Replication data for: Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks (doi:10.18419/darus-2126)

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Part 1: Document Description
Part 2: Study Description
Part 3: Data Files Description
Part 4: Variable Description
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Document Description

Citation

Title:

Replication data for: Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks

Identification Number:

doi:10.18419/darus-2126

Distributor:

DaRUS

Date of Distribution:

2021-09-14

Version:

1

Bibliographic Citation:

Kaiser, Benjamin, 2021, "Replication data for: Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks", https://doi.org/10.18419/darus-2126, DaRUS, V1, UNF:6:wNKYRgrs4Qt6BOHEvqTtyQ== [fileUNF]

Study Description

Citation

Title:

Replication data for: Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks

Subtitle:

Optimal Geometry Parameters for Polynomial Corner Smoothing

Identification Number:

doi:10.18419/darus-2126

Authoring Entity:

Kaiser, Benjamin (Universität Stuttgart)

Producer:

Kaiser, Benjamin

Date of Production:

2021-06-15

Software used in Production:

MATLAB

Grant Number:

EXC 2120/1 – 390831618

Distributor:

DaRUS

Access Authority:

Lechler, Armin

Access Authority:

Kaiser, Benjamin

Depositor:

Kaiser, Benjamin

Date of Deposit:

2021-09-07

Study Scope

Keywords:

Engineering, Corner smoothing, curvature, polynom spline

Abstract:

This dataset contains curvature-optimal geometry parameters for linear-linear transitions for polynomial smoothing with polynomial splines 4th order. The data was generated by offline solving the optimization problem of curvature-optimal geometry parameters for corner smoothing, which is described in the related publication. Dataset_linlin.tab contains optimal geometry parameters for linear-linear transitions. Dataset_lincirc.tab contains the optimal geometry parameters for linear-circular transitions. These datasets were used to train the neural networks as described in the corresponding publication. cartesian_trajectory_non_smooth.tab contains the non-smoothed example trajectory from the corresponding publication. The orientations are RPY (xyz) Euler angles. The velocity is planned to keep the jerk limits. cartesian_trajectory_smooth.tab contains the smoothed example trajectory from the corresponding publication. The orientations of the trajectory are RPY (xyz) Euler angles. The trajectory was planned using the neural network to determine the optimal geometry parameters. The velocity is planned to keep the jerk limits. cartesian_trajectory_fs.tab contains the non-smoothed example trajectory from the corresponding publication. The orientations are RPY (xyz) Euler angles. The velocity profile of the trajectory ignores the jerk boundaries. trajectory_non_smooth, trajectory_smooth and trajectory_fs are the corresponding trajectories in the jointspace. These were planned for the Kuka KR500 R3330 with the end effector from the corresponding publication.

Methodology and Processing

Sources Statement

Data Access

Notes:

CC BY Waiver

Other Study Description Materials

Related Publications

Citation

Bibliographic Citation:

B. Kaiser and A. Verl, "Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks," 2021 Fourth International Conference on Artificial Intelligence for Industries (AI4I), 2021

File Description--f66484

File: cartesian_trajectory_fs.tab

  • Number of cases: 3167

  • No. of variables per record: 8

  • Type of File: text/tab-separated-values

Notes:

UNF:6:BBlGUuU5jyWJnJOd20wJ2g==

File Description--f66485

File: cartesian_trajectory_non_smooth.tab

  • Number of cases: 3272

  • No. of variables per record: 8

  • Type of File: text/tab-separated-values

Notes:

UNF:6:3k268QRlt6+V7Ncn2DGJxQ==

File Description--f66482

File: cartesian_trajectory_smooth.tab

  • Number of cases: 2997

  • No. of variables per record: 8

  • Type of File: text/tab-separated-values

Notes:

UNF:6:YrQA6fMykIIU96dK6h1Zuw==

File Description--f66489

File: Dataset_lincirc.tab

  • Number of cases: 100000

  • No. of variables per record: 16

  • Type of File: text/tab-separated-values

Notes:

