Add motion_data.csv from DI iOS app

data/ep_20260321_020242_003/motion_data.csv

@@ -0,0 +1,140 @@
+# Episode: Episode3_Sat_Mar_21_02-02
+# Task: Demo Task
+# Trim: 20-152
+# 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
+20,82951.1642,-0.0236,0.0217,0.0035,-78.58,-5.77,-39.50,0.0890,-0.0498,0.3404,,,,0.0939,-0.0986,0.3507,-0.0068,-0.0290,0.3869,0.0517,0.0613,0.4027,,,,,,,,,,reach,left_hand,cup
+21,82951.1975,-0.0235,0.0217,0.0034,-78.80,-5.75,-39.28,0.0876,-0.0489,0.3423,,,,0.0929,-0.0979,0.3525,-0.0079,-0.0283,0.3896,0.0499,0.0622,0.4033,,,,,,,,,,reach,left_hand,cup
+22,82951.2309,-0.0234,0.0218,0.0035,-79.15,-5.22,-38.76,0.0857,-0.0476,0.3448,,,,0.0915,-0.0970,0.3549,-0.0094,-0.0274,0.3934,0.0475,0.0634,0.4042,,,,,,,,,,reach,left_hand,cup
+23,82951.2642,-0.0234,0.0219,0.0035,-79.35,-4.94,-38.50,0.0834,-0.0461,0.3476,,,,0.0899,-0.0958,0.3575,-0.0112,-0.0262,0.3976,0.0447,0.0650,0.4052,,,,,,,,,,reach,left_hand,cup
+24,82951.2976,-0.0233,0.0219,0.0036,-79.47,-4.86,-38.40,0.0810,-0.0445,0.3497,,,,0.0881,-0.0945,0.3595,-0.0130,-0.0248,0.4011,0.0419,0.0668,0.4065,,,,,,,,,,reach,left_hand,cup
+25,82951.3309,-0.0233,0.0219,0.0036,-79.50,-4.80,-38.40,0.0789,-0.0431,0.3498,,,,0.0864,-0.0932,0.3594,-0.0145,-0.0235,0.4023,0.0400,0.0688,0.4078,,,,,,,,,,reach,left_hand,cup
+26,82951.3642,-0.0233,0.0219,0.0036,-79.48,-4.72,-38.44,0.0772,-0.0420,0.3473,,,,0.0847,-0.0918,0.3569,-0.0155,-0.0221,0.4005,0.0390,0.0709,0.4093,,,,,,,,,,reach,left_hand,cup
+27,82951.3976,-0.0233,0.0219,0.0037,-79.41,-4.62,-38.47,0.0758,-0.0412,0.3427,,,,0.0832,-0.0904,0.3524,-0.0160,-0.0207,0.3963,0.0389,0.0733,0.4108,,,,,,,,,,reach,left_hand,cup
+28,82951.4309,-0.0234,0.0218,0.0037,-79.31,-4.64,-38.60,0.0747,-0.0405,0.3369,,,,0.0818,-0.0890,0.3467,-0.0163,-0.0193,0.3907,0.0399,0.0763,0.4143,,,,,,,,,,reach,left_hand,cup
+29,82951.4642,-0.0234,0.0218,0.0037,-79.24,-4.69,-38.71,0.0740,-0.0399,0.3302,,,,0.0808,-0.0877,0.3403,-0.0162,-0.0178,0.3841,0.0428,0.0811,0.4239,,,,,,,,,,reach,left_hand,cup
+30,82951.4976,-0.0234,0.0218,0.0037,-79.21,-4.73,-38.82,0.0742,-0.0392,0.3226,,,,0.0807,-0.0866,0.3332,-0.0154,-0.0159,0.3764,0.0493,0.0893,0.4452,,,,,,,,,,reach,left_hand,cup
+31,82951.5309,-0.0234,0.0218,0.0038,-79.26,-4.73,-38.89,0.0754,-0.0386,0.3137,,,,0.0815,-0.0856,0.3251,-0.0137,-0.0137,0.3673,0.0604,0.1018,0.4810,,,,,,,,,,reach,left_hand,cup
+32,82951.5642,-0.0233,0.0218,0.0038,-79.28,-4.68,-38.85,0.0773,-0.0380,0.3039,,,,0.0832,-0.0849,0.3162,-0.0114,-0.0112,0.3571,0.0750,0.1178,0.5286,,,,,,,,,,reach,left_hand,cup
+33,82951.5976,-0.0236,0.0216,0.0036,-78.50,-5.12,-39.01,0.0797,-0.0374,0.2936,,,,0.0852,-0.0842,0.3070,-0.0088,-0.0086,0.3463,0.0910,0.1347,0.5787,,,,,,,,,,reach,left_hand,cup
