Upload Free (part 18)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +48 -0
- Free/digit/cylinder_15A_12.5/width_01/insert/fem_node.csv +3 -0
- Free/digit/cylinder_15A_12.5/width_01/insert/franka_data.csv +0 -0
- Free/digit/cylinder_15A_12.5/width_01/insert/simulation_data.csv +902 -0
- Free/digit/cylinder_15A_12.5/width_01/pick/camera_frames_60hz.tar +3 -0
- Free/digit/cylinder_15A_12.5/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Free/digit/cylinder_15A_12.5/width_01/pick/fem_node.csv +3 -0
- Free/digit/cylinder_15A_12.5/width_01/pick/franka_data.csv +208 -0
- Free/digit/cylinder_15A_12.5/width_01/pick/simulation_data.csv +208 -0
- Free/digit/cylinder_15A_12.5/width_02/insert/camera_frames_60hz.tar +3 -0
- Free/digit/cylinder_15A_12.5/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Free/digit/cylinder_15A_12.5/width_02/insert/fem_node.csv +3 -0
- Free/digit/cylinder_15A_12.5/width_02/insert/franka_data.csv +0 -0
- Free/digit/cylinder_15A_12.5/width_02/insert/simulation_data.csv +903 -0
- Free/digit/cylinder_15A_12.5/width_02/pick/camera_frames_60hz.tar +3 -0
- Free/digit/cylinder_15A_12.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Free/digit/cylinder_15A_12.5/width_02/pick/fem_node.csv +3 -0
- Free/digit/cylinder_15A_12.5/width_02/pick/franka_data.csv +208 -0
- Free/digit/cylinder_15A_12.5/width_02/pick/simulation_data.csv +208 -0
- Free/digit/cylinder_15A_12.5/width_03/insert/camera_frames_60hz.tar +3 -0
- Free/digit/cylinder_15A_12.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Free/digit/cylinder_15A_12.5/width_03/insert/fem_node.csv +3 -0
- Free/digit/cylinder_15A_12.5/width_03/insert/franka_data.csv +0 -0
- Free/digit/cylinder_15A_12.5/width_03/insert/simulation_data.csv +904 -0
- Free/digit/cylinder_15A_12.5/width_03/pick/camera_frames_60hz.tar +3 -0
- Free/digit/cylinder_15A_12.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Free/digit/cylinder_15A_12.5/width_03/pick/fem_node.csv +3 -0
- Free/digit/cylinder_15A_12.5/width_03/pick/franka_data.csv +207 -0
- Free/digit/cylinder_15A_12.5/width_03/pick/simulation_data.csv +207 -0
- Free/digit/cylinder_15A_12.5/width_04/insert/camera_frames_60hz.tar +3 -0
- Free/digit/cylinder_15A_12.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Free/digit/cylinder_15A_12.5/width_04/insert/fem_node.csv +3 -0
- Free/digit/cylinder_15A_12.5/width_04/insert/franka_data.csv +0 -0
- Free/digit/cylinder_15A_12.5/width_04/insert/simulation_data.csv +898 -0
- Free/digit/cylinder_15A_12.5/width_04/pick/camera_frames_60hz.tar +3 -0
- Free/digit/cylinder_15A_12.5/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Free/digit/cylinder_15A_12.5/width_04/pick/fem_node.csv +3 -0
- Free/digit/cylinder_15A_12.5/width_04/pick/franka_data.csv +208 -0
- Free/digit/cylinder_15A_12.5/width_04/pick/simulation_data.csv +208 -0
- Free/digit/cylinder_15A_12.5/width_05/insert/camera_frames_60hz.tar +3 -0
- Free/digit/cylinder_15A_12.5/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Free/digit/cylinder_15A_12.5/width_05/insert/fem_node.csv +3 -0
- Free/digit/cylinder_15A_12.5/width_05/insert/franka_data.csv +0 -0
- Free/digit/cylinder_15A_12.5/width_05/insert/simulation_data.csv +904 -0
- Free/digit/cylinder_15A_12.5/width_05/pick/camera_frames_60hz.tar +3 -0
- Free/digit/cylinder_15A_12.5/width_05/pick/camera_franka_gripper_aligned_60hz.csv.bak +0 -0
- Free/digit/cylinder_15A_12.5/width_05/pick/fem_node.csv +3 -0
- Free/digit/cylinder_15A_12.5/width_05/pick/franka_data.csv +208 -0
- Free/digit/cylinder_15A_12.5/width_05/pick/simulation_data.csv +208 -0
- Free/digit/cylinder_15A_12.5/width_06/insert/camera_frames_60hz.tar +3 -0
.gitattributes
CHANGED
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@@ -1798,3 +1798,51 @@ Free/digit/cylinder_15A_10/width_09/insert/fem_node.csv filter=lfs diff=lfs merg
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Free/digit/cylinder_15A_10/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_10/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_12.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_12.5/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_12.5/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_12.5/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_12.5/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_06/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_08/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_15/width_10/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_17.5/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_17.5/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_17.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_17.5/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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Free/digit/cylinder_15A_12.5/width_01/insert/fem_node.csv
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:41e95448682f4e8093a0d729bc3cee7e8f5f91647a12408a161d67d4e6e7d6bb
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size 91254551
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Free/digit/cylinder_15A_12.5/width_01/insert/franka_data.csv
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The diff for this file is too large to render.
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Free/digit/cylinder_15A_12.5/width_01/insert/simulation_data.csv
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.567478e-05,0.902941,-0.0001352057,0.8731494
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.62235686159e-05,0.90294121987,-0.00013464912979,0.87314951987
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.65050580024e-05,0.902941282573,-0.000134364252389,0.873149582573
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.66746340531e-05,0.902941262366,-0.000134192937527,0.873149562366
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.68860008031e-05,0.902941237179,-0.000133979403449,0.873149537179
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.81010745429e-05,0.902941094143,-0.000132751651629,0.873149394143
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,7.94441597159e-05,0.902940970994,-0.000131390192547,0.873149270994
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,8.03043881847e-05,0.902940892118,-0.000130518195829,0.873149192118
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,8.11658484203e-05,0.902940813129,-0.000129644950494,0.873149113129
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,8.26216574983e-05,0.902940869166,-0.000128161950853,0.873149192221
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,8.53655306603e-05,0.902941013749,-0.000125365333885,0.873149384998
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,9.09195320295e-05,0.902941187023,-0.000119719208378,0.873149543512
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,0.000102246052192,0.902941152865,-0.000108193096126,0.873149452865
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,0.000123312736565,0.902941,-8.67701229629e-05,0.873149382857
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.000160803467844,0.902941025745,-4.86635655384e-05,0.873149325745
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000214514091295,0.902940804978,5.93506470572e-06,0.873149104978
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000286115983942,0.902941257573,7.87268798689e-05,0.873149557573
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000375577712183,0.902941000081,0.000169672968137,0.873149300081
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000478890777046,0.902941221228,0.000274708688067,0.873149480819
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000590297885858,0.9029414,0.00038797638717,0.8731496
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000709703808351,0.902941021912,0.000509377921195,0.873149221912
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000834718704587,0.902941138596,0.000636438560476,0.873149338596
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000957860868482,0.902941472663,0.000761641768245,0.873149658994
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00107946044857,0.90294130943,0.000885258555629,0.87314941886
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00120883834083,0.902941433584,0.00101678738336,0.873149627987
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00134773291408,0.902942009823,0.0011579901493,0.873150109823
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.0014944980526,0.9029423,0.0013072008788,0.8731504
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00165461863261,0.902942304763,0.00147001089924,0.873150404763
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00183161160021,0.902942458436,0.00164992728086,0.873150558436
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00201282414412,0.902942942982,0.00183413977565,0.873151042982
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00219581868867,0.902943463311,0.00202018510798,0.873151531656
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00238290799881,0.902943680487,0.00221039699784,0.87315172073
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00256970032105,0.902943991203,0.0024002763358,0.873152043402
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00275505843335,0.9029442,0.00258871265754,0.8731522
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00294064204896,0.902944137686,0.00277740447116,0.873152137686
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00312240022762,0.902944169302,0.00296218813655,0.8731521
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00329968675479,0.902944048151,0.00314241836318,0.873151948151
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00347517745986,0.902943409288,0.00332083526285,0.873151309288
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00364244077437,0.902943116705,0.00349088869664,0.873151016705
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00380134334487,0.902942708712,0.00365246169642,0.873150706534
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00395407325882,0.902942388688,0.00380763921811,0.8731504
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00409676901889,0.902942162434,0.00395274647488,0.873150349912
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42,0.700000000,pose2-to-pose3-side,0.00422778636388,0.902941952748,0.00408593466601,0.873150070331
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43,0.716666667,pose2-to-pose3-side,0.00434934864516,0.902942290314,0.00420955931597,0.873150467736
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44,0.733333333,pose2-to-pose3-side,0.00445867685884,0.902942548861,0.0043207439645,0.873150648861
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45,0.750000000,pose2-to-pose3-side,0.00455685385213,0.902942454388,0.0044205845778,0.873150527194
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46,0.766666667,pose2-to-pose3-side,0.0046458048373,0.902942423673,0.00451104009115,0.873150423673
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47,0.783333333,pose2-to-pose3-side,0.00472435548723,0.902942061615,0.00459093724165,0.873150061615
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48,0.800000000,pose2-to-pose3-side,0.00479409219036,0.902942266386,0.00466183935315,0.873150233193
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49,0.816666667,pose2-to-pose3-side,0.00485565845645,0.902942437981,0.0047244577293,0.873150337981
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50,0.833333333,pose2-to-pose3-side,0.00490622446981,0.9029425,0.00477587551999,0.8731504
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51,0.850000000,pose2-to-pose3-side,0.00494568558665,0.90294240036,0.00481600485588,0.87315030036
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52,0.866666667,pose2-to-pose3-side,0.00497810559945,0.902942280606,0.00484895707586,0.873150207474
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53,0.883333333,pose2-to-pose3-side,0.00500397821048,0.902942533199,0.00487523611459,0.8731505166
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54,0.900000000,pose2-to-pose3-side,0.00502410047744,0.902942685425,0.00489569220237,0.873150585425
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55,0.916666667,pose2-to-pose3-side,0.00504048930444,0.9029422184,0.0049123285524,0.8731501184
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56,0.933333333,pose2-to-pose3-side,0.00505468177706,0.902942393393,0.00492675023446,0.873150386785
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57,0.950000000,pose2-to-pose3-side,0.0050643386201,0.902942378929,0.00493654477385,0.873150278929
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58,0.966666667,pose2-to-pose3-side,0.00507032867106,0.902942436489,0.00494262763895,0.873150390992
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59,0.983333333,pose2-to-pose3-side,0.00507339511351,0.9029423,0.00494576736337,0.8731503
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60,1.000000000,pose2-to-pose3-side,0.005074099,0.9029426,0.004946434,0.8731505
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61,1.016666667,pose3-hold,0.005074099,0.9029426,0.004946434,0.8731505
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62,1.033333333,pose3-hold,0.005074099,0.9029426,0.00494643648571,0.8731505
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63,1.050000000,pose3-hold,0.005074099,0.9029426,0.00494644028571,0.8731505
