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Raffael-Kultyshev commited on 20 days ago

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a6d54c2

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1 Parent(s): 8f7e423

Add motion_data.csv from DI iOS app

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data/ep_20260320_162545_004/motion_data.csv +303 -0

data/ep_20260320_162545_004/motion_data.csv ADDED Viewed

	@@ -0,0 +1,303 @@

+# Episode: Episode4_Fri_Mar_20_16-25
+# Task: Demo Task
+# Trim: 20-315
+# Camera pose: world frame (metres / degrees)
+# Hand positions: camera frame (metres)
+# Per-joint positions: wrist, thumb_tip, index_finger_tip (PI-compatible)
+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
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+134,50122.8007,-0.1659,0.0901,0.0261,-74.44,13.32,89.59,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+135,50122.8174,-0.1660,0.0900,0.0262,-74.35,13.31,89.49,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+136,50122.8341,-0.1665,0.0898,0.0267,-74.32,13.34,89.61,0.0976,-0.0190,0.2272,,,,0.1145,-0.0575,0.2388,0.0141,-0.0057,0.2627,0.1485,0.2880,0.9043,,,,,,,,,,reach,left_hand,cup
+137,50122.8508,-0.1665,0.0898,0.0267,-74.32,13.34,89.61,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+138,50122.8675,-0.1666,0.0898,0.0269,-74.35,13.39,89.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+139,50122.8842,-0.1665,0.0898,0.0271,-74.38,13.43,89.57,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+140,50122.9009,-0.1665,0.0898,0.0271,-74.40,13.46,89.48,0.0906,-0.0225,0.2188,,,,0.1142,-0.0569,0.2310,0.0143,-0.0036,0.2546,0.1572,0.2976,0.8893,,,,,,,,,,reach,left_hand,cup
+141,50122.9176,-0.1666,0.0898,0.0270,-74.38,13.45,89.45,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+142,50122.9343,-0.1667,0.0898,0.0269,-74.33,13.44,89.46,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+143,50122.9510,-0.1673,0.0901,0.0273,-74.28,13.42,89.55,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+144,50122.9677,-0.1677,0.0903,0.0270,-74.22,13.34,89.50,0.0921,-0.0230,0.2156,,,,0.1153,-0.0570,0.2280,0.0162,-0.0036,0.2504,,,,,,,,,,,,,reach,left_hand,cup
+145,50122.9844,-0.1677,0.0903,0.0270,-74.22,13.34,89.50,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+146,50123.0011,-0.1678,0.0903,0.0268,-74.18,13.30,89.40,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+147,50123.0177,-0.1678,0.0903,0.0268,-74.18,13.30,89.40,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+148,50123.0344,-0.1683,0.0905,0.0265,-74.06,13.33,89.59,0.0939,-0.0239,0.2151,,,,0.1162,-0.0567,0.2264,0.0170,-0.0052,0.2521,0.1047,0.1753,0.5280,,,,,,,,,,reach,left_hand,cup
+149,50123.0511,-0.1683,0.0905,0.0265,-74.06,13.33,89.59,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+150,50123.0678,-0.1684,0.0907,0.0263,-74.04,13.27,89.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+151,50123.0845,-0.1686,0.0908,0.0259,-73.99,13.20,89.61,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+152,50123.1012,-0.1688,0.0910,0.0256,-73.91,13.12,89.59,0.0964,-0.0257,0.2146,,,,0.1183,-0.0562,0.2255,0.0228,-0.0029,0.2541,0.1142,0.1689,0.5225,,,,,,,,,,reach,left_hand,cup
+153,50123.1179,-0.1690,0.0910,0.0253,-73.79,13.05,89.56,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+154,50123.1346,-0.1692,0.0911,0.0251,-73.69,13.00,89.56,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+155,50123.1513,-0.1704,0.0914,0.0252,-73.64,12.97,89.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+156,50123.1680,-0.1708,0.0919,0.0250,-73.62,12.93,89.66,0.1015,-0.0288,0.2115,,,,0.1227,-0.0557,0.2231,0.0381,0.0131,0.2576,0.1410,0.1431,0.4849,,,,,,,,,,reach,left_hand,cup
