diff --git "a/main_250801DR48FP25002960/collect/session_20251210_152113/SLAM_Poses/slam_raw_baseframe.txt" "b/main_250801DR48FP25002960/collect/session_20251210_152113/SLAM_Poses/slam_raw_baseframe.txt" new file mode 100644--- /dev/null +++ "b/main_250801DR48FP25002960/collect/session_20251210_152113/SLAM_Poses/slam_raw_baseframe.txt" @@ -0,0 +1,7702 @@ +# time x_base y_base z_base roll_base_deg pitch_base_deg yaw_base_deg clamp_open (x_base,y_base,z_base in robot base frame s, meters; clamp_open in [0,1]) +406732.171919000 0.622940 0.000930 0.086445 -0.378 -0.945 0.447 1.000000 +406732.173919000 0.622939 0.000910 0.086438 -0.376 -0.942 0.447 1.000000 +406732.175918000 0.622930 0.000866 0.086432 -0.375 -0.938 0.454 1.000000 +406732.177920000 0.622934 0.000858 0.086425 -0.373 -0.935 0.454 1.000000 +406732.179923000 0.622930 0.000821 0.086426 -0.372 -0.935 0.453 1.000000 +406732.181918000 0.622931 0.000800 0.086426 -0.371 -0.935 0.452 1.000000 +406732.183916000 0.622933 0.000779 0.086430 -0.371 -0.937 0.452 1.000000 +406732.185917000 0.622934 0.000761 0.086434 -0.371 -0.939 0.452 1.000000 +406732.187916000 0.622934 0.000742 0.086440 -0.371 -0.942 0.452 1.000000 +406732.189919000 0.622937 0.000739 0.086444 -0.371 -0.944 0.452 1.000000 +406732.191915000 0.622939 0.000722 0.086457 -0.372 -0.950 0.451 1.000000 +406732.193915000 0.622950 0.000730 0.086466 -0.374 -0.955 0.459 1.000000 +406732.195915000 0.622949 0.000715 0.086475 -0.376 -0.959 0.459 1.000000 +406732.197916000 0.622950 0.000703 0.086486 -0.377 -0.964 0.459 1.000000 +406732.199919000 0.622952 0.000692 0.086498 -0.378 -0.970 0.461 1.000000 +406732.201917000 0.622952 0.000683 0.086506 -0.380 -0.974 0.463 1.000000 +406732.203915000 0.622951 0.000673 0.086513 -0.381 -0.977 0.465 1.000000 +406732.205917000 0.622951 0.000662 0.086521 -0.383 -0.981 0.467 1.000000 +406732.207916000 0.622952 0.000650 0.086530 -0.384 -0.986 0.467 1.000000 +406732.209920000 0.622953 0.000637 0.086538 -0.385 -0.990 0.467 1.000000 +406732.211917000 0.622953 0.000623 0.086544 -0.386 -0.992 0.467 1.000000 +406732.213916000 0.622954 0.000609 0.086550 -0.388 -0.995 0.468 1.000000 +406732.215921000 0.622958 0.000607 0.086553 -0.389 -0.996 0.468 1.000000 +406732.217921000 0.622962 0.000604 0.086555 -0.390 -0.996 0.469 1.000000 +406732.219915000 0.622972 0.000620 0.086558 -0.393 -0.998 0.476 1.000000 +406732.221915000 0.622958 0.000595 0.086553 -0.393 -0.995 0.474 1.000000 +406732.223916000 0.622953 0.000580 0.086549 -0.392 -0.993 0.474 1.000000 +406732.225915000 0.622948 0.000564 0.086544 -0.392 -0.991 0.474 1.000000 +406732.227915000 0.622943 0.000551 0.086536 -0.390 -0.987 0.475 1.000000 +406732.229915000 0.622938 0.000536 0.086528 -0.389 -0.982 0.475 1.000000 +406732.231914000 0.622932 0.000520 0.086519 -0.387 -0.978 0.475 1.000000 +406732.233916000 0.622927 0.000503 0.086510 -0.386 -0.973 0.475 1.000000 +406732.235913000 0.622902 0.000471 0.086500 -0.386 -0.968 0.480 1.000000 +406732.237919000 0.622904 0.000461 0.086490 -0.384 -0.963 0.479 1.000000 +406732.239916000 0.622888 0.000436 0.086480 -0.383 -0.959 0.478 1.000000 +406732.241915000 0.622880 0.000418 0.086471 -0.382 -0.954 0.478 1.000000 +406732.243914000 0.622873 0.000401 0.086463 -0.381 -0.951 0.477 1.000000 +406732.245916000 0.622866 0.000385 0.086456 -0.379 -0.948 0.476 1.000000 +406732.247914000 0.622860 0.000371 0.086452 -0.378 -0.946 