Upload Free (part 20)
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- .gitattributes +18 -0
- Free/s2/ball_0010_17.5/width_10/pick/simulation_data.csv +201 -0
- Free/s2/ball_0010_20/width_01/insert/.ipynb_checkpoints/gripper_position_yz-checkpoint.png +3 -0
- Free/s2/ball_0010_20/width_01/insert/camera_frames_60hz.tar +3 -0
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- Free/s2/ball_0010_20/width_01/insert/franka_data.csv +0 -0
- Free/s2/ball_0010_20/width_01/insert/simulation_data.csv +901 -0
- Free/s2/ball_0010_20/width_01/pick/camera_frames_60hz.tar +3 -0
- Free/s2/ball_0010_20/width_01/pick/fem_node.csv +3 -0
- Free/s2/ball_0010_20/width_01/pick/franka_data.csv +203 -0
- Free/s2/ball_0010_20/width_01/pick/simulation_data.csv +203 -0
- Free/s2/ball_0010_20/width_02/insert/.ipynb_checkpoints/gripper_position_yz-checkpoint.png +3 -0
- Free/s2/ball_0010_20/width_02/insert/camera_frames_60hz.tar +3 -0
- Free/s2/ball_0010_20/width_02/insert/fem_node.csv +3 -0
- Free/s2/ball_0010_20/width_02/insert/franka_data.csv +193 -0
- Free/s2/ball_0010_20/width_02/insert/simulation_data.csv +193 -0
- Free/s2/ball_0010_20/width_02/pick/.~lock.gripper_position_yz.csv# +1 -0
- Free/s2/ball_0010_20/width_02/pick/camera_frames_60hz.tar +3 -0
- Free/s2/ball_0010_20/width_02/pick/fem_node.csv +3 -0
- Free/s2/ball_0010_20/width_02/pick/franka_data.csv +204 -0
- Free/s2/ball_0010_20/width_02/pick/simulation_data.csv +204 -0
- Free/s2/ball_0010_20/width_03/insert/.ipynb_checkpoints/gripper_position_yz-checkpoint.png +3 -0
- Free/s2/ball_0010_20/width_03/insert/camera_frames_60hz.tar +3 -0
- Free/s2/ball_0010_20/width_03/insert/fem_node.csv +3 -0
- Free/s2/ball_0010_20/width_03/insert/franka_data.csv +0 -0
- Free/s2/ball_0010_20/width_03/insert/simulation_data.csv +901 -0
- Free/s2/ball_0010_20/width_03/pick/camera_frames_60hz.tar +3 -0
- Free/s2/ball_0010_20/width_03/pick/fem_node.csv +3 -0
- Free/s2/ball_0010_20/width_03/pick/franka_data.csv +203 -0
- Free/s2/ball_0010_20/width_03/pick/simulation_data.csv +203 -0
- Free/s2/ball_0010_20/width_04/insert/camera_frames_60hz.tar +3 -0
- Free/s2/ball_0010_20/width_04/insert/fem_node.csv +3 -0
- Free/s2/ball_0010_20/width_04/insert/franka_data.csv +0 -0
- Free/s2/ball_0010_20/width_04/insert/simulation_data.csv +901 -0
- Free/s2/ball_0010_20/width_04/pick/camera_frames_60hz.tar +3 -0
- Free/s2/ball_0010_20/width_04/pick/fem_node.csv +3 -0
- Free/s2/ball_0010_20/width_04/pick/franka_data.csv +203 -0
- Free/s2/ball_0010_20/width_04/pick/simulation_data.csv +203 -0
- Free/s2/ball_0010_20/width_05/insert/camera_frames_60hz.tar +3 -0
- Free/s2/ball_0010_20/width_05/insert/fem_node.csv +3 -0
- Free/s2/ball_0010_20/width_05/insert/franka_data.csv +0 -0
- Free/s2/ball_0010_20/width_05/insert/simulation_data.csv +902 -0
- Free/s2/ball_0010_20/width_05/pick/camera_frames_60hz.tar +3 -0
- Free/s2/ball_0010_20/width_05/pick/fem_node.csv +3 -0
- Free/s2/ball_0010_20/width_05/pick/franka_data.csv +204 -0
- Free/s2/ball_0010_20/width_05/pick/simulation_data.csv +204 -0
- Free/s2/ball_0010_20/width_06/insert/camera_frames_60hz.tar +3 -0
- Free/s2/ball_0010_20/width_06/insert/fem_node.csv +3 -0
- Free/s2/ball_0010_20/width_06/insert/franka_data.csv +0 -0
- Free/s2/ball_0010_20/width_06/insert/simulation_data.csv +900 -0
.gitattributes
CHANGED
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@@ -2558,3 +2558,21 @@ Free/s2/ball_0010_17.5/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lf
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Free/s2/ball_0010_17.5/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_17.5/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_17.5/width_10/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_17.5/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_17.5/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_17.5/width_10/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_06/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_08/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_20/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/s2/ball_0010_17.5/width_10/pick/simulation_data.csv
ADDED
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 201 |
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|
Free/s2/ball_0010_20/width_01/insert/.ipynb_checkpoints/gripper_position_yz-checkpoint.png
ADDED
|
Git LFS Details
|
Free/s2/ball_0010_20/width_01/insert/camera_frames_60hz.tar
ADDED
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size 25149440
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Free/s2/ball_0010_20/width_01/insert/fem_node.csv
ADDED
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version https://git-lfs.github.com/spec/v1
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size 54749364
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Free/s2/ball_0010_20/width_01/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
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|
Free/s2/ball_0010_20/width_01/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,901 @@
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.268335e-05,0.8835843,3.660837e-06,0.8724217
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.2362256698e-05,0.883584305714,3.99223759345e-06,0.872421702857
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.21975381212e-05,0.883584381239,4.15907462782e-06,0.872421740619
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.21014427046e-05,0.883584425299,4.25640593464e-06,0.87242176265
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.2001255537e-05,0.883584471235,4.35788161668e-06,0.872421785618
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.1478043389e-05,0.883584443118,4.87255626766e-06,0.8724218
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.06612387195e-05,0.883584342218,5.67278571253e-06,0.8724218
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.90933772157e-05,0.8835843,7.25003405802e-06,0.872421726632
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.68146307969e-05,0.883584297125,9.5580677836e-06,0.8724216
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.18657805052e-05,0.883584209581,1.45408821981e-05,0.8724216
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-6.39415230464e-05,0.883584282659,2.24977132536e-05,0.872421682659
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-4.92207165863e-05,0.883584398807,3.73074606245e-05,0.872421798807
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-2.82852959788e-05,0.883584361,5.8345173376e-05,0.87242174575
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,2.24202612063e-06,0.883584663898,8.90766083219e-05,0.872421963898
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,4.06291348063e-05,0.883584757287,0.000127707210047,0.872422057287
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,9.44346874385e-05,0.883585223713,0.000181827892341,0.872422604641
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000159863099851,0.883585693794,0.000247690462293,0.872423
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000239084328068,0.883585720954,0.000327380674927,0.872423120954
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000339854787288,0.88358631923,0.000428785236047,0.872423655384
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000449479860372,0.883586589796,0.00053909361648,0.872423889796
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000560208306361,0.883587216076,0.000650498107402,0.872424516076
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000681011683293,0.883587988126,0.000772027633364,0.872425275537
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000809694492967,0.883588724187,0.000901483777911,0.872425944885
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000939612869191,0.883589155595,0.00103222005085,0.872426455595
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00108260995816,0.883588918697,0.00117613961436,0.872426191596
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00123943028187,0.883588771599,0.00133391229357,0.872426007398
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00140158508835,0.883588942787,0.00149705779029,0.872426242787
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00158015781669,0.8835891675,0.00167677545079,0.8724264675
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00177148154369,0.883589154265,0.00186927879333,0.872426381397
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00196482461478,0.883588923818,0.00206372931317,0.872426123818
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00215986871897,0.883589106125,0.00226003134112,0.872426404084
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00234970514231,0.88358936463,0.00245103424286,0.87242656463
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00252288770882,0.8835891,0.00262531723854,0.872426311518
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00268607153324,0.883589106069,0.00278958733303,0.8724264
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00285026417194,0.883589201871,0.00295461842737,0.872426401871
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00301279006368,0.88358929816,0.00311823816654,0.87242649816
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00317977499298,0.883589695876,0.00328642172548,0.872426994846
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00334600418929,0.883589607443,0.00345352644728,0.872426904962
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00350500954985,0.883589904832,0.00361356972587,0.872427109663
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00366049687382,0.883590019063,0.00377003427908,0.872427319063
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00381516853794,0.883590296522,0.00392569557129,0.872427596522
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00395818951214,0.883590618241,0.00406959263513,0.872427918241
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00409411360805,0.883590325448,0.00420635812337,0.872427625448
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00421660950605,0.883590110427,0.00432964763641,0.872427455214
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00432137960353,0.883590135224,0.00443506219092,0.872427535224
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00440821612624,0.883590120363,0.00452243417541,0.872427520363
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00448810127476,0.883589744894,0.00460283042718,0.8724272
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00455853468036,0.883589582665,0.00467367697851,0.8724272
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00462554510892,0.883589513409,0.00474106996427,0.8724272
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00468559539344,0.883589576682,0.0048015221377,0.872427188341
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00473819533456,0.883589374353,0.0048544140596,0.872427074353
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00478154590446,0.883589187911,0.00489798891875,0.872426875821
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00481803961049,0.8835891,0.00493472080141,0.872426713136
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00484629977293,0.883589109409,0.00496317620361,0.872426809409
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00487005001951,0.883589172685,0.00498709168191,0.872426859027
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488775680582,0.883589,0.00500492886136,0.8724266
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.0049013855686,0.883588962582,0.00501877395759,0.872426562582
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00491056042563,0.883589031171,0.00502806218411,0.872426696757
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491627901173,0.883589253865,0.00503374339456,0.872426876932
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004918365,0.8835891,0.005035848,0.8724268
|
| 62 |
+
60,1.000000000,pose3-hold,0.004918365,0.8835891,0.005035857,0.8724268
|
| 63 |
+
61,1.016666667,pose3-hold,0.004918365,0.8835891,0.00503587064706,0.8724268
|
| 64 |
+
62,1.033333333,pose3-hold,0.004918365,0.8835891,0.00503587935294,0.8724268
|
| 65 |
+
63,1.050000000,pose3-hold,0.004918365,0.8835891,0.00503588926471,0.8724268
|
| 66 |
+
64,1.066666667,pose3-hold,0.004918365,0.8835891,0.00503589829412,0.8724268
|
| 67 |
+
65,1.083333333,pose3-hold,0.004918365,0.8835891,0.00503590564706,0.8724268
|
| 68 |
+
66,1.100000000,pose3-hold,0.004918365,0.8835891,0.00503591382353,0.8724268
|
| 69 |
+
67,1.116666667,pose3-hold,0.004918365,0.8835891,0.00503591979412,0.8724268
|
| 70 |
+
68,1.133333333,pose3-hold,0.004918365,0.8835891,0.00503592576471,0.8724268
|
| 71 |
+
69,1.150000000,pose3-hold,0.004918365,0.8835891,0.00503592835294,0.8724268
|
| 72 |
+
70,1.166666667,pose3-hold,0.004918365,0.8835891,0.00503593482353,0.8724268
|
| 73 |
+
71,1.183333333,pose3-hold,0.004918365,0.8835891,0.00503594114706,0.8724268
|
| 74 |
+
72,1.200000000,pose3-hold,0.004918365,0.8835891,0.00503594417647,0.8724268
|
| 75 |
+
73,1.216666667,pose3-hold,0.004918365,0.8835891,0.00503594808824,0.8724268
|
| 76 |
+
74,1.233333333,pose3-hold,0.004918365,0.8835891,0.00503594894118,0.8724268
|
| 77 |
+
75,1.250000000,pose3-hold,0.004918365,0.8835891,0.00503595138235,0.8724268
|
| 78 |
+
76,1.266666667,pose3-hold,0.004918365,0.8835891,0.00503595070588,0.8724268
|
| 79 |
+
77,1.283333333,pose3-hold,0.004918365,0.8835891,0.005035949,0.8724268
|
| 80 |
+
78,1.300000000,pose3-hold,0.004918365,0.8835891,0.00503595117647,0.8724268
|
| 81 |
+
79,1.316666667,pose3-hold,0.004918365,0.8835891,0.00503595761765,0.8724268
|
| 82 |
+
80,1.333333333,pose3-hold,0.004918365,0.8835891,0.00503596005882,0.8724268
|
| 83 |
+
81,1.350000000,pose3-hold,0.004918365,0.8835891,0.00503596091176,0.8724268
|
| 84 |
+
82,1.366666667,pose3-hold,0.004918365,0.8835891,0.00503595258824,0.8724268
|
| 85 |
+
83,1.383333333,pose3-hold,0.004918365,0.8835891,0.00503594629412,0.8724268
|
| 86 |
+
84,1.400000000,pose3-hold,0.004918365,0.8835891,0.00503594211765,0.8724268
|
| 87 |
+
85,1.416666667,pose3-hold,0.004918365,0.8835891,0.00503593870588,0.8724268
|
| 88 |
+
86,1.433333333,pose3-hold,0.004918365,0.8835891,0.00503593476471,0.8724268
|
| 89 |
+
87,1.450000000,pose3-hold,0.004918365,0.8835891,0.00503592885294,0.8724268
|
| 90 |
+
88,1.466666667,pose3-hold,0.004918365,0.8835891,0.00503592458824,0.8724268
|
| 91 |
+
89,1.483333333,pose3-hold,0.004918365,0.8835891,0.00503591958824,0.8724268
|
| 92 |
+
90,1.500000000,pose3-hold,0.004918365,0.8835891,0.00503591388235,0.8724268
|
| 93 |
+
91,1.516666667,pose3-hold,0.004918365,0.8835891,0.00503590835294,0.8724268
|
| 94 |
+
92,1.533333333,pose3-hold,0.004918365,0.8835891,0.00503590264706,0.8724268
|
| 95 |
+
93,1.550000000,pose3-hold,0.004918365,0.8835891,0.00503589582353,0.8724268
|
| 96 |
+
94,1.566666667,pose3-hold,0.004918365,0.8835891,0.005035889,0.8724268
|
| 97 |
+
95,1.583333333,pose3-to-pose4-insert,0.004918365,0.8835891,0.005035885,0.8724268
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.00491824511485,0.883588894896,0.00503577402552,0.872426494896
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.0049182548857,0.883588460635,0.00503577619682,0.872426060635
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.0049182755761,0.883587824359,0.00503578489101,0.872425441587
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491830930728,0.883587085046,0.00503580337385,0.872424748481
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491831964924,0.883586154561,0.00503580544906,0.872423854561
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491827396739,0.883585189452,0.00503577038342,0.872422889452
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491824512467,0.883584580099,0.00503574824358,0.872422280099
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491822397097,0.883584133189,0.00503573200588,0.872421833189
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491821326716,0.883583907053,0.00503572378958,0.872421607053
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491819950479,0.883583345866,0.00503571334878,0.872421045866
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491824951892,0.88358194547,0.00503575285995,0.87241964547
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491830698463,0.88358033643,0.00503579825786,0.87241803643
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491836148606,0.883573262766,0.00503583448606,0.872410962766
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491839950904,0.883559263709,0.00503585327751,0.872396883578
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491825481066,0.883528081443,0.00503576227013,0.872365681443
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491814928471,0.883478893986,0.00503560243512,0.872316570978
|
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+
112,1.866666667,pose3-to-pose4-insert,0.00491791030905,0.883407169256,0.00503543519897,0.872244769697
|
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+
113,1.883333333,pose3-to-pose4-insert,0.00491765852449,0.88331859684,0.00503517289416,0.87215629684
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+
114,1.900000000,pose3-to-pose4-insert,0.00491720034548,0.883212824911,0.00503472736415,0.872050510891
|
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+
115,1.916666667,pose3-to-pose4-insert,0.00491701080904,0.883100070094,0.00503453534293,0.871937670094
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491669311443,0.882976612551,0.00503423892221,0.871814212551
|
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+
117,1.950000000,pose3-to-pose4-insert,0.00491634582324,0.882847739493,0.00503392780134,0.871685239493
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| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00491617969117,0.882711090232,0.00503375856811,0.871548590232
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+
119,1.983333333,pose3-to-pose4-insert,0.00491679201734,0.882567380171,0.00503435687751,0.871404850601
|
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+
120,2.000000000,pose3-to-pose4-insert,0.00491720500663,0.882414105422,0.0050347779881,0.871251505422
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491761213765,0.882255528775,0.00503519675922,0.871092978355
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.00491804667133,0.88208443349,0.00503565020044,0.870921811566
|
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+
123,2.050000000,pose3-to-pose4-insert,0.00491868358542,0.88190333061,0.00503628044445,0.870740704665
|
| 126 |
+
124,2.066666667,pose3-to-pose4-insert,0.00491856504055,0.881711722539,0.00503619752922,0.870549033346
|
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+
125,2.083333333,pose3-to-pose4-insert,0.00491854860361,0.881513523237,0.00503616060361,0.870350818325
|
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+
126,2.100000000,pose3-to-pose4-insert,0.00491830028772,0.881312056394,0.00503591148446,0.870149256394
|
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+
127,2.116666667,pose3-to-pose4-insert,0.00491814273047,0.881113633445,0.00503574333456,0.869950833445
|
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+
128,2.133333333,pose3-to-pose4-insert,0.00491797769941,0.880917693899,0.00503558081505,0.86975485177
|
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+
129,2.150000000,pose3-to-pose4-insert,0.00491782894574,0.880724640441,0.00503544625489,0.869561689532
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| 132 |
+
130,2.166666667,pose3-to-pose4-insert,0.00491781560152,0.880535788707,0.00503542899641,0.869372788707
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+
131,2.183333333,pose3-to-pose4-insert,0.00491798009964,0.880348437571,0.00503556234153,0.869185437571
|
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+
132,2.200000000,pose3-to-pose4-insert,0.00491813637645,0.880165161922,0.0050357285975,0.869002087656
|
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+
133,2.216666667,pose3-to-pose4-insert,0.00491792138106,0.879989461503,0.00503551434492,0.868826361503
|
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+
134,2.233333333,pose3-to-pose4-insert,0.00491738433596,0.87982172424,0.00503495403699,0.86865862424
|
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+
135,2.250000000,pose3-to-pose4-insert,0.00491699476642,0.879660844705,0.00503456272337,0.86849764901
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136,2.266666667,pose3-to-pose4-insert,0.00491671347615,0.879511221475,0.00503425854167,0.868348021475
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137,2.283333333,pose3-to-pose4-insert,0.00491622021656,0.87937003113,0.00503377088176,0.86820683113
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138,2.300000000,pose3-to-pose4-insert,0.00491604445186,0.879241059354,0.00503355078886,0.868077850035
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139,2.316666667,pose3-to-pose4-insert,0.00491626779121,0.879121213822,0.00503383479596,0.867957901382
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140,2.333333333,pose3-to-pose4-insert,0.00491659550027,0.879013540721,0.00503415331842,0.867850154357
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+
141,2.350000000,pose3-to-pose4-insert,0.0049167517749,0.878913186187,0.00503429543526,0.867749869205
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+
142,2.366666667,pose3-to-pose4-insert,0.00491693154126,0.878825176995,0.00503447798246,0.867661776995
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+
143,2.383333333,pose3-to-pose4-insert,0.00491707299969,0.878745633419,0.00503463453544,0.867582233419
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+
144,2.400000000,pose3-to-pose4-insert,0.00491728079341,0.878676765149,0.00503482206717,0.867513386379
|
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+
145,2.416666667,pose3-to-pose4-insert,0.00491734462826,0.878616076875,0.00503488541463,0.867452753177
|
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+
146,2.433333333,pose3-to-pose4-insert,0.00491747879518,0.878566800722,0.00503500693093,0.867403378955
|
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+
147,2.450000000,pose3-to-pose4-insert,0.00491754292354,0.878523764028,0.00503507933932,0.867360264028
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+
148,2.466666667,pose3-to-pose4-insert,0.00491765008473,0.878489479815,0.00503515931858,0.867325979815
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+
149,2.483333333,pose3-to-pose4-insert,0.0049176846157,0.878461745562,0.00503517791166,0.867298245562
|
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+
150,2.500000000,pose3-to-pose4-insert,0.00491767912695,0.878441387514,0.00503518394697,0.867277887514
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151,2.516666667,pose3-to-pose4-insert,0.00491788108662,0.878425185506,0.00503536569897,0.867261705574
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152,2.533333333,pose3-to-pose4-insert,0.00491784649397,0.878413565924,0.005035363038,0.86725026339
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153,2.550000000,pose3-to-pose4-insert,0.00491796168226,0.878405023009,0.00503545375074,0.867241623283
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154,2.566666667,pose3-to-pose4-insert,0.00491782538887,0.878398835771,0.00503535906773,0.867235435771
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155,2.583333333,pose3-to-pose4-insert,0.00491779347949,0.878395332872,0.00503531841102,0.867231932872
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156,2.600000000,pose3-to-pose4-insert,0.004917843,0.8783937,0.005035364,0.8672303
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157,2.616666667,pose4-hold,0.004917843,0.8783937,0.005035363,0.8672303
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158,2.633333333,pose4-hold,0.004917843,0.8783937,0.00503536827273,0.8672303
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159,2.650000000,pose4-hold,0.004917843,0.8783937,0.00503537127273,0.8672303
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160,2.666666667,pose4-hold,0.004917843,0.8783937,0.00503537072727,0.8672303
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161,2.683333333,pose4-hold,0.004917843,0.8783937,0.00503537257576,0.8672303
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162,2.700000000,pose4-hold,0.004917843,0.8783937,0.00503537657576,0.8672303
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163,2.716666667,pose4-hold,0.004917843,0.8783937,0.00503537981818,0.8672303
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164,2.733333333,pose4-hold,0.004917843,0.8783937,0.00503538230303,0.8672303
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165,2.750000000,pose4-hold,0.004917843,0.8783937,0.0050353840303,0.8672303
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166,2.766666667,pose4-hold,0.004917843,0.8783937,0.00503538490909,0.8672303
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167,2.783333333,pose4-hold,0.004917843,0.8783937,0.00503538578788,0.8672303
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168,2.800000000,pose4-hold,0.004917843,0.8783937,0.00503538733333,0.8672303
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169,2.816666667,pose4-hold,0.004917843,0.8783937,0.00503538854545,0.8672303
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170,2.833333333,pose4-hold,0.004917843,0.8783937,0.00503538942424,0.8672303
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171,2.850000000,pose4-hold,0.004917843,0.8783937,0.00503538969697,0.8672303
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172,2.866666667,pose4-hold,0.004917843,0.8783937,0.00503538881818,0.8672303
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173,2.883333333,pose4-hold,0.004917843,0.8783937,0.005035388,0.8672303
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174,2.900000000,pose4-hold,0.004917843,0.8783937,0.005035388,0.8672303
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175,2.916666667,pose4-hold,0.004917843,0.8783937,0.005035388,0.8672303
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176,2.933333333,pose4-hold,0.004917843,0.8783937,0.00503538730303,0.8672303
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177,2.950000000,pose4-hold,0.004917843,0.8783937,0.005035387,0.8672303
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178,2.966666667,pose4-hold,0.004917843,0.8783937,0.00503538654545,0.8672303
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179,2.983333333,pose4-hold,0.004917843,0.8783937,0.00503538533333,0.8672303
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180,3.000000000,pose4-hold,0.004917843,0.8783937,0.00503538378788,0.8672303
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181,3.016666667,pose4-hold,0.004917843,0.8783937,0.00503538281818,0.8672303
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182,3.033333333,pose4-hold,0.004917843,0.8783937,0.00503538106061,0.8672303
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183,3.050000000,pose4-hold,0.004917843,0.8783937,0.00503537845455,0.8672303
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184,3.066666667,pose4-hold,0.004917843,0.8783937,0.00503537727273,0.8672303
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185,3.083333333,pose4-hold,0.004917843,0.8783937,0.00503537578788,0.8672303
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186,3.100000000,pose4-hold,0.004917843,0.8783937,0.00503537451515,0.8672303
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187,3.116666667,pose4-hold,0.004917843,0.8783937,0.00503537290909,0.8672303
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188,3.133333333,pose4-hold,0.004917843,0.8783937,0.00503537075758,0.8672303
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189,3.150000000,pose4-hold,0.004917843,0.8783937,0.00503536975758,0.8672303
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190,3.166666667,pose4-hold,0.004917843,0.8783937,0.005035368,0.8672303
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191,3.183333333,pose4-to-pose5-return,0.004917843,0.8783937,0.005035373,0.8672303
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192,3.200000000,pose4-to-pose5-return,0.00491752219957,0.878394553403,0.00503505866554,0.867231159336
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193,3.216666667,pose4-to-pose5-return,0.00491683463837,0.878395262228,0.00503436401609,0.867231946921
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194,3.233333333,pose4-to-pose5-return,0.00491605765894,0.878395962484,0.0050335867136,0.867232627329
