Upload Part2/Fixed/digit (part 6)

Part2/Fixed/digit/cylinder_PLA_15/press_depth_07/down/franka_data.csv

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+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
+10194,1793078286469027397,14837608000000,1793078286468034131,XJC_ZERO_HOLD_BEFORE_DOWN,7,0.0658,0.0658019408583641,0.6759718822961786,-0.004914579453517469,0.0998220754238812,0.9999999644182895,-6.37072177536863e-05,-0.00020091265725438867,0.0001348398253069417,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,-0.006443854152791029,-0.011414382643243792,-0.034956862364014185,-0.0009402451756720664,0.000407857391426944,3.645698514774396e-05,0.7304187608363927,1.1753892378418394,1.2681774849533118,0.07356409156825754,-0.04348236712807209,0.0002652413598555716,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,0.13881352583185702,1.6300432094424615,0.6618045316955911,-0.21687550032540615,-0.42551200099016884,1.0160395554172428,-1.1517149190850677,0.034956862364014185,-1.813519450780659,0.0,0.0,0,0,0.0,0.0
+10300,1793078287345950398,14838485000000,1793078287340034992,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6759711614958451,-0.004913026588453006,0.09981979313131208,0.9999999650143538,-6.22569941266489e-05,-0.0002003454055618043,0.00013190883411625976,0.6761,-0.0046,0.09998832065211656,1.0,0.0,0.0,0.0,-0.018733586271828973,-0.012859461719195275,-0.0650905014529033,-0.001072321332466375,0.0006406435502675639,5.99246724536359e-05,0.7181290287173547,1.1739441587658879,1.2380438458644227,0.07343201541146323,-0.04324958096923147,0.00028870904716146354,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,0.21607036971016014,1.5445575335950321,0.6065107987686993,-0.18750986864074748,-0.3744317219370311,0.9599032764248204,-1.1517149190850677,0.0650905014529033,-1.758225717853767,-1.758225717853767,0.06840000000000093,0,0,-3.419999358297699e-05,-9.999999025923074e-05
+10424,1793078288378994244,14839518000000,1793078288376034718,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6759823443368985,-0.004917118699954887,0.09982005351319655,0.9999999692218228,-6.383590606834858e-05,-0.00017261050766556756,0.00013831054862585075,0.6761,-0.0046,0.09992634066394751,1.0,0.0,0.0,0.0,-0.07810366464744012,0.02426783441576985,-0.09440000939664794,0.001885604620348716,0.004713378129012576,0.0001746320748554173,0.6587589503417436,1.211071454900853,1.208734337920678,0.07638994136427832,-0.03917684639048646,0.00040341644956324495,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,0.738079715849303,1.4489065782239436,0.27640545923296245,-0.13627059653159132,-0.0500587509021982,0.8943181957937615,-1.1517149190850677,0.09440000939664794,-1.42812037831803,-1.42812037831803,0.1716999999999974,0,0,-8.584998352076235e-05,-9.999999025923074e-05
+10531,1793078289270877958,14840410000000,1793078289268034208,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6760029666502037,-0.004918216618811996,0.09978760048640956,0.999999973830427,-5.6234072544993305e-05,-0.0001320777815072596,0.00015223402522782998,0.6761,-0.0046,0.09982989318252652,1.0,0.0,0.0,0.0,-0.22187143625115657,0.09495279322904726,0.2511797140429357,0.008096038917312962,0.013557367456897576,0.0011194361082146873,0.5149911787380271,1.2817564137141304,1.5543140613602617,0.08260037566124256,-0.030332857062601457,0.001348220482922515,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.0923986763328701,1.4904549997981122,-0.16221931799741315,-0.11345566388814234,0.28951424827627037,0.9089817449609645,-1.1517149190850677,-0.2511797140429357,-0.9894956010876546,-0.9894956010876546,0.2608999999999876,0,0,-0.00013044997483199617,-9.999999025923074e-05
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+10747,1793078291070854876,14842210000000,1793078291064034361,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6760785916431918,-0.004924978994484267,0.0996430228739281,0.9999999780429352,-6.780190466790737e-05,-7.4823014945908496e-06,0.00017522531365066205,0.6761,-0.0046,0.09951782380221055,1.0,0.0,0.0,0.0,-0.6901799855786297,0.3985970036150428,1.5631534040452588,0.03175513626220203,0.043186789230755154,0.0038376550030168387,0.04668262941055397,1.585400624100126,2.866287751362585,0.10625947300613163,-0.0007034352887438792,0.0040664393777246665,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.7643126983893291,1.359824096573101,-1.5423154553499403,-0.07158491560261017,1.267434548599862,0.7994504756605719,-1.1517149190850677,-1.5631534040452588,0.39060053626487257,0.39060053626487257,0.44089999999996776,0,0,-0.00019383567633338294,9.999999025923074e-05
+10847,1793078291903864541,14843043000000,1793078291900034720,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6761208612120577,-0.004927513222409905,0.09957757558970001,0.9999999749507896,-8.374507975591585e-05,5.634171107551211e-05,0.00017706964139614908,0.6761,-0.0046,0.09937368508044128,1.0,0.0,0.0,0.0,-0.7822251683274489,0.49999638705684113,2.0550715930658487,0.040064881324430854,0.046969380931027725,0.004608272575106585,-0.04536255333826517,1.6868000075419243,3.3582059403831748,0.11456921806836046,0.003079156411528694,0.004837056949814412,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.025493471152093,1.476046818717643,-2.1022116148953125,-0.08369429508017762,1.6738083406567656,0.8743912521228316,-1.1517149190850677,-2.0550715930658487,0.9504966958102448,0.9504966958102448,0.5241999999999586,0,0,-0.00015218568444744373,9.999999025923074e-05
+10937,1793078292653911931,14843793000000,1793078292648034507,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6761470685115435,-0.004923249079481958,0.09952498052006342,0.999999967327611,-0.00019097234251948248,0.00010381906693990615,9.766681557847324e-05,0.6761,-0.0046,0.09927358956436245,1.0,0.0,0.0,0.0,-0.7615039824407291,0.7010112478407042,2.4024212909428937,0.05313564233434627,0.046813435353113435,0.005509182185157874,-0.024641367451545385,1.8878148683257874,3.7055556382602197,0.12763997907827587,0.002923210833614403,0.005737966559865701,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.2111853717724035,1.4713230398199557,-2.51505800063526,-0.10651859785516739,1.9854486509557359,0.9019249008831457,-1.1517149190850677,-2.4024212909428937,1.3633430815501923,1.3633430815501923,0.5991999999999503,0,0,-0.00011468569175302067,9.999999025923074e-05
+11057,1793078293653856441,14844793000000,1793078293652034518,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6761641360099642,-0.0049272856159869515,0.09946607007765551,0.999999964965549,-0.0001758378121906219,0.00013007760019207384,0.00011693009289555458,0.6761,-0.0046,0.09918387886773418,1.0,0.0,0.0,0.0,-0.8149682153633175,0.7008867082004464,2.63336580166538,0.05211987409246625,0.05065556460934033,0.005370192319059051,-0.07810560037413379,1.8876903286855296,3.936500148982706,0.12662421083639586,0.006765340089841297,0.0055989766937668784,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.241089181996325,1.45657204250737,-2.768873465723,-0.02294376646863889,2.13720965112841,0.8725982645528921,-1.1517149190850677,-2.63336580166538,1.6171585466379321,1.6171585466379321,0.6991999999999393,0,0,-6.468570149378993e-05,9.999999025923074e-05
+11175,1793078294636837704,14845776000000,1793078294632044273,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6761716311214948,-0.004931075837016889,0.09943084230664755,0.9999999628065372,-0.00017639906894472015,0.00013983366618478546,0.00012312474411895998,0.6761,-0.0046,0.0991444254684548,1.0,0.0,0.0,0.0,-0.7854018851150368,0.6536509612268253,2.6421205057597525,0.04874602243685858,0.049711476838785594,0.004286850333851693,-0.04853927012585317,1.8404545817119085,3.9452548530770786,0.12325035918078818,0.005821252319286561,0.00451563470855952,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.160837411702879,1.4550173679568426,-2.745043768824938,-0.012363222476582477,2.108002160948575,0.8619125028471021,-1.1517149190850677,-2.6421205057597525,1.59332884973987,1.59332884973987,0.7974999999999285,0,0,-1.553571106896611e-05,9.999999025923074e-05
+11299,1793078295670891031,14846810000000,1793078295668044505,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6761713423161457,-0.004931402110267004,0.09941581469679896,0.9999999631254791,-0.00017379002626804492,0.00013742021621638005,0.0001269039620974415,0.6761,-0.0046,0.09914102871353607,1.0,0.0,0.0,0.0,-0.7223621564507225,0.5865637030979542,2.510190144398491,0.04411665014651005,0.045786072641577656,0.004283067895697357,0.014500458538461188,1.7733673235830374,3.813324491715817,0.11862098689043965,0.0018958481220786218,0.004511852270405185,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.039103883790049,1.659426118427631,-2.661664546976419,-0.0687362184600828,2.037801829635279,0.9991673509964357,-1.1517149190850677,-2.510190144398491,1.5099496278913511,1.5099496278913511,0.9008999999999171,0,0,-9.773492015696661e-08,9.872214157269354e-07
+11415,1793078296636814717,14847776000000,1793078296632034892,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6761689712826736,-0.004930014515726546,0.09940878106279094,0.9999999638441026,-0.0001751336103280018,0.00013310030185534187,0.00012396445431311228,0.6761,-0.0046,0.09914100932029962,1.0,0.0,0.0,0.0,-0.6702766166865105,0.5481611206782786,2.4178356526852256,0.04031104398147939,0.04480013394588597,0.0032674943227424965,0.06658599830267316,1.7349647411633617,3.7209700000025516,0.11481538072540899,0.0009099094263869389,0.0034962786974503243,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.027607931336333,1.5873250567137374,-2.5442711119795036,-0.04613612877616893,1.9715010085057176,0.9514185395384436,-1.1517149190850677,-2.4178356526852256,1.3925561928944359,1.3925561928944359,0.9974999999999065,0,0,-7.711156713163803e-10,7.789047185013942e-09
+11541,1793078297686809101,14848826000000,1793078297684044509,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6761649399605316,-0.004930018500978097,0.09939591011207458,0.9999999642871993,-0.0001757108564560897,0.00012671188279649218,0.00012624681371255724,0.6761,-0.0046,0.09914100916688608,1.0,0.0,0.0,0.0,-0.6324776613871833,0.5322506859216019,2.3392935140666045,0.03746595603243562,0.042907768163905846,0.0032730890933875796,0.10438495360200044,1.719054306406685,3.6424278613839305,0.11197029277636522,-0.0009824563555931867,0.0035018734680954075,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.88591499381251,1.467460180687211,-2.3602239936314806,-0.01578613318392351,1.8231622052116874,0.8691595504937137,-1.1517149190850677,-2.3392935140666045,1.2085090745464129,1.2085090745464129,1.102499999999895,0,0,-3.970573869693794e-12,4.010680676458378e-11
+11657,1793078298653809850,14849793000000,1793078298648043864,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6761645151579597,-0.004930112866954439,0.09939226420718292,0.9999999652927096,-0.0001719206617955199,0.0001240713898861109,0.00012612303500764222,0.6761,-0.0046,0.09914084830384617,1.0,0.0,0.0,0.0,-0.6074724632291202,0.4945279341795914,2.285854591247053,0.0351642367632579,0.040937112331346184,0.0032692195914825967,0.12939015176006358,1.6813315546646745,3.588988938564379,0.1096685735071875,-0.002953112188152848,0.0034980039661904245,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.8224431408777197,1.5035515447452972,-2.423662523547526,-0.018560696835770475,1.8540081223699858,0.8952698399939709,-1.1517149190850677,-2.285854591247053,1.2719476044624582,1.2719476044624582,1.1991999999998844,0,0,-6.812749664408813e-07,6.881565317584659e-06
+11787,1793078299736772944,14850876000000,1793078299736044023,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6761639019584164,-0.004929825832965846,0.09938602187453924,0.9999999647641667,-0.0001754602112283443,0.0001232569174133736,0.00012623777579281488,0.6761,-0.0046,0.09912998692714055,1.0,0.0,0.0,0.0,-0.589230922099774,0.47913677354808804,2.255156156011445,0.03412847818587281,0.039950090104139066,0.002285049004981711,0.14763169288940972,1.6659403940331712,3.558290503328771,0.10863281492980241,-0.003940134415359966,0.002513833379689539,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.904121490909679,1.4021540559842756,-2.4727266582818537,0.0050938844933986396,1.91110767931608,0.824942263196269,-1.1517149190850677,-2.255156156011445,1.321011739196786,1.321011739196786,1.3074999999998724,0,0,-2.6908009324840048e-05,9.544126186445396e-05
+11895,1793078300636699137,14851776000000,1793078300632044315,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.676169729942058,-0.004933662686387865,0.09937038992540627,0.9999999627423962,-0.00017450543922788972,0.00013571040534842194,0.00013072340239747495,0.6761,-0.0046,0.09909273551075713,1.0,0.0,0.0,0.0,-0.6435428630248508,0.48697862335537234,2.365728678240681,0.035046037997952514,0.042898570974367334,0.0032277217649980252,0.09331975196433297,1.6737822438404555,3.668863025558007,0.10955037474188212,-0.0009916535451316984,0.003456506139705853,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.9141605328392108,1.5107166889912989,-2.5152582621022663,-0.017694831313951134,1.927577804534079,0.9010938381769268,-1.1517149190850677,-2.365728678240681,1.3635433430171986,1.3635433430171986,1.3974999999998625,0,0,-5.325669153313927e-05,6.558704554316392e-05
+11995,1793078301470716000,14852610000000,1793078301468035074,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6761795788854088,-0.004933047251842331,0.0993513247915203,0.9999999597089491,-0.00017922706196976196,0.000151089969438342,0.0001306692231469192,0.6761,-0.0046,0.09905447927101764,1.0,0.0,0.0,0.0,-0.6762632599335785,0.5208993743627819,2.48362566836304,0.0380305728998592,0.04489105722435583,0.0031980230174803318,0.06059935505560517,1.707702994847865,3.786760015680366,0.1125349096437888,0.0010008327048567954,0.0034268073921881596,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.9961756221050615,1.3651441899295482,-2.6799747913251797,0.03214227742271918,2.044195991743121,0.8037550826769811,-1.1517149190850677,-2.48362566836304,1.528259872240112,1.528259872240112,1.4808999999998533,0,0,-3.704770608761875e-05,9.999999025923074e-05
+12130,1793078302595722705,14853735000000,1793078302592044376,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6761871860185059,-0.004931825334308665,0.09933158478182728,0.9999999575843737,-0.0001821276482612837,0.00016233471893124872,0.00012942593999739043,0.6761,-0.0046,0.09901997308527033,1.0,0.0,0.0,0.0,-0.6954872889512317,0.5249475699105313,2.5578885771566195,0.03903651808387938,0.044856953159917334,0.0031472091892424917,0.04137532603795204,1.7117511903956144,3.8610229244739456,0.11354085482780898,0.0009667286404182992,0.0033759935639503195,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.0115576844601515,1.4888431551992678,-2.6634704951065893,-0.008056650050898763,2.035961022536835,0.8842199522404337,-1.1517149190850677,-2.5578885771566195,1.5117555760215216,1.5117555760215216,1.593399999999841,0,0,-3.413094105539217e-05,-9.999999025923074e-05
+12241,1793078303520718542,14854660000000,1793078303520044333,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.676192469736513,-0.004933824656426444,0.09930918186061459,0.9999999550173767,-0.00018689284835796396,0.00017229901307339783,0.00012958480643185779,0.6761,-0.0046,0.09898587746068063,1.0,0.0,0.0,0.0,-0.7147928758841293,0.5409972011605928,2.6483896364080057,0.03998920744104366,0.0467624056331109,0.0031134449215559383,0.022069739105054383,1.727800821645676,3.9515239837253318,0.11449354418497326,0.0028721811136118635,0.003342229296263766,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.0917820768750826,1.4389237524723553,-2.9093029249001106,0.003007155678810535,2.2125739489319463,0.8480323924426214,-1.1517149190850677,-2.6483896364080057,1.7575880058150428,1.7575880058150428,1.6858999999998308,0,0,-3.823596800703465e-05,9.999793634663518e-05
+12370,1793078304595653648,14855735000000,1793078304592044388,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6761993601849476,-0.004932279055270926,0.0992792754489503,0.9999999512617229,-0.00019651578481081014,0.00018490380204274173,0.00012693126617160038,0.6761,-0.0046,0.09894094880286015,1.0,0.0,0.0,0.0,-0.725867982374827,0.5632306928003641,2.747388574847493,0.04096230132993779,0.04781570389793628,0.003060612751703494,0.010994632614356707,1.7500343132854472,4.050522922164819,0.1154666380738674,0.003925479378437248,0.003289397126411322,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.0918564574960024,1.4222924694400552,-2.8665827648327364,0.020365783118694133,2.1768384127549405,0.8364887520540321,-1.1517149190850677,-2.747388574847493,1.7148678457476687,1.7148678457476687,1.793399999999819,0,0,-4.3729731789869615e-05,-9.907550754662537e-05
+12502,1793078305695680922,14856835000000,1793078305692044211,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6762067913886611,-0.004934712714754487,0.09924674512803928,0.999999947731812,-0.00020313783437676897,0.00019725826368722596,0.00012571171401703734,0.6761,-0.0046,0.09889429522004294,1.0,0.0,0.0,0.0,-0.735442252443651,0.5705178658718788,2.8293420969132015,0.040921364132643814,0.04881138250833959,0.003008969448615396,0.0014203625455327226,1.757321486356962,4.1324764442305275,0.11542570087657342,0.004921157988840563,0.0032377538233232237,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.11363972127843,1.6065689997467028,-2.945955321045517,-0.0405623365836466,2.235633706456378,0.9542759409767714,-1.1517149190850677,-2.8293420969132015,1.7942404019604492,1.7942404019604492,1.9033999999998068,0,0,-4.608853114015788e-05,-9.998881864004545e-05
+12640,1793078306845660605,14857985000000,1793078306844044486,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6762168980193767,-0.0049401209548763595,0.09920908971217479,0.9999999417450189,-0.00021062911788858812,0.00021550017601290066,0.00013094988228335813,0.6761,-0.0046,0.09883399465849195,1.0,0.0,0.0,0.0,-0.7445034874786062,0.5634888437605923,2.940281878779512,0.04025624081150339,0.04981274993976999,0.002927488590164229,-0.0076408724894225025,1.7502924642456754,4.243416226096838,0.114760577555433,0.005922525420270951,0.0031562729648720567,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.1021658695140353,1.5603756403258813,-3.132540659055938,-0.02415943874229447,2.350029932197236,0.9240954599312728,-1.1517149190850677,-2.940281878779512,1.9808257399708702,1.9808257399708702,2.018399999999835,0,0,-5.6333379173907676e-05,9.964931243911507e-05
+12752,1793078307778605447,14858918000000,1793078307772044105,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6762222696315326,-0.004937318461803248,0.09916798939114499,0.9999999390703859,-0.00021128631184888738,0.00022695241040266342,0.00013096864640350646,0.6761,-0.0046,0.09878302921147562,1.0,0.0,0.0,0.0,-0.7532258384718159,0.5650888899181115,3.0395237531017463,0.03980573450742428,0.05081161305289596,0.0028558013749055934,-0.016363223482632236,1.7518925104031946,4.342658100419072,0.11431007125135388,0.006921388533396921,0.003084585749613421,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.0859818218648853,1.5466464945885483,-3.213949196676531,-0.021180595247686132,2.398584886736491,0.9136289153599876,-1.1517149190850677,-3.0395237531017463,2.0622342775914633,2.0622342775914633,2.111700000000032,0,0,-5.3252507446884166e-05,-6.168039841816328e-05
+12877,1793078308820523330,14859960000000,1793078308816044737,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6762319709686362,-0.0049386956867319,0.09913246740453081,0.999999933785174,-0.00021845001868774685,0.0002426503761568689,0.00013142639013425379,0.6761,-0.0046,0.09873031959655681,1.0,0.0,0.0,0.0,-0.7439527485012134,0.543017817863199,3.1188849871967887,0.037755038868521607,0.050832253061353944,0.0021205337035010464,-0.007090133512029683,1.7298214383482822,4.422019334514115,0.11225937561245121,0.006942028541854913,0.0023493180782088743,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.132719897318196,1.5602193996104603,-3.2840402729768376,-0.023489088439280496,2.4600292071771768,0.9234937833722578,-1.1517149190850677,-3.1188849871967887,2.13232535389177,2.13232535389177,2.215900000000252,0,0,-5.007916465823848e-05,-9.93240032151121e-05
+12986,1793078309728509210,14860868000000,1793078309724043992,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6762386945469758,-0.0049404808776224735,0.09909515441150907,0.9999999293868094,-0.00022560780965257552,0.0002539480138915453,0.00013145631540096463,0.6761,-0.0046,0.0986797186614747,1.0,0.0,0.0,0.0,-0.7524827712087294,0.5385722357626481,3.198766362943833,0.03720772531482594,0.050822976495101736,0.001693268470736338,-0.01562015621954574,1.7253758562477313,4.501900710261159,0.11171206205875554,0.006932751975602703,0.0019220528454441657,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.0872040672750973,1.5920995794217963,-3.3898506037225946,-0.03939979551231786,2.5136816073040817,0.9414428583341786,-1.1517149190850677,-3.198766362943833,2.238135684637527,2.238135684637527,2.3067000000004434,0,0,-5.760722372324801e-05,-9.999847758035969e-05
+13103,1793078310703555902,14861843000000,1793078310696044837,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.676244297191839,-0.004943633556270091,0.09905011739627892,0.9999999245575945,-0.0002321842487477216,0.0002654260495823191,0.00013404162112134874,0.6761,-0.0046,0.09861783517183358,1.0,0.0,0.0,0.0,-0.746797638669829,0.5365829306634642,3.272735759736692,0.03708319587461087,0.051831058483627256,0.001630616523309123,-0.0099350236806452,1.7233865511485473,4.575870107054018,0.11158753261854047,0.007940833964128225,0.0018594008980169505,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.1001050656375346,1.5824331469515676,-3.457660200234693,-0.03325940124751965,2.560454817578958,0.9329162206460244,-1.1517149190850677,-3.272735759736692,2.3059452811496253,2.3059452811496253,2.404200000000649,0,0,-6.995186320054992e-05,-9.753308857630145e-05
+13214,1793078311628576279,14862768000000,1793078311624034769,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6762539337101734,-0.004943823818523679,0.09900552514064294,0.9999999180921749,-0.00024034118452455474,0.00028211404516645215,0.00013381437856385922,0.6761,-0.0046,0.09855262774680322,1.0,0.0,0.0,0.0,-0.762891907289493,0.5309403076723009,3.369483236663365,0.036633624464368575,0.05283179626361822,0.0015582381861469897,-0.026029292300309304,1.717743928157384,4.672617583980691,0.11113796120829818,0.008941571744119185,0.0017870225608548173,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.1388495141564308,1.4820601120913146,-3.5621378096970484,-0.010297797911586252,2.637690584935054,0.8654651245181852,-1.1517149190850677,-3.369483236663365,2.4104228906119807,2.4104228906119807,2.4967000000008444,0,0,-6.958442577284363e-05,-8.750000310276391e-05
+13337,1793078312653544216,14863793000000,1793078312648044386,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6762610691921311,-0.004949676140146081,0.09894281412672563,0.9999999119712982,-0.00025206886348111684,0.0002930007641206015,0.00013458120202403378,0.6761,-0.0046,0.09848067161634204,1.0,0.0,0.0,0.0,-0.751814139757992,0.5110230041847894,3.4583967317632,0.03463277726439186,0.05183791922254828,0.001450806481596215,-0.014951524768808394,1.6978266246698726,4.761531079080526,0.10913711400832146,0.007947694703049252,0.0016795908563040425,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.157504777698794,1.5951542665817153,-3.7763684837143296,-0.0423549457538833,2.7857876918030713,0.9365645489321981,-1.1517149190850677,-3.4583967317632,2.624653564629262,2.624653564629262,2.5992000000010607,0,0,-7.10241465820286e-05,9.998729208338659e-05
+13445,1793078313553487449,14864693000000,1793078313548044775,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6762696670926921,-0.004948788676309541,0.09889494073075984,0.9999999045457065,-0.00026140230443974635,0.0003095718645318588,0.00013485376410032963,0.6761,-0.0046,0.0984142719335154,1.0,0.0,0.0,0.0,-0.7487774767510882,0.5086797309311291,3.5160775050265087,0.033628380552485085,0.052774103618922805,0.0014005393552592137,-0.011914861761904512,1.6954833514162122,4.819211852343835,0.10813271729641469,0.00888387909942377,0.0016293237299670413,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.1383509265891765,1.6112368604581,-3.794582812797765,-0.05377575403952967,2.7898158417804604,0.9436983774323427,-1.1517149190850677,-3.5160775050265087,2.6428678937126975,2.6428678937126975,2.6892000000012506,0,0,-7.8537856069956e-05,5.07812223090653e-05
+13579,1793078314670427942,14865810000000,1793078314668044541,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6762799678569994,-0.00495354126097425,0.09882431872771127,0.9999998948128866,-0.0002762228777967539,0.0003276364217978513,0.00013480495720927008,0.6761,-0.0046,0.09832162160307384,1.0,0.0,0.0,0.0,-0.7495398822992502,0.5101286729311527,3.6194002834553496,0.033928784492228,0.05282770581393084,0.0013287777801061149,-0.012677267310066517,1.6969322934162359,4.922534630772676,0.1084331212361576,0.008937481294431811,0.0015575621548139424,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.1459247986698924,1.5573808963960312,-3.8915109127507734,-0.03579974996002258,2.853230060305704,0.9069229241883764,-1.1517149190850677,-3.6194002834553496,2.7397959936657057,2.7397959936657057,2.8009000000014863,0,0,-8.624467973531035e-05,6.7217023876963846e-06
+13699,1793078315670499730,14866810000000,1793078315668044154,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6762921702063213,-0.004954693143193371,0.09875686890862481,0.9999998856526512,-0.00028688167595044797,0.00034629624071163694,0.0001338482947278984,0.6761,-0.0046,0.09823751310613289,1.0,0.0,0.0,0.0,-0.7335035397011308,0.49001281659891927,3.688873054653609,0.03251634968839834,0.051826876763727374,0.0012428071230141816,0.0033590752880528945,1.6768164370840024,4.992007401970935,0.10702068643232794,0.007936652244228341,0.0014715914977220092,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.1932120990855224,1.575650798648091,-4.045884627100045,-0.040840571434758596,2.9693322350480043,0.9201547485649142,-1.1517149190850677,-3.688873054653609,2.894169708014977,2.894169708014977,2.9009000000016973,0,0,-8.386536933383126e-05,9.99995600478087e-05
+13821,1793078316686495297,14867826000000,1793078316680035805,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6763020701605509,-0.004959529310425306,0.09868054700665312,0.9999998773536988,-0.00029807359930581563,0.0003603965519168834,0.00013417118146240328,0.6761,-0.0046,0.09814529584922564,1.0,0.0,0.0,0.0,-0.7200165253432383,0.4750899676904339,3.777121943295774,0.030461842394816044,0.05171041396577933,0.0011482800993518213,0.016846089645945386,1.661893588175517,5.0802562906131,0.10496617913874565,0.007820189446280297,0.0013770644740596489,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.1287829679832364,1.5784675484596395,-4.038088020044616,-0.04186803123290876,2.950467510541655,0.9215123966331519,-1.1517149190850677,-3.777121943295774,2.886373100959548,2.886373100959548,3.0025000000019118,0,0,-9.972239363029012e-05,-9.169679879151289e-05
+13937,1793078317653378185,14868793000000,1793078317652034295,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6763133231108895,-0.004959613841628697,0.09859969714935536,0.999999866054411,-0.0003096454748398761,0.00038165714868964413,0.00013338487281308522,0.6761,-0.0046,0.09804353838910763,1.0,0.0,0.0,0.0,-0.7237278137994785,0.4603355752822422,3.856313440619898,0.030448487719843903,0.05086657445488238,0.0010657706030513605,0.013134801189705237,1.6471391957673254,5.159447787937224,0.1049528244637735,0.006976349935383347,0.0012945549777591881,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.134651353741662,1.6463366866507316,-4.087552613506282,-0.06155014398160674,2.984059031728323,0.9632593472054749,-1.1517149190850677,-3.856313440619898,2.935837694421214,2.935837694421214,3.099200000002116,0,0,-0.0001077341836256115,-9.876418713273267e-05
+14053,1793078318620407611,14869760000000,1793078318620034414,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6763234854344394,-0.004961708811034624,0.09851251969235264,0.9999999065118504,-2.963940747851822e-05,0.0003987002231914199,0.0001363040442662362,0.6761,-0.0046,0.09794110312076182,1.0,0.0,0.0,0.0,-0.6992341295938677,0.41210994523882394,3.9164402471807875,0.02640852315143133,0.04987430577964391,-6.49269043661525e-05,0.037628485395316075,1.598913565723907,5.219574594498114,0.10091285989536093,0.005984081260144877,0.00016385747034167514,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.178570159787056,1.6403944067923792,-4.231795665614793,-0.10371920582406546,3.1040672986301523,0.8909339642428921,-1.1517149190850677,-3.9164402471807875,3.080080746529725,3.080080746529725,3.19590000000232,0,0,-0.0001094664720355506,-9.999999025923074e-05
+14159,1793078319503428867,14870643000000,1793078319496044618,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6763353015340979,-0.004968085098718643,0.09842811075899892,0.9999998969443087,-5.217162124705186e-05,0.0004187902217389713,0.00013945289015903015,0.6761,-0.0046,0.09783589452937663,1.0,0.0,0.0,0.0,-0.6950492448895222,0.39246151722422007,4.0049780944874085,0.02536920758824089,0.049875110368608984,-0.0001481943156031507,0.041813370099661414,1.5792651377093032,5.3081124418047345,0.0998735443321705,0.005984885849109954,8.059005910467695e-05,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.171543497593218,1.7104070107593121,-4.384043267366158,-0.12319655445833534,3.198428847206129,0.9451804047268472,-1.1517149190850677,-4.0049780944874085,3.23232834828109,3.23232834828109,3.2842000000025062,0,0,-0.00012650888484425226,9.991454471969802e-05
+14259,1793078320336409057,14871476000000,1793078320332044727,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6763434510605708,-0.004974684678170756,0.09833876176883842,0.9999998884758956,-7.169501384272227e-05,0.0004349868490891877,0.00014190604915392309,0.6761,-0.0046,0.09772922465361891,1.0,0.0,0.0,0.0,-0.7139490324499387,0.37457975212531736,4.05672691559801,0.024300430416848054,0.05089056052390356,0.0008346496565527089,0.022913582539244984,1.5613833726104005,5.359861262915336,0.09880476716077766,0.0070003360044045265,0.0010634340312605365,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.1684128014320345,1.6850709857710446,-4.362299649394015,-0.10802709037438744,3.1844373658708296,0.943946905950848,-1.1517149190850677,-4.05672691559801,3.2105847303089474,3.2105847303089474,3.367500000002682,0,0,-0.00013199984133102494,-9.635347661263722e-05
+14361,1793078321186402309,14872326000000,1793078321180034868,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6763556059813745,-0.0049718665674278245,0.09824682341187492,0.999999878592653,-9.154348465264831e-05,0.000454009782096387,0.00014054341621091992,0.6761,-0.0046,0.09761598039550613,1.0,0.0,0.0,0.0,-0.6916302219230048,0.34842130591594933,4.115614741763357,0.022273877841571685,0.049905282044262714,0.0007562163861938287,0.0452323930661789,1.5352249264010325,5.418749089080683,0.09677821458550129,0.006015057524763678,0.0009850007609016563,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.1840456574053677,1.675896534245325,-4.566471733038705,-0.08795896029687827,3.322304976584681,0.9587118835624886,-1.1517149190850677,-4.115614741763357,3.4147568139536375,3.4147568139536375,3.4525000000028614,0,0,-0.0001380316611329383,9.999999025923074e-05
+14475,1793078322136403879,14873276000000,1793078322136034629,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6763687273460233,-0.00497645713917244,0.0981323088891594,0.9999998663859785,-0.00011869944312907434,0.00047418076461514907,0.00014047752193177882,0.6761,-0.0046,0.09748010280802037,1.0,0.0,0.0,0.0,-0.6904831530895403,0.32468728924181733,4.195504536045021,0.020242310762699722,0.04899242519022087,0.0006543003896556051,0.04637946189964336,1.5114909097269005,5.498638883362347,0.09474664750662933,0.00510220067072184,0.0008830847643634328,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.113204440925442,1.6387249041161032,-4.562501484698898,-0.06804966426917035,3.3018479563492966,0.9594232569601063,-1.1517149190850677,-4.195504536045021,3.4107865656138303,3.4107865656138303,3.547500000003062,0,0,-0.0001447102598403901,-9.99210672799677e-05
+14572,1793078322945369739,14874085000000,1793078322940043784,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6763805998325393,-0.0049821538346182465,0.09802772100503271,0.9999998545238408,-0.0001351742706982461,0.0004926667266528835,0.000146296187282099,0.6761,-0.0046,0.09735825070416242,1.0,0.0,0.0,0.0,-0.6792995506139891,0.2781517150249273,4.245647348793314,0.017169576944862625,0.04896246147054066,0.0005944769528312098,0.05756306437519468,1.4649553355100104,5.54878169611064,0.09167391368879223,0.0050722369510416265,0.0008232613275390374,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.0700122420114955,1.6403841184531984,-4.58190533572504,-0.05951105906425834,3.3072681275227844,0.9695057944376062,-1.1517149190850677,-4.245647348793314,3.430190416639972,3.430190416639972,3.6284000000032326,0,0,-0.0001586363767805673,-9.999994862586731e-05
+14672,1793078323778283722,14874918000000,1793078323776044490,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6763906322769825,-0.0049813605347663594,0.09791155730238216,0.9999998428042804,-0.00015367509697427004,0.0005113721506503189,0.00014393320231318542,0.6761,-0.0046,0.0972230209484961,1.0,0.0,0.0,0.0,-0.65490800633289,0.2525047594031222,4.3169352493154625,0.015511297786451939,0.04697702118206693,0.001510596784501558,0.08195460865629373,1.4393083798882054,5.6200695966327885,0.09001563453038154,0.003086796662567899,0.0017393811592093856,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.114566559146081,1.5386142993988399,-4.733570769612568,-0.03211102436385943,3.422998574227315,0.9003359672302929,-1.1517149190850677,-4.3169352493154625,3.5818558505275,3.5818558505275,3.7117000000034084,0,0,-0.00016473138398092642,9.008489504885213e-05
+14776,1793078324645313764,14875785000000,1793078324640043993,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6764043201101554,-0.004982010072089073,0.0977831653917096,0.9999998285405568,-0.00017775172569529325,0.000532094530485048,0.00014014797874035994,0.6761,-0.0046,0.09707427897694555,1.0,0.0,0.0,0.0,-0.6293288237907103,0.23080227912835016,4.38955078967027,0.013175049726872862,0.046755791763753995,0.0014165850780969494,0.10753379119847344,1.4176058996134333,5.692685136987596,0.08767938647080246,0.002865567244254962,0.001645369452804777,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.0876816937173373,1.7339107557312075,-4.787054588622734,-0.07565931423383182,3.455574649607044,1.0272029258429625,-1.1517149190850677,-4.38955078967027,3.6353396695376663,3.6353396695376663,3.7984000000035913,0,0,-0.0001777808798189825,-9.765016159424817e-05
+14876,1793078325478287266,14876618000000,1793078325476034609,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.676415830426745,-0.004987779648205858,0.09765140143061027,0.9999998133362109,-0.0002086352968854891,0.0005505430297779163,0.00013470000991687913,0.6761,-0.0046,0.09692622742517072,1.0,0.0,0.0,0.0,-0.6093723861319976,0.20391660232385744,4.443609212486421,0.01122946968910632,0.044976827874456116,0.001323362755964262,0.12749022885718606,1.3907202228089406,5.746743559803747,0.08573380643303592,0.0010866033549570828,0.0015521471306720895,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.0716434360533564,1.5969212857736645,-4.88973421184112,-0.033507621266210104,3.526593381657602,0.934080075349508,-1.1517149190850677,-4.443609212486421,3.738019292756052,3.738019292756052,3.881700000003767,0,0,-0.00017847171496635094,6.016225992245268e-05
+14979,1793078326336280522,14877476000000,1793078326332034693,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6764269858728327,-0.004991386907362871,0.09751029235724416,0.9999998003668028,-0.00021399194487511838,0.000569304472940583,0.0001442535378544779,0.6761,-0.0046,0.09676978625554344,1.0,0.0,0.0,0.0,-0.5895873988437436,0.16071801348879955,4.486348887975291,0.008030595831204676,0.0450266341483818,0.0012532952963498374,0.14727521614544012,1.3475216339738827,5.789483235292617,0.08253493257513428,0.0011364096288827702,0.001482079671057665,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.089723451606594,1.6168495022835754,-4.9443275601061965,-0.03673152917802789,3.573828076676725,0.9488261362643424,-1.1517149190850677,-4.486348887975291,3.7926126410211287,3.7926126410211287,3.967500000003948,0,0,-0.0001866885966609041,-9.92902801907391e-05
+15075,1793078327136294897,14878276000000,1793078327136034750,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6764378159198421,-0.004995707478327996,0.097373268234741,0.9999998043808073,-0.00013247916201204998,0.0005853327672729634,0.00015005343977624876,0.6761,-0.0046,0.09661826110454846,1.0,0.0,0.0,0.0,-0.5428863795497316,0.09008360393669723,4.574110811097732,0.002962480810503723,0.043079960893597655,0.0011056966254666268,0.19397623543945205,1.2768872244217804,5.877245158415058,0.07746681755443333,-0.0008102636259013793,0.0013344810001744544,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.994344273272664,1.655414689652332,-5.026572703505858,-0.05601483606839434,3.6169543318425394,0.9532721305985952,-1.1517149190850677,-4.574110811097732,3.87485778442079,3.87485778442079,4.047500000003906,0,0,-0.00019387849314464323,-9.999961555895993e-05
+15163,1793078327870236316,14879010000000,1793078327868034474,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6764467208502426,-0.004995852329614766,0.0972463753146712,0.999999791718102,-0.0001533176166183207,0.0006015224620522424,0.00015056909681214616,0.6761,-0.0046,0.09646932412249565,1.0,0.0,0.0,0.0,-0.519677449584445,0.055051175336156,4.599692118428588,0.0003214551182729314,0.041083591403577494,0.0010194941720228635,0.2171851654047388,1.2418547958212391,5.902826465745914,0.07482579186220253,-0.0028066331159215417,0.0012482785467306911,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.009462063388085,1.6352195149470783,-5.091964132053754,-0.02640939384489012,3.6666054959163232,0.957867800240761,-1.1517149190850677,-4.599692118428588,3.940249212968686,3.940249212968686,4.120900000003735,0,0,-0.00021055083625470323,-6.293038573086012e-05
+15262,1793078328695230484,14879835000000,1793078328692034816,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6764585928936179,-0.004993191854873841,0.09709164040040434,0.9999997742412138,-0.00018838817044312934,0.0006221846698040141,0.0001426762752180611,0.6761,-0.0046,0.09629557213459088,1.0,0.0,0.0,0.0,-0.47432395063693356,0.032102156664004955,4.670417083620166,-0.0010068160188385217,0.03807036144291275,0.0009048460636346992,0.26253866435225015,1.218905777149088,5.973551430937492,0.07349752072509108,-0.00581986307658628,0.0011336304383425268,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.049358365149175,1.5394200714704969,-5.252848996050004,0.010888104320942142,3.7895155398789346,0.8898147181578272,-1.1517149190850677,-4.670417083620166,4.101134076964937,4.101134076964937,4.203400000003542,0,0,-0.00020722957156241317,9.99755931082646e-05
+15366,1793078329561250003,14880701000000,1793078329556034593,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6764737908602992,-0.004998858792478571,0.0969285137757632,0.9999997547869067,-0.00020395827160990044,0.0006457922211636096,0.00015238904515613497,0.6761,-0.0046,0.09611100694463334,1.0,0.0,0.0,0.0,-0.4632318079893904,0.006757703190720221,4.682934888432385,-0.0030483794766009015,0.03773615750814484,0.0011011484702697439,0.2736308069997933,1.1935613236758034,5.986069235749711,0.0714559572673287,-0.006154067011354196,0.0013299328449775715,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.9510948531498233,1.6553390887762334,-5.167639699672223,-0.021264887616582455,3.709116760739213,0.9702325651530599,-1.1517149190850677,-4.682934888432385,4.015924780587155,4.015924780587155,4.2900000000033405,0,0,-0.00022252269218511612,-9.999999025923074e-05
+15462,1793078330361209239,14881501000000,1793078330360034405,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6764819530682028,-0.004999369626896236,0.09676238736065326,0.999999741223967,-0.00020801589007645162,0.0006627887286217384,0.00016258952630005783,0.6761,-0.0046,0.09592829082689612,1.0,0.0,0.0,0.0,-0.3894999074350843,-0.005470397639595559,4.7392550507087465,-0.004011585372310833,0.03330469302758516,0.0017807676594271194,0.3473627075540994,1.1813332228454876,6.0423893980260726,0.07049275137161877,-0.010585531491913873,0.002009552034134947,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.9674664862425373,1.5568395165015176,-5.212121564764278,0.023579569178339088,3.747594326513376,0.9053699652304987,-1.1517149190850677,-4.7392550507087465,4.06040664567921,4.06040664567921,4.370000000003154,0,0,-0.0002343720700945503,-9.928009389448817e-05
+15549,1793078331086227630,14882226000000,1793078331084034955,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6764881020753621,-0.005001921204569338,0.09660000274256438,0.9999997268187948,-0.0002452381279359996,0.0006773926314256933,0.00013712287625949822,0.6761,-0.0046,0.09575496325719424,1.0,0.0,0.0,0.0,-0.33297556071327944,-0.02049468056718795,4.8192201299074435,-0.004898328812581662,0.029601940428388197,0.0016509639798495653,0.40388705427590427,1.1663089399178952,6.1223544772247696,0.06960600793134794,-0.014288284091110836,0.0018797483545573929,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.96940775037169,1.5775758221363974,-5.419449980634112,0.03921020878921092,3.894164218468215,0.9175674028489197,-1.1517149190850677,-4.8192201299074435,4.267735061549044,4.267735061549044,4.442500000002985,0,0,-0.00024025575107580887,9.990234614421496e-05
+15639,1793078331836209218,14882976000000,1793078331832036225,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6765037030414917,-0.005002595671719376,0.09643042928756769,0.9999997345157257,-0.00012548142862538973,0.0006947095474307516,0.0001550625628529553,0.6761,-0.0046,0.09557108287624351,1.0,0.0,0.0,0.0,-0.35702445706330455,-0.01426978627887876,4.826124454162503,-0.0057108076868937485,0.03177583834379164,0.0016723094902956791,0.37983815792587916,1.1725338342062044,6.129258801479829,0.06879352905703585,-0.012114386175707393,0.0019010938650035067,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.062645871856823,1.7400133678274745,-5.389575925596634,-0.04103977664365891,3.9000523907149436,0.979719463495902,-1.1517149190850677,-4.826124454162503,4.237861006511566,4.237861006511566,4.51750000000281,0,0,-0.0002549143519423299,-9.982958490273858e-05
+15720,1793078332511209184,14883651000000,1793078332508035086,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6765136679329304,-0.0050082280125640045,0.09626960695117819,0.9999997192962455,-0.00014249060413848783,0.0007094887334371814,0.00017079947106712434,0.6761,-0.0046,0.09539324521934368,1.0,0.0,0.0,0.0,-0.3544446098649357,-0.08406141233788067,4.86926122089014,-0.009017755063244773,0.03007507760001531,0.0015742159616540029,0.382418005124248,1.1027422081472025,6.172395568207466,0.06548658168068483,-0.013815146919483722,0.0018030003363618304,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,2.0346217668463398,1.652774587814426,-5.487355385913417,0.002182352523145119,3.96241852688326,0.9568490912000126,-1.1517149190850677,-4.86926122089014,4.335640466828349,4.335640466828349,4.585000000002653,0,0,-0.0002713623107289661,-9.5306369766962e-05
+15800,1793078333178208621,14884318000000,1793078333172035062,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6765222473805829,-0.0050075046854456745,0.09609890603828647,0.9999997026321018,-0.00016021967466965035,0.0007267150433757707,0.00017998187096130314,0.6761,-0.0046,0.09520552689336792,1.0,0.0,0.0,0.0,-0.31708599720263125,-0.12993339970000006,4.907604158258115,-0.011668758062998316,0.028732200195952802,0.001489135492388498,0.41977661778655245,1.056870220785083,6.210738505575441,0.06283557868093129,-0.01515802432354623,0.0017179198670963256,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.9527969285219235,1.6838236297176181,-5.511781916241552,0.023796926434739307,3.960697126382763,0.9884905997047613,-1.1517149190850677,-4.907604158258115,4.360066997156484,4.360066997156484,4.6517000000024975,0,0,-0.0002920439926931958,-9.905009731714926e-05
+15875,1793078333803209135,14884943000000,1793078333800034225,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6765307554644732,-0.005009931221122039,0.09592807842587973,0.9999996801749325,-0.00023046222603269472,0.000745810105499587,0.0001474698126612845,0.6761,-0.0046,0.09501944653270579,1.0,0.0,0.0,0.0,-0.2589019640032944,-0.11999113258939653,4.9780172176842745,-0.011478970885754697,0.024877047381164735,0.0013803288792469876,0.4779606509858893,1.0668124878956866,6.2811515650016005,0.0630253658581749,-0.019013177138334298,0.0016091132539548152,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.9422577714117473,1.66179666485915,-5.574396682731066,0.03608389559069164,4.012225322047763,0.9747175637438829,-1.1517149190850677,-4.9780172176842745,4.422681763645998,4.422681763645998,4.714200000002352,0,0,-0.0003036108304169379,-9.869712966204531e-05
+15950,1793078334428219059,14885568000000,1793078334428034744,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6765392787142678,-0.005013485744863576,0.09574916740878849,0.9999996722390097,-0.00021794769378708442,0.00075619126090333,0.00016624775800600265,0.6761,-0.0046,0.09482374094113483,1.0,0.0,0.0,0.0,-0.2581264975009691,-0.17694392023654437,5.02784899478673,-0.013991960922475531,0.02405541584048825,0.0023189930836383975,0.4787361174882146,1.0098597002485388,6.330983342104056,0.06051237582145407,-0.019834808679010784,0.0025477774583462253,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.975606162458523,1.6257107590121267,-5.60594220051981,0.04565282195314516,4.053758597595979,0.95723197032169,-1.1517149190850677,-5.02784899478673,4.454227281434743,4.454227281434743,4.776700000002206,0,0,-0.00032195008089627573,-9.999999025923074e-05
+16022,1793078335028208601,14886168000000,1793078335024034777,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6765446953115896,-0.005019807631885459,0.09555988333295484,0.999999672746656,-0.00015224643986642676,0.0007675810164843607,0.00018327533833520468,0.6761,-0.0046,0.09462468079428757,1.0,0.0,0.0,0.0,-0.2408273816179028,-0.23090413789202768,5.095600264945497,-0.01800442206440829,0.023107139249726166,0.0011890579413167028,0.4960352333712809,0.9558994825930555,6.398734612262823,0.05649991467952131,-0.020783085269772867,0.0014178423160245304,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.8969657089182153,1.538686258663765,-5.666405904736675,0.06617711217663473,4.084988486147387,0.8908214762410895,-1.1517149190850677,-5.095600264945497,4.514690985651607,4.514690985651607,4.836700000002066,0,0,-0.00034071855379710767,-9.755014437751725e-05
+16085,1793078335553208535,14886693000000,1793078335548034593,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.676552642781544,-0.005010741938001049,0.09539284172202711,0.9999996531370662,-0.00021545155783919142,0.0007860621652929615,0.00014441436892579182,0.6761,-0.0046,0.09444572629431255,1.0,0.0,0.0,0.0,-0.13643988119985428,-0.15938656714641541,5.168920969476415,-0.013903485151365469,0.016820286551442003,0.0021210417906371865,0.6004227337893294,1.0274170533386677,6.472055316793741,0.060600851592564134,-0.02706993796805703,0.0023498261653450143,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.955421603135305,1.5440660861814863,-5.7512541066536444,0.10133161867674575,4.170500526076049,0.9023618602591545,-1.1517149190850677,-5.168920969476415,4.599539187568577,4.599539187568577,4.889200000001944,0,0,-0.00033897264147489723,-8.707407520346946e-05
+16152,1793078336111208542,14887251000000,1793078336108034645,DOWN_FORCE_DETACH,7,0.0658,0.0658019408583641,0.6765671004018537,-0.005020261454042627,0.09520748047751117,0.9999996392489191,-0.0002254018982137347,0.0007962313731204966,0.00016779296924839877,0.6761,-0.0046,0.09425085808719243,1.0,0.0,0.0,0.0,-0.22330863165122017,-0.21651781928223335,5.165107237133895,-0.017009346918972747,0.02165334272173036,0.0021455709289915116,0.5135539833379635,0.9702858012028498,6.468241584451221,0.057494989824956856,-0.022236881797768674,0.0023743553036993394,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.969304065203406,1.659928903274436,-5.810814146405259,0.04319581427454396,4.210264920848542,0.9706249274518056,-1.1517149190850677,-5.165107237133895,4.659099227320191,4.659099227320191,4.945000000001814,0,0,-0.00035952172730971545,7.513245167534705e-05
+16225,1793078336720213066,14887860000000,1793078336720034472,DOWN_FORCE_DETACH,7,0.0658,0.06580259650945663,0.6765745387308272,-0.005024523259413,0.0949901480932955,0.9999996243941196,-0.00023978051220803427,0.0008069454261377338,0.00018438782217603604,0.6761,-0.0046,0.09402519463395063,1.0,0.0,0.0,0.0,-0.1922062966406175,-0.2972115740458512,5.185069411410771,-0.021041944452208507,0.019172481156164864,0.0020531841956626102,0.5446563183485662,0.889592046439232,6.488203758728097,0.053462392291721096,-0.02471774336333417,0.002281968570370438,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.9194285301428862,1.5657514191573296,-5.779622418565048,0.08935448706474541,4.195161935451538,0.9107766845307467,-1.1517149190850677,-5.185069411410771,4.6279074994799805,4.6279074994799805,5.005900000001672,0,0,-0.00038363029218199527,-9.999999025923074e-05
+16284,1793078337208210477,14888348000000,1793078337208034327,DOWN_SETTLE,7,0.0658,0.0658019408583641,0.6765798323250753,-0.005020678753526513,0.09480309795174345,0.9999996379329739,-0.00011710972889292527,0.0008211901031093679,0.00016585810654994975,0.6761,-0.0046,0.09383363292387643,1.0,0.0,0.0,0.0,-0.15007249926390864,-0.32818264050027735,5.231984435938267,-0.022872008552287763,0.01606843759897669,0.0018639802321129756,0.5867901157252751,0.8586209799848058,6.535118783255593,0.05163232819164184,-0.027821786920522344,0.0020927646068208032,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.8512646991837822,1.6511220476392718,-5.726097035431107,0.030013417669722278,4.165102953959216,0.9171338990241342,-1.1517149190850677,-5.231984435938267,4.574382116346039,0.0,0.0,0,0,-0.00036165119242882873,0.002000000009740768
+16387,1793078338064218962,14889204000000,1793078338064034317,DOWN_PEAK_HOLD,7,0.0658,0.0658019408583641,0.6765472839553502,-0.0050206968654494194,0.09466468380712884,0.9999996841884599,-0.0001300227878692237,0.0007595356187795883,0.00017107180782113734,0.6761,-0.0046,0.09379688181676112,1.0,0.0,0.0,0.0,0.11076865264790647,-0.5786434806522582,4.401111068568636,-0.038678124708534364,-0.0016064015891207872,0.00012810708093285192,0.8476312676370902,0.6081601398328249,5.704245415885962,0.03582621203539524,-0.04549662610861982,0.00035689145564067956,0.7368626149891837,1.1868036204850831,1.303134347317326,0.0745043367439296,-0.04389022451949903,0.00022878437470782764,1,1.1812247991250047,1.67751477533459,-4.776817895060338,0.03803509847764706,3.4370474250599923,0.9624416090381137,-1.1517149190850677,-4.401111068568636,3.6251029759752704,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_PLA_15/press_depth_07/down/real_sim_motion_alignment.csv