+34,82951.6309,-0.0238,0.0215,0.0035,-78.49,-5.10,-39.04,0.0820,-0.0369,0.2833,,,,0.0873,-0.0836,0.2977,-0.0062,-0.0062,0.3355,0.1057,0.1496,0.6200,,,,,,,,,,reach,left_hand,cup
+35,82951.6643,-0.0241,0.0215,0.0033,-78.45,-5.06,-39.11,0.0842,-0.0365,0.2733,,,,0.0890,-0.0830,0.2885,-0.0040,-0.0042,0.3247,0.1168,0.1597,0.6403,,,,,,,,,,reach,left_hand,cup
+36,82951.6976,-0.0269,0.0225,0.0030,-78.27,-4.87,-39.83,0.0860,-0.0364,0.2635,,,,0.0905,-0.0825,0.2796,-0.0020,-0.0027,0.3141,0.1236,0.1637,0.6344,,,,,,,,,,reach,left_hand,cup
+37,82951.7309,-0.0274,0.0227,0.0026,-78.20,-4.90,-39.98,0.0877,-0.0364,0.2541,,,,0.0916,-0.0821,0.2708,-0.0004,-0.0017,0.3035,0.1268,0.1627,0.6076,,,,,,,,,,reach,left_hand,cup
+38,82951.7643,-0.0276,0.0227,0.0023,-78.16,-4.91,-40.12,0.0891,-0.0366,0.2458,,,,0.0926,-0.0817,0.2631,0.0009,-0.0010,0.2943,0.1281,0.1598,0.5747,,,,,,,,,,reach,left_hand,cup
+39,82951.7976,-0.0289,0.0231,0.0024,-78.03,-4.93,-40.35,0.0902,-0.0367,0.2391,,,,0.0933,-0.0814,0.2568,0.0019,-0.0005,0.2867,0.1286,0.1567,0.5449,,,,,,,,,,reach,left_hand,cup
+40,82951.8309,-0.0289,0.0230,0.0022,-78.02,-4.93,-40.44,0.0910,-0.0368,0.2342,,,,0.0938,-0.0812,0.2522,0.0026,-0.0002,0.2813,0.1291,0.1545,0.5233,,,,,,,,,,reach,left_hand,cup
+41,82951.8643,-0.0286,0.0228,0.0019,-78.03,-4.92,-40.52,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+42,82951.8976,-0.0295,0.0230,0.0024,-77.99,-4.99,-40.59,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+43,82951.9310,-0.0294,0.0228,0.0021,-78.01,-5.03,-40.64,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+44,82951.9643,-0.0293,0.0227,0.0017,-78.00,-5.04,-40.75,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+45,82951.9976,-0.0292,0.0234,0.0010,-77.98,-5.25,-40.31,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+46,82952.0310,-0.0292,0.0235,0.0004,-77.97,-5.32,-40.33,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+47,82952.0643,-0.0292,0.0233,0.0000,-77.98,-5.34,-40.46,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+48,82952.0976,-0.0283,0.0234,0.0003,-78.04,-5.47,-40.09,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+49,82952.1310,-0.0282,0.0234,0.0001,-78.04,-5.50,-40.09,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+50,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+51,82952.1976,-0.0267,0.0240,0.0003,-78.20,-5.57,-39.77,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+52,82952.2310,-0.0265,0.0240,0.0004,-78.23,-5.56,-39.76,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+53,82952.2643,-0.0264,0.0240,0.0004,-78.27,-5.56,-39.77,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+54,82952.2977,-0.0256,0.0242,0.0010,-78.33,-5.62,-39.43,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+55,82952.3310,-0.0255,0.0242,0.0012,-78.37,-5.63,-39.43,0.0833,-0.0299,0.2514,,,,0.0868,-0.0765,0.2676,-0.0051,0.0040,0.3015,0.1332,0.1923,0.6490,,,,,,,,,,reach,left_hand,cup