UNF:6:DDP2D+VUmiEPhglt9myUFw==

File Description--f66411

File: Dataset_linlin.tab

  • Number of cases: 100000

  • No. of variables per record: 16

  • Type of File: text/tab-separated-values

Notes:

UNF:6:xqTQ0GNSmewznqJdHQkpOg==

File Description--f66483

File: trajectory_fs.tab

  • Number of cases: 3167

  • No. of variables per record: 7

  • Type of File: text/tab-separated-values

Notes:

UNF:6:kGNUeLPy6hKjio5kVCaDXw==

File Description--f66486

File: trajectory_non_smooth.tab

  • Number of cases: 3272

  • No. of variables per record: 7

  • Type of File: text/tab-separated-values

Notes:

UNF:6:LpJ2cJhZDfcE+CTFQ/avfA==

File Description--f66488

File: trajectory_smooth.tab

  • Number of cases: 2997

  • No. of variables per record: 7

  • Type of File: text/tab-separated-values

Notes:

UNF:6:2JIQ5nv1X4RHGILyQF5Mwg==

Variable Description

List of Variables:

Variables

time

f66484 Location:

Summary Statistics: Mean 15.840000000000002; Valid 3167.0; Max. 31.67; Min. 0.01; StDev 9.143784774369966;

Variable Format: numeric

Notes: UNF:6:2Ehr+mJLRnP/pODTQdpFBA==

x

f66484 Location:

Summary Statistics: Valid 3167.0; Mean 2.0054801011813477; StDev 0.2924926451070223; Max. 2.5; Min. 1.50047845865167;

Variable Format: numeric

Notes: UNF:6:ls9ZCAeNxdVVKZ3eRbg5DQ==

y

f66484 Location:

Summary Statistics: Mean -1.451971322844606E-4; Max. 0.6; StDev 0.35825676992745836; Valid 3167.0; Min. -0.6

Variable Format: numeric

Notes: UNF:6:BG5krw7493g/y0hfsHeFIw==

z

f66484 Location:

Summary Statistics: StDev 0.17975711690204846; Valid 3167.0; Min. 0.800002523708245; Max. 1.60785008585465; Mean 1.2015768411648315;

Variable Format: numeric

Notes: UNF:6:Zjc04N1GHr9Fhuwv8NMXNA==

w

f66484 Location:

Summary Statistics: StDev 0.0; Valid 3167.0; Min. 0.0; Mean 0.0; Max. 0.0;

Variable Format: numeric

Notes: UNF:6:UsGGL8Wb3LPMkVi4qOOr3w==

i

f66484 Location:

Summary Statistics: Max. 1.0; StDev 0.0; Mean 1.0; Min. 1.0; Valid 3167.0;

Variable Format: numeric

Notes: UNF:6:Q0XHcpNZA3CzRVJOlAs+VA==

j

f66484 Location:

Summary Statistics: Mean 0.0; StDev 0.0; Valid 3167.0; Min. 0.0; Max. 0.0

Variable Format: numeric

Notes: UNF:6:UsGGL8Wb3LPMkVi4qOOr3w==

k

f66484 Location:

Summary Statistics: Mean 0.0; Valid 3167.0; StDev 0.0; Min. 0.0; Max. 0.0

Variable Format: numeric

Notes: UNF:6:UsGGL8Wb3LPMkVi4qOOr3w==

time

f66485 Location:

Summary Statistics: Max. 32.72; Mean 16.365000000000002; Valid 3272.0; StDev 9.446893669349729; Min. 0.01

Variable Format: numeric

Notes: UNF:6:CP3lzUDioYSxrQFz/ka7Tg==

x

f66485 Location:

Summary Statistics: Mean 2.0051920448922047; Max. 2.5; Valid 3272.0; StDev 0.2930690422583059; Min. 1.5