+157,50123.1847,-0.1708,0.0919,0.0250,-73.62,12.93,89.66,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+158,50123.2014,-0.1708,0.0922,0.0248,-73.60,12.90,89.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+159,50123.2181,-0.1709,0.0926,0.0246,-73.56,12.86,89.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+160,50123.2348,-0.1710,0.0928,0.0243,-73.42,12.80,89.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+161,50123.2514,-0.1710,0.0928,0.0243,-73.42,12.80,89.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+162,50123.2681,-0.1711,0.0930,0.0242,-73.34,12.78,89.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+163,50123.2848,-0.1712,0.0932,0.0240,-73.26,12.74,89.66,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+164,50123.3015,-0.1713,0.0934,0.0238,-73.17,12.68,89.70,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+165,50123.3182,-0.1713,0.0936,0.0237,-73.10,12.62,89.69,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+166,50123.3349,-0.1712,0.0938,0.0237,-73.04,12.58,89.63,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+167,50123.3516,-0.1715,0.0946,0.0239,-73.02,12.58,89.55,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+168,50123.3683,-0.1710,0.0954,0.0243,-73.07,12.61,89.53,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+169,50123.3850,-0.1710,0.0954,0.0243,-73.07,12.61,89.53,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+170,50123.4017,-0.1707,0.0959,0.0243,-73.04,12.57,89.50,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+171,50123.4184,-0.1707,0.0959,0.0243,-73.04,12.57,89.50,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+172,50123.4351,-0.1686,0.0978,0.0238,-72.93,12.27,89.18,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+173,50123.4518,-0.1686,0.0978,0.0238,-72.93,12.27,89.18,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+174,50123.4685,-0.1676,0.0986,0.0239,-72.91,12.18,89.00,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+175,50123.4851,-0.1666,0.0995,0.0241,-72.89,12.13,88.83,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+176,50123.5018,-0.1652,0.1006,0.0245,-72.93,12.08,88.70,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+177,50123.5185,-0.1635,0.1018,0.0249,-73.09,11.99,88.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+178,50123.5352,-0.1616,0.1031,0.0252,-73.29,11.82,88.53,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+179,50123.5519,-0.1600,0.1046,0.0258,-73.39,11.57,88.28,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+180,50123.5686,-0.1563,0.1073,0.0273,-73.16,11.09,87.23,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+181,50123.5853,-0.1563,0.1073,0.0273,-73.16,11.09,87.23,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+182,50123.6020,-0.1541,0.1087,0.0285,-73.03,10.97,86.75,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+183,50123.6187,-0.1514,0.1102,0.0299,-73.09,10.87,86.33,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+184,50123.6354,-0.1448,0.1137,0.0333,-73.58,10.61,85.24,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+185,50123.6521,-0.1448,0.1137,0.0333,-73.58,10.61,85.24,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+186,50123.6688,-0.1415,0.1154,0.0352,-73.75,10.50,84.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+187,50123.6855,-0.1385,0.1168,0.0371,-73.81,10.37,84.02,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+188,50123.7022,-0.1355,0.1181,0.0392,-73.82,10.26,83.44,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+189,50123.7188,-0.1327,0.1192,0.0414,-73.81,10.20,82.90,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+190,50123.7355,-0.1300,0.1201,0.0438,-73.82,10.19,82.57,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+191,50123.7522,-0.1270,0.1209,0.0455,-73.89,10.21,82.50,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+192,50123.7689,-0.1215,0.1220,0.0495,-74.16,10.28,82.40,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+193,50123.7856,-0.1215,0.1220,0.0495,-74.16,10.28,82.40,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+194,50123.8023,-0.1192,0.1222,0.0514,-74.26,10.34,82.13,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+195,50123.8190,-0.1172,0.1222,0.0532,-74.23,10.48,81.73,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+196,50123.8357,-0.1143,0.1223,0.0563,-74.09,10.72,80.91,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+197,50123.8524,-0.1143,0.1223,0.0563,-74.09,10.72,80.91,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+198,50123.8691,-0.1130,0.1221,0.0574,-74.09,10.83,80.77,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+199,50123.8858,-0.1118,0.1218,0.0584,-74.15,10.98,80.