+56,82952.3643,-0.0256,0.0242,0.0014,-78.38,-5.64,-39.39,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+57,82952.3977,-0.0253,0.0242,0.0029,-78.44,-5.59,-39.24,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+58,82952.4310,-0.0254,0.0242,0.0034,-78.45,-5.56,-39.15,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+59,82952.4643,-0.0254,0.0242,0.0039,-78.49,-5.51,-39.14,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+60,82952.4977,-0.0247,0.0241,0.0045,-78.55,-5.43,-38.95,,,,0.0726,-0.0354,0.3179,,,,,,,,,,0.0713,-0.0843,0.3289,-0.0088,0.0049,0.3821,0.0765,0.0966,0.4381,reach,left_hand,cup
+61,82952.5310,-0.0246,0.0240,0.0049,-78.59,-5.37,-38.87,,,,0.0719,-0.0358,0.3227,,,,,,,,,,0.0697,-0.0852,0.3335,-0.0088,0.0057,0.3919,0.0771,0.0954,0.4381,reach,left_hand,cup
+62,82952.5643,-0.0246,0.0240,0.0051,-78.60,-5.36,-38.82,,,,0.0710,-0.0364,0.3292,,,,,,,,,,0.0676,-0.0863,0.3399,-0.0088,0.0068,0.4054,0.0780,0.0938,0.4380,reach,left_hand,cup
+63,82952.5977,-0.0245,0.0241,0.0051,-78.58,-5.37,-38.71,,,,0.0698,-0.0372,0.3371,,,,,,,,,,0.0649,-0.0877,0.3474,-0.0089,0.0080,0.4212,0.0790,0.0918,0.4379,reach,left_hand,cup
+64,82952.6310,-0.0245,0.0242,0.0052,-78.58,-5.31,-38.71,,,,0.0684,-0.0381,0.3454,,,,,,,,,,0.0619,-0.0892,0.3555,-0.0090,0.0093,0.4373,0.0799,0.0896,0.4377,reach,left_hand,cup
+65,82952.6644,-0.0247,0.0243,0.0054,-78.57,-5.20,-38.74,,,,0.0671,-0.0389,0.3526,,,,,,,,,,0.0590,-0.0907,0.3625,-0.0094,0.0103,0.4497,0.0806,0.0874,0.4376,reach,left_hand,cup
+66,82952.6977,-0.0248,0.0246,0.0052,-78.52,-5.13,-38.73,,,,0.0656,-0.0397,0.3583,,,,,,,,,,0.0562,-0.0922,0.3682,-0.0100,0.0109,0.4574,0.0809,0.0853,0.4374,reach,left_hand,cup
+67,82952.7310,-0.0249,0.0246,0.0052,-78.50,-5.02,-38.72,,,,0.0642,-0.0405,0.3629,,,,,,,,,,0.0534,-0.0935,0.3728,-0.0108,0.0112,0.4614,0.0809,0.0834,0.4372,reach,left_hand,cup
+68,82952.7644,-0.0251,0.0247,0.0051,-78.47,-4.90,-38.80,,,,0.0624,-0.0414,0.3668,,,,,,,,,,0.0505,-0.0949,0.3768,-0.0120,0.0114,0.4637,0.0804,0.0814,0.4369,reach,left_hand,cup
+69,82952.7977,-0.0252,0.0249,0.0052,-78.41,-4.83,-38.83,,,,0.0596,-0.0424,0.3698,,,,,,,,,,0.0467,-0.0965,0.3799,-0.0144,0.0113,0.4659,0.0788,0.0793,0.4363,reach,left_hand,cup
+70,82952.8310,-0.0254,0.0250,0.0049,-78.37,-4.80,-38.80,,,,0.0550,-0.0438,0.3715,,,,,,,,,,0.0415,-0.0984,0.3819,-0.0186,0.0109,0.4692,0.0752,0.0772,0.4353,reach,left_hand,cup
+71,82952.8644,-0.0256,0.0250,0.0046,-78.32,-4.79,-38.86,,,,0.0481,-0.0457,0.3718,,,,,,,,,,0.0343,-0.1007,0.3825,-0.0254,0.0101,0.4739,0.0690,0.0748,0.4337,reach,left_hand,cup
