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1 Parent(s): 9daf29f

Add motion_data.csv from DI iOS app

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  1. data/ep_20260321_014944_001/motion_data.csv +356 -0
data/ep_20260321_014944_001/motion_data.csv ADDED
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1
+ # Episode: Episode1_Sat_Mar_21_01-49
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+ # Task: Test 01:50 AM
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+
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+ # Trim: 20-367
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+ # Camera pose: world frame (metres / degrees)
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+ # Hand positions: camera frame (metres)
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+ # Per-joint positions: wrist, thumb_tip, index_finger_tip (PI-compatible)
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+ frame_id,timestamp_s,cam_x_m,cam_y_m,cam_z_m,cam_yaw_deg,cam_pitch_deg,cam_roll_deg,left_x_m,left_y_m,left_z_m,right_x_m,right_y_m,right_z_m,l_wrist_x_m,l_wrist_y_m,l_wrist_z_m,l_thumb_tip_x_m,l_thumb_tip_y_m,l_thumb_tip_z_m,l_index_finger_tip_x_m,l_index_finger_tip_y_m,l_index_finger_tip_z_m,r_wrist_x_m,r_wrist_y_m,r_wrist_z_m,r_thumb_tip_x_m,r_thumb_tip_y_m,r_thumb_tip_z_m,r_index_finger_tip_x_m,r_index_finger_tip_y_m,r_index_finger_tip_z_m,motion_type,actor,target
9
+ 20,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
10
+ 21,82172.8159,3.1019,-0.1433,-0.2484,-99.23,-16.05,41.98,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
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+ 22,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
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+ 23,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
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+ 26,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
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+ 30,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
20
+ 31,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
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33
+ 44,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
34
+ 45,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
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+ 50,,,,,,,,0.0835,-0.0727,0.4757,,,,,,,0.1341,0.0027,0.5728,0.0860,0.0078,0.5328,,,,,,,,,,reach,left_hand,cup
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+ 51,,,,,,,,0.0815,-0.0700,0.4736,,,,,,,0.1358,0.0042,0.5739,0.0818,0.0095,0.5152,,,,,,,,,,reach,left_hand,cup
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146
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147
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148
+ 159,82175.1195,-0.2909,0.0412,0.6633,-102.56,-20.81,57.97,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
149
+ 160,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
150
+ 161,82175.1528,-0.2869,0.0415,0.6613,-102.75,-20.76,57.97,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
151
+ 162,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
152
+ 163,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
153