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+200,50123.9025,-0.1089,0.1214,0.0590,-74.79,10.74,80.54,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+201,50123.9192,-0.1089,0.1214,0.0590,-74.79,10.74,80.54,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+202,50123.9359,-0.1080,0.1210,0.0590,-75.03,10.52,80.47,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+203,50123.9525,-0.1079,0.1204,0.0576,-74.95,10.39,80.32,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+204,50123.9692,-0.1093,0.1198,0.0574,-74.29,10.14,80.14,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+205,50123.9859,-0.1093,0.1198,0.0574,-74.29,10.14,80.14,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+206,50124.0026,-0.1096,0.1195,0.0584,-74.13,10.39,80.43,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+207,50124.0193,-0.1096,0.1193,0.0599,-74.12,10.77,80.98,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+208,50124.0360,-0.1067,0.1191,0.0618,-74.28,11.25,82.18,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+209,50124.0527,-0.1067,0.1191,0.0618,-74.28,11.25,82.18,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+210,50124.0694,-0.1060,0.1188,0.0622,-74.25,11.18,82.63,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+211,50124.0861,-0.1063,0.1181,0.0623,-74.02,10.97,82.81,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+212,50124.1028,-0.1083,0.1167,0.0622,-73.31,10.78,82.46,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+213,50124.1195,-0.1083,0.1167,0.0622,-73.31,10.78,82.46,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+214,50124.1362,-0.1090,0.1161,0.0622,-73.19,10.84,82.11,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+215,50124.1529,-0.1084,0.1162,0.0618,-73.30,10.97,81.72,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+216,50124.1696,-0.1081,0.1154,0.0606,-73.61,10.54,80.93,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+217,50124.1862,-0.1081,0.1154,0.0606,-73.61,10.54,80.93,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+218,50124.2029,-0.1083,0.1146,0.0595,-73.64,9.98,80.55,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+219,50124.2196,-0.1088,0.1137,0.0591,-73.50,9.69,80.28,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+220,50124.2363,-0.1095,0.1127,0.0591,-72.68,9.85,80.47,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+221,50124.2530,-0.1095,0.1127,0.0591,-72.68,9.85,80.47,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+222,50124.2697,-0.1095,0.1126,0.0590,-72.35,9.98,80.80,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+223,50124.2864,-0.1090,0.1126,0.0587,-72.31,9.89,80.94,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+224,50124.3031,-0.1073,0.1129,0.0576,-72.59,9.33,81.56,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+225,50124.3198,-0.1073,0.1129,0.0576,-72.59,9.33,81.56,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+226,50124.3365,-0.1066,0.1130,0.0576,-72.57,9.28,82.24,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+227,50124.3532,-0.1053,0.1122,0.0586,-72.21,9.33,82.86,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+228,50124.3699,-0.1061,0.1113,0.0585,-70.39,8.94,84.21,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+229,50124.3866,-0.1061,0.1113,0.0585,-70.39,8.94,84.21,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+230,50124.4033,-0.1069,0.1109,0.0578,-69.49,8.58,84.52,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+231,50124.4199,-0.1068,0.1107,0.0572,-69.10,8.40,84.79,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+232,50124.4366,-0.1043,0.1106,0.0566,-69.50,8.52,85.46,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+233,50124.4533,-0.1043,0.1106,0.0566,-69.50,8.52,85.46,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+234,50124.4700,-0.1033,0.1105,0.0563,-69.67,8.52,85.86,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+235,50124.4867,-0.1029,0.1105,0.0561,-69.60,8.48,86.03,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+236,50124.5034,-0.1039,0.1099,0.0559,-68.94,8.46,86.13,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+237,50124.5201,-0.1039,0.1099,0.0559,-68.94,8.46,86.13,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+238,50124.5368,-0.1044,0.1095,0.0560,-68.70,8.53,86.02,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+239,50124.5535,-0.1056,0.1089,0.0566,-68.69,8.58,85.90,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+240,50124.5702,-0.1059,0.1079,0.0569,-68.92,8.47,85.65,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+241,50124.5869,-0.1059,0.1079,0.0569,-68.92,8.47,85.65,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