Datasets:

BAAI
/

EventTouch

+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+39288,1792833017118759503,11696582000000,1792833017112829041,XJC_ZERO_HOLD_BEFORE_UP,6,0.066,0.06599696725606918,0.6759674804391671,-0.004496869744785806,0.09962646462142427,0.9999999549901188,0.00011680680643967534,-0.00023745646888826446,-0.00010692623696408064,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.0014271708955905793,-0.0010559969250854284,0.006176381549204246,-1.3611288363388034e-06,-1.263453389370081e-06,-4.70413616476123e-06,-0.07362875814417061,-0.07082567927302916,0.07778396732644763,-0.0010520676259213675,3.762147936141582e-06,0.0009438655156891597,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.8531141788686953,0.2090054408327997,2.4861641325987764,-0.4344532965472625,-1.7678249764509375,0.0073268296186523585,1.6323104815991827,-0.006176381549204246,-0.8538536509995938,0.0,0.0,0,0,0.0,0.0
+39305,1792833017260759021,11696724000000,1792833017252828448,XJC_ZERO_HOLD_BEFORE_UP,6,0.066,0.06599696725606918,0.6759678195861609,-0.004492136113716882,0.09962567947607545,0.999999954699408,0.00011827688594317381,-0.00023764778218036953,-0.00010760184222002177,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.0014441356392956295,-0.0013318366262514147,-0.0014810100444095087,6.556594057938701e-08,4.2497360870470276e-07,1.5413895858467416e-06,-0.07361179340046556,-0.07110151897419514,0.07012657573283387,-0.0010506409311444493,5.450574934216366e-06,0.0009501110414397676,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.8311906810018493,0.25225749113253926,2.41323010561921,-0.4493732797654156,-1.7175294785978485,0.036022776289513475,1.6323104815991827,0.0014810100444095087,-0.7809196240200271,0.0,0.0,0,0,0.0,0.0
+39324,1792833017412753076,11696876000000,1792833017404819206,WAIT_W2,6,0.0595,0.06599763035774231,0.6759673113335392,-0.004492729419132224,0.09962627308155052,0.999999954409366,0.00012085030207432317,-0.00023767166843747435,-0.00010738488162862201,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,-0.0036902188982494144,0.008677476622406845,0.0036405115021482803,-1.1133300973126172e-06,-1.996422828137675e-06,-5.913092114672195e-06,-0.0787461479380106,-0.061092205725536884,0.07524809727939166,-0.0010518198271823413,3.0291784973739883e-06,0.0009426565597392487,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.7989952214819422,0.23039935397635972,2.376423457562021,-0.4382663384082737,-1.6858474536176582,0.02605497168533724,1.6323104815991827,-0.0036405115021482803,-0.7441129759628384,0.0,0.0,0,0,0.0,0.0
+39347,1792833017603659941,11697067000000,1792833017596819076,WAIT_W2,6,0.0595,0.06599763035774231,0.675969434795278,-0.004501353155017803,0.09962858445978459,0.9999999563614766,0.00011293868151862918,-0.00023499998316200974,-0.00010363286759386013,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.0014394739107425059,-0.001332611750820889,-0.0016367365943719403,8.180740730212403e-08,4.4329615521464427e-07,1.6092916313110777e-06,-0.07361645512901868,-0.07110229409876462,0.06997084918287144,-0.0010506246896777266,5.4688974807263075e-06,0.000950178943485232,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.8564341890953827,0.19451517411776953,2.4454158539224142,-0.4266614031019731,-1.7469645899536552,0.0017783835621791033,1.6323104815991827,0.0016367365943719403,-0.8131053723232315,0.0,0.0,0,0,0.0,0.0
+39363,1792833017737719557,11697201000000,1792833017736828452,WAIT_W2,6,0.0595,0.06599763035774231,0.6759704092118897,-0.004493296166553059,0.0996274920385412,0.9999999551251517,0.00011957502401139576,-0.00023522109855035427,-0.00010754258382314843,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.0014647081877425666,0.0086082233385937,-0.001507069047284329,1.5146355398160723e-06,-4.066571151003948e-07,1.5211735662152073e-06,-0.07359122085201862,-0.06116145900935003,0.07010051672995905,-0.0010491918615452127,4.618944210411268e-06,0.0009500908254201361,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.8540394647681221,0.25218223961910563,2.4566226273599554,-0.44998559899788204,-1.7526304269372774,0.03488270545749389,1.6323104815991827,0.001507069047284329,-0.8243121457607727,0.0,0.0,0,0,0.0,0.0
+39371,1792833017803761948,11697267000000,1792833017800828101,WAIT_W2,6,0.0595,0.06599763035774231,0.6759704797683729,-0.004544367312021055,0.0996292324273201,0.9999999605305937,9.360391816147699e-05,-0.0002331760471421355,-8.51405476096511e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.09393240403044158,0.08878389684693155,0.0009337389136076651,0.005015078649494222,-0.008316916007935798,-4.1114441428917264e-05,0.01887647499068039,0.01901421449898783,0.07254132469085105,0.003964372152409194,-0.008311890406610286,0.0009074552104250036,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.8261359439208033,0.5297674300758001,2.356083551991477,-0.4734497795817035,-1.6791746206474896,0.2251425921946728,1.6323104815991827,-0.0009337389136076651,-0.7237730703922942,0.0,0.0,0,0,0.0,0.0
+39371,1792833017803761948,11697267000000,1792833017800828101,WAIT_W2,6,0.0595,0.06599763035774231,0.6759704797683729,-0.004544367312021055,0.0996292324273201,0.9999999605305937,9.360391816147699e-05,-0.0002331760471421355,-8.51405476096511e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.09393240403044158,0.08878389684693155,0.0009337389136076651,0.005015078649494222,-0.008316916007935798,-4.1114441428917264e-05,0.01887647499068039,0.01901421449898783,0.07254132469085105,0.003964372152409194,-0.008311890406610286,0.0009074552104250036,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.8261359439208033,0.5297674300758001,2.356083551991477,-0.4734497795817035,-1.6791746206474896,0.2251425921946728,1.6323104815991827,-0.0009337389136076651,-0.7237730703922942,0.0,0.0,0,0,0.0,0.0
+39373,1792833017820750698,11697284000000,1792833017816818784,WAIT_W2,6,0.0595,0.06599763035774231,0.6759710321085124,-0.004622877204822507,0.09963606203995419,0.9999999667863023,4.428938462451218e-05,-0.00022856670874491612,-6.054724456042049e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.5053423601193365,0.4894458101985297,0.02627828839177168,0.031111194142501245,-0.032959259328590514,-0.00011731603963674778,0.43028643107957537,0.41967612785058594,0.09788587416901506,0.030060487645416217,-0.032954233727265005,0.0008312536122171731,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.8247298451796822,0.7969047593857204,2.3830373405011707,-0.46940338726428044,-1.6956105720531964,0.41069370928292603,1.6323104815991827,-0.02627828839177168,-0.750726858901988,0.0,0.0,0,0,0.0,0.0
+39373,1792833017820750698,11697284000000,1792833017816818784,WAIT_W2,6,0.0595,0.06599763035774231,0.6759710321085124,-0.004622877204822507,0.09963606203995419,0.9999999667863023,4.428938462451218e-05,-0.00022856670874491612,-6.054724456042049e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.5053423601193365,0.4894458101985297,0.02627828839177168,0.031111194142501245,-0.032959259328590514,-0.00011731603963674778,0.43028643107957537,0.41967612785058594,0.09788587416901506,0.030060487645416217,-0.032954233727265005,0.0008312536122171731,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.8247298451796822,0.7969047593857204,2.3830373405011707,-0.46940338726428044,-1.6956105720531964,0.41069370928292603,1.6323104815991827,-0.02627828839177168,-0.750726858901988,0.0,0.0,0,0,0.0,0.0
+39375,1792833017837723467,11697301000000,1792833017836828595,WAIT_W2,6,0.0595,0.06599763035774231,0.6759710806057205,-0.004736177798747191,0.09964291658227598,0.9999999696920764,-2.56628138085223e-05,-0.00022520669596385026,-2.611656190211884e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.9888288008712718,0.9753339914535151,0.06393542691142559,0.06316859699405365,-0.06469914249881288,-0.0001785953365353464,0.9137728718315106,0.9055643091055714,0.13554301268866897,0.06211789049696863,-0.06469411689748737,0.0007699743153185745,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.801803415404262,1.3272654002600472,2.35637046967685,-0.5328022794191177,-1.673923880492881,0.7717028531659387,1.6323104815991827,-0.06393542691142559,-0.7240599880776672,0.0,0.0,0,0,0.0,0.0
+39375,1792833017837723467,11697301000000,1792833017836828595,WAIT_W2,6,0.0595,0.06599763035774231,0.6759710806057205,-0.004736177798747191,0.09964291658227598,0.9999999696920764,-2.56628138085223e-05,-0.00022520669596385026,-2.611656190211884e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.9888288008712718,0.9753339914535151,0.06393542691142559,0.06316859699405365,-0.06469914249881288,-0.0001785953365353464,0.9137728718315106,0.9055643091055714,0.13554301268866897,0.06211789049696863,-0.06469411689748737,0.0007699743153185745,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.801803415404262,1.3272654002600472,2.35637046967685,-0.5328022794191177,-1.673923880492881,0.7717028531659387,1.6323104815991827,-0.06393542691142559,-0.7240599880776672,0.0,0.0,0,0,0.0,0.0
+39375,1792833017837723467,11697301000000,1792833017836828595,WAIT_W2,6,0.0595,0.06599763035774231,0.6759710806057205,-0.004736177798747191,0.09964291658227598,0.9999999696920764,-2.56628138085223e-05,-0.00022520669596385026,-2.611656190211884e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.9888288008712718,0.9753339914535151,0.06393542691142559,0.06316859699405365,-0.06469914249881288,-0.0001785953365353464,0.9137728718315106,0.9055643091055714,0.13554301268866897,0.06211789049696863,-0.06469411689748737,0.0007699743153185745,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.801803415404262,1.3272654002600472,2.35637046967685,-0.5328022794191177,-1.673923880492881,0.7717028531659387,1.6323104815991827,-0.06393542691142559,-0.7240599880776672,0.0,0.0,0,0,0.0,0.0
+39377,1792833017853678503,11697317000000,1792833017852828124,WAIT_W2,6,0.0595,0.06599763035774231,0.6759729890423155,-0.004839490959362996,0.0996488423415291,0.9999999668916587,-9.45504837738502e-05,-0.00022048965207768008,-1.0201244824795666e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,1.2099745130368649,1.2183202431842937,0.08214303882387261,0.07943249224358008,-0.08032509800545042,0.0005441872607419716,1.1349185839971037,1.14855056083635,0.153750624601116,0.07838178574649506,-0.0803200724041249,0.0014927569125958925,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.761525579652477,1.4544171391940233,2.338305138930225,-0.5023604563503723,-1.653074357443876,0.860501304849446,1.6323104815991827,-0.08214303882387261,-0.7059946573310425,0.0,0.0,0,0,0.0,0.0
+39377,1792833017853678503,11697317000000,1792833017852828124,WAIT_W2,6,0.0595,0.06599763035774231,0.6759729890423155,-0.004839490959362996,0.0996488423415291,0.9999999668916587,-9.45504837738502e-05,-0.00022048965207768008,-1.0201244824795666e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,1.2099745130368649,1.2183202431842937,0.08214303882387261,0.07943249224358008,-0.08032509800545042,0.0005441872607419716,1.1349185839971037,1.14855056083635,0.153750624601116,0.07838178574649506,-0.0803200724041249,0.0014927569125958925,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.761525579652477,1.4544171391940233,2.338305138930225,-0.5023604563503723,-1.653074357443876,0.860501304849446,1.6323104815991827,-0.08214303882387261,-0.7059946573310425,0.0,0.0,0,0,0.0,0.0
+39377,1792833017853678503,11697317000000,1792833017852828124,WAIT_W2,6,0.0595,0.06599763035774231,0.6759729890423155,-0.004839490959362996,0.0996488423415291,0.9999999668916587,-9.45504837738502e-05,-0.00022048965207768008,-1.0201244824795666e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,1.2099745130368649,1.2183202431842937,0.08214303882387261,0.07943249224358008,-0.08032509800545042,0.0005441872607419716,1.1349185839971037,1.14855056083635,0.153750624601116,0.07838178574649506,-0.0803200724041249,0.0014927569125958925,-0.07505592903976119,-0.06976968234794373,0.07160758577724338,-0.0010507064970850287,5.025601325511663e-06,0.0009485696518539209,1,-0.761525579652477,1.4544171391940233,2.338305138930225,-0.5023604563503723,-1.653074357443876,0.860501304849446,1.6323104815991827,-0.08214303882387261,-0.7059946573310425,0.0,0.0,0,0,0.0,0.0
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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_06/up/multimodal_aligned_data.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_06/up/real_sim_motion_alignment.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792833017115848128,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.410491528e-09,-2.165587987e-10,-1.668409411e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453223e-01,-1.181434261e-04,8.303259191e-01
+1,1.500000000e-01,XJC_ZERO_HOLD_BEFORE_UP,1792833017263552936,-2.502369633e-06,5.803987843e-06,-3.827766150e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.202735393e-08,-2.065932611e-09,-1.582101317e-08,7.019531304e-01,-1.646674718e-05,8.601392595e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453599e-01,-1.181452754e-04,8.303259049e-01
+2,2.833333333e-01,WAIT_W2,1792833017414549083,2.850563979e-06,7.485106866e-06,2.796679210e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.257220769e-08,-3.580247918e-09,-2.722854275e-08,7.019584834e-01,-1.478562816e-05,8.601458839e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453905e-01,-1.181467897e-04,8.303258935e-01
+3,4.666666667e-01,WAIT_W2,1792833017607368705,2.529909545e-06,-2.784069748e-06,4.173965071e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.106148357e-07,-5.465150893e-09,-4.134073384e-08,7.019581627e-01,-2.505480477e-05,8.601472612e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027454285e-01,-1.181486746e-04,8.303258794e-01
+4,6.000000000e-01,WAIT_W2,1792833017738699249,3.639660732e-06,5.347482400e-06,2.892550507e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.356937644e-07,-6.698708272e-09,-5.058342256e-08,7.019592725e-01,-1.692325262e-05,8.601459798e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027454536e-01,-1.181499082e-04,8.303258701e-01
+5,6.666666667e-01,WAIT_W2,1792833017803542395,2.906726197e-06,-3.905777061e-05,6.069898267e-06,2.877880091e-06,-3.878050674e-05,6.228520835e-06,3.260042746e-06,-3.836890597e-05,6.067498010e-06,7.019585395e-01,-6.132850563e-05,8.601491571e-01,7.019585107e-01,-6.105124176e-05,8.601493158e-01,7.027485780e-01,-1.565121155e-04,8.303319882e-01
+6,6.666666667e-01,WAIT_W2,1792833017803542395,2.906726197e-06,-3.905777061e-05,6.069898267e-06,2.877880091e-06,-3.878050674e-05,6.228520835e-06,3.260042746e-06,-3.836890597e-05,6.067498010e-06,7.019585395e-01,-6.132850563e-05,8.601491571e-01,7.019585107e-01,-6.105124176e-05,8.601493158e-01,7.027485780e-01,-1.565121155e-04,8.303319882e-01
+7,6.833333333e-01,WAIT_W2,1792833017819934362,2.807680943e-06,-1.154572440e-04,9.691586444e-06,2.815006445e-06,-1.154832497e-04,9.690396888e-06,3.325018971e-06,-1.142549621e-04,9.498625495e-06,7.019584405e-01,-1.377279791e-04,8.601527788e-01,7.019584478e-01,-1.377539847e-04,8.601527776e-01,7.027486429e-01,-2.323981716e-04,8.303354193e-01
+8,6.833333333e-01,WAIT_W2,1792833017819934362,2.807680943e-06,-1.154572440e-04,9.691586444e-06,2.815006445e-06,-1.154832497e-04,9.690396888e-06,3.325018971e-06,-1.142549621e-04,9.498625495e-06,7.019584405e-01,-1.377279791e-04,8.601527788e-01,7.019584478e-01,-1.377539847e-04,8.601527776e-01,7.027486429e-01,-2.323981716e-04,8.303354193e-01
+9,7.000000000e-01,WAIT_W2,1792833017836337020,4.828889922e-06,-2.249005058e-04,1.839314638e-05,4.869343433e-06,-2.250375111e-04,1.800265732e-05,5.640260279e-06,-2.227295467e-04,1.778096914e-05,7.019604617e-01,-2.471712408e-04,8.601614804e-01,7.019605022e-01,-2.473082462e-04,8.601610899e-01,7.027509582e-01,-3.408727562e-04,8.303437017e-01
+10,7.000000000e-01,WAIT_W2,1792833017836337020,4.828889922e-06,-2.249005058e-04,1.839314638e-05,4.869343433e-06,-2.250375111e-04,1.800265732e-05,5.640260279e-06,-2.227295467e-04,1.778096914e-05,7.019604617e-01,-2.471712408e-04,8.601614804e-01,7.019605022e-01,-2.473082462e-04,8.601610899e-01,7.027509582e-01,-3.408727562e-04,8.303437017e-01
+11,7.000000000e-01,WAIT_W2,1792833017836337020,4.828889922e-06,-2.249005058e-04,1.839314638e-05,4.869343433e-06,-2.250375111e-04,1.800265732e-05,5.640260279e-06,-2.227295467e-04,1.778096914e-05,7.019604617e-01,-2.471712408e-04,8.601614804e-01,7.019605022e-01,-2.473082462e-04,8.601610899e-01,7.027509582e-01,-3.408727562e-04,8.303437017e-01
+12,7.166666667e-01,WAIT_W2,1792833017852723086,4.851469819e-06,-3.271966529e-04,2.060059017e-05,4.857579198e-06,-3.269818517e-04,2.039263203e-05,5.699646173e-06,-3.236805629e-04,2.023154294e-05,7.019604843e-01,-3.494673880e-04,8.601636878e-01,7.019604904e-01,-3.492525867e-04,8.601634799e-01,7.027510176e-01,-4.418237724e-04,8.303461523e-01
+13,7.166666667e-01,WAIT_W2,1792833017852723086,4.851469819e-06,-3.271966529e-04,2.060059017e-05,4.857579198e-06,-3.269818517e-04,2.039263203e-05,5.699646173e-06,-3.236805629e-04,2.023154294e-05,7.019604843e-01,-3.494673880e-04,8.601636878e-01,7.019604904e-01,-3.492525867e-04,8.601634799e-01,7.027510176e-01,-4.418237724e-04,8.303461523e-01
+14,7.166666667e-01,WAIT_W2,1792833017852723086,4.851469819e-06,-3.271966529e-04,2.060059017e-05,4.857579198e-06,-3.269818517e-04,2.039263203e-05,5.699646173e-06,-3.236805629e-04,2.023154294e-05,7.019604843e-01,-3.494673880e-04,8.601636878e-01,7.019604904e-01,-3.492525867e-04,8.601634799e-01,7.027510176e-01,-4.418237724e-04,8.303461523e-01
+15,7.333333333e-01,WAIT_W2,1792833017869880021,3.326253488e-06,-4.187919340e-04,2.383825322e-05,3.224833020e-06,-4.185817211e-04,2.408413412e-05,4.056641614e-06,-4.144513885e-04,2.399736968e-05,7.019589591e-01,-4.410626691e-04,8.601669255e-01,7.019588577e-01,-4.408524561e-04,8.601671714e-01,7.027493746e-01,-5.325945979e-04,8.303499181e-01
+16,7.500000000e-01,WAIT_W2,1792833017885961605,2.178738794e-06,-4.440774390e-04,2.339148728e-05,2.340946500e-06,-4.441107851e-04,2.360055663e-05,3.144140172e-06,-4.397732545e-04,2.366417380e-05,7.019578116e-01,-4.663481740e-04,8.601664787e-01,7.019579738e-01,-4.663815201e-04,8.601666878e-01,7.027484621e-01,-5.579164640e-04,8.303495849e-01
+17,7.666666667e-01,WAIT_W2,1792833017902196908,5.686065257e-06,-4.202714550e-04,2.944932342e-05,5.523730239e-06,-4.203921152e-04,2.917361131e-05,6.590352776e-06,-4.163696502e-04,2.922036463e-05,7.019613189e-01,-4.425421901e-04,8.601725366e-01,7.019611565e-01,-4.426628502e-04,8.601722609e-01,7.027519083e-01,-5.345128597e-04,8.303551411e-01
+18,8.000000000e-01,WAIT_W2,1792833017935625244,4.836138644e-06,-3.702341564e-04,2.370559272e-05,4.506347158e-06,-3.847496966e-04,2.373408616e-05,5.406155462e-06,-3.810554932e-04,2.385869035e-05,7.019604690e-01,-3.925048914e-04,8.601667928e-01,7.019601392e-01,-4.070204316e-04,8.601668213e-01,7.027507241e-01,-4.991987027e-04,8.303497794e-01
+19,8.500000000e-01,WAIT_W2,1792833017992393764,7.664061109e-07,-4.250411197e-04,2.200304714e-05,9.104731965e-07,-4.249286595e-04,2.185873098e-05,1.625817678e-06,-4.208577102e-04,2.200422618e-05,7.019563992e-01,-4.473118548e-04,8.601650903e-01,7.019565433e-01,-4.471993946e-04,8.601649460e-01,7.027469437e-01,-5.390009196e-04,8.303479249e-01
+20,8.666666667e-01,WAIT_W2,1792833018016539744,3.618074865e-06,-4.067712876e-04,2.416105968e-05,9.104731965e-07,-4.249286595e-04,2.185873098e-05,1.623529237e-06,-4.208950791e-04,2.202808852e-05,7.019592509e-01,-4.290420227e-04,8.601672483e-01,7.019565433e-01,-4.471993946e-04,8.601649460e-01,7.027469414e-01,-5.390382886e-04,8.303479488e-01
+21,1.000000000e+00,WAIT_W2,1792833018147612633,3.279152063e-06,-4.044534959e-04,2.333058082e-05,3.628386137e-06,-3.942588287e-04,2.390730173e-05,4.552837250e-06,-3.905919690e-04,2.414087158e-05,7.019589120e-01,-4.267242309e-04,8.601664178e-01,7.019592612e-01,-4.165295637e-04,8.601669945e-01,7.027498707e-01,-5.087351785e-04,8.303500616e-01
+22,1.100000000e+00,WAIT_W2,1792833018247027404,2.788260543e-06,-4.103988548e-04,2.553107976e-05,4.515198161e-06,-4.179957955e-04,2.653997262e-05,5.513300793e-06,-4.141200515e-04,2.674782303e-05,7.019584211e-01,-4.326695899e-04,8.601686183e-01,7.019601480e-01,-4.402665305e-04,8.601696272e-01,7.027508312e-01,-5.322632610e-04,8.303526685e-01
+23,1.200000000e+00,WAIT_W2,1792833018344100412,4.670323206e-06,-4.081855621e-04,2.693947315e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.418923916e-06,-4.126720970e-04,2.563767546e-05,7.019603031e-01,-4.304562971e-04,8.601700267e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027497368e-01,-5.308153065e-04,8.303515584e-01
+24,1.283333333e+00,WAIT_W2,1792833018425966842,4.590505826e-06,-4.172593603e-04,2.758752744e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.431986379e-06,-4.127012840e-04,2.566416282e-05,7.019602233e-01,-4.395300953e-04,8.601706748e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027497499e-01,-5.308444935e-04,8.303515849e-01
+25,1.400000000e+00,UP_FORCE_RAMP,1792833018540541504,5.790507214e-06,-4.088117312e-04,2.828092617e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.449227230e-06,-4.127352144e-04,2.569174391e-05,7.019614233e-01,-4.310824662e-04,8.601713682e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027497671e-01,-5.308784239e-04,8.303516125e-01
+26,1.566666667e+00,UP_FORCE_RAMP,1792833018704741222,4.519345679e-06,-4.026423942e-04,2.816835051e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.470406798e-06,-4.127749593e-04,2.571662216e-05,7.019601522e-01,-4.249131292e-04,8.601712556e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027497883e-01,-5.309181688e-04,8.303516373e-01
+27,1.716666667e+00,UP_FORCE_RAMP,1792833018851748177,4.603099812e-06,-4.043721257e-04,2.939992637e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.486814889e-06,-4.128044700e-04,2.572813947e-05,7.019602359e-01,-4.266428607e-04,8.601724872e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027498047e-01,-5.309476795e-04,8.303516489e-01
+28,1.916666667e+00,UP_FORCE_RAMP,1792833019048798424,6.926466839e-06,-4.059276527e-04,3.251417358e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.505686652e-06,-4.128370224e-04,2.573202295e-05,7.019625593e-01,-4.281983877e-04,8.601756014e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027498236e-01,-5.309802319e-04,8.303516527e-01
+29,2.116666667e+00,UP_FORCE_RAMP,1792833019277944480,4.475861179e-06,-4.081257629e-04,2.990948465e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.521983465e-06,-4.128637874e-04,2.572690242e-05,7.019601087e-01,-4.303964979e-04,8.601729967e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027498399e-01,-5.310069969e-04,8.303516476e-01
+30,2.300000000e+00,UP_FORCE_RAMP,1792833019458365162,7.047343734e-06,-4.028258246e-04,3.853960360e-05,3.395406123e-06,-4.164993653e-04,2.533870347e-05,4.535250369e-06,-4.128845016e-04,2.571699236e-05,7.019626802e-01,-4.250965596e-04,8.601816268e-01,7.019590282e-01,-4.387701003e-04,8.601684259e-01,7.027498532e-01,-5.310277111e-04,8.303516377e-01
+31,2.466666667e+00,UP_FORCE_RAMP,1792833019628170421,5.602200092e-06,-4.053425507e-04,4.098341510e-05,7.484150341e-06,-4.052703285e-04,4.177793366e-05,9.033359253e-06,-4.017922662e-04,4.188868530e-05,7.019612350e-01,-4.276132858e-04,8.601840707e-01,7.019631170e-01,-4.275410635e-04,8.601848652e-01,7.027543513e-01,-5.199354757e-04,8.303678094e-01
+32,2.666666667e+00,UP_FORCE_RAMP,1792833019851656744,5.350416165e-06,-4.049238665e-04,4.943673849e-05,7.484150341e-06,-4.052703285e-04,4.177793366e-05,9.061252978e-06,-4.018087400e-04,4.192100114e-05,7.019609832e-01,-4.271946015e-04,8.601925240e-01,7.019631170e-01,-4.275410635e-04,8.601848652e-01,7.027543792e-01,-5.199519495e-04,8.303678417e-01
+33,2.800000000e+00,UP_FORCE_RAMP,1792833019998768736,-2.726067250e-05,-3.982771828e-04,4.866040780e-05,-2.678331528e-05,-3.984780689e-04,4.862790286e-05,-2.731832130e-05,-3.951051965e-04,4.865474498e-05,7.019283721e-01,-4.205479178e-04,8.601917476e-01,7.019288495e-01,-4.207488039e-04,8.601917151e-01,7.027179996e-01,-5.132484059e-04,8.303745755e-01
+34,2.900000000e+00,UP_FORCE_RAMP,1792833020097458182,-1.823907766e-05,-4.022585730e-04,6.292813579e-05,-2.678331528e-05,-3.984780689e-04,4.862790286e-05,-2.739630518e-05,-3.951153259e-04,4.867148399e-05,7.019373937e-01,-4.245293081e-04,8.602060154e-01,7.019288495e-01,-4.207488039e-04,8.601917151e-01,7.027179216e-01,-5.132585354e-04,8.303745922e-01
+35,3.050000000e+00,UP_FORCE_RAMP,1792833020244778124,-2.105043757e-05,-3.992141495e-04,6.746851108e-05,-1.694081889e-05,-3.990076605e-04,7.179281651e-05,-1.670059893e-05,-3.956689619e-04,7.152671434e-05,7.019345824e-01,-4.214848845e-04,8.602105558e-01,7.019386920e-01,-4.212783955e-04,8.602148801e-01,7.027286173e-01,-5.138121714e-04,8.303974474e-01
+36,3.183333333e+00,UP_FORCE_RAMP,1792833020375769879,-1.705530511e-05,-3.926769373e-04,8.245628945e-05,-1.694081889e-05,-3.990076605e-04,7.179281651e-05,-1.670983410e-05,-3.956807791e-04,7.158751336e-05,7.019385775e-01,-4.149476723e-04,8.602255435e-01,7.019386920e-01,-4.212783955e-04,8.602148801e-01,7.027286081e-01,-5.138239886e-04,8.303975082e-01
+37,3.350000000e+00,UP_FORCE_RAMP,1792833020539325214,-1.398471665e-05,-3.978583463e-04,9.786114975e-05,-1.317305862e-05,-3.957015277e-04,9.515210385e-05,-1.238902813e-05,-3.924420511e-04,9.465829051e-05,7.019416481e-01,-4.201290813e-04,8.602409484e-01,7.019424598e-01,-4.179722627e-04,8.602382393e-01,7.027329289e-01,-5.105852606e-04,8.304205790e-01
+38,3.533333333e+00,UP_FORCE_RAMP,1792833020719557832,-1.112720504e-05,-4.036281536e-04,1.164602377e-04,-1.097695600e-05,-4.034005545e-04,1.164719884e-04,-9.792182955e-06,-4.000769075e-04,1.157722531e-04,7.019445056e-01,-4.258988886e-04,8.602595475e-01,7.019446559e-01,-4.256712895e-04,8.602595592e-01,7.027355257e-01,-5.182201170e-04,8.304416930e-01
+39,3.666666667e+00,UP_FORCE_RAMP,1792833020866975277,-1.119437988e-05,-3.995230290e-04,1.300009249e-04,-1.097695600e-05,-4.034005545e-04,1.164719884e-04,-9.780150581e-06,-4.000962622e-04,1.158943007e-04,7.019444384e-01,-4.217937641e-04,8.602730882e-01,7.019446559e-01,-4.256712895e-04,8.602595592e-01,7.027355378e-01,-5.182394717e-04,8.304418150e-01
+40,3.800000000e+00,UP_FORCE_RAMP,1792833020997703015,-1.035659625e-05,-3.981395177e-04,1.394659392e-04,-8.071850184e-06,-3.971245209e-04,1.377364131e-04,-6.414730380e-06,-3.939282449e-04,1.369617774e-04,7.019452762e-01,-4.204102527e-04,8.602825532e-01,7.019475610e-01,-4.193952559e-04,8.602808237e-01,7.027389032e-01,-5.120714544e-04,8.304628825e-01
+41,3.900000000e+00,UP_FORCE_RAMP,1792833021097066980,-1.638291697e-05,-4.181176133e-04,1.462939747e-04,-8.078055290e-06,-4.172687125e-04,1.440033182e-04,-6.307366061e-06,-4.138952517e-04,1.432492876e-04,7.019392499e-01,-4.403883483e-04,8.602893812e-01,7.019475548e-01,-4.395394476e-04,8.602870906e-01,7.027390105e-01,-5.320384612e-04,8.304691700e-01
+42,4.016666667e+00,UP_FORCE_RAMP,1792833021214541534,-1.539211290e-05,-4.074007338e-04,1.505255479e-04,-8.078055290e-06,-4.172687125e-04,1.440033182e-04,-6.298805215e-06,-4.139098564e-04,1.433351952e-04,7.019402407e-01,-4.296714688e-04,8.602936128e-01,7.019475548e-01,-4.395394476e-04,8.602870906e-01,7.027390191e-01,-5.320530659e-04,8.304692559e-01
+43,4.050000000e+00,UP_FORCE_RAMP,1792833021243637071,-5.531388503e-05,-4.145181988e-04,1.293074324e-04,-5.496155154e-05,-4.140793910e-04,1.291009706e-04,-5.640337961e-05,-4.106826098e-04,1.286338713e-04,7.019003189e-01,-4.367889339e-04,8.602723947e-01,7.019006713e-01,-4.363501260e-04,8.602721882e-01,7.026889145e-01,-5.288258193e-04,8.304545546e-01
+44,4.083333333e+00,UP_FORCE_RAMP,1792833021277102517,-5.571995106e-05,-4.198169096e-04,1.262261407e-04,-5.496155154e-05,-4.140793910e-04,1.291009706e-04,-5.646820491e-05,-4.106886703e-04,1.286350930e-04,7.018999129e-01,-4.420876446e-04,8.602693134e-01,7.019006713e-01,-4.363501260e-04,8.602721882e-01,7.026888497e-01,-5.288318798e-04,8.304545558e-01
+45,4.166666667e+00,UP_FORCE_RAMP,1792833021359648744,-4.764944125e-05,-4.178077866e-04,1.399138176e-04,-5.496155154e-05,-4.140793910e-04,1.291009706e-04,-5.654298293e-05,-4.106917038e-04,1.286537274e-04,7.019079834e-01,-4.400785217e-04,8.602830011e-01,7.019006713e-01,-4.363501260e-04,8.602721882e-01,7.026887749e-01,-5.288349133e-04,8.304545744e-01
+46,4.233333333e+00,UP_FORCE_RAMP,1792833021424030641,-4.765088462e-05,-4.171233166e-04,1.426819596e-04,-3.701052494e-05,-4.168001633e-04,1.489235426e-04,-3.721346988e-05,-4.134452281e-04,1.483019833e-04,7.019079819e-01,-4.393940516e-04,8.602857692e-01,7.019186223e-01,-4.390708983e-04,8.602920108e-01,7.027081044e-01,-5.315884376e-04,8.304742227e-01
+47,4.333333333e+00,UP_FORCE_RAMP,1792833021539743381,-4.930134368e-05,-4.134723501e-04,1.444452392e-04,-3.701052494e-05,-4.168001633e-04,1.489235426e-04,-3.723136033e-05,-4.134535468e-04,1.483611507e-04,7.019063315e-01,-4.357430852e-04,8.602875325e-01,7.019186223e-01,-4.390708983e-04,8.602920108e-01,7.027080866e-01,-5.315967563e-04,8.304742819e-01
+48,4.483333333e+00,UP_FORCE_RAMP,1792833021685986838,-4.932748049e-05,-4.130944014e-04,1.536629475e-04,-3.701052494e-05,-4.168001633e-04,1.489235426e-04,-3.725788132e-05,-4.134626098e-04,1.484287402e-04,7.019063053e-01,-4.353651364e-04,8.602967502e-01,7.019186223e-01,-4.390708983e-04,8.602920108e-01,7.027080600e-01,-5.316058192e-04,8.304743495e-01
+49,4.650000000e+00,UP_FORCE_RAMP,1792833021849368566,-5.473888141e-05,-4.139554050e-04,1.581294774e-04,-5.429060867e-05,-4.115696154e-04,1.573900653e-04,-5.558005814e-05,-4.082808290e-04,1.567499950e-04,7.019008939e-01,-4.362261400e-04,8.603012167e-01,7.019013422e-01,-4.338403504e-04,8.603004773e-01,7.026897379e-01,-5.264240385e-04,8.304826707e-01
+50,4.850000000e+00,UP_FORCE_RAMP,1792833022045885908,-6.035245149e-05,-4.077786337e-04,1.718827039e-04,-5.429060867e-05,-4.115696154e-04,1.573900653e-04,-5.565469783e-05,-4.082858115e-04,1.568278298e-04,7.018952804e-01,-4.300493687e-04,8.603149699e-01,7.019013422e-01,-4.338403504e-04,8.603004773e-01,7.026896632e-01,-5.264290210e-04,8.304827486e-01
+51,5.050000000e+00,UP_FORCE_RAMP,1792833022243304534,-6.197707888e-05,-4.054600328e-04,1.801370017e-04,-6.009772230e-05,-4.061106015e-04,1.756077842e-04,-6.167707960e-05,-4.028896382e-04,1.748528541e-04,7.018936557e-01,-4.277307678e-04,8.603232242e-01,7.018955351e-01,-4.283813366e-04,8.603186950e-01,7.026836408e-01,-5.210328477e-04,8.305007736e-01
+52,5.183333333e+00,UP_FORCE_RAMP,1792833022378461330,-6.344144584e-05,-4.064686651e-04,1.878356251e-04,-6.009772230e-05,-4.061106015e-04,1.756077842e-04,-6.171242211e-05,-4.028920226e-04,1.749131402e-04,7.018921914e-01,-4.287394001e-04,8.603309229e-01,7.018955351e-01,-4.283813366e-04,8.603186950e-01,7.026836055e-01,-5.210352321e-04,8.305008339e-01
+53,5.350000000e+00,UP_FORCE_RAMP,1792833022553702690,-6.409165609e-05,-4.033776349e-04,1.965722730e-04,-6.175289829e-05,-4.080278452e-04,1.963616426e-04,-6.324349824e-05,-4.048135979e-04,1.954809462e-04,7.018915412e-01,-4.256483699e-04,8.603396595e-01,7.018938799e-01,-4.302985802e-04,8.603394489e-01,7.026820744e-01,-5.229568074e-04,8.305214017e-01
+54,5.500000000e+00,UP_FORCE_HOLD,1792833022701486643,-6.343933751e-05,-4.046130917e-04,2.069233152e-04,-6.175289829e-05,-4.080278452e-04,1.963616426e-04,-6.327260587e-05,-4.048183725e-04,1.955716937e-04,7.018921935e-01,-4.268838268e-04,8.603500106e-01,7.018938799e-01,-4.302985802e-04,8.603394489e-01,7.026820453e-01,-5.229615820e-04,8.305214924e-01
+55,5.666666667e+00,UP_FORCE_HOLD,1792833022865244477,-6.167000844e-05,-4.043863050e-04,2.184132974e-04,-6.150894933e-05,-4.037831506e-04,2.152799103e-04,-6.283434489e-05,-4.006211071e-04,2.142912261e-04,7.018939628e-01,-4.266570400e-04,8.603615005e-01,7.018941239e-01,-4.260538856e-04,8.603583671e-01,7.026824836e-01,-5.187643166e-04,8.305402119e-01
+56,5.816666667e+00,UP_SETTLE,1792833023013096638,-6.338915859e-05,-4.024000233e-04,2.238473943e-04,-6.150894933e-05,-4.037831506e-04,2.152799103e-04,-6.285203482e-05,-4.006244467e-04,2.143949731e-04,7.018922437e-01,-4.246707583e-04,8.603669346e-01,7.018941239e-01,-4.260538856e-04,8.603583671e-01,7.026824659e-01,-5.187676562e-04,8.305403157e-01
+57,5.983333333e+00,UP_SETTLE,1792833023192384667,-6.236715104e-05,-4.017130699e-04,2.333955465e-04,-6.150894933e-05,-4.037831506e-04,2.152799103e-04,-6.286956506e-05,-4.006260395e-04,2.144804454e-04,7.018932657e-01,-4.239838049e-04,8.603764828e-01,7.018941239e-01,-4.260538856e-04,8.603583671e-01,7.026824483e-01,-5.187692490e-04,8.305404012e-01
+58,6.183333333e+00,UP_SETTLE,1792833023440601634,-6.283944304e-05,-4.055649248e-04,2.407190777e-04,-6.276065426e-05,-3.999309518e-04,2.357383384e-04,-6.398542498e-05,-3.968547742e-04,2.347635480e-04,7.018927934e-01,-4.278356598e-04,8.603838063e-01,7.018928722e-01,-4.222016868e-04,8.603788256e-01,7.026813325e-01,-5.149979836e-04,8.305606843e-01
+59,6.400000000e+00,UP_SETTLE,1792833023700312416,-6.351009126e-05,-4.002398461e-04,2.451177248e-04,-6.276065426e-05,-3.999309518e-04,2.357383384e-04,-6.400289834e-05,-3.968557054e-04,2.348836622e-04,7.018921227e-01,-4.225105811e-04,8.603882050e-01,7.018928722e-01,-4.222016868e-04,8.603788256e-01,7.026813150e-01,-5.149989149e-04,8.305608044e-01

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_06/up/simulation_data.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.0444e-01,1.5952e-01,2.4928e+00,-4.8031e-02,4.4220e-02,3.5159e-04,7.7564e-04,-2.5317e-05,-3.1233e-04,1.6131e-06,5.6148e-05,1.9767e-07,8.3654e-04,5.6171e-05
+1,1.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,3.6519e-05,1.1106e-01,1.5930e-01,2.4901e+00,-4.8017e-02,4.4699e-02,3.5334e-04,7.3926e-03,-2.4419e-04,-2.9559e-03,1.5568e-05,5.3521e-04,1.9525e-06,7.9654e-03,5.3543e-04
+2,2.8333e-01,WAIT_W2,7.7141e-05,1.1643e-01,1.5912e-01,2.4880e+00,-4.8005e-02,4.5088e-02,3.5479e-04,1.2762e-02,-4.2818e-04,-5.0764e-03,2.7291e-05,9.2407e-04,3.4019e-06,1.3741e-02,9.2447e-04
+3,4.6667e-01,WAIT_W2,1.1836e-04,1.2312e-01,1.5888e-01,2.4854e+00,-4.7991e-02,4.5573e-02,3.5654e-04,1.9448e-02,-6.6072e-04,-7.6904e-03,4.2059e-05,1.4085e-03,5.1542e-06,2.0924e-02,1.4091e-03
+4,6.0000e-01,WAIT_W2,1.5492e-04,1.2752e-01,1.5873e-01,2.4837e+00,-4.7981e-02,4.5892e-02,3.5764e-04,2.3856e-02,-8.1493e-04,-9.3966e-03,5.1815e-05,1.7279e-03,6.2480e-06,2.5653e-02,1.7287e-03
+5,6.6667e-01,WAIT_W2,2.0958e-04,1.2959e-01,1.5866e-01,2.4829e+00,-4.7976e-02,4.6042e-02,3.5813e-04,2.5927e-02,-8.8753e-04,-1.0194e-02,5.6393e-05,1.8781e-03,6.7416e-06,2.7874e-02,1.8790e-03
+6,6.6667e-01,WAIT_W2,2.0958e-04,1.2959e-01,1.5866e-01,2.4829e+00,-4.7976e-02,4.6042e-02,3.5813e-04,2.5927e-02,-8.8753e-04,-1.0194e-02,5.6393e-05,1.8781e-03,6.7416e-06,2.7874e-02,1.8790e-03
+7,6.8333e-01,WAIT_W2,2.8607e-04,1.2484e-01,3.4526e-01,2.4662e+00,-6.0927e-02,4.5708e-02,4.0777e-04,2.1171e-02,1.8572e-01,-2.6929e-02,-1.2895e-02,1.5443e-03,5.6384e-05,1.8885e-01,1.2987e-02
+8,6.8333e-01,WAIT_W2,2.8607e-04,1.2484e-01,3.4526e-01,2.4662e+00,-6.0927e-02,4.5708e-02,4.0777e-04,2.1171e-02,1.8572e-01,-2.6929e-02,-1.2895e-02,1.5443e-03,5.6384e-05,1.8885e-01,1.2987e-02
+9,7.0000e-01,WAIT_W2,3.9588e-04,1.3202e-01,7.1351e-01,2.4609e+00,-8.6502e-02,4.6197e-02,5.0297e-04,2.8358e-02,5.5397e-01,-3.2199e-02,-3.8470e-02,2.0331e-03,1.5158e-04,5.5562e-01,3.8524e-02
+10,7.0000e-01,WAIT_W2,3.9588e-04,1.3202e-01,7.1351e-01,2.4609e+00,-8.6502e-02,4.6197e-02,5.0297e-04,2.8358e-02,5.5397e-01,-3.2199e-02,-3.8470e-02,2.0331e-03,1.5158e-04,5.5562e-01,3.8524e-02
+11,7.0000e-01,WAIT_W2,3.9588e-04,1.3202e-01,7.1351e-01,2.4609e+00,-8.6502e-02,4.6197e-02,5.0297e-04,2.8358e-02,5.5397e-01,-3.2199e-02,-3.8470e-02,2.0331e-03,1.5158e-04,5.5562e-01,3.8524e-02
+12,7.1667e-01,WAIT_W2,4.9820e-04,1.3952e-01,1.2418e+00,2.4501e+00,-1.2320e-01,4.6711e-02,6.4022e-04,3.5849e-02,1.0823e+00,-4.2996e-02,-7.5170e-02,2.5473e-03,2.8883e-04,1.0837e+00,7.5214e-02
+13,7.1667e-01,WAIT_W2,4.9820e-04,1.3952e-01,1.2418e+00,2.4501e+00,-1.2320e-01,4.6711e-02,6.4022e-04,3.5849e-02,1.0823e+00,-4.2996e-02,-7.5170e-02,2.5473e-03,2.8883e-04,1.0837e+00,7.5214e-02
+14,7.1667e-01,WAIT_W2,4.9820e-04,1.3952e-01,1.2418e+00,2.4501e+00,-1.2320e-01,4.6711e-02,6.4022e-04,3.5849e-02,1.0823e+00,-4.2996e-02,-7.5170e-02,2.5473e-03,2.8883e-04,1.0837e+00,7.5214e-02
+15,7.3333e-01,WAIT_W2,5.8986e-04,1.5428e-01,1.7206e+00,2.4669e+00,-1.5654e-01,4.7719e-02,7.7345e-04,5.0609e-02,1.5610e+00,-2.6236e-02,-1.0851e-01,3.5546e-03,4.2206e-04,1.5621e+00,1.0857e-01
+16,7.5000e-01,WAIT_W2,6.1518e-04,1.7550e-01,2.1409e+00,2.4893e+00,-1.8585e-01,4.9176e-02,8.9405e-04,7.1831e-02,1.9814e+00,-3.7646e-03,-1.3782e-01,5.0124e-03,5.4266e-04,1.9827e+00,1.3791e-01
+17,7.6667e-01,WAIT_W2,6.3999e-04,1.8520e-01,2.2556e+00,2.5110e+00,-1.9394e-01,4.9843e-02,9.3598e-04,8.1534e-02,2.0960e+00,1.7900e-02,-1.4591e-01,5.6789e-03,5.8459e-04,2.0977e+00,1.4602e-01
+18,8.0000e-01,WAIT_W2,6.9051e-04,1.7260e-01,1.9689e+00,2.5075e+00,-1.7419e-01,4.8976e-02,8.7544e-04,6.8932e-02,1.8093e+00,1.4453e-02,-1.2615e-01,4.8124e-03,5.2405e-04,1.8107e+00,1.2625e-01
+19,8.5000e-01,WAIT_W2,7.4572e-04,1.7609e-01,1.9646e+00,2.5140e+00,-1.7399e-01,4.9227e-02,8.8100e-04,7.2424e-02,1.8051e+00,2.0901e-02,-1.2595e-01,5.0626e-03,5.2961e-04,1.8066e+00,1.2606e-01
+20,8.6667e-01,WAIT_W2,7.6434e-04,1.9297e-01,2.1513e+00,2.5301e+00,-1.8695e-01,5.0407e-02,9.1963e-04,8.9304e-02,1.9917e+00,3.7009e-02,-1.3892e-01,6.2427e-03,5.6824e-04,1.9941e+00,1.3906e-01
+21,1.0000e+00,WAIT_W2,8.0748e-04,1.8737e-01,1.9954e+00,2.5334e+00,-1.7641e-01,5.0031e-02,8.9915e-04,8.3700e-02,1.8358e+00,4.0261e-02,-1.2838e-01,5.8672e-03,5.4776e-04,1.8382e+00,1.2852e-01
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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/down/fem_node.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/down/franka_data.csv ADDED Viewed

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+50440,1792833109911238248,11789375000000,1792833109908819451,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6759598254355974,-0.0049215570454961164,0.09968914407947567,0.9999999674419301,-2.844499422288086e-06,-0.00020469241123668403,0.00012104515227044994,0.6761,-0.0046,0.09986855168479374,1.0,0.0,0.0,0.0,-0.11892306054487789,0.012695400204162155,0.3402969790408055,0.0015162858274979235,0.007066429617834498,0.0001826653821539073,0.8338106435071789,1.160563925604157,0.5980222893773726,0.07803431822209694,-0.05839070437850547,0.0016572144865062363,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.3185633066906044,1.4215193886524478,1.0817095858229406,-0.05890270105733855,-0.7069662053757719,0.8411210442390873,1.6323104815991827,-0.3402969790408055,0.550600895776242,0.550600895776242,0.6297850596072438,0,0,-2.6573853613458216e-05,-9.019977406510832e-05
+50569,1792833110986268544,11790450000000,1792833110984818459,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6759560183660879,-0.00492064406993002,0.09966451696102455,0.9999999643592912,1.8932609458821853e-06,-0.00021676297946605853,0.0001254372630622455,0.6761,-0.0046,0.09984569876536628,1.0,0.0,0.0,0.0,-0.1050674743921386,-0.002008781113886249,0.4448705692261273,2.174167652542469e-05,0.0070716582789992835,8.331636145030583e-05,0.8476662296599182,1.1458597442861087,0.7025958795626943,0.07653977407112444,-0.058385475717340686,0.0015578654658026348,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.2863642352450342,1.491657549703218,0.9255901520621694,-0.06951113604654573,-0.616791982903098,0.8828880415081377,1.6323104815991827,-0.4448705692261273,0.7067203295370132,0.7067203295370132,0.7910350596072261,0,0,-1.900339957203035e-05,-9.921875407237763e-05
+50703,1792833112103222601,11791567000000,1792833112100829342,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6759491795565582,-0.004922131023550232,0.09963957912080185,0.99999996089495,1.3383654433494666e-06,-0.0002291762753515811,0.00013087935883103734,0.6761,-0.0046,0.09981278809741623,1.0,0.0,0.0,0.0,-0.10137058146384403,-0.026475870673417168,0.5501007400480646,-0.000560032596644347,0.006695012209963179,-2.6832924355083216e-05,0.8513631225882128,1.1213926547265778,0.8078260503846316,0.07595799979795467,-0.05876212178637679,0.0014477161799972458,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.3744956176333603,1.4736244357462376,0.7608906350110983,-0.036999872456940565,-0.4834196617722683,0.8697549025802016,1.6323104815991827,-0.5501007400480646,0.8714198465880844,0.8714198465880844,0.9585850596072076,0,0,-4.2049300259831786e-05,-9.999999025923074e-05
+50845,1792833113286301562,11792750000000,1792833113280818303,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6759554649952386,-0.004923602230517272,0.0996095842067926,0.9999999630845054,5.3112069759446735e-06,-0.00021462585419217625,0.00013849688086371893,0.6761,-0.0046,0.09974004659548047,1.0,0.0,0.0,0.0,-0.12118869490399375,-0.020986119673560566,0.6807798997008923,-0.0006501396107276153,0.008046852714775836,-0.0001003540395317045,0.8315450091480631,1.1268824057264344,0.9385052100374593,0.0758678927838714,-0.057410281281564134,0.0013741950648206245,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.3720721143953833,1.3598120368587505,0.632610888035674,0.008839130403898677,-0.41196119822737176,0.7955549052754877,1.6323104815991827,-0.6807798997008923,0.9996995935635087,0.9996995935635087,1.1360350596072888,0,0,-7.945485746704695e-05,-9.998809699507944e-05
+50990,1792833114494222305,11793958000000,1792833114488819046,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6759707840718797,-0.004931906923271053,0.09955305601407231,0.9999999681769488,2.480097530553519e-06,-0.00017745380056558347,0.00015360001122867543,0.6761,-0.0046,0.09964830486260146,1.0,0.0,0.0,0.0,-0.19655894255838202,-0.019800953047147907,0.9015855080377633,0.00014118008761535017,0.012034721061146288,-9.537709611485003e-05,0.7561747614936748,1.128067572352847,1.1593108183743304,0.07665921248221437,-0.05342241293519368,0.001379172008237479,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.4864313597129591,1.3537681308247194,0.4107822021677596,-0.0016651148495108634,-0.24186967323734807,0.7846833076723273,1.6323104815991827,-0.9015855080377633,1.221528279431423,1.221528279431423,1.317235059607403,0,0,-5.9924635499612695e-05,-9.498004746444905e-05
+51124,1792833115611286173,11795075000000,1792833115604828101,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6759730460853961,-0.004937039147042699,0.09951965010562018,0.9999999677176125,6.641269770219826e-07,-0.00017125758910018166,0.00016333412278967335,0.6761,-0.0046,0.09959954168057099,1.0,0.0,0.0,0.0,-0.2068569420193953,-0.015475429129840679,1.0529335336278944,0.00018313396910345225,0.01300968408678417,0.0007064115777208732,0.7458767620326615,1.1323930962701543,1.3106588439644615,0.07670116636370247,-0.0524474499095558,0.002180960682073202,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.5016041569669087,1.4172199432359514,0.141441224043885,-0.015537541323137127,-0.06707501452894665,0.8313317423226678,1.6323104815991827,-1.0529335336278944,1.4908692575552978,1.4908692575552978,1.4847850596075085,0,0,-3.086269480670622e-05,9.999999025923074e-05
+51260,1792833116744173868,11796208000000,1792833116736828839,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6759763793008271,-0.004933463642251065,0.09949599986415306,0.9999999681854016,6.60729573506874e-06,-0.00016306210846297377,0.00016863911966286135,0.6761,-0.0046,0.09956126564730726,1.0,0.0,0.0,0.0,-0.21908142901191918,-0.031747584992360744,1.148696769268472,-0.0007068303270626047,0.014019542810237845,0.0006373448960589514,0.7336522750401376,1.1161209404076342,1.406422079605039,0.07581120206753642,-0.051437591186102125,0.0021118940004112804,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.5046799324949516,1.399979563642556,0.07033739153541846,-0.007991901451358217,-0.020890421290465307,0.8182176345868032,1.6323104815991827,-1.148696769268472,1.5619730900637643,1.5619730900637643,1.6547350596076156,0,0,-4.647715621672178e-05,-9.999980984798924e-05
+51397,1792833117886223905,11797350000000,1792833117880818603,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6759826901867211,-0.004938448380379178,0.09945452211054118,0.9999999688622724,3.4805165395788826e-06,-0.00014777883684354088,0.00017851504168839896,0.6761,-0.0046,0.0994929087597221,1.0,0.0,0.0,0.0,-0.2542500726379906,-0.03560653939804759,1.306807093372728,5.0460691197226626e-05,0.01599738951257395,0.000542661550114304,0.6984836314140662,1.1122619860019474,1.5645324037092951,0.07656849308579625,-0.04945974448376602,0.002017210654466633,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.6220680899487332,1.3372979730715822,-0.10659233351235128,0.008183445668978277,0.12474903566658346,0.7747063065392759,1.6323104815991827,-1.306807093372728,1.738902815111534,1.738902815111534,1.8260350596077235,0,0,-6.66354716225267e-05,-8.750000310276391e-05
+51520,1792833118911232216,11798375000000,1792833118908818980,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6759937832519047,-0.0049434323949146056,0.09941411584361998,0.9999999697533264,5.432338159067001e-06,-0.00012353964667427526,0.00019142794002383767,0.6761,-0.0046,0.09942925637675615,1.0,0.0,0.0,0.0,-0.2928377530849403,-0.016622591712339485,1.4841511861759678,0.0009386045883100491,0.018979853910094074,0.00045316418859415943,0.6598959509671165,1.1312459336876555,1.7418764965125348,0.07745663698290907,-0.046477280086245895,0.0019277132929464884,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.6967440263005672,1.2489824205188809,-0.2475784591455592,0.026410960093682864,0.23141968706181754,0.7161686477611271,1.6323104815991827,-1.4841511861759678,1.8798889407447419,1.8798889407447419,1.9797850596078204,0,0,-5.068615093892082e-05,-8.750000310276391e-05
+51626,1792833119794256497,11799258000000,1792833119792818714,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6760441895508638,-0.004932993318393957,0.09942416522637845,0.9999999743626062,1.515856780193818e-05,-6.801201627743621e-05,0.00019458220601610844,0.6761,-0.0046,0.09939173371029406,1.0,0.0,0.0,0.0,-0.3746243057084465,0.0837904762560644,1.4908740231191555,0.007633669005132973,0.02432282231463366,0.001485274769714283,0.5781093983436103,1.2316590016560593,1.7485993334557226,0.08415170139973199,-0.04113431168170631,0.002959823874066612,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.7455199958250054,1.3347606776454621,-0.27083022428505066,0.00013372528478341726,0.24181071068667276,0.7769325497974825,1.6323104815991827,-1.4908740231191555,1.9031407058842333,1.9031407058842333,2.1122350596079036,0,0,-4.087361754198516e-05,-9.999990699250389e-05
+51725,1792833120619167210,11800083000000,1792833120612819416,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.676046928456055,-0.004940876649629031,0.09938717879626212,0.9999999728975731,1.4614391549024978e-05,-6.573944420079796e-05,0.000202762083717646,0.6761,-0.0046,0.09934109585983297,1.0,0.0,0.0,0.0,-0.39800957886255806,0.09764217137453635,1.5773410973509534,0.008264648103219918,0.02588472704322191,0.0015831256973804625,0.5547241251894988,1.2455106967745313,1.8350664076875205,0.08478268049781894,-0.03957240695311806,0.0030576748017327915,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,0.9487803444697582,1.2490606310399495,-0.5637251266434737,0.03081380216659205,0.4742175431600609,0.7208294113366762,1.6323104815991827,-1.5773410973509534,2.1960356082426564,2.1960356082426564,2.2359850596079816,0,0,-8.157196168948199e-05,7.003849863818629e-05
+51865,1792833121786243284,11801250000000,1792833121784828524,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6760600131686694,-0.004944308231754343,0.09932017066222694,0.9999999728542952,7.700257740704836e-06,-4.0270798948899795e-05,0.00020988864212413707,0.6761,-0.0046,0.0992324564803133,1.0,0.0,0.0,0.0,-0.43939505730617734,0.1138561775525524,1.8572047615710423,0.009818814384566998,0.02805963915719832,0.0014086424722457478,0.5133386467458795,1.2617247029525474,2.1149300719076094,0.08633684677916602,-0.03739749483914165,0.002883191576598077,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.109506920853796,1.329249972497514,-0.7335176725602576,0.007761201169732369,0.6236236858068275,0.7710793573818369,1.6323104815991827,-1.8572047615710423,2.3658281541594404,2.3658281541594404,2.411035059608092,0,0,-8.811251574617073e-05,9.999997638144293e-05
+51981,1792833122753169234,11802217000000,1792833122752818606,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6760746733584826,-0.004943769779610966,0.09927544878026195,0.9999999719834008,7.73475822572752e-06,-1.680344513186933e-05,0.00021710338446349813,0.6761,-0.0046,0.09916558602295648,1.0,0.0,0.0,0.0,-0.4866348014333586,0.13927363169262064,2.0201328582664573,0.010721742953840582,0.03170019500638185,0.0013423500260994448,0.46609890261869824,1.2871421570926156,2.277858168603024,0.0872397753484396,-0.03375693898995812,0.002816899130451774,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.1203810842772337,1.3307113535909643,-1.000280241063325,0.001059925580995237,0.7903187265912833,0.7731041612158318,1.6323104815991827,-2.0201328582664573,2.6325907226625076,2.6325907226625076,2.556085059608183,0,0,-5.070350308081372e-05,9.999932412541596e-05
+52114,1792833123861172741,11803325000000,1792833123860828485,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6760825116356974,-0.004954023682553039,0.0992471968446389,0.9999999708166937,2.2955369467674854e-06,-4.6801868768753145e-06,0.00022311948074813892,0.6761,-0.0046,0.09912036688427614,1.0,0.0,0.0,0.0,-0.49847834703034444,0.15970118615741025,2.119080129103133,0.01270262896801018,0.03278916729519496,0.0013009777281866523,0.4542553570217124,1.3075697115574052,2.3768054394397,0.0892206613626092,-0.03266796670114501,0.0027755268325389813,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.1388081840559778,1.3039497675244656,-1.0189903164703864,0.005133440672200795,0.8050447904292953,0.7542320928280314,1.6323104815991827,-2.119080129103133,2.651300798069569,2.651300798069569,2.722285059608288,0,0,-4.367966224413789e-05,-9.999999025923074e-05
+52254,1792833125028232238,11804492000000,1792833125020828279,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6760912941005306,-0.0049495416634828,0.09920474759443976,0.9999999698140871,3.028436107433208e-06,7.732899441958636e-06,0.00022747685656366253,0.6761,-0.0046,0.09905543457350112,1.0,0.0,0.0,0.0,-0.5340614378775774,0.16550327200222537,2.269514271332229,0.012755583138778268,0.0347805121112265,0.0013440675250406522,0.41867226617447945,1.3133717974022203,2.527239581668796,0.08927361553337729,-0.030676621885113466,0.0028186166293929812,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.239498152232001,1.2462367692131253,-1.1616051003357868,0.025409467720742318,0.9217755929258853,0.7158371832038315,1.6323104815991827,-2.269514271332229,2.7939155819349697,2.7939155819349697,2.897335059608398,0,0,-6.378864060160717e-05,-9.876689330135519e-05
+52317,1792833125553228197,11805017000000,1792833125552828175,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6761045775416684,-0.004928629788162575,0.099184521364959,0.9999999787180746,-0.00015599853065204817,4.196584536124553e-05,8.893841099480066e-05,0.6761,-0.0046,0.09902000121668039,1.0,0.0,0.0,0.0,-0.45836438732480356,0.2844728076450349,2.3454872793963344,0.02158877132303441,0.029843012875536173,0.0022052380774564614,0.49436931672725326,1.4323413330450299,2.6032125897329013,0.09810680371763343,-0.035614121120803796,0.00367978718180879,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.282465687630343,1.4045230773905588,-1.2525950108711938,-0.18926299574774313,1.0245545063542276,0.8606459334053864,1.6323104815991827,-2.3454872793963344,2.8849054924703763,2.8849054924703763,2.976085059608448,0,0,-7.679086084652476e-05,-9.999999025923074e-05
+52437,1792833126553223248,11806017000000,1792833126548818988,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6761182239868119,-0.004932886114169615,0.09912954484432408,0.9999999773537868,-0.00014432260194463794,6.45591709945001e-05,0.00010834385266465307,0.6761,-0.0046,0.09892892804269676,1.0,0.0,0.0,0.0,-0.5115282315643347,0.31254821232385277,2.545530839956944,0.022831016259700812,0.033888007502255145,0.002114817356379599,0.44120547248772213,1.4604167377238477,2.8032561502935107,0.09934904865429983,-0.031569126494084825,0.003589366460731928,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.356426998880409,1.246664372049322,-1.3268228876179387,-0.06974182476330318,1.0684685005577312,0.7510958378875663,1.6323104815991827,-2.545530839956944,2.9591333692171213,2.9591333692171213,3.1260850596085423,0,0,-9.13628335860991e-05,-9.948108589530875e-05
+52568,1792833127644148830,11807108000000,1792833127640818830,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6761302966158602,-0.004940401268694086,0.09907039980021988,0.999999975183959,-0.00013485616101922363,7.981452162912983e-05,0.00012852394162584039,0.6761,-0.0046,0.09885102814203546,1.0,0.0,0.0,0.0,-0.5612087627279502,0.32293785486453586,2.7571286988927484,0.02369713486927716,0.036482683624645226,0.0019947043954829814,0.39152494132410665,1.4708063802645308,3.0148540092293152,0.10021516726387618,-0.028974450371694747,0.00346925349983531,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.4241393615774258,1.3151282145782293,-1.6875446302448331,-0.017754591721189518,1.3035418889962467,0.7760744874265872,1.6323104815991827,-2.7571286988927484,3.319855111844016,3.319855111844016,3.2897350596086454,0,0,-4.6952922734518114e-05,9.999999025923074e-05
+52708,1792833128811152475,11808275000000,1792833128808818377,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6761368933079988,-0.004939728232896718,0.09905091917225138,0.9999999740404382,-0.00013208802401120778,8.955053918839317e-05,0.00013377384662222947,0.6761,-0.0046,0.09882141489466428,1.0,0.0,0.0,0.0,-0.5626167222434901,0.31562765552015004,2.827556448972997,0.023658998634255995,0.03748133481285763,0.0019534146332135047,0.39011698180856663,1.463496180920145,3.085281759309564,0.10017703102885502,-0.027975799183482333,0.0034279637375658335,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.4528634493139736,1.2985350773818298,-1.7243246242201133,0.020084840291626944,1.3274886254819698,0.7571437859221655,1.6323104815991827,-2.827556448972997,3.3566351058192962,3.3566351058192962,3.4647850596087557,0,0,-2.01405047181843e-05,-9.999999025923074e-05
+52844,1792833129944155779,11809408000000,1792833129940818796,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6761435478336212,-0.0049432169162801866,0.09902495545760641,0.9999999725480755,-0.00012650649033164833,0.000100276174794492,0.00014243422780532797,0.6761,-0.0046,0.09877957088796775,1.0,0.0,0.0,0.0,-0.5962772198280166,0.31852011388560997,2.9060390210469635,0.02361654474750076,0.03847867864749821,0.0019013577253481635,0.35645648422404014,1.466388639285605,3.1637643313835304,0.10013457714209978,-0.02697845534884176,0.0033759068297004925,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.4758270738505546,1.2499999461303946,-1.9454248555476286,0.0648462642007008,1.4628531904163726,0.7153321103037811,1.6323104815991827,-2.9060390210469635,3.5777353371468115,3.5777353371468115,3.634735059608863,0,0,-5.7172616067828426e-05,-7.768249518503296e-05
+52969,1792833130986199421,11810450000000,1792833130984818666,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.67615559457576,-0.004946956387884889,0.0989832275116523,0.9999999689481934,-0.00013172870023787087,0.00011913251101324203,0.0001483289281257844,0.6761,-0.0046,0.0987039313308092,1.0,0.0,0.0,0.0,-0.627710083870733,0.34127319063857353,3.0561706991785456,0.025654795945956183,0.041444575749780256,0.0018584369156183077,0.32502362018132375,1.4891417160385685,3.3138960095151124,0.1021728283405552,-0.024012558246559713,0.0033329860199706367,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.5793925847677501,1.3235707545095565,-1.9850789210156126,0.0634609364422552,1.506428206617381,0.7649616970324462,1.6323104815991827,-3.0561706991785456,3.617389402614795,3.617389402614795,3.7910350596089613,0,0,-8.538570422519787e-05,-9.999321789878052e-05
+53085,1792833131953156927,11811417000000,1792833131952818933,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6761726228443737,-0.004948985850106472,0.09892685801868384,0.9999999636511263,-0.000151060446363127,0.00014836777155455313,0.00013895451160465103,0.6761,-0.0046,0.09862687604840706,1.0,0.0,0.0,0.0,-0.6598901082232957,0.39107731668361834,3.26065014932292,0.02851099096196716,0.043364870164289256,0.0027708639797588454,0.2928435958287611,1.5389458420836133,3.5183754596594867,0.10502902335656618,-0.022092263832050714,0.004245413084111175,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.6687802504332523,1.2799715737437634,-2.2992252087805074,0.08240576363393785,1.725529774650196,0.7315944113867539,1.6323104815991827,-3.26065014932292,3.93153569037969,3.93153569037969,3.9360850596090526,0,0,-6.642275795079732e-05,9.981688672689443e-05
+53253,1792833133353147680,11812817000000,1792833133352819123,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6761824968565562,-0.004944113189230105,0.098878586178607,0.999999958031185,-0.00018477830792636642,0.00016756667548651762,0.00011471215631883152,0.6761,-0.0046,0.09856229269766306,1.0,0.0,0.0,0.0,-0.6649760749945803,0.41588434471855473,3.4120600994864287,0.030525099828642654,0.04329224799605483,0.00266751719403019,0.2877576290574764,1.5637528701185497,3.6697854098229956,0.10704313222324167,-0.02216488600028514,0.004142066298382519,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.746027326104929,1.3597449874825318,-2.47373586033281,0.06328974470315674,1.8569579681247994,0.7870160403094245,1.6323104815991827,-3.4120600994864287,4.106046341931993,4.106046341931993,4.146085059608753,0,0,-3.810473018647643e-05,-9.999607672306893e-05
+53380,1792833134411149241,11813875000000,1792833134408819602,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6761906692071269,-0.0049448807728199795,0.09884716858764005,0.9999999549648315,-0.00018634371590722532,0.00018047986263487314,0.00011923186568706603,0.6761,-0.0046,0.0985116337695059,1.0,0.0,0.0,0.0,-0.6810695484680954,0.4327112795728918,3.5224365019955712,0.031471796820626605,0.04526947894416279,0.0026226333263931747,0.2716641555839614,1.5805798049728867,3.780161812332138,0.10798982921522562,-0.020187655052177178,0.004097182430745504,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.8011878274690185,1.254761734015683,-2.646812489895904,0.09985501728368482,1.9806111680802825,0.715917119937892,1.6323104815991827,-3.5224365019955712,4.279122971495086,4.279122971495086,4.304785059608383,0,0,-5.851430307371596e-05,9.999847758035969e-05
+53510,1792833135494183142,11814958000000,1792833135492818828,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6762032987072358,-0.004945467629571069,0.0988028286771184,0.9999999515577825,-0.00018121921110653347,0.00020022932759644377,0.00012407703528916414,0.6761,-0.0046,0.09843542516424979,1.0,0.0,0.0,0.0,-0.7101527213925685,0.4458301061135328,3.6620508656834745,0.03243867685519089,0.0472524679854536,0.0025495669588227673,0.2425809826594883,1.5936986315135278,3.9197761760200414,0.10895670924978991,-0.018204666010886366,0.0040241160631750966,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.820844307785317,1.3243242812642693,-2.8100290233017056,0.07584374312139489,2.0829985885783002,0.7598104721201829,1.6323104815991827,-3.6620508656834745,4.442339504900888,4.442339504900888,4.467235059608004,0,0,-7.974914545819255e-05,9.879657788947611e-05
+53642,1792833136594149825,11816058000000,1792833136592828281,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6762204314419976,-0.004953140469045618,0.09874481409210278,0.9999999454990386,-0.0001765031451336578,0.00022845716134173806,0.00013076218629887553,0.6761,-0.0046,0.09835213449279542,1.0,0.0,0.0,0.0,-0.758302946359503,0.4821252167920338,3.8646862542987703,0.034329638409643676,0.05015567747588576,0.0031006842930564665,0.19443075769255377,1.6299937421920287,4.122411564635337,0.1108476708042427,-0.01530145652045421,0.004575233397408796,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.8526682696548398,1.3111161390497048,-2.928750816786987,0.08984277348460541,2.156198733326982,0.761114692095608,1.6323104815991827,-3.8646862542987703,4.56106129838617,4.56106129838617,4.63223505960762,0,0,-6.497951189207563e-05,-7.450092906336465e-05
+53826,1792833138128147772,11817592000000,1792833138120819054,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6762338007695222,-0.004953231543003359,0.09868471550904989,0.9999999517790841,-8.01802386059248e-05,0.00025054853581677307,0.00013667938540697417,0.6761,-0.0046,0.09826541829705747,1.0,0.0,0.0,0.0,-0.7970867049154086,0.49515069145630286,4.046108241061831,0.03627832504894786,0.05215497197494818,0.003330167886194009,0.15564699913664823,1.6430192168562978,4.303833551398398,0.11279635744354688,-0.01330216202139179,0.004804716990546338,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,1.979319066672861,1.3138843996363658,-3.2095979244109576,0.06908512427838942,2.3747015481211293,0.7418853230564756,1.6323104815991827,-4.046108241061831,4.84190840601014,4.84190840601014,4.862335059607084,0,0,-6.0789668289403014e-05,9.984501700278087e-05
+53956,1792833139211158184,11818675000000,1792833139208818946,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6762475407767131,-0.004956539921741471,0.0986391002604353,0.9999999448389016,-9.17638055951072e-05,0.00027194487084205036,0.00013924959286504745,0.6761,-0.0046,0.09818830595886431,1.0,0.0,0.0,0.0,-0.817928204958857,0.5256925217094195,4.183572111206207,0.03818941452629096,0.05411259187943715,0.0033161191385344254,0.13480549909319983,1.6735610471094144,4.441297421542774,0.11470744692088998,-0.011344542116902823,0.004790668242886755,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.0008405945777947,1.2387989261665608,-3.253887598468657,0.11358878499773231,2.399525884092025,0.715748179086977,1.6323104815991827,-4.183572111206207,4.88619808006784,4.88619808006784,5.024785059606705,0,0,-7.692343224482834e-05,-9.687744636910906e-05
+54112,1792833140511147905,11819975000000,1792833140508818877,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6762641363100301,-0.004955996039286139,0.09857717122285098,0.9999999349347636,-0.00010458189610864373,0.00030157215461415737,0.00014032175755059666,0.6761,-0.0046,0.0980921760097076,1.0,0.0,0.0,0.0,-0.8565725973778457,0.5393498082119319,4.388467594004036,0.039961943948918596,0.05605850905454238,0.0032036057928224717,0.09616110667421104,1.6872183336119269,4.6461929043406025,0.11647997634351762,-0.009398624941797593,0.004678154897174801,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.130778895753134,1.2669565744681575,-3.553948633129536,0.11514411574255097,2.619908521937535,0.7396240336173684,1.6323104815991827,-4.388467594004036,5.186259114728719,5.186259114728719,5.2197850596062505,0,0,-6.03448678429278e-05,9.882101667380567e-05
+54237,1792833141553148996,11821017000000,1792833141552818645,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6762743057273534,-0.004956416943530436,0.0985349332070281,0.99999992968486,-0.00011443176639312751,0.00031652344741204153,0.0001370817911335165,0.6761,-0.0046,0.09802994772889768,1.0,0.0,0.0,0.0,-0.8764372309702888,0.5567707230081016,4.509053995245908,0.04115957354765491,0.05702491133083713,0.003133045397992704,0.07629647308176805,1.7046392484080966,4.7667793055824745,0.11767760594225393,-0.008432222665502838,0.004607594502345033,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.1107344188123522,1.26309135319723,-3.6663124256860957,0.12355980152383023,2.6817569659931793,0.7351113427096221,1.6323104815991827,-4.509053995245908,5.298622907285278,5.298622907285278,5.376085059605886,0,0,-6.513953150075048e-05,-9.999166358654605e-05
+54377,1792833142719140637,11822183000000,1792833142716818862,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6762895770171049,-0.004957234974736992,0.09848654033767155,0.9999999194831963,-0.000131899194264914,0.00034262369090534315,0.00013299651930382937,0.6761,-0.0046,0.09795327604646442,1.0,0.0,0.0,0.0,-0.9004871182665749,0.5887049512563607,4.664257744092174,0.04311833551890212,0.058977622920701564,0.0030556133300045077,0.0522465857854819,1.7365734766563556,4.921983054428741,0.11963636791350114,-0.006479511075638404,0.004530162434356837,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.2301117267596005,1.2612944870493297,-3.783287328328027,0.14106181587312472,2.7851928440548352,0.7364732965631797,1.6323104815991827,-4.664257744092174,5.41559780992721,5.41559780992721,5.550985059605479,0,0,-6.867485354974801e-05,-9.999999025923074e-05
+54510,1792833143828148327,11823292000000,1792833143824818798,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6763039545383172,-0.004960884715647868,0.09843623594607588,0.9999999084733724,-0.00015091632320584652,0.00036793936490392957,0.0001278319140981,0.6761,-0.0046,0.09787516002996012,1.0,0.0,0.0,0.0,-0.9260042989831486,0.6154480672975491,4.82132466308609,0.044061079765972164,0.060943350836550864,0.002976736199615009,0.026729405068908182,1.763316592697544,5.079049973422657,0.12057911216057118,-0.0045137831597891085,0.004451285303967338,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.2701260107417522,1.2823450248816544,-4.02565558566974,0.13877009082369773,2.9461917015463777,0.7487357521723051,1.6323104815991827,-4.82132466308609,5.657966067268923,5.657966067268923,5.717335059605091,0,0,-7.24369460289046e-05,9.740769260256025e-12
+54638,1792833144894141802,11824358000000,1792833144892818886,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6763171170740124,-0.004964692763402428,0.09838313592091194,0.99999989667623,-0.00016736802279733212,0.00039290765521028003,0.0001253072741133879,0.6761,-0.0046,0.09779796330306785,1.0,0.0,0.0,0.0,-0.9466825701781443,0.63986056187741,4.958861437613585,0.04604590937706517,0.06189543130523207,0.0028955479105836155,0.006051133873912594,1.787729087277405,5.216586747950152,0.12256394177166419,-0.003561702691107899,0.004370097014935945,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.377207142723004,1.2722436776015296,-4.204031966797092,0.14160524348517145,3.0865224362467902,0.7409542696803614,1.6323104815991827,-4.958861437613585,5.836342448396275,5.836342448396275,5.877235059604718,0,0,-7.15374397955174e-05,7.500001594629708e-05
+54762,1792833145928141202,11825392000000,1792833145920819377,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6763307395416481,-0.004963032478508877,0.09833595113876144,0.9999998870022885,-0.00017454821205096298,0.00041467460067464953,0.00012254049040127623,0.6761,-0.0046,0.09772495049857313,1.0,0.0,0.0,0.0,-0.966413271087854,0.666985022408711,5.113910410119967,0.04799599461439415,0.06384446888512073,0.0038355109368926167,-0.01367956703579717,1.814853547808706,5.371635720456534,0.12451402700899317,-0.0016126651112192349,0.005310060041244946,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.4203394565943146,1.2045617085527078,-4.29374364318282,0.1768143589932211,3.1540697816445395,0.7008258437790945,1.6323104815991827,-5.113910410119967,5.926054124782002,5.926054124782002,6.032335059604357,0,0,-6.924398955196332e-05,-9.868533354240867e-05
+54892,1792833147011147264,11826475000000,1792833147008819118,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6763411426757534,-0.004963175059980964,0.09828366063879938,0.9999998802133533,-0.00017277614801445865,0.0004311469984449583,0.00012359939961630408,0.6761,-0.0046,0.09765142522083987,1.0,0.0,0.0,0.0,-1.0039373628327382,0.67451347736297,5.242357184082256,0.04894101344214215,0.06568896379158568,0.0037836087137211143,-0.05120365878068141,1.822382002762965,5.500082494418823,0.12545904583674117,0.0002318297952457082,0.0052581578180734435,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.4870469449539203,1.135582173006888,-4.438015161912967,0.2044904519534016,3.2597912467042347,0.6572459828015016,1.6323104815991827,-5.242357184082256,6.070325643512149,6.070325643512149,6.194785059603978,0,0,-7.381039025397407e-05,-9.999999025923074e-05
+55023,1792833148103149596,11827567000000,1792833148096819285,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6763542662314704,-0.004966548700826567,0.09822752788586657,0.9999998763191605,-0.00012776211084579843,0.00045530185301461307,0.00012321360924230285,0.6761,-0.0046,0.09756569234249055,1.0,0.0,0.0,0.0,-1.0246774755223629,0.7053502731275907,5.385786832791581,0.05087536565314517,0.06676752091286789,0.0037020806356738998,-0.07194377147030602,1.8532187985275856,5.643512143128148,0.1273933980477442,0.001310386916527924,0.005176629740026229,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.537247486461148,1.1217526737025434,-4.634271503951587,0.21488816202590247,3.393807715848381,0.6581262151464502,1.6323104815991827,-5.385786832791581,6.26658198555077,6.26658198555077,6.358585059603596,0,0,-8.286593458225878e-05,-7.519480457596756e-05
+55153,1792833149186148916,11828650000000,1792833149184818816,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6763679181081779,-0.004965734469527394,0.09816294625124344,0.9999998654638805,-0.0001314468833248091,0.00047744352812565733,0.00012363041475844602,0.6761,-0.0046,0.09747535797574514,1.0,0.0,0.0,0.0,-1.0514590615921537,0.7046434802224659,5.565906726600175,0.05191182956441355,0.06671086925173815,0.003569411681771971,-0.09872535754009697,1.8525120056224609,5.823632036936742,0.12842986195901257,0.0012537352553981841,0.0050439607861243,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.574534097474212,1.2345913261698198,-4.7814496654335334,0.1913594011249149,3.493353124385689,0.7273560457618241,1.6323104815991827,-5.565906726600175,6.413760147032717,6.413760147032717,6.521035059603218,0,0,-7.843653441616383e-05,-7.775420171463594e-05
+55265,1792833150119147541,11829583000000,1792833150116819124,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6763776092121253,-0.004971471811651482,0.09810937914332252,0.9999998562047383,-0.0001425742461355883,0.0004923285224756513,0.00012774418640444253,0.6761,-0.0046,0.09740408535680099,1.0,0.0,0.0,0.0,-1.071850036401105,0.712167914319868,5.697427472461949,0.052880437398452204,0.06767713141442055,0.0034875764627194045,-0.11911633234904812,1.860036439719863,5.955152782798516,0.12939846979305122,0.002219997418080589,0.004962125567071734,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.7219391301116502,1.1912817011940964,-4.945579618963806,0.20941051319837525,3.639554341754168,0.7003089316172043,1.6323104815991827,-5.697427472461949,6.577890100562989,6.577890100562989,6.660985059602892,0,0,-7.431860447468098e-05,-9.92632740156651e-05
+55395,1792833151203147144,11830667000000,1792833151196818537,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6763893365269998,-0.004975576286984834,0.09804941353189213,0.9999998448545736,-0.00015043558792911994,0.0005124382967409594,0.00012849053957168506,0.6761,-0.0046,0.09732194614262878,1.0,0.0,0.0,0.0,-1.0835930809260588,0.7392338503885727,5.827871840789763,0.05382469246913864,0.06962544073849522,0.0034233279507679647,-0.13085937687400206,1.8871023757885677,6.08559715112633,0.13034272486373766,0.0041683067421552445,0.004897877055120294,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.704737112134174,1.1683152300097255,-5.135475390023805,0.22449832839590167,3.7516787112138377,0.6856591152304796,1.6323104815991827,-5.827871840789763,6.767785871622987,6.767785871622987,6.823585059602513,0,0,-7.783578319789519e-05,9.486695737160317e-05
+55525,1792833152286148135,11831750000000,1792833152284819168,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.676402805221573,-0.004975810166625212,0.09798099225507759,0.9999998321486507,-0.0001571779622323418,0.0005354250878735611,0.00012554122138000922,0.6761,-0.0046,0.09723225349017038,1.0,0.0,0.0,0.0,-1.1036720171504764,0.7504207475113873,5.979284853345,0.055582716057946915,0.07060033575108086,0.0033362257517293983,-0.15093831309841949,1.8982892729113823,6.237010163681567,0.13210074845254594,0.005143201754740897,0.0048107748560817275,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.7746551637872603,1.1438661385469113,-5.280564995375502,0.23578594444232376,3.8657311538148766,0.6675103953869789,1.6323104815991827,-5.979284853345,6.912875476974685,6.912875476974685,6.986035059602134,0,0,-8.20316955155428e-05,-4.599609168399184e-05
+55670,1792833153494147186,11832958000000,1792833153492818950,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6764177006305034,-0.0049764155562612745,0.09790887680736403,0.9999998181505718,-0.00016250574251520228,0.0005596786420711039,0.0001244724427210338,0.6761,-0.0046,0.09712771450179745,1.0,0.0,0.0,0.0,-1.1214752013379,0.7783331488206338,6.130140107365381,0.05677482022005399,0.07155842141301898,0.0032409841547306646,-0.1687414972858431,1.9262016742206287,6.387865417701948,0.133292852614653,0.006101287416679012,0.004715533259082994,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.7907376403314474,1.1257714682537219,-5.441513200290524,0.2574955049849265,3.9695189728080273,0.6604622201352923,1.6323104815991827,-6.130140107365381,7.0738236818897064,7.0738236818897064,7.167235059601712,0,0,-9.192749365480169e-05,-9.849294577002893e-05
+55788,1792833154478141360,11833942000000,1792833154476818865,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6764270554331022,-0.004975549777785497,0.0978299827345825,0.999999806032607,-0.0001701472695083331,0.0005787018449667754,0.00012462621752674813,0.6761,-0.0046,0.09703347073149109,1.0,0.0,0.0,0.0,-1.1432713333677098,0.781659717434835,6.294921041628379,0.05770992929068265,0.07352943644192947,0.0031650909684287206,-0.190537629315653,1.92952824283483,6.552646351964946,0.13422796168528167,0.008072302445589496,0.00463964007278105,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.890894393145853,1.2137496789219935,-5.68040329030381,0.2332430990578117,4.1466153846923515,0.714146387280395,1.6323104815991827,-6.294921041628379,7.3127137719029935,7.3127137719029935,7.314835059601368,0,0,-9.519226073087671e-05,9.999953229223308e-05
+55914,1792833155528148118,11834992000000,1792833155524819310,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6764402981657027,-0.004978587898583459,0.09775948911203046,0.9999997921683531,-0.00017470061035268302,0.0005997157452621428,0.00013010317539956134,0.6761,-0.0046,0.09693792459792273,1.0,0.0,0.0,0.0,-1.1441069576011367,0.8046447071456402,6.422955727814906,0.05869918648577484,0.07347710640665372,0.004083219759916562,-0.19137325354907989,1.9525132325456351,6.680681038151473,0.13521721888037386,0.008019972410313748,0.005557768864268891,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.8799691438922816,1.2262018157310652,-5.693109701970313,0.23997966491282557,4.150424984611152,0.719340195992482,1.6323104815991827,-6.422955727814906,7.325420183569495,7.325420183569495,7.472335059601001,0,0,-9.053122585897378e-05,-9.999729796839602e-05
+56024,1792833156444148293,11835908000000,1792833156436828592,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6764481659550619,-0.004978418874217529,0.09768650781001206,0.9999997841660946,-0.00017805169606974214,0.0006113546681277847,0.00013286719583300376,0.6761,-0.0046,0.0968497340526924,1.0,0.0,0.0,0.0,-1.132725090750968,0.8330945244468311,6.523048027982743,0.05970347616026338,0.07343450690759709,0.004015114737173142,-0.17999138669891132,1.980963049846826,6.78077333831931,0.1362215085548624,0.007977372911257125,0.005489663841525471,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.930952178866291,1.1771032054109796,-5.836309282712534,0.26798213156692574,4.256454429637352,0.6900271503775247,1.6323104815991827,-6.523048027982743,7.4686197643117165,7.4686197643117165,7.6097350596006805,0,0,-0.00010143413791827006,-9.999999025923074e-05
+56135,1792833157369146882,11836833000000,1792833157364818906,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6764619714902874,-0.004979637020505787,0.09761181705765574,0.9999997704218121,-0.00017091199210706964,0.000635076433522038,0.00013441057245609997,0.6761,-0.0046,0.09674763525488148,1.0,0.0,0.0,0.0,-1.142338096660537,0.8489181254394569,6.630067670469939,0.06110799943355201,0.07338410338409915,0.0039446139487762585,-0.18960439260848005,1.9967866508394518,6.8877929808065055,0.13762603182815103,0.007926969387759174,0.005419163053128588,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,2.9684608773923613,1.2456534220156157,-6.010731320157087,0.2607035427939243,4.375424817136224,0.7406433896600783,1.6323104815991827,-6.630067670469939,7.6430418017562705,7.6430418017562705,7.748485059600357,0,0,-0.00012077956755149189,-8.902902053026198e-06
+56258,1792833158394148939,11837858000000,1792833158392818859,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6764788243626996,-0.004981188679786192,0.09751216081896552,0.9999997623227254,-9.635002498866081e-05,0.0006623418355236085,0.00013717624705280996,0.6761,-0.0046,0.09661699992985863,1.0,0.0,0.0,0.0,-1.1399807508038722,0.8609656563040486,6.804446498318821,0.061664111510015704,0.07442837543606617,0.0038266944873201715,-0.1872470467518154,2.0088341817040436,7.062171808655388,0.13818214390461472,0.008971241439726206,0.005301243591672501,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.0410825909138506,1.2272281426431044,-6.212868206866774,0.26669306535205667,4.527330845400014,0.6991946153365591,1.6323104815991827,-6.804446498318821,7.845178688465957,7.845178688465957,7.902235059599999,0,0,-0.0001267654452560566,9.5619980015843e-05
+56382,1792833159428148758,11838892000000,1792833159424818908,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6764896883022882,-0.0049832226007067775,0.09740955898921567,0.9999997465276599,-0.00011707712525987457,0.0006819731513580726,0.0001399751689610755,0.6761,-0.0046,0.0964927105610884,1.0,0.0,0.0,0.0,-1.1437309428750224,0.8719788881558972,6.925176620755934,0.06179167535383835,0.07532933949779644,0.0037409470027758357,-0.19099723882296563,2.019847413555892,7.182901931092501,0.13830970774843737,0.009872205501456463,0.005215496107128165,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.0891639513741773,1.179267625473692,-6.364752257250007,0.3062023145575633,4.634536539535356,0.6957650718242591,1.6323104815991827,-6.925176620755934,7.9970627388491895,7.9970627388491895,8.057335059599637,0,0,-0.00011890774823522664,9.375000361989123e-05
+56507,1792833160469147441,11839933000000,1792833160468818644,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6764993729908142,-0.004985061969483599,0.09730509346908174,0.9999997313051873,-0.00013845445965431443,0.000699719722141951,0.0001416159965966114,0.6761,-0.0046,0.09636627762187815,1.0,0.0,0.0,0.0,-1.142282852378523,0.876964021924842,7.0357241840162015,0.06221187164759111,0.07529783765835119,0.003658500991925169,-0.189549148326466,2.024832547324837,7.293449494352768,0.13872990404219013,0.009840703662011212,0.005133050096277498,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.1225574202419835,1.204313771928829,-6.433310044596847,0.3107187416542029,4.686111812261887,0.709467964815733,1.6323104815991827,-7.0357241840162015,8.06562052619603,8.06562052619603,8.213485059599273,0,0,-0.00012941174507982568,-9.99999347480795e-05
+56641,1792833161586148868,11841050000000,1792833161580819369,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6765166432174095,-0.004991503169928513,0.09718586611314319,0.9999997079698821,-0.00016552191855414696,0.0007268045508674794,0.00014092783214060238,0.6761,-0.0046,0.09622264155258166,1.0,0.0,0.0,0.0,-1.1427968468159124,0.8737993214773772,7.169941716313117,0.06259049687450764,0.07526289996933484,0.0035573802911724973,-0.19006314276385566,2.021667846877372,7.427667026649684,0.13910852926910666,0.009805765972994875,0.0050319293955248265,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.1133580550498463,1.2073018607831119,-6.456261670886066,0.3341270595894098,4.699277159836658,0.7155334868940925,1.6323104815991827,-7.169941716313117,8.088572152485249,8.088572152485249,8.381035059598883,0,0,-0.00012860578955528468,-9.999999025923074e-05
+56763,1792833162603148324,11842067000000,1792833162596819276,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6765303139668442,-0.004994416462829091,0.09705706066967369,0.9999996903407016,-0.00019443619947971712,0.0007449986680437683,0.0001339138310839701,0.6761,-0.0046,0.09607643049653117,1.0,0.0,0.0,0.0,-1.1390742899355502,0.8878592150736226,7.300649104483541,0.06256659089833456,0.07523255206419383,0.003450593031192357,-0.18634058588349342,2.0357277404736176,7.558374414820108,0.13908462329293358,0.00977541806785385,0.004925142135544686,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.1958647081586524,1.1560433368546295,-6.70129280422361,0.3620768071672705,4.874256734923908,0.6863893542983863,1.6323104815991827,-7.300649104483541,8.333603285822793,8.333603285822793,8.533585059598527,0,0,-0.00015317643439346907,-9.999999025923074e-05
+56879,1792833163569148376,11843033000000,1792833163564818537,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6765407549292796,-0.004996047646218001,0.09691867311698266,0.9999996864237701,-0.0001421598096204554,0.0007593016844392005,0.00014780651648602534,0.6761,-0.0046,0.09592088767571155,1.0,0.0,0.0,0.0,-1.1357711620537727,0.8798519183988813,7.433026036745552,0.0614935985568255,0.0762304448310234,0.003350358926735581,-0.18303745800171592,2.0277204437988763,7.690751347082119,0.13801163095142452,0.010773310834683426,0.00482490803108791,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.2397268286857552,1.1804790998587382,-6.822630541426165,0.3640331776532231,4.969142808975005,0.711882742738044,1.6323104815991827,-7.433026036745552,8.454941023025349,8.454941023025349,8.67848505959819,0,0,-0.00016936312517287633,-9.999875513611584e-05
+56981,1792833164419148423,11843883000000,1792833164416818895,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6765455092732232,-0.005002391172882384,0.09678331482180821,0.999999676361022,-0.000147951069908899,0.0007685602962955979,0.00016169807465395958,0.6761,-0.0046,0.09577680930293037,1.0,0.0,0.0,0.0,-1.1196252058097946,0.8393511676466636,7.535921905639105,0.05948316888248066,0.07422702293703151,0.0032113334944939044,-0.1668915017577378,1.9872196930466586,7.793647215975672,0.13600120127707968,0.008769888940691544,0.004685882598846234,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.2648960529724,1.125502724279398,-7.0426328384169885,0.38990444819504944,5.1238263102627615,0.6761648400330598,1.6323104815991827,-7.535921905639105,8.67494332001617,8.67494332001617,8.805985059597893,0,0,-0.00017446083821062863,9.739172942969105e-05
+57091,1792833165336148649,11844800000000,1792833165332819741,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6765621327742772,-0.004993357530714299,0.09664211808532457,0.999999655587157,-0.00018828194444046333,0.0007922650962231752,0.00013089827444759806,0.6761,-0.0046,0.09561272195947208,1.0,0.0,0.0,0.0,-1.0879363179758021,0.8733673391182522,7.606721132801339,0.060524615585004146,0.07317791690230965,0.0031570038902173914,-0.1352026139237453,2.021235864518247,7.864446443137906,0.13704264797960317,0.007720782905969685,0.004631552994569721,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.269071365681327,1.1990360805833105,-7.121031874932072,0.3968114462984073,5.172265767136993,0.7243158883887918,1.6323104815991827,-7.606721132801339,8.753342356531254,8.753342356531254,8.943535059597572,0,0,-0.0001897188354013909,-9.945549525459114e-05
+57192,1792833166178150534,11845642000000,1792833166176818731,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6765713748355893,-0.005003799916200831,0.09648924491055662,0.9999996421752315,-0.00017126265985412166,0.0008101591242029008,0.00014629958260321412,0.6761,-0.0046,0.09544349766018961,1.0,0.0,0.0,0.0,-1.0642821469342845,0.8409248405901695,7.696290315217912,0.058487502678155875,0.07218866854443347,0.0030488026556844397,-0.11154844288222761,1.9887933659901644,7.9540156255544785,0.1350055350727549,0.006731534548093493,0.004523351760036769,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.228564885627727,1.2218829635066828,-7.095753754419606,0.39675235272529535,5.153129204238155,0.745676430104956,1.6323104815991827,-7.696290315217912,8.728064236018788,8.728064236018788,9.069835059597278,0,0,-0.0002141777429534849,-9.999999025923074e-05
+57290,1792833166994149992,11846458000000,1792833166992819191,DOWN_FORCE_DETACH,7,0.0592,0.059202440083026886,0.6765805673919052,-0.0050082014884141116,0.0963193071506592,0.9999996278705331,-0.0001682304495127952,0.00082523093662099,0.00016246253938381787,0.6761,-0.0046,0.09525704497221607,1.0,0.0,0.0,0.0,-1.061665453946672,0.809284314433927,7.755645980611985,0.05578070546579557,0.07222361019870571,0.0029705232586401155,-0.10893174989461538,1.957152839833922,8.013371290948552,0.1322987378603946,0.006766476202365742,0.004445072362992445,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.3104618830285544,1.185394179802062,-7.277666358271676,0.40780122727829393,5.298560051126539,0.7237069804655445,1.6323104815991827,-7.755645980611985,8.90997683987086,8.90997683987086,9.192235059596992,0,0,-0.00024181054023994365,-9.999999025923074e-05
+57380,1792833167744148845,11847208000000,1792833167736818926,DOWN_FORCE_DETACH,7,0.0592,0.05920178443193436,0.6765913200553577,-0.005009514465424954,0.09613778212817556,0.9999996107619724,-0.00017859291011097244,0.0008438873435733182,0.00016086482443222289,0.6761,-0.0046,0.09506397984361727,1.0,0.0,0.0,0.0,-1.0422087981994836,0.7621962718167765,7.844029321828569,0.053406770407734075,0.07022640662362412,0.0028430390803149365,-0.0894750941474268,1.9100647972167715,8.101754632165136,0.1299248028023331,0.004769272627284142,0.004317588184667266,0.9527337040520568,1.147868525399995,0.25772531033656704,0.07651803239459902,-0.06545713399633997,0.001474549104352329,1,3.333303069645117,1.187164305185098,-7.3469421880403205,0.4265547247426856,5.359280137653924,0.7267550000917238,1.6323104815991827,-7.844029321828569,8.979252669639504,8.979252669639504,9.30473505959673,0,0,-0.0002722316791673159,-9.999999025923074e-05

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/down/multimodal_aligned_data.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/down/real_sim_motion_alignment.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792833105698440648,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.546512278e-09,-2.087554938e-10,-1.825733786e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453565e-01,-1.181123286e-04,8.303259309e-01
+1,1.016666667e+00,DOWN_FORCE_DETACH,1792833106763658332,2.880243001e-06,2.126190851e-06,4.657790716e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.144583430e-07,-1.036934172e-08,-8.365812842e-08,7.019585131e-01,-2.014454417e-05,8.601477450e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027455664e-01,-1.181224892e-04,8.303258491e-01
+2,2.133333333e+00,DOWN_FORCE_DETACH,1792833107860976598,5.004292082e-07,1.747966969e-06,-1.358890062e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.442194274e-07,-1.682492278e-08,-1.319318359e-07,7.019561332e-01,-2.052276805e-05,8.601294983e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456961e-01,-1.181289448e-04,8.303258008e-01
+3,3.133333333e+00,DOWN_FORCE_DETACH,1792833108892871589,4.902994249e-07,-6.981698304e-06,-5.203583441e-05,-3.317639255e-06,-3.282953752e-06,-4.066112304e-05,-3.682475308e-06,-3.259318190e-06,-4.044760884e-05,7.019561231e-01,-2.925243333e-05,8.600910514e-01,7.019523152e-01,-2.555368877e-05,8.601024261e-01,7.027416695e-01,-1.213714380e-04,8.302854851e-01
+4,3.983333333e+00,DOWN_FORCE_DETACH,1792833109908178846,2.877803289e-05,-9.206520827e-06,-7.083478690e-05,2.788066562e-05,-8.770486000e-06,-6.233165335e-05,2.949464018e-05,-8.710472477e-06,-6.200866542e-05,7.019844108e-01,-3.147725585e-05,8.600722525e-01,7.019835135e-01,-3.104122102e-05,8.600807556e-01,7.027748466e-01,-1.268225923e-04,8.302639241e-01
+5,5.050000000e+00,DOWN_FORCE_DETACH,1792833110989392158,2.159713107e-05,-1.003724645e-05,-9.894433401e-05,2.476403616e-05,-9.180430536e-06,-8.341993640e-05,2.606475281e-05,-9.136293825e-06,-8.318276811e-05,7.019772299e-01,-3.230798148e-05,8.600441429e-01,7.019803969e-01,-3.145116556e-05,8.600596673e-01,7.027714167e-01,-1.272484137e-04,8.302427500e-01
+6,6.166666667e+00,DOWN_FORCE_DETACH,1792833112103664242,1.774824062e-05,-8.438240611e-06,-1.216220738e-04,1.944832982e-05,-1.155229474e-05,-1.034493066e-04,2.015930046e-05,-1.147090402e-05,-1.032373197e-04,7.019733811e-01,-3.070897563e-05,8.600214652e-01,7.019750811e-01,-3.382302976e-05,8.600396379e-01,7.027655112e-01,-1.295830239e-04,8.302226954e-01
+7,7.250000000e+00,DOWN_FORCE_DETACH,1792833113282492711,2.372448071e-05,-1.235953464e-05,-1.514407985e-04,1.649065749e-05,-1.296623836e-05,-1.437512250e-04,1.650306366e-05,-1.284147176e-05,-1.434167903e-04,7.019793573e-01,-3.463026966e-05,8.599916464e-01,7.019721235e-01,-3.523697339e-05,8.599993360e-01,7.027618550e-01,-1.309535916e-04,8.301825159e-01
+8,8.450000000e+00,DOWN_FORCE_DETACH,1792833114495111827,3.936027380e-05,-2.049260400e-05,-2.039312618e-04,3.861762867e-05,-2.156577129e-05,-1.996216109e-04,3.947936951e-05,-2.141144260e-05,-1.990035567e-04,7.019949931e-01,-4.276333902e-05,8.599391560e-01,7.019942504e-01,-4.383650632e-05,8.599434656e-01,7.027848313e-01,-1.395235625e-04,8.301269292e-01
+9,9.550000000e+00,DOWN_FORCE_DETACH,1792833115608677458,3.979359068e-05,-1.934753473e-05,-2.420800397e-04,3.916965469e-05,-2.358365558e-05,-2.434167409e-04,3.962784580e-05,-2.339867444e-05,-2.427312149e-04,7.019954264e-01,-4.161826975e-05,8.599010072e-01,7.019948025e-01,-4.585439060e-05,8.598996705e-01,7.027849798e-01,-1.415107943e-04,8.300832015e-01
+10,1.053333333e+01,DOWN_FORCE_DETACH,1792833116746034326,4.528224324e-05,-2.370353258e-05,-2.639007859e-04,4.310538510e-05,-2.364788709e-05,-2.629011093e-04,4.367197142e-05,-2.346969295e-05,-2.624183624e-04,7.020009151e-01,-4.597426760e-05,8.598791865e-01,7.019987382e-01,-4.591862211e-05,8.598801861e-01,7.027890239e-01,-1.415818128e-04,8.300635144e-01
+11,1.160000000e+01,DOWN_FORCE_DETACH,1792833117884926546,5.016678807e-05,-2.640164207e-05,-3.072043890e-04,4.931037297e-05,-2.848495343e-05,-3.032531841e-04,4.986507456e-05,-2.826907257e-05,-3.026771604e-04,7.020057996e-01,-4.867237710e-05,8.598358829e-01,7.020049432e-01,-5.075568846e-05,8.598398341e-01,7.027952170e-01,-1.463811924e-04,8.300232556e-01
+12,1.260000000e+01,DOWN_FORCE_DETACH,1792833118909392227,6.248734756e-05,-2.880959333e-05,-3.467644317e-04,6.045959234e-05,-3.113552530e-05,-3.419001624e-04,6.135897505e-05,-3.091324341e-05,-3.413528747e-04,7.020181202e-01,-5.108032835e-05,8.597963228e-01,7.020160924e-01,-5.340626033e-05,8.598011871e-01,7.028067109e-01,-1.490253633e-04,8.299845799e-01
+13,1.348333333e+01,DOWN_FORCE_DETACH,1792833119798013942,1.114859573e-04,-2.128013326e-05,-3.379445487e-04,1.103778012e-04,-2.900490908e-05,-3.482174558e-04,1.144754147e-04,-2.885262817e-05,-3.479225147e-04,7.020671188e-01,-4.355086828e-05,8.598051427e-01,7.020660106e-01,-5.127564410e-05,8.597948698e-01,7.028598273e-01,-1.469647480e-04,8.299780102e-01
+14,1.430000000e+01,DOWN_FORCE_DETACH,1792833120620560550,1.160094433e-04,-2.591818103e-05,-3.737920895e-04,1.122032653e-04,-2.616617558e-05,-3.713574015e-04,1.165417603e-04,-2.607493439e-05,-3.708738282e-04,7.020716423e-01,-4.818891606e-05,8.597692951e-01,7.020678361e-01,-4.843691060e-05,8.597717298e-01,7.028618937e-01,-1.441870543e-04,8.299550589e-01
+15,1.543333333e+01,DOWN_FORCE_DETACH,1792833121784054578,1.237911172e-04,-3.359168242e-05,-4.461558878e-04,1.234145244e-04,-3.253859167e-05,-4.305898654e-04,1.280430826e-04,-3.236250416e-05,-4.299224047e-04,7.020794239e-01,-5.586241744e-05,8.596969314e-01,7.020790473e-01,-5.480932669e-05,8.597124974e-01,7.028733950e-01,-1.504746240e-04,8.298960103e-01
+16,1.641666667e+01,DOWN_FORCE_DETACH,1792833122750047074,1.420996319e-04,-3.818318847e-05,-4.839871710e-04,1.348149871e-04,-3.373808637e-05,-4.717397371e-04,1.398367442e-04,-3.354059747e-05,-4.710771620e-04,7.020977324e-01,-6.045392349e-05,8.596591001e-01,7.020904478e-01,-5.600882140e-05,8.596713475e-01,7.028851887e-01,-1.516527173e-04,8.298548556e-01
+17,1.753333333e+01,DOWN_FORCE_DETACH,1792833123864553407,1.504813459e-04,-3.133416028e-05,-5.147873132e-04,1.487646598e-04,-3.525172828e-05,-5.089918038e-04,1.544362733e-04,-3.501810883e-05,-5.083408891e-04,7.021061142e-01,-5.360489530e-05,8.596282999e-01,7.021043975e-01,-5.752246331e-05,8.596340954e-01,7.028997882e-01,-1.531302287e-04,8.298175918e-01
+18,1.866666667e+01,DOWN_FORCE_DETACH,1792833125027398721,1.587815357e-04,-3.374508926e-05,-5.580425777e-04,1.582100143e-04,-3.590546285e-05,-5.489635205e-04,1.641597038e-04,-3.567308960e-05,-5.482657294e-04,7.021144144e-01,-5.601582428e-05,8.595850447e-01,7.021138428e-01,-5.817619788e-05,8.595941237e-01,7.029095116e-01,-1.537852095e-04,8.297776670e-01
+19,1.920000000e+01,DOWN_FORCE_DETACH,1792833125550850746,1.673555847e-04,-1.830069601e-05,-5.807270287e-04,1.721228751e-04,-1.288660319e-05,-5.704026998e-04,1.788926450e-04,-1.288879853e-05,-5.696170265e-04,7.021229884e-01,-4.057143104e-05,8.595623602e-01,7.021277557e-01,-3.515733821e-05,8.595726845e-01,7.029242446e-01,-1.310009184e-04,8.297563157e-01
+20,2.015000000e+01,DOWN_FORCE_DETACH,1792833126550343825,1.863333495e-04,-1.930481962e-05,-6.309221427e-04,1.868008209e-04,-2.519149055e-05,-6.277599226e-04,1.939215118e-04,-2.505350117e-05,-6.267506261e-04,7.021419662e-01,-4.157555464e-05,8.595121651e-01,7.021424336e-01,-4.746222557e-05,8.595153273e-01,7.029392734e-01,-1.431656210e-04,8.296991821e-01
+21,2.123333333e+01,DOWN_FORCE_DETACH,1792833127645591542,2.019579149e-04,-3.058411535e-05,-6.844346725e-04,1.965572615e-04,-3.132122877e-05,-6.869429269e-04,2.038188713e-04,-3.114011235e-05,-6.858266882e-04,7.021575907e-01,-5.285485037e-05,8.594586526e-01,7.021521901e-01,-5.359196379e-05,8.594561443e-01,7.029491708e-01,-1.492522322e-04,8.296401060e-01
+22,2.236666667e+01,DOWN_FORCE_DETACH,1792833128810404699,2.025638745e-04,-2.981462198e-05,-7.123790147e-04,2.024471325e-04,-3.227103763e-05,-7.062940193e-04,2.100402053e-04,-3.216337275e-05,-7.055865251e-04,7.021581967e-01,-5.208535701e-05,8.594307082e-01,7.021580799e-01,-5.454177265e-05,8.594367932e-01,7.029553921e-01,-1.502754926e-04,8.296203462e-01
+23,2.350000000e+01,DOWN_FORCE_DETACH,1792833129940586879,2.117809635e-04,-3.279794027e-05,-7.334102231e-04,2.035474509e-04,-3.413340260e-05,-7.279472479e-04,2.110435142e-04,-3.394814400e-05,-7.273945944e-04,7.021674138e-01,-5.506867530e-05,8.594096770e-01,7.021591803e-01,-5.640413762e-05,8.594151400e-01,7.029563954e-01,-1.520602639e-04,8.295985381e-01
+24,2.455000000e+01,DOWN_FORCE_DETACH,1792833130988939173,2.230634984e-04,-2.929721529e-05,-7.774109231e-04,2.209762214e-04,-3.314356072e-05,-7.638006082e-04,2.293012625e-04,-3.301019180e-05,-7.632196699e-04,7.021786963e-01,-5.156795031e-05,8.593656763e-01,7.021766090e-01,-5.541429574e-05,8.593792866e-01,7.029746532e-01,-1.511223117e-04,8.295627131e-01
+25,2.550000000e+01,DOWN_FORCE_DETACH,1792833131956326015,2.388854736e-04,-3.249044579e-05,-8.348613524e-04,2.349661727e-04,-3.229726704e-05,-8.276669976e-04,2.436305808e-04,-3.218414086e-05,-8.266897682e-04,7.021945183e-01,-5.476118082e-05,8.593082259e-01,7.021905990e-01,-5.456800207e-05,8.593154202e-01,7.029889825e-01,-1.502962607e-04,8.294992430e-01
+26,2.671666667e+01,DOWN_FORCE_DETACH,1792833133349558882,2.522961428e-04,-3.220197526e-05,-8.795094593e-04,2.501181260e-04,-3.174022605e-05,-8.663410901e-04,2.595761477e-04,-3.166418373e-05,-8.655543528e-04,7.022079290e-01,-5.447271029e-05,8.592635778e-01,7.022057509e-01,-5.401096108e-05,8.592767461e-01,7.030049281e-01,-1.497763036e-04,8.294603784e-01
+27,2.778333333e+01,DOWN_FORCE_DETACH,1792833134413595731,2.600101455e-04,-3.197597088e-05,-9.130308858e-04,2.568925685e-04,-3.284105156e-05,-9.072272025e-04,2.664319118e-04,-3.275565801e-05,-9.064083005e-04,7.022156430e-01,-5.424670590e-05,8.592300564e-01,7.022125254e-01,-5.511178658e-05,8.592358600e-01,7.030117838e-01,-1.508677779e-04,8.294195244e-01
+28,2.885000000e+01,DOWN_FORCE_DETACH,1792833135493633749,2.707915415e-04,-3.377257195e-05,-9.584863882e-04,2.684096045e-04,-3.238678985e-05,-9.462876067e-04,2.783557852e-04,-3.225969816e-05,-9.454375712e-04,7.022264244e-01,-5.604330698e-05,8.591846009e-01,7.022240424e-01,-5.465752488e-05,8.591967996e-01,7.030237077e-01,-1.503718180e-04,8.293804952e-01
+29,2.995000000e+01,DOWN_FORCE_DETACH,1792833136594682737,2.860020638e-04,-3.989362374e-05,-1.019075369e-03,2.821526104e-04,-3.618884940e-05,-1.006753373e-03,2.923967321e-04,-3.604966953e-05,-1.005770972e-03,7.022416349e-01,-6.216435876e-05,8.591240119e-01,7.022377854e-01,-5.845958442e-05,8.591363339e-01,7.030377487e-01,-1.541617894e-04,8.293201618e-01
+30,3.116666667e+01,DOWN_FORCE_DETACH,1792833138130660496,3.016646815e-04,-3.749279441e-05,-1.076952479e-03,2.982524919e-04,-4.074938075e-05,-1.066487005e-03,3.090635935e-04,-4.054737722e-05,-1.065379825e-03,7.022572975e-01,-5.976352943e-05,8.590661348e-01,7.022538853e-01,-6.302011577e-05,8.590766002e-01,7.030544155e-01,-1.586594971e-04,8.292605529e-01
+31,3.226666667e+01,DOWN_FORCE_DETACH,1792833139212369150,3.179788395e-04,-3.903540633e-05,-1.118411782e-03,3.080024797e-04,-4.387882890e-05,-1.110034634e-03,3.190813669e-04,-4.363365785e-05,-1.109027764e-03,7.022736117e-01,-6.130614135e-05,8.590246755e-01,7.022636353e-01,-6.614956392e-05,8.590330526e-01,7.030644333e-01,-1.617457777e-04,8.292169050e-01
+32,3.333333333e+01,DOWN_FORCE_DETACH,1792833140507207126,3.321222820e-04,-4.806879407e-05,-1.185030918e-03,3.266114503e-04,-4.651670209e-05,-1.174224051e-03,3.382801545e-04,-4.624373728e-05,-1.173014355e-03,7.022877551e-01,-7.033952909e-05,8.589580563e-01,7.022822443e-01,-6.878743712e-05,8.589688632e-01,7.030836321e-01,-1.643558571e-04,8.291529184e-01
+33,3.440000000e+01,DOWN_FORCE_DETACH,1792833141554452136,3.441677757e-04,-4.546425988e-05,-1.225137609e-03,3.379188403e-04,-4.868173446e-05,-1.217283411e-03,3.500846203e-04,-4.838694066e-05,-1.216242543e-03,7.022998006e-01,-6.773499490e-05,8.589179496e-01,7.022935517e-01,-7.095246948e-05,8.589258038e-01,7.030954366e-01,-1.664990605e-04,8.291096902e-01
+34,3.556666667e+01,DOWN_FORCE_DETACH,1792833142717220777,3.551149100e-04,-4.822763535e-05,-1.277594189e-03,3.549050374e-04,-4.819237412e-05,-1.277426454e-03,3.675798748e-04,-4.794852895e-05,-1.276155919e-03,7.023107477e-01,-7.049837037e-05,8.588654931e-01,7.023105379e-01,-7.046310914e-05,8.588656608e-01,7.031129318e-01,-1.660606488e-04,8.290497768e-01
+35,3.666666667e+01,DOWN_FORCE_DETACH,1792833143831554150,3.712389605e-04,-4.840386646e-05,-1.325456285e-03,3.659881707e-04,-4.902767935e-05,-1.316132691e-03,3.791761260e-04,-4.876367678e-05,-1.315041595e-03,7.023268718e-01,-7.067460148e-05,8.588176310e-01,7.023216210e-01,-7.129841438e-05,8.588269545e-01,7.031245281e-01,-1.668757966e-04,8.290108911e-01
+36,3.771666667e+01,DOWN_FORCE_DETACH,1792833144896509454,3.841623361e-04,-5.253558915e-05,-1.377858299e-03,3.840077469e-04,-5.269282379e-05,-1.377699110e-03,3.978165167e-04,-5.240949286e-05,-1.376353737e-03,7.023397952e-01,-7.480632418e-05,8.587652289e-01,7.023396406e-01,-7.496355881e-05,8.587653881e-01,7.031431684e-01,-1.705216127e-04,8.289495790e-01
+37,3.876666667e+01,DOWN_FORCE_DETACH,1792833145928235529,3.985660303e-04,-5.160576665e-05,-1.425175916e-03,3.924668079e-04,-4.979313454e-05,-1.418750876e-03,4.066155544e-04,-4.954408854e-05,-1.417603398e-03,7.023541988e-01,-7.387650167e-05,8.587179113e-01,7.023480996e-01,-7.206386956e-05,8.587243364e-01,7.031519675e-01,-1.676562084e-04,8.289083293e-01
+38,3.983333333e+01,DOWN_FORCE_DETACH,1792833147008473788,4.080169676e-04,-5.223109616e-05,-1.478792203e-03,4.020256298e-04,-5.563250311e-05,-1.460748946e-03,4.164092220e-04,-5.530186408e-05,-1.459741158e-03,7.023636498e-01,-7.450183119e-05,8.586642950e-01,7.023576584e-01,-7.790323813e-05,8.586823383e-01,7.031617612e-01,-1.734139839e-04,8.288661916e-01
+39,4.093333333e+01,DOWN_FORCE_DETACH,1792833148106285481,4.230074250e-04,-5.327848649e-05,-1.533697319e-03,4.178748027e-04,-5.654788967e-05,-1.519886698e-03,4.327305029e-04,-5.623080622e-05,-1.518707890e-03,7.023786402e-01,-7.554922151e-05,8.586093899e-01,7.023735076e-01,-7.881862469e-05,8.586232005e-01,7.031780824e-01,-1.743429261e-04,8.288072248e-01
+40,4.201666667e+01,DOWN_FORCE_DETACH,1792833149187199361,4.353947095e-04,-5.368773122e-05,-1.598780248e-03,4.353155613e-04,-5.365841845e-05,-1.598704147e-03,4.506203121e-04,-5.338110883e-05,-1.597131297e-03,7.023910275e-01,-7.595846624e-05,8.585443070e-01,7.023909484e-01,-7.592915348e-05,8.585443831e-01,7.031959722e-01,-1.714932287e-04,8.287288014e-01
+41,4.296666667e+01,DOWN_FORCE_DETACH,1792833150120853548,4.483496862e-04,-5.662507759e-05,-1.649046787e-03,4.432898534e-04,-5.904061126e-05,-1.638088578e-03,4.588117646e-04,-5.868577576e-05,-1.636791849e-03,7.024039825e-01,-7.889581261e-05,8.584940405e-01,7.023989227e-01,-8.131134628e-05,8.585049987e-01,7.032041637e-01,-1.767978956e-04,8.286891409e-01
+42,4.406666667e+01,DOWN_FORCE_DETACH,1792833151202037398,4.580007270e-04,-5.759044997e-05,-1.711137059e-03,4.539875389e-04,-6.041635285e-05,-1.703768889e-03,4.695723993e-04,-6.005065221e-05,-1.702436973e-03,7.024136335e-01,-7.986118499e-05,8.584319502e-01,7.024096204e-01,-8.268708787e-05,8.584393184e-01,7.032149243e-01,-1.781627721e-04,8.286234958e-01
+43,4.513333333e+01,DOWN_FORCE_DETACH,1792833152283454962,4.711156416e-04,-6.431441567e-05,-1.777788722e-03,4.665080401e-04,-5.839409572e-05,-1.766033174e-03,4.822871813e-04,-5.806425153e-05,-1.764690919e-03,7.024267485e-01,-8.658515069e-05,8.583652985e-01,7.024221409e-01,-8.066483074e-05,8.583770541e-01,7.032276391e-01,-1.761763714e-04,8.285612418e-01
+44,4.631666667e+01,DOWN_FORCE_DETACH,1792833153495165561,4.845330871e-04,-6.606495341e-05,-1.855333048e-03,4.833712428e-04,-6.438699216e-05,-1.849568334e-03,4.994367038e-04,-6.398147985e-05,-1.848054752e-03,7.024401659e-01,-8.833568844e-05,8.582877542e-01,7.024390041e-01,-8.665772719e-05,8.582935189e-01,7.032447886e-01,-1.820935997e-04,8.284778780e-01
+45,4.731666667e+01,DOWN_FORCE_DETACH,1792833154477953307,4.961964814e-04,-6.377217094e-05,-1.929065513e-03,4.923920184e-04,-6.486291357e-05,-1.914425653e-03,5.083768582e-04,-6.447650826e-05,-1.912938884e-03,7.024518293e-01,-8.604290596e-05,8.582140217e-01,7.024480248e-01,-8.713364860e-05,8.582286616e-01,7.032537288e-01,-1.825886281e-04,8.284129938e-01
+46,4.833333333e+01,DOWN_FORCE_DETACH,1792833155526830651,5.080371105e-04,-6.874499336e-05,-2.001620810e-03,5.045204642e-04,-7.148400134e-05,-1.999129358e-03,5.204837021e-04,-7.100028207e-05,-1.997417493e-03,7.024636699e-01,-9.101572838e-05,8.581414664e-01,7.024601533e-01,-9.375473637e-05,8.581439579e-01,7.032658356e-01,-1.891124019e-04,8.283285152e-01
+47,4.923333333e+01,DOWN_FORCE_DETACH,1792833156443482872,5.180723332e-04,-6.558137643e-05,-2.069050829e-03,5.136200885e-04,-6.484885660e-05,-2.064522792e-03,5.295488185e-04,-6.445528153e-05,-2.062785293e-03,7.024737052e-01,-8.785211145e-05,8.580740364e-01,7.024692529e-01,-8.711959162e-05,8.580785644e-01,7.032749007e-01,-1.825674014e-04,8.282631474e-01
+48,5.016666667e+01,DOWN_FORCE_DETACH,1792833157372849243,5.284832292e-04,-7.032185868e-05,-2.150036730e-03,5.255183418e-04,-6.770136146e-05,-2.145529251e-03,5.414316851e-04,-6.727148125e-05,-2.143628058e-03,7.024841160e-01,-9.259259370e-05,8.579930505e-01,7.024811512e-01,-8.997209649e-05,8.579975580e-01,7.032867836e-01,-1.853836011e-04,8.281823047e-01
+49,5.118333333e+01,DOWN_FORCE_DETACH,1792833158394171271,5.453793214e-04,-6.951731127e-05,-2.253504848e-03,5.450944522e-04,-6.998413391e-05,-2.246050959e-03,5.612314614e-04,-6.954784323e-05,-2.243864524e-03,7.025010121e-01,-9.178804629e-05,8.578895824e-01,7.025007273e-01,-9.225486893e-05,8.578970363e-01,7.033065834e-01,-1.876599631e-04,8.280820682e-01
+50,5.221666667e+01,DOWN_FORCE_DETACH,1792833159425839657,5.597567022e-04,-6.994456619e-05,-2.347050869e-03,5.537298816e-04,-7.457197521e-05,-2.333824480e-03,5.695539039e-04,-7.405100111e-05,-2.331813052e-03,7.025153895e-01,-9.221530121e-05,8.577960364e-01,7.025093627e-01,-9.684271023e-05,8.578092628e-01,7.033149058e-01,-1.921631210e-04,8.279941197e-01
+51,5.326666667e+01,DOWN_FORCE_DETACH,1792833160472816359,5.700196832e-04,-7.488377982e-05,-2.452387697e-03,5.683498340e-04,-7.438487766e-05,-2.442678193e-03,5.839733495e-04,-7.389354696e-05,-2.440551744e-03,7.025256525e-01,-9.715451484e-05,8.576906995e-01,7.025239827e-01,-9.665561268e-05,8.577004090e-01,7.033293253e-01,-1.920056668e-04,8.278853810e-01
+52,5.433333333e+01,DOWN_FORCE_DETACH,1792833161587463920,5.841198188e-04,-7.945643162e-05,-2.575860386e-03,5.794483498e-04,-7.947709167e-05,-2.567847388e-03,5.944681386e-04,-7.890602067e-05,-2.565588863e-03,7.025397526e-01,-1.017271666e-04,8.575672269e-01,7.025350812e-01,-1.017478267e-04,8.575752399e-01,7.033398201e-01,-1.970181405e-04,8.277603439e-01
+53,5.536666667e+01,DOWN_FORCE_DETACH,1792833162602559507,5.977781978e-04,-8.024744586e-05,-2.704370084e-03,5.988834604e-04,-7.922130405e-05,-2.692894617e-03,6.138139373e-04,-7.868450012e-05,-2.690444167e-03,7.025534110e-01,-1.025181809e-04,8.574387172e-01,7.025545163e-01,-1.014920391e-04,8.574501926e-01,7.033591659e-01,-1.967966200e-04,8.276354886e-01
+54,5.628333333e+01,DOWN_FORCE_DETACH,1792833163569143938,6.074389463e-04,-8.543433532e-05,-2.845069812e-03,6.066963378e-04,-8.641583016e-05,-2.840644221e-03,6.205475335e-04,-8.577275482e-05,-2.837655592e-03,7.025630718e-01,-1.077050703e-04,8.572980174e-01,7.025623292e-01,-1.086865652e-04,8.573024430e-01,7.033658995e-01,-2.038848747e-04,8.274882771e-01
+55,5.715000000e+01,DOWN_FORCE_DETACH,1792833164421154305,6.112042866e-04,-9.015704621e-05,-2.979137169e-03,6.124070345e-04,-8.581600153e-05,-2.964839217e-03,6.252911646e-04,-8.511669817e-05,-2.961833335e-03,7.025668371e-01,-1.124277812e-04,8.571639501e-01,7.025680399e-01,-1.080867366e-04,8.571782480e-01,7.033706431e-01,-2.032288180e-04,8.273640994e-01
+56,5.806666667e+01,DOWN_FORCE_DETACH,1792833165338243598,6.296699927e-04,-8.481926137e-05,-3.121127462e-03,6.296294480e-04,-8.528104275e-05,-3.111145962e-03,6.420275221e-04,-8.459919779e-05,-3.108063998e-03,7.025853028e-01,-1.070899964e-04,8.570219598e-01,7.025852623e-01,-1.075517778e-04,8.570319413e-01,7.033873795e-01,-2.027113177e-04,8.272178687e-01
+57,5.891666667e+01,DOWN_FORCE_DETACH,1792833166173819742,6.375647964e-04,-9.629931003e-05,-3.269964040e-03,6.375067381e-04,-9.213292882e-05,-3.266411684e-03,6.487025154e-04,-9.135964859e-05,-3.263049548e-03,7.025931976e-01,-1.185700451e-04,8.568731232e-01,7.025931396e-01,-1.144036638e-04,8.568766756e-01,7.033940544e-01,-2.094717684e-04,8.270628832e-01
+58,5.973333333e+01,DOWN_FORCE_DETACH,1792833166992247475,6.480912820e-04,-9.390181047e-05,-3.440685675e-03,6.469906630e-04,-9.214299846e-05,-3.424768889e-03,6.570737910e-04,-9.138689990e-05,-3.421258265e-03,7.026037241e-01,-1.161725455e-04,8.567024016e-01,7.026026235e-01,-1.144137335e-04,8.567183184e-01,7.034024257e-01,-2.094990198e-04,8.269046745e-01
+59,6.050000000e+01,DOWN_FORCE_DETACH,1792833167745930345,6.591243830e-04,-9.306795058e-05,-3.623996925e-03,6.592028502e-04,-9.306088979e-05,-3.623742584e-03,6.678745232e-04,-9.223037413e-05,-3.619520096e-03,7.026147572e-01,-1.153386856e-04,8.565190903e-01,7.026148357e-01,-1.153316248e-04,8.565193447e-01,7.034132265e-01,-2.103424940e-04,8.267064126e-01

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/down/simulation_data.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.1517e-01,1.6685e-01,2.5001e+00,-4.8527e-02,4.4983e-02,3.8162e-04,7.9950e-04,-2.4572e-05,-3.4285e-04,1.5907e-06,5.7999e-05,1.6473e-07,8.7026e-04,5.8021e-05
+1,1.0167e+00,DOWN_FORCE_DETACH,2.4330e-04,1.5206e-01,1.6559e-01,2.4849e+00,-4.8445e-02,4.7660e-02,3.8831e-04,3.7685e-02,-1.2894e-03,-1.5518e-02,8.3569e-05,2.7344e-03,6.8616e-06,4.0776e-02,2.7357e-03
+2,2.1333e+00,DOWN_FORCE_DETACH,4.8710e-04,1.7484e-01,1.6475e-01,2.4761e+00,-4.8392e-02,4.9316e-02,3.8769e-04,6.0472e-02,-2.1313e-03,-2.4325e-02,1.3726e-04,4.3906e-03,6.2392e-06,6.5216e-02,4.3928e-03
+3,3.1333e+00,DOWN_FORCE_DETACH,7.3283e-04,1.9437e-01,1.8152e-01,2.5457e+00,-4.9551e-02,5.0657e-02,3.8317e-04,7.9995e-02,1.4647e-02,4.5268e-02,-1.0224e-03,5.7321e-03,1.7129e-06,9.3075e-02,5.8226e-03
+4,3.9833e+00,DOWN_FORCE_DETACH,9.7323e-04,1.5190e-01,2.0446e-01,2.5538e+00,-5.1161e-02,4.7585e-02,3.9019e-04,3.7532e-02,3.7579e-02,5.3356e-02,-2.6324e-03,2.6596e-03,8.7341e-06,7.5284e-02,3.7420e-03
+5,5.0500e+00,DOWN_FORCE_DETACH,1.2165e-03,1.8155e-01,2.0557e-01,2.5466e+00,-5.1258e-02,4.9722e-02,3.6567e-04,6.7179e-02,3.8692e-02,4.6121e-02,-2.7296e-03,4.7972e-03,-1.5782e-05,9.0207e-02,5.5194e-03
+6,6.1667e+00,DOWN_FORCE_DETACH,1.4617e-03,2.0027e-01,2.1649e-01,2.5340e+00,-5.2046e-02,5.1090e-02,3.3577e-04,8.5896e-02,4.9613e-02,3.3515e-02,-3.5170e-03,6.1644e-03,-4.5679e-05,1.0470e-01,7.0973e-03
+7,7.2500e+00,DOWN_FORCE_DETACH,1.7034e-03,2.0869e-01,2.2308e-01,2.5686e+00,-5.2522e-02,5.1673e-02,3.0491e-04,9.4319e-02,5.6205e-02,6.8192e-02,-3.9929e-03,6.7475e-03,-7.6544e-05,1.2925e-01,7.8408e-03
+8,8.4500e+00,DOWN_FORCE_DETACH,1.9460e-03,1.7100e-01,2.6266e-01,2.6136e+00,-5.5292e-02,4.8930e-02,2.8637e-04,5.6626e-02,9.5786e-02,1.1316e-01,-6.7631e-03,4.0044e-03,-9.5083e-05,1.5870e-01,7.8603e-03
+9,9.5500e+00,DOWN_FORCE_DETACH,2.1854e-03,1.9046e-01,2.7067e-01,2.6298e+00,-5.5866e-02,5.0318e-02,2.5049e-04,7.6087e-02,1.0379e-01,1.2938e-01,-7.3373e-03,5.3926e-03,-1.3096e-04,1.8249e-01,9.1068e-03
+10,1.0533e+01,DOWN_FORCE_DETACH,2.4319e-03,1.8991e-01,2.6767e-01,2.5927e+00,-5.5704e-02,5.0324e-02,2.0992e-04,7.5539e-02,1.0079e-01,9.2206e-02,-7.1750e-03,5.3990e-03,-1.7153e-04,1.5610e-01,8.9810e-03
+11,1.1600e+01,DOWN_FORCE_DETACH,2.6754e-03,1.8689e-01,2.8904e-01,2.6041e+00,-5.7215e-02,5.0101e-02,1.7539e-04,7.2524e-02,1.2216e-01,1.0368e-01,-8.6860e-03,5.1763e-03,-2.0607e-04,1.7588e-01,1.0114e-02
+12,1.2600e+01,DOWN_FORCE_DETACH,2.9176e-03,1.7952e-01,2.9901e-01,2.6060e+00,-5.7929e-02,4.9563e-02,1.4993e-04,6.5145e-02,1.3213e-01,1.0552e-01,-9.3999e-03,4.6378e-03,-2.3152e-04,1.8121e-01,1.0484e-02
+13,1.3483e+01,DOWN_FORCE_DETACH,3.1606e-03,5.2456e-02,2.8141e-01,2.5334e+00,-5.6747e-02,4.0593e-02,1.4236e-04,-6.1914e-02,1.1453e-01,3.2948e-02,-8.2185e-03,-4.3323e-03,-2.3909e-04,1.3430e-01,9.2936e-03
+14,1.4300e+01,DOWN_FORCE_DETACH,3.4033e-03,1.2117e-01,2.6479e-01,2.5573e+00,-5.5588e-02,4.5408e-02,1.3554e-04,6.7967e-03,9.7913e-02,5.6892e-02,-7.0590e-03,4.8285e-04,-2.4592e-04,1.1345e-01,7.0797e-03
+15,1.5433e+01,DOWN_FORCE_DETACH,3.6446e-03,1.4606e-01,2.9557e-01,2.6067e+00,-5.7669e-02,4.7116e-02,1.3774e-04,3.1688e-02,1.2870e-01,1.0624e-01,-9.1399e-03,2.1909e-03,-2.4371e-04,1.6986e-01,9.4020e-03
+16,1.6417e+01,DOWN_FORCE_DETACH,3.8901e-03,1.5291e-01,3.0197e-01,2.6021e+00,-5.8061e-02,4.7588e-02,1.4517e-04,3.8536e-02,1.3510e-01,1.0164e-01,-9.5322e-03,2.6625e-03,-2.3628e-04,1.7340e-01,9.8998e-03
+17,1.7533e+01,DOWN_FORCE_DETACH,4.1300e-03,1.5208e-01,3.0967e-01,2.5922e+00,-5.8557e-02,4.7523e-02,1.6610e-04,3.7713e-02,1.4279e-01,9.1768e-02,-1.0028e-02,2.5979e-03,-2.1536e-04,1.7387e-01,1.0361e-02
+18,1.8667e+01,DOWN_FORCE_DETACH,4.3780e-03,1.5817e-01,3.1349e-01,2.6017e+00,-5.8793e-02,4.7940e-02,1.8828e-04,4.3799e-02,1.4661e-01,1.0121e-01,-1.0265e-02,3.0145e-03,-1.9318e-04,1.8345e-01,1.0700e-02
+19,1.9200e+01,DOWN_FORCE_DETACH,4.6172e-03,1.3591e-01,1.9855e-01,2.6052e+00,-5.0825e-02,4.6352e-02,1.6916e-04,2.1535e-02,3.1671e-02,1.0475e-01,-2.2964e-03,1.4271e-03,-2.1229e-04,1.1153e-01,2.7120e-03
+20,2.0150e+01,DOWN_FORCE_DETACH,4.8615e-03,1.2725e-01,2.6162e-01,2.6535e+00,-5.5145e-02,4.5681e-02,1.9996e-04,1.2875e-02,9.4739e-02,1.5299e-01,-6.6163e-03,7.5634e-04,-1.8149e-04,1.8041e-01,6.6619e-03
+21,2.1233e+01,DOWN_FORCE_DETACH,5.1037e-03,1.4874e-01,2.9108e-01,2.6669e+00,-5.7173e-02,4.7180e-02,2.1333e-04,3.4365e-02,1.2421e-01,1.6642e-01,-8.6443e-03,2.2551e-03,-1.6812e-04,2.1048e-01,8.9352e-03
+22,2.2367e+01,DOWN_FORCE_DETACH,5.3491e-03,1.6651e-01,2.9241e-01,2.5938e+00,-5.7309e-02,4.8520e-02,1.9639e-04,5.2135e-02,1.2553e-01,9.3305e-02,-8.7802e-03,3.5945e-03,-1.8506e-04,1.6487e-01,9.4893e-03
+23,2.3500e+01,DOWN_FORCE_DETACH,5.5925e-03,1.8727e-01,2.9854e-01,2.5652e+00,-5.7775e-02,5.0037e-02,1.6423e-04,7.2900e-02,1.3166e-01,6.4779e-02,-9.2457e-03,5.1117e-03,-2.1722e-04,1.6385e-01,1.0567e-02
+24,2.4550e+01,DOWN_FORCE_DETACH,5.8335e-03,1.6850e-01,2.9038e-01,2.5745e+00,-5.7224e-02,4.8694e-02,1.3527e-04,5.4134e-02,1.2350e-01,7.4014e-02,-8.6947e-03,3.7691e-03,-2.4618e-04,1.5382e-01,9.4797e-03
+25,2.5500e+01,DOWN_FORCE_DETACH,6.0768e-03,1.6684e-01,2.8360e-01,2.6366e+00,-5.6730e-02,4.8506e-02,1.0964e-04,5.2472e-02,1.1672e-01,1.3613e-01,-8.2011e-03,3.5811e-03,-2.7181e-04,1.8684e-01,8.9530e-03
+26,2.6717e+01,DOWN_FORCE_DETACH,6.3225e-03,1.7024e-01,2.7838e-01,2.6003e+00,-5.6343e-02,4.8772e-02,7.5467e-05,5.5873e-02,1.1151e-01,9.9868e-02,-7.8146e-03,3.8470e-03,-3.0599e-04,1.5978e-01,8.7155e-03
+27,2.7783e+01,DOWN_FORCE_DETACH,6.5633e-03,1.7911e-01,2.8357e-01,2.6009e+00,-5.6674e-02,4.9391e-02,4.6706e-05,6.4741e-02,1.1670e-01,1.0041e-01,-8.1450e-03,4.4663e-03,-3.3475e-04,1.6701e-01,9.2952e-03
+28,2.8850e+01,DOWN_FORCE_DETACH,6.8100e-03,1.7670e-01,2.8094e-01,2.6033e+00,-5.6464e-02,4.9203e-02,3.0657e-05,6.2331e-02,1.1406e-01,1.0280e-01,-7.9355e-03,4.2780e-03,-3.5080e-04,1.6572e-01,9.0220e-03
+29,2.9950e+01,DOWN_FORCE_DETACH,7.0486e-03,1.7375e-01,3.0101e-01,2.6341e+00,-5.7808e-02,4.8943e-02,3.4842e-05,5.9380e-02,1.3414e-01,1.3362e-01,-9.2790e-03,4.0182e-03,-3.4661e-04,1.9843e-01,1.0118e-02
+30,3.1167e+01,DOWN_FORCE_DETACH,7.2950e-03,1.6851e-01,3.2460e-01,2.6482e+00,-5.9396e-02,4.8532e-02,5.3120e-05,5.4137e-02,1.5772e-01,1.4772e-01,-1.0867e-02,3.6073e-03,-3.2833e-04,2.2277e-01,1.1454e-02
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+32,3.3333e+01,DOWN_FORCE_DETACH,7.7794e-03,1.6513e-01,3.5362e-01,2.6598e+00,-6.1324e-02,4.8243e-02,9.5639e-05,5.0757e-02,1.8674e-01,1.5932e-01,-1.2795e-02,3.3181e-03,-2.8581e-04,2.5066e-01,1.3221e-02
+33,3.4400e+01,DOWN_FORCE_DETACH,8.0230e-03,1.7361e-01,3.6423e-01,2.6364e+00,-6.2039e-02,4.8855e-02,1.0419e-04,5.9242e-02,1.9735e-01,1.3593e-01,-1.3510e-02,3.9303e-03,-2.7727e-04,2.4685e-01,1.4073e-02
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+37,3.8767e+01,DOWN_FORCE_DETACH,8.9954e-03,1.9358e-01,3.6321e-01,2.6418e+00,-6.1966e-02,5.0240e-02,8.4590e-05,7.9212e-02,1.9633e-01,1.4131e-01,-1.3437e-02,5.3148e-03,-2.9686e-04,2.5454e-01,1.4453e-02
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+41,4.2967e+01,DOWN_FORCE_DETACH,9.9695e-03,2.0298e-01,4.0490e-01,2.6638e+00,-6.4763e-02,5.0871e-02,1.4288e-04,8.8608e-02,2.3802e-01,1.6335e-01,-1.6234e-02,5.9454e-03,-2.3858e-04,3.0198e-01,1.7290e-02
+42,4.4067e+01,DOWN_FORCE_DETACH,1.0210e-02,2.0544e-01,4.1230e-01,2.6705e+00,-6.5230e-02,5.1033e-02,1.7876e-04,9.1068e-02,2.4542e-01,1.7004e-01,-1.6701e-02,6.1075e-03,-2.0270e-04,3.1215e-01,1.7784e-02
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+46,4.8333e+01,DOWN_FORCE_DETACH,1.1184e-02,2.0359e-01,4.6785e-01,2.7299e+00,-6.8919e-02,5.0704e-02,2.3660e-04,8.9223e-02,3.0097e-01,2.2940e-01,-2.0390e-02,5.7788e-03,-1.4485e-04,3.8880e-01,2.1193e-02
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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/up/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/up/fem_node.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/up/franka_data.csv ADDED Viewed

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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/up/multimodal_aligned_data.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/up/real_sim_motion_alignment.csv ADDED Viewed

	@@ -0,0 +1,61 @@

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+11,7.500000000e-01,WAIT_W2,1792833095461769624,1.548285033e-06,-2.954775513e-04,1.726999380e-05,1.575166876e-06,-2.954557769e-04,1.726369833e-05,2.141440438e-06,-2.920854940e-04,1.705012546e-05,7.019571811e-01,-3.177482863e-04,8.601603572e-01,7.019572080e-01,-3.177265119e-04,8.601603509e-01,7.027474935e-01,-4.101975946e-04,8.303429829e-01
+12,7.500000000e-01,WAIT_W2,1792833095461769624,1.548285033e-06,-2.954775513e-04,1.726999380e-05,1.575166876e-06,-2.954557769e-04,1.726369833e-05,2.141440438e-06,-2.920854940e-04,1.705012546e-05,7.019571811e-01,-3.177482863e-04,8.601603572e-01,7.019572080e-01,-3.177265119e-04,8.601603509e-01,7.027474935e-01,-4.101975946e-04,8.303429829e-01
+13,7.666666667e-01,WAIT_W2,1792833095477316267,2.439119870e-06,-3.556742248e-04,1.967420145e-05,2.437907308e-06,-3.555248210e-04,1.965996645e-05,3.090594802e-06,-3.515652154e-04,1.951468581e-05,7.019580719e-01,-3.779449598e-04,8.601627614e-01,7.019580707e-01,-3.777955560e-04,8.601627472e-01,7.027484426e-01,-4.696773159e-04,8.303454474e-01
+14,7.833333333e-01,WAIT_W2,1792833095494206856,-7.359004817e-08,-4.056475833e-04,2.118206561e-05,-1.181797320e-07,-4.054418769e-04,2.095570231e-05,4.069114632e-07,-4.009775018e-04,2.092643474e-05,7.019555592e-01,-4.279183183e-04,8.601642693e-01,7.019555146e-01,-4.277126119e-04,8.601640429e-01,7.027457589e-01,-5.190896024e-04,8.303468592e-01
+15,8.000000000e-01,WAIT_W2,1792833095510363445,1.308092932e-07,-4.008778008e-04,2.025414158e-05,-1.181797320e-07,-4.054418769e-04,2.095570231e-05,4.132027058e-07,-4.010228005e-04,2.097645065e-05,7.019557636e-01,-4.231485358e-04,8.601633414e-01,7.019555146e-01,-4.277126119e-04,8.601640429e-01,7.027457652e-01,-5.191349011e-04,8.303469092e-01
+16,8.166666667e-01,WAIT_W2,1792833095533344926,2.142019009e-06,-3.581977660e-04,1.984315480e-05,2.257150769e-06,-3.583488680e-04,2.007563681e-05,2.916024683e-06,-3.544650363e-04,2.011124445e-05,7.019577748e-01,-3.804685010e-04,8.601629304e-01,7.019578900e-01,-3.806196030e-04,8.601631629e-01,7.027482680e-01,-4.725771368e-04,8.303460440e-01
+17,8.500000000e-01,WAIT_W2,1792833095575378932,3.500897592e-07,-3.665635523e-04,1.821421816e-05,2.883885731e-07,-3.665395374e-04,1.821235570e-05,8.793038317e-07,-3.625470655e-04,1.823717803e-05,7.019559829e-01,-3.888342873e-04,8.601613015e-01,7.019559212e-01,-3.888102724e-04,8.601612996e-01,7.027462313e-01,-4.806591660e-04,8.303441699e-01
+18,9.166666667e-01,WAIT_W2,1792833095641312366,3.363188780e-06,-3.699024895e-04,2.319549029e-05,5.566009366e-07,-3.887408361e-04,2.107958051e-05,1.229709022e-06,-3.845687402e-04,2.116045371e-05,7.019589960e-01,-3.921732245e-04,8.601662827e-01,7.019561894e-01,-4.110115711e-04,8.601641668e-01,7.027465817e-01,-5.026808407e-04,8.303470932e-01
+19,1.066666667e+00,WAIT_W2,1792833095788495682,3.229895668e-06,-3.694100774e-04,2.560484418e-05,1.816808295e-06,-3.670196654e-04,2.335517060e-05,2.619144419e-06,-3.631558705e-04,2.344282919e-05,7.019588627e-01,-3.916808124e-04,8.601686921e-01,7.019574496e-01,-3.892904004e-04,8.601664424e-01,7.027479712e-01,-4.812679711e-04,8.303493756e-01
+20,1.166666667e+00,WAIT_W2,1792833095887139841,4.546087873e-06,-3.631701432e-04,2.678800436e-05,1.816808295e-06,-3.670196654e-04,2.335517060e-05,2.643186818e-06,-3.631930611e-04,2.347687170e-05,7.019601789e-01,-3.854408782e-04,8.601698752e-01,7.019574496e-01,-3.892904004e-04,8.601664424e-01,7.027479952e-01,-4.813051617e-04,8.303494096e-01
+21,1.250000000e+00,WAIT_W2,1792833095977908171,3.366276544e-06,-3.697459625e-04,2.444396078e-05,1.816808295e-06,-3.670196654e-04,2.335517060e-05,2.661200057e-06,-3.632201714e-04,2.350039940e-05,7.019589991e-01,-3.920166975e-04,8.601675312e-01,7.019574496e-01,-3.892904004e-04,8.601664424e-01,7.027480132e-01,-4.813322720e-04,8.303494331e-01
+22,1.366666667e+00,WAIT_W2,1792833096117107454,3.788486489e-06,-3.806933269e-04,2.657258145e-05,1.816808295e-06,-3.670196654e-04,2.335517060e-05,2.683714972e-06,-3.632535197e-04,2.352729627e-05,7.019594213e-01,-4.029640620e-04,8.601696598e-01,7.019574496e-01,-3.892904004e-04,8.601664424e-01,7.027480357e-01,-4.813656202e-04,8.303494600e-01
+23,1.516666667e+00,UP_FORCE_RAMP,1792833096265029459,4.756375547e-06,-3.790310631e-04,2.876569253e-05,1.816808295e-06,-3.670196654e-04,2.335517060e-05,2.709103572e-06,-3.632901766e-04,2.355335879e-05,7.019603892e-01,-4.013017981e-04,8.601718529e-01,7.019574496e-01,-3.892904004e-04,8.601664424e-01,7.027480611e-01,-4.814022772e-04,8.303494861e-01
+24,1.666666667e+00,UP_FORCE_RAMP,1792833096412675986,4.682427087e-06,-3.728032024e-04,2.951580012e-05,1.816808295e-06,-3.670196654e-04,2.335517060e-05,2.731222871e-06,-3.633216559e-04,2.357177889e-05,7.019603152e-01,-3.950739374e-04,8.601726030e-01,7.019574496e-01,-3.892904004e-04,8.601664424e-01,7.027480832e-01,-4.814337565e-04,8.303495045e-01
+25,1.816666667e+00,UP_FORCE_RAMP,1792833096559232683,3.381604276e-06,-3.781049268e-04,2.754271641e-05,1.816808295e-06,-3.670196654e-04,2.335517060e-05,2.750656890e-06,-3.633490116e-04,2.358417816e-05,7.019590144e-01,-4.003756619e-04,8.601706300e-01,7.019574496e-01,-3.892904004e-04,8.601664424e-01,7.027481027e-01,-4.814611121e-04,8.303495169e-01
+26,2.000000000e+00,UP_FORCE_RAMP,1792833096738652713,5.867703371e-06,-3.737318946e-04,3.253929197e-05,1.816808295e-06,-3.670196654e-04,2.335517060e-05,2.771565836e-06,-3.633781011e-04,2.359297243e-05,7.019615005e-01,-3.960026296e-04,8.601756265e-01,7.019574496e-01,-3.892904004e-04,8.601664424e-01,7.027481236e-01,-4.814902016e-04,8.303495257e-01
+27,2.183333333e+00,UP_FORCE_RAMP,1792833096919071270,5.493216549e-06,-3.739865170e-04,3.556372352e-05,1.816808295e-06,-3.670196654e-04,2.335517060e-05,2.790026523e-06,-3.634031631e-04,2.359629146e-05,7.019611260e-01,-3.962572521e-04,8.601786510e-01,7.019574496e-01,-3.892904004e-04,8.601664424e-01,7.027481421e-01,-4.815152637e-04,8.303495290e-01
+28,2.366666667e+00,UP_FORCE_RAMP,1792833097099398495,5.051876578e-06,-3.731338660e-04,3.810615591e-05,6.293876079e-06,-3.752276071e-04,4.093303428e-05,7.714698625e-06,-3.715396696e-04,4.093038374e-05,7.019606847e-01,-3.954046011e-04,8.601811934e-01,7.019619267e-01,-3.974983421e-04,8.601840203e-01,7.027530667e-01,-4.896517701e-04,8.303668631e-01
+29,2.566666667e+00,UP_FORCE_RAMP,1792833097312046051,6.779422213e-06,-3.718319850e-04,4.982071092e-05,6.293876079e-06,-3.752276071e-04,4.093303428e-05,7.747718646e-06,-3.715680108e-04,4.098734740e-05,7.019624122e-01,-3.941027200e-04,8.601929080e-01,7.019619267e-01,-3.974983421e-04,8.601840203e-01,7.027530997e-01,-4.896801113e-04,8.303669201e-01
+30,2.716666667e+00,UP_FORCE_RAMP,1792833097460725399,4.000613475e-06,-3.736072225e-04,5.308289565e-05,6.293876079e-06,-3.752276071e-04,4.093303428e-05,7.766100031e-06,-3.715854150e-04,4.100888484e-05,7.019596334e-01,-3.958779575e-04,8.601961701e-01,7.019619267e-01,-3.974983421e-04,8.601840203e-01,7.027531181e-01,-4.896975155e-04,8.303669416e-01
+31,2.866666667e+00,UP_FORCE_RAMP,1792833097606529029,-2.676930586e-05,-3.703452445e-04,5.372710455e-05,-2.649253117e-05,-3.704528242e-04,5.322420053e-05,-2.687836936e-05,-3.668734945e-04,5.306851741e-05,7.019288635e-01,-3.926159795e-04,8.601968143e-01,7.019291403e-01,-3.927235592e-04,8.601963114e-01,7.027184737e-01,-4.849855950e-04,8.303790013e-01
+32,2.983333333e+00,UP_FORCE_RAMP,1792833097721466684,-2.167481470e-05,-3.707072184e-04,6.642728270e-05,-2.649253117e-05,-3.704528242e-04,5.322420053e-05,-2.696058624e-05,-3.668835434e-04,5.308967772e-05,7.019339580e-01,-3.929779534e-04,8.602095145e-01,7.019291403e-01,-3.927235592e-04,8.601963114e-01,7.027183914e-01,-4.849956439e-04,8.303790224e-01
+33,3.083333333e+00,UP_FORCE_RAMP,1792833097820264982,-1.977622923e-05,-3.686874322e-04,7.483924824e-05,-1.820545797e-05,-3.671362633e-04,7.410970220e-05,-1.792585312e-05,-3.636374970e-04,7.371602117e-05,7.019358566e-01,-3.909581672e-04,8.602179265e-01,7.019374274e-01,-3.894069983e-04,8.602171969e-01,7.027274262e-01,-4.817495975e-04,8.303996488e-01
+34,3.283333333e+00,UP_FORCE_RAMP,1792833098065370607,-1.889279599e-05,-3.695000038e-04,8.724121353e-05,-1.820545797e-05,-3.671362633e-04,7.410970220e-05,-1.794356581e-05,-3.636557801e-04,7.380231009e-05,7.019367400e-01,-3.917707388e-04,8.602303285e-01,7.019374274e-01,-3.894069983e-04,8.602171969e-01,7.027274085e-01,-4.817678806e-04,8.303997350e-01
+35,3.450000000e+00,UP_FORCE_RAMP,1792833098245642948,-1.281577454e-05,-3.634010389e-04,1.106266396e-04,-1.582691348e-05,-3.675155868e-04,9.656506502e-05,-1.513229708e-05,-3.640867238e-04,9.599295283e-05,7.019428170e-01,-3.856717739e-04,8.602537139e-01,7.019398059e-01,-3.897863218e-04,8.602396523e-01,7.027302197e-01,-4.821988243e-04,8.304219257e-01
+36,3.600000000e+00,UP_FORCE_RAMP,1792833098392773072,-1.086956906e-05,-3.603949685e-04,1.229642616e-04,-1.168265607e-05,-3.670773147e-04,1.181964266e-04,-1.043394795e-05,-3.636883219e-04,1.174023387e-04,7.019447632e-01,-3.826657036e-04,8.602660515e-01,7.019439502e-01,-3.893480497e-04,8.602612837e-01,7.027349181e-01,-4.818004224e-04,8.304433351e-01
+37,3.783333333e+00,UP_FORCE_RAMP,1792833098602208027,-1.131742292e-05,-3.625723989e-04,1.407649259e-04,-1.101949137e-05,-3.625284166e-04,1.408166341e-04,-9.501776810e-06,-3.592230946e-04,1.398283729e-04,7.019443154e-01,-3.848431339e-04,8.602838522e-01,7.019446133e-01,-3.847991516e-04,8.602839039e-01,7.027358502e-01,-4.773351951e-04,8.304657611e-01
+38,3.933333333e+00,UP_FORCE_RAMP,1792833098753833343,-1.485762392e-05,-3.679474823e-04,1.414953982e-04,-1.101949137e-05,-3.625284166e-04,1.408166341e-04,-9.491134594e-06,-3.592394441e-04,1.399791666e-04,7.019407752e-01,-3.902182173e-04,8.602845826e-01,7.019446133e-01,-3.847991516e-04,8.602839039e-01,7.027358609e-01,-4.773515446e-04,8.304659119e-01
+39,4.066666667e+00,UP_FORCE_RAMP,1792833098884447303,-1.544672785e-05,-3.615455973e-04,1.511887948e-04,-1.101949137e-05,-3.625284166e-04,1.408166341e-04,-9.484807625e-06,-3.592495830e-04,1.400648762e-04,7.019401861e-01,-3.838163323e-04,8.602942760e-01,7.019446133e-01,-3.847991516e-04,8.602839039e-01,7.027358672e-01,-4.773616835e-04,8.304659976e-01
+40,4.150000000e+00,UP_FORCE_RAMP,1792833098966285250,-1.764197535e-05,-3.640928174e-04,1.563648615e-04,-1.101949137e-05,-3.625284166e-04,1.408166341e-04,-9.481323458e-06,-3.592551342e-04,1.401102985e-04,7.019379908e-01,-3.863635525e-04,8.602994521e-01,7.019446133e-01,-3.847991516e-04,8.602839039e-01,7.027358707e-01,-4.773672347e-04,8.304660430e-01
+41,4.200000000e+00,UP_FORCE_RAMP,1792833099015714010,-5.144052343e-05,-3.750528102e-04,1.312977533e-04,-5.328481997e-05,-3.630880030e-04,1.352576630e-04,-5.449660180e-05,-3.597525795e-04,1.345449014e-04,7.019041923e-01,-3.973235452e-04,8.602743850e-01,7.019023480e-01,-3.853587380e-04,8.602783449e-01,7.026908554e-01,-4.778646800e-04,8.304604776e-01
+42,4.233333333e+00,UP_FORCE_RAMP,1792833099048155128,-3.491418632e-05,-3.666046536e-04,1.572577427e-04,-3.490274306e-05,-3.664418914e-04,1.573519150e-04,-3.473655875e-05,-3.630883219e-04,1.563109805e-04,7.019207186e-01,-3.888753886e-04,8.603003450e-01,7.019207301e-01,-3.887126264e-04,8.603004392e-01,7.027106155e-01,-4.812004224e-04,8.304822437e-01
+43,4.300000000e+00,UP_FORCE_RAMP,1792833099113900166,-4.042689645e-05,-3.687746715e-04,1.548577645e-04,-5.108851461e-05,-3.613542110e-04,1.444035968e-04,-5.215030867e-05,-3.580593975e-04,1.435928561e-04,7.019152059e-01,-3.910454066e-04,8.602979450e-01,7.019045443e-01,-3.836249460e-04,8.602874908e-01,7.026932017e-01,-4.761714980e-04,8.304695256e-01
+44,4.383333333e+00,UP_FORCE_RAMP,1792833099195705622,-4.258432461e-05,-3.637115692e-04,1.544219067e-04,-5.108851461e-05,-3.613542110e-04,1.444035968e-04,-5.219011928e-05,-3.580625463e-04,1.436304780e-04,7.019130485e-01,-3.859823043e-04,8.602975091e-01,7.019045443e-01,-3.836249460e-04,8.602874908e-01,7.026931619e-01,-4.761746468e-04,8.304695632e-01
+45,4.533333333e+00,UP_FORCE_RAMP,1792833099343226120,-4.965011593e-05,-3.682076980e-04,1.574999393e-04,-5.108851461e-05,-3.613542110e-04,1.444035968e-04,-5.224451041e-05,-3.580681753e-04,1.436896351e-04,7.019059827e-01,-3.904784330e-04,8.603005872e-01,7.019045443e-01,-3.836249460e-04,8.602874908e-01,7.026931075e-01,-4.761802758e-04,8.304696224e-01
+46,4.733333333e+00,UP_FORCE_RAMP,1792833099539829316,-5.806071689e-05,-3.666445522e-04,1.655857041e-04,-5.367432236e-05,-3.618095885e-04,1.655689519e-04,-5.476538884e-05,-3.585341013e-04,1.646172871e-04,7.018975721e-01,-3.889152872e-04,8.603086729e-01,7.019019585e-01,-3.840803235e-04,8.603086562e-01,7.026905866e-01,-4.766462019e-04,8.304905500e-01
+47,4.900000000e+00,UP_FORCE_RAMP,1792833099719418321,-6.212849563e-05,-3.670885884e-04,1.764350103e-04,-5.367432236e-05,-3.618095885e-04,1.655689519e-04,-5.480724895e-05,-3.585416640e-04,1.647143276e-04,7.018935043e-01,-3.893593235e-04,8.603195222e-01,7.019019585e-01,-3.840803235e-04,8.603086562e-01,7.026905448e-01,-4.766537646e-04,8.304906471e-01
+48,5.016666667e+00,UP_FORCE_RAMP,1792833099849230393,-7.119125354e-05,-3.962129200e-04,1.959350392e-04,-7.076310999e-05,-3.961035347e-04,1.957584975e-04,-7.261996016e-05,-3.924824850e-04,1.945295312e-04,7.018844416e-01,-4.184836550e-04,8.603390223e-01,7.018848697e-01,-4.183742697e-04,8.603388457e-01,7.026727321e-01,-5.105945855e-04,8.305204623e-01
+49,5.050000000e+00,UP_FORCE_RAMP,1792833099884533782,-6.537779906e-05,-3.733830706e-04,1.918310071e-04,-6.686852982e-05,-3.764228903e-04,1.926840934e-04,-6.859203979e-05,-3.730076747e-04,1.915640337e-04,7.018902550e-01,-3.956538056e-04,8.603349182e-01,7.018887643e-01,-3.986936253e-04,8.603357713e-01,7.026767600e-01,-4.911197752e-04,8.305174968e-01
+50,5.183333333e+00,UP_FORCE_RAMP,1792833100016375059,-7.025428891e-05,-3.799174186e-04,1.921367217e-04,-6.686852982e-05,-3.764228903e-04,1.926840934e-04,-6.864293083e-05,-3.730220909e-04,1.916752408e-04,7.018853785e-01,-4.021881537e-04,8.603352240e-01,7.018887643e-01,-3.986936253e-04,8.603357713e-01,7.026767091e-01,-4.911341914e-04,8.305176080e-01
+51,5.333333333e+00,UP_FORCE_RAMP,1792833100162579361,-6.730076802e-05,-3.816561438e-04,2.053984692e-04,-6.686852982e-05,-3.764228903e-04,1.926840934e-04,-6.868738572e-05,-3.730311671e-04,1.917678165e-04,7.018883320e-01,-4.039268788e-04,8.603484857e-01,7.018887643e-01,-3.986936253e-04,8.603357713e-01,7.026766646e-01,-4.911432676e-04,8.305177006e-01
+52,5.500000000e+00,UP_FORCE_HOLD,1792833100343614725,-6.826178940e-05,-3.797350509e-04,2.166170499e-04,-6.624449114e-05,-3.809854899e-04,2.123216365e-04,-6.778335159e-05,-3.775550144e-04,2.111836659e-04,7.018873710e-01,-4.020057860e-04,8.603597043e-01,7.018893883e-01,-4.032562249e-04,8.603554089e-01,7.026775687e-01,-4.956671150e-04,8.305371164e-01
+53,5.666666667e+00,UP_FORCE_HOLD,1792833100506087567,-6.835488907e-05,-3.766591401e-04,2.293897134e-04,-6.624449114e-05,-3.809854899e-04,2.123216365e-04,-6.781525106e-05,-3.775654698e-04,2.112997546e-04,7.018872779e-01,-3.989298752e-04,8.603724770e-01,7.018893883e-01,-4.032562249e-04,8.603554089e-01,7.026775368e-01,-4.956775704e-04,8.305372325e-01
+54,5.883333333e+00,UP_SETTLE,1792833100718944584,-6.974267063e-05,-3.715902972e-04,2.397014786e-04,-6.750455722e-05,-3.735036129e-04,2.318244550e-04,-6.896296740e-05,-3.701907561e-04,2.306685758e-04,7.018858901e-01,-3.938610322e-04,8.603827887e-01,7.018881283e-01,-3.957743480e-04,8.603749117e-01,7.026763891e-01,-4.883028566e-04,8.305566013e-01
+55,6.033333333e+00,UP_SETTLE,1792833100866426088,-7.390521835e-05,-3.785260480e-04,2.402888096e-04,-6.750455722e-05,-3.735036129e-04,2.318244550e-04,-6.898517547e-05,-3.701950005e-04,2.307635679e-04,7.018817276e-01,-4.007967831e-04,8.603833760e-01,7.018881283e-01,-3.957743480e-04,8.603749117e-01,7.026763668e-01,-4.883071011e-04,8.305566963e-01
+56,6.166666667e+00,UP_SETTLE,1792833101031658748,-7.154197302e-05,-3.769604213e-04,2.505230972e-04,-6.750455722e-05,-3.735036129e-04,2.318244550e-04,-6.900279220e-05,-3.701978096e-04,2.308354630e-04,7.018840908e-01,-3.992311563e-04,8.603936103e-01,7.018881283e-01,-3.957743480e-04,8.603749117e-01,7.026763492e-01,-4.883099101e-04,8.305567682e-01
+57,6.350000000e+00,UP_SETTLE,1792833101210403465,-7.186909811e-05,-3.759949830e-04,2.543411054e-04,-7.145907095e-05,-3.768700815e-04,2.516660859e-04,-7.301672245e-05,-3.735350614e-04,2.505171462e-04,7.018837637e-01,-3.982657180e-04,8.603974283e-01,7.018841737e-01,-3.991408165e-04,8.603947533e-01,7.026723353e-01,-4.916471620e-04,8.305764499e-01
+58,6.483333333e+00,UP_SETTLE,1792833101341517543,-7.374455496e-05,-3.742353442e-04,2.565375093e-04,-7.145907095e-05,-3.768700815e-04,2.516660859e-04,-7.303573913e-05,-3.735387289e-04,2.506006129e-04,7.018818883e-01,-3.965060792e-04,8.603996247e-01,7.018841737e-01,-3.991408165e-04,8.603947533e-01,7.026723163e-01,-4.916508294e-04,8.305765333e-01
+59,6.716666667e+00,UP_SETTLE,1792833101570796667,-7.328426121e-05,-3.701478482e-04,2.597350522e-04,-7.145907095e-05,-3.768700815e-04,2.516660859e-04,-7.306393428e-05,-3.735423049e-04,2.507198427e-04,7.018823486e-01,-3.924185832e-04,8.604028223e-01,7.018841737e-01,-3.991408165e-04,8.603947533e-01,7.026722881e-01,-4.916544054e-04,8.305766526e-01

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_07/up/simulation_data.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.1519e-01,1.6686e-01,2.5001e+00,-4.8527e-02,4.4984e-02,3.8147e-04,7.9942e-04,-2.4617e-05,-3.4285e-04,1.5944e-06,5.7988e-05,1.6566e-07,8.7018e-04,5.8010e-05
+1,1.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.9477e-05,1.2131e-01,1.6666e-01,2.4975e+00,-4.8515e-02,4.5428e-02,3.8277e-04,6.9223e-03,-2.2019e-04,-2.9430e-03,1.4286e-05,5.0205e-04,1.4671e-06,7.5252e-03,5.0226e-04
+2,2.6667e-01,WAIT_W2,7.7974e-05,1.2698e-01,1.6647e-01,2.4951e+00,-4.8502e-02,4.5840e-02,3.8399e-04,1.2590e-02,-4.0969e-04,-5.3153e-03,2.6591e-05,9.1314e-04,2.6798e-06,1.3672e-02,9.1353e-04
+3,4.5000e-01,WAIT_W2,1.2249e-04,1.3410e-01,1.6623e-01,2.4922e+00,-4.8487e-02,4.6356e-02,3.8543e-04,1.9716e-02,-6.5514e-04,-8.2612e-03,4.2528e-05,1.4301e-03,4.1199e-06,2.1387e-02,1.4307e-03
+4,5.8333e-01,WAIT_W2,1.6195e-04,1.3885e-01,1.6606e-01,2.4903e+00,-4.8476e-02,4.6701e-02,3.8631e-04,2.4458e-02,-8.2144e-04,-1.0201e-02,5.3309e-05,1.7742e-03,4.9982e-06,2.6513e-02,1.7750e-03
+5,7.0000e-01,WAIT_W2,1.9445e-04,1.4272e-01,1.6592e-01,2.4887e+00,-4.8467e-02,4.6982e-02,3.8696e-04,2.8330e-02,-9.5841e-04,-1.1772e-02,6.2175e-05,2.0552e-03,5.6471e-06,3.0694e-02,2.0561e-03
+6,7.1667e-01,WAIT_W2,2.6217e-04,1.4325e-01,1.6591e-01,2.4885e+00,-4.8466e-02,4.7020e-02,3.8704e-04,2.8863e-02,-9.7728e-04,-1.1988e-02,6.3393e-05,2.0939e-03,5.7309e-06,3.1269e-02,2.0949e-03
+7,7.1667e-01,WAIT_W2,2.6217e-04,1.4325e-01,1.6591e-01,2.4885e+00,-4.8466e-02,4.7020e-02,3.8704e-04,2.8863e-02,-9.7728e-04,-1.1988e-02,6.3393e-05,2.0939e-03,5.7309e-06,3.1269e-02,2.0949e-03
+8,7.3333e-01,WAIT_W2,3.5547e-04,1.5000e-01,5.5656e-01,2.4800e+00,-7.5530e-02,4.7486e-02,4.8257e-04,3.5610e-02,3.8968e-01,-2.0421e-02,-2.7001e-02,2.5597e-03,1.0126e-04,3.9184e-01,2.7122e-02
+9,7.3333e-01,WAIT_W2,3.5547e-04,1.5000e-01,5.5656e-01,2.4800e+00,-7.5530e-02,4.7486e-02,4.8257e-04,3.5610e-02,3.8968e-01,-2.0421e-02,-2.7001e-02,2.5597e-03,1.0126e-04,3.9184e-01,2.7122e-02
+10,7.3333e-01,WAIT_W2,3.5547e-04,1.5000e-01,5.5656e-01,2.4800e+00,-7.5530e-02,4.7486e-02,4.8257e-04,3.5610e-02,3.8968e-01,-2.0421e-02,-2.7001e-02,2.5597e-03,1.0126e-04,3.9184e-01,2.7122e-02
+11,7.5000e-01,WAIT_W2,4.8050e-04,1.5511e-01,1.0199e+00,2.4687e+00,-1.0771e-01,4.7828e-02,5.9788e-04,4.0719e-02,8.5299e-01,-3.1760e-02,-5.9179e-02,2.9018e-03,2.1658e-04,8.5455e-01,5.9251e-02
+12,7.5000e-01,WAIT_W2,4.8050e-04,1.5511e-01,1.0199e+00,2.4687e+00,-1.0771e-01,4.7828e-02,5.9788e-04,4.0719e-02,8.5299e-01,-3.1760e-02,-5.9179e-02,2.9018e-03,2.1658e-04,8.5455e-01,5.9251e-02
+13,7.6667e-01,WAIT_W2,5.4075e-04,1.7148e-01,1.6404e+00,2.4684e+00,-1.5078e-01,4.8956e-02,7.5021e-04,5.7090e-02,1.4735e+00,-3.2032e-02,-1.0226e-01,4.0297e-03,3.6890e-04,1.4749e+00,1.0234e-01
+14,7.8333e-01,WAIT_W2,5.9081e-04,1.7971e-01,1.9313e+00,2.4824e+00,-1.7107e-01,4.9513e-02,8.3445e-04,6.5320e-02,1.7644e+00,-1.8064e-02,-1.2254e-01,4.5870e-03,4.5315e-04,1.7657e+00,1.2263e-01
+15,8.0000e-01,WAIT_W2,5.9567e-04,1.9651e-01,2.1695e+00,2.4987e+00,-1.8767e-01,5.0676e-02,8.9567e-04,8.2119e-02,2.0026e+00,-1.7200e-03,-1.3915e-01,5.7498e-03,5.1436e-04,2.0043e+00,1.3927e-01
+16,8.1667e-01,WAIT_W2,6.3840e-04,1.9865e-01,2.1640e+00,2.5085e+00,-1.8739e-01,5.0821e-02,9.0478e-04,8.4259e-02,1.9971e+00,7.9970e-03,-1.3886e-01,5.8946e-03,5.2347e-04,1.9989e+00,1.3899e-01
+17,8.5000e-01,WAIT_W2,6.8660e-04,1.8474e-01,1.8302e+00,2.5020e+00,-1.6432e-01,4.9860e-02,8.3226e-04,7.0353e-02,1.6633e+00,1.5531e-03,-1.1579e-01,4.9341e-03,4.5096e-04,1.6648e+00,1.1590e-01
+18,9.1667e-01,WAIT_W2,7.3078e-04,2.0016e-01,2.0699e+00,2.5164e+00,-1.8108e-01,5.0939e-02,8.9650e-04,8.5769e-02,1.9030e+00,1.5962e-02,-1.3255e-01,6.0123e-03,5.1519e-04,1.9050e+00,1.3269e-01
+19,1.0667e+00,WAIT_W2,7.6994e-04,2.0075e-01,1.9515e+00,2.5183e+00,-1.7310e-01,5.1004e-02,8.8097e-04,8.6365e-02,1.7846e+00,1.7819e-02,-1.2457e-01,6.0773e-03,4.9966e-04,1.7868e+00,1.2472e-01
+20,1.1667e+00,WAIT_W2,8.0839e-04,2.0502e-01,1.9453e+00,2.5246e+00,-1.7280e-01,5.1311e-02,8.8398e-04,9.0629e-02,1.7785e+00,2.4111e-02,-1.2427e-01,6.3849e-03,5.0267e-04,1.7809e+00,1.2443e-01
+21,1.2500e+00,WAIT_W2,8.4915e-04,2.0819e-01,1.9408e+00,2.5289e+00,-1.7257e-01,5.1540e-02,8.8522e-04,9.3803e-02,1.7739e+00,2.8449e-02,-1.2405e-01,6.6139e-03,5.0391e-04,1.7766e+00,1.2422e-01
+22,1.3667e+00,WAIT_W2,8.9503e-04,2.1218e-01,1.9351e+00,2.5339e+00,-1.7230e-01,5.1828e-02,8.8532e-04,9.7791e-02,1.7683e+00,3.3409e-02,-1.2377e-01,6.9017e-03,5.0401e-04,1.7713e+00,1.2396e-01
+23,1.5167e+00,UP_FORCE_RAMP,9.2938e-04,2.1666e-01,1.9289e+00,2.5387e+00,-1.7199e-01,5.2151e-02,8.8309e-04,1.0227e-01,1.7620e+00,3.8229e-02,-1.2346e-01,7.2251e-03,5.0179e-04,1.7653e+00,1.2367e-01
+24,1.6667e+00,UP_FORCE_RAMP,9.7264e-04,2.2056e-01,1.9234e+00,2.5421e+00,-1.7173e-01,5.2434e-02,8.7879e-04,1.0617e-01,1.7565e+00,4.1642e-02,-1.2320e-01,7.5072e-03,4.9748e-04,1.7602e+00,1.2343e-01
+25,1.8167e+00,UP_FORCE_RAMP,1.0147e-03,2.2400e-01,1.9187e+00,2.5444e+00,-1.7150e-01,5.2683e-02,8.7284e-04,1.0961e-01,1.7518e+00,4.3958e-02,-1.2297e-01,7.7563e-03,4.9153e-04,1.7557e+00,1.2321e-01
+26,2.0000e+00,UP_FORCE_RAMP,1.0528e-03,2.2769e-01,1.9136e+00,2.5461e+00,-1.7125e-01,5.2951e-02,8.6387e-04,1.1330e-01,1.7467e+00,4.5621e-02,-1.2272e-01,8.0246e-03,4.8256e-04,1.7509e+00,1.2298e-01
+27,2.1833e+00,UP_FORCE_RAMP,1.0944e-03,2.3094e-01,1.9092e+00,2.5467e+00,-1.7104e-01,5.3188e-02,8.5337e-04,1.1655e-01,1.7423e+00,4.6290e-02,-1.2251e-01,8.2612e-03,4.7206e-04,1.7468e+00,1.2279e-01
+28,2.3667e+00,UP_FORCE_RAMP,1.1341e-03,2.2126e-01,1.9418e+00,2.4988e+00,-1.7347e-01,5.2541e-02,8.6407e-04,1.0687e-01,1.7750e+00,-1.6851e-03,-1.2494e-01,7.6146e-03,4.8276e-04,1.7782e+00,1.2517e-01
+29,2.5667e+00,UP_FORCE_RAMP,1.1732e-03,2.2718e-01,1.9365e+00,2.5106e+00,-1.7320e-01,5.2955e-02,8.5524e-04,1.1279e-01,1.7696e+00,1.0185e-02,-1.2467e-01,8.0291e-03,4.7394e-04,1.7732e+00,1.2493e-01
+30,2.7167e+00,UP_FORCE_RAMP,1.2164e-03,2.3043e-01,1.9334e+00,2.5146e+00,-1.7305e-01,5.3189e-02,8.4718e-04,1.1605e-01,1.7665e+00,1.4129e-02,-1.2452e-01,8.2627e-03,4.6587e-04,1.7704e+00,1.2480e-01
+31,2.8667e+00,UP_FORCE_RAMP,1.2691e-03,2.3604e-01,1.9117e+00,2.4649e+00,-1.7170e-01,5.3641e-02,8.2939e-04,1.2165e-01,1.7448e+00,-3.5562e-02,-1.2317e-01,8.7149e-03,4.4808e-04,1.7494e+00,1.2348e-01
+32,2.9833e+00,UP_FORCE_RAMP,1.2969e-03,3.1190e-01,1.9084e+00,2.4927e+00,-1.7146e-01,5.9069e-02,7.1540e-04,1.9751e-01,1.7415e+00,-7.7982e-03,-1.2294e-01,1.4142e-02,3.3410e-04,1.7527e+00,1.2375e-01
+33,3.0833e+00,UP_FORCE_RAMP,1.3347e-03,2.8127e-01,1.8853e+00,2.4383e+00,-1.7000e-01,5.6932e-02,7.1495e-04,1.6689e-01,1.7184e+00,-6.2173e-02,-1.2147e-01,1.2006e-02,3.3365e-04,1.7276e+00,1.2207e-01
+34,3.2833e+00,UP_FORCE_RAMP,1.3773e-03,2.7850e-01,1.8821e+00,2.4549e+00,-1.6984e-01,5.6725e-02,6.8800e-04,1.6411e-01,1.7152e+00,-4.5518e-02,-1.2131e-01,1.1799e-02,3.0669e-04,1.7236e+00,1.2189e-01
+35,3.4500e+00,UP_FORCE_RAMP,1.4192e-03,2.6872e-01,1.8768e+00,2.4091e+00,-1.6964e-01,5.6070e-02,6.7786e-04,1.5433e-01,1.7099e+00,-9.1329e-02,-1.2111e-01,1.1144e-02,2.9656e-04,1.7193e+00,1.2162e-01
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+37,3.7833e+00,UP_FORCE_RAMP,1.5004e-03,2.5727e-01,1.8646e+00,2.3890e+00,-1.6900e-01,5.5278e-02,6.6529e-04,1.4289e-01,1.6977e+00,-1.1150e-01,-1.2047e-01,1.0352e-02,2.8398e-04,1.7073e+00,1.2091e-01
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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_08/down/fem_node.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_08/down/franka_data.csv ADDED Viewed

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+2867,1792833247469566029,11926934000000,1792833247469096086,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6759500489319632,-0.0049183757942231465,0.09961484836014414,0.9999999528798624,-9.931763971709352e-06,-0.00022765039723122163,0.0001837383849715868,0.6761,-0.0046,0.09974933194808945,1.0,0.0,0.0,0.0,-0.11375442273146874,-0.037819595474864354,0.6754065863871291,-0.0014606611188432567,0.007691926011465011,-0.00045061695110812394,0.8316286710080041,1.119756614038334,1.0055377191893167,0.07578042100432111,-0.05742527311668569,0.0013182028491239143,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.32966669025857614,1.5459095610853992,0.5218706869592299,-0.1410876145134601,-0.3379253285366597,0.9188766852448769,-0.49566648112372286,-0.6754065863871291,-1.0175371680829528,-1.0175371680829528,0.47504999999998304,0,0,-0.00015834996939664692,-9.999999025923074e-05
+2913,1792833247852581750,11927317000000,1792833247849106288,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6759716886964717,-0.004921488510541287,0.09958855896060478,0.9999999601728988,-1.5738562342787974e-06,-0.0001764861517472812,0.00019986802279435166,0.6761,-0.0046,0.09968502626052683,1.0,0.0,0.0,0.0,-0.18034492540743685,-0.009929095637616348,0.7866903746304116,0.00046576341533187404,0.01159601950312926,0.0005622055959251184,0.765038168332036,1.147647113875582,1.1168215074325991,0.07770684553849624,-0.05352117962502144,0.0023310253961571566,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.4576073461094341,1.5332748124816407,0.32807112714514797,-0.10029137463006747,-0.20296386880183695,0.9015322724749235,-0.49566648112372286,-0.7866903746304116,-0.8237376082688708,-0.8237376082688708,0.5324999999999768,0,0,-0.0001774999656659323,-9.999999025923074e-05
+2971,1792833248336574211,11927801000000,1792833248333096474,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6759733142273114,-0.0049293363728087885,0.09952609564428105,0.9999999574451252,2.749479455735463e-06,-0.00017072274684818036,0.00021771264644128375,0.6761,-0.0046,0.0995932719782878,1.0,0.0,0.0,0.0,-0.21019956332264744,-0.030539801809419398,1.0559520270803393,-0.0005825129204623664,0.013666836494863874,0.0003654119869664495,0.7351835304168254,1.1270364077037789,1.3860831598825267,0.076658569202702,-0.051450362633286825,0.0021342317871984877,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.5174044537901947,1.4687061165642512,-0.005056731353139454,-0.025759195652714558,0.021359156726583037,0.8500573165356374,-0.49566648112372286,-1.0559520270803393,-0.4906097497705834,-0.4906097497705834,0.6050999999999688,0,0,-0.00020169996095139998,-9.999999025923074e-05
+3023,1792833248769506711,11928234000000,1792833248769106450,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6759876766411378,-0.004931835536670531,0.09947246180186048,0.999999959186278,2.1074469656999795e-06,-0.00014111673527496135,0.00023054702850765113,0.6761,-0.0046,0.09950125949611109,1.0,0.0,0.0,0.0,-0.24818971422407166,-0.032352174895490915,1.3189931489967623,-0.0007107330033161441,0.01651585025526578,0.00019290773793527232,0.6971933795154012,1.1252240346177074,1.6491242817989498,0.07653034911984823,-0.04860134887288492,0.0019617275381673105,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.5920729299389249,1.4659918333949207,-0.28739075462764163,-0.014161155811882892,0.21898352711609417,0.8420357913352363,-0.49566648112372286,-1.3189931489967623,-0.20827572649608123,-0.20827572649608123,0.6700499999999616,0,0,-0.0002233499567336469,-9.999999025923074e-05
+3070,1792833249161579616,11928626000000,1792833249161105967,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.675992873532407,-0.004934891110019437,0.0994100423317304,0.9999999589751314,3.4207583719565206e-06,-0.00012512271047059018,0.00024046872115404935,0.6761,-0.0046,0.09940987451382181,1.0,0.0,0.0,0.0,-0.295308610734373,-0.021062345375261415,1.5617286754661017,0.00019738385616002718,0.01960927008197518,0.00033079140181737016,0.6500744830050998,1.1365138641379369,1.8918598082682894,0.0774384659793244,-0.04550792904617552,0.0020996112020494084,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.713067940852672,1.2477713643967228,-0.4913907419646846,0.04124098153872529,0.38003819684402435,0.6968052490165723,-0.49566648112372286,-1.5617286754661017,-0.004275739159038283,-0.004275739159038283,0.7288499999999551,0,0,-0.00024294995291526534,-9.999999025923074e-05
+3103,1792833249436570346,11928901000000,1792833249429106126,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.676057661798659,-0.004928313925615187,0.09941248133306584,0.9999999635221082,1.3693693308142155e-05,-5.130002925845047e-05,0.0002481520432306426,0.6761,-0.0046,0.09934117952713978,1.0,0.0,0.0,0.0,-0.38199062914038995,0.07116628139248893,1.6647104338376022,0.006376838804700566,0.023852315561038798,2.9391932313601894e-05,0.5633924645990829,1.2287424909056872,1.9948415666397898,0.08361792092786494,-0.0412648835671119,0.0017982117325456401,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.8481222764104919,1.324645192068487,-0.5943332425676854,0.01972498427868066,0.45601810719215846,0.7538474143856118,-0.49566648112372286,-1.6647104338376022,0.09866676144396253,0.09866676144396253,0.7700999999999506,0,0,-0.00025669995023655377,-9.999999025923074e-05
+3117,1792833249552571208,11929017000000,1792833249549105965,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6760564295371569,-0.004927002990785446,0.09936998683329039,0.9999999749980899,-0.0001712655950090769,-4.0758569528823216e-05,0.00010224245133677462,0.6761,-0.0046,0.09931106883297844,1.0,0.0,0.0,0.0,-0.26144595059291986,0.31992319685585424,1.6707397174144711,0.022582136423963964,0.018045419127498595,0.0012402809675655735,0.683937143146553,1.4774994063690525,2.000870850216659,0.09982321854712833,-0.047071780000652104,0.0030091007677976117,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,0.9204178550854283,1.5190447248133556,-0.5395312766827264,-0.11693878018086316,0.44923801040001654,0.8930509753741218,-0.49566648112372286,-1.6707397174144711,0.04386479555900352,0.04386479555900352,0.7874999999999487,0,0,-0.00026249994910662453,-9.999999025923074e-05
+3156,1792833249877570831,11929342000000,1792833249877106539,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.676070400351062,-0.004917007245532833,0.09933242014649074,0.9999999770332922,-0.00015398533130591257,-1.7648703976466782e-05,0.00011555656791950746,0.6761,-0.0046,0.0992231238500348,1.0,0.0,0.0,0.0,-0.318040823101291,0.2968797028104022,1.840796793810474,0.020179269385747434,0.02233456707086997,0.0011277400985652904,0.6273422706381818,1.4544559123236005,2.1709279266126615,0.0974203515089118,-0.04278263205728073,0.0028965598987973286,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.089597939455463,1.500528671349795,-0.7853258852619455,-0.16234085354834274,0.6597745147540087,0.9067408972241939,-0.49566648112372286,-1.840796793810474,0.2896594041382226,0.2896594041382226,0.8362499999999433,0,0,-0.0002787499459408745,-9.999999025923074e-05
+3195,1792833250202528686,11929667000000,1792833250201105963,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6760865448334177,-0.00492622281385357,0.09926330830451591,0.9999999752940214,-0.00014496833153303747,9.061520038175878e-06,0.00014055921321785278,0.6761,-0.0046,0.0991300965696665,1.0,0.0,0.0,0.0,-0.40253119471236065,0.2715348650781657,2.171258652722955,0.02026559039094307,0.027195339793073287,0.001068677596817264,0.5428518990271122,1.429111074591364,2.501389785525143,0.09750667251410744,-0.03792185933507741,0.0028374973970493023,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.1894783002901657,1.4432919190553115,-1.0638441522597517,-0.0752979340878291,0.8478439638271319,0.8512093652629211,-0.49566648112372286,-2.171258652722955,0.5681776711360289,0.5681776711360289,0.884999999999938,0,0,-0.00029275842102913083,-9.999999025923074e-05
+3245,1792833250619532252,11930084000000,1792833250617105802,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6761092849492095,-0.004928632496584831,0.09919689063383542,0.9999999728604301,-0.00013402988941308528,4.7261459161517266e-05,0.0001597634081159994,0.6761,-0.0046,0.0990108259257775,1.0,0.0,0.0,0.0,-0.48720245954715985,0.30982464004921617,2.411280467989435,0.02210116863968835,0.03256745184129825,0.001866586957218602,0.458180634192313,1.4674008495624145,2.7414116007916225,0.09934225076285272,-0.03254974728685245,0.0036354067574506403,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.3421340732440845,1.4329687338584465,-1.464579051273393,0.018313054483041633,1.112657603278966,0.8252718324405497,-0.49566648112372286,-2.411280467989435,0.9689125701496701,0.9689125701496701,0.9475499999999311,0,0,-0.00027611543518682593,9.999999025923074e-05
+3294,1792833251027583630,11930492000000,1792833251025096386,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6761270987659174,-0.004931799443904082,0.09912674955801228,0.999999969930093,-0.0001451444833932004,7.353483883788521e-05,0.00015845625169848683,0.6761,-0.0046,0.09890232222740854,1.0,0.0,0.0,0.0,-0.5399686995705009,0.34450606434235964,2.663341581142453,0.025003858254448577,0.035736306181975194,0.0017331429518269662,0.4054143941689719,1.502082273855558,2.9934727139446404,0.10224494037761295,-0.0293808929461755,0.0035019627520590044,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.434214830156541,1.464852232348279,-1.769835324070897,0.019916298007152788,1.32379282028033,0.841004891678112,-0.49566648112372286,-2.663341581142453,1.2741688429471743,1.2741688429471743,1.0087499999999308,0,0,-0.0002557154391610598,9.999999025923074e-05
+3339,1792833251402561949,11930867000000,1792833251401096765,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6761455124833442,-0.0049280839061598275,0.09906949032094314,0.9999999640615734,-0.0001914641531552903,0.00010645787379761924,0.0001238059576697285,0.6761,-0.0046,0.09880993518703642,1.0,0.0,0.0,0.0,-0.5495499266966943,0.40926629481723453,2.8976737000362993,0.029679070278523276,0.036962648226494386,0.0025650968495393124,0.39583316704277854,1.5668425043304328,3.227804832838487,0.10692015240168765,-0.028154550901656313,0.004333916649771351,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.5578647474024099,1.4553540109015415,-1.9842232318192945,0.02752896836262152,1.4909307459895162,0.8372560161367713,-0.49566648112372286,-2.8976737000362993,1.4885567506955717,1.4885567506955717,1.0649999999999662,0,0,-0.00023696544281384823,9.999999025923074e-05
+3392,1792833251844498631,11931309000000,1792833251837106076,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6761664778053725,-0.004927689264991965,0.09900798580559782,0.9999999591806112,-0.00019001918584589874,0.00013997827765076332,0.0001318348609798111,0.6761,-0.0046,0.09871006951035904,1.0,0.0,0.0,0.0,-0.589874411341786,0.4340899455601863,3.1397658006703937,0.03173981748917051,0.03991935201187665,0.0025213275723501493,0.3555086823976868,1.5916661550733846,3.4698969334725813,0.10898089961233488,-0.02519784711627405,0.0042901473725821876,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.581381710876153,1.5125866624522621,-2.269725869904644,0.017783411699838884,1.6681878946380262,0.8742669461311852,-0.49566648112372286,-3.1397658006703937,1.7740593887809213,1.7740593887809213,1.131300000000008,0,0,-0.00021486544711926824,9.999999025923074e-05
+3449,1792833252319543567,11931784000000,1792833252313105686,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6761809614560356,-0.004931869958224031,0.09894007274881332,0.9999999552977138,-0.00018690376992564007,0.00016294987274213257,0.00013914652106976146,0.6761,-0.0046,0.0986136371718762,1.0,0.0,0.0,0.0,-0.646372204199244,0.45567336558431926,3.368694931877728,0.03286267210391605,0.04288621612276054,0.002389193946331725,0.2990108895402288,1.6132495750975175,3.6988260646799156,0.11010375422708042,-0.022230983005390153,0.004158013746563763,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.7047185315334759,1.4095947715101096,-2.5359336715399827,0.04220175997909859,1.8705462102241994,0.8066282099038893,-0.49566648112372286,-3.368694931877728,2.0402671904162597,2.0402671904162597,1.2025500000000529,0,0,-0.00019111545174613364,9.999999025923074e-05
+3504,1792833252777551407,11932242000000,1792833252773106322,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6761954350079884,-0.0049341280961753015,0.09888241528278802,0.9999999671345443,-4.816096381460393e-05,0.00018509811010119584,0.00014350256505624964,0.6761,-0.0046,0.0985313389439526,1.0,0.0,0.0,0.0,-0.685625290301278,0.4867241150572492,3.5794908012642312,0.03478400001654082,0.04583803428048561,0.0022843092237420717,0.2597578034381949,1.6443003245704475,3.909621934066419,0.11202508213970519,-0.019279164847665092,0.00405312902397411,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.7981503217869916,1.5114009699972364,-2.748935632194799,-0.025875127537264495,2.030648106206757,0.8072605495168073,-0.49566648112372286,-3.5794908012642312,2.253269151071076,2.253269151071076,1.2712500000000961,0,0,-0.00016821545620740596,9.999999025923074e-05
+3561,1792833253252506082,11932717000000,1792833253249105621,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.676210498564524,-0.0049392681564147155,0.09883719243693447,0.9999999610261224,-6.312971519749647e-05,0.0002105201942202969,0.0001452119312701967,0.6761,-0.0046,0.0984570653511529,1.0,0.0,0.0,0.0,-0.7243274867405752,0.5097156589385547,3.7207509319162906,0.03674444974295245,0.04779982003155894,0.0022198816000729297,0.22105560699889762,1.667291868451753,4.050882064718478,0.11398553186611682,-0.017317379096591756,0.003988701400304968,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.8725209962612712,1.4976318851522545,-2.8761346521539686,-0.0075854388634825805,2.1272908131608697,0.8141770685054863,-0.49566648112372286,-3.7207509319162906,2.3804681710302455,2.3804681710302455,1.342500000000141,0,0,-0.00014446546083427136,9.999999025923074e-05
+3620,1792833253744547445,11933209000000,1792833253737096590,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762221655630125,-0.004941639448056477,0.09879217589944661,0.9999999564295421,-8.021058347796781e-05,0.00022705181329367853,0.00014351834255119857,0.6761,-0.0046,0.09839202764324109,1.0,0.0,0.0,0.0,-0.7348658061201467,0.5202722530565325,3.87396952661027,0.03770882204654351,0.04876090567766275,0.0021287996295258752,0.21051728761932606,1.6778484625697307,4.2041006594124575,0.11494990416970788,-0.016356293450487946,0.0038976194297579135,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9415543061021296,1.4803466460785506,-3.1649090322573312,0.015468487451346935,2.3266740093746026,0.8269531508743986,-0.49566648112372286,-3.87396952661027,2.669242551133608,2.669242551133608,1.4163000000001875,0,0,-0.00011986546562672983,9.999999025923074e-05
+3677,1792833254219539799,11933684000000,1792833254213106126,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762321719714524,-0.004941519514800018,0.09875852211330564,0.9999999515970193,-9.46367837392686e-05,0.00024410996518140483,0.0001403674740816327,0.6761,-0.0046,0.0983407202959672,1.0,0.0,0.0,0.0,-0.7640852840404836,0.5464847120426151,3.975518512266982,0.039611631353241625,0.04993344084879946,0.0031029066050389763,0.18129780969898926,1.7040609215558133,4.3056496450691695,0.116852713476406,-0.015183758279351246,0.0048717264052710145,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9584703900935736,1.471547275793606,-3.168547514807234,0.04471591976715744,2.328214087826042,0.8398225793232399,-0.49566648112372286,-3.975518512266982,2.672881033683511,2.672881033683511,1.4875500000002324,0,0,-9.611547025359523e-05,9.999999025923074e-05
+3732,1792833254677497212,11934142000000,1792833254673096951,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762386653013569,-0.004938038338403339,0.09873032611287544,0.9999999481385983,-0.00010380053507338134,0.00025588146933744896,0.0001375346789257559,0.6761,-0.0046,0.09830193205956719,1.0,0.0,0.0,0.0,-0.7831435122935906,0.5595876815700751,4.055525884725409,0.03964764885482101,0.0516342746916674,0.0030659893673790073,0.16223958144588224,1.7171638910832734,4.385657017527596,0.11688873097798538,-0.013482924436483305,0.0048348091676110455,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9672448949316619,1.36540765091332,-3.2248483065688425,0.08377583075428688,2.3608657515042486,0.7851856655767707,-0.49566648112372286,-4.055525884725409,2.7291818254451194,2.7291818254451194,1.5562500000002757,0,0,-7.321547471486755e-05,9.999999025923074e-05
+3803,1792833255269481547,11934734000000,1792833255269106212,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762420692176101,-0.0049395760779713345,0.09870108670262605,0.9999999460439132,-0.00011008980249682922,0.0002624048482245615,0.0001355690454181639,0.6761,-0.0046,0.09826733529682621,1.0,0.0,0.0,0.0,-0.7929435134572187,0.5661791727487249,4.136036015015189,0.040633362952966434,0.0516803566043118,0.003012342501055928,0.15243958028225418,1.7237553822619232,4.466167147817377,0.1178744450761308,-0.013436842523838899,0.004781162301287966,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.0050678733343856,1.3782349478898501,-3.3254314642757903,0.09115235318984984,2.434487240705454,0.8037920027536667,-0.49566648112372286,-4.136036015015189,2.8297649831520673,2.8297649831520673,1.6450500000003316,0,0,-4.361548048140295e-05,9.999999025923074e-05
+3862,1792833255761524921,11935226000000,1792833255757106616,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762443982357077,-0.004942278205389133,0.0986882733249086,0.9999999447647193,-0.00011639641451163617,0.0002644482928489931,0.00013576596666096813,0.6761,-0.0046,0.09825191577924802,1.0,0.0,0.0,0.0,-0.7934161889167655,0.5757629263448183,4.146486780431855,0.04062118566745146,0.05207775682445341,0.0030136471663192747,0.15196690482270733,1.7333391358580166,4.476617913234042,0.11786226779061583,-0.013039442303697291,0.004782466966551313,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.0118466561075854,1.3905026365371302,-3.370613676778608,0.07897518355244586,2.4675497752228592,0.8072500247461796,-0.49566648112372286,-4.146486780431855,2.874947195654885,2.874947195654885,1.7188500000003781,0,0,-1.9015485273861425e-05,9.999999025923074e-05
+3929,1792833256319471122,11935784000000,1792833256317105375,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.676246830917897,-0.0049397754676973596,0.09868052457583416,0.9999999441591153,-0.00011320832113635844,0.0002679484423339013,0.000136059321593047,0.6761,-0.0046,0.09824759658453862,1.0,0.0,0.0,0.0,-0.7931567837538912,0.5718723277607214,4.150361049988745,0.04063148591882858,0.051676238120985055,0.0029976481172729642,0.1522263099855816,1.7294485372739197,4.4804921827909325,0.11787256804199295,-0.013440961007165644,0.0047664679175050025,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9699399970685574,1.375446156378257,-3.3627058361983204,0.0862077005370001,2.450978383252691,0.799031115892531,-0.49566648112372286,-4.150361049988745,2.8670393550745974,2.8670393550745974,1.8025500000004309,0,0,-1.5058372411502763e-06,1.5210477183336124e-05
+3995,1792833256869433305,11936334000000,1792833256865106382,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762475018822217,-0.004943538667592436,0.0986815885107687,0.999999943363563,-0.00011807563062018648,0.0002692167143507977,0.00013526359908633942,0.6761,-0.0046,0.0982473145415715,1.0,0.0,0.0,0.0,-0.7925421952826979,0.5746480801339207,4.13636371488602,0.040634665466976416,0.051679497253647774,0.0030121403144717576,0.15284089845677493,1.732224289647119,4.466494847688208,0.11787574759014079,-0.013437701874502921,0.004780960114703796,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.964961831433092,1.3522599075732786,-3.3379001714962784,0.09459282699333248,2.438487390861059,0.7836924907512122,-0.49566648112372286,-4.13636371488602,2.8422336903725554,2.8422336903725554,1.8850500000004828,0,0,-9.559109878654048e-08,9.655666544094998e-07
+4066,1792833257461427134,11936926000000,1792833257457107184,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762464812860447,-0.004947745920266393,0.0986785100331682,0.9999999429043879,-0.0001246934341527546,0.00026754273894240895,0.00013603865426197167,0.6761,-0.0046,0.09824729640625006,1.0,0.0,0.0,0.0,-0.7839440881316144,0.5648304120849397,4.126309980831958,0.04060498047598446,0.05168254049890401,0.0030212169058351362,0.16143900560785834,1.722406621598138,4.4564411136341455,0.11784606259914883,-0.013434658629246693,0.0047900367060671745,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.915836006910727,1.3750040069692218,-3.2809557887508225,0.08206902248108662,2.3895040539926073,0.7994863720868425,-0.49566648112372286,-4.126309980831958,2.7852893076270995,2.7852893076270995,1.9738500000005388,0,0,-4.916765744544804e-09,4.966430044994752e-08
+4129,1792833257986516641,11937451000000,1792833257985096893,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762457808981094,-0.004942639077551805,0.09867576673712213,0.9999999435416881,-0.00012372923402362944,0.0002668100273978538,0.00013365242578695875,0.6761,-0.0046,0.09824729549364074,1.0,0.0,0.0,0.0,-0.7833774431973765,0.5618903858373094,4.115903873413256,0.03961742786943123,0.05170341588402169,0.0030182576031210877,0.1620056505420964,1.7194665953505077,4.4460350062154435,0.1168585099925956,-0.013413783244129006,0.004787077403353126,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9291488528789975,1.383383442212568,-3.2342223888780937,0.08268502076432648,2.361713009889841,0.8039255031098292,-0.49566648112372286,-4.115903873413256,2.7385559077543706,2.7385559077543706,2.0526000000005884,0,0,-3.5388941777014793e-10,3.5746405835368478e-09
+4186,1792833258461435902,11937926000000,1792833258457096346,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762418838445903,-0.004944856040925395,0.09866956797089284,0.9999999451169366,-0.00012272818659409343,0.0002603160358093519,0.00013558149463925256,0.6761,-0.0046,0.09824729542940129,1.0,0.0,0.0,0.0,-0.764991143535451,0.5576831583293982,4.106210674621113,0.03964393001036444,0.05069780840017761,0.0030074742459163467,0.18039195020402185,1.7152593678425965,4.4363418074233,0.11688501213352881,-0.014419390727973092,0.004776294046148385,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9121909455310306,1.4300541567792504,-3.299085158536932,0.07750957931747725,2.4022655914568003,0.8394654978016397,-0.49566648112372286,-4.106210674621113,2.803418677413209,2.803418677413209,2.1238500000006333,0,0,-3.2726321652631896e-11,3.3056890558214036e-10
+4239,1792833258902423761,11938367000000,1792833258901095826,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762448989302186,-0.0049448134839924565,0.0986718974253477,0.9999999443820411,-0.00012191693315974421,0.0002644683448066613,0.00013368446106733849,0.6761,-0.0046,0.09824729542356161,1.0,0.0,0.0,0.0,-0.7740255584606881,0.5616209603794031,4.10472707167679,0.03962005487330382,0.05165594924396084,0.003027499228622595,0.1713575352787847,1.7191971698926014,4.434858204478978,0.11686113699646819,-0.013461249884189863,0.004796319028854633,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9444478953162645,1.4072094507981021,-3.3477177981370176,0.07831238735794231,2.442741303387038,0.8239151518349787,-0.49566648112372286,-4.10472707167679,2.8520513170132946,2.8520513170132946,2.190000000000675,0,0,-3.682054661169332e-12,3.7192471324942744e-11
+4304,1792833259444513321,11938909000000,1792833259441096960,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.676245855074319,-0.004942239977226112,0.09867264161297859,0.9999999438415409,-0.00012191128508940585,0.00026667850193485464,0.00013334164563417295,0.6761,-0.0046,0.09824729542262228,1.0,0.0,0.0,0.0,-0.7754410574121633,0.5550840290194197,4.095906610649831,0.039647899789389984,0.05069456381343398,0.0030196736508770446,0.1699420363273096,1.712660238532618,4.426037743452019,0.11688898191255435,-0.014422635314716723,0.004788493451109083,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.8842300580511127,1.2952301064053253,-3.230370743527433,0.1074235367396321,2.349469158068804,0.7479549271603518,-0.49566648112372286,-4.095906610649831,2.73470426240371,2.73470426240371,2.271300000000726,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+4359,1792833259902477851,11939367000000,1792833259901096325,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762457825816904,-0.004950030423022129,0.09867168048219468,0.9999999435448027,-0.00012492212433836428,0.00026473403099620097,0.00013661482927390504,0.6761,-0.0046,0.09824729542199304,1.0,0.0,0.0,0.0,-0.7717134168609072,0.5520256642240484,4.0858682451246375,0.03964788665308794,0.0506973087121993,0.0030237924684439078,0.17366967687856555,1.7096018737372467,4.415999377926825,0.11688896877625231,-0.014419890415951394,0.004792612268675946,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9212060867625318,1.3934371486629262,-3.342643164732711,0.08287815209590427,2.4312430795552245,0.8138927105629721,-0.49566648112372286,-4.0858682451246375,2.846976683608988,2.846976683608988,2.3400000000007695,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+4418,1792833260394416090,11939859000000,1792833260393105487,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762432942298473,-0.004944635903599405,0.09866895672153086,0.9999999446914768,-0.00012300109829171217,0.00026188675610737974,0.00013544727598380045,0.6761,-0.0046,0.09824729542131708,1.0,0.0,0.0,0.0,-0.7646332946222065,0.5566627078926918,4.085870065473488,0.039645184233239525,0.05069739937732505,0.003030672000485916,0.18074979911726635,1.71423891740589,4.4160011982756755,0.1168862663564039,-0.014419799750825647,0.004799491800717954,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9803538368857632,1.3963633145156185,-3.282697308021437,0.08699754041949523,2.4128602025748327,0.8154146204860984,-0.49566648112372286,-4.085870065473488,2.787030826897714,2.787030826897714,2.413800000000816,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+4477,1792833260886474764,11940351000000,1792833260885097195,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762444682839591,-0.004940297803986678,0.09866892028005747,0.9999999453880715,-0.000118900847415339,0.00026264191617783367,0.0001324708678819856,0.6761,-0.0046,0.09824729542064112,1.0,0.0,0.0,0.0,-0.765019941116577,0.550340204646435,4.075827919160875,0.03964007636993935,0.05069956311975635,0.003037018823137316,0.18036315262289584,1.7079164141596332,4.4059590519630625,0.11688115849310372,-0.01441763600839435,0.004805838623369354,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.888047917033781,1.2402848690053003,-3.2255221182887652,0.13191985795943692,2.3472007260920105,0.7162093505600682,-0.49566648112372286,-4.075827919160875,2.729855637165042,2.729855637165042,2.4876000000008625,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+4538,1792833261394457330,11940859000000,1792833261393106291,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762421138828884,-0.004944610511185447,0.09866582176101772,0.9999999452828923,-0.00012192991532313253,0.00026023653870489,0.00013522986605012764,0.6761,-0.0046,0.09824729541994318,1.0,0.0,0.0,0.0,-0.7679107175199554,0.5501500640554826,4.075749172818502,0.03957452212445986,0.05070073037473,0.003035904047108561,0.1774723762195174,1.707726273568681,4.405880305620689,0.11681560424762423,-0.014416468753420697,0.004804723847340599,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.8153105860108407,1.429348376138625,-3.2266161751405,0.07673334382891313,2.3293211606191724,0.8361530191239367,-0.49566648112372286,-4.075749172818502,2.730949694016777,2.730949694016777,2.5638000000009105,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+4593,1792833261852400747,11941317000000,1792833261849106045,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762422072350397,-0.004945866015132886,0.09866635197752777,0.9999999452234716,-0.0001219796901572277,0.00026045486190697957,0.00013520406157037774,0.6761,-0.0046,0.09824728674986773,1.0,0.0,0.0,0.0,-0.764743302388471,0.5499526725222093,4.065856462233137,0.03962907732026254,0.0497187974221793,0.003029621405291656,0.18063979135100183,1.7075288820354075,4.395987595035325,0.11687015944342691,-0.015398401705971395,0.004798441205523694,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.867961640242166,1.4243783398321874,-3.1591332982263505,0.08086971539687586,2.3031512530374454,0.8323725469678934,-0.49566648112372286,-4.065856462233137,2.6634668171026274,2.6634668171026274,2.6325000000009537,0,0,-4.7192272215057507e-07,4.766896183339142e-06
+4650,1792833262327436622,11941792000000,1792833262321106223,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762426584880682,-0.004941841838908455,0.09866565470914178,0.9999999458060471,-0.00011991629016669958,0.0002603821954773756,0.00013286068928679883,0.6761,-0.0046,0.09824698874881821,1.0,0.0,0.0,0.0,-0.7732042185105807,0.5467773354113621,4.065378022339864,0.03863656236433004,0.05071662194623053,0.0030330555737029365,0.17217887522889203,1.7043535449245604,4.395509155142052,0.11587764448749441,-0.014400577181920168,0.004801875373934975,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9118116399617446,1.3979210377627795,-3.184390665956154,0.09133138678543849,2.332935298927309,0.8150117478805413,-0.49566648112372286,-4.065378022339864,2.688724184832431,2.688724184832431,2.7037500000009986,0,0,-2.5669930167878717e-06,-9.992833924077899e-05
+4701,1792833262752503940,11942217000000,1792833262749105823,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762438662045553,-0.004942708248250912,0.09866630068102891,0.9999999447856055,-0.0001208422526860066,0.0002624910952829728,0.00013552573643009648,0.6761,-0.0046,0.09824373966973447,1.0,0.0,0.0,0.0,-0.7637970080999423,0.5494896203029938,4.065279653978385,0.0386542777426748,0.04993200142414788,0.0030276218162624737,0.18158608563953046,1.707065829816192,4.395410786780572,0.11589535986583917,-0.015185197704002817,0.004796441616494512,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.8814325636582656,1.3046569241277928,-3.2279671265316203,0.11086210908230085,2.350637586075795,0.7505096936022093,-0.49566648112372286,-4.065279653978385,2.7323006454078973,2.7323006454078973,2.767500000001039,0,0,-1.4923240070101267e-05,-9.990252655545646e-05
+4762,1792833263261473398,11942726000000,1792833263261105978,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762444227744817,-0.0049452052927722746,0.09866168232600321,0.9999999438320957,-0.0001231591347541212,0.0002647009485464027,0.0001361760084521478,0.6761,-0.0046,0.09823116504887487,1.0,0.0,0.0,0.0,-0.7651597828549856,0.5475673942554693,4.0746429821453,0.038630465592785115,0.05071840994122171,0.0030262637491877895,0.18022331088448715,1.7051436037686676,4.404774114947488,0.11587154771594949,-0.014398789186928988,0.004795083549419828,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,1.9386686567536722,1.4454523525913792,-3.256107099177435,0.0732690520238466,2.3835788786602516,0.8451543747440791,-0.49566648112372286,-4.0746429821453,2.7604406180537118,2.7604406180537118,2.843850000001087,0,0,-3.250247198746526e-05,-9.997845193255301e-05
+4833,1792833263852404749,11943317000000,1792833263845106061,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762499820960446,-0.004946297810652549,0.09865116373291877,0.9999999411184455,-0.00012467893946393582,0.00027353756681471796,0.0001372528013278759,0.6761,-0.0046,0.09820485787378835,1.0,0.0,0.0,0.0,-0.7821398234880952,0.5520341593976277,4.122323339022986,0.03962055790707707,0.05148240457880669,0.0030093029692574314,0.16324327025137758,1.709610368910826,4.452454471825174,0.11686164003024144,-0.01363479454934401,0.00477812276948947,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.007455213403037,1.310258106510923,-3.3602351667718073,0.1218233622135323,2.4582889038643088,0.7579970917710928,-0.49566648112372286,-4.122323339022986,2.8645686856480843,2.8645686856480843,2.9325000000011427,0,0,-5.616272778371923e-05,-9.999999025923074e-05
+4884,1792833264277387567,11943742000000,1792833264273106099,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762543658759456,-0.004950662647631265,0.09863573601308397,0.9999999382736872,-0.00012923367589051595,0.00028029872676372755,0.000140095564399985,0.6761,-0.0046,0.09817842537309472,1.0,0.0,0.0,0.0,-0.8015489288422125,0.5699994239940855,4.176384937296252,0.04059918621813148,0.05265498968992527,0.0029939473208717886,0.14383416489726034,1.7275756335072838,4.5065160700984395,0.11784026834129585,-0.01246220943822543,0.004762767121103827,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.0146975790943076,1.314863879419257,-3.4077874317737065,0.12182334125844238,2.4872187293001935,0.7641060103739006,-0.49566648112372286,-4.176384937296252,2.9121209506499834,2.9121209506499834,2.996250000001183,0,0,-6.871025441254475e-05,-9.998544633760815e-05
+4945,1792833264786486696,11944251000000,1792833264781107586,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762614127324399,-0.004948674670157377,0.09862018579669933,0.9999999344649975,-0.00013628312206491537,0.0002925708961098922,0.00013543281232720775,0.6761,-0.0046,0.09814063951044981,1.0,0.0,0.0,0.0,-0.8129459817700393,0.5831369088509175,4.2367505843200695,0.04158150196344228,0.05365465436600299,0.0029712783091352573,0.13243711196943356,1.7407131183641158,4.566881717122257,0.11882258408660665,-0.011462544762147711,0.0047400981093672955,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.026980266906584,1.3689544331707344,-3.417831845728741,0.10834894591505935,2.493305638927708,0.7952988563965442,-0.49566648112372286,-4.2367505843200695,2.922165364605018,2.922165364605018,3.072600000001231,0,0,-7.976822062191603e-05,-9.999099745273127e-05
+5012,1792833265344466726,11944809000000,1792833265341106100,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762693110891436,-0.004948122888485946,0.0985927346587061,0.9999999302757351,-0.00014077319878431173,0.0003050034745588442,0.00013433977909326609,0.6761,-0.0046,0.09809451409562568,1.0,0.0,0.0,0.0,-0.8232611506206349,0.6086486000705633,4.357567623674746,0.042554094955614824,0.05463222219377514,0.002899852053073835,0.12212194311883794,1.7662248095837616,4.687698756476934,0.1197951770787792,-0.010484976934375558,0.004668671853305873,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.1671211756885955,1.3031042292209107,-3.6023806891128443,0.1348425591567311,2.6477840433554487,0.7558113867119103,-0.49566648112372286,-4.357567623674746,3.1067142079891212,3.1067142079891212,3.1563000000012837,0,0,-8.171273771920428e-05,9.993405688935581e-05
+5073,1792833265852480334,11945317000000,1792833265849096454,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762772951922447,-0.004949774836505822,0.0985652981943988,0.999999923987007,-0.00015061233527877084,0.00032131797621466043,0.00013243687979624336,0.6761,-0.0046,0.09805608691344567,1.0,0.0,0.0,0.0,-0.8523369661587685,0.6136320857773805,4.468048932413272,0.044141902615552106,0.055592081170107,0.0028408548092970724,0.09304612758070425,1.7712082952905788,4.79818006521546,0.12138298473871648,-0.0095251179580437,0.004609674609529111,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.134501801011477,1.3159425167511838,-3.7039737410710134,0.12767349014562432,2.698068271661748,0.7635026022154218,-0.49566648112372286,-4.468048932413272,3.2083072599472904,3.2083072599472904,3.2325000000013318,0,0,-6.85167917443844e-05,9.999999025923074e-05
+5124,1792833266277434285,11945742000000,1792833266277106129,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762827681675174,-0.0049497078446597426,0.0985455680630506,0.9999999209860921,-0.00015242294600555074,0.00032943959578668616,0.0001330694256258559,0.6761,-0.0046,0.09803025829767337,1.0,0.0,0.0,0.0,-0.8680644388504851,0.6214282630819306,4.538794019557117,0.044505100309314774,0.05658149709851923,0.0027996789284128604,0.07731865488898769,1.7790044725951288,4.868925152359305,0.12174618243247914,-0.008535702029631468,0.004568498728644899,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.1499564889038503,1.397148395819589,-3.741752158626293,0.10369663150688582,2.7299145174746413,0.8167992090185446,-0.49566648112372286,-4.538794019557117,3.24608567750257,3.24608567750257,3.296250000001372,0,0,-5.520175671208211e-05,-5.04588917826289e-05
+5189,1792833266819431239,11946284000000,1792833266813106101,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762875799359075,-0.004950096869341919,0.09852802465417806,0.9999999171887345,-0.00015297831153718584,0.0003399462839032319,0.00013453456265584738,0.6761,-0.0046,0.0980041251663975,1.0,0.0,0.0,0.0,-0.8810460979816301,0.630973716746029,4.599680404059453,0.0451137367553137,0.057576113921999635,0.002766037466168743,0.06433699575784273,1.7885499262592273,4.92981153686164,0.12235481887847807,-0.007541085206151063,0.004534857266400781,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.210698994646684,1.3413752113805266,-3.797614906573532,0.11612521980354351,2.782505920355998,0.7783980960023474,-0.49566648112372286,-4.599680404059453,3.301948425449809,3.301948425449809,3.377550000001423,0,0,-4.218221363458253e-05,-7.566155621330779e-05
+5250,1792833267327480362,11946792000000,1792833267325105568,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6762915415631207,-0.004951934824486029,0.09851318543032905,0.9999999146805916,-0.00015810850683155403,0.00034463223105043626,0.00013532183571029753,0.6761,-0.0046,0.09798205901520313,1.0,0.0,0.0,0.0,-0.8905552431399052,0.6280905878817644,4.649518713398511,0.04547791821855979,0.05755303173785688,0.0027382659843059216,0.05482785059956765,1.7856667973949627,4.979649846200699,0.12271900034172416,-0.007564167390293821,0.00450708578453796,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.271052777226004,1.2930240977577077,-3.8888099913259824,0.13509013693586,2.8560357451424614,0.745343329532435,-0.49566648112372286,-4.649518713398511,3.3931435102022593,3.3931435102022593,3.453750000001471,0,0,-4.6072208113893904e-05,-9.998577940451554e-05
+5316,1792833267877436034,11947342000000,1792833267873106487,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6762957196908893,-0.004950244210046855,0.09849583520061155,0.9999999116592636,-0.0001561957443678416,0.00035414966966745067,0.00013529682254506806,0.6761,-0.0046,0.09795393556679707,1.0,0.0,0.0,0.0,-0.9005147922393885,0.6399800702389034,4.702490644221761,0.04544214107562687,0.058554050988381574,0.0027090182933527654,0.04486830150008441,1.7975562797521016,5.032621777023949,0.12268322319879124,-0.006563148139769127,0.004477838093584804,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.1843982333406076,1.3878719773491481,-3.9515703357160135,0.10636229997355474,2.8705832804822253,0.807994424512404,-0.49566648112372286,-4.702490644221761,3.4559038545922904,3.4559038545922904,3.536250000001523,0,0,-5.771458160971766e-05,-9.999251013160233e-05
+5377,1792833268386363225,11947851000000,1792833268385096625,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.676299592571411,-0.004952561543384273,0.09847463553786344,0.9999999087249071,-0.00015958635553412772,0.0003605541557109139,0.0001361100205540633,0.6761,-0.0046,0.09792191960918416,1.0,0.0,0.0,0.0,-0.9107120793517633,0.6550440165930627,4.770128856953007,0.04642353837165883,0.059533158568795534,0.0026806127817714217,0.03467101438770946,1.812620226106261,5.100259989755195,0.1236646204948232,-0.005584040559355167,0.00444943258200346,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.2623027996804077,1.3466377815198276,-4.024626903837632,0.12017562185794031,2.938382840603565,0.7825402826359826,-0.49566648112372286,-4.770128856953007,3.528960422713909,3.528960422713909,3.612600000001571,0,0,-6.856031801591301e-05,-9.977666889782739e-05
+5448,1792833268977389135,11948442000000,1792833268977096005,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6763064027624414,-0.004952870542488646,0.09845063063946548,0.9999999040487781,-0.00016034986487749648,0.0003724499971484857,0.00013752897622131883,0.6761,-0.0046,0.09787927253284066,1.0,0.0,0.0,0.0,-0.9297265611704838,0.6594252862911749,4.861446402001589,0.047360222074967914,0.06050337946810968,0.0036083282358013707,0.015656532568988978,1.8170014958043732,5.191577534803777,0.12460130419813228,-0.004613819660041018,0.005377148036033409,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.277767305151313,1.3050662272193485,-4.110766907127197,0.13997714569450007,2.9937855439484062,0.7564963508413565,-0.49566648112372286,-4.861446402001589,3.6151004260034743,3.6151004260034743,3.701250000001627,0,0,-7.444379944018665e-05,-9.991500268669568e-05
+5525,1792833269619379921,11949084000000,1792833269613096441,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6763154165044192,-0.004949830632296537,0.0984207170378021,0.9999999085567337,-7.90687756396726e-05,0.0003876230376564711,0.0001335136622332637,0.6761,-0.0046,0.09783320522068051,1.0,0.0,0.0,0.0,-0.9489065131703134,0.6775325296627759,4.951761122765352,0.048372420755168136,0.06147911238083801,0.0029265943175535237,-0.003523419430840503,1.8351087391759742,5.28189225556754,0.1256135028783325,-0.003638086747312691,0.004695414117785562,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.3663753159892855,1.367757421263558,-4.220839845701079,0.12246384523952403,3.087751580120606,0.7923103931394597,-0.49566648112372286,-4.951761122765352,3.7251733645773557,3.7251733645773557,3.7975500000016877,0,0,-7.100850643179524e-05,-7.296873802265508e-05
+5580,1792833270077372760,11949542000000,1792833270073096443,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6763234067977812,-0.004957056293799954,0.0984014772528197,0.9999999018448577,-8.980253692871649e-05,0.0004017662776066442,0.00013517581946798768,0.6761,-0.0046,0.09780083617838216,1.0,0.0,0.0,0.0,-0.9591766895737345,0.6866715296377632,5.021958974891628,0.04935423343138527,0.06245974079838902,0.002579533853758257,-0.013793595834261638,1.8442477391509615,5.352090107693815,0.12659531555454964,-0.0026574583297616773,0.004348353653990295,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.3210496064220534,1.2890286641813589,-4.2279313638379215,0.15452260125003836,3.0758322234197317,0.7490981209102203,-0.49566648112372286,-5.021958974891628,3.7322648827141984,3.7322648827141984,3.866250000001731,0,0,-6.996250094123824e-05,-9.375004525325465e-05
+5639,1792833270569393258,11950034000000,1792833270569096091,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6763276641129585,-0.004955864451353604,0.09837607049817632,0.9999998977228446,-9.442607567774502e-05,0.0004109550479668918,0.00013489562479396413,0.6761,-0.0046,0.09776743061136337,1.0,0.0,0.0,0.0,-0.9759142889840711,0.6928598252987839,5.102506072262966,0.04992000865201633,0.0634402924729095,0.0035330849976577877,-0.030531195244598297,1.8504360348119822,5.432637205065154,0.1271610907751807,-0.001676906655241207,0.005301904797889826,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.430930874593943,1.274736055988438,-4.395392256641341,0.16098698508385753,3.2145249414069217,0.7403064918860113,-0.49566648112372286,-5.102506072262966,3.8997257755176182,3.8997257755176182,3.9400500000017775,0,0,-6.592923309092923e-05,8.812693216698193e-05
+5704,1792833271111450450,11950576000000,1792833271109096906,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6763352072913206,-0.004958799092864259,0.09835265862285535,0.9999998917077584,-0.00010587216769285254,0.00042286656356957223,0.00013417261043379667,0.6761,-0.0046,0.09773164502595426,1.0,0.0,0.0,0.0,-0.9797265166347954,0.7105376541453459,5.17297993133404,0.05028685185486288,0.0644296464785065,0.0034986104987793504,-0.03434342289532254,1.8681138636585441,5.5031110641362275,0.12752793397802725,-0.0006875526496441886,0.005267430299011389,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.4205499897403024,1.33529617096838,-4.375774531448928,0.1486788732666471,3.19749752307175,0.7808172124464083,-0.49566648112372286,-5.17297993133404,3.8801080503252052,3.8801080503252052,4.021350000001766,0,0,-6.489725872946129e-05,-9.687500387845489e-05
+5766,1792833271627443477,11951092000000,1792833271625096817,DOWN_FORCE_DETACH,8,0.0589,0.05890234187245369,0.6763393730204633,-0.00495847652400647,0.0983282422026696,0.9999998886050634,-0.00010834230271030607,0.00042935042768667834,0.0001347326274362258,0.6761,-0.0046,0.09769732758290968,1.0,0.0,0.0,0.0,-0.992818093191593,0.7163229159676665,5.2375947103536955,0.05106397498529884,0.06476959947419007,0.003455579537213353,-0.047434999452120194,1.8738991254808648,5.567725843155883,0.1283050571084632,-0.0003475996539606232,0.005224399337445391,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.431664333231623,1.295230933791058,-4.460251088432448,0.16360084250293416,3.2529010478622076,0.7568513543444985,-0.49566648112372286,-5.2375947103536955,3.9645846073087254,3.9645846073087254,4.098750000001585,0,0,-6.790195194591864e-05,-9.989222923690306e-05
+5831,1792833272169392333,11951634000000,1792833272169095516,DOWN_FORCE_DETACH,8,0.0589,0.05890168622136116,0.6763450870880653,-0.004957639649484727,0.09830307877740146,0.999999883792613,-0.00011600113578391606,0.0004391578844918998,0.00013244513581042665,0.6761,-0.0046,0.09765844868638451,1.0,0.0,0.0,0.0,-0.9992867691572314,0.7182166882525944,5.307794741799829,0.05125519683017836,0.06539474806052722,0.0034141691156814678,-0.05390367541775859,1.8757928977657927,5.637925874602017,0.12849627895334273,0.0002775489323765324,0.005182988915913506,0.9453830937394728,1.1575762095131983,0.33013113280218753,0.07724108212316437,-0.0651171991281507,0.0017688198002320382,1,2.3960431154916297,1.334609847938674,-4.662221629478873,0.15396299760282658,3.3702643601659603,0.7824008936556359,-0.49566648112372286,-5.307794741799829,4.16655514835515,4.16655514835515,4.180050000001396,0,0,-7.374658245598719e-05,9.90585211343486e-05

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_08/down/multimodal_aligned_data.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_08/down/real_sim_motion_alignment.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792833244113960634,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.679204135e-09,-2.266148207e-10,-1.995911658e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453930e-01,-1.180689674e-04,8.303259451e-01
+1,5.166666667e-01,DOWN_FORCE_DETACH,1792833244621160374,-2.324066219e-07,4.598170504e-06,5.202383324e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.314316220e-07,-6.854756851e-09,-5.479032372e-08,7.019554004e-01,-1.767256452e-05,8.601436075e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027455197e-01,-1.180755956e-04,8.303258923e-01
+2,1.100000000e+00,DOWN_FORCE_DETACH,1792833245194392859,-8.046530899e-07,3.441963530e-07,-1.251160636e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.402492102e-07,-1.279608661e-08,-9.869323203e-08,7.019548282e-01,-2.192653867e-05,8.601418361e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456285e-01,-1.180815369e-04,8.303258484e-01
+3,1.633333333e+00,DOWN_FORCE_DETACH,1792833245718464903,-5.355393392e-06,4.175201838e-06,-2.376643760e-05,-5.350591628e-06,4.368092621e-06,-2.343096736e-05,-5.671619419e-06,4.308419106e-06,-2.320002845e-05,7.019502774e-01,-1.809553319e-05,8.601193208e-01,7.019502822e-01,-1.790264240e-05,8.601196563e-01,7.027397167e-01,-1.137603217e-04,8.303027471e-01
+4,2.083333333e+00,DOWN_FORCE_DETACH,1792833246209996298,-3.372223678e-06,-8.996452207e-07,-4.371832202e-05,-7.723238071e-06,-1.145838449e-06,-4.695891569e-05,-8.499994232e-06,-1.146934025e-06,-4.653002952e-05,7.019522606e-01,-2.317038024e-05,8.600993689e-01,7.019479096e-01,-2.341657347e-05,8.600961283e-01,7.027368883e-01,-1.192156748e-04,8.302794171e-01
+5,2.500000000e+00,DOWN_FORCE_DETACH,1792833246619218362,3.992194214e-05,-7.669850797e-06,-6.849172372e-05,3.967798560e-05,-7.729051596e-06,-6.851118582e-05,4.168619385e-05,-7.656640868e-06,-6.787510518e-05,7.019955548e-01,-2.994058582e-05,8.600745955e-01,7.019953108e-01,-2.999978662e-05,8.600745761e-01,7.027870745e-01,-1.257253817e-04,8.302580720e-01
+6,2.850000000e+00,DOWN_FORCE_DETACH,1792833246963271284,1.990637925e-05,-5.825676956e-06,-1.147544727e-04,1.971378850e-05,-5.362087205e-06,-1.069089372e-04,2.010907000e-05,-5.307745812e-06,-1.060086367e-04,7.019755392e-01,-2.809641198e-05,8.600283328e-01,7.019753466e-01,-2.763282223e-05,8.600361783e-01,7.027654974e-01,-1.233764866e-04,8.302199385e-01
+7,3.366666667e+00,DOWN_FORCE_DETACH,1792833247470756887,1.490327410e-05,-1.231577120e-05,-1.544023442e-04,1.616207560e-05,-7.004420144e-06,-1.469755268e-04,1.593341332e-05,-6.958018337e-06,-1.458605616e-04,7.019705361e-01,-3.458650623e-05,8.599886849e-01,7.019717949e-01,-2.927515517e-05,8.599961117e-01,7.027613217e-01,-1.250267591e-04,8.301800865e-01
+8,3.750000000e+00,DOWN_FORCE_DETACH,1792833247850779222,3.582823385e-05,-1.374918635e-05,-1.787807124e-04,3.763040034e-05,-1.650919303e-05,-1.747453571e-04,3.848393853e-05,-1.632120947e-05,-1.735193016e-04,7.019914611e-01,-3.601992137e-05,8.599643065e-01,7.019932632e-01,-3.877992806e-05,8.599683419e-01,7.027838722e-01,-1.343899503e-04,8.301524278e-01
+9,4.166666667e+00,DOWN_FORCE_DETACH,1792833248339170351,3.902139570e-05,-1.911996042e-05,-2.423757280e-04,3.906315510e-05,-1.891223422e-05,-2.421647968e-04,3.930257049e-05,-1.873198568e-05,-2.402912207e-04,7.019946542e-01,-4.139069545e-05,8.599007115e-01,7.019946960e-01,-4.118296924e-05,8.599009224e-01,7.027846909e-01,-1.368007265e-04,8.300856559e-01
+10,4.600000000e+00,DOWN_FORCE_DETACH,1792833248765651595,4.916259033e-05,-2.664427922e-05,-2.982111902e-04,4.291509571e-05,-2.280495160e-05,-2.819389565e-04,4.296835162e-05,-2.256847501e-05,-2.801076414e-04,7.020047954e-01,-4.891501424e-05,8.598448760e-01,7.019985479e-01,-4.507568662e-05,8.598611483e-01,7.027883566e-01,-1.406372158e-04,8.300458394e-01
+11,5.000000000e+00,DOWN_FORCE_DETACH,1792833249158550262,5.862101477e-05,-2.905614365e-05,-3.566577865e-04,5.549114388e-05,-2.547910596e-05,-3.461737974e-04,5.574855869e-05,-2.524086826e-05,-3.439864949e-04,7.020142538e-01,-5.132687867e-05,8.597864295e-01,7.020111240e-01,-4.774984098e-05,8.597969134e-01,7.028011368e-01,-1.433096091e-04,8.299819606e-01
+12,5.283333333e+00,DOWN_FORCE_DETACH,1792833249436499373,1.215778737e-04,-2.517885042e-05,-3.557511833e-04,1.126696029e-04,-2.671621638e-05,-3.684903077e-04,1.162785757e-04,-2.643699439e-05,-3.662587167e-04,7.020772107e-01,-4.744958544e-05,8.597873361e-01,7.020683024e-01,-4.898695140e-05,8.597745969e-01,7.028616669e-01,-1.445057352e-04,8.299596884e-01
+13,5.400000000e+00,DOWN_FORCE_DETACH,1792833249551812592,1.226284731e-04,-1.906981268e-05,-3.975341687e-04,1.223246883e-04,-1.884325585e-05,-3.978970981e-04,1.263421133e-04,-1.866592559e-05,-3.953719395e-04,7.020782613e-01,-4.134054770e-05,8.597455531e-01,7.020779575e-01,-4.111399087e-05,8.597451901e-01,7.028717304e-01,-1.367346664e-04,8.299305751e-01
+14,5.666666667e+00,DOWN_FORCE_DETACH,1792833249881672932,1.337616778e-04,-1.014160681e-05,-4.353411543e-04,1.338318425e-04,-1.047378605e-05,-4.350491911e-04,1.383540142e-04,-1.043185393e-05,-4.323984109e-04,7.020893945e-01,-3.241234183e-05,8.597077461e-01,7.020894647e-01,-3.274452107e-05,8.597080380e-01,7.028837423e-01,-1.285005947e-04,8.298935487e-01
+15,5.933333333e+00,DOWN_FORCE_DETACH,1792833250206770730,1.510120047e-04,-1.640090824e-05,-5.051410439e-04,1.397621459e-04,-1.234927580e-05,-5.023769322e-04,1.440575783e-04,-1.230962801e-05,-4.993252771e-04,7.021066448e-01,-3.867164326e-05,8.596379462e-01,7.020953950e-01,-3.462001082e-05,8.596407103e-01,7.028894459e-01,-1.303783688e-04,8.298266218e-01
+16,6.350000000e+00,DOWN_FORCE_DETACH,1792833250615780901,1.758526033e-04,-2.112114210e-05,-5.686629666e-04,1.674641595e-04,-1.934231273e-05,-5.554595241e-04,1.731902482e-04,-1.922874138e-05,-5.524682916e-04,7.021314854e-01,-4.339187712e-05,8.595744243e-01,7.021230970e-01,-4.161304775e-05,8.595876277e-01,7.029185785e-01,-1.372974822e-04,8.297734788e-01
+17,6.750000000e+00,DOWN_FORCE_DETACH,1792833251025374838,1.908442635e-04,-2.151006427e-05,-6.382922897e-04,1.905224972e-04,-2.357317116e-05,-6.366840151e-04,1.970620167e-04,-2.343651831e-05,-6.332735388e-04,7.021464771e-01,-4.378079929e-05,8.595047949e-01,7.021461553e-01,-4.584390619e-05,8.595064032e-01,7.029424503e-01,-1.415052591e-04,8.296926736e-01
+18,7.116666667e+00,DOWN_FORCE_DETACH,1792833251403730185,2.128975720e-04,-1.926213972e-05,-6.951719550e-04,2.092122115e-04,-1.514559039e-05,-7.002161237e-04,2.164389352e-04,-1.514567819e-05,-6.965958862e-04,7.021685304e-01,-4.153287474e-05,8.594479153e-01,7.021648450e-01,-3.741632541e-05,8.594428711e-01,7.029618272e-01,-1.332144190e-04,8.296293512e-01
+19,7.566666667e+00,DOWN_FORCE_DETACH,1792833251844552853,2.281924812e-04,-2.357591981e-05,-7.661707872e-04,2.258691621e-04,-2.134917443e-05,-7.614378315e-04,2.337404212e-04,-2.123959495e-05,-7.579261070e-04,7.021838253e-01,-4.584665483e-05,8.593769165e-01,7.021815020e-01,-4.361990945e-05,8.593816494e-01,7.029791287e-01,-1.393083357e-04,8.295680210e-01
+20,7.983333333e+00,DOWN_FORCE_DETACH,1792833252319385891,2.461570619e-04,-2.225650217e-05,-8.274641165e-04,2.443674848e-04,-1.910882545e-05,-8.278954736e-04,2.528674173e-04,-1.905053551e-05,-8.243058075e-04,7.022017899e-01,-4.452723719e-05,8.593156231e-01,7.022000003e-01,-4.137956047e-05,8.593151918e-01,7.029982557e-01,-1.371192763e-04,8.295016413e-01
+21,8.416666667e+00,DOWN_FORCE_DETACH,1792833252778363123,2.640782465e-04,-2.624682151e-05,-8.821708235e-04,2.556584817e-04,-2.755513336e-05,-8.662996913e-04,2.647302049e-04,-2.741455167e-05,-8.630800654e-04,7.022197111e-01,-4.851755653e-05,8.592609164e-01,7.022112913e-01,-4.982586838e-05,8.592767875e-01,7.030101185e-01,-1.454832925e-04,8.294628670e-01
+22,8.900000000e+00,DOWN_FORCE_DETACH,1792833253253281830,2.750900586e-04,-3.132086164e-05,-9.314920249e-04,2.736141643e-04,-2.848486666e-05,-9.281081824e-04,2.834006187e-04,-2.834566270e-05,-9.248738665e-04,7.022307229e-01,-5.359159666e-05,8.592115952e-01,7.022292470e-01,-5.075560169e-05,8.592149791e-01,7.030287889e-01,-1.464144035e-04,8.294010732e-01
+23,9.400000000e+00,DOWN_FORCE_DETACH,1792833253744562102,2.861571295e-04,-3.258879381e-05,-9.780240520e-04,2.805302609e-04,-3.162607151e-05,-9.675599442e-04,2.905893863e-04,-3.148269372e-05,-9.646810534e-04,7.022417899e-01,-5.485952883e-05,8.591650632e-01,7.022361631e-01,-5.389680653e-05,8.591755273e-01,7.030359777e-01,-1.495514345e-04,8.293612660e-01
+24,9.866666667e+00,DOWN_FORCE_DETACH,1792833254220504623,2.947432379e-04,-3.178036299e-05,-1.014029856e-03,2.902078887e-04,-3.044449991e-05,-1.005619577e-03,3.006394264e-04,-3.035458321e-05,-1.002975798e-03,7.022503761e-01,-5.405109801e-05,8.591290574e-01,7.022458407e-01,-5.271523493e-05,8.591374677e-01,7.030460277e-01,-1.484233240e-04,8.293229713e-01
+25,1.033333333e+01,DOWN_FORCE_DETACH,1792833254678567895,3.012111626e-04,-3.148909477e-05,-1.040512101e-03,2.975344586e-04,-2.938825745e-05,-1.025914526e-03,3.083822737e-04,-2.933990474e-05,-1.023639623e-03,7.022568440e-01,-5.375982980e-05,8.591025751e-01,7.022531673e-01,-5.165899247e-05,8.591171727e-01,7.030537706e-01,-1.474086455e-04,8.293023075e-01
+26,1.088333333e+01,DOWN_FORCE_DETACH,1792833255267545748,3.078974168e-04,-3.312745229e-05,-1.065139416e-03,3.075056730e-04,-3.679194166e-05,-1.065402993e-03,3.187758286e-04,-3.662348116e-05,-1.063209025e-03,7.022635302e-01,-5.539818732e-05,8.590779478e-01,7.022631385e-01,-5.906267669e-05,8.590776842e-01,7.030641641e-01,-1.546922220e-04,8.292627381e-01
+27,1.136666667e+01,DOWN_FORCE_DETACH,1792833255762922818,3.094520388e-04,-3.507344603e-05,-1.082159394e-03,3.075056730e-04,-3.679194166e-05,-1.065402993e-03,3.189354590e-04,-3.662613726e-05,-1.063751640e-03,7.022650849e-01,-5.734418106e-05,8.590609278e-01,7.022631385e-01,-5.906267669e-05,8.590776842e-01,7.030643237e-01,-1.546948781e-04,8.292621954e-01
+28,1.191666667e+01,DOWN_FORCE_DETACH,1792833256316232654,3.112172724e-04,-3.416895421e-05,-1.088136192e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.225269537e-04,-2.897324745e-05,-1.082001746e-03,7.022668501e-01,-5.643968924e-05,8.590549510e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030679152e-01,-1.470419882e-04,8.292439453e-01
+29,1.248333333e+01,DOWN_FORCE_DETACH,1792833256873147356,3.091720708e-04,-3.422329689e-05,-1.092252543e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.226334130e-04,-2.897786334e-05,-1.082379360e-03,7.022648049e-01,-5.649403191e-05,8.590508347e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030680217e-01,-1.470466041e-04,8.292435677e-01
+30,1.303333333e+01,DOWN_FORCE_DETACH,1792833257462453413,3.110727802e-04,-3.979862549e-05,-1.090174429e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.227081820e-04,-2.898421401e-05,-1.082641003e-03,7.022667056e-01,-6.206936052e-05,8.590529128e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030680965e-01,-1.470529548e-04,8.292433061e-01
+31,1.353333333e+01,DOWN_FORCE_DETACH,1792833257987621829,3.113243173e-04,-3.376244117e-05,-1.090677120e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.227600080e-04,-2.899005071e-05,-1.082820274e-03,7.022669571e-01,-5.603317620e-05,8.590524101e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030681483e-01,-1.470587915e-04,8.292431268e-01
+32,1.401666667e+01,DOWN_FORCE_DETACH,1792833258461824312,3.104095257e-04,-3.757711219e-05,-1.093653055e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.227992606e-04,-2.899555290e-05,-1.082953815e-03,7.022660423e-01,-5.984784721e-05,8.590494342e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030681875e-01,-1.470642937e-04,8.292429933e-01
+33,1.446666667e+01,DOWN_FORCE_DETACH,1792833258904080395,3.093948742e-04,-3.713924356e-05,-1.096896363e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.228283384e-04,-2.900052123e-05,-1.083051205e-03,7.022650277e-01,-5.940997858e-05,8.590461909e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030682166e-01,-1.470692620e-04,8.292428959e-01
+34,1.501666667e+01,DOWN_FORCE_DETACH,1792833259444716573,3.104465684e-04,-3.429268245e-05,-1.096042849e-03,3.109814930e-04,-2.903763632e-05,-1.083458061e-03,3.228564038e-04,-2.900625371e-05,-1.083143326e-03,7.022660794e-01,-5.656341748e-05,8.590470444e-01,7.022666143e-01,-5.130837134e-05,8.590596292e-01,7.030682447e-01,-1.470749945e-04,8.292428038e-01
+35,1.548333333e+01,DOWN_FORCE_DETACH,1792833259904088057,3.103532488e-04,-4.219329848e-05,-1.097061215e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.173977983e-04,-3.529297445e-05,-1.102532382e-03,7.022659861e-01,-6.446403350e-05,8.590460260e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627861e-01,-1.533617152e-04,8.292234147e-01
+36,1.595000000e+01,DOWN_FORCE_DETACH,1792833260395204682,3.078857240e-04,-3.668860883e-05,-1.099727740e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.173957202e-04,-3.529740957e-05,-1.102638577e-03,7.022635185e-01,-5.895934385e-05,8.590433595e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627840e-01,-1.533661504e-04,8.292233085e-01
+37,1.645000000e+01,DOWN_FORCE_DETACH,1792833260886013587,3.080802438e-04,-3.090976179e-05,-1.099115512e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.173963956e-04,-3.530191603e-05,-1.102720595e-03,7.022637131e-01,-5.318049682e-05,8.590439717e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627847e-01,-1.533706568e-04,8.292232265e-01
+38,1.696666667e+01,DOWN_FORCE_DETACH,1792833261394773615,3.094506748e-04,-3.682644929e-05,-1.098675756e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.173982184e-04,-3.530601729e-05,-1.102784348e-03,7.022650835e-01,-5.909718431e-05,8.590444115e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627865e-01,-1.533747581e-04,8.292231627e-01
+39,1.741666667e+01,DOWN_FORCE_DETACH,1792833261854027324,3.050451636e-04,-3.667207051e-05,-1.104884413e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.174000990e-04,-3.530918972e-05,-1.102827179e-03,7.022606780e-01,-5.894280554e-05,8.590382028e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627884e-01,-1.533779305e-04,8.292231199e-01
+40,1.786666667e+01,DOWN_FORCE_DETACH,1792833262327326815,3.073237699e-04,-3.656290447e-05,-1.102767041e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.174020106e-04,-3.531200833e-05,-1.102860970e-03,7.022629566e-01,-5.883363950e-05,8.590403202e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627903e-01,-1.533807491e-04,8.292230861e-01
+41,1.830000000e+01,DOWN_FORCE_DETACH,1792833262753709356,3.085917271e-04,-3.515862734e-05,-1.102039066e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.174037870e-04,-3.531441149e-05,-1.102886837e-03,7.022642245e-01,-5.742936236e-05,8.590410482e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627921e-01,-1.533831523e-04,8.292230603e-01
+42,1.881666667e+01,DOWN_FORCE_DETACH,1792833263262463970,3.090142686e-04,-3.725799800e-05,-1.107002136e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.174057698e-04,-3.531691289e-05,-1.102911001e-03,7.022646471e-01,-5.952873302e-05,8.590360851e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627941e-01,-1.533856537e-04,8.292230361e-01
+43,1.941666667e+01,DOWN_FORCE_DETACH,1792833263851180889,3.131771396e-04,-3.932942044e-05,-1.118817302e-03,3.060891428e-04,-3.538553582e-05,-1.103006360e-03,3.174078245e-04,-3.531937802e-05,-1.102932127e-03,7.022688100e-01,-6.160015546e-05,8.590242699e-01,7.022617220e-01,-5.765627084e-05,8.590400809e-01,7.030627961e-01,-1.533881188e-04,8.292230150e-01
+44,1.985000000e+01,DOWN_FORCE_DETACH,1792833264276630293,3.190771754e-04,-4.237649369e-05,-1.132629921e-03,3.127478264e-04,-3.992146644e-05,-1.123187103e-03,3.242355233e-04,-3.979089343e-05,-1.122901984e-03,7.022747100e-01,-6.464722871e-05,8.590104573e-01,7.022683806e-01,-6.219220146e-05,8.590199001e-01,7.030696238e-01,-1.578596342e-04,8.292030451e-01
+45,2.033333333e+01,DOWN_FORCE_DETACH,1792833264784501114,3.263765300e-04,-3.948532639e-05,-1.149959179e-03,3.198913053e-04,-3.533131927e-05,-1.142288545e-03,3.317275871e-04,-3.526882264e-05,-1.141829579e-03,7.022820093e-01,-6.175606141e-05,8.589931281e-01,7.022755241e-01,-5.760205430e-05,8.590007987e-01,7.030771159e-01,-1.533375634e-04,8.291841175e-01
+46,2.090000000e+01,DOWN_FORCE_DETACH,1792833265341241304,3.334027966e-04,-3.966847307e-05,-1.174817883e-03,3.258427135e-04,-4.067911828e-05,-1.160564895e-03,3.378844782e-04,-4.053154066e-05,-1.160057023e-03,7.022890356e-01,-6.193920809e-05,8.589682694e-01,7.022814755e-01,-6.294985330e-05,8.589825223e-01,7.030832728e-01,-1.586002815e-04,8.291658901e-01
+47,2.140000000e+01,DOWN_FORCE_DETACH,1792833265849162378,3.413468291e-04,-3.625531748e-05,-1.203971274e-03,3.376496453e-04,-3.838749669e-05,-1.198668542e-03,3.500712229e-04,-3.828092005e-05,-1.197811858e-03,7.022969796e-01,-5.852605251e-05,8.589391160e-01,7.022932825e-01,-6.065823171e-05,8.589444187e-01,7.030954595e-01,-1.563496608e-04,8.291281352e-01
+48,2.183333333e+01,DOWN_FORCE_DETACH,1792833266275428475,3.484930028e-04,-4.185239806e-05,-1.220948044e-03,3.447870638e-04,-3.901722371e-05,-1.217948791e-03,3.574762392e-04,-3.888621015e-05,-1.216952213e-03,7.023041258e-01,-6.412313308e-05,8.589221392e-01,7.023004199e-01,-6.128795873e-05,8.589251384e-01,7.031028645e-01,-1.569549509e-04,8.291089949e-01
+49,2.238333333e+01,DOWN_FORCE_DETACH,1792833266818516770,3.532380077e-04,-4.444314295e-05,-1.238357587e-03,3.475674324e-04,-4.413776223e-05,-1.237501178e-03,3.603131901e-04,-4.394627511e-05,-1.236533328e-03,7.023088708e-01,-6.671387797e-05,8.589047297e-01,7.023032002e-01,-6.640849726e-05,8.589055861e-01,7.031057015e-01,-1.620150159e-04,8.290894138e-01
+50,2.290000000e+01,DOWN_FORCE_DETACH,1792833267323582465,3.511234315e-04,-4.614697513e-05,-1.260895687e-03,3.562646453e-04,-3.796207962e-05,-1.254384292e-03,3.694083689e-04,-3.785982168e-05,-1.253433233e-03,7.023067562e-01,-6.841771016e-05,8.588821916e-01,7.023118975e-01,-6.023281464e-05,8.588887029e-01,7.031147967e-01,-1.559285625e-04,8.290725139e-01
+51,2.338333333e+01,DOWN_FORCE_DETACH,1792833267881697565,3.584668033e-04,-4.209374361e-05,-1.275973098e-03,3.574654542e-04,-4.587322959e-05,-1.273291373e-03,3.705925718e-04,-4.565464970e-05,-1.272272357e-03,7.023140996e-01,-6.436447863e-05,8.588671141e-01,7.023130983e-01,-6.814396461e-05,8.588697959e-01,7.031159809e-01,-1.637233905e-04,8.290536747e-01
+52,2.388333333e+01,DOWN_FORCE_DETACH,1792833268389169720,3.628626833e-04,-4.289521325e-05,-1.293900632e-03,3.614113407e-04,-4.577237049e-05,-1.294207485e-03,3.745867671e-04,-4.554742559e-05,-1.293138592e-03,7.023184955e-01,-6.516594828e-05,8.588491866e-01,7.023170442e-01,-6.804310551e-05,8.588488798e-01,7.031199751e-01,-1.636161664e-04,8.290328085e-01
+53,2.438333333e+01,DOWN_FORCE_DETACH,1792833268978681745,3.722790181e-04,-4.321956785e-05,-1.317343146e-03,3.669828788e-04,-4.677351305e-05,-1.314335420e-03,3.803895614e-04,-4.655474074e-05,-1.313218620e-03,7.023279118e-01,-6.549030287e-05,8.588257441e-01,7.023226157e-01,-6.904424807e-05,8.588287518e-01,7.031257778e-01,-1.646234815e-04,8.290127285e-01
+54,2.498333333e+01,DOWN_FORCE_DETACH,1792833269616481183,3.826041125e-04,-4.482251385e-05,-1.344794670e-03,3.744694900e-04,-4.365766742e-05,-1.333493525e-03,3.882302895e-04,-4.346371205e-05,-1.332490080e-03,7.023382369e-01,-6.709324887e-05,8.587982926e-01,7.023301023e-01,-6.592840244e-05,8.588095937e-01,7.031336186e-01,-1.615324528e-04,8.289934570e-01
+55,2.545000000e+01,DOWN_FORCE_DETACH,1792833270075722849,3.874815480e-04,-4.541363057e-05,-1.367316515e-03,3.795764726e-04,-4.644984279e-05,-1.353625916e-03,3.935136971e-04,-4.622988924e-05,-1.352533351e-03,7.023431144e-01,-6.768436559e-05,8.587757707e-01,7.023352093e-01,-6.872057781e-05,8.587894613e-01,7.031389020e-01,-1.642986300e-04,8.289734137e-01
+56,2.593333333e+01,DOWN_FORCE_DETACH,1792833270567296227,3.937420962e-04,-4.469864649e-05,-1.392457904e-03,3.927374016e-04,-5.056582227e-05,-1.391480116e-03,4.071856900e-04,-5.029641542e-05,-1.390166252e-03,7.023493749e-01,-6.696938151e-05,8.587506293e-01,7.023483702e-01,-7.283655729e-05,8.587516071e-01,7.031525740e-01,-1.683651562e-04,8.289357808e-01
+57,2.646666667e+01,DOWN_FORCE_DETACH,1792833271107423250,3.987475050e-04,-4.529670422e-05,-1.416148959e-03,3.962563091e-04,-4.625431993e-05,-1.412936205e-03,4.107624495e-04,-4.606084999e-05,-1.411673486e-03,7.023543803e-01,-6.756743924e-05,8.587269383e-01,7.023518891e-01,-6.852505495e-05,8.587301510e-01,7.031561507e-01,-1.641295908e-04,8.289142736e-01
+58,2.698333333e+01,DOWN_FORCE_DETACH,1792833271631599359,4.054714324e-04,-5.350116408e-05,-1.437849432e-03,3.997769865e-04,-4.532320577e-05,-1.433436914e-03,4.144192956e-04,-4.512084814e-05,-1.432217411e-03,7.023611042e-01,-7.577189910e-05,8.587052378e-01,7.023554098e-01,-6.759394079e-05,8.587096503e-01,7.031598076e-01,-1.631895889e-04,8.288937297e-01
+59,2.750000000e+01,DOWN_FORCE_DETACH,1792833272172204709,4.103855543e-04,-5.079795717e-05,-1.462921331e-03,4.036798781e-04,-4.923539149e-05,-1.454771293e-03,4.183468608e-04,-4.899236224e-05,-1.453590718e-03,7.023660184e-01,-7.306869219e-05,8.586801659e-01,7.023593127e-01,-7.150612652e-05,8.586883159e-01,7.031637351e-01,-1.670611030e-04,8.288723564e-01

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_08/down/simulation_data.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.2661e-01,1.7571e-01,2.5081e+00,-4.9133e-02,4.5797e-02,4.0896e-04,8.2313e-04,-2.9102e-05,-3.7527e-04,1.8701e-06,5.9836e-05,1.0710e-07,9.0510e-04,5.9865e-05
+1,5.1667e-01,DOWN_FORCE_DETACH,1.1460e-04,1.4888e-01,1.7485e-01,2.4982e+00,-4.9078e-02,4.7415e-02,4.1164e-04,2.3098e-02,-8.8590e-04,-1.0222e-02,5.7358e-05,1.6783e-03,2.7942e-06,2.5274e-02,1.6792e-03
+2,1.1000e+00,DOWN_FORCE_DETACH,2.3052e-04,1.6799e-01,1.7406e-01,2.4901e+00,-4.9027e-02,4.8804e-02,4.1233e-04,4.2204e-02,-1.6713e-03,-1.8322e-02,1.0834e-04,3.0669e-03,3.4861e-06,4.6040e-02,3.0688e-03
+3,1.6333e+00,DOWN_FORCE_DETACH,3.4504e-04,1.8131e-01,1.7348e-01,2.4846e+00,-4.8989e-02,4.9773e-02,4.1092e-04,5.5527e-02,-2.2514e-03,-2.3792e-02,1.4580e-04,4.0360e-03,2.0696e-06,6.0452e-02,4.0386e-03
+4,2.0833e+00,DOWN_FORCE_DETACH,4.5388e-04,2.1274e-01,1.8232e-01,2.5970e+00,-4.9574e-02,5.1927e-02,4.0789e-04,8.6952e-02,6.5852e-03,8.8586e-02,-4.3864e-04,6.1905e-03,-9.6243e-07,1.2430e-01,6.2060e-03
+5,2.5000e+00,DOWN_FORCE_DETACH,5.7345e-04,1.3887e-01,1.7608e-01,2.6092e+00,-4.9154e-02,4.6658e-02,4.0659e-04,1.3087e-02,3.4133e-04,1.0078e-01,-1.9301e-05,9.2106e-04,-2.2554e-06,1.0162e-01,9.2126e-04
+6,2.8500e+00,DOWN_FORCE_DETACH,6.8410e-04,1.6219e-01,1.9977e-01,2.6760e+00,-5.0793e-02,4.8221e-02,4.0904e-04,3.6402e-02,2.4033e-02,1.6758e-01,-1.6576e-03,2.4844e-03,1.9185e-07,1.7316e-01,2.9866e-03
+7,3.3667e+00,DOWN_FORCE_DETACH,7.9635e-04,1.8787e-01,2.0851e-01,2.7169e+00,-5.1395e-02,5.0018e-02,4.0126e-04,6.2081e-02,3.2776e-02,2.0844e-01,-2.2595e-03,4.2809e-03,-7.5878e-06,2.1994e-01,4.8406e-03
+8,3.7500e+00,DOWN_FORCE_DETACH,9.1154e-04,1.3580e-01,2.5567e-01,2.7317e+00,-5.4666e-02,4.6281e-02,4.0865e-04,1.0014e-02,7.9938e-02,2.2330e-01,-5.5309e-03,5.4424e-04,-2.0035e-07,2.3739e-01,5.5576e-03
+9,4.1667e+00,DOWN_FORCE_DETACH,1.0232e-03,1.5714e-01,2.5990e-01,2.7726e+00,-5.4957e-02,4.7749e-02,3.9803e-04,3.1351e-02,8.4170e-02,2.6415e-01,-5.8219e-03,2.0120e-03,-1.0821e-05,2.7901e-01,6.1597e-03
+10,4.6000e+00,DOWN_FORCE_DETACH,1.1385e-03,1.6657e-01,2.8734e-01,2.8415e+00,-5.6836e-02,4.8353e-02,3.8934e-04,4.0784e-02,1.1161e-01,3.3306e-01,-7.7006e-03,2.6159e-03,-1.9505e-05,3.5362e-01,8.1328e-03
+11,5.0000e+00,DOWN_FORCE_DETACH,1.2542e-03,1.5295e-01,3.0048e-01,2.9114e+00,-5.7717e-02,4.7309e-02,3.8010e-04,2.7168e-02,1.2474e-01,4.0292e-01,-8.5822e-03,1.5718e-03,-2.8744e-05,4.2267e-01,8.7250e-03
+12,5.2833e+00,DOWN_FORCE_DETACH,1.3652e-03,4.5679e-03,3.0028e-01,2.8838e+00,-5.7714e-02,3.6741e-02,3.8534e-04,-1.2122e-01,1.2455e-01,3.7533e-01,-8.5788e-03,-8.9964e-03,-2.3506e-05,4.1361e-01,1.2431e-02
+13,5.4000e+00,DOWN_FORCE_DETACH,1.4879e-03,-1.4029e-04,1.1271e-01,2.8976e+00,-4.4744e-02,3.6389e-02,3.3540e-04,-1.2593e-01,-6.3020e-02,3.8920e-01,4.3912e-03,-9.3480e-03,-7.3450e-05,4.1389e-01,1.0328e-02
+14,5.6667e+00,DOWN_FORCE_DETACH,1.5931e-03,2.2733e-02,1.9638e-01,2.9035e+00,-5.0531e-02,3.7977e-02,3.4085e-04,-1.0305e-01,2.0641e-02,3.9506e-01,-1.3957e-03,-7.7597e-03,-6.7996e-05,4.0880e-01,7.8845e-03
+15,5.9333e+00,DOWN_FORCE_DETACH,1.7085e-03,3.0855e-02,2.2014e-01,3.0381e+00,-5.2145e-02,3.8409e-02,3.3515e-04,-9.4931e-02,4.4403e-02,5.2965e-01,-3.0103e-03,-7.3275e-03,-7.3697e-05,5.3992e-01,7.9221e-03
+16,6.3500e+00,DOWN_FORCE_DETACH,1.8233e-03,1.1567e-02,2.5220e-01,3.0237e+00,-5.4339e-02,3.7024e-02,3.3769e-04,-1.1422e-01,7.6467e-02,5.1526e-01,-5.2044e-03,-8.7127e-03,-7.1157e-05,5.3328e-01,1.0149e-02
+17,6.7500e+00,DOWN_FORCE_DETACH,1.9356e-03,5.4002e-03,2.7248e-01,3.0956e+00,-5.5687e-02,3.6519e-02,3.4173e-04,-1.2039e-01,9.6745e-02,5.8716e-01,-6.5516e-03,-9.2182e-03,-6.7116e-05,6.0713e-01,1.1309e-02
+18,7.1167e+00,DOWN_FORCE_DETACH,2.0528e-03,4.6242e-03,2.2791e-01,3.1202e+00,-5.2582e-02,3.6420e-02,3.2921e-04,-1.2116e-01,5.2173e-02,6.1179e-01,-3.4471e-03,-9.3165e-03,-7.9642e-05,6.2585e-01,9.9341e-03
+19,7.5667e+00,DOWN_FORCE_DETACH,2.1630e-03,1.8219e-02,2.6038e-01,3.1032e+00,-5.4799e-02,3.7372e-02,3.4144e-04,-1.0757e-01,8.4641e-02,5.9473e-01,-5.6638e-03,-8.3645e-03,-6.7411e-05,6.1028e-01,1.0102e-02
+20,7.9833e+00,DOWN_FORCE_DETACH,2.2785e-03,2.0081e-02,2.4676e-01,3.1198e+00,-5.3826e-02,3.7488e-02,3.4676e-04,-1.0571e-01,7.1023e-02,6.1134e-01,-4.6913e-03,-8.2487e-03,-6.2093e-05,6.2447e-01,9.4896e-03
+21,8.4167e+00,DOWN_FORCE_DETACH,2.3896e-03,4.2176e-02,2.8903e-01,3.0455e+00,-5.6738e-02,3.9098e-02,3.5969e-04,-8.3610e-02,1.1329e-01,5.3704e-01,-7.6026e-03,-6.6394e-03,-4.9161e-05,5.5520e-01,1.0094e-02
+22,8.9000e+00,DOWN_FORCE_DETACH,2.5041e-03,4.9085e-02,2.8945e-01,3.0361e+00,-5.6754e-02,3.9608e-02,3.5632e-04,-7.6702e-02,1.1372e-01,5.2766e-01,-7.6194e-03,-6.1291e-03,-5.2530e-05,5.4519e-01,9.7788e-03
+23,9.4000e+00,DOWN_FORCE_DETACH,2.6209e-03,8.1474e-02,3.0187e-01,2.9714e+00,-5.7605e-02,4.1978e-02,3.4821e-04,-4.4312e-02,1.2613e-01,4.6293e-01,-8.4698e-03,-3.7586e-03,-6.0633e-05,4.8185e-01,9.2665e-03
+24,9.8667e+00,DOWN_FORCE_DETACH,2.7329e-03,9.8356e-02,2.9248e-01,2.9305e+00,-5.6950e-02,4.3229e-02,3.2795e-04,-2.7430e-02,1.1675e-01,4.2209e-01,-7.8147e-03,-2.5079e-03,-8.0900e-05,4.3880e-01,8.2076e-03
+25,1.0333e+01,DOWN_FORCE_DETACH,2.8463e-03,1.1573e-01,2.8474e-01,2.8610e+00,-5.6424e-02,4.4538e-02,3.0380e-04,-1.0057e-02,1.0901e-01,3.5260e-01,-7.2889e-03,-1.1986e-03,-1.0505e-04,3.6920e-01,7.3876e-03
+26,1.0883e+01,DOWN_FORCE_DETACH,2.9609e-03,1.2796e-01,3.2369e-01,2.8494e+00,-5.9098e-02,4.5437e-02,2.9045e-04,2.1693e-03,1.4796e-01,3.4092e-01,-9.9633e-03,-3.0006e-04,-1.1840e-04,3.7164e-01,9.9685e-03
+27,1.1367e+01,DOWN_FORCE_DETACH,3.0777e-03,1.5539e-01,3.2231e-01,2.7508e+00,-5.9031e-02,4.7466e-02,2.7360e-04,2.9605e-02,1.4658e-01,2.4236e-01,-9.8957e-03,1.7289e-03,-1.3524e-04,2.8478e-01,1.0047e-02
+28,1.1917e+01,DOWN_FORCE_DETACH,3.1889e-03,1.6976e-01,2.8081e-01,2.7163e+00,-5.6191e-02,4.8530e-02,2.4731e-04,4.3977e-02,1.0508e-01,2.0789e-01,-7.0558e-03,2.7926e-03,-1.6153e-04,2.3706e-01,7.5900e-03
+29,1.2483e+01,DOWN_FORCE_DETACH,3.3034e-03,1.8829e-01,2.7992e-01,2.6487e+00,-5.6155e-02,4.9913e-02,2.3322e-04,6.2505e-02,1.0419e-01,1.4024e-01,-7.0197e-03,4.1756e-03,-1.7563e-04,1.8555e-01,8.1697e-03
+30,1.3033e+01,DOWN_FORCE_DETACH,3.4154e-03,2.0140e-01,2.7877e-01,2.6016e+00,-5.6102e-02,5.0892e-02,2.2135e-04,7.5618e-02,1.0304e-01,9.3205e-02,-6.9674e-03,5.1553e-03,-1.8750e-04,1.5818e-01,8.6693e-03
+31,1.3533e+01,DOWN_FORCE_DETACH,3.5322e-03,2.1049e-01,2.7774e-01,2.5695e+00,-5.6056e-02,5.1573e-02,2.1138e-04,8.4704e-02,1.0200e-01,6.1014e-02,-6.9206e-03,5.8362e-03,-1.9747e-04,1.4595e-01,9.0551e-03
+32,1.4017e+01,DOWN_FORCE_DETACH,3.6439e-03,2.1738e-01,2.7678e-01,2.5455e+00,-5.6014e-02,5.2091e-02,2.0235e-04,9.1594e-02,1.0105e-01,3.7050e-02,-6.8786e-03,6.3539e-03,-2.0649e-04,1.4133e-01,9.3664e-03
+33,1.4467e+01,DOWN_FORCE_DETACH,3.7585e-03,2.2249e-01,2.7590e-01,2.5280e+00,-5.5974e-02,5.2475e-02,1.9456e-04,9.6704e-02,1.0016e-01,1.9539e-02,-6.8390e-03,6.7379e-03,-2.1429e-04,1.4059e-01,9.6030e-03
+34,1.5017e+01,DOWN_FORCE_DETACH,3.8729e-03,2.2743e-01,2.7488e-01,2.5114e+00,-5.5928e-02,5.2846e-02,1.8548e-04,1.0164e-01,9.9149e-02,2.9690e-03,-6.7934e-03,7.1091e-03,-2.2337e-04,1.4202e-01,9.8357e-03
+35,1.5483e+01,DOWN_FORCE_DETACH,3.9886e-03,2.4389e-01,3.0857e-01,2.5424e+00,-5.8251e-02,5.3979e-02,1.8404e-04,1.1810e-01,1.3284e-01,3.3950e-02,-9.1155e-03,8.2425e-03,-2.2481e-04,1.8096e-01,1.2292e-02
+36,1.5950e+01,DOWN_FORCE_DETACH,4.0997e-03,2.4356e-01,3.0778e-01,2.5233e+00,-5.8216e-02,5.3979e-02,1.7495e-04,1.1777e-01,1.3204e-01,1.4853e-02,-9.0808e-03,8.2417e-03,-2.3390e-04,1.7756e-01,1.2265e-02
+37,1.6450e+01,DOWN_FORCE_DETACH,4.2150e-03,2.4370e-01,3.0698e-01,2.5085e+00,-5.8180e-02,5.4006e-02,1.6592e-04,1.1791e-01,1.3124e-01,8.4877e-05,-9.0446e-03,8.2691e-03,-2.4292e-04,1.7643e-01,1.2257e-02
+38,1.6967e+01,DOWN_FORCE_DETACH,4.3267e-03,2.4403e-01,3.0625e-01,2.4970e+00,-5.8147e-02,5.4043e-02,1.5705e-04,1.1824e-01,1.3051e-01,-1.1391e-02,-9.0115e-03,8.3065e-03,-2.5180e-04,1.7648e-01,1.2258e-02
+39,1.7417e+01,DOWN_FORCE_DETACH,4.4381e-03,2.4437e-01,3.0568e-01,2.4893e+00,-5.8121e-02,5.4077e-02,1.4978e-04,1.1858e-01,1.2995e-01,-1.9104e-02,-8.9862e-03,8.3400e-03,-2.5907e-04,1.7695e-01,1.2263e-02
+40,1.7867e+01,DOWN_FORCE_DETACH,4.5573e-03,2.4471e-01,3.0518e-01,2.4832e+00,-5.8099e-02,5.4109e-02,1.4296e-04,1.1893e-01,1.2944e-01,-2.5189e-02,-8.9638e-03,8.3719e-03,-2.6589e-04,1.7758e-01,1.2268e-02
+41,1.8300e+01,DOWN_FORCE_DETACH,4.6694e-03,2.4503e-01,3.0475e-01,2.4786e+00,-5.8080e-02,5.4137e-02,1.3684e-04,1.1924e-01,1.2902e-01,-2.9850e-02,-8.9448e-03,8.4003e-03,-2.7201e-04,1.7820e-01,1.2274e-02
+42,1.8817e+01,DOWN_FORCE_DETACH,4.7841e-03,2.4538e-01,3.0431e-01,2.4742e+00,-5.8060e-02,5.4168e-02,1.3009e-04,1.1960e-01,1.2857e-01,-3.4204e-02,-8.9251e-03,8.4311e-03,-2.7876e-04,1.7890e-01,1.2281e-02
+43,1.9417e+01,DOWN_FORCE_DETACH,4.8982e-03,2.4575e-01,3.0387e-01,2.4704e+00,-5.8041e-02,5.4199e-02,1.2297e-04,1.1996e-01,1.2813e-01,-3.8011e-02,-8.9058e-03,8.4621e-03,-2.8588e-04,1.7960e-01,1.2288e-02
+44,1.9850e+01,DOWN_FORCE_DETACH,5.0110e-03,2.3294e-01,3.2742e-01,2.5096e+00,-5.9653e-02,5.3248e-02,1.2742e-04,1.0715e-01,1.5168e-01,1.1642e-03,-1.0518e-02,7.5108e-03,-2.8143e-04,1.8571e-01,1.2927e-02
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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_08/up/fem_node.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_08/up/franka_data.csv ADDED Viewed

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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_08/up/multimodal_aligned_data.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_08/up/real_sim_motion_alignment.csv ADDED Viewed

	@@ -0,0 +1,61 @@

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+19,1.150000000e+00,WAIT_W2,1792833234288455134,9.560315852e-06,-2.646849024e-04,2.763848387e-05,9.688697094e-06,-2.608441948e-04,2.812399838e-05,1.101634516e-05,-2.578759856e-04,2.796411297e-05,7.019651931e-01,-2.869556374e-04,8.601707257e-01,7.019653215e-01,-2.831149299e-04,8.601712112e-01,7.027564045e-01,-3.759447386e-04,8.303539111e-01
+20,1.200000000e+00,WAIT_W2,1792833234350391681,7.278207587e-06,-2.758215600e-04,2.375664776e-05,5.833026754e-06,-2.877009461e-04,2.457543146e-05,6.850838853e-06,-2.843857036e-04,2.442796888e-05,7.019629110e-01,-2.980922950e-04,8.601668439e-01,7.019614658e-01,-3.099716811e-04,8.601676627e-01,7.027522390e-01,-4.024544567e-04,8.303503750e-01
+21,1.300000000e+00,WAIT_W2,1792833234448663681,9.758003964e-06,-2.803483147e-04,2.949579214e-05,5.833026754e-06,-2.877009461e-04,2.457543146e-05,6.875427307e-06,-2.844135184e-04,2.445107634e-05,7.019653908e-01,-3.026190497e-04,8.601725830e-01,7.019614658e-01,-3.099716811e-04,8.601676627e-01,7.027522636e-01,-4.024822714e-04,8.303503981e-01
+22,1.433333333e+00,UP_FORCE_RAMP,1792833234612952599,4.811129663e-06,-2.770250968e-04,2.325551383e-05,5.833026754e-06,-2.877009461e-04,2.457543146e-05,6.905965982e-06,-2.844442491e-04,2.447511680e-05,7.019604439e-01,-2.992958318e-04,8.601663428e-01,7.019614658e-01,-3.099716811e-04,8.601676627e-01,7.027522941e-01,-4.025130021e-04,8.303504221e-01
+23,1.600000000e+00,UP_FORCE_RAMP,1792833234776402419,9.098772077e-06,-2.762049439e-04,2.809296148e-05,5.833026754e-06,-2.877009461e-04,2.457543146e-05,6.940165800e-06,-2.844770733e-04,2.449883074e-05,7.019647316e-01,-2.984756789e-04,8.601711802e-01,7.019614658e-01,-3.099716811e-04,8.601676627e-01,7.027523283e-01,-4.025458263e-04,8.303504459e-01
+24,1.716666667e+00,UP_FORCE_RAMP,1792833234894516458,5.042839847e-06,-2.744222560e-04,2.086975996e-05,5.833026754e-06,-2.877009461e-04,2.457543146e-05,6.961875804e-06,-2.844973340e-04,2.451218205e-05,7.019606757e-01,-2.966929910e-04,8.601639570e-01,7.019614658e-01,-3.099716811e-04,8.601676627e-01,7.027523500e-01,-4.025660870e-04,8.303504592e-01
+25,1.850000000e+00,UP_FORCE_RAMP,1792833235055244432,7.860500454e-06,-2.803272930e-04,2.788980802e-05,5.833026754e-06,-2.877009461e-04,2.457543146e-05,6.984710678e-06,-2.845182748e-04,2.452475597e-05,7.019634933e-01,-3.025980280e-04,8.601709770e-01,7.019614658e-01,-3.099716811e-04,8.601676627e-01,7.027523729e-01,-4.025870278e-04,8.303504718e-01
+26,2.050000000e+00,UP_FORCE_RAMP,1792833235251349516,7.872349404e-06,-2.801266501e-04,2.815746147e-05,5.833026754e-06,-2.877009461e-04,2.457543146e-05,7.015510535e-06,-2.845460618e-04,2.453911517e-05,7.019635052e-01,-3.023973851e-04,8.601712447e-01,7.019614658e-01,-3.099716811e-04,8.601676627e-01,7.027524037e-01,-4.026148148e-04,8.303504861e-01
+27,2.250000000e+00,UP_FORCE_RAMP,1792833235448211734,6.855707680e-06,-2.782584755e-04,2.863007065e-05,5.833026754e-06,-2.877009461e-04,2.457543146e-05,7.042835380e-06,-2.845703649e-04,2.454908285e-05,7.019624885e-01,-3.005292105e-04,8.601717173e-01,7.019614658e-01,-3.099716811e-04,8.601676627e-01,7.027524310e-01,-4.026391179e-04,8.303504961e-01
+28,2.416666667e+00,UP_FORCE_RAMP,1792833235611610437,5.422387238e-06,-2.833785507e-04,3.066731448e-05,5.833026754e-06,-2.877009461e-04,2.457543146e-05,7.063306597e-06,-2.845882929e-04,2.455463880e-05,7.019610552e-01,-3.056492857e-04,8.601737546e-01,7.019614658e-01,-3.099716811e-04,8.601676627e-01,7.027524515e-01,-4.026570459e-04,8.303505017e-01
+29,2.550000000e+00,UP_FORCE_RAMP,1792833235742699486,3.221189480e-06,-2.740421907e-04,3.404905178e-05,5.833026754e-06,-2.877009461e-04,2.457543146e-05,7.078374357e-06,-2.846013719e-04,2.455757039e-05,7.019588540e-01,-2.963129257e-04,8.601771363e-01,7.019614658e-01,-3.099716811e-04,8.601676627e-01,7.027524665e-01,-4.026701249e-04,8.303505046e-01
+30,2.650000000e+00,UP_FORCE_RAMP,1792833235841770257,-3.311136884e-05,-2.716322456e-04,3.040439560e-05,-3.277257184e-05,-2.717884093e-04,3.031965301e-05,-3.382684192e-05,-2.688802881e-04,3.017055227e-05,7.019225214e-01,-2.939029806e-04,8.601734916e-01,7.019228602e-01,-2.940591443e-04,8.601734069e-01,7.027115613e-01,-3.869490411e-04,8.303561176e-01
+31,2.716666667e+00,UP_FORCE_RAMP,1792833235907262999,-2.389971299e-05,-2.740472335e-04,4.233170516e-05,-3.277257184e-05,-2.717884093e-04,3.031965301e-05,-3.389052578e-05,-2.688846623e-04,3.017427445e-05,7.019317331e-01,-2.963179685e-04,8.601854189e-01,7.019228602e-01,-2.940591443e-04,8.601734069e-01,7.027114976e-01,-3.869534153e-04,8.303561213e-01
+32,2.850000000e+00,UP_FORCE_RAMP,1792833236067011662,-2.168347626e-05,-2.708924498e-04,5.168814845e-05,-2.176506315e-05,-2.708011462e-04,5.152462354e-05,-2.200335656e-05,-2.679454967e-04,5.102793066e-05,7.019339493e-01,-2.931631848e-04,8.601947754e-01,7.019338678e-01,-2.930718812e-04,8.601946119e-01,7.027233848e-01,-3.860142497e-04,8.303769750e-01
+33,3.000000000e+00,UP_FORCE_RAMP,1792833236235602224,-1.907693709e-05,-2.651589943e-04,6.314550184e-05,-2.176506315e-05,-2.708011462e-04,5.152462354e-05,-2.200654507e-05,-2.679562370e-04,5.110411720e-05,7.019365559e-01,-2.874297293e-04,8.602062327e-01,7.019338678e-01,-2.930718812e-04,8.601946119e-01,7.027233816e-01,-3.860249900e-04,8.303770511e-01
+34,3.166666667e+00,UP_FORCE_RAMP,1792833236399668041,-2.014246592e-05,-2.704366224e-04,6.912605762e-05,-2.176506315e-05,-2.708011462e-04,5.152462354e-05,-2.202205002e-05,-2.679664789e-04,5.114425703e-05,7.019354904e-01,-2.927073574e-04,8.602122133e-01,7.019338678e-01,-2.930718812e-04,8.601946119e-01,7.027233661e-01,-3.860352319e-04,8.303770913e-01
+35,3.350000000e+00,UP_FORCE_RAMP,1792833236594421144,-1.960788521e-05,-2.700315204e-04,7.803871798e-05,-1.774419599e-05,-2.707142076e-04,7.411107670e-05,-1.744524806e-05,-2.678894583e-04,7.347776398e-05,7.019360249e-01,-2.923022554e-04,8.602211260e-01,7.019378886e-01,-2.929849427e-04,8.602171983e-01,7.027279429e-01,-3.859582113e-04,8.303994248e-01
+36,3.516666667e+00,UP_FORCE_RAMP,1792833236758668372,-1.591266116e-05,-2.685067982e-04,9.552013171e-05,-1.574150541e-05,-2.685822622e-04,9.578630862e-05,-1.511965867e-05,-2.658426663e-04,9.489532101e-05,7.019397202e-01,-2.907775332e-04,8.602386074e-01,7.019398913e-01,-2.908529973e-04,8.602388735e-01,7.027302685e-01,-3.839114193e-04,8.304208423e-01
+37,3.666666667e+00,UP_FORCE_RAMP,1792833236906209988,-1.504841927e-05,-2.700145275e-04,1.097770496e-04,-1.574150541e-05,-2.685822622e-04,9.578630862e-05,-1.511445409e-05,-2.658544856e-04,9.501207402e-05,7.019405844e-01,-2.922852625e-04,8.602528643e-01,7.019398913e-01,-2.908529973e-04,8.602388735e-01,7.027302737e-01,-3.839232386e-04,8.304209591e-01
+38,3.816666667e+00,UP_FORCE_RAMP,1792833237053441690,-1.413494683e-05,-2.672506827e-04,1.242675508e-04,-1.287329483e-05,-2.686868811e-04,1.152617996e-04,-1.177740337e-05,-2.659187162e-04,1.142751422e-04,7.019414979e-01,-2.895214178e-04,8.602673548e-01,7.019427595e-01,-2.909576161e-04,8.602583490e-01,7.027336107e-01,-3.839874692e-04,8.304402222e-01
+39,4.000000000e+00,UP_FORCE_RAMP,1792833237233363933,-1.273577945e-05,-2.661181117e-04,1.397626513e-04,-1.296018526e-05,-2.684577421e-04,1.358467581e-04,-1.160976916e-05,-2.657314979e-04,1.346743936e-04,7.019428970e-01,-2.883888467e-04,8.602828499e-01,7.019426726e-01,-2.907284772e-04,8.602789340e-01,7.027337784e-01,-3.838002509e-04,8.304606214e-01
+40,4.200000000e+00,UP_FORCE_RAMP,1792833237430150407,-1.860048064e-05,-2.627160923e-04,1.421436931e-04,-1.296018526e-05,-2.684577421e-04,1.358467581e-04,-1.160048819e-05,-2.657455381e-04,1.348286505e-04,7.019370323e-01,-2.849868273e-04,8.602852309e-01,7.019426726e-01,-2.907284772e-04,8.602789340e-01,7.027337877e-01,-3.838142911e-04,8.304607757e-01
+41,4.400000000e+00,UP_FORCE_RAMP,1792833237626593717,-2.267616922e-05,-2.625626079e-04,1.469960550e-04,-1.296018526e-05,-2.684577421e-04,1.358467581e-04,-1.159279437e-05,-2.657569921e-04,1.349396639e-04,7.019329566e-01,-2.848333429e-04,8.602900833e-01,7.019426726e-01,-2.907284772e-04,8.602789340e-01,7.027337954e-01,-3.838257451e-04,8.304608867e-01
+42,4.583333333e+00,UP_FORCE_RAMP,1792833237806522292,-2.699013109e-05,-2.640901365e-04,1.521402993e-04,-2.478674669e-05,-2.621640631e-04,1.506792149e-04,-2.399375046e-05,-2.595511075e-04,1.495986073e-04,7.019286427e-01,-2.863608716e-04,8.602952275e-01,7.019308461e-01,-2.844347981e-04,8.602937665e-01,7.027213944e-01,-3.776198605e-04,8.304755456e-01
+43,4.650000000e+00,UP_FORCE_RAMP,1792833237872470650,-5.370597303e-05,-2.669278165e-04,1.415681625e-04,-5.350187655e-05,-2.670532792e-04,1.413397168e-04,-5.464425614e-05,-2.643985567e-04,1.404079961e-04,7.019019268e-01,-2.891985516e-04,8.602846554e-01,7.019021309e-01,-2.893240143e-04,8.602844270e-01,7.026907439e-01,-3.824673098e-04,8.304663550e-01
+44,4.716666667e+00,UP_FORCE_RAMP,1792833237939293962,-4.792327763e-05,-2.674693625e-04,1.513273684e-04,-4.812260154e-05,-2.674970710e-04,1.516424670e-04,-4.884532419e-05,-2.648315963e-04,1.505594404e-04,7.019077095e-01,-2.897400975e-04,8.602944146e-01,7.019075102e-01,-2.897678060e-04,8.602947297e-01,7.026965428e-01,-3.829003493e-04,8.304765065e-01
+45,4.733333333e+00,UP_FORCE_RAMP,1792833237954383347,-6.727686945e-05,-2.640726879e-04,1.387052864e-04,-6.700866487e-05,-2.640287877e-04,1.386750933e-04,-6.910187827e-05,-2.613642727e-04,1.378424432e-04,7.018883559e-01,-2.863434229e-04,8.602817925e-01,7.018886242e-01,-2.862995228e-04,8.602817623e-01,7.026762863e-01,-3.794330257e-04,8.304637895e-01
+46,4.816666667e+00,UP_FORCE_RAMP,1792833238036071382,-6.343905152e-05,-2.638792895e-04,1.447356878e-04,-6.700866487e-05,-2.640287877e-04,1.386750933e-04,-6.917264434e-05,-2.613651573e-04,1.378635671e-04,7.018921938e-01,-2.861500245e-04,8.602878229e-01,7.018886242e-01,-2.862995228e-04,8.602817623e-01,7.026762155e-01,-3.794339103e-04,8.304638106e-01
+47,4.950000000e+00,UP_FORCE_RAMP,1792833238166974530,-6.142492161e-05,-2.617389015e-04,1.478511029e-04,-6.700866487e-05,-2.640287877e-04,1.386750933e-04,-6.924083669e-05,-2.613661119e-04,1.379055068e-04,7.018942079e-01,-2.840096365e-04,8.602909383e-01,7.018886242e-01,-2.862995228e-04,8.602817623e-01,7.026761473e-01,-3.794348649e-04,8.304638525e-01
+48,5.033333333e+00,UP_FORCE_RAMP,1792833238249417845,-6.693340896e-05,-2.626840145e-04,1.440706440e-04,-6.700866487e-05,-2.640287877e-04,1.386750933e-04,-6.927616737e-05,-2.613670668e-04,1.379306117e-04,7.018886994e-01,-2.849547495e-04,8.602871579e-01,7.018886242e-01,-2.862995228e-04,8.602817623e-01,7.026761120e-01,-3.794358199e-04,8.304638776e-01
+49,5.183333333e+00,UP_FORCE_RAMP,1792833238396365512,-6.847336589e-05,-2.698001178e-04,1.505016880e-04,-6.700866487e-05,-2.640287877e-04,1.386750933e-04,-6.933148454e-05,-2.613686776e-04,1.379728297e-04,7.018871595e-01,-2.920708528e-04,8.602935889e-01,7.018886242e-01,-2.862995228e-04,8.602817623e-01,7.026760567e-01,-3.794374307e-04,8.304639199e-01
+50,5.300000000e+00,UP_FORCE_RAMP,1792833238511256291,-7.093410888e-05,-2.650478896e-04,1.530537644e-04,-6.611963253e-05,-2.663175955e-04,1.586724248e-04,-6.816260345e-05,-2.636638278e-04,1.576445424e-04,7.018846987e-01,-2.873186246e-04,8.602961410e-01,7.018895132e-01,-2.885883305e-04,8.603017597e-01,7.026772255e-01,-3.817325809e-04,8.304835916e-01
+51,5.400000000e+00,UP_FORCE_RAMP,1792833238609539060,-6.912801664e-05,-2.612601734e-04,1.622392082e-04,-6.611963253e-05,-2.663175955e-04,1.586724248e-04,-6.818888940e-05,-2.636670375e-04,1.577093790e-04,7.018865048e-01,-2.835309084e-04,8.603053264e-01,7.018895132e-01,-2.885883305e-04,8.603017597e-01,7.026771993e-01,-3.817357906e-04,8.304836564e-01
+52,5.583333333e+00,UP_FORCE_RAMP,1792833238806218713,-6.938287178e-05,-2.630516662e-04,1.731260244e-04,-6.611963253e-05,-2.663175955e-04,1.586724248e-04,-6.823405710e-05,-2.636708769e-04,1.577908664e-04,7.018862499e-01,-2.853224013e-04,8.603162133e-01,7.018895132e-01,-2.885883305e-04,8.603017597e-01,7.026771541e-01,-3.817396299e-04,8.304837379e-01
+53,5.750000000e+00,UP_FORCE_HOLD,1792833238969526534,-6.814601136e-05,-2.578976876e-04,1.829555840e-04,-6.698114385e-05,-2.634278690e-04,1.787756752e-04,-6.897279207e-05,-2.608076215e-04,1.776921450e-04,7.018874868e-01,-2.801684227e-04,8.603260428e-01,7.018886517e-01,-2.856986040e-04,8.603218629e-01,7.026764154e-01,-3.788763745e-04,8.305036392e-01
+54,5.933333333e+00,UP_SETTLE,1792833239150289477,-7.025931301e-05,-2.638163724e-04,1.879258368e-04,-6.698114385e-05,-2.634278690e-04,1.787756752e-04,-6.900888268e-05,-2.608104430e-04,1.777913654e-04,7.018853735e-01,-2.860871075e-04,8.603310131e-01,7.018886517e-01,-2.856986040e-04,8.603218629e-01,7.026763793e-01,-3.788791960e-04,8.305037384e-01
+55,6.133333333e+00,UP_SETTLE,1792833239346536816,-7.105740009e-05,-2.578459572e-04,1.932281659e-04,-6.698114385e-05,-2.634278690e-04,1.787756752e-04,-6.904329105e-05,-2.608126557e-04,1.778764381e-04,7.018845754e-01,-2.801166922e-04,8.603363154e-01,7.018886517e-01,-2.856986040e-04,8.603218629e-01,7.026763449e-01,-3.788814088e-04,8.305038235e-01
+56,6.283333333e+00,UP_SETTLE,1792833239493881580,-7.103527165e-05,-2.574586101e-04,1.995135963e-04,-7.093952096e-05,-2.577212447e-04,1.991549521e-04,-7.300300551e-05,-2.552082659e-04,1.979369283e-04,7.018845975e-01,-2.797293451e-04,8.603426008e-01,7.018846933e-01,-2.799919797e-04,8.603422422e-01,7.026723851e-01,-3.732770189e-04,8.305238840e-01
+57,6.450000000e+00,UP_SETTLE,1792833239657981319,-7.505002752e-05,-2.569053690e-04,1.974961037e-04,-7.093952096e-05,-2.577212447e-04,1.991549521e-04,-7.303932972e-05,-2.552098613e-04,1.980628317e-04,7.018805828e-01,-2.791761040e-04,8.603405833e-01,7.018846933e-01,-2.799919797e-04,8.603422422e-01,7.026723488e-01,-3.732786143e-04,8.305240099e-01
+58,6.616666667e+00,UP_SETTLE,1792833239821487493,-7.352189805e-05,-2.582130953e-04,2.016089036e-04,-7.093952096e-05,-2.577212447e-04,1.991549521e-04,-7.306583799e-05,-2.552101779e-04,1.981436748e-04,7.018821109e-01,-2.804838303e-04,8.603446961e-01,7.018846933e-01,-2.799919797e-04,8.603422422e-01,7.026723223e-01,-3.732789309e-04,8.305240907e-01
+59,6.800000000e+00,UP_SETTLE,1792833240002314827,-7.360747682e-05,-2.634867638e-04,2.034008890e-04,-7.093952096e-05,-2.577212447e-04,1.991549521e-04,-7.309140667e-05,-2.552102466e-04,1.982177133e-04,7.018820253e-01,-2.857574988e-04,8.603464881e-01,7.018846933e-01,-2.799919797e-04,8.603422422e-01,7.026722967e-01,-3.732789996e-04,8.305241647e-01

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_08/up/simulation_data.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.2659e-01,1.7570e-01,2.5081e+00,-4.9133e-02,4.5795e-02,4.0905e-04,8.2327e-04,-2.9072e-05,-3.7527e-04,1.8701e-06,5.9847e-05,1.0699e-07,9.0524e-04,5.9876e-05
+1,1.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,3.6960e-05,1.3368e-01,1.7544e-01,2.5049e+00,-4.9116e-02,4.6310e-02,4.0999e-04,7.9141e-03,-2.9221e-04,-3.5658e-03,1.8846e-05,5.7519e-04,1.0476e-06,8.6853e-03,5.7550e-04
+2,3.3333e-01,WAIT_W2,8.0099e-05,1.4163e-01,1.7513e-01,2.5014e+00,-4.9096e-02,4.6888e-02,4.1099e-04,1.5863e-02,-5.9803e-04,-7.0739e-03,3.8661e-05,1.1527e-03,2.0469e-06,1.7379e-02,1.1533e-03
+3,5.1667e-01,WAIT_W2,1.2106e-04,1.4886e-01,1.7485e-01,2.4982e+00,-4.9078e-02,4.7414e-02,4.1173e-04,2.3102e-02,-8.8522e-04,-1.0219e-02,5.7314e-05,1.6786e-03,2.7888e-06,2.5277e-02,1.6796e-03
+4,6.5000e-01,WAIT_W2,1.5749e-04,1.5373e-01,1.7465e-01,2.4961e+00,-4.9065e-02,4.7767e-02,4.1210e-04,2.7964e-02,-1.0821e-03,-1.2307e-02,7.0110e-05,2.0318e-03,3.1599e-06,3.0571e-02,2.0330e-03
+5,6.8333e-01,WAIT_W2,1.9601e-04,1.5489e-01,1.7460e-01,2.4956e+00,-4.9062e-02,4.7852e-02,4.1218e-04,2.9130e-02,-1.1296e-03,-1.2805e-02,7.3195e-05,2.1166e-03,3.2328e-06,3.1840e-02,2.1178e-03
+6,7.0000e-01,WAIT_W2,2.7619e-04,1.4489e-01,3.5325e-01,2.4750e+00,-6.1435e-02,4.7147e-02,4.5530e-04,1.9127e-02,1.7752e-01,-3.3408e-02,-1.2300e-02,1.4123e-03,4.6357e-05,1.8165e-01,1.2381e-02
+7,7.0000e-01,WAIT_W2,2.7619e-04,1.4489e-01,3.5325e-01,2.4750e+00,-6.1435e-02,4.7147e-02,4.5530e-04,1.9127e-02,1.7752e-01,-3.3408e-02,-1.2300e-02,1.4123e-03,4.6357e-05,1.8165e-01,1.2381e-02
+8,7.0000e-01,WAIT_W2,2.7619e-04,1.4489e-01,3.5325e-01,2.4750e+00,-6.1435e-02,4.7147e-02,4.5530e-04,1.9127e-02,1.7752e-01,-3.3408e-02,-1.2300e-02,1.4123e-03,4.6357e-05,1.8165e-01,1.2381e-02
+9,7.1667e-01,WAIT_W2,3.7898e-04,1.4965e-01,7.6933e-01,2.4681e+00,-9.0259e-02,4.7463e-02,5.5336e-04,2.3890e-02,5.9360e-01,-4.0357e-02,-4.1124e-02,1.7274e-03,1.4441e-04,5.9545e-01,4.1160e-02
+10,7.1667e-01,WAIT_W2,3.7898e-04,1.4965e-01,7.6933e-01,2.4681e+00,-9.0259e-02,4.7463e-02,5.5336e-04,2.3890e-02,5.9360e-01,-4.0357e-02,-4.1124e-02,1.7274e-03,1.4441e-04,5.9545e-01,4.1160e-02
+11,7.3333e-01,WAIT_W2,4.5265e-04,1.6013e-01,1.2975e+00,2.4538e+00,-1.2690e-01,4.8184e-02,6.8138e-04,3.4367e-02,1.1218e+00,-5.4579e-02,-7.7762e-02,2.4491e-03,2.7244e-04,1.1236e+00,7.7801e-02
+12,7.5000e-01,WAIT_W2,4.7684e-04,1.6689e-01,1.6743e+00,2.4541e+00,-1.5307e-01,4.8641e-02,7.7779e-04,4.1126e-02,1.4986e+00,-5.4335e-02,-1.0393e-01,2.9057e-03,3.6885e-04,1.5001e+00,1.0397e-01
+13,7.6667e-01,WAIT_W2,5.0720e-04,1.7607e-01,1.7941e+00,2.4648e+00,-1.6144e-01,4.9279e-02,8.1128e-04,5.0303e-02,1.6183e+00,-4.3624e-02,-1.1231e-01,3.5439e-03,4.0233e-04,1.6197e+00,1.1236e-01
+14,8.1667e-01,WAIT_W2,5.6920e-04,1.7138e-01,1.4587e+00,2.4745e+00,-1.3830e-01,4.8963e-02,7.4270e-04,4.5621e-02,1.2830e+00,-3.3908e-02,-8.9169e-02,3.2281e-03,3.3376e-04,1.2843e+00,8.9228e-02
+15,8.5000e-01,WAIT_W2,6.0113e-04,1.8423e-01,1.6205e+00,2.4842e+00,-1.4954e-01,4.9861e-02,7.7909e-04,5.8464e-02,1.4447e+00,-2.4191e-02,-1.0040e-01,4.1258e-03,3.7014e-04,1.4461e+00,1.0049e-01
+16,9.1667e-01,WAIT_W2,6.3803e-04,1.8791e-01,1.6143e+00,2.4888e+00,-1.4920e-01,5.0124e-02,7.8559e-04,6.2145e-02,1.4386e+00,-1.9633e-02,-1.0007e-01,4.3890e-03,3.7665e-04,1.4401e+00,1.0017e-01
+17,1.0333e+00,WAIT_W2,6.7952e-04,1.9398e-01,1.6072e+00,2.4940e+00,-1.4883e-01,5.0562e-02,7.9197e-04,6.8216e-02,1.4315e+00,-1.4455e-02,-9.9698e-02,4.8265e-03,3.8302e-04,1.4332e+00,9.9815e-02
+18,1.1000e+00,WAIT_W2,7.1804e-04,1.9714e-01,1.6038e+00,2.4964e+00,-1.4866e-01,5.0790e-02,7.9459e-04,7.1378e-02,1.4281e+00,-1.2031e-02,-9.9521e-02,5.0550e-03,3.8564e-04,1.4299e+00,9.9650e-02
+19,1.1500e+00,WAIT_W2,7.5824e-04,1.8002e-01,1.4870e+00,2.4704e+00,-1.4064e-01,4.9603e-02,7.8060e-04,5.4253e-02,1.3113e+00,-3.7988e-02,-9.1505e-02,3.8677e-03,3.7166e-04,1.3130e+00,9.1587e-02
+20,1.2000e+00,WAIT_W2,8.0001e-04,1.9840e-01,1.6252e+00,2.4884e+00,-1.5022e-01,5.0893e-02,8.0672e-04,7.2642e-02,1.4494e+00,-2.0000e-02,-1.0109e-01,5.1573e-03,3.9778e-04,1.4514e+00,1.0122e-01
+21,1.3000e+00,WAIT_W2,8.4042e-04,2.0273e-01,1.6199e+00,2.4928e+00,-1.4994e-01,5.1203e-02,8.0934e-04,7.6964e-02,1.4441e+00,-1.5627e-02,-1.0081e-01,5.4676e-03,4.0040e-04,1.4463e+00,1.0096e-01
+22,1.4333e+00,UP_FORCE_RAMP,8.7812e-04,2.0811e-01,1.6147e+00,2.4972e+00,-1.4968e-01,5.1591e-02,8.1125e-04,8.2343e-02,1.4390e+00,-1.1241e-02,-1.0054e-01,5.8558e-03,4.0230e-04,1.4414e+00,1.0071e-01
+23,1.6000e+00,UP_FORCE_RAMP,9.2232e-04,2.1412e-01,1.6091e+00,2.5015e+00,-1.4939e-01,5.2025e-02,8.1145e-04,8.8356e-02,1.4334e+00,-6.9208e-03,-1.0026e-01,6.2901e-03,4.0251e-04,1.4361e+00,1.0046e-01
+24,1.7167e+00,UP_FORCE_RAMP,9.6016e-04,2.1793e-01,1.6056e+00,2.5039e+00,-1.4922e-01,5.2301e-02,8.1042e-04,9.2171e-02,1.4299e+00,-4.4820e-03,-1.0008e-01,6.5658e-03,4.0147e-04,1.4328e+00,1.0030e-01
+25,1.8500e+00,UP_FORCE_RAMP,9.9702e-04,2.2195e-01,1.6019e+00,2.5062e+00,-1.4903e-01,5.2592e-02,8.0816e-04,9.6189e-02,1.4262e+00,-2.1849e-03,-9.9898e-02,6.8563e-03,3.9922e-04,1.4295e+00,1.0013e-01
+26,2.0500e+00,UP_FORCE_RAMP,1.0411e-03,2.2737e-01,1.5971e+00,2.5089e+00,-1.4879e-01,5.2984e-02,8.0298e-04,1.0161e-01,1.4213e+00,4.3964e-04,-9.9655e-02,7.2487e-03,3.9404e-04,1.4250e+00,9.9919e-02
+27,2.2500e+00,UP_FORCE_RAMP,1.0805e-03,2.3218e-01,1.5929e+00,2.5107e+00,-1.4858e-01,5.3332e-02,7.9600e-04,1.0641e-01,1.4171e+00,2.2736e-03,-9.9445e-02,7.5967e-03,3.8706e-04,1.4211e+00,9.9736e-02
+28,2.4167e+00,UP_FORCE_RAMP,1.1228e-03,2.3578e-01,1.5897e+00,2.5117e+00,-1.4842e-01,5.3593e-02,7.8906e-04,1.1001e-01,1.4139e+00,3.3031e-03,-9.9288e-02,7.8580e-03,3.8012e-04,1.4182e+00,9.9599e-02
+29,2.5500e+00,UP_FORCE_RAMP,1.1606e-03,2.3843e-01,1.5873e+00,2.5123e+00,-1.4831e-01,5.3785e-02,7.8289e-04,1.1266e-01,1.4116e+00,3.8548e-03,-9.9172e-02,8.0503e-03,3.7395e-04,1.4161e+00,9.9499e-02
+30,2.6500e+00,UP_FORCE_RAMP,1.2159e-03,2.5080e-01,1.4983e+00,2.4739e+00,-1.4222e-01,5.4707e-02,7.4870e-04,1.2504e-01,1.3226e+00,-3.4487e-02,-9.3086e-02,8.9715e-03,3.3975e-04,1.3289e+00,9.3517e-02
+31,2.7167e+00,UP_FORCE_RAMP,1.2388e-03,3.4264e-01,1.5079e+00,2.4972e+00,-1.4286e-01,6.1277e-02,6.7536e-04,2.1688e-01,1.3322e+00,-1.1217e-02,-9.3727e-02,1.5542e-02,2.6642e-04,1.3498e+00,9.5007e-02
+32,2.8500e+00,UP_FORCE_RAMP,1.2817e-03,3.3273e-01,1.5069e+00,2.4984e+00,-1.4282e-01,6.0581e-02,6.5486e-04,2.0697e-01,1.3312e+00,-9.9964e-03,-9.3687e-02,1.4846e-02,2.4592e-04,1.3472e+00,9.4857e-02
+33,3.0000e+00,UP_FORCE_RAMP,1.3193e-03,2.9655e-01,1.4956e+00,2.4474e+00,-1.4215e-01,5.8043e-02,6.5815e-04,1.7079e-01,1.3198e+00,-6.1012e-02,-9.3019e-02,1.2308e-02,2.4921e-04,1.3322e+00,9.3831e-02
+34,3.1667e+00,UP_FORCE_RAMP,1.3613e-03,2.9387e-01,1.4937e+00,2.4547e+00,-1.4206e-01,5.7851e-02,6.4238e-04,1.6811e-01,1.3180e+00,-5.3696e-02,-9.2929e-02,1.2116e-02,2.3344e-04,1.3297e+00,9.3716e-02
+35,3.3500e+00,UP_FORCE_RAMP,1.4004e-03,2.7979e-01,1.4872e+00,2.4065e+00,-1.4174e-01,5.6891e-02,6.3593e-04,1.5402e-01,1.3114e+00,-1.0193e-01,-9.2601e-02,1.1156e-02,2.2699e-04,1.3244e+00,9.3271e-02
+36,3.5167e+00,UP_FORCE_RAMP,1.4404e-03,2.7925e-01,1.4853e+00,2.4175e+00,-1.4164e-01,5.6847e-02,6.2495e-04,1.5348e-01,1.3096e+00,-9.0966e-02,-9.2508e-02,1.1112e-02,2.1600e-04,1.3217e+00,9.3173e-02
+37,3.6667e+00,UP_FORCE_RAMP,1.4817e-03,2.7206e-01,1.4694e+00,2.3722e+00,-1.4066e-01,5.6377e-02,6.1802e-04,1.4630e-01,1.2937e+00,-1.3618e-01,-9.1521e-02,1.0642e-02,2.0908e-04,1.3091e+00,9.2138e-02
+38,3.8167e+00,UP_FORCE_RAMP,1.5221e-03,2.6350e-01,1.4646e+00,2.3364e+00,-1.4042e-01,5.5800e-02,6.1726e-04,1.3773e-01,1.2889e+00,-1.7207e-01,-9.1288e-02,1.0064e-02,2.0831e-04,1.3076e+00,9.1841e-02
+39,4.0000e+00,UP_FORCE_RAMP,1.5616e-03,2.6332e-01,1.4587e+00,2.2977e+00,-1.4012e-01,5.5826e-02,6.0965e-04,1.3756e-01,1.2830e+00,-2.1077e-01,-9.0988e-02,1.0091e-02,2.0071e-04,1.3075e+00,9.1546e-02
+40,4.2000e+00,UP_FORCE_RAMP,1.6040e-03,2.6507e-01,1.4563e+00,2.3265e+00,-1.3999e-01,5.5934e-02,6.0240e-04,1.3931e-01,1.2805e+00,-1.8195e-01,-9.0856e-02,1.0199e-02,1.9346e-04,1.3009e+00,9.1427e-02
+41,4.4000e+00,UP_FORCE_RAMP,1.6406e-03,2.6638e-01,1.4544e+00,2.3465e+00,-1.3989e-01,5.6015e-02,5.9537e-04,1.4061e-01,1.2787e+00,-1.6196e-01,-9.0759e-02,1.0279e-02,1.8643e-04,1.2966e+00,9.1339e-02
+42,4.5833e+00,UP_FORCE_RAMP,1.6810e-03,2.9680e-01,1.4204e+00,2.3226e+00,-1.3760e-01,5.8224e-02,5.5858e-04,1.7103e-01,1.2447e+00,-1.8579e-01,-8.8466e-02,1.2489e-02,1.4964e-04,1.2700e+00,8.9343e-02
+43,4.6500e+00,UP_FORCE_RAMP,1.7128e-03,2.9531e-01,1.4200e+00,2.3302e+00,-1.3758e-01,5.8115e-02,5.5451e-04,1.6955e-01,1.2443e+00,-1.7819e-01,-8.8447e-02,1.2380e-02,1.4557e-04,1.2684e+00,8.9309e-02
+44,4.7167e+00,UP_FORCE_RAMP,1.7790e-03,4.3360e-01,1.4644e+00,2.4081e+00,-1.4057e-01,6.7944e-02,4.6426e-04,3.0783e-01,1.2887e+00,-1.0034e-01,-9.1438e-02,2.2209e-02,5.5317e-05,1.3287e+00,9.4097e-02
+45,4.7333e+00,UP_FORCE_RAMP,1.8023e-03,3.5232e-01,1.4501e+00,2.3327e+00,-1.3967e-01,6.2220e-02,5.0547e-04,2.2656e-01,1.2744e+00,-1.7572e-01,-9.0537e-02,1.6485e-02,9.6524e-05,1.3063e+00,9.2026e-02
+46,4.8167e+00,UP_FORCE_RAMP,1.8432e-03,3.9931e-01,1.4362e+00,2.3771e+00,-1.3867e-01,6.5543e-02,4.5377e-04,2.7354e-01,1.2605e+00,-1.3136e-01,-8.9532e-02,1.9807e-02,4.4828e-05,1.2965e+00,9.1697e-02
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+48,5.0333e+00,UP_FORCE_RAMP,1.9189e-03,3.8107e-01,1.4357e+00,2.3890e+00,-1.3864e-01,6.4236e-02,4.2189e-04,2.5530e-01,1.2600e+00,-1.1946e-01,-8.9507e-02,1.8501e-02,1.2942e-05,1.2911e+00,9.1399e-02
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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_09/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_09/down/fem_node.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_09/down/franka_data.csv ADDED Viewed

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+12122,1792833324505151949,12003970000000,1792833324505095955,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6762018181898223,-0.004945405608503285,0.09892380979482084,0.9999999438653983,-0.00021736541922378724,0.0001950714997294769,0.00013568879435783048,0.6761,-0.0046,0.09856607238434442,1.0,0.0,0.0,0.0,-0.7626669688390579,0.41873316756383794,3.5543487138344996,0.030992555364842536,0.0496746036323598,0.002361457652442959,0.19484189315803077,1.628099653075812,3.9214883089080748,0.11090736089414452,-0.015851529689764655,0.004066730561981096,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,1.8073174057833803,1.3204280978605119,-2.7480886521652965,0.05996426986828018,2.0365815129434286,0.7637533435375323,-0.49566648112372286,-3.5543487138344996,2.2524221710415735,2.2524221710415735,1.2712500000000961,0,0,-0.0001548705362744166,9.999999025923074e-05
+12256,1792833325622148712,12005087000000,1792833325617096487,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6762278067700673,-0.00494623625218191,0.0988313283047978,0.9999999559436973,-7.006433580551172e-05,0.00023703663102782235,0.0001358679223112112,0.6761,-0.0046,0.09842424628924373,1.0,0.0,0.0,0.0,-0.8042319283656908,0.4774448534796194,3.8746127425143877,0.03491826590611237,0.05321497351419214,0.002209303280564336,0.15327693363139797,1.6868113389915935,4.241752337587963,0.11483307143541435,-0.012311159807932315,0.003914576190102473,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,1.9123325385366294,1.3443125617696838,-3.004961814552624,0.035622797189259196,2.2262114424709654,0.7312261623140548,-0.49566648112372286,-3.8746127425143877,2.5092953334289008,2.5092953334289008,1.4388000000002017,0,0,-9.902054715485586e-05,9.999999025923074e-05
+12381,1792833326664040330,12006129000000,1792833326657096449,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6762393219036641,-0.004950766292429658,0.098774885540952,0.9999999500335623,-8.922296930005466e-05,0.0002557471458127867,0.0001341953664423099,0.6761,-0.0046,0.09834818492381521,1.0,0.0,0.0,0.0,-0.8418273626441587,0.49595164554132753,4.048051167213904,0.03584559320096353,0.05517965641453863,0.003053491236943067,0.11568149935293004,1.7053181310533017,4.415190762287479,0.11576039873026552,-0.01034647690758582,0.004758764146481204,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,1.9948782854599718,1.291682589551265,-3.223081607202387,0.07644402576363196,2.3824865669700555,0.7261646482197739,-0.49566648112372286,-4.048051167213904,2.727415126078664,2.727415126078664,1.5951000000003002,0,0,-4.6920557304737425e-05,9.999999025923074e-05
+12528,1792833327889132724,12007354000000,1792833327885096458,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.676243699323278,-0.004949735750199136,0.09874876813548909,0.9999999477113392,-9.553343360522164e-05,0.00026239818532073413,0.00013431581765800587,0.6761,-0.0046,0.09832532565803985,1.0,0.0,0.0,0.0,-0.8415275383688875,0.5005470804804217,4.098512900982383,0.036449908200467604,0.055157994214242494,0.0031055607697220884,0.11598132362820122,1.7099135659923959,4.4656524960559585,0.11636471372976959,-0.01036813910788196,0.004810833679260226,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,1.867011114108065,1.3562113077486069,-3.2568151280169135,0.07318513033770209,2.368031923967038,0.7818737757181558,-0.49566648112372286,-4.098512900982383,2.7611486468931905,2.7611486468931905,1.778850000000416,0,0,-8.722445253572797e-07,8.810550761184643e-06
+12667,1792833329047057120,12008512000000,1792833329045096055,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6762454203817865,-0.004949905893999862,0.09874765448707773,0.9999999471132959,-9.566653943981388e-05,0.0002656721621287092,0.00013222135012682035,0.6761,-0.0046,0.09832515173829788,1.0,0.0,0.0,0.0,-0.8363104444531246,0.4975542849875374,4.073818845470152,0.035849156172205285,0.055177026463846666,0.0020914068227352823,0.12119841754396408,1.7069207704995115,4.440958440543727,0.11576396170150727,-0.010349106858277784,0.0037966797322734197,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,1.9798250292314574,1.317257460233423,-3.2608892103174902,0.07320569561565658,2.4081847315158975,0.7512667970820157,-0.49566648112372286,-4.073818845470152,2.765222729193767,2.765222729193767,1.9525500000005254,0,0,-2.6279016462904536e-09,2.6544461073640946e-08
+12792,1792833330089124258,12009554000000,1792833330089096116,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6762453299860359,-0.004953230419107788,0.09874584776672608,0.9999999468203381,-0.00010252136272088523,0.0002637729654672043,0.00013309912916048842,0.6761,-0.0046,0.0983251512155591,1.0,0.0,0.0,0.0,-0.8318360508732152,0.47510103529804293,4.057451268284014,0.035083220707433374,0.05418556524207045,0.002084134289608069,0.12567281112387355,1.684467520810017,4.424590863357589,0.11499802623673536,-0.011340568080054,0.0037894071991462063,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,1.9195355060579646,1.3266768573708314,-3.1427034782991403,0.0866461889789583,2.317425371587837,0.7646131395439221,-0.49566648112372286,-4.057451268284014,2.6470369971754173,2.6470369971754173,2.108850000000624,0,0,-1.4206136267347347e-11,1.4349632593280148e-10
+12908,1792833331055109798,12010520000000,1792833331053096534,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.676241981827747,-0.00495181238832917,0.09874025696562985,0.9999999483141221,-0.00010194537342416255,0.0002587068625118202,0.00013225928187302253,0.6761,-0.0046,0.09832515121228635,1.0,0.0,0.0,0.0,-0.8251054263795474,0.4866479099214125,4.047781389168908,0.03577039068288698,0.05417062011082138,0.0024616850896695226,0.13240343561754128,1.6960143954333866,4.4149209842424835,0.11568519621218896,-0.011355513211303066,0.00416695799920766,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,1.9081624474671603,1.2206956327585068,-3.1974390899193783,0.106905518715245,2.3518704505310635,0.6902429827037586,-0.49566648112372286,-4.047781389168908,2.7017726087956553,2.7017726087956553,2.253750000000715,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+13052,1792833332255111669,12011720000000,1792833332249096314,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6762440591474128,-0.004951894109679279,0.0987405584692314,0.9999999476425738,-0.00010058727256246692,0.00026165701957894306,0.00013257269195311047,0.6761,-0.0046,0.09832515121063767,1.0,0.0,0.0,0.0,-0.8231192831213486,0.486501116012811,4.0376096216906046,0.03588243615184153,0.054164796219877874,0.0021066905006591995,0.13438957887574013,1.695867601524785,4.40474921676418,0.11579724168114351,-0.01136133710224658,0.003811963410197337,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,1.9183665582438556,1.3739483662981529,-3.250476221320924,0.06040091239088925,2.38736636270371,0.7893456967454642,-0.49566648112372286,-4.0376096216906046,2.754809740197201,2.754809740197201,2.4337500000008285,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+13178,1792833333305033482,12012770000000,1792833333301096764,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6762420136056324,-0.004952674195575845,0.09873785782578938,0.9999999480891505,-0.00010084041621722841,0.00025921523855746114,0.00013380295646301293,0.6761,-0.0046,0.09832513314173763,1.0,0.0,0.0,0.0,-0.8314816146411126,0.48336558785517814,4.0278231961688125,0.03486846020069592,0.054178756229253514,0.0027658574636050632,0.1260272473559762,1.6927320733671523,4.394962791242388,0.1147832657299979,-0.011347377092870939,0.004471130373143201,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,1.9380903253724928,1.2441056839026896,-3.134044591855044,0.10236991484843717,2.3185290830788485,0.7045776425213999,-0.49566648112372286,-4.0278231961688125,2.638378110731321,2.638378110731321,2.5912500000009278,0,0,-9.348701063283116e-08,9.443132387154662e-07
+13311,1792833334414084875,12013879000000,1792833334413096038,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.676243064248786,-0.004950994126991562,0.09873662471583286,0.9999999483285595,-0.00010009689067571773,0.0002591546857257694,0.0001326846034886694,0.6761,-0.0046,0.09831896216769653,1.0,0.0,0.0,0.0,-0.8224977314763462,0.48255159753986177,4.017995423338885,0.034857082022318644,0.05419212819484408,0.003129546288854761,0.13501113052074257,1.6919180830518359,4.38513501841246,0.11477188755162063,-0.011334005127280375,0.004834819198392898,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,1.908127330869789,1.3548692456156655,-3.223758082772924,0.07268893808469327,2.3703666649210273,0.7757059807228327,-0.49566648112372286,-4.017995423338885,2.728091601649201,2.728091601649201,2.7576000000010326,0,0,-1.876865791536198e-05,-6.0732997823836856e-05
+13439,1792833335480089991,12014945000000,1792833335473096627,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6762513541683577,-0.004951893804147816,0.09871871503339923,0.999999943005718,-0.00010749740143949004,0.00027542001703475454,0.00013423690947590703,0.6761,-0.0046,0.09827583180372124,1.0,0.0,0.0,0.0,-0.8511900833260471,0.48730910572069175,4.108110086738102,0.03583394742844638,0.055168133580733365,0.002967611082045584,0.10631877867104166,1.6966755912326659,4.475249681811677,0.11574875295774836,-0.010357999741391085,0.0046728839915837215,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,1.9717696008836223,1.3377262480425574,-3.1798444379267052,0.08777546682513597,2.34798265735945,0.7731268701783861,-0.49566648112372286,-4.108110086738102,2.684177956802982,2.684177956802982,2.9175000000011333,0,0,-5.955941041332758e-05,-9.999999025923074e-05
+13584,1792833336689082937,12016154000000,1792833336689096063,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.676267235336254,-0.004953239046455272,0.09866778600660413,0.9999999340515506,-0.00012467775700415043,0.0003015215530708188,0.00012992293310726586,0.6761,-0.0046,0.09817613772154529,1.0,0.0,0.0,0.0,-0.8909303973177671,0.5391722875989713,4.287583951866317,0.03883242525422688,0.058108348887706704,0.003019272585700703,0.06657846467932159,1.7485387731109454,4.654723546939892,0.11874723078352886,-0.007417784434417752,0.0047245454952388405,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.1548487604599567,1.1764271403674749,-3.5504756690161634,0.15306938801906722,2.6222994203892216,0.6849408908829419,-0.49566648112372286,-4.287583951866317,3.0548091878924404,3.0548091878924404,3.0988500000012476,0,0,-9.591619296448061e-05,9.658280705616135e-05
+13720,1792833337822073555,12017287000000,1792833337817096812,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6762848620861444,-0.004954529910029492,0.09860507105957894,0.9999999208882568,-0.0001403953492678521,0.00033682392822120816,0.00012847229925726778,0.6761,-0.0046,0.09809134617098145,1.0,0.0,0.0,0.0,-0.9310252430796222,0.5744128611641224,4.550890450331803,0.04171258662767009,0.06103315810736969,0.002883085073188951,0.02648361891746648,1.7837793466760965,4.918030045405378,0.12162739215697208,-0.004492975214754769,0.0045883579827270884,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.2000605131502597,1.2809533992015394,-3.802955391260855,0.12632228711312754,2.7885608422771133,0.756652866506794,-0.49566648112372286,-4.550890450331803,3.307288910137132,3.307288910137132,3.2688000000013546,0,0,-4.940424081359562e-05,9.999999025923074e-05
+13866,1792833339039061411,12018504000000,1792833339037096269,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6762900008541763,-0.004957740619809838,0.0985741535436334,0.9999999173841068,-0.00014525925277559,0.0003444862433910594,0.0001300139282846785,0.6761,-0.0046,0.09805071337297032,1.0,0.0,0.0,0.0,-0.9410659449847707,0.5874308633756753,4.642314241612049,0.04269731850983072,0.061648720339574685,0.0028319054064905374,0.01644291701231809,1.7967973488876494,5.0094538366856245,0.1226121240391327,-0.0038774129825497657,0.004537178316028675,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.235259141232095,1.2549005478947295,-3.829992442491794,0.13548012780810387,2.8205299816214042,0.7372343258800806,-0.49566648112372286,-4.642314241612049,3.334325961368071,3.334325961368071,3.4513500000014696,0,0,-3.328861461068667e-05,-9.999999025923074e-05
+13991,1792833340080073850,12019545000000,1792833340077095854,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6762965494207265,-0.004956139224990347,0.09854559512408731,0.9999999133820346,-0.00014730508593623166,0.0003556809001344877,0.00012833976938576844,0.6761,-0.0046,0.09799968606461987,1.0,0.0,0.0,0.0,-0.9686521619913531,0.5947797132416717,4.736554539852151,0.04364787215904194,0.06298363015872865,0.0027847207835089843,-0.011143299994264291,1.8041461987536458,5.1036941349257265,0.12356267768834392,-0.002542503163395804,0.004489993693047122,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.298009616237149,1.2294211075522428,-3.9438573123141176,0.1500267772577791,2.9025777237308863,0.7206677229826478,-0.49566648112372286,-4.736554539852151,3.4481908311903946,3.4481908311903946,3.607500000001568,0,0,-6.532781118426113e-05,-9.999152480866797e-05
+14141,1792833341330042105,12020795000000,1792833341329095928,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6763183690480518,-0.00496039363989989,0.09848997551998624,0.9999998984157307,-0.0001605981823979909,0.00039001129982059565,0.00012927026866429176,0.6761,-0.0046,0.09790026957321689,1.0,0.0,0.0,0.0,-1.009058965740103,0.6337890431639139,4.962906612417646,0.045582987022442775,0.06593293718577545,0.0026649714182756376,-0.05155010374301423,1.843155528675888,5.330046207491221,0.12549779255174476,0.0004068038636509995,0.004370244327813775,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.3886868069851244,1.248368271892378,-4.272849098402284,0.1511098516300669,3.131709610879295,0.7325214021995181,-0.49566648112372286,-4.962906612417646,3.7771826172785614,3.7771826172785614,3.795000000001686,0,0,-7.946970867892122e-05,9.105089879136159e-05
+14280,1792833342489059466,12021954000000,1792833342489095875,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.676331187684095,-0.00496134793895845,0.09843658047232334,0.9999998958457109,-0.00010606465222696446,0.00041519237573277025,0.00012695279569098549,0.6761,-0.0046,0.09782651504626945,1.0,0.0,0.0,0.0,-1.0477706348397986,0.6495440666055377,5.1452066921704604,0.047564729521364105,0.06687041327218199,0.0025536536500641643,-0.09026177284270992,1.8589105521175118,5.512346287244036,0.1274795350506661,0.0013442799500575388,0.004258926559602302,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.426322736797526,1.2647092660850237,-4.447106541005275,0.15028507829332524,3.250946222661763,0.7421536678178701,-0.49566648112372286,-5.1452066921704604,3.951440059881552,3.951440059881552,3.9688500000017957,0,0,-5.191275876251377e-05,5.778380138122259e-05
+14438,1792833343805035514,12023270000000,1792833343801096221,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6763464488150587,-0.004961115891717459,0.09839330775243452,0.9999998843503027,-0.00011741978290156483,0.00043963525491529185,0.00012520256699759776,0.6761,-0.0046,0.09775356872063289,1.0,0.0,0.0,0.0,-1.0685896652158453,0.6476917369861337,5.285729564171063,0.048525271832308106,0.06783161779432664,0.0031719217787158473,-0.11108080321875659,1.8570582224981078,5.652869159244638,0.1284400773616101,0.002305484472202185,0.004877194688253985,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.53455825595887,1.2209368233690925,-4.659548579777971,0.17134256473127304,3.4134420628525857,0.7191208928633072,-0.49566648112372286,-5.285729564171063,4.163882098654248,4.163882098654248,4.166250000001428,0,0,-6.719886630893323e-05,9.999990699250389e-05
+14575,1792833344946944413,12024412000000,1792833344941097384,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6763587575994631,-0.004962155663639427,0.09833739076788052,0.9999998741580356,-0.00013038134009360402,0.00045945245920329714,0.0001226006582723572,0.6761,-0.0046,0.09766842145128761,1.0,0.0,0.0,0.0,-1.0970639020424764,0.6788335314653893,5.4542259216165085,0.050542121675848775,0.06977988589402001,0.0034098899723067275,-0.1395550400453877,1.8882000169773634,5.821365516690084,0.13045692720515076,0.004253752571895561,0.005115162881844865,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.5716188293486555,1.1256820979439104,-4.7505369768019134,0.2124103278108005,3.4756040452565196,0.6598628013021239,-0.49566648112372286,-5.4542259216165085,4.25487049567819,4.25487049567819,4.337550000001029,0,0,-7.860264620715286e-05,-6.897222656754848e-05
+14719,1792833346146983121,12025612000000,1792833346145096787,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6763753853922584,-0.004967015872941181,0.0982792955413693,0.9999998566550954,-0.00014650041673529063,0.0004918266105516516,0.00012156013305955171,0.6761,-0.0046,0.0975793031382796,1.0,0.0,0.0,0.0,-1.1369427470243034,0.7178164664134115,5.6394444954670595,0.05343727090746016,0.07215919946959619,0.0033243484721162285,-0.17943388502721466,1.9271829519253856,6.006584090540635,0.13335207643676214,0.006633066147471734,0.005029621381654366,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.6304142458623523,1.244467770162645,-4.99444203523216,0.18727297835568651,3.6421777675382643,0.7370242461434424,-0.49566648112372286,-5.6394444954670595,4.498775554108437,4.498775554108437,4.517550000000609,0,0,-6.482092284179763e-05,9.811205600585566e-05
+14872,1792833347421976511,12026887000000,1792833347417096280,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6763896417440749,-0.004965380035778053,0.09822579798568011,0.999999844703669,-0.00015425075527649072,0.0005136853895335007,0.00011987296301267398,0.6761,-0.0046,0.09749686187356431,1.0,0.0,0.0,0.0,-1.1563694772153605,0.7413049608134161,5.800213304446953,0.054389461798548935,0.0736810120604682,0.0032277205523623936,-0.1988606152182718,1.9506714463253902,6.1673528995205285,0.13430426732785092,0.008154878738343755,0.004932993461900531,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.698117963399719,1.2300917994061524,-5.109762587189492,0.19146094363120517,3.7349185711978863,0.722746110338658,-0.49566648112372286,-5.800213304446953,4.614096106065769,4.614096106065769,4.7088000000001635,0,0,-6.86374562700306e-05,-9.997055547129036e-05
+15006,1792833348539014916,12028004000000,1792833348537096561,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6763987103189092,-0.0049681735250578975,0.09816638532823083,0.9999998350609408,-0.00016724561461884977,0.0005286347627874231,0.00011787767932568643,0.6761,-0.0046,0.09741629990008177,1.0,0.0,0.0,0.0,-1.1767922388050296,0.7557944100539349,5.951494840223054,0.05634664492604348,0.07563701352631225,0.0031574999141649324,-0.21928337680794077,1.965160895565909,6.318634435296629,0.13626145045534546,0.010110880204187796,0.00486277282370307,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.8224072357369523,1.2267324279186838,-5.3042947376560265,0.19683877837008826,3.89172719434181,0.7215424837579087,-0.49566648112372286,-5.951494840223054,4.8086282565323035,4.8086282565323035,4.876349999999773,0,0,-7.265478529502734e-05,-5.528484200845725e-05
+15133,1792833349596965595,12029062000000,1792833349589096506,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.676414984092074,-0.004972528444353558,0.09811759006940664,0.9999998185067589,-0.00017570931691495597,0.0005558536244462535,0.00012075718419730832,0.6761,-0.0046,0.09734283886868855,1.0,0.0,0.0,0.0,-1.2058674015250392,0.7832845788709368,6.1069665299797595,0.05728570008662924,0.07760977470388578,0.0030713097966713985,-0.24835853952795042,1.992651064382911,6.474106125053335,0.13720050561593122,0.012083641381761318,0.004776582706209536,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.8441698207417794,1.2250383686328954,-5.41981045193683,0.2144777057545835,3.9649347124180223,0.7231678243665295,-0.49566648112372286,-6.1069665299797595,4.924143970813107,4.924143970813107,5.035049999999403,0,0,-6.685580293128014e-05,-9.004838127791288e-05
+15281,1792833350830016946,12030295000000,1792833350825096288,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6764262940224336,-0.004971386752480623,0.09804984089017224,0.9999998058813973,-0.00018263726003605818,0.000575994000063511,0.00012064234364890274,0.6761,-0.0046,0.0972537267708327,1.0,0.0,0.0,0.0,-1.235568326708765,0.8042561394761629,6.287389967312269,0.059238250378408366,0.07955851542068372,0.0029744780600310878,-0.27805946471167614,2.013622624988137,6.654529562385844,0.13915305590771035,0.014032382098559264,0.004679750969569225,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,2.8979246140853565,1.241609519400004,-5.6761893143021345,0.20321069538061584,4.142519857655711,0.7303844755244878,-0.49566648112372286,-6.287389967312269,5.1805228331784114,5.1805228331784114,5.219999999998972,0,0,-7.511980270183549e-05,8.640521217818104e-05
+15432,1792833352088977949,12031554000000,1792833352085097025,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.676441345126641,-0.004976524843597603,0.09798467438289182,0.9999997904148952,-0.00018536357368235205,0.0006007049771541016,0.00012412455816229682,0.6761,-0.0046,0.09715985051987784,1.0,0.0,0.0,0.0,-1.2649772201351595,0.82281698768134,6.458788349285485,0.06030052279214977,0.08150849648258932,0.003870663294729091,-0.3074683581380708,2.032183473193314,6.82592794435906,0.14021532832145175,0.015982363160464856,0.005575936204267228,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.0378770964613033,1.0833535214078696,-5.8603580592079485,0.26676024704938495,4.294497770157491,0.6310769154323117,-0.49566648112372286,-6.458788349285485,5.3646915780842255,5.3646915780842255,5.408849999998532,0,0,-7.367735055799495e-05,9.999999025923074e-05
+15576,1792833353288990657,12032754000000,1792833353285095807,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6764577280662187,-0.004982820378883424,0.09792358411443741,0.9999997847111431,-0.00010306056880983337,0.0006286477115333865,0.00012728356320271147,0.6761,-0.0046,0.0970684473694611,1.0,0.0,0.0,0.0,-1.294364232288185,0.854244723374425,6.6354686508602185,0.062119651996622324,0.08347290172896887,0.00381274781475675,-0.3368553702910962,2.063611208886399,7.002608245933794,0.1420344575259243,0.017946768406844414,0.005518020724294887,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.0319968452154624,1.1398686177857988,-6.001467040620551,0.2647371791170725,4.381632158604844,0.6750875363493856,-0.49566648112372286,-6.6354686508602185,5.505800559496828,5.505800559496828,5.5888499999981125,0,0,-7.759055142417116e-05,-9.999847758035969e-05
+15715,1792833354446942150,12033912000000,1792833354445095971,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6764680405354301,-0.004981470208980578,0.09785270221861202,0.9999997721746913,-0.00012026481111897963,0.0006453888416233421,0.00012689778594402728,0.6761,-0.0046,0.09697728897716733,1.0,0.0,0.0,0.0,-1.3089594385296044,0.8773056722668786,6.806595470349946,0.06407441849888283,0.08542387386922641,0.0037264836856870584,-0.3514505765325156,2.0866721577788527,7.1737350654235215,0.14398922402818481,0.019897740547101955,0.005431756595225196,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.1206633574280445,1.1959473290568134,-6.170964348718992,0.24669698238971904,4.513023814584841,0.7089973195536956,-0.49566648112372286,-6.806595470349946,5.675297867595269,5.675297867595269,5.762549999997708,0,0,-7.955353335395288e-05,-9.999828329133038e-05
+15865,1792833355696977326,12035162000000,1792833355693096433,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6764843336228629,-0.004981170088117048,0.09777765220877808,0.9999997534050159,-0.00012879931969531666,0.0006720386677661882,0.00012809190433522773,0.6761,-0.0046,0.09687395896540196,1.0,0.0,0.0,0.0,-1.3440331722185705,0.9062231532975729,6.978028039272226,0.06523645869478041,0.08738538073738802,0.0036299511332162707,-0.3865243102214817,2.115589638809547,7.345167634345801,0.1451512642240824,0.02185924741526358,0.005335224042754408,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.2059076760457668,1.1260811711191292,-6.46524433902688,0.27538039189044466,4.71924391707426,0.6619289486478457,-0.49566648112372286,-6.978028039272226,5.969577857903157,5.969577857903157,5.950049999997271,0,0,-8.134031017206921e-05,9.999999025923074e-05
+16000,1792833356821919463,12036287000000,1792833356817096829,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6765023520001177,-0.004980425730625209,0.09771892447188356,0.9999997315364897,-0.00013905460089612772,0.0007018371472326478,0.00012828970894439296,0.6761,-0.0046,0.09677914864270715,1.0,0.0,0.0,0.0,-1.3580751528766206,0.9264702465871759,7.109115222859659,0.06699976237871404,0.08833939626599115,0.0035534133094853176,-0.40056629087953194,2.13583673209915,7.476254817933234,0.14691456790801602,0.022813262943866694,0.005258686219023455,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.2375409218779323,1.1669515605005234,-6.431687241119682,0.27440175215017104,4.707721320019423,0.6886811029248924,-0.49566648112372286,-7.109115222859659,5.936020759995959,5.936020759995959,6.118799999996877,0,0,-8.830782268906402e-05,-9.99777164097992e-05
+16134,1792833357938937293,12037404000000,1792833357933096346,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6765145356489276,-0.004983901247171316,0.09764357756385081,0.999999712974317,-0.00015249185165416076,0.0007243102935560245,0.00013272144396536478,0.6761,-0.0046,0.09667760980771549,1.0,0.0,0.0,0.0,-1.3781800147576608,0.9506569547838033,7.260628145739193,0.06898616697050898,0.08927940632933229,0.0034669953972356754,-0.4206711527605722,2.1600234402957774,7.627767740812768,0.14890097249981096,0.023753273007207844,0.005172268306773813,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.3475368062503414,1.1200135712560226,-6.672019040193653,0.29402844519010135,4.891192425485046,0.6566665080756509,-0.49566648112372286,-7.260628145739193,6.17635255906993,6.17635255906993,6.286349999996487,0,0,-9.598124399021047e-05,-9.478588333522992e-05
+16260,1792833358988850171,12038454000000,1792833358985105925,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6765272789824436,-0.004981992735757777,0.09756715401216219,0.9999996967720585,-0.00016910491574070077,0.0007440548227786399,0.00012523818678807213,0.6761,-0.0046,0.09657700654083409,1.0,0.0,0.0,0.0,-1.381499659626263,0.9891958982761355,7.450887989716725,0.07088407813354143,0.09021424951384227,0.0033561146469020956,-0.4239907976291743,2.1985623837881096,7.8180275847903005,0.1507988836628434,0.02468811619171782,0.005061387556440233,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.368588618170171,1.2330767322712723,-6.8801907654523955,0.27808984073457055,5.026954394744373,0.7323927458066581,-0.49566648112372286,-7.450887989716725,6.3845242843286725,6.3845242843286725,6.44384999999612,0,0,-9.347005354845705e-05,9.254191443564536e-05
+16405,1792833360196945680,12039662000000,1792833360189105706,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6765422203879087,-0.004984958996864942,0.09748370638602474,0.9999996734183667,-0.0001957741386418643,0.0007697461651195124,0.0001173428829638845,0.6761,-0.0046,0.0964663914558597,1.0,0.0,0.0,0.0,-1.3962468141007096,1.0073491073582785,7.592534724821267,0.07193565097717948,0.09117546889535663,0.003268261530880734,-0.438737952103621,2.2167155928702527,7.959674319894842,0.15185045650648146,0.025649335573232183,0.0049735344404188715,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.46049117992885,1.1212067400843793,-7.083040809849644,0.33425917962658375,5.181037552218451,0.6611552550497319,-0.49566648112372286,-7.592534724821267,6.587374328725921,6.587374328725921,6.6250499999956975,0,0,-9.301371186179607e-05,9.999999025923074e-05
+16523,1792833361179923923,12040645000000,1792833361177095949,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6765540985834407,-0.0049888660890329084,0.09741768747438243,0.9999996565125995,-0.00019858453881913302,0.0007899452931801303,0.0001223444401018325,0.6761,-0.0046,0.09637644119748698,1.0,0.0,0.0,0.0,-1.4157933772933333,1.0146027316168238,7.707165342159697,0.07290636416837608,0.0921453351189979,0.0032004166778945966,-0.4582845152962446,2.223969217128798,8.074304937233272,0.15282116969767806,0.02661920179687345,0.004905689587432734,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.440448186660249,1.1883464064131444,-7.146048964017645,0.30707775379554136,5.2178774736841484,0.7030639766534516,-0.49566648112372286,-7.707165342159697,6.650382482893922,6.650382482893922,6.772499999995354,0,0,-9.675287835772395e-05,-9.907758921479654e-05
+16643,1792833362179838794,12041645000000,1792833362177095980,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6765669502056931,-0.004985155615271295,0.09732531265579378,0.9999996459970062,-0.00016310564247641943,0.0008093349504741069,0.00013349986481731686,0.6761,-0.0046,0.09626833234169088,1.0,0.0,0.0,0.0,-1.4266567165959891,1.0236155606310506,7.886648600829218,0.07363775486009562,0.09318379005860723,0.003077135497344362,-0.4691478545989004,2.2329820461430248,8.253788195902793,0.1535525603893976,0.02765765673648278,0.004782408406882499,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.540892303943093,1.1452367953548126,-7.415157709914269,0.3424389890866555,5.410739887606899,0.6877155317299195,-0.49566648112372286,-7.886648600829218,6.919491228790546,6.919491228790546,6.922499999995004,0,0,-0.00010897029907999822,9.999999025923074e-05
+16775,1792833363279933374,12042745000000,1792833363273096596,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.676579982576607,-0.004991440739574333,0.09723936040729474,0.9999996265880505,-0.00015865775512123118,0.0008328211412395449,0.0001396541701364694,0.6761,-0.0046,0.09615225335056601,1.0,0.0,0.0,0.0,-1.4463365246856248,1.0269423135366849,7.977883148734326,0.07379517389714561,0.09414149305918287,0.003018841123017575,-0.48882766268853606,2.236308799048659,8.3450227438079,0.1537099794264476,0.028615359737058428,0.004724114032555712,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.5613860313823307,1.1927988956359594,-7.462640466897542,0.3347540151414143,5.443727171168394,0.7144925232204988,-0.49566648112372286,-7.977883148734326,6.966973985773819,6.966973985773819,7.08749999999462,0,0,-0.00011491221529466434,-9.999695102370083e-05
+16889,1792833364229892292,12043695000000,1792833364229105424,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6765865005526616,-0.004990934906722839,0.09713672069775897,0.9999996170768205,-0.00017148913655315383,0.0008421587106731702,0.0001365622893062974,0.6761,-0.0046,0.0960390960535086,1.0,0.0,0.0,0.0,-1.4425714061660764,1.0270658060764364,8.15492561564548,0.07378820724842398,0.09405678194057987,0.0028783993337191246,-0.48506254416898753,2.2364322915884105,8.522065210719054,0.15370301277772597,0.028530648618455424,0.004583672243257262,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.5691559247369717,1.1670176129259495,-7.670266125873794,0.3614547693198732,5.581894949651938,0.6971299821743404,-0.49566648112372286,-8.15492561564548,7.174599644750071,7.174599644750071,7.229999999994288,0,0,-0.00012036486462111006,9.999999025923074e-05
+17026,1792833365371922812,12044837000000,1792833365365105480,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.676603414103703,-0.004992369006015072,0.0970322073221935,0.9999995927780397,-0.00019827490897645963,0.0008676002996771018,0.0001176579760122647,0.6761,-0.0046,0.09591033691342166,1.0,0.0,0.0,0.0,-1.4285410924558573,1.0626672609124805,8.270913492801851,0.07580171209092305,0.09427954358749427,0.0028119809468374612,-0.47103223045876846,2.2720337464244547,8.638053087875425,0.15571651762022504,0.028753410265369823,0.004517253856375599,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.664652012982734,1.1503329380966407,-7.84675684117139,0.3764791866298129,5.717560673496425,0.6890784194560586,-0.49566648112372286,-8.270913492801851,7.351090360047667,7.351090360047667,7.401299999993888,0,0,-0.00011334402490595507,9.276469456332421e-05
+17156,1792833366454926212,12045920000000,1792833366453105921,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6766154229702834,-0.004997966768963797,0.09692113173268214,0.9999995783554,-0.0001817078558112922,0.0008861093971341108,0.0001285467922424496,0.6761,-0.0046,0.09578336184851247,1.0,0.0,0.0,0.0,-1.4328853709483322,1.0786838247444066,8.41530188034483,0.07575460950159467,0.09497230962043945,0.0027079697398074264,-0.4753765089512435,2.2880503102563807,8.782441475418404,0.15566941503089665,0.029446176298314995,0.004413242649345564,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.7086649559490366,1.1251907637213452,-7.984430151049073,0.3942223359002399,5.814359802861129,0.6756424299972846,-0.49566648112372286,-8.41530188034483,7.48876366992535,7.48876366992535,7.56374999999351,0,0,-0.00011880843424763731,9.999446689968323e-05
+17284,1792833367521909059,12046987000000,1792833367517098489,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6766316248003358,-0.004996711438187287,0.09680937712517379,0.9999995609794022,-0.00016055691584323774,0.0009076460090521353,0.0001410108719509815,0.6761,-0.0046,0.09564658131086538,1.0,0.0,0.0,0.0,-1.4201648419912714,1.0935131503198094,8.527003990209604,0.07678517004478001,0.0939147393163226,0.0026151218651227813,-0.4626559799941827,2.3028796358317836,8.894143585283178,0.156699975574082,0.028388605994198145,0.004320394774660919,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.7331717327103564,1.1576717380916421,-8.100981164122516,0.39019123657308424,5.889673834615391,0.70015478590892,-0.49566648112372286,-8.527003990209604,7.6053146829987925,7.6053146829987925,7.723799999993137,0,0,-0.00014167622246648586,-5.112706330578432e-06
+17415,1792833368613903672,12048079000000,1792833368613096546,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6766448273460701,-0.004990670106675535,0.09666799895556905,0.9999995389020851,-0.00013965992777285587,0.000932598661710282,0.00015618361668884775,0.6761,-0.0046,0.09548170512049078,1.0,0.0,0.0,0.0,-1.3837269488475106,1.1029931049434751,8.68861599099895,0.07782903650778704,0.0918319305930592,0.002469086925688798,-0.4262180868504218,2.3123595904554493,9.055755586072525,0.15774384203708902,0.026305797270934756,0.004174359835226935,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.751911323583593,1.2819709741660485,-8.23384009119178,0.3767045361832082,5.979744194809413,0.7854746757035936,-0.49566648112372286,-8.68861599099895,7.738173610068057,7.738173610068057,7.887599999992755,0,0,-0.00015703325453450401,-9.999942126993062e-05
+17553,1792833369763901734,12049229000000,1792833369761106150,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.676658363561455,-0.004986860577166227,0.09651487554863623,0.9999995161219565,-0.0001643267628132583,0.0009560715557483487,0.000134620253114814,0.6761,-0.0046,0.09530444315985484,1.0,0.0,0.0,0.0,-1.3520668027257017,1.1050398518239344,8.788408308686384,0.0768189075372054,0.09081583798265501,0.0023631642406361135,-0.39455794072861283,2.3144063373359085,9.155547903759958,0.15673371306650738,0.025289704660530557,0.004068437150174251,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.7153658225279296,1.2364484288056299,-8.416550025298378,0.40317122318006476,6.084225761697537,0.7589524067967488,-0.49566648112372286,-8.788408308686384,7.920883544174655,7.920883544174655,8.060099999992353,0,0,-0.00016210102401701578,-5.008811074972081e-05
+17671,1792833370746891024,12050212000000,1792833370741105903,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6766704937006853,-0.004998160859930053,0.09636941760223382,0.9999994965234287,-0.0001642446668089943,0.0009746701972437023,0.00014641533123941017,0.6761,-0.0046,0.09513664355954986,1.0,0.0,0.0,0.0,-1.34536101799385,1.0637040879526423,8.888185351661011,0.07475493381047559,0.0908353634339267,0.0022622326190624735,-0.38785215599676115,2.2730705734646164,9.255324946734586,0.15466973933977757,0.025309230111802247,0.003967505528600611,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.7951408178840076,1.1746272938150568,-8.589121192438334,0.42951078574976126,6.218304334154715,0.7246183568659036,-0.49566648112372286,-8.888185351661011,8.093454711314612,8.093454711314612,8.20754999999201,0,0,-0.0001802730670338607,9.999695102370083e-05
+17789,1792833371729846279,12051195000000,1792833371729096070,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6766848954758656,-0.005001784733395759,0.09620536605269109,0.9999994721914504,-0.0001687188784429418,0.0009981652767856036,0.00014919686724077243,0.6761,-0.0046,0.09495061187564739,1.0,0.0,0.0,0.0,-1.3350324400831342,1.0413292972400494,8.997015983273007,0.07271943592977094,0.08983737693355169,0.00213655427788265,-0.3775235780860454,2.2506957827520235,9.364155578346582,0.15263424145907292,0.02431124361142724,0.0038418271874207876,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.8610610217025827,1.2497201377587124,-8.642401171735415,0.4139089496824291,6.276099990964879,0.7751537016977053,-0.49566648112372286,-8.997015983273007,8.146734690611693,8.146734690611693,8.354999999991666,0,0,-0.00019962281720273112,-9.981899615064122e-05
+17889,1792833372563847717,12052029000000,1792833372557105887,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6766896115248139,-0.0050014353281235,0.09603959444799338,0.9999994647795638,-0.00018161086554494287,0.0010045571174683713,0.0001405913983388474,0.6761,-0.0046,0.09477946496399682,1.0,0.0,0.0,0.0,-1.3120198430671728,1.0160675716433725,9.067361421384486,0.07069041802936747,0.08884697998630034,0.0020447217586802473,-0.35451098107008416,2.2254340571553466,9.43450101645806,0.15060522355866945,0.023320846664175887,0.0037499946682183847,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.846425188507275,1.2228158355471122,-8.76769820283584,0.4277428734245603,6.357155248297775,0.7643435748993981,-0.49566648112372286,-9.067361421384486,8.272031721712118,8.272031721712118,8.480099999991374,0,0,-0.00021544282353544298,-9.999983760356485e-05
+17978,1792833373304870919,12052770000000,1792833373301105653,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6766957504047008,-0.00500681801748768,0.09587745580112902,0.9999994633117405,-0.00014391328910570153,0.0010106915938474692,0.00015036809040707138,0.6761,-0.0046,0.09461193584414049,1.0,0.0,0.0,0.0,-1.2948027880129005,0.960505899065091,9.163717845894007,0.06661767300037548,0.08789246265592532,0.0019056577103367693,-0.3372939260158117,2.169872384577065,9.530857440967582,0.14653247852967746,0.022366329333800866,0.0036109306198749067,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.8448145476686406,1.1424132849573772,-8.82492845791468,0.45912000630403893,6.406183554892281,0.7253597952907196,-0.49566648112372286,-9.163717845894007,8.329261976790958,8.329261976790958,8.591249999991115,0,0,-0.00023388019255585058,-9.999999025923074e-05
+18088,1792833374221873105,12053687000000,1792833374217096439,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6767090425423413,-0.005007235130214565,0.09565537162530711,0.9999994344849361,-0.0001711066397042454,0.0010361618982932662,0.0001398703349388408,0.6761,-0.0046,0.09438485281996675,1.0,0.0,0.0,0.0,-1.2782230633415128,0.9249300100483036,9.195128377672932,0.06447373674331487,0.08691819608162207,0.0018431752030658249,-0.32071420134442413,2.1342964955602777,9.562267972746506,0.14438854227261685,0.02139206275949762,0.0035484481126039622,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.878106699093241,1.109249996980196,-8.895332702235267,0.4833645991018363,6.470707129724095,0.6968202659359,-0.49566648112372286,-9.195128377672932,8.399666221111545,8.399666221111545,8.728799999990795,0,0,-0.00026616164896661596,-9.99997404590502e-05
+18176,1792833374954863147,12054420000000,1792833374953105455,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6767152298387206,-0.005008599199669333,0.09545598016600183,0.9999994176909179,-0.0001810154622841765,0.0010480845334431357,0.00015752111766933436,0.6761,-0.0046,0.09417650713068802,1.0,0.0,0.0,0.0,-1.2633944926055134,0.8556238740978352,9.207672052300529,0.06054386058210813,0.08557490896619623,0.0017635575783791864,-0.30588563060842466,2.0649903596098094,9.574811647374103,0.1404586661114101,0.020048775644071776,0.0034688304879173237,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.9429774047372006,1.0768684486376126,-8.897043288150698,0.4721677617467869,6.518912857078768,0.6835301543065774,-0.49566648112372286,-9.207672052300529,8.401376807026976,8.401376807026976,8.838749999990538,0,0,-0.0003024864361170484,-9.999999025923074e-05
+18261,1792833375663827194,12055129000000,1792833375661106080,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6767204471718267,-0.005007235301571093,0.09523513371314335,0.9999994016806649,-0.0002484873564775427,0.0010536734521154026,0.00012691519233600795,0.6761,-0.0046,0.09394949494993274,1.0,0.0,0.0,0.0,-1.18340848761859,0.832807510713504,9.254749542992302,0.05925599685486983,0.07981274118766439,0.0016303145154483692,-0.22589962562150132,2.042173996225478,9.621889138065876,0.13917080238417182,0.01428660786553994,0.0033355874249865066,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.9208144429038385,1.1930065874439109,-8.810403371410214,0.44955364380913654,6.475569709652802,0.7693012177227618,-0.49566648112372286,-9.254749542992302,8.314736890286492,8.314736890286492,8.94509999999029,0,0,-0.00033793642921084297,-9.999999025923074e-05
+18339,1792833376313788829,12055779000000,1792833376313105296,DOWN_FORCE_DETACH,9,0.0586,0.05860224738717079,0.6767281223046064,-0.005010262091656247,0.0950123603680232,0.9999994137832645,-0.00012417221286387228,0.0010606655214021876,0.00015312055638673223,0.6761,-0.0046,0.0937192900230066,1.0,0.0,0.0,0.0,-1.1836692808167082,0.7528526612333295,9.281706523808396,0.053125243914728074,0.08002596629906537,0.0015470005096281142,-0.22616041881961957,1.9622191467453036,9.64884611888197,0.13304004944403006,0.014499832976940921,0.0032522734191662516,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.8872875646610505,1.1122741281889803,-9.054752995894038,0.43454839555354385,6.646121529998649,0.6718551958829301,-0.49566648112372286,-9.281706523808396,8.559086514770316,8.559086514770316,9.042599999990063,0,0,-0.00037043642287934295,-9.999999025923074e-05
+18410,1792833376904804031,12056370000000,1792833376901105431,DOWN_FORCE_DETACH,9,0.0586,0.05860159173607826,0.6767362791319633,-0.005012713393594716,0.09478478221756668,0.9999993922148657,-0.00019324033725138872,0.0010727238360272544,0.0001376027143608202,0.6761,-0.0046,0.09349164484878891,1.0,0.0,0.0,0.0,-1.1298984390761013,0.7056658126984299,9.288475778243393,0.049771802504678095,0.07603695027637411,0.0014456322316515318,-0.17238957707901267,1.915032298210404,9.655615373316968,0.12968660803398008,0.010510816954249654,0.003150905141189669,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.867075165023783,1.08211655920921,-9.028525898349702,0.462354478065805,6.641196322738103,0.6995971264086109,-0.49566648112372286,-9.288475778243393,8.53285941722598,8.53285941722598,9.131249999989857,0,0,-0.0003999864171225483,-9.999999025923074e-05
+18521,1792833377820844883,12057286000000,1792833377817106127,DOWN_PEAK_HOLD,9,0.0586,0.05860159173607826,0.6767055585674578,-0.005006744223762774,0.09462861694120317,0.9999994528025054,-0.00018926609159573588,0.0010143827141637462,0.00014506415812858827,0.6761,-0.0046,0.09342793007016686,1.0,0.0,0.0,0.0,-0.9611986914918798,0.5395394484005811,8.702141616266328,0.038698202212211597,0.06624960776694025,0.0016528230724461115,-0.003689829494791068,1.7489059339125552,9.069281211339902,0.11861300774151358,0.0007234744448157975,0.003358095981984249,0.9575088619970887,1.2093664855119741,0.36713959507357513,0.07991480552930198,-0.06552613332212445,0.0017052729095381374,1,3.4116038796977723,1.0679654460819292,-8.312838385310672,0.45292903014930297,6.111025924016457,0.6914964067850898,-0.49566648112372286,-8.702141616266328,7.8171719041869485,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_09/down/multimodal_aligned_data.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_09/down/real_sim_motion_alignment.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792833315841732512,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.817676480e-09,-2.637360139e-10,-2.154688539e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027454018e-01,-1.180241740e-04,8.303259921e-01
+1,1.183333333e+00,DOWN_FORCE_DETACH,1792833317167753370,3.622060621e-06,1.453981709e-06,1.869335419e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.675675047e-07,-1.598437526e-08,-1.143214552e-07,7.019592549e-01,-2.081675331e-05,8.601449566e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456646e-01,-1.180398946e-04,8.303258800e-01
+2,2.233333333e+00,DOWN_FORCE_DETACH,1792833318199838860,6.558810054e-06,-4.398363736e-06,-5.290359043e-05,-5.025770446e-07,-5.803672972e-06,-3.956733206e-05,-5.943928723e-07,-5.740081731e-06,-3.933463727e-05,7.019621916e-01,-2.666909876e-05,8.600901836e-01,7.019551302e-01,-2.807440799e-05,8.601035199e-01,7.027448026e-01,-1.237639920e-04,8.302866597e-01
+3,3.116666667e+00,DOWN_FORCE_DETACH,1792833319149938060,2.129800095e-05,-1.565384626e-05,-1.377618021e-04,1.988102481e-05,-1.020590230e-05,-1.303574487e-04,2.023474912e-05,-1.013209349e-05,-1.292464830e-04,7.019769308e-01,-3.792458128e-05,8.600053254e-01,7.019755138e-01,-3.247663732e-05,8.600127298e-01,7.027656317e-01,-1.281560037e-04,8.301967478e-01
+4,4.133333333e+00,DOWN_FORCE_DETACH,1792833320164931429,4.459157085e-05,-2.305706080e-05,-2.441387019e-04,4.371660731e-05,-2.450757128e-05,-2.271517310e-04,4.460120336e-05,-2.423380722e-05,-2.255331857e-04,7.020002244e-01,-4.532779583e-05,8.598989485e-01,7.019993494e-01,-4.677830630e-05,8.599159355e-01,7.027899982e-01,-1.422577175e-04,8.301004611e-01
+5,5.116666667e+00,DOWN_FORCE_DETACH,1792833321148469715,7.216269261e-05,-2.732862133e-05,-3.898951792e-04,6.874787929e-05,-2.663956896e-05,-3.710796126e-04,6.974278388e-05,-2.633364798e-05,-3.686044388e-04,7.020277955e-01,-4.959935635e-05,8.597531921e-01,7.020243807e-01,-4.891030398e-05,8.597720076e-01,7.028151398e-01,-1.443575582e-04,8.299573899e-01
+6,5.600000000e+00,DOWN_FORCE_DETACH,1792833321623821334,1.399414418e-04,-3.182111021e-05,-4.302372095e-04,1.358566194e-04,-3.382988464e-05,-4.151026961e-04,1.408791316e-04,-3.346754493e-05,-4.126013891e-04,7.020955743e-01,-5.409184523e-05,8.597128500e-01,7.020914894e-01,-5.610061966e-05,8.597279845e-01,7.028862761e-01,-1.514914552e-04,8.299133929e-01
+7,6.516666667e+00,DOWN_FORCE_DETACH,1792833322541288212,1.856554885e-04,-3.847982986e-05,-5.850467369e-04,1.806404128e-04,-3.742763574e-05,-5.789312788e-04,1.872652821e-04,-3.709952458e-05,-5.755928710e-04,7.021412883e-01,-6.075056488e-05,8.595580405e-01,7.021362732e-01,-5.969837076e-05,8.595641560e-01,7.029326623e-01,-1.551234348e-04,8.297504014e-01
+8,7.366666667e+00,DOWN_FORCE_DETACH,1792833323408264650,2.251373089e-04,-3.316691923e-05,-7.139746449e-04,2.225541087e-04,-3.254936445e-05,-6.991023305e-04,2.309791626e-04,-3.227207818e-05,-6.957067096e-04,7.021807701e-01,-5.543765425e-05,8.594291126e-01,7.021781869e-01,-5.482009948e-05,8.594439849e-01,7.029763762e-01,-1.502959884e-04,8.296302876e-01
+9,8.433333333e+00,DOWN_FORCE_DETACH,1792833324506427778,2.651827576e-04,-3.701547459e-05,-8.453368109e-04,2.641028654e-04,-4.060064825e-05,-8.409945256e-04,2.742116872e-04,-4.026459521e-05,-8.375201602e-04,7.022208156e-01,-5.928620961e-05,8.592977504e-01,7.022197357e-01,-6.287138327e-05,8.593020927e-01,7.030196087e-01,-1.582885055e-04,8.294884741e-01
+10,9.500000000e+00,DOWN_FORCE_DETACH,1792833325620597517,2.906734175e-04,-3.963884040e-05,-9.381539813e-04,2.887070097e-04,-3.772931252e-05,-9.233401565e-04,2.999278261e-04,-3.749412661e-05,-9.205222985e-04,7.022463062e-01,-6.190957542e-05,8.592049333e-01,7.022443398e-01,-6.000004754e-05,8.592197471e-01,7.030453248e-01,-1.555180368e-04,8.294054720e-01
+11,1.046666667e+01,DOWN_FORCE_DETACH,1792833326667755172,3.055591398e-04,-4.629613734e-05,-9.890246341e-04,2.982932442e-04,-4.612558370e-05,-9.840757762e-04,3.098425048e-04,-4.582354347e-05,-9.818167865e-04,7.022611920e-01,-6.856687236e-05,8.591540626e-01,7.022539261e-01,-6.839631872e-05,8.591590115e-01,7.030552395e-01,-1.638474537e-04,8.293441775e-01
+12,1.160000000e+01,DOWN_FORCE_DETACH,1792833327889120641,3.097070477e-04,-4.982124314e-05,-1.016073692e-03,3.037865886e-04,-4.289160461e-05,-1.004144741e-03,3.157652351e-04,-4.260760765e-05,-1.002726462e-03,7.022653399e-01,-7.209197816e-05,8.591270135e-01,7.022594194e-01,-6.516233963e-05,8.591389425e-01,7.030611622e-01,-1.606315179e-04,8.293232678e-01
+13,1.273333333e+01,DOWN_FORCE_DETACH,1792833329043245256,3.064062986e-04,-4.621701285e-05,-1.024788564e-03,3.056837260e-04,-4.638573041e-05,-1.024299318e-03,3.177475573e-04,-4.607841788e-05,-1.023304577e-03,7.022620391e-01,-6.848774787e-05,8.591182987e-01,7.022613165e-01,-6.865646543e-05,8.591187879e-01,7.030631445e-01,-1.641023281e-04,8.293026897e-01
+14,1.380000000e+01,DOWN_FORCE_DETACH,1792833330092272115,3.084366512e-04,-4.377461075e-05,-1.023829683e-03,3.056837260e-04,-4.638573041e-05,-1.024299318e-03,3.178572493e-04,-4.608940452e-05,-1.023717252e-03,7.022640695e-01,-6.604534578e-05,8.591192576e-01,7.022613165e-01,-6.865646543e-05,8.591187879e-01,7.030632542e-01,-1.641133148e-04,8.293022770e-01
+15,1.476666667e+01,DOWN_FORCE_DETACH,1792833331057797118,3.089074673e-04,-4.678878459e-05,-1.024917539e-03,3.056837260e-04,-4.638573041e-05,-1.024299318e-03,3.179193497e-04,-4.610007242e-05,-1.023941590e-03,7.022645403e-01,-6.905951961e-05,8.591181697e-01,7.022613165e-01,-6.865646543e-05,8.591187879e-01,7.030633163e-01,-1.641239827e-04,8.293020527e-01
+16,1.596666667e+01,DOWN_FORCE_DETACH,1792833332254230042,3.052908264e-04,-4.903142814e-05,-1.030460534e-03,3.056837260e-04,-4.638573041e-05,-1.024299318e-03,3.179673868e-04,-4.611232460e-05,-1.024109802e-03,7.022609236e-01,-7.130216316e-05,8.591126267e-01,7.022613165e-01,-6.865646543e-05,8.591187879e-01,7.030633644e-01,-1.641362348e-04,8.293018845e-01
+17,1.701666667e+01,DOWN_FORCE_DETACH,1792833333302197491,3.061976822e-04,-4.587828115e-05,-1.031297101e-03,3.056837260e-04,-4.638573041e-05,-1.024299318e-03,3.179932936e-04,-4.612119048e-05,-1.024197315e-03,7.022618305e-01,-6.814901617e-05,8.591117901e-01,7.022613165e-01,-6.865646543e-05,8.591187879e-01,7.030633903e-01,-1.641451007e-04,8.293017970e-01
+18,1.815000000e+01,DOWN_FORCE_DETACH,1792833334415729526,3.056829236e-04,-4.307897743e-05,-1.034425966e-03,3.056837260e-04,-4.638573041e-05,-1.024299318e-03,3.180110019e-04,-4.612857141e-05,-1.024254940e-03,7.022613157e-01,-6.534971245e-05,8.591086613e-01,7.022613165e-01,-6.865646543e-05,8.591187879e-01,7.030634080e-01,-1.641524817e-04,8.293017394e-01
+19,1.918333333e+01,DOWN_FORCE_DETACH,1792833335480159301,3.152898962e-04,-4.727044135e-05,-1.049029324e-03,3.056845600e-04,-4.548442546e-05,-1.044171670e-03,3.178234832e-04,-4.527228955e-05,-1.043879880e-03,7.022709227e-01,-6.954117637e-05,8.590940579e-01,7.022613174e-01,-6.775516048e-05,8.590989156e-01,7.030632205e-01,-1.632961998e-04,8.292821144e-01
+20,2.040000000e+01,DOWN_FORCE_DETACH,1792833336692626177,3.319709362e-04,-4.920171376e-05,-1.099071092e-03,3.316643688e-04,-4.918670814e-05,-1.098697903e-03,3.448666486e-04,-4.890535483e-05,-1.097803149e-03,7.022876038e-01,-7.147244878e-05,8.590440161e-01,7.022872972e-01,-7.145744316e-05,8.590443893e-01,7.030902636e-01,-1.669292651e-04,8.292281911e-01
+21,2.155000000e+01,DOWN_FORCE_DETACH,1792833337822823595,3.487978140e-04,-4.990654723e-05,-1.162673298e-03,3.443364612e-04,-5.346809431e-05,-1.157919814e-03,3.578373283e-04,-5.308951357e-05,-1.156847513e-03,7.023044306e-01,-7.217728225e-05,8.589804139e-01,7.022999693e-01,-7.573882933e-05,8.589851674e-01,7.031032343e-01,-1.711134238e-04,8.291691468e-01
+22,2.273333333e+01,DOWN_FORCE_DETACH,1792833339034889631,3.536989524e-04,-4.629130038e-05,-1.192713526e-03,3.506439337e-04,-5.177233197e-05,-1.177265979e-03,3.645089212e-04,-5.145322876e-05,-1.176512249e-03,7.023093318e-01,-6.856203540e-05,8.589503737e-01,7.023062768e-01,-7.404306700e-05,8.589658213e-01,7.031099059e-01,-1.694771390e-04,8.291494820e-01
+23,2.376666667e+01,DOWN_FORCE_DETACH,1792833340082896075,3.617717033e-04,-5.360612068e-05,-1.220942876e-03,3.578351242e-04,-5.214841196e-05,-1.217193623e-03,3.718296354e-04,-5.181807030e-05,-1.216323483e-03,7.023174045e-01,-7.587685570e-05,8.589221444e-01,7.023134679e-01,-7.441914699e-05,8.589258936e-01,7.031172266e-01,-1.698419805e-04,8.291096708e-01
+24,2.500000000e+01,DOWN_FORCE_DETACH,1792833341327932290,3.826386743e-04,-5.690063546e-05,-1.278217850e-03,3.775419710e-04,-5.269717648e-05,-1.274990042e-03,3.922993561e-04,-5.239321622e-05,-1.273828977e-03,7.023382715e-01,-7.917137049e-05,8.588648694e-01,7.023331748e-01,-7.496791150e-05,8.588680972e-01,7.031376963e-01,-1.704171265e-04,8.290521653e-01
+25,2.618333333e+01,DOWN_FORCE_DETACH,1792833342490987119,3.960434854e-04,-5.921357654e-05,-1.332014435e-03,3.903450809e-04,-5.913252568e-05,-1.313802619e-03,4.056470580e-04,-5.876535518e-05,-1.312817631e-03,7.023516763e-01,-8.148431157e-05,8.588110728e-01,7.023459779e-01,-8.140326070e-05,8.588292846e-01,7.031510440e-01,-1.767892654e-04,8.290131767e-01
+26,2.746666667e+01,DOWN_FORCE_DETACH,1792833343801623050,4.089722901e-04,-5.557090112e-05,-1.377376449e-03,4.060772643e-04,-5.704878039e-05,-1.376460217e-03,4.219556963e-04,-5.671033376e-05,-1.375233069e-03,7.023646051e-01,-7.784163614e-05,8.587657108e-01,7.023617101e-01,-7.931951542e-05,8.587666270e-01,7.031673527e-01,-1.747342440e-04,8.289507612e-01
+27,2.863333333e+01,DOWN_FORCE_DETACH,1792833344947907403,4.226933273e-04,-5.753230084e-05,-1.430353589e-03,4.185372871e-04,-5.886653750e-05,-1.416110148e-03,4.349619577e-04,-5.850814169e-05,-1.414960329e-03,7.023783261e-01,-7.980303586e-05,8.587127337e-01,7.023741701e-01,-8.113727252e-05,8.587269771e-01,7.031803589e-01,-1.765320519e-04,8.289110340e-01
+28,2.985000000e+01,DOWN_FORCE_DETACH,1792833346144187988,4.385145308e-04,-5.898675895e-05,-1.491651352e-03,4.333282460e-04,-5.944804639e-05,-1.475851482e-03,4.502092190e-04,-5.908744791e-05,-1.474590620e-03,7.023941473e-01,-8.125749398e-05,8.586514359e-01,7.023889611e-01,-8.171878141e-05,8.586672358e-01,7.031956062e-01,-1.771113582e-04,8.288514037e-01
+29,3.110000000e+01,DOWN_FORCE_DETACH,1792833347421669153,4.517192601e-04,-6.328480905e-05,-1.543617874e-03,4.493605094e-04,-6.331976732e-05,-1.533912824e-03,4.668243475e-04,-6.289602431e-05,-1.532594425e-03,7.024073521e-01,-8.555554407e-05,8.585994694e-01,7.024049933e-01,-8.559050234e-05,8.586091744e-01,7.032122213e-01,-1.809199345e-04,8.287933999e-01
+30,3.221666667e+01,DOWN_FORCE_DETACH,1792833348534933846,4.636291286e-04,-6.695288594e-05,-1.600309560e-03,4.641392870e-04,-6.548155281e-05,-1.593237170e-03,4.820416362e-04,-6.503973284e-05,-1.591730800e-03,7.024192619e-01,-8.922362096e-05,8.585427777e-01,7.024197721e-01,-8.775228783e-05,8.585498501e-01,7.032274386e-01,-1.830636431e-04,8.287342635e-01
+31,3.330000000e+01,DOWN_FORCE_DETACH,1792833349600389180,4.761613031e-04,-6.653476084e-05,-1.655005205e-03,4.756363638e-04,-6.368261089e-05,-1.652047812e-03,4.937334970e-04,-6.325839647e-05,-1.650398071e-03,7.024317941e-01,-8.880549586e-05,8.584880820e-01,7.024312692e-01,-8.595334592e-05,8.584910394e-01,7.032391305e-01,-1.812823067e-04,8.286755962e-01
+32,3.443333333e+01,DOWN_FORCE_DETACH,1792833350828638034,4.906906475e-04,-6.971350115e-05,-1.716708841e-03,4.898724868e-04,-6.908871241e-05,-1.711913505e-03,5.083318450e-04,-6.863499396e-05,-1.710283144e-03,7.024463235e-01,-9.198423617e-05,8.584263784e-01,7.024455053e-01,-9.135944743e-05,8.584311737e-01,7.032537288e-01,-1.866589042e-04,8.286157112e-01
+33,3.568333333e+01,DOWN_FORCE_DETACH,1792833352092076412,5.055714772e-04,-7.017989019e-05,-1.781917258e-03,5.015239557e-04,-7.397629928e-05,-1.776153518e-03,5.201748095e-04,-7.347441536e-05,-1.774542519e-03,7.024612043e-01,-9.245062522e-05,8.583611700e-01,7.024571568e-01,-9.624703431e-05,8.583669337e-01,7.032655718e-01,-1.914983256e-04,8.285514518e-01
+34,3.688333333e+01,DOWN_FORCE_DETACH,1792833353285935835,5.191062713e-04,-7.367618288e-05,-1.847578178e-03,5.159182906e-04,-7.528638515e-05,-1.839001709e-03,5.349123741e-04,-7.474514572e-05,-1.837442980e-03,7.024747391e-01,-9.594691790e-05,8.582955091e-01,7.024715511e-01,-9.755712017e-05,8.583040855e-01,7.032803094e-01,-1.927690560e-04,8.284885513e-01
+35,3.800000000e+01,DOWN_FORCE_DETACH,1792833354449229028,5.319762633e-04,-7.684684618e-05,-1.915042139e-03,5.304536255e-04,-7.311482907e-05,-1.902803029e-03,5.498250956e-04,-7.260617301e-05,-1.901228323e-03,7.024876091e-01,-9.911758121e-05,8.582280451e-01,7.024860864e-01,-9.538556409e-05,8.582402842e-01,7.032952221e-01,-1.906300832e-04,8.284247660e-01
+36,3.920000000e+01,DOWN_FORCE_DETACH,1792833355693282942,5.490371383e-04,-7.788836472e-05,-1.985564314e-03,5.482857959e-04,-7.446657612e-05,-1.984778339e-03,5.680404186e-04,-7.392898695e-05,-1.983007016e-03,7.025046700e-01,-1.001590997e-04,8.581575229e-01,7.025039186e-01,-9.673731115e-05,8.581583089e-01,7.033134374e-01,-1.919528972e-04,8.283429873e-01
+37,4.035000000e+01,DOWN_FORCE_DETACH,1792833356823405095,5.665544037e-04,-7.546148680e-05,-2.048453547e-03,5.645222443e-04,-7.997896962e-05,-2.044628483e-03,5.847553494e-04,-7.939450109e-05,-2.042854324e-03,7.025221872e-01,-9.773222182e-05,8.580946337e-01,7.025201551e-01,-1.022497046e-04,8.580984588e-01,7.033301523e-01,-1.974184113e-04,8.282831400e-01
+38,4.148333333e+01,DOWN_FORCE_DETACH,1792833357937530980,5.777070951e-04,-7.958052159e-05,-2.122460745e-03,5.750723058e-04,-7.732561323e-05,-2.104521515e-03,5.955149380e-04,-7.676621886e-05,-2.102856275e-03,7.025333399e-01,-1.018512566e-04,8.580206265e-01,7.025307051e-01,-9.959634825e-05,8.580385657e-01,7.033409119e-01,-1.947901291e-04,8.282231380e-01
+39,4.255000000e+01,DOWN_FORCE_DETACH,1792833358985816960,5.917888525e-04,-7.704068307e-05,-2.201581571e-03,5.881502344e-04,-7.465663786e-05,-2.189993982e-03,6.086174692e-04,-7.410975643e-05,-2.188069217e-03,7.025474217e-01,-9.931141809e-05,8.579415057e-01,7.025437831e-01,-9.692737288e-05,8.579530933e-01,7.033540145e-01,-1.921336667e-04,8.281379251e-01
+40,4.376666667e+01,DOWN_FORCE_DETACH,1792833360197747497,6.061561158e-04,-8.033563407e-05,-2.284037971e-03,6.066128611e-04,-7.951664418e-05,-2.271428519e-03,6.274905738e-04,-7.893983576e-05,-2.269413224e-03,7.025617889e-01,-1.026063691e-04,8.578590493e-01,7.025622457e-01,-1.017873792e-04,8.578716587e-01,7.033728876e-01,-1.969637460e-04,8.280565811e-01
+41,4.473333333e+01,DOWN_FORCE_DETACH,1792833361181241870,6.192037246e-04,-8.038707746e-05,-2.349256126e-03,6.149277052e-04,-7.980235429e-05,-2.351507489e-03,6.355131368e-04,-7.922112532e-05,-2.349299251e-03,7.025748365e-01,-1.026578125e-04,8.577938311e-01,7.025705605e-01,-1.020730893e-04,8.577915798e-01,7.033809101e-01,-1.972450356e-04,8.279766950e-01
+42,4.575000000e+01,DOWN_FORCE_DETACH,1792833362179618230,6.316502904e-04,-8.575278002e-05,-2.442173197e-03,6.289261735e-04,-8.762525075e-05,-2.436495682e-03,6.495048162e-04,-8.693045275e-05,-2.434144802e-03,7.025872831e-01,-1.080235150e-04,8.577009140e-01,7.025845590e-01,-1.098959858e-04,8.577065916e-01,7.033949018e-01,-2.049543630e-04,8.278918495e-01
+43,4.686666667e+01,DOWN_FORCE_DETACH,1792833363277085722,6.449702967e-04,-9.105210830e-05,-2.527226557e-03,6.424283899e-04,-8.641183594e-05,-2.517668301e-03,6.631880117e-04,-8.573580636e-05,-2.515462643e-03,7.026006031e-01,-1.133228433e-04,8.576158607e-01,7.025980612e-01,-1.086825710e-04,8.576254189e-01,7.034085850e-01,-2.037597166e-04,8.278105317e-01
+44,4.783333333e+01,DOWN_FORCE_DETACH,1792833364227482373,6.512444841e-04,-9.173032525e-05,-2.629773084e-03,6.479697113e-04,-8.982444925e-05,-2.625335529e-03,6.679739432e-04,-8.907731080e-05,-2.622810749e-03,7.026068773e-01,-1.140010603e-04,8.575133142e-01,7.026036025e-01,-1.120951843e-04,8.575177517e-01,7.034133709e-01,-2.071012210e-04,8.277031835e-01
+45,4.893333333e+01,DOWN_FORCE_DETACH,1792833365373972274,6.681731476e-04,-9.056148882e-05,-2.733213899e-03,6.658433747e-04,-8.945432545e-05,-2.728376006e-03,6.859283697e-04,-8.867319867e-05,-2.725733326e-03,7.026238060e-01,-1.128322238e-04,8.574098733e-01,7.026214762e-01,-1.117250605e-04,8.574147112e-01,7.034313254e-01,-2.066971089e-04,8.276002610e-01
+46,5.003333333e+01,DOWN_FORCE_DETACH,1792833366454588136,6.812751099e-04,-9.624897373e-05,-2.842507098e-03,6.805853863e-04,-9.236057000e-05,-2.831557517e-03,7.005482391e-04,-9.147944342e-05,-2.828940862e-03,7.026369079e-01,-1.185197088e-04,8.573005801e-01,7.026362182e-01,-1.146313050e-04,8.573115297e-01,7.034459452e-01,-2.095033537e-04,8.274970534e-01
+47,5.111666667e+01,DOWN_FORCE_DETACH,1792833367519442183,6.952335043e-04,-8.739869949e-05,-2.958122142e-03,6.947004064e-04,-8.993620287e-05,-2.955152244e-03,7.143881622e-04,-8.914326189e-05,-2.952221835e-03,7.026508663e-01,-1.096694345e-04,8.571849651e-01,7.026503332e-01,-1.122069379e-04,8.571879350e-01,7.034597852e-01,-2.071671721e-04,8.273737725e-01
+48,5.221666667e+01,DOWN_FORCE_DETACH,1792833368617851611,7.097641818e-04,-8.236293423e-05,-3.098359751e-03,7.077075679e-04,-8.314230691e-05,-3.098746236e-03,7.266837946e-04,-8.248728865e-05,-3.095543500e-03,7.026653970e-01,-1.046336693e-04,8.570447275e-01,7.026633404e-01,-1.054130419e-04,8.570443410e-01,7.034720808e-01,-2.005111989e-04,8.272304508e-01
+49,5.320000000e+01,DOWN_FORCE_DETACH,1792833369763448081,7.219482261e-04,-8.323975623e-05,-3.251209069e-03,7.211369309e-04,-8.228600906e-05,-3.252003933e-03,7.392641884e-04,-8.163325896e-05,-3.248416316e-03,7.026775810e-01,-1.055104912e-04,8.568918782e-01,7.026767697e-01,-1.045567441e-04,8.568910833e-01,7.034846612e-01,-1.996571692e-04,8.270775780e-01
+50,5.420000000e+01,DOWN_FORCE_DETACH,1792833370746541898,7.346955333e-04,-8.811155402e-05,-3.396638091e-03,7.288447374e-04,-9.050790041e-05,-3.381076358e-03,7.461156389e-04,-8.971830414e-05,-3.377659611e-03,7.026903284e-01,-1.103822890e-04,8.567464491e-01,7.026844776e-01,-1.127786354e-04,8.567620109e-01,7.034915126e-01,-2.077422144e-04,8.269483347e-01
+51,5.518333333e+01,DOWN_FORCE_DETACH,1792833371729504406,7.461992321e-04,-9.606331704e-05,-3.566962222e-03,7.429448156e-04,-9.385579566e-05,-3.559270649e-03,7.592365551e-04,-9.296058583e-05,-3.555386612e-03,7.027018320e-01,-1.183340521e-04,8.565761250e-01,7.026985776e-01,-1.161265307e-04,8.565838166e-01,7.035046335e-01,-2.109844961e-04,8.267706077e-01
+52,5.601666667e+01,DOWN_FORCE_DETACH,1792833372564595732,7.535472527e-04,-9.681196533e-05,-3.728149909e-03,7.497408883e-04,-9.361583210e-05,-3.713232375e-03,7.648107609e-04,-9.277115287e-05,-3.709105767e-03,7.027091801e-01,-1.190827003e-04,8.564149373e-01,7.027053737e-01,-1.158865671e-04,8.564298549e-01,7.035102077e-01,-2.107950631e-04,8.266168885e-01
+53,5.673333333e+01,DOWN_FORCE_DETACH,1792833373301682096,7.581323951e-04,-1.044406737e-04,-3.890369654e-03,7.564203655e-04,-1.037607054e-04,-3.882529638e-03,7.700545794e-04,-1.027479210e-04,-3.877894064e-03,7.027137652e-01,-1.267114087e-04,8.562527176e-01,7.027120532e-01,-1.260314404e-04,8.562605576e-01,7.035154516e-01,-2.207718313e-04,8.264481002e-01
+54,5.741666667e+01,DOWN_FORCE_DETACH,1792833374232901452,7.729107762e-04,-1.024580293e-04,-4.112723506e-03,7.727351980e-04,-1.023909425e-04,-4.111965355e-03,7.846930928e-04,-1.013469610e-04,-4.105832953e-03,7.027285436e-01,-1.247287643e-04,8.560303637e-01,7.027283680e-01,-1.246616775e-04,8.560311219e-01,7.035300901e-01,-2.193708712e-04,8.262201613e-01
+55,5.806666667e+01,DOWN_FORCE_DETACH,1792833374955817150,7.791655666e-04,-1.039758369e-04,-4.311764191e-03,7.819098020e-04,-1.080514314e-04,-4.300099097e-03,7.923445986e-04,-1.068306143e-04,-4.294056334e-03,7.027347984e-01,-1.262465719e-04,8.558313230e-01,7.027375426e-01,-1.303221664e-04,8.558429881e-01,7.035377416e-01,-2.248545246e-04,8.260319380e-01
+56,5.870000000e+01,DOWN_FORCE_DETACH,1792833375660286128,7.845496459e-04,-1.013009055e-04,-4.532734471e-03,7.820766916e-04,-9.757799742e-05,-4.513718732e-03,7.901034244e-04,-9.652177343e-05,-4.507353466e-03,7.027401825e-01,-1.235716405e-04,8.556103528e-01,7.027377095e-01,-1.198487324e-04,8.556293685e-01,7.035355004e-01,-2.145456837e-04,8.258186408e-01
+57,5.935000000e+01,DOWN_FORCE_DETACH,1792833376315546273,7.954024360e-04,-1.072180337e-04,-4.753509426e-03,7.952252224e-04,-1.073251827e-04,-4.753435634e-03,8.014316294e-04,-1.060516118e-04,-4.746418624e-03,7.027510353e-01,-1.294887688e-04,8.553895778e-01,7.027508580e-01,-1.295959177e-04,8.553896516e-01,7.035468286e-01,-2.240755220e-04,8.255795757e-01
+58,5.991666667e+01,DOWN_FORCE_DETACH,1792833376905742495,7.993994047e-04,-1.065244932e-04,-4.985287685e-03,7.978172508e-04,-1.050005677e-04,-4.971450795e-03,8.017526680e-04,-1.037611894e-04,-4.964050216e-03,7.027550322e-01,-1.287952282e-04,8.551577996e-01,7.027534501e-01,-1.272713027e-04,8.551716364e-01,7.035471497e-01,-2.217850996e-04,8.253619441e-01
+59,6.081666667e+01,DOWN_PEAK_HOLD,1792833377822447936,7.703136271e-04,-1.019705494e-04,-5.138493419e-03,7.738613605e-04,-1.069313058e-04,-5.130646207e-03,7.743756801e-04,-1.056520841e-04,-5.125142181e-03,7.027259464e-01,-1.242412844e-04,8.550045938e-01,7.027294942e-01,-1.292020408e-04,8.550124410e-01,7.035197727e-01,-2.236759943e-04,8.252008521e-01

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_09/down/simulation_data.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.3870e-01,1.8474e-01,2.5167e+00,-4.9756e-02,4.6655e-02,4.3430e-04,8.4665e-04,-3.4302e-05,-4.0483e-04,2.1830e-06,6.1695e-05,1.2340e-08,9.3909e-04,6.1733e-05
+1,1.1833e+00,DOWN_FORCE_DETACH,2.6306e-04,1.8485e-01,1.8263e-01,2.4959e+00,-4.9620e-02,5.0014e-02,4.3153e-04,4.7000e-02,-2.1503e-03,-2.1251e-02,1.3850e-04,3.4205e-03,-2.7592e-06,5.1626e-02,3.4233e-03
+2,2.2333e+00,DOWN_FORCE_DETACH,5.2362e-04,2.1443e-01,2.1269e-01,2.5718e+00,-5.1701e-02,5.2079e-02,4.2647e-04,7.6583e-02,2.7909e-02,5.4713e-02,-1.9423e-03,5.4850e-03,-7.8144e-06,9.8170e-02,5.8187e-03
+3,3.1167e+00,DOWN_FORCE_DETACH,7.8137e-04,2.0205e-01,2.3355e-01,2.7156e+00,-5.3140e-02,5.1039e-02,4.1913e-04,6.4203e-02,4.8778e-02,1.9847e-01,-3.3812e-03,4.4453e-03,-1.5152e-05,2.1422e-01,5.5851e-03
+4,4.1333e+00,DOWN_FORCE_DETACH,1.0489e-03,1.8078e-01,3.0682e-01,2.8145e+00,-5.8200e-02,4.9403e-02,4.1147e-04,4.2934e-02,1.2204e-01,2.9743e-01,-8.4421e-03,2.8091e-03,-2.2812e-05,3.2435e-01,8.8973e-03
+5,5.1167e+00,DOWN_FORCE_DETACH,1.3080e-03,1.6451e-01,3.1581e-01,2.9634e+00,-5.8764e-02,4.8082e-02,3.7627e-04,2.6658e-02,1.3104e-01,4.4629e-01,-9.0060e-03,1.4885e-03,-5.8017e-05,4.6589e-01,9.1283e-03
+6,5.6000e+00,DOWN_FORCE_DETACH,1.5687e-03,3.7410e-02,3.4462e-01,2.9469e+00,-6.0760e-02,3.8977e-02,3.8463e-04,-1.0044e-01,1.5984e-01,4.2973e-01,-1.1002e-02,-7.6163e-03,-4.9653e-05,4.6937e-01,1.3381e-02
+7,6.5167e+00,DOWN_FORCE_DETACH,1.8293e-03,3.5872e-02,3.5641e-01,3.0876e+00,-6.1492e-02,3.8688e-02,3.6979e-04,-1.0198e-01,1.7163e-01,5.7050e-01,-1.1733e-02,-7.9057e-03,-6.4493e-05,6.0443e-01,1.4148e-02
+8,7.3667e+00,DOWN_FORCE_DETACH,2.0946e-03,2.8266e-02,3.2746e-01,3.0935e+00,-5.9419e-02,3.8085e-02,3.7301e-04,-1.0958e-01,1.4268e-01,5.7638e-01,-9.6611e-03,-8.5086e-03,-6.1273e-05,6.0380e-01,1.2874e-02
+9,8.4333e+00,DOWN_FORCE_DETACH,2.3549e-03,4.3097e-02,3.6902e-01,3.0967e+00,-6.2212e-02,3.9124e-02,4.1041e-04,-9.4754e-02,1.8425e-01,5.7961e-01,-1.2454e-02,-7.4697e-03,-2.3877e-05,6.1553e-01,1.4522e-02
+10,9.5000e+00,DOWN_FORCE_DETACH,2.6175e-03,8.8172e-02,3.4364e-01,2.9691e+00,-6.0479e-02,4.2447e-02,4.0060e-04,-4.9678e-02,1.5887e-01,4.5197e-01,-1.0720e-02,-4.1468e-03,-3.3687e-05,4.8165e-01,1.1494e-02
+11,1.0467e+01,DOWN_FORCE_DETACH,2.8749e-03,1.4340e-01,3.8365e-01,2.8740e+00,-6.3246e-02,4.6481e-02,3.8107e-04,5.5504e-03,1.9888e-01,3.5691e-01,-1.3487e-02,-1.1264e-04,-5.3212e-05,4.0862e-01,1.3488e-02
+12,1.1600e+01,DOWN_FORCE_DETACH,3.1375e-03,1.8839e-01,3.6312e-01,2.7245e+00,-6.1882e-02,4.9844e-02,3.3796e-04,5.0544e-02,1.7834e-01,2.0737e-01,-1.2124e-02,3.2509e-03,-9.6327e-05,2.7814e-01,1.2553e-02
+13,1.2733e+01,DOWN_FORCE_DETACH,3.3998e-03,2.1963e-01,3.8118e-01,2.6486e+00,-6.3177e-02,5.2146e-02,3.1142e-04,8.1778e-02,1.9641e-01,1.3144e-01,-1.3419e-02,5.5528e-03,-1.2286e-04,2.5008e-01,1.4523e-02
+14,1.3800e+01,DOWN_FORCE_DETACH,3.6624e-03,2.3886e-01,3.7905e-01,2.5746e+00,-6.3095e-02,5.3594e-02,2.8934e-04,1.0101e-01,1.9427e-01,5.7519e-02,-1.3337e-02,7.0003e-03,-1.4494e-04,2.2639e-01,1.5063e-02
+15,1.4767e+01,DOWN_FORCE_DETACH,3.9241e-03,2.4973e-01,3.7706e-01,2.5345e+00,-6.3011e-02,5.4414e-02,2.7317e-04,1.1188e-01,1.9228e-01,1.7348e-02,-1.3253e-02,7.8200e-03,-1.6112e-04,2.2314e-01,1.5389e-02
+16,1.5967e+01,DOWN_FORCE_DETACH,4.1865e-03,2.5814e-01,3.7478e-01,2.5043e+00,-6.2912e-02,5.5048e-02,2.5631e-04,1.2029e-01,1.9001e-01,-1.2823e-02,-1.3153e-02,8.4548e-03,-1.7797e-04,2.2525e-01,1.5637e-02
+17,1.7017e+01,DOWN_FORCE_DETACH,4.4472e-03,2.6269e-01,3.7316e-01,2.4886e+00,-6.2839e-02,5.5392e-02,2.4388e-04,1.2484e-01,1.8838e-01,-2.8538e-02,-1.3081e-02,8.7981e-03,-1.9040e-04,2.2778e-01,1.5766e-02
+18,1.8150e+01,DOWN_FORCE_DETACH,4.7107e-03,2.6580e-01,3.7182e-01,2.4782e+00,-6.2780e-02,5.5627e-02,2.3267e-04,1.2795e-01,1.8704e-01,-3.8896e-02,-1.3021e-02,9.0334e-03,-2.0162e-04,2.2993e-01,1.5849e-02
+19,1.9183e+01,DOWN_FORCE_DETACH,4.9723e-03,2.6860e-01,3.6712e-01,2.5107e+00,-6.2456e-02,5.5792e-02,2.2295e-04,1.3075e-01,1.8235e-01,-6.4688e-03,-1.2697e-02,9.1986e-03,-2.1133e-04,2.2447e-01,1.5681e-02
+20,2.0400e+01,DOWN_FORCE_DETACH,5.2305e-03,2.3410e-01,3.8889e-01,2.5536e+00,-6.3932e-02,5.3293e-02,2.3285e-04,9.6249e-02,2.0411e-01,3.6516e-02,-1.4173e-02,6.6995e-03,-2.0144e-04,2.2860e-01,1.5678e-02
+21,2.1550e+01,DOWN_FORCE_DETACH,5.4942e-03,2.1944e-01,4.0986e-01,2.6525e+00,-6.5289e-02,5.2131e-02,2.5027e-04,8.1590e-02,2.2509e-01,1.3541e-01,-1.5530e-02,5.5372e-03,-1.8402e-04,2.7506e-01,1.6489e-02
+22,2.2733e+01,DOWN_FORCE_DETACH,5.7523e-03,2.3549e-01,4.0012e-01,2.5964e+00,-6.4604e-02,5.3315e-02,2.4504e-04,9.7643e-02,2.1534e-01,7.9287e-02,-1.4846e-02,6.7212e-03,-1.8924e-04,2.4938e-01,1.6297e-02
+23,2.3767e+01,DOWN_FORCE_DETACH,6.0150e-03,2.4056e-01,4.0198e-01,2.6176e+00,-6.4708e-02,5.3649e-02,2.3227e-04,1.0271e-01,2.1721e-01,1.0052e-01,-1.4950e-02,7.0558e-03,-2.0201e-04,2.6045e-01,1.6532e-02
+24,2.5000e+01,DOWN_FORCE_DETACH,6.2797e-03,2.2454e-01,4.0274e-01,2.6627e+00,-6.4738e-02,5.2460e-02,2.1662e-04,8.6693e-02,2.1796e-01,1.4557e-01,-1.4980e-02,5.8663e-03,-2.1767e-04,2.7607e-01,1.6089e-02
+25,2.6183e+01,DOWN_FORCE_DETACH,6.5409e-03,2.3699e-01,4.3569e-01,2.6332e+00,-6.6992e-02,5.3350e-02,2.0582e-04,9.9144e-02,2.5091e-01,1.1604e-01,-1.7233e-02,6.7562e-03,-2.2847e-04,2.9369e-01,1.8512e-02
+26,2.7467e+01,DOWN_FORCE_DETACH,6.8029e-03,2.4285e-01,4.2233e-01,2.6679e+00,-6.6057e-02,5.3726e-02,1.7999e-04,1.0500e-01,2.3755e-01,1.5082e-01,-1.6298e-02,7.1324e-03,-2.5429e-04,3.0034e-01,1.7792e-02
+27,2.8633e+01,DOWN_FORCE_DETACH,7.0633e-03,2.5048e-01,4.3050e-01,2.6508e+00,-6.6617e-02,5.4279e-02,1.6430e-04,1.1263e-01,2.4572e-01,1.3368e-01,-1.6858e-02,7.6859e-03,-2.6998e-04,3.0155e-01,1.8530e-02
+28,2.9850e+01,DOWN_FORCE_DETACH,7.3262e-03,2.5501e-01,4.3269e-01,2.6670e+00,-6.6735e-02,5.4577e-02,1.6098e-04,1.1716e-01,2.4791e-01,1.4992e-01,-1.6977e-02,7.9835e-03,-2.7331e-04,3.1251e-01,1.8762e-02
+29,3.1100e+01,DOWN_FORCE_DETACH,7.5846e-03,2.5428e-01,4.5247e-01,2.6801e+00,-6.8061e-02,5.4509e-02,1.7495e-04,1.1643e-01,2.6770e-01,1.6298e-01,-1.8302e-02,7.9154e-03,-2.5933e-04,3.3433e-01,1.9942e-02
+30,3.2217e+01,DOWN_FORCE_DETACH,7.8520e-03,2.5000e-01,4.6390e-01,2.7053e+00,-6.8804e-02,5.4166e-02,1.9401e-04,1.1215e-01,2.7912e-01,1.8822e-01,-1.9046e-02,7.5721e-03,-2.4027e-04,3.5484e-01,2.0497e-02
+31,3.3300e+01,DOWN_FORCE_DETACH,8.1127e-03,2.5498e-01,4.5362e-01,2.7267e+00,-6.8069e-02,5.4473e-02,2.0788e-04,1.1712e-01,2.6884e-01,2.0955e-01,-1.8311e-02,7.8799e-03,-2.2640e-04,3.6042e-01,1.9936e-02
+32,3.4433e+01,DOWN_FORCE_DETACH,8.3719e-03,2.4960e-01,4.8261e-01,2.7301e+00,-7.0020e-02,5.4067e-02,2.3158e-04,1.1175e-01,2.9783e-01,2.1293e-01,-2.0262e-02,7.4736e-03,-2.0270e-04,3.8279e-01,2.1597e-02
+33,3.5683e+01,DOWN_FORCE_DETACH,8.6331e-03,2.5641e-01,5.0796e-01,2.7217e+00,-7.1740e-02,5.4521e-02,2.4932e-04,1.1856e-01,3.2318e-01,2.0458e-01,-2.1982e-02,7.9276e-03,-1.8496e-04,4.0044e-01,2.3368e-02
+34,3.6883e+01,DOWN_FORCE_DETACH,8.8944e-03,2.5219e-01,5.1197e-01,2.7086e+00,-7.2029e-02,5.4194e-02,2.5079e-04,1.1434e-01,3.2719e-01,1.9151e-01,-2.2271e-02,7.6006e-03,-1.8349e-04,3.9599e-01,2.3533e-02
+35,3.8000e+01,DOWN_FORCE_DETACH,9.1543e-03,2.4999e-01,4.9768e-01,2.7131e+00,-7.1052e-02,5.3988e-02,2.3200e-04,1.1214e-01,3.1290e-01,1.9603e-01,-2.1294e-02,7.3947e-03,-2.0228e-04,3.8589e-01,2.2542e-02
+36,3.9200e+01,DOWN_FORCE_DETACH,9.4159e-03,2.4049e-01,5.0434e-01,2.7508e+00,-7.1454e-02,5.3250e-02,2.0880e-04,1.0264e-01,3.1956e-01,2.3368e-01,-2.1696e-02,6.6569e-03,-2.2548e-04,4.0897e-01,2.2695e-02
+37,4.0350e+01,DOWN_FORCE_DETACH,9.6805e-03,2.3433e-01,5.3368e-01,2.7369e+00,-7.3421e-02,5.2811e-02,1.9346e-04,9.6480e-02,3.4891e-01,2.1978e-01,-2.3663e-02,6.2175e-03,-2.4082e-04,4.2349e-01,2.4467e-02
+38,4.1483e+01,DOWN_FORCE_DETACH,9.9399e-03,2.4680e-01,5.1830e-01,2.7230e+00,-7.2337e-02,5.3697e-02,1.6710e-04,1.0895e-01,3.3352e-01,2.0587e-01,-2.2579e-02,7.1030e-03,-2.6719e-04,4.0680e-01,2.3671e-02
+39,4.2550e+01,DOWN_FORCE_DETACH,1.0201e-02,2.4771e-01,5.0400e-01,2.7695e+00,-7.1285e-02,5.3715e-02,1.4375e-04,1.0986e-01,3.1922e-01,2.5242e-01,-2.1526e-02,7.1218e-03,-2.9054e-04,4.2153e-01,2.2676e-02
+40,4.3767e+01,DOWN_FORCE_DETACH,1.0465e-02,2.3859e-01,5.3072e-01,2.7772e+00,-7.3045e-02,5.3084e-02,1.4155e-04,1.0074e-01,3.4594e-01,2.6004e-01,-2.3287e-02,6.4907e-03,-2.9274e-04,4.4435e-01,2.4176e-02
+41,4.4733e+01,DOWN_FORCE_DETACH,1.0727e-02,2.4885e-01,5.3263e-01,2.8160e+00,-7.3117e-02,5.3758e-02,1.3103e-04,1.1100e-01,3.4786e-01,2.9886e-01,-2.3359e-02,7.1644e-03,-3.0325e-04,4.7185e-01,2.4434e-02
+42,4.5750e+01,DOWN_FORCE_DETACH,1.0986e-02,2.4141e-01,5.7648e-01,2.8360e+00,-7.6047e-02,5.3175e-02,1.3475e-04,1.0356e-01,3.9170e-01,3.1892e-01,-2.6289e-02,6.5817e-03,-2.9954e-04,5.1562e-01,2.7102e-02
+43,4.6867e+01,DOWN_FORCE_DETACH,1.1248e-02,2.4234e-01,5.7067e-01,2.8100e+00,-7.5616e-02,5.3212e-02,1.3081e-04,1.0448e-01,3.8589e-01,2.9292e-01,-2.5858e-02,6.6182e-03,-3.0348e-04,4.9561e-01,2.6693e-02
+44,4.7833e+01,DOWN_FORCE_DETACH,1.1513e-02,2.5756e-01,5.9315e-01,2.8791e+00,-7.7058e-02,5.4145e-02,1.4052e-04,1.1971e-01,4.0837e-01,3.6198e-01,-2.7300e-02,7.5519e-03,-2.9377e-04,5.5869e-01,2.8326e-02
+45,4.8933e+01,DOWN_FORCE_DETACH,1.1773e-02,2.4736e-01,5.9369e-01,2.8954e+00,-7.6978e-02,5.3361e-02,1.6769e-04,1.0951e-01,4.0891e-01,3.7824e-01,-2.7219e-02,6.7675e-03,-2.6660e-04,5.6768e-01,2.8049e-02
+46,5.0033e+01,DOWN_FORCE_DETACH,1.2032e-02,2.4724e-01,6.1213e-01,2.8951e+00,-7.8099e-02,5.3314e-02,1.9540e-04,1.0939e-01,4.2736e-01,3.7796e-01,-2.8341e-02,6.7209e-03,-2.3888e-04,5.8091e-01,2.9128e-02
+47,5.1117e+01,DOWN_FORCE_DETACH,1.2295e-02,2.5235e-01,5.9840e-01,2.9450e+00,-7.7087e-02,5.3616e-02,2.0900e-04,1.1450e-01,4.1363e-01,4.2786e-01,-2.7329e-02,7.0220e-03,-2.2529e-04,6.0602e-01,2.8217e-02
+48,5.2217e+01,DOWN_FORCE_DETACH,1.2555e-02,2.5550e-01,5.5762e-01,3.0017e+00,-7.4269e-02,5.3753e-02,2.2005e-04,1.1765e-01,3.7284e-01,4.8460e-01,-2.4511e-02,7.1593e-03,-2.1424e-04,6.2265e-01,2.5536e-02
+49,5.3200e+01,DOWN_FORCE_DETACH,1.2817e-02,2.4668e-01,5.5266e-01,3.0773e+00,-7.3833e-02,5.3002e-02,2.4778e-04,1.0883e-01,3.6788e-01,5.6015e-01,-2.4074e-02,6.4087e-03,-1.8651e-04,6.7893e-01,2.4913e-02
+50,5.4200e+01,DOWN_FORCE_DETACH,1.3079e-02,2.5659e-01,6.0305e-01,3.0464e+00,-7.7077e-02,5.3652e-02,2.9078e-04,1.1874e-01,4.1827e-01,5.2925e-01,-2.7319e-02,7.0584e-03,-1.4350e-04,6.8495e-01,2.8216e-02
+51,5.5183e+01,DOWN_FORCE_DETACH,1.3339e-02,2.5866e-01,6.2783e-01,3.1376e+00,-7.8489e-02,5.3644e-02,2.7044e-04,1.2081e-01,4.4305e-01,6.2047e-01,-2.8731e-02,7.0500e-03,-1.6385e-04,7.7193e-01,2.9583e-02
+52,5.6017e+01,DOWN_FORCE_DETACH,1.3604e-02,2.7478e-01,6.2902e-01,3.1844e+00,-7.8334e-02,5.4631e-02,2.0276e-04,1.3693e-01,4.4424e-01,6.6725e-01,-2.8576e-02,8.0374e-03,-2.3153e-04,8.1322e-01,2.9686e-02
+53,5.6733e+01,DOWN_FORCE_DETACH,1.3863e-02,2.8412e-01,6.9303e-01,3.2908e+00,-8.2400e-02,5.5089e-02,1.8047e-04,1.4627e-01,5.0825e-01,7.7366e-01,-3.2641e-02,8.4950e-03,-2.5381e-04,9.3715e-01,3.3729e-02
+54,5.7417e+01,DOWN_FORCE_DETACH,1.4143e-02,2.7538e-01,6.9713e-01,3.3301e+00,-8.2461e-02,5.4386e-02,1.8811e-04,1.3753e-01,5.1236e-01,8.1302e-01,-3.2703e-02,7.7929e-03,-2.4617e-04,9.7079e-01,3.3619e-02
+55,5.8067e+01,DOWN_FORCE_DETACH,1.4391e-02,2.5227e-01,7.3801e-01,3.5524e+00,-8.4674e-02,5.2504e-02,2.3393e-04,1.1442e-01,5.5323e-01,1.0352e+00,-3.4916e-02,5.9104e-03,-2.0036e-04,1.1794e+00,3.5413e-02
+56,5.8700e+01,DOWN_FORCE_DETACH,1.4652e-02,2.7629e-01,6.8206e-01,3.6292e+00,-8.0583e-02,5.3995e-02,2.2936e-04,1.3844e-01,4.9729e-01,1.1121e+00,-3.0825e-02,7.4019e-03,-2.0493e-04,1.2261e+00,3.1702e-02
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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_09/up/fem_node.csv ADDED Viewed

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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_09/up/franka_data.csv ADDED Viewed

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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_09/up/multimodal_aligned_data.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_09/up/real_sim_motion_alignment.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+27,2.066666667e+00,UP_FORCE_RAMP,1792833306914189134,7.999845867e-06,-3.815943513e-04,4.133274635e-05,8.783643020e-06,-3.965898977e-04,3.749053994e-05,1.052057297e-05,-3.919526139e-04,3.756819787e-05,7.019636327e-01,-4.038650863e-04,8.601844200e-01,7.019644165e-01,-4.188606328e-04,8.601805778e-01,7.027559176e-01,-5.099765634e-04,8.303635626e-01
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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_09/up/simulation_data.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+size 624640

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_10/down/fem_node.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_10/down/franka_data.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+20398,1792833393382660777,12072848000000,1792833393381106236,XJC_ZERO_HOLD_BEFORE_DOWN,10,0.0583,0.05830083787441254,0.6759373735962942,-0.004907323303277997,0.0997730466900449,0.999999950714741,-0.00015278719716385568,-0.0002541792673507248,4.541312847034953e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,-0.0016824482169210953,-0.00467731235390767,-0.003787050534283465,-0.0004836584797082988,0.00015106190859823232,7.157435487831643e-05,0.9252356604014546,1.2005299667451896,0.42924015242462576,0.07923258194341959,-0.06344306872241892,0.001600821061570436,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,-0.23277465985570028,1.606155196537654,1.6412111485561287,-0.2764781826456572,-1.17477413715462,1.0013225440912543,-0.49566648112372286,0.003787050534283465,-2.1368776296798515,0.0,0.0,0,0,0.0,0.0
+20548,1792833394624748942,12074090000000,1792833394621105896,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6759425616028282,-0.004909409612971025,0.09977557828636419,0.9999999520666781,-0.0001567071065854416,-0.00024638022965795545,4.526776881580049e-05,0.6761,-0.0046,0.09997246370511939,1.0,0.0,0.0,0.0,-0.001701490800331995,0.00011623221675116646,0.002438068717637687,-0.0004885492068975317,0.00017662397294133936,-0.00012450204849652328,0.9252166178180437,1.2053235113158485,0.4354652716765469,0.07922769121623036,-0.06341750665807581,0.0014047446581955962,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,-0.029694306755973426,1.5928981867269343,1.3798172284863666,-0.2654567963053582,-0.9600220192658532,0.9933814679926602,-0.49566648112372286,-0.002438068717637687,-1.8754837096100894,-1.8754837096100894,0.15750000000000092,0,0,-5.249999001785544e-05,-9.999999025923074e-05
+20684,1792833395758738458,12075224000000,1792833395757106532,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6759766010316474,-0.004912801158957831,0.09972452378243017,0.9999999693822861,-0.00014486084758808833,-0.00016317029313517696,7.119748180434732e-05,0.6761,-0.0046,0.09988080817270777,1.0,0.0,0.0,0.0,-0.039263658241879495,-0.019865093465189165,0.25636484647342744,-0.001615312200050123,0.002779087531567817,6.747722296863838e-05,0.8876544503764962,1.1853421856339081,0.6893920494323367,0.07810092822307776,-0.06081504309944934,0.0015967239296607579,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,0.31393657831536015,1.583521300882167,0.977656130395826,-0.22154278749772216,-0.6297430497887668,0.9771128553252335,-0.49566648112372286,-0.25636484647342744,-1.4733226115195488,-1.4733226115195488,0.3275999999999993,0,0,-0.0001091999789718231,-9.999999025923074e-05
+20808,1792833396791698922,12076257000000,1792833396785106544,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6759587075501496,-0.004923627481923456,0.09962715056969892,0.9999999609987187,-0.00014039193022040216,-0.00020248637926973995,9.346013855488804e-05,0.6761,-0.0046,0.09974135319963204,1.0,0.0,0.0,0.0,-0.12892194861084438,-0.03324853609385614,0.6722254515717476,-0.0008399001488406804,0.008114626531706137,-0.00022953646445611855,0.7979961600075313,1.1719587430052412,1.105252654530657,0.07887634027428721,-0.05547950409931102,0.001299710242236001,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,0.48002306217539037,1.4916291402768747,0.31615841682884366,-0.10081663091344346,-0.17011032416924507,0.897072715170631,-0.49566648112372286,-0.6722254515717476,-0.8118248979525665,-0.8118248979525665,0.4825499999999822,0,0,-0.00016084996890960846,-9.999999025923074e-05
+20932,1792833397824714568,12077290000000,1792833397821105456,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6759884000321924,-0.004932895934219583,0.0995179809456144,0.9999999702822311,-0.00013273472803008922,-0.00013257881366012715,0.00012523079291877048,0.6761,-0.0046,0.09954854378695058,1.0,0.0,0.0,0.0,-0.24812350364445068,-0.01695884028338268,1.2019873728694834,0.0002972718277450548,0.015073502013688352,0.0004969706360175249,0.678794604973925,1.1882484388157146,1.6350145758283927,0.08001351225087294,-0.0485206286173288,0.0020262173427096444,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,0.6714294123926587,1.4567293136017323,-0.18148086587725906,-0.0034994126403831097,0.17416145542301104,0.8561478709315598,-0.49566648112372286,-1.2019873728694834,-0.3141856152464638,-0.3141856152464638,0.6374999999999652,0,0,-0.00021249995884739382,-9.999999025923074e-05
+21048,1792833398791721147,12078257000000,1792833398789106114,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6760139544100698,-0.004941257933102359,0.09937212017302927,0.9999999721635736,-0.00015029880541713223,-7.357172872172042e-05,0.00013825044725312814,0.6761,-0.0046,0.0993197032813041,1.0,0.0,0.0,0.0,-0.33609886192321015,0.018938455722746106,1.842256522703757,0.0026219798116577375,0.02196319228129919,0.0011227744012702674,0.5908192466951655,1.2241457348218434,2.2752837256626663,0.08233822023478563,-0.04163093834971796,0.002652021107962387,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,0.85209336302715,1.407126120513703,-0.9744113054369189,0.0017799145836870675,0.7256042185747003,0.8251181010426717,-0.49566648112372286,-1.842256522703757,0.47874482431319604,0.47874482431319604,0.7825499999999492,0,0,-0.0002608499494280699,-9.999999025923074e-05
+21119,1792833399383721079,12078849000000,1792833399381105724,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6760958627307212,-0.004939969238752193,0.09931453784313603,0.9999999728361582,-0.0001433895038222837,2.672460005125105e-05,0.00015651131941484244,0.6761,-0.0046,0.09915726624469505,1.0,0.0,0.0,0.0,-0.5135392723505897,0.20673856002867375,2.0774235992509134,0.015528323604702549,0.033805253622665385,0.0012492442084735336,0.41337883626778593,1.411945839127771,2.5104508022098226,0.09524456402783044,-0.02978887700835177,0.002778490915165653,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,1.3049746244422953,1.434273510206272,-1.1998788029994396,-0.007722278208938557,0.9484076294509255,0.8399543363266944,-0.49566648112372286,-2.0774235992509134,0.7042123218757168,0.7042123218757168,0.8713499999999395,0,0,-0.0002800276967293306,9.999872738054023e-05
+21236,1792833400358681553,12079824000000,1792833400353105905,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6761378887056148,-0.0049333591867003306,0.09915683877003297,0.9999999577979745,-0.00023485432582483852,0.0001017611709391095,0.0001016613156071941,0.6761,-0.0046,0.09890798048581738,1.0,0.0,0.0,0.0,-0.5887107733823448,0.33310667869408883,2.7527264498066595,0.02448503285111256,0.03890640736850326,0.0019073063246927515,0.33820733523603086,1.5383139577931861,3.1857536527655688,0.10420127327424045,-0.024687723262513898,0.003436553031384871,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,1.5210270974192115,1.348854490157037,-1.893315005526901,0.010363508129508127,1.4398022725500772,0.7891355361048578,-0.49566648112372286,-2.7527264498066595,1.3976485244031782,1.3976485244031782,1.0175999999999363,0,0,-0.00023127770615719167,9.999999025923074e-05
+21370,1792833401474604882,12080940000000,1792833401469105858,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6761852892786637,-0.00494726093231102,0.09901198994302045,0.9999999451971368,-0.00023348536845263442,0.0001716619405758453,0.0001306344069586259,0.6761,-0.0046,0.09868098305967467,1.0,0.0,0.0,0.0,-0.7217800688463811,0.419815499371621,3.3154373220780666,0.030215676604486486,0.0474224817148156,0.002671375232447131,0.20513803977199457,1.6250227784707183,3.748464525036976,0.10993191702761437,-0.016171648916201556,0.004200621939139251,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,1.7231997210258692,1.4257408601132688,-2.534206331688553,0.02350990819822017,1.8810698260873258,0.8322835484387041,-0.49566648112372286,-3.3154373220780666,2.03853985056483,2.03853985056483,1.1850000000000418,0,0,-0.00017547771702789016,9.999999025923074e-05
+21512,1792833402658688083,12082124000000,1792833402653106214,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6762187602725881,-0.004946649146828108,0.09889636588636626,0.9999999348213274,-0.00023160270579148536,0.0002218504082843098,0.00013763280079555525,0.6761,-0.0046,0.0985082342358803,1.0,0.0,0.0,0.0,-0.8062393973555477,0.4794412302479274,3.7392261974520427,0.035104123773689835,0.05231221988390389,0.002455088698844982,0.1206787112628279,1.6846485093470247,4.172253400410952,0.11482036419681772,-0.01128191074711327,0.003984335405537102,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,1.9140496362209138,1.3272065920119223,-2.973981835342188,0.06387298770694093,2.1999285881545756,0.7703712792209195,-0.49566648112372286,-3.7392261974520427,2.478315354218465,2.478315354218465,1.3626000000001537,0,0,-0.00011627772856096096,9.999999025923074e-05
+21663,1792833403916653130,12083382000000,1792833403913106175,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6762338351910268,-0.004949833742373881,0.09882089946165752,0.9999999554050576,-3.808787701858532e-05,0.00024670034279359264,0.00013535509564367032,0.6761,-0.0046,0.09840148949563679,1.0,0.0,0.0,0.0,-0.8375156730190996,0.507873730839383,3.982040374097296,0.037034105344549595,0.05464689079679428,0.002316647464183696,0.08940243559927605,1.7130810099384803,4.415067577056205,0.11675034576767748,-0.008947239834222874,0.0038458941708758155,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.0076314420019576,1.4300206184974245,-3.1353637290248773,0.013946298285699068,2.334013771962251,0.7883116741504824,-0.49566648112372286,-3.982040374097296,2.6396972479011542,2.6396972479011542,1.5513000000002726,0,0,-5.337774081484869e-05,9.999999025923074e-05
+21800,1792833405058642177,12084524000000,1792833405053106073,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6762402698170632,-0.004948798103665011,0.09879557305700194,0.9999999529926075,-4.3432559176860347e-05,0.00025570077619634145,0.0001348642770488638,0.6761,-0.0046,0.09837248134081766,1.0,0.0,0.0,0.0,-0.8406916158309705,0.5259049178640254,4.0526304925953855,0.03794479714573043,0.05522702321347669,0.002278523434051128,0.08622649278740507,1.7311121969631227,4.485657695554295,0.11766103756885832,-0.008367107417540466,0.0038077701407432476,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.0166900995584065,1.4611218252576883,-3.3718183932157886,0.005410619586067637,2.487556202095209,0.8162380212015317,-0.49566648112372286,-4.0526304925953855,2.8761519120920656,2.8761519120920656,1.7226000000003805,0,0,-2.526590035939469e-06,2.552111147413605e-05
+21956,1792833406358630592,12085824000000,1792833406353105920,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6762436430909723,-0.004951395001058822,0.09879274056879639,0.9999999515538133,-5.078390905379403e-05,0.0002606559128608894,0.0001334718138372605,0.6761,-0.0046,0.09837197677963645,1.0,0.0,0.0,0.0,-0.828749132496955,0.516615897746779,4.032774104448307,0.037382655065313186,0.05422737667914983,0.0032256912942419218,0.09816897612142066,1.7218231768458763,4.465801307407216,0.11709889548844107,-0.009366753951867327,0.004754938000934041,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.0328104426002565,1.3641298346138484,-3.2428083120555193,0.04179524526890862,2.413909013987399,0.7561047283613462,-0.49566648112372286,-4.032774104448307,2.7471418309317963,2.7471418309317963,1.9176000000005033,0,0,-3.736502357520877e-09,3.774244805576643e-08
+22135,1792833407849672195,12087315000000,1792833407849096644,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.676241268146488,-0.004949026866685649,0.09878619018942601,0.999999953185742,-4.9041342833681664e-05,0.00025507348442400316,0.00013267947325626162,0.6761,-0.0046,0.0983719760327969,1.0,0.0,0.0,0.0,-0.83629646370725,0.5059175165107757,4.012170118855375,0.03704097849819453,0.05424118018115795,0.0022854199471250493,0.09062164491112569,1.711124795609873,4.445197321814284,0.11675721892132242,-0.009352950449859202,0.003814666653817169,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,1.978786223978626,1.4031594347974587,-3.2157054353131307,0.027234503482636684,2.381345438401474,0.7799218047555874,-0.49566648112372286,-4.012170118855375,2.7200389541894077,2.7200389541894077,2.1412500000006442,0,0,-2.239458618547019e-12,2.2620794126737565e-11
+22272,1792833408991665710,12088457000000,1792833408989105980,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6762439287511952,-0.004951134777242682,0.09878761233775143,0.9999999520525744,-5.0188011432117115e-05,0.00025856334930035243,0.00013402936740133874,0.6761,-0.0046,0.0983719760312008,1.0,0.0,0.0,0.0,-0.8265557426052588,0.5070661021510525,4.001942525541882,0.03645584067764099,0.05424750497361831,0.0022879888459087835,0.10036236601311682,1.7122733812501498,4.434969728500791,0.11617208110076888,-0.009346625657398844,0.003817235552600903,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,1.9363109719088476,1.4200199969702563,-3.209868404672002,0.024180870980730875,2.3672820698689043,0.7904947416510373,-0.49566648112372286,-4.001942525541882,2.714201923548279,2.714201923548279,2.312550000000752,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+22430,1792833410308662448,12089774000000,1792833410301106719,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6762404039915457,-0.004952330179754871,0.0987829071723266,0.9999999531409858,-5.134025057114149e-05,0.0002537881930728409,0.00013459800276152244,0.6761,-0.0046,0.09837197602939138,1.0,0.0,0.0,0.0,-0.8175459380837728,0.514177848822355,3.99088238041685,0.0370724337892409,0.05323172936090472,0.0022894897249238987,0.10937217053460276,1.7193851279214523,4.423909583375759,0.11678867421236878,-0.010362401270112433,0.003818736431616018,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,1.9646002920203365,1.3243440884572009,-3.191729894543381,0.056100973245812195,2.3642281782905283,0.726712922499826,-0.49566648112372286,-3.99088238041685,2.696063413419658,2.696063413419658,2.5101000000008766,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+22565,1792833411433625681,12090899000000,1792833411433106345,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6762406853109355,-0.004949909588867992,0.09878425973951759,0.9999999531718623,-4.9808032937600884e-05,0.000255273410107029,0.0001321127687758275,0.6761,-0.0046,0.09837158294169891,1.0,0.0,0.0,0.0,-0.8081467517255818,0.5138872898489031,3.9822042027960434,0.03707055030468187,0.05323506478966541,0.0022969122166294426,0.11877135689279378,1.7190945689480004,4.415231405754953,0.11678679072780976,-0.010359065841351744,0.003826158923321562,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,1.9019067012162523,1.429264933197507,-3.2569261248202914,0.029085231836334623,2.38565588320232,0.7991668786272041,-0.49566648112372286,-3.9822042027960434,2.7612596436965684,2.7612596436965684,2.678850000000983,0,0,-2.5818289069168276e-06,2.6079079867846744e-05
+22715,1792833412683592432,12092149000000,1792833412677096214,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6762428631476888,-0.004953435534882093,0.09877391756624844,0.9999999514778212,-5.323467922219546e-05,0.00025919922634379077,0.00013590088244420259,0.6761,-0.0046,0.09834673375441752,1.0,0.0,0.0,0.0,-0.8126100850169277,0.5250655856074176,4.002878447657473,0.03793962627240827,0.05324943432099973,0.0029308355865661165,0.114308023601448,1.7302728647065149,4.435905650616382,0.11765586669553615,-0.010344696310017422,0.004460082293258236,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.0852432670588525,1.4439398166630095,-3.335532023008202,0.025103960633973212,2.4834083093401373,0.807411821307107,-0.49566648112372286,-4.002878447657473,2.839865541884479,2.839865541884479,2.866350000001101,0,0,-4.28985254582751e-05,9.876170300871507e-05
+22878,1792833414041603117,12093507000000,1792833414041105754,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.676262379198506,-0.004953895753874758,0.09873013872020146,0.9999999420480706,-6.852205381057743e-05,0.0002917493553114829,0.0001324151109854494,0.6761,-0.0046,0.09825164657899405,1.0,0.0,0.0,0.0,-0.8703036489930627,0.5637351329798246,4.204056918310659,0.039986366098386836,0.057178691368600286,0.003191561624650916,0.05661445962531297,1.7689424120789219,4.637084121269568,0.11970260652151472,-0.006415439262416869,0.004720808331343035,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.1545459625830907,1.355089943413533,-3.5272056802184766,0.07685551823195928,2.6082563542075143,0.7740767250004026,-0.49566648112372286,-4.204056918310659,3.0315391990947536,3.0315391990947536,3.0700500000012294,0,0,-8.732188256224826e-05,9.999999025923074e-05
+23009,1792833415133623541,12094599000000,1792833415133106020,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.676278311405348,-0.00495720006106366,0.09867001103608063,0.9999999300487734,-9.409112719543831e-05,0.0003248493822677545,0.00013024995680151509,0.6761,-0.0046,0.0981647345521325,1.0,0.0,0.0,0.0,-0.9252495288375573,0.5965541749930421,4.435646596706563,0.04291652741674645,0.06010674039598451,0.0031230270886178453,0.001668579780818327,1.8017614540921394,4.868673799665472,0.12263276783987434,-0.0034873902350326474,0.004652273795309965,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.202338950475784,1.3216665222273545,-3.636324036540464,0.10852053351017969,2.678729928604071,0.7819649793544546,-0.49566648112372286,-4.435646596706563,3.140657555416741,3.140657555416741,3.2338500000013326,0,0,-6.336293954386919e-05,-9.687500387845489e-05
+23163,1792833416416616999,12095882000000,1792833416413106042,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6762888908127088,-0.004958327458447303,0.09863197540673607,0.9999999229220818,-0.00010327567087163829,0.00034372665770409906,0.00012955622501555157,0.6761,-0.0046,0.09811296713008166,1.0,0.0,0.0,0.0,-0.9391212859231098,0.6146411521171529,4.57670892628301,0.043857471339313156,0.06208232541549273,0.003050939690527754,-0.012203177304734227,1.8198484312162502,5.00973612924192,0.12357371176244104,-0.001511805215524421,0.004580186397219873,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.2386691289885383,1.2557954808923324,-3.842647154436644,0.13333171340347955,2.819605646931636,0.7438396411772837,-0.49566648112372286,-4.57670892628301,3.346980673312921,3.346980673312921,3.426300000001454,0,0,-2.9510923325896894e-05,-8.962036254634426e-05
+23316,1792833417691607664,12097157000000,1792833417689096345,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6762988890045954,-0.004955614189399548,0.0986032125273862,0.9999999172980987,-0.00010753894907251737,0.0003595021772370728,0.00012664998715687897,0.6761,-0.0046,0.09805582397633004,1.0,0.0,0.0,0.0,-0.9645420374112174,0.6236286931298842,4.687270001014201,0.04482930272772248,0.0630536556154526,0.002985321091347598,-0.03762392879284175,1.8288359722289815,5.12029720397311,0.12454554315085037,-0.0005404750155645532,0.004514567798039717,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.3256739952907837,1.2584224661301453,-4.032587621633873,0.1441536259052125,2.9614912701702423,0.752016665789401,-0.49566648112372286,-4.687270001014201,3.5369211405101497,3.5369211405101497,3.6175500000015743,0,0,-6.449660832771732e-05,-9.999999025923074e-05
+23463,1792833418916546553,12098382000000,1792833418913105938,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6763120609812654,-0.004956176803036906,0.09854564813032632,0.9999999086492698,-0.00011331429198843521,0.0003811642623906397,0.0001265622085346111,0.6761,-0.0046,0.09796177776574513,1.0,0.0,0.0,0.0,-0.9976939574875523,0.6497866087340611,4.893397177719008,0.046804339177743765,0.06499677695705207,0.002869540840429453,-0.07077584886917662,1.8549938878331584,5.326424380677917,0.12652057960087165,0.0014026463260349113,0.004398787547121572,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.391715080047449,1.2462020753794174,-4.205629810130954,0.15614476450348996,3.0847052640625394,0.7438912398833274,-0.49566648112372286,-4.893397177719008,3.7099633290072314,3.7099633290072314,3.80130000000169,0,0,-7.840230282637884e-05,-9.999944902550623e-05
+23599,1792833420049594368,12099515000000,1792833420049106422,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6763292043262306,-0.00496249123844881,0.09849691879868994,0.9999998942906855,-0.00012600197071346893,0.0004129056768493139,0.00012842853117865543,0.6761,-0.0046,0.09789097583472493,1.0,0.0,0.0,0.0,-1.0364198762984302,0.6679768301424827,5.089959730249867,0.04876202805493815,0.06592989959164791,0.002748974884767885,-0.1095017676800545,1.87318410924158,5.522986933208776,0.12847826847806604,0.0023357689606307522,0.004278221591460005,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.492571339113646,1.2825226078436731,-4.408263979085514,0.15273306397535663,3.2359666727530914,0.7686747083803468,-0.49566648112372286,-5.089959730249867,3.912597497961791,3.912597497961791,3.971250000001797,0,0,-4.73567785083936e-05,-5.0000818789480663e-05
+23741,1792833421233582983,12100699000000,1792833421233096389,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.676340293848294,-0.004963805000200925,0.09846137909303367,0.9999998864875055,-0.00012779644755260588,0.0004307207608148124,0.00012890125932867508,0.6761,-0.0046,0.09783259220924381,1.0,0.0,0.0,0.0,-1.056546056717979,0.6863093626240566,5.211199094297668,0.05073959722210067,0.06687453939836882,0.003103049477914237,-0.12962794809960326,1.891516641723154,5.644226297256577,0.13045583764522856,0.0032804087673516617,0.004632296184606356,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.513319499277346,1.1481897366256728,-4.496948576464469,0.19766270064918276,3.298185302858313,0.6801271353910913,-0.49566648112372286,-5.211199094297668,4.001282095340746,4.001282095340746,4.1488500000014685,0,0,-5.779785902246116e-05,-9.979293366513815e-05
+23886,1792833422441594982,12101907000000,1792833422441105954,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6763530821947836,-0.0049657773632314885,0.09840678033810699,0.9999998769800238,-0.0001337849482437983,0.00045157617285705026,0.00012515330349740543,0.6761,-0.0046,0.09774481155000288,1.0,0.0,0.0,0.0,-1.0862080517883133,0.7183264966664638,5.38270073693458,0.052694042535981284,0.0688243947852356,0.0036224274558047578,-0.15928994316993764,1.923533775765561,5.815727939893489,0.13241028295910917,0.005230264154218443,0.005151674162496877,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.6095179292632196,1.220972029559024,-4.752804402248102,0.18088886848159397,3.4825697442515127,0.7292632148580487,-0.49566648112372286,-5.38270073693458,4.257137921124379,4.257137921124379,4.330050000001046,0,0,-8.019555259727718e-05,-3.2469481296654126e-05
+24041,1792833423733575519,12103199000000,1792833423733105346,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6763706144427086,-0.0049646219090847725,0.09834097322931183,0.9999998617094937,-0.00014307778135330806,0.00048201134836990493,0.00012335990539157795,0.6761,-0.0046,0.09765131076835783,1.0,0.0,0.0,0.0,-1.1253345016172775,0.7428024817764722,5.604009795759942,0.05462274107131179,0.07177671704544494,0.003509181416042389,-0.198416392998902,1.9480097608755695,6.037036998718851,0.13433898149443968,0.008182586414427796,0.0050384281227345085,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.670545403177786,1.2015310059668725,-4.972358814584985,0.19082333362292817,3.6341533638136716,0.7112501538675603,-0.49566648112372286,-5.604009795759942,4.476692333461262,4.476692333461262,4.523850000000595,0,0,-5.773335040433767e-05,1.1557076334733956e-05
+24191,1792833424983561322,12104449000000,1792833424981096912,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6763850659446031,-0.004969149991022728,0.09829800742729716,0.9999998479239844,-0.00015347495799656002,0.0005074247269543883,0.00012066671506080718,0.6761,-0.0046,0.09757796546278275,1.0,0.0,0.0,0.0,-1.1462823676994243,0.7723210344871427,5.7337172185402485,0.0565756544800676,0.07373659591684359,0.0034555297435614977,-0.21936425908104853,1.97752831358624,6.166744421499158,0.1362918949031955,0.010142465285826435,0.004984776450253617,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.7566104144933776,1.2456983748304011,-5.145478804269411,0.18165197024332652,3.7668846681022776,0.7423947795556172,-0.49566648112372286,-5.7337172185402485,4.649812323145688,4.649812323145688,4.711350000000158,0,0,-6.671573218461203e-05,-1.0547336641525365e-05
+24332,1792833426158531587,12105624000000,1792833426157106259,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.676398484272965,-0.004969485132741016,0.09823936271919957,0.9999998359816534,-0.00016404214025872313,0.00052763065752836,0.00011906131207461535,0.6761,-0.0046,0.09749144773578687,1.0,0.0,0.0,0.0,-1.184308753441754,0.8051099916444304,5.925770879325715,0.0585282082028154,0.0756824356503129,0.0033520804301888528,-0.2573906448233784,2.0103172707435277,6.358798082284625,0.1382444486259433,0.012088305019295744,0.004881327136880972,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.8346005225326536,1.2183272295067054,-5.366066640626176,0.2025938279442628,3.925905119489786,0.723024442849276,-0.49566648112372286,-5.925770879325715,4.870400159502453,4.870400159502453,4.887599999999747,0,0,-7.434568332212598e-05,9.999996250365512e-05
+24474,1792833427341454553,12106807000000,1792833427337105962,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6764137603513095,-0.004972830859028355,0.09818658204138017,0.9999998200910454,-0.0001737034874449065,0.0005540254023166182,0.00011892726029604086,0.6761,-0.0046,0.09740991794000703,1.0,0.0,0.0,0.0,-1.2052204408876228,0.8319617432874868,6.09756720581542,0.060483712120803196,0.07763318833124572,0.003264071219646947,-0.27830233226924717,2.037169022386584,6.53059440877433,0.14019995254393108,0.014039057700228562,0.004793317926339066,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.8706804395100947,1.216530307174521,-5.501840211664515,0.2012192480845764,4.01944864044086,0.7183047485313843,-0.49566648112372286,-6.09756720581542,5.006173730540792,5.006173730540792,5.065049999999333,0,0,-6.296504844235017e-05,-7.764116068585369e-05
+24623,1792833428583484546,12108049000000,1792833428577096662,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6764246010791253,-0.004975164778072378,0.09812478325602883,0.999999808492456,-0.00018085196974321113,0.000571944428742364,0.00012095474822695044,0.6761,-0.0046,0.0973265278180206,1.0,0.0,0.0,0.0,-1.244025654978296,0.8503547086693883,6.252769093087543,0.06244010701430261,0.0795874585062471,0.0031854354292096725,-0.31710754635992033,2.0555619877684856,6.685796296046452,0.1421563474374305,0.01599332787522995,0.004714682135901792,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,2.9554346904460553,1.2140926898710498,-5.642229104804907,0.21550759301637468,4.1251954955402,0.7181452700276262,-0.49566648112372286,-6.252769093087543,5.146562623681184,5.146562623681184,5.251349999998899,0,0,-7.144316092474868e-05,-9.999944902550623e-05
+24761,1792833429733545169,12109199000000,1792833429729105526,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6764429133507068,-0.004973993704210559,0.09807264041039732,0.9999997893160154,-0.00018397542366799255,0.0006034784146977413,0.00012156329749021832,0.6761,-0.0046,0.09724264128976541,1.0,0.0,0.0,0.0,-1.2714170993185892,0.8778042743837227,6.439621655188907,0.06340521265259869,0.08219567336330724,0.0030966072773496714,-0.3444989907002135,2.08301155348282,6.872648858147817,0.14312145307572657,0.018601542732290092,0.004625853984041791,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.0384915353878172,1.171489862998614,-5.995963086400007,0.2283074675873264,4.374442839506426,0.6914141118289096,-0.49566648112372286,-6.439621655188907,5.500296605276284,5.500296605276284,5.423849999998497,0,0,-7.015143702463066e-05,9.999999025923074e-05
+24892,1792833430824531543,12110290000000,1792833430821105625,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6764551658522846,-0.004978967515591448,0.09802076242825178,0.9999997763455932,-0.00018305173177252698,0.0006245413809090149,0.00012325483676754677,0.6761,-0.0046,0.0971674423020898,1.0,0.0,0.0,0.0,-1.2864383477331682,0.9072565450027494,6.580858745743307,0.06532672698420475,0.08350558442374656,0.004042058378210142,-0.35952023911479253,2.1124638241018467,7.0138859487022165,0.14504296740733263,0.019911453792729402,0.005571305084902262,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.051054568411204,1.185740219098364,-6.004752116746592,0.23791287682074141,4.381002869552172,0.7014339459315613,-0.49566648112372286,-6.580858745743307,5.509085635622869,5.509085635622869,5.587499999998116,0,0,-7.117907769724064e-05,-5.392426369177912e-05
+25014,1792833431841484675,12111307000000,1792833431841105834,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6764648515445275,-0.004980125052151396,0.09796325137580904,0.999999777551766,-0.0001014321754683733,0.000640666635799319,0.00012488818431336137,0.6761,-0.0046,0.09709005575129359,1.0,0.0,0.0,0.0,-1.3232598282830557,0.9291496360104636,6.731954531794334,0.0672845621752238,0.08546489509607649,0.0034853712795895105,-0.3963417196646799,2.134356915109561,7.164981734753243,0.1470008025983517,0.021870764465059336,0.00501461798628163,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.142336194619972,1.1317955049519532,-6.109208302732123,0.2613930610099805,4.470835554251043,0.6648717351020523,-0.49566648112372286,-6.731954531794334,5.6135418216084,5.6135418216084,5.74004999999776,0,0,-7.943580227906389e-05,-9.993323809987515e-05
+25187,1792833433283480796,12112749000000,1792833433277106347,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6764812927255148,-0.004979127103924071,0.09788865397745032,0.9999997591178384,-0.00011830290056765537,0.0006661407358018653,0.0001243707091794253,0.6761,-0.0046,0.09698530277239406,1.0,0.0,0.0,0.0,-1.3436601145059788,0.9605311839946054,6.933479906984295,0.06886282083928302,0.0874118754952718,0.0038551524696860207,-0.4167420058876031,2.1657384630937027,7.366507109943204,0.1485790612624109,0.02381774486425465,0.00538439917637814,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.2034885500297885,1.1824431276287044,-6.388057552573768,0.2499181721769468,4.6642491302809095,0.7034180578621297,-0.49566648112372286,-6.933479906984295,5.892391071450045,5.892391071450045,5.956349999997256,0,0,-6.456442813304453e-05,-6.652679382235788e-05
+25339,1792833434549484686,12114015000000,1792833434549097028,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.676493519356653,-0.004983785364726869,0.09782121787038811,0.9999997429097731,-0.00012717467481647996,0.0006874321162036815,0.00012994975898812978,0.6761,-0.0046,0.09689420987979619,1.0,0.0,0.0,0.0,-1.368974602676626,0.9806599693676405,7.1044719792209925,0.0701982921412306,0.08836156897918478,0.003746088550973986,-0.44205649405825037,2.185867248466738,7.537499182179902,0.1499145325643585,0.024767438348167622,0.005275335257666105,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.3295322636819416,1.0906660465111697,-6.527627562118263,0.2800898952438716,4.789657438505437,0.6381311516442565,-0.49566648112372286,-7.1044719792209925,6.03196108099454,6.03196108099454,6.146249999996813,0,0,-7.584866022344728e-05,-9.921875407237763e-05
+25478,1792833435708513838,12115174000000,1792833435701106679,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6765101450431972,-0.004978923672398924,0.09775714025481282,0.9999997214827692,-0.00013707402034302134,0.0007161842904734804,0.00012949140330338372,0.6761,-0.0046,0.09679658490151676,1.0,0.0,0.0,0.0,-1.374962642471408,1.0190817592279764,7.266155870942343,0.07320400923450113,0.08928119809097587,0.003665014340355291,-0.4480445338530324,2.2242890383270737,7.699183073901252,0.15292024965762901,0.02568706745995872,0.005194261047047411,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.3894652614090814,1.1719260133489653,-6.735083972706177,0.2680674140126297,4.933016336683694,0.6951588831325529,-0.49566648112372286,-7.266155870942343,6.239417491582454,6.239417491582454,6.320099999996408,0,0,-8.795905386968362e-05,-6.230490709325238e-05
+25630,1792833436974475322,12116440000000,1792833436973096652,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6765299717718942,-0.004979384392174067,0.09768334801583915,0.9999996959727139,-0.00014930429766366233,0.0007481668452368516,0.00013210580058710744,0.6761,-0.0046,0.09668862384726754,1.0,0.0,0.0,0.0,-1.3959236946006173,1.0668918614990481,7.467603825753075,0.07617646782366547,0.0912050044142523,0.003565694937382952,-0.46900558598224157,2.2720991405981454,7.9006310287119845,0.15589270824679335,0.027610873783235144,0.0050949416440750715,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.421323259242342,1.1708243476226563,-6.9000112542766825,0.28485199671749023,5.040706998339732,0.6923210377441049,-0.49566648112372286,-7.467603825753075,6.4043447731529595,6.4043447731529595,6.509999999995966,0,0,-8.096334798010497e-05,-9.970804323711775e-05
+25779,1792833438216488848,12117682000000,1792833438209106466,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6765427085230434,-0.0049755733125123915,0.09761058469348498,0.9999996769181981,-0.00016639095296210236,0.0007708735267039221,0.00012519752495645907,0.6761,-0.0046,0.09658438064020043,1.0,0.0,0.0,0.0,-1.4160291519984771,1.0992087469664447,7.625502184136055,0.0781631252921963,0.09213057331010464,0.0034742850996109607,-0.4891110433801015,2.304416026065542,8.058529387094964,0.15787936571532418,0.02853644267908749,0.00500353180630308,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.473836756075448,1.2134123622793531,-7.195676303096976,0.2809084408278661,5.247081646468181,0.7177176865255683,-0.49566648112372286,-7.625502184136055,6.700009821973253,6.700009821973253,6.6962999999955315,0,0,-8.915731070505283e-05,9.922086349612442e-05
+25915,1792833439349456015,12118815000000,1792833439345096423,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6765565552737745,-0.004974917576413909,0.09753309020246655,0.9999996567027127,-0.00018613827425128176,0.0007931272224425118,0.0001197458668312252,0.6761,-0.0046,0.09648445144978747,1.0,0.0,0.0,0.0,-1.4194224444436592,1.1337106512193151,7.800019609809478,0.08014710723268645,0.09303738090387031,0.0033712142916824655,-0.4925043358252836,2.3389179303184124,8.233046812768388,0.15986334765581434,0.029443250272853157,0.004900460998374585,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.5196504950968106,1.1582908379004084,-7.280611637885774,0.31603841134301336,5.307813518657477,0.68338955299563,-0.49566648112372286,-7.800019609809478,6.784945156762051,6.784945156762051,6.866249999995135,0,0,-8.803128481313228e-05,-5.1754874023873756e-05
+26054,1792833440508396660,12119974000000,1792833440501105909,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6765714731372094,-0.004974882752433028,0.09746305194570369,0.9999996361179901,-0.00018928685878438648,0.0008176952930400348,0.00012145634793899149,0.6761,-0.0046,0.09638396161405283,1.0,0.0,0.0,0.0,-1.4466270616518204,1.1443576525964434,7.9412803677106645,0.08133865993199019,0.09404290329445066,0.0032826169483245425,-0.5197089530334449,2.3495649316955407,8.374307570669574,0.16105490035511807,0.030448772663433505,0.004811863655016662,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.598133425136634,1.2442396786474665,-7.426138125247219,0.29781671224714035,5.418988737038236,0.7423871106498048,-0.49566648112372286,-7.9412803677106645,6.930471644123496,6.930471644123496,7.04009999999473,0,0,-8.830644537413524e-05,-9.999999025923074e-05
+26215,1792833441849452993,12121315000000,1792833441849096584,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6765898304276039,-0.004978318091915372,0.0973625012558858,0.9999996158150198,-0.0001469403156390852,0.0008480208254454097,0.00013813725130339588,0.6761,-0.0046,0.09625891514565114,1.0,0.0,0.0,0.0,-1.4671037479204396,1.1754685480711595,8.152641506206134,0.08309145785925504,0.09598532122138462,0.0031632685421181823,-0.5401856393020641,2.380675827170257,8.585668709165043,0.16280769828238292,0.032391190590367464,0.004692515248810302,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.648085808169522,1.2410032940685691,-7.67306508025097,0.3070251302682158,5.587019210433692,0.7463390144969048,-0.49566648112372286,-8.152641506206134,7.177398599127247,7.177398599127247,7.241249999994261,0,0,-9.113079209724517e-05,7.719767466796696e-05
+26353,1792833442999471054,12122465000000,1792833442997096683,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6766003294068701,-0.0049772987228786005,0.09728465634842104,0.99999960022678,-0.00014514238824894375,0.0008661531619352692,0.00014036214507721773,0.6761,-0.0046,0.09615908523514342,1.0,0.0,0.0,0.0,-1.4773808336013496,1.190416430438829,8.273364802781305,0.08403279497484006,0.09694805376708035,0.0030913121355246147,-0.550462724982974,2.3956237095379262,8.706392005740215,0.16374903539796795,0.03335392313606319,0.004620558842216734,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.6782223522154514,1.1982226167854526,-7.8375513677853865,0.32992471928074923,5.698609122888204,0.717418742455922,-0.49566648112372286,-8.273364802781305,7.3418848866616635,7.3418848866616635,7.413749999993859,0,0,-9.114771064402633e-05,4.959166308476001e-05
+26491,1792833444149426905,12123615000000,1792833444145105586,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6766098259195861,-0.004977892679697895,0.09718756610063595,0.9999995867352008,-0.00015630302248781285,0.0008800896903374906,0.0001377816891019326,0.6761,-0.0046,0.0960389059376481,1.0,0.0,0.0,0.0,-1.4778869551582277,1.1993390283305176,8.453179634319804,0.08404946853559772,0.09691302641769083,0.00294633782728622,-0.550968846539852,2.404546307429615,8.886206837278714,0.1637657089587256,0.03331889578667367,0.004475584533978339,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.7409589299534587,1.2646304042064922,-7.997811238329047,0.32489643972529253,5.816435885633611,0.7579601281543495,-0.49566648112372286,-8.453179634319804,7.502144757205324,7.502144757205324,7.586249999993457,0,0,-0.00010893297412752724,8.087558365421017e-05
+26634,1792833445341427576,12124807000000,1792833445341105372,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6766249605344893,-0.004977678463288368,0.09708614596028474,0.9999995598213297,-0.0001814189313288894,0.0009078920750429412,0.00012090972851744005,0.6761,-0.0046,0.0959146607631132,1.0,0.0,0.0,0.0,-1.4794514835569579,1.2238484042430557,8.604926432795697,0.08598575501803574,0.09784593503302422,0.00286172857597382,-0.5525333749385822,2.429055683342153,9.037953635754606,0.16570199544116362,0.034251804402007056,0.004390975282665939,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.8229212173064533,1.301688958774212,-8.148915568413694,0.32337682333947015,5.931020093912496,0.7868596278165354,-0.49566648112372286,-8.604926432795697,7.6532490872899706,7.6532490872899706,7.765049999993041,0,0,-0.00010607477007459754,-9.999634040103728e-05
+26779,1792833446549427942,12126015000000,1792833446549096249,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6766429623474711,-0.004980365384403909,0.09698033257316191,0.9999995415043781,-0.00017235815716646548,0.0009290308173856567,0.00012501321527536371,0.6761,-0.0046,0.09578748957441256,1.0,0.0,0.0,0.0,-1.4990304781633577,1.2382174817916387,8.746003952005065,0.08695318672627103,0.09881882514393278,0.002772941660366013,-0.5721123695449819,2.443424760890736,9.179031154963974,0.16666942714939892,0.03522469451291562,0.004302188367058132,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.9488769171767037,1.1996059811893824,-8.328448352167822,0.37564627160832537,6.076760879162464,0.7271980951166994,-0.49566648112372286,-8.746003952005065,7.832781871044099,7.832781871044099,7.946249999992618,0,0,-0.00010833060478806911,-9.999999025923074e-05
+26911,1792833447650403198,12127115000000,1792833447649096474,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6766597322790898,-0.004987033293657512,0.09687755921224377,0.9999995180010471,-0.000155138040835661,0.0009551535816766574,0.00013803753677491117,0.6761,-0.0046,0.09565830970950273,1.0,0.0,0.0,0.0,-1.5111189925008413,1.243073879521892,8.882622351136584,0.0868736191063989,0.10081672292860562,0.0026936772783620003,-0.5842008838824655,2.4482811586209894,9.315649554095494,0.1665898595295268,0.03722259229758847,0.00422292398505412,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.9429155937364744,1.248984491606261,-8.524451010621764,0.36934275841971215,6.192739772150903,0.764383620420896,-0.49566648112372286,-8.882622351136584,8.028784529498042,8.028784529498042,8.111249999992234,0,0,-0.00012340871347463344,9.257823260633841e-05
+27029,1792833448633398951,12128099000000,1792833448633096253,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6766735888771616,-0.0049884451327153806,0.09677949701820418,0.9999994937727227,-0.00013699285230740017,0.0009816009858233307,0.00014693408650714144,0.6761,-0.0046,0.09553686241442946,1.0,0.0,0.0,0.0,-1.535285996777242,1.2380651646754068,9.017127187994564,0.08682013086529053,0.10179886605801725,0.002596552368324247,-0.6083678881588666,2.443272443774504,9.450154390953474,0.16653637128841842,0.038204735427000085,0.004125799075016367,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.9921605424054527,1.220331967994507,-8.665321651236203,0.3830645202793856,6.289818326590446,0.7501542481410424,-0.49566648112372286,-9.017127187994564,8.169655170112481,8.169655170112481,8.25884999999189,0,0,-0.0001212413696702067,9.988326418597921e-05
+27149,1792833449633320660,12129099000000,1792833449629106231,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6766782331417361,-0.004987621320607731,0.09667198034211802,0.9999994915617668,-0.00014547870015474765,0.0009836617934029749,0.00013987314333581234,0.6761,-0.0046,0.09541407878853471,1.0,0.0,0.0,0.0,-1.4996238723133921,1.21946258834542,9.126780007873808,0.08583094817946069,0.09977019772821324,0.002469433961278601,-0.5727057636950165,2.4246698674445173,9.559807210832718,0.16554718860258857,0.0361760670971961,0.0039986806679707205,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.947054159810425,1.2130481694490178,-8.717461448447933,0.40606558305434104,6.317718152084823,0.7443600943908778,-0.49566648112372286,-9.126780007873808,8.221794967324211,8.221794967324211,8.40884999999154,0,0,-0.000129105414965773,-9.999557712270785e-05
+27279,1792833450716427942,12130182000000,1792833450709096966,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6766928465902451,-0.0049918948099797085,0.09655093731063608,0.9999994603094492,-0.00016811071394497683,0.0010123996974436642,0.00013270009429389713,0.6761,-0.0046,0.09526778250157307,1.0,0.0,0.0,0.0,-1.490459750260808,1.222815552958529,9.259700405238094,0.0854026558005592,0.09975259716089517,0.0023540203813548813,-0.5635416416424323,2.4280228320576263,9.692727608197004,0.16511889622368708,0.03615846652987802,0.003883267088047001,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,4.062729851308467,1.1335739515651244,-8.934791979803586,0.4286785283004276,6.4853315845778265,0.6959888322100669,-0.49566648112372286,-9.259700405238094,8.439125498679864,8.439125498679864,8.571299999991162,0,0,-0.0001449620871077625,-9.998461367033968e-05
+27426,1792833451941302785,12131407000000,1792833451941096077,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6767077269828294,-0.004993939450538655,0.09639138773898459,0.9999994359560994,-0.00016241190779585569,0.0010360540042335068,0.00014051626115430145,0.6761,-0.0046,0.09508469136231375,1.0,0.0,0.0,0.0,-1.4745094121066944,1.202649867920906,9.376755312625082,0.08376917955458546,0.09874305420911651,0.0022319841421803077,-0.5475913034883189,2.407857147020003,9.809782515583992,0.16348541997771335,0.03514892357809936,0.003761230848872427,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,4.021875299966038,1.1182829168493054,-9.069844676727914,0.43951849207002963,6.563378306127465,0.6893469406770297,-0.49566648112372286,-9.376755312625082,8.574178195604192,8.574178195604192,8.755049999990733,0,0,-0.00016067548437167923,-9.999999025923074e-05
+27554,1792833453008358266,12132474000000,1792833453001106710,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6767206860919484,-0.004991784489874433,0.09623393915817482,0.9999994131877069,-0.00017079406934451244,0.0010565483228693732,0.00014000761895481559,0.6761,-0.0046,0.09490586040495194,1.0,0.0,0.0,0.0,-1.4614212930701438,1.1849063439444598,9.516956701696781,0.0827479940096642,0.09771746011011555,0.0020928428662364907,-0.534503184451768,2.390113623043557,9.94998390465569,0.1624642344327921,0.034123329479098394,0.00362208957292861,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,4.045429961440078,1.1092259633023098,-9.22801705672329,0.45925585872619445,6.672755770382368,0.6892613576995079,-0.49566648112372286,-9.516956701696781,8.732350575599568,8.732350575599568,8.91509999999036,0,0,-0.00017059210992017982,-9.705251466230464e-05
+27680,1792833454058321295,12133524000000,1792833454057095622,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6767297489841348,-0.004996517274110286,0.09605650764740552,0.9999994019784716,-0.00015964653057677777,0.0010694502613364486,0.000135183900962938,0.6761,-0.0046,0.09471415873162828,1.0,0.0,0.0,0.0,-1.4326581304172317,1.1728767762510297,9.636454967949204,0.08072343894448858,0.09671574619796675,0.001960981843201939,-0.5057400217988559,2.378084055350127,10.069482170908113,0.16043967936761647,0.033121615566949585,0.0034902285498940584,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,4.112146269571052,1.207948991020347,-9.471954253575175,0.45142485391422216,6.851522059557664,0.7690433727406161,-0.49566648112372286,-9.636454967949204,8.976287772451453,8.976287772451453,9.072599999989993,0,0,-0.000192158422233886,9.521659435763325e-05
+27798,1792833455041289283,12134507000000,1792833455041105739,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.676741413390504,-0.005003818136616315,0.09587075443583137,0.9999993806123119,-0.00015976751496802718,0.0010873021795117935,0.00014988718587176025,0.6761,-0.0046,0.09452150960570527,1.0,0.0,0.0,0.0,-1.4306893320688197,1.1284118762035775,9.722222107261734,0.07763015207909399,0.09675645998153237,0.00185818807406381,-0.503771223450444,2.333619155302675,10.155249310220643,0.15734639250222188,0.033162329350515225,0.0033874347807559295,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,4.111144934816845,1.111114400174034,-9.531091217366212,0.47140705858049464,6.9026209097211675,0.7033751916583013,-0.49566648112372286,-9.722222107261734,9.03542473624249,9.03542473624249,9.22004999998965,0,0,-0.00020295724916938174,-9.999999025923074e-05
+27914,1792833456008389279,12135474000000,1792833456005096853,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6767490242811314,-0.005000406245028339,0.09567012922281316,0.999999368493407,-0.00018363692402056784,0.0010962910812621386,0.0001374008614280338,0.6761,-0.0046,0.09430901994606213,1.0,0.0,0.0,0.0,-1.3791945801725598,1.0822930511442452,9.78512381147609,0.07464653418219228,0.09376174118397702,0.0017314915451816008,-0.45227647155418427,2.2875003302433425,10.218151014435,0.15436277460532016,0.030167610552959866,0.0032607382518737202,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,4.148406876650139,1.1424975033773876,-9.676548291702114,0.46895766431929986,7.023468475613237,0.7300551592900159,-0.49566648112372286,-9.78512381147609,9.180881810578391,9.180881810578391,9.365099999989312,0,0,-0.0002373561011944928,9.554828736402782e-05
+28002,1792833456741378077,12136207000000,1792833456737105398,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6767602941547962,-0.0050077302841557,0.09549663520864507,0.9999993434613325,-0.00018578060447716908,0.001116024919756481,0.00015650467662154676,0.6761,-0.0046,0.09412295362621893,1.0,0.0,0.0,0.0,-1.3813570632870174,1.0267479823603232,9.83370425487218,0.07156007596880357,0.0938120627886227,0.0016570840805345028,-0.4544389546686418,2.2319552614594205,10.266731457831089,0.15127631639193145,0.030217932157605546,0.0031863307872266222,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,4.124645953314064,1.0413670942160298,-9.570410299564234,0.5006054585789413,6.967962572668261,0.6660164467869378,-0.49566648112372286,-9.83370425487218,9.074743818440512,9.074743818440512,9.475049999989055,0,0,-0.00027077612826528617,-9.999999025923074e-05
+28102,1792833457574378157,12137040000000,1792833457573095888,DOWN_FORCE_DETACH,10,0.0583,0.058302149176597595,0.6767687516791421,-0.0050058507401147985,0.09526119950772263,0.9999993188375363,-0.00023504876802125682,0.0011320313701317184,0.00013047751163015552,0.6761,-0.0046,0.09388039681430325,1.0,0.0,0.0,0.0,-1.3236008112381157,0.997983092266721,9.913739045453923,0.06855698508307637,0.09080505979251241,0.002409380034461112,-0.3966827026197401,2.2031903713658183,10.346766248412832,0.14827322550620425,0.02721092916149525,0.003938626741153231,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,4.158747010368466,1.0725835311166927,-9.752321652364735,0.4814216114588049,7.111985999435445,0.7036722019167045,-0.49566648112372286,-9.913739045453923,9.256655171241013,9.256655171241013,9.599999999988764,0,0,-0.0003117329185578762,-9.999999025923074e-05
+28185,1792833458266335796,12137732000000,1792833458265096368,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.6767793811280961,-0.005014573581316951,0.09504143949639068,0.9999993190643528,-0.000131195046130972,0.0011462940763222152,0.00014869917789012773,0.6761,-0.0046,0.09365272333699683,1.0,0.0,0.0,0.0,-1.3306682662077902,0.9195611179129668,9.951431224847036,0.06448868685779208,0.0898983913380544,0.0014161415831675447,-0.40375015758941446,2.124768397012064,10.384458427805946,0.14420492728091996,0.026304260707037248,0.0029453882898596642,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,4.1570444479645,1.1337560311423012,-9.724602798485694,0.4417980429397266,7.111821323459012,0.6972628414858629,-0.49566648112372286,-9.951431224847036,9.228936317361972,9.228936317361972,9.703799999988522,0,0,-0.00034633291181726387,-9.999999025923074e-05
+28263,1792833458916294038,12138382000000,1792833458909096854,DOWN_FORCE_DETACH,10,0.0583,0.058301493525505066,0.676791595030927,-0.005016987864505894,0.09481409101740257,0.9999992910669232,-0.00020778126923742563,0.0011620050468786728,0.00012601480187529178,0.6761,-0.0046,0.09341706069637651,1.0,0.0,0.0,0.0,-1.2637650064581414,0.892234561304444,9.981494013767167,0.0615834661246952,0.08687631421321901,0.002218169775453389,-0.33684689783976574,2.0974418404035413,10.414521216726076,0.1412997065478231,0.023282183582201847,0.0037474164821455084,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,4.189969729087874,1.027810045841343,-9.830308823089903,0.4920983884255782,7.208092723344573,0.6767809904286836,-0.49566648112372286,-9.981494013767167,9.33464234196618,9.33464234196618,9.801299999988295,0,0,-0.00037883290548576385,-9.999999025923074e-05
+28382,1792833459900348538,12139366000000,1792833459893097212,DOWN_PEAK_HOLD,10,0.0583,0.058301493525505066,0.6767626085123988,-0.00501208882353167,0.09464119099505694,0.9999993518399002,-0.00020413434224520374,0.0011076603885541102,0.00013849287904729913,0.6761,-0.0046,0.09333160195849363,1.0,0.0,0.0,0.0,-1.1143883183817496,0.6982370515119096,9.412440050155103,0.04901097829150422,0.07611318267361797,0.0014914260772136809,-0.1874702097633739,1.903444330611007,9.845467253114013,0.1287272187146321,0.012519052042600815,0.0030206727839058004,0.9269181086183756,1.2052072790990973,0.43302720295890923,0.07971624042312789,-0.06359413063101715,0.0015292467066921195,1,3.7504380169030553,1.0927718789778011,-9.167754525986183,0.4535842511993509,6.721778923517235,0.7227709789653518,-0.49566648112372286,-9.412440050155103,8.67208804486246,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_10/down/multimodal_aligned_data.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_10/down/real_sim_motion_alignment.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792833393383605382,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.911406615e-09,-2.902704362e-10,-2.274748168e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027454460e-01,-1.179807103e-04,8.303259825e-01
+1,1.266666667e+00,DOWN_FORCE_DETACH,1792833394628538133,1.806298174e-06,2.489472109e-06,1.944640960e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.940446195e-07,-1.916988274e-08,-1.293894164e-07,7.019574391e-01,-1.978126291e-05,8.601450319e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027457352e-01,-1.179995899e-04,8.303258554e-01
+2,2.416666667e+00,DOWN_FORCE_DETACH,1792833395758557338,4.255041484e-05,-7.908967396e-06,-4.542116536e-05,3.647001649e-05,-6.607606551e-06,-5.325844104e-05,3.854353050e-05,-6.538347956e-06,-5.265062252e-05,7.019981832e-01,-3.017970242e-05,8.600976661e-01,7.019921028e-01,-2.887834157e-05,8.600898288e-01,7.027839847e-01,-1.245187680e-04,8.302733341e-01
+3,3.383333333e+00,DOWN_FORCE_DETACH,1792833396790701838,2.373281187e-05,-1.799277763e-05,-1.414384137e-04,2.118996408e-05,-1.465019991e-05,-1.394784898e-04,2.156055170e-05,-1.449383326e-05,-1.382316586e-04,7.019793656e-01,-4.026351265e-05,8.600016488e-01,7.019768228e-01,-3.692093494e-05,8.600036087e-01,7.027670017e-01,-1.324742533e-04,8.301877531e-01
+4,4.416666667e+00,DOWN_FORCE_DETACH,1792833397822593302,4.828747709e-05,-2.423141938e-05,-2.585138141e-04,4.710162103e-05,-2.364003574e-05,-2.405536321e-04,4.812150734e-05,-2.336249504e-05,-2.386731054e-04,7.020039203e-01,-4.650215440e-05,8.598845734e-01,7.020027344e-01,-4.591077076e-05,8.599025336e-01,7.027935626e-01,-1.413429151e-04,8.300873116e-01
+5,5.400000000e+00,DOWN_FORCE_DETACH,1792833398788792263,7.955324865e-05,-3.319792966e-05,-3.954290264e-04,7.528106640e-05,-3.082751903e-05,-3.846948292e-04,7.661049949e-05,-3.047650733e-05,-3.819989673e-04,7.020351861e-01,-5.546866468e-05,8.597476582e-01,7.020309139e-01,-5.309825405e-05,8.597583924e-01,7.028220516e-01,-1.484569274e-04,8.299439858e-01
+6,5.900000000e+00,DOWN_FORCE_DETACH,1792833399379386202,1.540033716e-04,-3.179686851e-05,-4.603950282e-04,1.533678414e-04,-3.212020799e-05,-4.522684819e-04,1.591648959e-04,-3.181605605e-05,-4.491106662e-04,7.021096362e-01,-5.406760354e-05,8.596826922e-01,7.021090007e-01,-5.439094301e-05,8.596908188e-01,7.029046060e-01,-1.497964761e-04,8.298768741e-01
+7,6.883333333e+00,DOWN_FORCE_DETACH,1792833400361387779,1.991929359e-04,-2.700114242e-05,-6.179311578e-04,1.974324453e-04,-2.934595448e-05,-6.135373502e-04,2.048172530e-04,-2.910041328e-05,-6.098165556e-04,7.021548258e-01,-4.927187745e-05,8.595251561e-01,7.021530653e-01,-5.161668950e-05,8.595295499e-01,7.029502584e-01,-1.470808333e-04,8.297161682e-01
+8,8.000000000e+00,DOWN_FORCE_DETACH,1792833401475665505,2.483906585e-04,-3.644346753e-05,-7.595019727e-04,2.462225243e-04,-3.693369505e-05,-7.547205989e-04,2.557533640e-04,-3.663128059e-05,-7.510135031e-04,7.022040235e-01,-5.871420255e-05,8.593835853e-01,7.022018553e-01,-5.920443007e-05,8.593883666e-01,7.030011945e-01,-1.546117006e-04,8.295749712e-01
+9,9.100000000e+00,DOWN_FORCE_DETACH,1792833402654452623,2.836225701e-04,-4.153096570e-05,-8.732122036e-04,2.764535471e-04,-4.246830277e-05,-8.562389280e-04,2.873682466e-04,-4.213431713e-05,-8.530309088e-04,7.022392554e-01,-6.380170072e-05,8.592698750e-01,7.022320864e-01,-6.473903779e-05,8.592868483e-01,7.030328094e-01,-1.601147372e-04,8.294729538e-01
+10,1.035000000e+01,DOWN_FORCE_DETACH,1792833403915921586,2.969160633e-04,-4.529292443e-05,-9.502041091e-04,2.935161103e-04,-4.432119720e-05,-9.372687728e-04,3.052277555e-04,-4.400164046e-05,-9.347072431e-04,7.022525489e-01,-6.756365945e-05,8.591928831e-01,7.022491489e-01,-6.659193222e-05,8.592058185e-01,7.030506689e-01,-1.619820605e-04,8.293912775e-01
+11,1.148333333e+01,DOWN_FORCE_DETACH,1792833405062205934,3.048783971e-04,-4.354775867e-05,-9.750054477e-04,3.014513326e-04,-4.641548108e-05,-9.785037249e-04,3.135214360e-04,-4.610398146e-05,-9.765685545e-04,7.022605112e-01,-6.581849369e-05,8.591680818e-01,7.022570841e-01,-6.868621610e-05,8.591645835e-01,7.030589626e-01,-1.640844015e-04,8.293494162e-01
+12,1.276666667e+01,DOWN_FORCE_DETACH,1792833406356536977,3.047695290e-04,-4.658729294e-05,-9.817799728e-04,3.014513326e-04,-4.641548108e-05,-9.785037249e-04,3.137827557e-04,-4.611371501e-05,-9.774614026e-04,7.022604023e-01,-6.885802796e-05,8.591613073e-01,7.022570841e-01,-6.868621610e-05,8.591645835e-01,7.030592239e-01,-1.640941351e-04,8.293485233e-01
+13,1.423333333e+01,DOWN_FORCE_DETACH,1792833407846918991,3.032156395e-04,-4.364068845e-05,-9.869189569e-04,3.014513326e-04,-4.641548108e-05,-9.785037249e-04,3.139378484e-04,-4.612251859e-05,-9.779725993e-04,7.022588485e-01,-6.591142347e-05,8.591561683e-01,7.022570841e-01,-6.868621610e-05,8.591645835e-01,7.030593790e-01,-1.641029387e-04,8.293480121e-01
+14,1.540000000e+01,DOWN_FORCE_DETACH,1792833408993898185,3.038353229e-04,-4.627763902e-05,-9.861333564e-04,3.014513326e-04,-4.641548108e-05,-9.785037249e-04,3.140058579e-04,-4.613095246e-05,-9.781920908e-04,7.022594681e-01,-6.854837405e-05,8.591569539e-01,7.022570841e-01,-6.868621610e-05,8.591645835e-01,7.030594470e-01,-1.641113725e-04,8.293477927e-01
+15,1.671666667e+01,DOWN_FORCE_DETACH,1792833410304126423,3.023773533e-04,-4.522316444e-05,-9.912886021e-04,3.014513326e-04,-4.641548108e-05,-9.785037249e-04,3.140520818e-04,-4.613983350e-05,-9.783346734e-04,7.022580102e-01,-6.749389946e-05,8.591517986e-01,7.022570841e-01,-6.868621610e-05,8.591645835e-01,7.030594932e-01,-1.641202536e-04,8.293476501e-01
+16,1.786666667e+01,DOWN_FORCE_DETACH,1792833411434414022,3.033485224e-04,-4.240346197e-05,-9.884283443e-04,3.014513326e-04,-4.641548108e-05,-9.785037249e-04,3.140766671e-04,-4.614625223e-05,-9.784072289e-04,7.022589813e-01,-6.467419700e-05,8.591546589e-01,7.022570841e-01,-6.868621610e-05,8.591645835e-01,7.030595178e-01,-1.641266723e-04,8.293475775e-01
+17,1.903333333e+01,DOWN_FORCE_DETACH,1792833412680005801,3.028877237e-04,-4.487921986e-05,-1.000057880e-03,3.020047617e-04,-4.610064756e-05,-1.000100970e-03,3.144664463e-04,-4.584742970e-05,-9.997558441e-04,7.022585205e-01,-6.714995488e-05,8.591430294e-01,7.022576376e-01,-6.837138258e-05,8.591429863e-01,7.030599076e-01,-1.638278498e-04,8.293262289e-01
+18,2.028333333e+01,DOWN_FORCE_DETACH,1792833414039518660,3.236166179e-04,-4.736929802e-05,-1.044875228e-03,3.205287451e-04,-4.212319165e-05,-1.034455172e-03,3.338000514e-04,-4.190831024e-05,-1.033839027e-03,7.022792494e-01,-6.964003304e-05,8.590982120e-01,7.022761616e-01,-6.439392667e-05,8.591086321e-01,7.030792412e-01,-1.598887303e-04,8.292921457e-01
+19,2.140000000e+01,DOWN_FORCE_DETACH,1792833415136513543,3.435530608e-04,-5.073530336e-05,-1.097941277e-03,3.418380235e-04,-4.917621571e-05,-1.091581602e-03,3.559294810e-04,-4.887779476e-05,-1.090525142e-03,7.022991859e-01,-7.300603838e-05,8.590451460e-01,7.022974708e-01,-7.144695073e-05,8.590515056e-01,7.031013706e-01,-1.668582148e-04,8.292354596e-01
+20,2.263333333e+01,DOWN_FORCE_DETACH,1792833416414115749,3.518633132e-04,-4.752819366e-05,-1.140184840e-03,3.484911240e-04,-4.776421305e-05,-1.133959547e-03,3.627166605e-04,-4.748756574e-05,-1.132905070e-03,7.023074961e-01,-6.979892869e-05,8.590029024e-01,7.023041239e-01,-7.003494807e-05,8.590091277e-01,7.031081578e-01,-1.654679858e-04,8.291930797e-01
+21,2.390000000e+01,DOWN_FORCE_DETACH,1792833417691153771,3.607025447e-04,-5.085809990e-05,-1.171716630e-03,3.525644714e-04,-5.360411710e-05,-1.154039213e-03,3.669685522e-04,-5.325761868e-05,-1.153304827e-03,7.023163354e-01,-7.312883492e-05,8.589713706e-01,7.023081973e-01,-7.587485212e-05,8.589890480e-01,7.031124097e-01,-1.712380387e-04,8.291726799e-01
+22,2.506666667e+01,DOWN_FORCE_DETACH,1792833418920401688,3.746787398e-04,-4.857270443e-05,-1.227102629e-03,3.703002800e-04,-4.836884153e-05,-1.214595340e-03,3.853091785e-04,-4.810884013e-05,-1.213499993e-03,7.023303116e-01,-7.084343945e-05,8.589159846e-01,7.023259331e-01,-7.063957655e-05,8.589284919e-01,7.031307503e-01,-1.660892602e-04,8.291124847e-01
+23,2.613333333e+01,DOWN_FORCE_DETACH,1792833420050358965,3.918675377e-04,-5.498511155e-05,-1.275769285e-03,3.905265205e-04,-5.394073380e-05,-1.274655381e-03,4.063219534e-04,-5.360400885e-05,-1.273273180e-03,7.023475004e-01,-7.725584658e-05,8.588673180e-01,7.023461593e-01,-7.621146882e-05,8.588684319e-01,7.031517631e-01,-1.715844289e-04,8.290527116e-01
+24,2.731666667e+01,DOWN_FORCE_DETACH,1792833421229302248,4.012471891e-04,-5.723053955e-05,-1.314511423e-03,3.994152557e-04,-5.557975690e-05,-1.313854088e-03,4.155331457e-04,-5.522085313e-05,-1.312535963e-03,7.023568800e-01,-7.950127458e-05,8.588285758e-01,7.023550481e-01,-7.785049192e-05,8.588292332e-01,7.031609743e-01,-1.732012732e-04,8.290134488e-01
+25,2.855000000e+01,DOWN_FORCE_DETACH,1792833422441600853,4.158246415e-04,-5.632796611e-05,-1.366727511e-03,4.132481746e-04,-5.797985247e-05,-1.353135042e-03,4.300917823e-04,-5.763019537e-05,-1.351896142e-03,7.023714575e-01,-7.859870113e-05,8.587763597e-01,7.023688810e-01,-8.025058749e-05,8.587899522e-01,7.031755329e-01,-1.756106154e-04,8.289740886e-01
+26,2.980000000e+01,DOWN_FORCE_DETACH,1792833423735561191,4.327937028e-04,-5.860218798e-05,-1.430875889e-03,4.285284223e-04,-5.992189757e-05,-1.415081372e-03,4.457693062e-04,-5.951975950e-05,-1.413716946e-03,7.023884265e-01,-8.087292300e-05,8.587122114e-01,7.023841612e-01,-8.219263259e-05,8.587280059e-01,7.031912104e-01,-1.775001796e-04,8.289122678e-01
+27,3.103333333e+01,DOWN_FORCE_DETACH,1792833424981239219,4.467780840e-04,-6.321865339e-05,-1.473159706e-03,4.456784035e-04,-6.188002735e-05,-1.472360187e-03,4.635851479e-04,-6.143960866e-05,-1.470935496e-03,7.024024109e-01,-8.548938841e-05,8.586699275e-01,7.024013112e-01,-8.415076238e-05,8.586707271e-01,7.032090263e-01,-1.794200287e-04,8.288550492e-01
+28,3.221666667e+01,DOWN_FORCE_DETACH,1792833426159520916,4.611474845e-04,-6.197900585e-05,-1.533325365e-03,4.610509182e-04,-6.192799988e-05,-1.533469550e-03,4.794451125e-04,-6.150857762e-05,-1.531791266e-03,7.024167803e-01,-8.424974087e-05,8.586097619e-01,7.024166837e-01,-8.419873490e-05,8.586096177e-01,7.032248862e-01,-1.794889977e-04,8.287941935e-01
+29,3.336666667e+01,DOWN_FORCE_DETACH,1792833427339168457,4.764476047e-04,-6.278202376e-05,-1.587219331e-03,4.721117327e-04,-6.385762970e-05,-1.572353299e-03,4.909609164e-04,-6.343772790e-05,-1.570862714e-03,7.024320804e-01,-8.505275878e-05,8.585558679e-01,7.024277445e-01,-8.612836472e-05,8.585707339e-01,7.032364020e-01,-1.814181480e-04,8.287551220e-01
+30,3.463333333e+01,DOWN_FORCE_DETACH,1792833428584720679,4.872642906e-04,-6.765865118e-05,-1.647904828e-03,4.853306247e-04,-6.541644652e-05,-1.633538531e-03,5.045709818e-04,-6.498701437e-05,-1.632024949e-03,7.024428971e-01,-8.992938620e-05,8.584951824e-01,7.024409634e-01,-8.768718154e-05,8.585095487e-01,7.032500121e-01,-1.829674344e-04,8.286939598e-01
+31,3.575000000e+01,DOWN_FORCE_DETACH,1792833429730778690,5.053977880e-04,-6.673519392e-05,-1.701691553e-03,5.007756104e-04,-6.207432107e-05,-1.694409142e-03,5.203991931e-04,-6.168469488e-05,-1.692686915e-03,7.024610306e-01,-8.900592894e-05,8.584413957e-01,7.024564084e-01,-8.434505610e-05,8.584486781e-01,7.032658403e-01,-1.796651149e-04,8.286332978e-01
+32,3.681666667e+01,DOWN_FORCE_DETACH,1792833430828839989,5.178215743e-04,-7.273594954e-05,-1.751704008e-03,5.133865938e-04,-6.560100762e-05,-1.755063050e-03,5.332629470e-04,-6.517750630e-05,-1.753260273e-03,7.024734544e-01,-9.500668456e-05,8.583913832e-01,7.024690194e-01,-8.787174265e-05,8.583880242e-01,7.032787041e-01,-1.831579264e-04,8.285727245e-01
+33,3.783333333e+01,DOWN_FORCE_DETACH,1792833431844233471,5.275147560e-04,-7.261892526e-05,-1.809436708e-03,5.225731517e-04,-6.929603459e-05,-1.797301432e-03,5.427240242e-04,-6.883802764e-05,-1.795665277e-03,7.024831476e-01,-9.488966028e-05,8.583336505e-01,7.024782060e-01,-9.156676961e-05,8.583457858e-01,7.032881651e-01,-1.868184477e-04,8.285303195e-01
+34,3.926666667e+01,DOWN_FORCE_DETACH,1792833433285675630,5.442087501e-04,-7.445797927e-05,-1.883780176e-03,5.426263784e-04,-6.973766792e-05,-1.876397466e-03,5.633415673e-04,-6.929936473e-05,-1.874715983e-03,7.024998416e-01,-9.672871429e-05,8.582593071e-01,7.024982592e-01,-9.200840295e-05,8.582666898e-01,7.033087827e-01,-1.872797848e-04,8.284512688e-01
+35,4.053333333e+01,DOWN_FORCE_DETACH,1792833434546539962,5.590931299e-04,-7.220731555e-05,-1.948473206e-03,5.519797636e-04,-7.337575188e-05,-1.936477358e-03,5.727837796e-04,-7.285653409e-05,-1.934899517e-03,7.025147259e-01,-9.447805057e-05,8.581946140e-01,7.025076126e-01,-9.564648691e-05,8.582066099e-01,7.033182249e-01,-1.908369541e-04,8.283910852e-01
+36,4.168333333e+01,DOWN_FORCE_DETACH,1792833435709785909,5.732629111e-04,-7.066024137e-05,-2.015181112e-03,5.689952500e-04,-7.242273648e-05,-2.018519846e-03,5.901125666e-04,-7.193678672e-05,-2.016537648e-03,7.025288957e-01,-9.293097639e-05,8.581279061e-01,7.025246281e-01,-9.469347150e-05,8.581245674e-01,7.033355537e-01,-1.899172068e-04,8.283094471e-01
+37,4.293333333e+01,DOWN_FORCE_DETACH,1792833436971225375,5.939829385e-04,-7.284724257e-05,-2.087241192e-03,5.876287871e-04,-6.819541182e-05,-2.074174782e-03,6.094613194e-04,-6.780229285e-05,-2.072400744e-03,7.025496158e-01,-9.511797759e-05,8.580558460e-01,7.025432616e-01,-9.046614685e-05,8.580689125e-01,7.033549024e-01,-1.857827129e-04,8.282535840e-01
+38,4.416666667e+01,DOWN_FORCE_DETACH,1792833438215404510,6.069167994e-04,-6.659578285e-05,-2.159175243e-03,6.023223210e-04,-6.939569084e-05,-2.161127365e-03,6.242639840e-04,-6.897874183e-05,-2.159081277e-03,7.025625496e-01,-8.886651787e-05,8.579839120e-01,7.025579551e-01,-9.166642586e-05,8.579819599e-01,7.033697051e-01,-1.869591619e-04,8.281669035e-01
+39,4.530000000e+01,DOWN_FORCE_DETACH,1792833439345575743,6.226637902e-04,-6.550092516e-05,-2.234241336e-03,6.169643293e-04,-7.016806311e-05,-2.222539788e-03,6.393180113e-04,-6.975726534e-05,-2.220561060e-03,7.025782966e-01,-8.777166018e-05,8.579088459e-01,7.025725971e-01,-9.243879813e-05,8.579205475e-01,7.033847591e-01,-1.877376854e-04,8.281054237e-01
+40,4.645000000e+01,DOWN_FORCE_DETACH,1792833440508694049,6.326361605e-04,-6.508386365e-05,-2.313819344e-03,6.307145542e-04,-6.890168573e-05,-2.304188946e-03,6.531234960e-04,-6.851589201e-05,-2.302054949e-03,7.025882690e-01,-8.735459867e-05,8.578292679e-01,7.025863474e-01,-9.117242075e-05,8.578388983e-01,7.033985646e-01,-1.864963121e-04,8.280239298e-01
+41,4.765000000e+01,DOWN_FORCE_DETACH,1792833441851808710,6.518128753e-04,-6.360310355e-05,-2.411571242e-03,6.507005505e-04,-6.667994255e-05,-2.410316787e-03,6.733097526e-04,-6.631777981e-05,-2.407845378e-03,7.026074457e-01,-8.587383857e-05,8.577315160e-01,7.026063334e-01,-8.895067757e-05,8.577327705e-01,7.034187509e-01,-1.842981999e-04,8.279181394e-01
+42,4.878333333e+01,DOWN_FORCE_DETACH,1792833442998306025,6.612533936e-04,-6.836837355e-05,-2.489787355e-03,6.586439857e-04,-6.998855226e-05,-2.474465469e-03,6.812595637e-04,-6.959717452e-05,-2.472316403e-03,7.026168862e-01,-9.063910857e-05,8.576532999e-01,7.026142768e-01,-9.225928728e-05,8.576686218e-01,7.034267007e-01,-1.875775946e-04,8.278536683e-01
+43,4.993333333e+01,DOWN_FORCE_DETACH,1792833444145466633,6.720293586e-04,-6.921193238e-05,-2.587262002e-03,6.684890241e-04,-6.768375508e-05,-2.576909796e-03,6.907272464e-04,-6.733199069e-05,-2.574520829e-03,7.026276622e-01,-9.148266741e-05,8.575558252e-01,7.026241218e-01,-8.995449010e-05,8.575661774e-01,7.034361684e-01,-1.853124107e-04,8.277514639e-01
+44,5.111666667e+01,DOWN_FORCE_DETACH,1792833445340372233,6.854013599e-04,-7.177659642e-05,-2.689745867e-03,6.844938131e-04,-7.153968432e-05,-2.678112689e-03,7.067537025e-04,-7.111718915e-05,-2.675543519e-03,7.026410342e-01,-9.404733145e-05,8.574533414e-01,7.026401266e-01,-9.381041934e-05,8.574649746e-01,7.034521948e-01,-1.890976092e-04,8.276504412e-01
+45,5.235000000e+01,DOWN_FORCE_DETACH,1792833446552777767,7.071698018e-04,-7.633340863e-05,-2.789413696e-03,7.030929982e-04,-7.480444744e-05,-2.782699242e-03,7.255146715e-04,-7.429238046e-05,-2.780093056e-03,7.026628026e-01,-9.860414365e-05,8.573536735e-01,7.026587258e-01,-9.707518246e-05,8.573603880e-01,7.034709558e-01,-1.922728005e-04,8.275458917e-01
+46,5.346666667e+01,DOWN_FORCE_DETACH,1792833447649967249,7.250525637e-04,-7.442668376e-05,-2.889619181e-03,7.224049250e-04,-7.850799054e-05,-2.886383677e-03,7.450413085e-04,-7.795355191e-05,-2.883598674e-03,7.026806854e-01,-9.669741878e-05,8.572534681e-01,7.026780377e-01,-1.007787256e-04,8.572567036e-01,7.034904824e-01,-1.959339720e-04,8.274423861e-01
+47,5.446666667e+01,DOWN_FORCE_DETACH,1792833448633018957,7.395913670e-04,-8.144674596e-05,-2.988166164e-03,7.347110445e-04,-8.250696019e-05,-2.994716905e-03,7.570929791e-04,-8.190973747e-05,-2.991689238e-03,7.026952242e-01,-1.037174810e-04,8.571549211e-01,7.026903439e-01,-1.047776952e-04,8.571483703e-01,7.035025341e-01,-1.998901575e-04,8.273342955e-01
+48,5.548333333e+01,DOWN_FORCE_DETACH,1792833449632079147,7.384967409e-04,-8.655024490e-05,-3.103827724e-03,7.384893582e-04,-8.665843942e-05,-3.103530655e-03,7.600082749e-04,-8.598543471e-05,-3.100368870e-03,7.026941296e-01,-1.088209799e-04,8.570392595e-01,7.026941222e-01,-1.089291744e-04,8.570395566e-01,7.035054494e-01,-2.039658548e-04,8.272256159e-01
+49,5.658333333e+01,DOWN_FORCE_DETACH,1792833450713312868,7.561989645e-04,-8.363405753e-05,-3.221201807e-03,7.537562339e-04,-8.114539230e-05,-3.207007456e-03,7.751515581e-04,-8.055159401e-05,-3.204009128e-03,7.027118318e-01,-1.059047926e-04,8.569218854e-01,7.027093891e-01,-1.034161273e-04,8.569360798e-01,7.035205927e-01,-1.985320141e-04,8.271219756e-01
+50,5.776666667e+01,DOWN_FORCE_DETACH,1792833451942756216,7.691447775e-04,-8.251732927e-05,-3.383467341e-03,7.675061347e-04,-8.232519368e-05,-3.379298011e-03,7.878914455e-04,-8.169876403e-05,-3.375715988e-03,7.027247776e-01,-1.047880643e-04,8.567596199e-01,7.027231390e-01,-1.045959287e-04,8.567637892e-01,7.035333326e-01,-1.996791841e-04,8.269502688e-01
+51,5.883333333e+01,DOWN_FORCE_DETACH,1792833453006926035,7.828293122e-04,-8.555315878e-05,-3.539282410e-03,7.822372452e-04,-8.959727323e-05,-3.537736657e-03,8.018402658e-04,-8.882677133e-05,-3.533829479e-03,7.027384621e-01,-1.078238938e-04,8.566038048e-01,7.027378701e-01,-1.118680083e-04,8.566053506e-01,7.035472814e-01,-2.068071914e-04,8.267921553e-01
+52,5.988333333e+01,DOWN_FORCE_DETACH,1792833454055031653,7.922648021e-04,-8.563676124e-05,-3.714390283e-03,7.919371122e-04,-8.543173067e-05,-3.714350834e-03,8.103183409e-04,-8.475711526e-05,-3.710021330e-03,7.027478976e-01,-1.079074963e-04,8.564286970e-01,7.027475699e-01,-1.077024657e-04,8.564287364e-01,7.035557595e-01,-2.027375353e-04,8.266159634e-01
+53,6.088333333e+01,DOWN_FORCE_DETACH,1792833455037418188,8.033203831e-04,-9.476967873e-05,-3.901159599e-03,8.026273654e-04,-9.094562082e-05,-3.882665661e-03,8.199049072e-04,-9.012243963e-05,-3.878279630e-03,7.027589532e-01,-1.170404138e-04,8.562419276e-01,7.027582602e-01,-1.132163558e-04,8.562604216e-01,7.035653460e-01,-2.081028597e-04,8.264477051e-01
+54,6.186666667e+01,DOWN_FORCE_DETACH,1792833456003914129,8.125808861e-04,-1.021073484e-04,-4.099351702e-03,8.092527060e-04,-9.338973542e-05,-4.087945110e-03,8.246474132e-04,-9.251506115e-05,-4.083070719e-03,7.027682137e-01,-1.243780834e-04,8.560437355e-01,7.027648855e-01,-1.156604704e-04,8.560551421e-01,7.035700885e-01,-2.104954812e-04,8.262429140e-01
+55,6.261666667e+01,DOWN_FORCE_DETACH,1792833456742099523,8.213945417e-04,-1.039352451e-04,-4.276943552e-03,8.225039910e-04,-1.051685214e-04,-4.273124319e-03,8.366837100e-04,-1.040840495e-04,-4.267732134e-03,7.027770274e-01,-1.262059801e-04,8.558661437e-01,7.027781368e-01,-1.274392565e-04,8.558699629e-01,7.035821248e-01,-2.220644696e-04,8.260582526e-01
+56,6.341666667e+01,DOWN_FORCE_DETACH,1792833457576613056,8.329092951e-04,-1.000182652e-04,-4.510144606e-03,8.312853560e-04,-1.012247641e-04,-4.497840481e-03,8.434706382e-04,-1.001741108e-04,-4.491858455e-03,7.027885421e-01,-1.222890002e-04,8.556329426e-01,7.027869182e-01,-1.234954991e-04,8.556452468e-01,7.035889118e-01,-2.181545309e-04,8.258341263e-01
+57,6.410000000e+01,DOWN_FORCE_DETACH,1792833458264473656,8.416464253e-04,-1.052087919e-04,-4.732326520e-03,8.415052403e-04,-1.051050280e-04,-4.732090917e-03,8.517994204e-04,-1.039724507e-04,-4.725194375e-03,7.027972792e-01,-1.274795269e-04,8.554107607e-01,7.027971381e-01,-1.273757630e-04,8.554109963e-01,7.035972405e-01,-2.219528708e-04,8.256007904e-01
+58,6.476666667e+01,DOWN_FORCE_DETACH,1792833458920001034,8.526628943e-04,-1.091320924e-04,-4.960511664e-03,8.514293348e-04,-1.037705454e-04,-4.954766528e-03,8.598189023e-04,-1.025944503e-04,-4.947439006e-03,7.028082957e-01,-1.314028274e-04,8.551825756e-01,7.028070622e-01,-1.260412804e-04,8.551883207e-01,7.036052600e-01,-2.205748704e-04,8.253785457e-01
+59,6.575000000e+01,DOWN_PEAK_HOLD,1792833459902678116,8.251204764e-04,-9.997693142e-05,-5.132034618e-03,8.293459163e-04,-1.038840935e-04,-5.116516789e-03,8.345426965e-04,-1.027162877e-04,-5.110997407e-03,7.027807533e-01,-1.222476664e-04,8.550110526e-01,7.027849787e-01,-1.261548286e-04,8.550265704e-01,7.035799838e-01,-2.206967078e-04,8.252149873e-01

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_10/down/simulation_data.csv ADDED Viewed

	@@ -0,0 +1,61 @@

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.5205e-01,1.9348e-01,2.5260e+00,-5.0361e-02,4.7602e-02,4.5729e-04,8.6440e-04,-3.8192e-05,-4.2892e-04,2.3842e-06,6.3084e-05,-9.0920e-08,9.6572e-04,6.3129e-05
+1,1.2667e+00,DOWN_FORCE_DETACH,2.7893e-04,2.0284e-01,1.9088e-01,2.5023e+00,-5.0196e-02,5.1303e-02,4.4641e-04,5.1657e-02,-2.6305e-03,-2.4089e-02,1.6806e-04,3.7643e-03,-1.0978e-05,5.7059e-02,3.7680e-03
+2,2.4167e+00,DOWN_FORCE_DETACH,5.6586e-04,1.2320e-01,2.2349e-01,2.6239e+00,-5.2445e-02,4.5560e-02,4.3961e-04,-2.7981e-02,2.9974e-02,9.7469e-02,-2.0813e-03,-1.9793e-03,-1.7778e-05,1.0574e-01,2.8723e-03
+3,3.3833e+00,DOWN_FORCE_DETACH,8.4197e-04,2.2572e-01,2.6672e-01,2.7541e+00,-5.5433e-02,5.2709e-02,4.2652e-04,7.4541e-02,7.3210e-02,2.2771e-01,-5.0689e-03,5.1694e-03,-3.0861e-05,2.5053e-01,7.2400e-03
+4,4.4167e+00,DOWN_FORCE_DETACH,1.1263e-03,1.9888e-01,3.1295e-01,2.8602e+00,-5.8618e-02,5.0666e-02,4.0787e-04,4.7697e-02,1.1943e-01,3.3377e-01,-8.2540e-03,3.1263e-03,-4.9516e-05,3.5769e-01,8.8264e-03
+5,5.4000e+00,DOWN_FORCE_DETACH,1.4064e-03,1.7494e-01,3.5124e-01,3.0133e+00,-6.1192e-02,4.8785e-02,3.7616e-04,2.3760e-02,1.5773e-01,4.8688e-01,-1.0829e-02,1.2462e-03,-8.1226e-05,5.1235e-01,1.0900e-02
+6,5.9000e+00,DOWN_FORCE_DETACH,1.6868e-03,1.5866e-02,3.4802e-01,3.0620e+00,-6.0962e-02,3.7353e-02,3.7570e-04,-1.3532e-01,1.5450e-01,5.3559e-01,-1.0598e-02,-1.0186e-02,-8.1683e-05,5.7362e-01,1.4700e-02
+7,6.8833e+00,DOWN_FORCE_DETACH,1.9678e-03,2.7851e-02,3.2432e-01,3.1603e+00,-5.9259e-02,3.8048e-02,3.4970e-04,-1.2333e-01,1.3081e-01,6.3384e-01,-8.8956e-03,-9.4913e-03,-1.0769e-04,6.5884e-01,1.3009e-02
+8,8.0000e+00,DOWN_FORCE_DETACH,2.2501e-03,3.1046e-02,3.6372e-01,3.1443e+00,-6.1871e-02,3.8221e-02,3.8751e-04,-1.2014e-01,1.7020e-01,6.1784e-01,-1.1507e-02,-9.3179e-03,-6.9871e-05,6.5202e-01,1.4807e-02
+9,9.1000e+00,DOWN_FORCE_DETACH,2.5298e-03,7.6068e-02,3.8762e-01,3.0459e+00,-6.3489e-02,4.1492e-02,4.1901e-04,-7.5114e-02,1.9411e-01,5.1951e-01,-1.3125e-02,-6.0468e-03,-3.8378e-05,5.5965e-01,1.4451e-02
+10,1.0350e+01,DOWN_FORCE_DETACH,2.8146e-03,1.4362e-01,3.8767e-01,2.9213e+00,-6.3528e-02,4.6440e-02,4.0071e-04,-7.5605e-03,1.9416e-01,3.9485e-01,-1.3164e-02,-1.0994e-03,-5.6671e-05,4.4007e-01,1.3210e-02
+11,1.1483e+01,DOWN_FORCE_DETACH,3.0947e-03,1.9076e-01,3.9497e-01,2.8155e+00,-6.4071e-02,4.9919e-02,3.7336e-04,3.9581e-02,2.0146e-01,2.8903e-01,-1.3707e-02,2.3793e-03,-8.4020e-05,3.5452e-01,1.3912e-02
+12,1.2767e+01,DOWN_FORCE_DETACH,3.3744e-03,2.3679e-01,3.9278e-01,2.6560e+00,-6.3990e-02,5.3360e-02,3.4464e-04,8.5610e-02,1.9926e-01,1.2961e-01,-1.3626e-02,5.8205e-03,-1.1274e-04,2.5265e-01,1.4817e-02
+13,1.4233e+01,DOWN_FORCE_DETACH,3.6585e-03,2.6399e-01,3.9076e-01,2.5647e+00,-6.3926e-02,5.5394e-02,3.2144e-04,1.1280e-01,1.9725e-01,3.8220e-02,-1.3562e-02,7.8550e-03,-1.3595e-04,2.3042e-01,1.5673e-02
+14,1.5400e+01,DOWN_FORCE_DETACH,3.9390e-03,2.7590e-01,3.8905e-01,2.5254e+00,-6.3861e-02,5.6288e-02,3.0852e-04,1.2472e-01,1.9553e-01,-9.9087e-04,-1.3497e-02,8.7489e-03,-1.4887e-04,2.3193e-01,1.6085e-02
+15,1.6717e+01,DOWN_FORCE_DETACH,4.2191e-03,2.8400e-01,3.8732e-01,2.4999e+00,-6.3790e-02,5.6895e-02,2.9786e-04,1.3282e-01,1.9380e-01,-2.6494e-02,-1.3426e-02,9.3561e-03,-1.5952e-04,2.3644e-01,1.6366e-02
+16,1.7867e+01,DOWN_FORCE_DETACH,4.5019e-03,2.8831e-01,3.8609e-01,2.4870e+00,-6.3738e-02,5.7219e-02,2.9079e-04,1.3713e-01,1.9258e-01,-3.9483e-02,-1.3375e-02,9.6795e-03,-1.6659e-04,2.3969e-01,1.6511e-02
+17,1.9033e+01,DOWN_FORCE_DETACH,4.7819e-03,2.9112e-01,3.8415e-01,2.5358e+00,-6.3612e-02,5.7372e-02,2.8466e-04,1.3994e-01,1.9064e-01,9.4051e-03,-1.3248e-02,9.8331e-03,-1.7273e-04,2.3667e-01,1.6499e-02
+18,2.0283e+01,DOWN_FORCE_DETACH,5.0627e-03,2.5374e-01,3.6053e-01,2.5783e+00,-6.1973e-02,5.4672e-02,2.8479e-04,1.0256e-01,1.6701e-01,5.1885e-02,-1.1610e-02,7.1332e-03,-1.7260e-04,2.0274e-01,1.3627e-02
+19,2.1400e+01,DOWN_FORCE_DETACH,5.3455e-03,2.2706e-01,3.9963e-01,2.6508e+00,-6.4614e-02,5.2689e-02,3.0698e-04,7.5874e-02,2.0612e-01,1.2440e-01,-1.4251e-02,5.1501e-03,-1.5040e-04,2.5242e-01,1.5154e-02
+20,2.2633e+01,DOWN_FORCE_DETACH,5.6250e-03,2.4655e-01,3.9203e-01,2.6448e+00,-6.4048e-02,5.4063e-02,3.1322e-04,9.5368e-02,1.9852e-01,1.1836e-01,-1.3684e-02,6.5234e-03,-1.4416e-04,2.5003e-01,1.5160e-02
+21,2.3900e+01,DOWN_FORCE_DETACH,5.9084e-03,2.6616e-01,4.2370e-01,2.5984e+00,-6.6217e-02,5.5495e-02,3.1471e-04,1.1498e-01,2.3019e-01,7.1995e-02,-1.5854e-02,7.9561e-03,-1.4267e-04,2.6719e-01,1.7739e-02
+22,2.5067e+01,DOWN_FORCE_DETACH,6.1879e-03,2.5269e-01,3.9329e-01,2.6550e+00,-6.4092e-02,5.4480e-02,2.9883e-04,1.0151e-01,1.9977e-01,1.2861e-01,-1.3729e-02,6.9406e-03,-1.5856e-04,2.5837e-01,1.5384e-02
+23,2.6133e+01,DOWN_FORCE_DETACH,6.4709e-03,2.3830e-01,4.2274e-01,2.6996e+00,-6.6085e-02,5.3401e-02,2.8957e-04,8.7117e-02,2.2923e-01,1.7315e-01,-1.5721e-02,5.8619e-03,-1.6781e-04,3.0019e-01,1.6779e-02
+24,2.7317e+01,DOWN_FORCE_DETACH,6.7512e-03,2.6017e-01,4.2933e-01,2.6839e+00,-6.6530e-02,5.4955e-02,2.6209e-04,1.0899e-01,2.3581e-01,1.5744e-01,-1.6167e-02,7.4155e-03,-1.9530e-04,3.0377e-01,1.7787e-02
+25,2.8550e+01,DOWN_FORCE_DETACH,7.0323e-03,2.6702e-01,4.4029e-01,2.6611e+00,-6.7280e-02,5.5456e-02,2.3547e-04,1.1584e-01,2.4677e-01,1.3467e-01,-1.6916e-02,7.9168e-03,-2.2191e-04,3.0406e-01,1.8678e-02
+26,2.9800e+01,DOWN_FORCE_DETACH,7.3115e-03,2.7729e-01,4.4917e-01,2.6853e+00,-6.7864e-02,5.6146e-02,2.1373e-04,1.2611e-01,2.5565e-01,1.5889e-01,-1.7500e-02,8.6064e-03,-2.4366e-04,3.2636e-01,1.9503e-02
+27,3.1033e+01,DOWN_FORCE_DETACH,7.5952e-03,2.7270e-01,4.5887e-01,2.7047e+00,-6.8501e-02,5.5803e-02,2.0317e-04,1.2152e-01,2.6535e-01,1.7829e-01,-1.8137e-02,8.2635e-03,-2.5422e-04,3.4201e-01,1.9933e-02
+28,3.2217e+01,DOWN_FORCE_DETACH,7.8760e-03,2.7947e-01,4.5274e-01,2.6752e+00,-6.8071e-02,5.6301e-02,2.0034e-04,1.2829e-01,2.5923e-01,1.4873e-01,-1.7708e-02,8.7621e-03,-2.5704e-04,3.2523e-01,1.9759e-02
+29,3.3367e+01,DOWN_FORCE_DETACH,8.1583e-03,2.8326e-01,4.6713e-01,2.6986e+00,-6.9012e-02,5.6520e-02,2.0939e-04,1.3208e-01,2.7361e-01,1.7219e-01,-1.8648e-02,8.9806e-03,-2.4799e-04,3.4922e-01,2.0700e-02
+30,3.4633e+01,DOWN_FORCE_DETACH,8.4397e-03,2.8805e-01,4.7504e-01,2.7093e+00,-6.9520e-02,5.6817e-02,2.1483e-04,1.3687e-01,2.8153e-01,1.8284e-01,-1.9157e-02,9.2775e-03,-2.4256e-04,3.6252e-01,2.1286e-02
+31,3.5750e+01,DOWN_FORCE_DETACH,8.7200e-03,2.8131e-01,4.5468e-01,2.7328e+00,-6.8099e-02,5.6292e-02,2.1125e-04,1.3013e-01,2.6117e-01,2.0633e-01,-1.7736e-02,8.7526e-03,-2.4613e-04,3.5737e-01,1.9779e-02
+32,3.6817e+01,DOWN_FORCE_DETACH,9.0008e-03,2.7925e-01,4.7369e-01,2.7541e+00,-6.9373e-02,5.6100e-02,2.1269e-04,1.2807e-01,2.8018e-01,2.2763e-01,-1.9010e-02,8.5609e-03,-2.4469e-04,3.8304e-01,2.0850e-02
+33,3.7833e+01,DOWN_FORCE_DETACH,9.2847e-03,2.8587e-01,4.9314e-01,2.7195e+00,-7.0711e-02,5.6557e-02,2.0920e-04,1.3469e-01,2.9963e-01,1.9304e-01,-2.0348e-02,9.0182e-03,-2.4819e-04,3.8103e-01,2.2258e-02
+34,3.9267e+01,DOWN_FORCE_DETACH,9.5659e-03,2.7632e-01,4.9202e-01,2.7252e+00,-7.0655e-02,5.5822e-02,1.9231e-04,1.2514e-01,2.9850e-01,1.9882e-01,-2.0291e-02,8.2831e-03,-2.6507e-04,3.7986e-01,2.1918e-02
+35,4.0533e+01,DOWN_FORCE_DETACH,9.8452e-03,2.8978e-01,5.1099e-01,2.7120e+00,-7.1934e-02,5.6746e-02,1.7570e-04,1.3859e-01,3.1747e-01,1.8553e-01,-2.1571e-02,9.2063e-03,-2.8168e-04,3.9296e-01,2.3455e-02
+36,4.1683e+01,DOWN_FORCE_DETACH,1.0127e-02,2.7801e-01,5.0538e-01,2.7815e+00,-7.1487e-02,5.5843e-02,1.6296e-04,1.2683e-01,3.1187e-01,2.5510e-01,-2.1123e-02,8.3041e-03,-2.9443e-04,4.2240e-01,2.2699e-02
+37,4.2933e+01,DOWN_FORCE_DETACH,1.0408e-02,2.6767e-01,4.7881e-01,2.7411e+00,-6.9640e-02,5.5140e-02,1.5034e-04,1.1649e-01,2.8530e-01,2.1471e-01,-1.9277e-02,7.6008e-03,-3.0704e-04,3.7558e-01,2.0723e-02
+38,4.4167e+01,DOWN_FORCE_DETACH,1.0692e-02,2.6897e-01,4.8578e-01,2.7903e+00,-7.0049e-02,5.5185e-02,1.4464e-04,1.1779e-01,2.9226e-01,2.6390e-01,-1.9685e-02,7.6461e-03,-3.1274e-04,4.1101e-01,2.1120e-02
+39,4.5300e+01,DOWN_FORCE_DETACH,1.0974e-02,2.6589e-01,4.8994e-01,2.7692e+00,-7.0285e-02,5.5008e-02,1.4668e-04,1.1471e-01,2.9643e-01,2.4272e-01,-1.9922e-02,7.4685e-03,-3.1070e-04,3.9993e-01,2.1278e-02
+40,4.6450e+01,DOWN_FORCE_DETACH,1.1254e-02,2.6782e-01,4.8353e-01,2.7973e+00,-6.9800e-02,5.5111e-02,1.4956e-04,1.1664e-01,2.9001e-01,2.7085e-01,-1.9436e-02,7.5717e-03,-3.0783e-04,4.1361e-01,2.0861e-02
+41,4.7650e+01,DOWN_FORCE_DETACH,1.1535e-02,2.5888e-01,4.7029e-01,2.8597e+00,-6.8845e-02,5.4390e-02,1.5441e-04,1.0769e-01,2.7678e-01,3.3327e-01,-1.8482e-02,6.8510e-03,-3.0298e-04,4.4640e-01,1.9713e-02
+42,4.8783e+01,DOWN_FORCE_DETACH,1.1815e-02,2.7566e-01,4.8950e-01,2.8001e+00,-7.0130e-02,5.5562e-02,1.5345e-04,1.2448e-01,2.9598e-01,2.7366e-01,-1.9766e-02,8.0225e-03,-3.0393e-04,4.2189e-01,2.1334e-02
+43,4.9933e+01,DOWN_FORCE_DETACH,1.2100e-02,2.8390e-01,4.7848e-01,2.8512e+00,-6.9326e-02,5.6033e-02,1.4534e-04,1.3271e-01,2.8497e-01,3.2473e-01,-1.8962e-02,8.4942e-03,-3.1205e-04,4.5196e-01,2.0780e-02
+44,5.1117e+01,DOWN_FORCE_DETACH,1.2378e-02,2.7712e-01,5.0299e-01,2.8725e+00,-7.0902e-02,5.5479e-02,1.6041e-04,1.2594e-01,3.0947e-01,3.4607e-01,-2.0539e-02,7.9402e-03,-2.9698e-04,4.8104e-01,2.2022e-02
+45,5.2350e+01,DOWN_FORCE_DETACH,1.2660e-02,2.7164e-01,5.2397e-01,2.8854e+00,-7.2202e-02,5.5035e-02,1.8110e-04,1.2046e-01,3.3045e-01,3.5893e-01,-2.1838e-02,7.4956e-03,-2.7628e-04,5.0253e-01,2.3091e-02
+46,5.3467e+01,DOWN_FORCE_DETACH,1.2941e-02,2.6520e-01,5.4460e-01,2.9132e+00,-7.3527e-02,5.4548e-02,2.0418e-04,1.1402e-01,3.5109e-01,3.8680e-01,-2.3163e-02,7.0090e-03,-2.5320e-04,5.3468e-01,2.4202e-02
+47,5.4467e+01,DOWN_FORCE_DETACH,1.3223e-02,2.7384e-01,5.6743e-01,2.9617e+00,-7.5038e-02,5.5085e-02,2.3280e-04,1.2266e-01,3.7391e-01,4.3523e-01,-2.4675e-02,7.5461e-03,-2.2459e-04,5.8676e-01,2.5804e-02
+48,5.5483e+01,DOWN_FORCE_DETACH,1.3503e-02,2.8624e-01,5.5575e-01,2.9068e+00,-7.4253e-02,5.5948e-02,2.6664e-04,1.3506e-01,3.6224e-01,3.8035e-01,-2.3889e-02,8.4092e-03,-1.9075e-04,5.4233e-01,2.5327e-02
+49,5.6583e+01,DOWN_FORCE_DETACH,1.3784e-02,2.7607e-01,5.5686e-01,2.9549e+00,-7.4263e-02,5.5140e-02,3.2226e-04,1.2489e-01,3.6335e-01,4.2849e-01,-2.3899e-02,7.6011e-03,-1.3512e-04,5.7552e-01,2.5079e-02
+50,5.7767e+01,DOWN_FORCE_DETACH,1.4068e-02,2.7335e-01,5.6737e-01,3.0659e+00,-7.4788e-02,5.4799e-02,3.7660e-04,1.2216e-01,3.7386e-01,5.3948e-01,-2.4424e-02,7.2594e-03,-8.0786e-05,6.6763e-01,2.5480e-02
+51,5.8833e+01,DOWN_FORCE_DETACH,1.4348e-02,2.7404e-01,6.1386e-01,3.1264e+00,-7.7727e-02,5.4756e-02,3.6413e-04,1.2286e-01,4.2035e-01,6.0001e-01,-2.7363e-02,7.2165e-03,-9.3254e-05,7.4283e-01,2.8299e-02
+52,5.9883e+01,DOWN_FORCE_DETACH,1.4627e-02,2.9648e-01,6.2809e-01,3.1375e+00,-7.8477e-02,5.6211e-02,2.8799e-04,1.4530e-01,4.3458e-01,6.1104e-01,-2.8113e-02,8.6722e-03,-1.6939e-04,7.6377e-01,2.9421e-02
+53,6.0883e+01,DOWN_FORCE_DETACH,1.4909e-02,2.9603e-01,6.2914e-01,3.2309e+00,-7.8279e-02,5.5996e-02,2.4338e-04,1.4485e-01,4.3563e-01,7.0445e-01,-2.7915e-02,8.4566e-03,-2.1400e-04,8.4084e-01,2.9168e-02
+54,6.1867e+01,DOWN_FORCE_DETACH,1.5192e-02,3.0796e-01,6.5340e-01,3.3208e+00,-7.9649e-02,5.6605e-02,2.6495e-04,1.5678e-01,4.5988e-01,7.9434e-01,-2.9285e-02,9.0661e-03,-1.9243e-04,9.3116e-01,3.0657e-02
+55,6.2617e+01,DOWN_FORCE_DETACH,1.5471e-02,2.9996e-01,7.2704e-01,3.4259e+00,-8.4339e-02,5.5902e-02,3.1247e-04,1.4878e-01,5.3353e-01,8.9948e-01,-3.3975e-02,8.3629e-03,-1.4491e-04,1.0563e+00,3.4989e-02
+56,6.3417e+01,DOWN_FORCE_DETACH,1.5755e-02,3.0583e-01,7.0773e-01,3.5375e+00,-8.2740e-02,5.6089e-02,3.1148e-04,1.5464e-01,5.1421e-01,1.0111e+00,-3.2376e-02,8.5498e-03,-1.4590e-04,1.1448e+00,3.3486e-02
+57,6.4100e+01,DOWN_FORCE_DETACH,1.6035e-02,2.9905e-01,7.5371e-01,3.6236e+00,-8.5447e-02,5.5447e-02,3.3691e-04,1.4787e-01,5.6020e-01,1.0971e+00,-3.5084e-02,7.9082e-03,-1.2047e-04,1.2407e+00,3.5964e-02
+58,6.4767e+01,DOWN_FORCE_DETACH,1.6314e-02,3.0300e-01,7.4040e-01,3.7994e+00,-8.4085e-02,5.5470e-02,3.4476e-04,1.5182e-01,5.4688e-01,1.2730e+00,-3.3721e-02,7.9310e-03,-1.1263e-04,1.3938e+00,3.4641e-02
+59,6.5750e+01,DOWN_PEAK_HOLD,1.6597e-02,3.7752e-01,7.4146e-01,3.4872e+00,-8.4036e-02,6.0772e-02,3.0714e-04,2.2634e-01,5.4794e-01,9.6081e-01,-3.3672e-02,1.3233e-02,-1.5024e-04,1.1290e+00,3.6179e-02

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_10/up/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/cylinder_15A_12.5/press_depth_10/up/fem_node.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

Part2/Fixed/digit/cylinder_15A_12.5/press_depth_10/up/franka_data.csv ADDED Viewed

	@@ -0,0 +1,61 @@

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