Variable Format: numeric

Notes: UNF:6:cr8IwJqVifDdXdZBhR571w==

y

f66485 Location:

Summary Statistics: Min. -0.6; Valid 3272.0; Max. 0.6; StDev 0.359780652963721; Mean -5.450414370605433E-5

Variable Format: numeric

Notes: UNF:6:lYjAgkp15Vt9V8ijkw+4Sg==

z

f66485 Location:

Summary Statistics: Max. 1.6; Valid 3272.0; Min. 0.80000248521096; StDev 0.1801049032174196; Mean 1.2001222512331207

Variable Format: numeric

Notes: UNF:6:VS/npFwv2I4TDWehMNQxVw==

w

f66485 Location:

Summary Statistics: StDev 0.0; Max. 0.0; Min. 0.0; Valid 3272.0; Mean 0.0;

Variable Format: numeric

Notes: UNF:6:YVz7VsoFUWeJa5eThwcLyQ==

i

f66485 Location:

Summary Statistics: Max. 1.0; StDev 0.0; Mean 1.0; Min. 1.0; Valid 3272.0

Variable Format: numeric

Notes: UNF:6:/JF+JKVzcJxREqhN2ajy4Q==

j

f66485 Location:

Summary Statistics: Valid 3272.0; StDev 0.0; Max. 0.0; Min. 0.0; Mean 0.0

Variable Format: numeric

Notes: UNF:6:YVz7VsoFUWeJa5eThwcLyQ==

k

f66485 Location:

Summary Statistics: StDev 0.0; Valid 3272.0; Mean 0.0; Max. 0.0; Min. 0.0;

Variable Format: numeric

Notes: UNF:6:YVz7VsoFUWeJa5eThwcLyQ==

time

f66482 Location:

Summary Statistics: Valid 2997.0; Mean 14.990000000000002; Max. 29.97; StDev 8.653037039097889; Min. 0.01

Variable Format: numeric

Notes: UNF:6:OxbPbW75+CE6GzrzWAT13A==

x

f66482 Location:

Summary Statistics: Min. 1.51585030395661; Max. 2.5; Mean 2.0075153355746926; StDev 0.29032969904147565; Valid 2997.0

Variable Format: numeric

Notes: UNF:6:kGTCsR5d1rlLmneypg0TWw==

y

f66482 Location:

Summary Statistics: Valid 2997.0; Max. 0.6; Mean -2.6544706425968458E-5; StDev 0.3544908219798785; Min. -0.6;

Variable Format: numeric

Notes: UNF:6:2mTh2yaDZej+6pkE4/P27g==

z

f66482 Location:

Summary Statistics: Mean 1.2021282453653392; StDev 0.1773584686970337; Min. 0.800002476834932; Max. 1.60673531039931; Valid 2997.0

Variable Format: numeric

Notes: UNF:6:SwmCLE1sXPJ+wd8otmVklw==

w

f66482 Location:

Summary Statistics: Mean 0.0; Max. 0.0; Min. 0.0; StDev 0.0; Valid 2997.0

Variable Format: numeric

Notes: UNF:6:rTYOzCwIMhYb88kQeIcn7w==

i

f66482 Location:

Summary Statistics: Valid 2997.0; Max. 1.0; Min. 1.0; Mean 1.0; StDev 0.0;

Variable Format: numeric

Notes: UNF:6:t3B0t9740xX0wOWmpTBJ2Q==

j

f66482 Location:

Summary Statistics: Valid 2997.0; StDev 0.0; Min. 0.0; Mean 0.0; Max. 0.0

Variable Format: numeric

Notes: UNF:6:rTYOzCwIMhYb88kQeIcn7w==

k

f66482 Location:

Summary Statistics: Min. 0.0; Mean 0.0; StDev 0.0; Max. 0.0; Valid 2997.0

Variable Format: numeric

Notes: UNF:6:rTYOzCwIMhYb88kQeIcn7w==

Angle

f66489 Location:

Summary Statistics: StDev 0.8576173575659526; Mean 1.5736775942613395; Valid 100000.0; Max. 3.05430531873679; Min. 0.0872680453566452;

Variable Format: numeric

Notes: UNF:6:cWaZHeysAObhVkgPzWsuWw==

delta_s

f66489 Location:

Summary Statistics: StDev 1.4306546416424486; Min. 0.0100310633435682; Valid 100000.0; Mean 2.3492487737413326; Max. 4.99997345388949

Variable Format: numeric

Notes: UNF:6:Ukc9pqrZU66weq154que5A==

delta_e

f66489 Location:

Summary Statistics: Mean 2.3492487737413326; Max. 4.99997345388949; Min. 0.0100310633435682; StDev 1.4306546416424486; Valid 100000.0;

Variable Format: numeric

Notes: UNF:6:Ukc9pqrZU66weq154que5A==

delta_z1

f66489 Location:

Summary Statistics: StDev 0.39638775564118967; Max. 2.49901182564355; Valid 100000.0; Min. 1.00470585135575E-4; Mean 0.20991520928067306;

Variable Format: numeric

Notes: UNF:6:wrHE2L9qD9//IHoqZMzeEg==

delta_z2

f66489 Location:

Summary Statistics: Valid 100000.0; Max. 0.0; StDev 0.0; Min. 0.0; Mean 0.0

Variable Format: numeric

Notes: UNF:6:X94yXnWzjl0mOoBrYVqEHQ==

delta_z3

f66489 Location:

Summary Statistics: Mean 0.0; Max. 0.0; Valid 100000.0; Min. 0.0; StDev 0.0

Variable Format: numeric

Notes: UNF:6:X94yXnWzjl0mOoBrYVqEHQ==

s1_len_estim

f66489 Location:

Summary Statistics: Max. 4.96159541428391; StDev 1.3994258177047338; Valid 100000.0; Min. 0.0059414824142434; Mean 2.1844776114311912

Variable Format: numeric

Notes: UNF:6:EK9EnbTzPMlSu1OJQxS0UQ==

s2_len_estim

f66489 Location:

Summary Statistics: Min. 0.0059455368543629; Max. 5.30172463346495; Mean 2.089802083583209; Valid 100000.0; StDev 1.288254446950609

Variable Format: numeric

Notes: UNF:6:zkBxmO8jBcP21AA41YhE7g==

s1_len

f66489 Location:

Summary Statistics: Min. 0.00626402186613917; Mean 2.224969615007221; Valid 100000.0; StDev 1.4233192524367586; Max. 5.31197186182238

Variable Format: numeric

Notes: UNF:6:HpvCVBXA0ixBQc2/DjJL0g==

s2_len

f66489 Location:

Summary Statistics: Min. 0.00626807653153876; StDev 1.420243645976394; Max. 7.68102696288034; Mean 2.24032463383474; Valid 100000.0

Variable Format: numeric

Notes: UNF:6:lpiEwAjb/O2raaFQHZCjEA==

is_symmetric

f66489 Location:

Summary Statistics: Valid 100000.0; Min. 1.0; Max. 1.0; StDev 0.0; Mean 1.0

Variable Format: numeric

Notes: UNF:6:gncYkgS++O2WfLtmFuchfA==

is_looping

f66489 Location:

Summary Statistics: StDev 0.0; Valid 100000.0; Min. 0.0; Mean 0.0; Max. 0.0

Variable Format: numeric

Notes: UNF:6:X94yXnWzjl0mOoBrYVqEHQ==

s1_type

f66489 Location:

Summary Statistics: StDev 0.0; Min. 1.0; Valid 100000.0; Mean 1.0; Max. 1.0

Variable Format: numeric

Notes: UNF:6:gncYkgS++O2WfLtmFuchfA==

s2_type

f66489 Location:

Summary Statistics: StDev 0.0; Max. 2.0; Valid 100000.0; Mean 2.0; Min. 2.0;