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195,3.250000000,pose4-to-pose5-return,0.00491555441932,0.878396402475,0.00503308429896,0.86723303982
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196,3.266666667,pose4-to-pose5-return,0.00491532698077,0.878396601328,0.00503285723326,0.867233226245
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197,3.283333333,pose4-to-pose5-return,0.00491496602527,0.878396916918,0.00503249686949,0.86723352211
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198,3.300000000,pose4-to-pose5-return,0.00491467573281,0.878397208518,0.00503220673281,0.867233808518
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199,3.316666667,pose4-to-pose5-return,0.00491441903272,0.878397482638,0.00503195003272,0.867234082638
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200,3.333333333,pose4-to-pose5-return,0.00491373615633,0.878398211855,0.00503126715633,0.867234811855
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201,3.350000000,pose4-to-pose5-return,0.00491198781101,0.878400078845,0.00502951881101,0.867236678845
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202,3.366666667,pose4-to-pose5-return,0.00490884047865,0.878403074639,0.00502632997206,0.867239674639
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203,3.383333333,pose4-to-pose5-return,0.00490451088579,0.878407525323,0.00502195358895,0.867244125323
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204,3.400000000,pose4-to-pose5-return,0.00489801496142,0.878414393297,0.00501541578596,0.867250993297
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205,3.416666667,pose4-to-pose5-return,0.00488864573511,0.878424168929,0.00500601477045,0.867260768929
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206,3.433333333,pose4-to-pose5-return,0.00487004386524,0.878443126273,0.00498726455678,0.867279726273
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207,3.450000000,pose4-to-pose5-return,0.0048427127864,0.878471105673,0.00495974368484,0.86730761043
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208,3.466666667,pose4-to-pose5-return,0.00480322571972,0.878511490197,0.00492005899352,0.86734803497
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209,3.483333333,pose4-to-pose5-return,0.00475301909617,0.878563135809,0.00486953558776,0.867399735809
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210,3.500000000,pose4-to-pose5-return,0.00469108983953,0.878626662474,0.00480716889525,0.867463162474
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211,3.516666667,pose4-to-pose5-return,0.00462358668549,0.878695662134,0.00473926838342,0.867532162134
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Free/s2/ball_0010_20/width_01/pick/fem_node.csv
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|
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| 1 |
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aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
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0,0.000000000,pose1-to-pose2-lift,1.79292519248e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000098_1792925192488555346_interpolated.jpg,0.675986363324,-0.00535286689619,0.0979128580023,0.999999976519,0.000123144520198,-0.000168529170098,5.82739526387e-05,0.0531039759517
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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183,3.050000000,pose2-hold,1.79292519557e+18,camera_frames_60hz/WAIT_POSE2/camera_00000194_1792925195551419831_interpolated.jpg,0.675910566042,-0.00528698895734,0.134520243326,0.999999928354,0.000113507727335,-0.000338843442608,-0.000124871801674,0.0530021935701
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| 186 |
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| 187 |
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| 188 |
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186,3.100000000,pose2-hold,1.79292519562e+18,camera_frames_60hz/WAIT_POSE2/camera_00000197_1792925195616489392_real.jpg,0.675909867756,-0.00528493628316,0.134521015558,0.999999927974,0.000115569173396,-0.000339156032625,-0.000125179516212,0.0530021935701
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| 189 |
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| 190 |
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188,3.133333333,pose2-hold,1.79292519565e+18,camera_frames_60hz/WAIT_POSE2/camera_00000198_1792925195648354922_interpolated.jpg,0.675911216001,-0.00528235628519,0.134522539139,0.999999928154,0.000119440817397,-0.000337358359599,-0.000124961857072,0.0530021935701
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| 191 |
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189,3.150000000,pose2-hold,1.79292519567e+18,camera_frames_60hz/WAIT_POSE2/camera_00000199_1792925195680220452_real.jpg,0.675910564334,-0.0052857288237,0.134521380422,0.999999928061,0.000115971855138,-0.000338847350842,-0.000124945334815,0.0530021935701
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| 192 |
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190,3.166666667,pose2-hold,1.79292519568e+18,camera_frames_60hz/WAIT_POSE2/camera_00000199_1792925195680220452_real.jpg,0.675910173896,-0.00528859946649,0.134520643868,0.999999928045,0.000113346183562,-0.000339786449057,-0.000124934519073,0.0530021935701
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| 193 |
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191,3.183333333,pose2-hold,1.7929251957e+18,camera_frames_60hz/WAIT_POSE2/camera_00000200_1792925195714318994_interpolated.jpg,0.675911076241,-0.00528898631246,0.134521996529,0.99999992847,0.000114893814574,-0.00033800421995,-0.00012495194391,0.0530021935701
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| 194 |
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192,3.200000000,pose2-hold,1.79292519572e+18,camera_frames_60hz/WAIT_POSE2/camera_00000200_1792925195714318994_interpolated.jpg,0.675911876009,-0.00528929487014,0.134523255446,0.999999928865,0.000116110495063,-0.000336427384202,-0.000124923619602,0.0530021935701
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| 195 |
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193,3.216666667,pose2-hold,1.79292519574e+18,camera_frames_60hz/WAIT_POSE2/camera_00000201_1792925195748417537_real.jpg,0.675911938743,-0.00528904095341,0.134523840736,0.999999929077,0.000114949420806,-0.000336326325631,-0.000124566629646,0.0530021935701
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| 196 |
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194,3.233333333,pose2-hold,1.79292519575e+18,camera_frames_60hz/WAIT_POSE2/camera_00000201_1792925195748417537_real.jpg,0.675911953052,-0.00528887691346,0.134524340137,0.999999929254,0.000113829370206,-0.000336299280426,-0.000124251689922,0.0530021935701
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| 197 |
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195,3.250000000,pose2-hold,1.79292519577e+18,camera_frames_60hz/WAIT_POSE2/camera_00000202_1792925195782170387_interpolated.jpg,0.675911380939,-0.00528980127666,0.134523799423,0.999999929007,0.000113206113953,-0.000337168533218,-0.000124445976321,0.0530021935701
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| 198 |
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196,3.266666667,pose2-hold,1.79292519579e+18,camera_frames_60hz/WAIT_POSE2/camera_00000202_1792925195782170387_interpolated.jpg,0.67591088599,-0.00529062110918,0.134523315325,0.999999928787,0.000112737338543,-0.000337925954234,-0.000124586894908,0.0530021935701
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| 199 |
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197,3.283333333,pose2-hold,1.7929251958e+18,camera_frames_60hz/WAIT_POSE2/camera_00000203_1792925195815923237_real.jpg,0.675911823845,-0.00528949997638,0.134523882486,0.999999929064,0.000115137022107,-0.000336606840366,-0.000123736859725,0.0530021935701
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| 200 |
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198,3.300000000,pose2-hold,1.79292519582e+18,camera_frames_60hz/WAIT_POSE2/camera_00000203_1792925195815923237_real.jpg,0.675912720192,-0.005288455829,0.134524423687,0.999999929325,0.000117416337128,-0.000335339718799,-0.000122922400992,0.0530021847638
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| 201 |
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199,3.316666667,pose2-hold,1.79292519584e+18,camera_frames_60hz/WAIT_POSE2/camera_00000204_1792925195848115072_interpolated.jpg,0.675912057485,-0.00529030283134,0.134523989864,0.999999929292,0.000115174887911,-0.00033602547533,-0.000123444194861,0.0530018453164
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| 202 |
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200,3.333333333,pose2-hold,1.79292519585e+18,camera_frames_60hz/WAIT_POSE2/camera_00000204_1792925195848115072_interpolated.jpg,0.675911507837,-0.00529193263306,0.134523711159,0.999999929305,0.000113020040123,-0.000336521973763,-0.000123977188789,0.053001537919
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| 203 |
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201,3.350000000,pose2-hold,1.79292519587e+18,camera_frames_60hz/WAIT_POSE2/camera_00000205_1792925195880306907_real.jpg,0.67591204256,-0.00529147922399,0.134524920228,0.999999929817,0.000111695802457,-0.000335203263217,-0.000124617604541,0.053001537919
|
Free/s2/ball_0010_20/width_01/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,203 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,3.962189e-06,0.8344216
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.2503411487e-05,0.845589529744,3.96817909122e-06,0.834421729744
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.27337301011e-05,0.84558998133,3.73336060639e-06,0.83442218133
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26921417832e-05,0.845590451536,3.77001025862e-06,0.834422651536
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.26797910329e-05,0.845591263234,3.78256045712e-06,0.834423463234
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26720856435e-05,0.845592074897,3.80280766652e-06,0.834424274897
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.26692087843e-05,0.845592377937,3.81036709901e-06,0.834424577937
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.26757864899e-05,0.845592797176,3.80581295418e-06,0.834424997176
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.2688591423e-05,0.845593289043,3.7932355095e-06,0.834425489043
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.27014455773e-05,0.845593782801,3.78060971796e-06,0.834425982801
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.27060135439e-05,0.845593958267,3.77612290448e-06,0.834426158267
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.27115295287e-05,0.845594170148,3.77070491492e-06,0.834426370148
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.27213233153e-05,0.84559454635,3.76108512163e-06,0.83442674635
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.27113302131e-05,0.845595200785,3.77121985874e-06,0.834427400785
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.26449746428e-05,0.845596240315,3.83749964385e-06,0.834428440315
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.25395281534e-05,0.845597892246,3.94282570223e-06,0.834430092246
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.26442356914e-05,0.845600408969,3.83876409164e-06,0.834432608969
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.26179950486e-05,0.845605483364,3.86812237506e-06,0.834437683364
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.25699503413e-05,0.845612760992,3.90017229818e-06,0.834444960992
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.27383301579e-05,0.845629010286,3.72133846521e-06,0.834461274852
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.28229120846e-05,0.845653670278,3.63616381007e-06,0.834485952217
|
| 23 |
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21,0.350000000,pose1-to-pose2-lift,-8.29212622095e-05,0.845686839377,3.54624463073e-06,0.834519039377
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,-8.27806469479e-05,0.845726369442,3.69448125363e-06,0.834558524476
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.29873141112e-05,0.845774642804,3.4797374867e-06,0.834606842804
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.30234060775e-05,0.845825587668,3.45207019813e-06,0.834657787668
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.3096313404e-05,0.845879486683,3.37881929036e-06,0.834711686683
|
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185,3.083333333,pose4-hold,1.79292522205e+18,camera_frames_60hz/WAIT_POSE4/camera_00001018_1792925222062184500_interpolated.jpg,0.675987756036,-0.00056544953814,0.129636040576,0.999999973552,-3.81044174145e-06,-0.000212632582905,8.75703047476e-05,0.0525020988086
|
| 188 |
+
186,3.100000000,pose4-hold,1.79292522206e+18,camera_frames_60hz/WAIT_POSE4/camera_00001018_1792925222062184500_interpolated.jpg,0.675988026822,-0.000564684091496,0.129635367448,0.999999973464,-2.05901497771e-06,-0.000212777608407,8.82781388868e-05,0.0525018125772
|
| 189 |
+
187,3.116666667,pose4-hold,1.79292522208e+18,camera_frames_60hz/WAIT_POSE4/camera_00001019_1792925222094063811_real.jpg,0.675987894621,-0.000562647286275,0.129636021562,0.999999973614,-1.78066871283e-06,-0.000212609836347,8.69764174375e-05,0.0525018125772
|
| 190 |
+
188,3.133333333,pose4-hold,1.7929252221e+18,camera_frames_60hz/WAIT_POSE4/camera_00001019_1792925222094063811_real.jpg,0.675987533894,-0.000561179846681,0.129636233457,0.999999973651,-1.46410138476e-06,-0.000212853370788,8.59600420154e-05,0.0525018125772
|
| 191 |
+
189,3.150000000,pose4-hold,1.79292522212e+18,camera_frames_60hz/WAIT_POSE4/camera_00001020_1792925222128197355_interpolated.jpg,0.675986495539,-0.000561400671977,0.129635134087,0.999999973354,-1.03419579736e-06,-0.000214316518235,8.57897612635e-05,0.0525018125772
|
| 192 |
+
190,3.166666667,pose4-hold,1.79292522213e+18,camera_frames_60hz/WAIT_POSE4/camera_00001020_1792925222128197355_interpolated.jpg,0.675985869168,-0.000561704589442,0.129634391673,0.999999973162,-1.01757388638e-06,-0.000215258682225,8.56649248762e-05,0.0525018125772
|
| 193 |
+
191,3.183333333,pose4-hold,1.79292522215e+18,camera_frames_60hz/WAIT_POSE4/camera_00001021_1792925222162330899_real.jpg,0.675986848339,-0.000562332350825,0.129635040334,0.999999973388,-2.6115947587e-06,-0.000214170532645,8.57171862045e-05,0.0525018125772
|
Free/s2/ball_0010_20/width_02/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,193 @@
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
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|
|
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|
|
|
|
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|
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|
|
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|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.433961e-05,0.8835834,1.513885e-06,0.8724208
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.41102196779e-05,0.883583555424,1.75606749665e-06,0.872420955424
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.38525850051e-05,0.883583528128,2.02021426099e-06,0.872420928128
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.3579847512e-05,0.88358342595,2.29699389892e-06,0.87242082595
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.30897282581e-05,0.883583371338,2.78924665059e-06,0.872420771338
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.24081264419e-05,0.883583324919,3.47264119079e-06,0.872420724919
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-8.18323896376e-05,0.88358331933,4.05079142117e-06,0.872420712887
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-8.10228353307e-05,0.883583393906,4.86594384477e-06,0.872420762604
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.97388789807e-05,0.883583512182,6.15877883026e-06,0.872420841455
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.63762055455e-05,0.883583558656,9.53227805368e-06,0.8724209
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-7.07734811827e-05,0.883583475292,1.51483817002e-05,0.872420875292
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-5.97932039959e-05,0.883583467329,2.61820805077e-05,0.872420867329
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-4.32642739502e-05,0.883583644906,4.28384303372e-05,0.872421
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-1.44837361855e-05,0.883583862237,7.17891183432e-05,0.872421243356
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,2.54416438903e-05,0.8835843,0.000111974552502,0.8724217
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,8.07352730244e-05,0.883584459865,0.00016758445408,0.872421806577
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000147953329601,0.883584687008,0.000235225174564,0.872421987008
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000230702985896,0.883585359947,0.000318470703904,0.872422739965
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000323129746181,0.883585776996,0.000411496815761,0.872423121245
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000429722734092,0.883586205943,0.000518744281599,0.872423605943
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000545635486235,0.883587094388,0.000635376508543,0.872424317857
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000667596108485,0.88358740984,0.000758058909078,0.872424611246
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.00079438808512,0.883588169022,0.00088566187098,0.872425469022
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000930217194021,0.883588914994,0.00102233022028,0.872426214994
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00106990724609,0.883589,0.00116288674,0.8724263
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00122066802336,0.883589045997,0.00131459045966,0.872426322999
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00138506860978,0.883589232136,0.0014800076541,0.872426464273
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00155806589952,0.883589257861,0.00165407348633,0.872426515723
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00173536030692,0.883589454995,0.00183246426663,0.872426705994
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00191537194771,0.883589406631,0.0020135416558,0.872426647957
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00209227721145,0.8835892,0.0021915445866,0.8724264
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00226910436688,0.883589265014,0.0023694640587,0.872426465014
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.0024475999705,0.883589164168,0.00254906061192,0.872426432084
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00262541634667,0.883589170544,0.00272799063484,0.8724264
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00280336662912,0.883588977921,0.00290704282788,0.872426251947
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00297934144136,0.883588744281,0.00308413020989,0.872425966421
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00315099877241,0.8835887,0.00325693557058,0.8724259
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00331846152152,0.883588276294,0.00342540169887,0.872425561035
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00348277719337,0.883588020254,0.00359074454478,0.872425320254
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00363765561671,0.88358837286,0.00374656900794,0.87242567286
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.0037844891709,0.883588496231,0.00389432447864,0.872425892463
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00392177046945,0.8835885,0.00403249958913,0.872425802036
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00404862115749,0.8835885,0.00416013989603,0.8724258
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00416309431637,0.883588404053,0.00427535259838,0.872425704053
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00427193899978,0.8835884,0.00438485036513,0.872425795749
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00437088739729,0.8835884,0.00448443789821,0.872425895249
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00446221505785,0.883588593178,0.00457631570733,0.872426093178
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00454209301946,0.88358850407,0.00465673675789,0.87242590814
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00461401038384,0.883588693431,0.00472902746137,0.872426286862
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00467563582359,0.8835887,0.0047910298531,0.872426395808
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00472969813896,0.8835887,0.00484544807803,0.8724264
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00477345676385,0.8835887,0.00488944011258,0.872426494662
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.0048103861835,0.883588793663,0.00492656669969,0.8724265
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.0048392193975,0.883588711178,0.0049555962584,0.872426322357
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486204662132,0.8835887,0.00497856137741,0.8724263
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00487895275814,0.88358877329,0.00499562168068,0.87242637329
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| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489270826629,0.883589010116,0.0050095163167,0.872426610116
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+
57,0.950000000,pose2-to-pose3-side,0.00490251002348,0.883588964315,0.00501949949248,0.872426496473
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.0049098906329,0.883588648742,0.00502689068108,0.872426232495
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00491465736218,0.883588676077,0.00503157873536,0.872426352153
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.004916582,0.8835889,0.005033591,0.8724266
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| 63 |
+
61,1.016666667,pose3-hold,0.004916582,0.8835889,0.0050336,0.8724266
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| 64 |
+
62,1.033333333,pose3-hold,0.004916582,0.8835889,0.00503360497143,0.8724266
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916582,0.8835889,0.00503361454286,0.8724266
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916582,0.8835889,0.00503362531429,0.8724266
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916582,0.8835889,0.0050336342,0.8724266
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916582,0.8835889,0.00503364057143,0.8724266
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916582,0.8835889,0.00503364968571,0.8724266
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916582,0.8835889,0.0050336572,0.8724266
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916582,0.8835889,0.0050336634,0.8724266
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916582,0.8835889,0.0050336692,0.8724266
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916582,0.8835889,0.00503367585714,0.8724266
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916582,0.8835889,0.00503368322857,0.8724266
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916582,0.8835889,0.00503368488571,0.8724266
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916582,0.8835889,0.00503369117143,0.8724266
|
| 77 |
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75,1.250000000,pose3-hold,0.004916582,0.8835889,0.005033693,0.8724266
|
| 78 |
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76,1.266666667,pose3-hold,0.004916582,0.8835889,0.00503369428571,0.8724266
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| 79 |
+
77,1.283333333,pose3-hold,0.004916582,0.8835889,0.00503369574286,0.8724266
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| 80 |
+
78,1.300000000,pose3-hold,0.004916582,0.8835889,0.00503369517143,0.8724266
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916582,0.8835889,0.00503369682857,0.8724266
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916582,0.8835889,0.00503369328571,0.8724266
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| 83 |
+
81,1.350000000,pose3-hold,0.004916582,0.8835889,0.00503369714286,0.8724266
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916582,0.8835889,0.0050337038,0.8724266
|
| 85 |
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83,1.383333333,pose3-hold,0.004916582,0.8835889,0.00503370662857,0.8724266
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916582,0.8835889,0.0050337016,0.8724266
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916582,0.8835889,0.0050336958,0.8724266
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| 88 |
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86,1.433333333,pose3-hold,0.004916582,0.8835889,0.00503369071429,0.8724266
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| 89 |
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87,1.450000000,pose3-hold,0.004916582,0.8835889,0.00503368574286,0.8724266
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916582,0.8835889,0.00503368114286,0.8724266
|
| 91 |
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90,1.500000000,pose3-hold,0.004916582,0.8835889,0.00503367082857,0.8724266
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91,1.516666667,pose3-hold,0.004916582,0.8835889,0.00503366585714,0.8724266
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92,1.533333333,pose3-hold,0.004916582,0.8835889,0.00503366088571,0.8724266
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93,1.550000000,pose3-hold,0.004916582,0.8835889,0.00503365437143,0.8724266
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94,1.566666667,pose3-hold,0.004916582,0.8835889,0.0050336476,0.8724266
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95,1.583333333,pose3-hold,0.004916582,0.8835889,0.00503364197143,0.8724266
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96,1.600000000,pose3-hold,0.004916582,0.8835889,0.005033637,0.8724266
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97,1.616666667,pose3-to-pose4-insert,0.004916582,0.8835889,0.00503363,0.8724266
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98,1.633333333,pose3-to-pose4-insert,0.004916552251,0.883588725006,0.00503359587615,0.872426337509
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99,1.650000000,pose3-to-pose4-insert,0.00491655007053,0.883588689472,0.00503359356184,0.872426289472
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100,1.666666667,pose3-to-pose4-insert,0.00491659432404,0.883588464454,0.00503364831619,0.872426064454
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101,1.683333333,pose3-to-pose4-insert,0.00491662624378,0.88358830215,0.00503368781011,0.87242590215
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102,1.700000000,pose3-to-pose4-insert,0.00491665934961,0.883587897597,0.00503372803644,0.872425497597
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103,1.716666667,pose3-to-pose4-insert,0.00491664190073,0.883587366544,0.00503370451838,0.872424966544
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104,1.733333333,pose3-to-pose4-insert,0.00491663143626,0.88358704806,0.00503369041408,0.87242464806
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105,1.750000000,pose3-to-pose4-insert,0.00491662234172,0.883586610143,0.00503367674267,0.872424212866
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106,1.766666667,pose3-to-pose4-insert,0.0049166387533,0.883585980397,0.00503368895594,0.872423602203
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107,1.783333333,pose3-to-pose4-insert,0.00491665369546,0.883585407035,0.00503370007569,0.872423046215
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108,1.800000000,pose3-to-pose4-insert,0.00491669265481,0.883583912083,0.00503372906869,0.872421596565
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109,1.816666667,pose3-to-pose4-insert,0.00491661832092,0.883578440375,0.00503361589503,0.872416140375
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110,1.833333333,pose3-to-pose4-insert,0.0049165936929,0.883568181725,0.00503360189123,0.872405781725
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111,1.850000000,pose3-to-pose4-insert,0.00491665927612,0.883543005093,0.00503365025565,0.872380605093
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112,1.866666667,pose3-to-pose4-insert,0.00491657153227,0.883503042342,0.00503360063414,0.872340687249
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113,1.883333333,pose3-to-pose4-insert,0.00491652125545,0.883443985393,0.00503349934969,0.872281600619
