data.csv

sample_id,task,joint_1,joint_2,joint_3,joint_4,joint_5,joint_6,torque_1,torque_2,torque_3,torque_4,torque_5,torque_6
0,reach,2.929,2.017,-1.857,-1.972,-2.352,-2.272,0.414,0.19,0.458,0.411,0.278,0.348
1,reach,0.766,-0.657,1.685,-0.47,-0.267,0.111,0.535,0.323,0.129,0.333,0.309,0.802
2,move,-0.973,-2.473,-0.051,1.687,-1.749,-1.448,0.083,1.436,0.066,0.257,0.778,0.048
3,move,0.987,1.46,-0.909,2.014,-2.861,1.605,0.093,0.194,0.519,0.095,0.061,0.343
4,place,-0.221,0.236,3.111,-0.634,0.725,-0.847,0.15,0.357,0.834,0.235,0.439,0.028
5,place,-2.934,-3.134,-2.646,1.652,0.531,-2.902,0.201,0.373,0.61,0.816,0.119,0.044
6,reach,1.79,-1.885,-2.319,1.105,0.376,1.82,0.403,0.294,1.289,0.229,0.036,0.529
7,move,-2.619,-1.298,2.374,1.664,-3.002,0.011,0.096,0.314,0.384,0.596,0.194,1.558
8,reach,1.832,-0.153,0.23,1.704,1.013,-0.57,0.677,0.053,1.622,0.038,0.005,0.662
9,place,-0.889,-2.398,3.119,1.805,-0.573,2.032,0.342,0.468,0.507,0.027,0.293,0.002
10,move,0.917,2.971,-2.791,0.465,2.281,-0.117,0.025,0.247,0.121,0.051,0.567,0.221
11,reach,1.04,3.005,1.435,0.903,-1.036,-2.925,0.102,0.439,0.069,0.374,0.26,0.057
12,move,-2.583,-2.776,-0.803,1.386,0.344,-0.485,0.25,0.136,0.825,0.017,0.336,0.666
13,move,-2.008,0.33,-1.788,-1.883,3.082,1.896,0.414,0.474,1.041,0.255,0.075,0.595
14,reach,-2.996,-0.798,-2.207,0.367,2.622,-0.682,0.559,0.0,0.055,0.009,0.119,0.716
15,grasp,1.597,-0.179,-2.2,-1.483,2.814,-0.835,0.715,0.109,0.235,0.006,0.221,0.304
16,place,-2.564,-0.345,3.138,2.106,2.472,2.031,0.033,0.077,0.001,0.109,0.034,0.192
17,reach,-2.622,2.036,1.113,-1.892,-2.641,2.118,0.025,0.029,0.167,0.043,0.735,0.191
18,reach,0.078,1.085,-0.709,-1.563,-2.097,-0.946,0.406,0.424,0.33,0.08,0.266,0.254
19,grasp,2.246,-3.14,-0.864,1.493,0.627,-2.026,0.109,0.123,0.252,0.534,0.809,0.416
20,place,-1.971,-0.092,2.075,2.831,0.844,-0.918,0.277,0.112,0.722,0.613,0.245,0.118
21,grasp,1.102,-1.108,-2.641,0.524,2.814,-0.094,0.71,0.541,0.048,0.369,0.172,0.086
22,place,-0.794,-1.05,-2.035,0.674,-0.147,2.298,0.01,0.31,0.432,0.427,0.652,0.392
23,move,-0.063,-2.939,0.783,-0.523,0.378,-0.444,1.015,0.278,0.415,0.826,0.269,0.004
24,place,-2.186,2.59,2.468,0.967,1.082,-3.108,1.257,0.631,0.676,0.323,0.127,0.672
25,reach,1.696,2.304,0.121,3.099,-3.069,-1.259,0.293,0.19,0.037,0.138,0.008,0.309
26,reach,1.947,-0.25,2.537,-0.566,0.157,-0.144,0.178,0.448,0.224,0.114,0.09,0.012
27,reach,0.682,1.274,-0.297,-1.613,2.371,1.526,0.69,0.512,1.393,0.064,0.027,0.123