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64,1.066666667,pose3-hold,0.005074099,0.9029426,0.00494644442857,0.8731505
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65,1.083333333,pose3-hold,0.005074099,0.9029426,0.0049464492,0.8731505
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66,1.100000000,pose3-hold,0.005074099,0.9029426,0.00494645528571,0.8731505
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67,1.116666667,pose3-hold,0.005074099,0.9029426,0.00494646274286,0.8731505
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68,1.133333333,pose3-hold,0.005074099,0.9029426,0.0049464654,0.8731505
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69,1.150000000,pose3-hold,0.005074099,0.9029426,0.00494646725714,0.8731505
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70,1.166666667,pose3-hold,0.005074099,0.9029426,0.00494646937143,0.8731505
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71,1.183333333,pose3-hold,0.005074099,0.9029426,0.00494647214286,0.8731505
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72,1.200000000,pose3-hold,0.005074099,0.9029426,0.00494647557143,0.8731505
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73,1.216666667,pose3-hold,0.005074099,0.9029426,0.00494647971429,0.8731505
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74,1.233333333,pose3-hold,0.005074099,0.9029426,0.00494648154286,0.8731505
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75,1.250000000,pose3-hold,0.005074099,0.9029426,0.0049464826,0.8731505
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76,1.266666667,pose3-hold,0.005074099,0.9029426,0.00494648214286,0.8731505
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77,1.283333333,pose3-hold,0.005074099,0.9029426,0.00494648048571,0.8731505
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78,1.300000000,pose3-hold,0.005074099,0.9029426,0.00494647874286,0.8731505
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79,1.316666667,pose3-hold,0.005074099,0.9029426,0.00494647625714,0.8731505
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80,1.333333333,pose3-hold,0.005074099,0.9029426,0.00494647451429,0.8731505
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81,1.350000000,pose3-hold,0.005074099,0.9029426,0.00494647228571,0.8731505
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82,1.366666667,pose3-hold,0.005074099,0.9029426,0.0049464694,0.8731505
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83,1.383333333,pose3-hold,0.005074099,0.9029426,0.00494646654286,0.8731505
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84,1.400000000,pose3-hold,0.005074099,0.9029426,0.00494646488571,0.8731505
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85,1.416666667,pose3-hold,0.005074099,0.9029426,0.00494646322857,0.8731505
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86,1.433333333,pose3-hold,0.005074099,0.9029426,0.00494646157143,0.8731505
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87,1.450000000,pose3-hold,0.005074099,0.9029426,0.00494646045714,0.8731505
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88,1.466666667,pose3-hold,0.005074099,0.9029426,0.00494645962857,0.8731505
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89,1.483333333,pose3-hold,0.005074099,0.9029426,0.0049464588,0.8731505
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90,1.500000000,pose3-hold,0.005074099,0.9029426,0.00494645805714,0.8731505
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91,1.516666667,pose3-hold,0.005074099,0.9029426,0.00494645971429,0.8731505
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92,1.533333333,pose3-hold,0.005074099,0.9029426,0.00494646068571,0.8731505
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93,1.550000000,pose3-hold,0.005074099,0.9029426,0.00494646151429,0.8731505
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94,1.566666667,pose3-hold,0.005074099,0.9029426,0.00494646234286,0.8731505
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95,1.583333333,pose3-hold,0.005074099,0.9029426,0.00494646317143,0.8731505
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96,1.600000000,pose3-hold,0.005074099,0.9029426,0.004946464,0.8731505
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97,1.616666667,pose3-to-pose4-insert,0.005074092,0.9029426,0.004946481,0.8731505
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98,1.633333333,pose3-to-pose4-insert,0.00507418077731,0.90294142362,0.00494653548399,0.873149400097
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99,1.650000000,pose3-to-pose4-insert,0.00507405103282,0.902940488525,0.00494639755742,0.873148406558
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100,1.666666667,pose3-to-pose4-insert,0.00507401223215,0.902940170704,0.00494635627524,0.873148071566
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101,1.683333333,pose3-to-pose4-insert,0.00507404713533,0.902939340838,0.00494639239881,0.873147266108
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102,1.700000000,pose3-to-pose4-insert,0.00507407292425,0.902938727675,0.00494641908943,0.873146670979
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103,1.716666667,pose3-to-pose4-insert,0.00507412498647,0.902937489832,0.00494647297201,0.873145469543
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104,1.733333333,pose3-to-pose4-insert,0.00507413285049,0.902937302856,0.004946481111,0.873145288066
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105,1.750000000,pose3-to-pose4-insert,0.00507413596132,0.902937228892,0.00494648433059,0.873145216277
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106,1.766666667,pose3-to-pose4-insert,0.00507415443052,0.902936763406,0.00494650360991,0.873144761971
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107,1.783333333,pose3-to-pose4-insert,0.00507416372823,0.9029359731,0.00494651678166,0.873143940673
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108,1.800000000,pose3-to-pose4-insert,0.00507416539795,0.902935831174,0.00494651914709,0.873143793181
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109,1.816666667,pose3-to-pose4-insert,0.00507418026415,0.902934567547,0.00494654020755,0.87314248
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110,1.833333333,pose3-to-pose4-insert,0.0050741417869,0.902925897161,0.0049465093393,0.873133761637
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111,1.850000000,pose3-to-pose4-insert,0.00507429047693,0.902905831917,0.00494665769732,0.873113807246
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112,1.866666667,pose3-to-pose4-insert,0.00507436297225,0.902869788024,0.00494674097225,0.873077686956
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113,1.883333333,pose3-to-pose4-insert,0.00507443284164,0.90281440616,0.00494679572288,0.87302220616
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114,1.900000000,pose3-to-pose4-insert,0.00507432574668,0.902738380624,0.00494668416831,0.87294619642
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115,1.916666667,pose3-to-pose4-insert,0.00507444190938,0.902643284138,0.00494683357373,0.872850984138
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116,1.933333333,pose3-to-pose4-insert,0.00507439044626,0.902533253238,0.00494675533404,0.87274089768
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117,1.950000000,pose3-to-pose4-insert,0.00507449738848,0.902412224896,0.00494686668783,0.872619631265
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118,1.966666667,pose3-to-pose4-insert,0.00507451076658,0.902280727628,0.00494687338298,0.872488099546
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119,1.983333333,pose3-to-pose4-insert,0.00507461801693,0.90214168836,0.00494699396003,0.872348935515
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120,2.000000000,pose3-to-pose4-insert,0.00507443688458,0.901996066168,0.00494680044454,0.872203266168
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121,2.016666667,pose3-to-pose4-insert,0.00507409787518,0.90184106084,0.00494650543501,0.872048084259
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122,2.033333333,pose3-to-pose4-insert,0.00507375923906,0.901674021831,0.00494616390753,0.87188091069
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123,2.050000000,pose3-to-pose4-insert,0.00507373501542,0.901494142293,0.0049461556145,0.871700818087
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124,2.066666667,pose3-to-pose4-insert,0.00507320551068,0.901300442402,0.0049456525285,0.87150699618
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125,2.083333333,pose3-to-pose4-insert,0.00507317267526,0.901095520919,0.00494559922598,0.871301880309
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126,2.100000000,pose3-to-pose4-insert,0.0050734698341,0.900885946464,0.00494595015831,0.871092152869
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127,2.116666667,pose3-to-pose4-insert,0.00507373706044,0.900674782934,0.00494621869702,0.870880852635
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128,2.133333333,pose3-to-pose4-insert,0.0050738503494,0.900470335252,0.0049463108916,0.870676172657
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129,2.150000000,pose3-to-pose4-insert,0.00507411501564,0.900276015704,0.00494656317982,0.870481674837
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130,2.166666667,pose3-to-pose4-insert,0.00507418160536,0.900088759517,0.00494665924788,0.870294266667
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131,2.183333333,pose3-to-pose4-insert,0.0050742221248,0.899897587427,0.00494671063607,0.870102932314
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132,2.200000000,pose3-to-pose4-insert,0.00507432185509,0.899712499182,0.00494684398053,0.869917675244
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133,2.216666667,pose3-to-pose4-insert,0.00507446065625,0.899528379772,0.0049469999473,0.869733479772
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134,2.233333333,pose3-to-pose4-insert,0.00507414388151,0.899349710152,0.00494666768503,0.869554570207
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135,2.250000000,pose3-to-pose4-insert,0.00507389914108,0.899181887635,0.00494638121914,0.869386687635
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136,2.266666667,pose3-to-pose4-insert,0.00507350016682,0.899033215397,0.00494593802058,0.869237930628
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137,2.283333333,pose3-to-pose4-insert,0.00507334369183,0.898891378078,0.00494581141668,0.869095911147
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138,2.300000000,pose3-to-pose4-insert,0.00507319323321,0.898757161007,0.00494562643626,0.868961579052
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139,2.316666667,pose3-to-pose4-insert,0.0050729376496,0.898630780642,0.00494536326639,0.868835099803
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140,2.333333333,pose3-to-pose4-insert,0.00507326867908,0.898504971947,0.00494571114057,0.868709271947
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141,2.350000000,pose3-to-pose4-insert,0.0050735148779,0.89838589423,0.00494594358598,0.86859000256
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142,2.366666667,pose3-to-pose4-insert,0.00507346137558,0.898280225035,0.00494592865202,0.868484222701
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143,2.383333333,pose3-to-pose4-insert,0.00507379617886,0.898187987894,0.00494622999128,0.868391887894
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144,2.400000000,pose3-to-pose4-insert,0.00507416487992,0.898102039654,0.00494655685324,0.868305939654
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145,2.416666667,pose3-to-pose4-insert,0.00507420946431,0.898032407601,0.00494661735692,0.868236271888
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146,2.433333333,pose3-to-pose4-insert,0.00507423047953,0.897973590924,0.00494665965128,0.868177307577
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147,2.450000000,pose3-to-pose4-insert,0.00507437349503,0.89792060933,0.00494677307011,0.868124388084
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148,2.466666667,pose3-to-pose4-insert,0.00507447150376,0.897876665184,0.0049468692535,0.868080365184
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149,2.483333333,pose3-to-pose4-insert,0.005074528652,0.897843304809,0.00494692647046,0.868047004809
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150,2.500000000,pose3-to-pose4-insert,0.00507471392004,0.897814925727,0.0049471131778,0.868018625727
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151,2.516666667,pose3-to-pose4-insert,0.00507473709878,0.897792860757,0.00494712987686,0.867996538565
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152,2.533333333,pose3-to-pose4-insert,0.00507474201035,0.897777938552,0.00494713424607,0.867981538552
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153,2.550000000,pose3-to-pose4-insert,0.00507455698713,0.89776661352,0.00494695112195,0.86797021352
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154,2.566666667,pose3-to-pose4-insert,0.00507491431464,0.897758214129,0.00494731234013,0.867961817334
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155,2.583333333,pose3-to-pose4-insert,0.005074803,0.897752129319,0.00494723017801,0.867955829319
