649,0.40096937653,0.0045590058854,0.0498534876303,0.999999964028,5.25001697149e-05,-0.000260774278903,-3.44026821275e-05,1793189538953774592 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+62,1.033333333,BASELINE,763,740,714,670,668,631,876,782.053642605,797.053642605,650.946357395,626,649,0.400969306018,0.00455913368944,0.0498544167444,0.999999964407,5.3518834903e-05,-0.000259142266867,-3.41577141175e-05,1793189539020441600 +63,1.050000000,BASELINE,763,740,714,670,668,631,876,782.641202086,797.641202086,650.358797914,626,649,0.400970834528,0.00455915089145,0.0498547735957,0.999999964482,5.41507675176e-05,-0.000258715181499,-3.42127726012e-05,1793189539037108224 +64,1.066666667,BASELINE,763,740,714,670,668,631.225553202,876,782.774446798,798,650.225553202,625.774446798,649,0.400971833084,0.00455902283417,0.0498550023548,0.999999964611,5.35553309179e-05,-0.000258324897605,-3.43318634032e-05,1793189539053774592 +65,1.083333333,BASELINE,763,740,714,670,668,631.804872168,876,782.195127832,798,650.804872168,625.195127832,649,0.400972000439,0.00455866694701,0.0498550302096,0.999999964821,5.10348442117e-05,-0.000257992334492,-3.45513847952e-05,1793189539070441216 +66,1.100000000,BASELINE,763,740,714,670.384068643,668.384068643,631.615931357,875.615931357,782.384068643,798,651,625,649,0.400971983535,0.00455864436918,0.0498550148304,0.999999964833,5.05250462751e-05,-0.000258051948151,-3.44986258097e-05,1793189539087107840 +67,1.116666667,BASELINE,763,740,714,670.963202888,668.963202888,631.036797112,875.036797112,782.963202888,798,651,625,649,0.400971873047,0.00455879107668,0.0498549774931,0.999999964747,5.10364622632e-05,-0.000258310745479,-3.43075776421e-05,1793189539103774464 +68,1.133333333,BASELINE,763,740,713.463174068,670.463174068,669,631,875.536825932,783,797.463174068,650.463174068,625.536825932,649,0.400971063469,0.00455868787045,0.0498543119148,0.99999996475,5.12039118444e-05,-0.000258248147503,-3.4428595483e-05,1793189539120441088 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+87,1.450000000,BASELINE,763,740,714,669.878999285,668.439499643,631.439499643,875.878999285,782.439499643,797.560500357,651,625,649,0.400972053721,0.0045572928624,0.0498561158408,0.999999965409,5.07194742797e-05,-0.000255824792273,-3.40920598154e-05,1793189539437107968 +88,1.466666667,BASELINE,763,740,713.862410918,669.275178165,668,631,875.137589082,782,798.137589082,651,625,649,0.400972526499,0.00455725385908,0.0498561811145,0.999999965545,5.00003052198e-05,-0.000255407880335,-3.42983694561e-05,1793189539453774848 +89,1.483333333,BASELINE,763,740,713.270207529,670.459584942,668,631,875.729792471,782,798.729792471,651,625,649,0.400972852076,0.00455821024099,0.0498566161984,0.999999965707,5.03908730911e-05,-0.000254721654989,-3.41103840224e-05,1793189539470441472 +90,1.500000000,BASELINE,763,739.685923326,713.314076674,670.685923326,668.314076674,631,876,782.314076674,798.371846652,651,625.314076674,649,0.400972692271,0.00455853283489,0.049856679254,0.999999965633,5.0906768064e-05,-0.000254912582775,-3.40932777775e-05,1793189539487108096 +91,1.516666667,BASELINE,763,739.108284652,713.891715348,670.108284652,668.891715348,631,876,782.891715348,797.216569304,651,625.891715348,649,0.400972125151,0.00455832357632,0.0498564301164,0.99999996536,5.15278330736e-05,-0.000255839586377,-3.42195672937e-05,1793189539503774720 +92,1.533333333,BASELINE,763,739.4660353,713.5339647,670,669,631,876,783,797,651,626,649,0.400971795084,0.00455805500934,0.0498560616647,0.999999965298,5.17249688694e-05,-0.000256048184844,-3.41783407232e-05,1793189539520441088 +93,1.550000000,BASELINE,763,740,713,670,669,631.039680036,876,783,797.039680036,651,626,649,0.400971530024,0.00455793904588,0.0498556687421,0.999999965264,5.19505849279e-05,-0.000256142678708,-3.41167160846e-05,1793189539537107712 +94,1.566666667,BASELINE,763,740,713,670,669,631.614544078,876,783,797.614544078,651,626,649,0.400971404115,0.00456006587066,0.0498553170407,0.999999964953,5.38794677527e-05,-0.00025693364784,-3.43012322881e-05,1793189539553774336 +95,1.583333333,BASELINE,763,740,713.195618338,670,669,632,876,782.804381662,798,651,625.804381662,649,0.400971404751,0.00456074616741,0.0498552188661,0.999999964847,5.42486043682e-05,-0.000257256219853,-3.4379900774e-05,1793189539570441216 +96,1.600000000,BASELINE,763,740,713.789330837,670,669,632,876,782.210669163,798,651,625.210669163,649,0.400971662911,0.00455848269982,0.0498556366326,0.999999965162,5.14435713335e-05,-0.000256625577906,-3.42431633205e-05,1793189539587108096 +97,1.616666667,BASELINE,763,740,713.627457338,670,669,631.627457338,876,782.372542662,797.627457338,651,625.372542662,649,0.400971699636,0.00455909765857,0.0498558635344,0.999999965128,5.25729809188e-05,-0.000256525165956,-3.42842555521e-05,1793189539603774720 +98,1.633333333,BASELINE,763,740,713.050020789,670,669,631.050020789,876,782.949979211,797.050020789,651,625.949979211,649,0.400971614575,0.00456129571655,0.0498559854629,0.999999964895,5.58662857593e-05,-0.000256716374022,-3.44231519331e-05,1793189539620441344 +99,1.650000000,BASELINE,763,740,713.524473254,670.524473254,669,631,876,783,797.524473254,651,626,649,0.400970941188,0.00455937182025,0.0498558029736,0.999999964992,5.44492826856e-05,-0.00025667334004,-3.42081479275e-05,1793189539637107968 +100,1.666666667,BASELINE,763,740,714,671,669,631.100958945,876,783,798,651,626,649.100958945,0.400970490261,0.00455765669612,0.0498555926533,0.999999965092,5.31131803325e-05,-0.000256586446608,-3.40476409609e-05,1793189539653774336 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+1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:735a8fdc750b236a46c0aa65533dc1d13e4f055404db736f5fe7473c65a0bb97 +size 25205422 diff --git a/Obstacle_avoidance/ball_0030_20/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_10/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..1b3eec92ac66d24413701475250e6959826b4e4d --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_10/depth_05/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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+46,0.766666667,BASELINE,763,740,714,670,668.319867789,631,875.680132211,782,797.319867789,650.319867789,626,649,0.400973180617,0.00456304499666,0.0498558624731,0.999999964964,5.43707004141e-05,-0.00025689786711,-3.34562066175e-05,1793189545558630912 +47,0.783333333,BASELINE,763,740,714,670,668.262071575,631.262071575,876,782.262071575,797,650.262071575,626,649,0.400973334886,0.00456238392529,0.0498557465436,0.999999964964,5.39025638173e-05,-0.000257005518623,-3.33783295696e-05,1793189545575297792 +48,0.800000000,BASELINE,763,740,714,670,668.852407762,631.852407762,876,782.852407762,797,650.852407762,626,649,0.400973555514,0.00456240743994,0.0498560195305,0.999999965128,5.28801239248e-05,-0.00025657900967,-3.34017271313e-05,1793189545591964416 +49,0.816666667,BASELINE,763,740,714,670,669,631.566281241,876,782.566281241,797.433718759,651,626,649,0.400973222235,0.00456317537768,0.0498560878375,0.999999965102,5.26209565029e-05,-0.000256713144477,-3.35599916698e-05,1793189545608631040 +50,0.833333333,BASELINE,763,740,714,670,669,631.011984601,876,782,797.988015399,650.988015399,625.988015399,649,0.40097276009,0.00456412422722,0.0498561090616,0.999999965033,5.25959763197e-05,-0.000256962349715,-3.37491381332e-05,1793189545625297664 +51,0.850000000,BASELINE,763,740,714,670,669,631.588531012,876,782,797.411468988,650.411468988,625.411468988,649,0.400974925729,0.0045619052288,0.0498571265494,0.9999999659,5.16168032497e-05,-0.000253828092613,-3.32751533045e-05,1793189545641964544 +52,0.866666667,BASELINE,763,740,713.835408476,670,668.835408476,631.835408476,876,782,797,650,625.164591524,649,0.400975506316,0.00456033060674,0.0498574426159,0.999999966231,5.03374191065e-05,-0.000252808806462,-3.30330863476e-05,1793189545658631424 +53,0.883333333,BASELINE,763,740,713.260559141,670,668.260559141,631.260559141,876,782,797,650,625.739440859,649,0.40097213603,0.00456036214546,0.0498560103323,0.999999965236,4.83097344106e-05,-0.000257061258287,-3.33690936517e-05,1793189545675298816 +54,0.900000000,BASELINE,763,740,713,670,668.322609047,631,876,782,797,650.322609047,626,649,0.400971447309,0.00456122982722,0.0498554442225,0.999999964865,4.88028720097e-05,-0.000258380536066,-3.35791217057e-05,1793189545691965440 +55,0.916666667,BASELINE,763,740,713,670,668.912673866,631,876,782,797,650.912673866,626,649,0.400972981713,0.00456279070492,0.0498555962055,0.999999965019,5.13858719734e-05,-0.000257268095319,-3.3684707918e-05,1793189545708631552 +56,0.933333333,BASELINE,763,740,713.492990487,670,669,631.492990487,876,782,797.492990487,651,626,649.492990487,0.400974103924,0.00456291586465,0.0498564105101,0.999999965244,5.28482227982e-05,-0.000256118590375,-3.34900019279e-05,1793189545725298176 +57,0.950000000,BASELINE,763,740,714,670,669,631.928775886,876,782.071224114,798,651,626,650,0.400974852227,0.00456279226168,0.0498571346458,0.999999965417,5.37699664476e-05,-0.000255273879887,-3.33079788051e-05,1793189545741964800 +58,0.966666667,BASELINE,763,740,714,670,669,631.3533017,876,782.6466983,798,651,626,650,0.400973460239,0.00456267306745,0.0498564059089,0.999999965141,5.22424680688e-05,-0.000256632623594,-3.35850352875e-05,1793189545758631424 +59,0.983333333,BASELINE,763,740,714,670,669,631,875.778407765,782.778407765,797.778407765,651,626,650,0.400972786298,0.00456262057169,0.0498562062274,0.999999965038,5.18779926393e-05,-0.000257096650255,-3.36834645911e-05,1793189545775298048 +60,1.000000000,BASELINE,763,740,714,670,669,631,875.204436463,782.204436463,797.204436463,651,626,650,0.400973254207,0.00456267414076,0.0498568478572,0.999999965212,5.3362972308e-05,-0.000256137885588,-3.34978385037e-05,1793189545791964672 +61,1.016666667,BASELINE,763,740,713.61640821,670,669,631,875,782.38359179,797,651,626,649.61640821,0.400973646906,0.00456247616407,0.0498571676386,0.99999996544,5.34483991179e-05,-0.000255243182319,-3.3376055564e-05,1793189545808631296 +62,1.033333333,BASELINE,763,740,713.020603315,670,669,631,875,782.979396685,797,651,626,649.020603315,0.400973997997,0.00456213902563,0.0498573093649,0.999999965699,5.27595562502e-05,-0.000254383919564,-3.32895923502e-05,1793189545825297920 +63,1.050000000,BASELINE,763.547617202,740,713,670,669,631,876.095234403,783,797,651,625.452382798,649,0.400973345049,0.00456275481462,0.0498566759547,0.99999996538,5.25625064709e-05,-0.00025563649418,-3.35649104276e-05,1793189545841964800 +64,1.066666667,BASELINE,763.882494102,740,713.117505898,670,669,631,876.882494102,782.882494102,797.117505898,650.882494102,625.117505898,649,0.400972844873,0.00456320996797,0.0498561900732,0.999999965118,5.26789583835e-05,-0.000256616157808,-3.3734056974e-05,1793189545858631680 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+68,1.133333333,BASELINE,763,740,713,670.45709453,668,631,875,782.54290547,797,650.54290547,625.45709453,649,0.400973898713,0.00456228434162,0.0498572577244,0.999999965663,5.18958917013e-05,-0.000254696860411,-3.33206053135e-05,1793189545925297920 +69,1.150000000,BASELINE,763,740,713.032700324,670.967299676,668.032700324,631,875.032700324,782.032700324,797,650.032700324,626,649,0.400973394034,0.00456394756081,0.0498570492284,0.999999965321,5.2853583865e-05,-0.000255849781185,-3.3259259344e-05,1793189545941964544 +70,1.166666667,BASELINE,763,740,713.606871318,670.393128682,668.606871318,631,875.606871318,782.606871318,797,650.606871318,626,649,0.400972721232,0.00456355682439,0.0498565102589,0.999999965172,5.26093223404e-05,-0.000256449570256,-3.34980386889e-05,1793189545958631424 +71,1.183333333,BASELINE,763,740,714,670,669,631,876,783,797.181917183,651,626,649,0.400972762518,0.00456351498178,0.0498565436806,0.999999965161,5.33882634874e-05,-0.000256310221019,-3.36463936541e-05,1793189545975298048 +72,1.200000000,BASELINE,763,740,714,670,669,631,876,783,797.758862916,651,626,649,0.400974354428,0.00456423075313,0.049857820035,0.999999965444,5.63890632547e-05,-0.000254565851795,-3.35983944156e-05,1793189545991964928 +73,1.216666667,BASELINE,763,740.346072726,714,670,669,631,876,783,798,651,626,649,0.400974919674,0.00456408353867,0.0498579364092,0.999999965647,5.5912252731e-05,-0.000253885717187,-3.34912891776e-05,1793189546008631552 +74,1.233333333,BASELINE,763,740.940652915,714,670,669,631,876,783,798,651,626,649,0.400974747694,0.00456331663242,0.0498572198263,0.999999965793,5.29382440404e-05,-0.000253969786926,-3.33417411814e-05,1793189546025298176 +75,1.250000000,BASELINE,763,740.479884653,714,670.520115347,669,631.520115347,876,783,797.479884653,651,626,649,0.400974264991,0.00456329635297,0.0498570598109,0.999999965753,5.2025509945e-05,-0.000254310064151,-3.33785537837e-05,1793189546041964800 +76,1.266666667,BASELINE,763,740,714,670.902789063,668.902789063,631.902789063,876,782.902789063,797,651,626,649,0.400973715412,0.00456335143034,0.0498568612893,0.999999965626,5.16747939617e-05,-0.000254869182064,-3.34628094351e-05,1793189546058631424 +77,1.283333333,BASELINE,763,740,714,670.329078477,668.329078477,631.329078477,876,782.329078477,797,651,626,649,0.400973006916,0.00456337008916,0.0498561715244,0.99999996517,5.29586128895e-05,-0.000256361743013,-3.36783290729e-05,1793189546075298048 +78,1.300000000,BASELINE,763,740,713.74854502,670,668.25145498,631,876,782,797.25145498,650.74854502,626,649.25145498,0.400972754175,0.00456364966994,0.0498560809548,0.999999965062,5.38244421574e-05,-0.000256590850068,-3.37545722222e-05,1793189546091964416 +79,1.316666667,BASELINE,763,740,713.158833499,670,668.841166501,631,876,782,797.841166501,650.158833499,626,649.841166501,0.400973114516,0.00456428024222,0.0498567964212,0.999999965426,5.41279927951e-05,-0.000255120362342,-3.36434610096e-05,1793189546108631296 +80,1.333333333,BASELINE,763,740,713.422160501,670,669,631,876,782.422160501,798,650.422160501,625.577839499,650,0.400973182757,0.0045637600629,0.0498567868805,0.999999965371,5.40757964341e-05,-0.000255346758143,-3.36515151312e-05,1793189546125297920 +81,1.350000000,BASELINE,763,740,713.999941032,670,669,631,876,782.999941032,798,650.999941032,625.000058968,650,0.40097314332,0.00456281568479,0.0498565100821,0.999999965161,5.38924619219e-05,-0.000256198671989,-3.37034968795e-05,1793189546141964544 +82,1.366666667,BASELINE,762.421945545,740,714,670,668.421945545,631,876,782.421945545,797.421945545,650.421945545,625.578054455,649.421945545,0.4009720147,0.00456340357443,0.0498562993437,0.999999964898,5.42927126579e-05,-0.000257123999454,-3.38224914192e-05,1793189546158631424 +83,1.383333333,BASELINE,762.158050305,740,714,670,668.158050305,631,876,782.158050305,797,650.158050305,626,649,0.400971765681,0.0045636356849,0.0498564191805,0.999999964874,5.40455929462e-05,-0.000257262202469,-3.38586861955e-05,1793189546175298048 +84,1.400000000,BASELINE,762.743132267,740,714,670,668.743132267,631,876,782.743132267,797,650.743132267,626,649,0.400973893534,0.00456290610324,0.0498574321709,0.999999965496,5.20492004484e-05,-0.000255273676123,-3.36711481744e-05,1793189546191964416 +85,1.416666667,BASELINE,763,740,714,670,669,631,876,783,797,651,625.675317472,649,0.400973175137,0.00456285553936,0.0498570378543,0.999999965314,5.17146061989e-05,-0.000256046385017,-3.37176159573e-05,1793189546208631040 +86,1.433333333,BASELINE,763,740,714,670,669,631,876,783,797,651,625.096531234,649,0.400970229201,0.00456333638982,0.0498555421482,0.999999964501,5.26805720463e-05,-0.000258980097658,-3.39472218572e-05,1793189546225297664 +87,1.450000000,BASELINE,763,740,713.518203754,670,669,631.481796246,876,782.518203754,797.481796246,651,625.481796246,649,0.400971611812,0.00456349156773,0.049856207469,0.999999964844,5.38005450995e-05,-0.00025745936255,-3.36588760709e-05,1793189546241964288 +88,1.466666667,BASELINE,763.059856517,740,713.059856517,670,669,631.940143483,876,782,798,651,626,649,0.400973599169,0.0045633628064,0.0498571764909,0.999999965374,5.45677662535e-05,-0.000255276000552,-3.32832316191e-05,1793189546258631168 +89,1.483333333,BASELINE,763.636402893,740,713.636402893,670,669,631.363597107,876,782,798,651,626,649,0.400973327646,0.00456134575962,0.0498570331435,0.99999996557,5.2023879981e-05,-0.000255069431031,-3.30489630045e-05,1793189546275298048 +90,1.500000000,BASELINE,763.783349814,740,714,670,669,631.216650186,876,782,797.783349814,651,626,649,0.400972899171,0.00456035955607,0.0498567937596,0.999999965559,5.08740021093e-05,-0.000255353691634,-3.29984995485e-05,1793189546291964672 +91,1.516666667,BASELINE,763.196783503,740,714,670,669,631.803216497,876,782,797.196783503,651,626,649,0.400972202713,0.00456113345063,0.0498563903998,0.999999965199,5.21043033166e-05,-0.000256476012826,-3.32618714892e-05,1793189546308631296 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+259,4.316666667,HOLD_POSE2,764,740,714,671.298905143,669,629.298905143,878,782.701094857,797.298905143,651,626,648.298905143,0.448102361132,0.00449154727521,0.0497641328654,0.999999946171,4.37084495383e-05,-0.000324856736431,1.47153655304e-05,1793189549149268480 +260,4.333333333,POSE2_TO_POSE3_RETREAT,764,740,714,671,669,630,878,783,798,650,626,649,0.44810453247,0.00449012622549,0.0497650919214,0.999999947014,4.33332768614e-05,-0.00032228844616,1.49661985412e-05,1793189549186896896 +261,4.350000000,POSE2_TO_POSE3_RETREAT,764,740,714,671,669,630,878,783,797.42487756,650.57512244,626,649,0.448104473085,0.00449021887648,0.0497651061329,0.999999946943,4.23496143092e-05,-0.000322653711032,1.46687002405e-05,1793189549203563520 +262,4.366666667,POSE2_TO_POSE3_RETREAT,764,740.155336432,714,671.155336432,669,630,877.844663568,783,797,651,626,648.844663568,0.44810480866,0.0044902154186,0.0497652911503,0.999999946996,4.1947798789e-05,-0.000322548726186,1.45353559443e-05,1793189549220230400 +263,4.383333333,POSE2_TO_POSE3_RETREAT,764,740.749948964,714,671.749948964,669,630,877.250051036,783,797,651,626,648.250051036,0.448106261139,0.00448994017434,0.0497659591897,0.9999999474,4.31913890279e-05,-0.000321113921629,1.48662229047e-05,1793189549236896768 +264,4.400000000,POSE2_TO_POSE3_RETREAT,764,740.666295445,714,671.666295445,669,630,877.333704555,783,797,650.666295445,625.666295445,648.333704555,0.448105886288,0.00449088846144,0.0497656028214,0.999999947245,4.45294030278e-05,-0.000321423200637,1.46515558386e-05,1793189549253563392 +265,4.416666667,POSE2_TO_POSE3_RETREAT,764,740.090418859,714,671.090418859,669,630,877.909581141,783,797,650.090418859,625.090418859,648.909581141,0.44810418533,0.00449272467492,0.0497645030324,0.999999946682,4.59359410221e-05,-0.000322998174948,1.40409904004e-05,1793189549270230016 +266,4.433333333,POSE2_TO_POSE3_RETREAT,764,740,714,671.483879311,669,629.516120689,878,782.516120689,797.483879311,650.483879311,625.483879311,649,0.448104523751,0.0044935023801,0.0497650783319,0.999999947068,4.60592740011e-05,-0.000321795286943,1.37618878463e-05,1793189549286896640 +267,4.450000000,POSE2_TO_POSE3_RETREAT,764,740,714,671.940702552,669,629,878,782.059297448,798,650.940702552,626,649,0.448104464585,0.00449405052628,0.0497655145162,0.999999947369,4.58945678511e-05,-0.000320892101496,1.3558147276e-05,1793189549303563520 +268,4.466666667,POSE2_TO_POSE3_RETREAT,764,740,714,671.352676806,669,629,878,782.647323194,798,650.352676806,626,649,0.448097473418,0.00449430971676,0.0497619283711,0.999999945329,4.52926303595e-05,-0.000327274560741,1.34758982853e-05,1793189549320230144 +269,4.483333333,POSE2_TO_POSE3_RETREAT,763.766843874,740.233156126,714,671.233156126,669,629.233156126,878.233156126,783,798,650.233156126,626,649,0.448084566646,0.00449375556936,0.0497559772062,0.999999941782,4.52330823631e-05,-0.000337942853268,1.36187185928e-05,1793189549336896768 +270,4.500000000,POSE2_TO_POSE3_RETREAT,763.184296988,740.815703012,714,671.815703012,669,629.815703012,878.815703012,783,798,650.815703012,626,649,0.44806279518,0.00449198261313,0.0497464819955,0.999999935819,4.59863197404e-05,-0.000355033582243,1.40988113355e-05,1793189549353563392 +271,4.516666667,POSE2_TO_POSE3_RETREAT,763.392692828,741,714,671.607307172,669,629.607307172,878.214614344,783,798,651,625.607307172,648.607307172,0.448022511045,0.00449245460004,0.0497317212603,0.999999925018,4.65113130489e-05,-0.000384189935994,1.40751281055e-05,1793189549370230272 +272,4.533333333,POSE2_TO_POSE3_RETREAT,763.967111064,741,714,671.032888936,669,629.032888936,877.065777872,783,798,651,625.032888936,648.032888936,0.447973659849,0.00449396547312,0.0497145238116,0.999999911052,4.69306824841e-05,-0.000418929867744,1.38183138472e-05,1793189549386896896 +273,4.550000000,POSE2_TO_POSE3_RETREAT,764,740.457708778,714,671.542291222,669,629.542291222,877.542291222,783,798,650.457708778,625.542291222,648.542291222,0.447904764135,0.00449511226844,0.0496987484445,0.999999898332,4.87096877591e-05,-0.000448092247357,1.32647286274e-05,1793189549403563264 +274,4.566666667,POSE2_TO_POSE3_RETREAT,764,740.120310988,714,672,669,629.879689012,878,782.879689012,798,650.120310988,626,649,0.447832975174,0.00449631669447,0.0496854758888,0.999999887472,5.02948677472e-05,-0.000471560138343,1.25732290819e-05,1793189549420230144 +275,4.583333333,POSE2_TO_POSE3_RETREAT,764,740.709210434,714,672,669,629.290789566,878,782.290789566,798,650.709210434,626,649,0.44775465898,0.00449783170236,0.0496816149171,0.999999886226,5.08035203775e-05,-0.000474168430167,1.14147790387e-05,1793189549436896768 +276,4.600000000,POSE2_TO_POSE3_RETREAT,763.706467459,740.706467459,714,671.706467459,669,629.293532541,878,782.293532541,797.706467459,650.706467459,626,649,0.447668307122,0.0044993550541,0.0496825080059,0.999999887738,5.28610409155e-05,-0.000470758750092,1.07581980338e-05,1793189549453563392 +277,4.616666667,POSE2_TO_POSE3_RETREAT,763.126610326,740.126610326,714,671.126610326,669,629.873389674,878,782.873389674,797.126610326,650.126610326,626,649,0.447574116927,0.00450088654472,0.0496880384152,0.99999989187,5.64293955163e-05,-0.000461478874511,1.05911623011e-05,1793189549470230016 +278,4.633333333,POSE2_TO_POSE3_RETREAT,763.449491844,740,714,671,669,629.550508156,878,783,797.449491844,650.449491844,626,648.550508156,0.447451579917,0.00450296629649,0.0496887777246,0.999999892075,5.95179055686e-05,-0.000460661372146,9.89397251745e-06,1793189549486896640 +279,4.650000000,POSE2_TO_POSE3_RETREAT,764,740,714,671,669,629.024378726,878,782.975621274,798,651,626.024378726,648.024378726,0.447319753979,0.00450516617204,0.0496881513617,0.999999891217,6.24956441499e-05,-0.000462145257115,9.03954378589e-06,1793189549503563520 +280,4.666666667,POSE2_TO_POSE3_RETREAT,764,740,714,671,669,629.595534308,878,782.404465692,798,651,626.595534308,648.595534308,0.447157189683,0.00450662528316,0.049686912193,0.999999890963,6.59952641086e-05,-0.000462227392497,7.9800001427e-06,1793189549520230144 +281,4.683333333,POSE2_TO_POSE3_RETREAT,764,740.174076272,714,671.174076272,669,630,878,782.174076272,797.825923728,651,626.825923728,648.825923728,0.446982986288,0.00450890587473,0.049685942635,0.999999890337,7.05620917165e-05,-0.00046292408306,6.99641429619e-06,1793189549536897280 +282,4.700000000,POSE2_TO_POSE3_RETREAT,764,740.770540881,714,671.770540881,669,630,878,782.770540881,797.229459119,651,626.229459119,648.229459119,0.446780541158,0.00451317975193,0.0496856272754,0.999999888796,7.77184507415e-05,-0.000465111964439,6.19713682143e-06,1793189549553564416 +283,4.716666667,POSE2_TO_POSE3_RETREAT,764,741,714,672,669,630,878,782.645190466,797,650.645190466,626,648.354809534,0.446561467303,0.00451703225352,0.0496901140357,0.999999891249,8.48448611498e-05,-0.000458558469075,5.24111917528e-06,1793189549570230784 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b/Obstacle_avoidance/ball_0030_20/position_11/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..e9bf805189c145dd04918325e7173c37ebab58d1 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_11/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:062041af7f701c6d2587d338c1f10a825c176532a1e5c675c59f207563866c99 +size 24568909 diff --git a/Obstacle_avoidance/ball_0030_20/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_11/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..f1e117656a7986a6729f545e2775f7d4718c0794 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_11/depth_01/franka_data.csv @@ -0,0 +1,388 @@ 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+35,0.583333333,BASELINE,763,740,714,670.682247477,669,631,877,782,797.317752523,650,626,649,0.401003795888,0.00447453357547,0.0698478804373,0.999999984957,3.28709207553e-05,-0.000168114890926,2.72570294142e-05,1793189553705228544 +36,0.600000000,BASELINE,763,740,714,670.104570643,669,631,877,782,797.895429357,650,626,649,0.401004211626,0.00447549829016,0.0698487684152,0.999999984977,3.59328199904e-05,-0.00016741571544,2.69518218467e-05,1793189553721895424 +37,0.616666667,BASELINE,763,740,714,670.470363572,669,631,877,782,798,650.470363572,626,649,0.401004795866,0.00447565007336,0.0698496025089,0.999999985143,3.65096175125e-05,-0.000166265697719,2.71334810583e-05,1793189553738562048 +38,0.633333333,BASELINE,763,740,714,670.954169505,669,631,877,782,798,650.954169505,626,649,0.401005272482,0.00447565968378,0.0698502372324,0.999999985298,3.648420868e-05,-0.000165297598329,2.73850499567e-05,1793189553755228672 +39,0.650000000,BASELINE,763,740,714,670.365205005,669,631,877,782,798,650.365205005,626,649,0.401004032257,0.00447611381598,0.0698486503776,0.999999984932,3.58315962229e-05,-0.000167666340348,2.71898098798e-05,1793189553771895552 +40,0.666666667,BASELINE,763,739.780400885,714,670,669,631,877,782,798,650,626,649,0.401003338059,0.00447599425028,0.0698479769171,0.999999984766,3.53008091077e-05,-0.000168777973143,2.71085307076e-05,1793189553788562432 +41,0.683333333,BASELINE,763,739.202387088,714,670,669,631,877,782,798,650,626,649,0.401003535048,0.00447493833401,0.0698487942364,0.999999984934,3.4968857038e-05,-0.000167837837952,2.72132507553e-05,1793189553805229312 +42,0.700000000,BASELINE,763,739.37587986,714,670,669,631,877,781.62412014,797.62412014,650,626,649,0.401004429945,0.00447533909443,0.0698496078863,0.999999985135,3.54061085556e-05,-0.000166532006253,2.72546437881e-05,1793189553821895936 +43,0.716666667,BASELINE,763,739.954283187,714,670,669,631,877,781.045716813,797.045716813,650,626,649,0.401005700873,0.00447652470997,0.0698504195592,0.999999985354,3.62578057462e-05,-0.000165029137889,2.72619163232e-05,1793189553838562304 +44,0.733333333,BASELINE,763,740,714,670,669,631,877,781.528987344,797.528987344,650,626,649,0.401004358917,0.00447447751878,0.0698493544658,0.999999985074,3.35251645993e-05,-0.000167269321541,2.73797265201e-05,1793189553855228416 +45,0.750000000,BASELINE,763,740,714,670,669,631,877.106186473,782,798,650,626.106186473,649,0.401003125234,0.00447296655345,0.0698483132662,0.999999984762,3.18594710152e-05,-0.000169432982714,2.7456417145e-05,1793189553871894528 +46,0.766666667,BASELINE,763,740,714,670,669,631,877.696200031,782,798,650,626.696200031,649,0.401003406636,0.00447516301195,0.0698481148339,0.999999984549,3.64568412988e-05,-0.000169784280122,2.73025258367e-05,1793189553888561152 +47,0.783333333,BASELINE,763,740,714,670.280911214,669.280911214,631,877.719088786,782,797.719088786,650,626.719088786,649,0.40100405311,0.0044763885191,0.0698485430298,0.99999998464,3.85613656492e-05,-0.000168795626899,2.72127601068e-05,1793189553905227264 +48,0.800000000,BASELINE,763,740,714,670.859994289,669.859994289,631,877.140005711,782,797.140005711,650,626.140005711,649,0.401005087088,0.00447658341486,0.0698496363573,0.999999985066,3.80198711997e-05,-0.000166384689549,2.7191060146e-05,1793189553921893888 +49,0.816666667,BASELINE,763,740,714,670.563291437,669.563291437,631,877,782,797.436708563,650.436708563,626,649,0.401004076438,0.00447521740527,0.0698488560281,0.999999984906,3.56078184519e-05,-0.000167888296369,2.70965567847e-05,1793189553938560512 +50,0.833333333,BASELINE,763,739.98710519,714,670.01289481,669.01289481,631.01289481,877,782,798,650.98710519,626,649,0.401002449374,0.00447343259201,0.0698475153819,0.999999984554,3.27220242706e-05,-0.000170564760442,2.6985917864e-05,1793189553955227392 +51,0.850000000,BASELINE,763,739.400810093,714,670.599189907,669.599189907,631.599189907,877,782,798,650.400810093,626,649,0.401002402811,0.00447515679293,0.069847825526,0.999999984576,3.52928848305e-05,-0.000169890706119,2.71900545551e-05,1793189553971894016 +52,0.866666667,BASELINE,763.182711186,739.182711186,714.182711186,671,669.817288814,631.817288814,877.182711186,782,798,650.182711186,625.817288814,649,0.401002739785,0.00447606775842,0.06984820468,0.999999984638,3.69216744243e-05,-0.000169151049334,2.73595134811e-05,1793189553988560640 +53,0.883333333,BASELINE,763.760238556,739.760238556,714.760238556,671,669.239761444,631.239761444,877.760238556,782,798,650.760238556,625.239761444,649,0.401003905535,0.004475221423,0.069848732956,0.999999984799,3.65147654974e-05,-0.000168269633817,2.74540380508e-05,1793189554005227264 +54,0.900000000,BASELINE,763.660845817,740,714.660845817,670.660845817,669,631,877.660845817,782,797.660845817,650.660845817,625.339154183,649,0.401004321186,0.00447447748733,0.0698489338348,0.999999984858,3.55736679516e-05,-0.000168136168138,2.73684968773e-05,1793189554021893888 +55,0.916666667,BASELINE,763.080944767,740,714.080944767,670.080944767,669,631,877.080944767,782,797.080944767,650.080944767,625.919055233,649,0.401004204383,0.00447380623963,0.0698489023123,0.999999984843,3.42533793563e-05,-0.000168533630875,2.71551369503e-05,1793189554038560768 +56,0.933333333,BASELINE,763,740,714,670,669,631,877.494285338,782.494285338,797.494285338,650,626,649,0.401004066692,0.00447531767298,0.0698490799351,0.999999984814,3.6685244293e-05,-0.000168217701377,2.70096740692e-05,1793189554055227392 +57,0.950000000,BASELINE,763,740,714,670,669.070320877,631,877.929679123,782.929679123,798,650,626,649,0.401003864068,0.00447681258817,0.0698492293675,0.999999984775,3.90056295553e-05,-0.000167942109623,2.69181495497e-05,1793189554071894528 +58,0.966666667,BASELINE,763,740,714,670,669.657853432,631,877.342146568,782.342146568,798,650,626,649,0.401003208776,0.00447558165341,0.0698489219088,0.999999984733,3.6029038156e-05,-0.000168814417029,2.7142328787e-05,1793189554088561920 +59,0.983333333,BASELINE,763,740,714,670,669.75807245,631,877,782,798,650,626,649,0.401002817312,0.0044745615441,0.0698487348088,0.999999984718,3.41525598901e-05,-0.000169278566139,2.72627277648e-05,1793189554105229056 +60,1.000000000,BASELINE,763,740,714,670,669.178820417,631,877,782,798,650,626,649,0.401002793709,0.00447383539281,0.0698487155275,0.999999984748,3.38099912281e-05,-0.000169173611994,2.72384238565e-05,1793189554121895680 +61,1.016666667,BASELINE,763,740,714,670,669.399251336,631,877,782,797.600748664,650,626,649,0.401003104042,0.0044749880402,0.0698489973605,0.999999984703,3.66581344072e-05,-0.000168829766552,2.73413601798e-05,1793189554138562304 +62,1.033333333,BASELINE,763,740,714,670,669.976795976,631,877,782,797.023204024,650,626,649,0.401003563502,0.00447697970105,0.0698494136619,0.999999984608,4.09311508835e-05,-0.000168379239643,2.75011180581e-05,1793189554155228672 +63,1.050000000,BASELINE,763.553475354,739.446524646,714,670,669.446524646,631,877,782,798.106950708,650,626,649,0.401003803371,0.00447602299697,0.0698491515421,0.999999984622,3.86289091615e-05,-0.000168884216443,2.72509797826e-05,1793189554171894784 +64,1.066666667,BASELINE,764,739,714,670.133148268,669,631,877,782,798.733703463,650.133148268,626,649.133148268,0.401004026795,0.00447522454512,0.0698489975299,0.999999984649,3.67575980468e-05,-0.000169164760022,2.71105160721e-05,1793189554188560896 +65,1.083333333,BASELINE,764,739,714,670.723218296,669,631,877,782,797.553563408,650.723218296,626,649.723218296,0.401004225324,0.00447539268399,0.0698493119605,0.999999984726,3.73096096039e-05,-0.000168537867321,2.74052998412e-05,1793189554205227520 +66,1.100000000,BASELINE,763.692599587,739.307400413,714,671,669,631,877,782,797.307400413,651,626,650,0.401004627579,0.00447518984578,0.0698496020768,0.999999984811,3.74997394264e-05,-0.000167977349953,2.74935940172e-05,1793189554221894144 +67,1.116666667,BASELINE,763.113619308,739.886380692,714,671,669,631,877,782,797.886380692,651,626,650,0.40100520982,0.00447465925947,0.0698498707119,0.999999984902,3.73701565956e-05,-0.000167475473412,2.73994602648e-05,1793189554238560512 +68,1.133333333,BASELINE,763,740,714,671,669,631,877,782,797.538833566,650.538833566,626,649.538833566,0.401004261722,0.00447477947284,0.0698493048736,0.999999984767,3.70885737146e-05,-0.000168368231177,2.7262143297e-05,1793189554255227904 +69,1.150000000,BASELINE,763,740,714,671,669.035856118,631,877,782,797.035856118,650,626,649.035856118,0.401003034381,0.00447510117491,0.0698486012658,0.999999984586,3.69202923336e-05,-0.000169496548758,2.71282538628e-05,1793189554271895552 +70,1.166666667,BASELINE,763,740,714,671,669.624862142,631,877,782,797.624862142,650,626,649.624862142,0.401003263231,0.00447607997078,0.0698489153709,0.999999984585,3.90724190744e-05,-0.000169005894379,2.72098919292e-05,1793189554288562688 +71,1.183333333,BASELINE,763,739.789863059,714,670.789863059,669.789863059,631,877,782,798,650,626,649.789863059,0.40100315539,0.00447651405055,0.0698487672299,0.999999984522,3.98436252922e-05,-0.000169201983237,2.71694757664e-05,1793189554305229312 +72,1.200000000,BASELINE,763,739.211132959,714,670.211132959,669.211132959,631,877,782,798,650,626,649.211132959,0.401002456968,0.00447599266483,0.0698478082809,0.999999984356,3.81926120792e-05,-0.000170602662015,2.69149689696e-05,1793189554321896192 +73,1.216666667,BASELINE,763,739.36505398,714,670.36505398,669,631.36505398,877,782,797.63494602,650,626,649,0.401002278434,0.00447577521489,0.0698478828398,0.999999984402,3.72383940579e-05,-0.000170574097474,2.67097535076e-05,1793189554338562560 +74,1.233333333,BASELINE,763,739.939780196,714,670.939780196,669,631.939780196,877,782,797.060219804,650,626,649,0.401002398503,0.0044757323334,0.0698485510038,0.999999984572,3.66843871008e-05,-0.000169724633314,2.65328490091e-05,1793189554355229184 +75,1.250000000,BASELINE,763,740,714,670.483144872,669,631.483144872,877,782,797.516855128,650.516855128,626,649,0.401002892417,0.00447462173404,0.0698492505003,0.999999984739,3.45318170068e-05,-0.000169144741147,2.68362624936e-05,1793189554371895552 +76,1.266666667,BASELINE,763,740,714,670.096031318,669.096031318,631,877,782,797.903968682,650.903968682,626,649,0.401003411407,0.00447381774617,0.0698497650118,0.999999984863,3.28960640493e-05,-0.00016869282329,2.71112298255e-05,1793189554388562432 +77,1.283333333,BASELINE,763,740,714,670.684574251,669.684574251,631,877,782,797.315425749,650.315425749,626,649,0.401003834582,0.00447522719038,0.0698493119908,0.999999984793,3.4870470182e-05,-0.000168735423656,2.69519824906e-05,1793189554405229312 +78,1.300000000,BASELINE,763,739.73101127,714,670.73101127,669.73101127,631,877,782,797.26898873,650,626,649,0.401003705192,0.00447565907574,0.0698490363793,0.999999984735,3.60927655114e-05,-0.00016881252908,2.69976316787e-05,1793189554421896192 +79,1.316666667,BASELINE,763,739.151364824,714,670.151364824,669.151364824,631,877,782,797.848635176,650,626,649,0.401002937641,0.00447496196872,0.0698489656598,0.999999984695,3.64464405809e-05,-0.00016892948473,2.72799178764e-05,1793189554438562816 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+1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84b49fa4ed768fa6c0e489eb1cc31d81948dfcdd52a2aaaa7e6e1b278f772c59 +size 24832104 diff --git a/Obstacle_avoidance/ball_0030_20/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_11/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..761f08f175f185c56b31f1ddb0a8bc12fbb751a5 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_11/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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+41,0.683333333,BASELINE,763,739.197325098,714,670.197325098,669.197325098,631.197325098,877,782,797.197325098,650,626,648.197325098,0.400952745158,0.00448225725279,0.0698277977123,0.999999958618,4.79347403553e-05,-0.000282095735855,2.98140915767e-05,1793189560469304064 +42,0.700000000,BASELINE,762.621350668,739.378649332,714,670.378649332,668.621350668,631,877.378649332,782,797,650,626,648,0.40095253279,0.00448319005239,0.069827559343,0.999999958451,4.92250347819e-05,-0.000282477383913,2.96733979308e-05,1793189560485970432 +43,0.716666667,BASELINE,762.045458486,739.954541514,714,670.954541514,668.045458486,631,877.954541514,782,797,650,626,648,0.400953006425,0.00448351758749,0.0698280872179,0.99999995873,4.99239507406e-05,-0.000281375256301,2.95794585783e-05,1793189560502636800 +44,0.733333333,BASELINE,762.543016656,740,714,670.456983344,668.543016656,631,878,782,797,650,626,648,0.400954395282,0.00448196113329,0.0698290297305,0.999999959453,4.8351403681e-05,-0.000279033017606,2.99426647258e-05,1793189560519303936 +45,0.750000000,BASELINE,763,740,714,670,668.870503421,631,877.870503421,782,797.129496579,650,626,648.129496579,0.400955596107,0.00448107102248,0.0698297633246,0.999999960039,4.67680830071e-05,-0.000277177754269,3.01357860592e-05,1793189560535970816 +46,0.766666667,BASELINE,763,740,714,670,668.294618602,631,877.294618602,782,797.705381398,650,626,648.705381398,0.400955878397,0.00448303443339,0.0698296542634,0.999999960046,4.58186581183e-05,-0.000277367498722,2.96075577442e-05,1793189560552637440 +47,0.783333333,BASELINE,763.283238007,740,714,670.283238007,668.283238007,631,877,782,798,650,626,649,0.400955460411,0.00448380165983,0.06982946998,0.999999959834,4.69806135061e-05,-0.000277948021564,2.94811937811e-05,1793189560569304064 +48,0.800000000,BASELINE,763.863160082,740,714,670.863160082,668.863160082,631,877,782,798,650,626,649,0.400954308906,0.00448331591597,0.0698292069036,0.999999959386,5.03541818895e-05,-0.000278937874107,2.97757716743e-05,1793189560585970944 +49,0.816666667,BASELINE,763.560430833,739.560430833,714,670.560430833,669,631,876.560430833,782,798,650,626,649,0.400952322334,0.00448304100146,0.0698278554077,0.999999958646,5.07162400948e-05,-0.000281506418084,2.98313411437e-05,1793189560602637824 +50,0.833333333,BASELINE,763,739.015214827,714,670.015214827,669,631,876.030429654,782,797.969570346,650,625.984785173,649,0.4009501906,0.00448277688098,0.0698262583557,0.999999957854,5.01007302976e-05,-0.000284417568088,2.98223642122e-05,1793189560619304704 +51,0.850000000,BASELINE,763,739.602960354,714,670.602960354,669,631,877.205920709,782,796.794079291,650,625.397039646,649,0.400952301137,0.00448046879453,0.0698280700875,0.999999958681,4.76976572821e-05,-0.000281874234115,3.01621442693e-05,1793189560635971072 +52,0.866666667,BASELINE,763.188231912,739.811768088,714,670.811768088,668.811768088,631,877.811768088,782,796.188231912,650,625.188231912,649,0.400953290231,0.00447939249538,0.0698289386588,0.999999959132,4.6172534544e-05,-0.000280513979495,3.02553137186e-05,1793189560652637440 +53,0.883333333,BASELINE,763.768352759,739.231647241,714,670.231647241,668.231647241,631,877.231647241,782,796.768352759,650,625.768352759,649,0.400951944543,0.00448088071268,0.0698278436197,0.999999958821,4.64752582323e-05,-0.000281616833991,2.98350528387e-05,1793189560669304320 +54,0.900000000,BASELINE,764,739,714,670.346015181,668.346015181,631,877,782,797.346015181,650,626,648.653984819,0.400951790677,0.00448086160866,0.0698277705754,0.999999958872,4.57875712126e-05,-0.00028155872855,2.97450920465e-05,1793189560685970944 +55,0.916666667,BASELINE,764,739,714,670.922043345,668.922043345,631,877,782,797.922043345,650,626,648.077956655,0.400952429071,0.00447984051538,0.0698283769005,0.999999959162,4.44415104017e-05,-0.000280728876985,2.98746976742e-05,1793189560702637568 +56,0.933333333,BASELINE,763.502169493,739,714,670.502169493,669,631,877.497830507,782,797.502169493,650,626,648.497830507,0.4009543331,0.00448094283832,0.0698295552119,0.99999995976,4.65710974548e-05,-0.000278253900084,2.97596098237e-05,1793189560719304192 +57,0.950000000,BASELINE,763,739.075908721,714.075908721,670,669,631,878,782,797.075908721,650,626,648.924091279,0.40095602529,0.00448217690072,0.0698305530798,0.99999996026,4.88232705558e-05,-0.000276076438384,2.9636311558e-05,1793189560735970816 +58,0.966666667,BASELINE,763,739.669880099,714.669880099,670,669,631,878,782,797.669880099,650,626,648.330119901,0.400954919766,0.00448204182846,0.0698297084582,0.999999959842,4.81993858888e-05,-0.000277686783962,2.97183601322e-05,1793189560752637184 +59,0.983333333,BASELINE,763,739.74387434,714.74387434,670,668.74387434,631,877.74387434,782,798,650,626,648.25612566,0.400953931646,0.00448214778183,0.0698287466143,0.999999959379,4.83813332783e-05,-0.00027932071082,2.96901752432e-05,1793189560769303552 +60,1.000000000,BASELINE,763,739.167294919,714.167294919,670,668.167294919,631,877.167294919,782,798,650,626,648.832705081,0.400953090416,0.00448255529641,0.0698276381065,0.999999958859,4.95715040946e-05,-0.00028098414181,2.95240708464e-05,1793189560785970432 +61,1.016666667,BASELINE,763,739,714,670.407790259,668.407790259,631,877.407790259,782,797.592209741,650,626,649,0.400953311179,0.00448291846884,0.0698280669328,0.99999995898,4.93576057681e-05,-0.00028059197381,2.95214319451e-05,1793189560802637056 +62,1.033333333,BASELINE,763,739,714,670.982264631,668.982264631,631,877.982264631,782,797.017735369,650,626,649,0.40095396603,0.00448326351642,0.0698291241439,0.999999959362,4.85697946412e-05,-0.000279359580402,2.95856095129e-05,1793189560819303424 +63,1.050000000,BASELINE,763,739,714,670.42975019,669,631.57024981,877.42975019,782,797,650,626,649,0.40095342301,0.00448210217101,0.0698288523854,0.999999959354,4.67268237582e-05,-0.000279702861522,2.95624202558e-05,1793189560835971072 +64,1.066666667,BASELINE,763,739,714,670,669,631.844596181,877,782,797,650,626,649,0.400952809403,0.00448138896758,0.0698283788305,0.999999959204,4.60050185322e-05,-0.000280359037597,2.95847774991e-05,1793189560852638208 +65,1.083333333,BASELINE,763,739,714,670,669,631.268276264,877,782,797,650,626,649,0.400952107958,0.00448201954602,0.0698274733699,0.999999958701,4.84109673752e-05,-0.00028172674637,2.97380370861e-05,1793189560869304832 +66,1.100000000,BASELINE,763.308464939,739,714,670.308464939,669,631.308464939,877,782,797,650,626,649,0.400953057074,0.00448200485068,0.0698278183236,0.999999958891,4.88734069957e-05,-0.000280962880675,2.9815942844e-05,1793189560885971968 +67,1.116666667,BASELINE,763.885573011,739,714,670.885573011,669,631.885573011,877,782,797,650,626,649,0.400955443667,0.00448142818424,0.0698292522673,0.999999959683,4.76432379006e-05,-0.000278342619677,2.9828222696e-05,1793189560902638592 +68,1.133333333,BASELINE,764,739,714.461762834,670.538237166,669,631.538237166,877.461762834,782,797.461762834,650,626,649,0.400955681306,0.00448221616748,0.0698301110467,0.999999960019,4.83464941712e-05,-0.000277014380348,2.97847565514e-05,1793189560919304960 +69,1.150000000,BASELINE,763.961204674,739,714.961204674,670,669,631,877.961204674,782,797.961204674,650,626,649,0.400955388543,0.0044833289139,0.0698307665009,0.999999960211,4.95021037002e-05,-0.000276123212009,2.97181857147e-05,1793189560935971072 +70,1.166666667,BASELINE,763.368910333,739,714.368910333,670,669,631,877.368910333,782,797.368910333,650,626,649,0.40095511092,0.00448426000589,0.069830550522,0.999999959961,5.02895090215e-05,-0.000276908969247,2.95186737235e-05,1793189560952638208 +71,1.183333333,BASELINE,763.217431992,739,714,670,669,631,877.217431992,782,797.217431992,650.217431992,626,649,0.400954167349,0.00448435077343,0.0698295391696,0.999999959443,5.10644775999e-05,-0.00027862903458,2.95336296341e-05,1793189560969304832 +72,1.200000000,BASELINE,763.793944878,739,714,670,669,631,877.793944878,782,797.793944878,650.793944878,626,649,0.40095212399,0.00448305377636,0.0698272142871,0.999999958479,5.18189074824e-05,-0.000281892075301,2.99027713216e-05,1793189560985971200 +73,1.216666667,BASELINE,763.63037833,739.36962167,714,670.36962167,669,631,877.63037833,782,797.63037833,650.63037833,626,649,0.400952723742,0.00448225056975,0.0698276057305,0.999999958618,5.11525149094e-05,-0.000281498019839,3.00968085121e-05,1793189561002638080 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+78,1.300000000,BASELINE,763,739,714,670.276930206,669,631,878,782,797.276930206,650,626,649,0.400953818168,0.00448173202947,0.069829413853,0.999999959539,4.84957978392e-05,-0.000278717128204,2.97869987794e-05,1793189561085972224 +79,1.316666667,BASELINE,763,739,714,670.85348625,669,631,878,782,797.85348625,650,626,649,0.400953291704,0.00448345763334,0.0698288614968,0.999999959449,4.79970866626e-05,-0.000279189729368,2.91852567933e-05,1793189561102637568 +80,1.333333333,BASELINE,763,739.426883321,714,671,669,631,878,782,798,650,626,649,0.400954099889,0.00448307594144,0.069829589735,0.99999995979,4.69869619456e-05,-0.000278133763731,2.92037098844e-05,1793189561119303936 +81,1.350000000,BASELINE,763,739.999204188,714,671,669,631,878,782,798,650,626,649,0.400955362783,0.00448197630191,0.0698307542668,0.999999960276,4.58026005133e-05,-0.000276557021154,2.94334610635e-05,1793189561135971072 +82,1.366666667,BASELINE,763.591939693,740,714,671,669,631,877.408060307,782,797.408060307,650.591939693,626.591939693,649,0.400955115827,0.00448086791955,0.0698303602401,0.99999996013,4.55202960162e-05,-0.000277100787896,2.97242414046e-05,1793189561152637440 +83,1.383333333,BASELINE,763.641985432,739.820992716,714,671,669,631,877.179007284,782,797,650.820992716,626.820992716,648.820992716,0.400954476249,0.00448070403599,0.0698297703802,0.999999959857,4.63328158464e-05,-0.000277934171687,2.98697664246e-05,1793189561169304064 +84,1.400000000,BASELINE,762.49301955,739.246509775,714,671,669,631,877.753490225,782,797,650.246509775,626.246509775,648.246509775,0.400952973911,0.0044826268332,0.0698287526661,0.999999959299,4.9561324633e-05,-0.000279400874964,2.96941953444e-05,1793189561185970944 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+42,0.700000000,BASELINE,763,740,714,671,669,631.621328535,877.378671465,782,798.24265707,650,626,649,0.400947991264,0.00448534514955,0.0698247088545,0.999999956617,5.83144697812e-05,-0.000287283596967,2.88617171199e-05,1793189567206852608 +43,0.716666667,BASELINE,763,740,714,671,669,631.04392276,877.95607724,782,797.08784552,650,626,649,0.400948314414,0.00448571949849,0.0698242699876,0.999999956683,5.73439969189e-05,-0.000287264646588,2.87332256447e-05,1793189567223519488 +44,0.733333333,BASELINE,763,740,714.538475354,671,669,631,878,782.538475354,796.461524646,650,626,649,0.400948908862,0.00448612801181,0.0698251768285,0.999999956923,5.80706794956e-05,-0.000286250346272,2.9025730458e-05,1793189567240186624 +45,0.750000000,BASELINE,763,740,714.87907228,670.87907228,668.87907228,631,877.87907228,782.87907228,796.24185544,650,626,649,0.400949370319,0.0044862658553,0.0698259039597,0.999999957117,5.86606984278e-05,-0.000285421942365,2.93082241745e-05,1793189567256853504 +46,0.766666667,BASELINE,763,740,714.297977704,670.297977704,668.297977704,631,877.297977704,782.297977704,797.404044592,650,626,649,0.400949240708,0.00448536301379,0.0698255256326,0.999999957086,5.81989538229e-05,-0.000285612773038,2.94207249734e-05,1793189567273519872 +47,0.783333333,BASELINE,763,740,714,670.281838862,668.281838862,631,877,782,798,650,626,649,0.400949229754,0.00448516818428,0.0698253886625,0.999999957065,5.87437594757e-05,-0.000285565609952,2.95073742453e-05,1793189567290186752 +48,0.800000000,BASELINE,763,740,714,670.860310405,668.860310405,631,877,782,798,650,626,649,0.400949343684,0.00448571853047,0.0698255057184,0.999999957053,6.03479495002e-05,-0.000285267960757,2.95668150483e-05,1793189567306853888 +49,0.816666667,BASELINE,763.436136826,739.563863174,714,671,669,631,877.436136826,782,797.563863174,650.436136826,625.563863174,649,0.400948816997,0.00448541807208,0.0698251026224,0.999999956964,5.91898033705e-05,-0.000285841045032,2.93772414676e-05,1793189567323520256 +50,0.833333333,BASELINE,764,739.011318229,714,671,669,631.011318229,878,782.011318229,797,650.988681771,625.011318229,649,0.400948092406,0.00448484913347,0.0698245362615,0.999999956847,5.7154475602e-05,-0.000286691374464,2.91079984058e-05,1793189567340186368 +51,0.850000000,BASELINE,764,739.59649368,714,671,669,631.59649368,878,782.59649368,797,650.40350632,625.59649368,649,0.400947674078,0.00448440086046,0.0698240880073,0.999999956719,5.52321683876e-05,-0.000287543759159,2.88187857942e-05,1793189567356853248 +52,0.866666667,BASELINE,763.819724105,740,714.180275895,671,669,631.819724105,877.819724105,782.819724105,797,650,626,649,0.40094793844,0.00448429440464,0.0698240434115,0.999999956719,5.48721527889e-05,-0.000287636770777,2.8560359717e-05,1793189567373520128 +53,0.883333333,BASELINE,763.239036448,740,714.760963552,671,669,631.239036448,877.239036448,782.239036448,797,650,626,649,0.400949719127,0.00448494716086,0.0698248953839,0.999999957006,5.7982151617e-05,-0.000286043134718,2.8370313794e-05,1793189567390186752 +54,0.900000000,BASELINE,763.34050874,739.65949126,714.65949126,671,669,631,877.34050874,782,797,650.34050874,626,649,0.400950441588,0.00448546885483,0.0698256066778,0.999999957224,5.8650864201e-05,-0.000285130476332,2.85198808727e-05,1793189567406852864 +55,0.916666667,BASELINE,763.919254575,739.080745425,714.080745425,671,669,631,877.919254575,782,797,650.919254575,626,649,0.40095042366,0.00448589885101,0.0698262195458,0.999999957397,5.76115296196e-05,-0.000284694264354,2.89070583513e-05,1793189567423519232 +56,0.933333333,BASELINE,763.505487258,739.494512742,714,670.505487258,669,631,878,782.494512742,797.494512742,650.505487258,626,649,0.40094967145,0.00448666303577,0.0698256581888,0.999999957053,5.99930496149e-05,-0.000285408600485,2.89345499526e-05,1793189567440185856 +57,0.950000000,BASELINE,763.070843559,740,714,670.070843559,669,631.070843559,878,782.929156441,798,650,626,649,0.400948769867,0.00448719302448,0.0698249947987,0.999999956657,6.22209999003e-05,-0.00028631911791,2.89292049873e-05,1793189567456852224 +58,0.966666667,BASELINE,763.659139293,740,714,670.659139293,669,631.659139293,878,782.340860707,798,650,626,649,0.400947646842,0.00448561663302,0.0698249767661,0.999999956549,5.92759681467e-05,-0.00028729999039,2.91099891378e-05,1793189567473519360 +59,0.983333333,BASELINE,763.756082847,740,714,671,669,631.756082847,878,782,798,650,626,648.756082847,0.400947542078,0.00448511607032,0.0698251490364,0.999999956598,5.82318721841e-05,-0.000287328323132,2.92540680067e-05,1793189567490186240 +60,1.000000000,BASELINE,763.176151045,740,714,671,669,631.176151045,878,782,798,650,626,648.176151045,0.400948840046,0.00448609754431,0.0698255834636,0.99999995687,5.98064611284e-05,-0.000286044459228,2.9347582552e-05,1793189567506852608 +61,1.016666667,BASELINE,763,739.598773361,714,671,669,631,878,782,797.598773361,650.401226639,626,648,0.4009503376,0.00448628691574,0.069826299816,0.999999957468,5.94711982816e-05,-0.000284046963209,2.90483280143e-05,1793189567523519232 +62,1.033333333,BASELINE,763,739.022509956,714,671,669,631,878,782,797.022509956,650.977490044,626,648,0.400951922225,0.00448613072913,0.0698271391594,0.999999958204,5.83027546662e-05,-0.000281738142329,2.85777263482e-05,1793189567540185856 +63,1.050000000,BASELINE,763,739.540213133,714,671,669,631,878,782,797.540213133,650.459786867,626,648.540213133,0.40095053372,0.00448488845625,0.0698263883586,0.999999957787,5.58451820481e-05,-0.000283695205965,2.87039066029e-05,1793189567556852480 +64,1.066666667,BASELINE,763.110000998,740,714.110000998,670.889999002,669,631,877.889999002,782,797.889999002,650,626,649,0.400949359115,0.00448414229315,0.0698256889004,0.999999957369,5.42073021449e-05,-0.000285468512164,2.88254766006e-05,1793189567573519104 +65,1.083333333,BASELINE,763.713986571,740,714.713986571,670.286013429,669,631,877.286013429,782,797.286013429,650,626,649,0.400949687806,0.00448582228614,0.0698255102847,0.999999957195,5.64857662804e-05,-0.00028563788868,2.88174023652e-05,1793189567590185728 +66,1.100000000,BASELINE,763.695572819,740,715,670.304427181,669,631,877.304427181,782,797.304427181,650.304427181,626,649,0.400948442449,0.00448710593552,0.0698247827831,0.999999956691,5.8406364894e-05,-0.000287030079149,2.86296940808e-05,1793189567606852352 +67,1.116666667,BASELINE,763.117315828,740,715,670.882684172,669,631,877.882684172,782,797.882684172,650.882684172,626,649,0.400945781248,0.00448803307691,0.0698235615632,0.999999955888,6.0005066213e-05,-0.000289522180968,2.82804064078e-05,1793189567623519232 +68,1.133333333,BASELINE,763.458864048,739.541135952,714.541135952,671,669,631,878,782,798,650.541135952,626,649,0.400948061715,0.00448780991873,0.0698249018877,0.999999956514,6.08732767818e-05,-0.000287150389578,2.84684437422e-05,1793189567640186112 +69,1.150000000,BASELINE,764,739,714.035173078,670.964826922,669,631,877.964826922,782,797.964826922,650,626,649,0.400951280361,0.00448726532195,0.0698267405437,0.999999957425,6.14174870774e-05,-0.00028381268719,2.87845625828e-05,1793189567656852992 +70,1.166666667,BASELINE,764,739,714.621794657,670.378205343,669,631,877.378205343,782,797.378205343,650,626,649,0.400949489178,0.00448627120775,0.0698261707748,0.999999957254,5.97968526646e-05,-0.000284739699451,2.89646723196e-05,1793189567673519360 +71,1.183333333,BASELINE,763.794027268,739,714.794027268,670,669,631,877,782,797.205972732,650,626,649,0.400948242963,0.00448550531692,0.0698255354948,0.999999957047,5.85367114447e-05,-0.000285722466048,2.90138267135e-05,1793189567690185728 +72,1.200000000,BASELINE,763.214283235,739,714.214283235,670,669,631,877,782,797.785716765,650,626,649,0.400947985684,0.00448515357469,0.0698247813342,0.999999956778,5.79307439723e-05,-0.000286806408186,2.88253411903e-05,1793189567706852352 +73,1.216666667,BASELINE,763,739,714,670.363812273,669,631.363812273,877,782,798,650,626,649,0.400947299082,0.00448530232757,0.0698239395547,0.999999956373,5.85068262461e-05,-0.000288097572415,2.883086772e-05,1793189567723518976 +74,1.233333333,BASELINE,763,739,714,670.940941153,669,631.940941153,877,782,798,650,626,649,0.400946360752,0.0044857445393,0.0698230464009,0.999999955886,5.97759880948e-05,-0.000289510238564,2.89501507119e-05,1793189567740185856 +75,1.250000000,BASELINE,763,739,714,670.483987579,669,631.483987579,877.516012421,782,798,650,626,649,0.40094730342,0.00448673854616,0.069823857973,0.999999956184,6.1501343488e-05,-0.000288148253675,2.86500068452e-05,1793189567756852736 +76,1.266666667,BASELINE,763,739.090556633,714,670.090556633,669,631,878,782,798,650,626,649,0.400948296299,0.00448721629071,0.0698247290379,0.999999956531,6.24320950531e-05,-0.000286762666478,2.84018493622e-05,1793189567773519360 +77,1.283333333,BASELINE,763,739.663542609,714,670.663542609,669,631,878,782,798,650,626,649,0.400948414326,0.00448460860081,0.0698248817469,0.999999956691,5.88526416335e-05,-0.000286936412363,2.86853648048e-05,1793189567790185984 +78,1.300000000,BASELINE,763,739.753854943,714,671,669,631,878,782,798,650,626,649,0.400949100444,0.00448460303589,0.0698253601789,0.999999956981,5.80852709592e-05,-0.000286074764564,2.87162898601e-05,1793189567806852352 +79,1.316666667,BASELINE,763,739.1575733,714,671,669,631,878,782,798,650,626,649,0.400950594661,0.00448829894367,0.0698263019456,0.999999957463,6.13180339345e-05,-0.000283740289254,2.83879099478e-05,1793189567823518976 +80,1.333333333,BASELINE,763,739.422002525,714,670.577997475,669,631,878,782,798,650,626,649,0.400950782203,0.00448731119894,0.0698264344549,0.999999957595,5.93075962533e-05,-0.000283714794511,2.82501515113e-05,1793189567840185856 +81,1.350000000,BASELINE,763,739.995578077,714,670.004421923,669,631,878,782,798,650,626,649,0.400950500419,0.00448464120064,0.0698262762989,0.999999957592,5.54139288931e-05,-0.000284518629145,2.81808596382e-05,1793189567856852480 +82,1.366666667,BASELINE,763.56766842,739.43233158,714,670.56766842,669,631.56766842,878.56766842,782,798,650,626,648.43233158,0.400948071922,0.00448564107195,0.0698246625033,0.999999956806,5.66126117662e-05,-0.000287027134732,2.82714884648e-05,1793189567873519104 +83,1.383333333,BASELINE,763.853906959,739,714,671,669,631.853906959,878.561720877,782,797.853906959,650,626,648,0.400946511888,0.00448645605975,0.0698236420311,0.999999956251,5.80891581467e-05,-0.00028865025554,2.83808464691e-05,1793189567890186240 +84,1.400000000,BASELINE,763.255850339,739,714,671,669,631.255850339,876.767551018,782,797.255850339,650,626,648,0.400947690191,0.00448661087164,0.0698244920919,0.999999956448,6.03029248068e-05,-0.000287493316278,2.85443025848e-05,1793189567906853120 +85,1.416666667,BASELINE,763,739.328203378,714,671,669,631,876.328203378,782,797,650,626,648.328203378,0.400948889741,0.004486608583,0.0698253931635,0.999999956863,6.08733998444e-05,-0.000285932369253,2.84648407525e-05,1793189567923519744 +86,1.433333333,BASELINE,763,739.901787797,714,671,669,631,876.901787797,782,797,650,626,648.901787797,0.400950105177,0.00448648883824,0.0698263323733,0.999999957442,6.02152688352e-05,-0.000284069366156,2.82037614646e-05,1793189567940186112 +87,1.450000000,BASELINE,763,740,714,671,669,631.475137471,877.475137471,782,797,650,626,649,0.400948987312,0.00448580261165,0.0698257675007,0.999999957127,5.89620466991e-05,-0.000285438087924,2.8197899e-05,1793189567956852736 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+1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f431f24445b5ff042c3b4a92e0b93df951d55b6f0c648e3ad5bcd1c2f39efde0 +size 25204466 diff --git a/Obstacle_avoidance/ball_0030_20/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_11/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..b0ed120acca6087bf1aa9ff291eee13340ce7160 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_11/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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+38,0.633333333,BASELINE,764,739.044601076,714,670,669,631.044601076,877.044601076,782,798.044601076,650,626,649,0.400948841809,0.00447975466206,0.0698240326548,0.999999956571,5.54339703553e-05,-0.000287999767524,2.90179777012e-05,1793189573890193408 +39,0.650000000,BASELINE,764,739.614151269,714,670,669,631.614151269,877.614151269,782,798.614151269,650,626,649,0.400950255332,0.00448087120774,0.0698249931177,0.999999957144,5.74631490148e-05,-0.000285581867721,2.92135924408e-05,1793189573906860288 +40,0.666666667,BASELINE,763.806777084,740,714,670.193222916,669.193222916,631.806777084,878,782,799,650,626,649,0.400950681413,0.00448186610411,0.069825103064,0.999999957244,5.8840306084e-05,-0.000284939331841,2.93229471706e-05,1793189573923526912 +41,0.683333333,BASELINE,763.207706502,740,714,670.792293498,669.792293498,631.207706502,878,782,799,650,626,649,0.400949033462,0.00448260548681,0.0698234265751,0.999999956361,5.88479492728e-05,-0.000288025791218,2.92511203576e-05,1793189573940193792 +42,0.700000000,BASELINE,763,739.625235491,714,671,669.625235491,631.374764509,878,782.374764509,798.625235491,650,626,649,0.400948424619,0.00448182751798,0.0698234094967,0.999999956289,5.76141083678e-05,-0.000288517485811,2.93305766497e-05,1793189573956860416 +43,0.716666667,BASELINE,763,739.051574297,714,671,669.051574297,631.948425703,878,782.948425703,798.051574297,650,626,649,0.400948367257,0.00448024425358,0.0698242731079,0.999999956647,5.5721381512e-05,-0.000287632075218,2.94903225855e-05,1793189573973527040 +44,0.733333333,BASELINE,763,739.523629662,714,671,669,631.476370338,877.476370338,782.476370338,797.476370338,650,626,649,0.400947968995,0.00448113137013,0.0698242236985,0.999999956583,5.65407739634e-05,-0.000287724462338,2.91703790662e-05,1793189573990193920 +45,0.750000000,BASELINE,763,740,714.10217588,670.89782412,669,631,877,782,797,650,626,649,0.400947918258,0.00448201573715,0.0698242471834,0.99999995656,5.75658382906e-05,-0.000287626904946,2.8916650367e-05,1793189574006860544 +46,0.766666667,BASELINE,763,740,714.696073095,670.303926905,669,631,877,782,797,650,626,649,0.400949702056,0.00448171244715,0.0698250555243,0.999999956933,5.82913505044e-05,-0.000286150392505,2.92096259719e-05,1793189574023526912 +47,0.783333333,BASELINE,763.281283032,740,714.718716968,670.281283032,669,631,877.281283032,782,797,650,626,649,0.400950862258,0.00448140395736,0.0698255976664,0.999999957161,5.84381104961e-05,-0.000285301978555,2.94343118114e-05,1793189574040193536 +48,0.800000000,BASELINE,763.857387636,740,714.142612364,670.857387636,669,631,877.857387636,782,797,650,626,649,0.400951368851,0.00448109001745,0.0698258607974,0.999999957237,5.7978262216e-05,-0.00028511189416,2.95874210416e-05,1793189574056860160 +49,0.816666667,BASELINE,763.567904048,740,714,671,669,631.432095952,878,782.432095952,797,650,626,649,0.400950505195,0.00448170234965,0.0698252034034,0.999999956993,5.8621916379e-05,-0.000285856219971,2.93780037961e-05,1793189574073526784 +50,0.833333333,BASELINE,763,740,714,671,669,632,878,782.993631989,797,650,626,649,0.40094920772,0.00448259575384,0.0698242569444,0.999999956648,5.96084270634e-05,-0.000286892210329,2.9056094859e-05,1793189574090193664 +51,0.850000000,BASELINE,763,740,714,671,669,632,878,782.417289258,797,650,626,649,0.400949429256,0.00448137167995,0.0698245433008,0.999999956795,5.87888007355e-05,-0.000286519184099,2.93404985744e-05,1793189574106860288 +52,0.866666667,BASELINE,763.162573555,740,714,671,669,631.837426445,877.837426445,782,797,650,626,649,0.400949317949,0.0044807608002,0.069824485588,0.999999956788,5.81155991396e-05,-0.000286674315877,2.93885685335e-05,1793189574123526912 +53,0.883333333,BASELINE,763.751671542,740,714,671,669,631.248328458,877.248328458,782,797,650,626,649,0.400948333403,0.0044817586833,0.0698235251824,0.999999956379,5.7826554326e-05,-0.000288215111509,2.8816598387e-05,1793189574140193536 +54,0.900000000,BASELINE,763.665017011,739.665017011,714,670.665017011,669,631,877.334982989,782,797,650.334982989,626.334982989,649,0.400947890171,0.0044818714574,0.069823299335,0.999999956289,5.76517571828e-05,-0.000288562244741,2.88026464052e-05,1793189574156860416 +55,0.916666667,BASELINE,763.085922407,739.085922407,714,670.085922407,669,631,877.914077593,782,797,650.914077593,626.914077593,649,0.40094784141,0.00448133922739,0.0698236087811,0.999999956434,5.75602155739e-05,-0.000288039522217,2.91953381301e-05,1793189574173527040 +56,0.933333333,BASELINE,763.491760386,739.491760386,714,670.491760386,669,631,877.508239614,782,797,650.508239614,626.508239614,649,0.400948427518,0.00448272159991,0.0698238872927,0.999999956377,6.04907104992e-05,-0.000287641355657,2.91468625054e-05,1793189574190193920 +57,0.950000000,BASELINE,764,740,714,671,669,631.070648882,877,782,797,650,626,649,0.40094906254,0.00448395593074,0.0698241932569,0.999999956339,6.30906900331e-05,-0.000287221939616,2.90664444788e-05,1793189574206860800 +58,0.966666667,BASELINE,764,740,714,671,669,631.660199322,877,782,797,650,626,649,0.400949244428,0.00448165292444,0.0698247404399,0.999999956769,5.93959835553e-05,-0.000286487064027,2.93159511559e-05,1793189574223527424 +59,0.983333333,BASELINE,763.754772697,739.754772697,714,670.754772697,669,631.754772697,877.245227303,782,797.245227303,650,626.245227303,649,0.400949780387,0.00448094922179,0.0698251932377,0.999999957124,5.76397600727e-05,-0.000285605505949,2.9297517552e-05,1793189574240194048 +60,1.000000000,BASELINE,763.175897731,739.175897731,714,670.175897731,669,631.175897731,877.824102269,782,797.824102269,650,626.824102269,649,0.400950798084,0.00448242147523,0.0698255176186,0.999999957393,5.85209679977e-05,-0.000284524376723,2.89145338409e-05,1793189574256861184 +61,1.016666667,BASELINE,763,739.401267136,714,670,669,631,878,782,798,650,627,649,0.400949520144,0.00448263223049,0.0698246972532,0.99999995693,5.92401147146e-05,-0.000285997689283,2.89211357207e-05,1793189574273527808 +62,1.033333333,BASELINE,763,739.977685518,714,670,669,631,878,782,798,650,627,649,0.40094724017,0.00448229234757,0.0698233772114,0.999999956142,5.98885224116e-05,-0.000288586003912,2.90977899288e-05,1793189574290193664 +63,1.050000000,BASELINE,763.550035988,740,714,670,669,631,878,782,798,650.550035988,626.449964012,649,0.400948869099,0.00448082102992,0.0698248351048,0.999999956819,5.79227721524e-05,-0.000286624032947,2.92102074284e-05,1793189574306860288 +64,1.066666667,BASELINE,764,740,714,670.126596694,669,631,878.126596694,782,798,650.873403306,626,648.873403306,0.400950078991,0.00447976881829,0.0698258706961,0.999999957346,5.65213693219e-05,-0.000285052198911,2.92873029639e-05,1793189574323526912 +65,1.083333333,BASELINE,764,740,714,670.719260509,669,631,878.719260509,782,798,650.280739491,626,648.280739491,0.40094916666,0.00448042729578,0.0698249397228,0.999999957133,5.75851908771e-05,-0.000285591280169,2.92438839803e-05,1793189574340194560 +66,1.100000000,BASELINE,764,740,714,671,669,631,878.695392219,782,798,650,626,648.304607781,0.400949329256,0.00448053360798,0.0698250138291,0.99999995722,5.77335658267e-05,-0.000285260734492,2.91986079133e-05,1793189574356861440 +67,1.116666667,BASELINE,764,740,714,671,669,631,878.116630044,782,798,650,626,648.883369956,0.400950459313,0.00448014295799,0.0698259925316,0.999999957577,5.70580165653e-05,-0.000284147503445,2.91516604284e-05,1793189574373527552 +68,1.133333333,BASELINE,764,740,714,671,669.459767423,631,878,782,797.540232577,650,626,649,0.400949361688,0.0044809833557,0.0698251080467,0.999999956978,5.78512397047e-05,-0.000286120706365,2.88599358343e-05,1793189574390194176 +69,1.150000000,BASELINE,763.963741379,740,714,671,669.963741379,631,878,782,797,650.036258621,626,649,0.400947897955,0.00448199354245,0.0698239001277,0.999999956232,5.88005906395e-05,-0.000288555316144,2.85495797045e-05,1793189574406860544 +70,1.166666667,BASELINE,763.376762732,740,714,671,669.376762732,631,878,782,797,650.623237268,626,649,0.400949412725,0.00448086371873,0.0698249216871,0.999999957041,5.64911836948e-05,-0.000286167093175,2.88945206015e-05,1793189574423526912 +71,1.183333333,BASELINE,763,740,714,671,669,631.207507422,878,782,797,650.792492578,626,649,0.400950066921,0.00448046195782,0.0698252858713,0.999999957346,5.61750824725e-05,-0.000285145124717,2.90595012559e-05,1793189574440193792 +72,1.200000000,BASELINE,763,740,714,671,669,631.786923336,878,782,797,650.213076664,626,649,0.400949178741,0.00448136507889,0.0698244718648,0.999999956755,5.94315148795e-05,-0.000286571847329,2.89019453495e-05,1793189574456860928 +73,1.216666667,BASELINE,763,740,714,671,669,631.635773634,877.635773634,782,797.364226366,650,626,649,0.400948671395,0.00448265666256,0.0698236944259,0.999999956393,6.05776827115e-05,-0.000287608194904,2.87276898583e-05,1793189574473527296 +74,1.233333333,BASELINE,763,740,714,671,669,631.059699571,877.059699571,782,797.940300429,650,626,649,0.400948385558,0.00448417419058,0.0698229382559,0.99999995617,6.04964414335e-05,-0.000288417485652,2.85437212728e-05,1793189574490193920 +75,1.250000000,BASELINE,763.515287987,740,714,671,669,631,877,782,798.515287987,650,626,649,0.400949390826,0.00448320642645,0.0698240453179,0.999999956663,5.84479279813e-05,-0.000287119678632,2.86285899034e-05,1793189574506860800 +76,1.266666667,BASELINE,763.907328017,740,714,670.907328017,669,631,877.092671983,782,798.907328017,650,626,649,0.400950338651,0.0044819794096,0.0698251803699,0.999999957157,5.65208943866e-05,-0.000285773059269,2.87410220369e-05,1793189574523527168 +77,1.283333333,BASELINE,763.316383642,740,714,670.316383642,669,631,877.683616358,782,798.316383642,650,626,649,0.400950175042,0.00448090336712,0.0698253076952,0.999999957242,5.64699206723e-05,-0.000285473802654,2.88345412081e-05,1793189574540193536 +78,1.300000000,BASELINE,763.2688477,740,714,670.2688477,669,631,878,782,798,650,626,649,0.400949318931,0.0044807550083,0.0698246180938,0.999999957084,5.61878753711e-05,-0.000286094865786,2.87256810907e-05,1793189574556860416 +79,1.316666667,BASELINE,763.84749572,740,714,670.84749572,669,631,878,782,798,650,626,649,0.400947664834,0.00448167564398,0.0698229871263,0.999999956642,5.56395601672e-05,-0.000287776437742,2.8383613956e-05,1793189574573527552 +80,1.333333333,BASELINE,763.575729973,739.575729973,714,670.575729973,669,631.424270027,878,782,798,650,626,649,0.400947996349,0.00448182228731,0.0698235739521,0.999999956753,5.59399186269e-05,-0.000287307471437,2.86288841643e-05,1793189574590194176 +81,1.350000000,BASELINE,763,739.000369324,714,670,669,631.999630676,877.999630676,782,798.000369324,650,626,649,0.400949037438,0.00448169210523,0.0698249530087,0.99999995706,5.65438433487e-05,-0.000286070332844,2.90838939838e-05,1793189574606861056 +82,1.366666667,BASELINE,763,739.569523171,714,670,669,631.430476829,877.430476829,782,798.569523171,650,626,649,0.400948509065,0.00448181393721,0.0698240956174,0.999999956764,5.69181933519e-05,-0.000287054047195,2.884411169e-05,1793189574623527680 +83,1.383333333,BASELINE,763,739.854619866,714,670,669,631,877,782,798.854619866,650,626,649,0.40094812279,0.00448170142173,0.0698236094446,0.999999956568,5.71249800648e-05,-0.000287711684292,2.86948946308e-05,1793189574640194560 +84,1.400000000,BASELINE,763,739.257955154,714,670,669,631,877,782,798.257955154,650,626,649,0.400948177613,0.00448086145203,0.0698242755966,0.999999956684,5.68116220184e-05,-0.000287357122573,2.88268073494e-05,1793189574656860928 +85,1.416666667,BASELINE,763.328464741,739.328464741,714,670,669,631,877,782,797.671535259,650.328464741,626,649,0.400947865979,0.00448174551377,0.0698243991947,0.999999956713,5.742504183e-05,-0.000287142728178,2.87415703666e-05,1793189574673527296 +86,1.433333333,BASELINE,763.907082332,739.907082332,714,670,669,631,877,782,797.092917668,650.907082332,626,649,0.400947275258,0.00448394256695,0.0698241095935,0.999999956674,5.87442790415e-05,-0.000287035082723,2.84909560607e-05,1793189574690193664 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+35,0.583333333,BASELINE,764,739.702695998,714.297304002,670.702695998,669,631.702695998,877,782,797,650,626,649,0.400951409897,0.00447426514445,0.0698256808237,0.999999957839,4.93644228198e-05,-0.000284533089409,3.04307900983e-05,1793189580647264256 +36,0.600000000,BASELINE,764,739.113635495,714.886364505,670.113635495,669,631.113635495,877,782,797,650,626,649,0.40095078261,0.0044749380669,0.0698249586547,0.99999995758,4.99351366966e-05,-0.000285359458929,3.02715594091e-05,1793189580663931648 +37,0.616666667,BASELINE,763.532177183,739.467822817,714.532177183,670,669,631.467822817,877.467822817,782,797.935645634,650,626,649,0.400950546727,0.00447368118029,0.0698245644826,0.999999957481,4.75629407306e-05,-0.000286104600097,3.03264287261e-05,1793189580680598272 +38,0.633333333,BASELINE,763.047016328,740,714,670,669,632,878,782.047016328,798.952983672,650,626,649,0.400950497444,0.00447224618248,0.0698243956864,0.999999957477,4.49577629028e-05,-0.000286531752699,3.03972175784e-05,1793189580697264640 +39,0.650000000,BASELINE,763.62119017,740,714,670,669,632,878,782.62119017,798.37880983,650,626,649,0.400951491429,0.00447398591708,0.0698258748451,0.999999958196,4.76271349842e-05,-0.000283611233782,3.00727265435e-05,1793189580713931008 +40,0.666666667,BASELINE,763.804844265,740,714,670,668.804844265,632,877.804844265,782.804844265,797.804844265,650,626,648.804844265,0.400951897408,0.0044750590591,0.0698266314136,0.999999958487,4.94613442337e-05,-0.000282278486221,2.9972579985e-05,1793189580730597376 +41,0.683333333,BASELINE,763.231282585,740,714,670,668.231282585,632,877.231282585,782.231282585,797.231282585,650,626,648.231282585,0.400951163244,0.00447483968148,0.0698259868833,0.999999957972,4.96761769742e-05,-0.000284024419175,3.03074362097e-05,1793189580747264000 +42,0.700000000,BASELINE,763,739.645875586,714,670.354124414,668.354124414,631.645875586,877.354124414,782,797.354124414,650,626,648,0.400951207763,0.00447398481984,0.0698258708228,0.999999957986,4.84194033705e-05,-0.000284163356451,3.05633971179e-05,1793189580763930624 +43,0.716666667,BASELINE,763,739.052464571,714,670.947535429,668.947535429,631.052464571,877.947535429,782,797.947535429,650,626,648,0.400951778448,0.00447270055316,0.0698261118565,0.999999958355,4.616824567e-05,-0.000283216425187,3.0766047392e-05,1793189580780596992 +44,0.733333333,BASELINE,763.528411343,739.528411343,714,670.471588657,669,631,877.471588657,782,797.471588657,650,626,648,0.40095132841,0.00447412585859,0.0698256551943,0.999999958209,4.69122064692e-05,-0.000283666981539,3.02379479294e-05,1793189580797263616 +45,0.750000000,BASELINE,763.893097288,739.893097288,714,670.106902712,669,631.106902712,877.106902712,782,797.106902712,650,626,648.106902712,0.400950929457,0.00447551019327,0.0698253639886,0.999999958084,4.82690809584e-05,-0.000283928378798,2.97765469346e-05,1793189580813930496 +46,0.766666667,BASELINE,763.319706378,739.319706378,714,670.680293622,669,631.680293622,877.680293622,782,797.680293622,650,626,648.680293622,0.400951185408,0.0044755690058,0.0698260900581,0.99999995827,5.10329213926e-05,-0.000282772906518,2.9915462436e-05,1793189580830597120 +47,0.783333333,BASELINE,763.253758416,739,714,670.746241584,668.746241584,631.746241584,878,782,798,650,626,649,0.400951519534,0.00447516686092,0.0698263150667,0.99999995836,5.13946593643e-05,-0.000282383247352,2.99790328508e-05,1793189580847263744 +48,0.800000000,BASELINE,763.8273164,739,714,670.1726836,668.1726836,631.1726836,878,782,798,650,626,649,0.40095195218,0.00447418379354,0.069825908612,0.999999958331,4.87291431284e-05,-0.00028295870559,2.99476494839e-05,1793189580863930624 +49,0.816666667,BASELINE,763.583408012,739.416591988,714,670.416591988,668.416591988,631,878,782,797.583408012,650,626,648.583408012,0.400952114872,0.00447454142269,0.0698258043912,0.999999958218,5.05209353764e-05,-0.00028302239399,3.01532959623e-05,1793189580880597760 +50,0.833333333,BASELINE,763.012190868,739.987809132,714,670.987809132,669,631,878,782,797.024381736,650,626,648.012190868,0.400952140035,0.0044754144407,0.0698258201319,0.999999958063,5.40418162234e-05,-0.000282890662379,3.04477635316e-05,1793189580897264384 +51,0.850000000,BASELINE,763.587141235,739.412858765,714,670.412858765,669,631,878,782,798.174282471,650,626,648.587141235,0.400951184674,0.00447341895577,0.0698253635836,0.999999958054,4.8746874374e-05,-0.0002839145471,3.01290280075e-05,1793189580913931008 +52,0.866666667,BASELINE,763.837934501,739,714,670.162065499,669,631,877.837934501,782,798.675869001,650,626,649,0.400950755872,0.00447220327901,0.069825233704,0.999999958079,4.57459824284e-05,-0.000284344318709,2.9953952579e-05,1793189580930597632 +53,0.883333333,BASELINE,763.263076758,739,714,670.736923242,669,631,877.263076758,782,797.526153516,650,626,649,0.400951668251,0.00447297382869,0.0698259358726,0.999999958247,4.85881975071e-05,-0.000283260842331,3.0144789554e-05,1793189580947264512 +54,0.900000000,BASELINE,763,739,714,670.67889683,669,631,877.32110317,782,797.32110317,650,626,649,0.400952371728,0.00447315145353,0.0698263805857,0.999999958519,4.86541682728e-05,-0.000282274876963,3.02489987616e-05,1793189580963931136 +55,0.916666667,BASELINE,763,739,714,670.086850991,669,631,877.913149009,782,797.913149009,650,626,649,0.400952898937,0.00447282877606,0.0698266080613,0.999999958881,4.63775801459e-05,-0.000281371190171,3.02801125788e-05,1793189580980597504 +56,0.933333333,BASELINE,763,739.493919107,714,670.493919107,669,631,877.506080893,782,798,650,626,649,0.400952831993,0.00447406414799,0.0698265977582,0.999999958801,4.77748710584e-05,-0.000281464589651,2.9898174166e-05,1793189580997264128 +57,0.950000000,BASELINE,763,740,714,670.927774995,669,631,877.072225005,782,798,650,626,649,0.400952513045,0.00447538852939,0.06982639868,0.999999958578,4.9713756924e-05,-0.000281955409002,2.95517017385e-05,1793189581013930496 +58,0.966666667,BASELINE,763,740,714,670.353126503,669,631,877.646873497,782,798,650,626,649,0.400951151619,0.00447546880672,0.069825170775,0.999999957917,5.10265480123e-05,-0.000284018401187,2.99459168497e-05,1793189581030597120 +59,0.983333333,BASELINE,763,740,714,670,669,631.220979435,878,782,798,650,626,649,0.40095112501,0.00447504988608,0.069825015096,0.999999957864,5.09755548759e-05,-0.000284195414479,3.01060767178e-05,1793189581047264000 +60,1.000000000,BASELINE,763,740,714,670,669,631.794220581,878,782,798,650,626,649,0.400953226224,0.00447383519757,0.0698265686445,0.999999958781,4.87505634368e-05,-0.000281366002864,2.98931308878e-05,1793189581063930624 +61,1.016666667,BASELINE,763.380131561,740,714,670,669,632,877.619868439,782,798,650,626,649,0.400953332246,0.00447363692359,0.0698267588672,0.999999958824,4.83176100022e-05,-0.000281265120596,3.01199056536e-05,1793189581080597248 +62,1.033333333,BASELINE,763.973137642,740,714,670,669,632,877.026862358,782,798,650,626,649,0.400952320955,0.00447400784408,0.0698261856242,0.99999995838,4.88882019756e-05,-0.000282692221011,3.05929249452e-05,1793189581097263616 +63,1.050000000,BASELINE,763.447357079,740,714,670,669,631.447357079,877.552642921,782.552642921,798,650,626,649,0.400953040516,0.00447537124161,0.069826638205,0.999999958574,5.03455218709e-05,-0.000281794779331,3.01363389233e-05,1793189581113930752 +64,1.066666667,BASELINE,763.1305748,739.8694252,714,670.1305748,669,631.1305748,877.8694252,782.8694252,798,650,626,649,0.400953393981,0.00447603063949,0.069826966737,0.999999958699,5.14028336494e-05,-0.000281189680152,2.98572035973e-05,1793189581130597376 +65,1.083333333,BASELINE,763.705333441,739.294666559,714,670.705333441,669,631.705333441,877.294666559,782.294666559,798,650,626,649,0.400952222706,0.00447413500879,0.0698267077105,0.999999958493,5.09562910423e-05,-0.000281954255443,3.03317568562e-05,1793189581147263744 +66,1.100000000,BASELINE,763.719983253,739,714,670.719983253,669,631.719983253,877.280016747,782,798,650,626,648.719983253,0.400951486843,0.00447426808904,0.0698263812334,0.999999958249,5.13111919432e-05,-0.000282748215738,3.03671494892e-05,1793189581163930112 +67,1.116666667,BASELINE,763.145379237,739,714,670.145379237,669,631.145379237,877.854620763,782,798,650,626,648.145379237,0.400951209047,0.00447653544322,0.0698259837959,0.999999957966,5.25092390626e-05,-0.000283573090019,2.99405299791e-05,1793189581180596480 +68,1.133333333,BASELINE,763.44210984,739.44210984,714,670,669,631.44210984,877.55789016,782,798,650,626,648.44210984,0.400951362886,0.0044767794596,0.06982597127,0.999999958098,5.17768836309e-05,-0.000283257547319,2.98030179412e-05,1793189581197263360 +69,1.150000000,BASELINE,763.966778139,740,714,670,669,631.966778139,877.033221861,782,797.966778139,650,626,649,0.40095160191,0.00447639336217,0.0698260442933,0.999999958347,5.0490455139e-05,-0.000282615833969,2.97502114426e-05,1793189581213929984 +70,1.166666667,BASELINE,763.387842931,740,714,670,669,631.387842931,877.612157069,782,797.387842931,650,626,649,0.400950838736,0.0044769139085,0.0698253810716,0.999999958239,5.08426850601e-05,-0.00028296119173,2.94803194403e-05,1793189581230596864 +71,1.183333333,BASELINE,763,739.811112282,714,670,669,631,878,782,797,650,626,648.811112282,0.400951099963,0.00447657967958,0.069825597427,0.999999958391,5.08380885622e-05,-0.000282423792331,2.95172978011e-05,1793189581247263744 +72,1.200000000,BASELINE,763,739.238855929,714,670,669,631,878,782,797,650,626,648.238855929,0.400953440327,0.00447451058925,0.0698275989817,0.999999959063,5.01092732181e-05,-0.000280094739143,3.01771036503e-05,1793189581263930624 +73,1.216666667,BASELINE,763,739,714,670,669,631,877.654341565,782,797,650,626,648,0.40095508773,0.00447423442696,0.069828801788,0.99999995954,4.99654951987e-05,-0.000278394749471,3.03195058644e-05,1793189581280597248 +74,1.233333333,BASELINE,763,739,714,670,669,631,877.06104531,782,797,650,626,648,0.400956238679,0.00447524276054,0.0698294323519,0.99999995988,5.02408517024e-05,-0.000277145435817,3.00912279233e-05,1793189581297263872 +75,1.250000000,BASELINE,763.515131816,739.515131816,714,670,669,631,877,782,797.515131816,650,626,648.515131816,0.400954578769,0.00447431218786,0.0698285267301,0.999999959571,5.0324880031e-05,-0.000278225144162,3.02749094933e-05,1793189581313930496 +76,1.266666667,BASELINE,763.91046988,739.91046988,714,670.08953012,669,631,877.08953012,782,798,650,626,649,0.400952945126,0.00447325600479,0.0698275977885,0.999999959226,5.01632485012e-05,-0.00027946907944,3.04662873914e-05,1793189581330597120 +77,1.283333333,BASELINE,763.335069696,739.335069696,714,670.664930304,669,631,877.664930304,782,798,650,626,649,0.400953203574,0.00447272497118,0.0698274984536,0.999999959103,4.87875354661e-05,-0.000280154615214,3.04430186199e-05,1793189581347263488 +78,1.300000000,BASELINE,763.247017939,739,714,671,669,631,877.752982061,782,797.752982061,650,626,649,0.400953489611,0.00447293934353,0.0698272508611,0.999999959036,4.83050562431e-05,-0.000280491680482,3.0305561308e-05,1793189581363930368 +79,1.316666667,BASELINE,763.838429193,739,714,671,669,631,877.161570807,782,797.161570807,650,626,649,0.400953814111,0.00447419296363,0.0698267965671,0.99999995905,4.90679269869e-05,-0.000280342906839,3.00089019169e-05,1793189581380596992 +80,1.333333333,BASELINE,763.580390529,739.419609471,714,670.580390529,669,631,877,782,797,650,626,649,0.400953505092,0.00447343393186,0.0698264979391,0.999999958947,4.7172015555e-05,-0.000281041943803,2.99449427856e-05,1793189581397263616 +81,1.350000000,BASELINE,763.003055878,739.996944122,714,670.003055878,669,631,877,782,797,650,626,649,0.400952957942,0.00447191837322,0.0698262578238,0.999999958792,4.42767061177e-05,-0.000282059660597,2.9968452318e-05,1793189581413930240 +82,1.366666667,BASELINE,763,740,714,670,669,631,877.572713527,782,797.572713527,650,626,649,0.400951963183,0.00447326705339,0.0698263528295,0.999999958567,4.78242390181e-05,-0.000282268146124,3.00454474517e-05,1793189581430597120 +83,1.383333333,BASELINE,763.147688144,740,714,670.147688144,669,631,877.852311856,782,797.852311856,650,626,649,0.40095123214,0.00447407685302,0.069826337683,0.999999958448,4.98458134165e-05,-0.000282340653621,3.00494069455e-05,1793189581447263744 +84,1.400000000,BASELINE,763.720399587,740,714,670.720399587,669,631,877.279600413,782,797.279600413,650,626,649,0.400951266887,0.00447329197727,0.0698260004038,0.999999958661,4.73772557466e-05,-0.000282034230079,2.9842362286e-05,1793189581463930112 +85,1.416666667,BASELINE,763.695702567,739.695702567,714,670.695702567,669,631.304297433,877,782,797.304297433,650,626,648.695702567,0.400952503386,0.00447380489881,0.0698265957614,0.999999958923,4.77040399408e-05,-0.000281041554231,2.99018342187e-05,1793189581480596736 +86,1.433333333,BASELINE,763.10113398,739.10113398,714,670.10113398,669,631.89886602,877,782,797.89886602,650,626,648.10113398,0.400954886245,0.00447555579705,0.0698280807667,0.999999959228,5.06973177328e-05,-0.000279394258192,3.0215537947e-05,1793189581497263360 +87,1.450000000,BASELINE,763.479274154,739.479274154,714,670.479274154,669,631.520725846,877,782.479274154,798,650,626,648.479274154,0.400954024195,0.00447664954502,0.069827760692,0.999999958807,5.25441080165e-05,-0.000280572068421,3.00814741647e-05,1793189581513930240 +88,1.466666667,BASELINE,763.943496631,740,714,670.943496631,669,631.056503369,877.056503369,782.943496631,798,650,626,649,0.40095273377,0.00447734353006,0.0698271774983,0.999999958342,5.36407326181e-05,-0.00028204078805,2.98633927753e-05,1793189581530597120 +89,1.483333333,BASELINE,763.368804105,740,714,670.368804105,669,631.631195895,877.631195895,782.368804105,798,650,626,649,0.400953614085,0.00447560653759,0.0698275742097,0.999999958865,5.00126483559e-05,-0.000280867155385,2.97164456081e-05,1793189581547263744 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b/Obstacle_avoidance/ball_0030_20/position_12/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..b9717702b80803fae907182cd42ef37509c8f256 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_12/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b3c6024c19382ceec59d4aa251a9dd81308e816baa775cc7362b891081a4cfe +size 24656440 diff --git a/Obstacle_avoidance/ball_0030_20/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_12/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..f4db208538878440a2cd5a07e5c8d5cdf34ade41 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_12/depth_01/franka_data.csv @@ -0,0 +1,391 @@ 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+34,0.566666667,BASELINE,763.278515598,740,714.721484402,670.721484402,669,631,878,782,798,650,626,649,0.4010050537,0.00446841946393,0.079852590658,0.999999982899,5.82190503024e-05,-0.000171359840099,3.80666659849e-05,1793189588701779456 +35,0.583333333,BASELINE,763,740,715,671,669,631,877.704999377,782,798,650,626,649,0.401005550198,0.00446824464989,0.0798525869373,0.999999982968,5.85010755923e-05,-0.000170861993315,3.80619156026e-05,1793189588718445824 +36,0.600000000,BASELINE,763,740,715,671,669,631,877.130539801,782,798,650,626,649,0.401006548653,0.00446720862137,0.0798529479927,0.999999983289,5.61302241906e-05,-0.000169762992292,3.81028934681e-05,1793189588735112704 +37,0.616666667,BASELINE,763,739.540997298,714.540997298,671,669,631,877,781.540997298,798,650,626,648.540997298,0.401007210703,0.00446714686672,0.0798536857594,0.999999983505,5.53038476508e-05,-0.000168807871625,3.78894042018e-05,1793189588751779328 +38,0.633333333,BASELINE,763,739.051316171,714,671,669,631,877.051316171,781.051316171,797.948683829,650,626,648.051316171,0.401007565878,0.0044674252191,0.079854384926,0.999999983643,5.50915381024e-05,-0.000168112688113,3.76490670166e-05,1793189588768446208 +39,0.650000000,BASELINE,763,739.626634994,714,671,669,631,877.626634994,781.626634994,797.373365006,650,626,648.626634994,0.401005797606,0.00446825100118,0.079853558772,0.999999983296,5.65119685757e-05,-0.000169639754003,3.78986771882e-05,1793189588785112832 +40,0.666666667,BASELINE,763,739.797815219,714,670.797815219,669,631,878,782,797,650,626,649,0.401004989312,0.00446898560907,0.0798531055973,0.999999983122,5.70583110815e-05,-0.000170466575108,3.79540745216e-05,1793189588801779456 +41,0.683333333,BASELINE,763,739.221838468,714,670.221838468,669,631,878,782,797,650,626,649,0.401005955792,0.0044695516573,0.0798533419732,0.999999983274,5.59886710302e-05,-0.000169998808691,3.76504181135e-05,1793189588818445824 +42,0.700000000,BASELINE,763,739.362419981,714,670.362419981,669,631,877.637580019,782,797.724839963,649.637580019,626,649,0.401006840715,0.00446838465315,0.0798537404661,0.999999983459,5.44664215196e-05,-0.000169385806499,3.7721470423e-05,1793189588835112448 +43,0.716666667,BASELINE,763,739.951866211,714,670.951866211,669,631,877.048133789,782,798.903732422,649.048133789,626,649,0.40100767455,0.0044661320345,0.079854240512,0.999999983664,5.26606495262e-05,-0.00016868182608,3.80272468727e-05,1793189588851779072 +44,0.733333333,BASELINE,763,740,714,671,669,631,877,782,797.937414246,649.531292877,626.531292877,649,0.401007097046,0.00446672879216,0.0798540608332,0.999999983518,5.4847922389e-05,-0.00016886710104,3.79413928806e-05,1793189588868445696 +45,0.750000000,BASELINE,763,739.890756293,714,671,669,631,877,782,797,650,626.890756293,649,0.401006407971,0.00446768076731,0.0798538024404,0.999999983318,5.7026757527e-05,-0.000169356612593,3.78215171481e-05,1793189588885112576 +46,0.766666667,BASELINE,763,739.315301718,714,671,669,631,877,782,797,650,626.315301718,649,0.401005778331,0.00446906739714,0.0798534660677,0.99999998304,5.76543053673e-05,-0.000170807036957,3.77050651326e-05,1793189588901779456 +47,0.783333333,BASELINE,763,739,714,671,669,631,877.260883989,782,797,650,626,649,0.401005064441,0.0044697308707,0.0798530148472,0.999999982842,5.841139464e-05,-0.000171688977682,3.77766150164e-05,1793189588918446336 +48,0.800000000,BASELINE,763,739,714,671,669,631,877.837955893,782,797,650,626,649,0.401004248443,0.00446951788869,0.0798524244326,0.999999982744,5.93254864849e-05,-0.000171881924006,3.80760206803e-05,1793189588935113472 +49,0.816666667,BASELINE,763,739.423337268,714,671,669,631,878,782,797.423337268,650,626,649,0.401005217009,0.00446895021962,0.0798528640208,0.999999983011,5.71966459388e-05,-0.000171064837928,3.79898724343e-05,1793189588951779840 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+54,0.900000000,BASELINE,763.310820816,740,714.689179184,671,669,631,877.689179184,782.310820816,797.689179184,650,626,649,0.401005908551,0.00446860646754,0.07985337467,0.99999998311,5.90970999651e-05,-0.000169850581769,3.79151156412e-05,1793189589035112704 +55,0.916666667,BASELINE,763.889071026,740,714.110928974,671,669,631,877.110928974,782.889071026,797.110928974,650,626,649,0.40100639218,0.00446780442971,0.0798538528044,0.999999983293,5.74322932442e-05,-0.000169324077166,3.80108850473e-05,1793189589051779328 +56,0.933333333,BASELINE,764,739.520878609,714.479121391,671,669,631,877.479121391,782.520878609,797.479121391,650,626,649,0.401006412095,0.00446874146354,0.0798539325247,0.99999998332,5.7011648172e-05,-0.000169380833602,3.76916307687e-05,1793189589068446208 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+66,1.100000000,BASELINE,763.291708371,740,714,670.291708371,669,631.291708371,878,782,797.291708371,650.708291629,626,648.291708371,0.401008493162,0.00447013866041,0.0798555322055,0.999999983824,5.60998098046e-05,-0.000166857936535,3.69193074236e-05,1793189589235113216 +67,1.116666667,BASELINE,763.877428011,740,714,670.877428011,669,631.877428011,878,782,797.877428011,650.122571989,626,648.877428011,0.40100730368,0.00446922347214,0.0798549652473,0.999999983558,5.73622058804e-05,-0.000167893553194,3.74790258648e-05,1793189589251779840 +68,1.133333333,BASELINE,763.541843476,740,714.458156524,671,669,631.541843476,878,782,797.541843476,650,626,649,0.401004735444,0.00446896613478,0.0798529519689,0.999999982939,5.86036980103e-05,-0.000171088222076,3.76270199429e-05,1793189589268446208 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+36,0.600000000,BASELINE,763.894939985,739.105060015,714.105060015,671,669,631.894939985,878,782,797.894939985,650,626,649,0.400951530895,0.00446907952872,0.0798303935891,0.999999956424,5.54603511914e-05,-0.000287330764549,3.89514489368e-05,1793189595398924800 +37,0.616666667,BASELINE,763.525404301,739.474595699,714,671,669,631.525404301,878,782,798,650,626,649,0.400953008671,0.00446855412478,0.0798312888062,0.999999957121,5.26349362981e-05,-0.000285465202983,3.86863891875e-05,1793189595415591424 +38,0.633333333,BASELINE,763,739.95009163,714,671,669,631.04990837,878.04990837,782,798,650,626,649,0.400954637227,0.00446811649947,0.0798323663095,0.999999957879,4.98320738178e-05,-0.000283350560639,3.83532539771e-05,1793189595432257792 +39,0.650000000,BASELINE,763,739.376672233,714,671,669,631.623327767,878.623327767,782,798,650,626,649,0.400954024071,0.00446980543191,0.0798320779609,0.999999957542,5.3469906283e-05,-0.000283873648133,3.83790792197e-05,1793189595448924672 +40,0.666666667,BASELINE,763.203191362,739.203191362,714,671,669,631.796808638,878.796808638,782,798,650,626,648.796808638,0.400953323381,0.00447067922162,0.0798316466589,0.999999957105,5.61230616904e-05,-0.000284890621849,3.84415714149e-05,1793189595465591552 +41,0.683333333,BASELINE,763.79539233,739.79539233,714,671,669,631.20460767,878.20460767,782,798,650,626,648.20460767,0.400952455107,0.00446999242147,0.0798309416726,0.999999956495,5.68910538887e-05,-0.000286853140095,3.85742624443e-05,1793189595482258432 +42,0.700000000,BASELINE,764,740,714,671,669,631,878,782,798,650,626,648.377870077,0.400952435709,0.00446906400774,0.0798309926581,0.999999956522,5.58320289441e-05,-0.000286938982217,3.87944365857e-05,1793189595498925056 +43,0.716666667,BASELINE,764,740,714,671,669,631,878,782,798,650,626,648.955214987,0.400952864425,0.004468008048,0.0798314427157,0.999999956882,5.38085350681e-05,-0.00028603414076,3.90607924141e-05,1793189595515591936 +44,0.733333333,BASELINE,763.469988355,740,714,671,668.469988355,631,877.469988355,782,798,650,626,649,0.400953529343,0.00446935341664,0.0798321674605,0.999999957004,5.56088819975e-05,-0.000285280876222,3.89243018631e-05,1793189595532258304 +45,0.750000000,BASELINE,763.107209,740,714,671,668.107209,631,877.107209,782,798,650,626,649,0.400954007194,0.00447046991452,0.0798326120706,0.999999957052,5.71597227779e-05,-0.000284820464618,3.88209355639e-05,1793189595548924928 +46,0.766666667,BASELINE,763.696156517,740,714,671,668.696156517,631,877.696156517,782,798,650,626,649,0.400953555214,0.0044696505981,0.0798316941124,0.999999956874,5.61444977441e-05,-0.000285618697256,3.90186358057e-05,1793189595565591552 +47,0.783333333,BASELINE,763.719686285,739.719686285,714.280313715,671,669,631,878.280313715,782,797.719686285,650,626,649,0.400953307644,0.00446925870197,0.0798313705983,0.999999956816,5.53817043792e-05,-0.000285959453366,3.90948728287e-05,1793189595582257920 +48,0.800000000,BASELINE,763.140634193,739.140634193,714.859365807,671,669,631,878.859365807,782,797.140634193,650,626,649,0.400953277919,0.00446932231983,0.0798316806003,0.999999956887,5.48879345672e-05,-0.000285812663699,3.90416630355e-05,1793189595598924800 +49,0.816666667,BASELINE,763,739,715,671,669,631,878.56604706,781.56604706,797.43395294,650,626,649,0.400952425831,0.00446925810646,0.0798318744741,0.999999956924,5.38166186919e-05,-0.000285892192024,3.8994632401e-05,1793189595615591936 +50,0.833333333,BASELINE,763,739,714.992795373,671,669,631,878,781.007204627,797.992795373,650,626,649,0.400951334865,0.00446914674877,0.0798320254378,0.99999995695,5.25920406756e-05,-0.00028603722337,3.89475229549e-05,1793189595632258816 +51,0.850000000,BASELINE,763,739,714.411831426,671,669,631,878,781.588168574,797.411831426,650,626,649,0.400952228318,0.0044685464895,0.0798317257453,0.999999957008,5.39159487353e-05,-0.000285617267133,3.8736284854e-05,1793189595648925440 +52,0.866666667,BASELINE,763.170685598,739.170685598,714,670.829314402,669,631,878,782,797.170685598,650,626,649,0.400952931502,0.00446814989044,0.0798316651601,0.999999957092,5.464489098e-05,-0.000285196492776,3.86481652773e-05,1793189595665591808 +53,0.883333333,BASELINE,763.756984269,739.756984269,714,670.243015731,669,631,878,782,797.756984269,650,626,649,0.40095317139,0.00446824919645,0.0798321867926,0.999999957243,5.39251135442e-05,-0.000284773726352,3.88598347346e-05,1793189595682258432 +54,0.900000000,BASELINE,763.660031012,739.660031012,714,670.339968988,669,631,878.339968988,782,798,650,626,648.660031012,0.400953876068,0.00446881363518,0.0798323752731,0.999999957357,5.43151487524e-05,-0.000284298609382,3.88505238293e-05,1793189595698925056 +55,0.916666667,BASELINE,763.079392318,739.079392318,714,670.920607682,669,631,878.920607682,782,798,650,626,648.079392318,0.400954909778,0.00446970734911,0.0798323279096,0.999999957445,5.54908388338e-05,-0.000283786432607,3.86847772381e-05,1793189595715591680 +56,0.933333333,BASELINE,763,739.494508071,714,671,669.494508071,631,878.505491929,782,798,650,626,648,0.400954201324,0.0044690302831,0.0798322037224,0.999999957353,5.39427804453e-05,-0.000284427881393,3.85294668143e-05,1793189595732258304 +57,0.950000000,BASELINE,763,740,714,670.932475038,669.932475038,631,878,782,798.067524962,650,626,648.067524962,0.400953240734,0.00446822867504,0.0798319898896,0.999999957228,5.22900112755e-05,-0.000285193043199,3.84093731011e-05,1793189595748924928 +58,0.966666667,BASELINE,763,740,714,670.358078915,669.358078915,631,878,782,798.641921085,650,626,648.641921085,0.40095245883,0.00446835976709,0.079831194478,0.999999957089,5.30896168551e-05,-0.00028551525401,3.85412231274e-05,1793189595765591552 +59,0.983333333,BASELINE,763.224229811,740,714,670.224229811,669,631.224229811,878,782,798.775770189,649.775770189,626,649,0.40095253783,0.00446856781835,0.0798312444823,0.999999957136,5.37470497678e-05,-0.000285223365117,3.85714548643e-05,1793189595782258432 +60,1.000000000,BASELINE,763.819636695,740,714,670.819636695,669,631.819636695,878,782,798.180363305,649.180363305,626,649,0.400954041917,0.00446890326345,0.0798326939392,0.99999995749,5.41691383901e-05,-0.000283914931114,3.84334735783e-05,1793189595798925056 +61,1.016666667,BASELINE,763.599213642,740,714,671,669,631.599213642,878,782,798,649.400786358,626,649,0.400953548688,0.00446972763737,0.0798327001233,0.999999957319,5.48807830669e-05,-0.000284391623857,3.83632737354e-05,1793189595815591680 +62,1.033333333,BASELINE,763.0242597,740,714,671,669,631.0242597,878,782,798,649.9757403,626,649,0.400952187496,0.00447076448247,0.079832079112,0.999999956917,5.5718258545e-05,-0.000285644069667,3.832252932e-05,1793189595832258304 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+66,1.100000000,BASELINE,763,739.695902461,714.695902461,671.304097539,669,631.695902461,878,782,797,650,626,648.304097539,0.400953367318,0.00447131040445,0.079832660706,0.999999957178,5.87974957589e-05,-0.000284029457549,3.89042463466e-05,1793189595898925056 +67,1.116666667,BASELINE,763,739.119454439,714.119454439,671.880545561,669,631.119454439,878,782,797,650,626,648.880545561,0.400953184742,0.00446961391433,0.0798329504288,0.999999957357,5.57621718137e-05,-0.000284001073303,3.89837864162e-05,1793189595915591936 +68,1.133333333,BASELINE,763,739.457895904,714,671.542104096,669,631,877.542104096,782,797.457895904,650,626,649,0.400953371213,0.00446973347902,0.0798326679572,0.999999957199,5.66878168007e-05,-0.000284381093364,3.89257427222e-05,1793189595932258816 +69,1.150000000,BASELINE,763.035273265,740,714,671,669,631,877.035273265,782,798,649.964726735,626.035273265,649,0.400953677301,0.00447025205592,0.0798322735099,0.999999956982,5.8365960866e-05,-0.000284819729697,3.88215141637e-05,1793189595948924928 +70,1.166666667,BASELINE,763.609459234,740,714,671,669,631,877.609459234,782,798,649.390540766,626.609459234,649,0.400954337077,0.00446961422559,0.0798324533929,0.999999957227,5.57224095648e-05,-0.000284522912874,3.85611182023e-05,1793189595965591552 +71,1.183333333,BASELINE,763.810614084,739.810614084,714,671,669,631,878,782,798,649.189385916,626.810614084,649,0.400954547637,0.0044696590148,0.0798324585659,0.999999957307,5.45354108563e-05,-0.000284492312579,3.84170260177e-05,1793189595982258432 +72,1.200000000,BASELINE,763.21847906,739.21847906,714,671,669,631,878,782,798,649.78152094,626.21847906,649,0.400953802892,0.00447115546628,0.0798320921997,0.999999957045,5.6445924231e-05,-0.000285027849733,3.85202660225e-05,1793189595998925312 +73,1.216666667,BASELINE,763,739.36443246,714,671.36443246,669,631.36443246,878,781.63556754,798,649.63556754,626,649,0.400953031751,0.00447108546657,0.0798319975815,0.99999995689,5.74704999589e-05,-0.000285346851496,3.8661096103e-05,1793189596015591680 +74,1.233333333,BASELINE,763,739.941950905,714,671.941950905,669,631.941950905,878,781.058049095,798,649.058049095,626,649,0.400952245176,0.00447009955276,0.0798320618561,0.999999956799,5.79770621791e-05,-0.000285539243605,3.88239053346e-05,1793189596032258304 +75,1.250000000,BASELINE,763,740,714,671.486129979,669,631.486129979,878,781.513870021,798,649.513870021,626,649,0.400952886037,0.00446880060993,0.0798323956231,0.999999957151,5.62529604733e-05,-0.000284639808546,3.89051104777e-05,1793189596048925184 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b/Obstacle_avoidance/ball_0030_20/position_12/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..dd5d00d0cc1d027fada4566357e9242a07ae9d4e --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_12/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d272337fff9777889907f9578b5d2684164ab54ba0099ce5bed59f84821b054 +size 25032804 diff --git a/Obstacle_avoidance/ball_0030_20/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_12/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..6f1ed34e64d4a13af7af31ad7d712802718327b6 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_12/depth_03/franka_data.csv @@ -0,0 +1,397 @@ 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+39,0.650000000,BASELINE,763,739.360196039,714,671,669,631,878.639803961,782,798,650,626,649,0.400953845247,0.00446540388331,0.0798323181736,0.999999957331,5.05968084197e-05,-0.000285106747436,3.86342752024e-05,1793189602198891008 +40,0.666666667,BASELINE,763.226900373,739.226900373,714,671,669,631,878.773099627,782,797.773099627,650,626.226900373,649,0.400954735852,0.00446531766945,0.0798330619669,0.999999957526,5.2053171071e-05,-0.000284123109494,3.8893198506e-05,1793189602215557632 +41,0.683333333,BASELINE,763.805922837,739.805922837,714,671,669,631,878.194077163,782,797.194077163,650,626.805922837,649,0.400954071228,0.00446566763768,0.0798334771785,0.999999957474,5.44118098395e-05,-0.000283834254527,3.9116817308e-05,1793189602232224512 +42,0.700000000,BASELINE,764,740,714,671,669,631,878.381975539,782,797.381975539,650.381975539,627,649,0.400953973764,0.00446570064454,0.0798334171375,0.999999957565,5.26367146152e-05,-0.000283896503037,3.87554415207e-05,1793189602248890880 +43,0.716666667,BASELINE,764,740,714,671,669,631,878.956530964,782,797.956530964,650.956530964,627,649,0.400954162243,0.00446557384957,0.0798331174893,0.999999957718,4.87775224649e-05,-0.000284135766729,3.80991301097e-05,1793189602265557504 +44,0.733333333,BASELINE,763.467590032,740,714.532409968,671,669,631,878.467590032,782,798,650.467590032,626.467590032,649,0.400952974178,0.00446581006256,0.0798321851606,0.99999995723,5.0501051344e-05,-0.000285536481104,3.82024799081e-05,1793189602282224384 +45,0.750000000,BASELINE,763,740,714.888974688,671,669,631,878,781.888974688,798,650,626,649,0.400952129397,0.00446587355535,0.0798316243381,0.999999956871,5.20823998094e-05,-0.000286485258756,3.83644437808e-05,1793189602298891008 +46,0.766666667,BASELINE,763,740,714.299023157,671,669,631,878,781.299023157,798,650,626,649,0.40095325144,0.00446506382327,0.0798328894505,0.99999995732,5.10793345764e-05,-0.000285074457526,3.85110352341e-05,1793189602315557888 