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114,1.900000000,pose3-to-pose4-insert,0.0049163606323,0.883368351341,0.00503341236085,0.872206051341
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115,1.916666667,pose3-to-pose4-insert,0.00491641282876,0.883272795967,0.00503344539053,0.872110495967
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116,1.933333333,pose3-to-pose4-insert,0.00491625578128,0.883167613081,0.00503332566654,0.872005243136
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117,1.950000000,pose3-to-pose4-insert,0.00491615829279,0.88305207408,0.00503321616952,0.87188967408
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118,1.966666667,pose3-to-pose4-insert,0.00491616781262,0.88293169843,0.00503322557501,0.871769275752
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119,1.983333333,pose3-to-pose4-insert,0.00491585647062,0.882793766268,0.00503294493563,0.871631312929
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120,2.000000000,pose3-to-pose4-insert,0.0049161832791,0.882641728329,0.00503329539132,0.871479186084
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121,2.016666667,pose3-to-pose4-insert,0.00491674981706,0.882486930352,0.00503387715765,0.871324418499
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122,2.033333333,pose3-to-pose4-insert,0.00491730728595,0.882330679405,0.0050344155635,0.871168080727
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123,2.050000000,pose3-to-pose4-insert,0.00491795457082,0.882161660568,0.00503509200032,0.870999149432
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124,2.066666667,pose3-to-pose4-insert,0.00491853490609,0.881993548193,0.00503561751713,0.870830948193
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126,2.100000000,pose3-to-pose4-insert,0.00491902162289,0.881649807168,0.00503609167134,0.870487207168
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128,2.133333333,pose3-to-pose4-insert,0.00491843115312,0.881273877514,0.0050355398509,0.870111177514
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191,3.183333333,pose4-hold,0.004917135,0.8783927,0.005034206,0.8672293
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Free/s2/ball_0010_20/width_02/pick/.~lock.gripper_position_yz.csv#
ADDED
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Free/s2/ball_0010_20/width_02/pick/camera_frames_60hz.tar
ADDED
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Free/s2/ball_0010_20/width_02/pick/fem_node.csv
ADDED
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ADDED
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| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,task_ros_time_ns,camera_image_path,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,measured_gripper_width_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,1.79292521548e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000812_1792925215475667139_interpolated.jpg,0.675997635855,-0.00540110538022,0.0977837812434,0.999999981132,8.30667788051e-05,-0.000173743079139,-2.54945498043e-05,0.0525523759425
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,1.79292521549e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000812_1792925215475667139_interpolated.jpg,0.675998190533,-0.00540261635336,0.097783822214,0.999999981276,8.23342163173e-05,-0.000173341403703,-2.49552631596e-05,0.0525523759425
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,1.79292521551e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000813_1792925215509698412_real.jpg,0.67599874521,-0.00540412732651,0.0977838631846,0.999999981418,8.16016538291e-05,-0.000172939728267,-2.44159765149e-05,0.0525523759425
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,1.79292521553e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000813_1792925215509698412_real.jpg,0.675998639991,-0.00540252630751,0.0977849483696,0.999999981337,8.32262932929e-05,-0.000172656122229,-2.42589300902e-05,0.0525523759425
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,1.79292521555e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000814_1792925215541719198_interpolated.jpg,0.675998520746,-0.00540087333521,0.0977860224057,0.999999981247,8.48971334942e-05,-0.000172386778895,-2.41177481506e-05,0.0525523759425
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,1.79292521556e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000815_1792925215573739985_real.jpg,0.675998788512,-0.00540141618196,0.0977856129011,0.99999998124,8.50836667123e-05,-0.000172355263974,-2.39546196194e-05,0.0525523759425
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,1.79292521557e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000815_1792925215573739985_real.jpg,0.675998861794,-0.00540210336377,0.0977850277514,0.999999981212,8.50132315378e-05,-0.000172563281368,-2.38790894853e-05,0.0525523759425
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,1.79292521559e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000816_1792925215607807162_interpolated.jpg,0.675997447641,-0.00540389451954,0.0977830991761,0.999999981015,8.29774606542e-05,-0.000174603297246,-2.44735143261e-05,0.0525523759425
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,1.79292521561e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000816_1792925215607807162_interpolated.jpg,0.675996216971,-0.0054055189756,0.0977815099097,0.999999980844,8.11240856214e-05,-0.000176373845505,-2.49620465208e-05,0.0525508349779
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,1.79292521563e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000817_1792925215641874339_real.jpg,0.675997365662,-0.00540498170022,0.0977843207395,0.999999981127,8.16359868071e-05,-0.000174649986732,-2.40773821484e-05,0.0525293110655
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,1.79292521565e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000817_1792925215641874339_real.jpg,0.675998483357,-0.00540443771497,0.0977871331075,0.999999981395,8.21588721903e-05,-0.000172974523811,-2.32435789297e-05,0.052508380264
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,1.79292521566e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000818_1792925215675764627_interpolated.jpg,0.675998507223,-0.00540365692719,0.0977899998047,0.999999981291,8.30694023169e-05,-0.000173006944,-2.42046732202e-05,0.052508380264
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,1.79292521568e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000818_1792925215675764627_interpolated.jpg,0.675998531088,-0.0054028761514,0.0977928664578,0.999999981186,8.39799184578e-05,-0.000173039363692,-2.51657527485e-05,0.052508380264
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,1.79292521569e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000818_1792925215675764627_interpolated.jpg,0.675998394061,-0.00539982368694,0.0977987860538,0.999999981034,8.37241759338e-05,-0.000173592010048,-2.80782165337e-05,0.052508380264
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,1.79292521571e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000819_1792925215709654916_real.jpg,0.675998256085,-0.00539675784989,0.0978047236213,0.999999980873,8.34615680822e-05,-0.000174147718782,-3.1002167385e-05,0.052508380264
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,1.79292521573e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000819_1792925215709654916_real.jpg,0.67599883563,-0.00539815434727,0.0978173278739,0.999999980943,8.31742540995e-05,-0.00017360039513,-3.25371094263e-05,0.052508380264
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,1.79292521575e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000820_1792925215741713135_interpolated.jpg,0.675999465012,-0.00539956416272,0.0978304766601,0.999999981013,8.3013991814e-05,-0.000172973396226,-3.4104481986e-05,0.052508380264
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,1.79292521576e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000821_1792925215773771354_real.jpg,0.676000624589,-0.00539660112935,0.0978506589273,0.999999980869,8.61652087492e-05,-0.000171452152195,-3.79788417579e-05,0.052508380264
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,1.79292521577e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000821_1792925215773771354_real.jpg,0.676001701844,-0.00539371903077,0.0978720888002,0.999999980679,8.89812329993e-05,-0.000170206654557,-4.18906200279e-05,0.052508380264
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,1.79292521579e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000822_1792925215807732369_interpolated.jpg,0.676002137882,-0.00539146711722,0.0979032408223,0.999999980321,8.91862452693e-05,-0.000171109235164,-4.6094378601e-05,0.052508380264
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,1.79292521581e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000822_1792925215807732369_interpolated.jpg,0.67600243631,-0.0053892917153,0.0979343277268,0.999999979904,8.96857797423e-05,-0.000172125982322,-5.02022700206e-05,0.052508159532
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,1.79292521583e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000823_1792925215841693385_real.jpg,0.676001063548,-0.00538804549795,0.09796462382,0.999999978962,9.37620969993e-05,-0.00017452920886,-5.31459165184e-05,0.0525052581512
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,1.79292521585e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000823_1792925215841693385_real.jpg,0.675999488446,-0.0053868466054,0.0979953419571,0.999999977962,9.78167235648e-05,-0.000177110155465,-5.6034324503e-05,0.0525024682283
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,1.79292521586e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000824_1792925215875646275_interpolated.jpg,0.675992848427,-0.00538683230893,0.0980366249892,0.999999976257,0.000101328460374,-0.000184139754497,-5.7540070075e-05,0.0525024682283
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,1.79292521588e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000824_1792925215875646275_interpolated.jpg,0.67598620291,-0.0053868181923,0.0980779069209,0.999999974485,0.000104849147971,-0.000191181570528,-5.90395023749e-05,0.0525024682283
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,1.79292521589e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000824_1792925215875646275_interpolated.jpg,0.675975116746,-0.00538694651216,0.0981188191059,0.999999970154,0.000115510150161,-0.000207996497236,-5.55511601004e-05,0.0525024682283
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,1.79292521591e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000825_1792925215909599165_real.jpg,0.675964030581,-0.00538707483202,0.0981597312909,0.999999965415,0.000126171152304,-0.00022481142386,-5.20628178031e-05,0.0525024682283
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,1.79292521593e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000826_1792925215941615332_interpolated.jpg,0.675961052936,-0.00538621403454,0.0982203091149,0.999999968997,7.08560618952e-05,-0.000233208181347,-5.09934931972e-05,0.0525024682283
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,1.79292521595e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000826_1792925215941615332_interpolated.jpg,0.675958640218,-0.00538521292325,0.0982825389615,0.999999969613,1.62555018892e-05,-0.000240808710597,-5.0214650266e-05,0.0525024682283
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,1.79292521596e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000827_1792925215973631500_real.jpg,0.675962061183,-0.0053819149194,0.098365177069,0.999999969783,3.21055465242e-05,-0.000237696510265,-5.38836377547e-05,0.0525024682283
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,1.79292521597e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000827_1792925215973631500_real.jpg,0.675965397358,-0.00537856800427,0.0984500189937,0.999999969647,4.88772440397e-05,-0.000234666265647,-5.69929273082e-05,0.0525024682283
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,1.79292521599e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000828_1792925216007707828_interpolated.jpg,0.675968124514,-0.00537486919362,0.0985507091457,0.999999968852,7.22747237099e-05,-0.000232224703607,-5.60800042181e-05,0.0525024682283
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,1.79292521601e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000828_1792925216007707828_interpolated.jpg,0.675969914369,-0.00537145667072,0.0986515154779,0.999999967432,9.40494304257e-05,-0.000230663501423,-5.55358359551e-05,0.0525023686089
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,1.79292521603e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000829_1792925216041784156_real.jpg,0.675960555542,-0.00537144937873,0.0987537037064,0.999999964881,9.65221709317e-05,-0.00023957368336,-5.93777981978e-05,0.0525010840731
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| 36 |
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34,0.566666667,pose1-to-pose2-lift,1.79292521605e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000829_1792925216041784156_real.jpg,0.67595120063,-0.00537152778682,0.0988564187214,0.999999962217,9.86836792749e-05,-0.000248697814969,-6.30554448516e-05,0.0524998418987
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,1.79292521606e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000830_1792925216073680267_interpolated.jpg,0.675941960338,-0.00537411923872,0.098974582637,0.999999959004,9.17187449561e-05,-0.000264095881729,-6.19148084191e-05,0.0524998418987
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,1.79292521607e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000830_1792925216073680267_interpolated.jpg,0.675933751617,-0.005376276246,0.0990949193305,0.99999995575,8.60787911888e-05,-0.00027815784129,-6.09822443404e-05,0.0524998418987
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| 39 |
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37,0.616666667,pose1-to-pose2-lift,1.79292521609e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000831_1792925216105576378_real.jpg,0.675933163726,-0.00537522360565,0.0992313232425,0.999999954172,9.02278113449e-05,-0.000282349574232,-6.1586916352e-05,0.0524998418987
|
| 40 |
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38,0.633333333,pose1-to-pose2-lift,1.79292521611e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000831_1792925216105576378_real.jpg,0.67593330119,-0.00537423706286,0.0993749595883,0.999999953081,9.33483668155e-05,-0.000285099905237,-6.19906420179e-05,0.0524998418987
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| 41 |
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39,0.650000000,pose1-to-pose2-lift,1.79292521612e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000832_1792925216139620807_interpolated.jpg,0.675936244029,-0.00537350615823,0.0995465680135,0.999999953985,9.24912438138e-05,-0.00028227548632,-6.1617189858e-05,0.0524998418987
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,1.79292521614e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000832_1792925216139620807_interpolated.jpg,0.675938767335,-0.00537256088838,0.0997192354205,0.999999954694,9.23938276427e-05,-0.000279810828651,-6.14879433887e-05,0.0524998418987
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| 43 |
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41,0.683333333,pose1-to-pose2-lift,1.79292521616e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000833_1792925216173665237_real.jpg,0.675939132722,-0.00537051297263,0.099897352569,0.999999954437,9.62041174667e-05,-0.000279196638708,-6.26148168608e-05,0.0524998418987
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| 44 |
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42,0.700000000,pose1-to-pose2-lift,1.79292521617e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000833_1792925216173665237_real.jpg,0.675938830534,-0.00536914323081,0.100077702816,0.99999995387,9.94580964397e-05,-0.000279955001909,-6.31994571105e-05,0.0524998418987
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| 45 |
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43,0.716666667,pose1-to-pose2-lift,1.79292521619e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000834_1792925216207634375_interpolated.jpg,0.675933638194,-0.00537274109938,0.100274431261,0.999999951074,9.86373492992e-05,-0.000290767686597,-5.98121924499e-05,0.0524998418987
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| 46 |
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| 47 |
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| 49 |
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47,0.783333333,pose1-to-pose2-lift,1.79292521626e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000836_1792925216273656460_interpolated.jpg,0.675921207431,-0.00535320262952,0.101128849934,0.999999941952,0.000110643550847,-0.000314486040976,-7.03745105417e-05,0.0524998418987
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| 50 |
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48,0.800000000,pose1-to-pose2-lift,1.79292521627e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000836_1792925216273656460_interpolated.jpg,0.675919387484,-0.0053457958293,0.101380443542,0.999999940807,0.000112767262187,-0.000316062898164,-7.59797497711e-05,0.0524998418987
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| 51 |
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| 52 |
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50,0.833333333,pose1-to-pose2-lift,1.79292521631e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000837_1792925216305709406_real.jpg,0.675918669958,-0.00532971054952,0.101898953138,0.999999937688,0.000121397992937,-0.000318986623288,-9.01862752616e-05,0.0524998418987
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| 53 |
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51,0.850000000,pose1-to-pose2-lift,1.79292521632e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000838_1792925216339674566_interpolated.jpg,0.675925645643,-0.00532631681203,0.10220131654,0.999999940987,0.000121885588628,-0.000307219353197,-9.37326346744e-05,0.0524998418987
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| 54 |
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52,0.866666667,pose1-to-pose2-lift,1.79292521634e+18,camera_frames_60hz/MOVE_TO_POSE2/camera_00000838_1792925216339674566_interpolated.jpg,0.675932808872,-0.00532265071048,0.102503275531,0.999999944314,0.000121064576516,-0.000295090800253,-9.81658495553e-05,0.0524998418987
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| 179 |
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| 198 |
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196,3.266666667,pose2-hold,1.79292521877e+18,camera_frames_60hz/WAIT_POSE2/camera_00000914_1792925218767756748_interpolated.jpg,0.675906208807,-0.00531405417767,0.134530438008,0.999999929919,0.000110305741401,-0.000343656135448,-9.9473525373e-05,0.0525024682283
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| 199 |
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| 200 |
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| 202 |
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| 203 |
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201,3.350000000,pose2-hold,1.79292521885e+18,camera_frames_60hz/WAIT_POSE2/camera_00000916_1792925218835751848_interpolated.jpg,0.675906805359,-0.00531277881664,0.134532945163,0.999999930352,0.000109574956082,-0.000342641201801,-9.94261265087e-05,0.0525024682283
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| 204 |
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|
Free/s2/ball_0010_20/width_02/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,204 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,3.959579e-06,0.8344216
|
| 3 |
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|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.26996790446e-05,0.845590182191,3.76752654591e-06,0.834422382191
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.26842800705e-05,0.845590538365,3.77782873918e-06,0.834422738365
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.26770446361e-05,0.845590736122,3.78222364146e-06,0.834422936122
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.26858990137e-05,0.845591296857,3.77504189129e-06,0.83442351541
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.27274690946e-05,0.845591963578,3.74574115139e-06,0.834424223802
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.27536655298e-05,0.845592383729,3.72727655102e-06,0.834424670213
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.2757589433e-05,0.845593200473,3.72527164082e-06,0.834425474365
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.27363166885e-05,0.845594536554,3.74195872053e-06,0.834426752356
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.26649437988e-05,0.845595927477,3.81234869378e-06,0.834428160622
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.25357688257e-05,0.845598067331,3.94219833413e-06,0.834430367331
|
| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.26876664799e-05,0.845601346575,3.79717565411e-06,0.834433646575
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.25419796404e-05,0.845607609115,3.95252898171e-06,0.83443981913
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.26087713618e-05,0.84561597328,3.85366959618e-06,0.83444827328
|
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136,2.266666667,pose1-to-pose2-lift,-8.19447926702e-05,0.88234245886,3.96061982912e-06,0.871179579206
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137,2.283333333,pose1-to-pose2-lift,-8.20270682177e-05,0.88247654154,3.84974144415e-06,0.871313731733
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138,2.300000000,pose1-to-pose2-lift,-8.22602879563e-05,0.882599244231,3.62944052758e-06,0.871436543732
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139,2.316666667,pose1-to-pose2-lift,-8.24040440782e-05,0.88270784723,3.49192463671e-06,0.87154504723
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146,2.433333333,pose1-to-pose2-lift,-8.3591570257e-05,0.883214600883,2.3107156058e-06,0.872052000883
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.105658e-05,0.8835858,7.500148e-06,0.8724232
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.08027932997e-05,0.883585783579,7.76919962408e-06,0.872423183579
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-7.98645874496e-05,0.883586180903,8.72401129658e-06,0.872423571355
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-7.94787754262e-05,0.883586131293,9.10403726827e-06,0.872423496939
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-7.94217073993e-05,0.883586123955,9.16024944175e-06,0.872423485932
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.89838644528e-05,0.883586067654,9.59152602484e-06,0.872423401481
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.86875227332e-05,0.883586029548,9.88342348558e-06,0.872423344322
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.81737343624e-05,0.883586,1.03987714134e-05,0.872423308808
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.61339293151e-05,0.883586,1.24745305577e-05,0.872423372074
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.04509479901e-05,0.883586167099,1.81784200585e-05,0.872423567099
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-6.18293326763e-05,0.88358602359,2.68482787477e-05,0.87242342359
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-4.3983286004e-05,0.883586122188,4.47750185308e-05,0.872423422188
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-1.71301373122e-05,0.883586087524,7.18118589369e-05,0.872423443762
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,2.40504083782e-05,0.8835863,0.00011324075368,0.8724237
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,7.86613138545e-05,0.883586513193,0.000168175876097,0.872423913193
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.00015052584557,0.883586887357,0.000240490555694,0.872424287357
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000233574955127,0.883587,0.000324041307841,0.8724243
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000329770455008,0.883587300353,0.000420852793695,0.872424600353
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000433613942392,0.883587528595,0.000525329429919,0.872424828595
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000550998545985,0.883588148638,0.000643443583393,0.872425448638
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000677999275939,0.883588729678,0.000771227376072,0.872426029678
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000817990013967,0.883589163518,0.000912076031009,0.872426463518
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000967332222058,0.883589471616,0.00106236963412,0.872426771616
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.0011203213187,0.883589514525,0.00121629188257,0.872426814525
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00127502186395,0.883589580829,0.00137195898625,0.872426880829
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00143499487706,0.883589435708,0.00153292257839,0.872426671416
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00159741053003,0.8835894,0.00169632391805,0.872426666604
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00176620525848,0.883589539111,0.0018661837198,0.872426769555
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00194493415727,0.883589447848,0.00204595379203,0.872426647848
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00212764542023,0.8835894,0.00222982590646,0.8724266
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00231008515245,0.883589222738,0.0024133663907,0.872426422738
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00249118353468,0.883588920612,0.00259558267489,0.872426213741
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00266935421654,0.88358909204,0.00277485942997,0.87242639204
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00284360277831,0.883589295693,0.00295020947823,0.872426497847
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00301649169257,0.883589199199,0.00312415506564,0.872426399333
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00318390141528,0.883588601393,0.00329260846583,0.8724259
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00334567999076,0.883588689425,0.003455540842,0.87242589154
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.0035007979008,0.883588196048,0.00361150458204,0.872425496048
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00365003191704,0.883588004009,0.00376173235668,0.872425304009
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00379299188152,0.8835882,0.00390556830682,0.8724255
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00393174296136,0.883588180828,0.00404521106294,0.872425480828
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00406120592593,0.88358792923,0.00417547710398,0.87242522923
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00418219036087,0.883588172369,0.00429719837816,0.872425486185
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.0042911829354,0.883588015661,0.00440688859943,0.8724254
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00438827865531,0.883588130193,0.00450460366902,0.87242544529
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00447314166256,0.883588289094,0.00459000834097,0.8724257
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00455051028712,0.8835882,0.00466779647132,0.872425725684
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00461816886017,0.8835882,0.00473588060432,0.87242599545
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00467940868155,0.883588208141,0.00479750513688,0.872425908141
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00473184730268,0.883588384271,0.00485024500986,0.872426084271
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00477656127169,0.883587922456,0.00489520556841,0.872425617965
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00481212412092,0.883588399285,0.00493096776531,0.872425999285
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00484127003703,0.883588301509,0.00496033856521,0.872425901509
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00486333389505,0.8835883,0.00498252394832,0.8724259
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00488061980874,0.8835883,0.00499999501758,0.8724259
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00489280780896,0.883588378014,0.00501227412069,0.872425978014
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.0049023469056,0.883588322987,0.00502204754139,0.872425845974