+72,82952.8977,-0.0255,0.0252,0.0051,-78.30,-4.75,-38.90,,,,0.0393,-0.0478,0.3708,,,,,,,,,,0.0256,-0.1035,0.3819,-0.0341,0.0090,0.4798,0.0609,0.0724,0.4316,reach,left_hand,cup
+73,82952.9311,-0.0254,0.0252,0.0049,-78.32,-4.67,-38.90,,,,0.0292,-0.0501,0.3691,,,,,,,,,,0.0172,-0.1060,0.3808,-0.0427,0.0079,0.4854,0.0509,0.0699,0.4296,reach,left_hand,cup
+74,82952.9644,-0.0252,0.0251,0.0046,-78.35,-4.57,-38.95,,,,0.0177,-0.0521,0.3671,,,,,,,,,,0.0101,-0.1082,0.3798,-0.0500,0.0069,0.4902,0.0383,0.0675,0.4282,reach,left_hand,cup
+75,82952.9977,-0.0257,0.0250,0.0053,-78.33,-4.52,-38.95,,,,0.0041,-0.0536,0.3648,,,,,,,,,,0.0050,-0.1097,0.3791,-0.0553,0.0063,0.4937,0.0212,0.0656,0.4284,reach,left_hand,cup
+76,82953.0311,-0.0255,0.0249,0.0049,-78.37,-4.51,-38.93,,,,-0.0122,-0.0544,0.3622,,,,,,,,,,,,,,,,-0.0015,0.0640,0.4305,reach,left_hand,cup
+77,82953.0644,-0.0253,0.0247,0.0044,-78.42,-4.48,-38.93,,,,-0.0307,-0.0546,0.3592,,,,,,,,,,,,,,,,-0.0287,0.0627,0.4342,reach,left_hand,cup
+78,82953.0977,-0.0254,0.0249,0.0057,-78.44,-4.36,-38.95,,,,-0.0499,-0.0545,0.3563,,,,,,,,,,,,,,,,-0.0547,0.0618,0.4381,reach,left_hand,cup
+79,82953.1311,-0.0256,0.0249,0.0054,-78.39,-4.34,-38.97,,,,-0.0684,-0.0545,0.3540,,,,,,,,,,,,,,,,-0.0766,0.0610,0.4415,reach,left_hand,cup
+80,82953.1644,-0.0257,0.0249,0.0048,-78.36,-4.33,-39.01,,,,-0.0848,-0.0547,0.3528,,,,,,,,,,,,,,,,-0.0925,0.0605,0.4439,reach,left_hand,cup
+81,82953.1977,-0.0257,0.0252,0.0061,-78.37,-4.22,-39.04,,,,-0.0985,-0.0552,0.3530,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+82,82953.2311,-0.0258,0.0253,0.0060,-78.33,-4.16,-38.99,,,,-0.1102,-0.0560,0.3544,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+83,82953.2644,-0.0260,0.0253,0.0057,-78.28,-4.11,-39.07,,,,-0.1196,-0.0567,0.3562,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+84,82953.2978,-0.0258,0.0256,0.0069,-78.32,-4.00,-39.10,,,,-0.1270,-0.0573,0.3577,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+85,82953.3311,-0.0257,0.0256,0.0069,-78.33,-3.92,-39.10,,,,-0.1323,-0.0578,0.3589,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+86,82953.3644,-0.0258,0.0255,0.0068,-78.26,-3.85,-39.09,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+87,82953.3978,-0.0257,0.0256,0.0079,-78.30,-3.73,-39.15,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+88,82953.4311,-0.0255,0.0256,0.0079,-78.32,-3.68,-39.06,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+89,82953.4644,-0.0255,0.0256,0.0080,-78.31,-3.58,-39.04,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+90,82953.4978,-0.0255,0.0264,0.0094,-78.28,-3.49,-39.02,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+91,82953.5311,-0.0254,0.0265,0.0094,-78.28,-3.42,-39.07,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+92,82953.5644,-0.0250,0.0264,0.0092,-78.33,-3.42,-39.01,