0.475 1.000000 +406732.249916000 0.622854 0.000357 0.086449 -0.376 -0.945 0.475 1.000000 +406732.251915000 0.622849 0.000344 0.086447 -0.376 -0.944 0.475 1.000000 +406732.253916000 0.622843 0.000331 0.086447 -0.375 -0.944 0.475 1.000000 +406732.255921000 0.622846 0.000326 0.086446 -0.375 -0.944 0.475 1.000000 +406732.257919000 0.622870 0.000350 0.086447 -0.376 -0.943 0.481 1.000000 +406732.259917000 0.622867 0.000339 0.086447 -0.377 -0.945 0.482 1.000000 +406732.261916000 0.622866 0.000333 0.086449 -0.378 -0.946 0.483 1.000000 +406732.263920000 0.622865 0.000328 0.086452 -0.379 -0.949 0.484 1.000000 +406732.265915000 0.622865 0.000324 0.086457 -0.380 -0.951 0.485 1.000000 +406732.267916000 0.622865 0.000319 0.086462 -0.381 -0.955 0.486 1.000000 +406732.269916000 0.622865 0.000315 0.086468 -0.383 -0.958 0.488 1.000000 +406732.271919000 0.622868 0.000314 0.086476 -0.385 -0.961 0.489 1.000000 +406732.273916000 0.622871 0.000314 0.086484 -0.387 -0.964 0.490 1.000000 +406732.275916000 0.622859 0.000299 0.086485 -0.389 -0.969 0.496 1.000000 +406732.277915000 0.622863 0.000299 0.086493 -0.390 -0.973 0.498 1.000000 +406732.279916000 0.622855 0.000289 0.086493 -0.391 -0.976 0.499 1.000000 +406732.281915000 0.622853 0.000283 0.086496 -0.391 -0.980 0.501 1.000000 +406732.283919000 0.622856 0.000282 0.086502 -0.392 -0.983 0.502 1.000000 +406732.285921000 0.622852 0.000271 0.086503 -0.392 -0.985 0.502 1.000000 +406732.287933000 0.622848 0.000259 0.086503 -0.393 -0.986 0.501 1.000000 +406732.289887000 0.622845 0.000249 0.086502 -0.392 -0.987 0.501 1.000000 +406732.291917000 0.622840 0.000239 0.086501 -0.394 -0.988 0.504 1.000000 +406732.293915000 0.622834 0.000225 0.086498 -0.394 -0.988 0.503 1.000000 +406732.295917000 0.622827 0.000213 0.086494 -0.393 -0.987 0.501 1.000000 +406732.297919000 0.622821 0.000200 0.086489 -0.392 -0.986 0.500 1.000000 +406732.299916000 0.622817 0.000189 0.086483 -0.391 -0.985 0.500 1.000000 +406732.301916000 0.622812 0.000178 0.086475 -0.389 -0.983 0.500 1.000000 +406732.303921000 0.622806 0.000166 0.086465 -0.387 -0.979 0.499 1.000000 +406732.305885000 0.622801 0.000156 0.086455 -0.385 -0.976 0.499 1.000000 +406732.307927000 0.622797 0.000144 0.086446 -0.383 -0.973 0.498 1.000000 +406732.309917000 0.622796 0.000142 0.086438 -0.383 -0.968 0.501 1.000000 +406732.311916000 0.622791 0.000134 0.086425 -0.381 -0.963 0.501 1.000000 +406732.313916000 0.622788 0.000126 0.086414 -0.380 -0.959 0.500 1.000000 +406732.315916000 0.622785 0.000118 0.086404 -0.379 -0.955 0.499 1.000000 +406732.317916000 0.622782 0.000110 0.086395 -0.379 -0.952 0.498 1.000000 +406732.320071000 0.622777 0.000102 0.086384 -0.379 -0.947 0.498 1.000000 +406732.321917000 0.622773 0.000096 0.086376 -0.379 -0.944 0.497 1.000000 +406732.323915000 0.622770 0.000091 0.086369 -0.380 -0.942 0.496 1.000000 +406732.325916000 0.622767 0.000087 0.086364 -0.381 -0.940 0.496 1.000000 +406732.327916000 0.622763 0.000084 0.086359 -0.382 -0.938 0.496 1.000000 +406732.329915000 0.622766 0.000083 0.086358 -0.383 -0.937 0.497 1.000000 +406732.331915000 0.622770 0.000082 0.086358 -0.384 -0.937 0.497 1.000000 +406732.333920000 0.622777 0.000085 0.086361 -0.387 -0.938 0.501 1.000000 +406732.335916000 0.622778 0.000087 0.086361 -0.388 -0.939 0.502 1.000000 +406732.337915000 0.622779 0.000087 0.086361 -0.390 -0.940 0.503 1.000000 +406732.339916000 0.622780 0.000088 