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490934120816,0.883588211962,0.00502900144346,0.872425888038
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491382846821,0.883588313789,0.00503344990505,0.872425985052
|
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+
59,0.983333333,pose2-to-pose3-side,0.004915626,0.8835883,0.005035334,0.872426
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+
60,1.000000000,pose3-hold,0.004915626,0.8835883,0.005035341,0.872426
|
| 63 |
+
61,1.016666667,pose3-hold,0.004915626,0.8835883,0.00503534782353,0.872426
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| 64 |
+
62,1.033333333,pose3-hold,0.004915626,0.8835883,0.00503535323529,0.872426
|
| 65 |
+
63,1.050000000,pose3-hold,0.004915626,0.8835883,0.0050353645,0.872426
|
| 66 |
+
64,1.066666667,pose3-hold,0.004915626,0.8835883,0.00503537694118,0.872426
|
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+
65,1.083333333,pose3-hold,0.004915626,0.8835883,0.00503538611765,0.872426
|
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+
66,1.100000000,pose3-hold,0.004915626,0.8835883,0.00503539294118,0.872426
|
| 69 |
+
67,1.116666667,pose3-hold,0.004915626,0.8835883,0.00503539976471,0.872426
|
| 70 |
+
68,1.133333333,pose3-hold,0.004915626,0.8835883,0.00503540658824,0.872426
|
| 71 |
+
69,1.150000000,pose3-hold,0.004915626,0.8835883,0.00503541205882,0.872426
|
| 72 |
+
70,1.166666667,pose3-hold,0.004915626,0.8835883,0.00503541505882,0.872426
|
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+
71,1.183333333,pose3-hold,0.004915626,0.8835883,0.00503541714706,0.872426
|
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+
72,1.200000000,pose3-hold,0.004915626,0.8835883,0.00503542182353,0.872426
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+
73,1.216666667,pose3-hold,0.004915626,0.8835883,0.00503543064706,0.872426
|
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+
74,1.233333333,pose3-hold,0.004915626,0.8835883,0.00503542723529,0.872426
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+
75,1.250000000,pose3-hold,0.004915626,0.8835883,0.00503542779412,0.872426
|
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+
76,1.266666667,pose3-hold,0.004915626,0.8835883,0.00503542735294,0.872426
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+
77,1.283333333,pose3-hold,0.004915626,0.8835883,0.0050354265,0.872426
|
| 80 |
+
78,1.300000000,pose3-hold,0.004915626,0.8835883,0.00503543094118,0.872426
|
| 81 |
+
79,1.316666667,pose3-hold,0.004915626,0.8835883,0.00503544,0.872426
|
| 82 |
+
80,1.333333333,pose3-hold,0.004915626,0.8835883,0.00503543970588,0.872426
|
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+
81,1.350000000,pose3-hold,0.004915626,0.8835883,0.00503543544118,0.872426
|
| 84 |
+
82,1.366666667,pose3-hold,0.004915626,0.8835883,0.00503543041176,0.872426
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+
83,1.383333333,pose3-hold,0.004915626,0.8835883,0.00503542529412,0.872426
|
| 86 |
+
84,1.400000000,pose3-hold,0.004915626,0.8835883,0.00503541923529,0.872426
|
| 87 |
+
85,1.416666667,pose3-hold,0.004915626,0.8835883,0.00503541402941,0.872426
|
| 88 |
+
86,1.433333333,pose3-hold,0.004915626,0.8835883,0.00503541094118,0.872426
|
| 89 |
+
87,1.450000000,pose3-hold,0.004915626,0.8835883,0.00503540582353,0.872426
|
| 90 |
+
88,1.466666667,pose3-hold,0.004915626,0.8835883,0.00503540070588,0.872426
|
| 91 |
+
89,1.483333333,pose3-hold,0.004915626,0.8835883,0.00503539485294,0.872426
|
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+
90,1.500000000,pose3-hold,0.004915626,0.8835883,0.00503538947059,0.872426
|
| 93 |
+
91,1.516666667,pose3-hold,0.004915626,0.8835883,0.00503538347059,0.872426
|
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+
92,1.533333333,pose3-hold,0.004915626,0.8835883,0.00503537664706,0.872426
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+
93,1.550000000,pose3-hold,0.004915626,0.8835883,0.00503537011765,0.872426
|
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+
94,1.566666667,pose3-hold,0.004915626,0.8835883,0.005035365,0.872426
|
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+
95,1.583333333,pose3-to-pose4-insert,0.004915806,0.8835881,0.005035521,0.8724257
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.00491561755605,0.883587827313,0.00503532855605,0.872425427313
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491564533792,0.883587784307,0.00503535633792,0.872425384307
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.0049157842474,0.883587569276,0.0050354952474,0.872425169276
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491578655001,0.883587013312,0.00503550187612,0.872424613312
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491574252768,0.883586508598,0.00503546234014,0.872424108598
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491568755955,0.88358587839,0.00503541297386,0.87242347839
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.0049157176586,0.883585133833,0.00503543991011,0.872422752097
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.0049157867443,0.883584277171,0.00503550181089,0.872421923068
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491580693939,0.883584026752,0.00503551990569,0.872421680727
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| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491584533213,0.883583550682,0.00503555430559,0.872421220014
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491589760142,0.883582064188,0.00503559333898,0.872419764188
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491571717799,0.883578101948,0.00503537400069,0.872415801948
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.0049157941013,0.883562602761,0.00503547371153,0.872400256009
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491590155562,0.88353408196,0.00503558470725,0.87237178196
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491610933113,0.883485688555,0.00503577185987,0.872323291073
|
| 113 |
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111,1.850000000,pose3-to-pose4-insert,0.00491599109088,0.88341916185,0.0050356804805,0.872256790854
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00491611381306,0.883335481834,0.00503581611241,0.872173181834
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491617297023,0.883244655496,0.00503590233382,0.872082286048
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.00491622454331,0.883134365556,0.00503594460574,0.871971965556
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491647347686,0.883011927174,0.00503620994868,0.871849483222
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.0049166875955,0.882881384824,0.00503645319944,0.871719024852
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491692239091,0.882741688505,0.00503667158431,0.871579204752
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00491740846475,0.882589788011,0.00503715590118,0.871427376041
|
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+
119,1.983333333,pose3-to-pose4-insert,0.00491787685167,0.882438389632,0.00503763439009,0.871275889632
|
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+
120,2.000000000,pose3-to-pose4-insert,0.00491817903464,0.882282864603,0.0050379399401,0.871120364603
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| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.0049185139541,0.882119309574,0.00503830512517,0.870956771232
|
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+
122,2.033333333,pose3-to-pose4-insert,0.00491895046491,0.881944514954,0.0050387289695,0.870781914954
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+
123,2.050000000,pose3-to-pose4-insert,0.00491905084388,0.881761638489,0.00503876809112,0.870599038489
|
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+
124,2.066666667,pose3-to-pose4-insert,0.0049187199995,0.881580768635,0.00503845841985,0.870418103176
|
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+
125,2.083333333,pose3-to-pose4-insert,0.0049181354727,0.881405039465,0.00503786442192,0.870242406262
|
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+
126,2.100000000,pose3-to-pose4-insert,0.00491754518188,0.881218801283,0.00503728803172,0.870056128716
|
| 129 |
+
127,2.116666667,pose3-to-pose4-insert,0.00491709158326,0.881025018284,0.00503685356135,0.869862236665
|
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+
128,2.133333333,pose3-to-pose4-insert,0.0049174001576,0.880831699673,0.00503715874106,0.869668899673
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+
129,2.150000000,pose3-to-pose4-insert,0.00491740607755,0.880629904492,0.00503715620408,0.869467099798
|
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+
130,2.166666667,pose3-to-pose4-insert,0.00491766874291,0.880429961612,0.00503744213403,0.869267081168
|
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+
131,2.183333333,pose3-to-pose4-insert,0.00491781761587,0.880247470671,0.00503759367989,0.869084644071
|
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+
132,2.200000000,pose3-to-pose4-insert,0.00491774220728,0.880077556724,0.00503752149624,0.868914656724
|
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133,2.216666667,pose3-to-pose4-insert,0.00491760490152,0.879913918269,0.00503738673959,0.868750957
|
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134,2.233333333,pose3-to-pose4-insert,0.00491755847079,0.879762510508,0.00503734418457,0.868599439129
|
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135,2.250000000,pose3-to-pose4-insert,0.00491735807397,0.879601931849,0.00503714494654,0.868438894398
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136,2.266666667,pose3-to-pose4-insert,0.00491726480653,0.879451784451,0.00503712300304,0.868288684451
|
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137,2.283333333,pose3-to-pose4-insert,0.00491710269779,0.879316256808,0.00503703835068,0.868153156808
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138,2.300000000,pose3-to-pose4-insert,0.00491692189272,0.879191700348,0.00503683260152,0.868028498815
|
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139,2.316666667,pose3-to-pose4-insert,0.00491666366686,0.879073535166,0.00503656969215,0.867910235166
|
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+
140,2.333333333,pose3-to-pose4-insert,0.00491629732481,0.878976552037,0.00503619073092,0.867813252037
|
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+
141,2.350000000,pose3-to-pose4-insert,0.00491615013213,0.878882269067,0.00503602717617,0.867718969067
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142,2.366666667,pose3-to-pose4-insert,0.00491585307915,0.8787954573,0.0050357328189,0.8676321573
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+
143,2.383333333,pose3-to-pose4-insert,0.00491564945289,0.878719020389,0.00503552824744,0.867555608607
|
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+
144,2.400000000,pose3-to-pose4-insert,0.00491559990259,0.878653211558,0.00503547522043,0.86748976838
|
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145,2.416666667,pose3-to-pose4-insert,0.00491539738795,0.87859377521,0.00503524509508,0.86743037521
|
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146,2.433333333,pose3-to-pose4-insert,0.00491518497329,0.878545930393,0.00503503953825,0.867382466128
|
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147,2.450000000,pose3-to-pose4-insert,0.00491516179094,0.878505923927,0.00503502380587,0.867342423927
|
| 150 |
+
148,2.466666667,pose3-to-pose4-insert,0.00491520361398,0.878473687448,0.00503505952979,0.867310255518
|
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+
149,2.483333333,pose3-to-pose4-insert,0.00491514567285,0.87844786084,0.00503497680098,0.86728446084
|
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+
150,2.500000000,pose3-to-pose4-insert,0.00491506400805,0.878430884294,0.00503488179361,0.867267484294
|
| 153 |
+
151,2.516666667,pose3-to-pose4-insert,0.00491501508326,0.878417012454,0.00503484687503,0.867253612454
|
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+
152,2.533333333,pose3-to-pose4-insert,0.00491500282337,0.878406583495,0.00503484174933,0.867243183495
|
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+
153,2.550000000,pose3-to-pose4-insert,0.00491492293098,0.878399296115,0.00503476330758,0.867235896115
|
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+
154,2.566666667,pose3-to-pose4-insert,0.00491498972842,0.878395039913,0.00503482806344,0.867231639913
|
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+
155,2.583333333,pose3-to-pose4-insert,0.00491515510123,0.878392563588,0.00503499965363,0.867229163588
|
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156,2.600000000,pose3-to-pose4-insert,0.004914905,0.8783917,0.005034738,0.8672283
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157,2.616666667,pose4-hold,0.004914905,0.8783917,0.005034743,0.8672283
|
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158,2.633333333,pose4-hold,0.004914905,0.8783917,0.00503474212121,0.8672283
|
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+
159,2.650000000,pose4-hold,0.004914905,0.8783917,0.00503474578788,0.8672283
|
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+
160,2.666666667,pose4-hold,0.004914905,0.8783917,0.00503475018182,0.8672283
|
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161,2.683333333,pose4-hold,0.004914905,0.8783917,0.00503474942424,0.8672283
|
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+
162,2.700000000,pose4-hold,0.004914905,0.8783917,0.00503474936364,0.8672283
|
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163,2.716666667,pose4-hold,0.004914905,0.8783917,0.00503475409091,0.8672283
|
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164,2.733333333,pose4-hold,0.004914905,0.8783917,0.00503475715152,0.8672283
|
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165,2.750000000,pose4-hold,0.004914905,0.8783917,0.00503475806061,0.8672283
|
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166,2.766666667,pose4-hold,0.004914905,0.8783917,0.00503475981818,0.8672283
|
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+
167,2.783333333,pose4-hold,0.004914905,0.8783917,0.00503476,0.8672283
|
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168,2.800000000,pose4-hold,0.004914905,0.8783917,0.00503476133333,0.8672283
|
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169,2.816666667,pose4-hold,0.004914905,0.8783917,0.00503476254545,0.8672283
|
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170,2.833333333,pose4-hold,0.004914905,0.8783917,0.00503476342424,0.8672283
|
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171,2.850000000,pose4-hold,0.004914905,0.8783917,0.00503476430303,0.8672283
|
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172,2.866666667,pose4-hold,0.004914905,0.8783917,0.00503476481818,0.8672283
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173,2.883333333,pose4-hold,0.004914905,0.8783917,0.005034764,0.8672283
|
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174,2.900000000,pose4-hold,0.004914905,0.8783917,0.005034764,0.8672283
|
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175,2.916666667,pose4-hold,0.004914905,0.8783917,0.005034764,0.8672283
|
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176,2.933333333,pose4-hold,0.004914905,0.8783917,0.005034764,0.8672283
|
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177,2.950000000,pose4-hold,0.004914905,0.8783917,0.00503476342424,0.8672283
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178,2.966666667,pose4-hold,0.004914905,0.8783917,0.005034763,0.8672283
|
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179,2.983333333,pose4-hold,0.004914905,0.8783917,0.00503476233333,0.8672283
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180,3.000000000,pose4-hold,0.004914905,0.8783917,0.00503476078788,0.8672283
|
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181,3.016666667,pose4-hold,0.004914905,0.8783917,0.00503475990909,0.8672283
|
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182,3.033333333,pose4-hold,0.004914905,0.8783917,0.0050347590303,0.8672283
|
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183,3.050000000,pose4-hold,0.004914905,0.8783917,0.00503475815152,0.8672283
|
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184,3.066666667,pose4-hold,0.004914905,0.8783917,0.00503475654545,0.8672283
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185,3.083333333,pose4-hold,0.004914905,0.8783917,0.00503475418182,0.8672283
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186,3.100000000,pose4-hold,0.004914905,0.8783917,0.00503475251515,0.8672283
|
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187,3.116666667,pose4-hold,0.004914905,0.8783917,0.00503475127273,0.8672283
|
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188,3.133333333,pose4-hold,0.004914905,0.8783917,0.00503474975758,0.8672283
|
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189,3.150000000,pose4-hold,0.004914905,0.8783917,0.00503474875758,0.8672283
|
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190,3.166666667,pose4-hold,0.004914905,0.8783917,0.005034747,0.8672283
|
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191,3.183333333,pose4-to-pose5-return,0.004914905,0.8783917,0.005034734,0.8672283
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192,3.200000000,pose4-to-pose5-return,0.00491446738073,0.878391725962,0.00503430577304,0.867228360769
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| 195 |
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193,3.216666667,pose4-to-pose5-return,0.00491416634497,0.878392053599,0.00503400078499,0.867228653599
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194,3.233333333,pose4-to-pose5-return,0.00491392630915,0.878392327404,0.00503375618575,0.867228927404
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195,3.250000000,pose4-to-pose5-return,0.00491379144216,0.878392481245,0.00503361875475,0.867229081245
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Free/s2/ball_0010_20/width_03/pick/simulation_data.csv
ADDED
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,6.463917e-06,0.8344216
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,-8.27533010271e-05,0.845589865884,6.21325573669e-06,0.834422065884
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,-8.26935717404e-05,0.845590371928,6.27390105591e-06,0.834422571928
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,-8.26833581284e-05,0.845590940536,6.27128190766e-06,0.834423140536
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,-8.27261028015e-05,0.845591826072,6.24309605474e-06,0.834424077702
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,-8.27520259842e-05,0.845592314843,6.22658109949e-06,0.834424597021
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,-8.27633955557e-05,0.845592835806,6.21947517496e-06,0.834425125554
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,-8.27512635505e-05,0.845593597784,6.22764787937e-06,0.834425854402
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,-8.27344145051e-05,0.845594656025,6.23899820982e-06,0.834426866633
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,-8.26201495287e-05,0.845596629227,6.3528918803e-06,0.834428885009
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,-8.25787733452e-05,0.845598995734,6.39673137895e-06,0.834431295734
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,-8.27038695121e-05,0.845603081908,6.27956886737e-06,0.834435368655
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,-8.25346217833e-05,0.845609479278,6.45565529009e-06,0.834441697046
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,-8.26577579063e-05,0.84561867062,6.30420666776e-06,0.83445097062
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,-8.272494429e-05,0.84563070009,6.2294619701e-06,0.834462950089
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,-8.28048869511e-05,0.845647790669,6.14691965956e-06,0.834479990669
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,-8.27718967555e-05,0.845668729607,6.21188576038e-06,0.834500929607
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,-8.29002150435e-05,0.845693210843,6.06384997181e-06,0.834525388243
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.2788007722e-05,0.845720081343,6.1719179567e-06,0.83455221326
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,-8.28560257529e-05,0.845751429591,6.12309610329e-06,0.834583629591
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,-8.29946088073e-05,0.845784787745,5.97359410438e-06,0.834616987745
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,-8.30197402523e-05,0.845820292587,5.95421005972e-06,0.834652492587
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,-8.30587200883e-05,0.845857952601,5.90458283025e-06,0.834690152601
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,-8.31188570023e-05,0.845899734013,5.85573444734e-06,0.834731934013
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,-8.31455240044e-05,0.845944511398,5.82674600491e-06,0.834776711398
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,-8.33426119083e-05,0.84599539531,5.62845856329e-06,0.83482759531
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,-8.33635042669e-05,0.84605426576,5.58126126658e-06,0.83488646576
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,-8.34829915785e-05,0.846124605871,5.46585811873e-06,0.834956901915
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,-8.35430089276e-05,0.846204621215,5.41586822295e-06,0.835036821215
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,-8.37401485495e-05,0.846294614106,5.24145929831e-06,0.835126827357
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,-8.37896949665e-05,0.846390196161,5.17761901797e-06,0.835222476312
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,-8.39633171701e-05,0.846490943876,4.99706055266e-06,0.835323143876
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,-8.39832566103e-05,0.846593193965,4.95541646169e-06,0.835425415177
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,-8.37177163955e-05,0.846704812963,5.25152282661e-06,0.835537093187
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,-8.33685502828e-05,0.846825019157,5.5655709442e-06,0.835657219157
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.30017571177e-05,0.846959511359,5.92755980603e-06,0.835791711359
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.24636919804e-05,0.847107666714,6.45459369798e-06,0.835939866714
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.1946341395e-05,0.847270609388,6.94219618348e-06,0.836102848991
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,-8.13332258273e-05,0.847440549258,7.55199868869e-06,0.836272849258
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,-8.12383568811e-05,0.847620155893,7.6715575761e-06,0.836452455893
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,-8.14197783768e-05,0.847804817079,7.47812217514e-06,0.836637117079
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.13667361548e-05,0.847996966512,7.50924509614e-06,0.836829329647
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,-8.15878423912e-05,0.848195938133,7.29811635856e-06,0.837028273257
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,-8.18130399146e-05,0.848407241705,7.08814277461e-06,0.83723960951
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,-8.16481068151e-05,0.848628852158,7.25221105631e-06,0.837461252158
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,-8.15030057641e-05,0.848865094792,7.39417906872e-06,0.837697419543
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,-8.1283569174e-05,0.849113380563,7.60651104345e-06,0.837945680563
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,-8.0922487935e-05,0.849375590705,7.97796732788e-06,0.83820797798
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,-8.09660125964e-05,0.849645634339,7.90496098936e-06,0.838478034339
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,-8.15296926034e-05,0.849928377783,7.29732854645e-06,0.838760877474
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,-8.18635789125e-05,0.85021846914,6.95447268706e-06,0.83905096914
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,-8.21391931951e-05,0.850521170858,6.62168753123e-06,0.839353659998
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,-8.28753586176e-05,0.850835623197,5.88044571888e-06,0.839668040025
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,-8.3429083588e-05,0.851164080064,5.33506612909e-06,0.839996580064
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,-8.38182177637e-05,0.851502629325,4.93051819055e-06,0.840335160201
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,-8.32743632537e-05,0.85185194675,5.4978059267e-06,0.84068454675
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,-8.24465278633e-05,0.852207075066,6.35637131099e-06,0.841039675066
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,-8.20141925384e-05,0.852572567628,6.77873311709e-06,0.84140521759
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,-8.19089655643e-05,0.852944403689,6.9074498748e-06,0.841777048836
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,-8.1564871426e-05,0.85332106802,7.26775482504e-06,0.842153726603
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,-8.17359835651e-05,0.853701552758,7.11405726914e-06,0.842534313764
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,-8.21787917182e-05,0.854089115808,6.60901266109e-06,0.842921978808
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,-8.23875306786e-05,0.854479516589,6.38822962847e-06,0.843312416589
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,-8.21949879745e-05,0.854876402359,6.63504648891e-06,0.843709302359
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,-8.2070133862e-05,0.85528114835,6.81939252035e-06,0.844114113219
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,-8.17471939153e-05,0.855698280895,7.10706989236e-06,0.844531280895
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,-8.0762153179e-05,0.856123839846,8.13033791899e-06,0.844956839846
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,-8.13709795735e-05,0.856561253356,7.36803287851e-06,0.845394324592
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,-8.25175958136e-05,0.85700891767,6.12047431484e-06,0.84584201767
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,-8.30858108082e-05,0.857473168393,5.62446970726e-06,0.846306268393
|
| 72 |
+
70,1.166666667,pose1-to-pose2-lift,-8.35596928494e-05,0.857949506563,5.17079000223e-06,0.846782786308
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,-8.3665867423e-05,0.858435200565,5.03627526794e-06,0.847268598848
|
| 74 |
+
72,1.200000000,pose1-to-pose2-lift,-8.30374398205e-05,0.858924140396,5.64983795838e-06,0.847757452378
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,-8.24785109476e-05,0.859414926578,6.22813502748e-06,0.848248413536
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,-8.1794710008e-05,0.85989821603,7.01256572441e-06,0.84873161603
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,-8.12796922002e-05,0.86035421749,7.58280737564e-06,0.849187632767
|
| 78 |
+
76,1.266666667,pose1-to-pose2-lift,-8.23428508477e-05,0.860795199024,6.50671303178e-06,0.849628708319
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,-8.28916959222e-05,0.861254353748,5.91911052025e-06,0.850087960416
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,-8.25140536484e-05,0.861729807389,6.01630845188e-06,0.850563507389
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,-8.20080738888e-05,0.862201411625,6.55050397185e-06,0.851035121787
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,-8.28559683078e-05,0.862689268788,5.84737851734e-06,0.851523154759
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,-8.32741396184e-05,0.863195074511,5.407290941e-06,0.852028799144
|
| 84 |
+
82,1.366666667,pose1-to-pose2-lift,-8.09392126076e-05,0.863686686514,7.71177051668e-06,0.852520600623
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,-7.90587097975e-05,0.86416325513,9.64456669975e-06,0.85299725513
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,-8.03916942809e-05,0.864648203045,8.41920417359e-06,0.853482215825
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,-8.18781027037e-05,0.865145885929,6.97007986044e-06,0.853980001544
|
| 88 |
+
86,1.433333333,pose1-to-pose2-lift,-8.38985815146e-05,0.865645192504,4.89907777212e-06,0.854479411861
|
| 89 |
+
87,1.450000000,pose1-to-pose2-lift,-8.50978274649e-05,0.866153311425,3.65442509843e-06,0.854987636511