Variable Format: numeric

Notes: UNF:6:Ccau6ljirXeSc8XwHUerag==

s1_radius

f66489 Location:

Summary Statistics: Max. 4.99999196980545; StDev 1.4124981353266726; Mean 2.5436451578065284; Min. 0.100017663569938; Valid 100000.0

Variable Format: numeric

Notes: UNF:6:lolYMUHMbuYgN93s+Bieng==

s2_radius

f66489 Location:

Summary Statistics: Max. 4.99985461801704; Valid 100000.0; Min. 0.100080651759465; Mean 2.8739588413600705; StDev 1.2498331587025067;

Variable Format: numeric

Notes: UNF:6:jToFj7aqBaNccIGtqTHAtA==

Angle

f66411 Location:

Summary Statistics: Mean 1.5676917780440789; Min. 0.087284932899462; Valid 100000.0; Max. 3.05431040664229; StDev 0.8568442569620336;

Variable Format: numeric

Notes: UNF:6:sTMfimI5DyrRPsJL32Ny7Q==

delta_s

f66411 Location:

Summary Statistics: Valid 100000.0; Mean 2.503601173657115; Max. 4.99985916003952; StDev 1.4369120820088424; Min. 0.0100314070292073

Variable Format: numeric

Notes: UNF:6:IG3+p26FuJNyQciLrEjzxw==

delta_e

f66411 Location:

Summary Statistics: Min. 0.0100314070292073; Max. 4.99985916003952; Valid 100000.0; Mean 2.503601173657115; StDev 1.4369120820088424

Variable Format: numeric

Notes: UNF:6:IG3+p26FuJNyQciLrEjzxw==

delta_z1

f66411 Location:

Summary Statistics: StDev 0.5512632646456104; Mean 0.45903972993614134; Max. 2.49985064379541; Valid 100000.0; Min. 1.01860298233503E-4;

Variable Format: numeric

Notes: UNF:6:ieX+kcnQtnsupSPrT3HrsQ==

delta_z2

f66411 Location:

Summary Statistics: Valid 100000.0; Mean 0.0; Min. 0.0; Max. 0.0; StDev 0.0;

Variable Format: numeric

Notes: UNF:6:X94yXnWzjl0mOoBrYVqEHQ==

delta_z3

f66411 Location:

Summary Statistics: Mean 0.0; StDev 0.0; Min. 0.0; Valid 100000.0; Max. 0.0

Variable Format: numeric

Notes: UNF:6:X94yXnWzjl0mOoBrYVqEHQ==

s1_len_estim

f66411 Location:

Summary Statistics: Max. 4.99323026103678; Valid 100000.0; Mean 2.2289361450906555; StDev 1.3308138650557138; Min. 0.00597219315263319;

Variable Format: numeric

Notes: UNF:6:K4yPZj/n26n8E8p6LEgqdQ==

s2_len_estim

f66411 Location:

Summary Statistics: Max. 4.99323026103678; Min. 0.00597219315263418; StDev 1.3308138650557138; Mean 2.2289361450906555; Valid 100000.0

Variable Format: numeric

Notes: UNF:6:K4yPZj/n26n8E8p6LEgqdQ==

s1_len

f66411 Location:

Summary Statistics: Valid 100000.0; Mean 2.262567945002608; Min. 0.0062652441786664; StDev 1.3413696701493036; Max. 5.01052429438845;

Variable Format: numeric

Notes: UNF:6:goXJlGjzTdzzGI8aHeVRgg==

s2_len

f66411 Location:

Summary Statistics: Max. 5.01052429438849; StDev 1.3413696701492972; Valid 100000.0; Mean 2.2625679450025995; Min. 0.00626524451527233

Variable Format: numeric

Notes: UNF:6:e2cTB1oanktP/UC++Q1fPg==

is_symmetric

f66411 Location:

Summary Statistics: Valid 100000.0; Mean 1.0; StDev 0.0; Max. 1.0; Min. 1.0

Variable Format: numeric

Notes: UNF:6:gncYkgS++O2WfLtmFuchfA==

is_looping

f66411 Location:

Summary Statistics: Valid 100000.0; StDev 0.0; Max. 0.0; Mean 0.0; Min. 0.0

Variable Format: numeric

Notes: UNF:6:X94yXnWzjl0mOoBrYVqEHQ==

s1_type

f66411 Location:

Summary Statistics: StDev 0.0; Max. 1.0; Valid 100000.0; Mean 1.0; Min. 1.0;

Variable Format: numeric

Notes: UNF:6:gncYkgS++O2WfLtmFuchfA==

s2_type

f66411 Location:

Summary Statistics: Valid 100000.0; Max. 1.0; StDev 0.0; Min. 1.0; Mean 1.0;

Variable Format: numeric

Notes: UNF:6:gncYkgS++O2WfLtmFuchfA==

s1_radius

f66411 Location:

Summary Statistics: Valid 100000.0; Max. 1.0; StDev 0.0; Mean 1.0; Min. 1.0

Variable Format: numeric

Notes: UNF:6:gncYkgS++O2WfLtmFuchfA==

s2_radius

f66411 Location:

Summary Statistics: Mean 1.0; Max. 1.0; Min. 1.0; StDev 0.0; Valid 100000.0

Variable Format: numeric

Notes: UNF:6:gncYkgS++O2WfLtmFuchfA==

time

f66483 Location:

Summary Statistics: Mean 15.840000000000002; StDev 9.143784774369966; Valid 3167.0; Min. 0.01; Max. 31.67

Variable Format: numeric

Notes: UNF:6:2Ehr+mJLRnP/pODTQdpFBA==

joint0

f66483 Location:

Summary Statistics: Max. 0.508084457624437; Mean -9.1457246645868E-5; Valid 3167.0; Min. -0.50766606932847; StDev 0.231514190881606

Variable Format: numeric

Notes: UNF:6:ax0b+fKDO0y1GZbGaMTZkQ==

joint1

f66483 Location:

Summary Statistics: Valid 3167.0; Max. 0.602526774975495; StDev 0.21647578038095155; Min. -0.138432857366256; Mean 0.2438582847043095;

Variable Format: numeric

Notes: UNF:6:fZz84+U090co+rLgIdvo2A==

joint2

f66483 Location:

Summary Statistics: StDev 0.2839486972141362; Min. -0.226296845776141; Mean 0.3251067262989793; Valid 3167.0; Max. 0.771892841906063;

Variable Format: numeric

Notes: UNF:6:c67RF/OjXzdqxJyRk3fSoQ==

joint3

f66483 Location:

Summary Statistics: Mean 0.02211038295557546; Max. 0.806478607899; Min. -0.704757984952173; StDev 0.42102473316529987; Valid 3167.0;

Variable Format: numeric

Notes: UNF:6:nMSaSeMjrlDqDzUJFy/rRw==

joint4

f66483 Location:

Summary Statistics: Valid 3167.0; Mean -0.6093404355747508; StDev 0.20377750490380753; Max. -0.187386258513811; Min. -1.0418738833164

Variable Format: numeric

Notes: UNF:6:najJT+hSO9TmuF7y8op23g==

joint5

f66483 Location:

Summary Statistics: Mean -0.02725825895343019; Max. 0.58686011598985; StDev 0.3570378470910116; Valid 3167.0; Min. -0.656546604663681

Variable Format: numeric

Notes: UNF:6:B8E65z2ixIPNX9tMPBOzuQ==

time

f66486 Location:

Summary Statistics: Mean 16.365000000000002; Max. 32.72; StDev 9.446893669349729; Valid 3272.0; Min. 0.01;

Variable Format: numeric

Notes: UNF:6:CP3lzUDioYSxrQFz/ka7Tg==

joint0

f66486 Location:

Summary Statistics: Mean -3.090438125901037E-5; StDev 0.23278428022422146; Max. 0.508280293599743; Valid 3272.0; Min. -0.508280228410365

Variable Format: numeric

Notes: UNF:6:OEfVJNuKLQbLudYL50/oqQ==

joint1

f66486 Location:

Summary Statistics: StDev 0.21683441583359978; Mean 0.24474959016679318; Max. 0.602697737712581; Valid 3272.0; Min. -0.138431970758901

Variable Format: numeric

Notes: UNF:6:MlVonBiSVnKEDpSWg5p1SA==

joint2

f66486 Location:

Summary Statistics: Min. -0.226570044688272; Max. 0.771891959902016; StDev 0.28445824603919184; Mean 0.32567517405681634; Valid 3272.0

Variable Format: numeric

Notes: UNF:6:8AAfqgAfGdQGz1i6MXwozQ==

joint3

f66486 Location:

Summary Statistics: Valid 3272.0; Max. 0.806762659809318; Mean 0.02285655772565903; Min. -0.705429930354936; StDev 0.4240042562867649

Variable Format: numeric

Notes: UNF:6:6HCYuFyT0imQX1iYDAOQGw==

joint4

f66486 Location:

Summary Statistics: Min. -1.0418738833164; Mean -0.6112919005596557; Max. -0.194839457502876; Valid 3272.0; StDev 0.20403041256341745;

Variable Format: numeric

Notes: UNF:6:FEn/G7H9jhASyw9cVapUZA==

joint5

f66486 Location:

Summary Statistics: Max. 0.587591295228783; Min. -0.656789603673807; StDev 0.35981405679442985; Mean -0.028064720881643107; Valid 3272.0

Variable Format: numeric

Notes: UNF:6:5ewD9rxdZu/sqVfB4D16ZA==

time

f66488 Location:

Summary Statistics: Max. 29.97; Min. 0.01; Mean 14.990000000000002; Valid 2997.0; StDev 8.653037039097889;

Variable Format: numeric

Notes: UNF:6:OxbPbW75+CE6GzrzWAT13A==

joint0

f66488 Location:

Summary Statistics: Max. 0.482648795530686; StDev 0.22795784733215907; Valid 2997.0; Min. -0.482656967548348; Mean 4.276394629793946E-5

Variable Format: numeric

Notes: UNF:6:5UyTl8535h4CVWuFP4G94g==

joint1

f66488 Location:

Summary Statistics: Mean 0.243832428023717; Valid 2997.0; StDev 0.21526534857484228; Max. 0.588965421097484; Min. -0.138432643112992

Variable Format: numeric

Notes: UNF:6:rv+5ao0o4lIUa6GZbWVC8w==

joint2

f66488 Location:

Summary Statistics: Mean 0.3243783993177209; Max. 0.771891830933647; StDev 0.28189388841971186; Min. -0.202079914176296; Valid 2997.0

Variable Format: numeric

Notes: UNF:6:Jrq48QIhvndY8F79y9O+Jw==

joint3

f66488 Location:

Summary Statistics: StDev 0.4142692730337094; Max. 0.772378883264057; Min. -0.676981642940797; Mean 0.020799744788903184; Valid 2997.0

Variable Format: numeric

Notes: UNF:6:EkjlSwZsYcsZo1uOO1uL2g==

joint4

f66488 Location:

Summary Statistics: Mean -0.6073732654990089; Valid 2997.0; StDev 0.20106261258515548; Min. -1.03968294932073; Max. -0.188247443531045

Variable Format: numeric

Notes: UNF:6:yI9pvNmyASfOarFYl1LeYg==

joint5

f66488 Location:

Summary Statistics: Max. 0.55907695182557; Valid 2997.0; Min. -0.629417774327229; Mean -0.025498160240284635; StDev 0.351121272843345

Variable Format: numeric

Notes: UNF:6:qcY0zfnWxPdS2V8mfrFK3g==