0.086364 -0.392 -0.943 0.504 1.000000 +406732.341915000 0.622782 0.000088 0.086368 -0.394 -0.946 0.505 1.000000 +406732.343915000 0.622781 0.000089 0.086371 -0.395 -0.949 0.505 1.000000 +406732.345916000 0.622780 0.000088 0.086374 -0.397 -0.951 0.505 1.000000 +406732.347915000 0.622780 0.000087 0.086378 -0.399 -0.954 0.506 1.000000 +406732.349916000 0.622780 0.000087 0.086383 -0.400 -0.958 0.506 1.000000 +406732.351915000 0.622779 0.000086 0.086386 -0.402 -0.961 0.507 1.000000 +406732.353916000 0.622781 0.000086 0.086391 -0.404 -0.964 0.510 1.000000 +406732.355915000 0.622779 0.000084 0.086397 -0.404 -0.966 0.510 1.000000 +406732.357916000 0.622777 0.000083 0.086402 -0.405 -0.969 0.510 1.000000 +406732.359916000 0.622774 0.000080 0.086406 -0.405 -0.971 0.511 1.000000 +406732.361915000 0.622770 0.000076 0.086409 -0.405 -0.973 0.511 1.000000 +406732.363916000 0.622767 0.000072 0.086410 -0.404 -0.974 0.511 1.000000 +406732.365915000 0.622764 0.000068 0.086412 -0.403 -0.975 0.511 1.000000 +406732.367915000 0.622760 0.000062 0.086412 -0.402 -0.976 0.510 1.000000 +406732.369916000 0.622755 0.000057 0.086410 -0.400 -0.975 0.510 1.000000 +406732.371915000 0.622754 0.000051 0.086409 -0.398 -0.975 0.510 1.000000 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0.086369 -0.382 -0.953 0.512 1.000000 +406732.401915000 0.622640 0.000006 0.086369 -0.383 -0.953 0.512 1.000000 +406732.403916000 0.622634 0.000005 0.086371 -0.383 -0.954 0.512 1.000000 +406732.405915000 0.622635 0.000002 0.086373 -0.384 -0.955 0.512 1.000000 +406732.407915000 0.622624 0.000006 0.086378 -0.385 -0.958 0.513 1.000000 +406732.409915000 0.622618 0.000007 0.086383 -0.386 -0.960 0.513 1.000000 +406732.411915000 0.622628 0.000001 0.086383 -0.388 -0.962 0.515 1.000000 +406732.413916000 0.622626 0.000003 0.086387 -0.389 -0.965 0.516 1.000000 +406732.415915000 0.622623 0.000004 0.086391 -0.390 -0.967 0.516 1.000000 +406732.417916000 0.622621 0.000005 0.086393 -0.391 -0.970 0.517 1.000000 +406732.419915000 0.622617 0.000006 0.086396 -0.392 -0.971 0.517 1.000000 +406732.421917000 0.622618 0.000005 0.086399 -0.393 -0.973 0.517 1.000000 +406732.423916000 0.622616 0.000007 0.086401 -0.393 -0.975 0.517 1.000000 +406732.425915000 0.622608 0.000010 0.086399 -0.394 -0.975 0.518 1.000000 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-0.000005 0.086347 -0.395 -0.955 0.520 1.000000 +406732.455913000 0.622544 -0.000007 0.086341 -0.394 -0.954 0.519 1.000000 +406732.457914000 0.622538 -0.000008 0.086336 -0.394 -0.953 0.520 1.000000 +406732.459914000 0.622531 -0.000012 0.086331 -0.394 -0.951 0.520 1.000000 +406732.461913000 0.622523 -0.000013 0.086326 -0.393 -0.950 0.520 1.000000 +406732.463917000 0.622517 -0.000015 0.086324 -0.391 -0.951 0.519 1.000000 +406732.465913000 0.622512 -0.000019 0.086324 -0.391 -0.952 0.519 1.000000 +406732.467914000 0.622506 -0.000021 0.086324 -0.390 -0.954 0.519 1.000000 +406732.469913000 0.622500 -0.000023 0.086324 -0.389 -0.956 0.519 1.000000 +406732.471914000 0.622493 -0.000024 0.086324 -0.388 -0.958 0.520 1.000000 +406732.473914000 0.622492 -0.000029 0.086327 -0.388 -0.959 0.520 1.000000 +406732.475913000 0.622488 -0.000031 0.086329 -0.387 -0.962 0.520 1.000000 +406732.477920000 0.622482 -0.000034 0.086329 -0.386 -0.964 0.520 1.000000 +406732.479890000 0.622477 -0.000037 0.086330 -0.385 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