|
| 90 |
+
88,1.466666667,pose1-to-pose2-lift,-8.34172013431e-05,0.866673264928,5.32386539046e-06,0.855507664928
|
| 91 |
+
89,1.483333333,pose1-to-pose2-lift,-8.21027868966e-05,0.867189986702,6.63438110604e-06,0.856024386702
|
| 92 |
+
90,1.500000000,pose1-to-pose2-lift,-8.19133336111e-05,0.867695362777,6.82302207913e-06,0.856529858509
|
| 93 |
+
91,1.516666667,pose1-to-pose2-lift,-8.23789756514e-05,0.868190359807,6.35485122135e-06,0.857024959807
|
| 94 |
+
92,1.533333333,pose1-to-pose2-lift,-8.32008212233e-05,0.868671484211,5.53481487313e-06,0.857506138394
|
| 95 |
+
93,1.550000000,pose1-to-pose2-lift,-8.34995996513e-05,0.869139832408,5.22754869669e-06,0.857974586581
|
| 96 |
+
94,1.566666667,pose1-to-pose2-lift,-8.34645489257e-05,0.869606675384,5.26599322129e-06,0.85844153026
|
| 97 |
+
95,1.583333333,pose1-to-pose2-lift,-8.32193669701e-05,0.870065524955,5.51703413367e-06,0.858900424955
|
| 98 |
+
96,1.600000000,pose1-to-pose2-lift,-8.28162453402e-05,0.870518903628,5.91378590066e-06,0.859353858151
|
| 99 |
+
97,1.616666667,pose1-to-pose2-lift,-8.24824462161e-05,0.870970544332,6.24180156931e-06,0.859805599132
|
| 100 |
+
98,1.633333333,pose1-to-pose2-lift,-8.23518453681e-05,0.871414311992,6.35828173262e-06,0.860249411992
|
| 101 |
+
99,1.650000000,pose1-to-pose2-lift,-8.24084373926e-05,0.871834364591,6.29435259767e-06,0.860669464591
|
| 102 |
+
100,1.666666667,pose1-to-pose2-lift,-8.28333672031e-05,0.872244054425,5.86575743894e-06,0.861079241768
|
| 103 |
+
101,1.683333333,pose1-to-pose2-lift,-8.34701659505e-05,0.872658264246,5.23359756016e-06,0.861493564246
|
| 104 |
+
102,1.700000000,pose1-to-pose2-lift,-8.3558658548e-05,0.873075236382,5.16027144815e-06,0.86191057469
|
| 105 |
+
103,1.716666667,pose1-to-pose2-lift,-8.30421915961e-05,0.873506287829,5.66415577465e-06,0.862341729713
|
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.286551e-05,0.8835852,5.97882e-06,0.8724226
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.25406672892e-05,0.8835851,6.3238122728e-06,0.872422417932
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.21756833412e-05,0.8835851,6.70040354695e-06,0.872422486162
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.19248838681e-05,0.883585120752,6.9554787357e-06,0.872422520752
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.15572091995e-05,0.883585163913,7.32715012611e-06,0.872422563913
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-8.0661402354e-05,0.883585269071,8.23269463115e-06,0.872422669071
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.95816464845e-05,0.883585325101,9.31850962766e-06,0.872422725101
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.79826785273e-05,0.88358537427,1.09237362951e-05,0.87242277427
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.57743439616e-05,0.883585424318,1.31403968066e-05,0.872422824318
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.14285093943e-05,0.883585499111,1.75023743623e-05,0.872422899111
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-6.46127094076e-05,0.883585420468,2.43556398738e-05,0.872422820468
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-4.6403317979e-05,0.883585619967,4.2666268691e-05,0.872423019967
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-1.70583403026e-05,0.8835857,7.22006771758e-05,0.872423035154
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,2.30160557866e-05,0.88358562911,0.000112512942518,0.872423023288
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,7.24542580023e-05,0.88358629662,0.000162248928446,0.87242359662
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000138546406326,0.883586563491,0.000228727383841,0.872423863491
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000213003917825,0.883586873073,0.000303664403042,0.872424266341
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000298773649134,0.883587154079,0.000389972441999,0.872424540559
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000396486241141,0.883587531678,0.000488288975632,0.872424831678
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000507474220141,0.883588103319,0.000599978428395,0.872425403319
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.00062441453315,0.883588849961,0.000717632107262,0.872426149961
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.00075246212263,0.883589149174,0.000846454231593,0.872426374587
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000888442111363,0.883589873064,0.000983301736221,0.872427157197
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00103648131768,0.883590285803,0.00113226580783,0.872427585803
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24,0.400000000,pose2-to-pose3-side,0.00119544414889,0.883590093135,0.00129220509644,0.872427293135
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25,0.416666667,pose2-to-pose3-side,0.00136570798232,0.883589979905,0.00146353606651,0.8724272
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26,0.433333333,pose2-to-pose3-side,0.00154135331002,0.8835899,0.00164025199749,0.872427168019
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27,0.450000000,pose2-to-pose3-side,0.00172106236038,0.883589729971,0.00182109325781,0.872426972478
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28,0.466666667,pose2-to-pose3-side,0.00190047159486,0.8835895,0.00200156164207,0.872426750099
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29,0.483333333,pose2-to-pose3-side,0.00208011475535,0.8835895,0.00218230461018,0.872426755304
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30,0.500000000,pose2-to-pose3-side,0.00225869234888,0.883589264521,0.00236201284498,0.872426564521
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31,0.516666667,pose2-to-pose3-side,0.00243574101261,0.883589343793,0.00254015720628,0.872426582845
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32,0.533333333,pose2-to-pose3-side,0.00261272099143,0.88358931095,0.00271824639265,0.87242651095
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33,0.550000000,pose2-to-pose3-side,0.00278971676958,0.883589331557,0.00289632033957,0.872426531557
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34,0.566666667,pose2-to-pose3-side,0.00296597522476,0.883589330418,0.00307366122614,0.872426530418
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35,0.583333333,pose2-to-pose3-side,0.00314070355399,0.883589374619,0.00324956169734,0.872426649237
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36,0.600000000,pose2-to-pose3-side,0.00331295750649,0.883589237735,0.00342287788908,0.872426456602
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37,0.616666667,pose2-to-pose3-side,0.00347664857956,0.883589114131,0.00358756862912,0.8724264
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38,0.633333333,pose2-to-pose3-side,0.00363129735782,0.883589277944,0.00374320026142,0.872426577944
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39,0.650000000,pose2-to-pose3-side,0.00377494025429,0.883589389516,0.00388772346394,0.8724266
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40,0.666666667,pose2-to-pose3-side,0.00390821631956,0.883589047224,0.00402185496181,0.872426335418
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41,0.683333333,pose2-to-pose3-side,0.00403126360368,0.883589084799,0.00414566179228,0.872426384799
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42,0.700000000,pose2-to-pose3-side,0.00414954361331,0.883589184291,0.00426468167848,0.872426568581
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43,0.716666667,pose2-to-pose3-side,0.00425852870355,0.883588949937,0.00437435951489,0.872426349937
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44,0.733333333,pose2-to-pose3-side,0.00435997589591,0.883588816053,0.00447641382799,0.872426216053
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45,0.750000000,pose2-to-pose3-side,0.00445063469267,0.883589049366,0.00456766293094,0.872426449366
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46,0.766666667,pose2-to-pose3-side,0.00453204260983,0.883588770108,0.00464962356234,0.872426170108
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47,0.783333333,pose2-to-pose3-side,0.00460276133747,0.883588779963,0.00472072540335,0.872426339888
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48,0.800000000,pose2-to-pose3-side,0.00466746296582,0.883588718524,0.00478579228045,0.8724264
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49,0.816666667,pose2-to-pose3-side,0.00472203095771,0.883588618813,0.00484072166535,0.8724264
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50,0.833333333,pose2-to-pose3-side,0.00476947427982,0.883588935664,0.00488844223076,0.872426651748
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51,0.850000000,pose2-to-pose3-side,0.00480812429284,0.883588829854,0.0049272913798,0.872426529854
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52,0.866666667,pose2-to-pose3-side,0.00483950934584,0.8835888,0.00495884617654,0.872426413518
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53,0.883333333,pose2-to-pose3-side,0.0048625772233,0.8835888,0.00498210295992,0.8724264
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54,0.900000000,pose2-to-pose3-side,0.00488155883751,0.883588550482,0.00500121315925,0.872426150482
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55,0.916666667,pose2-to-pose3-side,0.00489504286411,0.8835885,0.00501485046425,0.872426181576
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56,0.933333333,pose2-to-pose3-side,0.00490527464365,0.883588848301,0.00502530943389,0.872426548301
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57,0.950000000,pose2-to-pose3-side,0.00491195394472,0.883588703028,0.00503191733998,0.8724264
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58,0.966666667,pose2-to-pose3-side,0.00491624054628,0.88358868251,0.00503617369454,0.872426341255
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59,0.983333333,pose2-to-pose3-side,0.004917683,0.8835888,0.005037701,0.8724264
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60,1.000000000,pose3-hold,0.004917683,0.8835888,0.005037708,0.8724264
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61,1.016666667,pose3-hold,0.004917683,0.8835888,0.00503771397059,0.8724264
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62,1.033333333,pose3-hold,0.004917683,0.8835888,0.00503772770588,0.8724264
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63,1.050000000,pose3-hold,0.004917683,0.8835888,0.00503774194118,0.8724264
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64,1.066666667,pose3-hold,0.004917683,0.8835888,0.00503775311765,0.8724264
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65,1.083333333,pose3-hold,0.004917683,0.8835888,0.00503776111765,0.8724264
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66,1.100000000,pose3-hold,0.004917683,0.8835888,0.00503776758824,0.8724264
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67,1.116666667,pose3-hold,0.004917683,0.8835888,0.00503777185294,0.8724264
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68,1.133333333,pose3-hold,0.004917683,0.8835888,0.00503778105882,0.8724264
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69,1.150000000,pose3-hold,0.004917683,0.8835888,0.00503778976471,0.8724264
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70,1.166666667,pose3-hold,0.004917683,0.8835888,0.00503779458824,0.8724264
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71,1.183333333,pose3-hold,0.004917683,0.8835888,0.00503779867647,0.8724264
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72,1.200000000,pose3-hold,0.004917683,0.8835888,0.00503780276471,0.8724264
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73,1.216666667,pose3-hold,0.004917683,0.8835888,0.00503780252941,0.8724264
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74,1.233333333,pose3-hold,0.004917683,0.8835888,0.00503780764706,0.8724264
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75,1.250000000,pose3-hold,0.004917683,0.8835888,0.005037808,0.8724264
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76,1.266666667,pose3-hold,0.004917683,0.8835888,0.00503781058824,0.8724264
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77,1.283333333,pose3-hold,0.004917683,0.8835888,0.00503781,0.8724264
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78,1.300000000,pose3-hold,0.004917683,0.8835888,0.005037808,0.8724264
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79,1.316666667,pose3-hold,0.004917683,0.8835888,0.00503780923529,0.8724264
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80,1.333333333,pose3-hold,0.004917683,0.8835888,0.00503781429412,0.8724264
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81,1.350000000,pose3-hold,0.004917683,0.8835888,0.00503781855882,0.8724264
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82,1.366666667,pose3-hold,0.004917683,0.8835888,0.00503781670588,0.8724264
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83,1.383333333,pose3-hold,0.004917683,0.8835888,0.00503781229412,0.8724264
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84,1.400000000,pose3-hold,0.004917683,0.8835888,0.00503780670588,0.8724264
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85,1.416666667,pose3-hold,0.004917683,0.8835888,0.00503780041176,0.8724264
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86,1.433333333,pose3-hold,0.004917683,0.8835888,0.00503779411765,0.8724264
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87,1.450000000,pose3-hold,0.004917683,0.8835888,0.00503778985294,0.8724264
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88,1.466666667,pose3-hold,0.004917683,0.8835888,0.00503778558824,0.8724264
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89,1.483333333,pose3-hold,0.004917683,0.8835888,0.00503778058824,0.8724264
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90,1.500000000,pose3-hold,0.004917683,0.8835888,0.00503777547059,0.8724264
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91,1.516666667,pose3-hold,0.004917683,0.8835888,0.00503777035294,0.8724264
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92,1.533333333,pose3-hold,0.004917683,0.8835888,0.00503776641176,0.8724264
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93,1.550000000,pose3-hold,0.004917683,0.8835888,0.00503776352941,0.8724264
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94,1.566666667,pose3-hold,0.004917683,0.8835888,0.005037755,0.8724264
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95,1.583333333,pose3-to-pose4-insert,0.004917683,0.8835888,0.005037746,0.8724264
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+
96,1.600000000,pose3-to-pose4-insert,0.00491775227948,0.883588524682,0.00503778658075,0.872426209619
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97,1.616666667,pose3-to-pose4-insert,0.00491770307722,0.883588303051,0.00503773826501,0.872425943661
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+
98,1.633333333,pose3-to-pose4-insert,0.00491765958051,0.883588107119,0.00503769555203,0.872425708543
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99,1.650000000,pose3-to-pose4-insert,0.00491766669752,0.883587752099,0.00503769902523,0.872425352099
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100,1.666666667,pose3-to-pose4-insert,0.00491768036978,0.883587205209,0.00503770692476,0.872424805209
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101,1.683333333,pose3-to-pose4-insert,0.00491769454354,0.883586638258,0.00503771511405,0.872424238258
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102,1.700000000,pose3-to-pose4-insert,0.00491767071468,0.883585871434,0.00503768414329,0.872423485719
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103,1.716666667,pose3-to-pose4-insert,0.00491762216199,0.883585226929,0.00503763021974,0.872422862698
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104,1.733333333,pose3-to-pose4-insert,0.00491759385838,0.883584851217,0.00503759878519,0.87242249951
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105,1.750000000,pose3-to-pose4-insert,0.00491756485586,0.883584466228,0.00503756657443,0.872422127354
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106,1.766666667,pose3-to-pose4-insert,0.00491747884331,0.883583118847,0.00503747125647,0.872420818847
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107,1.783333333,pose3-to-pose4-insert,0.00491752506079,0.883578576784,0.00503752783304,0.872416276784
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108,1.800000000,pose3-to-pose4-insert,0.00491758559505,0.883562769741,0.00503757498819,0.872400469741
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109,1.816666667,pose3-to-pose4-insert,0.00491766991102,0.883533276913,0.00503767469598,0.872370951595
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110,1.833333333,pose3-to-pose4-insert,0.00491742470631,0.883483565945,0.00503744404207,0.872321175734
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111,1.850000000,pose3-to-pose4-insert,0.00491724788082,0.883414443223,0.00503728984045,0.872252143223
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112,1.866666667,pose3-to-pose4-insert,0.00491727131969,0.883325365893,0.00503732507834,0.872162965893
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113,1.883333333,pose3-to-pose4-insert,0.00491742091069,0.883225116136,0.00503745781488,0.872062716136
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114,1.900000000,pose3-to-pose4-insert,0.00491714238538,0.88311457226,0.00503719870122,0.87195217226
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115,1.916666667,pose3-to-pose4-insert,0.00491696048513,0.882999158536,0.00503703209459,0.871836758536
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116,1.933333333,pose3-to-pose4-insert,0.00491687695062,0.882875284645,0.00503694826852,0.871712884645
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117,1.950000000,pose3-to-pose4-insert,0.00491669052388,0.882744820006,0.00503679215074,0.871582330887
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118,1.966666667,pose3-to-pose4-insert,0.0049167956604,0.882604515985,0.00503692373091,0.871442015985
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119,1.983333333,pose3-to-pose4-insert,0.00491666320964,0.882455196302,0.00503679879287,0.871292684993
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120,2.000000000,pose3-to-pose4-insert,0.00491654038093,0.882294911341,0.00503666800133,0.871132333985
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121,2.016666667,pose3-to-pose4-insert,0.00491659806485,0.882127122055,0.00503664415444,0.870964588971
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122,2.033333333,pose3-to-pose4-insert,0.00491658556805,0.881949512409,0.00503662152809,0.870786912409
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123,2.050000000,pose3-to-pose4-insert,0.00491661579915,0.881765102248,0.00503668186328,0.870602502248
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124,2.066666667,pose3-to-pose4-insert,0.00491684110324,0.881577264487,0.00503690364137,0.870414664487
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125,2.083333333,pose3-to-pose4-insert,0.00491698653894,0.881388965525,0.0050370455649,0.870226289876
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126,2.100000000,pose3-to-pose4-insert,0.00491713039465,0.881200959916,0.00503720274101,0.870038259916
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127,2.116666667,pose3-to-pose4-insert,0.00491733330933,0.881015747242,0.00503739185768,0.869853047242
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128,2.133333333,pose3-to-pose4-insert,0.00491760152724,0.880829940033,0.00503767484429,0.869667240033
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129,2.150000000,pose3-to-pose4-insert,0.00491757300052,0.880641031916,0.00503763230256,0.869478233804
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130,2.166666667,pose3-to-pose4-insert,0.00491783748419,0.880449052114,0.00503790901747,0.869286152114
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131,2.183333333,pose3-to-pose4-insert,0.00491787942397,0.880255220877,0.00503796648423,0.869092299324
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132,2.200000000,pose3-to-pose4-insert,0.00491799620833,0.880064332348,0.00503809016376,0.868901332348
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133,2.216666667,pose3-to-pose4-insert,0.00491777826078,0.8798809589,0.00503789315933,0.8687179589
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134,2.233333333,pose3-to-pose4-insert,0.00491745624571,0.879710405903,0.00503759178071,0.868547342295
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135,2.250000000,pose3-to-pose4-insert,0.00491717781332,0.879552384369,0.00503732318023,0.868389284369
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136,2.266666667,pose3-to-pose4-insert,0.00491717289738,0.87941036014,0.00503742254003,0.868247183588
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137,2.283333333,pose3-to-pose4-insert,0.00491705256378,0.879280576061,0.00503731346556,0.868117376061
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138,2.300000000,pose3-to-pose4-insert,0.0049170384901,0.87916226255,0.00503725177903,0.86799906255
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139,2.316666667,pose3-to-pose4-insert,0.00491701013221,0.879051366629,0.00503722594716,0.867888088656
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140,2.333333333,pose3-to-pose4-insert,0.0049169682227,0.878948792291,0.00503719537259,0.867785412848
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141,2.350000000,pose3-to-pose4-insert,0.00491698854537,0.87885334246,0.00503719571656,0.867690026417
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142,2.366666667,pose3-to-pose4-insert,0.00491707887658,0.878769972826,0.0050372801444,0.867606672826
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143,2.383333333,pose3-to-pose4-insert,0.0049171549467,0.878695993605,0.00503738022614,0.867532603682
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144,2.400000000,pose3-to-pose4-insert,0.00491709954841,0.878633236625,0.0050373085414,0.867469836625
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145,2.416666667,pose3-to-pose4-insert,0.00491706439859,0.878580565188,0.00503726692962,0.867417254567
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+
146,2.433333333,pose3-to-pose4-insert,0.00491687059946,0.878537762373,0.00503709703139,0.867374378125
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147,2.450000000,pose3-to-pose4-insert,0.00491692052893,0.878500491206,0.00503713658212,0.867337008168
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148,2.466666667,pose3-to-pose4-insert,0.00491716065927,0.87847100763,0.00503736655312,0.867307586587
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149,2.483333333,pose3-to-pose4-insert,0.00491707309811,0.878447217442,0.00503727785926,0.867283817442
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150,2.500000000,pose3-to-pose4-insert,0.00491714919598,0.878429889997,0.005037352148,0.867266489997
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151,2.516666667,pose3-to-pose4-insert,0.00491718628971,0.878416639072,0.0050373895216,0.867253239072
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152,2.533333333,pose3-to-pose4-insert,0.00491708182808,0.878407055055,0.00503727164778,0.867243655055
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153,2.550000000,pose3-to-pose4-insert,0.00491704158287,0.878399621629,0.00503721298596,0.8672362816
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154,2.566666667,pose3-to-pose4-insert,0.00491705320801,0.878395317242,0.00503724579199,0.867232017242
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155,2.583333333,pose3-to-pose4-insert,0.00491711820521,0.878393026665,0.00503732610778,0.867229636409
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156,2.600000000,pose3-to-pose4-insert,0.004917195,0.878392,0.005037393,0.8672286
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157,2.616666667,pose4-hold,0.004917195,0.878392,0.005037397,0.8672286
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192,3.200000000,pose2-hold,1.79292526464e+18,camera_frames_60hz/WAIT_POSE2/camera_00002338_1792925264642686668_interpolated.jpg,0.67590437565,-0.0053576390654,0.134531635225,0.999999932328,9.95755440601e-05,-0.000347682673637,-6.74254164223e-05,0.0515023656189
|
| 195 |
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193,3.216666667,pose2-hold,1.79292526466e+18,camera_frames_60hz/WAIT_POSE2/camera_00002338_1792925264642686668_interpolated.jpg,0.675903433862,-0.00535531255536,0.134530707105,0.999999931735,0.00010096464598,-0.000348969504815,-6.75056814375e-05,0.0515023656189
|
| 196 |
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|
| 197 |
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195,3.250000000,pose2-hold,1.79292526469e+18,camera_frames_60hz/WAIT_POSE2/camera_00002339_1792925264676694908_real.jpg,0.675902286669,-0.00535514211772,0.134529604592,0.999999931468,9.87969466722e-05,-0.00035032847833,-6.76293554082e-05,0.0515023656189
|
| 198 |
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196,3.266666667,pose2-hold,1.79292526471e+18,camera_frames_60hz/WAIT_POSE2/camera_00002340_1792925264708692720_interpolated.jpg,0.675902108222,-0.00535745345499,0.134529422861,0.999999931804,9.5155273952e-05,-0.000350371730834,-6.76561152252e-05,0.0515023656189
|
| 199 |
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197,3.283333333,pose2-hold,1.79292526472e+18,camera_frames_60hz/WAIT_POSE2/camera_00002341_1792925264740690533_real.jpg,0.675901644168,-0.00535857866071,0.134528038128,0.999999931541,9.48899031307e-05,-0.000351261342813,-6.73018265373e-05,0.0515023656189
|
| 200 |
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198,3.300000000,pose2-hold,1.79292526474e+18,camera_frames_60hz/WAIT_POSE2/camera_00002341_1792925264740690533_real.jpg,0.675901428283,-0.0053593376439,0.134527140516,0.999999931381,9.49330643378e-05,-0.000351768412059,-6.69641433568e-05,0.0515023276102
|
| 201 |
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199,3.316666667,pose2-hold,1.79292526476e+18,camera_frames_60hz/WAIT_POSE2/camera_00002342_1792925264774693758_interpolated.jpg,0.675903062464,-0.00535736654323,0.134529874269,0.999999931992,9.72763214631e-05,-0.000349423702256,-6.67502147436e-05,0.0515020062437
|
| 202 |
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200,3.333333333,pose2-hold,1.79292526477e+18,camera_frames_60hz/WAIT_POSE2/camera_00002342_1792925264774693758_interpolated.jpg,0.675904556363,-0.00535561983138,0.134532384959,0.999999932536,9.92875070421e-05,-0.000347329124867,-6.65789876017e-05,0.0515017099679
|
| 203 |
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201,3.350000000,pose2-hold,1.79292526479e+18,camera_frames_60hz/WAIT_POSE2/camera_00002343_1792925264808696984_real.jpg,0.675904393787,-0.00535652274413,0.134532261684,0.999999932403,9.7377530667e-05,-0.000348188157107,-6.69119873049e-05,0.0515017099679
|
Free/s2/ball_0010_20/width_04/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,203 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,6.934719e-06,0.8344216
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.27360396362e-05,0.845589967706,6.70396132534e-06,0.834422167706
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.27067031644e-05,0.845590140757,6.73208427691e-06,0.834422340757
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.26719364742e-05,0.845590875737,6.76202380818e-06,0.834423075737
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.26681317706e-05,0.845590979726,6.76514959251e-06,0.834423179726
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.27210144088e-05,0.845591860055,6.72685603954e-06,0.834424113808
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.27540029466e-05,0.845592389141,6.70292380769e-06,0.834424675962
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.27586586581e-05,0.845593133317,6.69946419618e-06,0.83442541013
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.27492482139e-05,0.845593724361,6.70620029596e-06,0.834425975476
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.27118354282e-05,0.84559519287,6.73826966985e-06,0.834427402318
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.25716600103e-05,0.845597388867,6.87826586603e-06,0.834429669153
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.27067165599e-05,0.845601757838,6.7452655773e-06,0.834434057838
|
| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.25287471992e-05,0.845608933581,6.93917851835e-06,0.834441143769