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156,2.600000000,pose3-to-pose4-insert,0.0050747415995,0.897748662721,0.00494715208733,0.867952362721
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157,2.616666667,pose3-to-pose4-insert,0.005074809,0.8977471,0.004947204,0.8679508
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158,2.633333333,pose4-hold,0.005074809,0.8977471,0.004947204,0.8679508
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159,2.650000000,pose4-hold,0.005074809,0.8977471,0.00494720151429,0.8679508
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160,2.666666667,pose4-hold,0.005074809,0.8977471,0.004947201,0.8679508
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161,2.683333333,pose4-hold,0.005074809,0.8977471,0.004947201,0.8679508
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162,2.700000000,pose4-hold,0.005074809,0.8977471,0.00494720131429,0.8679508
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163,2.716666667,pose4-hold,0.005074809,0.8977471,0.00494720214286,0.8679508
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164,2.733333333,pose4-hold,0.005074809,0.8977471,0.00494720297143,0.8679508
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165,2.750000000,pose4-hold,0.005074809,0.8977471,0.0049472022,0.8679508
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166,2.766666667,pose4-hold,0.005074809,0.8977471,0.004947202,0.8679508
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167,2.783333333,pose4-hold,0.005074809,0.8977471,0.004947202,0.8679508
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168,2.800000000,pose4-hold,0.005074809,0.8977471,0.00494720257143,0.8679508
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169,2.816666667,pose4-hold,0.005074809,0.8977471,0.004947204,0.8679508
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170,2.833333333,pose4-hold,0.005074809,0.8977471,0.004947204,0.8679508
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171,2.850000000,pose4-hold,0.005074809,0.8977471,0.004947204,0.8679508
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172,2.866666667,pose4-hold,0.005074809,0.8977471,0.0049472046,0.8679508
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173,2.883333333,pose4-hold,0.005074809,0.8977471,0.00494720542857,0.8679508
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174,2.900000000,pose4-hold,0.005074809,0.8977471,0.004947206,0.8679508
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175,2.916666667,pose4-hold,0.005074809,0.8977471,0.00494720608571,0.8679508
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176,2.933333333,pose4-hold,0.005074809,0.8977471,0.00494720691429,0.8679508
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177,2.950000000,pose4-hold,0.005074809,0.8977471,0.004947207,0.8679508
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178,2.966666667,pose4-hold,0.005074809,0.8977471,0.004947207,0.8679508
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179,2.983333333,pose4-hold,0.005074809,0.8977471,0.0049472066,0.8679508
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180,3.000000000,pose4-hold,0.005074809,0.8977471,0.004947206,0.8679508
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| 3 |
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size 20145252
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Free/digit/cylinder_15A_12.5/width_01/pick/franka_data.csv
ADDED
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@@ -0,0 +1,208 @@
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| 1 |
+
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|
Free/digit/cylinder_15A_12.5/width_01/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,7.475617e-05,0.8649433,-0.0001349916,0.8351285
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,7.47192388688e-05,0.864943796901,-0.000135099106083,0.835128997934
|
| 4 |
+
2,0.033333333,pose1-to-pose2-lift,7.47012533313e-05,0.864944559067,-0.000135077904995,0.835129759067
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,7.47526661864e-05,0.864945050989,-0.000135042135253,0.835130250989
|
| 6 |
+
4,0.066666667,pose1-to-pose2-lift,7.47672079523e-05,0.864945207956,-0.000135032406435,0.835130408524
|
| 7 |
+
5,0.083333333,pose1-to-pose2-lift,7.47009293485e-05,0.864945718886,-0.000135103462237,0.835130955949
|
| 8 |
+
6,0.100000000,pose1-to-pose2-lift,7.46778739383e-05,0.864945896616,-0.000135128179424,0.835131146375
|
| 9 |
+
7,0.116666667,pose1-to-pose2-lift,7.46559420391e-05,0.864946065686,-0.00013515169212,0.83513132752
|
| 10 |
+
8,0.133333333,pose1-to-pose2-lift,7.45961566222e-05,0.864946782502,-0.000135216406725,0.835132074567
|
| 11 |
+
9,0.150000000,pose1-to-pose2-lift,7.46123930864e-05,0.864947093546,-0.000135200056662,0.835132372087
|
| 12 |
+
10,0.166666667,pose1-to-pose2-lift,7.46492435513e-05,0.864947799493,-0.000135162948373,0.835133047341
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,7.46835223475e-05,0.864948456175,-0.000135128429745,0.835133675472
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,7.47005370254e-05,0.864948782127,-0.000135111296024,0.835133987252
|
| 15 |
+
13,0.216666667,pose1-to-pose2-lift,7.47216293114e-05,0.86494945022,-0.000135084908587,0.835134666894
|
| 16 |
+
14,0.233333333,pose1-to-pose2-lift,7.47393690943e-05,0.864950103583,-0.000135060932162,0.835135340055
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,7.47589119778e-05,0.864950823354,-0.000135034518733,0.835136081638
|
| 18 |
+
16,0.266666667,pose1-to-pose2-lift,7.47527527277e-05,0.864953316913,-0.00013502666608,0.835138592093
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,7.46252427589e-05,0.864956588077,-0.000135151624541,0.835141790564
|
| 20 |
+
18,0.300000000,pose1-to-pose2-lift,7.45343931931e-05,0.864960474275,-0.000135275139124,0.835145744169
|
| 21 |
+
19,0.316666667,pose1-to-pose2-lift,7.4610061571e-05,0.864968137329,-0.000135211712346,0.835153437329
|
| 22 |
+
20,0.333333333,pose1-to-pose2-lift,7.48357505519e-05,0.864982337059,-0.000134951768372,0.835167564103
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,7.48112462066e-05,0.86500498533,-0.000134978129402,0.83519028533
|
| 24 |
+
22,0.366666667,pose1-to-pose2-lift,7.45489252451e-05,0.865038120362,-0.000135263997682,0.835223420362
|
| 25 |
+
23,0.383333333,pose1-to-pose2-lift,7.472201358e-05,0.865078091852,-0.000135085441126,0.835263438858
|
| 26 |
+
24,0.400000000,pose1-to-pose2-lift,7.46682777291e-05,0.865123475446,-0.000135136766702,0.835308777416
|
| 27 |
+
25,0.416666667,pose1-to-pose2-lift,7.46886881602e-05,0.865171535177,-0.000135127637527,0.835356935177
|
| 28 |
+
26,0.433333333,pose1-to-pose2-lift,7.47064174368e-05,0.865223057698,-0.000135102738279,0.835408457698
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,7.46263779024e-05,0.86527558008,-0.000135168742405,0.83546098008
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,7.45593258789e-05,0.865340684835,-0.000135218425571,0.835526166528
|
| 31 |
+
29,0.483333333,pose1-to-pose2-lift,7.45384876458e-05,0.865423314369,-0.000135240307352,0.835608714369
|
| 32 |
+
30,0.500000000,pose1-to-pose2-lift,7.46397305277e-05,0.865512925653,-0.0001351305004,0.835698325653
|
| 33 |
+
31,0.516666667,pose1-to-pose2-lift,7.45843973189e-05,0.865608996215,-0.000135177826752,0.835794461893
|
| 34 |
+
32,0.533333333,pose1-to-pose2-lift,7.45567724981e-05,0.865718932338,-0.000135205111394,0.835904432338
|
| 35 |
+
33,0.550000000,pose1-to-pose2-lift,7.43405006033e-05,0.86583468081,-0.000135439166702,0.83602028081
|
| 36 |
+
34,0.566666667,pose1-to-pose2-lift,7.43438751883e-05,0.8659524542,-0.000135418678765,0.836138080414
|
| 37 |
+
35,0.583333333,pose1-to-pose2-lift,7.4415600648e-05,0.866081894639,-0.000135357117224,0.836267594639
|
| 38 |
+
36,0.600000000,pose1-to-pose2-lift,7.43452330407e-05,0.866224388007,-0.000135439520215,0.836410142572
|
| 39 |
+
37,0.616666667,pose1-to-pose2-lift,7.44300619282e-05,0.866372752858,-0.000135333864156,0.836558552858
|
| 40 |
+
38,0.633333333,pose1-to-pose2-lift,7.42694569133e-05,0.866529131117,-0.000135491601032,0.836715007171
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,7.42353014866e-05,0.86670037794,-0.000135530647005,0.83688627794
|
| 42 |
+
40,0.666666667,pose1-to-pose2-lift,7.42996588541e-05,0.866881247229,-0.000135465745797,0.837067248451
|
| 43 |
+
41,0.683333333,pose1-to-pose2-lift,7.43384242326e-05,0.86706940001,-0.000135431837769,0.83725560001
|
| 44 |
+
42,0.700000000,pose1-to-pose2-lift,7.46694668314e-05,0.867268228377,-0.000135064260446,0.837454428377
|
| 45 |
+
43,0.716666667,pose1-to-pose2-lift,7.4696546517e-05,0.867471015779,-0.000135025403857,0.837657265067
|
| 46 |
+
44,0.733333333,pose1-to-pose2-lift,7.49811593082e-05,0.867676668577,-0.000134688619611,0.837863068577
|
| 47 |
+
45,0.750000000,pose1-to-pose2-lift,7.51470633194e-05,0.867892111757,-0.000134496129585,0.838078540328
|
| 48 |
+
46,0.766666667,pose1-to-pose2-lift,7.52797134973e-05,0.868117991514,-0.000134357811212,0.83830452235
|
| 49 |
+
47,0.783333333,pose1-to-pose2-lift,7.54729631971e-05,0.868353248365,-0.000134160892311,0.838539881297
|
| 50 |
+
48,0.800000000,pose1-to-pose2-lift,7.56204566351e-05,0.86860764058,-0.000134020382962,0.838794417954
|
| 51 |
+
49,0.816666667,pose1-to-pose2-lift,7.563202519e-05,0.868871140001,-0.000133992989405,0.83905808376
|
| 52 |
+
50,0.833333333,pose1-to-pose2-lift,7.52339554767e-05,0.869150116865,-0.000134348121099,0.839337217815
|
| 53 |
+
51,0.850000000,pose1-to-pose2-lift,7.484353069e-05,0.869444297165,-0.000134700989547,0.839631497165
|
| 54 |
+
52,0.866666667,pose1-to-pose2-lift,7.43060495909e-05,0.869745531747,-0.000135211303198,0.839932862563
|
| 55 |
+
53,0.883333333,pose1-to-pose2-lift,7.45744315697e-05,0.870055254609,-0.000134916589809,0.840242726027
|
| 56 |
+
54,0.900000000,pose1-to-pose2-lift,7.50115636353e-05,0.870382062694,-0.000134420988142,0.840569721999
|
| 57 |
+
55,0.916666667,pose1-to-pose2-lift,7.52095917073e-05,0.870710261198,-0.000134195011802,0.840897961198
|
| 58 |
+
56,0.933333333,pose1-to-pose2-lift,7.5272916205e-05,0.871053034789,-0.00013413965329,0.841240917726
|
| 59 |
+
57,0.950000000,pose1-to-pose2-lift,7.51710346285e-05,0.871414103983,-0.000134312708743,0.841602204454
|
| 60 |
+
58,0.966666667,pose1-to-pose2-lift,7.48616875134e-05,0.871776564334,-0.000134634794314,0.841964777974
|
| 61 |
+
59,0.983333333,pose1-to-pose2-lift,7.48192520613e-05,0.872117027111,-0.000134701176315,0.842305427111
|
| 62 |
+
60,1.000000000,pose1-to-pose2-lift,7.44988020712e-05,0.872465420186,-0.000135113387475,0.842653823723
|
| 63 |
+
61,1.016666667,pose1-to-pose2-lift,7.45014043986e-05,0.872815968987,-0.000135128599609,0.843004659545
|
| 64 |
+
62,1.033333333,pose1-to-pose2-lift,7.45815064972e-05,0.873175361389,-0.000135112716911,0.843364154475
|
| 65 |
+
63,1.050000000,pose1-to-pose2-lift,7.45342797445e-05,0.873546530722,-0.000135139365303,0.843735511665
|
| 66 |
+
64,1.066666667,pose1-to-pose2-lift,7.48410284655e-05,0.873946919685,-0.000134870473777,0.844136199341
|
| 67 |
+
65,1.083333333,pose1-to-pose2-lift,7.49660765368e-05,0.874357824256,-0.00013473642475,0.844547317289
|
| 68 |
+
66,1.100000000,pose1-to-pose2-lift,7.49187666611e-05,0.874768501283,-0.000134872813416,0.844958099066
|
| 69 |
+
67,1.116666667,pose1-to-pose2-lift,7.41920503453e-05,0.875174876234,-0.000135628797064,0.845364764257
|
| 70 |
+
68,1.133333333,pose1-to-pose2-lift,7.33255330504e-05,0.875592218637,-0.00013659251769,0.845782309141
|
| 71 |
+
69,1.150000000,pose1-to-pose2-lift,7.37656812893e-05,0.876023797947,-0.000136199749478,0.846214091322
|
| 72 |
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70,1.166666667,pose1-to-pose2-lift,7.44829303959e-05,0.87646516022,-0.000135609545816,0.846655756997
|
| 73 |
+
71,1.183333333,pose1-to-pose2-lift,7.50119716867e-05,0.87691938153,-0.000135092071714,0.847110187126
|
| 74 |
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72,1.200000000,pose1-to-pose2-lift,7.52016303197e-05,0.877385077398,-0.000134885989001,0.847576093267
|
| 75 |
+
73,1.216666667,pose1-to-pose2-lift,7.53325722546e-05,0.877864919098,-0.000134787990974,0.8480561487
|
| 76 |
+
74,1.233333333,pose1-to-pose2-lift,7.47987853923e-05,0.878353434396,-0.000135396258422,0.848544901674
|
| 77 |
+
75,1.250000000,pose1-to-pose2-lift,7.49823467405e-05,0.87884613065,-0.000135256543033,0.849037919653
|
| 78 |
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76,1.266666667,pose1-to-pose2-lift,7.53716728126e-05,0.879348166472,-0.000134884058909,0.849540242095
|
| 79 |
+
77,1.283333333,pose1-to-pose2-lift,7.5222827938e-05,0.87985063213,-0.000135022534491,0.8500429678
|
| 80 |
+
78,1.300000000,pose1-to-pose2-lift,7.49472563706e-05,0.880341137115,-0.000135288464185,0.850533735924
|
| 81 |
+
79,1.316666667,pose1-to-pose2-lift,7.51869806857e-05,0.880829959574,-0.000135050245432,0.851022817617
|
| 82 |
+
80,1.333333333,pose1-to-pose2-lift,7.5735651709e-05,0.881316407548,-0.000134536965827,0.851509517538
|
| 83 |
+
81,1.350000000,pose1-to-pose2-lift,7.51448083596e-05,0.881793167503,-0.000135197675837,0.851986586014
|
| 84 |
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82,1.366666667,pose1-to-pose2-lift,7.36893252341e-05,0.882274251193,-0.000136753327619,0.852467960516
|
| 85 |
+
83,1.383333333,pose1-to-pose2-lift,7.36375137138e-05,0.882754480872,-0.000136837474555,0.85294844333
|
| 86 |
