diff --git a/multi_sessions_20251119_182048/collection_summary.txt b/multi_sessions_20251119_182048/collection_summary.txt deleted file mode 100644 index e2ec9b7640fec0896075a0c10cda0d6314d45cd4..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/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 18:20:49 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_182048 -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 18:20:50 CST - 输出目录: ./multi_sessions_20251119_182048/session_001 - 结束时间: 2025年 11月 19日 星期三 18:21:05 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182048/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:21:09 CST - 输出目录: ./multi_sessions_20251119_182048/session_002 - 结束时间: 2025年 11月 19日 星期三 18:21:22 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182048/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:21:26 CST - 输出目录: ./multi_sessions_20251119_182048/session_003 - 结束时间: 2025年 11月 19日 星期三 18:21:39 CST - 持续时间: 13秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182048/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:21:46 CST - 输出目录: ./multi_sessions_20251119_182048/session_004 - 结束时间: 2025年 11月 19日 星期三 18:22:00 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182048/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:22:03 CST - 输出目录: ./multi_sessions_20251119_182048/session_005 - 结束时间: 2025年 11月 19日 星期三 18:22:18 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182048/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:22:18 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_182048/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_182048/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_182048/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index aff84602be1aeeea8ad124e894760e2b9cfefff6..0000000000000000000000000000000000000000 --- 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a/multi_sessions_20251119_182048/session_001/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: 754 - 均值融合 (都低速): 754 - 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 18:21:02 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182048/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182048/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 6e649127ddc44ffdb0e18c10b177ad87dd422e98..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,755 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158247.35145497322,0.000691579905544,0.0015390453326496,0.0010831365892886,-0.0026719576794756,-0.0044738017117662,0.0035015242666373,0.9999802923399106 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0.032426209959780024 0.004247553206016783 0.9994118846232437 -158254.893456 0.027066971342019866 -0.002678680783082461 0.029931402375323712 0.010478235644446955 0.03229185607059484 0.004346695353701039 0.9994141027866265 -158254.895459 0.026940941182754682 -0.0025903798228585047 0.029655197162728637 0.010641509813172885 0.03216089451741621 0.004437845812889614 0.9994161999173701 diff --git a/multi_sessions_20251119_182048/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_182048/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index 38d705fbe3068575aa709cec98b054ff525a1a73..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/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: 158247.351455s - Vive 第一帧时间戳: 1763547653.237407s - 计算的 offset: -1763389405.885952s - 对齐公式: vive_aligned = vive_original + -1763389405.885952 - -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 18:21:02 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182048/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182048/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 98e37ed49cbb2e9a6eac338419b564fac6546af2..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,754 +0,0 @@ -158247.35145497322 -0.0005446216198735782 0.0016324277348512242 -0.00019248955895567754 -0.0021692303274327075 -0.0004972165235687527 0.0036283467577510726 0.9999909411166287 -158247.36171793938 -0.000514272590103268 0.0015563085728753554 -0.00018240718023466526 -0.002175339105093673 -0.0005063789400741055 0.0036188509925239535 0.9999909576579384 -158247.3715209961 -0.00041492390173615556 0.001580905081083765 -0.00026012004274164754 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-158271.989387000 87.62228351549781 -158271.996129000 87.62228351549781 -158271.999955000 87.62228351549781 diff --git a/multi_sessions_20251119_182048/session_002/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_182048/session_002/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 120c040513ba1cb2c8256246d5173860aa257ad7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/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: 758 - 均值融合 (都低速): 758 - 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 18:21:19 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182048/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182048/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index a8ffc468d9bfb47b1303a4962205d4a2b1572993..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,759 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158264.41945791245,0.000806673340349,0.0016711942727548,0.0010929309277861,-0.0028072079008664,-0.0045194581792052,0.0040577080535094,0.9999776142929 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b/multi_sessions_20251119_182048/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index 750fc4888cdc4e9121d21737f6515d78c9704acd..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/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: 158264.419458s - Vive 第一帧时间戳: 1763547670.297371s - 计算的 offset: -1763389405.877913s - 对齐公式: vive_aligned = vive_original + -1763389405.877913 - -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 18:21:19 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182048/session_002/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182048/session_002/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index a441b4284a96c389a72e59466999686e1bd6fadc..0000000000000000000000000000000000000000 --- 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31882c854d2151fab7794b08e434602e3b3919d2..