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.26559794178e-05,0.845618572692,6.78044887876e-06,0.834450872692
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.27273879827e-05,0.845630391603,6.69937482214e-06,0.834462644262
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.27823233086e-05,0.845645766959,6.63335528702e-06,0.834478032682
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,-8.27796656024e-05,0.845663655205,6.66348144063e-06,0.83449587841
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,-8.29158454221e-05,0.84568618262,6.52426714544e-06,0.83451838262
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,-8.2796404315e-05,0.845712908374,6.62489732674e-06,0.834545108374
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,-8.28139265023e-05,0.845745407944,6.64625146663e-06,0.834577607944
|
| 22 |
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20,0.333333333,pose1-to-pose2-lift,-8.29924206869e-05,0.845781744664,6.44794096762e-06,0.834613944664
|
| 23 |
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21,0.350000000,pose1-to-pose2-lift,-8.30210845553e-05,0.845822234358,6.42340343644e-06,0.834654434358
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,-8.30701889556e-05,0.845864522161,6.36657508032e-06,0.834696722161
|
| 25 |
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23,0.383333333,pose1-to-pose2-lift,-8.3122391894e-05,0.845909574596,6.32254669493e-06,0.834741774596
|
| 26 |
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24,0.400000000,pose1-to-pose2-lift,-8.31900453997e-05,0.845956005877,6.25086520982e-06,0.834788205877
|
| 27 |
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25,0.416666667,pose1-to-pose2-lift,-8.33504967361e-05,0.846004732192,6.0899687033e-06,0.834836932192
|
| 28 |
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26,0.433333333,pose1-to-pose2-lift,-8.33642552813e-05,0.846057125674,6.05108062945e-06,0.834889325674
|
| 29 |
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27,0.450000000,pose1-to-pose2-lift,-8.34704813174e-05,0.846117682835,5.94515729735e-06,0.834949968713
|
| 30 |
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28,0.466666667,pose1-to-pose2-lift,-8.35258044924e-05,0.846185833067,5.89657794615e-06,0.835018054605
|
| 31 |
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29,0.483333333,pose1-to-pose2-lift,-8.36998010157e-05,0.8462674684,5.74131815405e-06,0.8350996684
|
| 32 |
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30,0.500000000,pose1-to-pose2-lift,-8.3750676875e-05,0.846361331237,5.69399272003e-06,0.835193531237
|
| 33 |
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31,0.516666667,pose1-to-pose2-lift,-8.39397821619e-05,0.846465935896,5.49844888548e-06,0.835298135896
|
| 34 |
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32,0.533333333,pose1-to-pose2-lift,-8.40189354142e-05,0.846576969064,5.38973094483e-06,0.835409269064
|
| 35 |
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33,0.550000000,pose1-to-pose2-lift,-8.37404257822e-05,0.846697366649,5.69900259135e-06,0.835529653109
|
| 36 |
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34,0.566666667,pose1-to-pose2-lift,-8.33789761855e-05,0.846820555745,6.04253968884e-06,0.835652755745
|
| 37 |
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35,0.583333333,pose1-to-pose2-lift,-8.30284733025e-05,0.846952896376,6.3799583763e-06,0.835785114201
|
| 38 |
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36,0.600000000,pose1-to-pose2-lift,-8.24975254367e-05,0.847094796739,6.88714098484e-06,0.835927076092
|
| 39 |
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37,0.616666667,pose1-to-pose2-lift,-8.20279717538e-05,0.847250650802,7.33923189566e-06,0.836082877428
|
| 40 |
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38,0.633333333,pose1-to-pose2-lift,-8.1400796455e-05,0.847418223371,7.96081451181e-06,0.836250489571
|
| 41 |
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39,0.650000000,pose1-to-pose2-lift,-8.11829544519e-05,0.847597789336,8.20609305834e-06,0.836430031595
|
| 42 |
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40,0.666666667,pose1-to-pose2-lift,-8.13876024807e-05,0.847783941392,7.98243427103e-06,0.836616241392
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,-8.13809491726e-05,0.847974805498,7.96134767054e-06,0.836807105498
|
| 44 |
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42,0.700000000,pose1-to-pose2-lift,-8.1508656544e-05,0.848166701381,7.85259652603e-06,0.836999001381
|
| 45 |
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43,0.716666667,pose1-to-pose2-lift,-8.17647990606e-05,0.848369927446,7.60198783963e-06,0.837202277364
|
| 46 |
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44,0.733333333,pose1-to-pose2-lift,-8.17013653968e-05,0.84858420686,7.65729067676e-06,0.837416556697
|
| 47 |
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45,0.750000000,pose1-to-pose2-lift,-8.13627067803e-05,0.848814089158,8.00153686719e-06,0.837646442113
|
| 48 |
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46,0.766666667,pose1-to-pose2-lift,-8.11491077596e-05,0.849062062463,8.20980905629e-06,0.837894403386
|
| 49 |
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47,0.783333333,pose1-to-pose2-lift,-8.08385491832e-05,0.849331166542,8.50543413119e-06,0.838163535818
|
| 50 |
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48,0.800000000,pose1-to-pose2-lift,-8.1121094285e-05,0.849609786121,8.21634003504e-06,0.838442186121
|
| 51 |
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49,0.816666667,pose1-to-pose2-lift,-8.19911851151e-05,0.849898353119,7.37129775283e-06,0.838730753119
|
| 52 |
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50,0.833333333,pose1-to-pose2-lift,-8.29933638131e-05,0.850192975168,6.38742031511e-06,0.839025471088
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| 53 |
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51,0.850000000,pose1-to-pose2-lift,-8.3580026873e-05,0.850496325171,5.79978558894e-06,0.839328727516
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|
| 55 |
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53,0.883333333,pose1-to-pose2-lift,-8.22490527383e-05,0.851125599455,7.1039916289e-06,0.839958111083
|
| 56 |
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54,0.900000000,pose1-to-pose2-lift,-8.17495490792e-05,0.851457014677,7.61504891408e-06,0.840289614677
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| 57 |
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55,0.916666667,pose1-to-pose2-lift,-8.20942016483e-05,0.851799850405,7.2632370632e-06,0.840632450405
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56,0.933333333,pose1-to-pose2-lift,-8.22903114012e-05,0.852151702875,7.08117762462e-06,0.840984331342
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57,0.950000000,pose1-to-pose2-lift,-8.24597535042e-05,0.852515823869,6.91644598959e-06,0.841348523869
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59,0.983333333,pose1-to-pose2-lift,-8.17259287155e-05,0.853268972051,7.54664553045e-06,0.842101716315
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| 62 |
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60,1.000000000,pose1-to-pose2-lift,-8.14163108763e-05,0.853655138654,7.88949318587e-06,0.842487938654
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| 63 |
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61,1.016666667,pose1-to-pose2-lift,-8.11028102443e-05,0.854046692717,8.2919135816e-06,0.842879544875
|
| 64 |
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62,1.033333333,pose1-to-pose2-lift,-8.11402622292e-05,0.854442267273,8.25441690878e-06,0.843275167273
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| 65 |
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63,1.050000000,pose1-to-pose2-lift,-8.13539083092e-05,0.854840358982,7.98477836576e-06,0.843673258982
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| 66 |
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64,1.066666667,pose1-to-pose2-lift,-8.15775309592e-05,0.85523848982,7.65848223651e-06,0.844071444242
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65,1.083333333,pose1-to-pose2-lift,-8.17620224591e-05,0.855642384401,7.43761321199e-06,0.844475437475
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| 68 |
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66,1.100000000,pose1-to-pose2-lift,-8.16584572482e-05,0.856052632301,7.55908820657e-06,0.844885732301
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67,1.116666667,pose1-to-pose2-lift,-8.17091542245e-05,0.856478754934,7.50956573283e-06,0.845311854934
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68,1.133333333,pose1-to-pose2-lift,-8.2251466754e-05,0.856921743321,6.97410755421e-06,0.845754899003
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69,1.150000000,pose1-to-pose2-lift,-8.24612353674e-05,0.857385600928,6.77696971164e-06,0.846218925454
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70,1.166666667,pose1-to-pose2-lift,-8.22738707924e-05,0.857864206553,6.95555915909e-06,0.846697535688
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196,3.266666667,pose2-hold,-8.286551e-05,0.8835852,5.98738730303e-06,0.8724226
|
| 199 |
+
197,3.283333333,pose2-hold,-8.286551e-05,0.8835852,5.987304e-06,0.8724226
|
| 200 |
+
198,3.300000000,pose2-hold,-8.286551e-05,0.8835852,5.98592290909e-06,0.8724226
|
| 201 |
+
199,3.316666667,pose2-hold,-8.286551e-05,0.8835852,5.98535066667e-06,0.8724226
|
| 202 |
+
200,3.333333333,pose2-hold,-8.286551e-05,0.8835852,5.985413e-06,0.8724226
|
| 203 |
+
201,3.350000000,pose2-hold,-8.286551e-05,0.8835852,5.981817e-06,0.8724226
|
Free/s2/ball_0010_20/width_05/insert/camera_frames_60hz.tar
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aef757db6d214e826a4e02f8369f8ac96750e247b31fc74c4572aba3d54a7b07
|
| 3 |
+
size 24729600
|
Free/s2/ball_0010_20/width_05/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b24c7558fa3e34f18fad54b1be9e3fe7023241f035cb88027f6f2af7145ac033
|
| 3 |
+
size 54815272
|
Free/s2/ball_0010_20/width_05/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Free/s2/ball_0010_20/width_05/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,902 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.106155e-05,0.883586,8.4579e-06,0.8724234
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.07271203813e-05,0.883585961016,8.77031204554e-06,0.872423361016
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.03485041712e-05,0.883585908435,9.14674245506e-06,0.872423308435
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.01206347694e-05,0.883585888886,9.37732791779e-06,0.872423277773
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-7.97734535815e-05,0.883585865801,9.73087937306e-06,0.872423231601
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.934318069e-05,0.88358583719,1.01690471433e-05,0.87242317438
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.79424922906e-05,0.8835858,1.157724204e-05,0.872423125235
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.66993970665e-05,0.8835858,1.28162659916e-05,0.872423162518
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.49107329334e-05,0.8835858,1.46066396256e-05,0.8724232
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.13537668938e-05,0.8835858,1.82019037757e-05,0.8724232
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-6.62271949856e-05,0.8835858,2.33648546182e-05,0.8724232
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-5.51935741572e-05,0.8835858,3.44596363479e-05,0.872423156033
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-3.81269151348e-05,0.88358585598,5.1632106507e-05,0.872423211959
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-9.00535779612e-06,0.883586268116,8.09268862583e-05,0.872423576087
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,3.14310265605e-05,0.883586373082,0.000121606525641,0.872423673082
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,8.90381357291e-05,0.8835866,0.000179592120931,0.872423966541
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000159589700823,0.883586691616,0.000250562915345,0.872423995808
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000247134069324,0.883586742067,0.000338636237874,0.872424142067
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000345600855508,0.883587380818,0.000437709239826,0.872424710613
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000453306974109,0.8835875,0.000546077900437,0.8724248
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000564193231736,0.883587817408,0.000657651844083,0.872425023211
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000681357481187,0.883588178322,0.000775562175839,0.872425478322
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000800612494995,0.883588741188,0.00089554405103,0.872426041188
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000931509694372,0.883588950546,0.00102724365077,0.872426250546
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00107770205721,0.883588723625,0.00117434983184,0.872426
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00123944124036,0.883588728486,0.00133709214249,0.872425964243
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00141429483121,0.8835886,0.00151304412973,0.8724259
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00160151223564,0.88358853129,0.00170141433826,0.87242583129
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00179164866602,0.883588668966,0.0018927423576,0.872425884483
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00198195534461,0.8835887,0.00208412941288,0.8724259
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00217070587045,0.88358883063,0.00227409373009,0.87242603063
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00235425841525,0.883589227519,0.00245877968045,0.872426427519
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00253255569268,0.883589383227,0.0026381785272,0.872426583227
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00270669058962,0.883589353066,0.00281341738258,0.872426553066
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00287710749288,0.883589564918,0.00298490433733,0.872426782459
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00304690220779,0.883589455724,0.00315581985291,0.872426737149
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.0032189299396,0.883589746405,0.00332886069328,0.872426946405
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.0033805244092,0.8835899,0.00349148467007,0.8724271
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00353353512386,0.8835899,0.00364544870232,0.8724271
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00368787365731,0.8835899,0.00380073916475,0.872427128942
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00382664232449,0.883589928149,0.00394039299624,0.872427228149
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00395425198175,0.883589926057,0.00406881071224,0.872427226057
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00408240067755,0.88358972804,0.00419775300667,0.872427056081
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00419979197819,0.8835898,0.00431586199621,0.8724272
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00429633641165,0.8835898,0.00441301029465,0.872427179134
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00438741984638,0.8835898,0.00450468989612,0.872427113734
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00446898779276,0.883589789375,0.00458676612452,0.8724272
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00454229317628,0.88358960717,0.00466048875611,0.8724272
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00461508776661,0.883589501566,0.00473374960981,0.872427298434
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00467941592085,0.883589491038,0.0047984598232,0.872427194025
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00473560841006,0.883589189885,0.00485496983401,0.872426979769
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00478204059676,0.883589150224,0.00490168489846,0.872426850224
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00481847047853,0.883589380946,0.00493830682516,0.872427080946
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00484479287383,0.883589310175,0.00496482308632,0.872427010175
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00486781611699,0.8835894,0.00498802055702,0.8724271
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00488584449046,0.883589383868,0.00500619007593,0.872427051604
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00489940807351,0.8835893,0.00501995408352,0.872426832028
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00490910499593,0.8835893,0.00502972628804,0.8724269
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491446894582,0.883589085131,0.00503501297511,0.872426785131
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004916694,0.8835891,0.005037349,0.8724268
|
| 62 |
+
60,1.000000000,pose3-hold,0.004916694,0.8835891,0.005037359,0.8724268
|
| 63 |
+
61,1.016666667,pose3-hold,0.004916694,0.8835891,0.00503736427273,0.8724268
|
| 64 |
+
62,1.033333333,pose3-hold,0.004916694,0.8835891,0.00503737484848,0.8724268
|
| 65 |
+
63,1.050000000,pose3-hold,0.004916694,0.8835891,0.005037385,0.8724268
|
| 66 |
+
64,1.066666667,pose3-hold,0.004916694,0.8835891,0.00503739466667,0.8724268
|
| 67 |
+
65,1.083333333,pose3-hold,0.004916694,0.8835891,0.00503740275758,0.8724268
|
| 68 |
+
66,1.100000000,pose3-hold,0.004916694,0.8835891,0.00503741,0.8724268
|
| 69 |
+
67,1.116666667,pose3-hold,0.004916694,0.8835891,0.00503741951515,0.8724268
|
| 70 |
+
68,1.133333333,pose3-hold,0.004916694,0.8835891,0.00503742812121,0.8724268
|
| 71 |
+
69,1.150000000,pose3-hold,0.004916694,0.8835891,0.00503743163636,0.8724268
|
| 72 |
+
70,1.166666667,pose3-hold,0.004916694,0.8835891,0.00503743278788,0.8724268
|
| 73 |
+
71,1.183333333,pose3-hold,0.004916694,0.8835891,0.00503743433333,0.8724268
|
| 74 |
+
72,1.200000000,pose3-hold,0.004916694,0.8835891,0.00503743936364,0.8724268
|
| 75 |
+
73,1.216666667,pose3-hold,0.004916694,0.8835891,0.00503744342424,0.8724268
|
| 76 |
+
74,1.233333333,pose3-hold,0.004916694,0.8835891,0.00503744460606,0.8724268
|
| 77 |
+
75,1.250000000,pose3-hold,0.004916694,0.8835891,0.00503744527273,0.8724268
|
| 78 |
+
76,1.266666667,pose3-hold,0.004916694,0.8835891,0.005037442,0.8724268
|
| 79 |
+
77,1.283333333,pose3-hold,0.004916694,0.8835891,0.005037442,0.8724268
|
| 80 |
+
78,1.300000000,pose3-hold,0.004916694,0.8835891,0.00503745181818,0.8724268
|
| 81 |
+
79,1.316666667,pose3-hold,0.004916694,0.8835891,0.00503745469697,0.8724268
|
| 82 |
+
80,1.333333333,pose3-hold,0.004916694,0.8835891,0.00503745212121,0.8724268
|
| 83 |
+
81,1.350000000,pose3-hold,0.004916694,0.8835891,0.00503744727273,0.8724268
|
| 84 |
+
82,1.366666667,pose3-hold,0.004916694,0.8835891,0.00503744133333,0.8724268
|
| 85 |
+
83,1.383333333,pose3-hold,0.004916694,0.8835891,0.00503743515152,0.8724268
|
| 86 |
+
84,1.400000000,pose3-hold,0.004916694,0.8835891,0.00503743172727,0.8724268
|
| 87 |
+
85,1.416666667,pose3-hold,0.004916694,0.8835891,0.00503742909091,0.8724268
|
| 88 |
+
86,1.433333333,pose3-hold,0.004916694,0.8835891,0.00503742475758,0.8724268
|
| 89 |
+
87,1.450000000,pose3-hold,0.004916694,0.8835891,0.00503741890909,0.8724268
|
| 90 |
+
88,1.466666667,pose3-hold,0.004916694,0.8835891,0.00503741336364,0.8724268
|
| 91 |
+
89,1.483333333,pose3-hold,0.004916694,0.8835891,0.00503740712121,0.8724268
|
| 92 |
+
90,1.500000000,pose3-hold,0.004916694,0.8835891,0.00503740009091,0.8724268
|
| 93 |
+
91,1.516666667,pose3-hold,0.004916694,0.8835891,0.00503739306061,0.8724268
|
| 94 |
+
92,1.533333333,pose3-hold,0.004916694,0.8835891,0.00503738627273,0.8724268
|
| 95 |
+
93,1.550000000,pose3-hold,0.004916694,0.8835891,0.005037381,0.8724268
|
| 96 |
+
94,1.566666667,pose3-to-pose4-insert,0.004916694,0.8835891,0.005037374,0.8724268
|
| 97 |
+
95,1.583333333,pose3-to-pose4-insert,0.00491680336193,0.883588782997,0.0050374853047,0.872426482997
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.00491684454396,0.883587972034,0.00503750832204,0.872425672034
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00491681350598,0.883587252313,0.00503746513875,0.872424952313
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.0049167929341,0.883586725851,0.00503743695727,0.872424423533
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00491678339231,0.883586062074,0.00503742762291,0.872423739013
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00491676731728,0.883584943811,0.00503741189734,0.872422585805
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00491675112821,0.883583817615,0.00503739606021,0.872421424415
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00491675595113,0.883583121125,0.00503739986689,0.87242073016
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00491676433498,0.883582616189,0.00503740710748,0.872420234751
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00491677339663,0.88358207043,0.00503741493346,0.87241969929
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00491677987025,0.883581680542,0.00503742052431,0.872419316758
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00491678244249,0.883581525623,0.00503742274578,0.872419164762
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00491686104295,0.883576205061,0.0050374889862,0.872413880981
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00491683380178,0.883563538243,0.00503745050081,0.872401138243
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00491706415806,0.883535310457,0.00503768437834,0.872372992162
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00491712358076,0.883490420065,0.00503774664749,0.872328020065
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00491702134754,0.883423686261,0.00503767586323,0.872261324153
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.004917049,0.883340003666,0.00503772472783,0.872177603666
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00491720694765,0.883237981401,0.00503788731687,0.872075660375
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.0049173559207,0.88312737592,0.00503805404943,0.871964994732
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00491744693261,0.883004814683,0.00503815350966,0.871842463583
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00491753699221,0.882875715022,0.00503825674643,0.87171323999
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00491754810398,0.882737434099,0.00503827490486,0.871574934099
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00491745346755,0.882591866753,0.0050382141595,0.871429366753
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.00491722481045,0.882439261895,0.00503797603067,0.871276739693
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00491706927352,0.882281594576,0.00503783264494,0.871118994576
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00491695508082,0.882116883844,0.00503774150138,0.870954283844
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.00491691478428,0.881947614775,0.0050377383725,0.870785014775
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123,2.050000000,pose3-to-pose4-insert,0.00491704259455,0.881770967973,0.00503788346476,0.870608314729
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124,2.066666667,pose3-to-pose4-insert,0.00491720349033,0.881587528059,0.00503801618205,0.870424828059
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125,2.083333333,pose3-to-pose4-insert,0.00491747304066,0.881398059961,0.00503831886652,0.870235359961
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126,2.100000000,pose3-to-pose4-insert,0.0049179463308,0.881205367599,0.00503884353572,0.870042588113
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127,2.116666667,pose3-to-pose4-insert,0.00491813288919,0.881007546988,0.00503901704948,0.869844746988
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128,2.133333333,pose3-to-pose4-insert,0.00491777061723,0.880809129151,0.00503865099518,0.869646229151
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129,2.150000000,pose3-to-pose4-insert,0.00491754180575,0.880609476167,0.00503839803311,0.869446560052
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130,2.166666667,pose3-to-pose4-insert,0.004917460267,0.880411023241,0.0050382980484,0.869248053969
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131,2.183333333,pose3-to-pose4-insert,0.00491722938409,0.880220165039,0.00503805373433,0.869057221803
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132,2.200000000,pose3-to-pose4-insert,0.0049171911033,0.880039334447,0.00503802457458,0.868876281574
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133,2.216666667,pose3-to-pose4-insert,0.00491728585862,0.879871547917,0.00503811885862,0.868708447917
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134,2.233333333,pose3-to-pose4-insert,0.00491732966597,0.879716081446,0.00503817462047,0.868552921673
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135,2.250000000,pose3-to-pose4-insert,0.00491732446805,0.879571791709,0.00503816864798,0.868408591709
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136,2.266666667,pose3-to-pose4-insert,0.00491735892811,0.879432253956,0.00503820710367,0.868269053956
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137,2.283333333,pose3-to-pose4-insert,0.00491726695227,0.879300405363,0.00503812072097,0.868137143799
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138,2.300000000,pose3-to-pose4-insert,0.00491728841721,0.879173427999,0.00503813674626,0.868010127999
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139,2.316666667,pose3-to-pose4-insert,0.00491720921814,0.879055198516,0.00503802894827,0.867891898516
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140,2.333333333,pose3-to-pose4-insert,0.00491720947903,0.878946645247,0.00503805473898,0.867783345247
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141,2.350000000,pose3-to-pose4-insert,0.00491732340608,0.878850792807,0.00503820386099,0.867687492807
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142,2.366666667,pose3-to-pose4-insert,0.00491741744916,0.878765346327,0.00503826513469,0.867601955316
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143,2.383333333,pose3-to-pose4-insert,0.00491732806853,0.878692678055,0.0050381711365,0.867529278055
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144,2.400000000,pose3-to-pose4-insert,0.00491724258867,0.878629282749,0.00503808080749,0.867465882749
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145,2.416666667,pose3-to-pose4-insert,0.00491728159146,0.878576815311,0.00503809498306,0.867413415311
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146,2.433333333,pose3-to-pose4-insert,0.00491734973632,0.878532398303,0.00503815610177,0.867368904394
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147,2.450000000,pose3-to-pose4-insert,0.00491727553748,0.87849733421,0.00503807172966,0.86733383421
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148,2.466666667,pose3-to-pose4-insert,0.00491737492717,0.878467780331,0.0050381516274,0.867304367472
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149,2.483333333,pose3-to-pose4-insert,0.00491730235665,0.878444945822,0.00503811529345,0.867281545822
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150,2.500000000,pose3-to-pose4-insert,0.00491734196881,0.878426673422,0.00503816959382,0.86726319061
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151,2.516666667,pose3-to-pose4-insert,0.00491747487728,0.87841367991,0.00503829990105,0.867250259434
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152,2.533333333,pose3-to-pose4-insert,0.00491740260018,0.878403903372,0.00503823404496,0.867240503372
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153,2.550000000,pose3-to-pose4-insert,0.00491743052676,0.878396886644,0.00503828501951,0.86723358009
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154,2.566666667,pose3-to-pose4-insert,0.00491729143925,0.878392726818,0.00503814135939,0.867229326818
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155,2.583333333,pose3-to-pose4-insert,0.004917217,0.8783908,0.005038073,0.8672274
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156,2.600000000,pose4-hold,0.004917217,0.8783908,0.005038082,0.8672274
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159,2.650000000,pose4-hold,0.004917217,0.8783908,0.00503808663636,0.8672274
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162,2.700000000,pose4-hold,0.004917217,0.8783908,0.00503809409091,0.8672274
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165,2.750000000,pose4-hold,0.004917217,0.8783908,0.00503809890909,0.8672274
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166,2.766666667,pose4-hold,0.004917217,0.8783908,0.00503810057576,0.8672274
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170,2.833333333,pose4-hold,0.004917217,0.8783908,0.005038102,0.8672274
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171,2.850000000,pose4-hold,0.004917217,0.8783908,0.00503810218182,0.8672274
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172,2.866666667,pose4-hold,0.004917217,0.8783908,0.005038103,0.8672274
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187,3.116666667,pose4-hold,0.004917217,0.8783908,0.00503808527273,0.8672274
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|
| 180 |
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| 183 |
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| 184 |
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| 185 |
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| 188 |
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| 190 |
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| 191 |
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189,3.150000000,pose2-hold,1.79292528742e+18,camera_frames_60hz/WAIT_POSE2/camera_00003044_1792925287396760840_interpolated.jpg,0.675900572724,-0.00535233705851,0.134525488268,0.999999929851,0.00010370650974,-0.000353888632197,-6.56211489428e-05,0.051001328975
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| 192 |
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| 193 |
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| 194 |
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192,3.200000000,pose2-hold,1.79292528746e+18,camera_frames_60hz/WAIT_POSE2/camera_00003046_1792925287464991631_interpolated.jpg,0.675900102805,-0.00535218095794,0.134526116988,0.999999929576,0.000105372632531,-0.000353986659071,-6.66196007613e-05,0.051001328975
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| 195 |
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193,3.216666667,pose2-hold,1.79292528748e+18,camera_frames_60hz/WAIT_POSE2/camera_00003046_1792925287464991631_interpolated.jpg,0.675900745196,-0.00535279517237,0.134526569243,0.999999930107,0.000103039864616,-0.000353171954486,-6.66191829126e-05,0.051001328975
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| 196 |
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194,3.233333333,pose2-hold,1.7929252875e+18,camera_frames_60hz/WAIT_POSE2/camera_00003047_1792925287499285275_real.jpg,0.67590150336,-0.00535347004372,0.134527069632,0.999999930718,0.000100304745059,-0.000352240959771,-6.65504506038e-05,0.051001328975
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| 197 |
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195,3.250000000,pose2-hold,1.79292528751e+18,camera_frames_60hz/WAIT_POSE2/camera_00003047_1792925287499285275_real.jpg,0.675900718409,-0.00535547219747,0.134526290948,0.999999930533,9.88047182797e-05,-0.000353235509755,-6.63101048342e-05,0.051001328975
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| 198 |
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196,3.266666667,pose2-hold,1.79292528753e+18,camera_frames_60hz/WAIT_POSE2/camera_00003048_1792925287531337993_interpolated.jpg,0.675899616492,-0.00535774698353,0.134525249534,0.999999930181,9.75583874684e-05,-0.000354625578955,-6.60345085603e-05,0.051001328975
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| 199 |
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197,3.283333333,pose2-hold,1.79292528755e+18,camera_frames_60hz/WAIT_POSE2/camera_00003048_1792925287531337993_interpolated.jpg,0.675899804229,-0.00535823957495,0.134525350049,0.999999930284,9.81975680517e-05,-0.000354305989612,-6.52385521236e-05,0.051001328975
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| 200 |
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198,3.300000000,pose2-hold,1.79292528756e+18,camera_frames_60hz/WAIT_POSE2/camera_00003049_1792925287563390712_real.jpg,0.675900125102,-0.00535854818464,0.13452556845,0.999999930433,9.90313960866e-05,-0.000353809906679,-6.43888772209e-05,0.051001328975
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| 201 |
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199,3.316666667,pose2-hold,1.79292528758e+18,camera_frames_60hz/WAIT_POSE2/camera_00003049_1792925287563390712_real.jpg,0.67590120079,-0.00535930655272,0.134527530135,0.999999931073,9.90370297912e-05,-0.00035208533078,-6.38854400955e-05,0.051001328975
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| 202 |
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200,3.333333333,pose2-hold,1.7929252876e+18,camera_frames_60hz/WAIT_POSE2/camera_00003050_1792925287597257728_interpolated.jpg,0.675902289313,-0.00536007256711,0.134529521472,0.999999931719,9.90285615278e-05,-0.000350339863953,-6.33879063147e-05,0.051001328975
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| 203 |
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201,3.350000000,pose2-hold,1.79292528761e+18,camera_frames_60hz/WAIT_POSE2/camera_00003050_1792925287597257728_interpolated.jpg,0.67590197704,-0.00535897848975,0.134528929466,0.999999931511,9.87153056793e-05,-0.000350963607067,-6.37075627118e-05,0.051001328975
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| 204 |
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202,3.366666667,pose2-hold,1.79292528763e+18,camera_frames_60hz/WAIT_POSE2/camera_00003051_1792925287631124745_real.jpg,0.675901592973,-0.00535778908006,0.134528205061,0.999999931258,9.83864290363e-05,-0.000351708775536,-6.40691012602e-05,0.051001328975
|
Free/s2/ball_0010_20/width_05/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,204 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose1-to-pose2-lift,-8.250443e-05,0.8455893,7.413464e-06,0.8344216
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,-8.27030883249e-05,0.84559016208,7.21786968556e-06,0.83442236208
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,-8.26838358787e-05,0.845590913939,7.22408949106e-06,0.834423113939
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,-8.27364800443e-05,0.845592021731,7.18838622228e-06,0.834424285589
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,-8.27640479225e-05,0.845592794833,7.17025703995e-06,0.834425094833
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,-8.27554744775e-05,0.845593333307,7.17597540133e-06,0.834425633307
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,-8.27449536875e-05,0.845593994088,7.18299261316e-06,0.834426294088
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,-8.27336885008e-05,0.845594701623,7.19050632652e-06,0.834427001623
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,-8.27014093384e-05,0.845595356206,7.22290302073e-06,0.834427656206
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,-8.26579826217e-05,0.845596036532,7.26807356542e-06,0.834428336532
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,-8.25750459681e-05,0.845597335822,7.35434059424e-06,0.834429635822
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,-8.26189477299e-05,0.84559986304,7.31202082238e-06,0.83443216304
|
| 14 |
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12,0.200000000,pose1-to-pose2-lift,-8.26619093574e-05,0.845604255312,7.27255741384e-06,0.834436522171
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,-8.25527355593e-05,0.845611161889,7.37357380049e-06,0.834443403026
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,-8.26719550612e-05,0.845619452357,7.23671407359e-06,0.834451752357
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,-8.27196137832e-05,0.845631373002,7.17789277724e-06,0.8344636172
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,-8.27879356606e-05,0.845646270325,7.10370378948e-06,0.834478539618
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,-8.2771693478e-05,0.845665495842,7.15743122521e-06,0.83449770822
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,-8.29540321718e-05,0.845692268315,6.9595635761e-06,0.834524468315
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,-8.27854617848e-05,0.845722256264,7.13314831103e-06,0.834554456264
|
| 22 |
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20,0.333333333,pose1-to-pose2-lift,-8.28708170222e-05,0.845753545253,7.05674432178e-06,0.834585745253
|
| 23 |
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21,0.350000000,pose1-to-pose2-lift,-8.29978612106e-05,0.845789310955,6.92063123136e-06,0.834621510955
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,-8.30254415179e-05,0.845828527748,6.89158871689e-06,0.834660727748
|
| 25 |
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23,0.383333333,pose1-to-pose2-lift,-8.30774097568e-05,0.845868658357,6.83982395844e-06,0.834700858357
|
| 26 |
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24,0.400000000,pose1-to-pose2-lift,-8.31239932254e-05,0.845914032451,6.794816066e-06,0.834746232451
|
| 27 |
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25,0.416666667,pose1-to-pose2-lift,-8.32225206217e-05,0.84596439029,6.69212882259e-06,0.83479659029
|
| 28 |
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26,0.433333333,pose1-to-pose2-lift,-8.33535940213e-05,0.846016526866,6.55697234222e-06,0.834848726866
|
| 29 |
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27,0.450000000,pose1-to-pose2-lift,-8.33984158473e-05,0.846077802626,6.49443305467e-06,0.834910029943
|
| 30 |
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28,0.466666667,pose1-to-pose2-lift,-8.34999032433e-05,0.846145877873,6.40212661859e-06,0.83497815297
|
| 31 |
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29,0.483333333,pose1-to-pose2-lift,-8.35940456809e-05,0.846225078346,6.31764962537e-06,0.835057278346
|
| 32 |
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30,0.500000000,pose1-to-pose2-lift,-8.37434720951e-05,0.84631567514,6.1842779752e-06,0.83514787514
|
| 33 |
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31,0.516666667,pose1-to-pose2-lift,-8.38367024302e-05,0.846413917924,6.08762272231e-06,0.835246117924
|
| 34 |
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32,0.533333333,pose1-to-pose2-lift,-8.39832269731e-05,0.846512653697,5.92036961442e-06,0.835344853697
|
| 35 |
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33,0.550000000,pose1-to-pose2-lift,-8.3925689305e-05,0.84661937264,5.97272600654e-06,0.835451617289
|
| 36 |
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34,0.566666667,pose1-to-pose2-lift,-8.36407397666e-05,0.846730053281,6.26983642652e-06,0.835562312366
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,-8.33173760512e-05,0.846846927253,6.57811815102e-06,0.835679127253
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,-8.29416350865e-05,0.8469743977,6.93606102917e-06,0.8358066313
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,-8.24354923362e-05,0.847118393631,7.41850817707e-06,0.835950656688
|
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159,2.650000000,pose1-to-pose2-lift,-8.11236093272e-05,0.883557243718,8.41308978348e-06,0.872394643718
|
| 162 |
+
160,2.666666667,pose1-to-pose2-lift,-8.11243213899e-05,0.883563933744,8.40235396949e-06,0.872401333744
|
| 163 |
+
161,2.683333333,pose1-to-pose2-lift,-8.1119783236e-05,0.8835692078,8.40325856886e-06,0.8724066078
|
| 164 |
+
162,2.700000000,pose1-to-pose2-lift,-8.11500144265e-05,0.883573241503,8.38204246877e-06,0.872410641503
|
| 165 |
+
163,2.716666667,pose1-to-pose2-lift,-8.1161203737e-05,0.883576339864,8.38610202668e-06,0.872413739864
|
| 166 |
+
164,2.733333333,pose1-to-pose2-lift,-8.10124682171e-05,0.883579431224,8.53535300547e-06,0.872416761498
|
| 167 |
+
165,2.750000000,pose1-to-pose2-lift,-8.10929275543e-05,0.883582596912,8.44775146643e-06,0.87241998845
|
| 168 |
+
166,2.766666667,pose1-to-pose2-lift,-8.10213414315e-05,0.883584619905,8.51746744458e-06,0.872422019905
|
| 169 |
+
167,2.783333333,pose1-to-pose2-lift,-8.106155e-05,0.883586,8.44733e-06,0.8724234
|
| 170 |
+
168,2.800000000,pose2-hold,-8.106155e-05,0.883586,8.442501e-06,0.8724234
|
| 171 |
+
169,2.816666667,pose2-hold,-8.106155e-05,0.883586,8.44859014706e-06,0.8724234
|
| 172 |
+
170,2.833333333,pose2-hold,-8.106155e-05,0.883586,8.45642423529e-06,0.8724234
|
| 173 |
+
171,2.850000000,pose2-hold,-8.106155e-05,0.883586,8.463374e-06,0.8724234
|
| 174 |
+
172,2.866666667,pose2-hold,-8.106155e-05,0.883586,8.46657176471e-06,0.8724234
|
| 175 |
+
173,2.883333333,pose2-hold,-8.106155e-05,0.883586,8.46630708824e-06,0.8724234
|
| 176 |
+
174,2.900000000,pose2-hold,-8.106155e-05,0.883586,8.46592570588e-06,0.8724234
|
| 177 |
+
175,2.916666667,pose2-hold,-8.106155e-05,0.883586,8.46684432353e-06,0.8724234
|
| 178 |
+
176,2.933333333,pose2-hold,-8.106155e-05,0.883586,8.46786505882e-06,0.8724234
|
| 179 |
+
177,2.950000000,pose2-hold,-8.106155e-05,0.883586,8.46738361765e-06,0.8724234
|
| 180 |
+
178,2.966666667,pose2-hold,-8.106155e-05,0.883586,8.46781223529e-06,0.8724234
|
| 181 |
+
179,2.983333333,pose2-hold,-8.106155e-05,0.883586,8.46788426471e-06,0.8724234
|
| 182 |
+
180,3.000000000,pose2-hold,-8.106155e-05,0.883586,8.46732147059e-06,0.8724234
|
| 183 |
+
181,3.016666667,pose2-hold,-8.106155e-05,0.883586,8.46882391176e-06,0.8724234
|
| 184 |
+
182,3.033333333,pose2-hold,-8.106155e-05,0.883586,8.47038905882e-06,0.8724234
|
| 185 |
+
183,3.050000000,pose2-hold,-8.106155e-05,0.883586,8.46970129412e-06,0.8724234
|
| 186 |
+
184,3.066666667,pose2-hold,-8.106155e-05,0.883586,8.47004111765e-06,0.8724234
|
| 187 |
+
185,3.083333333,pose2-hold,-8.106155e-05,0.883586,8.4704275e-06,0.8724234
|
| 188 |
+
186,3.100000000,pose2-hold,-8.106155e-05,0.883586,8.47019835294e-06,0.8724234
|
| 189 |
+
187,3.116666667,pose2-hold,-8.106155e-05,0.883586,8.46974282353e-06,0.8724234
|
| 190 |
+
188,3.133333333,pose2-hold,-8.106155e-05,0.883586,8.47016888235e-06,0.8724234
|
| 191 |
+
189,3.150000000,pose2-hold,-8.106155e-05,0.883586,8.46925367647e-06,0.8724234
|
| 192 |
+
190,3.166666667,pose2-hold,-8.106155e-05,0.883586,8.46912994118e-06,0.8724234
|
| 193 |
+
191,3.183333333,pose2-hold,-8.106155e-05,0.883586,8.46682397059e-06,0.8724234
|
| 194 |
+
192,3.200000000,pose2-hold,-8.106155e-05,0.883586,8.46478458824e-06,0.8724234
|
| 195 |
+
193,3.216666667,pose2-hold,-8.106155e-05,0.883586,8.46499361765e-06,0.8724234
|
| 196 |
+
194,3.233333333,pose2-hold,-8.106155e-05,0.883586,8.46642470588e-06,0.8724234
|
| 197 |
+
195,3.250000000,pose2-hold,-8.106155e-05,0.883586,8.46427102941e-06,0.8724234
|
| 198 |
+
196,3.266666667,pose2-hold,-8.106155e-05,0.883586,8.46383688235e-06,0.8724234
|
| 199 |
+
197,3.283333333,pose2-hold,-8.106155e-05,0.883586,8.46110494118e-06,0.8724234
|
| 200 |
+
198,3.300000000,pose2-hold,-8.106155e-05,0.883586,8.46076829412e-06,0.8724234
|
| 201 |
+
199,3.316666667,pose2-hold,-8.106155e-05,0.883586,8.46100173529e-06,0.8724234
|
| 202 |
+
200,3.333333333,pose2-hold,-8.106155e-05,0.883586,8.45939035294e-06,0.8724234
|
| 203 |
+
201,3.350000000,pose2-hold,-8.106155e-05,0.883586,8.45655076471e-06,0.8724234
|
| 204 |
+
202,3.366666667,pose2-hold,-8.106155e-05,0.883586,8.45891e-06,0.8724234
|
Free/s2/ball_0010_20/width_06/insert/camera_frames_60hz.tar
ADDED
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|
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size 24483840
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Free/s2/ball_0010_20/width_06/insert/fem_node.csv
ADDED
|
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+
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size 54695120
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Free/s2/ball_0010_20/width_06/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Free/s2/ball_0010_20/width_06/insert/simulation_data.csv
ADDED
|
@@ -0,0 +1,900 @@
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,-8.159073e-05,0.8835844,6.07747e-06,0.8724218
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,-8.13825067003e-05,0.883584310175,6.29203045249e-06,0.872421710175
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,-8.11866680414e-05,0.883584401516,6.49838289202e-06,0.872421767677
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,-8.09269502129e-05,0.883584554579,6.77287081992e-06,0.872421869719
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,-8.04072898595e-05,0.883584524926,7.29616615087e-06,0.872421849951
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,-7.97793662847e-05,0.883584418414,7.92302851738e-06,0.872421778943
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,-7.88850377676e-05,0.883584306441,8.81641974886e-06,0.872421706441
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,-7.74508892931e-05,0.883584353517,1.02523406369e-05,0.872421753517
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,-7.52994520438e-05,0.883584387459,1.24114485731e-05,0.872421787459
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,-7.20224750693e-05,0.883584331573,1.57148092444e-05,0.872421731573
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,-6.54726037301e-05,0.883584407512,2.22901009193e-05,0.872421807512
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,-5.35050771725e-05,0.883584314195,3.43145546928e-05,0.872421714195
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,-3.41136523157e-05,0.88358461441,5.38236439016e-05,0.87242201441
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,-1.70655624303e-06,0.8835843,8.64684856994e-05,0.872421620129
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,4.40977561331e-05,0.883584539726,0.000132540692386,0.872421939726
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000106903921187,0.883584906371,0.000195730988754,0.8724223
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000184629192124,0.883585091431,0.000273925115031,0.872422391431
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000275414410255,0.883585442941,0.000365269487672,0.872422742941
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000373816531969,0.883586094723,0.000464276125302,0.872423489446
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.00048213024201,0.883586165486,0.000573268703076,0.872423465486
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000594350421907,0.88358683541,0.000686185016783,0.87242413541
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000716603521419,0.883587402664,0.000809180024967,0.872424659427
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000849146322743,0.883588009767,0.000942540212164,0.872425262209
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.000997157067791,0.883588265408,0.0010914775809,0.872425565408
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00115682288773,0.883588379642,0.00125215885444,0.872425679642
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00132629612149,0.883588682705,0.0014226614098,0.87242588847
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00149608481116,0.883588707329,0.00159351193391,0.872425907329
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00167239705637,0.883588939044,0.00177093241644,0.872426152059
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00185148253858,0.88358924183,0.00195109934935,0.872426520915
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00202891370026,0.8835894,0.00212955468075,0.872426625569
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.002205889577,0.8835894,0.0023076659562,0.872426671471
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00238687204561,0.883589498759,0.00248979373849,0.872426731678
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00256476172235,0.883589770837,0.00266876105195,0.872427070837
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00273911403254,0.883589863467,0.00284419228612,0.872427126933
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00291474911444,0.883589839583,0.00302090663204,0.872427079166
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00308907376533,0.883589682084,0.0031963167977,0.872426982084
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.0032605031502,0.883589448531,0.00336886791519,0.8724267
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00342428598866,0.883589604267,0.003533698299,0.8724268564
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00357974280077,0.883589591395,0.00369012069937,0.872426891395
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00372716166075,0.8835895,0.00383847023446,0.8724268
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.0038690492378,0.883589324052,0.00398123874848,0.872426682701
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00400098874429,0.883589381634,0.004113996653,0.872426781634
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.004126532065,0.883589629331,0.0042403493423,0.872426964665
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.0042417810875,0.883589631763,0.00435631567444,0.872427
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00434630635692,0.883589882893,0.00446147411054,0.872427282893
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00443750687309,0.883589930496,0.00455323731431,0.872427330496
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.0045198639383,0.883590243324,0.00463612030845,0.872427711989
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00459153051972,0.883590137175,0.00470823534161,0.872427702881
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.0046561575885,0.88359026171,0.00477323207913,0.872427927137
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00471114951217,0.8835904,0.00482856125377,0.872428163431
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00475888398441,0.8835904,0.00487657688198,0.8724282
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00479781089488,0.883590523612,0.0049157132708,0.872428261806
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00483045981692,0.883590475332,0.00494857682141,0.872428112998
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.0048557378685,0.883590460063,0.00497402295717,0.872428060063
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00487660927871,0.883590564589,0.00499504522522,0.872428229179
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00489167204795,0.883590461949,0.00501025599363,0.872428161949
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00490322552348,0.8835904,0.00502203929544,0.87242792865
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00491041649063,0.883590710075,0.00502915885612,0.8724284
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00491442402079,0.883590729661,0.00503313979191,0.872428329661
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.004915919,0.8835906,0.005034738,0.8724282
|
| 62 |
+
60,1.000000000,pose3-hold,0.004915919,0.8835906,0.005034749,0.8724282
|
| 63 |
+
61,1.016666667,pose3-hold,0.004915919,0.8835906,0.00503475690909,0.8724282
|
| 64 |
+
62,1.033333333,pose3-hold,0.004915919,0.8835906,0.00503476936364,0.8724282
|
| 65 |
+
63,1.050000000,pose3-hold,0.004915919,0.8835906,0.00503477872727,0.8724282
|
| 66 |
+
64,1.066666667,pose3-hold,0.004915919,0.8835906,0.00503478818182,0.8724282
|
| 67 |
+
65,1.083333333,pose3-hold,0.004915919,0.8835906,0.00503479793939,0.8724282
|
| 68 |
+
66,1.100000000,pose3-hold,0.004915919,0.8835906,0.00503480481818,0.8724282
|
| 69 |
+
67,1.116666667,pose3-hold,0.004915919,0.8835906,0.00503480836364,0.8724282
|
| 70 |
+
68,1.133333333,pose3-hold,0.004915919,0.8835906,0.00503481630303,0.8724282
|
| 71 |
+
69,1.150000000,pose3-hold,0.004915919,0.8835906,0.00503482509091,0.8724282
|
| 72 |
+
70,1.166666667,pose3-hold,0.004915919,0.8835906,0.00503483072727,0.8724282
|
| 73 |
+
71,1.183333333,pose3-hold,0.004915919,0.8835906,0.00503483333333,0.8724282
|
| 74 |
+
72,1.200000000,pose3-hold,0.004915919,0.8835906,0.00503483618182,0.8724282
|
| 75 |
+
73,1.216666667,pose3-hold,0.004915919,0.8835906,0.00503484139394,0.8724282
|
| 76 |
+
74,1.233333333,pose3-hold,0.004915919,0.8835906,0.00503484569697,0.8724282
|
| 77 |
+
75,1.250000000,pose3-hold,0.004915919,0.8835906,0.00503484554545,0.8724282
|
| 78 |
+
76,1.266666667,pose3-hold,0.004915919,0.8835906,0.00503484781818,0.8724282
|
| 79 |
+
77,1.283333333,pose3-hold,0.004915919,0.8835906,0.00503484518182,0.8724282
|
| 80 |
+
78,1.300000000,pose3-hold,0.004915919,0.8835906,0.005034845,0.8724282
|
| 81 |
+
79,1.316666667,pose3-hold,0.004915919,0.8835906,0.0050348519697,0.8724282
|
| 82 |
+
80,1.333333333,pose3-hold,0.004915919,0.8835906,0.0050348590303,0.8724282
|
| 83 |
+
81,1.350000000,pose3-hold,0.004915919,0.8835906,0.00503485881818,0.8724282
|
| 84 |
+
82,1.366666667,pose3-hold,0.004915919,0.8835906,0.00503485166667,0.8724282
|
| 85 |
+
83,1.383333333,pose3-hold,0.004915919,0.8835906,0.00503484415152,0.8724282
|
| 86 |
+
84,1.400000000,pose3-hold,0.004915919,0.8835906,0.00503484054545,0.8724282
|
| 87 |
+
85,1.416666667,pose3-hold,0.004915919,0.8835906,0.00503483615152,0.8724282
|
| 88 |
+
86,1.433333333,pose3-hold,0.004915919,0.8835906,0.00503483090909,0.8724282
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+
87,1.450000000,pose3-hold,0.004915919,0.8835906,0.00503482490909,0.8724282
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+
88,1.466666667,pose3-hold,0.004915919,0.8835906,0.0050348199697,0.8724282
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+
89,1.483333333,pose3-hold,0.004915919,0.8835906,0.00503481460606,0.8724282
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+
90,1.500000000,pose3-hold,0.004915919,0.8835906,0.00503480954545,0.8724282
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91,1.516666667,pose3-hold,0.004915919,0.8835906,0.00503480530303,0.8724282
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92,1.533333333,pose3-hold,0.004915919,0.8835906,0.0050347990303,0.8724282
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93,1.550000000,pose3-hold,0.004915919,0.8835906,0.005034792,0.8724282
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94,1.566666667,pose3-to-pose4-insert,0.004915919,0.8835906,0.005034784,0.8724282
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95,1.583333333,pose3-to-pose4-insert,0.00491574258279,0.883590040127,0.00503460978237,0.872427740127
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96,1.600000000,pose3-to-pose4-insert,0.00491581934145,0.883589388887,0.00503468792875,0.872427059522
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97,1.616666667,pose3-to-pose4-insert,0.00491589922661,0.88358864823,0.005034768872,0.872426265961
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98,1.633333333,pose3-to-pose4-insert,0.00491592510232,0.883588408323,0.00503479509043,0.872426008917
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99,1.650000000,pose3-to-pose4-insert,0.00491588702098,0.883587746838,0.00503474859309,0.872425346838
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100,1.666666667,pose3-to-pose4-insert,0.00491582577811,0.883586720606,0.00503467410851,0.872424320606
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101,1.683333333,pose3-to-pose4-insert,0.00491578399814,0.883586020509,0.00503462329503,0.872423620509
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102,1.700000000,pose3-to-pose4-insert,0.00491575140199,0.883585474304,0.00503458365107,0.872423074304
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103,1.716666667,pose3-to-pose4-insert,0.00491574279803,0.883585015312,0.00503457244841,0.872422615312
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104,1.733333333,pose3-to-pose4-insert,0.00491574424422,0.883584786332,0.0050345736134,0.872422386332
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105,1.750000000,pose3-to-pose4-insert,0.00491575337026,0.883583341376,0.00503458096493,0.872420941376
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106,1.766666667,pose3-to-pose4-insert,0.00491576832271,0.883580973904,0.00503459300996,0.872418573904
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107,1.783333333,pose3-to-pose4-insert,0.00491570181964,0.883568462301,0.00503450663111,0.872406162301
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108,1.800000000,pose3-to-pose4-insert,0.00491581332654,0.883544974222,0.00503461269696,0.872382674222
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109,1.816666667,pose3-to-pose4-insert,0.00491582409863,0.883503595152,0.00503464815102,0.872341295152
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110,1.833333333,pose3-to-pose4-insert,0.00491603171302,0.883443920599,0.00503483644283,0.872281620599
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111,1.850000000,pose3-to-pose4-insert,0.0049158640167,0.883367502147,0.00503471070607,0.872205123456
