diff --git a/multi_sessions_20251119_183352/collection_summary.txt b/multi_sessions_20251119_183352/collection_summary.txt deleted file mode 100644 index 6a7f2ddc1debdc89a356e5e1972a8a35587acfc0..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/collection_summary.txt +++ /dev/null @@ -1,93 +0,0 @@ -======================================== -多会话XVisio数据采集摘要（Buffered版本） -======================================== -开始时间: 2025年 11月 19日 星期三 18:33:53 CST -设备模式: 单设备 -设备数量: 1 -计划会话数: 5 -会话间隔: 3秒 -摘要目录: ./multi_sessions_20251119_183352 -ToF模式: off -Python脚本: ./single_session_data_collector_buffered.py -配置文件: ../start_process/config.json -======================================== - -设备信息: - XV序列号: 250801DR48FP25002087 - Vive序列号: LHR_B728E669 - 设备标签: main - - -========================================== -会话 1 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:33:53 CST - 输出目录: ./multi_sessions_20251119_183352/session_001 - 结束时间: 2025年 11月 19日 星期三 18:34:11 CST - 持续时间: 18秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183352/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:34:16 CST - 输出目录: ./multi_sessions_20251119_183352/session_002 - 结束时间: 2025年 11月 19日 星期三 18:34:29 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183352/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:34:33 CST - 输出目录: ./multi_sessions_20251119_183352/session_003 - 结束时间: 2025年 11月 19日 星期三 18:34:47 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183352/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:34:52 CST - 输出目录: ./multi_sessions_20251119_183352/session_004 - 结束时间: 2025年 11月 19日 星期三 18:35:05 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183352/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:35:09 CST - 输出目录: ./multi_sessions_20251119_183352/session_005 - 结束时间: 2025年 11月 19日 星期三 18:35:25 CST - 持续时间: 16秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_183352/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:35:25 CST -成功会话数: 5 -失败会话数: 0 -总计划会话数: 5 -实际完成会话数: 5 -成功率: 100% - -数据目录结构: -./multi_sessions_20251119_183352/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_183352/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_183352/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 8fdf4edff4fd4d5852d226a55321babac659478d..0000000000000000000000000000000000000000 --- 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-============================================================ - -融合配置: - 速度阈值: 1.0 m/s - 融合频率: 120 Hz - 时间匹配阈值: 0.01 s - 基准传感器: VIVE (100Hz) - 辅助传感器: SLAM (500Hz) - -融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 774 - 均值融合 (都低速): 774 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:34:07 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183352/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183352/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 0aa9fac19255ccefdd989c1c4f6e7f0bd05860ac..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,775 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159032.58998799324,-0.0007569178712416,-0.0012497111959851,0.0005501062857996,0.0026531895971309,-0.0028552749541737,-0.0102062709833853,0.999940318230299 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-0.036246595464123774 0.04910767221077699 0.02791091942976249 0.023326067968698388 -0.02952252894006438 0.9989020449547032 -159040.335982 0.03072498581063391 -0.036008432052008224 0.04891779300927342 0.02757471280105111 0.02306386341981159 -0.02928296583843452 0.9989245223387986 diff --git a/multi_sessions_20251119_183352/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_183352/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index dd4640e681489710cc3ae13a38e20d3d13cfb418..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_001/Vive_Poses/offset_info.txt +++ /dev/null @@ -1,18 +0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 159032.589988s - Vive 第一帧时间戳: 1763548438.472510s - 计算的 offset: -1763389405.882522s - 对齐公式: vive_aligned = vive_original + -1763389405.882522 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:34:07 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183352/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183352/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 894442f155574188bc081a9bfaed76dd27be0f40..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,775 +0,0 @@ -159032.58998799324 -0.003337700126322285 -0.0024612719566450498 -0.0017945484436935558 0.008821993419956795 0.0015934232613081267 -0.019935261106679317 0.9997610808583304 -159032.59993553162 -0.003335802992565834 -0.002453411897146498 -0.0017804977493078625 0.008834212631346445 0.0015551711637889192 -0.01995158261170174 0.999760707610138 -159032.61000847816 -0.0033574300063196894 -0.00241804329146404 -0.0017516823242154774 0.008789763088307805 0.0015568331976659416 -0.019889925019785912 0.9997623253643605 -159032.61987614632 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100644 index 3d98c967424f1defd5780c8fcf5a53e614dd3b21..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_002/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -轨迹融合统计信息（基于速度的动态融合） -============================================================ - -融合配置: - 速度阈值: 1.0 m/s - 融合频率: 120 Hz - 时间匹配阈值: 0.01 s - 基准传感器: VIVE (100Hz) - 辅助传感器: SLAM (500Hz) - -融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 713 - 均值融合 (都低速): 713 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:34:26 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183352/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183352/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 3116abf90ff9414df5a320c7ba6c6be6047265e6..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,714 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159051.69198203087,-0.000400237966739,-0.002088189496694,0.0003717995667613,0.0024330844927194,-0.0028709050377011,-0.0132022173926015,0.9999057652899268 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a/multi_sessions_20251119_183352/session_002/Vive_Poses/offset_info.txt +++ /dev/null @@ -1,18 +0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 159051.691982s - Vive 第一帧时间戳: 1763548457.572451s - 计算的 offset: -1763389405.880469s - 对齐公式: vive_aligned = vive_original + -1763389405.880469 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:34:26 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183352/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183352/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index e5e7fb21be966ef92497a3c0ddb3a6dbcc7b6614..