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+51,0.850000000,BASELINE,763,739.397889885,714,671,669,631,878,782,797.602110115,650,626,649,0.400952508445,0.00446622837527,0.079832208577,0.999999957159,5.06996540783e-05,-0.000285669355607,3.87797563565e-05,1793189602398891264 +52,0.866666667,BASELINE,763.187679157,739.187679157,714.187679157,671,669,631,878,782,797.812320843,650,626,649,0.400953483119,0.00446622063116,0.07983222062,0.999999957291,5.06305152623e-05,-0.000285251803557,3.85483152308e-05,1793189602415557888 +53,0.883333333,BASELINE,763.766464511,739.766464511,714.766464511,671,669,631,878,782,797.233535489,650,626,649,0.400954559377,0.00446533595622,0.079832909871,0.999999957636,5.06701689276e-05,-0.000284054567217,3.83750806018e-05,1793189602432224512 +54,0.900000000,BASELINE,764,739.655770276,714.655770276,671,669,631,878,782,797.344229724,650,626,649,0.400954884103,0.00446529826593,0.0798335798512,0.999999957941,5.06098365511e-05,-0.000282994940044,3.83381330781e-05,1793189602448891136 +55,0.916666667,BASELINE,764,739.078695135,714.078695135,671,669,631,878,782,797.921304865,650,626,649,0.400954700474,0.00446583349683,0.0798342367961,0.999999958219,5.04818711649e-05,-0.000282028395133,3.83933734979e-05,1793189602465558016 +56,0.933333333,BASELINE,763.506371404,739,714.493628596,670.506371404,669,631.493628596,878,782,797.506371404,650,626,649,0.400953537179,0.004465817044,0.0798333989017,0.999999957729,5.13274044947e-05,-0.00028360187978,3.84449654289e-05,1793189602482224640 +57,0.950000000,BASELINE,763,739.06761881,715,670.06761881,669,631.93238119,878,782,797,650,626,649,0.400952409424,0.00446567996708,0.0798324658526,0.999999957201,5.21475565896e-05,-0.000285301019262,3.84936982121e-05,1793189602498891520 +58,0.966666667,BASELINE,763,739.660377556,715,670.660377556,669,631.339622444,878,782,797,650,626,649,0.400952759031,0.0044652826285,0.0798326269291,0.999999957355,5.15767967128e-05,-0.00028486119152,3.8524700431e-05,1793189602515557888 +59,0.983333333,BASELINE,763,740,714.751782944,671,669,631,878,782,797,650,626,649,0.400953049474,0.00446519900073,0.0798330218482,0.999999957529,5.11541394956e-05,-0.000284333296324,3.8471951067e-05,1793189602532224512 +60,1.000000000,BASELINE,763,740,714.170543308,671,669,631,878,782,797,650,626,649,0.400953260537,0.00446553626576,0.0798337305044,0.99999995773,5.09301854236e-05,-0.0002836872446,3.83068356653e-05,1793189602548891136 +61,1.016666667,BASELINE,763,740,714.405744644,671,669,631,878,782,797,650,626,649,0.40095369637,0.00446554133474,0.0798337141213,0.999999957802,4.9857309702e-05,-0.000283635567748,3.8222579011e-05,1793189602565557760 +62,1.033333333,BASELINE,763,740,714.979976356,671,669,631,878,782,797,650,626,649,0.400954225541,0.00446540845799,0.0798333966628,0.999999957819,4.8431915923e-05,-0.000283830707448,3.81718992808e-05,1793189602582224384 +63,1.050000000,BASELINE,763,740,714.444292188,671,669,631,878,782,797.555707812,650,626,649,0.400955182249,0.00446551830537,0.0798344153092,0.999999958169,4.9771392377e-05,-0.000282367145993,3.81209369914e-05,1793189602598891264 +64,1.066666667,BASELINE,763,740,714,671,669,631,878,782,798,650,626,649,0.400956024384,0.00446601448609,0.0798352164319,0.999999958463,5.14046006832e-05,-0.000281034067751,3.80932528205e-05,1793189602615558144 +65,1.083333333,BASELINE,763,740,714,671,669,631,878,782,798,650,626,649,0.4009564272,0.00446778638491,0.079835119474,0.999999958535,5.36927469265e-05,-0.000280344358029,3.81442556208e-05,1793189602632224768 +66,1.100000000,BASELINE,763.311737549,739.688262451,714,671,669,631,878,781.688262451,797.688262451,650,626.311737549,649,0.400955437807,0.00446782347215,0.0798343353789,0.999999958231,5.41407940924e-05,-0.000281340062053,3.81364628244e-05,1793189602648891392 +67,1.116666667,BASELINE,763.887996088,739.112003912,714,671,669,631,878,781.112003912,797.112003912,650,626.887996088,649,0.400953267072,0.0044663885067,0.0798329682222,0.999999957608,5.30274481421e-05,-0.000283765902811,3.80787797591e-05,1793189602665557760 +68,1.133333333,BASELINE,763.536768221,739.463231779,714,671,669,631,878,781.463231779,797.463231779,650,626.536768221,649,0.400952235255,0.00446664888632,0.0798325594871,0.999999957455,5.31251801839e-05,-0.000284282693631,3.81022968293e-05,1793189602682224384 +69,1.150000000,BASELINE,763.039125316,739.960874684,714,671,669,631,878.039125316,782,798,650,626,649,0.400951628005,0.00446717934836,0.0798324661611,0.999999957456,5.33211276109e-05,-0.000284235241606,3.81404338817e-05,1793189602698891264 +70,1.166666667,BASELINE,763.627722533,739.372277467,714,671,669,631,878.627722533,782,798,650,626,649,0.400953124507,0.00446575871007,0.0798335551151,0.999999958015,5.07930689918e-05,-0.000282731797855,3.81087729297e-05,1793189602715557888 +71,1.183333333,BASELINE,763.787248032,739.212751968,714,671,669,631,878.787248032,782,797.787248032,650,626,649,0.400953453163,0.00446522215096,0.0798339455338,0.999999958104,5.03805542978e-05,-0.000282467838017,3.82868665736e-05,1793189602732224512 +72,1.200000000,BASELINE,763.208358509,739.791641491,714,671,669,631,878.208358509,782,797.208358509,650,626,649,0.400951772003,0.00446620705621,0.0798331338018,0.999999957386,5.36088049469e-05,-0.000284336979744,3.88259394111e-05,1793189602748891392 +73,1.216666667,BASELINE,763,740,714,671,669,631.368368597,878.368368597,782,797.368368597,650,626,649,0.400952313638,0.00446661622418,0.0798332923307,0.999999957395,5.43535974013e-05,-0.000284166590851,3.88054767648e-05,1793189602765558016 +74,1.233333333,BASELINE,763,740,714,671,669,631.94387969,878.94387969,782,797.94387969,650,626,649,0.400954105203,0.00446670164122,0.0798339964606,0.999999957816,5.37018815642e-05,-0.00028284932487,3.84703738655e-05,1793189602782224896 +75,1.250000000,BASELINE,763,739.480550422,714,671,669,631.480550422,878.480550422,782,797.480550422,650,626.519449578,649,0.40095329556,0.00446702977332,0.0798331868588,0.99999995775,5.34667377571e-05,-0.000283167663805,3.81660761154e-05,1793189602798891264 +76,1.266666667,BASELINE,763,739.097413638,714,671,669,631,878,782,797,650,626.902586362,649,0.400952459268,0.00446711513353,0.0798324725967,0.999999957657,5.28227399136e-05,-0.000283651131154,3.7915854332e-05,1793189602815557632 +77,1.283333333,BASELINE,763,739.687452999,714,671,669,631,878,782,797,650,626.312547001,649,0.400952909552,0.00446584016056,0.0798330675985,0.999999957687,4.98835249232e-05,-0.000284075941112,3.79222650549e-05,1793189602832224256 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b/Obstacle_avoidance/ball_0030_20/position_12/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..a2e219dcb311b8ec52b095a9f888f5f7dde28493 --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_12/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99cdeec66cd656df9285263483ef91c936f2ac6ff031cf51c69307d69b576be8 +size 25103496 diff --git a/Obstacle_avoidance/ball_0030_20/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0030_20/position_12/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d5d1138cf4bfdfc6b3b8491d37367d1851d5ad6a --- /dev/null +++ b/Obstacle_avoidance/ball_0030_20/position_12/depth_04/franka_data.csv @@ -0,0 +1,398 @@ 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+43,0.716666667,BASELINE,764,739,714,671,669,631,878,782.952138936,797.047861064,650,626,649,0.400954644852,0.00446041154625,0.079835001945,0.999999958255,4.75235365629e-05,-0.00028231292248,3.91368169737e-05,1793189609043615488 +44,0.733333333,BASELINE,763.469542807,739,714,671,669,631,878,782.469542807,797.530457193,650,626,649,0.400954382544,0.00446207291955,0.0798345890227,0.999999958088,4.80489044927e-05,-0.000282850637302,3.88689412066e-05,1793189609060282368 +45,0.750000000,BASELINE,763.107371949,739.107371949,714.107371949,671,669,631.107371949,878,782,797.892628051,650,626,649,0.400954227402,0.00446357866765,0.0798343476841,0.999999957997,4.83741117684e-05,-0.000283151964648,3.86030500755e-05,1793189609076949504 +46,0.766666667,BASELINE,763.683110152,739.683110152,714.683110152,671,669,631.683110152,878,782,797.316889848,650,626,649,0.400954953446,0.00446350662183,0.0798352954497,0.999999958395,4.74199332512e-05,-0.00028192167934,3.84905180859e-05,1793189609093616128 +47,0.783333333,BASELINE,763.735689245,739.735689245,714.735689245,671,669,631.735689245,878,782,797.264310755,650,626,649,0.40095477194,0.0044629883428,0.0798352701483,0.999999958421,4.61934241152e-05,-0.000282021358646,3.85698799114e-05,1793189609110282496 +48,0.800000000,BASELINE,763.147801332,739.147801332,714.147801332,671,669,631.147801332,878,782,797.852198668,650,626,649,0.400953479384,0.0044619237717,0.0798340535893,0.999999957991,4.46335195369e-05,-0.00028374922037,3.88841638878e-05,1793189609126949120 +49,0.816666667,BASELINE,763.433474484,739,714,671,669,631,878.433474484,782,797.566525516,650,626,649,0.400954626755,0.00446188712962,0.0798350139534,0.999999958378,4.55781908869e-05,-0.000282223419571,3.89439726355e-05,1793189609143615744 +50,0.833333333,BASELINE,764,739.012012318,714,671,668.987987682,631,878.987987682,782,797,650,626,649,0.400956520561,0.00446220161953,0.0798366503814,0.999999959008,4.73403856549e-05,-0.00027969218415,3.89161467912e-05,1793189609160282624 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+55,0.916666667,BASELINE,763.088465391,739,714.911534609,671,669,631,877.911534609,782,797.911534609,650,626,649,0.400955897232,0.00446205210219,0.0798356406248,0.999999958637,4.62504670229e-05,-0.00028119300322,3.89562217342e-05,1793189609243616000 +56,0.933333333,BASELINE,763.492316423,739.492316423,715,671,669,631,878,782,798,650,626,649,0.400956667096,0.00446284164353,0.0798363766957,0.99999995897,4.72416381385e-05,-0.000279854978283,3.8858590197e-05,1793189609260282368 +57,0.950000000,BASELINE,764,739.928519161,714.928519161,671,669,631,878,782,798,650,626,649,0.400956993682,0.00446372201297,0.0798367197214,0.99999995911,4.8601443607e-05,-0.000279137185147,3.87465658799e-05,1793189609276948992 +58,0.966666667,BASELINE,764,739.35038549,714.35038549,671,669,631,878,782,798,650,626,649,0.400956377416,0.0044632014498,0.0798362101997,0.999999958762,4.86148897942e-05,-0.000280389347481,3.86657381357e-05,1793189609293615616 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+27,0.450000000,BASELINE,764,739.270909187,714,670.541818373,668.270909187,631,878,782,797.729090813,650,626.270909187,649,0.400954333098,0.00446445903122,0.0798327860556,0.999999957221,4.72867557446e-05,-0.000286163817612,3.78438361051e-05,1793189615586013440 +28,0.466666667,BASELINE,764,739,714,670.306557952,668.306557952,631,878,782,797.693442048,650,626,649,0.400953564744,0.00446510010355,0.0798324279214,0.999999957023,4.75696888297e-05,-0.000286822097548,3.77328297724e-05,1793189615602680064 +29,0.483333333,BASELINE,764,739,714,670.88113521,668.88113521,631,878,782,797.11886479,650,626,649,0.400955157352,0.00446606867191,0.0798335477206,0.999999957465,4.96778607514e-05,-0.000284908513968,3.78091372636e-05,1793189615619346944 +30,0.500000000,BASELINE,763.545842027,739,714,671,669,631.454157973,878,782,797,649.545842027,626,649,0.400954705212,0.00446381189218,0.0798330193606,0.999999957303,4.80830884622e-05,-0.000285676668935,3.83460188559e-05,1793189615636013312 +31,0.516666667,BASELINE,763,739,714,671,669,631.972165282,878,782,797,649.027834718,626,649,0.400953787701,0.0044609788809,0.0798321331613,0.999999957004,4.57114561809e-05,-0.000287028394455,3.89390625318e-05,1793189615652680192 +32,0.533333333,BASELINE,763,739,714,671,669,631.376890474,878,782,797,649.623109526,626,649,0.400954255787,0.00446354909563,0.0798327158754,0.999999957253,4.71925749881e-05,-0.000286017070716,3.82279945328e-05,1793189615669347072 +33,0.550000000,BASELINE,763,739.212281234,714,671,669,631,878.212281234,781.787718766,797.212281234,650,626,649,0.400955190178,0.00446469665734,0.0798334853304,0.999999957664,4.7899900267e-05,-0.000284511316795,3.78386522701e-05,1793189615686013696 +34,0.566666667,BASELINE,763,739.790920074,714,671,669,631,878.790920074,781.209079926,797.790920074,650,626,649,0.400956929324,0.00446338898645,0.0798345770653,0.999999958356,4.72718028569e-05,-0.000282152269193,3.80045483749e-05,1793189615702680320 +35,0.583333333,BASELINE,763.365377412,739.634622588,714,671,669,631.365377412,878.634622588,781.365377412,798,650,626,649,0.400957558347,0.00446288930553,0.0798349885289,0.999999958595,4.71075799029e-05,-0.00028132603246,3.80326904252e-05,1793189615719346944 +36,0.600000000,BASELINE,763.937469098,739.062530902,714,671,669,631.937469098,878.062530902,781.937469098,798,650,626,649,0.400957559312,0.00446284674926,0.0798350151255,0.999999958581,4.72057964061e-05,-0.000281366991656,3.79828973797e-05,1793189615736013568 +37,0.616666667,BASELINE,763.473590768,739.526409232,714,670.473590768,669,631.473590768,878,782,798,650,626,649,0.400956715312,0.00446414369648,0.0798346158522,0.999999958205,4.82642860879e-05,-0.000282542218346,3.7808338772e-05,1793189615752680192 +38,0.633333333,BASELINE,763,739.884983568,714,670.115016432,668.884983568,631.115016432,878,782,798.115016432,650,626,648.884983568,0.400955966253,0.00446536316992,0.0798341494311,0.99999995784,4.91965694652e-05,-0.000283697864668,3.76304473128e-05,1793189615769346560 +39,0.650000000,BASELINE,763,739.306058373,714,670.693941627,668.306058373,631.693941627,878,782,798.693941627,650,626,648.306058373,0.40095601836,0.00446560715749,0.0798336229638,0.999999957701,4.91445128553e-05,-0.000284213116991,3.75008671737e-05,1793189615786013184 +40,0.666666667,BASELINE,763.270944599,739,714,670.729055401,668.270944599,631.729055401,878,782,798.458110801,649.729055401,626,648.270944599,0.400955904463,0.00446476580519,0.0798336809379,0.999999957787,4.74052117018e-05,-0.00028421146046,3.74639281324e-05,1793189615802680064 +41,0.683333333,BASELINE,763.845791496,739,714,670.154208504,668.845791496,631.154208504,878,782,797.308417007,649.154208504,626,648.845791496,0.400955604369,0.00446270709228,0.079834394445,0.999999958115,4.37734295971e-05,-0.000283630018254,3.75308990589e-05,1793189615819347200 +42,0.700000000,BASELINE,764,739,714,670.429883285,669,631,878,782,797.429883285,649.429883285,626,648.570116715,0.40095648866,0.00446273462846,0.0798352824842,0.999999958413,4.41326607823e-05,-0.000282496827523,3.77148719067e-05,1793189615836014080 +43,0.716666667,BASELINE,764,739,714,670.982894349,669,631,878,782,798,650,626,648.017105651,0.400957725283,0.00446353008513,0.0798361591089,0.999999958673,4.59655096254e-05,-0.000281251395358,3.79290502318e-05,1793189615852680448 +44,0.733333333,BASELINE,764,739,714,670.404163942,669,631,878,782,798,650,626,648.595836058,0.400956273829,0.00446442697344,0.079834560179,0.999999958096,4.81427340903e-05,-0.000282961982856,3.7726643635e-05,1793189615869346816 +45,0.750000000,BASELINE,764,739,714,670.174298599,669,631,878,782,797.825701401,649.825701401,626,649,0.400955246188,0.00446485254918,0.079833621411,0.999999957697,4.93731411628e-05,-0.000284169165394,3.76311526179e-05,1793189615886013440 +46,0.766666667,BASELINE,764,739,714,670.752140888,669,631,878,782,797.247859112,649.247859112,626,649,0.400955199781,0.00446418692142,0.079834211079,0.999999957726,4.84114351738e-05,-0.000284210842667,3.77831972244e-05,1793189615902680064 +47,0.783333333,BASELINE,764,739.327979747,714,671,669,631.327979747,878,782,797.655959494,649.327979747,626,649,0.400954787521,0.00446344397995,0.0798342674182,0.999999957703,4.64831943938e-05,-0.000284619740999,3.77366916503e-05,1793189615919346688 +48,0.800000000,BASELINE,764,739.902313837,714,671,669,631.902313837,878,782,798.804627674,649.902313837,626,649,0.400954100461,0.00446264296603,0.0798339231601,0.999999957636,4.38289634317e-05,-0.000285304468872,3.75410497517e-05,1793189615936013312 +49,0.816666667,BASELINE,764,739.51078026,714,671,669,631.51078026,878,782,798.02156052,650,626,649,0.400953645173,0.00446411781474,0.0798334324826,0.999999957426,4.57241666733e-05,-0.000285723800033,3.76644001824e-05,1793189615952680192 +50,0.833333333,BASELINE,764,739.077390123,714,671,669,631,878,782,797,650,626,649,0.400953571464,0.00446567329377,0.0798331575368,0.999999957317,4.8099731135e-05,-0.000285694769526,3.78386944486e-05,1793189615969347072 +51,0.850000000,BASELINE,764,739.65704558,714,671,669,631,878,782,797,650,626,649,0.400955665931,0.00446472495215,0.0798344774521,0.999999958076,4.75416779546e-05,-0.000283108855182,3.79193261114e-05,1793189615986013696 +52,0.866666667,BASELINE,764,739.764461536,714,670.764461536,669,631,878,782,797,650,626,649,0.400957416022,0.00446393374783,0.0798355863871,0.999999958598,4.75551379357e-05,-0.00028124749653,3.79859922776e-05,1793189616002680320 +53,0.883333333,BASELINE,764,739.187653132,714,670.187653132,669,631,878,782,797,650,626,649,0.40095866715,0.00446337021864,0.0798363896345,0.999999958783,4.83966591484e-05,-0.000280435941427,3.80324239343e-05,1793189616019346688 +54,0.900000000,BASELINE,763.613306568,739.386693432,714,670.386693432,669,631,877.613306568,782,797,649.613306568,626,649,0.400958756934,0.00446218266952,0.07983678557,0.999999958964,4.57583439669e-05,-0.000280226763782,3.81054125875e-05,1793189616036013568 +55,0.916666667,BASELINE,763.040147135,739.959852865,714,670.959852865,669,631,877.040147135,782,797,649.040147135,626,649,0.400958286711,0.0044606942141,0.0798369850971,0.999999959126,4.14420298081e-05,-0.000280308056348,3.8191207189e-05,1793189616052680192 +56,0.933333333,BASELINE,763,739.450203904,714,671,668.450203904,631,877,782,797,649,626,649,0.400957185179,0.00446261894297,0.0798353140455,0.999999958614,4.52661644508e-05,-0.000281578898839,3.78900020017e-05,1793189616069346816 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0000000000000000000000000000000000000000..60883386846c76e5129a2d4287a9ec717e334cc9 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_01/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12f8f4f0bf9cf3046aa1293e23c6eff0e35376c5b74fa3c361b2a2740fff9a71 +size 26155587 diff --git a/Obstacle_avoidance/ball_0050_10/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_01/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..630488502e4edc6db15cb72a0e5aecd5683ef271 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_01/depth_01/franka_data.csv @@ -0,0 +1,413 @@ +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/ball_0050_10/position_01/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e1c09ca9df777d1c385ddafd13e2d1908e8820b08d782be4f80bd2af0b59b44 +size 26149242 diff --git a/Obstacle_avoidance/ball_0050_10/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_01/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..90ef6908ab67fa5a549663b579ae917d41f3a769 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_01/depth_02/franka_data.csv @@ -0,0 +1,413 @@ +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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@@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3f0349a5cc98621d618b72b3a5ef4e3a92f21d8444a50cc76e732ae14cf1879 +size 26469738 diff --git a/Obstacle_avoidance/ball_0050_10/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_01/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ce722ec37d6265c6deb1a5cece23e419ab42d2fe --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_01/depth_04/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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@@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1d09424db0202e62a884d88ac04d2774f4ac7a2cce54a14f82a1db4e217ffbe +size 26543202 diff --git a/Obstacle_avoidance/ball_0050_10/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_01/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..c42054342e6b1292dcd19335164efd6d2b78d332 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_01/depth_05/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..b4fd1d217809ebcb896dca01a3acaf1eae38e06e --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_02/depth_01/franka_data.csv @@ -0,0 +1,414 @@ +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,768,747,724,696,671,641,895,792,821,656,633,655,0.400934767419,-0.00542720440256,0.049931436946,0.999999974088,6.90784529227e-05,-0.000214504812457,-3.22318745427e-05,1793252614651289600 +1,0.016666667,BASELINE,768.575840787,747.575840787,724.575840787,696,671,641,895,792,821,656,633,655,0.400934395259,-0.00542581605611,0.0499300913942,0.999999973798,6.98614888834e-05,-0.000215541056877,-3.2642188442e-05,1793252614667955968 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+38,0.633333333,BASELINE,768,747.044215373,724.955784627,696,672,641,894.044215373,792,820.044215373,656,634,655,0.400936514821,-0.00542837903661,0.0499297217498,0.999999974498,6.80797216681e-05,-0.000212972776871,-3.18132719114e-05,1793252615284621824 +39,0.650000000,BASELINE,768,747.619599243,724.380400757,696,672,641,894.619599243,792,820.619599243,656,634,655,0.400935635934,-0.00542770542557,0.0499290430713,0.999999974293,6.770595795e-05,-0.000214014756904,-3.2043661314e-05,1793252615301288192 +40,0.666666667,BASELINE,768,747.799951354,724,695.799951354,671.799951354,641,894.799951354,792,821,656,633.799951354,655,0.400935065921,-0.00542750534419,0.0499287586951,0.999999974172,6.7624644069e-05,-0.000214595187237,-3.21079717351e-05,1793252615317954816 +41,0.683333333,BASELINE,768,747.209619426,724,695.209619426,671.209619426,641,894.209619426,792,821,656,633.209619426,655,0.400935098503,-0.0054282290917,0.0499292435801,0.999999974216,6.81138828479e-05,-0.000214275160869,-3.18482717007e-05,1793252615334621440 +42,0.700000000,BASELINE,768.372924084,747,724,695.372924084,671,641,894.372924084,792,821,656,633,655,0.400936365639,-0.00542808341041,0.0499300352911,0.999999974554,6.77071595317e-05,-0.000212803068822,-3.19745691369e-05,1793252615351288064 +43,0.716666667,BASELINE,768.95117929,747,724,695.95117929,671,641,894.95117929,792,821,656,633,655,0.400938312517,-0.00542745902365,0.0499309959398,0.99999997505,6.68071215806e-05,-0.000210696652136,-3.23133958795e-05,1793252615367954688 +44,0.733333333,BASELINE,768.474383988,747,724,696,671,641.525616012,895,792,821,656.525616012,633.525616012,654.474383988,0.400937493006,-0.00542697772597,0.0499306130239,0.999999974654,7.00186268336e-05,-0.000211561564795,-3.21057046077e-05,1793252615384621824 +45,0.750000000,BASELINE,768.102294088,747,724,696,671.102294088,641.897705912,894.897705912,792,821,656.897705912,634,654.102294088,0.400936616004,-0.00542673685395,0.0499300928925,0.999999974276,7.2371100919e-05,-0.000212588849933,-3.18811690815e-05,1793252615401288448 +46,0.766666667,BASELINE,768.691311914,747,724,696,671.691311914,641.308688086,894.308688086,792,821,656.308688086,634,654.691311914,0.400936679233,-0.00542757716597,0.0499295093766,0.999999974422,6.88322649788e-05,-0.000213085025495,-3.18162757687e-05,1793252615417955072 +47,0.783333333,BASELINE,768.724336201,747,724,695.724336201,672,641,894.275663799,792,821,656,634,655,0.400936584034,-0.00542772235024,0.0499290285981,0.999999974428,6.74405509185e-05,-0.00021348978713,-3.19135771275e-05,1793252615434621440 +48,0.800000000,BASELINE,768.145122194,747,724,695.145122194,672,641,894.854877806,792,821,656,634,655,0.400936314379,-0.00542710208709,0.04992866095,0.999999974288,6.84131631552e-05,-0.000213793887386,-3.21894809149e-05,1793252615451288064 +49,0.816666667,BASELINE,767.566963185,747.433036815,724,695,671.566963185,641,894.566963185,792.433036815,821,656,634,655,0.400936634085,-0.00542663467045,0.049929099399,0.999999974379,6.89080461695e-05,-0.000213200964623,-3.22194054587e-05,1793252615467954944 +50,0.833333333,BASELINE,767.0103754,748,724.0103754,695.0103754,671.0103754,641,894.0103754,792.9896246,821,656,633.9896246,655,0.400937141752,-0.00542621726712,0.049929790212,0.999999974542,6.92579439246e-05,-0.000212331023333,-3.21715760094e-05,1793252615484621568 +51,0.850000000,BASELINE,767.563259449,748,724.563259449,695.563259449,671.563259449,641,894.563259449,792.436740551,821,656,633.436740551,655,0.400937175252,-0.00542574312249,0.0499295856377,0.999999974389,7.03778069122e-05,-0.000212656759811,-3.23579898129e-05,1793252615501288192 +52,0.866666667,BASELINE,768,747.871115329,725,696,671.871115329,641,895,791.871115329,821,656,633.128884671,655,0.400937250906,-0.00542583820234,0.0499294706876,0.999999974364,7.05113483467e-05,-0.000212715300287,-3.24257438471e-05,1793252615517954816 +53,0.883333333,BASELINE,768,747.257578839,725,696,671.257578839,641,895,791.257578839,821,656,633.742421161,655,0.400937485077,-0.00542807376702,0.049929692756,0.999999974823,6.69359728027e-05,-0.000211769089535,-3.20472952868e-05,1793252615534621696 +54,0.900000000,BASELINE,768,747,725,695.663772826,671,641,895,791.336227174,821,656,634,655,0.400937368763,-0.00542847521625,0.0499295619076,0.99999997484,6.59353735696e-05,-0.000212021319739,-3.19278533391e-05,1793252615551288320 +55,0.916666667,BASELINE,768,747,725,695.084244248,671,641,895,791.915755752,821,656,634,655,0.400936998832,-0.00542754945897,0.0499291756809,0.999999974543,6.67979394497e-05,-0.000213140768309,-3.19958343085e-05,1793252615567955200 +56,0.933333333,BASELINE,768,747.492540241,724.507459759,695,671,641,895,792,821,656.492540241,633.507459759,655,0.400937893866,-0.00542657203633,0.0499297767266,0.999999974655,6.86562069434e-05,-0.000211997167394,-3.21512922084e-05,1793252615584621824 +57,0.950000000,BASELINE,768,747.930032493,724,695,671,641,894.930032493,792,820.930032493,656.930032493,633.069967507,654.930032493,0.40093893643,-0.00542581450786,0.0499305345227,0.999999974844,7.03154146384e-05,-0.00021053928434,-3.22721999677e-05,1793252615601288448 +58,0.966666667,BASELINE,768,747.344428698,724,695,671,641,894.344428698,792,820.344428698,656.344428698,633.655571302,654.344428698,0.400939480581,-0.00542674228757,0.0499312099453,0.999999975122,6.92594833878e-05,-0.000209602039027,-3.2028830616e-05,1793252615617955072 +59,0.983333333,BASELINE,768.238481879,747,724.238481879,695.238481879,671,641,894.238481879,792,820.238481879,656,633.761518121,654.238481879,0.400939013066,-0.00542718721467,0.049931174154,0.99999997503,6.93821338127e-05,-0.000210029010565,-3.18558987044e-05,1793252615634621696 +60,1.000000000,BASELINE,768.817546283,747,724.817546283,695.817546283,671,641,894.817546283,792,820.817546283,656,633.182453717,654.817546283,0.400937100763,-0.00542694256681,0.0499301226586,0.999999974403,7.11879489579e-05,-0.000212404257532,-3.17835604008e-05,1793252615651288320 +61,1.016666667,BASELINE,768.603652841,747.396347159,724.603652841,695.603652841,671.396347159,641,895,792,821,656,633.396347159,655,0.400937187355,-0.00542636267256,0.0499300124481,0.99999997434,7.16625016263e-05,-0.00021250830841,-3.2012219144e-05,1793252615667954944 +62,1.033333333,BASELINE,768.024973232,747.975026768,724.024973232,695.024973232,671.975026768,641,895,792,821,656,633.975026768,655,0.400938193503,-0.00542562855418,0.049930335259,0.999999974537,7.15246305982e-05,-0.000211567535842,-3.2379346221e-05,1793252615684621568 +63,1.050000000,BASELINE,768,748,724,695,671.449151798,641,895,792,821,656,634,655,0.400937687008,-0.00542636379001,0.0499298362291,0.999999974661,7.04280804248e-05,-0.000211384170908,-3.21605431128e-05,1793252615701288448 +64,1.066666667,BASELINE,768,747.870958601,724.129041399,695,671,641.129041399,895,792,821,656,634,655,0.400937016754,-0.00542670624006,0.049929128917,0.999999974644,6.98565552861e-05,-0.000211678716518,-3.20129022537e-05,1793252615717955072 +65,1.083333333,BASELINE,768,747.283889388,724.716110612,695,671,641.716110612,895,792,821,656,634,655,0.400936007399,-0.00542541928544,0.0499278138812,0.999999974138,7.13020604716e-05,-0.000213548336801,-3.2211649481e-05,1793252615734621696 +66,1.100000000,BASELINE,768,747.299130054,725,695,671.299130054,641.700869946,894.700869946,792,821,656,633.700869946,655,0.400935609408,-0.00542530212752,0.0499276731223,0.999999973933,7.16092503416e-05,-0.000214415106935,-3.21167180167e-05,1793252615751288320 +67,1.116666667,BASELINE,768,747.878357367,725,695,671.878357367,641.121642633,894.121642633,792,821,656,633.121642633,655,0.400935783884,-0.00542628033552,0.0499286319244,0.999999974015,7.08505525833e-05,-0.000214342835321,-3.17467937904e-05,1793252615767954944 +68,1.133333333,BASELINE,768,747.544086491,725,695,671.544086491,641,894.455913509,792,820.544086491,656.455913509,633,655,0.400935132507,-0.00542707242285,0.0499282603418,0.999999974047,7.05509451808e-05,-0.000214277127502,-3.18260558327e-05,1793252615784621568 +69,1.150000000,BASELINE,768,747,724.967046415,695.032953585,671,641,895,792,820.032953585,656.967046415,633.032953585,655,0.400934419012,-0.00542775936926,0.0499276426303,0.999999974081,7.04053889416e-05,-0.000214142042107,-3.2019074959e-05,1793252615801288192 +70,1.166666667,BASELINE,768,747,724.391190089,695.608809911,671,641,895,792,820.608809911,656.391190089,633.608809911,655,0.400936299043,-0.00542752927467,0.049928796546,0.999999974329,7.07871617588e-05,-0.000212835230422,-3.21189628403e-05,1793252615817954560 +71,1.183333333,BASELINE,768,747,724,695.816762074,671,641,894.816762074,791.816762074,820.816762074,656.183237926,634,655,0.400937050553,-0.00542738860863,0.0499294790388,0.999999974437,7.08312233801e-05,-0.000212313395528,-3.21191646093e-05,1793252615834621440 +72,1.200000000,BASELINE,768,747,724,695.245359632,671,641,894.245359632,791.245359632,820.245359632,656.754640368,634,655,0.400935411447,-0.00542743738472,0.0499291628865,0.999999974248,7.01598900342e-05,-0.0002134544265,-3.19081949847e-05,1793252615851288064 +73,1.216666667,BASELINE,768,747.340668463,724,695.340668463,671.340668463,641,894.340668463,791.340668463,820.340668463,656.659331537,634,655,0.400935937079,-0.0054271973745,0.0499294851357,0.999999974424,6.88245896459e-05,-0.000213065148918,-3.19268611079e-05,1793252615867954688 +74,1.233333333,BASELINE,768,747.937702883,724,695.937702883,671.937702883,641,894.937702883,791.937702883,820.937702883,656.062297117,634,655,0.40093809176,-0.00542674004161,0.0499302878064,0.999999974869,6.69896288796e-05,-0.000211524255954,-3.21183368654e-05,1793252615884621312 +75,1.250000000,BASELINE,768,747.483520277,724,695.483520277,671.483520277,641,895,792,820.483520277,656,634,655,0.40093772616,-0.0054272538199,0.0499298829804,0.999999974703,6.75806468246e-05,-0.000212134152165,-3.20445083863e-05,1793252615901287936 +76,1.266666667,BASELINE,768,747.092776773,724,695,671,641,895,792,820,656,633.907223227,655,0.40093704808,-0.00542767918393,0.0499293706266,0.99999997444,6.87932942058e-05,-0.000212992672579,-3.19498318315e-05,1793252615917954560 +77,1.283333333,BASELINE,768,747.667242235,724,695,671,641,895,792,820,656,633.332757765,655,0.400936272051,-0.0054270581229,0.0499290303649,0.999999974052,7.17660090982e-05,-0.000213841101849,-3.19073857822e-05,1793252615934621440 +78,1.300000000,BASELINE,768,748,724,695,671,641,895,792,820.248285248,656,633.248285248,655,0.400935604126,-0.00542701537297,0.0499287636357,0.999999973958,7.24754101211e-05,-0.000214038538495,-3.19249476411e-05,1793252615951288064 +79,1.316666667,BASELINE,768,748,724,695,671,641,895,792,820.838383494,656,633.838383494,655,0.400935085029,-0.00542776878094,0.0499285981382,0.999999974275,7.0068918578e-05,-0.000213339756946,-3.20251220758e-05,1793252615967954432 +80,1.333333333,BASELINE,768,747.579869034,724.420130966,695,671,641,895,792,821,656,634,655,0.40093527788,-0.00542753250127,0.0499286534329,0.99999997431,7.03719057475e-05,-0.000213083104974,-3.19912058227e-05,1793252615984621568 +81,1.350000000,BASELINE,768,747.001271295,724.998728705,695,671,641,895,792,821,656,634,655,0.400935739268,-0.00542692292708,0.049928792007,0.999999974238,7.16968653544e-05,-0.000212993217247,-3.19067126851e-05,1793252616001288704 +82,1.366666667,BASELINE,768,747.57541012,725,695,671,641,895,792,821,656.57541012,633.42458988,655,0.400935666244,-0.00542750729552,0.0499287649505,0.999999974238,7.0083158679e-05,-0.000213537365434,-3.18324594229e-05,1793252616017955072 +83,1.383333333,BASELINE,768,747.845462541,725,695,671,641,895,792,821,656.845462541,633.154537459,655,0.400935627089,-0.00542770742982,0.049928750483,0.999999974239,6.92699294479e-05,-0.0002138040132,-3.18119854235e-05,1793252616034621440 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sha256:4add8d9aeccec0200d01e041f9dac9787e572a13325d92a23a16e01f9fad49d0 +size 26284404 diff --git a/Obstacle_avoidance/ball_0050_10/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_02/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..623314936a7dc24c93a9caa73389b508d03f65b4 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_02/depth_02/franka_data.csv @@ -0,0 +1,415 @@ +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,769,747,724,695,672,641,895,792,821,656,634,655,0.400990106036,-0.00541429855685,0.0498522177781,0.999999962976,8.2699691463e-05,-0.000255578649684,-4.34476338648e-05,1793252621691587328 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+54,0.900000000,BASELINE,768.566763449,747,724,695.433236551,672,641,895,792,821,656,634,654.433236551,0.400988157325,-0.00541619942614,0.0498524856286,0.999999963328,8.24308908988e-05,-0.000254413500692,-4.26922383753e-05,1793252622591588352 +55,0.916666667,BASELINE,768,747,724,695.977972169,671.977972169,641,895,792.022027831,821,656,633.977972169,655,0.400989535674,-0.00541634679819,0.0498541360547,0.999999963798,8.36960305994e-05,-0.000252166358089,-4.25463551151e-05,1793252622608254208 +56,0.933333333,BASELINE,768,747,724,695.397879024,671.397879024,641,895,792.602120976,821,656,633.397879024,655,0.400990832239,-0.00541609216458,0.0498550390851,0.999999964052,8.4455833729e-05,-0.000250896040295,-4.25933014183e-05,1793252622624921088 +57,0.950000000,BASELINE,768,747,724,695,671.180661415,641.180661415,895,792.819338585,821,656,633.180661415,655,0.400991204739,-0.00541625864475,0.0498553686176,0.999999964214,8.43519202727e-05,-0.000250285133184,-4.25952538483e-05,1793252622641587968 +58,0.966666667,BASELINE,768,747,724,695,671.755811323,641.755811323,895,792.244188677,821,656,633.755811323,655,0.400989559468,-0.0054173446602,0.0498544458716,0.999999964176,8.23620132213e-05,-0.000251114101637,-4.24989585909e-05,1793252622658254592 +59,0.983333333,BASELINE,768,747,724,695,671.661938902,641.661938902,895,792,821,656,634,655,0.400988680363,-0.00541666728335,0.0498537136178,0.999999963785,8.33303717107e-05,-0.000252332752922,-4.2582125525e-05,1793252622674921472 +60,1.000000000,BASELINE,768,747,724,695,671.074450667,641.074450667,895,792,821,656,634,655,0.400988366547,-0.00541468884626,0.0498531219122,0.999999963128,8.64813878309e-05,-0.000253838918806,-4.27977026577e-05,1793252622691588352 +61,1.016666667,BASELINE,768,747,724,695.505702718,671.505702718,641,895,792,820.494297282,656,633.494297282,655,0.400988363314,-0.00541546869528,0.049853654177,0.999999963158,8.48872116798e-05,-0.000254264800593,-4.27464537124e-05,1793252622708255488 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+66,1.100000000,BASELINE,768.3967476,747,724,695,671,641,895,792.6032524,821,656,633,655,0.400990396277,-0.00541577650852,0.0498544251949,0.999999963782,8.58689529953e-05,-0.000251465432171,-4.2760583657e-05,1793252622791587840 +67,1.116666667,BASELINE,768.986806069,747,724,695,671,641,895,792.013193931,821,656,633,655,0.400990220712,-0.00541555650912,0.0498550734926,0.99999996404,8.6092053093e-05,-0.000250341240162,-4.28654769659e-05,1793252622808254208 +68,1.133333333,BASELINE,768.433645615,747.566354385,724.566354385,695.566354385,671.566354385,641,894.433645615,792,821,656,633.566354385,655,0.400989071233,-0.00541458481785,0.0498540135792,0.999999963205,8.88997677208e-05,-0.000252708805101,-4.27103341414e-05,1793252622824921344 +69,1.150000000,BASELINE,768,748,724.855150334,696,672,641,894.144849666,792.144849666,821,656,634,655,0.400988501827,-0.00541400575767,0.0498532945979,0.999999962739,9.03501093174e-05,-0.00025404534081,-4.26552353676e-05,1793252622841588224 +70,1.166666667,BASELINE,768,748,724.279074465,696,672,641,894.720925535,792.720925535,821,656,634,655,0.400989725649,-0.00541464676741,0.0498537069057,0.999999963473,8.75834805957e-05,-0.000252074683487,-4.2915679857e-05,1793252622858254592 +71,1.183333333,BASELINE,768.294000341,748,724,696,672,641,895,793,821,656,634,655.294000341,0.400990170865,-0.00541601929553,0.0498541510873,0.999999963908,8.54372842654e-05,-0.000251111190221,-4.27524947406e-05,1793252622874920960 +72,1.200000000,BASELINE,768.864255293,748,724,696,672,641,895,793,821,656,634,655.864255293,0.40098988447,-0.00541807918799,0.0498546252189,0.999999964068,8.38740709824e-05,-0.00025109406881,-4.21912501427e-05,1793252622891587584 +73,1.216666667,BASELINE,769,748,724,695.546233858,671.546233858,641,895,792.546233858,821,656,634,655.546233858,0.400989197299,-0.00541716967991,0.0498536759942,0.999999963838,8.3502186624e-05,-0.000252110008239,-4.23329346314e-05,1793252622908254208 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+78,1.300000000,BASELINE,768,748,724,695.646167144,671.353832856,641,895,792,821,656,634,655,0.400989968109,-0.00541710614715,0.0498539044616,0.999999963792,8.25619688632e-05,-0.000252594712348,-4.23782529152e-05,1793252622991587328 +79,1.316666667,BASELINE,768,748,724,695.069498768,671.930501232,641,895,792,821,656,634,655,0.400989769638,-0.00541644698725,0.0498539372002,0.999999963683,8.38298136058e-05,-0.000252588735537,-4.25002722847e-05,1793252623008254208 +80,1.333333333,BASELINE,768.518830164,748,724,695.518830164,672,641,895,792,821,656,634,655,0.400989549162,-0.00541553459361,0.0498534984699,0.999999963427,8.57797252205e-05,-0.000252878775349,-4.28891891579e-05,1793252623024920832 +81,1.350000000,BASELINE,768.893127333,748,724,695.893127333,672,641,895,792.106872667,821,656,633.893127333,655,0.400989037387,-0.00541467848413,0.0498530020961,0.999999963139,8.73197607149e-05,-0.00025342907086,-4.32529233604e-05,1793252623041587456 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+85,1.416666667,BASELINE,768.579193116,747.420806884,724.579193116,696,671.420806884,641,895,792.420806884,821,656,634,655,0.400988641004,-0.00541505091233,0.0498535391223,0.999999963457,8.46516160721e-05,-0.000253114074212,-4.30415099532e-05,1793252623108253952 +86,1.433333333,BASELINE,768.009023381,748,724,696,672,641,895,793,821,656,633.990976619,655,0.400990833703,-0.00541605169106,0.0498554707877,0.999999964017,8.54764018223e-05,-0.000250712638708,-4.24646517997e-05,1793252623124920832 +87,1.450000000,BASELINE,768.587948495,748,724,696,672,641,895,793,821,656,633.412051505,655,0.400989911419,-0.00541538202601,0.0498547925803,0.999999963689,8.63373616077e-05,-0.000251694726569,-4.26387643645e-05,1793252623141587456 +88,1.466666667,BASELINE,769,747.83349886,724,695.83349886,672,641,895,792.83349886,821,656,633.16650114,654.83349886,0.40098937455,-0.00541494304274,0.0498542859868,0.999999963514,8.6307712298e-05,-0.000252365917501,-4.2826411898e-05,1793252623158254336 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a/Obstacle_avoidance/ball_0050_10/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_02/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..f6156e2904011a31b454797c590c7b1f3cde8f0c --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_02/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:606494b0c667dc39e44678953650f53e3277a0a2b69da3ea02860096c937c86b +size 26346030 diff --git a/Obstacle_avoidance/ball_0050_10/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_02/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5f967e651f44cd103e822f8cf748cd6a43e24530 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_02/depth_03/franka_data.csv @@ -0,0 +1,416 @@ 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+49,0.816666667,BASELINE,769,747,724,696,672,641,895,792.562403506,820.437596494,656.562403506,633.437596494,655,0.400993892701,-0.00541414357267,0.0498568987832,0.999999963739,9.76118512679e-05,-0.000247754120961,-4.01480111269e-05,1793252629600109056 +50,0.833333333,BASELINE,768.985363004,747.014636996,724,695.985363004,671.985363004,641,895,792,821,656,634,655,0.400993456705,-0.00541278871997,0.0498564897425,0.999999963547,9.76084430129e-05,-0.000248483776282,-4.0436097701e-05,1793252629616775424 +51,0.850000000,BASELINE,768.434661086,747.565338914,724,695.434661086,671.434661086,641,895,792,821,656,634,655,0.400992914808,-0.00541515650673,0.0498553106981,0.999999963533,9.61691102201e-05,-0.000249109716213,-4.03646729381e-05,1793252629633442304 +52,0.866666667,BASELINE,768,748,724,695.129879562,671.259759125,641,895,792,821,656,633.870120438,655,0.400992470889,-0.00541677627934,0.0498545333743,0.999999963527,9.50932529641e-05,-0.000249552271433,-4.03253217926e-05,1793252629650108928 +53,0.883333333,BASELINE,768,748,724,695.746256729,672.492513458,641,895,792,821,656,633.253743271,655,0.400992393972,-0.00541559417064,0.0498552607991,0.999999963558,9.53788877395e-05,-0.000249307911593,-4.04061107085e-05,1793252629666775808 +54,0.900000000,BASELINE,768,747.659238329,724,696,672.659238329,641,895,792.340761671,821,656,633.340761671,655,0.400992161087,-0.00541455890576,0.0498554035266,0.999999963417,9.75134784222e-05,-0.000249044560205,-4.04253715749e-05,1793252629683442432 +55,0.916666667,BASELINE,768,747.080037909,724,696,672.080037909,641,895,792.919962091,821,656,633.919962091,655,0.400991819068,-0.00541362639092,0.049855137128,0.999999963146,0.000100941825902,-0.000248767920001,-4.04015798517e-05,1793252629700109056 +56,0.933333333,BASELINE,768,747.496548596,724,695.503451404,672,640.503451404,895,792.503451404,821,656,633.503451404,655,0.400993036896,-0.00541364908205,0.0498561625873,0.999999963622,9.89007907959e-05,-0.000247682867755,-4.03475828689e-05,1793252629716775936 +57,0.950000000,BASELINE,768.073956118,748,724,695,671.926043882,640.073956118,895,792,821,656,633.073956118,655,0.400994204871,-0.00541387401771,0.0498571125425,0.999999964106,9.63773716494e-05,-0.000246731890255,-4.02922233121e-05,1793252629733442560 +58,0.966666667,BASELINE,768.65994953,748,724,695,671.34005047,640.65994953,895,792,821,656,633.65994953,655,0.400993296024,-0.00541443877806,0.0498561055877,0.999999963871,9.65859837042e-05,-0.000247606641494,-4.02609623041e-05,1793252629750108928 +59,0.983333333,BASELINE,769,747.755470968,724,695.244529032,671.244529032,641,895,792,821,656,633.755470968,655,0.400993138819,-0.00541473156063,0.0498557989267,0.999999963813,9.69860031183e-05,-0.000247682052261,-4.02547079455e-05,1793252629766775552 +60,1.000000000,BASELINE,769,747.17284631,724,695.82715369,671.82715369,641,895,792,821,656,633.17284631,655,0.400994020868,-0.00541464829591,0.0498564605198,0.999999964002,9.7650670037e-05,-0.000246652263022,-4.02830287764e-05,1793252629783442176 +61,1.016666667,BASELINE,768.594432279,747,724,696,671.594432279,641,895,792.405567721,821,656,633.405567721,655,0.400994545895,-0.00541462520678,0.0498567771738,0.999999963975,9.82338216218e-05,-0.000246519511593,-4.03624665191e-05,1793252629800109056 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+73,1.216666667,BASELINE,769,747.632738785,724.632738785,695.632738785,672,641,895,792.367261215,821,656.367261215,634,655,0.400993609774,-0.0054130664432,0.0498564666586,0.999999963715,0.000100109363726,-0.000246808115354,-4.0422347454e-05,1793252630000109056 +74,1.233333333,BASELINE,769,747.05567239,724.05567239,695.05567239,672,641,895,792.94432761,821,656.94432761,634,655,0.400993869423,-0.00541370385502,0.0498562461838,0.99999996384,9.88976874674e-05,-0.000246805656768,-4.03143682222e-05,1793252630016775680 +75,1.250000000,BASELINE,768.481353636,747.518646364,724,695.518646364,672,641,895,792.481353636,821,656.481353636,634,655,0.400993252796,-0.00541455631699,0.0498558602511,0.999999963796,9.71352699147e-05,-0.000247634488349,-4.06241556098e-05,1793252630033442048 +76,1.266666667,BASELINE,768,747.904526475,724,696,672,641,895,792.095473525,821,656,634,655,0.400992675776,-0.00541496702482,0.0498556260781,0.999999963675,9.62590648703e-05,-0.000248420640418,-4.08744418859e-05,1793252630050108928 +77,1.283333333,BASELINE,768,747.313146335,724,696,672,641,895,792.686853665,821,656,634,655,0.400992790475,-0.00541296391268,0.0498562719378,0.999999963265,0.000100291455386,-0.000248524062311,-4.05839695195e-05,1793252630066775552 +78,1.300000000,BASELINE,768.272478815,747.272478815,724,696,671.727521185,641,895,792.727521185,821,656,633.727521185,655,0.40099277321,-0.00541230866828,0.0498562282357,0.999999963167,0.000101217599579,-0.000248557069112,-4.04943210001e-05,1793252630083442432 +79,1.316666667,BASELINE,768.851626805,747.851626805,724,696,671.148373195,641,895,792.148373195,821,656,633.148373195,655,0.400992607424,-0.0054131704208,0.0498554084462,0.99999996343,9.86477286021e-05,-0.0002485108252,-4.06306955164e-05,1793252630100109056 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+87,1.450000000,BASELINE,768,747.515885437,724,695,672,641,895,792,820.484114563,656,633,655,0.400991716629,-0.00541344641169,0.0498549121166,0.999999963177,9.95549180882e-05,-0.000249151049078,-4.07350868259e-05,1793252630233442304 +88,1.466666667,BASELINE,768.058832825,747,724,695,671.941167175,641,895,792,821,656,633,655,0.400992260319,-0.00541446081172,0.0498549629488,0.999999963406,9.83589969164e-05,-0.000248761340048,-4.03871272839e-05,1793252630250109184 +89,1.483333333,BASELINE,768.634749469,747,724,695,671.365250531,641,895,792,821,656,633,655,0.400992986571,-0.00541396846301,0.04985626734,0.999999963888,9.83753350652e-05,-0.000246787160532,-4.05304542724e-05,1793252630266775552 +90,1.500000000,BASELINE,769,747,724,695.215844155,671,641,895,792.215844155,821,656,633.215844155,655,0.400992673549,-0.00541410135207,0.0498562686511,0.999999963838,9.82055502022e-05,-0.000247050759932,-4.0560960172e-05,1793252630283442176 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0000000000000000000000000000000000000000..b98e56140f142ff53321853225628a3babeefe79 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_02/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:433aef0e83093fe1bc6a1176bf0e185d9a4027ed72a4103dd73a6d3968ac40c6 +size 26340375 diff --git a/Obstacle_avoidance/ball_0050_10/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_02/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..17564b2541cdff462d1af60e13ea0e7b666ef234 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_02/depth_04/franka_data.csv @@ -0,0 +1,416 @@ +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..18183494c57c917a873991805b88b251cb771862 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_02/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0e72f3079e7f45b9b1ea2e9dd4e9096b4b099137b400336dd6298888ba174de +size 26466629 diff --git a/Obstacle_avoidance/ball_0050_10/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_02/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5317121b0b60c301c0d6faf72ce0d68f00ea9faa --- /dev/null +++ b/Obstacle_avoidance/ball_0050_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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+30,0.500000000,BASELINE,768.410377901,748,725,698.589622099,671,641,895.589622099,793.589622099,821.589622099,656,634,655,0.400974863861,-0.00536715775198,0.0698276326538,0.999999941641,0.000206955643668,-0.000271371267979,1.56701706099e-05,1793252659069567488 +31,0.516666667,BASELINE,768.987823407,748,725,698.012176593,671,641,895.012176593,793.012176593,821.012176593,656,634,655,0.400975489106,-0.00536689661112,0.0698275950532,0.999999941585,0.000206762329539,-0.000271731128326,1.55551413865e-05,1793252659086234368 +32,0.533333333,BASELINE,768.423487504,748,725,698.576512496,671,641,895,793,821.576512496,656,634,655,0.400975573363,-0.00536693914048,0.0698277956095,0.999999941771,0.000206146479189,-0.000271513837303,1.55363867395e-05,1793252659102901248 +33,0.550000000,BASELINE,768,748,725,699,671.16273453,641.16273453,895.16273453,793,822,656,634,655,0.40097510399,-0.00536697077538,0.0698276261507,0.999999941756,0.000205739395686,-0.000271884547554,1.54589841204e-05,1793252659119567872 +34,0.566666667,BASELINE,768,748,725,699,671.742021575,641.742021575,895.742021575,793,822,656,634,655,0.400973247321,-0.00536695777954,0.0698264964302,0.999999941208,0.000205889992311,-0.000273792191774,1.52261514446e-05,1793252659136234496 +35,0.583333333,BASELINE,768.319866668,748,725,699,672,641.680133332,896,793,821.680133332,656,634,655,0.400972719173,-0.00536652225149,0.0698263704824,0.999999940884,0.000206771796142,-0.000274312136898,1.51428873216e-05,1793252659152901120 +36,0.600000000,BASELINE,768.896554079,748,725,699,672,641.103445921,896,793,821.103445921,656,634,655,0.400973257694,-0.00536574747261,0.0698270504627,0.999999940742,0.000208240685792,-0.000273717899503,1.51797116694e-05,1793252659169567744 +37,0.616666667,BASELINE,768.528600885,747.528600885,725,699,671.528600885,641,895.528600885,793,821.471399115,656,634,655.471399115,0.400973867099,-0.00536654537928,0.0698273658984,0.999999941021,0.000207564891352,-0.000273197846683,1.53981525134e-05,1793252659186234368 +38,0.633333333,BASELINE,768,747.047023908,725,699,671,641.047023908,895,793,822,656,634,655.952976092,0.400974499634,-0.00536759481776,0.0698276643541,0.999999941433,0.000206420256349,-0.000272541800387,1.56451581523e-05,1793252659202900736 +39,0.650000000,BASELINE,768,747.63628443,725,699,671,641.63628443,895,793,822,656,634,655.36371557,0.400975220206,-0.00536758060989,0.0698286858778,0.999999942322,0.000205275230937,-0.000270130613353,1.57637679152e-05,1793252659219567616 +40,0.666666667,BASELINE,768.222051578,748,725,699,671,641.777948422,895,793,822,656,634,655,0.400975123144,-0.00536734608105,0.069828838901,0.999999942523,0.000204867792359,-0.000269697499023,1.57039296246e-05,1793252659236234496 +41,0.683333333,BASELINE,768.802185248,748,725,699,671,641.197814752,895,793,822,656,634,655,0.400973707563,-0.00536675626093,0.0698275913738,0.999999941621,0.000205649792083,-0.00027245424018,1.53563246158e-05,1793252659252901376 +42,0.700000000,BASELINE,768.621333846,748,725,699,671,641,895.378666154,793,822,656,634,655,0.40097420811,-0.005366549595,0.0698277867192,0.999999941497,0.00020678107497,-0.000272053406959,1.53444967299e-05,1793252659269568256 +43,0.716666667,BASELINE,768.046742925,748,725,699,671,641,895.953257075,793,822,656,634,655,0.400975700077,-0.005366541176,0.069828728618,0.999999941773,0.000208093079613,-0.000270018820496,1.55064025084e-05,1793252659286235136 +44,0.733333333,BASELINE,768.539571331,748,725,698.460428669,671,641,895.460428669,793,821.460428669,655.460428669,634,655.539571331,0.400975448516,-0.00536625773609,0.0698283580514,0.999999941689,0.000207740695549,-0.000270608831334,1.54009789786e-05,1793252659302901248 