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112,1.866666667,pose3-to-pose4-insert,0.00491590192889,0.883283641101,0.00503476642494,0.872121241101
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113,1.883333333,pose3-to-pose4-insert,0.00491616987258,0.88318523117,0.00503505157805,0.87202283117
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114,1.900000000,pose3-to-pose4-insert,0.00491622793373,0.883078429125,0.00503513121059,0.871916029125
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115,1.916666667,pose3-to-pose4-insert,0.0049162857878,0.882961983691,0.00503519364633,0.871799583691
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116,1.933333333,pose3-to-pose4-insert,0.0049164593349,0.882835662762,0.00503537812094,0.871673249739
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117,1.950000000,pose3-to-pose4-insert,0.0049165463945,0.882697244014,0.00503546725451,0.871534744014
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118,1.966666667,pose3-to-pose4-insert,0.00491668928315,0.882553358898,0.00503564804983,0.871390818482
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119,1.983333333,pose3-to-pose4-insert,0.00491686109407,0.882392388372,0.00503580095398,0.871229788372
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120,2.000000000,pose3-to-pose4-insert,0.00491712157865,0.882216182467,0.00503606201565,0.871053582467
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121,2.016666667,pose3-to-pose4-insert,0.00491726185042,0.882032022517,0.00503623051846,0.870869422517
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122,2.033333333,pose3-to-pose4-insert,0.00491709663023,0.881841790459,0.00503599599511,0.870679102047
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123,2.050000000,pose3-to-pose4-insert,0.0049174426616,0.881653774152,0.00503630339282,0.870491150804
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124,2.066666667,pose3-to-pose4-insert,0.00491754440825,0.881478853277,0.00503639365659,0.870316178332
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125,2.083333333,pose3-to-pose4-insert,0.00491745339656,0.881306742833,0.00503629691775,0.870144142833
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126,2.100000000,pose3-to-pose4-insert,0.0049175261319,0.881130737589,0.00503635835865,0.869968114914
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127,2.116666667,pose3-to-pose4-insert,0.00491742325888,0.880948734989,0.00503625976007,0.869786009981
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128,2.133333333,pose3-to-pose4-insert,0.00491754823849,0.880755453961,0.00503639523849,0.869592653961
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129,2.150000000,pose3-to-pose4-insert,0.00491780175499,0.880556996803,0.00503667542366,0.869394150016
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130,2.166666667,pose3-to-pose4-insert,0.00491798623432,0.880363126386,0.00503685374354,0.869200226386
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131,2.183333333,pose3-to-pose4-insert,0.00491807749842,0.880176500861,0.00503694572931,0.869013600861
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132,2.200000000,pose3-to-pose4-insert,0.00491845975053,0.880000298344,0.00503734587639,0.868837321771
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133,2.216666667,pose3-to-pose4-insert,0.00491867081532,0.879835100077,0.00503754658456,0.868672100077
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134,2.233333333,pose3-to-pose4-insert,0.0049190180384,0.879676129418,0.00503788061781,0.868513129418
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135,2.250000000,pose3-to-pose4-insert,0.00491924647867,0.879529068363,0.00503810301403,0.868366068363
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136,2.266666667,pose3-to-pose4-insert,0.00491956308995,0.879389658711,0.00503857172268,0.868226566207
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137,2.283333333,pose3-to-pose4-insert,0.00491977688816,0.879259875515,0.00503878364655,0.868096680571
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138,2.300000000,pose3-to-pose4-insert,0.00491974596362,0.879138695832,0.00503869040904,0.867975398127
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139,2.316666667,pose3-to-pose4-insert,0.00491938874073,0.879027326996,0.00503835284994,0.867864026996
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140,2.333333333,pose3-to-pose4-insert,0.00491901466796,0.878921342973,0.0050379894408,0.867758042973
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141,2.350000000,pose3-to-pose4-insert,0.00491850967137,0.878827457912,0.00503743088256,0.867664142136
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142,2.366666667,pose3-to-pose4-insert,0.0049181958104,0.878744042108,0.00503710999709,0.867580642108
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143,2.383333333,pose3-to-pose4-insert,0.00491794671916,0.878673300878,0.00503685504146,0.867509900878
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144,2.400000000,pose3-to-pose4-insert,0.0049177503097,0.878613194662,0.00503666701281,0.867449824351
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145,2.416666667,pose3-to-pose4-insert,0.00491754497659,0.878564882487,0.00503646248575,0.867401557334
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146,2.433333333,pose3-to-pose4-insert,0.00491738244754,0.878523743336,0.0050363000208,0.867360321203
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147,2.450000000,pose3-to-pose4-insert,0.00491726688993,0.878490403373,0.00503616064807,0.867326920544
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148,2.466666667,pose3-to-pose4-insert,0.00491716105658,0.878462810104,0.00503601385317,0.867299410104
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149,2.483333333,pose3-to-pose4-insert,0.00491700502598,0.878440230851,0.00503585619712,0.86727681417
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150,2.500000000,pose3-to-pose4-insert,0.0049171385024,0.878423778881,0.00503601920595,0.867260295715
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151,2.516666667,pose3-to-pose4-insert,0.0049170674618,0.878412389824,0.00503596593871,0.867248989824
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152,2.533333333,pose3-to-pose4-insert,0.00491713528338,0.878404179432,0.00503603142445,0.867240779432
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153,2.550000000,pose3-to-pose4-insert,0.00491688328911,0.87839829157,0.00503579353013,0.86723489157
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154,2.566666667,pose3-to-pose4-insert,0.00491693641998,0.878395382728,0.00503581570544,0.867232010546
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155,2.583333333,pose3-to-pose4-insert,0.004917102,0.8783936,0.005036005,0.8672303
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156,2.600000000,pose4-hold,0.004917102,0.8783936,0.005036005,0.8672303
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157,2.616666667,pose4-hold,0.004917102,0.8783936,0.00503600851515,0.8672303
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158,2.633333333,pose4-hold,0.004917102,0.8783936,0.00503601354545,0.8672303
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159,2.650000000,pose4-hold,0.004917102,0.8783936,0.00503601436364,0.8672303
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160,2.666666667,pose4-hold,0.004917102,0.8783936,0.00503601709091,0.8672303
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161,2.683333333,pose4-hold,0.004917102,0.8783936,0.00503602039394,0.8672303
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162,2.700000000,pose4-hold,0.004917102,0.8783936,0.00503602181818,0.8672303
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163,2.716666667,pose4-hold,0.004917102,0.8783936,0.00503602415152,0.8672303
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164,2.733333333,pose4-hold,0.004917102,0.8783936,0.0050360250303,0.8672303
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165,2.750000000,pose4-hold,0.004917102,0.8783936,0.00503602590909,0.8672303
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166,2.766666667,pose4-hold,0.004917102,0.8783936,0.00503602757576,0.8672303
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167,2.783333333,pose4-hold,0.004917102,0.8783936,0.00503602866667,0.8672303
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168,2.800000000,pose4-hold,0.004917102,0.8783936,0.00503602954545,0.8672303
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169,2.816666667,pose4-hold,0.004917102,0.8783936,0.00503603042424,0.8672303
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170,2.833333333,pose4-hold,0.004917102,0.8783936,0.005036031,0.8672303
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171,2.850000000,pose4-hold,0.004917102,0.8783936,0.005036031,0.8672303
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172,2.866666667,pose4-hold,0.004917102,0.8783936,0.005036031,0.8672303
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173,2.883333333,pose4-hold,0.004917102,0.8783936,0.005036031,0.8672303
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174,2.900000000,pose4-hold,0.004917102,0.8783936,0.005036031,0.8672303
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175,2.916666667,pose4-hold,0.004917102,0.8783936,0.00503603030303,0.8672303
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176,2.933333333,pose4-hold,0.004917102,0.8783936,0.00503602942424,0.8672303
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177,2.950000000,pose4-hold,0.004917102,0.8783936,0.005036029,0.8672303
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178,2.966666667,pose4-hold,0.004917102,0.8783936,0.00503602866667,0.8672303
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179,2.983333333,pose4-hold,0.004917102,0.8783936,0.00503602757576,0.8672303
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180,3.000000000,pose4-hold,0.004917102,0.8783936,0.00503602581818,0.8672303
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181,3.016666667,pose4-hold,0.004917102,0.8783936,0.00503602406061,0.8672303
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182,3.033333333,pose4-hold,0.004917102,0.8783936,0.00503602315152,0.8672303
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183,3.050000000,pose4-hold,0.004917102,0.8783936,0.00503602154545,0.8672303
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184,3.066666667,pose4-hold,0.004917102,0.8783936,0.00503601978788,0.8672303
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185,3.083333333,pose4-hold,0.004917102,0.8783936,0.0050360180303,0.8672303
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186,3.100000000,pose4-hold,0.004917102,0.8783936,0.00503601627273,0.8672303
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187,3.116666667,pose4-hold,0.004917102,0.8783936,0.005036015,0.8672303
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188,3.133333333,pose4-hold,0.004917102,0.8783936,0.00503601475758,0.8672303
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189,3.150000000,pose4-hold,0.004917102,0.8783936,0.005036013,0.8672303
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190,3.166666667,pose4-to-pose5-return,0.004917102,0.8783936,0.005036015,0.8672303
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191,3.183333333,pose4-to-pose5-return,0.00491697602868,0.8783936,0.0050358752362,0.8672303
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192,3.200000000,pose4-to-pose5-return,0.00491688079385,0.878393571358,0.00503577993951,0.867230242717
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193,3.216666667,pose4-to-pose5-return,0.00491654026058,0.878393658991,0.00503544018147,0.867230258991
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194,3.233333333,pose4-to-pose5-return,0.00491576018588,0.878394607632,0.00503464770147,0.867231207632
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195,3.250000000,pose4-to-pose5-return,0.00491491010211,0.878395540697,0.00503380773752,0.867232140697
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196,3.266666667,pose4-to-pose5-return,0.00491397471799,0.878396537424,0.00503288855023,0.867233137424
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197,3.283333333,pose4-to-pose5-return,0.0049131310944,0.878397341139,0.00503204132378,0.867233941139
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198,3.300000000,pose4-to-pose5-return,0.00491253743818,0.878397906711,0.00503144513223,0.867234506711
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199,3.316666667,pose4-to-pose5-return,0.0049118798983,0.878398533146,0.0050307847842,0.867235133146
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200,3.333333333,pose4-to-pose5-return,0.00491141229974,0.878398978624,0.00503031518867,0.867235578624
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201,3.350000000,pose4-to-pose5-return,0.00490992572097,0.878400494583,0.00502881088444,0.867237094583
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202,3.366666667,pose4-to-pose5-return,0.00490669200096,0.878403884076,0.00502552812497,0.867240484076
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204,3.400000000,pose4-to-pose5-return,0.0048887013813,0.87842242974,0.00500743388608,0.86725902974
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205,3.416666667,pose4-to-pose5-return,0.00486989949401,0.878442039428,0.0049885266115,0.867278639428
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807,13.450000000,pose5-to-pose6-final-insert,-8.20006873657e-05,0.845912336512,5.7802002536e-06,0.834744536512
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808,13.466666667,pose5-to-pose6-final-insert,-8.20172252587e-05,0.845898837657,5.73591505509e-06,0.834731037657
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809,13.483333333,pose5-to-pose6-final-insert,-8.18998522571e-05,0.845887110435,5.84406516915e-06,0.834719310435
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810,13.500000000,pose5-to-pose6-final-insert,-8.17504948868e-05,0.845876197582,6.00290385737e-06,0.834708397582
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811,13.516666667,pose5-to-pose6-final-insert,-8.17283487885e-05,0.845865557074,6.03748550897e-06,0.834697757074
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812,13.533333333,pose5-to-pose6-final-insert,-8.17520397365e-05,0.845854629185,6.02403210419e-06,0.834686740804
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813,13.550000000,pose5-to-pose6-final-insert,-8.1685073272e-05,0.845842851959,6.07474585842e-06,0.834675041942
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814,13.566666667,pose5-to-pose6-final-insert,-8.18096555446e-05,0.845829974567,5.94106028598e-06,0.834662174567
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815,13.583333333,pose5-to-pose6-final-insert,-8.17398941283e-05,0.845817156272,6.05227430338e-06,0.834649356272
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816,13.600000000,pose5-to-pose6-final-insert,-8.16190320069e-05,0.845805332547,6.15594169258e-06,0.834637532547
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817,13.616666667,pose5-to-pose6-final-insert,-8.168318772e-05,0.845794500179,6.07450463889e-06,0.834626700179
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818,13.633333333,pose5-to-pose6-final-insert,-8.16786205793e-05,0.845784069728,6.0825638886e-06,0.834616269728
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819,13.650000000,pose5-to-pose6-final-insert,-8.16360366548e-05,0.845774500361,6.13307505183e-06,0.834606751468
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820,13.666666667,pose5-to-pose6-final-insert,-8.16749589477e-05,0.845765544923,6.08346475759e-06,0.834597844923
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821,13.683333333,pose5-to-pose6-final-insert,-8.17151548609e-05,0.845756212962,6.04061251081e-06,0.834588458051
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822,13.700000000,pose5-to-pose6-final-insert,-8.15014584936e-05,0.845747700181,6.25376237761e-06,0.834579900181
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823,13.716666667,pose5-to-pose6-final-insert,-8.1522744105e-05,0.845740121754,6.23464549491e-06,0.834572321754
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824,13.733333333,pose5-to-pose6-final-insert,-8.16036643278e-05,0.845733395735,6.1643307748e-06,0.834565595735
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825,13.750000000,pose5-to-pose6-final-insert,-8.15258359895e-05,0.845727537204,6.25083214049e-06,0.834559749023
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826,13.766666667,pose5-to-pose6-final-insert,-8.15818812703e-05,0.845722143972,6.20566419523e-06,0.834554429671
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827,13.783333333,pose5-to-pose6-final-insert,-8.16389982865e-05,0.8457167674,6.13366762875e-06,0.834549002734
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828,13.800000000,pose5-to-pose6-final-insert,-8.16501650963e-05,0.84571222894,6.11641648769e-06,0.83454442894
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829,13.816666667,pose5-to-pose6-final-insert,-8.16274434522e-05,0.845708734049,6.14428387297e-06,0.834540934049
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830,13.833333333,pose5-to-pose6-final-insert,-8.16203069684e-05,0.845707636363,6.15303654704e-06,0.834539836363
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831,13.850000000,pose5-to-pose6-final-insert,-8.16231065229e-05,0.845705728571,6.14704403088e-06,0.834537928571
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832,13.866666667,pose5-to-pose6-final-insert,-8.16310338577e-05,0.845703659119,6.13372243691e-06,0.834535859119
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833,13.883333333,pose5-to-pose6-final-insert,-8.16369146022e-05,0.845702123935,6.12384006238e-06,0.834534323935
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834,13.900000000,pose5-to-pose6-final-insert,-8.16476943652e-05,0.845699990923,6.11047778969e-06,0.834532190923
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835,13.916666667,pose5-to-pose6-final-insert,-8.1678048606e-05,0.845695259996,6.08175114053e-06,0.834527459996
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836,13.933333333,pose5-to-pose6-final-insert,-8.16366806787e-05,0.845688510031,6.13531212867e-06,0.834520710031
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837,13.950000000,pose5-to-pose6-final-insert,-8.15706939882e-05,0.845683168267,6.20443411329e-06,0.834515368267
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838,13.966666667,pose5-to-pose6-final-insert,-8.1663908653e-05,0.845678795608,6.08366742519e-06,0.834510995608
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839,13.983333333,pose5-to-pose6-final-insert,-8.16441591237e-05,0.845675755138,6.10062731742e-06,0.834507955138
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840,14.000000000,pose5-to-pose6-final-insert,-8.15741498148e-05,0.845673213433,6.178670858e-06,0.834505413433
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841,14.016666667,pose5-to-pose6-final-insert,-8.15674638917e-05,0.845670456666,6.18583265903e-06,0.834502656666
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842,14.033333333,pose5-to-pose6-final-insert,-8.1597086638e-05,0.845667500894,6.15234317186e-06,0.834499700894
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843,14.050000000,pose5-to-pose6-final-insert,-8.14495987667e-05,0.845664328836,6.31820776756e-06,0.834496528836
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844,14.066666667,pose5-to-pose6-final-insert,-8.14744633824e-05,0.845660681733,6.29345931182e-06,0.834492881733
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845,14.083333333,pose5-to-pose6-final-insert,-8.16207886097e-05,0.84565717884,6.13484120691e-06,0.83448937884
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846,14.100000000,pose5-to-pose6-final-insert,-8.16538282389e-05,0.845654034298,6.10395156679e-06,0.834486234298
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847,14.116666667,pose5-to-pose6-final-insert,-8.16362523988e-05,0.845650928481,6.11842247369e-06,0.834483128481
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848,14.133333333,pose5-to-pose6-final-insert,-8.16690848085e-05,0.845648308661,6.07873129576e-06,0.834480508661
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849,14.150000000,pose5-to-pose6-final-insert,-8.17271232887e-05,0.845646358376,6.01303669692e-06,0.834478558376
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850,14.166666667,pose5-to-pose6-final-insert,-8.1702038162e-05,0.845644791944,6.04309855645e-06,0.834476991944
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851,14.183333333,pose5-to-pose6-final-insert,-8.16437584367e-05,0.845643383152,6.11139680767e-06,0.834475583152
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852,14.200000000,pose5-to-pose6-final-insert,-8.15943962515e-05,0.84564195303,6.17033276141e-06,0.83447415303
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853,14.216666667,pose5-to-pose6-final-insert,-8.15679942516e-05,0.845639941345,6.20758263416e-06,0.834472141345
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854,14.233333333,pose5-to-pose6-final-insert,-8.16685949724e-05,0.845637487276,6.11882541262e-06,0.834469687276
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855,14.250000000,pose5-to-pose6-final-insert,-8.18707700151e-05,0.84563497563,5.92378947257e-06,0.83446717563
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856,14.266666667,pose5-to-pose6-final-insert,-8.16543385698e-05,0.845632649459,6.12642672423e-06,0.834464849459
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857,14.283333333,pose5-to-pose6-final-insert,-8.1577430969e-05,0.84563051888,6.19885747932e-06,0.83446271888
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858,14.300000000,pose5-to-pose6-final-insert,-8.15462008045e-05,0.845628744059,6.23232332068e-06,0.834460962591
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859,14.316666667,pose5-to-pose6-final-insert,-8.15312762012e-05,0.845627310839,6.25639760403e-06,0.834459577144
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860,14.333333333,pose5-to-pose6-final-insert,-8.15203510928e-05,0.845626258416,6.27325955555e-06,0.834458556931
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861,14.350000000,pose5-to-pose6-final-insert,-8.1510278045e-05,0.845625208359,6.27029389425e-06,0.834457469372
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862,14.366666667,pose5-to-pose6-final-insert,-8.15006325271e-05,0.84562420287,6.26745410441e-06,0.834456427972
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863,14.383333333,pose5-to-pose6-final-insert,-8.15023005574e-05,0.845623406634,6.25797665241e-06,0.834455606634
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864,14.400000000,pose5-to-pose6-final-insert,-8.15901451117e-05,0.84562243147,6.17972239369e-06,0.83445463147
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865,14.416666667,pose5-to-pose6-final-insert,-8.16843404138e-05,0.845621171379,6.09651680091e-06,0.834453376738
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866,14.433333333,pose5-to-pose6-final-insert,-8.15775155602e-05,0.845619393804,6.2014374273e-06,0.834451673229
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867,14.450000000,pose5-to-pose6-final-insert,-8.15874058344e-05,0.845618054757,6.1809039854e-06,0.834450312495
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868,14.466666667,pose5-to-pose6-final-insert,-8.16337120103e-05,0.84561706552,6.12276060168e-06,0.834449273796
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869,14.483333333,pose5-to-pose6-final-insert,-8.15976880301e-05,0.845616491912,6.15571686885e-06,0.834448691912
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870,14.500000000,pose5-to-pose6-final-insert,-8.15183042482e-05,0.845615751814,6.23312911073e-06,0.834447951814
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871,14.516666667,pose5-to-pose6-final-insert,-8.14812681484e-05,0.845614575918,6.27161276159e-06,0.834446798705
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872,14.533333333,pose5-to-pose6-final-insert,-8.15582434786e-05,0.845613348922,6.20209169904e-06,0.834445625056
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873,14.550000000,pose5-to-pose6-final-insert,-8.15776699886e-05,0.845612305074,6.18893464875e-06,0.834444577578
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874,14.566666667,pose5-to-pose6-final-insert,-8.15550593777e-05,0.845611559533,6.21596590538e-06,0.834443790618
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875,14.583333333,pose5-to-pose6-final-insert,-8.15402703542e-05,0.845611071893,6.23364636035e-06,0.834443275887
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876,14.600000000,pose5-to-pose6-final-insert,-8.15469922877e-05,0.845610155257,6.21642624062e-06,0.834442355257
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877,14.616666667,pose5-to-pose6-final-insert,-8.1550403909e-05,0.845609135529,6.20534681077e-06,0.834441335529
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878,14.633333333,pose5-to-pose6-final-insert,-8.15476375904e-05,0.84560789553,6.20423015416e-06,0.83444009553
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879,14.650000000,pose5-to-pose6-final-insert,-8.15962772049e-05,0.845607083065,6.15808887176e-06,0.834439283065
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880,14.666666667,pose5-to-pose6-final-insert,-8.16469826276e-05,0.845605862466,6.09425685e-06,0.834438062466
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881,14.683333333,pose5-to-pose6-final-insert,-8.16436129802e-05,0.845604425365,6.12316979865e-06,0.834436625365
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882,14.700000000,pose5-to-pose6-final-insert,-8.1614296682e-05,0.845603593482,6.16772182659e-06,0.834435793482
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883,14.716666667,pose5-to-pose6-final-insert,-8.1591864658e-05,0.845603001467,6.18286721018e-06,0.834435201467
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884,14.733333333,pose5-to-pose6-final-insert,-8.15648004477e-05,0.845601997792,6.1834912655e-06,0.834434197792
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885,14.750000000,pose5-to-pose6-final-insert,-8.15110821492e-05,0.845601153711,6.24811928356e-06,0.834433407569
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886,14.766666667,pose5-to-pose6-final-insert,-8.14850600196e-05,0.845600480275,6.29090280843e-06,0.834432780275
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887,14.783333333,pose5-to-pose6-final-insert,-8.15297608392e-05,0.84560013809,6.25386979339e-06,0.83443243809
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888,14.800000000,pose5-to-pose6-final-insert,-8.15477115443e-05,0.845599998366,6.23908682334e-06,0.834432298132
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889,14.816666667,pose5-to-pose6-final-insert,-8.15160416072e-05,0.845599413279,6.29702467039e-06,0.834431629461
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890,14.833333333,pose5-to-pose6-final-insert,-8.15698417973e-05,0.845598570419,6.20603029622e-06,0.834430770419
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891,14.850000000,pose5-to-pose6-final-insert,-8.15262604994e-05,0.845597577475,6.22502910378e-06,0.834429871844
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892,14.866666667,pose5-to-pose6-final-insert,-8.15363076002e-05,0.845596547657,6.23799392663e-06,0.8344288292
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893,14.883333333,pose5-to-pose6-final-insert,-8.15336815429e-05,0.845596171755,6.24271658316e-06,0.834428371755
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894,14.900000000,pose5-to-pose6-final-insert,-8.14687872191e-05,0.845595345385,6.30713510446e-06,0.834427584039
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895,14.916666667,pose5-to-pose6-final-insert,-8.14714628319e-05,0.845594442497,6.30063137253e-06,0.834426713745
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896,14.933333333,pose5-to-pose6-final-insert,-8.15528136467e-05,0.845593883654,6.2105443779e-06,0.834426175481
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897,14.950000000,pose5-to-pose6-final-insert,-8.141123e-05,0.8455938,6.36943549801e-06,0.8344261
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898,14.966666667,pose5-to-pose6-final-insert,-8.146121e-05,0.8455933,6.303431e-06,0.8344256
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