From 0f79f8fd483fb998686c14eb9b1aa9efd16d181e Mon Sep 17 00:00:00 2001 From: kyle Date: Fri, 21 Aug 2026 14:39:04 +0700 Subject: [PATCH] hal: convert animation recordings to recalibrated hal_follower ranges Remap all 32 recording CSVs from the pre-recalibration hal.json ranges to the current hal_follower ranges, preserving the original physical motion. Each normalized value is rescaled so it resolves to the same servo tick under the new ranges (verified within 1 encoder tick per joint). --- hal/recordings/acknowledge.csv | 204 +-- hal/recordings/confused.csv | 202 +-- hal/recordings/curious.csv | 302 ++-- hal/recordings/excited.csv | 322 ++-- hal/recordings/fear.csv | 502 +++--- hal/recordings/goodbye.csv | 202 +-- hal/recordings/greeting.csv | 122 +- hal/recordings/happy_wiggle.csv | 322 ++-- hal/recordings/headshake.csv | 142 +- hal/recordings/idle.csv | 402 ++--- hal/recordings/laugh.csv | 162 +- hal/recordings/listening.csv | 112 +- hal/recordings/music_chill.csv | 404 ++--- hal/recordings/music_classical.csv | 404 ++--- hal/recordings/music_groove.csv | 582 +++--- hal/recordings/music_hiphop.csv | 604 +++---- hal/recordings/music_hype.csv | 522 +++--- hal/recordings/music_jazz.csv | 482 ++--- hal/recordings/music_rock.csv | 642 +++---- hal/recordings/music_waltz.csv | 404 ++--- hal/recordings/nod.csv | 82 +- hal/recordings/playful.csv | 402 ++--- hal/recordings/sad.csv | 302 ++-- hal/recordings/scanning.csv | 362 ++-- hal/recordings/shock.csv | 182 +- hal/recordings/shy.csv | 202 +-- hal/recordings/sleepy.csv | 202 +-- hal/recordings/stretching.csv | 242 +-- hal/recordings/test.csv | 2642 ++++++++++++++-------------- hal/recordings/thinking_deep.csv | 1802 +++++++++---------- hal/recordings/tracking.csv | 504 +++--- hal/recordings/wake_up.csv | 302 ++-- 32 files changed, 6998 insertions(+), 7268 deletions(-) mode change 100755 => 100644 hal/recordings/fear.csv mode change 100755 => 100644 hal/recordings/greeting.csv mode change 100755 => 100644 hal/recordings/idle.csv mode change 100755 => 100644 hal/recordings/listening.csv mode change 100755 => 100644 hal/recordings/music_classical.csv mode change 100755 => 100644 hal/recordings/nod.csv mode change 100755 => 100644 hal/recordings/playful.csv mode change 100755 => 100644 hal/recordings/sad.csv mode change 100755 => 100644 hal/recordings/shy.csv mode change 100755 => 100644 hal/recordings/sleepy.csv diff --git a/hal/recordings/acknowledge.csv b/hal/recordings/acknowledge.csv index 32276eb3c..205c40d8c 100644 --- a/hal/recordings/acknowledge.csv +++ b/hal/recordings/acknowledge.csv @@ -1,102 +1,102 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.009848,1.246194,0.346784,0.596692,0.0 -0.05,0.017397,1.280548,0.36935,0.667786,0.0 -0.1,0.050073,1.352646,0.447348,0.810339,0.0 -0.15,0.137749,1.497536,0.64481,0.918281,0.0 -0.2,0.321443,1.767188,1.052286,0.88556,0.0 -0.25,0.651728,2.235322,1.788754,0.606106,0.0 -0.3,1.185077,3.005464,3.00489,-0.026184,0.0 -0.35,1.976209,4.22308,4.88891,-1.117484,0.0 -0.4,2.963058,6.080327,7.672442,-2.774054,0.0 -0.45,3.581105,8.786566,11.629616,-5.102279,0.0 -0.5,3.794655,12.750278,17.154481,-8.208684,0.0 -0.55,3.66642,18.600881,24.820561,-11.979185,0.0 -0.6,3.270284,27.294071,35.543809,-15.835392,0.0 -0.65,2.703748,40.344497,51.000527,-19.175092,0.0 -0.7,2.29137,53.486699,67.994041,-21.661052,0.0 -0.75,2.093227,62.49354,81.643833,-23.761021,0.0 -0.8,1.987083,68.837064,92.380487,-25.937712,0.0 -0.85,1.927434,73.35951,100.650781,-28.045289,0.0 -0.9,1.893294,76.576003,106.856698,-29.896967,0.0 -0.95,1.874976,78.827534,111.360231,-31.351914,0.0 -1.0,1.868571,80.359327,114.493232,-32.537969,0.0 -1.05,1.87352,81.359574,116.560061,-33.60812,0.0 -1.1,1.891465,81.978403,117.834465,-34.537272,0.0 -1.15,1.925648,82.336032,118.554011,-35.300935,0.0 -1.2,1.980572,82.527181,118.915779,-35.876095,0.0 -1.25,2.06182,82.623487,119.073748,-36.242135,0.0 -1.3,2.175932,82.675642,119.138361,-36.381529,0.0 -1.35,2.330331,82.715053,119.17702,-36.447074,0.0 -1.4,2.534301,82.723727,119.186077,-36.589962,0.0 -1.45,2.7965,82.710183,119.1472,-36.793618,0.0 -1.5,3.109231,82.618665,118.93616,-37.041014,0.0 -1.55,3.374679,82.341038,118.331634,-37.31233,2e-06 -1.6,3.586419,81.744879,117.046875,-37.580456,0.0 -1.65,3.756651,80.661727,114.725745,-37.799766,0.0 -1.7,3.898938,78.88307,110.954067,-38.895752,0.0 -1.75,4.029999,76.156022,105.279723,-41.211176,0.0 -1.8,4.173375,72.164213,97.230229,-43.392735,0.0 -1.85,4.367547,66.473436,86.315477,-44.856482,0.0 -1.9,4.686877,58.402516,72.007071,-45.625158,0.0 -1.95,5.308352,46.7388,53.715299,-45.838383,0.0 -2.0,6.811176,29.099843,30.895282,-45.618099,0.0 -2.05,9.454192,11.264734,10.46907,-46.086517,0.0 -2.1,12.187281,-0.395054,-3.374642,-47.709073,-2e-06 -2.15,14.624705,-8.010102,-13.083064,-49.971494,2e-06 -2.2,16.530726,-12.947462,-19.925701,-52.567492,-2e-06 -2.25,17.872643,-16.116074,-24.679982,-55.237236,0.0 -2.3,18.736387,-18.122882,-27.887014,-57.637132,0.0 -2.35,19.230157,-19.375409,-29.956165,-59.396937,0.0 -2.4,19.433961,-20.150617,-31.210758,-60.563636,0.0 -2.45,19.38664,-20.640948,-31.909947,-61.202723,0.0 -2.5,19.089006,-20.982983,-32.259192,-61.379686,-2e-06 -2.55,18.510055,-21.27566,-32.415992,-61.159945,0.0 -2.6,17.591209,-21.59068,-32.492596,-60.608913,0.0 -2.65,16.247241,-21.977713,-32.557029,-59.791961,0.0 -2.7,14.349483,-22.447005,-32.631908,-58.774454,0.0 -2.75,11.770912,-23.034154,-32.717641,-57.62175,0.0 -2.8,8.321734,-23.731405,-32.795409,-56.399225,0.0 -2.85,4.030284,-24.463446,-32.82537,-55.337376,0.0 -2.9,0.284505,-24.954719,-32.728477,-54.525492,0.0 -2.95,-2.698377,-25.194386,-32.454866,-53.817171,0.0 -3.0,-4.985639,-25.197056,-31.946414,-53.065983,0.0 -3.05,-6.661901,-24.95378,-31.12953,-52.125535,2e-06 -3.1,-7.813315,-24.431035,-29.91491,-50.849382,0.0 -3.15,-8.517329,-23.568558,-28.196725,-49.294257,0.0 -3.2,-8.836547,-22.274323,-25.85041,-47.064648,0.0 -3.25,-8.81629,-20.41681,-22.729092,-43.334063,0.0 -3.3,-8.486659,-17.812858,-18.656655,-37.268777,0.0 -3.35,-7.871283,-14.209923,-13.415644,-28.021343,0.0 -3.4,-7.003638,-9.258786,-6.723068,-14.649053,0.0 -3.45,-6.298689,-4.407614,0.100434,-0.825518,0.0 -3.5,-5.921618,-0.956812,5.618204,9.266206,0.0 -3.55,-5.655904,1.546626,10.009538,16.054734,0.0 -3.6,-4.789642,3.416,13.452024,20.366188,0.0 -3.65,-1.572338,4.9767,16.141877,23.010865,0.0 -3.7,1.536539,6.224182,18.176137,24.790235,0.0 -3.75,2.233217,6.961824,19.595008,25.523135,0.0 -3.8,2.272549,7.414336,20.557737,25.495952,0.0 -3.85,2.267741,7.705092,21.185515,25.146144,0.0 -3.9,2.2638,7.88312,21.567623,24.601242,0.0 -3.95,2.257751,7.983384,21.778548,23.919114,0.0 -4.0,2.245332,8.033115,21.879147,23.131271,0.0 -4.05,2.220895,8.052742,21.916691,22.256457,0.0 -4.1,2.177338,8.056292,21.924917,21.306075,0.0 -4.15,2.10607,8.051804,21.923912,20.286502,0.0 -4.2,1.997122,8.038804,21.917672,19.199911,0.0 -4.25,1.838569,8.006516,21.873583,18.04363,0.0 -4.3,1.617149,7.917698,21.698266,16.807234,0.0 -4.35,1.317948,7.711534,21.236631,15.461398,0.0 -4.4,0.950019,7.308242,20.274564,13.929454,0.0 -4.45,0.649824,6.62399,18.545866,12.210765,0.0 -4.5,0.426992,5.554516,15.732147,10.35708,0.0 -4.55,0.266957,4.007852,11.479635,8.424745,0.0 -4.6,0.157212,2.529296,7.288336,6.476685,0.0 -4.65,0.086008,1.582924,4.582392,4.585144,0.0 -4.7,0.042844,1.015642,2.949158,3.193271,0.0 -4.75,0.019122,0.706232,2.054146,2.210971,0.0 -4.8,0.007875,0.560244,1.630496,1.416221,0.0 -4.85,0.003698,0.506302,1.473302,0.744157,0.0 -4.9,0.002734,0.49405,1.437076,0.170545,0.0 -4.95,0.00267,0.493386,1.434708,-0.303838,0.0 -5.0,0.009848,1.246194,0.346784,-0.596692,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,13.357753,15.653236,40.261357,10.064565 +0.05,-1.647446,13.357753,15.702076,40.261357,10.064565 +0.1,-1.565074,13.406593,15.702076,40.385812,10.064565 +0.15,-1.482702,13.455433,15.799756,40.385812,10.064565 +0.2,-1.317957,13.504274,15.946276,40.385812,10.064565 +0.25,-0.988468,13.699634,16.190476,40.261357,10.064565 +0.3,-0.494234,13.943834,16.581197,39.763535,10.064565 +0.35,0.329489,14.383394,17.264957,39.016801,10.064565 +0.4,1.317957,15.018315,18.241758,37.896702,10.064565 +0.45,1.894563,15.946276,19.609280,36.403236,10.064565 +0.5,2.141680,17.313797,21.562882,34.287492,10.064565 +0.55,1.976936,19.316239,24.249084,31.673927,10.064565 +0.6,1.647446,22.295482,27.960928,29.060361,10.064565 +0.65,1.070840,26.788767,33.382173,26.820162,10.064565 +0.7,0.658979,31.330891,39.291819,25.202240,10.064565 +0.75,0.411862,34.407814,44.078144,23.708774,10.064565 +0.8,0.329489,36.605617,47.838828,22.215308,10.064565 +0.85,0.247117,38.168498,50.525031,20.846297,10.064565 +0.9,0.247117,39.242979,50.525031,19.601742,10.064565 +0.95,0.247117,40.024420,50.525031,18.606098,10.064565 +1.0,0.247117,40.561661,50.525031,17.734910,10.064565 +1.05,0.247117,40.903541,50.525031,17.112632,10.064565 +1.1,0.247117,41.147741,50.525031,16.490355,10.064565 +1.15,0.247117,41.245421,50.525031,15.868077,10.064565 +1.2,0.329489,41.294261,50.525031,15.494711,10.064565 +1.25,0.411862,41.343101,50.525031,15.245800,10.064565 +1.3,0.494234,41.343101,50.525031,15.245800,10.064565 +1.35,0.658979,41.391941,50.525031,15.121344,10.064565 +1.4,0.906096,41.391941,50.525031,14.996889,10.064565 +1.45,1.153213,41.391941,50.525031,14.872433,10.064565 +1.5,1.482702,41.343101,50.525031,14.747978,10.064565 +1.55,1.729819,41.245421,50.525031,14.623522,10.064565 +1.6,1.976936,41.050061,50.525031,14.374611,10.064565 +1.65,2.141680,40.659341,50.525031,14.250156,10.064565 +1.7,2.224053,40.073260,50.525031,13.503423,10.064565 +1.75,2.388797,39.145299,50.525031,11.885501,10.064565 +1.8,2.553542,37.728938,49.548230,10.392035,10.064565 +1.85,2.718287,35.775336,45.738706,9.396391,10.064565 +1.9,3.047776,32.991453,40.708181,8.898569,10.064565 +1.95,3.624382,28.986569,34.310134,8.774113,10.064565 +2.0,5.189456,22.930403,26.349206,8.898569,10.064565 +2.05,7.825371,16.776557,19.218559,8.649658,10.064565 +2.1,10.543657,12.771673,14.383394,7.529558,9.988606 +2.15,12.932455,10.183150,10.964591,6.036092,10.064565 +2.2,14.909390,8.473748,8.571429,4.293715,9.988606 +2.25,16.227348,7.350427,6.910867,2.426882,10.064565 +2.3,17.051071,6.666667,5.787546,0.808961,10.064565 +2.35,17.545305,6.275946,5.103785,-0.435594,10.064565 +2.4,17.792422,5.982906,4.664225,-1.182327,10.064565 +2.45,17.710049,5.836386,4.420024,-1.555694,10.064565 +2.5,17.462932,5.689866,4.273504,-1.680149,9.988606 +2.55,16.886326,5.592186,4.224664,-1.555694,10.064565 +2.6,15.897858,5.494505,4.224664,-1.182327,10.064565 +2.65,14.579901,5.347985,4.175824,-0.684505,10.064565 +2.7,12.685338,5.201465,4.175824,0.062228,10.064565 +2.75,10.131796,5.006105,4.126984,0.808961,10.064565 +2.8,6.672158,4.761905,4.078144,1.680149,10.064565 +2.85,2.388797,4.517705,4.078144,2.302427,10.064565 +2.9,-1.400329,4.322344,4.126984,2.924704,10.064565 +2.95,-4.365733,4.273504,4.224664,3.422526,10.064565 +3.0,-6.672158,4.224664,4.371184,3.920348,10.064565 +3.05,-8.319605,4.322344,4.664225,4.542626,10.064565 +3.1,-9.472817,4.517705,5.103785,5.413815,10.064565 +3.15,-10.131796,4.810745,5.689866,6.409459,10.064565 +3.2,-10.461285,5.250305,6.520147,7.902925,10.064565 +3.25,-10.461285,5.885226,7.594628,10.516490,10.064565 +3.3,-10.131796,6.813187,9.059829,14.623522,10.064565 +3.35,-9.555189,8.034188,10.866911,20.846297,10.064565 +3.4,-8.649094,9.743590,13.211233,29.931549,10.064565 +3.45,-7.907743,11.404151,15.604396,39.265713,10.064565 +3.5,-7.578254,12.576313,17.509158,46.110765,10.064565 +3.55,-7.331137,13.455433,19.072039,50.715619,10.064565 +3.6,-6.425041,14.090354,20.244200,53.578096,10.064565 +3.65,-3.212521,14.627595,21.172161,55.444928,10.064565 +3.7,-0.082372,15.067155,21.904762,56.565028,10.064565 +3.75,0.576606,15.311355,22.393162,57.062850,10.064565 +3.8,0.658979,15.457875,22.735043,57.062850,10.064565 +3.85,0.658979,15.555556,22.979243,56.813939,10.064565 +3.9,0.576606,15.653236,23.076923,56.440572,10.064565 +3.95,0.576606,15.653236,23.174603,56.067206,10.064565 +4.0,0.576606,15.702076,23.223443,55.444928,10.064565 +4.05,0.576606,15.702076,23.223443,54.947106,10.064565 +4.1,0.494234,15.702076,23.223443,54.200373,10.064565 +4.15,0.494234,15.702076,23.223443,53.578096,10.064565 +4.2,0.329489,15.702076,23.223443,52.831363,10.064565 +4.25,0.164745,15.653236,23.223443,52.084630,10.064565 +4.3,0.000000,15.653236,23.125763,51.213441,10.064565 +4.35,-0.329489,15.555556,22.979243,50.342253,10.064565 +4.4,-0.658979,15.409035,22.637363,49.222153,10.064565 +4.45,-0.988468,15.213675,22.051282,48.102054,10.064565 +4.5,-1.235585,14.822955,21.074481,46.857498,10.064565 +4.55,-1.400329,14.285714,19.560440,45.488488,10.064565 +4.6,-1.482702,13.797314,18.095238,44.243933,10.064565 +4.65,-1.565074,13.455433,17.167277,42.874922,10.064565 +4.7,-1.565074,13.260073,16.581197,42.003734,10.064565 +4.75,-1.647446,13.162393,16.288156,41.381456,10.064565 +4.8,-1.647446,13.113553,16.141636,40.759179,10.064565 +4.85,-1.647446,13.113553,16.092796,40.385812,10.064565 +4.9,-1.647446,13.064713,16.043956,39.887990,10.064565 +4.95,-1.647446,13.064713,16.043956,39.639079,10.064565 +5.0,-1.647446,13.357753,15.653236,39.390168,10.064565 diff --git a/hal/recordings/confused.csv b/hal/recordings/confused.csv index cdcb54f2d..d0d547ffb 100644 --- a/hal/recordings/confused.csv +++ b/hal/recordings/confused.csv @@ -1,101 +1,101 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,3e-06,2.358578,1.768452,-0.287166,-2.811871 -0.05,3e-06,2.863656,2.153168,-0.407234,-2.835948 -0.1,3e-06,5.041996,3.836686,-0.900844,-2.940273 -0.15,3e-06,10.827268,8.501202,-2.018602,-3.221149 -0.2,2e-06,22.692607,18.961626,-3.418994,-3.813398 -0.25,3e-06,43.461949,40.210823,-2.937292,-4.890376 -0.3,2e-06,63.906959,64.743602,1.141316,-5.967385 -0.35,2e-06,75.386355,80.022749,4.929307,-6.559681 -0.4,3e-06,80.978538,87.83891,7.145598,-6.840588 -0.45,2e-06,83.089784,90.851399,8.043606,-6.944924 -0.5,2e-06,83.580021,91.555694,8.256894,-6.969 -0.55,2e-06,83.612737,91.602768,8.271194,-6.970607 -0.6,2e-06,83.617129,91.609093,8.26972,-7.114619 -0.65,2e-06,83.682986,91.703855,8.22633,-9.274968 -0.7,2e-06,83.968659,92.115292,7.574857,-18.643017 -0.75,2e-06,84.739835,93.229009,1.999927,-43.988727 -0.8,1e-06,85.514085,94.351612,-9.316556,-69.6742 -0.85,1e-06,85.802476,94.77089,-14.960587,-79.336916 -0.9,1e-06,85.86909,94.867817,-16.366532,-81.577635 -0.95,1e-06,85.873537,94.874285,-16.461596,-81.727161 -1.0,1e-06,85.873537,94.874285,-16.459089,-81.723241 -1.05,1e-06,85.873537,94.874285,-16.421354,-81.664556 -1.1,1e-06,85.873537,94.874285,-16.258043,-81.410275 -1.15,1e-06,85.873537,94.874285,-15.912565,-80.87015 -1.2,1e-06,85.873537,94.874285,-15.750689,-80.61604 -1.25,1e-06,85.873537,94.874285,-15.71341,-80.557416 -1.3,1e-06,85.873537,94.874285,-15.71091,-80.553482 -1.35,1e-06,85.873537,94.874285,-15.636149,-80.435818 -1.4,1e-06,85.873537,94.874285,-14.52648,-78.672045 -1.45,1e-06,85.873537,94.874285,-9.985559,-71.058153 -1.5,1e-06,85.873537,94.874285,-0.08686,-50.770582 -1.55,1e-06,85.873537,94.874285,9.228342,-8.671116 -1.6,1e-06,85.873537,94.874285,3.211108,33.290769 -1.65,1e-06,85.873537,94.874285,-5.041055,53.424421 -1.7,1e-06,85.873537,94.874285,-8.98525,60.969001 -1.75,1e-06,85.873537,94.874285,-9.960745,62.715924 -1.8,1e-06,85.873537,94.874285,-10.026636,62.832495 -1.85,1e-06,85.86405,94.857715,-10.038793,62.845342 -1.9,1e-06,85.721715,94.609164,-10.22103,63.038398 -1.95,1e-06,85.106998,93.536914,-11.006809,63.875205 -2.0,1e-06,83.811312,91.28233,-12.655459,65.655228 -2.05,1e-06,83.206375,90.232338,-13.421185,66.493749 -2.1,1e-06,83.067183,89.990993,-13.596953,66.687344 -2.15,1e-06,83.057908,89.974908,-13.60866,66.700246 -2.2,1e-06,83.023702,89.915588,-13.614137,66.681662 -2.25,1e-06,82.511608,89.028511,-13.696538,66.403147 -2.3,1e-06,80.315901,85.238992,-14.061802,65.196895 -2.35,1e-06,74.570421,75.435061,-15.110236,61.954863 -2.4,0.0,63.044565,56.306174,-17.599676,55.144215 -2.45,-2e-06,43.139041,25.304572,-22.705898,42.839483 -2.5,-8e-06,13.743148,-14.286309,-29.101927,25.051616 -2.55,-1.5e-05,-9.152772,-38.728983,-29.765237,12.920298 -2.6,-2.4e-05,-23.909415,-51.302866,-27.319759,6.263818 -2.65,-3.3e-05,-31.760936,-57.024734,-25.091313,3.109108 -2.7,-3.5e-05,-34.854459,-59.105534,-24.045982,1.937583 -2.75,-3.6e-05,-35.583431,-59.582056,-23.786359,1.667253 -2.8,-3.6e-05,-35.632243,-59.613795,-23.768831,1.649228 -2.85,-3.6e-05,-35.632257,-59.613795,-23.77095,1.72598 -2.9,-3.6e-05,-35.632554,-59.613843,-23.805426,2.87732 -2.95,-3.6e-05,-35.633783,-59.614103,-24.007307,7.867932 -3.0,-3.6e-05,-35.63711,-59.614813,-24.969741,21.326921 -3.05,-3.3e-05,-35.644124,-59.616288,-28.080151,45.185854 -3.1,-3.3e-05,-35.65688,-59.618986,-30.571749,58.880056 -3.15,-3.3e-05,-35.677889,-59.623419,-31.607957,64.000177 -3.2,-3.3e-05,-35.710111,-59.630195,-31.84282,65.184539 -3.25,-3.1e-05,-35.75699,-59.640071,-31.837732,65.263537 -3.3,-3.1e-05,-35.822385,-59.653807,-31.805022,65.253517 -3.35,-3.1e-05,-35.910672,-59.67233,-31.731461,65.102925 -3.4,-2.8e-05,-36.026618,-59.696605,-31.53706,64.450608 -3.45,-2.9e-05,-36.175578,-59.727689,-31.170128,63.065459 -3.5,-2.6e-05,-36.363251,-59.766696,-30.939528,62.414132 -3.55,-2.6e-05,-36.595908,-59.814835,-30.792153,62.263861 -3.6,-2.7e-05,-36.880245,-59.873322,-30.648575,62.253862 -3.65,-2.7e-05,-37.164828,-59.931468,-30.4714,62.092396 -3.7,-2.4e-05,-37.398008,-59.978801,-29.827002,59.67276 -3.75,-2.5e-05,-37.58633,-60.016859,-27.603663,49.23546 -3.8,-2.2e-05,-37.735921,-60.04698,-23.403862,21.443944 -3.85,-2.2e-05,-37.852499,-60.070366,-22.718174,-27.064498 -3.9,-2.2e-05,-37.941284,-60.088132,-26.188605,-54.855995 -3.95,-2.2e-05,-38.00709,-60.101273,-28.122962,-65.293303 -4.0,-1.9e-05,-38.054266,-60.110712,-28.600584,-67.712931 -4.05,-1.9e-05,-38.086699,-60.11716,-28.618351,-67.87439 -4.1,-1.9e-05,-38.107859,-60.12136,-28.610173,-67.886083 -4.15,-1.9e-05,-38.120706,-60.123949,-28.640875,-68.06123 -4.2,-1.9e-05,-38.127765,-60.125356,-28.799377,-68.820563 -4.25,-1.9e-05,-38.131119,-60.126012,-29.147361,-70.435574 -4.3,-1.9e-05,-38.132359,-60.126265,-29.313751,-71.196273 -4.35,-1.9e-05,-38.132646,-60.126299,-29.352369,-71.371905 -4.4,-1.9e-05,-38.13267,-60.126306,-29.354958,-71.383591 -4.45,-1.9e-05,-38.09955,-60.082394,-29.336646,-71.329674 -4.5,-1.9e-05,-37.604221,-59.423179,-29.060682,-70.521239 -4.55,-1.9e-05,-35.488013,-56.559243,-27.827195,-67.023881 -4.6,-1.5e-05,-29.995179,-48.785671,-24.219687,-57.65209 -4.65,-7e-06,-19.058723,-32.050437,-15.579351,-38.070996 -4.7,-3e-06,-8.550808,-14.741208,-6.50798,-18.663559 -4.75,-2e-06,-3.610466,-6.28514,-2.445754,-9.493463 -4.8,-2e-06,-1.773472,-3.097666,-1.019244,-6.089938 -4.85,-2e-06,-1.349134,-2.358284,-0.697724,-5.304602 -4.9,-2e-06,-1.320838,-2.308934,-0.67639,-5.252246 -4.95,0.0,0.0,0.0,0.0,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,13.748474,16.190476,39.639079,7.709837 +0.05,-1.647446,13.894994,16.288156,39.514624,7.633878 +0.1,-1.647446,14.676435,16.874237,39.265713,7.557919 +0.15,-1.647446,16.630037,18.534799,38.518979,7.330042 +0.2,-1.647446,20.732601,22.197802,37.523335,6.874288 +0.25,-1.647446,27.863248,29.621490,37.896702,5.962780 +0.3,-1.647446,34.896215,38.168498,40.634723,5.051272 +0.35,-1.647446,38.852259,43.540904,43.123833,4.595518 +0.4,-1.647446,40.757021,46.227106,44.617299,4.367641 +0.45,-1.647446,41.489621,47.301587,45.239577,4.291682 +0.5,-1.647446,41.684982,47.545788,45.364032,4.215724 +0.55,-1.647446,41.684982,47.545788,45.364032,4.215724 +0.6,-1.647446,41.684982,47.545788,45.364032,4.139765 +0.65,-1.647446,41.733822,47.594628,45.364032,2.316749 +0.7,-1.647446,41.831502,47.741148,44.990666,-5.431067 +0.75,-1.647446,42.075702,48.131868,41.132545,-26.547664 +0.8,-1.647446,42.319902,48.522589,33.540759,-47.892138 +0.85,-1.647446,42.417582,48.669109,29.682638,-55.867831 +0.9,-1.647446,42.466422,48.717949,28.686994,-57.766806 +0.95,-1.647446,42.466422,48.717949,28.686994,-57.918724 +1.0,-1.647446,42.466422,48.717949,28.686994,-57.918724 +1.05,-1.647446,42.466422,48.717949,28.686994,-57.842765 +1.1,-1.647446,42.466422,48.717949,28.811450,-57.614888 +1.15,-1.647446,42.466422,48.717949,29.060361,-57.159134 +1.2,-1.647446,42.466422,48.717949,29.184816,-56.931257 +1.25,-1.647446,42.466422,48.717949,29.184816,-56.931257 +1.3,-1.647446,42.466422,48.717949,29.184816,-56.931257 +1.35,-1.647446,42.466422,48.717949,29.184816,-56.779339 +1.4,-1.647446,42.466422,48.717949,29.931549,-55.336118 +1.45,-1.647446,42.466422,48.717949,33.042937,-49.031523 +1.5,-1.647446,42.466422,48.717949,39.763535,-32.168629 +1.55,-1.647446,42.466422,48.717949,46.110765,2.848462 +1.6,-1.647446,42.466422,48.717949,42.003734,37.713635 +1.65,-1.647446,42.466422,48.717949,36.403236,54.424611 +1.7,-1.647446,42.466422,48.717949,33.789670,60.729206 +1.75,-1.647446,42.466422,48.717949,33.042937,62.172427 +1.8,-1.647446,42.466422,48.717949,33.042937,62.248386 +1.85,-1.647446,42.466422,48.717949,33.042937,62.248386 +1.9,-1.647446,42.417582,48.620269,32.918482,62.400304 +1.95,-1.647446,42.222222,48.229548,32.420660,63.083935 +2.0,-1.647446,41.733822,47.448107,31.300560,64.603114 +2.05,-1.647446,41.538462,47.106227,30.678283,65.286745 +2.1,-1.647446,41.489621,47.008547,30.678283,65.438663 +2.15,-1.647446,41.489621,47.008547,30.553827,65.438663 +2.2,-1.647446,41.489621,46.959707,30.553827,65.438663 +2.25,-1.647446,41.294261,46.666667,30.553827,65.210786 +2.3,-1.647446,40.561661,45.347985,30.304916,64.223319 +2.35,-1.647446,38.559219,41.929182,29.558183,61.488796 +2.4,-1.647446,34.603175,35.238095,27.940261,55.867831 +2.45,-1.647446,27.765568,24.395604,24.455507,45.613369 +2.5,-1.647446,17.655678,10.573871,20.099564,30.877326 +2.55,-1.647446,9.792430,2.026862,19.726198,20.774782 +2.6,-1.647446,4.713065,-2.368742,21.344119,15.229776 +2.65,-1.647446,1.978022,-4.371184,22.837586,12.647171 +2.7,-1.647446,0.903541,-5.103785,23.584319,11.659704 +2.75,-1.647446,0.659341,-5.250305,23.708774,11.431827 +2.8,-1.647446,0.659341,-5.299145,23.708774,11.431827 +2.85,-1.647446,0.659341,-5.299145,23.708774,11.431827 +2.9,-1.647446,0.659341,-5.299145,23.708774,12.419294 +2.95,-1.647446,0.659341,-5.299145,23.584319,16.597038 +3.0,-1.647446,0.659341,-5.299145,22.962041,27.763008 +3.05,-1.647446,0.659341,-5.299145,20.846297,47.588302 +3.1,-1.647446,0.659341,-5.299145,19.103920,58.982150 +3.15,-1.647446,0.659341,-5.299145,18.481643,63.235853 +3.2,-1.647446,0.610501,-5.299145,18.232732,64.223319 +3.25,-1.647446,0.610501,-5.299145,18.232732,64.223319 +3.3,-1.647446,0.610501,-5.299145,18.232732,64.223319 +3.35,-1.647446,0.561661,-5.299145,18.357187,64.147360 +3.4,-1.647446,0.512821,-5.299145,18.481643,63.615648 +3.45,-1.647446,0.463980,-5.299145,18.730554,62.400304 +3.5,-1.647446,0.415140,-5.347985,18.855009,61.868591 +3.55,-1.647446,0.317460,-5.347985,18.979465,61.792632 +3.6,-1.647446,0.219780,-5.347985,19.103920,61.792632 +3.65,-1.647446,0.122100,-5.396825,19.228376,61.640714 +3.7,-1.647446,0.073260,-5.396825,19.601742,59.589821 +3.75,-1.647446,-0.024420,-5.396825,21.095208,50.930498 +3.8,-1.647446,-0.073260,-5.445665,23.957685,27.838967 +3.85,-1.647446,-0.122100,-5.445665,24.455507,-12.495253 +3.9,-1.647446,-0.122100,-5.445665,22.090853,-35.586783 +3.95,-1.647446,-0.170940,-5.445665,20.846297,-44.246107 +4.0,-1.647446,-0.170940,-5.445665,20.472931,-46.221041 +4.05,-1.647446,-0.170940,-5.445665,20.472931,-46.372959 +4.1,-1.647446,-0.170940,-5.445665,20.472931,-46.372959 +4.15,-1.647446,-0.219780,-5.445665,20.472931,-46.524877 +4.2,-1.647446,-0.219780,-5.445665,20.348475,-47.132548 +4.25,-1.647446,-0.219780,-5.445665,20.099564,-48.499810 +4.3,-1.647446,-0.219780,-5.445665,19.975109,-49.107482 +4.35,-1.647446,-0.219780,-5.445665,19.975109,-49.259400 +4.4,-1.647446,-0.219780,-5.445665,19.975109,-49.259400 +4.45,-1.647446,-0.170940,-5.445665,19.975109,-49.259400 +4.5,-1.647446,-0.024420,-5.201465,20.099564,-48.575769 +4.55,-1.647446,0.708181,-4.224664,20.970753,-45.689328 +4.6,-1.647446,2.612943,-1.489621,23.459863,-37.865553 +4.65,-1.647446,6.373626,4.371184,29.309272,-21.610330 +4.7,-1.647446,9.987790,10.427350,35.407592,-5.507026 +4.75,-1.647446,11.697192,13.357753,38.145613,2.164831 +4.8,-1.647446,12.332112,14.481074,39.141257,4.975313 +4.85,-1.647446,12.429792,14.725275,39.390168,5.582985 +4.9,-1.647446,12.478632,14.725275,39.390168,5.658944 +4.95,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/curious.csv b/hal/recordings/curious.csv index caf8a0a29..bafd367f4 100644 --- a/hal/recordings/curious.csv +++ b/hal/recordings/curious.csv @@ -1,151 +1,151 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,-0.045912,2.07627,1.010412,-36.130052,7e-06 -0.05,-0.232495,2.048588,0.982388,-36.103721,7e-06 -0.1,-0.735426,1.975542,0.90733,-36.057125,7e-06 -0.15,-1.798417,1.828814,0.751108,-35.983235,6e-06 -0.2,-3.738213,1.587744,0.474086,-35.886614,6e-06 -0.25,-6.941751,1.264626,0.037678,-35.806649,4e-06 -0.3,-11.837266,0.952182,-0.583504,-35.859995,0.0 -0.35,-18.786439,0.901144,-1.381776,-37.719497,-1.6e-05 -0.4,-27.824787,1.618138,-2.285328,-40.431177,-5.5e-05 -0.45,-37.633984,3.676788,-3.176704,-43.167463,-0.000161 -0.5,-44.145951,5.919602,-4.38344,-45.167124,-0.000446 -0.55,-48.145539,7.64262,-6.19589,-45.051928,-0.001212 -0.6,-50.60942,8.705643,-8.769492,-44.844224,-0.00328 -0.65,-52.107581,9.158469,-12.198943,-45.053411,-0.008843 -0.7,-52.986135,9.175584,-16.323455,-46.957205,-0.017094 -0.75,-53.463562,9.0869,-19.889028,-50.493853,-0.023433 -0.8,-53.693575,8.956701,-22.777767,-51.510523,-0.027781 -0.85,-53.785404,8.817296,-25.079123,-51.413165,-0.03061 -0.9,-53.813647,8.698124,-26.873092,-51.30646,-0.005904 -0.95,-53.822529,8.615196,-28.235427,-52.412211,0.390019 -1.0,-53.828222,8.565204,-29.24062,-56.686418,2.108851 -1.05,-53.832372,8.536156,-29.958627,-69.166841,6.739746 -1.1,-53.835496,8.519778,-30.451067,-94.491064,16.544166 -1.15,-53.838194,8.51136,-30.77131,-118.581276,32.1817 -1.2,-53.841152,8.508324,-30.965055,-126.607477,42.339503 -1.25,-53.845141,8.50958,-31.070643,-129.927154,47.225738 -1.3,-53.850987,8.514794,-31.119144,-131.87719,49.052298 -1.35,-53.859621,8.52421,-31.134646,-133.049691,49.474434 -1.4,-53.868097,8.541798,-31.133013,-133.661581,49.503801 -1.45,-53.826156,8.611838,-31.109261,-133.726331,49.505997 -1.5,-53.593984,8.856052,-31.020684,-132.757496,49.51004 -1.55,-52.945803,9.479838,-30.741353,-130.283045,49.517383 -1.6,-51.596332,10.779014,-30.012801,-125.758389,49.530777 -1.65,-49.262326,13.148338,-28.424263,-118.63428,49.555352 -1.7,-45.766154,17.084202,-25.382831,-108.354096,49.60024 -1.75,-41.154506,23.161837,-20.066261,-94.351036,49.681464 -1.8,-35.752403,31.974096,-11.356236,-74.721985,49.824191 -1.85,-31.514418,40.683697,0.284836,-51.814184,50.040421 -1.9,-29.116557,46.967782,14.145896,-31.393102,50.253882 -1.95,-27.735583,52.506803,31.90811,-19.195997,50.217142 -2.0,-26.960965,58.031999,50.151712,-16.183051,50.095292 -2.05,-26.558385,62.560305,64.054716,-12.191696,50.001038 -2.1,-26.376915,65.92097,74.077985,-8.42891,49.935086 -2.15,-26.315363,68.199828,80.830699,-5.490914,49.791574 -2.2,-26.306385,69.609224,85.017639,-3.572374,49.296767 -2.25,-26.310695,70.396704,87.353147,-2.658669,48.00607 -2.3,-26.314422,70.77791,88.472943,-2.743528,45.307981 -2.35,-26.316811,70.921488,88.891429,-4.14107,40.434734 -2.4,-26.318189,70.955154,88.988506,-7.947953,32.481405 -2.45,-26.318862,70.957722,88.99522,-16.77198,20.424415 -2.5,-26.319113,70.957872,88.995302,-29.110754,8.489608 -2.55,-26.319169,70.957941,88.995459,-39.036962,0.742768 -2.6,-26.319174,70.95807,88.995883,-45.741137,-3.958773 -2.65,-26.317142,70.957387,88.996252,-49.594601,-6.545792 -2.7,-26.286658,70.941712,88.986314,-51.366717,-7.773854 -2.75,-26.154394,70.871846,88.937027,-51.78521,-8.231002 -2.8,-25.796911,70.684309,88.801455,-51.349466,-8.33791 -2.85,-25.036547,70.297816,88.520447,-50.262392,-8.347363 -2.9,-23.631369,69.630363,88.037471,-48.430919,-8.354088 -2.95,-21.256119,68.635663,87.328251,-45.653047,-8.40679 -3.0,-17.475435,67.372788,86.453249,-41.787017,-8.62046 -3.05,-11.728149,66.130028,85.642478,-36.718352,-9.187286 -3.1,-4.05961,65.610141,85.407083,-30.556328,-10.378084 -3.15,1.969982,66.067088,85.876474,-24.357728,-12.544407 -3.2,6.072305,66.822821,86.555832,-17.002397,-16.119462 -3.25,8.704822,67.515921,87.187522,-7.634412,-21.610135 -3.3,10.28206,68.027441,87.687382,3.745501,-29.558921 -3.35,11.141617,68.358336,88.060051,16.282384,-37.333271 -3.4,11.547208,68.54769,88.319407,24.292864,-42.520772 -3.45,11.697517,68.642916,88.485982,29.051173,-45.835521 -3.5,11.732182,68.690789,88.599165,32.161119,-47.806328 -3.55,11.7345,68.72091,88.684556,34.440049,-48.850695 -3.6,11.734501,68.744604,88.753035,36.229736,-49.305346 -3.65,11.734465,68.763408,88.80737,37.636567,-49.432992 -3.7,11.73429,68.778024,88.84971,38.698035,-49.421654 -3.75,11.733812,68.789034,88.881825,39.451391,-49.382981 -3.8,11.732801,68.796971,88.905472,39.963179,-49.354363 -3.85,11.730961,68.802271,88.922083,40.307385,-49.334829 -3.9,11.727921,68.80529,88.933018,40.536951,-49.321093 -3.95,11.723271,68.806328,88.939404,40.688181,-49.310571 -4.0,11.716501,68.805591,88.942163,40.785793,-49.301146 -4.05,11.707055,68.80318,88.942088,40.846666,-49.290801 -4.1,11.694305,68.79915,88.939718,40.882714,-49.277721 -4.15,11.677559,68.793467,88.93547,40.902092,-49.259977 -4.2,11.656056,68.786022,88.929568,40.908352,-49.237645 -4.25,11.628969,68.776631,88.922007,40.846727,-49.223606 -4.3,11.595572,68.763032,88.909057,40.743552,-49.216424 -4.35,11.557076,68.719414,88.844218,40.557902,-49.215533 -4.4,11.518415,68.574833,88.599199,40.193267,-49.221284 -4.45,11.488417,68.211904,87.961792,39.489883,-49.235272 -4.5,11.479914,67.468984,86.640717,38.218223,-49.261114 -4.55,11.513446,66.14625,84.277684,36.079909,-49.305531 -4.6,11.631884,64.019629,80.471602,32.729814,-49.379928 -4.65,11.872238,60.843113,74.800414,27.725987,-49.499108 -4.7,12.284702,56.367376,66.859779,20.588999,-49.6469 -4.75,12.948722,50.34959,56.295123,10.823133,-49.736758 -4.8,14.000494,42.550286,42.819139,-2.178268,-49.585141 -4.85,15.697166,32.711815,26.210648,-19.531037,-48.822407 -4.9,18.384906,21.240749,7.45789,-34.873127,-46.755455 -4.95,21.376819,11.95128,-7.219976,-44.016464,-43.133102 -5.0,24.336171,4.985998,-17.950126,-51.987903,-37.669624 -5.05,27.052832,-0.09775,-25.672859,-62.893561,-29.888809 -5.1,29.351741,-3.680028,-31.09308,-80.463191,-19.22875 -5.15,31.13679,-6.100211,-34.764782,-100.775582,-8.701527 -5.2,32.402042,-7.653224,-37.134048,-116.642054,-1.201835 -5.25,33.212775,-8.584872,-38.563313,-127.776003,3.945757 -5.3,33.672973,-9.09309,-39.346227,-134.927826,7.301703 -5.35,33.894889,-9.333024,-39.716751,-139.132142,9.340658 -5.4,33.977917,-9.421966,-39.85426,-141.354559,10.462379 -5.45,33.997127,-9.442478,-39.885986,-142.371854,10.994376 -5.5,33.998407,-9.443844,-39.88809,-142.748912,11.191836 -5.55,33.997174,-9.444446,-39.888096,-142.81692,11.237604 -5.6,33.978603,-9.453513,-39.888236,-142.775017,11.240803 -5.65,33.898048,-9.492744,-39.888803,-142.603029,11.240635 -5.7,33.680493,-9.598062,-39.890204,-142.152831,11.235163 -5.75,33.218519,-9.818606,-39.892543,-141.200511,11.210541 -5.8,32.367139,-10.214256,-39.894824,-139.457635,11.143705 -5.85,30.933104,-10.850134,-39.892854,-136.588002,11.002338 -5.9,28.655666,-11.785796,-39.876089,-132.245457,10.74491 -5.95,25.17625,-13.054141,-39.821997,-126.152361,10.320684 -6.0,20.000435,-14.621675,-39.687811,-118.253806,9.669732 -6.05,13.020251,-16.160434,-39.366362,-109.514738,8.722901 -6.1,7.095881,-16.66544,-38.618364,-103.333261,7.401738 -6.15,2.787004,-16.244493,-37.435642,-99.435417,5.618202 -6.2,-0.086418,-15.103509,-35.813759,-96.977748,3.834675 -6.25,-1.818523,-13.365924,-33.721395,-95.008358,2.513635 -6.3,-2.747672,-11.431524,-31.181296,-92.373512,1.567131 -6.35,-3.1882,-9.631712,-28.209108,-88.171716,0.916795 -6.4,-3.349266,-7.914742,-24.736546,-81.971721,0.493653 -6.45,-3.369698,-6.207999,-20.682245,-73.255718,0.237876 -6.5,-3.337512,-4.614508,-16.627563,-64.347823,0.09727 -6.55,-3.300629,-3.27831,-13.176226,-57.547659,0.030353 -6.6,-3.273421,-2.17384,-10.270634,-52.323121,0.005617 -6.65,-3.250473,-1.273562,-7.853752,-48.294506,8.3e-05 -6.7,-3.218415,-0.54958,-5.869884,-45.186782,-0.000145 -6.75,-3.156877,0.025468,-4.265158,-42.797685,-6.6e-05 -6.8,-3.038387,0.478106,-2.988062,-40.976696,-2.8e-05 -6.85,-2.828316,0.833804,-1.98963,-39.610547,-1e-05 -6.9,-2.484906,1.116824,-1.223982,-38.612978,-1e-06 -6.95,-1.959478,1.350332,-0.64834,-37.917959,3e-06 -7.0,-1.263805,1.550362,-0.225218,-37.466417,5e-06 -7.05,-0.74029,1.691562,0.067156,-37.159751,6e-06 -7.1,-0.400095,1.731402,0.244232,-36.897755,6e-06 -7.15,-0.194425,1.547822,0.297622,-36.502454,7e-06 -7.2,-0.081378,0.928788,0.194192,-35.700533,7e-06 -7.25,-0.026328,0.293636,0.060616,-34.927715,7e-06 -7.3,-0.005247,0.05798,0.011908,-34.632626,7e-06 -7.35,-0.000331,0.003644,0.000758,-34.557368,7e-06 -7.4,-2e-06,2e-05,1e-05,-34.545689,7e-06 -7.45,-2e-06,2e-05,1e-05,-34.545689,7e-06 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.729819,13.650794,15.897436,39.265713,10.064565 +0.05,-1.894563,13.601954,15.897436,39.265713,10.064565 +0.1,-2.388797,13.601954,15.848596,39.390168,10.064565 +0.15,-3.459638,13.553114,15.799756,39.390168,10.064565 +0.2,-5.354201,13.455433,15.702076,39.390168,10.064565 +0.25,-8.566722,13.357753,15.555556,39.514624,10.064565 +0.3,-13.509061,13.260073,15.360195,39.390168,10.064565 +0.35,-20.428336,13.211233,15.067155,38.643435,9.988606 +0.4,-29.489292,13.455433,14.774115,37.398880,9.988606 +0.45,-39.291598,14.188034,14.432234,36.154325,9.988606 +0.5,-45.799012,14.969475,14.041514,35.283136,9.988606 +0.55,-49.752883,15.555556,13.406593,35.283136,9.988606 +0.6,-52.224053,15.897436,12.478632,35.407592,9.988606 +0.65,-53.706755,16.092796,11.306471,35.283136,9.988606 +0.7,-54.612850,16.092796,9.841270,34.411948,9.988606 +0.75,-55.107084,16.043956,8.620269,32.794026,9.988606 +0.8,-55.354201,15.995116,7.594628,32.420660,9.988606 +0.85,-55.436573,15.946276,6.813187,32.420660,9.988606 +0.9,-55.436573,15.897436,6.178266,32.420660,9.988606 +0.95,-55.436573,15.897436,5.689866,31.922838,10.672237 +1.0,-55.436573,15.848596,5.347985,30.056005,13.558678 +1.05,-55.436573,15.848596,5.103785,24.455507,21.230536 +1.1,-55.436573,15.848596,4.908425,13.005600,37.485758 +1.15,-55.436573,15.848596,4.810745,2.053516,63.539689 +1.2,-55.436573,15.848596,4.713065,-1.555694,80.402583 +1.25,-55.436573,15.848596,4.713065,-3.049160,88.530194 +1.3,-55.436573,15.848596,4.664225,-3.920348,91.568553 +1.35,-55.518946,15.848596,4.664225,-4.418171,92.252184 +1.4,-55.518946,15.848596,4.664225,-4.667082,92.328143 +1.45,-55.436573,15.897436,4.664225,-4.791537,92.328143 +1.5,-55.189456,15.946276,4.713065,-4.293715,92.328143 +1.55,-54.530478,16.190476,4.810745,-3.173615,92.328143 +1.6,-53.212521,16.630037,5.054945,-1.182327,92.328143 +1.65,-50.906096,17.460317,5.641026,2.053516,92.404102 +1.7,-47.364086,18.778999,6.666667,6.658370,92.480061 +1.75,-42.751236,20.879121,8.522589,13.005600,92.631979 +1.8,-37.397035,23.907204,11.599512,21.841942,92.859856 +1.85,-33.113674,26.935287,15.653236,32.296204,93.163692 +1.9,-30.724876,29.084249,20.488400,41.505912,93.163692 +1.95,-29.406919,30.989011,26.691087,46.981954,93.163692 +2.0,-28.583196,32.893773,33.089133,48.350965,93.163692 +2.05,-28.171334,34.456654,37.924298,50.093342,93.163692 +2.1,-28.006590,35.579976,41.440781,51.835719,93.011774 +2.15,-27.924217,36.361416,43.785104,53.204729,92.783897 +2.2,-27.924217,36.849817,45.250305,53.951462,91.948348 +2.25,-27.924217,37.142857,46.080586,54.449284,89.821496 +2.3,-27.924217,37.289377,46.471306,54.324829,85.339916 +2.35,-27.924217,37.338217,46.617827,53.702551,77.212305 +2.4,-27.924217,37.338217,46.666667,52.084630,63.995442 +2.45,-27.924217,37.338217,46.666667,48.102054,43.942271 +2.5,-27.924217,37.338217,46.666667,42.501556,24.116977 +2.55,-27.924217,37.338217,46.666667,38.021157,11.279909 +2.6,-27.924217,37.338217,46.666667,35.034225,3.456134 +2.65,-27.924217,37.338217,46.666667,33.291848,-0.873528 +2.7,-27.924217,37.338217,46.666667,32.420660,-2.924421 +2.75,-27.759473,37.289377,46.617827,32.296204,-3.684011 +2.8,-27.429984,37.240537,46.568987,32.420660,-3.835929 +2.85,-26.688633,37.094017,46.471306,32.918482,-3.835929 +2.9,-25.288303,36.898657,46.324786,33.789670,-3.835929 +2.95,-22.899506,36.556777,46.080586,35.034225,-3.911888 +3.0,-19.110379,36.117216,45.787546,36.776602,-4.291682 +3.05,-13.344316,35.677656,45.494505,39.016801,-5.279149 +3.1,-5.683690,35.482295,45.396825,41.879278,-7.254083 +3.15,0.329489,35.628816,45.543346,44.617299,-10.824155 +3.2,4.448105,35.921856,45.787546,47.977598,-16.748956 +3.25,7.084020,36.166056,46.031746,52.209085,-25.864033 +3.3,8.649094,36.312576,46.178266,57.311761,-39.080896 +3.35,9.472817,36.459096,46.324786,62.912259,-51.993923 +3.4,9.884679,36.507937,46.422466,66.645924,-60.653247 +3.45,10.049423,36.556777,46.471306,68.761668,-66.122294 +3.5,10.049423,36.556777,46.520147,70.130678,-69.464489 +3.55,10.049423,36.556777,46.568987,71.126322,-71.135587 +3.6,10.049423,36.556777,46.568987,71.997511,-71.895177 +3.65,10.049423,36.556777,46.568987,72.619788,-72.123054 +3.7,10.049423,36.605617,46.617827,73.117610,-72.123054 +3.75,10.049423,36.605617,46.617827,73.490977,-72.047095 +3.8,10.049423,36.605617,46.617827,73.615432,-71.971136 +3.85,10.049423,36.605617,46.617827,73.864343,-71.971136 +3.9,10.049423,36.605617,46.617827,73.864343,-71.971136 +3.95,10.049423,36.605617,46.617827,73.988799,-71.895177 +4.0,10.049423,36.605617,46.617827,73.988799,-71.895177 +4.05,10.049423,36.605617,46.617827,74.113255,-71.895177 +4.1,10.049423,36.605617,46.617827,74.113255,-71.895177 +4.15,10.049423,36.605617,46.617827,74.113255,-71.819218 +4.2,9.967051,36.605617,46.617827,74.113255,-71.819218 +4.25,9.967051,36.605617,46.617827,74.113255,-71.819218 +4.3,9.967051,36.556777,46.617827,73.988799,-71.743259 +4.35,9.884679,36.556777,46.617827,73.988799,-71.743259 +4.4,9.884679,36.507937,46.520147,73.739888,-71.743259 +4.45,9.802306,36.410256,46.275946,73.490977,-71.819218 +4.5,9.802306,36.117216,45.836386,72.868699,-71.819218 +4.55,9.884679,35.677656,45.006105,71.873055,-71.895177 +4.6,9.967051,34.945055,43.687424,70.379589,-72.047095 +4.65,10.214168,33.870574,41.684982,68.139390,-72.274972 +4.7,10.626030,32.307692,38.901099,64.903547,-72.502848 +4.75,11.285008,30.256410,35.238095,60.547604,-72.654766 +4.8,12.355848,27.570208,30.500611,54.698195,-72.350930 +4.85,14.003295,24.151404,24.737485,46.857498,-71.135587 +4.9,16.721582,20.244200,18.144078,39.887990,-67.717433 +4.95,19.686985,17.020757,13.015873,35.780958,-61.640714 +5.0,22.652389,14.627595,9.304029,32.171749,-52.601595 +5.05,25.370675,12.869353,6.568987,27.193528,-39.612609 +5.1,27.677100,11.648352,4.713065,19.352831,-21.914166 +5.15,29.489292,10.818071,3.394383,10.143124,-4.443600 +5.2,30.724876,10.280830,2.564103,2.924704,8.013673 +5.25,31.548600,9.987790,2.075702,-2.053516,16.597038 +5.3,32.042834,9.792430,1.782662,-5.289359,22.142043 +5.35,32.207578,9.694750,1.684982,-7.156192,25.560197 +5.4,32.289951,9.694750,1.636142,-8.151836,27.383213 +5.45,32.372323,9.645910,1.636142,-8.649658,28.294721 +5.5,32.372323,9.645910,1.636142,-8.774113,28.598557 +5.55,32.372323,9.645910,1.636142,-8.898569,28.674516 +5.6,32.289951,9.645910,1.636142,-8.774113,28.674516 +5.65,32.207578,9.645910,1.636142,-8.774113,28.674516 +5.7,32.042834,9.597070,1.636142,-8.525202,28.674516 +5.75,31.548600,9.548230,1.636142,-8.151836,28.674516 +5.8,30.724876,9.401709,1.636142,-7.280647,28.522598 +5.85,29.242175,9.206349,1.636142,-6.036092,28.294721 +5.9,27.018122,8.864469,1.636142,-4.044804,27.914926 +5.95,23.558484,8.424908,1.636142,-1.306783,27.155336 +6.0,18.369028,7.887668,1.684982,2.302427,26.091910 +6.05,11.367381,7.350427,1.782662,6.160548,24.496772 +6.1,5.436573,7.203907,2.075702,9.023024,22.293961 +6.15,1.153213,7.350427,2.466422,10.765401,19.331561 +6.2,-1.729819,7.741148,3.052503,11.885501,16.369161 +6.25,-3.459638,8.327228,3.785104,12.756689,14.166350 +6.3,-4.365733,8.962149,4.664225,13.876789,12.647171 +6.35,-4.859967,9.597070,5.689866,15.868077,11.583745 +6.4,-5.024712,10.183150,6.910867,18.606098,10.824155 +6.45,-5.024712,10.769231,8.327228,22.588675,10.444360 +6.5,-5.024712,11.306471,9.743590,26.571251,10.216483 +6.55,-4.942339,11.794872,10.964591,29.682638,10.064565 +6.6,-4.942339,12.185592,11.990232,32.047293,10.064565 +6.65,-4.859967,12.478632,12.820513,33.789670,10.064565 +6.7,-4.859967,12.722833,13.504274,35.283136,9.988606 +6.75,-4.777595,12.918193,14.041514,36.278780,9.988606 +6.8,-4.695222,13.064713,14.529915,37.149969,9.988606 +6.85,-4.448105,13.211233,14.871795,37.772246,9.988606 +6.9,-4.118616,13.308913,15.115995,38.145613,9.988606 +6.95,-3.624382,13.406593,15.311355,38.518979,10.064565 +7.0,-2.883031,13.455433,15.457875,38.767890,10.064565 +7.05,-2.388797,13.504274,15.555556,38.892346,10.064565 +7.1,-2.059308,13.504274,15.653236,39.016801,10.064565 +7.15,-1.812191,13.455433,15.653236,39.141257,10.064565 +7.2,-1.729819,13.260073,15.604396,39.514624,10.064565 +7.25,-1.647446,13.015873,15.555556,39.887990,10.064565 +7.3,-1.647446,12.918193,15.555556,40.012446,10.064565 +7.35,-1.647446,12.918193,15.555556,40.012446,10.064565 +7.4,-1.647446,12.918193,15.555556,40.012446,10.064565 +7.45,-1.647446,12.918193,15.555556,40.012446,10.064565 diff --git a/hal/recordings/excited.csv b/hal/recordings/excited.csv index d32e6d451..644d59786 100644 --- a/hal/recordings/excited.csv +++ b/hal/recordings/excited.csv @@ -1,161 +1,161 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,-0.063885,0.095827,-0.063885,0.063885,0.095827 -0.05,-2e-06,0.410655,0.379114,0.136567,6e-06 -0.1,-1e-06,2.072885,1.928677,0.431936,-9e-06 -0.15,0.0,6.510976,6.179519,1.524489,-4.8e-05 -0.2,2e-06,15.808402,15.573492,4.469893,-0.000129 -0.25,5e-06,30.846477,31.928081,10.500924,-0.000268 -0.3,5e-06,41.219207,43.862751,15.177193,-0.00049 -0.35,6e-06,46.552198,50.16499,17.53859,-0.000814 -0.4,6e-06,48.629373,52.646661,18.210512,-0.001265 -0.45,6e-06,49.117442,53.231831,18.008702,-0.001865 -0.5,6e-06,49.150089,53.271012,17.530732,-0.002639 -0.55,6e-06,49.149592,53.269994,17.00365,-0.003604 -0.6,6e-06,49.142006,53.254667,16.438812,-0.004787 -0.65,6e-06,49.109154,53.188295,15.814408,-0.006199 -0.7,6e-06,49.021055,53.009962,15.092345,-0.00786 -0.75,6e-06,48.877395,52.701972,14.257919,-0.00978 -0.8,6e-06,48.874537,52.563702,13.482466,-0.01197 -0.85,6e-06,48.945066,52.545502,12.764059,-0.014436 -0.9,6e-06,48.99765,52.558101,12.077148,-0.017181 -0.95,6e-06,49.026654,52.570764,11.397549,-0.020201 -1.0,6e-06,48.974741,52.472532,10.655387,-0.023493 -1.05,6e-06,48.049244,50.941945,9.060434,-0.027047 -1.1,5e-06,44.342674,44.657119,4.56527,-0.030849 -1.15,3e-06,36.25151,29.772716,-5.603585,-0.03488 -1.2,1e-06,28.430811,16.178128,-14.657299,-0.03912 -1.25,0.0,16.869396,8.705769,-15.08651,-0.043544 -1.3,-1e-06,6.456509,5.347143,-12.156415,-0.048119 -1.35,-1e-06,4.134124,4.844998,-11.749419,-0.052814 -1.4,-1e-06,3.982456,4.818429,-12.29708,-0.05759 -1.45,-1e-06,3.989361,4.832082,-12.890526,-0.062409 -1.5,-1e-06,4.015434,4.890546,-13.42938,-0.067229 -1.55,-1e-06,4.076953,5.046487,-13.869047,-0.072 -1.6,0.0,4.194162,5.373419,-14.146666,-0.076679 -1.65,0.0,4.348276,5.883114,-14.235135,-0.081211 -1.7,0.0,4.400794,6.199907,-14.414964,-0.085551 -1.75,0.0,4.426477,6.350498,-14.706485,-0.089643 -1.8,0.0,4.436157,6.406489,-15.042476,-0.093435 -1.85,0.0,4.4384,6.41942,-15.374324,-0.096876 -1.9,0.0,4.438548,6.420275,-15.671756,-0.099915 -1.95,2e-06,8.97936,11.799021,-13.570524,-0.1025 -2.0,5e-06,18.96901,23.798336,-8.430535,-0.104584 -2.05,6e-06,30.732611,37.657268,-2.560055,-0.106124 -2.1,7e-06,41.42014,49.623821,2.191796,-0.107073 -2.15,7e-06,47.937867,55.512134,3.704445,-0.107397 -2.2,6e-06,46.929639,50.355532,2.444309,-0.075786 -2.25,3e-06,36.220769,28.116076,-4.967301,-0.022344 -2.3,0.0,29.230596,9.264253,-9.982495,8e-06 -2.35,-1e-06,25.261502,1.744368,-7.168068,-0.016371 -2.4,-1e-06,18.631239,-1.625078,-2.893279,-0.032719 -2.45,-1e-06,9.843876,2.416815,4.302819,-0.018631 -2.5,4e-06,7.272316,17.801208,14.953403,-0.000917 -2.55,2.4e-05,14.429879,35.929093,20.613217,-0.009257 -2.6,3.5e-05,18.297448,42.612048,18.269351,-0.040842 -2.65,2.1e-05,15.57311,36.485853,11.255161,-0.060674 -2.7,8e-06,10.291494,23.591805,4.77153,-0.039626 -2.75,1e-06,6.563238,9.49788,0.386385,-0.006465 -2.8,-2e-06,6.36159,-2.603524,-2.190543,-0.005486 -2.85,-3e-06,9.690979,-11.717123,-4.133943,-0.052087 -2.9,-4e-06,14.692259,-17.498007,-6.026276,-0.119577 -2.95,-4e-06,17.683652,-19.929498,-7.562981,-0.15403 -3.0,-4e-06,15.47576,-18.7736,-7.972993,-0.117915 -3.05,-4e-06,9.167456,-12.518903,-5.107469,-0.048273 -3.1,-1e-06,5.651131,2.147861,2.030147,-0.003308 -3.15,9e-06,12.403209,26.180769,11.688014,-0.011004 -3.2,2.2e-05,22.104937,44.145838,15.589972,-0.052669 -3.25,2.3e-05,26.990106,50.28513,15.434291,-0.077887 -3.3,1.5e-05,25.426317,44.615492,13.401296,-0.056055 -3.35,8e-06,18.683219,29.098587,8.864905,-0.017019 -3.4,1e-06,12.100451,10.471972,3.057292,-5.8e-05 -3.45,-2e-06,10.364897,-2.793314,-0.620675,-0.021584 -3.5,-3e-06,11.34531,-9.355241,-1.351515,-0.064068 -3.55,-3e-06,11.475787,-11.344318,-0.833728,-0.087255 -3.6,-3e-06,9.610656,-9.761954,-1.649979,-0.055695 -3.65,-2e-06,7.55857,-2.457843,-1.662817,-0.008742 -3.7,2e-06,9.353146,12.062777,1.295176,-0.005937 -3.75,9e-06,14.36012,27.705027,4.913966,-0.04825 -3.8,1.7e-05,15.035571,33.584703,6.700971,-0.07791 -3.85,1.6e-05,11.145902,29.744357,7.238561,-0.062509 -3.9,7e-06,7.964383,20.025614,4.102876,-0.031329 -3.95,1e-06,9.14496,8.112623,-2.796605,-0.006669 -4.0,-2e-06,14.867447,-2.1173,-11.041055,-0.00018 -4.05,-2e-06,19.949523,-9.067994,-16.917953,-0.007599 -4.1,-3e-06,18.148237,-12.75923,-17.623611,-0.013581 -4.15,-3e-06,12.62105,-11.33126,-14.15083,-0.008021 -4.2,-2e-06,8.146512,-4.485091,-8.421615,-0.000479 -4.25,0.0,8.08665,6.664339,-2.562309,-0.004301 -4.3,4e-06,12.285813,19.755123,2.398915,-0.023484 -4.35,8e-06,18.576345,31.305376,5.655339,-0.048597 -4.4,1e-05,22.340161,36.460383,6.661066,-0.061134 -4.45,9e-06,21.836519,35.472915,6.430969,-0.057777 -4.5,9e-06,19.843349,32.351693,5.782907,-0.049134 -4.55,7e-06,16.770556,27.600921,4.76711,-0.037656 -4.6,5e-06,13.139717,21.913419,3.547975,-0.025751 -4.65,3e-06,9.469359,16.01991,2.329859,-0.015342 -4.7,1e-06,6.173852,10.55946,1.294896,-0.007604 -4.75,0.0,3.512071,6.004851,0.56258,-0.002857 -4.8,-1e-06,1.594345,2.64866,0.171269,-0.000654 -4.85,-2e-06,0.431958,0.633426,0.075286,-3.7e-05 -4.9,-2e-06,1.5e-05,5e-06,0.151437,1.1e-05 -4.95,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.0,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.05,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.1,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.15,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.2,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.25,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.3,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.35,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.4,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.45,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.5,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.55,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.6,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.65,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.7,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.75,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.8,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.85,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.9,-0.063885,0.095827,-0.063885,0.063885,0.095827 -5.95,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.0,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.05,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.1,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.15,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.2,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.25,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.3,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.35,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.4,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.45,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.5,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.55,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.6,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.65,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.7,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.75,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.8,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.85,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.9,-0.063885,0.095827,-0.063885,0.063885,0.095827 -6.95,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.0,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.05,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.1,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.15,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.2,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.25,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.3,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.35,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.4,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.45,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.5,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.55,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.6,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.65,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.7,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.75,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.8,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.85,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.9,-0.063885,0.095827,-0.063885,0.063885,0.095827 -7.95,-0.063885,0.095827,-0.063885,0.063885,0.095827 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.729819,12.967033,15.555556,39.887990,10.140524 +0.05,-1.647446,13.064713,15.702076,39.887990,10.064565 +0.1,-1.647446,13.650794,16.239316,40.136901,9.988606 +0.15,-1.647446,15.164835,17.704518,40.883634,9.988606 +0.2,-1.647446,18.339438,20.976801,42.874922,9.988606 +0.25,-1.647446,23.516484,26.691087,46.981954,9.988606 +0.3,-1.647446,27.081807,30.891331,50.093342,9.988606 +0.35,-1.647446,28.937729,33.089133,51.711263,9.988606 +0.4,-1.647446,29.670330,33.968254,52.209085,9.988606 +0.45,-1.647446,29.816850,34.163614,51.960174,9.988606 +0.5,-1.647446,29.816850,34.163614,51.711263,9.988606 +0.55,-1.647446,29.816850,34.163614,51.337897,9.988606 +0.6,-1.647446,29.816850,34.163614,50.964530,9.988606 +0.65,-1.647446,29.816850,34.163614,50.591164,9.988606 +0.7,-1.647446,29.768010,34.065934,50.093342,9.988606 +0.75,-1.647446,29.719170,33.968254,49.471064,9.988606 +0.8,-1.647446,29.719170,33.919414,48.973242,9.988606 +0.85,-1.647446,29.768010,33.919414,48.475420,9.988606 +0.9,-1.647446,29.768010,33.919414,47.977598,9.988606 +0.95,-1.647446,29.768010,33.919414,47.604231,9.988606 +1.0,-1.647446,29.768010,33.870574,46.981954,9.988606 +1.05,-1.647446,29.474969,33.333333,45.986310,9.988606 +1.1,-1.647446,28.156288,31.184371,42.874922,9.988606 +1.15,-1.647446,25.372405,25.958486,36.029869,9.988606 +1.2,-1.647446,22.686203,21.221001,29.931549,9.988606 +1.25,-1.647446,18.730159,18.583639,29.558183,9.988606 +1.3,-1.647446,15.115995,17.411477,31.549471,9.988606 +1.35,-1.647446,14.334554,17.264957,31.922838,9.988606 +1.4,-1.647446,14.285714,17.216117,31.549471,9.988606 +1.45,-1.647446,14.285714,17.264957,31.051649,9.988606 +1.5,-1.647446,14.285714,17.264957,30.678283,9.988606 +1.55,-1.647446,14.334554,17.313797,30.429371,9.988606 +1.6,-1.647446,14.383394,17.411477,30.304916,9.988606 +1.65,-1.647446,14.432234,17.606838,30.180460,9.988606 +1.7,-1.647446,14.432234,17.704518,30.056005,9.988606 +1.75,-1.647446,14.432234,17.753358,29.807094,9.988606 +1.8,-1.647446,14.432234,17.802198,29.682638,9.912647 +1.85,-1.647446,14.432234,17.802198,29.433727,9.912647 +1.9,-1.647446,14.432234,17.802198,29.184816,9.912647 +1.95,-1.647446,15.995116,19.658120,30.678283,9.912647 +2.0,-1.647446,19.462759,23.858364,34.163037,9.912647 +2.05,-1.647446,23.516484,28.693529,38.145613,9.912647 +2.1,-1.647446,27.179487,32.893773,41.257001,9.912647 +2.15,-1.647446,29.426129,34.945055,42.377100,9.912647 +2.2,-1.647446,29.084249,33.137973,41.505912,9.988606 +2.25,-1.647446,25.372405,25.372405,36.403236,9.988606 +2.3,-1.647446,22.979243,18.778999,33.042937,10.064565 +2.35,-1.647446,21.611722,16.141636,35.034225,9.988606 +2.4,-1.647446,19.316239,14.969475,37.896702,9.988606 +2.45,-1.647446,16.288156,16.385836,42.750467,9.988606 +2.5,-1.647446,15.409035,21.758242,49.968886,9.988606 +2.55,-1.647446,17.899878,28.107448,53.827007,9.988606 +2.6,-1.647446,19.218559,30.451770,52.209085,9.988606 +2.65,-1.647446,18.290598,28.302808,47.479776,9.988606 +2.7,-1.647446,16.483516,23.809524,42.999378,9.988606 +2.75,-1.647446,15.164835,18.876679,40.136901,9.988606 +2.8,-1.647446,15.115995,14.627595,38.394524,9.988606 +2.85,-1.647446,16.239316,11.452991,37.025513,9.988606 +2.9,-1.647446,17.997558,9.450549,35.780958,9.912647 +2.95,-1.647446,19.023199,8.571429,34.660859,9.912647 +3.0,-1.647446,18.241758,9.010989,34.411948,9.912647 +3.05,-1.647446,16.092796,11.159951,36.403236,9.988606 +3.1,-1.647446,14.871795,16.288156,41.257001,9.988606 +3.15,-1.647446,17.167277,24.688645,47.728687,9.988606 +3.2,-1.647446,20.537241,30.989011,50.342253,9.988606 +3.25,-1.647446,22.197802,33.137973,50.217797,9.988606 +3.3,-1.647446,21.660562,31.135531,48.848787,9.988606 +3.35,-1.647446,19.365079,25.714286,45.861854,9.988606 +3.4,-1.647446,17.069597,19.218559,41.879278,9.988606 +3.45,-1.647446,16.483516,14.578755,39.390168,9.988606 +3.5,-1.647446,16.825397,12.283272,38.892346,9.988606 +3.55,-1.647446,16.874237,11.599512,39.265713,9.988606 +3.6,-1.647446,16.239316,12.136752,38.767890,9.988606 +3.65,-1.647446,15.506716,14.676435,38.643435,9.988606 +3.7,-1.647446,16.141636,19.755800,40.759179,9.988606 +3.75,-1.647446,17.851038,25.225885,43.123833,9.988606 +3.8,-1.647446,18.095238,27.277167,44.368388,9.988606 +3.85,-1.647446,16.776557,25.958486,44.741755,9.988606 +3.9,-1.647446,15.653236,22.539683,42.626011,9.988606 +3.95,-1.647446,16.043956,18.388278,37.896702,9.988606 +4.0,-1.647446,18.046398,14.822955,32.296204,9.988606 +4.05,-1.647446,19.804640,12.380952,28.313628,9.988606 +4.1,-1.647446,19.169719,11.111111,27.940261,9.988606 +4.15,-1.647446,17.264957,11.599512,30.304916,9.988606 +4.2,-1.647446,15.702076,13.992674,34.163037,9.988606 +4.25,-1.647446,15.702076,17.899878,38.145613,9.988606 +4.3,-1.647446,17.167277,22.442002,41.505912,9.988606 +4.35,-1.647446,19.316239,26.495726,43.621655,9.988606 +4.4,-1.647446,20.586081,28.302808,44.368388,9.988606 +4.45,-1.647446,20.439560,27.960928,44.119477,9.988606 +4.5,-1.647446,19.755800,26.837607,43.746111,9.988606 +4.55,-1.647446,18.681319,25.177045,42.999378,9.988606 +4.6,-1.647446,17.460317,23.223443,42.252645,9.988606 +4.65,-1.647446,16.190476,21.172161,41.381456,9.988606 +4.7,-1.647446,15.018315,19.267399,40.759179,9.988606 +4.75,-1.647446,14.139194,17.655678,40.261357,9.988606 +4.8,-1.647446,13.455433,16.483516,39.887990,9.988606 +4.85,-1.647446,13.064713,15.799756,39.887990,9.988606 +4.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.95,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.0,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.05,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.1,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.15,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.2,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.25,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.3,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.35,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.4,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.45,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.5,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.55,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.6,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.65,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.7,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.75,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.8,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.85,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.9,-1.729819,12.967033,15.555556,39.887990,10.140524 +5.95,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.0,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.05,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.1,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.15,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.2,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.25,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.3,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.35,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.4,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.45,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.5,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.55,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.6,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.65,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.7,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.75,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.8,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.85,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.9,-1.729819,12.967033,15.555556,39.887990,10.140524 +6.95,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.0,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.05,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.1,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.15,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.2,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.25,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.3,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.35,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.4,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.45,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.5,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.55,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.6,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.65,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.7,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.75,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.8,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.85,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.9,-1.729819,12.967033,15.555556,39.887990,10.140524 +7.95,-1.729819,12.967033,15.555556,39.887990,10.140524 diff --git a/hal/recordings/fear.csv b/hal/recordings/fear.csv old mode 100755 new mode 100644 index 3995cd26a..3bd9b56c8 --- a/hal/recordings/fear.csv +++ b/hal/recordings/fear.csv @@ -1,301 +1,201 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,-0.669773,-27.468195,-35.599602,-59.419074,1.620628 -0.05,-0.669654,-27.447598,-35.596023,-59.422509,1.621131 -0.1,-0.669307,-27.384659,-35.582219,-59.425945,1.622629 -0.15,-0.668787,-27.285808,-35.556585,-59.431873,1.624928 -0.2,-0.668321,-27.193454,-35.529469,-59.439011,1.627035 -0.25,-0.667433,-27.01065,-35.469565,-59.447624,1.631113 -0.3,-0.66635,-26.780137,-35.387104,-59.458012,1.63616 -0.35,-0.665493,-26.592222,-35.314602,-59.470539,1.640197 -0.4,-0.663994,-26.254966,-35.175208,-59.485647,1.647307 -0.45,-0.662273,-25.859613,-35.001349,-59.50387,1.655499 -0.5,-0.660972,-25.55524,-34.859745,-59.525843,1.661694 -0.55,-0.658777,-25.034468,-34.603859,-59.552344,1.672107 -0.6,-0.656328,-24.448712,-34.300076,-59.58431,1.683642 -0.65,-0.654521,-24.013525,-34.062495,-59.622859,1.692076 -0.7,-0.651534,-23.293409,-33.647841,-59.669345,1.705826 -0.75,-0.648261,-22.510566,-33.169663,-59.725414,1.720645 -0.8,-0.645784,-21.929638,-32.795884,-59.79304,1.731612 -0.85,-0.641358,-20.939994,-32.120317,-59.874593,1.750554 -0.9,-0.6362,-19.948973,-31.319081,-59.97294,1.771815 -0.95,-0.632257,-19.177039,-30.693248,-60.09156,1.787385 -1.0,-0.625549,-17.687803,-29.601411,-60.234625,1.812464 -1.05,-0.617609,-15.908301,-28.343145,-60.407163,1.837892 -1.1,-0.611901,-14.649343,-27.440896,-60.615251,1.853052 -1.15,-0.604479,-12.890566,-26.111624,-60.866206,1.871808 -1.2,-0.597918,-11.2197,-24.783469,-61.168866,1.887681 -1.25,-0.593936,-10.139033,-23.880962,-61.533885,1.896927 -1.3,-0.588222,-8.5072,-22.464723,-61.974118,1.90963 -1.35,-0.582502,-6.807732,-20.952095,-62.505042,1.9217 -1.4,-0.578513,-5.595239,-19.854755,-63.145365,1.929604 -1.45,-0.572132,-3.62403,-18.047839,-63.917607,1.941333 -1.5,-0.565959,-1.622797,-16.151009,-64.848958,1.951936 -1.55,-0.561983,-0.307274,-14.881211,-65.972196,1.958172 -1.6,-0.555819,1.655437,-13.011492,-67.326875,1.966408 -1.65,-0.549464,3.651774,-11.105591,-68.960643,1.973579 -1.7,-0.545211,5.031085,-9.76437,-70.931043,1.978054 -1.75,-0.538803,7.224174,-7.556783,-73.307409,1.984322 -1.8,-0.532351,9.588596,-5.074479,-76.173377,1.990105 -1.85,-0.52908,11.030659,-3.381848,-79.629822,1.992658 -1.9,-0.525727,13.004736,-0.736953,-83.798437,1.994648 -1.95,-0.523237,14.987828,2.197423,-88.825907,1.99532 -2.0,-0.522048,16.357591,4.409388,-93.85337,1.994858 -2.05,-0.520862,18.538935,8.214155,-98.021978,1.992534 -2.1,-0.520168,20.896722,12.600184,-101.478429,1.988234 -2.15,-0.519345,22.495044,15.578446,-104.344397,1.984332 -2.2,-0.516236,24.63409,19.205621,-106.720763,1.977985 -2.25,-0.512098,26.513582,22.011143,-108.691157,1.973131 -2.3,-0.50886,27.599489,23.382229,-110.324917,1.970896 -2.35,-0.503578,29.001736,24.793947,-111.67959,1.968915 -2.4,-0.498083,30.200044,25.654399,-112.802842,1.968111 -2.45,-0.494618,30.953387,26.182251,-113.7342,1.967418 -2.5,-0.490683,32.075311,27.420165,-114.506441,1.964378 -2.55,-0.487512,33.257122,29.102237,-115.146758,1.959532 -2.6,-0.48544,34.169657,30.557781,-115.677696,1.955106 -2.65,-0.482233,35.702045,33.152417,-116.117915,1.946791 -2.7,-0.4788,37.378733,36.082875,-116.482934,1.936896 -2.75,-0.476286,38.577477,38.207781,-116.785593,1.929327 -2.8,-0.472074,40.449946,41.507531,-117.036548,1.916853 -2.85,-0.466959,42.297938,44.663932,-117.24465,1.902264 -2.9,-0.463198,43.490109,46.60543,-117.417167,1.892305 -2.95,-0.457398,45.221653,49.280775,-117.560232,1.878314 -3.0,-0.451453,46.901423,51.739906,-117.678873,1.865042 -3.05,-0.447402,47.990281,53.251,-117.777214,1.856527 -3.1,-0.441224,49.586902,55.3566,-117.858766,1.844145 -3.15,-0.434964,51.157094,57.330354,-117.926385,1.83203 -3.2,-0.43074,52.193338,58.579329,-117.982447,1.824036 -3.25,-0.424175,53.745787,60.400811,-118.028947,1.811256 -3.3,-0.417342,55.310121,62.207983,-118.067497,1.797341 -3.35,-0.412716,56.371161,63.422842,-118.099462,1.78776 -3.4,-0.405835,57.956568,65.24726,-118.125963,1.773026 -3.45,-0.400002,59.298345,66.80843,-118.147929,1.759909 -3.5,-0.396982,59.98781,67.631447,-118.166166,1.752647 -3.55,-0.393517,60.773128,68.627603,-118.181261,1.743474 -3.6,-0.390904,61.362223,69.466965,-118.193787,1.735494 -3.65,-0.389585,61.66093,69.980117,-118.204169,1.730567 -3.7,-0.387968,62.036982,70.790526,-118.212789,1.722969 -3.75,-0.386872,62.293179,71.524682,-118.219919,1.716004 -3.8,-0.387285,62.173335,71.565315,-118.225848,1.714716 -3.85,-0.390717,61.282739,70.527441,-118.187763,1.720941 -3.9,-0.39764,59.506093,68.151778,-118.101675,1.736788 -3.95,-0.404921,57.635513,65.562706,-117.90711,1.754133 -4.0,-0.420062,53.681799,60.090317,-117.467328,1.788843 -4.05,-0.438725,48.526174,53.093991,-116.473344,1.826369 -4.1,-0.453751,44.268862,47.463483,-114.226677,1.852275 -4.15,-0.470787,39.389713,41.180443,-109.148725,1.877009 -4.2,-0.498838,30.801317,30.701553,-97.67137,1.898939 -4.25,-0.531605,20.948023,19.280002,-76.946418,1.906597 -4.3,-0.557251,13.494809,11.188666,-65.46905,1.896163 -4.35,-0.592232,2.833425,-0.149607,-60.391091,1.854706 -4.4,-0.620757,-6.435302,-10.114081,-58.144437,1.797953 -4.45,-0.6384,-11.853445,-15.54485,-57.150443,1.74749 -4.5,-0.665856,-19.130597,-22.27169,-56.710671,1.642955 -4.55,-0.692322,-25.661561,-27.682499,-56.516103,1.506688 -4.6,-0.704054,-29.900941,-30.278362,-56.430019,1.411725 -4.65,-0.709739,-35.100211,-32.984872,-56.391934,1.280382 -4.7,-0.70858,-39.046529,-34.799667,-56.392145,1.174456 -4.75,-0.706447,-40.831767,-35.581539,-56.392511,1.126212 -4.8,-0.703132,-42.425527,-36.35974,-56.393156,1.085731 -4.85,-0.700094,-43.507799,-36.948376,-56.394266,1.060167 -4.9,-0.698118,-44.064354,-37.303099,-56.396206,1.048607 -4.95,-0.694805,-44.746376,-37.920182,-56.399587,1.03984 -5.0,-0.69111,-45.306578,-38.649845,-56.405471,1.039173 -5.05,-0.688472,-45.601822,-39.198476,-56.415706,1.043541 -5.1,-0.68435,-45.932027,-40.090823,-56.433533,1.056196 -5.15,-0.680119,-46.153136,-41.031634,-56.464583,1.074008 -5.2,-0.677256,-46.230321,-41.677302,-56.518634,1.088693 -5.25,-0.672952,-46.246365,-42.648575,-56.612737,1.113817 -5.3,-0.668688,-46.168327,-43.602176,-56.754019,1.141137 -5.35,-0.665911,-46.058267,-44.212938,-56.848122,1.160234 -5.4,-0.661929,-45.816566,-45.068617,-56.90218,1.189216 -5.45,-0.65821,-45.508728,-45.845456,-56.933226,1.217752 -5.5,-0.655963,-45.267257,-46.299076,-56.951056,1.235979 -5.55,-0.653051,-44.860323,-46.861764,-56.961295,1.261458 -5.6,-0.650694,-44.400621,-47.28694,-56.967176,1.285016 -5.65,-0.649467,-44.05152,-47.464545,-56.970557,1.29936 -5.7,-0.647385,-43.450237,-47.542758,-56.972493,1.317847 -5.75,-0.646086,-42.765569,-47.42409,-56.97361,1.33446 -5.8,-0.64567,-42.260787,-47.229221,-56.974252,1.344501 -5.85,-0.641137,-41.507829,-47.083328,-56.97461,1.355379 -5.9,-0.63442,-40.754379,-47.009231,-56.974829,1.363505 -5.95,-0.629252,-40.253187,-46.983519,-56.989152,1.367916 -6.0,-0.620557,-39.521501,-47.017759,-57.007067,1.373683 -6.05,-0.610822,-38.827234,-47.168211,-57.02947,1.379033 -6.1,-0.603544,-38.400441,-47.377529,-57.057484,1.382591 -6.15,-0.592485,-37.699738,-47.608034,-57.092523,1.386375 -6.2,-0.581303,-36.931077,-47.741499,-57.136329,1.388499 -6.25,-0.573582,-36.388048,-47.803657,-57.191127,1.389012 -6.3,-0.561456,-35.531549,-47.874797,-57.259648,1.388405 -6.35,-0.54865,-34.63364,-47.933079,-57.345333,1.386249 -6.4,-0.539519,-34.006456,-47.970915,-57.452505,1.383554 -6.45,-0.524336,-33.023132,-48.057122,-57.586507,1.376627 -6.5,-0.505439,-32.007604,-48.293201,-57.754106,1.363277 -6.55,-0.491657,-31.296635,-48.475926,-57.963683,1.351535 -6.6,-0.4716,-30.162662,-48.653015,-58.225785,1.332912 -6.65,-0.445325,-28.991553,-49.104658,-58.553559,1.301776 -6.7,-0.430542,-28.153363,-49.210854,-58.963452,1.283766 -6.75,-0.410763,-26.823079,-49.169975,-59.476058,1.258625 -6.8,-0.39194,-25.484263,-49.000921,-60.117105,1.232257 -6.85,-0.379868,-24.666336,-48.856872,-60.918771,1.212687 -6.9,-0.362812,-23.549726,-48.617071,-61.92132,1.181552 -6.95,-0.346593,-22.524495,-48.346968,-63.175063,1.148802 -7.0,-0.33623,-21.884151,-48.137568,-64.742953,1.125955 -7.05,-0.32123,-20.965905,-47.748575,-66.703703,1.090111 -7.1,-0.306742,-20.109297,-47.229467,-69.15574,1.052367 -7.15,-0.297576,-19.554645,-46.675197,-72.222195,1.024995 -7.2,-0.283923,-18.50385,-45.767684,-76.056984,0.982609 -7.25,-0.269548,-17.418493,-45.180185,-80.852638,0.942198 -7.3,-0.259584,-16.670717,-44.94772,-86.849919,0.916139 -7.35,-0.244243,-15.467531,-44.734703,-94.349904,0.877464 -7.4,-0.228736,-14.180389,-44.599394,-103.729134,0.838443 -7.45,-0.218517,-13.327122,-44.560103,-115.458474,0.811831 -7.5,-0.203503,-12.062803,-44.516253,-127.187821,0.770313 -7.55,-0.188847,-10.800612,-44.425733,-136.567051,0.726531 -7.6,-0.179316,-9.955503,-44.293944,-144.067035,0.695327 -7.65,-0.165308,-8.66868,-43.918441,-150.06431,0.644353 -7.7,-0.151418,-7.347429,-43.309803,-154.859977,0.58787 -7.75,-0.141983,-6.434057,-42.716963,-158.69476,0.54513 -7.8,-0.125356,-5.114046,-42.028473,-161.761201,0.47026 -7.85,-0.104234,-3.894951,-41.888922,-164.213252,0.379579 -7.9,-0.091044,-3.181616,-41.934148,-166.173995,0.32259 -7.95,-0.073824,-2.277347,-42.113222,-167.741892,0.247403 -8.0,-0.058649,-1.536743,-42.406804,-168.995628,0.18088 -8.05,-0.049572,-1.150211,-42.678676,-169.998177,0.141179 -8.1,-0.036982,-0.7249,-43.197146,-170.799849,0.086523 -8.15,-0.025,-0.447345,-43.820161,-171.44089,0.03502 -8.2,-0.01718,-0.322156,-44.278774,-171.953509,0.001488 -8.25,-0.005334,-0.131608,-44.988479,-172.363403,-0.049839 -8.3,0.006946,0.068854,-45.739082,-172.69117,-0.103653 -8.35,0.01562,0.214527,-46.278869,-172.953258,-0.142145 -8.4,0.024794,0.373812,-46.856901,-173.162849,-0.183303 -8.45,0.039783,0.650898,-47.816239,-173.330448,-0.251735 -8.5,0.056187,0.97884,-48.882062,-173.464457,-0.328169 -8.55,0.066964,1.209118,-49.597641,-173.571609,-0.379462 -8.6,0.080428,1.501644,-50.523732,-173.657314,-0.444609 -8.65,0.091776,1.746764,-51.334814,-173.725834,-0.500237 -8.7,0.098284,1.883694,-51.818968,-173.780612,-0.532451 -8.75,0.107056,2.061049,-52.493972,-173.824435,-0.576125 -8.8,0.11542,2.220829,-53.142048,-173.85946,-0.617635 -8.85,0.120924,2.324883,-53.57403,-173.887491,-0.645066 -8.9,0.133321,2.473776,-54.418002,-173.909894,-0.701878 -8.95,0.150368,2.394339,-54.770795,-173.927803,-0.756833 -9.0,0.172576,2.238773,-54.958298,-173.942133,-0.821903 -9.05,0.189551,2.075519,-55.154881,-173.941955,-0.87059 -9.1,0.198676,1.961684,-55.291717,-173.941764,-0.896131 -9.15,0.211171,1.783607,-55.505642,-173.941518,-0.930485 -9.2,0.222925,1.598365,-55.727933,-173.941245,-0.962261 -9.25,0.230419,1.470232,-55.881534,-173.940931,-0.982194 -9.3,0.241298,1.271162,-56.119928,-173.940562,-1.010672 -9.35,0.251889,1.065432,-56.366058,-173.940138,-1.037955 -9.4,0.258789,0.923909,-56.5352,-173.939633,-1.055444 -9.45,0.268934,0.705308,-56.796175,-173.939045,-1.080736 -9.5,0.278887,0.480545,-57.064263,-173.938362,-1.105125 -9.55,0.285396,0.326689,-57.247565,-173.93757,-1.120787 -9.6,0.294946,0.090032,-57.529153,-173.936641,-1.143319 -9.65,0.304233,-0.152296,-57.817176,-173.935576,-1.164744 -9.7,0.310172,-0.317541,-58.013332,-173.934319,-1.17807 -9.75,0.318149,-0.570773,-58.313614,-173.932857,-1.195014 -9.8,0.324637,-0.829152,-58.619538,-173.931163,-1.207315 -9.85,0.32914,-1.004833,-58.827374,-173.929183,-1.215848 -9.9,0.33623,-1.27317,-59.144336,-173.926888,-1.229334 -9.95,0.343563,-1.546172,-59.466496,-173.924197,-1.243236 -10.0,0.348594,-1.731233,-59.684556,-173.921068,-1.252711 -10.05,0.35634,-2.01318,-60.016346,-173.917435,-1.267199 -10.1,0.364289,-2.299308,-60.352685,-173.9132,-1.281959 -10.15,0.36973,-2.492781,-60.579851,-173.908269,-1.291995 -10.2,0.378127,-2.786855,-60.92457,-173.902518,-1.307398 -10.25,0.386795,-3.084604,-61.273217,-173.895824,-1.323238 -10.3,0.392789,-3.285514,-61.508169,-173.888038,-1.334186 -10.35,0.402241,-3.590245,-61.863974,-173.878967,-1.35155 -10.4,0.412451,-3.898152,-62.22316,-173.868394,-1.370663 -10.45,0.420626,-4.1055,-62.464662,-173.856086,-1.386935 -10.5,0.43484,-4.419368,-62.829708,-173.841756,-1.416264 -10.55,0.44788,-4.73596,-63.197568,-173.825063,-1.441923 -10.6,0.455675,-4.948732,-63.44437,-173.805624,-1.456294 -10.65,0.465806,-5.270378,-63.816916,-173.782989,-1.473237 -10.7,0.474195,-5.594157,-64.191402,-173.756625,-1.485139 -10.75,0.47909,-5.811445,-64.442377,-173.72593,-1.490998 -10.8,0.486862,-6.13927,-64.820421,-173.690181,-1.500649 -10.85,0.495202,-6.468776,-65.200071,-173.648544,-1.511516 -10.9,0.501243,-6.689649,-65.453826,-173.600063,-1.519819 -10.95,0.511191,-7.022421,-65.835483,-173.543591,-1.534271 -11.0,0.522172,-7.356324,-66.218158,-173.477844,-1.551071 -11.05,0.530287,-7.579682,-66.473839,-173.401264,-1.564083 -11.1,0.543522,-7.915567,-66.857853,-173.312089,-1.58594 -11.15,0.556362,-8.252158,-67.2424,-173.208242,-1.606362 -11.2,0.564315,-8.476918,-67.498873,-173.087307,-1.618156 -11.25,0.575488,-8.814514,-67.883672,-172.946455,-1.633564 -11.3,0.586041,-9.152246,-68.268369,-172.788691,-1.647056 -11.35,0.592755,-9.37747,-68.524672,-172.647853,-1.65503 -11.4,0.602516,-9.71519,-68.908501,-172.526917,-1.66591 -11.45,0.612116,-10.052553,-69.291887,-172.423058,-1.676098 -11.5,0.618511,-10.277191,-69.546933,-172.333883,-1.682683 -11.55,0.628281,-10.613549,-69.928488,-172.257316,-1.692722 -11.6,0.638393,-10.949,-70.309004,-172.191555,-1.70331 -11.65,0.645653,-11.173684,-70.558764,-172.135097,-1.711323 -11.7,0.657242,-11.50967,-70.931965,-172.086616,-1.724716 -11.75,0.669682,-11.844208,-71.303555,-172.044979,-1.739824 -11.8,0.67866,-12.066227,-71.550022,-172.00923,-1.7513 -11.85,0.693402,-12.397743,-71.918067,-171.978522,-1.771158 -11.9,0.70962,-12.727203,-72.284035,-171.952171,-1.794089 -11.95,0.721555,-12.945553,-72.526657,-171.929535,-1.811721 -12.0,0.741417,-13.270898,-72.888166,-171.910097,-1.842229 -12.05,0.763476,-13.593725,-73.247345,-171.893404,-1.877284 -12.1,0.77982,-13.807271,-73.48509,-171.879074,-1.904027 -12.15,0.804206,-14.124929,-73.838907,-171.866766,-1.943241 -12.2,0.826771,-14.439507,-74.189877,-171.856193,-1.977757 -12.25,0.840585,-14.647251,-74.421837,-171.847122,-1.997658 -12.3,0.859443,-14.955665,-74.766543,-171.839322,-2.022907 -12.35,0.876428,-15.26046,-75.10797,-171.832629,-2.043612 -12.4,0.8865,-15.461307,-75.333271,-171.826891,-2.054441 -12.45,0.895635,-15.660264,-75.556809,-171.82196,-2.063085 -12.5,0.907475,-15.95485,-75.888374,-171.817712,-2.071781 -12.55,0.917468,-16.245095,-76.216155,-171.814078,-2.076331 -12.6,0.922914,-16.435778,-76.432009,-171.81095,-2.076682 -12.65,0.929297,-16.717432,-76.751792,-171.808272,-2.073369 -12.7,0.933932,-16.994109,-77.067299,-171.805964,-2.066369 -12.75,0.935886,-17.175378,-77.274786,-171.803997,-2.059357 -12.8,0.937173,-17.44229,-77.581571,-171.802289,-2.045525 -12.85,0.936872,-17.703598,-77.8838,-171.800827,-2.028566 -12.9,0.935651,-17.874152,-78.08204,-171.799584,-2.0153 -12.95,0.932369,-18.124363,-78.374727,-171.798505,-1.992691 -13.0,0.927703,-18.368155,-78.662442,-171.797576,-1.967566 -13.05,0.923716,-18.526517,-78.850866,-171.796784,-1.949275 -13.1,0.913395,-18.75761,-79.128274,-171.796115,-1.913452 -13.15,0.897185,-18.981198,-79.400334,-171.795527,-1.866291 -13.2,0.882757,-19.125395,-79.578008,-171.795022,-1.828021 -13.25,0.856256,-19.333829,-79.839003,-171.794585,-1.761715 -13.3,0.824778,-19.572048,-79.999998,-171.794216,-1.683012 -13.35,0.800543,-19.762721,-79.999998,-171.793902,-1.621081 -13.4,0.760978,-20.006084,-79.999998,-171.793628,-1.523258 -13.45,0.718586,-20.248569,-79.999998,-171.793396,-1.421329 -13.5,0.688636,-20.424234,-79.999998,-171.793191,-1.351053 -13.55,0.641716,-20.692041,-80.000005,-171.793014,-1.243242 -13.6,0.593293,-20.961279,-79.999998,-171.757319,-1.134 -13.65,0.5587,-21.139026,-79.999998,-171.697664,-1.057719 -13.7,0.496521,-21.401377,-79.999998,-171.597998,-0.925251 -13.75,0.418274,-21.659042,-79.999998,-171.431437,-0.764033 -13.8,0.351662,-21.826559,-79.999998,-171.153107,-0.630581 -13.85,0.231525,-22.070943,-80.000005,-170.688026,-0.39466 -13.9,0.142396,-23.040593,-78.162151,-169.910846,-0.163403 -13.95,0.081939,-24.348861,-74.790845,-168.61214,0.041652 -14.0,-0.008305,-25.808855,-69.888381,-166.44197,0.311663 -14.05,-0.124641,-27.067477,-63.712093,-162.81555,0.618396 -14.1,-0.19673,-27.539133,-60.001982,-156.755683,0.78667 -14.15,-0.282474,-27.887726,-55.608603,-146.629422,0.970179 -14.2,-0.347303,-28.049737,-52.285952,-129.70812,1.099561 -14.25,-0.378634,-28.102533,-50.690594,-105.04178,1.158569 -14.3,-0.411871,-28.160547,-49.017863,-88.120464,1.218674 -14.35,-0.434963,-28.216536,-47.8766,-77.994217,1.258969 -14.4,-0.446056,-28.254689,-47.340082,-71.934343,1.277715 -14.45,-0.461241,-28.302518,-46.604993,-68.307916,1.302888 -14.5,-0.479937,-28.322075,-45.673055,-66.137746,1.333633 -14.55,-0.495029,-28.312344,-44.904283,-64.839047,1.35815 -14.6,-0.520092,-28.26543,-43.609829,-64.061867,1.398115 -14.65,-0.546304,-28.19003,-42.241664,-63.596772,1.439062 -14.7,-0.563695,-28.124884,-41.325807,-63.318449,1.465646 -14.75,-0.588129,-28.015517,-40.029437,-63.151895,1.502231 -14.8,-0.609649,-27.905595,-38.879974,-63.052215,1.533841 -14.85,-0.621221,-27.840195,-38.258082,-62.992574,1.550558 -14.9,-0.632938,-27.769686,-37.625702,-62.956886,1.567299 -14.95,-0.637787,-27.739366,-37.363283,-62.748982,1.574184 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.05,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.1,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.15,-1.729819,12.967033,15.555556,39.763535,10.140524 +0.2,-1.729819,13.015873,15.555556,39.639079,10.140524 +0.25,-1.729819,13.113553,15.604396,39.639079,10.140524 +0.3,-1.729819,13.260073,15.653236,39.390168,10.140524 +0.35,-1.729819,13.455433,15.702076,39.265713,10.140524 +0.4,-1.729819,13.748474,15.799756,39.016801,10.140524 +0.45,-1.729819,14.090354,15.897436,38.643435,10.140524 +0.5,-1.729819,14.529915,16.043956,38.145613,10.140524 +0.55,-1.729819,16.630037,17.411477,35.283136,10.140524 +0.6,-1.729819,16.727717,16.874237,35.905414,10.140524 +0.65,-1.729819,17.167277,16.434676,36.154325,10.140524 +0.7,-1.729819,19.951160,18.241758,32.296204,10.064565 +0.75,-1.729819,20.586081,18.681319,31.425016,10.064565 +0.8,-1.729819,20.830281,18.534799,31.549471,10.064565 +0.85,-1.729819,21.758242,19.023199,30.429371,10.064565 +0.9,-1.729819,23.028083,19.658120,28.811450,10.064565 +0.95,-1.729819,23.369963,19.853480,28.438083,10.064565 +1.0,-1.729819,24.884005,20.586081,26.820162,10.064565 +1.05,-1.729819,27.228327,22.393162,23.459863,10.064565 +1.1,-1.729819,27.472527,22.246642,23.459863,10.064565 +1.15,-1.729819,28.595849,22.539683,22.588675,10.064565 +1.2,-1.729819,31.770452,25.763126,17.112632,10.064565 +1.25,-1.729819,32.112332,26.153846,16.490355,10.064565 +1.3,-1.729819,32.649573,26.202686,16.241444,10.064565 +1.35,-1.729819,34.847375,28.742369,12.383323,10.064565 +1.4,-1.729819,36.166056,31.868132,8.151836,9.988606 +1.45,-1.729819,36.459096,32.405372,7.405103,9.988606 +1.5,-1.729819,36.752137,32.893773,6.782825,9.988606 +1.55,-1.729819,37.533578,34.212454,4.915993,9.988606 +1.6,-1.729819,38.461538,32.356532,6.658370,9.988606 +1.65,-1.729819,38.949939,33.137973,5.538270,9.988606 +1.7,-1.729819,39.780220,35.189255,2.800249,9.988606 +1.75,-1.729819,40.122100,35.628816,2.177971,9.988606 +1.8,-1.729819,40.854701,36.361416,1.057872,9.988606 +1.85,-1.729819,43.394383,39.731380,-3.546982,9.988606 +1.9,-1.729819,43.833944,40.268620,-4.293715,9.988606 +1.95,-1.729819,44.029304,40.170940,-4.293715,9.988606 +2.0,-1.729819,45.787546,42.222222,-7.156192,9.988606 +2.05,-1.729819,46.617827,43.492063,-8.774113,9.988606 +2.1,-1.729819,47.155067,44.175824,-9.645302,9.988606 +2.15,-1.729819,47.350427,45.396825,-11.387679,9.988606 +2.2,-1.729819,47.350427,45.689866,-11.761045,9.988606 +2.25,-1.729819,47.350427,46.178266,-12.507778,9.912647 +2.3,-1.729819,47.350427,47.203907,-14.001245,9.912647 +2.35,-1.729819,47.350427,47.106227,-13.876789,9.912647 +2.4,-1.729819,47.350427,46.862027,-13.752334,9.912647 +2.45,-1.729819,47.350427,47.448107,-14.374611,9.912647 +2.5,-1.729819,47.350427,47.838828,-14.872433,9.912647 +2.55,-1.729819,47.350427,47.594628,-14.623522,9.912647 +2.6,-1.729819,47.350427,46.910867,-13.627878,9.912647 +2.65,-1.729819,47.350427,45.494505,-11.885501,9.912647 +2.7,-1.729819,47.203907,43.296703,-8.898569,9.988606 +2.75,-1.729819,44.126984,40.219780,-4.418171,9.988606 +2.8,-1.729819,40.073260,36.361416,1.182327,9.988606 +2.85,-1.729819,34.993895,31.868132,8.400747,9.988606 +2.9,-1.729819,24.786325,24.444444,21.717486,10.064565 +2.95,-1.729819,17.460317,20.390720,30.553827,10.064565 +3.0,-1.729819,11.111111,18.095238,37.149969,10.064565 +3.05,-1.729819,7.594628,17.118437,40.385812,10.064565 +3.1,-1.729819,5.543346,16.630037,42.128189,10.064565 +3.15,-1.729819,4.322344,16.434676,42.999378,10.064565 +3.2,-1.729819,3.736264,16.385836,43.497200,10.064565 +3.25,-1.729819,3.443223,16.239316,43.746111,10.064565 +3.3,-1.729819,3.443223,15.946276,44.119477,10.064565 +3.35,-1.729819,3.540904,15.555556,44.492844,10.064565 +3.4,-1.729819,3.785104,15.067155,44.990666,10.064565 +3.45,-1.729819,4.126984,14.529915,45.488488,10.064565 +3.5,-1.729819,4.517705,13.992674,45.986310,10.064565 +3.55,-1.729819,4.908425,13.406593,46.359676,10.140524 +3.6,-1.729819,5.250305,12.918193,46.857498,10.140524 +3.65,-1.729819,5.494505,12.478632,47.230865,10.140524 +3.7,-1.729819,5.592186,12.136752,47.604231,10.140524 +3.75,-1.729819,5.738706,11.892552,47.728687,10.140524 +3.8,-1.729819,6.129426,11.794872,47.604231,10.140524 +3.85,-1.729819,6.862027,12.087912,46.733043,10.140524 +3.9,-1.729819,7.252747,12.380952,45.115121,10.140524 +3.95,-1.729819,7.692308,13.064713,45.364032,10.140524 +4.0,-1.647446,7.741148,12.234432,41.257001,10.140524 +4.05,-1.647446,8.717949,12.380952,40.385812,10.140524 +4.1,-1.647446,8.815629,12.234432,41.879278,10.140524 +4.15,-1.647446,8.962149,12.283272,40.385812,10.140524 +4.2,-1.647446,9.401709,11.990232,37.149969,10.140524 +4.25,-1.647446,9.401709,11.648352,36.901058,10.140524 +4.3,-1.647446,9.450549,11.404151,37.149969,10.140524 +4.35,-1.647446,11.599512,11.746032,29.060361,10.140524 +4.4,-1.647446,11.794872,11.697192,27.566895,10.140524 +4.45,-1.647446,11.550672,10.769231,26.571251,10.140524 +4.5,-1.647446,11.697192,9.645910,25.575607,10.216483 +4.55,-1.647446,13.699634,11.794872,21.717486,10.140524 +4.6,-1.647446,14.236874,11.746032,19.477287,10.140524 +4.65,-1.647446,13.797314,9.743590,19.103920,10.140524 +4.7,-1.647446,14.822955,10.769231,15.868077,10.140524 +4.75,-1.647446,15.799756,11.794872,13.752334,10.140524 +4.8,-1.647446,15.995116,11.550672,13.627878,10.140524 +4.85,-1.647446,16.141636,11.257631,13.130056,10.140524 +4.9,-1.647446,17.020757,11.892552,9.520846,10.140524 +4.95,-1.647446,17.851038,11.062271,8.027380,10.140524 +5.0,-1.647446,18.730159,11.159951,7.529558,10.140524 +5.05,-1.647446,19.511600,11.599512,5.662726,10.064565 +5.1,-1.647446,19.902320,11.062271,3.546982,10.064565 +5.15,-1.647446,20.927961,11.550672,2.177971,10.064565 +5.2,-1.647446,21.904762,12.625153,-0.186683,10.064565 +5.25,-1.565074,21.855922,11.159951,-6.533914,10.064565 +5.3,-1.565074,21.953602,11.306471,-6.533914,10.064565 +5.35,-1.565074,22.246642,11.111111,-8.276291,10.064565 +5.4,-1.565074,22.735043,10.183150,-13.378967,9.988606 +5.45,-1.565074,22.735043,10.134310,-13.503423,9.988606 +5.5,-1.565074,22.735043,10.134310,-13.378967,9.988606 +5.55,-1.565074,22.588523,8.815629,-18.481643,9.988606 +5.6,-1.565074,22.539683,8.669109,-18.979465,9.988606 +5.65,-1.565074,22.490842,8.083028,-21.095208,9.988606 +5.7,-1.565074,22.393162,6.959707,-25.575607,9.988606 +5.75,-1.565074,22.344322,6.422466,-27.566895,9.988606 +5.8,-1.565074,22.246642,6.227106,-27.815806,9.988606 +5.85,-1.565074,22.197802,6.031746,-27.815806,9.988606 +5.9,-1.565074,22.100122,5.641026,-27.815806,9.988606 +5.95,-1.565074,22.002442,5.396825,-27.815806,9.988606 +6.0,-1.565074,22.051282,3.882784,-27.815806,9.988606 +6.05,-1.565074,21.953602,3.687424,-27.815806,9.988606 +6.1,-1.565074,21.807082,3.589744,-27.815806,9.988606 +6.15,-1.565074,21.709402,3.345543,-27.815806,9.988606 +6.2,-1.565074,21.611722,2.905983,-27.815806,9.988606 +6.25,-1.565074,21.465201,2.710623,-27.815806,9.988606 +6.3,-1.565074,21.367521,2.564103,-27.815806,9.988606 +6.35,-1.565074,21.221001,2.124542,-27.815806,9.988606 +6.4,-1.565074,21.074481,2.026862,-27.815806,9.988606 +6.45,-1.647446,20.976801,1.489621,-27.815806,9.988606 +6.5,-1.647446,20.830281,1.196581,-27.815806,9.988606 +6.55,-1.647446,20.683761,1.098901,-27.815806,9.988606 +6.6,-1.565074,20.488400,0.952381,-27.815806,9.988606 +6.65,-1.647446,20.341880,0.512821,-27.815806,9.988606 +6.7,-1.647446,20.195360,0.268620,-27.815806,9.988606 +6.75,-1.647446,20.000000,0.170940,-27.815806,9.988606 +6.8,-1.647446,19.804640,-0.073260,-27.815806,10.064565 +6.85,-1.647446,19.609280,-0.317460,-27.815806,10.064565 +6.9,-1.647446,19.413919,-0.512821,-27.815806,10.064565 +6.95,-1.565074,19.218559,-0.659341,-27.815806,10.064565 +7.0,-1.647446,19.072039,-1.147741,-27.815806,10.064565 +7.05,-1.647446,18.925519,-1.538462,-27.815806,10.064565 +7.1,-1.647446,18.925519,-2.515263,-27.815806,9.988606 +7.15,-1.647446,18.681319,-2.710623,-27.815806,9.988606 +7.2,-1.647446,18.437118,-2.857143,-27.815806,10.064565 +7.25,-1.647446,18.241758,-3.003663,-27.815806,10.064565 +7.3,-1.647446,17.997558,-3.150183,-27.815806,10.064565 +7.35,-1.647446,17.802198,-3.492063,-27.815806,10.064565 +7.4,-1.647446,17.655678,-3.931624,-27.815806,10.064565 +7.45,-1.647446,17.460317,-4.175824,-27.815806,10.064565 +7.5,-1.647446,17.264957,-4.468864,-27.815806,10.064565 +7.55,-1.647446,17.069597,-4.810745,-27.815806,10.064565 +7.6,-1.647446,16.874237,-5.054945,-27.815806,10.064565 +7.65,-1.647446,16.678877,-5.396825,-27.815806,10.064565 +7.7,-1.647446,16.483516,-5.641026,-27.815806,10.064565 +7.75,-1.647446,16.288156,-5.982906,-27.815806,10.064565 +7.8,-1.647446,16.092796,-6.178266,-27.815806,10.064565 +7.85,-1.647446,15.897436,-6.520147,-27.815806,10.064565 +7.9,-1.647446,15.750916,-6.910867,-27.815806,10.064565 +7.95,-1.647446,15.653236,-7.350427,-27.815806,10.064565 +8.0,-1.647446,15.506716,-7.692308,-27.815806,10.064565 +8.05,-1.647446,15.409035,-8.131868,-27.815806,10.064565 +8.1,-1.647446,15.360195,-8.669109,-27.815806,9.988606 +8.15,-1.647446,15.311355,-9.108669,-27.815806,9.988606 +8.2,-1.647446,15.164835,-9.401709,-27.815806,9.988606 +8.25,-1.647446,14.969475,-9.597070,-27.815806,9.988606 +8.3,-1.647446,14.725275,-9.743590,-27.815806,9.988606 +8.35,-1.647446,14.529915,-9.890110,-27.815806,9.988606 +8.4,-1.647446,14.285714,-10.036630,-27.815806,9.988606 +8.45,-1.647446,14.090354,-10.183150,-27.815806,9.988606 +8.5,-1.647446,13.846154,-10.329670,-27.815806,9.988606 +8.55,-1.647446,13.650794,-10.476190,-27.815806,10.064565 +8.6,-1.647446,13.455433,-10.622711,-27.815806,10.064565 +8.65,-1.647446,13.260073,-10.769231,-27.815806,10.064565 +8.7,-1.647446,13.064713,-10.915751,-27.815806,10.064565 +8.75,-1.647446,12.869353,-11.013431,-27.815806,10.064565 +8.8,-1.647446,12.625153,-11.062271,-27.815806,10.064565 +8.85,-1.647446,12.234432,-10.866911,-27.815806,10.064565 +8.9,-1.647446,11.843712,-10.671551,-27.815806,10.064565 +8.95,-1.647446,11.404151,-10.231990,-27.815806,10.140524 +9.0,-1.647446,10.866911,-9.548230,-27.815806,10.140524 +9.05,-1.647446,10.329670,-8.717949,-27.815806,10.216483 +9.1,-1.565074,9.890110,-7.838828,-27.815806,10.216483 +9.15,-1.565074,9.450549,-6.764347,-27.815806,10.216483 +9.2,-1.565074,9.010989,-5.054945,-27.815806,10.292442 +9.25,-1.565074,8.815629,-2.417582,-23.833230,10.292442 +9.3,-1.565074,9.010989,1.391941,-8.525202,10.292442 +9.35,-1.565074,9.743590,5.299145,5.787181,10.216483 +9.4,-1.565074,10.525031,8.229548,15.868077,10.216483 +9.45,-1.647446,11.111111,10.085470,22.090853,10.216483 +9.5,-1.647446,11.306471,10.915751,24.953329,10.140524 +9.55,-1.647446,11.355311,11.208791,25.948973,10.140524 +9.6,-1.647446,11.355311,11.355311,26.695706,10.140524 +9.65,-1.647446,11.501832,11.794872,28.064717,10.140524 +9.7,-1.647446,11.697192,12.478632,30.304916,10.140524 +9.75,-1.647446,11.990232,13.308913,32.918482,10.140524 +9.8,-1.647446,12.332112,14.090354,35.407592,10.140524 +9.85,-1.729819,12.625153,14.822955,37.647791,10.140524 +9.9,-1.729819,12.820513,15.360195,39.141257,10.140524 +9.95,-1.729819,12.918193,15.555556,39.763535,10.140524 diff --git a/hal/recordings/goodbye.csv b/hal/recordings/goodbye.csv index 498ec6dac..c1e6fd82a 100644 --- a/hal/recordings/goodbye.csv +++ b/hal/recordings/goodbye.csv @@ -1,101 +1,101 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.0,0.0,0.0,0.0,0.0 -0.05,2e-06,3.8e-05,2.8e-05,0.0,6e-06 -0.1,2e-06,3.8e-05,2.8e-05,0.0,9.7e-05 -0.15,2e-06,3.8e-05,2.8e-05,0.0,0.00049 -0.2,2e-06,3.8e-05,2.8e-05,0.0,0.001549 -0.25,2e-06,3.8e-05,2.8e-05,0.0,0.003781 -0.3,2e-06,3.8e-05,2.8e-05,0.0,0.00784 -0.35,2e-06,3.8e-05,2.8e-05,0.0,0.014524 -0.4,2e-06,3.8e-05,2.8e-05,0.0,0.024777 -0.45,2e-06,3.8e-05,2.8e-05,0.0,0.039688 -0.5,2e-06,3.8e-05,2.8e-05,0.0,0.06049 -0.55,2e-06,3.8e-05,2.8e-05,0.0,0.088564 -0.6,2e-06,3.8e-05,2.8e-05,0.0,0.125433 -0.65,2e-06,3.8e-05,2.8e-05,0.0,0.172766 -0.7,2e-06,3.8e-05,2.8e-05,0.0,0.23238 -0.75,2e-06,3.8e-05,2.8e-05,0.0,0.306232 -0.8,2e-06,3.8e-05,2.8e-05,0.0,0.396429 -0.85,2e-06,3.8e-05,2.8e-05,0.0,0.505221 -0.9,2e-06,3.8e-05,2.8e-05,0.0,0.635003 -0.95,2e-06,3.8e-05,2.8e-05,0.0,0.788316 -1.0,2e-06,3.8e-05,2.8e-05,0.0,0.967845 -1.05,2e-06,3.8e-05,2.8e-05,0.0,1.176422 -1.1,2e-06,3.8e-05,2.8e-05,0.0,1.417022 -1.15,2e-06,3.8e-05,2.8e-05,0.0,1.68358 -1.2,2e-06,3.8e-05,2.8e-05,0.0,1.92418 -1.25,2e-06,3.8e-05,2.8e-05,0.0,2.132757 -1.3,2e-06,3.8e-05,2.8e-05,0.0,2.312286 -1.35,2e-06,3.8e-05,2.8e-05,0.0,2.465599 -1.4,2e-06,3.8e-05,2.8e-05,0.0,2.595381 -1.45,2e-06,3.8e-05,2.8e-05,0.0,2.704173 -1.5,2e-06,3.8e-05,2.8e-05,0.0,2.79437 -1.55,2e-06,3.8e-05,2.8e-05,0.0,2.868222 -1.6,2e-06,3.8e-05,2.8e-05,0.0,2.927836 -1.65,2e-06,3.8e-05,2.8e-05,0.0,2.975169 -1.7,2e-06,3.8e-05,2.8e-05,0.0,3.012038 -1.75,2e-06,3.8e-05,2.8e-05,0.0,3.040112 -1.8,2e-06,3.8e-05,2.8e-05,0.0,3.060914 -1.85,2e-06,3.8e-05,2.8e-05,0.0,3.075825 -1.9,2e-06,3.8e-05,2.8e-05,0.0,3.086078 -1.95,2e-06,3.8e-05,2.8e-05,0.0,3.092762 -2.0,2e-06,3.8e-05,2.8e-05,0.0,3.096821 -2.05,2e-06,3.8e-05,2.8e-05,0.0,3.099053 -2.1,2e-06,3.8e-05,2.8e-05,0.0,3.100112 -2.15,2e-06,3.8e-05,2.8e-05,0.0,3.100505 -2.2,2e-06,3.8e-05,2.8e-05,0.0,3.100596 -2.25,2e-06,3.8e-05,2.8e-05,0.0,3.100602 -2.3,2e-06,3.8e-05,2.8e-05,0.0,3.100599 -2.35,2e-06,3.8e-05,2.8e-05,0.0,3.100557 -2.4,2e-06,3.8e-05,2.8e-05,0.0,3.100373 -2.45,2e-06,-0.001168,-0.0035,0.0,3.099879 -2.5,1e-06,-0.019286,-0.056496,0.0,3.098836 -2.55,1e-06,-0.097672,-0.286038,0.0,3.09694 -2.6,1e-06,-0.307704,-0.903246,0.0,3.093817 -2.65,1e-06,-0.745732,-2.200842,0.0,3.089027 -2.7,1e-06,-1.525222,-4.547438,0.0,3.082061 -2.75,0.0,-2.759882,-8.376256,0.0,3.072342 -2.8,0.0,-4.530046,-14.167064,0.0,3.059227 -2.85,-1e-06,-6.815066,-22.420504,0.0,3.042003 -2.9,-3e-06,-9.342938,-33.623611,0.0,3.01989 -2.95,-5e-06,-10.916532,-44.47994,0.0,2.99204 -3.0,-6e-06,-11.285869,-52.047127,0.0,2.957538 -3.05,-6e-06,-11.073453,-57.141001,0.0,2.9154 -3.1,-7e-06,-10.689446,-60.410271,0.0,2.864575 -3.15,-6e-06,-10.348782,-62.374414,0.0,2.803944 -3.2,-6e-06,-10.123875,-63.447424,0.0,2.73232 -3.25,-7e-06,-10.007432,-63.95449,0.0,2.648448 -3.3,-7e-06,-9.962548,-64.142546,0.0,2.551007 -3.35,-7e-06,-9.952058,-64.18591,0.0,2.438604 -3.4,-7e-06,-9.951366,-64.188793,0.0,2.309783 -3.45,-7e-06,-9.951366,-64.188793,0.0,2.163016 -3.5,-7e-06,-9.951366,-64.188793,0.0,1.996712 -3.55,-7e-06,-9.951366,-64.188793,0.0,1.809207 -3.6,-7e-06,-9.951366,-64.188793,0.0,1.604725 -3.65,-7e-06,-9.951366,-64.188793,0.0,1.41722 -3.7,-7e-06,-9.951366,-64.188793,0.0,1.250916 -3.75,-7e-06,-9.951366,-64.188793,0.0,1.104149 -3.8,-7e-06,-9.951366,-64.188793,0.0,0.975328 -3.85,-7e-06,-9.951366,-64.188793,0.0,0.862925 -3.9,-7e-06,-9.951366,-64.188793,0.0,0.765483 -3.95,-7e-06,-9.951366,-64.188793,0.0,0.681612 -4.0,-7e-06,-9.951366,-64.188793,0.0,0.609988 -4.05,-7e-06,-9.951366,-64.188793,0.0,0.549357 -4.1,-7e-06,-9.951366,-64.188793,0.0,0.498532 -4.15,-7e-06,-9.951366,-64.188793,0.0,0.456394 -4.2,-7e-06,-9.951366,-64.188793,0.0,0.421892 -4.25,-7e-06,-9.951366,-64.188793,0.0,0.394042 -4.3,-7e-06,-9.951366,-64.188793,0.0,0.371929 -4.35,-7e-06,-9.951366,-64.188793,0.0,0.354705 -4.4,-7e-06,-9.951366,-64.188793,0.0,0.34159 -4.45,-7e-06,-9.951366,-64.188793,0.0,0.331871 -4.5,-7e-06,-9.951366,-64.188793,0.0,0.324905 -4.55,-7e-06,-9.951366,-64.188793,0.0,0.320115 -4.6,-7e-06,-9.951366,-64.188793,0.0,0.316992 -4.65,-7e-06,-9.951366,-64.188793,0.0,0.315096 -4.7,-7e-06,-9.951366,-64.188793,0.0,0.314054 -4.75,-7e-06,-9.951366,-64.188793,0.0,0.313559 -4.8,-7e-06,-9.951366,-64.188793,0.0,0.313375 -4.85,-7e-06,-9.951366,-64.188793,0.0,0.313333 -4.9,-7e-06,-9.951366,-64.188793,0.0,0.31333 -4.95,0.0,0.0,0.0,0.0,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.6,-1.647446,12.918193,15.555556,39.887990,10.140524 +0.65,-1.647446,12.918193,15.555556,39.887990,10.140524 +0.7,-1.647446,12.918193,15.555556,39.887990,10.216483 +0.75,-1.647446,12.918193,15.555556,39.887990,10.292442 +0.8,-1.647446,12.918193,15.555556,39.887990,10.368401 +0.85,-1.647446,12.918193,15.555556,39.887990,10.444360 +0.9,-1.647446,12.918193,15.555556,39.887990,10.520319 +0.95,-1.647446,12.918193,15.555556,39.887990,10.672237 +1.0,-1.647446,12.918193,15.555556,39.887990,10.824155 +1.05,-1.647446,12.918193,15.555556,39.887990,10.976073 +1.1,-1.647446,12.918193,15.555556,39.887990,11.203950 +1.15,-1.647446,12.918193,15.555556,39.887990,11.431827 +1.2,-1.647446,12.918193,15.555556,39.887990,11.659704 +1.25,-1.647446,12.918193,15.555556,39.887990,11.811622 +1.3,-1.647446,12.918193,15.555556,39.887990,11.963540 +1.35,-1.647446,12.918193,15.555556,39.887990,12.039499 +1.4,-1.647446,12.918193,15.555556,39.887990,12.191417 +1.45,-1.647446,12.918193,15.555556,39.887990,12.267376 +1.5,-1.647446,12.918193,15.555556,39.887990,12.343335 +1.55,-1.647446,12.918193,15.555556,39.887990,12.419294 +1.6,-1.647446,12.918193,15.555556,39.887990,12.495253 +1.65,-1.647446,12.918193,15.555556,39.887990,12.495253 +1.7,-1.647446,12.918193,15.555556,39.887990,12.495253 +1.75,-1.647446,12.918193,15.555556,39.887990,12.571212 +1.8,-1.647446,12.918193,15.555556,39.887990,12.571212 +1.85,-1.647446,12.918193,15.555556,39.887990,12.571212 +1.9,-1.647446,12.918193,15.555556,39.887990,12.571212 +1.95,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.0,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.05,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.1,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.15,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.2,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.25,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.3,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.35,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.4,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.45,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.5,-1.647446,12.918193,15.555556,39.887990,12.571212 +2.55,-1.647446,12.869353,15.457875,39.887990,12.571212 +2.6,-1.647446,12.820513,15.262515,39.887990,12.571212 +2.65,-1.647446,12.673993,14.774115,39.887990,12.571212 +2.7,-1.647446,12.380952,13.943834,39.887990,12.571212 +2.75,-1.647446,11.990232,12.625153,39.887990,12.571212 +2.8,-1.647446,11.355311,10.622711,39.887990,12.571212 +2.85,-1.647446,10.573871,7.741148,39.887990,12.571212 +2.9,-1.647446,9.694750,3.785104,39.887990,12.571212 +2.95,-1.647446,9.157509,0.024420,39.887990,12.495253 +3.0,-1.647446,9.010989,-2.612943,39.887990,12.495253 +3.05,-1.647446,9.108669,-4.420024,39.887990,12.419294 +3.1,-1.647446,9.255189,-5.543346,39.887990,12.419294 +3.15,-1.647446,9.352869,-6.227106,39.887990,12.343335 +3.2,-1.647446,9.450549,-6.617827,39.887990,12.267376 +3.25,-1.647446,9.450549,-6.813187,39.887990,12.191417 +3.3,-1.647446,9.499389,-6.862027,39.887990,12.115458 +3.35,-1.647446,9.499389,-6.862027,39.887990,12.039499 +3.4,-1.647446,9.499389,-6.862027,39.887990,11.963540 +3.45,-1.647446,9.499389,-6.862027,39.887990,11.811622 +3.5,-1.647446,9.499389,-6.862027,39.887990,11.659704 +3.55,-1.647446,9.499389,-6.862027,39.887990,11.507786 +3.6,-1.647446,9.499389,-6.862027,39.887990,11.355868 +3.65,-1.647446,9.499389,-6.862027,39.887990,11.203950 +3.7,-1.647446,9.499389,-6.862027,39.887990,11.052032 +3.75,-1.647446,9.499389,-6.862027,39.887990,10.976073 +3.8,-1.647446,9.499389,-6.862027,39.887990,10.824155 +3.85,-1.647446,9.499389,-6.862027,39.887990,10.748196 +3.9,-1.647446,9.499389,-6.862027,39.887990,10.672237 +3.95,-1.647446,9.499389,-6.862027,39.887990,10.596278 +4.0,-1.647446,9.499389,-6.862027,39.887990,10.520319 +4.05,-1.647446,9.499389,-6.862027,39.887990,10.520319 +4.1,-1.647446,9.499389,-6.862027,39.887990,10.444360 +4.15,-1.647446,9.499389,-6.862027,39.887990,10.368401 +4.2,-1.647446,9.499389,-6.862027,39.887990,10.368401 +4.25,-1.647446,9.499389,-6.862027,39.887990,10.368401 +4.3,-1.647446,9.499389,-6.862027,39.887990,10.368401 +4.35,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.4,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.45,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.5,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.55,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.6,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.65,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.7,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.75,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.8,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.85,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.9,-1.647446,9.499389,-6.862027,39.887990,10.292442 +4.95,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/greeting.csv b/hal/recordings/greeting.csv old mode 100755 new mode 100644 index f09c40523..033a4c680 --- a/hal/recordings/greeting.csv +++ b/hal/recordings/greeting.csv @@ -1,61 +1,61 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,-0.423998,-30.292558,29.344713,-61.000518,0.575348 -0.05,-0.424091,-30.293654,29.34155,-61.003346,0.575057 -0.1,-0.425486,-30.310067,29.294525,-61.046002,0.57069 -0.15,-0.431537,-30.381224,29.090739,-61.231123,0.551787 -0.2,-0.447899,-30.57254,28.541788,-61.731306,0.501023 -0.25,-0.482702,-30.975026,27.382796,-62.794837,0.394574 -0.3,-0.546858,-31.703539,25.269461,-64.76074,0.202818 -0.35,-0.65406,-32.893223,21.769962,-68.094191,-0.10909 -0.4,-0.818726,-34.690212,16.34421,-73.463298,-0.583127 -0.45,-1.052343,-37.20993,8.329427,-81.849169,-1.273437 -0.5,-1.328447,-40.173653,-2.165709,-93.676317,-2.187875 -0.55,-1.507732,-42.152635,-10.50454,-103.828796,-2.951158 -0.6,-1.602016,-43.269437,-16.31964,-111.342646,-3.522702 -0.65,-1.644478,-43.85977,-20.149306,-116.506674,-3.926875 -0.7,-1.663189,-44.154656,-22.484765,-119.743159,-4.184707 -0.75,-1.676088,-44.292844,-23.761348,-121.535116,-4.323347 -0.8,-1.682831,-44.35227,-24.364626,-122.387564,-4.388346 -0.85,-1.68523,-44.37339,-24.588783,-122.705527,-4.412677 -0.9,-1.685776,-44.378168,-24.640506,-122.77899,-4.418306 -0.95,-1.685812,-44.378494,-24.643953,-122.783888,-4.418679 -1.0,-1.685812,-44.375211,-24.638575,-122.780973,-4.418534 -1.05,-1.685812,-44.325934,-24.557755,-122.737343,-4.416354 -1.1,-1.685783,-44.112511,-24.207709,-122.548958,-4.406948 -1.15,-1.685504,-43.539265,-23.266706,-122.046642,-4.381952 -1.2,-1.689438,-42.335033,-21.277287,-120.987408,-4.322465 -1.25,-1.704104,-40.162462,-17.664339,-119.108177,-4.202422 -1.3,-1.718662,-36.636165,-11.778356,-116.250132,-4.018461 -1.35,-1.719051,-31.334218,-2.873064,-112.388803,-3.770881 -1.4,-1.702044,-23.791826,9.909919,-107.76588,-3.441554 -1.45,-1.612855,-13.448757,27.494258,-103.328084,-3.114253 -1.5,-1.57097,-3.065969,44.979664,-101.29149,-2.693436 -1.55,-1.54323,4.629676,57.813169,-101.071122,-2.37923 -1.6,-1.508222,10.151528,66.918488,-101.544723,-2.196989 -1.65,-1.48382,13.898162,73.041631,-102.138634,-2.080402 -1.7,-1.466795,16.240075,76.828298,-102.655783,-2.014326 -1.75,-1.45689,17.553111,78.937254,-102.993181,-1.979087 -1.8,-1.45208,18.182653,79.944816,-103.166869,-1.962591 -1.85,-1.450275,18.417664,80.320311,-103.233637,-1.956495 -1.9,-1.449858,18.471979,80.407068,-103.249221,-1.955089 -1.95,-1.44983,18.475581,80.412831,-103.250245,-1.954996 -2.0,-1.449798,18.47264,80.409398,-103.247679,-1.954893 -2.05,-1.449308,18.428739,80.358321,-103.209438,-1.953357 -2.1,-1.447181,18.238797,80.137202,-103.043864,-1.946698 -2.15,-1.441421,17.729591,79.545219,-102.600064,-1.928729 -2.2,-1.429122,16.666023,78.312045,-101.673381,-1.89066 -2.25,-1.406191,14.765184,76.118817,-100.018245,-1.820852 -2.3,-1.366743,11.71816,72.632109,-97.369757,-1.70441 -2.35,-1.301865,7.213255,67.542854,-93.470674,-1.522487 -2.4,-1.199592,0.952757,60.625115,-88.047614,-1.245717 -2.45,-1.040069,-7.362167,51.756733,-80.793029,-0.833259 -2.5,-0.856707,-15.370553,43.562908,-73.83355,-0.388523 -2.55,-0.711051,-20.992337,38.052903,-68.923326,-0.042193 -2.6,-0.599219,-24.838841,34.386173,-65.614423,0.205477 -2.65,-0.521041,-27.346109,32.044604,-63.481597,0.372534 -2.7,-0.471518,-28.870489,30.640574,-62.194498,0.476536 -2.75,-0.443624,-29.709822,29.874044,-61.48896,0.534638 -2.8,-0.430232,-30.108147,29.511904,-61.154908,0.56243 -2.85,-0.425231,-30.256159,29.377629,-61.030936,0.572794 -2.9,-0.424075,-30.290324,29.346642,-61.002324,0.575188 -2.95,-0.423998,-30.292604,29.344587,-61.00041,0.575348 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.05,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.1,-1.729819,12.722833,15.604396,39.763535,10.140524 +0.15,-1.729819,11.941392,15.897436,39.887990,10.140524 +0.2,-1.729819,9.938950,16.825397,39.887990,10.064565 +0.25,-1.729819,6.862027,18.778999,39.141257,10.064565 +0.3,-1.729819,5.445665,20.048840,38.394524,9.988606 +0.35,-1.729819,4.957265,20.537241,37.896702,9.988606 +0.4,-1.729819,4.859585,20.683761,37.896702,9.988606 +0.45,-1.729819,4.859585,20.683761,37.896702,9.988606 +0.5,-1.729819,4.859585,20.683761,37.896702,9.988606 +0.55,-1.729819,4.810745,20.586081,37.647791,9.988606 +0.6,-1.729819,4.664225,20.244200,36.652147,9.988606 +0.65,-1.729819,4.322344,19.365079,34.038581,10.064565 +0.7,-1.729819,3.589744,17.411477,28.313628,10.064565 +0.75,-1.647446,2.515263,13.699634,17.485999,10.216483 +0.8,-1.565074,1.587302,7.692308,0.808961,10.292442 +0.85,-1.565074,2.417582,2.124542,-10.392035,10.368401 +0.9,-1.565074,5.982906,-2.564103,-15.743622,10.368401 +0.95,-1.565074,8.766789,-4.517705,-18.357187,10.292442 +1.0,-1.565074,9.938950,-5.103785,-19.477287,10.292442 +1.05,-1.565074,10.231990,-5.250305,-19.850653,10.292442 +1.1,-1.565074,10.280830,-5.250305,-19.850653,10.292442 +1.15,-1.565074,10.280830,-5.250305,-19.850653,10.292442 +1.2,-1.565074,10.476190,-4.713065,-19.850653,10.292442 +1.25,-1.565074,11.355311,-2.368742,-20.099564,10.292442 +1.3,-1.565074,13.455433,2.905983,-19.975109,10.140524 +1.35,-1.565074,14.725275,6.910867,-14.374611,10.140524 +1.4,-1.565074,15.653236,10.915751,-2.053516,10.140524 +1.45,-1.647446,17.118437,16.043956,14.499067,10.064565 +1.5,-1.729819,18.534799,19.413919,24.828874,10.064565 +1.55,-1.729819,19.218559,20.048840,31.798382,10.064565 +1.6,-1.729819,18.925519,15.604396,41.505912,10.140524 +1.65,-1.647446,19.658120,10.818071,48.350965,10.140524 +1.7,-1.647446,20.293040,9.841270,49.346609,10.140524 +1.75,-1.647446,20.634921,9.890110,49.097698,10.140524 +1.8,-1.647446,20.781441,10.036630,48.848787,10.140524 +1.85,-1.647446,20.586081,11.648352,46.733043,10.140524 +1.9,-1.729819,20.976801,18.778999,36.154325,10.064565 +1.95,-1.729819,23.516484,26.153846,21.966397,10.064565 +2.0,-1.729819,23.956044,26.495726,13.627878,9.988606 +2.05,-1.647446,23.321123,23.516484,3.546982,9.988606 +2.1,-1.647446,22.539683,19.023199,-11.885501,9.988606 +2.15,-1.647446,21.758242,14.969475,-22.588675,9.912647 +2.2,-1.565074,19.560440,8.962149,-25.824518,9.988606 +2.25,-1.565074,15.848596,-0.366300,-22.464219,10.140524 +2.3,-1.565074,14.334554,-4.420024,-20.846297,10.292442 +2.35,-1.565074,13.601954,-5.543346,-20.348475,10.292442 +2.4,-1.565074,12.771673,-5.934066,-19.975109,10.292442 +2.45,-1.565074,11.599512,-6.227106,-19.726198,10.292442 +2.5,-1.565074,10.720391,-4.371184,-20.597386,10.292442 +2.55,-1.565074,12.967033,3.638584,-24.331052,10.140524 +2.6,-1.565074,13.553114,7.692308,-19.850653,10.140524 +2.65,-1.565074,13.406593,11.062271,-6.782825,10.140524 +2.7,-1.647446,14.188034,16.336996,12.009956,10.064565 +2.75,-1.729819,14.676435,19.072039,23.833230,10.064565 +2.8,-1.729819,13.894994,17.997558,32.794026,10.064565 +2.85,-1.729819,13.064713,15.995116,38.394524,10.140524 +2.9,-1.729819,12.918193,15.555556,39.639079,10.140524 +2.95,-1.729819,12.918193,15.555556,39.763535,10.140524 diff --git a/hal/recordings/happy_wiggle.csv b/hal/recordings/happy_wiggle.csv index 7b91f23ac..a5a63bb61 100644 --- a/hal/recordings/happy_wiggle.csv +++ b/hal/recordings/happy_wiggle.csv @@ -1,161 +1,161 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.347975,-0.044431,-0.182049,-0.010545,-1.1e-05 -0.05,1.464689,-0.178207,-0.755959,0.440078,-1.1e-05 -0.1,3.681372,-0.398812,-1.833791,1.318172,-1.1e-05 -0.15,6.144963,-0.413678,-2.264771,1.713886,-1.1e-05 -0.2,10.620802,-0.428545,-3.771904,3.292799,-1.2e-05 -0.25,17.094874,-1.317425,-10.087069,8.783533,-1e-05 -0.3,18.986826,-1.421596,-11.994791,10.606683,-1.2e-05 -0.35,19.911396,-1.447396,-12.982389,11.578217,-1.1e-05 -0.4,20.159853,-1.458011,-13.395387,11.984629,-1.1e-05 -0.45,20.195345,-1.490097,-13.509565,12.065714,-1.1e-05 -0.5,19.803078,-1.598466,-13.702687,12.146301,-1.1e-05 -0.55,18.57209,-1.518601,-12.118244,10.628807,-1e-05 -0.6,16.295059,-0.342884,-5.80575,5.468597,-1e-05 -0.65,14.231766,3.877436,7.304981,-3.450738,-1e-05 -0.7,12.439127,8.887206,21.19184,-12.337432,-1.2e-05 -0.75,5.120324,11.822531,29.222903,-17.50357,-1.1e-05 -0.8,-18.689109,12.405603,31.306305,-19.234689,-1.3e-05 -0.85,-25.862243,12.041915,29.931818,-18.303135,-1e-05 -0.9,-27.581062,11.6961,28.937708,-17.680372,-1e-05 -0.95,-29.649168,10.002759,24.727913,-15.184139,-9e-06 -1.0,-31.946789,2.91609,6.667985,-4.240331,-1e-05 -1.05,-33.166074,1.454169,2.290358,-1.340858,-1e-05 -1.1,-33.551969,1.102857,1.158856,-0.565901,-8e-06 -1.15,-33.50815,1.126499,1.240799,-0.623609,-8e-06 -1.2,-33.20141,1.291989,1.814401,-1.027566,-1.1e-05 -1.25,-32.103979,1.956647,4.003443,-2.53729,-9e-06 -1.3,-30.098366,3.64008,9.000025,-5.824554,-1.3e-05 -1.35,-26.788605,11.017154,27.474622,-16.881589,-8e-06 -1.4,-25.530241,12.978763,32.263454,-19.615605,-8e-06 -1.45,-21.30404,13.459272,33.534347,-20.437014,-9e-06 -1.5,-4.235541,14.69723,36.450828,-21.944932,-1e-05 -1.55,12.58445,15.96006,37.67001,-21.741325,-1e-05 -1.6,17.90447,16.079254,37.013628,-20.912158,-1.3e-05 -1.65,19.568779,15.968497,36.510452,-20.523315,-1.3e-05 -1.7,21.043283,15.193194,34.301015,-19.052538,-1.4e-05 -1.75,22.944253,11.207371,24.320055,-13.036703,-1.4e-05 -1.8,23.975315,7.722894,15.128963,-7.318608,-1e-05 -1.85,24.305334,6.904015,12.808399,-5.81322,-9e-06 -1.9,24.282776,6.708764,12.301749,-5.502785,-9e-06 -1.95,24.124872,6.628089,12.128959,-5.411736,-9e-06 -2.0,23.577202,7.031159,13.434036,-6.319861,-9e-06 -2.05,22.619812,8.86774,18.572879,-9.632718,-1.2e-05 -2.1,21.176132,17.990291,40.666233,-22.61924,-1.4e-05 -2.15,20.557343,20.319891,46.111229,-25.746338,-1.4e-05 -2.2,19.008982,20.81,47.394327,-26.550626,-1.2e-05 -2.25,15.734889,21.360577,49.16267,-27.802082,-1.4e-05 -2.3,9.990384,20.431372,47.924422,-27.549732,-1.2e-05 -2.35,-8.605806,18.17856,44.249589,-26.304057,-1e-05 -2.4,-13.483385,17.381354,42.701868,-25.582766,-1e-05 -2.45,-14.908768,14.980476,37.205768,-22.520351,-1.1e-05 -2.5,-18.645115,6.125136,16.618497,-10.826855,-1.2e-05 -2.55,-21.165607,3.990253,11.147058,-7.51723,-9e-06 -2.6,-22.899778,3.123784,8.759007,-6.014713,-1.4e-05 -2.65,-23.647812,2.930098,8.139246,-5.599839,-1.4e-05 -2.7,-24.041347,2.902428,8.050709,-5.540572,-1.3e-05 -2.75,-24.690171,3.17749,8.685878,-5.908071,-1e-05 -2.8,-24.895336,4.001505,10.782012,-7.182541,-1.2e-05 -2.85,-24.320779,5.874448,15.538684,-10.059701,-1.1e-05 -2.9,-23.947263,9.434058,24.087458,-15.057065,-1.1e-05 -2.95,-22.481761,13.298071,33.087902,-20.164682,-1e-05 -3.0,-18.973588,15.803429,38.889424,-23.422973,-9e-06 -3.05,-12.023214,16.972429,41.634275,-24.928128,-1.3e-05 -3.1,10.379973,18.124218,42.809573,-24.738267,-1.3e-05 -3.15,15.424235,18.045852,42.512515,-24.464168,-1.3e-05 -3.2,16.776213,17.497293,40.433094,-22.925188,-1.5e-05 -3.25,19.905968,11.29568,25.371684,-14.032837,-9e-06 -3.3,21.478443,6.248357,12.094473,-5.786126,-1.2e-05 -3.35,21.968882,5.610277,10.172196,-4.496606,-1e-05 -3.4,21.954581,5.628511,10.227845,-4.534178,-1e-05 -3.45,21.854479,5.756149,10.617398,-4.797179,-1e-05 -3.5,21.501249,6.239245,12.061796,-5.762325,-1e-05 -3.55,20.875211,7.268336,15.006516,-7.684683,-1.1e-05 -3.6,19.907181,11.179818,25.091289,-13.868288,-1.4e-05 -3.65,19.089931,14.02786,32.152327,-18.074661,-1.4e-05 -3.7,18.404961,15.753297,36.169233,-20.388531,-1.5e-05 -3.75,15.742782,17.128373,39.78675,-22.658261,-1.2e-05 -3.8,7.128343,17.337501,41.452678,-24.199328,-1e-05 -3.85,4.128247,17.447728,41.992228,-24.657099,-1.1e-05 -3.9,3.269852,17.377256,41.855485,-24.592931,-1.1e-05 -3.95,2.341576,16.883951,40.898281,-24.143757,-1.1e-05 -4.0,1.149002,15.294795,37.462765,-22.308612,-1.1e-05 -4.05,0.369566,12.088507,30.283549,-18.343001,-1.1e-05 -4.1,-0.074811,3.278113,9.018296,-5.892323,-1.1e-05 -4.15,-0.201417,1.579349,4.483874,-3.05788,-1.1e-05 -4.2,-0.219504,1.150245,3.309295,-2.312546,-1.1e-05 -4.25,-0.217678,0.266695,0.805825,-0.692611,-1.1e-05 -4.3,-0.211992,0.008476,0.055504,-0.200453,-1.1e-05 -4.35,-0.201738,0.008786,0.05493,-0.199475,-1.1e-05 -4.4,-0.192973,0.008884,0.054671,-0.199062,-1.1e-05 -4.45,-0.185073,0.008898,0.052856,-0.197135,-1.1e-05 -4.5,-0.155457,0.00901,0.048901,-0.192797,-1.1e-05 -4.55,-0.064008,0.011147,0.041906,-0.182797,-1.1e-05 -4.6,-0.034407,0.00356,0.015419,-0.163616,-1.1e-05 -4.65,-0.026514,0.002005,0.009003,-0.158632,-1.1e-05 -4.7,-0.017752,0.001592,0.007232,-0.157248,-1.1e-05 -4.75,-0.007505,0.000645,0.002968,-0.153832,-1.1e-05 -4.8,-0.001822,0.000164,0.000731,-0.152022,-1.1e-05 -4.85,7e-06,1.4e-05,2.2e-05,-0.151447,-1.1e-05 -4.9,4e-06,2e-06,3e-06,-0.075292,-5e-06 -4.95,0.0,0.0,0.0,0.0,0.0 -5.0,0.0,0.0,0.0,0.0,0.0 -5.05,0.0,0.0,0.0,0.0,0.0 -5.1,0.0,0.0,0.0,0.0,0.0 -5.15,0.0,0.0,0.0,0.0,0.0 -5.2,0.0,0.0,0.0,0.0,0.0 -5.25,0.0,0.0,0.0,0.0,0.0 -5.3,0.0,0.0,0.0,0.0,0.0 -5.35,0.0,0.0,0.0,0.0,0.0 -5.4,0.0,0.0,0.0,0.0,0.0 -5.45,0.0,0.0,0.0,0.0,0.0 -5.5,0.0,0.0,0.0,0.0,0.0 -5.55,0.0,0.0,0.0,0.0,0.0 -5.6,0.0,0.0,0.0,0.0,0.0 -5.65,0.0,0.0,0.0,0.0,0.0 -5.7,0.0,0.0,0.0,0.0,0.0 -5.75,0.0,0.0,0.0,0.0,0.0 -5.8,0.0,0.0,0.0,0.0,0.0 -5.85,0.0,0.0,0.0,0.0,0.0 -5.9,0.0,0.0,0.0,0.0,0.0 -5.95,0.0,0.0,0.0,0.0,0.0 -6.0,0.0,0.0,0.0,0.0,0.0 -6.05,0.0,0.0,0.0,0.0,0.0 -6.1,0.0,0.0,0.0,0.0,0.0 -6.15,0.0,0.0,0.0,0.0,0.0 -6.2,0.0,0.0,0.0,0.0,0.0 -6.25,0.0,0.0,0.0,0.0,0.0 -6.3,0.0,0.0,0.0,0.0,0.0 -6.35,0.0,0.0,0.0,0.0,0.0 -6.4,0.0,0.0,0.0,0.0,0.0 -6.45,0.0,0.0,0.0,0.0,0.0 -6.5,0.0,0.0,0.0,0.0,0.0 -6.55,0.0,0.0,0.0,0.0,0.0 -6.6,0.0,0.0,0.0,0.0,0.0 -6.65,0.0,0.0,0.0,0.0,0.0 -6.7,0.0,0.0,0.0,0.0,0.0 -6.75,0.0,0.0,0.0,0.0,0.0 -6.8,0.0,0.0,0.0,0.0,0.0 -6.85,0.0,0.0,0.0,0.0,0.0 -6.9,0.0,0.0,0.0,0.0,0.0 -6.95,0.0,0.0,0.0,0.0,0.0 -7.0,0.0,0.0,0.0,0.0,0.0 -7.05,0.0,0.0,0.0,0.0,0.0 -7.1,0.0,0.0,0.0,0.0,0.0 -7.15,0.0,0.0,0.0,0.0,0.0 -7.2,0.0,0.0,0.0,0.0,0.0 -7.25,0.0,0.0,0.0,0.0,0.0 -7.3,0.0,0.0,0.0,0.0,0.0 -7.35,0.0,0.0,0.0,0.0,0.0 -7.4,0.0,0.0,0.0,0.0,0.0 -7.45,0.0,0.0,0.0,0.0,0.0 -7.5,0.0,0.0,0.0,0.0,0.0 -7.55,0.0,0.0,0.0,0.0,0.0 -7.6,0.0,0.0,0.0,0.0,0.0 -7.65,0.0,0.0,0.0,0.0,0.0 -7.7,0.0,0.0,0.0,0.0,0.0 -7.75,0.0,0.0,0.0,0.0,0.0 -7.8,0.0,0.0,0.0,0.0,0.0 -7.85,0.0,0.0,0.0,0.0,0.0 -7.9,0.0,0.0,0.0,0.0,0.0 -7.95,0.0,0.0,0.0,0.0,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.317957,12.918193,15.506716,39.763535,9.988606 +0.05,-0.164745,12.869353,15.311355,40.136901,9.988606 +0.1,2.059308,12.771673,14.920635,40.759179,9.988606 +0.15,4.530478,12.771673,14.774115,41.008090,9.988606 +0.2,8.978583,12.771673,14.236874,42.003734,9.988606 +0.25,15.403624,12.478632,12.039072,45.737399,9.988606 +0.3,17.298188,12.429792,11.355311,46.981954,9.988606 +0.35,18.286656,12.429792,11.013431,47.604231,9.988606 +0.4,18.533773,12.429792,10.866911,47.977598,9.988606 +0.45,18.533773,12.429792,10.818071,47.977598,9.988606 +0.5,18.121911,12.380952,10.769231,48.102054,9.988606 +0.55,16.886326,12.380952,11.306471,46.981954,9.988606 +0.6,14.662273,12.820513,13.504274,43.497200,9.988606 +0.65,12.602965,14.236874,18.095238,37.523335,9.988606 +0.7,10.790774,15.995116,22.979243,31.425016,9.988606 +0.75,3.459638,16.971917,25.763126,27.940261,9.988606 +0.8,-20.345964,17.167277,26.495726,26.820162,9.988606 +0.85,-27.512356,17.069597,26.007326,27.442439,9.988606 +0.9,-29.242175,16.923077,25.665446,27.815806,9.988606 +0.95,-31.301483,16.336996,24.200244,29.558183,9.988606 +1.0,-33.607908,13.943834,17.899878,36.901058,9.988606 +1.05,-34.761120,13.406593,16.336996,38.892346,9.988606 +1.1,-35.172982,13.308913,15.946276,39.390168,9.988606 +1.15,-35.172982,13.308913,15.995116,39.390168,9.988606 +1.2,-34.843493,13.357753,16.190476,39.141257,9.988606 +1.25,-33.772652,13.601954,16.971917,38.145613,9.988606 +1.3,-31.713344,14.188034,18.681319,35.905414,9.988606 +1.35,-28.418451,16.727717,25.177045,28.438083,9.988606 +1.4,-27.182867,17.362637,26.837607,26.571251,9.988606 +1.45,-22.981878,17.557998,27.277167,25.948973,9.988606 +1.5,-5.848435,17.997558,28.302808,24.953329,9.988606 +1.55,10.955519,18.388278,28.742369,25.077785,9.988606 +1.6,16.227348,18.437118,28.498168,25.700062,9.988606 +1.65,17.874794,18.388278,28.302808,25.948973,9.988606 +1.7,19.357496,18.144078,27.521368,26.944617,9.988606 +1.75,21.252059,16.776557,24.053724,31.051649,9.988606 +1.8,22.322900,15.555556,20.830281,34.909770,9.988606 +1.85,22.652389,15.311355,20.048840,35.905414,9.988606 +1.9,22.652389,15.213675,19.853480,36.154325,9.988606 +1.95,22.487644,15.213675,19.804640,36.154325,9.988606 +2.0,21.911038,15.360195,20.244200,35.532047,9.988606 +2.05,20.922570,15.946276,22.051282,33.291848,9.988606 +2.1,19.522241,19.120879,29.768010,24.455507,9.988606 +2.15,18.863262,19.902320,31.672772,22.339764,9.988606 +2.2,17.380560,20.097680,32.112332,21.841942,9.988606 +2.25,14.085667,20.244200,32.747253,20.970753,9.988606 +2.3,8.319605,19.951160,32.307692,21.219664,9.988606 +2.35,-10.214168,19.169719,31.037851,21.966397,9.988606 +2.4,-15.156507,18.876679,30.500611,22.464219,9.988606 +2.45,-16.556837,18.095238,28.547009,24.579963,9.988606 +2.5,-20.263591,15.018315,21.367521,32.545115,9.988606 +2.55,-22.817133,14.285714,19.462759,34.785314,9.988606 +2.6,-24.546952,13.992674,18.632479,35.780958,9.988606 +2.65,-25.288303,13.943834,18.388278,36.029869,9.988606 +2.7,-25.700165,13.894994,18.388278,36.029869,9.988606 +2.75,-26.359143,13.992674,18.583639,35.780958,9.988606 +2.8,-26.523888,14.285714,19.316239,34.909770,9.988606 +2.85,-25.947282,14.920635,20.976801,33.042937,9.988606 +2.9,-25.617792,16.141636,23.956044,29.682638,9.988606 +2.95,-24.135091,17.509158,27.130647,26.197884,9.988606 +3.0,-20.593081,18.339438,29.133089,23.957685,9.988606 +3.05,-13.673806,18.778999,30.109890,22.962041,9.988606 +3.1,8.731466,19.169719,30.500611,23.086497,9.988606 +3.15,13.756178,19.120879,30.402930,23.210952,9.988606 +3.2,15.156507,18.925519,29.670330,24.331052,9.988606 +3.25,18.286656,16.825397,24.444444,30.304916,9.988606 +3.3,19.851730,15.067155,19.804640,35.905414,9.988606 +3.35,20.345964,14.871795,19.120879,36.776602,9.988606 +3.4,20.263591,14.871795,19.120879,36.776602,9.988606 +3.45,20.181219,14.920635,19.267399,36.527691,9.988606 +3.5,19.851730,15.067155,19.755800,35.905414,9.988606 +3.55,19.192751,15.409035,20.781441,34.660859,9.988606 +3.6,18.286656,16.776557,24.346764,30.429371,9.988606 +3.65,17.462932,17.753358,26.788767,27.566895,9.988606 +3.7,16.721582,18.339438,28.205128,26.073429,9.988606 +3.75,14.085667,18.827839,29.474969,24.455507,9.988606 +3.8,5.518946,18.876679,30.061050,23.459863,9.988606 +3.85,2.471170,18.925519,30.207570,23.086497,9.988606 +3.9,1.647446,18.876679,30.158730,23.210952,9.988606 +3.95,0.658979,18.730159,29.865690,23.459863,9.988606 +4.0,-0.494234,18.192918,28.644689,24.704418,9.988606 +4.05,-1.317957,17.069597,26.153846,27.442439,9.988606 +4.1,-1.729819,14.041514,18.730159,35.780958,9.988606 +4.15,-1.812191,13.455433,17.118437,37.772246,9.988606 +4.2,-1.894563,13.308913,16.727717,38.270068,9.988606 +4.25,-1.894563,13.015873,15.848596,39.390168,9.988606 +4.3,-1.894563,12.918193,15.555556,39.639079,9.988606 +4.35,-1.812191,12.918193,15.555556,39.639079,9.988606 +4.4,-1.812191,12.918193,15.555556,39.639079,9.988606 +4.45,-1.812191,12.918193,15.555556,39.639079,9.988606 +4.5,-1.812191,12.918193,15.555556,39.639079,9.988606 +4.55,-1.729819,12.918193,15.555556,39.763535,9.988606 +4.6,-1.647446,12.918193,15.555556,39.763535,9.988606 +4.65,-1.647446,12.918193,15.555556,39.763535,9.988606 +4.7,-1.647446,12.918193,15.555556,39.763535,9.988606 +4.75,-1.647446,12.918193,15.555556,39.763535,9.988606 +4.8,-1.647446,12.918193,15.555556,39.763535,9.988606 +4.85,-1.647446,12.918193,15.555556,39.763535,9.988606 +4.9,-1.647446,12.918193,15.555556,39.763535,9.988606 +4.95,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.75,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.8,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.95,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.75,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.8,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +6.95,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.75,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.8,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +7.95,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/headshake.csv b/hal/recordings/headshake.csv index da10de5f9..ea5083834 100644 --- a/hal/recordings/headshake.csv +++ b/hal/recordings/headshake.csv @@ -1,71 +1,71 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,-0.000655,-3.4e-05,5.4e-05,-0.001267,0.001969 -0.05,-0.005301,-0.000554,-0.000102,-0.00404,0.007809 -0.1,-0.017912,-0.001952,-0.000502,-0.007844,0.01746 -0.15,-0.042472,-0.00467,-0.001302,-0.012546,0.030915 -0.2,-0.082965,-0.009146,-0.002586,-0.018109,0.048213 -0.25,-0.137907,-0.0152,-0.004334,-0.024536,0.069447 -0.3,-0.178416,-0.019652,-0.00563,-0.031861,0.094758 -0.35,-0.20299,-0.02234,-0.006398,-0.04014,0.124351 -0.4,-0.21561,-0.023728,-0.006794,-0.049453,0.158499 -0.45,-0.220259,-0.024226,-0.006948,-0.059907,0.197564 -0.5,-0.220923,-0.024306,-0.006972,-0.071643,0.242017 -0.55,-0.521209,-0.056714,-0.01636,-0.08485,0.292478 -0.6,-2.631232,-0.26245,-0.076698,-0.099778,0.349773 -0.65,-7.255395,-0.580102,-0.175408,-0.116778,0.415026 -0.7,-9.377772,-0.66475,-0.20566,-0.136353,0.489819 -0.75,-9.680434,-0.673654,-0.209216,-0.159275,0.576483 -0.8,-9.562842,-0.670288,-0.207866,-0.186838,0.67869 -0.85,-8.739009,-0.643346,-0.197552,-0.221521,0.802839 -0.9,-6.498929,-0.540618,-0.162352,-0.269523,0.962119 -0.95,-2.141803,-0.218132,-0.06357,-0.36897,1.195209 -1.0,4.915662,0.653316,0.186304,-0.513619,2.586411 -1.05,11.654132,1.916206,0.544268,-0.991117,7.481907 -1.1,15.525889,2.854284,0.813816,-2.71677,21.031633 -1.15,17.442015,3.382166,0.96758,-7.259122,60.005848 -1.2,18.135066,3.584128,1.026832,-19.34952,92.185998 -1.25,18.233509,3.613302,1.035414,-30.572661,110.202862 -1.3,18.131497,3.583088,1.026548,-34.602216,118.899113 -1.35,17.413166,3.373882,0.965152,-35.320035,111.05695 -1.4,15.42587,2.827932,0.806186,-33.101535,93.319597 -1.45,11.405619,1.861552,0.528692,-25.809277,70.242854 -1.5,4.400566,0.574674,0.164044,-13.694126,44.11223 -1.55,-5.587953,-0.48658,-0.145038,-3.992062,16.373919 -1.6,-13.014691,-0.718946,-0.235616,3.061825,-11.868512 -1.65,-17.426652,-0.625174,-0.233708,6.44016,-39.606826 -1.7,-19.643578,-0.508512,-0.21607,3.180894,-65.737443 -1.75,-20.450244,-0.45394,-0.206714,-9.792134,-88.814179 -1.8,-20.565006,-0.445656,-0.20524,-15.255496,-106.551579 -1.85,-20.313647,-0.463656,-0.208408,-14.390003,-114.393702 -1.9,-18.538628,-0.572692,-0.226318,-11.109926,-105.718733 -1.95,-13.604929,-0.716726,-0.237836,-6.772304,-87.740487 -2.0,-3.745427,-0.355676,-0.104644,-2.366124,-55.613019 -2.05,5.965335,0.821222,0.233804,0.273898,2.178016 -2.1,10.726436,1.715478,0.487108,-3.474577,60.005848 -2.15,12.426968,2.090322,0.59399,-10.011736,92.185895 -2.2,12.667332,2.145792,0.609848,-16.548894,110.2028 -2.25,12.59887,2.129934,0.605312,-20.297367,118.899127 -2.3,12.118165,2.019982,0.573874,-18.344585,112.569741 -2.35,10.800551,1.731182,0.49158,-14.495647,99.160816 -2.4,8.183662,1.21027,0.343836,-8.172986,74.415765 -2.45,3.740568,0.477436,0.136486,-2.30529,36.9342 -2.5,-2.472824,-0.24832,-0.072496,-0.418205,2.18189 -2.55,-7.120036,-0.573396,-0.173154,-1.359452,-32.559908 -2.6,-9.937989,-0.68061,-0.212086,-6.355544,-70.001256 -2.65,-11.379182,-0.708914,-0.225598,-12.184467,-94.70088 -2.7,-11.908633,-0.714744,-0.229452,-15.747561,-108.080026 -2.75,-11.984192,-0.715384,-0.229964,-17.559832,-114.393661 -2.8,-11.600158,-0.711656,-0.227286,-15.843182,-107.754294 -2.85,-8.900492,-0.649076,-0.199682,-12.525258,-93.585374 -2.9,-2.996446,-0.29418,-0.086162,-8.477918,-76.002636 -2.95,-0.302648,-0.033196,-0.009534,-3.967082,-57.004677 -3.0,0.080295,0.008988,0.002654,-0.177615,-38.006704 -3.05,0.080291,0.008988,0.002654,2.106027,-20.42398 -3.1,0.080248,0.00899,0.002648,3.257307,-6.255074 -3.15,0.080137,0.008976,0.002644,3.570518,0.384304 -3.2,0.079922,0.008952,0.002648,3.289653,0.384304 -3.25,0.079564,0.008908,0.002632,2.627229,0.384304 -3.3,0.079033,0.008848,0.002602,1.777742,0.384304 -3.35,0.078289,0.008772,0.002594,0.928323,0.384304 -3.4,0.0773,0.00866,0.002558,0.26844,0.384304 -3.45,0.07603,0.008516,0.002528,0.0,0.384304 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.918193,15.555556,39.763535,10.064565 +0.05,-1.647446,12.918193,15.555556,39.763535,10.064565 +0.1,-1.647446,12.918193,15.555556,39.763535,10.064565 +0.15,-1.729819,12.918193,15.555556,39.763535,10.064565 +0.2,-1.729819,12.918193,15.555556,39.763535,10.064565 +0.25,-1.812191,12.918193,15.555556,39.763535,10.064565 +0.3,-1.812191,12.918193,15.555556,39.763535,10.140524 +0.35,-1.812191,12.918193,15.555556,39.763535,10.140524 +0.4,-1.894563,12.918193,15.555556,39.763535,10.140524 +0.45,-1.894563,12.918193,15.555556,39.763535,10.216483 +0.5,-1.894563,12.918193,15.555556,39.763535,10.216483 +0.55,-2.141680,12.918193,15.555556,39.763535,10.292442 +0.6,-4.283361,12.820513,15.506716,39.763535,10.292442 +0.65,-8.896211,12.722833,15.506716,39.763535,10.368401 +0.7,-11.037891,12.673993,15.506716,39.763535,10.444360 +0.75,-11.285008,12.673993,15.506716,39.763535,10.520319 +0.8,-11.202636,12.673993,15.506716,39.639079,10.596278 +0.85,-10.378913,12.673993,15.506716,39.639079,10.672237 +0.9,-8.154860,12.722833,15.506716,39.639079,10.824155 +0.95,-3.789127,12.820513,15.555556,39.514624,11.052032 +1.0,3.294893,13.162393,15.604396,39.514624,12.191417 +1.05,9.967051,13.553114,15.750916,39.141257,16.217243 +1.1,13.838550,13.894994,15.848596,38.021157,27.535131 +1.15,15.815486,14.090354,15.897436,34.909770,59.893657 +1.2,16.474465,14.139194,15.897436,26.695706,86.631219 +1.25,16.556837,14.139194,15.897436,19.103920,93.163692 +1.3,16.474465,14.139194,15.897436,16.365899,93.163692 +1.35,15.733114,14.090354,15.897436,15.868077,93.163692 +1.4,13.756178,13.894994,15.848596,17.361543,87.542727 +1.45,9.719934,13.553114,15.750916,22.339764,68.401063 +1.5,2.718287,13.113553,15.604396,30.553827,46.676795 +1.55,-7.248764,12.771673,15.506716,37.149969,23.661223 +1.6,-14.662273,12.673993,15.457875,41.879278,0.189897 +1.65,-19.028007,12.722833,15.457875,44.243933,-22.901633 +1.7,-21.252059,12.722833,15.457875,42.003734,-44.625902 +1.75,-22.075783,12.771673,15.506716,33.167393,-63.767566 +1.8,-22.240527,12.771673,15.506716,29.558183,-73.034561 +1.85,-21.993410,12.771673,15.506716,30.056005,-73.034561 +1.9,-20.181219,12.722833,15.457875,32.296204,-73.034561 +1.95,-15.238880,12.673993,15.457875,35.283136,-62.856058 +2.0,-5.354201,12.771673,15.506716,38.270068,-36.194455 +2.05,4.283361,13.211233,15.653236,40.012446,11.811622 +2.1,9.060956,13.504274,15.702076,37.523335,59.893657 +2.15,10.790774,13.650794,15.750916,33.042937,86.631219 +2.2,11.037891,13.650794,15.750916,28.562539,93.163692 +2.25,10.955519,13.650794,15.750916,26.073429,93.163692 +2.3,10.461285,13.601954,15.750916,27.442439,93.163692 +2.35,9.143328,13.504274,15.750916,30.056005,92.404102 +2.4,6.507414,13.357753,15.653236,34.287492,71.895177 +2.45,2.059308,13.064713,15.604396,38.270068,40.751994 +2.5,-4.118616,12.820513,15.506716,39.514624,11.811622 +2.55,-8.731466,12.722833,15.506716,38.892346,-17.052791 +2.6,-11.614498,12.673993,15.457875,35.532047,-48.120015 +2.65,-13.014827,12.673993,15.457875,31.549471,-68.704899 +2.7,-13.591433,12.673993,15.457875,29.184816,-73.034561 +2.75,-13.591433,12.673993,15.457875,27.940261,-73.034561 +2.8,-13.261944,12.673993,15.457875,29.060361,-73.034561 +2.85,-10.543657,12.673993,15.506716,31.300560,-67.717433 +2.9,-4.612850,12.820513,15.506716,34.038581,-53.133308 +2.95,-1.976936,12.918193,15.555556,37.149969,-37.333840 +3.0,-1.565074,12.918193,15.555556,39.763535,-21.534371 +3.05,-1.565074,12.918193,15.555556,41.257001,-6.950247 +3.1,-1.565074,12.918193,15.555556,42.003734,4.823395 +3.15,-1.565074,12.918193,15.555556,42.252645,10.368401 +3.2,-1.565074,12.918193,15.555556,42.003734,10.368401 +3.25,-1.565074,12.918193,15.555556,41.630367,10.368401 +3.3,-1.565074,12.918193,15.555556,41.008090,10.368401 +3.35,-1.565074,12.918193,15.555556,40.510268,10.368401 +3.4,-1.565074,12.918193,15.555556,40.012446,10.368401 +3.45,-1.565074,12.918193,15.555556,39.887990,10.368401 diff --git a/hal/recordings/idle.csv b/hal/recordings/idle.csv old mode 100755 new mode 100644 index 986e97dee..b8aca8f27 --- a/hal/recordings/idle.csv +++ b/hal/recordings/idle.csv @@ -1,201 +1,201 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.00012,-0.003339,49.99913,-186.07723,-0.005061 -0.05,0.000234,-0.00816,49.997807,-186.07723,-0.012261 -0.1,0.000358,-0.015126,49.995866,-186.07723,-0.02253 -0.15,0.000494,-0.025194,49.992956,-186.07723,-0.037185 -0.2,0.00064,-0.039747,49.988603,-186.07723,-0.058092 -0.25,0.000802,-0.060852,49.981958,-186.07723,-0.087924 -0.3,0.000978,-0.091428,49.97186,-186.07723,-0.130491 -0.35,0.001172,-0.135864,49.956206,-186.07723,-0.191226 -0.4,0.00138,-0.200535,49.931654,-186.07723,-0.277887 -0.45,0.001608,-0.294951,49.892732,-186.07723,-0.401535 -0.5,0.001862,-0.433233,49.830083,-186.07723,-0.577959 -0.55,0.002142,-0.63363,49.736426,-186.07723,-0.829686 -0.6,0.002452,-0.908955,49.640717,-186.07723,-1.188855 -0.65,0.0028,-1.295745,49.531616,-186.07723,-1.701315 -0.7,0.003196,-1.847328,49.39127,-186.07723,-2.432484 -0.75,0.003658,-2.638341,49.200467,-186.07723,-3.475674 -0.8,0.004214,-3.774888,48.936482,-186.07723,-4.963957 -0.85,0.004908,-5.408434,48.571628,-186.07723,-7.087024 -0.9,0.005828,-7.755176,48.074252,-186.07723,-10.115081 -0.95,0.006938,-10.094689,47.60894,-185.379014,-14.049273 -1.0,0.008096,-11.714501,47.304647,-185.414063,-17.065777 -1.05,0.009294,-12.83685,47.102426,-185.341434,-19.173678 -1.1,0.01055,-13.614915,46.96643,-185.220458,-20.647624 -1.15,0.011862,-14.153256,46.877345,-185.072782,-21.678746 -1.2,0.013244,-14.525578,46.81931,-184.909206,-22.400324 -1.25,0.014712,-14.782158,46.783835,-184.73604,-22.905453 -1.3,0.016282,-14.957453,46.766222,-184.557434,-23.259148 -1.35,0.017972,-15.074781,46.764704,-184.376267,-23.506848 -1.4,0.019794,-15.149454,46.78025,-184.194689,-23.680342 -1.45,0.02176,-15.190712,46.817027,-184.014362,-23.801859 -1.5,0.023886,-15.202802,46.883118,-183.836658,-23.886992 -1.55,0.0262,-15.185376,46.99241,-183.662734,-23.94664 -1.6,0.02871,-15.132891,47.167475,-183.493564,-23.988415 -1.65,0.031434,-15.033184,47.44426,-183.330029,-24.017696 -1.7,0.0344,-14.864895,47.879375,-183.172999,-24.038197 -1.75,0.037622,-14.592606,48.561902,-183.023121,-24.052568 -1.8,0.041132,-14.159283,49.632068,-182.881265,-24.062647 -1.85,0.044948,-13.473425,51.310712,-182.748086,-24.069693 -1.9,0.049094,-12.503553,53.654063,-182.624251,-24.074629 -1.95,0.053604,-11.796669,55.347242,-182.510529,-24.062944 -2.0,0.058504,-11.33727,56.433607,-182.407676,-24.045225 -2.05,0.063826,-11.035473,57.13067,-182.316432,-24.018359 -2.1,0.06961,-10.831821,57.578552,-182.237553,-23.97746 -2.15,0.075868,-10.686264,57.867695,-182.171891,-23.915187 -2.2,0.082638,-10.570704,58.05638,-182.120347,-23.820346 -2.25,0.089932,-10.463536,58.182614,-182.083864,-23.675972 -2.3,0.097746,-10.345677,58.271609,-182.063425,-23.456188 -2.35,0.106054,-10.197135,58.340863,-182.060156,-23.121587 -2.4,0.114784,-9.993438,58.403533,-182.075299,-22.612225 -2.45,0.12379,-9.701725,58.471256,-182.110123,-21.836893 -2.5,0.132822,-9.275153,58.556306,-182.166123,-20.656686 -2.55,0.141468,-8.645394,58.674158,-182.24495,-18.860314 -2.6,0.149136,-7.711458,58.847075,-182.348407,-16.126161 -2.65,0.15499,-6.322893,59.109818,-182.478553,-11.964873 -2.7,0.158006,-4.257708,59.512442,-182.637775,-5.631651 -2.75,0.158488,-1.48114,60.092762,-182.644844,2.999118 -2.8,0.163008,0.597969,60.551735,-182.651924,9.332994 -2.85,0.17114,1.997754,60.866636,-182.658993,13.495551 -2.9,0.181994,2.93688,61.072169,-182.666062,16.231516 -2.95,0.19512,3.563067,61.194283,-182.673142,18.030172 -3.0,0.210308,3.975006,61.249339,-182.680201,19.213121 -3.05,0.227468,4.237887,61.24523,-182.68728,19.991691 -3.1,0.24659,4.393401,61.181162,-182.69435,20.50484 -3.15,0.26773,4.466391,61.047728,-182.701429,20.843859 -3.2,0.290972,4.468765,60.825031,-182.708498,21.068784 -3.25,0.316446,4.401531,60.479855,-182.715568,21.219057 -3.3,0.344302,4.255236,59.96069,-182.722647,21.320583 -3.35,0.374714,4.008744,59.19038,-182.729716,21.390281 -3.4,0.40789,3.626813,58.054835,-182.736786,21.439104 -3.45,0.444056,3.055791,56.386859,-182.743865,21.473846 -3.5,0.483464,2.218251,53.94329,-182.750934,21.498347 -3.55,0.526394,1.006761,50.372345,-182.758004,21.514066 -3.6,0.573148,-0.173136,46.827254,-182.765083,21.504684 -3.65,0.624102,-0.958023,44.429566,-182.772152,21.482958 -3.7,0.67958,-1.481472,42.805247,-182.779232,21.451263 -3.75,0.739978,-1.831854,41.703566,-182.786301,21.412671 -3.8,0.80574,-2.066835,40.955856,-182.79337,21.367674 -3.85,0.877352,-2.224698,40.448105,-182.80045,21.315108 -3.9,0.955344,-2.331234,40.103171,-182.807519,21.252356 -3.95,1.040304,-2.404236,39.868538,-182.814588,21.175239 -4.0,1.132902,-2.456613,39.708366,-182.821668,21.07794 -4.05,1.231762,-2.49876,39.597953,-182.828727,20.95247 -4.1,1.324922,-2.541228,39.519464,-183.186676,20.78805 -4.15,1.411186,-2.594571,39.460091,-183.625953,20.570196 -4.2,1.491622,-2.672496,39.409409,-183.980993,20.279408 -4.25,1.567558,-2.795172,39.357785,-184.625821,19.889409 -4.3,1.640834,-2.994138,39.294236,-185.404125,19.364803 -4.35,1.709312,-3.191949,39.235854,-186.394854,18.657793 -4.4,1.770302,-3.310938,39.20009,-187.610119,17.703909 -4.45,1.825074,-3.381962,39.178265,-189.477906,16.41606 -4.5,1.874576,-3.421602,39.172073,-191.958555,14.676603 -4.55,1.919528,-3.443292,39.171986,-194.988075,12.32658 -4.6,1.960488,-3.453627,39.177293,-197.28265,9.151229 -4.65,1.9979,-3.456298,39.18854,-200.779601,4.860239 -4.7,2.032132,-3.453138,39.207302,-204.045306,-0.938985 -4.75,2.06349,-3.444555,39.236681,-205.987484,-6.738138 -4.8,2.092235,-3.429792,39.281802,-208.560915,-11.028774 -4.85,2.11861,-3.406865,39.350492,-211.321844,-14.203425 -4.9,2.14281,-3.372168,39.454979,-212.918582,-16.552332 -4.95,2.165024,-3.319869,39.613874,-214.252016,-18.290253 -5.0,2.18542,-3.240969,39.855545,-215.008589,-19.576086 -5.05,2.20398,-3.11808,40.224218,-215.992669,-20.527392 -5.1,2.22091,-2.930997,40.785638,-216.852177,-21.231198 -5.15,2.236262,-2.644788,41.641313,-217.355046,-21.751903 -5.2,2.250022,-2.205075,42.946544,-218.02101,-22.137102 -5.25,2.262102,-1.525869,44.939975,-218.609315,-22.422095 -5.3,2.272251,-0.577137,47.671073,-219.112789,-22.633128 -5.35,2.28001,0.167532,49.693748,-219.556122,-22.789338 -5.4,2.284516,0.727635,51.043433,-219.814949,-22.904994 -5.45,2.284312,1.206789,51.959462,-220.153013,-22.990688 -5.5,2.276966,1.704189,52.608074,-220.444009,-23.054253 -5.55,2.258556,2.33475,53.112212,-220.608364,-23.101481 -5.6,2.22298,3.256342,53.575647,-220.812594,-23.136709 -5.65,2.161322,4.710354,54.107606,-220.975688,-23.163147 -5.7,2.074674,6.787484,54.772406,-221.087669,-23.183161 -5.75,2.020611,8.212715,55.238864,-221.157368,-23.198593 -5.8,1.991244,9.06748,55.527358,-221.173289,-23.210811 -5.85,1.975532,9.580099,55.70459,-221.137103,-23.220905 -5.9,1.967558,9.887566,55.813103,-221.047733,-23.214814 -5.95,1.963996,10.07205,55.879505,-221.004191,-23.205942 -6.0,1.962954,10.18278,55.920107,-220.961847,-23.19303 -6.05,1.963314,10.249289,55.94498,-220.923202,-23.174325 -6.1,1.964434,10.289268,55.960229,-220.887067,-23.147316 -6.15,1.965928,10.312617,55.967219,-220.794234,-23.108286 -6.2,1.967588,10.32664,55.971455,-220.643536,-23.05204 -6.25,1.969276,10.335125,55.974044,-220.391625,-22.970976 -6.3,1.970928,10.340268,55.975726,-220.035663,-22.854239 -6.35,1.972506,10.343436,55.976804,-219.716144,-22.686114 -6.4,1.974234,10.339113,55.975741,-219.090495,-22.443918 -6.45,1.975922,10.332582,55.974095,-218.29919,-22.094746 -6.5,1.977618,10.322817,55.971619,-217.64841,-21.590934 -6.55,1.979396,10.308243,55.967885,-216.464249,-20.863477 -6.6,1.981354,10.286474,55.962251,-214.339121,-19.813329 -6.65,1.98364,10.254063,55.95386,-212.207437,-18.323148 -6.7,1.986466,10.205831,55.941218,-209.856779,-16.231077 -6.75,1.990144,10.134036,55.922339,-208.252818,-13.302282 -6.8,1.995134,10.027307,55.894133,-205.901341,-9.20327 -6.85,2.00214,9.868578,55.85204,-203.556083,-3.464169 -6.9,2.012216,9.632569,55.789349,-201.959632,3.897603 -6.95,2.026982,9.281811,55.696262,-199.616311,9.627369 -7.0,2.048953,8.760524,55.558436,-196.880912,13.711459 -7.05,2.08214,7.986093,55.355448,-195.475659,16.622805 -7.1,2.133136,6.835977,55.058696,-194.327859,18.69827 -7.15,2.213347,5.124834,54.617108,-193.687662,20.177898 -7.2,2.343948,2.580492,53.968685,-192.865324,21.232786 -7.25,2.544696,-0.819357,53.145293,-192.154568,21.984834 -7.3,2.71849,-3.347433,52.573856,-191.74237,22.521006 -7.35,2.849476,-5.042842,52.210985,-191.199861,22.903286 -7.4,2.945032,-6.180861,51.97667,-190.722861,23.175841 -7.45,3.013099,-6.945252,51.823574,-190.442991,23.370143 -7.5,3.060788,-7.458975,51.722681,-190.072603,23.508682 -7.55,3.09382,-7.804344,51.655757,-189.746312,23.607449 -7.6,3.116532,-8.036598,51.611189,-189.468685,23.677857 -7.65,3.132072,-8.19279,51.581435,-189.225616,23.728062 -7.7,3.142692,-8.297851,51.56153,-189.084589,23.763843 -7.75,3.149948,-8.368548,51.548207,-188.901455,23.789362 -7.8,3.154906,-8.416089,51.53924,-188.849112,23.807552 -7.85,3.158309,-8.448074,51.533276,-188.796768,23.82052 -7.9,3.160652,-8.469576,51.529247,-188.744425,23.829828 -7.95,3.162277,-8.48406,51.526541,-188.655814,23.825051 -8.0,3.163416,-8.493787,51.524726,-188.57836,23.818289 -8.05,3.164222,-8.500323,51.523523,-188.511376,23.808705 -8.1,3.1648,-8.504726,51.522719,-188.454279,23.795184 -8.15,3.164087,-8.503284,51.526841,-188.406505,23.776058 -8.2,3.163054,-8.500158,51.53576,-188.367501,23.748978 -8.25,3.161548,-8.493366,51.554975,-188.336786,23.710696 -8.3,3.15938,-8.478618,51.596546,-188.313888,23.65657 -8.35,3.1563,-8.44675,51.686399,-188.298325,23.579966 -8.4,3.152002,-8.377959,51.880439,-188.289709,23.471645 -8.45,3.146208,-8.229357,52.299881,-188.287568,23.318425 -8.5,3.138864,-7.908,53.206934,-188.291533,23.10166 -8.55,3.129172,-7.194588,55.174511,-188.301184,22.795026 -8.6,3.109297,-6.446037,57.155225,-188.31608,22.361177 -8.65,3.076567,-6.097964,58.074557,-188.335854,21.74728 -8.7,3.026918,-5.938821,58.50011,-188.360043,20.878416 -8.75,2.953245,-5.869179,58.696354,-188.388217,19.648464 -8.8,2.844648,-5.843136,58.785737,-188.419885,17.906853 -8.85,2.68484,-5.840262,58.825066,-188.454566,15.440058 -8.9,2.44977,-5.852359,58.840219,-188.491633,11.945037 -8.95,2.103972,-5.87755,58.842771,-188.530483,8.445048 -9.0,1.594844,-5.912445,58.838483,-188.570337,5.968797 -9.05,1.084984,-5.945475,58.824777,-188.610263,4.217358 -9.1,0.737524,-5.956444,58.809076,-188.649175,2.978751 -9.15,0.50071,-5.940867,58.784054,-188.685556,2.10288 -9.2,0.3392,-5.883354,58.735762,-188.717449,1.483533 -9.25,0.228854,-5.748252,58.634312,-188.742048,1.045587 -9.3,0.153192,-5.459644,58.415774,-188.75506,0.735912 -9.35,0.101,-4.858098,57.94311,-188.749282,0.516942 -9.4,0.064692,-3.6045,56.928008,-188.710616,0.362103 -9.45,0.04002,-1.633962,54.630983,-188.60262,0.252618 -9.5,0.02559,-0.85425,52.105418,-188.889427,0.175203 -9.55,0.016656,-0.43365,50.96003,-188.889427,0.120459 -9.6,0.01084,-0.216402,50.437373,-188.889427,0.08175 -9.65,0.006964,-0.106386,50.198201,-188.889427,0.054381 -9.7,0.004354,-0.051228,50.088638,-188.889427,0.035025 -9.75,0.002584,-0.023733,50.038424,-188.889427,0.021339 -9.8,0.001384,-0.010086,50.015408,-188.889427,0.011664 -9.85,0.00057,-0.00333,50.004878,-188.889427,0.004821 -9.9,1.6e-05,0.0,50.000015,-188.889427,-1.8e-05 -9.95,0.0,0.0,50.0,-188.889427,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.918193,15.555556,-8.027380,9.988606 +0.05,-1.647446,12.918193,15.555556,-8.027380,9.988606 +0.1,-1.647446,12.918193,15.555556,-8.027380,9.988606 +0.15,-1.647446,12.918193,15.555556,-8.027380,9.988606 +0.2,-1.647446,12.918193,15.555556,-8.027380,9.988606 +0.25,-1.647446,12.918193,15.555556,-8.027380,9.988606 +0.3,-1.647446,12.918193,15.555556,-8.027380,9.988606 +0.35,-1.647446,12.869353,15.555556,-8.027380,9.912647 +0.4,-1.647446,12.869353,15.555556,-8.027380,9.836688 +0.45,-1.647446,12.869353,15.506716,-8.027380,9.836688 +0.5,-1.647446,12.820513,15.506716,-8.027380,9.684770 +0.55,-1.647446,12.771673,15.506716,-8.027380,9.532852 +0.6,-1.647446,12.722833,15.457875,-8.027380,9.380934 +0.65,-1.647446,12.625153,15.457875,-8.027380,9.077098 +0.7,-1.647446,12.478632,15.409035,-8.027380,8.697303 +0.75,-1.647446,12.332112,15.360195,-8.027380,8.089632 +0.8,-1.647446,12.039072,15.311355,-8.027380,7.254083 +0.85,-1.647446,11.697192,15.213675,-8.027380,6.114698 +0.9,-1.647446,11.159951,15.115995,-8.027380,4.443600 +0.95,-1.647446,10.622711,15.018315,-7.778469,2.240790 +1.0,-1.647446,10.231990,14.920635,-7.778469,0.569692 +1.05,-1.647446,9.987790,14.871795,-7.778469,-0.569692 +1.1,-1.647446,9.792430,14.871795,-7.654014,-1.405241 +1.15,-1.647446,9.694750,14.822955,-7.654014,-2.012913 +1.2,-1.647446,9.597070,14.822955,-7.529558,-2.392708 +1.25,-1.647446,9.548230,14.822955,-7.405103,-2.696544 +1.3,-1.647446,9.499389,14.822955,-7.405103,-2.848462 +1.35,-1.647446,9.450549,14.822955,-7.280647,-3.000380 +1.4,-1.647446,9.450549,14.822955,-7.156192,-3.076339 +1.45,-1.647446,9.450549,14.822955,-7.156192,-3.152298 +1.5,-1.647446,9.450549,14.822955,-7.031736,-3.228257 +1.55,-1.647446,9.450549,14.871795,-6.907281,-3.228257 +1.6,-1.647446,9.450549,14.871795,-6.907281,-3.228257 +1.65,-1.647446,9.450549,14.969475,-6.782825,-3.304216 +1.7,-1.647446,9.499389,15.067155,-6.782825,-3.304216 +1.75,-1.647446,9.548230,15.213675,-6.658370,-3.304216 +1.8,-1.647446,9.645910,15.457875,-6.658370,-3.304216 +1.85,-1.647446,9.841270,15.848596,-6.533914,-3.304216 +1.9,-1.647446,10.036630,16.385836,-6.533914,-3.304216 +1.95,-1.647446,10.231990,16.825397,-6.409459,-3.304216 +2.0,-1.647446,10.329670,17.069597,-6.409459,-3.304216 +2.05,-1.647446,10.378510,17.216117,-6.409459,-3.304216 +2.1,-1.647446,10.427350,17.313797,-6.285003,-3.228257 +2.15,-1.647446,10.476190,17.411477,-6.285003,-3.228257 +2.2,-1.565074,10.476190,17.411477,-6.285003,-3.152298 +2.25,-1.565074,10.525031,17.460317,-6.285003,-3.076339 +2.3,-1.565074,10.525031,17.460317,-6.285003,-3.000380 +2.35,-1.565074,10.573871,17.509158,-6.285003,-2.772503 +2.4,-1.565074,10.622711,17.509158,-6.285003,-2.468667 +2.45,-1.565074,10.671551,17.509158,-6.285003,-2.088872 +2.5,-1.565074,10.769231,17.557998,-6.285003,-1.405241 +2.55,-1.565074,10.915751,17.557998,-6.285003,-0.417774 +2.6,-1.565074,11.159951,17.606838,-6.409459,1.101405 +2.65,-1.565074,11.452991,17.655678,-6.409459,3.380175 +2.7,-1.565074,11.941392,17.753358,-6.533914,6.874288 +2.75,-1.565074,12.576313,17.899878,-6.533914,11.659704 +2.8,-1.565074,13.064713,17.997558,-6.658370,15.229776 +2.85,-1.565074,13.357753,18.095238,-6.782825,17.508545 +2.9,-1.565074,13.601954,18.144078,-6.907281,19.027725 +2.95,-1.565074,13.748474,18.144078,-7.156192,20.015192 +3.0,-1.565074,13.846154,18.192918,-7.280647,20.698823 +3.05,-1.565074,13.894994,18.192918,-7.529558,21.078618 +3.1,-1.565074,13.943834,18.144078,-7.778469,21.382453 +3.15,-1.482702,13.943834,18.144078,-8.027380,21.610330 +3.2,-1.482702,13.943834,18.095238,-8.400747,21.686289 +3.25,-1.482702,13.943834,17.997558,-8.774113,21.762248 +3.3,-1.482702,13.894994,17.899878,-9.645302,21.838207 +3.35,-1.482702,13.846154,17.704518,-10.267579,21.914166 +3.4,-1.482702,13.748474,17.411477,-11.138768,21.914166 +3.45,-1.400329,13.601954,17.020757,-12.134412,21.914166 +3.5,-1.400329,13.406593,16.483516,-13.130056,21.914166 +3.55,-1.400329,13.162393,15.653236,-14.125700,21.914166 +3.6,-1.400329,12.869353,14.822955,-15.245800,21.914166 +3.65,-1.317957,12.722833,14.236874,-16.116988,21.914166 +3.7,-1.317957,12.576313,13.894994,-16.988177,21.914166 +3.75,-1.317957,12.478632,13.601954,-17.859365,21.914166 +3.8,-1.235585,12.429792,13.455433,-18.606098,21.838207 +3.85,-1.235585,12.429792,13.308913,-19.477287,21.838207 +3.9,-1.153213,12.380952,13.260073,-19.975109,21.838207 +3.95,-1.153213,12.380952,13.211233,-20.348475,21.762248 +4.0,-1.070840,12.332112,13.162393,-20.721842,21.686289 +4.05,-1.070840,12.332112,13.113553,-21.095208,21.610330 +4.1,-0.988468,12.332112,13.113553,-21.468575,21.534371 +4.15,-0.906096,12.332112,13.113553,-21.717486,21.458412 +4.2,-0.906096,12.283272,13.064713,-21.966397,21.230536 +4.25,-0.823723,12.283272,13.064713,-22.215308,21.078618 +4.3,-0.823723,12.234432,13.064713,-22.339764,20.774782 +4.35,-0.823723,12.185592,13.064713,-22.588675,20.394987 +4.4,-0.741351,12.136752,13.015873,-22.713130,19.863274 +4.45,-0.741351,12.136752,13.015873,-22.837586,19.103684 +4.5,-0.741351,12.136752,13.015873,-23.086497,18.192176 +4.55,-0.658979,12.136752,13.015873,-23.210952,16.824915 +4.6,-0.658979,12.136752,13.015873,-23.335408,15.077858 +4.65,-0.658979,12.136752,13.015873,-23.335408,12.723130 +4.7,-0.658979,12.136752,13.064713,-23.459863,9.532852 +4.75,-0.576606,12.136752,13.064713,-23.584319,6.266616 +4.8,-0.576606,12.136752,13.064713,-23.584319,3.911888 +4.85,-0.576606,12.136752,13.064713,-23.708774,2.164831 +4.9,-0.576606,12.136752,13.113553,-23.708774,0.873528 +4.95,-0.576606,12.136752,13.113553,-23.833230,-0.113938 +5.0,-0.576606,12.185592,13.211233,-23.833230,-0.797569 +5.05,-0.576606,12.185592,13.260073,-23.833230,-1.329282 +5.1,-0.576606,12.234432,13.406593,-23.833230,-1.709077 +5.15,-0.494234,12.332112,13.601954,-23.833230,-2.012913 +5.2,-0.494234,12.429792,13.894994,-23.833230,-2.240790 +5.25,-0.494234,12.576313,14.383394,-23.833230,-2.392708 +5.3,-0.494234,12.771673,15.018315,-23.833230,-2.544626 +5.35,-0.494234,12.967033,15.506716,-23.833230,-2.620585 +5.4,-0.494234,13.064713,15.799756,-23.833230,-2.696544 +5.45,-0.494234,13.211233,15.995116,-23.833230,-2.696544 +5.5,-0.494234,13.308913,16.141636,-23.833230,-2.772503 +5.55,-0.494234,13.455433,16.288156,-23.708774,-2.772503 +5.6,-0.576606,13.650794,16.385836,-23.708774,-2.772503 +5.65,-0.576606,13.992674,16.532357,-23.708774,-2.772503 +5.7,-0.576606,14.481074,16.678877,-23.708774,-2.848462 +5.75,-0.658979,14.822955,16.776557,-23.584319,-2.848462 +5.8,-0.658979,15.018315,16.825397,-23.459863,-2.848462 +5.85,-0.658979,15.115995,16.874237,-23.335408,-2.848462 +5.9,-0.658979,15.164835,16.923077,-23.210952,-2.848462 +5.95,-0.658979,15.213675,16.923077,-23.086497,-2.848462 +6.0,-0.658979,15.262515,16.923077,-22.837586,-2.848462 +6.05,-0.658979,15.262515,16.923077,-22.588675,-2.848462 +6.1,-0.658979,15.262515,16.923077,-22.339764,-2.772503 +6.15,-0.658979,15.262515,16.923077,-21.966397,-2.772503 +6.2,-0.658979,15.311355,16.923077,-21.593030,-2.772503 +6.25,-0.658979,15.311355,16.923077,-20.846297,-2.696544 +6.3,-0.658979,15.311355,16.971917,-20.224020,-2.620585 +6.35,-0.658979,15.311355,16.971917,-19.477287,-2.544626 +6.4,-0.658979,15.311355,16.971917,-18.730554,-2.392708 +6.45,-0.658979,15.311355,16.923077,-18.108276,-2.240790 +6.5,-0.658979,15.262515,16.923077,-17.361543,-1.936954 +6.55,-0.658979,15.262515,16.923077,-16.614810,-1.557159 +6.6,-0.658979,15.262515,16.923077,-15.992533,-0.949487 +6.65,-0.658979,15.262515,16.923077,-15.245800,-0.113938 +6.7,-0.658979,15.262515,16.923077,-14.499067,1.025446 +6.75,-0.658979,15.262515,16.923077,-13.876789,2.620585 +6.8,-0.658979,15.213675,16.923077,-12.881145,4.899354 +6.85,-0.658979,15.164835,16.923077,-12.507778,8.089632 +6.9,-0.658979,15.115995,16.923077,-12.134412,12.191417 +6.95,-0.658979,15.067155,16.874237,-11.761045,15.381694 +7.0,-0.658979,14.920635,16.874237,-11.512134,17.660463 +7.05,-0.576606,14.774115,16.825397,-11.263223,19.255602 +7.1,-0.576606,14.481074,16.727717,-11.014312,20.394987 +7.15,-0.576606,14.090354,16.630037,-10.765401,21.230536 +7.2,-0.494234,13.504274,16.483516,-10.640946,21.762248 +7.25,-0.411862,12.722833,16.288156,-10.392035,22.218002 +7.3,-0.329489,12.136752,16.141636,-10.267579,22.521838 +7.35,-0.247117,11.746032,16.092796,-10.143124,22.749715 +7.4,-0.164745,11.501832,15.995116,-10.018668,22.901633 +7.45,-0.164745,11.306471,15.995116,-9.894213,22.977592 +7.5,-0.082372,11.208791,15.946276,-9.769757,23.053551 +7.55,-0.082372,11.111111,15.946276,-9.769757,23.129510 +7.6,-0.082372,11.062271,15.946276,-9.645302,23.129510 +7.65,-0.082372,11.062271,15.946276,-9.520846,23.205469 +7.7,-0.082372,11.013431,15.897436,-9.520846,23.205469 +7.75,-0.082372,11.013431,15.897436,-9.396391,23.205469 +7.8,-0.082372,10.964591,15.897436,-9.396391,23.205469 +7.85,-0.082372,10.964591,15.897436,-9.271935,23.205469 +7.9,-0.082372,10.964591,15.897436,-9.271935,23.205469 +7.95,-0.082372,10.964591,15.897436,-9.271935,23.205469 +8.0,-0.082372,10.964591,15.897436,-9.147480,23.205469 +8.05,-0.082372,10.964591,15.897436,-9.147480,23.205469 +8.1,-0.082372,10.964591,15.897436,-9.147480,23.205469 +8.15,-0.082372,10.964591,15.897436,-9.147480,23.205469 +8.2,-0.082372,10.964591,15.897436,-9.147480,23.205469 +8.25,-0.082372,10.964591,15.897436,-9.023024,23.129510 +8.3,-0.082372,10.964591,15.946276,-9.023024,23.129510 +8.35,-0.082372,10.964591,15.946276,-9.023024,23.053551 +8.4,-0.082372,11.013431,15.995116,-9.023024,23.053551 +8.45,-0.082372,11.013431,16.092796,-9.023024,22.977592 +8.5,-0.082372,11.111111,16.288156,-9.023024,22.825674 +8.55,-0.082372,11.257631,16.776557,-9.023024,22.673756 +8.6,-0.082372,11.452991,17.216117,-9.023024,22.445879 +8.65,-0.082372,11.501832,17.460317,-9.023024,22.066084 +8.7,-0.164745,11.550672,17.557998,-9.023024,21.610330 +8.75,-0.164745,11.550672,17.557998,-9.147480,20.926700 +8.8,-0.247117,11.599512,17.606838,-9.147480,19.939233 +8.85,-0.329489,11.599512,17.606838,-9.147480,18.571971 +8.9,-0.411862,11.599512,17.606838,-9.147480,16.672997 +8.95,-0.576606,11.550672,17.606838,-9.147480,14.698063 +9.0,-0.823723,11.550672,17.606838,-9.147480,13.330801 +9.05,-1.070840,11.550672,17.606838,-9.147480,12.343335 +9.1,-1.317957,11.550672,17.606838,-9.271935,11.659704 +9.15,-1.400329,11.550672,17.606838,-9.271935,11.203950 +9.2,-1.482702,11.550672,17.606838,-9.271935,10.824155 +9.25,-1.565074,11.599512,17.557998,-9.271935,10.596278 +9.3,-1.565074,11.648352,17.509158,-9.271935,10.444360 +9.35,-1.565074,11.794872,17.411477,-9.271935,10.292442 +9.4,-1.647446,12.087912,17.167277,-9.271935,10.216483 +9.45,-1.647446,12.527473,16.630037,-9.147480,10.140524 +9.5,-1.647446,12.722833,16.043956,-9.271935,10.140524 +9.55,-1.647446,12.820513,15.799756,-9.271935,10.064565 +9.6,-1.647446,12.869353,15.653236,-9.271935,10.064565 +9.65,-1.647446,12.918193,15.604396,-9.271935,10.064565 +9.7,-1.647446,12.918193,15.555556,-9.271935,10.064565 +9.75,-1.647446,12.918193,15.555556,-9.271935,10.064565 +9.8,-1.647446,12.918193,15.555556,-9.271935,10.064565 +9.85,-1.647446,12.918193,15.555556,-9.271935,10.064565 +9.9,-1.647446,12.918193,15.555556,-9.271935,9.988606 +9.95,-1.647446,12.918193,15.555556,-9.271935,10.064565 diff --git a/hal/recordings/laugh.csv b/hal/recordings/laugh.csv index de9247b2d..c0994b3b3 100644 --- a/hal/recordings/laugh.csv +++ b/hal/recordings/laugh.csv @@ -1,81 +1,81 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,8e-06,-0.054084,0.003166,-4.41404,0.002016 -0.05,8e-06,-1.720812,0.117596,-16.955601,0.032384 -0.1,1.8e-05,-12.49297,1.754224,-28.418617,0.16247 -0.15,0.00023,-22.123415,4.86147,-46.715273,0.470932 -0.2,-0.000407,-23.432018,5.439034,-68.701854,0.802452 -0.25,-0.000373,-23.473738,5.458176,-82.964375,1.034318 -0.3,-0.000373,-23.473661,5.458002,-87.739019,1.116324 -0.35,-0.000377,-23.470823,5.453104,-84.075401,1.05307 -0.4,-0.000399,-23.451542,5.41971,-73.113924,0.871482 -0.45,-0.000513,-23.379919,5.296244,-54.951737,0.599734 -0.5,-0.002395,-23.185688,4.965346,-31.612216,0.313974 -0.55,0.00032,-22.745925,4.239492,-14.420778,0.153192 -0.6,0.000108,-21.856435,2.856312,-5.679386,0.083384 -0.65,4.4e-05,-20.166779,0.497134,-6.056918,0.064714 -0.7,4.4e-05,-20.168283,0.498164,-10.706286,0.088762 -0.75,4.5e-05,-20.214961,0.52943,-24.584241,0.182962 -0.8,4.9e-05,-20.53119,0.743686,-47.31409,0.410032 -0.85,7.6e-05,-21.680977,1.555188,-68.613335,0.71632 -0.9,-0.000242,-24.610927,3.881276,-77.313568,0.933016 -0.95,-0.000243,-24.610927,3.881276,-81.965549,1.010048 -1.0,-0.000242,-24.610927,3.881306,-79.897982,0.975534 -1.05,-0.000242,-24.610975,3.88134,-73.6952,0.8747 -1.1,-0.000242,-24.611077,3.881494,-63.357005,0.716324 -1.15,-0.000242,-24.61142,3.88189,-48.883063,0.517048 -1.2,-0.000243,-24.612172,3.882762,-31.306753,0.314364 -1.25,-0.000242,-24.613594,3.884542,-16.830506,0.182962 -1.3,-0.000241,-24.616149,3.887596,-6.487154,0.11003 -1.35,-0.000239,-24.620332,3.892644,-0.275328,0.07494 -1.4,-0.000236,-24.626853,3.900524,1.806568,0.06471 -1.45,-0.000232,-24.636556,3.912302,-4.219986,0.096702 -1.5,-0.000228,-24.650528,3.929194,-22.333469,0.229698 -1.55,-0.000221,-24.669969,3.952816,-49.507605,0.526738 -1.6,-0.000212,-24.696427,3.98493,-67.593861,0.782586 -1.65,-0.000203,-24.731541,4.027669,-73.564156,0.87687 -1.7,-0.00019,-24.777312,4.083574,-69.26238,0.810946 -1.75,-0.000177,-24.835937,4.155416,-56.531399,0.625836 -1.8,-0.000162,-24.909877,4.246502,-35.36536,0.364308 -1.85,-0.000148,-25.001884,4.360466,-14.158653,0.168926 -1.9,-0.000133,-25.114882,4.501564,-1.304392,0.08626 -1.95,-0.000119,-25.252097,4.674506,3.205794,0.06471 -2.0,-0.000105,-25.416939,4.884588,0.662676,0.07936 -2.05,-9.3e-05,-25.612965,5.13786,-7.642226,0.132056 -2.1,-8.2e-05,-25.843798,5.441072,-21.698683,0.248302 -2.15,-7.2e-05,-26.113183,5.801822,-40.036605,0.449678 -2.2,-6.3e-05,-26.424677,6.228694,-53.88912,0.640074 -2.25,-5.6e-05,-26.781704,6.73133,-61.783958,0.767734 -2.3,-4.9e-05,-27.18732,7.32071,-63.707155,0.812364 -2.35,-4.9e-05,-27.187175,7.320452,-57.987937,0.725848 -2.4,-4.9e-05,-27.182408,7.313253,-40.841044,0.491226 -2.45,-5e-05,-27.150005,7.264086,-15.184436,0.218236 -2.5,-5.1e-05,-27.029505,7.082572,1.6719,0.094798 -2.55,-5.7e-05,-26.70119,6.597426,6.577836,0.064704 -2.6,-7.8e-05,-25.952878,5.53989,1.42017,0.081656 -2.65,-0.000391,-24.414568,3.551818,-12.161723,0.144032 -2.7,5.6e-05,-21.418037,0.252902,-35.216633,0.285228 -2.75,5.6e-05,-21.418765,0.25451,-51.973973,0.47028 -2.8,5.7e-05,-21.441656,0.304534,-61.956933,0.600756 -2.85,6.3e-05,-21.596087,0.645712,-64.81325,0.647272 -2.9,9.7e-05,-22.147305,1.92205,-59.949841,0.605078 -2.95,-0.000373,-23.473738,5.458176,-45.979703,0.485912 -3.0,-0.000375,-23.473747,5.458144,-30.800335,0.313656 -3.05,-0.000374,-23.473497,5.458022,-11.067774,0.143134 -3.1,-0.000375,-23.471761,5.457264,4.108524,0.055964 -3.15,-0.000379,-23.465368,5.4543,13.206328,0.022788 -3.2,-0.000394,-23.44815,5.446426,16.216886,0.01497 -3.25,-0.000427,-23.410052,5.428962,13.411257,0.021984 -3.3,-0.000506,-23.335971,5.39513,5.053076,0.051006 -3.35,-0.000768,-23.204818,5.335638,-8.888274,0.125616 -3.4,-0.005361,-22.988667,5.238278,-22.952648,0.232054 -3.45,0.000633,-22.649013,5.088306,-31.693054,0.31058 -3.5,0.000234,-22.140031,4.86853,-35.172059,0.339112 -3.55,0.000122,-21.400781,4.560558,-34.26656,0.318734 -3.6,7.1e-05,-20.355098,4.146794,-29.867984,0.261144 -3.65,4.5e-05,-18.906544,3.614,-22.086038,0.177292 -3.7,3.4e-05,-16.932823,2.95878,-11.046598,0.086356 -3.75,2.3e-05,-14.278448,2.19634,-0.795264,0.027428 -3.8,1.5e-05,-10.74625,1.372972,4.61197,0.005414 -3.85,1.1e-05,-6.08835,0.584318,5.023016,0.000324 -3.9,7e-06,1e-05,1e-05,0.302874,-1.4e-05 -3.95,0.0,0.0,0.0,0.0,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.918193,15.555556,36.776602,10.064565 +0.05,-1.647446,12.332112,15.604396,28.313628,10.064565 +0.1,-1.647446,8.620269,16.190476,20.597386,10.140524 +0.15,-1.647446,5.299145,17.264957,8.151836,10.444360 +0.2,-1.647446,4.859585,17.460317,-6.658370,10.672237 +0.25,-1.647446,4.859585,17.460317,-16.365899,10.900114 +0.3,-1.647446,4.859585,17.460317,-19.601742,10.976073 +0.35,-1.647446,4.859585,17.460317,-17.112632,10.900114 +0.4,-1.647446,4.859585,17.460317,-9.645302,10.748196 +0.45,-1.647446,4.859585,17.411477,2.675793,10.520319 +0.5,-1.647446,4.957265,17.313797,18.481643,10.292442 +0.55,-1.647446,5.103785,17.020757,30.056005,10.140524 +0.6,-1.647446,5.396825,16.532357,36.029869,10.064565 +0.65,-1.647446,5.982906,15.750916,35.780958,10.064565 +0.7,-1.647446,5.982906,15.750916,32.545115,10.064565 +0.75,-1.647446,5.982906,15.750916,23.210952,10.216483 +0.8,-1.647446,5.836386,15.799756,7.778469,10.368401 +0.85,-1.647446,5.445665,16.092796,-6.658370,10.596278 +0.9,-1.647446,4.468864,16.923077,-12.507778,10.824155 +0.95,-1.647446,4.468864,16.923077,-15.619166,10.900114 +1.0,-1.647446,4.468864,16.923077,-14.250156,10.824155 +1.05,-1.647446,4.468864,16.923077,-10.018668,10.748196 +1.1,-1.647446,4.468864,16.923077,-3.049160,10.596278 +1.15,-1.647446,4.468864,16.923077,6.782825,10.444360 +1.2,-1.647446,4.468864,16.923077,18.606098,10.292442 +1.25,-1.647446,4.468864,16.923077,28.438083,10.216483 +1.3,-1.647446,4.468864,16.923077,35.407592,10.140524 +1.35,-1.647446,4.468864,16.923077,39.639079,10.064565 +1.4,-1.647446,4.468864,16.923077,41.008090,10.064565 +1.45,-1.647446,4.420024,16.923077,37.025513,10.140524 +1.5,-1.647446,4.420024,16.923077,24.704418,10.216483 +1.55,-1.647446,4.420024,16.923077,6.285003,10.444360 +1.6,-1.647446,4.420024,16.971917,-5.911637,10.672237 +1.65,-1.647446,4.420024,16.971917,-10.018668,10.748196 +1.7,-1.647446,4.371184,16.971917,-7.031736,10.672237 +1.75,-1.647446,4.371184,17.020757,1.555694,10.520319 +1.8,-1.647446,4.371184,17.020757,15.868077,10.292442 +1.85,-1.647446,4.322344,17.069597,30.180460,10.140524 +1.9,-1.647446,4.273504,17.118437,38.892346,10.064565 +1.95,-1.647446,4.224664,17.167277,42.003734,10.064565 +2.0,-1.647446,4.175824,17.264957,40.261357,10.064565 +2.05,-1.647446,4.126984,17.362637,34.660859,10.140524 +2.1,-1.647446,4.029304,17.460317,25.077785,10.216483 +2.15,-1.647446,3.931624,17.606838,12.756689,10.368401 +2.2,-1.647446,3.833944,17.753358,3.298071,10.596278 +2.25,-1.647446,3.687424,17.899878,-2.053516,10.672237 +2.3,-1.647446,3.540904,18.095238,-3.298071,10.672237 +2.35,-1.647446,3.540904,18.095238,0.560050,10.596278 +2.4,-1.647446,3.540904,18.095238,12.134412,10.444360 +2.45,-1.647446,3.589744,18.095238,29.558183,10.216483 +2.5,-1.647446,3.638584,18.046398,41.008090,10.140524 +2.55,-1.647446,3.736264,17.851038,44.243933,10.064565 +2.6,-1.647446,3.980464,17.509158,40.759179,10.064565 +2.65,-1.647446,4.517705,16.776557,31.549471,10.140524 +2.7,-1.647446,5.543346,15.653236,15.992533,10.292442 +2.75,-1.647446,5.543346,15.653236,4.667082,10.444360 +2.8,-1.647446,5.543346,15.653236,-2.177971,10.520319 +2.85,-1.647446,5.494505,15.799756,-4.044804,10.596278 +2.9,-1.647446,5.299145,16.239316,-0.808961,10.520319 +2.95,-1.647446,4.859585,17.460317,8.649658,10.444360 +3.0,-1.647446,4.859585,17.460317,18.979465,10.292442 +3.05,-1.647446,4.859585,17.460317,32.296204,10.140524 +3.1,-1.647446,4.859585,17.460317,42.626011,10.064565 +3.15,-1.647446,4.859585,17.460317,48.724331,10.064565 +3.2,-1.647446,4.859585,17.460317,50.840075,10.064565 +3.25,-1.647446,4.859585,17.460317,48.848787,10.064565 +3.3,-1.647446,4.908425,17.460317,43.248289,10.064565 +3.35,-1.647446,4.957265,17.411477,33.789670,10.140524 +3.4,-1.647446,5.006105,17.362637,24.331052,10.216483 +3.45,-1.647446,5.103785,17.313797,18.357187,10.292442 +3.5,-1.647446,5.299145,17.264957,15.992533,10.292442 +3.55,-1.647446,5.543346,17.167277,16.614810,10.292442 +3.6,-1.647446,5.934066,17.020757,19.601742,10.216483 +3.65,-1.647446,6.422466,16.825397,24.828874,10.140524 +3.7,-1.647446,7.106227,16.581197,32.296204,10.064565 +3.75,-1.647446,7.985348,16.336996,39.265713,10.064565 +3.8,-1.647446,9.206349,16.043956,42.999378,10.064565 +3.85,-1.647446,10.818071,15.750916,43.248289,10.064565 +3.9,-1.647446,12.918193,15.555556,40.012446,9.988606 +3.95,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/listening.csv b/hal/recordings/listening.csv old mode 100755 new mode 100644 index 69c41b6ce..efbd287b2 --- a/hal/recordings/listening.csv +++ b/hal/recordings/listening.csv @@ -1,61 +1,51 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.0,0.157458,0.092043,0.0,0.000236 -0.05,0.0,0.314916,0.096805,0.0,0.003784 -0.1,0.0,0.319464,0.168229,0.0,0.019154 -0.15,-0.003095,0.387689,0.477733,0.0,0.060537 -0.2,-0.049525,0.683329,1.311011,0.0,0.133401 -0.25,-0.25072,1.479283,3.06804,0.0,0.174784 -0.3,-0.792401,3.157609,6.26307,0.0,0.190155 -0.35,-1.934571,6.209523,11.524632,-0.012625,0.193702 -0.4,-4.011527,11.235403,19.595534,-0.202002,0.193938 -0.45,-7.431849,18.944786,30.300194,-1.022635,0.2025 -0.5,-10.852173,26.654169,38.371098,-3.232033,0.330933 -0.55,-12.929127,31.68005,43.632655,-7.890704,0.887474 -0.6,-14.071299,34.731963,46.827688,-16.362166,2.385853 -0.65,-14.612978,36.410287,48.58472,-30.312929,5.545291 -0.7,-14.814173,37.206243,49.417996,-44.2637,11.290505 -0.75,-14.860601,37.501881,49.727496,-52.735153,20.751698 -0.8,-14.863699,37.570108,49.798923,-57.393827,33.818633 -0.85,-14.863699,37.574657,49.803687,-59.603222,43.279825 -0.9,-14.863699,37.574667,49.803738,-60.423856,49.025039 -0.95,-14.863699,37.574817,49.80453,-60.61323,52.184479 -1.0,-14.863699,37.575487,49.807973,-60.625852,53.682855 -1.05,-14.863699,37.577283,49.817245,-60.625825,54.239396 -1.1,-14.863699,37.581067,49.836783,-60.625353,54.367828 -1.15,-14.863699,37.587948,49.872324,-60.623325,54.376393 -1.2,-14.863699,37.599283,49.930841,-60.617847,54.376321 -1.25,-14.863699,37.616666,50.020604,-60.606304,54.37532 -1.3,-14.863699,37.641944,50.151149,-60.585301,54.370966 -1.35,-14.863699,37.677219,50.333273,-60.550727,54.359249 -1.4,-14.863699,37.724818,50.57906,-60.497683,54.334541 -1.45,-14.863699,37.787325,50.901841,-60.420543,54.289612 -1.5,-14.863699,37.849838,51.224629,-60.312934,54.21562 -1.55,-14.863699,37.897434,51.470407,-60.20531,54.102126 -1.6,-14.863699,37.932709,51.652534,-60.128177,53.937078 -1.65,-14.863699,37.957991,51.783083,-60.075134,53.77202 -1.7,-14.863699,37.975374,51.872845,-60.040559,53.658523 -1.75,-14.863699,37.986705,51.931366,-60.019563,53.584535 -1.8,-14.863699,37.99359,51.9669,-60.008013,53.539606 -1.85,-14.863699,37.99737,51.986441,-60.002536,53.514898 -1.9,-14.863699,37.99917,51.995713,-60.000493,53.50318 -1.95,-14.863088,37.999836,51.999156,-60.000036,53.49883 -2.0,-14.853916,37.99999,51.999945,-60.000002,53.497826 -2.05,-14.814173,38.0,51.999999,-59.995432,53.497757 -2.1,-14.707175,37.997104,51.996038,-59.926844,53.492638 -2.15,-14.481562,37.953664,51.936595,-59.629628,53.415768 -2.2,-14.071298,37.765431,51.679011,-58.829451,53.082693 -2.25,-13.395679,37.258648,50.985518,-57.142203,52.185954 -2.3,-12.359323,36.190061,49.523243,-54.074075,50.295102 -2.35,-10.852172,34.246913,46.864196,-49.02149,46.856734 -2.4,-8.749498,31.046942,42.48529,-41.271152,41.194438 -2.45,-6.1142,26.138393,35.768328,-30.000001,32.508849 -2.5,-4.011525,19.0,26.0,-18.72885,20.988905 -2.55,-2.504377,11.861606,16.231668,-10.978512,12.303309 -2.6,-1.468019,6.953057,9.51471,-5.925927,6.641017 -2.65,-0.7924,3.753086,5.135804,-2.857796,3.202652 -2.7,-0.382137,1.809939,2.476756,-1.170551,1.311806 -2.75,-0.156524,0.741349,1.014478,-0.370367,0.415064 -2.8,-0.049526,0.234569,0.320988,-0.073158,0.08199 -2.85,-0.009783,0.046336,0.063405,-0.004576,0.005123 -2.9,-0.000611,0.002896,0.003965,0.0,0.0 -2.95,0.0,0.0,0.0,0.0,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.967033,15.604396,39.887990,10.064565 +0.05,-1.647446,13.015873,15.604396,39.887990,10.064565 +0.1,-1.647446,13.015873,15.653236,39.887990,10.064565 +0.15,-1.647446,13.064713,15.897436,39.887990,10.140524 +0.2,-1.812191,13.308913,16.532357,39.887990,10.140524 +0.25,-2.306425,13.943834,17.851038,39.887990,10.216483 +0.3,-3.706755,15.262515,20.293040,39.763535,10.216483 +0.35,-6.754530,17.704518,24.297924,39.514624,10.216483 +0.4,-11.449753,21.172161,28.253968,38.518979,10.216483 +0.45,-14.415157,23.614164,30.695971,35.780958,10.444360 +0.5,-15.815486,24.932845,32.014652,29.931549,11.583745 +0.55,-16.392092,25.567766,32.649573,19.352831,14.622104 +0.6,-16.474465,25.811966,32.893773,8.649658,21.078618 +0.65,-16.474465,25.860806,32.942613,2.800249,32.700342 +0.7,-16.474465,25.860806,32.942613,0.062228,44.322066 +0.75,-16.474465,25.860806,32.942613,-0.933416,50.778580 +0.8,-16.474465,25.860806,32.942613,-1.182327,53.816939 +0.85,-16.474465,25.860806,32.942613,-1.182327,54.956324 +0.9,-16.474465,25.860806,32.991453,-1.182327,55.184201 +0.95,-16.474465,25.860806,32.991453,-1.182327,55.184201 +1.0,-16.474465,25.860806,32.991453,-1.182327,55.184201 +1.05,-16.474465,25.860806,33.040293,-1.182327,55.184201 +1.1,-16.474465,25.860806,33.137973,-1.182327,55.184201 +1.15,-16.474465,25.909646,33.235653,-1.182327,55.184201 +1.2,-16.474465,25.909646,33.333333,-1.057872,55.108242 +1.25,-16.474465,25.958486,33.479853,-1.057872,55.032283 +1.3,-16.474465,25.958486,33.577534,-0.933416,54.956324 +1.35,-16.474465,25.958486,33.626374,-0.808961,54.728447 +1.4,-16.474465,26.007326,33.675214,-0.808961,54.652488 +1.45,-16.474465,26.007326,33.724054,-0.808961,54.576529 +1.5,-16.474465,26.007326,33.724054,-0.808961,54.500570 +1.55,-16.474465,26.007326,33.724054,-0.808961,54.500570 +1.6,-16.474465,26.007326,33.724054,-0.808961,54.500570 +1.65,-16.474465,26.007326,33.724054,-0.808961,54.500570 +1.7,-16.474465,26.007326,33.724054,-0.808961,54.500570 +1.75,-16.392092,26.007326,33.724054,-0.684505,54.500570 +1.8,-16.144975,25.958486,33.675214,-0.311139,54.348652 +1.85,-15.650741,25.811966,33.479853,0.808961,53.740980 +1.9,-14.662273,25.470085,32.991453,3.173615,52.145841 +1.95,-13.097199,24.688645,31.916972,7.529558,48.727687 +2.0,-10.708402,23.321123,30.012210,14.623522,42.499051 +2.05,-7.495881,21.025641,26.837607,24.455507,32.244588 +2.1,-5.024712,17.899878,22.442002,31.549471,21.990125 +2.15,-3.459638,15.604396,19.267399,35.780958,15.837448 +2.2,-2.553542,14.188034,17.362637,38.145613,12.419294 +2.25,-1.976936,13.455433,16.288156,39.265713,10.748196 +2.3,-1.729819,13.064713,15.799756,39.763535,10.140524 +2.35,-1.647446,12.967033,15.604396,39.763535,10.064565 +2.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.45,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/music_chill.csv b/hal/recordings/music_chill.csv index bef02a2ae..c72f94548 100644 --- a/hal/recordings/music_chill.csv +++ b/hal/recordings/music_chill.csv @@ -1,202 +1,202 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.0,0.0,0.0,0.0,0.0 -0.05,-1.586977,4.171784,4.372455,-7.475099,-0.157917 -0.1,-2.372743,6.123361,6.599625,-11.026426,-0.138177 -0.15,-3.228542,8.125653,9.070815,-14.727006,-0.02588 -0.2,-4.111843,10.016869,11.65837,-18.301791,0.202563 -0.25,-5.009508,11.719916,14.292221,-21.619741,0.553371 -0.3,-5.924321,13.209328,16.92609,-24.635032,1.020461 -0.35,-6.862184,14.47959,19.509332,-27.331719,1.591372 -0.4,-7.826237,15.531695,21.979358,-29.701385,2.25101 -0.45,-8.81765,16.377089,24.272544,-31.751647,2.982693 -0.5,-9.832687,17.02977,26.324565,-33.493803,3.769229 -0.55,-10.86376,17.5082,28.079627,-34.94736,4.592553 -0.6,-11.899527,17.833272,29.494878,-36.137213,5.433766 -0.65,-12.925567,18.027017,30.544036,-37.091687,6.273421 -0.7,-13.925376,18.111766,31.219763,-37.841017,7.092155 -0.75,-14.881485,18.109553,31.534673,-38.41603,7.87151 -0.8,-15.776542,18.041731,31.521046,-38.847189,8.594773 -0.85,-16.594254,17.928683,31.229425,-39.163769,9.247672 -0.9,-17.320074,17.789571,30.726217,-39.393331,9.818837 -0.95,-17.941635,17.642085,30.090497,-39.561272,10.300041 -1.0,-18.448875,17.502151,29.41005,-39.690451,10.686226 -1.05,-18.833931,17.383612,28.77683,-39.80094,10.975337 -1.1,-19.090792,17.297891,28.281949,-39.909693,11.168436 -1.15,-19.214857,17.25371,28.010384,-40.030332,11.268975 -1.2,-19.202416,17.256838,28.03578,-40.172905,11.283081 -1.25,-19.050202,17.309984,28.415677,-40.343732,11.218307 -1.3,-18.755081,17.412818,29.18699,-40.545345,11.079926 -1.35,-18.313957,17.562158,30.364811,-40.776506,10.865122 -1.4,-17.723943,17.752346,31.940232,-41.032406,10.869542 -1.45,-16.982815,17.975738,33.883496,-41.304995,10.411984 -1.5,-16.089667,18.223366,36.148681,-41.583476,9.859688 -1.55,-15.045722,18.485649,38.671537,-41.854853,9.196583 -1.6,-13.855102,18.753104,40.857027,-42.104698,8.396534 -1.65,-12.52543,19.016954,44.459914,-42.317878,7.428538 -1.7,-11.068078,19.270332,47.593629,-42.479368,6.267114 -1.75,-9.498069,19.507823,50.029411,-42.57498,4.905172 -1.8,-7.83243,19.726551,51.59962,-42.592076,3.365004 -1.85,-6.090279,19.92414,51.832195,-42.520154,1.701462 -1.9,-4.290177,20.092296,51.876127,-42.351291,-0.005728 -1.95,-2.451546,20.207871,50.641888,-42.080471,-1.669142 -2.0,-0.601927,20.704627,48.632552,-41.705709,-3.214204 -2.05,1.212751,20.498755,45.994637,-41.228026,-4.59575 -2.1,3.567183,20.167105,42.869983,-40.651841,-5.804812 -2.15,4.96218,19.699155,39.372209,-39.983873,-6.863269 -2.2,6.191998,19.081839,35.586904,-39.233635,-7.809756 -2.25,7.29809,18.309483,31.592698,-38.411085,-8.675172 -2.3,8.30974,17.387529,27.467995,-37.521402,-9.481116 -2.35,9.223364,16.341916,23.293109,-36.55939,-10.224063 -2.4,10.02444,15.203912,19.116018,-35.932741,-10.892109 -2.45,10.686475,14.00636,14.965756,-34.558015,-11.448212 -2.5,11.191134,12.77855,10.859216,-33.206467,-11.876945 -2.55,11.529349,11.552028,6.842526,-31.857696,-12.189014 -2.6,11.536722,10.437015,3.03147,-30.564021,-12.252412 -2.65,11.51693,9.35002,-0.50198,-29.344504,-12.293953 -2.7,11.442677,8.382236,-3.565996,-28.274726,-12.287856 -2.75,11.286302,7.63428,-5.954964,-27.435289,-12.208292 -2.8,11.01992,7.193656,-7.502722,-26.892215,-12.030427 -2.85,10.613159,7.376168,-7.378894,-26.947207,-11.717022 -2.9,10.042442,7.706153,-6.975538,-27.105872,-11.27423 -2.95,9.277908,8.273327,-6.042498,-27.457915,-10.676164 -3.0,8.235774,9.175262,-4.3292,-28.093697,-9.857018 -3.05,6.995753,10.492678,-1.443292,-29.14747,-8.874708 -3.1,5.58439,12.063848,2.286228,-30.495244,-7.758892 -3.15,4.025199,13.611744,6.13923,-31.877712,-6.541722 -3.2,2.330058,15.038499,9.876066,-33.209534,-5.238118 -3.25,0.508548,16.246694,13.205546,-34.393489,-3.841956 -3.3,-1.411259,17.161846,15.863871,-35.34097,-2.383242 -3.35,-3.386942,17.775521,17.791914,-36.030549,-0.90244 -3.4,-5.340928,18.087787,18.942201,-36.44551,0.545534 -3.45,-7.188497,18.020243,18.890232,-36.443943,1.896872 -3.5,-8.852209,17.848807,18.690299,-36.381566,3.109116 -3.55,-10.282461,17.579145,18.242392,-36.22775,4.1466 -3.6,-11.461636,17.08801,16.925993,-35.776678,4.991968 -3.65,-12.393685,16.511496,15.257697,-35.203782,5.654242 -3.7,-13.100281,15.888413,13.370844,-34.555092,6.150838 -3.75,-13.617409,15.250639,11.390977,-33.8735,6.509168 -3.8,-13.959983,14.636279,9.449594,-33.204326,6.74114 -3.85,-14.136272,14.082203,7.660644,-32.583076,6.852242 -3.9,-14.175632,13.632366,6.17275,-32.060652,6.865166 -3.95,-14.077919,13.346159,5.160126,-31.705209,6.783496 -4.0,-13.804452,13.293478,4.805366,-31.583136,6.580814 -4.05,-13.398819,13.514037,5.2636,-31.749366,6.29018 -4.1,-12.887665,13.998106,6.543608,-32.205933,5.930682 -4.15,-12.299747,14.713928,8.612404,-32.936514,5.522302 -4.2,-11.685916,15.608429,11.401788,-33.898488,5.101732 -4.25,-11.08666,16.592855,14.728569,-35.036213,4.697694 -4.3,-10.514237,17.594572,18.440304,-36.293061,4.31723 -4.35,-9.964142,18.553189,22.408362,-37.620866,3.955182 -4.4,-9.391213,19.423719,26.529619,-38.980351,3.576976 -4.45,-8.738586,20.167148,30.703124,-40.333148,3.139564 -4.5,-7.944168,20.746655,34.789681,-41.629204,2.595722 -4.55,-6.95073,21.134776,38.603102,-42.805759,1.901424 -4.6,-5.732051,21.32353,41.924937,-43.794845,1.035106 -4.65,-4.295691,21.332072,44.552743,-44.539974,0.000418 -4.7,-2.684912,21.199036,46.367637,-45.01525,-1.17174 -4.75,-0.970396,20.996925,46.804175,-45.07456,-2.430622 -4.8,0.76304,20.703265,46.947988,-45.032001,-3.710024 -4.85,2.431872,20.333649,46.889344,-44.918493,-4.947968 -4.9,3.968083,19.915047,46.723644,-44.767782,-6.093046 -4.95,5.330674,19.532249,45.641394,-44.366235,-7.114506 -5.0,6.504431,19.165832,44.192639,-43.868003,-7.999112 -5.05,7.505344,18.807576,42.696103,-43.361821,-8.757377 -5.1,8.359572,18.460828,40.994939,-42.802849,-9.408806 -5.15,9.100866,18.111507,39.136017,-42.200973,-9.978588 -5.2,9.754036,17.750169,37.200926,-41.577168,-10.485052 -5.25,10.332743,17.372991,35.208204,-40.935625,-10.938354 -5.3,10.842685,16.983388,33.214776,-40.293031,-11.342279 -5.35,11.288238,16.588723,31.274347,-39.665842,-11.699404 -5.4,11.678712,16.193887,29.415439,-39.062907,-12.01615 -5.45,12.025444,15.795974,27.609389,-38.475357,-12.301121 -5.5,12.342492,15.385542,25.810446,-37.888326,-12.565364 -5.55,12.638229,14.951989,23.96754,-37.285323,-12.815888 -5.6,12.895985,14.497427,22.048785,-36.657571,-13.040428 -5.65,13.112753,14.029022,20.093814,-36.017596,-13.236199 -5.7,13.267253,13.574794,18.198597,-35.422929,-13.373389 -5.75,13.268661,13.219464,16.526536,-34.907451,-13.390286 -5.8,13.24098,12.951024,15.257953,-34.512656,-13.382676 -5.85,13.156564,12.798726,14.418639,-34.252688,-13.327877 -5.9,12.987762,12.774224,13.975508,-34.121453,-13.204454 -5.95,12.706571,12.884274,13.892586,-34.110426,-12.991352 -6.0,12.247286,13.212676,14.40539,-34.298355,-12.636336 -6.05,11.660382,13.766542,15.677827,-34.732355,-12.177864 -6.1,10.971335,14.489599,17.589209,-35.372259,-11.637102 -6.15,10.217277,15.311196,20.004354,-36.207813,-11.025088 -6.2,9.425863,16.179509,22.839666,-37.175647,-10.383614 -6.25,8.607471,17.061676,26.100762,-38.272388,-9.722172 -6.3,7.748015,17.915999,29.732059,-39.475263,-9.032606 -6.35,6.810035,18.699123,33.634365,-40.748099,-8.2896 -6.4,5.750898,19.368174,37.688222,-42.048677,-7.463974 -6.45,4.532059,19.883676,41.709308,-43.316144,-6.529572 -6.5,3.134495,20.22313,45.492021,-44.486132,-5.473772 -6.55,1.565763,20.389875,48.839548,-45.501518,-4.30226 -6.6,-0.137374,20.413583,51.592981,-46.321561,-3.040972 -6.65,-1.912129,20.343063,53.646536,-46.924875,-1.734208 -6.7,-3.679855,20.22357,55.007062,-47.321729,-0.437872 -6.75,-5.361678,20.143474,55.500157,-47.479736,0.792356 -6.8,-6.89495,20.117836,55.275246,-47.442842,1.911372 -6.85,-8.242478,20.13271,54.523232,-47.260381,2.89224 -6.9,-9.392366,20.214935,53.146429,-46.907967,3.726652 -6.95,-10.350382,20.320677,51.309184,-46.421644,4.418481 -7.0,-11.129308,20.413311,49.132187,-45.82754,4.976984 -7.05,-11.740868,20.464041,46.749469,-45.158509,5.411078 -7.1,-12.194046,20.460091,44.296369,-44.451978,5.728086 -7.15,-12.500114,20.404256,41.890944,-43.744015,5.937172 -7.2,-12.505618,20.350875,39.632282,-43.071422,5.928764 -7.25,-12.504533,20.243941,37.517621,-42.429927,5.915154 -7.3,-12.490306,20.098518,35.53075,-41.81799,5.891883 -7.35,-12.456486,19.923438,33.633672,-41.226356,5.854261 -7.4,-12.396471,19.727769,31.827445,-40.657063,5.797702 -7.45,-12.303448,19.528037,30.173706,-40.131292,5.717852 -7.5,-12.170169,19.35983,28.841785,-39.705406,5.610965 -7.55,-11.747441,19.325143,28.091253,-39.469075,5.298962 -7.6,-11.15538,19.439866,28.138071,-39.491495,4.870602 -7.65,-10.471927,19.68545,28.983945,-39.771693,4.382464 -7.7,-9.664357,20.093368,30.968651,-40.415271,3.8135 -7.75,-8.790403,20.524257,33.521103,-41.22999,3.200136 -7.8,-7.874785,20.907605,36.438192,-41.228654,2.55765 -7.85,-6.898963,21.183856,39.421209,-41.540114,1.869176 -7.9,-5.836244,21.324236,42.110357,-41.7957,1.11203 -7.95,-4.658659,21.341556,44.282965,-41.994858,0.264316 -8.0,-3.179114,21.263871,45.81348,-42.133347,-0.691072 -8.05,-1.90506,20.744902,46.070838,-42.203845,-1.746438 -8.1,-0.63772,20.468036,46.174473,-42.199644,-2.864282 -8.15,0.377318,20.073111,45.075895,-41.814435,-3.765925 -8.2,1.494493,19.71071,44.505878,-41.610049,-4.7095 -8.25,2.559129,19.332883,43.598283,-41.349842,-5.599626 -8.3,3.566277,18.941515,42.323134,-41.040418,-6.424368 -8.35,4.508304,18.537302,40.631627,-40.684469,-7.176151 -8.4,5.377584,18.122106,38.493362,-40.284954,-7.851353 -8.45,6.167759,17.699067,35.922485,-39.847552,-8.449966 -8.5,6.874503,17.273304,32.992047,-39.380767,-8.974635 -8.55,7.495126,16.851187,29.831367,-38.894666,-9.429031 -8.6,8.028653,16.440132,26.610866,-38.400392,-9.816797 -8.65,8.475555,16.048113,23.512629,-37.90907,-10.140836 -8.7,8.837999,15.682746,20.696242,-37.43084,-10.403558 -8.75,9.119628,15.350854,18.27301,-36.974341,-10.607236 -8.8,9.326062,15.057207,16.291261,-36.545696,-10.755063 -8.85,9.464311,14.804512,14.742682,-36.148486,-10.851288 -8.9,9.540451,14.59545,13.588439,-35.785075,-10.899849 -8.95,9.555955,14.43622,12.795576,-35.458736,-10.901802 -9.0,9.71789,14.111327,11.338824,-35.019459,-11.013006 -9.05,9.548396,14.136035,11.469937,-34.836734,-10.871771 -9.1,9.321519,14.227832,11.927941,-34.686931,-10.691346 -9.15,9.038088,14.375829,12.69839,-34.54946,-10.472656 -9.2,8.697705,14.564455,13.746159,-34.397874,-10.214527 -9.25,8.299182,14.77339,15.011513,-34.200113,-9.913882 -9.3,7.841266,14.977676,16.412439,-33.919088,-9.566152 -9.35,7.323624,15.148046,17.845742,-33.513607,-9.165976 -9.4,6.748002,15.251592,19.191122,-32.939762,-8.708244 -9.45,6.119415,15.252787,20.318616,-32.152713,-8.189462 -9.5,5.447125,15.114939,21.099407,-31.108865,-7.609206 -9.55,4.745175,14.802101,21.419154,-29.768399,-6.971315 -9.6,4.0322,14.281452,21.192045,-28.098148,-6.284427 -9.65,3.330356,13.526446,20.373232,-26.075333,-5.561536 -9.7,2.663041,12.515832,18.960241,-23.683753,-4.817204 -9.75,2.052405,11.242255,17.000302,-20.926603,-4.066631 -9.8,1.515809,9.708693,14.573675,-17.81827,-3.321369 -9.85,1.063709,7.941909,11.795731,-14.406495,-2.591018 -9.9,0.699787,6.023803,8.843424,-10.826868,-1.891954 -9.95,0.423082,4.123727,5.98815,-7.360421,-1.258485 -10.0,0.0,0.0,0.0,0.0,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.05,-3.212521,14.334554,17.069597,34.785314,9.912647 +0.1,-4.036244,15.018315,17.851038,32.420660,9.912647 +0.15,-4.859967,15.702076,18.730159,29.807094,9.988606 +0.2,-5.766063,16.385836,19.609280,27.442439,10.216483 +0.25,-6.672158,16.971917,20.537241,25.202240,10.520319 +0.3,-7.578254,17.460317,21.465201,23.086497,10.900114 +0.35,-8.484349,17.899878,22.393162,21.344119,11.355868 +0.4,-9.472817,18.241758,23.223443,19.726198,11.887581 +0.45,-10.461285,18.534799,24.053724,18.357187,12.495253 +0.5,-11.449753,18.778999,24.737485,17.112632,13.178883 +0.55,-12.520593,18.925519,25.372405,16.116988,13.862514 +0.6,-13.509061,19.072039,25.860806,15.370255,14.546145 +0.65,-14.579901,19.120879,26.251526,14.747978,15.229776 +0.7,-15.568369,19.169719,26.446886,14.250156,15.913407 +0.75,-16.556837,19.169719,26.593407,13.876789,16.597038 +0.8,-17.380560,19.120879,26.593407,13.503423,17.204709 +0.85,-18.204283,19.072039,26.446886,13.254512,17.736422 +0.9,-18.945634,19.023199,26.300366,13.130056,18.192176 +0.95,-19.604613,18.974359,26.056166,13.005600,18.571971 +1.0,-20.098847,18.925519,25.811966,13.005600,18.875807 +1.05,-20.510708,18.876679,25.616606,12.881145,19.179643 +1.1,-20.757825,18.876679,25.421245,12.756689,19.331561 +1.15,-20.840198,18.876679,25.323565,12.756689,19.407520 +1.2,-20.840198,18.876679,25.372405,12.632234,19.407520 +1.25,-20.675453,18.876679,25.470085,12.507778,19.331561 +1.3,-20.428336,18.925519,25.763126,12.383323,19.255602 +1.35,-19.934102,18.974359,26.153846,12.258867,19.027725 +1.4,-19.357496,19.023199,26.739927,12.009956,19.027725 +1.45,-18.616145,19.120879,27.374847,11.885501,18.647930 +1.5,-17.710049,19.169719,28.205128,11.636590,18.192176 +1.55,-16.721582,19.267399,29.084249,11.512134,17.660463 +1.6,-15.485997,19.365079,29.816850,11.263223,16.976833 +1.65,-14.168040,19.462759,31.086691,11.138768,16.217243 +1.7,-12.685338,19.560440,32.210012,11.014312,15.229776 +1.75,-11.120264,19.609280,33.040293,11.014312,14.090391 +1.8,-9.472817,19.706960,33.577534,11.014312,12.799088 +1.85,-7.742998,19.755800,33.675214,11.014312,11.431827 +1.9,-5.930807,19.853480,33.675214,11.138768,9.988606 +1.95,-4.118616,19.853480,33.235653,11.387679,8.621344 +2.0,-2.224053,20.048840,32.551893,11.636590,7.330042 +2.05,-0.411862,19.951160,31.623932,11.885501,6.190657 +2.1,1.894563,19.853480,30.549451,12.258867,5.203190 +2.15,3.294893,19.706960,29.328449,12.756689,4.291682 +2.2,4.530478,19.462759,28.009768,13.254512,3.532093 +2.25,5.683690,19.218559,26.593407,13.876789,2.848462 +2.3,6.672158,18.876679,25.177045,14.374611,2.164831 +2.35,7.578254,18.534799,23.711844,15.121344,1.557159 +2.4,8.401977,18.144078,22.246642,15.494711,0.949487 +2.45,9.060956,17.753358,20.781441,16.490355,0.493733 +2.5,9.555189,17.313797,19.365079,17.361543,0.189897 +2.55,9.884679,16.874237,17.948718,18.232732,-0.113938 +2.6,9.884679,16.532357,16.630037,19.103920,-0.189897 +2.65,9.884679,16.141636,15.360195,19.975109,-0.189897 +2.7,9.802306,15.799756,14.285714,20.721842,-0.189897 +2.75,9.637562,15.555556,13.455433,21.219664,-0.113938 +2.8,9.390445,15.409035,12.918193,21.593030,0.037979 +2.85,8.978583,15.457875,12.967033,21.593030,0.265856 +2.9,8.401977,15.555556,13.113553,21.468575,0.645651 +2.95,7.660626,15.750916,13.455433,21.219664,1.177364 +3.0,6.589786,16.092796,14.041514,20.846297,1.860995 +3.05,5.354201,16.532357,15.067155,20.099564,2.620585 +3.1,3.953871,17.069597,16.336996,19.228376,3.608052 +3.15,2.388797,17.606838,17.704518,18.232732,4.595518 +3.2,0.658979,18.095238,19.023199,17.361543,5.658944 +3.25,-1.153213,18.485958,20.146520,16.490355,6.798329 +3.3,-3.047776,18.827839,21.123321,15.868077,8.013673 +3.35,-5.024712,19.023199,21.758242,15.370255,9.304975 +3.4,-7.001647,19.120879,22.197802,15.121344,10.444360 +3.45,-8.813839,19.120879,22.148962,15.121344,11.583745 +3.5,-10.461285,19.072039,22.100122,15.245800,12.647171 +3.55,-11.943987,18.974359,21.953602,15.245800,13.482719 +3.6,-13.097199,18.778999,21.465201,15.619166,14.166350 +3.65,-14.003295,18.583639,20.879121,15.992533,14.698063 +3.7,-14.744646,18.388278,20.244200,16.490355,15.153817 +3.75,-15.238880,18.144078,19.560440,16.863721,15.457653 +3.8,-15.568369,17.948718,18.876679,17.361543,15.609571 +3.85,-15.815486,17.753358,18.241758,17.734910,15.685530 +3.9,-15.815486,17.606838,17.704518,18.108276,15.761489 +3.95,-15.733114,17.509158,17.362637,18.357187,15.685530 +4.0,-15.485997,17.509158,17.216117,18.481643,15.457653 +4.05,-15.074135,17.557998,17.411477,18.357187,15.229776 +4.1,-14.497529,17.753358,17.851038,17.983821,14.925940 +4.15,-13.920923,17.997558,18.583639,17.485999,14.622104 +4.2,-13.344316,18.290598,19.560440,16.863721,14.242309 +4.25,-12.767710,18.632479,20.683761,16.116988,13.938473 +4.3,-12.191104,18.974359,22.002442,15.245800,13.634637 +4.35,-11.614498,19.316239,23.369963,14.374611,13.330801 +4.4,-11.037891,19.609280,24.835165,13.378967,13.026965 +4.45,-10.378913,19.853480,26.300366,12.507778,12.647171 +4.5,-9.555189,20.048840,27.716728,11.636590,12.191417 +4.55,-8.566722,20.195360,29.035409,10.889857,11.583745 +4.6,-7.413509,20.244200,30.207570,10.143124,10.900114 +4.65,-5.930807,20.244200,31.135531,9.645302,10.064565 +4.7,-4.365733,20.195360,31.770452,9.396391,9.077098 +4.75,-2.635914,20.146520,31.916972,9.271935,8.013673 +4.8,-0.906096,20.048840,31.965812,9.396391,6.950247 +4.85,0.823723,19.902320,31.916972,9.396391,5.886821 +4.9,2.306425,19.755800,31.868132,9.520846,4.975313 +4.95,3.706755,19.658120,31.526252,9.769757,4.139765 +5.0,4.859967,19.511600,30.989011,10.143124,3.380175 +5.05,5.848435,19.365079,30.451770,10.516490,2.772503 +5.1,6.672158,19.267399,29.865690,10.889857,2.240790 +5.15,7.413509,19.169719,29.230769,11.263223,1.709077 +5.2,8.072488,19.023199,28.547009,11.636590,1.329282 +5.25,8.649094,18.876679,27.863248,12.134412,0.949487 +5.3,9.225700,18.778999,27.179487,12.507778,0.569692 +5.35,9.637562,18.632479,26.495726,13.005600,0.341815 +5.4,10.049423,18.485958,25.811966,13.378967,0.037979 +5.45,10.378913,18.339438,25.225885,13.752334,-0.189897 +5.5,10.708402,18.192918,24.590965,14.125700,-0.417774 +5.55,10.955519,18.046398,23.907204,14.623522,-0.645651 +5.6,11.202636,17.899878,23.272283,14.996889,-0.797569 +5.65,11.449753,17.753358,22.588523,15.494711,-0.949487 +5.7,11.614498,17.606838,21.904762,15.868077,-1.101405 +5.75,11.614498,17.460317,21.318681,16.241444,-1.101405 +5.8,11.614498,17.362637,20.879121,16.490355,-1.101405 +5.85,11.532125,17.313797,20.586081,16.614810,-1.025446 +5.9,11.367381,17.313797,20.439560,16.739266,-0.949487 +5.95,11.037891,17.362637,20.390720,16.739266,-0.797569 +6.0,10.626030,17.460317,20.586081,16.614810,-0.493733 +6.05,9.967051,17.655678,21.025641,16.365899,-0.113938 +6.1,9.308072,17.899878,21.709402,15.868077,0.341815 +6.15,8.566722,18.192918,22.539683,15.370255,0.873528 +6.2,7.742998,18.485958,23.516484,14.623522,1.405241 +6.25,6.919275,18.778999,24.688645,13.876789,1.936954 +6.3,6.095552,19.072039,25.958486,13.130056,2.544626 +6.35,5.189456,19.365079,27.326007,12.258867,3.152298 +6.4,4.118616,19.560440,28.742369,11.387679,3.835929 +6.45,2.883031,19.755800,30.109890,10.516490,4.595518 +6.5,1.482702,19.853480,31.428571,9.645302,5.507026 +6.55,-0.082372,19.951160,32.600733,9.023024,6.418534 +6.6,-1.812191,19.951160,33.577534,8.525202,7.481960 +6.65,-3.542010,19.902320,34.310134,8.027380,8.621344 +6.7,-5.354201,19.853480,34.798535,7.778469,9.684770 +6.75,-7.001647,19.853480,34.945055,7.654014,10.672237 +6.8,-8.566722,19.853480,34.847375,7.654014,11.583745 +6.85,-9.884679,19.853480,34.603175,7.778469,12.419294 +6.9,-11.037891,19.853480,34.114774,8.027380,13.102924 +6.95,-12.026359,19.902320,33.479853,8.400747,13.710596 +7.0,-12.767710,19.951160,32.747253,8.774113,14.166350 +7.05,-13.344316,19.951160,31.868132,9.271935,14.546145 +7.1,-13.838550,19.951160,31.037851,9.769757,14.774022 +7.15,-14.168040,19.951160,30.207570,10.267579,14.925940 +7.2,-14.168040,19.902320,29.426129,10.640946,14.925940 +7.25,-14.168040,19.902320,28.644689,11.138768,14.925940 +7.3,-14.168040,19.853480,27.960928,11.512134,14.925940 +7.35,-14.085667,19.755800,27.326007,11.885501,14.925940 +7.4,-14.003295,19.706960,26.691087,12.258867,14.849981 +7.45,-13.920923,19.658120,26.105006,12.632234,14.774022 +7.5,-13.838550,19.560440,25.616606,13.005600,14.698063 +7.55,-13.426689,19.560440,25.372405,13.130056,14.394227 +7.6,-12.767710,19.609280,25.372405,13.130056,14.090391 +7.65,-12.108731,19.706960,25.665446,12.881145,13.634637 +7.7,-11.285008,19.853480,26.398046,12.507778,13.178883 +7.75,-10.461285,20.000000,27.277167,11.885501,12.723130 +7.8,-9.555189,20.097680,28.302808,11.885501,12.115458 +7.85,-8.566722,20.195360,29.328449,11.761045,11.583745 +7.9,-7.495881,20.244200,30.256410,11.512134,10.976073 +7.95,-6.342669,20.244200,31.037851,11.387679,10.216483 +8.0,-4.859967,20.244200,31.575092,11.263223,9.456893 +8.05,-3.542010,20.048840,31.672772,11.263223,8.545385 +8.1,-2.306425,19.951160,31.672772,11.263223,7.633878 +8.15,-1.235585,19.804640,31.330891,11.512134,6.874288 +8.2,-0.164745,19.706960,31.086691,11.636590,6.114698 +8.25,0.906096,19.560440,30.793651,11.885501,5.355108 +8.3,1.894563,19.413919,30.354090,12.009956,4.671477 +8.35,2.883031,19.316239,29.768010,12.258867,4.063806 +8.4,3.706755,19.169719,28.986569,12.507778,3.532093 +8.45,4.530478,19.023199,28.107448,12.881145,3.000380 +8.5,5.189456,18.876679,27.081807,13.130056,2.544626 +8.55,5.848435,18.730159,25.958486,13.503423,2.164831 +8.6,6.342669,18.583639,24.835165,13.876789,1.860995 +8.65,6.836903,18.437118,23.760684,14.125700,1.633118 +8.7,7.166392,18.290598,22.783883,14.499067,1.405241 +8.75,7.495881,18.192918,21.953602,14.747978,1.177364 +8.8,7.660626,18.095238,21.269841,15.121344,1.101405 +8.85,7.825371,17.997558,20.683761,15.370255,1.025446 +8.9,7.907743,17.948718,20.293040,15.619166,0.949487 +8.95,7.907743,17.899878,20.048840,15.868077,0.949487 +9.0,8.072488,17.753358,19.511600,16.116988,0.873528 +9.05,7.907743,17.802198,19.560440,16.241444,1.025446 +9.1,7.660626,17.802198,19.706960,16.365899,1.177364 +9.15,7.413509,17.851038,20.000000,16.490355,1.329282 +9.2,7.084020,17.948718,20.341880,16.490355,1.557159 +9.25,6.672158,17.997558,20.781441,16.614810,1.785036 +9.3,6.177924,18.095238,21.269841,16.863721,2.088872 +9.35,5.683690,18.144078,21.807082,17.112632,2.392708 +9.4,5.107084,18.144078,22.246642,17.485999,2.772503 +9.45,4.448105,18.144078,22.637363,18.108276,3.228257 +9.5,3.789127,18.095238,22.930403,18.730554,3.684011 +9.55,3.130148,17.997558,23.028083,19.726198,4.215724 +9.6,2.388797,17.851038,22.979243,20.846297,4.823395 +9.65,1.647446,17.557998,22.686203,22.215308,5.431067 +9.7,0.988468,17.216117,22.197802,23.833230,6.038739 +9.75,0.411862,16.776557,21.514042,25.700062,6.646411 +9.8,-0.164745,16.239316,20.634921,27.815806,7.254083 +9.85,-0.576606,15.653236,19.658120,30.056005,7.861755 +9.9,-0.988468,14.969475,18.632479,32.545115,8.469427 +9.95,-1.235585,14.334554,17.655678,34.785314,9.001139 +10.0,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/music_classical.csv b/hal/recordings/music_classical.csv old mode 100755 new mode 100644 index ed60aaadd..6547204b1 --- a/hal/recordings/music_classical.csv +++ b/hal/recordings/music_classical.csv @@ -1,202 +1,202 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.003413,-0.340793,11.801678,-0.004435,-0.005461 -0.05,-1.988159,-0.882356,9.335981,-0.737799,0.775814 -0.1,-2.986932,-1.562943,6.578825,-1.05629,1.158463 -0.15,-4.086832,-2.437414,3.83843,-1.365761,1.571932 -0.2,-5.235906,-3.788358,1.235693,-1.635673,1.993048 -0.25,-6.416389,-5.042879,-1.180708,-1.851316,2.412869 -0.3,-7.628635,-5.98909,-3.393303,-2.008587,2.830417 -0.35,-8.87634,-6.848915,-5.399029,-2.108636,3.2468 -0.4,-10.160382,-7.661033,-6.504988,-2.155046,3.662711 -0.45,-11.480716,-8.441093,-6.285836,-2.12671,4.079123 -0.5,-12.833091,-9.197263,-5.079302,-2.022348,4.495891 -0.55,-14.210126,-9.934426,-3.153098,-1.863266,4.912104 -0.6,-15.600597,-10.655754,-0.722087,-1.67373,5.325744 -0.65,-16.989064,-11.363416,2.039427,-1.480417,5.733497 -0.7,-18.355931,-12.058959,4.988771,-1.311751,6.130726 -0.75,-19.677993,-12.743505,8.008247,-1.197006,6.511628 -0.8,-20.929589,-13.417882,11.000136,-1.166201,6.869583 -0.85,-22.084345,-14.082689,13.882834,-1.301838,7.197687 -0.9,-23.117219,-14.738365,16.587895,-1.621766,7.489387 -0.95,-24.006561,-15.385197,19.057664,-2.086392,7.739094 -1.0,-24.735726,-16.023364,21.243444,-2.643307,7.942666 -1.05,-25.293996,-16.652937,23.103982,-3.227808,8.097663 -1.1,-25.676698,-17.273881,24.604292,-3.764482,8.203355 -1.15,-25.885708,-17.886078,25.714653,-4.170634,8.260809 -1.2,-25.927774,-18.489302,26.40981,-4.205138,8.272382 -1.25,-25.81512,-19.083217,26.668327,-4.122577,8.241836 -1.3,-25.562275,-19.667379,26.513552,-3.844662,8.173441 -1.35,-25.176816,-20.24119,25.967866,-3.387102,8.069466 -1.4,-24.645436,-20.803873,25.010457,-2.755317,7.926357 -1.45,-24.635086,-21.35445,23.620412,-1.946417,7.922606 -1.5,-23.580537,-21.891637,21.777826,-0.972772,7.641812 -1.55,-22.314209,-22.413778,19.465813,0.107709,7.302096 -1.6,-20.789501,-22.918664,16.674191,1.184583,6.88843 -1.65,-18.951177,-23.403283,13.406117,2.420728,6.383074 -1.7,-16.75447,-23.863376,9.690435,3.475851,5.771118 -1.75,-14.1891,-24.292632,5.605077,4.31379,5.047663 -1.8,-11.299848,-24.680933,1.322687,4.851924,4.224278 -1.85,-8.193028,-25.010247,-2.79802,4.922306,3.330128 -1.9,-5.019011,-25.24168,-6.027537,4.86431,2.41348 -1.95,-1.944569,-25.246616,-8.816615,4.368551,1.520554 -2.0,0.891118,-24.960322,-12.20816,3.605878,0.694866 -2.05,3.404469,-24.607054,-15.843665,2.658991,-0.037906 -2.1,5.579635,-24.197922,-19.389969,1.589981,-0.67237 -2.15,7.457426,-23.744024,-22.61331,0.440358,-1.220068 -2.2,9.108704,-23.256463,-25.388791,-0.764742,-1.701498 -2.25,10.590067,-22.746343,-27.672445,-2.005023,-2.133104 -2.3,11.941506,-22.224766,-29.468228,-3.260617,-2.526526 -2.35,13.158763,-21.702832,-30.803898,-4.447185,-2.880662 -2.4,14.222977,-21.191649,-31.716623,-5.516047,-3.190258 -2.45,15.097041,-20.702314,-32.245424,-6.445459,-3.444842 -2.5,15.757126,-20.245931,-32.42752,-7.232874,-3.637798 -2.55,16.194758,-19.833604,-32.146601,-7.881595,-3.76686 -2.6,16.191356,-19.476433,-31.225215,-8.342412,-3.769664 -2.65,16.152361,-19.185523,-29.609691,-8.674835,-3.76223 -2.7,16.04217,-18.971977,-27.257903,-8.840269,-3.734174 -2.75,15.824979,-18.846898,-24.15294,-8.79692,-3.675024 -2.8,15.46457,-18.821385,-20.322355,-8.510137,-3.574262 -2.85,14.923654,-18.906546,-15.859895,-7.770352,-3.420194 -2.9,14.165117,-19.113482,-10.940971,-6.948253,-3.203924 -2.95,13.149433,-19.453296,-5.817881,-5.985073,-2.913878 -3.0,11.76445,-19.937092,-0.786004,-4.813537,-2.517718 -3.05,10.115574,-20.381737,3.870435,-3.355214,-2.044482 -3.1,8.235215,-20.72125,7.927932,-1.710469,-1.503354 -3.15,6.151979,-21.014361,11.247175,-0.088418,-0.903258 -3.2,3.881105,-21.279277,13.768523,1.406137,-0.248744 -3.25,1.432057,-21.524513,15.491807,2.666957,0.4569 -3.3,-1.155581,-21.754868,16.453702,3.602886,1.201462 -3.35,-3.821375,-21.973342,16.70972,4.179707,1.966934 -3.4,-6.458955,-22.181975,16.207391,4.373298,2.722082 -3.45,-8.951312,-22.382187,14.854154,4.073695,3.431284 -3.5,-11.194429,-22.575039,12.668614,3.58165,4.06816 -3.55,-13.120899,-22.761319,9.696553,2.893256,4.613288 -3.6,-14.705121,-22.941637,6.016087,1.863406,5.057054 -3.65,-15.953962,-23.116459,1.740638,0.663206,5.40366 -3.7,-16.897468,-23.286149,-2.981848,-0.646595,5.662464 -3.75,-17.584989,-23.450983,-7.974544,-2.011178,5.848216 -3.8,-18.03752,-23.61117,-13.042294,-3.374869,5.967602 -3.85,-18.266743,-23.766869,-17.98567,-4.66739,6.024562 -3.9,-18.313024,-23.918166,-22.615775,-5.825458,6.031214 -3.95,-18.177577,-24.065118,-26.766939,-6.789325,5.988692 -4.0,-17.809384,-24.207727,-30.305056,-7.496044,5.883394 -4.05,-17.267289,-24.345943,-33.130927,-7.89456,5.732484 -4.1,-16.586493,-24.479668,-35.179249,-7.971474,5.545808 -4.15,-15.804664,-24.60875,-36.414469,-7.724948,5.333694 -4.2,-14.989128,-24.732959,-36.825424,-7.167998,5.114702 -4.25,-14.19357,-24.851995,-36.615618,-6.343025,4.903152 -4.3,-13.433722,-24.965434,-35.956132,-5.284385,4.702822 -4.35,-12.702968,-25.072726,-34.800041,-4.029148,4.511258 -4.4,-11.939933,-25.17312,-33.100283,-2.618586,4.310528 -4.45,-11.067284,-25.265575,-30.815001,-1.121189,4.078032 -4.5,-10.000339,-25.348611,-27.916542,0.353261,3.788734 -4.55,-8.660897,-25.420024,-24.405411,1.737676,3.419088 -4.6,-7.012934,-25.476279,-20.328181,2.952124,2.957458 -4.65,-5.066886,-25.511098,-15.794489,3.918264,2.40577 -4.7,-2.882428,-25.511054,-10.98271,4.582536,1.780854 -4.75,-0.557702,-25.432857,-6.123123,4.764491,1.110192 -4.8,1.791593,-25.246391,-1.458233,4.778989,0.430778 -4.85,4.051585,-25.016838,2.803289,4.659987,-0.223862 -4.9,6.12996,-24.749604,6.516955,4.44788,-0.826494 -4.95,7.969172,-24.450091,9.60765,3.919259,-1.360978 -5.0,9.550123,-24.123706,12.056789,3.247205,-1.820618 -5.05,10.895824,-23.775841,13.883325,2.529635,-2.211738 -5.1,12.041712,-23.411909,15.126985,1.734578,-2.544746 -5.15,13.033847,-23.037313,15.836403,0.900386,-2.832992 -5.2,13.906227,-22.657448,16.061972,0.052943,-3.086338 -5.25,14.677522,-22.277724,15.425694,-0.799526,-3.310246 -5.3,15.355813,-21.903541,13.653137,-1.63697,-3.50709 -5.35,15.947333,-21.540303,10.936531,-2.440515,-3.67871 -5.4,16.464841,-21.193411,7.454491,-3.199899,-3.828824 -5.45,16.923564,-20.86827,3.374865,-3.92169,-3.961888 -5.5,17.342273,-20.570283,-1.142837,-4.617862,-4.083346 -5.55,17.732069,-20.304851,-5.945323,-5.300593,-4.19645 -5.6,18.070655,-20.077379,-10.883602,-5.970734,-4.294798 -5.65,18.354212,-19.893271,-15.81123,-6.612571,-4.377304 -5.7,18.553191,-19.757927,-20.582667,-7.188657,-4.43544 -5.75,18.548518,-19.67675,-25.051605,-7.643619,-4.434904 -5.8,18.50676,-19.655143,-29.069358,-7.980974,-4.42356 -5.85,18.391093,-19.698515,-32.483128,-8.188721,-4.390779 -5.9,18.164491,-19.812258,-35.134177,-8.270043,-4.325928 -5.95,17.789384,-20.001787,-36.855808,-8.229263,-4.218234 -6.0,17.178818,-20.272497,-37.471078,-7.989238,-4.042566 -6.05,16.400262,-20.629791,-37.06696,-7.518155,-3.818126 -6.1,15.486514,-21.02344,-35.887311,-6.854248,-3.55431 -6.15,14.483217,-21.399756,-33.988129,-6.0383,-3.264174 -6.2,13.429293,-21.758954,-31.43467,-5.100448,-2.958832 -6.25,12.338417,-22.101254,-28.301245,-4.039703,-2.642074 -6.3,11.191364,-22.426873,-24.670672,-2.86726,-2.308276 -6.35,9.937323,-22.736031,-20.633426,-1.603971,-1.942726 -6.4,8.518251,-23.028948,-16.286463,-0.27757,-1.528582 -6.45,6.881264,-23.305842,-11.731777,1.061242,-1.050472 -6.5,4.999617,-23.566929,-7.074672,2.347915,-0.500624 -6.55,2.882621,-23.812432,-2.421962,3.483581,0.118142 -6.6,0.579545,-24.042565,2.119999,4.394739,0.79112 -6.65,-1.824364,-24.25755,6.447158,5.038441,1.49283 -6.7,-4.221572,-24.457608,10.459597,5.409274,2.191268 -6.75,-6.504227,-24.64295,14.063051,5.454766,2.853784 -6.8,-8.585895,-24.813801,17.170251,5.227382,3.454982 -6.85,-10.415006,-24.970379,19.701908,4.797034,3.98022 -6.9,-11.974989,-25.112901,21.587464,4.089864,4.42433 -6.95,-13.273215,-25.241586,22.765337,3.142112,4.790168 -7.0,-14.326911,-25.356652,23.18317,2.018725,5.083446 -7.05,-15.152195,-25.458319,22.175041,0.786201,5.309652 -7.1,-15.761668,-25.546805,19.318138,-0.490795,5.473312 -7.15,-16.171198,-25.622329,14.97098,-1.754757,5.579752 -7.2,-16.174221,-25.685107,9.528905,-2.946332,5.570796 -7.25,-16.168185,-25.735367,3.401357,-4.040948,5.559892 -7.3,-16.144357,-25.773314,-3.011157,-5.015017,5.544488 -7.35,-16.094023,-25.799178,-9.337012,-5.861447,5.521956 -7.4,-16.008386,-25.81317,-15.248067,-6.562114,5.489804 -7.45,-15.878467,-25.815511,-20.467964,-7.081151,5.445764 -7.5,-15.69508,-25.806427,-24.774604,-7.341239,5.387952 -7.55,-15.122954,-25.786126,-27.998139,-7.249578,5.222218 -7.6,-14.324494,-25.754828,-30.015841,-6.776253,4.995456 -7.65,-13.404354,-25.712756,-30.745627,-5.953513,4.737176 -7.7,-12.318422,-25.660129,-30.388333,-4.712685,4.435844 -7.75,-11.142447,-25.59716,-29.184003,-3.245266,4.110296 -7.8,-9.908818,-25.524074,-27.152015,-1.6373,3.768662 -7.85,-8.591582,-25.441085,-24.338291,-0.00349,3.402106 -7.9,-7.154162,-25.348418,-20.820071,1.520568,2.998658 -7.95,-5.558885,-25.246283,-16.708534,2.835792,2.546668 -8.0,-3.775522,-25.134905,-12.147845,3.86922,2.037112 -8.05,-1.823193,-25.014502,-7.309579,4.400099,1.47417 -8.1,0.23562,-24.885289,-2.382681,4.726643,0.87937 -8.15,2.307883,-24.747486,2.439785,4.833984,0.27982 -8.2,4.295204,-24.601313,6.974575,4.757222,-0.29576 -8.25,6.116979,-24.44699,11.060172,4.575273,-0.82378 -8.3,7.726096,-24.284729,14.564745,4.065271,-1.29131 -8.35,9.113912,-24.11476,17.389527,3.412407,-1.694744 -8.4,9.626318,-23.937291,19.467995,2.482067,-1.844053 -8.45,10.587832,-23.752546,20.762301,1.657805,-2.123614 -8.5,11.433463,-23.560741,21.258244,0.824753,-2.369584 -8.55,12.177451,-23.362099,20.997399,0.011695,-2.586077 -8.6,12.816875,-23.156833,20.118693,-0.759846,-2.772251 -8.65,13.343388,-22.945167,18.744739,-1.470502,-2.925686 -8.7,13.751084,-22.727308,16.974485,-2.101621,-3.04467 -8.75,14.038765,-22.324161,14.890285,-2.635675,-3.128849 -8.8,14.208526,-21.775671,12.562661,-3.06612,-3.178819 -8.85,14.265967,-21.167974,10.053695,-3.395187,-3.196195 -8.9,14.218552,-20.524355,7.419531,-3.618026,-3.183134 -8.95,14.074713,-19.855153,4.71232,-3.734587,-3.142092 -9.0,13.84291,-19.165972,1.981839,-3.749577,-3.075561 -9.05,13.530856,-18.460183,-0.723128,-3.671691,-2.985862 -9.1,13.144969,-17.739936,-3.353448,-3.512368,-2.875002 -9.15,12.690192,-17.006633,-5.858292,-3.294797,-2.744644 -9.2,12.170122,-16.261173,-8.183688,-3.054464,-2.59617 -9.25,11.587506,-15.504082,-10.270799,-2.80626,-2.430844 -9.3,10.94497,-14.7356,-12.053786,-2.562138,-2.250058 -9.35,10.245913,-13.955704,-13.457033,-2.331156,-2.055604 -9.4,9.495357,-13.16411,-14.391352,-2.119229,-1.84994 -9.45,8.700636,-12.360274,-14.748547,-1.929096,-1.636373 -9.5,7.871725,-11.543342,-13.838112,-1.760481,-1.419132 -9.55,7.021125,-10.712051,-11.985313,-1.610444,-1.203268 -9.6,6.163275,-9.864595,-9.689117,-1.473929,-0.994383 -9.65,5.3136,-8.998387,-7.121292,-1.344553,-0.798198 -9.7,4.486298,-8.10959,-4.366299,-1.215019,-0.619957 -9.75,3.694093,-7.192234,-1.474009,-1.078721,-0.463876 -9.8,2.945549,-6.236254,1.521749,-0.929851,-0.332519 -9.85,2.246752,-5.2222,4.594275,-0.765295,-0.226529 -9.9,1.607908,-4.101411,7.716453,-0.588067,-0.144846 -9.95,1.0515,-2.572541,10.843696,-0.410514,-0.08532 -10.0,0.0,0.0,13.656832,0.001028,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.820513,15.164835,39.763535,9.988606 +0.05,-3.212521,12.625153,14.383394,39.265713,10.672237 +0.1,-4.036244,12.380952,13.553114,39.141257,10.976073 +0.15,-4.942339,12.087912,12.722833,38.892346,11.355868 +0.2,-5.848435,11.599512,11.941392,38.643435,11.659704 +0.25,-6.754530,11.159951,11.257631,38.518979,12.039499 +0.3,-7.742998,10.866911,10.622711,38.518979,12.343335 +0.35,-8.731466,10.573871,10.036630,38.394524,12.723130 +0.4,-9.802306,10.280830,9.743590,38.394524,13.102924 +0.45,-10.790774,10.036630,9.792430,38.394524,13.406760 +0.5,-11.943987,9.743590,10.134310,38.394524,13.786555 +0.55,-13.014827,9.499389,10.622711,38.394524,14.090391 +0.6,-14.085667,9.255189,11.208791,38.518979,14.470186 +0.65,-15.238880,9.010989,11.892552,38.518979,14.774022 +0.7,-16.309720,8.766789,12.576313,38.518979,15.153817 +0.75,-17.380560,8.522589,13.308913,38.518979,15.457653 +0.8,-18.369028,8.278388,14.090354,38.518979,15.761489 +0.85,-19.275124,8.083028,14.822955,38.518979,15.989366 +0.9,-20.098847,7.838828,15.555556,38.394524,16.217243 +0.95,-20.840198,7.643468,16.239316,38.394524,16.445120 +1.0,-21.416804,7.399267,16.874237,38.270068,16.597038 +1.05,-21.911038,7.203907,17.460317,38.270068,16.748956 +1.1,-22.158155,6.959707,17.997558,38.145613,16.824915 +1.15,-22.322900,6.764347,18.534799,38.145613,16.900874 +1.2,-22.405272,6.568987,18.925519,38.145613,16.900874 +1.25,-22.322900,6.373626,19.316239,38.145613,16.900874 +1.3,-22.075783,6.129426,19.560440,38.270068,16.824915 +1.35,-21.746293,5.934066,19.804640,38.270068,16.748956 +1.4,-21.334432,5.738706,19.902320,38.394524,16.597038 +1.45,-21.334432,5.592186,19.951160,38.394524,16.597038 +1.5,-20.510708,5.396825,19.951160,38.767890,16.369161 +1.55,-19.522241,5.201465,19.902320,39.016801,16.065325 +1.6,-18.286656,5.054945,19.755800,39.390168,15.761489 +1.65,-16.803954,4.859585,19.560440,39.639079,15.305735 +1.7,-15.074135,4.713065,19.316239,40.012446,14.849981 +1.75,-13.014827,4.566545,18.974359,40.261357,14.242309 +1.8,-10.708402,4.420024,18.534799,40.385812,13.558678 +1.85,-8.237232,4.322344,17.997558,40.385812,12.799088 +1.9,-5.683690,4.224664,17.362637,40.385812,12.039499 +1.95,-3.212521,4.224664,16.630037,40.261357,11.279909 +2.0,-0.906096,4.322344,15.799756,40.012446,10.596278 +2.05,1.070840,4.468864,14.920635,39.763535,9.988606 +2.1,2.800659,4.615385,13.992674,39.390168,9.456893 +2.15,4.283361,4.761905,13.113553,39.141257,9.001139 +2.2,5.601318,4.908425,12.185592,38.767890,8.621344 +2.25,6.836903,5.103785,11.306471,38.394524,8.241550 +2.3,7.907743,5.250305,10.476190,38.021157,7.937714 +2.35,8.896211,5.445665,9.645910,37.647791,7.633878 +2.4,9.719934,5.641026,8.864469,37.274424,7.406001 +2.45,10.461285,5.787546,8.083028,36.901058,7.178124 +2.5,10.955519,5.934066,7.594628,36.527691,7.026206 +2.55,11.285008,6.080586,7.301587,36.278780,6.874288 +2.6,11.285008,6.227106,7.057387,35.905414,6.874288 +2.65,11.285008,6.324786,6.813187,35.656503,6.874288 +2.7,11.202636,6.373626,6.617827,35.532047,6.950247 +2.75,11.037891,6.422466,6.422466,35.283136,6.950247 +2.8,10.708402,6.422466,6.227106,35.158681,7.026206 +2.85,10.296540,6.422466,6.031746,35.283136,7.178124 +2.9,9.719934,6.324786,5.885226,35.283136,7.330042 +2.95,8.896211,6.227106,5.738706,35.407592,7.633878 +3.0,7.742998,6.080586,5.592186,35.532047,7.937714 +3.05,6.425041,5.885226,5.445665,35.905414,8.317509 +3.1,4.942339,5.787546,5.299145,36.154325,8.773262 +3.15,3.294893,5.689866,5.152625,36.527691,9.304975 +3.2,1.482702,5.592186,5.006105,36.901058,9.836688 +3.25,-0.494234,5.494505,4.859585,37.149969,10.368401 +3.3,-2.553542,5.445665,4.761905,37.398880,11.052032 +3.35,-4.695222,5.347985,4.713065,37.647791,11.659704 +3.4,-6.836903,5.299145,4.908425,37.772246,12.267376 +3.45,-8.813839,5.201465,5.299145,37.772246,12.875047 +3.5,-10.626030,5.152625,5.787546,37.772246,13.406760 +3.55,-12.108731,5.103785,6.422466,37.647791,13.862514 +3.6,-13.426689,5.006105,7.106227,37.523335,14.242309 +3.65,-14.415157,4.957265,7.887668,37.398880,14.546145 +3.7,-15.156507,4.908425,8.620269,37.274424,14.698063 +3.75,-15.733114,4.859585,9.401709,37.149969,14.849981 +3.8,-16.062603,4.810745,10.085470,37.025513,15.001899 +3.85,-16.227348,4.761905,10.720391,36.776602,15.001899 +3.9,-16.309720,4.664225,11.208791,36.652147,15.001899 +3.95,-16.144975,4.615385,11.599512,36.652147,15.001899 +4.0,-15.897858,4.566545,11.794872,36.652147,14.925940 +4.05,-15.485997,4.517705,11.746032,36.652147,14.774022 +4.1,-14.909390,4.517705,11.501832,36.776602,14.622104 +4.15,-14.250412,4.468864,11.062271,36.901058,14.470186 +4.2,-13.673806,4.420024,10.476190,37.149969,14.242309 +4.25,-13.014827,4.371184,9.792430,37.398880,14.090391 +4.3,-12.355848,4.322344,9.059829,37.647791,13.938473 +4.35,-11.779242,4.273504,8.229548,38.021157,13.786555 +4.4,-11.202636,4.273504,7.496947,38.270068,13.634637 +4.45,-10.461285,4.224664,6.764347,38.643435,13.406760 +4.5,-9.637562,4.175824,6.129426,39.016801,13.178883 +4.55,-8.566722,4.175824,5.592186,39.265713,12.875047 +4.6,-7.248764,4.175824,5.299145,39.514624,12.495253 +4.65,-5.683690,4.126984,5.152625,39.763535,12.039499 +4.7,-3.953871,4.126984,5.201465,39.887990,11.507786 +4.75,-2.059308,4.175824,5.299145,39.887990,10.976073 +4.8,-0.247117,4.224664,5.445665,39.887990,10.368401 +4.85,1.565074,4.322344,5.689866,39.763535,9.836688 +4.9,3.294893,4.420024,5.982906,39.763535,9.304975 +4.95,4.695222,4.517705,6.275946,39.639079,8.925180 +5.0,6.013180,4.615385,6.666667,39.390168,8.545385 +5.05,7.084020,4.713065,7.106227,39.265713,8.165591 +5.1,7.990115,4.859585,7.545788,39.016801,7.937714 +5.15,8.813839,5.006105,8.034188,38.892346,7.709837 +5.2,9.472817,5.103785,8.522589,38.643435,7.481960 +5.25,10.049423,5.250305,9.059829,38.518979,7.254083 +5.3,10.626030,5.396825,9.548230,38.270068,7.102165 +5.35,11.120264,5.494505,10.085470,38.145613,6.950247 +5.4,11.532125,5.641026,10.573871,38.021157,6.874288 +5.45,11.861614,5.738706,11.062271,37.772246,6.722370 +5.5,12.191104,5.836386,11.501832,37.647791,6.646411 +5.55,12.520593,5.934066,11.941392,37.523335,6.570452 +5.6,12.767710,6.031746,12.332112,37.274424,6.494493 +5.65,13.014827,6.080586,12.625153,37.149969,6.418534 +5.7,13.179572,6.129426,12.918193,37.025513,6.342575 +5.75,13.179572,6.129426,13.162393,36.901058,6.342575 +5.8,13.179572,6.178266,13.308913,36.776602,6.342575 +5.85,13.097199,6.129426,13.406593,36.776602,6.342575 +5.9,12.850082,6.080586,13.455433,36.652147,6.418534 +5.95,12.602965,6.031746,13.260073,36.652147,6.494493 +6.0,12.108731,5.934066,12.722833,36.776602,6.646411 +6.05,11.449753,5.836386,12.039072,36.901058,6.874288 +6.1,10.708402,5.689866,11.208791,37.149969,7.102165 +6.15,9.967051,5.543346,10.280830,37.274424,7.330042 +6.2,9.060956,5.445665,9.304029,37.523335,7.557919 +6.25,8.237232,5.299145,8.327228,37.896702,7.861755 +6.3,7.331137,5.201465,7.301587,38.145613,8.089632 +6.35,6.260297,5.103785,6.275946,38.518979,8.393468 +6.4,5.189456,5.006105,5.250305,38.892346,8.773262 +6.45,3.871499,4.908425,4.273504,39.265713,9.153057 +6.5,2.388797,4.810745,3.345543,39.639079,9.608811 +6.55,0.658979,4.713065,2.564103,40.012446,10.140524 +6.6,-1.153213,4.664225,1.831502,40.261357,10.672237 +6.65,-3.130148,4.566545,1.343101,40.510268,11.279909 +6.7,-5.024712,4.517705,1.098901,40.634723,11.811622 +6.75,-6.836903,4.420024,1.196581,40.634723,12.419294 +6.8,-8.484349,4.371184,1.489621,40.634723,12.875047 +6.85,-9.967051,4.322344,1.978022,40.634723,13.330801 +6.9,-11.202636,4.273504,2.612943,40.510268,13.710596 +6.95,-12.273476,4.224664,3.492063,40.385812,14.014432 +7.0,-13.097199,4.175824,4.468864,40.136901,14.242309 +7.05,-13.756178,4.175824,5.641026,39.887990,14.470186 +7.1,-14.250412,4.126984,6.813187,39.763535,14.546145 +7.15,-14.579901,4.078144,8.034188,39.514624,14.698063 +7.2,-14.579901,4.078144,9.157509,39.390168,14.622104 +7.25,-14.579901,4.078144,10.134310,39.141257,14.622104 +7.3,-14.579901,4.029304,11.013431,39.016801,14.622104 +7.35,-14.497529,4.029304,11.648352,38.892346,14.622104 +7.4,-14.415157,4.029304,12.039072,38.767890,14.622104 +7.45,-14.332784,4.029304,12.234432,38.643435,14.546145 +7.5,-14.168040,4.029304,12.234432,38.518979,14.470186 +7.55,-13.756178,4.029304,12.039072,38.394524,14.394227 +7.6,-13.097199,4.078144,11.550672,38.394524,14.166350 +7.65,-12.355848,4.078144,10.818071,38.518979,13.938473 +7.7,-11.532125,4.078144,9.987790,38.643435,13.710596 +7.75,-10.543657,4.126984,9.108669,38.892346,13.406760 +7.8,-9.555189,4.126984,8.229548,39.141257,13.178883 +7.85,-8.484349,4.175824,7.399267,39.390168,12.875047 +7.9,-7.331137,4.175824,6.666667,39.514624,12.495253 +7.95,-6.095552,4.224664,6.129426,39.763535,12.115458 +8.0,-4.695222,4.273504,5.934066,39.887990,11.735663 +8.05,-3.130148,4.322344,6.031746,39.887990,11.279909 +8.1,-1.482702,4.371184,6.275946,39.763535,10.748196 +8.15,0.164745,4.420024,6.568987,39.763535,10.292442 +8.2,1.812191,4.468864,6.910867,39.763535,9.760729 +8.25,3.212521,4.517705,7.399267,39.639079,9.304975 +8.3,4.530478,4.566545,7.936508,39.514624,8.925180 +8.35,5.601318,4.615385,8.522589,39.390168,8.621344 +8.4,6.013180,4.664225,9.157509,39.141257,8.469427 +8.45,6.836903,4.761905,9.792430,39.016801,8.241550 +8.5,7.495881,4.810745,10.476190,38.767890,8.089632 +8.55,8.072488,4.859585,11.062271,38.643435,7.861755 +8.6,8.566722,4.957265,11.599512,38.518979,7.709837 +8.65,9.060956,5.006105,12.136752,38.270068,7.557919 +8.7,9.308072,5.103785,12.527473,38.145613,7.481960 +8.75,9.555189,5.250305,12.918193,38.021157,7.406001 +8.8,9.719934,5.445665,13.162393,37.896702,7.406001 +8.85,9.719934,5.641026,13.308913,37.896702,7.406001 +8.9,9.719934,5.836386,13.308913,37.772246,7.406001 +8.95,9.637562,6.080586,13.064713,37.772246,7.406001 +9.0,9.390445,6.324786,12.673993,37.772246,7.481960 +9.05,9.143328,6.568987,12.136752,37.772246,7.557919 +9.1,8.896211,6.813187,11.501832,37.896702,7.633878 +9.15,8.484349,7.057387,10.769231,37.896702,7.709837 +9.2,8.072488,7.301587,10.036630,38.021157,7.861755 +9.25,7.578254,7.594628,9.304029,38.145613,8.013673 +9.3,7.084020,7.838828,8.669109,38.145613,8.165591 +9.35,6.507414,8.131868,8.131868,38.270068,8.317509 +9.4,5.930807,8.376068,7.692308,38.394524,8.469427 +9.45,5.271829,8.669109,7.448107,38.518979,8.697303 +9.5,4.612850,8.962149,7.399267,38.643435,8.849221 +9.55,3.953871,9.255189,7.448107,38.643435,9.001139 +9.6,3.294893,9.548230,8.083028,38.767890,9.229016 +9.65,2.635914,9.841270,8.913309,38.892346,9.380934 +9.7,1.976936,10.134310,9.792430,38.892346,9.532852 +9.75,1.317957,10.427350,10.769231,39.016801,9.608811 +9.8,0.741351,10.769231,11.746032,39.141257,9.760729 +9.85,0.164745,11.111111,12.722833,39.265713,9.836688 +9.9,-0.329489,11.501832,13.699634,39.390168,9.912647 +9.95,-0.823723,12.039072,14.676435,39.514624,9.988606 +10.0,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/music_groove.csv b/hal/recordings/music_groove.csv index 65b09ddcf..88632ebc4 100644 --- a/hal/recordings/music_groove.csv +++ b/hal/recordings/music_groove.csv @@ -1,321 +1,261 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.788003,-13.104757,0.112499,-10.477041,-0.203357 -0.05,1.260917,-11.893761,0.021427,-13.471443,-0.327659 -0.1,1.752122,-10.655469,0.010729,-17.630702,-0.460316 -0.15,2.234442,-9.457534,0.0092,-22.050841,-0.596061 -0.2,2.644132,-8.465222,0.129563,-25.428972,-0.72017 -0.25,2.979283,-7.685658,0.435833,-27.871222,-0.834047 -0.3,3.252086,-7.089018,0.863829,-29.815948,-0.942555 -0.35,3.469281,-6.655826,1.421537,-31.227973,-1.048259 -0.4,3.638314,-6.361888,2.119537,-32.360555,-1.152971 -0.45,3.77363,-6.15686,2.911296,-33.495548,-1.257588 -0.5,3.886468,-5.996945,3.755376,-34.853052,-1.362008 -0.55,3.985879,-5.848076,4.622252,-36.647646,-1.466093 -0.6,4.079711,-5.67945,5.475514,-38.797165,-1.569134 -0.65,4.17193,-5.46669,6.244001,-41.253882,-1.667966 -0.7,4.265232,-5.187302,6.868141,-43.94235,-1.759178 -0.75,4.361124,-4.819925,7.369481,-46.641828,-1.840823 -0.8,4.460876,-4.341858,7.658573,-49.194646,-1.911739 -0.85,4.565484,-3.727084,7.632671,-51.785238,-1.971873 -0.9,4.673962,-2.960766,7.451347,-54.475482,-2.019269 -0.95,4.784023,-2.040164,6.934379,-57.181347,-2.053837 -1.0,4.889702,-0.998136,6.167395,-59.815634,-2.073958 -1.05,4.983489,0.122484,5.182895,-63.124697,-2.072477 -1.1,5.062271,1.274697,4.02633,-66.17159,-2.064453 -1.15,5.124159,2.410466,2.762859,-67.508866,-2.044514 -1.2,5.166709,3.476766,1.460107,-66.83418,-2.009845 -1.25,5.187526,4.404455,0.195863,-65.440958,-1.966462 -1.3,5.192629,5.134882,-0.948451,-63.564179,-1.917314 -1.35,5.175079,5.61382,-1.949014,-61.27694,-1.864538 -1.4,5.13795,5.787087,-2.718308,-58.827791,-1.81285 -1.45,5.082084,5.596382,-2.928922,-56.502515,-1.767757 -1.5,5.008416,5.040843,-3.006517,-54.415632,-1.732581 -1.55,4.91963,4.145322,-3.017602,-52.636283,-1.710051 -1.6,4.817757,2.938743,-2.345285,-51.456357,-1.702415 -1.65,4.703817,1.46971,-1.210129,-51.151273,-1.710735 -1.7,4.584587,-0.19552,0.21297,-51.10769,-1.735218 -1.75,4.464011,-1.966277,1.997545,-52.055515,-1.774648 -1.8,4.359805,-3.656082,3.922563,-53.713417,-1.826234 -1.85,4.321239,-5.061632,5.805289,-55.965686,-1.888454 -1.9,4.30703,-6.173011,7.582207,-58.707593,-1.960226 -1.95,4.305,-7.0316,9.213737,-61.709502,-2.040467 -2.0,4.38332,-7.602598,10.648548,-64.687567,-2.127088 -2.05,4.504308,-7.793184,11.7846,-67.265561,-2.214437 -2.1,4.638948,-7.820411,12.493284,-69.510931,-2.297656 -2.15,4.791685,-7.357445,12.7006,-70.924356,-2.372973 -2.2,4.943188,-6.476163,12.401203,-70.938734,-2.43773 -2.25,5.085261,-5.304711,11.553842,-70.940783,-2.484178 -2.3,5.215237,-3.808887,10.21971,-69.720174,-2.506397 -2.35,5.334347,-2.028811,8.399786,-66.843995,-2.511498 -2.4,5.442866,-0.045577,6.111231,-63.274531,-2.484789 -2.45,5.533382,1.970148,3.496149,-59.109311,-2.419166 -2.5,5.599763,3.807431,0.792884,-54.369624,-2.334615 -2.55,5.634196,5.183646,-1.587874,-49.613453,-2.243653 -2.6,5.630084,5.887672,-3.421617,-45.371731,-2.158784 -2.65,5.611186,6.069069,-4.173758,-41.854593,-2.105489 -2.7,5.571025,5.761631,-4.094896,-39.290899,-2.089214 -2.75,5.5166,5.008973,-3.542865,-38.282001,-2.086889 -2.8,5.457571,4.021004,-2.15534,-38.692018,-2.134668 -2.85,5.400786,2.829338,-0.041671,-40.233362,-2.250669 -2.9,5.3509,1.440452,2.557148,-43.153941,-2.401304 -2.95,5.31744,-0.064975,5.359979,-46.909285,-2.577441 -3.0,5.311623,-1.599799,8.064202,-51.066777,-2.758839 -3.05,5.310792,-3.075784,10.510561,-55.262156,-2.929189 -3.1,5.330642,-4.354224,12.437671,-59.109905,-3.074663 -3.15,5.362945,-5.182802,13.433734,-62.192322,-3.183802 -3.2,5.40094,-5.594456,13.800705,-64.223797,-3.251709 -3.25,5.447618,-5.705768,13.853127,-64.95611,-3.275079 -3.3,5.503977,-5.104419,12.775639,-64.368106,-3.260119 -3.35,5.563764,-3.951533,11.030506,-62.56803,-3.21186 -3.4,5.621887,-2.377403,8.761116,-59.676299,-3.135965 -3.45,5.675491,-0.552541,6.122187,-55.884369,-3.04209 -3.5,5.722038,1.258941,3.420681,-51.416032,-2.940821 -3.55,5.759547,2.781142,0.885874,-46.605888,-2.843673 -3.6,5.78934,3.955752,-1.392788,-41.832002,-2.75555 -3.65,5.813582,4.783277,-3.357968,-37.476664,-2.679535 -3.7,5.827808,5.161611,-4.938217,-33.864372,-2.617877 -3.75,5.827769,5.098828,-6.00249,-31.209819,-2.572157 -3.8,5.827494,4.741326,-6.39301,-30.155282,-2.553788 -3.85,5.816667,3.941771,-6.09178,-30.379657,-2.554689 -3.9,5.807531,2.918734,-5.205731,-31.9655,-2.575023 -3.95,5.812165,1.756644,-3.977075,-34.847789,-2.615461 -4.0,5.830331,0.47208,-2.399867,-38.623432,-2.676601 -4.05,5.868427,-0.920423,-0.384752,-43.000866,-2.76571 -4.1,5.931097,-2.399409,2.021519,-47.653653,-2.889003 -4.15,6.015935,-3.897527,4.306647,-52.125169,-3.046487 -4.2,6.118624,-5.267801,6.137702,-55.961123,-3.229116 -4.25,6.233357,-6.399583,7.656083,-58.969941,-3.423935 -4.3,6.348437,-7.070549,9.870794,-60.853762,-3.611468 -4.35,6.452999,-6.939302,11.590186,-60.762818,-3.77819 -4.4,6.546415,-6.437053,12.25627,-60.126196,-3.925127 -4.45,6.630636,-5.401049,12.325029,-58.398234,-4.056655 -4.5,6.707813,-3.76041,11.280494,-55.096786,-4.175688 -4.55,6.780482,-1.773131,9.762258,-50.810508,-4.278826 -4.6,6.849711,0.365489,6.787802,-45.889353,-4.359369 -4.65,6.916026,2.446897,4.762019,-40.575811,-4.416958 -4.7,6.978277,4.273176,0.893871,-35.460744,-4.453556 -4.75,7.031912,6.1818,-1.023039,-31.088535,-4.453298 -4.8,7.07689,7.586886,-3.69998,-27.94416,-4.451493 -4.85,7.114586,8.066567,-5.567272,-26.506212,-4.446592 -4.9,7.137076,8.583964,-7.588415,-26.364481,-4.406062 -4.95,7.137892,8.901028,-8.250795,-27.431288,-4.352569 -5.0,7.138008,8.853154,-8.379559,-30.060315,-4.301797 -5.05,7.120697,8.30269,-7.932066,-33.568344,-4.251896 -5.1,7.099569,7.029435,-6.657429,-37.882603,-4.204053 -5.15,7.082052,5.286389,-5.019705,-42.763722,-4.153609 -5.2,7.070759,3.623281,-1.967772,-47.881187,-4.099981 -5.25,7.070784,2.026847,0.3172,-52.884041,-4.06079 -5.3,7.070962,0.313909,3.490452,-57.430601,-4.038929 -5.35,7.071444,-1.698704,5.623509,-61.183018,-4.032142 -5.4,7.076115,-3.989379,8.817335,-64.044614,-4.066275 -5.45,7.078182,-5.879083,10.067275,-65.817649,-4.112932 -5.5,7.075541,-7.117849,11.497211,-65.802357,-4.153902 -5.55,7.065181,-7.564959,11.511621,-65.695266,-4.185336 -5.6,7.051972,-7.218539,10.560517,-63.774965,-4.205614 -5.65,7.049818,-6.178501,9.191722,-60.403386,-4.225857 -5.7,7.049024,-4.563983,6.424545,-56.202919,-4.257356 -5.75,7.048911,-2.52849,4.506327,-51.107089,-4.310596 -5.8,7.076901,-0.25406,0.746218,-45.214275,-4.395141 -5.85,7.123848,1.931736,-1.447459,-39.228351,-4.51721 -5.9,7.189309,3.661921,-4.518523,-33.721003,-4.681218 -5.95,7.270374,4.99701,-5.911842,-28.882196,-4.882814 -6.0,7.357936,5.757667,-6.879472,-25.152211,-5.114307 -6.05,7.440583,5.730983,-6.637507,-23.293612,-5.367045 -6.1,7.517122,5.544198,-5.781032,-22.608862,-5.644524 -6.15,7.589222,5.037211,-4.841491,-22.511043,-5.953543 -6.2,7.661515,3.941153,-1.924838,-24.744341,-6.29592 -6.25,7.749575,2.617992,-0.098784,-28.244832,-6.652547 -6.3,7.865223,1.116335,3.252777,-32.654701,-6.997535 -6.35,8.006285,-0.516226,5.339843,-37.780379,-7.313007 -6.4,8.164233,-2.160904,8.344881,-43.15654,-7.584208 -6.45,8.321873,-3.661971,9.946379,-48.429743,-7.801459 -6.5,8.473507,-4.936666,11.897804,-53.308568,-7.962295 -6.55,8.617073,-5.924144,12.978711,-57.510671,-8.06584 -6.6,8.750466,-6.415199,13.843336,-60.834234,-8.105884 -6.65,8.865678,-6.305495,13.779686,-63.268862,-8.073797 -6.7,8.931847,-5.807715,13.316963,-64.361897,-7.973501 -6.75,8.941667,-4.758461,12.720829,-64.437835,-7.805242 -6.8,8.887445,-3.319676,11.066719,-63.367189,-7.594062 -6.85,8.776923,-1.620435,9.586503,-61.070613,-7.366352 -6.9,8.634408,0.204267,7.572286,-57.800858,-7.134553 -6.95,8.469425,2.016907,5.371005,-53.570396,-6.904721 -7.0,8.293942,3.708824,3.305486,-48.710631,-6.670917 -7.05,8.120124,5.179252,1.394391,-43.610167,-6.427021 -7.1,7.958444,6.330129,-1.433919,-38.567329,-6.178192 -7.15,7.818606,7.067181,-2.992523,-33.90065,-5.934788 -7.2,7.707916,7.372373,-5.60225,-30.060906,-5.7161 -7.25,7.627168,7.464967,-6.963331,-27.417646,-5.538266 -7.3,7.56753,7.478194,-7.684069,-26.427964,-5.403726 -7.35,7.522555,7.451302,-7.696657,-26.995117,-5.309943 -7.4,7.503953,7.390445,-7.507693,-28.866924,-5.247598 -7.45,7.514123,7.277412,-6.848779,-32.207965,-5.208301 -7.5,7.55592,6.902201,-5.088767,-36.819088,-5.194151 -7.55,7.639228,6.06269,-3.829898,-42.370693,-5.194186 -7.6,7.744528,4.769789,-1.172162,-48.372622,-5.204787 -7.65,7.845738,3.074404,0.819192,-54.336108,-5.220275 -7.7,7.937237,1.118586,3.233965,-59.971089,-5.227624 -7.75,8.013298,-0.936911,5.496491,-65.029562,-5.219282 -7.8,8.046071,-2.957915,7.38896,-69.230804,-5.183004 -7.85,8.042188,-4.813294,8.971837,-72.316704,-5.105637 -7.9,8.015009,-6.35749,10.520847,-74.152283,-4.988938 -7.95,7.916489,-7.504064,11.259491,-74.710358,-4.841284 -8.0,7.766331,-8.12662,12.039604,-73.971891,-4.68316 -8.05,7.588125,-8.056511,11.897014,-71.845701,-4.534574 -8.1,7.391947,-7.695474,11.576588,-68.347825,-4.393987 -8.15,7.186904,-6.882109,10.855494,-63.512099,-4.25373 -8.2,6.975944,-5.71367,9.254492,-57.578276,-4.103695 -8.25,6.760473,-4.35207,8.084639,-50.837583,-3.933165 -8.3,6.549686,-2.929032,5.281241,-43.670792,-3.737406 -8.35,6.378503,-1.466592,3.585673,-36.870321,-3.538412 -8.4,6.265894,-0.001234,0.667706,-31.252644,-3.36533 -8.45,6.217044,1.417842,-1.307343,-26.570442,-3.210029 -8.5,6.21173,2.738204,-4.053847,-23.711893,-3.108327 -8.55,6.233282,3.912954,-5.534823,-23.889203,-3.108851 -8.6,6.283199,4.959471,-7.043011,-24.624816,-3.11252 -8.65,6.339378,5.91192,-7.700203,-26.224259,-3.12248 -8.7,6.390198,6.732347,-7.800293,-29.042378,-3.17099 -8.75,6.46597,7.094372,-7.503243,-33.631271,-3.277255 -8.8,6.591237,7.019548,-5.68058,-40.109193,-3.41859 -8.85,6.725534,6.570208,-4.171972,-46.661738,-3.547328 -8.9,6.819556,5.509566,-2.807074,-51.53403,-3.626625 -8.95,6.853624,4.00284,-0.113895,-55.14206,-3.687925 -9.0,6.853013,2.28217,2.510695,-58.241549,-3.769955 -9.05,6.848731,0.445413,4.833605,-60.776314,-3.872298 -9.1,6.837107,-1.443154,7.063338,-62.487215,-3.984752 -9.15,6.814473,-3.31926,9.219807,-63.115114,-4.097115 -9.2,6.69071,-5.075296,11.350793,-61.018198,-4.193524 -9.25,6.494559,-6.430377,12.304798,-56.780128,-4.235474 -9.3,6.36192,-7.147975,12.548552,-52.828207,-4.21366 -9.35,6.273833,-7.342304,12.551699,-48.98318,-4.164718 -9.4,6.185103,-7.21915,11.599312,-44.615612,-4.106474 -9.45,6.100441,-6.794503,10.473725,-39.902132,-4.029054 -9.5,6.037039,-5.985581,9.350063,-35.22083,-3.915658 -9.55,6.012085,-4.709602,8.273626,-30.94979,-3.749487 -9.6,6.015605,-2.97159,6.457385,-27.488533,-3.52999 -9.65,6.02574,-1.127794,2.567749,-25.322108,-3.321627 -9.7,6.042616,0.494679,-0.108042,-24.534494,-3.183257 -9.75,6.069428,2.036501,-1.833375,-24.421977,-3.086352 -9.8,6.107498,3.683962,-3.750702,-25.740056,-2.998163 -9.85,6.147622,5.338014,-5.679718,-28.754424,-2.956457 -9.9,6.185818,6.750607,-6.732939,-32.427921,-2.974568 -9.95,6.249539,7.362911,-6.94557,-37.214067,-3.027803 -10.0,6.359625,7.348726,-6.293353,-43.419909,-3.108273 -10.05,6.479015,7.249442,-4.387177,-49.275799,-3.183136 -10.1,6.569804,6.396397,-2.177025,-53.196126,-3.226195 -10.15,6.64863,4.665296,-0.476658,-56.407944,-3.262786 -10.2,6.737053,2.681221,1.828479,-60.03696,-3.322111 -10.25,6.821797,0.643822,4.353899,-61.990517,-3.397306 -10.3,6.882522,-1.35081,6.617942,-62.078087,-3.477603 -10.35,6.905458,-3.195403,8.449817,-62.090593,-3.572714 -10.4,6.898966,-4.779837,9.767166,-59.762741,-3.688243 -10.45,6.879314,-5.993749,11.003403,-55.318781,-3.79291 -10.5,6.844886,-6.742627,11.209335,-51.547462,-3.857585 -10.55,6.788664,-6.995582,11.258733,-47.154625,-3.898637 -10.6,6.708083,-6.785292,10.524995,-40.687147,-3.935288 -10.65,6.623781,-6.192399,9.470177,-32.778867,-3.952696 -10.7,6.556899,-5.244185,7.771022,-25.992725,-3.940256 -10.75,6.507385,-3.849177,5.919944,-23.762773,-3.887408 -10.8,6.470966,-1.982512,3.800247,-22.941215,-3.784082 -10.85,6.447662,-0.004556,0.678349,-22.823847,-3.673119 -10.9,6.436971,1.789863,-1.929606,-23.015916,-3.593102 -10.95,6.431986,3.75328,-3.683421,-24.360397,-3.512683 -11.0,6.426178,6.061519,-5.342448,-27.848734,-3.398497 -11.05,6.420913,7.536297,-7.383969,-32.759117,-3.27903 -11.1,6.418208,7.96213,-7.888981,-37.890181,-3.188689 -11.15,6.414801,8.1808,-7.826198,-42.904875,-3.123711 -11.2,6.406106,8.261364,-7.176697,-47.682261,-3.07079 -11.25,6.38754,8.272874,-5.727505,-52.101414,-3.016618 -11.3,6.355653,7.478276,-3.553281,-55.903319,-2.957471 -11.35,6.317175,5.897478,-1.394237,-58.276902,-2.927939 -11.4,6.279005,4.470733,0.53925,-59.060338,-2.932673 -11.45,6.232911,3.081293,2.386612,-59.172258,-2.952024 -11.5,6.169658,1.43563,4.329472,-58.284572,-2.99176 -11.55,6.091139,-0.409916,6.223452,-55.706439,-3.049822 -11.6,6.002027,-2.31154,7.842689,-51.565254,-3.122198 -11.65,5.907,-4.125443,8.961322,-45.988395,-3.204871 -11.7,5.813997,-5.701474,9.446112,-39.398444,-3.286242 -11.75,5.744015,-6.864153,9.534385,-33.398669,-3.324371 -11.8,5.713592,-7.486544,8.713321,-29.424066,-3.324333 -11.85,5.70836,-7.661235,6.810639,-27.055742,-3.324068 -11.9,5.712906,-7.439245,4.540367,-25.536795,-3.308871 -11.95,5.729836,-6.77169,2.109569,-24.612223,-3.268359 -12.0,5.764084,-5.656195,-0.401456,-24.152471,-3.20878 -12.05,5.820587,-4.090371,-2.912413,-24.028008,-3.136388 -12.1,5.898589,-2.152965,-5.302998,-26.848031,-3.062538 -12.15,5.974556,-0.247183,-7.292965,-32.425012,-3.019014 -12.2,6.02698,1.273008,-8.595343,-37.29507,-3.009642 -12.25,6.06523,2.575107,-9.056266,-41.437371,-3.008303 -12.3,6.102885,3.88766,-8.962578,-45.533436,-3.014083 -12.35,6.139496,5.161931,-8.573786,-49.630849,-3.033579 -12.4,6.171105,6.279873,-7.728306,-53.618798,-3.070029 -12.45,6.193756,7.12344,-6.264545,-57.38645,-3.12667 -12.5,6.204899,7.621881,-4.137066,-60.594897,-3.201757 -12.55,6.207615,7.893681,-1.765019,-61.993065,-3.273624 -12.6,6.204709,8.069321,0.438695,-61.759103,-3.323645 -12.65,6.189748,8.138092,2.550766,-60.688164,-3.365295 -12.7,6.156668,7.769646,4.691797,-58.362751,-3.413811 -12.75,6.112598,6.954923,6.668441,-54.9098,-3.459392 -12.8,6.058391,6.030196,8.243073,-50.548738,-3.48859 -12.85,5.956617,4.933001,9.31491,-45.324435,-3.498409 -12.9,5.783722,3.598033,9.856856,-39.510035,-3.474241 -12.95,5.609931,2.347288,9.999674,-34.466374,-3.432408 -13.0,5.486828,1.459494,9.893213,-31.324593,-3.398083 -13.05,5.297672,0.652949,9.482179,-29.542112,-3.313126 -13.1,4.926627,-0.405417,8.684002,-28.287964,-3.119376 -13.15,4.429794,-1.693766,7.635748,-26.519705,-2.841875 -13.2,3.888532,-3.123857,6.499411,-23.758924,-2.518924 -13.25,3.313274,-4.696796,5.316995,-20.290247,-2.158626 -13.3,2.696728,-6.436019,4.100528,-16.402991,-1.761539 -13.35,2.031607,-8.364941,2.862037,-12.38648,-1.328226 -13.4,1.373639,-10.316506,1.711246,-8.752639,-0.899316 -13.45,1.030673,-11.361605,1.148744,-6.904076,-0.675756 -13.5,0.970061,-11.575922,1.081189,-6.498131,-0.636016 -13.55,0.911874,-11.781668,1.016335,-6.108421,-0.597866 -13.6,0.856061,-11.979018,0.954128,-5.734615,-0.561272 -13.65,0.802573,-12.168145,0.894513,-5.376383,-0.526203 -13.7,0.751361,-12.349227,0.837434,-5.033392,-0.492626 -13.75,0.702375,-12.522436,0.782837,-4.705312,-0.460509 -13.8,0.655566,-12.687948,0.730665,-4.39181,-0.429819 -13.85,0.610884,-12.845939,0.680865,-4.092556,-0.400523 -13.9,0.56828,-12.996582,0.633381,-3.807218,-0.37259 -13.95,0.527705,-13.140053,0.588157,-3.535465,-0.345987 -14.0,0.489108,-13.276527,0.545139,-3.276966,-0.320681 -14.05,0.452441,-13.406179,0.504271,-3.031389,-0.296641 -14.1,0.417653,-13.529183,0.465499,-2.798403,-0.273832 -14.15,0.384697,-13.645715,0.428766,-2.577676,-0.252224 -14.2,0.353521,-13.75595,0.394019,-2.368878,-0.231784 -14.25,0.324077,-13.860062,0.361202,-2.171676,-0.212479 -14.3,0.296314,-13.958226,0.330259,-1.98574,-0.194277 -14.35,0.270185,-14.050619,0.301136,-1.810738,-0.177145 -14.4,0.245638,-14.137412,0.273778,-1.646338,-0.161052 -14.45,0.222625,-14.218784,0.248129,-1.492211,-0.145963 -14.5,0.201097,-14.294907,0.224134,-1.348024,-0.131848 -14.55,0.181003,-14.365957,0.201738,-1.213445,-0.118674 -14.6,0.162294,-14.43211,0.180886,-1.088144,-0.106407 -14.65,0.144921,-14.493539,0.161523,-0.971789,-0.095017 -14.7,0.128834,-14.55042,0.143593,-0.864049,-0.084469 -14.75,0.113984,-14.602928,0.127042,-0.764592,-0.074733 -14.8,0.100322,-14.651238,0.111814,-0.673087,-0.065775 -14.85,0.087797,-14.695524,0.097855,-0.589203,-0.057564 -14.9,0.076361,-14.735962,0.085108,-0.512608,-0.050065 -14.95,0.065963,-14.772727,0.07352,-0.442973,-0.043248 -15.0,0.056555,-14.805992,0.063034,-0.379963,-0.03708 -15.05,0.048087,-14.835934,0.053596,-0.323249,-0.031528 -15.1,0.04051,-14.862728,0.04515,-0.272499,-0.02656 -15.15,0.033773,-14.886547,0.037642,-0.227381,-0.022143 -15.2,0.027828,-14.907567,0.031016,-0.187565,-0.018245 -15.25,0.022625,-14.925965,0.025217,-0.152719,-0.014834 -15.3,0.018115,-14.941912,0.02019,-0.122512,-0.011877 -15.35,0.014248,-14.955586,0.01588,-0.096613,-0.009342 -15.4,0.010975,-14.96716,0.012232,-0.074691,-0.007195 -15.45,0.008245,-14.976811,0.00919,-0.056412,-0.005406 -15.5,0.006011,-14.984712,0.006699,-0.041445,-0.003941 -15.55,0.004222,-14.991038,0.004705,-0.029461,-0.002768 -15.6,0.002828,-14.995965,0.003152,-0.02013,-0.001854 -15.65,0.001781,-14.999668,0.001985,-0.013117,-0.001168 -15.7,0.001031,-15.002321,0.001149,-0.008092,-0.000676 -15.75,0.000528,-15.0041,0.000588,-0.004722,-0.000346 -15.8,0.000223,-15.005178,0.000248,-0.00268,-0.000146 -15.85,6.6e-05,-15.005732,7.4e-05,-0.001629,-4.3e-05 -15.9,8e-06,-15.005937,9e-06,-0.001243,-5e-06 -15.95,0.0,-15.005966,0.0,-0.001187,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.05,0.000000,14.383394,15.311355,41.754823,9.836688 +0.1,0.576606,14.969475,15.311355,42.501556,9.760729 +0.15,1.070840,15.360195,15.311355,43.248289,9.760729 +0.2,1.565074,15.799756,15.457875,43.870566,9.684770 +0.25,1.812191,15.995116,15.750916,44.243933,9.608811 +0.3,2.059308,16.141636,16.141636,44.119477,9.532852 +0.35,2.224053,16.190476,16.630037,43.497200,9.456893 +0.4,2.306425,16.239316,17.216117,42.377100,9.456893 +0.45,2.388797,16.288156,17.753358,40.759179,9.380934 +0.5,2.553542,16.385836,18.290598,38.643435,9.304975 +0.55,2.718287,16.532357,18.681319,36.278780,9.229016 +0.6,2.800659,16.825397,18.925519,33.914126,9.229016 +0.65,2.965404,17.167277,19.023199,31.673927,9.153057 +0.7,3.130148,17.655678,18.827839,29.931549,9.153057 +0.75,3.294893,18.290598,18.485958,28.686994,9.153057 +0.8,3.377265,18.974359,17.899878,28.562539,9.153057 +0.85,3.542010,19.755800,17.216117,28.562539,9.153057 +0.9,3.542010,20.537241,16.434676,29.433727,9.153057 +0.95,3.624382,21.172161,15.653236,30.802738,9.229016 +1.0,3.542010,21.660562,15.018315,32.669571,9.229016 +1.05,3.542010,21.855922,14.627595,34.660859,9.304975 +1.1,3.459638,21.660562,14.627595,36.652147,9.304975 +1.15,3.294893,21.172161,14.725275,38.270068,9.304975 +1.2,3.130148,20.341880,15.311355,39.265713,9.304975 +1.25,2.965404,19.316239,16.288156,39.639079,9.304975 +1.3,2.883031,18.241758,17.509158,39.265713,9.304975 +1.35,2.553542,16.288156,19.365079,40.136901,9.229016 +1.4,2.553542,15.653236,20.439560,38.270068,9.229016 +1.45,2.553542,15.457875,21.318681,34.038581,9.229016 +1.5,2.718287,14.725275,22.735043,29.807094,9.153057 +1.55,2.883031,14.383394,23.614164,26.571251,9.077098 +1.6,3.212521,14.676435,23.711844,24.704418,9.001139 +1.65,3.459638,15.848596,22.832723,24.704418,9.001139 +1.7,3.624382,16.581197,22.100122,24.828874,8.925180 +1.75,3.706755,17.753358,20.927961,26.446795,8.925180 +1.8,3.953871,20.048840,18.290598,29.682638,9.001139 +1.85,4.036244,22.197802,15.506716,32.918482,9.077098 +1.9,4.036244,23.369963,13.260073,39.265713,9.153057 +1.95,3.953871,23.223443,12.234432,45.737399,9.153057 +2.0,3.953871,22.930403,12.283272,49.097698,9.153057 +2.05,3.871499,22.344322,12.478632,49.844431,9.229016 +2.1,3.789127,21.465201,13.992674,49.844431,9.153057 +2.15,3.624382,20.341880,16.483516,46.359676,9.077098 +2.2,3.624382,19.169719,19.072039,39.390168,8.925180 +2.25,3.624382,17.704518,21.416361,32.171749,8.849221 +2.3,3.706755,16.190476,23.565324,27.815806,8.697303 +2.35,3.706755,15.555556,24.493284,26.322340,8.621344 +2.4,3.789127,15.457875,24.590965,25.575607,8.621344 +2.45,3.871499,15.848596,24.200244,24.953329,8.621344 +2.5,3.953871,16.923077,22.881563,26.197884,8.697303 +2.55,4.036244,18.778999,20.586081,29.682638,8.773262 +2.6,4.118616,20.781441,17.899878,35.656503,8.849221 +2.65,4.118616,21.709402,16.532357,39.141257,8.849221 +2.7,4.200988,22.148962,15.457875,43.372744,8.925180 +2.75,4.200988,22.539683,13.553114,51.088986,9.001139 +2.8,4.200988,22.344322,12.771673,55.444928,9.001139 +2.85,4.200988,22.148962,13.015873,55.569384,9.001139 +2.9,4.118616,22.002442,14.139194,51.960174,8.925180 +2.95,4.118616,22.100122,14.725275,47.977598,8.925180 +3.0,4.200988,22.197802,15.360195,42.999378,8.925180 +3.05,4.283361,21.660562,16.874237,35.034225,8.849221 +3.1,4.365733,20.683761,18.583639,29.309272,8.697303 +3.15,4.530478,19.706960,20.146520,26.322340,8.621344 +3.2,4.777595,19.365079,20.830281,24.579963,8.469427 +3.25,4.859967,19.413919,20.830281,24.704418,8.393468 +3.3,4.942339,19.706960,20.781441,25.575607,8.393468 +3.35,5.107084,20.781441,19.755800,28.438083,8.241550 +3.4,5.189456,22.246642,18.144078,34.287492,8.165591 +3.45,5.271829,23.614164,16.288156,42.252645,8.165591 +3.5,5.354201,24.737485,14.139194,50.093342,8.165591 +3.55,5.436573,24.884005,13.260073,54.947106,8.165591 +3.6,5.436573,25.079365,12.332112,57.311761,8.165591 +3.65,5.518946,25.811966,10.671551,58.182950,8.165591 +3.7,5.518946,26.056166,10.525031,56.689484,8.241550 +3.75,5.518946,27.032967,10.427350,50.093342,8.317509 +3.8,5.436573,27.130647,11.452991,40.883634,8.241550 +3.85,5.436573,25.909646,13.308913,32.918482,8.317509 +3.9,5.436573,24.932845,14.481074,29.807094,8.393468 +3.95,5.436573,23.956044,15.750916,28.189172,8.393468 +4.0,5.436573,22.295482,17.899878,25.077785,8.317509 +4.05,5.436573,21.221001,19.169719,23.210952,8.317509 +4.1,5.436573,20.976801,19.511600,23.086497,8.241550 +4.15,5.354201,21.465201,18.925519,25.077785,8.317509 +4.2,5.354201,21.953602,18.388278,26.820162,8.241550 +4.25,5.354201,22.735043,17.509158,29.682638,8.241550 +4.3,5.354201,24.200244,15.702076,36.527691,8.241550 +4.35,5.436573,25.616606,13.601954,43.995022,8.165591 +4.4,5.601318,26.202686,12.039072,51.835719,8.089632 +4.45,5.766063,25.079365,12.380952,60.547604,7.861755 +4.5,5.848435,25.177045,12.429792,61.667704,7.785796 +4.55,5.930807,25.225885,12.478632,61.792159,7.633878 +4.6,6.013180,24.884005,14.334554,59.303049,7.406001 +4.65,6.013180,24.395604,16.532357,52.209085,7.178124 +4.7,6.260297,24.053724,17.997558,42.501556,7.026206 +4.75,6.589786,23.028083,19.560440,35.656503,6.798329 +4.8,6.754530,22.442002,20.341880,32.171749,6.722370 +4.85,6.919275,21.953602,20.830281,30.180460,6.646411 +4.9,7.084020,21.416361,21.465201,27.566895,6.570452 +4.95,7.413509,21.611722,21.074481,24.579963,6.646411 +5.0,7.495881,21.709402,20.781441,23.459863,6.722370 +5.05,7.331137,22.442002,19.853480,24.704418,6.874288 +5.1,7.001647,23.711844,18.290598,28.064717,7.026206 +5.15,6.836903,24.395604,17.460317,30.180460,7.178124 +5.2,6.589786,24.932845,16.678877,34.038581,7.254083 +5.25,6.260297,25.860806,15.067155,42.128189,7.406001 +5.3,6.095552,26.398046,13.357753,50.217797,7.557919 +5.35,5.930807,26.300366,12.039072,56.565028,7.709837 +5.4,5.930807,26.251526,11.404151,58.556316,7.785796 +5.45,5.848435,26.105006,11.452991,58.431861,7.861755 +5.5,5.848435,26.007326,11.794872,57.436217,7.861755 +5.55,5.766063,26.105006,12.625153,52.084630,7.861755 +5.6,5.848435,26.495726,13.357753,41.630367,7.861755 +5.65,6.177924,25.958486,14.481074,32.171749,7.861755 +5.7,6.342669,24.444444,16.336996,27.317984,7.861755 +5.75,6.342669,23.614164,17.313797,25.451151,7.861755 +5.8,6.425041,22.930403,18.046398,23.335408,7.861755 +5.85,6.589786,21.807082,19.218559,19.352831,7.937714 +5.9,6.425041,21.074481,19.804640,17.983821,8.013673 +5.95,6.177924,20.683761,20.097680,18.855009,8.089632 +6.0,5.683690,20.927961,19.658120,22.215308,8.241550 +6.05,5.436573,21.172161,19.218559,24.206596,8.241550 +6.1,5.189456,21.465201,18.681319,28.189172,8.317509 +6.15,4.777595,21.855922,17.753358,37.647791,8.469427 +6.2,4.530478,21.953602,16.483516,47.977598,8.621344 +6.25,4.448105,22.588523,14.432234,52.831363,8.697303 +6.3,4.530478,23.321123,12.722833,54.449284,8.773262 +6.35,4.612850,23.663004,12.283272,53.827007,8.773262 +6.4,4.612850,24.542125,11.843712,50.093342,8.773262 +6.45,4.777595,26.153846,10.818071,42.999378,8.697303 +6.5,4.859967,26.446886,11.355311,37.025513,8.621344 +6.55,5.024712,25.958486,12.576313,31.425016,8.545385 +6.6,5.271829,24.932845,14.236874,28.064717,8.545385 +6.65,5.354201,23.565324,16.141636,26.571251,8.469427 +6.7,5.354201,22.832723,17.118437,26.197884,8.393468 +6.75,5.271829,22.246642,17.899878,26.073429,8.393468 +6.8,5.189456,21.269841,19.218559,27.566895,8.241550 +6.85,4.859967,20.390720,20.341880,32.296204,8.241550 +6.9,4.612850,19.902320,20.830281,38.145613,8.241550 +6.95,4.448105,20.048840,20.195360,43.497200,8.317509 +7.0,4.365733,20.195360,19.706960,46.359676,8.393468 +7.05,4.365733,20.488400,18.827839,48.724331,8.469427 +7.1,4.365733,21.269841,16.874237,52.457996,8.621344 +7.15,4.365733,22.100122,14.920635,54.324829,8.697303 +7.2,4.448105,22.735043,13.455433,54.822651,8.773262 +7.25,4.530478,24.004884,12.332112,50.342253,8.849221 +7.3,4.530478,24.884005,11.697192,46.484132,8.849221 +7.35,4.530478,25.421245,11.550672,42.377100,8.773262 +7.4,4.695222,25.909646,11.794872,35.905414,8.697303 +7.45,4.859967,25.567766,12.771673,31.176105,8.697303 +7.5,5.107084,24.688645,14.139194,28.189172,8.697303 +7.55,5.189456,23.858364,15.457875,25.575607,8.621344 +7.6,5.271829,23.418803,16.043956,24.579963,8.545385 +7.65,5.271829,23.125763,16.483516,24.455507,8.545385 +7.7,5.354201,22.735043,17.118437,25.202240,8.469427 +7.75,5.271829,22.832723,17.118437,27.069073,8.393468 +7.8,5.189456,22.979243,16.923077,31.549471,8.393468 +7.85,4.942339,22.637363,17.118437,36.652147,8.317509 +7.9,4.859967,22.637363,16.776557,41.754823,8.393468 +7.95,4.859967,22.686203,16.092796,48.226509,8.393468 +8.0,4.777595,22.979243,15.311355,50.964530,8.469427 +8.05,4.777595,23.467643,14.383394,51.462352,8.545385 +8.1,4.777595,24.151404,13.504274,49.595520,8.621344 +8.15,4.777595,25.079365,12.869353,45.115121,8.621344 +8.2,4.777595,26.007326,12.478632,38.270068,8.697303 +8.25,4.777595,26.056166,12.478632,33.291848,8.697303 +8.3,4.777595,26.056166,12.625153,29.931549,8.773262 +8.35,4.695222,25.421245,13.211233,26.820162,8.773262 +8.4,4.695222,24.493284,14.090354,25.451151,8.849221 +8.45,4.695222,23.467643,15.164835,25.326696,8.849221 +8.5,4.530478,22.442002,16.336996,27.069073,8.773262 +8.55,4.448105,21.611722,17.362637,30.678283,8.773262 +8.6,4.283361,20.830281,18.192918,35.532047,8.697303 +8.65,4.200988,20.146520,18.730159,41.381456,8.621344 +8.7,4.036244,19.706960,18.827839,47.604231,8.621344 +8.75,4.036244,19.267399,18.632479,54.200373,8.621344 +8.8,4.036244,19.413919,17.753358,58.058494,8.621344 +8.85,4.036244,19.755800,16.874237,59.925327,8.697303 +8.9,4.118616,20.244200,16.043956,60.423149,8.697303 +8.95,4.200988,20.927961,15.164835,58.680772,8.773262 +9.0,4.283361,21.807082,14.578755,55.071562,8.773262 +9.05,4.365733,22.539683,14.383394,50.093342,8.773262 +9.1,4.448105,22.881563,14.627595,45.488488,8.773262 +9.15,4.530478,22.832723,15.067155,42.501556,8.773262 +9.2,4.530478,22.686203,15.604396,40.634723,8.697303 +9.25,4.612850,22.393162,16.141636,39.265713,8.697303 +9.3,4.612850,22.100122,16.630037,38.518979,8.621344 +9.35,4.530478,21.807082,17.069597,38.270068,8.621344 +9.4,4.530478,21.465201,17.411477,38.643435,8.621344 +9.45,4.448105,21.172161,17.655678,39.514624,8.545385 +9.5,4.365733,20.879121,17.802198,40.634723,8.545385 +9.55,4.118616,20.537241,17.851038,42.003734,8.545385 +9.6,3.871499,20.097680,17.802198,43.372744,8.621344 +9.65,3.706755,19.804640,17.753358,45.115121,8.621344 +9.7,3.294893,19.267399,17.509158,45.986310,8.697303 +9.75,2.718287,18.534799,17.167277,46.359676,8.849221 +9.8,1.812191,17.460317,16.776557,45.737399,9.077098 +9.85,1.153213,16.581197,16.483516,44.990666,9.229016 +9.9,0.329489,15.457875,16.141636,43.621655,9.532852 +9.95,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.75,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.8,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +10.95,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.75,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.8,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +11.95,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.75,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.8,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +12.95,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/music_hiphop.csv b/hal/recordings/music_hiphop.csv index 9ba5fa990..ec0d3bc47 100644 --- a/hal/recordings/music_hiphop.csv +++ b/hal/recordings/music_hiphop.csv @@ -1,302 +1,302 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos -0.0,2.9962140304063425,9.64230091221824,-14.058244766698166,-2.4674120361423295,-23.523585198041275 -0.0333,4.744514030406343,15.854600912218238,-14.058244766698166,-2.1308120361423297,-22.906185198041275 -0.0667,6.497914030406342,17.24460091221824,-14.058244766698166,-1.8102120361423295,-22.347485198041273 -0.1,8.246214030406342,17.55340091221824,-17.058244766698166,-1.5093120361423296,-21.905585198041276 -0.1333,9.994514030406343,17.62240091221824,-17.058244766698166,-1.2290120361423296,-21.621685198041273 -0.1667,9.996214030406342,11.641200912218238,-17.058244766698166,-0.9704120361423296,-21.523585198041275 -0.2,9.996214030406342,11.64210091221824,-17.058244766698166,-0.7366120361423292,-21.621485198041274 -0.2333,9.996214030406342,11.64220091221824,-17.058244766698166,-0.5281120361423293,-21.905185198041274 -0.2667,9.996214030406342,11.64230091221824,-17.058244766698166,-0.34591203614232935,-22.348485198041274 -0.3,9.996214030406342,11.64230091221824,-17.058244766698166,-0.1920120361423292,-22.905585198041276 -0.3333,9.996214030406342,11.64230091221824,-17.058244766698166,-0.06691203614232943,-23.522985198041276 -0.3667,9.996214030406342,11.64230091221824,-17.058244766698166,0.028987963857670884,-24.142185198041275 -0.4,9.996214030406342,11.64230091221824,-17.058244766698166,0.09438796385767034,-24.699185198041274 -0.4333,9.996214030406342,11.64230091221824,-17.058244766698166,0.12928796385767072,-25.141285198041274 -0.4667,9.996214030406342,11.64230091221824,-17.058244766698166,0.13338796385767004,-25.425885198041275 -0.5,9.996214030406342,11.64230091221824,-17.058244766698166,0.1066879638576701,-25.523585198041275 -0.5333,9.996214030406342,11.64230091221824,-17.058244766698166,0.04948796385767018,-25.425885198041275 -0.5667,9.996214030406342,11.64230091221824,-17.058244766698166,-0.038312036142329475,-25.141285198041274 -0.6,9.996214030406342,11.64230091221824,-17.058244766698166,-0.15561203614232966,-24.699185198041274 -0.6333,9.996214030406342,11.64230091221824,-17.058244766698166,-0.30191203614232975,-24.142185198041275 -0.6667,2.997914030406342,9.65430091221824,-14.058244766698166,-0.4768120361423298,-23.522985198041276 -0.7,4.7462140304063425,15.85730091221824,-14.058244766698166,-0.6782120361423294,-22.905585198041276 -0.7333,6.494414030406343,17.243400912218238,-14.058244766698166,-0.9054120361423297,-22.348485198041274 -0.7667,8.248014030406342,17.55360091221824,-17.058244766698166,-1.1577120361423296,-21.905185198041274 -0.8,9.996214030406342,11.63730091221824,-17.058244766698166,-1.4321120361423296,-21.621485198041274 -0.8333,9.996214030406342,11.641200912218238,-17.058244766698166,-1.7276120361423297,-21.523585198041275 -0.8667,9.996214030406342,11.64210091221824,-17.058244766698166,-2.0434120361423296,-21.621685198041273 -0.9,9.996214030406342,11.64220091221824,-17.058244766698166,-2.3757120361423296,-21.905585198041276 -0.9333,9.996214030406342,11.64230091221824,-17.058244766698166,-2.7232120361423293,-22.347485198041273 -0.9667,9.996214030406342,11.64230091221824,-17.058244766698166,-3.0851120361423297,-22.906185198041275 -1.0,9.996214030406342,11.64230091221824,-17.058244766698166,-3.4568120361423293,-23.523585198041275 -1.0333,9.996214030406342,11.64230091221824,-17.058244766698166,-3.837212036142329,-24.140985198041275 -1.0667,9.996214030406342,11.64230091221824,-17.058244766698166,-4.225112036142329,-24.699685198041276 -1.1,9.996214030406342,11.64230091221824,-17.058244766698166,-4.615712036142329,-25.141585198041273 -1.1333,9.996214030406342,11.64230091221824,-17.058244766698166,-5.007912036142329,-25.425485198041276 -1.1667,9.996214030406342,11.64230091221824,-17.058244766698166,-5.400412036142329,-25.523585198041275 -1.2,9.996214030406342,11.64230091221824,-17.058244766698166,-5.788412036142329,-25.425685198041275 -1.2333,9.996214030406342,11.64230091221824,-17.058244766698166,-6.17071203614233,-25.141985198041276 -1.2667,9.996214030406342,11.64230091221824,-17.058244766698166,-6.546112036142329,-24.698685198041275 -1.3,9.996214030406342,11.64230091221824,-17.058244766698166,-6.91001203614233,-24.141585198041273 -1.3333,9.996214030406342,11.64230091221824,-17.058244766698166,-7.261312036142329,-23.524185198041273 -1.3667,1.2444140304063431,15.85990091221824,-14.058244766698166,-7.59881203614233,-22.904985198041274 -1.4,-0.5037859695936575,17.24400091221824,-14.058244766698166,-7.91851203614233,-22.347985198041275 -1.4333,-2.252085969593658,17.55330091221824,-14.058244766698166,-8.21941203614233,-21.905885198041275 -1.4667,-4.0037859695936575,11.63730091221824,-17.058244766698166,-8.500512036142329,-21.621285198041274 -1.5,-4.0037859695936575,11.641200912218238,-17.058244766698166,-8.75831203614233,-21.523585198041275 -1.5333,-4.0037859695936575,11.64210091221824,-17.058244766698166,-8.99221203614233,-21.621285198041274 -1.5667,-4.0037859695936575,11.64220091221824,-17.058244766698166,-9.20131203614233,-21.905885198041275 -1.6,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.383012036142329,-22.347985198041275 -1.6333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.53691203614233,-22.904985198041274 -1.6667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.66241203614233,-23.524185198041273 -1.7,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.75791203614233,-24.141585198041273 -1.7333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.82331203614233,-24.698685198041275 -1.7667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.85831203614233,-25.141985198041276 -1.8,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.862412036142329,-25.425685198041275 -1.8333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.835812036142329,-25.523585198041275 -1.8667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.77831203614233,-25.425485198041276 -1.9,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.69081203614233,-25.141585198041273 -1.9333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.57351203614233,-24.699685198041276 -1.9667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.42681203614233,-24.140985198041275 -2.0,2.9962140304063425,9.64230091221824,-14.058244766698166,-9.25241203614233,-23.523585198041275 -2.0333,1.247914030406342,15.854600912218238,-14.058244766698166,-9.051012036142328,-22.906185198041275 -2.0667,-0.5055859695936569,17.24460091221824,-14.058244766698166,-8.82321203614233,-22.347485198041273 -2.1,-2.2537859695936575,17.55340091221824,-17.058244766698166,-8.57161203614233,-21.905585198041276 -2.1333,-4.002085969593658,17.62240091221824,-17.058244766698166,-8.29721203614233,-21.621685198041273 -2.1667,-4.0037859695936575,11.641200912218238,-17.058244766698166,-8.00081203614233,-21.523585198041275 -2.2,-4.0037859695936575,11.64210091221824,-17.058244766698166,-7.68591203614233,-21.621485198041274 -2.2333,-4.0037859695936575,11.64220091221824,-17.058244766698166,-7.35371203614233,-21.905185198041274 -2.2667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-7.005012036142329,-22.348485198041274 -2.3,-4.0037859695936575,11.64230091221824,-17.058244766698166,-6.644312036142329,-22.905585198041276 -2.3333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-6.27261203614233,-23.522985198041276 -2.3667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-5.89101203614233,-24.142185198041275 -2.4,-4.0037859695936575,11.64230091221824,-17.058244766698166,-5.50431203614233,-24.699185198041274 -2.4333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-5.11371203614233,-25.141285198041274 -2.4667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-4.72031203614233,-25.425885198041275 -2.5,-4.0037859695936575,11.64230091221824,-17.058244766698166,-4.32901203614233,-25.523585198041275 -2.5333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-3.9410120361423298,-25.425885198041275 -2.5667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-3.55761203614233,-25.141285198041274 -2.6,-4.0037859695936575,11.64230091221824,-17.058244766698166,-3.1833120361423295,-24.699185198041274 -2.6333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-2.8194120361423294,-24.142185198041275 -2.6667,2.998014030406342,9.65430091221824,-14.058244766698166,-2.4670120361423296,-23.522985198041276 -2.7,4.7462140304063425,15.85730091221824,-14.058244766698166,-2.1305120361423295,-22.905585198041276 -2.7333,6.494414030406343,17.243400912218238,-14.058244766698166,-1.8108120361423294,-22.348485198041274 -2.7667,8.248014030406342,17.55360091221824,-17.058244766698166,-1.5090120361423294,-21.905185198041274 -2.8,9.996214030406342,17.62250091221824,-17.058244766698166,-1.2288120361423296,-21.621485198041274 -2.8333,9.996214030406342,11.641200912218238,-17.058244766698166,-0.9709120361423293,-21.523585198041275 -2.8667,9.996214030406342,11.64210091221824,-17.058244766698166,-0.7364120361423296,-21.621685198041273 -2.9,9.996214030406342,11.64220091221824,-17.058244766698166,-0.5279120361423297,-21.905585198041276 -2.9333,9.996214030406342,11.64230091221824,-17.058244766698166,-0.34621203614232954,-22.347485198041273 -2.9667,9.996214030406342,11.64230091221824,-17.058244766698166,-0.19181203614232967,-22.906185198041275 -3.0,9.996214030406342,11.64230091221824,-17.058244766698166,-0.06681203614232967,-23.523585198041275 -3.0333,9.996214030406342,11.64230091221824,-17.058244766698166,0.028787963857670462,-24.140985198041275 -3.0667,9.996214030406342,11.64230091221824,-17.058244766698166,0.09438796385767034,-24.699685198041276 -3.1,9.996214030406342,11.64230091221824,-17.058244766698166,0.12928796385767072,-25.141585198041273 -3.1333,9.996214030406342,11.64230091221824,-17.058244766698166,0.13338796385767004,-25.425485198041276 -3.1667,9.996214030406342,11.64230091221824,-17.058244766698166,0.1066879638576701,-25.523585198041275 -3.2,9.996214030406342,11.64230091221824,-17.058244766698166,0.049387963857670414,-25.425685198041275 -3.2333,9.996214030406342,11.64230091221824,-17.058244766698166,-0.03811203614232994,-25.141985198041276 -3.2667,9.996214030406342,11.64230091221824,-17.058244766698166,-0.15571203614232942,-24.698685198041275 -3.3,9.996214030406342,11.64230091221824,-17.058244766698166,-0.3020120361423295,-24.141585198041273 -3.3333,9.996214030406342,11.64230091221824,-17.058244766698166,-0.47641203614232985,-23.524185198041273 -3.3667,4.747914030406342,15.85990091221824,-14.058244766698166,-0.6784120361423298,-22.904985198041274 -3.4,6.4962140304063425,17.24400091221824,-14.058244766698166,-0.9056120361423297,-22.347985198041275 -3.4333,8.244514030406343,17.55330091221824,-14.058244766698166,-1.1572120361423295,-21.905885198041275 -3.4667,9.996214030406342,11.63730091221824,-17.058244766698166,-1.4324120361423294,-21.621285198041274 -3.5,9.996214030406342,11.641200912218238,-17.058244766698166,-1.7279120361423295,-21.523585198041275 -3.5333,9.996214030406342,11.64210091221824,-17.058244766698166,-2.0428120361423296,-21.621285198041274 -3.5667,9.996214030406342,11.64220091221824,-17.058244766698166,-2.3760120361423294,-21.905885198041275 -3.6,9.996214030406342,11.64230091221824,-17.058244766698166,-2.7236120361423297,-22.347985198041275 -3.6333,9.996214030406342,11.64230091221824,-17.058244766698166,-3.0843120361423297,-22.904985198041274 -3.6667,9.996214030406342,11.64230091221824,-17.058244766698166,-3.4572120361423293,-23.524185198041273 -3.7,9.996214030406342,11.64230091221824,-17.058244766698166,-3.8376120361423296,-24.141585198041273 -3.7333,9.996214030406342,11.64230091221824,-17.058244766698166,-4.224312036142329,-24.698685198041275 -3.7667,9.996214030406342,11.64230091221824,-17.058244766698166,-4.616112036142329,-25.141985198041276 -3.8,9.996214030406342,11.64230091221824,-17.058244766698166,-5.008312036142329,-25.425685198041275 -3.8333,9.996214030406342,11.64230091221824,-17.058244766698166,-5.399612036142329,-25.523585198041275 -3.8667,9.996214030406342,11.64230091221824,-17.058244766698166,-5.788812036142329,-25.425485198041276 -3.9,9.996214030406342,11.64230091221824,-17.058244766698166,-6.171112036142329,-25.141585198041273 -3.9333,9.996214030406342,11.64230091221824,-17.058244766698166,-6.545312036142329,-24.699685198041276 -3.9667,9.996214030406342,11.64230091221824,-17.058244766698166,-6.910312036142329,-24.140985198041275 -4.0,2.9962140304063425,9.64230091221824,-14.058244766698166,-7.2616120361423295,-23.523585198041275 -4.0333,1.2480140304063418,15.854600912218238,-14.058244766698166,-7.598212036142329,-22.906185198041275 -4.0667,-0.5055859695936569,17.24460091221824,-14.058244766698166,-7.918812036142329,-22.347485198041273 -4.1,-2.2537859695936575,17.55340091221824,-14.058244766698166,-8.21971203614233,-21.905585198041276 -4.1333,-4.002085969593658,17.62240091221824,-17.058244766698166,-8.50001203614233,-21.621685198041273 -4.1667,-4.0037859695936575,11.641200912218238,-17.058244766698166,-8.75861203614233,-21.523585198041275 -4.2,-4.0037859695936575,11.64210091221824,-17.058244766698166,-8.99241203614233,-21.621485198041274 -4.2333,-4.0037859695936575,11.64220091221824,-17.058244766698166,-9.20091203614233,-21.905185198041274 -4.2667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.383112036142329,-22.348485198041274 -4.3,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.537012036142329,-22.905585198041276 -4.3333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.662112036142329,-23.522985198041276 -4.3667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.758012036142329,-24.142185198041275 -4.4,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.82341203614233,-24.699185198041274 -4.4333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.85831203614233,-25.141285198041274 -4.4667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.862412036142329,-25.425885198041275 -4.5,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.83571203614233,-25.523585198041275 -4.5333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.77851203614233,-25.425885198041275 -4.5667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.69071203614233,-25.141285198041274 -4.6,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.57341203614233,-24.699185198041274 -4.6333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.42711203614233,-24.142185198041275 -4.6667,2.994514030406343,9.65430091221824,-14.058244766698166,-9.252212036142328,-23.522985198041276 -4.7,1.2462140304063425,15.85730091221824,-14.058244766698166,-9.050812036142329,-22.905585198041276 -4.7333,-0.5020859695936579,17.243400912218238,-14.058244766698166,-8.823612036142329,-22.348485198041274 -4.7667,-2.255585969593657,17.55360091221824,-17.058244766698166,-8.571312036142329,-21.905185198041274 -4.8,-4.0037859695936575,11.63730091221824,-17.058244766698166,-8.296912036142329,-21.621485198041274 -4.8333,-4.0037859695936575,11.641200912218238,-17.058244766698166,-8.00141203614233,-21.523585198041275 -4.8667,-4.0037859695936575,11.64210091221824,-17.058244766698166,-7.685612036142329,-21.621685198041273 -4.9,-4.0037859695936575,11.64220091221824,-17.058244766698166,-7.353312036142329,-21.905585198041276 -4.9333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-7.00581203614233,-22.347485198041273 -4.9667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-6.643912036142329,-22.906185198041275 -5.0,-4.0037859695936575,11.64230091221824,-17.058244766698166,-6.27221203614233,-23.523585198041275 -5.0333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-5.89181203614233,-24.140985198041275 -5.0667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-5.50391203614233,-24.699685198041276 -5.1,-4.0037859695936575,11.64230091221824,-17.058244766698166,-5.11331203614233,-25.141585198041273 -5.1333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-4.72111203614233,-25.425485198041276 -5.1667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-4.32861203614233,-25.523585198041275 -5.2,-4.0037859695936575,11.64230091221824,-17.058244766698166,-3.9406120361423294,-25.425685198041275 -5.2333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-3.5583120361423295,-25.141985198041276 -5.2667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-3.1829120361423295,-24.698685198041275 -5.3,-4.0037859695936575,11.64230091221824,-17.058244766698166,-2.8190120361423294,-24.141585198041273 -5.3333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-2.4677120361423297,-23.524185198041273 -5.3667,4.748014030406342,15.85990091221824,-14.058244766698166,-2.1302120361423293,-22.904985198041274 -5.4,6.4962140304063425,17.24400091221824,-14.058244766698166,-1.8105120361423297,-22.347985198041275 -5.4333,8.244514030406343,17.55330091221824,-14.058244766698166,-1.5096120361423293,-21.905885198041275 -5.4667,9.996214030406342,11.63730091221824,-17.058244766698166,-1.2285120361423294,-21.621285198041274 -5.5,9.996214030406342,11.641200912218238,-17.058244766698166,-0.9707120361423294,-21.523585198041275 -5.5333,9.996214030406342,11.64210091221824,-17.058244766698166,-0.7368120361423296,-21.621285198041274 -5.5667,9.996214030406342,11.64220091221824,-17.058244766698166,-0.5277120361423293,-21.905885198041275 -5.6,9.996214030406342,11.64230091221824,-17.058244766698166,-0.3460120361423291,-22.347985198041275 -5.6333,9.996214030406342,11.64230091221824,-17.058244766698166,-0.19211203614232986,-22.904985198041274 -5.6667,9.996214030406342,11.64230091221824,-17.058244766698166,-0.06661203614232925,-23.524185198041273 -5.7,9.996214030406342,11.64230091221824,-17.058244766698166,0.02888796385767023,-24.141585198041273 -5.7333,9.996214030406342,11.64230091221824,-17.058244766698166,0.09428796385767058,-24.698685198041275 -5.7667,9.996214030406342,11.64230091221824,-17.058244766698166,0.12928796385767072,-25.141985198041276 -5.8,9.996214030406342,11.64230091221824,-17.058244766698166,0.13338796385767004,-25.425685198041275 -5.8333,9.996214030406342,11.64230091221824,-17.058244766698166,0.10678796385767075,-25.523585198041275 -5.8667,9.996214030406342,11.64230091221824,-17.058244766698166,0.04928796385767065,-25.425485198041276 -5.9,9.996214030406342,11.64230091221824,-17.058244766698166,-0.03821203614232971,-25.141585198041273 -5.9333,9.996214030406342,11.64230091221824,-17.058244766698166,-0.1555120361423299,-24.699685198041276 -5.9667,9.996214030406342,11.64230091221824,-17.058244766698166,-0.30221203614232994,-24.140985198041275 -6.0,2.9962140304063425,9.64230091221824,-14.058244766698166,-0.4766120361423294,-23.523585198041275 -6.0333,4.744414030406343,15.854600912218238,-14.058244766698166,-0.6780120361423299,-22.906185198041275 -6.0667,6.498014030406342,17.24460091221824,-14.058244766698166,-0.9058120361423296,-22.347485198041273 -6.1,8.246214030406342,17.55340091221824,-14.058244766698166,-1.1574120361423295,-21.905585198041276 -6.1333,9.994514030406343,17.62240091221824,-17.058244766698166,-1.4318120361423294,-21.621685198041273 -6.1667,9.996214030406342,11.641200912218238,-17.058244766698166,-1.7282120361423297,-21.523585198041275 -6.2,9.996214030406342,11.64210091221824,-17.058244766698166,-2.0431120361423294,-21.621485198041274 -6.2333,9.996214030406342,11.64220091221824,-17.058244766698166,-2.3753120361423297,-21.905185198041274 -6.2667,9.996214030406342,11.64230091221824,-17.058244766698166,-2.7240120361423297,-22.348485198041274 -6.3,9.996214030406342,11.64230091221824,-17.058244766698166,-3.0847120361423297,-22.905585198041276 -6.3333,9.996214030406342,11.64230091221824,-17.058244766698166,-3.4564120361423294,-23.522985198041276 -6.3667,9.996214030406342,11.64230091221824,-17.058244766698166,-3.8380120361423296,-24.142185198041275 -6.4,9.996214030406342,11.64230091221824,-17.058244766698166,-4.224712036142329,-24.699185198041274 -6.4333,9.996214030406342,11.64230091221824,-17.058244766698166,-4.615312036142329,-25.141285198041274 -6.4667,9.996214030406342,11.64230091221824,-17.058244766698166,-5.008712036142329,-25.425885198041275 -6.5,9.996214030406342,11.64230091221824,-17.058244766698166,-5.400012036142329,-25.523585198041275 -6.5333,9.996214030406342,11.64230091221824,-17.058244766698166,-5.788012036142329,-25.425885198041275 -6.5667,9.996214030406342,11.64230091221824,-17.058244766698166,-6.171412036142329,-25.141285198041274 -6.6,9.996214030406342,11.64230091221824,-17.058244766698166,-6.54571203614233,-24.699185198041274 -6.6333,9.996214030406342,11.64230091221824,-17.058244766698166,-6.909612036142329,-24.142185198041275 -6.6667,2.994514030406343,9.65430091221824,-14.058244766698166,-7.2620120361423295,-23.522985198041276 -6.7,1.2462140304063425,15.85730091221824,-14.058244766698166,-7.5985120361423295,-22.905585198041276 -6.7333,-0.5020859695936579,17.243400912218238,-14.058244766698166,-7.91821203614233,-22.348485198041274 -6.7667,-2.255585969593657,17.55360091221824,-17.058244766698166,-8.220012036142329,-21.905185198041274 -6.8,-4.0037859695936575,11.63730091221824,-17.058244766698166,-8.50021203614233,-21.621485198041274 -6.8333,-4.0037859695936575,11.641200912218238,-17.058244766698166,-8.758112036142329,-21.523585198041275 -6.8667,-4.0037859695936575,11.64210091221824,-17.058244766698166,-8.99261203614233,-21.621685198041273 -6.9,-4.0037859695936575,11.64220091221824,-17.058244766698166,-9.20111203614233,-21.905585198041276 -6.9333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.38281203614233,-22.347485198041273 -6.9667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.537212036142328,-22.906185198041275 -7.0,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.662212036142328,-23.523585198041275 -7.0333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.75781203614233,-24.140985198041275 -7.0667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.82341203614233,-24.699685198041276 -7.1,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.85831203614233,-25.141585198041273 -7.1333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.862412036142329,-25.425485198041276 -7.1667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.83571203614233,-25.523585198041275 -7.2,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.77841203614233,-25.425685198041275 -7.2333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.690912036142329,-25.141985198041276 -7.2667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.57331203614233,-24.698685198041275 -7.3,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.42701203614233,-24.141585198041273 -7.3333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.25261203614233,-23.524185198041273 -7.3667,1.2444140304063431,15.85990091221824,-14.058244766698166,-9.05061203614233,-22.904985198041274 -7.4,-0.5037859695936575,17.24400091221824,-14.058244766698166,-8.82341203614233,-22.347985198041275 -7.4333,-2.252085969593658,17.55330091221824,-14.058244766698166,-8.57181203614233,-21.905885198041275 -7.4667,-4.0037859695936575,11.63730091221824,-17.058244766698166,-8.29661203614233,-21.621285198041274 -7.5,-4.0037859695936575,11.641200912218238,-17.058244766698166,-8.00111203614233,-21.523585198041275 -7.5333,-4.0037859695936575,11.64210091221824,-17.058244766698166,-7.686212036142329,-21.621285198041274 -7.5667,-4.0037859695936575,11.64220091221824,-17.058244766698166,-7.35301203614233,-21.905885198041275 -7.6,-4.0037859695936575,11.64230091221824,-17.058244766698166,-7.00541203614233,-22.347985198041275 -7.6333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-6.644712036142329,-22.904985198041274 -7.6667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-6.27181203614233,-23.524185198041273 -7.7,-4.0037859695936575,11.64230091221824,-17.058244766698166,-5.891412036142329,-24.141585198041273 -7.7333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-5.50471203614233,-24.698685198041275 -7.7667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-5.11291203614233,-25.141985198041276 -7.8,-4.0037859695936575,11.64230091221824,-17.058244766698166,-4.72071203614233,-25.425685198041275 -7.8333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-4.32941203614233,-25.523585198041275 -7.8667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-3.9402120361423294,-25.425485198041276 -7.9,-4.0037859695936575,11.64230091221824,-17.058244766698166,-3.5579120361423295,-25.141585198041273 -7.9333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-3.1837120361423294,-24.699685198041276 -7.9667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-2.8187120361423297,-24.140985198041275 -8.0,2.9962140304063425,9.64230091221824,-14.058244766698166,-2.4674120361423295,-23.523585198041275 -8.0333,4.744514030406343,15.854600912218238,-14.058244766698166,-2.1308120361423297,-22.906185198041275 -8.0667,6.498014030406342,17.24460091221824,-14.058244766698166,-1.8102120361423295,-22.347485198041273 -8.1,8.246214030406342,17.55340091221824,-17.058244766698166,-1.5093120361423296,-21.905585198041276 -8.1333,9.994514030406343,17.62240091221824,-17.058244766698166,-1.2290120361423296,-21.621685198041273 -8.1667,9.996214030406342,11.641200912218238,-17.058244766698166,-0.9704120361423296,-21.523585198041275 -8.2,9.996214030406342,11.64210091221824,-17.058244766698166,-0.7366120361423292,-21.621485198041274 -8.2333,9.996214030406342,11.64220091221824,-17.058244766698166,-0.5281120361423293,-21.905185198041274 -8.2667,9.996214030406342,11.64230091221824,-17.058244766698166,-0.34591203614232935,-22.348485198041274 -8.3,9.996214030406342,11.64230091221824,-17.058244766698166,-0.1920120361423292,-22.905585198041276 -8.3333,9.996214030406342,11.64230091221824,-17.058244766698166,-0.06691203614232943,-23.522985198041276 -8.3667,9.996214030406342,11.64230091221824,-17.058244766698166,0.028987963857670884,-24.142185198041275 -8.4,9.996214030406342,11.64230091221824,-17.058244766698166,0.09438796385767034,-24.699185198041274 -8.4333,9.996214030406342,11.64230091221824,-17.058244766698166,0.12928796385767072,-25.141285198041274 -8.4667,9.996214030406342,11.64230091221824,-17.058244766698166,0.13338796385767004,-25.425885198041275 -8.5,9.996214030406342,11.64230091221824,-17.058244766698166,0.1066879638576701,-25.523585198041275 -8.5333,9.996214030406342,11.64230091221824,-17.058244766698166,0.04948796385767018,-25.425885198041275 -8.5667,9.996214030406342,11.64230091221824,-17.058244766698166,-0.038312036142329475,-25.141285198041274 -8.6,9.996214030406342,11.64230091221824,-17.058244766698166,-0.15561203614232966,-24.699185198041274 -8.6333,9.996214030406342,11.64230091221824,-17.058244766698166,-0.30191203614232975,-24.142185198041275 -8.6667,2.998014030406342,9.65430091221824,-14.058244766698166,-0.4768120361423298,-23.522985198041276 -8.7,4.7462140304063425,15.85730091221824,-14.058244766698166,-0.6782120361423294,-22.905585198041276 -8.7333,6.494514030406343,17.243400912218238,-14.058244766698166,-0.9054120361423297,-22.348485198041274 -8.7667,8.248014030406342,17.55360091221824,-17.058244766698166,-1.1577120361423296,-21.905185198041274 -8.8,9.996214030406342,11.63730091221824,-17.058244766698166,-1.4321120361423296,-21.621485198041274 -8.8333,9.996214030406342,11.641200912218238,-17.058244766698166,-1.7276120361423297,-21.523585198041275 -8.8667,9.996214030406342,11.64210091221824,-17.058244766698166,-2.0434120361423296,-21.621685198041273 -8.9,9.996214030406342,11.64220091221824,-17.058244766698166,-2.3757120361423296,-21.905585198041276 -8.9333,9.996214030406342,11.64230091221824,-17.058244766698166,-2.7232120361423293,-22.347485198041273 -8.9667,9.996214030406342,11.64230091221824,-17.058244766698166,-3.0851120361423297,-22.906185198041275 -9.0,9.996214030406342,11.64230091221824,-17.058244766698166,-3.4568120361423293,-23.523585198041275 -9.0333,9.996214030406342,11.64230091221824,-17.058244766698166,-3.837212036142329,-24.140985198041275 -9.0667,9.996214030406342,11.64230091221824,-17.058244766698166,-4.225112036142329,-24.699685198041276 -9.1,9.996214030406342,11.64230091221824,-17.058244766698166,-4.615712036142329,-25.141585198041273 -9.1333,9.996214030406342,11.64230091221824,-17.058244766698166,-5.007912036142329,-25.425485198041276 -9.1667,9.996214030406342,11.64230091221824,-17.058244766698166,-5.400412036142329,-25.523585198041275 -9.2,9.996214030406342,11.64230091221824,-17.058244766698166,-5.788412036142329,-25.425685198041275 -9.2333,9.996214030406342,11.64230091221824,-17.058244766698166,-6.17071203614233,-25.141985198041276 -9.2667,9.996214030406342,11.64230091221824,-17.058244766698166,-6.546112036142329,-24.698685198041275 -9.3,9.996214030406342,11.64230091221824,-17.058244766698166,-6.91001203614233,-24.141585198041273 -9.3333,9.996214030406342,11.64230091221824,-17.058244766698166,-7.261312036142329,-23.524185198041273 -9.3667,1.2444140304063431,15.85990091221824,-14.058244766698166,-7.59881203614233,-22.904985198041274 -9.4,-0.5037859695936575,17.24400091221824,-14.058244766698166,-7.91851203614233,-22.347985198041275 -9.4333,-2.251985969593658,17.55330091221824,-14.058244766698166,-8.21941203614233,-21.905885198041275 -9.4667,-4.0037859695936575,11.63730091221824,-17.058244766698166,-8.500512036142329,-21.621285198041274 -9.5,-4.0037859695936575,11.641200912218238,-17.058244766698166,-8.75831203614233,-21.523585198041275 -9.5333,-4.0037859695936575,11.64210091221824,-17.058244766698166,-8.99221203614233,-21.621285198041274 -9.5667,-4.0037859695936575,11.64220091221824,-17.058244766698166,-9.20131203614233,-21.905885198041275 -9.6,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.383012036142329,-22.347985198041275 -9.6333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.53691203614233,-22.904985198041274 -9.6667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.66241203614233,-23.524185198041273 -9.7,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.75791203614233,-24.141585198041273 -9.7333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.82331203614233,-24.698685198041275 -9.7667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.85831203614233,-25.141985198041276 -9.8,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.862412036142329,-25.425685198041275 -9.8333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.835812036142329,-25.523585198041275 -9.8667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.77831203614233,-25.425485198041276 -9.9,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.69081203614233,-25.141585198041273 -9.9333,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.57351203614233,-24.699685198041276 -9.9667,-4.0037859695936575,11.64230091221824,-17.058244766698166,-9.42681203614233,-24.140985198041275 -10.0,2.9962140304063425,9.64230091221824,-14.058244766698166,-9.25241203614233,-23.523585198041275 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos +0.0,1.317957,16.239316,10.622711,8.013673,23.957685 +0.0333,3.130148,18.388278,10.622711,8.241550,24.331052 +0.0667,4.859967,18.827839,10.622711,8.545385,24.704418 +0.1,6.589786,18.974359,9.597070,8.773262,24.953329 +0.1333,8.319605,18.974359,9.597070,9.001139,25.202240 +0.1667,8.319605,16.923077,9.597070,9.229016,25.202240 +0.2,8.319605,16.923077,9.597070,9.380934,25.202240 +0.2333,8.319605,16.923077,9.597070,9.608811,24.953329 +0.2667,8.319605,16.923077,9.597070,9.760729,24.704418 +0.3,8.319605,16.923077,9.597070,9.836688,24.331052 +0.3333,8.319605,16.923077,9.597070,9.988606,23.957685 +0.3667,8.319605,16.923077,9.597070,10.064565,23.459863 +0.4,8.319605,16.923077,9.597070,10.140524,23.086497 +0.4333,8.319605,16.923077,9.597070,10.140524,22.837586 +0.4667,8.319605,16.923077,9.597070,10.140524,22.588675 +0.5,8.319605,16.923077,9.597070,10.140524,22.588675 +0.5333,8.319605,16.923077,9.597070,10.064565,22.588675 +0.5667,8.319605,16.923077,9.597070,9.988606,22.837586 +0.6,8.319605,16.923077,9.597070,9.912647,23.086497 +0.6333,8.319605,16.923077,9.597070,9.760729,23.459863 +0.6667,1.317957,16.239316,10.622711,9.608811,23.957685 +0.7,3.130148,18.388278,10.622711,9.456893,24.331052 +0.7333,4.859967,18.827839,10.622711,9.304975,24.704418 +0.7667,6.589786,18.974359,9.597070,9.077098,24.953329 +0.8,8.319605,16.923077,9.597070,8.849221,25.202240 +0.8333,8.319605,16.923077,9.597070,8.621344,25.202240 +0.8667,8.319605,16.923077,9.597070,8.317509,25.202240 +0.9,8.319605,16.923077,9.597070,8.089632,24.953329 +0.9333,8.319605,16.923077,9.597070,7.785796,24.704418 +0.9667,8.319605,16.923077,9.597070,7.481960,24.331052 +1.0,8.319605,16.923077,9.597070,7.178124,23.957685 +1.0333,8.319605,16.923077,9.597070,6.874288,23.459863 +1.0667,8.319605,16.923077,9.597070,6.494493,23.086497 +1.1,8.319605,16.923077,9.597070,6.190657,22.837586 +1.1333,8.319605,16.923077,9.597070,5.886821,22.588675 +1.1667,8.319605,16.923077,9.597070,5.507026,22.588675 +1.2,8.319605,16.923077,9.597070,5.203190,22.588675 +1.2333,8.319605,16.923077,9.597070,4.899354,22.837586 +1.2667,8.319605,16.923077,9.597070,4.595518,23.086497 +1.3,8.319605,16.923077,9.597070,4.291682,23.459863 +1.3333,8.319605,16.923077,9.597070,3.987847,23.957685 +1.3667,-0.411862,18.388278,10.622711,3.684011,24.331052 +1.4,-2.141680,18.827839,10.622711,3.456134,24.704418 +1.4333,-3.871499,18.974359,10.622711,3.228257,24.953329 +1.4667,-5.683690,16.923077,9.597070,3.000380,25.202240 +1.5,-5.683690,16.923077,9.597070,2.772503,25.202240 +1.5333,-5.683690,16.923077,9.597070,2.544626,25.202240 +1.5667,-5.683690,16.923077,9.597070,2.392708,24.953329 +1.6,-5.683690,16.923077,9.597070,2.240790,24.704418 +1.6333,-5.683690,16.923077,9.597070,2.088872,24.331052 +1.6667,-5.683690,16.923077,9.597070,2.012913,23.957685 +1.7,-5.683690,16.923077,9.597070,1.936954,23.459863 +1.7333,-5.683690,16.923077,9.597070,1.860995,23.086497 +1.7667,-5.683690,16.923077,9.597070,1.860995,22.837586 +1.8,-5.683690,16.923077,9.597070,1.860995,22.588675 +1.8333,-5.683690,16.923077,9.597070,1.860995,22.588675 +1.8667,-5.683690,16.923077,9.597070,1.936954,22.588675 +1.9,-5.683690,16.923077,9.597070,1.936954,22.837586 +1.9333,-5.683690,16.923077,9.597070,2.088872,23.086497 +1.9667,-5.683690,16.923077,9.597070,2.164831,23.459863 +2.0,1.317957,16.239316,10.622711,2.316749,23.957685 +2.0333,-0.411862,18.388278,10.622711,2.468667,24.331052 +2.0667,-2.141680,18.827839,10.622711,2.696544,24.704418 +2.1,-3.871499,18.974359,9.597070,2.924421,24.953329 +2.1333,-5.683690,18.974359,9.597070,3.152298,25.202240 +2.1667,-5.683690,16.923077,9.597070,3.380175,25.202240 +2.2,-5.683690,16.923077,9.597070,3.608052,25.202240 +2.2333,-5.683690,16.923077,9.597070,3.911888,24.953329 +2.2667,-5.683690,16.923077,9.597070,4.215724,24.704418 +2.3,-5.683690,16.923077,9.597070,4.519559,24.331052 +2.3333,-5.683690,16.923077,9.597070,4.823395,23.957685 +2.3667,-5.683690,16.923077,9.597070,5.127231,23.459863 +2.4,-5.683690,16.923077,9.597070,5.431067,23.086497 +2.4333,-5.683690,16.923077,9.597070,5.810862,22.837586 +2.4667,-5.683690,16.923077,9.597070,6.114698,22.588675 +2.5,-5.683690,16.923077,9.597070,6.418534,22.588675 +2.5333,-5.683690,16.923077,9.597070,6.722370,22.588675 +2.5667,-5.683690,16.923077,9.597070,7.102165,22.837586 +2.6,-5.683690,16.923077,9.597070,7.406001,23.086497 +2.6333,-5.683690,16.923077,9.597070,7.709837,23.459863 +2.6667,1.317957,16.239316,10.622711,8.013673,23.957685 +2.7,3.130148,18.388278,10.622711,8.241550,24.331052 +2.7333,4.859967,18.827839,10.622711,8.545385,24.704418 +2.7667,6.589786,18.974359,9.597070,8.773262,24.953329 +2.8,8.319605,18.974359,9.597070,9.001139,25.202240 +2.8333,8.319605,16.923077,9.597070,9.229016,25.202240 +2.8667,8.319605,16.923077,9.597070,9.380934,25.202240 +2.9,8.319605,16.923077,9.597070,9.608811,24.953329 +2.9333,8.319605,16.923077,9.597070,9.760729,24.704418 +2.9667,8.319605,16.923077,9.597070,9.836688,24.331052 +3.0,8.319605,16.923077,9.597070,9.988606,23.957685 +3.0333,8.319605,16.923077,9.597070,10.064565,23.459863 +3.0667,8.319605,16.923077,9.597070,10.140524,23.086497 +3.1,8.319605,16.923077,9.597070,10.140524,22.837586 +3.1333,8.319605,16.923077,9.597070,10.140524,22.588675 +3.1667,8.319605,16.923077,9.597070,10.140524,22.588675 +3.2,8.319605,16.923077,9.597070,10.064565,22.588675 +3.2333,8.319605,16.923077,9.597070,9.988606,22.837586 +3.2667,8.319605,16.923077,9.597070,9.912647,23.086497 +3.3,8.319605,16.923077,9.597070,9.760729,23.459863 +3.3333,8.319605,16.923077,9.597070,9.608811,23.957685 +3.3667,3.130148,18.388278,10.622711,9.456893,24.331052 +3.4,4.859967,18.827839,10.622711,9.304975,24.704418 +3.4333,6.589786,18.974359,10.622711,9.077098,24.953329 +3.4667,8.319605,16.923077,9.597070,8.849221,25.202240 +3.5,8.319605,16.923077,9.597070,8.621344,25.202240 +3.5333,8.319605,16.923077,9.597070,8.317509,25.202240 +3.5667,8.319605,16.923077,9.597070,8.089632,24.953329 +3.6,8.319605,16.923077,9.597070,7.785796,24.704418 +3.6333,8.319605,16.923077,9.597070,7.481960,24.331052 +3.6667,8.319605,16.923077,9.597070,7.178124,23.957685 +3.7,8.319605,16.923077,9.597070,6.874288,23.459863 +3.7333,8.319605,16.923077,9.597070,6.494493,23.086497 +3.7667,8.319605,16.923077,9.597070,6.190657,22.837586 +3.8,8.319605,16.923077,9.597070,5.886821,22.588675 +3.8333,8.319605,16.923077,9.597070,5.507026,22.588675 +3.8667,8.319605,16.923077,9.597070,5.203190,22.588675 +3.9,8.319605,16.923077,9.597070,4.899354,22.837586 +3.9333,8.319605,16.923077,9.597070,4.595518,23.086497 +3.9667,8.319605,16.923077,9.597070,4.291682,23.459863 +4.0,1.317957,16.239316,10.622711,3.987847,23.957685 +4.0333,-0.411862,18.388278,10.622711,3.684011,24.331052 +4.0667,-2.141680,18.827839,10.622711,3.456134,24.704418 +4.1,-3.871499,18.974359,10.622711,3.228257,24.953329 +4.1333,-5.683690,18.974359,9.597070,3.000380,25.202240 +4.1667,-5.683690,16.923077,9.597070,2.772503,25.202240 +4.2,-5.683690,16.923077,9.597070,2.544626,25.202240 +4.2333,-5.683690,16.923077,9.597070,2.392708,24.953329 +4.2667,-5.683690,16.923077,9.597070,2.240790,24.704418 +4.3,-5.683690,16.923077,9.597070,2.088872,24.331052 +4.3333,-5.683690,16.923077,9.597070,2.012913,23.957685 +4.3667,-5.683690,16.923077,9.597070,1.936954,23.459863 +4.4,-5.683690,16.923077,9.597070,1.860995,23.086497 +4.4333,-5.683690,16.923077,9.597070,1.860995,22.837586 +4.4667,-5.683690,16.923077,9.597070,1.860995,22.588675 +4.5,-5.683690,16.923077,9.597070,1.860995,22.588675 +4.5333,-5.683690,16.923077,9.597070,1.936954,22.588675 +4.5667,-5.683690,16.923077,9.597070,1.936954,22.837586 +4.6,-5.683690,16.923077,9.597070,2.088872,23.086497 +4.6333,-5.683690,16.923077,9.597070,2.164831,23.459863 +4.6667,1.317957,16.239316,10.622711,2.316749,23.957685 +4.7,-0.411862,18.388278,10.622711,2.468667,24.331052 +4.7333,-2.141680,18.827839,10.622711,2.696544,24.704418 +4.7667,-3.871499,18.974359,9.597070,2.924421,24.953329 +4.8,-5.683690,16.923077,9.597070,3.152298,25.202240 +4.8333,-5.683690,16.923077,9.597070,3.380175,25.202240 +4.8667,-5.683690,16.923077,9.597070,3.608052,25.202240 +4.9,-5.683690,16.923077,9.597070,3.911888,24.953329 +4.9333,-5.683690,16.923077,9.597070,4.215724,24.704418 +4.9667,-5.683690,16.923077,9.597070,4.519559,24.331052 +5.0,-5.683690,16.923077,9.597070,4.823395,23.957685 +5.0333,-5.683690,16.923077,9.597070,5.127231,23.459863 +5.0667,-5.683690,16.923077,9.597070,5.431067,23.086497 +5.1,-5.683690,16.923077,9.597070,5.810862,22.837586 +5.1333,-5.683690,16.923077,9.597070,6.114698,22.588675 +5.1667,-5.683690,16.923077,9.597070,6.418534,22.588675 +5.2,-5.683690,16.923077,9.597070,6.722370,22.588675 +5.2333,-5.683690,16.923077,9.597070,7.102165,22.837586 +5.2667,-5.683690,16.923077,9.597070,7.406001,23.086497 +5.3,-5.683690,16.923077,9.597070,7.709837,23.459863 +5.3333,-5.683690,16.923077,9.597070,8.013673,23.957685 +5.3667,3.130148,18.388278,10.622711,8.241550,24.331052 +5.4,4.859967,18.827839,10.622711,8.545385,24.704418 +5.4333,6.589786,18.974359,10.622711,8.773262,24.953329 +5.4667,8.319605,16.923077,9.597070,9.001139,25.202240 +5.5,8.319605,16.923077,9.597070,9.229016,25.202240 +5.5333,8.319605,16.923077,9.597070,9.380934,25.202240 +5.5667,8.319605,16.923077,9.597070,9.608811,24.953329 +5.6,8.319605,16.923077,9.597070,9.760729,24.704418 +5.6333,8.319605,16.923077,9.597070,9.836688,24.331052 +5.6667,8.319605,16.923077,9.597070,9.988606,23.957685 +5.7,8.319605,16.923077,9.597070,10.064565,23.459863 +5.7333,8.319605,16.923077,9.597070,10.140524,23.086497 +5.7667,8.319605,16.923077,9.597070,10.140524,22.837586 +5.8,8.319605,16.923077,9.597070,10.140524,22.588675 +5.8333,8.319605,16.923077,9.597070,10.140524,22.588675 +5.8667,8.319605,16.923077,9.597070,10.064565,22.588675 +5.9,8.319605,16.923077,9.597070,9.988606,22.837586 +5.9333,8.319605,16.923077,9.597070,9.912647,23.086497 +5.9667,8.319605,16.923077,9.597070,9.760729,23.459863 +6.0,1.317957,16.239316,10.622711,9.608811,23.957685 +6.0333,3.130148,18.388278,10.622711,9.456893,24.331052 +6.0667,4.859967,18.827839,10.622711,9.304975,24.704418 +6.1,6.589786,18.974359,10.622711,9.077098,24.953329 +6.1333,8.319605,18.974359,9.597070,8.849221,25.202240 +6.1667,8.319605,16.923077,9.597070,8.621344,25.202240 +6.2,8.319605,16.923077,9.597070,8.317509,25.202240 +6.2333,8.319605,16.923077,9.597070,8.089632,24.953329 +6.2667,8.319605,16.923077,9.597070,7.785796,24.704418 +6.3,8.319605,16.923077,9.597070,7.481960,24.331052 +6.3333,8.319605,16.923077,9.597070,7.178124,23.957685 +6.3667,8.319605,16.923077,9.597070,6.874288,23.459863 +6.4,8.319605,16.923077,9.597070,6.494493,23.086497 +6.4333,8.319605,16.923077,9.597070,6.190657,22.837586 +6.4667,8.319605,16.923077,9.597070,5.886821,22.588675 +6.5,8.319605,16.923077,9.597070,5.507026,22.588675 +6.5333,8.319605,16.923077,9.597070,5.203190,22.588675 +6.5667,8.319605,16.923077,9.597070,4.899354,22.837586 +6.6,8.319605,16.923077,9.597070,4.595518,23.086497 +6.6333,8.319605,16.923077,9.597070,4.291682,23.459863 +6.6667,1.317957,16.239316,10.622711,3.987847,23.957685 +6.7,-0.411862,18.388278,10.622711,3.684011,24.331052 +6.7333,-2.141680,18.827839,10.622711,3.456134,24.704418 +6.7667,-3.871499,18.974359,9.597070,3.228257,24.953329 +6.8,-5.683690,16.923077,9.597070,3.000380,25.202240 +6.8333,-5.683690,16.923077,9.597070,2.772503,25.202240 +6.8667,-5.683690,16.923077,9.597070,2.544626,25.202240 +6.9,-5.683690,16.923077,9.597070,2.392708,24.953329 +6.9333,-5.683690,16.923077,9.597070,2.240790,24.704418 +6.9667,-5.683690,16.923077,9.597070,2.088872,24.331052 +7.0,-5.683690,16.923077,9.597070,2.012913,23.957685 +7.0333,-5.683690,16.923077,9.597070,1.936954,23.459863 +7.0667,-5.683690,16.923077,9.597070,1.860995,23.086497 +7.1,-5.683690,16.923077,9.597070,1.860995,22.837586 +7.1333,-5.683690,16.923077,9.597070,1.860995,22.588675 +7.1667,-5.683690,16.923077,9.597070,1.860995,22.588675 +7.2,-5.683690,16.923077,9.597070,1.936954,22.588675 +7.2333,-5.683690,16.923077,9.597070,1.936954,22.837586 +7.2667,-5.683690,16.923077,9.597070,2.088872,23.086497 +7.3,-5.683690,16.923077,9.597070,2.164831,23.459863 +7.3333,-5.683690,16.923077,9.597070,2.316749,23.957685 +7.3667,-0.411862,18.388278,10.622711,2.468667,24.331052 +7.4,-2.141680,18.827839,10.622711,2.696544,24.704418 +7.4333,-3.871499,18.974359,10.622711,2.924421,24.953329 +7.4667,-5.683690,16.923077,9.597070,3.152298,25.202240 +7.5,-5.683690,16.923077,9.597070,3.380175,25.202240 +7.5333,-5.683690,16.923077,9.597070,3.608052,25.202240 +7.5667,-5.683690,16.923077,9.597070,3.911888,24.953329 +7.6,-5.683690,16.923077,9.597070,4.215724,24.704418 +7.6333,-5.683690,16.923077,9.597070,4.519559,24.331052 +7.6667,-5.683690,16.923077,9.597070,4.823395,23.957685 +7.7,-5.683690,16.923077,9.597070,5.127231,23.459863 +7.7333,-5.683690,16.923077,9.597070,5.431067,23.086497 +7.7667,-5.683690,16.923077,9.597070,5.810862,22.837586 +7.8,-5.683690,16.923077,9.597070,6.114698,22.588675 +7.8333,-5.683690,16.923077,9.597070,6.418534,22.588675 +7.8667,-5.683690,16.923077,9.597070,6.722370,22.588675 +7.9,-5.683690,16.923077,9.597070,7.102165,22.837586 +7.9333,-5.683690,16.923077,9.597070,7.406001,23.086497 +7.9667,-5.683690,16.923077,9.597070,7.709837,23.459863 +8.0,1.317957,16.239316,10.622711,8.013673,23.957685 +8.0333,3.130148,18.388278,10.622711,8.241550,24.331052 +8.0667,4.859967,18.827839,10.622711,8.545385,24.704418 +8.1,6.589786,18.974359,9.597070,8.773262,24.953329 +8.1333,8.319605,18.974359,9.597070,9.001139,25.202240 +8.1667,8.319605,16.923077,9.597070,9.229016,25.202240 +8.2,8.319605,16.923077,9.597070,9.380934,25.202240 +8.2333,8.319605,16.923077,9.597070,9.608811,24.953329 +8.2667,8.319605,16.923077,9.597070,9.760729,24.704418 +8.3,8.319605,16.923077,9.597070,9.836688,24.331052 +8.3333,8.319605,16.923077,9.597070,9.988606,23.957685 +8.3667,8.319605,16.923077,9.597070,10.064565,23.459863 +8.4,8.319605,16.923077,9.597070,10.140524,23.086497 +8.4333,8.319605,16.923077,9.597070,10.140524,22.837586 +8.4667,8.319605,16.923077,9.597070,10.140524,22.588675 +8.5,8.319605,16.923077,9.597070,10.140524,22.588675 +8.5333,8.319605,16.923077,9.597070,10.064565,22.588675 +8.5667,8.319605,16.923077,9.597070,9.988606,22.837586 +8.6,8.319605,16.923077,9.597070,9.912647,23.086497 +8.6333,8.319605,16.923077,9.597070,9.760729,23.459863 +8.6667,1.317957,16.239316,10.622711,9.608811,23.957685 +8.7,3.130148,18.388278,10.622711,9.456893,24.331052 +8.7333,4.859967,18.827839,10.622711,9.304975,24.704418 +8.7667,6.589786,18.974359,9.597070,9.077098,24.953329 +8.8,8.319605,16.923077,9.597070,8.849221,25.202240 +8.8333,8.319605,16.923077,9.597070,8.621344,25.202240 +8.8667,8.319605,16.923077,9.597070,8.317509,25.202240 +8.9,8.319605,16.923077,9.597070,8.089632,24.953329 +8.9333,8.319605,16.923077,9.597070,7.785796,24.704418 +8.9667,8.319605,16.923077,9.597070,7.481960,24.331052 +9.0,8.319605,16.923077,9.597070,7.178124,23.957685 +9.0333,8.319605,16.923077,9.597070,6.874288,23.459863 +9.0667,8.319605,16.923077,9.597070,6.494493,23.086497 +9.1,8.319605,16.923077,9.597070,6.190657,22.837586 +9.1333,8.319605,16.923077,9.597070,5.886821,22.588675 +9.1667,8.319605,16.923077,9.597070,5.507026,22.588675 +9.2,8.319605,16.923077,9.597070,5.203190,22.588675 +9.2333,8.319605,16.923077,9.597070,4.899354,22.837586 +9.2667,8.319605,16.923077,9.597070,4.595518,23.086497 +9.3,8.319605,16.923077,9.597070,4.291682,23.459863 +9.3333,8.319605,16.923077,9.597070,3.987847,23.957685 +9.3667,-0.411862,18.388278,10.622711,3.684011,24.331052 +9.4,-2.141680,18.827839,10.622711,3.456134,24.704418 +9.4333,-3.871499,18.974359,10.622711,3.228257,24.953329 +9.4667,-5.683690,16.923077,9.597070,3.000380,25.202240 +9.5,-5.683690,16.923077,9.597070,2.772503,25.202240 +9.5333,-5.683690,16.923077,9.597070,2.544626,25.202240 +9.5667,-5.683690,16.923077,9.597070,2.392708,24.953329 +9.6,-5.683690,16.923077,9.597070,2.240790,24.704418 +9.6333,-5.683690,16.923077,9.597070,2.088872,24.331052 +9.6667,-5.683690,16.923077,9.597070,2.012913,23.957685 +9.7,-5.683690,16.923077,9.597070,1.936954,23.459863 +9.7333,-5.683690,16.923077,9.597070,1.860995,23.086497 +9.7667,-5.683690,16.923077,9.597070,1.860995,22.837586 +9.8,-5.683690,16.923077,9.597070,1.860995,22.588675 +9.8333,-5.683690,16.923077,9.597070,1.860995,22.588675 +9.8667,-5.683690,16.923077,9.597070,1.936954,22.588675 +9.9,-5.683690,16.923077,9.597070,1.936954,22.837586 +9.9333,-5.683690,16.923077,9.597070,2.088872,23.086497 +9.9667,-5.683690,16.923077,9.597070,2.164831,23.459863 +10.0,1.317957,16.239316,10.622711,2.316749,23.957685 diff --git a/hal/recordings/music_hype.csv b/hal/recordings/music_hype.csv index d1fb45b0e..62e98afc3 100644 --- a/hal/recordings/music_hype.csv +++ b/hal/recordings/music_hype.csv @@ -1,261 +1,261 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.0,17.896684,-11.037149,0.0,0.526262 -0.05,0.134837,19.726414,-12.49585,-2.662221,0.515926 -0.1,0.827593,21.227214,-14.207002,-5.304605,0.41129 -0.15,2.101449,22.985079,-17.518341,-6.866621,0.073146 -0.2,3.956439,24.331337,-22.320262,-8.217637,-0.767623 -0.25,6.268339,23.635516,-24.92592,-9.300318,-1.943505 -0.3,8.865845,22.531896,-24.550393,-9.754088,-2.871713 -0.35,11.569239,18.954093,-21.102593,-10.542133,-5.491097 -0.4,14.17341,14.463631,-14.779539,-11.437948,-8.110016 -0.45,16.453765,9.967055,-6.160513,-12.577333,-9.059168 -0.5,18.240121,6.790253,-0.395796,-14.666631,-8.765801 -0.55,18.954364,5.405177,2.071508,-17.500142,-7.390009 -0.6,19.667796,5.541258,1.59159,-21.238147,-3.441701 -0.65,20.448019,5.068728,2.054008,-25.476245,-1.811119 -0.7,20.003193,4.196461,3.442284,-28.503518,-0.891235 -0.75,18.637916,4.502193,4.039601,-29.993584,-0.252036 -0.8,17.50068,5.116391,3.683087,-29.888098,-0.123373 -0.85,15.867491,6.424208,2.682006,-28.192058,-0.23459 -0.9,13.307651,8.745135,0.805185,-24.913334,-0.522859 -0.95,10.835009,11.315721,-1.89892,-20.171712,-1.559738 -1.0,8.035861,14.193884,-6.027446,-14.358053,-2.986757 -1.05,4.919799,15.995777,-10.275736,-8.17272,-4.28767 -1.1,1.400459,18.056372,-19.143029,-2.508307,-3.914609 -1.15,-2.125161,16.429982,-22.901573,1.777443,-3.107754 -1.2,-5.323478,15.719199,-24.278556,4.057247,-2.685269 -1.25,-8.263807,15.220353,-24.844466,4.023678,-1.818572 -1.3,-10.855776,14.767082,-24.503406,1.718388,-0.676151 -1.35,-12.979884,17.389742,-22.920324,-2.437235,0.811441 -1.4,-14.632453,17.74475,-14.865179,-7.693224,2.125893 -1.45,-15.748632,17.587022,-12.236779,-13.183491,2.883165 -1.5,-16.457529,17.312882,-10.666332,-18.204491,3.417645 -1.55,-16.838619,15.387778,-7.172039,-22.359087,3.715984 -1.6,-16.960813,14.337996,-5.617709,-25.501307,4.061548 -1.65,-16.878328,12.621571,-3.210531,-27.595701,4.161966 -1.7,-16.633729,11.108767,-1.207737,-28.612952,4.242677 -1.75,-16.229414,9.488588,1.252013,-28.499179,4.08527 -1.8,-15.782363,8.589024,2.730343,-27.178137,3.827177 -1.85,-15.304074,8.282035,3.396429,-24.590677,3.488263 -1.9,-14.720533,8.143638,3.81165,-20.782937,3.000793 -1.95,-13.919067,8.007993,4.07407,-16.002513,2.259022 -2.0,-12.722177,10.897228,-0.239433,-10.755543,1.299063 -2.05,-11.006391,12.314138,-3.835937,-5.769304,0.513324 -2.1,-8.663839,13.238412,-7.452912,-1.873198,-0.330458 -2.15,-5.452439,15.487526,-21.598561,0.192949,-2.85726 -2.2,-2.092148,15.694894,-25.011832,0.008898,-3.666073 -2.25,1.396675,17.903872,-27.234232,-2.356417,-3.434028 -2.3,4.94168,19.569802,-27.429584,-6.379721,-3.47109 -2.35,8.217077,19.871291,-22.85349,-11.325336,-3.601677 -2.4,10.828643,16.83113,-13.185834,-16.509346,-3.176184 -2.45,12.703831,15.176271,-9.495117,-21.434095,-2.118841 -2.5,13.920417,14.311162,-7.818729,-25.777549,-0.905179 -2.55,14.558395,12.413674,-5.144211,-29.328713,0.32064 -2.6,14.707197,11.012256,-3.326659,-31.945765,1.062373 -2.65,14.440575,9.784301,-1.757282,-33.52514,1.542596 -2.7,13.776551,8.749518,-0.118701,-33.961562,1.782516 -2.75,12.775359,8.034983,1.250786,-33.111353,1.821409 -2.8,11.50884,8.732694,0.868328,-30.802818,1.479668 -2.85,9.981498,10.649251,-0.967146,-26.927828,0.751533 -2.9,8.20934,14.059946,-4.867547,-21.600439,-0.414693 -2.95,6.284689,17.305975,-9.876457,-15.309172,-1.991029 -3.0,4.143398,19.075007,-14.915173,-8.928903,-3.389961 -3.05,1.897884,18.519515,-18.605688,-3.555607,-4.161058 -3.1,-0.321,17.304621,-19.855428,-0.192076,-4.285027 -3.15,-2.404849,17.133611,-19.622553,0.568363,-3.814046 -3.2,-4.354271,17.410859,-16.379565,-1.277203,-2.476688 -3.25,-5.911216,16.77936,-9.395834,-5.172689,-0.881532 -3.3,-6.981383,14.821673,-4.6119,-10.240198,0.05743 -3.35,-7.664862,13.192168,-1.592832,-15.602447,0.939236 -3.4,-8.039537,10.62017,1.887547,-20.604411,1.776903 -3.45,-8.122353,9.251076,3.433829,-24.853499,2.424707 -3.5,-8.009913,8.881536,3.571949,-28.134154,2.978724 -3.55,-7.691826,9.066036,3.048841,-30.297087,3.345649 -3.6,-7.12164,9.84901,1.768976,-31.170958,3.58038 -3.65,-6.279131,11.660151,-0.880306,-30.55424,3.697244 -3.7,-5.054235,16.040829,-6.729917,-28.293546,3.38665 -3.75,-3.483367,20.420901,-13.150667,-24.442232,2.64325 -3.8,-1.498438,24.388604,-21.815435,-19.392956,1.114194 -3.85,0.67969,23.519668,-23.714441,-13.895189,-1.049333 -3.9,2.801667,21.105595,-21.534507,-8.936219,-3.238022 -3.95,4.875801,17.432685,-14.757785,-5.528865,-5.871473 -4.0,6.621161,13.652228,-7.691988,-4.440208,-7.298812 -4.05,7.987235,11.301897,-2.787256,-5.932338,-7.337669 -4.1,9.05566,10.102556,0.28115,-9.61844,-6.181798 -4.15,9.834805,9.369548,1.780708,-14.553386,-3.909593 -4.2,10.308723,8.990257,2.111106,-19.567582,-2.064213 -4.25,10.482162,8.686012,2.24646,-23.66659,-0.548882 -4.3,10.394817,8.741548,2.014932,-26.262012,0.096505 -4.35,10.026967,9.239242,1.349298,-27.150958,0.282033 -4.4,9.353943,10.28973,0.004829,-26.358448,0.291883 -4.45,8.357001,14.080927,-4.998188,-24.017414,-0.01791 -4.5,7.024327,18.046173,-11.289872,-20.350371,-0.611584 -4.55,5.250401,20.942728,-17.62711,-15.742029,-1.543264 -4.6,3.389509,22.12999,-23.702095,-10.840476,-2.002596 -4.65,0.320091,19.902452,-27.312062,-6.580342,-2.417193 -4.7,-2.346162,16.670269,-25.311988,-4.062363,-3.085757 -4.75,-5.25881,17.313707,-18.732193,-4.189331,-2.120124 -4.8,-7.3902,15.5517,-9.538832,-7.203576,-1.079406 -4.85,-8.366121,13.84334,-4.232351,-12.428384,0.027666 -4.9,-8.691226,13.496413,-3.057653,-18.48094,2.392945 -4.95,-8.736609,11.248748,0.067225,-23.895004,3.044371 -5.0,-8.307982,10.669993,0.985524,-27.732182,3.291761 -5.05,-7.613751,10.338057,1.462984,-29.725011,3.365042 -5.1,-6.439317,10.57276,1.22532,-29.98185,3.225133 -5.15,-5.067377,12.217637,-0.851284,-28.648115,2.920509 -5.2,-3.716043,15.234657,-4.851654,-25.798864,2.461309 -5.25,-2.429395,18.54201,-9.594422,-21.557732,1.39025 -5.3,-0.984481,22.071217,-16.367956,-16.304498,0.333872 -5.35,0.417439,22.395997,-20.480799,-10.765117,-1.502686 -5.4,1.95735,20.158339,-22.178475,-5.964657,-3.593891 -5.45,3.66417,18.015124,-21.088474,-2.978979,-5.189363 -5.5,5.796363,17.11365,-19.553556,-2.578695,-6.108562 -5.55,8.039648,16.157724,-15.774581,-4.916559,-6.753593 -5.6,10.135307,15.856762,-11.105447,-9.417934,-5.573878 -5.65,11.494483,14.163319,-6.574852,-14.966495,-3.234713 -5.7,12.339191,12.056059,-3.272856,-20.347398,-1.517504 -5.75,12.770978,10.181381,-0.608853,-24.670404,-0.725624 -5.8,12.924018,8.687171,1.262994,-27.517755,-0.006363 -5.85,12.803108,8.536056,1.442674,-28.780675,0.36481 -5.9,12.371876,8.716307,1.333571,-28.41852,0.380016 -5.95,11.57539,9.329579,0.782257,-26.346575,0.181235 -6.0,10.319203,10.956488,-0.935269,-22.534969,-0.292085 -6.05,8.880696,13.657777,-4.172675,-17.223049,-1.942736 -6.1,7.16842,15.796841,-7.803431,-11.079172,-3.582125 -6.15,5.178609,16.779803,-11.951255,-5.142718,-5.105271 -6.2,3.094398,16.61604,-16.124676,-0.564405,-5.763307 -6.25,0.661602,16.743891,-18.43167,1.710195,-5.262869 -6.3,-2.451611,17.196265,-19.165384,1.175468,-3.803577 -6.35,-4.773227,18.335554,-18.585124,-2.10383,-2.393069 -6.4,-6.187077,20.813956,-17.532191,-7.466417,-0.551823 -6.45,-7.293954,21.34974,-15.288549,-13.816834,1.227249 -6.5,-8.105787,20.091708,-12.330018,-19.997551,2.413166 -6.55,-8.771179,17.084103,-7.731019,-25.153464,3.160918 -6.6,-9.431791,13.400623,-2.845581,-28.872859,3.556671 -6.65,-9.688051,9.056336,2.504817,-31.05713,3.783343 -6.7,-9.781647,7.736665,4.149986,-31.698877,3.826371 -6.75,-9.715811,7.080342,5.040042,-30.761622,3.724587 -6.8,-9.481202,6.70306,5.640165,-28.218829,3.474683 -6.85,-8.932153,6.664967,6.480624,-24.200468,2.371459 -6.9,-8.12624,7.471003,6.00564,-19.122363,1.162441 -6.95,-6.967767,9.890076,2.998516,-13.683252,-0.232158 -7.0,-6.015705,12.099619,-1.024483,-8.730898,-1.565198 -7.05,-4.825357,15.21349,-7.608871,-5.072666,-2.181949 -7.1,-3.48524,17.854538,-16.012426,-3.305483,-2.479379 -7.15,-1.634996,17.888388,-25.338677,-3.69076,-2.704537 -7.2,1.375409,17.958292,-31.031131,-6.081895,-2.690172 -7.25,4.546154,20.256584,-32.722644,-9.944778,-2.073266 -7.3,8.648168,21.930636,-31.635233,-14.534882,-1.629915 -7.35,12.336061,21.987004,-26.340334,-19.139812,-1.260983 -7.4,15.151209,20.592542,-22.254619,-23.245724,-0.65287 -7.45,17.439966,17.996719,-17.413379,-26.559435,-0.299222 -7.5,18.823329,14.51582,-11.405167,-28.900477,0.036562 -7.55,19.454187,11.461173,-6.550333,-30.074952,0.043189 -7.6,19.673291,6.548506,0.257667,-29.814008,0.124103 -7.65,19.46418,5.605614,1.701073,-27.836796,-0.214 -7.7,18.784653,5.335679,2.627313,-24.037548,-1.843775 -7.75,17.626927,6.403286,1.555161,-18.692527,-3.845312 -7.8,15.908897,9.285068,-2.866239,-12.537459,-6.309394 -7.85,13.533081,12.344027,-9.942961,-6.644354,-7.847323 -7.9,10.659395,13.661728,-17.249641,-2.136328,-8.232071 -7.95,7.312051,13.844688,-23.838144,0.121357,-7.285614 -8.0,3.734739,14.070551,-27.592943,-0.271538,-5.840146 -8.05,0.319616,16.652862,-29.939793,-3.186739,-3.6032 -8.1,-2.888921,20.500828,-29.793647,-8.02705,-1.252423 -8.15,-5.775205,23.561974,-24.567757,-13.888334,0.984497 -8.2,-7.094,23.80075,-20.955061,-19.784922,2.319844 -8.25,-8.257603,21.527339,-15.415375,-24.88755,3.396739 -8.3,-8.771991,19.004025,-10.984075,-28.685872,3.858197 -8.35,-8.984684,17.567342,-8.606424,-31.010565,4.013588 -8.4,-8.945524,16.617442,-7.099282,-31.911942,4.021294 -8.45,-8.724709,15.878709,-5.920465,-31.491448,3.887221 -8.5,-8.393078,15.310385,-4.91499,-29.799603,3.578126 -8.55,-8.111236,14.885656,-4.004483,-26.869344,3.050422 -8.6,-7.875256,14.397982,-2.925786,-22.828965,2.210674 -8.65,-7.593259,14.01286,-2.087111,-18.000241,1.069156 -8.7,-7.270623,13.831206,-1.95525,-12.90518,-0.045355 -8.75,-6.907016,13.73525,-2.470998,-8.197297,-1.021179 -8.8,-6.405848,15.246761,-6.210181,-4.556921,-1.753206 -8.85,-5.641388,17.011127,-11.402319,-2.57,-2.181337 -8.9,-4.532742,18.810218,-17.572354,-2.588697,-2.159632 -8.95,-2.649149,20.597935,-24.40186,-4.616745,-1.983757 -9.0,-0.122339,22.021901,-29.238206,-8.287874,-1.657478 -9.05,2.212928,23.83519,-31.860316,-12.979875,-0.717967 -9.1,4.800985,25.076981,-32.65538,-18.010058,0.151478 -9.15,8.007203,25.209424,-30.649238,-22.8081,0.733227 -9.2,10.057554,24.578005,-26.836857,-26.991436,1.362952 -9.25,11.474438,22.437559,-21.04189,-30.346715,2.04857 -9.3,12.203981,19.84978,-15.925023,-32.769233,2.408609 -9.35,12.558359,17.552224,-12.022477,-34.19818,2.621478 -9.4,12.61975,16.050456,-9.615186,-34.556594,2.634026 -9.45,12.853707,15.678827,-8.919442,-33.699248,2.505209 -9.5,12.531198,15.826043,-8.951661,-31.419758,2.135063 -9.55,10.777805,16.566002,-9.780627,-27.586154,1.433025 -9.6,9.445196,17.881881,-11.415926,-22.401303,0.135289 -9.65,7.829472,19.504095,-14.284278,-18.527665,-2.109382 -9.7,6.129183,19.999071,-18.601716,-14.946418,-3.735398 -9.75,4.555756,19.164862,-22.223504,-11.817593,-4.258769 -9.8,3.234627,19.682379,-24.036955,-9.177719,-3.795128 -9.85,2.171467,21.00233,-24.309646,-6.935957,-2.69174 -9.9,1.331567,21.633082,-21.29778,-4.986161,-1.186575 -9.95,0.705369,17.994325,-12.875202,-3.353746,0.01679 -10.0,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.05,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.1,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.15,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.2,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.25,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.3,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.35,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.4,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.45,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.5,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.55,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.6,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.65,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.7,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.75,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.8,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.85,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.9,0.065154,3.963506,-3.485784,0.0,-0.149322 -10.95,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.0,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.05,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.1,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.15,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.2,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.25,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.3,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.35,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.4,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.45,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.5,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.55,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.6,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.65,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.7,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.75,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.8,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.85,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.9,0.065154,3.963506,-3.485784,0.0,-0.149322 -11.95,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.0,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.05,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.1,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.15,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.2,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.25,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.3,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.35,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.4,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.45,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.5,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.55,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.6,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.65,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.7,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.75,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.8,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.85,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.9,0.065154,3.963506,-3.485784,0.0,-0.149322 -12.95,0.065154,3.963506,-3.485784,0.0,-0.149322 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,19.072039,11.697192,39.887990,10.444360 +0.05,-1.482702,19.706960,11.208791,38.021157,10.444360 +0.1,-0.823723,20.244200,10.573871,36.278780,10.368401 +0.15,0.494234,20.830281,9.450549,35.158681,10.064565 +0.2,2.306425,21.269841,7.741148,34.287492,9.380934 +0.25,4.612850,21.074481,6.862027,33.540759,8.393468 +0.3,7.248764,20.683761,6.959707,33.167393,7.633878 +0.35,9.884679,19.462759,8.180708,32.669571,5.431067 +0.4,12.520593,17.899878,10.378510,32.047293,3.304216 +0.45,14.827018,16.336996,13.406593,31.300560,2.468667 +0.5,16.556837,15.262515,15.409035,29.931549,2.772503 +0.55,17.298188,14.774115,16.288156,27.940261,3.911888 +0.6,18.039539,14.822955,16.092796,25.451151,7.178124 +0.65,18.780890,14.676435,16.288156,22.588675,8.545385 +0.7,18.369028,14.383394,16.776557,20.472931,9.304975 +0.75,16.968699,14.481074,16.971917,19.477287,9.836688 +0.8,15.815486,14.676435,16.825397,19.601742,9.912647 +0.85,14.250412,15.115995,16.483516,20.721842,9.836688 +0.9,11.614498,15.946276,15.848596,22.962041,9.608811 +0.95,9.143328,16.825397,14.871795,26.197884,8.697303 +1.0,6.425041,17.802198,13.455433,30.056005,7.557919 +1.05,3.294893,18.437118,11.941392,34.287492,6.494493 +1.1,-0.247117,19.120879,8.864469,38.145613,6.798329 +1.15,-3.789127,18.583639,7.545788,41.008090,7.481960 +1.2,-7.001647,18.339438,7.057387,42.626011,7.785796 +1.25,-9.884679,18.144078,6.862027,42.501556,8.545385 +1.3,-12.520593,17.997558,7.008547,41.008090,9.456893 +1.35,-14.662273,18.925519,7.545788,38.145613,10.672237 +1.4,-16.309720,19.023199,10.378510,34.660859,11.811622 +1.45,-17.380560,18.974359,11.257631,30.927194,12.419294 +1.5,-18.121911,18.876679,11.843712,27.442439,12.875047 +1.55,-18.451400,18.192918,13.064713,24.704418,13.102924 +1.6,-18.616145,17.851038,13.601954,22.588675,13.406760 +1.65,-18.533773,17.264957,14.432234,21.095208,13.482719 +1.7,-18.286656,16.727717,15.115995,20.472931,13.558678 +1.75,-17.874794,16.190476,15.995116,20.472931,13.406760 +1.8,-17.462932,15.897436,16.532357,21.468575,13.178883 +1.85,-16.968699,15.750916,16.727717,23.210952,12.951006 +1.9,-16.392092,15.702076,16.874237,25.700062,12.495253 +1.95,-15.568369,15.653236,16.971917,28.935905,11.887581 +2.0,-14.332784,16.678877,15.457875,32.545115,11.127991 +2.05,-12.685338,17.167277,14.236874,35.905414,10.444360 +2.1,-10.296540,17.460317,12.967033,38.518979,9.760729 +2.15,-7.084020,18.241758,7.985348,40.012446,7.633878 +2.2,-3.706755,18.339438,6.813187,39.887990,6.950247 +2.25,-0.247117,19.072039,6.031746,38.270068,7.178124 +2.3,3.294893,19.658120,5.982906,35.532047,7.178124 +2.35,6.589786,19.755800,7.545788,32.171749,7.026206 +2.4,9.143328,18.730159,10.964591,28.686994,7.406001 +2.45,11.037891,18.144078,12.234432,25.326696,8.241550 +2.5,12.273476,17.851038,12.820513,22.339764,9.304975 +2.55,12.932455,17.167277,13.748474,19.975109,10.292442 +2.6,13.014827,16.727717,14.383394,18.232732,10.900114 +2.65,12.767710,16.288156,14.920635,17.112632,11.279909 +2.7,12.108731,15.946276,15.506716,16.863721,11.507786 +2.75,11.120264,15.702076,15.995116,17.361543,11.507786 +2.8,9.884679,15.946276,15.848596,18.979465,11.279909 +2.85,8.319605,16.581197,15.213675,21.593030,10.672237 +2.9,6.589786,17.753358,13.846154,25.202240,9.684770 +2.95,4.612850,18.876679,12.087912,29.433727,8.393468 +3.0,2.471170,19.462759,10.329670,33.789670,7.178124 +3.05,0.247117,19.267399,9.059829,37.398880,6.570452 +3.1,-1.976936,18.876679,8.620269,39.639079,6.494493 +3.15,-4.036244,18.827839,8.717949,40.261357,6.874288 +3.2,-6.013180,18.925519,9.841270,39.016801,7.937714 +3.25,-7.578254,18.681319,12.283272,36.278780,9.304975 +3.3,-8.649094,17.997558,13.943834,32.918482,10.064565 +3.35,-9.308072,17.460317,15.018315,29.309272,10.824155 +3.4,-9.719934,16.581197,16.239316,25.824518,11.507786 +3.45,-9.802306,16.092796,16.776557,22.962041,12.039499 +3.5,-9.637562,15.995116,16.825397,20.721842,12.495253 +3.55,-9.308072,16.043956,16.630037,19.352831,12.799088 +3.6,-8.731466,16.288156,16.190476,18.730554,13.026965 +3.65,-7.907743,16.923077,15.262515,19.103920,13.102924 +3.7,-6.672158,18.437118,13.211233,20.721842,12.875047 +3.75,-5.107084,19.951160,10.964591,23.335408,12.191417 +3.8,-3.130148,21.318681,7.936508,26.695706,10.976073 +3.85,-0.988468,21.025641,7.252747,30.429371,9.153057 +3.9,1.153213,20.195360,8.034188,33.789670,7.330042 +3.95,3.212521,18.925519,10.378510,36.029869,5.127231 +4.0,4.942339,17.606838,12.869353,36.776602,3.987847 +4.05,6.342669,16.825397,14.578755,35.780958,3.911888 +4.1,7.413509,16.385836,15.653236,33.291848,4.899354 +4.15,8.154860,16.141636,16.190476,29.931549,6.798329 +4.2,8.649094,15.995116,16.288156,26.571251,8.317509 +4.25,8.813839,15.897436,16.336996,23.833230,9.532852 +4.3,8.731466,15.946276,16.239316,22.090853,10.140524 +4.35,8.401977,16.092796,16.043956,21.468575,10.292442 +4.4,7.742998,16.434676,15.555556,21.966397,10.292442 +4.45,6.672158,17.753358,13.797314,23.584319,9.988606 +4.5,5.354201,19.120879,11.599512,26.073429,9.532852 +4.55,3.624382,20.146520,9.401709,29.184816,8.773262 +4.6,1.729819,20.537241,7.252747,32.545115,8.393468 +4.65,-1.317957,19.755800,6.031746,35.407592,8.013673 +4.7,-3.953871,18.632479,6.715507,37.025513,7.481960 +4.75,-6.919275,18.876679,9.010989,37.025513,8.241550 +4.8,-9.060956,18.290598,12.234432,34.909770,9.153057 +4.85,-10.049423,17.704518,14.090354,31.425016,10.064565 +4.9,-10.296540,17.557998,14.481074,27.317984,12.039499 +4.95,-10.378913,16.776557,15.555556,23.708774,12.571212 +5.0,-9.967051,16.581197,15.897436,21.095208,12.799088 +5.05,-9.225700,16.483516,16.043956,19.726198,12.799088 +5.1,-8.072488,16.532357,15.995116,19.477287,12.723130 +5.15,-6.672158,17.118437,15.262515,20.472931,12.419294 +5.2,-5.354201,18.144078,13.846154,22.339764,12.039499 +5.25,-4.036244,19.316239,12.185592,25.202240,11.203950 +5.3,-2.635914,20.488400,9.841270,28.811450,10.292442 +5.35,-1.235585,20.634921,8.376068,32.545115,8.773262 +5.4,0.329489,19.853480,7.789988,35.780958,7.026206 +5.45,1.976936,19.120879,8.180708,37.772246,5.734903 +5.5,4.118616,18.827839,8.717949,38.021157,4.975313 +5.55,6.425041,18.485958,10.036630,36.527691,4.443600 +5.6,8.484349,18.388278,11.697192,33.416304,5.431067 +5.65,9.802306,17.802198,13.260073,29.682638,7.330042 +5.7,10.708402,17.069597,14.432234,26.073429,8.773262 +5.75,11.120264,16.434676,15.360195,23.086497,9.456893 +5.8,11.285008,15.897436,15.995116,21.219664,9.988606 +5.85,11.120264,15.848596,16.043956,20.348475,10.292442 +5.9,10.708402,15.897436,16.043956,20.597386,10.368401 +5.95,9.884679,16.141636,15.848596,21.966397,10.140524 +6.0,8.649094,16.678877,15.213675,24.579963,9.760729 +6.05,7.248764,17.606838,14.090354,28.189172,8.393468 +6.1,5.518946,18.339438,12.820513,32.296204,7.026206 +6.15,3.542010,18.681319,11.355311,36.403236,5.810862 +6.2,1.482702,18.632479,9.938950,39.390168,5.203190 +6.25,-0.988468,18.681319,9.108669,41.008090,5.658944 +6.3,-4.118616,18.827839,8.864469,40.634723,6.874288 +6.35,-6.425041,19.218559,9.059829,38.394524,8.013673 +6.4,-7.825371,20.097680,9.450549,34.785314,9.532852 +6.45,-8.978583,20.244200,10.231990,30.429371,11.052032 +6.5,-9.719934,19.853480,11.257631,26.322340,12.039499 +6.55,-10.378913,18.778999,12.869353,22.837586,12.647171 +6.6,-11.037891,17.509158,14.578755,20.224020,12.951006 +6.65,-11.367381,16.043956,16.434676,18.855009,13.178883 +6.7,-11.449753,15.604396,17.020757,18.357187,13.178883 +6.75,-11.367381,15.360195,17.313797,18.979465,13.102924 +6.8,-11.120264,15.213675,17.509158,20.721842,12.951006 +6.85,-10.543657,15.213675,17.802198,23.459863,11.963540 +6.9,-9.802306,15.506716,17.655678,26.820162,10.976073 +6.95,-8.649094,16.336996,16.581197,30.553827,9.836688 +7.0,-7.660626,17.069597,15.213675,33.914126,8.697303 +7.05,-6.507414,18.144078,12.918193,36.403236,8.241550 +7.1,-5.107084,19.072039,9.938950,37.647791,7.937714 +7.15,-3.294893,19.072039,6.715507,37.274424,7.785796 +7.2,-0.247117,19.120879,4.713065,35.656503,7.785796 +7.25,2.883031,19.902320,4.126984,33.042937,8.317509 +7.3,7.001647,20.488400,4.517705,29.931549,8.697303 +7.35,10.708402,20.488400,6.373626,26.820162,9.001139 +7.4,13.509061,20.000000,7.789988,24.082141,9.456893 +7.45,15.815486,19.120879,9.450549,21.841942,9.760729 +7.5,17.133443,17.899878,11.550672,20.224020,10.064565 +7.55,17.792422,16.874237,13.260073,19.477287,10.064565 +7.6,18.039539,15.164835,15.653236,19.601742,10.140524 +7.65,17.792422,14.822955,16.141636,20.970753,9.836688 +7.7,17.133443,14.774115,16.483516,23.584319,8.469427 +7.75,15.980231,15.115995,16.092796,27.193528,6.798329 +7.8,14.250412,16.092796,14.529915,31.300560,4.747436 +7.85,11.861614,17.167277,12.087912,35.283136,3.532093 +7.9,8.978583,17.606838,9.548230,38.394524,3.152298 +7.95,5.683690,17.704518,7.203907,39.887990,3.987847 +8.0,2.059308,17.753358,5.934066,39.639079,5.203190 +8.05,-1.317957,18.632479,5.103785,37.647791,7.026206 +8.1,-4.530478,19.951160,5.152625,34.411948,9.001139 +8.15,-7.413509,21.025641,6.959707,30.429371,10.824155 +8.2,-8.731466,21.123321,8.229548,26.446795,11.963540 +8.25,-9.884679,20.341880,10.183150,22.962041,12.875047 +8.3,-10.378913,19.462759,11.697192,20.348475,13.254842 +8.35,-10.626030,18.974359,12.527473,18.855009,13.330801 +8.4,-10.626030,18.632479,13.064713,18.232732,13.330801 +8.45,-10.378913,18.388278,13.504274,18.481643,13.254842 +8.5,-10.049423,18.192918,13.846154,19.601742,13.026965 +8.55,-9.719934,18.046398,14.139194,21.593030,12.571212 +8.6,-9.555189,17.851038,14.529915,24.331052,11.887581 +8.65,-9.225700,17.753358,14.822955,27.691350,10.900114 +8.7,-8.896211,17.655678,14.871795,31.051649,9.988606 +8.75,-8.566722,17.655678,14.676435,34.287492,9.153057 +8.8,-8.072488,18.144078,13.406593,36.776602,8.545385 +8.85,-7.248764,18.778999,11.550672,38.145613,8.241550 +8.9,-6.177924,19.413919,9.401709,38.021157,8.241550 +8.95,-4.283361,20.000000,7.008547,36.652147,8.393468 +9.0,-1.729819,20.488400,5.347985,34.163037,8.621344 +9.05,0.576606,21.123321,4.420024,31.051649,9.456893 +9.1,3.130148,21.562882,4.126984,27.691350,10.140524 +9.15,6.342669,21.611722,4.859585,24.331052,10.672237 +9.2,8.401977,21.367521,6.178266,21.593030,11.127991 +9.25,9.802306,20.634921,8.180708,19.228376,11.735663 +9.3,10.543657,19.755800,9.987790,17.610454,12.039499 +9.35,10.873147,18.974359,11.355311,16.614810,12.191417 +9.4,10.955519,18.437118,12.185592,16.490355,12.191417 +9.45,11.202636,18.290598,12.429792,16.988177,12.115458 +9.5,10.873147,18.339438,12.429792,18.606098,11.811622 +9.55,9.143328,18.632479,12.136752,21.095208,11.203950 +9.6,7.825371,19.072039,11.550672,24.704418,10.140524 +9.65,6.177924,19.609280,10.573871,27.317984,8.241550 +9.7,4.448105,19.804640,9.059829,29.682638,6.950247 +9.75,2.883031,19.511600,7.789988,31.798382,6.494493 +9.8,1.565074,19.706960,7.155067,33.665215,6.874288 +9.85,0.494234,20.146520,7.057387,35.158681,7.785796 +9.9,-0.329489,20.341880,8.131868,36.403236,9.077098 +9.95,-0.906096,19.120879,11.062271,37.523335,10.064565 +10.0,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.05,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.1,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.15,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.2,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.25,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.3,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.35,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.4,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.45,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.5,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.55,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.6,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.65,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.7,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.75,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.8,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.85,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.9,-1.565074,14.285714,14.334554,39.887990,9.912647 +10.95,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.0,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.05,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.1,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.15,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.2,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.25,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.3,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.35,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.4,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.45,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.5,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.55,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.6,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.65,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.7,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.75,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.8,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.85,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.9,-1.565074,14.285714,14.334554,39.887990,9.912647 +11.95,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.0,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.05,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.1,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.15,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.2,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.25,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.3,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.35,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.4,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.45,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.5,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.55,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.6,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.65,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.7,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.75,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.8,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.85,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.9,-1.565074,14.285714,14.334554,39.887990,9.912647 +12.95,-1.565074,14.285714,14.334554,39.887990,9.912647 diff --git a/hal/recordings/music_jazz.csv b/hal/recordings/music_jazz.csv index 07dc6bd4d..ab24c79cc 100644 --- a/hal/recordings/music_jazz.csv +++ b/hal/recordings/music_jazz.csv @@ -1,241 +1,241 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.0,0.0,0.0,0.009151,0.024033 -0.05,0.0,0.0,-0.072245,-0.973566,0.077997 -0.1,0.0,0.0,-0.281664,-1.992452,0.134579 -0.15,0.0,0.0,-0.617284,-2.974495,0.166508 -0.2,0.0,0.0,-1.06813,-3.913359,0.14652 -0.25,0.0,0.0,-1.623228,-4.805902,0.047347 -0.3,0.0,0.0,-2.271605,-5.649383,-0.158293 -0.35,0.0,0.0,-3.002286,-6.440853,-0.49771 -0.4,0.0,0.0,-3.804298,-7.176922,-0.998253 -0.45,0.0,0.345134,-4.666667,-7.853608,-1.687322 -0.5,0.0,1.316324,-5.578418,-8.4662,-2.592377 -0.55,0.0,2.817254,-6.528578,-9.009083,-3.740955 -0.6,0.0,4.751608,-7.506173,-9.475519,-5.160672 -0.65,0.0,7.023067,-8.500228,-9.85734,-6.879248 -0.7,0.0,9.53532,-9.499771,-10.144542,-8.924511 -0.75,0.0,12.192046,-10.493828,-10.324669,-11.271034 -0.8,0.0,14.896932,-11.471422,-10.381945,-13.830103 -0.85,0.0,17.553656,-12.42158,-10.144085,-16.534953 -0.9,0.0,20.065908,-13.333334,-9.432394,-19.319097 -0.95,0.0,22.337367,-14.195703,-8.219168,-22.116256 -1.0,0.0,24.271725,-14.997716,-6.480438,-24.860291 -1.05,0.0,25.772652,-15.728392,-4.201141,-27.485138 -1.1,0.0,26.743843,-16.376772,-1.384392,-29.924763 -1.15,0.0,27.088973,-16.931872,1.932266,-32.11304 -1.2,0.0,26.846903,-17.382717,5.649061,-33.983762 -1.25,0.0,26.160195,-17.718337,9.559,-35.470494 -1.3,0.0,25.088151,-17.927754,13.283322,-36.506587 -1.35,0.0,23.690044,-18.000001,16.202923,-37.025042 -1.4,0.0,22.025162,-17.619885,17.192925,-36.958493 -1.45,0.0,20.152786,-16.568973,16.324306,-36.239093 -1.5,0.0,18.132199,-14.981427,14.246652,-34.798496 -1.55,0.0,16.022689,-12.991409,11.369022,-32.567728 -1.6,0.0,13.883538,-10.733072,7.978387,-29.477157 -1.65,0.0,11.774026,-8.340575,4.294995,-25.596123 -1.7,0.0,9.753442,-5.94808,0.502268,-21.120715 -1.75,0.0,7.881065,-3.68974,-3.234576,-16.172174 -1.8,0.0,6.216185,-1.69972,-6.754961,-10.873157 -1.85,0.0,4.818078,-0.112177,-9.890835,-5.347415 -1.9,0.0,3.746029,0.938731,-12.453511,0.280586 -1.95,0.0,3.059329,1.31885,-14.216199,5.886012 -2.0,0.0,2.817254,0.460974,-14.887277,11.344051 -2.05,0.0,3.553003,-1.838132,-14.4574,16.530245 -2.1,0.0,5.524815,-5.166689,-13.255708,21.320902 -2.15,0.0,8.379523,-9.112917,-11.416338,25.5934 -2.2,0.0,11.763973,-13.265034,-9.064904,29.226598 -2.25,0.0,15.325003,-17.211259,-6.322267,32.101107 -2.3,0.0,18.709453,-20.539817,-3.30814,34.099688 -2.35,0.0,21.564161,-22.838927,-0.144791,34.880235 -2.4,0.0,23.535973,-23.6968,3.038711,34.318645 -2.45,0.0,24.27172,-23.068539,6.101377,32.627556 -2.5,0.0,23.251287,-21.38479,8.883482,30.020943 -2.55,0.0,20.559462,-18.947124,11.197002,26.71385 -2.6,0.0,16.750456,-16.057109,12.811341,22.92207 -2.65,0.0,12.378479,-13.016311,13.430664,18.861872 -2.7,0.0,7.997749,-10.126296,13.173537,14.749687 -2.75,0.0,4.162469,-7.688635,12.379102,10.801828 -2.8,0.0,1.426863,-6.004884,11.012523,7.234162 -2.85,0.0,0.345138,-5.376621,9.040599,4.261864 -2.9,0.0,0.281264,-5.457567,6.436231,2.09906 -2.95,0.0,0.228968,-5.691534,3.186899,0.649731 -3.0,0.0,0.187093,-6.065215,-0.689204,-0.373832 -3.05,0.0,0.15448,-6.565305,-5.112796,-1.045771 -3.1,0.0,0.129972,-7.178498,-9.887049,-1.440025 -3.15,0.0,0.112412,-7.891488,-14.597463,-1.630373 -3.2,0.0,0.10064,-8.690967,-18.456242,-1.690475 -3.25,0.0,0.0935,-9.56363,-20.140577,-1.693917 -3.3,0.0,0.089834,-10.496171,-19.446641,-1.71425 -3.35,0.0,0.088483,-11.475285,-17.809059,-1.825026 -3.4,0.0,0.08829,-12.487662,-15.626307,-2.09985 -3.45,0.0,0.406733,-13.519999,-13.105157,-2.612415 -3.5,0.0,1.302818,-14.558992,-10.373474,-3.436546 -3.55,0.0,2.687676,-15.591329,-7.521014,-4.646231 -3.6,0.0,4.472439,-16.603707,-4.617911,-6.293104 -3.65,0.0,6.568241,-17.582821,-1.724691,-8.331714 -3.7,0.0,8.886211,-18.51536,1.101177,-10.690575 -3.75,0.0,11.337484,-19.388025,3.799878,-13.298168 -3.8,0.0,13.833191,-20.187507,6.303484,-16.082949 -3.85,0.0,16.284461,-20.900495,8.528133,-18.97335 -3.9,0.0,18.602432,-21.513689,10.361356,-21.897791 -3.95,0.0,20.698232,-22.013777,11.638121,-24.784655 -4.0,0.0,22.482996,-22.387461,12.087982,-27.562336 -4.05,0.0,23.867856,-22.621429,11.242625,-30.159193 -4.1,0.0,24.763939,-22.702371,9.203806,-32.503596 -4.15,0.0,25.082378,-22.348403,6.324333,-34.523899 -4.2,0.0,24.644292,-21.357291,2.876965,-36.148445 -4.25,0.0,23.43311,-19.835225,-0.916747,-37.305598 -4.3,0.0,21.603454,-17.888397,-4.868533,-37.923717 -4.35,0.0,19.309941,-15.622999,-8.811451,-37.931155 -4.4,0.0,16.707188,-13.145222,-12.591329,-37.256298 -4.45,0.0,13.949817,-10.561253,-16.060188,-35.827534 -4.5,0.0,11.192447,-7.977284,-19.070571,-33.562182 -4.55,0.0,8.589692,-5.499505,-21.47038,-30.499528 -4.6,0.0,6.296179,-3.234107,-23.097391,-26.751425 -4.65,0.0,4.466521,-1.287279,-23.773143,-22.430307 -4.7,0.0,3.255342,0.234784,-23.313261,-17.649121 -4.75,0.0,2.817254,1.225899,-21.800748,-12.521283 -4.8,0.0,3.417978,1.579865,-19.47087,-7.160564 -4.85,0.0,5.048517,1.376018,-16.582753,-1.681027 -4.9,0.0,7.451417,0.808551,-13.398572,3.803029 -4.95,0.0,10.369225,-0.056423,-10.164245,9.17718 -5.0,0.0,13.544487,-1.152792,-7.095069,14.326925 -5.05,0.0,16.719747,-2.414442,-4.367807,19.137793 -5.1,0.0,19.637555,-3.775262,-2.118843,23.495389 -5.15,0.0,22.040456,-5.169138,-0.446657,27.285516 -5.2,0.0,23.670993,-6.529958,0.583035,30.394171 -5.25,0.0,24.27172,-7.791607,0.93127,32.707756 -5.3,0.0,23.794152,-8.887977,0.537864,34.112984 -5.35,0.0,22.473811,-9.752952,-0.51365,34.497131 -5.4,0.0,20.479264,-10.320414,-2.062669,33.747965 -5.45,0.0,17.979053,-10.524265,-3.979092,31.753887 -5.5,0.0,15.141733,-10.027791,-6.152202,28.62448 -5.55,0.0,12.13586,-8.697241,-8.483032,24.747867 -5.6,0.0,9.129988,-6.770921,-10.878603,20.434718 -5.65,0.0,6.292666,-4.487141,-13.246936,15.999017 -5.7,0.0,3.792456,-2.084207,-15.492215,11.75562 -5.75,0.0,1.797904,0.199574,-17.50914,8.017843 -5.8,0.0,0.477571,2.12589,-19.17571,5.000582 -5.85,0.0,0.0,3.456441,-20.342629,2.655278 -5.9,0.0,0.002761,3.952916,-20.816379,0.898026 -5.95,0.0,0.022089,3.879202,-20.276354,-0.354378 -6.0,0.0,0.074549,3.665249,-18.800244,-1.184527 -6.05,0.0,0.176708,3.321845,-16.718742,-1.674516 -6.1,0.0,0.345134,2.859779,-14.316189,-1.90602 -6.15,0.0,1.038557,2.289837,-11.823184,-1.960401 -6.2,0.0,2.588204,1.622808,-9.417922,-1.918802 -6.25,0.0,4.819379,0.869478,-7.232415,-1.862231 -6.3,0.0,7.557384,0.040636,-5.360587,-1.87166 -6.35,0.0,10.627525,-0.852931,-3.866357,-2.028123 -6.4,0.0,13.855106,-1.800437,-2.790757,-2.41279 -6.45,0.0,17.065428,-2.791091,-2.157797,-3.107072 -6.5,0.0,20.083799,-3.81411,-1.979055,-4.192736 -6.55,0.0,22.735517,-4.858702,-2.158873,-5.733338 -6.6,0.0,24.845902,-5.914082,-2.579395,-7.689695 -6.65,0.0,26.240234,-6.969461,-3.208731,-9.98959 -6.7,0.0,26.743838,-8.014053,-4.01176,-12.560642 -6.75,0.0,26.315608,-9.03707,-4.951422,-15.330346 -6.8,0.0,25.123513,-10.027727,-5.99008,-18.226096 -6.85,0.0,23.306433,-10.975233,-7.09085,-21.175214 -6.9,0.0,21.003258,-11.868801,-8.21874,-24.104968 -6.95,0.0,18.352872,-12.697644,-9.341559,-26.942632 -7.0,0.0,15.494159,-13.450972,-10.430533,-29.615478 -7.05,0.0,12.566004,-14.118003,-11.46064,-32.050833 -7.1,0.0,9.70729,-14.687939,-12.410695,-34.176089 -7.15,0.0,7.056905,-15.150008,-13.263242,-35.918746 -7.2,0.0,4.75373,-15.493413,-14.004315,-37.206432 -7.25,0.0,2.936652,-15.707362,-14.623088,-37.966929 -7.3,0.0,1.744554,-15.78108,-15.111517,-38.128218 -7.35,0.0,1.316324,-15.215542,-15.463938,-37.618477 -7.4,0.0,1.797524,-13.651996,-15.676693,-36.264527 -7.45,0.0,3.127903,-11.290045,-15.747817,-34.012728 -7.5,0.0,5.137624,-8.329288,-15.695671,-30.971393 -7.55,0.0,7.656854,-4.969329,-15.536672,-27.249573 -7.6,0.0,10.515752,-1.409768,-15.266952,-22.957002 -7.65,0.0,13.544487,2.149792,-14.882639,-18.203971 -7.7,0.0,16.573222,5.509753,-14.379959,-13.101272 -7.75,0.0,19.432121,8.470509,-13.755401,-7.760111 -7.8,0.0,21.95135,10.832466,-13.005941,-2.292006 -7.85,0.0,23.961075,12.396001,-12.129418,3.191293 -7.9,0.0,25.291449,12.961545,-11.125086,8.577908 -7.95,0.0,25.772652,12.427177,-9.994487,13.755884 -8.0,0.0,25.542855,10.961977,-8.742833,18.613316 -8.05,0.0,24.888817,8.772793,-7.381203,23.038444 -8.1,0.0,23.863566,6.066479,-5.93016,26.919698 -8.15,0.0,22.520135,3.049886,-4.425808,30.145851 -8.2,0.0,20.911555,-0.070133,-2.93015,32.606023 -8.25,0.0,19.090853,-3.086729,-1.549364,34.189854 -8.3,0.0,17.111062,-5.793044,-0.46649,34.787513 -8.35,0.0,15.025208,-7.982225,0.0,34.289909 -8.4,0.0,12.886326,-9.447425,0.0,32.58859 -8.45,0.0,10.747441,-9.981791,0.0,29.937301 -8.5,0.0,8.661592,-9.702301,0.0,26.768767 -8.55,0.0,6.681799,-8.943684,0.0,23.244551 -8.6,0.0,4.861098,-7.825723,0.0,19.527093 -8.65,0.0,3.252516,-6.4682,0.0,15.779393 -8.7,0.0,1.909083,-4.990896,0.0,12.164625 -8.75,0.0,0.883835,-3.513592,0.0,8.84577 -8.8,0.0,0.229797,-2.156069,0.0,5.985259 -8.85,0.0,0.0,-1.038107,0.0,3.744608 -8.9,0.0,0.0,-0.27949,0.0,2.284076 -8.95,0.0,0.0,0.0,0.0,1.762298 -9.0,0.0,0.0,0.0,0.0,-2.4e-05 -9.05,0.0,0.0,0.0,0.0,-2.4e-05 -9.1,0.0,0.0,0.0,0.0,-2.4e-05 -9.15,0.0,0.0,0.0,0.0,-2.4e-05 -9.2,0.0,0.0,0.0,0.0,-2.4e-05 -9.25,0.0,0.0,0.0,0.0,-2.4e-05 -9.3,0.0,0.0,0.0,0.0,-2.4e-05 -9.35,0.0,0.0,0.0,0.0,-2.4e-05 -9.4,0.0,0.0,0.0,0.0,-2.4e-05 -9.45,0.0,0.0,0.0,0.0,-2.4e-05 -9.5,0.0,0.0,0.0,0.0,-2.4e-05 -9.55,0.0,0.0,0.0,0.0,-2.4e-05 -9.6,0.0,0.0,0.0,0.0,-2.4e-05 -9.65,0.0,0.0,0.0,0.0,-2.4e-05 -9.7,0.0,0.0,0.0,0.0,-2.4e-05 -9.75,0.0,0.0,0.0,0.0,-2.4e-05 -9.8,0.0,0.0,0.0,0.0,-2.4e-05 -9.85,0.0,0.0,0.0,0.0,-2.4e-05 -9.9,0.0,0.0,0.0,0.0,-2.4e-05 -9.95,0.0,0.0,0.0,0.0,-2.4e-05 -10.0,0.0,0.0,0.0,0.0,-2.4e-05 -10.05,0.0,0.0,0.0,0.0,-2.4e-05 -10.1,0.0,0.0,0.0,0.0,-2.4e-05 -10.15,0.0,0.0,0.0,0.0,-2.4e-05 -10.2,0.0,0.0,0.0,0.0,-2.4e-05 -10.25,0.0,0.0,0.0,0.0,-2.4e-05 -10.3,0.0,0.0,0.0,0.0,-2.4e-05 -10.35,0.0,0.0,0.0,0.0,-2.4e-05 -10.4,0.0,0.0,0.0,0.0,-2.4e-05 -10.45,0.0,0.0,0.0,0.0,-2.4e-05 -10.5,0.0,0.0,0.0,0.0,-2.4e-05 -10.55,0.0,0.0,0.0,0.0,-2.4e-05 -10.6,0.0,0.0,0.0,0.0,-2.4e-05 -10.65,0.0,0.0,0.0,0.0,-2.4e-05 -10.7,0.0,0.0,0.0,0.0,-2.4e-05 -10.75,0.0,0.0,0.0,0.0,-2.4e-05 -10.8,0.0,0.0,0.0,0.0,-2.4e-05 -10.85,0.0,0.0,0.0,0.0,-2.4e-05 -10.9,0.0,0.0,0.0,0.0,-2.4e-05 -10.95,0.0,0.0,0.0,0.0,-2.4e-05 -11.0,0.0,0.0,0.0,0.0,-2.4e-05 -11.05,0.0,0.0,0.0,0.0,-2.4e-05 -11.1,0.0,0.0,0.0,0.0,-2.4e-05 -11.15,0.0,0.0,0.0,0.0,-2.4e-05 -11.2,0.0,0.0,0.0,0.0,-2.4e-05 -11.25,0.0,0.0,0.0,0.0,-2.4e-05 -11.3,0.0,0.0,0.0,0.0,-2.4e-05 -11.35,0.0,0.0,0.0,0.0,-2.4e-05 -11.4,0.0,0.0,0.0,0.0,-2.4e-05 -11.45,0.0,0.0,0.0,0.0,-2.4e-05 -11.5,0.0,0.0,0.0,0.0,-2.4e-05 -11.55,0.0,0.0,0.0,0.0,-2.4e-05 -11.6,0.0,0.0,0.0,0.0,-2.4e-05 -11.65,0.0,0.0,0.0,0.0,-2.4e-05 -11.7,0.0,0.0,0.0,0.0,-2.4e-05 -11.75,0.0,0.0,0.0,0.0,-2.4e-05 -11.8,0.0,0.0,0.0,0.0,-2.4e-05 -11.85,0.0,0.0,0.0,0.0,-2.4e-05 -11.9,0.0,0.0,0.0,0.0,-2.4e-05 -11.95,0.0,0.0,0.0,0.0,-2.4e-05 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.05,-1.647446,12.918193,15.506716,39.141257,10.064565 +0.1,-1.647446,12.918193,15.457875,38.518979,10.140524 +0.15,-1.647446,12.918193,15.360195,37.772246,10.140524 +0.2,-1.647446,12.918193,15.164835,37.149969,10.140524 +0.25,-1.647446,12.918193,14.969475,36.527691,10.064565 +0.3,-1.647446,12.918193,14.774115,36.029869,9.912647 +0.35,-1.647446,12.918193,14.529915,35.407592,9.608811 +0.4,-1.647446,12.918193,14.236874,34.909770,9.229016 +0.45,-1.647446,13.015873,13.943834,34.536403,8.621344 +0.5,-1.647446,13.357753,13.601954,34.038581,7.861755 +0.55,-1.647446,13.894994,13.260073,33.665215,6.950247 +0.6,-1.647446,14.529915,12.918193,33.416304,5.734903 +0.65,-1.647446,15.311355,12.576313,33.167393,4.291682 +0.7,-1.647446,16.190476,12.234432,32.918482,2.620585 +0.75,-1.647446,17.118437,11.892552,32.794026,0.645651 +0.8,-1.647446,18.046398,11.550672,32.794026,-1.481200 +0.85,-1.647446,18.974359,11.208791,32.918482,-3.684011 +0.9,-1.647446,19.804640,10.915751,33.416304,-6.038739 +0.95,-1.647446,20.586081,10.573871,34.287492,-8.317509 +1.0,-1.647446,21.269841,10.329670,35.407592,-10.596278 +1.05,-1.647446,21.807082,10.036630,37.025513,-12.799088 +1.1,-1.647446,22.100122,9.841270,38.892346,-14.849981 +1.15,-1.647446,22.246642,9.645910,41.132545,-16.672997 +1.2,-1.647446,22.148962,9.499389,43.621655,-18.192176 +1.25,-1.647446,21.904762,9.352869,46.359676,-19.483479 +1.3,-1.647446,21.562882,9.304029,48.848787,-20.319028 +1.35,-1.647446,21.074481,9.255189,50.840075,-20.774782 +1.4,-1.647446,20.488400,9.401709,51.462352,-20.698823 +1.45,-1.647446,19.853480,9.743590,50.840075,-20.091151 +1.5,-1.647446,19.169719,10.329670,49.471064,-18.875807 +1.55,-1.647446,18.437118,11.013431,47.479776,-17.052791 +1.6,-1.647446,17.704518,11.794872,45.239577,-14.470186 +1.65,-1.647446,16.971917,12.625153,42.750467,-11.279909 +1.7,-1.647446,16.288156,13.455433,40.136901,-7.557919 +1.75,-1.647446,15.653236,14.285714,37.647791,-3.380175 +1.8,-1.647446,15.067155,14.969475,35.283136,1.025446 +1.85,-1.647446,14.578755,15.506716,33.167393,5.582985 +1.9,-1.647446,14.188034,15.897436,31.425016,10.292442 +1.95,-1.647446,13.992674,15.995116,30.180460,14.925940 +2.0,-1.647446,13.894994,15.702076,29.807094,19.483479 +2.05,-1.647446,14.139194,14.920635,30.056005,23.737182 +2.1,-1.647446,14.822955,13.748474,30.802738,27.763008 +2.15,-1.647446,15.799756,12.380952,32.047293,31.257121 +2.2,-1.647446,16.971917,10.915751,33.665215,34.295480 +2.25,-1.647446,18.192918,9.548230,35.532047,36.726168 +2.3,-1.647446,19.365079,8.376068,37.647791,38.397265 +2.35,-1.647446,20.341880,7.594628,39.763535,39.004937 +2.4,-1.647446,21.025641,7.252747,41.879278,38.549183 +2.45,-1.647446,21.269841,7.496947,43.995022,37.105963 +2.5,-1.647446,20.927961,8.083028,45.861854,34.979111 +2.55,-1.647446,20.000000,8.913309,47.355320,32.244588 +2.6,-1.647446,18.681319,9.938950,48.475420,29.054311 +2.65,-1.647446,17.167277,11.013431,48.973242,25.712115 +2.7,-1.647446,15.653236,12.039072,48.724331,22.293961 +2.75,-1.647446,14.334554,12.869353,48.226509,19.027725 +2.8,-1.647446,13.406593,13.455433,47.230865,16.065325 +2.85,-1.647446,13.015873,13.699634,45.986310,13.558678 +2.9,-1.647446,13.015873,13.650794,44.243933,11.735663 +2.95,-1.647446,13.015873,13.553114,42.003734,10.596278 +3.0,-1.647446,12.967033,13.455433,39.390168,9.684770 +3.05,-1.647446,12.967033,13.260073,36.403236,9.153057 +3.1,-1.647446,12.967033,13.064713,33.167393,8.849221 +3.15,-1.647446,12.967033,12.820513,29.931549,8.697303 +3.2,-1.647446,12.967033,12.527473,27.317984,8.621344 +3.25,-1.647446,12.967033,12.234432,26.197884,8.621344 +3.3,-1.647446,12.967033,11.892552,26.695706,8.621344 +3.35,-1.647446,12.967033,11.550672,27.815806,8.545385 +3.4,-1.647446,12.967033,11.208791,29.184816,8.317509 +3.45,-1.647446,13.064713,10.818071,30.927194,7.861755 +3.5,-1.647446,13.357753,10.476190,32.794026,7.178124 +3.55,-1.647446,13.846154,10.085470,34.785314,6.190657 +3.6,-1.647446,14.481074,9.743590,36.652147,4.823395 +3.65,-1.647446,15.164835,9.401709,38.643435,3.076339 +3.7,-1.647446,15.995116,9.108669,40.510268,1.177364 +3.75,-1.647446,16.825397,8.766789,42.377100,-1.025446 +3.8,-1.647446,17.655678,8.522589,44.119477,-3.304216 +3.85,-1.647446,18.534799,8.229548,45.612943,-5.734903 +3.9,-1.647446,19.316239,8.034188,46.857498,-8.165591 +3.95,-1.647446,20.048840,7.838828,47.728687,-10.596278 +4.0,-1.647446,20.634921,7.741148,47.977598,-12.875047 +4.05,-1.647446,21.123321,7.643468,47.479776,-15.001899 +4.1,-1.647446,21.416361,7.643468,46.110765,-16.976833 +4.15,-1.647446,21.562882,7.741148,44.119477,-18.647930 +4.2,-1.647446,21.416361,8.083028,41.754823,-20.015192 +4.25,-1.647446,20.976801,8.620269,39.265713,-21.002659 +4.3,-1.647446,20.341880,9.304029,36.527691,-21.458412 +4.35,-1.647446,19.560440,10.085470,33.914126,-21.458412 +4.4,-1.647446,18.681319,10.964591,31.300560,-20.926700 +4.45,-1.647446,17.704518,11.843712,28.935905,-19.711356 +4.5,-1.647446,16.776557,12.771673,26.944617,-17.888340 +4.55,-1.647446,15.897436,13.650794,25.326696,-15.305735 +4.6,-1.647446,15.067155,14.432234,24.206596,-12.191417 +4.65,-1.647446,14.432234,15.115995,23.708774,-8.621344 +4.7,-1.647446,14.041514,15.653236,24.082141,-4.671477 +4.75,-1.647446,13.894994,15.995116,25.077785,-0.341815 +4.8,-1.647446,14.090354,16.092796,26.695706,4.063806 +4.85,-1.647446,14.676435,16.043956,28.562539,8.621344 +4.9,-1.647446,15.457875,15.848596,30.802738,13.178883 +4.95,-1.647446,16.483516,15.555556,32.918482,17.660463 +5.0,-1.647446,17.557998,15.164835,35.034225,21.914166 +5.05,-1.647446,18.681319,14.725275,36.901058,25.939992 +5.1,-1.647446,19.658120,14.236874,38.394524,29.586024 +5.15,-1.647446,20.488400,13.748474,39.514624,32.700342 +5.2,-1.647446,21.074481,13.260073,40.261357,35.282947 +5.25,-1.647446,21.269841,12.820513,40.510268,37.181922 +5.3,-1.647446,21.123321,12.429792,40.136901,38.397265 +5.35,-1.647446,20.634921,12.136752,39.514624,38.701101 +5.4,-1.647446,19.951160,11.941392,38.394524,38.093430 +5.45,-1.647446,19.120879,11.892552,37.149969,36.422332 +5.5,-1.647446,18.144078,12.039072,35.656503,33.839727 +5.55,-1.647446,17.069597,12.527473,34.038581,30.573490 +5.6,-1.647446,16.043956,13.211233,32.420660,27.003418 +5.65,-1.647446,15.067155,13.992674,30.802738,23.357387 +5.7,-1.647446,14.236874,14.822955,29.309272,19.787315 +5.75,-1.647446,13.553114,15.604396,27.940261,16.672997 +5.8,-1.647446,13.064713,16.288156,26.820162,14.166350 +5.85,-1.647446,12.918193,16.776557,26.073429,12.267376 +5.9,-1.647446,12.918193,16.923077,25.700062,10.748196 +5.95,-1.647446,12.918193,16.923077,26.073429,9.760729 +6.0,-1.647446,12.967033,16.825397,27.069073,9.077098 +6.05,-1.647446,12.967033,16.727717,28.562539,8.621344 +6.1,-1.647446,13.015873,16.532357,30.180460,8.469427 +6.15,-1.647446,13.260073,16.336996,31.798382,8.393468 +6.2,-1.647446,13.797314,16.141636,33.416304,8.469427 +6.25,-1.647446,14.578755,15.848596,34.909770,8.469427 +6.3,-1.647446,15.506716,15.555556,36.154325,8.469427 +6.35,-1.647446,16.581197,15.262515,37.149969,8.317509 +6.4,-1.647446,17.704518,14.920635,37.896702,8.013673 +6.45,-1.647446,18.778999,14.578755,38.394524,7.481960 +6.5,-1.647446,19.804640,14.236874,38.518979,6.570452 +6.55,-1.647446,20.732601,13.846154,38.394524,5.279149 +6.6,-1.647446,21.465201,13.504274,38.021157,3.608052 +6.65,-1.647446,21.953602,13.113553,37.647791,1.709077 +6.7,-1.647446,22.100122,12.771673,37.149969,-0.417774 +6.75,-1.647446,21.953602,12.380952,36.527691,-2.696544 +6.8,-1.647446,21.562882,12.039072,35.780958,-5.127231 +6.85,-1.647446,20.927961,11.697192,35.034225,-7.557919 +6.9,-1.647446,20.146520,11.404151,34.287492,-9.988606 +6.95,-1.647446,19.218559,11.111111,33.540759,-12.343335 +7.0,-1.647446,18.241758,10.866911,32.794026,-14.546145 +7.05,-1.647446,17.264957,10.622711,32.047293,-16.597038 +7.1,-1.647446,16.239316,10.427350,31.425016,-18.344094 +7.15,-1.647446,15.360195,10.280830,30.802738,-19.787315 +7.2,-1.647446,14.529915,10.134310,30.304916,-20.926700 +7.25,-1.647446,13.943834,10.085470,29.931549,-21.534371 +7.3,-1.647446,13.504274,10.036630,29.558183,-21.686289 +7.35,-1.647446,13.357753,10.231990,29.309272,-21.230536 +7.4,-1.647446,13.553114,10.769231,29.184816,-20.091151 +7.45,-1.647446,13.992674,11.599512,29.184816,-18.268135 +7.5,-1.647446,14.676435,12.625153,29.184816,-15.685530 +7.55,-1.647446,15.555556,13.797314,29.309272,-12.647171 +7.6,-1.647446,16.532357,15.067155,29.433727,-9.077098 +7.65,-1.647446,17.557998,16.288156,29.807094,-5.127231 +7.7,-1.647446,18.632479,17.460317,30.056005,-0.873528 +7.75,-1.647446,19.609280,18.534799,30.553827,3.608052 +7.8,-1.647446,20.488400,19.365079,31.051649,8.089632 +7.85,-1.647446,21.172161,19.902320,31.673927,12.647171 +7.9,-1.647446,21.611722,20.097680,32.296204,17.128750 +7.95,-1.647446,21.807082,19.902320,33.042937,21.458412 +8.0,-1.647446,21.709402,19.365079,33.914126,25.484239 +8.05,-1.647446,21.465201,18.632479,34.785314,29.206229 +8.1,-1.647446,21.123321,17.655678,35.780958,32.396506 +8.15,-1.647446,20.683761,16.630037,36.776602,35.055070 +8.2,-1.647446,20.097680,15.506716,37.896702,37.105963 +8.25,-1.647446,19.462759,14.481074,38.767890,38.473224 +8.3,-1.647446,18.827839,13.553114,39.514624,38.928978 +8.35,-1.647446,18.095238,12.771673,39.887990,38.549183 +8.4,-1.647446,17.362637,12.234432,39.887990,37.105963 +8.45,-1.647446,16.630037,12.087912,39.887990,34.903152 +8.5,-1.647446,15.897436,12.185592,39.887990,32.244588 +8.55,-1.647446,15.213675,12.429792,39.887990,29.358147 +8.6,-1.647446,14.578755,12.820513,39.887990,26.243828 +8.65,-1.647446,14.041514,13.308913,39.887990,23.129510 +8.7,-1.647446,13.553114,13.797314,39.887990,20.167110 +8.75,-1.647446,13.211233,14.334554,39.887990,17.356627 +8.8,-1.647446,13.015873,14.822955,39.887990,15.001899 +8.85,-1.647446,12.918193,15.213675,39.887990,13.102924 +8.9,-1.647446,12.918193,15.457875,39.887990,11.887581 +8.95,-1.647446,12.918193,15.555556,39.887990,11.507786 +9.0,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.05,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.1,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.15,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.2,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.25,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.3,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.35,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.4,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.45,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.5,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.55,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.6,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.65,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.7,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.75,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.8,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.85,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.9,-1.647446,12.918193,15.555556,39.887990,9.988606 +9.95,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.0,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.05,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.1,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.15,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.2,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.25,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.3,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.35,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.4,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.45,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.5,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.55,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.6,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.65,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.7,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.75,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.8,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.85,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.9,-1.647446,12.918193,15.555556,39.887990,9.988606 +10.95,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.0,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.05,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.1,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.15,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.2,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.25,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.3,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.35,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.4,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.45,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.5,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.55,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.6,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.65,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.7,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.75,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.8,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.85,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.9,-1.647446,12.918193,15.555556,39.887990,9.988606 +11.95,-1.647446,12.918193,15.555556,39.887990,9.988606 diff --git a/hal/recordings/music_rock.csv b/hal/recordings/music_rock.csv index 4abacd805..bf89fbb58 100644 --- a/hal/recordings/music_rock.csv +++ b/hal/recordings/music_rock.csv @@ -1,321 +1,321 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,-0.836302,-11.537061,-9.658022,0.807299,0.933045 -0.05,-0.698637,-14.827709,-12.132275,1.544865,0.910464 -0.1,-0.578345,-15.846638,-13.135662,1.967652,0.871579 -0.15,-0.117225,-17.318592,-14.70705,2.774531,0.644544 -0.2,1.159296,-19.108364,-17.562634,4.670391,-0.106879 -0.25,3.369978,-19.992638,-20.379341,7.38597,-1.759708 -0.3,6.181036,-19.3833,-21.711882,10.945558,-4.107134 -0.35,7.541456,-18.986997,-21.622958,12.940906,-4.831176 -0.4,8.679434,-17.892036,-21.000489,14.977913,-6.313159 -0.45,11.342792,-14.832065,-18.142782,18.526707,-10.9567 -0.5,14.775487,-11.064651,-13.499047,20.203446,-15.44657 -0.55,16.401221,-9.053114,-10.65911,19.896038,-16.97086 -0.6,17.303289,-7.312214,-7.829955,17.744191,-17.188613 -0.65,18.887068,-4.419068,-3.257887,12.611244,-16.613216 -0.7,20.025809,-2.725444,-0.323033,7.139982,-13.986793 -0.75,20.595976,-2.250897,0.60781,4.760094,-10.818684 -0.8,20.833614,-2.086122,1.00509,3.019625,-7.474292 -0.85,20.909571,-1.562719,2.004656,-1.15925,-4.196751 -0.9,20.352799,-1.143898,2.844916,-6.208951,-2.141019 -0.95,19.019556,-1.431301,3.089668,-7.688029,-0.789808 -1.0,18.380871,-1.670185,3.030531,-7.644358,-0.489256 -1.05,17.773484,-2.164453,2.636829,-7.33866,-0.446321 -1.1,16.127253,-3.523038,1.485582,-5.125025,-0.693062 -1.15,13.848444,-5.581798,-0.508498,-1.202072,-1.402818 -1.2,12.72935,-6.665278,-1.607464,1.072126,-2.073219 -1.25,11.512473,-7.90827,-3.364294,4.067602,-3.301519 -1.3,8.897241,-10.297435,-7.190497,10.12689,-5.759851 -1.35,5.852398,-11.989953,-11.386866,16.281609,-7.904918 -1.4,1.452,-13.328354,-16.848429,21.782106,-7.474413 -1.45,-1.020624,-13.181758,-19.286738,24.25667,-6.839401 -1.5,-2.853308,-12.854094,-20.32448,25.935334,-6.179043 -1.55,-6.024491,-12.494076,-22.244517,28.21681,-5.204307 -1.6,-9.064153,-12.24446,-22.888719,28.35873,-3.454232 -1.65,-10.597876,-12.203986,-22.779687,28.028143,-2.490923 -1.7,-11.888532,-12.198203,-22.238126,26.391421,-1.21858 -1.75,-14.109223,-13.448512,-20.366801,22.626927,1.531567 -1.8,-15.840583,-13.804958,-16.087158,17.589784,3.994616 -1.85,-16.464086,-13.796046,-14.158945,14.85774,4.982238 -1.9,-16.695557,-13.733675,-13.183319,11.915174,5.570888 -1.95,-17.168215,-13.298487,-10.669041,6.243265,6.702502 -2.0,-17.379744,-11.953034,-7.787833,1.136534,7.38336 -2.05,-17.39544,-10.741077,-5.637704,-2.965113,8.031982 -2.1,-17.362226,-10.026404,-4.507159,-4.732493,8.199041 -2.15,-17.248333,-9.194254,-3.382891,-5.753156,8.257481 -2.2,-16.944422,-7.74434,-1.39442,-7.038432,8.378492 -2.25,-16.287911,-6.373968,0.510778,-6.737974,8.089987 -2.3,-15.944213,-5.790112,1.335528,-6.268817,7.864165 -2.35,-15.763677,-5.481154,1.814359,-4.875151,7.581218 -2.4,-15.440402,-5.094778,2.415412,-1.595686,6.874419 -2.45,-15.152162,-5.111198,2.307937,2.810408,5.870596 -2.5,-15.051007,-5.161394,2.161105,5.219645,5.308938 -2.55,-14.770912,-5.479919,1.348238,7.899072,4.416961 -2.6,-13.969899,-7.272429,-1.854586,13.092841,2.557087 -2.65,-12.666241,-8.681155,-5.744671,17.741461,0.840085 -2.7,-10.537285,-9.957026,-10.235652,21.217134,-1.017177 -2.75,-8.517625,-10.949403,-14.145353,22.758469,-2.997164 -2.8,-6.021337,-11.717557,-17.754465,23.023417,-5.183879 -2.85,-2.357411,-12.653375,-21.437095,22.887423,-6.810325 -2.9,1.291789,-14.176623,-23.404483,20.807326,-6.771847 -2.95,3.256992,-14.996107,-23.376394,19.284714,-6.810776 -3.0,5.576665,-15.163904,-23.179767,17.041238,-6.889085 -3.05,9.772343,-15.170617,-20.204632,12.044062,-6.938534 -3.1,12.626704,-13.471957,-14.967072,6.375667,-6.031428 -3.15,14.271642,-12.000195,-11.295459,0.610159,-4.089246 -3.2,14.898395,-11.457851,-9.810011,-2.274257,-3.021148 -3.25,15.204326,-10.718099,-8.485369,-4.730567,-1.838214 -3.3,15.604359,-9.064505,-5.819311,-9.209787,0.425955 -3.35,15.604826,-7.677106,-3.797742,-12.481058,1.925082 -3.4,15.565434,-7.031297,-2.913904,-13.883851,2.51624 -3.45,15.289694,-6.50806,-2.20921,-14.280784,2.914488 -3.5,14.502592,-5.683451,-1.015173,-14.42574,3.396876 -3.55,13.358725,-5.401761,-0.451282,-12.828234,3.409615 -3.6,12.769304,-5.499239,-0.531651,-11.586756,3.308263 -3.65,12.066523,-6.181583,-1.094233,-9.531077,2.686981 -3.7,10.496673,-7.921865,-2.925067,-4.751454,1.22143 -3.75,8.607577,-10.502605,-6.011804,1.088318,-1.016168 -3.8,6.76367,-12.947661,-9.768991,7.368407,-3.886714 -3.85,5.715874,-14.115847,-11.764576,10.587412,-5.376262 -3.9,4.411565,-14.457881,-13.433022,13.334133,-6.430561 -3.95,1.863232,-14.614469,-16.121869,18.211033,-7.879224 -4.0,-0.568731,-14.14532,-17.129776,21.34709,-8.113889 -4.05,-1.613574,-13.917385,-17.056997,22.217333,-7.999251 -4.1,-2.770977,-13.846301,-16.547551,22.341655,-7.196787 -4.15,-5.256524,-13.556037,-14.027112,21.121348,-4.822979 -4.2,-7.060455,-12.725623,-9.709042,17.940867,-1.963427 -4.25,-7.917808,-11.167819,-5.787843,13.313502,-0.009592 -4.3,-8.195212,-10.435785,-4.05031,10.71669,0.895756 -4.35,-8.365042,-9.575619,-2.589767,7.899615,1.800437 -4.4,-8.620556,-7.648936,0.214098,2.390969,3.460761 -4.45,-8.517977,-6.398616,1.76716,-2.578936,4.769186 -4.5,-8.455392,-5.982963,2.090338,-4.884208,5.388556 -4.55,-8.406995,-5.923584,2.136506,-6.487166,5.861828 -4.6,-8.197065,-6.183953,1.483242,-8.944654,6.600688 -4.65,-7.742457,-7.281562,-0.26309,-9.709267,7.037718 -4.7,-7.566951,-7.899571,-1.255363,-9.583686,7.132454 -4.75,-7.135246,-9.364418,-3.245997,-8.704618,7.145987 -4.8,-5.960047,-12.794596,-7.760328,-6.047441,6.431446 -4.85,-4.445057,-16.158737,-12.526581,-2.070512,4.831345 -4.9,-1.979506,-18.761116,-17.286596,2.681444,1.842435 -4.95,-0.506103,-18.738035,-18.591474,5.201737,-0.089249 -5.0,0.743835,-18.576477,-18.777886,7.503196,-2.258323 -5.05,3.042694,-16.836777,-17.494932,11.633586,-6.464053 -5.1,5.639816,-13.98311,-13.544898,14.397614,-11.130592 -5.15,6.848892,-12.360804,-11.135229,15.231986,-13.292999 -5.2,7.521512,-10.916175,-8.807572,15.351182,-13.727506 -5.25,8.698365,-8.594157,-4.693102,14.38558,-13.859948 -5.3,9.687472,-7.091579,-1.606925,11.757365,-11.814972 -5.35,10.490269,-6.14944,0.324415,8.03229,-7.871932 -5.4,10.841587,-5.794593,1.041048,5.973705,-5.952421 -5.45,10.952143,-5.648129,1.224679,3.960414,-4.425185 -5.5,11.052825,-5.43739,1.449842,0.320409,-1.557383 -5.55,10.990851,-5.670504,0.966614,-2.224711,-0.142861 -5.6,10.917214,-5.944246,0.500478,-3.105408,0.283638 -5.65,10.67664,-6.487858,-0.319794,-3.231222,0.363371 -5.7,10.037938,-7.996878,-2.572844,-2.529261,0.388889 -5.75,9.106954,-10.911578,-6.61846,-0.235916,-0.213166 -5.8,8.65791,-12.566886,-8.956276,1.233104,-0.603485 -5.85,8.01089,-13.935439,-11.498357,3.262524,-1.332791 -5.9,6.332793,-16.168767,-16.317262,7.356536,-2.974359 -5.95,3.706333,-17.074985,-20.300992,11.294115,-3.924007 -6.0,0.515149,-16.01408,-22.20459,14.301915,-4.684455 -6.05,-0.989444,-14.822561,-22.03633,15.557582,-5.319038 -6.1,-2.423737,-14.13652,-20.858513,15.736965,-5.584573 -6.15,-5.407962,-13.552218,-16.79864,15.236407,-3.943489 -6.2,-7.586797,-12.058935,-11.240293,12.817798,-1.951609 -6.25,-8.37434,-11.124373,-8.430208,11.167896,-1.363788 -6.3,-8.65445,-10.615681,-6.794,8.889296,0.279644 -6.35,-9.007537,-9.727958,-4.049895,4.159342,4.26008 -6.4,-8.981626,-8.235116,-1.472469,-0.525516,5.709912 -6.45,-8.86412,-7.719519,-0.510226,-2.769546,6.104439 -6.5,-8.49487,-7.59836,-0.292347,-4.359664,6.381816 -6.55,-7.721971,-7.432104,-0.01089,-6.721233,6.598154 -6.6,-6.528802,-7.977244,-0.741464,-7.251867,6.337656 -6.65,-5.148586,-9.577542,-2.816381,-5.878792,5.688192 -6.7,-4.42838,-10.693274,-4.231653,-4.706916,5.412099 -6.75,-3.774491,-12.069548,-6.151396,-2.802108,4.654952 -6.8,-2.461741,-14.709876,-10.114489,1.534252,2.579024 -6.85,-1.04941,-17.063546,-14.620088,6.487106,0.334448 -6.9,-0.379996,-17.504002,-16.620097,9.050076,-1.053274 -6.95,0.34741,-17.566926,-17.816178,11.286932,-3.13346 -7.0,1.902307,-16.470229,-19.390002,15.149184,-6.974551 -7.05,3.673776,-15.017272,-19.074186,17.415191,-9.97592 -7.1,5.842739,-13.913937,-17.608072,17.690839,-11.713122 -7.15,6.991,-13.291485,-16.487785,17.414534,-12.471493 -7.2,8.122747,-12.800258,-14.708334,15.939569,-12.632071 -7.25,10.228796,-11.908475,-11.096151,12.495494,-10.578875 -7.3,11.658003,-10.402105,-7.426256,7.989848,-6.622357 -7.35,12.23097,-9.527293,-5.687356,5.560041,-4.570566 -7.4,12.542532,-8.669135,-4.329473,3.215795,-3.457886 -7.45,12.98317,-7.081436,-1.859769,-1.024037,-1.691958 -7.5,13.11859,-5.863622,-0.182285,-4.045737,-0.229276 -7.55,13.100621,-5.553413,0.329083,-5.202153,0.395784 -7.6,12.974846,-5.509097,0.402135,-5.367355,0.525946 -7.65,12.523525,-5.701978,0.292338,-4.750984,0.560493 -7.7,11.715361,-6.471902,-0.549098,-2.219922,0.058711 -7.75,10.482992,-7.945492,-2.306947,1.93774,-1.066677 -7.8,9.807282,-8.910108,-3.455401,4.35225,-2.211151 -7.85,9.034609,-9.962039,-5.003056,7.183092,-4.019368 -7.9,7.310442,-11.686173,-8.140512,12.773621,-7.005904 -7.95,5.292706,-12.745743,-11.487685,17.857052,-9.686327 -8.0,4.261228,-13.032074,-13.244022,20.124005,-10.69726 -8.05,3.091854,-13.155473,-14.591688,21.608379,-10.841678 -8.1,0.547012,-13.601205,-16.632549,23.384512,-9.978107 -8.15,-2.489023,-14.24144,-17.521133,22.855942,-7.404359 -8.2,-4.846456,-15.206562,-17.272765,20.075831,-4.641826 -8.25,-5.798236,-16.030922,-16.996174,18.155364,-3.062841 -8.3,-6.364133,-16.536653,-16.149489,15.464429,-1.175947 -8.35,-7.479814,-16.694996,-14.005056,9.714492,2.161839 -8.4,-8.271107,-15.523234,-11.083794,3.648742,4.528225 -8.45,-8.586148,-14.502725,-9.348953,0.61436,5.516692 -8.5,-8.906371,-13.068303,-7.31436,-1.927264,6.091359 -8.55,-9.508551,-10.013757,-3.380862,-6.339833,6.974372 -8.6,-9.785601,-6.758283,0.438374,-9.112895,7.457542 -8.65,-9.875922,-5.476252,1.975286,-9.881275,7.526422 -8.7,-9.896615,-4.998957,2.69198,-9.991044,7.536262 -8.75,-9.832182,-3.989007,4.110194,-8.938824,7.255223 -8.8,-9.573758,-3.589274,4.789876,-6.132651,6.589178 -8.85,-9.012667,-3.790902,4.822732,-1.948711,4.556388 -8.9,-8.69886,-3.976521,4.674211,0.423871,3.434556 -8.95,-8.204032,-4.759474,3.634558,3.0627,2.245726 -9.0,-7.115673,-6.722845,0.741236,8.229514,-0.36139 -9.05,-6.171648,-8.845612,-3.449252,12.842029,-2.816319 -9.1,-5.657521,-10.025089,-5.933312,14.85645,-3.784691 -9.15,-5.037127,-11.322878,-9.188615,16.259304,-4.128881 -9.2,-3.69842,-13.453631,-15.803214,18.015167,-4.817996 -9.25,-1.797128,-14.386349,-22.363545,17.896387,-5.230699 -9.3,-0.52352,-14.59851,-25.280758,17.522719,-5.221529 -9.35,1.193651,-15.170328,-26.8681,15.971714,-5.157332 -9.4,4.539771,-16.651588,-28.738998,12.565365,-4.128994 -9.45,8.668879,-17.637905,-28.213882,8.186141,-3.27036 -9.5,12.454348,-17.548429,-25.101645,3.436187,-2.486267 -9.55,14.163006,-17.282395,-23.264215,1.007905,-1.902559 -9.6,15.41975,-16.294308,-21.350611,-1.074378,-1.376829 -9.65,17.734409,-13.982896,-16.810866,-4.79023,-0.66109 -9.7,19.131845,-10.921863,-11.752194,-7.250072,-0.046263 -9.75,19.603794,-9.564594,-9.499925,-8.006542,-0.023381 -9.8,19.773387,-7.921039,-7.232739,-8.114611,-0.020112 -9.85,19.964539,-4.500877,-2.767281,-7.198238,-0.097092 -9.9,19.732027,-3.178736,-0.838515,-4.509773,-1.03657 -9.95,19.049104,-2.885133,-0.324446,-0.291367,-4.065665 -10.0,18.603928,-3.000447,-0.502529,2.141612,-5.730921 -10.05,17.885137,-3.807641,-1.749105,4.967857,-7.800957 -10.1,16.148053,-5.863467,-5.379617,10.567182,-12.157837 -10.15,13.747658,-8.106553,-10.648952,15.688338,-14.955037 -10.2,12.418062,-9.100717,-13.489427,17.958563,-15.599105 -10.25,10.805093,-9.599541,-16.296119,19.535357,-15.691115 -10.3,7.375523,-10.587148,-21.413189,21.487272,-14.056914 -10.35,3.701275,-11.684403,-24.834846,21.222115,-11.276863 -10.4,1.868363,-12.454127,-26.292127,20.699407,-9.487036 -10.45,0.15573,-13.859052,-26.613086,18.7777,-7.096482 -10.5,-3.120488,-16.539595,-26.336786,14.533784,-2.650796 -10.55,-5.950101,-18.591968,-23.43434,9.124098,1.563522 -10.6,-7.405057,-18.948482,-20.215372,3.306336,4.321378 -10.65,-8.075532,-18.694011,-18.328176,0.352185,5.634662 -10.7,-8.512048,-17.702431,-16.136387,-2.172675,6.463159 -10.75,-8.983466,-15.951266,-12.489093,-6.6836,7.499678 -10.8,-9.130207,-14.522673,-9.805347,-9.775024,7.905048 -10.85,-9.118125,-13.887358,-8.667265,-10.987167,7.940709 -10.9,-9.033549,-13.40724,-7.817072,-11.188901,7.945803 -10.95,-8.774881,-12.558108,-6.305048,-10.847215,7.658019 -11.0,-8.429567,-11.921292,-5.120902,-8.830636,7.000875 -11.05,-8.130906,-11.432816,-4.177388,-5.363161,5.91068 -11.1,-8.000209,-11.201596,-3.717461,-3.325436,5.261706 -11.15,-7.883441,-10.995853,-3.427391,-0.803839,4.266836 -11.2,-7.620755,-10.705694,-3.118085,4.364768,2.121461 -11.25,-7.338725,-10.677275,-3.585341,9.565546,-0.003685 -11.3,-7.194627,-10.711279,-3.904495,12.140978,-1.052591 -11.35,-7.021196,-10.949303,-5.009137,14.181989,-1.87903 -11.4,-6.56489,-12.124371,-8.213863,17.637043,-3.294708 -11.45,-5.823902,-13.647137,-12.571866,19.481063,-4.126835 -11.5,-5.434682,-14.438439,-14.925393,19.479311,-4.152967 -11.55,-4.683281,-15.333481,-17.610239,19.467044,-4.1567 -11.6,-2.805818,-17.053447,-22.752479,17.591848,-3.800985 -11.65,-0.295144,-18.569713,-26.727234,14.090909,-3.088063 -11.7,2.211537,-20.048588,-29.062831,9.388158,-1.414979 -11.75,3.420889,-20.788497,-29.575207,6.788683,-0.459153 -11.8,4.955204,-20.991181,-29.648403,4.016743,0.212327 -11.85,8.087827,-21.066639,-28.205393,-1.46579,1.439163 -11.9,10.233741,-20.352383,-25.246054,-6.54552,2.695141 -11.95,11.146091,-19.695428,-23.373643,-8.960608,3.417638 -12.0,11.697303,-18.6467,-21.124517,-10.790899,3.965349 -12.05,12.454068,-16.553378,-17.089719,-13.866659,4.698553 -12.1,12.79674,-14.615889,-13.732068,-15.524086,5.125654 -12.15,12.85549,-13.254821,-11.42338,-15.603194,5.153798 -12.2,12.83217,-12.789265,-10.513421,-15.406974,5.112655 -12.25,12.677142,-12.722756,-10.350344,-14.033433,4.836122 -12.3,12.200533,-12.799186,-10.235056,-9.743628,3.992491 -12.35,11.307133,-13.420022,-11.041742,-4.274098,2.469689 -12.4,10.767293,-13.85481,-11.679924,-2.06125,1.656677 -12.45,9.906809,-14.424588,-12.672699,0.253835,-0.062816 -12.5,7.980075,-15.55356,-15.062811,6.487763,-3.960577 -12.55,5.868694,-16.167362,-17.953203,13.821824,-6.844732 -12.6,4.806846,-16.165227,-19.393829,18.826322,-7.73979 -12.65,4.068531,-16.163095,-20.28685,21.532941,-7.867656 -12.7,2.899865,-16.440609,-21.272129,22.532196,-7.132954 -12.75,2.05476,-16.490607,-20.658522,19.357516,-5.209509 -12.8,1.182243,-15.38156,-17.955008,13.928454,-2.606521 -12.85,0.466253,-14.645551,-16.411886,11.316477,-1.024922 -12.9,0.143203,-11.711599,-12.983377,8.418675,-0.480456 -12.95,0.121422,-3.667552,-7.7119,4.249177,-0.414029 -13.0,0.120728,-3.655969,-7.596066,4.059788,-0.413157 -13.05,0.119133,-3.644773,-7.484093,3.876711,-0.411152 -13.1,0.116668,-3.633957,-7.375916,3.699841,-0.408054 -13.15,0.113364,-3.623514,-7.271467,3.529068,-0.403901 -13.2,0.109253,-3.613436,-7.170683,3.364286,-0.398733 -13.25,0.104366,-3.603719,-7.0735,3.205389,-0.39259 -13.3,0.098733,-3.594355,-6.979849,3.05227,-0.38551 -13.35,0.092387,-3.585337,-6.889666,2.90482,-0.377533 -13.4,0.085358,-3.576661,-6.802886,2.762934,-0.368698 -13.45,0.077677,-3.568317,-6.719444,2.626505,-0.359043 -13.5,0.069376,-3.560301,-6.639273,2.495426,-0.34861 -13.55,0.060486,-3.552605,-6.562309,2.369588,-0.337436 -13.6,0.051039,-3.545224,-6.488485,2.248886,-0.32556 -13.65,0.041064,-3.53815,-6.417736,2.133213,-0.313023 -13.7,0.030594,-3.531377,-6.349999,2.022461,-0.299863 -13.75,0.01966,-3.524898,-6.285205,1.916524,-0.286119 -13.8,0.008294,-3.518707,-6.223291,1.815294,-0.271832 -13.85,-0.003475,-3.512798,-6.164191,1.718665,-0.257039 -13.9,-0.015615,-3.507164,-6.107839,1.626529,-0.24178 -13.95,-0.028093,-3.501797,-6.05417,1.53878,-0.226095 -14.0,-0.04088,-3.496693,-6.003119,1.45531,-0.210022 -14.05,-0.053944,-3.491843,-5.95462,1.376014,-0.193602 -14.1,-0.067254,-3.487242,-5.908606,1.300782,-0.176872 -14.15,-0.080778,-3.482884,-5.865015,1.22951,-0.159873 -14.2,-0.094486,-3.47876,-5.823779,1.162089,-0.142643 -14.25,-0.108346,-3.474867,-5.784833,1.098412,-0.125222 -14.3,-0.122326,-3.471195,-5.748112,1.038373,-0.107649 -14.35,-0.136397,-3.467739,-5.713551,0.981865,-0.089963 -14.4,-0.150526,-3.464493,-5.681083,0.928781,-0.072203 -14.45,-0.164682,-3.461449,-5.650645,0.879012,-0.05441 -14.5,-0.178834,-3.458602,-5.622169,0.832455,-0.036621 -14.55,-0.192952,-3.455944,-5.59559,0.788999,-0.018876 -14.6,-0.207003,-3.45347,-5.570844,0.748539,-0.001214 -14.65,-0.220956,-3.451172,-5.547865,0.710968,0.016324 -14.7,-0.234781,-3.449045,-5.526587,0.676178,0.033702 -14.75,-0.248446,-3.447081,-5.506945,0.644064,0.050878 -14.8,-0.26192,-3.445274,-5.488874,0.614517,0.067814 -14.85,-0.275171,-3.443617,-5.472307,0.587431,0.08447 -14.9,-0.288169,-3.442105,-5.457181,0.562698,0.100808 -14.95,-0.300882,-3.44073,-5.443428,0.540213,0.116788 -15.0,-0.313279,-3.439486,-5.430984,0.519867,0.13237 -15.05,-0.325329,-3.438366,-5.419783,0.501554,0.147516 -15.1,-0.337001,-3.437364,-5.40976,0.485167,0.162187 -15.15,-0.348263,-3.436473,-5.40085,0.470599,0.176343 -15.2,-0.359084,-3.435686,-5.392987,0.457742,0.189945 -15.25,-0.369434,-3.434998,-5.386105,0.44649,0.202954 -15.3,-0.37928,-3.434402,-5.38014,0.436737,0.21533 -15.35,-0.388592,-3.43389,-5.375025,0.428374,0.227034 -15.4,-0.397338,-3.433457,-5.370695,0.421294,0.238028 -15.45,-0.405487,-3.433096,-5.367085,0.415393,0.248271 -15.5,-0.413009,-3.432801,-5.36413,0.410559,0.257725 -15.55,-0.419871,-3.432564,-5.361763,0.40669,0.26635 -15.6,-0.426042,-3.43238,-5.35992,0.403677,0.274108 -15.65,-0.431492,-3.432241,-5.358535,0.401412,0.280958 -15.7,-0.436189,-3.432143,-5.357541,0.39979,0.286862 -15.75,-0.440102,-3.432076,-5.356877,0.398702,0.291781 -15.8,-0.4432,-3.432035,-5.356473,0.398043,0.295675 -15.85,-0.445452,-3.432014,-5.356266,0.397705,0.298505 -15.9,-0.446825,-3.432007,-5.35619,0.397579,0.300231 -15.95,-0.44729,-3.432006,-5.356179,0.39756,0.300816 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-2.471170,8.962149,12.185592,40.385812,10.824155 +0.05,-2.306425,7.838828,11.306471,40.883634,10.748196 +0.1,-2.224053,7.448107,10.964591,41.132545,10.748196 +0.15,-1.729819,6.959707,10.427350,41.754823,10.596278 +0.2,-0.494234,6.324786,9.401709,42.999378,9.912647 +0.25,1.729819,6.031746,8.424908,44.866210,8.545385 +0.3,4.530478,6.227106,7.985348,47.230865,6.646411 +0.35,5.930807,6.373626,7.985348,48.599876,6.038739 +0.4,7.001647,6.764347,8.229548,49.968886,4.747436 +0.45,9.719934,7.838828,9.206349,52.333541,0.949487 +0.5,13.097199,9.108669,10.818071,53.453640,-2.772503 +0.55,14.744646,9.792430,11.843712,53.329185,-4.063806 +0.6,15.650741,10.378510,12.820513,51.835719,-4.291682 +0.65,17.215815,11.404151,14.432234,48.350965,-3.759970 +0.7,18.369028,11.990232,15.457875,44.617299,-1.633118 +0.75,18.945634,12.136752,15.750916,42.999378,1.025446 +0.8,19.192751,12.185592,15.897436,41.879278,3.835929 +0.85,19.275124,12.380952,16.239316,39.016801,6.570452 +0.9,18.698517,12.527473,16.532357,35.656503,8.241550 +0.95,17.380560,12.429792,16.630037,34.660859,9.380934 +1.0,16.721582,12.332112,16.630037,34.660859,9.608811 +1.05,16.144975,12.185592,16.483516,34.909770,9.684770 +1.1,14.497529,11.697192,16.092796,36.403236,9.456893 +1.15,12.191104,11.013431,15.360195,39.016801,8.849221 +1.2,11.037891,10.622711,14.969475,40.510268,8.317509 +1.25,9.884679,10.183150,14.383394,42.626011,7.254083 +1.3,7.248764,9.352869,13.064713,46.733043,5.203190 +1.35,4.200988,8.815629,11.599512,50.840075,3.456134 +1.4,-0.164745,8.327228,9.645910,54.573740,3.835929 +1.45,-2.635914,8.376068,8.815629,56.191661,4.367641 +1.5,-4.530478,8.473748,8.473748,57.436217,4.899354 +1.55,-7.660626,8.620269,7.789988,58.929683,5.734903 +1.6,-10.708402,8.717949,7.545788,59.054138,7.178124 +1.65,-12.273476,8.717949,7.594628,58.805227,7.937714 +1.7,-13.509061,8.717949,7.789988,57.685128,9.001139 +1.75,-15.733114,8.278388,8.424908,55.196017,11.279909 +1.8,-17.462932,8.180708,9.938950,51.711263,13.330801 +1.85,-18.121911,8.180708,10.622711,49.844431,14.166350 +1.9,-18.369028,8.180708,10.964591,47.853143,14.622104 +1.95,-18.780890,8.327228,11.843712,43.995022,15.609571 +2.0,-19.028007,8.815629,12.820513,40.634723,16.141284 +2.05,-19.028007,9.206349,13.601954,37.772246,16.672997 +2.1,-19.028007,9.450549,13.992674,36.652147,16.824915 +2.15,-18.863262,9.743590,14.383394,35.905414,16.900874 +2.2,-18.616145,10.231990,15.067155,35.034225,16.976833 +2.25,-17.957166,10.720391,15.750916,35.283136,16.748956 +2.3,-17.545305,10.915751,16.043956,35.532047,16.597038 +2.35,-17.380560,11.013431,16.190476,36.527691,16.293202 +2.4,-17.051071,11.159951,16.385836,38.767890,15.761489 +2.45,-16.803954,11.159951,16.385836,41.754823,14.925940 +2.5,-16.721582,11.159951,16.288156,43.372744,14.470186 +2.55,-16.392092,11.013431,16.043956,45.115121,13.710596 +2.6,-15.650741,10.427350,14.920635,48.724331,12.115458 +2.65,-14.332784,9.938950,13.553114,51.835719,10.748196 +2.7,-12.191104,9.499389,11.990232,54.200373,9.153057 +2.75,-10.131796,9.157509,10.622711,55.196017,7.557919 +2.8,-7.660626,8.864469,9.352869,55.444928,5.734903 +2.85,-4.036244,8.571429,8.083028,55.320473,4.367641 +2.9,-0.329489,8.034188,7.399267,53.951462,4.367641 +2.95,1.647446,7.741148,7.399267,52.831363,4.367641 +3.0,3.953871,7.692308,7.448107,51.337897,4.291682 +3.05,8.154860,7.692308,8.473748,47.977598,4.291682 +3.1,10.955519,8.278388,10.329670,44.119477,5.051272 +3.15,12.602965,8.766789,11.599512,40.261357,6.646411 +3.2,13.261944,8.962149,12.136752,38.270068,7.481960 +3.25,13.591433,9.206349,12.576313,36.652147,8.469427 +3.3,13.920923,9.792430,13.504274,33.540759,10.368401 +3.35,13.920923,10.280830,14.236874,31.425016,11.659704 +3.4,13.920923,10.476190,14.529915,30.429371,12.115458 +3.45,13.673806,10.671551,14.774115,30.180460,12.419294 +3.5,12.850082,10.964591,15.213675,30.056005,12.875047 +3.55,11.696870,11.062271,15.409035,31.176105,12.875047 +3.6,11.120264,11.013431,15.360195,31.922838,12.799088 +3.65,10.378913,10.769231,15.164835,33.416304,12.267376 +3.7,8.813839,10.183150,14.529915,36.652147,11.052032 +3.75,6.919275,9.304029,13.455433,40.510268,9.153057 +3.8,5.107084,8.473748,12.136752,44.866210,6.798329 +3.85,4.036244,8.083028,11.452991,46.981954,5.582985 +3.9,2.800659,7.936508,10.866911,48.848787,4.671477 +3.95,0.247117,7.887668,9.938950,52.209085,3.456134 +4.0,-2.224053,8.034188,9.548230,54.324829,3.304216 +4.05,-3.294893,8.131868,9.597070,54.822651,3.380175 +4.1,-4.448105,8.131868,9.792430,54.947106,4.063806 +4.15,-6.919275,8.229548,10.671551,54.075918,6.038739 +4.2,-8.731466,8.522589,12.185592,51.960174,8.393468 +4.25,-9.555189,9.059829,13.553114,48.848787,9.988606 +4.3,-9.802306,9.304029,14.139194,47.106409,10.748196 +4.35,-10.049423,9.645910,14.627595,45.115121,11.507786 +4.4,-10.296540,10.280830,15.653236,41.505912,12.875047 +4.45,-10.131796,10.720391,16.190476,38.021157,14.014432 +4.5,-10.131796,10.866911,16.288156,36.527691,14.470186 +4.55,-10.049423,10.866911,16.288156,35.407592,14.925940 +4.6,-9.802306,10.769231,16.092796,33.789670,15.533612 +4.65,-9.390445,10.427350,15.457875,33.291848,15.837448 +4.7,-9.225700,10.183150,15.115995,33.291848,15.989366 +4.75,-8.813839,9.694750,14.432234,33.914126,15.989366 +4.8,-7.578254,8.522589,12.820513,35.780958,15.381694 +4.85,-6.095552,7.350427,11.159951,38.394524,14.014432 +4.9,-3.624382,6.471306,9.499389,41.630367,11.583745 +4.95,-2.141680,6.471306,9.059829,43.372744,9.988606 +5.0,-0.906096,6.520147,9.010989,44.866210,8.165591 +5.05,1.400329,7.106227,9.450549,47.728687,4.671477 +5.1,3.953871,8.083028,10.818071,49.595520,0.797569 +5.15,5.189456,8.669109,11.648352,50.093342,-1.025446 +5.2,5.848435,9.157509,12.478632,50.217797,-1.405241 +5.25,7.084020,9.938950,13.894994,49.595520,-1.481200 +5.3,8.072488,10.476190,15.018315,47.728687,0.189897 +5.35,8.813839,10.818071,15.653236,45.239577,3.456134 +5.4,9.225700,10.915751,15.897436,43.870566,5.051272 +5.45,9.308072,10.964591,15.995116,42.501556,6.342575 +5.5,9.390445,11.062271,16.043956,40.012446,8.697303 +5.55,9.308072,10.964591,15.897436,38.270068,9.912647 +5.6,9.225700,10.866911,15.750916,37.772246,10.292442 +5.65,9.060956,10.671551,15.457875,37.647791,10.292442 +5.7,8.401977,10.183150,14.676435,38.145613,10.368401 +5.75,7.495881,9.157509,13.260073,39.639079,9.836688 +5.8,7.001647,8.571429,12.429792,40.634723,9.532852 +5.85,6.342669,8.131868,11.550672,42.003734,8.925180 +5.9,4.695222,7.350427,9.841270,44.866210,7.557919 +5.95,2.059308,7.057387,8.473748,47.479776,6.798329 +6.0,-1.153213,7.399267,7.789988,49.471064,6.114698 +6.05,-2.635914,7.838828,7.838828,50.342253,5.582985 +6.1,-4.036244,8.034188,8.278388,50.466708,5.355108 +6.15,-7.084020,8.278388,9.694750,50.093342,6.722370 +6.2,-9.225700,8.766789,11.648352,48.475420,8.393468 +6.25,-10.049423,9.108669,12.625153,47.355320,8.925180 +6.3,-10.296540,9.255189,13.162393,45.861854,10.292442 +6.35,-10.626030,9.548230,14.139194,42.626011,13.558678 +6.4,-10.626030,10.085470,15.018315,39.514624,14.774022 +6.45,-10.543657,10.280830,15.360195,37.896702,15.077858 +6.5,-10.131796,10.280830,15.457875,36.901058,15.305735 +6.55,-9.390445,10.378510,15.555556,35.283136,15.533612 +6.6,-8.154860,10.183150,15.311355,34.909770,15.305735 +6.65,-6.754530,9.645910,14.578755,35.905414,14.774022 +6.7,-6.095552,9.255189,14.090354,36.652147,14.546145 +6.75,-5.436573,8.766789,13.406593,37.896702,13.862514 +6.8,-4.118616,7.838828,12.039072,40.883634,12.191417 +6.85,-2.718287,7.057387,10.427350,44.243933,10.292442 +6.9,-2.059308,6.910867,9.743590,45.986310,9.153057 +6.95,-1.317957,6.862027,9.352869,47.479776,7.406001 +7.0,0.247117,7.252747,8.766789,50.093342,4.215724 +7.05,2.059308,7.741148,8.913309,51.586808,1.709077 +7.1,4.200988,8.131868,9.401709,51.835719,0.265856 +7.15,5.354201,8.327228,9.792430,51.586808,-0.341815 +7.2,6.507414,8.522589,10.427350,50.591164,-0.493733 +7.25,8.566722,8.815629,11.697192,48.226509,1.253323 +7.3,9.967051,9.352869,12.967033,45.239577,4.519559 +7.35,10.543657,9.645910,13.553114,43.621655,6.190657 +7.4,10.873147,9.938950,14.041514,42.003734,7.178124 +7.45,11.367381,10.476190,14.920635,39.141257,8.621344 +7.5,11.449753,10.915751,15.506716,37.025513,9.836688 +7.55,11.449753,11.013431,15.653236,36.278780,10.368401 +7.6,11.285008,11.013431,15.702076,36.154325,10.444360 +7.65,10.873147,10.964591,15.653236,36.652147,10.520319 +7.7,10.049423,10.671551,15.360195,38.270068,10.064565 +7.75,8.813839,10.183150,14.725275,41.132545,9.153057 +7.8,8.154860,9.841270,14.334554,42.750467,8.165591 +7.85,7.413509,9.499389,13.797314,44.741755,6.722370 +7.9,5.683690,8.913309,12.722833,48.475420,4.215724 +7.95,3.624382,8.522589,11.550672,51.960174,2.012913 +8.0,2.635914,8.424908,10.915751,53.453640,1.101405 +8.05,1.482702,8.376068,10.476190,54.449284,1.025446 +8.1,-1.070840,8.229548,9.743590,55.693839,1.709077 +8.15,-4.118616,8.034188,9.450549,55.320473,3.835929 +8.2,-6.507414,7.692308,9.499389,53.453640,6.190657 +8.25,-7.413509,7.399267,9.597070,52.084630,7.481960 +8.3,-7.990115,7.203907,9.890110,50.342253,9.077098 +8.35,-9.143328,7.155067,10.671551,46.359676,11.811622 +8.4,-9.884679,7.594628,11.697192,42.252645,13.786555 +8.45,-10.214168,7.936508,12.283272,40.261357,14.622104 +8.5,-10.543657,8.424908,13.015873,38.518979,15.077858 +8.55,-11.120264,9.450549,14.383394,35.532047,15.837448 +8.6,-11.449753,10.573871,15.702076,33.665215,16.217243 +8.65,-11.532125,11.013431,16.239316,33.167393,16.293202 +8.7,-11.532125,11.208791,16.483516,33.042937,16.293202 +8.75,-11.449753,11.550672,16.971917,33.789670,16.065325 +8.8,-11.202636,11.697192,17.216117,35.656503,15.533612 +8.85,-10.626030,11.599512,17.264957,38.518979,13.786555 +8.9,-10.378913,11.550672,17.167277,40.136901,12.875047 +8.95,-9.884679,11.257631,16.825397,41.879278,11.887581 +9.0,-8.731466,10.622711,15.799756,45.364032,9.760729 +9.05,-7.825371,9.890110,14.334554,48.475420,7.709837 +9.1,-7.331137,9.450549,13.504274,49.844431,6.874288 +9.15,-6.672158,9.010989,12.332112,50.840075,6.570452 +9.2,-5.354201,8.278388,10.036630,52.084630,6.038739 +9.25,-3.459638,7.985348,7.741148,51.960174,5.658944 +9.3,-2.141680,7.887668,6.715507,51.711263,5.658944 +9.35,-0.494234,7.692308,6.178266,50.591164,5.734903 +9.4,2.883031,7.203907,5.494505,48.350965,6.570452 +9.45,7.001647,6.862027,5.689866,45.364032,7.330042 +9.5,10.790774,6.862027,6.764347,42.128189,7.937714 +9.55,12.520593,6.959707,7.448107,40.510268,8.469427 +9.6,13.756178,7.301587,8.083028,39.141257,8.849221 +9.65,16.062603,8.083028,9.694750,36.527691,9.456893 +9.7,17.462932,9.157509,11.452991,34.909770,9.988606 +9.75,17.957166,9.645910,12.234432,34.411948,9.988606 +9.8,18.121911,10.183150,13.015873,34.287492,9.988606 +9.85,18.286656,11.355311,14.578755,34.909770,9.912647 +9.9,18.039539,11.843712,15.262515,36.776602,9.153057 +9.95,17.380560,11.941392,15.457875,39.639079,6.646411 +10.0,16.968699,11.892552,15.360195,41.257001,5.279149 +10.05,16.227348,11.599512,14.920635,43.248289,3.532093 +10.1,14.497529,10.915751,13.699634,46.981954,-0.113938 +10.15,12.108731,10.134310,11.843712,50.466708,-2.392708 +10.2,10.790774,9.792430,10.818071,51.960174,-2.924421 +10.25,9.143328,9.597070,9.841270,53.080274,-3.000380 +10.3,5.766063,9.255189,8.083028,54.324829,-1.633118 +10.35,2.059308,8.913309,6.862027,54.200373,0.645651 +10.4,0.247117,8.620269,6.373626,53.827007,2.164831 +10.45,-1.482702,8.131868,6.275946,52.582452,4.139765 +10.5,-4.777595,7.203907,6.373626,49.719975,7.861755 +10.55,-7.578254,6.520147,7.350427,45.986310,11.355868 +10.6,-9.060956,6.422466,8.473748,42.003734,13.634637 +10.65,-9.719934,6.471306,9.157509,40.012446,14.698063 +10.7,-10.131796,6.813187,9.938950,38.394524,15.381694 +10.75,-10.626030,7.448107,11.208791,35.283136,16.293202 +10.8,-10.790774,7.936508,12.136752,33.167393,16.597038 +10.85,-10.790774,8.131868,12.527473,32.420660,16.597038 +10.9,-10.708402,8.327228,12.820513,32.296204,16.597038 +10.95,-10.378913,8.620269,13.357753,32.420660,16.369161 +11.0,-10.049423,8.815629,13.748474,33.789670,15.837448 +11.05,-9.802306,8.962149,14.090354,36.154325,14.925940 +11.1,-9.637562,9.059829,14.236874,37.523335,14.394227 +11.15,-9.555189,9.157509,14.334554,39.265713,13.558678 +11.2,-9.225700,9.255189,14.481074,42.750467,11.811622 +11.25,-8.978583,9.255189,14.285714,46.359676,9.988606 +11.3,-8.813839,9.255189,14.188034,48.102054,9.153057 +11.35,-8.649094,9.157509,13.797314,49.471064,8.469427 +11.4,-8.237232,8.766789,12.673993,51.711263,7.254083 +11.45,-7.495881,8.229548,11.159951,52.955818,6.570452 +11.5,-7.084020,7.936508,10.329670,52.955818,6.570452 +11.55,-6.342669,7.643468,9.401709,52.955818,6.570452 +11.6,-4.448105,7.057387,7.594628,51.711263,6.874288 +11.65,-1.976936,6.520147,6.227106,49.346609,7.481960 +11.7,0.576606,6.031746,5.396825,46.235221,8.849221 +11.75,1.812191,5.787546,5.201465,44.368388,9.608811 +11.8,3.294893,5.689866,5.201465,42.501556,10.216483 +11.85,6.425041,5.689866,5.689866,38.892346,11.203950 +11.9,8.566722,5.934066,6.715507,35.407592,12.267376 +11.95,9.472817,6.129426,7.399267,33.789670,12.875047 +12.0,10.049423,6.520147,8.180708,32.545115,13.330801 +12.05,10.790774,7.203907,9.597070,30.429371,13.938473 +12.1,11.120264,7.887668,10.769231,29.309272,14.318268 +12.15,11.202636,8.376068,11.550672,29.309272,14.318268 +12.2,11.202636,8.522589,11.892552,29.433727,14.242309 +12.25,11.037891,8.522589,11.941392,30.304916,14.014432 +12.3,10.543657,8.522589,11.990232,33.167393,13.330801 +12.35,9.637562,8.278388,11.697192,36.901058,12.115458 +12.4,9.143328,8.131868,11.452991,38.394524,11.431827 +12.45,8.237232,7.936508,11.111111,40.012446,9.988606 +12.5,6.342669,7.545788,10.280830,44.243933,6.722370 +12.55,4.200988,7.350427,9.304029,49.222153,4.367641 +12.6,3.130148,7.350427,8.766789,52.582452,3.608052 +12.65,2.388797,7.350427,8.473748,54.449284,3.456134 +12.7,1.235585,7.252747,8.131868,55.071562,4.063806 +12.75,0.411862,7.252747,8.327228,52.955818,5.734903 +12.8,-0.494234,7.643468,9.304029,49.222153,7.861755 +12.85,-1.153213,7.887668,9.841270,47.479776,9.153057 +12.9,-1.482702,8.864469,11.013431,45.488488,9.608811 +12.95,-1.565074,11.648352,12.869353,42.750467,9.684770 +13.0,-1.565074,11.648352,12.918193,42.626011,9.684770 +13.05,-1.565074,11.648352,12.918193,42.501556,9.684770 +13.1,-1.565074,11.648352,12.967033,42.377100,9.684770 +13.15,-1.565074,11.648352,13.015873,42.252645,9.684770 +13.2,-1.565074,11.697192,13.064713,42.128189,9.684770 +13.25,-1.565074,11.697192,13.064713,42.003734,9.684770 +13.3,-1.565074,11.697192,13.113553,41.879278,9.684770 +13.35,-1.565074,11.697192,13.162393,41.754823,9.684770 +13.4,-1.565074,11.697192,13.162393,41.754823,9.684770 +13.45,-1.565074,11.697192,13.211233,41.630367,9.760729 +13.5,-1.565074,11.697192,13.211233,41.505912,9.760729 +13.55,-1.565074,11.697192,13.260073,41.381456,9.760729 +13.6,-1.565074,11.697192,13.308913,41.381456,9.760729 +13.65,-1.647446,11.697192,13.308913,41.257001,9.760729 +13.7,-1.647446,11.697192,13.357753,41.257001,9.760729 +13.75,-1.647446,11.697192,13.357753,41.132545,9.760729 +13.8,-1.647446,11.697192,13.357753,41.008090,9.836688 +13.85,-1.647446,11.697192,13.406593,41.008090,9.836688 +13.9,-1.647446,11.697192,13.406593,40.883634,9.836688 +13.95,-1.647446,11.697192,13.455433,40.883634,9.836688 +14.0,-1.647446,11.697192,13.455433,40.759179,9.836688 +14.05,-1.729819,11.697192,13.455433,40.759179,9.836688 +14.1,-1.729819,11.697192,13.504274,40.759179,9.912647 +14.15,-1.729819,11.697192,13.504274,40.634723,9.912647 +14.2,-1.729819,11.697192,13.504274,40.634723,9.912647 +14.25,-1.729819,11.746032,13.553114,40.510268,9.912647 +14.3,-1.729819,11.746032,13.553114,40.510268,9.912647 +14.35,-1.812191,11.746032,13.553114,40.510268,9.988606 +14.4,-1.812191,11.746032,13.553114,40.510268,9.988606 +14.45,-1.812191,11.746032,13.601954,40.385812,9.988606 +14.5,-1.812191,11.746032,13.601954,40.385812,9.988606 +14.55,-1.812191,11.746032,13.601954,40.385812,9.988606 +14.6,-1.894563,11.746032,13.601954,40.385812,9.988606 +14.65,-1.894563,11.746032,13.601954,40.261357,10.064565 +14.7,-1.894563,11.746032,13.601954,40.261357,10.064565 +14.75,-1.894563,11.746032,13.650794,40.261357,10.064565 +14.8,-1.894563,11.746032,13.650794,40.261357,10.064565 +14.85,-1.894563,11.746032,13.650794,40.261357,10.064565 +14.9,-1.894563,11.746032,13.650794,40.261357,10.140524 +14.95,-1.976936,11.746032,13.650794,40.136901,10.140524 +15.0,-1.976936,11.746032,13.650794,40.136901,10.140524 +15.05,-1.976936,11.746032,13.650794,40.136901,10.140524 +15.1,-1.976936,11.746032,13.650794,40.136901,10.140524 +15.15,-1.976936,11.746032,13.650794,40.136901,10.140524 +15.2,-1.976936,11.746032,13.650794,40.136901,10.216483 +15.25,-1.976936,11.746032,13.650794,40.136901,10.216483 +15.3,-2.059308,11.746032,13.699634,40.136901,10.216483 +15.35,-2.059308,11.746032,13.699634,40.136901,10.216483 +15.4,-2.059308,11.746032,13.699634,40.136901,10.216483 +15.45,-2.059308,11.746032,13.699634,40.136901,10.216483 +15.5,-2.059308,11.746032,13.699634,40.136901,10.216483 +15.55,-2.059308,11.746032,13.699634,40.136901,10.216483 +15.6,-2.059308,11.746032,13.699634,40.136901,10.216483 +15.65,-2.059308,11.746032,13.699634,40.136901,10.292442 +15.7,-2.059308,11.746032,13.699634,40.136901,10.292442 +15.75,-2.059308,11.746032,13.699634,40.136901,10.292442 +15.8,-2.059308,11.746032,13.699634,40.136901,10.292442 +15.85,-2.059308,11.746032,13.699634,40.136901,10.292442 +15.9,-2.059308,11.746032,13.699634,40.136901,10.292442 +15.95,-2.059308,11.746032,13.699634,40.136901,10.292442 diff --git a/hal/recordings/music_waltz.csv b/hal/recordings/music_waltz.csv index cbfd3fa5d..e0b62ec31 100644 --- a/hal/recordings/music_waltz.csv +++ b/hal/recordings/music_waltz.csv @@ -1,202 +1,202 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos -0.0,-2.223432,-6.076892,-0.492463,0.988304,-14.740453 -0.05,-2.412337,-6.258296,0.026079,0.912313,-14.927715 -0.1,-2.798848,-6.635339,1.13,0.756927,-15.324807 -0.15,-3.170245,-7.016387,2.286237,0.60747,-15.738147 -0.2,-3.542805,-7.403223,3.506747,0.458044,-16.171448 -0.25,-3.989401,-7.834748,4.932214,0.279725,-16.672183 -0.3,-4.560639,-8.317664,6.627598,0.047508,-17.255976 -0.35,-5.243053,-8.78809,8.420658,-0.224805,-17.868495 -0.4,-6.051422,-9.214437,10.231178,-0.541279,-18.481068 -0.45,-6.993753,-9.570951,11.983243,-0.903752,-19.066989 -0.5,-8.067495,-9.839214,13.607219,-1.310492,-19.602257 -0.55,-9.257848,-10.008971,15.039663,-1.755605,-20.065844 -0.6,-10.538348,-10.078826,16.224983,-2.229283,-20.440374 -0.65,-11.873002,-10.056125,17.119628,-2.71857,-20.713544 -0.7,-13.219368,-9.955275,17.697182,-3.208479,-20.879456 -0.75,-14.532855,-9.794642,17.951779,-3.683449,-20.939217 -0.8,-15.772853,-9.586081,17.807601,-4.128913,-20.872375 -0.85,-16.904003,-9.361582,17.514434,-4.534081,-20.757896 -0.9,-17.906558,-9.125113,17.010569,-4.89172,-20.578252 -0.95,-18.76826,-8.879089,16.273059,-5.197445,-20.327087 -1.0,-19.483944,-8.634662,15.416956,-5.450108,-20.040117 -1.05,-20.049875,-8.400248,14.506743,-5.648707,-19.737698 -1.1,-20.514769,-8.173883,13.603491,-5.811086,-19.437878 -1.15,-20.722606,-8.007634,12.793772,-5.881356,-19.173389 -1.2,-20.724595,-7.904627,12.143347,-5.878224,-18.964454 -1.25,-20.693204,-7.840019,11.713114,-5.864307,-18.826498 -1.3,-20.596575,-7.83692,11.56759,-5.828498,-18.782108 -1.35,-20.402419,-7.919463,11.794013,-5.759708,-18.860753 -1.4,-20.002487,-8.116382,12.446789,-5.619254,-19.082324 -1.45,-19.473195,-8.393677,13.504857,-5.434771,-19.435843 -1.5,-18.814096,-8.724914,14.936717,-5.205992,-19.907703 -1.55,-18.018425,-9.071071,16.648682,-4.929844,-20.463525 -1.6,-17.066571,-9.394953,18.522988,-4.598292,-21.061669 -1.65,-15.925518,-9.669962,20.428514,-4.198267,-21.657912 -1.7,-14.555772,-9.885515,22.229957,-3.714269,-22.209579 -1.75,-12.92532,-10.047043,23.796814,-3.133557,-22.678759 -1.8,-11.027111,-10.16963,25.014706,-2.452586,-23.035194 -1.85,-8.893968,-10.267123,25.79981,-1.682502,-23.258548 -1.9,-6.602989,-10.370812,25.916098,-0.850731,-23.289142 -1.95,-4.263827,-10.390467,25.938063,0.002864,-23.276233 -2.0,-1.996866,-10.397045,25.320944,0.834571,-23.079189 -2.05,0.096494,-10.352314,24.316276,1.607102,-22.763762 -2.1,1.955149,-10.249378,22.997319,2.297875,-22.350134 -2.15,3.567183,-10.083553,21.434991,2.902406,-21.857725 -2.2,4.96218,-9.849578,19.686104,3.431634,-21.301683 -2.25,6.191998,-9.54092,17.793452,3.904878,-20.692989 -2.3,7.29809,-9.154742,15.796349,4.337586,-20.042645 -2.35,8.30974,-8.693765,13.733998,4.740558,-19.362746 -2.4,9.223364,-8.170958,11.646554,5.112032,-18.667436 -2.45,10.02444,-7.601956,9.558009,5.446055,-17.96637 -2.5,10.686475,-7.00318,7.482878,5.724106,-17.279007 -2.55,11.191134,-6.389275,5.429608,5.938472,-16.603234 -2.6,11.52935,-5.776014,3.421263,6.094507,-15.928848 -2.65,11.536722,-5.218508,1.515735,6.126206,-15.28201 -2.7,11.516929,-4.67501,-0.25099,6.146976,-14.672252 -2.75,11.442677,-4.191118,-1.782998,6.143928,-14.137363 -2.8,11.286301,-3.81714,-2.977482,6.104146,-13.717645 -2.85,11.019919,-3.596828,-3.751361,6.015213,-13.446108 -2.9,10.613159,-3.688084,-3.689447,5.858511,-13.473603 -2.95,10.042442,-3.853077,-3.487769,5.637115,-13.552936 -3.0,9.277908,-4.136663,-3.021249,5.338082,-13.728958 -3.05,8.235774,-4.587631,-2.1646,4.928509,-14.046848 -3.1,6.995753,-5.246339,-0.721646,4.437354,-14.573735 -3.15,5.58439,-6.031924,1.143114,3.879446,-15.247622 -3.2,4.025199,-6.805872,3.069615,3.270861,-15.938856 -3.25,2.330058,-7.519249,4.938033,2.619059,-16.604767 -3.3,0.508548,-8.123347,6.602773,1.920978,-17.196745 -3.35,-1.411259,-8.580923,7.931935,1.191621,-17.670485 -3.4,-3.386942,-8.887761,8.895957,0.45122,-18.015275 -3.45,-5.340928,-9.043894,9.471101,-0.272767,-18.222757 -3.5,-7.188497,-9.010123,9.445116,-0.948436,-18.221971 -3.55,-8.852209,-8.924404,9.34515,-1.554558,-18.190783 -3.6,-10.282462,-8.789572,9.121196,-2.0733,-18.113875 -3.65,-11.461636,-8.544005,8.462996,-2.495984,-17.888339 -3.7,-12.393686,-8.255748,7.628848,-2.827121,-17.601893 -3.75,-13.100281,-7.944207,6.685422,-3.075419,-17.277546 -3.8,-13.617409,-7.62532,5.695488,-3.254584,-16.93675 -3.85,-13.959983,-7.31814,4.724797,-3.37057,-16.602163 -3.9,-14.136273,-7.041101,3.830322,-3.426121,-16.291538 -3.95,-14.175632,-6.816183,3.086375,-3.432583,-16.030324 -4.0,-14.077919,-6.673079,2.580063,-3.391748,-15.852604 -4.05,-13.804452,-6.646739,2.402683,-3.290407,-15.791568 -4.1,-13.398819,-6.757018,2.6318,-3.14509,-15.874683 -4.15,-12.887665,-6.999053,3.271804,-2.965341,-16.102967 -4.2,-12.299747,-7.356964,4.306202,-2.761151,-16.468257 -4.25,-11.685915,-7.804214,5.700894,-2.550866,-16.949244 -4.3,-11.086661,-8.296428,7.364284,-2.348847,-17.518107 -4.35,-10.514237,-8.797286,9.220152,-2.158615,-18.14653 -4.4,-9.964142,-9.276596,11.204181,-1.977591,-18.810433 -4.45,-9.391213,-9.71186,13.26481,-1.788488,-19.490175 -4.5,-8.738586,-10.083574,15.351562,-1.569782,-20.166574 -4.55,-7.944168,-10.373328,17.394841,-1.297861,-20.814602 -4.6,-6.95073,-10.567389,19.301551,-0.950712,-21.402879 -4.65,-5.732051,-10.661765,20.962469,-0.517553,-21.897423 -4.7,-4.295691,-10.666037,22.276372,-0.000209,-22.269987 -4.75,-2.684912,-10.599518,23.183819,0.58587,-22.507625 -4.8,-0.970396,-10.498463,23.402088,1.215311,-22.53728 -4.85,0.76304,-10.351632,23.473994,1.855012,-22.516 -4.9,2.431872,-10.166825,23.444672,2.473984,-22.459247 -4.95,3.968083,-9.957524,23.361822,3.046523,-22.383891 -5.0,5.330674,-9.766125,22.820697,3.557253,-22.183117 -5.05,6.504431,-9.582916,22.096319,3.999556,-21.934002 -5.1,7.505344,-9.403788,21.348052,4.378689,-21.680911 -5.15,8.359572,-9.230414,20.497469,4.704403,-21.401424 -5.2,9.100866,-9.055753,19.568009,4.989294,-21.100486 -5.25,9.754036,-8.875085,18.600463,5.242526,-20.788584 -5.3,10.332743,-8.686495,17.604102,5.469177,-20.467813 -5.35,10.842685,-8.491694,16.607388,5.671139,-20.146516 -5.4,11.288237,-8.294361,15.637173,5.849702,-19.832921 -5.45,11.678712,-8.096943,14.70772,6.008075,-19.531454 -5.5,12.025444,-7.897987,13.804694,6.150561,-19.237679 -5.55,12.342492,-7.692771,12.905223,6.282682,-18.944163 -5.6,12.638229,-7.475995,11.98377,6.407944,-18.642662 -5.65,12.895985,-7.248713,11.024392,6.520214,-18.328785 -5.7,13.112753,-7.014511,10.046907,6.618099,-18.008798 -5.75,13.267253,-6.787397,9.099298,6.686695,-17.711464 -5.8,13.268661,-6.609732,8.263268,6.695143,-17.453725 -5.85,13.24098,-6.475512,7.628976,6.691338,-17.256328 -5.9,13.156564,-6.399363,7.209319,6.663938,-17.126344 -5.95,12.987763,-6.387112,6.987754,6.602227,-17.060727 -6.0,12.706571,-6.442137,6.946293,6.495676,-17.055213 -6.05,12.247286,-6.606338,7.202696,6.318168,-17.149177 -6.1,11.660381,-6.883271,7.838913,6.088932,-17.366178 -6.15,10.971335,-7.2448,8.794605,5.818551,-17.686129 -6.2,10.217277,-7.655598,10.002177,5.512544,-18.103906 -6.25,9.425863,-8.089755,11.419833,5.191807,-18.587824 -6.3,8.607471,-8.530838,13.050381,4.861086,-19.136194 -6.35,7.748015,-8.958,14.86603,4.516303,-19.737631 -6.4,6.810035,-9.349562,16.817182,4.1448,-20.374051 -6.45,5.750898,-9.684087,18.844111,3.731987,-21.02434 -6.5,4.532059,-9.941838,20.854654,3.264786,-21.658072 -6.55,3.134495,-10.111565,22.74601,2.736886,-22.243066 -6.6,1.565763,-10.194938,24.419774,2.15113,-22.750759 -6.65,-0.137374,-10.206791,25.796491,1.520486,-23.16078 -6.7,-1.912129,-10.171531,26.823268,0.867104,-23.462437 -6.75,-3.679855,-10.111785,27.503531,0.218936,-23.660865 -6.8,-5.361678,-10.071737,27.750078,-0.396178,-23.739868 -6.85,-6.89495,-10.058918,27.637623,-0.955686,-23.721421 -6.9,-8.242478,-10.066355,27.261616,-1.44612,-23.63019 -6.95,-9.392366,-10.107468,26.573215,-1.863326,-23.453983 -7.0,-10.350383,-10.160338,25.654592,-2.209241,-23.210822 -7.05,-11.129308,-10.206656,24.566094,-2.488492,-22.91377 -7.1,-11.740868,-10.23202,23.374734,-2.705539,-22.579255 -7.15,-12.194046,-10.230046,22.148184,-2.864043,-22.225989 -7.2,-12.500115,-10.202128,20.945472,-2.968586,-21.872007 -7.25,-12.505618,-10.175437,19.816141,-2.964382,-21.535711 -7.3,-12.504533,-10.121971,18.758811,-2.957577,-21.214964 -7.35,-12.490306,-10.049259,17.765375,-2.945941,-20.908995 -7.4,-12.456486,-9.961719,16.816836,-2.927131,-20.613178 -7.45,-12.396472,-9.863884,15.913723,-2.898851,-20.328532 -7.5,-12.303448,-9.764018,15.086853,-2.858926,-20.065646 -7.55,-12.170169,-9.679915,14.420893,-2.805483,-19.852703 -7.6,-11.747441,-9.662571,14.045627,-2.649481,-19.734537 -7.65,-11.155379,-9.719934,14.069035,-2.435301,-19.745747 -7.7,-10.471927,-9.842724,14.491973,-2.191232,-19.885846 -7.75,-9.664357,-10.046684,15.484326,-1.90675,-20.207635 -7.8,-8.790403,-10.262129,16.760552,-1.600068,-20.614995 -7.85,-7.874785,-10.453803,18.219096,-1.278825,-21.071574 -7.9,-6.898963,-10.591927,19.710604,-0.934588,-21.527248 -7.95,-5.836244,-10.662118,21.055178,-0.556015,-21.925568 -8.0,-4.658659,-10.670779,22.141482,-0.132158,-22.234672 -8.05,-3.343394,-10.631936,22.90674,0.345536,-22.438937 -8.1,-1.903401,-10.57099,23.035419,0.873219,-22.452616 -8.15,-0.384476,-10.471605,23.087236,1.432141,-22.436406 -8.2,1.145139,-10.33454,23.077348,1.997401,-22.395511 -8.25,2.613099,-10.167556,23.0239,2.542216,-22.337292 -8.3,3.959917,-9.98325,22.947281,3.044168,-22.270376 -8.35,5.1522,-9.815355,22.434197,3.49114,-22.083427 -8.4,6.182463,-9.653954,21.774138,3.879367,-21.85764 -8.45,7.067898,-9.49706,20.997419,4.215002,-21.601052 -8.5,7.838697,-9.33824,20.092767,4.509419,-21.308874 -8.55,8.523749,-9.169602,19.107449,4.773394,-20.99282 -8.6,9.152295,-8.73012,15.230753,5.042478,-19.799154 -8.65,9.705301,-8.153262,12.083581,5.288755,-18.790282 -8.7,10.164784,-7.639926,9.87416,5.494533,-18.064245 -8.75,10.554674,-7.127666,7.899214,5.670396,-17.414348 -8.8,10.730062,-6.827749,6.794221,5.747717,-17.057615 -8.85,10.715516,-6.581889,5.807937,5.753528,-16.738183 -8.9,10.660385,-6.37177,4.968233,5.74314,-16.463462 -8.95,10.566093,-6.212271,4.314754,5.716019,-16.248503 -9.0,10.434227,-6.107175,3.847819,5.672379,-16.095042 -9.05,10.265778,-6.089275,3.673948,5.610912,-16.040067 -9.1,10.062484,-6.152648,3.767056,5.532586,-16.075482 -9.15,9.826465,-6.269533,4.031414,5.439644,-16.169062 -9.2,9.559143,-6.447317,4.49956,5.332392,-16.331242 -9.25,9.261941,-6.691237,5.202622,5.211395,-16.571316 -9.3,8.934544,-7.000525,6.157655,5.077058,-16.892893 -9.35,8.569512,-7.360208,7.331849,4.928151,-17.282158 -9.4,8.160007,-7.749661,8.676359,4.753505,-17.734952 -9.45,7.690665,-8.151495,10.143832,4.554213,-18.229275 -9.5,7.127927,-8.547888,11.661272,4.321313,-18.738363 -9.55,6.43356,-8.923042,13.138955,4.041908,-19.233686 -9.6,5.573805,-9.260082,14.443477,3.70497,-19.673848 -9.65,4.53698,-9.539459,15.383647,3.307894,-19.999887 -9.7,3.343114,-9.732976,15.69413,2.860317,-20.129047 -9.75,2.056157,-9.785089,15.044735,2.389159,-19.953679 -9.8,0.783808,-9.586349,13.124017,1.938807,-19.361018 -9.85,-0.344628,-8.986312,9.829497,1.561196,-18.293808 -9.9,-2.104659,-7.800955,4.973647,0.975542,-16.67102 -9.95,-2.617457,-6.619923,1.097861,0.824348,-15.312164 -10.0,-2.223432,-6.076892,-0.492463,0.988304,-14.740453 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos +0.0,-3.871499,10.818071,15.360195,10.824155,29.807094 +0.05,-4.036244,10.769231,15.555556,10.748196,29.682638 +0.1,-4.448105,10.622711,15.946276,10.672237,29.433727 +0.15,-4.777595,10.525031,16.336996,10.520319,29.184816 +0.2,-5.189456,10.378510,16.776557,10.444360,28.935905 +0.25,-5.601318,10.231990,17.264957,10.292442,28.562539 +0.3,-6.177924,10.036630,17.851038,10.064565,28.189172 +0.35,-6.919275,9.890110,18.485958,9.836688,27.691350 +0.4,-7.660626,9.743590,19.120879,9.608811,27.317984 +0.45,-8.649094,9.645910,19.755800,9.304975,26.944617 +0.5,-9.719934,9.548230,20.293040,8.925180,26.571251 +0.55,-10.873147,9.450549,20.830281,8.545385,26.197884 +0.6,-12.191104,9.450549,21.221001,8.165591,25.948973 +0.65,-13.509061,9.450549,21.514042,7.785796,25.824518 +0.7,-14.827018,9.499389,21.758242,7.330042,25.700062 +0.75,-16.144975,9.548230,21.807082,6.950247,25.700062 +0.8,-17.380560,9.597070,21.758242,6.570452,25.700062 +0.85,-18.533773,9.694750,21.660562,6.266616,25.824518 +0.9,-19.522241,9.792430,21.514042,5.962780,25.948973 +0.95,-20.428336,9.841270,21.221001,5.734903,26.073429 +1.0,-21.087315,9.938950,20.927961,5.507026,26.197884 +1.05,-21.663921,10.036630,20.634921,5.355108,26.446795 +1.1,-22.158155,10.085470,20.293040,5.203190,26.695706 +1.15,-22.322900,10.183150,20.048840,5.127231,26.820162 +1.2,-22.322900,10.183150,19.804640,5.127231,26.944617 +1.25,-22.322900,10.231990,19.658120,5.127231,27.069073 +1.3,-22.240527,10.231990,19.609280,5.203190,27.069073 +1.35,-22.075783,10.183150,19.658120,5.203190,27.069073 +1.4,-21.663921,10.134310,19.902320,5.355108,26.944617 +1.45,-21.087315,10.036630,20.293040,5.507026,26.695706 +1.5,-20.428336,9.938950,20.781441,5.734903,26.322340 +1.55,-19.686985,9.792430,21.367521,5.962780,25.948973 +1.6,-18.698517,9.694750,22.051282,6.190657,25.575607 +1.65,-17.545305,9.597070,22.686203,6.570452,25.202240 +1.7,-16.227348,9.499389,23.321123,6.950247,24.828874 +1.75,-14.579901,9.450549,23.858364,7.406001,24.455507 +1.8,-12.685338,9.401709,24.297924,8.013673,24.206596 +1.85,-10.543657,9.401709,24.590965,8.621344,24.082141 +1.9,-8.237232,9.352869,24.590965,9.304975,24.082141 +1.95,-5.930807,9.352869,24.639805,10.064565,24.082141 +2.0,-3.624382,9.352869,24.395604,10.748196,24.206596 +2.05,-1.565074,9.352869,24.053724,11.355868,24.455507 +2.1,0.329489,9.401709,23.614164,11.963540,24.704418 +2.15,1.894563,9.450549,23.028083,12.419294,25.077785 +2.2,3.294893,9.548230,22.442002,12.875047,25.451151 +2.25,4.530478,9.645910,21.758242,13.254842,25.824518 +2.3,5.683690,9.792430,21.074481,13.634637,26.197884 +2.35,6.672158,9.938950,20.341880,13.938473,26.695706 +2.4,7.578254,10.085470,19.609280,14.242309,27.193528 +2.45,8.401977,10.280830,18.876679,14.546145,27.691350 +2.5,9.060956,10.525031,18.192918,14.774022,28.189172 +2.55,9.555189,10.720391,17.460317,14.925940,28.562539 +2.6,9.884679,10.915751,16.727717,15.077858,29.060361 +2.65,9.884679,11.111111,16.092796,15.153817,29.433727 +2.7,9.884679,11.306471,15.457875,15.153817,29.931549 +2.75,9.802306,11.452991,14.920635,15.153817,30.304916 +2.8,9.637562,11.599512,14.529915,15.077858,30.553827 +2.85,9.390445,11.697192,14.236874,15.001899,30.678283 +2.9,8.978583,11.648352,14.285714,14.925940,30.678283 +2.95,8.401977,11.599512,14.334554,14.698063,30.678283 +3.0,7.660626,11.501832,14.481074,14.470186,30.553827 +3.05,6.589786,11.355311,14.822955,14.090391,30.304916 +3.1,5.354201,11.111111,15.311355,13.710596,29.931549 +3.15,3.953871,10.866911,15.946276,13.254842,29.558183 +3.2,2.388797,10.573871,16.630037,12.723130,29.060361 +3.25,0.658979,10.329670,17.264957,12.191417,28.562539 +3.3,-1.153213,10.134310,17.851038,11.659704,28.189172 +3.35,-3.047776,9.987790,18.339438,11.052032,27.815806 +3.4,-5.024712,9.841270,18.681319,10.368401,27.566895 +3.45,-7.001647,9.792430,18.876679,9.836688,27.442439 +3.5,-8.813839,9.841270,18.876679,9.229016,27.442439 +3.55,-10.461285,9.841270,18.827839,8.697303,27.566895 +3.6,-11.943987,9.890110,18.730159,8.317509,27.566895 +3.65,-13.097199,9.987790,18.534799,7.937714,27.691350 +3.7,-14.003295,10.085470,18.241758,7.709837,27.940261 +3.75,-14.744646,10.183150,17.899878,7.481960,28.189172 +3.8,-15.238880,10.280830,17.557998,7.330042,28.313628 +3.85,-15.568369,10.378510,17.216117,7.254083,28.562539 +3.9,-15.815486,10.476190,16.874237,7.178124,28.811450 +3.95,-15.815486,10.573871,16.630037,7.178124,28.935905 +4.0,-15.733114,10.622711,16.434676,7.178124,29.060361 +4.05,-15.485997,10.622711,16.385836,7.330042,29.184816 +4.1,-15.074135,10.573871,16.483516,7.406001,29.060361 +4.15,-14.497529,10.525031,16.678877,7.557919,28.935905 +4.2,-13.920923,10.378510,17.069597,7.709837,28.686994 +4.25,-13.344316,10.231990,17.557998,7.937714,28.313628 +4.3,-12.767710,10.085470,18.144078,8.089632,27.940261 +4.35,-12.191104,9.890110,18.778999,8.241550,27.566895 +4.4,-11.614498,9.743590,19.462759,8.393468,27.069073 +4.45,-11.037891,9.597070,20.195360,8.545385,26.571251 +4.5,-10.378913,9.450549,20.927961,8.697303,26.197884 +4.55,-9.555189,9.352869,21.611722,8.925180,25.700062 +4.6,-8.566722,9.304029,22.295482,9.229016,25.326696 +4.65,-7.413509,9.255189,22.881563,9.608811,24.953329 +4.7,-5.930807,9.255189,23.321123,9.988606,24.704418 +4.75,-4.365733,9.255189,23.663004,10.520319,24.579963 +4.8,-2.635914,9.304029,23.711844,11.052032,24.579963 +4.85,-0.906096,9.352869,23.760684,11.583745,24.579963 +4.9,0.823723,9.401709,23.760684,12.115458,24.579963 +4.95,2.306425,9.499389,23.711844,12.571212,24.704418 +5.0,3.706755,9.548230,23.516484,12.951006,24.828874 +5.05,4.859967,9.597070,23.272283,13.330801,24.953329 +5.1,5.848435,9.694750,23.028083,13.634637,25.202240 +5.15,6.672158,9.743590,22.735043,13.938473,25.326696 +5.2,7.413509,9.792430,22.393162,14.166350,25.575607 +5.25,8.072488,9.841270,22.051282,14.394227,25.700062 +5.3,8.649094,9.938950,21.709402,14.546145,25.948973 +5.35,9.225700,9.987790,21.367521,14.774022,26.197884 +5.4,9.637562,10.085470,21.025641,14.849981,26.446795 +5.45,10.049423,10.134310,20.683761,15.001899,26.571251 +5.5,10.378913,10.183150,20.390720,15.153817,26.820162 +5.55,10.708402,10.280830,20.048840,15.229776,26.944617 +5.6,10.955519,10.329670,19.755800,15.381694,27.193528 +5.65,11.202636,10.427350,19.413919,15.457653,27.442439 +5.7,11.449753,10.525031,19.072039,15.533612,27.691350 +5.75,11.614498,10.573871,18.730159,15.609571,27.815806 +5.8,11.614498,10.622711,18.437118,15.609571,28.064717 +5.85,11.614498,10.671551,18.241758,15.609571,28.189172 +5.9,11.532125,10.720391,18.095238,15.533612,28.189172 +5.95,11.367381,10.720391,17.997558,15.533612,28.313628 +6.0,11.037891,10.720391,17.997558,15.457653,28.313628 +6.05,10.626030,10.622711,18.095238,15.305735,28.189172 +6.1,9.967051,10.573871,18.290598,15.077858,28.064717 +6.15,9.308072,10.427350,18.632479,14.849981,27.815806 +6.2,8.566722,10.280830,19.072039,14.622104,27.566895 +6.25,7.742998,10.134310,19.560440,14.318268,27.193528 +6.3,6.919275,9.987790,20.097680,14.090391,26.820162 +6.35,6.095552,9.841270,20.732601,13.786555,26.446795 +6.4,5.189456,9.694750,21.416361,13.482719,26.073429 +6.45,4.118616,9.597070,22.148962,13.102924,25.575607 +6.5,2.883031,9.499389,22.832723,12.723130,25.202240 +6.55,1.482702,9.450549,23.516484,12.267376,24.704418 +6.6,-0.082372,9.401709,24.102564,11.811622,24.455507 +6.65,-1.812191,9.401709,24.590965,11.279909,24.206596 +6.7,-3.542010,9.401709,24.932845,10.748196,23.957685 +6.75,-5.354201,9.450549,25.177045,10.216483,23.833230 +6.8,-7.001647,9.450549,25.274725,9.684770,23.708774 +6.85,-8.566722,9.450549,25.225885,9.229016,23.708774 +6.9,-9.884679,9.450549,25.079365,8.849221,23.833230 +6.95,-11.037891,9.450549,24.835165,8.469427,23.957685 +7.0,-12.026359,9.401709,24.542125,8.165591,24.082141 +7.05,-12.767710,9.401709,24.151404,7.937714,24.331052 +7.1,-13.344316,9.401709,23.711844,7.785796,24.579963 +7.15,-13.838550,9.401709,23.272283,7.633878,24.828874 +7.2,-14.168040,9.401709,22.881563,7.557919,25.077785 +7.25,-14.168040,9.401709,22.490842,7.557919,25.202240 +7.3,-14.168040,9.450549,22.100122,7.557919,25.451151 +7.35,-14.168040,9.450549,21.758242,7.557919,25.700062 +7.4,-14.085667,9.499389,21.416361,7.557919,25.824518 +7.45,-14.003295,9.548230,21.123321,7.633878,26.073429 +7.5,-13.920923,9.548230,20.830281,7.633878,26.197884 +7.55,-13.838550,9.597070,20.586081,7.709837,26.446795 +7.6,-13.426689,9.597070,20.439560,7.861755,26.446795 +7.65,-12.767710,9.597070,20.488400,8.013673,26.446795 +7.7,-12.108731,9.548230,20.634921,8.241550,26.322340 +7.75,-11.285008,9.450549,20.976801,8.469427,26.197884 +7.8,-10.461285,9.401709,21.416361,8.697303,25.824518 +7.85,-9.555189,9.304029,21.904762,9.001139,25.575607 +7.9,-8.566722,9.255189,22.442002,9.229016,25.202240 +7.95,-7.495881,9.255189,22.930403,9.532852,24.953329 +8.0,-6.342669,9.255189,23.272283,9.912647,24.828874 +8.05,-5.024712,9.255189,23.565324,10.292442,24.579963 +8.1,-3.542010,9.304029,23.614164,10.748196,24.579963 +8.15,-2.059308,9.304029,23.614164,11.203950,24.579963 +8.2,-0.494234,9.352869,23.614164,11.659704,24.704418 +8.25,0.988468,9.401709,23.614164,12.115458,24.704418 +8.3,2.306425,9.499389,23.565324,12.571212,24.704418 +8.35,3.542010,9.548230,23.418803,12.951006,24.828874 +8.4,4.530478,9.597070,23.174603,13.254842,25.077785 +8.45,5.436573,9.645910,22.881563,13.558678,25.202240 +8.5,6.177924,9.694750,22.588523,13.786555,25.451151 +8.55,6.836903,9.743590,22.246642,14.014432,25.575607 +8.6,7.495881,9.890110,20.879121,14.242309,26.446795 +8.65,8.072488,10.134310,19.755800,14.394227,27.069073 +8.7,8.484349,10.280830,19.023199,14.622104,27.566895 +8.75,8.896211,10.476190,18.339438,14.774022,28.064717 +8.8,9.060956,10.573871,17.948718,14.774022,28.313628 +8.85,9.060956,10.671551,17.606838,14.774022,28.438083 +8.9,8.978583,10.720391,17.313797,14.774022,28.686994 +8.95,8.896211,10.769231,17.069597,14.774022,28.811450 +9.0,8.813839,10.818071,16.923077,14.774022,28.935905 +9.05,8.649094,10.818071,16.825397,14.698063,28.935905 +9.1,8.401977,10.818071,16.874237,14.622104,28.935905 +9.15,8.154860,10.769231,16.971917,14.546145,28.935905 +9.2,7.907743,10.720391,17.118437,14.470186,28.811450 +9.25,7.578254,10.622711,17.362637,14.394227,28.562539 +9.3,7.248764,10.525031,17.704518,14.242309,28.438083 +9.35,6.919275,10.378510,18.095238,14.090391,28.064717 +9.4,6.507414,10.231990,18.583639,14.014432,27.815806 +9.45,6.013180,10.134310,19.120879,13.786555,27.442439 +9.5,5.436573,9.987790,19.609280,13.634637,27.193528 +9.55,4.777595,9.841270,20.146520,13.406760,26.820162 +9.6,3.953871,9.743590,20.586081,13.102924,26.446795 +9.65,2.883031,9.645910,20.927961,12.799088,26.322340 +9.7,1.729819,9.548230,21.025641,12.419294,26.197884 +9.75,0.411862,9.548230,20.830281,12.039499,26.322340 +9.8,-0.823723,9.597070,20.146520,11.659704,26.695706 +9.85,-1.976936,9.841270,18.974359,11.355868,27.442439 +9.9,-3.789127,10.231990,17.313797,10.824155,28.562539 +9.95,-4.283361,10.622711,15.946276,10.748196,29.433727 +10.0,-3.871499,10.818071,15.360195,10.824155,29.807094 diff --git a/hal/recordings/nod.csv b/hal/recordings/nod.csv old mode 100755 new mode 100644 index 628e0f3f7..83b6cfd03 --- a/hal/recordings/nod.csv +++ b/hal/recordings/nod.csv @@ -1,41 +1,41 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -0.05,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -0.1,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -0.15,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -0.2,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -0.25,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -0.3,-0.058727,-0.008937,30.023804,-50.030574,0.052494 -0.35,-0.074098,-0.014696,30.019695,-50.043089,0.065919 -0.4,-0.082136,0.790309,33.251805,-51.978772,0.057904 -0.45,-0.099241,3.031946,40.568272,-56.460062,0.039943 -0.5,-0.115196,5.956045,48.263485,-61.281949,0.02181 -0.55,-0.121357,7.66893,52.050386,-63.703515,0.013051 -0.6,-0.121278,7.940378,52.264711,-63.888833,0.012877 -0.65,-0.121078,8.175589,52.397213,-64.022191,0.012899 -0.7,-0.120975,8.279209,52.450121,-64.078143,0.012924 -0.75,-0.121165,8.171502,52.429289,-64.037342,0.012787 -0.8,-0.114834,6.078388,48.234343,-61.301996,0.022097 -0.85,-0.095182,1.658992,38.241915,-54.848804,0.044913 -0.9,-0.067052,-2.972021,25.895893,-46.994195,0.074808 -0.95,-0.037107,-6.362204,13.931999,-39.70233,0.104334 -1.0,-0.012976,-8.231711,4.803625,-34.348236,0.126225 -1.05,-0.003983,-9.746752,0.994225,-31.864502,0.134806 -1.1,-0.006288,-11.607463,0.77499,-31.059938,0.134076 -1.15,-0.008621,-13.334998,0.624558,-30.331661,0.132983 -1.2,-0.010538,-14.608398,0.577171,-29.822574,0.131833 -1.25,-0.011563,-15.105192,0.653655,-29.672309,0.131103 -1.3,-0.021727,-13.119551,5.223257,-32.82021,0.121715 -1.35,-0.043568,-8.207546,15.161067,-39.747922,0.100008 -1.4,-0.06485,-2.689771,25.313699,-46.772053,0.076573 -1.45,-0.074098,-0.014696,30.019695,-50.043089,0.065919 -1.5,-0.058727,-0.008937,30.023804,-50.030574,0.052494 -1.55,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -1.6,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -1.65,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -1.7,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -1.75,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -1.8,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -1.85,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -1.9,-0.058727,-0.008937,29.979941,-50.030574,0.052494 -1.95,-0.058727,-0.008937,29.979941,-50.030574,0.052494 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.05,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.1,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.15,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.2,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.25,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.3,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.35,-1.729819,12.918193,15.555556,39.763535,10.140524 +0.4,-1.729819,13.357753,16.923077,37.772246,10.140524 +0.45,-1.729819,14.529915,20.048840,33.167393,10.064565 +0.5,-1.729819,16.043956,23.321123,28.189172,10.064565 +0.55,-1.729819,16.923077,24.932845,25.700062,10.064565 +0.6,-1.729819,17.069597,25.030525,25.451151,10.064565 +0.65,-1.729819,17.216117,25.079365,25.326696,10.064565 +0.7,-1.729819,17.264957,25.128205,25.326696,10.064565 +0.75,-1.729819,17.216117,25.128205,25.326696,10.064565 +0.8,-1.729819,16.092796,23.321123,28.189172,10.064565 +0.85,-1.729819,13.797314,19.072039,34.785314,10.064565 +0.9,-1.729819,11.355311,13.797314,42.874922,10.140524 +0.95,-1.647446,9.597070,8.669109,50.466708,10.140524 +1.0,-1.647446,8.620269,4.761905,55.942750,10.216483 +1.05,-1.647446,7.789988,3.150183,58.556316,10.216483 +1.1,-1.647446,6.813187,3.052503,59.427505,10.216483 +1.15,-1.647446,5.934066,3.003663,60.174238,10.216483 +1.2,-1.647446,5.250305,2.954823,60.672060,10.216483 +1.25,-1.647446,5.006105,3.003663,60.796515,10.216483 +1.3,-1.647446,6.031746,4.957265,57.560672,10.216483 +1.35,-1.647446,8.620269,9.206349,50.466708,10.140524 +1.4,-1.729819,11.501832,13.553114,43.123833,10.140524 +1.45,-1.729819,12.918193,15.555556,39.763535,10.140524 +1.5,-1.729819,12.918193,15.555556,39.763535,10.140524 +1.55,-1.729819,12.918193,15.555556,39.763535,10.140524 +1.6,-1.729819,12.918193,15.555556,39.763535,10.140524 +1.65,-1.729819,12.918193,15.555556,39.763535,10.140524 +1.7,-1.729819,12.918193,15.555556,39.763535,10.140524 +1.75,-1.729819,12.918193,15.555556,39.763535,10.140524 +1.8,-1.729819,12.918193,15.555556,39.763535,10.140524 +1.85,-1.729819,12.918193,15.555556,39.763535,10.140524 +1.9,-1.729819,12.918193,15.555556,39.763535,10.140524 +1.95,-1.729819,12.918193,15.555556,39.763535,10.140524 diff --git a/hal/recordings/playful.csv b/hal/recordings/playful.csv old mode 100755 new mode 100644 index 775b0c381..93be42443 --- a/hal/recordings/playful.csv +++ b/hal/recordings/playful.csv @@ -1,201 +1,201 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.0,0.0,10.230078,-1.009304,0.241278 -0.05,6.430717,4.426085,11.536366,-3.854429,0.930971 -0.1,9.564909,5.848657,12.543896,-8.246618,2.017507 -0.15,12.91226,7.174168,13.04866,-13.880691,3.448876 -0.2,16.257315,8.348185,12.971144,-20.43931,5.172682 -0.25,19.496271,9.356646,12.319614,-27.597688,7.136203 -0.3,22.586158,10.202044,11.149014,-35.028495,9.28645 -0.35,25.498529,10.892705,9.537235,-42.406852,11.570223 -0.4,28.201878,11.444731,7.58085,-49.415189,13.934172 -0.45,30.670654,11.875337,5.381926,-55.747577,16.324854 -0.5,32.876976,12.203572,3.047715,-61.113753,18.688801 -0.55,34.796245,12.448373,0.687895,-65.242308,20.972576 -0.6,36.405998,12.627391,-1.587001,-67.883297,23.12282 -0.65,37.684831,12.756355,-3.667246,-68.809976,25.086342 -0.7,38.610947,12.848779,-5.44637,-68.464778,26.810144 -0.75,39.160534,12.915941,-6.824827,-67.412417,28.241512 -0.8,39.306239,12.967037,-7.715106,-65.63555,29.32805 -0.85,39.016274,13.009449,-8.048442,-63.131295,30.017742 -0.9,38.254493,13.049021,-7.782821,-59.916865,30.259022 -0.95,36.981742,13.090344,-6.911571,-56.03547,29.799535 -1.0,35.1586,13.136981,-5.471193,-51.561351,28.491009 -1.05,32.749312,13.191642,-3.546614,-46.602364,26.437384 -1.1,29.726407,13.256292,-1.27192,-41.298367,23.74184 -1.15,26.078914,13.332195,1.175067,-35.814486,20.507523 -1.2,21.81113,13.41993,3.585239,-30.329342,16.838274 -1.25,16.952104,13.519364,5.737197,-25.020545,12.839388 -1.3,11.547206,13.629648,7.420934,-20.050379,8.592819 -1.35,5.641897,13.749205,8.462991,-15.554844,4.170914 -1.4,-0.717142,13.875766,8.749078,-11.637782,-0.333943 -1.45,-5.353772,14.006444,8.240239,-8.370035,-4.82966 -1.5,-15.023488,14.137851,6.979581,-5.792458,-9.224664 -1.55,-23.140438,14.266249,5.088343,-3.920993,-13.428099 -1.6,-29.306019,14.387732,2.752088,-2.752566,-17.350052 -1.65,-33.518604,14.498424,0.19958,-2.270405,-20.901747 -1.7,-36.063918,14.594661,-2.322045,-2.643146,-23.995744 -1.75,-37.36746,14.6732,-4.572033,-3.959561,-26.546101 -1.8,-37.878364,14.73133,-6.337532,-6.084392,-28.468592 -1.85,-37.993125,14.767041,-7.449861,-8.892092,-29.680816 -1.9,-37.993125,14.779088,-7.794828,-12.264904,-30.102406 -1.95,-37.993132,14.767048,-7.315653,-16.091215,-29.680823 -2.0,-37.878382,14.731347,-6.011526,-20.264109,-28.468599 -2.05,-37.367446,14.673234,-3.931107,-24.680079,-26.546116 -2.1,-36.063914,14.594731,-1.165978,-29.237834,-23.995757 -2.15,-33.518631,14.498547,2.142301,-33.837201,-20.901772 -2.2,-29.306033,14.387949,5.771102,-38.377993,-17.350081 -2.25,-23.140425,14.266614,13.325394,-42.758944,-13.428133 -2.3,-15.023488,14.138443,18.03017,-46.876606,-9.224699 -2.35,-5.353772,14.007364,21.235478,-50.624058,-4.829699 -2.4,5.091963,13.877137,22.391411,-53.889704,-0.333976 -2.45,15.331466,13.75116,21.316462,-56.555664,4.170889 -2.5,24.438716,13.632311,18.261738,-58.496199,8.59281 -2.55,31.783698,13.522822,13.81367,-59.575663,12.839397 -2.6,37.146038,13.424203,8.686708,-59.64602,16.838298 -2.65,40.66653,13.337241,3.52547,-58.700415,20.507551 -2.7,42.700912,13.261962,-1.192806,-56.941996,23.741864 -2.75,43.677321,13.197825,-5.153606,-54.504189,26.437403 -2.8,44.007664,13.143746,-8.153068,-51.497352,28.491017 -2.85,44.039694,13.098459,-10.045,-48.01552,29.799535 -2.9,44.018981,13.061225,-10.703678,-44.141327,30.259022 -2.95,44.039721,13.032524,-10.044973,-39.949681,29.799531 -3.0,44.00765,12.963409,-8.153,-35.51086,28.491 -3.05,43.677321,12.985614,-5.153663,-30.893273,26.437369 -3.1,42.700902,13.004299,-1.192748,-26.166243,23.74182 -3.15,40.666543,13.014038,3.525428,-21.403156,20.507503 -3.2,37.146049,13.016582,8.686708,-16.685403,16.838259 -3.25,31.783681,13.026454,13.813696,-12.107975,12.839388 -3.3,24.438704,13.073374,18.26172,-7.78785,8.592836 -3.35,15.331452,13.195628,21.316438,-3.877949,4.170942 -3.4,5.091963,13.422382,22.391411,-0.592519,-0.333909 -3.45,-5.353772,13.752806,21.235478,1.74193,-4.829625 -3.5,-15.023484,14.148056,18.030132,2.566921,-9.224627 -3.55,-23.140415,14.544529,13.325392,1.999149,-13.428065 -3.6,-29.306019,14.881116,7.848434,0.741227,-17.350023 -3.65,-33.51861,15.12186,2.295202,-1.212193,-20.901728 -3.7,-36.063914,15.262293,-2.797044,-3.857408,-23.995725 -3.75,-37.36746,15.321567,-7.068344,-7.178618,-26.546094 -3.8,-37.878371,15.33008,-10.291954,-11.144307,-28.468589 -3.85,-37.993125,15.318991,-12.317259,-15.703138,-29.680819 -3.9,-37.993125,15.312096,-13.020502,-20.779662,-30.102406 -3.95,-37.993132,15.318998,-12.317283,-26.270202,-29.680819 -4.0,-37.878364,15.330076,-10.291956,-32.039779,-28.468585 -4.05,-37.367432,15.321561,-7.068322,-37.920981,-26.546094 -4.1,-36.063921,15.262302,-2.797109,-43.715857,-23.995723 -4.15,-33.518624,15.121856,2.295218,-49.201708,-20.901724 -4.2,-29.30603,14.881116,7.848436,-54.141076,-17.350023 -4.25,-23.140425,14.544538,13.325394,-58.295186,-13.428063 -4.3,-15.023484,14.14805,18.030152,-61.439013,-9.224626 -4.35,-5.353757,13.752808,21.235456,-63.375529,-4.829625 -4.4,5.091963,13.422382,22.391411,-63.946731,-0.333909 -4.45,15.331466,13.195624,21.316462,-62.916438,4.170942 -4.5,24.438697,13.073364,18.261786,-60.700998,8.592842 -4.55,31.783684,13.026454,13.813674,-57.769685,12.839388 -4.6,37.146038,13.016582,8.686708,-54.361684,16.838257 -4.65,40.66653,13.014034,3.52547,-50.620561,20.507505 -4.7,42.700908,13.004304,-1.192762,-46.642576,23.741821 -4.75,43.677321,12.985618,-5.153606,-42.497977,26.437371 -4.8,44.007664,12.963409,-8.153004,-38.24199,28.491007 -4.85,44.039694,12.945442,-10.045,-33.921175,29.799535 -4.9,44.018981,12.93844,-10.703678,-29.577642,30.259022 -4.95,44.039721,12.94544,-10.044973,-25.2522,29.799531 -5.0,44.00765,12.963409,-8.153,-20.987368,28.491 -5.05,43.677321,12.985614,-5.153663,-16.830727,26.437371 -5.1,42.700902,13.004299,-1.192748,-12.839373,23.741823 -5.15,40.666543,13.014038,3.525428,-9.087143,20.507503 -5.2,37.146049,13.016582,8.686708,-5.677178,16.83826 -5.25,31.783681,13.026454,13.813696,-2.767661,12.839388 -5.3,24.438704,13.073374,18.26172,-0.633042,8.592836 -5.35,15.331452,13.195628,21.316438,0.148247,4.170942 -5.4,5.091963,13.422382,22.391411,-0.834892,-0.333909 -5.45,-5.353772,13.752806,21.235478,-3.151884,-4.829624 -5.5,-15.023484,14.148056,18.030132,-6.624515,-9.224626 -5.55,-23.140415,14.544529,13.325392,-11.021066,-13.428064 -5.6,-29.306019,14.881116,7.848434,-16.077666,-17.350024 -5.65,-33.51861,15.12186,2.295202,-21.5243,-20.901728 -5.7,-36.063914,15.262293,-2.797044,-27.108802,-23.995727 -5.75,-37.36746,15.321567,-7.068344,-32.613805,-26.546094 -5.8,-37.878371,15.33008,-10.291954,-37.864947,-28.468585 -5.85,-37.993125,15.318991,-12.317259,-42.731586,-29.680819 -5.9,-37.993125,15.312096,-13.020502,-47.122445,-30.102406 -5.95,-37.993132,15.318998,-12.317283,-50.979012,-29.680826 -6.0,-37.878364,15.330076,-10.291956,-54.268387,-28.468608 -6.05,-37.367436,15.321571,-7.068339,-56.976823,-26.546135 -6.1,-36.063918,15.262297,-2.797038,-59.104236,-23.995793 -6.15,-33.51861,15.12186,2.295202,-60.660037,-20.901822 -6.2,-29.306019,14.881111,7.848538,-61.659847,-17.350142 -6.25,-23.140406,14.544533,13.325376,-62.123139,-13.428207 -6.3,-15.023457,14.148042,18.030192,-62.071639,-9.224778 -6.35,-5.353739,13.75281,21.235462,-61.527997,-4.829777 -6.4,5.091994,13.422382,22.391403,-60.452044,-0.334051 -6.45,15.331483,13.195628,21.316458,-58.85184,4.170833 -6.5,24.438729,13.073372,18.261722,-56.811191,8.592779 -6.55,31.783705,13.026464,13.813622,-54.40176,12.839405 -6.6,37.146049,13.016588,8.686658,-51.68607,16.838337 -6.65,40.666543,13.014038,3.525446,-48.719855,20.507604 -6.7,42.700912,13.004306,-1.192806,-45.553807,23.741915 -6.75,43.677321,12.985618,-5.153606,-42.235021,26.437441 -6.8,44.007664,12.963415,-8.153068,-38.808175,28.491041 -6.85,44.039711,12.945446,-10.045027,-35.316576,29.799542 -6.9,44.018981,12.93844,-10.703678,-31.803174,30.259022 -6.95,44.039721,12.94544,-10.044973,-28.311477,29.800655 -7.0,44.007664,12.963404,-8.153005,-24.886653,28.494103 -7.05,43.677321,12.985614,-5.153605,-21.576631,26.441981 -7.1,42.700908,13.00431,-1.192794,-18.433523,23.746969 -7.15,40.666543,13.11807,3.525422,-15.515294,20.512229 -7.2,37.146049,13.296503,8.686658,-12.888052,16.841894 -7.25,31.783684,13.424609,13.813672,-10.629086,12.841515 -7.3,24.438705,13.560967,18.261734,-8.831114,8.618585 -7.35,15.331466,13.701157,21.316462,-7.60866,4.239407 -7.4,5.091963,13.842869,22.391411,-7.107736,-0.238931 -7.45,-5.353772,13.984304,21.235478,-7.337504,-4.721523 -7.5,-15.023488,14.123177,18.03015,-8.193642,-9.114286 -7.55,-23.140438,14.256659,13.325352,-9.680984,-13.324085 -7.6,-29.306019,14.381569,7.848434,-11.799356,-17.258872 -7.65,-33.518604,14.494524,2.295242,-14.54191,-20.827786 -7.7,-36.063914,14.592235,-2.797074,-17.893026,-23.94129 -7.75,-37.36746,14.671711,-7.068344,-21.825702,-26.511273 -7.8,-37.878364,14.730435,-10.292019,-26.298308,-28.451139 -7.85,-37.993139,14.766514,-12.317276,-31.250711,-29.675939 -7.9,-37.993132,14.778779,-13.0205,-36.599661,-30.102406 -7.95,-37.993132,14.766869,-12.317283,-42.233621,-29.650056 -8.0,-37.878382,14.731232,-10.292014,-48.007214,-28.362615 -8.05,-37.367446,14.673142,-7.06834,-53.735834,-26.34273 -8.1,-36.063918,14.594629,-2.797074,-59.191198,-23.691515 -8.15,-33.518631,14.498396,2.295222,-64.09929,-20.509503 -8.2,-29.30604,14.387706,7.848478,-68.141942,-16.897644 -8.25,-23.140438,14.266217,13.325394,-70.96404,-12.970236 -8.3,-15.023488,14.137808,18.03017,-72.187258,-8.81908 -8.35,-5.353772,14.006385,21.235478,-71.256167,-4.513464 -8.4,-0.714945,13.87569,22.391411,-67.978844,-0.123796 -8.45,5.645926,13.749119,21.316462,-62.702264,4.278907 -8.5,11.554173,13.629572,18.261738,-55.983034,8.623531 -8.55,16.963676,13.519346,13.81367,-48.472767,12.839397 -8.6,21.829754,13.420073,6.496819,-40.780587,16.838329 -8.65,26.108094,13.332699,3.027249,-33.381709,20.507599 -8.7,29.770998,13.257521,-0.193891,-26.593386,23.741908 -8.75,32.815818,13.19423,-2.982261,-20.59664,26.437434 -8.8,35.255493,13.141982,-5.231686,-15.473841,28.491034 -8.85,37.119732,13.099449,-6.880102,-11.24353,29.799538 -8.9,38.446742,13.064844,-7.896778,-7.886539,30.259022 -8.95,39.278523,13.035899,-8.280813,-5.363427,30.03282 -9.0,39.656843,13.009778,-8.059468,-3.625226,29.384638 -9.05,39.620452,12.982917,-7.283729,-2.61991,28.360375 -9.1,39.203698,12.950806,-6.023608,-2.295887,27.006283 -9.15,38.43648,12.907695,-4.362179,-2.267887,25.368907 -9.2,37.345319,12.846292,-2.390469,-2.191806,23.495067 -9.25,35.955069,12.757439,-0.203327,-2.077842,21.431785 -9.3,34.290842,12.62988,2.103761,-1.934476,19.226272 -9.35,32.379676,12.450117,4.437102,-1.768949,16.925864 -9.4,30.251645,12.202501,6.706452,-1.587599,14.577989 -9.45,27.940101,11.869586,8.825974,-1.396109,12.230112 -9.5,25.481074,11.432836,10.714446,-1.199692,9.929705 -9.55,22.911955,10.873831,12.295155,-1.003241,7.724191 -9.6,20.270132,10.176192,13.496636,-0.811451,5.660911 -9.65,17.586999,9.324829,14.250455,-0.628927,3.78707 -9.7,14.892205,8.312413,14.502505,-0.460284,2.1497 -9.75,12.206306,7.137328,14.215063,-0.310239,0.795604 -9.8,9.552969,5.814143,13.390215,-0.183716,-0.228661 -9.85,6.992212,4.397103,12.11286,-0.085952,-0.876846 -9.9,4.657756,3.004238,10.590649,-0.022625,-1.103044 -9.95,0.0,0.0,10.0,0.0,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.918193,15.653236,39.141257,10.216483 +0.05,4.777595,14.432234,16.092796,37.274424,10.824155 +0.1,7.907743,14.920635,16.434676,34.287492,11.735663 +0.15,11.285008,15.409035,16.630037,30.429371,12.875047 +0.2,14.579901,15.799756,16.581197,25.948973,14.318268 +0.25,17.874794,16.141636,16.385836,21.095208,15.989366 +0.3,20.922570,16.434676,15.946276,16.116988,17.736422 +0.35,23.805601,16.678877,15.409035,11.138768,19.635397 +0.4,26.523888,16.874237,14.725275,6.409459,21.610330 +0.45,28.995058,17.020757,13.943834,2.053516,23.585264 +0.5,31.219110,17.118437,13.113553,-1.555694,25.560197 +0.55,33.113674,17.216117,12.283272,-4.293715,27.459172 +0.6,34.761120,17.264957,11.501832,-6.160548,29.206229 +0.65,35.996705,17.313797,10.769231,-6.782825,30.877326 +0.7,36.985173,17.362637,10.134310,-6.533914,32.320547 +0.75,37.479407,17.362637,9.694750,-5.787181,33.459932 +0.8,37.644152,17.362637,9.352869,-4.667082,34.371439 +0.85,37.314662,17.411477,9.255189,-2.924704,34.979111 +0.9,36.573311,17.411477,9.352869,-0.684505,35.206988 +0.95,35.337727,17.411477,9.645910,1.929060,34.827193 +1.0,33.525535,17.460317,10.134310,4.915993,33.687809 +1.05,31.054366,17.460317,10.818071,8.276291,32.016711 +1.1,28.088962,17.460317,11.599512,11.885501,29.737942 +1.15,24.382208,17.509158,12.478632,15.619166,27.079377 +1.2,20.181219,17.557998,13.308913,19.352831,24.041018 +1.25,15.321252,17.557998,14.041514,22.837586,20.698823 +1.3,9.884679,17.606838,14.676435,26.197884,17.204709 +1.35,3.953871,17.655678,15.018315,29.309272,13.482719 +1.4,-2.388797,17.704518,15.115995,31.922838,9.760729 +1.45,-7.001647,17.753358,14.920635,34.163037,6.038739 +1.5,-16.639209,17.802198,14.481074,35.905414,2.392708 +1.55,-24.794069,17.851038,13.846154,37.149969,-1.101405 +1.6,-30.971993,17.851038,13.015873,38.021157,-4.367641 +1.65,-35.172982,17.899878,12.136752,38.270068,-7.330042 +1.7,-37.726524,17.948718,11.257631,38.021157,-9.912647 +1.75,-38.962109,17.948718,10.476190,37.149969,-12.039499 +1.8,-39.538715,17.997558,9.841270,35.656503,-13.634637 +1.85,-39.621087,17.997558,9.450549,33.789670,-14.622104 +1.9,-39.621087,17.997558,9.352869,31.549471,-15.001899 +1.95,-39.621087,17.997558,9.499389,28.935905,-14.622104 +2.0,-39.538715,17.997558,9.938950,26.073429,-13.634637 +2.05,-38.962109,17.948718,10.671551,23.086497,-12.039499 +2.1,-37.726524,17.948718,11.648352,19.975109,-9.912647 +2.15,-35.172982,17.899878,12.820513,16.863721,-7.330042 +2.2,-30.971993,17.851038,14.090354,13.876789,-4.367641 +2.25,-24.794069,17.851038,16.727717,10.889857,-1.101405 +2.3,-16.639209,17.802198,18.339438,8.027380,2.392708 +2.35,-7.001647,17.753358,19.462759,5.538270,6.038739 +2.4,3.459638,17.704518,19.902320,3.298071,9.760729 +2.45,13.673806,17.655678,19.511600,1.555694,13.482719 +2.5,22.817133,17.606838,18.437118,0.186683,17.204709 +2.55,30.148270,17.557998,16.874237,-0.560050,20.698823 +2.6,35.502471,17.557998,15.115995,-0.560050,24.041018 +2.65,38.962109,17.509158,13.308913,0.062228,27.079377 +2.7,41.021417,17.460317,11.648352,1.306783,29.737942 +2.75,42.009885,17.460317,10.280830,2.924704,32.016711 +2.8,42.339374,17.460317,9.206349,4.915993,33.687809 +2.85,42.339374,17.411477,8.571429,7.280647,34.827193 +2.9,42.339374,17.411477,8.327228,9.894213,35.206988 +2.95,42.339374,17.411477,8.571429,12.756689,34.827193 +3.0,42.339374,17.362637,9.206349,15.743622,33.687809 +3.05,42.009885,17.362637,10.280830,18.855009,32.016711 +3.1,41.021417,17.411477,11.648352,22.090853,29.737942 +3.15,38.962109,17.411477,13.308913,25.326696,27.079377 +3.2,35.502471,17.411477,15.115995,28.562539,24.041018 +3.25,30.148270,17.411477,16.874237,31.673927,20.698823 +3.3,22.817133,17.411477,18.437118,34.536403,17.204709 +3.35,13.673806,17.460317,19.511600,37.149969,13.482719 +3.4,3.459638,17.557998,19.902320,39.390168,9.760729 +3.45,-7.001647,17.655678,19.462759,41.008090,6.038739 +3.5,-16.639209,17.802198,18.339438,41.505912,2.392708 +3.55,-24.794069,17.899878,16.727717,41.132545,-1.101405 +3.6,-30.971993,18.046398,14.822955,40.385812,-4.367641 +3.65,-35.172982,18.144078,12.869353,39.016801,-7.330042 +3.7,-37.726524,18.192918,11.062271,37.274424,-9.912647 +3.75,-38.962109,18.192918,9.597070,34.909770,-12.039499 +3.8,-39.538715,18.192918,8.473748,32.296204,-13.634637 +3.85,-39.621087,18.192918,7.741148,29.184816,-14.622104 +3.9,-39.621087,18.192918,7.496947,25.700062,-15.001899 +3.95,-39.621087,18.192918,7.741148,22.090853,-14.622104 +4.0,-39.538715,18.192918,8.473748,18.108276,-13.634637 +4.05,-38.962109,18.192918,9.597070,14.125700,-12.039499 +4.1,-37.726524,18.192918,11.062271,10.267579,-9.912647 +4.15,-35.172982,18.144078,12.869353,6.533914,-7.330042 +4.2,-30.971993,18.046398,14.822955,3.173615,-4.367641 +4.25,-24.794069,17.899878,16.727717,0.311139,-1.101405 +4.3,-16.639209,17.802198,18.339438,-1.804605,2.392708 +4.35,-7.001647,17.655678,19.462759,-3.049160,6.038739 +4.4,3.459638,17.557998,19.902320,-3.422526,9.760729 +4.45,13.673806,17.460317,19.511600,-2.800249,13.482719 +4.5,22.817133,17.411477,18.437118,-1.306783,17.204709 +4.55,30.148270,17.411477,16.874237,0.684505,20.698823 +4.6,35.502471,17.411477,15.115995,3.049160,24.041018 +4.65,38.962109,17.411477,13.308913,5.538270,27.079377 +4.7,41.021417,17.411477,11.648352,8.276291,29.737942 +4.75,42.009885,17.362637,10.280830,11.014312,32.016711 +4.8,42.339374,17.362637,9.206349,13.876789,33.687809 +4.85,42.339374,17.362637,8.571429,16.863721,34.827193 +4.9,42.339374,17.362637,8.327228,19.850653,35.206988 +4.95,42.339374,17.362637,8.571429,22.713130,34.827193 +5.0,42.339374,17.362637,9.206349,25.575607,33.687809 +5.05,42.009885,17.362637,10.280830,28.438083,32.016711 +5.1,41.021417,17.411477,11.648352,31.176105,29.737942 +5.15,38.962109,17.411477,13.308913,33.665215,27.079377 +5.2,35.502471,17.411477,15.115995,36.029869,24.041018 +5.25,30.148270,17.411477,16.874237,37.896702,20.698823 +5.3,22.817133,17.411477,18.437118,39.390168,17.204709 +5.35,13.673806,17.460317,19.511600,39.887990,13.482719 +5.4,3.459638,17.557998,19.902320,39.265713,9.760729 +5.45,-7.001647,17.655678,19.462759,37.647791,6.038739 +5.5,-16.639209,17.802198,18.339438,35.283136,2.392708 +5.55,-24.794069,17.899878,16.727717,32.420660,-1.101405 +5.6,-30.971993,18.046398,14.822955,28.935905,-4.367641 +5.65,-35.172982,18.144078,12.869353,25.202240,-7.330042 +5.7,-37.726524,18.192918,11.062271,21.468575,-9.912647 +5.75,-38.962109,18.192918,9.597070,17.734910,-12.039499 +5.8,-39.538715,18.192918,8.473748,14.250156,-13.634637 +5.85,-39.621087,18.192918,7.741148,10.889857,-14.622104 +5.9,-39.621087,18.192918,7.496947,7.902925,-15.001899 +5.95,-39.621087,18.192918,7.741148,5.289359,-14.622104 +6.0,-39.538715,18.192918,8.473748,3.049160,-13.634637 +6.05,-38.962109,18.192918,9.597070,1.306783,-12.039499 +6.1,-37.726524,18.192918,11.062271,-0.186683,-9.912647 +6.15,-35.172982,18.144078,12.869353,-1.182327,-7.330042 +6.2,-30.971993,18.046398,14.822955,-1.929060,-4.367641 +6.25,-24.794069,17.899878,16.727717,-2.177971,-1.101405 +6.3,-16.639209,17.802198,18.339438,-2.177971,2.392708 +6.35,-7.001647,17.655678,19.462759,-1.804605,6.038739 +6.4,3.459638,17.557998,19.902320,-1.057872,9.760729 +6.45,13.673806,17.460317,19.511600,-0.062228,13.482719 +6.5,22.817133,17.411477,18.437118,1.306783,17.204709 +6.55,30.148270,17.411477,16.874237,3.049160,20.698823 +6.6,35.502471,17.411477,15.115995,4.791537,24.041018 +6.65,38.962109,17.411477,13.308913,6.782825,27.079377 +6.7,41.021417,17.411477,11.648352,9.023024,29.737942 +6.75,42.009885,17.362637,10.280830,11.263223,32.016711 +6.8,42.339374,17.362637,9.206349,13.503423,33.687809 +6.85,42.339374,17.362637,8.571429,15.868077,34.827193 +6.9,42.339374,17.362637,8.327228,18.232732,35.206988 +6.95,42.339374,17.362637,8.571429,20.597386,34.827193 +7.0,42.339374,17.362637,9.206349,22.962041,33.687809 +7.05,42.009885,17.362637,10.280830,25.202240,32.016711 +7.1,41.021417,17.411477,11.648352,27.317984,29.737942 +7.15,38.962109,17.411477,13.308913,29.309272,27.079377 +7.2,35.502471,17.509158,15.115995,31.051649,24.041018 +7.25,30.148270,17.557998,16.874237,32.669571,20.698823 +7.3,22.817133,17.606838,18.437118,33.789670,17.204709 +7.35,13.673806,17.655678,19.511600,34.660859,13.558678 +7.4,3.459638,17.704518,19.902320,35.034225,9.836688 +7.45,-7.001647,17.753358,19.462759,34.909770,6.114698 +7.5,-16.639209,17.753358,18.339438,34.287492,2.468667 +7.55,-24.794069,17.802198,16.727717,33.291848,-1.025446 +7.6,-30.971993,17.851038,14.822955,31.798382,-4.291682 +7.65,-35.172982,17.899878,12.869353,29.931549,-7.254083 +7.7,-37.726524,17.948718,11.062271,27.691350,-9.836688 +7.75,-38.962109,17.948718,9.597070,25.077785,-12.039499 +7.8,-39.538715,17.997558,8.473748,21.966397,-13.634637 +7.85,-39.621087,17.997558,7.741148,18.606098,-14.622104 +7.9,-39.621087,17.997558,7.496947,14.996889,-15.001899 +7.95,-39.621087,17.997558,7.741148,11.263223,-14.622104 +8.0,-39.538715,17.997558,8.473748,7.280647,-13.558678 +8.05,-38.962109,17.948718,9.597070,3.422526,-11.887581 +8.1,-37.726524,17.948718,11.062271,-0.311139,-9.684770 +8.15,-35.172982,17.899878,12.869353,-3.546982,-7.026206 +8.2,-30.971993,17.851038,14.822955,-6.285003,-3.987847 +8.25,-24.794069,17.851038,16.727717,-8.276291,-0.721610 +8.3,-16.639209,17.802198,18.339438,-9.023024,2.696544 +8.35,-7.001647,17.753358,19.462759,-8.400747,6.266616 +8.4,-2.388797,17.704518,19.902320,-6.160548,9.912647 +8.45,4.036244,17.655678,19.511600,-2.675793,13.558678 +8.5,9.884679,17.606838,18.437118,1.929060,17.204709 +8.55,15.321252,17.557998,16.874237,7.031736,20.698823 +8.6,20.181219,17.557998,14.334554,12.258867,24.041018 +8.65,24.464580,17.509158,13.113553,17.237088,27.079377 +8.7,28.088962,17.460317,11.990232,21.841942,29.737942 +8.75,31.136738,17.460317,11.013431,25.824518,32.016711 +8.8,33.607908,17.460317,10.231990,29.309272,33.687809 +8.85,35.420099,17.411477,9.645910,32.171749,34.827193 +8.9,36.820428,17.411477,9.304029,34.536403,35.206988 +8.95,37.644152,17.411477,9.157509,36.154325,34.979111 +9.0,37.973641,17.411477,9.255189,37.398880,34.447398 +9.05,37.973641,17.362637,9.499389,38.021157,33.611850 +9.1,37.561779,17.362637,9.938950,38.270068,32.472465 +9.15,36.738056,17.362637,10.525031,38.270068,31.105203 +9.2,35.667216,17.362637,11.208791,38.394524,29.586024 +9.25,34.266886,17.313797,11.990232,38.394524,27.838967 +9.3,32.619440,17.264957,12.820513,38.518979,26.015951 +9.35,30.724876,17.216117,13.601954,38.643435,24.116977 +9.4,28.583196,17.118437,14.383394,38.767890,22.142043 +9.45,26.276771,17.020757,15.164835,38.892346,20.167110 +9.5,23.805601,16.874237,15.799756,39.016801,18.268135 +9.55,21.252059,16.678877,16.336996,39.141257,16.445120 +9.6,18.616145,16.434676,16.776557,39.265713,14.698063 +9.65,15.897858,16.141636,17.020757,39.390168,13.178883 +9.7,13.261944,15.799756,17.118437,39.514624,11.811622 +9.75,10.543657,15.360195,17.020757,39.639079,10.672237 +9.8,7.907743,14.920635,16.727717,39.763535,9.836688 +9.85,5.354201,14.432234,16.288156,39.763535,9.304975 +9.9,3.047776,13.943834,15.750916,39.763535,9.077098 +9.95,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/sad.csv b/hal/recordings/sad.csv old mode 100755 new mode 100644 index 0db2b9fc6..f6301fc7a --- a/hal/recordings/sad.csv +++ b/hal/recordings/sad.csv @@ -1,201 +1,101 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,-0.128948,-0.016011,0.0,-0.652531,0.17121 -0.05,-0.169122,0.093154,1.821953,-1.239909,0.222538 -0.1,-0.186137,0.202318,5.232734,-1.914396,0.241454 -0.15,-0.211423,0.157607,6.850633,-2.640662,0.269977 -0.2,-0.241925,0.055718,7.568363,-3.307037,0.303799 -0.25,-0.268367,-0.065157,8.642938,-3.353001,0.33029 -0.3,-0.291089,-0.207504,9.909812,-3.439971,0.34986 -0.35,-0.312254,-0.380828,10.989708,-3.531735,0.365378 -0.4,-0.331701,-0.582006,12.03311,-3.611394,0.376515 -0.45,-0.348868,-0.805563,13.223884,-3.668289,0.382535 -0.5,-0.363929,-1.049217,14.349654,-3.694158,0.38427 -0.55,-0.377193,-1.311753,15.182221,-3.681538,0.381913 -0.6,-0.388792,-1.593036,15.826342,-3.622897,0.375464 -0.65,-0.398829,-1.892521,16.430973,-3.509996,0.365753 -0.7,-0.40748,-2.206959,16.988981,-3.333266,0.353216 -0.75,-0.414926,-2.535424,17.464935,-3.081065,0.338209 -0.8,-0.421302,-2.88898,17.866346,-2.738608,0.321185 -0.85,-0.426729,-3.274079,18.207766,-2.286327,0.302605 -0.9,-0.431316,-3.66673,18.489003,-1.697065,0.282884 -0.95,-0.435169,-4.048,18.708949,-0.930877,0.262418 -1.0,-0.438371,-4.449624,18.877666,0.075742,0.241566 -1.05,-0.440993,-4.897124,18.999979,1.436051,0.220672 -1.1,-0.443079,-5.340471,19.048598,3.39534,0.200029 -1.15,-0.444673,-5.729154,19.044424,5.549544,0.17991 -1.2,-0.445856,-6.086284,19.015204,7.346137,0.160545 -1.25,-0.446671,-6.442591,18.93088,8.91707,0.142141 -1.3,-0.446982,-6.78563,18.790718,10.322088,0.124865 -1.35,-0.44693,-7.100451,18.610129,11.593949,0.108866 -1.4,-0.446651,-7.405249,18.390336,12.752583,0.094263 -1.45,-0.446004,-7.717348,18.130023,13.810863,0.081156 -1.5,-0.445017,-8.017449,17.831942,14.777352,0.069621 -1.55,-0.44375,-8.2833,17.499583,15.657777,0.059727 -1.6,-0.442213,-8.517482,17.135456,16.455833,0.05153 -1.65,-0.440411,-8.746723,16.741839,17.17372,0.045078 -1.7,-0.438356,-9.069528,16.321113,17.812414,0.040388 -1.75,-0.436064,-9.532876,15.875608,18.371865,0.037493 -1.8,-0.433545,-9.905869,15.40736,18.851085,0.0365 -1.85,-0.430807,-10.020896,14.918214,19.248207,0.037388 -1.9,-0.427858,-10.057664,14.409592,19.560468,0.040137 -1.95,-0.424703,-10.18605,13.882843,19.784152,0.044855 -2.0,-0.42135,-10.37303,13.339509,19.914504,0.05157 -2.05,-0.417801,-10.541712,12.780733,19.945563,0.060291 -2.1,-0.414063,-10.642667,12.205887,19.869942,0.071045 -2.15,-0.410141,-10.668231,11.615262,19.678516,0.083856 -2.2,-0.406043,-10.677934,11.014579,19.359966,0.098728 -2.25,-0.401776,-10.714219,10.405042,18.900139,0.115654 -2.3,-0.397355,-10.756394,9.764362,18.281128,0.134606 -2.35,-0.392793,-10.776421,9.084076,17.479861,0.155542 -2.4,-0.388111,-10.779966,8.434529,16.465882,0.178386 -2.45,-0.383331,-10.679541,7.873977,15.197811,0.203045 -2.5,-0.378481,-10.478453,7.333499,13.61702,0.229391 -2.55,-0.373594,-10.293063,6.728865,11.635808,0.257273 -2.6,-0.368704,-10.104068,6.041775,9.112357,0.286506 -2.65,-0.363851,-9.86462,5.253281,5.788097,0.316882 -2.7,-0.359078,-9.55335,4.275885,1.081877,0.348166 -2.75,-0.354425,-9.164408,3.043452,-4.223542,0.380106 -2.8,-0.349938,-8.728593,1.643836,-9.062253,0.41243 -2.85,-0.34566,-8.27605,0.189648,-13.71416,0.444862 -2.9,-0.34163,-7.79772,-1.261465,-18.278227,0.477119 -2.95,-0.337887,-7.275831,-2.66995,-22.806823,0.508924 -3.0,-0.334462,-6.69694,-4.013664,-27.335286,0.540014 -3.05,-0.331383,-6.060633,-5.277785,-31.892636,0.570138 -3.1,-0.328669,-5.414258,-6.459368,-36.507214,0.599082 -3.15,-0.326334,-4.807352,-7.561601,-41.21123,0.626648 -3.2,-0.324384,-4.25042,-8.600351,-46.046618,0.652691 -3.25,-0.32282,-3.743596,-9.594455,-51.075403,0.67709 -3.3,-0.321613,-3.284555,-10.562003,-56.403788,0.699771 -3.35,-0.320741,-2.872287,-11.522692,-62.255945,0.720692 -3.4,-0.32024,-2.513505,-12.503392,-69.364758,0.739894 -3.45,-0.320066,-2.2155,-13.511984,-76.099748,0.757422 -3.5,-0.320041,-1.980171,-14.473219,-80.748901,0.773265 -3.55,-0.320236,-1.794148,-15.317924,-84.275559,0.7875 -3.6,-0.320713,-1.588383,-16.084383,-87.062816,0.800633 -3.65,-0.321318,-1.311742,-16.809319,-89.30919,0.812914 -3.7,-0.321907,-1.040424,-17.415703,-91.132981,0.823139 -3.75,-0.322379,-0.854216,-17.833875,-92.61104,0.830348 -3.8,-0.322798,-0.719929,-18.137444,-93.79631,0.835996 -3.85,-0.323267,-0.576126,-18.435838,-94.726726,0.842143 -3.9,-0.32385,-0.378561,-18.804716,-95.430269,0.850208 -3.95,-0.324457,-0.15174,-19.18469,-95.927896,0.859046 -4.0,-0.324954,0.070364,-19.50257,-96.235426,0.867276 -4.05,-0.325186,0.284669,-19.764997,-96.364728,0.875153 -4.1,-0.325214,0.494709,-19.998309,-96.324525,0.883224 -4.15,-0.325218,0.699607,-20.227822,-96.120945,0.89157 -4.2,-0.324976,0.897488,-20.467966,-95.757804,0.900182 -4.25,-0.324381,1.086913,-20.69062,-95.236804,0.909143 -4.3,-0.323585,1.266437,-20.860706,-94.55759,0.918547 -4.35,-0.322569,1.434158,-20.957884,-93.717681,0.928435 -4.4,-0.321286,1.588298,-20.990069,-92.712305,0.938828 -4.45,-0.319737,1.728017,-20.99467,-91.533981,0.949736 -4.5,-0.31794,1.853042,-20.958282,-90.171993,0.96116 -4.55,-0.315899,1.96442,-20.881538,-88.611548,0.973082 -4.6,-0.313622,2.063802,-20.802823,-86.832181,0.985472 -4.65,-0.311121,2.153923,-20.719551,-84.805705,0.998291 -4.7,-0.308414,2.237773,-20.621557,-82.492218,1.011491 -4.75,-0.305517,2.318276,-20.509328,-79.833307,1.025016 -4.8,-0.302451,2.397869,-20.38473,-76.738664,1.038808 -4.85,-0.299237,2.4771,-20.244491,-73.056222,1.052807 -4.9,-0.295896,2.555447,-20.08803,-68.492317,1.066952 -4.95,-0.292451,2.63,-19.930625,-62.30894,1.081186 -5.0,-0.288925,2.696532,-19.784413,-56.0675,1.09546 -5.05,-0.28534,2.747953,-19.633136,-51.144993,1.109731 -5.1,-0.281716,2.778138,-19.454984,-46.827569,1.123966 -5.15,-0.278074,2.787691,-19.234366,-42.870823,1.138145 -5.2,-0.27443,2.771245,-18.964399,-39.154941,1.152256 -5.25,-0.270799,2.729848,-18.666849,-35.609632,1.166302 -5.3,-0.267195,2.673996,-18.367297,-32.188581,1.180294 -5.35,-0.263628,2.608528,-18.077899,-28.858355,1.194254 -5.4,-0.260106,2.541909,-17.806698,-25.592866,1.20821 -5.45,-0.256633,2.502781,-17.558664,-22.370048,1.222194 -5.5,-0.253214,2.494525,-17.341212,-19.169679,1.236243 -5.55,-0.249849,2.493345,-17.17457,-15.971491,1.25039 -5.6,-0.246539,2.530433,-17.077023,-12.753119,1.264668 -5.65,-0.243281,2.619536,-17.046183,-9.487276,1.279102 -5.7,-0.240073,2.733362,-17.086379,-6.13677,1.293713 -5.75,-0.236911,2.868391,-17.156057,-2.644201,1.308514 -5.8,-0.233791,3.025397,-17.198186,1.094721,1.323508 -5.85,-0.230708,3.198562,-17.233003,5.326814,1.338692 -5.9,-0.22766,3.381363,-17.291887,9.14263,1.354054 -5.95,-0.224641,3.571053,-17.373498,11.955684,1.369574 -6.0,-0.221649,3.766173,-17.469913,14.22307,1.385228 -6.05,-0.21868,3.966613,-17.579625,16.1329,1.400987 -6.1,-0.215731,4.172896,-17.700956,17.784445,1.416818 -6.15,-0.212802,4.386707,-17.825154,19.237668,1.432686 -6.2,-0.20989,4.609908,-17.94408,20.532047,1.448555 -6.25,-0.206994,4.843914,-18.059049,21.695211,1.464391 -6.3,-0.204116,5.08962,-18.179247,22.747349,1.480158 -6.35,-0.201255,5.346298,-18.335897,23.703743,1.495825 -6.4,-0.198411,5.612404,-18.548513,24.576242,1.511362 -6.45,-0.195585,5.884763,-18.767828,25.374265,1.526745 -6.5,-0.192779,6.159877,-18.943885,26.105405,1.54195 -6.55,-0.189993,6.434596,-19.092848,26.775853,1.556959 -6.6,-0.187228,6.706282,-19.240832,27.390718,1.571757 -6.65,-0.184486,6.974002,-19.387704,27.954257,1.586334 -6.7,-0.181767,7.237712,-19.52826,28.469996,1.600682 -6.75,-0.179072,7.499241,-19.663403,28.94086,1.614797 -6.8,-0.176401,7.761055,-19.795386,29.369264,1.628677 -6.85,-0.173756,8.026306,-19.925832,29.757119,1.642324 -6.9,-0.171138,8.298136,-20.056931,30.10591,1.655739 -6.95,-0.168547,8.578979,-20.193738,30.416629,1.668927 -7.0,-0.165984,8.870601,-20.339366,30.689741,1.68189 -7.05,-0.163451,9.172835,-20.486232,30.925041,1.694635 -7.1,-0.160949,9.484495,-20.630098,31.121378,1.707167 -7.15,-0.158479,9.802267,-20.790785,31.275969,1.719492 -7.2,-0.156043,10.122138,-20.982601,31.382749,1.731618 -7.25,-0.153642,10.439446,-21.173726,31.42623,1.743555 -7.3,-0.151277,10.749909,-21.332525,31.279234,1.755312 -7.35,-0.14895,11.051409,-21.474221,30.956432,1.766904 -7.4,-0.146659,11.343143,-21.62026,30.533223,1.778345 -7.45,-0.144407,11.627448,-21.770142,30.039507,1.789653 -7.5,-0.142193,11.907777,-21.919204,29.490598,1.800849 -7.55,-0.140018,12.188906,-22.068041,28.895406,1.811952 -7.6,-0.137883,12.475557,-22.219427,28.25946,1.822985 -7.65,-0.135789,12.77087,-22.379525,27.586302,1.833967 -7.7,-0.13374,13.076915,-22.553384,26.878171,1.844913 -7.75,-0.131741,13.393042,-22.738229,26.136387,1.855833 -7.8,-0.129801,13.717676,-22.929544,25.361561,1.86673 -7.85,-0.127932,14.048237,-23.123687,24.553729,1.877589 -7.9,-0.12615,14.382234,-23.318556,23.712409,1.888385 -7.95,-0.124478,14.718525,-23.517279,22.836601,1.899069 -8.0,-0.122945,15.056734,-23.723458,21.92481,1.909574 -8.05,-0.121583,15.39817,-23.937322,20.974956,1.919802 -8.1,-0.120433,15.744887,-24.157245,19.9843,1.929635 -8.15,-0.119554,16.100241,-24.377644,18.949303,1.938909 -8.2,-0.119002,16.46782,-24.596052,17.865393,1.947445 -8.25,-0.118812,16.850886,-24.826544,16.726653,1.955028 -8.3,-0.119069,17.251956,-25.079258,15.525303,1.961418 -8.35,-0.119864,17.670854,-25.332116,14.250913,1.966308 -8.4,-0.121239,18.105517,-25.564063,12.889026,1.969399 -8.45,-0.12326,18.549047,-25.790364,11.418767,1.970474 -8.5,-0.125995,18.991925,-26.024312,9.808096,1.969132 -8.55,-0.129493,19.418976,-26.234996,8.003319,1.96497 -8.6,-0.133786,19.813969,-26.382897,5.900857,1.957759 -8.65,-0.138888,20.162143,-26.43826,3.239861,1.94718 -8.7,-0.144794,20.447379,-26.295289,1.871871,1.932903 -8.75,-0.151462,20.646712,-25.870204,1.218644,1.914664 -8.8,-0.158831,20.745668,-25.18683,0.759399,1.892223 -8.85,-0.166794,20.770544,-24.341382,0.404369,1.86538 -8.9,-0.175217,20.679475,-23.357937,0.117294,1.833959 -8.95,-0.183921,20.473758,-21.899728,-0.120775,1.79784 -9.0,-0.192701,20.205117,-19.750353,-0.321219,1.756927 -9.05,-0.201307,19.727137,-17.535797,-0.49149,1.711164 -9.1,-0.20947,18.949086,-15.872093,-0.636777,1.660522 -9.15,-0.216886,18.201088,-14.493154,-0.760849,1.605051 -9.2,-0.223244,17.759098,-13.015925,-0.866539,1.544798 -9.25,-0.228225,17.261558,-11.471576,-0.956024,1.479745 -9.3,-0.231497,16.325716,-9.990271,-1.031003,1.409915 -9.35,-0.232676,15.121564,-8.683854,-1.092815,1.335576 -9.4,-0.231572,13.892979,-7.585606,-1.142514,1.256908 -9.45,-0.227882,12.626652,-6.432903,-1.180916,1.173498 -9.5,-0.221228,11.269575,-5.022648,-1.208617,1.085333 -9.55,-0.212003,9.867099,-3.685777,-1.226007,0.994579 -9.6,-0.200321,8.446336,-2.765091,-1.233273,0.902091 -9.65,-0.184411,6.863024,-2.116837,-1.231594,0.801289 -9.7,-0.164014,5.04294,-1.533658,-0.983427,0.691195 -9.75,-0.146815,3.363384,-1.040327,-0.712953,0.600659 -9.8,-0.135429,2.173228,-0.688397,-0.461763,0.53901 -9.85,-0.104251,1.256124,-0.404408,-0.243014,0.407645 -9.9,-0.039135,0.403113,-0.130974,-0.075396,0.151801 -9.95,0.0,0.0,0.0,0.0,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.812191,12.918193,15.555556,39.390168,10.140524 +0.05,-1.812191,13.064713,19.218559,38.518979,10.216483 +0.1,-1.894563,12.967033,20.830281,37.647791,10.292442 +0.15,-1.976936,12.771673,22.490842,37.523335,10.292442 +0.2,-1.976936,12.527473,23.956044,37.398880,10.368401 +0.25,-1.976936,12.185592,25.567766,37.398880,10.368401 +0.3,-2.059308,11.843712,26.593407,37.398880,10.368401 +0.35,-2.059308,11.404151,27.423687,37.647791,10.292442 +0.4,-2.059308,10.915751,28.058608,38.270068,10.292442 +0.45,-2.059308,10.378510,28.498168,39.265713,10.292442 +0.5,-2.059308,9.841270,28.742369,40.634723,10.216483 +0.55,-2.059308,9.255189,28.888889,42.128189,10.216483 +0.6,-2.059308,8.717949,28.840049,43.746111,10.140524 +0.65,-2.059308,8.229548,28.693529,45.488488,10.140524 +0.7,-2.059308,7.838828,28.400488,47.106409,10.140524 +0.75,-2.059308,7.399267,28.009768,48.724331,10.064565 +0.8,-2.059308,7.057387,27.521368,50.217797,10.064565 +0.85,-2.059308,6.666667,26.984127,51.462352,10.064565 +0.9,-2.059308,6.080586,26.300366,52.457996,10.064565 +0.95,-2.059308,5.982906,25.616606,53.080274,10.064565 +1.0,-2.059308,5.787546,24.884005,53.329185,10.064565 +1.05,-2.059308,5.592186,24.102564,53.204729,10.064565 +1.1,-2.059308,5.592186,23.272283,52.457996,10.140524 +1.15,-2.059308,5.494505,22.393162,51.337897,10.140524 +1.2,-2.059308,5.494505,21.465201,49.471064,10.140524 +1.25,-2.059308,5.689866,20.683761,47.106409,10.216483 +1.3,-1.976936,5.982906,19.755800,44.119477,10.292442 +1.35,-1.976936,6.324786,18.534799,40.510268,10.292442 +1.4,-1.976936,6.910867,16.727717,35.905414,10.368401 +1.45,-1.976936,7.545788,14.676435,29.807094,10.444360 +1.5,-1.976936,8.327228,12.771673,22.713130,10.444360 +1.55,-1.976936,9.206349,11.062271,14.872433,10.520319 +1.6,-1.976936,9.987790,9.548230,6.782825,10.596278 +1.65,-1.976936,10.671551,8.180708,-0.684505,10.596278 +1.7,-1.976936,11.208791,6.813187,-7.156192,10.672237 +1.75,-1.976936,11.550672,5.445665,-12.383323,10.672237 +1.8,-1.976936,11.843712,4.322344,-16.739266,10.672237 +1.85,-1.976936,12.185592,3.394383,-20.224020,10.748196 +1.9,-1.976936,12.527473,2.661783,-22.713130,10.748196 +1.95,-1.976936,12.820513,2.124542,-24.331052,10.748196 +2.0,-1.976936,13.113553,1.733822,-25.326696,10.748196 +2.05,-1.976936,13.406593,1.440781,-25.326696,10.748196 +2.1,-1.976936,13.650794,1.098901,-24.704418,10.748196 +2.15,-1.976936,13.894994,0.903541,-23.335408,10.824155 +2.2,-1.976936,14.090354,0.903541,-21.344119,10.824155 +2.25,-1.976936,14.285714,0.952381,-18.730554,10.824155 +2.3,-1.976936,14.383394,1.098901,-15.494711,10.824155 +2.35,-1.976936,14.529915,1.245421,-11.636590,10.900114 +2.4,-1.976936,14.627595,1.391941,-7.280647,10.900114 +2.45,-1.976936,14.725275,1.636142,-2.302427,10.900114 +2.5,-1.894563,14.822955,1.831502,3.049160,10.976073 +2.55,-1.894563,14.822955,2.124542,8.774113,10.976073 +2.6,-1.894563,14.774115,2.515263,14.623522,10.976073 +2.65,-1.894563,14.725275,2.905983,20.597386,11.052032 +2.7,-1.894563,14.627595,3.296703,26.197884,11.052032 +2.75,-1.894563,14.627595,3.540904,31.300560,11.052032 +2.8,-1.894563,14.725275,3.638584,35.905414,11.052032 +2.85,-1.894563,14.871795,3.540904,40.012446,11.127991 +2.9,-1.894563,15.115995,3.492063,43.372744,11.127991 +2.95,-1.894563,15.360195,3.394383,46.359676,11.127991 +3.0,-1.894563,15.653236,3.247863,49.097698,11.203950 +3.05,-1.894563,15.946276,3.101343,51.462352,11.203950 +3.1,-1.894563,16.239316,2.954823,53.453640,11.279909 +3.15,-1.812191,16.581197,2.759463,55.196017,11.279909 +3.2,-1.812191,16.971917,2.417582,56.689484,11.279909 +3.25,-1.812191,17.362637,2.222222,57.934039,11.355868 +3.3,-1.812191,17.704518,2.026862,58.929683,11.355868 +3.35,-1.812191,18.095238,1.831502,59.676416,11.355868 +3.4,-1.812191,18.437118,1.636142,60.298693,11.355868 +3.45,-1.812191,18.827839,1.440781,60.672060,11.431827 +3.5,-1.812191,19.218559,1.245421,60.920971,11.431827 +3.55,-1.812191,19.658120,1.001221,61.045426,11.431827 +3.6,-1.812191,20.097680,0.757021,61.045426,11.507786 +3.65,-1.812191,20.537241,0.561661,60.920971,11.507786 +3.7,-1.812191,20.927961,0.317460,60.547604,11.507786 +3.75,-1.812191,21.318681,0.122100,59.925327,11.507786 +3.8,-1.812191,21.709402,-0.073260,59.054138,11.583745 +3.85,-1.812191,22.148962,-0.317460,57.934039,11.583745 +3.9,-1.812191,22.588523,-0.610501,56.689484,11.583745 +3.95,-1.812191,23.028083,-0.903541,55.320473,11.583745 +4.0,-1.729819,23.516484,-1.196581,53.702551,11.659704 +4.05,-1.729819,24.004884,-1.489621,51.960174,11.659704 +4.1,-1.729819,24.493284,-1.782662,50.093342,11.659704 +4.15,-1.729819,25.079365,-2.173382,48.226509,11.659704 +4.2,-1.729819,25.665446,-2.466422,46.235221,11.659704 +4.25,-1.812191,26.300366,-2.759463,44.119477,11.659704 +4.3,-1.812191,26.788767,-2.905983,42.003734,11.659704 +4.35,-1.812191,27.130647,-2.515263,40.759179,11.583745 +4.4,-1.812191,27.228327,-1.440781,40.136901,11.583745 +4.45,-1.812191,26.984127,0.268620,39.763535,11.507786 +4.5,-1.812191,26.495726,3.296703,39.514624,11.431827 +4.55,-1.894563,25.421245,5.445665,39.265713,11.355868 +4.6,-1.894563,24.786325,7.545788,39.141257,11.279909 +4.65,-1.894563,23.321123,9.499389,39.016801,11.127991 +4.7,-1.894563,21.611722,11.062271,39.016801,10.976073 +4.75,-1.894563,19.706960,12.967033,39.016801,10.824155 +4.8,-1.812191,17.655678,14.090354,39.016801,10.672237 +4.85,-1.812191,15.213675,14.822955,39.265713,10.520319 +4.9,-1.729819,13.797314,15.262515,39.639079,10.368401 +4.95,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/scanning.csv b/hal/recordings/scanning.csv index c330c133e..b6cf81578 100644 --- a/hal/recordings/scanning.csv +++ b/hal/recordings/scanning.csv @@ -1,181 +1,181 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos -0.0,-0.0,0.0,-0.0,-0.0,-0.0 -0.03333333333333333,-0.0,-0.204082,-0.174927,-0.0,-0.0 -0.06666666666666667,-0.0,-0.77551,-0.664723,-0.0,-0.0 -0.1,-0.0,-1.653061,-1.41691,-0.0,-0.0 -0.13333333333333333,-0.0,-2.77551,-2.379009,-0.0,-0.0 -0.16666666666666666,-0.0,-4.081632,-3.498542,-0.0,-0.0 -0.2,-0.0,-5.510203,-4.723031,-0.0,-0.0 -0.23333333333333334,-0.0,-7.0,-6.0,-0.0,-0.0 -0.26666666666666666,-0.0,-8.489795,-7.276968,-0.0,-0.0 -0.3,-0.0,-9.918366,-8.501457,-0.0,-0.0 -0.3333333333333333,-0.0,-11.22449,-9.620991,-0.0,-0.0 -0.36666666666666664,-0.0,-12.346939,-10.58309,-0.0,-0.0 -0.4,-0.0,-13.224488,-11.335276,-0.0,-0.0 -0.43333333333333335,-0.0,-13.79592,-11.825073,-0.0,-0.0 -0.4666666666666667,-0.0,-14.0,-12.0,-0.0,-0.0 -0.5,-0.0,-14.0,-12.0,-0.828148,-0.0 -0.5333333333333333,-0.0,-14.0,-12.0,-3.158519,-0.0 -0.5666666666666667,-0.0,-14.0,-12.0,-6.76,-0.0 -0.6,-0.0,-14.0,-12.0,-11.401483,-0.0 -0.6333333333333333,-0.0,-14.0,-12.0,-16.851853,-0.0 -0.6666666666666666,-0.0,-14.0,-12.0,-22.880003,-0.0 -0.7,-0.962963,-14.0,-12.0,-29.254814,-0.0 -0.7333333333333333,-3.37037,-14.0,-12.0,-35.745191,-0.0 -0.7666666666666667,-6.5,-14.0,-12.0,-42.120001,-0.0 -0.8,-9.629629,-14.0,-12.0,-48.148148,-0.0 -0.8333333333333334,-12.037037,-14.0,-12.0,-53.598513,-0.0 -0.8666666666666667,-13.0,-14.0,-12.0,-58.240012,-0.0 -0.9,-13.0,-14.0,-12.0,-61.841482,-0.0 -0.9333333333333333,-13.0,-14.0,-12.0,-64.171854,-0.0 -0.9666666666666667,-13.0,-13.957235,-12.0,-65.000001,-0.0 -1.0,-13.0,-13.832701,-12.0,-65.000001,-0.0 -1.0333333333333334,-13.0,-13.632036,-12.0,-65.000001,-0.0 -1.0666666666666667,-13.0,-13.360881,-12.0,-65.000001,-0.0 -1.1,-13.0,-13.024874,-12.0,-65.000001,-0.0 -1.1333333333333333,-13.0,-12.629653,-12.0,-65.000001,-0.0 -1.1666666666666667,-13.0,-12.180859,-12.0,-65.000001,-0.0 -1.2,-12.037037,-11.684132,-12.0,-65.000001,-0.0 -1.2333333333333334,-9.629629,-11.145111,-12.0,-65.000001,-0.0 -1.2666666666666666,-6.5,-10.569434,-12.0,-65.000001,-0.0 -1.3,-3.370371,-9.96274,-12.0,-65.000001,-0.0 -1.3333333333333333,-0.962963,-9.33067,-12.0,-65.000001,-0.0 -1.3666666666666667,-0.0,-8.678861,-12.0,-65.000001,-0.0 -1.4,-0.0,-8.012956,-12.0,-65.000001,-0.0 -1.4333333333333333,-0.0,-7.338592,-12.0,-65.000001,-0.0 -1.4666666666666666,-0.0,-6.661409,-12.0,-65.000001,-0.0 -1.5,-0.0,-5.987043,-12.0,-64.171847,-0.0 -1.5333333333333334,-0.0,-5.321138,-12.0,-61.841482,-0.0 -1.5666666666666667,-0.0,-4.669329,-12.0,-58.239999,-0.0 -1.6,-0.0,-4.037261,-12.0,-53.598513,-0.0 -1.6333333333333333,-0.0,-3.430567,-12.0,-48.148148,-0.0 -1.6666666666666667,-0.0,-2.85489,-12.0,-42.119997,-0.0 -1.7,-0.0,-2.315868,-12.0,-35.745187,-0.0 -1.7333333333333334,-0.0,-1.819141,-12.0,-29.25481,-0.0 -1.7666666666666666,-0.0,-1.370347,-12.0,-22.880003,-0.0 -1.8,-0.0,-0.975127,-12.0,-16.851853,-0.0 -1.8333333333333333,-0.0,-0.63912,-12.0,-11.401485,-0.0 -1.8666666666666667,-0.0,-0.367964,-12.0,-6.759988,-0.0 -1.9,-0.0,-0.167297,-12.0,-3.158519,-0.0 -1.9333333333333333,-0.0,-0.042766,-12.0,-0.828147,-0.0 -1.9666666666666666,-0.0,0.0,-12.0,-0.0,-0.0 -2.0,-0.0,0.0,-12.0,-0.0,-0.17135414064843343 -2.033333333333333,-0.0,0.0,-12.0,-0.0,-0.6535369432552558 -2.066666666666667,-0.0,0.0,-12.0,-0.0,-1.3987285832447123 -2.1,-0.0,0.0,-12.0,-0.0,-2.3591092360410473 -2.1333333333333333,-0.0,0.0,-12.0,-0.0,-3.486858681500468 -2.1666666666666665,-0.0,0.0,-12.0,-0.0,-4.734158677319371 -2.2,-0.0,0.0,-12.0,-0.0,-6.053187025513774 -2.2333333333333334,-0.0,0.0,-12.0,-0.0,-7.396126274916151 -2.2666666666666666,-0.0,0.0,-12.0,-0.0,-8.715154623110552 -2.3,-0.0,0.0,-12.0,-0.0,-9.962455014497495 -2.3333333333333335,-0.0,0.0,-12.0,-0.0,-11.090204459956917 -2.3666666666666667,-0.0,0.0,-12.0,-0.0,-12.050585903889328 -2.4,-0.0,0.0,-12.0,-0.0,-12.795777148310744 -2.433333333333333,-0.0,0.0,-12.0,-0.0,-13.277958764213453 -2.466666666666667,-0.0,0.0,-12.0,-0.0,-13.449312904861888 -2.5,-0.0,0.0,-11.902223,-0.239012,-13.449312904861888 -2.533333333333333,-0.0,-0.048793,-11.617779,-0.929857,-13.449312904861888 -2.566666666666667,-0.0,-0.190578,-11.16,-2.033243,-13.449312904861888 -2.6,-0.0,-0.418467,-10.542223,-3.509882,-13.449312904861888 -2.6333333333333333,-0.0,-0.725573,-9.777778,-5.320484,-13.449312904861888 -2.6666666666666665,-0.0,-1.105007,-8.880001,-7.425759,-13.449312904861888 -2.7,-0.0,-1.549879,-7.862223,-9.786418,-13.449312904861888 -2.7333333333333334,-0.0,-2.053303,-6.737778,-12.36317,-13.449312904861888 -2.7666666666666666,-0.0,-2.608389,-5.52,-15.116727,-13.449312904861888 -2.8,-0.0,-3.20825,-4.222221,-18.007797,-13.449312904861888 -2.8333333333333335,-0.0,-3.845996,-2.857778,-20.997091,-13.449312904861888 -2.8666666666666667,-0.0,-4.514741,-1.44,-24.045321,-13.449312904861888 -2.9,-0.0,-5.207594,0.017779,-27.113197,-13.449312904861888 -2.933333333333333,-0.0,-5.917668,1.502221,-30.161426,-13.449312904861888 -2.966666666666667,-0.0,-6.638074,3.0,-33.150719,-13.449312904861888 -3.0,-0.433185,-7.361926,4.497779,-36.041788,-13.542603275434242 -3.033333333333333,-1.652148,-8.082331,5.982224,-38.795348,-13.806250955198646 -3.066666666666667,-3.536,-8.792407,7.440001,-41.372102,-14.215918620601895 -3.1,-5.963852,-9.485258,8.857777,-43.732759,-14.747270530362938 -3.1333333333333333,-8.814814,-10.154004,10.222225,-45.838038,-15.375969756496604 -3.1666666666666665,-11.968001,-10.791749,11.52,-47.648636,-16.07767541533735 -3.2,-15.302518,-11.391611,12.737777,-49.125275,-16.828058490260773 -3.2333333333333334,-18.697482,-11.946696,13.86222,-50.228665,-17.60277809760132 -3.2666666666666666,-22.031999,-12.45012,14.880001,-50.919511,-18.37749612266972 -3.3,-25.185187,-12.894992,15.777781,-51.15852,-19.12787761532099 -3.3333333333333335,-28.036149,-13.274425,16.542226,-51.15852,-19.82958366972977 -3.3666666666666667,-30.464003,-13.581532,17.16,-51.15852,-20.45828526927167 -3.4,-32.347854,-13.809422,17.617773,-51.15852,-20.98963994800898 -3.433333333333333,-33.566814,-13.951205,17.902223,-51.15852,-21.399305240003997 -3.466666666666667,-33.999999,-14.0,18.000001,-51.15852,-21.66295133749625 -3.5,-33.999999,-14.0,18.000001,-51.15852,-21.756241708068604 -3.533333333333333,-33.999999,-14.0,18.000001,-51.15852,-21.756241708068604 -3.566666666666667,-33.999999,-14.0,18.000001,-51.15852,-21.756241708068604 -3.6,-33.999999,-14.0,18.000001,-51.15852,-21.756241708068604 -3.6333333333333333,-33.999999,-14.0,18.000001,-51.15852,-21.756241708068604 -3.6666666666666665,-33.999999,-14.0,18.000001,-51.15852,-21.756241708068604 -3.7,-33.999999,-14.0,18.000001,-51.15852,-21.756241708068604 -3.7333333333333334,-33.999999,-14.0,18.000001,-51.15852,-21.756241708068604 -3.7666666666666666,-33.999999,-14.0,18.000001,-50.466359,-21.756241708068604 -3.8,-33.999999,-14.0,18.000001,-48.47639,-21.756241708068604 -3.8333333333333335,-33.999999,-14.0,18.000001,-45.318404,-21.756241708068604 -3.8666666666666667,-33.999999,-14.0,18.000001,-41.122161,-21.756241708068604 -3.9,-33.999999,-14.0,18.000001,-36.017473,-21.756241708068604 -3.933333333333333,-33.999999,-14.0,18.000001,-30.134091,-21.756241708068604 -3.966666666666667,-33.999999,-14.0,18.000001,-23.601811,-21.756241708068604 -4.0,-33.517091,-14.0,18.000001,-16.550402,-21.756241708068604 -4.033333333333333,-32.152344,-13.951208,18.000001,-9.109656,-21.756241708068604 -4.066666666666666,-30.031741,-13.809422,18.000001,-1.409353,-21.756241708068604 -4.1,-27.281254,-13.581533,18.000001,6.42074,-21.756241708068604 -4.133333333333334,-24.02686,-13.274427,18.000001,14.250827,-21.756241708068604 -4.166666666666667,-20.394538,-12.894994,18.000001,21.951145,-21.756241708068604 -4.2,-16.510263,-12.450122,18.000001,29.391882,-21.756241708068604 -4.233333333333333,-12.500011,-11.946698,18.000001,36.44328,-21.756241708068604 -4.266666666666667,-8.489756,-11.391611,18.000001,42.975571,-21.756241708068604 -4.3,-4.605479,-10.791751,18.000001,48.858959,-21.756241708068604 -4.333333333333333,-0.973155,-10.154004,18.000001,53.963644,-21.756241708068604 -4.366666666666666,2.281245,-9.48526,18.000001,58.159867,-21.756241708068604 -4.4,5.031739,-8.792407,18.000001,61.317873,-21.756241708068604 -4.433333333333334,7.152342,-8.082333,18.000001,63.307835,-21.756241708068604 -4.466666666666667,8.517096,-7.361926,18.000001,64.0,-21.756241708068604 -4.5,9.0,-6.638074,18.000001,64.0,-21.756241708068604 -4.533333333333333,9.0,-5.917668,18.000001,64.0,-21.756241708068604 -4.566666666666666,9.0,-5.207593,18.000001,64.0,-21.756241708068604 -4.6,9.0,-4.514739,18.000001,64.0,-21.756241708068604 -4.633333333333334,9.0,-3.845995,18.000001,64.0,-21.756241708068604 -4.666666666666667,9.0,-3.208248,18.000001,64.0,-21.756241708068604 -4.7,9.0,-2.608388,18.000001,64.0,-21.756241708068604 -4.733333333333333,9.0,-2.053303,18.000001,64.0,-21.756241708068604 -4.766666666666667,9.0,-1.54988,18.000001,64.0,-21.756241708068604 -4.8,9.0,-1.105003,18.000001,64.0,-21.756241708068604 -4.833333333333333,9.0,-0.725571,18.000001,64.0,-21.756241708068604 -4.866666666666666,9.0,-0.418469,18.000001,64.0,-21.756241708068604 -4.9,9.0,-0.190578,18.000001,64.0,-21.756241708068604 -4.933333333333334,9.0,-0.048791,18.000001,64.0,-21.756241708068604 -4.966666666666667,9.0,0.0,18.000001,64.0,-21.756241708068604 -5.0,8.885334,0.0,18.000001,63.184591,-21.72530077168489 -5.033333333333333,8.562667,0.0,18.000001,60.890078,-21.635286100037266 -5.066666666666666,8.064001,0.0,18.000001,57.344001,-21.490419195229915 -5.1,7.421334,0.0,18.000001,52.773924,-21.294922350503093 -5.133333333333334,6.666667,0.0,18.000001,47.407404,-21.053010738872374 -5.166666666666667,5.832,0.0,18.000001,41.472,-20.768903884601748 -5.2,4.949334,0.0,18.000001,35.195261,-20.446825663203626 -5.233333333333333,4.050666,0.0,18.000001,28.804738,-20.09098847871731 -5.266666666666667,3.168,0.0,18.000001,22.527999,-19.70561660222325 -5.3,2.333333,0.0,18.000001,16.592587,-19.294930349121515 -5.333333333333333,1.578667,0.0,18.000001,11.226078,-18.86314528799571 -5.366666666666666,0.936,0.0,18.000001,6.655999,-18.414482525381977 -5.4,0.437334,0.0,18.000001,3.109935,-17.953162772248426 -5.433333333333334,0.114667,0.0,18.000001,0.815422,-17.4834039705869 -5.466666666666667,-0.0,0.0,18.000001,-0.0,-17.009425249093336 -5.5,-0.0,0.0,18.000001,-0.0,-16.535446132031737 -5.533333333333333,-0.0,0.0,18.000001,-0.0,-16.065687725938247 -5.566666666666666,-0.0,0.0,18.000001,-0.0,-15.604367972804695 -5.6,-0.0,0.0,18.000001,-0.0,-15.155704814622927 -5.633333333333334,-0.0,0.0,18.000001,-0.0,-14.723921335769276 -5.666666666666667,-0.0,0.0,18.000001,-0.0,-14.313233500395386 -5.7,-0.0,0.0,18.000001,-0.0,-13.927861623901325 -5.733333333333333,-0.0,0.0,18.000001,-0.0,-13.57202602168716 -5.766666666666667,-0.0,0.0,18.000001,-0.0,-13.249946613584925 -5.8,-0.0,0.0,18.000001,-0.0,-12.9658397593143 -5.833333333333333,-0.0,0.0,18.000001,-0.0,-12.72392814768358 -5.866666666666666,-0.0,0.0,18.000001,-0.0,-12.528429720684608 -5.9,-0.0,0.0,18.000001,-0.0,-12.383562815877257 -5.933333333333334,-0.0,0.0,18.000001,-0.0,-12.293552495478053 -5.966666666666667,-0.0,0.0,18.000001,-0.0,-12.262608790118069 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos +0.0,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.03333333333333333,-1.647446,12.869353,15.506716,10.064565,39.887990 +0.06666666666666667,-1.647446,12.673993,15.311355,10.064565,39.887990 +0.1,-1.647446,12.332112,15.067155,10.064565,39.887990 +0.13333333333333333,-1.647446,11.941392,14.725275,10.064565,39.887990 +0.16666666666666666,-1.647446,11.501832,14.334554,10.064565,39.887990 +0.2,-1.647446,11.013431,13.894994,10.064565,39.887990 +0.23333333333333334,-1.647446,10.525031,13.455433,10.064565,39.887990 +0.26666666666666666,-1.647446,9.987790,13.015873,10.064565,39.887990 +0.3,-1.647446,9.499389,12.576313,10.064565,39.887990 +0.3333333333333333,-1.647446,9.059829,12.185592,10.064565,39.887990 +0.36666666666666664,-1.647446,8.669109,11.843712,10.064565,39.887990 +0.4,-1.647446,8.376068,11.599512,10.064565,39.887990 +0.43333333333333335,-1.647446,8.180708,11.404151,10.064565,39.887990 +0.4666666666666667,-1.647446,8.083028,11.355311,10.064565,39.887990 +0.5,-1.647446,8.083028,11.355311,9.304975,39.887990 +0.5333333333333333,-1.647446,8.083028,11.355311,7.406001,39.887990 +0.5666666666666667,-1.647446,8.083028,11.355311,4.443600,39.887990 +0.6,-1.647446,8.083028,11.355311,0.569692,39.887990 +0.6333333333333333,-1.647446,8.083028,11.355311,-3.987847,39.887990 +0.6666666666666666,-1.647446,8.083028,11.355311,-9.001139,39.887990 +0.7,-2.635914,8.083028,11.355311,-14.318268,39.887990 +0.7333333333333333,-5.024712,8.083028,11.355311,-19.711356,39.887990 +0.7666666666666667,-8.154860,8.083028,11.355311,-24.952526,39.887990 +0.8,-11.285008,8.083028,11.355311,-29.965818,39.887990 +0.8333333333333334,-13.673806,8.083028,11.355311,-34.523357,39.887990 +0.8666666666666667,-14.662273,8.083028,11.355311,-38.397265,39.887990 +0.9,-14.662273,8.083028,11.355311,-41.359666,39.887990 +0.9333333333333333,-14.662273,8.083028,11.355311,-43.334599,39.887990 +0.9666666666666667,-14.662273,8.131868,11.355311,-44.018230,39.887990 +1.0,-14.662273,8.180708,11.355311,-44.018230,39.887990 +1.0333333333333334,-14.662273,8.229548,11.355311,-44.018230,39.887990 +1.0666666666666667,-14.662273,8.327228,11.355311,-44.018230,39.887990 +1.1,-14.662273,8.424908,11.355311,-44.018230,39.887990 +1.1333333333333333,-14.662273,8.571429,11.355311,-44.018230,39.887990 +1.1666666666666667,-14.662273,8.717949,11.355311,-44.018230,39.887990 +1.2,-13.673806,8.913309,11.355311,-44.018230,39.887990 +1.2333333333333334,-11.285008,9.059829,11.355311,-44.018230,39.887990 +1.2666666666666666,-8.154860,9.304029,11.355311,-44.018230,39.887990 +1.3,-5.024712,9.499389,11.355311,-44.018230,39.887990 +1.3333333333333333,-2.635914,9.694750,11.355311,-44.018230,39.887990 +1.3666666666666667,-1.647446,9.938950,11.355311,-44.018230,39.887990 +1.4,-1.647446,10.183150,11.355311,-44.018230,39.887990 +1.4333333333333333,-1.647446,10.378510,11.355311,-44.018230,39.887990 +1.4666666666666666,-1.647446,10.622711,11.355311,-44.018230,39.887990 +1.5,-1.647446,10.866911,11.355311,-43.334599,39.887990 +1.5333333333333334,-1.647446,11.111111,11.355311,-41.359666,39.887990 +1.5666666666666667,-1.647446,11.306471,11.355311,-38.397265,39.887990 +1.6,-1.647446,11.550672,11.355311,-34.523357,39.887990 +1.6333333333333333,-1.647446,11.746032,11.355311,-29.965818,39.887990 +1.6666666666666667,-1.647446,11.941392,11.355311,-24.952526,39.887990 +1.7,-1.647446,12.136752,11.355311,-19.711356,39.887990 +1.7333333333333334,-1.647446,12.283272,11.355311,-14.318268,39.887990 +1.7666666666666666,-1.647446,12.429792,11.355311,-9.001139,39.887990 +1.8,-1.647446,12.576313,11.355311,-3.987847,39.887990 +1.8333333333333333,-1.647446,12.673993,11.355311,0.569692,39.887990 +1.8666666666666667,-1.647446,12.771673,11.355311,4.443600,39.887990 +1.9,-1.647446,12.869353,11.355311,7.406001,39.887990 +1.9333333333333333,-1.647446,12.918193,11.355311,9.304975,39.887990 +1.9666666666666666,-1.647446,12.918193,11.355311,10.064565,39.887990 +2.0,-1.647446,12.918193,11.355311,10.064565,39.763535 +2.033333333333333,-1.647446,12.918193,11.355311,10.064565,39.390168 +2.066666666666667,-1.647446,12.918193,11.355311,10.064565,38.892346 +2.1,-1.647446,12.918193,11.355311,10.064565,38.270068 +2.1333333333333333,-1.647446,12.918193,11.355311,10.064565,37.523335 +2.1666666666666665,-1.647446,12.918193,11.355311,10.064565,36.652147 +2.2,-1.647446,12.918193,11.355311,10.064565,35.780958 +2.2333333333333334,-1.647446,12.918193,11.355311,10.064565,34.785314 +2.2666666666666666,-1.647446,12.918193,11.355311,10.064565,33.914126 +2.3,-1.647446,12.918193,11.355311,10.064565,33.042937 +2.3333333333333335,-1.647446,12.918193,11.355311,10.064565,32.296204 +2.3666666666666667,-1.647446,12.918193,11.355311,10.064565,31.673927 +2.4,-1.647446,12.918193,11.355311,10.064565,31.176105 +2.433333333333333,-1.647446,12.918193,11.355311,10.064565,30.802738 +2.466666666666667,-1.647446,12.918193,11.355311,10.064565,30.678283 +2.5,-1.647446,12.918193,11.404151,9.836688,30.678283 +2.533333333333333,-1.647446,12.918193,11.501832,9.229016,30.678283 +2.566666666666667,-1.647446,12.869353,11.648352,8.317509,30.678283 +2.6,-1.647446,12.771673,11.892552,7.102165,30.678283 +2.6333333333333333,-1.647446,12.673993,12.136752,5.582985,30.678283 +2.6666666666666665,-1.647446,12.527473,12.429792,3.835929,30.678283 +2.7,-1.647446,12.380952,12.820513,1.860995,30.678283 +2.7333333333333334,-1.647446,12.234432,13.211233,-0.265856,30.678283 +2.7666666666666666,-1.647446,12.039072,13.650794,-2.544626,30.678283 +2.8,-1.647446,11.794872,14.090354,-4.975313,30.678283 +2.8333333333333335,-1.647446,11.599512,14.578755,-7.406001,30.678283 +2.8666666666666667,-1.647446,11.355311,15.067155,-9.988606,30.678283 +2.9,-1.647446,11.111111,15.555556,-12.495253,30.678283 +2.933333333333333,-1.647446,10.866911,16.092796,-15.001899,30.678283 +2.966666666666667,-1.647446,10.622711,16.581197,-17.508545,30.678283 +3.0,-2.059308,10.378510,17.118437,-19.939233,30.678283 +3.033333333333333,-3.294893,10.134310,17.655678,-22.218002,30.429371 +3.066666666666667,-5.189456,9.890110,18.144078,-24.344854,30.180460 +3.1,-7.578254,9.645910,18.632479,-26.319787,29.807094 +3.1333333333333333,-10.461285,9.401709,19.120879,-28.066844,29.433727 +3.1666666666666665,-13.591433,9.206349,19.560440,-29.586024,28.935905 +3.2,-16.968699,9.010989,20.000000,-30.801367,28.438083 +3.2333333333333334,-20.345964,8.815629,20.390720,-31.712875,27.940261 +3.2666666666666666,-23.640857,8.620269,20.732601,-32.320547,27.442439 +3.3,-26.853377,8.473748,21.074481,-32.472465,26.820162 +3.3333333333333335,-29.654036,8.327228,21.318681,-32.472465,26.446795 +3.3666666666666667,-32.125206,8.229548,21.562882,-32.472465,25.948973 +3.4,-34.019769,8.180708,21.709402,-32.472465,25.575607 +3.433333333333333,-35.172982,8.131868,21.807082,-32.472465,25.326696 +3.466666666666667,-35.667216,8.083028,21.855922,-32.472465,25.202240 +3.5,-35.667216,8.083028,21.855922,-32.472465,25.077785 +3.533333333333333,-35.667216,8.083028,21.855922,-32.472465,25.077785 +3.566666666666667,-35.667216,8.083028,21.855922,-32.472465,25.077785 +3.6,-35.667216,8.083028,21.855922,-32.472465,25.077785 +3.6333333333333333,-35.667216,8.083028,21.855922,-32.472465,25.077785 +3.6666666666666665,-35.667216,8.083028,21.855922,-32.472465,25.077785 +3.7,-35.667216,8.083028,21.855922,-32.472465,25.077785 +3.7333333333333334,-35.667216,8.083028,21.855922,-32.472465,25.077785 +3.7666666666666666,-35.667216,8.083028,21.855922,-31.940752,25.077785 +3.8,-35.667216,8.083028,21.855922,-30.269654,25.077785 +3.8333333333333335,-35.667216,8.083028,21.855922,-27.611090,25.077785 +3.8666666666666667,-35.667216,8.083028,21.855922,-24.116977,25.077785 +3.9,-35.667216,8.083028,21.855922,-19.939233,25.077785 +3.933333333333333,-35.667216,8.083028,21.855922,-15.001899,25.077785 +3.966666666666667,-35.667216,8.083028,21.855922,-9.608811,25.077785 +4.0,-35.172982,8.083028,21.855922,-3.759970,25.077785 +4.033333333333333,-33.772652,8.131868,21.855922,2.468667,25.077785 +4.066666666666666,-31.630972,8.180708,21.855922,8.849221,25.077785 +4.1,-28.912685,8.229548,21.855922,15.381694,25.077785 +4.133333333333334,-25.700165,8.327228,21.855922,21.838207,25.077785 +4.166666666666667,-21.993410,8.473748,21.855922,28.294721,25.077785 +4.2,-18.121911,8.620269,21.855922,34.447398,25.077785 +4.233333333333333,-14.168040,8.815629,21.855922,40.296240,25.077785 +4.266666666666667,-10.131796,9.010989,21.855922,45.765287,25.077785 +4.3,-6.260297,9.206349,21.855922,50.626662,25.077785 +4.333333333333333,-2.635914,9.401709,21.855922,54.880365,25.077785 +4.366666666666666,0.658979,9.645910,21.855922,58.374478,25.077785 +4.4,3.377265,9.890110,21.855922,60.957083,25.077785 +4.433333333333334,5.518946,10.134310,21.855922,62.628181,25.077785 +4.466666666666667,6.836903,10.378510,21.855922,63.235853,25.077785 +4.5,7.331137,10.622711,21.855922,63.235853,25.077785 +4.533333333333333,7.331137,10.866911,21.855922,63.235853,25.077785 +4.566666666666666,7.331137,11.111111,21.855922,63.235853,25.077785 +4.6,7.331137,11.355311,21.855922,63.235853,25.077785 +4.633333333333334,7.331137,11.599512,21.855922,63.235853,25.077785 +4.666666666666667,7.331137,11.794872,21.855922,63.235853,25.077785 +4.7,7.331137,12.039072,21.855922,63.235853,25.077785 +4.733333333333333,7.331137,12.234432,21.855922,63.235853,25.077785 +4.766666666666667,7.331137,12.380952,21.855922,63.235853,25.077785 +4.8,7.331137,12.527473,21.855922,63.235853,25.077785 +4.833333333333333,7.331137,12.673993,21.855922,63.235853,25.077785 +4.866666666666666,7.331137,12.771673,21.855922,63.235853,25.077785 +4.9,7.331137,12.869353,21.855922,63.235853,25.077785 +4.933333333333334,7.331137,12.918193,21.855922,63.235853,25.077785 +4.966666666666667,7.331137,12.918193,21.855922,63.235853,25.077785 +5.0,7.248764,12.918193,21.855922,62.552222,25.077785 +5.033333333333333,6.919275,12.918193,21.855922,60.653247,25.202240 +5.066666666666666,6.425041,12.918193,21.855922,57.690847,25.326696 +5.1,5.766063,12.918193,21.855922,53.892898,25.451151 +5.133333333333334,5.024712,12.918193,21.855922,49.411318,25.575607 +5.166666666666667,4.200988,12.918193,21.855922,44.473984,25.824518 +5.2,3.294893,12.918193,21.855922,39.308773,25.948973 +5.233333333333333,2.388797,12.918193,21.855922,33.991645,26.197884 +5.266666666666667,1.482702,12.918193,21.855922,28.750475,26.446795 +5.3,0.658979,12.918193,21.855922,23.813141,26.820162 +5.333333333333333,-0.082372,12.918193,21.855922,19.331561,27.069073 +5.366666666666666,-0.741351,12.918193,21.855922,15.533612,27.317984 +5.4,-1.235585,12.918193,21.855922,12.647171,27.691350 +5.433333333333334,-1.565074,12.918193,21.855922,10.672237,27.940261 +5.466666666666667,-1.647446,12.918193,21.855922,10.064565,28.313628 +5.5,-1.647446,12.918193,21.855922,10.064565,28.686994 +5.533333333333333,-1.647446,12.918193,21.855922,10.064565,28.935905 +5.566666666666666,-1.647446,12.918193,21.855922,10.064565,29.309272 +5.6,-1.647446,12.918193,21.855922,10.064565,29.558183 +5.633333333333334,-1.647446,12.918193,21.855922,10.064565,29.807094 +5.666666666666667,-1.647446,12.918193,21.855922,10.064565,30.180460 +5.7,-1.647446,12.918193,21.855922,10.064565,30.429371 +5.733333333333333,-1.647446,12.918193,21.855922,10.064565,30.678283 +5.766666666666667,-1.647446,12.918193,21.855922,10.064565,30.802738 +5.8,-1.647446,12.918193,21.855922,10.064565,31.051649 +5.833333333333333,-1.647446,12.918193,21.855922,10.064565,31.176105 +5.866666666666666,-1.647446,12.918193,21.855922,10.064565,31.300560 +5.9,-1.647446,12.918193,21.855922,10.064565,31.425016 +5.933333333333334,-1.647446,12.918193,21.855922,10.064565,31.549471 +5.966666666666667,-1.647446,12.918193,21.855922,10.064565,31.549471 diff --git a/hal/recordings/shock.csv b/hal/recordings/shock.csv index a8b909169..dd3dfc7ea 100644 --- a/hal/recordings/shock.csv +++ b/hal/recordings/shock.csv @@ -1,91 +1,91 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos -0.0,-0.0,0.0,-0.0,-0.0,-0.0 -0.03333333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -0.06666666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -0.1,-0.0,0.0,-0.0,-0.0,-0.0 -0.13333333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -0.16666666666666666,-0.0,0.0,-0.0,-0.0,-0.0 -0.2,-0.0,0.0,-0.0,-0.0,-0.0 -0.23333333333333334,-0.0,0.0,-0.0,-0.0,-0.0 -0.26666666666666666,-0.0,0.0,-0.0,-0.0,-0.0 -0.3,-0.0,0.0,-0.0,-0.0,-0.0 -0.3333333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -0.36666666666666664,-0.0,0.0,-0.0,-0.0,-0.0 -0.4,-0.0,0.0,-0.0,-0.0,-0.0 -0.43333333333333335,-0.0,0.0,-0.0,-0.0,-0.0 -0.4666666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -0.5,-0.0,-0.240741,1.25,-0.0,-0.0 -0.5333333333333333,-0.0,-0.925926,4.0,-0.0,-0.0 -0.5666666666666667,-0.0,-2.0,6.75,-0.0,-0.0 -0.6,-0.0,-3.386574,8.0,-0.0,-0.0 -0.6333333333333333,-0.0,-4.925926,6.725948,-0.0,-0.0 -0.6666666666666666,-0.0,-6.4375,3.440234,-0.0,-0.0 -0.7,-0.0,-7.74074,-1.052478,-0.0,-0.0 -0.7333333333333333,-0.0,-8.655093,-5.947521,-0.0,-0.0 -0.7666666666666667,-0.0,-9.0,-10.440231,-0.0,-0.0 -0.8,-0.0,-9.0,-13.725948,-4.0,-0.0 -0.8333333333333334,-0.0,-9.0,-15.0,-14.0,-0.0 -0.8666666666666667,-0.0,-9.0,-14.53125,-26.999999,-0.0 -0.9,-0.0,-9.0,-13.500001,-39.999995,-0.0 -0.9333333333333333,-0.0,-9.0,-12.46875,-49.999997,-0.0 -0.9666666666666667,-0.0,-9.0,-12.0,-53.999998,-0.0 -1.0,-0.0,-9.0,-12.0,-53.999998,-2.049564 -1.0333333333333334,-0.0,-9.0,-12.0,-53.999998,-7.335277 -1.0666666666666667,-0.0,-9.0,-12.0,-53.999998,-14.56268 -1.1,-0.0,-9.0,-12.0,-53.999998,-22.437315 -1.1333333333333333,-0.0,-9.0,-12.0,-53.999998,-29.664721 -1.1666666666666667,-0.0,-9.0,-12.0,-53.999998,-34.950433 -1.2,-0.0,-9.0,-12.0,-53.999998,-36.999999 -1.2333333333333334,-0.0,-9.0,-12.0,-46.074072,-36.999999 -1.2666666666666666,-0.0,-9.0,-12.0,-26.259255,-36.999999 -1.3,-0.0,-9.0,-12.0,-0.500001,-36.999999 -1.3333333333333333,-0.0,-9.0,-12.0,25.259264,-36.999999 -1.3666666666666667,-0.0,-9.0,-12.0,45.074085,-36.999999 -1.4,-0.0,-9.0,-12.0,53.0,-36.999999 -1.4333333333333333,-0.0,-9.0,-12.0,53.0,-36.999999 -1.4666666666666666,-0.0,-9.0,-12.0,53.0,-37.370369 -1.5,-0.0,-9.0,-12.0,53.0,-38.296297 -1.5333333333333334,-0.0,-9.0,-12.0,53.0,-39.500002 -1.5666666666666667,-0.0,-9.0,-12.0,53.0,-40.703706 -1.6,-0.0,-9.0,-12.0,53.0,-41.629631 -1.6333333333333333,-0.0,-9.0,-12.0,53.0,-42.000001 -1.6666666666666667,-0.0,-9.0,-12.0,53.0,-42.000001 -1.7,-0.0,-9.0,-12.0,53.0,-42.000001 -1.7333333333333334,-0.0,-9.0,-12.0,53.0,-42.000001 -1.7666666666666666,-0.0,-9.0,-12.0,53.0,-42.000001 -1.8,-0.0,-9.0,-12.0,53.0,-42.000001 -1.8333333333333333,-0.0,-9.0,-12.0,53.0,-42.444445 -1.8666666666666667,-0.0,-9.0,-12.0,53.0,-43.555556 -1.9,-0.0,-9.0,-12.0,53.0,-45.000005 -1.9333333333333333,-0.0,-9.0,-12.0,53.0,-46.444446 -1.9666666666666666,-0.0,-9.0,-12.0,53.0,-47.555558 -2.0,-0.0,-9.0,-11.140626,45.074071,-48.000005 -2.033333333333333,-0.0,-9.0,-8.875002,25.259259,-47.889216 -2.066666666666667,-0.0,-9.0,-5.671879,-0.499997,-47.603502 -2.1,-0.0,-9.0,-2.000005,-26.259255,-47.212825 -2.1333333333333333,-0.0,-9.0,1.671871,-46.074079,-46.787171 -2.1666666666666665,-0.0,-9.0,4.874996,-53.999998,-46.396502 -2.2,-0.0,-9.0,7.140621,-53.999998,-46.110785 -2.2333333333333334,-0.0,-9.0,8.0,-53.999998,-45.999999 -2.2666666666666666,-0.0,-9.0,8.0,-53.999998,-45.999999 -2.3,-0.0,-9.0,8.0,-53.999998,-45.999999 -2.3333333333333335,-0.0,-9.0,8.0,-53.999998,-45.999999 -2.3666666666666667,-0.0,-9.0,8.0,-53.999998,-45.999999 -2.4,-0.0,-9.0,8.0,-53.999998,-45.999999 -2.433333333333333,-0.0,-9.0,8.0,-53.999998,-45.999999 -2.466666666666667,-0.0,-9.0,8.0,-53.999998,-45.999999 -2.5,-0.0,-9.0,8.0,-53.999998,-45.999999 -2.533333333333333,-0.0,-9.0,7.656249,-53.999998,-45.999999 -2.566666666666667,-0.0,-9.0,6.749999,-53.999998,-45.999999 -2.6,-0.0,-9.0,5.468748,-53.999998,-45.999999 -2.6333333333333333,-0.0,-9.0,4.0,-53.999998,-45.999999 -2.6666666666666665,-0.0,-9.0,2.531251,-53.999998,-45.999999 -2.7,-0.0,-9.0,1.250001,-52.148146,-45.999999 -2.7333333333333334,-0.0,-9.0,0.34375,-47.185184,-44.023438 -2.7666666666666666,-0.0,-8.501459,-0.0,-39.999995,-38.812495 -2.8,-0.0,-7.215745,-0.0,-31.481479,-31.445306 -2.8333333333333335,-0.0,-5.457727,-0.0,-22.518516,-23.0 -2.8666666666666667,-0.0,-3.542274,-0.0,-13.999999,-14.554691 -2.9,-0.0,-1.784255,-0.0,-6.814817,-7.187504 -2.933333333333333,-0.0,-0.498541,-0.0,-1.851849,-1.976561 -2.966666666666667,-0.0,0.0,-0.0,-0.0,-0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos +0.0,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.03333333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.06666666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.1,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.13333333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.16666666666666666,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.2,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.23333333333333334,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.26666666666666666,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.3,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.3333333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.36666666666666664,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.4,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.43333333333333335,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.4666666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.5,-1.647446,12.820513,15.995116,10.064565,39.887990 +0.5333333333333333,-1.647446,12.576313,16.971917,10.064565,39.887990 +0.5666666666666667,-1.647446,12.234432,17.899878,10.064565,39.887990 +0.6,-1.647446,11.746032,18.339438,10.064565,39.887990 +0.6333333333333333,-1.647446,11.208791,17.899878,10.064565,39.887990 +0.6666666666666666,-1.647446,10.720391,16.776557,10.064565,39.887990 +0.7,-1.647446,10.231990,15.164835,10.064565,39.887990 +0.7333333333333333,-1.647446,9.938950,13.455433,10.064565,39.887990 +0.7666666666666667,-1.647446,9.841270,11.892552,10.064565,39.887990 +0.8,-1.647446,9.841270,10.769231,6.722370,39.887990 +0.8333333333333334,-1.647446,9.841270,10.329670,-1.633118,39.887990 +0.8666666666666667,-1.647446,9.841270,10.476190,-12.419294,39.887990 +0.9,-1.647446,9.841270,10.818071,-23.205469,39.887990 +0.9333333333333333,-1.647446,9.841270,11.208791,-31.484998,39.887990 +0.9666666666666667,-1.647446,9.841270,11.355311,-34.827193,39.887990 +1.0,-1.647446,9.841270,11.355311,-34.827193,38.394524 +1.0333333333333334,-1.647446,9.841270,11.355311,-34.827193,34.909770 +1.0666666666666667,-1.647446,9.841270,11.355311,-34.827193,29.931549 +1.1,-1.647446,9.841270,11.355311,-34.827193,24.579963 +1.1333333333333333,-1.647446,9.841270,11.355311,-34.827193,19.726198 +1.1666666666666667,-1.647446,9.841270,11.355311,-34.827193,16.116988 +1.2,-1.647446,9.841270,11.355311,-34.827193,14.747978 +1.2333333333333334,-1.647446,9.841270,11.355311,-28.294721,14.747978 +1.2666666666666666,-1.647446,9.841270,11.355311,-11.811622,14.747978 +1.3,-1.647446,9.841270,11.355311,9.608811,14.747978 +1.3333333333333333,-1.647446,9.841270,11.355311,31.029244,14.747978 +1.3666666666666667,-1.647446,9.841270,11.355311,47.512343,14.747978 +1.4,-1.647446,9.841270,11.355311,54.044816,14.747978 +1.4333333333333333,-1.647446,9.841270,11.355311,54.044816,14.747978 +1.4666666666666666,-1.647446,9.841270,11.355311,54.044816,14.499067 +1.5,-1.647446,9.841270,11.355311,54.044816,13.876789 +1.5333333333333334,-1.647446,9.841270,11.355311,54.044816,13.130056 +1.5666666666666667,-1.647446,9.841270,11.355311,54.044816,12.258867 +1.6,-1.647446,9.841270,11.355311,54.044816,11.636590 +1.6333333333333333,-1.647446,9.841270,11.355311,54.044816,11.387679 +1.6666666666666667,-1.647446,9.841270,11.355311,54.044816,11.387679 +1.7,-1.647446,9.841270,11.355311,54.044816,11.387679 +1.7333333333333334,-1.647446,9.841270,11.355311,54.044816,11.387679 +1.7666666666666666,-1.647446,9.841270,11.355311,54.044816,11.387679 +1.8,-1.647446,9.841270,11.355311,54.044816,11.387679 +1.8333333333333333,-1.647446,9.841270,11.355311,54.044816,11.138768 +1.8666666666666667,-1.647446,9.841270,11.355311,54.044816,10.392035 +1.9,-1.647446,9.841270,11.355311,54.044816,9.396391 +1.9333333333333333,-1.647446,9.841270,11.355311,54.044816,8.400747 +1.9666666666666666,-1.647446,9.841270,11.355311,54.044816,7.654014 +2.0,-1.647446,9.841270,11.648352,47.512343,7.280647 +2.033333333333333,-1.647446,9.841270,12.429792,31.029244,7.405103 +2.066666666666667,-1.647446,9.841270,13.553114,9.608811,7.654014 +2.1,-1.647446,9.841270,14.871795,-11.811622,7.902925 +2.1333333333333333,-1.647446,9.841270,16.141636,-28.294721,8.151836 +2.1666666666666665,-1.647446,9.841270,17.264957,-34.827193,8.400747 +2.2,-1.647446,9.841270,18.046398,-34.827193,8.649658 +2.2333333333333334,-1.647446,9.841270,18.339438,-34.827193,8.649658 +2.2666666666666666,-1.647446,9.841270,18.339438,-34.827193,8.649658 +2.3,-1.647446,9.841270,18.339438,-34.827193,8.649658 +2.3333333333333335,-1.647446,9.841270,18.339438,-34.827193,8.649658 +2.3666666666666667,-1.647446,9.841270,18.339438,-34.827193,8.649658 +2.4,-1.647446,9.841270,18.339438,-34.827193,8.649658 +2.433333333333333,-1.647446,9.841270,18.339438,-34.827193,8.649658 +2.466666666666667,-1.647446,9.841270,18.339438,-34.827193,8.649658 +2.5,-1.647446,9.841270,18.339438,-34.827193,8.649658 +2.533333333333333,-1.647446,9.841270,18.241758,-34.827193,8.649658 +2.566666666666667,-1.647446,9.841270,17.899878,-34.827193,8.649658 +2.6,-1.647446,9.841270,17.460317,-34.827193,8.649658 +2.6333333333333333,-1.647446,9.841270,16.971917,-34.827193,8.649658 +2.6666666666666665,-1.647446,9.841270,16.434676,-34.827193,8.649658 +2.7,-1.647446,9.841270,15.995116,-33.308014,8.649658 +2.7333333333333334,-1.647446,9.841270,15.653236,-29.206229,10.018668 +2.7666666666666666,-1.647446,9.987790,15.555556,-23.205469,13.503423 +2.8,-1.647446,10.427350,15.555556,-16.141284,18.481643 +2.8333333333333335,-1.647446,11.062271,15.555556,-8.697303,24.206596 +2.8666666666666667,-1.647446,11.697192,15.555556,-1.633118,29.931549 +2.9,-1.647446,12.283272,15.555556,4.367641,34.909770 +2.933333333333333,-1.647446,12.722833,15.555556,8.469427,38.518979 +2.966666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 diff --git a/hal/recordings/shy.csv b/hal/recordings/shy.csv old mode 100755 new mode 100644 index 9b6232deb..3995eda99 --- a/hal/recordings/shy.csv +++ b/hal/recordings/shy.csv @@ -1,101 +1,101 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.0,-20.0,20.0,1.908523,0.234302 -0.05,0.256494,-17.234968,32.883246,6.107876,0.321404 -0.1,0.050942,-16.375308,37.366417,10.125788,0.468932 -0.15,-0.234742,-15.239162,37.18019,13.926111,0.680258 -0.2,-0.517744,-14.25425,36.723126,17.582304,0.89526 -0.25,-0.717158,-13.775114,35.186676,21.172784,1.050254 -0.3,-0.834234,-13.763194,34.786842,24.822168,1.142684 -0.35,-0.87061,-14.191646,35.5022,28.552615,1.16832 -0.4,-0.904816,-14.666668,36.236946,32.492429,1.19296 -0.45,-1.013321,-14.721828,35.708767,36.503652,1.291048 -0.5,-1.194586,-14.374938,33.898864,40.510497,1.46658 -0.55,-1.447511,-13.685358,30.845242,44.471505,1.720904 -0.6,-1.771557,-12.735138,26.601004,48.325439,2.053248 -0.65,-2.166764,-11.63144,21.231834,51.985878,2.460878 -0.7,-2.634738,-10.556308,15.071254,55.302573,2.935892 -0.75,-3.162893,-9.826442,9.68472,57.93389,3.440546 -0.8,-3.638973,-9.364966,5.273011,59.80446,3.881848 -0.85,-4.043089,-9.059814,1.79857,60.940116,4.252646 -0.9,-4.376177,-8.840112,-0.742502,61.430626,4.54922 -0.95,-4.639148,-8.63591,-2.37712,61.337626,4.768636 -1.0,-4.832171,-8.400715,-3.128904,60.716167,4.911486 -1.05,-4.953118,-8.104467,-3.622423,59.697172,4.985404 -1.1,-4.999666,-7.730564,-4.473345,58.399497,4.998172 -1.15,-4.996615,-7.2785,-5.683311,56.844222,4.96944 -1.2,-4.968936,-6.749544,-7.253239,55.038764,4.918304 -1.25,-4.943104,-6.14647,-9.183482,52.986039,4.863896 -1.3,-4.946015,-5.473641,-11.473932,50.696297,4.824086 -1.35,-4.902989,-4.745881,-13.843051,48.194136,4.740466 -1.4,-4.73452,-4.063712,-15.897664,45.69303,4.566324 -1.45,-4.437986,-3.445662,-17.613206,43.291443,4.308296 -1.5,-4.011553,-2.894698,-18.98632,41.046292,3.971076 -1.55,-3.453726,-2.416544,-20.012327,39.001862,3.558508 -1.6,-2.763472,-2.019638,-20.685231,37.192207,3.07339 -1.65,-2.068065,-1.711977,-21.146245,35.663392,2.6009 -1.7,-1.496473,-1.488703,-21.541234,34.455275,2.221734 -1.75,-1.05028,-1.342302,-21.870726,33.57817,1.931634 -1.8,-0.730618,-1.266931,-22.135348,33.02726,1.72719 -1.85,-0.538205,-1.258608,-22.335845,32.781363,1.606028 -1.9,-0.473704,-1.280123,-22.520441,32.738603,1.566572 -1.95,-0.385217,-1.314694,-22.719128,32.789938,1.512172 -2.0,-0.120671,-1.380474,-22.869385,32.89527,1.346348 -2.05,0.319571,-1.481235,-22.960503,33.033387,1.068754 -2.1,0.934891,-1.624163,-22.989132,33.193985,0.67908 -2.15,1.680474,-1.81072,-22.954657,33.374521,0.20493 -2.2,2.292898,-1.991931,-22.879917,33.582681,-0.1868 -2.25,2.729101,-2.149669,-22.77338,33.822485,-0.46834 -2.3,2.989887,-2.27661,-22.6411,34.096175,-0.639586 -2.35,3.075891,-2.368555,-22.487677,34.404349,-0.700188 -2.4,3.093569,-2.449682,-22.301861,34.742392,-0.71776 -2.45,3.149017,-2.545699,-22.071664,35.104713,-0.76043 -2.5,3.242135,-2.656734,-21.797114,35.489014,-0.828406 -2.55,3.372805,-2.783135,-21.478059,35.892398,-0.921916 -2.6,3.540879,-2.925381,-21.114331,36.310891,-1.041204 -2.65,3.746185,-3.084056,-20.705677,36.739051,-1.186524 -2.7,3.98869,-3.252752,-20.269422,37.157189,-1.357498 -2.75,4.268388,-3.427391,-19.86054,37.550908,-1.553528 -2.8,4.585097,-3.609322,-19.486082,37.917563,-1.774602 -2.85,4.938625,-3.799493,-19.145549,38.255647,-2.02068 -2.9,5.291395,-3.987427,-18.843784,38.566626,-2.266738 -2.95,5.606145,-4.161058,-18.586433,38.852821,-2.48767 -3.0,5.883128,-4.319315,-18.37396,39.1147,-2.683286 -3.05,6.122565,-4.461337,-18.206753,39.351821,-2.853426 -3.1,6.324674,-4.586343,-18.085183,39.562682,-2.997954 -3.15,6.489669,-4.691137,-17.962792,39.73915,-3.116772 -3.2,6.617761,-4.772578,-17.793192,39.873039,-3.209784 -3.25,6.709076,-4.830449,-17.576415,39.962218,-3.276902 -3.3,6.763706,-4.864863,-17.312391,40.00521,-3.318076 -3.35,6.781704,-4.876264,-17.000897,40.001081,-3.33329 -3.4,6.770564,-4.86811,-16.640355,39.949029,-3.327614 -3.45,6.737754,-4.844136,-16.229099,39.848796,-3.306146 -3.5,6.683313,-4.803925,-15.768847,39.698306,-3.26872 -3.55,6.60721,-4.748691,-15.32512,39.504499,-3.215088 -3.6,6.509336,-4.679776,-14.961805,39.278389,-3.145206 -3.65,6.389627,-4.596421,-14.679247,39.022561,-3.059116 -3.7,6.247993,-4.498059,-14.477617,38.738313,-2.956886 -3.75,6.084344,-4.384318,-14.357078,38.424298,-2.838612 -3.8,5.898565,-4.255005,-14.317521,38.074661,-2.70442 -3.85,5.696081,-4.111887,-14.358099,37.676392,-2.558156 -3.9,5.510165,-3.965374,-14.473737,37.207968,-2.42211 -3.95,5.346536,-3.819733,-14.269726,36.594863,-2.301224 -4.0,5.205232,-3.689302,-13.348125,35.768219,-2.197128 -4.05,5.086117,-3.606019,-11.69662,34.725723,-2.110746 -4.1,4.989047,-3.619815,-9.294613,33.486792,-2.043202 -4.15,4.914133,-3.713349,-6.869235,32.192758,-1.991326 -4.2,4.861731,-3.788372,-5.179846,31.001115,-1.950316 -4.25,4.831654,-3.810411,-4.226143,29.965146,-1.920688 -4.3,4.82399,-3.752568,-4.016967,29.070562,-1.902132 -4.35,4.768062,-3.731024,-3.542609,28.116004,-1.85655 -4.4,4.592691,-3.89823,-1.777795,26.881418,-1.74703 -4.45,4.296819,-4.327492,1.313982,25.294825,-1.575682 -4.5,3.878504,-5.131208,5.791656,23.304544,-1.34771 -4.55,3.334979,-6.457775,11.74456,20.901403,-1.071018 -4.6,2.663576,-8.485722,19.298436,18.123202,-0.750754 -4.65,1.985436,-10.927504,23.052861,15.244731,-0.445454 -4.7,1.426017,-13.220458,25.864465,12.566099,-0.20473 -4.75,0.988183,-15.186538,27.142692,10.03333,-0.022586 -4.8,0.674015,-16.689482,27.89924,7.41525,0.104958 -4.85,0.484952,-17.631156,27.304615,4.43634,0.180494 -4.9,0.421837,-17.951774,23.860806,1.087187,0.20551 -4.95,0.0,-20.0,20.0,0.0,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.918193,15.555556,41.132545,10.216483 +0.05,-1.400329,13.846154,20.048840,43.995022,10.292442 +0.1,-1.565074,14.188034,21.611722,46.733043,10.444360 +0.15,-1.894563,14.578755,21.562882,49.222153,10.596278 +0.2,-2.141680,14.871795,21.416361,51.711263,10.748196 +0.25,-2.388797,15.067155,20.879121,54.200373,10.900114 +0.3,-2.471170,15.067155,20.732601,56.689484,10.976073 +0.35,-2.553542,14.920635,20.976801,59.178594,10.976073 +0.4,-2.553542,14.774115,21.221001,61.792159,11.052032 +0.45,-2.635914,14.725275,21.025641,64.530180,11.127991 +0.5,-2.800659,14.871795,20.390720,67.268202,11.279909 +0.55,-3.130148,15.067155,19.365079,69.881767,11.431827 +0.6,-3.377265,15.409035,17.851038,72.495333,11.735663 +0.65,-3.789127,15.799756,15.995116,74.984443,12.039499 +0.7,-4.283361,16.190476,13.846154,77.224642,12.495253 +0.75,-4.777595,16.434676,11.941392,79.091475,12.875047 +0.8,-5.271829,16.581197,10.427350,80.336030,13.254842 +0.85,-5.683690,16.678877,9.206349,81.082763,13.558678 +0.9,-6.013180,16.776557,8.327228,81.456129,13.786555 +0.95,-6.260297,16.825397,7.741148,81.331674,14.014432 +1.0,-6.507414,16.923077,7.496947,80.958307,14.090391 +1.05,-6.589786,17.020757,7.301587,80.211574,14.166350 +1.1,-6.672158,17.118437,7.008547,79.340386,14.166350 +1.15,-6.672158,17.313797,6.568987,78.344742,14.166350 +1.2,-6.589786,17.460317,6.031746,77.100187,14.090391 +1.25,-6.589786,17.704518,5.347985,75.731176,14.090391 +1.3,-6.589786,17.899878,4.566545,74.113255,14.014432 +1.35,-6.507414,18.144078,3.736264,72.495333,13.938473 +1.4,-6.342669,18.388278,3.003663,70.752956,13.786555 +1.45,-6.095552,18.632479,2.417582,69.135034,13.634637 +1.5,-5.683690,18.827839,1.929182,67.641568,13.330801 +1.55,-5.107084,18.974359,1.587302,66.272558,12.951006 +1.6,-4.448105,19.120879,1.343101,65.028002,12.571212 +1.65,-3.706755,19.218559,1.196581,64.032358,12.191417 +1.7,-3.130148,19.267399,1.050061,63.161170,11.887581 +1.75,-2.718287,19.316239,0.903541,62.538892,11.659704 +1.8,-2.388797,19.365079,0.854701,62.165526,11.431827 +1.85,-2.224053,19.365079,0.757021,62.041070,11.355868 +1.9,-2.141680,19.365079,0.708181,62.041070,11.355868 +1.95,-2.059308,19.365079,0.610501,62.041070,11.279909 +2.0,-1.729819,19.316239,0.561661,62.041070,11.127991 +2.05,-1.317957,19.267399,0.561661,62.165526,10.900114 +2.1,-0.741351,19.218559,0.512821,62.289981,10.596278 +2.15,0.000000,19.169719,0.561661,62.414437,10.216483 +2.2,0.658979,19.120879,0.561661,62.538892,9.836688 +2.25,1.070840,19.072039,0.610501,62.663348,9.608811 +2.3,1.317957,19.023199,0.659341,62.912259,9.532852 +2.35,1.400329,18.974359,0.708181,63.161170,9.456893 +2.4,1.482702,18.974359,0.757021,63.285625,9.456893 +2.45,1.482702,18.925519,0.854701,63.534536,9.380934 +2.5,1.565074,18.876679,0.952381,63.907903,9.304975 +2.55,1.729819,18.827839,1.050061,64.156814,9.229016 +2.6,1.894563,18.778999,1.196581,64.405725,9.153057 +2.65,2.059308,18.730159,1.343101,64.654636,9.077098 +2.7,2.306425,18.681319,1.489621,65.028002,8.925180 +2.75,2.635914,18.632479,1.636142,65.276914,8.773262 +2.8,2.965404,18.534799,1.733822,65.525825,8.545385 +2.85,3.294893,18.485958,1.880342,65.774736,8.317509 +2.9,3.624382,18.437118,1.978022,65.899191,8.165591 +2.95,3.953871,18.388278,2.075702,66.148102,7.937714 +3.0,4.200988,18.290598,2.124542,66.272558,7.785796 +3.05,4.448105,18.241758,2.222222,66.521469,7.633878 +3.1,4.695222,18.241758,2.271062,66.645924,7.557919 +3.15,4.859967,18.192918,2.271062,66.770380,7.406001 +3.2,4.942339,18.144078,2.368742,66.770380,7.330042 +3.25,5.024712,18.144078,2.417582,66.894835,7.330042 +3.3,5.107084,18.144078,2.515263,66.894835,7.254083 +3.35,5.107084,18.144078,2.612943,66.894835,7.254083 +3.4,5.107084,18.144078,2.759463,66.894835,7.254083 +3.45,5.107084,18.144078,2.905983,66.770380,7.254083 +3.5,5.024712,18.144078,3.052503,66.645924,7.330042 +3.55,4.942339,18.144078,3.199023,66.521469,7.330042 +3.6,4.859967,18.192918,3.345543,66.397013,7.406001 +3.65,4.777595,18.241758,3.443223,66.272558,7.481960 +3.7,4.612850,18.241758,3.492063,66.023647,7.557919 +3.75,4.448105,18.290598,3.540904,65.899191,7.633878 +3.8,4.283361,18.339438,3.540904,65.650280,7.785796 +3.85,4.036244,18.388278,3.540904,65.276914,7.937714 +3.9,3.871499,18.437118,3.492063,65.028002,8.013673 +3.95,3.706755,18.485958,3.589744,64.654636,8.089632 +4.0,3.542010,18.534799,3.882784,64.032358,8.165591 +4.05,3.459638,18.534799,4.468864,63.285625,8.241550 +4.1,3.377265,18.534799,5.299145,62.538892,8.317509 +4.15,3.294893,18.534799,6.178266,61.667704,8.393468 +4.2,3.212521,18.485958,6.764347,60.796515,8.393468 +4.25,3.212521,18.485958,7.106227,60.174238,8.393468 +4.3,3.212521,18.485958,7.155067,59.551960,8.469427 +4.35,3.130148,18.534799,7.350427,58.805227,8.469427 +4.4,2.965404,18.437118,7.936508,58.058494,8.545385 +4.45,2.635914,18.290598,9.010989,56.938395,8.697303 +4.5,2.224053,18.046398,10.573871,55.569384,8.925180 +4.55,1.647446,17.557998,12.673993,53.951462,9.153057 +4.6,0.988468,16.874237,15.311355,52.084630,9.380934 +4.65,0.329489,16.043956,16.630037,50.093342,9.684770 +4.7,-0.247117,15.262515,17.606838,48.350965,9.836688 +4.75,-0.658979,14.578755,18.046398,46.608587,9.988606 +4.8,-0.988468,14.041514,18.339438,44.866210,10.140524 +4.85,-1.153213,13.748474,18.095238,42.874922,10.140524 +4.9,-1.235585,13.601954,16.923077,40.510268,10.216483 +4.95,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/sleepy.csv b/hal/recordings/sleepy.csv old mode 100755 new mode 100644 index 8c0ff106d..3f7a47237 --- a/hal/recordings/sleepy.csv +++ b/hal/recordings/sleepy.csv @@ -1,101 +1,101 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,0.0,-10.0,0.0,0.0,0.0 -0.05,-0.163277,-8.296975,9.018367,-1.30507,0.33803 -0.1,-0.226961,-7.556868,12.402472,-1.616801,0.478299 -0.15,-0.281829,-6.840494,15.181996,-1.670769,0.608292 -0.2,-0.32202,-6.20696,17.032841,-1.400017,0.716696 -0.25,-0.347449,-5.669503,17.975451,-0.81692,0.802714 -0.3,-0.361148,-5.216717,18.215218,0.020967,0.871113 -0.35,-0.366727,-4.832193,17.989229,1.045092,0.927572 -0.4,-0.367108,-4.503206,17.488693,2.19497,0.976474 -0.45,-0.364547,-4.218995,16.857496,3.42126,1.021098 -0.5,-0.360388,-3.972913,16.178558,4.689384,1.063192 -0.55,-0.355431,-3.759694,15.496769,5.975249,1.103678 -0.6,-0.350108,-3.574846,14.831372,7.262506,1.142962 -0.65,-0.34464,-3.414211,14.186813,8.540023,1.181182 -0.7,-0.339135,-3.273806,13.560146,9.800074,1.218367 -0.75,-0.333647,-3.14987,12.945448,11.03719,1.254521 -0.8,-0.328204,-3.038985,12.336203,12.247466,1.289648 -0.85,-0.322825,-2.938205,11.726568,13.428132,1.323765 -0.9,-0.317519,-2.845118,11.112018,14.577456,1.356901 -0.95,-0.312296,-2.757871,10.489557,15.69453,1.389091 -1.0,-0.307159,-2.675088,9.857752,16.77955,1.420385 -1.05,-0.30211,-2.595803,9.216454,17.833622,1.450843 -1.1,-0.297152,-2.5194,8.566267,18.857708,1.480513 -1.15,-0.292293,-2.445608,7.907776,19.850849,1.509388 -1.2,-0.28715,-2.365934,7.262004,20.922787,1.540226 -1.25,-0.282629,-2.300536,6.585084,21.819326,1.566626 -1.3,-0.278223,-2.236746,5.900472,22.681574,1.59221 -1.35,-0.273914,-2.173562,5.205294,23.511816,1.617076 -1.4,-0.26968,-2.110176,4.49711,24.312414,1.64131 -1.45,-0.265505,-2.046028,3.774736,25.085309,1.664984 -1.5,-0.261379,-1.9807,3.037676,25.832293,1.688152 -1.55,-0.257291,-1.913902,2.286718,26.554638,1.710852 -1.6,-0.253235,-1.845333,1.522918,27.253621,1.733122 -1.65,-0.2492,-1.774488,0.746486,27.930742,1.755006 -1.7,-0.245161,-1.700156,-0.045738,28.588361,1.7766 -1.75,-0.241093,-1.621201,-0.85707,29.228913,1.798006 -1.8,-0.236985,-1.537303,-1.688042,29.853821,1.819264 -1.85,-0.232824,-1.448248,-2.538638,30.464286,1.840408 -1.9,-0.228601,-1.35387,-3.40881,31.061484,1.861466 -1.95,-0.224312,-1.254228,-4.297158,31.646025,1.882444 -2.0,-0.219972,-1.150152,-5.197044,32.217002,1.903264 -2.05,-0.215598,-1.042428,-6.100504,32.772942,1.923834 -2.1,-0.211204,-0.931142,-7.001224,33.313087,1.944094 -2.15,-0.206773,-0.815216,-7.899772,33.838509,1.96409 -2.2,-0.202284,-0.693358,-8.798415,34.350838,1.983896 -2.25,-0.197715,-0.564268,-9.699382,34.8516,2.00358 -2.3,-0.193043,-0.42685,-10.604858,35.342213,2.023206 -2.35,-0.18825,-0.280406,-11.516538,35.823854,2.042822 -2.4,-0.183319,-0.124422,-12.436116,36.297674,2.062468 -2.45,-0.178231,0.04161,-13.365238,36.76474,2.08219 -2.5,-0.172969,0.218118,-14.304846,37.225791,2.102008 -2.55,-0.167529,0.405364,-15.033574,37.576378,2.12192 -2.6,-0.161906,0.60368,-15.766225,37.9233,2.14191 -2.65,-0.156093,0.813347,-16.501609,38.266555,2.161964 -2.7,-0.15009,1.03399,-17.238682,38.605903,2.18205 -2.75,-0.143894,1.265194,-17.976406,38.94121,2.202134 -2.8,-0.137039,1.509048,-18.713349,39.27325,2.224512 -2.85,-0.129839,1.763059,-19.450333,39.597161,2.247548 -2.9,-0.122424,2.025005,-20.186616,39.91207,2.27054 -2.95,-0.114798,2.294032,-20.919117,40.221881,2.293436 -3.0,-0.106964,2.569508,-21.645653,40.526572,2.316196 -3.05,-0.098927,2.850812,-22.365364,40.825994,2.338784 -3.1,-0.090693,3.137312,-23.077824,41.120123,2.361162 -3.15,-0.082265,3.42838,-23.782599,41.40892,2.38332 -3.2,-0.073653,3.723048,-24.479297,41.692308,2.405226 -3.25,-0.064888,4.019306,-25.167558,41.97028,2.426772 -3.3,-0.056012,4.314819,-25.840489,42.240116,2.44782 -3.35,-0.047079,4.606925,-26.519412,42.510278,2.468216 -3.4,-0.038149,4.892963,-27.256565,42.80122,2.487786 -3.45,-0.029279,5.170712,-27.98189,43.085072,2.506394 -3.5,-0.020508,5.439702,-28.684759,43.357891,2.523994 -3.55,-0.011868,5.699842,-29.324898,43.604495,2.540574 -3.6,-0.003381,5.951639,-29.940066,43.83989,2.556182 -3.65,0.004996,6.197751,-30.536078,44.066516,2.571102 -3.7,0.013296,6.440294,-31.110777,44.283726,2.585574 -3.75,0.021436,6.678011,-31.663152,44.491234,2.599414 -3.8,0.029311,6.908922,-32.192621,44.688972,2.61234 -3.85,0.036814,7.131243,-32.698626,44.876873,2.624074 -3.9,0.043837,7.343285,-33.182292,45.05521,2.63434 -3.95,0.050101,7.555642,-33.64977,45.225749,2.642434 -4.0,0.055258,7.777138,-34.107823,45.390388,2.647412 -4.05,0.058827,8.001365,-34.556126,45.549019,2.647634 -4.1,0.06021,8.22012,-34.987808,45.69985,2.64104 -4.15,0.058734,8.421058,-35.395785,45.84102,2.62531 -4.2,0.053529,8.58217,-35.773201,45.970578,2.597348 -4.25,0.043196,8.660357,-36.112457,46.087443,2.55196 -4.3,0.025929,8.579368,-36.407541,46.188089,2.482112 -4.35,-4.8e-05,8.231068,-36.658803,46.250114,2.38018 -4.4,-0.033614,7.54002,-36.867042,46.243919,2.24973 -4.45,-0.06872,6.479127,-36.967258,46.178342,2.117012 -4.5,-0.109081,5.043241,-36.970929,46.024827,1.962332 -4.55,-0.153129,3.287575,-36.749225,45.774992,1.78988 -4.6,-0.199132,1.31077,-37.082197,44.986761,1.60451 -4.65,-0.245264,-0.754236,-35.859395,44.198786,1.411516 -4.7,-0.28955,-2.753794,-30.226374,41.264458,1.217056 -4.75,-0.329643,-4.53135,-19.035527,35.396328,1.029788 -4.8,-0.362554,-5.945366,-7.056717,26.380183,0.864192 -4.85,-0.384736,-6.875422,-1.403062,14.569068,0.7438 -4.9,-0.392757,-7.21062,0.872176,2.733077,0.697958 -4.95,0.0,-10.0,-0.023874,0.023874,0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.05,-1.812191,13.504274,18.730159,38.892346,10.292442 +0.1,-1.894563,13.748474,19.902320,38.767890,10.444360 +0.15,-1.894563,13.992674,20.879121,38.643435,10.520319 +0.2,-1.976936,14.236874,21.514042,38.892346,10.596278 +0.25,-1.976936,14.432234,21.855922,39.265713,10.672237 +0.3,-1.976936,14.578755,21.904762,39.887990,10.748196 +0.35,-1.976936,14.676435,21.855922,40.510268,10.824155 +0.4,-1.976936,14.822955,21.660562,41.257001,10.824155 +0.45,-1.976936,14.920635,21.465201,42.128189,10.900114 +0.5,-1.976936,14.969475,21.221001,42.999378,10.900114 +0.55,-1.976936,15.067155,20.976801,43.870566,10.976073 +0.6,-1.976936,15.115995,20.732601,44.741755,10.976073 +0.65,-1.976936,15.164835,20.537241,45.612943,10.976073 +0.7,-1.976936,15.213675,20.293040,46.484132,11.052032 +0.75,-1.976936,15.262515,20.097680,47.355320,11.052032 +0.8,-1.976936,15.311355,19.853480,48.102054,11.127991 +0.85,-1.976936,15.360195,19.658120,48.973242,11.127991 +0.9,-1.976936,15.360195,19.462759,49.719975,11.127991 +0.95,-1.976936,15.409035,19.218559,50.466708,11.203950 +1.0,-1.976936,15.457875,19.023199,51.213441,11.203950 +1.05,-1.976936,15.457875,18.778999,51.960174,11.203950 +1.1,-1.976936,15.506716,18.534799,52.582452,11.279909 +1.15,-1.976936,15.506716,18.339438,53.204729,11.279909 +1.2,-1.894563,15.555556,18.095238,53.951462,11.279909 +1.25,-1.894563,15.555556,17.851038,54.573740,11.355868 +1.3,-1.894563,15.604396,17.606838,55.196017,11.355868 +1.35,-1.894563,15.604396,17.362637,55.693839,11.355868 +1.4,-1.894563,15.653236,17.118437,56.316117,11.355868 +1.45,-1.894563,15.653236,16.874237,56.813939,11.431827 +1.5,-1.894563,15.653236,16.630037,57.311761,11.431827 +1.55,-1.894563,15.702076,16.336996,57.809583,11.431827 +1.6,-1.894563,15.702076,16.092796,58.307405,11.431827 +1.65,-1.894563,15.750916,15.799756,58.680772,11.507786 +1.7,-1.894563,15.750916,15.555556,59.178594,11.507786 +1.75,-1.894563,15.799756,15.262515,59.676416,11.507786 +1.8,-1.894563,15.848596,14.969475,60.049782,11.507786 +1.85,-1.894563,15.848596,14.676435,60.423149,11.583745 +1.9,-1.894563,15.897436,14.383394,60.796515,11.583745 +1.95,-1.894563,15.946276,14.041514,61.294337,11.583745 +2.0,-1.894563,15.946276,13.748474,61.667704,11.583745 +2.05,-1.894563,15.995116,13.406593,62.041070,11.659704 +2.1,-1.894563,16.043956,13.113553,62.414437,11.659704 +2.15,-1.894563,16.092796,12.771673,62.787803,11.659704 +2.2,-1.812191,16.141636,12.478632,63.036714,11.659704 +2.25,-1.812191,16.141636,12.185592,63.410081,11.659704 +2.3,-1.812191,16.190476,11.843712,63.783447,11.735663 +2.35,-1.812191,16.239316,11.550672,64.032358,11.735663 +2.4,-1.812191,16.336996,11.208791,64.405725,11.735663 +2.45,-1.812191,16.385836,10.866911,64.779091,11.735663 +2.5,-1.812191,16.434676,10.573871,65.028002,11.735663 +2.55,-1.812191,16.483516,10.280830,65.276914,11.811622 +2.6,-1.812191,16.581197,10.036630,65.525825,11.811622 +2.65,-1.812191,16.630037,9.792430,65.774736,11.811622 +2.7,-1.812191,16.727717,9.548230,66.023647,11.811622 +2.75,-1.812191,16.776557,9.255189,66.148102,11.887581 +2.8,-1.812191,16.874237,9.010989,66.397013,11.887581 +2.85,-1.812191,16.971917,8.766789,66.645924,11.887581 +2.9,-1.729819,17.069597,8.522589,66.894835,11.887581 +2.95,-1.729819,17.167277,8.229548,67.019291,11.963540 +3.0,-1.729819,17.264957,7.985348,67.268202,11.963540 +3.05,-1.729819,17.362637,7.741148,67.517113,11.963540 +3.1,-1.729819,17.460317,7.496947,67.641568,11.963540 +3.15,-1.729819,17.557998,7.252747,67.890479,12.039499 +3.2,-1.729819,17.655678,7.008547,68.014935,12.039499 +3.25,-1.729819,17.753358,6.764347,68.263846,12.039499 +3.3,-1.729819,17.851038,6.520147,68.388301,12.039499 +3.35,-1.729819,17.948718,6.275946,68.637212,12.115458 +3.4,-1.647446,18.046398,6.031746,68.761668,12.115458 +3.45,-1.647446,18.144078,5.787546,69.010579,12.115458 +3.5,-1.647446,18.241758,5.543346,69.135034,12.115458 +3.55,-1.647446,18.339438,5.299145,69.383945,12.115458 +3.6,-1.647446,18.388278,5.103785,69.508401,12.115458 +3.65,-1.647446,18.485958,4.908425,69.632856,12.191417 +3.7,-1.647446,18.583639,4.664225,69.757312,12.191417 +3.75,-1.647446,18.632479,4.468864,70.006223,12.191417 +3.8,-1.647446,18.730159,4.322344,70.130678,12.191417 +3.85,-1.647446,18.827839,4.126984,70.255134,12.191417 +3.9,-1.565074,18.876679,3.980464,70.379589,12.191417 +3.95,-1.565074,18.974359,3.785104,70.504045,12.191417 +4.0,-1.565074,19.023199,3.638584,70.504045,12.191417 +4.05,-1.565074,19.120879,3.492063,70.628500,12.191417 +4.1,-1.565074,19.169719,3.345543,70.752956,12.191417 +4.15,-1.565074,19.267399,3.199023,70.877411,12.191417 +4.2,-1.565074,19.316239,3.052503,71.001867,12.191417 +4.25,-1.565074,19.316239,2.954823,71.001867,12.115458 +4.3,-1.647446,19.316239,2.857143,71.126322,12.115458 +4.35,-1.647446,19.169719,2.759463,71.126322,12.039499 +4.4,-1.647446,18.974359,2.661783,71.126322,11.887581 +4.45,-1.729819,18.583639,2.612943,71.126322,11.811622 +4.5,-1.729819,18.095238,2.612943,71.001867,11.659704 +4.55,-1.812191,17.509158,2.710623,70.877411,11.507786 +4.6,-1.812191,16.825397,2.612943,70.255134,11.355868 +4.65,-1.894563,16.092796,3.003663,69.757312,11.203950 +4.7,-1.976936,15.409035,5.006105,67.766024,11.052032 +4.75,-1.976936,14.822955,8.913309,63.783447,10.900114 +4.8,-1.976936,14.334554,13.113553,57.685128,10.748196 +4.85,-2.059308,13.992674,15.067155,49.719975,10.672237 +4.9,-2.059308,13.894994,15.848596,41.630367,10.596278 +4.95,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/stretching.csv b/hal/recordings/stretching.csv index 847bcac50..6f9dd8b6b 100644 --- a/hal/recordings/stretching.csv +++ b/hal/recordings/stretching.csv @@ -1,121 +1,121 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos -0.0,-0.0,0.0,-0.0,-0.0,-0.0 -0.03333333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -0.06666666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -0.1,-0.0,0.0,-0.0,-0.0,-0.0 -0.13333333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -0.16666666666666666,-0.0,0.0,-0.0,-0.0,-0.0 -0.2,-0.0,0.0,-0.0,-0.0,-0.0 -0.23333333333333334,-0.0,0.0,-0.0,-0.0,-0.0 -0.26666666666666666,-0.0,0.0,-0.0,-0.0,-0.0 -0.3,-0.0,0.0,-0.0,-0.0,-0.0 -0.3333333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -0.36666666666666664,-0.0,0.0,-0.0,-0.0,-0.0 -0.4,-0.0,0.0,-0.0,-0.0,-0.0 -0.43333333333333335,-0.0,0.0,-0.0,-0.0,-0.0 -0.4666666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -0.5,-0.0,0.777778,2.656249,-0.0,-0.0 -0.5333333333333333,-0.0,2.88889,8.5,-0.0,-0.0 -0.5666666666666667,-0.0,6.0,14.343751,-0.0,-0.0 -0.6,-0.0,9.763889,16.999999,-0.0,-0.0 -0.6333333333333333,-0.0,13.777777,16.643122,-0.0,-0.0 -0.6666666666666666,-0.0,17.624998,15.375034,-0.0,-0.0 -0.7,-0.0,20.888885,12.899552,-0.0,-0.0 -0.7333333333333333,-0.0,23.152777,8.920488,-0.0,-0.0 -0.7666666666666667,-0.0,23.999997,3.141666,-0.0,-0.0 -0.8,-0.0,23.999997,-4.733103,-0.0,-0.0 -0.8333333333333334,-0.0,23.999997,-15.0,-0.0,-0.0 -0.8666666666666667,-0.0,23.999997,-27.440951,-0.0,-0.0 -0.9,-0.0,23.999997,-39.780845,-0.0,-0.0 -0.9333333333333333,-0.0,23.999997,-49.230323,-0.0,-0.0 -0.9666666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -1.0,-0.0,23.999997,-53.0,-0.0,-0.0 -1.0333333333333334,-0.0,23.999997,-53.0,-0.0,-0.0 -1.0666666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -1.1,-0.0,23.999997,-53.0,-0.0,-0.0 -1.1333333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -1.1666666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -1.2,-0.0,23.999997,-53.0,-0.0,-0.0 -1.2333333333333334,-0.0,23.999997,-53.0,-0.0,-0.0 -1.2666666666666666,-0.0,23.999997,-53.0,-0.0,-0.0 -1.3,-0.0,23.999997,-53.0,-0.0,-0.0 -1.3333333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -1.3666666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -1.4,-0.0,23.999997,-53.0,-0.0,-0.0 -1.4333333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -1.4666666666666666,-0.0,23.999997,-53.0,-0.0,-0.0 -1.5,-0.0,23.999997,-53.0,-0.0,-0.0 -1.5333333333333334,-0.0,23.999997,-53.0,-0.0,-0.0 -1.5666666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -1.6,-0.0,23.999997,-53.0,-0.0,-0.0 -1.6333333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -1.6666666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -1.7,-0.0,23.999997,-53.0,-0.0,-0.0 -1.7333333333333334,-0.0,23.999997,-53.0,-0.0,-0.0 -1.7666666666666666,-0.0,23.999997,-53.0,-0.0,-0.0 -1.8,-0.0,23.999997,-53.0,-0.0,-0.0 -1.8333333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -1.8666666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -1.9,-0.0,23.999997,-53.0,-0.0,-0.0 -1.9333333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -1.9666666666666666,-0.0,23.999997,-53.0,-0.0,-0.0 -2.0,-0.0,23.999997,-53.0,-0.0,-0.0 -2.033333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -2.066666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -2.1,-0.0,23.999997,-53.0,-0.0,-0.0 -2.1333333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -2.1666666666666665,-0.0,23.999997,-53.0,-0.0,-0.0 -2.2,-0.0,23.999997,-53.0,-0.0,-0.0 -2.2333333333333334,-0.0,23.999997,-53.0,-0.0,-0.0 -2.2666666666666666,-0.0,23.999997,-53.0,-0.0,-0.0 -2.3,-0.0,23.999997,-53.0,-0.0,-0.0 -2.3333333333333335,-0.0,23.999997,-53.0,-0.0,-0.0 -2.3666666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -2.4,-0.0,23.999997,-53.0,-0.0,-0.0 -2.433333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -2.466666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -2.5,-0.0,23.999997,-53.0,-0.0,-0.0 -2.533333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -2.566666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -2.6,-0.0,23.999997,-53.0,-0.0,-0.0 -2.6333333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -2.6666666666666665,-0.0,23.999997,-53.0,-0.0,-0.0 -2.7,-0.0,23.999997,-53.0,-0.0,-0.0 -2.7333333333333334,-0.0,23.999997,-53.0,-0.0,-0.0 -2.7666666666666666,-0.0,23.999997,-53.0,-0.0,-0.0 -2.8,-0.0,23.999997,-53.0,-0.0,-0.0 -2.8333333333333335,-0.0,23.999997,-53.0,-0.0,-0.0 -2.8666666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -2.9,-0.0,23.999997,-53.0,-0.0,-0.0 -2.933333333333333,-0.0,23.999997,-53.0,-0.0,-0.0 -2.966666666666667,-0.0,23.999997,-53.0,-0.0,-0.0 -3.0,-0.0,23.808293,-53.831999,-0.0,-0.0 -3.033333333333333,-0.0,23.264886,-55.815999,-0.0,-0.0 -3.066666666666667,-0.0,22.41733,-58.183998,-0.0,-0.0 -3.1,-0.0,21.313185,-60.168004,-0.0,-0.0 -3.1333333333333333,-0.0,19.999998,-61.000003,-0.0,-0.0 -3.1666666666666665,-0.0,18.523109,-58.565163,-0.0,-0.0 -3.2,-0.0,16.918949,-52.039782,-0.0,-0.0 -3.2333333333333334,-0.0,15.221729,-42.592595,-0.0,-0.0 -3.2666666666666666,-0.0,13.465662,-31.392321,-0.0,-0.0 -3.3,-0.0,11.684957,-19.607684,-0.0,-0.0 -3.3333333333333335,-0.0,9.913827,-8.407403,-0.0,-0.0 -3.3666666666666667,-0.0,8.186484,1.039773,-0.0,-0.0 -3.4,-0.0,6.537138,7.565165,-0.0,-0.0 -3.433333333333333,-0.0,4.999999,10.0,-0.0,-0.0 -3.466666666666667,-0.0,3.609053,9.259258,-0.0,-0.0 -3.5,-0.0,2.397366,7.407407,-0.0,-0.0 -3.533333333333333,-0.0,1.397778,4.999999,-0.0,-0.0 -3.566666666666667,-0.0,0.643127,2.592592,-0.0,-0.0 -3.6,-0.0,0.166254,0.740739,-0.0,-0.0 -3.6333333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -3.6666666666666665,-0.0,0.0,-0.0,-0.0,-0.0 -3.7,-0.0,0.0,-0.0,-0.0,-0.0 -3.7333333333333334,-0.0,0.0,-0.0,-0.0,-0.0 -3.7666666666666666,-0.0,0.0,-0.0,-0.0,-0.0 -3.8,-0.0,0.0,-0.0,-0.0,-0.0 -3.8333333333333335,-0.0,0.0,-0.0,-0.0,-0.0 -3.8666666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -3.9,-0.0,0.0,-0.0,-0.0,-0.0 -3.933333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -3.966666666666667,-0.0,0.0,-0.0,-0.0,-0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos +0.0,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.03333333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.06666666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.1,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.13333333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.16666666666666666,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.2,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.23333333333333334,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.26666666666666666,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.3,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.3333333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.36666666666666664,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.4,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.43333333333333335,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.4666666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.5,-1.647446,13.162393,16.483516,10.064565,39.887990 +0.5333333333333333,-1.647446,13.894994,18.534799,10.064565,39.887990 +0.5666666666666667,-1.647446,14.969475,20.586081,10.064565,39.887990 +0.6,-1.647446,16.288156,21.514042,10.064565,39.887990 +0.6333333333333333,-1.647446,17.655678,21.367521,10.064565,39.887990 +0.6666666666666666,-1.647446,18.974359,20.927961,10.064565,39.887990 +0.7,-1.647446,20.097680,20.048840,10.064565,39.887990 +0.7333333333333333,-1.647446,20.879121,18.681319,10.064565,39.887990 +0.7666666666666667,-1.647446,21.172161,16.630037,10.064565,39.887990 +0.8,-1.647446,21.172161,13.894994,10.064565,39.887990 +0.8333333333333334,-1.647446,21.172161,10.329670,10.064565,39.887990 +0.8666666666666667,-1.647446,21.172161,5.982906,10.064565,39.887990 +0.9,-1.647446,21.172161,1.636142,10.064565,39.887990 +0.9333333333333333,-1.647446,21.172161,-1.636142,10.064565,39.887990 +0.9666666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.0,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.0333333333333334,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.0666666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.1,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.1333333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.1666666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.2,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.2333333333333334,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.2666666666666666,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.3,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.3333333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.3666666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.4,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.4333333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.4666666666666666,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.5,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.5333333333333334,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.5666666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.6,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.6333333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.6666666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.7,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.7333333333333334,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.7666666666666666,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.8,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.8333333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.8666666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.9,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.9333333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +1.9666666666666666,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.0,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.033333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.066666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.1,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.1333333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.1666666666666665,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.2,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.2333333333333334,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.2666666666666666,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.3,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.3333333333333335,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.3666666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.4,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.433333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.466666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.5,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.533333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.566666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.6,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.6333333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.6666666666666665,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.7,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.7333333333333334,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.7666666666666666,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.8,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.8333333333333335,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.8666666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.9,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.933333333333333,-1.647446,21.172161,-2.954823,10.064565,39.887990 +2.966666666666667,-1.647446,21.172161,-2.954823,10.064565,39.887990 +3.0,-1.647446,21.123321,-3.247863,10.064565,39.887990 +3.033333333333333,-1.647446,20.927961,-3.931624,10.064565,39.887990 +3.066666666666667,-1.647446,20.634921,-4.761905,10.064565,39.887990 +3.1,-1.647446,20.244200,-5.494505,10.064565,39.887990 +3.1333333333333333,-1.647446,19.804640,-5.738706,10.064565,39.887990 +3.1666666666666665,-1.647446,19.267399,-4.908425,10.064565,39.887990 +3.2,-1.647446,18.730159,-2.612943,10.064565,39.887990 +3.2333333333333334,-1.647446,18.144078,0.659341,10.064565,39.887990 +3.2666666666666666,-1.647446,17.557998,4.566545,10.064565,39.887990 +3.3,-1.647446,16.923077,8.717949,10.064565,39.887990 +3.3333333333333335,-1.647446,16.336996,12.625153,10.064565,39.887990 +3.3666666666666667,-1.647446,15.750916,15.897436,10.064565,39.887990 +3.4,-1.647446,15.164835,18.192918,10.064565,39.887990 +3.433333333333333,-1.647446,14.627595,19.072039,10.064565,39.887990 +3.466666666666667,-1.647446,14.139194,18.778999,10.064565,39.887990 +3.5,-1.647446,13.748474,18.144078,10.064565,39.887990 +3.533333333333333,-1.647446,13.406593,17.313797,10.064565,39.887990 +3.566666666666667,-1.647446,13.162393,16.483516,10.064565,39.887990 +3.6,-1.647446,12.967033,15.799756,10.064565,39.887990 +3.6333333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +3.6666666666666665,-1.647446,12.918193,15.555556,10.064565,39.887990 +3.7,-1.647446,12.918193,15.555556,10.064565,39.887990 +3.7333333333333334,-1.647446,12.918193,15.555556,10.064565,39.887990 +3.7666666666666666,-1.647446,12.918193,15.555556,10.064565,39.887990 +3.8,-1.647446,12.918193,15.555556,10.064565,39.887990 +3.8333333333333335,-1.647446,12.918193,15.555556,10.064565,39.887990 +3.8666666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +3.9,-1.647446,12.918193,15.555556,10.064565,39.887990 +3.933333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +3.966666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 diff --git a/hal/recordings/test.csv b/hal/recordings/test.csv index 6a23c8e98..2992b2108 100644 --- a/hal/recordings/test.csv +++ b/hal/recordings/test.csv @@ -1,1321 +1,1321 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -0.0,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.05,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.1,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.15,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.2,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.25,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.3,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.35,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.4,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.45,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.5,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.55,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.6,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.65,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.7,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.75,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.8,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.85,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.9,-0.003342,0.006684,-0.006684,0.006684,0.006684 -0.95,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.0,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.05,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.1,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.15,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.2,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.25,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.3,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.35,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.4,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.45,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.5,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.55,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.6,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.65,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.7,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.75,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.8,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.85,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.9,-0.003342,0.006684,-0.006684,0.006684,0.006684 -1.95,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.0,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.05,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.1,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.15,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.2,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.25,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.3,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.35,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.4,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.45,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.5,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.55,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.6,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.65,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.7,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.75,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.8,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.85,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.9,-0.003342,0.006684,-0.006684,0.006684,0.006684 -2.95,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.0,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.05,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.1,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.15,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.2,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.25,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.3,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.35,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.4,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.45,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.5,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.55,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.6,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.65,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.7,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.75,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.8,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.85,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.9,-0.003342,0.006684,-0.006684,0.006684,0.006684 -3.95,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.0,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.05,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.1,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.15,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.2,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.25,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.3,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.35,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.4,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.45,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.5,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.55,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.6,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.65,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.7,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.75,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.8,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.85,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.9,-0.003342,0.006684,-0.006684,0.006684,0.006684 -4.95,-0.003342,0.006684,-0.006684,0.006684,0.006684 -5.0,-0.003342,0.006684,-0.006684,0.006684,0.006684 -5.05,-0.003342,0.006684,-0.006684,0.006684,0.006684 -5.1,-0.003342,0.006684,-0.006684,0.006684,0.006684 -5.15,-0.003342,0.006684,-0.006684,0.006684,0.006684 -5.2,-0.003342,0.006684,-0.006684,0.006684,0.006684 -5.25,-0.003342,0.006684,-0.006684,0.006684,0.006684 -5.3,-0.003341,0.006684,-0.006684,0.006684,0.006684 -5.35,-0.003337,0.006684,-0.006684,0.006684,0.006684 -5.4,-0.003311,0.006684,-0.006684,0.006684,0.006684 -5.45,-0.003197,0.006684,-0.006684,0.006684,0.006684 -5.5,-0.002785,0.006684,-0.006684,0.006684,0.006684 -5.55,-0.001508,0.006684,-0.006684,0.006684,0.006684 -5.6,0.001925,0.006684,-0.006684,0.006684,0.006684 -5.65,0.010069,0.006684,-0.006684,0.006684,0.006684 -5.7,0.027271,0.006684,-0.006684,0.006684,0.006684 -5.75,0.059872,0.006684,-0.006684,0.006684,0.006684 -5.8,0.115679,0.006684,-0.006684,0.006684,0.006684 -5.85,0.202602,0.006684,-0.006684,0.006684,0.006684 -5.9,0.326926,0.006684,-0.006684,0.006684,0.006684 -5.95,0.492226,0.006684,-0.006684,0.006684,0.006684 -6.0,0.699733,0.006684,-0.006684,0.006684,0.006684 -6.05,0.949947,0.006684,-0.006684,0.006684,0.006684 -6.1,1.244267,0.006684,-0.006684,0.006684,0.006684 -6.15,1.585336,0.006684,-0.006684,0.006684,0.006684 -6.2,1.975924,0.006684,-0.006684,0.006684,0.006684 -6.25,2.417385,0.006684,-0.006684,0.006684,0.006684 -6.3,2.908895,0.006684,-0.006684,0.006684,0.006684 -6.35,3.447837,0.006684,-0.006684,0.006684,0.006684 -6.4,4.030792,0.006684,-0.006684,0.006684,0.006684 -6.45,4.654389,0.006684,-0.006684,0.006684,0.006684 -6.5,5.315682,0.006684,-0.006684,0.006684,0.006684 -6.55,6.012142,0.006684,-0.006684,0.006684,0.006684 -6.6,6.74149,0.006684,-0.006684,0.006684,0.006684 -6.65,7.501565,0.006684,-0.006684,0.006684,0.006684 -6.7,8.290229,0.006684,-0.006684,0.006684,0.006684 -6.75,9.105341,0.006684,-0.006684,0.006684,0.006684 -6.8,9.94475,0.006684,-0.006684,0.006684,0.006684 -6.85,10.806301,0.006684,-0.006684,0.006684,0.006684 -6.9,11.687838,0.006684,-0.006684,0.006684,0.006684 -6.95,12.587196,0.006684,-0.006684,0.006684,0.006684 -7.0,13.50222,0.006684,-0.006684,0.006684,0.006684 -7.05,14.430745,0.006684,-0.006684,0.006684,0.006684 -7.1,15.370613,0.006684,-0.006684,0.006684,0.006684 -7.15,16.319665,0.006684,-0.006684,0.006684,0.006684 -7.2,17.275736,0.006684,-0.006684,0.006684,0.006684 -7.25,18.236672,0.006684,-0.006684,0.006684,0.006684 -7.3,19.200304,0.006684,-0.006684,0.006684,0.006684 -7.35,20.164479,0.006684,-0.006684,0.006684,0.006684 -7.4,21.127028,0.006684,-0.006684,0.006684,0.006684 -7.45,22.085804,0.006684,-0.006684,0.006684,0.006684 -7.5,23.038634,0.006684,-0.006684,0.006684,0.006684 -7.55,23.983364,0.006684,-0.006684,0.006684,0.006684 -7.6,24.917831,0.006684,-0.006684,0.006684,0.006684 -7.65,25.839876,0.006684,-0.006684,0.006684,0.006684 -7.7,26.747335,0.006684,-0.006684,0.006684,0.006684 -7.75,27.638053,0.006684,-0.006684,0.006684,0.006684 -7.8,28.509865,0.006684,-0.006684,0.006684,0.006684 -7.85,29.360613,0.006684,-0.006684,0.006684,0.006684 -7.9,30.188132,0.006684,-0.006684,0.006684,0.006684 -7.95,30.990266,0.006684,-0.006684,0.006684,0.006684 -8.0,31.764853,0.006684,-0.006684,0.006684,0.006684 -8.05,32.509733,0.006684,-0.006684,0.006684,0.006684 -8.1,33.222747,0.006684,-0.006684,0.006684,0.006684 -8.15,33.901736,0.006684,-0.006684,0.006684,0.006684 -8.2,34.544536,0.006684,-0.006684,0.006684,0.006684 -8.25,35.148994,0.006684,-0.006684,0.006684,0.006684 -8.3,35.712952,0.006684,-0.006684,0.006684,0.006684 -8.35,36.234249,0.006684,-0.006684,0.006684,0.006684 -8.4,36.710692,0.006684,-0.006684,0.006684,0.006684 -8.45,37.140052,0.006684,-0.006684,0.006684,0.006684 -8.5,37.52008,0.006684,-0.006684,0.006684,0.006684 -8.55,37.848568,0.006684,-0.006684,0.006684,0.006684 -8.6,38.123647,0.006684,-0.006684,0.006684,0.006684 -8.65,38.344241,0.006684,-0.006684,0.006684,0.006684 -8.7,38.510594,0.006684,-0.006684,0.006684,0.006684 -8.75,38.624621,0.006684,-0.006684,0.006684,0.006684 -8.8,38.689716,0.006684,-0.006684,0.006684,0.006684 -8.85,38.710056,0.006684,-0.006684,0.006684,0.006684 -8.9,38.689706,0.006684,-0.006684,0.006684,0.006684 -8.95,38.632008,0.006684,-0.006684,0.006684,0.006684 -9.0,38.539411,0.006684,-0.006684,0.006684,0.006684 -9.05,38.413681,0.006684,-0.006684,0.006684,0.006684 -9.1,38.256193,0.006684,-0.006684,0.006684,0.006684 -9.15,38.0681,0.006684,-0.006684,0.006684,0.006684 -9.2,37.850405,0.006684,-0.006684,0.006684,0.006684 -9.25,37.603989,0.006684,-0.006684,0.006684,0.006684 -9.3,37.329603,0.006684,-0.006684,0.006684,0.006684 -9.35,37.027927,0.006684,-0.006684,0.006684,0.006684 -9.4,36.699576,0.006684,-0.006684,0.006684,0.006684 -9.45,36.34513,0.006684,-0.006684,0.006684,0.006684 -9.5,35.96515,0.006684,-0.006684,0.006684,0.006684 -9.55,35.560181,0.006684,-0.006684,0.006684,0.006684 -9.6,35.130767,0.006684,-0.006684,0.006684,0.006684 -9.65,34.677451,0.006684,-0.006684,0.006684,0.006684 -9.7,34.200775,0.006684,-0.006684,0.006684,0.006684 -9.75,33.701277,0.006684,-0.006684,0.006684,0.006684 -9.8,33.179505,0.006684,-0.006684,0.006684,0.006684 -9.85,32.635989,0.006684,-0.006684,0.006684,0.006684 -9.9,32.071269,0.006684,-0.006684,0.006684,0.006684 -9.95,31.485895,0.006684,-0.006684,0.006684,0.006684 -10.0,30.880399,0.006684,-0.006684,0.006684,0.006684 -10.05,30.25532,0.006684,-0.006684,0.006684,0.006684 -10.1,29.611203,0.006684,-0.006684,0.006684,0.006684 -10.15,28.948589,0.006684,-0.006684,0.006684,0.006684 -10.2,28.268013,0.006684,-0.006684,0.006684,0.006684 -10.25,27.570019,0.006684,-0.006684,0.006684,0.006684 -10.3,26.855143,0.006684,-0.006684,0.006684,0.006684 -10.35,26.123933,0.006684,-0.006684,0.006684,0.006684 -10.4,25.376922,0.006684,-0.006684,0.006684,0.006684 -10.45,24.614651,0.006684,-0.006684,0.006684,0.006684 -10.5,23.837661,0.006684,-0.006684,0.006684,0.006684 -10.55,23.046496,0.006684,-0.006684,0.006684,0.006684 -10.6,22.241691,0.006684,-0.006684,0.006684,0.006684 -10.65,21.423788,0.006684,-0.006684,0.006684,0.006684 -10.7,20.593326,0.006684,-0.006684,0.006684,0.006684 -10.75,19.750844,0.006684,-0.006684,0.006684,0.006684 -10.8,18.89689,0.006684,-0.006684,0.006684,0.006684 -10.85,18.031995,0.006684,-0.006684,0.006684,0.006684 -10.9,17.156703,0.006684,-0.006684,0.006684,0.006684 -10.95,16.271551,0.006684,-0.006684,0.006684,0.006684 -11.0,15.377085,0.006684,-0.006684,0.006684,0.006684 -11.05,14.473839,0.006684,-0.006684,0.006684,0.006684 -11.1,13.562359,0.006684,-0.006684,0.006684,0.006684 -11.15,12.643181,0.006684,-0.006684,0.006684,0.006684 -11.2,11.716845,0.006684,-0.006684,0.006684,0.006684 -11.25,10.783894,0.006684,-0.006684,0.006684,0.006684 -11.3,9.844866,0.006684,-0.006684,0.006684,0.006684 -11.35,8.900301,0.006684,-0.006684,0.006684,0.006684 -11.4,7.950736,0.006684,-0.006684,0.006684,0.006684 -11.45,6.996713,0.006684,-0.006684,0.006684,0.006684 -11.5,6.038761,0.006684,-0.006684,0.006684,0.006684 -11.55,5.077402,0.006684,-0.006684,0.006684,0.006684 -11.6,4.113127,0.006684,-0.006684,0.006684,0.006684 -11.65,3.146342,0.006684,-0.006684,0.006684,0.006684 -11.7,2.177242,0.006684,-0.006684,0.006684,0.006684 -11.75,1.205592,0.006684,-0.006684,0.006684,0.006684 -11.8,0.230422,0.006684,-0.006684,0.006684,0.006684 -11.85,-0.750157,0.006684,-0.006684,0.006684,0.006684 -11.9,-1.738646,0.006684,-0.006684,0.006684,0.006684 -11.95,-2.736888,0.006684,-0.006684,0.006684,0.006684 -12.0,-3.743802,0.006684,-0.006684,0.006684,0.006684 -12.05,-4.753223,0.006684,-0.006684,0.006684,0.006684 -12.1,-5.753904,0.006684,-0.006684,0.006684,0.006684 -12.15,-6.73312,0.006684,-0.006684,0.006684,0.006684 -12.2,-7.682671,0.006684,-0.006684,0.006684,0.006684 -12.25,-8.603425,0.006684,-0.006684,0.006684,0.006684 -12.3,-9.504892,0.006684,-0.006684,0.006684,0.006684 -12.35,-10.39993,0.006684,-0.006684,0.006684,0.006684 -12.4,-11.298397,0.006684,-0.006684,0.006684,0.006684 -12.45,-12.203804,0.006684,-0.006684,0.006684,0.006684 -12.5,-13.114113,0.006684,-0.006684,0.006684,0.006684 -12.55,-14.024748,0.006684,-0.006684,0.006684,0.006684 -12.6,-14.931289,0.006684,-0.006684,0.006684,0.006684 -12.65,-15.830676,0.006684,-0.006684,0.006684,0.006684 -12.7,-16.721177,0.006684,-0.006684,0.006684,0.006684 -12.75,-17.601901,0.006684,-0.006684,0.006684,0.006684 -12.8,-18.472294,0.006684,-0.006684,0.006684,0.006684 -12.85,-19.331891,0.006684,-0.006684,0.006684,0.006684 -12.9,-20.180217,0.006684,-0.006684,0.006684,0.006684 -12.95,-21.016777,0.006684,-0.006684,0.006684,0.006684 -13.0,-21.841034,0.006684,-0.006684,0.006684,0.006684 -13.05,-22.652457,0.006684,-0.006684,0.006684,0.006684 -13.1,-23.450512,0.006684,-0.006684,0.006684,0.006684 -13.15,-24.234659,0.006684,-0.006684,0.006684,0.006684 -13.2,-25.004354,0.006684,-0.006684,0.006684,0.006684 -13.25,-25.759061,0.006684,-0.006684,0.006684,0.006684 -13.3,-26.49824,0.006684,-0.006684,0.006684,0.006684 -13.35,-27.22135,0.006684,-0.006684,0.006684,0.006684 -13.4,-27.927851,0.006684,-0.006684,0.006684,0.006684 -13.45,-28.617207,0.006684,-0.006684,0.006684,0.006684 -13.5,-29.288869,0.006684,-0.006684,0.006684,0.006684 -13.55,-29.942299,0.006684,-0.006684,0.006684,0.006684 -13.6,-30.576967,0.006684,-0.006684,0.006684,0.006684 -13.65,-31.19232,0.006684,-0.006684,0.006684,0.006684 -13.7,-31.787823,0.006684,-0.006684,0.006684,0.006684 -13.75,-32.362942,0.006684,-0.006684,0.006684,0.006684 -13.8,-32.91712,0.006684,-0.006684,0.006684,0.006684 -13.85,-33.449837,0.006684,-0.006684,0.006684,0.006684 -13.9,-33.960541,0.006684,-0.006684,0.006684,0.006684 -13.95,-34.448694,0.006684,-0.006684,0.006684,0.006684 -14.0,-34.913758,0.006684,-0.006684,0.006684,0.006684 -14.05,-35.355194,0.006684,-0.006684,0.006684,0.006684 -14.1,-35.772453,0.006684,-0.006684,0.006684,0.006684 -14.15,-36.165005,0.006684,-0.006684,0.006684,0.006684 -14.2,-36.532312,0.006684,-0.006684,0.006684,0.006684 -14.25,-36.873821,0.006684,-0.006684,0.006684,0.006684 -14.3,-37.189014,0.006684,-0.006684,0.006684,0.006684 -14.35,-37.47733,0.006684,-0.006684,0.006684,0.006684 -14.4,-37.738206,0.006684,-0.006684,0.006684,0.006684 -14.45,-37.970992,0.006684,-0.006684,0.006684,0.006684 -14.5,-38.174928,0.006684,-0.006684,0.006684,0.006684 -14.55,-38.349023,0.006684,-0.006684,0.006684,0.006684 -14.6,-38.492006,0.006684,-0.006684,0.006684,0.006684 -14.65,-38.602266,0.006684,-0.006684,0.006684,0.006684 -14.7,-38.67779,0.006684,-0.006684,0.006684,0.006684 -14.75,-38.716196,0.006684,-0.006684,0.006684,0.006684 -14.8,-38.714629,0.006684,-0.006684,0.006684,0.006684 -14.85,-38.669806,0.006684,-0.006684,0.006684,0.006684 -14.9,-38.578247,0.006684,-0.006684,0.006684,0.006684 -14.95,-38.436702,0.006684,-0.006684,0.006684,0.006684 -15.0,-38.242779,0.006684,-0.006684,0.006684,0.006684 -15.05,-37.995243,0.006684,-0.006684,0.006684,0.006684 -15.1,-37.694171,0.006684,-0.006684,0.006684,0.006684 -15.15,-37.340699,0.006684,-0.006684,0.006684,0.006684 -15.2,-36.936621,0.006684,-0.006684,0.006684,0.006684 -15.25,-36.484084,0.006684,-0.006684,0.006684,0.006684 -15.3,-35.985337,0.006684,-0.006684,0.006684,0.006684 -15.35,-35.442661,0.006684,-0.006684,0.006684,0.006684 -15.4,-34.85829,0.006684,-0.006684,0.006684,0.006684 -15.45,-34.234445,0.006684,-0.006684,0.006684,0.006684 -15.5,-33.573296,0.006684,-0.006684,0.006684,0.006684 -15.55,-32.877037,0.006684,-0.006684,0.006684,0.006684 -15.6,-32.147822,0.006684,-0.006684,0.006684,0.006684 -15.65,-31.38782,0.006684,-0.006684,0.006684,0.006684 -15.7,-30.599193,0.006684,-0.006684,0.006684,0.006684 -15.75,-29.784095,0.006684,-0.006684,0.006684,0.006684 -15.8,-28.944689,0.006684,-0.006684,0.006684,0.006684 -15.85,-28.083141,0.006684,-0.006684,0.006684,0.006684 -15.9,-27.201609,0.006684,-0.006684,0.006684,0.006684 -15.95,-26.302247,0.006684,-0.006684,0.006684,0.006684 -16.0,-25.387227,0.006684,-0.006684,0.006684,0.006684 -16.05,-24.458701,0.006684,-0.006684,0.006684,0.006684 -16.1,-23.518833,0.006684,-0.006684,0.006684,0.006684 -16.15,-22.569778,0.006684,-0.006684,0.006684,0.006684 -16.2,-21.613708,0.006684,-0.006684,0.006684,0.006684 -16.25,-20.652776,0.006684,-0.006684,0.006684,0.006684 -16.3,-19.689144,0.006684,-0.006684,0.006684,0.006684 -16.35,-18.724969,0.006684,-0.006684,0.006684,0.006684 -16.4,-17.762417,0.006684,-0.006684,0.006684,0.006684 -16.45,-16.803642,0.006684,-0.006684,0.006684,0.006684 -16.5,-15.850813,0.006684,-0.006684,0.006684,0.006684 -16.55,-14.906085,0.006684,-0.006684,0.006684,0.006684 -16.6,-13.971619,0.006684,-0.006684,0.006684,0.006684 -16.65,-13.049576,0.006684,-0.006684,0.006684,0.006684 -16.7,-12.142115,0.006684,-0.006684,0.006684,0.006684 -16.75,-11.251398,0.006684,-0.006684,0.006684,0.006684 -16.8,-10.379586,0.006684,-0.006684,0.006684,0.006684 -16.85,-9.52884,0.006684,-0.006684,0.006684,0.006684 -16.9,-8.701319,0.006684,-0.006684,0.006684,0.006684 -16.95,-7.899183,0.006684,-0.006684,0.006684,0.006684 -17.0,-7.124595,0.006684,-0.006684,0.006684,0.006684 -17.05,-6.379713,0.006684,-0.006684,0.006684,0.006684 -17.1,-5.6667,0.006684,-0.006684,0.006684,0.006684 -17.15,-4.987717,0.006684,-0.006684,0.006684,0.006684 -17.2,-4.344924,0.006684,-0.006684,0.006684,0.006684 -17.25,-3.740484,0.006684,-0.006684,0.006684,0.006684 -17.3,-3.176565,0.006683,-0.006684,0.006684,0.006684 -17.35,-2.655337,0.006674,-0.006684,0.006684,0.006684 -17.4,-2.178965,0.006624,-0.006684,0.006684,0.006684 -17.45,-1.749585,0.006412,-0.006684,0.006684,0.006684 -17.5,-1.369216,0.005666,-0.006684,0.006684,0.006684 -17.55,-1.039567,0.00342,-0.006684,0.006684,0.006684 -17.6,-0.761691,-0.002481,-0.006684,0.006684,0.006684 -17.65,-0.535465,-0.01624,-0.006684,0.006684,0.006684 -17.7,-0.359006,-0.045014,-0.006684,0.006684,0.006684 -17.75,-0.228251,-0.099482,-0.006684,0.006684,0.006684 -17.8,-0.136983,-0.193605,-0.006684,0.006684,0.006684 -17.85,-0.077451,-0.343355,-0.006684,0.006684,0.006684 -17.9,-0.041428,-0.564689,-0.006684,0.006684,0.006684 -17.95,-0.021349,-0.871417,-0.006684,0.006684,0.006684 -18.0,-0.011111,-1.273667,-0.006684,0.006684,0.006684 -18.05,-0.00637,-1.777343,-0.006684,0.006684,0.006684 -18.1,-0.004396,-2.384508,-0.006684,0.006684,0.006684 -18.15,-0.003664,-3.094307,-0.006684,0.006684,0.006684 -18.2,-0.003426,-3.904024,-0.006684,0.006684,0.006684 -18.25,-0.00336,-4.809928,-0.006684,0.006684,0.006684 -18.3,-0.003345,-5.807832,-0.006684,0.006684,0.006684 -18.35,-0.003342,-6.893386,-0.006684,0.006684,0.006684 -18.4,-0.003342,-8.062217,-0.006684,0.006684,0.006684 -18.45,-0.003342,-9.309959,-0.006684,0.006684,0.006684 -18.5,-0.003342,-10.632261,-0.006684,0.006684,0.006684 -18.55,-0.003342,-12.024791,-0.006684,0.006684,0.006684 -18.6,-0.003342,-13.483223,-0.006684,0.006684,0.006684 -18.65,-0.003342,-15.003229,-0.006684,0.006684,0.006684 -18.7,-0.003342,-16.580494,-0.006684,0.006684,0.006684 -18.75,-0.003342,-18.21069,-0.006684,0.006684,0.006684 -18.8,-0.003342,-19.889497,-0.006684,0.006684,0.006684 -18.85,-0.003342,-21.612599,-0.006684,0.006684,0.006684 -18.9,-0.003342,-23.375662,-0.006684,0.006684,0.006684 -18.95,-0.003342,-25.174383,-0.006684,0.006684,0.006684 -19.0,-0.003342,-27.004427,-0.006684,0.006684,0.006684 -19.05,-0.003342,-28.86148,-0.006684,0.006684,0.006684 -19.1,-0.003342,-30.741216,-0.006684,0.006684,0.006684 -19.15,-0.003342,-32.639319,-0.006684,0.006684,0.006684 -19.2,-0.003342,-34.551465,-0.006684,0.006684,0.006684 -19.25,-0.003342,-36.47333,-0.006684,0.006684,0.006684 -19.3,-0.003342,-38.400597,-0.006684,0.006684,0.006684 -19.35,-0.003342,-40.328948,-0.006684,0.006684,0.006684 -19.4,-0.003342,-42.25405,-0.006684,0.006684,0.006684 -19.45,-0.003342,-44.171595,-0.006684,0.006684,0.006684 -19.5,-0.003342,-46.077262,-0.006684,0.006684,0.006684 -19.55,-0.003342,-47.966725,-0.006684,0.006684,0.006684 -19.6,-0.003342,-49.835656,-0.006684,0.006684,0.006684 -19.65,-0.003342,-51.679742,-0.006684,0.006684,0.006684 -19.7,-0.003342,-53.494656,-0.006684,0.006684,0.006684 -19.75,-0.003342,-55.276096,-0.006684,0.006684,0.006684 -19.8,-0.003342,-57.019717,-0.006684,0.006684,0.006684 -19.85,-0.003342,-58.721213,-0.006684,0.006684,0.006684 -19.9,-0.003342,-60.376249,-0.006684,0.006684,0.006684 -19.95,-0.003342,-61.980524,-0.006684,0.006684,0.006684 -20.0,-0.003342,-63.5297,-0.006684,0.006684,0.006684 -20.05,-0.003342,-65.019453,-0.006684,0.006684,0.006684 -20.1,-0.003342,-66.445487,-0.006684,0.006684,0.006684 -20.15,-0.003342,-67.803452,-0.006684,0.006684,0.006684 -20.2,-0.003342,-69.089064,-0.006684,0.006684,0.006684 -20.25,-0.003342,-70.29798,-0.006684,0.006684,0.006684 -20.3,-0.003342,-71.425897,-0.006684,0.006684,0.006684 -20.35,-0.003342,-72.468492,-0.006684,0.006684,0.006684 -20.4,-0.003342,-73.421364,-0.006684,0.006684,0.006684 -20.45,-0.003342,-74.280097,-0.006684,0.006684,0.006684 -20.5,-0.003342,-75.040153,-0.006684,0.006684,0.006684 -20.55,-0.003342,-75.697129,-0.006684,0.006684,0.006684 -20.6,-0.003342,-76.247287,-0.006684,0.006684,0.006684 -20.65,-0.003342,-76.688483,-0.006684,0.006684,0.006684 -20.7,-0.003342,-77.021188,-0.006684,0.006684,0.006684 -20.75,-0.003342,-77.249241,-0.006684,0.006684,0.006684 -20.8,-0.003342,-77.379432,-0.006684,0.006684,0.006684 -20.85,-0.003342,-77.420112,-0.006684,0.006684,0.006684 -20.9,-0.003342,-77.379411,-0.006684,0.006684,0.006684 -20.95,-0.003342,-77.264015,-0.006684,0.006684,0.006684 -21.0,-0.003342,-77.078821,-0.006684,0.006684,0.006684 -21.05,-0.003342,-76.827361,-0.006684,0.006684,0.006684 -21.1,-0.003342,-76.512394,-0.006684,0.006684,0.006684 -21.15,-0.003342,-76.136207,-0.006684,0.006684,0.006684 -21.2,-0.003342,-75.700817,-0.006684,0.006684,0.006684 -21.25,-0.003342,-75.207978,-0.006684,0.006684,0.006684 -21.3,-0.003342,-74.659206,-0.006684,0.006684,0.006684 -21.35,-0.003342,-74.055862,-0.006684,0.006684,0.006684 -21.4,-0.003342,-73.399166,-0.006684,0.006684,0.006684 -21.45,-0.003342,-72.690288,-0.006684,0.006684,0.006684 -21.5,-0.003342,-71.93032,-0.006684,0.006684,0.006684 -21.55,-0.003342,-71.120376,-0.006684,0.006684,0.006684 -21.6,-0.003342,-70.261555,-0.006684,0.006684,0.006684 -21.65,-0.003342,-69.354929,-0.006684,0.006684,0.006684 -21.7,-0.003342,-68.401571,-0.006684,0.006684,0.006684 -21.75,-0.003342,-67.402588,-0.006684,0.006684,0.006684 -21.8,-0.003342,-66.359031,-0.006684,0.006684,0.006684 -21.85,-0.003342,-65.271999,-0.006684,0.006684,0.006684 -21.9,-0.003342,-64.142573,-0.006684,0.006684,0.006684 -21.95,-0.003342,-62.971817,-0.006684,0.006684,0.006684 -22.0,-0.003342,-61.760824,-0.006684,0.006684,0.006684 -22.05,-0.003342,-60.510668,-0.006684,0.006684,0.006684 -22.1,-0.003342,-59.222432,-0.006684,0.006684,0.006684 -22.15,-0.003342,-57.897198,-0.006684,0.006684,0.006684 -22.2,-0.003342,-56.536047,-0.006684,0.006684,0.006684 -22.25,-0.003342,-55.140056,-0.006684,0.006684,0.006684 -22.3,-0.003342,-53.710313,-0.006684,0.006684,0.006684 -22.35,-0.003342,-52.247891,-0.006684,0.006684,0.006684 -22.4,-0.003342,-50.753869,-0.006684,0.006684,0.006684 -22.45,-0.003342,-49.229326,-0.006684,0.006684,0.006684 -22.5,-0.003342,-47.675349,-0.006684,0.006684,0.006684 -22.55,-0.003342,-46.093013,-0.006684,0.006684,0.006684 -22.6,-0.003342,-44.483414,-0.006684,0.006684,0.006684 -22.65,-0.003342,-42.847597,-0.006684,0.006684,0.006684 -22.7,-0.003342,-41.186672,-0.006684,0.006684,0.006684 -22.75,-0.003342,-39.501716,-0.006684,0.006684,0.006684 -22.8,-0.003342,-37.7938,-0.006684,0.006684,0.006684 -22.85,-0.003342,-36.06401,-0.006684,0.006684,0.006684 -22.9,-0.003342,-34.313426,-0.006684,0.006684,0.006684 -22.95,-0.003342,-32.543126,-0.006684,0.006684,0.006684 -23.0,-0.003342,-30.75419,-0.006684,0.006684,0.006684 -23.05,-0.003342,-28.947701,-0.006684,0.006684,0.006684 -23.1,-0.003342,-27.12474,-0.006684,0.006684,0.006684 -23.15,-0.003342,-25.286385,-0.006684,0.006684,0.006684 -23.2,-0.003342,-23.433715,-0.006684,0.006684,0.006684 -23.25,-0.003342,-21.567811,-0.006684,0.006684,0.006684 -23.3,-0.003342,-19.689755,-0.006684,0.006684,0.006684 -23.35,-0.003342,-17.800629,-0.006684,0.006684,0.006684 -23.4,-0.003342,-15.901507,-0.006684,0.006684,0.006684 -23.45,-0.003342,-13.993473,-0.006684,0.006684,0.006684 -23.5,-0.003342,-12.077608,-0.006684,0.006684,0.006684 -23.55,-0.003342,-10.154991,-0.006684,0.006684,0.006684 -23.6,-0.003342,-8.226702,-0.006684,0.006684,0.006684 -23.65,-0.003342,-6.29382,-0.006684,0.006684,0.006684 -23.7,-0.003342,-4.357425,-0.006684,0.006684,0.006684 -23.75,-0.003342,-2.41859,-0.006684,0.006684,0.006684 -23.8,-0.003342,-0.478382,-0.006684,0.006684,0.006684 -23.85,-0.003342,1.462154,-0.006684,0.006684,0.006684 -23.9,-0.003342,3.402035,-0.006684,0.006684,0.006684 -23.95,-0.003342,5.340441,-0.006684,0.006684,0.006684 -24.0,-0.003342,7.276951,-0.006684,0.006684,0.006684 -24.05,-0.003342,9.211979,-0.006684,0.006684,0.006684 -24.1,-0.003342,11.147355,-0.006684,0.006684,0.006684 -24.15,-0.003342,13.086669,-0.006684,0.006684,0.006684 -24.2,-0.003342,15.034701,-0.006684,0.006684,0.006684 -24.25,-0.003342,16.994957,-0.006684,0.006684,0.006684 -24.3,-0.003342,18.965315,-0.006684,0.006684,0.006684 -24.35,-0.003342,20.933874,-0.006684,0.006684,0.006684 -24.4,-0.003342,22.878934,-0.006684,0.006684,0.006684 -24.45,-0.003342,24.775961,-0.006684,0.006684,0.006684 -24.5,-0.003342,26.609131,-0.006684,0.006684,0.006684 -24.55,-0.003342,28.38008,-0.006684,0.006684,0.006684 -24.6,-0.003342,30.107108,-0.006684,0.006684,0.006684 -24.65,-0.003342,31.815011,-0.006684,0.006684,0.006684 -24.7,-0.003342,33.522927,-0.006684,0.006684,0.006684 -24.75,-0.003342,35.238124,-0.006684,0.006684,0.006684 -24.8,-0.003342,36.957846,-0.006684,0.006684,0.006684 -24.85,-0.003342,38.675598,-0.006684,0.006684,0.006684 -24.9,-0.003342,40.386608,-0.006684,0.006684,0.006684 -24.95,-0.003342,42.089702,-0.006684,0.006684,0.006684 -25.0,-0.003342,43.785232,-0.006684,0.006684,0.006684 -25.05,-0.003342,45.470577,-0.006684,0.006684,0.006684 -25.1,-0.003342,47.135866,-0.006684,0.006684,0.006684 -25.15,-0.003342,48.763476,-0.006684,0.006684,0.006684 -25.2,-0.003342,50.333433,-0.006684,0.006684,0.006684 -25.25,-0.003342,51.832765,-0.006684,0.006684,0.006684 -25.3,-0.003342,53.262628,-0.006684,0.006684,0.006684 -25.35,-0.003342,54.63761,-0.006684,0.006684,0.006684 -25.4,-0.003342,55.97757,-0.006684,0.006684,0.006684 -25.45,-0.003342,57.297624,-0.006684,0.006684,0.006684 -25.5,-0.003342,58.603044,-0.006684,0.006684,0.006684 -25.55,-0.003342,59.890391,-0.006684,0.006684,0.006684 -25.6,-0.003342,61.152302,-0.006684,0.006684,0.006684 -25.65,-0.003342,62.381634,-0.006684,0.006684,0.006684 -25.7,-0.003342,63.573365,-0.006684,0.006684,0.006684 -25.75,-0.003342,64.724587,-0.006684,0.006684,0.006684 -25.8,-0.003342,65.833632,-0.006684,0.006684,0.006684 -25.85,-0.003342,66.899422,-0.006684,0.006684,0.006684 -25.9,-0.003342,67.920999,-0.006684,0.006684,0.006684 -25.95,-0.003342,68.897375,-0.006684,0.006684,0.006684 -26.0,-0.003342,69.827524,-0.006684,0.006684,0.006684 -26.05,-0.003342,70.710394,-0.006684,0.006684,0.006684 -26.1,-0.003342,71.544934,-0.006684,0.006684,0.006684 -26.15,-0.003342,72.33003,-0.006684,0.006684,0.006684 -26.2,-0.003342,73.064644,-0.006684,0.006684,0.006684 -26.25,-0.003342,73.74767,-0.006684,0.006684,0.006684 -26.3,-0.003342,74.378055,-0.006684,0.006684,0.006684 -26.35,-0.003342,74.95468,-0.006684,0.006684,0.006684 -26.4,-0.003342,75.476432,-0.006684,0.006684,0.006684 -26.45,-0.003342,75.942012,-0.006684,0.006684,0.006684 -26.5,-0.003342,76.349869,-0.006684,0.006684,0.006684 -26.55,-0.003342,76.698059,-0.006684,0.006684,0.006684 -26.6,-0.003342,76.984025,-0.006684,0.006684,0.006684 -26.65,-0.003342,77.204531,-0.006684,0.006684,0.006684 -26.7,-0.003342,77.355587,-0.006684,0.006684,0.006684 -26.75,-0.003342,77.4324,-0.006684,0.006684,0.006684 -26.8,-0.003342,77.429265,-0.006684,0.006684,0.006684 -26.85,-0.003342,77.339612,-0.006684,0.006684,0.006684 -26.9,-0.003342,77.156494,-0.006684,0.006684,0.006684 -26.95,-0.003342,76.873403,-0.006684,0.006684,0.006684 -27.0,-0.003342,76.485544,-0.006684,0.006684,0.006684 -27.05,-0.003342,75.990472,-0.006684,0.006684,0.006684 -27.1,-0.003342,75.388336,-0.006684,0.006684,0.006684 -27.15,-0.003342,74.681391,-0.006684,0.006684,0.006684 -27.2,-0.003342,73.873236,-0.006684,0.006684,0.006684 -27.25,-0.003342,72.968154,-0.006684,0.006684,0.006684 -27.3,-0.003342,71.970666,-0.006684,0.006684,0.006684 -27.35,-0.003342,70.885308,-0.006684,0.006684,0.006684 -27.4,-0.003342,69.716574,-0.006684,0.006684,0.006684 -27.45,-0.003342,68.468869,-0.006684,0.006684,0.006684 -27.5,-0.003342,67.146586,-0.006684,0.006684,0.006684 -27.55,-0.003342,65.75406,-0.006684,0.006684,0.006684 -27.6,-0.003342,64.295637,-0.006684,0.006684,0.006684 -27.65,-0.003342,62.775627,-0.006684,0.006684,0.006684 -27.7,-0.003342,61.198365,-0.006684,0.006684,0.006684 -27.75,-0.003342,59.56817,-0.006684,0.006684,0.006684 -27.8,-0.003342,57.889364,-0.006684,0.006684,0.006684 -27.85,-0.003342,56.166261,-0.006684,0.006684,0.006684 -27.9,-0.003342,54.403194,-0.006684,0.006684,0.006684 -27.95,-0.003342,52.604474,-0.006684,0.006684,0.006684 -28.0,-0.003342,50.774428,-0.006684,0.006684,0.006684 -28.05,-0.003342,48.917378,-0.006684,0.006684,0.006684 -28.1,-0.003342,47.037648,-0.006684,0.006684,0.006684 -28.15,-0.003342,45.139539,-0.006684,0.006684,0.006684 -28.2,-0.003342,43.22739,-0.006684,0.006684,0.006684 -28.25,-0.003342,41.305518,-0.006684,0.006684,0.006684 -28.3,-0.003342,39.378254,-0.006684,0.006684,0.006684 -28.35,-0.003342,37.449907,-0.006684,0.006684,0.006684 -28.4,-0.003342,35.524797,-0.006684,0.006684,0.006684 -28.45,-0.003342,33.607253,-0.006684,0.006684,0.006684 -28.5,-0.003342,31.701589,-0.006684,0.006684,0.006684 -28.55,-0.003342,29.812133,-0.006684,0.006684,0.006684 -28.6,-0.003342,27.9432,-0.006684,0.006684,0.006684 -28.65,-0.003342,26.099111,-0.006684,0.006684,0.006684 -28.7,-0.003342,24.284195,-0.006684,0.006684,0.006684 -28.75,-0.003342,22.50276,-0.006684,0.006684,0.006684 -28.8,-0.003342,20.759137,-0.006684,0.006684,0.006684 -28.85,-0.003342,19.057645,-0.006684,0.006684,0.006684 -28.9,-0.003342,17.402601,-0.006684,0.006684,0.006684 -28.95,-0.003342,15.798333,-0.006684,0.006684,0.006684 -29.0,-0.003342,14.249156,-0.006684,0.006684,0.006684 -29.05,-0.003342,12.759394,-0.006684,0.006684,0.006684 -29.1,-0.003342,11.33337,-0.006684,0.006684,0.006684 -29.15,-0.003342,9.975403,-0.006684,0.006684,0.006684 -29.2,-0.003342,8.68982,-0.006684,0.006684,0.006684 -29.25,-0.003342,7.480944,-0.006684,0.006684,0.006684 -29.3,-0.003342,6.353109,-0.006683,0.006684,0.006684 -29.35,-0.003342,5.310653,-0.006674,0.006684,0.006684 -29.4,-0.003342,4.357911,-0.006624,0.006684,0.006684 -29.45,-0.003342,3.499151,-0.006412,0.006684,0.006684 -29.5,-0.003342,2.738412,-0.005666,0.006684,0.006684 -29.55,-0.003342,2.079116,-0.00342,0.006684,0.006684 -29.6,-0.003342,1.523366,0.002481,0.006684,0.006684 -29.65,-0.003342,1.070917,0.01624,0.006684,0.006684 -29.7,-0.003342,0.718003,0.045014,0.006684,0.006684 -29.75,-0.003342,0.456496,0.099482,0.006684,0.006684 -29.8,-0.003342,0.273963,0.193605,0.006684,0.006684 -29.85,-0.003342,0.154899,0.343356,0.006684,0.006684 -29.9,-0.003342,0.082856,0.564691,0.006684,0.006684 -29.95,-0.003342,0.042698,0.871418,0.006684,0.006684 -30.0,-0.003342,0.022221,1.273669,0.006684,0.006684 -30.05,-0.003342,0.012741,1.777346,0.006684,0.006684 -30.1,-0.003342,0.008792,2.38451,0.006684,0.006684 -30.15,-0.003342,0.007328,3.09431,0.006684,0.006684 -30.2,-0.003342,0.006852,3.904027,0.006684,0.006684 -30.25,-0.003342,0.00672,4.809932,0.006684,0.006684 -30.3,-0.003342,0.00669,5.807835,0.006684,0.006684 -30.35,-0.003342,0.006685,6.89339,0.006684,0.006684 -30.4,-0.003342,0.006684,8.062221,0.006684,0.006684 -30.45,-0.003342,0.006684,9.309963,0.006684,0.006684 -30.5,-0.003342,0.006684,10.632265,0.006684,0.006684 -30.55,-0.003342,0.006684,12.024796,0.006684,0.006684 -30.6,-0.003342,0.006684,13.48323,0.006684,0.006684 -30.65,-0.003342,0.006684,15.003236,0.006684,0.006684 -30.7,-0.003342,0.006684,16.580499,0.006684,0.006684 -30.75,-0.003342,0.006684,18.210695,0.006684,0.006684 -30.8,-0.003342,0.006684,19.889504,0.006684,0.006684 -30.85,-0.003342,0.006684,21.612602,0.006684,0.006684 -30.9,-0.003342,0.006684,23.37567,0.006684,0.006684 -30.95,-0.003342,0.006684,25.174389,0.006684,0.006684 -31.0,-0.003342,0.006684,27.004437,0.006684,0.006684 -31.05,-0.003342,0.006684,28.861487,0.006684,0.006684 -31.1,-0.003342,0.006684,30.741227,0.006684,0.006684 -31.15,-0.003342,0.006684,32.639329,0.006684,0.006684 -31.2,-0.003342,0.006684,34.551472,0.006684,0.006684 -31.25,-0.003342,0.006684,36.473343,0.006684,0.006684 -31.3,-0.003342,0.006684,38.400608,0.006684,0.006684 -31.35,-0.003342,0.006684,40.328961,0.006684,0.006684 -31.4,-0.003342,0.006684,42.254067,0.006684,0.006684 -31.45,-0.003342,0.006684,44.171615,0.006684,0.006684 -31.5,-0.003342,0.006684,46.077272,0.006684,0.006684 -31.55,-0.003342,0.006684,47.966731,0.006684,0.006684 -31.6,-0.003342,0.006684,49.835669,0.006684,0.006684 -31.65,-0.003342,0.006684,51.679756,0.006684,0.006684 -31.7,-0.003342,0.006684,53.494673,0.006684,0.006684 -31.75,-0.003342,0.006684,55.276106,0.006684,0.006684 -31.8,-0.003342,0.006684,57.019734,0.006684,0.006684 -31.85,-0.003342,0.006684,58.721226,0.006684,0.006684 -31.9,-0.003342,0.006684,60.376263,0.006684,0.006684 -31.95,-0.003342,0.006684,61.980531,0.006684,0.006684 -32.0,-0.003342,0.006684,63.529707,0.006684,0.006684 -32.05,-0.003342,0.006684,65.019467,0.006684,0.006684 -32.1,-0.003342,0.006684,66.445501,0.006684,0.006684 -32.15,-0.003342,0.006684,67.803472,0.006684,0.006684 -32.2,-0.003342,0.006684,69.089078,0.006684,0.006684 -32.25,-0.003342,0.006684,70.297994,0.006684,0.006684 -32.3,-0.003342,0.006684,71.425904,0.006684,0.006684 -32.35,-0.003342,0.006684,72.468498,0.006684,0.006684 -32.4,-0.003342,0.006684,73.421385,0.006684,0.006684 -32.45,-0.003342,0.006684,74.280104,0.006684,0.006684 -32.5,-0.003342,0.006684,75.04016,0.006684,0.006684 -32.55,-0.003342,0.006684,75.697136,0.006684,0.006684 -32.6,-0.003342,0.006684,76.247294,0.006684,0.006684 -32.65,-0.003342,0.006684,76.688483,0.006684,0.006684 -32.7,-0.003342,0.006684,77.021195,0.006684,0.006684 -32.75,-0.003342,0.006684,77.249255,0.006684,0.006684 -32.8,-0.003342,0.006684,77.379439,0.006684,0.006684 -32.85,-0.003342,0.006684,77.420119,0.006684,0.006684 -32.9,-0.003342,0.006684,77.379418,0.006684,0.006684 -32.95,-0.003342,0.006684,77.264022,0.006684,0.006684 -33.0,-0.003342,0.006684,77.078821,0.006684,0.006684 -33.05,-0.003342,0.006684,76.827361,0.006684,0.006684 -33.1,-0.003342,0.006684,76.512387,0.006684,0.006684 -33.15,-0.003342,0.006684,76.136201,0.006684,0.006684 -33.2,-0.003342,0.006684,75.70081,0.006684,0.006684 -33.25,-0.003342,0.006684,75.207978,0.006684,0.006684 -33.3,-0.003342,0.006684,74.659206,0.006684,0.006684 -33.35,-0.003342,0.006684,74.055855,0.006684,0.006684 -33.4,-0.003342,0.006684,73.399159,0.006684,0.006684 -33.45,-0.003342,0.006684,72.690268,0.006684,0.006684 -33.5,-0.003342,0.006684,71.930314,0.006684,0.006684 -33.55,-0.003342,0.006684,71.120376,0.006684,0.006684 -33.6,-0.003342,0.006684,70.261541,0.006684,0.006684 -33.65,-0.003342,0.006684,69.354916,0.006684,0.006684 -33.7,-0.003342,0.006684,68.401571,0.006684,0.006684 -33.75,-0.003342,0.006684,67.402581,0.006684,0.006684 -33.8,-0.003342,0.006684,66.359024,0.006684,0.006684 -33.85,-0.003342,0.006684,65.271986,0.006684,0.006684 -33.9,-0.003342,0.006684,64.142546,0.006684,0.006684 -33.95,-0.003342,0.006684,62.971796,0.006684,0.006684 -34.0,-0.003342,0.006684,61.760797,0.006684,0.006684 -34.05,-0.003342,0.006684,60.510647,0.006684,0.006684 -34.1,-0.003342,0.006684,59.222412,0.006684,0.006684 -34.15,-0.003342,0.006684,57.897178,0.006684,0.006684 -34.2,-0.003342,0.006684,56.536027,0.006684,0.006684 -34.25,-0.003342,0.006684,55.140039,0.006684,0.006684 -34.3,-0.003342,0.006684,53.710292,0.006684,0.006684 -34.35,-0.003342,0.006684,52.247867,0.006684,0.006684 -34.4,-0.003342,0.006684,50.753845,0.006684,0.006684 -34.45,-0.003342,0.006684,49.229306,0.006684,0.006684 -34.5,-0.003342,0.006684,47.675328,0.006684,0.006684 -34.55,-0.003342,0.006684,46.092995,0.006684,0.006684 -34.6,-0.003342,0.006684,44.483383,0.006684,0.006684 -34.65,-0.003342,0.006684,42.84758,0.006684,0.006684 -34.7,-0.003342,0.006684,41.186652,0.006684,0.006684 -34.75,-0.003342,0.006684,39.501689,0.006684,0.006684 -34.8,-0.003342,0.006684,37.793776,0.006684,0.006684 -34.85,-0.003342,0.006684,36.063983,0.006684,0.006684 -34.9,-0.003342,0.006684,34.313398,0.006684,0.006684 -34.95,-0.003342,0.006684,32.543099,0.006684,0.006684 -35.0,-0.003342,0.006684,30.754166,0.006684,0.006684 -35.05,-0.003342,0.006684,28.947677,0.006684,0.006684 -35.1,-0.003342,0.006684,27.124713,0.006684,0.006684 -35.15,-0.003342,0.006684,25.286358,0.006684,0.006684 -35.2,-0.003342,0.006684,23.433687,0.006684,0.006684 -35.25,-0.003342,0.006684,21.567786,0.006684,0.006684 -35.3,-0.003342,0.006684,19.689731,0.006684,0.006684 -35.35,-0.003342,0.006684,17.800602,0.006684,0.006684 -35.4,-0.003342,0.006684,15.901478,0.006684,0.006684 -35.45,-0.003342,0.006684,13.993446,0.006684,0.006684 -35.5,-0.003342,0.006684,12.077578,0.006684,0.006684 -35.55,-0.003342,0.006684,10.154965,0.006684,0.006684 -35.6,-0.003342,0.006684,8.226676,0.006684,0.006684 -35.65,-0.003342,0.006684,6.293797,0.006684,0.006684 -35.7,-0.003342,0.006684,4.357408,0.006684,0.006684 -35.75,-0.003342,0.006684,2.418588,0.006684,0.006684 -35.8,-0.003342,0.006684,0.478418,0.006684,0.006684 -35.85,-0.003342,0.006684,-1.462022,0.006684,0.006684 -35.9,-0.003342,0.006684,-3.401652,0.006684,0.006684 -35.95,-0.003342,0.006684,-5.339392,0.006684,0.006684 -36.0,-0.003342,0.006684,-7.27416,0.006684,0.006684 -36.05,-0.003342,0.006684,-9.204879,0.006684,0.006684 -36.1,-0.003342,0.006684,-11.130465,0.006684,0.006684 -36.15,-0.003342,0.006684,-13.049841,0.006684,0.006684 -36.2,-0.003342,0.006684,-14.961924,0.006684,0.006684 -36.25,-0.003342,0.006684,-16.865636,0.006684,0.006684 -36.3,-0.003342,0.006684,-18.759895,0.006684,0.006684 -36.35,-0.003342,0.006684,-20.64362,0.006684,0.006684 -36.4,-0.003342,0.006684,-22.515737,0.006684,0.006684 -36.45,-0.003342,0.006684,-24.375157,0.006684,0.006684 -36.5,-0.003342,0.006684,-26.220806,0.006684,0.006684 -36.55,-0.003342,0.006684,-28.051597,0.006684,0.006684 -36.6,-0.003342,0.006684,-29.866464,0.006684,0.006684 -36.65,-0.003342,0.006684,-31.66431,0.006684,0.006684 -36.7,-0.003342,0.006684,-33.444055,0.006684,0.006684 -36.75,-0.003342,0.006684,-35.204639,0.006684,0.006684 -36.8,-0.003342,0.006684,-36.944961,0.006684,0.006684 -36.85,-0.003342,0.006684,-38.663949,0.006684,0.006684 -36.9,-0.003342,0.006684,-40.36052,0.006684,0.006684 -36.95,-0.003342,0.006684,-42.033589,0.006684,0.006684 -37.0,-0.003342,0.006684,-43.682096,0.006684,0.006684 -37.05,-0.003342,0.006684,-45.304938,0.006684,0.006684 -37.1,-0.003342,0.006684,-46.901048,0.006684,0.006684 -37.15,-0.003342,0.006684,-48.469338,0.006684,0.006684 -37.2,-0.003342,0.006684,-50.008733,0.006684,0.006684 -37.25,-0.003342,0.006684,-51.51815,0.006684,0.006684 -37.3,-0.003342,0.006684,-52.996507,0.006684,0.006684 -37.35,-0.003342,0.006684,-54.442734,0.006684,0.006684 -37.4,-0.003342,0.006684,-55.855737,0.006684,0.006684 -37.45,-0.003342,0.006684,-57.234441,0.006684,0.006684 -37.5,-0.003342,0.006684,-58.577772,0.006684,0.006684 -37.55,-0.003342,0.006684,-59.884633,0.006684,0.006684 -37.6,-0.003342,0.006684,-61.153962,0.006684,0.006684 -37.65,-0.003342,0.006684,-62.384667,0.006684,0.006684 -37.7,-0.003342,0.006684,-63.575681,0.006684,0.006684 -37.75,-0.003342,0.006684,-64.725905,0.006684,0.006684 -37.8,-0.003342,0.006684,-65.834281,0.006684,0.006684 -37.85,-0.003342,0.006684,-66.899702,0.006684,0.006684 -37.9,-0.003342,0.006684,-67.921122,0.006684,0.006684 -37.95,-0.003342,0.006684,-68.897416,0.006684,0.006684 -38.0,-0.003342,0.006684,-69.827544,0.006684,0.006684 -38.05,-0.003342,0.006684,-70.710408,0.006684,0.006684 -38.1,-0.003342,0.006684,-71.544934,0.006684,0.006684 -38.15,-0.003342,0.006684,-72.33003,0.006684,0.006684 -38.2,-0.003342,0.006684,-73.064644,0.006684,0.006684 -38.25,-0.003342,0.006684,-73.74767,0.006684,0.006684 -38.3,-0.003342,0.006684,-74.378055,0.006684,0.006684 -38.35,-0.003342,0.006684,-74.95468,0.006684,0.006684 -38.4,-0.003342,0.006684,-75.476432,0.006684,0.006684 -38.45,-0.003342,0.006684,-75.942012,0.006684,0.006684 -38.5,-0.003342,0.006684,-76.349869,0.006684,0.006684 -38.55,-0.003342,0.006684,-76.698059,0.006684,0.006684 -38.6,-0.003342,0.006684,-76.984025,0.006684,0.006684 -38.65,-0.003342,0.006684,-77.204531,0.006684,0.006684 -38.7,-0.003342,0.006684,-77.355587,0.006684,0.006684 -38.75,-0.003342,0.006684,-77.432393,0.006684,0.006684 -38.8,-0.003342,0.006684,-77.429265,0.006684,0.006684 -38.85,-0.003342,0.006684,-77.339612,0.006684,0.006684 -38.9,-0.003342,0.006684,-77.156494,0.006684,0.006684 -38.95,-0.003342,0.006684,-76.873403,0.006684,0.006684 -39.0,-0.003342,0.006684,-76.485544,0.006684,0.006684 -39.05,-0.003342,0.006684,-75.990472,0.006684,0.006684 -39.1,-0.003342,0.006684,-75.388336,0.006684,0.006684 -39.15,-0.003342,0.006684,-74.681391,0.006684,0.006684 -39.2,-0.003342,0.006684,-73.873222,0.006684,0.006684 -39.25,-0.003342,0.006684,-72.968154,0.006684,0.006684 -39.3,-0.003342,0.006684,-71.970666,0.006684,0.006684 -39.35,-0.003342,0.006684,-70.885301,0.006684,0.006684 -39.4,-0.003342,0.006684,-69.716547,0.006684,0.006684 -39.45,-0.003342,0.006684,-68.468849,0.006684,0.006684 -39.5,-0.003342,0.006684,-67.146572,0.006684,0.006684 -39.55,-0.003342,0.006684,-65.754054,0.006684,0.006684 -39.6,-0.003342,0.006684,-64.295624,0.006684,0.006684 -39.65,-0.003342,0.006684,-62.775613,0.006684,0.006684 -39.7,-0.003342,0.006684,-61.198352,0.006684,0.006684 -39.75,-0.003342,0.006684,-59.568156,0.006684,0.006684 -39.8,-0.003342,0.006684,-57.889343,0.006684,0.006684 -39.85,-0.003342,0.006684,-56.166247,0.006684,0.006684 -39.9,-0.003342,0.006684,-54.403184,0.006684,0.006684 -39.95,-0.003342,0.006684,-52.604467,0.006684,0.006684 -40.0,-0.003342,0.006684,-50.774424,0.006684,0.006684 -40.05,-0.003342,0.006684,-48.917378,0.006684,0.006684 -40.1,-0.003342,0.006684,-47.037638,0.006684,0.006684 -40.15,-0.003342,0.006684,-45.139535,0.006684,0.006684 -40.2,-0.003342,0.006684,-43.22739,0.006684,0.006684 -40.25,-0.003342,0.006684,-41.305528,0.006684,0.006684 -40.3,-0.003342,0.006684,-39.378257,0.006684,0.006684 -40.35,-0.003342,0.006684,-37.44991,0.006684,0.006684 -40.4,-0.003342,0.006684,-35.524804,0.006684,0.006684 -40.45,-0.003342,0.006684,-33.607263,0.006684,0.006684 -40.5,-0.003342,0.006684,-31.701602,0.006684,0.006684 -40.55,-0.003342,0.006684,-29.812143,0.006684,0.006684 -40.6,-0.003342,0.006684,-27.943212,0.006684,0.006684 -40.65,-0.003342,0.006684,-26.099123,0.006684,0.006684 -40.7,-0.003342,0.006684,-24.284203,0.006684,0.006684 -40.75,-0.003342,0.006684,-22.502775,0.006684,0.006684 -40.8,-0.003342,0.006684,-20.759148,0.006684,0.006684 -40.85,-0.003342,0.006684,-19.057657,0.006684,0.006684 -40.9,-0.003342,0.006684,-17.402617,0.006684,0.006684 -40.95,-0.003342,0.006684,-15.79835,0.006684,0.006684 -41.0,-0.003342,0.006684,-14.249171,0.006684,0.006684 -41.05,-0.003342,0.006684,-12.759412,0.006684,0.006684 -41.1,-0.003342,0.006684,-11.333384,0.006684,0.006684 -41.15,-0.003342,0.006684,-9.975416,0.006684,0.006684 -41.2,-0.003342,0.006684,-8.689829,0.006684,0.006684 -41.25,-0.003342,0.006684,-7.480953,0.006684,0.006684 -41.3,-0.003342,0.006684,-6.353117,0.006684,0.006683 -41.35,-0.003342,0.006684,-5.310661,0.006684,0.006674 -41.4,-0.003342,0.006684,-4.35792,0.006684,0.006624 -41.45,-0.003342,0.006684,-3.499162,0.006684,0.006412 -41.5,-0.003342,0.006684,-2.738425,0.006684,0.005666 -41.55,-0.003342,0.006684,-2.079129,0.006684,0.00342 -41.6,-0.003342,0.006684,-1.523378,0.006684,-0.002481 -41.65,-0.003342,0.006684,-1.070928,0.006684,-0.01624 -41.7,-0.003342,0.006684,-0.718012,0.006684,-0.045014 -41.75,-0.003342,0.006684,-0.456502,0.006684,-0.099483 -41.8,-0.003342,0.006684,-0.273966,0.006684,-0.193606 -41.85,-0.003342,0.006684,-0.154901,0.006684,-0.343357 -41.9,-0.003342,0.006684,-0.082857,0.006684,-0.564693 -41.95,-0.003342,0.006684,-0.042698,0.006684,-0.871421 -42.0,-0.003342,0.006684,-0.022221,0.006684,-1.273673 -42.05,-0.003342,0.006684,-0.012741,0.006684,-1.777352 -42.1,-0.003342,0.006684,-0.008792,0.006684,-2.384518 -42.15,-0.003342,0.006684,-0.007328,0.006684,-3.094319 -42.2,-0.003342,0.006684,-0.006852,0.006684,-3.904038 -42.25,-0.003342,0.006684,-0.00672,0.006684,-4.809943 -42.3,-0.003342,0.006684,-0.00669,0.006684,-5.807849 -42.35,-0.003342,0.006684,-0.006685,0.006684,-6.893405 -42.4,-0.003342,0.006684,-0.006684,0.006684,-8.062238 -42.45,-0.003342,0.006684,-0.006684,0.006684,-9.309982 -42.5,-0.003342,0.006684,-0.006684,0.006684,-10.632284 -42.55,-0.003342,0.006684,-0.006684,0.006684,-12.024816 -42.6,-0.003342,0.006684,-0.006684,0.006684,-13.483248 -42.65,-0.003342,0.006684,-0.006684,0.006684,-15.003255 -42.7,-0.003342,0.006684,-0.006684,0.006684,-16.580518 -42.75,-0.003342,0.006684,-0.006684,0.006684,-18.210712 -42.8,-0.003342,0.006684,-0.006684,0.006684,-19.889523 -42.85,-0.003342,0.006684,-0.006684,0.006684,-21.612619 -42.9,-0.003342,0.006684,-0.006684,0.006684,-23.375689 -42.95,-0.003342,0.006684,-0.006684,0.006684,-25.174406 -43.0,-0.003342,0.006684,-0.006684,0.006684,-27.004449 -43.05,-0.003342,0.006684,-0.006684,0.006684,-28.861501 -43.1,-0.003342,0.006684,-0.006684,0.006684,-30.74123 -43.15,-0.003342,0.006684,-0.006684,0.006684,-32.639333 -43.2,-0.003342,0.006684,-0.006684,0.006684,-34.551475 -43.25,-0.003342,0.006684,-0.006684,0.006684,-36.47334 -43.3,-0.003342,0.006684,-0.006684,0.006684,-38.400608 -43.35,-0.003342,0.006684,-0.006684,0.006684,-40.328951 -43.4,-0.003342,0.006684,-0.006684,0.006684,-42.254053 -43.45,-0.003342,0.006684,-0.006684,0.006684,-44.171598 -43.5,-0.003342,0.006684,-0.006684,0.006684,-46.077262 -43.55,-0.003342,0.006684,-0.006684,0.006684,-47.966725 -43.6,-0.003342,0.006684,-0.006684,0.006684,-49.835656 -43.65,-0.003342,0.006684,-0.006684,0.006684,-51.679742 -43.7,-0.003342,0.006684,-0.006684,0.006684,-53.494656 -43.75,-0.003342,0.006684,-0.006684,0.006684,-55.276096 -43.8,-0.003342,0.006684,-0.006684,0.006684,-57.019717 -43.85,-0.003342,0.006684,-0.006684,0.006684,-58.721213 -43.9,-0.003342,0.006684,-0.006684,0.006684,-60.376256 -43.95,-0.003342,0.006684,-0.006684,0.006684,-61.980524 -44.0,-0.003342,0.006684,-0.006684,0.006684,-63.5297 -44.05,-0.003342,0.006684,-0.006684,0.006684,-65.01946 -44.1,-0.003342,0.006684,-0.006684,0.006684,-66.445487 -44.15,-0.003342,0.006684,-0.006684,0.006684,-67.803465 -44.2,-0.003342,0.006684,-0.006684,0.006684,-69.089064 -44.25,-0.003342,0.006684,-0.006684,0.006684,-70.297987 -44.3,-0.003342,0.006684,-0.006684,0.006684,-71.425904 -44.35,-0.003342,0.006684,-0.006684,0.006684,-72.468498 -44.4,-0.003342,0.006684,-0.006684,0.006684,-73.421371 -44.45,-0.003342,0.006684,-0.006684,0.006684,-74.280104 -44.5,-0.003342,0.006684,-0.006684,0.006684,-75.04016 -44.55,-0.003342,0.006684,-0.006684,0.006684,-75.697129 -44.6,-0.003342,0.006684,-0.006684,0.006684,-76.247294 -44.65,-0.003342,0.006684,-0.006684,0.006684,-76.688483 -44.7,-0.003342,0.006684,-0.006684,0.006684,-77.021188 -44.75,-0.003342,0.006684,-0.006684,0.006684,-77.249241 -44.8,-0.003342,0.006684,-0.006684,0.006684,-77.379432 -44.85,-0.003342,0.006684,-0.006684,0.006684,-77.420112 -44.9,-0.003342,0.006684,-0.006684,0.006684,-77.379411 -44.95,-0.003342,0.006684,-0.006684,0.006684,-77.264008 -45.0,-0.003342,0.006684,-0.006684,0.006684,-77.078808 -45.05,-0.003342,0.006684,-0.006684,0.006684,-76.827347 -45.1,-0.003342,0.006684,-0.006684,0.006684,-76.512366 -45.15,-0.003342,0.006684,-0.006684,0.006684,-76.13618 -45.2,-0.003342,0.006684,-0.006684,0.006684,-75.700797 -45.25,-0.003342,0.006684,-0.006684,0.006684,-75.207951 -45.3,-0.003342,0.006684,-0.006684,0.006684,-74.659186 -45.35,-0.003342,0.006684,-0.006684,0.006684,-74.055841 -45.4,-0.003342,0.006684,-0.006684,0.006684,-73.399146 -45.45,-0.003342,0.006684,-0.006684,0.006684,-72.690261 -45.5,-0.003342,0.006684,-0.006684,0.006684,-71.930286 -45.55,-0.003342,0.006684,-0.006684,0.006684,-71.120356 -45.6,-0.003342,0.006684,-0.006684,0.006684,-70.261521 -45.65,-0.003342,0.006684,-0.006684,0.006684,-69.354902 -45.7,-0.003342,0.006684,-0.006684,0.006684,-68.401544 -45.75,-0.003342,0.006684,-0.006684,0.006684,-67.402554 -45.8,-0.003342,0.006684,-0.006684,0.006684,-66.35899 -45.85,-0.003342,0.006684,-0.006684,0.006684,-65.271965 -45.9,-0.003342,0.006684,-0.006684,0.006684,-64.142532 -45.95,-0.003342,0.006684,-0.006684,0.006684,-62.971776 -46.0,-0.003342,0.006684,-0.006684,0.006684,-61.760783 -46.05,-0.003342,0.006684,-0.006684,0.006684,-60.510633 -46.1,-0.003342,0.006684,-0.006684,0.006684,-59.222398 -46.15,-0.003342,0.006684,-0.006684,0.006684,-57.897171 -46.2,-0.003342,0.006684,-0.006684,0.006684,-56.536017 -46.25,-0.003342,0.006684,-0.006684,0.006684,-55.140028 -46.3,-0.003342,0.006684,-0.006684,0.006684,-53.710285 -46.35,-0.003342,0.006684,-0.006684,0.006684,-52.24786 -46.4,-0.003342,0.006684,-0.006684,0.006684,-50.753838 -46.45,-0.003342,0.006684,-0.006684,0.006684,-49.229302 -46.5,-0.003342,0.006684,-0.006684,0.006684,-47.675315 -46.55,-0.003342,0.006684,-0.006684,0.006684,-46.092985 -46.6,-0.003342,0.006684,-0.006684,0.006684,-44.483373 -46.65,-0.003342,0.006684,-0.006684,0.006684,-42.847563 -46.7,-0.003342,0.006684,-0.006684,0.006684,-41.186645 -46.75,-0.003342,0.006684,-0.006684,0.006684,-39.501682 -46.8,-0.003342,0.006684,-0.006684,0.006684,-37.793769 -46.85,-0.003342,0.006684,-0.006684,0.006684,-36.063976 -46.9,-0.003342,0.006684,-0.006684,0.006684,-34.313398 -46.95,-0.003342,0.006684,-0.006684,0.006684,-32.543099 -47.0,-0.003342,0.006684,-0.006684,0.006684,-30.754166 -47.05,-0.003342,0.006684,-0.006684,0.006684,-28.947677 -47.1,-0.003342,0.006684,-0.006684,0.006684,-27.124718 -47.15,-0.003342,0.006684,-0.006684,0.006684,-25.286364 -47.2,-0.003342,0.006684,-0.006684,0.006684,-23.433693 -47.25,-0.003342,0.006684,-0.006684,0.006684,-21.567791 -47.3,-0.003342,0.006684,-0.006684,0.006684,-19.689735 -47.35,-0.003342,0.006684,-0.006684,0.006684,-17.80061 -47.4,-0.003342,0.006684,-0.006684,0.006684,-15.901488 -47.45,-0.003342,0.006684,-0.006684,0.006684,-13.993454 -47.5,-0.003342,0.006684,-0.006684,0.006684,-12.077586 -47.55,-0.003342,0.006684,-0.006684,0.006684,-10.154962 -47.6,-0.003342,0.006684,-0.006684,0.006684,-8.226658 -47.65,-0.003342,0.006684,-0.006684,0.006684,-6.293738 -47.7,-0.003342,0.006684,-0.006684,0.006684,-4.357249 -47.75,-0.003342,0.006684,-0.006684,0.006684,-2.41817 -47.8,-0.003342,0.006684,-0.006684,0.006684,-0.477317 -47.85,-0.003342,0.006684,-0.006684,0.006684,1.464904 -47.9,-0.003342,0.006684,-0.006684,0.006684,3.408942 -47.95,-0.003342,0.006684,-0.006684,0.006684,5.356686 -48.0,-0.003342,0.006684,-0.006684,0.006684,7.311838 -48.05,-0.003342,0.006684,-0.006684,0.006684,9.2793 -48.1,-0.003342,0.006684,-0.006684,0.006684,11.26268 -48.15,-0.003342,0.006684,-0.006684,0.006684,13.259836 -48.2,-0.003342,0.006684,-0.006684,0.006684,15.25862 -48.25,-0.003342,0.006684,-0.006684,0.006684,17.236887 -48.3,-0.003342,0.006684,-0.006684,0.006684,19.16958 -48.35,-0.003342,0.006684,-0.006684,0.006684,21.040548 -48.4,-0.003342,0.006684,-0.006684,0.006684,22.851498 -48.45,-0.003342,0.006684,-0.006684,0.006684,24.62115 -48.5,-0.003342,0.006684,-0.006684,0.006684,26.374876 -48.55,-0.003342,0.006684,-0.006684,0.006684,28.132272 -48.6,-0.003342,0.006684,-0.006684,0.006684,29.900803 -48.65,-0.003342,0.006684,-0.006684,0.006684,31.677728 -48.7,-0.003342,0.006684,-0.006684,0.006684,33.456517 -48.75,-0.003342,0.006684,-0.006684,0.006684,35.232458 -48.8,-0.003342,0.006684,-0.006684,0.006684,37.004565 -48.85,-0.003342,0.006684,-0.006684,0.006684,38.773348 -48.9,-0.003342,0.006684,-0.006684,0.006684,40.536128 -48.95,-0.003342,0.006684,-0.006684,0.006684,42.282511 -49.0,-0.003342,0.006684,-0.006684,0.006684,43.993867 -49.05,-0.003342,0.006684,-0.006684,0.006684,45.649101 -49.1,-0.003342,0.006684,-0.006684,0.006684,47.234525 -49.15,-0.003342,0.006684,-0.006684,0.006684,48.751428 -49.2,-0.003342,0.006684,-0.006684,0.006684,50.215373 -49.25,-0.003342,0.006684,-0.006684,0.006684,51.64751 -49.3,-0.003342,0.006684,-0.006684,0.006684,53.064088 -49.35,-0.003342,0.006684,-0.006684,0.006684,54.471107 -49.4,-0.003342,0.006684,-0.006684,0.006684,55.865845 -49.45,-0.003342,0.006684,-0.006684,0.006684,57.24219 -49.5,-0.003342,0.006684,-0.006684,0.006684,58.595278 -49.55,-0.003342,0.006684,-0.006684,0.006684,59.923155 -49.6,-0.003342,0.006684,-0.006684,0.006684,61.225372 -49.65,-0.003342,0.006684,-0.006684,0.006684,62.499666 -49.7,-0.003342,0.006684,-0.006684,0.006684,63.73884 -49.75,-0.003342,0.006684,-0.006684,0.006684,64.930346 -49.8,-0.003342,0.006684,-0.006684,0.006684,66.059985 -49.85,-0.003342,0.006684,-0.006684,0.006684,67.118425 -49.9,-0.003342,0.006684,-0.006684,0.006684,68.106111 -49.95,-0.003342,0.006684,-0.006684,0.006684,69.032906 -50.0,-0.003342,0.006684,-0.006684,0.006684,69.912266 -50.05,-0.003342,0.006684,-0.006684,0.006684,70.754456 -50.1,-0.003342,0.006684,-0.006684,0.006684,71.562849 -50.15,-0.003342,0.006684,-0.006684,0.006684,72.334961 -50.2,-0.003342,0.006684,-0.006684,0.006684,73.065716 -50.25,-0.003342,0.006684,-0.006684,0.006684,73.75045 -50.3,-0.003342,0.006684,-0.006684,0.006684,74.386156 -50.35,-0.003342,0.006684,-0.006684,0.006684,74.971059 -50.4,-0.003342,0.006684,-0.006684,0.006684,75.503527 -50.45,-0.003342,0.006684,-0.006684,0.006684,75.980821 -50.5,-0.003342,0.006684,-0.006684,0.006684,76.398794 -50.55,-0.003342,0.006684,-0.006684,0.006684,76.752379 -50.6,-0.003342,0.006684,-0.006684,0.006684,77.037089 -50.65,-0.003342,0.006684,-0.006684,0.006684,77.249952 -50.7,-0.003342,0.006684,-0.006684,0.006684,77.389486 -50.75,-0.003342,0.006684,-0.006684,0.006684,77.454318 -50.8,-0.003342,0.006684,-0.006684,0.006684,77.441368 -50.85,-0.003342,0.006684,-0.006684,0.006684,77.345199 -50.9,-0.003342,0.006684,-0.006684,0.006684,77.158516 -50.95,-0.003342,0.006684,-0.006684,0.006684,76.873895 -51.0,-0.003342,0.006684,-0.006684,0.006684,76.485531 -51.05,-0.003342,0.006684,-0.006684,0.006684,75.99039 -51.1,-0.003342,0.006684,-0.006684,0.006684,75.388281 -51.15,-0.003342,0.006684,-0.006684,0.006684,74.681384 -51.2,-0.003342,0.006684,-0.006684,0.006684,73.873243 -51.25,-0.003342,0.006684,-0.006684,0.006684,72.968168 -51.3,-0.003342,0.006684,-0.006684,0.006684,71.970687 -51.35,-0.003342,0.006684,-0.006684,0.006684,70.885322 -51.4,-0.003342,0.006684,-0.006684,0.006684,69.716581 -51.45,-0.003342,0.006684,-0.006684,0.006684,68.46889 -51.5,-0.003342,0.006684,-0.006684,0.006684,67.146606 -51.55,-0.003342,0.006684,-0.006684,0.006684,65.754088 -51.6,-0.003342,0.006684,-0.006684,0.006684,64.295651 -51.65,-0.003342,0.006684,-0.006684,0.006684,62.775647 -51.7,-0.003342,0.006684,-0.006684,0.006684,61.198393 -51.75,-0.003342,0.006684,-0.006684,0.006684,59.568197 -51.8,-0.003342,0.006684,-0.006684,0.006684,57.889398 -51.85,-0.003342,0.006684,-0.006684,0.006684,56.166298 -51.9,-0.003342,0.006684,-0.006684,0.006684,54.403232 -51.95,-0.003342,0.006684,-0.006684,0.006684,52.604512 -52.0,-0.003342,0.006684,-0.006684,0.006684,50.774475 -52.05,-0.003342,0.006684,-0.006684,0.006684,48.917426 -52.1,-0.003342,0.006684,-0.006684,0.006684,47.037689 -52.15,-0.003342,0.006684,-0.006684,0.006684,45.139586 -52.2,-0.003342,0.006684,-0.006684,0.006684,43.227448 -52.25,-0.003342,0.006684,-0.006684,0.006684,41.305579 -52.3,-0.003342,0.006684,-0.006684,0.006684,39.378315 -52.35,-0.003342,0.006684,-0.006684,0.006684,37.449965 -52.4,-0.003342,0.006684,-0.006684,0.006684,35.524862 -52.45,-0.003342,0.006684,-0.006684,0.006684,33.607314 -52.5,-0.003342,0.006684,-0.006684,0.006684,31.701654 -52.55,-0.003342,0.006684,-0.006684,0.006684,29.812198 -52.6,-0.003342,0.006684,-0.006684,0.006684,27.943264 -52.65,-0.003342,0.006684,-0.006684,0.006684,26.099174 -52.7,-0.003342,0.006684,-0.006684,0.006684,24.284258 -52.75,-0.003342,0.006684,-0.006684,0.006684,22.502821 -52.8,-0.003342,0.006684,-0.006684,0.006684,20.759201 -52.85,-0.003342,0.006684,-0.006684,0.006684,19.057707 -52.9,-0.003342,0.006684,-0.006684,0.006684,17.402665 -52.95,-0.003342,0.006684,-0.006684,0.006684,15.798397 -53.0,-0.003342,0.006684,-0.006684,0.006684,14.249217 -53.05,-0.003342,0.006684,-0.006684,0.006684,12.759455 -53.1,-0.003342,0.006684,-0.006684,0.006684,11.333429 -53.15,-0.003342,0.006684,-0.006684,0.006684,9.975459 -53.2,-0.003342,0.006684,-0.006684,0.006684,8.68987 -53.25,-0.003342,0.006684,-0.006684,0.006684,7.48099 -53.3,-0.003342,0.006684,-0.006684,0.006683,6.353152 -53.35,-0.003342,0.006684,-0.006684,0.006674,5.310694 -53.4,-0.003342,0.006684,-0.006684,0.006624,4.35795 -53.45,-0.003342,0.006684,-0.006684,0.006412,3.49919 -53.5,-0.003342,0.006684,-0.006684,0.005666,2.73845 -53.55,-0.003342,0.006684,-0.006684,0.00342,2.079151 -53.6,-0.003342,0.006684,-0.006684,-0.002481,1.523397 -53.65,-0.003342,0.006684,-0.006684,-0.01624,1.070944 -53.7,-0.003342,0.006684,-0.006684,-0.045014,0.718025 -53.75,-0.003342,0.006684,-0.006684,-0.099482,0.456512 -53.8,-0.003342,0.006684,-0.006684,-0.193605,0.273973 -53.85,-0.003342,0.006684,-0.006684,-0.343354,0.154906 -53.9,-0.003342,0.006684,-0.006684,-0.564688,0.082859 -53.95,-0.003342,0.006684,-0.006684,-0.871415,0.0427 -54.0,-0.003342,0.006684,-0.006684,-1.273664,0.022222 -54.05,-0.003342,0.006684,-0.006684,-1.77734,0.012741 -54.1,-0.003342,0.006684,-0.006684,-2.384503,0.008792 -54.15,-0.003342,0.006684,-0.006684,-3.094302,0.007328 -54.2,-0.003342,0.006684,-0.006684,-3.904017,0.006852 -54.25,-0.003342,0.006684,-0.006684,-4.809921,0.00672 -54.3,-0.003342,0.006684,-0.006684,-5.807822,0.00669 -54.35,-0.003342,0.006684,-0.006684,-6.893377,0.006685 -54.4,-0.003342,0.006684,-0.006684,-8.062206,0.006684 -54.45,-0.003342,0.006684,-0.006684,-9.309946,0.006684 -54.5,-0.003342,0.006684,-0.006684,-10.632248,0.006684 -54.55,-0.003342,0.006684,-0.006684,-12.024779,0.006684 -54.6,-0.003342,0.006684,-0.006684,-13.483208,0.006684 -54.65,-0.003342,0.006684,-0.006684,-15.003216,0.006684 -54.7,-0.003342,0.006684,-0.006684,-16.580477,0.006684 -54.75,-0.003342,0.006684,-0.006684,-18.210671,0.006684 -54.8,-0.003342,0.006684,-0.006684,-19.889477,0.006684 -54.85,-0.003342,0.006684,-0.006684,-21.612571,0.006684 -54.9,-0.003342,0.006684,-0.006684,-23.375643,0.006684 -54.95,-0.003342,0.006684,-0.006684,-25.174353,0.006684 -55.0,-0.003342,0.006684,-0.006684,-27.004394,0.006684 -55.05,-0.003342,0.006684,-0.006684,-28.861446,0.006684 -55.1,-0.003342,0.006684,-0.006684,-30.741179,0.006684 -55.15,-0.003342,0.006684,-0.006684,-32.639275,0.006684 -55.2,-0.003342,0.006684,-0.006684,-34.55142,0.006684 -55.25,-0.003342,0.006684,-0.006684,-36.473282,0.006684 -55.3,-0.003342,0.006684,-0.006684,-38.400546,0.006684 -55.35,-0.003342,0.006684,-0.006684,-40.328896,0.006684 -55.4,-0.003342,0.006684,-0.006684,-42.254006,0.006684 -55.45,-0.003342,0.006684,-0.006684,-44.171551,0.006684 -55.5,-0.003342,0.006684,-0.006684,-46.077211,0.006684 -55.55,-0.003342,0.006684,-0.006684,-47.966667,0.006684 -55.6,-0.003342,0.006684,-0.006684,-49.835601,0.006684 -55.65,-0.003342,0.006684,-0.006684,-51.679691,0.006684 -55.7,-0.003342,0.006684,-0.006684,-53.494608,0.006684 -55.75,-0.003342,0.006684,-0.006684,-55.276038,0.006684 -55.8,-0.003342,0.006684,-0.006684,-57.019673,0.006684 -55.85,-0.003342,0.006684,-0.006684,-58.721165,0.006684 -55.9,-0.003342,0.006684,-0.006684,-60.376202,0.006684 -55.95,-0.003342,0.006684,-0.006684,-61.980476,0.006684 -56.0,-0.003342,0.006684,-0.006684,-63.529652,0.006684 -56.05,-0.003342,0.006684,-0.006684,-65.019419,0.006684 -56.1,-0.003342,0.006684,-0.006684,-66.445439,0.006684 -56.15,-0.003342,0.006684,-0.006684,-67.803411,0.006684 -56.2,-0.003342,0.006684,-0.006684,-69.08903,0.006684 -56.25,-0.003342,0.006684,-0.006684,-70.297953,0.006684 -56.3,-0.003342,0.006684,-0.006684,-71.425863,0.006684 -56.35,-0.003342,0.006684,-0.006684,-72.468451,0.006684 -56.4,-0.003342,0.006684,-0.006684,-73.421337,0.006684 -56.45,-0.003342,0.006684,-0.006684,-74.280083,0.006684 -56.5,-0.003342,0.006684,-0.006684,-75.040119,0.006684 -56.55,-0.003342,0.006684,-0.006684,-75.697115,0.006684 -56.6,-0.003342,0.006684,-0.006684,-76.247266,0.006684 -56.65,-0.003342,0.006684,-0.006684,-76.688462,0.006684 -56.7,-0.003342,0.006684,-0.006684,-77.021181,0.006684 -56.75,-0.003342,0.006684,-0.006684,-77.249235,0.006684 -56.8,-0.003342,0.006684,-0.006684,-77.379432,0.006684 -56.85,-0.003342,0.006684,-0.006684,-77.420105,0.006684 -56.9,-0.003342,0.006684,-0.006684,-77.379411,0.006684 -56.95,-0.003342,0.006684,-0.006684,-77.264008,0.006684 -57.0,-0.003342,0.006684,-0.006684,-77.078808,0.006684 -57.05,-0.003342,0.006684,-0.006684,-76.827361,0.006684 -57.1,-0.003342,0.006684,-0.006684,-76.512373,0.006684 -57.15,-0.003342,0.006684,-0.006684,-76.136194,0.006684 -57.2,-0.003342,0.006684,-0.006684,-75.700803,0.006684 -57.25,-0.003342,0.006684,-0.006684,-75.207964,0.006684 -57.3,-0.003342,0.006684,-0.006684,-74.659206,0.006684 -57.35,-0.003342,0.006684,-0.006684,-74.055855,0.006684 -57.4,-0.003342,0.006684,-0.006684,-73.399159,0.006684 -57.45,-0.003342,0.006684,-0.006684,-72.690268,0.006684 -57.5,-0.003342,0.006684,-0.006684,-71.930314,0.006684 -57.55,-0.003342,0.006684,-0.006684,-71.120369,0.006684 -57.6,-0.003342,0.006684,-0.006684,-70.261541,0.006684 -57.65,-0.003342,0.006684,-0.006684,-69.354916,0.006684 -57.7,-0.003342,0.006684,-0.006684,-68.401571,0.006684 -57.75,-0.003342,0.006684,-0.006684,-67.402581,0.006684 -57.8,-0.003342,0.006684,-0.006684,-66.359031,0.006684 -57.85,-0.003342,0.006684,-0.006684,-65.271992,0.006684 -57.9,-0.003342,0.006684,-0.006684,-64.142552,0.006684 -57.95,-0.003342,0.006684,-0.006684,-62.97181,0.006684 -58.0,-0.003342,0.006684,-0.006684,-61.760824,0.006684 -58.05,-0.003342,0.006684,-0.006684,-60.510668,0.006684 -58.1,-0.003342,0.006684,-0.006684,-59.222432,0.006684 -58.15,-0.003342,0.006684,-0.006684,-57.897205,0.006684 -58.2,-0.003342,0.006684,-0.006684,-56.536058,0.006684 -58.25,-0.003342,0.006684,-0.006684,-55.140069,0.006684 -58.3,-0.003342,0.006684,-0.006684,-53.710326,0.006684 -58.35,-0.003342,0.006684,-0.006684,-52.247901,0.006684 -58.4,-0.003342,0.006684,-0.006684,-50.753882,0.006684 -58.45,-0.003342,0.006684,-0.006684,-49.22934,0.006684 -58.5,-0.003342,0.006684,-0.006684,-47.675362,0.006684 -58.55,-0.003342,0.006684,-0.006684,-46.09303,0.006684 -58.6,-0.003342,0.006684,-0.006684,-44.483417,0.006684 -58.65,-0.003342,0.006684,-0.006684,-42.847614,0.006684 -58.7,-0.003342,0.006684,-0.006684,-41.186686,0.006684 -58.75,-0.003342,0.006684,-0.006684,-39.501733,0.006684 -58.8,-0.003342,0.006684,-0.006684,-37.793824,0.006684 -58.85,-0.003342,0.006684,-0.006684,-36.064034,0.006684 -58.9,-0.003342,0.006684,-0.006684,-34.31345,0.006684 -58.95,-0.003342,0.006684,-0.006684,-32.543147,0.006684 -59.0,-0.003342,0.006684,-0.006684,-30.754214,0.006684 -59.05,-0.003342,0.006684,-0.006684,-28.947732,0.006684 -59.1,-0.003342,0.006684,-0.006684,-27.12477,0.006684 -59.15,-0.003342,0.006684,-0.006684,-25.286416,0.006684 -59.2,-0.003342,0.006684,-0.006684,-23.433746,0.006684 -59.25,-0.003342,0.006684,-0.006684,-21.567842,0.006684 -59.3,-0.003342,0.006684,-0.006684,-19.689791,0.006684 -59.35,-0.003342,0.006684,-0.006684,-17.800663,0.006684 -59.4,-0.003342,0.006684,-0.006684,-15.901543,0.006684 -59.45,-0.003342,0.006684,-0.006684,-13.99351,0.006684 -59.5,-0.003342,0.006684,-0.006684,-12.077645,0.006684 -59.55,-0.003342,0.006684,-0.006684,-10.155028,0.006684 -59.6,-0.003342,0.006684,-0.006684,-8.22674,0.006684 -59.65,-0.003342,0.006684,-0.006684,-6.293858,0.006684 -59.7,-0.003342,0.006684,-0.006684,-4.357468,0.006684 -59.75,-0.003342,0.006684,-0.006684,-2.418646,0.006684 -59.8,-0.003342,0.006684,-0.006684,-0.478474,0.006684 -59.85,-0.003342,0.006684,-0.006684,1.461968,0.006684 -59.9,-0.003342,0.006684,-0.006684,3.401599,0.006684 -59.95,-0.003342,0.006684,-0.006684,5.339341,0.006684 -60.0,-0.003342,0.006684,-0.006684,7.274111,0.006684 -60.05,-0.003342,0.006684,-0.006684,9.204831,0.006684 -60.1,-0.003342,0.006684,-0.006684,11.13042,0.006684 -60.15,-0.003342,0.006684,-0.006684,13.049795,0.006684 -60.2,-0.003342,0.006684,-0.006684,14.961879,0.006684 -60.25,-0.003342,0.006684,-0.006684,16.865591,0.006684 -60.3,-0.003342,0.006684,-0.006684,18.759849,0.006684 -60.35,-0.003342,0.006684,-0.006684,20.643577,0.006684 -60.4,-0.003342,0.006684,-0.006684,22.515695,0.006684 -60.45,-0.003342,0.006684,-0.006684,24.375115,0.006684 -60.5,-0.003342,0.006684,-0.006684,26.220762,0.006684 -60.55,-0.003342,0.006684,-0.006684,28.051556,0.006684 -60.6,-0.003342,0.006684,-0.006684,29.866416,0.006684 -60.65,-0.003342,0.006684,-0.006684,31.664262,0.006684 -60.7,-0.003342,0.006684,-0.006684,33.444014,0.006684 -60.75,-0.003342,0.006684,-0.006684,35.204584,0.006684 -60.8,-0.003342,0.006684,-0.006684,36.944913,0.006684 -60.85,-0.003342,0.006684,-0.006684,38.663901,0.006684 -60.9,-0.003342,0.006684,-0.006684,40.360479,0.006684 -60.95,-0.003342,0.006684,-0.006684,42.033544,0.006684 -61.0,-0.003342,0.006684,-0.006684,43.682051,0.006684 -61.05,-0.003342,0.006684,-0.006684,45.304891,0.006684 -61.1,-0.003342,0.006684,-0.006684,46.900997,0.006684 -61.15,-0.003342,0.006684,-0.006684,48.469287,0.006684 -61.2,-0.003342,0.006684,-0.006684,50.008678,0.006684 -61.25,-0.003342,0.006684,-0.006684,51.518095,0.006684 -61.3,-0.003342,0.006684,-0.006684,52.996459,0.006684 -61.35,-0.003342,0.006684,-0.006684,54.442676,0.006684 -61.4,-0.003342,0.006684,-0.006684,55.855679,0.006684 -61.45,-0.003342,0.006684,-0.006684,57.234383,0.006684 -61.5,-0.003342,0.006684,-0.006684,58.57771,0.006684 -61.55,-0.003342,0.006684,-0.006684,59.884578,0.006684 -61.6,-0.003342,0.006684,-0.006684,61.153907,0.006684 -61.65,-0.003342,0.006684,-0.006684,62.384619,0.006684 -61.7,-0.003342,0.006684,-0.006684,63.575619,0.006684 -61.75,-0.003342,0.006684,-0.006684,64.725851,0.006684 -61.8,-0.003342,0.006684,-0.006684,65.834219,0.006684 -61.85,-0.003342,0.006684,-0.006684,66.899647,0.006684 -61.9,-0.003342,0.006684,-0.006684,67.921061,0.006684 -61.95,-0.003342,0.006684,-0.006684,68.897368,0.006684 -62.0,-0.003342,0.006684,-0.006684,69.82749,0.006684 -62.05,-0.003342,0.006684,-0.006684,70.710367,0.006684 -62.1,-0.003342,0.006684,-0.006684,71.544893,0.006684 -62.15,-0.003342,0.006684,-0.006684,72.329996,0.006684 -62.2,-0.003342,0.006684,-0.006684,73.064603,0.006684 -62.25,-0.003342,0.006684,-0.006684,73.747629,0.006684 -62.3,-0.003342,0.006684,-0.006684,74.378021,0.006684 -62.35,-0.003342,0.006684,-0.006684,74.954653,0.006684 -62.4,-0.003342,0.006684,-0.006684,75.476411,0.006684 -62.45,-0.003342,0.006684,-0.006684,75.941984,0.006684 -62.5,-0.003342,0.006684,-0.006684,76.349856,0.006684 -62.55,-0.003342,0.006684,-0.006684,76.698045,0.006684 -62.6,-0.003342,0.006684,-0.006684,76.984012,0.006684 -62.65,-0.003342,0.006684,-0.006684,77.204511,0.006684 -62.7,-0.003342,0.006684,-0.006684,77.355581,0.006684 -62.75,-0.003342,0.006684,-0.006684,77.432393,0.006684 -62.8,-0.003342,0.006684,-0.006684,77.429258,0.006684 -62.85,-0.003342,0.006684,-0.006684,77.339612,0.006684 -62.9,-0.003342,0.006684,-0.006684,77.156494,0.006684 -62.95,-0.003342,0.006684,-0.006684,76.873417,0.006684 -63.0,-0.003342,0.006684,-0.006684,76.485558,0.006684 -63.05,-0.003342,0.006684,-0.006684,75.990485,0.006684 -63.1,-0.003342,0.006684,-0.006684,75.388343,0.006684 -63.15,-0.003342,0.006684,-0.006684,74.681404,0.006684 -63.2,-0.003342,0.006684,-0.006684,73.87325,0.006684 -63.25,-0.003342,0.006684,-0.006684,72.968174,0.006684 -63.3,-0.003342,0.006684,-0.006684,71.970687,0.006684 -63.35,-0.003342,0.006684,-0.006684,70.885322,0.006684 -63.4,-0.003342,0.006684,-0.006684,69.716581,0.006684 -63.45,-0.003342,0.006684,-0.006684,68.46889,0.006684 -63.5,-0.003342,0.006684,-0.006684,67.146606,0.006684 -63.55,-0.003342,0.006684,-0.006684,65.754088,0.006684 -63.6,-0.003342,0.006684,-0.006684,64.295651,0.006684 -63.65,-0.003342,0.006684,-0.006684,62.775647,0.006684 -63.7,-0.003342,0.006684,-0.006684,61.198393,0.006684 -63.75,-0.003342,0.006684,-0.006684,59.568197,0.006684 -63.8,-0.003342,0.006684,-0.006684,57.889398,0.006684 -63.85,-0.003342,0.006684,-0.006684,56.166298,0.006684 -63.9,-0.003342,0.006684,-0.006684,54.403232,0.006684 -63.95,-0.003342,0.006684,-0.006684,52.604512,0.006684 -64.0,-0.003342,0.006684,-0.006684,50.774475,0.006684 -64.05,-0.003342,0.006684,-0.006684,48.917426,0.006684 -64.1,-0.003342,0.006684,-0.006684,47.037689,0.006684 -64.15,-0.003342,0.006684,-0.006684,45.139586,0.006684 -64.2,-0.003342,0.006684,-0.006684,43.227448,0.006684 -64.25,-0.003342,0.006684,-0.006684,41.305579,0.006684 -64.3,-0.003342,0.006684,-0.006684,39.378315,0.006684 -64.35,-0.003342,0.006684,-0.006684,37.449965,0.006684 -64.4,-0.003342,0.006684,-0.006684,35.524862,0.006684 -64.45,-0.003342,0.006684,-0.006684,33.607314,0.006684 -64.5,-0.003342,0.006684,-0.006684,31.701654,0.006684 -64.55,-0.003342,0.006684,-0.006684,29.812198,0.006684 -64.6,-0.003342,0.006684,-0.006684,27.943264,0.006684 -64.65,-0.003342,0.006684,-0.006684,26.099174,0.006684 -64.7,-0.003342,0.006684,-0.006684,24.284258,0.006684 -64.75,-0.003342,0.006684,-0.006684,22.502821,0.006684 -64.8,-0.003342,0.006684,-0.006684,20.759201,0.006684 -64.85,-0.003342,0.006684,-0.006684,19.057707,0.006684 -64.9,-0.003342,0.006684,-0.006684,17.402665,0.006684 -64.95,-0.003342,0.006684,-0.006684,15.798397,0.006684 -65.0,-0.003342,0.006684,-0.006684,14.249217,0.006684 -65.05,-0.003342,0.006684,-0.006684,12.759455,0.006684 -65.1,-0.003342,0.006684,-0.006684,11.333429,0.006684 -65.15,-0.003342,0.006684,-0.006684,9.975459,0.006684 -65.2,-0.003342,0.006684,-0.006684,8.68987,0.006684 -65.25,-0.003342,0.006684,-0.006684,7.48099,0.006684 -65.3,-0.003342,0.006684,-0.006684,6.353152,0.006684 -65.35,-0.003342,0.006684,-0.006684,5.310694,0.006684 -65.4,-0.003342,0.006684,-0.006684,4.35795,0.006684 -65.45,-0.003342,0.006684,-0.006684,3.49919,0.006684 -65.5,-0.003342,0.006684,-0.006684,2.73845,0.006684 -65.55,-0.003342,0.006684,-0.006684,2.079151,0.006684 -65.6,-0.003342,0.006684,-0.006684,1.523397,0.006684 -65.65,-0.003342,0.006684,-0.006684,1.070976,0.006684 -65.7,-0.003342,0.006684,-0.006684,0.7182,0.006684 -65.75,-0.003342,0.006684,-0.006684,0.457152,0.006684 -65.8,-0.003342,0.006684,-0.006684,0.275784,0.006684 -65.85,-0.003342,0.006684,-0.006684,0.159023,0.006684 -65.9,-0.003342,0.006684,-0.006684,0.090542,0.006684 -65.95,-0.003342,0.006684,-0.006684,0.090542,0.006684 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos +0.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.75,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.8,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +0.95,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.75,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.8,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +1.95,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.75,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.8,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +2.95,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.75,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.8,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +3.95,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.75,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.8,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +4.95,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.0,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.05,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.1,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.15,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.2,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.25,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.3,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.35,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.4,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.45,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.5,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.55,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.6,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.65,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.7,-1.647446,12.918193,15.555556,39.887990,10.064565 +5.75,-1.565074,12.918193,15.555556,39.887990,10.064565 +5.8,-1.565074,12.918193,15.555556,39.887990,10.064565 +5.85,-1.482702,12.918193,15.555556,39.887990,10.064565 +5.9,-1.317957,12.918193,15.555556,39.887990,10.064565 +5.95,-1.153213,12.918193,15.555556,39.887990,10.064565 +6.0,-0.988468,12.918193,15.555556,39.887990,10.064565 +6.05,-0.658979,12.918193,15.555556,39.887990,10.064565 +6.1,-0.411862,12.918193,15.555556,39.887990,10.064565 +6.15,-0.082372,12.918193,15.555556,39.887990,10.064565 +6.2,0.329489,12.918193,15.555556,39.887990,10.064565 +6.25,0.741351,12.918193,15.555556,39.887990,10.064565 +6.3,1.235585,12.918193,15.555556,39.887990,10.064565 +6.35,1.812191,12.918193,15.555556,39.887990,10.064565 +6.4,2.388797,12.918193,15.555556,39.887990,10.064565 +6.45,2.965404,12.918193,15.555556,39.887990,10.064565 +6.5,3.706755,12.918193,15.555556,39.887990,10.064565 +6.55,4.365733,12.918193,15.555556,39.887990,10.064565 +6.6,5.107084,12.918193,15.555556,39.887990,10.064565 +6.65,5.848435,12.918193,15.555556,39.887990,10.064565 +6.7,6.672158,12.918193,15.555556,39.887990,10.064565 +6.75,7.413509,12.918193,15.555556,39.887990,10.064565 +6.8,8.319605,12.918193,15.555556,39.887990,10.064565 +6.85,9.143328,12.918193,15.555556,39.887990,10.064565 +6.9,10.049423,12.918193,15.555556,39.887990,10.064565 +6.95,10.955519,12.918193,15.555556,39.887990,10.064565 +7.0,11.861614,12.918193,15.555556,39.887990,10.064565 +7.05,12.767710,12.918193,15.555556,39.887990,10.064565 +7.1,13.756178,12.918193,15.555556,39.887990,10.064565 +7.15,14.662273,12.918193,15.555556,39.887990,10.064565 +7.2,15.650741,12.918193,15.555556,39.887990,10.064565 +7.25,16.556837,12.918193,15.555556,39.887990,10.064565 +7.3,17.545305,12.918193,15.555556,39.887990,10.064565 +7.35,18.533773,12.918193,15.555556,39.887990,10.064565 +7.4,19.439868,12.918193,15.555556,39.887990,10.064565 +7.45,20.428336,12.918193,15.555556,39.887990,10.064565 +7.5,21.416804,12.918193,15.555556,39.887990,10.064565 +7.55,22.322900,12.918193,15.555556,39.887990,10.064565 +7.6,23.228995,12.918193,15.555556,39.887990,10.064565 +7.65,24.217463,12.918193,15.555556,39.887990,10.064565 +7.7,25.123558,12.918193,15.555556,39.887990,10.064565 +7.75,25.947282,12.918193,15.555556,39.887990,10.064565 +7.8,26.853377,12.918193,15.555556,39.887990,10.064565 +7.85,27.677100,12.918193,15.555556,39.887990,10.064565 +7.9,28.500824,12.918193,15.555556,39.887990,10.064565 +7.95,29.324547,12.918193,15.555556,39.887990,10.064565 +8.0,30.065898,12.918193,15.555556,39.887990,10.064565 +8.05,30.889621,12.918193,15.555556,39.887990,10.064565 +8.1,31.548600,12.918193,15.555556,39.887990,10.064565 +8.15,32.207578,12.918193,15.555556,39.887990,10.064565 +8.2,32.866557,12.918193,15.555556,39.887990,10.064565 +8.25,33.525535,12.918193,15.555556,39.887990,10.064565 +8.3,34.019769,12.918193,15.555556,39.887990,10.064565 +8.35,34.596376,12.918193,15.555556,39.887990,10.064565 +8.4,35.008237,12.918193,15.555556,39.887990,10.064565 +8.45,35.502471,12.918193,15.555556,39.887990,10.064565 +8.5,35.831960,12.918193,15.555556,39.887990,10.064565 +8.55,36.161450,12.918193,15.555556,39.887990,10.064565 +8.6,36.490939,12.918193,15.555556,39.887990,10.064565 +8.65,36.655684,12.918193,15.555556,39.887990,10.064565 +8.7,36.820428,12.918193,15.555556,39.887990,10.064565 +8.75,36.985173,12.918193,15.555556,39.887990,10.064565 +8.8,36.985173,12.918193,15.555556,39.887990,10.064565 +8.85,37.067545,12.918193,15.555556,39.887990,10.064565 +8.9,36.985173,12.918193,15.555556,39.887990,10.064565 +8.95,36.985173,12.918193,15.555556,39.887990,10.064565 +9.0,36.902801,12.918193,15.555556,39.887990,10.064565 +9.05,36.738056,12.918193,15.555556,39.887990,10.064565 +9.1,36.573311,12.918193,15.555556,39.887990,10.064565 +9.15,36.408567,12.918193,15.555556,39.887990,10.064565 +9.2,36.161450,12.918193,15.555556,39.887990,10.064565 +9.25,35.914333,12.918193,15.555556,39.887990,10.064565 +9.3,35.667216,12.918193,15.555556,39.887990,10.064565 +9.35,35.337727,12.918193,15.555556,39.887990,10.064565 +9.4,35.008237,12.918193,15.555556,39.887990,10.064565 +9.45,34.678748,12.918193,15.555556,39.887990,10.064565 +9.5,34.266886,12.918193,15.555556,39.887990,10.064565 +9.55,33.937397,12.918193,15.555556,39.887990,10.064565 +9.6,33.443163,12.918193,15.555556,39.887990,10.064565 +9.65,33.031301,12.918193,15.555556,39.887990,10.064565 +9.7,32.537068,12.918193,15.555556,39.887990,10.064565 +9.75,32.042834,12.918193,15.555556,39.887990,10.064565 +9.8,31.548600,12.918193,15.555556,39.887990,10.064565 +9.85,30.971993,12.918193,15.555556,39.887990,10.064565 +9.9,30.395387,12.918193,15.555556,39.887990,10.064565 +9.95,29.818781,12.918193,15.555556,39.887990,10.064565 +10.0,29.242175,12.918193,15.555556,39.887990,10.064565 +10.05,28.583196,12.918193,15.555556,39.887990,10.064565 +10.1,27.924217,12.918193,15.555556,39.887990,10.064565 +10.15,27.265239,12.918193,15.555556,39.887990,10.064565 +10.2,26.606260,12.918193,15.555556,39.887990,10.064565 +10.25,25.947282,12.918193,15.555556,39.887990,10.064565 +10.3,25.205931,12.918193,15.555556,39.887990,10.064565 +10.35,24.464580,12.918193,15.555556,39.887990,10.064565 +10.4,23.723229,12.918193,15.555556,39.887990,10.064565 +10.45,22.981878,12.918193,15.555556,39.887990,10.064565 +10.5,22.158155,12.918193,15.555556,39.887990,10.064565 +10.55,21.416804,12.918193,15.555556,39.887990,10.064565 +10.6,20.593081,12.918193,15.555556,39.887990,10.064565 +10.65,19.769357,12.918193,15.555556,39.887990,10.064565 +10.7,18.945634,12.918193,15.555556,39.887990,10.064565 +10.75,18.121911,12.918193,15.555556,39.887990,10.064565 +10.8,17.215815,12.918193,15.555556,39.887990,10.064565 +10.85,16.392092,12.918193,15.555556,39.887990,10.064565 +10.9,15.485997,12.918193,15.555556,39.887990,10.064565 +10.95,14.579901,12.918193,15.555556,39.887990,10.064565 +11.0,13.756178,12.918193,15.555556,39.887990,10.064565 +11.05,12.850082,12.918193,15.555556,39.887990,10.064565 +11.1,11.943987,12.918193,15.555556,39.887990,10.064565 +11.15,10.955519,12.918193,15.555556,39.887990,10.064565 +11.2,10.049423,12.918193,15.555556,39.887990,10.064565 +11.25,9.143328,12.918193,15.555556,39.887990,10.064565 +11.3,8.154860,12.918193,15.555556,39.887990,10.064565 +11.35,7.248764,12.918193,15.555556,39.887990,10.064565 +11.4,6.260297,12.918193,15.555556,39.887990,10.064565 +11.45,5.354201,12.918193,15.555556,39.887990,10.064565 +11.5,4.365733,12.918193,15.555556,39.887990,10.064565 +11.55,3.459638,12.918193,15.555556,39.887990,10.064565 +11.6,2.471170,12.918193,15.555556,39.887990,10.064565 +11.65,1.482702,12.918193,15.555556,39.887990,10.064565 +11.7,0.494234,12.918193,15.555556,39.887990,10.064565 +11.75,-0.411862,12.918193,15.555556,39.887990,10.064565 +11.8,-1.400329,12.918193,15.555556,39.887990,10.064565 +11.85,-2.388797,12.918193,15.555556,39.887990,10.064565 +11.9,-3.377265,12.918193,15.555556,39.887990,10.064565 +11.95,-4.365733,12.918193,15.555556,39.887990,10.064565 +12.0,-5.354201,12.918193,15.555556,39.887990,10.064565 +12.05,-6.425041,12.918193,15.555556,39.887990,10.064565 +12.1,-7.413509,12.918193,15.555556,39.887990,10.064565 +12.15,-8.401977,12.918193,15.555556,39.887990,10.064565 +12.2,-9.308072,12.918193,15.555556,39.887990,10.064565 +12.25,-10.214168,12.918193,15.555556,39.887990,10.064565 +12.3,-11.120264,12.918193,15.555556,39.887990,10.064565 +12.35,-12.026359,12.918193,15.555556,39.887990,10.064565 +12.4,-12.932455,12.918193,15.555556,39.887990,10.064565 +12.45,-13.838550,12.918193,15.555556,39.887990,10.064565 +12.5,-14.744646,12.918193,15.555556,39.887990,10.064565 +12.55,-15.650741,12.918193,15.555556,39.887990,10.064565 +12.6,-16.556837,12.918193,15.555556,39.887990,10.064565 +12.65,-17.462932,12.918193,15.555556,39.887990,10.064565 +12.7,-18.369028,12.918193,15.555556,39.887990,10.064565 +12.75,-19.275124,12.918193,15.555556,39.887990,10.064565 +12.8,-20.098847,12.918193,15.555556,39.887990,10.064565 +12.85,-21.004942,12.918193,15.555556,39.887990,10.064565 +12.9,-21.828666,12.918193,15.555556,39.887990,10.064565 +12.95,-22.652389,12.918193,15.555556,39.887990,10.064565 +13.0,-23.476112,12.918193,15.555556,39.887990,10.064565 +13.05,-24.299835,12.918193,15.555556,39.887990,10.064565 +13.1,-25.123558,12.918193,15.555556,39.887990,10.064565 +13.15,-25.864909,12.918193,15.555556,39.887990,10.064565 +13.2,-26.606260,12.918193,15.555556,39.887990,10.064565 +13.25,-27.429984,12.918193,15.555556,39.887990,10.064565 +13.3,-28.171334,12.918193,15.555556,39.887990,10.064565 +13.35,-28.830313,12.918193,15.555556,39.887990,10.064565 +13.4,-29.571664,12.918193,15.555556,39.887990,10.064565 +13.45,-30.230643,12.918193,15.555556,39.887990,10.064565 +13.5,-30.889621,12.918193,15.555556,39.887990,10.064565 +13.55,-31.548600,12.918193,15.555556,39.887990,10.064565 +13.6,-32.207578,12.918193,15.555556,39.887990,10.064565 +13.65,-32.866557,12.918193,15.555556,39.887990,10.064565 +13.7,-33.443163,12.918193,15.555556,39.887990,10.064565 +13.75,-34.019769,12.918193,15.555556,39.887990,10.064565 +13.8,-34.514003,12.918193,15.555556,39.887990,10.064565 +13.85,-35.090610,12.918193,15.555556,39.887990,10.064565 +13.9,-35.584843,12.918193,15.555556,39.887990,10.064565 +13.95,-36.079077,12.918193,15.555556,39.887990,10.064565 +14.0,-36.573311,12.918193,15.555556,39.887990,10.064565 +14.05,-36.985173,12.918193,15.555556,39.887990,10.064565 +14.1,-37.397035,12.918193,15.555556,39.887990,10.064565 +14.15,-37.808896,12.918193,15.555556,39.887990,10.064565 +14.2,-38.138386,12.918193,15.555556,39.887990,10.064565 +14.25,-38.467875,12.918193,15.555556,39.887990,10.064565 +14.3,-38.797364,12.918193,15.555556,39.887990,10.064565 +14.35,-39.126853,12.918193,15.555556,39.887990,10.064565 +14.4,-39.373970,12.918193,15.555556,39.887990,10.064565 +14.45,-39.621087,12.918193,15.555556,39.887990,10.064565 +14.5,-39.785832,12.918193,15.555556,39.887990,10.064565 +14.55,-39.950577,12.918193,15.555556,39.887990,10.064565 +14.6,-40.115321,12.918193,15.555556,39.887990,10.064565 +14.65,-40.197694,12.918193,15.555556,39.887990,10.064565 +14.7,-40.280066,12.918193,15.555556,39.887990,10.064565 +14.75,-40.362438,12.918193,15.555556,39.887990,10.064565 +14.8,-40.362438,12.918193,15.555556,39.887990,10.064565 +14.85,-40.280066,12.918193,15.555556,39.887990,10.064565 +14.9,-40.197694,12.918193,15.555556,39.887990,10.064565 +14.95,-40.032949,12.918193,15.555556,39.887990,10.064565 +15.0,-39.868204,12.918193,15.555556,39.887990,10.064565 +15.05,-39.621087,12.918193,15.555556,39.887990,10.064565 +15.1,-39.291598,12.918193,15.555556,39.887990,10.064565 +15.15,-38.962109,12.918193,15.555556,39.887990,10.064565 +15.2,-38.550247,12.918193,15.555556,39.887990,10.064565 +15.25,-38.138386,12.918193,15.555556,39.887990,10.064565 +15.3,-37.644152,12.918193,15.555556,39.887990,10.064565 +15.35,-37.067545,12.918193,15.555556,39.887990,10.064565 +15.4,-36.490939,12.918193,15.555556,39.887990,10.064565 +15.45,-35.831960,12.918193,15.555556,39.887990,10.064565 +15.5,-35.172982,12.918193,15.555556,39.887990,10.064565 +15.55,-34.514003,12.918193,15.555556,39.887990,10.064565 +15.6,-33.772652,12.918193,15.555556,39.887990,10.064565 +15.65,-33.031301,12.918193,15.555556,39.887990,10.064565 +15.7,-32.207578,12.918193,15.555556,39.887990,10.064565 +15.75,-31.383855,12.918193,15.555556,39.887990,10.064565 +15.8,-30.560132,12.918193,15.555556,39.887990,10.064565 +15.85,-29.736409,12.918193,15.555556,39.887990,10.064565 +15.9,-28.830313,12.918193,15.555556,39.887990,10.064565 +15.95,-27.924217,12.918193,15.555556,39.887990,10.064565 +16.0,-27.018122,12.918193,15.555556,39.887990,10.064565 +16.05,-26.112026,12.918193,15.555556,39.887990,10.064565 +16.1,-25.123558,12.918193,15.555556,39.887990,10.064565 +16.15,-24.217463,12.918193,15.555556,39.887990,10.064565 +16.2,-23.228995,12.918193,15.555556,39.887990,10.064565 +16.25,-22.322900,12.918193,15.555556,39.887990,10.064565 +16.3,-21.334432,12.918193,15.555556,39.887990,10.064565 +16.35,-20.345964,12.918193,15.555556,39.887990,10.064565 +16.4,-19.439868,12.918193,15.555556,39.887990,10.064565 +16.45,-18.451400,12.918193,15.555556,39.887990,10.064565 +16.5,-17.462932,12.918193,15.555556,39.887990,10.064565 +16.55,-16.556837,12.918193,15.555556,39.887990,10.064565 +16.6,-15.650741,12.918193,15.555556,39.887990,10.064565 +16.65,-14.662273,12.918193,15.555556,39.887990,10.064565 +16.7,-13.756178,12.918193,15.555556,39.887990,10.064565 +16.75,-12.932455,12.918193,15.555556,39.887990,10.064565 +16.8,-12.026359,12.918193,15.555556,39.887990,10.064565 +16.85,-11.202636,12.918193,15.555556,39.887990,10.064565 +16.9,-10.378913,12.918193,15.555556,39.887990,10.064565 +16.95,-9.555189,12.918193,15.555556,39.887990,10.064565 +17.0,-8.731466,12.918193,15.555556,39.887990,10.064565 +17.05,-7.990115,12.918193,15.555556,39.887990,10.064565 +17.1,-7.331137,12.918193,15.555556,39.887990,10.064565 +17.15,-6.672158,12.918193,15.555556,39.887990,10.064565 +17.2,-6.013180,12.918193,15.555556,39.887990,10.064565 +17.25,-5.354201,12.918193,15.555556,39.887990,10.064565 +17.3,-4.859967,12.918193,15.555556,39.887990,10.064565 +17.35,-4.283361,12.918193,15.555556,39.887990,10.064565 +17.4,-3.789127,12.918193,15.555556,39.887990,10.064565 +17.45,-3.377265,12.918193,15.555556,39.887990,10.064565 +17.5,-3.047776,12.918193,15.555556,39.887990,10.064565 +17.55,-2.718287,12.918193,15.555556,39.887990,10.064565 +17.6,-2.388797,12.918193,15.555556,39.887990,10.064565 +17.65,-2.141680,12.918193,15.555556,39.887990,10.064565 +17.7,-1.976936,12.918193,15.555556,39.887990,10.064565 +17.75,-1.894563,12.869353,15.555556,39.887990,10.064565 +17.8,-1.812191,12.869353,15.555556,39.887990,10.064565 +17.85,-1.729819,12.820513,15.555556,39.887990,10.064565 +17.9,-1.729819,12.722833,15.555556,39.887990,10.064565 +17.95,-1.647446,12.625153,15.555556,39.887990,10.064565 +18.0,-1.647446,12.478632,15.555556,39.887990,10.064565 +18.05,-1.647446,12.283272,15.555556,39.887990,10.064565 +18.1,-1.647446,12.087912,15.555556,39.887990,10.064565 +18.15,-1.647446,11.843712,15.555556,39.887990,10.064565 +18.2,-1.647446,11.550672,15.555556,39.887990,10.064565 +18.25,-1.647446,11.257631,15.555556,39.887990,10.064565 +18.3,-1.647446,10.915751,15.555556,39.887990,10.064565 +18.35,-1.647446,10.525031,15.555556,39.887990,10.064565 +18.4,-1.647446,10.134310,15.555556,39.887990,10.064565 +18.45,-1.647446,9.694750,15.555556,39.887990,10.064565 +18.5,-1.647446,9.255189,15.555556,39.887990,10.064565 +18.55,-1.647446,8.766789,15.555556,39.887990,10.064565 +18.6,-1.647446,8.278388,15.555556,39.887990,10.064565 +18.65,-1.647446,7.741148,15.555556,39.887990,10.064565 +18.7,-1.647446,7.203907,15.555556,39.887990,10.064565 +18.75,-1.647446,6.666667,15.555556,39.887990,10.064565 +18.8,-1.647446,6.080586,15.555556,39.887990,10.064565 +18.85,-1.647446,5.494505,15.555556,39.887990,10.064565 +18.9,-1.647446,4.859585,15.555556,39.887990,10.064565 +18.95,-1.647446,4.273504,15.555556,39.887990,10.064565 +19.0,-1.647446,3.638584,15.555556,39.887990,10.064565 +19.05,-1.647446,3.003663,15.555556,39.887990,10.064565 +19.1,-1.647446,2.319902,15.555556,39.887990,10.064565 +19.15,-1.647446,1.684982,15.555556,39.887990,10.064565 +19.2,-1.647446,1.050061,15.555556,39.887990,10.064565 +19.25,-1.647446,0.366300,15.555556,39.887990,10.064565 +19.3,-1.647446,-0.317460,15.555556,39.887990,10.064565 +19.35,-1.647446,-0.952381,15.555556,39.887990,10.064565 +19.4,-1.647446,-1.636142,15.555556,39.887990,10.064565 +19.45,-1.647446,-2.271062,15.555556,39.887990,10.064565 +19.5,-1.647446,-2.954823,15.555556,39.887990,10.064565 +19.55,-1.647446,-3.589744,15.555556,39.887990,10.064565 +19.6,-1.647446,-4.224664,15.555556,39.887990,10.064565 +19.65,-1.647446,-4.859585,15.555556,39.887990,10.064565 +19.7,-1.647446,-5.494505,15.555556,39.887990,10.064565 +19.75,-1.647446,-6.080586,15.555556,39.887990,10.064565 +19.8,-1.647446,-6.715507,15.555556,39.887990,10.064565 +19.85,-1.647446,-7.301587,15.555556,39.887990,10.064565 +19.9,-1.647446,-7.838828,15.555556,39.887990,10.064565 +19.95,-1.647446,-8.424908,15.555556,39.887990,10.064565 +20.0,-1.647446,-8.962149,15.555556,39.887990,10.064565 +20.05,-1.647446,-9.450549,15.555556,39.887990,10.064565 +20.1,-1.647446,-9.938950,15.555556,39.887990,10.064565 +20.15,-1.647446,-10.427350,15.555556,39.887990,10.064565 +20.2,-1.647446,-10.866911,15.555556,39.887990,10.064565 +20.25,-1.647446,-11.257631,15.555556,39.887990,10.064565 +20.3,-1.647446,-11.648352,15.555556,39.887990,10.064565 +20.35,-1.647446,-12.039072,15.555556,39.887990,10.064565 +20.4,-1.647446,-12.332112,15.555556,39.887990,10.064565 +20.45,-1.647446,-12.625153,15.555556,39.887990,10.064565 +20.5,-1.647446,-12.918193,15.555556,39.887990,10.064565 +20.55,-1.647446,-13.113553,15.555556,39.887990,10.064565 +20.6,-1.647446,-13.308913,15.555556,39.887990,10.064565 +20.65,-1.647446,-13.455433,15.555556,39.887990,10.064565 +20.7,-1.647446,-13.601954,15.555556,39.887990,10.064565 +20.75,-1.647446,-13.650794,15.555556,39.887990,10.064565 +20.8,-1.647446,-13.699634,15.555556,39.887990,10.064565 +20.85,-1.647446,-13.699634,15.555556,39.887990,10.064565 +20.9,-1.647446,-13.699634,15.555556,39.887990,10.064565 +20.95,-1.647446,-13.650794,15.555556,39.887990,10.064565 +21.0,-1.647446,-13.601954,15.555556,39.887990,10.064565 +21.05,-1.647446,-13.504274,15.555556,39.887990,10.064565 +21.1,-1.647446,-13.406593,15.555556,39.887990,10.064565 +21.15,-1.647446,-13.260073,15.555556,39.887990,10.064565 +21.2,-1.647446,-13.113553,15.555556,39.887990,10.064565 +21.25,-1.647446,-12.967033,15.555556,39.887990,10.064565 +21.3,-1.647446,-12.771673,15.555556,39.887990,10.064565 +21.35,-1.647446,-12.576313,15.555556,39.887990,10.064565 +21.4,-1.647446,-12.332112,15.555556,39.887990,10.064565 +21.45,-1.647446,-12.087912,15.555556,39.887990,10.064565 +21.5,-1.647446,-11.843712,15.555556,39.887990,10.064565 +21.55,-1.647446,-11.550672,15.555556,39.887990,10.064565 +21.6,-1.647446,-11.257631,15.555556,39.887990,10.064565 +21.65,-1.647446,-10.964591,15.555556,39.887990,10.064565 +21.7,-1.647446,-10.622711,15.555556,39.887990,10.064565 +21.75,-1.647446,-10.280830,15.555556,39.887990,10.064565 +21.8,-1.647446,-9.890110,15.555556,39.887990,10.064565 +21.85,-1.647446,-9.548230,15.555556,39.887990,10.064565 +21.9,-1.647446,-9.157509,15.555556,39.887990,10.064565 +21.95,-1.647446,-8.766789,15.555556,39.887990,10.064565 +22.0,-1.647446,-8.327228,15.555556,39.887990,10.064565 +22.05,-1.647446,-7.887668,15.555556,39.887990,10.064565 +22.1,-1.647446,-7.448107,15.555556,39.887990,10.064565 +22.15,-1.647446,-7.008547,15.555556,39.887990,10.064565 +22.2,-1.647446,-6.520147,15.555556,39.887990,10.064565 +22.25,-1.647446,-6.031746,15.555556,39.887990,10.064565 +22.3,-1.647446,-5.543346,15.555556,39.887990,10.064565 +22.35,-1.647446,-5.054945,15.555556,39.887990,10.064565 +22.4,-1.647446,-4.566545,15.555556,39.887990,10.064565 +22.45,-1.647446,-4.029304,15.555556,39.887990,10.064565 +22.5,-1.647446,-3.492063,15.555556,39.887990,10.064565 +22.55,-1.647446,-2.954823,15.555556,39.887990,10.064565 +22.6,-1.647446,-2.368742,15.555556,39.887990,10.064565 +22.65,-1.647446,-1.831502,15.555556,39.887990,10.064565 +22.7,-1.647446,-1.245421,15.555556,39.887990,10.064565 +22.75,-1.647446,-0.659341,15.555556,39.887990,10.064565 +22.8,-1.647446,-0.073260,15.555556,39.887990,10.064565 +22.85,-1.647446,0.512821,15.555556,39.887990,10.064565 +22.9,-1.647446,1.098901,15.555556,39.887990,10.064565 +22.95,-1.647446,1.733822,15.555556,39.887990,10.064565 +23.0,-1.647446,2.319902,15.555556,39.887990,10.064565 +23.05,-1.647446,2.954823,15.555556,39.887990,10.064565 +23.1,-1.647446,3.589744,15.555556,39.887990,10.064565 +23.15,-1.647446,4.224664,15.555556,39.887990,10.064565 +23.2,-1.647446,4.859585,15.555556,39.887990,10.064565 +23.25,-1.647446,5.494505,15.555556,39.887990,10.064565 +23.3,-1.647446,6.129426,15.555556,39.887990,10.064565 +23.35,-1.647446,6.813187,15.555556,39.887990,10.064565 +23.4,-1.647446,7.448107,15.555556,39.887990,10.064565 +23.45,-1.647446,8.083028,15.555556,39.887990,10.064565 +23.5,-1.647446,8.766789,15.555556,39.887990,10.064565 +23.55,-1.647446,9.401709,15.555556,39.887990,10.064565 +23.6,-1.647446,10.085470,15.555556,39.887990,10.064565 +23.65,-1.647446,10.769231,15.555556,39.887990,10.064565 +23.7,-1.647446,11.404151,15.555556,39.887990,10.064565 +23.75,-1.647446,12.087912,15.555556,39.887990,10.064565 +23.8,-1.647446,12.771673,15.555556,39.887990,10.064565 +23.85,-1.647446,13.406593,15.555556,39.887990,10.064565 +23.9,-1.647446,14.090354,15.555556,39.887990,10.064565 +23.95,-1.647446,14.774115,15.555556,39.887990,10.064565 +24.0,-1.647446,15.409035,15.555556,39.887990,10.064565 +24.05,-1.647446,16.092796,15.555556,39.887990,10.064565 +24.1,-1.647446,16.776557,15.555556,39.887990,10.064565 +24.15,-1.647446,17.411477,15.555556,39.887990,10.064565 +24.2,-1.647446,18.095238,15.555556,39.887990,10.064565 +24.25,-1.647446,18.778999,15.555556,39.887990,10.064565 +24.3,-1.647446,19.462759,15.555556,39.887990,10.064565 +24.35,-1.647446,20.097680,15.555556,39.887990,10.064565 +24.4,-1.647446,20.781441,15.555556,39.887990,10.064565 +24.45,-1.647446,21.465201,15.555556,39.887990,10.064565 +24.5,-1.647446,22.051282,15.555556,39.887990,10.064565 +24.55,-1.647446,22.686203,15.555556,39.887990,10.064565 +24.6,-1.647446,23.272283,15.555556,39.887990,10.064565 +24.65,-1.647446,23.858364,15.555556,39.887990,10.064565 +24.7,-1.647446,24.444444,15.555556,39.887990,10.064565 +24.75,-1.647446,25.030525,15.555556,39.887990,10.064565 +24.8,-1.647446,25.616606,15.555556,39.887990,10.064565 +24.85,-1.647446,26.202686,15.555556,39.887990,10.064565 +24.9,-1.647446,26.837607,15.555556,39.887990,10.064565 +24.95,-1.647446,27.423687,15.555556,39.887990,10.064565 +25.0,-1.647446,27.960928,15.555556,39.887990,10.064565 +25.05,-1.647446,28.547009,15.555556,39.887990,10.064565 +25.1,-1.647446,29.133089,15.555556,39.887990,10.064565 +25.15,-1.647446,29.719170,15.555556,39.887990,10.064565 +25.2,-1.647446,30.256410,15.555556,39.887990,10.064565 +25.25,-1.647446,30.744811,15.555556,39.887990,10.064565 +25.3,-1.647446,31.233211,15.555556,39.887990,10.064565 +25.35,-1.647446,31.721612,15.555556,39.887990,10.064565 +25.4,-1.647446,32.161172,15.555556,39.887990,10.064565 +25.45,-1.647446,32.649573,15.555556,39.887990,10.064565 +25.5,-1.647446,33.089133,15.555556,39.887990,10.064565 +25.55,-1.647446,33.528694,15.555556,39.887990,10.064565 +25.6,-1.647446,33.968254,15.555556,39.887990,10.064565 +25.65,-1.647446,34.358974,15.555556,39.887990,10.064565 +25.7,-1.647446,34.798535,15.555556,39.887990,10.064565 +25.75,-1.647446,35.189255,15.555556,39.887990,10.064565 +25.8,-1.647446,35.579976,15.555556,39.887990,10.064565 +25.85,-1.647446,35.921856,15.555556,39.887990,10.064565 +25.9,-1.647446,36.312576,15.555556,39.887990,10.064565 +25.95,-1.647446,36.605617,15.555556,39.887990,10.064565 +26.0,-1.647446,36.947497,15.555556,39.887990,10.064565 +26.05,-1.647446,37.240537,15.555556,39.887990,10.064565 +26.1,-1.647446,37.533578,15.555556,39.887990,10.064565 +26.15,-1.647446,37.826618,15.555556,39.887990,10.064565 +26.2,-1.647446,38.070818,15.555556,39.887990,10.064565 +26.25,-1.647446,38.315018,15.555556,39.887990,10.064565 +26.3,-1.647446,38.510379,15.555556,39.887990,10.064565 +26.35,-1.647446,38.705739,15.555556,39.887990,10.064565 +26.4,-1.647446,38.901099,15.555556,39.887990,10.064565 +26.45,-1.647446,39.047619,15.555556,39.887990,10.064565 +26.5,-1.647446,39.194139,15.555556,39.887990,10.064565 +26.55,-1.647446,39.291819,15.555556,39.887990,10.064565 +26.6,-1.647446,39.389499,15.555556,39.887990,10.064565 +26.65,-1.647446,39.487179,15.555556,39.887990,10.064565 +26.7,-1.647446,39.536020,15.555556,39.887990,10.064565 +26.75,-1.647446,39.584860,15.555556,39.887990,10.064565 +26.8,-1.647446,39.536020,15.555556,39.887990,10.064565 +26.85,-1.647446,39.536020,15.555556,39.887990,10.064565 +26.9,-1.647446,39.487179,15.555556,39.887990,10.064565 +26.95,-1.647446,39.389499,15.555556,39.887990,10.064565 +27.0,-1.647446,39.242979,15.555556,39.887990,10.064565 +27.05,-1.647446,39.047619,15.555556,39.887990,10.064565 +27.1,-1.647446,38.852259,15.555556,39.887990,10.064565 +27.15,-1.647446,38.608059,15.555556,39.887990,10.064565 +27.2,-1.647446,38.315018,15.555556,39.887990,10.064565 +27.25,-1.647446,38.021978,15.555556,39.887990,10.064565 +27.3,-1.647446,37.680098,15.555556,39.887990,10.064565 +27.35,-1.647446,37.289377,15.555556,39.887990,10.064565 +27.4,-1.647446,36.898657,15.555556,39.887990,10.064565 +27.45,-1.647446,36.459096,15.555556,39.887990,10.064565 +27.5,-1.647446,36.019536,15.555556,39.887990,10.064565 +27.55,-1.647446,35.531136,15.555556,39.887990,10.064565 +27.6,-1.647446,35.042735,15.555556,39.887990,10.064565 +27.65,-1.647446,34.505495,15.555556,39.887990,10.064565 +27.7,-1.647446,33.968254,15.555556,39.887990,10.064565 +27.75,-1.647446,33.431013,15.555556,39.887990,10.064565 +27.8,-1.647446,32.844933,15.555556,39.887990,10.064565 +27.85,-1.647446,32.258852,15.555556,39.887990,10.064565 +27.9,-1.647446,31.623932,15.555556,39.887990,10.064565 +27.95,-1.647446,31.037851,15.555556,39.887990,10.064565 +28.0,-1.647446,30.402930,15.555556,39.887990,10.064565 +28.05,-1.647446,29.768010,15.555556,39.887990,10.064565 +28.1,-1.647446,29.084249,15.555556,39.887990,10.064565 +28.15,-1.647446,28.449328,15.555556,39.887990,10.064565 +28.2,-1.647446,27.814408,15.555556,39.887990,10.064565 +28.25,-1.647446,27.130647,15.555556,39.887990,10.064565 +28.3,-1.647446,26.446886,15.555556,39.887990,10.064565 +28.35,-1.647446,25.811966,15.555556,39.887990,10.064565 +28.4,-1.647446,25.128205,15.555556,39.887990,10.064565 +28.45,-1.647446,24.493284,15.555556,39.887990,10.064565 +28.5,-1.647446,23.809524,15.555556,39.887990,10.064565 +28.55,-1.647446,23.174603,15.555556,39.887990,10.064565 +28.6,-1.647446,22.539683,15.555556,39.887990,10.064565 +28.65,-1.647446,21.904762,15.555556,39.887990,10.064565 +28.7,-1.647446,21.269841,15.555556,39.887990,10.064565 +28.75,-1.647446,20.683761,15.555556,39.887990,10.064565 +28.8,-1.647446,20.048840,15.555556,39.887990,10.064565 +28.85,-1.647446,19.462759,15.555556,39.887990,10.064565 +28.9,-1.647446,18.925519,15.555556,39.887990,10.064565 +28.95,-1.647446,18.339438,15.555556,39.887990,10.064565 +29.0,-1.647446,17.802198,15.555556,39.887990,10.064565 +29.05,-1.647446,17.313797,15.555556,39.887990,10.064565 +29.1,-1.647446,16.825397,15.555556,39.887990,10.064565 +29.15,-1.647446,16.336996,15.555556,39.887990,10.064565 +29.2,-1.647446,15.897436,15.555556,39.887990,10.064565 +29.25,-1.647446,15.506716,15.555556,39.887990,10.064565 +29.3,-1.647446,15.115995,15.555556,39.887990,10.064565 +29.35,-1.647446,14.725275,15.555556,39.887990,10.064565 +29.4,-1.647446,14.432234,15.555556,39.887990,10.064565 +29.45,-1.647446,14.139194,15.555556,39.887990,10.064565 +29.5,-1.647446,13.846154,15.555556,39.887990,10.064565 +29.55,-1.647446,13.650794,15.555556,39.887990,10.064565 +29.6,-1.647446,13.455433,15.555556,39.887990,10.064565 +29.65,-1.647446,13.308913,15.555556,39.887990,10.064565 +29.7,-1.647446,13.162393,15.555556,39.887990,10.064565 +29.75,-1.647446,13.064713,15.604396,39.887990,10.064565 +29.8,-1.647446,13.015873,15.604396,39.887990,10.064565 +29.85,-1.647446,12.967033,15.653236,39.887990,10.064565 +29.9,-1.647446,12.967033,15.750916,39.887990,10.064565 +29.95,-1.647446,12.918193,15.848596,39.887990,10.064565 +30.0,-1.647446,12.918193,15.995116,39.887990,10.064565 +30.05,-1.647446,12.918193,16.190476,39.887990,10.064565 +30.1,-1.647446,12.918193,16.385836,39.887990,10.064565 +30.15,-1.647446,12.918193,16.630037,39.887990,10.064565 +30.2,-1.647446,12.918193,16.923077,39.887990,10.064565 +30.25,-1.647446,12.918193,17.216117,39.887990,10.064565 +30.3,-1.647446,12.918193,17.606838,39.887990,10.064565 +30.35,-1.647446,12.918193,17.948718,39.887990,10.064565 +30.4,-1.647446,12.918193,18.388278,39.887990,10.064565 +30.45,-1.647446,12.918193,18.827839,39.887990,10.064565 +30.5,-1.647446,12.918193,19.267399,39.887990,10.064565 +30.55,-1.647446,12.918193,19.755800,39.887990,10.064565 +30.6,-1.647446,12.918193,20.244200,39.887990,10.064565 +30.65,-1.647446,12.918193,20.781441,39.887990,10.064565 +30.7,-1.647446,12.918193,21.367521,39.887990,10.064565 +30.75,-1.647446,12.918193,21.904762,39.887990,10.064565 +30.8,-1.647446,12.918193,22.490842,39.887990,10.064565 +30.85,-1.647446,12.918193,23.125763,39.887990,10.064565 +30.9,-1.647446,12.918193,23.711844,39.887990,10.064565 +30.95,-1.647446,12.918193,24.346764,39.887990,10.064565 +31.0,-1.647446,12.918193,24.981685,39.887990,10.064565 +31.05,-1.647446,12.918193,25.665446,39.887990,10.064565 +31.1,-1.647446,12.918193,26.300366,39.887990,10.064565 +31.15,-1.647446,12.918193,26.984127,39.887990,10.064565 +31.2,-1.647446,12.918193,27.619048,39.887990,10.064565 +31.25,-1.647446,12.918193,28.302808,39.887990,10.064565 +31.3,-1.647446,12.918193,28.986569,39.887990,10.064565 +31.35,-1.647446,12.918193,29.670330,39.887990,10.064565 +31.4,-1.647446,12.918193,30.305250,39.887990,10.064565 +31.45,-1.647446,12.918193,30.989011,39.887990,10.064565 +31.5,-1.647446,12.918193,31.672772,39.887990,10.064565 +31.55,-1.647446,12.918193,32.307692,39.887990,10.064565 +31.6,-1.647446,12.918193,32.991453,39.887990,10.064565 +31.65,-1.647446,12.918193,33.626374,39.887990,10.064565 +31.7,-1.647446,12.918193,34.261294,39.887990,10.064565 +31.75,-1.647446,12.918193,34.896215,39.887990,10.064565 +31.8,-1.647446,12.918193,35.482295,39.887990,10.064565 +31.85,-1.647446,12.918193,36.068376,39.887990,10.064565 +31.9,-1.647446,12.918193,36.654457,39.887990,10.064565 +31.95,-1.647446,12.918193,37.191697,39.887990,10.064565 +32.0,-1.647446,12.918193,37.777778,39.887990,10.064565 +32.05,-1.647446,12.918193,38.266178,39.887990,10.064565 +32.1,-1.647446,12.918193,38.754579,39.887990,10.064565 +32.15,-1.647446,12.918193,39.242979,39.887990,10.064565 +32.2,-1.647446,12.918193,39.682540,39.887990,10.064565 +32.25,-1.647446,12.918193,40.122100,39.887990,10.064565 +32.3,-1.647446,12.918193,40.512821,39.887990,10.064565 +32.35,-1.647446,12.918193,40.903541,39.887990,10.064565 +32.4,-1.647446,12.918193,41.196581,39.887990,10.064565 +32.45,-1.647446,12.918193,41.489621,39.887990,10.064565 +32.5,-1.647446,12.918193,41.782662,39.887990,10.064565 +32.55,-1.647446,12.918193,42.026862,39.887990,10.064565 +32.6,-1.647446,12.918193,42.222222,39.887990,10.064565 +32.65,-1.647446,12.918193,42.368742,39.887990,10.064565 +32.7,-1.647446,12.918193,42.466422,39.887990,10.064565 +32.75,-1.647446,12.918193,42.564103,39.887990,10.064565 +32.8,-1.647446,12.918193,42.612943,39.887990,10.064565 +32.85,-1.647446,12.918193,42.612943,39.887990,10.064565 +32.9,-1.647446,12.918193,42.612943,39.887990,10.064565 +32.95,-1.647446,12.918193,42.564103,39.887990,10.064565 +33.0,-1.647446,12.918193,42.466422,39.887990,10.064565 +33.05,-1.647446,12.918193,42.417582,39.887990,10.064565 +33.1,-1.647446,12.918193,42.271062,39.887990,10.064565 +33.15,-1.647446,12.918193,42.173382,39.887990,10.064565 +33.2,-1.647446,12.918193,42.026862,39.887990,10.064565 +33.25,-1.647446,12.918193,41.831502,39.887990,10.064565 +33.3,-1.647446,12.918193,41.636142,39.887990,10.064565 +33.35,-1.647446,12.918193,41.440781,39.887990,10.064565 +33.4,-1.647446,12.918193,41.196581,39.887990,10.064565 +33.45,-1.647446,12.918193,40.952381,39.887990,10.064565 +33.5,-1.647446,12.918193,40.708181,39.887990,10.064565 +33.55,-1.647446,12.918193,40.415140,39.887990,10.064565 +33.6,-1.647446,12.918193,40.122100,39.887990,10.064565 +33.65,-1.647446,12.918193,39.780220,39.887990,10.064565 +33.7,-1.647446,12.918193,39.438339,39.887990,10.064565 +33.75,-1.647446,12.918193,39.096459,39.887990,10.064565 +33.8,-1.647446,12.918193,38.754579,39.887990,10.064565 +33.85,-1.647446,12.918193,38.363858,39.887990,10.064565 +33.9,-1.647446,12.918193,37.973138,39.887990,10.064565 +33.95,-1.647446,12.918193,37.582418,39.887990,10.064565 +34.0,-1.647446,12.918193,37.142857,39.887990,10.064565 +34.05,-1.647446,12.918193,36.703297,39.887990,10.064565 +34.1,-1.647446,12.918193,36.263736,39.887990,10.064565 +34.15,-1.647446,12.918193,35.775336,39.887990,10.064565 +34.2,-1.647446,12.918193,35.335775,39.887990,10.064565 +34.25,-1.647446,12.918193,34.847375,39.887990,10.064565 +34.3,-1.647446,12.918193,34.310134,39.887990,10.064565 +34.35,-1.647446,12.918193,33.821734,39.887990,10.064565 +34.4,-1.647446,12.918193,33.284493,39.887990,10.064565 +34.45,-1.647446,12.918193,32.747253,39.887990,10.064565 +34.5,-1.647446,12.918193,32.210012,39.887990,10.064565 +34.55,-1.647446,12.918193,31.672772,39.887990,10.064565 +34.6,-1.647446,12.918193,31.086691,39.887990,10.064565 +34.65,-1.647446,12.918193,30.549451,39.887990,10.064565 +34.7,-1.647446,12.918193,29.963370,39.887990,10.064565 +34.75,-1.647446,12.918193,29.377289,39.887990,10.064565 +34.8,-1.647446,12.918193,28.742369,39.887990,10.064565 +34.85,-1.647446,12.918193,28.156288,39.887990,10.064565 +34.9,-1.647446,12.918193,27.570208,39.887990,10.064565 +34.95,-1.647446,12.918193,26.935287,39.887990,10.064565 +35.0,-1.647446,12.918193,26.300366,39.887990,10.064565 +35.05,-1.647446,12.918193,25.665446,39.887990,10.064565 +35.1,-1.647446,12.918193,25.030525,39.887990,10.064565 +35.15,-1.647446,12.918193,24.395604,39.887990,10.064565 +35.2,-1.647446,12.918193,23.760684,39.887990,10.064565 +35.25,-1.647446,12.918193,23.076923,39.887990,10.064565 +35.3,-1.647446,12.918193,22.442002,39.887990,10.064565 +35.35,-1.647446,12.918193,21.758242,39.887990,10.064565 +35.4,-1.647446,12.918193,21.123321,39.887990,10.064565 +35.45,-1.647446,12.918193,20.439560,39.887990,10.064565 +35.5,-1.647446,12.918193,19.755800,39.887990,10.064565 +35.55,-1.647446,12.918193,19.120879,39.887990,10.064565 +35.6,-1.647446,12.918193,18.437118,39.887990,10.064565 +35.65,-1.647446,12.918193,17.753358,39.887990,10.064565 +35.7,-1.647446,12.918193,17.069597,39.887990,10.064565 +35.75,-1.647446,12.918193,16.385836,39.887990,10.064565 +35.8,-1.647446,12.918193,15.702076,39.887990,10.064565 +35.85,-1.647446,12.918193,15.067155,39.887990,10.064565 +35.9,-1.647446,12.918193,14.383394,39.887990,10.064565 +35.95,-1.647446,12.918193,13.699634,39.887990,10.064565 +36.0,-1.647446,12.918193,13.015873,39.887990,10.064565 +36.05,-1.647446,12.918193,12.332112,39.887990,10.064565 +36.1,-1.647446,12.918193,11.648352,39.887990,10.064565 +36.15,-1.647446,12.918193,11.013431,39.887990,10.064565 +36.2,-1.647446,12.918193,10.329670,39.887990,10.064565 +36.25,-1.647446,12.918193,9.645910,39.887990,10.064565 +36.3,-1.647446,12.918193,9.010989,39.887990,10.064565 +36.35,-1.647446,12.918193,8.327228,39.887990,10.064565 +36.4,-1.647446,12.918193,7.692308,39.887990,10.064565 +36.45,-1.647446,12.918193,7.057387,39.887990,10.064565 +36.5,-1.647446,12.918193,6.373626,39.887990,10.064565 +36.55,-1.647446,12.918193,5.738706,39.887990,10.064565 +36.6,-1.647446,12.918193,5.103785,39.887990,10.064565 +36.65,-1.647446,12.918193,4.468864,39.887990,10.064565 +36.7,-1.647446,12.918193,3.882784,39.887990,10.064565 +36.75,-1.647446,12.918193,3.247863,39.887990,10.064565 +36.8,-1.647446,12.918193,2.661783,39.887990,10.064565 +36.85,-1.647446,12.918193,2.026862,39.887990,10.064565 +36.9,-1.647446,12.918193,1.440781,39.887990,10.064565 +36.95,-1.647446,12.918193,0.854701,39.887990,10.064565 +37.0,-1.647446,12.918193,0.268620,39.887990,10.064565 +37.05,-1.647446,12.918193,-0.268620,39.887990,10.064565 +37.1,-1.647446,12.918193,-0.854701,39.887990,10.064565 +37.15,-1.647446,12.918193,-1.391941,39.887990,10.064565 +37.2,-1.647446,12.918193,-1.929182,39.887990,10.064565 +37.25,-1.647446,12.918193,-2.466422,39.887990,10.064565 +37.3,-1.647446,12.918193,-2.954823,39.887990,10.064565 +37.35,-1.647446,12.918193,-3.492063,39.887990,10.064565 +37.4,-1.647446,12.918193,-3.980464,39.887990,10.064565 +37.45,-1.647446,12.918193,-4.468864,39.887990,10.064565 +37.5,-1.647446,12.918193,-4.908425,39.887990,10.064565 +37.55,-1.647446,12.918193,-5.347985,39.887990,10.064565 +37.6,-1.647446,12.918193,-5.836386,39.887990,10.064565 +37.65,-1.647446,12.918193,-6.227106,39.887990,10.064565 +37.7,-1.647446,12.918193,-6.666667,39.887990,10.064565 +37.75,-1.647446,12.918193,-7.057387,39.887990,10.064565 +37.8,-1.647446,12.918193,-7.448107,39.887990,10.064565 +37.85,-1.647446,12.918193,-7.838828,39.887990,10.064565 +37.9,-1.647446,12.918193,-8.180708,39.887990,10.064565 +37.95,-1.647446,12.918193,-8.522589,39.887990,10.064565 +38.0,-1.647446,12.918193,-8.864469,39.887990,10.064565 +38.05,-1.647446,12.918193,-9.157509,39.887990,10.064565 +38.1,-1.647446,12.918193,-9.450549,39.887990,10.064565 +38.15,-1.647446,12.918193,-9.743590,39.887990,10.064565 +38.2,-1.647446,12.918193,-9.987790,39.887990,10.064565 +38.25,-1.647446,12.918193,-10.231990,39.887990,10.064565 +38.3,-1.647446,12.918193,-10.427350,39.887990,10.064565 +38.35,-1.647446,12.918193,-10.622711,39.887990,10.064565 +38.4,-1.647446,12.918193,-10.818071,39.887990,10.064565 +38.45,-1.647446,12.918193,-10.964591,39.887990,10.064565 +38.5,-1.647446,12.918193,-11.111111,39.887990,10.064565 +38.55,-1.647446,12.918193,-11.257631,39.887990,10.064565 +38.6,-1.647446,12.918193,-11.355311,39.887990,10.064565 +38.65,-1.647446,12.918193,-11.404151,39.887990,10.064565 +38.7,-1.647446,12.918193,-11.452991,39.887990,10.064565 +38.75,-1.647446,12.918193,-11.501832,39.887990,10.064565 +38.8,-1.647446,12.918193,-11.501832,39.887990,10.064565 +38.85,-1.647446,12.918193,-11.452991,39.887990,10.064565 +38.9,-1.647446,12.918193,-11.404151,39.887990,10.064565 +38.95,-1.647446,12.918193,-11.306471,39.887990,10.064565 +39.0,-1.647446,12.918193,-11.159951,39.887990,10.064565 +39.05,-1.647446,12.918193,-11.013431,39.887990,10.064565 +39.1,-1.647446,12.918193,-10.769231,39.887990,10.064565 +39.15,-1.647446,12.918193,-10.525031,39.887990,10.064565 +39.2,-1.647446,12.918193,-10.280830,39.887990,10.064565 +39.25,-1.647446,12.918193,-9.938950,39.887990,10.064565 +39.3,-1.647446,12.918193,-9.597070,39.887990,10.064565 +39.35,-1.647446,12.918193,-9.206349,39.887990,10.064565 +39.4,-1.647446,12.918193,-8.815629,39.887990,10.064565 +39.45,-1.647446,12.918193,-8.376068,39.887990,10.064565 +39.5,-1.647446,12.918193,-7.887668,39.887990,10.064565 +39.55,-1.647446,12.918193,-7.399267,39.887990,10.064565 +39.6,-1.647446,12.918193,-6.910867,39.887990,10.064565 +39.65,-1.647446,12.918193,-6.373626,39.887990,10.064565 +39.7,-1.647446,12.918193,-5.836386,39.887990,10.064565 +39.75,-1.647446,12.918193,-5.250305,39.887990,10.064565 +39.8,-1.647446,12.918193,-4.664225,39.887990,10.064565 +39.85,-1.647446,12.918193,-4.078144,39.887990,10.064565 +39.9,-1.647446,12.918193,-3.443223,39.887990,10.064565 +39.95,-1.647446,12.918193,-2.808303,39.887990,10.064565 +40.0,-1.647446,12.918193,-2.173382,39.887990,10.064565 +40.05,-1.647446,12.918193,-1.538462,39.887990,10.064565 +40.1,-1.647446,12.918193,-0.903541,39.887990,10.064565 +40.15,-1.647446,12.918193,-0.219780,39.887990,10.064565 +40.2,-1.647446,12.918193,0.463980,39.887990,10.064565 +40.25,-1.647446,12.918193,1.098901,39.887990,10.064565 +40.3,-1.647446,12.918193,1.782662,39.887990,10.064565 +40.35,-1.647446,12.918193,2.466422,39.887990,10.064565 +40.4,-1.647446,12.918193,3.150183,39.887990,10.064565 +40.45,-1.647446,12.918193,3.833944,39.887990,10.064565 +40.5,-1.647446,12.918193,4.468864,39.887990,10.064565 +40.55,-1.647446,12.918193,5.152625,39.887990,10.064565 +40.6,-1.647446,12.918193,5.787546,39.887990,10.064565 +40.65,-1.647446,12.918193,6.422466,39.887990,10.064565 +40.7,-1.647446,12.918193,7.057387,39.887990,10.064565 +40.75,-1.647446,12.918193,7.692308,39.887990,10.064565 +40.8,-1.647446,12.918193,8.278388,39.887990,10.064565 +40.85,-1.647446,12.918193,8.913309,39.887990,10.064565 +40.9,-1.647446,12.918193,9.450549,39.887990,10.064565 +40.95,-1.647446,12.918193,10.036630,39.887990,10.064565 +41.0,-1.647446,12.918193,10.573871,39.887990,10.064565 +41.05,-1.647446,12.918193,11.111111,39.887990,10.064565 +41.1,-1.647446,12.918193,11.599512,39.887990,10.064565 +41.15,-1.647446,12.918193,12.087912,39.887990,10.064565 +41.2,-1.647446,12.918193,12.527473,39.887990,10.064565 +41.25,-1.647446,12.918193,12.918193,39.887990,10.064565 +41.3,-1.647446,12.918193,13.357753,39.887990,10.064565 +41.35,-1.647446,12.918193,13.699634,39.887990,10.064565 +41.4,-1.647446,12.918193,14.041514,39.887990,10.064565 +41.45,-1.647446,12.918193,14.334554,39.887990,10.064565 +41.5,-1.647446,12.918193,14.578755,39.887990,10.064565 +41.55,-1.647446,12.918193,14.822955,39.887990,10.064565 +41.6,-1.647446,12.918193,15.018315,39.887990,9.988606 +41.65,-1.647446,12.918193,15.164835,39.887990,9.988606 +41.7,-1.647446,12.918193,15.311355,39.887990,9.988606 +41.75,-1.647446,12.918193,15.409035,39.887990,9.912647 +41.8,-1.647446,12.918193,15.457875,39.887990,9.836688 +41.85,-1.647446,12.918193,15.506716,39.887990,9.760729 +41.9,-1.647446,12.918193,15.506716,39.887990,9.532852 +41.95,-1.647446,12.918193,15.555556,39.887990,9.304975 +42.0,-1.647446,12.918193,15.555556,39.887990,9.001139 +42.05,-1.647446,12.918193,15.555556,39.887990,8.545385 +42.1,-1.647446,12.918193,15.555556,39.887990,8.013673 +42.15,-1.647446,12.918193,15.555556,39.887990,7.481960 +42.2,-1.647446,12.918193,15.555556,39.887990,6.798329 +42.25,-1.647446,12.918193,15.555556,39.887990,6.038739 +42.3,-1.647446,12.918193,15.555556,39.887990,5.203190 +42.35,-1.647446,12.918193,15.555556,39.887990,4.291682 +42.4,-1.647446,12.918193,15.555556,39.887990,3.304216 +42.45,-1.647446,12.918193,15.555556,39.887990,2.316749 +42.5,-1.647446,12.918193,15.555556,39.887990,1.177364 +42.55,-1.647446,12.918193,15.555556,39.887990,0.037979 +42.6,-1.647446,12.918193,15.555556,39.887990,-1.177364 +42.65,-1.647446,12.918193,15.555556,39.887990,-2.468667 +42.7,-1.647446,12.918193,15.555556,39.887990,-3.759970 +42.75,-1.647446,12.918193,15.555556,39.887990,-5.127231 +42.8,-1.647446,12.918193,15.555556,39.887990,-6.494493 +42.85,-1.647446,12.918193,15.555556,39.887990,-7.937714 +42.9,-1.647446,12.918193,15.555556,39.887990,-9.380934 +42.95,-1.647446,12.918193,15.555556,39.887990,-10.900114 +43.0,-1.647446,12.918193,15.555556,39.887990,-12.419294 +43.05,-1.647446,12.918193,15.555556,39.887990,-13.938473 +43.1,-1.647446,12.918193,15.555556,39.887990,-15.533612 +43.15,-1.647446,12.918193,15.555556,39.887990,-17.128750 +43.2,-1.647446,12.918193,15.555556,39.887990,-18.647930 +43.25,-1.647446,12.918193,15.555556,39.887990,-20.319028 +43.3,-1.647446,12.918193,15.555556,39.887990,-21.914166 +43.35,-1.647446,12.918193,15.555556,39.887990,-23.509305 +43.4,-1.647446,12.918193,15.555556,39.887990,-25.104444 +43.45,-1.647446,12.918193,15.555556,39.887990,-26.699582 +43.5,-1.647446,12.918193,15.555556,39.887990,-28.294721 +43.55,-1.647446,12.918193,15.555556,39.887990,-29.813900 +43.6,-1.647446,12.918193,15.555556,39.887990,-31.409039 +43.65,-1.647446,12.918193,15.555556,39.887990,-32.928219 +43.7,-1.647446,12.918193,15.555556,39.887990,-34.447398 +43.75,-1.647446,12.918193,15.555556,39.887990,-35.890619 +43.8,-1.647446,12.918193,15.555556,39.887990,-37.333840 +43.85,-1.647446,12.918193,15.555556,39.887990,-38.777060 +43.9,-1.647446,12.918193,15.555556,39.887990,-40.144322 +43.95,-1.647446,12.918193,15.555556,39.887990,-41.511584 +44.0,-1.647446,12.918193,15.555556,39.887990,-42.802886 +44.05,-1.647446,12.918193,15.555556,39.887990,-44.018230 +44.1,-1.647446,12.918193,15.555556,39.887990,-45.157615 +44.15,-1.647446,12.918193,15.555556,39.887990,-46.297000 +44.2,-1.647446,12.918193,15.555556,39.887990,-47.360425 +44.25,-1.647446,12.918193,15.555556,39.887990,-48.423851 +44.3,-1.647446,12.918193,15.555556,39.887990,-49.335359 +44.35,-1.647446,12.918193,15.555556,39.887990,-50.170908 +44.4,-1.647446,12.918193,15.555556,39.887990,-51.006457 +44.45,-1.647446,12.918193,15.555556,39.887990,-51.690087 +44.5,-1.647446,12.918193,15.555556,39.887990,-52.297759 +44.55,-1.647446,12.918193,15.555556,39.887990,-52.905431 +44.6,-1.647446,12.918193,15.555556,39.887990,-53.361185 +44.65,-1.647446,12.918193,15.555556,39.887990,-53.665021 +44.7,-1.647446,12.918193,15.555556,39.887990,-53.968857 +44.75,-1.647446,12.918193,15.555556,39.887990,-54.196734 +44.8,-1.647446,12.918193,15.555556,39.887990,-54.272693 +44.85,-1.647446,12.918193,15.555556,39.887990,-54.272693 +44.9,-1.647446,12.918193,15.555556,39.887990,-54.272693 +44.95,-1.647446,12.918193,15.555556,39.887990,-54.196734 +45.0,-1.647446,12.918193,15.555556,39.887990,-54.044816 +45.05,-1.647446,12.918193,15.555556,39.887990,-53.816939 +45.1,-1.647446,12.918193,15.555556,39.887990,-53.589062 +45.15,-1.647446,12.918193,15.555556,39.887990,-53.209267 +45.2,-1.647446,12.918193,15.555556,39.887990,-52.905431 +45.25,-1.647446,12.918193,15.555556,39.887990,-52.449677 +45.3,-1.647446,12.918193,15.555556,39.887990,-51.993923 +45.35,-1.647446,12.918193,15.555556,39.887990,-51.538169 +45.4,-1.647446,12.918193,15.555556,39.887990,-50.930498 +45.45,-1.647446,12.918193,15.555556,39.887990,-50.398785 +45.5,-1.647446,12.918193,15.555556,39.887990,-49.715154 +45.55,-1.647446,12.918193,15.555556,39.887990,-49.107482 +45.6,-1.647446,12.918193,15.555556,39.887990,-48.347892 +45.65,-1.647446,12.918193,15.555556,39.887990,-47.588302 +45.7,-1.647446,12.918193,15.555556,39.887990,-46.828712 +45.75,-1.647446,12.918193,15.555556,39.887990,-45.993164 +45.8,-1.647446,12.918193,15.555556,39.887990,-45.081656 +45.85,-1.647446,12.918193,15.555556,39.887990,-44.246107 +45.9,-1.647446,12.918193,15.555556,39.887990,-43.258640 +45.95,-1.647446,12.918193,15.555556,39.887990,-42.271174 +46.0,-1.647446,12.918193,15.555556,39.887990,-41.283707 +46.05,-1.647446,12.918193,15.555556,39.887990,-40.220281 +46.1,-1.647446,12.918193,15.555556,39.887990,-39.156855 +46.15,-1.647446,12.918193,15.555556,39.887990,-38.093430 +46.2,-1.647446,12.918193,15.555556,39.887990,-36.954045 +46.25,-1.647446,12.918193,15.555556,39.887990,-35.814660 +46.3,-1.647446,12.918193,15.555556,39.887990,-34.599316 +46.35,-1.647446,12.918193,15.555556,39.887990,-33.383973 +46.4,-1.647446,12.918193,15.555556,39.887990,-32.168629 +46.45,-1.647446,12.918193,15.555556,39.887990,-30.877326 +46.5,-1.647446,12.918193,15.555556,39.887990,-29.586024 +46.55,-1.647446,12.918193,15.555556,39.887990,-28.294721 +46.6,-1.647446,12.918193,15.555556,39.887990,-26.927459 +46.65,-1.647446,12.918193,15.555556,39.887990,-25.560197 +46.7,-1.647446,12.918193,15.555556,39.887990,-24.192936 +46.75,-1.647446,12.918193,15.555556,39.887990,-22.825674 +46.8,-1.647446,12.918193,15.555556,39.887990,-21.382453 +46.85,-1.647446,12.918193,15.555556,39.887990,-19.939233 +46.9,-1.647446,12.918193,15.555556,39.887990,-18.496012 +46.95,-1.647446,12.918193,15.555556,39.887990,-17.052791 +47.0,-1.647446,12.918193,15.555556,39.887990,-15.533612 +47.05,-1.647446,12.918193,15.555556,39.887990,-14.014432 +47.1,-1.647446,12.918193,15.555556,39.887990,-12.495253 +47.15,-1.647446,12.918193,15.555556,39.887990,-10.976073 +47.2,-1.647446,12.918193,15.555556,39.887990,-9.456893 +47.25,-1.647446,12.918193,15.555556,39.887990,-7.861755 +47.3,-1.647446,12.918193,15.555556,39.887990,-6.342575 +47.35,-1.647446,12.918193,15.555556,39.887990,-4.747436 +47.4,-1.647446,12.918193,15.555556,39.887990,-3.152298 +47.45,-1.647446,12.918193,15.555556,39.887990,-1.633118 +47.5,-1.647446,12.918193,15.555556,39.887990,-0.037979 +47.55,-1.647446,12.918193,15.555556,39.887990,1.557159 +47.6,-1.647446,12.918193,15.555556,39.887990,3.228257 +47.65,-1.647446,12.918193,15.555556,39.887990,4.823395 +47.7,-1.647446,12.918193,15.555556,39.887990,6.418534 +47.75,-1.647446,12.918193,15.555556,39.887990,8.013673 +47.8,-1.647446,12.918193,15.555556,39.887990,9.608811 +47.85,-1.647446,12.918193,15.555556,39.887990,11.279909 +47.9,-1.647446,12.918193,15.555556,39.887990,12.875047 +47.95,-1.647446,12.918193,15.555556,39.887990,14.470186 +48.0,-1.647446,12.918193,15.555556,39.887990,16.065325 +48.05,-1.647446,12.918193,15.555556,39.887990,17.736422 +48.1,-1.647446,12.918193,15.555556,39.887990,19.407520 +48.15,-1.647446,12.918193,15.555556,39.887990,21.078618 +48.2,-1.647446,12.918193,15.555556,39.887990,22.673756 +48.25,-1.647446,12.918193,15.555556,39.887990,24.344854 +48.3,-1.647446,12.918193,15.555556,39.887990,25.939992 +48.35,-1.647446,12.918193,15.555556,39.887990,27.535131 +48.4,-1.647446,12.918193,15.555556,39.887990,28.978352 +48.45,-1.647446,12.918193,15.555556,39.887990,30.497531 +48.5,-1.647446,12.918193,15.555556,39.887990,31.940752 +48.55,-1.647446,12.918193,15.555556,39.887990,33.383973 +48.6,-1.647446,12.918193,15.555556,39.887990,34.903152 +48.65,-1.647446,12.918193,15.555556,39.887990,36.346373 +48.7,-1.647446,12.918193,15.555556,39.887990,37.865553 +48.75,-1.647446,12.918193,15.555556,39.887990,39.308773 +48.8,-1.647446,12.918193,15.555556,39.887990,40.751994 +48.85,-1.647446,12.918193,15.555556,39.887990,42.271174 +48.9,-1.647446,12.918193,15.555556,39.887990,43.714394 +48.95,-1.647446,12.918193,15.555556,39.887990,45.157615 +49.0,-1.647446,12.918193,15.555556,39.887990,46.600836 +49.05,-1.647446,12.918193,15.555556,39.887990,47.968097 +49.1,-1.647446,12.918193,15.555556,39.887990,49.259400 +49.15,-1.647446,12.918193,15.555556,39.887990,50.550703 +49.2,-1.647446,12.918193,15.555556,39.887990,51.766046 +49.25,-1.647446,12.918193,15.555556,39.887990,52.981390 +49.3,-1.647446,12.918193,15.555556,39.887990,54.120775 +49.35,-1.647446,12.918193,15.555556,39.887990,55.260160 +49.4,-1.647446,12.918193,15.555556,39.887990,56.475503 +49.45,-1.647446,12.918193,15.555556,39.887990,57.614888 +49.5,-1.647446,12.918193,15.555556,39.887990,58.754273 +49.55,-1.647446,12.918193,15.555556,39.887990,59.817698 +49.6,-1.647446,12.918193,15.555556,39.887990,60.881124 +49.65,-1.647446,12.918193,15.555556,39.887990,61.944550 +49.7,-1.647446,12.918193,15.555556,39.887990,63.007976 +49.75,-1.647446,12.918193,15.555556,39.887990,63.995442 +49.8,-1.647446,12.918193,15.555556,39.887990,64.906950 +49.85,-1.647446,12.918193,15.555556,39.887990,65.818458 +49.9,-1.647446,12.918193,15.555556,39.887990,66.654007 +49.95,-1.647446,12.918193,15.555556,39.887990,67.413597 +50.0,-1.647446,12.918193,15.555556,39.887990,68.097227 +50.05,-1.647446,12.918193,15.555556,39.887990,68.856817 +50.1,-1.647446,12.918193,15.555556,39.887990,69.464489 +50.15,-1.647446,12.918193,15.555556,39.887990,70.148120 +50.2,-1.647446,12.918193,15.555556,39.887990,70.755792 +50.25,-1.647446,12.918193,15.555556,39.887990,71.287505 +50.3,-1.647446,12.918193,15.555556,39.887990,71.819218 +50.35,-1.647446,12.918193,15.555556,39.887990,72.350930 +50.4,-1.647446,12.918193,15.555556,39.887990,72.806684 +50.45,-1.647446,12.918193,15.555556,39.887990,73.186479 +50.5,-1.647446,12.918193,15.555556,39.887990,73.490315 +50.55,-1.647446,12.918193,15.555556,39.887990,73.794151 +50.6,-1.647446,12.918193,15.555556,39.887990,74.022028 +50.65,-1.647446,12.918193,15.555556,39.887990,74.249905 +50.7,-1.647446,12.918193,15.555556,39.887990,74.325864 +50.75,-1.647446,12.918193,15.555556,39.887990,74.401823 +50.8,-1.647446,12.918193,15.555556,39.887990,74.401823 +50.85,-1.647446,12.918193,15.555556,39.887990,74.325864 +50.9,-1.647446,12.918193,15.555556,39.887990,74.173946 +50.95,-1.647446,12.918193,15.555556,39.887990,73.946069 +51.0,-1.647446,12.918193,15.555556,39.887990,73.566274 +51.05,-1.647446,12.918193,15.555556,39.887990,73.186479 +51.1,-1.647446,12.918193,15.555556,39.887990,72.654766 +51.15,-1.647446,12.918193,15.555556,39.887990,72.123054 +51.2,-1.647446,12.918193,15.555556,39.887990,71.439423 +51.25,-1.647446,12.918193,15.555556,39.887990,70.679833 +51.3,-1.647446,12.918193,15.555556,39.887990,69.844284 +51.35,-1.647446,12.918193,15.555556,39.887990,68.932776 +51.4,-1.647446,12.918193,15.555556,39.887990,67.945310 +51.45,-1.647446,12.918193,15.555556,39.887990,66.957843 +51.5,-1.647446,12.918193,15.555556,39.887990,65.818458 +51.55,-1.647446,12.918193,15.555556,39.887990,64.679073 +51.6,-1.647446,12.918193,15.555556,39.887990,63.463730 +51.65,-1.647446,12.918193,15.555556,39.887990,62.172427 +51.7,-1.647446,12.918193,15.555556,39.887990,60.881124 +51.75,-1.647446,12.918193,15.555556,39.887990,59.513863 +51.8,-1.647446,12.918193,15.555556,39.887990,58.146601 +51.85,-1.647446,12.918193,15.555556,39.887990,56.703380 +51.9,-1.647446,12.918193,15.555556,39.887990,55.260160 +51.95,-1.647446,12.918193,15.555556,39.887990,53.740980 +52.0,-1.647446,12.918193,15.555556,39.887990,52.221800 +52.05,-1.647446,12.918193,15.555556,39.887990,50.702621 +52.1,-1.647446,12.918193,15.555556,39.887990,49.107482 +52.15,-1.647446,12.918193,15.555556,39.887990,47.512343 +52.2,-1.647446,12.918193,15.555556,39.887990,45.917205 +52.25,-1.647446,12.918193,15.555556,39.887990,44.322066 +52.3,-1.647446,12.918193,15.555556,39.887990,42.726927 +52.35,-1.647446,12.918193,15.555556,39.887990,41.131789 +52.4,-1.647446,12.918193,15.555556,39.887990,39.536650 +52.45,-1.647446,12.918193,15.555556,39.887990,37.941512 +52.5,-1.647446,12.918193,15.555556,39.887990,36.346373 +52.55,-1.647446,12.918193,15.555556,39.887990,34.827193 +52.6,-1.647446,12.918193,15.555556,39.887990,33.232055 +52.65,-1.647446,12.918193,15.555556,39.887990,31.712875 +52.7,-1.647446,12.918193,15.555556,39.887990,30.193695 +52.75,-1.647446,12.918193,15.555556,39.887990,28.750475 +52.8,-1.647446,12.918193,15.555556,39.887990,27.307254 +52.85,-1.647446,12.918193,15.555556,39.887990,25.864033 +52.9,-1.647446,12.918193,15.555556,39.887990,24.496772 +52.95,-1.647446,12.918193,15.555556,39.887990,23.129510 +53.0,-1.647446,12.918193,15.555556,39.887990,21.838207 +53.05,-1.647446,12.918193,15.555556,39.887990,20.622864 +53.1,-1.647446,12.918193,15.555556,39.887990,19.407520 +53.15,-1.647446,12.918193,15.555556,39.887990,18.344094 +53.2,-1.647446,12.918193,15.555556,39.887990,17.280668 +53.25,-1.647446,12.918193,15.555556,39.887990,16.217243 +53.3,-1.647446,12.918193,15.555556,39.887990,15.305735 +53.35,-1.647446,12.918193,15.555556,39.887990,14.470186 +53.4,-1.647446,12.918193,15.555556,39.887990,13.634637 +53.45,-1.647446,12.918193,15.555556,39.887990,12.951006 +53.5,-1.647446,12.918193,15.555556,39.887990,12.267376 +53.55,-1.647446,12.918193,15.555556,39.887990,11.735663 +53.6,-1.647446,12.918193,15.555556,39.763535,11.279909 +53.65,-1.647446,12.918193,15.555556,39.763535,10.900114 +53.7,-1.647446,12.918193,15.555556,39.763535,10.596278 +53.75,-1.647446,12.918193,15.555556,39.763535,10.368401 +53.8,-1.647446,12.918193,15.555556,39.639079,10.216483 +53.85,-1.647446,12.918193,15.555556,39.639079,10.140524 +53.9,-1.647446,12.918193,15.555556,39.390168,10.064565 +53.95,-1.647446,12.918193,15.555556,39.265713,10.064565 +54.0,-1.647446,12.918193,15.555556,39.016801,10.064565 +54.05,-1.647446,12.918193,15.555556,38.643435,10.064565 +54.1,-1.647446,12.918193,15.555556,38.270068,10.064565 +54.15,-1.647446,12.918193,15.555556,37.772246,10.064565 +54.2,-1.647446,12.918193,15.555556,37.149969,10.064565 +54.25,-1.647446,12.918193,15.555556,36.527691,10.064565 +54.3,-1.647446,12.918193,15.555556,35.905414,10.064565 +54.35,-1.647446,12.918193,15.555556,35.158681,10.064565 +54.4,-1.647446,12.918193,15.555556,34.411948,10.064565 +54.45,-1.647446,12.918193,15.555556,33.540759,10.064565 +54.5,-1.647446,12.918193,15.555556,32.669571,10.064565 +54.55,-1.647446,12.918193,15.555556,31.673927,10.064565 +54.6,-1.647446,12.918193,15.555556,30.678283,10.064565 +54.65,-1.647446,12.918193,15.555556,29.682638,10.064565 +54.7,-1.647446,12.918193,15.555556,28.562539,10.064565 +54.75,-1.647446,12.918193,15.555556,27.442439,10.064565 +54.8,-1.647446,12.918193,15.555556,26.322340,10.064565 +54.85,-1.647446,12.918193,15.555556,25.202240,10.064565 +54.9,-1.647446,12.918193,15.555556,23.957685,10.064565 +54.95,-1.647446,12.918193,15.555556,22.837586,10.064565 +55.0,-1.647446,12.918193,15.555556,21.593030,10.064565 +55.05,-1.647446,12.918193,15.555556,20.224020,10.064565 +55.1,-1.647446,12.918193,15.555556,18.979465,10.064565 +55.15,-1.647446,12.918193,15.555556,17.734910,10.064565 +55.2,-1.647446,12.918193,15.555556,16.490355,10.064565 +55.25,-1.647446,12.918193,15.555556,15.121344,10.064565 +55.3,-1.647446,12.918193,15.555556,13.876789,10.064565 +55.35,-1.647446,12.918193,15.555556,12.507778,10.064565 +55.4,-1.647446,12.918193,15.555556,11.263223,10.064565 +55.45,-1.647446,12.918193,15.555556,9.894213,10.064565 +55.5,-1.647446,12.918193,15.555556,8.649658,10.064565 +55.55,-1.647446,12.918193,15.555556,7.405103,10.064565 +55.6,-1.647446,12.918193,15.555556,6.036092,10.064565 +55.65,-1.647446,12.918193,15.555556,4.791537,10.064565 +55.7,-1.647446,12.918193,15.555556,3.546982,10.064565 +55.75,-1.647446,12.918193,15.555556,2.426882,10.064565 +55.8,-1.647446,12.918193,15.555556,1.182327,10.064565 +55.85,-1.647446,12.918193,15.555556,0.062228,10.064565 +55.9,-1.647446,12.918193,15.555556,-1.057872,10.064565 +55.95,-1.647446,12.918193,15.555556,-2.177971,10.064565 +56.0,-1.647446,12.918193,15.555556,-3.173615,10.064565 +56.05,-1.647446,12.918193,15.555556,-4.169259,10.064565 +56.1,-1.647446,12.918193,15.555556,-5.164904,10.064565 +56.15,-1.647446,12.918193,15.555556,-6.036092,10.064565 +56.2,-1.647446,12.918193,15.555556,-6.907281,10.064565 +56.25,-1.647446,12.918193,15.555556,-7.778469,10.064565 +56.3,-1.647446,12.918193,15.555556,-8.525202,10.064565 +56.35,-1.647446,12.918193,15.555556,-9.271935,10.064565 +56.4,-1.647446,12.918193,15.555556,-9.894213,10.064565 +56.45,-1.647446,12.918193,15.555556,-10.516490,10.064565 +56.5,-1.647446,12.918193,15.555556,-11.014312,10.064565 +56.55,-1.647446,12.918193,15.555556,-11.387679,10.064565 +56.6,-1.647446,12.918193,15.555556,-11.761045,10.064565 +56.65,-1.647446,12.918193,15.555556,-12.134412,10.064565 +56.7,-1.647446,12.918193,15.555556,-12.258867,10.064565 +56.75,-1.647446,12.918193,15.555556,-12.507778,10.064565 +56.8,-1.647446,12.918193,15.555556,-12.507778,10.064565 +56.85,-1.647446,12.918193,15.555556,-12.632234,10.064565 +56.9,-1.647446,12.918193,15.555556,-12.507778,10.064565 +56.95,-1.647446,12.918193,15.555556,-12.507778,10.064565 +57.0,-1.647446,12.918193,15.555556,-12.383323,10.064565 +57.05,-1.647446,12.918193,15.555556,-12.134412,10.064565 +57.1,-1.647446,12.918193,15.555556,-12.009956,10.064565 +57.15,-1.647446,12.918193,15.555556,-11.761045,10.064565 +57.2,-1.647446,12.918193,15.555556,-11.387679,10.064565 +57.25,-1.647446,12.918193,15.555556,-11.138768,10.064565 +57.3,-1.647446,12.918193,15.555556,-10.765401,10.064565 +57.35,-1.647446,12.918193,15.555556,-10.267579,10.064565 +57.4,-1.647446,12.918193,15.555556,-9.894213,10.064565 +57.45,-1.647446,12.918193,15.555556,-9.396391,10.064565 +57.5,-1.647446,12.918193,15.555556,-8.898569,10.064565 +57.55,-1.647446,12.918193,15.555556,-8.276291,10.064565 +57.6,-1.647446,12.918193,15.555556,-7.778469,10.064565 +57.65,-1.647446,12.918193,15.555556,-7.156192,10.064565 +57.7,-1.647446,12.918193,15.555556,-6.533914,10.064565 +57.75,-1.647446,12.918193,15.555556,-5.787181,10.064565 +57.8,-1.647446,12.918193,15.555556,-5.040448,10.064565 +57.85,-1.647446,12.918193,15.555556,-4.418171,10.064565 +57.9,-1.647446,12.918193,15.555556,-3.546982,10.064565 +57.95,-1.647446,12.918193,15.555556,-2.800249,10.064565 +58.0,-1.647446,12.918193,15.555556,-1.929060,10.064565 +58.05,-1.647446,12.918193,15.555556,-1.182327,10.064565 +58.1,-1.647446,12.918193,15.555556,-0.311139,10.064565 +58.15,-1.647446,12.918193,15.555556,0.684505,10.064565 +58.2,-1.647446,12.918193,15.555556,1.555694,10.064565 +58.25,-1.647446,12.918193,15.555556,2.551338,10.064565 +58.3,-1.647446,12.918193,15.555556,3.422526,10.064565 +58.35,-1.647446,12.918193,15.555556,4.418171,10.064565 +58.4,-1.647446,12.918193,15.555556,5.413815,10.064565 +58.45,-1.647446,12.918193,15.555556,6.533914,10.064565 +58.5,-1.647446,12.918193,15.555556,7.529558,10.064565 +58.55,-1.647446,12.918193,15.555556,8.649658,10.064565 +58.6,-1.647446,12.918193,15.555556,9.769757,10.064565 +58.65,-1.647446,12.918193,15.555556,10.765401,10.064565 +58.7,-1.647446,12.918193,15.555556,11.885501,10.064565 +58.75,-1.647446,12.918193,15.555556,13.130056,10.064565 +58.8,-1.647446,12.918193,15.555556,14.250156,10.064565 +58.85,-1.647446,12.918193,15.555556,15.370255,10.064565 +58.9,-1.647446,12.918193,15.555556,16.614810,10.064565 +58.95,-1.647446,12.918193,15.555556,17.734910,10.064565 +59.0,-1.647446,12.918193,15.555556,18.979465,10.064565 +59.05,-1.647446,12.918193,15.555556,20.224020,10.064565 +59.1,-1.647446,12.918193,15.555556,21.468575,10.064565 +59.15,-1.647446,12.918193,15.555556,22.713130,10.064565 +59.2,-1.647446,12.918193,15.555556,23.957685,10.064565 +59.25,-1.647446,12.918193,15.555556,25.202240,10.064565 +59.3,-1.647446,12.918193,15.555556,26.446795,10.064565 +59.35,-1.647446,12.918193,15.555556,27.815806,10.064565 +59.4,-1.647446,12.918193,15.555556,29.060361,10.064565 +59.45,-1.647446,12.918193,15.555556,30.304916,10.064565 +59.5,-1.647446,12.918193,15.555556,31.673927,10.064565 +59.55,-1.647446,12.918193,15.555556,32.918482,10.064565 +59.6,-1.647446,12.918193,15.555556,34.287492,10.064565 +59.65,-1.647446,12.918193,15.555556,35.532047,10.064565 +59.7,-1.647446,12.918193,15.555556,36.901058,10.064565 +59.75,-1.647446,12.918193,15.555556,38.145613,10.064565 +59.8,-1.647446,12.918193,15.555556,39.514624,10.064565 +59.85,-1.647446,12.918193,15.555556,40.759179,10.064565 +59.9,-1.647446,12.918193,15.555556,42.128189,10.064565 +59.95,-1.647446,12.918193,15.555556,43.497200,10.064565 +60.0,-1.647446,12.918193,15.555556,44.741755,10.064565 +60.05,-1.647446,12.918193,15.555556,46.110765,10.064565 +60.1,-1.647446,12.918193,15.555556,47.355320,10.064565 +60.15,-1.647446,12.918193,15.555556,48.599876,10.064565 +60.2,-1.647446,12.918193,15.555556,49.968886,10.064565 +60.25,-1.647446,12.918193,15.555556,51.213441,10.064565 +60.3,-1.647446,12.918193,15.555556,52.582452,10.064565 +60.35,-1.647446,12.918193,15.555556,53.827007,10.064565 +60.4,-1.647446,12.918193,15.555556,55.071562,10.064565 +60.45,-1.647446,12.918193,15.555556,56.316117,10.064565 +60.5,-1.647446,12.918193,15.555556,57.560672,10.064565 +60.55,-1.647446,12.918193,15.555556,58.805227,10.064565 +60.6,-1.647446,12.918193,15.555556,60.049782,10.064565 +60.65,-1.647446,12.918193,15.555556,61.294337,10.064565 +60.7,-1.647446,12.918193,15.555556,62.414437,10.064565 +60.75,-1.647446,12.918193,15.555556,63.658992,10.064565 +60.8,-1.647446,12.918193,15.555556,64.779091,10.064565 +60.85,-1.647446,12.918193,15.555556,66.023647,10.064565 +60.9,-1.647446,12.918193,15.555556,67.143746,10.064565 +60.95,-1.647446,12.918193,15.555556,68.263846,10.064565 +61.0,-1.647446,12.918193,15.555556,69.383945,10.064565 +61.05,-1.647446,12.918193,15.555556,70.504045,10.064565 +61.1,-1.647446,12.918193,15.555556,71.624144,10.064565 +61.15,-1.647446,12.918193,15.555556,72.619788,10.064565 +61.2,-1.647446,12.918193,15.555556,73.739888,10.064565 +61.25,-1.647446,12.918193,15.555556,74.735532,10.064565 +61.3,-1.647446,12.918193,15.555556,75.731176,10.064565 +61.35,-1.647446,12.918193,15.555556,76.726820,10.064565 +61.4,-1.647446,12.918193,15.555556,77.598009,10.064565 +61.45,-1.647446,12.918193,15.555556,78.593653,10.064565 +61.5,-1.647446,12.918193,15.555556,79.464841,10.064565 +61.55,-1.647446,12.918193,15.555556,80.336030,10.064565 +61.6,-1.647446,12.918193,15.555556,81.207218,10.064565 +61.65,-1.647446,12.918193,15.555556,82.078407,10.064565 +61.7,-1.647446,12.918193,15.555556,82.825140,10.064565 +61.75,-1.647446,12.918193,15.555556,83.696329,10.064565 +61.8,-1.647446,12.918193,15.555556,84.443062,10.064565 +61.85,-1.647446,12.918193,15.555556,85.065339,10.064565 +61.9,-1.647446,12.918193,15.555556,85.812072,10.064565 +61.95,-1.647446,12.918193,15.555556,86.434350,10.064565 +62.0,-1.647446,12.918193,15.555556,87.056627,10.064565 +62.05,-1.647446,12.918193,15.555556,87.678905,10.064565 +62.1,-1.647446,12.918193,15.555556,88.301182,10.064565 +62.15,-1.647446,12.918193,15.555556,88.799004,10.064565 +62.2,-1.647446,12.918193,15.555556,89.296826,10.064565 +62.25,-1.647446,12.918193,15.555556,89.794648,10.064565 +62.3,-1.647446,12.918193,15.555556,90.168015,10.064565 +62.35,-1.647446,12.918193,15.555556,90.541381,10.064565 +62.4,-1.647446,12.918193,15.555556,90.914748,10.064565 +62.45,-1.647446,12.918193,15.555556,91.288114,10.064565 +62.5,-1.647446,12.918193,15.555556,91.537026,10.064565 +62.55,-1.647446,12.918193,15.555556,91.785937,10.064565 +62.6,-1.647446,12.918193,15.555556,91.910392,10.064565 +62.65,-1.647446,12.918193,15.555556,92.034848,10.064565 +62.7,-1.647446,12.918193,15.555556,92.159303,10.064565 +62.75,-1.647446,12.918193,15.555556,92.283759,10.064565 +62.8,-1.647446,12.918193,15.555556,92.283759,10.064565 +62.85,-1.647446,12.918193,15.555556,92.159303,10.064565 +62.9,-1.647446,12.918193,15.555556,92.034848,10.064565 +62.95,-1.647446,12.918193,15.555556,91.910392,10.064565 +63.0,-1.647446,12.918193,15.555556,91.661481,10.064565 +63.05,-1.647446,12.918193,15.555556,91.288114,10.064565 +63.1,-1.647446,12.918193,15.555556,90.914748,10.064565 +63.15,-1.647446,12.918193,15.555556,90.416926,10.064565 +63.2,-1.647446,12.918193,15.555556,89.794648,10.064565 +63.25,-1.647446,12.918193,15.555556,89.172371,10.064565 +63.3,-1.647446,12.918193,15.555556,88.550093,10.064565 +63.35,-1.647446,12.918193,15.555556,87.803360,10.064565 +63.4,-1.647446,12.918193,15.555556,87.056627,10.064565 +63.45,-1.647446,12.918193,15.555556,86.185439,10.064565 +63.5,-1.647446,12.918193,15.555556,85.314250,10.064565 +63.55,-1.647446,12.918193,15.555556,84.318606,10.064565 +63.6,-1.647446,12.918193,15.555556,83.322962,10.064565 +63.65,-1.647446,12.918193,15.555556,82.327318,10.064565 +63.7,-1.647446,12.918193,15.555556,81.207218,10.064565 +63.75,-1.647446,12.918193,15.555556,80.211574,10.064565 +63.8,-1.647446,12.918193,15.555556,78.967019,10.064565 +63.85,-1.647446,12.918193,15.555556,77.846920,10.064565 +63.9,-1.647446,12.918193,15.555556,76.602365,10.064565 +63.95,-1.647446,12.918193,15.555556,75.482265,10.064565 +64.0,-1.647446,12.918193,15.555556,74.237710,10.064565 +64.05,-1.647446,12.918193,15.555556,72.993155,10.064565 +64.1,-1.647446,12.918193,15.555556,71.624144,10.064565 +64.15,-1.647446,12.918193,15.555556,70.379589,10.064565 +64.2,-1.647446,12.918193,15.555556,69.135034,10.064565 +64.25,-1.647446,12.918193,15.555556,67.766024,10.064565 +64.3,-1.647446,12.918193,15.555556,66.521469,10.064565 +64.35,-1.647446,12.918193,15.555556,65.152458,10.064565 +64.4,-1.647446,12.918193,15.555556,63.907903,10.064565 +64.45,-1.647446,12.918193,15.555556,62.538892,10.064565 +64.5,-1.647446,12.918193,15.555556,61.294337,10.064565 +64.55,-1.647446,12.918193,15.555556,60.049782,10.064565 +64.6,-1.647446,12.918193,15.555556,58.805227,10.064565 +64.65,-1.647446,12.918193,15.555556,57.436217,10.064565 +64.7,-1.647446,12.918193,15.555556,56.316117,10.064565 +64.75,-1.647446,12.918193,15.555556,55.071562,10.064565 +64.8,-1.647446,12.918193,15.555556,53.827007,10.064565 +64.85,-1.647446,12.918193,15.555556,52.706907,10.064565 +64.9,-1.647446,12.918193,15.555556,51.586808,10.064565 +64.95,-1.647446,12.918193,15.555556,50.466708,10.064565 +65.0,-1.647446,12.918193,15.555556,49.471064,10.064565 +65.05,-1.647446,12.918193,15.555556,48.475420,10.064565 +65.1,-1.647446,12.918193,15.555556,47.479776,10.064565 +65.15,-1.647446,12.918193,15.555556,46.608587,10.064565 +65.2,-1.647446,12.918193,15.555556,45.737399,10.064565 +65.25,-1.647446,12.918193,15.555556,44.866210,10.064565 +65.3,-1.647446,12.918193,15.555556,44.119477,10.064565 +65.35,-1.647446,12.918193,15.555556,43.372744,10.064565 +65.4,-1.647446,12.918193,15.555556,42.750467,10.064565 +65.45,-1.647446,12.918193,15.555556,42.252645,10.064565 +65.5,-1.647446,12.918193,15.555556,41.630367,10.064565 +65.55,-1.647446,12.918193,15.555556,41.257001,10.064565 +65.6,-1.647446,12.918193,15.555556,40.883634,10.064565 +65.65,-1.647446,12.918193,15.555556,40.510268,10.064565 +65.7,-1.647446,12.918193,15.555556,40.261357,10.064565 +65.75,-1.647446,12.918193,15.555556,40.136901,10.064565 +65.8,-1.647446,12.918193,15.555556,40.012446,10.064565 +65.85,-1.647446,12.918193,15.555556,39.887990,10.064565 +65.9,-1.647446,12.918193,15.555556,39.887990,10.064565 +65.95,-1.647446,12.918193,15.555556,39.887990,10.064565 diff --git a/hal/recordings/thinking_deep.csv b/hal/recordings/thinking_deep.csv index dd93d29a7..b042a24f2 100644 --- a/hal/recordings/thinking_deep.csv +++ b/hal/recordings/thinking_deep.csv @@ -1,901 +1,901 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos -0.0,-0.0,0.0,-0.0,-0.0,-0.0 -0.03333333333333333,-0.0,-0.00697,-0.017426,-0.111526,-0.495627 -0.06666666666666667,-0.0,-0.027225,-0.068063,-0.435606,-1.883382 -0.1,-0.0,-0.059781,-0.149453,-0.956497,-4.014576 -0.13333333333333333,-0.0,-0.103653,-0.259133,-1.658453,-6.740524 -0.16666666666666666,-0.0,-0.157858,-0.394645,-2.525729,-9.912535 -0.2,-0.0,-0.221411,-0.553528,-3.542581,-13.381922 -0.23333333333333334,-0.0,-0.293329,-0.733323,-4.693264,-16.999998 -0.26666666666666666,-0.0,-0.372627,-0.931568,-5.962032,-20.618073 -0.3,-0.0,-0.458321,-1.145804,-7.333143,-24.08746 -0.3333333333333333,-0.0,-0.549428,-1.37357,-8.790849,-27.259471 -0.36666666666666664,-0.0,-0.644963,-1.612408,-10.319408,-29.985418 -0.4,-0.0,-0.743942,-1.859855,-11.903071,-32.116612 -0.43333333333333335,-0.0,-0.845381,-2.113453,-13.526099,-33.504373 -0.4666666666666667,-0.0,-0.948296,-2.370741,-15.172743,-33.999999 -0.5,-0.0,-1.051704,-2.62926,-16.82726,-33.999999 -0.5333333333333333,-0.0,-1.154619,-2.886548,-18.473903,-33.999999 -0.5666666666666667,-0.0,-1.256058,-3.140145,-20.09693,-33.999999 -0.6,-0.0,-1.355037,-3.387593,-21.680596,-33.999999 -0.6333333333333333,-0.0,-1.450572,-3.62643,-23.209152,-33.999999 -0.6666666666666666,-0.0,-1.541679,-3.854197,-24.666859,-33.999999 -0.7,-0.0,-1.627373,-4.068433,-26.03797,-33.999999 -0.7333333333333333,-0.0,-1.706671,-4.266678,-27.306738,-33.999999 -0.7666666666666667,-0.0,-1.778589,-4.446472,-28.457416,-33.999999 -0.8,-0.0,-1.842142,-4.605355,-29.474274,-33.999999 -0.8333333333333334,-0.0,-1.896347,-4.740867,-30.341544,-33.999999 -0.8666666666666667,-0.0,-1.940219,-4.850547,-31.0435,-33.999999 -0.9,-0.0,-1.972774,-4.931936,-31.564391,-33.999999 -0.9333333333333333,-0.0,-1.99303,-4.982574,-31.888473,-33.999999 -0.9666666666666667,-0.0,-2.0,-4.999999,-32.0,-33.999999 -1.0,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -1.0333333333333334,-0.0,-1.974518,-4.936296,-32.0,-33.999999 -1.0666666666666667,-0.0,-1.944,-4.86,-32.0,-33.999999 -1.1,-0.0,-1.902815,-4.757037,-32.0,-33.999999 -1.1333333333333333,-0.0,-1.851852,-4.629629,-32.0,-33.999999 -1.1666666666666667,-0.0,-1.792,-4.48,-32.0,-33.999999 -1.2,-0.0,-1.724148,-4.310371,-32.0,-33.999999 -1.2333333333333334,-0.0,-1.649185,-4.122963,-32.0,-33.999999 -1.2666666666666666,-0.0,-1.568,-3.92,-32.0,-33.999999 -1.3,-0.0,-1.481481,-3.703703,-32.0,-33.999999 -1.3333333333333333,-0.0,-1.390519,-3.476296,-32.0,-33.999999 -1.3666666666666667,-0.0,-1.296,-3.24,-32.0,-33.999999 -1.4,-0.0,-1.198815,-2.997037,-32.0,-33.999999 -1.4333333333333333,-0.0,-1.099852,-2.74963,-32.0,-33.999999 -1.4666666666666666,-0.0,-1.0,-2.5,-32.0,-33.999999 -1.5,-0.0,-0.900148,-2.25037,-32.0,-33.999999 -1.5333333333333334,-0.0,-0.801185,-2.002963,-32.0,-33.999999 -1.5666666666666667,-0.0,-0.704,-1.76,-32.0,-33.999999 -1.6,-0.0,-0.609481,-1.523704,-32.0,-33.999999 -1.6333333333333333,-0.0,-0.518518,-1.296296,-32.0,-33.999999 -1.6666666666666667,-0.0,-0.432,-1.08,-32.0,-33.999999 -1.7,-0.0,-0.350815,-0.877037,-32.0,-33.999999 -1.7333333333333334,-0.0,-0.275852,-0.68963,-32.0,-33.999999 -1.7666666666666666,-0.0,-0.208,-0.52,-32.0,-33.999999 -1.8,-0.0,-0.148148,-0.37037,-32.0,-33.999999 -1.8333333333333333,-0.0,-0.097185,-0.242963,-32.0,-33.999999 -1.8666666666666667,-0.0,-0.056,-0.139999,-32.0,-33.999999 -1.9,-0.0,-0.025482,-0.063704,-32.0,-33.999999 -1.9333333333333333,-0.0,-0.006519,-0.016296,-32.0,-33.999999 -1.9666666666666666,-0.0,0.0,-0.0,-32.0,-33.999999 -2.0,-0.0,-0.006519,-0.016296,-32.0,-33.999999 -2.033333333333333,-0.0,-0.025481,-0.063704,-32.0,-33.999999 -2.066666666666667,-0.0,-0.056,-0.14,-32.0,-33.999999 -2.1,-0.0,-0.097185,-0.242963,-32.0,-33.999999 -2.1333333333333333,-0.0,-0.148148,-0.37037,-32.0,-33.999999 -2.1666666666666665,-0.0,-0.208,-0.52,-32.0,-33.999999 -2.2,-0.0,-0.275852,-0.68963,-32.0,-33.999999 -2.2333333333333334,-0.0,-0.350815,-0.877037,-32.0,-33.999999 -2.2666666666666666,-0.0,-0.432,-1.08,-32.0,-33.999999 -2.3,-0.0,-0.518519,-1.296296,-32.0,-33.999999 -2.3333333333333335,-0.0,-0.609481,-1.523704,-32.0,-33.999999 -2.3666666666666667,-0.0,-0.704,-1.76,-32.0,-33.999999 -2.4,-0.0,-0.801185,-2.002963,-32.0,-33.999999 -2.433333333333333,-0.0,-0.900148,-2.25037,-32.0,-33.999999 -2.466666666666667,-0.0,-1.0,-2.5,-32.0,-33.999999 -2.5,-0.0,-1.099852,-2.74963,-32.0,-33.999999 -2.533333333333333,-0.0,-1.198815,-2.997037,-32.0,-33.999999 -2.566666666666667,-0.0,-1.296,-3.24,-32.0,-33.999999 -2.6,-0.0,-1.390519,-3.476296,-32.0,-33.999999 -2.6333333333333333,-0.0,-1.481482,-3.703704,-32.0,-33.999999 -2.6666666666666665,-0.0,-1.568,-3.92,-32.0,-33.999999 -2.7,-0.0,-1.649185,-4.122963,-32.0,-33.999999 -2.7333333333333334,-0.0,-1.724148,-4.31037,-32.0,-33.999999 -2.7666666666666666,-0.0,-1.792,-4.48,-32.0,-33.999999 -2.8,-0.0,-1.851852,-4.62963,-32.0,-33.999999 -2.8333333333333335,-0.0,-1.902815,-4.757037,-32.0,-33.999999 -2.8666666666666667,-0.0,-1.944,-4.860001,-32.0,-33.999999 -2.9,-0.0,-1.974518,-4.936296,-32.0,-33.999999 -2.933333333333333,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -2.966666666666667,-0.0,-2.0,-4.999999,-32.0,-33.999999 -3.0,-0.0,-1.993481,-4.983704,-31.895703,-33.566814 -3.033333333333333,-0.0,-1.974518,-4.936296,-31.592296,-32.347851 -3.066666666666667,-0.0,-1.944,-4.86,-31.103998,-30.463999 -3.1,-0.0,-1.902815,-4.757037,-30.445039,-28.036149 -3.1333333333333333,-0.0,-1.851852,-4.629629,-29.62963,-25.185187 -3.1666666666666665,-0.0,-1.792,-4.48,-28.672,-22.031999 -3.2,-0.0,-1.724148,-4.310371,-27.586371,-18.697481 -3.2333333333333334,-0.0,-1.649185,-4.122963,-26.386961,-15.302516 -3.2666666666666666,-0.0,-1.568,-3.92,-25.087999,-11.968001 -3.3,-0.0,-1.481481,-3.703703,-23.703702,-8.814813 -3.3333333333333335,-0.0,-1.390519,-3.476296,-22.248296,-5.963851 -3.3666666666666667,-0.0,-1.296,-3.24,-20.736,-3.535996 -3.4,-0.0,-1.198815,-2.997037,-19.181038,-1.652144 -3.433333333333333,-0.0,-1.099852,-2.74963,-17.597631,-0.433184 -3.466666666666667,-0.0,-1.0,-2.5,-16.0,-0.0 -3.5,-0.0,-0.900148,-2.25037,-14.402369,-0.0 -3.533333333333333,-0.0,-0.801185,-2.002963,-12.818962,-0.0 -3.566666666666667,-0.0,-0.704,-1.76,-11.264,-0.0 -3.6,-0.0,-0.609481,-1.523704,-9.751704,-0.0 -3.6333333333333333,-0.0,-0.518518,-1.296296,-8.296294,-0.0 -3.6666666666666665,-0.0,-0.432,-1.08,-6.912005,-0.0 -3.7,-0.0,-0.350815,-0.877037,-5.613039,-0.0 -3.7333333333333334,-0.0,-0.275852,-0.68963,-4.413631,-0.0 -3.7666666666666666,-0.0,-0.208,-0.52,-3.327999,-0.0 -3.8,-0.0,-0.148148,-0.37037,-2.370366,-0.0 -3.8333333333333335,-0.0,-0.097185,-0.242963,-1.554968,-0.0 -3.8666666666666667,-0.0,-0.056,-0.139999,-0.896001,-0.0 -3.9,-0.0,-0.025482,-0.063704,-0.407711,-0.0 -3.933333333333333,-0.0,-0.006519,-0.016296,-0.104304,-0.0 -3.966666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -4.0,-0.0,-0.00697,-0.017426,-0.0,-0.0 -4.033333333333333,-0.0,-0.027225,-0.068063,-0.0,-0.0 -4.066666666666666,-0.0,-0.059781,-0.149453,-0.0,-0.0 -4.1,-0.0,-0.103653,-0.259133,-0.0,-0.0 -4.133333333333334,-0.0,-0.157858,-0.394645,-0.0,-0.0 -4.166666666666667,-0.0,-0.221411,-0.553528,-0.0,-0.0 -4.2,-0.0,-0.293329,-0.733323,-0.0,-0.0 -4.233333333333333,-0.0,-0.372627,-0.931568,-0.0,-0.0 -4.266666666666667,-0.0,-0.458321,-1.145804,-0.0,-0.0 -4.3,-0.0,-0.549428,-1.37357,-0.0,-0.0 -4.333333333333333,-0.0,-0.644963,-1.612408,-0.0,-0.0 -4.366666666666666,-0.0,-0.743942,-1.859855,-0.0,-0.0 -4.4,-0.0,-0.845381,-2.113453,-0.0,-0.0 -4.433333333333334,-0.0,-0.948296,-2.370741,-0.0,-0.0 -4.466666666666667,-0.0,-1.051704,-2.62926,-0.0,-0.0 -4.5,-0.0,-1.154619,-2.886548,-0.0,-0.0 -4.533333333333333,-0.0,-1.256058,-3.140145,-0.0,-0.0 -4.566666666666666,-0.0,-1.355037,-3.387593,-0.0,-0.0 -4.6,-0.0,-1.450572,-3.62643,-0.0,-0.0 -4.633333333333334,-0.0,-1.541679,-3.854197,-0.0,-0.0 -4.666666666666667,-0.0,-1.627373,-4.068433,-0.0,-0.0 -4.7,-0.0,-1.706671,-4.266678,-0.0,-0.0 -4.733333333333333,-0.0,-1.778589,-4.446472,-0.0,-0.0 -4.766666666666667,-0.0,-1.842142,-4.605355,-0.0,-0.0 -4.8,-0.0,-1.896347,-4.740867,-0.0,-0.0 -4.833333333333333,-0.0,-1.940219,-4.850547,-0.0,-0.0 -4.866666666666666,-0.0,-1.972774,-4.931936,-0.0,-0.0 -4.9,-0.0,-1.99303,-4.982574,-0.0,-0.0 -4.933333333333334,-0.0,-2.0,-4.999999,-0.0,-0.0 -4.966666666666667,-0.0,-1.993481,-4.983704,-0.0,-0.0 -5.0,-0.0,-1.974518,-4.936296,-0.111526,-0.495627 -5.033333333333333,-0.0,-1.944,-4.86,-0.435606,-1.883382 -5.066666666666666,-0.0,-1.902815,-4.757037,-0.956497,-4.014576 -5.1,-0.0,-1.851852,-4.629629,-1.658453,-6.740524 -5.133333333333334,-0.0,-1.792,-4.48,-2.525729,-9.912535 -5.166666666666667,-0.0,-1.724148,-4.310371,-3.542581,-13.381922 -5.2,-0.0,-1.649185,-4.122963,-4.693264,-16.999998 -5.233333333333333,-0.0,-1.568,-3.92,-5.962032,-20.618073 -5.266666666666667,-0.0,-1.481481,-3.703703,-7.333143,-24.08746 -5.3,-0.0,-1.390519,-3.476296,-8.790849,-27.259471 -5.333333333333333,-0.0,-1.296,-3.24,-10.319408,-29.985418 -5.366666666666666,-0.0,-1.198815,-2.997037,-11.903071,-32.116612 -5.4,-0.0,-1.099852,-2.74963,-13.526099,-33.504373 -5.433333333333334,-0.0,-1.0,-2.5,-15.172743,-33.999999 -5.466666666666667,-0.0,-0.900148,-2.25037,-16.82726,-33.999999 -5.5,-0.0,-0.801185,-2.002963,-18.473903,-33.999999 -5.533333333333333,-0.0,-0.704,-1.76,-20.09693,-33.999999 -5.566666666666666,-0.0,-0.609481,-1.523704,-21.680596,-33.999999 -5.6,-0.0,-0.518518,-1.296296,-23.209152,-33.999999 -5.633333333333334,-0.0,-0.432,-1.08,-24.666859,-33.999999 -5.666666666666667,-0.0,-0.350815,-0.877037,-26.03797,-33.999999 -5.7,-0.0,-0.275852,-0.68963,-27.306738,-33.999999 -5.733333333333333,-0.0,-0.208,-0.52,-28.457416,-33.999999 -5.766666666666667,-0.0,-0.148148,-0.37037,-29.474274,-33.999999 -5.8,-0.0,-0.097185,-0.242963,-30.341544,-33.999999 -5.833333333333333,-0.0,-0.056,-0.139999,-31.0435,-33.999999 -5.866666666666666,-0.0,-0.025482,-0.063704,-31.564391,-33.999999 -5.9,-0.0,-0.006519,-0.016296,-31.888473,-33.999999 -5.933333333333334,-0.0,0.0,-0.0,-32.0,-33.999999 -5.966666666666667,-0.0,-0.006519,-0.016296,-32.0,-33.999999 -6.0,-0.0,-0.025481,-0.063704,-32.0,-33.999999 -6.033333333333333,-0.0,-0.056,-0.14,-32.0,-33.999999 -6.066666666666666,-0.0,-0.097185,-0.242963,-32.0,-33.999999 -6.1,-0.0,-0.148148,-0.37037,-32.0,-33.999999 -6.133333333333334,-0.0,-0.208,-0.52,-32.0,-33.999999 -6.166666666666667,-0.0,-0.275852,-0.68963,-32.0,-33.999999 -6.2,-0.0,-0.350815,-0.877037,-32.0,-33.999999 -6.233333333333333,-0.0,-0.432,-1.08,-32.0,-33.999999 -6.266666666666667,-0.0,-0.518519,-1.296296,-32.0,-33.999999 -6.3,-0.0,-0.609481,-1.523704,-32.0,-33.999999 -6.333333333333333,-0.0,-0.704,-1.76,-32.0,-33.999999 -6.366666666666666,-0.0,-0.801185,-2.002963,-32.0,-33.999999 -6.4,-0.0,-0.900148,-2.25037,-32.0,-33.999999 -6.433333333333334,-0.0,-1.0,-2.5,-32.0,-33.999999 -6.466666666666667,-0.0,-1.099852,-2.74963,-32.0,-33.999999 -6.5,-0.0,-1.198815,-2.997037,-32.0,-33.999999 -6.533333333333333,-0.0,-1.296,-3.24,-32.0,-33.999999 -6.566666666666666,-0.0,-1.390519,-3.476296,-32.0,-33.999999 -6.6,-0.0,-1.481482,-3.703704,-32.0,-33.999999 -6.633333333333334,-0.0,-1.568,-3.92,-32.0,-33.999999 -6.666666666666667,-0.0,-1.649185,-4.122963,-32.0,-33.999999 -6.7,-0.0,-1.724148,-4.31037,-32.0,-33.999999 -6.733333333333333,-0.0,-1.792,-4.48,-32.0,-33.999999 -6.766666666666667,-0.0,-1.851852,-4.62963,-32.0,-33.999999 -6.8,-0.0,-1.902815,-4.757037,-32.0,-33.999999 -6.833333333333333,-0.0,-1.944,-4.860001,-32.0,-33.999999 -6.866666666666666,-0.0,-1.974518,-4.936296,-32.0,-33.999999 -6.9,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -6.933333333333334,-0.0,-2.0,-4.999999,-32.0,-33.999999 -6.966666666666667,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -7.0,-0.0,-1.974518,-4.936296,-32.0,-33.999999 -7.033333333333333,-0.0,-1.944,-4.86,-32.0,-33.999999 -7.066666666666666,-0.0,-1.902815,-4.757037,-32.0,-33.999999 -7.1,-0.0,-1.851852,-4.629629,-32.0,-33.999999 -7.133333333333334,-0.0,-1.792,-4.48,-32.0,-33.999999 -7.166666666666667,-0.0,-1.724148,-4.310371,-32.0,-33.999999 -7.2,-0.0,-1.649185,-4.122963,-32.0,-33.999999 -7.233333333333333,-0.0,-1.568,-3.92,-32.0,-33.999999 -7.266666666666667,-0.0,-1.481481,-3.703703,-32.0,-33.999999 -7.3,-0.0,-1.390519,-3.476296,-32.0,-33.999999 -7.333333333333333,-0.0,-1.296,-3.24,-32.0,-33.999999 -7.366666666666666,-0.0,-1.198815,-2.997037,-32.0,-33.999999 -7.4,-0.0,-1.099852,-2.74963,-32.0,-33.999999 -7.433333333333334,-0.0,-1.0,-2.5,-32.0,-33.999999 -7.466666666666667,-0.0,-0.900148,-2.25037,-32.0,-33.999999 -7.5,-0.0,-0.801185,-2.002963,-32.0,-33.999999 -7.533333333333333,-0.0,-0.704,-1.76,-32.0,-33.999999 -7.566666666666666,-0.0,-0.609481,-1.523704,-32.0,-33.999999 -7.6,-0.0,-0.518518,-1.296296,-32.0,-33.999999 -7.633333333333334,-0.0,-0.432,-1.08,-32.0,-33.999999 -7.666666666666667,-0.0,-0.350815,-0.877037,-32.0,-33.999999 -7.7,-0.0,-0.275852,-0.68963,-32.0,-33.999999 -7.733333333333333,-0.0,-0.208,-0.52,-32.0,-33.999999 -7.766666666666667,-0.0,-0.148148,-0.37037,-32.0,-33.999999 -7.8,-0.0,-0.097185,-0.242963,-32.0,-33.999999 -7.833333333333333,-0.0,-0.056,-0.139999,-32.0,-33.999999 -7.866666666666666,-0.0,-0.025482,-0.063704,-32.0,-33.999999 -7.9,-0.0,-0.006519,-0.016296,-32.0,-33.999999 -7.933333333333334,-0.0,0.0,-0.0,-32.0,-33.999999 -7.966666666666667,-0.0,-0.00697,-0.017426,-31.895703,-33.566814 -8.0,-0.0,-0.027225,-0.068063,-31.592296,-32.347851 -8.033333333333333,-0.0,-0.059781,-0.149453,-31.103998,-30.463999 -8.066666666666666,-0.0,-0.103653,-0.259133,-30.445039,-28.036149 -8.1,-0.0,-0.157858,-0.394645,-29.62963,-25.185187 -8.133333333333333,-0.0,-0.221411,-0.553528,-28.672,-22.031999 -8.166666666666666,-0.0,-0.293329,-0.733323,-27.586371,-18.697481 -8.2,-0.0,-0.372627,-0.931568,-26.386961,-15.302516 -8.233333333333333,-0.0,-0.458321,-1.145804,-25.087999,-11.968001 -8.266666666666667,-0.0,-0.549428,-1.37357,-23.703702,-8.814813 -8.3,-0.0,-0.644963,-1.612408,-22.248296,-5.963851 -8.333333333333334,-0.0,-0.743942,-1.859855,-20.736,-3.535996 -8.366666666666667,-0.0,-0.845381,-2.113453,-19.181038,-1.652144 -8.4,-0.0,-0.948296,-2.370741,-17.597631,-0.433184 -8.433333333333334,-0.0,-1.051704,-2.62926,-16.0,-0.0 -8.466666666666667,-0.0,-1.154619,-2.886548,-14.402369,-0.0 -8.5,-0.0,-1.256058,-3.140145,-12.818962,-0.0 -8.533333333333333,-0.0,-1.355037,-3.387593,-11.264,-0.0 -8.566666666666666,-0.0,-1.450572,-3.62643,-9.751704,-0.0 -8.6,-0.0,-1.541679,-3.854197,-8.296294,-0.0 -8.633333333333333,-0.0,-1.627373,-4.068433,-6.912005,-0.0 -8.666666666666666,-0.0,-1.706671,-4.266678,-5.613039,-0.0 -8.7,-0.0,-1.778589,-4.446472,-4.413631,-0.0 -8.733333333333333,-0.0,-1.842142,-4.605355,-3.327999,-0.0 -8.766666666666667,-0.0,-1.896347,-4.740867,-2.370366,-0.0 -8.8,-0.0,-1.940219,-4.850547,-1.554968,-0.0 -8.833333333333334,-0.0,-1.972774,-4.931936,-0.896001,-0.0 -8.866666666666667,-0.0,-1.99303,-4.982574,-0.407711,-0.0 -8.9,-0.0,-2.0,-4.999999,-0.104304,-0.0 -8.933333333333334,-0.0,-1.993481,-4.983704,-0.0,-0.0 -8.966666666666667,-0.0,-1.974518,-4.936296,-0.0,-0.0 -9.0,-0.0,-1.944,-4.86,-0.0,-0.0 -9.033333333333333,-0.0,-1.902815,-4.757037,-0.0,-0.0 -9.066666666666666,-0.0,-1.851852,-4.629629,-0.0,-0.0 -9.1,-0.0,-1.792,-4.48,-0.0,-0.0 -9.133333333333333,-0.0,-1.724148,-4.310371,-0.0,-0.0 -9.166666666666666,-0.0,-1.649185,-4.122963,-0.0,-0.0 -9.2,-0.0,-1.568,-3.92,-0.0,-0.0 -9.233333333333333,-0.0,-1.481481,-3.703703,-0.0,-0.0 -9.266666666666667,-0.0,-1.390519,-3.476296,-0.0,-0.0 -9.3,-0.0,-1.296,-3.24,-0.0,-0.0 -9.333333333333334,-0.0,-1.198815,-2.997037,-0.0,-0.0 -9.366666666666667,-0.0,-1.099852,-2.74963,-0.0,-0.0 -9.4,-0.0,-1.0,-2.5,-0.0,-0.0 -9.433333333333334,-0.0,-0.900148,-2.25037,-0.0,-0.0 -9.466666666666667,-0.0,-0.801185,-2.002963,-0.0,-0.0 -9.5,-0.0,-0.704,-1.76,-0.0,-0.0 -9.533333333333333,-0.0,-0.609481,-1.523704,-0.0,-0.0 -9.566666666666666,-0.0,-0.518518,-1.296296,-0.0,-0.0 -9.6,-0.0,-0.432,-1.08,-0.0,-0.0 -9.633333333333333,-0.0,-0.350815,-0.877037,-0.0,-0.0 -9.666666666666666,-0.0,-0.275852,-0.68963,-0.0,-0.0 -9.7,-0.0,-0.208,-0.52,-0.0,-0.0 -9.733333333333333,-0.0,-0.148148,-0.37037,-0.0,-0.0 -9.766666666666667,-0.0,-0.097185,-0.242963,-0.0,-0.0 -9.8,-0.0,-0.056,-0.139999,-0.0,-0.0 -9.833333333333334,-0.0,-0.025482,-0.063704,-0.0,-0.0 -9.866666666666667,-0.0,-0.006519,-0.016296,-0.0,-0.0 -9.9,-0.0,0.0,-0.0,-0.0,-0.0 -9.933333333333334,-0.0,-0.006519,-0.016296,-0.0,-0.0 -9.966666666666667,-0.0,-0.025481,-0.063704,-0.111526,-0.495627 -10.0,-0.0,-0.056,-0.14,-0.435606,-1.883382 -10.033333333333333,-0.0,-0.097185,-0.242963,-0.956497,-4.014576 -10.066666666666666,-0.0,-0.148148,-0.37037,-1.658453,-6.740524 -10.1,-0.0,-0.208,-0.52,-2.525729,-9.912535 -10.133333333333333,-0.0,-0.275852,-0.68963,-3.542581,-13.381922 -10.166666666666666,-0.0,-0.350815,-0.877037,-4.693264,-16.999998 -10.2,-0.0,-0.432,-1.08,-5.962032,-20.618073 -10.233333333333333,-0.0,-0.518519,-1.296296,-7.333143,-24.08746 -10.266666666666667,-0.0,-0.609481,-1.523704,-8.790849,-27.259471 -10.3,-0.0,-0.704,-1.76,-10.319408,-29.985418 -10.333333333333334,-0.0,-0.801185,-2.002963,-11.903071,-32.116612 -10.366666666666667,-0.0,-0.900148,-2.25037,-13.526099,-33.504373 -10.4,-0.0,-1.0,-2.5,-15.172743,-33.999999 -10.433333333333334,-0.0,-1.099852,-2.74963,-16.82726,-33.999999 -10.466666666666667,-0.0,-1.198815,-2.997037,-18.473903,-33.999999 -10.5,-0.0,-1.296,-3.24,-20.09693,-33.999999 -10.533333333333333,-0.0,-1.390519,-3.476296,-21.680596,-33.999999 -10.566666666666666,-0.0,-1.481482,-3.703704,-23.209152,-33.999999 -10.6,-0.0,-1.568,-3.92,-24.666859,-33.999999 -10.633333333333333,-0.0,-1.649185,-4.122963,-26.03797,-33.999999 -10.666666666666666,-0.0,-1.724148,-4.31037,-27.306738,-33.999999 -10.7,-0.0,-1.792,-4.48,-28.457416,-33.999999 -10.733333333333333,-0.0,-1.851852,-4.62963,-29.474274,-33.999999 -10.766666666666667,-0.0,-1.902815,-4.757037,-30.341544,-33.999999 -10.8,-0.0,-1.944,-4.860001,-31.0435,-33.999999 -10.833333333333334,-0.0,-1.974518,-4.936296,-31.564391,-33.999999 -10.866666666666667,-0.0,-1.993481,-4.983704,-31.888473,-33.999999 -10.9,-0.0,-2.0,-4.999999,-32.0,-33.999999 -10.933333333333334,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -10.966666666666667,-0.0,-1.974518,-4.936296,-32.0,-33.999999 -11.0,-0.0,-1.944,-4.86,-32.0,-33.999999 -11.033333333333333,-0.0,-1.902815,-4.757037,-32.0,-33.999999 -11.066666666666666,-0.0,-1.851852,-4.629629,-32.0,-33.999999 -11.1,-0.0,-1.792,-4.48,-32.0,-33.999999 -11.133333333333333,-0.0,-1.724148,-4.310371,-32.0,-33.999999 -11.166666666666666,-0.0,-1.649185,-4.122963,-32.0,-33.999999 -11.2,-0.0,-1.568,-3.92,-32.0,-33.999999 -11.233333333333333,-0.0,-1.481481,-3.703703,-32.0,-33.999999 -11.266666666666667,-0.0,-1.390519,-3.476296,-32.0,-33.999999 -11.3,-0.0,-1.296,-3.24,-32.0,-33.999999 -11.333333333333334,-0.0,-1.198815,-2.997037,-32.0,-33.999999 -11.366666666666667,-0.0,-1.099852,-2.74963,-32.0,-33.999999 -11.4,-0.0,-1.0,-2.5,-32.0,-33.999999 -11.433333333333334,-0.0,-0.900148,-2.25037,-32.0,-33.999999 -11.466666666666667,-0.0,-0.801185,-2.002963,-32.0,-33.999999 -11.5,-0.0,-0.704,-1.76,-32.0,-33.999999 -11.533333333333333,-0.0,-0.609481,-1.523704,-32.0,-33.999999 -11.566666666666666,-0.0,-0.518518,-1.296296,-32.0,-33.999999 -11.6,-0.0,-0.432,-1.08,-32.0,-33.999999 -11.633333333333333,-0.0,-0.350815,-0.877037,-32.0,-33.999999 -11.666666666666666,-0.0,-0.275852,-0.68963,-32.0,-33.999999 -11.7,-0.0,-0.208,-0.52,-32.0,-33.999999 -11.733333333333333,-0.0,-0.148148,-0.37037,-32.0,-33.999999 -11.766666666666667,-0.0,-0.097185,-0.242963,-32.0,-33.999999 -11.8,-0.0,-0.056,-0.139999,-32.0,-33.999999 -11.833333333333334,-0.0,-0.025482,-0.063704,-32.0,-33.999999 -11.866666666666667,-0.0,-0.006519,-0.016296,-32.0,-33.999999 -11.9,-0.0,0.0,-0.0,-32.0,-33.999999 -11.933333333333334,-0.0,-0.00697,-0.017426,-32.0,-33.999999 -11.966666666666667,-0.0,-0.027225,-0.068063,-32.0,-33.999999 -12.0,-0.0,-0.059781,-0.149453,-32.0,-33.999999 -12.033333333333333,-0.0,-0.103653,-0.259133,-32.0,-33.999999 -12.066666666666666,-0.0,-0.157858,-0.394645,-32.0,-33.999999 -12.1,-0.0,-0.221411,-0.553528,-32.0,-33.999999 -12.133333333333333,-0.0,-0.293329,-0.733323,-32.0,-33.999999 -12.166666666666666,-0.0,-0.372627,-0.931568,-32.0,-33.999999 -12.2,-0.0,-0.458321,-1.145804,-32.0,-33.999999 -12.233333333333333,-0.0,-0.549428,-1.37357,-32.0,-33.999999 -12.266666666666667,-0.0,-0.644963,-1.612408,-32.0,-33.999999 -12.3,-0.0,-0.743942,-1.859855,-32.0,-33.999999 -12.333333333333334,-0.0,-0.845381,-2.113453,-32.0,-33.999999 -12.366666666666667,-0.0,-0.948296,-2.370741,-32.0,-33.999999 -12.4,-0.0,-1.051704,-2.62926,-32.0,-33.999999 -12.433333333333334,-0.0,-1.154619,-2.886548,-32.0,-33.999999 -12.466666666666667,-0.0,-1.256058,-3.140145,-32.0,-33.999999 -12.5,-0.0,-1.355037,-3.387593,-32.0,-33.999999 -12.533333333333333,-0.0,-1.450572,-3.62643,-32.0,-33.999999 -12.566666666666666,-0.0,-1.541679,-3.854197,-32.0,-33.999999 -12.6,-0.0,-1.627373,-4.068433,-32.0,-33.999999 -12.633333333333333,-0.0,-1.706671,-4.266678,-32.0,-33.999999 -12.666666666666666,-0.0,-1.778589,-4.446472,-32.0,-33.999999 -12.7,-0.0,-1.842142,-4.605355,-32.0,-33.999999 -12.733333333333333,-0.0,-1.896347,-4.740867,-32.0,-33.999999 -12.766666666666667,-0.0,-1.940219,-4.850547,-32.0,-33.999999 -12.8,-0.0,-1.972774,-4.931936,-32.0,-33.999999 -12.833333333333334,-0.0,-1.99303,-4.982574,-32.0,-33.999999 -12.866666666666667,-0.0,-2.0,-4.999999,-32.0,-33.999999 -12.9,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -12.933333333333334,-0.0,-1.974518,-4.936296,-31.895703,-33.566814 -12.966666666666667,-0.0,-1.944,-4.86,-31.592296,-32.347851 -13.0,-0.0,-1.902815,-4.757037,-31.103998,-30.463999 -13.033333333333333,-0.0,-1.851852,-4.629629,-30.445039,-28.036149 -13.066666666666666,-0.0,-1.792,-4.48,-29.62963,-25.185187 -13.1,-0.0,-1.724148,-4.310371,-28.672,-22.031999 -13.133333333333333,-0.0,-1.649185,-4.122963,-27.586371,-18.697481 -13.166666666666666,-0.0,-1.568,-3.92,-26.386961,-15.302516 -13.2,-0.0,-1.481481,-3.703703,-25.087999,-11.968001 -13.233333333333333,-0.0,-1.390519,-3.476296,-23.703702,-8.814813 -13.266666666666667,-0.0,-1.296,-3.24,-22.248296,-5.963851 -13.3,-0.0,-1.198815,-2.997037,-20.736,-3.535996 -13.333333333333334,-0.0,-1.099852,-2.74963,-19.181038,-1.652144 -13.366666666666667,-0.0,-1.0,-2.5,-17.597631,-0.433184 -13.4,-0.0,-0.900148,-2.25037,-16.0,-0.0 -13.433333333333334,-0.0,-0.801185,-2.002963,-14.402369,-0.0 -13.466666666666667,-0.0,-0.704,-1.76,-12.818962,-0.0 -13.5,-0.0,-0.609481,-1.523704,-11.264,-0.0 -13.533333333333333,-0.0,-0.518518,-1.296296,-9.751704,-0.0 -13.566666666666666,-0.0,-0.432,-1.08,-8.296294,-0.0 -13.6,-0.0,-0.350815,-0.877037,-6.912005,-0.0 -13.633333333333333,-0.0,-0.275852,-0.68963,-5.613039,-0.0 -13.666666666666666,-0.0,-0.208,-0.52,-4.413631,-0.0 -13.7,-0.0,-0.148148,-0.37037,-3.327999,-0.0 -13.733333333333333,-0.0,-0.097185,-0.242963,-2.370366,-0.0 -13.766666666666667,-0.0,-0.056,-0.139999,-1.554968,-0.0 -13.8,-0.0,-0.025482,-0.063704,-0.896001,-0.0 -13.833333333333334,-0.0,-0.006519,-0.016296,-0.407711,-0.0 -13.866666666666667,-0.0,0.0,-0.0,-0.104304,-0.0 -13.9,-0.0,-0.006519,-0.016296,-0.0,-0.0 -13.933333333333334,-0.0,-0.025481,-0.063704,-0.0,-0.0 -13.966666666666667,-0.0,-0.056,-0.14,-0.0,-0.0 -14.0,-0.0,-0.097185,-0.242963,-0.0,-0.0 -14.033333333333333,-0.0,-0.148148,-0.37037,-0.0,-0.0 -14.066666666666666,-0.0,-0.208,-0.52,-0.0,-0.0 -14.1,-0.0,-0.275852,-0.68963,-0.0,-0.0 -14.133333333333333,-0.0,-0.350815,-0.877037,-0.0,-0.0 -14.166666666666666,-0.0,-0.432,-1.08,-0.0,-0.0 -14.2,-0.0,-0.518519,-1.296296,-0.0,-0.0 -14.233333333333333,-0.0,-0.609481,-1.523704,-0.0,-0.0 -14.266666666666667,-0.0,-0.704,-1.76,-0.0,-0.0 -14.3,-0.0,-0.801185,-2.002963,-0.0,-0.0 -14.333333333333334,-0.0,-0.900148,-2.25037,-0.0,-0.0 -14.366666666666667,-0.0,-1.0,-2.5,-0.0,-0.0 -14.4,-0.0,-1.099852,-2.74963,-0.0,-0.0 -14.433333333333334,-0.0,-1.198815,-2.997037,-0.0,-0.0 -14.466666666666667,-0.0,-1.296,-3.24,-0.0,-0.0 -14.5,-0.0,-1.390519,-3.476296,-0.0,-0.0 -14.533333333333333,-0.0,-1.481482,-3.703704,-0.0,-0.0 -14.566666666666666,-0.0,-1.568,-3.92,-0.0,-0.0 -14.6,-0.0,-1.649185,-4.122963,-0.0,-0.0 -14.633333333333333,-0.0,-1.724148,-4.31037,-0.0,-0.0 -14.666666666666666,-0.0,-1.792,-4.48,-0.0,-0.0 -14.7,-0.0,-1.851852,-4.62963,-0.0,-0.0 -14.733333333333333,-0.0,-1.902815,-4.757037,-0.0,-0.0 -14.766666666666667,-0.0,-1.944,-4.860001,-0.0,-0.0 -14.8,-0.0,-1.974518,-4.936296,-0.0,-0.0 -14.833333333333334,-0.0,-1.993481,-4.983704,-0.0,-0.0 -14.866666666666667,-0.0,-2.0,-4.999999,-0.0,-0.0 -14.9,-0.0,-1.993481,-4.983704,-0.0,-0.0 -14.933333333333334,-0.0,-1.974518,-4.936296,-0.111526,-0.495627 -14.966666666666667,-0.0,-1.944,-4.86,-0.435606,-1.883382 -15.0,-0.0,-1.902815,-4.757037,-0.956497,-4.014576 -15.033333333333333,-0.0,-1.851852,-4.629629,-1.658453,-6.740524 -15.066666666666666,-0.0,-1.792,-4.48,-2.525729,-9.912535 -15.1,-0.0,-1.724148,-4.310371,-3.542581,-13.381922 -15.133333333333333,-0.0,-1.649185,-4.122963,-4.693264,-16.999998 -15.166666666666666,-0.0,-1.568,-3.92,-5.962032,-20.618073 -15.2,-0.0,-1.481481,-3.703703,-7.333143,-24.08746 -15.233333333333333,-0.0,-1.390519,-3.476296,-8.790849,-27.259471 -15.266666666666667,-0.0,-1.296,-3.24,-10.319408,-29.985418 -15.3,-0.0,-1.198815,-2.997037,-11.903071,-32.116612 -15.333333333333334,-0.0,-1.099852,-2.74963,-13.526099,-33.504373 -15.366666666666667,-0.0,-1.0,-2.5,-15.172743,-33.999999 -15.4,-0.0,-0.900148,-2.25037,-16.82726,-33.999999 -15.433333333333334,-0.0,-0.801185,-2.002963,-18.473903,-33.999999 -15.466666666666667,-0.0,-0.704,-1.76,-20.09693,-33.999999 -15.5,-0.0,-0.609481,-1.523704,-21.680596,-33.999999 -15.533333333333333,-0.0,-0.518518,-1.296296,-23.209152,-33.999999 -15.566666666666666,-0.0,-0.432,-1.08,-24.666859,-33.999999 -15.6,-0.0,-0.350815,-0.877037,-26.03797,-33.999999 -15.633333333333333,-0.0,-0.275852,-0.68963,-27.306738,-33.999999 -15.666666666666666,-0.0,-0.208,-0.52,-28.457416,-33.999999 -15.7,-0.0,-0.148148,-0.37037,-29.474274,-33.999999 -15.733333333333333,-0.0,-0.097185,-0.242963,-30.341544,-33.999999 -15.766666666666667,-0.0,-0.056,-0.139999,-31.0435,-33.999999 -15.8,-0.0,-0.025482,-0.063704,-31.564391,-33.999999 -15.833333333333334,-0.0,-0.006519,-0.016296,-31.888473,-33.999999 -15.866666666666667,-0.0,0.0,-0.0,-32.0,-33.999999 -15.9,-0.0,-0.00697,-0.017426,-32.0,-33.999999 -15.933333333333334,-0.0,-0.027225,-0.068063,-32.0,-33.999999 -15.966666666666667,-0.0,-0.059781,-0.149453,-32.0,-33.999999 -16.0,-0.0,-0.103653,-0.259133,-32.0,-33.999999 -16.033333333333335,-0.0,-0.157858,-0.394645,-32.0,-33.999999 -16.066666666666666,-0.0,-0.221411,-0.553528,-32.0,-33.999999 -16.1,-0.0,-0.293329,-0.733323,-32.0,-33.999999 -16.133333333333333,-0.0,-0.372627,-0.931568,-32.0,-33.999999 -16.166666666666668,-0.0,-0.458321,-1.145804,-32.0,-33.999999 -16.2,-0.0,-0.549428,-1.37357,-32.0,-33.999999 -16.233333333333334,-0.0,-0.644963,-1.612408,-32.0,-33.999999 -16.266666666666666,-0.0,-0.743942,-1.859855,-32.0,-33.999999 -16.3,-0.0,-0.845381,-2.113453,-32.0,-33.999999 -16.333333333333332,-0.0,-0.948296,-2.370741,-32.0,-33.999999 -16.366666666666667,-0.0,-1.051704,-2.62926,-32.0,-33.999999 -16.4,-0.0,-1.154619,-2.886548,-32.0,-33.999999 -16.433333333333334,-0.0,-1.256058,-3.140145,-32.0,-33.999999 -16.466666666666665,-0.0,-1.355037,-3.387593,-32.0,-33.999999 -16.5,-0.0,-1.450572,-3.62643,-32.0,-33.999999 -16.533333333333335,-0.0,-1.541679,-3.854197,-32.0,-33.999999 -16.566666666666666,-0.0,-1.627373,-4.068433,-32.0,-33.999999 -16.6,-0.0,-1.706671,-4.266678,-32.0,-33.999999 -16.633333333333333,-0.0,-1.778589,-4.446472,-32.0,-33.999999 -16.666666666666668,-0.0,-1.842142,-4.605355,-32.0,-33.999999 -16.7,-0.0,-1.896347,-4.740867,-32.0,-33.999999 -16.733333333333334,-0.0,-1.940219,-4.850547,-32.0,-33.999999 -16.766666666666666,-0.0,-1.972774,-4.931936,-32.0,-33.999999 -16.8,-0.0,-1.99303,-4.982574,-32.0,-33.999999 -16.833333333333332,-0.0,-2.0,-4.999999,-32.0,-33.999999 -16.866666666666667,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -16.9,-0.0,-1.974518,-4.936296,-32.0,-33.999999 -16.933333333333334,-0.0,-1.944,-4.86,-32.0,-33.999999 -16.966666666666665,-0.0,-1.902815,-4.757037,-32.0,-33.999999 -17.0,-0.0,-1.851852,-4.629629,-32.0,-33.999999 -17.033333333333335,-0.0,-1.792,-4.48,-32.0,-33.999999 -17.066666666666666,-0.0,-1.724148,-4.310371,-32.0,-33.999999 -17.1,-0.0,-1.649185,-4.122963,-32.0,-33.999999 -17.133333333333333,-0.0,-1.568,-3.92,-32.0,-33.999999 -17.166666666666668,-0.0,-1.481481,-3.703703,-32.0,-33.999999 -17.2,-0.0,-1.390519,-3.476296,-32.0,-33.999999 -17.233333333333334,-0.0,-1.296,-3.24,-32.0,-33.999999 -17.266666666666666,-0.0,-1.198815,-2.997037,-32.0,-33.999999 -17.3,-0.0,-1.099852,-2.74963,-32.0,-33.999999 -17.333333333333332,-0.0,-1.0,-2.5,-32.0,-33.999999 -17.366666666666667,-0.0,-0.900148,-2.25037,-32.0,-33.999999 -17.4,-0.0,-0.801185,-2.002963,-32.0,-33.999999 -17.433333333333334,-0.0,-0.704,-1.76,-32.0,-33.999999 -17.466666666666665,-0.0,-0.609481,-1.523704,-32.0,-33.999999 -17.5,-0.0,-0.518518,-1.296296,-32.0,-33.999999 -17.533333333333335,-0.0,-0.432,-1.08,-32.0,-33.999999 -17.566666666666666,-0.0,-0.350815,-0.877037,-32.0,-33.999999 -17.6,-0.0,-0.275852,-0.68963,-32.0,-33.999999 -17.633333333333333,-0.0,-0.208,-0.52,-32.0,-33.999999 -17.666666666666668,-0.0,-0.148148,-0.37037,-32.0,-33.999999 -17.7,-0.0,-0.097185,-0.242963,-32.0,-33.999999 -17.733333333333334,-0.0,-0.056,-0.139999,-32.0,-33.999999 -17.766666666666666,-0.0,-0.025482,-0.063704,-32.0,-33.999999 -17.8,-0.0,-0.006519,-0.016296,-32.0,-33.999999 -17.833333333333332,-0.0,0.0,-0.0,-32.0,-33.999999 -17.866666666666667,-0.0,-0.006519,-0.016296,-32.0,-33.999999 -17.9,-0.0,-0.025481,-0.063704,-31.895703,-33.566814 -17.933333333333334,-0.0,-0.056,-0.14,-31.592296,-32.347851 -17.966666666666665,-0.0,-0.097185,-0.242963,-31.103998,-30.463999 -18.0,-0.0,-0.148148,-0.37037,-30.445039,-28.036149 -18.033333333333335,-0.0,-0.208,-0.52,-29.62963,-25.185187 -18.066666666666666,-0.0,-0.275852,-0.68963,-28.672,-22.031999 -18.1,-0.0,-0.350815,-0.877037,-27.586371,-18.697481 -18.133333333333333,-0.0,-0.432,-1.08,-26.386961,-15.302516 -18.166666666666668,-0.0,-0.518519,-1.296296,-25.087999,-11.968001 -18.2,-0.0,-0.609481,-1.523704,-23.703702,-8.814813 -18.233333333333334,-0.0,-0.704,-1.76,-22.248296,-5.963851 -18.266666666666666,-0.0,-0.801185,-2.002963,-20.736,-3.535996 -18.3,-0.0,-0.900148,-2.25037,-19.181038,-1.652144 -18.333333333333332,-0.0,-1.0,-2.5,-17.597631,-0.433184 -18.366666666666667,-0.0,-1.099852,-2.74963,-16.0,-0.0 -18.4,-0.0,-1.198815,-2.997037,-14.402369,-0.0 -18.433333333333334,-0.0,-1.296,-3.24,-12.818962,-0.0 -18.466666666666665,-0.0,-1.390519,-3.476296,-11.264,-0.0 -18.5,-0.0,-1.481482,-3.703704,-9.751704,-0.0 -18.533333333333335,-0.0,-1.568,-3.92,-8.296294,-0.0 -18.566666666666666,-0.0,-1.649185,-4.122963,-6.912005,-0.0 -18.6,-0.0,-1.724148,-4.31037,-5.613039,-0.0 -18.633333333333333,-0.0,-1.792,-4.48,-4.413631,-0.0 -18.666666666666668,-0.0,-1.851852,-4.62963,-3.327999,-0.0 -18.7,-0.0,-1.902815,-4.757037,-2.370366,-0.0 -18.733333333333334,-0.0,-1.944,-4.860001,-1.554968,-0.0 -18.766666666666666,-0.0,-1.974518,-4.936296,-0.896001,-0.0 -18.8,-0.0,-1.993481,-4.983704,-0.407711,-0.0 -18.833333333333332,-0.0,-2.0,-4.999999,-0.104304,-0.0 -18.866666666666667,-0.0,-1.993481,-4.983704,-0.0,-0.0 -18.9,-0.0,-1.974518,-4.936296,-0.0,-0.0 -18.933333333333334,-0.0,-1.944,-4.86,-0.0,-0.0 -18.966666666666665,-0.0,-1.902815,-4.757037,-0.0,-0.0 -19.0,-0.0,-1.851852,-4.629629,-0.0,-0.0 -19.033333333333335,-0.0,-1.792,-4.48,-0.0,-0.0 -19.066666666666666,-0.0,-1.724148,-4.310371,-0.0,-0.0 -19.1,-0.0,-1.649185,-4.122963,-0.0,-0.0 -19.133333333333333,-0.0,-1.568,-3.92,-0.0,-0.0 -19.166666666666668,-0.0,-1.481481,-3.703703,-0.0,-0.0 -19.2,-0.0,-1.390519,-3.476296,-0.0,-0.0 -19.233333333333334,-0.0,-1.296,-3.24,-0.0,-0.0 -19.266666666666666,-0.0,-1.198815,-2.997037,-0.0,-0.0 -19.3,-0.0,-1.099852,-2.74963,-0.0,-0.0 -19.333333333333332,-0.0,-1.0,-2.5,-0.0,-0.0 -19.366666666666667,-0.0,-0.900148,-2.25037,-0.0,-0.0 -19.4,-0.0,-0.801185,-2.002963,-0.0,-0.0 -19.433333333333334,-0.0,-0.704,-1.76,-0.0,-0.0 -19.466666666666665,-0.0,-0.609481,-1.523704,-0.0,-0.0 -19.5,-0.0,-0.518518,-1.296296,-0.0,-0.0 -19.533333333333335,-0.0,-0.432,-1.08,-0.0,-0.0 -19.566666666666666,-0.0,-0.350815,-0.877037,-0.0,-0.0 -19.6,-0.0,-0.275852,-0.68963,-0.0,-0.0 -19.633333333333333,-0.0,-0.208,-0.52,-0.0,-0.0 -19.666666666666668,-0.0,-0.148148,-0.37037,-0.0,-0.0 -19.7,-0.0,-0.097185,-0.242963,-0.0,-0.0 -19.733333333333334,-0.0,-0.056,-0.139999,-0.0,-0.0 -19.766666666666666,-0.0,-0.025482,-0.063704,-0.0,-0.0 -19.8,-0.0,-0.006519,-0.016296,-0.0,-0.0 -19.833333333333332,-0.0,0.0,-0.0,-0.0,-0.0 -19.866666666666667,-0.0,-0.00697,-0.017426,-0.0,-0.0 -19.9,-0.0,-0.027225,-0.068063,-0.111526,-0.495627 -19.933333333333334,-0.0,-0.059781,-0.149453,-0.435606,-1.883382 -19.966666666666665,-0.0,-0.103653,-0.259133,-0.956497,-4.014576 -20.0,-0.0,-0.157858,-0.394645,-1.658453,-6.740524 -20.033333333333335,-0.0,-0.221411,-0.553528,-2.525729,-9.912535 -20.066666666666666,-0.0,-0.293329,-0.733323,-3.542581,-13.381922 -20.1,-0.0,-0.372627,-0.931568,-4.693264,-16.999998 -20.133333333333333,-0.0,-0.458321,-1.145804,-5.962032,-20.618073 -20.166666666666668,-0.0,-0.549428,-1.37357,-7.333143,-24.08746 -20.2,-0.0,-0.644963,-1.612408,-8.790849,-27.259471 -20.233333333333334,-0.0,-0.743942,-1.859855,-10.319408,-29.985418 -20.266666666666666,-0.0,-0.845381,-2.113453,-11.903071,-32.116612 -20.3,-0.0,-0.948296,-2.370741,-13.526099,-33.504373 -20.333333333333332,-0.0,-1.051704,-2.62926,-15.172743,-33.999999 -20.366666666666667,-0.0,-1.154619,-2.886548,-16.82726,-33.999999 -20.4,-0.0,-1.256058,-3.140145,-18.473903,-33.999999 -20.433333333333334,-0.0,-1.355037,-3.387593,-20.09693,-33.999999 -20.466666666666665,-0.0,-1.450572,-3.62643,-21.680596,-33.999999 -20.5,-0.0,-1.541679,-3.854197,-23.209152,-33.999999 -20.533333333333335,-0.0,-1.627373,-4.068433,-24.666859,-33.999999 -20.566666666666666,-0.0,-1.706671,-4.266678,-26.03797,-33.999999 -20.6,-0.0,-1.778589,-4.446472,-27.306738,-33.999999 -20.633333333333333,-0.0,-1.842142,-4.605355,-28.457416,-33.999999 -20.666666666666668,-0.0,-1.896347,-4.740867,-29.474274,-33.999999 -20.7,-0.0,-1.940219,-4.850547,-30.341544,-33.999999 -20.733333333333334,-0.0,-1.972774,-4.931936,-31.0435,-33.999999 -20.766666666666666,-0.0,-1.99303,-4.982574,-31.564391,-33.999999 -20.8,-0.0,-2.0,-4.999999,-31.888473,-33.999999 -20.833333333333332,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -20.866666666666667,-0.0,-1.974518,-4.936296,-32.0,-33.999999 -20.9,-0.0,-1.944,-4.86,-32.0,-33.999999 -20.933333333333334,-0.0,-1.902815,-4.757037,-32.0,-33.999999 -20.966666666666665,-0.0,-1.851852,-4.629629,-32.0,-33.999999 -21.0,-0.0,-1.792,-4.48,-32.0,-33.999999 -21.033333333333335,-0.0,-1.724148,-4.310371,-32.0,-33.999999 -21.066666666666666,-0.0,-1.649185,-4.122963,-32.0,-33.999999 -21.1,-0.0,-1.568,-3.92,-32.0,-33.999999 -21.133333333333333,-0.0,-1.481481,-3.703703,-32.0,-33.999999 -21.166666666666668,-0.0,-1.390519,-3.476296,-32.0,-33.999999 -21.2,-0.0,-1.296,-3.24,-32.0,-33.999999 -21.233333333333334,-0.0,-1.198815,-2.997037,-32.0,-33.999999 -21.266666666666666,-0.0,-1.099852,-2.74963,-32.0,-33.999999 -21.3,-0.0,-1.0,-2.5,-32.0,-33.999999 -21.333333333333332,-0.0,-0.900148,-2.25037,-32.0,-33.999999 -21.366666666666667,-0.0,-0.801185,-2.002963,-32.0,-33.999999 -21.4,-0.0,-0.704,-1.76,-32.0,-33.999999 -21.433333333333334,-0.0,-0.609481,-1.523704,-32.0,-33.999999 -21.466666666666665,-0.0,-0.518518,-1.296296,-32.0,-33.999999 -21.5,-0.0,-0.432,-1.08,-32.0,-33.999999 -21.533333333333335,-0.0,-0.350815,-0.877037,-32.0,-33.999999 -21.566666666666666,-0.0,-0.275852,-0.68963,-32.0,-33.999999 -21.6,-0.0,-0.208,-0.52,-32.0,-33.999999 -21.633333333333333,-0.0,-0.148148,-0.37037,-32.0,-33.999999 -21.666666666666668,-0.0,-0.097185,-0.242963,-32.0,-33.999999 -21.7,-0.0,-0.056,-0.139999,-32.0,-33.999999 -21.733333333333334,-0.0,-0.025482,-0.063704,-32.0,-33.999999 -21.766666666666666,-0.0,-0.006519,-0.016296,-32.0,-33.999999 -21.8,-0.0,0.0,-0.0,-32.0,-33.999999 -21.833333333333332,-0.0,-0.006519,-0.016296,-32.0,-33.999999 -21.866666666666667,-0.0,-0.025481,-0.063704,-32.0,-33.999999 -21.9,-0.0,-0.056,-0.14,-32.0,-33.999999 -21.933333333333334,-0.0,-0.097185,-0.242963,-32.0,-33.999999 -21.966666666666665,-0.0,-0.148148,-0.37037,-32.0,-33.999999 -22.0,-0.0,-0.208,-0.52,-32.0,-33.999999 -22.033333333333335,-0.0,-0.275852,-0.68963,-32.0,-33.999999 -22.066666666666666,-0.0,-0.350815,-0.877037,-32.0,-33.999999 -22.1,-0.0,-0.432,-1.08,-32.0,-33.999999 -22.133333333333333,-0.0,-0.518519,-1.296296,-32.0,-33.999999 -22.166666666666668,-0.0,-0.609481,-1.523704,-32.0,-33.999999 -22.2,-0.0,-0.704,-1.76,-32.0,-33.999999 -22.233333333333334,-0.0,-0.801185,-2.002963,-32.0,-33.999999 -22.266666666666666,-0.0,-0.900148,-2.25037,-32.0,-33.999999 -22.3,-0.0,-1.0,-2.5,-32.0,-33.999999 -22.333333333333332,-0.0,-1.099852,-2.74963,-32.0,-33.999999 -22.366666666666667,-0.0,-1.198815,-2.997037,-32.0,-33.999999 -22.4,-0.0,-1.296,-3.24,-32.0,-33.999999 -22.433333333333334,-0.0,-1.390519,-3.476296,-32.0,-33.999999 -22.466666666666665,-0.0,-1.481482,-3.703704,-32.0,-33.999999 -22.5,-0.0,-1.568,-3.92,-32.0,-33.999999 -22.533333333333335,-0.0,-1.649185,-4.122963,-32.0,-33.999999 -22.566666666666666,-0.0,-1.724148,-4.31037,-32.0,-33.999999 -22.6,-0.0,-1.792,-4.48,-32.0,-33.999999 -22.633333333333333,-0.0,-1.851852,-4.62963,-32.0,-33.999999 -22.666666666666668,-0.0,-1.902815,-4.757037,-32.0,-33.999999 -22.7,-0.0,-1.944,-4.860001,-32.0,-33.999999 -22.733333333333334,-0.0,-1.974518,-4.936296,-32.0,-33.999999 -22.766666666666666,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -22.8,-0.0,-2.0,-4.999999,-32.0,-33.999999 -22.833333333333332,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -22.866666666666667,-0.0,-1.974518,-4.936296,-31.895703,-33.566814 -22.9,-0.0,-1.944,-4.86,-31.592296,-32.347851 -22.933333333333334,-0.0,-1.902815,-4.757037,-31.103998,-30.463999 -22.966666666666665,-0.0,-1.851852,-4.629629,-30.445039,-28.036149 -23.0,-0.0,-1.792,-4.48,-29.62963,-25.185187 -23.033333333333335,-0.0,-1.724148,-4.310371,-28.672,-22.031999 -23.066666666666666,-0.0,-1.649185,-4.122963,-27.586371,-18.697481 -23.1,-0.0,-1.568,-3.92,-26.386961,-15.302516 -23.133333333333333,-0.0,-1.481481,-3.703703,-25.087999,-11.968001 -23.166666666666668,-0.0,-1.390519,-3.476296,-23.703702,-8.814813 -23.2,-0.0,-1.296,-3.24,-22.248296,-5.963851 -23.233333333333334,-0.0,-1.198815,-2.997037,-20.736,-3.535996 -23.266666666666666,-0.0,-1.099852,-2.74963,-19.181038,-1.652144 -23.3,-0.0,-1.0,-2.5,-17.597631,-0.433184 -23.333333333333332,-0.0,-0.900148,-2.25037,-16.0,-0.0 -23.366666666666667,-0.0,-0.801185,-2.002963,-14.402369,-0.0 -23.4,-0.0,-0.704,-1.76,-12.818962,-0.0 -23.433333333333334,-0.0,-0.609481,-1.523704,-11.264,-0.0 -23.466666666666665,-0.0,-0.518518,-1.296296,-9.751704,-0.0 -23.5,-0.0,-0.432,-1.08,-8.296294,-0.0 -23.533333333333335,-0.0,-0.350815,-0.877037,-6.912005,-0.0 -23.566666666666666,-0.0,-0.275852,-0.68963,-5.613039,-0.0 -23.6,-0.0,-0.208,-0.52,-4.413631,-0.0 -23.633333333333333,-0.0,-0.148148,-0.37037,-3.327999,-0.0 -23.666666666666668,-0.0,-0.097185,-0.242963,-2.370366,-0.0 -23.7,-0.0,-0.056,-0.139999,-1.554968,-0.0 -23.733333333333334,-0.0,-0.025482,-0.063704,-0.896001,-0.0 -23.766666666666666,-0.0,-0.006519,-0.016296,-0.407711,-0.0 -23.8,-0.0,0.0,-0.0,-0.104304,-0.0 -23.833333333333332,-0.0,-0.00697,-0.017426,-0.0,-0.0 -23.866666666666667,-0.0,-0.027225,-0.068063,-0.0,-0.0 -23.9,-0.0,-0.059781,-0.149453,-0.0,-0.0 -23.933333333333334,-0.0,-0.103653,-0.259133,-0.0,-0.0 -23.966666666666665,-0.0,-0.157858,-0.394645,-0.0,-0.0 -24.0,-0.0,-0.221411,-0.553528,-0.0,-0.0 -24.033333333333335,-0.0,-0.293329,-0.733323,-0.0,-0.0 -24.066666666666666,-0.0,-0.372627,-0.931568,-0.0,-0.0 -24.1,-0.0,-0.458321,-1.145804,-0.0,-0.0 -24.133333333333333,-0.0,-0.549428,-1.37357,-0.0,-0.0 -24.166666666666668,-0.0,-0.644963,-1.612408,-0.0,-0.0 -24.2,-0.0,-0.743942,-1.859855,-0.0,-0.0 -24.233333333333334,-0.0,-0.845381,-2.113453,-0.0,-0.0 -24.266666666666666,-0.0,-0.948296,-2.370741,-0.0,-0.0 -24.3,-0.0,-1.051704,-2.62926,-0.0,-0.0 -24.333333333333332,-0.0,-1.154619,-2.886548,-0.0,-0.0 -24.366666666666667,-0.0,-1.256058,-3.140145,-0.0,-0.0 -24.4,-0.0,-1.355037,-3.387593,-0.0,-0.0 -24.433333333333334,-0.0,-1.450572,-3.62643,-0.0,-0.0 -24.466666666666665,-0.0,-1.541679,-3.854197,-0.0,-0.0 -24.5,-0.0,-1.627373,-4.068433,-0.0,-0.0 -24.533333333333335,-0.0,-1.706671,-4.266678,-0.0,-0.0 -24.566666666666666,-0.0,-1.778589,-4.446472,-0.0,-0.0 -24.6,-0.0,-1.842142,-4.605355,-0.0,-0.0 -24.633333333333333,-0.0,-1.896347,-4.740867,-0.0,-0.0 -24.666666666666668,-0.0,-1.940219,-4.850547,-0.0,-0.0 -24.7,-0.0,-1.972774,-4.931936,-0.0,-0.0 -24.733333333333334,-0.0,-1.99303,-4.982574,-0.0,-0.0 -24.766666666666666,-0.0,-2.0,-4.999999,-0.0,-0.0 -24.8,-0.0,-1.993481,-4.983704,-0.0,-0.0 -24.833333333333332,-0.0,-1.974518,-4.936296,-0.0,-0.0 -24.866666666666667,-0.0,-1.944,-4.86,-0.111526,-0.495627 -24.9,-0.0,-1.902815,-4.757037,-0.435606,-1.883382 -24.933333333333334,-0.0,-1.851852,-4.629629,-0.956497,-4.014576 -24.966666666666665,-0.0,-1.792,-4.48,-1.658453,-6.740524 -25.0,-0.0,-1.724148,-4.310371,-2.525729,-9.912535 -25.033333333333335,-0.0,-1.649185,-4.122963,-3.542581,-13.381922 -25.066666666666666,-0.0,-1.568,-3.92,-4.693264,-16.999998 -25.1,-0.0,-1.481481,-3.703703,-5.962032,-20.618073 -25.133333333333333,-0.0,-1.390519,-3.476296,-7.333143,-24.08746 -25.166666666666668,-0.0,-1.296,-3.24,-8.790849,-27.259471 -25.2,-0.0,-1.198815,-2.997037,-10.319408,-29.985418 -25.233333333333334,-0.0,-1.099852,-2.74963,-11.903071,-32.116612 -25.266666666666666,-0.0,-1.0,-2.5,-13.526099,-33.504373 -25.3,-0.0,-0.900148,-2.25037,-15.172743,-33.999999 -25.333333333333332,-0.0,-0.801185,-2.002963,-16.82726,-33.999999 -25.366666666666667,-0.0,-0.704,-1.76,-18.473903,-33.999999 -25.4,-0.0,-0.609481,-1.523704,-20.09693,-33.999999 -25.433333333333334,-0.0,-0.518518,-1.296296,-21.680596,-33.999999 -25.466666666666665,-0.0,-0.432,-1.08,-23.209152,-33.999999 -25.5,-0.0,-0.350815,-0.877037,-24.666859,-33.999999 -25.533333333333335,-0.0,-0.275852,-0.68963,-26.03797,-33.999999 -25.566666666666666,-0.0,-0.208,-0.52,-27.306738,-33.999999 -25.6,-0.0,-0.148148,-0.37037,-28.457416,-33.999999 -25.633333333333333,-0.0,-0.097185,-0.242963,-29.474274,-33.999999 -25.666666666666668,-0.0,-0.056,-0.139999,-30.341544,-33.999999 -25.7,-0.0,-0.025482,-0.063704,-31.0435,-33.999999 -25.733333333333334,-0.0,-0.006519,-0.016296,-31.564391,-33.999999 -25.766666666666666,-0.0,0.0,-0.0,-31.888473,-33.999999 -25.8,-0.0,-0.006519,-0.016296,-32.0,-33.999999 -25.833333333333332,-0.0,-0.025481,-0.063704,-32.0,-33.999999 -25.866666666666667,-0.0,-0.056,-0.14,-32.0,-33.999999 -25.9,-0.0,-0.097185,-0.242963,-32.0,-33.999999 -25.933333333333334,-0.0,-0.148148,-0.37037,-32.0,-33.999999 -25.966666666666665,-0.0,-0.208,-0.52,-32.0,-33.999999 -26.0,-0.0,-0.275852,-0.68963,-32.0,-33.999999 -26.033333333333335,-0.0,-0.350815,-0.877037,-32.0,-33.999999 -26.066666666666666,-0.0,-0.432,-1.08,-32.0,-33.999999 -26.1,-0.0,-0.518519,-1.296296,-32.0,-33.999999 -26.133333333333333,-0.0,-0.609481,-1.523704,-32.0,-33.999999 -26.166666666666668,-0.0,-0.704,-1.76,-32.0,-33.999999 -26.2,-0.0,-0.801185,-2.002963,-32.0,-33.999999 -26.233333333333334,-0.0,-0.900148,-2.25037,-32.0,-33.999999 -26.266666666666666,-0.0,-1.0,-2.5,-32.0,-33.999999 -26.3,-0.0,-1.099852,-2.74963,-32.0,-33.999999 -26.333333333333332,-0.0,-1.198815,-2.997037,-32.0,-33.999999 -26.366666666666667,-0.0,-1.296,-3.24,-32.0,-33.999999 -26.4,-0.0,-1.390519,-3.476296,-32.0,-33.999999 -26.433333333333334,-0.0,-1.481482,-3.703704,-32.0,-33.999999 -26.466666666666665,-0.0,-1.568,-3.92,-32.0,-33.999999 -26.5,-0.0,-1.649185,-4.122963,-32.0,-33.999999 -26.533333333333335,-0.0,-1.724148,-4.31037,-32.0,-33.999999 -26.566666666666666,-0.0,-1.792,-4.48,-32.0,-33.999999 -26.6,-0.0,-1.851852,-4.62963,-32.0,-33.999999 -26.633333333333333,-0.0,-1.902815,-4.757037,-32.0,-33.999999 -26.666666666666668,-0.0,-1.944,-4.860001,-32.0,-33.999999 -26.7,-0.0,-1.974518,-4.936296,-32.0,-33.999999 -26.733333333333334,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -26.766666666666666,-0.0,-2.0,-4.999999,-32.0,-33.999999 -26.8,-0.0,-1.993481,-4.983704,-32.0,-33.999999 -26.833333333333332,-0.0,-1.974518,-4.936296,-32.0,-33.999999 -26.866666666666667,-0.0,-1.944,-4.86,-32.0,-33.999999 -26.9,-0.0,-1.902815,-4.757037,-32.0,-33.999999 -26.933333333333334,-0.0,-1.851852,-4.629629,-32.0,-33.999999 -26.966666666666665,-0.0,-1.792,-4.48,-32.0,-33.999999 -27.0,-0.0,-1.724148,-4.310371,-32.0,-33.999999 -27.033333333333335,-0.0,-1.649185,-4.122963,-32.0,-33.999999 -27.066666666666666,-0.0,-1.568,-3.92,-32.0,-33.999999 -27.1,-0.0,-1.481481,-3.703703,-32.0,-33.999999 -27.133333333333333,-0.0,-1.390519,-3.476296,-32.0,-33.999999 -27.166666666666668,-0.0,-1.296,-3.24,-32.0,-33.999999 -27.2,-0.0,-1.198815,-2.997037,-32.0,-33.999999 -27.233333333333334,-0.0,-1.099852,-2.74963,-32.0,-33.999999 -27.266666666666666,-0.0,-1.0,-2.5,-32.0,-33.999999 -27.3,-0.0,-0.900148,-2.25037,-32.0,-33.999999 -27.333333333333332,-0.0,-0.801185,-2.002963,-32.0,-33.999999 -27.366666666666667,-0.0,-0.704,-1.76,-32.0,-33.999999 -27.4,-0.0,-0.609481,-1.523704,-32.0,-33.999999 -27.433333333333334,-0.0,-0.518518,-1.296296,-32.0,-33.999999 -27.466666666666665,-0.0,-0.432,-1.08,-32.0,-33.999999 -27.5,-0.0,-0.350815,-0.877037,-32.0,-33.999999 -27.533333333333335,-0.0,-0.275852,-0.68963,-32.0,-33.999999 -27.566666666666666,-0.0,-0.208,-0.52,-32.0,-33.999999 -27.6,-0.0,-0.148148,-0.37037,-32.0,-33.999999 -27.633333333333333,-0.0,-0.097185,-0.242963,-32.0,-33.999999 -27.666666666666668,-0.0,-0.056,-0.139999,-32.0,-33.999999 -27.7,-0.0,-0.025482,-0.063704,-32.0,-33.999999 -27.733333333333334,-0.0,-0.006519,-0.016296,-32.0,-33.999999 -27.766666666666666,-0.0,0.0,-0.0,-32.0,-33.999999 -27.8,-0.0,-0.00697,-0.017426,-32.0,-33.999999 -27.833333333333332,-0.0,-0.027225,-0.068063,-31.895703,-33.566814 -27.866666666666667,-0.0,-0.059781,-0.149453,-31.592296,-32.347851 -27.9,-0.0,-0.103653,-0.259133,-31.103998,-30.463999 -27.933333333333334,-0.0,-0.157858,-0.394645,-30.445039,-28.036149 -27.966666666666665,-0.0,-0.221411,-0.553528,-29.62963,-25.185187 -28.0,-0.0,-0.293329,-0.733323,-28.672,-22.031999 -28.033333333333335,-0.0,-0.372627,-0.931568,-27.586371,-18.697481 -28.066666666666666,-0.0,-0.458321,-1.145804,-26.386961,-15.302516 -28.1,-0.0,-0.549428,-1.37357,-25.087999,-11.968001 -28.133333333333333,-0.0,-0.644963,-1.612408,-23.703702,-8.814813 -28.166666666666668,-0.0,-0.743942,-1.859855,-22.248296,-5.963851 -28.2,-0.0,-0.845381,-2.113453,-20.736,-3.535996 -28.233333333333334,-0.0,-0.948296,-2.370741,-19.181038,-1.652144 -28.266666666666666,-0.0,-1.051704,-2.62926,-17.597631,-0.433184 -28.3,-0.0,-1.154619,-2.886548,-16.0,-0.0 -28.333333333333332,-0.0,-1.256058,-3.140145,-14.402369,-0.0 -28.366666666666667,-0.0,-1.355037,-3.387593,-12.818962,-0.0 -28.4,-0.0,-1.450572,-3.62643,-11.264,-0.0 -28.433333333333334,-0.0,-1.541679,-3.854197,-9.751704,-0.0 -28.466666666666665,-0.0,-1.627373,-4.068433,-8.296294,-0.0 -28.5,-0.0,-1.706671,-4.266678,-6.912005,-0.0 -28.533333333333335,-0.0,-1.778589,-4.446472,-5.613039,-0.0 -28.566666666666666,-0.0,-1.842142,-4.605355,-4.413631,-0.0 -28.6,-0.0,-1.896347,-4.740867,-3.327999,-0.0 -28.633333333333333,-0.0,-1.940219,-4.850547,-2.370366,-0.0 -28.666666666666668,-0.0,-1.972774,-4.931936,-1.554968,-0.0 -28.7,-0.0,-1.99303,-4.982574,-0.896001,-0.0 -28.733333333333334,-0.0,-2.0,-4.999999,-0.407711,-0.0 -28.766666666666666,-0.0,-1.993481,-4.983704,-0.104304,-0.0 -28.8,-0.0,-1.974518,-4.936296,-0.0,-0.0 -28.833333333333332,-0.0,-1.944,-4.86,-0.0,-0.0 -28.866666666666667,-0.0,-1.902815,-4.757037,-0.0,-0.0 -28.9,-0.0,-1.851852,-4.629629,-0.0,-0.0 -28.933333333333334,-0.0,-1.792,-4.48,-0.0,-0.0 -28.966666666666665,-0.0,-1.724148,-4.310371,-0.0,-0.0 -29.0,-0.0,-1.649185,-4.122963,-0.0,-0.0 -29.033333333333335,-0.0,-1.568,-3.92,-0.0,-0.0 -29.066666666666666,-0.0,-1.481481,-3.703703,-0.0,-0.0 -29.1,-0.0,-1.390519,-3.476296,-0.0,-0.0 -29.133333333333333,-0.0,-1.296,-3.24,-0.0,-0.0 -29.166666666666668,-0.0,-1.198815,-2.997037,-0.0,-0.0 -29.2,-0.0,-1.099852,-2.74963,-0.0,-0.0 -29.233333333333334,-0.0,-1.0,-2.5,-0.0,-0.0 -29.266666666666666,-0.0,-0.900148,-2.25037,-0.0,-0.0 -29.3,-0.0,-0.801185,-2.002963,-0.0,-0.0 -29.333333333333332,-0.0,-0.704,-1.76,-0.0,-0.0 -29.366666666666667,-0.0,-0.609481,-1.523704,-0.0,-0.0 -29.4,-0.0,-0.518518,-1.296296,-0.0,-0.0 -29.433333333333334,-0.0,-0.432,-1.08,-0.0,-0.0 -29.466666666666665,-0.0,-0.350815,-0.877037,-0.0,-0.0 -29.5,-0.0,-0.275852,-0.68963,-0.0,-0.0 -29.533333333333335,-0.0,-0.208,-0.52,-0.0,-0.0 -29.566666666666666,-0.0,-0.148148,-0.37037,-0.0,-0.0 -29.6,-0.0,-0.097185,-0.242963,-0.0,-0.0 -29.633333333333333,-0.0,-0.056,-0.139999,-0.0,-0.0 -29.666666666666668,-0.0,-0.025482,-0.063704,-0.0,-0.0 -29.7,-0.0,-0.006519,-0.016296,-0.0,-0.0 -29.733333333333334,-0.0,0.0,-0.0,-0.0,-0.0 -29.766666666666666,-0.0,-0.006519,-0.016296,-0.0,-0.0 -29.8,-0.0,-0.025481,-0.063704,-0.0,-0.0 -29.833333333333332,-0.0,-0.056,-0.14,-0.111526,-0.495627 -29.866666666666667,-0.0,-0.097185,-0.242963,-0.435606,-1.883382 -29.9,-0.0,-0.148148,-0.37037,-0.956497,-4.014576 -29.933333333333334,-0.0,-0.208,-0.52,-1.658453,-6.740524 -29.966666666666665,-0.0,-0.275852,-0.68963,-2.525729,-9.912535 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos +0.0,-1.647446,12.918193,15.555556,10.064565,39.887990 +0.03333333333333333,-1.647446,12.918193,15.555556,9.912647,39.514624 +0.06666666666666667,-1.647446,12.918193,15.555556,9.684770,38.518979 +0.1,-1.647446,12.918193,15.506716,9.229016,37.149969 +0.13333333333333333,-1.647446,12.869353,15.457875,8.621344,35.283136 +0.16666666666666666,-1.647446,12.869353,15.409035,7.937714,33.167393 +0.2,-1.647446,12.820513,15.360195,7.102165,30.802738 +0.23333333333333334,-1.647446,12.820513,15.311355,6.114698,28.313628 +0.26666666666666666,-1.647446,12.771673,15.213675,5.051272,25.824518 +0.3,-1.647446,12.771673,15.164835,3.911888,23.459863 +0.3333333333333333,-1.647446,12.722833,15.067155,2.696544,21.344119 +0.36666666666666664,-1.647446,12.673993,14.969475,1.481200,19.477287 +0.4,-1.647446,12.673993,14.920635,0.113938,18.108276 +0.43333333333333335,-1.647446,12.625153,14.822955,-1.177364,17.112632 +0.4666666666666667,-1.647446,12.576313,14.725275,-2.544626,16.863721 +0.5,-1.647446,12.576313,14.627595,-3.987847,16.863721 +0.5333333333333333,-1.647446,12.527473,14.529915,-5.355108,16.863721 +0.5666666666666667,-1.647446,12.478632,14.481074,-6.646411,16.863721 +0.6,-1.647446,12.429792,14.383394,-8.013673,16.863721 +0.6333333333333333,-1.647446,12.429792,14.285714,-9.229016,16.863721 +0.6666666666666666,-1.647446,12.380952,14.188034,-10.444360,16.863721 +0.7,-1.647446,12.380952,14.139194,-11.583745,16.863721 +0.7333333333333333,-1.647446,12.332112,14.041514,-12.647171,16.863721 +0.7666666666666667,-1.647446,12.283272,13.992674,-13.634637,16.863721 +0.8,-1.647446,12.283272,13.943834,-14.470186,16.863721 +0.8333333333333334,-1.647446,12.283272,13.894994,-15.153817,16.863721 +0.8666666666666667,-1.647446,12.234432,13.846154,-15.761489,16.863721 +0.9,-1.647446,12.234432,13.846154,-16.217243,16.863721 +0.9333333333333333,-1.647446,12.234432,13.797314,-16.445120,16.863721 +0.9666666666666667,-1.647446,12.234432,13.797314,-16.597038,16.863721 +1.0,-1.647446,12.234432,13.797314,-16.597038,16.863721 +1.0333333333333334,-1.647446,12.234432,13.846154,-16.597038,16.863721 +1.0666666666666667,-1.647446,12.234432,13.846154,-16.597038,16.863721 +1.1,-1.647446,12.283272,13.894994,-16.597038,16.863721 +1.1333333333333333,-1.647446,12.283272,13.943834,-16.597038,16.863721 +1.1666666666666667,-1.647446,12.283272,13.992674,-16.597038,16.863721 +1.2,-1.647446,12.332112,14.041514,-16.597038,16.863721 +1.2333333333333334,-1.647446,12.332112,14.139194,-16.597038,16.863721 +1.2666666666666666,-1.647446,12.380952,14.188034,-16.597038,16.863721 +1.3,-1.647446,12.429792,14.285714,-16.597038,16.863721 +1.3333333333333333,-1.647446,12.429792,14.334554,-16.597038,16.863721 +1.3666666666666667,-1.647446,12.478632,14.432234,-16.597038,16.863721 +1.4,-1.647446,12.527473,14.529915,-16.597038,16.863721 +1.4333333333333333,-1.647446,12.527473,14.578755,-16.597038,16.863721 +1.4666666666666666,-1.647446,12.576313,14.676435,-16.597038,16.863721 +1.5,-1.647446,12.625153,14.774115,-16.597038,16.863721 +1.5333333333333334,-1.647446,12.625153,14.871795,-16.597038,16.863721 +1.5666666666666667,-1.647446,12.673993,14.920635,-16.597038,16.863721 +1.6,-1.647446,12.722833,15.018315,-16.597038,16.863721 +1.6333333333333333,-1.647446,12.722833,15.115995,-16.597038,16.863721 +1.6666666666666667,-1.647446,12.771673,15.164835,-16.597038,16.863721 +1.7,-1.647446,12.820513,15.262515,-16.597038,16.863721 +1.7333333333333334,-1.647446,12.820513,15.311355,-16.597038,16.863721 +1.7666666666666666,-1.647446,12.869353,15.360195,-16.597038,16.863721 +1.8,-1.647446,12.869353,15.409035,-16.597038,16.863721 +1.8333333333333333,-1.647446,12.869353,15.457875,-16.597038,16.863721 +1.8666666666666667,-1.647446,12.918193,15.506716,-16.597038,16.863721 +1.9,-1.647446,12.918193,15.555556,-16.597038,16.863721 +1.9333333333333333,-1.647446,12.918193,15.555556,-16.597038,16.863721 +1.9666666666666666,-1.647446,12.918193,15.555556,-16.597038,16.863721 +2.0,-1.647446,12.918193,15.555556,-16.597038,16.863721 +2.033333333333333,-1.647446,12.918193,15.555556,-16.597038,16.863721 +2.066666666666667,-1.647446,12.918193,15.506716,-16.597038,16.863721 +2.1,-1.647446,12.869353,15.457875,-16.597038,16.863721 +2.1333333333333333,-1.647446,12.869353,15.409035,-16.597038,16.863721 +2.1666666666666665,-1.647446,12.869353,15.360195,-16.597038,16.863721 +2.2,-1.647446,12.820513,15.311355,-16.597038,16.863721 +2.2333333333333334,-1.647446,12.820513,15.262515,-16.597038,16.863721 +2.2666666666666666,-1.647446,12.771673,15.164835,-16.597038,16.863721 +2.3,-1.647446,12.722833,15.115995,-16.597038,16.863721 +2.3333333333333335,-1.647446,12.722833,15.018315,-16.597038,16.863721 +2.3666666666666667,-1.647446,12.673993,14.920635,-16.597038,16.863721 +2.4,-1.647446,12.625153,14.871795,-16.597038,16.863721 +2.433333333333333,-1.647446,12.625153,14.774115,-16.597038,16.863721 +2.466666666666667,-1.647446,12.576313,14.676435,-16.597038,16.863721 +2.5,-1.647446,12.527473,14.578755,-16.597038,16.863721 +2.533333333333333,-1.647446,12.527473,14.529915,-16.597038,16.863721 +2.566666666666667,-1.647446,12.478632,14.432234,-16.597038,16.863721 +2.6,-1.647446,12.429792,14.334554,-16.597038,16.863721 +2.6333333333333333,-1.647446,12.429792,14.236874,-16.597038,16.863721 +2.6666666666666665,-1.647446,12.380952,14.188034,-16.597038,16.863721 +2.7,-1.647446,12.332112,14.139194,-16.597038,16.863721 +2.7333333333333334,-1.647446,12.332112,14.041514,-16.597038,16.863721 +2.7666666666666666,-1.647446,12.283272,13.992674,-16.597038,16.863721 +2.8,-1.647446,12.283272,13.943834,-16.597038,16.863721 +2.8333333333333335,-1.647446,12.283272,13.894994,-16.597038,16.863721 +2.8666666666666667,-1.647446,12.234432,13.846154,-16.597038,16.863721 +2.9,-1.647446,12.234432,13.846154,-16.597038,16.863721 +2.933333333333333,-1.647446,12.234432,13.797314,-16.597038,16.863721 +2.966666666666667,-1.647446,12.234432,13.797314,-16.597038,16.863721 +3.0,-1.647446,12.234432,13.797314,-16.445120,17.112632 +3.033333333333333,-1.647446,12.234432,13.846154,-16.217243,17.983821 +3.066666666666667,-1.647446,12.234432,13.846154,-15.837448,19.228376 +3.1,-1.647446,12.283272,13.894994,-15.305735,20.846297 +3.1333333333333333,-1.647446,12.283272,13.943834,-14.622104,22.713130 +3.1666666666666665,-1.647446,12.283272,13.992674,-13.786555,24.953329 +3.2,-1.647446,12.332112,14.041514,-12.875047,27.193528 +3.2333333333333334,-1.647446,12.332112,14.139194,-11.887581,29.433727 +3.2666666666666666,-1.647446,12.380952,14.188034,-10.824155,31.673927 +3.3,-1.647446,12.429792,14.285714,-9.684770,33.914126 +3.3333333333333335,-1.647446,12.429792,14.334554,-8.469427,35.780958 +3.3666666666666667,-1.647446,12.478632,14.432234,-7.178124,37.398880 +3.4,-1.647446,12.527473,14.529915,-5.886821,38.767890 +3.433333333333333,-1.647446,12.527473,14.578755,-4.595518,39.514624 +3.466666666666667,-1.647446,12.576313,14.676435,-3.304216,39.887990 +3.5,-1.647446,12.625153,14.774115,-1.936954,39.887990 +3.533333333333333,-1.647446,12.625153,14.871795,-0.645651,39.887990 +3.566666666666667,-1.647446,12.673993,14.920635,0.645651,39.887990 +3.6,-1.647446,12.722833,15.018315,1.936954,39.887990 +3.6333333333333333,-1.647446,12.722833,15.115995,3.152298,39.887990 +3.6666666666666665,-1.647446,12.771673,15.164835,4.291682,39.887990 +3.7,-1.647446,12.820513,15.262515,5.355108,39.887990 +3.7333333333333334,-1.647446,12.820513,15.311355,6.342575,39.887990 +3.7666666666666666,-1.647446,12.869353,15.360195,7.254083,39.887990 +3.8,-1.647446,12.869353,15.409035,8.089632,39.887990 +3.8333333333333335,-1.647446,12.869353,15.457875,8.697303,39.887990 +3.8666666666666667,-1.647446,12.918193,15.506716,9.304975,39.887990 +3.9,-1.647446,12.918193,15.555556,9.684770,39.887990 +3.933333333333333,-1.647446,12.918193,15.555556,9.912647,39.887990 +3.966666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.0,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.033333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.066666666666666,-1.647446,12.918193,15.506716,10.064565,39.887990 +4.1,-1.647446,12.869353,15.457875,10.064565,39.887990 +4.133333333333334,-1.647446,12.869353,15.409035,10.064565,39.887990 +4.166666666666667,-1.647446,12.820513,15.360195,10.064565,39.887990 +4.2,-1.647446,12.820513,15.311355,10.064565,39.887990 +4.233333333333333,-1.647446,12.771673,15.213675,10.064565,39.887990 +4.266666666666667,-1.647446,12.771673,15.164835,10.064565,39.887990 +4.3,-1.647446,12.722833,15.067155,10.064565,39.887990 +4.333333333333333,-1.647446,12.673993,14.969475,10.064565,39.887990 +4.366666666666666,-1.647446,12.673993,14.920635,10.064565,39.887990 +4.4,-1.647446,12.625153,14.822955,10.064565,39.887990 +4.433333333333334,-1.647446,12.576313,14.725275,10.064565,39.887990 +4.466666666666667,-1.647446,12.576313,14.627595,10.064565,39.887990 +4.5,-1.647446,12.527473,14.529915,10.064565,39.887990 +4.533333333333333,-1.647446,12.478632,14.481074,10.064565,39.887990 +4.566666666666666,-1.647446,12.429792,14.383394,10.064565,39.887990 +4.6,-1.647446,12.429792,14.285714,10.064565,39.887990 +4.633333333333334,-1.647446,12.380952,14.188034,10.064565,39.887990 +4.666666666666667,-1.647446,12.380952,14.139194,10.064565,39.887990 +4.7,-1.647446,12.332112,14.041514,10.064565,39.887990 +4.733333333333333,-1.647446,12.283272,13.992674,10.064565,39.887990 +4.766666666666667,-1.647446,12.283272,13.943834,10.064565,39.887990 +4.8,-1.647446,12.283272,13.894994,10.064565,39.887990 +4.833333333333333,-1.647446,12.234432,13.846154,10.064565,39.887990 +4.866666666666666,-1.647446,12.234432,13.846154,10.064565,39.887990 +4.9,-1.647446,12.234432,13.797314,10.064565,39.887990 +4.933333333333334,-1.647446,12.234432,13.797314,10.064565,39.887990 +4.966666666666667,-1.647446,12.234432,13.797314,10.064565,39.887990 +5.0,-1.647446,12.234432,13.846154,9.912647,39.514624 +5.033333333333333,-1.647446,12.234432,13.846154,9.684770,38.518979 +5.066666666666666,-1.647446,12.283272,13.894994,9.229016,37.149969 +5.1,-1.647446,12.283272,13.943834,8.621344,35.283136 +5.133333333333334,-1.647446,12.283272,13.992674,7.937714,33.167393 +5.166666666666667,-1.647446,12.332112,14.041514,7.102165,30.802738 +5.2,-1.647446,12.332112,14.139194,6.114698,28.313628 +5.233333333333333,-1.647446,12.380952,14.188034,5.051272,25.824518 +5.266666666666667,-1.647446,12.429792,14.285714,3.911888,23.459863 +5.3,-1.647446,12.429792,14.334554,2.696544,21.344119 +5.333333333333333,-1.647446,12.478632,14.432234,1.481200,19.477287 +5.366666666666666,-1.647446,12.527473,14.529915,0.113938,18.108276 +5.4,-1.647446,12.527473,14.578755,-1.177364,17.112632 +5.433333333333334,-1.647446,12.576313,14.676435,-2.544626,16.863721 +5.466666666666667,-1.647446,12.625153,14.774115,-3.987847,16.863721 +5.5,-1.647446,12.625153,14.871795,-5.355108,16.863721 +5.533333333333333,-1.647446,12.673993,14.920635,-6.646411,16.863721 +5.566666666666666,-1.647446,12.722833,15.018315,-8.013673,16.863721 +5.6,-1.647446,12.722833,15.115995,-9.229016,16.863721 +5.633333333333334,-1.647446,12.771673,15.164835,-10.444360,16.863721 +5.666666666666667,-1.647446,12.820513,15.262515,-11.583745,16.863721 +5.7,-1.647446,12.820513,15.311355,-12.647171,16.863721 +5.733333333333333,-1.647446,12.869353,15.360195,-13.634637,16.863721 +5.766666666666667,-1.647446,12.869353,15.409035,-14.470186,16.863721 +5.8,-1.647446,12.869353,15.457875,-15.153817,16.863721 +5.833333333333333,-1.647446,12.918193,15.506716,-15.761489,16.863721 +5.866666666666666,-1.647446,12.918193,15.555556,-16.217243,16.863721 +5.9,-1.647446,12.918193,15.555556,-16.445120,16.863721 +5.933333333333334,-1.647446,12.918193,15.555556,-16.597038,16.863721 +5.966666666666667,-1.647446,12.918193,15.555556,-16.597038,16.863721 +6.0,-1.647446,12.918193,15.555556,-16.597038,16.863721 +6.033333333333333,-1.647446,12.918193,15.506716,-16.597038,16.863721 +6.066666666666666,-1.647446,12.869353,15.457875,-16.597038,16.863721 +6.1,-1.647446,12.869353,15.409035,-16.597038,16.863721 +6.133333333333334,-1.647446,12.869353,15.360195,-16.597038,16.863721 +6.166666666666667,-1.647446,12.820513,15.311355,-16.597038,16.863721 +6.2,-1.647446,12.820513,15.262515,-16.597038,16.863721 +6.233333333333333,-1.647446,12.771673,15.164835,-16.597038,16.863721 +6.266666666666667,-1.647446,12.722833,15.115995,-16.597038,16.863721 +6.3,-1.647446,12.722833,15.018315,-16.597038,16.863721 +6.333333333333333,-1.647446,12.673993,14.920635,-16.597038,16.863721 +6.366666666666666,-1.647446,12.625153,14.871795,-16.597038,16.863721 +6.4,-1.647446,12.625153,14.774115,-16.597038,16.863721 +6.433333333333334,-1.647446,12.576313,14.676435,-16.597038,16.863721 +6.466666666666667,-1.647446,12.527473,14.578755,-16.597038,16.863721 +6.5,-1.647446,12.527473,14.529915,-16.597038,16.863721 +6.533333333333333,-1.647446,12.478632,14.432234,-16.597038,16.863721 +6.566666666666666,-1.647446,12.429792,14.334554,-16.597038,16.863721 +6.6,-1.647446,12.429792,14.236874,-16.597038,16.863721 +6.633333333333334,-1.647446,12.380952,14.188034,-16.597038,16.863721 +6.666666666666667,-1.647446,12.332112,14.139194,-16.597038,16.863721 +6.7,-1.647446,12.332112,14.041514,-16.597038,16.863721 +6.733333333333333,-1.647446,12.283272,13.992674,-16.597038,16.863721 +6.766666666666667,-1.647446,12.283272,13.943834,-16.597038,16.863721 +6.8,-1.647446,12.283272,13.894994,-16.597038,16.863721 +6.833333333333333,-1.647446,12.234432,13.846154,-16.597038,16.863721 +6.866666666666666,-1.647446,12.234432,13.846154,-16.597038,16.863721 +6.9,-1.647446,12.234432,13.797314,-16.597038,16.863721 +6.933333333333334,-1.647446,12.234432,13.797314,-16.597038,16.863721 +6.966666666666667,-1.647446,12.234432,13.797314,-16.597038,16.863721 +7.0,-1.647446,12.234432,13.846154,-16.597038,16.863721 +7.033333333333333,-1.647446,12.234432,13.846154,-16.597038,16.863721 +7.066666666666666,-1.647446,12.283272,13.894994,-16.597038,16.863721 +7.1,-1.647446,12.283272,13.943834,-16.597038,16.863721 +7.133333333333334,-1.647446,12.283272,13.992674,-16.597038,16.863721 +7.166666666666667,-1.647446,12.332112,14.041514,-16.597038,16.863721 +7.2,-1.647446,12.332112,14.139194,-16.597038,16.863721 +7.233333333333333,-1.647446,12.380952,14.188034,-16.597038,16.863721 +7.266666666666667,-1.647446,12.429792,14.285714,-16.597038,16.863721 +7.3,-1.647446,12.429792,14.334554,-16.597038,16.863721 +7.333333333333333,-1.647446,12.478632,14.432234,-16.597038,16.863721 +7.366666666666666,-1.647446,12.527473,14.529915,-16.597038,16.863721 +7.4,-1.647446,12.527473,14.578755,-16.597038,16.863721 +7.433333333333334,-1.647446,12.576313,14.676435,-16.597038,16.863721 +7.466666666666667,-1.647446,12.625153,14.774115,-16.597038,16.863721 +7.5,-1.647446,12.625153,14.871795,-16.597038,16.863721 +7.533333333333333,-1.647446,12.673993,14.920635,-16.597038,16.863721 +7.566666666666666,-1.647446,12.722833,15.018315,-16.597038,16.863721 +7.6,-1.647446,12.722833,15.115995,-16.597038,16.863721 +7.633333333333334,-1.647446,12.771673,15.164835,-16.597038,16.863721 +7.666666666666667,-1.647446,12.820513,15.262515,-16.597038,16.863721 +7.7,-1.647446,12.820513,15.311355,-16.597038,16.863721 +7.733333333333333,-1.647446,12.869353,15.360195,-16.597038,16.863721 +7.766666666666667,-1.647446,12.869353,15.409035,-16.597038,16.863721 +7.8,-1.647446,12.869353,15.457875,-16.597038,16.863721 +7.833333333333333,-1.647446,12.918193,15.506716,-16.597038,16.863721 +7.866666666666666,-1.647446,12.918193,15.555556,-16.597038,16.863721 +7.9,-1.647446,12.918193,15.555556,-16.597038,16.863721 +7.933333333333334,-1.647446,12.918193,15.555556,-16.597038,16.863721 +7.966666666666667,-1.647446,12.918193,15.555556,-16.445120,17.112632 +8.0,-1.647446,12.918193,15.555556,-16.217243,17.983821 +8.033333333333333,-1.647446,12.918193,15.506716,-15.837448,19.228376 +8.066666666666666,-1.647446,12.869353,15.457875,-15.305735,20.846297 +8.1,-1.647446,12.869353,15.409035,-14.622104,22.713130 +8.133333333333333,-1.647446,12.820513,15.360195,-13.786555,24.953329 +8.166666666666666,-1.647446,12.820513,15.311355,-12.875047,27.193528 +8.2,-1.647446,12.771673,15.213675,-11.887581,29.433727 +8.233333333333333,-1.647446,12.771673,15.164835,-10.824155,31.673927 +8.266666666666667,-1.647446,12.722833,15.067155,-9.684770,33.914126 +8.3,-1.647446,12.673993,14.969475,-8.469427,35.780958 +8.333333333333334,-1.647446,12.673993,14.920635,-7.178124,37.398880 +8.366666666666667,-1.647446,12.625153,14.822955,-5.886821,38.767890 +8.4,-1.647446,12.576313,14.725275,-4.595518,39.514624 +8.433333333333334,-1.647446,12.576313,14.627595,-3.304216,39.887990 +8.466666666666667,-1.647446,12.527473,14.529915,-1.936954,39.887990 +8.5,-1.647446,12.478632,14.481074,-0.645651,39.887990 +8.533333333333333,-1.647446,12.429792,14.383394,0.645651,39.887990 +8.566666666666666,-1.647446,12.429792,14.285714,1.936954,39.887990 +8.6,-1.647446,12.380952,14.188034,3.152298,39.887990 +8.633333333333333,-1.647446,12.380952,14.139194,4.291682,39.887990 +8.666666666666666,-1.647446,12.332112,14.041514,5.355108,39.887990 +8.7,-1.647446,12.283272,13.992674,6.342575,39.887990 +8.733333333333333,-1.647446,12.283272,13.943834,7.254083,39.887990 +8.766666666666667,-1.647446,12.283272,13.894994,8.089632,39.887990 +8.8,-1.647446,12.234432,13.846154,8.697303,39.887990 +8.833333333333334,-1.647446,12.234432,13.846154,9.304975,39.887990 +8.866666666666667,-1.647446,12.234432,13.797314,9.684770,39.887990 +8.9,-1.647446,12.234432,13.797314,9.912647,39.887990 +8.933333333333334,-1.647446,12.234432,13.797314,10.064565,39.887990 +8.966666666666667,-1.647446,12.234432,13.846154,10.064565,39.887990 +9.0,-1.647446,12.234432,13.846154,10.064565,39.887990 +9.033333333333333,-1.647446,12.283272,13.894994,10.064565,39.887990 +9.066666666666666,-1.647446,12.283272,13.943834,10.064565,39.887990 +9.1,-1.647446,12.283272,13.992674,10.064565,39.887990 +9.133333333333333,-1.647446,12.332112,14.041514,10.064565,39.887990 +9.166666666666666,-1.647446,12.332112,14.139194,10.064565,39.887990 +9.2,-1.647446,12.380952,14.188034,10.064565,39.887990 +9.233333333333333,-1.647446,12.429792,14.285714,10.064565,39.887990 +9.266666666666667,-1.647446,12.429792,14.334554,10.064565,39.887990 +9.3,-1.647446,12.478632,14.432234,10.064565,39.887990 +9.333333333333334,-1.647446,12.527473,14.529915,10.064565,39.887990 +9.366666666666667,-1.647446,12.527473,14.578755,10.064565,39.887990 +9.4,-1.647446,12.576313,14.676435,10.064565,39.887990 +9.433333333333334,-1.647446,12.625153,14.774115,10.064565,39.887990 +9.466666666666667,-1.647446,12.625153,14.871795,10.064565,39.887990 +9.5,-1.647446,12.673993,14.920635,10.064565,39.887990 +9.533333333333333,-1.647446,12.722833,15.018315,10.064565,39.887990 +9.566666666666666,-1.647446,12.722833,15.115995,10.064565,39.887990 +9.6,-1.647446,12.771673,15.164835,10.064565,39.887990 +9.633333333333333,-1.647446,12.820513,15.262515,10.064565,39.887990 +9.666666666666666,-1.647446,12.820513,15.311355,10.064565,39.887990 +9.7,-1.647446,12.869353,15.360195,10.064565,39.887990 +9.733333333333333,-1.647446,12.869353,15.409035,10.064565,39.887990 +9.766666666666667,-1.647446,12.869353,15.457875,10.064565,39.887990 +9.8,-1.647446,12.918193,15.506716,10.064565,39.887990 +9.833333333333334,-1.647446,12.918193,15.555556,10.064565,39.887990 +9.866666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +9.9,-1.647446,12.918193,15.555556,10.064565,39.887990 +9.933333333333334,-1.647446,12.918193,15.555556,10.064565,39.887990 +9.966666666666667,-1.647446,12.918193,15.555556,9.912647,39.514624 +10.0,-1.647446,12.918193,15.506716,9.684770,38.518979 +10.033333333333333,-1.647446,12.869353,15.457875,9.229016,37.149969 +10.066666666666666,-1.647446,12.869353,15.409035,8.621344,35.283136 +10.1,-1.647446,12.869353,15.360195,7.937714,33.167393 +10.133333333333333,-1.647446,12.820513,15.311355,7.102165,30.802738 +10.166666666666666,-1.647446,12.820513,15.262515,6.114698,28.313628 +10.2,-1.647446,12.771673,15.164835,5.051272,25.824518 +10.233333333333333,-1.647446,12.722833,15.115995,3.911888,23.459863 +10.266666666666667,-1.647446,12.722833,15.018315,2.696544,21.344119 +10.3,-1.647446,12.673993,14.920635,1.481200,19.477287 +10.333333333333334,-1.647446,12.625153,14.871795,0.113938,18.108276 +10.366666666666667,-1.647446,12.625153,14.774115,-1.177364,17.112632 +10.4,-1.647446,12.576313,14.676435,-2.544626,16.863721 +10.433333333333334,-1.647446,12.527473,14.578755,-3.987847,16.863721 +10.466666666666667,-1.647446,12.527473,14.529915,-5.355108,16.863721 +10.5,-1.647446,12.478632,14.432234,-6.646411,16.863721 +10.533333333333333,-1.647446,12.429792,14.334554,-8.013673,16.863721 +10.566666666666666,-1.647446,12.429792,14.236874,-9.229016,16.863721 +10.6,-1.647446,12.380952,14.188034,-10.444360,16.863721 +10.633333333333333,-1.647446,12.332112,14.139194,-11.583745,16.863721 +10.666666666666666,-1.647446,12.332112,14.041514,-12.647171,16.863721 +10.7,-1.647446,12.283272,13.992674,-13.634637,16.863721 +10.733333333333333,-1.647446,12.283272,13.943834,-14.470186,16.863721 +10.766666666666667,-1.647446,12.283272,13.894994,-15.153817,16.863721 +10.8,-1.647446,12.234432,13.846154,-15.761489,16.863721 +10.833333333333334,-1.647446,12.234432,13.846154,-16.217243,16.863721 +10.866666666666667,-1.647446,12.234432,13.797314,-16.445120,16.863721 +10.9,-1.647446,12.234432,13.797314,-16.597038,16.863721 +10.933333333333334,-1.647446,12.234432,13.797314,-16.597038,16.863721 +10.966666666666667,-1.647446,12.234432,13.846154,-16.597038,16.863721 +11.0,-1.647446,12.234432,13.846154,-16.597038,16.863721 +11.033333333333333,-1.647446,12.283272,13.894994,-16.597038,16.863721 +11.066666666666666,-1.647446,12.283272,13.943834,-16.597038,16.863721 +11.1,-1.647446,12.283272,13.992674,-16.597038,16.863721 +11.133333333333333,-1.647446,12.332112,14.041514,-16.597038,16.863721 +11.166666666666666,-1.647446,12.332112,14.139194,-16.597038,16.863721 +11.2,-1.647446,12.380952,14.188034,-16.597038,16.863721 +11.233333333333333,-1.647446,12.429792,14.285714,-16.597038,16.863721 +11.266666666666667,-1.647446,12.429792,14.334554,-16.597038,16.863721 +11.3,-1.647446,12.478632,14.432234,-16.597038,16.863721 +11.333333333333334,-1.647446,12.527473,14.529915,-16.597038,16.863721 +11.366666666666667,-1.647446,12.527473,14.578755,-16.597038,16.863721 +11.4,-1.647446,12.576313,14.676435,-16.597038,16.863721 +11.433333333333334,-1.647446,12.625153,14.774115,-16.597038,16.863721 +11.466666666666667,-1.647446,12.625153,14.871795,-16.597038,16.863721 +11.5,-1.647446,12.673993,14.920635,-16.597038,16.863721 +11.533333333333333,-1.647446,12.722833,15.018315,-16.597038,16.863721 +11.566666666666666,-1.647446,12.722833,15.115995,-16.597038,16.863721 +11.6,-1.647446,12.771673,15.164835,-16.597038,16.863721 +11.633333333333333,-1.647446,12.820513,15.262515,-16.597038,16.863721 +11.666666666666666,-1.647446,12.820513,15.311355,-16.597038,16.863721 +11.7,-1.647446,12.869353,15.360195,-16.597038,16.863721 +11.733333333333333,-1.647446,12.869353,15.409035,-16.597038,16.863721 +11.766666666666667,-1.647446,12.869353,15.457875,-16.597038,16.863721 +11.8,-1.647446,12.918193,15.506716,-16.597038,16.863721 +11.833333333333334,-1.647446,12.918193,15.555556,-16.597038,16.863721 +11.866666666666667,-1.647446,12.918193,15.555556,-16.597038,16.863721 +11.9,-1.647446,12.918193,15.555556,-16.597038,16.863721 +11.933333333333334,-1.647446,12.918193,15.555556,-16.597038,16.863721 +11.966666666666667,-1.647446,12.918193,15.555556,-16.597038,16.863721 +12.0,-1.647446,12.918193,15.506716,-16.597038,16.863721 +12.033333333333333,-1.647446,12.869353,15.457875,-16.597038,16.863721 +12.066666666666666,-1.647446,12.869353,15.409035,-16.597038,16.863721 +12.1,-1.647446,12.820513,15.360195,-16.597038,16.863721 +12.133333333333333,-1.647446,12.820513,15.311355,-16.597038,16.863721 +12.166666666666666,-1.647446,12.771673,15.213675,-16.597038,16.863721 +12.2,-1.647446,12.771673,15.164835,-16.597038,16.863721 +12.233333333333333,-1.647446,12.722833,15.067155,-16.597038,16.863721 +12.266666666666667,-1.647446,12.673993,14.969475,-16.597038,16.863721 +12.3,-1.647446,12.673993,14.920635,-16.597038,16.863721 +12.333333333333334,-1.647446,12.625153,14.822955,-16.597038,16.863721 +12.366666666666667,-1.647446,12.576313,14.725275,-16.597038,16.863721 +12.4,-1.647446,12.576313,14.627595,-16.597038,16.863721 +12.433333333333334,-1.647446,12.527473,14.529915,-16.597038,16.863721 +12.466666666666667,-1.647446,12.478632,14.481074,-16.597038,16.863721 +12.5,-1.647446,12.429792,14.383394,-16.597038,16.863721 +12.533333333333333,-1.647446,12.429792,14.285714,-16.597038,16.863721 +12.566666666666666,-1.647446,12.380952,14.188034,-16.597038,16.863721 +12.6,-1.647446,12.380952,14.139194,-16.597038,16.863721 +12.633333333333333,-1.647446,12.332112,14.041514,-16.597038,16.863721 +12.666666666666666,-1.647446,12.283272,13.992674,-16.597038,16.863721 +12.7,-1.647446,12.283272,13.943834,-16.597038,16.863721 +12.733333333333333,-1.647446,12.283272,13.894994,-16.597038,16.863721 +12.766666666666667,-1.647446,12.234432,13.846154,-16.597038,16.863721 +12.8,-1.647446,12.234432,13.846154,-16.597038,16.863721 +12.833333333333334,-1.647446,12.234432,13.797314,-16.597038,16.863721 +12.866666666666667,-1.647446,12.234432,13.797314,-16.597038,16.863721 +12.9,-1.647446,12.234432,13.797314,-16.597038,16.863721 +12.933333333333334,-1.647446,12.234432,13.846154,-16.445120,17.112632 +12.966666666666667,-1.647446,12.234432,13.846154,-16.217243,17.983821 +13.0,-1.647446,12.283272,13.894994,-15.837448,19.228376 +13.033333333333333,-1.647446,12.283272,13.943834,-15.305735,20.846297 +13.066666666666666,-1.647446,12.283272,13.992674,-14.622104,22.713130 +13.1,-1.647446,12.332112,14.041514,-13.786555,24.953329 +13.133333333333333,-1.647446,12.332112,14.139194,-12.875047,27.193528 +13.166666666666666,-1.647446,12.380952,14.188034,-11.887581,29.433727 +13.2,-1.647446,12.429792,14.285714,-10.824155,31.673927 +13.233333333333333,-1.647446,12.429792,14.334554,-9.684770,33.914126 +13.266666666666667,-1.647446,12.478632,14.432234,-8.469427,35.780958 +13.3,-1.647446,12.527473,14.529915,-7.178124,37.398880 +13.333333333333334,-1.647446,12.527473,14.578755,-5.886821,38.767890 +13.366666666666667,-1.647446,12.576313,14.676435,-4.595518,39.514624 +13.4,-1.647446,12.625153,14.774115,-3.304216,39.887990 +13.433333333333334,-1.647446,12.625153,14.871795,-1.936954,39.887990 +13.466666666666667,-1.647446,12.673993,14.920635,-0.645651,39.887990 +13.5,-1.647446,12.722833,15.018315,0.645651,39.887990 +13.533333333333333,-1.647446,12.722833,15.115995,1.936954,39.887990 +13.566666666666666,-1.647446,12.771673,15.164835,3.152298,39.887990 +13.6,-1.647446,12.820513,15.262515,4.291682,39.887990 +13.633333333333333,-1.647446,12.820513,15.311355,5.355108,39.887990 +13.666666666666666,-1.647446,12.869353,15.360195,6.342575,39.887990 +13.7,-1.647446,12.869353,15.409035,7.254083,39.887990 +13.733333333333333,-1.647446,12.869353,15.457875,8.089632,39.887990 +13.766666666666667,-1.647446,12.918193,15.506716,8.697303,39.887990 +13.8,-1.647446,12.918193,15.555556,9.304975,39.887990 +13.833333333333334,-1.647446,12.918193,15.555556,9.684770,39.887990 +13.866666666666667,-1.647446,12.918193,15.555556,9.912647,39.887990 +13.9,-1.647446,12.918193,15.555556,10.064565,39.887990 +13.933333333333334,-1.647446,12.918193,15.555556,10.064565,39.887990 +13.966666666666667,-1.647446,12.918193,15.506716,10.064565,39.887990 +14.0,-1.647446,12.869353,15.457875,10.064565,39.887990 +14.033333333333333,-1.647446,12.869353,15.409035,10.064565,39.887990 +14.066666666666666,-1.647446,12.869353,15.360195,10.064565,39.887990 +14.1,-1.647446,12.820513,15.311355,10.064565,39.887990 +14.133333333333333,-1.647446,12.820513,15.262515,10.064565,39.887990 +14.166666666666666,-1.647446,12.771673,15.164835,10.064565,39.887990 +14.2,-1.647446,12.722833,15.115995,10.064565,39.887990 +14.233333333333333,-1.647446,12.722833,15.018315,10.064565,39.887990 +14.266666666666667,-1.647446,12.673993,14.920635,10.064565,39.887990 +14.3,-1.647446,12.625153,14.871795,10.064565,39.887990 +14.333333333333334,-1.647446,12.625153,14.774115,10.064565,39.887990 +14.366666666666667,-1.647446,12.576313,14.676435,10.064565,39.887990 +14.4,-1.647446,12.527473,14.578755,10.064565,39.887990 +14.433333333333334,-1.647446,12.527473,14.529915,10.064565,39.887990 +14.466666666666667,-1.647446,12.478632,14.432234,10.064565,39.887990 +14.5,-1.647446,12.429792,14.334554,10.064565,39.887990 +14.533333333333333,-1.647446,12.429792,14.236874,10.064565,39.887990 +14.566666666666666,-1.647446,12.380952,14.188034,10.064565,39.887990 +14.6,-1.647446,12.332112,14.139194,10.064565,39.887990 +14.633333333333333,-1.647446,12.332112,14.041514,10.064565,39.887990 +14.666666666666666,-1.647446,12.283272,13.992674,10.064565,39.887990 +14.7,-1.647446,12.283272,13.943834,10.064565,39.887990 +14.733333333333333,-1.647446,12.283272,13.894994,10.064565,39.887990 +14.766666666666667,-1.647446,12.234432,13.846154,10.064565,39.887990 +14.8,-1.647446,12.234432,13.846154,10.064565,39.887990 +14.833333333333334,-1.647446,12.234432,13.797314,10.064565,39.887990 +14.866666666666667,-1.647446,12.234432,13.797314,10.064565,39.887990 +14.9,-1.647446,12.234432,13.797314,10.064565,39.887990 +14.933333333333334,-1.647446,12.234432,13.846154,9.912647,39.514624 +14.966666666666667,-1.647446,12.234432,13.846154,9.684770,38.518979 +15.0,-1.647446,12.283272,13.894994,9.229016,37.149969 +15.033333333333333,-1.647446,12.283272,13.943834,8.621344,35.283136 +15.066666666666666,-1.647446,12.283272,13.992674,7.937714,33.167393 +15.1,-1.647446,12.332112,14.041514,7.102165,30.802738 +15.133333333333333,-1.647446,12.332112,14.139194,6.114698,28.313628 +15.166666666666666,-1.647446,12.380952,14.188034,5.051272,25.824518 +15.2,-1.647446,12.429792,14.285714,3.911888,23.459863 +15.233333333333333,-1.647446,12.429792,14.334554,2.696544,21.344119 +15.266666666666667,-1.647446,12.478632,14.432234,1.481200,19.477287 +15.3,-1.647446,12.527473,14.529915,0.113938,18.108276 +15.333333333333334,-1.647446,12.527473,14.578755,-1.177364,17.112632 +15.366666666666667,-1.647446,12.576313,14.676435,-2.544626,16.863721 +15.4,-1.647446,12.625153,14.774115,-3.987847,16.863721 +15.433333333333334,-1.647446,12.625153,14.871795,-5.355108,16.863721 +15.466666666666667,-1.647446,12.673993,14.920635,-6.646411,16.863721 +15.5,-1.647446,12.722833,15.018315,-8.013673,16.863721 +15.533333333333333,-1.647446,12.722833,15.115995,-9.229016,16.863721 +15.566666666666666,-1.647446,12.771673,15.164835,-10.444360,16.863721 +15.6,-1.647446,12.820513,15.262515,-11.583745,16.863721 +15.633333333333333,-1.647446,12.820513,15.311355,-12.647171,16.863721 +15.666666666666666,-1.647446,12.869353,15.360195,-13.634637,16.863721 +15.7,-1.647446,12.869353,15.409035,-14.470186,16.863721 +15.733333333333333,-1.647446,12.869353,15.457875,-15.153817,16.863721 +15.766666666666667,-1.647446,12.918193,15.506716,-15.761489,16.863721 +15.8,-1.647446,12.918193,15.555556,-16.217243,16.863721 +15.833333333333334,-1.647446,12.918193,15.555556,-16.445120,16.863721 +15.866666666666667,-1.647446,12.918193,15.555556,-16.597038,16.863721 +15.9,-1.647446,12.918193,15.555556,-16.597038,16.863721 +15.933333333333334,-1.647446,12.918193,15.555556,-16.597038,16.863721 +15.966666666666667,-1.647446,12.918193,15.506716,-16.597038,16.863721 +16.0,-1.647446,12.869353,15.457875,-16.597038,16.863721 +16.033333333333335,-1.647446,12.869353,15.409035,-16.597038,16.863721 +16.066666666666666,-1.647446,12.820513,15.360195,-16.597038,16.863721 +16.1,-1.647446,12.820513,15.311355,-16.597038,16.863721 +16.133333333333333,-1.647446,12.771673,15.213675,-16.597038,16.863721 +16.166666666666668,-1.647446,12.771673,15.164835,-16.597038,16.863721 +16.2,-1.647446,12.722833,15.067155,-16.597038,16.863721 +16.233333333333334,-1.647446,12.673993,14.969475,-16.597038,16.863721 +16.266666666666666,-1.647446,12.673993,14.920635,-16.597038,16.863721 +16.3,-1.647446,12.625153,14.822955,-16.597038,16.863721 +16.333333333333332,-1.647446,12.576313,14.725275,-16.597038,16.863721 +16.366666666666667,-1.647446,12.576313,14.627595,-16.597038,16.863721 +16.4,-1.647446,12.527473,14.529915,-16.597038,16.863721 +16.433333333333334,-1.647446,12.478632,14.481074,-16.597038,16.863721 +16.466666666666665,-1.647446,12.429792,14.383394,-16.597038,16.863721 +16.5,-1.647446,12.429792,14.285714,-16.597038,16.863721 +16.533333333333335,-1.647446,12.380952,14.188034,-16.597038,16.863721 +16.566666666666666,-1.647446,12.380952,14.139194,-16.597038,16.863721 +16.6,-1.647446,12.332112,14.041514,-16.597038,16.863721 +16.633333333333333,-1.647446,12.283272,13.992674,-16.597038,16.863721 +16.666666666666668,-1.647446,12.283272,13.943834,-16.597038,16.863721 +16.7,-1.647446,12.283272,13.894994,-16.597038,16.863721 +16.733333333333334,-1.647446,12.234432,13.846154,-16.597038,16.863721 +16.766666666666666,-1.647446,12.234432,13.846154,-16.597038,16.863721 +16.8,-1.647446,12.234432,13.797314,-16.597038,16.863721 +16.833333333333332,-1.647446,12.234432,13.797314,-16.597038,16.863721 +16.866666666666667,-1.647446,12.234432,13.797314,-16.597038,16.863721 +16.9,-1.647446,12.234432,13.846154,-16.597038,16.863721 +16.933333333333334,-1.647446,12.234432,13.846154,-16.597038,16.863721 +16.966666666666665,-1.647446,12.283272,13.894994,-16.597038,16.863721 +17.0,-1.647446,12.283272,13.943834,-16.597038,16.863721 +17.033333333333335,-1.647446,12.283272,13.992674,-16.597038,16.863721 +17.066666666666666,-1.647446,12.332112,14.041514,-16.597038,16.863721 +17.1,-1.647446,12.332112,14.139194,-16.597038,16.863721 +17.133333333333333,-1.647446,12.380952,14.188034,-16.597038,16.863721 +17.166666666666668,-1.647446,12.429792,14.285714,-16.597038,16.863721 +17.2,-1.647446,12.429792,14.334554,-16.597038,16.863721 +17.233333333333334,-1.647446,12.478632,14.432234,-16.597038,16.863721 +17.266666666666666,-1.647446,12.527473,14.529915,-16.597038,16.863721 +17.3,-1.647446,12.527473,14.578755,-16.597038,16.863721 +17.333333333333332,-1.647446,12.576313,14.676435,-16.597038,16.863721 +17.366666666666667,-1.647446,12.625153,14.774115,-16.597038,16.863721 +17.4,-1.647446,12.625153,14.871795,-16.597038,16.863721 +17.433333333333334,-1.647446,12.673993,14.920635,-16.597038,16.863721 +17.466666666666665,-1.647446,12.722833,15.018315,-16.597038,16.863721 +17.5,-1.647446,12.722833,15.115995,-16.597038,16.863721 +17.533333333333335,-1.647446,12.771673,15.164835,-16.597038,16.863721 +17.566666666666666,-1.647446,12.820513,15.262515,-16.597038,16.863721 +17.6,-1.647446,12.820513,15.311355,-16.597038,16.863721 +17.633333333333333,-1.647446,12.869353,15.360195,-16.597038,16.863721 +17.666666666666668,-1.647446,12.869353,15.409035,-16.597038,16.863721 +17.7,-1.647446,12.869353,15.457875,-16.597038,16.863721 +17.733333333333334,-1.647446,12.918193,15.506716,-16.597038,16.863721 +17.766666666666666,-1.647446,12.918193,15.555556,-16.597038,16.863721 +17.8,-1.647446,12.918193,15.555556,-16.597038,16.863721 +17.833333333333332,-1.647446,12.918193,15.555556,-16.597038,16.863721 +17.866666666666667,-1.647446,12.918193,15.555556,-16.597038,16.863721 +17.9,-1.647446,12.918193,15.555556,-16.445120,17.112632 +17.933333333333334,-1.647446,12.918193,15.506716,-16.217243,17.983821 +17.966666666666665,-1.647446,12.869353,15.457875,-15.837448,19.228376 +18.0,-1.647446,12.869353,15.409035,-15.305735,20.846297 +18.033333333333335,-1.647446,12.869353,15.360195,-14.622104,22.713130 +18.066666666666666,-1.647446,12.820513,15.311355,-13.786555,24.953329 +18.1,-1.647446,12.820513,15.262515,-12.875047,27.193528 +18.133333333333333,-1.647446,12.771673,15.164835,-11.887581,29.433727 +18.166666666666668,-1.647446,12.722833,15.115995,-10.824155,31.673927 +18.2,-1.647446,12.722833,15.018315,-9.684770,33.914126 +18.233333333333334,-1.647446,12.673993,14.920635,-8.469427,35.780958 +18.266666666666666,-1.647446,12.625153,14.871795,-7.178124,37.398880 +18.3,-1.647446,12.625153,14.774115,-5.886821,38.767890 +18.333333333333332,-1.647446,12.576313,14.676435,-4.595518,39.514624 +18.366666666666667,-1.647446,12.527473,14.578755,-3.304216,39.887990 +18.4,-1.647446,12.527473,14.529915,-1.936954,39.887990 +18.433333333333334,-1.647446,12.478632,14.432234,-0.645651,39.887990 +18.466666666666665,-1.647446,12.429792,14.334554,0.645651,39.887990 +18.5,-1.647446,12.429792,14.236874,1.936954,39.887990 +18.533333333333335,-1.647446,12.380952,14.188034,3.152298,39.887990 +18.566666666666666,-1.647446,12.332112,14.139194,4.291682,39.887990 +18.6,-1.647446,12.332112,14.041514,5.355108,39.887990 +18.633333333333333,-1.647446,12.283272,13.992674,6.342575,39.887990 +18.666666666666668,-1.647446,12.283272,13.943834,7.254083,39.887990 +18.7,-1.647446,12.283272,13.894994,8.089632,39.887990 +18.733333333333334,-1.647446,12.234432,13.846154,8.697303,39.887990 +18.766666666666666,-1.647446,12.234432,13.846154,9.304975,39.887990 +18.8,-1.647446,12.234432,13.797314,9.684770,39.887990 +18.833333333333332,-1.647446,12.234432,13.797314,9.912647,39.887990 +18.866666666666667,-1.647446,12.234432,13.797314,10.064565,39.887990 +18.9,-1.647446,12.234432,13.846154,10.064565,39.887990 +18.933333333333334,-1.647446,12.234432,13.846154,10.064565,39.887990 +18.966666666666665,-1.647446,12.283272,13.894994,10.064565,39.887990 +19.0,-1.647446,12.283272,13.943834,10.064565,39.887990 +19.033333333333335,-1.647446,12.283272,13.992674,10.064565,39.887990 +19.066666666666666,-1.647446,12.332112,14.041514,10.064565,39.887990 +19.1,-1.647446,12.332112,14.139194,10.064565,39.887990 +19.133333333333333,-1.647446,12.380952,14.188034,10.064565,39.887990 +19.166666666666668,-1.647446,12.429792,14.285714,10.064565,39.887990 +19.2,-1.647446,12.429792,14.334554,10.064565,39.887990 +19.233333333333334,-1.647446,12.478632,14.432234,10.064565,39.887990 +19.266666666666666,-1.647446,12.527473,14.529915,10.064565,39.887990 +19.3,-1.647446,12.527473,14.578755,10.064565,39.887990 +19.333333333333332,-1.647446,12.576313,14.676435,10.064565,39.887990 +19.366666666666667,-1.647446,12.625153,14.774115,10.064565,39.887990 +19.4,-1.647446,12.625153,14.871795,10.064565,39.887990 +19.433333333333334,-1.647446,12.673993,14.920635,10.064565,39.887990 +19.466666666666665,-1.647446,12.722833,15.018315,10.064565,39.887990 +19.5,-1.647446,12.722833,15.115995,10.064565,39.887990 +19.533333333333335,-1.647446,12.771673,15.164835,10.064565,39.887990 +19.566666666666666,-1.647446,12.820513,15.262515,10.064565,39.887990 +19.6,-1.647446,12.820513,15.311355,10.064565,39.887990 +19.633333333333333,-1.647446,12.869353,15.360195,10.064565,39.887990 +19.666666666666668,-1.647446,12.869353,15.409035,10.064565,39.887990 +19.7,-1.647446,12.869353,15.457875,10.064565,39.887990 +19.733333333333334,-1.647446,12.918193,15.506716,10.064565,39.887990 +19.766666666666666,-1.647446,12.918193,15.555556,10.064565,39.887990 +19.8,-1.647446,12.918193,15.555556,10.064565,39.887990 +19.833333333333332,-1.647446,12.918193,15.555556,10.064565,39.887990 +19.866666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +19.9,-1.647446,12.918193,15.555556,9.912647,39.514624 +19.933333333333334,-1.647446,12.918193,15.506716,9.684770,38.518979 +19.966666666666665,-1.647446,12.869353,15.457875,9.229016,37.149969 +20.0,-1.647446,12.869353,15.409035,8.621344,35.283136 +20.033333333333335,-1.647446,12.820513,15.360195,7.937714,33.167393 +20.066666666666666,-1.647446,12.820513,15.311355,7.102165,30.802738 +20.1,-1.647446,12.771673,15.213675,6.114698,28.313628 +20.133333333333333,-1.647446,12.771673,15.164835,5.051272,25.824518 +20.166666666666668,-1.647446,12.722833,15.067155,3.911888,23.459863 +20.2,-1.647446,12.673993,14.969475,2.696544,21.344119 +20.233333333333334,-1.647446,12.673993,14.920635,1.481200,19.477287 +20.266666666666666,-1.647446,12.625153,14.822955,0.113938,18.108276 +20.3,-1.647446,12.576313,14.725275,-1.177364,17.112632 +20.333333333333332,-1.647446,12.576313,14.627595,-2.544626,16.863721 +20.366666666666667,-1.647446,12.527473,14.529915,-3.987847,16.863721 +20.4,-1.647446,12.478632,14.481074,-5.355108,16.863721 +20.433333333333334,-1.647446,12.429792,14.383394,-6.646411,16.863721 +20.466666666666665,-1.647446,12.429792,14.285714,-8.013673,16.863721 +20.5,-1.647446,12.380952,14.188034,-9.229016,16.863721 +20.533333333333335,-1.647446,12.380952,14.139194,-10.444360,16.863721 +20.566666666666666,-1.647446,12.332112,14.041514,-11.583745,16.863721 +20.6,-1.647446,12.283272,13.992674,-12.647171,16.863721 +20.633333333333333,-1.647446,12.283272,13.943834,-13.634637,16.863721 +20.666666666666668,-1.647446,12.283272,13.894994,-14.470186,16.863721 +20.7,-1.647446,12.234432,13.846154,-15.153817,16.863721 +20.733333333333334,-1.647446,12.234432,13.846154,-15.761489,16.863721 +20.766666666666666,-1.647446,12.234432,13.797314,-16.217243,16.863721 +20.8,-1.647446,12.234432,13.797314,-16.445120,16.863721 +20.833333333333332,-1.647446,12.234432,13.797314,-16.597038,16.863721 +20.866666666666667,-1.647446,12.234432,13.846154,-16.597038,16.863721 +20.9,-1.647446,12.234432,13.846154,-16.597038,16.863721 +20.933333333333334,-1.647446,12.283272,13.894994,-16.597038,16.863721 +20.966666666666665,-1.647446,12.283272,13.943834,-16.597038,16.863721 +21.0,-1.647446,12.283272,13.992674,-16.597038,16.863721 +21.033333333333335,-1.647446,12.332112,14.041514,-16.597038,16.863721 +21.066666666666666,-1.647446,12.332112,14.139194,-16.597038,16.863721 +21.1,-1.647446,12.380952,14.188034,-16.597038,16.863721 +21.133333333333333,-1.647446,12.429792,14.285714,-16.597038,16.863721 +21.166666666666668,-1.647446,12.429792,14.334554,-16.597038,16.863721 +21.2,-1.647446,12.478632,14.432234,-16.597038,16.863721 +21.233333333333334,-1.647446,12.527473,14.529915,-16.597038,16.863721 +21.266666666666666,-1.647446,12.527473,14.578755,-16.597038,16.863721 +21.3,-1.647446,12.576313,14.676435,-16.597038,16.863721 +21.333333333333332,-1.647446,12.625153,14.774115,-16.597038,16.863721 +21.366666666666667,-1.647446,12.625153,14.871795,-16.597038,16.863721 +21.4,-1.647446,12.673993,14.920635,-16.597038,16.863721 +21.433333333333334,-1.647446,12.722833,15.018315,-16.597038,16.863721 +21.466666666666665,-1.647446,12.722833,15.115995,-16.597038,16.863721 +21.5,-1.647446,12.771673,15.164835,-16.597038,16.863721 +21.533333333333335,-1.647446,12.820513,15.262515,-16.597038,16.863721 +21.566666666666666,-1.647446,12.820513,15.311355,-16.597038,16.863721 +21.6,-1.647446,12.869353,15.360195,-16.597038,16.863721 +21.633333333333333,-1.647446,12.869353,15.409035,-16.597038,16.863721 +21.666666666666668,-1.647446,12.869353,15.457875,-16.597038,16.863721 +21.7,-1.647446,12.918193,15.506716,-16.597038,16.863721 +21.733333333333334,-1.647446,12.918193,15.555556,-16.597038,16.863721 +21.766666666666666,-1.647446,12.918193,15.555556,-16.597038,16.863721 +21.8,-1.647446,12.918193,15.555556,-16.597038,16.863721 +21.833333333333332,-1.647446,12.918193,15.555556,-16.597038,16.863721 +21.866666666666667,-1.647446,12.918193,15.555556,-16.597038,16.863721 +21.9,-1.647446,12.918193,15.506716,-16.597038,16.863721 +21.933333333333334,-1.647446,12.869353,15.457875,-16.597038,16.863721 +21.966666666666665,-1.647446,12.869353,15.409035,-16.597038,16.863721 +22.0,-1.647446,12.869353,15.360195,-16.597038,16.863721 +22.033333333333335,-1.647446,12.820513,15.311355,-16.597038,16.863721 +22.066666666666666,-1.647446,12.820513,15.262515,-16.597038,16.863721 +22.1,-1.647446,12.771673,15.164835,-16.597038,16.863721 +22.133333333333333,-1.647446,12.722833,15.115995,-16.597038,16.863721 +22.166666666666668,-1.647446,12.722833,15.018315,-16.597038,16.863721 +22.2,-1.647446,12.673993,14.920635,-16.597038,16.863721 +22.233333333333334,-1.647446,12.625153,14.871795,-16.597038,16.863721 +22.266666666666666,-1.647446,12.625153,14.774115,-16.597038,16.863721 +22.3,-1.647446,12.576313,14.676435,-16.597038,16.863721 +22.333333333333332,-1.647446,12.527473,14.578755,-16.597038,16.863721 +22.366666666666667,-1.647446,12.527473,14.529915,-16.597038,16.863721 +22.4,-1.647446,12.478632,14.432234,-16.597038,16.863721 +22.433333333333334,-1.647446,12.429792,14.334554,-16.597038,16.863721 +22.466666666666665,-1.647446,12.429792,14.236874,-16.597038,16.863721 +22.5,-1.647446,12.380952,14.188034,-16.597038,16.863721 +22.533333333333335,-1.647446,12.332112,14.139194,-16.597038,16.863721 +22.566666666666666,-1.647446,12.332112,14.041514,-16.597038,16.863721 +22.6,-1.647446,12.283272,13.992674,-16.597038,16.863721 +22.633333333333333,-1.647446,12.283272,13.943834,-16.597038,16.863721 +22.666666666666668,-1.647446,12.283272,13.894994,-16.597038,16.863721 +22.7,-1.647446,12.234432,13.846154,-16.597038,16.863721 +22.733333333333334,-1.647446,12.234432,13.846154,-16.597038,16.863721 +22.766666666666666,-1.647446,12.234432,13.797314,-16.597038,16.863721 +22.8,-1.647446,12.234432,13.797314,-16.597038,16.863721 +22.833333333333332,-1.647446,12.234432,13.797314,-16.597038,16.863721 +22.866666666666667,-1.647446,12.234432,13.846154,-16.445120,17.112632 +22.9,-1.647446,12.234432,13.846154,-16.217243,17.983821 +22.933333333333334,-1.647446,12.283272,13.894994,-15.837448,19.228376 +22.966666666666665,-1.647446,12.283272,13.943834,-15.305735,20.846297 +23.0,-1.647446,12.283272,13.992674,-14.622104,22.713130 +23.033333333333335,-1.647446,12.332112,14.041514,-13.786555,24.953329 +23.066666666666666,-1.647446,12.332112,14.139194,-12.875047,27.193528 +23.1,-1.647446,12.380952,14.188034,-11.887581,29.433727 +23.133333333333333,-1.647446,12.429792,14.285714,-10.824155,31.673927 +23.166666666666668,-1.647446,12.429792,14.334554,-9.684770,33.914126 +23.2,-1.647446,12.478632,14.432234,-8.469427,35.780958 +23.233333333333334,-1.647446,12.527473,14.529915,-7.178124,37.398880 +23.266666666666666,-1.647446,12.527473,14.578755,-5.886821,38.767890 +23.3,-1.647446,12.576313,14.676435,-4.595518,39.514624 +23.333333333333332,-1.647446,12.625153,14.774115,-3.304216,39.887990 +23.366666666666667,-1.647446,12.625153,14.871795,-1.936954,39.887990 +23.4,-1.647446,12.673993,14.920635,-0.645651,39.887990 +23.433333333333334,-1.647446,12.722833,15.018315,0.645651,39.887990 +23.466666666666665,-1.647446,12.722833,15.115995,1.936954,39.887990 +23.5,-1.647446,12.771673,15.164835,3.152298,39.887990 +23.533333333333335,-1.647446,12.820513,15.262515,4.291682,39.887990 +23.566666666666666,-1.647446,12.820513,15.311355,5.355108,39.887990 +23.6,-1.647446,12.869353,15.360195,6.342575,39.887990 +23.633333333333333,-1.647446,12.869353,15.409035,7.254083,39.887990 +23.666666666666668,-1.647446,12.869353,15.457875,8.089632,39.887990 +23.7,-1.647446,12.918193,15.506716,8.697303,39.887990 +23.733333333333334,-1.647446,12.918193,15.555556,9.304975,39.887990 +23.766666666666666,-1.647446,12.918193,15.555556,9.684770,39.887990 +23.8,-1.647446,12.918193,15.555556,9.912647,39.887990 +23.833333333333332,-1.647446,12.918193,15.555556,10.064565,39.887990 +23.866666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +23.9,-1.647446,12.918193,15.506716,10.064565,39.887990 +23.933333333333334,-1.647446,12.869353,15.457875,10.064565,39.887990 +23.966666666666665,-1.647446,12.869353,15.409035,10.064565,39.887990 +24.0,-1.647446,12.820513,15.360195,10.064565,39.887990 +24.033333333333335,-1.647446,12.820513,15.311355,10.064565,39.887990 +24.066666666666666,-1.647446,12.771673,15.213675,10.064565,39.887990 +24.1,-1.647446,12.771673,15.164835,10.064565,39.887990 +24.133333333333333,-1.647446,12.722833,15.067155,10.064565,39.887990 +24.166666666666668,-1.647446,12.673993,14.969475,10.064565,39.887990 +24.2,-1.647446,12.673993,14.920635,10.064565,39.887990 +24.233333333333334,-1.647446,12.625153,14.822955,10.064565,39.887990 +24.266666666666666,-1.647446,12.576313,14.725275,10.064565,39.887990 +24.3,-1.647446,12.576313,14.627595,10.064565,39.887990 +24.333333333333332,-1.647446,12.527473,14.529915,10.064565,39.887990 +24.366666666666667,-1.647446,12.478632,14.481074,10.064565,39.887990 +24.4,-1.647446,12.429792,14.383394,10.064565,39.887990 +24.433333333333334,-1.647446,12.429792,14.285714,10.064565,39.887990 +24.466666666666665,-1.647446,12.380952,14.188034,10.064565,39.887990 +24.5,-1.647446,12.380952,14.139194,10.064565,39.887990 +24.533333333333335,-1.647446,12.332112,14.041514,10.064565,39.887990 +24.566666666666666,-1.647446,12.283272,13.992674,10.064565,39.887990 +24.6,-1.647446,12.283272,13.943834,10.064565,39.887990 +24.633333333333333,-1.647446,12.283272,13.894994,10.064565,39.887990 +24.666666666666668,-1.647446,12.234432,13.846154,10.064565,39.887990 +24.7,-1.647446,12.234432,13.846154,10.064565,39.887990 +24.733333333333334,-1.647446,12.234432,13.797314,10.064565,39.887990 +24.766666666666666,-1.647446,12.234432,13.797314,10.064565,39.887990 +24.8,-1.647446,12.234432,13.797314,10.064565,39.887990 +24.833333333333332,-1.647446,12.234432,13.846154,10.064565,39.887990 +24.866666666666667,-1.647446,12.234432,13.846154,9.912647,39.514624 +24.9,-1.647446,12.283272,13.894994,9.684770,38.518979 +24.933333333333334,-1.647446,12.283272,13.943834,9.229016,37.149969 +24.966666666666665,-1.647446,12.283272,13.992674,8.621344,35.283136 +25.0,-1.647446,12.332112,14.041514,7.937714,33.167393 +25.033333333333335,-1.647446,12.332112,14.139194,7.102165,30.802738 +25.066666666666666,-1.647446,12.380952,14.188034,6.114698,28.313628 +25.1,-1.647446,12.429792,14.285714,5.051272,25.824518 +25.133333333333333,-1.647446,12.429792,14.334554,3.911888,23.459863 +25.166666666666668,-1.647446,12.478632,14.432234,2.696544,21.344119 +25.2,-1.647446,12.527473,14.529915,1.481200,19.477287 +25.233333333333334,-1.647446,12.527473,14.578755,0.113938,18.108276 +25.266666666666666,-1.647446,12.576313,14.676435,-1.177364,17.112632 +25.3,-1.647446,12.625153,14.774115,-2.544626,16.863721 +25.333333333333332,-1.647446,12.625153,14.871795,-3.987847,16.863721 +25.366666666666667,-1.647446,12.673993,14.920635,-5.355108,16.863721 +25.4,-1.647446,12.722833,15.018315,-6.646411,16.863721 +25.433333333333334,-1.647446,12.722833,15.115995,-8.013673,16.863721 +25.466666666666665,-1.647446,12.771673,15.164835,-9.229016,16.863721 +25.5,-1.647446,12.820513,15.262515,-10.444360,16.863721 +25.533333333333335,-1.647446,12.820513,15.311355,-11.583745,16.863721 +25.566666666666666,-1.647446,12.869353,15.360195,-12.647171,16.863721 +25.6,-1.647446,12.869353,15.409035,-13.634637,16.863721 +25.633333333333333,-1.647446,12.869353,15.457875,-14.470186,16.863721 +25.666666666666668,-1.647446,12.918193,15.506716,-15.153817,16.863721 +25.7,-1.647446,12.918193,15.555556,-15.761489,16.863721 +25.733333333333334,-1.647446,12.918193,15.555556,-16.217243,16.863721 +25.766666666666666,-1.647446,12.918193,15.555556,-16.445120,16.863721 +25.8,-1.647446,12.918193,15.555556,-16.597038,16.863721 +25.833333333333332,-1.647446,12.918193,15.555556,-16.597038,16.863721 +25.866666666666667,-1.647446,12.918193,15.506716,-16.597038,16.863721 +25.9,-1.647446,12.869353,15.457875,-16.597038,16.863721 +25.933333333333334,-1.647446,12.869353,15.409035,-16.597038,16.863721 +25.966666666666665,-1.647446,12.869353,15.360195,-16.597038,16.863721 +26.0,-1.647446,12.820513,15.311355,-16.597038,16.863721 +26.033333333333335,-1.647446,12.820513,15.262515,-16.597038,16.863721 +26.066666666666666,-1.647446,12.771673,15.164835,-16.597038,16.863721 +26.1,-1.647446,12.722833,15.115995,-16.597038,16.863721 +26.133333333333333,-1.647446,12.722833,15.018315,-16.597038,16.863721 +26.166666666666668,-1.647446,12.673993,14.920635,-16.597038,16.863721 +26.2,-1.647446,12.625153,14.871795,-16.597038,16.863721 +26.233333333333334,-1.647446,12.625153,14.774115,-16.597038,16.863721 +26.266666666666666,-1.647446,12.576313,14.676435,-16.597038,16.863721 +26.3,-1.647446,12.527473,14.578755,-16.597038,16.863721 +26.333333333333332,-1.647446,12.527473,14.529915,-16.597038,16.863721 +26.366666666666667,-1.647446,12.478632,14.432234,-16.597038,16.863721 +26.4,-1.647446,12.429792,14.334554,-16.597038,16.863721 +26.433333333333334,-1.647446,12.429792,14.236874,-16.597038,16.863721 +26.466666666666665,-1.647446,12.380952,14.188034,-16.597038,16.863721 +26.5,-1.647446,12.332112,14.139194,-16.597038,16.863721 +26.533333333333335,-1.647446,12.332112,14.041514,-16.597038,16.863721 +26.566666666666666,-1.647446,12.283272,13.992674,-16.597038,16.863721 +26.6,-1.647446,12.283272,13.943834,-16.597038,16.863721 +26.633333333333333,-1.647446,12.283272,13.894994,-16.597038,16.863721 +26.666666666666668,-1.647446,12.234432,13.846154,-16.597038,16.863721 +26.7,-1.647446,12.234432,13.846154,-16.597038,16.863721 +26.733333333333334,-1.647446,12.234432,13.797314,-16.597038,16.863721 +26.766666666666666,-1.647446,12.234432,13.797314,-16.597038,16.863721 +26.8,-1.647446,12.234432,13.797314,-16.597038,16.863721 +26.833333333333332,-1.647446,12.234432,13.846154,-16.597038,16.863721 +26.866666666666667,-1.647446,12.234432,13.846154,-16.597038,16.863721 +26.9,-1.647446,12.283272,13.894994,-16.597038,16.863721 +26.933333333333334,-1.647446,12.283272,13.943834,-16.597038,16.863721 +26.966666666666665,-1.647446,12.283272,13.992674,-16.597038,16.863721 +27.0,-1.647446,12.332112,14.041514,-16.597038,16.863721 +27.033333333333335,-1.647446,12.332112,14.139194,-16.597038,16.863721 +27.066666666666666,-1.647446,12.380952,14.188034,-16.597038,16.863721 +27.1,-1.647446,12.429792,14.285714,-16.597038,16.863721 +27.133333333333333,-1.647446,12.429792,14.334554,-16.597038,16.863721 +27.166666666666668,-1.647446,12.478632,14.432234,-16.597038,16.863721 +27.2,-1.647446,12.527473,14.529915,-16.597038,16.863721 +27.233333333333334,-1.647446,12.527473,14.578755,-16.597038,16.863721 +27.266666666666666,-1.647446,12.576313,14.676435,-16.597038,16.863721 +27.3,-1.647446,12.625153,14.774115,-16.597038,16.863721 +27.333333333333332,-1.647446,12.625153,14.871795,-16.597038,16.863721 +27.366666666666667,-1.647446,12.673993,14.920635,-16.597038,16.863721 +27.4,-1.647446,12.722833,15.018315,-16.597038,16.863721 +27.433333333333334,-1.647446,12.722833,15.115995,-16.597038,16.863721 +27.466666666666665,-1.647446,12.771673,15.164835,-16.597038,16.863721 +27.5,-1.647446,12.820513,15.262515,-16.597038,16.863721 +27.533333333333335,-1.647446,12.820513,15.311355,-16.597038,16.863721 +27.566666666666666,-1.647446,12.869353,15.360195,-16.597038,16.863721 +27.6,-1.647446,12.869353,15.409035,-16.597038,16.863721 +27.633333333333333,-1.647446,12.869353,15.457875,-16.597038,16.863721 +27.666666666666668,-1.647446,12.918193,15.506716,-16.597038,16.863721 +27.7,-1.647446,12.918193,15.555556,-16.597038,16.863721 +27.733333333333334,-1.647446,12.918193,15.555556,-16.597038,16.863721 +27.766666666666666,-1.647446,12.918193,15.555556,-16.597038,16.863721 +27.8,-1.647446,12.918193,15.555556,-16.597038,16.863721 +27.833333333333332,-1.647446,12.918193,15.555556,-16.445120,17.112632 +27.866666666666667,-1.647446,12.918193,15.506716,-16.217243,17.983821 +27.9,-1.647446,12.869353,15.457875,-15.837448,19.228376 +27.933333333333334,-1.647446,12.869353,15.409035,-15.305735,20.846297 +27.966666666666665,-1.647446,12.820513,15.360195,-14.622104,22.713130 +28.0,-1.647446,12.820513,15.311355,-13.786555,24.953329 +28.033333333333335,-1.647446,12.771673,15.213675,-12.875047,27.193528 +28.066666666666666,-1.647446,12.771673,15.164835,-11.887581,29.433727 +28.1,-1.647446,12.722833,15.067155,-10.824155,31.673927 +28.133333333333333,-1.647446,12.673993,14.969475,-9.684770,33.914126 +28.166666666666668,-1.647446,12.673993,14.920635,-8.469427,35.780958 +28.2,-1.647446,12.625153,14.822955,-7.178124,37.398880 +28.233333333333334,-1.647446,12.576313,14.725275,-5.886821,38.767890 +28.266666666666666,-1.647446,12.576313,14.627595,-4.595518,39.514624 +28.3,-1.647446,12.527473,14.529915,-3.304216,39.887990 +28.333333333333332,-1.647446,12.478632,14.481074,-1.936954,39.887990 +28.366666666666667,-1.647446,12.429792,14.383394,-0.645651,39.887990 +28.4,-1.647446,12.429792,14.285714,0.645651,39.887990 +28.433333333333334,-1.647446,12.380952,14.188034,1.936954,39.887990 +28.466666666666665,-1.647446,12.380952,14.139194,3.152298,39.887990 +28.5,-1.647446,12.332112,14.041514,4.291682,39.887990 +28.533333333333335,-1.647446,12.283272,13.992674,5.355108,39.887990 +28.566666666666666,-1.647446,12.283272,13.943834,6.342575,39.887990 +28.6,-1.647446,12.283272,13.894994,7.254083,39.887990 +28.633333333333333,-1.647446,12.234432,13.846154,8.089632,39.887990 +28.666666666666668,-1.647446,12.234432,13.846154,8.697303,39.887990 +28.7,-1.647446,12.234432,13.797314,9.304975,39.887990 +28.733333333333334,-1.647446,12.234432,13.797314,9.684770,39.887990 +28.766666666666666,-1.647446,12.234432,13.797314,9.912647,39.887990 +28.8,-1.647446,12.234432,13.846154,10.064565,39.887990 +28.833333333333332,-1.647446,12.234432,13.846154,10.064565,39.887990 +28.866666666666667,-1.647446,12.283272,13.894994,10.064565,39.887990 +28.9,-1.647446,12.283272,13.943834,10.064565,39.887990 +28.933333333333334,-1.647446,12.283272,13.992674,10.064565,39.887990 +28.966666666666665,-1.647446,12.332112,14.041514,10.064565,39.887990 +29.0,-1.647446,12.332112,14.139194,10.064565,39.887990 +29.033333333333335,-1.647446,12.380952,14.188034,10.064565,39.887990 +29.066666666666666,-1.647446,12.429792,14.285714,10.064565,39.887990 +29.1,-1.647446,12.429792,14.334554,10.064565,39.887990 +29.133333333333333,-1.647446,12.478632,14.432234,10.064565,39.887990 +29.166666666666668,-1.647446,12.527473,14.529915,10.064565,39.887990 +29.2,-1.647446,12.527473,14.578755,10.064565,39.887990 +29.233333333333334,-1.647446,12.576313,14.676435,10.064565,39.887990 +29.266666666666666,-1.647446,12.625153,14.774115,10.064565,39.887990 +29.3,-1.647446,12.625153,14.871795,10.064565,39.887990 +29.333333333333332,-1.647446,12.673993,14.920635,10.064565,39.887990 +29.366666666666667,-1.647446,12.722833,15.018315,10.064565,39.887990 +29.4,-1.647446,12.722833,15.115995,10.064565,39.887990 +29.433333333333334,-1.647446,12.771673,15.164835,10.064565,39.887990 +29.466666666666665,-1.647446,12.820513,15.262515,10.064565,39.887990 +29.5,-1.647446,12.820513,15.311355,10.064565,39.887990 +29.533333333333335,-1.647446,12.869353,15.360195,10.064565,39.887990 +29.566666666666666,-1.647446,12.869353,15.409035,10.064565,39.887990 +29.6,-1.647446,12.869353,15.457875,10.064565,39.887990 +29.633333333333333,-1.647446,12.918193,15.506716,10.064565,39.887990 +29.666666666666668,-1.647446,12.918193,15.555556,10.064565,39.887990 +29.7,-1.647446,12.918193,15.555556,10.064565,39.887990 +29.733333333333334,-1.647446,12.918193,15.555556,10.064565,39.887990 +29.766666666666666,-1.647446,12.918193,15.555556,10.064565,39.887990 +29.8,-1.647446,12.918193,15.555556,10.064565,39.887990 +29.833333333333332,-1.647446,12.918193,15.506716,9.912647,39.514624 +29.866666666666667,-1.647446,12.869353,15.457875,9.684770,38.518979 +29.9,-1.647446,12.869353,15.409035,9.229016,37.149969 +29.933333333333334,-1.647446,12.869353,15.360195,8.621344,35.283136 +29.966666666666665,-1.647446,12.820513,15.311355,7.937714,33.167393 diff --git a/hal/recordings/tracking.csv b/hal/recordings/tracking.csv index 63d934b2c..4ab025701 100644 --- a/hal/recordings/tracking.csv +++ b/hal/recordings/tracking.csv @@ -1,253 +1,253 @@ timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_pitch.pos,wrist_roll.pos -33,0.0,0,-10,0.0,0.0 -67,-0.5,0,-10,-0.4351248420727329,-0.4 -100,-1.9,0,-10,-1.7404993682909315,-1.5 -133,-4.2,0,-10,-3.7183395595306266,-3.1 -167,-7.0,0,-10,-6.249975004317436,-5.3 -200,-10.4,0,-10,-9.216735291176978,-7.8 -233,-14.1,0,-10,-12.539506812459665,-10.6 -267,-18.0,0,-10,-16.020505549041527,-13.5 -300,-22.0,0,-10,-19.58061789327298,-16.5 -333,-25.9,0,-10,-23.06161662985484,-19.4 -367,-29.6,0,-10,-26.38438815113753,-22.2 -400,-33.0,0,-10,-29.35114843799707,-24.7 -433,-35.8,0,-10,-31.882783882783876,-26.9 -467,-38.1,0,-10,-33.86062407402357,-28.5 -500,-39.5,0,-10,-35.16599860024178,-29.6 -533,-40,0,-10,-35.6011234423145,-30.0 -567,-40,0,-10,-35.6011234423145,-29.9 -600,-40,0,-10,-35.6011234423145,-29.8 -633,-40,0,-10,-35.6011234423145,-29.5 -667,-40,0,-10,-35.6011234423145,-29.1 -700,-40,0,-10,-35.6011234423145,-28.6 -733,-40,0,-10,-35.6011234423145,-27.9 -767,-40,0,-10,-35.6011234423145,-27.2 -800,-40,0,-10,-35.6011234423145,-26.4 -833,-40,0,-10,-35.6011234423145,-25.6 -867,-40,0,-10,-35.6011234423145,-24.6 -900,-40,0,-10,-35.6011234423145,-23.5 -933,-40,0,-10,-35.6011234423145,-22.4 -967,-40,0,-10,-35.6011234423145,-21.2 -1000,-40,0,-10,-35.6011234423145,-20.0 -1033,-40,0,-10,-35.6011234423145,-18.7 -1067,-40,0,-10,-35.6011234423145,-17.3 -1100,-40,0,-10,-35.6011234423145,-15.9 -1133,-40,0,-10,-35.6011234423145,-14.4 -1167,-40,0,-10,-35.6011234423145,-12.9 -1200,-40,0,-10,-35.6011234423145,-11.4 -1233,-40,0,-10,-35.6011234423145,-9.8 -1267,-40,0,-10,-35.6011234423145,-8.2 -1300,-40,0,-10,-35.6011234423145,-6.6 -1333,-40,0,-10,-35.6011234423145,-5.0 -1367,-40,0,-10,-35.6011234423145,-3.3 -1400,-40,0,-10,-35.6011234423145,-1.7 -1433,-40,0,-10,-35.6011234423145,0.0 -1467,-40,0,-10,-35.6011234423145,1.7 -1500,-40,0,-10,-35.6011234423145,3.3 -1533,-40,0,-10,-35.6011234423145,5.0 -1567,-40,0,-10,-35.6011234423145,6.6 -1600,-40,0,-10,-35.6011234423145,8.2 -1633,-40,0,-10,-35.6011234423145,9.8 -1667,-40,0,-10,-35.6011234423145,11.4 -1700,-40,0,-10,-35.6011234423145,12.9 -1733,-40,0,-10,-35.6011234423145,14.4 -1767,-40,0,-10,-35.6011234423145,15.9 -1800,-40,0,-10,-35.6011234423145,17.3 -1833,-40,0,-10,-35.6011234423145,18.7 -1867,-40,0,-10,-35.6011234423145,20.0 -1900,-40,0,-10,-35.6011234423145,21.2 -1933,-40,0,-10,-35.6011234423145,22.4 -1967,-40,0,-10,-35.6011234423145,23.5 -2000,-40,0,-10,-35.6011234423145,24.6 -2033,-40,0,-10,-35.6011234423145,25.6 -2067,-40,0,-10,-35.6011234423145,26.4 -2100,-40,0,-10,-35.6011234423145,27.2 -2133,-40,0,-10,-35.6011234423145,27.9 -2167,-40,0,-10,-35.6011234423145,28.6 -2200,-40,0,-10,-35.6011234423145,29.1 -2233,-40,0,-10,-35.6011234423145,29.5 -2267,-40,0,-10,-35.6011234423145,29.8 -2300,-40,0,-10,-35.6011234423145,29.9 -2333,-40,0,-10,-35.6011234423145,30.0 -2367,-40,0,-10,-35.6011234423145,30.0 -2400,-40,0,-10,-35.6011234423145,30.0 -2433,-40,0,-10,-35.6011234423145,30.0 -2467,-40,0,-10,-35.6011234423145,30.0 -2500,-40,0,-10,-35.6011234423145,30.0 -2533,-40,0,-10,-35.6011234423145,30.0 -2567,-40,0,-10,-35.6011234423145,30.0 -2600,-40,0,-10,-35.6011234423145,30.0 -2633,-40,0,-10,-35.6011234423145,30.0 -2667,-40,0,-10,-35.6011234423145,30.0 -2700,-40,0,-10,-35.6011234423145,30.0 -2733,-40,0,-10,-35.6011234423145,30.0 -2767,-40,0,-10,-35.6011234423145,30.0 -2800,-40,0,-10,-35.6011234423145,30.0 -2833,-40.0,0,-10,-35.6011234423145,30.0 -2867,-39.0,0,-10,-35.6011234423145,29.2 -2900,-36.1,0,-10,-35.6011234423145,27.1 -2933,-31.7,0,-10,-35.6011234423145,23.8 -2967,-26.0,0,-10,-35.6011234423145,19.5 -3000,-19.3,0,-10,-35.6011234423145,14.4 -3033,-11.8,0,-10,-35.6011234423145,8.9 -3067,-4.0,0,-10,-35.6011234423145,3.0 -3100,4.0,0,-10,-35.6011234423145,-3.0 -3133,11.8,0,-10,-35.6011234423145,-8.9 -3167,19.3,0,-10,-35.6011234423145,-14.4 -3200,26.0,0,-10,-35.6011234423145,-19.5 -3233,31.7,0,-10,-35.6011234423145,-23.8 -3267,36.1,0,-10,-35.6011234423145,-27.1 -3300,39.0,0,-10,-35.6011234423145,-29.2 -3333,40,0,-10,-35.6011234423145,-30.0 -3367,40,0,-10,-35.6011234423145,-29.9 -3400,40,0,-10,-35.6011234423145,-29.8 -3433,40,0,-10,-35.6011234423145,-29.5 -3467,40,0,-10,-35.6011234423145,-29.1 -3500,40,0,-10,-35.6011234423145,-28.6 -3533,40,0,-10,-35.6011234423145,-27.9 -3567,40,0,-10,-35.6011234423145,-27.2 -3600,40,0,-10,-35.6011234423145,-26.4 -3633,40,0,-10,-35.6011234423145,-25.6 -3667,40,0,-10,-35.6011234423145,-24.6 -3700,40,0,-10,-35.6011234423145,-23.5 -3733,40,0,-10,-35.6011234423145,-22.4 -3767,40,0,-10,-35.6011234423145,-21.2 -3800,40,0,-10,-35.6011234423145,-20.0 -3833,40,0,-10,-35.6011234423145,-18.7 -3867,40,0,-10,-35.6011234423145,-17.3 -3900,40,0,-10,-35.6011234423145,-15.9 -3933,40,0,-10,-35.6011234423145,-14.4 -3967,40,0,-10,-35.6011234423145,-12.9 -4000,40,0,-10,-35.6011234423145,-11.4 -4033,40,0,-10,-35.6011234423145,-9.8 -4067,40,0,-10,-35.6011234423145,-8.2 -4100,40,0,-10,-35.6011234423145,-6.6 -4133,40,0,-10,-35.6011234423145,-5.0 -4167,40,0,-10,-35.6011234423145,-3.3 -4200,40,0,-10,-35.6011234423145,-1.7 -4233,40,0,-10,-35.6011234423145,0.0 -4267,40,0,-10,-35.6011234423145,1.7 -4300,40,0,-10,-35.6011234423145,3.3 -4333,40,0,-10,-35.6011234423145,5.0 -4367,40,0,-10,-35.6011234423145,6.6 -4400,40,0,-10,-35.6011234423145,8.2 -4433,40,0,-10,-35.6011234423145,9.8 -4467,40,0,-10,-35.6011234423145,11.4 -4500,40,0,-10,-35.6011234423145,12.9 -4533,40,0,-10,-35.6011234423145,14.4 -4567,40,0,-10,-35.6011234423145,15.9 -4600,40,0,-10,-35.6011234423145,17.3 -4633,40,0,-10,-35.6011234423145,18.7 -4667,40,0,-10,-35.6011234423145,20.0 -4700,40,0,-10,-35.6011234423145,21.2 -4733,40,0,-10,-35.6011234423145,22.4 -4767,40,0,-10,-35.6011234423145,23.5 -4800,40,0,-10,-35.6011234423145,24.6 -4833,40,0,-10,-35.6011234423145,25.6 -4867,40,0,-10,-35.6011234423145,26.4 -4900,40,0,-10,-35.6011234423145,27.2 -4933,40,0,-10,-35.6011234423145,27.9 -4967,40,0,-10,-35.6011234423145,28.6 -5000,40,0,-10,-35.6011234423145,29.1 -5033,40,0,-10,-35.6011234423145,29.5 -5067,40,0,-10,-35.6011234423145,29.8 -5100,40,0,-10,-35.6011234423145,29.9 -5133,40,0,-10,-35.6011234423145,30.0 -5167,40,0,-10,-35.6011234423145,30.0 -5200,40,0,-10,-35.6011234423145,30.0 -5233,40,0,-10,-35.6011234423145,30.0 -5267,40,0,-10,-35.6011234423145,30.0 -5300,40,0,-10,-35.6011234423145,30.0 -5333,40,0,-10,-35.6011234423145,30.0 -5367,40,0,-10,-35.6011234423145,30.0 -5400,40,0,-10,-35.6011234423145,30.0 -5433,40,0,-10,-35.6011234423145,30.0 -5467,40,0,-10,-35.6011234423145,30.0 -5500,40,0,-10,-35.6011234423145,30.0 -5533,40,0,-10,-35.6011234423145,30.0 -5567,40,0,-10,-35.6011234423145,30.0 -5600,40,0,-10,-35.6011234423145,30.0 -5633,40.0,0,-10,-35.6011234423145,30.0 -5667,39.0,0,-10,-35.284669011716154,29.2 -5700,36.1,0,-10,-34.45397613139548,27.1 -5733,31.7,0,-10,-33.148601605177284,23.8 -5767,26.0,0,-10,-31.447659040711148,19.5 -5800,19.3,0,-10,-29.43026204564666,14.4 -5833,11.8,0,-10,-27.254637835282995,8.9 -5867,4.0,0,-10,-24.920786409620156,3.0 -5900,-4.0,0,-10,-22.54737818013252,-3.0 -5933,-11.8,0,-10,-20.213526754469683,-8.9 -5967,-19.3,0,-10,-18.037902544106018,-14.4 -6000,-26.0,0,-10,-16.020505549041527,-19.5 -6033,-31.7,0,-10,-14.319562984575391,-23.8 -6067,-36.1,0,-10,-13.014188458357191,-27.1 -6100,-39.0,0,-10,-12.18349557803652,-29.2 -6133,-40,0,-10,-11.867041147438169,-30.0 -6167,-40,0,-10,-11.867041147438169,-29.9 -6200,-40,0,-10,-11.867041147438169,-29.8 -6233,-40,0,-10,-11.867041147438169,-29.5 -6267,-40,0,-10,-11.867041147438169,-29.1 -6300,-40,0,-10,-11.867041147438169,-28.6 -6333,-40,0,-10,-11.867041147438169,-27.9 -6367,-40,0,-10,-11.867041147438169,-27.2 -6400,-40,0,-10,-11.867041147438169,-26.4 -6433,-40,0,-10,-11.867041147438169,-25.6 -6467,-40,0,-10,-11.867041147438169,-24.6 -6500,-40,0,-10,-11.867041147438169,-23.5 -6533,-40,0,-10,-11.867041147438169,-22.4 -6567,-40,0,-10,-11.867041147438169,-21.2 -6600,-40,0,-10,-11.867041147438169,-20.0 -6633,-40,0,-10,-11.867041147438169,-18.7 -6667,-40,0,-10,-11.867041147438169,-17.3 -6700,-40,0,-10,-11.867041147438169,-15.9 -6733,-40,0,-10,-11.867041147438169,-14.4 -6767,-40,0,-10,-11.867041147438169,-12.9 -6800,-40,0,-10,-11.867041147438169,-11.4 -6833,-40,0,-10,-11.867041147438169,-9.8 -6867,-40,0,-10,-11.867041147438169,-8.2 -6900,-40,0,-10,-11.867041147438169,-6.6 -6933,-40,0,-10,-11.867041147438169,-5.0 -6967,-40,0,-10,-11.867041147438169,-3.3 -7000,-40,0,-10,-11.867041147438169,-1.7 -7033,-40,0,-10,-11.867041147438169,0.0 -7067,-40,0,-10,-11.867041147438169,1.7 -7100,-40,0,-10,-11.867041147438169,3.3 -7133,-40,0,-10,-11.867041147438169,5.0 -7167,-40,0,-10,-11.867041147438169,6.6 -7200,-40,0,-10,-11.867041147438169,8.2 -7233,-40,0,-10,-11.867041147438169,9.8 -7267,-40,0,-10,-11.867041147438169,11.4 -7300,-40,0,-10,-11.867041147438169,12.9 -7333,-40,0,-10,-11.867041147438169,14.4 -7367,-40,0,-10,-11.867041147438169,15.9 -7400,-40,0,-10,-11.867041147438169,17.3 -7433,-40,0,-10,-11.867041147438169,18.7 -7467,-40,0,-10,-11.867041147438169,20.0 -7500,-40,0,-10,-11.867041147438169,21.2 -7533,-40,0,-10,-11.867041147438169,22.4 -7567,-40,0,-10,-11.867041147438169,23.5 -7600,-40,0,-10,-11.867041147438169,24.6 -7633,-40,0,-10,-11.867041147438169,25.6 -7667,-40,0,-10,-11.867041147438169,26.4 -7700,-40,0,-10,-11.867041147438169,27.2 -7733,-40,0,-10,-11.867041147438169,27.9 -7767,-40,0,-10,-11.867041147438169,28.6 -7800,-40,0,-10,-11.867041147438169,29.1 -7833,-40,0,-10,-11.867041147438169,29.5 -7867,-40,0,-10,-11.867041147438169,29.8 -7900,-40,0,-10,-11.867041147438169,29.9 -7933,-40,0,-10,-11.867041147438169,30.0 -7967,-40,0,-10,-11.867041147438169,30.0 -8000,-40,0,-10,-11.867041147438169,30.0 -8033,-40,0,-10,-11.867041147438169,30.0 -8067,-40,0,-10,-11.867041147438169,30.0 -8100,-40,0,-10,-11.867041147438169,30.0 -8133,-40,0,-10,-11.867041147438169,30.0 -8167,-40,0,-10,-11.867041147438169,30.0 -8200,-40,0,-10,-11.867041147438169,30.0 -8233,-40,0,-10,-11.867041147438169,30.0 -8267,-40,0,-10,-11.867041147438169,30.0 -8300,-40,0,-10,-11.867041147438169,30.0 -8333,-40,0,-10,-11.867041147438169,30.0 -8367,-40,0,-10,-11.867041147438169,30.0 -8400,-40,0,-10,-11.867041147438169,30.0 +33,-1.647446,12.918193,12.039072,39.887990,10.064565 +67,-2.141680,12.918193,12.039072,39.514624,9.684770 +100,-3.542010,12.918193,12.039072,38.643435,8.773262 +133,-5.848435,12.918193,12.039072,37.274424,7.481960 +167,-8.649094,12.918193,12.039072,35.656503,5.658944 +200,-12.026359,12.918193,12.039072,33.540759,3.532093 +233,-15.733114,12.918193,12.039072,31.300560,1.253323 +267,-19.604613,12.918193,12.039072,28.935905,-1.177364 +300,-23.640857,12.918193,12.039072,26.571251,-3.684011 +333,-27.512356,12.918193,12.039072,24.206596,-6.114698 +367,-31.219110,12.918193,12.039072,21.966397,-8.393468 +400,-34.596376,12.918193,12.039072,19.975109,-10.520319 +433,-37.397035,12.918193,12.039072,18.232732,-12.343335 +467,-39.703460,12.918193,12.039072,16.863721,-13.634637 +500,-41.103789,12.918193,12.039072,15.992533,-14.546145 +533,-41.598023,12.918193,12.039072,15.743622,-14.925940 +567,-41.598023,12.918193,12.039072,15.743622,-14.849981 +600,-41.598023,12.918193,12.039072,15.743622,-14.774022 +633,-41.598023,12.918193,12.039072,15.743622,-14.470186 +667,-41.598023,12.918193,12.039072,15.743622,-14.166350 +700,-41.598023,12.918193,12.039072,15.743622,-13.710596 +733,-41.598023,12.918193,12.039072,15.743622,-13.178883 +767,-41.598023,12.918193,12.039072,15.743622,-12.571212 +800,-41.598023,12.918193,12.039072,15.743622,-11.887581 +833,-41.598023,12.918193,12.039072,15.743622,-11.279909 +867,-41.598023,12.918193,12.039072,15.743622,-10.444360 +900,-41.598023,12.918193,12.039072,15.743622,-9.532852 +933,-41.598023,12.918193,12.039072,15.743622,-8.621344 +967,-41.598023,12.918193,12.039072,15.743622,-7.557919 +1000,-41.598023,12.918193,12.039072,15.743622,-6.570452 +1033,-41.598023,12.918193,12.039072,15.743622,-5.507026 +1067,-41.598023,12.918193,12.039072,15.743622,-4.367641 +1100,-41.598023,12.918193,12.039072,15.743622,-3.152298 +1133,-41.598023,12.918193,12.039072,15.743622,-1.936954 +1167,-41.598023,12.918193,12.039072,15.743622,-0.721610 +1200,-41.598023,12.918193,12.039072,15.743622,0.569692 +1233,-41.598023,12.918193,12.039072,15.743622,1.860995 +1267,-41.598023,12.918193,12.039072,15.743622,3.228257 +1300,-41.598023,12.918193,12.039072,15.743622,4.519559 +1333,-41.598023,12.918193,12.039072,15.743622,5.886821 +1367,-41.598023,12.918193,12.039072,15.743622,7.254083 +1400,-41.598023,12.918193,12.039072,15.743622,8.621344 +1433,-41.598023,12.918193,12.039072,15.743622,10.064565 +1467,-41.598023,12.918193,12.039072,15.743622,11.431827 +1500,-41.598023,12.918193,12.039072,15.743622,12.799088 +1533,-41.598023,12.918193,12.039072,15.743622,14.166350 +1567,-41.598023,12.918193,12.039072,15.743622,15.533612 +1600,-41.598023,12.918193,12.039072,15.743622,16.824915 +1633,-41.598023,12.918193,12.039072,15.743622,18.192176 +1667,-41.598023,12.918193,12.039072,15.743622,19.483479 +1700,-41.598023,12.918193,12.039072,15.743622,20.774782 +1733,-41.598023,12.918193,12.039072,15.743622,21.990125 +1767,-41.598023,12.918193,12.039072,15.743622,23.205469 +1800,-41.598023,12.918193,12.039072,15.743622,24.420813 +1833,-41.598023,12.918193,12.039072,15.743622,25.560197 +1867,-41.598023,12.918193,12.039072,15.743622,26.623623 +1900,-41.598023,12.918193,12.039072,15.743622,27.611090 +1933,-41.598023,12.918193,12.039072,15.743622,28.674516 +1967,-41.598023,12.918193,12.039072,15.743622,29.586024 +2000,-41.598023,12.918193,12.039072,15.743622,30.497531 +2033,-41.598023,12.918193,12.039072,15.743622,31.333080 +2067,-41.598023,12.918193,12.039072,15.743622,31.940752 +2100,-41.598023,12.918193,12.039072,15.743622,32.624383 +2133,-41.598023,12.918193,12.039072,15.743622,33.232055 +2167,-41.598023,12.918193,12.039072,15.743622,33.763768 +2200,-41.598023,12.918193,12.039072,15.743622,34.219521 +2233,-41.598023,12.918193,12.039072,15.743622,34.523357 +2267,-41.598023,12.918193,12.039072,15.743622,34.827193 +2300,-41.598023,12.918193,12.039072,15.743622,34.903152 +2333,-41.598023,12.918193,12.039072,15.743622,34.979111 +2367,-41.598023,12.918193,12.039072,15.743622,34.979111 +2400,-41.598023,12.918193,12.039072,15.743622,34.979111 +2433,-41.598023,12.918193,12.039072,15.743622,34.979111 +2467,-41.598023,12.918193,12.039072,15.743622,34.979111 +2500,-41.598023,12.918193,12.039072,15.743622,34.979111 +2533,-41.598023,12.918193,12.039072,15.743622,34.979111 +2567,-41.598023,12.918193,12.039072,15.743622,34.979111 +2600,-41.598023,12.918193,12.039072,15.743622,34.979111 +2633,-41.598023,12.918193,12.039072,15.743622,34.979111 +2667,-41.598023,12.918193,12.039072,15.743622,34.979111 +2700,-41.598023,12.918193,12.039072,15.743622,34.979111 +2733,-41.598023,12.918193,12.039072,15.743622,34.979111 +2767,-41.598023,12.918193,12.039072,15.743622,34.979111 +2800,-41.598023,12.918193,12.039072,15.743622,34.979111 +2833,-41.598023,12.918193,12.039072,15.743622,34.979111 +2867,-40.609555,12.918193,12.039072,15.743622,34.295480 +2900,-37.726524,12.918193,12.039072,15.743622,32.548424 +2933,-33.360791,12.918193,12.039072,15.743622,29.813900 +2967,-27.677100,12.918193,12.039072,15.743622,26.243828 +3000,-20.922570,12.918193,12.039072,15.743622,21.990125 +3033,-13.426689,12.918193,12.039072,15.743622,17.432586 +3067,-5.683690,12.918193,12.039072,15.743622,12.495253 +3100,2.388797,12.918193,12.039072,15.743622,7.557919 +3133,10.131796,12.918193,12.039072,15.743622,2.620585 +3167,17.627677,12.918193,12.039072,15.743622,-1.936954 +3200,24.382208,12.918193,12.039072,15.743622,-6.190657 +3233,30.065898,12.918193,12.039072,15.743622,-9.760729 +3267,34.431631,12.918193,12.039072,15.743622,-12.495253 +3300,37.314662,12.918193,12.039072,15.743622,-14.242309 +3333,38.303130,12.918193,12.039072,15.743622,-14.925940 +3367,38.303130,12.918193,12.039072,15.743622,-14.849981 +3400,38.303130,12.918193,12.039072,15.743622,-14.774022 +3433,38.303130,12.918193,12.039072,15.743622,-14.470186 +3467,38.303130,12.918193,12.039072,15.743622,-14.166350 +3500,38.303130,12.918193,12.039072,15.743622,-13.710596 +3533,38.303130,12.918193,12.039072,15.743622,-13.178883 +3567,38.303130,12.918193,12.039072,15.743622,-12.571212 +3600,38.303130,12.918193,12.039072,15.743622,-11.887581 +3633,38.303130,12.918193,12.039072,15.743622,-11.279909 +3667,38.303130,12.918193,12.039072,15.743622,-10.444360 +3700,38.303130,12.918193,12.039072,15.743622,-9.532852 +3733,38.303130,12.918193,12.039072,15.743622,-8.621344 +3767,38.303130,12.918193,12.039072,15.743622,-7.557919 +3800,38.303130,12.918193,12.039072,15.743622,-6.570452 +3833,38.303130,12.918193,12.039072,15.743622,-5.507026 +3867,38.303130,12.918193,12.039072,15.743622,-4.367641 +3900,38.303130,12.918193,12.039072,15.743622,-3.152298 +3933,38.303130,12.918193,12.039072,15.743622,-1.936954 +3967,38.303130,12.918193,12.039072,15.743622,-0.721610 +4000,38.303130,12.918193,12.039072,15.743622,0.569692 +4033,38.303130,12.918193,12.039072,15.743622,1.860995 +4067,38.303130,12.918193,12.039072,15.743622,3.228257 +4100,38.303130,12.918193,12.039072,15.743622,4.519559 +4133,38.303130,12.918193,12.039072,15.743622,5.886821 +4167,38.303130,12.918193,12.039072,15.743622,7.254083 +4200,38.303130,12.918193,12.039072,15.743622,8.621344 +4233,38.303130,12.918193,12.039072,15.743622,10.064565 +4267,38.303130,12.918193,12.039072,15.743622,11.431827 +4300,38.303130,12.918193,12.039072,15.743622,12.799088 +4333,38.303130,12.918193,12.039072,15.743622,14.166350 +4367,38.303130,12.918193,12.039072,15.743622,15.533612 +4400,38.303130,12.918193,12.039072,15.743622,16.824915 +4433,38.303130,12.918193,12.039072,15.743622,18.192176 +4467,38.303130,12.918193,12.039072,15.743622,19.483479 +4500,38.303130,12.918193,12.039072,15.743622,20.774782 +4533,38.303130,12.918193,12.039072,15.743622,21.990125 +4567,38.303130,12.918193,12.039072,15.743622,23.205469 +4600,38.303130,12.918193,12.039072,15.743622,24.420813 +4633,38.303130,12.918193,12.039072,15.743622,25.560197 +4667,38.303130,12.918193,12.039072,15.743622,26.623623 +4700,38.303130,12.918193,12.039072,15.743622,27.611090 +4733,38.303130,12.918193,12.039072,15.743622,28.674516 +4767,38.303130,12.918193,12.039072,15.743622,29.586024 +4800,38.303130,12.918193,12.039072,15.743622,30.497531 +4833,38.303130,12.918193,12.039072,15.743622,31.333080 +4867,38.303130,12.918193,12.039072,15.743622,31.940752 +4900,38.303130,12.918193,12.039072,15.743622,32.624383 +4933,38.303130,12.918193,12.039072,15.743622,33.232055 +4967,38.303130,12.918193,12.039072,15.743622,33.763768 +5000,38.303130,12.918193,12.039072,15.743622,34.219521 +5033,38.303130,12.918193,12.039072,15.743622,34.523357 +5067,38.303130,12.918193,12.039072,15.743622,34.827193 +5100,38.303130,12.918193,12.039072,15.743622,34.903152 +5133,38.303130,12.918193,12.039072,15.743622,34.979111 +5167,38.303130,12.918193,12.039072,15.743622,34.979111 +5200,38.303130,12.918193,12.039072,15.743622,34.979111 +5233,38.303130,12.918193,12.039072,15.743622,34.979111 +5267,38.303130,12.918193,12.039072,15.743622,34.979111 +5300,38.303130,12.918193,12.039072,15.743622,34.979111 +5333,38.303130,12.918193,12.039072,15.743622,34.979111 +5367,38.303130,12.918193,12.039072,15.743622,34.979111 +5400,38.303130,12.918193,12.039072,15.743622,34.979111 +5433,38.303130,12.918193,12.039072,15.743622,34.979111 +5467,38.303130,12.918193,12.039072,15.743622,34.979111 +5500,38.303130,12.918193,12.039072,15.743622,34.979111 +5533,38.303130,12.918193,12.039072,15.743622,34.979111 +5567,38.303130,12.918193,12.039072,15.743622,34.979111 +5600,38.303130,12.918193,12.039072,15.743622,34.979111 +5633,38.303130,12.918193,12.039072,15.743622,34.979111 +5667,37.314662,12.918193,12.039072,15.992533,34.295480 +5700,34.431631,12.918193,12.039072,16.490355,32.548424 +5733,30.065898,12.918193,12.039072,17.361543,29.813900 +5767,24.382208,12.918193,12.039072,18.481643,26.243828 +5800,17.627677,12.918193,12.039072,19.850653,21.990125 +5833,10.131796,12.918193,12.039072,21.344119,17.432586 +5867,2.388797,12.918193,12.039072,22.962041,12.495253 +5900,-5.683690,12.918193,12.039072,24.579963,7.557919 +5933,-13.426689,12.918193,12.039072,26.197884,2.620585 +5967,-20.922570,12.918193,12.039072,27.566895,-1.936954 +6000,-27.677100,12.918193,12.039072,28.935905,-6.190657 +6033,-33.360791,12.918193,12.039072,30.180460,-9.760729 +6067,-37.726524,12.918193,12.039072,31.051649,-12.495253 +6100,-40.609555,12.918193,12.039072,31.549471,-14.242309 +6133,-41.598023,12.918193,12.039072,31.798382,-14.925940 +6167,-41.598023,12.918193,12.039072,31.798382,-14.849981 +6200,-41.598023,12.918193,12.039072,31.798382,-14.774022 +6233,-41.598023,12.918193,12.039072,31.798382,-14.470186 +6267,-41.598023,12.918193,12.039072,31.798382,-14.166350 +6300,-41.598023,12.918193,12.039072,31.798382,-13.710596 +6333,-41.598023,12.918193,12.039072,31.798382,-13.178883 +6367,-41.598023,12.918193,12.039072,31.798382,-12.571212 +6400,-41.598023,12.918193,12.039072,31.798382,-11.887581 +6433,-41.598023,12.918193,12.039072,31.798382,-11.279909 +6467,-41.598023,12.918193,12.039072,31.798382,-10.444360 +6500,-41.598023,12.918193,12.039072,31.798382,-9.532852 +6533,-41.598023,12.918193,12.039072,31.798382,-8.621344 +6567,-41.598023,12.918193,12.039072,31.798382,-7.557919 +6600,-41.598023,12.918193,12.039072,31.798382,-6.570452 +6633,-41.598023,12.918193,12.039072,31.798382,-5.507026 +6667,-41.598023,12.918193,12.039072,31.798382,-4.367641 +6700,-41.598023,12.918193,12.039072,31.798382,-3.152298 +6733,-41.598023,12.918193,12.039072,31.798382,-1.936954 +6767,-41.598023,12.918193,12.039072,31.798382,-0.721610 +6800,-41.598023,12.918193,12.039072,31.798382,0.569692 +6833,-41.598023,12.918193,12.039072,31.798382,1.860995 +6867,-41.598023,12.918193,12.039072,31.798382,3.228257 +6900,-41.598023,12.918193,12.039072,31.798382,4.519559 +6933,-41.598023,12.918193,12.039072,31.798382,5.886821 +6967,-41.598023,12.918193,12.039072,31.798382,7.254083 +7000,-41.598023,12.918193,12.039072,31.798382,8.621344 +7033,-41.598023,12.918193,12.039072,31.798382,10.064565 +7067,-41.598023,12.918193,12.039072,31.798382,11.431827 +7100,-41.598023,12.918193,12.039072,31.798382,12.799088 +7133,-41.598023,12.918193,12.039072,31.798382,14.166350 +7167,-41.598023,12.918193,12.039072,31.798382,15.533612 +7200,-41.598023,12.918193,12.039072,31.798382,16.824915 +7233,-41.598023,12.918193,12.039072,31.798382,18.192176 +7267,-41.598023,12.918193,12.039072,31.798382,19.483479 +7300,-41.598023,12.918193,12.039072,31.798382,20.774782 +7333,-41.598023,12.918193,12.039072,31.798382,21.990125 +7367,-41.598023,12.918193,12.039072,31.798382,23.205469 +7400,-41.598023,12.918193,12.039072,31.798382,24.420813 +7433,-41.598023,12.918193,12.039072,31.798382,25.560197 +7467,-41.598023,12.918193,12.039072,31.798382,26.623623 +7500,-41.598023,12.918193,12.039072,31.798382,27.611090 +7533,-41.598023,12.918193,12.039072,31.798382,28.674516 +7567,-41.598023,12.918193,12.039072,31.798382,29.586024 +7600,-41.598023,12.918193,12.039072,31.798382,30.497531 +7633,-41.598023,12.918193,12.039072,31.798382,31.333080 +7667,-41.598023,12.918193,12.039072,31.798382,31.940752 +7700,-41.598023,12.918193,12.039072,31.798382,32.624383 +7733,-41.598023,12.918193,12.039072,31.798382,33.232055 +7767,-41.598023,12.918193,12.039072,31.798382,33.763768 +7800,-41.598023,12.918193,12.039072,31.798382,34.219521 +7833,-41.598023,12.918193,12.039072,31.798382,34.523357 +7867,-41.598023,12.918193,12.039072,31.798382,34.827193 +7900,-41.598023,12.918193,12.039072,31.798382,34.903152 +7933,-41.598023,12.918193,12.039072,31.798382,34.979111 +7967,-41.598023,12.918193,12.039072,31.798382,34.979111 +8000,-41.598023,12.918193,12.039072,31.798382,34.979111 +8033,-41.598023,12.918193,12.039072,31.798382,34.979111 +8067,-41.598023,12.918193,12.039072,31.798382,34.979111 +8100,-41.598023,12.918193,12.039072,31.798382,34.979111 +8133,-41.598023,12.918193,12.039072,31.798382,34.979111 +8167,-41.598023,12.918193,12.039072,31.798382,34.979111 +8200,-41.598023,12.918193,12.039072,31.798382,34.979111 +8233,-41.598023,12.918193,12.039072,31.798382,34.979111 +8267,-41.598023,12.918193,12.039072,31.798382,34.979111 +8300,-41.598023,12.918193,12.039072,31.798382,34.979111 +8333,-41.598023,12.918193,12.039072,31.798382,34.979111 +8367,-41.598023,12.918193,12.039072,31.798382,34.979111 +8400,-41.598023,12.918193,12.039072,31.798382,34.979111 diff --git a/hal/recordings/wake_up.csv b/hal/recordings/wake_up.csv index 13ff38877..2e6ca72a7 100644 --- a/hal/recordings/wake_up.csv +++ b/hal/recordings/wake_up.csv @@ -1,151 +1,151 @@ -timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos -0.0,-0.0,0.0,25.000002,-0.0,-45.000001 -0.03333333333333333,-0.0,0.0,25.000002,-0.0,-45.000001 -0.06666666666666667,-0.0,0.0,25.000002,-0.0,-45.000001 -0.1,-0.0,0.0,25.000002,-0.0,-45.000001 -0.13333333333333333,-0.0,0.0,25.000002,-0.0,-45.000001 -0.16666666666666666,-0.0,0.0,25.000002,-0.0,-45.000001 -0.2,-0.0,0.0,25.000002,-0.0,-45.000001 -0.23333333333333334,-0.0,0.0,25.000002,-0.0,-45.000001 -0.26666666666666666,-0.0,0.0,25.000002,-0.0,-45.000001 -0.3,-0.0,0.0,25.000002,-0.0,-45.000001 -0.3333333333333333,-0.0,0.0,25.000002,-0.0,-45.000001 -0.36666666666666664,-0.0,0.0,25.000002,-0.0,-45.000001 -0.4,-0.0,0.0,25.000002,-0.0,-45.000001 -0.43333333333333335,-0.0,0.0,25.000002,-0.0,-45.000001 -0.4666666666666667,-0.0,0.0,25.000002,-0.0,-45.000001 -0.5,-0.0,0.0,25.000002,-0.0,-44.934322 -0.5333333333333333,-0.0,0.0,25.000002,-0.0,-44.741236 -0.5666666666666667,-0.0,0.0,25.000002,-0.0,-44.426665 -0.6,-0.0,0.0,25.000002,-0.0,-43.996544 -0.6333333333333333,-0.0,0.0,25.000002,-0.0,-43.456792 -0.6666666666666666,-0.0,0.0,25.000002,-0.0,-42.813333 -0.7,-0.0,0.0,25.000002,-0.0,-42.072101 -0.7333333333333333,-0.0,0.0,25.000002,-0.0,-41.239016 -0.7666666666666667,-0.0,0.0,25.000002,-0.0,-40.32 -0.8,-0.0,0.0,25.000002,-0.0,-39.320989 -0.8333333333333334,-0.0,0.0,25.000002,-0.0,-38.247902 -0.8666666666666667,-0.0,0.0,25.000002,-0.0,-37.106662 -0.9,-0.0,0.0,25.000002,-0.0,-35.90321 -0.9333333333333333,-0.0,0.0,25.000002,-0.0,-34.643457 -0.9666666666666667,-0.0,0.0,25.000002,-0.0,-33.333335 -1.0,-0.0,0.0,24.953427,-0.0,-31.978765 -1.0333333333333334,-0.0,0.0,24.816297,-0.0,-30.585679 -1.0666666666666667,-0.0,0.0,24.592499,-0.0,-29.16 -1.1,-0.0,0.0,24.285926,-0.0,-27.707656 -1.1333333333333333,-0.0,0.0,23.900464,-0.0,-26.234569 -1.1666666666666667,-0.0,0.0,23.44,-0.0,-24.746668 -1.2,-0.0,0.0,22.908425,-0.0,-23.249877 -1.2333333333333334,-0.0,0.0,22.30963,-0.0,-21.750123 -1.2666666666666666,-0.0,0.0,21.647503,-0.0,-20.253331 -1.3,-0.0,0.0,20.925927,-0.0,-18.765432 -1.3333333333333333,-0.0,0.0,20.148797,-0.0,-17.292345 -1.3666666666666667,-0.0,0.0,19.319999,-0.0,-15.839999 -1.4,-0.0,0.0,18.443427,-0.0,-14.414319 -1.4333333333333333,-0.0,0.0,17.522961,-0.0,-13.021231 -1.4666666666666666,-0.0,0.0,16.5625,-0.0,-11.666668 -1.5,-0.0,-0.038222,15.565924,-0.0,-10.356541 -1.5333333333333334,-0.0,-0.145778,14.53713,-0.0,-9.096787 -1.5666666666666667,-0.0,-0.312,13.48,-0.0,-7.893332 -1.6,-0.0,-0.526222,12.398427,-0.0,-6.752096 -1.6333333333333333,-0.0,-0.777778,11.296294,-0.0,-5.679012 -1.6666666666666667,-0.0,-1.056,10.177501,-0.0,-4.679994 -1.7,-0.0,-1.350222,9.045926,-0.0,-3.760986 -1.7333333333333334,-0.0,-1.649778,7.905464,-0.0,-2.927901 -1.7666666666666666,-0.0,-1.944,6.759998,-0.0,-2.186661 -1.8,-0.0,-2.222222,5.613425,-0.0,-1.543213 -1.8333333333333333,-0.0,-2.473778,4.46963,-0.0,-1.003457 -1.8666666666666667,-0.0,-2.688,3.332499,-0.0,-0.57334 -1.9,-0.0,-2.854222,2.205926,-0.0,-0.258769 -1.9333333333333333,-0.0,-2.961778,1.093798,-0.0,-0.065679 -1.9666666666666666,-0.0,-3.0,-0.0,-0.0,-0.0 -2.0,-0.0,-2.961778,-1.071111,-0.348144,-0.0 -2.033333333333333,-0.0,-2.854222,-2.113334,-1.33203,-0.0 -2.066666666666667,-0.0,-2.688,-3.12,-2.860838,-0.0 -2.1,-0.0,-2.473778,-4.084444,-4.843748,-0.0 -2.1333333333333333,-0.0,-2.222222,-5.0,-7.18994,-0.0 -2.1666666666666665,-0.0,-1.944,-5.86,-9.808592,-0.0 -2.2,-0.0,-1.649778,-6.657779,-12.608885,-0.0 -2.2333333333333334,-0.0,-1.350222,-7.386667,-15.500001,-0.0 -2.2666666666666666,-0.0,-1.056,-8.04,-18.391114,-0.0 -2.3,-0.0,-0.777778,-8.611111,-21.191406,-0.0 -2.3333333333333335,-0.0,-0.526222,-9.093334,-23.81006,-0.0 -2.3666666666666667,-0.0,-0.312,-9.480001,-26.156254,-0.0 -2.4,-0.0,-0.145778,-9.764444,-28.13916,-0.0 -2.433333333333333,-0.0,-0.038222,-9.940001,-29.667968,-0.0 -2.466666666666667,-0.0,0.0,-10.0,-30.651857,-0.0 -2.5,-0.0,0.0,-10.0,-30.999999,-0.0 -2.533333333333333,-0.0,0.0,-10.0,-30.188371,-0.0 -2.566666666666667,-0.0,0.0,-10.0,-27.915816,-0.0 -2.6,-0.0,0.0,-10.0,-24.425824,-0.0 -2.6333333333333333,-0.0,0.0,-10.0,-19.961877,-0.0 -2.6666666666666665,-0.0,0.0,-10.0,-14.767467,-0.0 -2.7,-0.0,0.0,-10.0,-9.086084,-0.0 -2.7333333333333334,-0.0,0.0,-10.0,-3.161209,-0.0 -2.7666666666666666,-0.0,0.0,-10.0,2.763664,-0.0 -2.8,-0.0,0.0,-10.0,8.445051,-0.0 -2.8333333333333335,-0.0,0.0,-10.0,13.639457,-0.0 -2.8666666666666667,-0.0,0.0,-10.0,18.10341,-0.0 -2.9,-0.0,0.0,-10.0,21.59339,-0.0 -2.933333333333333,-0.0,0.0,-10.0,23.865945,-0.0 -2.966666666666667,-0.0,0.0,-10.0,24.677579,-0.0 -3.0,-0.0,0.0,-10.0,24.677579,-0.0 -3.033333333333333,-0.0,0.0,-10.0,24.677579,-0.0 -3.066666666666667,-0.0,0.0,-10.0,24.677579,-0.0 -3.1,-0.0,0.0,-10.0,24.677579,-0.0 -3.1333333333333333,-0.0,0.0,-10.0,24.677579,-0.0 -3.1666666666666665,-0.0,0.0,-10.0,24.677579,-0.0 -3.2,-0.0,0.0,-10.0,24.677579,-0.0 -3.2333333333333334,-0.0,0.0,-10.0,24.677579,-0.0 -3.2666666666666666,-0.0,0.0,-10.0,24.677579,-0.0 -3.3,-0.0,0.0,-10.0,24.677579,-0.0 -3.3333333333333335,-0.0,0.0,-10.0,24.677579,-0.0 -3.3666666666666667,-0.0,0.0,-10.0,24.677579,-0.0 -3.4,-0.0,0.0,-10.0,24.677579,-0.0 -3.433333333333333,-0.0,0.0,-10.0,24.677579,-0.0 -3.466666666666667,-0.0,0.0,-10.0,24.400441,-0.0 -3.5,-0.0,0.0,-9.872593,23.617215,-0.0 -3.533333333333333,-0.0,0.0,-9.514074,22.400208,-0.0 -3.566666666666667,-0.0,0.0,-8.959999,20.821709,-0.0 -3.6,-0.0,0.0,-8.245925,18.954021,-0.0 -3.6333333333333333,-0.0,0.0,-7.407407,16.86944,-0.0 -3.6666666666666665,-0.0,0.0,-6.479999,14.640265,-0.0 -3.7,-0.0,0.0,-5.499259,12.33879,-0.0 -3.7333333333333334,-0.0,0.0,-4.500741,10.037316,-0.0 -3.7666666666666666,-0.0,0.0,-3.519999,7.80814,-0.0 -3.8,-0.0,0.0,-2.592592,5.723557,-0.0 -3.8333333333333335,-0.0,0.0,-1.754074,3.855871,-0.0 -3.8666666666666667,-0.0,0.0,-1.04,2.277369,-0.0 -3.9,-0.0,0.0,-0.485925,1.060363,-0.0 -3.933333333333333,-0.0,0.0,-0.127409,0.277142,-0.0 -3.966666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -4.0,-0.0,0.0,-0.0,-0.0,-0.0 -4.033333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -4.066666666666666,-0.0,0.0,-0.0,-0.0,-0.0 -4.1,-0.0,0.0,-0.0,-0.0,-0.0 -4.133333333333334,-0.0,0.0,-0.0,-0.0,-0.0 -4.166666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -4.2,-0.0,0.0,-0.0,-0.0,-0.0 -4.233333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -4.266666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -4.3,-0.0,0.0,-0.0,-0.0,-0.0 -4.333333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -4.366666666666666,-0.0,0.0,-0.0,-0.0,-0.0 -4.4,-0.0,0.0,-0.0,-0.0,-0.0 -4.433333333333334,-0.0,0.0,-0.0,-0.0,-0.0 -4.466666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -4.5,-0.0,0.0,-0.0,-0.0,-0.0 -4.533333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -4.566666666666666,-0.0,0.0,-0.0,-0.0,-0.0 -4.6,-0.0,0.0,-0.0,-0.0,-0.0 -4.633333333333334,-0.0,0.0,-0.0,-0.0,-0.0 -4.666666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -4.7,-0.0,0.0,-0.0,-0.0,-0.0 -4.733333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -4.766666666666667,-0.0,0.0,-0.0,-0.0,-0.0 -4.8,-0.0,0.0,-0.0,-0.0,-0.0 -4.833333333333333,-0.0,0.0,-0.0,-0.0,-0.0 -4.866666666666666,-0.0,0.0,-0.0,-0.0,-0.0 -4.9,-0.0,0.0,-0.0,-0.0,-0.0 -4.933333333333334,-0.0,0.0,-0.0,-0.0,-0.0 -4.966666666666667,-0.0,0.0,-0.0,-0.0,-0.0 +timestamp,base_yaw.pos,base_pitch.pos,elbow_pitch.pos,wrist_roll.pos,wrist_pitch.pos +0.0,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.03333333333333333,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.06666666666666667,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.1,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.13333333333333333,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.16666666666666666,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.2,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.23333333333333334,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.26666666666666666,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.3,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.3333333333333333,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.36666666666666664,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.4,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.43333333333333335,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.4666666666666667,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.5,-1.647446,12.918193,24.297924,10.064565,9.396391 +0.5333333333333333,-1.647446,12.918193,24.297924,10.064565,9.520846 +0.5666666666666667,-1.647446,12.918193,24.297924,10.064565,9.769757 +0.6,-1.647446,12.918193,24.297924,10.064565,10.018668 +0.6333333333333333,-1.647446,12.918193,24.297924,10.064565,10.392035 +0.6666666666666666,-1.647446,12.918193,24.297924,10.064565,10.889857 +0.7,-1.647446,12.918193,24.297924,10.064565,11.387679 +0.7333333333333333,-1.647446,12.918193,24.297924,10.064565,11.885501 +0.7666666666666667,-1.647446,12.918193,24.297924,10.064565,12.507778 +0.8,-1.647446,12.918193,24.297924,10.064565,13.254512 +0.8333333333333334,-1.647446,12.918193,24.297924,10.064565,13.876789 +0.8666666666666667,-1.647446,12.918193,24.297924,10.064565,14.747978 +0.9,-1.647446,12.918193,24.297924,10.064565,15.494711 +0.9333333333333333,-1.647446,12.918193,24.297924,10.064565,16.365899 +0.9666666666666667,-1.647446,12.918193,24.297924,10.064565,17.237088 +1.0,-1.647446,12.918193,24.297924,10.064565,18.232732 +1.0333333333333334,-1.647446,12.918193,24.249084,10.064565,19.103920 +1.0666666666666667,-1.647446,12.918193,24.151404,10.064565,20.099564 +1.1,-1.647446,12.918193,24.053724,10.064565,21.095208 +1.1333333333333333,-1.647446,12.918193,23.907204,10.064565,22.090853 +1.1666666666666667,-1.647446,12.918193,23.760684,10.064565,23.086497 +1.2,-1.647446,12.918193,23.565324,10.064565,24.082141 +1.2333333333333334,-1.647446,12.918193,23.369963,10.064565,25.077785 +1.2666666666666666,-1.647446,12.918193,23.125763,10.064565,26.073429 +1.3,-1.647446,12.918193,22.881563,10.064565,27.069073 +1.3333333333333333,-1.647446,12.918193,22.588523,10.064565,28.064717 +1.3666666666666667,-1.647446,12.918193,22.295482,10.064565,29.060361 +1.4,-1.647446,12.918193,22.002442,10.064565,30.056005 +1.4333333333333333,-1.647446,12.918193,21.660562,10.064565,31.051649 +1.4666666666666666,-1.647446,12.918193,21.367521,10.064565,31.922838 +1.5,-1.647446,12.918193,20.976801,10.064565,32.794026 +1.5333333333333334,-1.647446,12.869353,20.634921,10.064565,33.665215 +1.5666666666666667,-1.647446,12.820513,20.244200,10.064565,34.536403 +1.6,-1.647446,12.722833,19.902320,10.064565,35.283136 +1.6333333333333333,-1.647446,12.673993,19.511600,10.064565,36.029869 +1.6666666666666667,-1.647446,12.576313,19.120879,10.064565,36.652147 +1.7,-1.647446,12.429792,18.730159,10.064565,37.274424 +1.7333333333333334,-1.647446,12.332112,18.339438,10.064565,37.896702 +1.7666666666666666,-1.647446,12.234432,17.899878,10.064565,38.394524 +1.8,-1.647446,12.136752,17.509158,10.064565,38.767890 +1.8333333333333333,-1.647446,12.087912,17.118437,10.064565,39.141257 +1.8666666666666667,-1.647446,11.990232,16.727717,10.064565,39.390168 +1.9,-1.647446,11.941392,16.336996,10.064565,39.639079 +1.9333333333333333,-1.647446,11.892552,15.946276,10.064565,39.763535 +1.9666666666666666,-1.647446,11.892552,15.555556,10.064565,39.887990 +2.0,-1.647446,11.892552,15.164835,9.760729,39.887990 +2.033333333333333,-1.647446,11.941392,14.822955,8.925180,39.887990 +2.066666666666667,-1.647446,11.990232,14.481074,7.633878,39.887990 +2.1,-1.647446,12.087912,14.139194,6.038739,39.887990 +2.1333333333333333,-1.647446,12.136752,13.797314,4.063806,39.887990 +2.1666666666666665,-1.647446,12.234432,13.504274,1.860995,39.887990 +2.2,-1.647446,12.332112,13.211233,-0.417774,39.887990 +2.2333333333333334,-1.647446,12.429792,12.967033,-2.848462,39.887990 +2.2666666666666666,-1.647446,12.576313,12.722833,-5.279149,39.887990 +2.3,-1.647446,12.673993,12.527473,-7.557919,39.887990 +2.3333333333333335,-1.647446,12.722833,12.380952,-9.760729,39.887990 +2.3666666666666667,-1.647446,12.820513,12.234432,-11.735663,39.887990 +2.4,-1.647446,12.869353,12.136752,-13.330801,39.887990 +2.433333333333333,-1.647446,12.918193,12.087912,-14.622104,39.887990 +2.466666666666667,-1.647446,12.918193,12.039072,-15.457653,39.887990 +2.5,-1.647446,12.918193,12.039072,-15.761489,39.887990 +2.533333333333333,-1.647446,12.918193,12.039072,-15.077858,39.887990 +2.566666666666667,-1.647446,12.918193,12.039072,-13.178883,39.887990 +2.6,-1.647446,12.918193,12.039072,-10.292442,39.887990 +2.6333333333333333,-1.647446,12.918193,12.039072,-6.570452,39.887990 +2.6666666666666665,-1.647446,12.918193,12.039072,-2.240790,39.887990 +2.7,-1.647446,12.918193,12.039072,2.468667,39.887990 +2.7333333333333334,-1.647446,12.918193,12.039072,7.406001,39.887990 +2.7666666666666666,-1.647446,12.918193,12.039072,12.343335,39.887990 +2.8,-1.647446,12.918193,12.039072,17.052791,39.887990 +2.8333333333333335,-1.647446,12.918193,12.039072,21.382453,39.887990 +2.8666666666666667,-1.647446,12.918193,12.039072,25.104444,39.887990 +2.9,-1.647446,12.918193,12.039072,27.990885,39.887990 +2.933333333333333,-1.647446,12.918193,12.039072,29.889859,39.887990 +2.966666666666667,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.0,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.033333333333333,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.066666666666667,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.1,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.1333333333333333,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.1666666666666665,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.2,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.2333333333333334,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.2666666666666666,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.3,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.3333333333333335,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.3666666666666667,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.4,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.433333333333333,-1.647446,12.918193,12.039072,30.497531,39.887990 +3.466666666666667,-1.647446,12.918193,12.039072,30.269654,39.887990 +3.5,-1.647446,12.918193,12.087912,29.661983,39.887990 +3.533333333333333,-1.647446,12.918193,12.234432,28.674516,39.887990 +3.566666666666667,-1.647446,12.918193,12.429792,27.307254,39.887990 +3.6,-1.647446,12.918193,12.673993,25.788074,39.887990 +3.6333333333333333,-1.647446,12.918193,12.967033,24.041018,39.887990 +3.6666666666666665,-1.647446,12.918193,13.308913,22.218002,39.887990 +3.7,-1.647446,12.918193,13.650794,20.243069,39.887990 +3.7333333333333334,-1.647446,12.918193,13.992674,18.344094,39.887990 +3.7666666666666666,-1.647446,12.918193,14.334554,16.521079,39.887990 +3.8,-1.647446,12.918193,14.627595,14.774022,39.887990 +3.8333333333333335,-1.647446,12.918193,14.920635,13.254842,39.887990 +3.8666666666666667,-1.647446,12.918193,15.213675,11.887581,39.887990 +3.9,-1.647446,12.918193,15.409035,10.900114,39.887990 +3.933333333333333,-1.647446,12.918193,15.506716,10.292442,39.887990 +3.966666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.0,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.033333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.066666666666666,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.1,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.133333333333334,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.166666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.2,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.233333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.266666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.3,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.333333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.366666666666666,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.4,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.433333333333334,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.466666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.5,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.533333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.566666666666666,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.6,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.633333333333334,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.666666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.7,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.733333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.766666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.8,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.833333333333333,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.866666666666666,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.9,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.933333333333334,-1.647446,12.918193,15.555556,10.064565,39.887990 +4.966666666666667,-1.647446,12.918193,15.555556,10.064565,39.887990