+ 164,82175.2029,-0.2802,0.0423,0.6589,-102.95,-20.78,58.01,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
154
+ 165,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
155
+ 166,82175.2363,-0.2780,0.0426,0.6580,-102.99,-20.82,57.98,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
156
+ 167,82175.2530,-0.2734,0.0432,0.6560,-103.07,-20.90,57.93,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
157
+ 168,82175.2697,-0.2711,0.0435,0.6551,-103.14,-20.92,57.99,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
158
+ 169,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
159
+ 170,82175.3031,-0.2664,0.0440,0.6533,-103.28,-20.95,58.07,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
160
+ 171,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
161
+ 172,82175.3365,-0.2617,0.0443,0.6514,-103.45,-20.99,58.12,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
162
+ 173,82175.3532,-0.2571,0.0445,0.6497,-103.66,-20.97,58.17,0.0782,-0.0401,0.2087,,,,0.0830,-0.0777,0.2188,-0.0195,-0.0058,0.2416,0.1190,0.2300,0.7191,,,,,,,,,,reach,left_hand,cup
163
+ 174,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
164
+ 175,82175.3865,-0.2550,0.0445,0.6489,-103.73,-20.92,58.21,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
165
+ 176,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
166
+ 177,82175.4199,-0.2510,0.0446,0.6476,-103.81,-20.77,58.36,,,,0.0721,-0.0357,0.2316,,,,,,,,,,0.0804,-0.0882,0.2476,-0.0254,-0.0103,0.2729,0.0875,0.1930,0.7155,reach,left_hand,cup
167
+ 178,,,,,,,,,,,0.0713,-0.0361,0.2354,,,,,,,,,,0.0797,-0.0886,0.2510,-0.0258,-0.0111,0.2768,0.0811,0.1798,0.6787,reach,left_hand,cup
168
+ 179,82175.4533,-0.2473,0.0444,0.6461,-103.88,-20.65,58.59,,,,0.0704,-0.0366,0.2398,,,,,,,,,,0.0788,-0.0891,0.2549,-0.0263,-0.0121,0.2814,0.0737,0.1645,0.6360,reach,left_hand,cup
169
+ 180,,,,,,,,,,,0.0696,-0.0370,0.2441,,,,,,,,,,0.0780,-0.0895,0.2589,-0.0269,-0.0131,0.2859,0.0662,0.1492,0.5933,reach,left_hand,cup
170
+ 181,82175.4867,-0.2424,0.0440,0.6438,-103.85,-20.44,58.84,,,,0.0688,-0.0374,0.2479,,,,,,,,,,0.0772,-0.0899,0.2623,-0.0273,-0.0139,0.2899,0.0598,0.1360,0.5565,reach,left_hand,cup
171
+ 182,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
172
+ 183,82175.5201,-0.2408,0.0439,0.6431,-103.84,-20.35,58.98,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
173
+ 184,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
174
+ 185,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
175
+ 186,82175.5702,-0.2359,0.0434,0.6405,-103.80,-20.15,59.29,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
176
+ 187,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
177
+ 188,82175.6036,-0.2324,0.0431,0.6386,-103.78,-20.04,59.48,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
178
+ 189,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
179
+ 190,82175.6369,-0.2286,0.0428,0.6365,-103.83,-19.93,59.69,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
180
+ 191,82175.6536,-0.2267,0.0428,0.6354,-103.84,-19.90,59.76,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
181
+ 192,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
182
+ 193,82175.6870,-0.2207,0.0425,0.6318,-103.87,-19.80,60.02,0.0549,-0.0479,0.3429,,,,0.0630,-0.1018,0.3500,-0.0357,-0.0300,0.3977,0.0288,0.0700,0.4694,,,,,,,,,,reach,left_hand,cup