+242,50124.6036,-0.1062,0.1073,0.0568,-68.89,8.33,85.51,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+243,50124.6203,-0.1066,0.1067,0.0568,-68.80,8.22,85.36,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+244,50124.6369,-0.1085,0.1049,0.0584,-68.69,8.48,85.16,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+245,50124.6536,-0.1085,0.1049,0.0584,-68.69,8.48,85.16,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+246,50124.6703,-0.1092,0.1040,0.0592,-68.73,8.64,84.77,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+247,50124.6870,-0.1100,0.1032,0.0594,-68.83,8.59,84.07,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+248,50124.7037,-0.1115,0.1014,0.0593,-69.10,8.23,82.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+249,50124.7204,-0.1115,0.1014,0.0593,-69.10,8.23,82.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+250,50124.7371,-0.1122,0.1006,0.0596,-69.10,8.04,82.30,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+251,50124.7538,-0.1146,0.1000,0.0608,-69.13,7.96,82.12,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+252,50124.7705,-0.1169,0.0998,0.0630,-69.30,8.12,81.42,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+253,50124.7872,-0.1169,0.0998,0.0630,-69.30,8.12,81.42,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+254,50124.8039,-0.1174,0.1000,0.0642,-69.63,8.22,81.24,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+255,50124.8206,-0.1175,0.1003,0.0656,-70.19,8.25,81.04,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+256,50124.8373,-0.1200,0.0996,0.0699,-71.42,8.27,80.34,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+257,50124.8540,-0.1200,0.0996,0.0699,-71.42,8.27,80.34,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+258,50124.8706,-0.1211,0.0992,0.0718,-71.96,8.18,80.04,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+259,50124.8873,-0.1220,0.0988,0.0732,-72.45,7.94,79.56,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+260,50124.9040,-0.1242,0.0977,0.0758,-73.11,7.38,78.47,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+261,50124.9207,-0.1242,0.0977,0.0758,-73.11,7.38,78.47,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+262,50124.9374,-0.1255,0.0969,0.0770,-73.29,7.12,77.98,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+263,50124.9541,-0.1275,0.0958,0.0783,-73.38,6.91,77.58,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+264,50124.9708,-0.1308,0.0935,0.0808,-73.38,6.62,76.91,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+265,50124.9875,-0.1308,0.0935,0.0808,-73.38,6.62,76.91,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+266,50125.0042,-0.1323,0.0924,0.0820,-73.31,6.49,76.60,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+267,50125.0209,-0.1336,0.0913,0.0829,-73.27,6.33,76.33,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+268,50125.0376,-0.1358,0.0890,0.0849,-73.11,6.20,76.05,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+269,50125.0543,-0.1358,0.0890,0.0849,-73.11,6.20,76.05,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+270,50125.0710,-0.1367,0.0880,0.0858,-72.92,6.17,75.95,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+271,50125.0877,-0.1375,0.0872,0.0864,-72.74,6.11,75.83,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+272,50125.1043,-0.1381,0.0860,0.0874,-72.51,5.98,75.73,,,,0.0683,0.0655,0.2370,,,,,,,,,,,,,,,,0.0343,-0.0331,0.2429,reach,left_hand,cup
+273,50125.1210,-0.1381,0.0860,0.0874,-72.51,5.98,75.73,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+274,50125.1377,-0.1381,0.0857,0.0879,-72.45,5.96,75.74,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+275,50125.1544,-0.1383,0.0850,0.0884,-72.43,5.94,75.74,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+276,50125.1711,-0.1377,0.0847,0.0887,-72.46,5.84,75.83,,,,0.0819,0.0549,0.2968,,,,,,,,,,0.1110,0.1149,0.3025,0.0152,0.0230,0.3534,0.0384,-0.0512,0.3183,reach,left_hand,cup
+277,50125.1878,-0.1377,0.0847,0.0887,-72.46,5.84,75.83,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+278,50125.2045,-0.1373,0.0846,0.0886,-72.51,5.70,75.86,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+279,50125.2212,-0.1368,0.0846,0.0883,-72.63,5.54,75.79,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+280,50125.2379,-0.1375,0.0844,0.0879,-72.86,5.24,75.62,,,,0.0825,0.0436,0.3281,,,,,,,,,,0.1088,0.1009,0.3251,0.0138,0.0231,0.3851,0.0385,-0.0568,0.3616,reach,left_hand,cup