+
84,1.400000000,pose1-to-pose2-lift,7.48994917082e-05,0.883227926608,-0.000135575667746,0.853422182508
|
| 87 |
+
85,1.416666667,pose1-to-pose2-lift,7.51347133979e-05,0.883703418537,-0.000135378164805,0.853897919564
|
| 88 |
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86,1.433333333,pose1-to-pose2-lift,7.43009771897e-05,0.884171112604,-0.000136270951121,0.854365856027
|
| 89 |
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87,1.450000000,pose1-to-pose2-lift,7.42272999515e-05,0.884616600127,-0.00013636841962,0.854811620972
|
| 90 |
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88,1.466666667,pose1-to-pose2-lift,7.50071875232e-05,0.885052509687,-0.000135550353633,0.855247831942
|
| 91 |
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89,1.483333333,pose1-to-pose2-lift,7.54751256735e-05,0.885496252843,-0.00013504521306,0.855691898161
|
| 92 |
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90,1.500000000,pose1-to-pose2-lift,7.48676124931e-05,0.885948042919,-0.000135670390732,0.856143893218
|
| 93 |
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91,1.516666667,pose1-to-pose2-lift,7.44042214492e-05,0.886438429308,-0.000136156152872,0.856634587115
|
| 94 |
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92,1.533333333,pose1-to-pose2-lift,7.40847166046e-05,0.886943650317,-0.000136487450102,0.857140125774
|
| 95 |
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93,1.550000000,pose1-to-pose2-lift,7.40173070405e-05,0.887451790747,-0.000136559014807,0.857648587374
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| 96 |
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94,1.566666667,pose1-to-pose2-lift,7.46236316762e-05,0.887950472093,-0.000135963181351,0.858147624458
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| 97 |
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95,1.583333333,pose1-to-pose2-lift,7.51069923683e-05,0.888437474464,-0.000135450910725,0.858634958844
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| 98 |
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96,1.600000000,pose1-to-pose2-lift,7.50367302506e-05,0.888894569366,-0.000135472658523,0.859092331572
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| 99 |
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97,1.616666667,pose1-to-pose2-lift,7.47751043097e-05,0.889345443319,-0.00013573202106,0.859543558808
|
| 100 |
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98,1.633333333,pose1-to-pose2-lift,7.43347406274e-05,0.889802634318,-0.00013620081044,0.860001050805
|
| 101 |
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99,1.650000000,pose1-to-pose2-lift,7.39038519278e-05,0.890261821229,-0.000136624264686,0.860460583459
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| 102 |
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100,1.666666667,pose1-to-pose2-lift,7.39575064662e-05,0.890706392464,-0.000136569232214,0.860905472551
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| 103 |
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101,1.683333333,pose1-to-pose2-lift,7.41812880889e-05,0.891148208103,-0.000136373759275,0.86134752841
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| 104 |
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102,1.700000000,pose1-to-pose2-lift,7.48574219829e-05,0.891595135441,-0.000135672772854,0.861794721079
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| 105 |
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103,1.716666667,pose1-to-pose2-lift,7.58313870959e-05,0.892031730602,-0.000134671582606,0.862231564742
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| 106 |
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104,1.733333333,pose1-to-pose2-lift,7.62052795717e-05,0.892461719041,-0.000134333256688,0.862661904376
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| 107 |
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105,1.750000000,pose1-to-pose2-lift,7.58231134556e-05,0.892902165126,-0.000134745238956,0.863102720608
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| 108 |
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106,1.766666667,pose1-to-pose2-lift,7.52935471212e-05,0.893328699391,-0.000135299157969,0.863529567364
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| 109 |
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107,1.783333333,pose1-to-pose2-lift,7.46339555091e-05,0.893753447825,-0.000135966299779,0.863954571567
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| 110 |
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108,1.800000000,pose1-to-pose2-lift,7.39448057948e-05,0.894181671435,-0.00013669766104,0.864383013106
|
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.531168e-05,0.9029398,-0.0001356013,0.8731481
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.55205511946e-05,0.902939621893,-0.00013541376066,0.873147921893
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.61024395448e-05,0.902939709731,-0.000134811172344,0.873148009731
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.7352444425e-05,0.902939783215,-0.000133551364715,0.873148083215
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.81948898981e-05,0.902939816704,-0.000132690039721,0.873148116704
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.92329761729e-05,0.902939847839,-0.000131620936148,0.873148147839
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,8.06076397152e-05,0.90293988907,-0.000130205198612,0.87314818907
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,8.29991920768e-05,0.902939864876,-0.00012777441955,0.873148164876
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,8.69351945848e-05,0.902939802207,-0.000123783186735,0.873148104415
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,9.50999552605e-05,0.902939896165,-0.000115495473211,0.87314829233
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,0.0001063845765,0.902940156591,-0.000104034080263,0.87314838553
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,0.000122930979368,0.9029402,-8.7217797622e-05,0.873148483151
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,0.000146547011283,0.90293993536,-6.31718083354e-05,0.87314823536
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,0.000181478885615,0.90294030677,-2.76762218008e-05,0.87314851354
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.000228937632863,0.902940487369,2.0571517727e-05,0.873148787369
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000292032290478,0.902940581405,8.47160367801e-05,0.873148881405
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000371201671515,0.902940686937,0.000165225161038,0.873148986937
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000464014350309,0.902941544908,0.000259549640558,0.873149767362
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.000568370020464,0.902941747222,0.00036564277319,0.873150047222
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.00068268811292,0.902942137575,0.000481836736757,0.87315037006
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.00080202425367,0.902942461221,0.000603157354966,0.873150661221
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000922015356544,0.902943175565,0.000725155862073,0.873151375565
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.00104073871861,0.902943618613,0.000845839973477,0.873151818613
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00116565528762,0.902943847692,0.000972855622424,0.873152047692
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00129564226692,0.90294383345,0.00110501484158,0.873151966899
|
| 27 |
+
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96,1.600000000,pose3-hold,0.005073329,0.9029441,0.004945593,0.873152
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98,1.633333333,pose3-to-pose4-insert,0.00507310593776,0.902943375091,0.00494538306963,0.873151276556
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111,1.850000000,pose3-to-pose4-insert,0.00507321082979,0.902890773086,0.00494548754947,0.873098589361
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156,2.600000000,pose3-to-pose4-insert,0.00507435969954,0.897748022306,0.0049468339742,0.867951622306
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161,2.683333333,pose4-hold,0.005074319,0.8977468,0.00494680097143,0.8679504
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+
204,3.400000000,pose2-hold,1.79310598501e+18,camera_frames_60hz/WAIT_POSE2/camera_00001724_1793105985020299677_real.jpg,0.675847472506,-0.00536600723008,0.147443605758,0.999999884996,0.000121920859421,-0.000459693410138,-6.18436890106e-05,0.0618015266955
|
| 207 |
+
205,3.416666667,pose2-hold,1.79310598503e+18,camera_frames_60hz/WAIT_POSE2/camera_00001725_1793105985036993755_real.jpg,0.675847900193,-0.00536776697365,0.147443957875,0.999999885174,0.000121045676955,-0.000459674389942,-6.08284891492e-05,0.0618015266955
|
| 208 |
+
206,3.433333333,pose2-hold,1.79310598504e+18,camera_frames_60hz/WAIT_POSE2/camera_00001726_1793105985053014351_real.jpg,0.675845999387,-0.00536590985297,0.147440973973,0.999999883719,0.00012221408638,-0.000462404658751,-6.16984164135e-05,0.0618015266955
|
Free/digit/cylinder_15A_12.5/width_02/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,208 @@
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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,7.475617e-05,0.8649433,-0.0001350064,0.8351285
|
| 3 |
+
1,0.016666667,pose1-to-pose2-lift,7.45870873667e-05,0.864943499818,-0.000135200650065,0.835128799727
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,7.46482636522e-05,0.86494363762,-0.000135162266287,0.835128891747
|
| 5 |
+
3,0.050000000,pose1-to-pose2-lift,7.47063147609e-05,0.864944192078,-0.00013510677401,0.835129392078
|
| 6 |
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4,0.066666667,pose1-to-pose2-lift,7.47307152084e-05,0.86494484096,-0.000135075032788,0.83513004096
|
| 7 |
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5,0.083333333,pose1-to-pose2-lift,7.47256944337e-05,0.864945634836,-0.000135097172851,0.835130865895
|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,7.4683485666e-05,0.864946066229,-0.000135144071482,0.835131328103
|
| 9 |
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7,0.116666667,pose1-to-pose2-lift,7.46323599027e-05,0.864946588758,-0.000135200877886,0.835131887956
|
| 10 |
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8,0.133333333,pose1-to-pose2-lift,7.46474469771e-05,0.864947093571,-0.000135183666203,0.835132372111
|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,7.46623518849e-05,0.864947548049,-0.000135166692431,0.835132806829
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,7.46809485746e-05,0.864948115096,-0.000135145514443,0.835133349223
|
| 13 |
+
11,0.183333333,pose1-to-pose2-lift,7.46952609361e-05,0.864948551507,-0.000135129215466,0.835133766659
|
| 14 |
+
12,0.200000000,pose1-to-pose2-lift,7.47190267402e-05,0.864949354367,-0.000135100049335,0.835134568135
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,7.47404734877e-05,0.864950144258,-0.000135071972287,0.835135381963
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,7.47714845872e-05,0.864951286408,-0.00013503137405,0.835136558723
|
| 17 |
+
15,0.250000000,pose1-to-pose2-lift,7.47632902651e-05,0.864953046581,-0.000135029828433,0.835138327768
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,7.46769912304e-05,0.864955260512,-0.000135110710716,0.835140492501
|
| 19 |
+
17,0.283333333,pose1-to-pose2-lift,7.45612273114e-05,0.864959303237,-0.000135247326698,0.835144551445
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,7.45754586395e-05,0.86496628729,-0.000135258041488,0.83515158729
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,7.47816118514e-05,0.864977820457,-0.000135024747534,0.835163035133
|
| 22 |
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20,0.333333333,pose1-to-pose2-lift,7.48827424524e-05,0.864995396827,-0.000134917776984,0.835180696827
|
| 23 |
+
21,0.350000000,pose1-to-pose2-lift,7.46463602213e-05,0.865021131627,-0.000135191878064,0.835206431627
|
| 24 |
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22,0.366666667,pose1-to-pose2-lift,7.46115238307e-05,0.865052484562,-0.000135214461367,0.835237784562
|
| 25 |
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23,0.383333333,pose1-to-pose2-lift,7.47289698325e-05,0.865090016856,-0.000135084124966,0.835275408029
|
| 26 |
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24,0.400000000,pose1-to-pose2-lift,7.46645440517e-05,0.865132563316,-0.000135152410788,0.835317887428
|
| 27 |
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25,0.416666667,pose1-to-pose2-lift,7.46993607262e-05,0.865175653274,-0.000135130013913,0.835361053274
|
| 28 |
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26,0.433333333,pose1-to-pose2-lift,7.46996416327e-05,0.865225895997,-0.000135120597242,0.835411295997
|
| 29 |
+
27,0.450000000,pose1-to-pose2-lift,7.46140385549e-05,0.865288940651,-0.000135181070491,0.835474340651
|
| 30 |
+
28,0.466666667,pose1-to-pose2-lift,7.45457386349e-05,0.865358256319,-0.00013524639949,0.835543744473
|
| 31 |
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29,0.483333333,pose1-to-pose2-lift,7.45531192412e-05,0.865435778863,-0.000135237939647,0.835621178863
|
| 32 |
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30,0.500000000,pose1-to-pose2-lift,7.46548654508e-05,0.86552734263,-0.000135127801926,0.83571274263
|
| 33 |
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31,0.516666667,pose1-to-pose2-lift,7.45468895524e-05,0.865628997405,-0.000135230083483,0.835814487685
|
| 34 |
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32,0.533333333,pose1-to-pose2-lift,7.45346972127e-05,0.865735937858,-0.000135247404012,0.835921449044
|
| 35 |
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33,0.550000000,pose1-to-pose2-lift,7.43355709422e-05,0.86585371082,-0.000135451779404,0.83603931082
|
| 36 |
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34,0.566666667,pose1-to-pose2-lift,7.43727325906e-05,0.865984546738,-0.000135411229112,0.836170201708
|
| 37 |
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35,0.583333333,pose1-to-pose2-lift,7.44136080825e-05,0.86612235385,-0.000135363398998,0.83630805385
|
| 38 |
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36,0.600000000,pose1-to-pose2-lift,7.43063676697e-05,0.86626499978,-0.000135500587677,0.836450786097
|
| 39 |
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37,0.616666667,pose1-to-pose2-lift,7.44984745708e-05,0.866416717196,-0.000135262744776,0.836602517196
|
| 40 |
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38,0.633333333,pose1-to-pose2-lift,7.41997077519e-05,0.86657556874,-0.000135575367189,0.83676146874
|
| 41 |
+
39,0.650000000,pose1-to-pose2-lift,7.42491640082e-05,0.866742124468,-0.000135531405218,0.836928039447
|
| 42 |
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40,0.666666667,pose1-to-pose2-lift,7.42711980938e-05,0.866920103484,-0.000135518558562,0.837106126778
|
| 43 |
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41,0.683333333,pose1-to-pose2-lift,7.42330233758e-05,0.867105951496,-0.000135538490666,0.837292081663
|
| 44 |
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42,0.700000000,pose1-to-pose2-lift,7.4415377405e-05,0.867301334555,-0.000135325454128,0.837487571047
|
| 45 |
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43,0.716666667,pose1-to-pose2-lift,7.45645274334e-05,0.867513033717,-0.000135150805815,0.837699333717
|
| 46 |
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44,0.733333333,pose1-to-pose2-lift,7.48044352423e-05,0.867733679779,-0.000134886365299,0.83792008743
|
| 47 |
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45,0.750000000,pose1-to-pose2-lift,7.48592261275e-05,0.86796276875,-0.000134843094134,0.838149329569
|
| 48 |
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46,0.766666667,pose1-to-pose2-lift,7.48367012035e-05,0.868204861448,-0.00013489862385,0.838391530206
|
| 49 |
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47,0.783333333,pose1-to-pose2-lift,7.48199667362e-05,0.868452001957,-0.000134936166364,0.838638776063
|
| 50 |
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48,0.800000000,pose1-to-pose2-lift,7.48210281225e-05,0.868706990124,-0.000134977847612,0.838893946796
|
| 51 |
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|
| 52 |
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50,0.833333333,pose1-to-pose2-lift,7.48352477103e-05,0.869252318538,-0.000135001519595,0.839439406975
|
| 53 |
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51,0.850000000,pose1-to-pose2-lift,7.52198703659e-05,0.86954149968,-0.00013468017957,0.839728693337
|
| 54 |
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|
| 56 |
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| 58 |
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61,1.016666667,pose1-to-pose2-lift,7.52270783257e-05,0.872903567939,-0.000134703098504,0.843092328938
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62,1.033333333,pose1-to-pose2-lift,7.51017971555e-05,0.873295163352,-0.00013481086237,0.843484187709
|
| 65 |
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.536825e-05,0.9029387,-0.0001354918,0.873147
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.59365606604e-05,0.9029387,-0.000134933222712,0.873147
|
| 4 |
+
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| 206 |
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| 207 |
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|
Free/digit/cylinder_15A_12.5/width_03/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,207 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
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|
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|
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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205,3.416666667,pose2-hold,7.53608e-05,0.9029387,-0.0001355191,0.873147
|
Free/digit/cylinder_15A_12.5/width_04/insert/camera_frames_60hz.tar
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:cdf9af4e7bc13d31da100221acc0bff07fb4907faaa6e186573e79cbff035cfd
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| 3 |
+
size 8970240
|
Free/digit/cylinder_15A_12.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
Free/digit/cylinder_15A_12.5/width_04/insert/fem_node.csv
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:b7b27a1eda13f7edf97df3cbcef3a7a78c9e4f771fed578253ca223ef058ce3e
|
| 3 |
+
size 90869147
|
Free/digit/cylinder_15A_12.5/width_04/insert/franka_data.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
Free/digit/cylinder_15A_12.5/width_04/insert/simulation_data.csv
ADDED
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@@ -0,0 +1,898 @@
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.33255e-05,0.9029385,-0.0001366631,0.8731468
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.37192388539e-05,0.902938729406,-0.000136271153264,0.873147005875
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.38772731655e-05,0.902938637349,-0.000136090874904,0.873146883132
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.41466176041e-05,0.90293850207,-0.00013578812297,0.87314670207
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.46879992989e-05,0.902938535466,-0.000135243201305,0.873146735466
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.55083246567e-05,0.902938586069,-0.000134417512029,0.873146786069
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,7.57721265655e-05,0.90293859884,-0.000134152048057,0.8731468
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,7.6776642748e-05,0.902938568147,-0.000133142627185,0.8731468
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,7.83640002354e-05,0.902938519646,-0.000131547519203,0.8731468
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,8.01230019958e-05,0.902938460488,-0.000129763484219,0.873146760488
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,8.36116723349e-05,0.902938336973,-0.000126206374188,0.873146636973
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,9.0832322226e-05,0.9029383,-0.000118853460642,0.873146671123
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,0.000102888425196,0.902938519234,-0.000106599753639,0.873146773078
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,0.000125761194021,0.902938593141,-8.33378125996e-05,0.873146793141
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.000163960530496,0.902938832418,-4.45209430796e-05,0.873147032418
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000218305942671,0.902939218401,1.073989313e-05,0.873147427601
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000291876288739,0.902939587134,8.55491310369e-05,0.873147824756
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000386935759251,0.902939692014,0.000182165085016,0.873147992014
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.0004973513675,0.902940231264,0.000294447845581,0.873148465632
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.000622596403073,0.902941015726,0.000421733369985,0.873149215726
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000757747715125,0.902941442452,0.00055917419444,0.873149642452
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000896639365628,0.902942053013,0.000700377933336,0.873150189759
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.0010374060679,0.902942431546,0.000843475419037,0.873150608728
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00117858108377,0.902942750342,0.000986988393433,0.873150866894
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00132147202781,0.9029428,0.00113225291659,0.8731509
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00147175354861,0.902942713691,0.00128503878454,0.873150813691
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.00162956069924,0.9029427,0.00144546571001,0.873150711666
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00179582807526,0.902942607968,0.00161449225813,0.8731507
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00197097758606,0.90294250191,0.00179258051335,0.87315050382
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00215050782758,0.902942587068,0.00197508416002,0.873150587068
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00232677374441,0.9029423,0.00215427382631,0.873150307148
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00250018816186,0.902942292516,0.00233060527397,0.873150385032
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00267685275699,0.902942190554,0.00251018909545,0.873150190554
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.00286257964232,0.902942133987,0.00269901368017,0.873150116994
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00303340726742,0.90294228304,0.00287269565492,0.87315018304
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.0032037010593,0.90294227275,0.00304582248713,0.87315017275
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00337734238617,0.902942481308,0.00322237357416,0.873150405047
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00354200605477,0.90294218106,0.00338977763401,0.87315015404
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00369125188577,0.902942351938,0.00354150494591,0.873150251938
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.00384707493878,0.902942379614,0.00369991794917,0.87315030955
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00399695265035,0.902942725403,0.00385223261836,0.8731508
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00413536000555,0.902942514325,0.00399293657953,0.873150714325
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00426410569877,0.902942544795,0.00412387482888,0.87315069653
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00438185608018,0.902942489203,0.00424361974582,0.873150589203
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00448721815644,0.902942572532,0.00435076077735,0.873150672532
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00458464028956,0.902942508482,0.0044498175914,0.873150550179
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00467058819726,0.902942421126,0.0045371994994,0.873150421126
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00474818725419,0.902942435296,0.00461609099959,0.873150435296
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00481597112782,0.902942538939,0.00468506007159,0.87315046947
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00487694894709,0.902942679454,0.00474706142602,0.873150579454
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00492558138796,0.9029427,0.00479649705443,0.8731506
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00496715503541,0.902942512682,0.00483877696105,0.873150412682
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00499942045757,0.902942798259,0.00487157895011,0.873150796519
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00502562414051,0.902942648808,0.0048981967493,0.873150548808
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00504479316753,0.902942469359,0.00491766479229,0.873150369359
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.0050593757657,0.902942528487,0.00493246201108,0.873150428487
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00506879545793,0.902942564438,0.00494203028146,0.873150464438
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.005073252,0.9029424,0.004946523,0.8731502
|
| 60 |
+
58,0.966666667,pose3-hold,0.005073252,0.9029424,0.004946522,0.8731502
|
| 61 |
+
59,0.983333333,pose3-hold,0.005073252,0.9029424,0.00494652463636,0.8731502
|
| 62 |
+
60,1.000000000,pose3-hold,0.005073252,0.9029424,0.0049465280303,0.8731502
|
| 63 |
+
61,1.016666667,pose3-hold,0.005073252,0.9029424,0.00494653218182,0.8731502
|
| 64 |
+
62,1.033333333,pose3-hold,0.005073252,0.9029424,0.00494653863636,0.873150251515
|
| 65 |
+
63,1.050000000,pose3-hold,0.005073252,0.9029424,0.00494654536364,0.873150260606
|
| 66 |
+
64,1.066666667,pose3-hold,0.005073252,0.9029424,0.00494655009091,0.8731502
|
| 67 |
+
65,1.083333333,pose3-hold,0.005073252,0.9029424,0.00494655330303,0.8731502
|
| 68 |
+
66,1.100000000,pose3-hold,0.005073252,0.9029424,0.00494655521212,0.8731502
|
| 69 |
+
67,1.116666667,pose3-hold,0.005073252,0.9029424,0.00494656136364,0.8731502
|
| 70 |
+
68,1.133333333,pose3-hold,0.005073252,0.9029424,0.00494656357576,0.8731502
|
| 71 |
+
69,1.150000000,pose3-hold,0.005073252,0.9029424,0.00494656733333,0.8731502
|
| 72 |
+
70,1.166666667,pose3-hold,0.005073252,0.9029424,0.00494657009091,0.8731502
|
| 73 |
+
71,1.183333333,pose3-hold,0.005073252,0.9029424,0.004946571,0.8731502
|
| 74 |
+
72,1.200000000,pose3-hold,0.005073252,0.9029424,0.00494657009091,0.8731502
|
| 75 |
+
73,1.216666667,pose3-hold,0.005073252,0.9029424,0.00494656763636,0.8731502
|
| 76 |
+
74,1.233333333,pose3-hold,0.005073252,0.9029424,0.004946566,0.8731502
|
| 77 |
+
75,1.250000000,pose3-hold,0.005073252,0.9029424,0.004946566,0.8731502
|
| 78 |
+
76,1.266666667,pose3-hold,0.005073252,0.9029424,0.00494656272727,0.8731502
|
| 79 |
+
77,1.283333333,pose3-hold,0.005073252,0.9029424,0.00494656060606,0.8731502
|
| 80 |
+
78,1.300000000,pose3-hold,0.005073252,0.9029424,0.00494655712121,0.8731502
|
| 81 |
+
79,1.316666667,pose3-hold,0.005073252,0.9029424,0.00494655409091,0.8731502
|
| 82 |
+
80,1.333333333,pose3-hold,0.005073252,0.9029424,0.004946552,0.8731502
|
| 83 |
+
81,1.350000000,pose3-hold,0.005073252,0.9029424,0.00494654978788,0.8731502
|
| 84 |
+
82,1.366666667,pose3-hold,0.005073252,0.9029424,0.00494654881818,0.8731502
|
| 85 |
+
83,1.383333333,pose3-hold,0.005073252,0.9029424,0.00494654706061,0.8731502
|
| 86 |
+
84,1.400000000,pose3-hold,0.005073252,0.9029424,0.004946547,0.8731502
|
| 87 |
+
85,1.416666667,pose3-hold,0.005073252,0.9029424,0.004946547,0.8731502
|
| 88 |
+
86,1.433333333,pose3-hold,0.005073252,0.9029424,0.00494654821212,0.8731502
|
| 89 |
+
87,1.450000000,pose3-hold,0.005073252,0.9029424,0.004946549,0.8731502
|
| 90 |
+
88,1.466666667,pose3-hold,0.005073252,0.9029424,0.00494654972727,0.8731502
|
| 91 |
+
89,1.483333333,pose3-hold,0.005073252,0.9029424,0.004946551,0.8731502
|
| 92 |
+
90,1.500000000,pose3-hold,0.005073252,0.9029424,0.00494655124242,0.8731502
|
| 93 |
+
91,1.516666667,pose3-hold,0.005073252,0.9029424,0.004946553,0.8731502
|
| 94 |
+
92,1.533333333,pose3-to-pose4-insert,0.005073252,0.9029424,0.004946554,0.8731502
|
| 95 |
+
93,1.550000000,pose3-to-pose4-insert,0.00507320868539,0.902942124873,0.00494651847931,0.873150024873
|
| 96 |
+
94,1.566666667,pose3-to-pose4-insert,0.0050731232958,0.902941481489,0.0049464185757,0.873149381489
|
| 97 |
+
95,1.583333333,pose3-to-pose4-insert,0.0050731773557,0.902940709204,0.00494646577085,0.873148609204
|
| 98 |
+
96,1.600000000,pose3-to-pose4-insert,0.00507320987264,0.902940244677,0.00494649415865,0.873148144677
|
| 99 |
+
97,1.616666667,pose3-to-pose4-insert,0.00507324002296,0.902939753657,0.00494652139948,0.873147653657
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.00507325336909,0.902939522805,0.00494653366349,0.873147422805
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00507328059026,0.902939051952,0.00494655867754,0.873146951952
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00507328399306,0.902938993093,0.00494656180443,0.873146893093
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00507332496525,0.902938284385,0.00494659945455,0.873146184385
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00507337169782,0.902937476038,0.004946642398,0.873145376038
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00507339074859,0.902936555103,0.00494665978979,0.873144455103
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00507318631962,0.902931607735,0.00494647029627,0.873139507735
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00507330951446,0.902916149343,0.00494661113272,0.873124049343
|
| 108 |
+
106,1.766666667,pose3-to-pose4-insert,0.00507347624247,0.902886845131,0.00494675077434,0.873094745131
|
| 109 |
+
107,1.783333333,pose3-to-pose4-insert,0.00507358722383,0.90283836685,0.0049468870827,0.87304616685
|
| 110 |
+
108,1.800000000,pose3-to-pose4-insert,0.00507372111269,0.902769575653,0.00494704085035,0.872977295143
|
| 111 |
+
109,1.816666667,pose3-to-pose4-insert,0.00507387743539,0.902682227221,0.00494721915043,0.872889927221
|
| 112 |
+
110,1.833333333,pose3-to-pose4-insert,0.00507428561541,0.902576589939,0.00494764324788,0.872784189939
|
| 113 |
+
111,1.850000000,pose3-to-pose4-insert,0.00507463328638,0.902457209785,0.00494798091392,0.872664715106
|
| 114 |
+
112,1.866666667,pose3-to-pose4-insert,0.00507488696159,0.902334684446,0.00494826049085,0.872542161651
|
| 115 |
+
113,1.883333333,pose3-to-pose4-insert,0.00507527367615,0.902200717412,0.00494865774606,0.872408013916
|
| 116 |
+
114,1.900000000,pose3-to-pose4-insert,0.00507541172452,0.90205570943,0.00494879849152,0.872262883863
|
| 117 |
+
115,1.916666667,pose3-to-pose4-insert,0.00507521370121,0.901903961236,0.00494859885196,0.872111018466
|
| 118 |
+
116,1.933333333,pose3-to-pose4-insert,0.00507506401055,0.901745887029,0.00494842140552,0.871952774004
|
| 119 |
+
117,1.950000000,pose3-to-pose4-insert,0.00507493149684,0.901574926095,0.00494829103706,0.871781653724
|
| 120 |
+
118,1.966666667,pose3-to-pose4-insert,0.00507457689097,0.901397294664,0.00494794389097,0.871603820949
|
| 121 |
+
119,1.983333333,pose3-to-pose4-insert,0.00507446742343,0.901214831449,0.00494783144425,0.871421232143
|
| 122 |
+
120,2.000000000,pose3-to-pose4-insert,0.00507467430777,0.901028908583,0.00494805353981,0.871235198483
|
| 123 |
+
121,2.016666667,pose3-to-pose4-insert,0.00507537045033,0.900834163481,0.00494879877515,0.871040316757
|
| 124 |
+
122,2.033333333,pose3-to-pose4-insert,0.00507603870802,0.900633272807,0.0049495291603,0.870839234909
|
| 125 |
+
123,2.050000000,pose3-to-pose4-insert,0.00507651983918,0.900432879607,0.00495003249973,0.870638677329
|
| 126 |
+
124,2.066666667,pose3-to-pose4-insert,0.00507668515188,0.900234125555,0.00495022172955,0.870439762379
|
| 127 |
+
125,2.083333333,pose3-to-pose4-insert,0.00507651554316,0.900036536258,0.00495007053741,0.87024191132
|
| 128 |
+
126,2.100000000,pose3-to-pose4-insert,0.00507602800804,0.899841706358,0.00494958396649,0.870047006358
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| 203 |
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| 206 |
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| 207 |
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| 208 |
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|
Free/digit/cylinder_15A_12.5/width_04/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,208 @@
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|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
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0,0.000000000,pose1-to-pose2-lift,7.475617e-05,0.8649433,-0.0001350512,0.8351285
|
| 3 |
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|
| 4 |
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|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,7.47018051629e-05,0.864944564347,-0.000135126161185,0.835129764347
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| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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| 16 |
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| 17 |
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|
| 18 |
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| 19 |
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| 20 |
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| 21 |
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|
| 22 |
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20,0.333333333,pose1-to-pose2-lift,7.46547195751e-05,0.865057896461,-0.000135214843776,0.835243196461
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| 24 |
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| 26 |
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24,0.400000000,pose1-to-pose2-lift,7.45820434365e-05,0.865319561027,-0.000135250421266,0.835505004864
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 38 |
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| 39 |
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| 41 |
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39,0.650000000,pose1-to-pose2-lift,7.4253078196e-05,0.866752829489,-0.000135572207082,0.836938772628
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| 42 |
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| 43 |
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41,0.683333333,pose1-to-pose2-lift,7.4227677401e-05,0.867100707781,-0.000135573166739,0.837286835043
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| 44 |
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42,0.700000000,pose1-to-pose2-lift,7.4395597535e-05,0.867275865761,-0.000135387735044,0.837462088848
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| 45 |
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| 46 |
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| 47 |
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45,0.750000000,pose1-to-pose2-lift,7.48553828248e-05,0.867927982116,-0.000134863488818,0.838114527041
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46,0.766666667,pose1-to-pose2-lift,7.4823524047e-05,0.868173962845,-0.000134940100299,0.838360618024
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| 49 |
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| 50 |
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|
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ADDED
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|
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|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
|
| 2 |
+
0,0.000000000,pose2-to-pose3-side,7.506914e-05,0.90294,-0.0001355037,0.8731482
|
| 3 |
+
1,0.016666667,pose2-to-pose3-side,7.57775187348e-05,0.902939965478,-0.000134769783608,0.873148265478
|
| 4 |
+
2,0.033333333,pose2-to-pose3-side,7.66841520568e-05,0.902939895496,-0.000133856252733,0.873148247748
|
| 5 |
+
3,0.050000000,pose2-to-pose3-side,7.7541819986e-05,0.9029398,-0.000132994633037,0.8731482
|
| 6 |
+
4,0.066666667,pose2-to-pose3-side,7.79509255149e-05,0.9029398,-0.000132578505058,0.8731482
|
| 7 |
+
5,0.083333333,pose2-to-pose3-side,7.85294264217e-05,0.9029398,-0.000131990073967,0.8731482
|
| 8 |
+
6,0.100000000,pose2-to-pose3-side,7.89035906991e-05,0.9029398,-0.00013160948702,0.8731482
|
| 9 |
+
7,0.116666667,pose2-to-pose3-side,7.92007623367e-05,0.9029398,-0.00013130721432,0.8731482
|
| 10 |
+
8,0.133333333,pose2-to-pose3-side,8.01131238937e-05,0.9029398,-0.000130379191736,0.8731482
|
| 11 |
+
9,0.150000000,pose2-to-pose3-side,8.15158742682e-05,0.902939825023,-0.000128953458809,0.8731482
|
| 12 |
+
10,0.166666667,pose2-to-pose3-side,8.38653540236e-05,0.902939912752,-0.000126567492553,0.8731482
|
| 13 |
+
11,0.183333333,pose2-to-pose3-side,8.84409216858e-05,0.90294,-0.000121914874466,0.8731482
|
| 14 |
+
12,0.200000000,pose2-to-pose3-side,9.92818249896e-05,0.902940064146,-0.000110883425838,0.873148296219
|
| 15 |
+
13,0.216666667,pose2-to-pose3-side,0.000118204157094,0.902940083993,-9.16463560581e-05,0.87314832599
|
| 16 |
+
14,0.233333333,pose2-to-pose3-side,0.000152382408209,0.90294,-5.69089412647e-05,0.873148288329
|
| 17 |
+
15,0.250000000,pose2-to-pose3-side,0.000204096430869,0.902940137519,-4.32668418326e-06,0.873148337519
|
| 18 |
+
16,0.266666667,pose2-to-pose3-side,0.000273660342635,0.902940275075,6.63990427863e-05,0.873148575075
|
| 19 |
+
17,0.283333333,pose2-to-pose3-side,0.000361790689828,0.902940434318,0.000155986482825,0.873148734318
|
| 20 |
+
18,0.300000000,pose2-to-pose3-side,0.00046836149029,0.902940916879,0.000264312168972,0.873149216879
|
| 21 |
+
19,0.316666667,pose2-to-pose3-side,0.00058598092618,0.90294096645,0.00038389618762,0.87314926645
|
| 22 |
+
20,0.333333333,pose2-to-pose3-side,0.000716343000602,0.902941403788,0.000516432498883,0.873149605051
|
| 23 |
+
21,0.350000000,pose2-to-pose3-side,0.000854760580259,0.902941779966,0.0006571632789,0.87315005331
|
| 24 |
+
22,0.366666667,pose2-to-pose3-side,0.000995136983399,0.902942043088,0.000799881713704,0.873150243088
|
| 25 |
+
23,0.383333333,pose2-to-pose3-side,0.00113979024874,0.90294231671,0.000946947980987,0.873150462533
|
| 26 |
+
24,0.400000000,pose2-to-pose3-side,0.00128869086038,0.9029425,0.00109830851006,0.8731506
|
| 27 |
+
25,0.416666667,pose2-to-pose3-side,0.00143713224348,0.902942563062,0.00124921766142,0.873150663062
|
| 28 |
+
26,0.433333333,pose2-to-pose3-side,0.0015931657377,0.9029426,0.00140783708509,0.8731507
|
| 29 |
+
27,0.450000000,pose2-to-pose3-side,0.00175803697504,0.90294287542,0.00157548365241,0.87315097542
|
| 30 |
+
28,0.466666667,pose2-to-pose3-side,0.00191985450667,0.902943,0.0017399866315,0.8731511
|
| 31 |
+
29,0.483333333,pose2-to-pose3-side,0.00208106505714,0.902943191931,0.00190385721052,0.873151227954
|
| 32 |
+
30,0.500000000,pose2-to-pose3-side,0.00224877388283,0.902943362246,0.00207433505736,0.873151424491
|
| 33 |
+
31,0.516666667,pose2-to-pose3-side,0.00241951934904,0.902943032772,0.0022479218381,0.873151071567
|
| 34 |
+
32,0.533333333,pose2-to-pose3-side,0.00258999405337,0.902943097542,0.0024212344927,0.873151097542
|
| 35 |
+
33,0.550000000,pose2-to-pose3-side,0.0027672768854,0.902943238202,0.00260147665248,0.873151238202
|
| 36 |
+
34,0.566666667,pose2-to-pose3-side,0.00295184318189,0.902943130914,0.00278912357776,0.873151061829
|
| 37 |
+
35,0.583333333,pose2-to-pose3-side,0.00313259680002,0.902942949007,0.00297291219854,0.873150849007
|
| 38 |
+
36,0.600000000,pose2-to-pose3-side,0.00330786367786,0.902942980953,0.00315108932621,0.873150961907
|
| 39 |
+
37,0.616666667,pose2-to-pose3-side,0.00348063360922,0.902943,0.00332670302431,0.873151
|
| 40 |
+
38,0.633333333,pose2-to-pose3-side,0.00364619956487,0.902942718434,0.003495062896,0.873150624579
|
| 41 |
+
39,0.650000000,pose2-to-pose3-side,0.0038022449343,0.902942601782,0.00365368609536,0.8731506
|
| 42 |
+
40,0.666666667,pose2-to-pose3-side,0.00395302136057,0.902942217815,0.00380697414795,0.873150117815
|
| 43 |
+
41,0.683333333,pose2-to-pose3-side,0.00409398177648,0.902942590076,0.00395030022754,0.873150490076
|
| 44 |
+
42,0.700000000,pose2-to-pose3-side,0.00422339040921,0.9029425,0.00408181365976,0.873150426651
|
| 45 |
+
43,0.716666667,pose2-to-pose3-side,0.00434499571896,0.902942518248,0.00420543265829,0.873150636496
|
| 46 |
+
44,0.733333333,pose2-to-pose3-side,0.00445552852973,0.902942556059,0.00431782865511,0.873150734089
|
| 47 |
+
45,0.750000000,pose2-to-pose3-side,0.00455314182551,0.902942512859,0.00441708711249,0.873150612859
|
| 48 |
+
46,0.766666667,pose2-to-pose3-side,0.00464202027854,0.902942754745,0.00450746043843,0.873150854745
|
| 49 |
+
47,0.783333333,pose2-to-pose3-side,0.00472086441719,0.90294235086,0.00458763703573,0.87315042543
|
| 50 |
+
48,0.800000000,pose2-to-pose3-side,0.00478932326366,0.902942601247,0.00465728822828,0.873150575935
|
| 51 |
+
49,0.816666667,pose2-to-pose3-side,0.00485094496208,0.902942812969,0.00471994018363,0.87315074198
|
| 52 |
+
50,0.833333333,pose2-to-pose3-side,0.00490292402629,0.902942664617,0.00477279575719,0.873150632309
|
| 53 |
+
51,0.850000000,pose2-to-pose3-side,0.00494458484836,0.902942769148,0.00481515506789,0.873150669148
|
| 54 |
+
52,0.866666667,pose2-to-pose3-side,0.00497932255224,0.90294276189,0.00485049594252,0.87315066189
|
| 55 |
+
53,0.883333333,pose2-to-pose3-side,0.00500668105391,0.902942956427,0.00487833049652,0.87315088464
|
| 56 |
+
54,0.900000000,pose2-to-pose3-side,0.00502715639919,0.902943013681,0.00489914140638,0.873150992101
|
| 57 |
+
55,0.916666667,pose2-to-pose3-side,0.00504297967484,0.902942774039,0.00491518506742,0.873150659231
|
| 58 |
+
56,0.933333333,pose2-to-pose3-side,0.00505532367772,0.902943160289,0.0049277268858,0.873150986763
|
| 59 |
+
57,0.950000000,pose2-to-pose3-side,0.00506340359282,0.9029429,0.00493592610701,0.8731509
|
| 60 |
+
58,0.966666667,pose2-to-pose3-side,0.00506816668339,0.9029429,0.00494075583876,0.8731509
|
| 61 |
+
59,0.983333333,pose2-to-pose3-side,0.00507124311135,0.9029429,0.00494387138147,0.8731509
|
| 62 |
+
60,1.000000000,pose2-to-pose3-side,0.00507344341411,0.902942709173,0.00494611195546,0.873150609173
|
| 63 |
+
61,1.016666667,pose2-to-pose3-side,0.005074214,0.9029429,0.004946888,0.8731509
|
| 64 |
+
62,1.033333333,pose3-hold,0.005074214,0.9029429,0.004946885,0.8731509
|
| 65 |
+
63,1.050000000,pose3-hold,0.005074214,0.9029429,0.00494688085714,0.8731509
|
| 66 |
+
64,1.066666667,pose3-hold,0.005074214,0.9029429,0.00494687934286,0.8731509
|
| 67 |
+
65,1.083333333,pose3-hold,0.005074214,0.9029429,0.00494688045714,0.8731509
|
| 68 |
+
66,1.100000000,pose3-hold,0.005074214,0.9029429,0.00494688325714,0.8731509
|
| 69 |
+
67,1.116666667,pose3-hold,0.005074214,0.9029429,0.00494688685714,0.8731509
|
| 70 |
+
68,1.133333333,pose3-hold,0.005074214,0.9029429,0.00494689182857,0.8731509
|
| 71 |
+
69,1.150000000,pose3-hold,0.005074214,0.9029429,0.0049469016,0.8731509
|
| 72 |
+
70,1.166666667,pose3-hold,0.005074214,0.9029429,0.00494690462857,0.8731509
|
| 73 |
+
71,1.183333333,pose3-hold,0.005074214,0.9029429,0.00494690637143,0.8731509
|
| 74 |
+
72,1.200000000,pose3-hold,0.005074214,0.9029429,0.00494690942857,0.8731509
|
| 75 |
+
73,1.216666667,pose3-hold,0.005074214,0.9029429,0.00494691402857,0.8731509
|
| 76 |
+
74,1.233333333,pose3-hold,0.005074214,0.9029429,0.00494692148571,0.8731509
|
| 77 |
+
75,1.250000000,pose3-hold,0.005074214,0.9029429,0.00494692354286,0.8731509
|
| 78 |
+
76,1.266666667,pose3-hold,0.005074214,0.9029429,0.0049469234,0.8731509
|
| 79 |
+
77,1.283333333,pose3-hold,0.005074214,0.9029429,0.004946926,0.8731509
|
| 80 |
+
78,1.300000000,pose3-hold,0.005074214,0.9029429,0.00494692948571,0.8731509
|
| 81 |
+
79,1.316666667,pose3-hold,0.005074214,0.9029429,0.00494692791429,0.8731509
|
| 82 |
+
80,1.333333333,pose3-hold,0.005074214,0.9029429,0.00494692708571,0.8731509
|
| 83 |
+
81,1.350000000,pose3-hold,0.005074214,0.9029429,0.00494692625714,0.8731509
|
| 84 |
+
82,1.366666667,pose3-hold,0.005074214,0.9029429,0.00494692485714,0.8731509
|
| 85 |
+
83,1.383333333,pose3-hold,0.005074214,0.9029429,0.0049469224,0.8731509
|
| 86 |
+
84,1.400000000,pose3-hold,0.005074214,0.9029429,0.00494691931429,0.8731509
|
| 87 |
+
85,1.416666667,pose3-hold,0.005074214,0.9029429,0.00494691682857,0.8731509
|
| 88 |
+
86,1.433333333,pose3-hold,0.005074214,0.9029429,0.00494691434286,0.8731509
|
| 89 |
+
87,1.450000000,pose3-hold,0.005074214,0.9029429,0.00494691328571,0.8731509
|
| 90 |
+
88,1.466666667,pose3-hold,0.005074214,0.9029429,0.00494691082857,0.8731509
|
| 91 |
+
89,1.483333333,pose3-hold,0.005074214,0.9029429,0.00494690825714,0.8731509
|
| 92 |
+
90,1.500000000,pose3-hold,0.005074214,0.9029429,0.0049469068,0.8731509
|
| 93 |
+
91,1.516666667,pose3-hold,0.005074214,0.9029429,0.004946906,0.8731509
|
| 94 |
+
92,1.533333333,pose3-hold,0.005074214,0.9029429,0.004946906,0.8731509
|
| 95 |
+
93,1.550000000,pose3-hold,0.005074214,0.9029429,0.00494690531429,0.8731509
|
| 96 |
+
94,1.566666667,pose3-hold,0.005074214,0.9029429,0.00494690602857,0.8731509
|
| 97 |
+
95,1.583333333,pose3-hold,0.005074214,0.9029429,0.00494690665714,0.8731509
|
| 98 |
+
96,1.600000000,pose3-hold,0.005074214,0.9029429,0.00494690668571,0.8731509
|
| 99 |
+
97,1.616666667,pose3-hold,0.005074214,0.9029429,0.00494691,0.8731509
|
| 100 |
+
98,1.633333333,pose3-to-pose4-insert,0.005074237,0.9029432,0.004946909,0.8731511
|
| 101 |
+
99,1.650000000,pose3-to-pose4-insert,0.00507421441164,0.902943113122,0.00494688583245,0.873151042081
|
| 102 |
+
100,1.666666667,pose3-to-pose4-insert,0.00507418843246,0.902942667638,0.0049468642415,0.873150667638
|
| 103 |
+
101,1.683333333,pose3-to-pose4-insert,0.00507419561318,0.902942610949,0.00494687283946,0.873150610949
|
| 104 |
+
102,1.700000000,pose3-to-pose4-insert,0.00507423227998,0.902942277745,0.00494691681015,0.873150277745
|
| 105 |
+
103,1.716666667,pose3-to-pose4-insert,0.00507419443206,0.902941968081,0.00494687242487,0.873149968081
|
| 106 |
+
104,1.733333333,pose3-to-pose4-insert,0.00507417355718,0.902941797286,0.00494684794433,0.873149797286
|
| 107 |
+
105,1.750000000,pose3-to-pose4-insert,0.00507412222852,0.902941377324,0.0049467877498,0.873149377324
|
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+
106,1.766666667,pose3-to-pose4-insert,0.00507401197803,0.90294009269,0.00494666002915,0.87314809269
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107,1.783333333,pose3-to-pose4-insert,0.0050740066953,0.902939380671,0.00494665658389,0.873147380671
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108,1.800000000,pose3-to-pose4-insert,0.00507400161713,0.902938696222,0.00494665327204,0.873146696222
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109,1.816666667,pose3-to-pose4-insert,0.00507399686133,0.902938055223,0.00494665017043,0.873146055223
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110,1.833333333,pose3-to-pose4-insert,0.00507400783253,0.90293457983,0.0049466722331,0.873142530353
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111,1.850000000,pose3-to-pose4-insert,0.00507401828591,0.902922559946,0.00494667469229,0.873130459946
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112,1.866666667,pose3-to-pose4-insert,0.00507417602216,0.902897762043,0.00494684150632,0.873105662043
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113,1.883333333,pose3-to-pose4-insert,0.00507397954758,0.90285525946,0.00494664901389,0.873063109942
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114,1.900000000,pose3-to-pose4-insert,0.00507385517102,0.902792286354,0.00494650402612,0.873000086354
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115,1.916666667,pose3-to-pose4-insert,0.0050735978707,0.9027107973,0.00494619588775,0.872918502103
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116,1.933333333,pose3-to-pose4-insert,0.00507347078782,0.902617268913,0.00494607814802,0.872824926644
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117,1.950000000,pose3-to-pose4-insert,0.00507328860688,0.902515451907,0.00494586997683,0.872722974739
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118,1.966666667,pose3-to-pose4-insert,0.0050733113709,0.902398810366,0.00494591567885,0.87260630065
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119,1.983333333,pose3-to-pose4-insert,0.00507296590619,0.902267421383,0.00494553277154,0.8724747822
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120,2.000000000,pose3-to-pose4-insert,0.00507293393365,0.902123651222,0.00494548256346,0.872330884371
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121,2.016666667,pose3-to-pose4-insert,0.00507309364058,0.901966533654,0.00494563001302,0.872173639861
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122,2.033333333,pose3-to-pose4-insert,0.00507348517738,0.901792382822,0.00494601610334,0.871999360431
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123,2.050000000,pose3-to-pose4-insert,0.00507404634717,0.901607762903,0.00494657057514,0.871814563853
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124,2.066666667,pose3-to-pose4-insert,0.00507454543402,0.901422788514,0.0049470510346,0.871629418507
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125,2.083333333,pose3-to-pose4-insert,0.00507491371829,0.901243564542,0.00494741190826,0.871450001042
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126,2.100000000,pose3-to-pose4-insert,0.0050753637862,0.901059366737,0.00494789109967,0.871265674638
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127,2.116666667,pose3-to-pose4-insert,0.00507529851082,0.900872424914,0.00494784570279,0.871078524914
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128,2.133333333,pose3-to-pose4-insert,0.00507579301783,0.900684769817,0.00494836185834,0.87089084478
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129,2.150000000,pose3-to-pose4-insert,0.00507595475536,0.900494827371,0.00494857580572,0.870700611544
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130,2.166666667,pose3-to-pose4-insert,0.00507600913023,0.900293240667,0.00494862483763,0.870498911408
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131,2.183333333,pose3-to-pose4-insert,0.00507561704402,0.900089298893,0.00494822398939,0.870294854145
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132,2.200000000,pose3-to-pose4-insert,0.00507528308479,0.899890076021,0.00494791581676,0.87009540029
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133,2.216666667,pose3-to-pose4-insert,0.00507482620021,0.899698858001,0.00494749258558,0.869903988123
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134,2.233333333,pose3-to-pose4-insert,0.00507443960912,0.899512384897,0.00494715001435,0.869717404087
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135,2.250000000,pose3-to-pose4-insert,0.00507471579919,0.899334711567,0.00494737569799,0.869539621864
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136,2.266666667,pose3-to-pose4-insert,0.00507448971236,0.899166372203,0.00494713403138,0.869371175747
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137,2.283333333,pose3-to-pose4-insert,0.00507468155332,0.899004622034,0.00494727717025,0.869209222034
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138,2.300000000,pose3-to-pose4-insert,0.00507471384999,0.898853116692,0.00494729569557,0.869057694758
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139,2.316666667,pose3-to-pose4-insert,0.00507486954452,0.898711619042,0.00494741585242,0.868916001994
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140,2.333333333,pose3-to-pose4-insert,0.00507482998874,0.898580164402,0.00494739580362,0.868784441575
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141,2.350000000,pose3-to-pose4-insert,0.00507478711068,0.898459056009,0.00494731122329,0.868663228242
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142,2.366666667,pose3-to-pose4-insert,0.0050748399476,0.898350468965,0.00494735117273,0.868554538133
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143,2.383333333,pose3-to-pose4-insert,0.0050749221392,0.898251932004,0.0049474308718,0.868455932004
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144,2.400000000,pose3-to-pose4-insert,0.00507484624116,0.898168860016,0.00494736194016,0.868372829916
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145,2.416666667,pose3-to-pose4-insert,0.00507481595344,0.898094917867,0.00494731949054,0.868298817867
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146,2.433333333,pose3-to-pose4-insert,0.00507491169747,0.898030024887,0.00494738272484,0.868233924887
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147,2.450000000,pose3-to-pose4-insert,0.00507516076086,0.897974111333,0.00494763631303,0.868177997529
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148,2.466666667,pose3-to-pose4-insert,0.00507516413768,0.89792549681,0.00494764032299,0.86812929681
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149,2.483333333,pose3-to-pose4-insert,0.00507497470821,0.897880235568,0.00494741790274,0.868084023916
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150,2.500000000,pose3-to-pose4-insert,0.0050749271319,0.89784404852,0.0049474010767,0.86804774852
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151,2.516666667,pose3-to-pose4-insert,0.00507493219211,0.897815765521,0.00494739627034,0.868019452817
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152,2.533333333,pose3-to-pose4-insert,0.00507498014903,0.897793728866,0.00494742108518,0.867997328866
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153,2.550000000,pose3-to-pose4-insert,0.00507513517724,0.897778580395,0.00494755130888,0.867982180395
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154,2.566666667,pose3-to-pose4-insert,0.00507485933704,0.897767363881,0.00494726837697,0.867971050882
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155,2.583333333,pose3-to-pose4-insert,0.00507507743737,0.897757703006,0.00494749659597,0.867961403006
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156,2.600000000,pose3-to-pose4-insert,0.005075133095,0.89775153846,0.0049475622036,0.86795514027
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157,2.616666667,pose3-to-pose4-insert,0.00507510376057,0.897747774772,0.0049475360091,0.867951474772
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158,2.633333333,pose3-to-pose4-insert,0.005075029,0.897746,0.004947475,0.8679496
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159,2.650000000,pose4-hold,0.005075029,0.897746,0.004947481,0.8679496
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160,2.666666667,pose4-hold,0.005075029,0.897746,0.00494747934286,0.8679496
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161,2.683333333,pose4-hold,0.005075029,0.897746,0.00494747768571,0.8679496
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162,2.700000000,pose4-hold,0.005075029,0.897746,0.004947477,0.8679496
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163,2.716666667,pose4-hold,0.005075029,0.897746,0.004947477,0.8679496
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164,2.733333333,pose4-hold,0.005075029,0.897746,0.00494747714286,0.8679496
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165,2.750000000,pose4-hold,0.005075029,0.897746,0.00494747797143,0.8679496
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166,2.766666667,pose4-hold,0.005075029,0.897746,0.0049474772,0.8679496
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167,2.783333333,pose4-hold,0.005075029,0.897746,0.00494747762857,0.8679496
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168,2.800000000,pose4-hold,0.005075029,0.897746,0.00494747845714,0.8679496
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169,2.816666667,pose4-hold,0.005075029,0.897746,0.00494747928571,0.8679496
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170,2.833333333,pose4-hold,0.005075029,0.897746,0.00494748011429,0.8679496
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171,2.850000000,pose4-hold,0.005075029,0.897746,0.00494748094286,0.8679496
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172,2.866666667,pose4-hold,0.005075029,0.897746,0.004947481,0.8679496
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173,2.883333333,pose4-hold,0.005075029,0.897746,0.0049474816,0.8679496
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174,2.900000000,pose4-hold,0.005075029,0.897746,0.004947482,0.8679496
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175,2.916666667,pose4-hold,0.005075029,0.897746,0.00494748225714,0.8679496
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176,2.933333333,pose4-hold,0.005075029,0.897746,0.00494748308571,0.8679496
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177,2.950000000,pose4-hold,0.005075029,0.897746,0.00494748391429,0.8679496
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178,2.966666667,pose4-hold,0.005075029,0.897746,0.004947484,0.8679496
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179,2.983333333,pose4-hold,0.005075029,0.897746,0.00494748342857,0.8679496
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180,3.000000000,pose4-hold,0.005075029,0.897746,0.004947483,0.8679496
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181,3.016666667,pose4-hold,0.005075029,0.897746,0.004947483,0.8679496
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182,3.033333333,pose4-hold,0.005075029,0.897746,0.00494748294286,0.8679496
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183,3.050000000,pose4-hold,0.005075029,0.897746,0.00494748211429,0.8679496
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184,3.066666667,pose4-hold,0.005075029,0.897746,0.004947482,0.8679496
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185,3.083333333,pose4-hold,0.005075029,0.897746,0.00494748145714,0.8679496
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186,3.100000000,pose4-hold,0.005075029,0.897746,0.00494748062857,0.8679496
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187,3.116666667,pose4-hold,0.005075029,0.897746,0.0049474798,0.8679496
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188,3.133333333,pose4-hold,0.005075029,0.897746,0.004947479,0.8679496
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189,3.150000000,pose4-hold,0.005075029,0.897746,0.004947479,0.8679496
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190,3.166666667,pose4-hold,0.005075029,0.897746,0.00494747831429,0.8679496
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191,3.183333333,pose4-hold,0.005075029,0.897746,0.00494747748571,0.8679496
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192,3.200000000,pose4-hold,0.005075029,0.897746,0.004947477,0.8679496
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193,3.216666667,pose4-hold,0.005075029,0.897746,0.004947477,0.8679496
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194,3.233333333,pose4-hold,0.005075029,0.897746,0.004947477,0.8679496
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195,3.250000000,pose4-to-pose5-return,0.005075029,0.897746,0.004947461,0.8679496
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196,3.266666667,pose4-to-pose5-return,0.00507465371745,0.897746314141,0.00494711718357,0.867949930447
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197,3.283333333,pose4-to-pose5-return,0.00507441412873,0.897746551358,0.00494684946775,0.867950201552
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198,3.300000000,pose4-to-pose5-return,0.00507434323513,0.897746621549,0.00494677025142,0.867950281771
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199,3.316666667,pose4-to-pose5-return,0.00507392966834,0.897747028686,0.00494632152358,0.867950728686
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200,3.333333333,pose4-to-pose5-return,0.005072741257,0.897748184353,0.00494511385112,0.867951884353
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201,3.350000000,pose4-to-pose5-return,0.0050721739492,0.897748743692,0.00494453767457,0.867952442444
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202,3.366666667,pose4-to-pose5-return,0.00507208338305,0.897748850492,0.0049444464371,0.867952546192
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Free/digit/cylinder_15A_12.5/width_05/pick/camera_frames_60hz.tar
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ADDED
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|
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|
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| 206 |
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| 207 |
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| 208 |
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|
Free/digit/cylinder_15A_12.5/width_05/pick/simulation_data.csv
ADDED
|
@@ -0,0 +1,208 @@
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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,7.475617e-05,0.8649433,-0.0001350064,0.8351285
|
| 3 |
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1,0.016666667,pose1-to-pose2-lift,7.46389050341e-05,0.864943616618,-0.000135171232056,0.835128877745
|
| 4 |
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2,0.033333333,pose1-to-pose2-lift,7.47097046521e-05,0.86494463993,-0.000135089024911,0.83512983993
|
| 5 |
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3,0.050000000,pose1-to-pose2-lift,7.4731058119e-05,0.864944844241,-0.000135074752296,0.835130044241
|
| 6 |
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|
| 7 |
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|
| 8 |
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6,0.100000000,pose1-to-pose2-lift,7.46471360161e-05,0.86494613357,-0.000135180999847,0.835131400253
|
| 9 |
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|
| 10 |
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|
| 11 |
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9,0.150000000,pose1-to-pose2-lift,7.46645961387e-05,0.864948093604,-0.000135161949015,0.835133328665
|
| 12 |
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10,0.166666667,pose1-to-pose2-lift,7.46811391249e-05,0.86494841052,-0.000135144008845,0.835133631801
|
| 13 |
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11,0.183333333,pose1-to-pose2-lift,7.4723603352e-05,0.864949522925,-0.000135093799201,0.835134741801
|
| 14 |
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12,0.200000000,pose1-to-pose2-lift,7.47426193664e-05,0.864950223291,-0.000135068501111,0.835135463391
|
| 15 |
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13,0.216666667,pose1-to-pose2-lift,7.47518110001e-05,0.864950561823,-0.000135056272955,0.835135812181
|
| 16 |
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14,0.233333333,pose1-to-pose2-lift,7.47748544827e-05,0.864951410522,-0.000135025616894,0.835136686599
|
| 17 |
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15,0.250000000,pose1-to-pose2-lift,7.47958498848e-05,0.86495218379,-0.00013499768551,0.835137483299
|
| 18 |
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16,0.266666667,pose1-to-pose2-lift,7.47100251482e-05,0.864954413054,-0.00013508065509,0.835139663875
|
| 19 |
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17,0.283333333,pose1-to-pose2-lift,7.45904129008e-05,0.864958029581,-0.000135210383731,0.835143254203
|
| 20 |
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18,0.300000000,pose1-to-pose2-lift,7.45153075648e-05,0.864963071325,-0.000135324505144,0.835148371325
|
| 21 |
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19,0.316666667,pose1-to-pose2-lift,7.46889165066e-05,0.86497252712,-0.000135137266297,0.835157798108
|
| 22 |
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20,0.333333333,pose1-to-pose2-lift,7.48832616629e-05,0.864987308455,-0.000134918410476,0.835172578355
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| 23 |
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21,0.350000000,pose1-to-pose2-lift,7.47683182315e-05,0.86500918901,-0.000135054178134,0.83519448901
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| 24 |
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22,0.366666667,pose1-to-pose2-lift,7.45418028875e-05,0.86503943086,-0.000135274216507,0.83522473086
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| 25 |
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| 26 |
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24,0.400000000,pose1-to-pose2-lift,7.46861985758e-05,0.865114505118,-0.000135127109536,0.835299835386
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| 27 |
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25,0.416666667,pose1-to-pose2-lift,7.46571932838e-05,0.865157588724,-0.000135172367131,0.835342984133
|
| 28 |
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26,0.433333333,pose1-to-pose2-lift,7.47493487293e-05,0.865205074324,-0.000135065921412,0.835390474324
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| 29 |
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27,0.450000000,pose1-to-pose2-lift,7.46425370992e-05,0.865258083522,-0.000135172725908,0.835443483522
|
| 30 |
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28,0.466666667,pose1-to-pose2-lift,7.45782073218e-05,0.865323128019,-0.000135214381002,0.835508578249
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| 31 |
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29,0.483333333,pose1-to-pose2-lift,7.45304543871e-05,0.865401478168,-0.000135267233897,0.835586896721
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| 32 |
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30,0.500000000,pose1-to-pose2-lift,7.46188504799e-05,0.865493036079,-0.000135172167345,0.835678436079
|
| 33 |
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31,0.516666667,pose1-to-pose2-lift,7.46054261035e-05,0.865597782519,-0.000135173518901,0.835783234404
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| 34 |
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32,0.533333333,pose1-to-pose2-lift,7.4555041928e-05,0.865713185441,-0.00013522738088,0.835898685441
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| 35 |
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33,0.550000000,pose1-to-pose2-lift,7.43401380494e-05,0.86583608038,-0.000135458111839,0.83602168038
|
| 36 |
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34,0.566666667,pose1-to-pose2-lift,7.43582828571e-05,0.865968477079,-0.000135424941069,0.83615411765
|
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Free/digit/cylinder_15A_12.5/width_06/insert/camera_frames_60hz.tar
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