183
+ 194,,,,,,,,0.0547,-0.0482,0.3456,,,,0.0627,-0.1021,0.3525,-0.0360,-0.0304,0.4006,,,,,,,,,,,,,reach,left_hand,cup
184
+ 195,82175.7204,-0.2187,0.0424,0.6305,-103.88,-19.80,60.09,0.0543,-0.0486,0.3492,,,,0.0622,-0.1026,0.3558,-0.0363,-0.0309,0.4046,,,,,,,,,,,,,reach,left_hand,cup
185
+ 196,82175.7371,-0.2167,0.0424,0.6292,-103.88,-19.77,60.14,0.0539,-0.0492,0.3536,,,,0.0617,-0.1031,0.3600,-0.0368,-0.0315,0.4094,,,,,,,,,,,,,reach,left_hand,cup
186
+ 197,,,,,,,,0.0534,-0.0498,0.3586,,,,0.0612,-0.1037,0.3646,-0.0372,-0.0323,0.4149,,,,,,,,,,,,,reach,left_hand,cup
187
+ 198,82175.7705,-0.2126,0.0422,0.6266,-103.92,-19.73,60.35,0.0529,-0.0505,0.3636,,,,0.0606,-0.1044,0.3693,-0.0377,-0.0330,0.4203,,,,,,,,,,,,,reach,left_hand,cup
188
+ 199,82175.7872,-0.2106,0.0420,0.6253,-103.93,-19.69,60.44,0.0525,-0.0511,0.3685,,,,0.0600,-0.1050,0.3739,-0.0381,-0.0337,0.4257,,,,,,,,,,,,,reach,left_hand,cup
189
+ 200,,,,,,,,0.0520,-0.0517,0.3734,,,,0.0595,-0.1055,0.3785,-0.0385,-0.0342,0.4309,,,,,,,,,,,,,reach,left_hand,cup
190
+ 201,82175.8206,-0.2065,0.0417,0.6228,-103.93,-19.59,60.64,0.0516,-0.0522,0.3780,,,,0.0589,-0.1057,0.3828,-0.0387,-0.0345,0.4358,,,,,,,,,,,,,reach,left_hand,cup
191
+ 202,,,,,,,,0.0513,-0.0525,0.3824,,,,0.0584,-0.1058,0.3870,-0.0387,-0.0346,0.4401,,,,,,,,,,,,,reach,left_hand,cup
192
+ 203,82175.8539,-0.2023,0.0414,0.6203,-103.93,-19.50,60.81,0.0510,-0.0528,0.3865,,,,0.0579,-0.1056,0.3910,-0.0386,-0.0344,0.4440,,,,,,,,,,,,,reach,left_hand,cup
193
+ 204,,,,,,,,0.0507,-0.0530,0.3905,,,,0.0575,-0.1054,0.3950,-0.0384,-0.0340,0.4477,,,,,,,,,,,,,reach,left_hand,cup
194
+ 205,82175.8873,-0.1958,0.0407,0.6165,-103.99,-19.34,61.10,0.0506,-0.0532,0.3944,,,,0.0570,-0.1054,0.3989,-0.0382,-0.0337,0.4514,0.0235,0.0605,0.4719,,,,,,,,,,reach,left_hand,cup
195
+ 206,,,,,,,,0.0505,-0.0535,0.3982,,,,0.0566,-0.1054,0.4029,-0.0379,-0.0333,0.4550,0.0240,0.0603,0.4721,,,,,,,,,,reach,left_hand,cup
196
+ 207,82175.9207,-0.1936,0.0405,0.6152,-104.02,-19.27,61.23,0.0505,-0.0538,0.4020,,,,0.0563,-0.1056,0.4068,-0.0377,-0.0329,0.4587,0.0247,0.0601,0.4724,,,,,,,,,,reach,left_hand,cup
197
+ 208,,,,,,,,0.0504,-0.0540,0.4057,,,,0.0560,-0.1059,0.4106,-0.0375,-0.0326,0.4623,0.0254,0.0599,0.4729,,,,,,,,,,reach,left_hand,cup
198
+ 209,82175.9541,-0.1220,0.0457,0.2156,-85.09,-14.13,12.42,0.0504,-0.0540,0.4092,,,,0.0557,-0.1063,0.4141,-0.0374,-0.0321,0.4658,0.0261,0.0599,0.4734,,,,,,,,,,reach,left_hand,cup
199
+ 210,,,,,,,,0.0503,-0.0538,0.4125,,,,0.0555,-0.1066,0.4173,-0.0373,-0.0317,0.4692,0.0265,0.0603,0.4740,,,,,,,,,,reach,left_hand,cup
200
+ 211,82175.9875,-0.0999,0.0466,0.0929,-81.59,-12.20,-2.60,0.0502,-0.0535,0.4156,,,,0.0552,-0.1070,0.4202,-0.0374,-0.0313,0.4725,0.0266,0.0608,0.4746,,,,,,,,,,reach,left_hand,cup
201
+ 212,,,,,,,,0.0500,-0.0531,0.4184,,,,0.0549,-0.1072,0.4228,-0.0375,-0.0308,0.4755,0.0266,0.0614,0.4753,,,,,,,,,,reach,left_hand,cup
202
+ 213,82176.0209,-0.0903,0.0470,0.0427,-80.35,-11.10,-8.63,0.0495,-0.0529,0.4207,,,,0.0543,-0.1073,0.4250,-0.0378,-0.0304,0.4782,0.0262,0.0619,0.4760,,,,,,,,,,reach,left_hand,cup
203
+ 214,,,,,,,,0.0488,-0.0529,0.4225,,,,0.0535,-0.1072,0.4267,-0.0382,-0.0300,0.4803,0.0255,0.0621,0.4767,,,,,,,,,,reach,left_hand,cup
204
+ 215,82176.0543,-0.0891,0.0469,0.0379,-80.24,-10.95,-9.25,0.0479,-0.0530,0.4238,,,,0.0524,-0.1070,0.4280,-0.0386,-0.0297,0.4819,0.0244,0.0621,0.4773,,,,,,,,,,reach,left_hand,cup
205
+ 216,,,,,,,,0.0466,-0.0532,0.4246,,,,0.0510,-0.1066,0.4288,-0.0390,-0.0295,0.4831,0.0230,0.0619,0.4778,,,,,,,,,,reach,left_hand,cup
206
+ 217,82176.0876,-0.0888,0.0468,0.0369,-80.21,-10.91,-9.66,0.0448,-0.0533,0.4248,,,,0.0491,-0.1063,0.4291,-0.0394,-0.0293,0.4839,0.0212,0.0616,0.4779,,,,,,,,,,reach,left_hand,cup
207
+ 218,,,,,,,,0.0425,-0.0533,0.4245,,,,0.0469,-0.1060,0.4288,,,,0.0190,0.0611,0.4777,,,,,,,,,,reach,left_hand,cup
208
+ 219,82176.1210,-0.0885,0.0467,0.0368,-80.25,-10.90,-9.66,0.0401,-0.0531,0.4237,,,,0.0446,-0.1058,0.4280,,,,0.0167,0.0605,0.4772,,,,,,,,,,reach,left_hand,cup
209
+ 220,,,,,,,,0.0379,-0.0530,0.4229,,,,0.0425,-0.1056,0.4273,,,,0.0147,0.0600,0.4767,,,,,,,,,,reach,left_hand,cup
210
+ 221,82176.1544,-0.0873,0.0465,0.0367,-80.39,-10.90,-9.77,0.0363,-0.0528,0.4223,,,,0.0410,-0.1054,0.4267,,,,0.0132,0.0595,0.4763,,,,,,,,,,reach,left_hand,cup
211
+ 222,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
212
+ 223,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
213
+ 224,82176.2045,-0.0866,0.0464,0.0360,-80.44,-10.99,-9.86,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
214
+ 225,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
215
+ 226,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
216
+ 227,82176.2546,-0.0853,0.0461,0.0360,-80.62,-11.01,-9.90,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
217
+ 228,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
218
+ 229,82176.2879,-0.0842,0.0456,0.0359,-80.75,-11.03,-9.95,,,,-0.0177,-0.0539,0.3966,,,,,,,,,,-0.0056,-0.1028,0.4018,,,,-0.0515,0.0641,0.4963,reach,left_hand,cup
219
+ 230,,,,,,,,,,,-0.0207,-0.0539,0.3948,,,,,,,,,,-0.0085,-0.1026,0.4000,,,,-0.0556,0.0641,0.4973,reach,left_hand,cup
220
+ 231,82176.3213,-0.0839,0.0455,0.0360,-80.80,-11.02,-9.92,,,,-0.0249,-0.0539,0.3924,,,,,,,,,,-0.0123,-0.1024,0.3975,,,,-0.0613,0.0642,0.4989,reach,left_hand,cup
221
+ 232,,,,,,,,,,,-0.0299,-0.0537,0.3894,,,,,,,,,,-0.0171,-0.1020,0.3944,,,,-0.0683,0.0644,0.5013,reach,left_hand,cup
222
+ 233,82176.3547,-0.0827,0.0449,0.0358,-81.02,-11.17,-9.82,,,,-0.0356,-0.0536,0.3861,,,,,,,,,,-0.0225,-0.1013,0.3910,,,,-0.0764,0.0649,0.5048,reach,left_hand,cup
223
+ 234,,,,,,,,,,,-0.0413,-0.0533,0.3830,,,,,,,,,,-0.0279,-0.1003,0.3877,,,,-0.0848,0.0658,0.5094,reach,left_hand,cup
224
+ 235,82176.3881,-0.0824,0.0447,0.0356,-81.04,-11.23,-9.77,,,,-0.0470,-0.0530,0.3800,,,,,,,,,,-0.0333,-0.0990,0.3844,,,,-0.0933,0.0670,0.5145,reach,left_hand,cup
225
+ 236,,,,,,,,,,,-0.0526,-0.0527,0.3770,,,,,,,,,,-0.0387,-0.0979,0.3812,,,,-0.1018,0.0682,0.5192,reach,left_hand,cup
226
+ 237,82176.4215,-0.0820,0.0445,0.0356,-81.11,-11.21,-9.79,,,,-0.0583,-0.0526,0.3741,,,,,,,,,,-0.0441,-0.0971,0.3781,,,,-0.1101,0.0691,0.5223,reach,left_hand,cup
227
+ 238,,,,,,,,,,,-0.0641,-0.0527,0.3711,,,,,,,,,,-0.0497,-0.0970,0.3752,,,,-0.1181,0.0698,0.5231,reach,left_hand,cup
228
+ 239,82176.4549,-0.0817,0.0444,0.0355,-81.15,-11.22,-9.75,,,,-0.0700,-0.0528,0.3681,,,,,,,,,,-0.0546,-0.0973,0.3726,,,,-0.1256,0.0701,0.5216,reach,left_hand,cup
229
+ 240,,,,,,,,,,,-0.0760,-0.0528,0.3651,,,,,,,,,,-0.0586,-0.0977,0.3706,,,,-0.1323,0.0700,0.5175,reach,left_hand,cup
230
+ 241,82176.4883,-0.0812,0.0443,0.0353,-81.21,-11.26,-9.75,,,,-0.0824,-0.0521,0.3622,,,,,,,,,,-0.0616,-0.0980,0.3692,,,,-0.1376,0.0691,0.5098,reach,left_hand,cup
231
+ 242,,,,,,,,,,,-0.0891,-0.0507,0.3593,,,,,,,,,,,,,,,,-0.1414,0.0675,0.4978,reach,left_hand,cup
232
+ 243,82176.5216,-0.0810,0.0442,0.0353,-81.23,-11.26,-9.73,,,,-0.0960,-0.0488,0.3564,,,,,,,,,,,,,,,,-0.1438,0.0653,0.4825,reach,left_hand,cup
233
+ 244,,,,,,,,,,,-0.1030,-0.0468,0.3538,,,,,,,,,,,,,,,,-0.1455,0.0628,0.4655,reach,left_hand,cup
234
+ 245,82176.5550,-0.0808,0.0442,0.0352,-81.28,-11.29,-9.77,,,,-0.1097,-0.0453,0.3513,,,,,,,,,,,,,-0.1775,-0.0278,0.4290,-0.1470,0.0602,0.4479,reach,left_hand,cup
235
+ 246,,,,,,,,,,,-0.1161,-0.0444,0.3492,,,,,,,,,,,,,,,,-0.1485,0.0575,0.4303,reach,left_hand,cup
236
+ 247,82176.5884,-0.0808,0.0442,0.0351,-81.28,-11.32,-9.72,,,,-0.1222,-0.0441,0.3473,,,,,,,,,,,,,,,,-0.1499,0.0552,0.4147,reach,left_hand,cup
237
+ 248,,,,,,,,,,,-0.1279,-0.0440,0.3456,,,,,,,,,,,,,,,,-0.1510,0.0533,0.4020,reach,left_hand,cup
238
+ 249,82176.6218,-0.0806,0.0441,0.0351,-81.30,-11.32,-9.74,,,,-0.1330,-0.0441,0.3439,,,,,,,,,,,,,,,,-0.1518,0.0519,0.3927,reach,left_hand,cup
239
+ 250,,,,,,,,,,,-0.1374,-0.0442,0.3422,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
240
+ 251,82176.6552,-0.0804,0.0440,0.0351,-81.34,-11.32,-9.72,,,,-0.1411,-0.0442,0.3405,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
241
+ 252,,,,,,,,,,,-0.1442,-0.0444,0.3389,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
242
+ 253,82176.6886,-0.0802,0.0439,0.0354,-81.38,-11.32,-9.76,,,,-0.1468,-0.0445,0.3374,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
243
+ 254,,,,,,,,,,,-0.1486,-0.0447,0.3361,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
244
+ 255,82176.7220,-0.0802,0.0438,0.0354,-81.38,-11.33,-9.75,,,,-0.1498,-0.0449,0.3350,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
245
+ 256,,,,,,,,,,,-0.1506,-0.0450,0.3342,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
246
+ 257,82176.7553,-0.0803,0.0438,0.0356,-81.44,-11.38,-9.76,,,,-0.1507,-0.0450,0.3339,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
247
+ 258,,,,,,,,,,,-0.1503,-0.0448,0.3341,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
248
+ 259,82176.7887,-0.0803,0.0438,0.0356,-81.43,-11.39,-9.74,,,,-0.1492,-0.0445,0.3348,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
249
+ 260,,,,,,,,,,,-0.1475,-0.0442,0.3356,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
250
+ 261,82176.8221,-0.0809,0.0440,0.0356,-81.32,-11.38,-9.76,,,,-0.1447,-0.0439,0.3363,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
251
+ 262,,,,,,,,,,,-0.1407,-0.0437,0.3369,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
252
+ 263,82176.8555,-0.0810,0.0441,0.0356,-81.28,-11.34,-9.77,,,,-0.1356,-0.0435,0.3372,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
253
+ 264,,,,,,,,,,,-0.1299,-0.0434,0.3375,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
254
+ 265,82176.8889,-0.0813,0.0440,0.0358,-81.21,-11.31,-9.73,,,,-0.1235,-0.0433,0.3378,,,,,,,,,,,,,,,,-0.1537,0.0510,0.4048,reach,left_hand,cup
255
+ 266,,,,,,,,,,,-0.1166,-0.0431,0.3379,,,,,,,,,,,,,,,,-0.1555,0.0536,0.4229,reach,left_hand,cup
256