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_002/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,714 +0,0 @@ -159051.69198203087 -0.002860788965980715 -0.003717667345511038 -0.0016071897530644385 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86.86489397516688 -159076.773277000 86.87405811544221 -159076.780116000 86.86489397516688 -159076.783396000 86.87405811544221 -159076.788279000 86.86489397516688 -159076.793274000 86.87405811544221 -159076.798451000 86.87405811544221 -159076.803280000 86.87405811544221 -159076.808282000 86.87405811544221 -159076.814832000 86.87405811544221 diff --git a/multi_sessions_20251119_183352/session_003/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_183352/session_003/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 896769dedc5b58eab108f5863186fcdac7879f87..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_003/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -轨迹融合统计信息（基于速度的动态融合） -============================================================ - -融合配置: - 速度阈值: 1.0 m/s - 融合频率: 120 Hz - 时间匹配阈值: 0.01 s - 基准传感器: VIVE (100Hz) - 辅助传感器: SLAM (500Hz) - -融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 813 - 均值融合 (都低速): 813 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:34:44 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183352/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183352/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 821f8c5b98982945c54d1bcd639d00468bce093e..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,814 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159068.68197989464,-0.0010418825716437,-0.001833290821421,7.635676779398515e-05,0.0025927801916426,-0.0029866893553622,-0.0123901985353553,0.9999154165017294 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b/multi_sessions_20251119_183352/session_003/Vive_Poses/offset_info.txt deleted file mode 100644 index 4ed094f5b85f72441c85159ba3210730c7bffbb2..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_003/Vive_Poses/offset_info.txt +++ /dev/null @@ -1,18 +0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 159068.681980s - Vive 第一帧时间戳: 1763548474.562480s - 计算的 offset: -1763389405.880501s - 对齐公式: vive_aligned = vive_original + -1763389405.880501 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:34:44 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183352/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183352/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 4adf6adb5b32b0551af2feb17dda7b6bf2e2471e..0000000000000000000000000000000000000000 --- 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14d3028e96fb7be8005d65526bd13c6fcf9b474b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_004/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -轨迹融合统计信息（基于速度的动态融合） -============================================================ - -融合配置: - 速度阈值: 1.0 m/s - 融合频率: 120 Hz - 时间匹配阈值: 0.01 s - 基准传感器: VIVE (100Hz) - 辅助传感器: SLAM (500Hz) - -融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 706 - 均值融合 (都低速): 706 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:35:02 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183352/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183352/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 784579fed82ec978628bd33ebff994f8db0bab97..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,707 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159087.88997793198,-0.0007174796882711,-0.0013075264309869,0.0004774092933813,0.002635462499666,-0.0028301568341881,-0.0105100497932287,0.9999372897352368 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0.13873332184395004 -0.029271251277020648 0.9895712154479814 -159094.953982 0.07481934862810564 -0.03908829572451218 0.0381920016577875 -0.025436690359427406 0.13826234637203325 -0.029040898130447704 0.9896429278255039 -159094.955989 0.0745451902484053 -0.038639840700964136 0.03797038110988036 -0.025477759664991544 0.13779047082605478 -0.0288117833795762 0.9897143785206294 diff --git a/multi_sessions_20251119_183352/session_004/Vive_Poses/offset_info.txt b/multi_sessions_20251119_183352/session_004/Vive_Poses/offset_info.txt deleted file mode 100644 index dbe9d46683af1c7a92c803736561a148553ac414..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_004/Vive_Poses/offset_info.txt +++ /dev/null @@ -1,18 +0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 159087.889978s - Vive 第一帧时间戳: 1763548493.772442s - 计算的 offset: -1763389405.882464s - 对齐公式: vive_aligned = vive_original + -1763389405.882464 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:35:02 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183352/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183352/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 3d0f51467d725f024c42fb77003471daefea3225..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,707 +0,0 @@ -159087.88997793198 -0.0033940543974506215 -0.0028744626484328815 -0.0018452266997497704 0.008675041177749929 0.0015829062085919953 -0.02018106462868885 0.9997574519346939 -159087.8999428749 -0.003310549203898769 -0.0028041539366804287 -0.0017557607728467587 0.008713338019347795 0.001622554357713775 -0.02020980342337405 0.999756474799491 -159087.9100549221 -0.003341045440287113 -0.0027745043188667716 -0.0017599014026401594 0.008761826470091737 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83065aa0d232b7385f4fc19c8102b85749c370e7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_005/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -轨迹融合统计信息（基于速度的动态融合） -============================================================ - -融合配置: - 速度阈值: 1.0 m/s - 融合频率: 120 Hz - 时间匹配阈值: 0.01 s - 基准传感器: VIVE (100Hz) - 辅助传感器: SLAM (500Hz) - -融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 916 - 均值融合 (都低速): 916 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:35:21 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183352/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_183352/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index f3c5dd3fb3094f4b7401b16a9341de7855539756..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,917 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -159104.38798189163,-0.0010640541692787,-0.0017358949301884,0.0002116315792745,0.002501870225618,-0.0031134070993326,-0.0123194695551062,0.9999161354891164 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时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 159104.387982s - Vive 第一帧时间戳: 1763548510.272443s - 计算的 offset: -1763389405.884461s - 对齐公式: vive_aligned = vive_original + -1763389405.884461 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:35:21 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_183352/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_183352/session_005/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 8360c620b0aae0a9033d1ce6b94756bd4542f4fc..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_183352/session_005/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,917 +0,0 @@ -159104.38798189163 -0.0038199636567970985 -0.00340382988574698 -0.0020445153490429584 0.008522523678306112 0.0011642151135725137 -0.02194563697232848 0.9997221615084868 -159104.39807653427 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