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/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: 740 - 均值融合 (都低速): 740 - 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 18:21:36 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182048/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182048/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index d40ce633acf84f6bd9eb7631e8934b56d8e0c5fc..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,741 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158281.87545609474,0.0004046788594004,0.0015635009519717,0.0007505365522351,-0.0025701670957055,-0.004466404375287,0.0042605119896481,0.999977646505482 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deleted file mode 100644 index b7e22dc437ad7b24ab4b219ea8cf4cbec1b95386..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/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: 158281.875456s - Vive 第一帧时间戳: 1763547687.757400s - 计算的 offset: -1763389405.881944s - 对齐公式: vive_aligned = vive_original + -1763389405.881944 - -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 18:21:36 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182048/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182048/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 0ea6394f3a3b31bbf1f74ea2b4bdc7600742487d..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null 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b/multi_sessions_20251119_182048/session_004/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 7268244a694f5dd5f9408c3167ea9c3fdfe64545..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/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: 700 - 均值融合 (都低速): 700 - 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 18:21:57 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182048/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182048/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index dfd940b422fd9590339eebc1d44f679d883bd87b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,701 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158302.90745592117,0.0006248578042714,0.001894049251293,0.0007813672646445,-0.0026759221355254,-0.0044320488486989,0.0042546135596425,0.999977547071526 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a/multi_sessions_20251119_182048/session_004/Vive_Poses/offset_info.txt b/multi_sessions_20251119_182048/session_004/Vive_Poses/offset_info.txt deleted file mode 100644 index 76961cb891195c674dff5aaf548467b818598819..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/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: 158302.907456s - Vive 第一帧时间戳: 1763547708.787401s - 计算的 offset: -1763389405.879945s - 对齐公式: vive_aligned = vive_original + -1763389405.879945 - -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 18:21:57 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182048/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182048/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 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87.61319743423809 -158327.862689000 87.61319743423809 -158327.865623000 87.61319743423809 -158327.870052000 87.61319743423809 -158327.875148000 87.61319743423809 diff --git a/multi_sessions_20251119_182048/session_005/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_182048/session_005/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 6edc6250bcb47bd72c202ae425c56f7ba9fa65a9..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/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: 760 - 均值融合 (都低速): 760 - 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 18:22:15 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182048/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182048/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 12d687dc45f7128c4ab4adfcef045d7d502aa9ed..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,761 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158320.2774670124,0.000886127488732,0.0019486781606213,0.0007228991596838,-0.0027782263558494,-0.0043875811253633,0.003354801036296,0.9999808877674567 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0.00011791111430966565 -0.03176454639821241 -0.06460470154895566 0.9974052497489951 -158327.877456 -0.0023149111247763726 -0.022341548437209077 0.04030106326567587 0.0004152365156357412 -0.03176353994353892 -0.06460550274256732 0.9974051504400162 -158327.879455 -0.00244077697058398 -0.022382141676794233 0.04013714561076376 0.000685068185811785 -0.031810304201958496 -0.06459683126682408 0.9974040728904435 diff --git a/multi_sessions_20251119_182048/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_182048/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index 81a6d543e1603631719e29a6b28482273dbaaf85..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/session_005/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: 158320.277467s - Vive 第一帧时间戳: 1763547726.157325s - 计算的 offset: -1763389405.879858s - 对齐公式: vive_aligned = vive_original + -1763389405.879858 - -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 18:22:15 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182048/session_005/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182048/session_005/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index e20f8108b3795cea809a6d381f08deab77784612..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182048/session_005/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,761 +0,0 @@ -158320.2774670124 -0.0009320450241218636 0.0018951043060388786 -0.0005513476231723319 -0.0022755227273327976 -0.00014452621748084883 0.0034614068286055026 0.999991409848733 -158320.287586689 -0.0009327347438785466 0.0019131622878520247 -0.00052952416152498 -0.0022263865903508237 -0.00012316028050403244 0.0034625298487044455 0.9999915194247112 -158320.29758787155 -0.0009582881091380335 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