28,place,-1.419,-1.868,-0.363,-2.784,3.006,0.556,0.244,0.32,0.206,0.01,0.284,0.378
29,grasp,-2.745,-2.464,0.944,-1.178,-0.955,-0.083,1.153,1.01,0.161,0.093,0.108,0.094
30,grasp,2.966,0.739,3.025,-1.019,1.276,-1.743,0.091,0.215,0.116,0.055,0.092,0.011
31,place,-2.989,0.786,-1.555,1.062,1.552,2.613,0.952,0.003,1.393,0.345,0.309,0.005
32,place,2.018,-0.044,2.179,0.633,1.142,3.101,0.079,0.293,0.185,0.012,0.004,0.038
33,move,1.122,-2.732,-1.21,-1.332,2.608,2.311,0.139,0.022,0.674,0.657,0.579,0.559
34,reach,2.442,-1.632,-1.381,-2.808,1.857,-0.521,0.078,0.079,0.695,0.539,0.242,0.287
35,move,-0.556,0.118,-2.93,1.096,-0.599,-0.343,0.621,0.186,0.006,0.077,0.194,0.166
36,place,-2.734,1.65,-0.456,0.796,1.43,1.127,0.191,0.147,0.141,0.307,0.205,0.567
37,move,-3.057,-0.485,-1.963,-3.006,0.126,1.131,0.027,0.185,0.408,1.276,0.33,0.084
38,grasp,0.134,-2.06,-1.223,-1.122,-2.139,-1.852,0.466,0.055,0.009,0.298,1.119,0.121
39,move,2.496,2.456,2.994,1.258,0.014,-2.097,0.367,0.103,0.1,0.082,0.624,0.607
40,reach,0.287,1.299,1.825,-1.924,-1.497,0.079,0.12,0.591,0.193,0.482,0.261,0.445
41,grasp,-0.508,-3.035,-0.848,-1.422,0.038,-1.028,0.389,0.214,0.042,0.416,0.031,0.548
42,grasp,1.251,-1.553,-2.887,-0.61,2.735,-3.068,0.266,0.209,0.62,0.026,0.343,0.342
43,reach,1.341,2.678,-2.586,2.855,2.647,-2.802,0.134,0.503,0.284,0.453,0.381,0.206
44,move,-0.124,0.777,2.075,-0.877,-0.437,-0.569,0.141,0.779,0.53,0.035,0.034,0.168
45,place,2.862,1.054,-2.769,0.99,2.407,0.484,0.131,0.516,0.458,0.236,0.05,0.087
46,place,2.584,2.015,-2.338,3.128,-1.517,1.409,0.716,0.081,0.717,0.111,1.124,0.099
47,reach,-1.93,-0.695,2.767,-0.458,0.344,-2.637,0.468,0.165,0.484,0.088,0.165,0.463
48,move,-1.619,-0.54,-1.679,-0.054,2.34,1.332,0.26,0.028,0.355,0.055,0.463,0.086
49,grasp,1.763,-1.339,-0.613,1.505,2.944,-0.28,0.531,1.107,0.62,0.077,0.002,0.203
50,move,0.492,1.189,-2.47,2.018,-0.405,-2.687,0.463,0.142,0.032,0.301,0.636,0.656
51,place,1.743,-0.735,-1.066,-0.326,-0.967,-1.016,0.495,0.04,1.058,0.243,0.061,0.042
52,place,-0.041,-2.021,0.082,1.973,1.74,1.813,0.369,0.088,0.594,0.672,0.065,0.042
53,reach,-1.197,0.434,-1.596,-0.018,1.944,-0.185,0.893,0.564,0.122,0.153,0.165,0.295
54,move,-2.062,-1.39,-2.143,-1.912,2.972,-2.18,0.094,0.268,0.283,0.05,0.474,0.461
55,reach,-2.687,-1.286,-1.926,0.338,-0.736,-2.153,0.309,0.231,0.096,0.196,0.411,0.069
56,grasp,2.139,-1.108,2.128,-2.491,2.122,-2.182,0.026,0.308,0.192,0.715,0.135,0.102
57,place,-0.421,-2.236,2.028,2.708,0.776,-0.982,0.05,0.092,0.088,0.285,0.87,0.015
58,grasp,1.438,2.843,2.105,2.532,1.976,-0.257,0.087,0.139,0.006,0.223,0.211,0.223
59,reach,-3.036,0.127,1.232,2.778,-2.016,-2.493,0.016,0.172,0.293,0.551,0.344,0.07
60,grasp,-0.406,-1.29,-2.827,-0.08,-0.908,-1.561,0.356,0.44,0.084,0.015,0.567,0.003
61,grasp,1.976,0.211,-2.255,-2.981,1.864,0.629,0.372,0.109,0.214,0.413,0.186,0.276
62,grasp,-2.908,-2.976,1.502,-1.143,1.862,-0.429,0.181,0.216,0.375,0.096,0.039,0.244
63,place,1.247,1.761,-1.067,-1.117,0.363,2.27,0.076,0.85,0.274,1.453,0.028,0.041
64,grasp,1.66,0.519,-2.695,2.464,-2.948,1.561,0.427,0.918,0.017,0.273,0.168,0.12
65,place,2.888,0.579,2.008,2.044,-2.724,-2.068,0.112,0.116,0.323,0.293,0.205,0.071
66,place,-0.406,-0.616,0.476,0.524,1.571,0.062,0.033,0.586,0.111,1.065,0.038,0.953
67,grasp,2.771,0.133,3.124,0.156,0.276,-0.68,0.111,0.087,0.126,0.185,0.064,0.076
68,move,2.519,2.994,2.525,-2.341,2.034,-0.567,1.407,0.192,0.242,0.226,0.116,0.023
69,grasp,-1.728,2.374,-0.114,0.396,0.589,0.877,0.205,0.005,0.122,0.061,0.342,0.018
70,move,-1.925,-1.832,1.014,2.584,-0.605,-1.836,0.314,0.615,0.414,0.609,0.231,0.418
71,place,2.705,0.591,1.891,-0.646,-1.808,2.584,0.812,0.206,0.002,0.035,0.255,0.007
72,place,0.965,2.125,0.158,-1.833,0.155,0.346,0.407,0.074,0.138,0.136,0.961,0.176
73,place,1.365,1.663,-2.087,-0.506,-0.094,-1.531,0.226,0.103,0.349,0.191,0.184,1.234
74,place,2.744,2.054,2.164,0.434,-0.739,2.73,0.17,0.232,0.177,0.25,0.191,0.015
75,reach,0.078,1.333,-0.486,0.952,-1.514,-2.703,0.16,0.186,0.089,0.39,0.023,0.076
76,move,1.708,2.356,0.717,-1.959,-1.349,-0.151,0.926,0.085,0.395,0.174,0.106,0.183
77,reach,2.179,-1.203,3.091,-2.899,-2.336,-1.73,0.5,0.632,0.022,0.01,0.409,0.043
78,move,-1.983,-0.358,-2.1,3.029,-2.537,0.561,0.295,0.232,0.326,0.037,0.243,0.102
79,grasp,-2.285,2.5,-1.617,-0.923,2.829,0.493,0.137,0.896,0.12,0.03,1.728,0.094
80,move,-0.662,-0.801,-0.278,-2.029,0.842,-0.854,0.574,0.424,0.283,0.136,0.071,0.449
81,place,-2.23,-0.05,-0.666,0.699,-2.862,1.584,0.025,0.321,0.006,0.535,0.058,0.217
82,move,-0.462,0.667,0.363,0.951,-2.174,0.921,0.061,0.417,0.124,0.371,0.015,0.157
83,move,1.506,-1.557,-1.505,0.916,-2.403,2.817,0.076,2.375,0.205,0.443,0.001,0.659
84,move,-3.105,-1.251,1.564,1.848,-1.869,2.884,0.209,0.747,0.368,0.385,0.027,0.075
85,move,2.497,2.279,0.057,-0.419,-0.774,1.302,0.334,0.066,0.334,0.087,0.006,0.36
86,grasp,-0.935,2.119,-2.722,2.779,3.056,-2.585,0.103,0.14,0.449,0.272,0.31,0.425
87,place,-1.532,-1.542,2.82,0.851,-2.162,1.396,0.384,0.329,0.043,0.157,0.034,0.509
88,grasp,0.039,-2.981,2.669,2.211,0.152,-1.703,0.039,0.135,0.088,0.212,1.018,0.257
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90,place,0.006,-0.786,0.791,1.845,-1.379,0.357,0.37,0.043,0.505,0.28,0.896,0.124
91,reach,1.086,-0.424,1.99,-1.908,-1.853,0.916,0.561,0.192,0.389,2.192,1.39,0.409
92,reach,-1.231,-0.316,0.275,-2.512,2.715,-0.788,0.025,0.147,0.275,0.216,0.356,0.017
93,move,-1.669,1.455,-1.527,-2.041,1.198,2.154,0.197,0.227,0.108,0.205,0.042,0.936
94,place,0.09,0.558,1.821,0.982,0.683,-0.554,0.193,0.161,0.554,0.078,0.002,0.316
95,move,-1.295,-1.546,0.754,0.224,-2.763,-2.63,0.309,0.188,1.062,0.34,0.003,0.197
96,move,-1.792,2.102,-0.501,0.484,2.343,2.285,0.139,0.07,0.448,0.17,0.064,0.704
97,move,2.251,-0.121,-3.123,-1.616,-1.107,2.928,0.728,0.894,0.524,0.13,0.709,1.2
98,place,-2.064,1.706,-1.738,-2.634,2.356,2.254,0.155,0.364,0.244,0.575,0.114,0.222
99,move,2.495,2.678,-0.761,-2.051,2.594,-2.56,0.384,0.045,0.148,0.159,0.052,0.768
100,grasp,-0.326,2.749,1.487,-0.264,0.436,1.21,0.269,0.633,0.132,0.107,0.072,0.012
101,place,0.448,-1.547,1.894,-2.7,1.187,-2.042,0.272,0.542,0.422,0.419,0.219,0.664
102,place,0.208,-2.275,0.573,-1.164,-2.813,2.819,0.308,0.628,0.338,0.132,0.216,0.338
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104,reach,0.418,-2.203,-0.194,2.081,-3.044,-1.427,0.001,0.161,0.391,0.481,0.871,0.281
105,move,0.188,-2.708,2.943,2.433,-1.513,-2.373,0.856,0.185,0.112,0.202,0.445,0.055
106,reach,-2.997,-2.304,0.972,1.899,3.067,-0.965,0.274,0.83,0.055,0.379,0.422,0.028
107,grasp,1.386,-2.837,0.95,-1.75,-2.627,-1.252,0.076,0.241,0.133,1.014,0.994,0.176
108,place,0.195,-0.577,-1.421,-2.316,2.005,3.117,0.12,0.144,0.289,0.38,0.149,0.706
109,grasp,-2.48,1.69,1.185,1.518,1.473,-0.185,0.071,0.231,0.951,0.266,0.003,0.018
110,move,-1.429,2.356,1.675,-0.866,1.471,-2.488,0.467,0.228,0.104,0.32,0.308,0.071
111,move,2.847,-0.481,-2.058,1.984,-0.608,2.737,0.898,0.037,0.941,0.138,0.312,0.011
112,place,1.398,2.108,-0.634,-0.327,2.207,1.732,0.102,0.117,0.341,0.248,0.053,0.111
113,place,1.009,-0.851,1.798,-2.378,-2.41,-1.857,0.026,0.29,0.048,0.052,0.004,0.457
114,reach,-3.001,0.688,-0.83,-0.53,2.086,-1.195,0.86,0.059,0.326,0.335,0.087,0.118
115,move,-3.067,-0.009,-0.942,0.505,-1.725,-2.734,0.295,0.162,0.292,0.071,0.124,0.247
116,grasp,0.343,0.63,2.997,0.893,-2.948,1.406,0.708,0.476,0.263,0.334,1.387,0.029
117,grasp,2.632,1.167,1.536,2.101,-0.932,-2.747,0.292,0.063,0.253,0.404,0.459,0.108
118,grasp,-1.714,-0.694,0.669,1.604,2.524,2.61,0.45,0.078,0.008,0.145,0.046,0.372
119,grasp,-1.413,2.104,-1.295,-2.784,-2.812,-0.456,0.806,0.101,0.167,0.032,0.204,0.358
120,place,-0.48,1.273,2.782,-1.464,-0.376,1.86,0.282,0.035,0.296,0.062,0.214,0.226
121,place,0.275,1.074,-3.02,0.013,0.555,-0.984,0.331,0.078,0.115,0.987,0.128,0.128
122,grasp,0.338,1.369,2.495,2.524,-1.078,2.843,0.008,0.142,0.678,0.096,0.096,0.108
123,move,-1.017,-1.565,0.589,-1.834,-1.107,0.858,0.64,0.228,0.427,0.432,0.328,0.085
124,place,-1.256,-1.372,0.655,1.99,1.642,-1.492,0.084,1.013,0.002,0.635,0.067,0.883
125,grasp,-2.844,0.708,-1.724,2.543,-0.156,-1.735,0.575,0.088,0.11,0.539,0.111,0.158
126,grasp,-0.422,-1.9,0.305,-2.412,-2.996,-2.82,0.925,0.046,0.37,0.021,0.034,0.213
127,move,-2.774,-2.246,2.126,1.453,1.033,-2.321,0.306,0.444,0.591,0.004,0.346,0.006
128,grasp,-1.17,-0.361,-2.421,2.117,-2.968,2.099,0.045,0.653,0.393,0.054,0.25,0.112
129,place,0.567,1.527,2.619,2.204,0.063,1.376,0.484,0.204,0.037,0.173,0.554,0.272
130,reach,-0.674,-3.114,-1.421,0.613,1.88,-2.303,0.035,0.766,0.417,0.267,0.44,0.168
131,place,-1.933,1.586,2.746,-2.592,0.364,-1.546,0.045,0.074,0.259,0.02,0.171,0.044
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134,move,-2.216,-0.298,2.395,-0.495,2.134,0.567,0.064,0.261,0.212,0.153,0.038,0.162
135,move,2.028,1.102,-2.59,1.15,0.506,0.594,0.103,0.093,0.431,0.089,0.177,0.356
136,reach,-0.848,-2.512,1.091,-3.093,-0.155,-1.93,0.296,1.165,0.187,0.51,0.213,0.205
137,grasp,-1.054,2.518,-2.52,-2.406,-1.261,2.889,0.301,0.242,0.367,0.162,0.426,0.15
138,grasp,-2.047,0.766,-2.985,-0.631,3.053,-2.509,0.165,0.11,0.706,0.611,0.081,0.025
139,reach,-0.676,-1.387,2.711,1.152,-1.493,0.911,0.566,0.154,0.532,0.05,0.519,0.233
140,grasp,-1.994,0.69,1.421,-1.166,2.067,0.65,0.148,0.245,0.258,0.054,0.155,0.126
141,grasp,0.462,2.785,1.401,1.19,2.942,1.878,0.044,0.128,1.007,0.202,0.036,0.184
142,reach,-1.204,2.416,1.107,-1.0,0.274,2.14,0.645,0.052,0.124,0.122,0.013,0.274
143,grasp,-0.871,-0.648,-2.048,-0.766,1.91,1.885,0.824,0.155,0.37,0.212,0.489,0.374
144,grasp,1.611,-2.447,2.126,0.349,1.194,2.962,0.026,0.694,0.04,0.15,0.572,0.71
145,grasp,0.294,1.531,-1.011,-0.301,-2.501,-2.683,0.186,0.108,0.285,0.013,0.039,0.601
146,place,-2.009,1.408,1.962,1.125,0.672,0.407,0.592,0.517,0.039,0.566,0.16,0.088
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