+281,50125.2546,-0.1375,0.0844,0.0879,-72.86,5.24,75.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+282,50125.2713,-0.1378,0.0843,0.0875,-72.87,5.11,75.57,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+283,50125.2880,-0.1378,0.0841,0.0871,-72.86,4.99,75.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+284,50125.3047,-0.1375,0.0838,0.0863,-72.79,4.81,75.84,,,,0.0799,0.0408,0.3420,,,,,,,,,,0.1031,0.0913,0.3360,0.0097,0.0273,0.3979,0.0321,-0.0549,0.3788,reach,left_hand,cup
+285,50125.3214,-0.1375,0.0838,0.0863,-72.79,4.81,75.84,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+286,50125.3380,-0.1373,0.0837,0.0859,-72.75,4.74,75.97,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+287,50125.3547,-0.1374,0.0832,0.0851,-72.76,4.66,76.01,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+288,50125.3714,-0.1371,0.0829,0.0839,-72.86,4.43,75.91,,,,0.0783,0.0425,0.3462,,,,,,,,,,0.1033,0.0989,0.3408,0.0040,0.0332,0.3981,0.0294,-0.0522,0.3881,reach,left_hand,cup
+289,50125.3881,-0.1371,0.0829,0.0839,-72.86,4.43,75.91,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+290,50125.4048,-0.1369,0.0828,0.0834,-72.90,4.33,75.88,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+291,50125.4215,-0.1368,0.0828,0.0831,-72.93,4.29,75.89,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+292,50125.4382,-0.1368,0.0828,0.0828,-72.89,4.46,76.06,,,,0.0762,0.0392,0.3412,,,,,,,,,,0.1020,0.0941,0.3370,0.0025,0.0318,0.3919,0.0284,-0.0529,0.3851,reach,left_hand,cup
+293,50125.4549,-0.1368,0.0828,0.0828,-72.89,4.46,76.06,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+294,50125.4716,-0.1366,0.0829,0.0827,-72.88,4.54,76.17,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+295,50125.4883,-0.1363,0.0831,0.0824,-72.93,4.55,76.22,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+296,50125.5050,-0.1350,0.0837,0.0813,-73.13,4.45,76.34,,,,0.0747,0.0396,0.3181,,,,,,,,,,0.1037,0.0947,0.3176,-0.0004,0.0294,0.3699,0.0269,-0.0530,0.3593,reach,left_hand,cup
+297,50125.5217,-0.1350,0.0837,0.0813,-73.13,4.45,76.34,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+298,50125.5384,-0.1350,0.0837,0.0813,-73.13,4.45,76.34,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+299,50125.5551,-0.1344,0.0835,0.0800,-73.14,4.42,76.45,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+300,50125.5717,-0.1333,0.0836,0.0784,-73.14,4.34,76.83,,,,0.0754,0.0383,0.2773,,,,,,,,,,0.1070,0.0922,0.2851,-0.0042,0.0292,0.3261,0.0288,-0.0529,0.3141,reach,left_hand,cup
+301,50125.5884,-0.1333,0.0836,0.0784,-73.14,4.34,76.83,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+302,50125.6051,-0.1328,0.0837,0.0777,-73.13,4.30,77.00,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+303,50125.6218,-0.1323,0.0837,0.0769,-73.12,4.26,77.14,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+304,50125.6385,-0.1314,0.0831,0.0749,-73.12,4.06,77.29,,,,0.0794,0.0405,0.2309,,,,,,,,,,0.1117,0.0929,0.2468,-0.0037,0.0267,0.2750,0.0298,-0.0543,0.2565,reach,left_hand,cup
+305,50125.6552,-0.1314,0.0831,0.0749,-73.12,4.06,77.29,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+306,50125.6719,-0.1309,0.0828,0.0739,-73.18,3.92,77.31,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+307,50125.6886,-0.1303,0.0828,0.0730,-73.23,3.80,77.37,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+308,50125.7053,-0.1294,0.0828,0.0717,-73.22,3.72,77.59,,,,0.0799,0.0457,0.1944,,,,,,,,,,0.1158,0.0923,0.2146,0.0020,0.0199,0.2314,0.0374,-0.0565,0.2084,reach,left_hand,cup
+309,50125.7220,-0.1294,0.0828,0.0717,-73.22,3.72,77.59,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+310,50125.7387,-0.1290,0.0829,0.0711,-73.22,3.69,77.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+311,50125.7554,-0.1287,0.0828,0.0704,-73.22,3.67,77.62,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+312,50125.7721,-0.1280,0.0832,0.0697,-73.17,3.77,77.92,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+313,50125.7888,-0.1280,0.0832,0.0697,-73.17,3.77,77.92,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+314,50125.8054,-0.1277,0.0835,0.0695,-73.08,3.86,78.12,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+315,50125.8221,-0.1275,0.0837,0.0693,-72.96,3.95,78.29,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup