data.csv

time,x,y,z,phi,theta,psi,x_velocity,y_velocity,z_velocity,phi_velocity,theta_velocity,psi_velocity,distance,reward,rotor_speed1,rotor_speed2,rotor_speed3,rotor_speed4
0.06,0.016081718692881546,0.01591667869958481,70.57409535321341,0.010594472813431288,0.010585104169837045,0.01059999252914512,0.10267310496676837,0.09727333252056165,9.143805919096083,0.009722984168143656,0.00925048030218572,0.009999626462329455,4.425912780075567,1.4111692088358594,50.403107157162886,49.85616415633945,50.448151452703385,50.247343483839295
0.12000000000000001,0.022313595687849328,0.02167989742375748,71.09822315211198,0.011186179267046015,0.011124387985608664,0.011199962646589512,0.10500639539414532,0.0948826347830239,8.333421677419983,0.01013794204822704,0.008457948175477478,0.00999925295256412,3.901813759696576,1.5597024389133365,50.57538553195466,49.99900062570944,50.01436436105903,50.317885824085224
0.18,0.028675520009043862,0.027309305317356158,71.57494182700084,0.011809963186010464,0.011607319133687177,0.011799910354004517,0.10700980763183662,0.09280974466811709,7.562651017314598,0.010908400742145604,0.007217769145935227,0.00999887947070087,3.4251528251344507,1.7175959361575917,50.77072551993228,49.869339973624186,49.900907460084845,50.46350578389906
0.23999999999999996,0.035148085186439255,0.03282329765109963,72.00646348686081,0.012474609381052382,0.012015602896322086,0.012399835653067015,0.10869650709592962,0.09103224893031013,6.826119074575932,0.011413401970784325,0.005965502485666971,0.009998506016736573,2.9937291434934052,1.887521799715107,50.68660010617866,49.77505607314225,49.96177733694713,50.33103889346994
0.3,0.04171277332552401,0.038238997938977254,72.39470035338037,0.013167899858442134,0.012362405959205347,0.012999738545448558,0.11008356512063527,0.08953073840294708,6.119182676857096,0.011836243017400053,0.005406507634723476,0.009998132590668108,2.6056456761564784,2.0739540723168464,50.46250385521506,50.0560637995706,49.821638853908745,50.13199305407256
0.36000000000000004,0.04835228015776375,0.04357246296015724,72.74130492053804,0.013896405608423201,0.012688073273618095,0.01359961903282425,0.11119446672245505,0.08828853756234879,5.4378100031934915,0.012745927173661749,0.005470320465557627,0.009997759192492349,2.259270118787962,2.285781531914819,50.15004519721109,50.19668051467313,49.79354938147407,50.457916139431056
0.4200000000000001,0.05505085027212358,0.04883874512891387,73.04770309057125,0.01468507761058735,0.013015490241838457,0.01419947711686742,0.1120566249406406,0.08728853875955746,4.778465816042601,0.013930078131937388,0.0054301915100139556,0.009997385822206169,1.9532028183981538,2.523747242905218,50.46280628162814,50.433905471828666,49.858919505032034,50.72044831780191
0.48000000000000015,0.06179443422057945,0.05405178753190685,73.3151162417818,0.015544500520418225,0.013344265428650637,0.014799312799251396,0.1126989802008192,0.08651114542369992,4.137857132449274,0.015099597173154908,0.005578202165703973,0.009997012479806442,1.6862551711139364,2.6641276615108946,50.42652496196136,50.533751479490114,49.87877327048829,50.72939343565375
0.5400000000000001,0.0685706607392674,0.059224399873876704,73.54457991047636,0.01645299030441283,0.013690680122933507,0.015399126081648618,0.11314869807300726,0.08593825443478345,3.513072406464403,0.015225163048442906,0.006161526123493553,0.009996639165290047,1.4574296555344906,2.7870444261606284,50.17497667429862,50.59775662609514,50.3826561814863,50.47540394792075
0.6000000000000002,0.07536877785895947,0.06436832535283919,73.7369626501624,0.01738035320235287,0.01408879231384308,0.015998916965732413,0.1134325877700499,0.08555224866673955,2.9014492006157946,0.015913862173180932,0.007566181194018596,0.00999626587865386,1.2658958642025977,2.8987293315563,49.78343251650451,50.802842214964556,50.25866137930259,50.75814949904927
0.6600000000000003,0.0821796177579073,0.06949420226650287,73.89298009268717,0.018347263540561265,0.01456680597548754,0.01659868545317611,0.11357656297583005,0.08533345079651279,2.3005457762531516,0.016514776638428496,0.008756556971894721,0.00999589261989476,1.110964685536816,2.91370625054149,49.95198027671636,50.8142278749258,50.24106078966268,50.67758773328697
0.7200000000000003,0.08899557315834795,0.07461133882532563,74.01320343967876,0.019353098365441745,0.015116331738227906,0.01719843154565126,0.11360671303665575,0.08525726416102246,1.7079838609911393,0.017257578212259376,0.009951314011350514,0.009995519389009618,0.9920596641055639,2.9245963120442284,49.74588746967051,50.614679626108895,49.938152097198724,50.479946651766404
0.7800000000000004,0.09581051899371335,0.07972755158963206,74.0980697067994,0.020400302928581304,0.015732407220240496,0.017798155244830305,0.11354657074209491,0.08529847485473689,1.1216633788408488,0.017842211018541967,0.010893765345894667,0.009995146185995316,0.9086823594708925,2.940243272392512,49.518423751235915,50.20818395359769,50.213338066768074,50.63849014998093
0.8400000000000004,0.10261977095195127,0.08484902118052307,74.1478922983523,0.02147878035373907,0.016413408007847963,0.01839785655238657,0.11342080977345902,0.08542765065760717,0.5395595388447765,0.018238133016057017,0.012247262780217231,0.009994773010848734,0.8603884780436069,2.94394549992929,49.56451996010716,50.5507900097257,50.25537909865675,50.54433580627253
0.9000000000000005,0.10942024571933316,0.08997993582148178,74.16286111926115,0.022581603385464,0.01716028167024586,0.018997535469990723,0.11325827607847355,0.08560765778909261,-0.04042368552951703,0.018663367009128594,0.012846173268246344,0.009994399863566747,0.8468073458807457,2.927169141099336,49.7865950024491,50.224100345566946,49.99916453370499,50.310860815641256
0.9600000000000005,0.11621058006515804,0.095122222829101,74.14304780068287,0.023710389142137522,0.017948236387256955,0.0195971919993152,0.1130876788655734,0.08580017025063054,-0.6201377795803653,0.01911083520980359,0.013699258114207077,0.009994026744146236,0.8676943886251766,2.9363866197562993,49.92153644004549,50.54172895087352,50.17618708198176,50.503346800426975
1.0200000000000005,0.12299138484282558,0.10027515483536155,74.08840587862869,0.024861435602337778,0.018792053538970954,0.020196826142031554,0.11294619763565406,0.08595489112655415,-1.2016698787994773,0.01933022646689819,0.014782472870749656,0.00999365365258408,0.9229953947598959,2.942288053097127,49.60164097776937,50.39262483143622,50.28165262361976,50.44386513561718
1.0800000000000005,0.12976557485447143,0.10543486964717624,73.99876784589392,0.026031398112314363,0.019687958764907698,0.020796437899811338,0.11287364039810265,0.08601747645465192,-1.7869725345890313,0.01983548660208353,0.015228617250343168,0.009993280588877159,1.0128758234258979,2.9305127917048135,49.91370457695473,50.24034414203967,50.102066201061234,50.47168009196878
1.1400000000000006,0.1365386706153551,0.11059396062427154,73.87384639279945,0.02723082234220975,0.020608994650980428,0.02139602727432699,0.1129172389265566,0.08592394527979837,-2.3780907241839913,0.020298397561754826,0.015593417522098208,0.009992907553022352,1.137696412531036,2.913910582274328,49.829607250209584,50.09781730338392,50.19745416011704,50.536046949748275
1.2000000000000006,0.1433192801576528,0.1157408488184535,73.71322790709405,0.028456912250171662,0.021556259868193095,0.021995594267247398,0.113132815707386,0.0855989531855217,-2.9771940599580446,0.02070626443510433,0.016173566598836585,0.009992534545016545,1.2979744129420108,2.9140381845313317,49.43897939495881,49.866957513634034,50.19009043960395,50.489215844709996
1.2600000000000007,0.15011954799824406,0.120859185923384,73.51636896431158,0.02970766248428891,0.022531976242132323,0.022595138880244114,0.11358264120642197,0.08495864339059263,-3.5864445473732482,0.021123480558502782,0.016438076882597647,0.009992161564856616,1.4943507944564811,2.8488778688246836,49.65301091514674,49.84923261735513,50.086931866704816,50.393590934819656
1.3200000000000007,0.1569556830580912,0.12592715755176304,73.28259083620294,0.030987366315118337,0.02352295594954068,0.02319466111498869,0.11434009042956762,0.08390433724065695,-4.208195660567125,0.021735036221191665,0.01667235123377905,0.009991788612539446,1.727579032789878,2.727710649885057,49.65720708649201,49.83140032229149,50.0694229234537,50.51668883874273
1.3800000000000008,0.1638486403084963,0.130916549396367,73.01106811416552,0.032299537371612175,0.024523887572326153,0.023794160973150902,0.11549024888341512,0.08232093821246513,-4.8449893169668075,0.02213708111491754,0.01670186848404465,0.00999141568806192,1.998534528731435,2.605175081197761,49.84994455022021,49.87422286553151,50.06983494789914,50.366051679412465
1.4400000000000008,0.17082482781616246,0.13579173797605823,72.70081786950162,0.03363438173533062,0.025512024068845562,0.024393638456400524,0.11712992406909252,0.08007626382695003,-5.4995410569585275,0.022467104681080024,0.015999040261750763,0.009991042791420919,2.308230199912523,2.420335274145841,50.21007575417749,49.70032219066551,50.30712377711188,50.55024939644821
1.5000000000000009,0.17791692508969567,0.14050843851198194,72.3506831498488,0.03498335171887401,0.026464942616566844,0.02499309356640822,0.11937131109923758,0.07701325548490032,-6.174944793843769,0.022514264977893612,0.015646846441283987,0.009990669922613327,2.657839031760475,2.1874722449977266,50.17990394534806,49.92609275650782,50.299823552414594,50.33884992210738
1.560000000000001,0.18516477264567785,0.1450122467550472,71.95931247442515,0.03632294834929528,0.02739808491337925,0.025592526304844654,0.12234178095912943,0.07295135930987498,-6.87460069334235,0.02194871119801136,0.015362775751830263,0.009990297081636028,3.048719671031822,1.989652654111409,50.17171295895862,49.96743683859244,50.34048381907987,49.93450758954857
1.620000000000001,0.1926164027995714,0.14923721460634612,71.52513995651601,0.03763190667099536,0.028313860724446194,0.0261919366733796,0.12618740691510982,0.0676861407321137,-7.602267119140902,0.021549215523694862,0.0150625149870794,0.009989924268485906,3.482439959899426,1.8124027176407629,50.0640254884824,49.847393513075154,50.35528829243386,50.070145700160175
1.680000000000001,0.20032930094855092,0.15310421448226763,71.04635933113352,0.03892172644526948,0.029215539550405012,0.02679132467368195,0.13107781781727657,0.06098125656494621,-8.362212752557927,0.021392372711973483,0.014958830999652025,0.009989551483159848,3.9608052965927483,1.6493586568798193,50.13117193407326,50.057987162130715,50.138201927641454,50.02864244747485
1.740000000000001,0.2083719903381446,0.1565187234245033,70.5208899114997,0.040201233774435075,0.030113529193079636,0.027390690307420584,0.1372124404117914,0.05255855699233242,-9.159334279586613,0.021190306393099424,0.014981813688033203,0.009989178725654736,4.485894154766682,1.4970403878785334,49.99979007969558,50.01870920072133,50.16807947446766,50.025600722326935
1.8000000000000012,0.21682601539355195,0.1593681077715343,69.94633594432655,0.04147682589763946,0.031007381948863433,0.027990033576265283,0.14482685066305565,0.042091269736901304,-9.999259516559372,0.021398605478372013,0.014728498105763184,0.009988805995967458,5.06009962548848,1.353251113545157,50.044848912990076,49.86232684996846,49.9736080112638,50.129574773897886
1.8600000000000012,0.22578835447157117,0.16151819929402983,69.31993491614654,0.042775946592433556,0.03189469283305968,0.02858935448188582,0.1542007430699042,0.029185243314125184,-10.88861481241954,0.02215397174734267,0.014908262900686583,0.0099884332940949,5.686181648123291,1.2164509419246174,49.64736357941217,49.7811992178971,49.39523320358884,49.953643341061564
1.9200000000000013,0.23537418606053742,0.16280891270726394,68.63849910706497,0.04412129382383245,0.03278835512321887,0.029188653025949307,0.165664035804235,0.013367448983186982,-11.834981653116394,0.022953978032174426,0.01486657791698564,0.009988060620033944,6.367325788614743,1.0854794465825477,49.80128991401105,49.77296714933973,49.123422543157275,49.71793144184441
1.9800000000000013,0.2457204703243259,0.16304871127852508,67.89834517650502,0.045500650785739616,0.03367185297393327,0.02978792921012552,0.17961349093158438,-0.0059395817260228445,-12.847345588018003,0.023059784280002556,0.014440259454406839,0.009987687973781483,7.107213890141725,0.9594091910689357,50.01882204702505,49.70956460734087,49.509854787402936,49.59281679874822
2.0400000000000014,0.25699028961372045,0.16200782865928515,67.0951959098273,0.0468893979278473,0.034536979149638825,0.030387183036083343,0.1965253489879513,-0.029434670960117156,-13.936578916227916,0.023317200932691667,0.014375760737298415,0.009987315355334401,7.910122520362645,0.8374595913528764,49.86669317203062,49.82159712484416,49.34526685232751,49.54015971720625
2.1000000000000014,0.2693781460063513,0.15941045306990417,66.22406091361492,0.04828405944200487,0.03540261045188142,0.03098641450548989,0.21697688327155845,-0.057961278621386315,-15.115660144080088,0.02309830479294579,0.014529832606489598,0.009986942764689588,8.781042498135038,0.7189515671553965,49.7348715420803,49.849601609630234,49.80554171294187,49.650518238396444
2.1600000000000015,0.28311744205994155,0.1549244986171922,65.27908514215684,0.04966556661680066,0.03627717058119906,0.03158562362001405,0.2416927564954328,-0.09255642769430475,-16.400541490027802,0.022878376184789048,0.014668169790257214,0.009986570201843932,9.725830654545279,0.6032726719839627,49.73381567219948,49.837093086883435,49.745006646138116,49.58893601949848
2.2200000000000015,0.29849024258286344,0.1481487980596832,64.25335201656478,0.05103865236146987,0.037168724306187784,0.032184810381322926,0.2715772732275029,-0.1344976630069198,-17.81080011787667,0.022897529201313663,0.015238584843470692,0.009986197666794322,10.751407098158976,0.4898540203760038,49.511553561308816,49.93153272436437,49.82350511414437,49.84262173837122
2.2800000000000016,0.3158399710209568,0.13859597333037968,63.13863180233171,0.05239957647771032,0.03808269274281528,0.03278397479108541,0.3077836530828186,-0.18539560752230433,-19.37083195366874,0.022247716214871628,0.015221251210208921,0.009985825159537646,11.86600735432469,0.3781519324368454,50.107394561921986,50.09705033649723,50.22824861680415,49.75988192499859
2.3400000000000016,0.3355886028638462,0.12566947194901135,61.92503923541253,0.05372571860350117,0.03900345063534694,0.03338311685096773,0.3517858847195105,-0.24729213122280821,-21.11171516552139,0.021810135712438946,0.015594199101431882,0.009985452680070797,13.079525463890409,0.26762739660595436,49.89837152785146,50.172127258118536,50.22238211596011,49.90881941693128
2.4000000000000017,0.3582588562225168,0.1086338989546623,60.60057467346964,0.055018039673583985,0.039947489532181635,0.03398223656263788,0.40549570590429856,-0.3228060903522581,-23.073260185288838,0.02099028575883422,0.01601205254611886,0.009985080228390663,14.403973847910322,0.1723553898044119,49.940914815765474,50.24711439657438,50.407001551304695,49.8156598705061
2.4600000000000017,0.3845061761030419,0.08657368219411977,59.150500411261405,0.05626191161542682,0.04091055882083072,0.03458133392776297,0.4714542826846649,-0.41535939811084954,-25.30753466871391,0.02020802250534869,0.01612923373089524,0.009984707804494133,15.854108477557766,0.09182720489915619,49.958167889429,50.046028588896625,50.619017315947545,50.057203687744924
2.520000000000002,0.4151631065390504,0.058335757160347036,57.55646223356516,0.05745928518041321,0.04187255499789888,0.03518040894801011,0.5530656307579102,-0.5295115338450782,-27.88394287141137,0.019447908627614557,0.015840675008755554,0.009984335408378103,17.448309468179403,0.011515086828706611,50.15413600047173,49.9466636528928,50.774338740630924,50.23001936493301
2.580000000000002,0.45130134518193704,0.022446037560475095,55.79522603238401,0.05860401636042134,0.04281130257538823,0.03577946162504553,0.6549656653130139,-0.6714986068821035,-30.897187099300083,0.018330462744970397,0.015253207506930336,0.009983963040039462,19.209847602943945,-0.06896367395499947,50.05188309936621,49.62497786325682,50.89808788051935,50.09566185152406
2.640000000000002,0.49432219813086375,-0.023013221015120742,53.83681684248957,0.05969969057715563,0.04372281030726999,0.03637849196053633,0.7836220521663925,-0.8500242014994474,-34.47959124622589,0.018122447340615466,0.015068704564007171,0.0099835906994751,21.168750062833123,-0.15005131236839087,49.82202523819148,49.68923285009357,50.6430741201076,50.49647514995244
2.700000000000002,0.546096653615652,-0.08059217537669712,51.641684167977715,0.060790574459318236,0.0446232045908701,0.03697749995614874,0.9484348235879696,-1.0777607497379103,-38.82194670751221,0.0182990205257859,0.014882031313206107,0.009983218386681914,23.364642626686166,-0.23227590421787592,49.78894290068192,49.654415350719475,50.571092116409524,50.701271563976995
2.760000000000002,0.6091923203430614,-0.15378232470626232,49.15620740971319,0.06190165806556891,0.04550713396170458,0.03757648561354898,1.1635702348077384,-1.3738934816606714,-44.20944175455458,0.018952508607309355,0.014430748297825181,0.009982846101656794,25.851256672285928,-0.3162914197458555,50.099237652706215,49.77221775493957,50.125277400253104,50.60116046530966
2.820000000000002,0.6872480671918154,-0.24753196739190686,46.3052442644255,0.06304701053726891,0.04636373654449333,0.03817544893440239,1.4512248538801227,-1.7687189382786954,-51.08739407104661,0.019361168309027572,0.013966878784386572,0.009982473844396635,28.70390207590302,-0.42906294411588863,50.16076968042391,49.82482507050469,50.54195455449757,50.83906813820371
2.880000000000002,0.785631281653637,-0.36915414421107146,42.97904527175024,0.06421211380414427,0.04719597530787034,0.03877438992037607,1.8481753498555988,-2.312592724429848,-60.19062255384525,0.019532562142695713,0.01367750665706443,0.00998210161489833,32.032591269811014,-0.5694156735547635,50.269255151657326,50.06103892985936,50.541802342188774,50.66878141059075
2.940000000000002,0.9126860077698307,-0.5300357103338077,39.0085875801539,0.06538811721356463,0.04801480892779786,0.03937330857313448,2.4198929226964454,-3.0950717406727497,-72.81907673275266,0.019734682198578622,0.01358660619900638,0.009981729413158775,36.00678059161234,-0.7208788219836786,50.05537269672804,49.99100514222684,50.40226794810159,50.55180746159828
3.000000000000002,1.0823299844235723,-0.7491845304588511,34.114617729897304,0.06658094975632434,0.04881723501427615,0.03997220489434472,3.294284009401232,-4.29104297031848,-91.49505046513784,0.020170627486387264,0.012944709354768857,0.009981357239174864,40.90648770206518,-0.8873810598128691,50.3780957207946,49.91363646846218,50.348704457052946,50.666865272725374
3.0600000000000023,1.3201496922756026,-1.0615891862609745,27.788394670023454,0.06779099708368985,0.04958882818150201,0.04057107888567035,4.754799610833716,-6.289249476580956,-121.7835021899631,0.020161111781752856,0.012689717302665732,0.009980985092943491,47.24193553860544,-1.2302994294565879,50.25048751214732,50.06694538173262,50.727046476961036,50.724119870980026
3.1200000000000023,1.6049697142292494,-1.4670859814046642,19.906482300694883,0.06900833081606184,4.359182045981164,0.0411699305487776,4.391490833521077,-6.724213265516747,-136.47260918057268,0.020543131561515368,13.234296368282221,0.009980612974461556,55.136389108005766,-1.9006907547163023,50.122024956444264,1000.0881739022141,50.5907986113285,50.87276584152268
3.1800000000000024,1.789738375723461,-1.8073560102110888,12.280283403000075,0.07024113169694157,5.847973029945937,0.04176875988533002,-3.043318212395177,-5.054800590999732,-122.85930160962783,0.02055365022446702,11.136624097936751,0.009980240883725953,62.77127608677285,-2.457571487059361,1000.6884672804415,1000.2410511587442,50.64622102910465,50.65775142213593
3.2400000000000024,1.3203860950684927,-2.193726945921076,3.6891429765899315,0.0714692179293781,0.5824352884483774,0.042367566896993836,-5.892874780746044,-8.215888443618717,-169.0992214181356,0.020296491372898295,9.628409892635025,0.009979868820733578,71.35693276468349,-2.324762881392231,1000.3801607246224,1000.276212744807,50.458136371560116,50.27623923968518
3.3000000000000025,1.4296591690292955,-2.768430050422783,0.0,0.07268774910532994,1.3589661375929305,0.042966351585432605,5.782782216890714,-10.618147024045184,-219.63413508631803,0.020333560125900416,8.473907255689689,0.009979496785481328,75.06487264827204,-10.747981837345469,1000.4357582030028,999.8611308267309,50.362014632606616,50.39280097002883