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+49,0.816666667,BASELINE,768.437049111,748,725,698.562950889,671.437049111,641,895,793,822,656,634,655.437049111,0.400974836887,-0.00536775432002,0.0698286331716,0.999999942036,0.000206212022381,-0.000270474485162,1.57572169957e-05,1793252659386234368 +50,0.833333333,BASELINE,768.990072136,748,725,698.009927864,671.990072136,641,895,793,822,656,634,655.990072136,0.400975292255,-0.00536890668245,0.069829151241,0.999999942917,0.000203179491661,-0.000269496352289,1.59827369337e-05,1793252659402900736 +51,0.850000000,BASELINE,768.400494396,748,725,698.599505604,671.400494396,641,895,793,822,656,634,655.400494396,0.400974473629,-0.005366793578,0.0698278815897,0.999999942057,0.000205315733479,-0.000271113185849,1.51185802478e-05,1793252659419567616 +52,0.866666667,BASELINE,768.185762769,748,725,699,671,641,895,793,822,656,634,655.185762769,0.40097478957,-0.00536507338193,0.0698277029793,0.999999941626,0.000207557534034,-0.000271020322803,1.46717032753e-05,1793252659436234240 +53,0.883333333,BASELINE,768.764986645,748,725,699,671,641,895,793,822,656,634,655.764986645,0.40097750862,-0.00536418539885,0.0698298352851,0.999999942105,0.000210022916713,-0.00026730617903,1.51086597433e-05,1793252659452900864 +54,0.900000000,BASELINE,769,748,725,699,671,641,895,793,822,656,634,655.657229884,0.400977236224,-0.00536474830037,0.0698298760364,0.99999994199,0.000210211652111,-0.000267573040204,1.53615884797e-05,1793252659469567488 +55,0.916666667,BASELINE,769,748,725,699,671,641,895,793,822,656,634,655.080429889,0.400974921388,-0.00536630180856,0.0698284887569,0.999999941471,0.00020884598268,-0.000270557974271,1.54888703409e-05,1793252659486234112 +56,0.933333333,BASELINE,768.508182066,748,725,698.508182066,671,641,895,793,822,656,634,655,0.400975560943,-0.00536645457936,0.0698292649845,0.999999941571,0.000209265230031,-0.000269865326264,1.54622888887e-05,1793252659502900736 +57,0.950000000,BASELINE,768,748,725,698.065626276,671,641,895.065626276,793,821.934373724,656,634,655,0.40097625231,-0.00536638033939,0.0698301408403,0.9999999417,0.000209777647811,-0.000268988603841,1.54244685147e-05,1793252659519567360 +58,0.966666667,BASELINE,768,748,725,698.657875871,671,641,895.657875871,793,821.342124129,656,634,655,0.400973517926,-0.00536630577273,0.0698290030227,0.999999941265,0.000208716841647,-0.000271416618864,1.54965246835e-05,1793252659536234240 +59,0.983333333,BASELINE,768.244170282,748,725,699,671,641,895.755829718,793,821.244170282,656,634,655,0.400972132506,-0.00536638499668,0.0698279982621,0.999999941164,0.000207413984182,-0.000272791277677,1.53454299983e-05,1793252659552900864 +60,1.000000000,BASELINE,768.822319215,748,725,699,671,641,895.177680785,793,821.822319215,656,634,655,0.400972592213,-0.00536667457702,0.0698271754981,0.999999941527,0.000205780046282,-0.000272725145255,1.48891072633e-05,1793252659569567744 +61,1.016666667,BASELINE,768.60110108,748,725,699,671,641,895.39889892,793,822,656,634,655,0.40097261279,-0.0053658414238,0.0698270410801,0.999999941364,0.000206482004805,-0.000272790848988,1.49402152818e-05,1793252659586234112 +62,1.033333333,BASELINE,768.025217649,748,725,699,671,641,895.974782351,793,822,656,634,655,0.400972438532,-0.0053645101332,0.0698272120693,0.999999940965,0.000208220360033,-0.000272915046134,1.52164615255e-05,1793252659602900736 +63,1.050000000,BASELINE,768,748,725,699,671,641,895.438432263,793,822,655.438432263,634,655,0.400974213554,-0.00536587479818,0.0698287879437,0.999999941757,0.000207176978903,-0.000270794554401,1.52796882108e-05,1793252659619567360 +64,1.066666667,BASELINE,768,748,725,699,671,641,895,793,821.852657796,655.147342204,634,655,0.400975331768,-0.00536656261885,0.0698297898368,0.999999942197,0.000206697536545,-0.00026953523176,1.52629634835e-05,1793252659636233728 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+69,1.150000000,BASELINE,768.995573369,748,725,699,671,641.995573369,895,793,822,656,634,655,0.400974250024,-0.00536503990876,0.0698276628292,0.999999941732,0.000206444040061,-0.000271456073218,1.51453855262e-05,1793252659719567360 +70,1.166666667,BASELINE,768.388950748,748,725,698.388950748,671,641.388950748,895,793,822,656,634,655,0.400975709321,-0.00536582630379,0.0698289623041,0.999999942159,0.000207034878102,-0.000269412779106,1.53104215781e-05,1793252659736234240 +71,1.183333333,BASELINE,768.21286826,748,725,698.21286826,671,641.21286826,895,793,822,656,634,655,0.400976451046,-0.00536696449237,0.0698297085669,0.999999942669,0.000206170537759,-0.000268174145547,1.54243489624e-05,1793252659752900864 +72,1.200000000,BASELINE,768.790482991,748,725,698.790482991,671,641.790482991,895,793,822,656,634,655,0.40097592801,-0.00536869038108,0.0698294719994,0.999999943311,0.000202788841266,-0.000268359398763,1.54446595279e-05,1793252659769567488 +73,1.216666667,BASELINE,769,748,725,699,671.365595156,641.634404844,895,793,822,656,634,655,0.400974677168,-0.00536870068835,0.0698289755186,0.999999942716,0.000203765290845,-0.000269829788041,1.5468212197e-05,1793252659786233856 +74,1.233333333,BASELINE,769,748,725,699,671.939282854,641.060717146,895,793,822,656,634,655,0.400973012067,-0.00536773450636,0.0698283310983,0.999999941409,0.000207222347059,-0.000272031661916,1.54936102327e-05,1793252659802900480 +75,1.250000000,BASELINE,768.473531122,748,725,698.473531122,671.473531122,641,895,793,822,656,634,655,0.400973779043,-0.00536754793548,0.0698285940417,0.999999941364,0.000207918494062,-0.000271661911774,1.55510798276e-05,1793252659819567104 +76,1.266666667,BASELINE,768.113501173,748,725,698,671,641,895,793,822,656,634,655,0.40097478368,-0.0053674359327,0.0698289233771,0.999999941555,0.000207955081042,-0.000270927058495,1.55690352772e-05,1793252659836233984 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0000000000000000000000000000000000000000..54333de4b8a805ff4b7410b5932d5a8f885790f4 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_03/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf01a96afb5e1be28b9685d1bc94c268fa302db0e87af478cb7ec759055d80f3 +size 26350458 diff --git a/Obstacle_avoidance/ball_0050_10/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_03/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..eed76562e4d4379158b8dd10d8d576765e14922b --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_03/depth_04/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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+16,0.266666667,BASELINE,768,748,724.298266909,699,671,641,894.701733091,792.298266909,821.298266909,655.701733091,633.701733091,655,0.400974998282,-0.00536766970454,0.0698259522568,0.999999939593,0.000210006271846,-0.000276602196249,1.4223634769e-05,1793252680120366080 +17,0.283333333,BASELINE,768,748,724.872162342,699,671,641,894.127837658,792.872162342,821.872162342,655.127837658,633.127837658,655,0.400976712164,-0.0053682580866,0.0698267368232,0.999999940373,0.000209224482213,-0.000274371464425,1.41461435568e-05,1793252680137032704 +18,0.300000000,BASELINE,768,748,724.541136731,699.458863269,671,641,894.458863269,792.541136731,821.541136731,655,633.458863269,655,0.400975670786,-0.00536738524391,0.0698262281599,0.999999940027,0.000210016829318,-0.000275025451773,1.41067100811e-05,1793252680153699328 +19,0.316666667,BASELINE,768.048256281,748,724.048256281,699.951743719,671,641,895,792.048256281,821,655,634,655,0.400974023373,-0.00536636739543,0.0698254156178,0.999999939443,0.000210991582641,-0.000276402648768,1.41007222276e-05,1793252680170365696 +20,0.333333333,BASELINE,768.626901213,748,724.626901213,699.373098787,671,641,895,792.626901213,821,655,634,655,0.400974393996,-0.00536835860812,0.0698253367685,0.999999939789,0.000209012675216,-0.000276641887828,1.43424567026e-05,1793252680187032576 +21,0.350000000,BASELINE,768.795891104,747.795891104,725,699.204108896,671.204108896,641,894.795891104,792.795891104,821.204108896,655.204108896,634,655,0.400974242698,-0.00536880395092,0.0698251016608,0.999999939802,0.000208222740429,-0.000277185842465,1.43660675334e-05,1793252680203699456 +22,0.366666667,BASELINE,768.221292318,747.221292318,725,699.778707682,671.778707682,641,894.221292318,792.221292318,821.778707682,655.778707682,634,655,0.400973144033,-0.00536644329548,0.0698245829193,0.999999939217,0.000209590979017,-0.000278282903983,1.39937494666e-05,1793252680220366080 +23,0.383333333,BASELINE,768,747.354104524,724.645895476,699.645895476,671.645895476,641,894.354104524,792.354104524,822,655.645895476,634,655,0.400973700326,-0.00536669085189,0.0698248461973,0.999999939301,0.000209907649766,-0.000277743335997,1.40145688873e-05,1793252680237032960 +24,0.400000000,BASELINE,768,747.930001282,724.069998718,699.069998718,671.069998718,641,894.930001282,792.930001282,822,655.069998718,634,655,0.400975293195,-0.00536857205322,0.0698255992907,0.999999939802,0.0002095656745,-0.000276178670467,1.42816286779e-05,1793252680253699328 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+33,0.550000000,BASELINE,768,748,724,699,671.167243438,641,894.832756562,793,822,655.832756562,633.167243438,655,0.400975439672,-0.00537008768223,0.0698261237041,0.999999940313,0.000208083126561,-0.000275453022258,1.41495913708e-05,1793252680403699456 +34,0.566666667,BASELINE,768,748,724,699,671.743144773,641,894.256855227,793,822,655.256855227,633.743144773,655,0.400975395778,-0.00536906451608,0.0698263090413,0.999999940135,0.000209232813538,-0.000275220846904,1.4322447944e-05,1793252680420366080 +35,0.583333333,BASELINE,768,747.681621758,724.318378242,699,671.681621758,641,894,793,821.681621758,655,634,655,0.400974603326,-0.00536818280156,0.0698258521043,0.999999939625,0.000210466571724,-0.000276130516617,1.43235570791e-05,1793252680437032704 +36,0.600000000,BASELINE,768,747.106925908,724.893074092,699,671.106925908,641,894,793,821.106925908,655,634,655,0.40097320823,-0.00536741496577,0.06982487809,0.999999938846,0.00021176801346,-0.000277959454516,1.41863970713e-05,1793252680453699328 +37,0.616666667,BASELINE,768,747,724.517820992,699,671.482179008,641,894,793,821.482179008,655,633.517820992,655,0.400973497617,-0.00536823708073,0.0698251217724,0.999999939526,0.00020933230535,-0.000277353937632,1.42089225316e-05,1793252680470365952 +38,0.633333333,BASELINE,768,747.072734119,724,699,671.927265881,641,894.072734119,792.927265881,822,655,633.072734119,655,0.400973850795,-0.0053692806359,0.0698254693084,0.999999940334,0.000206538095855,-0.000276532960825,1.42597560984e-05,1793252680487032576 +39,0.650000000,BASELINE,768,747.650489212,724,699,671.349510788,641,894.650489212,792.349510788,822,655,633.650489212,655,0.400971973347,-0.00536933822325,0.0698246052553,0.999999939771,0.000207186142308,-0.000278079841889,1.42536967067e-05,1793252680503699200 +40,0.666666667,BASELINE,768,748,724,699,671,641,894.773435921,792.226564079,821.773435921,655.226564079,633.773435921,655,0.400971494938,-0.00536896849586,0.0698246911348,0.999999939452,0.000208391425379,-0.00027832468121,1.42837309229e-05,1793252680520366080 +41,0.683333333,BASELINE,768,748,724,699,671,641,894.199934022,792.800065978,821.199934022,655.800065978,633.199934022,655,0.400973158879,-0.00536794442094,0.0698262316471,0.999999939505,0.000210450005449,-0.000276575702506,1.43690353207e-05,1793252680537032960 +42,0.700000000,BASELINE,768,748,724,699,671,641,894,793,821,656,633,655,0.400974065827,-0.00536711506965,0.069826523379,0.999999939695,0.00021088593641,-0.000275568228554,1.41442304276e-05,1793252680553699584 +43,0.716666667,BASELINE,768,748,724,699,671,641,894,793,821,656,633,655,0.400974567632,-0.00536638993471,0.069826146762,0.999999939959,0.000210453423437,-0.000274957608947,1.37534546444e-05,1793252680570366208 +44,0.733333333,BASELINE,768,748,724,699.538675941,671,641,894,793,821,655.461324059,633.538675941,655,0.400974517731,-0.00536788648343,0.0698257889196,0.999999940446,0.000207353214467,-0.000275543398122,1.36999960965e-05,1793252680587032832 +45,0.750000000,BASELINE,767.869122604,747.869122604,724.130877396,699.869122604,671,641,894,793,821,655,634,655,0.400974769852,-0.00536903021985,0.0698257340752,0.999999940845,0.000205161213823,-0.000275736320554,1.37365842291e-05,1793252680603699712 +46,0.766666667,BASELINE,767.292961978,747.292961978,724.707038022,699.292961978,671,641,894,793,821,655,634,655,0.400976252486,-0.00536815634606,0.0698267032128,0.99999994089,0.000207040507844,-0.000274152500088,1.39554565121e-05,1793252680620366336 +47,0.783333333,BASELINE,767.280607955,747,725,699,671,641,894,792.719392045,821,655,634,655,0.400976778008,-0.00536789420502,0.0698272320029,0.999999941084,0.000207366451299,-0.000273190952036,1.40306125789e-05,1793252680637032960 +48,0.800000000,BASELINE,767.851497951,747,725,699,671,641,894,792.148502049,821,655,634,655,0.400976313421,-0.00536826488639,0.0698273052643,0.999999941437,0.000206085491961,-0.000272873129326,1.39570977755e-05,1793252680653699584 +49,0.816666667,BASELINE,768,747.439501182,725,699,671,641,894.439501182,792.439501182,821,655,634,655,0.400975704794,-0.00536818643762,0.0698268952027,0.99999994091,0.000207472775351,-0.000273748645364,1.4027419473e-05,1793252680670366208 +50,0.833333333,BASELINE,768,748,724.96731735,699,671,641,894.96731735,793,821.03268265,655.03268265,634,655,0.400975040189,-0.00536802875452,0.0698263280739,0.99999994012,0.000209591775815,-0.000275009146587,1.41564016842e-05,1793252680687033088 +51,0.850000000,BASELINE,768,748,724.388153803,699,671,641,894.388153803,793,821.611846197,655.611846197,634,655,0.400974286337,-0.00536918649282,0.0698259759471,0.999999940207,0.0002082599895,-0.000275691681647,1.44206697701e-05,1793252680703699712 +52,0.866666667,BASELINE,768,748,724.190013388,699,671,641,894,793,822,655.809986612,633.809986612,655,0.400974335163,-0.00536980726074,0.0698261142882,0.999999940381,0.000207631273107,-0.000275527176253,1.45413897799e-05,1793252680720366080 +53,0.883333333,BASELINE,768,748,724.766155836,699,671,641,894,793,822,655.233844164,633.233844164,655,0.400976015123,-0.005369336843,0.0698272493165,0.999999940735,0.000208431275732,-0.000273641387197,1.43704035737e-05,1793252680737032704 +54,0.900000000,BASELINE,768,748,725,699,671,641,894.340731037,792.659268963,821.659268963,655,633.340731037,655,0.400976022436,-0.00536852134545,0.0698275502884,0.99999994062,0.000209671170996,-0.000273118688495,1.42949709415e-05,1793252680753699584 +55,0.916666667,BASELINE,768,748,725,699,671,641,894.914235535,792.085764465,821.085764465,655,633.914235535,655,0.400974887065,-0.00536747010356,0.0698272814671,0.999999940184,0.000211211582827,-0.000273527197264,1.42848165969e-05,1793252680770366208 +56,0.933333333,BASELINE,768,748,725,699,671,641,894.51026585,792.48973415,821.48973415,655.48973415,634,655,0.40097566575,-0.00536737350178,0.0698276958921,0.999999940337,0.000210867411666,-0.000273228263338,1.44137595592e-05,1793252680787032832 +57,0.950000000,BASELINE,768,748,725,699,671,641,894.06778814,793,821.93221186,656,634,655,0.400976547146,-0.00536748221543,0.0698280789222,0.999999940601,0.000209919288722,-0.000272987215637,1.45003796562e-05,1793252680803699712 +58,0.966666667,BASELINE,768,748,725,699,671,641,894.662995487,793,821.337004513,656,634,655,0.400975609037,-0.00536788231304,0.0698272829297,0.999999940924,0.000206850494384,-0.000274164406311,1.40674101213e-05,1793252680820366080 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b/Obstacle_avoidance/ball_0050_10/position_04/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31d393f2d155f75c0d558cda2b1316793d763712c6d9767eeb46df9681d7ba99 +size 26261802 diff --git a/Obstacle_avoidance/ball_0050_10/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_04/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9ec817e2d34bae96f8229b0d77ed4ea869d05140 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_04/depth_01/franka_data.csv @@ -0,0 +1,414 @@ +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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+42,0.700000000,BASELINE,768,747.379004752,725,699.620995248,671,641.379004752,895,792.379004752,822,655.379004752,633.620995248,655,0.401033086205,-0.00550305175021,0.0798592494864,0.999999979201,0.000123269397898,-0.000155383876715,4.75167696243e-05,1793252688825755904 +43,0.716666667,BASELINE,768,747.953513021,725,699.046486979,671,641.953513021,895,792.953513021,822,655.953513021,633.046486979,655,0.40103385436,-0.00550340283652,0.0798591917984,0.999999979305,0.000123592472063,-0.000154373321034,4.77797751677e-05,1793252688842422528 +44,0.733333333,BASELINE,768,748,725,699.541156248,671,641.458843752,895,792.458843752,822,655.458843752,633.541156248,655,0.401034353403,-0.00550299401354,0.0798594121664,0.999999979312,0.000123908126551,-0.000154045614027,4.78809916413e-05,1793252688859089152 +45,0.750000000,BASELINE,767.872215625,748,725,700,671,641,895,792,822,655,633.872215625,655,0.401034872679,-0.00550263531717,0.0798598942852,0.999999979411,0.000123914878265,-0.000153373916924,4.79543240488e-05,1793252688875755776 +46,0.766666667,BASELINE,767.293254694,748,725,700,671,641,895,792,822,655,633.293254694,655,0.401035547039,-0.00550268982276,0.0798612141506,0.999999979863,0.000122833273302,-0.000151275409382,4.79794962379e-05,1793252688892422656 +47,0.783333333,BASELINE,767.285286011,748,725,700,671,641,895,792,822,655.285286011,633.285286011,655.285286011,0.401035429049,-0.00550243537394,0.0798613061153,0.999999979874,0.000122951170705,-0.000151181925103,4.7732073809e-05,1793252688909089536 +48,0.800000000,BASELINE,767.863395458,748,725,700,671,641,895,792,822,655.863395458,633.863395458,655.863395458,0.401034497774,-0.00550186380797,0.0798601377377,0.999999979434,0.000124300261909,-0.000153146437735,4.72048546536e-05,1793252688925756160 +49,0.816666667,BASELINE,768,748,725,700,671,641,895,792.439100268,822.439100268,655.560899732,634.439100268,655.560899732,0.401033535464,-0.00550258608637,0.0798597215906,0.999999979473,0.000122984766451,-0.000153942222583,4.7218396836e-05,1793252688942422528 +50,0.833333333,BASELINE,767.985614407,748,725,700,671,641,895,793,823,655.014385593,634.985614407,655.014385593,0.401032624994,-0.00550366780984,0.0798595564137,0.999999979656,0.000120918837996,-0.000154336829948,4.73987108321e-05,1793252688959089152 +51,0.850000000,BASELINE,767.397382292,748,725,700,671,641,895,793,823,655.602617708,634.397382292,655.602617708,0.401034165441,-0.00550311885954,0.0798601182382,0.999999979723,0.000121805101155,-0.000153153161694,4.75573517743e-05,1793252688975755776 +52,0.866666667,BASELINE,767.187783458,748,725,700,671,641,895,792.812216542,823,655.812216542,634,655.812216542,0.401035162492,-0.00550278900011,0.0798605414881,0.99999997973,0.000122712332066,-0.000152330639914,4.77184815661e-05,1793252688992422656 +53,0.883333333,BASELINE,767.76656447,748,725,700,671,641,895,792.23343553,823,655.23343553,634,655.23343553,0.401035028102,-0.00550291532572,0.0798606762018,0.999999979616,0.000123663221403,-0.000152260087462,4.78847935625e-05,1793252689009089536 +54,0.900000000,BASELINE,767.656220073,748,725,700,671,641,895,792,822.656220073,655,634,655,0.401035027099,-0.00550279783017,0.0798607516596,0.999999979765,0.000122754704815,-0.000152100861018,4.76155825797e-05,1793252689025756160 +55,0.916666667,BASELINE,767.080062872,748,725,700,671,641,895,792,822.080062872,655,634,655,0.401035116259,-0.00550251552424,0.0798607870636,0.999999980088,0.000120589326911,-0.000151881695588,4.70519808063e-05,1793252689042423040 +56,0.933333333,BASELINE,767.496349939,748,725,699.503650061,671,641,895,792,822,655,634,655,0.401035689534,-0.00550221710099,0.079861080133,0.999999979872,0.000122612927736,-0.000151584393829,4.7378529318e-05,1793252689059089408 +57,0.950000000,BASELINE,768,748,725,699,671,641,895,792.07429067,822.07429067,655,634,655,0.401036244045,-0.00550214603396,0.0798613710492,0.999999979642,0.00012452158361,-0.000151415947866,4.77895026497e-05,1793252689075756032 +58,0.966666667,BASELINE,768,748,725,699,671,641,895,792.662515727,822.662515727,655,634,655,0.401036128263,-0.00550366578577,0.0798613593985,0.999999979956,0.00012095826578,-0.000152226147277,4.77907064041e-05,1793252689092422656 +59,0.983333333,BASELINE,768,748,725,699.246594106,671,641.246594106,895,792.753405894,822.753405894,655,634,655,0.401035448791,-0.00550410277533,0.0798606599663,0.99999997989,0.000120241905867,-0.000153248079404,4.77242496809e-05,1793252689109089280 +60,1.000000000,BASELINE,768,748,725,699.82509135,671,641.82509135,895,792.17490865,822.17490865,655,634,655,0.401034010622,-0.00550308242211,0.0798590348153,0.999999979317,0.00012335740616,-0.000154554993125,4.75667253933e-05,1793252689125755904 +61,1.016666667,BASELINE,768,748,725,699.598141084,671,641.598141084,895,792,822,655.401858916,633.598141084,655,0.401034473528,-0.00550355472753,0.07985959064,0.999999979469,0.000123311430435,-0.000153546133047,4.77556205868e-05,1793252689142422528 +62,1.033333333,BASELINE,768,748,725,699.022123167,671,641.022123167,895,792,822,655.977876833,633.022123167,655,0.401035760328,-0.00550467392656,0.0798610916636,0.999999979933,0.000121895323157,-0.000151533654867,4.80946482577e-05,1793252689159089408 +63,1.050000000,BASELINE,768,748,725,699.563801887,671,641,895.563801887,792,822,655.436198113,633.563801887,655,0.401035966472,-0.00550382095814,0.0798612155785,0.999999979869,0.000122887497015,-0.000151192558869,4.79650409556e-05,1793252689175756032 +64,1.066666667,BASELINE,768,748,725,700,671,641,895.851758995,792,822,655,634,655,0.401036148474,-0.00550284983234,0.0798612172781,0.999999979736,0.000124165037693,-0.00015107539732,4.78151425579e-05,1793252689192422912 +65,1.083333333,BASELINE,768,748,725,700,671,641,895.272787218,792,822,655,634,655,0.401036385737,-0.00550176426379,0.0798610236857,0.999999979464,0.000125992254393,-0.000151414932836,4.76606727758e-05,1793252689209089536 +66,1.100000000,BASELINE,768,748,725,700,671,641,895.305718231,792.305718231,822,655,634,655,0.401036113583,-0.00550160914766,0.0798610074531,0.999999979462,0.000125839785839,-0.000151605306237,4.75085056966e-05,1793252689225756160 +67,1.116666667,BASELINE,768,748,725,700,671,641,895.883808187,792.883808187,822,655,634,655,0.401035387578,-0.00550228299401,0.0798611492347,0.999999979699,0.000123923567977,-0.000151662787504,4.73583901592e-05,1793252689242422528 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+64,1.066666667,BASELINE,767.149376572,748,725,700,671,641,895,792,822.850623428,655.850623428,633.149376572,655,0.400975573933,-0.00539122513542,0.0798316982801,0.999999926494,0.000254939075275,-0.000282901675512,4.45463099438e-05,1793252696258415616 +65,1.083333333,BASELINE,767.73081554,748,725,700,671,641,895,792,822.26918446,655.26918446,633.73081554,655,0.400977137087,-0.00539031997266,0.0798327281632,0.999999926561,0.000256604647167,-0.000281151830174,4.45548640923e-05,1793252696275082240 +66,1.100000000,BASELINE,768,748,725,700,671,641,895,792.308938545,822,655,634,655,0.400977238891,-0.00539040926363,0.0798328925638,0.999999926497,0.000257165082294,-0.000280825508198,4.48302784301e-05,1793252696291748608 +67,1.116666667,BASELINE,768,748,725,700,671,641,895,792.884202939,822,655,634,655,0.400976080913,-0.0053913558408,0.0798323108601,0.999999926321,0.000256772814962,-0.000281726359391,4.53357442366e-05,1793252696308415232 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+72,1.200000000,BASELINE,767.213290384,748,725,700,671,641,894.786709616,792.426580767,822,655,633.786709616,655,0.400979590526,-0.00539156790423,0.0798349821964,0.999999928037,0.000254985759836,-0.000277315971835,4.47736365543e-05,1793252696391748864 +73,1.216666667,BASELINE,767.362908395,748,725,700,671,641,895,792,821.637091605,655,634,655,0.400979376602,-0.00539128020388,0.0798347874063,0.999999928062,0.000254901013112,-0.000277333106289,4.45928837648e-05,1793252696408415744 +74,1.233333333,BASELINE,767.937774366,748,725,700,671,641,895,792,821.062225634,655,634,655,0.400978113232,-0.00539021702087,0.0798338515144,0.999999927644,0.00025539211642,-0.000278444080733,4.4227519232e-05,1793252696425082368 +75,1.250000000,BASELINE,768,748,725,700,671,641,895,792,821,655,634,655,0.400977218203,-0.00539093830361,0.079833205619,0.999999927402,0.000254314798605,-0.000280259259055,4.44422431606e-05,1793252696441748992 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0000000000000000000000000000000000000000..3fb036e308572f62e41dd84405b8e043bc805108 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_04/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cee70984e0e318453468ad6ffef2a06c1c16ff309fe3fa380c64998977cdfb7 +size 26447529 diff --git a/Obstacle_avoidance/ball_0050_10/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_04/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2f7f8838407f1d4ef7573a8241b6162d06bb2f94 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_04/depth_03/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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+50,0.833333333,BASELINE,767.943903954,748,725,700,671,641,895,792.943903954,822,655.943903954,634,655,0.400972089292,-0.00539191741612,0.0798297823782,0.999999925631,0.000253498995721,-0.000287400334727,4.33368939784e-05,1793252703092398848 +51,0.850000000,BASELINE,767.353506745,748,725,700,671,641,895,792.353506745,822,655.353506745,634,655,0.400971806431,-0.00539053133811,0.0798307436659,0.999999925389,0.000255270455763,-0.000286680230912,4.32787411612e-05,1793252703109065472 +52,0.866666667,BASELINE,767.231774855,748,725,700,671,641,895,792,821.768225145,655,634,655,0.400972011354,-0.00538953258921,0.0798313692193,0.999999925183,0.000256761223732,-0.000286061534844,4.33079411882e-05,1793252703125732096 +53,0.883333333,BASELINE,767.809422503,748,725,700,671,641,895,792,821.190577497,655,634,655,0.400972944187,-0.00538911184356,0.0798314937636,0.999999925034,0.000257833120655,-0.000285594167491,4.34674960506e-05,1793252703142398720 +54,0.900000000,BASELINE,768,748,725,700,671,641,895,792,821.385018872,655,634,655,0.400973307556,-0.0053901634679,0.0798311640811,0.999999925332,0.000256741153525,-0.000285545955894,4.33948370013e-05,1793252703159065344 +55,0.916666667,BASELINE,768,748,725,700,671,641,895,792,821.959605256,655,634,655,0.400973390545,-0.0053919400269,0.0798306107559,0.999999925847,0.000254583788383,-0.000285704119425,4.32078453338e-05,1793252703175731968 +56,0.933333333,BASELINE,768,748,725,700.547709022,671,641,895,792.547709022,822,655.547709022,634,655,0.400972801744,-0.00539075023775,0.0798305372486,0.999999925164,0.000256712706107,-0.00028619574036,4.31545449394e-05,1793252703192398592 +57,0.950000000,BASELINE,768,748,725,700.865542504,671,641,895,792.865542504,822,655.865542504,634,655,0.400972149199,-0.00538964834137,0.0798304576341,0.999999924549,0.000258539959642,-0.000286703436588,4.31308758216e-05,1793252703209065472 +58,0.966666667,BASELINE,768,748,725,700.286652539,671,641,895,792.286652539,822,655.286652539,634,655,0.400971453873,-0.00538957839472,0.0798302379038,0.999999924473,0.000258298754317,-0.000287180920797,4.31717334213e-05,1793252703225732352 +59,0.983333333,BASELINE,768,748,725,700,671,641,895,792.290505151,822,655.290505151,633.709494849,655.290505151,0.400971627964,-0.00539018559672,0.0798303498987,0.999999924518,0.000258215454736,-0.000287067514079,4.33641390204e-05,1793252703242398976 +60,1.000000000,BASELINE,768,748,725,700,671,641,895,792.865963739,822,655.865963739,633.134036261,655.865963739,0.400972654858,-0.00539145700668,0.0798307872793,0.999999924684,0.000258287043203,-0.000286374508744,4.3705196458e-05,1793252703259065600 +61,1.016666667,BASELINE,768,748,725,700.441874158,671,641,895,792.558125842,822,656,633.441874158,655.558125842,0.400971983478,-0.00539198796185,0.0798304828198,0.999999925043,0.000256456272808,-0.000286766957727,4.36912497598e-05,1793252703275732224 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+66,1.100000000,BASELINE,767.651964523,748,725,700,671,640.348035477,895,792.348035477,821.651964523,655,634,655.348035477,0.400972619845,-0.00539001661254,0.079830872076,0.999999924827,0.000258077279038,-0.00028611930357,4.33242649594e-05,1793252703359065344 +67,1.116666667,BASELINE,767.077514827,748,725,700,671,640.922485173,895,792.922485173,821.077514827,655,634,655.922485173,0.400971636524,-0.00539010444409,0.0798298002777,0.999999924685,0.00025738000061,-0.00028725853902,4.32144503328e-05,1793252703375732224 +68,1.133333333,BASELINE,767.500802245,748,725,700,671,641,895,793,821.500802245,655,634,655.499197755,0.40097216777,-0.00538992757844,0.0798304943033,0.999999924942,0.00025712237204,-0.00028660695529,4.31251488976e-05,1793252703392399104 +69,1.150000000,BASELINE,768,748,725.081182987,700,671,641,895,793,822,655.081182987,634,655,0.400972805762,-0.00538966423422,0.0798312751297,0.999999925069,0.000257434147077,-0.00028589185235,4.30811528007e-05,1793252703409066240 +70,1.166666667,BASELINE,768,748,725.670708133,700,671,641,895,793,822,655.670708133,634,655,0.400972632829,-0.00538911792743,0.0798308747339,0.999999923984,0.000260881926192,-0.000286528167043,4.33008084864e-05,1793252703425732608 +71,1.183333333,BASELINE,768,748,725.744638981,700,671,641,895,792.744638981,822,656,634,655,0.400972325793,-0.0053891217244,0.0798303049023,0.999999923865,0.000260906880363,-0.000286924827543,4.32619153443e-05,1793252703442398720 +72,1.200000000,BASELINE,768,748,725.166151234,700,671,641,895,792.166151234,822,656,634,655,0.400971849068,-0.00538982160727,0.0798295206711,0.999999924968,0.000256600687575,-0.000287018236382,4.28958617411e-05,1793252703459065344 +73,1.216666667,BASELINE,768,748,725,700,671,641,895,792,822,655.605962581,634,655,0.400971267936,-0.00538989841397,0.0798294375818,0.999999925112,0.000255566431001,-0.000287475578106,4.26634150888e-05,1793252703475732224 +74,1.233333333,BASELINE,768,748,725,700,671,641,895,792,822,655.053147591,634,655,0.400970644734,-0.00538972415179,0.079829637018,0.999999924873,0.000255850602987,-0.00028807956676,4.2484805445e-05,1793252703492399104 +75,1.250000000,BASELINE,768,748,725,700,671,641,895,792.540816989,822,655,633.459183011,655,0.400970891368,-0.0053900997893,0.0798298147317,0.999999925129,0.000254961815569,-0.000287990466706,4.24100419958e-05,1793252703509065728 +76,1.266666667,BASELINE,768,747.861447916,725,700,671.138552084,641,894.861447916,792.861447916,822,655,633.138552084,655,0.400971333134,-0.00539035617639,0.0798301061045,0.999999925528,0.000254002022593,-0.000287462794124,4.23316925625e-05,1793252703525732608 +77,1.283333333,BASELINE,768,747.26571379,725,700,671.73428621,641,894.26571379,792.26571379,822,655,633.73428621,655,0.400972113491,-0.00539002606921,0.0798307801435,0.999999926228,0.000253219613513,-0.000285731216491,4.22050627881e-05,1793252703542399232 +78,1.300000000,BASELINE,768,747.318096557,725,700,671.681903443,641,894.318096557,792,822,655,634,655,0.400973440297,-0.00539085822399,0.0798316687137,0.999999926697,0.000252976313332,-0.000284244743758,4.25812974945e-05,1793252703559065856 +79,1.316666667,BASELINE,768,747.892306521,725,700,671.107693479,641,894.892306521,792,822,655,634,655,0.400975207074,-0.00539262616657,0.0798327300124,0.999999926981,0.000253167073269,-0.000282955615752,4.33624103243e-05,1793252703575732224 +80,1.333333333,BASELINE,768,748,725,700,671,641,895,792,822,655,634,655,0.400973590799,-0.00539177952597,0.0798311290299,0.999999926156,0.000253684838685,-0.000285455383627,4.29822417842e-05,1793252703592398848 +81,1.350000000,BASELINE,768,748,725,700,671,641,895,792,822,655,634,655.06503644,0.40097150646,-0.00539054494591,0.0798292468469,0.999999925223,0.000254174876553,-0.000288353330899,4.24478666857e-05,1793252703609065728 +82,1.366666667,BASELINE,768,748,725,700,671,641,895,792,822,655,634,655.644066443,0.400971895023,-0.00539101449943,0.0798299993939,0.99999992554,0.00025384918549,-0.000287485639135,4.28134301183e-05,1793252703625732352 +83,1.383333333,BASELINE,768,748,725,700,671,641,895,792,822,655,634,655.777482399,0.400971468988,-0.00539090973075,0.0798299152833,0.999999925261,0.000254592244141,-0.000287764056135,4.30497083414e-05,1793252703642398720 +84,1.400000000,BASELINE,768,748,725,700,671,641,895,792,822,655,634,655.199954655,0.400969743325,-0.00538988867416,0.0798284963484,0.999999924025,0.000257040412751,-0.000289871003571,4.30797217652e-05,1793252703659065600 +85,1.416666667,BASELINE,767.625130914,748,725,700,671,641,895,792.374869086,822,655,634,655,0.40097017327,-0.00538991611085,0.0798288515995,0.999999924349,0.000256866077351,-0.000288912115101,4.30361144498e-05,1793252703675732480 +86,1.433333333,BASELINE,767.05173919,748,725,700,671,641,895,792.94826081,822,655,634,655,0.400971744778,-0.00539049880717,0.0798301464214,0.999999925495,0.000255302919856,-0.000286329625481,4.29535191659e-05,1793252703692399104 +87,1.450000000,BASELINE,768.074302787,748,725,700.537151394,671.537151394,641,894.462848606,792.462848606,822,655,634,655,0.40097114528,-0.00539079095545,0.0798300662772,0.999999924954,0.000256663092565,-0.000286985540412,4.30824574816e-05,1793252703709065728 +88,1.466666667,BASELINE,768.874924379,748,725,701,671.874924379,641,894.125075621,792,822.125075621,655.125075621,634,655,0.400970325228,-0.00539096905187,0.079829743546,0.999999924405,0.000257677697312,-0.000287972110288,4.31869887182e-05,1793252703725732352 +89,1.483333333,BASELINE,768.296083002,748,725,701,671.296083002,641,894.703916998,792,822.703916998,655.703916998,634,655,0.40096948622,-0.00539083792385,0.0798290354803,0.999999924444,0.000256386703311,-0.000288992998476,4.31268566125e-05,1793252703742398976 +90,1.500000000,BASELINE,767.717856076,748,725,700.717856076,671,641,895,792,822.717856076,655.717856076,634,655,0.400969290546,-0.00539087537259,0.0798287240767,0.999999924575,0.000255460181516,-0.000289358066375,4.31430015276e-05,1793252703759065344 +91,1.516666667,BASELINE,767.140272592,748,725,700.140272592,671,641,895,792,822.140272592,655.140272592,634,655,0.400969768522,-0.00539108934204,0.0798288280272,0.999999924803,0.00025491530725,-0.000289036409313,4.32390179151e-05,1793252703775731968 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+18,0.300000000,BASELINE,767.558189715,748,725.558189715,700,671.558189715,641,895,792,823,655,634,655,0.400974934164,-0.00539436155588,0.0798327994562,0.999999927845,0.00024885799672,-0.000283883864659,4.22925713217e-05,1793252716803918848 +19,0.316666667,BASELINE,767.019715512,748,725,700,671.019715512,641,895,792.019715512,822.980284488,655,634,655,0.400975693542,-0.00539509887403,0.0798336722149,0.999999928009,0.000249340558449,-0.000282832892695,4.26214720315e-05,1793252716820585472 +20,0.333333333,BASELINE,767.593969997,748,725,700,671.593969997,641,895,792.593969997,822.406030003,655,634,655,0.400977237423,-0.00539431565497,0.0798338444091,0.999999928703,0.000247700023859,-0.000281893893368,4.2116715285e-05,1793252716837252352 +21,0.350000000,BASELINE,768,748,725,700,671.827476365,641,895,792.827476365,822.172523635,655,634,655,0.400977934133,-0.00539374880643,0.0798339469305,0.999999929004,0.000247039108967,-0.000281453625114,4.18150842136e-05,1793252716853919232 +22,0.366666667,BASELINE,768,748,725,700,671.238546288,641,895,792.238546288,822.761453712,655,634,655,0.40097658609,-0.00539370419418,0.0798338812882,0.999999928358,0.000248742623704,-0.00028221710414,4.20037213446e-05,1793252716870585856 +23,0.383333333,BASELINE,768,748,725,700,671,641,895,792,823,655,633.655574666,655,0.400975952813,-0.00539378148055,0.0798336745379,0.999999927955,0.000249735676034,-0.000282737957394,4.22105791118e-05,1793252716887252480 +24,0.400000000,BASELINE,768,748,725,700,671,641,895,792,823,655,633.076659586,655,0.400975806157,-0.00539394175727,0.0798333717193,0.999999927718,0.000250245035462,-0.000283093627594,4.24298417703e-05,1793252716903919104 +25,0.416666667,BASELINE,768,748,725,700,671,641,895,792,823,655,633.503995948,655,0.400975155633,-0.0053924731672,0.0798324606342,0.999999927294,0.000250838704818,-0.000284135554708,4.19418712314e-05,1793252716920585728 +26,0.433333333,BASELINE,768,748,725,700,671,641,895,792.083940353,823,655,634,655,0.400974795506,-0.00539130394262,0.0798317827727,0.999999927015,0.000251226859902,-0.000284830642723,4.15402947874e-05,1793252716937252352 +27,0.450000000,BASELINE,768,748,725,700,671,641,895,792.658179617,823,655,634,655,0.400976580812,-0.00539333549304,0.0798330094612,0.999999927759,0.000250339434131,-0.00028288801745,4.22738631455e-05,1793252716953918976 +28,0.466666667,BASELINE,768,748,725,700,671,641,895,792.761546831,822.761546831,655,634,655,0.4009772956,-0.0053941135629,0.0798336336261,0.999999928032,0.000250570749473,-0.000281663240561,4.26109759382e-05,1793252716970585600 +29,0.483333333,BASELINE,768,748,725,700,671,641,895,792.172398637,822.172398637,655,634,655,0.40097643597,-0.00539304812854,0.0798333716546,0.999999927618,0.000252447406567,-0.000281494209277,4.23650182476e-05,1793252716987252736 +30,0.500000000,BASELINE,768,748.408841635,725,700,671,641,895,792,822.408841635,655,634,655,0.400976520453,-0.00539358990116,0.0798336952259,0.999999928278,0.000250348980681,-0.000281026602107,4.23575421806e-05,1793252717003919616 +31,0.516666667,BASELINE,768,748.986810587,725,700,671,641,895,792,822.986810587,655,634,655,0.400976995491,-0.00539479653419,0.0798342610213,0.99999992937,0.000246606164684,-0.000280435481738,4.24487198614e-05,1793252717020585984 +32,0.533333333,BASELINE,768,749,725,700.56362314,671,641,895,792,822.43637686,655,634,655,0.400977064357,-0.00539513217644,0.0798346171355,0.999999928964,0.000247802641958,-0.000280784868913,4.27225191027e-05,1793252717037252608 +33,0.550000000,BASELINE,768,748.857194171,725,700.857194171,671.142805829,641,895,792,822,655,634,655,0.400976933371,-0.00539518944368,0.0798346743997,0.999999928519,0.000248943088546,-0.000281344664026,4.28239334279e-05,1793252717053918976 +34,0.566666667,BASELINE,768,748.270561504,725,700.270561504,671.729438496,641,895,792,822,655,634,655,0.400976210744,-0.00539444476409,0.0798338180852,0.999999928064,0.000249550905308,-0.000282490125192,4.2376337307e-05,1793252717070585600 +35,0.583333333,BASELINE,768,748,725,700,672,641,894.687968754,792,822,655,634,655,0.400976487383,-0.00539373995539,0.0798337893732,0.999999928012,0.000249962348614,-0.000282328268857,4.22516935914e-05,1793252717087252224 +36,0.600000000,BASELINE,768,748,725,700,672,641,894.108834166,792,822,655,634,655,0.400977619409,-0.00539306927665,0.079834469101,0.999999928306,0.000250205693417,-0.000281047329621,4.24035018396e-05,1793252717103918848 +37,0.616666667,BASELINE,768,748,725.46882102,700.46882102,671.53117898,640.53117898,894.46882102,792,822.46882102,655.46882102,634,655,0.400978385818,-0.00539349831974,0.0798349504455,0.999999928783,0.000249638465401,-0.000279861459132,4.23395452582e-05,1793252717120585728 +38,0.633333333,BASELINE,767.954076491,748,725.954076491,700.954076491,671,640.045923509,895,792,822.954076491,655.954076491,634,655,0.400978995003,-0.00539418814875,0.0798353435819,0.99999992927,0.000248866239395,-0.000278823232737,4.22389986287e-05,1793252717137252352 +39,0.650000000,BASELINE,767.379395444,748,725.379395444,700.379395444,671,640.620604556,895,792,822.379395444,655.379395444,634,655,0.400978768103,-0.0053949504553,0.0798352496887,0.999999929395,0.00024789344134,-0.000279231652968,4.22920583353e-05,1793252717153918976 +40,0.666666667,BASELINE,767.20031401,747.79968599,725,700,671,641,895,792,822.20031401,655,634,655,0.400978307805,-0.00539506206342,0.0798350729978,0.999999929271,0.000247723668485,-0.000279812461413,4.23829563838e-05,1793252717170585344 +41,0.683333333,BASELINE,767.789792477,747.210207523,725,700,671,641,895,792,822.789792477,655,634,655,0.400977394067,-0.00539390951279,0.0798347354498,0.999999928662,0.000249113990585,-0.000280728180834,4.25473657015e-05,1793252717187251968 +42,0.700000000,BASELINE,768,747.372450233,725,700,671.372450233,641,895,792,823,655.372450233,634,655.372450233,0.400977449812,-0.00539447890563,0.0798352094896,0.999999928841,0.000248879750534,-0.000280267989912,4.27427995268e-05,1793252717203918848 +43,0.716666667,BASELINE,768,747.951327652,725,700,671.951327652,641,895,792,823,655.951327652,634,655.951327652,0.400978042884,-0.00539600267014,0.0798361333446,0.999999929455,0.000247745111503,-0.000279045213048,4.29554284005e-05,1793252717220585472 +44,0.733333333,BASELINE,768,748,725,700,671.471913593,640.471913593,895,792,823,656,634,655.471913593,0.400976767248,-0.0053939238658,0.0798350094954,0.999999928937,0.000248007897008,-0.000280765296995,4.22972552635e-05,1793252717237252352 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+48,0.800000000,BASELINE,768,748,725,700,671.149504144,641,895,792.149504144,823,655.149504144,633.850495856,655,0.400975856784,-0.00539384502755,0.0798340214507,0.999999928205,0.000249087347389,-0.000282435566232,4.21432571919e-05,1793252717303918848 +49,0.816666667,BASELINE,768,748,725.433903176,700,671,641,895,792,823,655,634,655,0.400976834464,-0.00539357495892,0.0798343611326,0.999999928509,0.000248970600695,-0.000281470850094,4.20796731469e-05,1793252717320585472 +50,0.833333333,BASELINE,768,748,725.985399127,700.014600873,671,641,895,792,823,655,634,655,0.400977990658,-0.00539313353826,0.0798346656037,0.999999928718,0.000249344055641,-0.000280403602378,4.20081053321e-05,1793252717337252352 +51,0.850000000,BASELINE,768,748,725.411335441,700.588664559,671,641,895,792,823,655,634,655,0.400977540297,-0.0053940022695,0.0798348946944,0.999999928604,0.000249521221407,-0.000280635593231,4.2118050798e-05,1793252717353918720 +52,0.866666667,BASELINE,768,748,725,701,671.163072867,641,895,792,823,655,634,655,0.400977036074,-0.00539444258214,0.0798349187242,0.999999928505,0.000249515797945,-0.000280983301169,4.21881977311e-05,1793252717370585344 +53,0.883333333,BASELINE,768,748,725,701,671.738352257,641,895,792,823,655,634,655,0.400976395705,-0.00539379996201,0.0798344244122,0.999999928443,0.000249048835581,-0.000281623512302,4.21577441404e-05,1793252717387251968 +54,0.900000000,BASELINE,768,748,725,700.678353236,671.678353236,641,895,792,822.678353236,655,634,655,0.40097511695,-0.00539355392015,0.0798334070418,0.999999928004,0.000249155861489,-0.000283099944136,4.20543209355e-05,1793252717403918592 +55,0.916666667,BASELINE,768,748,725,700.088372135,671.088372135,641,895,792,822.088372135,655,634,655,0.400973305619,-0.0053936387244,0.0798319533092,0.999999927247,0.000249741738071,-0.000285273994421,4.18900227123e-05,1793252717420585472 +56,0.933333333,BASELINE,768,748,725,700,671,641,895,792,822.490440456,655.490440456,634,655,0.400976427032,-0.00539306777673,0.0798344714479,0.999999928281,0.000250011283542,-0.000281374719524,4.19690795332e-05,1793252717437252864 +57,0.950000000,BASELINE,768,748,725,700.067123332,671,641,895,792,822.932876668,655.932876668,634,655,0.400979867876,-0.00539247327109,0.079837155308,0.999999929378,0.000250368645702,-0.000277106120702,4.20856103008e-05,1793252717453920256 +58,0.966666667,BASELINE,768,748,725,700.642578483,671,641,895,792,822.357421517,655.357421517,634,655,0.400979146499,-0.00539257526891,0.0798357948864,0.999999928724,0.000251813104296,-0.000278143681631,4.21612485454e-05,1793252717470586624 +59,0.983333333,BASELINE,768,748,725,700.776846044,671,641,895,792.223153956,822.223153956,655,633.776846044,655,0.400978051702,-0.00539274085508,0.0798348661308,0.999999928203,0.000252588090795,-0.000279307690173,4.21973473965e-05,1793252717487252736 +60,1.000000000,BASELINE,768,748,725,700.187876758,671,641,895,792.812123242,822.812123242,655,633.187876758,655,0.400976344759,-0.00539301068136,0.0798346450032,0.999999927902,0.000252265614764,-0.000280678983913,4.21686294999e-05,1793252717503919104 +61,1.016666667,BASELINE,768,748,725,700,671.394894609,641,895,793,822.605105391,655,633.394894609,655,0.400976219185,-0.00539372652621,0.0798343829475,0.999999928153,0.000250715673783,-0.000281167161131,4.21899006802e-05,1793252717520585984 +62,1.033333333,BASELINE,768,748,725,700,671.974762757,641,895,793,822.025237243,655,633.974762757,655,0.400976834343,-0.00539465129168,0.0798341017207,0.999999928661,0.000248590772991,-0.000281241675518,4.22345873663e-05,1793252717537253120 +63,1.050000000,BASELINE,768,748,725,700,672,641,895,793,822.550417975,655,634,655,0.400977754636,-0.00539560577989,0.0798353638442,0.999999929409,0.000247270966407,-0.00027972980922,4.2307933355e-05,1793252717553920256 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+31,0.516666667,BASELINE,768,747.985795325,725,699.985795325,671,641,895.985795325,793,821.985795325,655.985795325,634,655.985795325,0.400913056327,-0.0154343097077,0.0599218502628,0.9999999703,-9.33585704435e-05,-0.0002211331324,-4.22407753825e-05,1793252725637610240 +32,0.533333333,BASELINE,768,748,725,699.44074451,671,641,896,793,821.44074451,656,634,655.44074451,0.400912083278,-0.0154338834773,0.0599210629193,0.999999970033,-9.38909267088e-05,-0.000222030887183,-4.26818659761e-05,1793252725654276608 +33,0.550000000,BASELINE,768,747.862481407,725,699,671,641,895.862481407,793,821.137518593,655.862481407,634.137518593,655,0.40091157512,-0.0154337059969,0.0599207227006,0.999999969942,-9.40823581522e-05,-0.000222325856537,-4.28463152749e-05,1793252725670943232 +34,0.566666667,BASELINE,768,747.268174367,725,699,671,641,895.268174367,793,821.731825633,655.268174367,634.731825633,655,0.400912742475,-0.0154343910638,0.0599219814956,0.99999997048,-9.31117027059e-05,-0.000220464343421,-4.20316704514e-05,1793252725687610880 +35,0.583333333,BASELINE,768,747.314907248,725,699,671,641,895.314907248,793,822,655.314907248,634.685092752,655,0.400913485067,-0.0154349597499,0.059922267911,0.999999970627,-9.29247473437e-05,-0.000219912527818,-4.1835002296e-05,1793252725704277760 +36,0.600000000,BASELINE,768,747.888758414,725,699,671,641,895.888758414,793,822,655.888758414,634.111241586,655,0.400913878384,-0.0154354327378,0.0599217547522,0.999999970455,-9.33822177229e-05,-0.00022043765834,-4.21464878033e-05,1793252725720944384 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+45,0.750000000,BASELINE,768,747.124499974,725,699.875500026,671,641,895.875500026,793,821,655.875500026,634,655,0.400911883981,-0.0154338994337,0.0599204278737,0.999999970003,-9.30164209032e-05,-0.000222602813257,-4.23171254875e-05,1793252725870943488 +46,0.766666667,BASELINE,768,747.703504893,725,699.296495107,671,641,895.296495107,793,821,655.296495107,634,655,0.400913377741,-0.0154345784338,0.0599211719984,0.999999970351,-9.32338070353e-05,-0.000220928730446,-4.23698725128e-05,1793252725887610112 +47,0.783333333,BASELINE,768.28033177,747.71966823,725.28033177,699.28033177,671,641,895,793,821.28033177,655.28033177,634,655,0.40091416991,-0.0154347959962,0.0599217811986,0.999999970574,-9.26924216651e-05,-0.000220145892479,-4.23876176816e-05,1793252725904276736 +48,0.800000000,BASELINE,768.854872855,747.145127145,725.854872855,699.854872855,671,641,895,793,821.854872855,655.854872855,634,655,0.400914225759,-0.0154345292779,0.0599222487951,0.999999970664,-9.13547025906e-05,-0.000220298419339,-4.23686282683e-05,1793252725920943360 +49,0.816666667,BASELINE,768.570292805,747.429707195,725.570292805,700,671,641,895.429707195,793,822,655.570292805,634,655,0.400913709815,-0.015435160552,0.0599219189043,0.999999970523,-9.20954641246e-05,-0.000220634421927,-4.2335816684e-05,1793252725937609728 +50,0.833333333,BASELINE,768,748,725,700,671,641,896,793,821.995223083,655.004776917,634,655.004776917,0.40091298988,-0.0154360768639,0.0599213123995,0.9999999703,-9.35225432504e-05,-0.000221050072717,-4.23013490257e-05,1793252725954276608 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+35,0.583333333,BASELINE,768,747.317086436,724.317086436,698.682913564,671,641,895,793.317086436,821,655,633.682913564,655,0.400968185421,-0.0154012371309,0.059836457676,0.999999943044,0.000198659379415,-0.000271843717201,2.34145501917e-05,1793252732741383168 +36,0.600000000,BASELINE,768,747.895586953,724.895586953,698.104413047,671,641,895,793.895586953,821,655,633.104413047,655,0.400966046763,-0.0154012827645,0.0598348386869,0.999999941973,0.000200150460533,-0.000274669025205,2.34773475528e-05,1793252732758049280 +37,0.616666667,BASELINE,768,748,724.527914763,698.472085237,671,641,894.527914763,793.527914763,821,655.472085237,633.472085237,655,0.400965875156,-0.0154003729252,0.059834660327,0.999999942105,0.00019942491546,-0.000274757561946,2.29844557793e-05,1793252732774715904 +38,0.633333333,BASELINE,768,748,724.049047109,699.049047109,671,641,894.049047109,793.049047109,821,656,634,655,0.400966300538,-0.0153994513333,0.0598348770016,0.999999942523,0.000198307761491,-0.000274087115859,2.24688529641e-05,1793252732791382528 +39,0.650000000,BASELINE,768,748,724.635928508,699.635928508,671,641,894.635928508,793.635928508,821,656,634,655,0.400968521726,-0.0154007084075,0.0598359462596,0.999999943172,0.000198249681359,-0.000271703435283,2.30462412013e-05,1793252732808048896 +40,0.666666667,BASELINE,767.780213612,747.780213612,725,699.780213612,671,641,895,793.780213612,821,656,633.780213612,655,0.400969200337,-0.0154016433608,0.0598363804689,0.999999943454,0.000198006619299,-0.000270812144455,2.33652310336e-05,1793252732824715520 +41,0.683333333,BASELINE,767.201296194,747.201296194,725,699.201296194,671,641,895,793.201296194,821,656,633.201296194,655,0.400967358375,-0.0154020519685,0.0598357770081,0.999999943144,0.000197461296716,-0.000272359419099,2.32619977551e-05,1793252732841382656 +42,0.700000000,BASELINE,767.375911574,747,725,699,671,641,895,792.624088426,821,655.624088426,633.375911574,655,0.400967173794,-0.0154015020232,0.0598359436807,0.999999943019,0.000198118909886,-0.000272345771351,2.32134033e-05,1793252732858049536 +43,0.716666667,BASELINE,767.952207971,747,725,699,671,641,895,792.047792029,821,655.047792029,633.952207971,655,0.400967872703,-0.015400441108,0.0598365208835,0.999999942991,0.000199417764485,-0.000271500052452,2.31939348225e-05,1793252732874716160 +44,0.733333333,BASELINE,768,747,725,699,671,641,895,792.528874432,821,655,634,655,0.400968342263,-0.0153993726333,0.0598363689843,0.999999942741,0.000200783499156,-0.000271432871743,2.2987867336e-05,1793252732891382528 +45,0.750000000,BASELINE,768,747,725,699,671,641,895,793,821.107778125,655,634,655,0.400968673695,-0.0153985264624,0.0598361693444,0.999999942492,0.000201982238935,-0.000271473087809,2.28355562467e-05,1793252732908049152 +46,0.766666667,BASELINE,768,747,725,699,671,641,895,793,821.696515957,655,634,655,0.400968481288,-0.0153986753726,0.0598360508823,0.999999942346,0.000202408775198,-0.000271678391678,2.29984329377e-05,1793252732924716032 +47,0.783333333,BASELINE,768,747.280824382,725,699,671,641,894.719175618,793,821.719175618,655,634,655,0.400968505468,-0.015398794221,0.0598361543363,0.999999942382,0.000202391534502,-0.000271550411525,2.31096719039e-05,1793252732941382656 +48,0.800000000,BASELINE,768,747.860420393,725,699,671,641,894.139579607,793,821.139579607,655,634,655,0.400968760079,-0.0153988810861,0.0598364938888,0.999999942611,0.00020190215549,-0.000271067847476,2.31659730423e-05,1793252732958049280 +49,0.816666667,BASELINE,768,747.562275693,724.562275693,699,671,641,894.437724307,793,821,655.437724307,634,655,0.400969651194,-0.0153996436911,0.0598372624273,0.999999943175,0.000200605348444,-0.000269952714739,2.30956172381e-05,1793252732974716160 +50,0.833333333,BASELINE,767.985798697,747,724.014201303,699,671,641,895,793,821.014201303,655.985798697,634,655,0.400970687532,-0.0154005869665,0.0598381171285,0.999999943815,0.000199093020536,-0.000268709046516,2.2983095947e-05,1793252732991383552 +51,0.850000000,BASELINE,767.413245397,747,724.586754603,699,671,641,895,793,821.586754603,655.413245397,634,655,0.40096949519,-0.0154002058908,0.0598370092085,0.999999943373,0.000199177234945,-0.000270301091191,2.27924098623e-05,1793252733008050432 +52,0.866666667,BASELINE,767.164887244,747,724.835112756,699,671,641,895,793,822,655,634,655,0.400968643615,-0.0153999920847,0.0598362237986,0.999999943062,0.000199333590351,-0.000271343322377,2.26841857611e-05,1793252733024717056 +53,0.883333333,BASELINE,767.757492687,747,724.242507313,699,671,641,895,793,822,655,634,655,0.400968675991,-0.0154002121765,0.0598362749815,0.999999943095,0.000199677079793,-0.000270959334989,2.27898684008e-05,1793252733041383168 +54,0.900000000,BASELINE,767.658954878,747.341045122,724,699,671,641,895,793,822,655.341045122,634,655,0.400968134499,-0.0153998714872,0.0598365793322,0.999999943113,0.000199794309375,-0.000270807274793,2.27882319603e-05,1793252733058049536 +55,0.916666667,BASELINE,767.08167334,747.91832666,724,699,671,641,895,793,822,655.91832666,634,655,0.400967195498,-0.015399142354,0.0598370590481,0.99999994312,0.000199754812412,-0.000270815866811,2.27122573318e-05,1793252733074715904 +56,0.933333333,BASELINE,767.494371044,747.505628956,724.494371044,699,671,641,895,793,822,656,634,655,0.400968190106,-0.0154007238258,0.0598368668756,0.999999943496,0.000198068022268,-0.000270646210911,2.29765246863e-05,1793252733091382528 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+61,1.016666667,BASELINE,768.400598221,747,725,699,671,641,895,793,821.599401779,655,634,655,0.400967087159,-0.0154014492597,0.0598356873891,0.999999942816,0.000198747697658,-0.00027264871222,2.30417467172e-05,1793252733174716672 +62,1.033333333,BASELINE,768.979280221,747,725,699,671,641,895,793,821.020719779,655,634,655,0.400967394353,-0.0154001682761,0.0598361615299,0.999999942805,0.00019933867722,-0.000272283977681,2.27051819041e-05,1793252733191382784 +63,1.050000000,BASELINE,768.446580552,747,725,699,671,641,895,793,821.553419448,655.553419448,634,655,0.40096771084,-0.0154009794139,0.0598365860062,0.999999943005,0.000199227102035,-0.000271607248548,2.29935907773e-05,1793252733208049664 +64,1.066666667,BASELINE,768,747,725,699,671,641,895,793,822,656,634,655,0.400968034505,-0.0154012938573,0.0598368288561,0.999999943128,0.00019929623635,-0.000271088545242,2.3166632954e-05,1793252733224716032 +65,1.083333333,BASELINE,768,747,725,699,671,641,895,793,822,656,634,655,0.400968382124,-0.0153995947274,0.059836441459,0.999999942956,0.000200090327722,-0.000271164435553,2.28538844423e-05,1793252733241382400 +66,1.100000000,BASELINE,767.697262258,747,725,699,671.302737742,641,895,793,822,656,634,655,0.400968908343,-0.0153999656105,0.0598367610073,0.99999994329,0.000199058091929,-0.00027069747004,2.2782726314e-05,1793252733258049280 +67,1.116666667,BASELINE,767.117943801,747,725,699,671.882056199,641,895,793,822,656,634,655,0.40096959773,-0.0154022276544,0.05983772642,0.999999944081,0.000196357326527,-0.00026973455231,2.29322847891e-05,1793252733274716160 +68,1.133333333,BASELINE,767.459192591,747.459192591,725,699,671.540807409,641,895,793,821.540807409,656,633.540807409,655,0.400968753018,-0.0154017569924,0.059837763158,0.99999994385,0.000197258678923,-0.000269932859065,2.29284661257e-05,1793252733291383040 +69,1.150000000,BASELINE,767.964849367,748,725,699,671,641,895,793,821.035150633,656,633.035150633,655,0.400967641464,-0.015400688811,0.0598375680197,0.999999943399,0.000198903650107,-0.000270398049848,2.28884242433e-05,1793252733308049920 +70,1.166666667,BASELINE,767.39827358,748,725,699,671,641,895,793,821.60172642,656,633.60172642,655,0.400968424672,-0.0154011484701,0.0598374564252,0.999999943601,0.000197869455124,-0.000270410193895,2.28935178529e-05,1793252733324716544 +71,1.183333333,BASELINE,767.178783415,748,725,699,671,641,895,793.178783415,821.821216585,656,634,655,0.400968595407,-0.0154013299085,0.0598371294693,0.999999943516,0.000197939128466,-0.000270676879973,2.28328476491e-05,1793252733341383168 +72,1.200000000,BASELINE,767.780643466,748,725,699,671,641,895,793.780643466,821.219356534,656,634,655,0.400967316771,-0.0154008529597,0.0598362928777,0.999999942751,0.000200621017597,-0.000271545919381,2.2616552649e-05,1793252733358049792 +73,1.216666667,BASELINE,768,747.633322372,725,699,671,641,895,793.633322372,821,656,634,655,0.400967023102,-0.0154013513738,0.0598362955609,0.999999942615,0.000201176816683,-0.000271619413259,2.28187605003e-05,1793252733374716416 +74,1.233333333,BASELINE,768,747.056364011,725,699,671,641,895,793.056364011,821,656,634,655,0.400967294287,-0.0154024091348,0.0598367795479,0.999999942842,0.000200513354488,-0.000271236681003,2.32609696083e-05,1793252733391383040 +75,1.250000000,BASELINE,768,747,725,699,671,641,895,793.517937901,821,656,634,655,0.400967243997,-0.0154015873284,0.0598365436179,0.999999942549,0.000201464113451,-0.000271631526854,2.30132001132e-05,1793252733408049664 +76,1.266666667,BASELINE,768,747.091481725,725,699,671,641,895,794,821,655.908518275,634,655,0.400967218531,-0.0154006437774,0.0598362413194,0.999999942291,0.000202218341041,-0.000272045695262,2.27308166488e-05,1793252733424716544 +77,1.283333333,BASELINE,768,747.662559044,725,699,671,641,895,794,821,655.337440956,634,655,0.400967505671,-0.0154001288209,0.0598359997084,0.999999942513,0.000201026013367,-0.000272119808469,2.26586011153e-05,1793252733441382912 +78,1.300000000,BASELINE,768,748,725,698.755916468,671,641,895,793.755916468,821,655,634,655,0.400967709783,-0.015400122451,0.0598360502644,0.99999994278,0.000199887456881,-0.000271976203897,2.26736440575e-05,1793252733458049280 +79,1.316666667,BASELINE,768,748,725,698.159303188,671,641,895,793.159303188,821,655,634,655,0.400967793977,-0.0154008506324,0.0598365227974,0.999999943113,0.000198826562207,-0.000271518149617,2.28147143872e-05,1793252733474715904 +80,1.333333333,BASELINE,768,748,725,698.421203258,671.421203258,641,895,793.421203258,821.421203258,655.421203258,633.578796742,655,0.400968323603,-0.0154014242503,0.0598374477272,0.999999943438,0.000198679219805,-0.000270414032996,2.29503498174e-05,1793252733491382784 +81,1.350000000,BASELINE,768,748,725,698.99584236,671.99584236,641,895,793.99584236,821.99584236,655.99584236,633.00415764,655,0.400969015489,-0.0154019415638,0.0598385374561,0.999999943759,0.000198864665965,-0.000269074568869,2.3084005435e-05,1793252733508049408 +82,1.366666667,BASELINE,767.429196174,747.429196174,724.429196174,699,671.429196174,641,894.429196174,793.429196174,821.429196174,656,633.570803826,655,0.400968392438,-0.0154019824681,0.0598374972244,0.999999943374,0.000199302934632,-0.00027018759354,2.30026031205e-05,1793252733524715776 +83,1.383333333,BASELINE,767.149829114,747,724.149829114,699,671,641,894.149829114,793.149829114,821,656,634,655,0.400968107142,-0.0154018533321,0.0598368044792,0.999999943209,0.00019957386257,-0.000270612716891,2.28467177162e-05,1793252733541382400 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+90,1.500000000,BASELINE,768.236474205,747.236474205,724.236474205,699.236474205,671,640.236474205,895,793,821.763525795,655.763525795,634,654.236474205,0.400977794802,-0.0153983018864,0.0598419551708,0.999999945818,0.000201366325473,-0.000259536679229,2.13520881539e-05,1793252740724105472 +91,1.516666667,BASELINE,768.815966191,747.815966191,724.815966191,699.815966191,671,640.815966191,895,793,821.184033809,655.184033809,634,654.815966191,0.400976430053,-0.0153983937531,0.0598407852281,0.999999945505,0.000200457243082,-0.000261454092235,2.12008847246e-05,1793252740740772352 +92,1.533333333,BASELINE,768.607638087,748,724.607638087,699.607638087,671,640.607638087,895,793,821,655.392361913,634,655,0.400976482466,-0.0153989808705,0.0598410400377,0.999999945594,0.000200394356094,-0.000261153927,2.12726259601e-05,1793252740757438976 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0000000000000000000000000000000000000000..64f1c61575baa6969c91fd821a39fdf18a39578e --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_05/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc2a2f88aef67822220820723892e83e30e4d72ccca7cb7511dca8275b97413d +size 26439174 diff --git a/Obstacle_avoidance/ball_0050_10/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_05/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5cef46b7514f400234c0cb4b3dc2ca9f10dcb574 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_05/depth_04/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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a/Obstacle_avoidance/ball_0050_10/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_05/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..924fcb3afa937ad45f97196e26921ae6b5a24694 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_05/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1baa03b05dad66ab0a8d54639d5c74ee837c7aee45c07aa107f922a56127553 +size 26511177 diff --git a/Obstacle_avoidance/ball_0050_10/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_05/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..531e7fdcdbb3c7183ec65f79963eea2b38423a9f --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_05/depth_05/franka_data.csv @@ -0,0 +1,418 @@ 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+22,0.366666667,BASELINE,768,747.236022903,724,699.236022903,671,641,894.763977097,793,821,656,634,655,0.400975568629,-0.0153961310132,0.0598383021108,0.999999947272,0.000188581812024,-0.000263948494347,1.49829392472e-05,1793252753779824896 +23,0.383333333,BASELINE,768.346782267,747.346782267,724,699,671,640.653217733,894.653217733,793,821,656,634,655,0.400975641075,-0.0153952934721,0.0598391778739,0.999999947656,0.000187836587342,-0.000263030075211,1.48757486598e-05,1793252753796491520 +24,0.400000000,BASELINE,768.92575446,747.92575446,724,699,671,640.07424554,894.07424554,793,821,656,634,655,0.400976625068,-0.0153943763526,0.059841046608,0.999999948391,0.000187210285567,-0.000260683273192,1.46446891428e-05,1793252753813157888 +25,0.416666667,BASELINE,768.495676519,748,724,699,671,640.504323481,894,793.504323481,821,656,634,655,0.400976696402,-0.0153955587541,0.0598405779922,0.999999947983,0.000188383491318,-0.000261395122637,1.47963771258e-05,1793252753829824512 +26,0.433333333,BASELINE,768,747.917710058,724,699.082289942,671,640.917710058,894.082289942,793.917710058,821,656,634,655,0.400976770334,-0.0153969317916,0.0598398989996,0.999999947639,0.000189036692822,-0.000262224082524,1.49913260603e-05,1793252753846491392 +27,0.450000000,BASELINE,768,747.342994192,724,699.657005808,671,640.342994192,894.657005808,793.342994192,821,656,634,655,0.400977663188,-0.0153975974884,0.0598400185672,0.999999948698,0.000184994146444,-0.000261061444073,1.51082349142e-05,1793252753863158272 +28,0.466666667,BASELINE,768.237109201,747.237109201,724.237109201,700,671,640,895,793,821.237109201,656,633.762890799,655,0.400978034645,-0.0153975706574,0.0598400099753,0.999999949104,0.000183656024977,-0.000260443772896,1.51894153154e-05,1793252753879825152 +29,0.483333333,BASELINE,768.825187171,747.825187171,724.825187171,700,671,640,895,793,821.825187171,656,633.174812829,655,0.40097763433,-0.0153965187476,0.0598398116819,0.999999948562,0.000186320990428,-0.000260632761731,1.52177104949e-05,1793252753896491776 +30,0.500000000,BASELINE,768.591565323,748,724.591565323,699.591565323,671,640,895,793,821.591565323,656,633,655,0.400976471976,-0.0153964497924,0.0598390950869,0.999999947865,0.000187720823105,-0.000262291403914,1.52690668821e-05,1793252753913158400 +31,0.516666667,BASELINE,768.010361138,748,724.010361138,699.010361138,671,640,895,793,821.010361138,656,633,655,0.400974987277,-0.0153967966309,0.0598381592481,0.999999947101,0.00018858549947,-0.000264571715355,1.5330178252e-05,1793252753929825280 +32,0.533333333,BASELINE,768,748,724,699,671,640.562723579,894.437276421,793,821,656,633.562723579,655,0.400975517616,-0.0153958519962,0.0598388090327,0.999999947284,0.000188988112368,-0.000263605038396,1.50846518599e-05,1793252753946492928 +33,0.550000000,BASELINE,768,748,724,699,671,641,894,793,821,656,634,655,0.400975858925,-0.015394914499,0.0598391716718,0.999999947368,0.000189420440853,-0.000262985856379,1.48910558964e-05,1793252753963160064 +34,0.566666667,BASELINE,768,748,724,699,671,641,894,793,821,656,634,655,0.400975473046,-0.0153940755652,0.0598385159872,0.999999947081,0.000189975584577,-0.000263676720779,1.48827873064e-05,1793252753979825920 +35,0.583333333,BASELINE,768,748,724.298975022,699.298975022,671,641,894.298975022,793,821,656,634,655,0.40097513596,-0.0153942816444,0.0598384499714,0.999999947038,0.000189678740374,-0.000264054365507,1.48874408938e-05,1793252753996492032 +36,0.600000000,BASELINE,768,748,724.890947366,699.890947366,671,641,894.890947366,793,821,656,634,655,0.400974846692,-0.0153955118425,0.0598389618346,0.999999947233,0.000188546942943,-0.000264125053152,1.4904758292e-05,1793252754013158656 +37,0.616666667,BASELINE,768.469681287,748,724.530318713,699.530318713,671,640.530318713,894.530318713,793,821,655.530318713,634,655,0.400976327332,-0.0153945025667,0.0598400979583,0.999999947154,0.00019143866267,-0.000262340341304,1.48284043139e-05,1793252754029825280 +38,0.633333333,BASELINE,768.954624996,748,724,699.045375004,671,640.045375004,894,793,821,655.045375004,634,655,0.400977910698,-0.0153933165472,0.0598411397659,0.999999947033,0.000194546454843,-0.000260514567843,1.47518756077e-05,1793252754046492160 +39,0.650000000,BASELINE,768.379522878,748,724,699.620477122,671,640.620477122,894,793,821,655.620477122,634,655,0.400976027299,-0.0153959710961,0.0598394347424,0.999999947309,0.000189569526368,-0.000263100833337,1.4920253922e-05,1793252754063158784 +40,0.666666667,BASELINE,768,747.800349349,724.199650651,700,671,641,894,793,821,655.800349349,633.800349349,655,0.400975255199,-0.0153973297048,0.059838665748,0.999999947503,0.00018698146395,-0.000264208652249,1.50045471646e-05,1793252754079825152 +41,0.683333333,BASELINE,768,747.213275256,724.786724744,700,671,641,894,793,821,655.213275256,633.213275256,655,0.400976639585,-0.0153961735327,0.0598397131245,0.999999947583,0.000189029012624,-0.000262447535398,1.49256727459e-05,1793252754096491520 +42,0.700000000,BASELINE,768.37079815,747.37079815,724.62920185,699.62920185,671,641,894.37079815,793,821,655.37079815,633.37079815,655,0.400977586115,-0.0153961349638,0.0598399452492,0.999999947714,0.000189316132943,-0.000261737760509,1.4987427774e-05,1793252754113158400 +43,0.716666667,BASELINE,768.953159458,747.953159458,724.046840542,699.046840542,671,641,894.953159458,793,821,655.953159458,633.953159458,655,0.400978282822,-0.0153967340563,0.0598397122225,0.999999947876,0.000188598820502,-0.000261627840954,1.51294205569e-05,1793252754129825280 +44,0.733333333,BASELINE,769,748,724,699,671,640.471682259,894.471682259,793,821,655.471682259,634,655,0.400978934963,-0.0153975213461,0.059839980871,0.999999948585,0.000185773016062,-0.000260940338094,1.51042896573e-05,1793252754146492416 +45,0.750000000,BASELINE,768.897044416,747.897044416,724,699.102955584,671,640,894.102955584,793,821,655.102955584,634,655,0.400979320536,-0.0153982685961,0.0598402719073,0.999999949121,0.0001836481968,-0.000260393488123,1.50849128063e-05,1793252754163159296 +46,0.766666667,BASELINE,768.321904134,747.321904134,724,699.678095866,671,640,894.678095866,793,821,655.678095866,634,655,0.400978501432,-0.0153987567164,0.0598404643734,0.999999948676,0.000185584126531,-0.00026072341202,1.51589675233e-05,1793252754179825664 +47,0.783333333,BASELINE,768,747,724,700,671,640.260729068,895,793,821,655.739270932,633.739270932,655,0.4009786069,-0.0153982772388,0.0598409585265,0.999999948421,0.000187708970847,-0.000260173395339,1.52452972297e-05,1793252754196492032 +48,0.800000000,BASELINE,768,747,724,700,671,640.852887065,895,793,821,655.147112935,633.147112935,655,0.400979887649,-0.0153965677875,0.0598418361727,0.999999948406,0.000190073956501,-0.000258504831523,1.53472304487e-05,1793252754213158400 +49,0.816666667,BASELINE,768,747.434242476,724,700,671,640.565757524,895,793,821,655,633.434242476,655,0.400979073162,-0.0153961201834,0.0598410005462,0.999999948382,0.000188609956058,-0.00025968787101,1.50083118356e-05,1793252754229825024 +50,0.833333333,BASELINE,768,748,724,700,671,640,894.988034146,793,821.011965854,655,633.988034146,655,0.400977624614,-0.0153960924829,0.0598396422645,0.999999948353,0.000185958266569,-0.000261727196814,1.45403331309e-05,1793252754246491648 +51,0.850000000,BASELINE,768,748,724,700,671,640,894.413186025,793,821.586813975,655,633.413186025,655,0.400978929644,-0.0153961960555,0.059840338702,0.999999948686,0.000186976243686,-0.000259705399493,1.48563683033e-05,1793252754263158528 +52,0.866666667,BASELINE,768,748,724,700,671,640,894,793,821.838868595,655,633.161131405,655,0.400979477267,-0.0153963407555,0.0598407444545,0.999999948838,0.000187539931705,-0.000258700742574,1.50571184312e-05,1793252754279825152 +53,0.883333333,BASELINE,768,748,724,700,671,640,894,793,821.265907576,655,633.734092424,655,0.400978089064,-0.0153965905715,0.0598404072565,0.999999948537,0.000186942519477,-0.000260295756159,1.49632158898e-05,1793252754296492032 +54,0.900000000,BASELINE,768,748,724,700,671,640.319049128,894.319049128,793,821,655.319049128,633.680950872,655,0.400976997038,-0.0153976650942,0.0598400820481,0.999999948494,0.000185532344263,-0.000261464595761,1.50196473911e-05,1793252754313158656 +55,0.916666667,BASELINE,768,748,724,700,671,640.914394036,894.914394036,793,821,655.914394036,633.085605964,655,0.4009761615,-0.0153994538111,0.0598397672226,0.999999948672,0.000183418318284,-0.000262264369631,1.52062678175e-05,1793252754329825280 +56,0.933333333,BASELINE,768,748,724,700,671,641,895,793,821,656,633.493818722,655,0.400976027685,-0.0153988336971,0.0598401019169,0.999999948654,0.000184007431355,-0.000261919195171,1.51993923674e-05,1793252754346491648 +57,0.950000000,BASELINE,768,747.92971837,724,700,671,641,894.92971837,793,821,655.92971837,634,655,0.40097601979,-0.0153977952641,0.0598403704436,0.999999948493,0.000185316518399,-0.000261612935398,1.51607453429e-05,1793252754363158272 +58,0.966666667,BASELINE,768,747.355322405,724,700,671,641,894.355322405,793,821,655.355322405,634,655,0.400976069792,-0.0153966580048,0.0598393819526,0.999999947538,0.000188533610815,-0.000262965008785,1.51272934148e-05,1793252754379825152 +59,0.983333333,BASELINE,768,747,724.224720664,700,671,641,894,793,821.224720664,655.224720664,634,655,0.400975936972,-0.0153960111796,0.0598389800929,0.999999947091,0.000190142356357,-0.000263508294775,1.50706284842e-05,1793252754396491776 +60,1.000000000,BASELINE,768,747,724.813923045,700,671,641,894,793,821.813923045,655.813923045,634,655,0.400975507626,-0.015396159805,0.0598395297092,0.999999947484,0.000189142472562,-0.000262739782527,1.49763136285e-05,1793252754413158400 +61,1.016666667,BASELINE,768,747.396919969,724.603080031,699.603080031,671,641,894,793.396919969,821.603080031,656,633.603080031,655,0.400976026512,-0.0153966058863,0.0598398187685,0.999999947693,0.000188690821042,-0.000262275816845,1.48645564166e-05,1793252754429825280 +62,1.033333333,BASELINE,768,747.977052508,724.022947492,699.022947492,671,641,894,793.977052508,821.022947492,656,633.022947492,655,0.400976983088,-0.015397189269,0.0598399875583,0.999999947817,0.000188492225743,-0.000261952425539,1.47447480688e-05,1793252754446491904 +63,1.050000000,BASELINE,768,748,724,699.552498004,671,641,894,793.447501996,821,656,633.552498004,654.447501996,0.400977936038,-0.0153979703278,0.0598406716886,0.999999948712,0.000185544118191,-0.000260629442366,1.49076475499e-05,1793252754463158528 +64,1.066666667,BASELINE,768,748,724,700,671.130305754,641,894.130305754,793.130305754,821,656,634,654.130305754,0.400978623614,-0.0153984411649,0.0598413586005,0.99999994939,0.000183653747124,-0.000259355231977,1.50313301704e-05,1793252754479825152 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+42,0.700000000,BASELINE,768,748,724.356944146,699,671.643055854,640,895,793.356944146,821,656,634,655,0.400936358328,-0.0154219670229,0.0499322765678,0.99999997477,7.03167985945e-05,-0.000209999596779,-3.76295242221e-05,1793252762356552192 +43,0.716666667,BASELINE,768,748,724.930518572,699,671.069481428,640,895,793.930518572,821,656,634,655,0.400934945121,-0.0154212213028,0.0499307287423,0.999999974293,7.12098745406e-05,-0.000211948876396,-3.77013849439e-05,1793252762373218560 +44,0.733333333,BASELINE,768,747.478175205,724.478175205,699,671,640,894.478175205,793.478175205,821,655.478175205,633.478175205,655,0.400935929378,-0.0154221569742,0.0499315910226,0.999999974625,7.01275954843e-05,-0.000210790398066,-3.74053205959e-05,1793252762389885184 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b/Obstacle_avoidance/ball_0050_10/position_06/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b793cf165844f69e0ae75512e59e67883630e5083711d49a1f0bc942638b0b7b +size 26156703 diff --git a/Obstacle_avoidance/ball_0050_10/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_06/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..a77ef3ae5eed50d5fa6ad6a34d2c7b52043d3d6b --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_06/depth_02/franka_data.csv @@ -0,0 +1,413 @@ +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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+75,1.250000000,BASELINE,768,748,724,698.470924212,672.529075788,640.470924212,894,794,821.470924212,656,633.529075788,655,0.40098342255,-0.0154081994153,0.049851780806,0.999999961519,-8.80543883041e-05,-0.00025818677049,-5.04874177486e-05,1793252769973195264 +76,1.266666667,BASELINE,768.11836833,748,724,698.11836833,672.88163167,640,894.11836833,794,821,656,634,655,0.400982870896,-0.0154067321987,0.049851148156,0.999999961348,-8.72531662137e-05,-0.000259064580339,-5.07642595299e-05,1793252769989862144 +77,1.283333333,BASELINE,768.697444851,748,724,698.697444851,672.302555149,640,894.697444851,794,821,656,634,655,0.40098258658,-0.0154080962167,0.0498518261927,0.999999961329,-8.75521539763e-05,-0.000259057694391,-5.06544269505e-05,1793252770006529536 +78,1.300000000,BASELINE,768.725187528,748,724,699,672.274812472,640,894.725187528,793.725187528,821,656,634,655,0.400982661985,-0.0154090729446,0.0498523998299,0.999999961427,-8.87215369729e-05,-0.000258308267535,-5.05012542375e-05,1793252770023196672 +79,1.316666667,BASELINE,768.149689735,748,724,699,672.850310265,640,894.149689735,793.149689735,821,656,634,655,0.400983130976,-0.0154096259199,0.0498528592387,0.999999961649,-9.08432605357e-05,-0.000256746391552,-5.03006610416e-05,1793252770039863296 +80,1.333333333,BASELINE,768,748,724,699,672.565769868,640,894.434230132,793.434230132,821.434230132,656,634,655,0.400982479671,-0.0154084690492,0.0498524001013,0.999999961468,-8.98011261709e-05,-0.000257798149253,-5.04066129561e-05,1793252770056529408 +81,1.350000000,BASELINE,768,748,724,698.97915617,672,640,894.97915617,793.97915617,822,656,634,655,0.400981547093,-0.0154067773554,0.0498516899063,0.999999961183,-8.76595664794e-05,-0.000259595889504,-5.06026474297e-05,1793252770073195520 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+95,1.583333333,BASELINE,768.147276042,748,724,699,672.852723958,640,894.147276042,794,821.147276042,656,633.852723958,655,0.400986148233,-0.0154085806936,0.0498547067168,0.999999962637,-9.01486200292e-05,-0.000253204236552,-4.98594561329e-05,1793252770306528256 +96,1.600000000,BASELINE,768.7230513,748,724,699,672.2769487,640,894.7230513,794,821.7230513,656,633.2769487,655,0.400983789448,-0.0154078235425,0.0498533627472,0.999999962225,-8.99288974164e-05,-0.000254843948092,-5.01795845382e-05,1793252770323195136 +97,1.616666667,BASELINE,768.701993455,748,724,699,672,640,895,793.701993455,821.701993455,656,633,655,0.400982682523,-0.0154076101951,0.0498530422635,0.999999962058,-8.90826250894e-05,-0.000255769789695,-5.03091298729e-05,1793252770339861760 +98,1.633333333,BASELINE,768.127798224,748,724,699,672,640,895,793.127798224,821.127798224,656,633,655,0.400982735807,-0.015407900838,0.0498536703336,0.999999962118,-8.76556744455e-05,-0.000256034025595,-5.02620452155e-05,1793252770356528384 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0000000000000000000000000000000000000000..22feb78b74d810aff298cff6faada402e103131e --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_06/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7e28147ec9cf4d2407a4dceabaaaea274344b9c74f6eb229aabca2d956fe4d9 +size 26340096 diff --git a/Obstacle_avoidance/ball_0050_10/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_06/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ecbd2657a0043cd6ccd46b9837a36795a5e17cea --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_06/depth_03/franka_data.csv @@ -0,0 +1,416 @@ +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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+26,0.433333333,BASELINE,768.113394651,748,724,699,672,640.886605349,894,794,822,655.113394651,633.113394651,655,0.40099312328,-0.0154063494482,0.0498560376625,0.99999996621,-5.80312169154e-05,-0.000248730551128,-4.84229772167e-05,1793252776222767872 +27,0.450000000,BASELINE,768.692670401,748,724,699,672,640.307329599,894,794,822,655.692670401,633.692670401,655,0.400992866925,-0.0154046345219,0.0498554895232,0.99999996614,-5.68523669569e-05,-0.000249229405158,-4.87081881511e-05,1793252776239434752 +28,0.466666667,BASELINE,769,748,724,698.730134421,671.730134421,640,894,794,821.730134421,656,634,655,0.400992028781,-0.0154044689864,0.0498549031875,0.999999965958,-5.62239752613e-05,-0.000250095234166,-4.8744286784e-05,1793252776256101632 +29,0.483333333,BASELINE,769,748,724,698.155290558,671.155290558,640,894,794,821.155290558,656,634,655,0.400990533148,-0.0154060544359,0.0498542736854,0.999999965649,-5.62176630351e-05,-0.000251375785908,-4.8498860639e-05,1793252776272768000 +30,0.500000000,BASELINE,768.571857489,748,724,698.428142511,671.428142511,640,894,794,821,656,634,654.571857489,0.400991851172,-0.0154052608721,0.0498550473768,0.999999966148,-5.56218440091e-05,-0.000249460470115,-4.87769070491e-05,1793252776289435136 +31,0.516666667,BASELINE,768,748,724,699,672,640,894,794,821.014570486,656,633.985429514,654.014570486,0.40099414094,-0.0154036084476,0.0498563099445,0.999999966914,-5.47981276108e-05,-0.000246467048375,-4.92305590522e-05,1793252776306102272 +32,0.533333333,BASELINE,768,748,724,699,672,640,894,794,821.593858101,656,633.406141899,654.593858101,0.400993729909,-0.0154027967068,0.0498563907137,0.999999966727,-5.35984074091e-05,-0.000247535047246,-4.89808029172e-05,1793252776322768640 +33,0.550000000,BASELINE,768,748,724,698.827842653,672,640,894,794,822,656,633.172157347,655,0.400993137001,-0.0154027140066,0.0498562401041,0.999999966476,-5.34688037964e-05,-0.000248612453142,-4.87977229831e-05,1793252776339435264 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+38,0.633333333,BASELINE,768.925733978,748,724,698,672,640,894,793.074266022,821.074266022,656,634,655,0.400993914744,-0.0154066895721,0.0498572482434,0.999999966684,-5.64074141351e-05,-0.000247282008502,-4.79736759048e-05,1793252776422768128 +39,0.650000000,BASELINE,768.346909714,748,724,698,672,640,894,793.653090286,821.653090286,656,634,655,0.40099408493,-0.0154044420425,0.0498573100503,0.999999966878,-5.34613729913e-05,-0.000247114562272,-4.81785940354e-05,1793252776439434752 +40,0.666666667,BASELINE,768,748,724,698,672,640,894,794,822,656,634,655,0.40099408018,-0.0154035542664,0.0498573043194,0.999999966895,-5.26716778789e-05,-0.000247203437803,-4.82309636161e-05,1793252776456101376 +41,0.683333333,BASELINE,768,748,724,698,672,640,894,794,822,656,634,655,0.400993813753,-0.0154047004793,0.0498571975619,0.999999966655,-5.51075559495e-05,-0.000247675732586,-4.80551432391e-05,1793252776472768000 +42,0.700000000,BASELINE,768.380506676,748,724,698,672,640,894,794,821.619493324,656,633.619493324,654.619493324,0.400993616471,-0.0154058309606,0.0498569077072,0.999999966597,-5.6478107593e-05,-0.00024758111919,-4.81626846798e-05,1793252776489434624 +43,0.716666667,BASELINE,768.957042018,748,724,698,672,640,894,794,821.042957982,656,633.042957982,654.042957982,0.400993454813,-0.0154069533374,0.0498565235249,0.999999966634,-5.72998264316e-05,-0.000247194447163,-4.84162078984e-05,1793252776506100992 +44,0.733333333,BASELINE,768.453475762,747.453475762,724,698,672,640,894,793.453475762,821,656,633,654.546524238,0.400992138033,-0.0154067486197,0.0498556834847,0.999999966259,-5.56365727469e-05,-0.000249090450441,-4.83686599807e-05,1793252776522767872 +45,0.750000000,BASELINE,768,747.133992054,724,698.133992054,672,640,894,793,821.133992054,656,633,655,0.400990952262,-0.0154063630043,0.0498551051603,0.999999965928,-5.47059761576e-05,-0.000250621920875,-4.83667602669e-05,1793252776539434496 +46,0.766666667,BASELINE,768,747.711345384,724,698.711345384,672,640,894,793,821.711345384,656,633,655,0.400990507702,-0.0154057323539,0.0498555142554,0.999999965868,-5.68616244287e-05,-0.000250339109775,-4.85961078796e-05,1793252776556101376 +47,0.783333333,BASELINE,768,748,724,699,672,640,893.714587855,793.285412145,821.714587855,656,633.285412145,655,0.400990180802,-0.015405054252,0.0498556697277,0.999999965836,-5.69095797511e-05,-0.000250437080907,-4.86917123714e-05,1793252776572768256 +48,0.800000000,BASELINE,768,748,724,699,672,640,893.143807092,793.856192908,821.143807092,656,633.856192908,655,0.400989971543,-0.0154043287057,0.0498555716158,0.999999965833,-5.48501638242e-05,-0.000250915776162,-4.8653594167e-05,1793252776589434880 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+56,0.933333333,BASELINE,768.488861082,748,724,698.488861082,672,640,894,793,821,655.488861082,633,655,0.400992695651,-0.0154052510939,0.049856456409,0.999999966438,-5.58723012252e-05,-0.000248279773312,-4.85748930559e-05,1793252776722767872 +57,0.950000000,BASELINE,768.100778306,748,724,698,672,640,894,793,821,655.100778306,633.100778306,654.899221694,0.400992228856,-0.0154062358741,0.0498563470507,0.999999966299,-5.82679441749e-05,-0.000248326075082,-4.83914193223e-05,1793252776739434752 +58,0.966666667,BASELINE,768.676889342,748,724,698,672,640,894,793,821,655.676889342,633.676889342,654.323110658,0.400992107067,-0.0154052445235,0.0498562904059,0.999999966567,-5.56252330814e-05,-0.000247872192943,-4.82860098938e-05,1793252776756101376 +59,0.983333333,BASELINE,768.746947069,748,724,698.253052931,672,640,894,793.253052931,821,656,633.746947069,654.253052931,0.400991879559,-0.0154049098561,0.0498561303931,0.999999966595,-5.43120901088e-05,-0.00024806713855,-4.81962677467e-05,1793252776772768000 +60,1.000000000,BASELINE,768.170716284,748,724,698.829283716,672,640,894,793.829283716,821,656,633.170716284,654.829283716,0.400991517036,-0.0154054138488,0.0498558383672,0.999999966323,-5.46969590042e-05,-0.000249090712153,-4.81265345155e-05,1793252776789434880 +61,1.016666667,BASELINE,768,748,724,698.585389133,672,640,894,793.585389133,821,655.585389133,633,655,0.400991256538,-0.0154048286834,0.0498552980168,0.999999966264,-5.41759373881e-05,-0.000249382651203,-4.84337663834e-05,1793252776806101504 +62,1.033333333,BASELINE,768,748,724,698,672.003703767,640,894,793.003703767,821,655.003703767,633.003703767,655,0.400991042161,-0.015403798849,0.0498546614407,0.999999966292,-5.32878467131e-05,-0.000249369044955,-4.88958188398e-05,1793252776822767872 +63,1.050000000,BASELINE,768,748,724,698,672.582904288,640,894,793.582904288,821,655.582904288,633.582904288,655,0.400991320305,-0.015404921409,0.0498553169491,0.999999966135,-5.46215408987e-05,-0.000249738181363,-4.87554971672e-05,1793252776839434752 +64,1.066666667,BASELINE,768,748,724,698.160665356,672.839334644,640,894,794,821.160665356,656,633.839334644,655,0.400991685614,-0.0154055321188,0.0498559012881,0.999999966185,-5.48252834251e-05,-0.000249531245461,-4.8561032051e-05,1793252776856101376 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0000000000000000000000000000000000000000..22eaedf0e2b41cea35a1f59f2f423ead2753c4d8 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_06/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60b0903eb3c3f3249ac7c1364f24965744e2acc796a67a721ecbe3b730fecc85 +size 26410404 diff --git a/Obstacle_avoidance/ball_0050_10/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_06/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..f3766190c2f1401a0f60c402a051f6b5c77e556f --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_06/depth_04/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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+55,0.916666667,BASELINE,768.931188478,748,724,698,672,640,894,794,821.068811522,656,634,655,0.40098835436,-0.0154026516369,0.0498538628172,0.999999966902,-1.97837074223e-05,-0.000252870086218,-4.31482064064e-05,1793252783772406528 +56,0.933333333,BASELINE,768.481371751,748,724,698,672,640,894,794,821.518628249,656,634,655,0.400989164773,-0.0154034718347,0.04985432429,0.999999967191,-2.09605813952e-05,-0.000251647573712,-4.30262992536e-05,1793252783789072896 +57,0.950000000,BASELINE,768,747.893467908,724,698.106532092,672,640,894,793.893467908,821.893467908,656,633.893467908,655,0.400989987323,-0.0154040013593,0.0498548321566,0.99999996751,-2.16813171945e-05,-0.000250331040822,-4.29487534983e-05,1793252783805739520 +58,0.966666667,BASELINE,768,747.312481198,724,698.687518802,672,640,894,793.312481198,821.312481198,656,633.312481198,655,0.400989428349,-0.015403440362,0.0498547122766,0.999999967386,-2.05822795816e-05,-0.000250871009819,-4.32295958048e-05,1793252783822406144 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0000000000000000000000000000000000000000..c2cdf98627d617f423a3991b78d08c77bf46b6a4 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_07/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67a90bbadc835f48f5b8b74eeff81b857d556f7514b9cf65e5a1dc7d5bbc28ad +size 26293152 diff --git a/Obstacle_avoidance/ball_0050_10/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_07/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..f56136e6050b8d00237094c8b7197865f4f91562 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_07/depth_01/franka_data.csv @@ -0,0 +1,415 @@ +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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+16,0.266666667,BASELINE,768.658722745,748,725,700,671.341277255,641,896,793.341277255,823,656,634,655.658722745,0.401013094971,-0.0155013803345,0.069838639502,0.999999983301,5.17594914862e-05,-0.000175003242583,9.58588665714e-06,1793252798777654784 +17,0.283333333,BASELINE,768.079812566,748,725,700,671.920187434,641,896,793.920187434,823,656,634,655.079812566,0.40101441531,-0.0155005508972,0.06983898095,0.999999983524,5.2507725903e-05,-0.000173518833823,9.32574714371e-06,1793252798794321408 +18,0.300000000,BASELINE,768.496183596,748.496183596,725,700,672,641,896,794,823,655.503816404,634,655,0.40101304548,-0.0155001845544,0.069838004549,0.999999983179,5.32537052102e-05,-0.000175254490377,9.60738122301e-06,1793252798810988032 +19,0.316666667,BASELINE,769,748.928309256,725,700,671.928309256,641,896,793.928309256,823,655,634,655,0.401011374215,-0.0155001385336,0.069836925115,0.9999999828,5.3443939837e-05,-0.00017732813823,9.91806394677e-06,1793252798827655168 +20,0.333333333,BASELINE,769,748.352963855,725,700,671.352963855,641,896,793.352963855,823,655,634,655,0.401010607538,-0.0155018226308,0.0698366023783,0.999999982845,4.97323909003e-05,-0.000178158705735,9.82416634533e-06,1793252798844322560 +21,0.350000000,BASELINE,768.770341756,748,725,700,671.229658244,641,896,793,823,655,634,655,0.401010285043,-0.0155029145162,0.0698367871728,0.999999982864,4.8032447515e-05,-0.000178516578618,9.80610129594e-06,1793252798860989696 +22,0.366666667,BASELINE,768.176170144,748,725,700,671.823829856,641,896,793,823,655,634,655,0.401010667556,-0.0155030664436,0.0698377775206,0.99999998286,4.95253230836e-05,-0.000178124190927,9.90839761701e-06,1793252798877656320 +23,0.383333333,BASELINE,768,748,725,700,671.594458216,641,896,793,823,655,634,655,0.401011067332,-0.0155025347254,0.0698382117611,0.999999982909,5.1469027293e-05,-0.0001772974622,9.97028594125e-06,1793252798894323200 +24,0.400000000,BASELINE,768,748,725,700,671.017997473,641,896,793,823,655,634,655,0.401011474383,-0.0155017148791,0.0698384116257,0.999999982975,5.36027371098e-05,-0.000176287676796,1.00151439879e-05,1793252798910990080 +25,0.416666667,BASELINE,768,748.558461917,724.441538083,700,671.558461917,641,896,793.558461917,823,655.558461917,634,655,0.401011204281,-0.015501156502,0.0698377103357,0.999999982921,5.20734773461e-05,-0.000177064362945,9.68511444894e-06,1793252798927656192 +26,0.433333333,BASELINE,768,748.862329452,724.137670548,700,671.862329452,640.862329452,896,793.862329452,823,656,634,655,0.401011217554,-0.0155007038144,0.0698373349657,0.999999982909,5.09708207769e-05,-0.000177463913689,9.46420150097e-06,1793252798944322560 +27,0.450000000,BASELINE,768,748.274123474,724.725876526,700,671.274123474,640.274123474,896,793.274123474,823,656,634,655,0.401012229607,-0.0155005694264,0.0698381212288,0.999999983054,5.16505612213e-05,-0.000176440856892,9.63991649441e-06,1793252798960989440 +28,0.466666667,BASELINE,768,748,725,700,671.308997571,640.308997571,896,793.308997571,823,655.691002429,634,655,0.401012148267,-0.0155008600937,0.0698384409203,0.999999983131,5.18208887289e-05,-0.000175951074055,9.68945354296e-06,1793252798977656320 +29,0.483333333,BASELINE,768,748,725,700,671.887680576,640.887680576,896,793.887680576,823,655.112319424,634,655,0.401011112642,-0.0155015217388,0.0698383533996,0.99999998315,5.15466131897e-05,-0.000175926719597,9.62886559294e-06,1793252798994323200 +30,0.500000000,BASELINE,768.464271165,748,725,700,671.535728835,641,896.464271165,794,823,655,634,655,0.40101158417,-0.0155019484444,0.0698383084917,0.999999983169,5.2126004003e-05,-0.000175640388876,9.80197817668e-06,1793252799010990080 +31,0.516666667,BASELINE,769,748,725.040461804,700,671,641,896.959538196,794,823,655.040461804,634,655,0.401012219735,-0.0155022904053,0.0698381809476,0.999999983147,5.28290410951e-05,-0.000175541703299,1.00063428641e-05,1793252799027656704 +32,0.533333333,BASELINE,769,748,725.618032924,700,671,641,896.381967076,794,823,655.618032924,634,655,0.401010214378,-0.0155022585343,0.0698368202177,0.999999982596,5.24442150139e-05,-0.000178771456773,9.87841364614e-06,1793252799044322816 +33,0.550000000,BASELINE,769,748,725.800790746,700,671.398418507,640.800790746,896,794,822.800790746,656,634,654.800790746,0.401009651459,-0.0155019383704,0.0698365676819,0.999999982464,5.2207812698e-05,-0.000179587576055,9.77215785818e-06,1793252799060988928 +34,0.566666667,BASELINE,769,748,725.212574388,700,672.574851224,640.212574388,896,794,822.212574388,656,634,654.212574388,0.401011905273,-0.015501055241,0.0698384791791,0.999999983154,5.22612458553e-05,-0.000175690455833,9.70822501007e-06,1793252799077655040 +35,0.583333333,BASELINE,768.630444474,748,725,700,672.630444474,640.369555526,896,793.630444474,822.369555526,655.630444474,633.630444474,654.369555526,0.401013632472,-0.0155004820981,0.0698397227917,0.999999983472,5.19888872553e-05,-0.000173953403268,9.61230186211e-06,1793252799094321408 +36,0.600000000,BASELINE,768.051758803,748,725,700,672.051758803,640.948241197,896,793.051758803,822.948241197,655.051758803,633.051758803,654.948241197,0.401015061662,-0.0155000843754,0.0698405884509,0.999999983587,5.15321642746e-05,-0.000173438724873,9.49827551232e-06,1793252799110988032 +37,0.616666667,BASELINE,768.523206063,748,725,700,671.476793937,640.476793937,896,793,823.523206063,655.523206063,633.523206063,655,0.401013107687,-0.0155011996164,0.0698396915867,0.999999983316,5.08822940394e-05,-0.000175173331834,9.69953491398e-06,1793252799127655168 +38,0.633333333,BASELINE,768.902439776,748,725,700,671,640.097560224,896,793,823.902439776,656,634,655,0.401011072125,-0.0155021289855,0.0698387133362,0.999999983001,5.08597566847e-05,-0.000176954552616,9.92137778411e-06,1793252799144322048 +39,0.650000000,BASELINE,768.329280836,748,725,700,671,640.670719164,896,793,823.329280836,656,634,655,0.401010258864,-0.015501427757,0.0698381823216,0.99999998267,5.39879085008e-05,-0.000177885937019,1.00925882174e-05,1793252799160988416 +40,0.666666667,BASELINE,768,748,725,700,671,641,896,793,823,655.747414985,634,655,0.401010920243,-0.0155011436366,0.0698384794773,0.999999982764,5.52576122304e-05,-0.000176968025254,1.00862160953e-05,1793252799177655040 +41,0.683333333,BASELINE,768,748,725,700,671,641,896,793,823,655.153793218,634,655,0.40101357266,-0.0155014226895,0.0698398948171,0.999999983432,5.4018065183e-05,-0.000173553219639,9.84007448255e-06,1793252799194321664 +42,0.700000000,BASELINE,768,748,725,700,671,641,896.429355748,793.429355748,823,655.429355748,634.429355748,655,0.401013065766,-0.0155007411831,0.0698395126349,0.999999983425,5.26381513325e-05,-0.000174039365018,9.46257517443e-06,1793252799210988032 +43,0.716666667,BASELINE,768,748,725,700,671,641,896.991223718,793.991223718,823,656,634.991223718,655,0.401011488226,-0.0154997513243,0.0698385297178,0.999999983184,5.12276217941e-05,-0.000175857252738,9.05121815648e-06,1793252799227654656 +44,0.733333333,BASELINE,768,748,725,700,671,641,896.416090357,793.416090357,823,656,634.416090357,655,0.401012108588,-0.0155005375819,0.0698393406778,0.999999983239,5.10087414272e-05,-0.000175591464122,9.41900557227e-06,1793252799244322048 +45,0.750000000,BASELINE,768,748,725,700,671,641,896.162137807,793,823,656,634,655,0.401012637824,-0.01550111018,0.0698398182422,0.999999983246,5.1431720295e-05,-0.000175411266779,9.65222190816e-06,1793252799260989184 +46,0.766666667,BASELINE,768,748,725,700,671,641,896.748462542,793,823,656,634,655,0.401012928654,-0.0155011237991,0.0698394235732,0.999999983129,5.35339392426e-05,-0.000175454994417,9.53337166742e-06,1793252799277656576 +47,0.783333333,BASELINE,768,748,725,700,671,641,896.667470687,793.332529313,823,655.667470687,634,655,0.40101183498,-0.0155006566076,0.0698387550533,0.999999982971,5.33856595984e-05,-0.000176411261871,9.32459333988e-06,1793252799294323968 +48,0.800000000,BASELINE,768,748,725,700,671,641,896.085100344,793.914899656,823,655.085100344,634,655,0.401009701079,-0.0154998281663,0.0698378807797,0.999999982779,5.15465010098e-05,-0.000178053152759,9.0482488485e-06,1793252799310991360 +49,0.816666667,BASELINE,768.490159024,748,725,700,671,641,896,793.509840976,823,655.490159024,634,655,0.401010130179,-0.0154993562395,0.0698382393939,0.999999982754,5.2867089386e-05,-0.000177796975495,9.19094790494e-06,1793252799327656960 +50,0.833333333,BASELINE,768.935799665,748,725,700,671.064200335,641,896,793,823,655.935799665,634,655,0.401010974691,-0.0154989317275,0.0698387601526,0.999999982751,5.47518426158e-05,-0.00017723462008,9.37757134717e-06,1793252799344322304 +51,0.850000000,BASELINE,768.361766942,748,725,700,671.638233058,641,896,793,823,655.361766942,634,655,0.401011634907,-0.0154983992353,0.0698388930126,0.999999982709,5.68225916726e-05,-0.000176820352467,9.34351750843e-06,1793252799360988672 +52,0.866666667,BASELINE,768,748,725,699.780634919,671.780634919,641,896,793.219365081,823,655,634,654.780634919,0.401011937153,-0.0154987476941,0.0698391696307,0.999999982798,5.63371073682e-05,-0.000176471884945,9.37203528742e-06,1793252799377655040 +53,0.883333333,BASELINE,768,748,725,699.187403516,671.187403516,641,896,793.812596484,823,655,634,654.187403516,0.401011629304,-0.0155005975674,0.069839691257,0.999999983099,5.14950062983e-05,-0.000176235561265,9.50719456484e-06,1793252799394321664 +54,0.900000000,BASELINE,768,748,725,699.395623011,671,641,896,794,823,655,634,654.395623011,0.401010770871,-0.0154992409849,0.0698394552338,0.999999982932,5.31226883629e-05,-0.000176711255237,9.37086785204e-06,1793252799410988800 +55,0.916666667,BASELINE,768,748,725,699.973937108,671,641,896,794,823,655,634,654.973937108,0.401009658189,-0.0154964037229,0.0698388693425,0.999999982536,5.77379917712e-05,-0.000177515745249,9.10917413532e-06,1793252799427656448 +56,0.933333333,BASELINE,768,748,725,699.452069642,671,641,896,794,823,655.547930358,634,655,0.401010625173,-0.0154973484412,0.0698390166776,0.999999982772,5.54020385266e-05,-0.000176927046541,9.15900339465e-06,1793252799444323072 +57,0.950000000,BASELINE,768.121480343,748,725,699.121480343,671,640.878519657,896,793.878519657,823,655.878519657,634,655,0.401011675502,-0.0154981330196,0.0698393996924,0.999999982989,5.401380122e-05,-0.000176122136481,9.26140955314e-06,1793252799460989184 +58,0.966666667,BASELINE,768.694141253,748,725,699.694141253,671,640.305858747,896,793.305858747,823,655.305858747,634,655,0.401012670854,-0.0154976599326,0.0698405295074,0.999999983039,5.73638121181e-05,-0.000174758410008,9.50448392396e-06,1793252799477655552 +59,0.983333333,BASELINE,768.7224967,748,725,700,671,640.2775033,896,793.2775033,823,655.2775033,634,655,0.401012494954,-0.0154980742556,0.0698403501658,0.999999982941,5.79644526643e-05,-0.000175121312961,9.53268407787e-06,1793252799494322176 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+53,0.883333333,BASELINE,767.227707727,748,724.227707727,700,671.772292273,640,895,793,822.772292273,655,633.772292273,654.772292273,0.400957700645,-0.0153752290766,0.0698145030832,0.999999931872,0.000220170944182,-0.000296112396323,9.89382431725e-06,1793252806458926848 +54,0.900000000,BASELINE,767.349180617,748,724.349180617,700,672,640,895,793,823,655,634,655,0.400957480856,-0.0153755436945,0.0698142981927,0.999999932114,0.000218549636297,-0.000296503181832,9.69402532074e-06,1793252806475593472 +55,0.916666667,BASELINE,767.924459784,748,724.924459784,700,672,640,895,793,823,655,634,655,0.400957623475,-0.0153766466864,0.0698143807193,0.999999932949,0.000214536955039,-0.000296625270198,9.42521519721e-06,1793252806492260096 +56,0.933333333,BASELINE,768,748,725,700,672,640,895,793,823,655,634,655,0.400957318109,-0.0153754381665,0.0698147405561,0.999999932689,0.000216245616206,-0.000296261489153,9.47026355638e-06,1793252806508926720 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+65,1.083333333,BASELINE,769,748,724.266211761,700,671.266211761,640.733788239,895,793,822.266211761,655,634,654.733788239,0.400957956012,-0.0153763081265,0.0698154680973,0.999999933634,0.000213901115524,-0.000294768277888,9.44587449328e-06,1793252806658926848 +66,1.100000000,BASELINE,768.688643426,748,724.311356574,700,671.311356574,640.688643426,895,793,822.311356574,655,634,655,0.400957240842,-0.0153755712712,0.0698152326137,0.999999933381,0.000214111806423,-0.000295477087004,9.31781635847e-06,1793252806675593472 +67,1.116666667,BASELINE,768.112339875,748,724.887660125,700,671.887660125,640.112339875,895,793,822.887660125,655,634,655,0.40095705735,-0.0153737281134,0.0698151313953,0.99999993277,0.000216765165711,-0.000295622632537,8.92538422991e-06,1793252806692260096 +68,1.133333333,BASELINE,768,748,725,699.536720066,672,640.463279934,895,793,822.536720066,655,634,655,0.400957761152,-0.0153736284242,0.069814989541,0.999999932317,0.000218863529514,-0.000295604988005,9.03574880077e-06,1793252806708926976 +69,1.150000000,BASELINE,768,748,725,699.039700602,672,640.960299398,895,793,822.039700602,655,634,655,0.400958595975,-0.0153739893775,0.0698148389912,0.999999931925,0.000220670748104,-0.000295581151428,9.2578195e-06,1793252806725593856 +70,1.166666667,BASELINE,768,748,725,699.629511772,672,640.370488228,895,793,822.629511772,655,634,655,0.400958269339,-0.0153748837371,0.0698147042899,0.999999931875,0.000220305771212,-0.000296019030657,9.34082057553e-06,1793252806742260480 +71,1.183333333,BASELINE,768,748,724.784701284,699.784701284,671.784701284,640,895,793,822.784701284,655,633.784701284,655,0.400958013686,-0.0153748967145,0.0698145798943,0.999999931886,0.000220094221207,-0.000296139260192,9.33771174198e-06,1793252806758927104 +72,1.200000000,BASELINE,768,748,724.205712115,699.205712115,671.205712115,640,895,793,822.205712115,655,633.205712115,655,0.400957877937,-0.0153734208292,0.0698144729075,0.999999932001,0.000220141845446,-0.000295722904333,9.18914291918e-06,1793252806775593728 +73,1.216666667,BASELINE,768,748,724,699,671.36919235,640.36919235,895,793,822.36919235,655,633.36919235,655,0.400958646466,-0.0153728672636,0.069815035804,0.999999932065,0.000220928145534,-0.000294918864829,9.16545026286e-06,1793252806792260352 +74,1.233333333,BASELINE,768,748,724,699,671.941845709,640.941845709,895,793,822.941845709,655,633.941845709,655,0.400959913341,-0.0153728219863,0.0698159678715,0.9999999321,0.000222121528089,-0.000293901173833,9.21057656818e-06,1793252806808926976 +75,1.250000000,BASELINE,768,748,724,699.52076314,672,640.47923686,895,793,822.47923686,655,633.47923686,654.47923686,0.400960504634,-0.0153750113202,0.0698165250083,0.999999933059,0.000219459548452,-0.000292617526163,9.76015059434e-06,1793252806825593600 +76,1.266666667,BASELINE,768,748,724.102051773,700,672,640.102051773,895,793,822,655,633.102051773,654.102051773,0.400960591525,-0.0153767208212,0.069816789562,0.999999933776,0.000217130849804,-0.0002918866111,1.01733398048e-05,1793252806842260480 +77,1.283333333,BASELINE,768,748,724.691280053,700,672,640.691280053,895,793,822,655,633.691280053,654.691280053,0.400958635029,-0.0153749339159,0.0698158596855,0.999999932888,0.000218473484162,-0.000293937847749,9.66325846656e-06,1793252806858927360 +78,1.300000000,BASELINE,768,748,725,700,672,640.725872143,895,793,822,655,633.725872143,655,0.400957597635,-0.0153737321699,0.0698150836983,0.999999932044,0.000220475100854,-0.000295319429588,9.45288880203e-06,1793252806875593984 +79,1.316666667,BASELINE,768,748,725,700,672,640.150046555,895,793,822,655,633.150046555,655,0.400957571779,-0.0153731744345,0.0698144770773,0.999999931247,0.000223201975649,-0.000295964007261,9.57237375923e-06,1793252806892260608 +80,1.333333333,BASELINE,768,748,724.575062086,700,672,640,895,793,822.424937914,655,633,655,0.400959050686,-0.0153745051957,0.0698154686851,0.999999932166,0.00022156040347,-0.000294080369747,9.76010927007e-06,1793252806908926976 +81,1.350000000,BASELINE,768,748,724.000373984,700,672,640,895,793,822.999626016,655,633,655,0.400961059878,-0.0153765014722,0.0698170235166,0.999999933676,0.000218379369541,-0.000291305776951,9.97189661764e-06,1793252806925593600 +82,1.366666667,BASELINE,768,748,724.590869115,700,671.409130885,640,895,793,822.409130885,655,633,655,0.400959504228,-0.0153767706567,0.069816620297,0.999999933593,0.000216301112701,-0.00029314590437,9.69095493698e-06,1793252806942260224 +83,1.383333333,BASELINE,768,748,725,700,671.178387921,640,895,793,822,655,633,654.821612079,0.400958441576,-0.0153765859273,0.0698163361776,0.999999933363,0.000215623689631,-0.000294429874538,9.5222888638e-06,1793252806958926848 +84,1.400000000,BASELINE,768,748,725,700,671.757516169,640,895,793,822,655,633,654.242483831,0.400958491636,-0.0153753840275,0.0698163224756,0.999999932819,0.00021809156212,-0.000294457712508,9.60656555758e-06,1793252806975593728 +85,1.416666667,BASELINE,767.667115026,747.667115026,724.667115026,699.667115026,671.667115026,640,895,793,822.332884974,655,633,654.332884974,0.400958184301,-0.0153750829515,0.0698159959306,0.9999999325,0.000219269578217,-0.000294663499746,9.74804861255e-06,1793252806992260608 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a/Obstacle_avoidance/ball_0050_10/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_07/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..1697fe7f7df995018844fcc504b5e2a69e3d492c --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_07/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:934d34b0f1e35194a995ee019a6146fc8a547f8f9e0de1738cb61d7a34a24a6a +size 26358566 diff --git a/Obstacle_avoidance/ball_0050_10/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_07/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..784be891a7955a5b6f472497fdaa46d2be8ec83d --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_07/depth_04/franka_data.csv @@ -0,0 +1,416 @@ 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+67,1.116666667,BASELINE,768.885334072,748,725,700,672,640,894.114665928,793,822,655,634,654.885334072,0.400960174534,-0.0153533422571,0.0698163363703,0.999999926701,0.000244294414363,-0.000294786345504,4.4229973788e-06,1793252820881317888 +68,1.133333333,BASELINE,768.538447265,748,725,700.461552735,672,640,894,793,822,655,633.538447265,655,0.400959511669,-0.0153535928886,0.069815973288,0.999999926535,0.00024435137693,-0.000295299248608,4.62333769425e-06,1793252820897984512 +69,1.150000000,BASELINE,768,748,724.961790625,700.961790625,671.961790625,640,894,793,822.038209375,655,633.038209375,655,0.400958407958,-0.0153544109956,0.0698153564793,0.99999992637,0.000244022868831,-0.000296120143494,4.98818645258e-06,1793252820914651136 +70,1.166666667,BASELINE,768,748,724.3740087,700.3740087,671.3740087,640,894,793,822.6259913,655,633.6259913,655,0.400958072165,-0.0153530918975,0.0698152816689,0.999999925907,0.000245820231594,-0.000296206070467,4.58063007871e-06,1793252820931317760 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+35,0.583333333,BASELINE,768,748,724.673066666,700,672,640.326933334,894,793.326933334,823,655,634,654,0.400958084368,-0.0154000331324,0.0698140199502,0.999999937706,0.000190914760017,-0.000296608085097,1.27575585126e-05,1793252827443229696 +36,0.600000000,BASELINE,768,748,724.094930728,700,672,640.905069272,894,793.905069272,823,655,634,654,0.400957630444,-0.0154007195331,0.0698135231653,0.999999937639,0.000190901872567,-0.000296826157918,1.31050715381e-05,1793252827459896320 +37,0.616666667,BASELINE,768,748,724.496815348,700,672,640.503184652,894,793.503184652,823,655,634,654.496815348,0.400957249404,-0.0154013057598,0.069813561834,0.999999937383,0.000191552465585,-0.000297265031786,1.31966021988e-05,1793252827476562944 +38,0.633333333,BASELINE,768,748,725,700,672,640,894,793,823,655,633.911724621,654.911724621,0.400956949495,-0.0154017483121,0.0698136595719,0.999999937194,0.000191964897523,-0.000297636869312,1.32191237546e-05,1793252827493229312 +39,0.650000000,BASELINE,768,748,725,700,672,640,894,793,823,655,633.336588923,654.336588923,0.40095701807,-0.0154015070064,0.0698135029127,0.999999937575,0.00019034491372,-0.000297399741168,1.31384071924e-05,1793252827509895936 +40,0.666666667,BASELINE,768,748,725,700.238230902,672,640.238230902,894,793,822.761769098,655,633.238230902,654,0.400956891805,-0.0154012647479,0.0698134253643,0.999999937761,0.00018943844038,-0.000297354550422,1.31198194302e-05,1793252827526562816 +41,0.683333333,BASELINE,768,748,725,700.812604998,672,640.812604998,894,793,822.187395002,655,633.812604998,654,0.400956490622,-0.0154010211453,0.0698134594411,0.999999937674,0.000189538728579,-0.000297580182871,1.3188895251e-05,1793252827543229440 +42,0.700000000,BASELINE,768,748,725,701,672,640.601183974,894,793,822.398816026,654.601183974,634,654.398816026,0.400957005796,-0.0154008354404,0.0698140300237,0.999999937738,0.00019035691878,-0.000296838524138,1.32693953904e-05,1793252827559896064 +43,0.716666667,BASELINE,768,748,725,701,672,640.009240918,894,793,822.990759082,654.009240918,634,654.990759082,0.400957964717,-0.0154006777726,0.0698148604096,0.999999937872,0.000191522753684,-0.000295628453747,1.33554277646e-05,1793252827576562944 +44,0.733333333,BASELINE,768.569233388,748,724.430766612,700.430766612,672,640,894,793,823,654.569233388,633.430766612,655,0.400956099686,-0.0154004090591,0.0698132848092,0.999999936963,0.000192719728337,-0.000297939986416,1.28308049303e-05,1793252827593229568 +45,0.750000000,BASELINE,768.853263843,748,724,700,672,640,894.146736157,793,823,655,633,654.853263843,0.400954932988,-0.0154008531577,0.0698122829112,0.999999936552,0.000192520442621,-0.000299453404994,1.25944266412e-05,1793252827609895936 +46,0.766666667,BASELINE,768.277974787,748,724,700,672,640,894.722025213,793,823,655,633,654.277974787,0.400955936613,-0.0154033842159,0.0698130679872,0.999999937652,0.000188241841327,-0.000298472768493,1.32281696018e-05,1793252827626562304 +47,0.783333333,BASELINE,768,748,724.297645064,700,671.702354936,640,894.702354936,793,822.702354936,655.297645064,633,654.297645064,0.40095651609,-0.0154030384217,0.0698133274816,0.999999937741,0.000188460568403,-0.000298031718917,1.33664830543e-05,1793252827643228928 +48,0.800000000,BASELINE,768,748,724.87357426,700,671.12642574,640,894.12642574,793,822.12642574,655.87357426,633,654.87357426,0.400956699008,-0.0154000029061,0.069813095582,0.999999936882,0.000192884085452,-0.00029809515762,1.30415932962e-05,1793252827659895808 +49,0.816666667,BASELINE,768,748,725,700.461003639,671.461003639,640,894,793,822,655.538996361,633.461003639,654.538996361,0.400956525127,-0.0154000534934,0.0698131666324,0.999999937013,0.000192415469528,-0.000297965702036,1.28913575931e-05,1793252827676562432 +50,0.833333333,BASELINE,768.050514685,748,724.949485315,700.949485315,672,640,894.050514685,793,822.050514685,655,634,654.050514685,0.400956356018,-0.0154007534862,0.0698133459796,0.999999937383,0.000190858814322,-0.00029773059783,1.27899438368e-05,1793252827693229056 +51,0.850000000,BASELINE,768.627999746,748,724.372000254,700.372000254,672,640,894.627999746,793,822.627999746,655,634,654.627999746,0.400957283566,-0.0153991732371,0.0698137662046,0.999999937336,0.000192305585431,-0.00029695933064,1.26853938309e-05,1793252827709895680 +52,0.866666667,BASELINE,768.795748798,748,724,700,672,640,894.795748798,793,822.795748798,655,633.795748798,655,0.400957545346,-0.015398843472,0.0698138850134,0.999999937327,0.000192800004072,-0.000296668022013,1.27245342677e-05,1793252827726562560 +53,0.883333333,BASELINE,768.221730641,748,724,700,672,640,894.221730641,793,822.221730641,655,633.221730641,655,0.400956601852,-0.0154007775258,0.0698134581522,0.999999937388,0.000191570327636,-0.000297245608284,1.30238052617e-05,1793252827743229440 +54,0.900000000,BASELINE,768,748,724.352902501,700.352902501,672,640,894,793,822,655,633,655,0.400956233112,-0.0154015881785,0.0698131735419,0.999999937323,0.000190674859525,-0.000298032314502,1.31501464259e-05,1793252827759896064 +55,0.916666667,BASELINE,768,748,724.927922692,700.927922692,672,640,894,793,822,655,633,655,0.400956226123,-0.0154016917597,0.0698129784645,0.99999993718,0.000189989742993,-0.000298950641304,1.31676451237e-05,1793252827776562432 +56,0.933333333,BASELINE,767.481633725,748,724.481633725,700.481633725,672,640,894.518366275,793,822,655,633,654.481633725,0.400957295581,-0.0154006002268,0.0698141548888,0.999999937451,0.000191604654662,-0.000297007071048,1.31338260782e-05,1793252827793229056 +57,0.950000000,BASELINE,767.108456364,748,724,700,672,640,894.891543636,793,822,655,633,654.108456364,0.400958388361,-0.0153997271487,0.0698152938796,0.999999937752,0.000193087494189,-0.000295023168766,1.31943752677e-05,1793252827809895680 +58,0.966666667,BASELINE,767.687423711,748,724,700,672,640,894.312576289,793,822,655,633,654.687423711,0.400958913066,-0.0154005448093,0.0698154177846,0.999999937958,0.000192567398196,-0.000294643594429,1.36962228542e-05,1793252827826562304 +59,0.983333333,BASELINE,768,748,724,700,672,640,894,793,822,655,633.264087052,655,0.400958776519,-0.0154012041711,0.0698150755882,0.999999938196,0.000191066791988,-0.00029481114993,1.37346309408e-05,1793252827843229184 +60,1.000000000,BASELINE,768,748,724,700,672,640,894,793,822,655,633.838047008,655,0.400957864076,-0.0154016777895,0.0698141864805,0.999999938466,0.00018841568043,-0.000295620693359,1.32292511913e-05,1793252827859896064 +61,1.016666667,BASELINE,768,748,724,700,672,640,894,793,822.423295538,655,634,655,0.400957113559,-0.0154016100672,0.0698133032697,0.999999938041,0.000189012476622,-0.00029668050084,1.31344794359e-05,1793252827876562432 +62,1.033333333,BASELINE,768,748,724.012745276,700,672,640,894,793,823,655,633.987254724,655,0.400956480864,-0.0154013772477,0.0698124782065,0.999999937383,0.000190764292398,-0.000297773495738,1.32077651135e-05,1793252827893229056 +63,1.050000000,BASELINE,768,748,724.591705985,700,672,640,894,793,823,655,633.408294015,655,0.400958254758,-0.0154032632895,0.0698141334002,0.999999938603,0.000187110496621,-0.000295970520519,1.3576674019e-05,1793252827909895680 +64,1.066666667,BASELINE,768.169557093,748,725,700,672,640,894,793,823,655,633.169557093,654.830442907,0.400959166975,-0.0154043562697,0.0698151265084,0.999999939179,0.000185588252653,-0.0002949737506,1.37803818245e-05,1793252827926562304 +65,1.083333333,BASELINE,768.744753612,748,725,700,672,640,894,793,823,655,633.744753612,654.255246388,0.400958017757,-0.0154035519714,0.0698145356781,0.999999938236,0.000189165420806,-0.00029590570375,1.35888712279e-05,1793252827943229184 +66,1.100000000,BASELINE,768.673541036,748,725,700,671.673541036,640,894,793,822.673541036,655,634,654,0.400958019714,-0.0154024169995,0.0698146513502,0.999999937944,0.000190873372318,-0.000295804333954,1.33954612244e-05,1793252827959896576 +67,1.116666667,BASELINE,768.086643167,748,725,700,671.086643167,640,894,793,822.086643167,655,634,654,0.400958940041,-0.0154010182265,0.0698153306482,0.999999938178,0.000191090120198,-0.000294878610896,1.32005359419e-05,1793252827976564224 +68,1.133333333,BASELINE,768,748,725,699.506111797,671,640,894.493888203,792.506111797,822,655,634,654.493888203,0.400957772647,-0.0154009445636,0.0698145262936,0.999999937837,0.000190990442299,-0.000296101951421,1.31043775376e-05,1793252827993230592 +69,1.150000000,BASELINE,767.926921811,748,725,699.146156378,671.073078189,640,895,792,822.073078189,655,633.926921811,655,0.400956418193,-0.0154011530973,0.0698136547657,0.999999937461,0.000190832950385,-0.000297470532157,1.30825984821e-05,1793252828009896960 +70,1.166666667,BASELINE,767.349379997,748,725,700.301240005,671.650620003,640,895,792,822.650620003,655,633.349379997,655,0.400956268531,-0.0154017253542,0.069814093388,0.999999937549,0.000190654682595,-0.000297272298644,1.34561795883e-05,1793252828026563840 +71,1.183333333,BASELINE,767.227291852,748,725,700.772708148,672,640,894.772708148,792.227291852,823,655,633.227291852,655,0.40095687509,-0.0154018324116,0.0698146276306,0.999999937815,0.000190414178765,-0.000296526362959,1.36196012504e-05,1793252828043230208 +72,1.200000000,BASELINE,767.802631627,748,725,700.197368373,672,640,894.197368373,792.802631627,823,655,633.802631627,655,0.400958639638,-0.0154012271176,0.0698153082949,0.999999938349,0.00019007837398,-0.000294941740756,1.34612095924e-05,1793252828059896320 +73,1.216666667,BASELINE,768.386589518,748,725,700,672,640,894,793,823,655,634,655,0.400959210626,-0.0154009203431,0.0698156245015,0.999999938488,0.000190044015814,-0.00029450821952,1.31527803262e-05,1793252828076562944 +74,1.233333333,BASELINE,768.975047565,748,725,700,672,640,894,793,823,655,634,655,0.400959158362,-0.015400769449,0.0698157503962,0.99999993842,0.000190167066451,-0.000294675777943,1.27660047362e-05,1793252828093229568 +75,1.250000000,BASELINE,768.446692251,748,725,700,672,640,894,793,823,655,634,655,0.400957670159,-0.0154023824229,0.069814693751,0.999999938379,0.000188633930881,-0.000295781229558,1.31393982451e-05,1793252828109896448 +76,1.266666667,BASELINE,768.130997784,748,724.869002216,700.130997784,672,640,894,793,823,655,634,655,0.400956581534,-0.0154035395972,0.0698138103414,0.999999938298,0.00018766160331,-0.000296657096012,1.34548902225e-05,1793252828126563072 +77,1.283333333,BASELINE,768.708283807,748,724.291716193,700.708283807,672,640,894,793,823,655,634,655,0.400957070826,-0.0154028778436,0.0698136955118,0.999999938089,0.000188849705548,-0.000296609314963,1.34584440212e-05,1793252828143229696 +78,1.300000000,BASELINE,768.714934947,748,724.285065053,700.714934947,672,640,894,793,822.714934947,655,633.714934947,655,0.400957571459,-0.0154024312701,0.0698138237732,0.999999938092,0.000189679797477,-0.000296068458861,1.34459444307e-05,1793252828159896832 +79,1.316666667,BASELINE,768.138669375,748,724.861330625,700.138669375,672,640,894,793,822.138669375,655,633.138669375,655,0.400958083677,-0.015402204508,0.0698142003576,0.999999938313,0.000190144173553,-0.000295023915237,1.34170459332e-05,1793252828176563712 +80,1.333333333,BASELINE,768,748,724.552656314,700,671.552656314,640,894,793,822.447343686,655,633,655,0.400957822509,-0.0154024559652,0.0698139660957,0.99999993828,0.000189912478043,-0.000295288422384,1.33637235176e-05,1793252828193230080 +81,1.350000000,BASELINE,768.035794678,748,724,700,671,640,894,793,823,655,633.035794678,655,0.400957339321,-0.0154027926548,0.0698135839737,0.999999938169,0.000189530604893,-0.000295912227437,1.32900638014e-05,1793252828209896192 +82,1.366666667,BASELINE,768.614374199,748,724,700,671,640,894,793,823,655,633.614374199,655,0.400957205761,-0.0154021238332,0.0698138949947,0.999999938107,0.000190216262485,-0.000295694048027,1.30253756529e-05,1793252828226562816 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+46,0.766666667,BASELINE,768,748,725,701,671,640,895,793.686043845,823,655,634,655,0.401041146236,-0.0154809028707,0.0798643213661,0.999999977881,0.000146180007994,-0.000145574481651,4.09514752484e-05,1793252835897658368 +47,0.783333333,BASELINE,768,748,725,701,671.262279514,640,894.737720486,793.737720486,823,655,633.737720486,655,0.401040333782,-0.0154804863847,0.0798639244054,0.999999977553,0.000147330908252,-0.000146619853673,4.11059433945e-05,1793252835914324736 +48,0.800000000,BASELINE,768,748,725,701,671.836031373,640,894.163968627,793.163968627,823,655,633.163968627,655,0.401039466131,-0.015479608734,0.0798635042295,0.999999977419,0.000146967708387,-0.000147911562762,4.10391085496e-05,1793252835930991104 +49,0.816666667,BASELINE,768,748,725,701,671.578525519,640,894.421474481,793,823,655,633.421474481,655,0.401038677597,-0.015478675864,0.0798626839931,0.999999977414,0.0001462897003,-0.000148714129483,4.06904442706e-05,1793252835947657472 +50,0.833333333,BASELINE,768,748,725,701,671,640,895,793,823,655,633.988632414,655,0.401037964244,-0.0154777556922,0.0798617428403,0.99999997746,0.000145524535587,-0.000149277617444,4.024508135e-05,1793252835964324352 +51,0.850000000,BASELINE,768,748,725,701,671,640,895,793,823,655,633.410116917,655,0.401039422305,-0.0154785714173,0.079862755538,0.999999977512,0.000146695622947,-0.000147678015651,4.06015355383e-05,1793252835980991232 +52,0.866666667,BASELINE,768.168119173,748,725,701,671,640.168119173,895,793,823,655,633,655,0.401039795404,-0.0154793504689,0.079863332304,0.999999977494,0.000147198811717,-0.00014720471311,4.09311202214e-05,1793252835997657856 +53,0.883333333,BASELINE,768.745674761,748,725,701,671,640.745674761,895,793,823,655,633,655,0.401037526191,-0.0154800402057,0.0798628474047,0.999999977311,0.000146075404234,-0.000149474393042,4.11952670531e-05,1793252836014324992 +54,0.900000000,BASELINE,768.678837019,748,725,701,671,640.678837019,895,793,823,655,633.321162981,655,0.401038260573,-0.0154802712496,0.0798633056414,0.999999977431,0.000146069153142,-0.000148700793852,4.11056096969e-05,1793252836030991872 +55,0.916666667,BASELINE,768.104975479,748,725,701,671,640.104975479,895,793,823,655,633.895024521,655,0.401041358255,-0.0154801413831,0.0798645059597,0.999999977784,0.000146941906923,-0.000145532671241,4.07375709041e-05,1793252836047658752 +56,0.933333333,BASELINE,768,748,725,701,671,640,895,793,823,655,633.51736557,655,0.40104122814,-0.015479612246,0.0798641582215,0.999999977645,0.000147721787335,-0.000145703631064,4.07158006695e-05,1793252836064325120 +57,0.950000000,BASELINE,768,748,725,701,671,640,895,793,823,655,633.071478706,655,0.401040308942,-0.015479069267,0.0798634747137,0.999999977421,0.000148262664443,-0.000146674236468,4.07678566317e-05,1793252836080991488 +58,0.966666667,BASELINE,768,748,725,701,671,640,895,793,823,655,633.647313783,655,0.401038920983,-0.0154790593577,0.079862867506,0.999999977371,0.000147263839418,-0.000148012339372,4.0793823966e-05,1793252836097658112 +59,0.983333333,BASELINE,768,748,725,701.223906527,671.223906527,640,895,792.776093473,823,655,634,655,0.401038493558,-0.0154796357543,0.0798628989701,0.999999977436,0.000146552312001,-0.000148236584928,4.09450168234e-05,1793252836114324480 +60,1.000000000,BASELINE,768,748,725,701.801696852,671.801696852,640,895,792.198303148,823,655,634,655,0.401039584257,-0.0154811388061,0.0798639398534,0.999999977686,0.000146294857699,-0.000146700381483,4.12941283625e-05,1793252836130991104 +61,1.016666667,BASELINE,768,748,725,701.227393986,671.613696993,640,895,792.386303007,823,655,633.613696993,655,0.401039252997,-0.0154808137597,0.0798633855301,0.999999977449,0.000147156189285,-0.000147461220783,4.12633314591e-05,1793252836147657728 +62,1.033333333,BASELINE,768,748,725,700.051058446,671.025529223,640,895,792.974470777,823,655,633.025529223,655,0.401038178685,-0.0154795334303,0.0798619976226,0.999999976953,0.000148602148607,-0.000149422392504,4.10340112873e-05,1793252836164324352 +63,1.050000000,BASELINE,768,748,725,700.553807955,671.553807955,640,895,793,823,655.553807955,633.553807955,654.446192045,0.401038447994,-0.0154794773124,0.0798623845461,0.999999977275,0.000146967962661,-0.000148932327342,4.08695512389e-05,1793252836180991744 +64,1.066666667,BASELINE,768,748,725,701,671.868585795,640,894.868585795,793,823,655.868585795,633.868585795,654.131414205,0.401039137149,-0.0154793924086,0.0798630811167,0.999999977563,0.000146087692755,-0.000147895135917,4.07348216283e-05,1793252836197658624 +65,1.083333333,BASELINE,768,748,725,701,671.295450916,640,894.295450916,793,823,655.295450916,633.295450916,654.704549084,0.401041032605,-0.015479024036,0.0798645478104,0.999999977619,0.000148211319477,-0.00014539274812,4.06901323546e-05,1793252836214324736 +66,1.100000000,BASELINE,768,748,725,701,671,640,894.279129335,793,823,655,633,654.720870665,0.401041477356,-0.015479400146,0.0798650350945,0.999999977705,0.000148391995802,-0.000144581591422,4.08114143762e-05,1793252836230991360 +67,1.116666667,BASELINE,768,748,725,701,671,640,894.855247401,793,823,655,633,654.144752599,0.401040378581,-0.0154805683724,0.079864480304,0.999999977828,0.000146505406758,-0.000145569875192,4.11092869555e-05,1793252836247657984 +68,1.133333333,BASELINE,768,747.556601263,725,701,671,640,895,793.443398737,823,655,633.443398737,654.443398737,0.401039458504,-0.0154801636708,0.0798638966689,0.999999977656,0.000146664161207,-0.000146579924274,4.11448155949e-05,1793252836264324352 +69,1.150000000,BASELINE,768,747.034875447,725,701.034875447,671,640,895,793.965124553,823,655,634,655,0.401038703457,-0.0154792970228,0.0798634054611,0.999999977392,0.000147592628106,-0.000147456763623,4.10950217652e-05,1793252836280990720 +70,1.166666667,BASELINE,768,747.615206124,725,701.615206124,671,640,895,793.384793876,823,655,634,655,0.401039591628,-0.0154794607211,0.0798645112097,0.999999977254,0.000149824850553,-0.000146135957805,4.10876416648e-05,1793252836297657600 +71,1.183333333,BASELINE,768,748,725,701.80746852,671,640,895,793,823,655,634,655,0.401040013456,-0.015479366501,0.0798648789887,0.999999977209,0.000150673095357,-0.000145577032794,4.10786355667e-05,1793252836314324480 +72,1.200000000,BASELINE,768,748,725,701.236057184,671,640,895,793,823,655,634,655,0.401039517575,-0.0154787647272,0.0798637945285,0.999999977353,0.000148797831402,-0.000146517401535,4.10664296907e-05,1793252836330991360 +73,1.216666667,BASELINE,768,748.345287319,725,701,671,640,895,792.654712681,823,655,634,655,0.401039700267,-0.0154788200692,0.0798636940371,0.99999997745,0.000147992722504,-0.000146659433129,4.10960213255e-05,1793252836347657984 +74,1.233333333,BASELINE,768,748.933623783,725,701,671,640,895,792.066376217,823,655,634,655,0.401040360608,-0.0154793379577,0.0798642861653,0.999999977517,0.000147940900209,-0.000146239511909,4.11550343988e-05,1793252836364324352 +75,1.250000000,BASELINE,768,748.483666184,725,701,671,640,894.483666184,792,823,655,634,655,0.401041209725,-0.015480255283,0.0798646325297,0.999999977809,0.000146957760405,-0.000145202567155,4.1262910466e-05,1793252836380991232 +76,1.266666667,BASELINE,768,748,725,701,671,640,894.097227861,792,823,655,634,655,0.401041703079,-0.015480812571,0.0798648175804,0.999999978006,0.000146299501656,-0.000144496662131,4.12943769098e-05,1793252836397657856 +77,1.283333333,BASELINE,768,748,725,701,671,640,894.672708709,792,823,655,634,655,0.401040328386,-0.0154793490189,0.0798643628785,0.999999977608,0.000147821855381,-0.000145805065865,4.0919428114e-05,1793252836414324736 +78,1.300000000,BASELINE,768,748,725,701,671,640,895,792,823,655,634,654.751945907,0.40103965699,-0.0154790818463,0.0798640498152,0.999999977444,0.000148162072451,-0.000146613217336,4.07947048253e-05,1793252836430991360 +79,1.316666667,BASELINE,768,748,725,701,671,640,895,792,823,655,634,654.176779207,0.401039913042,-0.0154803923572,0.0798639235327,0.999999977594,0.000146943388286,-0.000146761678637,4.09999576483e-05,1793252836447657728 +80,1.333333333,BASELINE,768,748,725,701,671,640,895,792.410128363,823,655,634,654.410128363,0.401040612095,-0.0154805790861,0.0798649795599,0.999999977867,0.000146445385196,-0.000145374723924,4.10669109192e-05,1793252836464324864 +81,1.350000000,BASELINE,768,748,725,701,671,640,894.997802442,792.997802442,823,655,633.997802442,655,0.401041498319,-0.0154802681104,0.0798665497101,0.999999978189,0.000146268575019,-0.000143322500113,4.10715870504e-05,1793252836480991744 +82,1.366666667,BASELINE,768,748,725,701,671,640,894.418415069,792.418415069,823,655,633.418415069,655,0.401039914751,-0.0154802089981,0.0798653590023,0.999999977858,0.00014645952471,-0.000145486271919,4.08376363625e-05,1793252836497658368 +83,1.383333333,BASELINE,768,748,725,701,671,640,894.159624456,792,823,655,633.159624456,655,0.401038686539,-0.015479870319,0.0798643356567,0.999999977503,0.000147163336746,-0.000147234500281,4.07286619703e-05,1793252836514324992 +84,1.400000000,BASELINE,768,748,725,701,671,640,894.734160649,792,823,655,633.734160649,655,0.401038382002,-0.015478804962,0.0798637473353,0.999999977094,0.000149200231561,-0.000147902607332,4.09445383259e-05,1793252836530991616 +85,1.416666667,BASELINE,768,748,725,701,671,640,895,792.316143239,823,655,634,655,0.40103882567,-0.0154783582321,0.0798637776189,0.999999977087,0.000149321651986,-0.00014781803321,4.09683046898e-05,1793252836547657984 +86,1.433333333,BASELINE,768,748,725,701,671,640,895,792.90453838,823,655,634,655,0.401039913666,-0.015478444243,0.0798643406243,0.999999977428,0.000147793530306,-0.000147085275388,4.08266323908e-05,1793252836564324864 +87,1.450000000,BASELINE,768,748,725,701,671,640,895,793,823,655,634,655,0.401040326385,-0.0154788920443,0.0798642342744,0.999999977788,0.000146125335694,-0.000146349037683,4.06642257794e-05,1793252836580991232 +88,1.466666667,BASELINE,768,748,725,701,671.064010901,640,895,793,822.935989099,655,634,655,0.401040654393,-0.0154794067872,0.0798641397773,0.999999978079,0.000144890463458,-0.000145614737194,4.0559936096e-05,1793252836597657856 +89,1.483333333,BASELINE,768,748,725,701,671.640482496,640,895,793,822.359517504,655,634,655,0.40104135118,-0.0154798965305,0.0798651779482,0.999999977808,0.000147341869199,-0.000144901340971,4.09530676479e-05,1793252836614325248 +90,1.500000000,BASELINE,768,748,725,701,672,640,895,792.782990151,822.217009849,655,633.782990151,655,0.401041039499,-0.015479987448,0.079865186204,0.999999977546,0.000148512862375,-0.0001454610458,4.11347847029e-05,1793252836630992384 +91,1.516666667,BASELINE,768,748,725,701,672,640,895,792.206370455,822.793629545,655,633.206370455,655,0.401039056671,-0.0154794174661,0.0798634877743,0.999999977302,0.000147562066977,-0.000148130423024,4.09661640039e-05,1793252836647658752 +92,1.533333333,BASELINE,768,748,725,700.622428897,671.622428897,640,895,792.377571103,823.377571103,655,633,655,0.401038812232,-0.0154793589012,0.0798634590277,0.999999977234,0.000148066118472,-0.000148097555736,4.09363075686e-05,1793252836664325120 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sha256:6a761141898ca200d9e19e84788008fd752ca16b98fd741abd286019ce47ee8b +size 26120417 diff --git a/Obstacle_avoidance/ball_0050_10/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_08/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..bad8f7a5b8f4ebfb7923486f6ae5707b26b726d8 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_08/depth_02/franka_data.csv @@ -0,0 +1,414 @@ +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,768,748,725,701,671,640,894,793,823,655,633,654,0.400982366452,-0.015391183637,0.0798345685687,0.99999992827,0.000252320775363,-0.000279115351289,4.34575813239e-05,1793252842196711680 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+10,0.166666667,BASELINE,768.21823152,748,725,701,672,640,894.78176848,792.78176848,823,654.78176848,634,654.21823152,0.400980183041,-0.0153914170539,0.0798337184298,0.999999928618,0.000249010904915,-0.000280990142009,4.24504450899e-05,1793252842363377920 +11,0.183333333,BASELINE,768,748,724.630685782,701,671.630685782,640,894.630685782,792.630685782,823,655,633.630685782,654.369314218,0.400980263116,-0.0153906847582,0.0798336094481,0.999999927922,0.000251259248118,-0.000281441256051,4.26142531514e-05,1793252842380044288 +12,0.200000000,BASELINE,768,748,724.035394821,701,671.035394821,640,894.035394821,792.035394821,823,655,633.035394821,654.964605179,0.400980493599,-0.0153894947839,0.0798335186678,0.999999926659,0.000255603934535,-0.000281926938368,4.31887011071e-05,1793252842396711168 +13,0.216666667,BASELINE,768,748,724.541148417,701,671.541148417,640,894.541148417,792.541148417,823,654.458851583,633,655,0.400980676752,-0.0153907204735,0.0798336423746,0.999999927221,0.000253953648631,-0.000281434473898,4.31405265894e-05,1793252842413377792 +14,0.233333333,BASELINE,768,748,725,701,671.884014058,640,895,792.884014058,823,654.115985942,633,655,0.400980966317,-0.0153917732018,0.0798338790897,0.999999927873,0.000251958515044,-0.000280929894087,4.30048027485e-05,1793252842430044416 +15,0.250000000,BASELINE,768,748,725,701,671.311226483,640,895,792.311226483,823,654.688773517,633,655,0.400981686761,-0.0153915432979,0.0798345074774,0.999999928441,0.000250097819129,-0.000280621132216,4.26792896695e-05,1793252842446711552 +16,0.266666667,BASELINE,768,748,724.73083679,701,671,640,895,792.26916321,823,655,633.26916321,655,0.4009815592,-0.0153914716448,0.079834829137,0.99999992871,0.000248973671111,-0.000280673524508,4.26005526274e-05,1793252842463378176 +17,0.283333333,BASELINE,768,748,724.141401519,701,671,640,895,792.858598481,823,655,633.858598481,655,0.400980422615,-0.0153915882913,0.0798347858267,0.999999928627,0.000248725927198,-0.000281155647121,4.28154496039e-05,1793252842480044800 +18,0.300000000,BASELINE,768,748,724.443100713,701,671.443100713,640,895,792.556899287,823,655,633.556899287,655,0.400980247476,-0.0153922268391,0.0798342413525,0.999999928798,0.000247872417702,-0.000281306849213,4.27702663634e-05,1793252842496711168 +19,0.316666667,BASELINE,767.974339595,748,725,701,671.974339595,640,894.974339595,792,823,654.974339595,633,655,0.40098032695,-0.0153929572774,0.0798335737968,0.999999928988,0.000247017485414,-0.000281400848233,4.26642911189e-05,1793252842513377792 +20,0.333333333,BASELINE,767.40002541,748,725,701,671.40002541,640,894.40002541,792,823,654.40002541,633,655,0.400979362482,-0.0153921306439,0.0798336564703,0.999999927865,0.000250219867305,-0.00028250483692,4.30135354621e-05,1793252842530044416 +21,0.350000000,BASELINE,767.173867426,748,725,701,671,640,894.173867426,792.173867426,823,654.173867426,633.173867426,655,0.400978823937,-0.0153913549322,0.0798337052189,0.999999927018,0.000252769008479,-0.000283202321496,4.32130166133e-05,1793252842546711040 +22,0.366666667,BASELINE,767.746793106,748,725,701,671,640,894.746793106,792.746793106,823,654.746793106,633.746793106,655,0.400979262966,-0.0153906960955,0.0798336761033,0.999999926825,0.000253818839622,-0.00028296680298,4.3068763186e-05,1793252842563377920 +23,0.383333333,BASELINE,767.668385324,748,725,701,671,640,895,792.668385324,823,655,634,655,0.400980340331,-0.0153903441792,0.0798340505203,0.999999927193,0.000254213353628,-0.000281330063998,4.29278434449e-05,1793252842580044544 +24,0.400000000,BASELINE,767.074142531,748,725,701,671,640,895,792.074142531,823,655,634,655,0.400981923235,-0.0153902353339,0.0798347445221,0.999999928,0.000254088877733,-0.000278583603623,4.27895638599e-05,1793252842596711168 +25,0.416666667,BASELINE,767.504564191,748,725,701,671,640,895,792.504564191,823,655,634,654.495435809,0.400981152285,-0.0153905148435,0.0798348832402,0.999999927797,0.000254251215518,-0.0002791131385,4.30996946585e-05,1793252842613377792 +26,0.433333333,BASELINE,768.080750587,748,725,701,671,640,894.919249413,793,823,655,633.919249413,654.080750587,0.400980254807,-0.0153908677667,0.0798348793728,0.999999927544,0.000254235576529,-0.000279994286694,4.33519819726e-05,1793252842630044672 +27,0.450000000,BASELINE,768.655069379,748,725,701,671,640,894.344930621,793,823,655,633.344930621,654.655069379,0.400980634942,-0.0153913310287,0.0798344878215,0.999999927859,0.000252882189278,-0.000280170118308,4.28600026466e-05,1793252842646711552 +28,0.466666667,BASELINE,768.764092014,748,724.764092014,701,671.235907986,640,894.235907986,792.764092014,822.764092014,654.764092014,633,654.764092014,0.400981023163,-0.0153914512946,0.0798342191955,0.999999928036,0.000252116247502,-0.00028026274017,4.26458852562e-05,1793252842663378176 +29,0.483333333,BASELINE,768.173449604,748,724.173449604,701,671.826550396,640,894.826550396,792.173449604,822.173449604,654.173449604,633,654.173449604,0.400981423542,-0.0153910557977,0.0798341354123,0.999999928007,0.000252233646531,-0.000280230239666,4.28495883984e-05,1793252842680044800 +30,0.500000000,BASELINE,768,748,724.394944976,701,671.605055024,640,895,792,822.394944976,654.394944976,633.394944976,654.394944976,0.400980432227,-0.0153906588139,0.0798339720306,0.999999927357,0.00025372053749,-0.000281199734563,4.28837720763e-05,1793252842696711168 +31,0.516666667,BASELINE,768,748,724.954089918,701,671.045910082,640,895,792,822.954089918,654.954089918,633.954089918,654.954089918,0.400978862308,-0.0153902612118,0.0798337755556,0.999999926444,0.000255776800232,-0.000282585813084,4.28474773483e-05,1793252842713377792 +32,0.533333333,BASELINE,768,748,725,701,671,640,895,792,823,655,633.453310216,655,0.40097985613,-0.0153905441395,0.0798349265391,0.999999927164,0.000255153521005,-0.00028057040326,4.29879933987e-05,1793252842730044672 +33,0.550000000,BASELINE,768,748,725,701,671,640,894.859540964,792.140459036,823,655,633,654.859540964,0.40098121942,-0.0153910390753,0.0798359511135,0.999999927996,0.000254080722423,-0.000278555227482,4.31101315954e-05,1793252842746711552 +34,0.566666667,BASELINE,768,748,725,701,671,640,894.271580651,792.728419349,823,655,633,654.271580651,0.400983029183,-0.0153920155195,0.0798361889305,0.999999928727,0.000252339414025,-0.000277510203412,4.31233279727e-05,1793252842763377920 +35,0.583333333,BASELINE,768,748,725,701,671,640,894.311109791,792.688890209,823,655,633.311109791,654,0.400983600681,-0.0153928750712,0.0798361773968,0.999999929225,0.000250771919711,-0.000277159707231,4.29753437825e-05,1793252842780044544 +36,0.600000000,BASELINE,768,748,725,701,671,640,894.889276635,792.110723365,823,655,633.889276635,654,0.400983109252,-0.0153936342821,0.0798359518201,0.999999929523,0.000249353627443,-0.000277405394582,4.26890019841e-05,1793252842796711168 +37,0.616666667,BASELINE,768,748,724.533069346,701,671.466930654,640,895,792.466930654,823,655,634,654,0.400982732806,-0.015393281825,0.0798360021648,0.999999929616,0.000248909003133,-0.000277481304949,4.26179360462e-05,1793252842813378560 +38,0.633333333,BASELINE,768,748,724.043945924,701,671.956054076,640,894.956054076,792.956054076,823,655,634,654.043945924,0.400982359633,-0.0153926011629,0.0798360535186,0.999999929583,0.000248941673352,-0.000277569617287,4.2623966454e-05,1793252842830045952 +39,0.650000000,BASELINE,768,748,724.614759998,701,671.385240002,640,894.385240002,792.385240002,823,655,634,654.614759998,0.400981699159,-0.0153911426026,0.0798353333996,0.999999928621,0.000251931573604,-0.000278288756064,4.29429572502e-05,1793252842846712576 +40,0.666666667,BASELINE,768,748,724.807051627,701,671,640,894,792,823,655,633.807051627,655,0.40098132392,-0.0153904149178,0.0798348063052,0.999999927894,0.000254122922342,-0.000278879126771,4.31382884983e-05,1793252842863379456 +41,0.683333333,BASELINE,768,748,724.213554706,701,671,640,894,792,823,655,633.213554706,655,0.400981540812,-0.0153912044844,0.0798346799173,0.99999992767,0.000254656528766,-0.000279202183116,4.30769103729e-05,1793252842880046592 +42,0.700000000,BASELINE,767.628865468,748,724.371134532,701,671,640,894.371134532,792.371134532,823,655,633,654.628865468,0.400981723156,-0.0153919456122,0.079835394091,0.999999928304,0.000252815204489,-0.0002786290007,4.2922946175e-05,1793252842896712960 +43,0.716666667,BASELINE,767.049126799,748,724.950873201,701,671,640,894.950873201,792.950873201,823,655,633,654.049126799,0.400981886081,-0.0153926595141,0.0798365807204,0.99999992941,0.00024963899936,-0.000277552068018,4.27169419873e-05,1793252842913379328 +44,0.733333333,BASELINE,767.52708955,748,725,701,671,640,895,792.47291045,823,655,633.52708955,654,0.400982913261,-0.0153926284016,0.0798371433504,0.999999929777,0.000249418946812,-0.000276431742675,4.26732277791e-05,1793252842930045440 +45,0.750000000,BASELINE,768,748,724.896914257,701,671,640,894.896914257,792.103085743,823,655,633.896914257,654,0.400983393255,-0.0153925077088,0.079837295748,0.999999929791,0.000249841091285,-0.000275999243769,4.2691220154e-05,1793252842946711552 +46,0.766666667,BASELINE,768,748,724.320431641,701,671,640,894.320431641,792.679568359,823,655,633.320431641,654,0.400980992972,-0.0153922924018,0.0798358295598,0.999999928489,0.000251955489742,-0.0002787438748,4.29235836818e-05,1793252842963378176 +47,0.783333333,BASELINE,768,748,724,701,671,640,894,792.73847102,823,654.73847102,633,654,0.400980377404,-0.0153928206032,0.0798352299218,0.999999928374,0.000251587125551,-0.000279480163131,4.29805300094e-05,1793252842980044800 +48,0.800000000,BASELINE,768,748,724,701,671,640,894,792.14965494,823,654.14965494,633,654,0.400981995295,-0.0153942792589,0.0798357147167,0.999999929744,0.000248111740072,-0.000277703137037,4.28179527557e-05,1793252842996711424 +49,0.816666667,BASELINE,767.568023581,748,724.431976419,701,671,640,894,792,823,654,633,654.431976419,0.400982705414,-0.0153934181587,0.0798364512675,0.999999929342,0.000250672814948,-0.00027682874347,4.29438129402e-05,1793252843013378304 +50,0.833333333,BASELINE,767.0111009,748,725,701,671,640,894,792,823,654.0111009,633,655,0.400983064455,-0.0153918161133,0.0798372338904,0.999999928357,0.00025511540503,-0.000276295495098,4.31585028992e-05,1793252843030045184 +51,0.850000000,BASELINE,767.587249078,748,725,701,671,640,894,792,823,654.587249078,633,655,0.40098129924,-0.0153927371431,0.079835994731,0.99999992918,0.000250621984024,-0.000277470025758,4.28915494899e-05,1793252843046711808 +52,0.866666667,BASELINE,768,748,725,701.166290061,671,640,894.166290061,792,823,655,633.166290061,655,0.400980265961,-0.0153929827704,0.0798351498282,0.999999929458,0.000248583311161,-0.000278331091593,4.26857171672e-05,1793252843063378688 +53,0.883333333,BASELINE,768,748,725,701.752638401,671,640,894.752638401,792,823,655,633.752638401,655,0.400981081596,-0.0153915222919,0.0798353008401,0.999999928398,0.00025274547387,-0.000278400327146,4.26342802501e-05,1793252843080045056 +54,0.900000000,BASELINE,768,748,725,701.664967373,671,640,895,792.335032627,823,655,634,654.664967373,0.400981446284,-0.0153918404524,0.0798355564816,0.999999928422,0.000252698060951,-0.00027835784648,4.26286355454e-05,1793252843096711680 +55,0.916666667,BASELINE,768,748,725,701.085458523,671,640,895,792.914541477,823,655,634,654.085458523,0.400981481914,-0.0153934565012,0.0798358884721,0.999999929238,0.000249578883889,-0.000278233845516,4.2656405819e-05,1793252843113378304 +56,0.933333333,BASELINE,768,748,725,701,671,640,895,793,823,655,633.508029975,654.491970025,0.400982594314,-0.015393352032,0.0798365353124,0.999999929424,0.000250088256879,-0.000277096827153,4.27222155744e-05,1793252843130044928 +57,0.950000000,BASELINE,768.068670798,748,725,701,671,640,895,792.931329202,823,654.931329202,633.068670798,654.931329202,0.400983812749,-0.015393004732,0.0798371807502,0.999999929556,0.000250928042801,-0.000275848539797,4.27752378619e-05,1793252843146711808 +58,0.966666667,BASELINE,768.642663784,748,725,701,671,640,895,792.357336216,823,654.357336216,633.642663784,654.357336216,0.400984440867,-0.0153930605095,0.0798374151082,0.999999930112,0.000249580576394,-0.000275070895877,4.26857431042e-05,1793252843163378944 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0000000000000000000000000000000000000000..cc8032cc2387d3caaa40357a548e8228ecb744c8 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_08/depth_03/franka_data.csv @@ -0,0 +1,415 @@ +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,768,748,725,701,672,640,895,792,823,655,633,655,0.400983230526,-0.0153431979407,0.0798340756877,0.999999912526,0.000306445650695,-0.000282546193841,3.47271082201e-05,1793252849262843392 +1,0.016666667,BASELINE,768,748,725,701.574681048,671.425318952,640,895,792.574681048,823,655,633.574681048,655,0.40098119787,-0.0153425654207,0.0798332583634,0.999999911812,0.000307569301311,-0.000283858651245,3.46647339628e-05,1793252849279509760 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+36,0.600000000,BASELINE,767.104201937,748,725,701.104201937,671,639.895798063,894.104201937,793,823,655,633.895798063,654.104201937,0.400981509211,-0.0153439528032,0.0798345127132,0.999999913574,0.00030400122059,-0.000281594541161,3.37529347643e-05,1793252849862844160 +37,0.616666667,BASELINE,767.472705834,748,725,701.472705834,671,640,894,792.527294166,823,655,634,654.472705834,0.400981044008,-0.0153445464503,0.0798342116235,0.999999913994,0.000302342362066,-0.000281880214461,3.38184432604e-05,1793252849879510272 +38,0.633333333,BASELINE,768,748,725,701.950064173,671,640,894.049935827,792,823,655,633.950064173,655,0.400980903211,-0.0153450744005,0.0798340833707,0.999999914528,0.000300707407225,-0.000281724539225,3.39165497077e-05,1793252849896176640 +39,0.650000000,BASELINE,768,748,725,701.36434939,671,640,894.63565061,792,823,655,633.36434939,655,0.4009820487,-0.0153427117356,0.0798350822137,0.999999913496,0.0003050612798,-0.000280717079257,3.38155197683e-05,1793252849912843008 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+48,0.800000000,BASELINE,767.862370539,748.862370539,725,701,671.862370539,640,894.137629461,792.862370539,823,655,633.137629461,655,0.400979960167,-0.015344705451,0.0798345362976,0.999999913418,0.000304049800772,-0.000282072358041,3.39511302459e-05,1793252850062843392 +49,0.816666667,BASELINE,768,748.55979043,725,701,671.55979043,640,894.44020957,792.55979043,823,655,633.44020957,655,0.400980646023,-0.015345360904,0.0798349383099,0.999999913362,0.00030465489169,-0.000281596707952,3.41129960503e-05,1793252850079510016 +50,0.833333333,BASELINE,767.983405832,748,725,701,671.016594168,640,895,792.016594168,823,654.983405832,633.983405832,655,0.400981670939,-0.0153461279068,0.0798354999115,0.999999913364,0.000305281618205,-0.000280882810597,3.43454255206e-05,1793252850096176640 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+59,0.983333333,BASELINE,768,748,725,701,671.228382542,640,895,792,823,655,633.771617458,654.228382542,0.400981187918,-0.0153442334544,0.0798356893036,0.999999913827,0.000304864885773,-0.000279698914201,3.42366166766e-05,1793252850246176512 +60,1.000000000,BASELINE,768,748,725,701,671.822371977,640,895,792,823,655,633.177628023,654.822371977,0.400982052314,-0.015343624732,0.0798356403984,0.999999913443,0.000307006779877,-0.000278762126905,3.39377172638e-05,1793252850262843392 +61,1.016666667,BASELINE,768,748,725,701,671.596280067,640,895,792.403719933,823,655,633.403719933,654.596280067,0.400983532232,-0.0153437225703,0.079836651836,0.999999913669,0.00030777929547,-0.000277071308082,3.41517733466e-05,1793252850279509760 +62,1.033333333,BASELINE,768,748,725,701,671.02032525,640,895,792.97967475,823,655,633.97967475,654.02032525,0.400985274745,-0.0153441218413,0.0798381156367,0.999999914151,0.000307967607067,-0.0002750588046,3.45846663743e-05,1793252850296176128 +63,1.050000000,BASELINE,768,748,725,701,671,640,895,793,823,655,634,654.55277583,0.400983660409,-0.0153442964518,0.079837075966,0.999999914031,0.00030685137418,-0.000276767403308,3.43501199674e-05,1793252850312843776 +64,1.066666667,BASELINE,767.869902346,748,725,701,671,640,895,792.869902346,823,655,633.869902346,655,0.400982551754,-0.0153446540507,0.0798361634359,0.999999914025,0.000305628058196,-0.000278163751796,3.4153360789e-05,1793252850329510912 +65,1.083333333,BASELINE,767.277201162,748,725,701,671,640,895,792.277201162,823,655,633.277201162,655,0.40098367785,-0.0153456915453,0.0798360286311,0.999999914517,0.000304193661448,-0.000277965777229,3.41777825419e-05,1793252850346176768 +66,1.100000000,BASELINE,767.307105662,748,725,701,671,640,894.692894338,792,823,655,633,655,0.40098363299,-0.0153457169687,0.079836038139,0.99999991465,0.000303839842547,-0.000277877716133,3.41459707507e-05,1793252850362843136 +67,1.116666667,BASELINE,767.884037096,748,725,701,671,640,894.115962904,792,823,655,633,655,0.400982559316,-0.0153448531773,0.0798361744413,0.999999914469,0.000304435429052,-0.000277886226006,3.40647516652e-05,1793252850379509760 +68,1.133333333,BASELINE,767.539154898,748,725,701,671,640,894.460845102,792,823,655,633,655,0.400983039274,-0.0153443061913,0.0798368221519,0.999999914287,0.000305716380071,-0.000277128827868,3.41016562277e-05,1793252850396176640 +69,1.150000000,BASELINE,767,748,725,701,671,640,895,792,823,655,633,655,0.40098377808,-0.0153438582647,0.0798374885917,0.9999999141,0.000307026515451,-0.000276348595046,3.41431296437e-05,1793252850412843776 +70,1.166666667,BASELINE,767,748,725,701,671,640,895,792,823,655,633,655,0.400982625372,-0.0153436878218,0.0798365797517,0.99999991388,0.000306284071298,-0.000278002305193,3.38242297898e-05,1793252850429510144 +71,1.183333333,BASELINE,767.209527577,748,725,701,671.209527577,640,895,792.209527577,823,654.790472423,633.209527577,655,0.400981529752,-0.01534410054,0.0798356088864,0.999999913885,0.000304931232358,-0.000279482001559,3.37137670595e-05,1793252850446176512 +72,1.200000000,BASELINE,767.789342827,748,725,701,671.789342827,640,895,792.789342827,823,654.210657173,633.789342827,655,0.400980535023,-0.0153455438501,0.0798345284067,0.999999914287,0.000302499672929,-0.000280654172297,3.39716648436e-05,1793252850462843136 +73,1.216666667,BASELINE,768,748,725,701.367744032,671.632255968,640.367744032,895,793,823,654.367744032,634,655,0.400980775832,-0.0153457090589,0.0798348100298,0.99999991444,0.000302329566021,-0.000280266481529,3.41665192067e-05,1793252850479509760 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+78,1.300000000,BASELINE,768,748,725,701,671.270469094,640,895,793,822.270469094,655,633,655,0.400983103122,-0.01534485856,0.0798365117592,0.999999914383,0.00030510413926,-0.000277489936531,3.38399058093e-05,1793252850562842880 +79,1.316666667,BASELINE,768,748,725,701,671.849708727,640,895,793,822.849708727,655,633,655,0.400981339641,-0.0153444367852,0.0798353051206,0.999999914378,0.00030351859698,-0.000279275862869,3.35589243636e-05,1793252850579509760 +80,1.333333333,BASELINE,768,748,725,701,672,640,895,793.426118073,823,655,633,655,0.400981033873,-0.0153449846035,0.0798344273085,0.999999913948,0.00030386571647,-0.000280426421994,3.36308339965e-05,1793252850596176128 +81,1.350000000,BASELINE,767.998462076,748,725,701,671.998462076,640,895,793.998462076,823,655,633,655,0.400981240705,-0.0153458709628,0.0798336702668,0.999999913372,0.000304884796933,-0.000281347037075,3.38261917862e-05,1793252850612842752 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a/Obstacle_avoidance/ball_0050_10/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_08/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..a95d36e13a95c585c54f0dc3e57e8535f71fb53f --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_08/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75d6a5a5b46edb1072ff709e6d3765848b93cace24a11e89a99dcd4f28acb55a +size 26376470 diff --git a/Obstacle_avoidance/ball_0050_10/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_08/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..84f9e49c0ff5dc3dc38692fe53b469904578b7b2 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_08/depth_04/franka_data.csv @@ -0,0 +1,418 @@ 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0000000000000000000000000000000000000000..e69346410350a8239eb6686fed4e203526f6a80b --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_08/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04a1b1c77a20f55e663a45583af336ed589add5dc1c42ecc95e1455a7bda54d9 +size 26373547 diff --git a/Obstacle_avoidance/ball_0050_10/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_08/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ce50950e9c385bb8c8d58ff08be5d8d0e607dd83 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_08/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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+17,0.283333333,BASELINE,767.114746025,748,725,701,671.885253975,640,895,792,823,654.885253975,633,655,0.400982200606,-0.0153879206034,0.0798370876051,0.999999927285,0.000256244731501,-0.000279479385261,4.07517043678e-05,1793252863735567104 +18,0.300000000,BASELINE,767.462261057,748,725,701.462261057,672,640,895,792,823,655,633,655,0.400982315203,-0.0153873967174,0.0798375227261,0.999999927529,0.000255426763592,-0.000279367258999,4.06538625766e-05,1793252863752233472 +19,0.316666667,BASELINE,768,748,725,701.961049066,671.961049066,640,895,792.038950934,823,655,633.038950934,655,0.400981932273,-0.0153864397582,0.0798376257201,0.999999927533,0.000254847737076,-0.000279912546406,4.04387324009e-05,1793252863768899840 +20,0.333333333,BASELINE,768,748,725,701.376644069,671.376644069,640,895,792.623355931,823,655,633.623355931,655,0.400980965496,-0.0153857477121,0.0798370898645,0.999999926931,0.00025620265494,-0.000280822697974,4.04617968035e-05,1793252863785566464 +21,0.350000000,BASELINE,768,748,725,701.207126961,671,640,895,792.792873039,823,654.792873039,634,655,0.400980061097,-0.0153857864533,0.0798365118132,0.999999926608,0.000256516568923,-0.000281681891477,4.04714594431e-05,1793252863802233600 +22,0.366666667,BASELINE,768,748,725,701.789748625,671,640,895,792.210251375,823,654.210251375,634,655,0.400979269786,-0.0153871500186,0.0798358572666,0.999999926795,0.000254943275796,-0.000282448704427,4.04568263971e-05,1793252863818900736 +23,0.383333333,BASELINE,768,748,725,702,671.3662874,640.3662874,895,792.3662874,822.6337126,654.3662874,633.6337126,655,0.400979238427,-0.015388085446,0.0798357535911,0.999999926983,0.000254280324215,-0.000282377375686,4.04773631464e-05,1793252863835567616 +24,0.400000000,BASELINE,768,748,725,702,671.939391648,640.939391648,895,792.939391648,822.060608352,654.939391648,633.060608352,655,0.40097963616,-0.0153887791342,0.0798359609539,0.999999927173,0.000254131378615,-0.000281832807092,4.05177578152e-05,1793252863852233984 +25,0.416666667,BASELINE,768,748,725,701.484097072,671.484097072,640.484097072,895,793,822.515902928,655,633,655,0.400980313338,-0.0153879604434,0.079836273457,0.999999927048,0.000255423855643,-0.000281106606474,4.05247651377e-05,1793252863868900608 +26,0.433333333,BASELINE,768,748.094460329,725,701,671,640,894.905539671,793,823,655,633,655,0.400980794498,-0.0153870613969,0.0798363977351,0.999999926903,0.000256505004156,-0.000280644772475,4.04705169655e-05,1793252863885567232 +27,0.450000000,BASELINE,768,748.681588228,725,701,671,640,894.318411772,793,823,655,633,655,0.40098008095,-0.0153866760867,0.0798354754554,0.999999926861,0.00025559487352,-0.000281673800736,4.01173778754e-05,1793252863902233856 +28,0.466666667,BASELINE,768,748.73345242,725,701,671.26654758,640,894.26654758,792.73345242,823,655,633,655,0.400980116361,-0.0153868172371,0.0798354485979,0.999999926973,0.00025514577202,-0.000281691660584,4.00579023367e-05,1793252863918900480 +29,0.483333333,BASELINE,768,748.151062698,725,701,671.848937302,640,894.848937302,792.151062698,823,655,633,655,0.400981039242,-0.0153875822103,0.0798364827596,0.999999927268,0.000255242961147,-0.000280511349301,4.03463996856e-05,1793252863935566848 +30,0.500000000,BASELINE,768,748,725,701,671.573028974,640,895,792,823,655,633,655,0.400981006071,-0.0153876984741,0.0798364052424,0.99999992745,0.000254635251731,-0.000280440208552,4.01813122688e-05,1793252863952233984 +31,0.516666667,BASELINE,768,748,725,701.003469943,671,640,895,792,823,655,633,655,0.400980636995,-0.015387585838,0.0798359396595,0.999999927585,0.000253797596178,-0.000280761481434,3.98607481196e-05,1793252863968900864 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+36,0.600000000,BASELINE,768,748.092612983,725,701.907387017,671.907387017,640,895,792.907387017,823,655,633,655,0.40097904294,-0.0153877382156,0.0798357131063,0.999999926361,0.000256494231958,-0.000282612444198,4.02272391956e-05,1793252864052233472 +37,0.616666667,BASELINE,768.484201649,748,725,702,671.515798351,640,895,792.515798351,823,655,633.484201649,655,0.400979812162,-0.0153881955314,0.0798363314315,0.99999992678,0.000256304111004,-0.000281277198052,4.04020325899e-05,1793252864068899840 +38,0.633333333,BASELINE,768.939851824,748,725,702,671,640,895,792.060148176,823,654.939851824,634,655,0.400980874859,-0.0153884986984,0.0798371521415,0.999999927309,0.000256194818375,-0.00027946856364,4.05397700557e-05,1793252864085566464 +39,0.650000000,BASELINE,768.365855516,748,725,702,671,640,895,792.634144484,823,654.365855516,634,655,0.400980307101,-0.0153876865221,0.0798367919651,0.999999927447,0.000255610763038,-0.000279581955343,4.00491951033e-05,1793252864102233600 +40,0.666666667,BASELINE,768,748,725,702,671,640,895,792.784850605,823,654,633.784850605,655,0.400980112104,-0.0153873093546,0.0798363368512,0.999999927413,0.000255344035276,-0.000279976611445,3.98328850705e-05,1793252864118900480 +41,0.683333333,BASELINE,768,748,725,702,671,640,895,792.191526491,823,654,633.191526491,655,0.400980572322,-0.0153876968156,0.0798357148625,0.999999927079,0.000255635084004,-0.000280865654636,4.00986589645e-05,1793252864135567104 +42,0.700000000,BASELINE,768,748,725,702,671,640,895,792,823,654.391262104,633,655,0.400980369491,-0.015387704612,0.0798357486974,0.999999926959,0.000255876461159,-0.000281064775986,4.01463800097e-05,1793252864152233728 +43,0.716666667,BASELINE,768,748,725,702,671,640,895,792,823,654.969028673,633,655,0.400979850603,-0.0153875314322,0.0798360951463,0.999999926942,0.000256094161157,-0.000280935029515,4.00901609266e-05,1793252864168900352 +44,0.733333333,BASELINE,768,748,725,702,671,640.54225915,895,792,823,655,633.54225915,655,0.400980173928,-0.0153874038439,0.079836215366,0.99999992717,0.000255595436892,-0.000280553959897,4.02521152738e-05,1793252864185567232 +45,0.750000000,BASELINE,768,748,725,702,671,640.88131564,895,792,823,655,634,655,0.400980193055,-0.015387629418,0.0798362029196,0.999999927397,0.000254741394192,-0.00028050294261,4.03868400137e-05,1793252864202233856 +46,0.766666667,BASELINE,768,748,725,702,671,640.291179471,895,792,823,655,634,655,0.400978814318,-0.0153892476072,0.0798357143825,0.999999927561,0.000252637108558,-0.000281819544889,4.03643114857e-05,1793252864218900480 +47,0.783333333,BASELINE,768,748,724.706889915,701.706889915,671,640,895,792,823,654.706889915,634,655,0.400978260271,-0.0153896806048,0.0798353399373,0.999999927492,0.000252036535558,-0.000282623632483,4.02256122707e-05,1793252864235567104 +48,0.800000000,BASELINE,768,748,724.128294807,701.128294807,671,640,895,792,823,654.128294807,634,655,0.400978509457,-0.015388959243,0.0798350766159,0.999999927197,0.000252900556872,-0.000282928538274,3.99737644684e-05,1793252864252234240 +49,0.816666667,BASELINE,768,748,724.449154097,701.449154097,671.449154097,640,894.550845903,792.449154097,823,654.449154097,634,655,0.40097946916,-0.0153886458294,0.0798362732511,0.999999927473,0.000253761133605,-0.000281170431538,4.00186129775e-05,1793252864268901120 +50,0.833333333,BASELINE,768.025990808,748,725,702,671.974009192,640,894.025990808,793,823,655,634,654.974009192,0.40098048506,-0.0153885010632,0.0798377326237,0.99999992787,0.000254512545873,-0.00027905422947,4.01499193806e-05,1793252864285567744 +51,0.850000000,BASELINE,768.596840484,748,725,702,671.403159516,640,894.596840484,793,823,655,634,654.403159516,0.400978435352,-0.0153894551885,0.079835980011,0.999999927491,0.000252996061116,-0.000281752850827,4.03216082818e-05,1793252864302233856 +52,0.866666667,BASELINE,768.825658836,748,725,702,671.174341164,640,895,793,823,655,634,654.174341164,0.400977492083,-0.0153906445121,0.0798351345122,0.999999927514,0.000251453334804,-0.000283017345456,4.05443933708e-05,1793252864318900224 +53,0.883333333,BASELINE,768.232167896,748,725,702,671.767832104,640,895,793,823,655,634,654.767832104,0.400979208909,-0.015392399298,0.0798364698904,0.999999928518,0.000249847518826,-0.000280833922726,4.08900235392e-05,1793252864335566592 +54,0.900000000,BASELINE,768,748,725,702,672,640,895,793,823,654.648959931,634,655,0.400980904061,-0.0153919925662,0.0798373172417,0.999999928815,0.000250357925595,-0.000279302758625,4.09928817293e-05,1793252864352233728 +55,0.916666667,BASELINE,768,748,725,702,672,640,895,793,823,654.072359306,634,655,0.400982585285,-0.0153901969526,0.0798378510116,0.999999928657,0.000252228109896,-0.000278190702941,4.09397469382e-05,1793252864368900608 +56,0.933333333,BASELINE,768,748,725,702,671.498919376,640,895,793,823,654.501080624,634,654.498919376,0.400981806881,-0.0153898677107,0.0798376688037,0.999999928591,0.000251743761127,-0.00027892473023,4.0559251226e-05,1793252864385567488 +57,0.950000000,BASELINE,768,748,725,702,671,640,895,793.074490562,823,655,634,654.074490562,0.400980898726,-0.0153895619692,0.0798375005937,0.999999928538,0.000251220334421,-0.000279642115419,4.0155237056e-05,1793252864402234368 +58,0.966666667,BASELINE,768,748,725,702,671,640,895,793.650753444,823,655,634,654.650753444,0.400981494118,-0.0153879970853,0.0798381187613,0.999999928502,0.00025270964535,-0.00027846291422,3.99092392435e-05,1793252864418900736 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a/Obstacle_avoidance/ball_0050_10/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_09/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..ced55b23262f65d0860f16d58902ec9436661567 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_09/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5965890f7c89412fd42d23c1626bd636962ba3ce3856b253d043bb08a519782 +size 26239363 diff --git a/Obstacle_avoidance/ball_0050_10/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_09/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..346b1d87ad4ebfe5a8a49c11cf6d3be30a3082ca --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_09/depth_01/franka_data.csv @@ -0,0 +1,413 @@ 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@@ +version https://git-lfs.github.com/spec/v1 +oid sha256:123cf2c193d056321fa5d45293fe973ee7781c4385edbcebf730cd2466179117 +size 26495156 diff --git a/Obstacle_avoidance/ball_0050_10/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_09/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..3a3693097f2d84af9f20baa59a1979f53a9d8811 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_09/depth_04/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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+59,0.983333333,BASELINE,769.229735464,749,725,700.770264536,672.229735464,641,895,793,822,655,634,655,0.400962646576,0.00451558215587,0.0598362800085,0.999999944518,0.000191469889932,-0.000271481457586,2.45336502915e-05,1793252894393569280 +60,1.000000000,BASELINE,769.822930502,749,725,700.177069498,672.822930502,641,895,793,822,655,634,655,0.400961474766,0.00451657223675,0.0598357572858,0.999999944184,0.000191557651451,-0.000272652955873,2.44390693119e-05,1793252894410235648 +61,1.016666667,BASELINE,770,749,725,700.403198643,672.596801357,641,895,793,822,655,634,655,0.40096180537,0.00451689857482,0.0598360174618,0.999999944429,0.000191010683504,-0.000272162365727,2.4166741847e-05,1793252894426902528 +62,1.033333333,BASELINE,770,749,725,700.977966105,672.022033895,641,895,793,822,655,634,655,0.40096277528,0.00451694247744,0.0598366107762,0.999999944919,0.000190193625892,-0.000270964524747,2.38187798218e-05,1793252894443569152 +63,1.050000000,BASELINE,769.446002285,749,725,701,672,641,895,792.446002285,822,655,633.446002285,654.446002285,0.400962159308,0.00451685853241,0.0598359581643,0.99999994444,0.000191122669007,-0.000272038492787,2.42318987171e-05,1793252894460236032 +64,1.066666667,BASELINE,769.13384944,749,725,701,672,641,895,792.13384944,822,655,633.13384944,654.13384944,0.40096187303,0.00451677222773,0.059835605736,0.999999944146,0.000191729284409,-0.000272671602055,2.44468713196e-05,1793252894476902656 +65,1.083333333,BASELINE,769.726626323,749,725,701,672,641,895,792.726626323,822,655,633.726626323,654.726626323,0.400962933928,0.00451669530666,0.0598364528347,0.999999944625,0.000190991741087,-0.00027148263643,2.38784388167e-05,1793252894493569536 +66,1.100000000,BASELINE,770,749,725,701,672,641,895,793,822,655,634,654.688336206,0.400962848069,0.0045167418371,0.0598367774459,0.999999944733,0.000190830563636,-0.000271206431293,2.37807999722e-05,1793252894510236416 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+71,1.183333333,BASELINE,770,749,725,701,672,641,895,793,822.804706928,655,634,655,0.400962125709,0.00451605167775,0.0598361695244,0.999999944781,0.000189385160481,-0.000272022326095,2.39909300757e-05,1793252894593570048 +72,1.200000000,BASELINE,770,749,725,701,672,641,895,793,822.2119731,655,634,655,0.400960701165,0.00451675303179,0.0598350808445,0.99999994415,0.000190016258408,-0.000273916176435,2.37227246229e-05,1793252894610236160 +73,1.216666667,BASELINE,770,749,725.369471763,700.630528237,672.369471763,641,895,793,822,655,634,655,0.400960161258,0.00451726817445,0.0598350098846,0.999999943957,0.00019064025218,-0.000274189822585,2.37045309056e-05,1793252894626902784 +74,1.233333333,BASELINE,770,749,725.944631918,700.055368082,672.944631918,641,895,793,822,655,634,655,0.400960113839,0.00451767965146,0.0598355054991,0.999999944008,0.000191260290963,-0.000273561485772,2.38255210797e-05,1793252894643569408 +75,1.250000000,BASELINE,770,749,725.479764325,700.520235675,672.479764325,641,895,793,822,655,633.479764325,655,0.400960919973,0.00451713372903,0.0598358753136,0.999999943995,0.000192409729507,-0.000272775834442,2.41242005149e-05,1793252894660236032 +76,1.266666667,BASELINE,769.901620638,749,725,701,672.098379362,641,895.098379362,793,822,655,633.098379362,655,0.400961833837,0.00451651851246,0.0598362954184,0.999999944073,0.00019320142935,-0.000271904818538,2.4388248815e-05,1793252894676902912 +77,1.283333333,BASELINE,769.311004977,749,725,701,672.688995023,641,895.688995023,793,822,655,633.688995023,655,0.400962831798,0.00451606684736,0.0598370341957,0.999999944649,0.000191921049124,-0.00027069052848,2.43843196011e-05,1793252894693569536 +78,1.300000000,BASELINE,769,749,725,701,673,641,895.726525474,793,822,655,634,655,0.40096281988,0.00451638589123,0.059837192609,0.999999944644,0.00019201564515,-0.000270647057891,2.43473253757e-05,1793252894710236160 +79,1.316666667,BASELINE,769,749,725,701,673,641,895.148871124,793,822,655,634,655,0.400961684696,0.00451756217812,0.0598367054959,0.999999943991,0.00019363959772,-0.000271905864651,2.42735536504e-05,1793252894726902784 +80,1.333333333,BASELINE,769.426976111,749,725,701,673,641,895,793,822,655,634,654.573023889,0.400960105694,0.00451710142219,0.0598356405053,0.99999994374,0.000192379838787,-0.000273706238359,2.4391087222e-05,1793252894743569408 +81,1.350000000,BASELINE,769.99781994,749,725,701,672.99781994,641,895,793,822,655,634,654.00218006,0.400958387297,0.00451607450951,0.0598343851452,0.999999943625,0.000190124037875,-0.000275677799638,2.45736971791e-05,1793252894760236288 +82,1.366666667,BASELINE,769.42676771,749,725,701,672.42676771,641,895,793,822,655,634,654.57323229,0.400960503999,0.00451562568537,0.0598358087167,0.999999944467,0.000189216430235,-0.000273254662,2.44056640536e-05,1793252894776902912 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0000000000000000000000000000000000000000..290e08f497779268c1615db1ad9494ee940a9b62 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_09/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03460777d338f58b3ee7036bc6342e365db055d072125063c4be7a1076f78458 +size 26561665 diff --git a/Obstacle_avoidance/ball_0050_10/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_09/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..ee9000fe378930f69043d8300aac57504e1ce82f --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_09/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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+75,1.250000000,BASELINE,769.482680526,749,725,701,672,641,895,792.482680526,822,655,633,655,0.400966433534,0.00451966273511,0.0598392179398,0.999999957327,0.000117691203694,-0.000266660947162,1.96679739067e-05,1793252901754305280 +76,1.266666667,BASELINE,769.093845904,749,725,701,672,641,895,792.093845904,822,655,633,654.906154096,0.400964795317,0.00451902672869,0.0598380471629,0.999999956742,0.000119207954188,-0.000268168093653,1.97625330773e-05,1793252901770971904 +77,1.283333333,BASELINE,769.669107086,749,725,701,672,641,895,792.669107086,822,655,633,654.330892914,0.400966037322,0.00451855664792,0.0598391082042,0.999999957171,0.000118331385933,-0.000266938012456,1.99845526928e-05,1793252901787638528 +78,1.300000000,BASELINE,770,749,725,701,672,640.749838471,895,793,822,654.749838471,633,654.250161529,0.400966477226,0.00451826672842,0.0598395899244,0.999999957285,0.00011781765396,-0.000266728033057,2.01050115063e-05,1793252901804305408 +79,1.316666667,BASELINE,770,749,725,701,672,640.160939566,895,793,822,654.160939566,633,654.839060434,0.400965831025,0.00451822076074,0.0598392872003,0.999999956975,0.000117795229456,-0.000267899347707,2.00879493978e-05,1793252901820971776 +80,1.333333333,BASELINE,770,749,725,701,671.578812124,640.421187876,895,793,822,654.421187876,633.421187876,654.578812124,0.40096637048,0.00451851283774,0.0598398723395,0.999999957362,0.000116580283064,-0.00026699142875,2.00113380338e-05,1793252901837638400 +81,1.350000000,BASELINE,770,749,725,701,671.000767062,641,895,793,822,655,633.999232938,654.000767062,0.400967354858,0.00451893203687,0.0598407894883,0.999999958005,0.000114920408068,-0.000265304390748,1.99123566649e-05,1793252901854304768 +82,1.366666667,BASELINE,770,749,725,701,671.57898359,641,895,793,822,655,633.42101641,654.57898359,0.400967617846,0.00451934828819,0.0598402892451,0.999999957779,0.000115921401124,-0.000265727775254,1.98316387081e-05,1793252901870971392 +83,1.383333333,BASELINE,769.844733188,749,725,701,672,641.155266812,895,793,822,655,633,655,0.40096731432,0.00451966544869,0.059839655273,0.999999957498,0.000116793295331,-0.000266404348542,1.97954637665e-05,1793252901887638272 +84,1.400000000,BASELINE,769.273627655,749,725,701,672,641.726372345,895,793,822,655,633,655,0.400965493544,0.00451971722228,0.0598386631455,0.999999957073,0.0001173194346,-0.000267759017247,1.98785848131e-05,1793252901904305152 +85,1.416666667,BASELINE,769.308157613,749,725,701,672,641.691842387,895,793,822,655,633.308157613,654.691842387,0.400965282366,0.00451939113121,0.0598382605653,0.999999957062,0.000117472910111,-0.000267739475096,1.9784739985e-05,1793252901920971776 +86,1.433333333,BASELINE,769.899766333,749,725,701,672,641.100233667,895,793,822,655,633.899766333,654.100233667,0.400966551737,0.00451871747072,0.0598384002655,0.999999957432,0.000117283600108,-0.000266455899218,1.95281174976e-05,1793252901937638400 +87,1.450000000,BASELINE,770,749,725,701,672,641,895,792.517683904,822,655,633.517683904,654.482316096,0.400967397324,0.00451877409602,0.0598398472376,0.999999957728,0.000117277533923,-0.000265332030449,1.97115546513e-05,1793252901954305280 +88,1.466666667,BASELINE,770,749,725,701,672,641,895,792.062353785,822,655,633,655,0.400968032614,0.00451887456975,0.0598413208916,0.99999995796,0.000117267517873,-0.000264440651452,1.9976092816e-05,1793252901970971648 +89,1.483333333,BASELINE,770,749,725,701,672,641,895,792.636935421,822,655,633,655,0.400967650492,0.00451811149938,0.0598408231145,0.999999957798,0.000116917989307,-0.000265191520166,2.01694489828e-05,1793252901987638272 +90,1.500000000,BASELINE,770,748.788209754,725,700.788209754,672,641,895.211790246,793,822.211790246,655,633.211790246,654.788209754,0.400967315046,0.00451799993331,0.0598403687982,0.999999957688,0.000116379282722,-0.000265842607256,2.0180189304e-05,1793252902004304896 +91,1.516666667,BASELINE,770,748.212886065,725,700.212886065,672,641,895.787113935,793,822.787113935,655,633.787113935,654.212886065,0.400967059718,0.00451900666058,0.0598399890816,0.999999957667,0.000115515856133,-0.000266322421239,1.98774733994e-05,1793252902020971776 +92,1.533333333,BASELINE,769.628285353,748.371714647,725,700.371714647,672.371714647,641,895.628285353,793,822.628285353,654.628285353,633.628285353,654.371714647,0.400966772996,0.00451930494094,0.0598394687469,0.999999957431,0.000116144783062,-0.000266949529989,1.96655058098e-05,1793252902037638400 +93,1.550000000,BASELINE,769.038235512,748.961764488,725,700.961764488,672.961764488,641,895.038235512,793,822.038235512,654.038235512,633.038235512,654.961764488,0.400966467833,0.0045191870987,0.0598388658169,0.999999957067,0.000117650278261,-0.000267663155772,1.95068413128e-05,1793252902054305024 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+size 26208077 diff --git a/Obstacle_avoidance/ball_0050_10/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_10/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d73ac58c4c54001951f6f7852a26a69db77f2012 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_10/depth_01/franka_data.csv @@ -0,0 +1,413 @@ +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,770,749,725,700,676,641,896,793,822,655,634,654,0.40093216193,0.00455699118633,0.0499306397905,0.999999973288,7.97101325289e-05,-0.000215622089545,-2.40331399165e-05,1793252908748160000 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+68,1.133333333,BASELINE,770,749,725,700,675.540878745,640.459121255,896,793,822,655,633,655,0.400936011457,0.00455505802566,0.0499302704398,0.999999974495,7.77729038358e-05,-0.000210780825453,-2.30674449294e-05,1793252909881493504 +69,1.150000000,BASELINE,770,749,725,700,675,641,896,793,822,655,633.034870821,655,0.400937428494,0.00455552918867,0.0499309413849,0.999999974825,7.76598859951e-05,-0.000209270175073,-2.28971144656e-05,1793252909898160384 +70,1.166666667,BASELINE,770,749,725,700,675,641,896,793,822,655,633.623461531,655,0.40093508448,0.00455443798094,0.0499299118199,0.999999974506,7.5986765416e-05,-0.000211373059536,-2.31597267283e-05,1793252909914827264 +71,1.183333333,BASELINE,770,749,725,700.208800073,675,641,896,793,822,655,634,655,0.400934214274,0.00455350521289,0.0499295198931,0.999999974471,7.48671007012e-05,-0.000211931493549,-2.31765925237e-05,1793252909931493888 +72,1.200000000,BASELINE,770,749,725,700.788363878,675,641,896,793,822,655,634,655,0.400935961087,0.00455285378406,0.0499302602126,0.999999974952,7.47302005016e-05,-0.000209747466182,-2.27570893736e-05,1793252909948160768 +73,1.216666667,BASELINE,770,749,725,700.634732143,675,641,895.634732143,793,822,655.365267857,633.634732143,655,0.400936123224,0.00455253030048,0.0499303262893,0.999999974958,7.46568299708e-05,-0.000209769322078,-2.25397143152e-05,1793252909964827136 +74,1.233333333,BASELINE,770,749,725,700.05935816,675,641,895.05935816,793,822,655.94064184,633.05935816,655,0.400935373838,0.00455239545468,0.049930004534,0.999999974691,7.4620002419e-05,-0.000211060026649,-2.24386056046e-05,1793252909981493760 +75,1.250000000,BASELINE,770,749,725,700,675,641,895,793,822,655.483549736,633.516450264,655,0.40093657263,0.00455400737145,0.0499305385617,0.99999997486,7.5429558813e-05,-0.000209931151798,-2.28019653963e-05,1793252909998160384 +76,1.266666667,BASELINE,770,749.094601598,725,700,675,641,895,793,822,655,634,655,0.400937624769,0.00455528263039,0.0499310455944,0.999999975031,7.60301814413e-05,-0.000208863150625,-2.30885683443e-05,1793252910014826752 +77,1.283333333,BASELINE,770,749.684764229,725,700,675,641,895,793,822,655,634,655,0.400936734733,0.00455374177334,0.0499308955369,0.999999974968,7.50263097098e-05,-0.000209572024958,-2.26932078983e-05,1793252910031493376 +78,1.300000000,BASELINE,770,749.73066209,725,700,675,641,895.26933791,793,822,655,634,654.73066209,0.400936499904,0.0045533865428,0.0499309355395,0.999999975015,7.47860743645e-05,-0.000209443633324,-2.25851045262e-05,1793252910048160256 +79,1.316666667,BASELINE,770,749.152496831,725,700,675,641,895.847503169,793,822,655,634,654.152496831,0.400937016345,0.00455439077155,0.0499311934683,0.99999997519,7.54214373282e-05,-0.000208355218494,-2.28063749422e-05,1793252910064827136 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+88,1.466666667,BASELINE,770,749,724.058445819,700,675,641,895.058445819,793,822,655,634,654,0.400933889961,0.00455424869814,0.049928353581,0.999999973983,7.75243003936e-05,-0.000213341351776,-2.25810486855e-05,1793252910214827520 +89,1.483333333,BASELINE,770,749,724.647765042,700,675,641,895.647765042,793,822,655,634,654,0.400935457611,0.00455540029888,0.0499290390337,0.99999997405,7.99856475166e-05,-0.000212116400797,-2.25407393975e-05,1793252910231494400 +90,1.500000000,BASELINE,770,749,725,700,675,641,896,793,822,655,633.766789889,654.233210111,0.400936164496,0.00455614301803,0.0499296581905,0.999999974239,8.02065233003e-05,-0.000211128128976,-2.26894929696e-05,1793252910248161024 +91,1.516666667,BASELINE,770,749,725,700,675,641,896,793,822,655,633.187100682,654.812899318,0.400935592546,0.00455627826373,0.049930178852,0.999999974607,7.70987417998e-05,-0.000210491490305,-2.31191362915e-05,1793252910264827136 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+96,1.600000000,BASELINE,770.284462075,749,725,699.715537925,675.715537925,641,895.715537925,793.715537925,821.284462075,655,634,655,0.400938383805,0.00455567446691,0.0499317945429,0.999999975183,7.62995547858e-05,-0.000208072739705,-2.27735267518e-05,1793252910348160512 +97,1.616666667,BASELINE,770,749,725,700,675.706035783,641,896,793.706035783,821.293964217,655,634,655,0.400937295109,0.00455501851207,0.0499310479884,0.999999974935,7.61533459657e-05,-0.000209316289374,-2.27383963125e-05,1793252910364827136 +98,1.633333333,BASELINE,770,749,725,700,675.128728125,641,896,793.128728125,821.871271875,655,634,655,0.400935961707,0.00455318985662,0.0499298968386,0.999999974767,7.46871422868e-05,-0.000210668379042,-2.25167010772e-05,1793252910381494016 +99,1.650000000,BASELINE,770,749,725,700.447032989,675,641,895.552967011,793.447032989,822,655,633.552967011,655,0.400936204409,0.00455499159474,0.0499300265422,0.999999974805,7.63755004177e-05,-0.000209822835633,-2.30500201308e-05,1793252910398160896 +100,1.666666667,BASELINE,770,749,725,700.977132972,675,641,895.022867028,793.977132972,822,655,633,654.977132972,0.400936848666,0.00455766587214,0.0499304876834,0.999999974876,7.88968137667e-05,-0.000208470787085,-2.37447646286e-05,1793252910414827520 +101,1.683333333,BASELINE,770,749,725,700.388514192,675,641,895.611485808,793.388514192,822,655,633,654.388514192,0.400936237617,0.00455615228279,0.0499300550111,0.999999974473,7.96292554961e-05,-0.000210190226138,-2.30728260306e-05,1793252910431493888 +102,1.700000000,BASELINE,770,749,725,700,675.196770538,641,895.803229462,793.196770538,822,655,633.196770538,654.196770538,0.400935537021,0.00455592992757,0.0499295668032,0.999999974123,8.02359274184e-05,-0.000211654982164,-2.27815275631e-05,1793252910448160000 +103,1.716666667,BASELINE,770,749,725,700,675.775581956,641,895.224418044,793.775581956,822,655,633.775581956,654.775581956,0.400934662566,0.00455821457498,0.0499289707699,0.999999973877,8.05984102201e-05,-0.000212625256805,-2.32292630354e-05,1793252910464826624 +104,1.733333333,BASELINE,770,749,725,700,676,641,895,793.647382127,822,655,634,655,0.400935137756,0.00455664898335,0.0499293586109,0.9999999742,7.80577198969e-05,-0.000212059196491,-2.32047139198e-05,1793252910481493504 +105,1.750000000,BASELINE,770,749,725,700,676,641,895,793.071470484,822,655,634,655,0.400936467603,0.0045526452444,0.0499303694861,0.999999974865,7.36786075492e-05,-0.00021052025868,-2.28810926371e-05,1793252910498160384 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+113,1.883333333,POSE1_TO_POSE2_PRESS,770,749,725,700,675.518537777,641,896,793.481462223,822,655,633.481462223,655,0.400939511463,0.00455345282373,0.0499307184569,0.999999975262,7.49301980677e-05,-0.000208212964194,-2.25703291425e-05,1793252910657454080 +114,1.900000000,POSE1_TO_POSE2_PRESS,770,749,725,700,675,641,896,793.939320768,822,655,633.939320768,655,0.400943900601,0.00455291466507,0.0499322198177,0.999999976202,7.18998377737e-05,-0.000204724117632,-2.27003141595e-05,1793252910674120704 +115,1.916666667,POSE1_TO_POSE2_PRESS,770,749,725,700,675,641,896,793.361135247,822,655,633.361135247,655,0.400954664105,0.00455402406981,0.0499352115066,0.999999977484,7.61565949006e-05,-0.000196752175634,-2.2821921812e-05,1793252910690787072 +116,1.933333333,POSE1_TO_POSE2_PRESS,770,749,725,700,675,640.784665475,895.784665475,793,821.784665475,655,633.215334525,655,0.400972070865,0.00455480343173,0.0499400870592,0.999999979644,7.83782408443e-05,-0.000184485052284,-2.30905299363e-05,1793252910707453440 +117,1.950000000,POSE1_TO_POSE2_PRESS,770,749,725,700,675,640.211050482,895.211050482,793,821.211050482,655,633.788949518,655,0.401000530884,0.00455503365774,0.0499480970442,0.999999983116,7.72138032885e-05,-0.000165071469623,-2.3603722131e-05,1793252910724119808 +118,1.966666667,POSE1_TO_POSE2_PRESS,770,749,725,700,675,640,895.373277481,793,821.373277481,655,634,655,0.40103408248,0.00455499049159,0.0499536784242,0.99999998631,7.58378428927e-05,-0.000145063857926,-2.42016226651e-05,1793252910740786432 +119,1.983333333,POSE1_TO_POSE2_PRESS,770,749,725,700,675,640,895.963841569,793,821.963841569,655,634,655,0.401070597908,0.00455478818258,0.0499578461024,0.999999989152,7.43387539154e-05,-0.000124710457218,-2.48488323728e-05,1793252910757453056 +120,2.000000000,POSE1_TO_POSE2_PRESS,770,749,725,699.456255673,675,640,896,793,822,655,633.456255673,654.456255673,0.401120991674,0.00455500946499,0.0499624352691,0.999999991722,7.42656357301e-05,-0.000101919088369,-2.55620743365e-05,1793252910774119936 +121,2.016666667,POSE1_TO_POSE2_PRESS,770,749,725,699.12230956,675.12230956,640.12230956,896,793.12230956,821.87769044,655,633.12230956,654.12230956,0.401174625649,0.00455476017231,0.0499665281249,0.99999999355,7.35634578788e-05,-8.25067923377e-05,-2.60896929742e-05,1793252910790786816 +122,2.033333333,POSE1_TO_POSE2_PRESS,770,749,725,699.698491877,675.698491877,640.698491877,896,793.698491877,821.301508123,655,633.698491877,654.698491877,0.401236924701,0.00455266212621,0.0499686772363,0.999999994296,7.01818154751e-05,-7.62237743931e-05,-2.59125097525e-05,1793252910807453696 +123,2.050000000,POSE1_TO_POSE2_PRESS,770,749,725,700,675.727762435,640.727762435,896,793.727762435,821,655,633.727762435,655,0.401308854803,0.00455150402672,0.0499711191445,0.999999994914,6.80352147263e-05,-6.99173655602e-05,-2.55767569279e-05,1793252910824120576 +124,2.066666667,POSE1_TO_POSE2_PRESS,770,749,725,700,675.156691455,640.156691455,896,793.156691455,821,655,633.156691455,655,0.40139135684,0.00455137770067,0.0499738824537,0.999999995403,6.72443114215e-05,-6.35852810781e-05,-2.50669432862e-05,1793252910840787200 +125,2.083333333,POSE1_TO_POSE2_PRESS,770,749,725,700,675.431730153,640,896,792.568269847,821.431730153,655,633.431730153,655,0.40148592835,0.00455162397661,0.0499748348416,0.999999995504,6.67392055286e-05,-6.27725240191e-05,-2.44384858522e-05,1793252910857453568 +126,2.100000000,POSE1_TO_POSE2_PRESS,770,749,725,700,675.974054911,640.025945089,895.974054911,792.025945089,821.974054911,655,634,654.974054911,0.401586116213,0.0045519173722,0.0499750024627,0.999999995465,6.62485992582e-05,-6.4162428569e-05,-2.37521596428e-05,1793252910874119936 +127,2.116666667,POSE1_TO_POSE2_PRESS,770,749,725,700,675.396168258,640.603831742,895.396168258,792.603831742,821.396168258,655,634,654.396168258,0.401708693626,0.00455021586576,0.0499730428692,0.999999995394,6.37674271576e-05,-6.80117575652e-05,-2.2789163638e-05,1793252910890786560 +128,2.133333333,POSE1_TO_POSE2_PRESS,770,749,725,700,675,641,895.180423585,793,821.180423585,655,633.819576415,654.180423585,0.401842273799,0.00454882629449,0.0499719455932,0.999999995387,6.1588222561e-05,-7.03994542797e-05,-2.18260293505e-05,1793252910907453440 +129,2.150000000,POSE1_TO_POSE2_PRESS,770,749,725,700,675,641,895.754192509,793,821.754192509,655,633.245807491,654.754192509,0.401999841313,0.00454811678003,0.0499727282744,0.999999995556,6.00673441413e-05,-6.96006145215e-05,-2.08625937169e-05,1793252910924120064 +130,2.166666667,POSE1_TO_POSE2_PRESS,770,749,725,700,675,641,896,793,822,655,633.337028092,655,0.402170640749,0.00454664784387,0.0499703997877,0.999999995414,5.69602122499e-05,-7.4458340273e-05,-1.96048364732e-05,1793252910940786944 +131,2.183333333,POSE1_TO_POSE2_PRESS,770,749,725,700,675,641,896,793,822,655,633.926659207,655,0.402351357546,0.00454460972,0.0499657394763,0.999999994958,5.26641810089e-05,-8.35556696586e-05,-1.81264846705e-05,1793252910957453824 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+144,2.400000000,POSE1_TO_POSE2_PRESS,770,749,725,700.471333029,675,641,896,793,822.471333029,655,634,654.528666971,0.406910089907,0.00449805064571,0.0499473585233,0.9999999947,-7.42006932829e-06,-0.000101812908675,1.34149141129e-05,1793252911174119680 +145,2.416666667,POSE1_TO_POSE2_PRESS,770,749,725,700.950109289,674.950109289,641,896,792.950109289,823,655,634,654.049890711,0.407419369301,0.00449199985669,0.0499408306661,0.999999993804,-1.05721009476e-05,-0.000109568499284,1.65675098656e-05,1793252911190786304 +146,2.433333333,POSE1_TO_POSE2_PRESS,770,749,725,700.372811615,674.372811615,641,896,792.372811615,823,655,634,654.627188385,0.407995955115,0.00448716074617,0.0499534270745,0.999999996489,2.95002078049e-06,-8.12419832321e-05,2.03064405392e-05,1793252911207453696 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+372,6.200000000,pose2_to_pose3_retreat,0.586666379379,0.0100050652943,1.04002111263,0.557237724344,0.0186774784413,1.03963247743 +373,6.216666667,pose2_to_pose3_retreat,0.586529543645,0.0100050607626,1.04002111204,0.557100888297,0.0186774729641,1.03963247953 +374,6.233333333,pose2_to_pose3_retreat,0.586410864377,0.0100051096431,1.04002090725,0.556982208457,0.0186775205017,1.03963228802 +375,6.250000000,pose2_to_pose3_retreat,0.586308778437,0.0100051813525,1.04002108375,0.556880121552,0.0186775890678,1.03963246751 +376,6.266666667,pose2_to_pose3_retreat,0.586218029013,0.0100051291251,1.0400209833,0.556789372156,0.0186775364443,1.03963235655 +377,6.283333333,pose2_to_pose3_retreat,0.586137055453,0.0100051899067,1.04002079962,0.556708397376,0.0186775929177,1.03963216924 +378,6.300000000,pose2_to_pose3_retreat,0.58606540606,0.0100052066273,1.04002071696,0.556636747352,0.0186776075879,1.03963208858 +379,6.316666667,pose2_to_pose3_retreat,0.58600275438,0.0100050681157,1.04002083445,0.556574097274,0.0186774745891,1.03963220767 +380,6.333333333,pose2_to_pose3_retreat,0.585949792241,0.0100049647784,1.04002105001,0.556521137862,0.0186773803873,1.0396324205 +381,6.350000000,pose2_to_pose3_retreat,0.585905451803,0.0100051850834,1.0400210111,0.556476795274,0.018677593763,1.03963238976 +382,6.366666667,pose2_to_pose3_retreat,0.58586960344,0.0100052761954,1.04002109101,0.556440945909,0.0186776814371,1.03963246884 +383,6.383333333,pose2_to_pose3_retreat,0.585841063694,0.0100052649778,1.04002107736,0.556412406349,0.0186776708547,1.03963245528 +384,6.400000000,pose2_to_pose3_retreat,0.585818133652,0.0100051663157,1.04002100284,0.556389477665,0.0186775768575,1.03963238203 +385,6.416666667,pose2_to_pose3_retreat,0.585799562647,0.0100049567496,1.04002101494,0.556370909609,0.0186773772079,1.0396323921 +386,6.433333333,pose2_to_pose3_retreat,0.585784873653,0.0100051185412,1.04002070501,0.556356216997,0.0186775271284,1.03963209125 +387,6.450000000,pose2_to_pose3_retreat,0.585774104655,0.0100051524284,1.04002083222,0.556345448066,0.0186775609298,1.03963221116 +388,6.466666667,pose2_to_pose3_retreat,0.585765933434,0.010005161239,1.04002110006,0.556337277331,0.0186775711117,1.03963247267 +389,6.483333333,pose2_to_pose3_retreat,0.585760168191,0.0100052498588,1.04002122542,0.556331509939,0.0186776528476,1.0396326076 +390,6.500000000,pose2_to_pose3_retreat,0.585756739746,0.0100051690125,1.04002117121,0.55632808283,0.0186775763488,1.03963254929 +391,6.516666667,pose2_to_pose3_retreat,0.585754488272,0.0100051745946,1.0400211144,0.556325831531,0.0186775824035,1.03963248975 +392,6.533333333,pose2_to_pose3_retreat,0.58575305273,0.0100052619661,1.04002105622,0.556324395051,0.0186776665312,1.03963243024 +393,6.550000000,pose2_to_pose3_retreat,0.585752275645,0.0100052594182,1.04002098991,0.556323618034,0.0186776641911,1.03963236346 +394,6.566666667,pose2_to_pose3_retreat,0.585752063384,0.0100052210534,1.04002094549,0.556323406226,0.0186776273672,1.03963231908 +395,6.583333333,pose2_to_pose3_retreat,0.585752022007,0.0100052135749,1.04002093683,0.556323364938,0.0186776201891,1.03963231044 +396,6.600000000,pose2_to_pose3_retreat,0.585752013004,0.0100052119475,1.04002093495,0.556323355954,0.0186776186271,1.03963230855 +397,6.616666667,pose2_to_pose3_retreat,0.585751892175,0.0100051901086,1.04002090966,0.556323235383,0.0186775976652,1.03963228329 +398,6.633333333,pose2_to_pose3_retreat,0.585751782631,0.0100051703092,1.04002088674,0.556323126073,0.0186775786611,1.03963226039 +399,6.650000000,pose2_to_pose3_retreat,0.585751768808,0.0100051678107,1.04002088385,0.55632311228,0.018677576263,1.0396322575 +400,6.666666667,pose2_to_pose3_retreat,0.585751701601,0.0100051556636,1.04002086978,0.556323045216,0.0186775646037,1.03963224345 +401,6.683333333,pose2_to_pose3_retreat,0.585751628867,0.0100051425173,1.04002085456,0.556322972638,0.0186775519855,1.03963222825 +402,6.700000000,pose2_to_pose3_retreat,0.585751433727,0.010005107247,1.04002081372,0.556322777914,0.0186775181318,1.03963218745 +403,6.716666667,pose2_to_pose3_retreat,0.585751310379,0.0100050849527,1.04002078791,0.55632265483,0.0186774967329,1.03963216167 +404,6.733333333,pose2_to_pose3_retreat,0.585751224977,0.010005105638,1.04002082807,0.556322568948,0.0186775157679,1.03963220139 +405,6.750000000,pose2_to_pose3_retreat,0.58575115651,0.0100051338033,1.04002087887,0.556322499883,0.0186775418824,1.03963225169 +406,6.766666667,pose2_to_pose3_retreat,0.585751116773,0.0100051501501,1.04002090836,0.556322459799,0.0186775570388,1.03963228089 +407,6.783333333,pose2_to_pose3_retreat,0.585751039414,0.0100051819731,1.04002096576,0.556322381764,0.0186775865446,1.03963233773 +408,6.800000000,pose2_to_pose3_retreat,0.585750970797,0.0100052101999,1.04002101667,0.556322312549,0.018677612716,1.03963238814 +409,6.816666667,pose2_to_pose3_retreat,0.585750929733,0.0100052256013,1.04002104411,0.556322271185,0.0186776270898,1.03963241537 +410,6.833333333,pose2_to_pose3_retreat,0.585750867487,0.0100052245106,1.04002103608,0.556322209442,0.0186776277589,1.0396324085 +411,6.850000000,pose2_to_pose3_retreat,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241 diff --git a/Obstacle_avoidance/ball_0050_10/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_10/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..0622563bea999f956278a8d4748d03a58b912346 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_10/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3775d07f2e5ffb24e34116fca758ed4fc72a03e0a5f47c629c6ad88935c0373d +size 26330710 diff --git a/Obstacle_avoidance/ball_0050_10/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_10/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..25f6446605019032bfd5df17c8dd789830857e79 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_10/depth_02/franka_data.csv @@ -0,0 +1,415 @@ +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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+22,0.366666667,BASELINE,770,749,725,700,675.78644067,640.21355933,895,793,821,655,633.21355933,655,0.400986271424,0.00456640316198,0.0498501525198,0.999999962828,8.24083381222e-05,-0.000257817174925,-3.29249135672e-05,1793252916152180480 +23,0.383333333,BASELINE,770,749,725,700,675.63565353,640.36434647,895.36434647,793,821,655,633.36434647,654.63565353,0.400986794626,0.0045666374738,0.0498506319884,0.99999996297,8.27377207096e-05,-0.000257196801405,-3.26159435475e-05,1793252916168847104 +24,0.400000000,BASELINE,770,749,725,700,675.058571735,640.941428265,895.941428265,793,821,655,633.941428265,654.058571735,0.400988331354,0.00456718718004,0.0498517890455,0.999999963396,8.29770959749e-05,-0.000255506944887,-3.22331345278e-05,1793252916185513728 +25,0.416666667,BASELINE,770.516562336,749,725,700,675.516562336,641,895.483437664,793,821.516562336,655,634,654.516562336,0.400988173254,0.00456696981293,0.0498516212659,0.999999963314,8.278297931e-05,-0.000255879240855,-3.23141915681e-05,1793252916202180352 +26,0.433333333,BASELINE,770.906640152,749,725,700,675.906640152,640.906640152,895,793,822,655,633.906640152,654.906640152,0.400987934344,0.00456673778715,0.0498514024524,0.999999963249,8.230421481e-05,-0.000256273005966,-3.24355310644e-05,1793252916218847232 +27,0.450000000,BASELINE,770.319888651,749,725,700,675.319888651,640.319888651,895,793,822,655,633.319888651,654.319888651,0.400988280155,0.00456688622294,0.049851704839,0.999999963573,8.05799202584e-05,-0.000255549160571,-3.24928363222e-05,1793252916235513600 +28,0.466666667,BASELINE,770.264563526,749,724.735436474,700,675.264563526,640.264563526,895,793,821.735436474,655,633.264563526,654,0.40098817831,0.00456705317213,0.049852035507,0.999999963688,8.04259195e-05,-0.000255146845472,-3.24946780811e-05,1793252916252179968 +29,0.483333333,BASELINE,770.846259467,749,724.153740533,700,675.846259467,640.846259467,895,793,821.153740533,655,633.846259467,654,0.400987539858,0.0045672423133,0.049852400076,0.999999963554,8.21542306996e-05,-0.000255129948922,-3.24300357163e-05,1793252916268846592 +30,0.500000000,BASELINE,770.576443524,748.576443524,724,700,676,641,895,793,821,655,633.576443524,654,0.400987195267,0.00456673932509,0.0498519824193,0.999999963308,8.35011148732e-05,-0.000255669787332,-3.23112920651e-05,1793252916285513984 +31,0.516666667,BASELINE,770.000726819,748.000726819,724,700,676,641,895,793,821,655,633.000726819,654,0.400986956244,0.00456598769337,0.0498512837524,0.999999963022,8.47109735423e-05,-0.000256409629578,-3.2173112839e-05,1793252916302181376 +32,0.533333333,BASELINE,770,749.144550983,724.572275492,700.572275492,676,641,895,793,821.572275492,655,633,654.572275492,0.400986284124,0.00456695090367,0.0498509732714,0.999999962874,8.31841811749e-05,-0.000257441964151,-3.25104594785e-05,1793252916318847488 +33,0.550000000,BASELINE,770.149855863,749.850144137,724.850144137,700.850144137,675.850144137,640.850144137,895,793,822,655,633,655,0.40098600586,0.00456727289625,0.0498507694193,0.99999996286,8.17968829434e-05,-0.000257916886145,-3.26758810484e-05,1793252916335513600 +34,0.566666667,BASELINE,770.7409252,749.2590748,724.2590748,700.2590748,675.2590748,640.2590748,895,793,822,655,633,655,0.400986888822,0.00456570059981,0.0498508780653,0.99999996325,8.08304759107e-05,-0.000256749556106,-3.23333420069e-05,1793252916352180224 +35,0.583333333,BASELINE,771,749,724.325503781,700,675.325503781,640.325503781,895,793,822,655,633,655,0.40098754036,0.00456535439082,0.0498515346093,0.999999963675,8.01351591643e-05,-0.000255325923342,-3.22089917476e-05,1793252916368846848 +36,0.600000000,BASELINE,771,749,724.905017306,700,675.905017306,640.905017306,895,793,822,655,633,655,0.400988011304,0.00456596496982,0.0498526187105,0.999999964125,7.96513900079e-05,-0.000253702282363,-3.22549069908e-05,1793252916385513472 +37,0.616666667,BASELINE,770.519311467,749,725,700,676,641,895,793,821.519311467,655,633,655,0.400987085246,0.00456603343798,0.049851637556,0.999999963758,8.01735651498e-05,-0.00025496942112,-3.23692953907e-05,1793252916402180352 +38,0.633333333,BASELINE,770,749,724.943208936,700,675.943208936,641,895,793,821.056791064,655.056791064,633.056791064,655,0.400986067617,0.00456602622327,0.0498504730169,0.999999963295,8.08734032939e-05,-0.000256541902215,-3.24786193129e-05,1793252916418846976 +39,0.650000000,BASELINE,770,749,724.356043845,700,675.356043845,641,895,793,821.643956155,655.643956155,633.643956155,655,0.400986752334,0.00456630466401,0.0498513767753,0.999999963478,8.13908271172e-05,-0.000255673739344,-3.24152898039e-05,1793252916435513600 +40,0.666666667,BASELINE,770.228016158,749,724,700,675,641,894.771983842,793,822,655.771983842,634,655,0.40098713681,0.00456648920601,0.0498519264145,0.999999963598,8.12349247765e-05,-0.000255267708865,-3.23112897128e-05,1793252916452180224 +41,0.683333333,BASELINE,770.807292719,749,724,700,675,641,894.192707281,793,822,655.192707281,634,655,0.400987058762,0.00456652909636,0.0498519305306,0.999999963621,8.00417589872e-05,-0.000255573596454,-3.21446363245e-05,1793252916468847104 +42,0.700000000,BASELINE,770.613723512,749,724,699.613723512,675,641,894.386276488,793,821.613723512,654.613723512,634,655,0.400987328277,0.00456580359614,0.0498518129419,0.999999963615,8.02226967828e-05,-0.0002555373228,-3.21676857891e-05,1793252916485513984 +43,0.716666667,BASELINE,770.03488572,749,724,699.03488572,675,641,894.96511428,793,821.03488572,654.03488572,634,655,0.400987771054,0.00456469654381,0.0498516346826,0.999999963594,8.10886340573e-05,-0.000255330479566,-3.22853033466e-05,1793252916502181632 +44,0.733333333,BASELINE,770,749,724.538241099,699.538241099,675.538241099,640.461758901,895,793,821.538241099,654.538241099,634,655,0.40098725771,0.00456554726186,0.0498515485048,0.999999963486,8.12243808611e-05,-0.000255705547155,-3.23262081195e-05,1793252916518847744 +45,0.750000000,BASELINE,770,749,725,700,675.885630686,640,895,793.114369314,822,655,634,655,0.400987025239,0.00456635712866,0.049851614715,0.999999963475,8.13597409791e-05,-0.000255704073718,-3.23547601349e-05,1793252916535513856 +46,0.766666667,BASELINE,770,749,725,700,675.295493388,640,895,793.704506612,822,655,634,655,0.400988216262,0.00456647473963,0.0498522902819,0.999999963887,8.1688301439e-05,-0.00025398096791,-3.23523919269e-05,1793252916552180480 +47,0.783333333,BASELINE,770.290391322,749,725,699.709608678,675.290391322,640,895,793.709608678,822,655,634,655,0.400988510697,0.00456648330309,0.0498524995308,0.999999963921,8.19002887422e-05,-0.000253792038982,-3.22545600355e-05,1793252916568847360 +48,0.800000000,BASELINE,770.872011256,749,725,699.127988744,675.872011256,640,895,793.127988744,822,655,634,655,0.400987905959,0.00456638250464,0.0498522411174,0.999999963576,8.19953668116e-05,-0.000255141710236,-3.2060989209e-05,1793252916585513984 +49,0.816666667,BASELINE,770.552392755,749,725,699.447607245,676,640,894.552392755,793,822,655,634,655,0.400987992219,0.00456575910621,0.0498524018884,0.99999996367,8.13918989285e-05,-0.000254980225392,-3.19501615787e-05,1793252916602180608 +50,0.833333333,BASELINE,770,749,725,700,675.9780476,640,894,793,821.9780476,655,634,655,0.400988237354,0.00456508892404,0.0498526819344,0.999999963867,8.07425976982e-05,-0.000254420578374,-3.18763142263e-05,1793252916618847232 +51,0.850000000,BASELINE,770,749,725,700,675.392173127,640,894,793,821.392173127,655,634,655,0.400987555527,0.00456700463898,0.049852987803,0.99999996355,8.3978828323e-05,-0.000254585331517,-3.21527251782e-05,1793252916635513856 +52,0.866666667,BASELINE,770,749,725,700,675,640.191552184,894.191552184,793,821.191552184,655,633.808447816,655,0.400987309631,0.00456809876837,0.0498529461767,0.999999963422,8.56211902773e-05,-0.000254508011297,-3.24057238438e-05,1793252916652180480 +53,0.883333333,BASELINE,770,749,725,700,675,640.770926208,894.770926208,793,821.770926208,655,633.229073792,655,0.400987946335,0.00456752949284,0.0498522010028,0.999999963694,8.40365615248e-05,-0.000253940582656,-3.26113213324e-05,1793252916668846848 +54,0.900000000,BASELINE,770,749,724.649819881,700,675.350180119,640.649819881,895,793,822,655,633.350180119,655,0.400987910481,0.00456707921298,0.0498521562187,0.999999963679,8.33635875037e-05,-0.00025423208559,-3.25322524087e-05,1793252916685513472 +55,0.916666667,BASELINE,770,749,724.07064454,700,675.92935546,640.07064454,895,793,822,655,633.92935546,655,0.400987434817,0.00456670674862,0.0498525694445,0.999999963477,8.32867769661e-05,-0.000255085274423,-3.22670299955e-05,1793252916702180352 +56,0.933333333,BASELINE,770.505454641,749,724.505454641,700,676,640.505454641,895,793,821.494545359,655,634,655,0.400987188353,0.00456608582232,0.0498515186935,0.999999963241,8.35709984035e-05,-0.000255915093642,-3.22803533975e-05,1793252916718846976 +57,0.950000000,BASELINE,770.917321998,749,725,700,676,640.917321998,895.082678002,793,821.082678002,655,633.917321998,655,0.400987298659,0.00456552049976,0.0498507955226,0.999999963179,8.34557899927e-05,-0.000256191145851,-3.23130123759e-05,1793252916735513856 +58,0.966666667,BASELINE,770.330640866,749,725,700,676,640.330640866,895.669359134,793,821.669359134,655,633.330640866,655,0.400989389726,0.00456550454568,0.0498533090365,0.9999999642,8.05999279975e-05,-0.000253111237672,-3.22276550479e-05,1793252916752180480 +59,0.983333333,BASELINE,770,749,725,700,675.746159,640,895.746159,793,822,655,633.253841,654.746159,0.400989964379,0.00456578239221,0.0498541401383,0.999999964521,7.97470072956e-05,-0.000252133004666,-3.2056209992e-05,1793252916768847616 +60,1.000000000,BASELINE,770,749,725,700,675.164517104,640,895.164517104,793,822,655,633.835482896,654.164517104,0.400988580792,0.00456643964203,0.0498527986358,0.999999963951,8.14806106363e-05,-0.00025386879696,-3.17735944114e-05,1793252916785514752 +61,1.016666667,BASELINE,770,749,725,700,675.411901183,640.411901183,895,793,822,655,634,654.411901183,0.40098789186,0.00456479874779,0.0498521154396,0.999999964003,7.93140076991e-05,-0.000254337221192,-3.18741641634e-05,1793252916802181120 +62,1.033333333,BASELINE,770,749,725,700,675.986259207,640.986259207,895,793,822,655,634,654.986259207,0.400987476906,0.00456225144869,0.0498516918844,0.99999996429,7.56091347651e-05,-0.000254305786082,-3.21258650309e-05,1793252916818846976 +63,1.050000000,BASELINE,770.560761892,749,725,700,676,641,895,793,822,655,634,654.439238108,0.400986582191,0.00456319085777,0.0498513566409,0.999999963924,7.65287842722e-05,-0.000255456839894,-3.22150747267e-05,1793252916835513600 +64,1.066666667,BASELINE,770.860830493,749,724.860830493,700,676,641,895,793.139169507,821.860830493,655,634,654.139169507,0.400986161604,0.00456461219937,0.0498514203466,0.999999963619,7.83702473049e-05,-0.000256081641396,-3.22692127744e-05,1793252916852180224 +65,1.083333333,BASELINE,770.269754462,749,724.269754462,700,676,641,895,793.730245538,821.269754462,655,634,654.730245538,0.400987318773,0.00456732095437,0.0498527724781,0.999999963562,8.28369336107e-05,-0.000254903501681,-3.22223997609e-05,1793252916868846848 +66,1.100000000,BASELINE,770.315273743,749,724.315273743,700,676,640.684726257,895,793.684726257,821.315273743,655,634,655,0.400987752098,0.00456764449764,0.0498527825772,0.999999963605,8.31578060471e-05,-0.000254628756054,-3.22481746066e-05,1793252916885513728 +67,1.116666667,BASELINE,770.895224675,749,724.895224675,700,676,640.104775325,895,793.104775325,821.895224675,655,634,655,0.400987577743,0.00456596561861,0.0498516660192,0.999999963736,7.99982033185e-05,-0.000255112423815,-3.23348880867e-05,1793252916902180608 +68,1.133333333,BASELINE,770.531039664,749,725,700,675.531039664,640,895,793,822,655,634,654.531039664,0.400988129633,0.00456624974967,0.0498524271379,0.999999964057,8.05486910118e-05,-0.000253660641551,-3.24536235589e-05,1793252916918847232 +69,1.150000000,BASELINE,770,749,725,700,675.042509025,640,895,793,821.957490975,655,634,654,0.400988813727,0.00456681178347,0.0498535026062,0.999999964411,8.16063889354e-05,-0.000251909994776,-3.25569061642e-05,1793252916935514368 +70,1.166666667,BASELINE,770,749,725,700,675.631265117,640,895,793,821.368734883,655,634,654,0.40098913891,0.00456538285035,0.0498532972405,0.999999964679,7.8669519417e-05,-0.000251802864739,-3.23708849454e-05,1793252916952180736 +71,1.183333333,BASELINE,770,749,724.783398034,700,676,640,895,793,821.216601966,655,634,654,0.400989164839,0.0045655697321,0.0498530515135,0.999999964647,7.84967447492e-05,-0.000251978093479,-3.2410326829e-05,1793252916968847104 +72,1.200000000,BASELINE,770,749,724.20379142,700,676,640,895,793,821.79620858,655,634,654,0.400988689247,0.0045684645683,0.0498527381447,0.99999996411,8.2956334187e-05,-0.000252626529114,-3.28276237657e-05,1793252916985513728 +73,1.216666667,BASELINE,770,749,724.374986432,700,675.625013568,640.374986432,895,793,822,655,634,654.374986432,0.400987724181,0.00456780640584,0.0498525701602,0.999999963924,8.32067330148e-05,-0.00025329584127,-3.27079853806e-05,1793252917002180096 +74,1.233333333,BASELINE,770,749,724.953314842,700,675.046685158,640.953314842,895,793,822,655,634,654.953314842,0.40098649369,0.00456522157677,0.0498524810125,0.999999963932,8.11746352839e-05,-0.000253976473992,-3.22971857962e-05,1793252917018846720 +75,1.250000000,BASELINE,770,749,725,700,675.52284494,641,895,793,822,655,633.47715506,655,0.400988173899,0.00456532882594,0.0498532399738,0.99999996437,8.0457764081e-05,-0.000252472465822,-3.23119852299e-05,1793252917035513344 +76,1.266666667,BASELINE,770,749,725,700,676,640.904285763,894.904285763,793,822,655,633.095714237,654.904285763,0.40098971863,0.00456544695649,0.0498538472516,0.999999964784,7.96721117419e-05,-0.000251074605557,-3.2330008911e-05,1793252917052180480 +77,1.283333333,BASELINE,770,749,725,700,676,640.309998191,894.309998191,793,822,655,633.690001809,654.309998191,0.400989226264,0.00456439036912,0.0498532764746,0.999999964888,7.7926574795e-05,-0.000251228956406,-3.2170151966e-05,1793252917068847104 +78,1.300000000,BASELINE,770,749,725,700,675.722864085,640,894.277135915,793,822,655,634,654.277135915,0.400989674837,0.00456436923644,0.049853297973,0.999999964932,7.84960020906e-05,-0.000250884276739,-3.21067008362e-05,1793252917085513984 +79,1.316666667,BASELINE,770,749,725,700,675.143530385,640,894.856469615,793,822,655,634,654.856469615,0.400991149441,0.00456547719645,0.0498539653074,0.999999964906,8.15897398881e-05,-0.000249995438369,-3.21483736731e-05,1793252917102180608 +80,1.333333333,BASELINE,770,749,725,700,675.433066946,640,895,793,821.566933054,655,634,655,0.400989777209,0.00456502410134,0.0498538207334,0.999999964664,8.1111252353e-05,-0.00025112392588,-3.21045744388e-05,1793252917118846976 +81,1.350000000,BASELINE,770,749,725,700,675.991068953,640,895,793,821.008931047,654.991068953,633.991068953,654.991068953,0.400987504517,0.00456408733696,0.0498534117729,0.999999964349,7.94838151583e-05,-0.0002528986234,-3.20334908472e-05,1793252917135513344 +82,1.366666667,BASELINE,770,749,725,700,675.404340008,640,895,793,821.595659992,654.404340008,633.404340008,654.404340008,0.400987634435,0.00456512114051,0.049853197733,0.999999964186,7.96388085189e-05,-0.000253496526641,-3.20184071813e-05,1793252917152180224 +83,1.383333333,BASELINE,770.18014769,749,725,700,675,640.18014769,895,793,821.81985231,654.18014769,633,654.18014769,0.400987864451,0.00456587237113,0.049853005958,0.99999996413,7.99961087083e-05,-0.000253601311052,-3.20451722357e-05,1793252917168847104 +84,1.400000000,BASELINE,770.759666858,749,725,700,675,640.759666858,895,793,821.240333142,654.759666858,633,654.759666858,0.400988316375,0.00456599716278,0.0498528635422,0.999999964312,8.08019052518e-05,-0.000252612894801,-3.21647121941e-05,1793252917185513728 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+89,1.483333333,BASELINE,770,749,725,700,675.65749458,640,895,793,822,655,634,654,0.400989018597,0.00456361235549,0.0498533851883,0.999999964781,7.83286093585e-05,-0.000251595408363,-3.1654292327e-05,1793252917268846848 +90,1.500000000,BASELINE,770,749,725,700,675.757542027,640,895,793.242457973,821.757542027,655,634,654.242457973,0.400988484649,0.00456397980072,0.0498532819441,0.999999964651,7.86775282511e-05,-0.000252024986209,-3.14968714916e-05,1793252917285513728 +91,1.516666667,BASELINE,770,749,725,700,675.178372704,640,895,793.821627296,821.178372704,655,634,654.821627296,0.400988673852,0.00456626981772,0.0498532362789,0.999999964432,8.14342579511e-05,-0.000251966534779,-3.19103495406e-05,1793252917302180608 +92,1.533333333,BASELINE,770,749,725,700,675,640.398632857,895,793.601367143,821.398632857,654.601367143,634,655,0.400988869203,0.00456651238955,0.0498535703624,0.999999964486,8.2238975616e-05,-0.000251476675899,-3.19907846044e-05,1793252917318846976 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+96,1.600000000,BASELINE,770.274549372,749,724.725450628,700,675.725450628,640.274549372,895,793,821.725450628,655,633.274549372,655,0.400989808288,0.00456476940225,0.0498540369009,0.999999964763,8.05309625415e-05,-0.000250928686591,-3.19850298383e-05,1793252917385513472 +97,1.616666667,BASELINE,770,749,724.695743949,700,676,640.304256051,895,793.304256051,822,655,633.304256051,654.695743949,0.400988839965,0.00456511906085,0.049852885093,0.999999964336,8.07103015358e-05,-0.000252539708209,-3.22214039798e-05,1793252917402180352 +98,1.633333333,BASELINE,770,749,724.117848079,700,676,640.882151921,895,793.882151921,822,655,633.882151921,654.117848079,0.400987817938,0.00456542861713,0.0498521334137,0.99999996414,7.88360900429e-05,-0.000253860206321,-3.25561763093e-05,1793252917418846976 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+112,1.866666667,POSE1_TO_POSE2_PRESS,770,749,725,700,675.901694319,640.901694319,895,792.098305681,821.098305681,655,634,655,0.40098763073,0.00456692435068,0.0498528965442,0.999999964124,8.19709167006e-05,-0.000252995609978,-3.20280731404e-05,1793252917677805312 +113,1.883333333,POSE1_TO_POSE2_PRESS,770.482753794,749,725,699.517246206,675.517246206,640.517246206,895,792.482753794,821,655,634,655,0.400988038509,0.00456569441456,0.0498535897317,0.999999964445,8.07140066977e-05,-0.000252149035992,-3.18776699577e-05,1793252917694471680 +114,1.900000000,POSE1_TO_POSE2_PRESS,770.937908945,749,724.937908945,699,675,640,895,793,821.062091055,655,633.937908945,655,0.40098835756,0.00456410695693,0.0498541123912,0.999999964733,7.9219598154e-05,-0.000251499675736,-3.1717148923e-05,1793252917711138048 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+400,6.666666667,pose2_to_pose3_retreat,0.585752557006,0.0100051491396,1.04002116755,0.556323900841,0.0186775589217,1.03963254338 +401,6.683333333,pose2_to_pose3_retreat,0.585752321195,0.0100051187207,1.04002108547,0.556323665147,0.0186775288711,1.03963246065 +402,6.700000000,pose2_to_pose3_retreat,0.585752191575,0.0100051020002,1.04002104035,0.556323535591,0.018677512353,1.03963241517 +403,6.716666667,pose2_to_pose3_retreat,0.585752177587,0.0100051001957,1.04002103548,0.55632352161,0.0186775105704,1.03963241026 +404,6.733333333,pose2_to_pose3_retreat,0.585752067019,0.0100050859329,1.04002099699,0.556323411097,0.0186774964802,1.03963237147 +405,6.750000000,pose2_to_pose3_retreat,0.585751881898,0.0100050620529,1.04002093256,0.556323226068,0.0186774728892,1.03963230651 +406,6.766666667,pose2_to_pose3_retreat,0.585751682215,0.0100050362945,1.04002086305,0.556323026485,0.0186774474427,1.03963223645 +407,6.783333333,pose2_to_pose3_retreat,0.58575161523,0.0100050276536,1.04002083974,0.556322959533,0.0186774389064,1.03963221295 +408,6.800000000,pose2_to_pose3_retreat,0.58575138886,0.0100050400455,1.04002083926,0.556322732704,0.0186774496602,1.03963221061 +409,6.816666667,pose2_to_pose3_retreat,0.585751208361,0.0100051152669,1.04002096191,0.556322550945,0.0186775204469,1.03963232982 +410,6.833333333,pose2_to_pose3_retreat,0.585751067591,0.010005173932,1.04002105756,0.55632240919,0.0186775756533,1.0396324228 +411,6.850000000,pose2_to_pose3_retreat,0.58575095518,0.0100051977317,1.04002105194,0.556322297043,0.0186776004899,1.03963242034 +412,6.866666667,pose2_to_pose3_retreat,0.585750903091,0.010005207139,1.04002104356,0.556322245151,0.0186776106448,1.0396324138 +413,6.883333333,pose2_to_pose3_retreat,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241 diff --git a/Obstacle_avoidance/ball_0050_10/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_10/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..baaaf2204e7252ae0115c083980ae42392c2acb1 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_10/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d847df60dc4755c1d59c40b856b41299c438c07d4284a41fdf79ec32d39702b6 +size 26322725 diff --git a/Obstacle_avoidance/ball_0050_10/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_10/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..6f5d5805b09d4abbeffeee903f7750d6b4047b76 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_10/position_10/depth_03/franka_data.csv @@ -0,0 +1,415 @@ 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+35,0.583333333,BASELINE,770.676238198,749.323761802,725,700,676,640.323761802,894,793.676238198,821.676238198,655,634,655,0.400988400717,0.00457164947818,0.0498507874185,0.999999963758,8.31054960766e-05,-0.000254073135404,-3.2018548152e-05,1793252923434713856 +36,0.600000000,BASELINE,770.100480662,749.899519338,725,700,676,640.899519338,894,793.100480662,821.100480662,655,634,655,0.400988912053,0.00457187691609,0.0498510237044,0.999999963885,8.25472325443e-05,-0.00025378729283,-3.17391689985e-05,1793252923451380736 +37,0.616666667,BASELINE,770,749.526221906,724.526221906,700,675.526221906,640.526221906,894.473778094,793,821,655,634,655,0.400987911323,0.00457090980822,0.0498505753597,0.999999963741,8.09674035349e-05,-0.000254883067038,-3.15864458298e-05,1793252923468047360 +38,0.633333333,BASELINE,770.049183896,749,724,700,675.049183896,640,895,793,821.049183896,655,634,655,0.400986712088,0.00456987755443,0.0498500100755,0.999999963555,7.9239537159e-05,-0.0002561586117,-3.15166062132e-05,1793252923484714240 +39,0.650000000,BASELINE,770.640733103,749,724,700,675.640733103,640,895,793,821.640733103,655,634,655,0.400986849013,0.00457091180358,0.0498497513658,0.999999963605,7.82608297216e-05,-0.000256195526849,-3.20654702518e-05,1793252923501380864 +40,0.666666667,BASELINE,770.772761567,749,724.227238433,700,675.772761567,640,895,793.227238433,822,655,634,655,0.400987827699,0.00457175916661,0.0498501072017,0.999999963848,7.88217761253e-05,-0.00025503311727,-3.2404056652e-05,1793252923518047488 +41,0.683333333,BASELINE,770.194057545,749,724.805942455,700,675.194057545,640,895,793.805942455,822,655,634,655,0.400990108322,0.00457231747617,0.049851413544,0.999999964376,8.17640774405e-05,-0.000252015733739,-3.24174103844e-05,1793252923534713856 +42,0.700000000,BASELINE,770.38233949,749,724.61766051,700,675,640,895,794,822,655,634,655,0.400990192423,0.00457197722147,0.0498515637678,0.999999964318,8.23478244698e-05,-0.000252073200756,-3.22752846366e-05,1793252923551380480 +43,0.716666667,BASELINE,770.957572612,749,724.042427388,700,675,640,895,794,822,655,634,655,0.400989168358,0.00457118363319,0.0498511307195,0.999999963968,8.17416600481e-05,-0.000253681956984,-3.20547181245e-05,1793252923568047104 +44,0.733333333,BASELINE,771,749,724.542658915,700,675,640.542658915,895,793.457341085,821.457341085,655,634,655,0.400988824452,0.00456965813975,0.049851354286,0.999999964108,8.00357460557e-05,-0.000253710041169,-3.17750162153e-05,1793252923584713472 +45,0.750000000,BASELINE,770.872225292,749,724.872225292,700,675.127774708,641,894.872225292,793.127774708,821.127774708,655,634,654.872225292,0.400988595201,0.00456862379728,0.0498514056532,0.99999996417,7.91312798128e-05,-0.00025376760708,-3.16234933811e-05,1793252923601380352 +46,0.766666667,BASELINE,770.28979654,749,724.28979654,700,675.71020346,641,894.28979654,793.71020346,821.71020346,655,634,654.28979654,0.400988581204,0.0045695444726,0.0498506582451,0.999999963824,8.13901706038e-05,-0.000254377949769,-3.19448191366e-05,1793252923618047488 +47,0.783333333,BASELINE,770,749,724,700.289268917,675.710731083,640.710731083,894,793.710731083,822,655,634,654.289268917,0.400988248462,0.00456971134779,0.0498501422364,0.999999963673,8.15202647664e-05,-0.000254924235684,-3.19608007205e-05,1793252923634714368 +48,0.800000000,BASELINE,770,749,724,700.86500374,675.13499626,640.13499626,894,793.13499626,822,655,634,654.86500374,0.400987600065,0.00456913172725,0.0498498553848,0.999999963718,7.95421905743e-05,-0.00025540708561,-3.16743969509e-05,1793252923651380992 +49,0.816666667,BASELINE,770.439764317,749,724,701,675,640,894.439764317,793,822,655,634,655,0.400987020338,0.0045684724343,0.0498496992015,0.999999963687,7.88868464383e-05,-0.000255764437822,-3.14228154086e-05,1793252923668047616 +50,0.833333333,BASELINE,770.985340366,749,724.014659634,700.985340366,675.014659634,640.014659634,895,793,822,655,634,654.985340366,0.400986499109,0.004567836381,0.0498496098221,0.999999963641,7.86504420515e-05,-0.000256044260499,-3.11973974128e-05,1793252923684713984 +51,0.850000000,BASELINE,770.393386378,749,724.606613622,700.393386378,675.606613622,640.606613622,895,793,822,655,634,654.393386378,0.400987453216,0.00456907649951,0.0498505750659,0.999999963927,7.89572199994e-05,-0.000254784719438,-3.1582274283e-05,1793252923701380608 +52,0.866666667,BASELINE,770.193458741,749,725,700,675.806541259,641,894.806541259,793,821.806541259,655,634,654,0.400988644752,0.00456941977438,0.0498513369302,0.999999964237,7.87264455877e-05,-0.000253613524732,-3.17554160673e-05,1793252923718047232 +53,0.883333333,BASELINE,770.770182537,749,725,700,675.229817463,641,894.229817463,793,821.229817463,655,634,654,0.400990306666,0.00456798629399,0.049851695875,0.999999964598,7.74307152198e-05,-0.000252617354864,-3.15090851337e-05,1793252923734713856 +54,0.900000000,BASELINE,771,749,725,700,675,641,894.347482814,793,821.347482814,654.652517186,634,654.347482814,0.400989709334,0.00456893926968,0.049851709069,0.999999964402,7.87915493066e-05,-0.000252981358688,-3.14469435485e-05,1793252923751380480 +55,0.916666667,BASELINE,771,749,725,700,675,641,894.925164975,793,821.925164975,654.074835025,634,654.925164975,0.400987615304,0.00457147321753,0.049851493211,0.999999963828,8.1912296097e-05,-0.000254246446236,-3.15068231659e-05,1793252923768047104 +56,0.933333333,BASELINE,771,749,724.489236281,700,675,640.489236281,895,793,822,654.510763719,634,654.489236281,0.400987015639,0.00457095990737,0.0498505968073,0.99999996351,8.17361709682e-05,-0.000255548670282,-3.15320737391e-05,1793252923784713728 +57,0.950000000,BASELINE,771,749,724.096141645,700,675.096141645,640,895,793.096141645,821.903858355,655,634,654.096141645,0.400986890453,0.00457004831006,0.0498498716489,0.999999963379,8.06775886767e-05,-0.000256384801211,-3.16261429452e-05,1793252923801380096 +58,0.966666667,BASELINE,771,749,724.674502461,700,675.674502461,640,895,793.674502461,821.325497539,655,634,654.674502461,0.400988029652,0.00456941364957,0.0498505134033,0.999999963994,7.76538087067e-05,-0.000254855420458,-3.20912357666e-05,1793252923818046976 +59,0.983333333,BASELINE,770.74739048,749,724.74739048,700,675.74739048,640.25260952,894.74739048,793.74739048,821.25260952,655,634,655,0.40098811445,0.00456861304999,0.0498509664619,0.999999964308,7.55941792877e-05,-0.000254240938952,-3.2112247246e-05,1793252923834713600 +60,1.000000000,BASELINE,770.16960999,749,724.16960999,700,675.16960999,640.83039001,894.16960999,793.16960999,821.83039001,655,634,655,0.400986841975,0.00456759884566,0.0498511766225,0.999999964244,7.4775649834e-05,-0.000254804159,-3.15616161955e-05,1793252923851380224 +61,1.016666667,BASELINE,770.40690559,749,724.40690559,700.40690559,675,640.59309441,894.40690559,793,822,655,634,655,0.400986312236,0.00456878604151,0.0498506980345,0.999999963799,7.79973233008e-05,-0.000255606610069,-3.1378556904e-05,1793252923868046848 +62,1.033333333,BASELINE,770.982895518,749,724.982895518,700.982895518,675,640.017104482,894.982895518,793,822,655,634,655,0.400986091132,0.0045708880007,0.049849933246,0.999999963174,8.28978507195e-05,-0.000256508470445,-3.13482373204e-05,1793252923884713472 +63,1.050000000,BASELINE,770.429239392,749,725,700.429239392,675,640,894.429239392,793,822,654.429239392,634,654.429239392,0.400986230598,0.00457158694163,0.0498499518345,0.999999963374,8.14437122277e-05,-0.000256166266701,-3.1601173978e-05,1793252923901380352 +64,1.066666667,BASELINE,770.156607409,749,724.843392591,700,675,640,894.156607409,793,821.843392591,654.156607409,634,654,0.400986843559,0.00457197833084,0.0498503047573,0.999999963711,7.99620100126e-05,-0.000255286228342,-3.1839032831e-05,1793252923918046976 +65,1.083333333,BASELINE,770.736023993,749,724.263976007,700,675,640,894.736023993,793,821.263976007,654.736023993,634,654,0.400988705069,0.00457165531741,0.0498514955893,0.999999964354,7.89309549165e-05,-0.000253056935052,-3.20127800996e-05,1793252923934713600 +66,1.100000000,BASELINE,771,749.313109471,724.313109471,700,675,640,895,793,821.313109471,655,634,654.313109471,0.400989094215,0.00457076469125,0.0498518642101,0.999999964478,7.86978785962e-05,-0.000252667494757,-3.17720806834e-05,1793252923951380224 +67,1.116666667,BASELINE,771,749.888244136,724.888244136,700,675,640,895,793,821.888244136,655,634,654.888244136,0.400988251215,0.00456939905924,0.0498515447647,0.999999964171,7.91325896778e-05,-0.000253817732812,-3.11845521675e-05,1793252923968046848 +68,1.133333333,BASELINE,771,749.535493834,724.535493834,700.464506166,675,640.464506166,895,793,822,655,634,655,0.40098778228,0.00457044949036,0.0498515051346,0.999999963881,8.22666756096e-05,-0.000253947894549,-3.13110664293e-05,1793252923984714240 +69,1.150000000,BASELINE,771,749,724.040065327,700.959934673,675,641,895,793,822,654.959934673,634,655,0.400987421855,0.00457185596057,0.0498515154363,0.999999963622,8.54890468817e-05,-0.000253866437913,-3.15996127623e-05,1793252924001381632 +70,1.166666667,BASELINE,771,749,724.602905186,700.397094814,675,641,895,793,822,654.397094814,634,655,0.40098730014,0.00457030499072,0.0498512967049,0.999999963868,8.13687633107e-05,-0.000254233829153,-3.17553565336e-05,1793252924018047744 +71,1.183333333,BASELINE,771,749.177461774,725,700,675.354923548,640.822538226,895,793,822,654.177461774,633.822538226,654.822538226,0.400987256412,0.00456948996883,0.0498510614169,0.999999963947,7.91687937959e-05,-0.000254616649263,-3.17446298208e-05,1793252924034713856 +72,1.200000000,BASELINE,771,749.780089627,725,700,676.560179254,640.219910373,895,793,822,654.780089627,633.219910373,654.219910373,0.400987399524,0.00457043814389,0.0498507864623,0.99999996366,8.15695460532e-05,-0.000255036434217,-3.1335070191e-05,1793252924051380736 +73,1.216666667,BASELINE,771,749.632499968,725,700,676.632499968,640,895,793,822,655,633.367500032,654.367500032,0.400988654968,0.00457110157103,0.0498511993853,0.99999996401,8.25049780986e-05,-0.000253373864775,-3.12213261012e-05,1793252924068047616 +74,1.233333333,BASELINE,771,749.053833579,725,700,676.053833579,640,895,793,822,655,633.946166421,654.946166421,0.40099054956,0.0045716013813,0.0498520075645,0.999999964721,8.25984336631e-05,-0.000250514769719,-3.127755832e-05,1793252924084714496 +75,1.250000000,BASELINE,770.467179301,749,725,700,676,640,895,793,822,655,634,654.467179301,0.400989931537,0.0045718000328,0.0498520628691,0.999999964518,8.18928855941e-05,-0.000251505498521,-3.16607640969e-05,1793252924101380608 +76,1.266666667,BASELINE,770.118486948,749,725,700,675.881513052,640,894.881513052,793,822,655,634,654,0.400989133618,0.00457169243992,0.0498519968825,0.9999999643,8.09891530457e-05,-0.000252624646781,-3.19541713021e-05,1793252924118046976 +77,1.283333333,BASELINE,770.69713401,749,725,700,675.30286599,640,894.30286599,793,822,655,634,654,0.400988637959,0.00457051547372,0.0498517597561,0.999999964394,7.96340316862e-05,-0.000252708931127,-3.17685818832e-05,1793252924134713600 +78,1.300000000,BASELINE,771,749,724.724564188,700,675,640,894.275435812,793.275435812,821.724564188,655,634,654,0.400987555364,0.00457001057503,0.0498511120142,0.999999964183,7.90683009858e-05,-0.000253738584738,-3.16110280264e-05,1793252924151380224 +79,1.316666667,BASELINE,771,749,724.146641591,700,675,640,894.853358409,793.853358409,821.146641591,655,634,654,0.400985828189,0.00457024374871,0.0498500133297,0.999999963636,7.93694882982e-05,-0.00025580645377,-3.14842631592e-05,1793252924168047104 +80,1.333333333,BASELINE,770.572879184,749,724.427120816,700,675.427120816,640,895,794,821.427120816,655,634,654.427120816,0.400986794176,0.00456973104723,0.0498503598914,0.999999963867,7.84202520904e-05,-0.000255196607226,-3.14725117589e-05,1793252924184713984 +81,1.350000000,BASELINE,770.000531253,749,724.999468747,700,675.999468747,640,895,794,821.999468747,655,634,654.999468747,0.400988675878,0.00456896473766,0.0498511978572,0.99999996436,7.70458542356e-05,-0.000253676299705,-3.14998665525e-05,1793252924201380864 +82,1.366666667,BASELINE,770.59174226,749.59174226,725,700,675.40825774,640,895,793.40825774,821.40825774,655,634,655,0.400988892264,0.00456833325735,0.0498510099435,0.99999996428,7.6944289954e-05,-0.000254024767922,-3.1486292497e-05,1793252924218047744 +83,1.383333333,BASELINE,770.820090227,749.820090227,724.820090227,700,675,640,895,793,821.179909773,655,634,654.820090227,0.400988865667,0.00456781741773,0.0498510744752,0.999999964302,7.66590942607e-05,-0.000254028293079,-3.14507536889e-05,1793252924234714368 +84,1.400000000,BASELINE,770.241072335,749.241072335,724.241072335,700,675,640,895,793,821.758927665,655,634,654.241072335,0.400988303475,0.00456755783502,0.0498517011407,0.999999964552,7.59639110941e-05,-0.000253262752185,-3.13665730796e-05,1793252924251380736 +85,1.416666667,BASELINE,770.336184362,749,724,700,675,640,894.663815638,793,822,655,634,654,0.400988117914,0.00456731586729,0.0498518271877,0.999999964525,7.64367100767e-05,-0.000253232119326,-3.13061274657e-05,1793252924268047104 +86,1.433333333,BASELINE,770.912184681,749,724,700,675,640,894.087815319,793,822,655,634,654,0.400988201021,0.00456708646517,0.04985159612,0.999999964301,7.77426851438e-05,-0.00025372573063,-3.1262613134e-05,1793252924284713728 +87,1.450000000,BASELINE,771,749.496936354,724,700,675.496936354,640,894.496936354,793,821.503063646,654.503063646,634,654,0.400987418102,0.00456898382681,0.0498509588788,0.999999963872,8.02741731455e-05,-0.00025460608408,-3.1434727804e-05,1793252924301380352 +88,1.466666667,BASELINE,771,749.917755778,724.082244222,700,675.917755778,640,895,793,821.082244222,654,634,654.082244222,0.400986945691,0.00457070996927,0.0498505356743,0.999999963582,8.23251484545e-05,-0.000255071298808,-3.15862446091e-05,1793252924318046976 +89,1.483333333,BASELINE,771,749.338598625,724.661401375,700,675.338598625,640,895,793,821.661401375,654,634,654.661401375,0.400989290564,0.00456909019321,0.0498518471028,0.999999964391,8.01409834563e-05,-0.00025260795689,-3.13789591854e-05,1793252924334714112 +90,1.500000000,BASELINE,770.760156049,749,724.760156049,700,675.239843951,640,895,793,822,654,634,655,0.400989783593,0.00456821060377,0.049852235175,0.999999964804,7.79686495509e-05,-0.000251638698635,-3.14671295378e-05,1793252924351380736 +91,1.516666667,BASELINE,770.182719326,749,724.182719326,700,675.817280674,640,895,793,822,654,634,655,0.400987670055,0.00456837286544,0.0498513235753,0.999999964668,7.58129687059e-05,-0.000252772440662,-3.1971169202e-05,1793252924368047360 +92,1.533333333,BASELINE,770.393810906,749,724.393810906,700,675.606189094,640.393810906,895,793,822,654.393810906,634,655,0.400987181132,0.00456905659565,0.0498511207356,0.99999996431,7.73716685653e-05,-0.000253737509244,-3.17827239256e-05,1793252924384713984 +93,1.550000000,BASELINE,770.969921563,749,724.969921563,700,675.030078437,640.969921563,895,793,822,654.969921563,634,655,0.400987444263,0.00456998171986,0.0498512459892,0.999999963842,8.06497992373e-05,-0.000254624496978,-3.12737191784e-05,1793252924401380608 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+105,1.750000000,BASELINE,771,749,724.065251797,700,675,640.934748203,894.934748203,793,822,654.934748203,634,654.934748203,0.400987944229,0.00456830272463,0.0498509571495,0.999999964263,7.83334101197e-05,-0.000253724309095,-3.10188567752e-05,1793252924601380352 +106,1.766666667,BASELINE,771,749,724.507619122,700,675.507619122,641,895,793.507619122,822,655,634,655,0.400986853716,0.00456896151642,0.0498504303327,0.999999963839,7.93331596984e-05,-0.000255079618651,-3.10412818825e-05,1793252924618046976 +107,1.783333333,POSE1_TO_POSE2_PRESS,770,749,725,700,676,641,895,793,822,655,634,655,0.400988681416,0.00456979398338,0.0498518253883,0.999999964972,7.6270205856e-05,-0.000251463074644,-3.16967349729e-05,1793252924660456960 +108,1.800000000,POSE1_TO_POSE2_PRESS,770.578004911,749.578004911,725,700.578004911,675.421995089,640.421995089,895,793,822,655,634.578004911,654.421995089,0.400987608075,0.00456971946315,0.0498511241828,0.999999964523,7.69392766174e-05,-0.000253048353011,-3.16353436751e-05,1793252924677124096 +109,1.816666667,POSE1_TO_POSE2_PRESS,771,749.844909856,725,700.844909856,675,640.155090144,895.155090144,793,821.844909856,655,634.844909856,654.155090144,0.400986801048,0.00456964281623,0.0498506586182,0.999999964148,7.76297234095e-05,-0.000254326074886,-3.15582281085e-05,1793252924693790976 +110,1.833333333,POSE1_TO_POSE2_PRESS,771,749.27031216,725,700.27031216,675,640.72968784,895.72968784,793,821.27031216,655,634.27031216,654.72968784,0.400986714379,0.00456956041675,0.0498508304451,0.99999996398,7.83779909584e-05,-0.000254771879187,-3.14385795262e-05,1793252924710456832 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+126,2.100000000,POSE1_TO_POSE2_PRESS,771,749,725,700,675.97679768,640.02320232,895,793.02320232,821.02320232,655,634,654.97679768,0.401618766412,0.00456288314698,0.0499476007626,0.999999993698,7.00079196014e-05,-8.39135360639e-05,-2.57355393147e-05,1793252924977123072 +127,2.116666667,POSE1_TO_POSE2_PRESS,771,749,725,700,675.397667756,640.602332244,895,793.602332244,821.602332244,655,634,654.397667756,0.401749001676,0.00456224126139,0.0499480215883,0.99999999361,6.89370091118e-05,-8.62171913461e-05,-2.4373583284e-05,1793252924993789696 +128,2.133333333,POSE1_TO_POSE2_PRESS,771,749.17929575,725,700,675.17929575,640.82070425,895,793.82070425,822,655,634,654.17929575,0.401888741943,0.0045612369587,0.0499492804815,0.999999993739,6.71376727598e-05,-8.64974352931e-05,-2.30746716315e-05,1793252925010456064 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+132,2.200000000,POSE1_TO_POSE2_PRESS,770,749,725,700,675.505569038,640,895,793,821.494430962,655,634,654.494430962,0.40261629257,0.00455205658809,0.0499467550581,0.999999993604,5.30380803238e-05,-9.84476968748e-05,-1.69387624792e-05,1793252925077123072 +133,2.216666667,POSE1_TO_POSE2_PRESS,770.080166596,749,724.919833404,700,675.919833404,640.080166596,895,793,821.080166596,655,634,654,0.402845539705,0.00454824809947,0.0499467170079,0.999999993802,4.80510402352e-05,-9.93102208661e-05,-1.49847791341e-05,1793252925093789952 +134,2.233333333,POSE1_TO_POSE2_PRESS,770.655688077,749,724.344311923,700,675.344311923,640.655688077,895,793,821.655688077,655,634,654,0.403120130793,0.00454877158163,0.0499501651362,0.999999994396,4.53064529868e-05,-9.47115300091e-05,-1.35860156378e-05,1793252925110456576 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+138,2.300000000,POSE1_TO_POSE2_PRESS,771,749,725,700.049734822,675.049734822,641,895,793,822,655,634,655,0.404416870058,0.00453580148764,0.049978824975,0.999999998873,2.7611948137e-05,-3.83874911491e-05,-4.28383700726e-06,1793252925177123072 +139,2.316666667,POSE1_TO_POSE2_PRESS,771,749,725,700.546441629,675,641,895,793,822,655,634,655,0.404811728309,0.00453226405311,0.0499863791788,0.999999999453,2.56863516214e-05,-2.07826486519e-05,-1.65790029961e-06,1793252925193790208 +140,2.333333333,POSE1_TO_POSE2_PRESS,771,749,724.856253749,700.856253749,675.143746251,641,895.143746251,793,822,655,634,655,0.405213731079,0.00452838262422,0.0499889608778,0.999999999655,2.3082067635e-05,-1.25337451791e-05,1.04153358313e-06,1793252925210457088 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+53,0.883333333,BASELINE,771,749.256447041,725,700,675,640.743552959,895,793,822,655,634,654.256447041,0.400989983274,0.00457720668663,0.0498497809156,0.999999961638,0.000107226630594,-0.000253886901482,-2.7707129812e-05,1793252930828870912 +54,0.900000000,BASELINE,771,749,725,700,675,640.682232733,895,793,821.682232733,655,634,654.317767267,0.400989710525,0.0045771731143,0.0498499663593,0.999999961603,0.000107264149691,-0.000254011416279,-2.76779537444e-05,1793252930845537536 +55,0.916666667,BASELINE,771,749,725,700,675,640.108817105,895,793,821.108817105,655,634,654.891182895,0.400989382532,0.00457735571871,0.0498505943926,0.999999961625,0.000107299079337,-0.000253911241206,-2.76711547929e-05,1793252930862204160 +56,0.933333333,BASELINE,771,749,725,700,675.482728479,640.482728479,895,793,821.482728479,655,634,655,0.400988976058,0.00457820972309,0.0498507594771,0.999999961675,0.00010750516313,-0.000253612822326,-2.77919897393e-05,1793252930878870528 +57,0.950000000,BASELINE,770.924269398,749,725,700,676,640.924269398,895,793.075730602,821.924269398,654.924269398,634,655,0.400988495906,0.00457911027304,0.0498507302461,0.999999961682,0.000107719268654,-0.000253481812977,-2.79228862339e-05,1793252930895537152 +58,0.966666667,BASELINE,770.349646107,749,725,700,676,640.349646107,895,793.650353893,821.349646107,654.349646107,634,655,0.40098765148,0.00457928150775,0.0498501352284,0.999999961357,0.000107722134803,-0.000254759534985,-2.79231312268e-05,1793252930912203776 +59,0.983333333,BASELINE,770,749,725,700,675.775043132,640,895,793.775043132,821.224956868,654.224956868,634,655,0.400987774058,0.00457918624223,0.0498504160454,0.999999961414,0.000107468790328,-0.000254648546175,-2.78658207898e-05,1793252930928870656 +60,1.000000000,BASELINE,770,749,725,700,675.200471643,640,895,793.200471643,821.799528357,654.799528357,634,655,0.400989399496,0.00457867679788,0.0498520580326,0.999999962063,0.000106817258502,-0.000252379305585,-2.77190611177e-05,1793252930945537536 +61,1.016666667,BASELINE,770,749,725,700,675,640,895,793,821.613528276,655,634,655,0.400989849607,0.00457846962239,0.0498521845102,0.999999962108,0.000106961782941,-0.000252137348126,-2.7737794967e-05,1793252930962204160 +62,1.033333333,BASELINE,770,749,725,700,675,640,895,793,821.019955134,655,634,655,0.400989669889,0.00457842442596,0.0498514988605,0.999999961831,0.000107532895885,-0.000252981765773,-2.78452130433e-05,1793252930978870784 +63,1.050000000,BASELINE,770.556029505,749,725,700,675.556029505,640.556029505,895,793.556029505,821,654.443970495,634,655,0.400989273027,0.00457826080783,0.049850663053,0.999999961581,0.000108596577912,-0.000253524346102,-2.77632316142e-05,1793252930995537408 +64,1.066666667,BASELINE,771.131119688,749,725,700,676,640.868880312,895,793.868880312,821.131119688,654,634,655,0.400989111198,0.00457820281306,0.0498502296599,0.999999961504,0.000108899112917,-0.000253701267087,-2.77269958691e-05,1793252931012204032 +65,1.083333333,BASELINE,771.705255065,749,725,700,676,640.294744935,895,793.294744935,821.705255065,654,634,655,0.400989769002,0.00457851560839,0.0498511735587,0.99999996201,0.000106572054909,-0.000252678208106,-2.7867583514e-05,1793252931028870656 +66,1.100000000,BASELINE,771.426878653,749,725,700,676,640,895,793.286560673,822,654.286560673,634,655,0.400989175786,0.00457854673504,0.0498509838122,0.999999961953,0.000105773330609,-0.000253224854258,-2.79937462344e-05,1793252931045537024 +67,1.116666667,BASELINE,770.249138937,749,725,700,676,640,895,793.875430532,822,654.875430532,634,655,0.4009872628,0.00457828071331,0.0498495981188,0.999999961303,0.000106586932778,-0.000255427471875,-2.81046912713e-05,1793252931062203648 +68,1.133333333,BASELINE,770.456012163,749,725,700,676,640,895,793.543987837,822,654.543987837,633.543987837,654.543987837,0.400988336211,0.00457908810569,0.049850852984,0.999999961449,0.000108804445751,-0.000253927332268,-2.79972762364e-05,1793252931078870528 +69,1.150000000,BASELINE,770.965584958,749,725,700.034415042,675.965584958,640,894.965584958,793,822,654,633.034415042,654,0.400990028893,0.00458000433227,0.0498525968576,0.999999961776,0.000111006424906,-0.000251696701927,-2.78337228612e-05,1793252931095537152 +70,1.166666667,BASELINE,770.38647154,749,725,700.61352846,675.38647154,640,894.38647154,793,822,654,633.61352846,654,0.400988841558,0.00457808497294,0.0498508675736,0.999999961728,0.000107000982896,-0.00025362772152,-2.77088924172e-05,1793252931112203776 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+85,1.416666667,BASELINE,770,749.311990124,725,700,675,640.311990124,894.311990124,793,821.311990124,654.311990124,634,655,0.400987673261,0.00457664681862,0.0498504168142,0.999999961446,0.00010734799342,-0.000254598593322,-2.76224723953e-05,1793252931362204160 +86,1.433333333,BASELINE,770,749.900586765,725,700,675,640.900586765,894.900586765,793,821.900586765,654.900586765,634,655,0.400989397876,0.00457496680303,0.0498508153432,0.999999961894,0.000106588546039,-0.000253184148601,-2.73505819168e-05,1793252931378870784 +87,1.450000000,BASELINE,770.481454261,750,725,700,675,641,895,793,822,654.518545739,634,654.518545739,0.400989809009,0.00457639106518,0.0498517342555,0.999999962153,0.000107362851362,-0.000251803369746,-2.76245445467e-05,1793252931395537152 +88,1.466666667,BASELINE,771,749.939287448,725,700,675.060712552,640.939287448,895,793,821.939287448,654.060712552,634,654.060712552,0.400989880598,0.00457819050217,0.0498526259772,0.999999962349,0.000108167734468,-0.000250637351972,-2.79693111827e-05,1793252931412203520 +89,1.483333333,BASELINE,771,749.360357462,725,700,675.639642538,640.360357462,895,793,821.360357462,654.639642538,634,654.639642538,0.400989332375,0.0045778075148,0.0498523829406,0.999999962368,0.000106573128669,-0.000251246048908,-2.79715804183e-05,1793252931428870400 +90,1.500000000,BASELINE,771,749,725,700.216017869,676,640.216017869,895,793,821.216017869,655,634,655,0.400988598684,0.00457704775221,0.0498517047535,0.999999962358,0.000104651037259,-0.000252094853261,-2.79380618773e-05,1793252931445537280 +91,1.516666667,BASELINE,771,749,725,700.788181319,676,640.788181319,895,793,821.788181319,655,634,655,0.400987559215,0.00457566680572,0.0498503091404,0.999999962301,0.000102189025146,-0.000253339519226,-2.78455405386e-05,1793252931462203904 +92,1.533333333,BASELINE,771,749,725,700.628205824,675.628205824,640.628205824,895,793.371794176,821.628205824,654.628205824,634,655,0.400988507286,0.00457629652343,0.0498504007996,0.999999962195,0.000103724774423,-0.000253142585852,-2.77375819726e-05,1793252931478870528 +93,1.550000000,BASELINE,771,749,725,700.037862695,675.037862695,640.037862695,895,793.962137305,821.037862695,654.037862695,634,655,0.400990623678,0.00457810815451,0.0498513667107,0.999999962052,0.00010761049726,-0.000252098248172,-2.76205490491e-05,1793252931495537152 +94,1.566666667,BASELINE,770.457991487,749,725,699.457991487,675,640,894.457991487,793.457991487,821,654,634,655,0.40098917873,0.00457788126674,0.049850838496,0.999999961964,0.000105908609939,-0.000253135616386,-2.7872414341e-05,1793252931512204544 +95,1.583333333,BASELINE,770.120572368,749,725,699.120572368,675,640,894.120572368,793,821.120572368,654,634,655,0.400988106458,0.00457764868126,0.0498505251222,0.999999961976,0.000104100164909,-0.000253815363292,-2.80861690922e-05,1793252931528871936 +96,1.600000000,BASELINE,770.696907367,749,725,699.696907367,675,640,894.696907367,793,821.696907367,654,634,655,0.400989365466,0.00457792263899,0.0498514109005,0.999999962363,0.000103336408842,-0.000252604036417,-2.80603028602e-05,1793252931545538048 +97,1.616666667,BASELINE,770.722118979,749,725,700,675,640,894.722118979,793,821.722118979,654,634,655,0.40098995103,0.00457732888294,0.0498517585035,0.999999962636,0.000102557135334,-0.000251854713424,-2.7914718624e-05,1793252931562204672 +98,1.633333333,BASELINE,770.135999957,749,725,700,675,640,894.135999957,793,821.135999957,654,634,655,0.40098978958,0.0045757726201,0.0498515091386,0.999999962785,0.000101760649236,-0.000251617865782,-2.76363378484e-05,1793252931578871040 +99,1.650000000,BASELINE,770.444017775,749,725,700,675,640.444017775,894.444017775,793,821,654.444017775,634,655,0.400990049502,0.00457510322377,0.0498519420266,0.9999999628,0.000102212696703,-0.000251386852742,-2.75234624537e-05,1793252931595537664 +100,1.666666667,BASELINE,770.977840301,749,725,700,675,641,895,793.022159699,821.022159699,655,634,655,0.400990396154,0.00457480358889,0.0498525436422,0.999999962764,0.000103107967078,-0.000251168151928,-2.74658073722e-05,1793252931612204288 +101,1.683333333,BASELINE,770.400508645,749,725,700,675,641,895,793.599491355,821.599491355,655,634,655,0.400989726065,0.00457705441396,0.0498522080173,0.999999962485,0.000105656456392,-0.000251213746197,-2.75387837071e-05,1793252931628870912 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+131,2.183333333,POSE1_TO_POSE2_PRESS,771,749,725,700,675,641,895,793,822,655,634,654.455855229,0.402460797166,0.00456473627259,0.0499501722487,0.999999992329,8.43327049909e-05,-8.94152085884e-05,-1.53465481339e-05,1793252932144226048 +132,2.200000000,POSE1_TO_POSE2_PRESS,771,749,725,700.1227263,675.1227263,640.8772737,895,793,821.8772737,655,634,654.1227263,0.402675143715,0.0045640350525,0.0499504066417,0.999999992597,8.06400230674e-05,-9.00396885927e-05,-1.39943234528e-05,1793252932160892928 +133,2.216666667,POSE1_TO_POSE2_PRESS,771,749,725,700.698550574,675.698550574,640.301449426,895,793,821.301449426,655,634,654.698550574,0.402916011133,0.00455980296764,0.0499504178405,0.999999992789,7.47970527664e-05,-9.32327588346e-05,-1.16347656445e-05,1793252932177559040 +134,2.233333333,POSE1_TO_POSE2_PRESS,771,749,725,700.720175647,675.720175647,640.279824353,895,793.279824353,821.279824353,655,634,654.720175647,0.403180289946,0.00455524021756,0.0499523014197,0.999999993406,6.93576092303e-05,-9.10652317804e-05,-9.20575654506e-06,1793252932194225920 +135,2.250000000,POSE1_TO_POSE2_PRESS,771,749,725,700.132914656,675.132914656,640.867085344,895,793.867085344,821.867085344,655,634,654.132914656,0.40347029031,0.00455031417342,0.0499562421406,0.999999994461,6.43615117004e-05,-8.30081384843e-05,-6.70044303684e-06,1793252932210893312 +136,2.266666667,POSE1_TO_POSE2_PRESS,771,749,725,700,675,641,895,793.552570728,822,655,634,654.447429272,0.403800111764,0.00454742058631,0.0499648437735,0.999999996069,6.11643553741e-05,-6.40174510836e-05,-4.8149493078e-06,1793252932227560192 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+21,0.350000000,BASELINE,771,749,724.824329227,701,675.824329227,640,895,793,821.824329227,654,634,654.824329227,0.400990484534,0.00457848998954,0.0498504518712,0.99999996253,9.92131411789e-05,-0.000253440278563,-2.9419428146e-05,1793252937390429184 +22,0.366666667,BASELINE,771,749,724.233355041,701,675.233355041,640,895,793,821.233355041,654,634,654.233355041,0.400989039557,0.00457935461572,0.0498500092233,0.999999962223,9.96806024815e-05,-0.00025442990418,-2.9711771518e-05,1793252937407095808 +23,0.383333333,BASELINE,771,749,724.351433452,700.648566548,675,640,895,793,821.351433452,654,634,654,0.400988055898,0.00457899127334,0.0498493794869,0.999999961799,0.00010036700125,-0.000255847961415,-2.95126244191e-05,1793252937423762176 +24,0.400000000,BASELINE,771,749,724.93218569,700.06781431,675,640,895,793,821.93218569,654,634,654,0.400987373259,0.00457782665199,0.0498486276707,0.999999961295,0.000101196262029,-0.00025754558069,-2.89927679871e-05,1793252937440428800 +25,0.416666667,BASELINE,771,749,725,700,675.505942125,640,895,793,822,654,634,654.505942125,0.400988206851,0.00457921695507,0.0498495988607,0.999999961642,0.000102395825528,-0.000255704290498,-2.90785345536e-05,1793252937457096448 +26,0.433333333,BASELINE,771,749,725,700,675.918921913,640.081078087,894.918921913,793,821.918921913,654,634,655,0.400989362257,0.00458069041414,0.0498506891196,0.99999996209,0.000103487756927,-0.000253484024362,-2.92653310939e-05,1793252937473763840 +27,0.450000000,BASELINE,771,749,725,700,675.32933264,640.67066736,894.32933264,793,821.32933264,654,634,655,0.400991278808,0.00458056690218,0.0498510974646,0.999999962489,0.000103597583407,-0.000251821294471,-2.95835985781e-05,1793252937490429952 +28,0.466666667,BASELINE,771,749,725,700,675.255333622,640.744666378,894,793.255333622,821.255333622,654.255333622,634,655,0.400991806559,0.0045802480532,0.0498515519828,0.999999962661,0.000103352583461,-0.000251235270995,-2.96150262995e-05,1793252937507096320 +29,0.483333333,BASELINE,771,749,725,700,675.833770198,640.166229802,894,793.833770198,821.833770198,654.833770198,634,655,0.400990576904,0.00457968202185,0.0498520649292,0.999999962547,0.000102658580886,-0.00025201172789,-2.92834827108e-05,1793252937523762688 +30,0.500000000,BASELINE,771,749.411800714,725,700,675.588199286,640,894.411800714,793.588199286,822,654.588199286,634,654.588199286,0.400990195166,0.00457916671471,0.0498519936748,0.999999962688,0.000100761863444,-0.000252224785447,-2.92344651072e-05,1793252937540429056 +31,0.516666667,BASELINE,771,749.989667465,725,700,675.010332535,640,894.989667465,793.010332535,822,654.010332535,634,654.010332535,0.400990155366,0.00457867186302,0.0498516868309,0.999999962926,9.83801296369e-05,-0.000252210642076,-2.9299381192e-05,1793252937557095424 +32,0.533333333,BASELINE,771,749.435164705,725,700,675.564835295,640,895,793,821.435164705,654.564835295,634,654,0.400990764066,0.00458191624397,0.0498519523605,0.999999962639,0.000102867734118,-0.000251489074723,-2.9896667621e-05,1793252937573762048 +33,0.550000000,BASELINE,771,749,725,700,676,640.143278622,894.856721378,793,821.143278622,655,634,654,0.400990874524,0.00458377942008,0.0498519389677,0.999999962394,0.000105545991728,-0.000251311985468,-3.02535732578e-05,1793252937590428672 +34,0.566666667,BASELINE,771,749,725,700,676,640.732059257,894.267940743,793,821.732059257,655,634,654,0.400989399067,0.00458113628643,0.0498510259086,0.999999962361,0.000102209508864,-0.000252867910467,-2.98329162795e-05,1793252937607095296 +35,0.583333333,BASELINE,771,749,725,700,675.684175816,641,894.315824184,793,821.684175816,654.684175816,634,654.315824184,0.400988730982,0.00457895044206,0.0498505793392,0.999999962444,9.96071902773e-05,-0.000253609901185,-2.95332650427e-05,1793252937623762176 +36,0.600000000,BASELINE,771,749,725,700,675.104599557,641,894.895400443,793,821.104599557,654.104599557,634,654.895400443,0.400988737153,0.00457714649024,0.049850522346,0.99999996263,9.76179888798e-05,-0.00025367215675,-2.93346684509e-05,1793252937640429312 +37,0.616666667,BASELINE,771,749,725,700,675,640.527930002,895,793.472069998,821.472069998,654.472069998,634,654.527930002,0.400988722115,0.00457894658841,0.0498502030713,0.999999962258,9.99700917036e-05,-0.000254189942758,-2.96286255421e-05,1793252937657096192 +38,0.633333333,BASELINE,771,749,725,700,675.04808773,640.04808773,894.95191227,793.95191227,822,654.95191227,634,654.04808773,0.400988732335,0.00458124977783,0.0498499291063,0.999999961827,0.000102947147123,-0.000254654797279,-2.99796467772e-05,1793252937673762816 +39,0.650000000,BASELINE,771,749,725,700,675.623977384,640.623977384,894.376022616,793.376022616,822,654.376022616,634,654.623977384,0.400989071026,0.00458036346327,0.0498507864099,0.99999996221,0.000102290210626,-0.000253437624499,-2.97664432266e-05,1793252937690429184 +40,0.666666667,BASELINE,771,749,725,700,675.795324293,640.795324293,894.204675707,793,821.795324293,654,634,654.795324293,0.400989418522,0.00457994906794,0.049851401345,0.999999962462,0.000102156753949,-0.000252509905177,-2.96484026539e-05,1793252937707095552 +41,0.683333333,BASELINE,771,749,725,700,675.20557915,640.20557915,894.79442085,793,821.20557915,654,634,654.20557915,0.400989782583,0.00458042252436,0.0498515602967,0.999999962469,0.000103008153218,-0.000252126753141,-2.97093982612e-05,1793252937723761920 +42,0.700000000,BASELINE,771,749.376354574,725,700,675,640,895,793.376354574,821.376354574,654,634,654.376354574,0.400989969639,0.00457983851418,0.0498516322273,0.999999962616,0.000101874099194,-0.000252022342213,-2.9565522827e-05,1793252937740428800 +43,0.716666667,BASELINE,771,749.954108145,725,700,675,640,895,793.954108145,821.954108145,654,634,654.954108145,0.400990061974,0.00457868862084,0.04985165759,0.999999962834,9.96775675443e-05,-0.000252067094304,-2.93120145462e-05,1793252937757095680 +44,0.733333333,BASELINE,771,749.470112106,725,700,675.529887894,640.529887894,895,794,821.470112106,654,634,654.470112106,0.400990500336,0.00457887025737,0.0498516924425,0.99999996279,0.00010053181353,-0.000251893755231,-2.93831024791e-05,1793252937773762304 +45,0.750000000,BASELINE,771,749,725,700,675.892603159,641,895,793.892603159,821,654,634,654.107396841,0.400990858709,0.00457933475626,0.0498517973551,0.999999962761,0.000101360371433,-0.000251658057791,-2.95382832331e-05,1793252937790428928 +46,0.766666667,BASELINE,771,749,725,700,675.306629875,641,895,793.306629875,821,654,634,654.693370125,0.400990727592,0.0045805477586,0.0498522108174,0.999999962903,0.000100901434117,-0.00025122833828,-2.99433868454e-05,1793252937807095808 +47,0.783333333,BASELINE,771,749,724.722227241,700,675.277772759,640.722227241,895,793,821,654,634,655,0.400990841827,0.00458099647413,0.049852425731,0.999999962962,0.000100868369152,-0.000250997514931,-3.00437713025e-05,1793252937823762688 +48,0.800000000,BASELINE,771,749,724.139548605,700,675.860451395,640.139548605,895,793,821,654,634,655,0.400991225379,0.00458060624672,0.0498524227015,0.999999962928,0.000101302776111,-0.000250985016065,-2.98096713872e-05,1793252937840429056 +49,0.816666667,BASELINE,771,749,724.438234892,700,675.561765108,640,895,793,821,654,634,654.561765108,0.400991180549,0.00458043766477,0.0498522756435,0.999999962917,0.000100711491654,-0.000251262778163,-2.9841500237e-05,1793252937857095680 +50,0.833333333,BASELINE,771,749,725,700,675,640,894.985607457,793,821,654,634,654,0.400991014321,0.00458034256549,0.049852098801,0.999999962915,9.9841208996e-05,-0.000251604756125,-2.99555521038e-05,1793252937873762560 +51,0.850000000,BASELINE,771,749,725,700,675,640,894.412719293,793,821,654,634,654,0.400991372182,0.00458039038386,0.0498525262365,0.999999963008,0.000100678638311,-0.000250891567552,-3.00105388369e-05,1793252937890428928 +52,0.866666667,BASELINE,771,749,724.835346224,700,675.164653776,640,894.164653776,793,821.164653776,654,634,654,0.400991680356,0.00458048360831,0.0498528875778,0.999999963059,0.000101677602268,-0.000250284919015,-3.00288421174e-05,1793252937907095808 +53,0.883333333,BASELINE,771,749,724.246416599,700,675.753583401,640,894.753583401,793,821.753583401,654,634,654,0.400991860499,0.00458069383403,0.0498530786092,0.999999962999,0.000103092804713,-0.0002499528003,-2.99526203651e-05,1793252937923762944 +54,0.900000000,BASELINE,771,749,724.338380706,700.338380706,675.661619294,640,894.661619294,793.338380706,821.661619294,654,634,654.338380706,0.400991473045,0.00458035911445,0.0498528907054,0.999999962839,0.000103800998982,-0.000250326746964,-2.97414650609e-05,1793252937940429568 +55,0.916666667,BASELINE,771,749,724.92020504,700.92020504,675.07979496,640,894.07979496,793.92020504,821.07979496,654,634,654.92020504,0.40099067724,0.004579632341,0.0498524301815,0.999999962606,0.000104000545289,-0.000251208663261,-2.94332335589e-05,1793252937957095680 +56,0.933333333,BASELINE,771,749,724.503987786,700.503987786,675.496012214,640.496012214,894,793.503987786,821,654.496012214,634.496012214,655,0.400989801081,0.00457988389966,0.0498521068064,0.999999962483,0.000103037539149,-0.000252061542723,-2.97096472394e-05,1793252937973762304 +57,0.950000000,BASELINE,771,749,724.070527096,700,676,641,894.070527096,793,821.070527096,654.929472904,634.929472904,655,0.400989113533,0.00458022696513,0.049851913887,0.99999996244,0.000101890411504,-0.000252661858916,-2.99988885443e-05,1793252937990428672 +58,0.966666667,BASELINE,771,749,724.642652757,700,676,641,894.642652757,793,821.642652757,654.357347243,634.357347243,655,0.400989858241,0.00458011489611,0.0498524937474,0.999999962858,0.000100747979607,-0.000251498733745,-2.97184565959e-05,1793252938007095296 +59,0.983333333,BASELINE,771,749,725,700.22365584,676.22365584,641,895,793,822,654.22365584,634,655,0.40098966294,0.00457991191853,0.049852207228,0.999999962891,9.98600106189e-05,-0.000251737806221,-2.95585259755e-05,1793252938023761920 +60,1.000000000,BASELINE,771,749,725,700.819429228,676.819429228,641,895,793,822,654.819429228,634,655,0.400987903655,0.00457955768769,0.0498504792299,0.999999962285,9.93954156523e-05,-0.000254309848452,-2.9599084861e-05,1793252938040428544 +61,1.016666667,BASELINE,771,749,725,701,676.197561214,641,894.598780607,793.401219393,821.598780607,654.598780607,634,655,0.400987090724,0.00457920970513,0.0498496432025,0.999999961963,9.98286360712e-05,-0.000255405088746,-2.95907351048e-05,1793252938057095680 +62,1.033333333,BASELINE,771,749,725,701,675.046143504,641,894.023071752,793.976928248,821.023071752,654.023071752,634,655,0.40098668936,0.00457886443995,0.0498491950914,0.999999961766,0.000100652314524,-0.00025585807086,-2.95611150817e-05,1793252938073763072 +63,1.050000000,BASELINE,771,749,724.447029894,700.447029894,675,641,894,793.447029894,821.552970106,654.552970106,634,655,0.400989550771,0.00458051666978,0.0498511099956,0.99999996223,0.000103298265908,-0.000252974906566,-2.95641594942e-05,1793252938090429440 +64,1.066666667,BASELINE,771,749,724.132208187,700.132208187,675,640.867791813,894,793,822,655,634,655,0.40099141147,0.0045811442738,0.0498523784221,0.9999999626,0.000104194109162,-0.00025113171431,-2.95893117796e-05,1793252938107095808 +65,1.083333333,BASELINE,771,749,724.722471874,700.722471874,675,640.277528126,894,793,822,655,634,655,0.400989333105,0.00457793297922,0.049851065232,0.999999962583,9.87628540125e-05,-0.000253374217945,-2.96863354624e-05,1793252938123762176 +66,1.100000000,BASELINE,771,749,725,700.693489442,675,640.306510558,894.306510558,793.306510558,821.693489442,654.693489442,634,655,0.400989254246,0.00457630609418,0.0498510577779,0.999999962853,9.60773550505e-05,-0.000253359009685,-2.95426138125e-05,1793252938140428800 +67,1.116666667,BASELINE,771,749,725,700.11497499,675,640.88502501,894.88502501,793.88502501,821.11497499,654.11497499,634,655,0.400990949792,0.00457608524758,0.0498522090613,0.999999963397,9.58284979887e-05,-0.000251340260439,-2.91852497025e-05,1793252938157095680 +68,1.133333333,BASELINE,771,749,725,700.461549407,675,640.538450593,894.538450593,793.538450593,821,654,634,654.538450593,0.400989524928,0.00457832087418,0.049851318134,0.999999962732,9.92239270682e-05,-0.000252635707894,-2.94310384392e-05,1793252938173762816 +69,1.150000000,BASELINE,771,749,724.962585812,701,675.037414188,640.037414188,894,793.037414188,821.037414188,654,634,654.037414188,0.400987573713,0.00458097533899,0.0498500566411,0.99999996184,0.000103167244976,-0.000254533555765,-2.98033688884e-05,1793252938190429952 +70,1.166666667,BASELINE,771,749,724.389100218,701,675.610899782,640.610899782,894,793.610899782,821.610899782,654,634,654.610899782,0.400989170511,0.00458090090949,0.0498507434525,0.999999962275,0.000102009360553,-0.000253284345923,-2.98452577402e-05,1793252938207096320 +71,1.183333333,BASELINE,771,749,724.190309623,701,675.809690377,640.809690377,894,793.809690377,822,654.190309623,634,654.809690377,0.400989879213,0.0045800680823,0.0498513459226,0.999999962611,0.000100521594974,-0.000252563646451,-2.97425712073e-05,1793252938223762944 +72,1.200000000,BASELINE,771,749,724.78222125,701,675.21777875,640.21777875,894,793.21777875,822,654.78222125,634,654.21777875,0.400988713805,0.0045776348419,0.0498517704108,0.999999962741,9.83376955311e-05,-0.000252958238868,-2.93347936243e-05,1793252938240429312 +73,1.216666667,BASELINE,771,749,725,701,675.366014128,640.366014128,894.366014128,793,822,655,634,654.366014128,0.400988211732,0.00457736805104,0.0498517715469,0.999999962702,9.81886202847e-05,-0.000253185105058,-2.91828722182e-05,1793252938257095680 +74,1.233333333,BASELINE,771,749,725,701,675.945081133,640.945081133,894.945081133,793,822,655,634,654.945081133,0.400988095778,0.00457836232725,0.0498515262542,0.999999962567,9.92239943946e-05,-0.000253314339598,-2.91798819582e-05,1793252938273762304 +75,1.250000000,BASELINE,771,749,725,701,676,641,895,793.517737241,822,655,634,654.482262759,0.40098766499,0.00457837058585,0.049850996497,0.99999996243,9.85806692529e-05,-0.000254110693724,-2.91432898956e-05,1793252938290428928 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+82,1.366666667,BASELINE,771,749.575981653,725,701,675.575981653,640,894.575981653,794,821.424018347,655,634,655,0.4009896124,0.00457903564087,0.0498516536095,0.999999962837,9.97132364682e-05,-0.000251988779744,-2.97495079675e-05,1793252938407095296 +83,1.383333333,BASELINE,771,750,725,700.84667486,676,640.15332514,895,793.84667486,821.15332514,655,634,654.84667486,0.400988832678,0.00457998903599,0.049850911098,0.999999962411,0.000100497242291,-0.000253337597291,-2.99597201031e-05,1793252938423761920 +84,1.400000000,BASELINE,771,750,725,700.257930893,676,640.742069107,895,793.257930893,821.742069107,655,634,654.257930893,0.400990470807,0.0045798247161,0.0498527121865,0.999999963147,9.85440106981e-05,-0.000251198763816,-2.98889828895e-05,1793252938440428544 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