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+93,82953.5978,-0.0249,0.0259,0.0098,-78.41,-3.41,-38.95,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+94,82953.6311,-0.0245,0.0256,0.0098,-78.48,-3.32,-38.98,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+95,82953.6645,-0.0241,0.0253,0.0096,-78.55,-3.28,-38.92,,,,-0.0631,-0.0432,0.3883,,,,,,,,,,-0.0292,-0.1046,0.3992,-0.0253,0.0217,0.4313,-0.0666,0.0568,0.4010,reach,left_hand,cup
+96,82953.6978,-0.0255,0.0259,0.0106,-78.58,-3.27,-38.94,,,,-0.0606,-0.0423,0.3898,,,,,,,,,,-0.0284,-0.1043,0.3977,-0.0205,0.0220,0.4348,-0.0611,0.0584,0.4057,reach,left_hand,cup
+97,82953.7311,-0.0254,0.0259,0.0104,-78.63,-3.27,-38.91,,,,-0.0572,-0.0412,0.3919,,,,,,,,,,-0.0272,-0.1040,0.3956,-0.0138,0.0224,0.4398,-0.0535,0.0607,0.4122,reach,left_hand,cup
+98,82953.7645,-0.0254,0.0258,0.0100,-78.65,-3.25,-38.91,,,,-0.0535,-0.0399,0.3943,,,,,,,,,,-0.0259,-0.1038,0.3931,-0.0062,0.0228,0.4456,-0.0452,0.0633,0.4199,reach,left_hand,cup
+99,82953.7978,-0.0271,0.0261,0.0119,-78.64,-3.24,-38.86,,,,-0.0507,-0.0390,0.3963,,,,,,,,,,-0.0253,-0.1040,0.3902,0.0003,0.0232,0.4517,-0.0387,0.0657,0.4281,reach,left_hand,cup
+100,82953.8311,-0.0274,0.0262,0.0118,-78.64,-3.22,-38.84,,,,-0.0505,-0.0393,0.3970,,,,,,,,,,-0.0260,-0.1052,0.3873,0.0029,0.0232,0.4567,-0.0381,0.0673,0.4353,reach,left_hand,cup
+101,82953.8645,-0.0277,0.0263,0.0116,-78.61,-3.18,-38.85,,,,-0.0536,-0.0408,0.3960,,,,,,,,,,-0.0285,-0.1075,0.3843,0.0005,0.0228,0.4605,-0.0449,0.0677,0.4410,reach,left_hand,cup
+102,82953.8978,-0.0281,0.0263,0.0131,-78.58,-3.14,-38.78,,,,-0.0594,-0.0435,0.3937,,,,,,,,,,-0.0325,-0.1107,0.3813,-0.0058,0.0222,0.4632,-0.0576,0.0672,0.4457,reach,left_hand,cup
+103,82953.9312,-0.0283,0.0263,0.0131,-78.56,-3.10,-38.79,,,,-0.0658,-0.0463,0.3910,,,,,,,,,,-0.0366,-0.1140,0.3786,-0.0132,0.0215,0.4651,-0.0715,0.0663,0.4494,reach,left_hand,cup
+104,82953.9645,-0.0284,0.0263,0.0129,-78.58,-3.07,-38.81,,,,-0.0713,-0.0488,0.3887,,,,,,,,,,-0.0402,-0.1168,0.3764,-0.0197,0.0208,0.4666,-0.0836,0.0655,0.4523,reach,left_hand,cup
+105,82953.9978,-0.0275,0.0266,0.0147,-78.59,-3.07,-38.72,,,,-0.0753,-0.0506,0.3870,,,,,,,,,,-0.0428,-0.1188,0.3748,-0.0245,0.0204,0.4676,-0.0924,0.0649,0.4543,reach,left_hand,cup
+106,82954.0312,-0.0275,0.0266,0.0147,-78.59,-3.05,-38.72,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+107,82954.0645,-0.0277,0.0267,0.0148,-78.55,-2.97,-38.74,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+108,82954.0978,-0.0275,0.0266,0.0165,-78.47,-2.87,-38.72,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+109,82954.1312,-0.0275,0.0265,0.0170,-78.48,-2.75,-38.80,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+110,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+111,82954.1978,-0.0266,0.0267,0.0193,-78.49,-2.40,-38.63,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+112,82954.2312,-0.0264,0.0267,0.0199,-78.54,-2.13,-38.87,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+113,82954.2645,-0.0261,0.0266,0.0203,-78.66,-1.81,-39.38,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+114,82954.2979,-0.0259,0.0267,0.0210,-78.58,-1.40,-39.91,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+115,82954.3312,-0.0261,0.0267,0.0218,-78.46,-0.86,-40.43,,,,-0.0560,-0.0798,0.3839,,,,,,,,,,-0.0157,-0.1406,0.3619,0.0037,-0.0095,0.4547,-0.0738,0.0288,0.4460,reach,left_hand,cup
+116,82954.3645,-0.0263,0.0268,0.0230,-78.34,-0.28,-40.93,,,,-0.0608,-0.0820,0.3849,,,,,,,,,,,,,-0.0035,-0.0116,0.4449,-0.0798,0.0240,0.4399,reach,left_hand,cup
+117,82954.3979,-0.0265,0.0270,0.0245,-78.34,0.22,-41.23,,,,-0.0674,-0.0850,0.3864,,,,,,,,,,,,,-0.0133,-0.0146,0.4314,-0.0880,0.0173,0.4314,reach,left_hand,cup
+118,82954.4312,-0.0267,0.0270,0.0257,-78.33,0.59,-41.29,,,,-0.0748,-0.0884,0.3880,,,,,,,,,,,,,-0.0242,-0.0180,0.4163,-0.0971,0.0098,0.4218,reach,left_hand,cup
+119,82954.4645,-0.0273,0.0270,0.0267,-78.20,0.82,-41.19,,,,-0.0807,-0.0915,0.3896,,,,,,,,,,,,,-0.0333,-0.0212,0.4031,-0.1045,0.0030,0.4134,reach,left_hand,cup
+120,82954.4979,-0.0281,0.0271,0.0274,-78.06,0.97,-41.26,,,,-0.0820,-0.0931,0.3906,,,,,,,,,,,,,-0.0360,-0.0228,0.3980,-0.1059,-0.0002,0.4099,reach,left_hand,cup
+121,82954.5312,-0.0286,0.0271,0.0274,-77.94,0.97,-41.29,,,,-0.0772,-0.0927,0.3909,,,,,,,,,,,,,-0.0306,-0.0226,0.4027,-0.1000,0.0009,0.4123,reach,left_hand,cup
+122,82954.5645,-0.0288,0.0272,0.0271,-77.94,0.89,-41.28,,,,-0.0678,-0.0908,0.3907,,,,,,,,,,,,,-0.0188,-0.0209,0.4155,-0.0882,0.0055,0.4196,reach,left_hand,cup
+123,82954.5979,-0.0286,0.0271,0.0268,-77.93,0.77,-41.18,,,,-0.0570,-0.0884,0.3902,,,,,,,,,,,,,-0.0051,-0.0188,0.4309,-0.0747,0.0113,0.4285,reach,left_hand,cup
+124,82954.6312,-0.0285,0.0271,0.0261,-77.98,0.68,-41.23,,,,-0.0487,-0.0867,0.3897,,,,,,,,,,,,,0.0054,-0.0175,0.4434,-0.0641,0.0157,0.4357,reach,left_hand,cup
+125,82954.6646,-0.0287,0.0271,0.0255,-77.98,0.60,-41.24,,,,-0.0468,-0.0870,0.3894,,,,,,,,,,0.0033,-0.1475,0.3651,0.0075,-0.0183,0.4474,-0.0613,0.0162,0.4380,reach,left_hand,cup
+126,82954.6979,-0.0289,0.0270,0.0266,-77.96,0.55,-41.35,,,,-0.0530,-0.0897,0.3894,,,,,,,,,,,,,-0.0010,-0.0217,0.4410,-0.0682,0.0118,0.4340,reach,left_hand,cup
+127,82954.7312,-0.0291,0.0271,0.0263,-77.95,0.43,-41.33,,,,-0.0657,-0.0943,0.3896,,,,,,,,,,,,,-0.0180,-0.0273,0.4261,-0.0828,0.0035,0.4252,reach,left_hand,cup
+128,82954.7646,-0.0293,0.0271,0.0261,-77.94,0.35,-41.33,,,,-0.0797,-0.0992,0.3899,,,,,,,,,,,,,-0.0367,-0.0331,0.4092,-0.0990,-0.0056,0.4151,reach,left_hand,cup
+129,82954.7979,-0.0295,0.0270,0.0261,-77.99,0.37,-41.39,,,,-0.0920,-0.1035,0.3902,,,,,,,,,,,,,-0.0531,-0.0381,0.3943,-0.1134,-0.0135,0.4063,reach,left_hand,cup
+130,82954.8312,-0.0297,0.0271,0.0263,-78.00,0.37,-41.26,,,,-0.1010,-0.1066,0.3904,,,,,,,,,,,,,-0.0650,-0.0418,0.3835,-0.1239,-0.0192,0.3998,reach,left_hand,cup
+131,82954.8646,-0.0300,0.0271,0.0264,-78.00,0.40,-41.19,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+132,82954.8979,-0.0301,0.0270,0.0264,-77.97,0.37,-41.15,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+133,82954.9313,-0.0305,0.0271,0.0262,-77.93,0.33,-41.10,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+134,82954.9646,-0.0308,0.0271,0.0254,-77.89,0.07,-40.92,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+135,82954.9979,-0.0307,0.0269,0.0244,-77.89,-0.32,-40.91,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+136,82955.0313,-0.0308,0.0267,0.0235,-77.87,-0.55,-40.88,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+137,82955.0646,-0.0309,0.0266,0.0229,-77.89,-0.64,-40.90,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+138,82955.0979,-0.0306,0.0266,0.0221,-77.87,-0.90,-40.65,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+139,82955.1313,-0.0306,0.0264,0.0213,-77.87,-1.15,-40.47,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+140,82955.1646,-0.0306,0.0261,0.0208,-77.91,-1.35,-40.51,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+141,82955.1979,-0.0293,0.0260,0.0203,-78.04,-1.50,-40.47,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+142,82955.2313,-0.0289,0.0258,0.0202,-78.10,-1.52,-40.28,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+143,82955.2646,-0.0286,0.0254,0.0200,-78.16,-1.53,-40.26,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+144,82955.2980,-0.0283,0.0252,0.0200,-78.21,-1.61,-40.38,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+145,82955.3313,-0.0279,0.0249,0.0198,-78.31,-1.64,-40.35,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+146,82955.3646,-0.0277,0.0246,0.0195,-78.36,-1.65,-40.34,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+147,82955.3980,-0.0274,0.0243,0.0201,-78.36,-1.62,-40.51,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+148,82955.4313,-0.0272,0.0241,0.0200,-78.41,-1.59,-40.59,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+149,82955.4646,-0.0271,0.0239,0.0199,-78.47,-1.56,-40.63,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+150,82955.4980,-0.0264,0.0237,0.0209,-78.48,-1.44,-40.78,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+151,82955.5313,-0.0261,0.0234,0.0211,-78.55,-1.38,-40.84,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup
+152,82955.5646,-0.0255,0.0230,0.0208,-78.58,-1.64,-40.12,,,,,,,,,,,,,,,,,,,,,,,,,reach,left_hand,cup