+ 267,82176.9223,-0.0814,0.0441,0.0357,-81.17,-11.34,-9.74,,,,-0.1092,-0.0431,0.3381,,,,,,,,,,,,,,,,-0.1573,0.0569,0.4463,reach,left_hand,cup
257
+ 268,,,,,,,,,,,-0.1011,-0.0434,0.3384,,,,,,,,,,,,,,,,-0.1578,0.0604,0.4713,reach,left_hand,cup
258
+ 269,82176.9557,-0.0818,0.0443,0.0355,-81.13,-11.40,-9.80,,,,-0.0923,-0.0443,0.3390,,,,,,,,,,,,,-0.1614,-0.0348,0.4133,-0.1551,0.0633,0.4922,reach,left_hand,cup
259
+ 270,,,,,,,,,,,-0.0827,-0.0460,0.3400,,,,,,,,,,,,,-0.1569,-0.0347,0.4130,-0.1478,0.0649,0.5031,reach,left_hand,cup
260
+ 271,82176.9890,-0.0818,0.0443,0.0356,-81.14,-11.40,-9.80,,,,-0.0724,-0.0482,0.3413,,,,,,,,,,,,,-0.1506,-0.0347,0.4125,-0.1368,0.0652,0.5059,reach,left_hand,cup
261
+ 272,,,,,,,,,,,-0.0618,-0.0504,0.3427,,,,,,,,,,,,,-0.1429,-0.0346,0.4118,-0.1239,0.0649,0.5042,reach,left_hand,cup
262
+ 273,82177.0224,-0.0818,0.0443,0.0355,-81.14,-11.40,-9.83,,,,-0.0510,-0.0522,0.3441,,,,,,,,,,-0.0261,-0.1006,0.3505,-0.1340,-0.0346,0.4109,-0.1100,0.0641,0.5003,reach,left_hand,cup
263
+ 274,,,,,,,,,,,-0.0402,-0.0533,0.3454,,,,,,,,,,-0.0209,-0.1013,0.3513,-0.1247,-0.0346,0.4099,-0.0959,0.0629,0.4956,reach,left_hand,cup
264
+ 275,82177.0558,-0.0820,0.0443,0.0354,-81.07,-11.38,-9.91,,,,-0.0307,-0.0539,0.3464,,,,,,,,,,-0.0149,-0.1020,0.3523,-0.1164,-0.0346,0.4088,-0.0832,0.0616,0.4907,reach,left_hand,cup
265
+ 276,,,,,,,,,,,-0.0229,-0.0542,0.3473,,,,,,,,,,-0.0090,-0.1027,0.3533,-0.1095,-0.0346,0.4079,-0.0727,0.0604,0.4865,reach,left_hand,cup
266
+ 277,82177.0892,-0.0823,0.0445,0.0358,-81.07,-11.35,-9.81,,,,-0.0172,-0.0544,0.3478,,,,,,,,,,-0.0038,-0.1034,0.3541,-0.1044,-0.0346,0.4072,-0.0650,0.0595,0.4833,reach,left_hand,cup
267
+ 278,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
268
+ 279,82177.1226,-0.0823,0.0444,0.0359,-81.05,-11.29,-9.82,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
269
+ 280,82177.1393,-0.0825,0.0444,0.0360,-80.97,-11.24,-10.01,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
270
+ 281,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
271
+ 282,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
272
+ 283,82177.1894,-0.0827,0.0443,0.0361,-80.89,-11.26,-10.15,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
273
+ 284,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
274
+ 285,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
275
+ 286,82177.2394,-0.0826,0.0442,0.0369,-80.89,-10.91,-10.06,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
276
+ 287,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
277
+ 288,82177.2728,-0.0831,0.0440,0.0370,-80.73,-10.88,-10.26,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
278
+ 289,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
279
+ 290,82177.3062,-0.0832,0.0439,0.0370,-80.72,-10.89,-10.34,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
280
+ 291,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
281
+ 292,82177.3396,-0.0825,0.0436,0.0363,-80.95,-11.13,-10.20,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
282
+ 293,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
283
+ 294,82177.3730,-0.0823,0.0437,0.0368,-81.00,-11.19,-10.22,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
284
+ 295,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
285
+ 296,82177.4064,-0.0816,0.0434,0.0366,-81.17,-11.31,-10.33,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
286
+ 297,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
287
+ 298,82177.4397,-0.0813,0.0433,0.0368,-81.21,-11.28,-10.32,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
288
+ 299,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
289
+ 300,82177.4731,-0.0810,0.0432,0.0368,-81.22,-11.28,-10.33,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
290
+ 301,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
291
+ 302,82177.5065,-0.0806,0.0430,0.0371,-81.31,-11.26,-10.20,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
292
+ 303,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
293
+ 304,82177.5399,-0.0804,0.0427,0.0375,-81.30,-11.12,-10.18,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
294
+ 305,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
295
+ 306,82177.5733,-0.0803,0.0427,0.0374,-81.28,-11.13,-10.15,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
296
+ 307,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
297
+ 308,82177.6067,-0.0800,0.0428,0.0372,-81.27,-11.09,-10.12,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
298
+ 309,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
299
+ 310,82177.6401,-0.0797,0.0431,0.0366,-81.16,-10.87,-10.23,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
300
+ 311,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
301
+ 312,82177.6734,-0.0791,0.0431,0.0364,-80.98,-10.61,-10.23,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
302
+ 313,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
303
+ 314,82177.7068,-0.0787,0.0432,0.0361,-80.82,-10.44,-10.26,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
304
+ 315,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
305
+ 316,82177.7402,-0.0771,0.0434,0.0350,-80.53,-9.99,-10.56,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
306
+ 317,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
307
+ 318,82177.7736,-0.0742,0.0437,0.0328,-80.39,-9.53,-11.01,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
308
+ 319,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
309
+ 320,82177.8070,-0.0672,0.0439,0.0253,-80.39,-9.48,-11.94,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
310
+ 321,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
311
+ 322,82177.8404,-0.0613,0.0441,0.0178,-80.46,-9.63,-12.87,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
312
+ 323,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
313
+ 324,82177.8738,-0.0582,0.0443,0.0138,-80.48,-9.62,-13.53,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
314
+ 325,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
315
+ 326,82177.9071,-0.0521,0.0451,0.0053,-80.45,-9.19,-15.14,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
316
+ 327,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
317
+ 328,82177.9405,-0.0433,0.0463,-0.0098,-80.13,-8.80,-17.75,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
318
+ 329,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
319
+ 330,82177.9739,-0.0400,0.0465,-0.0158,-80.19,-8.89,-18.56,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
320
+ 331,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
321
+ 332,82178.0073,-0.0336,0.0469,-0.0284,-80.40,-9.31,-19.85,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
322
+ 333,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
323
+ 334,82178.0407,-0.0260,0.0471,-0.0479,-80.31,-10.15,-21.87,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
324
+ 335,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
325
+ 336,82178.0741,-0.0220,0.0472,-0.0602,-80.18,-10.32,-23.55,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
326
+ 337,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
327
+ 338,82178.1074,-0.0186,0.0471,-0.0727,-80.00,-10.70,-24.51,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
328
+ 339,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
329
+ 340,82178.1408,-0.0169,0.0470,-0.0791,-79.96,-10.96,-24.97,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
330
+ 341,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
331
+ 342,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
332
+ 343,82178.1909,-0.0130,0.0463,-0.0981,-79.80,-11.95,-26.11,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
333
+ 344,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
334
+ 345,82178.2243,-0.0100,0.0461,-0.1146,-79.95,-12.10,-26.10,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
335
+ 346,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
336
+ 347,82178.2577,-0.0092,0.0463,-0.1194,-80.03,-11.82,-26.05,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
337
+ 348,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
338
+ 349,82178.2911,-0.0081,0.0466,-0.1351,-80.05,-11.51,-26.69,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
339
+ 350,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
340
+ 351,82178.3245,-0.0084,0.0464,-0.1411,-79.94,-11.85,-26.95,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
341
+ 352,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
342
+ 353,82178.3578,-0.0099,0.0455,-0.1604,-79.39,-13.72,-27.92,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
343
+ 354,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
344
+ 355,82178.3912,-0.0109,0.0451,-0.1665,-79.15,-14.33,-28.40,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
345
+ 356,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
346
+ 357,82178.4246,-0.0136,0.0442,-0.1822,-78.79,-15.63,-30.03,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
347
+ 358,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
348
+ 359,82178.4580,-0.0147,0.0440,-0.1866,-78.64,-15.98,-30.38,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
349
+ 360,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
350
+ 361,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
351
+ 362,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
352
+ 363,82178.5248,-0.0199,0.0435,-0.2003,-77.91,-16.62,-31.64,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
353
+ 364,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
354
+ 365,82178.5581,-0.0218,0.0423,-0.2087,-77.62,-17.38,-32.28,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
355
+ 366,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
356
+ 367,82178.5915,-0.0225,0.0420,-0.2110,-77.56,-17.64,-32.48,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup