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b/Obstacle_avoidance/ball_0050_20/position_08/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a053039d5871f39acd84a475ff5198f5f6fbbbb77d1ef100a4aca2aa52b9d34e +size 24946089 diff --git a/Obstacle_avoidance/ball_0050_20/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_20/position_08/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..742ea09c8a9a154546c4333d97b96e195f078c9f --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_08/depth_02/franka_data.csv @@ -0,0 +1,394 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+66,1.100000000,BASELINE,764,741.295428562,712,670.295428562,660.295428562,632,876,782,799,648,626,648,0.400965907837,-0.0153740821898,0.0798398762939,0.999999931104,0.000247986062256,-0.000275206072646,2.35983212224e-05,1793190107433836544 +67,1.116666667,BASELINE,764,741.877592453,712,670.877592453,660.877592453,632,876,782,799,648,626,648,0.400967244911,-0.0153735319653,0.0798401502861,0.999999931119,0.000249585272737,-0.000273655168869,2.41119496706e-05,1793190107450503168 +68,1.133333333,BASELINE,763.542724929,742,712,670.542724929,660.542724929,632,876,782,799,648.457275071,625.542724929,648,0.400966484635,-0.015373091486,0.0798394498759,0.999999930592,0.000250368665826,-0.000274869538337,2.40400533318e-05,1793190107467169792 +69,1.150000000,BASELINE,763.03598146,741.96401854,711.96401854,670,660,632,876,782,798.96401854,649,625,648,0.400965308199,-0.0153727458923,0.0798386033184,0.999999930001,0.000250811482143,-0.000276629169237,2.38150596458e-05,1793190107483836416 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a/Obstacle_avoidance/ball_0050_20/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_20/position_08/depth_05/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..48bf6414dae32abf435627b6532cf2da16601ddf --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_08/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23845cd8b02e24966318e65914d0e746103cbeffad679585f4e8ad22d2cda954 +size 25476043 diff --git a/Obstacle_avoidance/ball_0050_20/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_20/position_08/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d44aef8de537b2b822117a38c60457257e10f079 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_08/depth_05/franka_data.csv @@ -0,0 +1,402 @@ 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a/Obstacle_avoidance/ball_0050_20/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_20/position_09/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..1a4f7e32a0f735d74658448c9eaa13b3a5eb58bb --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_09/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5ccbd53d66adeefef478fc13c1375b0a7c4ad9fa89d98c6169a22ec442c3774 +size 24651298 diff --git a/Obstacle_avoidance/ball_0050_20/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_20/position_09/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..a7368246321b8ed36d44485ad4ed284e12f91099 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_09/depth_01/franka_data.csv @@ -0,0 +1,389 @@ 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0000000000000000000000000000000000000000..de781fc04dbffb428a44635c6830b9b1afdf452f --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_09/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eceb530d722964918deca1012bcfca34f0223d406b32316c2230081ebad016ff +size 25301492 diff --git a/Obstacle_avoidance/ball_0050_20/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_20/position_09/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..13eea17a786444785f8a5380accdb63e55a258dc --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_09/depth_04/franka_data.csv @@ -0,0 +1,399 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+34,0.566666667,BASELINE,765,742,711,670.724783393,664.724783393,632,876,781,798,650,626.724783393,648.724783393,0.400950945616,0.00453348870128,0.059841807953,0.999999951871,0.000161140940315,-0.000264444732988,1.89991008128e-05,1793190162736321536 +35,0.583333333,BASELINE,764.701416605,742,710.701416605,670.701416605,665,632,876,781,798,650,626.402833211,649,0.400951709342,0.00453365822788,0.0598426774593,0.999999952174,0.00016192208792,-0.000262823716406,1.88874667422e-05,1793190162752988416 +36,0.600000000,BASELINE,764.129558155,742,710.129558155,670.129558155,665,632,876,781,798,650,625.25911631,649,0.40095381561,0.00453238499815,0.0598445182329,0.999999953128,0.000161799615877,-0.000259214883325,1.92845628518e-05,1793190162769655040 +37,0.616666667,BASELINE,764,742,710.458224187,670,665,632,876.458224187,781,798.458224187,650,625.458224187,649,0.400952620034,0.00453220850676,0.059843555092,0.999999952564,0.000161891841844,-0.00026131518183,1.94115003538e-05,1793190162786321664 +38,0.633333333,BASELINE,764,742,710.950288672,670.049711328,665,632,876.950288672,781.049711328,798.950288672,650,626,649,0.400950600604,0.00453230143651,0.059841933357,0.999999951646,0.00016191728642,-0.000264787217938,1.94629103432e-05,1793190162802988544 +39,0.650000000,BASELINE,764,742,710.36906132,670.63093868,665,632,876.36906132,781.63093868,798.36906132,650,626,649,0.400950113557,0.0045318401509,0.0598420514897,0.999999951795,0.000160556287423,-0.000265045488939,1.95528873751e-05,1793190162819655168 +40,0.666666667,BASELINE,764,742,710.209395522,671,665,632,876,781.790604478,798,650,626,649,0.400949984482,0.0045320996886,0.0598422001896,0.999999951867,0.000160262576469,-0.000264953349449,1.95385903075e-05,1793190162836321536 +41,0.683333333,BASELINE,764,742,710.783033047,671,665,632,876,781.216966953,798,650,626,649,0.400950478094,0.00453361309329,0.0598424020611,0.999999951805,0.000161825405462,-0.000264251673417,1.93429091895e-05,1793190162852988160 +42,0.700000000,BASELINE,764,742,711,671.357572811,664.642427189,631.642427189,876.357572811,781.357572811,798.357572811,650,626,649,0.400951127957,0.00453435725497,0.0598424820812,0.999999951891,0.000162827540091,-0.000263311635052,1.93173141326e-05,1793190162869654784 +43,0.716666667,BASELINE,764,742,711,671.932661395,664.067338605,631.067338605,876.932661395,781.932661395,798.932661395,650,626,649,0.400951872869,0.00453463347695,0.0598424879777,0.999999952066,0.000163488597643,-0.000262226598085,1.93951844474e-05,1793190162886321664 +44,0.733333333,BASELINE,764,742,711,671.475800328,664.524199672,631.524199672,876.475800328,781.475800328,798.475800328,649.475800328,626,649,0.40095161175,0.00453330196651,0.0598429421148,0.999999952413,0.000160866743461,-0.000262526873778,1.93803613102e-05,1793190162902988544 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@@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8ab28044d1dc70e62f95fe10723f3d244207e66576d8a2cf1f3ac28d0d018dd +size 24500370 diff --git a/Obstacle_avoidance/ball_0050_20/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_20/position_10/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..5b0db376956e7e36c02d762694cd0f3faefb8af2 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_10/depth_01/franka_data.csv @@ -0,0 +1,388 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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b/Obstacle_avoidance/ball_0050_20/position_10/depth_04/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..3baee49dc1553981dc0af55aa60bc86155d67d3f --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_10/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32aff934fea66d6d2e3ad517acf18ca15f06732a28301ed84a5f55829128c0ed +size 25137009 diff --git a/Obstacle_avoidance/ball_0050_20/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_20/position_10/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..32b0725a08639d28c27b4fe685676e764721bd76 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_10/depth_04/franka_data.csv @@ -0,0 +1,398 @@ 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b/Obstacle_avoidance/ball_0050_20/position_11/depth_01/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..733b3632abcb5de5f028645277a5b78d7c090347 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_11/depth_01/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25367525b4309eec8cea4cf4c897f40e17d283482028f88849c994345306ee83 +size 24698670 diff --git a/Obstacle_avoidance/ball_0050_20/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_20/position_11/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..d532454ea904f067ef8b9ee4cff53379bed1b473 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_11/depth_01/franka_data.csv @@ -0,0 +1,390 @@ 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+48,0.800000000,BASELINE,764,742,711.829466566,671.170533434,664,632,877.170533434,782,798.829466566,650,626.829466566,649,0.40095271864,0.00447678207796,0.0698233400333,0.999999957346,4.88359262797e-05,-0.000286559193588,2.839298926e-05,1793190233197170176 +49,0.816666667,BASELINE,764.41675301,742,711.58324699,671,663.58324699,632,877,781.58324699,799,649.58324699,627,649,0.400953071572,0.00447699398674,0.0698232835635,0.999999957229,5.10930849563e-05,-0.000286552710614,2.8603170175e-05,1793190233213836800 +50,0.833333333,BASELINE,764.989254513,741.989254513,711,671,663.010745487,632,877,781.010745487,798.989254513,649.010745487,626.989254513,649,0.400953966186,0.00447701549159,0.069823393468,0.999999957178,5.40916694408e-05,-0.000286148865514,2.89259424205e-05,1793190233230503168 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+1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe08959969d1795be808110686322b42448c41f6d2e32e9b3ad3a23c17524ab5 +size 24971341 diff --git a/Obstacle_avoidance/ball_0050_20/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_20/position_12/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..3b6673df8375738ed8e02f9782643f892806b6fb --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_12/depth_03/franka_data.csv @@ -0,0 +1,396 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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0000000000000000000000000000000000000000..b7ad4c839a595edef372f5062b6363be7bfdece1 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_12/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef354ae496874cbc8ab337f7ed9c22ea031fdf7275f82fda4b0e364e2e2f1bd2 +size 25228146 diff --git a/Obstacle_avoidance/ball_0050_20/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_20/position_12/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..4be53ee5cf819ae6260810ac5c33c123fc780314 --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_12/depth_04/franka_data.csv @@ -0,0 +1,400 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+54,0.900000000,BASELINE,764,741.34115927,711,671.65884073,662,631.65884073,876.34115927,781,798,649,626,648.34115927,0.400952871305,0.00446052979839,0.079830549273,0.999999956406,4.61700405051e-05,-0.000289048295449,3.88353591331e-05,1793190261588153088 +55,0.916666667,BASELINE,764,741.915491044,711,671.084508956,662,631.084508956,876.915491044,781,798,649,626,648.915491044,0.400953489277,0.00446063521771,0.0798311381168,0.99999995672,4.77703874004e-05,-0.00028769053609,3.88755833659e-05,1793190261604819712 +56,0.933333333,BASELINE,763.509279776,741.509279776,711,671,661.509279776,631.490720224,877,781.490720224,798,649.490720224,626,649,0.400953044102,0.00446107176988,0.0798306970547,0.999999956615,4.75841927001e-05,-0.000288121250793,3.86280564657e-05,1793190261621486336 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+71,1.183333333,BASELINE,764,741,711,671.79004544,662,632,876,781,798,649,626,648.20995456,0.400952533469,0.0044605163539,0.0798305797574,0.999999956383,4.5065092644e-05,-0.000289395820167,3.81222994251e-05,1793190261871486464 +72,1.200000000,BASELINE,764,741,711,671.21050862,662,632,876,781,798,649,626,648.78949138,0.400951725678,0.00446058848108,0.079829857524,0.999999956368,4.47283332636e-05,-0.000289488061441,3.82031166698e-05,1793190261888153088 +73,1.216666667,BASELINE,763.632813593,741.367186407,710.632813593,671.367186407,662,632,876.367186407,781.367186407,798,649,626,649,0.400951461033,0.00446128259888,0.0798296372978,0.999999956246,4.48454504677e-05,-0.000289897019809,3.81591663979e-05,1793190261904819712 +74,1.233333333,BASELINE,763.056169234,741.943830766,710.056169234,671.943830766,662,632,876.943830766,781.943830766,798,649,626,649,0.400951506222,0.00446233152525,0.079829703437,0.999999956063,4.52214772228e-05,-0.000290486646389,3.80440436916e-05,1793190261921486336 +75,1.250000000,BASELINE,763.516272934,742,710,671.483727066,662.516272934,632,877.516272934,781.483727066,798,649,626,649,0.400951766506,0.00446180084757,0.0798303691184,0.99999995638,4.53022465679e-05,-0.000289358751955,3.81925369085e-05,1793190261938153216 +76,1.266666667,BASELINE,764,741.908468035,710.091531965,671,662.908468035,632,877.908468035,781.091531965,798.091531965,649,626,649,0.4009521748,0.00446116475415,0.0798310925925,0.999999956719,4.54076283312e-05,-0.000288147217145,3.83516096385e-05,1793190261954819840 +77,1.283333333,BASELINE,764,741.315285468,710.684714532,671,662.315285468,632,877.315285468,781.684714532,798.684714532,649,626,649,0.400953267062,0.00446088519496,0.0798317781989,0.999999956886,4.58225346805e-05,-0.000287493131394,3.84127456209e-05,1793190261971486464 +78,1.300000000,BASELINE,764,741.271189879,711,671.271189879,662,632,876.728810121,782,798.728810121,649,626,649,0.400953181596,0.00446107441156,0.0798314765052,0.999999956695,4.56031353551e-05,-0.000288214799954,3.82412863989e-05,1793190261988153088 +79,1.316666667,BASELINE,764,741.850055576,711,671.850055576,662,632,876.149944424,782,798.149944424,649,626,649,0.400951759949,0.00446179547314,0.0798300546801,0.999999956094,4.46640907181e-05,-0.000290497317118,3.78059385644e-05,1793190262004819968 +80,1.333333333,BASELINE,764,742,711,672,662,631.574227887,876,782,798.425772113,649,626,649,0.400951695102,0.00446117253336,0.0798301046879,0.999999956067,4.47413407382e-05,-0.000290549513162,3.80038631306e-05,1793190262021486336 +81,1.350000000,BASELINE,764,742,711,671.999611793,662,631.000388207,876,781.999611793,798.999611793,649,626,649,0.40095210412,0.00446008004237,0.0798306690148,0.999999956243,4.51728571951e-05,-0.00028982232416,3.84228292278e-05,1793190262038152704 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+85,1.416666667,BASELINE,764,741.67008656,711,671,662,631.67008656,877.67008656,782,798,649.67008656,626.67008656,648.32991344,0.400950482931,0.0044589785463,0.0798296333968,0.999999955988,4.39526728291e-05,-0.000290860310103,3.86217154625e-05,1793190262104819456 +86,1.433333333,BASELINE,764,741.093154202,711,671,662,631.093154202,877.093154202,782,798,649.093154202,626.093154202,648.906845798,0.400951819072,0.00446007955804,0.0798303155191,0.999999956188,4.60691092388e-05,-0.000289866802706,3.84647840293e-05,1793190262121486336 +87,1.450000000,BASELINE,764,741.482637773,711,671.482637773,662,631.482637773,877,782,798,649,626,649,0.400951475659,0.00446088232764,0.079829910835,0.999999956059,4.73586730695e-05,-0.000290099174295,3.84911340809e-05,1793190262138152960 +88,1.466666667,BASELINE,764,742,711,671.940501634,662,632,877,782,798,649,626,649,0.400950973892,0.00446149524025,0.0798294472988,0.999999955926,4.82397459929e-05,-0.000290407755796,3.85368345939e-05,1793190262154819584 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0000000000000000000000000000000000000000..7a1703b03d7caae8b4f17bb3859ae33d471e340b --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_12/depth_05/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7aca7bf6f960f9b825fdb923534a5dade19ec14128623e9e1df80ca8d28aff81 +size 25412272 diff --git a/Obstacle_avoidance/ball_0050_20/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_20/position_12/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..7e914f574eb7ba9fcd795a25bed1c1290868b2dc --- /dev/null +++ b/Obstacle_avoidance/ball_0050_20/position_12/depth_05/franka_data.csv @@ -0,0 +1,403 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+23,0.383333333,BASELINE,771.357179486,749,727,703,671,641.357179486,895,793,823,653.357179486,634,654,0.400775558617,-0.00544890931393,0.0598690558719,0.999999932081,-9.1280710886e-05,-0.000355429513746,-3.42982847899e-05,1793253064237732864 +24,0.400000000,BASELINE,771.932686162,749,727,703,671,641.932686162,895,793,823,653.932686162,634,654,0.400777266716,-0.00544934181016,0.0598704277724,0.999999932602,-9.24187713381e-05,-0.000353671163953,-3.42256838572e-05,1793253064254399744 +25,0.416666667,BASELINE,771.49252469,749,727,703,671,641.49252469,895,793,823,653.49252469,634.50747531,654,0.400775668822,-0.00544859228139,0.0598692896851,0.999999932089,-9.02372503438e-05,-0.000355656892756,-3.44457292135e-05,1793253064271066368 +26,0.433333333,BASELINE,771,749,727,703,671.084561828,641,895,793,823,653,634.915438172,654.084561828,0.40077395733,-0.00544814810367,0.0598681232682,0.999999931547,-8.84481777481e-05,-0.000357609363754,-3.46277100481e-05,1793253064287732992 +27,0.450000000,BASELINE,771,749,727,703,671.675988737,641,895,793,823,653,634.324011263,654.675988737,0.400774189725,-0.00545047267541,0.0598687798505,0.999999931704,-9.1647032431e-05,-0.00035638987215,-3.43491846989e-05,1793253064304399616 +28,0.466666667,BASELINE,771,749,727,703,671.748303277,641.251696723,895,793,822.748303277,653.251696723,634.251696723,655,0.400773894516,-0.00545131439046,0.0598686336446,0.999999931484,-9.33411050535e-05,-0.000356573306949,-3.42640738937e-05,1793253064321066240 +29,0.483333333,BASELINE,771,749,727,703,671.191640987,641.808359013,895,793,822.191640987,653.808359013,634.808359013,655,0.40077296004,-0.00545035941837,0.0598675147489,0.999999930818,-9.32119248569e-05,-0.000358456582166,-3.441331171e-05,1793253064337732608 +30,0.500000000,BASELINE,771,749,727,703,671.392369155,642,895,793,822.392369155,653.607630845,635,654.607630845,0.40077312722,-0.00544983406584,0.0598677655647,0.999999931092,-9.15031923191e-05,-0.000358139817079,-3.43410608115e-05,1793253064354399488 +31,0.516666667,BASELINE,771,749,727,703,671.990737262,642,895,793,822.990737262,653.009262738,635,654.009262738,0.400773872784,-0.00544953426924,0.0598687354972,0.999999931853,-8.89651740945e-05,-0.000356668001922,-3.41525254289e-05,1793253064371066368 +32,0.533333333,BASELINE,771.578794151,749,727,703,671.421205849,642,895,793.578794151,823,653,635,654,0.400773782574,-0.00545031912849,0.0598686050566,0.999999931764,-8.9933054027e-05,-0.000356702000186,-3.38881606895e-05,1793253064387732992 +33,0.550000000,BASELINE,772,749,727,703,671,642,895,794,823,653,635,654,0.400773797825,-0.00545100455763,0.0598686011102,0.999999931677,-9.1385553757e-05,-0.000356586484511,-3.37803456598e-05,1793253064404400128 +34,0.566666667,BASELINE,772,749,727,703,671,642,895,794,823,653,635,654,0.400774112772,-0.00545139564208,0.0598689605212,0.999999931629,-9.39233434967e-05,-0.000356033334367,-3.40711285145e-05,1793253064421067008 +35,0.583333333,BASELINE,772,749.320810974,727,703,671,642,895,793.679189026,823,653.320810974,635,654.320810974,0.400773876044,-0.00545066240021,0.0598686251131,0.999999931529,-9.3176264374e-05,-0.000356497623803,-3.42105413704e-05,1793253064437733632 +36,0.600000000,BASELINE,772,749.897673536,727,703,671,642,895,793.102326464,823,653.897673536,635,654.897673536,0.400773199002,-0.00544903179027,0.059867735143,0.99999993138,-8.98074052343e-05,-0.000357773970872,-3.42291400347e-05,1793253064454400512 +37,0.616666667,BASELINE,771.525221055,749.525221055,727,703,671,641.525221055,894.525221055,793.474778945,823,653.525221055,634.525221055,655,0.400774759313,-0.00544886127994,0.059868821481,0.999999931965,-9.05459084968e-05,-0.000355947607858,-3.42479614399e-05,1793253064471066880 +38,0.633333333,BASELINE,771,749,727,703,671,641.052843004,894.052843004,793.947156996,823,653,634.052843004,654.947156996,0.400776511684,-0.00544912695015,0.0598701184771,0.999999932583,-9.2069173349e-05,-0.000353812817355,-3.42486545526e-05,1793253064487733248 +39,0.650000000,BASELINE,771,749,727,703,671,641.640072455,894.640072455,793.359927545,823,653,634.640072455,654.359927545,0.400775327407,-0.0054506196205,0.0598692361582,0.999999932007,-9.257177881e-05,-0.00035532492007,-3.40655356332e-05,1793253064504399872 +40,0.666666667,BASELINE,771,749,727,703,671,642,895,793.223952754,823,653,634.776047246,654,0.400775091067,-0.00545143521662,0.0598689155452,0.999999931826,-9.2677674431e-05,-0.000355817848918,-3.39455574768e-05,1793253064521066496 +41,0.683333333,BASELINE,771,749,727,703,671,642,895,793.80252971,823,653,634.19747029,654,0.400776355765,-0.00545117868067,0.059869484381,0.999999932273,-9.21553888173e-05,-0.000354696938532,-3.39255613246e-05,1793253064537733376 +42,0.700000000,BASELINE,771,749,727,703,671,641.621750063,894.621750063,793.621750063,823,653.378249937,634.378249937,654,0.400776071631,-0.00545114537827,0.0598697718691,0.999999932307,-9.19492990254e-05,-0.000354653260977,-3.3944405735e-05,1793253064554400000 +43,0.716666667,BASELINE,771,749,727,703,671,641.047510067,894.047510067,793.047510067,823,653.952489933,634.952489933,654,0.40077498497,-0.00545122774425,0.059869913577,0.999999932127,-9.19070459929e-05,-0.000355167751232,-3.39833753683e-05,1793253064571066624 +44,0.733333333,BASELINE,771.529600671,749,727,703,671,641,894.529600671,793,823,653.470399329,635,654,0.400774417423,-0.00545062638838,0.0598694327002,0.999999931914,-9.19404413894e-05,-0.000355765610502,-3.39028280384e-05,1793253064587733504 +45,0.750000000,BASELINE,772,749,727,703,671.109348877,641.109348877,895,793,823,653,634.890651123,654,0.400774057119,-0.00545017301747,0.0598690152235,0.999999931688,-9.23575864813e-05,-0.000356294812242,-3.38798414657e-05,1793253064604400128 +46,0.766666667,BASELINE,772,749,727,703,671.699556455,641.699556455,895,793,823,653,634.300443545,654,0.400774402259,-0.00545064160074,0.0598691234913,0.999999931416,-9.44322548774e-05,-0.000356489026374,-3.41573824526e-05,1793253064621066752 +47,0.783333333,BASELINE,771.715582134,749,727,703,671.715582134,641.715582134,895,793.284417866,823,653,634,654.284417866,0.400774665948,-0.00545055300203,0.0598689558195,0.999999931353,-9.47787670477e-05,-0.000356545937588,-3.44275416759e-05,1793253064637733376 +48,0.800000000,BASELINE,771.136263859,749,727,703,671.136263859,641.136263859,895,793.863736141,823,653,634,654.863736141,0.400774845184,-0.00544988668583,0.059868502038,0.999999931511,-9.3333430083e-05,-0.000356460485453,-3.46900471061e-05,1793253064654400000 +49,0.816666667,BASELINE,771.440033089,749,727,703,671,641.440033089,895,793.559966911,823,653.440033089,634.440033089,654.559966911,0.400773786336,-0.00544983127603,0.0598685442152,0.99999993133,-9.17685792104e-05,-0.000357409031837,-3.43139874856e-05,1793253064671066368 +50,0.833333333,BASELINE,771.984310148,749.015689852,727,703,671,642,895,793,823,654,635,654.015689852,0.40077240313,-0.00544997577337,0.0598687187758,0.99999993105,-9.0231186615e-05,-0.000358633712211,-3.37585475798e-05,1793253064687733248 +51,0.850000000,BASELINE,771.398142606,749.601857394,727,703,671,642,895,793,823,654,635,654.601857394,0.400773071344,-0.00545055729423,0.0598681606357,0.999999931083,-9.10286422073e-05,-0.000358335724706,-3.38217281947e-05,1793253064704399872 +52,0.866666667,BASELINE,771,750,727,703,671,641.813312944,894.813312944,793,823,653.813312944,635,655,0.400773583136,-0.00545072496679,0.0598680016381,0.999999931187,-9.14874428982e-05,-0.000357912906138,-3.39826505078e-05,1793253064721066752 +53,0.883333333,BASELINE,771,750,727,703,671,641.231316274,894.231316274,793,823,653.231316274,635,655,0.400773763704,-0.00545001631603,0.0598686878238,0.999999931444,-9.12291421999e-05,-0.000357225757966,-3.43505407445e-05,1793253064737733376 +54,0.900000000,BASELINE,771,750,727,703,671,641,894.347214452,793.347214452,823,653,634.652785548,654.652785548,0.400773027088,-0.00544909783522,0.0598682287622,0.999999931169,-9.05810546342e-05,-0.000358132107585,-3.46170674375e-05,1793253064754400000 +55,0.916666667,BASELINE,771,750,727,703,671,641,894.923458944,793.923458944,823,653,634.076541056,654.076541056,0.400771685478,-0.00544804094606,0.0598670142709,0.999999930541,-8.96758553673e-05,-0.000360089562275,-3.4816732566e-05,1793253064771066368 +56,0.933333333,BASELINE,771,749.503281061,727,703,671.496718939,641,895,793.503281061,823,653,634.496718939,654,0.400773083393,-0.00544861066529,0.0598678453947,0.999999931182,-8.98257751874e-05,-0.000358283800632,-3.46407214069e-05,1793253064787732992 +57,0.950000000,BASELINE,771,749,727,703,671.928052862,641,895,793.071947138,823,653,635,654,0.40077457423,-0.00544946851546,0.0598688391876,0.99999993184,-9.02988038094e-05,-0.000356348144321,-3.43918716336e-05,1793253064804399872 +58,0.966666667,BASELINE,771,749,727,703,671.335267426,641,895,793.664732574,823,653,635,654,0.400773700024,-0.00545060853767,0.0598687422972,0.999999931239,-9.19409098296e-05,-0.000357644988289,-3.40322975283e-05,1793253064821066240 +59,0.983333333,BASELINE,771,749.250903975,727,703,671,641.250903975,895,794,823,653.250903975,635,654.250903975,0.400772546065,-0.00545143940859,0.0598679609617,0.99999993059,-9.32252553179e-05,-0.000359135428577,-3.39099310007e-05,1793253064837732864 +60,1.000000000,BASELINE,771,749.828464521,727,703,671,641.828464521,895,794,823,653.828464521,635,654.828464521,0.400771027887,-0.00545186778982,0.0598662885342,0.99999992988,-9.40438259134e-05,-0.000360877915711,-3.40963894002e-05,1793253064854399744 +61,1.016666667,BASELINE,771.404552224,749.595447776,727,703,671,642,895,793.595447776,823,654,635,654.595447776,0.400771315787,-0.00545040122644,0.0598668156254,0.999999930238,-9.23667720036e-05,-0.000360285024852,-3.44483213894e-05,1793253064871066624 +62,1.033333333,BASELINE,771.980017653,749.019982347,727,703,671,642,895,793.019982347,823,654,635,654.019982347,0.400772366709,-0.0054481340963,0.0598682719583,0.99999993104,-8.96353790578e-05,-0.000358705495046,-3.48701618235e-05,1793253064887733504 +63,1.050000000,BASELINE,772,749.567280795,727,703,671.567280795,641.432719205,895,793.567280795,823,653.432719205,634.432719205,654,0.400772742664,-0.0054492934718,0.0598684284024,0.999999930831,-9.28230187747e-05,-0.000358483048074,-3.48151442371e-05,1793253064904399872 +64,1.066666667,BASELINE,771.847309987,749.847309987,727,703,671.847309987,641,894.847309987,794,823,653,634.152690013,654,0.400773020313,-0.00544992778147,0.0598683585845,0.99999993074,-9.4468142913e-05,-0.000358314761443,-3.4745362956e-05,1793253064921066752 +65,1.083333333,BASELINE,771.268262577,749.268262577,727,703,671.268262577,641,894.268262577,794,823,653,634.731737423,654,0.40077309126,-0.00544875176242,0.059867787544,0.999999931099,-9.12115381717e-05,-0.000358161391642,-3.46822560747e-05,1793253064937733376 +66,1.100000000,BASELINE,771,749,727,703,671,641.310131857,894.310131857,793.689868143,823,653,635,654.310131857,0.400772835659,-0.00544875924405,0.0598675610343,0.999999931159,-9.00924051907e-05,-0.000358292174492,-3.45343277044e-05,1793253064954399744 +67,1.116666667,BASELINE,771,749,727,703,671,641.887962626,894.887962626,793.112037374,823,653,635,654.887962626,0.400772298188,-0.00544978829718,0.059867631916,0.999999930966,-9.08182904058e-05,-0.000358668231596,-3.43131833171e-05,1793253064971066624 +68,1.133333333,BASELINE,771.462037552,749,727,703,671,641.537962448,895,793,823,653.462037552,635,654.537962448,0.400773597911,-0.00545007552153,0.0598683299628,0.999999931121,-9.26658185102e-05,-0.000357759829504,-3.43217152055e-05,1793253064987733248 +69,1.150000000,BASELINE,771.963759934,749,727,703,671,641.036240066,895,793.036240066,823,654,635,654,0.400775118446,-0.00545014374644,0.0598690701908,0.999999931336,-9.44546240093e-05,-0.000356684471294,-3.43902614478e-05,1793253065004399872 +70,1.166666667,BASELINE,771.373805626,749,727,703,671,641.626194374,895,793.626194374,823,654,635,654,0.400773260968,-0.00544959214208,0.0598681500296,0.99999993124,-9.12240781026e-05,-0.000357778666433,-3.45316929622e-05,1793253065021067008 +71,1.183333333,BASELINE,771,749,727,703,671,642,895,794,823,654,634.788053268,654,0.400772545157,-0.00545039317053,0.0598678579355,0.999999931149,-9.0625265307e-05,-0.000358192966493,-3.44406858195e-05,1793253065037733888 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+40,0.666666667,BASELINE,771,749,726.777133961,703,671.222866039,640,892,794,823,653.777133961,634.222866039,654.777133961,0.400961133404,-0.0054044929532,0.0598353770963,0.99999993637,0.000227255746406,-0.000273483326638,2.86494172453e-05,1793253071587085568 +41,0.683333333,BASELINE,771,749,726.197671849,703,671.802328151,640,892,794,823,653.197671849,634.802328151,654.197671849,0.400961335082,-0.00540420500321,0.0598350868481,0.999999936589,0.000226118411197,-0.000273658485444,2.834226935e-05,1793253071603752192 +42,0.700000000,BASELINE,771.379489911,749,726.379489911,703,671.620510089,640,892,794,823,653.379489911,634.620510089,654,0.400962891004,-0.00540429489144,0.0598359111842,0.999999937146,0.000225632417714,-0.000271999090649,2.8539651814e-05,1793253071620418816 +43,0.716666667,BASELINE,771.955460645,749,726.955460645,703,671.044539355,640,892,794,823,653.955460645,634.044539355,654,0.400965148085,-0.00540458040534,0.0598373125962,0.999999937873,0.000225483656311,-0.000269389856097,2.89982547777e-05,1793253071637085440 +44,0.733333333,BASELINE,771.470526361,749,727,703,671,640,892,794,823,654,634.529473639,654,0.400963648669,-0.00540424488578,0.0598366292357,0.999999937711,0.000224860459072,-0.000270561575964,2.85080401311e-05,1793253071653752064 +45,0.750000000,BASELINE,771.106412932,749,727,703,671,640,892,794,822.893587068,653.893587068,635,654,0.400962170235,-0.00540408688823,0.0598359417676,0.999999937491,0.000224360927937,-0.000271826100254,2.8115342665e-05,1793253071670418944 +46,0.766666667,BASELINE,771.697425489,749,727,703,671,640,892,794,822.302574511,653.302574511,635,654,0.400962221083,-0.00540497434635,0.0598360312843,0.999999937358,0.00022460564361,-0.000272070183063,2.85288671747e-05,1793253071687085568 +47,0.783333333,BASELINE,772,749,727,703,671,640,892,794,822.282957857,653,634.717042143,654,0.400962260695,-0.00540538347366,0.0598360424339,0.999999937297,0.000224934866533,-0.000272007490773,2.86794659451e-05,1793253071703752448 +48,0.800000000,BASELINE,772,749,727,703,671,640,892,794,822.86274152,653,634.13725848,654,0.400962288518,-0.00540529082696,0.0598359713758,0.999999937311,0.000225352738491,-0.000271622988164,2.85542528647e-05,1793253071720419328 +49,0.816666667,BASELINE,772,749,727,703,671,640.438405449,892,794,822.561594551,653,634.438405449,654,0.40096189715,-0.00540506474834,0.059835819467,0.999999937192,0.000225528294177,-0.000271909848813,2.86181311269e-05,1793253071737085696 +50,0.833333333,BASELINE,771.986914015,749,727,703,671,640.986914015,892,793.986914015,822.013085985,653,635,654,0.400961417371,-0.00540480503716,0.0598356665291,0.999999937039,0.000225629176833,-0.00027237400728,2.87338806191e-05,1793253071753752320 +51,0.850000000,BASELINE,771.399305376,749,727,703,671,640.399305376,892,793.399305376,822.600694624,653,635,654,0.400962764406,-0.00540488576124,0.0598365694053,0.99999993726,0.000225751416726,-0.000271479805496,2.85519890185e-05,1793253071770418944 +52,0.866666667,BASELINE,771.185489067,749,727,703,671,640,892,793.185489067,823,653,634.814510933,654,0.400963664337,-0.00540512219863,0.0598369932677,0.999999937496,0.00022551012864,-0.000270823018685,2.8419265442e-05,1793253071787085312 +53,0.883333333,BASELINE,771.764315848,749,727,703,671,640,892,793.764315848,823,653,634.235684152,654,0.400963616167,-0.0054056888329,0.0598364013602,0.999999937766,0.000224497963498,-0.000270669680808,2.83908048318e-05,1793253071803751936 +54,0.900000000,BASELINE,771.657254124,749,727,703,671.342745876,640,892,794,823,653,634.342745876,654,0.40096292529,-0.00540500891797,0.0598360193555,0.999999937509,0.000225306965077,-0.000270969773607,2.81905996059e-05,1793253071820418560 +55,0.916666667,BASELINE,771.079096627,749,727,703,671.920903373,640,892,794,823,653,634.920903373,654,0.400961792978,-0.00540347282301,0.0598357815204,0.999999936886,0.00022736681708,-0.000271581300794,2.78724332876e-05,1793253071837085184 +56,0.933333333,BASELINE,771.494581497,749,727,703,671.505418503,640,892,793.505418503,823,653.494581497,635,654,0.400961469414,-0.00540326967724,0.0598357007772,0.999999936485,0.000227799670096,-0.000272666788244,2.81233301875e-05,1793253071853752320 +57,0.950000000,BASELINE,771.930393831,749.069606169,727,703,671,640,892,793.069606169,823,653.930393831,634.930393831,654,0.400961394836,-0.00540330901784,0.059835693192,0.999999936196,0.000227964377909,-0.000273555305697,2.84230696727e-05,1793253071870419200 +58,0.966666667,BASELINE,771.339982463,749.660017537,727,703,671,640,892,793.660017537,823,653.339982463,634.339982463,654,0.400962224152,-0.00540358199669,0.0598360466991,0.999999936489,0.000228052164431,-0.000272408010815,2.84134303752e-05,1793253071887085568 +59,0.983333333,BASELINE,771,749.75441801,727,703,671,640,892,794,823,653.24558199,634,654,0.400962467658,-0.00540372423048,0.0598361448465,0.999999936752,0.000227483964469,-0.000271934507218,2.82590014397e-05,1793253071903752192 +60,1.000000000,BASELINE,771,749.175433648,727,703,671,640,892,794,823,653.824566352,634,654,0.400961915869,-0.00540368896465,0.0598358963175,0.999999936973,0.000226025196576,-0.000272375743223,2.79080059363e-05,1793253071920418816 +61,1.016666667,BASELINE,771,749.402052858,727,703,671,640,892,794,823,653.597947142,634.402052858,654,0.400961664419,-0.0054048392458,0.0598359754205,0.999999937281,0.000224693781393,-0.000272317157506,2.81801501225e-05,1793253071937085184 +62,1.033333333,BASELINE,771,749.978888173,727,703,671,640,892,794,823,653.021111827,634.978888173,654,0.400961543534,-0.00540650491395,0.0598361969534,0.999999937627,0.000223417729714,-0.000272041286728,2.87231887757e-05,1793253071953751808 +63,1.050000000,BASELINE,771,749.445375791,727,703,671,640,892,794,823,653.554624209,635,654,0.400961986348,-0.0054049024391,0.0598364017238,0.999999937646,0.000223868278184,-0.00027166072354,2.81239152641e-05,1793253071970418688 +64,1.066666667,BASELINE,771.133444028,749.133444028,727,703,671,640,892.133444028,794,822.866555972,654,635,654,0.400962330133,-0.00540365637391,0.0598365832452,0.999999937581,0.000224520781718,-0.00027140759399,2.76776609575e-05,1793253071987085568 +65,1.083333333,BASELINE,771.722945659,749.722945659,727,703,671,640,892.722945659,794,822.277054341,654,635,654,0.400962262288,-0.00540405268781,0.0598366874872,0.99999993727,0.0002256393148,-0.000271603573602,2.79026749931e-05,1793253072003752448 +66,1.100000000,BASELINE,772,749.693150544,726.693150544,703,671,640,892.693150544,794,822.306849456,653.693150544,635,654,0.400961734624,-0.00540365781672,0.0598363055138,0.99999993678,0.00022701850286,-0.000272248870248,2.80022147556e-05,1793253072020419328 +67,1.116666667,BASELINE,772,749.114210509,726.114210509,703,671,640,892.114210509,794,822.885789491,653.114210509,635,654,0.400960799228,-0.00540256138339,0.0598354924018,0.999999936128,0.000228628819716,-0.000273292586793,2.79904935375e-05,1793253072037085696 +68,1.133333333,BASELINE,772,749,726,703,671,640,892,794,823,653.460860874,635,654,0.400962230259,-0.00540364258339,0.0598363583272,0.999999936491,0.000228852624433,-0.000271741865161,2.83037129908e-05,1793253072053752320 +69,1.150000000,BASELINE,772,749,726,703,671,640,892,794,823,653.964158081,635,654,0.40096399505,-0.00540516013028,0.0598374808066,0.999999937064,0.000228575036295,-0.000269822654036,2.86549087719e-05,1793253072070418944 +70,1.166666667,BASELINE,772,749,726,703,671,640,892,794,823,653.375916955,635,654,0.40096194063,-0.00540515462656,0.0598361977474,0.999999937094,0.000225821527511,-0.000272051021749,2.83606438742e-05,1793253072087085312 +71,1.183333333,BASELINE,771.790266435,749,726.209733565,703,671,640,892,794,823,653.209733565,634.790266435,654,0.400961368302,-0.00540502952249,0.0598359295182,0.999999937282,0.000224700987183,-0.000272309887681,2.81690256896e-05,1793253072103751936 +72,1.200000000,BASELINE,771.20920245,749,726.79079755,703,671,640,892,794,823,653.79079755,634.20920245,654,0.400963419996,-0.00540469266764,0.0598374580314,0.999999937756,0.000226471594799,-0.000269081777916,2.81591420636e-05,1793253072120418816 +73,1.216666667,BASELINE,771.3684075,749,726.6315925,703,671,640,892.3684075,793.6315925,823,653.6315925,634,654,0.400963806554,-0.00540418924724,0.0598380113188,0.99999993772,0.000227114460862,-0.000268677539555,2.81310519025e-05,1793253072137085696 +74,1.233333333,BASELINE,771.944074239,749,726.055925761,703,671,640,892.944074239,793.055925761,823,653.055925761,634,654,0.400963256337,-0.00540359212017,0.0598380159621,0.9999999374,0.000227122880303,-0.000269861959156,2.80927190825e-05,1793253072153752576 +75,1.250000000,BASELINE,772,749,726.515091726,703,671.515091726,640,892.484908274,793,822.484908274,653,634.515091726,653.484908274,0.400962444026,-0.00540443929498,0.0598374295765,0.999999937791,0.000224423409487,-0.000270679824598,2.79950718704e-05,1793253072170418944 +76,1.266666667,BASELINE,772,749,726.910274255,703,671.910274255,640,892.089725745,793.17945149,822,653,634.910274255,653.089725745,0.400961746943,-0.00540506618217,0.0598367885963,0.999999938024,0.000222502819513,-0.000271413415378,2.79073933032e-05,1793253072187085568 +77,1.283333333,BASELINE,772,749,726.312321735,703,671.312321735,640,892.687678265,794.375356529,822,653,634.312321735,653.687678265,0.400961862286,-0.00540356502556,0.0598361986052,0.999999936964,0.000226644413232,-0.00027189306602,2.79123308147e-05,1793253072203751936 +78,1.300000000,BASELINE,771.724937101,749.275062899,726.275062899,703,671,640,892.724937101,794.724937101,822.275062899,653.275062899,634.275062899,654,0.400961886872,-0.00540318361317,0.0598361741172,0.99999993656,0.000228403197834,-0.000271884893892,2.81069531931e-05,1793253072220418560 +79,1.316666667,BASELINE,771.149107913,749.850892087,726.850892087,703,671,640,892.149107913,794.149107913,822.850892087,653.850892087,634.850892087,654,0.40096181222,-0.00540402658017,0.0598367679759,0.999999936889,0.000227556510258,-0.000271343314124,2.85089856361e-05,1793253072237085184 +80,1.333333333,BASELINE,771,749.57384491,726.57384491,703,671,640,892,794,823,653.57384491,634.57384491,654,0.400961628865,-0.00540349510967,0.0598366833034,0.999999936706,0.000228139988515,-0.000271528159547,2.85162134353e-05,1793253072253751808 +81,1.350000000,BASELINE,771.001244495,749,726.001244495,703,671.001244495,640.001244495,892,793.998755505,823,653,634,654,0.400961412394,-0.00540249193055,0.0598363649651,0.999999936347,0.000229210673641,-0.000271959752421,2.83855400291e-05,1793253072270418688 +82,1.366666667,BASELINE,771.587711878,749,726.587711878,703,671.587711878,640.587711878,892,793.412288122,823,653,634,654,0.400963485414,-0.00540551264907,0.0598376602078,0.999999938229,0.000224388336096,-0.000269059572754,2.82803482648e-05,1793253072287085824 +83,1.383333333,BASELINE,772,749,727,703,671.826808333,640.826808333,892,793.173191667,823,653.173191667,634,654.173191667,0.400964835118,-0.00540727135445,0.0598385119039,0.99999993931,0.000221685786524,-0.000267279529211,2.82417894245e-05,1793253072303752448 +84,1.400000000,BASELINE,772,749,727,703,671.243666096,640.243666096,892,793.756333904,823,653.756333904,634,654.756333904,0.400964472709,-0.00540604283237,0.0598383137101,0.999999938557,0.000224000846292,-0.000268150885437,2.83609529647e-05,1793253072320418816 +85,1.416666667,BASELINE,772,749,726.66531581,703,671,640,892,794,823,653.66531581,634.33468419,654.66531581,0.400963679563,-0.00540561579516,0.0598378804436,0.999999938202,0.000224676363561,-0.000268918757468,2.826660181e-05,1793253072337085440 +86,1.433333333,BASELINE,772,749,726.090405083,703,671,640,892,794,823,653.090405083,634.909594917,654.090405083,0.400962577245,-0.00540576404045,0.0598372784488,0.999999938135,0.000224175064966,-0.000269612351513,2.80189960355e-05,1793253072353752064 +87,1.450000000,BASELINE,771.516221275,749,726.483778725,703,671,640,892.483778725,794,823,653,634.516221275,654,0.400961197689,-0.00540661026526,0.0598364533607,0.999999938086,0.000222862850553,-0.000270884501717,2.79629745624e-05,1793253072370418688 +88,1.466666667,BASELINE,771,749,727,703,671,640,893,794,822.940365615,653,634.059634385,654,0.40096002727,-0.0054074205234,0.0598357989902,0.999999938069,0.000221584201838,-0.000271993257108,2.79731618455e-05,1793253072387085056 +89,1.483333333,BASELINE,771,749,727,703,671,640,893,794,822.348374467,653,634.651625533,654,0.400961185618,-0.00540674707353,0.0598370402273,0.999999938335,0.000221955947035,-0.000270679677146,2.82552710086e-05,1793253072403752192 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a/Obstacle_avoidance/ball_15A_10/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/ball_15A_10/position_01/depth_03/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..6ee711030a35eb033f5db240dd5c24ce70b2bc7d --- /dev/null +++ b/Obstacle_avoidance/ball_15A_10/position_01/depth_03/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb3a0dcccaeac66bdf309f69c38e34e0d42b25dc4fa7683e0d72376a145b69b1 +size 26284730 diff --git a/Obstacle_avoidance/ball_15A_10/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/ball_15A_10/position_01/depth_03/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..1a13fe1da6c6559c87b8cee030e2e13beea5886c --- /dev/null +++ b/Obstacle_avoidance/ball_15A_10/position_01/depth_03/franka_data.csv @@ -0,0 +1,415 @@ 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+90,1.500000000,BASELINE,771,749.25262523,727,703,671,640,893,794,822.74737477,653,635,654,0.400962997605,-0.00539408762561,0.0598363225218,0.999999932008,0.000250147697414,-0.000269854435796,2.4283686529e-05,1793253079486841600 +91,1.516666667,BASELINE,771,749.828267309,727,703,671,640,893,794,822.171732691,653,635,654,0.400965881879,-0.00539400174671,0.0598384336708,0.999999932277,0.000252406295847,-0.000266711903883,2.45510176405e-05,1793253079503508480 +92,1.533333333,BASELINE,771.40442632,750,727,703,671,640,892.59557368,794,822.40442632,653,635,654,0.400966575518,-0.00539350287764,0.059838642412,0.999999932063,0.000253945788354,-0.000266036897612,2.46963964155e-05,1793253079520175104 +93,1.550000000,BASELINE,771.980805167,750,727,703,671,640,892.019194833,794,822.980805167,653,635,654,0.40096633775,-0.00539282841489,0.0598380422944,0.999999931647,0.000255179534184,-0.000266411024747,2.47899239576e-05,1793253079536841984 +94,1.566666667,BASELINE,771.430367794,749.430367794,727,703,671,640,892.569632206,794,823,653,635,654,0.400965308861,-0.00539371084502,0.0598375603977,0.999999931557,0.000254292174062,-0.000267601453408,2.47002070502e-05,1793253079553508864 +95,1.583333333,BASELINE,771.156153249,749,727,703,671.156153249,640,893,794,823,653.156153249,634.843846751,654,0.400964663061,-0.00539478549398,0.0598371796315,0.999999931687,0.00025304085015,-0.000268306712229,2.46569935263e-05,1793253079570175744 +96,1.600000000,BASELINE,771.735266787,749,727,703,671.735266787,640,893,794,823,653.735266787,634.264733213,654,0.400965128729,-0.00539623551576,0.0598370617581,0.999999932382,0.000251001608468,-0.000267621658944,2.47568388965e-05,1793253079586842112 +97,1.616666667,BASELINE,771.687697759,749,727,703,671.687697759,640,892.687697759,793.687697759,823,653.687697759,634.312302241,654,0.400965626463,-0.00539594942984,0.0598374112838,0.999999932617,0.000250874538214,-0.000266871170525,2.46632490767e-05,1793253079603508736 +98,1.633333333,BASELINE,771.112412254,749,727,703,671.112412254,640,892.112412254,793.112412254,823,653.112412254,634.887587746,654,0.400966151198,-0.00539420140342,0.0598381543966,0.999999932465,0.000252357668139,-0.00026606558057,2.44067714732e-05,1793253079620175104 +99,1.650000000,BASELINE,771.469199855,749,727,703,671.469199855,640,892.469199855,793.938399709,823,653.469199855,635,654,0.400965841867,-0.00539259793071,0.0598379771712,0.999999932012,0.000253650851054,-0.000266546820671,2.42857463775e-05,1793253079636841984 +100,1.666666667,BASELINE,772,749,727,703,671.94771101,640,893,794.94771101,823,654,635,654,0.400965274024,-0.00539129103666,0.059837543148,0.999999931514,0.000254753890937,-0.000267368736643,2.42193172152e-05,1793253079653508608 +101,1.683333333,BASELINE,772,749,727,703,671.365224484,640,893,794.365224484,823,654,635,654,0.400964138826,-0.00539263541164,0.0598367716038,0.999999931304,0.000254396674729,-0.000268476183201,2.43729234832e-05,1793253079670175232 +102,1.700000000,BASELINE,772,749,727,703,671,640,893,794,823,654,635,654.215655404,0.400963576475,-0.00539321625211,0.0598363224133,0.999999931266,0.000254055701765,-0.000268945226332,2.43466043332e-05,1793253079686842368 +103,1.716666667,BASELINE,772,749,727,703,671,640,893,794,823,654,635,654.793834422,0.400963977097,-0.00539251356659,0.0598364151096,0.999999931516,0.000253742034252,-0.000268341092826,2.40178248e-05,1793253079703509504 +104,1.733333333,BASELINE,772,749,727,703,671,640.369493603,893,794.369493603,823,654,635,654.630506397,0.400964078413,-0.00539305315066,0.0598363497444,0.999999931867,0.000252543059992,-0.000268165443598,2.39731079502e-05,1793253079720175872 +105,1.750000000,BASELINE,772,749,727,703,671,640.943756372,893,794.943756372,823,654,635,654.056243628,0.400964013857,-0.0053942811864,0.0598361967834,0.999999932273,0.000250853458737,-0.000268227255444,2.40858153897e-05,1793253079736842240 +106,1.766666667,BASELINE,771.468255401,749,727,703.531744599,671.531744599,641,893,794.468255401,823,654,634.468255401,654,0.400963976101,-0.00539368976723,0.0598363122104,0.99999993209,0.000251384144045,-0.000268403484953,2.41924657319e-05,1793253079753508608 +107,1.783333333,POSE1_TO_POSE2_PRESS,772,750,727,703,671,640,893,794,823,654,634,654,0.400961314989,-0.0053952081395,0.0598352900661,0.999999931399,0.000250918452353,-0.000271360441522,2.46080247633e-05,1793253079795563776 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+19,0.316666667,BASELINE,771.023597957,749,727,703,671,640,892.023597957,794,822.023597957,653,634.023597957,654.023597957,0.40096867702,-0.00538644125141,0.0598382082065,0.999999928066,0.000268634022391,-0.000266962902029,2.08513565297e-05,1793253085397245440 +20,0.333333333,BASELINE,771.599510421,749,727,703,671,640,892.599510421,794,822.599510421,653,634.599510421,654.599510421,0.400967531476,-0.00538543701287,0.0598370954722,0.999999927523,0.000269135732416,-0.000268496761362,2.07271996082e-05,1793253085413912064 +21,0.350000000,BASELINE,772,749,727,703,671,640,893,794,823,653,634.82436462,654.82436462,0.400967175467,-0.00538463859627,0.0598366190959,0.999999927151,0.000269919291999,-0.000269100649507,2.06569498967e-05,1793253085430578688 +22,0.366666667,BASELINE,772,749,727,703,671,640,893,794,823,653,634.24775462,654.24775462,0.400968621964,-0.00538431007022,0.0598375955214,0.999999927171,0.000271346312532,-0.000267581418251,2.07097700708e-05,1793253085447245312 +23,0.383333333,BASELINE,772,749,727,703,671,640,892.663098219,794,823,653,634,654,0.400968915287,-0.00538534571729,0.0598375655294,0.999999928145,0.000268290335837,-0.000267034796396,2.05371260263e-05,1793253085463912192 +24,0.400000000,BASELINE,772,749,727,703,671,640,892.07237972,794,823,653,634,654,0.400968339825,-0.00538740911178,0.059836777318,0.999999929808,0.000261856936824,-0.000267220923618,2.01946206468e-05,1793253085480578816 +25,0.416666667,BASELINE,772,749,727,703,671,640,892.506913746,794,823,653,634,654,0.40096756468,-0.00538648985424,0.0598363856909,0.999999928962,0.000264119788896,-0.000268144762919,2.03547339098e-05,1793253085497245184 +26,0.433333333,BASELINE,772,749,727,703,671,640,892.915738106,794,822.915738106,653,634.084261894,654,0.400966916583,-0.00538535629929,0.0598362352353,0.999999927891,0.000267325927467,-0.000268941726959,2.06219103033e-05,1793253085513911808 +27,0.450000000,BASELINE,772,749,727,703,671,640,892.340429114,794,822.340429114,653,634.659570886,654,0.400967171367,-0.00538540105407,0.059837167514,0.999999927591,0.000268952550062,-0.000268398990489,2.11040012409e-05,1793253085530578688 +28,0.466666667,BASELINE,771.759991001,749,727,703,671,640,892,794,822.240008999,653.240008999,635,654,0.400966814255,-0.00538565074524,0.0598372158223,0.99999992752,0.000268928955131,-0.000268670965028,2.1285535759e-05,1793253085547245312 +29,0.483333333,BASELINE,771.172118904,749,727,703,671,640,892,794,822.827881096,653.827881096,635,654,0.400965570277,-0.00538619746616,0.0598359829259,0.999999927781,0.000266513575692,-0.000270123761558,2.10314512176e-05,1793253085563912192 +30,0.500000000,BASELINE,771.409738004,749,727,703,671,640,892,794,823,654,634.590261996,654,0.400966918178,-0.00538595305977,0.0598365939583,0.999999927847,0.000267425776015,-0.00026899435927,2.0778104118e-05,1793253085580578816 +31,0.516666667,BASELINE,771.989104651,749,727,703,671,640,892,794,823,654,634.010895349,654,0.400969339098,-0.00538538113225,0.0598379683643,0.999999927826,0.000269715570951,-0.000266795944845,2.05250623202e-05,1793253085597245440 +32,0.533333333,BASELINE,772,749.56616659,727,703,671,640,892.56616659,793.43383341,823,653.43383341,634,654,0.400969988418,-0.00538649923247,0.0598383369463,0.99999992846,0.000267922581107,-0.000266211144375,2.07138301258e-05,1793253085613912064 +33,0.550000000,BASELINE,772,750,727,703,671,640,893,793.142903439,823,653,634.142903439,654,0.400970400959,-0.00538739111491,0.0598387377105,0.999999929022,0.000266294460997,-0.000265718749874,2.09058979484e-05,1793253085630578688 +34,0.566666667,BASELINE,772,750,727,703,671,640,893,793.718789034,823,653,634.718789034,654,0.400970198964,-0.00538749943967,0.0598392943926,0.999999929336,0.00026540297065,-0.000265412631381,2.10823080719e-05,1793253085647245312 +35,0.583333333,BASELINE,772,749.69915695,727,703,671,640,893,794.30084305,822.69915695,653,634.69915695,654,0.400969892678,-0.00538714313646,0.0598393551251,0.999999929247,0.000265581383918,-0.000265573346121,2.10706686042e-05,1793253085663911936 +36,0.600000000,BASELINE,772,749.111216278,727,703,671,640,893,794.888783722,822.111216278,653,634.111216278,654,0.400969486865,-0.00538634343401,0.0598389425676,0.99999992877,0.000266780817122,-0.000266179564589,2.08795714955e-05,1793253085680578560 +37,0.616666667,BASELINE,771.530399299,749,727,703,671,640,893,794.530399299,822.469600701,653,634.469600701,654,0.400968132602,-0.00538651252716,0.0598376675952,0.999999928325,0.00026728925483,-0.000267327230876,2.10188075723e-05,1793253085697245440 +38,0.633333333,BASELINE,771.048476842,749,726.951523158,703,671,640,893,794,823,653,634.951523158,654,0.400966608641,-0.00538699825259,0.0598362364593,0.999999927987,0.0002672756001,-0.000268588890171,2.11885886819e-05,1793253085713912320 +39,0.650000000,BASELINE,771.624318962,749,726.375681038,703,671,640,893,794,823,653,634.375681038,654,0.400965645676,-0.00538846980042,0.0598352952079,0.999999928736,0.00026333594819,-0.000269716494618,2.08523006419e-05,1793253085730578944 +40,0.666666667,BASELINE,772,749,726.198898774,703,671,640,893,794,823,653,634,654,0.400965357008,-0.00538892251358,0.0598352198684,0.999999929157,0.000261597672298,-0.000269865579568,2.06184063517e-05,1793253085747245312 +41,0.683333333,BASELINE,772,749,726.771109335,703,671,640,893,794,823,653,634,654,0.400966333926,-0.0053874629826,0.0598367697532,0.999999928983,0.000263991144669,-0.00026817808772,2.05766942304e-05,1793253085763911936 +42,0.700000000,BASELINE,771.644210282,749,727,703,671,640,893,794,823,653,634.355789718,654,0.400967034426,-0.00538704841032,0.0598373203799,0.99999992885,0.000265125191097,-0.000267545697402,2.07010887565e-05,1793253085780578816 +43,0.716666667,BASELINE,771.051216318,749,727,703,671,640,893,794,823,653,634.948783682,654,0.400967550639,-0.00538733050985,0.0598372048034,0.999999928748,0.000265419580842,-0.000267616741093,2.09362262318e-05,1793253085797245440 +44,0.733333333,BASELINE,771,749,726.469772095,703,671,640,893,794,823,653,634.469772095,654,0.400969610807,-0.00538762045485,0.0598385520224,0.999999929527,0.000264907672562,-0.000265186277077,2.11308205165e-05,1793253085813912064 +45,0.750000000,BASELINE,771.109119063,749,726.109119063,703,671,640,892.890880937,793.890880937,823,653,634,654,0.400971363821,-0.00538744096162,0.0598397418857,0.999999930051,0.0002649827756,-0.000263122295865,2.12008920055e-05,1793253085830578688 +46,0.766666667,BASELINE,771.681802424,749,726.681802424,703,671,640,892.318197576,793.318197576,823,653,634,654,0.400971191908,-0.0053852640299,0.0598396758006,0.999999929158,0.000267875457018,-0.000263619835689,2.07582425967e-05,1793253085847245312 +47,0.783333333,BASELINE,772,749,727,703,671,640,892.26139376,793.26139376,823,653.26139376,634.26139376,654,0.40097024208,-0.00538486865696,0.0598391482337,0.999999929006,0.000267579449854,-0.000264526176122,2.03979893255e-05,1793253085863912192 +48,0.800000000,BASELINE,772,749,727,703,671,640,892.849622595,793.849622595,823,653.849622595,634.849622595,654,0.40096831958,-0.00538670086522,0.0598380436505,0.999999929772,0.000263296449386,-0.000265943662632,2.01407604427e-05,1793253085880578816 +49,0.816666667,BASELINE,772,749.430920136,727,703,671,640,893,794,823,653.569079864,635,654,0.400967500302,-0.00538709002221,0.0598375197314,0.999999929212,0.000264555812762,-0.000266776426287,2.03873042083e-05,1793253085897245440 +50,0.833333333,BASELINE,772,749.990180464,727,703,671,640,893,794,822.990180464,653.009819536,635,654,0.400967101684,-0.00538697707024,0.0598372177413,0.999999928226,0.000267626000447,-0.000267380681587,2.07959022626e-05,1793253085913911808 +51,0.850000000,BASELINE,772,749.412298925,727,703,671,640,893,794,822.412298925,653.587701075,635,654,0.40096911922,-0.00538648798733,0.0598382175803,0.999999929107,0.000265335409671,-0.000266383133689,2.0570269594e-05,1793253085930578432 +52,0.866666667,BASELINE,772,749.163830554,727,703,671,640,893,794,822.163830554,653.836169446,634.836169446,654,0.400970607449,-0.00538645543027,0.0598389507947,0.999999929776,0.000263754547881,-0.000265445189489,2.05249569279e-05,1793253085947245568 +53,0.883333333,BASELINE,772,749.735597393,727,703,671,640,893,794,822.735597393,653.264402607,634.264402607,654,0.400970777705,-0.00538755961762,0.0598390201168,0.999999929927,0.00026394090363,-0.000264655657901,2.09286391048e-05,1793253085963912192 +54,0.900000000,BASELINE,772,749.682018392,727,703,671,640,893,794,823,653,634,654,0.4009700026,-0.0053873587078,0.059838663827,0.999999929713,0.000264483848812,-0.000264936660915,2.07485929449e-05,1793253085980578816 +55,0.916666667,BASELINE,772,749.090500866,727,703,671,640,893,794,823,653,634,654,0.400968414271,-0.00538603511993,0.0598379414149,0.999999929183,0.000265333541337,-0.00026613856523,2.00664087109e-05,1793253085997245440 +56,0.933333333,BASELINE,772,749.490748226,727,703,671,640.490748226,893,794,823,653.490748226,634.490748226,654,0.40096806359,-0.00538593236188,0.0598377890129,0.999999929005,0.000265839578785,-0.000266284772255,2.02732506223e-05,1793253086013912064 +57,0.950000000,BASELINE,772,749.930422502,727,703,671,640.930422502,893,794,823,654,635,654,0.40096804064,-0.00538615945686,0.0598378063941,0.999999928984,0.000266029697271,-0.000266147505833,2.06352411238e-05,1793253086030578944 +58,0.966666667,BASELINE,772,749.355695479,727,703,671,640.355695479,893,794,823,654,635,654,0.400968773979,-0.00538718030773,0.059838308902,0.999999929631,0.000264376853596,-0.000265336647508,2.09577345907e-05,1793253086047245568 +59,0.983333333,BASELINE,772,749,727,703,671,640,892.781410662,794,823,654,635,654,0.400968480362,-0.00538773619245,0.059838323721,0.999999929885,0.000263231496132,-0.000265513461337,2.10298460515e-05,1793253086063912448 +60,1.000000000,BASELINE,772,749,727,703,671,640,892.207843874,794,823,654,635,654,0.400966519024,-0.00538753699706,0.0598375465593,0.999999929502,0.000262910268998,-0.000267294202045,2.06953505134e-05,1793253086080579072 +61,1.016666667,BASELINE,772,749,727,703,671,640,892.379940686,794,823,653.620059314,635,654,0.400966261372,-0.00538778760976,0.0598374565593,0.999999929393,0.000263160842368,-0.000267451740371,2.07407929171e-05,1793253086097245696 +62,1.033333333,BASELINE,772,749,727,703,671,640,892.975805309,794,823,653.024194691,635,654,0.400966971941,-0.00538829385273,0.0598377570799,0.99999992944,0.00026373637547,-0.000266686797107,2.10021577181e-05,1793253086113912320 +63,1.050000000,BASELINE,772,749,727,703,671,640,893,794,823,653,635,654,0.400966453992,-0.00538806893556,0.0598375468436,0.99999992877,0.000264893348104,-0.000268049785224,2.09811082813e-05,1793253086130578944 +64,1.066666667,BASELINE,772,749,727,703,671,640,893,794,823,653,635,654,0.400966470414,-0.00538804559994,0.0598376371572,0.99999992853,0.000265333148249,-0.000268513883509,2.09587726468e-05,1793253086147245568 +65,1.083333333,BASELINE,772,749,727,703,671,640,893,794,823,653,635,654,0.400968636134,-0.0053888745782,0.0598389083565,0.999999929975,0.000263053987658,-0.000265353034234,2.09755340808e-05,1793253086163912448 +66,1.100000000,BASELINE,772,749,727,703,671,640,893,794,823,653,635,654,0.400969590742,-0.00538807280642,0.0598393405809,0.999999930229,0.000263318735943,-0.000264133647384,2.0947698855e-05,1793253086180578816 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+23,0.383333333,BASELINE,771.643743702,749.643743702,727,703.356256298,671,639.643743702,892,794,822.643743702,653.356256298,635,654,0.400967175353,-0.00538742881484,0.0598388686732,0.999999933464,0.00024723717376,-0.000267627984667,1.79053052072e-05,1793253092558949376 +24,0.400000000,BASELINE,771.067460536,749.067460536,727,703.932539464,671,639.067460536,892,794,822.067460536,653.932539464,635,654,0.400967164664,-0.00538707833308,0.0598387936131,0.999999933576,0.00024672285741,-0.000267701471513,1.76832780315e-05,1793253092575616256 +25,0.416666667,BASELINE,771.507561928,749,727,704,671,639.507561928,892,794,822.507561928,654,635,654.507561928,0.400966503342,-0.00538778356558,0.0598384904362,0.999999933486,0.000246585368646,-0.000268165079048,1.76195645655e-05,1793253092592282624 +26,0.433333333,BASELINE,772,749,727,704,671,640,892,794,823,653.915455768,634.915455768,654.915455768,0.400965796377,-0.00538858463107,0.059838176198,0.99999993343,0.000246271006644,-0.000268662900823,1.76437989735e-05,1793253092608949248 +27,0.450000000,BASELINE,772,749,727,704,671,640,892,794,823,653.325764612,634.325764612,654.325764612,0.400965332113,-0.00538912199074,0.0598379765756,0.999999933726,0.000244601326546,-0.000269056109938,1.80681058575e-05,1793253092625615616 +28,0.466666667,BASELINE,772,749,727,703.740707827,671,639.740707827,892,794,823,653,634,654,0.400965397393,-0.00538901002472,0.0598377559426,0.999999933571,0.000245032842997,-0.000269229776698,1.82501256216e-05,1793253092642282240 +29,0.483333333,BASELINE,772,749,727,703.161371281,671,639.161371281,892,794,823,653,634,654,0.40096611629,-0.00538809659586,0.0598375093762,0.999999932853,0.000248057866791,-0.000269132462266,1.81330903282e-05,1793253092658948864 +30,0.500000000,BASELINE,772,749.41437886,727,703.41437886,671,639.41437886,892,794,823,653,634,654,0.400966221527,-0.00538773317806,0.0598377258831,0.99999993304,0.000247590724972,-0.00026888509828,1.78979098712e-05,1793253092675615744 +31,0.516666667,BASELINE,772,749.988744321,727,703.988744321,671,639.988744321,892,794,823,653,634,654,0.400966089839,-0.00538758211283,0.0598381211769,0.999999933575,0.000245775300722,-0.000268579802001,1.76171150166e-05,1793253092692282624 +32,0.533333333,BASELINE,772.564732821,749.435267179,727,703.435267179,671,640,892,794,823,653,634.564732821,654,0.400965295145,-0.0053870697791,0.0598372693689,0.999999932841,0.00024734111634,-0.000269880849839,1.74773500175e-05,1793253092708949248 +33,0.550000000,BASELINE,772.854797672,749.145202328,727,703.145202328,671,639.854797672,892,794,823,653,634.854797672,654,0.400965239093,-0.00538670926078,0.0598370084726,0.999999932371,0.000248919647634,-0.000270170004769,1.74948112202e-05,1793253092725615872 +34,0.566666667,BASELINE,772.260571532,749.739428468,727,703.739428468,671,639.260571532,892,794,823,653,634.260571532,654,0.400967508197,-0.00538684054742,0.059838651998,0.9999999328,0.000250328498612,-0.000267230689173,1.7989761531e-05,1793253092742282240 +35,0.583333333,BASELINE,771.677257399,749.677257399,726.677257399,703.677257399,671,639.322742601,892,794,822.677257399,653,634.322742601,654,0.400967496297,-0.00538622539,0.0598390009314,0.99999993284,0.00025082892985,-0.000266622109679,1.78446083782e-05,1793253092758948864 +36,0.600000000,BASELINE,771.102465066,749.102465066,726.102465066,703.102465066,671,639.897534934,892,794,822.102465066,653,634.897534934,654,0.400965703019,-0.00538502728808,0.0598383388375,0.999999932579,0.000250619919872,-0.000267833746381,1.71995587467e-05,1793253092775615488 +37,0.616666667,BASELINE,771.473107203,749,726.473107203,703,671,640,892,794,822.473107203,653,635,654,0.400966849346,-0.0053851490052,0.0598391429662,0.999999933214,0.000249397016257,-0.000266597777359,1.7261342693e-05,1793253092792282112 +38,0.633333333,BASELINE,772,749.048616334,727,703,671,640,892,794,822.951383666,653,634.951383666,653.951383666,0.400968434971,-0.00538556675082,0.059840118387,0.999999933939,0.000248107639289,-0.000265063149937,1.74811333043e-05,1793253092808948992 +39,0.650000000,BASELINE,772,749.621619858,727,703,671,640,892,794,822.378380142,653,634.378380142,653.378380142,0.40096788049,-0.00538608924683,0.0598395105494,0.999999933586,0.00024847370324,-0.00026603434519,1.77512806867e-05,1793253092825616128 +40,0.666666667,BASELINE,772,749.797432075,727,703,671,640.202567925,892,794,822.202567925,653.202567925,634.202567925,653.202567925,0.400967401348,-0.0053862063005,0.059838940411,0.999999933223,0.000249075887606,-0.00026682531462,1.78762191336e-05,1793253092842283008 +41,0.683333333,BASELINE,772,749.201038534,727,703,671,640.798961466,892,794,822.798961466,653.798961466,634.798961466,653.798961466,0.400967068676,-0.00538553510703,0.0598384435662,0.999999932843,0.000250137129167,-0.000267265895122,1.77188473299e-05,1793253092858949376 +42,0.700000000,BASELINE,771.619161865,749,727,703,671,640.238323729,892,794,823,654,634.619161865,654,0.400967278273,-0.00538593009017,0.0598389111681,0.999999933261,0.000248633382122,-0.000267099315413,1.77892967102e-05,1793253092875616000 +43,0.716666667,BASELINE,771.044667062,749,727,703,671,639.089334124,892,794,823,654,634.044667062,654,0.400967763615,-0.00538686722546,0.0598398691924,0.999999934079,0.000245825335131,-0.000266623993963,1.79755934518e-05,1793253092892282624 +44,0.733333333,BASELINE,771.5298242,749.5298242,727,703,671,639.5298242,892,794,822.4701758,654,634,654,0.400966113742,-0.00538741137291,0.059838934179,0.999999933702,0.000245838125598,-0.000268043182338,1.77038343711e-05,1793253092908949248 +45,0.750000000,BASELINE,772,750,727,703,671,640,892.107188606,794,822.107188606,653.892811394,634,654,0.400964618581,-0.00538749320967,0.0598379721556,0.999999933197,0.000246553457072,-0.000269283675946,1.74463791739e-05,1793253092925615360 +46,0.766666667,BASELINE,772,750,727,703,671,640,892.697504198,794,822.697504198,653.302495802,634,654,0.400964632095,-0.00538564062065,0.0598376077153,0.999999932577,0.00024936345067,-0.000268998861685,1.74274493056e-05,1793253092942281984 +47,0.783333333,BASELINE,772,749.717115259,727,703,671,639.717115259,892.717115259,794,823,653,634,654,0.400965953831,-0.00538531104543,0.0598383229136,0.999999932655,0.000250502768465,-0.000267633522293,1.76325255475e-05,1793253092958948864 +48,0.800000000,BASELINE,772,749.136921331,727,703,671,639.136921331,892.136921331,794,823,653,634,654,0.400968650494,-0.00538658214307,0.0598401728019,0.999999933467,0.000249886222149,-0.000265132561183,1.80730300888e-05,1793253092975616000 +49,0.816666667,BASELINE,772,749.440409401,727,703,671,639.440409401,892,794,823,653.440409401,634.440409401,654,0.400967898629,-0.00538705270197,0.0598399798144,0.999999933738,0.000248133181645,-0.000265748526254,1.8216979815e-05,1793253092992282624 +50,0.833333333,BASELINE,772,750,727,703,671,640,892,794.017139476,823,654,635,654,0.400966143792,-0.00538729688567,0.0598391749426,0.999999933831,0.000246100774305,-0.000267282322508,1.82629375389e-05,1793253093008949504 +51,0.850000000,BASELINE,772,750,727,703,671,640,892,794.603290855,823,654,635,654,0.400966455085,-0.00538823496563,0.0598390053096,0.999999933737,0.000246448124523,-0.000267323893356,1.80967560541e-05,1793253093025615872 +52,0.866666667,BASELINE,772,749.812837719,726.812837719,703,671,639.812837719,892,794.812837719,823,653.812837719,635,654,0.400966697248,-0.00538821703695,0.0598389167956,0.999999933488,0.000247476151359,-0.000267321664164,1.78576806105e-05,1793253093042281984 +53,0.883333333,BASELINE,772,749.233740755,726.233740755,703,671,639.233740755,892,794.233740755,823,653.233740755,635,654,0.400966794644,-0.00538619714,0.0598389981521,0.99999993291,0.000249929576353,-0.000267227713737,1.74659586586e-05,1793253093058948864 +54,0.900000000,BASELINE,772,749.343451858,726.343451858,703,671,639.343451858,892,794,823,653,634.656548142,654,0.400967335424,-0.00538633975659,0.0598394230008,0.999999933321,0.000248988686941,-0.000266575437034,1.73256339667e-05,1793253093075615488 +55,0.916666667,BASELINE,772,749.919355561,726.919355561,703,671,639.919355561,892,794,823,653,634.080644439,654,0.400968176291,-0.00538794598527,0.0598400803288,0.999999934396,0.000245750489577,-0.000265545279212,1.73554576123e-05,1793253093092282368 +56,0.933333333,BASELINE,772,750,727,703,671,640,892.49491315,794,822.50508685,653,634.49491315,654,0.400967242245,-0.00538759220019,0.0598392229132,0.999999933711,0.000247171361455,-0.000266785171325,1.76148258481e-05,1793253093108949248 +57,0.950000000,BASELINE,772,750,726.927877193,703,671,640,892.927877193,794,822.072122807,653,635,654,0.400966391695,-0.00538710980058,0.0598384162719,0.999999933032,0.000248722765264,-0.000267866194178,1.78815286546e-05,1793253093125616128 +58,0.966666667,BASELINE,772,750,726.338413181,703,671,640,892.338413181,794,822.661586819,653,635,654,0.400968213185,-0.00538799415575,0.0598397430725,0.999999934484,0.000245768645532,-0.000265156198294,1.79327324323e-05,1793253093142282496 +59,0.983333333,BASELINE,772,750,726,703,671,640,892,794,822.753327215,653.246672785,635,654,0.400968157048,-0.00538777432873,0.0598400613814,0.999999934714,0.000245141757763,-0.000264875926046,1.78264527155e-05,1793253093158949120 +60,1.000000000,BASELINE,772,750,726,703,671,640,892,794,822.174142716,653.825857284,635,654,0.400965569892,-0.00538606607856,0.0598390202566,0.999999933304,0.000247651948073,-0.000267870889354,1.75078872984e-05,1793253093175615488 +61,1.016666667,BASELINE,772,749.599933837,726.400066163,703,671,640,892,794,822.400066163,654,635,654,0.400964489614,-0.00538509501489,0.0598382562158,0.999999932588,0.00024892943722,-0.000269377046207,1.71414926361e-05,1793253093192282112 +62,1.033333333,BASELINE,772,749.027864197,726.972135803,703,671,640,892,794,822.972135803,654,635,654,0.400964057201,-0.00538444089548,0.0598376113039,0.999999932175,0.000249676941668,-0.000270243109044,1.67545344033e-05,1793253093208948736 +63,1.050000000,BASELINE,772,749.54972833,727,703.54972833,671,640,892.54972833,794,823,653.45027167,635,654,0.400965844476,-0.00538651928544,0.0598389058421,0.999999933299,0.00024745280118,-0.000268075090423,1.74845485047e-05,1793253093225615616 +64,1.066666667,BASELINE,772,750,727,703.869554001,671,640,892.869554001,794,823,653,635,654,0.400967223608,-0.00538813969594,0.0598399849251,0.999999934147,0.000245886531599,-0.000266305143185,1.81187724837e-05,1793253093242282240 +65,1.083333333,BASELINE,772,750,727,703.278806602,671,640,892.278806602,794,823,653,635,654,0.4009667615,-0.00538765035327,0.0598399533293,0.999999933778,0.000247178572501,-0.000266488039249,1.82131766685e-05,1793253093258949120 +66,1.100000000,BASELINE,772,750,727,703,671,640,892,794.305768764,822.694231236,653,635,654,0.400966534851,-0.00538726783096,0.0598396172631,0.999999933615,0.000247339627238,-0.000266950294936,1.82038515062e-05,1793253093275615744 +67,1.116666667,BASELINE,772,750,727,703,671,640,892,794.884827656,822.115172344,653,635,654,0.400966518652,-0.00538698078261,0.0598390090671,0.999999933636,0.000246489828646,-0.000267662236769,1.81018150818e-05,1793253093292282368 +68,1.133333333,BASELINE,772,749.538372951,727,703,671,640,892,794.538372951,822.461627049,653,635,654,0.400966648337,-0.00538660707963,0.0598389421515,0.999999933696,0.00024681426458,-0.000267161780728,1.77393225277e-05,1793253093308948992 +69,1.150000000,BASELINE,772,749,727,703,671,640,892,794,823,653,634.961506987,654,0.400966884206,-0.00538633686455,0.0598390913973,0.999999933801,0.000247312195572,-0.00026633360082,1.73571136494e-05,1793253093325615616 +70,1.166666667,BASELINE,772,749,727,703,671,640,892,794,823,653,634.375719082,654,0.400968114832,-0.00538784393598,0.0598404033052,0.999999934409,0.000246131824749,-0.00026512560976,1.76139906019e-05,1793253093342282240 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@@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:819fb1cd2776b8184a2bfc469d008e0a3174d07b9f8227df41c2e2bde4cb0156 +size 26158030 diff --git a/Obstacle_avoidance/ball_15A_10/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/ball_15A_10/position_02/depth_01/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..a7bbbe87dcdb7202ac511e4ca5a426cfa78df21b --- /dev/null +++ b/Obstacle_avoidance/ball_15A_10/position_02/depth_01/franka_data.csv @@ -0,0 +1,413 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+30,0.500000000,BASELINE,772,749.596417486,727,702,671,639.403582514,892,794,822,654,635,654,0.400935633903,-0.00543887824645,0.0499307982161,0.999999976172,5.39127654804e-05,-0.000209360265446,-3.02946992838e-05,1793253100919050496 +31,0.516666667,BASELINE,772,749.008221741,727,702,671,639.991778259,892,794,822,654,635,654,0.400936348088,-0.00543784809196,0.0499304274674,0.999999976208,5.49569455223e-05,-0.000208911771575,-3.03197412985e-05,1793253100935717120 +32,0.533333333,BASELINE,772,749.57145096,727,702.57145096,671,640,892,794,822,654,635,654,0.400935457964,-0.00543789934358,0.0499301497477,0.999999975911,5.6465311293e-05,-0.000209995804419,-2.98464736732e-05,1793253100952383744 +33,0.550000000,BASELINE,772,749.8503097,727,703,671.1496903,640,892,794.1496903,822,653.8503097,634.8503097,654.1496903,0.400935400947,-0.00543777723963,0.0499303467455,0.999999975796,5.78484862997e-05,-0.000210214544489,-2.95161155623e-05,1793253100969050624 +34,0.566666667,BASELINE,772,749.27579547,727,703,671.72420453,640,892,794.72420453,822,653.27579547,634.27579547,654.72420453,0.400937772852,-0.00543711964226,0.0499318872582,0.999999976215,5.88576921913e-05,-0.000207915910492,-2.96113854111e-05,1793253100985717760 +35,0.583333333,BASELINE,772,749.285534377,727,702.714465623,671.714465623,640,892,794.714465623,822,653.285534377,634.285534377,654.714465623,0.400937984672,-0.00543711849836,0.0499320857159,0.999999976278,5.91525076856e-05,-0.000207527556786,-2.96215759857e-05,1793253101002384640 +36,0.600000000,BASELINE,772,749.834691657,727,702.165308343,671.165308343,640,892,794.165308343,822,653.834691657,634.834691657,654.165308343,0.400936202169,-0.00543772343261,0.0499310451058,0.999999976015,5.87877541324e-05,-0.000208902891102,-2.95532161517e-05,1793253101019051264 +37,0.616666667,BASELINE,771.565102398,750,727,702.434897602,671,639.565102398,892.434897602,794,822.434897602,654,635,654,0.400935495436,-0.0054379107594,0.049930579451,0.999999975929,5.73328448308e-05,-0.000209692549245,-2.97447303914e-05,1793253101035717120 +38,0.633333333,BASELINE,771,749.946866343,727,703,671,639.053133657,892.946866343,794,822.946866343,654,635,654,0.400935284598,-0.00543795959659,0.0499303680716,0.999999975935,5.53846942281e-05,-0.000210144111288,-3.00178437628e-05,1793253101052383488 +39,0.650000000,BASELINE,771,749.367774616,727,703,671,639.632225384,892.367774616,794,822.367774616,654,635,654,0.40093539649,-0.0054384178193,0.0499302226702,0.999999976138,5.32013975562e-05,-0.000209745677221,-2.99908442265e-05,1793253101069050112 +40,0.666666667,BASELINE,771.210547009,749.210547009,727,702.789452991,671.210547009,640,892,794.210547009,822.210547009,654,635,654,0.400935511028,-0.00543831540629,0.0499299659634,0.999999976209,5.23150297991e-05,-0.000209617018653,-3.00833245847e-05,1793253101085716480 +41,0.683333333,BASELINE,771.78752832,749.78752832,727,702.21247168,671.78752832,640,892,794.78752832,822.78752832,654,635,654,0.40093563017,-0.00543723726739,0.0499295155416,0.999999976056,5.3685826713e-05,-0.000209957875199,-3.0383746782e-05,1793253101102383104 +42,0.700000000,BASELINE,772,749.630296758,727,702.369703242,672,640,892,795,822.630296758,654,635,654,0.400935743091,-0.00543744960341,0.0499294945008,0.999999976065,5.37644120101e-05,-0.000209881923467,-3.04704039891e-05,1793253101119050240 +43,0.716666667,BASELINE,772,749.045094514,727,702.954905486,672,640,892,795,822.045094514,654,635,654,0.400935852384,-0.00543841415375,0.0499297237451,0.999999976169,5.30897706675e-05,-0.000209563015326,-3.04324581618e-05,1793253101135717376 +44,0.733333333,BASELINE,772,749.537833832,727,702.462166168,671.462166168,640,892,795,822,653.462166168,635,654,0.400936579951,-0.00543787752384,0.0499305591373,0.999999976357,5.34829466819e-05,-0.000208593893813,-3.02361254662e-05,1793253101152384000 +45,0.750000000,BASELINE,772,749.881342026,727,702,671,639.881342026,892,794.881342026,822,653.118657974,634.881342026,654.118657974,0.400937261713,-0.00543748258515,0.0499312233578,0.999999976514,5.37226697509e-05,-0.000207798212902,-3.00795562931e-05,1793253101169050368 +46,0.766666667,BASELINE,772,749.307855939,727,702,671,639.307855939,892,794.307855939,822,653.692144061,634.307855939,654.692144061,0.400937570026,-0.00543811118956,0.0499310374722,0.999999976534,5.30324559672e-05,-0.000207875436986,-3.01260937077e-05,1793253101185716736 +47,0.783333333,BASELINE,772,749,727,702,671,639.266779563,892,794,822,654,634.266779563,655,0.400937720369,-0.00543760600498,0.0499310837393,0.999999976448,5.45121104986e-05,-0.000207906141779,-3.01091692704e-05,1793253101202383360 +48,0.800000000,BASELINE,772,749,727,702,671,639.842747272,892,794,822,654,634.842747272,655,0.40093768763,-0.00543578679887,0.0499313990633,0.99999997623,5.85065661189e-05,-0.000207882932354,-3.00186947809e-05,1793253101219049984 +49,0.816666667,BASELINE,771.569685531,749.430314469,727,702,671,640,892,794,822,654,635,654.569685531,0.40093774585,-0.00543674221523,0.0499316672275,0.999999976368,5.75767414292e-05,-0.000207484512658,-2.99951569661e-05,1793253101235716352 +50,0.833333333,BASELINE,771.021658466,749.978341534,727,702,671,639.978341534,892,794.021658466,822,653.978341534,635,654,0.400937778782,-0.00543869033243,0.0499318991175,0.999999976616,5.4846249914e-05,-0.000207025575579,-2.99932055532e-05,1793253101252383488 +51,0.850000000,BASELINE,771.598157732,749.401842268,727,702,671,639.401842268,892,794.598157732,822,653.401842268,635,654,0.400936288787,-0.00543937454479,0.0499316554677,0.999999976367,5.336327138e-05,-0.00020862621888,-2.9900250833e-05,1793253101269050624 +52,0.866666667,BASELINE,771.825936585,749,727,702,671.34812683,639.174063415,892,794.825936585,822,653.174063415,635,654,0.400935651007,-0.00543945893088,0.0499315629625,0.99999997624,5.33756016161e-05,-0.000209239274281,-2.98278710408e-05,1793253101285717504 +53,0.883333333,BASELINE,771.251396623,749,727,702,672.497206753,639.748603377,892,794.251396623,822,653.748603377,635,654,0.400936973958,-0.00543816326616,0.0499318182032,0.999999976396,5.6828264832e-05,-0.000207580135905,-2.98028290372e-05,1793253101302383872 +54,0.900000000,BASELINE,771.332424795,749.332424795,727,702.332424795,672.667575205,639.667575205,892,794,822,654,635,654,0.400937403871,-0.00543744366434,0.049931881469,0.999999976399,5.86243849224e-05,-0.000207077050695,-2.9728416826e-05,1793253101319050240 +55,0.916666667,BASELINE,771.923466904,749.923466904,727,702.923466904,672.076533096,639.076533096,892,794,822,654,635,654,0.400937139025,-0.00543717222362,0.0499317953835,0.999999976291,5.913176003e-05,-0.000207473343014,-2.96155959575e-05,1793253101335716608 +56,0.933333333,BASELINE,772,750,727,703,672,639.503584158,892,794.503584158,822,654,635,654,0.400936529447,-0.00543743023601,0.0499308792671,0.999999976135,5.77093327445e-05,-0.000208580226327,-2.99036124444e-05,1793253101352383232 +57,0.950000000,BASELINE,772,750,727,702.918262692,671.918262692,640.081737308,892,794.918262692,822,654,635,654.081737308,0.400935922942,-0.00543772741958,0.0499300152087,0.999999975988,5.62922517125e-05,-0.000209633667531,-3.01531711684e-05,1793253101369050112 +58,0.966666667,BASELINE,772,750,727,702.342160339,671.342160339,640.657839661,892,794.342160339,822,654,635,654.657839661,0.400935645171,-0.0054377851852,0.0499302127636,0.999999975959,5.66436939304e-05,-0.000209724580609,-2.98095070793e-05,1793253101385716736 +59,0.983333333,BASELINE,772,750,727,702.23300585,671,640.76699415,892,794,822,654,635,654.76699415,0.40093545871,-0.00543810765008,0.049930119387,0.999999975943,5.60139946585e-05,-0.000209996947731,-2.96152448851e-05,1793253101402383360 +60,1.000000000,BASELINE,772,750,727,702.806802903,671,640.193197097,892,794,822,654,635,654.193197097,0.400935405797,-0.00543881726052,0.0499296004978,0.999999975943,5.39492911738e-05,-0.000210534707093,-2.96394958299e-05,1793253101419050496 +61,1.016666667,BASELINE,772,749.609485125,727,703,671.390514875,640,892,794.390514875,822,653.609485125,635,654,0.400935569882,-0.00543871982785,0.0499295438652,0.999999976114,5.37413036988e-05,-0.00020976503084,-2.97208116009e-05,1793253101435717632 +62,1.033333333,BASELINE,772,749.020740258,727,703,671.979259742,640,892,794.979259742,822,653.020740258,635,654,0.400935844119,-0.00543821273046,0.0499297218795,0.99999997637,5.44758074659e-05,-0.000208331684695,-2.98310941546e-05,1793253101452384768 +63,1.050000000,BASELINE,772,749.561204095,727,702.438795905,671.438795905,640,892.561204095,795,822,653.561204095,635,654,0.400937446242,-0.00543954460205,0.0499312709308,0.999999976712,5.41883915911e-05,-0.000206807338372,-2.9500578193e-05,1793253101469050880 +64,1.066666667,BASELINE,772,750,727,702,671,640,892.858588082,794.858588082,822.141411918,653.858588082,635,654,0.400938581015,-0.0054399304391,0.0499322805449,0.999999976902,5.40794646113e-05,-0.000205925998849,-2.94228523938e-05,1793253101485716992 +65,1.083333333,BASELINE,772,750,727,702,671,640,892.282950074,794.282950074,822.717049926,653.282950074,635,654,0.400938131836,-0.00543720514835,0.0499314800139,0.999999976622,5.46331940823e-05,-0.000207029309503,-3.01707793473e-05,1793253101502383616 +66,1.100000000,BASELINE,771.709883545,750,727,702.290116455,671,640,892.290116455,794,823,653,635,654,0.400938042156,-0.00543608377599,0.0499311442384,0.999999976555,5.54954000813e-05,-0.000207089576503,-3.04110776678e-05,1793253101519049984 +67,1.116666667,BASELINE,771.139302975,750,727,702.860697025,671,640,892.860697025,794,823,653,635,654,0.400938300014,-0.00543651295888,0.0499312577556,0.999999976693,5.66558193859e-05,-0.000206141502444,-3.01606364068e-05,1793253101535716352 +68,1.133333333,BASELINE,771.448306762,750,727,703,671,640,892.551693238,794,822.551693238,653.448306762,635,654,0.400937406885,-0.00543822138482,0.0499310994399,0.999999976655,5.41288568088e-05,-0.000207035312408,-2.99505354125e-05,1793253101552383488 +69,1.150000000,BASELINE,772,750,727,703,671.040478439,640,892,794,822,654,635,654,0.400936238504,-0.0054401155669,0.0499308104703,0.999999976534,5.08244854977e-05,-0.000208476253541,-2.97706137364e-05,1793253101569050624 +70,1.166666667,BASELINE,772,750,727,703,671.620148311,640,892,794,822,654,635,654,0.400936355801,-0.00543898013751,0.0499299506967,0.99999997625,5.30297039862e-05,-0.000209280492393,-2.98191299422e-05,1793253101585717504 +71,1.183333333,BASELINE,772,750,727,703,671.801423857,640,892.198576143,794.198576143,822.198576143,653.801423857,634.801423857,654,0.400936604031,-0.00543812508645,0.0499299689639,0.99999997619,5.45415136345e-05,-0.000209175310729,-2.9857957231e-05,1793253101602384384 +72,1.200000000,BASELINE,772,750,727,703,671.225357028,640,892.774642972,794.774642972,822.774642972,653.225357028,634.225357028,654,0.400937101164,-0.00543780303077,0.0499316563754,0.99999997656,5.47351624017e-05,-0.000207341332532,-2.98783660218e-05,1793253101619050496 +73,1.216666667,BASELINE,772,750,727.34948889,703,671,640,892.65051111,795,822.65051111,653.34948889,634,654.34948889,0.400937936356,-0.00543727246352,0.0499322433505,0.999999976672,5.59952492001e-05,-0.000206458897675,-2.99216564686e-05,1793253101635716864 +74,1.233333333,BASELINE,772,750,727.923550248,703,671,640,892.076449752,795,822.076449752,653.923550248,634,654.923550248,0.400938988774,-0.00543660791218,0.0499321232139,0.999999976615,5.79406013185e-05,-0.000206187899919,-2.9979650071e-05,1793253101652383488 +75,1.250000000,BASELINE,772,749.486884724,727.486884724,702.486884724,671,640,892,794.486884724,822.513115276,653.486884724,634.513115276,655,0.400936790074,-0.00543760279015,0.0499304458134,0.999999976209,5.60755713478e-05,-0.000208662156045,-2.99652510096e-05,1793253101669050112 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+411,6.850000000,pose2_to_pose3_retreat,0.585750814956,5.28077343946e-06,1.04002079825,0.556322155481,0.00867767908436,1.03963216879 diff --git a/Obstacle_avoidance/ball_15A_10/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/ball_15A_10/position_02/depth_02/fem_node.csv new file mode 100644 index 0000000000000000000000000000000000000000..37066dd372996ca3425d66fadb09a801a89173f9 --- /dev/null +++ b/Obstacle_avoidance/ball_15A_10/position_02/depth_02/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fed5a8f7f2c44fd6ca2609461ede762922215c5b166fabeb9d28fa4ab489fadc +size 26284107 diff --git a/Obstacle_avoidance/ball_15A_10/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/ball_15A_10/position_02/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..1d51655be468177fe4634de9ddfc887b1af0f8e1 --- /dev/null +++ b/Obstacle_avoidance/ball_15A_10/position_02/depth_02/franka_data.csv @@ -0,0 +1,415 @@ 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+24,0.400000000,BASELINE,772,749.928850559,727,701.928850559,672,640,892.928850559,794,822,653.071149441,635,654.071149441,0.400987137676,-0.00543154892845,0.0498512335582,0.999999964732,6.38197619011e-05,-0.000254738242814,-3.96321925359e-05,1793253107856587776 +25,0.416666667,BASELINE,772,750,727,702,671.482814475,640,892.482814475,794.517185525,822,653.517185525,635,654,0.400988552846,-0.00543229300523,0.0498519308471,0.999999965251,6.20435197353e-05,-0.000253160092844,-3.94735890205e-05,1793253107873254656 +26,0.433333333,BASELINE,771.894886698,749.894886698,727,701.894886698,671,640,892,794.894886698,822,654,635,654,0.400989659838,-0.00543288869958,0.0498525901619,0.999999965675,6.04995114196e-05,-0.000251874501758,-3.9358810007e-05,1793253107889921536 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+31,0.516666667,BASELINE,771,749,727,701.007635861,671,640,892,794,823,654,634.992364139,654,0.400988770839,-0.00542948413125,0.0498527188001,0.999999965062,6.59287991308e-05,-0.000252859609041,-3.99006149824e-05,1793253107973254656 +32,0.533333333,BASELINE,771,749,727,701.586367935,671,640,892,794,823,654,634.413632065,654,0.400989835175,-0.00543103538094,0.0498536631056,0.999999965524,6.48402945579e-05,-0.000251340496202,-3.96869139011e-05,1793253107989921280 +33,0.550000000,BASELINE,771.165233121,749.165233121,727,701.834766879,671,640,892,794,822.834766879,654,634,654,0.400990640308,-0.00543216017614,0.0498542234615,0.999999965854,6.36510603802e-05,-0.000250357158389,-3.95192936673e-05,1793253108006587904 +34,0.566666667,BASELINE,771.744431709,749.744431709,727,701.255568291,671,640,892,794,822.255568291,654,634,654,0.40099079605,-0.00543221655679,0.0498538218919,0.999999965857,6.22094642639e-05,-0.000250716120448,-3.94671217459e-05,1793253108023254528 +35,0.583333333,BASELINE,771.679301378,750,727,701.320698622,671.320698622,640,892,794,822,653.679301378,634.320698622,654,0.400990184338,-0.00543152630897,0.0498536110795,0.999999965707,6.23081231976e-05,-0.000251276215247,-3.95549146139e-05,1793253108039921152 +36,0.600000000,BASELINE,771.105349526,750,727,701.894650474,671.894650474,640,892,794,822,653.105349526,634.894650474,654,0.400988966572,-0.00543024645441,0.0498535509067,0.999999965435,6.36231095233e-05,-0.000251995143061,-3.97532365923e-05,1793253108056587776 +37,0.616666667,BASELINE,771,749.519457674,727,701.519457674,671.519457674,640,892,794,822,653,635,654,0.400988290962,-0.00543057986956,0.0498525589366,0.999999965386,6.31876302446e-05,-0.000252279682642,-3.98891535224e-05,1793253108073254656 +38,0.633333333,BASELINE,771,749,727,701,671.068028746,640,892,794,822,653.068028746,635,654,0.40098797042,-0.0054311116797,0.0498516515737,0.999999965393,6.26691967779e-05,-0.000252359973586,-4.00110257233e-05,1793253108089921024 +39,0.650000000,BASELINE,771,749,727,701,671.647325557,640,892,794,822,653.647325557,635,654,0.400989402348,-0.00543040873864,0.0498529544398,0.999999965454,6.44849128068e-05,-0.00025163918304,-4.0132784911e-05,1793253108106587648 +40,0.666666667,BASELINE,771,749,727,701.225080838,671.774919162,640,892,794,822.225080838,654,635,654,0.400990533804,-0.0054304756102,0.0498538259612,0.999999965696,6.49277557514e-05,-0.000250567375564,-4.01153000456e-05,1793253108123254528 +41,0.683333333,BASELINE,771,749,727,701.800437124,671.199562876,640,892,794,822.800437124,654,635,654,0.40099119766,-0.00543174048012,0.0498540262151,0.999999966218,6.32341051433e-05,-0.000248949308336,-3.9881120702e-05,1793253108139922176 +42,0.700000000,BASELINE,771,749,727,702,671.3821318,640,892,794,822.6178682,654,635,654,0.400990793969,-0.00543226308549,0.0498534386154,0.999999966104,6.25679322694e-05,-0.000249615413182,-3.96197690923e-05,1793253108156589312 +43,0.716666667,BASELINE,771,749,727,702,671.967192422,640,892,794,822.032807578,654,635,654,0.400989823364,-0.00543239151564,0.0498524326308,0.999999965651,6.24473953981e-05,-0.000251494514094,-3.93439878194e-05,1793253108173255936 +44,0.733333333,BASELINE,771,749,727,702,671.45191204,640,892.54808796,794.54808796,822,654,635,654,0.400988924075,-0.00543165052072,0.0498520094511,0.999999965261,6.34769168973e-05,-0.000252785370128,-3.93475636858e-05,1793253108189922304 +45,0.750000000,BASELINE,771,749,727,702,671.128225109,640,892.871774891,794.871774891,822,654,634.871774891,654,0.400988016397,-0.00543115209714,0.0498517593221,0.999999964934,6.43562369748e-05,-0.000253844181529,-3.94047842949e-05,1793253108206589184 +46,0.766666667,BASELINE,771,749,727,702,671.706568484,640,892.293431516,794.293431516,822,654,634.293431516,654,0.400987064394,-0.00543168650016,0.0498519951282,0.999999964827,6.44684601261e-05,-0.000254211101541,-3.9592060915e-05,1793253108223255296 +47,0.783333333,BASELINE,771.281755391,749,727,702,672,640,892,794,822,654,634.281755391,654.281755391,0.400987394128,-0.00543210481877,0.0498523688738,0.999999964924,6.44125160058e-05,-0.000253850330342,-3.95466095057e-05,1793253108239921664 +48,0.800000000,BASELINE,771.853691514,749,727,702,672,640,892,794,822,654,634.853691514,654.853691514,0.400989043925,-0.00543240358175,0.049852884684,0.999999965231,6.41833759168e-05,-0.000252740107807,-3.92614708169e-05,1793253108256588288 +49,0.816666667,BASELINE,772,749.440400593,727,702,672,640,892.440400593,794,822,654,634.559599407,654.559599407,0.400988283563,-0.00543171090835,0.0498522189557,0.999999965072,6.3227791902e-05,-0.000253546556737,-3.96592677504e-05,1793253108273254656 +50,0.833333333,BASELINE,772,749.968497933,727,701.968497933,672,640,892.968497933,794.031502067,822.031502067,654,634.031502067,654,0.400986799517,-0.00543074918769,0.0498512689133,0.999999964776,6.22340267957e-05,-0.000254865871228,-4.02302730705e-05,1793253108289921280 +51,0.850000000,BASELINE,772,749.389318285,727,701.389318285,672,640,892.389318285,794.610681715,822.610681715,654,634.610681715,654,0.400987137514,-0.00543103498714,0.0498524370576,0.999999964935,6.49178440218e-05,-0.000253647160556,-3.9731220214e-05,1793253108306588416 +52,0.866666667,BASELINE,772,749,727,701.188914608,671.811085392,640,892,794.811085392,823,653.811085392,635,654,0.400987753127,-0.00543104127098,0.0498531981858,0.999999965139,6.66552544871e-05,-0.000252430283685,-3.94762604688e-05,1793253108323255552 +53,0.883333333,BASELINE,772,749,727,701.765206109,671.234793891,640,892,794.234793891,823,653.234793891,635,654,0.400988938004,-0.00543047439695,0.0498531247113,0.999999965448,6.64520202196e-05,-0.000251217167172,-3.97218233539e-05,1793253108339922176 +54,0.900000000,BASELINE,771.660446463,749,727,701.660446463,671,640,892,794,822.660446463,653.339553537,635,654,0.400989247643,-0.00543057138805,0.049852815707,0.999999965534,6.60602726242e-05,-0.000250974441491,-3.97432252678e-05,1793253108356588544 +55,0.916666667,BASELINE,771.087435689,749,727,701.087435689,671,640,892,794,822.087435689,653.912564311,635,654,0.400988955519,-0.00543112481417,0.0498523447662,0.999999965467,6.5538914252e-05,-0.000251398900081,-3.96105071429e-05,1793253108373254912 +56,0.933333333,BASELINE,771,749,727,701,671,640,892,794,822,654,635,654,0.40098866205,-0.00543092334379,0.0498522242757,0.999999965302,6.53237754303e-05,-0.000252133017535,-3.94622808454e-05,1793253108389921536 +57,0.950000000,BASELINE,771,749,727,701,671,640,892,794,822,653.907731577,635,654,0.400988326918,-0.00543087772628,0.0498521815577,0.999999965174,6.51212310098e-05,-0.000252715468576,-3.93147985059e-05,1793253108406588160 +58,0.966666667,BASELINE,771,749,727,701,671,640,892,794,822,653.328658803,635,654,0.400987773256,-0.00543237155038,0.049852216229,0.999999965336,6.46942188533e-05,-0.000252203550893,-3.91859744211e-05,1793253108423254528 +59,0.983333333,BASELINE,771.248513786,749.248513786,727,701.248513786,671.248513786,640,892,794,822.248513786,653.248513786,635,654,0.400988020751,-0.00543227926844,0.0498526192371,0.999999965469,6.52696024669e-05,-0.00025151669978,-3.92572115916e-05,1793253108439921152 +60,1.000000000,BASELINE,771.823192535,749.823192535,727,701.823192535,671.823192535,640,892,794,822.823192535,653.823192535,635,654,0.400989319734,-0.00543010528239,0.0498535056732,0.999999965561,6.71605926306e-05,-0.000250600255067,-3.95910215896e-05,1793253108456587776 +61,1.016666667,BASELINE,772,749.593212129,727,702,671.593212129,640,892,794,822.593212129,653.593212129,635,654,0.400989011062,-0.00543082621634,0.0498530535309,0.999999965508,6.57089581797e-05,-0.000251206273911,-3.95313959381e-05,1793253108473254400 +62,1.033333333,BASELINE,772,749.005654444,727,702,671.005654444,640,892,794,822.005654444,653.005654444,635,654,0.400987987975,-0.00543283360508,0.0498520065464,0.999999965382,6.27719164179e-05,-0.00025248885048,-3.92969339584e-05,1793253108489921024 +63,1.050000000,BASELINE,771.426091262,749,727,702,671,640,892,794,822,653,635,654,0.400988789768,-0.00543136820876,0.0498526038022,0.999999965449,6.56614695242e-05,-0.000251476581523,-3.93618563032e-05,1793253108506587648 +64,1.066666667,BASELINE,771.15345806,749,727,702,671.15345806,640,892,794,822,653,635,654,0.40098962168,-0.00543040700128,0.049853157379,0.99999996556,6.75635229875e-05,-0.000250527130716,-3.93994730257e-05,1793253108523254528 +65,1.083333333,BASELINE,771.733184636,749,727,702,671.733184636,640,892,794,822,653,635,654,0.400990487998,-0.00543094004265,0.0498535452451,0.999999965807,6.65652760536e-05,-0.00024981411538,-3.93531605464e-05,1793253108539921152 +66,1.100000000,BASELINE,772,749,727,702,671.689780467,640,892,794.310219533,822.310219533,653,635,654,0.400990049832,-0.00543116385781,0.0498531736955,0.999999965787,6.58068611041e-05,-0.000250085482307,-3.93991116794e-05,1793253108556587776 +67,1.116666667,BASELINE,772,749,727,702,671.11504076,640,892,794.88495924,822.88495924,653,635,654,0.40098849935,-0.00543112399978,0.0498521546021,0.99999996554,6.525294783e-05,-0.000251196219267,-3.95237348011e-05,1793253108573254400 +68,1.133333333,BASELINE,772,749.469024877,727,702,671.469024877,640,892,794.530975123,822.530975123,653.469024877,635,654,0.40099001486,-0.00543192467635,0.0498527968579,0.999999965767,6.5977390681e-05,-0.000250164706739,-3.91229218569e-05,1793253108589921280 +69,1.150000000,BASELINE,771.945236479,750,727,702,671.945236479,640,892,794,822.054763521,653.945236479,635,654,0.400991843126,-0.00543274269674,0.0498537074258,0.999999966041,6.68374940442e-05,-0.000248907351043,-3.86735228311e-05,1793253108606587648 +70,1.166666667,BASELINE,771.365829106,750,727,702,671.365829106,640,892,794,822.634170894,653.365829106,635,654,0.400989317055,-0.0054317117246,0.0498532054484,0.999999965659,6.59324391779e-05,-0.000250622338968,-3.90183734559e-05,1793253108623254528 +71,1.183333333,BASELINE,771.212441464,749.787558536,727,701.787558536,671.212441464,640,892,794,822.787558536,653,635,654,0.400987587463,-0.00543094962163,0.0498526671749,0.999999965366,6.52738687143e-05,-0.000251921275982,-3.92811737102e-05,1793253108639921152 +72,1.200000000,BASELINE,771.788764943,749.211235057,727,701.211235057,671.788764943,640,892,794,822.211235057,653,635,654,0.400987222122,-0.00543064805316,0.0498520667312,0.999999965229,6.50374908331e-05,-0.000252507577235,-3.94034334045e-05,1793253108656588032 +73,1.216666667,BASELINE,771.634897021,749,727,701,672,640,892,794.365102979,822.365102979,653.365102979,635,654,0.40098827476,-0.00543019420197,0.0498528227536,0.999999965429,6.64087497511e-05,-0.000251340464986,-3.94941769771e-05,1793253108673254656 +74,1.233333333,BASELINE,771.058550598,749,727,701,672,640,892,794.941449402,822.941449402,653.941449402,635,654,0.40099014782,-0.00542965224216,0.0498543636081,0.999999965817,6.87101647079e-05,-0.000249158852326,-3.95666857576e-05,1793253108689921280 +75,1.250000000,BASELINE,771,749,727,701,671.471275976,640,892,795,822.471275976,654,635,654,0.400990153742,-0.00543043867135,0.0498547428832,0.999999966096,6.63668862585e-05,-0.000248690544144,-3.94598156835e-05,1793253108706587904 +76,1.266666667,BASELINE,771,749,727,701.115145002,671,640,892,794.884854998,822,654,635,654,0.400990144566,-0.00543123283911,0.0498548910171,0.999999966301,6.43732713481e-05,-0.000248408872205,-3.93394468145e-05,1793253108723254784 +77,1.283333333,BASELINE,771,749,727,701.693166818,671,640,892,794.306833182,822,654,635,654,0.40099092343,-0.00543145428035,0.0498546379852,0.999999966282,6.58965865389e-05,-0.000248098665002,-3.92463523196e-05,1793253108739922176 +78,1.300000000,BASELINE,771,749,727,701.729532339,671,640,892,794,822.270467661,654,635,654,0.400990903938,-0.0054315196947,0.0498541560678,0.999999966232,6.52556931203e-05,-0.000248466273396,-3.9282097103e-05,1793253108756589056 +79,1.316666667,BASELINE,771,749,727,701.153047271,671,640,892,794,822.846952729,654,635,654,0.400989981158,-0.00543140857427,0.0498534151808,0.999999966139,6.2166131592e-05,-0.00024960078818,-3.94636155563e-05,1793253108773255168 +80,1.333333333,BASELINE,771,749,727,701,671,640,892,794,822.568926311,654,635,654,0.400989638914,-0.00543193077611,0.0498533685103,0.999999966124,6.21445869718e-05,-0.000249693673194,-3.9292608055e-05,1793253108789921536 +81,1.350000000,BASELINE,771.017728182,749,727,701.017728182,671.017728182,640.017728182,892,794.017728182,822,654,635,654,0.400989492224,-0.00543265508058,0.0498535708244,0.999999966135,6.31716198195e-05,-0.00024943313899,-3.90077443988e-05,1793253108806588160 +82,1.366666667,BASELINE,771.597207817,749,727,701.597207817,671.597207817,640.597207817,892,794.597207817,822,654,635,654,0.400988893161,-0.00543253000766,0.0498537118864,0.999999966068,6.22871069917e-05,-0.000249903534954,-3.9152579997e-05,1793253108823254784 +83,1.383333333,BASELINE,772,749,727,702,671.823696545,640.823696545,892,794.823696545,822.176303455,653.823696545,634.823696545,654,0.400988686785,-0.00543213986536,0.0498536360994,0.999999965937,6.28053241845e-05,-0.00025028548447,-3.92260015447e-05,1793253108839921408 +84,1.400000000,BASELINE,772,749,727,702,671.245476186,640.245476186,892,794.245476186,822.754523814,653.245476186,634.245476186,654,0.400989375609,-0.00543114544748,0.0498530659645,0.999999965655,6.65213282732e-05,-0.000250465803748,-3.91366213524e-05,1793253108856588288 +85,1.416666667,BASELINE,772,749,727,701.669475794,671,640,892,794,823,653,634.330524206,654,0.400989920407,-0.0054316173037,0.0498532413225,0.999999965764,6.62225851998e-05,-0.000250119407795,-3.90700305803e-05,1793253108873254912 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+90,1.500000000,BASELINE,771.237529776,749.762470224,727,701,672,640,892,794,822,654,635,654,0.400990165894,-0.00543414353272,0.0498539018896,0.999999966403,6.08870242797e-05,-0.000248960208725,-3.88104598221e-05,1793253108956588032 +91,1.516666667,BASELINE,771.813923952,749.186076048,727,701,672,640,892,794,822,654,635,654,0.400990191753,-0.00543347256742,0.0498535400391,0.999999966073,6.24800489171e-05,-0.000249910167503,-3.86645355905e-05,1793253108973254656 +92,1.533333333,BASELINE,771.603044404,749.396955596,727,701,671.603044404,640,892,794,822.396955596,654,635,654,0.400989713279,-0.00543296439933,0.0498532091804,0.999999966014,6.29151897027e-05,-0.00024999930322,-3.89221736652e-05,1793253108989921280 +93,1.550000000,BASELINE,771.016848433,749.983151567,727,701,671.016848433,640,892,794,822.983151567,654,635,654,0.400988994375,-0.00543253384139,0.0498528930963,0.999999966084,6.27983334362e-05,-0.00024967805942,-3.93722017151e-05,1793253109006587904 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+268,4.466666667,POSE2_TO_POSE3_RETREAT,771.270523235,749,726,701,673,638,904,791,830,653,634.729476765,655,0.458121961135,-0.00555470236757,0.0498117944296,0.999999957651,7.29429240495e-05,-0.000280342759387,2.80061424134e-05,1793253111986906880 +269,4.483333333,POSE2_TO_POSE3_RETREAT,771,749,726,701,672.68783002,638,904,791.31216998,830,653,635,654.68783002,0.458121406661,-0.00555469713718,0.0498111918734,0.999999957544,7.27208524667e-05,-0.000280790134205,2.79447992844e-05,1793253112003572992 +270,4.500000000,POSE2_TO_POSE3_RETREAT,771,749,726,701,672.098261805,638,904,791.901738195,830,653,635,654.098261805,0.458119427315,-0.00555461440267,0.0498098431523,0.999999957263,7.1377846194e-05,-0.000282105528012,2.82031010945e-05,1793253112020239360 +271,4.516666667,POSE2_TO_POSE3_RETREAT,771,749,726,701,672.482898601,638,904,791.517101399,830,653,634.517101399,654.482898601,0.458119588277,-0.0055553563158,0.0498097739892,0.999999957353,7.05338970967e-05,-0.00028199487844,2.82512443498e-05,1793253112036905984 +272,4.533333333,POSE2_TO_POSE3_RETREAT,771,749,726,701,673,638,904,791.062039731,830,653,634.062039731,655,0.458119975974,-0.00555643239934,0.04980989984,0.999999957502,6.97457217255e-05,-0.000281657472424,2.83073246311e-05,1793253112053572608 +273,4.550000000,POSE2_TO_POSE3_RETREAT,771,749,726,701,673,638,904,791.638381352,830,653,634.638381352,655,0.458118694684,-0.00555891146204,0.0498095208442,0.999999957527,6.85924746214e-05,-0.000281804640939,2.87776415713e-05,1793253112070239488 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+54,0.900000000,BASELINE,771.328169686,750,727,701,672,640,892,794.671830314,822.328169686,653.671830314,634.671830314,654.328169686,0.400994747379,-0.00541549075681,0.0498536519455,0.999999964592,9.30830462568e-05,-0.000245863861332,-4.12548067488e-05,1793253115421982464 +55,0.916666667,BASELINE,771.916023261,750,727,701,672,640,892,794.083976739,822.916023261,653.083976739,634.083976739,654.916023261,0.400997006993,-0.0054147289287,0.0498560555755,0.99999996523,9.55618263101e-05,-0.000242301101425,-4.12166370546e-05,1793253115438649088 +56,0.933333333,BASELINE,771.504461408,750,727,701,671.504461408,640,892,794,822.504461408,653.495538592,634.495538592,654.504461408,0.400995767808,-0.00541549507024,0.0498547807527,0.999999964991,9.37228911729e-05,-0.000243991215672,-4.12572331589e-05,1793253115455316480 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+69,1.150000000,BASELINE,771.039476591,749.039476591,727,701.960523409,672,640,892.960523409,794,822,653.039476591,635,654,0.400996271129,-0.00541556371431,0.0498538342421,0.999999964942,9.31109687993e-05,-0.000244429315883,-4.12352241654e-05,1793253115671982592 +70,1.166666667,BASELINE,771.617632022,749.617632022,727,701.382367978,672,640,892.382367978,794,822,653.617632022,635,654,0.400995028443,-0.00541639446481,0.0498532529565,0.999999964593,9.1733159261e-05,-0.000246419000033,-4.09484461123e-05,1793253115688649216 +71,1.183333333,BASELINE,772,750,727,701,672,640,892,794,822,654,634.805629916,654,0.400994824967,-0.0054171044341,0.0498534463978,0.999999964663,9.00985997086e-05,-0.00024675975268,-4.08128470119e-05,1793253115705315840 +72,1.200000000,BASELINE,772,750,727,701,672,640,892,794,822,654,634.23165984,654,0.400996651042,-0.00541757852078,0.0498551528616,0.999999965553,8.79626134497e-05,-0.00024388018301,-4.09724966369e-05,1793253115721982464 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+91,1.516666667,BASELINE,771.791343995,749.208656005,727,701,671,639.791343995,892,794,822.208656005,654,634.791343995,654.208656005,0.40099308993,-0.005417310367,0.0498536138277,0.999999964664,9.19784853614e-05,-0.000246035698833,-4.09795935749e-05,1793253116038649088 +92,1.533333333,BASELINE,771.625629547,749.374370453,727,701,671,640,892,794,822,654,635,654,0.400993760484,-0.00541684350065,0.0498538060692,0.999999964678,9.27109554356e-05,-0.000245691611985,-4.10499999931e-05,1793253116055316224 +93,1.550000000,BASELINE,771.038602212,749.961397788,727,701,671,640,892,794,822,654,635,654,0.400994970345,-0.00541636591564,0.0498543254393,0.999999964792,9.3365252191e-05,-0.000244990366892,-4.09798279667e-05,1793253116071983104 +94,1.566666667,BASELINE,771.542451583,749.457548417,727,701.542451583,671,640,892,794,822,654,635,654,0.400995483055,-0.00541637657323,0.049854972602,0.999999964972,9.35819935897e-05,-0.00024418224978,-4.091126516e-05,1793253116088649984 +95,1.583333333,BASELINE,771.87801465,749,727,702,671,640,892,794,822,654,634.87801465,654,0.400995303666,-0.0054161241797,0.0498550987455,0.999999964938,9.40857907237e-05,-0.000244125123477,-4.09190134331e-05,1793253116105316608 +96,1.600000000,BASELINE,771.302568182,749,727,702,671,640,892,794,822,654,634.302568182,654,0.40099273392,-0.00541476618492,0.0498532546458,0.999999964088,9.57711599813e-05,-0.000246887649214,-4.121001492e-05,1793253116121982976 +97,1.616666667,BASELINE,771,749,727,701.727553077,671.272446923,640,892,794,822,654,634,654,0.400991804176,-0.00541482251185,0.0498526013841,0.999999963896,9.54586159594e-05,-0.000247781432563,-4.12431477897e-05,1793253116138649344 +98,1.633333333,BASELINE,771,749,727,701.153016304,671.846983696,640,892,794,822,654,634,654,0.400992692868,-0.00541644704241,0.0498532685267,0.999999964435,9.29307804445e-05,-0.000246603149372,-4.09903552552e-05,1793253116155315968 +99,1.650000000,BASELINE,771,749,727,701.434900392,672,640,891.565099608,794,822,653.565099608,634,654,0.400993740474,-0.0054168594533,0.0498535531179,0.999999964671,9.17216441362e-05,-0.000246110089743,-4.0925755698e-05,1793253116171982848 +100,1.666666667,BASELINE,771,749,727,702,672,640,891,794,822,653.026924024,634.026924024,654,0.400994800297,-0.00541680751435,0.0498537149242,0.999999964793,9.11099919035e-05,-0.000245839960455,-4.0923873913e-05,1793253116188649728 +101,1.683333333,BASELINE,771,749,727,702,672,640,891,794,822,653.603630678,634.603630678,654,0.400994931615,-0.00541625860234,0.0498542051845,0.999999964827,9.2923853429e-05,-0.000245042736881,-4.08076774749e-05,1793253116205316608 +102,1.700000000,BASELINE,771,749,727,701.817573056,671.817573056,640,891.182426944,794,822,653.817573056,635,654,0.400995352181,-0.00541587208076,0.0498549224441,0.999999965023,9.40556357103e-05,-0.000243811757023,-4.07777722785e-05,1793253116221983232 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b/Obstacle_avoidance/ball_15A_10/position_02/depth_04/fem_node.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4031cb58f7a26e9b5b91a29175b708b88c0c6d0e36e1d2e796530b77d6b89cc1 +size 26406846 diff --git a/Obstacle_avoidance/ball_15A_10/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/ball_15A_10/position_02/depth_04/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..9aa8c7a92d5af00e48fec9a3ebfbd9642548637c --- /dev/null +++ b/Obstacle_avoidance/ball_15A_10/position_02/depth_04/franka_data.csv @@ -0,0 +1,417 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+18,0.300000000,BASELINE,771.554095972,749,727,702,672,640,892.554095972,794.445904028,822.445904028,654,635,654,0.400992376607,-0.00540688829597,0.0498496116939,0.999999959769,0.000123878340341,-0.000252247613605,-3.85629552467e-05,1793253121916825856 +19,0.316666667,BASELINE,771,749,727.02334136,702,672,640,892.02334136,794.97665864,822.97665864,654,635,654,0.400993198648,-0.00540666472375,0.0498491491073,0.999999959775,0.000123773288935,-0.000252313858058,-3.830824758e-05,1793253121933492224 +20,0.333333333,BASELINE,771,749,727.59905626,702,672,640,892.59905626,794.40094374,822.40094374,654,635,654,0.400992064403,-0.00540739328919,0.0498499463322,0.999999960077,0.000121987977646,-0.00025193034107,-3.86857116327e-05,1793253121950159360 +21,0.350000000,BASELINE,771,749,727.821116396,702,672,640,893,794,822,653.821116396,634.821116396,654,0.400991941988,-0.00540768252713,0.0498507204087,0.999999960405,0.000120633573607,-0.000251241377622,-3.89186996198e-05,1793253121966826240 +22,0.366666667,BASELINE,771,749,727.231854749,702,672,640,893,794,822,653.231854749,634.231854749,654,0.400994140819,-0.00540696390087,0.0498514413801,0.999999960801,0.000120267716948,-0.000249851687511,-3.88202440712e-05,1793253121983492352 +23,0.383333333,BASELINE,771,749.350969295,727,701.649030705,671.649030705,640,892.649030705,794,822.350969295,653.350969295,634,654,0.400993350956,-0.0054070802317,0.0498508108034,0.99999996062,0.000120013644267,-0.000250731620879,-3.86076415405e-05,1793253122000158976 +24,0.400000000,BASELINE,771,749.929617236,727,701.070382764,671.070382764,640,892.070382764,794,822.929617236,653.929617236,634,654,0.400990622287,-0.00540773821069,0.0498493034586,0.99999996006,0.000119832087364,-0.000253083890304,-3.8320990271e-05,1793253122016825600 +25,0.416666667,BASELINE,771.505211397,750,727,701,671.505211397,640,892,794,822.494788603,654,634.505211397,654,0.400992370932,-0.00540845975098,0.0498500174709,0.999999960537,0.000118519773703,-0.00025179775207,-3.84336315726e-05,1793253122033492224 +26,0.433333333,BASELINE,772,749.919512797,727,701.080487203,672,640,892.080487203,794,822,653.919512797,635,654,0.400994237242,-0.00540899237665,0.0498508218332,0.99999996102,0.0001174244828,-0.000250369894974,-3.85614342143e-05,1793253122050158848 +27,0.450000000,BASELINE,772,749.343593372,727,701.656406628,672,640,892.656406628,794,822,653.343593372,635,654,0.400993011452,-0.00540830797617,0.0498502888981,0.999999960681,0.000118628891368,-0.000251171005406,-3.84422121825e-05,1793253122066825728 +28,0.466666667,BASELINE,772,749,727,701.761552033,672,640,893,794,822.238447967,653.238447967,635,654,0.400992286037,-0.00540847725313,0.0498502213596,0.999999960592,0.000118893702207,-0.000251418967892,-3.83313281672e-05,1793253122083492608 +29,0.483333333,BASELINE,772,749,727,701.170456864,672,640,893,794,822.829543136,653.829543136,635,654,0.400992300638,-0.00540990905699,0.0498508421089,0.999999960872,0.000117768916258,-0.00025084886474,-3.82327754791e-05,1793253122100159488 +30,0.500000000,BASELINE,772,749,727,701,671.588092784,640,893,794,823,654,634.588092784,654,0.400992488862,-0.00540941357637,0.049850674271,0.999999960793,0.000118271208356,-0.000250909393806,-3.83485216979e-05,1793253122116825856 +31,0.516666667,BASELINE,772,749,727,701,671.009266852,640,893,794,823,654,634.009266852,654,0.400992747444,-0.00540813709495,0.049850186871,0.999999960568,0.000119432847463,-0.00025122547636,-3.85511090742e-05,1793253122133492224 +32,0.533333333,BASELINE,771.436119704,749,727,701,671.563880296,640,892.436119704,794,822.436119704,654,634.563880296,654,0.40099199596,-0.00540843303784,0.0498498979582,0.999999960358,0.00011984331589,-0.000251868428065,-3.85127113299e-05,1793253122150159104 +33,0.550000000,BASELINE,771,749.138339407,727,701,672,640,892.138339407,794,822.138339407,654,635,654,0.400991781531,-0.0054083693701,0.0498499153359,0.999999960293,0.000120475265568,-0.000251825637984,-3.85250888587e-05,1793253122166825472 +34,0.566666667,BASELINE,771,749.717271096,727,701,672,640,892.717271096,794,822.717271096,654,635,654,0.400993329889,-0.00540707891054,0.0498508979222,0.999999960681,0.000121851527476,-0.000249581915156,-3.87116662433e-05,1793253122183492096 +35,0.583333333,BASELINE,771,749.699137127,727,701,671.699137127,640,892.699137127,794,822.699137127,654,634.699137127,654,0.400994152118,-0.00540811549347,0.0498514023502,0.999999961043,0.000120692828193,-0.00024872590894,-3.85054379006e-05,1793253122200158976 +36,0.600000000,BASELINE,771,749.111097175,727,701,671.111097175,640,892.111097175,794,822.111097175,654,634.111097175,654,0.400994281248,-0.00541137326513,0.0498514503706,0.999999961374,0.000117114479412,-0.000249194493954,-3.79242719874e-05,1793253122216826112 +37,0.616666667,BASELINE,771,749,727,701,671.469166557,640,892.469166557,794,822,653.530833443,634.469166557,654,0.400994363389,-0.00541022241248,0.0498519739195,0.999999961318,0.000118302729488,-0.000248804865761,-3.8273341132e-05,1793253122233492992 +38,0.633333333,BASELINE,771.094526906,749,727,701,672,640,893,794,822,653,635,654,0.40099447462,-0.00540810255084,0.0498525649686,0.999999961186,0.000120458281648,-0.000248220239882,-3.87932473359e-05,1793253122250159616 +39,0.650000000,BASELINE,772.242796226,749,727,701,672,640,893,794,822,653,635,654,0.400995032162,-0.00540662833753,0.0498526736917,0.999999961249,0.000121019618008,-0.000247690360505,-3.88020589366e-05,1793253122266825984 +40,0.666666667,BASELINE,772.798915834,749,727,701.201084166,672,640,893,794,822,653.201084166,635,654,0.400994503129,-0.00540607470567,0.049851991068,0.999999961047,0.000120856401687,-0.000248583824758,-3.88127301654e-05,1793253122283492352 +41,0.683333333,BASELINE,772.208480887,749,727,701.791519113,672,640,893,794,822,653.791519113,635,654,0.400991870209,-0.00540730355689,0.049849776193,0.99999996032,0.000119290264567,-0.000252233249212,-3.88270021126e-05,1793253122300159232 +42,0.700000000,BASELINE,772,749,727,702,672,640,892.626845936,794.373154064,822,654,635,654,0.400990605014,-0.00540736870036,0.0498491215936,0.999999959949,0.000119814400569,-0.000253444333764,-3.88886097405e-05,1793253122316825600 +43,0.716666667,BASELINE,772,749,727,702,672,640,892.05001428,794.94998572,822,654,635,654,0.40099008636,-0.00540679866058,0.049849318635,0.999999959775,0.000121479464295,-0.000253324506252,-3.89760544646e-05,1793253122333492480 +44,0.733333333,BASELINE,772,749,727,701.471380977,672,640,892.528619023,794.471380977,822.528619023,654,635,654,0.400991673375,-0.00540712816498,0.0498508782837,0.999999960434,0.000120039013011,-0.000251427323508,-3.88137599067e-05,1793253122350158848 +45,0.750000000,BASELINE,771.891291787,749,727,701,672,640,892.891291787,794,823,654,635,654,0.400992986105,-0.00540768693977,0.0498520165907,0.999999961021,0.000118411608327,-0.000249883362418,-3.86767122981e-05,1793253122366825472 +46,0.766666667,BASELINE,771.305564778,749,727,701,672,640,892.305564778,794,823,654,635,654,0.400992218059,-0.00540887702844,0.0498507383757,0.999999960967,0.000117257561525,-0.000250629787194,-3.87544884824e-05,1793253122383492096 +47,0.783333333,BASELINE,771.277010798,749,727,701,672,640,892,794,823,653.722989202,635,654,0.400992062983,-0.00540894464764,0.0498501478423,0.999999960865,0.000117223233031,-0.000251043305038,-3.87964014181e-05,1793253122400158720 +48,0.800000000,BASELINE,771.856149269,749,727,701,672,640,892,794,823,653.143850731,635,654,0.400992576453,-0.00540778802196,0.0498503073429,0.999999960713,0.000118410148801,-0.000251093731001,-3.87991993543e-05,1793253122416825600 +49,0.816666667,BASELINE,772,749.434786122,727,701.434786122,672.434786122,640,892.434786122,794,822.565213878,653.434786122,635,654.434786122,0.400992474499,-0.00540732445422,0.0498504530999,0.999999960741,0.0001182500892,-0.000251006130794,-3.91155625307e-05,1793253122433491968 +50,0.833333333,BASELINE,772,749.986826786,727,701.986826786,672.986826786,640,892.986826786,794,822,653.986826786,634.986826786,654.986826786,0.400992155,-0.00540710331247,0.0498505850291,0.999999960819,0.000117701447275,-0.000250895099624,-3.95074406982e-05,1793253122450158848 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+54,0.900000000,BASELINE,771.338579949,749,727,701.661420051,672,640,892.661420051,794,822,653,634.338579949,654,0.40099206302,-0.00540746602452,0.0498507749038,0.999999960847,0.000118348152568,-0.000250587587728,-3.88054932163e-05,1793253122516825856 +55,0.916666667,BASELINE,771.919613407,749,727,701.080386593,672,640,892.080386593,794,822,653,634.919613407,654,0.400991987488,-0.00540768490164,0.0498508610217,0.999999960614,0.000119648759199,-0.000250836141013,-3.92150441691e-05,1793253122533493504 +56,0.933333333,BASELINE,772,749,727,701.49487842,671.50512158,640,892,794,822,653.49487842,635,654,0.40099244377,-0.00540604286585,0.0498512857631,0.999999960579,0.000121778537008,-0.000249943275089,-3.92579694917e-05,1793253122550159616 +57,0.950000000,BASELINE,772,749.068991471,727,701.931008529,671.068991471,640,892.068991471,794,822,654,635,654,0.400992991278,-0.00540454714683,0.049851771085,0.999999960624,0.000123493395349,-0.000248921477856,-3.92284030428e-05,1793253122566825472 +58,0.966666667,BASELINE,772,749.641456805,727,701.358543195,671.641456805,640,892.641456805,794,822,654,635,654,0.400993581356,-0.0054062997117,0.0498523017195,0.999999961064,0.000121208747614,-0.000248296242789,-3.90994111419e-05,1793253122583492096 +59,0.983333333,BASELINE,772,749.776915442,727,701,672,640.223084558,893,794,822,654,635,654.223084558,0.400993728255,-0.00540807991977,0.0498524304223,0.999999961309,0.000119313135601,-0.000248280992906,-3.87598075206e-05,1793253122600158720 +60,1.000000000,BASELINE,772,749.179930963,727,701,672,640.820069037,893,794,822,654,635,654.820069037,0.400993132365,-0.00540990645939,0.0498518854694,0.999999961233,0.000118069564883,-0.000249288105986,-3.80672090054e-05,1793253122616825344 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0000000000000000000000000000000000000000..4826739bc3f1640193bbf1cfcb0179a47bda7e7d --- /dev/null +++ b/Obstacle_avoidance/ball_15A_10/position_02/depth_05/franka_data.csv @@ -0,0 +1,418 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,772,750,727,701,672,640,893,794,823,653,635,654,0.400988902006,-0.00540613898532,0.0498475920261,0.99999995831,0.000125731512344,-0.000257168039406,-3.79026220423e-05,1793253128712832000 +1,0.016666667,BASELINE,771.388880423,749.388880423,727,701,672,640,892.388880423,794,822.388880423,653.611119577,634.388880423,654,0.400989210002,-0.00540549002507,0.0498475469401,0.999999958358,0.000127325408253,-0.000256205467765,-3.78277770671e-05,1793253128729499392 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+37,0.616666667,BASELINE,772,749,727,701,672,640,893,794,822,654,635,654,0.40099049699,-0.00540563997885,0.0498494960604,0.99999995963,0.000125865154122,-0.000251854843584,-3.82997031982e-05,1793253129329499904 +38,0.633333333,BASELINE,772,749,727,701,672,640,893,794,822,654,635,654,0.400989687309,-0.00540546974226,0.0498494230028,0.999999959163,0.000127193024723,-0.000253077765309,-3.80526388748e-05,1793253129346166528 +39,0.650000000,BASELINE,772,749,727,701,672,640,893,794,822,654,635,654,0.400989033474,-0.00540577639376,0.049849143907,0.999999959254,0.000125588727695,-0.000253511289829,-3.81108939665e-05,1793253129362832896 +40,0.666666667,BASELINE,772,749,727,701,672,640,893,794,822,653.74057704,635,654,0.400988968166,-0.00540552665964,0.0498488990707,0.999999959273,0.000124830800923,-0.000253796029856,-3.81892490676e-05,1793253129379499776 +41,0.683333333,BASELINE,772,749,727,701,672,640,893,794,822,653.163968351,635,654,0.400989622424,-0.00540459665579,0.049848696122,0.999999959209,0.000125107696172,-0.000253898857206,-3.82921796159e-05,1793253129396166144 +42,0.700000000,BASELINE,771.587455297,749,727,701.412544703,672,640,893,794,822,653.412544703,635,654.412544703,0.400989813376,-0.00540463804588,0.0498489854963,0.999999959269,0.000125474809321,-0.000253481928275,-3.82822632021e-05,1793253129412832768 +43,0.716666667,BASELINE,771.010980258,749,727,701.989019742,672,640,893,794,822,653.989019742,635,654.989019742,0.400989820227,-0.00540506543279,0.0498494705019,0.999999959378,0.000125877771793,-0.000252858467003,-3.82275054869e-05,1793253129429499392 +44,0.733333333,BASELINE,771,749,727,701.422004191,672,640,892.422004191,794,822.577995809,654,635,654.422004191,0.400990462017,-0.00540639304084,0.049849439148,0.999999959611,0.000125917844468,-0.000251951977967,-3.79943356601e-05,1793253129446166016 +45,0.750000000,BASELINE,771.164350332,749,727,701.164350332,672,639.835649668,892,794,822.835649668,654,635,654,0.4009905061,-0.00540658888412,0.0498492377807,0.999999959505,0.000126866144296,-0.000251903687561,-3.79376419869e-05,1793253129462832640 +46,0.766666667,BASELINE,771.743476105,749,727,701.743476105,672,639.256523895,892,794,822.256523895,654,635,654,0.400989010621,-0.00540388434745,0.0498486326493,0.999999958532,0.00013012434475,-0.000254035126048,-3.83350688649e-05,1793253129479499264 +47,0.783333333,BASELINE,772,749,727,701.680443486,672,639.319556514,892,794,822,654,635,654,0.400988577358,-0.00540331535801,0.0498486168836,0.999999958429,0.000130355333539,-0.000254331298505,-3.82839649506e-05,1793253129496166144 +48,0.800000000,BASELINE,772,749,727,701.106784603,672,639.893215397,892,794,822,654,635,654,0.400988988739,-0.00540444449548,0.0498490697649,0.999999959021,0.000128179168942,-0.000253168119162,-3.78762019843e-05,1793253129512833280 +49,0.816666667,BASELINE,772,749,727,701.466244496,672,639.533755504,892.466244496,794,822,653.533755504,635,654,0.400990197458,-0.00540423826933,0.0498496402683,0.999999959398,0.000127879997896,-0.000251789072487,-3.81301622453e-05,1793253129529499904 +50,0.833333333,BASELINE,772,749,727.040706235,701.959293765,672,639.040706235,892.959293765,794,822,653.040706235,635,654,0.400991370889,-0.00540380438454,0.049850144666,0.999999959673,0.000127922082044,-0.00025061360757,-3.85026135372e-05,1793253129546166272 +51,0.850000000,BASELINE,772,749,727.636675639,701.363324361,672,639.636675639,892.363324361,794,822,653.636675639,635,654,0.400989575292,-0.00540443132484,0.0498493803596,0.999999959251,0.000126763027341,-0.000252888640957,-3.84268319818e-05,1793253129562832384 +52,0.866666667,BASELINE,771.774159923,749,727.774159923,701.225840077,671.774159923,640,892.225840077,794,822,654,635,654,0.400988692571,-0.00540476835299,0.049848929521,0.999999959005,0.000126373668369,-0.000254075995303,-3.82882719476e-05,1793253129579498752 +53,0.883333333,BASELINE,771.195622914,749,727.195622914,701.804377086,671.195622914,640,892.804377086,794,822,654,635,654,0.400989235498,-0.00540465262211,0.0498489682286,0.99999995904,0.000127186351761,-0.000253564709189,-3.8051670077e-05,1793253129596165376 +54,0.900000000,BASELINE,771,749,727,702,671.380590384,640,893,794,822.380590384,653.619409616,635,654,0.400990316624,-0.00540508252439,0.0498494939316,0.999999959356,0.000126859609387,-0.000252494468412,-3.79659933549e-05,1793253129612832000 +55,0.916666667,BASELINE,771,749,727,702,671.955616527,640,893,794,822.955616527,653.044383473,635,654,0.400991672704,-0.00540579117937,0.0498502684304,0.999999959813,0.000125950757916,-0.000251138669265,-3.79574211785e-05,1793253129629498880 +56,0.933333333,BASELINE,771.541879266,749,727,701.458120734,672,640,893,794.541879266,822.458120734,653,634.458120734,654,0.400993014432,-0.00540551899003,0.0498514298458,0.999999960173,0.000127229603728,-0.000249030315069,-3.80819812656e-05,1793253129646166016 +57,0.950000000,BASELINE,771.872161735,749,727,701,672,640,892.872161735,794.872161735,822,653,634.127838265,654,0.400993658026,-0.00540521660692,0.0498521139397,0.999999960391,0.000128040378977,-0.000247723403807,-3.8172294744e-05,1793253129662832896 +58,0.966666667,BASELINE,771.290616423,749,727,701,672,640,892.290616423,794.290616423,822,653,634.709383577,654,0.400991828149,-0.00540509822547,0.0498509891301,0.999999960147,0.000126540525341,-0.000249484264988,-3.81015445411e-05,1793253129679499520 +59,0.983333333,BASELINE,771.287330325,749,727,701,672,640,892.287330325,794,822,653.287330325,635,654,0.400990333565,-0.00540529789049,0.0498500381473,0.99999995987,0.000125462287405,-0.000251138365992,-3.8049452008e-05,1793253129696165888 +60,1.000000000,BASELINE,771.861682446,749,727,701,672,640,892.861682446,794,822,653.861682446,635,654,0.400989173912,-0.00540581526044,0.0498492608044,0.999999959564,0.000124805212267,-0.000252685821669,-3.8015997102e-05,1793253129712832512 +61,1.016666667,BASELINE,772,749,727,701,672,640,893,794,822,654,635,654,0.400990811499,-0.00540664503821,0.0498504512773,0.999999960159,0.000124804318569,-0.000250353199496,-3.77989620396e-05,1793253129729498880 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+66,1.100000000,BASELINE,771,749,727.344755183,701,672,640,893,794.655244817,822,653.655244817,634.655244817,654,0.400990328452,-0.00540649029132,0.0498499947781,0.999999959664,0.000127663621355,-0.000250849442623,-3.80547932963e-05,1793253129812833024 +67,1.116666667,BASELINE,771,749,727.920882429,701,672,640,893,794.079117571,822,653.079117571,634.079117571,654,0.400991969573,-0.00540648194518,0.049851193597,0.999999960491,0.000125464198687,-0.000248669554228,-3.79554424298e-05,1793253129829499648 +68,1.133333333,BASELINE,771.506157065,749,727.493842935,701.506157065,672,640,893,794,822.506157065,653.506157065,634,654,0.400991679822,-0.00540578485703,0.0498510902762,0.99999996028,0.000125931787694,-0.000249252464507,-3.81241313161e-05,1793253129846166016 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+72,1.200000000,BASELINE,772,749,727,701.826352423,672,640,892.826352423,794.826352423,822,653.173647577,634.173647577,654,0.400990784739,-0.00540632861254,0.0498489391811,0.999999960084,0.000123401911819,-0.000251218343339,-3.86386127212e-05,1793253129912832512 +73,1.216666667,BASELINE,772,749,727,701.600877798,672,640,893,795,822,653.399122202,634.399122202,654,0.400990094253,-0.00540593817607,0.0498490717441,0.99999995967,0.000125011978811,-0.000252085098341,-3.85446638788e-05,1793253129929499392 +74,1.233333333,BASELINE,772,749,727,701.030357186,672,640,893,795,822,653.969642814,634.969642814,654,0.400988987549,-0.00540595198066,0.0498493258661,0.999999959189,0.000126587054921,-0.000253258797608,-3.81759546001e-05,1793253129946166272 +75,1.250000000,BASELINE,771.437516845,749,727,701,672.562483155,640,893,794.437516845,822,654,635,654,0.400988999854,-0.00540704019551,0.0498493088119,0.999999959449,0.000125601018263,-0.000252740409729,-3.80542070932e-05,1793253129962832896 +76,1.266666667,BASELINE,771,749,727,701,672.847279156,640,892.847279156,794,822.152720844,653.847279156,635,654,0.400989190109,-0.00540756302459,0.0498495303526,0.99999995974,0.00012442415482,-0.000252178120536,-3.80104920108e-05,1793253129979499520 +77,1.283333333,BASELINE,771,749,727,701,672.267818958,640,892.267818958,794,822.732181042,653.267818958,635,654,0.400989701875,-0.00540633730593,0.0498504611703,0.999999960002,0.000123116263058,-0.000251758879897,-3.81460365719e-05,1793253129996165888 +78,1.300000000,BASELINE,771.309338893,749,727,701.309338893,672,640,892,794.309338893,822.690661107,653,634.690661107,654.309338893,0.400989929254,-0.00540552784273,0.0498505672538,0.999999959963,0.000124131985437,-0.000251411353687,-3.81840068744e-05,1793253130012832512 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+49,0.816666667,BASELINE,772,750,727,703,671,641,894,794.428017301,824,653.571982699,634.428017301,654,0.401021064646,-0.00549545822355,0.0698478106412,0.999999985391,4.45819306717e-05,-0.000164301539023,1.53235903315e-05,1793253138087485696 +50,0.833333333,BASELINE,772,750,727.00552192,703,671,641,894.00552192,794.99447808,824,653,635,654,0.401020333687,-0.00549543083889,0.0698471851805,0.999999985279,4.48845773374e-05,-0.000164938902549,1.48994077166e-05,1793253138104153344 +51,0.850000000,BASELINE,772,750,727.579803052,703,671,641,894.579803052,794.420196948,824,653,635,654,0.401020474822,-0.00549681192871,0.0698472559763,0.999999985455,4.23124394068e-05,-0.000164576147442,1.46398103081e-05,1793253138120819712 +52,0.866666667,BASELINE,772,750,728,703,671,641,894.841664401,794,824,653.158335599,635,654,0.401020806825,-0.00549748306988,0.0698474883358,0.999999985605,4.07250656318e-05,-0.000164074250557,1.45491112484e-05,1793253138137485824 +53,0.883333333,BASELINE,772,750,728,703,671,641,894.251538026,794,824,653.748461974,635,654,0.401021659336,-0.00549621813793,0.0698481612893,0.999999985698,4.18232035707e-05,-0.000163192905636,1.4919008242e-05,1793253138154151936 +54,0.900000000,BASELINE,772,749.665871813,727.665871813,703,671,641,894,794,824,653.665871813,634.665871813,654,0.401022601481,-0.00549628588054,0.0698488785036,0.99999998591,4.13014829094e-05,-0.000162009664729,1.50775371084e-05,1793253138170818816 +55,0.916666667,BASELINE,772,749.083519092,727.083519092,703,671,641,894,794,824,653.083519092,634.083519092,654,0.401023610216,-0.00549734366997,0.0698496285995,0.999999986207,3.95763658273e-05,-0.000160602144696,1.50790401305e-05,1793253138187485696 +56,0.933333333,BASELINE,772,749.489850731,727,703,671,641,894,794,824,653.489850731,634.489850731,654,0.40102150495,-0.00549694807425,0.0698482220477,0.999999985754,4.06322154708e-05,-0.000163130404118,1.51327679953e-05,1793253138204152064 +57,0.950000000,BASELINE,772,749.937993633,727,703,671.062006367,641,894,794,824,654,635,654,0.401019442877,-0.00549647447449,0.0698468099937,0.999999985283,4.19635699894e-05,-0.000165658343287,1.52088210782e-05,1793253138220818176 +58,0.966666667,BASELINE,772,749.363442763,727,703,671.636557237,641,894,794,824,654,635,654,0.401022047512,-0.005497367529,0.0698483371858,0.999999985769,4.17234837459e-05,-0.0001627366496,1.5397136941e-05,1793253138237484800 +59,0.983333333,BASELINE,771.782313338,749,727.217686662,703,671.782313338,641,894.217686662,794,824,654,635,654,0.401023041915,-0.00549763883405,0.0698489826241,0.999999985934,4.20873582429e-05,-0.000161623398904,1.54312457064e-05,1793253138254151680 +60,1.000000000,BASELINE,771.189858204,749,727.810141796,703,671.189858204,641,894.810141796,794,824,654,635,654,0.401021264147,-0.00549683973792,0.069848110039,0.999999985552,4.34910090527e-05,-0.000163623555822,1.51998721916e-05,1793253138270818816 +61,1.016666667,BASELINE,771,749,728,703.394418002,671,641,894.605581998,794,824,653.605581998,635,654,0.401020548783,-0.00549653313701,0.0698478919277,0.999999985441,4.25423430161e-05,-0.000164562855421,1.50799241507e-05,1793253138287485440 +62,1.033333333,BASELINE,771,749,728,703.974837124,671,641,894.025162876,794,824,653.025162876,635,654,0.401020334431,-0.00549645878891,0.0698479824556,0.999999985455,4.04843625044e-05,-0.000165001871832,1.50125225662e-05,1793253138304152064 +63,1.050000000,BASELINE,771.550803224,749.550803224,727.449196776,702.898393552,671,641,894,794,824,653.550803224,635,654.550803224,0.401021468032,-0.00549614846164,0.0698484204498,0.999999985603,4.07666374513e-05,-0.00016405137137,1.48044879322e-05,1793253138320818688 +64,1.066666667,BASELINE,771.871300294,750,727.128699706,702.128699706,671,641,894,794.128699706,824,653.871300294,635,654.871300294,0.40102237442,-0.00549597445968,0.0698488569051,0.999999985734,4.11437747984e-05,-0.000163171115404,1.46662417387e-05,1793253138337484800 +65,1.083333333,BASELINE,771.285836581,750,727.714163419,702.714163419,671,641,894,794.714163419,824,653.285836581,635,654.285836581,0.401022257613,-0.00549632223927,0.0698492320146,0.999999985784,4.14811897386e-05,-0.000162763645229,1.47982982222e-05,1793253138354151424 +66,1.100000000,BASELINE,771,750,727.703628648,703,671,641,894,795,824,653.296371352,634.703628648,654,0.401022045039,-0.00549705144825,0.0698492864895,0.999999985839,4.10662920256e-05,-0.000162513146883,1.49753334658e-05,1793253138370818304 +67,1.116666667,BASELINE,771,750,727.12452668,703,671,641,894,795,824,653.87547332,634.12452668,654,0.401021741103,-0.00549814453101,0.0698490350874,0.999999985898,3.99337074482e-05,-0.000162412395633,1.51952772775e-05,1793253138387485184 +68,1.133333333,BASELINE,771.453249532,750,727.453249532,703,671,641,894,794.546750468,824,653.546750468,634.453249532,654,0.401020043664,-0.005497502222,0.0698480482218,0.999999985528,4.00360155144e-05,-0.000164668070479,1.5014954762e-05,1793253138404152064 +69,1.150000000,BASELINE,772,749.969441489,728,703,671,641,894,794.030558511,824,653.030558511,635,654,0.40101822323,-0.00549641970306,0.0698469763146,0.999999985081,4.05842703338e-05,-0.000167253048241,1.47418872329e-05,1793253138420818176 +70,1.166666667,BASELINE,772,749.393988682,728,703,671,641,894,794.606011318,824,653.606011318,635,654,0.401021016509,-0.00549596456756,0.0698479805252,0.999999985483,4.30522182477e-05,-0.000164199479844,1.4770242462e-05,1793253138437484800 +71,1.183333333,BASELINE,772,749.185346984,727.814653016,703,671,641,894.185346984,794.814653016,824,654,635,654,0.401022826312,-0.00549565609828,0.0698489096292,0.999999985745,4.46342714504e-05,-0.00016216070715,1.4909924891e-05,1793253138454151424 +72,1.200000000,BASELINE,772,749.773113094,727.226886906,703,671,641,894.773113094,794.226886906,824,654,635,654,0.401022500829,-0.00549566606568,0.0698496756641,0.999999985727,4.42929003835e-05,-0.000162325224113,1.52913171905e-05,1793253138470818048 +73,1.216666667,BASELINE,772,750,727.355978663,703,671,641,894.644021337,794.355978663,824.355978663,654,635,654,0.401021600606,-0.00549585219487,0.0698490862899,0.999999985521,4.39854558989e-05,-0.000163660635705,1.54146066539e-05,1793253138487484928 +74,1.233333333,BASELINE,772,750,727.935763199,703,671,641,894.064236801,794.935763199,824.935763199,654,635,654,0.401020339042,-0.00549614907802,0.069847644762,0.999999985193,4.36993412757e-05,-0.000165732195604,1.53756253276e-05,1793253138504151552 +75,1.250000000,BASELINE,772,750,727.486098981,703,671,641,894,794.486098981,824.486098981,653.486098981,635,654,0.401019927924,-0.00549604508934,0.0698478162841,0.999999985187,4.42151688891e-05,-0.000165635849633,1.5322746028e-05,1793253138520817920 +76,1.266666667,BASELINE,772,749.909184553,727.090815447,703,671,641,894,794,824,653,635,654,0.401019773809,-0.00549608243747,0.0698481793318,0.999999985237,4.46075550998e-05,-0.000165234693933,1.5301469287e-05,1793253138537485056 +77,1.283333333,BASELINE,772,749.337659799,727.662340201,703,671,641,894,794,824,653,635,654,0.401020419181,-0.0054971323063,0.0698484923101,0.999999985366,4.38176255422e-05,-0.000164649912403,1.54566391436e-05,1793253138554152704 +78,1.300000000,BASELINE,771.757693136,749.242306864,728,703,671.242306864,641,894.242306864,794,823.757693136,653,635,654,0.401020911379,-0.0054977396455,0.0698488725502,0.999999985529,4.22334502336e-05,-0.000164070082625,1.54527523239e-05,1793253138570819584 +79,1.316666667,BASELINE,771.165537894,749.834462106,728,703,671.834462106,641,894.834462106,794,823.165537894,653,635,654,0.40102118242,-0.00549770804987,0.0698493499045,0.999999985738,3.95025242083e-05,-0.000163497402353,1.52192157027e-05,1793253138587485952 +80,1.333333333,BASELINE,771.417258988,750,727.582741012,703,671.165482024,641,894.165482024,794,823,653,635,654,0.401021867442,-0.00549684337527,0.0698499786159,0.99999998579,4.14597003763e-05,-0.000162699973312,1.51437072257e-05,1793253138604152064 +81,1.350000000,BASELINE,771.996424648,750,727.003575352,703,670.007150703,641,893.007150703,794,823,653,635,654,0.401022713098,-0.00549565544568,0.0698506660574,0.99999998577,4.52359743983e-05,-0.000161815336215,1.51295175062e-05,1793253138620818432 +82,1.366666667,BASELINE,772,750,727.570270334,702.429729666,670.570270334,641,893.570270334,794,823.570270334,653,634.429729666,654,0.401021961897,-0.00549608062334,0.0698494239713,0.999999985601,4.40584799235e-05,-0.000163191674543,1.50033456903e-05,1793253138637485056 +83,1.383333333,BASELINE,772,750,727.852277466,702.147722534,671,641,894,794,824,653,634.147722534,654,0.401021271014,-0.00549621400952,0.069848582246,0.99999998546,4.34288372283e-05,-0.00016423195478,1.48716665423e-05,1793253138654151680 +84,1.400000000,BASELINE,772,750,727.263970082,702.736029918,671,641,894,794,824,653,634.736029918,654,0.401020789613,-0.0054954472381,0.0698489703497,0.999999985415,4.45249459292e-05,-0.000164228049196,1.47256362676e-05,1793253138670818304 +85,1.416666667,BASELINE,772,749.680646764,727,703,671,641,894.319353236,794,824,653.319353236,635,654,0.40102070353,-0.00549565915358,0.069849217497,0.999999985474,4.34140959434e-05,-0.000164172816999,1.4649030787e-05,1793253138687485184 +86,1.433333333,BASELINE,772,749.101379887,727,703,671,641,894.898620113,794,824,653.898620113,635,654,0.401020939187,-0.005496667598,0.0698493499233,0.999999985612,4.05070572174e-05,-0.000164075811351,1.46289284249e-05,1793253138704152576 +87,1.450000000,BASELINE,771.522736526,749,727,702.522736526,671,640.522736526,894.522736526,794,824,653.522736526,635,654,0.401021769591,-0.005496154149,0.0698497267887,0.999999985671,4.32294324248e-05,-0.000162977411215,1.50712793805e-05,1793253138720819200 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+276,4.600000000,POSE2_TO_POSE3_RETREAT,771.613734932,750.386265068,726,702,670.613734932,637.386265068,904,790,829,653,634.386265068,654.613734932,0.457452658852,-0.00558162996064,0.0697185478887,0.999999896829,-0.000121507122155,-0.000434267949238,-5.46816203568e-05,1793253141935236352 +277,4.616666667,POSE2_TO_POSE3_RETREAT,771.039181488,750.960818512,726,702,670.039181488,637.960818512,904,790,829,653,634.960818512,654.039181488,0.457406636355,-0.00558101601056,0.069700201748,0.999999883794,-0.000120231599875,-0.000463615081111,-5.49364831732e-05,1793253141951902976 +278,4.633333333,POSE2_TO_POSE3_RETREAT,771,750.461206557,725.461206557,702,670,637.461206557,904,790,829,653,635,654.538793443,0.457345403284,-0.00557943418926,0.0696833844575,0.999999874769,-0.000121942842219,-0.000482158972012,-5.58120792418e-05,1793253141968569088 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b/Obstacle_avoidance/ball_15A_10/position_03/depth_02/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..bce3a65531977d123ead7574eb2d448433fbf424 --- /dev/null +++ b/Obstacle_avoidance/ball_15A_10/position_03/depth_02/franka_data.csv @@ -0,0 +1,414 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns +0,0.000000000,BASELINE,771,750,727,703,671,639,893,793,823,653,634,654,0.400971389052,-0.0053616393872,0.0698227883748,0.999999938844,0.000211923817584,-0.000277817892022,1.47615671145e-05,1793253144336977920 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+100,1.666666667,BASELINE,771,749.982627921,727,703.017372079,670,640,893.982627921,794,823,654,635,654,0.400976650285,-0.00536172490278,0.0698289219624,0.999999941022,0.000214166002216,-0.000268060765513,1.52694886102e-05,1793253146003644928 +101,1.683333333,BASELINE,771,749.405273386,727,703.594726614,670,640,893.405273386,794,823,654,635,654,0.400976049064,-0.00536155331939,0.0698281331393,0.999999940439,0.000215416980806,-0.000269240678001,1.50518648576e-05,1793253146020312064 +102,1.700000000,BASELINE,771,749,727,703.825075854,670.174924146,640,893,794,823,653.825075854,634.825075854,654,0.400975827808,-0.00536165419024,0.0698278888007,0.999999940276,0.000215680701371,-0.000269641567484,1.49115591105e-05,1793253146036978688 +103,1.716666667,BASELINE,771,749,727,703.238182779,670.761817221,640,893,794,823,653.238182779,634.238182779,654,0.400976501421,-0.005362396726,0.0698289267936,0.999999941104,0.000213619301766,-0.000268207757138,1.49533472699e-05,1793253146053645056 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+28,0.466666667,BASELINE,771,750,727,703.739816017,670.739816017,639.739816017,893,793.260183983,823,653.739816017,635,654,0.400975094842,-0.00535983740181,0.0698255231667,0.999999937878,0.000221680562269,-0.000273634912922,1.50155262815e-05,1793253151869878272 +29,0.483333333,BASELINE,771,750,727,703.160200388,670.160200388,639.160200388,893,793.839799612,823,653.160200388,635,654,0.40097537718,-0.00535895360864,0.069825651998,0.999999937557,0.000223376235119,-0.000273425691178,1.50770613229e-05,1793253151886545408 +30,0.500000000,BASELINE,771,749.582401771,727.417598229,703,670.417598229,639.417598229,893,793.582401771,823,653.417598229,635,654,0.400976203557,-0.00535912319105,0.0698264433494,0.999999937846,0.000223380299532,-0.000272374674322,1.48875876459e-05,1793253151903212032 +31,0.516666667,BASELINE,771,749.005297197,727.994702803,703,670.994702803,639.994702803,893,793.005297197,823,653.994702803,635,654,0.400977237737,-0.00535969512214,0.0698274877579,0.999999938366,0.000222738235014,-0.000271002124347,1.46022383611e-05,1793253151919878400 +32,0.533333333,BASELINE,771,749,728,703,671,640,893.570008843,793.570008843,823,654,634.429991157,654,0.40097456849,-0.0053598688768,0.0698257255211,0.999999937696,0.000222239073934,-0.000273863952578,1.46745621646e-05,1793253151936545024 +33,0.550000000,BASELINE,771,749,728,703,670.851212541,640,893.851212541,794,823,654,634,654,0.400972938158,-0.00535986075665,0.0698247073006,0.999999937305,0.000221931405898,-0.00027553776896,1.46996847788e-05,1793253151953211648 +34,0.566666667,BASELINE,771,749,728,703,670.262108085,640,893.262108085,794,823,654,634,654,0.400974483891,-0.00535932531798,0.069825967845,0.999999937787,0.000222186518781,-0.000273579731945,1.4575315871e-05,1793253151969878272 +35,0.583333333,BASELINE,771,749,727.680973119,703,670.319026881,640,892.680973119,794,823,653.680973119,634,654.319026881,0.40097459963,-0.00535926392778,0.0698262855072,0.999999937995,0.000221532203536,-0.000273351004619,1.45755037513e-05,1793253151986544896 +36,0.600000000,BASELINE,771,749,727.106226137,703,670.893773863,640,892.106226137,794,823,653.106226137,634,654.893773863,0.40097356914,-0.00535958251717,0.0698258473901,0.999999937982,0.000220148924507,-0.000274508427507,1.46755317139e-05,1793253152003211520 +37,0.616666667,BASELINE,771,749,727,703,671,640,892.471376287,794,823,653,634.471376287,654.528623713,0.400974558342,-0.00536053382906,0.0698265857679,0.999999938534,0.00022038917921,-0.000272285780367,1.48741259434e-05,1793253152019878144 +38,0.633333333,BASELINE,771.049220419,749,727,703,671,639.950779581,893,794,823,653,635,654,0.400975859298,-0.00536136633073,0.0698274640327,0.999999939098,0.000221055579651,-0.000269651059512,1.50429350617e-05,1793253152036544768 +39,0.650000000,BASELINE,771.622743409,749,727,703,671,639.377256591,893,794,823,653,635,654,0.400975603298,-0.00535940514833,0.0698269910141,0.999999938511,0.000222340309901,-0.000270790154562,1.46564196895e-05,1793253152053211648 +40,0.666666667,BASELINE,771.796467152,749.203532848,727,703,671,639.203532848,893,793.796467152,823,653,634.796467152,654,0.400975728988,-0.0053583348091,0.0698267191816,0.999999938337,0.000222603455251,-0.000271228917097,1.44098523011e-05,1793253152069878016 +41,0.683333333,BASELINE,771.20171043,749.79828957,727,703,671,639.79828957,893,793.20171043,823,653,634.20171043,654,0.400976588348,-0.00535897681825,0.0698268340622,0.99999993896,0.000220902944991,-0.000270321524374,1.44322881605e-05,1793253152086544640 +42,0.700000000,BASELINE,770.61970351,749.61970351,727,703,671,640,893,793.38029649,823,653,634.38029649,654,0.400976143276,-0.00535930829661,0.0698261743452,0.999999938778,0.000220406412832,-0.000271401348668,1.43710979585e-05,1793253152103211264 +43,0.716666667,BASELINE,770.044239775,749.044239775,727,703,671,640,893,793.955760225,823,653,634.955760225,654,0.400975028772,-0.00535948041128,0.0698251171065,0.999999938181,0.000220527759391,-0.000273501007981,1.42669910623e-05,1793253152119877888 +44,0.733333333,BASELINE,770.531176148,749,727,703.531176148,671,640,893,794,823,653,634.468823852,654,0.400975844324,-0.00536027108623,0.0698262092043,0.999999938907,0.000219449298726,-0.000271696451846,1.44804191467e-05,1793253152136544256 +45,0.750000000,BASELINE,771.109184621,749.109184621,727,703.890815379,671,640,893,794,823,653.109184621,634.109184621,654,0.4009763258,-0.00536081414977,0.0698270242587,0.999999939415,0.000218612586088,-0.000270487250388,1.46569010136e-05,1793253152153211136 +46,0.766666667,BASELINE,771.698613674,749.698613674,727,703.301386326,671,640,893,794,823,653.698613674,634.698613674,654,0.400974630875,-0.00536004152543,0.0698258334469,0.999999938499,0.000219278681925,-0.000273326806086,1.45545634208e-05,1793253152169878272 +47,0.783333333,BASELINE,771.717404753,749.717404753,727,703,671,640,893,794,823,653.717404753,634.717404753,654,0.400973643847,-0.00535976623604,0.0698251093035,0.999999938097,0.000219506434852,-0.000274612663661,1.44912688962e-05,1793253152186544896 +48,0.800000000,BASELINE,771.139122943,749.139122943,727,703,671,640,893,794,823,653.139122943,634.139122943,654,0.400973397511,-0.00536001132069,0.0698248734469,0.999999938242,0.000219275538575,-0.000274272847891,1.446882611e-05,1793253152203211264 +49,0.816666667,BASELINE,771,749,727,703.438383616,671,640,893,794,823,653,634,654,0.400974689091,-0.00536007878582,0.0698258406556,0.99999993894,0.000218222835228,-0.000272572061174,1.42773376275e-05,1793253152219877888 +50,0.833333333,BASELINE,771,749.015560494,727,703.984439506,671,640,893,794,823,653,634,654,0.40097643589,-0.00536009793723,0.0698271558295,0.999999939782,0.00021697175049,-0.000270485986909,1.4048504348e-05,1793253152236544256 +51,0.850000000,BASELINE,771,749.589720095,727,703.410279905,671,640,893,794,823,653,634,654,0.400977034555,-0.00536040266496,0.0698272806488,0.999999939684,0.000217945017478,-0.000270046216408,1.44015099791e-05,1793253152253211136 +52,0.866666667,BASELINE,771,750,727,703.16830269,671,640,893,794,823,653,634.16830269,654,0.400977588627,-0.00536056524925,0.0698276093573,0.999999939643,0.00021890121079,-0.00026940550956,1.46993215876e-05,1793253152269877760 +53,0.883333333,BASELINE,771,750,727,703.757958407,671,640,893,794,823,653,634.757958407,654,0.400978031061,-0.00536037197129,0.0698284485112,0.999999939748,0.000219814659362,-0.000268261749943,1.48589525643e-05,1793253152286544640 +54,0.900000000,BASELINE,771,749.658352062,727,703.658352062,671,640,893,793.658352062,823,653,635,654,0.400978294497,-0.00535955359496,0.0698287788394,0.999999939593,0.000220952573274,-0.000267903759598,1.49066683214e-05,1793253152303211264 +55,0.916666667,BASELINE,771,749.078816774,727,703.078816774,671,640,893,793.078816774,823,653,635,654,0.400978433299,-0.00535829996649,0.0698287548754,0.999999939256,0.00022224678098,-0.000268092895597,1.48764581953e-05,1793253152319877888 +56,0.933333333,BASELINE,771,749,727,703,671,640,893,793.497188108,823,653,634.502811892,654,0.400977056279,-0.00535875115699,0.069827758335,0.999999938696,0.000223228968936,-0.000269367929689,1.47510913869e-05,1793253152336544768 +57,0.950000000,BASELINE,771,749.072467754,727,703,671,640,893,794,823,653,634.072467754,654.072467754,0.400975585495,-0.00535945357258,0.0698267452803,0.999999938153,0.000223967003095,-0.000270774648446,1.46491374471e-05,1793253152353211648 +58,0.966666667,BASELINE,771,749.646573639,727,703,671,640,893,794,823,653,634.646573639,654.646573639,0.400975117305,-0.00536003743823,0.0698266776383,0.999999937979,0.000223354928752,-0.00027190971294,1.48129363211e-05,1793253152369878016 +59,0.983333333,BASELINE,771,749.772229321,727,703.227770679,671,640,893,794,823.227770679,653,635,654.772229321,0.400975051339,-0.00536030720891,0.0698265817503,0.999999938085,0.000222270259599,-0.000272408935636,1.48299674194e-05,1793253152386544384 +60,1.000000000,BASELINE,771,749.17967544,727,703.82032456,671,640,893,794,823.82032456,653,635,654.17967544,0.400975629551,-0.00536007394496,0.0698264406253,0.999999938637,0.000220428712215,-0.000271889834259,1.46119445005e-05,1793253152403211008 +61,1.016666667,BASELINE,771,749,727,703.597734748,670.597734748,640,893,793.597734748,823.597734748,653,635,654.402265252,0.400975398055,-0.00535950751883,0.0698265097765,0.999999938429,0.000221776522337,-0.000271568579865,1.43852024516e-05,1793253152419877632 +62,1.033333333,BASELINE,771,749,727,703.020412711,670.020412711,640,893,793.020412711,823.020412711,653,635,654.979587289,0.400974814192,-0.00535879610804,0.0698266704351,0.999999937886,0.000224512269173,-0.000271333424054,1.41546660466e-05,1793253152436544512 +63,1.050000000,BASELINE,771,749,727,703,670.555039172,640,893,793.555039172,823,653,635,655,0.400976175347,-0.0053587815922,0.0698275207914,0.99999993861,0.000222858244214,-0.000270017686532,1.43380648701e-05,1793253152453211136 +64,1.066666667,BASELINE,771,749.134093407,727,703,671,640,893,794,823,653,635,654.865906593,0.400977094728,-0.00535897765,0.0698281011529,0.999999939221,0.000221144115104,-0.000269150289074,1.45235833646e-05,1793253152469877760 +65,1.083333333,BASELINE,771,749.725671575,727,703,671,640,893,794,823,653,635,654.274328425,0.400976263685,-0.00535980497213,0.0698276741295,0.999999939306,0.000219773872646,-0.000269947615017,1.46645707004e-05,1793253152486544128 +66,1.100000000,BASELINE,771,749.689408618,727,703,671,640,893,793.689408618,823,653,635,654,0.400976007739,-0.00535928924419,0.0698273586035,0.999999938769,0.000221548364555,-0.000270490461598,1.4612986516e-05,1793253152503211008 +67,1.116666667,BASELINE,771,749.110246379,727,703,671,640,893,793.110246379,823,653,635,654,0.400976249086,-0.00535761217007,0.0698271394902,0.999999937679,0.000226042133544,-0.000270813257789,1.43948841873e-05,1793253152519877632 +68,1.133333333,BASELINE,771.463929197,749,727,703.463929197,671,640,893,793.463929197,823,653.463929197,635,654,0.400976763437,-0.00535910083568,0.0698276672357,0.999999938506,0.000223522859489,-0.000269836613374,1.45892533219e-05,1793253152536544256 +69,1.150000000,BASELINE,771.962949031,749.037050969,727,703.962949031,671,640,893,794,823,653.962949031,634.962949031,654,0.400977227286,-0.00536112926973,0.069828255026,0.999999939666,0.000219607506013,-0.000268738401623,1.48461943555e-05,1793253152553210880 +70,1.166666667,BASELINE,771.388106323,749.611893677,727,703.388106323,671,640,893,794,823,653.388106323,634.388106323,654,0.400976026453,-0.00536018902714,0.0698271656389,0.9999999393,0.000219360812861,-0.000270310108085,1.46037654688e-05,1793253152569877504 +71,1.183333333,BASELINE,771,749.807258389,727,703,671,640,893,793.807258389,822.807258389,653,634.192741611,654,0.400975450139,-0.0053595717502,0.0698267947161,0.999999938976,0.000220033408086,-0.000270965863035,1.45308843529e-05,1793253152586544384 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+37,0.616666667,BASELINE,771,750,727,703,671,640,892.481664339,794,823,653,634.518335661,654,0.400974710566,-0.00536021698457,0.0698253539691,0.999999937676,0.000222590425131,-0.000273655421668,1.46224281665e-05,1793253159114999040 +38,0.633333333,BASELINE,771,749.940893744,727,703,670.940893744,640,893,794,823,653,634,654,0.400974856683,-0.00535980377183,0.0698259358596,0.999999938083,0.00022203579593,-0.00027261044097,1.4774676325e-05,1793253159131665664 +39,0.650000000,BASELINE,771,749.346778494,727,703,670.346778494,640,893,794,823,653,634,654,0.400974923289,-0.00536218187814,0.0698259612124,0.999999938718,0.000219689586278,-0.000272172494644,1.49351532563e-05,1793253159148332544 +40,0.666666667,BASELINE,771.239433095,749,727,703,670.239433095,640,893,794,823,653,634.239433095,654,0.400974916622,-0.00536351675796,0.0698262008435,0.999999939062,0.000218600848343,-0.000271776847809,1.50871464533e-05,1793253159164999424 +41,0.683333333,BASELINE,771.814563319,749,727,703,670.814563319,640,893,794,823,653,634.814563319,654,0.400974807224,-0.00536338898211,0.0698267409036,0.999999939003,0.00021927514856,-0.000271440506995,1.52272450223e-05,1793253159181666304 +42,0.700000000,BASELINE,771.611738953,749,727,703.388261047,671,640,893,794,823,653,635,654,0.40097549304,-0.00536312745646,0.0698270394124,0.999999939072,0.000219785965441,-0.000270783594949,1.50435045988e-05,1793253159198333184 +43,0.716666667,BASELINE,771.0387229,749,727,703.9612771,671,640,893,794,823,653,635,654,0.40097655726,-0.00536280228565,0.0698272229784,0.999999939201,0.000220218988342,-0.000269974138275,1.47056645627e-05,1793253159215000064 +44,0.733333333,BASELINE,771,749,727,703.450548865,671,640,893,794,823,653,635,654.549451135,0.400976823281,-0.00536147806425,0.0698273592849,0.99999993911,0.000220226334943,-0.000270316895177,1.44946268289e-05,1793253159231666432 +45,0.750000000,BASELINE,771.137001102,749,727,703.137001102,671,639.862998898,892.862998898,794,823,653,635,655,0.400976937174,-0.00536082737549,0.069827432963,0.999999939149,0.000219775115113,-0.000270546732288,1.43555413445e-05,1793253159248332544 +46,0.766666667,BASELINE,771.718956128,749,727,703.718956128,671,639.281043872,892.281043872,794,823,653,635,655,0.400976744866,-0.00536259935667,0.0698273143602,0.999999939661,0.000217934755324,-0.000270138612902,1.44202959415e-05,1793253159264999168 +47,0.783333333,BASELINE,772,749,727,703.7028876,671,639.2971124,892.2971124,794,823,653,635,654.7028876,0.400976363245,-0.00536215597601,0.0698269839268,0.999999939494,0.00021816737438,-0.000270576211028,1.4248352621e-05,1793253159281665792 +48,0.800000000,BASELINE,772,749,727,703.128279207,671,639.871720793,892.871720793,794,823,653,635,654.128279207,0.400975804811,-0.0053596434997,0.0698264556484,0.999999938691,0.00022033610671,-0.000271803689373,1.38553390198e-05,1793253159298332672 +49,0.816666667,BASELINE,771.549900909,749,727,703,671,640,893,794,823,653,634.549900909,654,0.400974825278,-0.0053604952767,0.0698257058629,0.999999938678,0.000219487303498,-0.000272530376724,1.39963089618e-05,1793253159314999296 +50,0.833333333,BASELINE,771,749.029823998,727,703.029823998,671,640,893,794,823,653,634.029823998,654,0.400973769327,-0.0053622199635,0.0698249290673,0.999999938854,0.000217940495764,-0.000273110574219,1.42829695869e-05,1793253159331666176 +51,0.850000000,BASELINE,771,749.614443904,727,703.614443904,671,640,893,794,823,653,634.614443904,654,0.40097354321,-0.00536219587982,0.0698248341039,0.999999938356,0.00021954238324,-0.000273643191153,1.44248819064e-05,1793253159348333568 +52,0.866666667,BASELINE,771,749.802454787,727,704,671,640,893,794,822.802454787,653,634.802454787,654,0.400973461114,-0.00536153480035,0.0698248120425,0.999999937986,0.00022059367041,-0.000274154666895,1.4306442975e-05,1793253159365000192 +53,0.883333333,BASELINE,771,749.222294804,727,704,671,640,893,794,822.222294804,653,634.222294804,654,0.400973657964,-0.00535963995775,0.0698249311811,0.999999937869,0.000220578529164,-0.00027462519536,1.36837436056e-05,1793253159381666304 +54,0.900000000,BASELINE,771,749,727,704,671,640,893,794,822.354094137,653,634,654,0.400974676413,-0.00535987433142,0.0698256934776,0.99999993832,0.000220135526358,-0.000273335127992,1.36991951904e-05,1793253159398332928 +55,0.916666667,BASELINE,771,749,727,704,671,640,893,794,822.928140601,653,634,654,0.400976205215,-0.00536143130848,0.0698268552839,0.999999939119,0.000219426749181,-0.000270951432918,1.4111046437e-05,1793253159414999552 +56,0.933333333,BASELINE,771.502221852,749.502221852,727,703.497778148,671.502221852,640,893,794,823,653,634,654,0.400976489369,-0.00536184881076,0.0698269397953,0.999999939335,0.000218765210795,-0.000270685218025,1.41668531786e-05,1793253159431665920 +57,0.950000000,BASELINE,771.920785087,749.920785087,727,703,671.920785087,640,893,794,823,653,634.079214913,654,0.400976748374,-0.00536231437877,0.0698270346014,0.999999939568,0.000217968748811,-0.000270464223346,1.4235736464e-05,1793253159448332800 +58,0.966666667,BASELINE,771.324830238,749.324830238,727,703,671.324830238,640,893,794,823,653,634.675169762,654,0.400978005114,-0.00536415711552,0.0698282021457,0.999999940447,0.000216248050369,-0.000268561686311,1.47222651983e-05,1793253159464999424 +59,0.983333333,BASELINE,771,749,727,703,671,640,893,793.738760253,823,653,634.738760253,654,0.40097790824,-0.00536428646516,0.0698283862658,0.999999940559,0.000216002607322,-0.000268339808594,1.48194572419e-05,1793253159481666560 +60,1.000000000,BASELINE,771,749,727,703,671,640,893,793.164533097,823,653,634.164533097,654,0.400976189622,-0.00536236303176,0.0698273921603,0.999999939752,0.000217524645333,-0.00027013150326,1.44501909203e-05,1793253159498333696 +61,1.016666667,BASELINE,771,749,727,703,671,640,893,793.409770734,823,653,634.409770734,654,0.400975756063,-0.00536175128662,0.0698269038,0.999999939346,0.000218506776837,-0.00027084548531,1.4360463852e-05,1793253159515000064 +62,1.033333333,BASELINE,771,749,727,703,671,640,893,793.984105324,823,653,634.984105324,654,0.400975838585,-0.00536166631537,0.069826618547,0.999999939102,0.00021927208189,-0.000271126658055,1.4382999721e-05,1793253159531666176 +63,1.050000000,BASELINE,771,749.576559137,727,703,671,640,893,794,823,653,635,654,0.400975782598,-0.00536165700979,0.0698269055051,0.99999993915,0.000219507210316,-0.000270754358359,1.44734333443e-05,1793253159548333056 +64,1.066666667,BASELINE,771,749.834428091,727,703,671,640,893,794,823,653,635,654,0.400975402878,-0.00536154214158,0.0698267513419,0.999999939091,0.000219542021999,-0.000270939239377,1.45210421797e-05,1793253159564999680 +65,1.083333333,BASELINE,771,749.255298368,727,703,671,640,893,794,823,653,635,654,0.400974224398,-0.00536115822471,0.0698254546864,0.999999938745,0.000219114183493,-0.000272562277591,1.44568582138e-05,1793253159581666048 +66,1.100000000,BASELINE,771,749,727,703.320419185,671,640,893,794,823,653,635,654,0.4009741018,-0.00536181780889,0.0698252448596,0.999999938986,0.000218234484413,-0.000272390561101,1.43159781179e-05,1793253159598332416 +67,1.116666667,BASELINE,771,749,727,703.893446665,671,640,893,794,823,653,635,654,0.400974811626,-0.00536330005614,0.069825891854,0.999999939689,0.000216998552846,-0.000270803917002,1.41146332354e-05,1793253159614999296 +68,1.133333333,BASELINE,771.479571979,749,727,704,671,640,893,794,823,653,635,654,0.400976193499,-0.00536233032343,0.0698269414071,0.999999939815,0.000217451088997,-0.000269973192718,1.41521151813e-05,1793253159631666176 +69,1.150000000,BASELINE,771.932405341,749.067594659,727,704,671,640,893,793.932405341,823,653,634.932405341,654,0.400977539711,-0.00536118716081,0.0698279468496,0.999999939864,0.000218037599612,-0.000269310867212,1.42479886203e-05,1793253159648333056 +70,1.166666667,BASELINE,771.352675363,749.647324637,727,704,671,640,893,793.352675363,823,653,634.352675363,654,0.400977452641,-0.0053629735403,0.0698279213919,0.999999940336,0.000216717012048,-0.00026861618598,1.43729408493e-05,1793253159664999424 +71,1.183333333,BASELINE,771,750,727,703.774257097,671,640,893,793.225742903,823,653,634.225742903,654,0.4009769756,-0.00536413581362,0.0698277357191,0.999999940455,0.00021589329433,-0.000268831851586,1.44730754776e-05,1793253159681666048 +72,1.200000000,BASELINE,771,750,727,703.197876177,671,640,893,793.802123823,823,653,634.802123823,654,0.400975892832,-0.00536432868639,0.0698273011904,0.999999940026,0.000215841345777,-0.00027046152482,1.45346618728e-05,1793253159698332672 +73,1.216666667,BASELINE,771,750,727.384383703,703.384383703,671,640,893,794,823,653,634.615616297,654,0.400975361105,-0.00536336314469,0.0698268734223,0.999999939574,0.000217363236029,-0.00027091739099,1.44693661813e-05,1793253159714999296 +74,1.233333333,BASELINE,771,750,727.969716974,703.969716974,671,640,893,794,823,653,634.030283026,654,0.400975117452,-0.00536179200267,0.0698264491885,0.999999939106,0.000219707903693,-0.000270759609761,1.43377385887e-05,1793253159731665920 +75,1.250000000,BASELINE,771,749.45029017,727.45029017,704,671,640,893,793.45029017,823,653,634,654,0.400975165716,-0.00536173055936,0.0698267098086,0.999999939163,0.000219932828125,-0.000270362852001,1.43767916591e-05,1793253159748332800 +76,1.266666667,BASELINE,771,749.128570878,727,704,671,640,893,793.128570878,823,653,634.128570878,654,0.400975320971,-0.00536164240663,0.0698268419412,0.999999939136,0.000220133388643,-0.000270301309852,1.43586091249e-05,1793253159764999424 +77,1.283333333,BASELINE,771,749.704507563,727,704,671,640,893,793.704507563,823,653,634.704507563,654,0.400975793089,-0.00536117471696,0.0698263969853,0.999999938714,0.000220651585781,-0.00027145152664,1.41088717984e-05,1793253159781666560 +78,1.300000000,BASELINE,771,750,727,704,671,640,893,794,823,653,635,654,0.400976583068,-0.00536120861141,0.069826760009,0.99999993897,0.0002200277269,-0.000271019096743,1.39811537877e-05,1793253159798333184 +79,1.316666667,BASELINE,771,750,727,704,671,640,893,794,823,653,635,654,0.400977707962,-0.00536177100413,0.069827974367,0.999999939938,0.000218200531216,-0.000268919098005,1.39820024543e-05,1793253159814999808 +80,1.333333333,BASELINE,771,750,727,703.557075244,671,640,893,794,823,653,634.557075244,654.442924756,0.400977213867,-0.00536108957779,0.0698274320496,0.999999939568,0.000219255350331,-0.000269431642681,1.40803016103e-05,1793253159831666432 +81,1.350000000,BASELINE,771.030974134,749.969025866,727,703.030974134,671.030974134,640,893,794,823,653,634.030974134,654.969025866,0.400976330189,-0.00536012101629,0.0698264365628,0.999999938849,0.000221041127392,-0.000270629674706,1.42021780189e-05,1793253159848332544 +82,1.366666667,BASELINE,771.610231141,749.389768859,727,703.610231141,671.610231141,640,893,794,823,653,634.610231141,654.389768859,0.400977972442,-0.00536130843713,0.0698276427053,0.999999939805,0.000218993363692,-0.000268757519457,1.41742702368e-05,1793253159864999424 +83,1.383333333,BASELINE,771.811593075,749.188406925,727,704,671.811593075,640,893,794,823,653,634.811593075,654,0.40097854308,-0.00536180300916,0.069828181912,0.999999940065,0.000218574491335,-0.000268131960954,1.41321923689e-05,1793253159881666048 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@@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fed8834eee61776179ab33ba52c8a309adb875a49048eed1ca342ddefb02191 +size 26411026 diff --git a/Obstacle_avoidance/ball_15A_10/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/ball_15A_10/position_03/depth_05/franka_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..76dd4c6bea7ef4d43174bff4d47e419ff53a8b3e --- /dev/null +++ b/Obstacle_avoidance/ball_15A_10/position_03/depth_05/franka_data.csv @@ -0,0 +1,418 @@ +aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns 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+51,0.850000000,BASELINE,771.414062706,749,727,703.585937294,671,640,893,793.585937294,823,653,635,654,0.400975497823,-0.00536340765893,0.0698247122236,0.999999938997,0.000216869671822,-0.000273475725803,1.36040056554e-05,1793253166471140608 +52,0.866666667,BASELINE,771.165156927,749.165156927,727,703.834843073,671,640,893,793.834843073,823,653,635,654,0.400975336736,-0.00536419813882,0.0698249830351,0.999999939419,0.000215366138896,-0.000273114434374,1.3727359546e-05,1793253166487807488 +53,0.883333333,BASELINE,771.755039684,749.755039684,727,703.244960316,671,640,893,793.244960316,823,653,635,654,0.400975564978,-0.00536267545665,0.0698254301585,0.999999939644,0.000215372678307,-0.000272310235466,1.31467605088e-05,1793253166504473856 +54,0.900000000,BASELINE,771.66103958,749.66103958,727,703.33896042,671,640,893,793,823,653,635,654,0.400976035174,-0.00536280848671,0.0698257825468,0.999999939666,0.000215789056817,-0.000271908315536,1.30020691249e-05,1793253166521140480 +55,0.916666667,BASELINE,771.081353034,749.081353034,727,703.918646966,671,640,893,793,823,653,635,654,0.400976677204,-0.00536411738623,0.0698260676554,0.999999939542,0.000216496498743,-0.000271792089941,1.31669547967e-05,1793253166537807360 +56,0.933333333,BASELINE,771,749,727,703.505050173,671,640,893,793.494949827,823,653,635,654,0.400976257642,-0.00536226831618,0.0698258028937,0.999999938751,0.000219659984917,-0.000272160012552,1.32994470753e-05,1793253166554473984 +57,0.950000000,BASELINE,771,749.070676298,727,703,671,640,893,793.929323702,823,653,635,654,0.400975680953,-0.00536047430813,0.0698254349989,0.999999938022,0.000222391181737,-0.00027261273008,1.34285833543e-05,1793253166571140608 +58,0.966666667,BASELINE,771,749.64623101,727,703,671,640,893,793.35376899,823,653,635,654,0.400975219834,-0.00536275640855,0.0698249716183,0.999999938597,0.000219170107077,-0.000273106577265,1.35715225017e-05,1793253166587807232 +59,0.983333333,BASELINE,771.227402062,750,727.227402062,703.227402062,671,640,893,793.227402062,823,653,635,654,0.400975665084,-0.0053638050811,0.0698250729821,0.999999939162,0.000217195360466,-0.000272610628828,1.36379694579e-05,1793253166604473856 +60,1.000000000,BASELINE,771.817531796,750,727.817531796,703.817531796,671,640,893,793.817531796,823,653,635,654,0.400977556078,-0.00536288632057,0.0698260751664,0.999999939723,0.000217208623781,-0.000270535863386,1.35824041989e-05,1793253166621140736 +61,1.016666667,BASELINE,771.601282736,750,727.601282736,703.601282736,671,640,893,793.601282736,823,653,635,654,0.40097657305,-0.00536283533728,0.0698254205871,0.999999939248,0.000217429228938,-0.000272109419677,1.3575843442e-05,1793253166637807360 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+66,1.100000000,BASELINE,771.697110266,749.697110266,727.697110266,703,671,640,893,794,823,653,634,654,0.400976344512,-0.00536258405167,0.0698263911697,0.999999938754,0.000219773827437,-0.00027201656741,1.40844420731e-05,1793253166721140480 +67,1.116666667,BASELINE,771.115693474,749.115693474,727.115693474,703,671,640,893,794,823,653,634,654,0.400976119584,-0.00536285865328,0.0698261809851,0.999999938791,0.000219849460868,-0.000271807742898,1.42827124198e-05,1793253166737807360 +68,1.133333333,BASELINE,771,749,727,703.460705215,671.460705215,640,893,794,822.539294785,653.460705215,634,654,0.400975868089,-0.00536353541518,0.0698258069704,0.999999939222,0.000217577273547,-0.000272063847115,1.40285912738e-05,1793253166754473728 +69,1.150000000,BASELINE,771.035783936,749.035783936,727,703.964216064,671.964216064,640,893,794,822.035783936,653.964216064,634.035783936,654.035783936,0.400975583644,-0.00536425010878,0.0698254135825,0.999999939691,0.000214927342146,-0.000272464428495,1.36767519391e-05,1793253166771140608 +70,1.166666667,BASELINE,771.609758282,749.609758282,727,703.390241718,671.390241718,640,893,794,822.609758282,653.390241718,634.609758282,654.609758282,0.400974902883,-0.00536403274796,0.0698253409218,0.99999993937,0.000215368042656,-0.000273300884896,1.35454511045e-05,1793253166787807232 +71,1.183333333,BASELINE,771.809800555,749.809800555,727,703,671.190199445,640,893,793.809800555,822.809800555,653,635,654.809800555,0.400975156281,-0.00536427494385,0.0698256451245,0.999999939477,0.000215113690734,-0.000273106334742,1.3593268804e-05,1793253166804473856 +72,1.200000000,BASELINE,771.215623987,749.215623987,727,703,671.784376013,640,893,793.215623987,822.215623987,653,635,654.215623987,0.400977393799,-0.00536549322246,0.0698267497722,0.99999994049,0.00021338307128,-0.00027072196204,1.40215281256e-05,1793253166821140480 +73,1.216666667,BASELINE,771,749,727,703,671.633120836,640,893,793,822,653.366879164,635,654,0.400977488365,-0.00536503121559,0.0698264831744,0.999999940415,0.000213849976663,-0.000270633085492,1.39970018474e-05,1793253166837807360 +74,1.233333333,BASELINE,771,749,727,703,671.057266913,640,893,793,822,653.942733087,635,654,0.400976362302,-0.00536361211627,0.0698254355135,0.999999939719,0.000215568594622,-0.000271851726126,1.37145683869e-05,1793253166854474240 +75,1.250000000,BASELINE,771,749,727,703,670.483079779,640,893,793,822.516920221,653.483079779,635,654.516920221,0.400976144389,-0.00536446303325,0.0698259399596,0.999999939627,0.00021619192475,-0.00027168612188,1.3922571968e-05,1793253166871140608 +76,1.266666667,BASELINE,771.093124596,749.093124596,727.093124596,703.093124596,670.093124596,640,893,793,823,653,635,654.906875404,0.40097617467,-0.0053651632348,0.0698266623487,0.999999939713,0.000216375560645,-0.000271216040861,1.40858598796e-05,1793253166887807232 +77,1.283333333,BASELINE,771.681024584,749.681024584,727.681024584,703.681024584,670.681024584,640,893,793,823,653,635,654.318975416,0.400976990798,-0.00536373082965,0.0698276320376,0.999999940388,0.000214865700021,-0.000269940415017,1.37238254517e-05,1793253166904473856 +78,1.300000000,BASELINE,771.733368558,750,727.733368558,704,671,640,893,793.266631442,823,653,634.733368558,654,0.40097724263,-0.00536285628967,0.0698276026384,0.999999940203,0.000215910042386,-0.000269798367957,1.36049604154e-05,1793253166921140480 +79,1.316666667,BASELINE,771.150481658,750,727.150481658,704,671,640,893,793.849518342,823,653,634.150481658,654,0.400976825141,-0.00536264344184,0.0698263882061,0.999999938988,0.000219983962437,-0.000271000875383,1.37745221818e-05,1793253166937807360 +80,1.333333333,BASELINE,771.426307803,749.573692197,727.426307803,704,671,640,893,794,823,653,634.426307803,654,0.400976250583,-0.00536444138592,0.0698256983855,0.999999939126,0.000218090981683,-0.000272013474197,1.38904000905e-05,1793253166954475008 +81,1.350000000,BASELINE,771.999021491,749,727.999021491,703.999021491,671,640,893,793.999021491,823,653,635,654.000978509,0.400975625087,-0.00536693240582,0.0698251937904,0.999999939724,0.000214130395248,-0.000272955085709,1.39872965609e-05,1793253166971142912 +82,1.366666667,BASELINE,771.422485372,749,727.422485372,703.422485372,671,640,893,793.422485372,823,653,635,654.577514628,0.400977190005,-0.0053654816023,0.0698262508617,0.999999939974,0.000215428345396,-0.000271016204429,1.39083872594e-05,1793253166987808256 +83,1.383333333,BASELINE,771.156697299,749.156697299,727.156697299,703,671,640,893.156697299,793.156697299,823,653,635,654.843302701,0.400978079249,-0.00536448212571,0.0698270588139,0.999999940073,0.000216685778133,-0.000269644803531,1.38770223998e-05,1793253167004474112 +84,1.400000000,BASELINE,771.743138289,749.743138289,727.743138289,703,671,640,893.743138289,793.743138289,823,653,635,654.256861711,0.400977115455,-0.00536472041683,0.0698271835548,0.999999939773,0.000217832091817,-0.000269829722024,1.39760485628e-05,1793253167021140736 +85,1.416666667,BASELINE,771.673443253,749.673443253,727.673443253,703,671,640,893.673443253,794,823,653,635,654.326556747,0.400977102803,-0.00536462522617,0.0698270306457,0.999999940029,0.000216626146041,-0.000269865792053,1.37249228308e-05,1793253167037807360 +86,1.433333333,BASELINE,771.092380478,749.092380478,727.092380478,703,671,640,893.092380478,794,823,653,635,654.907619522,0.400977831435,-0.00536427013234,0.0698266613467,0.999999940711,0.000213586937765,-0.000269785855187,1.3200901894e-05,1793253167054473984 +87,1.450000000,BASELINE,771,749,727,703.482489416,671,640,893,794,823,653,635,654.517510584,0.400978416548,-0.00536332479275,0.069827711324,0.999999940681,0.000215257172992,-0.000268553323402,1.34504674555e-05,1793253167071140864 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+48,0.800000000,BASELINE,771,749.839422778,727,703.160577222,670,640,894,793.160577222,824,653,634,654.160577222,0.401027471706,-0.00549863814317,0.0798528747051,0.999999977445,0.000127577360854,-0.000163217761125,4.68408486728e-05,1793253174664485120 +49,0.816666667,BASELINE,771,749.577616829,727,703,670,640,893.577616829,793,824,653,634,654,0.401026885417,-0.00549800165948,0.079852619205,0.999999977234,0.000128829842108,-0.000163527498203,4.68396283697e-05,1793253174681151488 +50,0.833333333,BASELINE,771,749,727,703.008624025,670,640,893.008624025,793,824,653,634,654,0.401025289934,-0.00549730238497,0.0798520866664,0.999999976963,0.000129628733418,-0.000164566320807,4.67711893632e-05,1793253174697818112 +51,0.850000000,BASELINE,771,749,727,703.589678712,670,640,893.589678712,793,824,653,634,654,0.401026016376,-0.00549831233483,0.07985245544,0.99999997743,0.000126841517054,-0.000163969275683,4.65293293689e-05,1793253174714484736 +52,0.866666667,BASELINE,771,749,727,703.830508784,670,640.169491216,893.830508784,793,824,652.830508784,634,654,0.401026578714,-0.00549846134212,0.0798527378603,0.999999977616,0.000126041151162,-0.00016350296206,4.63551954163e-05,1793253174731151360 +53,0.883333333,BASELINE,771,749,727,703.253681634,670,640.746318366,893.253681634,793,824,652.253681634,634,654,0.401026746664,-0.00549654125778,0.0798528127488,0.999999977132,0.000130015756138,-0.000163350833714,4.63438265527e-05,1793253174747817984 +54,0.900000000,BASELINE,771,749,727,703.320577508,670,640.679422492,893.320577508,793,824,652.320577508,634.320577508,654,0.401027197294,-0.00549649591752,0.0798533683741,0.99999997713,0.000130706244124,-0.000162755134241,4.65462978605e-05,1793253174764484608 +55,0.916666667,BASELINE,771,749,727,703.892820638,670,640.107179362,893.892820638,793,824,652.892820638,634.892820638,654,0.401027869837,-0.00549792232326,0.0798543013963,0.999999977511,0.000128818574299,-0.000161811214451,4.69166418942e-05,1793253174781150976 +56,0.933333333,BASELINE,771,749.482519243,727,704,670.482519243,640.482519243,894,793,824,653,635,654,0.4010270417,-0.00549853102108,0.0798536097601,0.999999977375,0.000128280459417,-0.000163035002271,4.70600456103e-05,1793253174797818368 +57,0.950000000,BASELINE,771,749.925919233,727,703.925919233,670.925919233,640.925919233,894,793,824,653,634.925919233,654,0.401025769062,-0.00549874572632,0.0798524651403,0.999999977096,0.000128160417365,-0.000164825602228,4.70761333275e-05,1793253174814485760 +58,0.966666667,BASELINE,771,749.349018233,727,703.349018233,670.349018233,640.349018233,894,793,824,653,634.349018233,654,0.401023826827,-0.00549756532145,0.0798507872834,0.999999976668,0.000128766987764,-0.000167072581114,4.65830599752e-05,1793253174831152128 +59,0.983333333,BASELINE,771,749,727.228003395,703.228003395,670,640,894,793,824,653,634,653.771996605,0.401023308817,-0.0054968228378,0.0798503702113,0.99999997642,0.000130268619826,-0.000167436286857,4.64226582844e-05,1793253174847818496 +60,1.000000000,BASELINE,771,749,727.805209861,703.805209861,670,640,894,793,824,653,634,653.194790139,0.401024972107,-0.00549675106078,0.0798518841187,0.999999976444,0.000133141101219,-0.00016491562903,4.6771766325e-05,1793253174864484608 +61,1.016666667,BASELINE,771,749,727.621906553,704,670.378093447,640,894,793,824,653,634.378093447,653.378093447,0.401025510796,-0.00549714557144,0.0798523228636,0.99999997682,0.000131001281893,-0.000164384605891,4.66455301102e-05,1793253174881151232 +62,1.033333333,BASELINE,771,749,727.051224932,704,670.948775068,640,894,793,824,653,634.948775068,653.948775068,0.401025476651,-0.00549777759346,0.0798522139565,0.999999977362,0.000126308363811,-0.000164867036357,4.62771693862e-05,1793253174897818368 +63,1.050000000,BASELINE,771,749,727,704,671,640,894,793,824,653,635,654,0.401026063093,-0.00549821256535,0.079852485382,0.999999977405,0.000126872873739,-0.000164088868895,4.65604009655e-05,1793253174914484992 +64,1.066666667,BASELINE,771,749.134288902,727.134288902,704,670.865711098,640,894,793,824,653,634.865711098,654,0.401026385478,-0.00549818263155,0.0798526342239,0.999999977361,0.000127816754458,-0.000163566470162,4.67728989277e-05,1793253174931151616 +65,1.083333333,BASELINE,771,749.710412867,727.710412867,704,670.289587133,640,894,793,824,653,634.289587133,654,0.40102563772,-0.00549668700646,0.079852256343,0.99999997719,0.000128303044948,-0.000164294602464,4.65412591009e-05,1793253174947818496 +66,1.100000000,BASELINE,771,749.713942941,727.713942941,703.713942941,670,640,894,793,824,653,634,654,0.401025239152,-0.00549641516562,0.0798520560701,0.999999977167,0.0001279705702,-0.000164706181103,4.6486945194e-05,1793253174964485376 +67,1.116666667,BASELINE,771,749.138783664,727.138783664,703.138783664,670,640,894,793,824,653,634,654,0.401025193492,-0.00549738013667,0.0798520352957,0.999999977294,0.000126810614197,-0.000164797836232,4.66118449052e-05,1793253174981152000 +68,1.133333333,BASELINE,771.445729826,749,727.445729826,703.445729826,670,640,894,793.445729826,824,653,634,654,0.401024691867,-0.00549854291669,0.0798517967667,0.999999977235,0.000126622505965,-0.00016528893746,4.66533112374e-05,1793253174997818368 +69,1.150000000,BASELINE,771.967084871,749,727.967084871,704,670.032915129,640,894,793.967084871,824,653,634,654,0.401024098137,-0.00549962134578,0.0798515481029,0.999999977123,0.000126792469531,-0.000165834810421,4.66618306977e-05,1793253175014484736 +70,1.166666667,BASELINE,771.384959023,749,727.384959023,704,670.615040977,640,894,793.384959023,824,653,634,654,0.401024387229,-0.00549824261742,0.0798522858842,0.999999977111,0.00012777983156,-0.000165174860276,4.65633624018e-05,1793253175031151360 +71,1.183333333,BASELINE,771,749,727,703.804975466,670.804975466,640,893.804975466,793,824,653,634,654,0.401024491454,-0.00549713070714,0.0798526320262,0.999999977042,0.000128613868816,-0.000164979831375,4.6434994253e-05,1793253175047817984 +72,1.200000000,BASELINE,771,749,727,703.229174527,670.229174527,640,893.229174527,793,824,653,634,654,0.401024234732,-0.00549653974662,0.0798522135105,0.999999976864,0.000129148546705,-0.000165692539636,4.62482480032e-05,1793253175064484608 +73,1.216666667,BASELINE,771,749.342625374,727,703.342625374,670,640,893.342625374,793,824,653,634,654,0.401024460707,-0.00549683283366,0.0798520291258,0.999999976909,0.000128869499344,-0.000165637974722,4.6255588911e-05,1793253175081151744 +74,1.233333333,BASELINE,771,749.911779925,727,703.911779925,670,640,893.911779925,793,824,653,634,654,0.40102500582,-0.005497710415,0.0798519995385,0.9999999771,0.000128052451775,-0.000165076121703,4.63912519207e-05,1793253175097818880 +75,1.250000000,BASELINE,771,749.49550483,727,703.49550483,670,640,893.49550483,793,824,653,634.50449517,654,0.401025508381,-0.00549799307889,0.0798526422475,0.999999977176,0.000127547080816,-0.000165002081486,4.64165612991e-05,1793253175114485760 +76,1.266666667,BASELINE,771,749,727,703.09833999,670.09833999,640,893,793.09833999,824,653,634.90166001,654,0.401025969714,-0.00549816656265,0.0798531924319,0.99999997722,0.000127262500307,-0.000164943790067,4.64466120415e-05,1793253175131152384 +77,1.283333333,BASELINE,771,749,727,703.676605654,670.676605654,640,893,793.676605654,824,653,634.323394346,654,0.401026267934,-0.00549833979442,0.079852689224,0.999999977217,0.000127776420477,-0.000164525661722,4.65985916858e-05,1793253175147818496 +78,1.300000000,BASELINE,771,749,727,703.746863384,670.746863384,640,893.253136616,793.746863384,824,653,634,654,0.401026195952,-0.00549812401047,0.0798525041953,0.999999977125,0.000128731833266,-0.000164291617565,4.67632607154e-05,1793253175164484608 +79,1.316666667,BASELINE,771,749,727,703.172533549,670.172533549,640,893.827466451,793.172533549,824,653,634,654,0.401025654238,-0.00549741462266,0.0798527228894,0.99999997692,0.000130247435364,-0.00016429114926,4.69440307013e-05,1793253175181151232 +80,1.333333333,BASELINE,771,749,727,703.411574636,670,640,893.588425364,793,823.588425364,653,634,654,0.401025661816,-0.00549739062052,0.0798526409197,0.999999977032,0.000129255128015,-0.000164468172118,4.66915862308e-05,1793253175197817856 +81,1.350000000,BASELINE,771,749,727,703.99988175,670,640,893.00011825,793,823.00011825,653,634,654,0.401025905264,-0.00549766092681,0.0798524298433,0.999999977276,0.000127185910289,-0.000164721410687,4.62531170367e-05,1793253175214484736 +82,1.366666667,BASELINE,771,749.578825317,727,703.421174683,670.578825317,640,893,793,823.578825317,653,634.578825317,654,0.401026861718,-0.00549713541264,0.0798531693788,0.999999977432,0.000127621488797,-0.000163462029763,4.61425068537e-05,1793253175231151872 +83,1.383333333,BASELINE,771,749.842728979,727,703.157271021,670.842728979,640,893.157271021,793.157271021,824,653,634.842728979,654,0.401027659968,-0.00549664080955,0.0798537719363,0.999999977545,0.000128163499005,-0.000162361844796,4.60836542146e-05,1793253175247818752 +84,1.400000000,BASELINE,771,749.265607219,727,703.734392781,670.265607219,640,893.734392781,793.734392781,824,653,634.265607219,654,0.401028035496,-0.00549622915369,0.0798540083076,0.999999977544,0.000128988295075,-0.000161687460917,4.61627975364e-05,1793253175264485376 +85,1.416666667,BASELINE,771,749,727,704,670,640,894,793.6839747,824,653,634,654,0.401027919392,-0.00549617821265,0.0798538583397,0.999999977418,0.000129631307584,-0.000161906455559,4.63149571915e-05,1793253175281151744 +86,1.433333333,BASELINE,771,749,727,704,670,640,894,793.0984962,824,653,634,654,0.401027384108,-0.00549643482855,0.0798533789667,0.999999977186,0.000130119325609,-0.000162887173122,4.65293728847e-05,1793253175297817856 +87,1.450000000,BASELINE,771,749.481185642,727.481185642,704,670.481185642,640,894,793.481185642,824,653,634,654,0.401025216584,-0.00549706142175,0.0798523601132,0.999999977132,0.000127945399407,-0.000164946786798,4.64623896689e-05,1793253175314484480 +88,1.466666667,BASELINE,771.059824627,749.940175373,728,703.940175373,670.940175373,640,894,793.940175373,824,653,634,654,0.401023227784,-0.0054977714543,0.0798514999715,0.999999977137,0.00012553358162,-0.000166775228705,4.63945986751e-05,1793253175331151104 +89,1.483333333,BASELINE,771.6395897,749.3604103,728,703.3604103,670.3604103,640,894,793.3604103,824,653,634,654,0.401025661498,-0.00549855630297,0.0798529675275,0.999999977437,0.00012573350767,-0.000164698009859,4.68144421121e-05,1793253175347817728 +90,1.500000000,BASELINE,772,749,727.782878313,703.217121687,670.217121687,640,894,793,824,653,634,654,0.401026323286,-0.0054982032638,0.0798534097069,0.999999977359,0.00012713072659,-0.000164083322778,4.68696322732e-05,1793253175364484864 +91,1.516666667,BASELINE,772,749,727.20901545,703.79098455,670.79098455,640,894,793,824,653,634,654,0.401024073714,-0.00549598062114,0.0798521671439,0.999999976656,0.000130495154168,-0.000165871644597,4.63256798559e-05,1793253175381152256 +92,1.533333333,BASELINE,772,749.374049718,727,704,671,640,894,793,824,653,634.374049718,654,0.401023987455,-0.00549582170437,0.0798523807091,0.999999976615,0.000130621313762,-0.000166043652488,4.62382297307e-05,1793253175397818880 +93,1.550000000,BASELINE,772,749.962386799,727,704,671,640,894,793,824,653,634.962386799,654,0.401025140526,-0.0054968450644,0.0798534284676,0.999999976956,0.000128892319468,-0.000165289699015,4.64123027366e-05,1793253175414484736 +94,1.566666667,BASELINE,771.457472511,750,727,704,670.457472511,640,894,793.542527489,824,653,634.457472511,654,0.401024888787,-0.00549556918133,0.0798523574371,0.999999976339,0.000131898361236,-0.000166621085386,4.64910392162e-05,1793253175431151104 +95,1.583333333,BASELINE,771,750,727,704,670,640,894,793.878226316,824,653,634,654,0.401024546925,-0.00549448698591,0.0798516286447,0.999999975903,0.000134205873558,-0.000167384841417,4.6527330712e-05,1793253175447817472 +96,1.600000000,BASELINE,771,750,727,704,670,640,894,793.300233893,824,653,634,654,0.401024226873,-0.00549471874713,0.0798527241717,0.999999976426,0.000132684810444,-0.000165488416365,4.64289984498e-05,1793253175464484096 +97,1.616666667,BASELINE,771.276008367,749.723991633,727,704,670,640,894,793,824,653,634,654,0.401024047996,-0.00549544829906,0.0798528552948,0.999999976747,0.000130928461671,-0.000164974146922,4.63292526002e-05,1793253175481150720 +98,1.633333333,BASELINE,771.85035881,749.14964119,727,704,670,640,894,793,824,653,634,654,0.401024021718,-0.00549671592133,0.0798519439777,0.999999976851,0.000128917788774,-0.000165953872791,4.62279787859e-05,1793253175497817344 +99,1.650000000,BASELINE,772,749.435155096,727.435155096,704,670,640,894,793,824,653,634.435155096,654,0.401024714936,-0.00549690717404,0.0798525088943,0.999999977119,0.000127759271655,-0.000165246097649,4.61808365647e-05,1793253175514483968 +100,1.666666667,BASELINE,771.976732606,750,727.976732606,704,670,640,894,793,823.976732606,653,634.976732606,654,0.401025663811,-0.00549673842862,0.079853555653,0.999999977439,0.000126901795754,-0.00016397425971,4.61583709675e-05,1793253175531150592 +101,1.683333333,BASELINE,771.39733121,750,727.39733121,704,670,640,894,793,823.39733121,653,634.39733121,654,0.401026664128,-0.0054970297398,0.0798536871792,0.999999977629,0.000126063306966,-0.000163431615836,4.62698516094e-05,1793253175547817472 +102,1.700000000,BASELINE,771.181034744,749.818965256,727,703.818965256,670.181034744,640,894.181034744,793,823.181034744,653.181034744,634,654,0.401027171745,-0.00549723275912,0.0798537110953,0.99999997765,0.000126310661815,-0.000163061541022,4.64353359613e-05,1793253175564484096 +103,1.716666667,BASELINE,771.757140981,749.242859019,727,703.242859019,670.757140981,640,894.757140981,793,823.757140981,653.757140981,634,654,0.401026604141,-0.0054972430994,0.0798535001742,0.999999977302,0.000128927649557,-0.000163068063134,4.67186724066e-05,1793253175581150976 +104,1.733333333,BASELINE,771.666585856,749,727,703.333414144,670.666585856,640,894.666585856,793.333414144,824,653.666585856,634,654,0.401026667906,-0.00549674995444,0.0798537317685,0.999999977202,0.000130196896313,-0.000162716141843,4.65638716389e-05,1793253175597817600 +105,1.750000000,BASELINE,771.090190983,749,727,703.909809017,670.090190983,640,894.090190983,793.909809017,824,653.090190983,634,654,0.40102719179,-0.00549588988679,0.0798542858527,0.999999977286,0.000130483956191,-0.000162102999364,4.60897716099e-05,1793253175614484224 +106,1.766666667,BASELINE,771.496488518,749.496488518,727,703.503511482,670,640.496488518,893.503511482,793.503511482,824,653,634.496488518,654,0.4010262949,-0.00549574512833,0.0798537088548,0.999999977054,0.000130406654465,-0.000163578798725,4.61259248644e-05,1793253175631150848 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+8,0.133333333,BASELINE,771.640386819,750,727.640386819,704,671.359613181,640,893.359613181,793,823,653,634,654,0.400966203294,-0.00538355214794,0.0798242158088,0.999999921542,0.000261530716874,-0.000294184411794,4.44131646031e-05,1793253181063826944 +9,0.150000000,BASELINE,771.782358428,750,728,704.217641572,671,640,893,793,823,653,634.217641572,654.217641572,0.400964765922,-0.00538455977037,0.0798228418062,0.999999920989,0.000261312864983,-0.000296243890687,4.44589973966e-05,1793253181080493824 +10,0.166666667,BASELINE,771.208454799,750,728,704.791545201,671,640,893,793,823,653,634.791545201,654.791545201,0.400964742118,-0.00538495988185,0.0798223195422,0.99999992078,0.000261716501516,-0.000296589861127,4.44742838466e-05,1793253181097161216 +11,0.183333333,BASELINE,771,750,727.625389865,704.625389865,670.625389865,640,893,793,823,653,634.625389865,654.625389865,0.400966833303,-0.00538488722155,0.0798232495398,0.999999921611,0.000260815639311,-0.00029457634029,4.44652437741e-05,1793253181113827584 +12,0.200000000,BASELINE,771,750,727.037099197,704.037099197,670.037099197,640,893,793,823,653,634.037099197,654.037099197,0.400970130894,-0.00538454488859,0.0798250079186,0.999999923024,0.000259170680925,-0.000291216947323,4.44423276651e-05,1793253181130494208 +13,0.216666667,BASELINE,771,750,727,704.54254327,670.54254327,640.54254327,893,793,823.54254327,653,634.54254327,654,0.400969356337,-0.00538388781197,0.0798247732435,0.999999922314,0.000261374480709,-0.000291697049752,4.43752105419e-05,1793253181147160576 +14,0.233333333,BASELINE,771,750,727,704.879008968,670.879008968,641,893.120991032,793,823.879008968,653,634.879008968,654,0.400968233127,-0.00538358010721,0.0798243033551,0.99999992162,0.000262962678881,-0.000292648415136,4.43614293252e-05,1793253181163826688 +15,0.250000000,BASELINE,771,750,727,704.30286563,670.30286563,641,893.69713437,793,823.30286563,653,634.30286563,654,0.400966829405,-0.00538466638657,0.0798234532684,0.999999921543,0.000261260555881,-0.000294400445366,4.45594824805e-05,1793253181180493312 +16,0.266666667,BASELINE,771,750,727,704,670,640.726660098,893.726660098,793,823,653,634.273339902,654,0.400966815901,-0.00538595707238,0.0798237701237,0.999999921933,0.000260014277597,-0.000294131073142,4.48645353643e-05,1793253181197160448 +17,0.283333333,BASELINE,771,750,727,704,670,640.150385675,893.150385675,793,823,653,634.849614325,654,0.400968343135,-0.00538747429576,0.0798253802664,0.999999922842,0.00025927319862,-0.000291621440308,4.52881728684e-05,1793253181213827072 +18,0.300000000,BASELINE,771,750,727,704,670,640,893,793,823,653,634.564965082,654,0.40096887037,-0.0053866950054,0.0798258805413,0.999999922798,0.000260493328655,-0.000290710907948,4.51019947476e-05,1793253181230493952 +19,0.316666667,BASELINE,771,750,727,704.023377302,670.023377302,640,893.023377302,793,823.023377302,653.023377302,634.023377302,654,0.400969042599,-0.00538518876267,0.0798259982601,0.999999922456,0.000262248352092,-0.000290370241266,4.47083509731e-05,1793253181247160832 +20,0.333333333,BASELINE,771,750,727,704.604377568,670.604377568,640,893.604377568,793,823.604377568,653.604377568,634.604377568,654,0.400969169546,-0.00538568547356,0.0798263389954,0.999999923052,0.000260243410151,-0.000290153776519,4.45023476318e-05,1793253181263827712 +21,0.350000000,BASELINE,771,750,727.182808055,704.817191945,670.817191945,640,893.817191945,793,823.817191945,653.817191945,634.817191945,654.182808055,0.400968969987,-0.00538583866282,0.0798261594773,0.999999923329,0.000259086073118,-0.000290249271713,4.43938754257e-05,1793253181280494336 +22,0.366666667,BASELINE,771,750,727.755754198,704.244245802,670.244245802,640,893.244245802,793,823.244245802,653.244245802,634.244245802,654.755754198,0.400968073619,-0.00538525872853,0.0798248696655,0.999999922935,0.000259737644385,-0.000291010533306,4.44935484013e-05,1793253181297160704 +23,0.383333333,BASELINE,771,750,727.669502769,704,670.330497231,640.330497231,893,793,823,653,634,654.669502769,0.400968318787,-0.00538465693622,0.0798248095915,0.999999922904,0.00025977376728,-0.000291105315817,4.43621596192e-05,1793253181313827328 +24,0.400000000,BASELINE,771,750,727.093424471,704,670.906575529,640.906575529,893,793,823,653,634,654.093424471,0.400969412192,-0.0053840389019,0.0798256632932,0.999999923143,0.000259352571835,-0.000290704860838,4.40590768428e-05,1793253181330493696 +25,0.416666667,BASELINE,771,750,727,704,670.50554635,640.50554635,893.49445365,793.49445365,823,653,634.49445365,654,0.400968077724,-0.00538438906881,0.0798252701686,0.999999922618,0.000260400221298,-0.000291536046807,4.43036151139e-05,1793253181347160320 +26,0.433333333,BASELINE,771,750,727.083178576,704,670.083178576,640,893.916821424,793.916821424,823,653,635,654,0.400966627169,-0.00538490317929,0.0798247323339,0.999999922065,0.000261429553278,-0.000292468819137,4.45728141346e-05,1793253181363826944 +27,0.450000000,BASELINE,771,750,727.663316925,704,670.663316925,640,893.336683075,793.336683075,823,653,635,654,0.400967290798,-0.00538527709294,0.079824771831,0.999999922244,0.000260650769784,-0.000292584174369,4.43560440139e-05,1793253181380493568 +28,0.466666667,BASELINE,771,750,727.758677576,704,670.758677576,640,893,793,823,653,635,654.241322424,0.400967802542,-0.00538562830845,0.0798249862607,0.999999922508,0.000259899167912,-0.000292351417638,4.43480774554e-05,1793253181397160448 +29,0.483333333,BASELINE,771,750,727.183621707,704,670.183621707,640,893,793,823,653,635,654.816378293,0.400968104239,-0.00538594813385,0.0798254426109,0.99999992289,0.000259185156524,-0.000291637244365,4.4628872854e-05,1793253181413826816 +30,0.500000000,BASELINE,771,750,727,704,670,640,893,793,823,653,635,654.601085852,0.400967639554,-0.00538576876708,0.0798251285823,0.99999992291,0.000258414227137,-0.000292245321035,4.46601695384e-05,1793253181430493696 +31,0.516666667,BASELINE,771,750,727,704,670,640,893,793,823,653,635,654.015041153,0.400966815358,-0.00538535522936,0.0798244531693,0.99999992276,0.000257616597546,-0.000293473664919,4.45744264159e-05,1793253181447160320 +32,0.533333333,BASELINE,771.567658586,750,727,704,670.567658586,640.567658586,893,793,823,653,634.432341414,654,0.400967877766,-0.00538434306707,0.0798252259749,0.999999922392,0.000260680306708,-0.000292041334233,4.44245364471e-05,1793253181463826944 +33,0.550000000,BASELINE,771.851471809,750,727.148528191,704,671,640.851471809,893,793,823,653,634.148528191,654,0.400968485636,-0.00538383786332,0.0798255838143,0.999999922148,0.000262552508115,-0.000291211429376,4.43375920522e-05,1793253181480493568 +34,0.566666667,BASELINE,771.27561427,750,727.72438573,704,671,640.27561427,893,793,823,653,634.72438573,654,0.400967642779,-0.00538483659452,0.079824638001,0.999999922305,0.00026070399067,-0.00029231640486,4.44366094393e-05,1793253181497160192 +35,0.583333333,BASELINE,771,750,727.701558006,704,671,640,893.298441994,793,823,653,634.701558006,654,0.400967723204,-0.00538530238464,0.0798246846434,0.999999922496,0.000260317462441,-0.000291968131245,4.46935685688e-05,1793253181513826816 +36,0.600000000,BASELINE,771,750,727.129155194,704,671,640,893.870844806,793,823,653,634.129155194,654,0.400968651174,-0.0053852789509,0.0798256423301,0.999999922718,0.000261272996345,-0.000290285818576,4.50955135022e-05,1793253181530493440 +37,0.616666667,BASELINE,771,749.540559995,727,704,671.459440005,640.459440005,894,793,823,653,634,654,0.400968659772,-0.00538464070139,0.0798255654214,0.999999922603,0.000261408779578,-0.000290587770467,4.49301967771e-05,1793253181547160320 +38,0.633333333,BASELINE,771,749,727,704,671.948750132,640.948750132,893.948750132,792.948750132,823,653,634.051249868,654,0.400968308827,-0.0053840612633,0.0798251445076,0.999999922396,0.000261182977591,-0.000291549178695,4.46159115801e-05,1793253181563827200 +39,0.650000000,BASELINE,771,749,727,704,671.372346487,640.372346487,893.372346487,792.372346487,823,653,634.627653513,654,0.400967018712,-0.00538592017158,0.0798242876838,0.999999922264,0.00025969964039,-0.000293343393446,4.44688807265e-05,1793253181580493568 +40,0.666666667,BASELINE,771,749,727,704,671,640.20401694,893,792.20401694,823,653.20401694,634.79598306,654,0.400966477959,-0.00538630282625,0.0798239457742,0.99999992216,0.00025951250991,-0.000293893834546,4.42654061152e-05,1793253181597159936 +41,0.683333333,BASELINE,771,749,727,704,671,640.780306946,893,792.780306946,823,653.780306946,634.219693054,654,0.400967304577,-0.00538399173653,0.0798245434371,0.99999992211,0.000261690589249,-0.000292174741298,4.39589376593e-05,1793253181613826816 +42,0.700000000,BASELINE,771,749.364093307,727,704,671,641,893,793,823.364093307,653.635906693,634.364093307,654.364093307,0.400968146376,-0.00538449967655,0.079825687941,0.999999922877,0.0002607752419,-0.00029032128374,4.42172568354e-05,1793253181630493696 +43,0.716666667,BASELINE,771,749.952498018,727,704,671,641,893,793,823.952498018,653.047501982,634.952498018,654.952498018,0.400968997527,-0.00538674437068,0.0798271693438,0.999999924142,0.000257954089359,-0.000288385046786,4.48235316272e-05,1793253181647160320 +44,0.733333333,BASELINE,771,749.467651145,727,704,670.467651145,640.467651145,893,793,823.467651145,653,634.467651145,654.467651145,0.400968476565,-0.00538674413591,0.0798271702369,0.999999923785,0.000258511540832,-0.00028912268814,4.48219046797e-05,1793253181663826944 +45,0.750000000,BASELINE,771,749,727,704,670,640,893,793,823,653,634.110728865,654.110728865,0.400967891055,-0.00538653263526,0.0798267635387,0.999999923335,0.000259207852396,-0.000290068347136,4.47445684084e-05,1793253181680493568 +46,0.766666667,BASELINE,771,749,727,704,670,640,893,793,823,653,634.686089078,654.686089078,0.400967540322,-0.00538626189968,0.0798251921106,0.999999923092,0.000259241813613,-0.000290901542031,4.4573560116e-05,1793253181697160192 +47,0.783333333,BASELINE,771,749.264333067,727,704,670.264333067,640,893,793,823,653,634.735666933,654.735666933,0.400967488063,-0.00538606169676,0.0798246431766,0.999999922884,0.000259713242885,-0.000291215146288,4.44456325416e-05,1793253181713827072 +48,0.800000000,BASELINE,771,749.84603956,727,704,670.84603956,640,893,793,823,653,634.15396044,654.15396044,0.400967794169,-0.00538594617936,0.0798253219074,0.999999922718,0.000260709921372,-0.00029090490037,4.43694301226e-05,1793253181730493696 +49,0.816666667,BASELINE,771,749.57073711,727,704,671,640,893,793,823,653,634,654.42926289,0.400968048647,-0.00538601363584,0.0798255836279,0.999999922972,0.000259639027165,-0.000290992522959,4.43445423209e-05,1793253181747160320 +50,0.833333333,BASELINE,771,749,727,704,670.987069307,640,893.012930693,792.987069307,823,653,634,654.987069307,0.400968290374,-0.00538614218281,0.0798257075811,0.999999923373,0.000257863725612,-0.00029119455789,4.4341278179e-05,1793253181763826944 +51,0.850000000,BASELINE,771,749,727,704,670.407844611,640,893.592155389,792.407844611,823,653,634,654.407844611,0.40096878746,-0.0053860619146,0.0798263714798,0.999999923683,0.000257830689943,-0.00029013556651,4.44761321303e-05,1793253181780493568 +52,0.866666667,BASELINE,771,749.170068609,727,704,670,640,893.829931391,792.170068609,823,653,634.170068609,654,0.400968959354,-0.0053859762773,0.0798265423477,0.999999923692,0.000258225938018,-0.000289736267419,4.45875565862e-05,1793253181797160192 +53,0.883333333,BASELINE,771,749.744860789,727,704,670,640,893.255139211,792.744860789,823,653,634.744860789,654,0.400968357364,-0.00538587786281,0.0798255399172,0.999999922984,0.000259640401382,-0.000290906881977,4.4643224307e-05,1793253181813826816 +54,0.900000000,BASELINE,771,749.673175417,727,704,670,640,893,793,823,653,634.673175417,654.326824583,0.400967909885,-0.00538554521472,0.0798253193569,0.999999922798,0.000260323009966,-0.000290954024601,4.45228695793e-05,1793253181830493440 +55,0.916666667,BASELINE,771,749.085487442,727,704,670,640,893,793,823,653,634.085487442,654.914512558,0.400967585732,-0.00538502560708,0.0798257228663,0.99999992303,0.00026042146989,-0.00029010443934,4.42620180344e-05,1793253181847160320 +56,0.933333333,BASELINE,771,749,727,704,670,640,893,793.494793629,823,653,634,654.505206371,0.400968285249,-0.00538517268375,0.0798258586893,0.999999923088,0.000260688020688,-0.000289659767387,4.43148533731e-05,1793253181863826944 +57,0.950000000,BASELINE,771,749.073834327,727,704,670,640,893.073834327,793.926165673,823,653,634.073834327,654.073834327,0.400968964877,-0.00538540553174,0.0798258911057,0.999999923113,0.000260868980996,-0.000289400100184,4.43830498244e-05,1793253181880493568 +58,0.966666667,BASELINE,771,749.65301486,727,704,670,640,893.65301486,793.34698514,823,653,634.65301486,654.65301486,0.400968315731,-0.00538544868576,0.07982552765,0.999999923123,0.000260268292576,-0.000289934909492,4.41909122932e-05,1793253181897160192 +59,0.983333333,BASELINE,771,750,727,704,670,640,894,793,823,653,635,654.770582245,0.400967871483,-0.00538568387468,0.0798253846874,0.999999923281,0.000259519547035,-0.000290086082591,4.40184015146e-05,1793253181913826816 +60,1.000000000,BASELINE,771,750,727,704,670,640,894,793,823,653,635,654.198330077,0.40096773343,-0.00538620603429,0.0798255712222,0.999999923661,0.000258549549673,-0.000289663962332,4.38752202865e-05,1793253181930493696 +61,1.016666667,BASELINE,771,750,727,704,670.385236049,640.385236049,893.614763951,793,823,653,634.614763951,654,0.400967201377,-0.00538632278189,0.0798250097206,0.999999923309,0.000258949252739,-0.000290524662502,4.38430809714e-05,1793253181947160064 +62,1.033333333,BASELINE,771,750,727,704,670.974803117,640.974803117,893.025196883,793,823,653,634.025196883,654,0.400966460345,-0.005386224497,0.079824051457,0.999999922567,0.000260075451435,-0.000292065776705,4.38698388194e-05,1793253181963826944 +63,1.050000000,BASELINE,771,749.445406782,727,704,671,640.445406782,893,793,823,653,634.554593218,654,0.400967522712,-0.00538649534422,0.0798245616214,0.999999923517,0.0002572837644,-0.000291279637043,4.39033407674e-05,1793253181980493568 +64,1.066666667,BASELINE,771,749,727,704,670.866639282,640,893.133360718,793,823,653,634.866639282,654,0.400968399695,-0.00538678854727,0.0798252006779,0.999999924249,0.000255387830017,-0.000290419028699,4.3993393771e-05,1793253181997160192 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+76,1.266666667,BASELINE,771,749.899981025,727,704,671,640.100018975,894,793,823,653,635,654.899981025,0.400969868552,-0.00538573278527,0.0798271568786,0.999999923855,0.000260186413923,-0.000287510720262,4.39394458677e-05,1793253182197160192 +77,1.283333333,BASELINE,771,749.324256459,727,704,671,640.675743541,894,793,823,653,635,654.324256459,0.400969413869,-0.0053849932802,0.079826626696,0.999999924204,0.000258809229359,-0.000287565710033,4.37762244637e-05,1793253182213827072 +78,1.300000000,BASELINE,771,749.250902936,727,704.250902936,671,640.749097064,893.749097064,793,823,653,635,654,0.400968785498,-0.00538470174794,0.0798262770768,0.999999924045,0.000258779830564,-0.000288147756804,4.37489297191e-05,1793253182230493440 +79,1.316666667,BASELINE,771,749.825333526,727,704.825333526,671,640.174666474,893.174666474,793,823,653,635,654,0.400967933166,-0.00538498785582,0.0798261602856,0.999999923231,0.000260488338874,-0.000289409419034,4.3896906086e-05,1793253182247160064 +80,1.333333333,BASELINE,771.41129932,750,727,704.58870068,671.41129932,640,893,793,823,653,634.58870068,654,0.400969022826,-0.0053849685602,0.0798267937521,0.999999923131,0.000261874450071,-0.000288476893859,4.40518396272e-05,1793253182263826944 +81,1.350000000,BASELINE,771.997747157,750,727,704,671.997747157,640.002252843,893,793,823,653,634.002252843,654,0.400970945028,-0.0053848184592,0.0798277460639,0.999999923341,0.000263102193871,-0.000286602163172,4.42079560101e-05,1793253182280493568 +82,1.366666667,BASELINE,771.420157308,750,727,704,671.420157308,640.579842692,893,793,823,653,634.579842692,654,0.400968791087,-0.00538534070517,0.0798264100713,0.999999923531,0.000259859587422,-0.000288938040729,4.38898453402e-05,1793253182297160192 +83,1.383333333,BASELINE,771,750,727.156882025,704,671,641,893.156882025,793,823.156882025,653.156882025,634.843117975,654.156882025,0.4009674193,-0.00538576177845,0.0798256920257,0.99999992371,0.000257746728066,-0.000290231900889,4.37324954961e-05,1793253182313826816 +84,1.400000000,BASELINE,771,750,727.73245226,704,671,641,893.73245226,793,823.73245226,653.73245226,634.26754774,654.73245226,0.400968134937,-0.00538591284122,0.0798266231625,0.999999923895,0.000258648947583,-0.000288744815827,4.40041855748e-05,1793253182330493440 +85,1.416666667,BASELINE,771,749.68529601,727.68529601,704,671,640.68529601,893.68529601,793,823.68529601,653.68529601,634,655,0.400968511862,-0.00538597920101,0.0798267624731,0.999999923983,0.000258807812172,-0.000288292230885,4.4053729566e-05,1793253182347160064 +86,1.433333333,BASELINE,771,749.097240781,727.097240781,704,671,640.097240781,893.097240781,793,823.097240781,653.097240781,634,655,0.400968594583,-0.00538597198794,0.079826214005,0.999999923986,0.000258321000146,-0.00028873821071,4.3910317906e-05,1793253182363826688 +87,1.450000000,BASELINE,771.483491605,749.483491605,727,704,671,640,893.483491605,793.483491605,823,653,634,655,0.400969088474,-0.00538599135163,0.0798269610256,0.999999923853,0.0002596805528,-0.000287956101505,4.4054180921e-05,1793253182380493568 +88,1.466666667,BASELINE,772,750,727,704,670.937536328,640,893.937536328,793.937536328,823,653,634,654.937536328,0.400969585979,-0.00538604223491,0.079827771712,0.999999923692,0.000261165093921,-0.000287146659522,4.42195040951e-05,1793253182397160448 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+92,1.533333333,BASELINE,771,749.375139732,727.624860268,704.624860268,670,640,893,793,823,653,634.624860268,654.375139732,0.400968747429,-0.00538767842389,0.0798266471246,0.999999923714,0.00025954478603,-0.000288514714807,4.43551497423e-05,1793253182463826944 +93,1.550000000,BASELINE,771,749.965004737,727.034995263,704.034995263,670,640,893,793,823,653,634.034995263,654.965004737,0.400968461577,-0.00538805587292,0.0798265017084,0.999999923934,0.000258034351079,-0.000289066413412,4.4624787103e-05,1793253182480493568 +94,1.566666667,BASELINE,771,749.455447612,727,704,670.544552388,640,893,793,823,653,634,654.455447612,0.400968747778,-0.00538688905281,0.0798263968633,0.999999923775,0.000258731650697,-0.000289078173825,4.40592914949e-05,1793253182497160192 +95,1.583333333,BASELINE,771,749,727,704,671,640.118620374,893,793,823,653,634.118620374,654,0.400968807533,-0.00538589651448,0.0798262189579,0.99999992356,0.000259491146214,-0.000289206129718,4.36335689808e-05,1793253182513826816 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+100,1.666666667,BASELINE,771,750,727,703.974386241,671,640,893.025613759,793,823,653.974386241,634.025613759,655,0.400967828501,-0.00538349200318,0.079825279567,0.99999992345,0.00025845584095,-0.000290623168837,4.28695615476e-05,1793253182597159936 +101,1.683333333,BASELINE,771,750,727,703.396270913,671,640,893.603729087,793,823,653.396270913,634.603729087,655,0.400968958013,-0.00538448489662,0.0798262251792,0.999999923552,0.000259563513106,-0.000289192001561,4.34788712571e-05,1793253182613826816 +102,1.700000000,BASELINE,771,749.818993512,727,703.181006488,671,640,893.818993512,793,823,653,635,654.818993512,0.400969483905,-0.00538529626588,0.0798267125305,0.999999923571,0.00026026385027,-0.000288426168111,4.39392056847e-05,1793253182630493440 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