@@ -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,1793078286466013459,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.461815524e-08,-9.129314527e-10,6.884659509e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027460474e-01,-1.146748596e-04,8.303253168e-01
+1,8.833333333e-01,DOWN_FORCE_DETACH,1793078287349759369,2.711161670e-06,-2.426725162e-06,3.943548262e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.848484038e-07,-4.861000989e-08,-9.397876033e-09,7.019583440e-01,-2.469746019e-05,8.601470308e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027466177e-01,-1.147225567e-04,8.303253073e-01
+2,1.916666667e+00,DOWN_FORCE_DETACH,1793078288382259741,1.145300361e-05,4.533272930e-06,8.011992507e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.203597320e-07,-7.717913176e-08,-2.209918371e-08,7.019670858e-01,-1.773746209e-05,8.601438884e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027469532e-01,-1.147511258e-04,8.303252946e-01
+3,2.800000000e+00,DOWN_FORCE_DETACH,1793078289266997333,3.085719849e-05,-2.152427406e-06,-3.115980547e-05,2.563780248e-05,4.371452984e-07,-3.060417632e-05,2.726774325e-05,2.861219824e-07,-2.938100008e-05,7.019864900e-01,-2.442316243e-05,8.601119274e-01,7.019812706e-01,-2.183358972e-05,8.601124831e-01,7.027733006e-01,-1.143878247e-04,8.302959357e-01
+4,3.650000000e+00,DOWN_FORCE_DETACH,1793078290134499229,6.274045626e-05,-8.234135269e-06,-8.795264754e-05,6.014951080e-05,-2.996297115e-06,-7.802871730e-05,6.318653467e-05,-2.956140469e-06,-7.574014377e-05,7.020183733e-01,-3.050487029e-05,8.600551346e-01,7.020157823e-01,-2.526703214e-05,8.600650585e-01,7.028092194e-01,-1.176300872e-04,8.302495765e-01
+5,4.566666667e+00,DOWN_FORCE_DETACH,1793078291068221028,1.124924844e-04,-9.781074588e-06,-1.685301166e-04,1.067289765e-04,-1.045440765e-05,-1.658820914e-04,1.116080308e-04,-9.865983128e-06,-1.616555949e-04,7.020681253e-01,-3.205180961e-05,8.599745571e-01,7.020623618e-01,-3.272514267e-05,8.599772051e-01,7.028576408e-01,-1.245399298e-04,8.301636611e-01
+6,5.416666667e+00,DOWN_FORCE_DETACH,1793078291903442243,1.512197674e-04,-1.047847731e-05,-2.416982301e-04,1.463769610e-04,-1.476749833e-05,-2.375562595e-04,1.534459511e-04,-1.391295737e-05,-2.327260753e-04,7.021068526e-01,-3.274921233e-05,8.599013890e-01,7.021020098e-01,-3.703823335e-05,8.599055310e-01,7.028994788e-01,-1.285869041e-04,8.300925906e-01
+7,6.183333333e+00,DOWN_FORCE_DETACH,1793078292657161428,1.769728179e-04,-7.322097800e-06,-2.925966054e-04,1.736431549e-04,-2.853754977e-06,-2.879568045e-04,1.825708368e-04,-3.149889157e-06,-2.834341176e-04,7.021326056e-01,-2.959283282e-05,8.598504906e-01,7.021292760e-01,-2.512449000e-05,8.598551304e-01,7.029286037e-01,-1.178238359e-04,8.300418826e-01
+8,7.200000000e+00,DOWN_FORCE_DETACH,1793078293656241223,1.955216943e-04,-1.002969368e-05,-3.490181341e-04,1.917631042e-04,-9.408402904e-06,-3.479741772e-04,2.022707700e-04,-9.237206479e-06,-3.438303376e-04,7.021511545e-01,-3.230042871e-05,8.597940691e-01,7.021473959e-01,-3.167913793e-05,8.597951131e-01,7.029483036e-01,-1.239111532e-04,8.299814864e-01
+9,8.150000000e+00,DOWN_FORCE_DETACH,1793078294640940053,1.987470685e-04,-1.259767560e-05,-3.901183105e-04,2.013507183e-04,-1.612069346e-05,-3.862132744e-04,2.127573855e-04,-1.546749200e-05,-3.825430664e-04,7.021543799e-01,-3.486841062e-05,8.597529689e-01,7.021569835e-01,-3.839142849e-05,8.597568740e-01,7.029587902e-01,-1.301414387e-04,8.299427736e-01
+10,9.166666667e+00,DOWN_FORCE_DETACH,1793078295670637517,1.997852713e-04,-1.626001611e-05,-4.010929674e-04,1.965507166e-04,-1.342456014e-05,-4.078502402e-04,2.083298436e-04,-1.303795272e-05,-4.050502522e-04,7.021554181e-01,-3.853075113e-05,8.597419943e-01,7.021521835e-01,-3.569529516e-05,8.597352370e-01,7.029543627e-01,-1.277118994e-04,8.299202664e-01
+11,1.015000000e+01,DOWN_FORCE_DETACH,1793078296637744022,1.988755890e-04,-1.408753404e-05,-4.087960626e-04,1.965507166e-04,-1.342456014e-05,-4.078502402e-04,2.084534328e-04,-1.303789652e-05,-4.064151509e-04,7.021545084e-01,-3.635826907e-05,8.597342912e-01,7.021521835e-01,-3.569529516e-05,8.597352370e-01,7.029544863e-01,-1.277118432e-04,8.299189015e-01
+12,1.121666667e+01,DOWN_FORCE_DETACH,1793078297685656108,1.947784914e-04,-1.313506801e-05,-4.190926245e-04,1.965507166e-04,-1.342456014e-05,-4.078502402e-04,2.085347091e-04,-1.304178418e-05,-4.070825040e-04,7.021504113e-01,-3.540580303e-05,8.597239946e-01,7.021521835e-01,-3.569529516e-05,8.597352370e-01,7.029545675e-01,-1.277157309e-04,8.299182342e-01
+13,1.218333333e+01,DOWN_FORCE_DETACH,1793078298652321401,1.934857020e-04,-1.177342070e-05,-4.277607578e-04,1.933643554e-04,-1.177311745e-05,-4.275072921e-04,2.050913444e-04,-1.153180186e-05,-4.260368843e-04,7.021491185e-01,-3.404415572e-05,8.597153265e-01,7.021489972e-01,-3.404385248e-05,8.597155799e-01,7.029511242e-01,-1.262057486e-04,8.298992798e-01
+14,1.320000000e+01,DOWN_FORCE_DETACH,1793078299733023934,1.931677005e-04,-1.495534051e-05,-4.325681675e-04,1.933643554e-04,-1.177311745e-05,-4.275072921e-04,2.049518063e-04,-1.151102734e-05,-4.268603761e-04,7.021488005e-01,-3.722607553e-05,8.597105191e-01,7.021489972e-01,-3.404385248e-05,8.597155799e-01,7.029509846e-01,-1.261849741e-04,8.298984563e-01
+15,1.410000000e+01,DOWN_FORCE_DETACH,1793078300634396988,1.992052070e-04,-2.042373739e-05,-4.507322063e-04,1.964166252e-04,-1.626724349e-05,-4.471763929e-04,2.078331314e-04,-1.564748779e-05,-4.460074234e-04,7.021548380e-01,-4.269447242e-05,8.596923550e-01,7.021520494e-01,-3.853797851e-05,8.596959108e-01,7.029538660e-01,-1.303214345e-04,8.298793093e-01
+16,1.495000000e+01,DOWN_FORCE_DETACH,1793078301469242018,2.094909144e-04,-8.848276625e-06,-4.655160340e-04,2.067161682e-04,-1.105325111e-05,-4.636877739e-04,2.183722894e-04,-1.086775704e-05,-4.623857596e-04,7.021651237e-01,-3.111901165e-05,8.596775712e-01,7.021623490e-01,-3.332398614e-05,8.596793995e-01,7.029644051e-01,-1.255417038e-04,8.298629309e-01
+17,1.605000000e+01,DOWN_FORCE_DETACH,1793078302599380745,2.162746421e-04,-1.373665993e-05,-4.873179901e-04,2.114409900e-04,-1.948427790e-05,-4.816749847e-04,2.234130429e-04,-1.863311075e-05,-4.804520727e-04,7.021719075e-01,-3.600739495e-05,8.596557692e-01,7.021670738e-01,-4.175501292e-05,8.596614123e-01,7.029694459e-01,-1.333070575e-04,8.298448646e-01
+18,1.695000000e+01,DOWN_FORCE_DETACH,1793078303517305239,2.230220751e-04,-1.455272798e-05,-5.070384459e-04,2.168564424e-04,-1.316800859e-05,-5.016252945e-04,2.289472320e-04,-1.286055519e-05,-5.002969027e-04,7.021786549e-01,-3.682346300e-05,8.596360488e-01,7.021724893e-01,-3.543874361e-05,8.596414619e-01,7.029749801e-01,-1.275345019e-04,8.298250198e-01
+19,1.798333333e+01,DOWN_FORCE_DETACH,1793078304597575176,2.310691009e-04,-1.861558549e-05,-5.373941178e-04,2.248957276e-04,-1.630066824e-05,-5.200048554e-04,2.373901373e-04,-1.574433268e-05,-5.187968984e-04,7.021867019e-01,-4.088632052e-05,8.596056931e-01,7.021805285e-01,-3.857140326e-05,8.596230824e-01,7.029834230e-01,-1.304182794e-04,8.298065198e-01
+20,1.903333333e+01,DOWN_FORCE_DETACH,1793078305696252329,2.374028297e-04,-1.902095651e-05,-5.686125304e-04,2.335420681e-04,-1.701639275e-05,-5.595050077e-04,2.461967442e-04,-1.643708370e-05,-5.577663382e-04,7.021930356e-01,-4.129169154e-05,8.595744747e-01,7.021891749e-01,-3.928712777e-05,8.595835822e-01,7.029922296e-01,-1.311110304e-04,8.297675504e-01
+21,2.005000000e+01,DOWN_FORCE_DETACH,1793078306842005029,2.461423832e-04,-2.497988230e-05,-6.100659415e-04,2.424284282e-04,-2.154000561e-05,-6.004935616e-04,2.552102255e-04,-2.060397905e-05,-5.983082059e-04,7.022017752e-01,-4.725061732e-05,8.595330213e-01,7.021980612e-01,-4.381074063e-05,8.595425937e-01,7.030012430e-01,-1.352779258e-04,8.297270085e-01
+22,2.100000000e+01,DOWN_FORCE_DETACH,1793078307775232449,2.537164632e-04,-2.303607137e-05,-6.476652524e-04,2.500331928e-04,-2.152878138e-05,-6.414926080e-04,2.629546759e-04,-2.062814618e-05,-6.389687577e-04,7.022093493e-01,-4.530680639e-05,8.594954220e-01,7.022056660e-01,-4.379951640e-05,8.595015946e-01,7.030089875e-01,-1.353020929e-04,8.296863479e-01
+23,2.201666667e+01,DOWN_FORCE_DETACH,1793078308824220303,2.601834537e-04,-2.870684941e-05,-6.887366591e-04,2.586955875e-04,-2.887191464e-05,-6.826627214e-04,2.717309666e-04,-2.737101806e-05,-6.800191949e-04,7.022158163e-01,-5.097758443e-05,8.594543506e-01,7.022143284e-01,-5.114264966e-05,8.594604245e-01,7.030177638e-01,-1.420449648e-04,8.296452975e-01
+24,2.293333333e+01,DOWN_FORCE_DETACH,1793078309725295550,2.686808835e-04,-3.215838420e-05,-7.210935696e-04,2.656407209e-04,-2.692451122e-05,-7.230690768e-04,2.786268944e-04,-2.560030742e-05,-7.200658051e-04,7.022243137e-01,-5.442911923e-05,8.594219937e-01,7.022212735e-01,-4.919524624e-05,8.594200182e-01,7.030246597e-01,-1.402742541e-04,8.296052509e-01
+25,2.391666667e+01,DOWN_FORCE_DETACH,1793078310707449322,2.756198126e-04,-2.837062768e-05,-7.656474596e-04,2.733910372e-04,-2.429715612e-05,-7.628141613e-04,2.865156102e-04,-2.322778117e-05,-7.597995992e-04,7.022312526e-01,-5.064136271e-05,8.593774398e-01,7.022290239e-01,-4.656789115e-05,8.593802731e-01,7.030325484e-01,-1.379017279e-04,8.295655171e-01
+26,2.485000000e+01,DOWN_FORCE_DETACH,1793078311624913670,2.833540658e-04,-3.012262674e-05,-8.140995595e-04,2.791748126e-04,-2.681328860e-05,-8.029311903e-04,2.923255101e-04,-2.557582802e-05,-8.000206966e-04,7.022389869e-01,-5.239336176e-05,8.593289877e-01,7.022348076e-01,-4.908402363e-05,8.593401560e-01,7.030383583e-01,-1.402497747e-04,8.295252960e-01
+27,2.585000000e+01,DOWN_FORCE_DETACH,1793078312656633705,2.924046076e-04,-3.230725669e-05,-8.700229687e-04,2.888140786e-04,-3.045706755e-05,-8.633690604e-04,3.019550747e-04,-2.897511631e-05,-8.599093437e-04,7.022480374e-01,-5.457799172e-05,8.592730643e-01,7.022444469e-01,-5.272780257e-05,8.592797182e-01,7.030479879e-01,-1.436490630e-04,8.294654073e-01
+28,2.673333333e+01,DOWN_FORCE_DETACH,1793078313557254693,2.999089474e-04,-3.302494863e-05,-9.226433954e-04,2.940723632e-04,-3.367828020e-05,-9.096958959e-04,3.071731183e-04,-3.192372525e-05,-9.063282645e-04,7.022555418e-01,-5.529568365e-05,8.592204438e-01,7.022497052e-01,-5.594901522e-05,8.592333913e-01,7.030532059e-01,-1.465976720e-04,8.294189884e-01
+29,2.761666667e+01,DOWN_FORCE_DETACH,1793078314671499232,3.118075597e-04,-3.806036028e-05,-9.922137722e-04,3.116462190e-04,-3.794549683e-05,-9.920924194e-04,3.246759518e-04,-3.585346421e-05,-9.874207071e-04,7.022674404e-01,-6.033109531e-05,8.591508735e-01,7.022672790e-01,-6.021623185e-05,8.591509948e-01,7.030707088e-01,-1.505274109e-04,8.293378960e-01
+30,2.860000000e+01,DOWN_FORCE_DETACH,1793078315671142761,3.223649276e-04,-3.781246867e-05,-1.060444030e-03,3.206055783e-04,-3.647400963e-05,-1.052655074e-03,3.337558499e-04,-3.453267683e-05,-1.048395126e-03,7.022779977e-01,-6.008320369e-05,8.590826432e-01,7.022762384e-01,-5.874474466e-05,8.590904322e-01,7.030797887e-01,-1.492066235e-04,8.292769216e-01
+31,2.963333333e+01,DOWN_FORCE_DETACH,1793078316686120898,3.324058972e-04,-3.964781313e-05,-1.139820889e-03,3.307324478e-04,-4.244426347e-05,-1.135822812e-03,3.436354440e-04,-3.998316814e-05,-1.130962232e-03,7.022880387e-01,-6.191854816e-05,8.590032664e-01,7.022863653e-01,-6.471499849e-05,8.590072644e-01,7.030896683e-01,-1.546571149e-04,8.291943545e-01
+32,3.058333333e+01,DOWN_FORCE_DETACH,1793078317652341960,3.432274173e-04,-4.368685995e-05,-1.217879976e-03,3.423036809e-04,-4.739290100e-05,-1.200065089e-03,3.552994023e-04,-4.454215056e-05,-1.195563046e-03,7.022988602e-01,-6.595759497e-05,8.589252073e-01,7.022979365e-01,-6.966363602e-05,8.589430221e-01,7.031013322e-01,-1.592160973e-04,8.291297536e-01
+33,3.156666667e+01,DOWN_FORCE_DETACH,1793078318619397465,3.533897408e-04,-4.578182935e-05,-1.305057433e-03,3.533253896e-04,-4.595264208e-05,-1.304709849e-03,3.659948535e-04,-4.331169455e-05,-1.298962444e-03,7.023090226e-01,-6.805256438e-05,8.588380298e-01,7.023089582e-01,-6.822337711e-05,8.588383774e-01,7.031120277e-01,-1.579856413e-04,8.290263542e-01
+34,3.245000000e+01,DOWN_FORCE_DETACH,1793078319504592610,3.676644054e-04,-5.203588225e-05,-1.384195389e-03,3.633519566e-04,-4.512506351e-05,-1.385612254e-03,3.758097521e-04,-4.260694692e-05,-1.379713741e-03,7.023232972e-01,-7.430661727e-05,8.587588919e-01,7.023189848e-01,-6.739579853e-05,8.587574750e-01,7.031218426e-01,-1.572808936e-04,8.289456030e-01
+35,3.330000000e+01,DOWN_FORCE_DETACH,1793078320338937378,3.746478600e-04,-4.931421452e-05,-1.479082567e-03,3.757434323e-04,-5.412831001e-05,-1.465899674e-03,3.881563028e-04,-5.092337317e-05,-1.460001974e-03,7.023302807e-01,-7.158494954e-05,8.586640047e-01,7.023313762e-01,-7.639904503e-05,8.586771876e-01,7.031341891e-01,-1.655973199e-04,8.288653147e-01
+36,3.416666667e+01,DOWN_FORCE_DETACH,1793078321190873327,3.850281513e-04,-5.290802421e-05,-1.572741720e-03,3.850207676e-04,-5.290290301e-05,-1.572464994e-03,3.969990348e-04,-4.987185050e-05,-1.565552622e-03,7.023406610e-01,-7.517875923e-05,8.585703455e-01,7.023406536e-01,-7.517363803e-05,8.585706222e-01,7.031430319e-01,-1.645457972e-04,8.287597641e-01
+37,3.513333333e+01,DOWN_FORCE_DETACH,1793078322140585677,3.984742383e-04,-5.563479266e-05,-1.686547236e-03,3.959067086e-04,-5.628081633e-05,-1.675975965e-03,4.076681345e-04,-5.301973943e-05,-1.669323505e-03,7.023541071e-01,-7.790552769e-05,8.584565400e-01,7.023515395e-01,-7.855155135e-05,8.584671113e-01,7.031537010e-01,-1.676936861e-04,8.286559932e-01
+38,3.595000000e+01,DOWN_FORCE_DETACH,1793078322942944801,4.082668334e-04,-6.596332012e-05,-1.791552097e-03,4.079539834e-04,-6.603142937e-05,-1.791592151e-03,4.191383483e-04,-6.201317218e-05,-1.783878463e-03,7.023638997e-01,-8.823405514e-05,8.583515351e-01,7.023635868e-01,-8.830216439e-05,8.583514951e-01,7.031651712e-01,-1.766871189e-04,8.285414382e-01
+39,3.680000000e+01,DOWN_FORCE_DETACH,1793078323778253386,4.218091608e-04,-6.552266342e-05,-1.903653871e-03,4.194997069e-04,-6.119929521e-05,-1.899932705e-03,4.302879641e-04,-5.765654020e-05,-1.892275401e-03,7.023774420e-01,-8.779339844e-05,8.582394334e-01,7.023751325e-01,-8.347003023e-05,8.582431545e-01,7.031763208e-01,-1.723304869e-04,8.284330413e-01
+40,3.766666667e+01,DOWN_FORCE_DETACH,1793078324646362122,4.342556687e-04,-6.965188944e-05,-2.034213863e-03,4.304969936e-04,-6.603418877e-05,-2.015018264e-03,4.408692618e-04,-6.214541126e-05,-2.007572679e-03,7.023898885e-01,-9.192262446e-05,8.581088734e-01,7.023861298e-01,-8.830492380e-05,8.581280690e-01,7.031869021e-01,-1.768193580e-04,8.283177440e-01
+41,3.851666667e+01,DOWN_FORCE_DETACH,1793078325481941851,4.464705722e-04,-6.929626878e-05,-2.166826398e-03,4.462918166e-04,-6.944621993e-05,-2.167302707e-03,4.558900219e-04,-6.532449007e-05,-2.158229017e-03,7.024021034e-01,-9.156700380e-05,8.579762608e-01,7.024019246e-01,-9.171695495e-05,8.579757845e-01,7.032019228e-01,-1.799984368e-04,8.281670877e-01
+42,3.933333333e+01,DOWN_FORCE_DETACH,1793078326334092005,4.588124983e-04,-7.600872452e-05,-2.304502274e-03,4.594040187e-04,-7.698338442e-05,-2.296157643e-03,4.683768847e-04,-7.226976157e-05,-2.287003184e-03,7.024144453e-01,-9.827945954e-05,8.578385850e-01,7.024150368e-01,-9.925411944e-05,8.578469296e-01,7.032144097e-01,-1.869437083e-04,8.280383135e-01
+43,4.013333333e+01,DOWN_FORCE_DETACH,1793078327136071570,4.683868923e-04,-7.927649394e-05,-2.442590060e-03,4.681628018e-04,-7.924011079e-05,-2.442647063e-03,4.761310679e-04,-7.435635011e-05,-2.432760628e-03,7.024240197e-01,-1.015472290e-04,8.577004972e-01,7.024237956e-01,-1.015108458e-04,8.577004402e-01,7.032221639e-01,-1.890302968e-04,8.278925561e-01
+44,4.088333333e+01,DOWN_FORCE_DETACH,1793078327873931446,4.757011157e-04,-8.030041262e-05,-2.574455860e-03,4.755087572e-04,-8.059181179e-05,-2.574647168e-03,4.826472483e-04,-7.562030136e-05,-2.564403071e-03,7.024313339e-01,-1.025711476e-04,8.575686314e-01,7.024311416e-01,-1.028625468e-04,8.575684401e-01,7.032286801e-01,-1.902942481e-04,8.277609136e-01
+45,4.168333333e+01,DOWN_FORCE_DETACH,1793078328692637151,4.892774124e-04,-8.173149232e-05,-2.722952670e-03,4.887321623e-04,-7.829108192e-05,-2.711793773e-03,4.950437019e-04,-7.348973323e-05,-2.701810766e-03,7.024449102e-01,-1.040022273e-04,8.574201346e-01,7.024443650e-01,-1.005618169e-04,8.574312935e-01,7.032410765e-01,-1.881636799e-04,8.276235059e-01
+46,4.236666667e+01,DOWN_FORCE_DETACH,1793078329560902233,5.021864513e-04,-8.334499662e-05,-2.890169887e-03,5.015189089e-04,-8.236528308e-05,-2.882239763e-03,5.067849523e-04,-7.728566019e-05,-2.871059928e-03,7.024578193e-01,-1.056157316e-04,8.572529174e-01,7.024571517e-01,-1.046360181e-04,8.572608475e-01,7.032528178e-01,-1.919596069e-04,8.274542568e-01
+47,4.316666667e+01,DOWN_FORCE_DETACH,1793078330363309040,5.087583686e-04,-8.649101259e-05,-3.060817312e-03,5.089320092e-04,-8.799575930e-05,-3.045684191e-03,5.131433731e-04,-8.256015351e-05,-3.034539612e-03,7.024643912e-01,-1.087617476e-04,8.570822699e-01,7.024645648e-01,-1.102664943e-04,8.570974030e-01,7.032591762e-01,-1.972341002e-04,8.272907771e-01
+48,4.386666667e+01,DOWN_FORCE_DETACH,1793078331084398935,5.157835261e-04,-8.349985694e-05,-3.220173534e-03,5.156849715e-04,-8.373314755e-05,-3.203166680e-03,5.186576902e-04,-7.871475056e-05,-3.191655409e-03,7.024714163e-01,-1.057705920e-04,8.569229137e-01,7.024713178e-01,-1.060038826e-04,8.569399206e-01,7.032646905e-01,-1.933886973e-04,8.271336613e-01
+49,4.460000000e+01,DOWN_FORCE_DETACH,1793078331839863041,5.336073479e-04,-8.666869004e-05,-3.387147838e-03,5.335667288e-04,-8.662862612e-05,-3.387000444e-03,5.353922817e-04,-8.145295819e-05,-3.374555973e-03,7.024892402e-01,-1.089394251e-04,8.567559394e-01,7.024891995e-01,-1.088993611e-04,8.567560868e-01,7.032814251e-01,-1.961269049e-04,8.269507607e-01
+50,4.521666667e+01,DOWN_FORCE_DETACH,1793078332509099254,5.415051679e-04,-9.000610527e-05,-3.550341132e-03,5.425330346e-04,-8.335459401e-05,-3.545658688e-03,5.433072754e-04,-7.849280615e-05,-3.532788190e-03,7.024971380e-01,-1.122768403e-04,8.565927461e-01,7.024981659e-01,-1.056253290e-04,8.565974286e-01,7.032893401e-01,-1.931667529e-04,8.267925285e-01
+51,4.588333333e+01,DOWN_FORCE_DETACH,1793078333181890286,5.518643704e-04,-9.096016276e-05,-3.719026738e-03,5.517500455e-04,-9.092882029e-05,-3.719052710e-03,5.512320491e-04,-8.552335399e-05,-3.705580081e-03,7.025074972e-01,-1.132308978e-04,8.564240605e-01,7.025073829e-01,-1.131995553e-04,8.564240345e-01,7.032972649e-01,-2.001973007e-04,8.266197366e-01
+52,4.650000000e+01,DOWN_FORCE_DETACH,1793078333802902612,5.606702633e-04,-9.280417758e-05,-3.888900681e-03,5.603840721e-04,-9.294688471e-05,-3.888870031e-03,5.585223320e-04,-8.745983652e-05,-3.874883405e-03,7.025163031e-01,-1.150749126e-04,8.562541866e-01,7.025160169e-01,-1.152176197e-04,8.562542172e-01,7.033045552e-01,-2.021337832e-04,8.264504333e-01
+53,4.713333333e+01,DOWN_FORCE_DETACH,1793078334425768442,5.681238705e-04,-9.617335110e-05,-4.067216502e-03,5.679283503e-04,-9.687847307e-05,-4.054279958e-03,5.647071391e-04,-9.105484585e-05,-4.040514680e-03,7.025237567e-01,-1.184440861e-04,8.560758707e-01,7.025235612e-01,-1.191492081e-04,8.560888073e-01,7.033107400e-01,-2.057287926e-04,8.262848020e-01
+54,4.775000000e+01,DOWN_FORCE_DETACH,1793078335031546314,5.778671422e-04,-1.017545609e-04,-4.253425355e-03,5.768731855e-04,-9.858065989e-05,-4.246114132e-03,5.721102726e-04,-9.252207262e-05,-4.231346229e-03,7.025335000e-01,-1.240252959e-04,8.558896619e-01,7.025325060e-01,-1.208513949e-04,8.558969731e-01,7.033181431e-01,-2.071960193e-04,8.260939705e-01
+55,4.828333333e+01,DOWN_FORCE_DETACH,1793078335555655715,5.804709092e-04,-9.151708360e-05,-4.430611622e-03,5.788553059e-04,-9.587666592e-05,-4.420692160e-03,5.723868997e-04,-9.007041181e-05,-4.405349858e-03,7.025361037e-01,-1.137878186e-04,8.557124756e-01,7.025344881e-01,-1.181474009e-04,8.557223951e-01,7.033184197e-01,-2.047443585e-04,8.259199668e-01
+56,4.881666667e+01,DOWN_FORCE_DETACH,1793078336112349312,5.985707481e-04,-1.026828449e-04,-4.609996573e-03,5.964810885e-04,-1.027865000e-04,-4.592112037e-03,5.891227088e-04,-9.657343617e-05,-4.576617541e-03,7.025542036e-01,-1.249535799e-04,8.555330907e-01,7.025521139e-01,-1.250572350e-04,8.555509752e-01,7.033351555e-01,-2.112473829e-04,8.257486992e-01
+57,4.935000000e+01,DOWN_FORCE_DETACH,1793078336721202053,6.012327751e-04,-1.024307059e-04,-4.829998993e-03,6.009884778e-04,-1.022957901e-04,-4.829919610e-03,5.915018007e-04,-9.615306565e-05,-4.811637545e-03,7.025568656e-01,-1.247014409e-04,8.553130882e-01,7.025566213e-01,-1.245665251e-04,8.553131676e-01,7.033375346e-01,-2.108270124e-04,8.255136791e-01
+58,4.985000000e+01,DOWN_SETTLE,1793078337210494321,6.082189367e-04,-1.047053811e-04,-5.018497236e-03,6.082947847e-04,-1.063429649e-04,-5.002490105e-03,5.973111050e-04,-9.984586097e-05,-4.984951260e-03,7.025638518e-01,-1.269761162e-04,8.551245900e-01,7.025639276e-01,-1.286136999e-04,8.551405971e-01,7.033433439e-01,-2.145198077e-04,8.253403654e-01
+59,5.066666667e+01,DOWN_PEAK_HOLD,1793078338061571829,5.772185950e-04,-1.043368057e-04,-5.152794560e-03,5.837032979e-04,-1.043114625e-04,-5.133818149e-03,5.703746684e-04,-9.799610196e-05,-5.121493882e-03,7.025328514e-01,-1.266075407e-04,8.549902927e-01,7.025393361e-01,-1.265821975e-04,8.550092691e-01,7.033164075e-01,-2.126700487e-04,8.252038228e-01

Part2/Fixed/digit/cylinder_PLA_15/press_depth_07/down/simulation_data.csv

@@ -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+00,3.0389e-01,8.0286e-01,2.4661e+00,-9.5563e-02,5.8604e-02,2.0797e-03,-1.8275e-04,3.3379e-06,-8.3447e-06,-1.4901e-08,-1.0483e-05,-2.6822e-07,1.8297e-04,1.0486e-05
+1,8.8333e-01,DOWN_FORCE_DETACH,2.2608e-04,3.9784e-01,7.9552e-01,2.4647e+00,-9.5081e-02,6.5536e-02,1.4418e-03,9.3775e-02,-7.3380e-03,-1.4200e-03,4.8186e-04,6.9219e-03,-6.3818e-04,9.4072e-02,6.9679e-03
+2,1.9167e+00,DOWN_FORCE_DETACH,4.5069e-04,4.6124e-01,7.9117e-01,2.4625e+00,-9.4759e-02,7.0115e-02,1.0664e-03,1.5717e-01,-1.1693e-02,-3.6380e-03,8.0439e-04,1.1501e-02,-1.0136e-03,1.5764e-01,1.1573e-02
+3,2.8000e+00,DOWN_FORCE_DETACH,6.7825e-04,3.0435e-01,7.6955e-01,2.6840e+00,-9.3019e-02,5.8594e-02,1.0159e-03,2.8121e-04,-3.3309e-02,2.1789e-01,2.5443e-03,-2.0631e-05,-1.0641e-03,2.2042e-01,2.7579e-03
+4,3.6500e+00,DOWN_FORCE_DETACH,9.0449e-04,1.6758e-01,8.1963e-01,2.8815e+00,-9.6362e-02,4.8535e-02,1.1597e-03,-1.3649e-01,1.6770e-02,4.1541e-01,-7.9861e-04,-1.0080e-02,-9.2033e-04,4.3758e-01,1.0153e-02
+5,4.5667e+00,DOWN_FORCE_DETACH,1.1251e-03,2.0432e-02,8.8602e-01,3.1629e+00,-1.0067e-01,3.7926e-02,1.2843e-03,-2.8364e-01,8.3156e-02,6.9678e-01,-5.1042e-03,-2.0688e-02,-7.9569e-04,7.5688e-01,2.1323e-02
+6,5.4167e+00,DOWN_FORCE_DETACH,1.3531e-03,7.4904e-04,9.7971e-01,3.2618e+00,-1.0678e-01,3.6290e-02,1.3397e-03,-3.0332e-01,1.7685e-01,7.9564e-01,-1.1213e-02,-2.2325e-02,-7.4031e-04,8.6967e-01,2.4993e-02
+7,6.1833e+00,DOWN_FORCE_DETACH,1.5797e-03,5.0889e-02,7.9788e-01,3.2474e+00,-9.3787e-02,3.9452e-02,1.3601e-03,-2.5318e-01,-4.9820e-03,7.8125e-01,1.7762e-03,-1.9162e-02,-7.1992e-04,8.2126e-01,1.9258e-02
+8,7.2000e+00,DOWN_FORCE_DETACH,1.8071e-03,2.0467e-01,8.5879e-01,3.1986e+00,-9.7480e-02,5.0567e-02,1.2409e-03,-9.9403e-02,5.5931e-02,7.3248e-01,-1.9172e-03,-8.0477e-03,-8.3913e-04,7.4130e-01,8.3154e-03
+9,8.1500e+00,DOWN_FORCE_DETACH,2.0292e-03,3.6167e-01,9.0454e-01,2.9715e+00,-1.0091e-01,6.2288e-02,9.1659e-04,5.7603e-02,1.0168e-01,5.0539e-01,-5.3508e-03,3.6739e-03,-1.1634e-03,5.1872e-01,6.5941e-03
+10,9.1667e+00,DOWN_FORCE_DETACH,2.2561e-03,5.1991e-01,9.3185e-01,2.9376e+00,-1.0349e-01,7.3472e-02,5.6373e-04,2.1584e-01,1.2899e-01,4.7146e-01,-7.9236e-03,1.4858e-02,-1.5163e-03,5.3432e-01,1.6907e-02
+11,1.0150e+01,DOWN_FORCE_DETACH,2.4807e-03,5.3931e-01,9.2326e-01,2.6816e+00,-1.0285e-01,7.5306e-02,2.8323e-04,2.3524e-01,1.2040e-01,2.1547e-01,-7.2825e-03,1.6691e-02,-1.7968e-03,3.4097e-01,1.8299e-02
+12,1.1217e+01,DOWN_FORCE_DETACH,2.7113e-03,5.5582e-01,9.2400e-01,2.5579e+00,-1.0319e-01,7.6683e-02,1.3495e-04,2.5175e-01,1.2114e-01,9.1729e-02,-7.6221e-03,1.8068e-02,-1.9451e-03,2.9406e-01,1.9707e-02
+13,1.2183e+01,DOWN_FORCE_DETACH,2.9316e-03,5.6121e-01,9.2276e-01,2.4990e+00,-1.0324e-01,7.7120e-02,8.7256e-05,2.5714e-01,1.1990e-01,3.2825e-02,-7.6813e-03,1.8505e-02,-1.9928e-03,2.8561e-01,2.0135e-02
+14,1.3200e+01,DOWN_FORCE_DETACH,3.1603e-03,5.7876e-01,8.9509e-01,2.5406e+00,-1.0125e-01,7.8330e-02,3.6619e-05,2.7470e-01,9.2228e-02,7.4434e-02,-5.6905e-03,1.9716e-02,-2.0434e-03,2.9917e-01,2.0622e-02
+15,1.4100e+01,DOWN_FORCE_DETACH,3.3878e-03,5.4826e-01,9.7751e-01,2.6274e+00,-1.0714e-01,7.5989e-02,7.0412e-05,2.4419e-01,1.7465e-01,1.6126e-01,-1.1579e-02,1.7374e-02,-2.0096e-03,3.4079e-01,2.0975e-02
+16,1.4950e+01,DOWN_FORCE_DETACH,3.6068e-03,4.6716e-01,8.7846e-01,2.6519e+00,-1.0000e-01,7.0056e-02,8.0178e-05,1.6309e-01,7.5601e-02,1.8578e-01,-4.4395e-03,1.1441e-02,-1.9998e-03,2.5851e-01,1.2434e-02
+17,1.6050e+01,DOWN_FORCE_DETACH,3.8369e-03,4.9547e-01,1.0296e+00,2.6399e+00,-1.1083e-01,7.2093e-02,2.1839e-04,1.9140e-01,2.2673e-01,1.7376e-01,-1.5265e-02,1.3479e-02,-1.8616e-03,3.4385e-01,2.0449e-02
+18,1.6950e+01,DOWN_FORCE_DETACH,4.0612e-03,4.9527e-01,9.1065e-01,2.6544e+00,-1.0221e-01,7.2021e-02,2.0411e-04,1.9120e-01,1.0779e-01,1.8824e-01,-6.6455e-03,1.3407e-02,-1.8759e-03,2.8916e-01,1.5080e-02
+19,1.7983e+01,DOWN_FORCE_DETACH,4.2889e-03,4.9173e-01,9.6316e-01,2.6257e+00,-1.0596e-01,7.1771e-02,2.8874e-04,1.8766e-01,1.6030e-01,1.5955e-01,-1.0392e-02,1.3156e-02,-1.7913e-03,2.9389e-01,1.6861e-02
+20,1.9033e+01,DOWN_FORCE_DETACH,4.5121e-03,4.8773e-01,9.7264e-01,2.7236e+00,-1.0649e-01,7.1355e-02,3.4550e-04,1.8367e-01,1.6978e-01,2.5752e-01,-1.0924e-02,1.2740e-02,-1.7345e-03,3.5899e-01,1.6872e-02
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Part2/Fixed/digit/cylinder_PLA_15/press_depth_07/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_PLA_15/press_depth_07/up/franka_data.csv

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Part2/Fixed/digit/cylinder_PLA_15/press_depth_07/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+6,1.016666667e+00,WAIT_W2,1793078274295063292,-2.185202489e-07,-1.233813664e-05,9.635479531e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.428760573e-07,-5.335474680e-08,-1.134038163e-08,7.019554143e-01,-3.460887167e-05,8.601440508e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027466757e-01,-1.147273012e-04,8.303253054e-01
+7,1.050000000e+00,WAIT_W2,1793078274327861366,5.079101795e-07,-7.411676469e-05,5.781770503e-06,5.244418447e-07,-7.420136481e-05,5.615130042e-06,1.259957599e-06,-6.774367440e-05,5.239208328e-06,7.019561407e-01,-9.638749971e-05,8.601488690e-01,7.019561573e-01,-9.647209984e-05,8.601487024e-01,7.027472928e-01,-1.824176209e-04,8.303305559e-01
+8,1.066666667e+00,WAIT_W2,1793078274344233873,-2.337179102e-07,-1.149403557e-04,6.818236351e-06,-3.044213071e-07,-1.149343266e-04,6.624774323e-06,4.797951110e-07,-1.049331776e-04,6.258338983e-06,7.019553991e-01,-1.372110907e-04,8.601499055e-01,7.019553284e-01,-1.372050616e-04,8.601497120e-01,7.027465126e-01,-2.196071241e-04,8.303315750e-01
+9,1.066666667e+00,WAIT_W2,1793078274344233873,-2.337179102e-07,-1.149403557e-04,6.818236351e-06,-3.044213071e-07,-1.149343266e-04,6.624774323e-06,4.797951110e-07,-1.049331776e-04,6.258338983e-06,7.019553991e-01,-1.372110907e-04,8.601499055e-01,7.019553284e-01,-1.372050616e-04,8.601497120e-01,7.027465126e-01,-2.196071241e-04,8.303315750e-01
+10,1.083333333e+00,WAIT_W2,1793078274360928883,-1.255988562e-06,-1.664709572e-04,4.804747867e-06,-1.036754621e-06,-1.663483154e-04,5.127568957e-06,-2.367902541e-07,-1.519070677e-04,4.813338185e-06,7.019543768e-01,-1.887416922e-04,8.601478920e-01,7.019545961e-01,-1.886190505e-04,8.601482148e-01,7.027457960e-01,-2.665810141e-04,8.303301300e-01
+11,1.100000000e+00,WAIT_W2,1793078274376998976,1.125773112e-06,-2.322604456e-04,1.099034350e-05,1.051092151e-06,-2.325069603e-04,1.081391395e-05,1.955886563e-06,-2.122933034e-04,1.017806882e-05,7.019567586e-01,-2.545311806e-04,8.601540776e-01,7.019566839e-01,-2.547776954e-04,8.601539012e-01,7.027479887e-01,-3.269672499e-04,8.303354948e-01
+12,1.100000000e+00,WAIT_W2,1793078274376998976,1.125773112e-06,-2.322604456e-04,1.099034350e-05,1.051092151e-06,-2.325069603e-04,1.081391395e-05,1.955886563e-06,-2.122933034e-04,1.017806882e-05,7.019567586e-01,-2.545311806e-04,8.601540776e-01,7.019566839e-01,-2.547776954e-04,8.601539012e-01,7.027479887e-01,-3.269672499e-04,8.303354948e-01
+13,1.116666667e+00,WAIT_W2,1793078274393816224,-4.942278325e-07,-2.960370160e-04,1.095025885e-05,-5.270029054e-07,-2.957845052e-04,1.086349175e-05,4.595956205e-07,-2.700441897e-04,1.024950087e-05,7.019551386e-01,-3.183077510e-04,8.601540375e-01,7.019551058e-01,-3.180552402e-04,8.601539507e-01,7.027464924e-01,-3.847181362e-04,8.303355662e-01
+14,1.133333333e+00,WAIT_W2,1793078274409919348,1.545143625e-06,-3.415424211e-04,1.713810887e-05,1.616754474e-06,-3.416001088e-04,1.726622696e-05,2.761223489e-06,-3.119377760e-04,1.633902652e-05,7.019571780e-01,-3.638131561e-04,8.601602253e-01,7.019572496e-01,-3.638708438e-04,8.601603535e-01,7.027487940e-01,-4.266117225e-04,8.303416557e-01
+15,1.150000000e+00,WAIT_W2,1793078274426117691,1.186023977e-06,-3.749336647e-04,1.633101313e-05,1.025811608e-06,-3.748814720e-04,1.624940804e-05,2.182189538e-06,-3.424048786e-04,1.539860371e-05,7.019568188e-01,-3.972043997e-04,8.601594183e-01,7.019566586e-01,-3.971522070e-04,8.601593366e-01,7.027482150e-01,-4.570788250e-04,8.303407153e-01
+16,1.166666667e+00,WAIT_W2,1793078274442895525,3.193812298e-06,-4.068522052e-04,2.060617129e-05,3.321870273e-06,-4.070478373e-04,2.044413550e-05,4.583452946e-06,-3.718347151e-04,1.938255981e-05,7.019588266e-01,-4.291229402e-04,8.601636934e-01,7.019589547e-01,-4.293185723e-04,8.601635314e-01,7.027506163e-01,-4.865086615e-04,8.303446993e-01
+17,1.216666667e+00,WAIT_W2,1793078274491834564,7.495702375e-06,-4.519286289e-04,2.962508759e-05,7.669852291e-06,-4.520159227e-04,2.978653206e-05,9.170321117e-06,-4.130440205e-04,2.835930588e-05,7.019631285e-01,-4.741993639e-04,8.601727123e-01,7.019633027e-01,-4.742866578e-04,8.601728738e-01,7.027552031e-01,-5.277179670e-04,8.303536760e-01
+18,1.316666667e+00,WAIT_W2,1793078274589922684,2.378638919e-05,-4.527080369e-04,6.474827642e-05,1.768368677e-05,-4.538681252e-04,5.277438661e-05,1.979672337e-05,-4.148375814e-04,5.051329966e-05,7.019794192e-01,-4.749787720e-04,8.602078355e-01,7.019733165e-01,-4.761388602e-04,8.601958616e-01,7.027658295e-01,-5.295115279e-04,8.303758300e-01
+19,1.400000000e+00,WAIT_W2,1793078274672330459,3.685626297e-05,-4.457689093e-04,9.630803107e-05,3.592528493e-05,-4.453154325e-04,9.127892819e-05,3.900960760e-05,-4.070248698e-04,8.764074213e-05,7.019924891e-01,-4.680396443e-04,8.602393953e-01,7.019915581e-01,-4.675861675e-04,8.602343662e-01,7.027850424e-01,-5.216988163e-04,8.304129574e-01
+20,1.566666667e+00,WAIT_W2,1793078274835844840,4.749267302e-05,-4.419413022e-04,1.209651038e-04,4.297333743e-05,-4.453504409e-04,1.116790499e-04,4.699027594e-05,-4.070660456e-04,1.079340206e-04,7.020031255e-01,-4.642120373e-04,8.602640523e-01,7.019986062e-01,-4.676211759e-04,8.602547663e-01,7.027930231e-01,-5.217399920e-04,8.304332507e-01
+21,1.783333333e+00,UP_FORCE_RAMP,1793078275048915283,5.197340055e-05,-4.363728210e-04,1.334495534e-04,5.104049946e-05,-4.375233201e-04,1.301169682e-04,5.591343789e-05,-3.999648693e-04,1.263095514e-04,7.020076062e-01,-4.586435560e-04,8.602765368e-01,7.020066733e-01,-4.597940551e-04,8.602732042e-01,7.028019463e-01,-5.146388158e-04,8.304516262e-01
+22,1.983333333e+00,UP_FORCE_RAMP,1793078275245094109,5.391313339e-05,-4.409801033e-04,1.387474933e-04,5.104049946e-05,-4.375233201e-04,1.301169682e-04,5.629272473e-05,-4.000045980e-04,1.268050479e-04,7.020095460e-01,-4.632508383e-04,8.602818347e-01,7.020066733e-01,-4.597940551e-04,8.602732042e-01,7.028023255e-01,-5.146785444e-04,8.304521217e-01
+23,2.166666667e+00,UP_FORCE_RAMP,1793078275442089741,5.499412000e-05,-4.334204648e-04,1.397608024e-04,5.104049946e-05,-4.375233201e-04,1.301169682e-04,5.654741627e-05,-4.000369708e-04,1.271133862e-04,7.020106269e-01,-4.556911998e-04,8.602828480e-01,7.020066733e-01,-4.597940551e-04,8.602732042e-01,7.028025802e-01,-5.147109172e-04,8.304524301e-01
+24,2.350000000e+00,UP_FORCE_RAMP,1793078275622407114,5.431324879e-05,-4.340022338e-04,1.413486889e-04,5.104049946e-05,-4.375233201e-04,1.301169682e-04,5.675782094e-05,-4.000673368e-04,1.273500320e-04,7.020099461e-01,-4.562729688e-04,8.602844359e-01,7.020066733e-01,-4.597940551e-04,8.602732042e-01,7.028027906e-01,-5.147412833e-04,8.304526667e-01
+25,2.566666667e+00,UP_FORCE_RAMP,1793078275834813348,5.407432913e-05,-4.353537141e-04,1.422208544e-04,5.104049946e-05,-4.375233201e-04,1.301169682e-04,5.696821590e-05,-4.000977484e-04,1.275713813e-04,7.020097071e-01,-4.576244492e-04,8.602853081e-01,7.020066733e-01,-4.597940551e-04,8.602732042e-01,7.028030010e-01,-5.147716949e-04,8.304528881e-01
+26,2.750000000e+00,UP_FORCE_RAMP,1793078276014960984,5.246725361e-05,-4.361617377e-04,1.452479807e-04,5.104049946e-05,-4.375233201e-04,1.301169682e-04,5.712565896e-05,-4.001225029e-04,1.277272056e-04,7.020081001e-01,-4.584324727e-04,8.602883352e-01,7.020066733e-01,-4.597940551e-04,8.602732042e-01,7.028031585e-01,-5.147964494e-04,8.304530439e-01
+27,2.950000000e+00,UP_FORCE_RAMP,1793078276211944875,5.048103872e-05,-4.342319495e-04,1.482737652e-04,5.300932284e-05,-4.351129570e-04,1.508378856e-04,5.955160828e-05,-3.978791611e-04,1.477020749e-04,7.020061139e-01,-4.565026845e-04,8.602913610e-01,7.020086421e-01,-4.573836920e-04,8.602939251e-01,7.028055844e-01,-5.125531076e-04,8.304730188e-01
+28,3.100000000e+00,UP_FORCE_RAMP,1793078276425078598,5.178343177e-05,-4.378663972e-04,1.558026488e-04,5.300932284e-05,-4.351129570e-04,1.508378856e-04,5.969051193e-05,-3.978959620e-04,1.479884080e-04,7.020074162e-01,-4.601371322e-04,8.602988899e-01,7.020086421e-01,-4.573836920e-04,8.602939251e-01,7.028057233e-01,-5.125699084e-04,8.304733051e-01
+29,3.266666667e+00,UP_FORCE_RAMP,1793078276588253077,4.907000388e-05,-4.322532797e-04,1.608309109e-04,5.300932284e-05,-4.351129570e-04,1.508378856e-04,5.981918394e-05,-3.979138665e-04,1.481998892e-04,7.020047028e-01,-4.545240147e-04,8.603039182e-01,7.020086421e-01,-4.573836920e-04,8.602939251e-01,7.028058520e-01,-5.125878130e-04,8.304735166e-01
+30,3.433333333e+00,UP_FORCE_RAMP,1793078276752112945,4.357239188e-05,-4.334524681e-04,1.577193985e-04,5.300932284e-05,-4.351129570e-04,1.508378856e-04,5.993493697e-05,-3.979322731e-04,1.483684376e-04,7.019992052e-01,-4.557232031e-04,8.603008066e-01,7.020086421e-01,-4.573836920e-04,8.602939251e-01,7.028059678e-01,-5.126062195e-04,8.304736851e-01
+31,3.600000000e+00,UP_FORCE_RAMP,1793078276915960831,4.349433930e-05,-4.335147711e-04,1.696313122e-04,4.568142524e-05,-4.309958716e-04,1.694623119e-04,5.272898369e-05,-3.941956656e-04,1.662639169e-04,7.019991272e-01,-4.557855061e-04,8.603127186e-01,7.020013142e-01,-4.532666066e-04,8.603125496e-01,7.027987618e-01,-5.088696121e-04,8.304915806e-01
+32,3.866666667e+00,UP_FORCE_RAMP,1793078277178013417,4.181268667e-05,-4.316644152e-04,1.825883284e-04,4.568142524e-05,-4.309958716e-04,1.694623119e-04,5.275419580e-05,-3.942143602e-04,1.667197323e-04,7.019974455e-01,-4.539351502e-04,8.603256756e-01,7.020013142e-01,-4.532666066e-04,8.603125496e-01,7.027987870e-01,-5.088883066e-04,8.304920364e-01
+33,4.050000000e+00,UP_FORCE_RAMP,1793078277358104219,3.556695523e-05,-4.319681902e-04,1.890438414e-04,3.588071095e-05,-4.320861852e-04,1.889031351e-04,4.313526250e-05,-3.951957132e-04,1.854116247e-04,7.019911998e-01,-4.542389253e-04,8.603321311e-01,7.019915135e-01,-4.543569202e-04,8.603319904e-01,7.027891681e-01,-5.098696596e-04,8.305107283e-01
+34,4.250000000e+00,UP_FORCE_RAMP,1793078277554797860,2.809657600e-05,-4.280821784e-04,1.987216568e-04,3.588071095e-05,-4.320861852e-04,1.889031351e-04,4.302225445e-05,-3.952127146e-04,1.858759382e-04,7.019837294e-01,-4.503529134e-04,8.603418089e-01,7.019915135e-01,-4.543569202e-04,8.603319904e-01,7.027890551e-01,-5.098866610e-04,8.305111926e-01
+35,4.433333333e+00,UP_FORCE_RAMP,1793078277734826606,2.173599459e-05,-4.289167719e-04,2.066155998e-04,2.186612320e-05,-4.268225880e-04,2.022249070e-04,2.879087695e-05,-3.903809625e-04,1.987973458e-04,7.019773688e-01,-4.511875069e-04,8.603497028e-01,7.019774989e-01,-4.490933230e-04,8.603453121e-01,7.027748237e-01,-5.050549090e-04,8.305241140e-01
+36,4.616666667e+00,UP_FORCE_RAMP,1793078277915197502,1.666314527e-05,-4.254640943e-04,2.182240101e-04,2.186612320e-05,-4.268225880e-04,2.022249070e-04,2.862700986e-05,-3.903867489e-04,1.991224482e-04,7.019722960e-01,-4.477348294e-04,8.603613112e-01,7.019774989e-01,-4.490933230e-04,8.603453121e-01,7.027746598e-01,-5.050606953e-04,8.305244391e-01
+37,4.750000000e+00,UP_FORCE_RAMP,1793078278046070584,1.103715144e-05,-4.272622615e-04,2.252999550e-04,1.250933437e-05,-4.265864847e-04,2.198203404e-04,1.920455937e-05,-3.901664318e-04,2.161477242e-04,7.019666700e-01,-4.495329965e-04,8.603683872e-01,7.019681422e-01,-4.488572197e-04,8.603629076e-01,7.027652374e-01,-5.048403783e-04,8.305414644e-01
+38,4.866666667e+00,UP_FORCE_RAMP,1793078278160706041,4.937970570e-06,-4.276863651e-04,2.298859701e-04,1.250933437e-05,-4.265864847e-04,2.198203404e-04,1.910662137e-05,-3.901685383e-04,2.163840182e-04,7.019605708e-01,-4.499571001e-04,8.603729732e-01,7.019681422e-01,-4.488572197e-04,8.603629076e-01,7.027651394e-01,-5.048424848e-04,8.305417007e-01
+39,5.033333333e+00,UP_FORCE_RAMP,1793078278324722073,-3.271560569e-07,-4.258856073e-04,2.439246885e-04,3.487671707e-06,-4.269285454e-04,2.411170359e-04,9.932907331e-06,-3.904506030e-04,2.370582451e-04,7.019553057e-01,-4.481563423e-04,8.603870119e-01,7.019591205e-01,-4.491992805e-04,8.603842043e-01,7.027559657e-01,-5.051245495e-04,8.305623749e-01
+40,5.183333333e+00,UP_FORCE_RAMP,1793078278472104169,-6.943861959e-06,-4.262766943e-04,2.566340742e-04,3.487671707e-06,-4.269285454e-04,2.411170359e-04,9.811419558e-06,-3.904523186e-04,2.373880490e-04,7.019486890e-01,-4.485474293e-04,8.603997213e-01,7.019591205e-01,-4.491992805e-04,8.603842043e-01,7.027558442e-01,-5.051262651e-04,8.305627047e-01
+41,5.316666667e+00,UP_FORCE_RAMP,1793078278602964799,-1.639629134e-05,-4.410592577e-04,2.690217928e-04,-1.632123347e-05,-4.409830403e-04,2.689591569e-04,-1.016420806e-05,-4.032137676e-04,2.642431697e-04,7.019392365e-01,-4.633299928e-04,8.604121090e-01,7.019393116e-01,-4.632537753e-04,8.604120464e-01,7.027358686e-01,-5.178877141e-04,8.305895599e-01
+42,5.433333333e+00,UP_FORCE_RAMP,1793078278717784680,-2.011670174e-05,-4.363156801e-04,2.720471134e-04,-1.632123347e-05,-4.409830403e-04,2.689591569e-04,-1.040542007e-05,-4.032546843e-04,2.646347142e-04,7.019355161e-01,-4.585864151e-04,8.604151344e-01,7.019393116e-01,-4.632537753e-04,8.604120464e-01,7.027356274e-01,-5.179286308e-04,8.305899514e-01
+43,5.600000000e+00,UP_FORCE_RAMP,1793078278881931296,-2.711198074e-05,-4.311095658e-04,2.818262752e-04,-1.632123347e-05,-4.409830403e-04,2.689591569e-04,-1.058674938e-05,-4.032530171e-04,2.649897133e-04,7.019285208e-01,-4.533803008e-04,8.604249135e-01,7.019393116e-01,-4.632537753e-04,8.604120464e-01,7.027354461e-01,-5.179269636e-04,8.305903064e-01
+44,5.716666667e+00,UP_FORCE_RAMP,1793078278996254309,-3.166573485e-05,-4.351144294e-04,2.882962997e-04,-2.727516390e-05,-4.338570278e-04,2.858268872e-04,-2.175447609e-05,-3.966791561e-04,2.813379143e-04,7.019239671e-01,-4.573851645e-04,8.604313835e-01,7.019283577e-01,-4.561277629e-04,8.604289141e-01,7.027242783e-01,-5.113531026e-04,8.306066546e-01
+45,5.866666667e+00,UP_FORCE_HOLD,1793078279143706006,-3.404676493e-05,-4.325021895e-04,2.992229957e-04,-2.727516390e-05,-4.338570278e-04,2.858268872e-04,-2.193421410e-05,-3.966733729e-04,2.816671004e-04,7.019215861e-01,-4.547729245e-04,8.604423102e-01,7.019283577e-01,-4.561277629e-04,8.604289141e-01,7.027240986e-01,-5.113473194e-04,8.306069838e-01
+46,6.033333333e+00,UP_FORCE_HOLD,1793078279307601904,-3.631768869e-05,-4.355863874e-04,3.142970842e-04,-3.269990593e-05,-4.328699102e-04,3.060750265e-04,-2.745589910e-05,-3.957359824e-04,3.014098488e-04,7.019193151e-01,-4.578571225e-04,8.604573843e-01,7.019229329e-01,-4.551406453e-04,8.604491623e-01,7.027185769e-01,-5.104099288e-04,8.306267265e-01
+47,6.200000000e+00,UP_SETTLE,1793078279471128584,-4.247637620e-05,-4.310198647e-04,3.206287339e-04,-3.269990593e-05,-4.328699102e-04,3.060750265e-04,-2.759618171e-05,-3.957284484e-04,3.017688718e-04,7.019131564e-01,-4.532905997e-04,8.604637160e-01,7.019229329e-01,-4.551406453e-04,8.604491623e-01,7.027184366e-01,-5.104023949e-04,8.306270856e-01
+48,6.383333333e+00,UP_SETTLE,1793078279651637759,-4.549556474e-05,-4.325930694e-04,3.318298936e-04,-4.247624614e-05,-4.299846238e-04,3.233081210e-04,-3.761478412e-05,-3.930751582e-04,3.186726095e-04,7.019101373e-01,-4.548638044e-04,8.604749171e-01,7.019131566e-01,-4.522553588e-04,8.604663954e-01,7.027084180e-01,-5.077491047e-04,8.306439893e-01
+49,6.516666667e+00,UP_SETTLE,1793078279782753597,-4.646642141e-05,-4.310866451e-04,3.403466044e-04,-4.247624614e-05,-4.299846238e-04,3.233081210e-04,-3.773815025e-05,-3.930673399e-04,3.189392246e-04,7.019091664e-01,-4.533573801e-04,8.604834338e-01,7.019131566e-01,-4.522553588e-04,8.604663954e-01,7.027082947e-01,-5.077412863e-04,8.306442559e-01
+50,6.750000000e+00,UP_SETTLE,1793078280011779254,-5.299439821e-05,-4.285903398e-04,3.476046289e-04,-4.935900744e-05,-4.279695716e-04,3.424135751e-04,-4.478351561e-05,-3.911789119e-04,3.376881479e-04,7.019026384e-01,-4.508610748e-04,8.604906919e-01,7.019062738e-01,-4.502403066e-04,8.604855008e-01,7.027012493e-01,-5.058528584e-04,8.306630048e-01
+51,6.916666667e+00,UP_SETTLE,1793078280175842166,-5.570796426e-05,-4.315477011e-04,3.568728268e-04,-4.935900744e-05,-4.279695716e-04,3.424135751e-04,-4.492055593e-05,-3.911699656e-04,3.380212679e-04,7.018999249e-01,-4.538184361e-04,8.604999601e-01,7.019062738e-01,-4.502403066e-04,8.604855008e-01,7.027011123e-01,-5.058439121e-04,8.306633380e-01
+52,7.133333333e+00,UP_SETTLE,1793078280388973970,-5.799867175e-05,-4.272495619e-04,3.710795220e-04,-5.571139579e-05,-4.272622438e-04,3.624772926e-04,-5.138617618e-05,-3.904888194e-04,3.576857637e-04,7.018976341e-01,-4.495202969e-04,8.605141668e-01,7.018999214e-01,-4.495329788e-04,8.605055645e-01,7.026946466e-01,-5.051627659e-04,8.306830025e-01
+53,7.300000000e+00,UP_SETTLE,1793078280596970547,-6.224321703e-05,-4.275119620e-04,3.770173601e-04,-5.571139579e-05,-4.272622438e-04,3.624772926e-04,-5.151412649e-05,-3.904799888e-04,3.580238384e-04,7.018933896e-01,-4.497826971e-04,8.605201046e-01,7.018999214e-01,-4.495329788e-04,8.605055645e-01,7.026945187e-01,-5.051539353e-04,8.306833405e-01
+54,7.483333333e+00,UP_SETTLE,1793078280782395833,-6.771361967e-05,-4.236381292e-04,3.782223425e-04,-6.745958163e-05,-4.235532386e-04,3.777871933e-04,-6.336982512e-05,-3.870793132e-04,3.728350307e-04,7.018879192e-01,-4.459088642e-04,8.605213096e-01,7.018881732e-01,-4.458239737e-04,8.605208744e-01,7.026826630e-01,-5.017532597e-04,8.306981517e-01
+55,7.650000000e+00,UP_SETTLE,1793078280945680281,-7.132798832e-05,-4.205811361e-04,3.782756769e-04,-6.745958163e-05,-4.235532386e-04,3.777871933e-04,-6.364937843e-05,-3.870569553e-04,3.732652607e-04,7.018843048e-01,-4.428518711e-04,8.605213629e-01,7.018881732e-01,-4.458239737e-04,8.605208744e-01,7.026823834e-01,-5.017309017e-04,8.306985820e-01
+56,7.800000000e+00,UP_SETTLE,1793078281092740588,-6.919350999e-05,-4.273799702e-04,3.846584280e-04,-6.745958163e-05,-4.235532386e-04,3.777871933e-04,-6.379237432e-05,-3.870476107e-04,3.735261510e-04,7.018864393e-01,-4.496507052e-04,8.605277457e-01,7.018881732e-01,-4.458239737e-04,8.605208744e-01,7.026822404e-01,-5.017215572e-04,8.306988428e-01
+57,7.966666667e+00,UP_SETTLE,1793078281256778434,-7.767056442e-05,-4.242893995e-04,3.824602432e-04,-6.745958163e-05,-4.235532386e-04,3.777871933e-04,-6.391255331e-05,-3.870381493e-04,3.737691271e-04,7.018779623e-01,-4.465601346e-04,8.605255475e-01,7.018881732e-01,-4.458239737e-04,8.605208744e-01,7.026821203e-01,-5.017120958e-04,8.306990858e-01
+58,8.116666667e+00,UP_SETTLE,1793078281403982560,-9.048935853e-05,-4.272421341e-04,3.798017644e-04,-8.933608114e-05,-4.259479834e-04,3.766729434e-04,-8.649827973e-05,-3.891745026e-04,3.728510545e-04,7.018651435e-01,-4.495128691e-04,8.605228890e-01,7.018662967e-01,-4.482187184e-04,8.605197602e-01,7.026595345e-01,-5.038484491e-04,8.306981677e-01
+59,8.283333333e+00,UP_SETTLE,1793078281567856660,-8.990997136e-05,-4.287435381e-04,3.866971106e-04,-8.933608114e-05,-4.259479834e-04,3.766729434e-04,-8.680458799e-05,-3.891632901e-04,3.730284257e-04,7.018657228e-01,-4.510142731e-04,8.605297843e-01,7.018662967e-01,-4.482187184e-04,8.605197602e-01,7.026592282e-01,-5.038372365e-04,8.306983451e-01

Part2/Fixed/digit/cylinder_PLA_15/press_depth_07/up/simulation_data.csv

@@ -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+00,3.0388e-01,8.0286e-01,2.4661e+00,-9.5563e-02,5.8604e-02,2.0798e-03,-1.8254e-04,3.2783e-06,-8.1062e-06,-7.4506e-09,-1.0464e-05,-2.6729e-07,1.8275e-04,1.0468e-05
+1,1.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,4.3418e-05,3.2615e-01,8.0060e-01,2.4664e+00,-9.5414e-02,6.0412e-02,1.8394e-03,2.2088e-02,-2.2577e-03,2.6417e-04,1.4950e-04,1.7981e-03,-2.4059e-04,2.2204e-02,1.8203e-03
+2,3.6667e-01,WAIT_W2,8.1194e-05,3.4330e-01,7.9740e-01,2.4655e+00,-9.5148e-02,6.1623e-02,1.7610e-03,3.9238e-02,-5.4591e-03,-6.0368e-04,4.1541e-04,3.0083e-03,-3.1902e-04,3.9621e-02,3.0536e-03
+3,5.1667e-01,WAIT_W2,1.1887e-04,3.6814e-01,7.9535e-01,2.4653e+00,-9.5009e-02,6.3424e-02,1.6133e-03,6.4078e-02,-7.5141e-03,-8.7786e-04,5.5391e-04,4.8093e-03,-4.6668e-04,6.4523e-02,4.8636e-03
+4,6.8333e-01,WAIT_W2,1.6471e-04,3.8041e-01,7.9657e-01,2.4652e+00,-9.5150e-02,6.4304e-02,1.5480e-03,7.6340e-02,-6.2914e-03,-9.4175e-04,4.1331e-04,5.6893e-03,-5.3199e-04,7.6604e-02,5.7290e-03
+5,8.6667e-01,WAIT_W2,2.0538e-04,3.9740e-01,7.9554e-01,2.4647e+00,-9.5083e-02,6.5507e-02,1.4421e-03,9.3336e-02,-7.3174e-03,-1.3986e-03,4.7998e-04,6.8931e-03,-6.3791e-04,9.3633e-02,6.9392e-03
+6,1.0167e+00,WAIT_W2,2.3894e-04,4.1167e-01,7.9445e-01,2.4643e+00,-9.5002e-02,6.6543e-02,1.3590e-03,1.0761e-01,-8.4050e-03,-1.8375e-03,5.6104e-04,7.9283e-03,-7.2099e-04,1.0795e-01,7.9808e-03
+7,1.0500e+00,WAIT_W2,3.0099e-04,4.3411e-01,1.5018e+00,2.4416e+00,-1.4609e-01,6.8176e-02,1.9071e-03,1.3004e-01,6.9897e-01,-2.4510e-02,-5.0527e-02,9.5620e-03,-1.7295e-04,7.1139e-01,5.1424e-02
+8,1.0667e+00,WAIT_W2,3.4184e-04,4.2899e-01,2.2035e+00,2.4182e+00,-1.9688e-01,6.7812e-02,2.1705e-03,1.2492e-01,1.4007e+00,-4.7919e-02,-1.0132e-01,9.1972e-03,9.0494e-05,1.4070e+00,1.0173e-01
+9,1.0667e+00,WAIT_W2,3.4184e-04,4.2899e-01,2.2035e+00,2.4182e+00,-1.9688e-01,6.7812e-02,2.1705e-03,1.2492e-01,1.4007e+00,-4.7919e-02,-1.0132e-01,9.1972e-03,9.0494e-05,1.4070e+00,1.0173e-01
+10,1.0833e+00,WAIT_W2,3.9342e-04,4.5029e-01,2.9587e+00,2.3792e+00,-2.5138e-01,6.9403e-02,3.0454e-03,1.4623e-01,2.1559e+00,-8.6922e-02,-1.5581e-01,1.0789e-02,9.6538e-04,2.1626e+00,1.5619e-01
+11,1.1000e+00,WAIT_W2,4.5954e-04,4.7095e-01,3.9226e+00,2.4293e+00,-3.2110e-01,7.0899e-02,3.3060e-03,1.6689e-01,3.1198e+00,-3.6800e-02,-2.2554e-01,1.2285e-02,1.2260e-03,3.1245e+00,2.2588e-01
+12,1.1000e+00,WAIT_W2,4.5954e-04,4.7095e-01,3.9226e+00,2.4293e+00,-3.2110e-01,7.0899e-02,3.3060e-03,1.6689e-01,3.1198e+00,-3.6800e-02,-2.2554e-01,1.2285e-02,1.2260e-03,3.1245e+00,2.2588e-01
+13,1.1167e+00,WAIT_W2,5.2334e-04,4.8296e-01,5.1677e+00,2.3619e+00,-4.1111e-01,7.1750e-02,4.8541e-03,1.7889e-01,4.3648e+00,-1.0420e-01,-3.1555e-01,1.3136e-02,2.7740e-03,4.3697e+00,3.1583e-01
+14,1.1333e+00,WAIT_W2,5.6931e-04,5.1782e-01,6.3383e+00,2.3751e+00,-4.9614e-01,7.4332e-02,5.2123e-03,2.1376e-01,5.5355e+00,-9.1045e-02,-4.0058e-01,1.5717e-02,3.1323e-03,5.5403e+00,4.0090e-01
+15,1.1500e+00,WAIT_W2,6.0271e-04,5.1898e-01,7.2013e+00,2.3161e+00,-5.5848e-01,7.4453e-02,6.5454e-03,2.1491e-01,6.3985e+00,-1.5002e-01,-4.6291e-01,1.5838e-02,4.4654e-03,6.4038e+00,4.6321e-01
+16,1.1667e+00,WAIT_W2,6.3498e-04,5.3586e-01,7.7993e+00,2.3380e+00,-6.0188e-01,7.5707e-02,6.7046e-03,2.3179e-01,6.9964e+00,-1.2817e-01,-5.0631e-01,1.7093e-02,4.6246e-03,7.0014e+00,5.0662e-01
+17,1.2167e+00,WAIT_W2,6.8350e-04,5.5984e-01,8.8710e+00,2.3134e+00,-6.7953e-01,7.7479e-02,7.5712e-03,2.5578e-01,8.0682e+00,-1.5277e-01,-5.8397e-01,1.8865e-02,5.4912e-03,8.0737e+00,5.8430e-01
+18,1.3167e+00,WAIT_W2,7.3087e-04,3.9625e-01,9.2054e+00,2.0685e+00,-7.0588e-01,6.6030e-02,8.5213e-03,9.2183e-02,8.4025e+00,-3.9766e-01,-6.1032e-01,7.4158e-03,6.4413e-03,8.4124e+00,6.1039e-01
+19,1.4000e+00,WAIT_W2,7.6824e-04,3.2473e-01,9.0944e+00,1.9498e+00,-6.9904e-01,6.1359e-02,8.5638e-03,2.0662e-02,8.2915e+00,-5.1637e-01,-6.0347e-01,2.7445e-03,6.4838e-03,8.3076e+00,6.0351e-01
+20,1.5667e+00,WAIT_W2,8.0716e-04,2.7718e-01,8.9682e+00,1.7409e+00,-6.9355e-01,5.7459e-02,9.0776e-03,-2.6883e-02,8.1653e+00,-7.2520e-01,-5.9799e-01,-1.1551e-03,6.9975e-03,8.1975e+00,5.9803e-01
+21,1.7833e+00,UP_FORCE_RAMP,8.4863e-04,2.3685e-01,8.8358e+00,1.7518e+00,-6.8483e-01,5.5059e-02,9.1756e-03,-6.7220e-02,8.0329e+00,-7.1432e-01,-5.8927e-01,-3.5548e-03,7.0956e-03,8.0649e+00,5.8932e-01
+22,1.9833e+00,UP_FORCE_RAMP,8.8775e-04,3.0722e-01,8.8404e+00,1.8521e+00,-6.8490e-01,5.9686e-02,9.1874e-03,3.1573e-03,8.0375e+00,-6.1403e-01,-5.8933e-01,1.0714e-03,7.1073e-03,8.0610e+00,5.8938e-01
+23,2.1667e+00,UP_FORCE_RAMP,9.2799e-04,3.8174e-01,8.8202e+00,1.9223e+00,-6.8270e-01,6.5355e-02,8.9397e-03,7.7673e-02,8.0173e+00,-5.4384e-01,-5.8713e-01,6.7407e-03,6.8597e-03,8.0361e+00,5.8721e-01
+24,2.3500e+00,UP_FORCE_RAMP,9.6959e-04,4.4121e-01,8.8158e+00,2.0036e+00,-6.8224e-01,6.9199e-02,8.4297e-03,1.3715e-01,8.0130e+00,-4.6252e-01,-5.8668e-01,1.0585e-02,6.3497e-03,8.0275e+00,5.8681e-01
+25,2.5667e+00,UP_FORCE_RAMP,1.0108e-03,4.4036e-01,8.8073e+00,1.9977e+00,-6.8127e-01,6.9487e-02,7.9894e-03,1.3630e-01,8.0044e+00,-4.6845e-01,-5.8571e-01,1.0873e-02,5.9094e-03,8.0193e+00,5.8584e-01
+26,2.7500e+00,UP_FORCE_RAMP,1.0493e-03,4.7629e-01,8.7964e+00,2.0600e+00,-6.8002e-01,7.2117e-02,7.3694e-03,1.7222e-01,7.9935e+00,-4.0616e-01,-5.8446e-01,1.3503e-02,5.2893e-03,8.0057e+00,5.8464e-01
+27,2.9500e+00,UP_FORCE_RAMP,1.0891e-03,4.7867e-01,8.7303e+00,1.8980e+00,-6.7600e-01,7.2330e-02,7.1007e-03,1.7460e-01,7.9274e+00,-5.6811e-01,-5.8043e-01,1.3716e-02,5.0207e-03,7.9497e+00,5.8062e-01
+28,3.1000e+00,UP_FORCE_RAMP,1.1353e-03,5.0167e-01,8.7554e+00,1.9641e+00,-6.7797e-01,7.4156e-02,6.8549e-03,1.9760e-01,7.9526e+00,-5.0204e-01,-5.8240e-01,1.5542e-02,4.7749e-03,7.9708e+00,5.8263e-01
+29,3.2667e+00,UP_FORCE_RAMP,1.1711e-03,5.3361e-01,8.7434e+00,1.9976e+00,-6.7663e-01,7.6212e-02,6.5734e-03,2.2955e-01,7.9406e+00,-4.6854e-01,-5.8107e-01,1.7598e-02,4.4934e-03,7.9577e+00,5.8135e-01
+30,3.4333e+00,UP_FORCE_RAMP,1.2154e-03,5.3697e-01,8.7428e+00,2.0065e+00,-6.7657e-01,7.6516e-02,6.4511e-03,2.3290e-01,7.9399e+00,-4.5959e-01,-5.8100e-01,1.7901e-02,4.3711e-03,7.9566e+00,5.8129e-01
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+32,3.8667e+00,UP_FORCE_RAMP,1.2947e-03,6.3469e-01,8.6660e+00,1.9775e+00,-6.7138e-01,8.3588e-02,5.1464e-03,3.3063e-01,7.8632e+00,-4.8865e-01,-5.7582e-01,2.4974e-02,3.0664e-03,7.8853e+00,5.7637e-01
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Part2/Fixed/digit/cylinder_PLA_15/press_depth_08/down/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_PLA_15/press_depth_08/down/franka_data.csv

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+4056,1793078399141028801,14950282000000,1793078399138271131,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6760220315532786,-0.004920040412891342,0.09977519570772654,0.9999999700205725,-0.00016747149893444528,-0.0001055049458413892,0.00011056094120026445,0.6761,-0.0046,0.09977932861496372,1.0,0.0,0.0,0.0,-0.32655389147847075,0.14383495741749375,0.38706512221919476,0.0117781428116151,0.019980340819432486,0.001422042314705463,0.2575879777018745,1.3659026137686563,1.8933906904681779,0.08671222854624183,-0.01124401505949143,0.0024219381203828046,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.4442849787405037,1.4547493864922483,-0.6582049347569296,-0.07065761830718506,0.6447649594816502,0.8591475137667818,1.4971545748224069,-0.38706512221919476,2.1553595095793368,2.1553595095793368,2.1574050867806647,0,0,-2.3866125885259375e-05,9.989435253843765e-05
+4225,1793078400548924434,14951690000000,1793078400542271739,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6760313311726626,-0.004921713027062002,0.0997603100520351,0.9999999713272041,-0.00016586185293776483,-8.958885794394924e-05,0.00011511792821976847,0.6761,-0.0046,0.09974020669881523,1.0,0.0,0.0,0.0,-0.3810623236635864,0.16752127251250215,0.5491886455274961,0.014719497616145008,0.022923901922659695,0.0023964275626523774,0.20307954551675886,1.3895889288636647,2.0555142137764792,0.08965358335077174,-0.00830045395626422,0.003396323368329719,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.5016020054847403,1.3596974147202538,-0.8612563700505901,-0.04841313947112642,0.777284146738227,0.7894041396454314,1.4971545748224069,-0.5491886455274961,2.358410944872997,2.358410944872997,2.298205086780962,0,0,-2.481434717841046e-05,9.999999025923074e-05
+4386,1793078401890878446,14953032000000,1793078401886271522,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6760374616186766,-0.004918346319479163,0.0997510548338052,0.9999999727047578,-0.00016239444007344855,-7.87015728989076e-05,0.00011604936903409614,0.6761,-0.0046,0.09971650728464054,1.0,0.0,0.0,0.0,-0.42338768146705386,0.19401113759211186,0.650190809737589,0.01604999883429513,0.025902387715263445,0.002372847043843416,0.16075418771329145,1.4160787939432744,2.156516377986572,0.09098408456892186,-0.0053219681636604696,0.0033727428495207573,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.50038656500884,1.4081811393525412,-0.9095003130633398,-0.057653456543640506,0.7987729138287648,0.8234620503523236,1.4971545748224069,-0.650190809737589,2.4066548878857468,2.4066548878857468,2.432405086781245,0,0,-1.8159597849091942e-05,-9.248082441371536e-05
+4549,1793078403248952665,14954390000000,1793078403246271227,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6760454735121635,-0.0049203543542451515,0.0997375742692298,0.9999999730573275,-0.00016406979814784326,-6.461571697321183e-05,0.0001193068267931208,0.6761,-0.0046,0.09968354813044569,1.0,0.0,0.0,0.0,-0.47132090629439216,0.2156751723911403,0.7752187456717123,0.017805296006622215,0.028796193799424927,0.002334328506740419,0.11282096288595314,1.4377428287423029,2.2815443139206955,0.09273938174124895,-0.0024281620794989896,0.0033342243124177607,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.6087456106982643,1.4977499583544704,-1.0181110173537937,-0.08200922816833964,0.8946511451960251,0.8773424254282589,1.4971545748224069,-0.7752187456717123,2.515265592176201,2.515265592176201,2.5682050867815316,0,0,-3.327607038114267e-05,-8.879732646261402e-05
+4720,1793078404673902378,14955815000000,1793078404670261769,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6760543854104129,-0.004919994122768983,0.09971692259974164,0.9999999731677809,-0.00016765389702914866,-5.13687705458614e-05,0.00011983623051883297,0.6761,-0.0046,0.09964765918745382,1.0,0.0,0.0,0.0,-0.538402596249089,0.2642752309551186,0.9430860007058881,0.021513417296902218,0.032748339075288374,0.003319680537567411,0.04573927293125626,1.4863428873062812,2.449411568954871,0.09644750303152895,0.001523983196364461,0.004319576343244752,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.668191678849938,1.3712996298802735,-1.145446936539741,-0.045103623974623204,0.9796975020654486,0.7921888158948147,1.4971545748224069,-0.9430860007058881,2.642601511362148,2.642601511362148,2.7107050867818323,0,0,-1.1282954705286957e-05,-9.396105701687247e-05
+4887,1793078406065902499,14957207000000,1793078406062261970,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6760631299336399,-0.00492346378827467,0.09970814884435539,0.9999999731971038,-0.0001689835943744894,-3.701774575142176e-05,0.00012297514932112837,0.6761,-0.0046,0.09961992039464727,1.0,0.0,0.0,0.0,-0.5588848786963969,0.2581301170485544,1.0338759642015811,0.022529945205162216,0.032785271259222086,0.003261327369905505,0.025256990483948367,1.480197773399717,2.5402015324505642,0.09746403093978895,0.0015609153802981738,0.004261223175582847,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.7397616436729308,1.4795198500254143,-1.384903820282207,-0.08939011083487984,1.1476782289848126,0.8637347893119717,1.4971545748224069,-1.0338759642015811,2.8820583951046137,2.8820583951046137,2.849905086782126,0,0,-3.16641430894452e-05,9.25378898771811e-05
+5039,1793078407332848964,14958474000000,1793078407326271600,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6760713057535583,-0.004923123410649383,0.09969077144793435,0.9999999731022763,-0.00017050392114415207,-2.4116476213387826e-05,0.00012484037529727557,0.6761,-0.0046,0.09958412158866818,1.0,0.0,0.0,0.0,-0.6083595689236831,0.3039686416493077,1.2053244214183672,0.026400612677471347,0.03571911012648766,0.0032051184255603654,-0.024217699743337897,1.5260362980004702,2.7116499896673503,0.10133469841209808,0.004494754247563746,0.004205014231237707,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.771557726424207,1.5187510097019563,-1.4713669641235956,-0.09744993997068785,1.2026151136082832,0.8864282986677356,1.4971545748224069,-1.2053244214183672,2.9685215389460025,2.9685215389460025,2.9766050867823934,0,0,-1.9649950989937597e-05,6.630991175449736e-05
+5200,1793078408673795670,14959815000000,1793078408670261850,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6760756204723967,-0.004919446560637098,0.09967733761929388,0.9999999741297151,-0.0001663907387848326,-1.674394740159567e-05,0.00012335799748824935,0.6761,-0.0046,0.09956003867620782,1.0,0.0,0.0,0.0,-0.6368902185204153,0.3103738306138806,1.2861737211433544,0.027351445847305866,0.036695861808047715,0.0031638852965892236,-0.05274834934007003,1.5324414869650431,2.7924992893923375,0.1022855315819326,0.005471505929123803,0.004163781102266565,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.7821567757890193,1.5448385281937926,-1.5965878294049427,-0.10225863753807735,1.278558209034384,0.8999320630086876,1.4971545748224069,-1.2861737211433544,3.0937424042273496,3.0937424042273496,3.1107050867826764,0,0,-2.4837524402439353e-05,4.160374408724295e-05
+5369,1793078410082809676,14961224000000,1793078410078261952,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6760855696876559,-0.004926590935314311,0.09965764024463772,0.9999999725587077,-0.0001739224122474249,5.57378736646444e-07,0.00012679168732803188,0.6761,-0.0046,0.09951883516195452,1.0,0.0,0.0,0.0,-0.6949031720314706,0.3435230888964611,1.4571726270244374,0.029400923410288646,0.04066562498919561,0.004131885651432192,-0.11076130285112532,1.5655907452476236,2.9634981952734205,0.10433500914491538,0.009441269110271695,0.005131781457109534,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.9027217224808368,1.4008417032799159,-1.7749456578692526,-0.065005912119105,1.414541296136476,0.8043050129664737,1.4971545748224069,-1.4571726270244374,3.2721002326916597,3.2721002326916597,3.2516050867829738,0,0,-2.41735633496346e-05,7.363216566880765e-05
+5534,1793078411457813479,14962599000000,1793078411450272014,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6760902471796012,-0.004924675794791402,0.09963803518532433,0.9999999723191302,-0.00017546857653084313,6.1120683723394395e-06,0.00012640421047770706,0.6761,-0.0046,0.09948966959428188,1.0,0.0,0.0,0.0,-0.7243122705302107,0.3706130603116009,1.5586115718354032,0.03132450044650148,0.04263054293302333,0.004100802302338368,-0.1401704013498655,1.5926807166627635,3.0649371400843863,0.10625858618112821,0.011406187054099414,0.005100698108015709,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.9583934012917634,1.4197818447641324,-1.7983046012388675,-0.06915563140307297,1.4406109453515628,0.8159136668431562,1.4971545748224069,-1.5586115718354032,3.295459176061274,3.295459176061274,3.389105086783264,0,0,-2.279233569521389e-05,-9.996726643557991e-05
+5687,1793078412732792059,14963874000000,1793078412730271582,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6761017279529514,-0.004924201009279065,0.09962323809305147,0.9999999718398636,-0.00017504513519652114,2.5471415700565612e-05,0.00012834930464592168,0.6761,-0.0046,0.09945037458393753,1.0,0.0,0.0,0.0,-0.7767130312744317,0.40379363992253614,1.6899533077549502,0.03426185588332388,0.04618159747370795,0.004079120941139042,-0.19257116209408642,1.6258612962736987,3.1962788760039333,0.10919594161795061,0.01495724159478404,0.0050790167468163835,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.061829481407162,1.4421697667121276,-1.9700568059943646,-0.08333507996850899,1.5694828000499104,0.830111821043084,1.4971545748224069,-1.6899533077549502,3.4672113808167717,3.4672113808167717,3.516605086783533,0,0,-3.101476390573866e-05,-9.999997638144293e-05
+5847,1793078414065679977,14965207000000,1793078414062261823,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6761059265715686,-0.004925453298903326,0.0995992051195952,0.9999999707740879,-0.00017942768712311184,3.374504758039047e-05,0.00012869213034744144,0.6761,-0.0046,0.09941734955048034,1.0,0.0,0.0,0.0,-0.8182342627579734,0.43431449893022367,1.8112600953333968,0.03621781536494975,0.04856190945445432,0.004037203509113823,-0.23409239357762815,1.6563821552813862,3.31758566358238,0.11115190109957648,0.017337553575530403,0.005037099314791164,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.0697867208656966,1.3346674654618824,-2.1399298806269176,-0.05428654126687076,1.6730070981073797,0.7610706153354874,1.4971545748224069,-1.8112600953333968,3.6370844554493242,3.6370844554493242,3.6499050867838143,0,0,-2.5396922999328157e-05,8.759338673692269e-05
+6051,1793078415765713759,14966907000000,1793078415762261471,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6761223086148974,-0.004923634015009854,0.09958002536119398,0.9999999700570262,-0.000176497488161138,5.898564957923898e-05,0.00012922128615202956,0.6761,-0.0046,0.09936922179222397,1.0,0.0,0.0,0.0,-0.8617157914619178,0.47729867846734986,1.9828744833410397,0.039349222770638764,0.05158160662869474,0.004798889640141188,-0.2775739222815725,1.6993663348185124,3.4892000515900228,0.1142833085052655,0.02035725074977082,0.0057987854458185295,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.174814519735505,1.4591074273251148,-2.2277168133769,-0.0982925175442176,1.7477725510299573,0.8383096034368104,1.4971545748224069,-1.9828744833410397,3.7248713881993067,3.7248713881993067,3.819905086784173,0,0,-2.4823477713679882e-05,-9.948358389711415e-05
+6218,1793078417157721840,14968299000000,1793078417154261998,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6761276284983861,-0.004928952181891456,0.09955430139495988,0.9999999680584384,-0.0001859282177275372,6.813851383624042e-05,0.00012694024990848968,0.6761,-0.0046,0.09932639116288017,1.0,0.0,0.0,0.0,-0.8988826159783154,0.5037626034523845,2.123864342663393,0.04111982614312058,0.053459716590412744,0.0049382387990494605,-0.3147407467979702,1.725830259803547,3.630189910912376,0.11605391187774731,0.02223536071148883,0.005938134604726802,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.167778850877385,1.4172337543396476,-2.41526198520606,-0.07511063948926983,1.8603818009535593,0.8157198990230006,1.4971545748224069,-2.123864342663393,3.9124165600284666,3.9124165600284666,3.959105086784467,0,0,-3.486287014217571e-05,-9.867557745757977e-05
+6360,1793078418340687253,14969482000000,1793078418338271662,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6761359191460166,-0.004923629142955626,0.09953058539216775,0.9999999663924366,-0.00019371505160953174,8.105075293328887e-05,0.00012067826708127524,0.6761,-0.0046,0.09928791915653216,1.0,0.0,0.0,0.0,-0.9019742788290361,0.534458796352254,2.241890676068426,0.0430840073747578,0.055420239869876785,0.004897027526175614,-0.31783240964869086,1.7565264527034166,3.7482162443174087,0.11801809310938453,0.02419588399095287,0.005896923331852956,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.245164910466614,1.4405501411300587,-2.5665927826634385,-0.07957170423311807,1.9731297072131873,0.8298415651437374,1.4971545748224069,-2.241890676068426,4.063747357485846,4.063747357485846,4.077405086784372,0,0,-2.6956273856100548e-05,5.5728598151399924e-05
+6517,1793078419648628172,14970790000000,1793078419646262253,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6761459135577083,-0.004928453937238756,0.09951098567067022,0.9999999634418059,-0.0002018794174299405,9.672884292815254e-05,0.00012019768154045838,0.6761,-0.0046,0.09925141042883394,1.0,0.0,0.0,0.0,-0.9110686555840518,0.5546713937287864,2.3356737231901556,0.04406191377353347,0.05639319783619261,0.004847410982266321,-0.32692678640370654,1.776739050079949,3.8419992914391385,0.1189959995081602,0.025168841957268696,0.005847306787943663,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.28690452635728,1.4003535214589433,-2.6667766703172555,-0.06172562701314879,2.04807097351375,0.8041814385121784,1.4971545748224069,-2.3356737231901556,4.163931245139662,4.163931245139662,4.2082050867840675,0,0,-3.473613754553651e-05,-9.999994862586731e-05
+6688,1793078421073610647,14972215000000,1793078421066271370,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6761564473657311,-0.004929972858390107,0.09947984713763178,0.9999999607936522,-0.0002058128448648718,0.00011523319105779454,0.00011923901537340043,0.6761,-0.0046,0.09919572762435501,1.0,0.0,0.0,0.0,-0.9363263205000719,0.574538793351502,2.476768848926163,0.045791212233070505,0.058700873240518925,0.004786155540830496,-0.35218445131972664,1.7966064497026646,3.983094417175146,0.12072529796769724,0.027476517361595013,0.005786051346507838,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.287277449977621,1.4349784387771516,-2.7501104789178257,-0.08614185118907644,2.0955007646989476,0.8211809165881516,1.4971545748224069,-2.476768848926163,4.247265053740232,4.247265053740232,4.350705086783735,0,0,-3.795378517998239e-05,-9.999999025923074e-05
+6861,1793078422515621029,14973657000000,1793078422510262180,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6761656273476045,-0.004930308366427809,0.0994460211137364,0.9999999573378456,-0.00021250875281504655,0.0001315212103698741,0.00011962178829567064,0.6761,-0.0046,0.09913942994482985,1.0,0.0,0.0,0.0,-0.9508551188695038,0.5790823144756767,2.606806500128588,0.045062677242025326,0.0601453347098209,0.004697747424226732,-0.3667132496891586,1.8011499708268393,4.113132068377571,0.11999676297665206,0.028920978830896983,0.005697643229904074,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.3501685561203733,1.4237706895489466,-2.9084570282614055,-0.07539018887181857,2.2149860448411185,0.8151369035391718,1.4971545748224069,-2.606806500128588,4.405611603083813,4.405611603083813,4.494905086783399,0,0,-4.211499930325958e-05,-9.998779168374767e-05
+7036,1793078423973591970,14975115000000,1793078423966271687,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6761774590421455,-0.004930230122175446,0.09940642664620972,0.9999999532415182,-0.00021800846191196872,0.0001523246659156521,0.00011928676373906355,0.6761,-0.0046,0.09907594954366608,1.0,0.0,0.0,0.0,-0.9642689596952068,0.5956626611113902,2.737104468007434,0.04590210007285103,0.061338914125354596,0.0035910301195904923,-0.38012709051486154,1.8177303174625528,4.2434300362564175,0.12083618580747776,0.030114558246430678,0.004590925925267834,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.3594604971038735,1.4607122159641592,-3.087970582806254,-0.07924697583576458,2.327912072694788,0.839076932018863,1.4971545748224069,-2.737104468007434,4.585125157628661,4.585125157628661,4.6407050867830595,0,0,-4.448743378823584e-05,-7.652958408511096e-05
+7187,1793078425232482666,14976374000000,1793078425230261908,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.676189838657337,-0.004933982514265586,0.09936817477450847,0.9999999477787187,-0.00022623641316102424,0.0001730287295950646,0.0001215054236626525,0.6761,-0.0046,0.09901736896373484,1.0,0.0,0.0,0.0,-0.9732340847740355,0.5985794304854235,2.860755562604,0.045217989477981474,0.06294863782130379,0.003508399295253075,-0.38909221559369017,1.820647086836586,4.367081130852983,0.1201520752126082,0.031724281942379876,0.004508295100930417,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.379320997367285,1.4912055755627578,-3.2198469865067247,-0.08888491246200288,2.416002168883117,0.8575235968869901,1.4971545748224069,-2.860755562604,4.717001561329131,4.717001561329131,4.766605086782766,0,0,-4.5407586270222684e-05,-3.061269319931628e-06
+7344,1793078426540554371,14977682000000,1793078426538261248,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6761988454042579,-0.004931501781336068,0.09932601309738473,0.9999999439687384,-0.0002314626534015755,0.00018949037733414202,0.0001184222155370865,0.6761,-0.0046,0.09895499515619874,1.0,0.0,0.0,0.0,-0.9888755291520805,0.6016630237108562,2.9770358380702904,0.0447552063656681,0.06434559119601595,0.0034296740554918947,-0.4047336599717352,1.8237306800620188,4.483361406319274,0.11968929210029483,0.03312123531709203,0.004429569861169236,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.4006169457881827,1.4318699342681767,-3.2795589769384224,-0.07258221089824608,2.4607128882581035,0.8192952244352116,1.4971545748224069,-2.9770358380702904,4.776713551760829,4.776713551760829,4.897405086782461,0,0,-4.564803887249636e-05,-9.68750316340305e-05
+7500,1793078427840532306,14978982000000,1793078427834262034,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6762110555950458,-0.004935427194039513,0.09928451070245041,0.9999999371837546,-0.00024048401060264044,0.00021072922262720193,0.00012180306347859093,0.6761,-0.0046,0.09888953601810749,1.0,0.0,0.0,0.0,-0.9996872813113027,0.6061681252232669,3.0982499364944864,0.04470506441175279,0.06555411651359576,0.0033467915427269892,-0.41554541213095736,1.8282357815744295,4.60457550474347,0.11963915014637952,0.034329760634671844,0.004346687348404331,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.465150742222686,1.3765736013868328,-3.4380331019118757,-0.06085753921838096,2.579126409669438,0.7806765276082495,1.4971545748224069,-3.0982499364944864,4.935187676734283,4.935187676734283,5.027405086782158,0,0,-5.6910801220248726e-05,-9.857361735055576e-05
+7641,1793078429015459835,14980157000000,1793078429010262768,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6762202345448872,-0.0049401565586294615,0.09924014655307777,0.9999999306635062,-0.00025334813028123385,0.00022632932449037648,0.00012126668332464395,0.6761,-0.0046,0.09882556554572172,1.0,0.0,0.0,0.0,-1.0003989822614905,0.6196295119395994,3.2170536498760978,0.04465711483945849,0.06631910578657554,0.003265880643012836,-0.4162571130811451,1.841697168290762,4.723379218125081,0.11959120057408522,0.035094749907651636,0.004265776448690178,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.4442503324741667,1.4338094427293602,-3.544050372952497,-0.07546149064016208,2.6392645663443264,0.817929272311197,1.4971545748224069,-3.2170536498760978,5.0412049477749035,5.0412049477749035,5.144905086781884,0,0,-5.265282337493649e-05,-7.500868956367696e-05
+7802,1793078430358235034,14981499000000,1793078430350262312,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6762316726506374,-0.004942574835037606,0.09918469486371626,0.9999999237666228,-0.0002618268632983518,0.0002455844383858404,0.0001226563891388768,0.6761,-0.0046,0.09875209160109848,1.0,0.0,0.0,0.0,-1.0081680958484047,0.5932138657544068,3.327104570309232,0.04259428836882699,0.06732295031578661,0.0021415128235843933,-0.42402622666805945,1.8152815221055694,4.8334301385582155,0.11752837410345372,0.03609859443686269,0.003141408629261735,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.4195708497165307,1.4571236290842755,-3.7052160680806936,-0.0925653812621595,2.743370711201231,0.8252756094718594,1.4971545748224069,-3.327104570309232,5.202370642903101,5.202370642903101,5.279105086781572,0,0,-5.633148451453097e-05,-9.999999025923074e-05
+7973,1793078431782458674,14982924000000,1793078431782261756,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6762458407568742,-0.00493822879926163,0.09912099599707963,0.9999999154030204,-0.00027310968329753683,0.000268344861798246,0.00011848608372151335,0.6761,-0.0046,0.09866514849449982,1.0,0.0,0.0,0.0,-0.9817224358672824,0.5932700803631832,3.459701544732474,0.04220520147350802,0.06631546204803063,0.002019350142347519,-0.3975805666869371,1.8153377367143457,4.9660271129814575,0.11713928720813475,0.03509110616910672,0.0030192459480248603,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.464273848704898,1.5466219045865295,-3.7654907858635394,-0.10572201532614807,2.7974056972466657,0.8872404604854556,1.4971545748224069,-3.459701544732474,5.262645360685946,5.262645360685946,5.4216050867812395,0,0,-6.242492845839743e-05,-9.99454089197826e-05
+8127,1793078433065383718,14984207000000,1793078433058263899,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6762577348925886,-0.004946340109996637,0.09906089864933945,0.9999999045681498,-0.000289499186250584,0.00029001776733383796,0.00011994361485580001,0.6761,-0.0046,0.09857856502599391,1.0,0.0,0.0,0.0,-0.990519901234935,0.5868153160549754,3.573803373405804,0.04150692384985977,0.06731862192264487,0.001932893503992648,-0.40637803205458983,1.808882972406138,5.080128941654787,0.1164410095844865,0.036094266043720964,0.0029327893096699896,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.4582404566914313,1.5004007123435592,-4.019989236860177,-0.09684930323923584,2.959219159983244,0.8553532685659375,1.4971545748224069,-3.573803373405804,5.517143811682583,5.517143811682583,5.5499050867809405,0,0,-7.170767351152995e-05,9.999564651164689e-05
+8274,1793078434290343479,14985432000000,1793078434286262557,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6762700392081675,-0.004947293151173738,0.0989941617524427,0.9999998950366918,-0.0003006285482165388,0.0003098699451712732,0.00012236242074719017,0.6761,-0.0046,0.09848986904686093,1.0,0.0,0.0,0.0,-0.9976258277872168,0.5858071234236553,3.687454046304844,0.04046508777099547,0.0673322021071145,0.001829845617159444,-0.4134839586068715,1.8078747797748178,5.1937796145538275,0.1153991735056222,0.03610784622819059,0.0028297414228367858,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.500474563310934,1.550730017280718,-4.1205927544933685,-0.11170844132677428,3.0308185260298703,0.8879015679607272,1.4971545748224069,-3.687454046304844,5.617747329315775,5.617747329315775,5.672405086780655,0,0,-7.107620271189405e-05,5.5423169232709065e-05
+8427,1793078435565359635,14986707000000,1793078435562262581,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6762826774393466,-0.004948579739839254,0.09892506412559701,0.9999998854576385,-0.0003111595589091764,0.0003297441073613084,0.00012237698315812058,0.6761,-0.0046,0.09840271215200172,1.0,0.0,0.0,0.0,-0.9706715475692604,0.5542560958449363,3.7670009324227687,0.038410123037814686,0.0672108994851737,0.0017418151806059396,-0.3865296783889151,1.7763237521960988,5.273326500671752,0.11334420877244142,0.03598654360624978,0.0027417109862832812,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.4768777417245498,1.5238742680180057,-4.231942294143556,-0.10508765412258685,3.1063441416406667,0.8678766915940673,1.4971545748224069,-3.7670009324227687,5.7290968689659625,5.7290968689659625,5.799905086780358,0,0,-7.652877563762742e-05,-8.526349231966702e-05
+8577,1793078436815327492,14987957000000,1793078436814262553,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6763008830092156,-0.004954222828534653,0.09885047987611792,0.9999998708108501,-0.00032361321489660945,0.0003602162127285326,0.0001238544059390969,0.6761,-0.0046,0.09829424566445293,1.0,0.0,0.0,0.0,-0.9883981856622762,0.5476160643488226,3.896478422073642,0.03737069254128059,0.06733356997230873,0.0006167752891550581,-0.40425631648193094,1.7696837206999851,5.402803990322625,0.11230477827590732,0.036109214093384814,0.0016166710948323998,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.4448856915223662,1.4969123599956733,-4.430877170320361,-0.10225873867452784,3.2208084320808785,0.8465587822234855,1.4971545748224069,-3.896478422073642,5.928031745142768,5.928031745142768,5.9249050867800666,0,0,-9.184636242246113e-05,9.98258795333939e-05
+8744,1793078438207246413,14989349000000,1793078438206262506,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6763140711306506,-0.004953066262769372,0.09875455851821367,0.999999858697411,-0.0003368663333118916,0.0003808594294234311,0.00012455998607708942,0.6761,-0.0046,0.09817911600596768,1.0,0.0,0.0,0.0,-0.9507224959901366,0.513115045421549,4.024983054580188,0.034310066715611695,0.0663496327041761,0.00044923161470455616,-0.36658062680979137,1.7351827017727115,5.5313086228291715,0.10924415245023843,0.035125276825252176,0.0014491274203818978,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.4444080080257535,1.4801604676739204,-4.493519302224147,-0.10090807659658067,3.2689556775478836,0.8318253759478296,1.4971545748224069,-4.024983054580188,5.990673877046554,5.990673877046554,6.064105086779742,0,0,-7.98979714431144e-05,-2.9373235814428258e-05
+8897,1793078439482216957,14990624000000,1793078439478262622,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6763296304017533,-0.004958609372510425,0.09866747078817144,0.9999999048893886,4.38250792948962e-05,0.0004050693113114829,0.00012514908509754532,0.6761,-0.0046,0.09806527313287497,1.0,0.0,0.0,0.0,-0.9294489771525173,0.45586824239516144,4.094312945217065,0.030638541403993594,0.06438007717940648,0.0003228996188951367,-0.345307107972172,1.677935898746324,5.600638513466048,0.10557262713862033,0.03315572130048257,0.0013227954245724784,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.4226649120397834,1.4802521865254676,-4.524605091853764,-0.09000088196556592,3.2893726412542765,0.8484042649977819,1.4971545748224069,-4.094312945217065,6.021759666676171,6.021759666676171,6.191605086779445,0,0,-9.921406748522455e-05,-9.999058111909704e-05
+9046,1793078440723200565,14991865000000,1793078440722262223,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6763470165455674,-0.004962919152114461,0.09856042829832254,0.9999998935305774,-1.5586903044992825e-05,0.0004342870571473081,0.0001246334578305471,0.6761,-0.0046,0.09792955477244625,1.0,0.0,0.0,0.0,-0.9262554927606902,0.439368632723675,4.244404253243661,0.029597889550223702,0.06437303597448538,-0.0008316257517550278,-0.3421136235803449,1.6614362890748375,5.750729821492644,0.10453197528485043,0.033148680095561454,0.00016827005392231387,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.432778107310138,1.6151979859586232,-4.700273358014325,-0.16741166016899173,3.4097418296503608,0.8663515314359777,1.4971545748224069,-4.244404253243661,6.197427932836732,6.197427932836732,6.315705086779156,0,0,-0.0001091147674534262,-9.927637464735568e-05
+9186,1793078441890274233,14993032000000,1793078441886261749,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6763590716025704,-0.004966649580894421,0.09845683088644078,0.9999998833165463,-4.194420583348987e-05,0.0004554017541107474,0.00012513865923506322,0.6761,-0.0046,0.09780800541482125,1.0,0.0,0.0,0.0,-0.8997008099492787,0.3926854706656635,4.283902180720323,0.026206174883871017,0.062404013226216776,-0.000935637097593162,-0.3155589407689334,1.614753127016826,5.790227748969306,0.10114026061849775,0.031179657347292864,6.425870808417969e-05,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.3459853545996787,1.651471791214715,-4.905220819020541,-0.17276724298886692,3.5202012393813846,0.9090958335003378,1.4971545748224069,-4.283902180720323,6.402375393842948,6.402375393842948,6.432405086778884,0,0,-0.00011170840175514651,9.844960543870513e-05
+9335,1793078443132163406,14994274000000,1793078443130262145,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6763742686669616,-0.00496748466524588,0.09833526819314073,0.99999986938105,-6.267546370743079e-05,0.00048125086275329466,0.00013095854590793016,0.6761,-0.0046,0.09765767030330257,1.0,0.0,0.0,0.0,-0.898827123134085,0.35755686815761023,4.373269164686847,0.024136286244023336,0.062421301123557205,-3.5194672236720827e-06,-0.3146852539537397,1.5796245245087728,5.87959473293583,0.09907037197865007,0.03119694524463329,0.0009963763384536696,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.3547384353890672,1.601447249457582,-4.937573214610304,-0.14348960036442177,3.538420533699516,0.9102414204895717,1.4971545748224069,-4.373269164686847,6.434727789432711,6.434727789432711,6.556605086778594,0,0,-0.00012836731055484852,-9.998779168374767e-05
+9501,1793078444515245641,14995657000000,1793078444514262074,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.676393122189337,-0.004971347716498039,0.09819355623267027,0.9999998519389167,-9.216271689997882e-05,0.0005119192037761524,0.00013042151462884597,0.6761,-0.0046,0.09748309586355326,1.0,0.0,0.0,0.0,-0.871527263684686,0.29729522434150857,4.467500546607951,0.01911540423990596,0.06046955624957368,-0.00016339294149777227,-0.2873853945043407,1.5193628806926711,5.9738261148569345,0.09404948997453269,0.029245200370649767,0.0008365028641795694,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.3506201901627968,1.5019311984086683,-5.082024729918376,-0.10539949496915732,3.63816540274926,0.8583523861908009,1.4971545748224069,-4.467500546607951,6.579179304740783,6.579179304740783,6.694905086778272,0,0,-0.00013059847221305455,-1.4458360923735827e-05
+9640,1793078445673175580,14996815000000,1793078445666262517,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6764088862097687,-0.004974553258190862,0.09805894495908841,0.9999998349601913,-0.00013227877622574093,0.0005383749714338746,0.00011906792207300511,0.6761,-0.0046,0.09732489104761921,1.0,0.0,0.0,0.0,-0.8301311453245253,0.2673426774788574,4.551793831366337,0.01801754265111498,0.05778461412801901,-0.00028345149077589984,-0.24598927614418,1.48941033383002,6.05811939961532,0.09295162838574171,0.026560258249095095,0.0007164443149014418,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.3368133240582276,1.5406299546287237,-5.218325329676734,-0.09748069783823209,3.724267984650539,0.8808954505318056,1.4971545748224069,-4.551793831366337,6.715479904499141,6.715479904499141,6.810705086778002,0,0,-0.00014133278343900357,9.24943830124036e-05
+9772,1793078446773184182,14997915000000,1793078446770262545,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6764228214417778,-0.004976521568053876,0.09792490334244236,0.9999998191449622,-0.00015143707380189594,0.0005613516214294532,0.00012289864550351796,0.6761,-0.0046,0.0971658284610663,1.0,0.0,0.0,0.0,-0.799835128623032,0.22316831821700212,4.59969159060839,0.014059053551345305,0.05548943756500471,0.0006233240557189268,-0.21569325944268666,1.4452359745681647,6.106017158857373,0.08899313928597204,0.0242650816860808,0.0016232198613962685,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.3242969613792215,1.5364936947272596,-5.311420235216356,-0.09583600993779441,3.7889435765227195,0.8802046328596937,1.4971545748224069,-4.59969159060839,6.808574810038762,6.808574810038762,6.920705086777746,0,0,-0.00015256241882724707,6.55569862547722e-05
+9912,1793078447940187741,14999082000000,1793078447938261764,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6764407888579776,-0.0049781820038174275,0.09777106035113368,0.9999997990121409,-0.00016946719273918908,0.0005898422060187141,0.0001295591929684071,0.6761,-0.0046,0.09698381250517661,1.0,0.0,0.0,0.0,-0.7702967948774787,0.1638588063311277,4.710279586333483,0.011026760535379987,0.053558147322317826,0.00047712443536033957,-0.18615492569713343,1.3859264626822902,6.216605154582466,0.08596084627000672,0.022333791443393914,0.0014770202410376812,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.2571342393718106,1.5319302103154182,-5.3694941276946935,-0.0959021130618752,3.8171388381987703,0.8719866533027552,1.4971545748224069,-4.710279586333483,6.8666487025171,6.8666487025171,7.037405086777474,0,0,-0.00015644656288091164,-5.00035527136788e-05
+10043,1793078449032073192,15000174000000,1793078449030271677,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6764547390803142,-0.0049789763464219376,0.09761320595595646,0.999999781866284,-0.00018471685017534386,0.0006127195800518506,0.00013477629605655283,0.6761,-0.0046,0.09680812547972989,1.0,0.0,0.0,0.0,-0.6934778634210222,0.12426329634966815,4.789837657852143,0.00708875920748582,0.04948373000464465,0.00031243702985272255,-0.10933599424067698,1.3463309527008307,6.296163226101126,0.08202284494211255,0.018259374125720734,0.0013123328355300642,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.2357306280121314,1.555031784283915,-5.44756618934425,-0.09405339103629881,3.8783149661092233,0.8841722901046654,1.4971545748224069,-4.789837657852143,6.944720764166656,6.944720764166656,7.146605086777219,0,0,-0.00015928613339019482,-9.993448710077785e-05
+10169,1793078450082148960,15001224000000,1793078450074271425,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6764678761256093,-0.004981076827808939,0.09745821607555226,0.9999997630475678,-0.00020838925608756352,0.0006367418908519608,0.0001283797291511906,0.6761,-0.0046,0.09663215403124786,1.0,0.0,0.0,0.0,-0.62699672265264,0.09601868475263475,4.818963883326162,0.005100245316904117,0.04546211680576689,0.00021056008419155156,-0.042854853472294716,1.3180863411037973,6.325289451575145,0.08003433105153085,0.01423776092684297,0.0012104558898688932,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.1765142681481207,1.5509374662718727,-5.616645966449679,-0.07018619632499626,3.9812267976146685,0.8884018849800694,1.4971545748224069,-4.818963883326162,7.113800541272085,7.113800541272085,7.251605086776975,0,0,-0.0001804295187188013,3.67511535356357e-05
+10303,1793078451198174718,15002340000000,1793078451194261818,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6764851536893187,-0.004982343810394144,0.0972778182993643,0.9999997417784771,-0.00021896247115808307,0.0006640804846985509,0.0001376168205813944,0.6761,-0.0046,0.09642272864969288,1.0,0.0,0.0,0.0,-0.586653796571175,0.02070545208047525,4.933970815200882,0.00013491738718277024,0.04249325071997102,1.6865591844397298e-05,-0.0025119273908297303,1.2427731084316378,6.440296383449866,0.0750690031218095,0.0112688948410471,0.001016761397521739,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.150913985808158,1.5742219096782342,-5.680326488963769,-0.07982162621678494,4.03910152612488,0.8937130422609196,1.4971545748224069,-4.933970815200882,7.177481063786176,7.177481063786176,7.3632050867767145,0,0,-0.000191892874447401,-9.60405186197832e-05
+10420,1793078452173261789,15003315000000,1793078452166262674,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6764989967165478,-0.0049870932262709115,0.09710848775286554,0.9999997217325322,-0.00023640643825768425,0.0006867358830474512,0.000143120735801114,0.6761,-0.0046,0.0962307424151536,1.0,0.0,0.0,0.0,-0.5493768022778672,0.008625692702731502,5.00907166564997,-0.000938052036699874,0.04046681509092779,0.000946764284984159,0.03476506690247802,1.230693349053894,6.515397233898954,0.07399603369792686,0.009242459212003873,0.0019466600906615007,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.1851648303967166,1.5989344573923352,-5.734208553331284,-0.08034189223097161,4.091133648063448,0.9069300450012798,1.4971545748224069,-5.00907166564997,7.23136312815369,7.23136312815369,7.460705086776487,0,0,-0.0002001827425033006,-9.98651397951022e-05
+10544,1793078453207413384,15004349000000,1793078453206262130,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6765159253894271,-0.004987974035453901,0.0969205256887655,0.9999997245837413,-0.0001107559347816975,0.0007167195045456033,0.00012775594109736352,0.6761,-0.0046,0.09601770188814557,1.0,0.0,0.0,0.0,-0.4728139604014823,-0.01160777232950383,5.083589410568746,-0.002621730205375483,0.03541200799581663,-0.0002217562382746596,0.11132790877886295,1.2104598840216587,6.589914978817729,0.07231235552925125,0.004187652116892714,0.0007781395674026821,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.124411442920755,1.8131266934262655,-5.753187935389791,-0.19050711799915307,4.113292775582201,0.9519876593923353,1.4971545748224069,-5.083589410568746,7.250342510212198,7.250342510212198,7.564105086776246,0,0,-0.00021700642568597684,-9.995812097341456e-05
+10664,1793078454207451853,15005349000000,1793078454206271321,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6765320290806399,-0.004980799735693506,0.0967194510918694,0.9999996971097843,-0.00011867186910371544,0.0007480529704934438,0.0001534827183028747,0.6761,-0.0046,0.09578776678787633,1.0,0.0,0.0,0.0,-0.37161610387270627,0.01454550825746459,5.192786745652296,-0.0017524630295360777,0.031610514809813105,0.0006680931716123344,0.21252576530763903,1.2366131646086271,6.69911231390128,0.07318162270509065,0.00038615893088918697,0.001667988977289676,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.1680932982092265,1.8014272059853955,-6.001566455945559,-0.14148635632688297,4.30070386235271,0.9888810103263258,1.4971545748224069,-5.192786745652296,7.498721030767966,7.498721030767966,7.664105086776013,0,0,-0.00023606789547184347,9.991373980800517e-05
+10784,1793078455207573729,15006349000000,1793078455206261674,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6765555436442842,-0.004986964724390126,0.09650324597597554,0.9999996691479351,-0.0001429032918839776,0.0007768733744853032,0.00017086045084516472,0.6761,-0.0046,0.09554906353419236,1.0,0.0,0.0,0.0,-0.3734456243904307,0.014309070097511478,5.256916677007071,-0.00197105500827309,0.031682860133478444,0.0006138648207183765,0.21069624478991456,1.236376726448674,6.7632422452560546,0.07296303072635364,0.0004585042545545263,0.0016137606263957182,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.19205951945773,1.6609755673290525,-6.013442406328478,-0.03729229070891081,4.311081175372477,0.9476905611015654,1.4971545748224069,-5.256916677007071,7.510596981150885,7.510596981150885,7.76410508677578,0,0,-0.0002450256026923211,-9.999980984798924e-05
+10894,1793078456123673689,15007265000000,1793078456122261894,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.676566085948653,-0.004987353883634782,0.0962888291391158,0.9999996446184274,-0.00021110467026536019,0.0007982695082295648,0.00014285129830527308,0.6761,-0.0046,0.09531980758824306,1.0,0.0,0.0,0.0,-0.29582602588519447,-0.050793991490083235,5.308408181919057,-0.006510895065782757,0.026308471373084376,0.001100754902186957,0.2883158432951508,1.1712736648610793,6.81473375016804,0.06842319066884398,-0.0049158845058395375,0.0021006507078642988,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.109508241223861,1.7083579553900283,-6.12692717511751,-0.03662254999760405,4.389203086861078,0.9828591858916275,1.4971545748224069,-5.308408181919057,7.624081749939917,7.624081749939917,7.855705086775567,0,0,-0.00026145437080213183,-9.999999025923074e-05
+11004,1793078457040767357,15008182000000,1793078457038262293,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6765822250741699,-0.004997483993114974,0.09606404364994447,0.9999996337179814,-0.00012301420765615124,0.0008248214469415084,0.0001689492609886158,0.6761,-0.0046,0.09506517669080013,1.0,0.0,0.0,0.0,-0.3087171989090433,-0.15305866612777508,5.373582929318491,-0.011857735733060815,0.02639908394728758,0.000324131461061559,0.27542467027130196,1.0690089902233875,6.879908497567475,0.06307635000156592,-0.0048252719316363366,0.0013240272667389007,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.0797741914415,1.6915729864365947,-6.073492879314336,-0.03708579773059159,4.367575075619254,0.9654756557527752,1.4971545748224069,-5.373582929318491,7.570647454136743,7.570647454136743,7.947405086775353,0,0,-0.0002925383755472951,-9.999999025923074e-05
+11101,1793078457848941240,15008990000000,1793078457846271705,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6765924546691859,-0.004985661205309116,0.0958410941143224,0.9999996088666164,-0.0002005742865067006,0.0008470648907305472,0.00012633489106463815,0.6761,-0.0046,0.09482144269796604,1.0,0.0,0.0,0.0,-0.18301023933293176,-0.14740774056197958,5.456529472133404,-0.01201213695696253,0.01964039484003323,0.0011961439883887758,0.4011316298474135,1.074659915789183,6.9628550403823875,0.0629219487776642,-0.011583961038890684,0.0021960397940661174,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.0559050410545594,1.7219805117202922,-6.17499277971972,0.006648119768614845,4.443853241887492,1.000664563852387,1.4971545748224069,-5.456529472133404,7.672147354542127,7.672147354542127,8.028205086775165,0,0,-0.0003098768155365957,-9.999999025923074e-05
+11195,1793078458632998903,15009774000000,1793078458626262533,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6766063629813409,-0.005003423420857618,0.09561670019392325,0.9999995832988191,-0.00021274729527736249,0.0008690021267474228,0.00015626562070386222,0.6761,-0.0046,0.09457471903347488,1.0,0.0,0.0,0.0,-0.22274485036289549,-0.24043190318459295,5.507150912189334,-0.0169396070544977,0.020779367010661222,0.0011046450131084044,0.3613970188174498,0.9816357531665696,7.013476480438317,0.05799447868012903,-0.010444988868262691,0.002104540818785746,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.015599951561398,1.6781611007134267,-6.302514125377559,-0.011722045080634801,4.52751154653581,0.9727585894241981,1.4971545748224069,-5.507150912189334,7.799668700199966,7.799668700199966,8.106605086774982,0,0,-0.0003231833044195761,-8.690146799240068e-05
+11285,1793078459383127288,15010524000000,1793078459378271526,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6766259742204457,-0.005004711651009851,0.09538294997108991,0.9999995706468062,-0.00018110424332600962,0.0008855555486884595,0.00018204859404241536,0.6761,-0.0046,0.09432598973382056,1.0,0.0,0.0,0.0,-0.28694881847920345,-0.24245411766318548,5.54902588466119,-0.01806300673199729,0.024443946158271737,0.0011213578940856863,0.2971930507011418,0.9796135386879771,7.055351452910173,0.05687107900262944,-0.006780409720652177,0.002121253699763028,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,2.106595553354276,1.604767599686645,-6.333421790078142,0.0167495630626545,4.574874023532562,0.9342220900396181,1.4971545748224069,-5.54902588466119,7.830576364900549,7.830576364900549,8.181605086774807,0,0,-0.00033896533340879573,-9.961547839243962e-05
+11374,1793078460124159748,15011265000000,1793078460122261891,DOWN_FORCE_DETACH,8,0.0656,0.06560231000185013,0.6766331833732486,-0.0050059105043279775,0.09513440173244293,0.9999995701335047,-9.742473290421199e-05,0.0009052434048359688,0.0001490586112660408,0.6761,-0.0046,0.09406674528932478,1.0,0.0,0.0,0.0,-0.15440568532221677,-0.3061369812325738,5.6357846552257564,-0.020972230886023138,0.01562883242822717,0.0008899451286843219,0.4297361838581285,0.9159306751185887,7.14211022347474,0.053961854848603594,-0.015595523450696746,0.0018898409343616636,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.9608586547322875,1.5793834209228508,-6.402735393545049,0.04482547550904193,4.6037897888434625,0.9313226048526331,1.4971545748224069,-5.6357846552257564,7.8998899683674555,7.8998899683674555,8.255705086774634,0,0,-0.00036228962512904604,-9.993032376443551e-05
+11460,1793078460841325338,15011982000000,1793078460834261916,DOWN_FORCE_DETACH,8,0.0656,0.0656016543507576,0.6766463018657246,-0.00500964041335032,0.0948764772494418,0.9999995430387046,-0.0001384776559693654,0.0009272861748675724,0.00016226378219830597,0.6761,-0.0046,0.09379579212284633,1.0,0.0,0.0,0.0,-0.15190178433652074,-0.39442682733909784,5.706219985495954,-0.025683620147846205,0.01446552094502495,0.0007581785385526497,0.43224008484382453,0.8276408290120647,7.212545553744937,0.04925046558678053,-0.016758834933898965,0.0017580743442299914,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.9577724936776972,1.5602816582576184,-6.4692002108309925,0.02869059695907228,4.669829207980857,0.8798566169177287,1.4971545748224069,-5.706219985495954,7.966354785653399,7.966354785653399,8.327405086774467,0,0,-0.00039296649833739226,-8.661422554035453e-05
+11581,1793078461843448402,15012984000000,1793078461838261871,DOWN_PEAK_HOLD,8,0.0656,0.06560099869966507,0.6766164555367812,-0.00500167169751598,0.09468278838826834,0.9999995906909738,-0.00015502169737082746,0.0008718937476331332,0.00016071812339556367,0.6761,-0.0046,0.09369860351965378,1.0,0.0,0.0,0.0,0.17912902653920204,-0.6784826151625983,4.852832219188166,-0.04330460766026711,-0.00729272836708094,-8.750947760330537e-05,0.7632708957195473,0.5435850411885642,6.359157787437149,0.031629478074359625,-0.038517084246004855,0.0009123863280740363,0.5841418691803453,1.2220676563511625,1.5063255682489831,0.07493408573462673,-0.031224355878923915,0.0009998958056773417,1,1.252087929443062,1.5461559863346794,-5.465114724826863,0.04175523328566606,3.9135559147603085,0.8862705202513067,1.4971545748224069,-4.852832219188166,6.96226929964927,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_PLA_15/press_depth_08/down/real_sim_motion_alignment.csv

@@ -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,1793078389622932140,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.563161256e-08,-1.670565899e-09,2.278941480e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027461515e-01,-1.143662062e-04,8.303252470e-01
+1,1.450000000e+00,DOWN_FORCE_DETACH,1793078391097565418,5.865736014e-06,4.658725270e-07,2.436658304e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.686142793e-07,-7.370323230e-08,-1.228788404e-08,7.019614986e-01,-2.180486250e-05,8.601455239e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027470045e-01,-1.144382389e-04,8.303252345e-01
+2,2.783333333e+00,DOWN_FORCE_DETACH,1793078392407926774,1.881000881e-05,-3.484339112e-09,5.968263056e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.188107182e-06,-1.017640007e-07,-2.496008245e-08,7.019744428e-01,-2.227421936e-05,8.601490555e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027473240e-01,-1.144662997e-04,8.303252218e-01
+3,4.216666667e+00,DOWN_FORCE_DETACH,1793078393849598752,1.986515721e-05,-6.706083505e-07,-7.901660166e-06,2.014831385e-05,-2.258773656e-06,3.906817006e-06,2.260190762e-05,-2.201402536e-06,3.808751559e-06,7.019754980e-01,-2.294134337e-05,8.601351856e-01,7.019757811e-01,-2.452950868e-05,8.601469941e-01,7.027687378e-01,-1.165659382e-04,8.303290556e-01
+4,5.633333333e+00,DOWN_FORCE_DETACH,1793078395274129085,3.363303239e-05,4.720910562e-07,-1.579303974e-05,2.542157163e-05,3.044450596e-06,-1.467180298e-05,2.826030841e-05,2.571858229e-06,-1.423011308e-05,7.019892658e-01,-2.179864397e-05,8.601272942e-01,7.019810544e-01,-1.922628443e-05,8.601284154e-01,7.027743962e-01,-1.117926774e-04,8.303110167e-01
+5,6.833333333e+00,DOWN_FORCE_DETACH,1793078396486020688,3.807691318e-05,-1.859839045e-06,-2.451291653e-05,2.542157163e-05,3.044450596e-06,-1.467180298e-05,2.850478422e-05,2.559216322e-06,-1.448508752e-05,7.019937097e-01,-2.413057407e-05,8.601185743e-01,7.019810544e-01,-1.922628443e-05,8.601284154e-01,7.027746406e-01,-1.118053193e-04,8.303107617e-01
+6,8.183333333e+00,DOWN_FORCE_DETACH,1793078397845988968,4.760931260e-05,-2.125925861e-06,-3.927639502e-05,3.886742474e-05,-2.084382743e-06,-2.913361089e-05,4.266012761e-05,-2.117329336e-06,-2.868223605e-05,7.020032421e-01,-2.439666088e-05,8.601038108e-01,7.019945002e-01,-2.435511777e-05,8.601139536e-01,7.027887960e-01,-1.164818650e-04,8.302965646e-01
+7,9.483333333e+00,DOWN_FORCE_DETACH,1793078399139941581,4.864252906e-05,1.909435747e-07,-5.363450556e-05,4.570286170e-05,4.949557519e-07,-4.841756620e-05,4.980676900e-05,1.778937192e-07,-4.773406788e-05,7.020042753e-01,-2.207979145e-05,8.600894527e-01,7.020013357e-01,-2.177577927e-05,8.600946697e-01,7.027959426e-01,-1.141866419e-04,8.302775127e-01
+8,1.090000000e+01,DOWN_FORCE_DETACH,1793078400548567407,5.995225375e-05,-1.781231214e-06,-6.570014630e-05,5.860595740e-05,-3.386693169e-06,-6.348024351e-05,6.317149066e-05,-3.382291454e-06,-6.253734219e-05,7.020155851e-01,-2.405196624e-05,8.600773871e-01,7.020142388e-01,-2.565742819e-05,8.600796070e-01,7.028093074e-01,-1.177468271e-04,8.302627095e-01
+9,1.226666667e+01,DOWN_FORCE_DETACH,1793078401891738803,6.581917569e-05,-2.691461041e-06,-7.550426340e-05,5.860595740e-05,-3.386693169e-06,-6.348024351e-05,6.368462968e-05,-3.405904013e-06,-6.305157155e-05,7.020214520e-01,-2.496219606e-05,8.600675830e-01,7.020142388e-01,-2.565742819e-05,8.600796070e-01,7.028098205e-01,-1.177704397e-04,8.302621952e-01
+10,1.360000000e+01,DOWN_FORCE_DETACH,1793078403251560706,7.482571032e-05,-4.590193925e-07,-8.843406050e-05,6.500964989e-05,-3.430705515e-06,-8.258726912e-05,7.037326160e-05,-3.449479704e-06,-8.190553894e-05,7.020304585e-01,-2.272975442e-05,8.600546532e-01,7.020206425e-01,-2.570144054e-05,8.600605000e-01,7.028165091e-01,-1.178140154e-04,8.302433413e-01
+11,1.503333333e+01,DOWN_FORCE_DETACH,1793078404676313051,8.274296743e-05,-4.339264331e-06,-1.096364975e-04,7.570188241e-05,-4.953944541e-06,-9.969564599e-05,8.158893004e-05,-4.889331698e-06,-9.890540045e-05,7.020383758e-01,-2.660999935e-05,8.600334507e-01,7.020313347e-01,-2.722467956e-05,8.600433916e-01,7.028277248e-01,-1.192538674e-04,8.302263414e-01
+12,1.641666667e+01,DOWN_FORCE_DETACH,1793078406068735250,8.999645227e-05,-3.490239323e-06,-1.206857872e-04,8.700434443e-05,-3.855744437e-06,-1.160224294e-04,9.345980472e-05,-3.901890103e-06,-1.150908587e-04,7.020456293e-01,-2.576097435e-05,8.600224015e-01,7.020426372e-01,-2.612647946e-05,8.600270648e-01,7.028395957e-01,-1.182664258e-04,8.302101559e-01
+13,1.761666667e+01,DOWN_FORCE_DETACH,1793078407330180079,9.967529232e-05,-7.871979727e-06,-1.355189237e-04,9.646395234e-05,-9.666975019e-06,-1.337953215e-04,1.033193079e-04,-9.205088201e-06,-1.326653340e-04,7.020553081e-01,-3.014271475e-05,8.600075683e-01,7.020520968e-01,-3.193771004e-05,8.600092919e-01,7.028494552e-01,-1.235696239e-04,8.301925815e-01
+14,1.896666667e+01,DOWN_FORCE_DETACH,1793078408672871764,1.026342684e-04,-8.555239478e-06,-1.510446617e-04,9.646395234e-05,-9.666975019e-06,-1.337953215e-04,1.037509334e-04,-9.224856573e-06,-1.332479974e-04,7.020582671e-01,-3.082597450e-05,8.599920426e-01,7.020520968e-01,-3.193771004e-05,8.600092919e-01,7.028498868e-01,-1.235893922e-04,8.301919988e-01
+15,2.040000000e+01,DOWN_FORCE_DETACH,1793078410081947796,1.139272447e-04,-1.093607688e-05,-1.689188526e-04,1.110384672e-04,-1.260512824e-05,-1.706856865e-04,1.185905406e-04,-1.195054896e-05,-1.690830143e-04,7.020695601e-01,-3.320681190e-05,8.599741684e-01,7.020666713e-01,-3.487586327e-05,8.599724016e-01,7.028647264e-01,-1.263150846e-04,8.301561638e-01
+16,2.180000000e+01,DOWN_FORCE_DETACH,1793078411457407912,1.187685719e-04,-9.110603469e-06,-1.884547293e-04,1.110384672e-04,-1.260512824e-05,-1.706856865e-04,1.191360861e-04,-1.197506935e-05,-1.700132124e-04,7.020744014e-01,-3.138133849e-05,8.599546325e-01,7.020666713e-01,-3.487586327e-05,8.599724016e-01,7.028652720e-01,-1.263396050e-04,8.301552336e-01
+17,2.310000000e+01,DOWN_FORCE_DETACH,1793078412734697628,1.286513476e-04,-4.614026606e-06,-2.056200548e-04,1.197889793e-04,-6.179893287e-06,-1.882845242e-04,1.282734613e-04,-6.155443334e-06,-1.876191227e-04,7.020842842e-01,-2.688476163e-05,8.599374672e-01,7.020754218e-01,-2.845062831e-05,8.599548027e-01,7.028744093e-01,-1.205199790e-04,8.301376277e-01
+18,2.445000000e+01,DOWN_FORCE_DETACH,1793078414062014230,1.409110823e-04,-5.956933246e-06,-2.191355512e-04,1.287732817e-04,-9.572335328e-06,-2.074314033e-04,1.377696572e-04,-9.240601081e-06,-2.066760588e-04,7.020965439e-01,-2.822766827e-05,8.599239517e-01,7.020844061e-01,-3.184307035e-05,8.599356558e-01,7.028839055e-01,-1.236051367e-04,8.301185707e-01
+19,2.590000000e+01,DOWN_FORCE_DETACH,1793078415765324251,1.491441023e-04,-1.034699307e-05,-2.510319482e-04,1.440817116e-04,-1.084187831e-05,-2.449124385e-04,1.535605220e-04,-1.042991680e-05,-2.435761731e-04,7.021047769e-01,-3.261772810e-05,8.598920553e-01,7.020997145e-01,-3.311261334e-05,8.598981748e-01,7.028996964e-01,-1.247944525e-04,8.300816706e-01
+20,2.715000000e+01,DOWN_FORCE_DETACH,1793078417157553926,1.560938746e-04,-1.244568900e-05,-2.723893124e-04,1.541369229e-04,-1.248478974e-05,-2.627400480e-04,1.642364464e-04,-1.196993987e-05,-2.614868751e-04,7.021117267e-01,-3.471642402e-05,8.598706979e-01,7.021097697e-01,-3.475552476e-05,8.598803472e-01,7.029103723e-01,-1.263344755e-04,8.300637599e-01
+21,2.835000000e+01,DOWN_FORCE_DETACH,1793078418337024272,1.654241893e-04,-1.151258439e-05,-2.939657285e-04,1.598174846e-04,-1.533840101e-05,-2.817342388e-04,1.702741561e-04,-1.458975501e-05,-2.806204985e-04,7.021210570e-01,-3.378331942e-05,8.598491215e-01,7.021154503e-01,-3.760913603e-05,8.598613530e-01,7.029164100e-01,-1.289542907e-04,8.300446263e-01
+22,2.968333333e+01,DOWN_FORCE_DETACH,1793078419647317533,1.737637339e-04,-1.135320635e-05,-3.145028989e-04,1.663525890e-04,-1.124902933e-05,-3.003640066e-04,1.772391312e-04,-1.090674723e-05,-2.993789954e-04,7.021293966e-01,-3.362394137e-05,8.598285843e-01,7.021219854e-01,-3.351976435e-05,8.598427232e-01,7.029233750e-01,-1.252712829e-04,8.300258678e-01
+23,3.113333333e+01,DOWN_FORCE_DETACH,1793078421072877488,1.841010216e-04,-1.588323986e-05,-3.486766217e-04,1.788682374e-04,-1.309805050e-05,-3.394167312e-04,1.901106734e-04,-1.262956295e-05,-3.380225490e-04,7.021397338e-01,-3.815397489e-05,8.597944106e-01,7.021345011e-01,-3.536878552e-05,8.598036705e-01,7.029362465e-01,-1.269940986e-04,8.299872243e-01
+24,3.251666667e+01,DOWN_FORCE_DETACH,1793078422513736549,1.936531042e-04,-8.714301968e-06,-3.831543568e-04,1.915789139e-04,-1.041263422e-05,-3.765585281e-04,2.032924130e-04,-1.021717342e-05,-3.747329900e-04,7.021492859e-01,-3.098503699e-05,8.597599329e-01,7.021472117e-01,-3.268336924e-05,8.597665287e-01,7.029494283e-01,-1.245817091e-04,8.299505138e-01
+25,3.398333333e+01,DOWN_FORCE_DETACH,1793078423971727367,2.057378358e-04,-1.615004837e-05,-4.217121317e-04,2.018381853e-04,-1.563022764e-05,-4.156881021e-04,2.138820904e-04,-1.498806729e-05,-4.137647742e-04,7.021613707e-01,-3.842078340e-05,8.597213751e-01,7.021574710e-01,-3.790096266e-05,8.597273991e-01,7.029600180e-01,-1.293526029e-04,8.299114820e-01
+26,3.526666667e+01,DOWN_FORCE_DETACH,1793078425232467067,2.181114467e-04,-1.798157476e-05,-4.585408870e-04,2.127062114e-04,-1.718953697e-05,-4.581552439e-04,2.250988756e-04,-1.644753407e-05,-4.558281355e-04,7.021737443e-01,-4.025230978e-05,8.596845464e-01,7.021683390e-01,-3.946027199e-05,8.596849320e-01,7.029712347e-01,-1.308120697e-04,8.298694187e-01
+27,3.660000000e+01,DOWN_FORCE_DETACH,1793078426543435893,2.264411549e-04,-1.835159140e-05,-5.018037278e-04,2.261748907e-04,-1.747880867e-05,-4.949333296e-04,2.390460469e-04,-1.677571531e-05,-4.926427096e-04,7.021820740e-01,-4.062232642e-05,8.596412835e-01,7.021818077e-01,-3.974954370e-05,8.596481539e-01,7.029851819e-01,-1.311402510e-04,8.298326041e-01
+28,3.790000000e+01,DOWN_FORCE_DETACH,1793078427836902345,2.398558789e-04,-2.120364551e-05,-5.422954531e-04,2.352508977e-04,-2.309345042e-05,-5.332957364e-04,2.484999948e-04,-2.191112350e-05,-5.310594326e-04,7.021954887e-01,-4.347438054e-05,8.596007918e-01,7.021908837e-01,-4.536418544e-05,8.596097915e-01,7.029946359e-01,-1.362756592e-04,8.297941874e-01
+29,3.910000000e+01,DOWN_FORCE_DETACH,1793078429016738112,2.494940716e-04,-2.091812192e-05,-5.875970106e-04,2.433690831e-04,-2.547206693e-05,-5.732160696e-04,2.568660167e-04,-2.410946182e-05,-5.709755883e-04,7.022051269e-01,-4.318885695e-05,8.595554902e-01,7.021990019e-01,-4.774280195e-05,8.595698712e-01,7.030030019e-01,-1.384739975e-04,8.297542712e-01
+30,4.046666667e+01,DOWN_FORCE_DETACH,1793078430359821417,2.625879995e-04,-2.245534212e-05,-6.385240284e-04,2.560990216e-04,-2.545603428e-05,-6.305871771e-04,2.699122321e-04,-2.411979949e-05,-6.279530392e-04,7.022182208e-01,-4.472607714e-05,8.595045632e-01,7.022117318e-01,-4.772676930e-05,8.595125001e-01,7.030160481e-01,-1.384843352e-04,8.296972938e-01
+31,4.173333333e+01,DOWN_FORCE_DETACH,1793078431784903210,2.741983139e-04,-2.257394082e-05,-7.055631001e-04,2.726839488e-04,-2.613630378e-05,-6.884663521e-04,2.867595862e-04,-2.483820067e-05,-6.855773062e-04,7.022298311e-01,-4.484467585e-05,8.594375241e-01,7.022283168e-01,-4.840703880e-05,8.594546209e-01,7.030328955e-01,-1.392027363e-04,8.296396695e-01
+32,4.301666667e+01,DOWN_FORCE_DETACH,1793078433062256166,2.866328683e-04,-2.731262262e-05,-7.649710636e-04,2.826562442e-04,-2.707928816e-05,-7.489001187e-04,2.969392770e-04,-2.571521133e-05,-7.457977025e-04,7.022422657e-01,-4.958335764e-05,8.593781162e-01,7.022382891e-01,-4.935002318e-05,8.593941871e-01,7.030430751e-01,-1.400797470e-04,8.295794491e-01
+33,4.423333333e+01,DOWN_FORCE_DETACH,1793078434291449775,3.025300372e-04,-3.051434631e-05,-8.287139326e-04,2.978792251e-04,-2.869417623e-05,-8.120418653e-04,3.123696977e-04,-2.726904451e-05,-8.086476687e-04,7.022581629e-01,-5.278508133e-05,8.593143733e-01,7.022535120e-01,-5.096491125e-05,8.593310454e-01,7.030585056e-01,-1.416335802e-04,8.295165991e-01
+34,4.553333333e+01,DOWN_FORCE_DETACH,1793078435568079956,3.127734912e-04,-3.590026498e-05,-8.975679177e-04,3.104680847e-04,-3.230192434e-05,-8.975789373e-04,3.249503217e-04,-3.059653082e-05,-8.931807432e-04,7.022684063e-01,-5.817100000e-05,8.592455193e-01,7.022661009e-01,-5.457265936e-05,8.592455083e-01,7.030710862e-01,-1.449610665e-04,8.294320661e-01
+35,4.676666667e+01,DOWN_FORCE_DETACH,1793078436813529073,3.309280246e-04,-3.388455237e-05,-9.742657493e-04,3.274705343e-04,-3.587959619e-05,-9.746103427e-04,3.420589768e-04,-3.390072112e-05,-9.698730419e-04,7.022865608e-01,-5.615528739e-05,8.591688215e-01,7.022831034e-01,-5.815033121e-05,8.591684769e-01,7.030881948e-01,-1.482652568e-04,8.293553738e-01
+36,4.815000000e+01,DOWN_FORCE_DETACH,1793078438205398772,3.451588282e-04,-3.594376871e-05,-1.067849525e-03,3.406556444e-04,-3.719163870e-05,-1.055071415e-03,3.554425942e-04,-3.516067271e-05,-1.050710883e-03,7.023007916e-01,-5.821450374e-05,8.590752377e-01,7.022962885e-01,-5.946237373e-05,8.590880158e-01,7.031015785e-01,-1.495252084e-04,8.292745359e-01
+37,4.943333333e+01,DOWN_FORCE_DETACH,1793078439482981265,3.579879588e-04,-4.295451407e-05,-1.159088309e-03,3.572950399e-04,-4.580982555e-05,-1.155079547e-03,3.719755604e-04,-4.297689417e-05,-1.149919050e-03,7.023136208e-01,-6.522524909e-05,8.589839989e-01,7.023129279e-01,-6.808056057e-05,8.589880077e-01,7.031181114e-01,-1.573414298e-04,8.291753278e-01
+38,5.063333333e+01,DOWN_FORCE_DETACH,1793078440719475377,3.740023304e-04,-4.665964884e-05,-1.269133712e-03,3.726402308e-04,-4.633502209e-05,-1.259991018e-03,3.873544019e-04,-4.350359294e-05,-1.254118030e-03,7.023296351e-01,-6.893038386e-05,8.588739535e-01,7.023282730e-01,-6.860575712e-05,8.588830962e-01,7.031334903e-01,-1.578681286e-04,8.290711288e-01
+39,5.180000000e+01,DOWN_FORCE_DETACH,1793078441891469446,3.864958736e-04,-5.151512723e-05,-1.369587030e-03,3.857991737e-04,-4.747714775e-05,-1.368199480e-03,4.003272085e-04,-4.465250725e-05,-1.361760840e-03,7.023421287e-01,-7.378586226e-05,8.587735002e-01,7.023414320e-01,-6.974788277e-05,8.587748878e-01,7.031464631e-01,-1.590170429e-04,8.289634860e-01
+40,5.306666667e+01,DOWN_FORCE_DETACH,1793078443135864389,4.037466305e-04,-5.264606791e-05,-1.489972578e-03,4.008301567e-04,-4.963921497e-05,-1.471619634e-03,4.154405200e-04,-4.668517383e-05,-1.465590574e-03,7.023593794e-01,-7.491680293e-05,8.586531147e-01,7.023564630e-01,-7.190995000e-05,8.586714676e-01,7.031615764e-01,-1.610497095e-04,8.288596562e-01
+41,5.438333333e+01,DOWN_FORCE_DETACH,1793078444512002854,4.202478709e-04,-5.505498524e-05,-1.633844945e-03,4.166842400e-04,-5.420084177e-05,-1.625578112e-03,4.308776588e-04,-5.096079480e-05,-1.618477796e-03,7.023758807e-01,-7.732572026e-05,8.585092423e-01,7.023723171e-01,-7.647157679e-05,8.585175091e-01,7.031770135e-01,-1.653253305e-04,8.287067690e-01
+42,5.555000000e+01,DOWN_FORCE_DETACH,1793078445674673608,4.362313107e-04,-5.254353319e-05,-1.769313068e-03,4.305878459e-04,-5.941067716e-05,-1.756754287e-03,4.443948591e-04,-5.576428192e-05,-1.749454377e-03,7.023918641e-01,-7.481426821e-05,8.583737742e-01,7.023862207e-01,-8.168141219e-05,8.583863330e-01,7.031905307e-01,-1.701288176e-04,8.285757924e-01
+43,5.666666667e+01,DOWN_FORCE_DETACH,1793078446772711409,4.511789988e-04,-6.086670962e-05,-1.901655755e-03,4.481613728e-04,-5.954790073e-05,-1.887246757e-03,4.616457797e-04,-5.596881912e-05,-1.879746240e-03,7.024068118e-01,-8.313744464e-05,8.582414315e-01,7.024037942e-01,-8.181863575e-05,8.582558405e-01,7.032077816e-01,-1.703333548e-04,8.284455006e-01
+44,5.781666667e+01,DOWN_FORCE_DETACH,1793078447936872519,4.683339030e-04,-6.636699202e-05,-2.055434700e-03,4.681301360e-04,-6.627709227e-05,-2.055255720e-03,4.810271508e-04,-6.215977885e-05,-2.046336514e-03,7.024239667e-01,-8.863772704e-05,8.580876525e-01,7.024237630e-01,-8.854782729e-05,8.580878315e-01,7.032271630e-01,-1.765243145e-04,8.282789103e-01
+45,5.886666667e+01,DOWN_FORCE_DETACH,1793078449032360859,4.851508658e-04,-6.590464565e-05,-2.210668610e-03,4.815411236e-04,-6.800441700e-05,-2.202369179e-03,4.937172674e-04,-6.378533790e-05,-2.193303598e-03,7.024407837e-01,-8.817538067e-05,8.579324186e-01,7.024371739e-01,-9.027515203e-05,8.579407181e-01,7.032398531e-01,-1.781498736e-04,8.281319432e-01
+46,5.991666667e+01,DOWN_FORCE_DETACH,1793078450080697989,4.976968001e-04,-6.397184333e-05,-2.367795895e-03,4.938403893e-04,-6.148273713e-05,-2.353488499e-03,5.052451335e-04,-5.792134499e-05,-2.344258855e-03,7.024533296e-01,-8.624257835e-05,8.577752913e-01,7.024494732e-01,-8.375347216e-05,8.577895987e-01,7.032513810e-01,-1.722858806e-04,8.279809879e-01
+47,6.103333333e+01,DOWN_FORCE_DETACH,1793078451194987229,5.102594877e-04,-6.992878627e-05,-2.551997367e-03,5.101172708e-04,-6.954709061e-05,-2.551777453e-03,5.203257213e-04,-6.533158023e-05,-2.540958183e-03,7.024658923e-01,-9.219952130e-05,8.575910899e-01,7.024657501e-01,-9.181782563e-05,8.575913098e-01,7.032664616e-01,-1.796961159e-04,8.277842886e-01
+48,6.201666667e+01,DOWN_FORCE_DETACH,1793078452177282488,5.289731537e-04,-7.048537602e-05,-2.717337601e-03,5.258071046e-04,-6.889750730e-05,-2.701079768e-03,5.353012510e-04,-6.475802289e-05,-2.690828432e-03,7.024846060e-01,-9.275611104e-05,8.574257496e-01,7.024814399e-01,-9.116824232e-05,8.574420075e-01,7.032814371e-01,-1.791225585e-04,8.276344184e-01
+49,6.296666667e+01,DOWN_FORCE_DETACH,1793078453209720698,5.443140367e-04,-7.220149714e-05,-2.905587738e-03,5.442439769e-04,-7.205730999e-05,-2.905615580e-03,5.527785916e-04,-6.766561316e-05,-2.893341105e-03,7.024999469e-01,-9.447223217e-05,8.572374995e-01,7.024998768e-01,-9.432804501e-05,8.572374717e-01,7.032989145e-01,-1.820301488e-04,8.274319057e-01
+50,6.393333333e+01,DOWN_FORCE_DETACH,1793078454208987030,5.605702106e-04,-6.525519057e-05,-3.108206522e-03,5.564372854e-04,-6.755611760e-05,-3.095996951e-03,5.638328985e-04,-6.364639467e-05,-3.083800526e-03,7.025162030e-01,-8.752592559e-05,8.570348807e-01,7.025120701e-01,-8.982685262e-05,8.570470903e-01,7.033099688e-01,-1.780109303e-04,8.272414463e-01
+51,6.491666667e+01,DOWN_FORCE_DETACH,1793078455209417604,5.840070027e-04,-7.132510155e-05,-3.322823572e-03,5.807907202e-04,-6.915344478e-05,-3.317616390e-03,5.872501344e-04,-6.519979320e-05,-3.304417855e-03,7.025396398e-01,-9.359583657e-05,8.568202637e-01,7.025364235e-01,-9.142417980e-05,8.568254708e-01,7.033333860e-01,-1.795643289e-04,8.270208289e-01
+52,6.576666667e+01,DOWN_FORCE_DETACH,1793078456127318130,5.933595373e-04,-6.870435317e-05,-3.540638011e-03,5.945429455e-04,-7.059706214e-05,-3.531434378e-03,5.996660739e-04,-6.659082583e-05,-3.517451499e-03,7.025489924e-01,-9.097508819e-05,8.566024492e-01,7.025501758e-01,-9.286779716e-05,8.566116529e-01,7.033458019e-01,-1.809553615e-04,8.268077953e-01
+53,6.668333333e+01,DOWN_FORCE_DETACH,1793078457043335853,6.100082230e-04,-7.467593621e-05,-3.763887710e-03,6.088982446e-04,-8.080769049e-05,-3.746025007e-03,6.126311561e-04,-7.598181953e-05,-3.732152635e-03,7.025656410e-01,-9.694667123e-05,8.563791995e-01,7.025645311e-01,-1.030784255e-04,8.563970622e-01,7.033587670e-01,-1.903463552e-04,8.265930942e-01
+54,6.746666667e+01,DOWN_FORCE_DETACH,1793078457845912913,6.210004243e-04,-7.576470534e-05,-3.983462389e-03,6.181647176e-04,-7.653009414e-05,-3.967811497e-03,6.202880265e-04,-7.222588759e-05,-3.952787729e-03,7.025766332e-01,-9.803544036e-05,8.561596249e-01,7.025737975e-01,-9.880082917e-05,8.561752757e-01,7.033664239e-01,-1.865904232e-04,8.263724591e-01
+55,6.826666667e+01,DOWN_FORCE_DETACH,1793078458632451316,6.347205384e-04,-8.776856242e-05,-4.209858903e-03,6.297324183e-04,-8.371806110e-05,-4.191310716e-03,6.300439209e-04,-7.877599033e-05,-4.175900754e-03,7.025903534e-01,-1.100392974e-04,8.559332283e-01,7.025853652e-01,-1.059887961e-04,8.559517765e-01,7.033761798e-01,-1.931405260e-04,8.261493460e-01
+56,6.901666667e+01,DOWN_FORCE_DETACH,1793078459385702055,6.544358108e-04,-8.824953493e-05,-4.444690914e-03,6.544032258e-04,-8.820876774e-05,-4.444488167e-03,6.530358309e-04,-8.291096981e-05,-4.427168384e-03,7.026100686e-01,-1.105202700e-04,8.556983963e-01,7.026100360e-01,-1.104795028e-04,8.556985991e-01,7.033991717e-01,-1.972755055e-04,8.258980784e-01
+57,6.976666667e+01,DOWN_FORCE_DETACH,1793078460123106980,6.636816307e-04,-9.104515340e-05,-4.689637111e-03,6.613760444e-04,-9.165299304e-05,-4.678221815e-03,6.584275688e-04,-8.618051228e-05,-4.660858505e-03,7.026193144e-01,-1.133158884e-04,8.554534501e-01,7.026170089e-01,-1.139237281e-04,8.554648654e-01,7.034045634e-01,-2.005450479e-04,8.256643883e-01
+58,7.045000000e+01,DOWN_FORCE_DETACH,1793078460839058889,6.746594227e-04,-9.398555491e-05,-4.950081848e-03,6.761527441e-04,-9.477032290e-05,-4.940182590e-03,6.711445631e-04,-8.898841841e-05,-4.921041442e-03,7.026302922e-01,-1.162562899e-04,8.551930054e-01,7.026317856e-01,-1.170410579e-04,8.552029046e-01,7.034172804e-01,-2.033529541e-04,8.254042054e-01
+59,7.140000000e+01,DOWN_PEAK_HOLD,1793078461843053912,6.448737118e-04,-8.621918474e-05,-5.143694721e-03,6.481644785e-04,-8.970829497e-05,-5.137650112e-03,6.402810614e-04,-8.434098504e-05,-5.123017013e-03,7.026005065e-01,-1.084899198e-04,8.549993925e-01,7.026037973e-01,-1.119790300e-04,8.550054371e-01,7.033864169e-01,-1.987055207e-04,8.252022298e-01

Part2/Fixed/digit/cylinder_PLA_15/press_depth_08/down/simulation_data.csv

@@ -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+00,3.2512e-01,8.6275e-01,2.4709e+00,-9.9946e-02,6.0351e-02,2.2112e-03,4.3929e-04,-4.8399e-05,-9.3460e-05,3.3900e-06,2.8428e-05,-2.2911e-07,4.5172e-04,2.8630e-05
+1,1.4500e+00,DOWN_FORCE_DETACH,2.9754e-04,4.8352e-01,8.4921e-01,2.4672e+00,-9.9026e-02,7.1732e-02,1.3381e-03,1.5884e-01,-1.3592e-02,-3.7801e-03,9.2276e-04,1.1410e-02,-8.7329e-04,1.5946e-01,1.1480e-02
+2,2.7833e+00,DOWN_FORCE_DETACH,5.9350e-04,5.4028e-01,8.4557e-01,2.4650e+00,-9.8764e-02,7.5823e-02,9.9348e-04,2.1559e-01,-1.7234e-02,-5.9409e-03,1.1846e-03,1.5500e-02,-1.2179e-03,2.1636e-01,1.5593e-02
+3,4.2167e+00,DOWN_FORCE_DETACH,8.9578e-04,4.7584e-01,8.7869e-01,2.4487e+00,-1.0117e-01,7.1177e-02,9.8699e-04,1.5115e-01,1.5885e-02,-2.2227e-02,-1.2252e-03,1.0855e-02,-1.2244e-03,1.5360e-01,1.0992e-02
+4,5.6333e+00,DOWN_FORCE_DETACH,1.1938e-03,5.1269e-01,7.7091e-01,2.5518e+00,-9.3283e-02,7.3691e-02,8.5365e-04,1.8801e-01,-9.1893e-02,8.0888e-02,6.6661e-03,1.3369e-02,-1.3577e-03,2.2436e-01,1.5000e-02
+5,6.8333e+00,DOWN_FORCE_DETACH,1.4917e-03,5.5637e-01,7.6916e-01,2.5059e+00,-9.3153e-02,7.6942e-02,8.0529e-04,2.3169e-01,-9.3638e-02,3.4923e-02,6.7959e-03,1.6620e-02,-1.4061e-03,2.5233e-01,1.8010e-02
+6,8.1833e+00,DOWN_FORCE_DETACH,1.7897e-03,5.2306e-01,8.6071e-01,2.5344e+00,-9.9687e-02,7.4460e-02,8.9090e-04,1.9837e-01,-2.0922e-03,6.3470e-02,2.6158e-04,1.4137e-02,-1.3205e-03,2.0829e-01,1.4201e-02
+7,9.4833e+00,DOWN_FORCE_DETACH,2.0901e-03,5.2797e-01,8.0629e-01,2.5895e+00,-9.5660e-02,7.4738e-02,8.4293e-04,2.0328e-01,-5.6509e-02,1.1856e-01,4.2886e-03,1.4415e-02,-1.3684e-03,2.4202e-01,1.5102e-02
+8,1.0900e+01,DOWN_FORCE_DETACH,2.3850e-03,4.5741e-01,8.7866e-01,2.6217e+00,-1.0080e-01,6.9617e-02,8.7058e-04,1.3273e-01,1.5856e-02,1.5077e-01,-8.4890e-04,9.2950e-03,-1.3408e-03,2.0149e-01,9.4295e-03
+9,1.2267e+01,DOWN_FORCE_DETACH,2.6855e-03,5.5265e-01,8.7249e-01,2.5300e+00,-1.0040e-01,7.6613e-02,8.4137e-04,2.2797e-01,9.6895e-03,5.9049e-02,-4.4938e-04,1.6291e-02,-1.3700e-03,2.3570e-01,1.6354e-02
+10,1.3600e+01,DOWN_FORCE_DETACH,2.9804e-03,5.5654e-01,8.6883e-01,2.5708e+00,-1.0003e-01,7.6844e-02,7.9134e-04,2.3186e-01,6.0313e-03,9.9824e-02,-8.4527e-05,1.6522e-02,-1.4200e-03,2.5251e-01,1.6583e-02
+11,1.5033e+01,DOWN_FORCE_DETACH,3.2830e-03,5.3874e-01,8.9311e-01,2.5818e+00,-1.0170e-01,7.5524e-02,7.6979e-04,2.1406e-01,3.0304e-02,1.1088e-01,-1.7480e-03,1.5201e-02,-1.4416e-03,2.4297e-01,1.5369e-02
+12,1.6417e+01,DOWN_FORCE_DETACH,3.5790e-03,5.0797e-01,8.6577e-01,2.6071e+00,-9.9648e-02,7.3274e-02,7.1217e-04,1.8329e-01,2.9659e-03,1.3619e-01,3.0059e-04,1.2951e-02,-1.4992e-03,2.2836e-01,1.3041e-02
+13,1.7617e+01,DOWN_FORCE_DETACH,3.8819e-03,4.9490e-01,9.7421e-01,2.6520e+00,-1.0738e-01,7.2271e-02,7.3867e-04,1.7021e-01,1.1141e-01,1.8105e-01,-7.4305e-03,1.1949e-02,-1.4727e-03,2.7233e-01,1.4147e-02
+14,1.8967e+01,DOWN_FORCE_DETACH,4.1773e-03,5.7254e-01,9.7113e-01,2.5465e+00,-1.0719e-01,7.8054e-02,6.3870e-04,2.4786e-01,1.0833e-01,7.5546e-02,-7.2370e-03,1.7732e-02,-1.5727e-03,2.8085e-01,1.9216e-02
+15,2.0400e+01,DOWN_FORCE_DETACH,4.4738e-03,5.5209e-01,9.8679e-01,2.6203e+00,-1.0808e-01,7.6758e-02,5.3946e-04,2.2741e-01,1.2399e-01,1.4937e-01,-8.1294e-03,1.6436e-02,-1.6719e-03,2.9900e-01,1.8413e-02
+16,2.1800e+01,DOWN_FORCE_DETACH,4.7731e-03,5.8208e-01,1.0198e+00,2.5589e+00,-1.1055e-01,7.8726e-02,4.9732e-04,2.5740e-01,1.5701e-01,8.7975e-02,-1.0602e-02,1.8403e-02,-1.7141e-03,3.1408e-01,2.1308e-02
+17,2.3100e+01,DOWN_FORCE_DETACH,5.0715e-03,5.7520e-01,8.9121e-01,2.5619e+00,-1.0124e-01,7.8213e-02,3.8265e-04,2.5052e-01,2.8410e-02,9.0919e-02,-1.2938e-03,1.7891e-02,-1.8287e-03,2.6802e-01,1.8031e-02
+18,2.4450e+01,DOWN_FORCE_DETACH,5.3721e-03,5.7636e-01,9.5089e-01,2.5632e+00,-1.0549e-01,7.8290e-02,3.8647e-04,2.5168e-01,8.8090e-02,9.2272e-02,-5.5421e-03,1.7968e-02,-1.8249e-03,2.8216e-01,1.8891e-02
+19,2.5900e+01,DOWN_FORCE_DETACH,5.6678e-03,5.2916e-01,9.6804e-01,2.6699e+00,-1.0656e-01,7.4687e-02,3.6405e-04,2.0448e-01,1.0523e-01,1.9899e-01,-6.6067e-03,1.4365e-02,-1.8473e-03,3.0411e-01,1.5919e-02
+20,2.7150e+01,DOWN_FORCE_DETACH,5.9655e-03,5.2632e-01,9.9455e-01,2.6446e+00,-1.0843e-01,7.4504e-02,3.5327e-04,2.0164e-01,1.3175e-01,1.7364e-01,-8.4822e-03,1.4182e-02,-1.8581e-03,2.9693e-01,1.6629e-02
+21,2.8350e+01,DOWN_FORCE_DETACH,6.2669e-03,5.5831e-01,1.0453e+00,2.6335e+00,-1.1205e-01,7.6810e-02,3.3911e-04,2.3362e-01,1.8251e-01,1.6250e-01,-1.2099e-02,1.6487e-02,-1.8723e-03,3.3808e-01,2.0536e-02
+22,2.9683e+01,DOWN_FORCE_DETACH,6.5656e-03,5.8116e-01,9.6221e-01,2.5922e+00,-1.0609e-01,7.8504e-02,2.0535e-04,2.5648e-01,9.9405e-02,1.2127e-01,-6.1411e-03,1.8182e-02,-2.0060e-03,3.0061e-01,1.9296e-02
+23,3.1133e+01,DOWN_FORCE_DETACH,6.8636e-03,5.5530e-01,9.9222e-01,2.6758e+00,-1.0816e-01,7.6476e-02,1.6546e-04,2.3062e-01,1.2942e-01,2.0482e-01,-8.2146e-03,1.6154e-02,-2.0459e-03,3.3450e-01,1.8238e-02
+24,3.2517e+01,DOWN_FORCE_DETACH,7.1606e-03,5.2854e-01,9.3408e-01,2.7556e+00,-1.0390e-01,7.4434e-02,9.3238e-05,2.0385e-01,7.1277e-02,2.8462e-01,-3.9513e-03,1.4111e-02,-2.1181e-03,3.5728e-01,1.4807e-02
+25,3.3983e+01,DOWN_FORCE_DETACH,7.4582e-03,5.4793e-01,1.0290e+00,2.7636e+00,-1.1060e-01,7.5808e-02,8.7948e-05,2.2325e-01,1.6615e-01,2.9261e-01,-1.0656e-02,1.5486e-02,-2.1234e-03,4.0382e-01,1.8918e-02
+26,3.5267e+01,DOWN_FORCE_DETACH,7.7584e-03,5.4063e-01,1.0524e+00,2.8399e+00,-1.1212e-01,7.5256e-02,8.6848e-05,2.1595e-01,1.8959e-01,3.6893e-01,-1.2175e-02,1.4933e-02,-2.1245e-03,4.6764e-01,1.9384e-02
+27,3.6600e+01,DOWN_FORCE_DETACH,8.0564e-03,5.1773e-01,1.0607e+00,2.8498e+00,-1.1283e-01,7.3575e-02,1.4351e-04,1.9305e-01,1.9788e-01,3.7888e-01,-1.2885e-02,1.3253e-02,-2.0679e-03,4.6901e-01,1.8599e-02
+28,3.7900e+01,DOWN_FORCE_DETACH,8.3538e-03,5.3825e-01,1.1575e+00,2.8181e+00,-1.1962e-01,7.4832e-02,2.5223e-04,2.1357e-01,2.9471e-01,3.4712e-01,-1.9667e-02,1.4510e-02,-1.9592e-03,5.0294e-01,2.4519e-02
+29,3.9100e+01,DOWN_FORCE_DETACH,8.6509e-03,5.5610e-01,1.1964e+00,2.8226e+00,-1.2225e-01,7.6094e-02,3.2491e-04,2.3142e-01,3.3365e-01,3.5161e-01,-2.2298e-02,1.5771e-02,-1.8865e-03,5.3713e-01,2.7377e-02
+30,4.0467e+01,DOWN_FORCE_DETACH,8.9509e-03,5.5126e-01,1.1871e+00,2.8966e+00,-1.2139e-01,7.5581e-02,3.5966e-04,2.2658e-01,3.2425e-01,4.2565e-01,-2.1445e-02,1.5258e-02,-1.8517e-03,5.8108e-01,2.6384e-02
+31,4.1733e+01,DOWN_FORCE_DETACH,9.2480e-03,5.1115e-01,1.1903e+00,2.9310e+00,-1.2152e-01,7.2626e-02,3.7923e-04,1.8647e-01,3.2748e-01,4.6008e-01,-2.1573e-02,1.2303e-02,-1.8322e-03,5.9472e-01,2.4902e-02
+32,4.3017e+01,DOWN_FORCE_DETACH,9.5460e-03,5.1973e-01,1.1955e+00,2.9900e+00,-1.2172e-01,7.3153e-02,3.5645e-04,1.9505e-01,3.3267e-01,5.1905e-01,-2.1769e-02,1.2830e-02,-1.8549e-03,6.4663e-01,2.5337e-02
+33,4.4233e+01,DOWN_FORCE_DETACH,9.8458e-03,4.8751e-01,1.2226e+00,3.0362e+00,-1.2363e-01,7.0770e-02,3.6479e-04,1.6283e-01,3.5979e-01,5.6523e-01,-2.3677e-02,1.0448e-02,-1.8466e-03,6.8953e-01,2.5945e-02
+34,4.5533e+01,DOWN_FORCE_DETACH,1.0145e-02,4.9837e-01,1.2807e+00,3.1810e+00,-1.2739e-01,7.1399e-02,3.5113e-04,1.7369e-01,4.1791e-01,7.1002e-01,-2.7436e-02,1.1077e-02,-1.8603e-03,8.4199e-01,2.9646e-02
+35,4.6767e+01,DOWN_FORCE_DETACH,1.0440e-02,4.5007e-01,1.3413e+00,3.2617e+00,-1.3153e-01,6.8070e-02,3.5729e-04,1.2539e-01,4.7850e-01,7.9070e-01,-3.1577e-02,7.7480e-03,-1.8541e-03,9.3268e-01,3.2566e-02
+36,4.8150e+01,DOWN_FORCE_DETACH,1.0739e-02,4.7244e-01,1.3652e+00,3.2179e+00,-1.3281e-01,6.9363e-02,3.6211e-04,1.4776e-01,5.0241e-01,7.4698e-01,-3.2864e-02,9.0403e-03,-1.8493e-03,9.1227e-01,3.4135e-02
+37,4.9433e+01,DOWN_FORCE_DETACH,1.1038e-02,4.6310e-01,1.4917e+00,3.3121e+00,-1.4088e-01,6.8683e-02,3.7752e-04,1.3842e-01,6.2888e-01,8.4113e-01,-4.0931e-02,8.3608e-03,-1.8339e-03,1.0593e+00,4.1816e-02
+38,5.0633e+01,DOWN_FORCE_DETACH,1.1336e-02,4.4841e-01,1.5302e+00,3.5167e+00,-1.4350e-01,6.7230e-02,5.7096e-04,1.2373e-01,6.6737e-01,1.0457e+00,-4.3553e-02,6.9074e-03,-1.6404e-03,1.2467e+00,4.4128e-02
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Part2/Fixed/digit/cylinder_PLA_15/press_depth_08/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_PLA_15/press_depth_08/up/franka_data.csv

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Part2/Fixed/digit/cylinder_PLA_15/press_depth_08/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+54,8.616666667e+00,UP_SETTLE,1793078383608271123,-1.034395690e-04,-1.940892191e-04,4.262277824e-04,-1.011090493e-04,-1.950665112e-04,4.200823864e-04,-9.941082975e-05,-1.769730933e-04,4.157844135e-04,7.018521932e-01,-2.163599542e-04,8.605693150e-01,7.018545238e-01,-2.173372463e-04,8.605631696e-01,7.026467251e-01,-2.913376474e-04,8.307410312e-01
+55,8.750000000e+00,UP_SETTLE,1793078383775312502,-1.044571217e-04,-1.943053423e-04,4.293521872e-04,-1.011090493e-04,-1.950665112e-04,4.200823864e-04,-9.959545574e-05,-1.769624347e-04,4.160686439e-04,7.018511757e-01,-2.165760773e-04,8.605724394e-01,7.018545238e-01,-2.173372463e-04,8.605631696e-01,7.026465404e-01,-2.913269888e-04,8.307413155e-01
+56,8.916666667e+00,UP_SETTLE,1793078383939115944,-1.106083001e-04,-1.981320662e-04,4.288966607e-04,-1.011090493e-04,-1.950665112e-04,4.200823864e-04,-9.979316676e-05,-1.769503225e-04,4.163733217e-04,7.018450245e-01,-2.204028012e-04,8.605719839e-01,7.018545238e-01,-2.173372463e-04,8.605631696e-01,7.026463427e-01,-2.913148767e-04,8.307416201e-01
+57,9.050000000e+00,UP_SETTLE,1793078384071091404,-1.084192081e-04,-1.961034156e-04,4.385456247e-04,-1.011090493e-04,-1.950665112e-04,4.200823864e-04,-9.993158220e-05,-1.769412615e-04,4.165873158e-04,7.018472136e-01,-2.183741506e-04,8.605816329e-01,7.018545238e-01,-2.173372463e-04,8.605631696e-01,7.026462043e-01,-2.913058156e-04,8.307418341e-01
+58,9.233333333e+00,UP_SETTLE,1793078384250533403,-1.102276377e-04,-1.960656455e-04,4.398244442e-04,-1.085831131e-04,-1.935211168e-04,4.390625945e-04,-1.075471227e-04,-1.755209301e-04,4.350333482e-04,7.018454052e-01,-2.183363805e-04,8.605829117e-01,7.018470497e-01,-2.157918518e-04,8.605821498e-01,7.026385888e-01,-2.898854843e-04,8.307602802e-01
+59,9.400000000e+00,UP_SETTLE,1793078384500014800,-1.128939915e-04,-1.912845126e-04,4.416751406e-04,-1.085831131e-04,-1.935211168e-04,4.390625945e-04,-1.077410533e-04,-1.755090798e-04,4.353606181e-04,7.018427388e-01,-2.135552476e-04,8.605847624e-01,7.018470497e-01,-2.157918518e-04,8.605821498e-01,7.026383948e-01,-2.898736339e-04,8.307606074e-01

Part2/Fixed/digit/cylinder_PLA_15/press_depth_08/up/simulation_data.csv

@@ -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+00,3.2896e-01,8.6371e-01,2.4693e+00,-1.0004e-01,6.0616e-02,2.1786e-03,2.6166e-04,-4.5002e-05,-3.7670e-05,3.3975e-06,1.6965e-05,-1.3411e-07,2.6816e-04,1.7302e-05
+1,2.1667e-01,WAIT_W2,4.2005e-05,3.6821e-01,8.5795e-01,2.4681e+00,-9.9634e-02,6.3390e-02,1.9504e-03,3.9514e-02,-5.8060e-03,-1.2488e-03,4.1208e-04,2.7912e-03,-2.2833e-04,3.9958e-02,2.8307e-03
+2,4.1667e-01,WAIT_W2,8.3069e-05,3.8730e-01,8.5495e-01,2.4694e+00,-9.9380e-02,6.4802e-02,1.9005e-03,5.8601e-02,-8.8058e-03,3.6716e-05,6.6672e-04,4.2027e-03,-2.7823e-04,5.9259e-02,4.2644e-03
+3,6.0000e-01,WAIT_W2,1.2429e-04,4.1192e-01,8.5283e-01,2.4691e+00,-9.9235e-02,6.6588e-02,1.7404e-03,8.3228e-02,-1.0929e-02,-1.8048e-04,8.1117e-04,5.9891e-03,-4.3830e-04,8.3943e-02,6.0597e-03
+4,7.8333e-01,WAIT_W2,1.6401e-04,4.3499e-01,8.5100e-01,2.4687e+00,-9.9111e-02,6.8251e-02,1.6097e-03,1.0630e-01,-1.2758e-02,-6.2752e-04,9.3578e-04,7.6517e-03,-5.6903e-04,1.0706e-01,7.7297e-03
+5,9.3333e-01,WAIT_W2,2.0226e-04,4.4566e-01,8.5187e-01,2.4680e+00,-9.9216e-02,6.9017e-02,1.5514e-03,1.1696e-01,-1.1885e-02,-1.2989e-03,8.3087e-04,8.4184e-03,-6.2731e-04,1.1757e-01,8.4825e-03
+6,9.6667e-01,WAIT_W2,2.3785e-04,4.4613e-01,8.5184e-01,2.4680e+00,-9.9213e-02,6.9048e-02,1.5511e-03,1.1743e-01,-1.1913e-02,-1.3013e-03,8.3332e-04,8.4491e-03,-6.2760e-04,1.1804e-01,8.5132e-03
+7,1.0000e+00,WAIT_W2,3.0310e-04,4.3088e-01,2.2535e+00,2.4015e+00,-2.0032e-01,6.8072e-02,2.6274e-03,1.0218e-01,1.3898e+00,-6.7774e-02,-1.0027e-01,7.4729e-03,4.4873e-04,1.3952e+00,1.0055e-01
+8,1.0167e+00,WAIT_W2,3.4586e-04,4.5376e-01,2.8610e+00,2.3822e+00,-2.4451e-01,6.9643e-02,2.8583e-03,1.2506e-01,1.9972e+00,-8.7118e-02,-1.4446e-01,9.0439e-03,6.7963e-04,2.0030e+00,1.4474e-01
+9,1.0333e+00,WAIT_W2,3.8001e-04,4.5263e-01,3.7007e+00,2.3200e+00,-3.0518e-01,6.9582e-02,3.8407e-03,1.2394e-01,2.8369e+00,-1.4933e-01,-2.0513e-01,8.9827e-03,1.6620e-03,2.8435e+00,2.0534e-01
+10,1.0500e+00,WAIT_W2,4.1554e-04,4.5185e-01,4.3751e+00,2.3355e+00,-3.5401e-01,6.9570e-02,4.0899e-03,1.2315e-01,3.5114e+00,-1.3385e-01,-2.5397e-01,8.9712e-03,1.9112e-03,3.5161e+00,2.5413e-01
+11,1.1333e+00,WAIT_W2,4.5869e-04,3.9858e-01,5.6635e+00,2.2466e+00,-4.4741e-01,6.5936e-02,5.5672e-03,6.9885e-02,4.7997e+00,-2.2269e-01,-3.4736e-01,5.3367e-03,3.3885e-03,4.8054e+00,3.4742e-01
+12,1.2167e+00,WAIT_W2,4.9774e-04,3.1568e-01,5.7478e+00,2.1119e+00,-4.5431e-01,5.9921e-02,5.6577e-03,-1.3017e-02,4.8840e+00,-3.5746e-01,-3.5426e-01,-6.7820e-04,3.4790e-03,4.8971e+00,3.5428e-01
+13,1.3000e+00,WAIT_W2,5.3696e-04,1.1941e-01,5.4397e+00,1.8278e+00,-4.3383e-01,4.6725e-02,5.7735e-03,-2.0929e-01,4.5760e+00,-6.4154e-01,-3.3379e-01,-1.3874e-02,3.5948e-03,4.6254e+00,3.3409e-01
+14,1.4667e+00,WAIT_W2,5.8101e-04,8.3650e-02,5.3906e+00,1.8100e+00,-4.3042e-01,4.4152e-02,5.8315e-03,-2.4505e-01,4.5268e+00,-6.5933e-01,-3.3038e-01,-1.6447e-02,3.6528e-03,4.5811e+00,3.3081e-01
+15,1.6167e+00,WAIT_W2,6.2125e-04,7.0628e-02,5.3177e+00,1.7806e+00,-4.2562e-01,4.3145e-02,5.8823e-03,-2.5807e-01,4.4539e+00,-6.8872e-01,-3.2558e-01,-1.7454e-02,3.7036e-03,4.5142e+00,3.2606e-01
+16,1.8333e+00,UP_FORCE_RAMP,6.6340e-04,1.2122e-01,5.2906e+00,1.8294e+00,-4.2379e-01,4.6357e-02,5.9164e-03,-2.0748e-01,4.4269e+00,-6.3990e-01,-3.2374e-01,-1.4242e-02,3.7377e-03,4.4777e+00,3.2408e-01
+17,2.0000e+00,UP_FORCE_RAMP,7.0475e-04,2.2138e-01,5.2758e+00,1.9521e+00,-4.2259e-01,5.3137e-02,5.9502e-03,-1.0732e-01,4.4120e+00,-5.1723e-01,-3.2254e-01,-7.4620e-03,3.7714e-03,4.4435e+00,3.2265e-01
+18,2.1833e+00,UP_FORCE_RAMP,7.4460e-04,2.6867e-01,5.2710e+00,1.9936e+00,-4.2216e-01,5.6548e-02,5.9332e-03,-6.0024e-02,4.4072e+00,-4.7569e-01,-3.2212e-01,-4.0512e-03,3.7545e-03,4.4332e+00,3.2216e-01
+19,2.3500e+00,UP_FORCE_RAMP,7.8574e-04,3.1580e-01,5.2678e+00,2.0422e+00,-4.2186e-01,6.0025e-02,5.8603e-03,-1.2900e-02,4.4040e+00,-4.2708e-01,-3.2181e-01,-5.7367e-04,3.6816e-03,4.4247e+00,3.2183e-01
+20,2.5167e+00,UP_FORCE_RAMP,8.2780e-04,3.5604e-01,5.2644e+00,2.0665e+00,-4.2152e-01,6.3146e-02,5.6061e-03,2.7346e-02,4.4006e+00,-4.0279e-01,-3.2147e-01,2.5471e-03,3.4274e-03,4.4191e+00,3.2150e-01
+21,2.7000e+00,UP_FORCE_RAMP,8.6825e-04,3.7691e-01,5.2612e+00,2.1024e+00,-4.2122e-01,6.4723e-02,5.3004e-03,4.8210e-02,4.3974e+00,-3.6692e-01,-3.2117e-01,4.1239e-03,3.1217e-03,4.4130e+00,3.2122e-01
+22,2.9167e+00,UP_FORCE_RAMP,9.1147e-04,4.2522e-01,5.2593e+00,2.1379e+00,-4.2098e-01,6.8123e-02,5.0377e-03,9.6523e-02,4.3956e+00,-3.3144e-01,-3.2093e-01,7.5236e-03,2.8590e-03,4.4091e+00,3.2103e-01
+23,3.1167e+00,UP_FORCE_RAMP,9.5208e-04,4.4529e-01,5.2568e+00,2.1692e+00,-4.2072e-01,6.9549e-02,4.7937e-03,1.1660e-01,4.3931e+00,-3.0011e-01,-3.2067e-01,8.9503e-03,2.6150e-03,4.4048e+00,3.2081e-01
+24,3.2500e+00,UP_FORCE_RAMP,9.9142e-04,5.0386e-01,5.0211e+00,2.0639e+00,-4.0397e-01,7.3801e-02,4.2268e-03,1.7516e-01,4.1573e+00,-4.0542e-01,-3.0393e-01,1.3202e-02,2.0481e-03,4.1807e+00,3.0422e-01
+25,3.4333e+00,UP_FORCE_RAMP,1.0339e-03,5.2137e-01,5.0192e+00,2.1096e+00,-4.0382e-01,7.4954e-02,4.1915e-03,1.9267e-01,4.1554e+00,-3.5971e-01,-3.0378e-01,1.4355e-02,2.0127e-03,4.1754e+00,3.0412e-01
+26,3.6333e+00,UP_FORCE_RAMP,1.0776e-03,5.3803e-01,5.0175e+00,2.1367e+00,-4.0356e-01,7.6195e-02,3.9585e-03,2.0933e-01,4.1537e+00,-3.3258e-01,-3.0352e-01,1.5596e-02,1.7798e-03,4.1723e+00,3.0392e-01
+27,3.8333e+00,UP_FORCE_RAMP,1.1166e-03,5.8024e-01,5.0910e+00,2.0049e+00,-4.0938e-01,7.9406e-02,3.6844e-03,2.5154e-01,4.2273e+00,-4.6437e-01,-3.0933e-01,1.8807e-02,1.5057e-03,4.2601e+00,3.0990e-01
+28,4.0500e+00,UP_FORCE_RAMP,1.1565e-03,5.8997e-01,5.0884e+00,2.0600e+00,-4.0903e-01,8.0073e-02,3.4194e-03,2.6127e-01,4.2246e+00,-4.0929e-01,-3.0898e-01,1.9474e-02,1.2407e-03,4.2524e+00,3.0960e-01
+29,4.2000e+00,UP_FORCE_RAMP,1.1991e-03,6.8493e-01,5.0875e+00,1.9628e+00,-4.0938e-01,8.7000e-02,2.9884e-03,3.5623e-01,4.2237e+00,-5.0648e-01,-3.0933e-01,2.6401e-02,8.0968e-04,4.2689e+00,3.1045e-01
+30,4.3500e+00,UP_FORCE_RAMP,1.2426e-03,6.9612e-01,5.0879e+00,2.0082e+00,-4.0942e-01,8.7760e-02,2.9467e-03,3.6742e-01,4.2241e+00,-4.6112e-01,-3.0937e-01,2.7161e-02,7.6798e-04,4.2651e+00,3.1056e-01
+31,4.5000e+00,UP_FORCE_RAMP,1.2825e-03,8.0614e-01,4.9678e+00,1.8975e+00,-4.0129e-01,9.5990e-02,2.4207e-03,4.7744e-01,4.1041e+00,-5.7178e-01,-3.0125e-01,3.5391e-02,2.4199e-04,4.1711e+00,3.0332e-01
+32,4.6833e+00,UP_FORCE_RAMP,1.3237e-03,7.6620e-01,4.9859e+00,1.9599e+00,-4.0241e-01,9.2921e-02,2.1708e-03,4.3750e-01,4.1221e+00,-5.0940e-01,-3.0237e-01,3.2322e-02,-7.8687e-06,4.1764e+00,3.0409e-01
+33,4.8667e+00,UP_FORCE_RAMP,1.3641e-03,8.4570e-01,5.0037e+00,1.8557e+00,-4.0409e-01,9.8712e-02,1.7101e-03,5.1700e-01,4.1399e+00,-6.1358e-01,-3.0404e-01,3.8113e-02,-4.6860e-04,4.2170e+00,3.0642e-01
+34,5.0667e+00,UP_FORCE_RAMP,1.4077e-03,9.4388e-01,4.9693e+00,1.7824e+00,-4.0183e-01,1.0657e-01,1.2729e-03,6.1518e-01,4.1055e+00,-6.8692e-01,-3.0178e-01,4.5976e-02,-9.0586e-04,4.2078e+00,3.0526e-01
+35,5.2500e+00,UP_FORCE_RAMP,1.4508e-03,9.2723e-01,4.9501e+00,1.8757e+00,-4.0061e-01,1.0481e-01,1.1188e-03,5.9853e-01,4.0863e+00,-5.9363e-01,-3.0056e-01,4.4213e-02,-1.0600e-03,4.1724e+00,3.0380e-01
+36,5.4000e+00,UP_FORCE_RAMP,1.4895e-03,9.3263e-01,4.9300e+00,1.7588e+00,-3.9943e-01,1.0518e-01,8.5053e-04,6.0393e-01,4.0662e+00,-7.1056e-01,-2.9938e-01,4.4580e-02,-1.3282e-03,4.1718e+00,3.0268e-01
+37,5.5833e+00,UP_FORCE_RAMP,1.5302e-03,9.4984e-01,4.8675e+00,1.7100e+00,-3.9541e-01,1.0661e-01,6.7510e-04,6.2115e-01,4.0037e+00,-7.5929e-01,-2.9537e-01,4.6010e-02,-1.5036e-03,4.1222e+00,2.9893e-01
+38,5.7833e+00,UP_FORCE_RAMP,1.5750e-03,1.0475e+00,4.9419e+00,1.5989e+00,-4.0133e-01,1.1392e-01,7.8477e-05,7.1885e-01,4.0781e+00,-8.7046e-01,-3.0128e-01,5.3323e-02,-2.1002e-03,4.2315e+00,3.0597e-01
+39,5.9667e+00,UP_FORCE_RAMP,1.6154e-03,1.0713e+00,4.7895e+00,1.5365e+00,-3.9011e-01,1.1570e-01,-2.8471e-04,7.4257e-01,3.9257e+00,-9.3280e-01,-2.9006e-01,5.5101e-02,-2.4634e-03,4.1028e+00,2.9526e-01
+40,6.1333e+00,UP_FORCE_RAMP,1.6547e-03,1.0172e+00,4.7859e+00,1.7072e+00,-3.9004e-01,1.1193e-01,-3.5796e-04,6.8852e-01,3.9222e+00,-7.6212e-01,-2.8999e-01,5.1328e-02,-2.5367e-03,4.0544e+00,2.9451e-01
+41,6.3500e+00,UP_FORCE_HOLD,1.6978e-03,1.1593e+00,4.7969e+00,1.6670e+00,-3.9116e-01,1.2222e-01,-1.1706e-03,8.3064e-01,3.9331e+00,-8.0231e-01,-2.9112e-01,6.1625e-02,-3.3493e-03,4.0992e+00,2.9759e-01
+42,6.5167e+00,UP_SETTLE,1.7388e-03,1.1941e+00,4.7890e+00,1.5798e+00,-3.9076e-01,1.2420e-01,-1.2254e-03,8.6538e-01,3.9252e+00,-8.8954e-01,-2.9071e-01,6.3599e-02,-3.4041e-03,4.1167e+00,2.9761e-01
+43,6.6167e+00,UP_SETTLE,1.7809e-03,1.2088e+00,4.7906e+00,1.5294e+00,-3.9097e-01,1.2524e-01,-1.2483e-03,8.8014e-01,3.9268e+00,-9.3992e-01,-2.9092e-01,6.4641e-02,-3.4270e-03,4.1326e+00,2.9804e-01
+44,6.7333e+00,UP_SETTLE,1.8229e-03,1.2065e+00,4.7914e+00,1.5292e+00,-3.9104e-01,1.2510e-01,-1.2546e-03,8.7778e-01,3.9276e+00,-9.4010e-01,-2.9100e-01,6.4499e-02,-3.4333e-03,4.1329e+00,2.9808e-01
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+46,7.0667e+00,UP_SETTLE,1.9056e-03,1.2870e+00,4.7251e+00,1.6264e+00,-3.8672e-01,1.3176e-01,-2.4621e-03,9.5831e-01,3.8614e+00,-8.4295e-01,-2.8667e-01,7.1160e-02,-4.6408e-03,4.0668e+00,2.9541e-01
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Part2/Fixed/digit/cylinder_PLA_15/press_depth_09/down/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e16eaa603b78d8377776a05381ba77081d3a31bd651062dc6d17cc0cf170a200
+size 624640

Part2/Fixed/digit/cylinder_PLA_15/press_depth_09/down/franka_data.csv

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+15484,1793078494298049188,15045435000000,1793078494294271584,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.676057984964266,-0.0048995524250009985,0.0997578211271222,0.9999999915127988,-4.0494120773613694e-05,-4.439572464906081e-05,6.93290169876319e-05,0.6761,-0.0046,0.09968738800789645,1.0,0.0,0.0,0.0,-0.22873582637172657,0.5340945691576156,0.756572886726455,0.038366188190468636,0.013956167452333199,0.003572081342884128,0.09320226801241034,1.6486629650135247,2.4735215885191373,0.10457504509558509,0.0018449358165087497,0.004864739038204309,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,1.6939622942810597,1.408836447971142,-1.0988121966127902,-0.20167891722823997,0.975244163892172,0.845138349939635,1.4971545748224069,-0.756572886726455,2.5959667714351973,2.5959667714351973,2.6851535073969535,0,0,-3.5212627559648386e-05,-9.999980984798924e-05
+15641,1793078495606226837,15046743000000,1793078495602261719,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6760688469811831,-0.004895928282688951,0.09974318789305374,0.9999999920673781,-3.081447424017513e-05,-2.4914624326628355e-05,7.574851641212508e-05,0.6761,-0.0046,0.09964847957910541,1.0,0.0,0.0,0.0,-0.3421538529242588,0.484513391798719,0.9356696200318371,0.03615606545102605,0.019707176889103645,0.004048459181502893,-0.020215758540121923,1.5990817876546282,2.6526183218245194,0.1023649223561425,0.007595945253279196,0.005341116876823075,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,1.8421104587631554,1.4572631941927148,-1.2922722086720466,-0.2015567145589531,1.1265313939154862,0.8823461745984498,1.4971545748224069,-0.9356696200318371,2.7894267834944535,2.7894267834944535,2.8159535073972295,0,0,-1.227801711275867e-05,-8.962283279257405e-05
+15798,1793078496914376692,15048051000000,1793078496914261977,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6760714250008065,-0.00489758491557289,0.09973561263267541,0.9999999919379134,-3.494932173956173e-05,-2.1442457284054287e-05,7.671898971901197e-05,0.6761,-0.0046,0.09963515596973188,1.0,0.0,0.0,0.0,-0.3719048481203747,0.48491237150272637,0.985518228098708,0.03711323736981326,0.021625181648427583,0.004046376779300425,-0.049966753736237816,1.5994807673586355,2.7024669298913904,0.10332209427492971,0.009513950012603134,0.005339034474620606,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,1.8876996222264641,1.3299508978082315,-1.3426438630423496,-0.15149595467893098,1.1658941186970357,0.8010801226373006,1.4971545748224069,-0.985518228098708,2.8397984378647565,2.8397984378647565,2.9467535073975055,0,0,-1.89116286894705e-05,-9.999999025923074e-05
+15957,1793078498239568598,15049376000000,1793078498234262318,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6760795251112505,-0.004900871600682604,0.0997173371605931,0.999999991544373,-3.105796007864774e-05,-7.435740942511151e-06,8.564012670714844e-05,0.6761,-0.0046,0.09959519511269088,1.0,0.0,0.0,0.0,-0.43397288565839826,0.5079879033306787,1.143297282529913,0.03901516625766499,0.02555775110187925,0.003996496083695759,-0.11203479127426136,1.6225562991865878,2.8602459843225954,0.10522402316278144,0.013446519466054803,0.00528915377901594,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,1.9345791309633038,1.3596389669221307,-1.5798523567036746,-0.146352969266575,1.3194090337388458,0.8196237833702804,1.4971545748224069,-1.143297282529913,3.0770069315260815,3.0770069315260815,3.079253507397785,0,0,-2.944040626976096e-05,9.999990699250389e-05
+16132,1793078499698677204,15050835000000,1793078499698262050,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6760852612516551,-0.004904387921955456,0.09970330349023016,0.9999999911206071,-3.565725269979305e-05,3.1679423591894565e-07,8.905116609596653e-05,0.6761,-0.0046,0.09957049291266276,1.0,0.0,0.0,0.0,-0.4719451228930806,0.5149836993392394,1.266459887125056,0.03955465785359495,0.02759577619871352,0.003930942769387762,-0.1500070285089437,1.6295520951951485,2.9834085889177384,0.1057635147587114,0.015484544562889072,0.005223600464707942,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,1.9499429022477477,1.393652126881132,-1.6789499071530563,-0.14930565624042802,1.3784499198740991,0.8293270144007762,1.4971545748224069,-1.266459887125056,3.176104481975463,3.176104481975463,3.225153507398093,0,0,-1.7260324665395406e-05,-9.999999025923074e-05
+16297,1793078501073869809,15052210000000,1793078501070261638,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6760930261586261,-0.004902145972694123,0.09969301138319003,0.9999999908586066,-3.071012279774697e-05,1.5161498700317915e-05,9.248063940387395e-05,0.6761,-0.0046,0.0995366627166177,1.0,0.0,0.0,0.0,-0.5290542674343182,0.5301116459699957,1.3882422199376603,0.040884815637547145,0.0305733799367197,0.0038936288125495364,-0.2071161730501812,1.6446800418259049,3.1051909217303426,0.1070936725426636,0.01846214830089525,0.005186286507869718,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.041987054348829,1.3422029950295473,-1.878993348764662,-0.11547142632705365,1.5226643180797994,0.7931220947906515,1.4971545748224069,-1.3882422199376603,3.3761479235870686,3.3761479235870686,3.362653507398383,0,0,-2.7231401221435074e-05,7.500152862516813e-05
+16506,1793078502814954774,15053951000000,1793078502814271396,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6760989387880669,-0.004905829235995184,0.09966864287228483,0.9999999898685589,-2.7662554440185566e-05,2.4083416769845746e-05,0.00010178663377222337,0.6761,-0.0046,0.09950229819856461,1.0,0.0,0.0,0.0,-0.5834265526121389,0.5536643471638962,1.5391623065449884,0.04277448654914415,0.034563462049862645,0.004464431899257697,-0.2614884582280021,1.6682327430198054,3.2561110083376708,0.1089833434542606,0.022452230414038196,0.005757089594577878,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.026518158795215,1.3661744715967734,-2.0113953530142,-0.10417705351386158,1.589886848878075,0.7974406672786831,1.4971545748224069,-1.5391623065449884,3.508549927836607,3.508549927836607,3.5367535073987506,0,0,-1.5230908280454374e-05,-8.74445890960473e-05
+16669,1793078504174150086,15055310000000,1793078504166271755,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6761110079445656,-0.004905743883459629,0.0996575277545072,0.9999999889435848,-2.591491284348847e-05,4.4902788212293264e-05,0.00010424898856460681,0.6761,-0.0046,0.099466231181351,1.0,0.0,0.0,0.0,-0.6261593877537212,0.5733992526282403,1.6704011989846343,0.04470416525022804,0.03753372933154449,0.00483251924239626,-0.30422129336958426,1.6879676484841495,3.3873499007773167,0.11091302215534449,0.025422497695720043,0.0061251769377164405,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.1678422395111197,1.3817942612844567,-2.1417306533021785,-0.08281656360348105,1.698497657975879,0.8016550117260379,1.4971545748224069,-1.6704011989846343,3.638885228124585,3.638885228124585,3.6726535073990374,0,0,-3.35920894670424e-05,-1.4129949844061924e-07
+16866,1793078505815388940,15056951000000,1793078505810261934,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6761186904018881,-0.00490387415514587,0.09963718894673218,0.9999999878656833,-2.391105588728379e-05,5.5931719829598106e-05,0.00010959653991411983,0.6761,-0.0046,0.09942890668329185,1.0,0.0,0.0,0.0,-0.6713679726011583,0.6054871242582371,1.811648141581377,0.04717298133843616,0.0404938304415116,0.00478682548413731,-0.3494298782170215,1.7200555201141463,3.5285968433740593,0.11338183824355261,0.028382598805687154,0.0060794831794574915,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.1539816503567155,1.2897841435679407,-2.2126075905983065,-0.05516628815633682,1.7304376397658228,0.7340820680973124,1.4971545748224069,-1.811648141581377,3.709762165420713,3.709762165420713,3.8367535073993837,0,0,-2.1990018621324776e-05,-9.999999025923074e-05
+17019,1793078507090494922,15058226000000,1793078507086262762,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6761256104363601,-0.004905458570206558,0.09961806179214151,0.999999986830145,-3.0403545641594116e-05,6.737803508567755e-05,0.00011098828314730023,0.6761,-0.0046,0.0993927454519638,1.0,0.0,0.0,0.0,-0.7135356691293022,0.6245287960802746,1.9463888131421723,0.04857316031078249,0.04347659394906974,0.00473975718403731,-0.39159757474516527,1.7390971919361837,3.6633375149348546,0.11478201721589894,0.03136536231324529,0.006032414879357491,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.274311449518828,1.3257893104817378,-2.564194107453848,-0.06365510167882671,1.980221261630606,0.7584381549697068,1.4971545748224069,-1.9463888131421723,4.061348682276255,4.061348682276255,3.9642535073996528,0,0,-3.128352620421359e-05,9.999961555895993e-05
+17194,1793078508549651178,15059685000000,1793078508546261968,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6761355665596258,-0.004912836369735968,0.0996000044494309,0.9999999851919809,-3.4734503333505094e-05,8.252353514546564e-05,0.00011420281588650856,0.6761,-0.0046,0.09935568017743561,1.0,0.0,0.0,0.0,-0.7452293852330318,0.6546932966924406,2.093477770212586,0.05052436312229233,0.04580494374718699,0.004680872824855768,-0.4232912908488949,1.7692616925483498,3.8104264720052687,0.11673322002740878,0.03369371211136254,0.005973530520175949,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.3353791595203086,1.3434676888599884,-2.6508597408360126,-0.07383640156548937,2.0512131646524465,0.7643541694379103,1.4971545748224069,-2.093477770212586,4.148014315658419,4.148014315658419,4.110153507399471,0,0,-1.8951551054831366e-05,9.98484309385816e-05
+17388,1793078510165836283,15061301000000,1793078510158272208,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6761447758903898,-0.004906708443759397,0.09957241804415051,0.9999999835524556,-3.887483401414795e-05,0.0001004581881985991,0.00011284880494671708,0.6761,-0.0046,0.0993056905481535,1.0,0.0,0.0,0.0,-0.8015827516857962,0.6900394310438203,2.244926823444307,0.05345841028530737,0.04939560938233788,0.004639268913292454,-0.4796446573016593,1.8046078268997294,3.9618755252369895,0.11966726719042382,0.03728437774651343,0.005931926608612636,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.3485048473540227,1.3956275780742986,-2.7758948676148334,-0.09624546522628413,2.1189970034325984,0.7973782275417356,1.4971545748224069,-2.244926823444307,4.27304944243724,4.27304944243724,4.271753507399095,0,0,-3.610725358008248e-05,9.136196940507375e-05
+17575,1793078511725022435,15062860000000,1793078511718262282,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6761525689202864,-0.0049102287297778935,0.09954427009593751,0.9999999819540217,-4.4825704268865094e-05,0.00011297851596133769,0.00011296606559108453,0.6761,-0.0046,0.0992640696109846,1.0,0.0,0.0,0.0,-0.8367653116543482,0.7202899599833921,2.3823594166750777,0.055420735371428276,0.051353629093574424,0.004579128349521578,-0.5148272172702113,1.8348583558393012,4.09930811846776,0.12162959227654473,0.039242397457749975,0.005871786044841759,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.399869011580995,1.3471624488176235,-2.916302479715265,-0.07569646432928324,2.2176229403397176,0.7653663449324573,1.4971545748224069,-2.3823594166750777,4.4134570545376715,4.4134570545376715,4.427653507398731,0,0,-2.6797299073406805e-05,9.860157212257548e-05
+17754,1793078513216139964,15064351000000,1793078513214261998,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6761646562153841,-0.004913444950302542,0.09951995146032837,0.9999999791975112,-5.554222404601701e-05,0.00013188193226310879,0.00011211627469111544,0.6761,-0.0046,0.09921496352584558,1.0,0.0,0.0,0.0,-0.8663635531251684,0.7392410403238625,2.5327613315240596,0.05636345353122833,0.05431102242168849,0.0045119461755402344,-0.5444254587410315,1.8538094361797717,4.249710033316742,0.12257231043634478,0.04219979078586404,0.005804603870860416,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.4406156813945894,1.3456472529012202,-3.06263089448211,-0.07151917549046188,2.3164143175167524,0.7609628430885288,1.4971545748224069,-2.5327613315240596,4.559785469304517,4.559785469304517,4.576753507398384,0,0,-3.511535757031036e-05,7.213522420912994e-05
+17935,1793078514725310192,15065860000000,1793078514722261835,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6761757445487883,-0.004914255907419242,0.09949147884086774,0.9999999761518833,-6.435449491747353e-05,0.00015017783930555646,0.00011155363163373468,0.6761,-0.0046,0.09916328425879545,1.0,0.0,0.0,0.0,-0.8806931664928043,0.7590196463445154,2.6677470298140307,0.05832084699399551,0.05528692279387248,0.004439987474578126,-0.5587550721086674,1.8735880422004245,4.384695731606713,0.12452970389911196,0.04317569115804803,0.005732645169898307,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.4739911694605357,1.3594121264611714,-3.156261225179162,-0.07264553501239118,2.3825485673087323,0.7706150817437926,1.4971545748224069,-2.6677470298140307,4.653415800001569,4.653415800001569,4.727653507398032,0,0,-3.539840804786388e-05,-9.999214930911932e-05
+18108,1793078516166453031,15067301000000,1793078516162262772,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6761867302491928,-0.004910757951822154,0.09946142248667258,0.9999999734032734,-6.811176610668678e-05,0.00016694404871571864,0.00011012170043877133,0.6761,-0.0046,0.09911227795701048,1.0,0.0,0.0,0.0,-0.9092142574834365,0.7779091791337398,2.798467609778349,0.05926330945917806,0.057265766780285596,0.004373887708209649,-0.5872761630992996,1.892477574989649,4.515416311571031,0.1254721663642945,0.04515453514446115,0.0056665454035298305,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.56296268798292,1.3436618322306548,-3.454000184174116,-0.07074799010439854,2.59357830427055,0.7583525620024447,1.4971545748224069,-2.798467609778349,4.951154758996523,4.951154758996523,4.871753507397696,0,0,-3.620553356145783e-05,9.885067350635097e-05
+18293,1793078517708657492,15068843000000,1793078517706261917,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6761970705113758,-0.0049138750258964446,0.09941965061481021,0.9999999694127647,-7.949125114260911e-05,0.00018455954626431484,0.00011061757990759895,0.6761,-0.0046,0.09904619524813532,1.0,0.0,0.0,0.0,-0.9203152317377483,0.8052413082937091,2.9579164194626504,0.060201142029502594,0.05923710448381073,0.0042862414375319634,-0.5983771373536114,1.9198097041496183,4.6748651212553325,0.12640999893461904,0.047125872847986285,0.005578899132852144,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.546172120164188,1.374651273866897,-3.4416010242914172,-0.07754537043513185,2.577871842225362,0.7800974684916573,1.4971545748224069,-2.9579164194626504,4.938755599113824,4.938755599113824,5.025953507397337,0,0,-4.335299235855151e-05,-9.990369228963231e-05
+18456,1793078519066798332,15070201000000,1793078519066272840,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6762087791700518,-0.004917735274091602,0.09938469871626258,0.9999999642095669,-8.851904799298247e-05,0.0002060019141513286,0.00011292173724099925,0.6761,-0.0046,0.09898786219081959,1.0,0.0,0.0,0.0,-0.9294738126083072,0.8066287823663105,3.06849723251302,0.059172488577129215,0.06024462143769006,0.004200718816145036,-0.6075357182241703,1.9211971782222197,4.785445934305702,0.12538134548224567,0.048133389801865614,0.005493376511465217,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.6222109030379874,1.3106710970905688,-3.6448143975818716,-0.05620856766869685,2.7249106992755134,0.7374094447598141,1.4971545748224069,-3.06849723251302,5.141968972404278,5.141968972404278,5.16175350739702,0,0,-4.4129537625477215e-05,8.324007735727718e-05
+18631,1793078520525955646,15071660000000,1793078520522261608,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6762245454223772,-0.004919623823841533,0.0993447772002614,0.9999999580708787,-9.409026867891774e-05,0.0002313132213517472,0.00011376431864036982,0.6761,-0.0046,0.09891964878529286,1.0,0.0,0.0,0.0,-0.9512451366529954,0.8240178285349373,3.1935387302909994,0.060031305123998,0.06222622508079747,0.0035366840336452624,-0.6293070422688585,1.9385862243908465,4.9104874320836815,0.12624016202911445,0.05011499344497302,0.004829341728965444,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.5814464118427733,1.4302616650637108,-3.828192821055307,-0.09162613324846806,2.829444816251429,0.8163082868301279,1.4971545748224069,-3.1935387302909994,5.3253473958777136,5.3253473958777136,5.30765350739668,0,0,-5.019158919453292e-05,9.961636657085932e-05
+18798,1793078521917098813,15073051000000,1793078521914271481,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6762337556555675,-0.004920522464342728,0.09929002885978902,0.9999999529837803,-0.00010848926838637408,0.0002468453310457629,0.00011301664857569474,0.6761,-0.0046,0.09884566606025837,1.0,0.0,0.0,0.0,-0.9780956978411103,0.8395725601617336,3.349846229932978,0.05998344643977073,0.06518609469104902,0.003073391702142246,-0.6561576034569734,1.9541409560176428,5.06679493172566,0.12619230334488718,0.05307486305522457,0.004366049397462427,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.6425767646587492,1.406073591351788,-3.888113175373188,-0.08332561306659483,2.8811558808427087,0.7990340978535306,1.4971545748224069,-3.349846229932978,5.385267750195595,5.385267750195595,5.446753507396356,0,0,-5.216913314817629e-05,-4.992872368181907e-05
+18965,1793078523309187178,15074443000000,1793078523306261752,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6762479073450134,-0.004918616816490881,0.09924909470912055,0.999999945874469,-0.00011521890701540273,0.0002712900117132078,0.0001132265700810198,0.6761,-0.0046,0.09878065128293692,1.0,0.0,0.0,0.0,-0.9629097634242878,0.8215086330029233,3.457729612809639,0.058960568042414216,0.06421849880933544,0.002918451461597552,-0.6409716690401509,1.9360770288588325,5.174678314602321,0.12516942494753067,0.052107267173510996,0.004211109156917733,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.685073427801388,1.3638965210483824,-4.044624467230538,-0.07939766224259164,2.998139937220821,0.7663304170975356,1.4971545748224069,-3.457729612809639,5.541779042052944,5.541779042052944,5.585953507396032,0,0,-4.531101126937243e-05,-7.776108224578409e-05
+19138,1793078524751352314,15075885000000,1793078524750262340,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6762597042906857,-0.004922767768391709,0.0991952054476791,0.9999999392255446,-0.00012402521974978504,0.00029096554354410964,0.00011379177760760657,0.6761,-0.0046,0.09870315393151463,1.0,0.0,0.0,0.0,-0.968574709810457,0.8330622841500785,3.580096742159226,0.058539690403440106,0.06521212674388904,0.0028295833360724855,-0.6466366154263201,1.9476306800059877,5.297045443951908,0.12474854730855656,0.053100895108064594,0.004122241031392667,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.6470905861317657,1.3845550600604473,-4.109583602516778,-0.08277592363317336,3.0279806901214896,0.7795384637428964,1.4971545748224069,-3.580096742159226,5.606738177339184,5.606738177339184,5.730153507395696,0,0,-6.0627520083482385e-05,-9.999695102370083e-05
+19307,1793078526159499565,15077293000000,1793078526158262549,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6762746009080974,-0.004922650923942174,0.09913548117754108,0.9999999303506334,-0.00014110849406529625,0.0003144490419364142,0.00010932422167621449,0.6761,-0.0046,0.09862007779071866,1.0,0.0,0.0,0.0,-0.9587889078121294,0.8211179115564642,3.7296304628400785,0.056852148958026025,0.0652147082141027,0.0019566502348286486,-0.6368508134279925,1.9356863074123734,5.446579164632761,0.12306100586314248,0.053103476578278255,0.00324930793014883,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.6137686544785654,1.4572256450955492,-4.315735237351486,-0.10322608874421192,3.1518595882404776,0.8241377981500914,1.4971545748224069,-3.7296304628400785,5.812889812173893,5.812889812173893,5.870953507395368,0,0,-6.144926103975507e-05,-8.31027598587343e-05
+19464,1793078527467697436,15078601000000,1793078527466261935,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6762888149707476,-0.004929367893425128,0.09907822363422235,0.999999920096661,-0.0001509626795449542,0.00034026028838241625,0.0001126176771513995,0.6761,-0.0046,0.09853501979350013,1.0,0.0,0.0,0.0,-0.9600084471078774,0.8290473488595613,3.8362006442212513,0.05680403649979596,0.06619943546568072,0.001593285539703994,-0.6380703527237405,1.9436157447154705,5.553149346013933,0.12301289340491241,0.054088203829856275,0.0028859432350241752,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.6797159836618425,1.4823125604024352,-4.4999259913434715,-0.10511681747961178,3.2884330468349576,0.8409061468453936,1.4971545748224069,-3.8362006442212513,5.997080566165878,5.997080566165878,6.001753507395063,0,0,-6.554427274954732e-05,9.999999025923074e-05
+19631,1793078528859785898,15079993000000,1793078528854271485,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6763007092132443,-0.004932905900171083,0.09900807246459431,0.9999999113786325,-0.00016644724791096846,0.00035784711003721296,0.00011369411140465662,0.6761,-0.0046,0.09844533939307848,1.0,0.0,0.0,0.0,-0.9602230360858676,0.8233394329811938,3.9661275830392375,0.05655462529624079,0.06622613464208615,0.0014902353147697319,-0.6382849417017307,1.937907828837103,5.68307628483192,0.12276348220135724,0.0541149030062617,0.002782893010089913,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.684257452053228,1.4170498938136586,-4.576667966024629,-0.09282553622007009,3.342029942633746,0.7953873612873772,1.4971545748224069,-3.9661275830392375,6.073822540847035,6.073822540847035,6.140953507394738,0,0,-5.710373139208714e-05,-9.9990511730158e-05
+19810,1793078530351918499,15081485000000,1793078530346271495,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6763168333653068,-0.004935172188032253,0.0989349025693533,0.9999998991791935,-0.0001782390700668777,0.0003847223178161014,0.00011534313614798347,0.6761,-0.0046,0.09834400899216209,1.0,0.0,0.0,0.0,-0.9481991878386014,0.7883125168356555,4.04943200791262,0.053727041730051786,0.06520590740329145,0.0013722694942242216,-0.6262610934544645,1.9028809126915647,5.766380709705302,0.11993589863516824,0.053094675767467,0.002664927189544403,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.649706021150073,1.502876484532189,-4.748181470300548,-0.11890561471212112,3.4449711438161073,0.8503064892274085,1.4971545748224069,-4.04943200791262,6.245336045122954,6.245336045122954,6.290153507394391,0,0,-8.060760899456098e-05,7.604617910240136e-05
+19959,1793078531593110327,15082726000000,1793078531590271577,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6763315578417991,-0.004935093110218963,0.09885595155371045,0.9999998864092209,-0.00019128715677703894,0.0004104898851725782,0.0001163257804111264,0.6761,-0.0046,0.0982358207082014,1.0,0.0,0.0,0.0,-0.9486626941487646,0.7728226740194046,4.2134843120673615,0.05265520928980552,0.06586218427756618,0.001236652027026865,-0.6267245997646277,1.8873910698753138,5.930433013860044,0.11886406619492197,0.053750952641741734,0.0025293097223470463,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.68647399512593,1.488276856354706,-4.880941420356266,-0.12381401192607658,3.539643306366229,0.8356287283167566,1.4971545748224069,-4.2134843120673615,6.378095995178673,6.378095995178673,6.414253507394101,0,0,-8.324671134787997e-05,9.969083478023606e-05
+20132,1793078533035239263,15084168000000,1793078533034262456,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6763472108526851,-0.004936639305906845,0.09877145508098385,0.9999998729020112,-0.0002089562080672454,0.00043476025230398567,0.00011384046606286897,0.6761,-0.0046,0.09813180484186051,1.0,0.0,0.0,0.0,-0.905647119468357,0.7247294288287109,4.278580357382213,0.04862984955139177,0.06343762460034974,0.0009724414565017974,-0.5837090250842201,1.83929782468462,5.9955290591748955,0.11483870645650822,0.051326392964525284,0.0022650991518219786,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.6562102494771826,1.5539545652406497,-4.887481929370649,-0.13509116813980587,3.548379450857766,0.8761986478838213,1.4971545748224069,-4.278580357382213,6.384636504193056,6.384636504193056,6.558453507393765,0,0,-7.362210830838401e-05,-9.999968494789897e-05
+20280,1793078534268396237,15085401000000,1793078534262262289,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6763600892722409,-0.0049426517231816475,0.09868886611547649,0.9999998604424164,-0.0002212379656383826,0.0004558565201663011,0.0001175015206637799,0.6761,-0.0046,0.09802232346755788,1.0,0.0,0.0,0.0,-0.8895111544087917,0.6881610846264259,4.386624230443178,0.04619961031022779,0.06224322942050425,2.8305388362963486e-05,-0.5675730600246548,1.802729480482335,6.10357293223586,0.11240846721534424,0.0501319977846798,0.0013209630836831447,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.636374986408086,1.4834373277336919,-5.165474700033025,-0.12329774727129472,3.7207536939039474,0.8272070156458893,1.4971545748224069,-4.386624230443178,6.662629274855432,6.662629274855432,6.681753507393478,0,0,-9.833171087517278e-05,9.626947436303652e-05
+20451,1793078535693461162,15086826000000,1793078535690262800,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6763790775544523,-0.004945008810010102,0.09857804045742803,0.9999998408928273,-0.00023887282563612024,0.0004890075655587968,0.00011605411629768335,0.6761,-0.0046,0.09788237932536437,1.0,0.0,0.0,0.0,-0.861230566391864,0.6713912951147958,4.516948117149859,0.0445120099137928,0.06126301752527223,-0.0001956292183747945,-0.5392924720077271,1.785959690970705,6.233896818942541,0.11072086681890925,0.04915178588944778,0.0010970284769453867,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.592284726676017,1.4686629820927022,-5.2272288441856976,-0.11507183376409943,3.75237899615862,0.817664590983012,1.4971545748224069,-4.516948117149859,6.724383419008104,6.724383419008104,6.824253507393146,0,0,-9.430759134318312e-05,-9.99709718049246e-05
+20600,1793078536935554498,15088068000000,1793078536934261553,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6763909443300103,-0.004946977366363601,0.09847772002967893,0.9999998582525238,-4.954923247413275e-05,0.000507543611022038,0.00012199243099560784,0.6761,-0.0046,0.09776030925014899,1.0,0.0,0.0,0.0,-0.8491642996978495,0.6134666822365284,4.595361783197997,0.040298073657711625,0.060283902026826236,-0.0011455099345331948,-0.5272262053137126,1.7280350780924376,6.312310484990679,0.10650693056282808,0.04817267039100179,0.00014714776078698645,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.5938154535533124,1.6260474429406628,-5.301942752529916,-0.22267322666576145,3.8166135454046777,0.8449730032328994,1.4971545748224069,-4.595361783197997,6.799097327352323,6.799097327352323,6.948453507392856,0,0,-0.00010859153323358595,-9.993304381084584e-05
+20763,1793078538293734454,15089426000000,1793078538286261721,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.676410009658859,-0.004950169958010443,0.09835360291384036,0.9999998386658816,-7.819700269914022e-05,0.00054152497623921,0.00012143724293814254,0.6761,-0.0046,0.09760044047940415,1.0,0.0,0.0,0.0,-0.8382017262911664,0.5748486358842766,4.685530914791839,0.038457547661477506,0.05927064737314731,-0.0004322605766183173,-0.5162636319070295,1.6894170317401858,6.402479616584521,0.10466640456659396,0.04715941573732286,0.0008603971187018639,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.6120596437994155,1.6205608935979963,-5.518349678385813,-0.19466248438836328,3.956912317252273,0.8709337700999598,1.4971545748224069,-4.685530914791839,7.01550425320822,7.01550425320822,7.08425350739254,0,0,-0.00012184840795095996,8.931069358920069e-05
+20923,1793078539627828506,15090760000000,1793078539626271607,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6764265072852255,-0.004953973765696618,0.09822196266682946,0.9999998210716462,-0.00011230215583690983,0.0005674876932413366,0.0001210185268186209,0.6761,-0.0046,0.09744404014314381,1.0,0.0,0.0,0.0,-0.7845700723067379,0.529436722841673,4.774497326436306,0.0345159096740868,0.056306342676175555,-0.0005808541537211032,-0.462631977922601,1.6440051186975821,6.491446028228988,0.10072476657920325,0.04419511104035111,0.000711803541599078,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.570564938589833,1.5059497003020437,-5.591178027404043,-0.12125031246997876,3.9978426099946036,0.8429050687306514,1.4971545748224069,-4.774497326436306,7.0883326022264495,7.0883326022264495,7.217653507392229,0,0,-0.00011540983382437998,-8.768453604724442e-05
+21070,1793078540853061754,15091985000000,1793078540846262502,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6764458132964108,-0.004955819425754459,0.09809221606062492,0.999999799989487,-0.000143751503664391,0.0005987137079545949,0.00011109118521260184,0.6761,-0.0046,0.09728702375581826,1.0,0.0,0.0,0.0,-0.7343182429466664,0.500497059874699,4.867877038152977,0.032500995869121904,0.0532826685833432,-0.0006909682329503123,-0.4123801485625295,1.6150654557306081,6.584825739945659,0.09870985277423835,0.04117143694751875,0.0006016894623698689,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.5339927410748455,1.481176714004523,-5.674095599698178,-0.09947437733829186,4.048080570414107,0.8383755659319346,1.4971545748224069,-4.867877038152977,7.171250174520584,7.171250174520584,7.3401535073919435,0,0,-0.00013331418549231,-9.999926861426473e-05
+21221,1793078542111170754,15093243000000,1793078542106271738,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.676463219025175,-0.004956681056042194,0.09794956643609691,0.999999779462989,-0.0001567523335868455,0.0006280784248436567,0.00011603032310335269,0.6761,-0.0046,0.09711245011719266,1.0,0.0,0.0,0.0,-0.7020255305884096,0.4419806098996899,4.953845149881618,0.028417478284813225,0.0507028366521577,0.00015762902165184682,-0.38008743620427266,1.556549005755599,6.6707938516743,0.09462633518992968,0.03859160501633325,0.001450286716972028,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.493991374364604,1.438589188132243,-5.780155510756165,-0.08548138041906256,4.120570034542326,0.8069954952143131,1.4971545748224069,-4.953845149881618,7.277310085578572,7.277310085578572,7.46595350739165,0,0,-0.00014466118842679088,-9.553488142100548e-05
+21375,1793078543394278923,15094526000000,1793078543390262701,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6764805705287528,-0.004951177105089289,0.09778458799210435,0.9999997575786286,-0.00017075181681144988,0.0006571374087955149,0.00012369232527441822,0.6761,-0.0046,0.09692233792755238,1.0,0.0,0.0,0.0,-0.6303391423114033,0.41092887657499855,5.073053150017026,0.026497872620583132,0.04527747090421811,-4.118941727234652e-05,-0.30840104792726647,1.5254972724309077,6.790001851809708,0.09270672952569958,0.03316623926839366,0.0012514682780478347,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.4796171902675384,1.543733809387895,-5.963352499614658,-0.09974813685264165,4.247235426135001,0.8740802496911413,1.4971545748224069,-5.073053150017026,7.460507074437064,7.460507074437064,7.594253507391351,0,0,-0.00014687881882555066,-9.844140366611071e-05
+21530,1793078544686442344,15095818000000,1793078544686262211,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6764996690703434,-0.004952106506822361,0.09761351612198904,0.9999997325235371,-0.0001938322655703893,0.0006873845355674253,0.00012777821194288313,0.6761,-0.0046,0.0967251841529697,1.0,0.0,0.0,0.0,-0.5052619533342172,0.36982194645998523,5.173122266834799,0.023652017491107027,0.03725720682211138,-0.00026753036513224256,-0.18332385895008027,1.4843903423158944,6.890070968627481,0.08986087439622348,0.025145975186286928,0.0010251273301879386,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.4341904877116916,1.6215703226873273,-6.097160202422613,-0.09781276234494556,4.344398010852564,0.9231478872270736,1.4971545748224069,-5.173122266834799,7.594314777245019,7.594314777245019,7.72345350739105,0,0,-0.00015564502223462998,6.854000599927808e-06
+21681,1793078545944570643,15097076000000,1793078545938262092,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6765175429508015,-0.004958608217444539,0.09743881811288757,0.9999997053752765,-0.0002160565832533987,0.0007186790971809854,0.0001323334138956971,0.6761,-0.0046,0.09652423112372446,1.0,0.0,0.0,0.0,-0.4449074741378868,0.3163538591868498,5.2231464709530036,0.019824133040069553,0.03321970533210615,-0.0004083136786979416,-0.12296937975374987,1.430922255042759,6.940095172745686,0.086032989945186,0.0211084736962817,0.0008843440166222396,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.3454447742464324,1.5762186660057378,-6.140673164794011,-0.07412671108556045,4.364530389501184,0.8932926834743418,1.4971545748224069,-5.2231464709530036,7.637827739616418,7.637827739616418,7.849253507390757,0,0,-0.00017457647779747643,-9.999994862586731e-05
+21813,1793078547044632982,15098176000000,1793078547038263010,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6765376138970847,-0.004959935564949821,0.09727009497891391,0.99999968043073,-0.00021941849278993015,0.0007500693163706898,0.00014082914383500692,0.6761,-0.0046,0.09631795138239926,1.0,0.0,0.0,0.0,-0.4242243051670095,0.27331024094278766,5.349353266264128,0.016589370111651555,0.03220821900313324,-0.000553925918578427,-0.10228621078287257,1.3878786367986968,7.06630196805681,0.082798227016768,0.02009698736730879,0.0007387317767417542,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.3416203406900293,1.5259024367490894,-6.262412723195967,-0.05455024186372543,4.451954923600865,0.8591670892614514,1.4971545748224069,-5.349353266264128,7.759567298018374,7.759567298018374,7.959253507390501,0,0,-0.00019348082405254286,-9.362343819508396e-05
+21947,1793078548161719893,15099293000000,1793078548154271583,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6765559952992443,-0.004957054097834084,0.09708487137519416,0.9999996487365358,-0.00026023051331455207,0.0007823927593026533,0.0001187910732700794,0.6761,-0.0046,0.09610976163082804,1.0,0.0,0.0,0.0,-0.34127159024824927,0.260852152700638,5.402294593967999,0.015680509114834207,0.027358243889120185,0.0003459386411818089,-0.01933349586411239,1.3754205485565472,7.119243295760681,0.08188936601995066,0.015247012253295734,0.00163859633650199,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.3942579308381515,1.5115449816414006,-6.410258179380271,0.010667281779586951,4.577612102360263,0.8587441993661984,1.4971545748224069,-5.402294593967999,7.907412754202678,7.907412754202678,8.070953507390241,0,0,-0.00018543267694545585,-7.817117372710953e-05
+22086,1793078549319906446,15100451000000,1793078549314271566,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6765716091000997,-0.004965101323288023,0.09688068094334792,0.9999996526640024,-9.245043108690369e-05,0.0008114602377616258,0.000138202530549642,0.6761,-0.0046,0.09587621700648305,1.0,0.0,0.0,0.0,-0.3171646668851186,0.1420673343965908,5.509120560869496,0.00857491105054628,0.02523827750591333,-0.0008775383656610923,0.0047734274990183225,1.2566357302525,7.226069262662178,0.07478376795566273,0.013127045870088882,0.00041511932965908885,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.320835667491035,1.71218152485376,-6.459752806720501,-0.12102175449923375,4.619909062665836,0.9103125477778216,1.4971545748224069,-5.509120560869496,7.956907381542908,7.956907381542908,8.186753507389971,0,0,-0.00022004344484990857,-9.999999025923074e-05
+22214,1793078550387016131,15101518000000,1793078550386261798,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6765976616346768,-0.0049690683585967765,0.09667419502234495,0.9999996182156793,-0.00011150478408026932,0.0008469158289276316,0.0001590962658928047,0.6761,-0.0046,0.09563872155130414,1.0,0.0,0.0,0.0,-0.3277432611985,0.12467157754858005,5.579655765166581,0.007502669072278742,0.02625156052258637,9.569452792351427e-05,-0.005805166814363128,1.2392399734044892,7.296604466959263,0.07371152597739519,0.014140328886761921,0.0013883522232436955,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.332031777420456,1.5866219186854256,-6.675616238670993,-0.03770394684472405,4.761468705242027,0.8921512259268752,1.4971545748224069,-5.579655765166581,8.1727708134934,8.1727708134934,8.293453507389723,0,0,-0.0002252171148089691,9.897146577143018e-05
+22344,1793078551470090590,15102601000000,1793078551462271558,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6766140073796983,-0.004968692228428497,0.09644714645888446,0.9999995852822274,-0.00018914484853504106,0.0008771061338203226,0.00012564749720323466,0.6761,-0.0046,0.09539323578396358,1.0,0.0,0.0,0.0,-0.20717656406772567,0.08922536715596863,5.66586301014334,0.004238227236948416,0.019125546311197315,-0.00011839955499842107,0.11476153031641123,1.2037937630118778,7.382811711936022,0.07044708414206487,0.007014314675372866,0.0011742581403217601,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.2923254603078207,1.5209929406209555,-6.742952080327384,0.01383944727906413,4.819051270132886,0.8668698481035666,1.4971545748224069,-5.66586301014334,8.240106655149791,8.240106655149791,8.40175350738947,0,0,-0.00022970320554396994,9.921875407237763e-05
+22479,1793078552595204356,15103726000000,1793078552594262211,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6766285054023903,-0.004976830517330519,0.09620005095856209,0.9999995571247687,-0.0001967510645232567,0.0009025385959770993,0.00015461640247096565,0.6761,-0.0046,0.09511635937634684,1.0,0.0,0.0,0.0,-0.18004769269307536,-0.05076092270487442,5.735990373614849,-0.0034932906668853347,0.016301726854210604,-0.000296402203905503,0.14189040169106154,1.0638074731510347,7.4529390754075315,0.06271556623823112,0.004190495218386156,0.0009962554914146782,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.2136435443284124,1.4404726938365857,-6.762709430345886,0.03992953249742284,4.835172653107892,0.8138872671071914,1.4971545748224069,-5.735990373614849,8.259864005168293,8.259864005168293,8.514253507389208,0,0,-0.00026512695158328734,-9.901121175571177e-05
+22601,1793078553612292228,15104743000000,1793078553610261924,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6766472530360833,-0.0049644242637804864,0.09594496822365646,0.9999995347333837,-0.00018125453492279594,0.0009360152732594036,0.00011400913188125537,0.6761,-0.0046,0.0948298586001819,1.0,0.0,0.0,0.0,-0.0667896101228852,-0.02251104526115988,5.866475096371088,-0.004429809303851125,0.013193942556677059,0.0005821141818122294,0.2551484842612517,1.0920573505947493,7.58342379816377,0.061779047601265326,0.0010827109208526098,0.0018747718771324107,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.1872107251824535,1.5043158508472831,-6.880086913404165,0.05815487011283631,4.923583217957621,0.8594882449969099,1.4971545748224069,-5.866475096371088,8.377241488226572,8.377241488226572,8.615953507388971,0,0,-0.000289978356039751,1.6239643514621505e-10
+22703,1793078554462424052,15105593000000,1793078554462262336,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6766650740076078,-0.0049799829574221615,0.09571704658457318,0.9999995052959391,-0.00018988052091253792,0.0009611158299153399,0.00014509476402657211,0.6761,-0.0046,0.09457616172182798,1.0,0.0,0.0,0.0,-0.11184980632966762,-0.12895652835168414,5.9154216865944536,-0.009356653057463846,0.013330109296573167,0.00048025311836395225,0.21008828805446927,0.985611867504225,7.632370388387136,0.056852203847652605,0.001218877660748718,0.0017729108136841335,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.129831463985808,1.4449552933374044,-6.993756142976241,0.0491238151929776,4.997497867513386,0.8188347483581679,1.4971545748224069,-5.9154216865944536,8.490910717798648,8.490910717798648,8.700953507388773,0,0,-0.0003093441041837356,9.62072741180819e-05
+22808,1793078555337492448,15106468000000,1793078555330262660,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6766762488655906,-0.004986290938329846,0.09545588931546088,0.9999994863606914,-0.00017829656457676047,0.000979574943695789,0.00016542213411394884,0.6761,-0.0046,0.09429989310536949,1.0,0.0,0.0,0.0,-0.08249088073388988,-0.22727088383519334,6.055186345497033,-0.015654143718230262,0.010465624529043455,0.0002541225058669066,0.23944721365024701,0.8872975120207158,7.772135047289715,0.05055471318688619,-0.001645607106780995,0.0015467802011870878,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.097979311456612,1.3583731316791734,-7.0549548249357095,0.08986852159782163,5.054217875019508,0.7715996687552631,1.4971545748224069,-6.055186345497033,8.552109399758116,8.552109399758116,8.788453507388569,0,0,-0.00031589896973685674,8.75028202936889e-05
+22906,1793078556154588655,15107285000000,1793078556154262432,DOWN_FORCE_DETACH,9,0.0654,0.06540137529373169,0.6766970343597544,-0.004984296557507595,0.09520900012326185,0.9999994552682203,-0.0002138713318952609,0.0010067616424027914,0.00014695637282568654,0.6761,-0.0046,0.09403630343670498,1.0,0.0,0.0,0.0,-0.03352936899175485,-0.24803742504951554,6.063327680749969,-0.015561937129410126,0.00734227814724019,0.0002041649085983276,0.28840872539238205,0.8665309708063936,7.7802763825426515,0.050646919775706324,-0.004768953488584258,0.0014968226039185088,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.027070222287319,1.4791137902141307,-7.0620146424009524,0.04827228179440707,5.051392043907534,0.8509830233668865,1.4971545748224069,-6.063327680749969,8.55916921722336,8.55916921722336,8.870153507388379,0,0,-0.000337040391425207,-9.999999025923074e-05
+23000,1793078556937610534,15108068000000,1793078556930272172,DOWN_FORCE_DETACH,9,0.0654,0.06540203094482422,0.6767131792866586,-0.00498748048770377,0.0949447932157457,0.9999994381826095,-0.00012855930209515687,0.0010393078934592445,0.00013560581837846343,0.6761,-0.0046,0.09375957552060829,1.0,0.0,0.0,0.0,0.010643597331287225,-0.2783590663900739,6.13125585560966,-0.015917706449896478,0.003929460788716083,9.084684422812025e-05,0.3325816917154241,0.8362093294658353,7.848204557402342,0.05029115045521997,-0.008181770847108366,0.0013835045395483015,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,2.0216980934953357,1.447933978693237,-7.074933000678151,0.03489957841159703,5.077682408747771,0.7778419451667158,1.4971545748224069,-6.13125585560966,8.572087575500557,8.572087575500557,8.948453507388196,0,0,-0.00037176937891655735,-9.999999025923074e-05
+23138,1793078558085743149,15109216000000,1793078558078262348,DOWN_PEAK_HOLD,9,0.0654,0.06540203094482422,0.6766845581169617,-0.00498954330968838,0.09470929308182256,0.9999994923914071,-0.00014933765557641863,0.0009808081376970017,0.00014957758578222873,0.6761,-0.0046,0.09361268330641925,1.0,0.0,0.0,0.0,0.34994922374259385,-0.637680501707548,5.301599437534199,-0.03920704510715761,-0.019373395737064113,-0.0008697637112208194,0.6718873181267307,0.47688789414836114,7.018548139326881,0.027001811797958842,-0.03148462737288856,0.0004228939840993619,0.3219380943841369,1.1145683958559092,1.7169487017926823,0.06620885690511645,-0.012111231635824449,0.0012926576953201812,1,1.2563647093280341,1.4176863324702427,-6.200556206081549,0.06762046492396877,4.403634473864223,0.8057185059847438,1.4971545748224069,-5.301599437534199,7.6977107809039556,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_PLA_15/press_depth_09/down/real_sim_motion_alignment.csv

@@ -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,1793078480223989099,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.660234406e-08,-1.415868239e-09,3.727328446e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027462614e-01,-1.140506310e-04,8.303251750e-01
+1,1.500000000e+00,DOWN_FORCE_DETACH,1793078481731455260,-2.901778815e-06,4.681508971e-06,-4.775917702e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.564678040e-07,-8.225235647e-08,-7.583058959e-09,7.019527310e-01,-1.758922605e-05,8.601383113e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027472013e-01,-1.141314675e-04,8.303251670e-01
+2,2.966666667e+00,DOWN_FORCE_DETACH,1793078483171968660,8.106339663e-06,4.404582124e-06,-2.985547545e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.339796322e-06,-1.161011036e-07,-2.130111654e-08,7.019637392e-01,-1.786615290e-05,8.601401017e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027475846e-01,-1.141653162e-04,8.303251533e-01
+3,4.400000000e+00,DOWN_FORCE_DETACH,1793078484598009443,1.254807397e-05,3.127363461e-06,-8.498609509e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.510328698e-06,-1.324734408e-07,-2.761683704e-08,7.019681809e-01,-1.914337156e-05,8.601345886e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027477551e-01,-1.141816886e-04,8.303251470e-01
+4,5.800000000e+00,DOWN_FORCE_DETACH,1793078486039574401,2.374066755e-05,2.219442696e-06,-1.815912558e-05,1.615180456e-05,9.518079591e-07,-1.098072078e-05,1.838394232e-05,7.318107762e-07,-1.073380863e-05,7.019793735e-01,-2.005129233e-05,8.601249281e-01,7.019717846e-01,-2.131892706e-05,8.601321065e-01,7.027646287e-01,-1.133174043e-04,8.303144408e-01
+5,7.150000000e+00,DOWN_FORCE_DETACH,1793078487382482489,2.687520879e-05,-2.102147080e-07,-2.537656722e-05,1.615180456e-05,9.518079591e-07,-1.098072078e-05,1.870317795e-05,7.166732632e-07,-1.087751678e-05,7.019825080e-01,-2.248094973e-05,8.601177107e-01,7.019717846e-01,-2.131892706e-05,8.601321065e-01,7.027649480e-01,-1.133325419e-04,8.303142971e-01
+6,8.550000000e+00,DOWN_FORCE_DETACH,1793078488758156452,3.670904552e-05,1.234892579e-06,-3.982389229e-05,2.693433510e-05,3.800242270e-06,-2.904226508e-05,2.996049011e-05,3.177202589e-06,-2.855227158e-05,7.019923419e-01,-2.103584244e-05,8.601032633e-01,7.019825672e-01,-1.847049275e-05,8.601140450e-01,7.027762053e-01,-1.108720125e-04,8.302966223e-01
+7,1.011666667e+01,DOWN_FORCE_DETACH,1793078490363993166,4.687347822e-05,1.559400957e-06,-5.510291714e-05,3.842788288e-05,-1.698539410e-07,-4.477282646e-05,4.217638163e-05,-4.117677767e-07,-4.419416534e-05,7.020025063e-01,-2.071133407e-05,8.600879843e-01,7.019940607e-01,-2.244058896e-05,8.600983144e-01,7.027884212e-01,-1.144609829e-04,8.302809804e-01
+8,1.158333333e+01,DOWN_FORCE_DETACH,1793078491821530812,5.609863616e-05,1.262394360e-06,-6.775781507e-05,4.880799121e-05,3.262666206e-06,-6.271784893e-05,5.302446883e-05,2.645057040e-06,-6.196475570e-05,7.020117315e-01,-2.100834066e-05,8.600753294e-01,7.020044408e-01,-1.900806882e-05,8.600803694e-01,7.027992693e-01,-1.114041581e-04,8.302632098e-01
+9,1.303333333e+01,DOWN_FORCE_DETACH,1793078493279609809,6.494898543e-05,3.546291820e-06,-7.764514678e-05,6.057702557e-05,-6.561949712e-06,-7.647548027e-05,6.543223605e-05,-6.268173506e-06,-7.563396722e-05,7.020205818e-01,-1.872444320e-05,8.600654421e-01,7.020162098e-01,-2.883268473e-05,8.600666118e-01,7.028116770e-01,-1.203173886e-04,8.302495406e-01
+10,1.406666667e+01,DOWN_FORCE_DETACH,1793078494295628938,6.915703802e-05,1.554826307e-05,-9.462681363e-05,6.445522460e-05,1.373659122e-05,-9.100663121e-05,6.965395211e-05,1.203201517e-05,-8.995789648e-05,7.020247899e-01,-6.722471953e-06,8.600484604e-01,7.020200880e-01,-8.534143803e-06,8.600520806e-01,7.028158987e-01,-1.020171999e-04,8.302352167e-01
+11,1.540000000e+01,DOWN_FORCE_DETACH,1793078495605952560,7.921895506e-05,1.618523647e-05,-1.094510195e-04,7.792763884e-05,1.808084115e-05,-1.076762490e-04,8.366037742e-05,1.594824655e-05,-1.064919816e-04,7.020348518e-01,-6.085498557e-06,8.600336362e-01,7.020335605e-01,-4.189893868e-06,8.600354110e-01,7.028299052e-01,-9.810096856e-05,8.302186826e-01
+12,1.673333333e+01,DOWN_FORCE_DETACH,1793078496916635208,8.466920135e-05,2.088021757e-05,-1.158230082e-04,7.792763884e-05,1.808084115e-05,-1.076762490e-04,8.417172699e-05,1.593095145e-05,-1.070642185e-04,7.020403020e-01,-1.390517454e-06,8.600272642e-01,7.020335605e-01,-4.189893868e-06,8.600354110e-01,7.028304165e-01,-9.811826366e-05,8.302181104e-01
+13,1.808333333e+01,DOWN_FORCE_DETACH,1793078498243244280,9.057613927e-05,1.109341149e-05,-1.346724957e-04,8.350981313e-05,1.505652627e-05,-1.278652474e-04,8.989069259e-05,1.317927573e-05,-1.269185293e-04,7.020462090e-01,-1.117732354e-05,8.600084147e-01,7.020391426e-01,-7.214208749e-06,8.600152220e-01,7.028361355e-01,-1.008699394e-04,8.301982561e-01
+14,1.956666667e+01,DOWN_FORCE_DETACH,1793078499701470274,9.717635471e-05,1.594727518e-05,-1.454474559e-04,9.342317030e-05,1.160107785e-05,-1.455728501e-04,1.002817575e-04,1.003301537e-05,-1.445187308e-04,7.020528092e-01,-6.323459846e-06,8.599976398e-01,7.020490560e-01,-1.066965717e-05,8.599975144e-01,7.028465265e-01,-1.040161997e-04,8.301806559e-01
+15,2.096666667e+01,DOWN_FORCE_DETACH,1793078501077680969,1.037852406e-04,1.354999273e-05,-1.591554971e-04,9.342317030e-05,1.160107785e-05,-1.455728501e-04,1.006149814e-04,1.001776368e-05,-1.450452882e-04,7.020594181e-01,-8.720742296e-06,8.599839317e-01,7.020490560e-01,-1.066965717e-05,8.599975144e-01,7.028468598e-01,-1.040314514e-04,8.301801293e-01
+16,2.266666667e+01,DOWN_FORCE_DETACH,1793078502813895452,1.131712285e-04,1.159034263e-05,-1.803261804e-04,1.093251752e-04,1.135241603e-05,-1.832893845e-04,1.169938702e-04,9.749507134e-06,-1.818800226e-04,7.020688040e-01,-1.068039240e-05,8.599627611e-01,7.020649580e-01,-1.091831900e-05,8.599597979e-01,7.028632387e-01,-1.042997080e-04,8.301432946e-01
+17,2.405000000e+01,DOWN_FORCE_DETACH,1793078504173786281,1.191744636e-04,1.242772585e-05,-1.953224950e-04,1.093251752e-04,1.135241603e-05,-1.832893845e-04,1.173255182e-04,9.736181093e-06,-1.826413716e-04,7.020748073e-01,-9.843009174e-06,8.599477647e-01,7.020649580e-01,-1.091831900e-05,8.599597979e-01,7.028635703e-01,-1.043130340e-04,8.301425332e-01
+18,2.563333333e+01,DOWN_FORCE_DETACH,1793078505812262398,1.271620868e-04,1.377614123e-05,-2.196781988e-04,1.269079587e-04,1.354941804e-05,-2.195607453e-04,1.351740399e-04,1.166943394e-05,-2.179276051e-04,7.020827949e-01,-8.494593794e-06,8.599234090e-01,7.020825408e-01,-8.721316987e-06,8.599235265e-01,7.028814188e-01,-1.023797812e-04,8.301072470e-01
+19,2.690000000e+01,DOWN_FORCE_DETACH,1793078507090117099,1.350987102e-04,8.028050390e-06,-2.351475527e-04,1.338911084e-04,4.400010087e-06,-2.362177658e-04,1.426445448e-04,3.413287950e-06,-2.346127905e-04,7.020907315e-01,-1.424268463e-05,8.599079397e-01,7.020895239e-01,-1.787072494e-05,8.599068695e-01,7.028888893e-01,-1.106359272e-04,8.300905618e-01
+20,2.835000000e+01,DOWN_FORCE_DETACH,1793078508548543310,1.449477867e-04,7.804179595e-06,-2.552284233e-04,1.416119328e-04,4.581737686e-06,-2.555533664e-04,1.509198425e-04,3.521653568e-06,-2.541786574e-04,7.021005806e-01,-1.446655543e-05,8.598878588e-01,7.020972447e-01,-1.768899734e-05,8.598875339e-01,7.028971646e-01,-1.105275615e-04,8.300709959e-01
+21,2.990000000e+01,DOWN_FORCE_DETACH,1793078510169926442,1.560433604e-04,8.017219358e-06,-2.794496300e-04,1.499520023e-04,9.540905403e-06,-2.735143249e-04,1.597759027e-04,7.952642822e-06,-2.723210565e-04,7.021116762e-01,-1.425351566e-05,8.598636376e-01,7.021055848e-01,-1.272982962e-05,8.598695729e-01,7.029060207e-01,-1.060965723e-04,8.300528535e-01
+22,3.126666667e+01,DOWN_FORCE_DETACH,1793078511725864843,1.633280023e-04,5.467235643e-06,-3.078967844e-04,1.570439162e-04,5.158532024e-06,-2.938107384e-04,1.673749902e-04,3.987101279e-06,-2.927185616e-04,7.021189608e-01,-1.680349938e-05,8.598351905e-01,7.021126767e-01,-1.711220300e-05,8.598492765e-01,7.029136198e-01,-1.100621138e-04,8.300324560e-01
+23,3.275000000e+01,DOWN_FORCE_DETACH,1793078513217268572,1.754152974e-04,2.251015118e-06,-3.322154200e-04,1.745384217e-04,3.875968854e-06,-3.299021224e-04,1.853733136e-04,2.784495859e-06,-3.281730755e-04,7.021310481e-01,-2.001971990e-05,8.598108718e-01,7.021301712e-01,-1.839476617e-05,8.598131851e-01,7.029316181e-01,-1.112647193e-04,8.299970015e-01
+24,3.425000000e+01,DOWN_FORCE_DETACH,1793078514723295770,1.856792588e-04,2.159302011e-06,-3.589743196e-04,1.772824000e-04,4.114791351e-06,-3.538711273e-04,1.885431876e-04,2.958022102e-06,-3.524295970e-04,7.021413121e-01,-2.011143301e-05,8.597841129e-01,7.021329152e-01,-1.815594367e-05,8.597892161e-01,7.029347880e-01,-1.110911930e-04,8.299727450e-01
+25,3.570000000e+01,DOWN_FORCE_DETACH,1793078516165128744,1.985256322e-04,8.431387017e-06,-3.886026524e-04,1.924879363e-04,4.321954771e-06,-3.921280473e-04,2.041646120e-04,3.128732140e-06,-3.901492291e-04,7.021541584e-01,-1.383934801e-05,8.597544846e-01,7.021481208e-01,-1.794878025e-05,8.597509592e-01,7.029504094e-01,-1.109204830e-04,8.299350254e-01
+26,3.723333333e+01,DOWN_FORCE_DETACH,1793078517704975301,2.072957375e-04,1.006091138e-07,-4.335570163e-04,2.064174440e-04,3.756181025e-07,-4.297393984e-04,2.186851707e-04,-5.150244922e-07,-4.274963073e-04,7.021629286e-01,-2.217012591e-05,8.597095302e-01,7.021620503e-01,-2.189511692e-05,8.597133478e-01,7.029649300e-01,-1.145642396e-04,8.298976783e-01
+27,3.861666667e+01,DOWN_FORCE_DETACH,1793078519065309148,2.196761940e-04,1.010902866e-06,-4.662705803e-04,2.174987777e-04,1.687351232e-06,-4.707719530e-04,2.301050821e-04,6.479242095e-07,-4.680178178e-04,7.021753090e-01,-2.125983216e-05,8.596768167e-01,7.021731316e-01,-2.058338379e-05,8.596723153e-01,7.029763499e-01,-1.134012909e-04,8.298571568e-01
+28,4.008333333e+01,DOWN_FORCE_DETACH,1793078520522920194,2.321521836e-04,-1.917087936e-06,-5.128572537e-04,2.295149130e-04,-2.837198956e-06,-5.097687196e-04,2.425424186e-04,-3.460584652e-06,-5.072299966e-04,7.021877850e-01,-2.418782296e-05,8.596302300e-01,7.021851477e-01,-2.510793398e-05,8.596333185e-01,7.029887872e-01,-1.175097998e-04,8.298179446e-01
+29,4.148333333e+01,DOWN_FORCE_DETACH,1793078521914918845,2.449747271e-04,-6.100841474e-06,-5.611824699e-04,2.409312187e-04,-3.046867542e-06,-5.489476664e-04,2.545230241e-04,-3.703638419e-06,-5.464991212e-04,7.022006075e-01,-2.837157650e-05,8.595819048e-01,7.021965640e-01,-2.531760256e-05,8.595941396e-01,7.030007678e-01,-1.177528535e-04,8.297786755e-01
+30,4.290000000e+01,DOWN_FORCE_DETACH,1793078523308101248,2.566416217e-04,-4.567393171e-06,-6.046983669e-04,2.542550095e-04,-5.868205939e-06,-6.067327967e-04,2.682373053e-04,-6.323780732e-06,-6.035130065e-04,7.022122744e-01,-2.683812819e-05,8.595383889e-01,7.022098878e-01,-2.813894096e-05,8.595363544e-01,7.030144821e-01,-1.203729958e-04,8.297216616e-01
+31,4.436666667e+01,DOWN_FORCE_DETACH,1793078524749233278,2.700433161e-04,-1.014198489e-05,-6.565861164e-04,2.665550443e-04,-6.436689188e-06,-6.449518890e-04,2.809400902e-04,-6.884444810e-06,-6.422785896e-04,7.022256761e-01,-3.241271991e-05,8.594865011e-01,7.022221879e-01,-2.870742421e-05,8.594981354e-01,7.030271849e-01,-1.209336599e-04,8.296828960e-01
+32,4.576666667e+01,DOWN_FORCE_DETACH,1793078526158066414,2.808869719e-04,-9.454072840e-06,-7.211557277e-04,2.793547230e-04,-8.319520925e-06,-7.044104226e-04,2.940572043e-04,-8.636993801e-06,-7.013511856e-04,7.022365198e-01,-3.172480786e-05,8.594219315e-01,7.022349875e-01,-3.059025595e-05,8.594386768e-01,7.030403020e-01,-1.226862089e-04,8.296238234e-01
+33,4.710000000e+01,DOWN_FORCE_DETACH,1793078527468786663,2.962648849e-04,-9.019315259e-06,-7.790218969e-04,2.958638212e-04,-1.459666193e-05,-7.649156826e-04,3.108862355e-04,-1.438436183e-05,-7.615121281e-04,7.022518977e-01,-3.129005028e-05,8.593640653e-01,7.022514966e-01,-3.686739695e-05,8.593781716e-01,7.030571310e-01,-1.284335769e-04,8.295636625e-01
+34,4.848333333e+01,DOWN_FORCE_DETACH,1793078528860765747,3.112410224e-04,-1.707826280e-05,-8.444610603e-04,3.093836259e-04,-1.353110888e-05,-8.429272100e-04,3.245628552e-04,-1.350173216e-05,-8.385596339e-04,7.022668738e-01,-3.934899782e-05,8.592986262e-01,7.022650164e-01,-3.580184391e-05,8.593001600e-01,7.030708076e-01,-1.275509473e-04,8.294866149e-01
+35,4.995000000e+01,DOWN_FORCE_DETACH,1793078530351871706,3.261863741e-04,-1.664725682e-05,-9.178228024e-04,3.211869563e-04,-1.741435093e-05,-9.039461909e-04,3.365978170e-04,-1.709819752e-05,-8.999664709e-04,7.022818192e-01,-3.891799184e-05,8.592252644e-01,7.022768198e-01,-3.968508595e-05,8.592391410e-01,7.030828426e-01,-1.311474126e-04,8.294252081e-01
+36,5.115000000e+01,DOWN_FORCE_DETACH,1793078531597283133,3.425803236e-04,-2.155420534e-05,-9.959772162e-04,3.407707149e-04,-2.109247424e-05,-9.990968645e-04,3.562481158e-04,-2.044022321e-05,-9.935626273e-04,7.022982131e-01,-4.382494036e-05,8.591471100e-01,7.022964035e-01,-4.336320926e-05,8.591439904e-01,7.031024929e-01,-1.344894383e-04,8.293316120e-01
+37,5.260000000e+01,DOWN_FORCE_DETACH,1793078533038092755,3.547378198e-04,-2.526671421e-05,-1.084344073e-03,3.543195981e-04,-2.325763445e-05,-1.081822745e-03,3.699854133e-04,-2.242813741e-05,-1.076461880e-03,7.023103706e-01,-4.753744923e-05,8.590587432e-01,7.023099524e-01,-4.552836947e-05,8.590612645e-01,7.031162302e-01,-1.364773525e-04,8.292487127e-01
+38,5.383333333e+01,DOWN_FORCE_DETACH,1793078534267667368,3.725724912e-04,-2.421188049e-05,-1.161878208e-03,3.665872851e-04,-2.709503907e-05,-1.144208124e-03,3.824795093e-04,-2.590003451e-05,-1.139556643e-03,7.023282053e-01,-4.648261552e-05,8.589812090e-01,7.023222201e-01,-4.936577410e-05,8.589988791e-01,7.031287243e-01,-1.399492496e-04,8.291856179e-01
+39,5.520000000e+01,DOWN_FORCE_DETACH,1793078535692917682,3.890447512e-04,-2.698542250e-05,-1.275220060e-03,3.870662640e-04,-3.054225305e-05,-1.267819111e-03,4.029890443e-04,-2.910954280e-05,-1.261824502e-03,7.023446776e-01,-4.925615753e-05,8.588678672e-01,7.023426991e-01,-5.281298807e-05,8.588752681e-01,7.031492338e-01,-1.431587579e-04,8.290633501e-01
+40,5.640000000e+01,DOWN_FORCE_DETACH,1793078536937280378,4.037250727e-04,-3.012480198e-05,-1.371303684e-03,4.005538910e-04,-3.013260563e-05,-1.369341461e-03,4.163991804e-04,-2.879858012e-05,-1.362825907e-03,7.023593579e-01,-5.239553700e-05,8.587717836e-01,7.023561867e-01,-5.240334065e-05,8.587737458e-01,7.031626440e-01,-1.428477952e-04,8.289623487e-01
+41,5.776666667e+01,DOWN_FORCE_DETACH,1793078538296982377,4.203389860e-04,-3.388638522e-05,-1.501916228e-03,4.200443403e-04,-3.697516237e-05,-1.495107136e-03,4.359050510e-04,-3.506529359e-05,-1.487947947e-03,7.023759718e-01,-5.615712024e-05,8.586411710e-01,7.023756772e-01,-5.924589739e-05,8.586479801e-01,7.031821498e-01,-1.491145087e-04,8.288372266e-01
+42,5.910000000e+01,DOWN_FORCE_DETACH,1793078539623519936,4.382807100e-04,-3.822689741e-05,-1.628205833e-03,4.344368089e-04,-3.886927800e-05,-1.619657436e-03,4.502253302e-04,-3.690382698e-05,-1.612396982e-03,7.023939135e-01,-6.049763244e-05,8.585148814e-01,7.023900696e-01,-6.114001303e-05,8.585234298e-01,7.031964701e-01,-1.509530421e-04,8.287127776e-01
+43,6.033333333e+01,DOWN_FORCE_DETACH,1793078540852691178,4.556456023e-04,-3.391033536e-05,-1.760005440e-03,4.508963593e-04,-3.779122491e-05,-1.747412466e-03,4.665177771e-04,-3.598320009e-05,-1.739814521e-03,7.024112784e-01,-5.618107038e-05,8.583830818e-01,7.024065292e-01,-6.006195993e-05,8.583956748e-01,7.032127626e-01,-1.500324152e-04,8.285853601e-01
+44,6.160000000e+01,DOWN_FORCE_DETACH,1793078542113843613,4.733925376e-04,-4.084927364e-05,-1.904384330e-03,4.727220841e-04,-4.212013968e-05,-1.893390301e-03,4.881143962e-04,-3.995508409e-05,-1.885162213e-03,7.024290254e-01,-6.312000867e-05,8.582387029e-01,7.024283549e-01,-6.439087471e-05,8.582496969e-01,7.032343592e-01,-1.540042992e-04,8.284400124e-01
+45,6.278333333e+01,DOWN_FORCE_DETACH,1793078543391969135,4.943598539e-04,-4.115139808e-05,-2.061389405e-03,4.911266031e-04,-4.036314241e-05,-2.044762223e-03,5.061301387e-04,-3.842252062e-05,-2.035997243e-03,7.024499927e-01,-6.342213310e-05,8.580816978e-01,7.024467594e-01,-6.263387744e-05,8.580983250e-01,7.032523749e-01,-1.524717357e-04,8.282891773e-01
+46,6.406666667e+01,DOWN_FORCE_DETACH,1793078544685721723,5.117017578e-04,-3.486986759e-05,-2.236688374e-03,5.062482024e-04,-3.799742556e-05,-2.218236100e-03,5.204415989e-04,-3.632087470e-05,-2.208929214e-03,7.024673346e-01,-5.714060261e-05,8.579063989e-01,7.024618810e-01,-6.026816059e-05,8.579248511e-01,7.032666864e-01,-1.503700898e-04,8.281162454e-01
+47,6.533333333e+01,DOWN_FORCE_DETACH,1793078545947262508,5.287993044e-04,-3.650876604e-05,-2.409988187e-03,5.257239224e-04,-3.775325063e-05,-2.394364738e-03,5.390898534e-04,-3.617839405e-05,-2.384719767e-03,7.024844321e-01,-5.877950106e-05,8.577330991e-01,7.024813567e-01,-6.002398566e-05,8.577487225e-01,7.032853346e-01,-1.502276092e-04,8.279404548e-01
+48,6.641666667e+01,DOWN_FORCE_DETACH,1793078547045119197,5.483729791e-04,-4.423959953e-05,-2.582071901e-03,5.455677023e-04,-4.147355725e-05,-2.579738086e-03,5.580807666e-04,-3.964883865e-05,-2.568607776e-03,7.025040058e-01,-6.651033455e-05,8.575610153e-01,7.025012005e-01,-6.374429227e-05,8.575633492e-01,7.033043256e-01,-1.536980538e-04,8.277565668e-01
+49,6.751666667e+01,DOWN_FORCE_DETACH,1793078548158451145,5.702861262e-04,-4.170275657e-05,-2.761655102e-03,5.658877437e-04,-3.832777862e-05,-2.747563790e-03,5.779595093e-04,-3.682941307e-05,-2.736570276e-03,7.025259189e-01,-6.397349159e-05,8.573814321e-01,7.025215206e-01,-6.059851365e-05,8.573955234e-01,7.033242043e-01,-1.508786282e-04,8.275886043e-01
+50,6.865000000e+01,DOWN_FORCE_DETACH,1793078549321583635,5.814705389e-04,-4.447288468e-05,-2.971825948e-03,5.806692864e-04,-4.981919920e-05,-2.967284576e-03,5.915983195e-04,-4.734222968e-05,-2.954753272e-03,7.025371034e-01,-6.674361970e-05,8.571712613e-01,7.025363021e-01,-7.208993422e-05,8.571758027e-01,7.033378431e-01,-1.613914448e-04,8.273704213e-01
+51,6.971666667e+01,DOWN_FORCE_DETACH,1793078550386961442,6.074182218e-04,-5.308156478e-05,-3.178659530e-03,6.067561253e-04,-5.004194330e-05,-3.159173226e-03,6.170734558e-04,-4.762769753e-05,-3.146735228e-03,7.025630510e-01,-7.535229981e-05,8.569644277e-01,7.025623889e-01,-7.231267832e-05,8.569839140e-01,7.033633182e-01,-1.616769126e-04,8.271784394e-01
+52,7.081666667e+01,DOWN_FORCE_DETACH,1793078551467644236,6.250943208e-04,-4.956700333e-05,-3.403109098e-03,6.236716088e-04,-4.920683980e-05,-3.401494021e-03,6.328504847e-04,-4.690261357e-05,-3.387508093e-03,7.025807271e-01,-7.183773835e-05,8.567399781e-01,7.025793044e-01,-7.147757483e-05,8.567415932e-01,7.033790953e-01,-1.609518287e-04,8.269376665e-01
+53,7.185000000e+01,DOWN_FORCE_DETACH,1793078552598191453,6.403674420e-04,-6.122733726e-05,-3.653153019e-03,6.395427244e-04,-5.618864019e-05,-3.644058376e-03,6.471444157e-04,-5.329322555e-05,-3.629054016e-03,7.025960003e-01,-8.349807228e-05,8.564899342e-01,7.025951755e-01,-7.845937521e-05,8.564990289e-01,7.033933892e-01,-1.673424407e-04,8.266961206e-01
+54,7.285000000e+01,DOWN_FORCE_DETACH,1793078553613642838,6.580121181e-04,-4.872829836e-05,-3.907198657e-03,6.583445712e-04,-5.702968823e-05,-3.889585014e-03,6.643536048e-04,-5.422202759e-05,-3.873889274e-03,7.026136449e-01,-7.099903338e-05,8.562358886e-01,7.026139774e-01,-7.930042326e-05,8.562535022e-01,7.034105984e-01,-1.682712427e-04,8.264512853e-01
+55,7.370000000e+01,DOWN_FORCE_DETACH,1793078554466043213,6.744590806e-04,-6.787518315e-05,-4.137670054e-03,6.744192341e-04,-6.791992406e-05,-4.137696007e-03,6.787214250e-04,-6.423502486e-05,-4.120104393e-03,7.026300919e-01,-9.014591817e-05,8.560054172e-01,7.026300521e-01,-9.019065908e-05,8.560053912e-01,7.034249662e-01,-1.782842400e-04,8.262050702e-01
+56,7.458333333e+01,DOWN_FORCE_DETACH,1793078555333757719,6.897636004e-04,-7.035510296e-05,-4.392150680e-03,6.867027892e-04,-7.028913925e-05,-4.388578038e-03,6.892533743e-04,-6.643764279e-05,-4.370407145e-03,7.026453964e-01,-9.262583798e-05,8.557509366e-01,7.026423356e-01,-9.255987428e-05,8.557545092e-01,7.034354982e-01,-1.804868579e-04,8.259547674e-01
+57,7.540000000e+01,DOWN_FORCE_DETACH,1793078556153269108,7.100305534e-04,-6.998521931e-05,-4.639226845e-03,7.062380670e-04,-6.811321647e-05,-4.623176834e-03,7.074954744e-04,-6.460479773e-05,-4.605081988e-03,7.026656634e-01,-9.225595433e-05,8.555038604e-01,7.026618709e-01,-9.038395149e-05,8.555199104e-01,7.034537403e-01,-1.786540128e-04,8.257200926e-01
+58,7.620000000e+01,DOWN_FORCE_DETACH,1793078556939990565,7.234817368e-04,-7.095376473e-05,-4.909845753e-03,7.220750498e-04,-7.164716920e-05,-4.898435424e-03,7.212451284e-04,-6.774708060e-05,-4.878612286e-03,7.026791146e-01,-9.322449975e-05,8.552332415e-01,7.026777079e-01,-9.391790423e-05,8.552446518e-01,7.034674899e-01,-1.817962957e-04,8.254465623e-01
+59,7.736666667e+01,DOWN_PEAK_HOLD,1793078558085860572,6.966092281e-04,-7.604638380e-05,-5.140967907e-03,6.959993101e-04,-7.517309080e-05,-5.139510276e-03,6.922389641e-04,-7.086168632e-05,-5.124004833e-03,7.026522420e-01,-9.831711883e-05,8.550021193e-01,7.026516321e-01,-9.744382582e-05,8.550035770e-01,7.034384837e-01,-1.849109014e-04,8.252011697e-01

Part2/Fixed/digit/cylinder_PLA_15/press_depth_09/down/simulation_data.csv

@@ -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+00,3.6895e-01,9.2135e-01,2.4701e+00,-1.0426e-01,6.3492e-02,2.3277e-03,2.0537e-04,-3.0994e-06,1.4305e-06,7.8231e-07,1.3411e-05,-8.5682e-08,2.0540e-04,1.3434e-05
+1,1.5000e+00,DOWN_FORCE_DETACH,3.2612e-04,5.3414e-01,9.0516e-01,2.4713e+00,-1.0311e-01,7.5397e-02,1.4440e-03,1.6540e-01,-1.6196e-02,1.1787e-03,1.1520e-03,1.1918e-02,-8.8377e-04,1.6620e-01,1.2006e-02
+2,2.9667e+00,DOWN_FORCE_DETACH,6.4911e-04,6.0060e-01,9.0066e-01,2.4690e+00,-1.0278e-01,8.0173e-02,1.0507e-03,2.3186e-01,-2.0691e-02,-1.1473e-03,1.4779e-03,1.6694e-02,-1.2771e-03,2.3278e-01,1.6808e-02
+3,4.4000e+00,DOWN_FORCE_DETACH,9.7287e-04,6.3213e-01,8.9842e-01,2.4678e+00,-1.0262e-01,8.2455e-02,8.4389e-04,2.6339e-01,-2.2934e-02,-2.2960e-03,1.6433e-03,1.8976e-02,-1.4839e-03,2.6440e-01,1.9105e-02
+4,5.8000e+00,DOWN_FORCE_DETACH,1.2951e-03,5.6067e-01,8.6929e-01,2.5171e+00,-1.0046e-01,7.7193e-02,8.3983e-04,1.9193e-01,-5.2061e-02,4.7022e-02,3.8070e-03,1.3714e-02,-1.4880e-03,2.0435e-01,1.4310e-02
+5,7.1500e+00,DOWN_FORCE_DETACH,1.6189e-03,6.1709e-01,8.6753e-01,2.4908e+00,-1.0033e-01,8.1319e-02,7.9879e-04,2.4835e-01,-5.3824e-02,2.0709e-02,3.9303e-03,1.7840e-02,-1.5290e-03,2.5496e-01,1.8332e-02
+6,8.5500e+00,DOWN_FORCE_DETACH,1.9444e-03,5.8780e-01,8.0472e-01,2.5542e+00,-9.5707e-02,7.9113e-02,7.8805e-04,2.1906e-01,-1.1663e-01,8.4141e-02,8.5551e-03,1.5634e-02,-1.5397e-03,2.6205e-01,1.7888e-02
+7,1.0117e+01,DOWN_FORCE_DETACH,2.2662e-03,5.8433e-01,8.8022e-01,2.5656e+00,-1.0106e-01,7.8841e-02,8.7603e-04,2.1559e-01,-4.1137e-02,9.5481e-02,3.2031e-03,1.5362e-02,-1.4518e-03,2.3935e-01,1.5760e-02
+8,1.1583e+01,DOWN_FORCE_DETACH,2.5913e-03,5.7795e-01,8.0189e-01,2.5955e+00,-9.5337e-02,7.8327e-02,8.2744e-04,2.0921e-01,-1.1946e-01,1.2538e-01,8.9251e-03,1.4848e-02,-1.5003e-03,2.7159e-01,1.7389e-02
+9,1.3033e+01,DOWN_FORCE_DETACH,2.9166e-03,5.4568e-01,9.9667e-01,2.6141e+00,-1.0933e-01,7.5979e-02,9.5357e-04,1.7694e-01,7.5316e-02,1.4401e-01,-5.0635e-03,1.2500e-02,-1.3742e-03,2.4024e-01,1.3556e-02
+10,1.4067e+01,DOWN_FORCE_DETACH,3.2369e-03,5.7132e-01,5.7543e-01,2.6491e+00,-7.8845e-02,7.7789e-02,5.8963e-04,2.0258e-01,-3.4593e-01,1.7900e-01,2.5417e-02,1.4310e-02,-1.7382e-03,4.3903e-01,2.9220e-02
+11,1.5400e+01,DOWN_FORCE_DETACH,3.5603e-03,5.1677e-01,4.8242e-01,2.6602e+00,-7.2088e-02,7.3843e-02,6.1498e-04,1.4803e-01,-4.3893e-01,1.9011e-01,3.2174e-02,1.0364e-02,-1.7128e-03,5.0071e-01,3.3845e-02
+12,1.6733e+01,DOWN_FORCE_DETACH,3.8874e-03,6.0733e-01,4.8141e-01,2.5617e+00,-7.2003e-02,8.0523e-02,6.1369e-04,2.3859e-01,-4.3994e-01,9.1587e-02,3.2259e-02,1.7044e-02,-1.7141e-03,5.0879e-01,3.6525e-02
+13,1.8083e+01,DOWN_FORCE_DETACH,4.2110e-03,6.1031e-01,5.4059e-01,2.6299e+00,-7.6197e-02,8.0644e-02,6.1430e-04,2.4157e-01,-3.8076e-01,1.5981e-01,2.8065e-02,1.7165e-02,-1.7135e-03,4.7841e-01,3.2943e-02
+14,1.9567e+01,DOWN_FORCE_DETACH,4.5322e-03,5.8886e-01,6.0626e-01,2.6337e+00,-8.0853e-02,7.9087e-02,6.0073e-04,2.2012e-01,-3.1509e-01,1.6357e-01,2.3409e-02,1.5609e-02,-1.7271e-03,4.1772e-01,2.8189e-02
+15,2.0967e+01,DOWN_FORCE_DETACH,4.8557e-03,6.4708e-01,6.0421e-01,2.5422e+00,-8.0706e-02,8.3447e-02,5.0950e-04,2.7834e-01,-3.1714e-01,7.2051e-02,2.3556e-02,1.9968e-02,-1.8183e-03,4.2807e-01,3.0934e-02
+16,2.2667e+01,DOWN_FORCE_DETACH,5.1792e-03,5.9496e-01,6.0207e-01,2.6974e+00,-8.0413e-02,7.9462e-02,4.3991e-04,2.2622e-01,-3.1929e-01,2.2734e-01,2.3849e-02,1.5983e-02,-1.8879e-03,4.5255e-01,2.8772e-02
+17,2.4050e+01,DOWN_FORCE_DETACH,5.5010e-03,6.5525e-01,6.0039e-01,2.5621e+00,-8.0324e-02,8.4063e-02,3.5196e-04,2.8651e-01,-3.2096e-01,9.2031e-02,2.3938e-02,2.0585e-02,-1.9758e-03,4.3997e-01,3.1633e-02
+18,2.5633e+01,DOWN_FORCE_DETACH,5.8276e-03,6.5378e-01,6.1833e-01,2.5579e+00,-8.1574e-02,8.3903e-02,3.0365e-04,2.8504e-01,-3.0303e-01,8.7796e-02,2.2688e-02,2.0425e-02,-2.0241e-03,4.2518e-01,3.0594e-02
+19,2.6900e+01,DOWN_FORCE_DETACH,6.1506e-03,5.7672e-01,6.9065e-01,2.7016e+00,-8.5833e-02,7.8631e-02,2.3933e-04,2.0798e-01,-2.3071e-01,2.3148e-01,1.8429e-02,1.5152e-02,-2.0885e-03,3.8738e-01,2.3949e-02
+20,2.8350e+01,DOWN_FORCE_DETACH,6.4748e-03,5.8457e-01,7.2170e-01,2.6881e+00,-8.8843e-02,7.8661e-02,2.8338e-04,2.1583e-01,-1.9965e-01,2.1797e-01,1.5419e-02,1.5182e-02,-2.0444e-03,3.6600e-01,2.1735e-02
+21,2.9900e+01,DOWN_FORCE_DETACH,6.7979e-03,6.0266e-01,6.1544e-01,2.6441e+00,-8.1182e-02,8.0033e-02,1.6666e-04,2.3392e-01,-3.0592e-01,1.7403e-01,2.3080e-02,1.6554e-02,-2.1611e-03,4.2260e-01,2.8485e-02
+22,3.1267e+01,DOWN_FORCE_DETACH,7.1208e-03,6.2671e-01,6.9947e-01,2.6258e+00,-8.7225e-02,8.1764e-02,1.7431e-04,2.5797e-01,-2.2189e-01,1.5566e-01,1.7037e-02,1.8285e-02,-2.1535e-03,3.7418e-01,2.5085e-02
+23,3.2750e+01,DOWN_FORCE_DETACH,7.4453e-03,5.4585e-01,7.1872e-01,2.7497e+00,-8.8562e-02,7.5791e-02,1.0228e-04,1.7711e-01,-2.0264e-01,2.7959e-01,1.5701e-02,1.2313e-02,-2.2255e-03,3.8807e-01,2.0076e-02
+24,3.4250e+01,DOWN_FORCE_DETACH,7.7682e-03,6.4457e-01,7.0859e-01,2.6792e+00,-8.7840e-02,8.2909e-02,2.7869e-05,2.7583e-01,-2.1276e-01,2.0908e-01,1.6422e-02,1.9430e-02,-2.2999e-03,4.0628e-01,2.5544e-02
+25,3.5700e+01,DOWN_FORCE_DETACH,8.0977e-03,5.9410e-01,6.9278e-01,2.7925e+00,-8.6616e-02,7.9278e-02,-4.7979e-05,2.2536e-01,-2.2858e-01,3.2237e-01,1.7647e-02,1.5799e-02,-2.3758e-03,4.5492e-01,2.3804e-02
+26,3.7233e+01,DOWN_FORCE_DETACH,8.4190e-03,5.7971e-01,7.6360e-01,2.8358e+00,-9.1575e-02,7.8128e-02,-4.1108e-05,2.1097e-01,-1.5776e-01,3.6565e-01,1.2687e-02,1.4649e-02,-2.3689e-03,4.5066e-01,1.9524e-02
+27,3.8617e+01,DOWN_FORCE_DETACH,8.7399e-03,6.0783e-01,7.2394e-01,2.7864e+00,-8.8788e-02,8.0188e-02,-6.7969e-05,2.3909e-01,-1.9741e-01,3.1633e-01,1.5474e-02,1.6709e-02,-2.3958e-03,4.4294e-01,2.2899e-02
+28,4.0083e+01,DOWN_FORCE_DETACH,9.0627e-03,5.7377e-01,8.2641e-01,2.8939e+00,-9.6096e-02,7.7563e-02,3.9577e-06,2.0503e-01,-9.4939e-02,4.2378e-01,8.1658e-03,1.4084e-02,-2.3238e-03,4.8025e-01,1.6445e-02
+29,4.1483e+01,DOWN_FORCE_DETACH,9.3905e-03,5.8689e-01,8.2229e-01,2.8578e+00,-9.5726e-02,7.8321e-02,7.6599e-05,2.1815e-01,-9.9065e-02,3.8765e-01,8.5361e-03,1.4842e-02,-2.2512e-03,4.5571e-01,1.7269e-02
+30,4.2900e+01,DOWN_FORCE_DETACH,9.7133e-03,6.0207e-01,8.4613e-01,2.8734e+00,-9.7294e-02,7.9306e-02,1.8057e-04,2.3333e-01,-7.5225e-02,4.0327e-01,6.9683e-03,1.5827e-02,-2.1472e-03,4.7194e-01,1.7426e-02
+31,4.4367e+01,DOWN_FORCE_DETACH,1.0038e-02,5.7901e-01,8.7676e-01,2.9077e+00,-9.9558e-02,7.7587e-02,2.0821e-04,2.1027e-01,-4.4590e-02,4.3755e-01,4.7044e-03,1.4108e-02,-2.1196e-03,4.8749e-01,1.5022e-02
+32,4.5767e+01,DOWN_FORCE_DETACH,1.0359e-02,5.8690e-01,9.0199e-01,2.9573e+00,-1.0130e-01,7.7988e-02,2.1422e-04,2.1816e-01,-1.9365e-02,4.8715e-01,2.9669e-03,1.4509e-02,-2.1136e-03,5.3412e-01,1.4959e-02
+33,4.7100e+01,DOWN_FORCE_DETACH,1.0684e-02,5.4484e-01,1.0108e+00,3.0270e+00,-1.0882e-01,7.4991e-02,2.2556e-04,1.7610e-01,8.9440e-02,5.5686e-01,-4.5615e-03,1.1512e-02,-2.1022e-03,5.9085e-01,1.2560e-02
+34,4.8483e+01,DOWN_FORCE_DETACH,1.1010e-02,5.5011e-01,9.8767e-01,3.2194e+00,-1.0725e-01,7.5111e-02,2.4134e-04,1.8137e-01,6.6317e-02,7.4930e-01,-2.9901e-03,1.1632e-02,-2.0864e-03,7.7379e-01,1.2190e-02
+35,4.9950e+01,DOWN_FORCE_DETACH,1.1334e-02,5.6059e-01,1.0454e+00,3.1256e+00,-1.1090e-01,7.5766e-02,2.2213e-04,1.9185e-01,1.2402e-01,6.5545e-01,-6.6410e-03,1.2287e-02,-2.1057e-03,6.9412e-01,1.4125e-02
+36,5.1150e+01,DOWN_FORCE_DETACH,1.1654e-02,5.0437e-01,1.0831e+00,3.2986e+00,-1.1335e-01,7.1623e-02,2.4085e-04,1.3563e-01,1.6170e-01,8.2848e-01,-9.0875e-03,8.1446e-03,-2.0869e-03,8.5494e-01,1.2380e-02
+37,5.2600e+01,DOWN_FORCE_DETACH,1.1979e-02,5.3310e-01,1.1483e+00,3.3313e+00,-1.1737e-01,7.3515e-02,2.5365e-04,1.6436e-01,2.2692e-01,8.6120e-01,-1.3112e-02,1.0036e-02,-2.0741e-03,9.0563e-01,1.6642e-02
+38,5.3833e+01,DOWN_FORCE_DETACH,1.2302e-02,5.2079e-01,1.2226e+00,3.2680e+00,-1.2233e-01,7.2673e-02,2.9302e-04,1.5205e-01,3.0122e-01,7.9787e-01,-1.8064e-02,9.1941e-03,-2.0348e-03,8.6629e-01,2.0371e-02
+39,5.5200e+01,DOWN_FORCE_DETACH,1.2626e-02,5.0242e-01,1.2984e+00,3.5607e+00,-1.2762e-01,7.0965e-02,4.3064e-04,1.3368e-01,3.7708e-01,1.0906e+00,-2.3358e-02,7.4866e-03,-1.8971e-03,1.1616e+00,2.4601e-02
+40,5.6400e+01,DOWN_FORCE_DETACH,1.2951e-02,5.3571e-01,1.3084e+00,3.5591e+00,-1.2815e-01,7.3320e-02,4.4051e-04,1.6697e-01,3.8704e-01,1.0889e+00,-2.3892e-02,9.8411e-03,-1.8873e-03,1.1677e+00,2.5909e-02
+41,5.7767e+01,DOWN_FORCE_DETACH,1.3273e-02,5.4163e-01,1.3329e+00,3.6588e+00,-1.2945e-01,7.3663e-02,4.4998e-04,1.7289e-01,4.1157e-01,1.1886e+00,-2.5191e-02,1.0184e-02,-1.8778e-03,1.2697e+00,2.7237e-02
+42,5.9100e+01,DOWN_FORCE_DETACH,1.3597e-02,5.7055e-01,1.3775e+00,3.7439e+00,-1.3222e-01,7.5441e-02,4.7982e-04,2.0181e-01,4.5615e-01,1.2738e+00,-2.7955e-02,1.1962e-02,-1.8480e-03,1.3679e+00,3.0463e-02
+43,6.0333e+01,DOWN_FORCE_DETACH,1.3921e-02,5.8908e-01,1.3907e+00,3.8344e+00,-1.3281e-01,7.6591e-02,5.0525e-04,2.2034e-01,4.6930e-01,1.3643e+00,-2.8545e-02,1.3112e-02,-1.8225e-03,1.4595e+00,3.1465e-02
+44,6.1600e+01,DOWN_FORCE_DETACH,1.4248e-02,5.7435e-01,1.4157e+00,3.8948e+00,-1.3409e-01,7.5460e-02,5.3035e-04,2.0561e-01,4.9436e-01,1.4247e+00,-2.9833e-02,1.1981e-02,-1.7974e-03,1.5219e+00,3.2199e-02
+45,6.2783e+01,DOWN_FORCE_DETACH,1.4570e-02,5.6392e-01,1.4139e+00,4.0912e+00,-1.3343e-01,7.4268e-02,7.4969e-04,1.9518e-01,4.9251e-01,1.6211e+00,-2.9167e-02,1.0789e-02,-1.5781e-03,1.7055e+00,3.1138e-02
+46,6.4067e+01,DOWN_FORCE_DETACH,1.4894e-02,5.8321e-01,1.3476e+00,4.2645e+00,-1.2785e-01,7.5205e-02,7.7082e-04,2.1447e-01,4.2624e-01,1.7943e+00,-2.3584e-02,1.1726e-02,-1.5570e-03,1.8567e+00,2.6384e-02
+47,6.5333e+01,DOWN_FORCE_DETACH,1.5215e-02,5.6086e-01,1.3179e+00,4.2796e+00,-1.2533e-01,7.3550e-02,7.0208e-04,1.9212e-01,3.9650e-01,1.8095e+00,-2.1066e-02,1.0071e-02,-1.6257e-03,1.8623e+00,2.3406e-02
+48,6.6417e+01,DOWN_FORCE_DETACH,1.5538e-02,5.3038e-01,1.3889e+00,4.3919e+00,-1.2994e-01,7.1373e-02,6.7624e-04,1.6164e-01,4.6758e-01,1.9218e+00,-2.5673e-02,7.8938e-03,-1.6515e-03,1.9845e+00,2.6910e-02
+49,6.7517e+01,DOWN_FORCE_DETACH,1.5861e-02,5.0620e-01,1.3813e+00,4.5489e+00,-1.2904e-01,6.9190e-02,7.5100e-04,1.3746e-01,4.5990e-01,2.0788e+00,-2.4773e-02,5.7107e-03,-1.5768e-03,2.1335e+00,2.5472e-02
+50,6.8650e+01,DOWN_FORCE_DETACH,1.6191e-02,5.8562e-01,1.5402e+00,4.7018e+00,-1.3925e-01,7.4441e-02,7.8747e-04,2.1688e-01,6.1888e-01,2.2316e+00,-3.4992e-02,1.0962e-02,-1.5403e-03,2.3260e+00,3.6701e-02
+51,6.9717e+01,DOWN_FORCE_DETACH,1.6512e-02,5.0864e-01,1.5420e+00,4.7697e+00,-1.3882e-01,6.8868e-02,8.5774e-04,1.3990e-01,6.2062e-01,2.2996e+00,-3.4562e-02,5.3896e-03,-1.4700e-03,2.3860e+00,3.5010e-02
+52,7.0817e+01,DOWN_FORCE_DETACH,1.6834e-02,5.8511e-01,1.5935e+00,4.9324e+00,-1.4138e-01,7.3710e-02,9.2166e-04,2.1637e-01,6.7219e-01,2.4623e+00,-3.7122e-02,1.0231e-02,-1.4061e-03,2.5616e+00,3.8532e-02
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Part2/Fixed/digit/cylinder_PLA_15/press_depth_09/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_PLA_15/press_depth_09/up/franka_data.csv

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Part2/Fixed/digit/cylinder_PLA_15/press_depth_09/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+31,3.833333333e+00,UP_FORCE_RAMP,1793078470164898127,6.153049281e-05,-4.309865845e-04,2.427842710e-04,6.832054943e-05,-4.304623922e-04,2.292426390e-04,7.783288975e-05,-3.883342970e-04,2.254067553e-04,7.020171633e-01,-4.532573195e-04,8.603858715e-01,7.020239534e-01,-4.527331273e-04,8.603723299e-01,7.028240777e-01,-5.023835120e-04,8.305505813e-01
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+37,4.916666667e+00,UP_FORCE_RAMP,1793078471296100502,2.092574295e-05,-4.241397914e-04,3.095105450e-04,2.574347828e-05,-4.302990935e-04,2.985087111e-04,3.492208929e-05,-3.881535669e-04,2.935039981e-04,7.019765586e-01,-4.464105264e-04,8.604525978e-01,7.019813763e-01,-4.525698285e-04,8.604415960e-01,7.027811669e-01,-5.022027819e-04,8.306186786e-01
+38,5.083333333e+00,UP_FORCE_RAMP,1793078471459969960,1.268936842e-05,-4.293278759e-04,3.196286709e-04,1.567902207e-05,-4.295743683e-04,3.158594723e-04,2.472005926e-05,-3.874624280e-04,3.103710401e-04,7.019683222e-01,-4.515986109e-04,8.604627159e-01,7.019713118e-01,-4.518451034e-04,8.604589467e-01,7.027709648e-01,-5.015116429e-04,8.306355456e-01
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Part2/Fixed/digit/cylinder_PLA_15/press_depth_09/up/simulation_data.csv

@@ -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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Part2/Fixed/digit/cylinder_PLA_15/press_depth_10/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
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+size 624640

Part2/Fixed/digit/cylinder_PLA_15/press_depth_10/down/franka_data.csv

@@ -0,0 +1,61 @@
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+25395,1793078576839492059,15127968000000,1793078576838261928,XJC_ZERO_HOLD_BEFORE_DOWN,10,0.0652,0.0651991218328476,0.6760148139851483,-0.004893241705837901,0.09988276131627427,0.9999999681799326,-0.00016823944845609847,-0.0001381695332798099,8.767933610247255e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,-0.0017747731762148833,-0.023509442937355907,-0.05377208677054157,-0.0014086526478653133,3.0605325435310166e-05,3.551871144532902e-05,0.39724755103908316,0.9763242963561675,1.822796881973835,0.05426215725498778,-0.015019997628776352,1.2562449212865317e-05,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,0.24358893481293314,1.4348385562224693,0.08541080650978984,-0.2623288168329041,-0.04522314647199034,0.8635245811608532,1.4971545748224069,0.05377208677054157,1.411743768312617,0.0,0.0,0,0,0.0,0.0
+25593,1793078578481683129,15129610000000,1793078578478271419,DOWN_FORCE_DETACH,10,0.0652,0.06519977748394012,0.6760165842026421,-0.004890537297607136,0.09988294364992024,0.9999999698800184,-0.0001617882522058206,-0.00013312796364945922,8.82288694870802e-05,0.6761,-0.0046,0.0999820923098834,1.0,0.0,0.0,0.0,-0.025017767784546452,-0.03617326775805052,-0.09997578990730949,-0.001515891892157964,0.0012927516063214965,7.880774942171413e-05,0.3740045564307516,0.9636604715354729,1.776593178837067,0.05415491801069513,-0.013757851347890166,5.585148718925043e-05,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,0.4207457648104525,1.4160704642241246,0.007722586986255317,-0.25150564254224356,0.04695856530493395,0.8565376872898177,1.4971545748224069,0.09997578990730949,1.4894319878361515,1.4894319878361515,1.5898101989957525,0,0,-3.1123522518965114e-05,-9.999999025923074e-05
+25772,1793078579973788306,15131102000000,1793078579970271530,DOWN_FORCE_DETACH,10,0.0652,0.06520108878612518,0.6760275965959803,-0.004887474980001859,0.09988473144270904,0.9999999731346816,-0.00016093970159606,-0.00010569933211158893,8.999757866398363e-05,0.6761,-0.0046,0.09992513711186875,1.0,0.0,0.0,0.0,-0.07970623511988523,0.013312855285087521,-0.13529433905978205,0.00244054838281358,0.0043997443313422945,0.0001997919576893634,0.3193160890954128,1.013146594578611,1.7412746296845945,0.05811135828566667,-0.010650858622869368,0.0001768356954568997,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,0.8799100878430495,1.335029533259332,-0.3029806323177932,-0.2071360560216973,0.34575129407011784,0.795898753403915,1.4971545748224069,0.13529433905978205,1.8001352071402001,1.8001352071402001,1.739010198995736,0,0,-2.73193501057215e-05,9.999999025923074e-05
+25951,1793078581466003020,15132594000000,1793078581462261900,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6760301106347598,-0.0048886060058458665,0.0998734119306502,0.9999999742469328,-0.0001579964706961658,-9.670047624930909e-05,9.292540808662345e-05,0.6761,-0.0046,0.09988796231172616,1.0,0.0,0.0,0.0,-0.13674072762569744,0.04007052189012861,-0.11510516975432727,0.003416386336721422,0.007815357095277118,0.0002400440514593275,0.2622815965896006,1.039904261183652,1.7614637989900492,0.059087196239574515,-0.0072352458589345445,0.0002170877892268638,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,0.9198390355089011,1.4356540161002875,-0.37237327812069054,-0.22762920801652453,0.37999862744412705,0.8581525224051123,1.4971545748224069,0.11510516975432727,1.8695278529430974,1.8695278529430974,1.8882101989957196,0,0,-3.528746853467967e-05,7.50327397699479e-05
+26130,1793078582957169854,15134085000000,1793078582954262024,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6760411500755951,-0.004887301394691564,0.09986168581954505,0.999999976781384,-0.0001513309703439139,-7.326722630105368e-05,9.80354370176275e-05,0.6761,-0.0046,0.09984218521502837,1.0,0.0,0.0,0.0,-0.2065159929973948,0.06493362972712557,0.05667765817900183,0.006310957373862343,0.012382259437349434,0.0012268230781495805,0.19250633121790325,1.064767369020649,1.9332466269233783,0.061981767276715435,-0.002668343516862229,0.0012038668159171167,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.1338104300146892,1.385511115669888,-0.6128431858374586,-0.1961153827068395,0.5809263271207658,0.8102883836690293,1.4971545748224069,-0.05667765817900183,2.1099977606598657,2.1099977606598657,2.0373101989957862,0,0,-8.911799572047796e-06,9.001817749543228e-05
+26299,1793078584366265320,15135494000000,1793078584358262089,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6760430457085177,-0.004897272074179047,0.09985305671268216,0.9999999754366651,-0.000157955377886585,-7.021744476281598e-05,0.0001033883092357366,0.6761,-0.0046,0.09982829668210269,1.0,0.0,0.0,0.0,-0.23336802044618707,0.07594368504474935,0.11104307736678609,0.007267327052681134,0.014377774031346222,0.0012224307667353298,0.16565430376911097,1.0757774243382727,1.9876120461111626,0.06293813695553423,-0.0006728289228654408,0.001199474504502866,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.2277646255176196,1.2539848289166242,-0.6208667195939901,-0.14458280351374003,0.6061227917067227,0.7243987394304263,1.4971545748224069,-0.11104307736678609,2.1180212944163967,2.1180212944163967,2.1782101989960836,0,0,-2.0474266722329777e-05,-9.997635638659403e-05
+26481,1793078585882401158,15137010000000,1793078585882261607,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6760537961790497,-0.004891792672030853,0.09983931148176449,0.9999999772917239,-0.00015063084325838989,-5.20349402310613e-05,0.00010706133836014044,0.6761,-0.0046,0.09979196142068408,1.0,0.0,0.0,0.0,-0.29164375511582985,0.11030798168729239,0.27853671235107846,0.010215855596107347,0.01732475703766844,0.0011617342370002339,0.10737856909946816,1.1101417209808158,2.155105681095455,0.06588666549896044,0.002274154083456778,0.00113877797476777,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.3051285702611317,1.3758746009979017,-0.8451157089569943,-0.18876160781143803,0.7594553228100083,0.7986215607731766,1.4971545748224069,-0.27853671235107846,2.342270283779401,2.342270283779401,2.3298101989964035,0,0,-1.7260050282048904e-05,9.999961555895993e-05
+26662,1793078587391590142,15138519000000,1793078587386271736,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6760702109273038,-0.004889974922712068,0.09983137504857281,0.9999999777476475,-0.0001513350537234773,-2.996594308408111e-05,0.00011021484684968781,0.6761,-0.0046,0.09975871854850024,1.0,0.0,0.0,0.0,-0.3310839605322335,0.13777142786346153,0.3664169496972214,0.013226865817220788,0.01825953135420667,0.0021610480036852084,0.06793836368306456,1.137605167156985,2.242985918441598,0.06889767572007388,0.003208928399995007,0.0021380917414527446,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.340906543909576,1.2972625498969772,-0.9335091973925395,-0.15594549075872588,0.8118494649190107,0.7483613356929385,1.4971545748224069,-0.3664169496972214,2.4306637722149462,2.4306637722149462,2.480710198996722,0,0,-2.6996741435440737e-05,-9.980468815141136e-05
+26837,1793078588849635851,15139977000000,1793078588846261842,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6760826435467309,-0.00489471696944062,0.09981041827373895,0.9999999776622238,-0.0001499534870856036,-8.522122967766367e-06,0.00011644630213264085,0.6761,-0.0046,0.09971177774950056,1.0,0.0,0.0,0.0,-0.3869607983749671,0.15807224207900583,0.5715146633358996,0.015149574484374574,0.021131938688040787,0.0020598257148042027,0.012061525840330961,1.1579059813725292,2.448083632080276,0.07082038438722767,0.006081335733829124,0.002036869452571739,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.3980951694035635,1.3166819236668073,-1.0605382751637575,-0.15750496561762575,0.9005922349071963,0.7606404894349162,1.4971545748224069,-0.5715146633358996,2.5576928499861644,2.5576928499861644,2.6265101989970296,0,0,-2.0930090559338705e-05,-9.863794089704498e-05
+27010,1793078590291750499,15141419000000,1793078590286271618,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6760896874977548,-0.004893791064175156,0.09980282199510015,0.9999999773520195,-0.00015191230344365825,1.8291171278173681e-06,0.00011686800760249767,0.6761,-0.0046,0.09969160555383959,1.0,0.0,0.0,0.0,-0.39852048355665287,0.1783310268661359,0.6621655599070624,0.01612555597618443,0.022186336414464276,0.0020137670584306384,0.0005018406586451558,1.1781647661596593,2.538734528651439,0.07179636587903752,0.007135733460252614,0.0019908107961981746,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.4240309519118257,1.2737511382484468,-1.1925949147727626,-0.15998278975791505,0.9903380824441556,0.7246587504186327,1.4971545748224069,-0.6621655599070624,2.6897494895951697,2.6897494895951697,2.770710198997334,0,0,-2.238941923113214e-05,-9.694848676489726e-05
+27193,1793078591816891436,15142944000000,1793078591814261380,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6760965006658812,-0.004890908516917992,0.0997819054678012,0.9999999744918892,-0.00018374771660392778,1.772966031750601e-05,9.155064729872324e-05,0.6761,-0.0046,0.09964861849733468,1.0,0.0,0.0,0.0,-0.41287989856375906,0.26074179297060274,0.8395993742505001,0.02208179223964051,0.023194923465337292,0.0029675943219808552,-0.013857574348461046,1.260575532264126,2.7161683429948766,0.0777526021424936,0.00814432051112563,0.0029446380597483914,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.517711167531376,1.3115993615889205,-1.4153338041865546,-0.13265102117433633,1.1465933611610428,0.75188349585676,1.4971545748224069,-0.8395993742505001,2.9124883790089617,2.9124883790089617,2.9232101989976558,0,0,-2.2814507384645626e-05,2.642304017109183e-05
+27374,1793078593325125945,15144452000000,1793078593322262087,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6761074812862776,-0.004895382241528261,0.09977520806185582,0.9999999725696513,-0.00019219686638143862,3.58324708666456e-05,8.988859469619884e-05,0.6761,-0.0046,0.09962279862003517,1.0,0.0,0.0,0.0,-0.4412973145336907,0.270639151656639,0.9544503936796507,0.024162455174263277,0.024398769286906874,0.0029325050570348215,-0.042274990318392686,1.2704728909501624,2.831019362424027,0.07983326507711637,0.00934816633269521,0.0029095487948023577,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.6057464391760592,1.2261096309489368,-1.5046851154668854,-0.11199110287365992,1.2242580381239458,0.6940972406096336,1.4971545748224069,-0.9544503936796507,3.0018396902892923,3.0018396902892923,3.074010198997974,0,0,-1.9979564012977076e-05,-9.998779168374767e-05
+27592,1793078595142274570,15146269000000,1793078595138262133,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6761171085029162,-0.004892888550543376,0.09975096172361585,0.9999999717433034,-0.00019221157447703066,5.060309816630854e-05,9.192547810959613e-05,0.6761,-0.0046,0.09957743410545712,1.0,0.0,0.0,0.0,-0.5124070023559291,0.30847666406340324,1.151967964354398,0.02706540001827159,0.028945207528658406,0.002868043444479448,-0.11338467814063106,1.3083104033569266,3.0285369330987746,0.08273620992112468,0.013894604574446743,0.002845087182246984,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.6131483294872881,1.2810542212066083,-1.7260872685617554,-0.13424802609969208,1.3552464832933517,0.7296204147239185,1.4971545748224069,-1.151967964354398,3.2232418433841623,3.2232418433841623,3.2557101989983575,0,0,-1.885157481093381e-05,-8.992781105743858e-05
+27787,1793078596767450509,15147894000000,1793078596766271283,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6761221725188985,-0.004896180574566229,0.09973148611987512,0.9999999699706289,-0.00019720417579040416,6.0342524425464066e-05,9.471482519000224e-05,0.6761,-0.0046,0.09954276773232873,1.0,0.0,0.0,0.0,-0.5577643767842425,0.3413740415102552,1.2894826409120137,0.028991598312193438,0.031921216517253596,0.003849073529913324,-0.1587420525689445,1.3412077808037786,3.16605160965639,0.08466240821504653,0.016870613563041932,0.00382611726768086,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.6510221524727353,1.278384022594324,-1.832983252649366,-0.1344663479467161,1.4284175180504666,0.723997230064997,1.4971545748224069,-1.2894826409120137,3.3301378274717726,3.3301378274717726,3.4182101989987004,0,0,-2.68351655993967e-05,-9.999999025923074e-05
+27971,1793078598300564344,15149427000000,1793078598294262254,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6761335965059456,-0.004892736366893354,0.09971828968576764,0.9999999691580994,-0.00019440824107588216,7.956590368863358e-05,9.487553496346257e-05,0.6761,-0.0046,0.0995041803262361,1.0,0.0,0.0,0.0,-0.6327322876699844,0.3731337785870118,1.4587377022869,0.031913000721796696,0.03588118789106327,0.003799914216229803,-0.23370996345468636,1.3729675178805352,3.3353066710312764,0.08758381062464979,0.020830584936851606,0.003776957953997339,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.7380332105510614,1.3108489381736377,-2.065311528455787,-0.1539682072854356,1.590042044302292,0.7463963253369932,1.4971545748224069,-1.4587377022869,3.5624661032781937,3.5624661032781937,3.571510198999024,0,0,-1.8316892437504666e-05,6.47993978183436e-05
+28144,1793078599742727445,15150869000000,1793078599742261619,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6761404593492045,-0.004893267846983,0.09970076999044397,0.9999999674196353,-0.00019685828658664938,9.029698660544418e-05,9.847264497255288e-05,0.6761,-0.0046,0.0994735041371045,1.0,0.0,0.0,0.0,-0.6638001017441741,0.3932560661123522,1.5782123619523687,0.03386655017701679,0.038250833354427055,0.0037648487772586306,-0.26477777752887616,1.3930898054058756,3.454781330696745,0.08953736007986988,0.023200230400215394,0.003741892515026167,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.8612674773920537,1.2624557818210345,-2.2298088555376703,-0.1395887360983533,1.7218742113000334,0.7081436589743024,1.4971545748224069,-1.5782123619523687,3.726963430360077,3.726963430360077,3.715710198999328,0,0,-2.5126908363677696e-05,9.591339808346361e-05
+28317,1793078601183811211,15152310000000,1793078601178272181,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6761498917334118,-0.004891838026825323,0.09968674657734014,0.9999999652429458,-0.00019991038421144494,0.0001070060930296017,9.76857508032474e-05,0.6761,-0.0046,0.09943619907240313,1.0,0.0,0.0,0.0,-0.7107894998733009,0.4272921771716599,1.7236318773923585,0.03679433271598621,0.04180257128035815,0.004756238865449196,-0.3117671756580029,1.4271259164651833,3.600200846136735,0.0924651426188393,0.026751968326146486,0.004733282603216733,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.8767301808733132,1.2848585515447675,-2.3253909593379154,-0.14538089315753897,1.777334681049865,0.7243420484843973,1.4971545748224069,-1.7236318773923585,3.822545534160322,3.822545534160322,3.8598101989996323,0,0,-2.9053728474474856e-05,-9.8853560086215e-05
+28496,1793078602675989719,15153802000000,1793078602674261299,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6761580118649269,-0.004893676573762376,0.09966758882200248,0.999999963520407,-0.00020222410796384287,0.00011911500754459143,9.653535083768648e-05,0.6761,-0.0046,0.09940213546575566,1.0,0.0,0.0,0.0,-0.7426832106221994,0.4635432056495251,1.8746443599737264,0.03872872282704242,0.04477161697470093,0.004703769115275883,-0.34366088640690146,1.4633769449430485,3.751213328718103,0.09439953272989551,0.029721014020489267,0.004680812853043419,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.9323269242298393,1.3130941781132128,-2.471348585717425,-0.16780769574184168,1.8790312520728125,0.7371957875142903,1.4971545748224069,-1.8746443599737264,3.968503160539832,3.968503160539832,4.009010198999907,0,0,-1.6744578483522628e-05,-9.975464484857639e-05
+28671,1793078604134047774,15155260000000,1793078604130261880,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6761631054287577,-0.004894223469328737,0.09964581982171443,0.999999961228344,-0.00020765658338044656,0.00012785173698483495,9.756460059303753e-05,0.6761,-0.0046,0.09936434891871987,1.0,0.0,0.0,0.0,-0.7830285453062664,0.4897468277959579,2.0253456488112787,0.04108971261579999,0.04676724326026197,0.0046364617948709925,-0.3840062210909683,1.4895805670894813,3.901914617555655,0.09676052251865308,0.03171664030605031,0.004613505532638529,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.019768398386407,1.3423300225131107,-2.628772167105786,-0.1692680964086009,1.995249075073836,0.7572837771514149,1.4971545748224069,-2.0253456488112787,4.125926741928193,4.125926741928193,4.154810198999567,0,0,-3.382651441312018e-05,-8.420546187158643e-06
+28848,1793078605609274071,15156735000000,1793078605602261775,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6761722149525233,-0.004895161216133286,0.09962652476679883,0.9999999581817115,-0.00021327641827207112,0.0001420542118129253,9.702169673484852e-05,0.6761,-0.0046,0.09932704827960505,1.0,0.0,0.0,0.0,-0.8337971357378287,0.521197093356995,2.1653979017952127,0.0436340598680599,0.04967275384505693,0.005479709771809175,-0.43477481152253056,1.5210308326505184,4.041966870539589,0.09930486977091299,0.03462215089084526,0.0054567535095767115,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.0685033688727392,1.292695444862462,-2.9437401369560185,-0.16547601617895558,2.202814370540786,0.7223497790900324,1.4971545748224069,-2.1653979017952127,4.440894711778426,4.440894711778426,4.302310198999224,0,0,-1.7142601148297014e-05,9.999978209241362e-05
+29029,1793078607118361866,15158244000000,1793078607118261493,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6761823823880913,-0.004894671311023528,0.09961010005595705,0.9999999546341577,-0.00021638684311325204,0.00016022453571839772,9.838383469202512e-05,0.6761,-0.0046,0.0992864797200281,1.0,0.0,0.0,0.0,-0.8855256479589564,0.542380406391816,2.3072056749427277,0.045571920188840924,0.05264434314900156,0.005574157354881739,-0.48650332374365834,1.5422141456853393,4.183774643687104,0.10124273009169402,0.03759374019478989,0.005551201092649276,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.103347683867007,1.343950620722533,-2.9623743238603217,-0.17633873579420986,2.2172119841115525,0.7540155846558617,1.4971545748224069,-2.3072056749427277,4.459528898682729,4.459528898682729,4.453210198998872,0,0,-3.190678548173486e-05,9.985645229993451e-05
+29231,1793078608801551633,15159927000000,1793078608798262333,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6761938923590315,-0.0048950925075025385,0.09958533861295926,0.9999999502927233,-0.00022135817787332913,0.0001791949525674925,9.872761070470319e-05,0.6761,-0.0046,0.0992419712938823,1.0,0.0,0.0,0.0,-0.9278920633522955,0.5991262811438732,2.450061217545066,0.04850925196546429,0.05660622347676999,0.005544445437872281,-0.5288697391369974,1.5989600204373966,4.326630186289442,0.10418006186831738,0.041555620522558324,0.005521489175639818,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.2326735369323587,1.4197711872209708,-3.1586914001510267,-0.19983513465702094,2.372041903235035,0.8012246969916083,1.4971545748224069,-2.450061217545066,4.655845974973434,4.655845974973434,4.62151019899848,0,0,-2.5007853431098563e-05,9.997557923047679e-05
+29418,1793078610359609583,15161485000000,1793078610354271498,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6762025448210675,-0.004897448739448865,0.09955971804639606,0.9999999468805767,-0.0002235795965422643,0.00019387540683616495,0.00010052959003554436,0.6761,-0.0046,0.09919666437294583,1.0,0.0,0.0,0.0,-0.9748102801190887,0.6301887907425786,2.611511497327958,0.05144480944948645,0.05955424486026181,0.005489827539147869,-0.5757879559037906,1.630022530036102,4.488080466072335,0.10711561935233954,0.04450364190605015,0.005466871276915405,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.2634409910928386,1.3376846783650786,-3.2718172635999974,-0.17296800583324273,2.4415230042484026,0.748220674864135,1.4971545748224069,-2.611511497327958,4.768971838422404,4.768971838422404,4.777310198998117,0,0,-2.9604260436107193e-05,9.999979597020143e-05
+29622,1793078612059726759,15163185000000,1793078612058262223,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.676213521508297,-0.004897684123358538,0.09952949209491468,0.999999941271006,-0.00023379766559195503,0.00021163061706301882,9.722130380694542e-05,0.6761,-0.0046,0.09914303232491158,1.0,0.0,0.0,0.0,-1.0164185610883427,0.6741724677826278,2.772916054177269,0.05439704576344472,0.0625004351067749,0.005436023922556039,-0.6173962368730447,1.6740062070761512,4.649485022921645,0.11006785566629781,0.04744983215256324,0.005413067660323576,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.3067239974455833,1.3153808987247202,-3.4112771029951356,-0.16640873425211664,2.532136408117724,0.7321741951093445,1.4971545748224069,-2.772916054177269,4.908431677817543,4.908431677817543,4.94731019899772,0,0,-3.146906798620475e-05,-9.997570413056706e-05
+29807,1793078613601906256,15164727000000,1793078613594261913,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6762229666877951,-0.004894966623026615,0.09950129325898753,0.9999999367140217,-0.00024006678896149126,0.00022662327394288255,9.499813378130911e-05,0.6761,-0.0046,0.09909469956066339,1.0,0.0,0.0,0.0,-1.0462806269582803,0.701130174575307,2.914117373204594,0.056328132339499674,0.06445826559874701,0.0053725313124958415,-0.6472583027429823,1.7009639138688304,4.7906863419489705,0.11199894224235277,0.04940766264453535,0.005349575050263378,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.3868982570616715,1.4236836405641637,-3.5077912433009595,-0.19904573393107203,2.613667224346716,0.801145461647805,1.4971545748224069,-2.914117373204594,5.004945818123367,5.004945818123367,5.101510198997361,0,0,-3.182574064983091e-05,-9.960944155474322e-05
+29956,1793078614843989346,15165969000000,1793078614838271486,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6762309908752914,-0.004898879261850646,0.09947517150444024,0.9999999327438953,-0.00024268585604798385,0.0002399535292040903,9.737015983154493e-05,0.6761,-0.0046,0.09905097751796256,1.0,0.0,0.0,0.0,-1.077751067701835,0.721652063051834,3.025030126816446,0.05730149098127999,0.06651774895487642,0.005317616701004394,-0.678728743486537,1.7214858023453574,4.901599095560822,0.11297230088413308,0.05146714600066475,0.005294660438771931,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.4546987278919428,1.3824054152269627,-3.7310752295437872,-0.19729875591785775,2.7699272910110064,0.7687428453324314,1.4971545748224069,-3.025030126816446,5.228229804366194,5.228229804366194,5.225710198997072,0,0,-3.7312981139543726e-05,9.999999025923074e-05
+30133,1793078616319105717,15167444000000,1793078616318261947,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6762432356183676,-0.004895585483436916,0.09944875646504715,0.9999999267162608,-0.00024636391009400747,0.0002607830250990232,9.647473527862414e-05,0.6761,-0.0046,0.09899820172170273,1.0,0.0,0.0,0.0,-1.1049102627537608,0.7520886028083654,3.155935951750863,0.059240816869601774,0.06941305199073404,0.005283535401989425,-0.7058879385384627,1.7519223421018888,5.0325049204952395,0.11491162677245487,0.054362449036522376,0.005260579139756962,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.4411137968714205,1.276591173604743,-3.8151055593796275,-0.1504826481342357,2.809900478327706,0.7066282537608417,1.4971545748224069,-3.155935951750863,5.312260134202035,5.312260134202035,5.373210198996728,0,0,-3.651057869510777e-05,-9.999999025923074e-05
+30308,1793078617777276182,15168902000000,1793078617774262430,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6762549982992461,-0.0048985402533883934,0.0994107660867316,0.9999999193652056,-0.0002545813400684147,0.0002802970559650621,9.661442960442782e-05,0.6761,-0.0046,0.09893746511892676,1.0,0.0,0.0,0.0,-1.1340054953015013,0.7742713109398317,3.32010604615157,0.06017770554542152,0.071384399762173,0.005192647777048195,-0.7349831710862031,1.774105050233355,5.196675014895947,0.11584851544827461,0.05633379680796135,0.005169691514815731,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.561991863409959,1.372313845727457,-4.048858914243943,-0.18163280383294517,2.990608462279655,0.764474155535599,1.4971545748224069,-3.32010604615157,5.5460134890663495,5.5460134890663495,5.519010198996388,0,0,-3.984833845252644e-05,7.502596740949769e-05
+30473,1793078619152386925,15170277000000,1793078619150261997,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6762632357513904,-0.0049034424195264666,0.09937122246800335,0.9999999114885397,-0.00026783617133910927,0.000296148198506204,9.500424434532365e-05,0.6761,-0.0046,0.09888119418283359,1.0,0.0,0.0,0.0,-1.143691643468957,0.7744207866330105,3.416802392593945,0.06013169529915025,0.0723769763212174,0.005126755523055934,-0.744669319253659,1.7742545259265339,5.2933713613383215,0.11580250520200334,0.05732637336700574,0.0051037992608234705,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.515086470839243,1.3855837847063175,-4.126914534520181,-0.18021957702830227,3.024411396043643,0.7736841801391843,1.4971545748224069,-3.416802392593945,5.624069109342588,5.624069109342588,5.6565101989960676,0,0,-4.640597107892194e-05,7.552185348228591e-05
+30643,1793078620569583808,15171694000000,1793078620562262460,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6762770696228727,-0.004903543411913884,0.09933244725463544,0.9999999029872995,-0.00027193131177501606,0.0003197371469897833,9.638347366216621e-05,0.6761,-0.0046,0.09881421382565148,1.0,0.0,0.0,0.0,-1.1368957043631926,0.8088379989240221,3.5576911067524217,0.06109911167801677,0.0734166652877754,0.005041811049580159,-0.7378733801478946,1.8086717382175455,5.434260075496798,0.11676992158086986,0.05836606233356374,0.005018854787347695,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.6290352121616953,1.2424426829018131,-4.260738348462487,-0.12843218197833256,3.1427674409607373,0.6835671317441596,1.4971545748224069,-3.5576911067524217,5.757892923284894,5.757892923284894,5.798210198995737,0,0,-4.3964231544605464e-05,-4.461110412531958e-05
+30835,1793078622169724034,15173294000000,1793078622166271520,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6762917501516155,-0.004904146560241553,0.09928051927149327,0.9999998923563314,-0.00028331050174658796,0.00034248370123723563,9.57614930262995e-05,0.6761,-0.0046,0.09873791235302212,1.0,0.0,0.0,0.0,-1.0658973467455466,0.9381400888186936,3.7225149923845486,0.06769406173100778,0.07008298628525295,0.004939481535980468,-0.6668750225302486,1.937973828112217,5.599083961128925,0.12336487163386088,0.05503238333104129,0.004916525273748005,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.622804198665366,1.3003354900072635,-4.416062094761435,-0.11225575755354393,3.234322269516548,0.7297033460133672,1.4971545748224069,-3.7225149923845486,5.913216669583842,5.913216669583842,5.958210198995364,0,0,-5.4657679156300665e-05,6.721655176502209e-06
+31006,1793078623594813957,15174719000000,1793078623590271874,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6763026920719573,-0.004905810235487004,0.0992334722083931,0.9999998829771085,-0.0002926687294057579,0.0003616316353926015,9.51641118490179e-05,0.6761,-0.0046,0.09867294816719396,1.0,0.0,0.0,0.0,-1.1510638436388376,0.820127310381383,3.849171052827917,0.0601312196060186,0.07661176011177148,0.003900900014890289,-0.7520415194235397,1.8199610496749064,5.725740021572293,0.1158020295088717,0.061561157157559825,0.0038779437526578254,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.7147425745938505,1.2009478363093644,-4.523440499569918,-0.08295199425759607,3.331337780823148,0.6613717858075541,1.4971545748224069,-3.849171052827917,6.020595074392324,6.020595074392324,6.100710198995032,0,0,-4.246535217497372e-05,-9.999706204600329e-05
+31162,1793078624894924073,15176019000000,1793078624890271363,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6763152882758634,-0.004907011675490762,0.09918464704241835,0.9999998732208437,-0.00030218070267671985,0.00038021326430069007,9.552935039623998e-05,0.6761,-0.0046,0.0986003312299828,1.0,0.0,0.0,0.0,-1.1094816548759003,0.8911603798780784,3.939137077946976,0.0648126127539797,0.07405916032880577,0.0037666259466476604,-0.7104593306606022,1.8909941191716018,5.815706046691353,0.12048342265683279,0.05900855737459411,0.0037436696844151966,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.732034708565261,1.239192912920298,-4.6446054298372985,-0.08712920621281468,3.4065293869584505,0.6890086621802312,1.4971545748224069,-3.939137077946976,6.141760004659705,6.141760004659705,6.230710198994729,0,0,-6.07837280605913e-05,-9.965346189766961e-05
+31323,1793078626236044611,15177360000000,1793078626234261621,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6763268253873526,-0.004909175784701789,0.09913289026623516,0.9999998625929176,-0.00031082591315989447,0.0004001166656952998,9.772878263000182e-05,0.6761,-0.0046,0.09852763950630164,1.0,0.0,0.0,0.0,-1.1830255609970084,0.8321610122764617,4.050214359244777,0.05987669688297762,0.07831688348970102,0.003678638568746994,-0.7840032367817104,1.831994751569985,5.926783327989153,0.11554750678583071,0.06326628053548936,0.0036556823065145303,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.7335213527135473,1.4017772368987285,-4.824501896241985,-0.127969730227521,3.5243631739013233,0.7983665465982847,1.4971545748224069,-4.050214359244777,6.321656471064392,6.321656471064392,6.364810198994417,0,0,-5.302076323794396e-05,1.2487774968828873e-05
+31509,1793078627786213276,15178910000000,1793078627782262051,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6763439821148369,-0.004912368596024498,0.09906723417651395,0.9999998469613455,-0.00032284019066403926,0.00042826295688725547,9.942434465089799e-05,0.6761,-0.0046,0.09842964044548248,1.0,0.0,0.0,0.0,-1.1646679527915647,0.8614494352346228,4.201005766025956,0.0613749479196213,0.07901375400664254,0.003579804606396954,-0.7656456285762666,1.8612831745281462,6.077574734770333,0.1170457578224744,0.06396315105243087,0.0035568483441644904,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.742409410007539,1.2041069433541869,-4.980066629507138,-0.07682453012259499,3.6249164636729945,0.6600226231232343,1.4971545748224069,-4.201005766025956,6.4772212043295445,6.4772212043295445,6.519810198994056,0,0,-6.939982178236358e-05,6.533534410569359e-05
+31680,1793078629211237087,15180335000000,1793078629206262746,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6763547009077489,-0.00490977744375113,0.09899997446756995,0.9999998368371125,-0.0003302311155090129,0.00044609905573954166,9.854772819789222e-05,0.6761,-0.0046,0.09834679891507345,1.0,0.0,0.0,0.0,-1.1832284563530218,0.8130349645749712,4.318242894537589,0.05779199413185932,0.07931035562558215,0.0034531019135279205,-0.7842061321377238,1.8128687038684945,6.1948118632819655,0.11346280403471241,0.06425975267137049,0.0034301456512954567,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.6829729179174837,1.3254641695867952,-5.043126003279906,-0.10871571195499233,3.648513731575577,0.7397610783221606,1.4971545748224069,-4.318242894537589,6.540280578102313,6.540280578102313,6.6623101989937235,0,0,-5.722720993891895e-05,-9.999800573557422e-05
+31867,1793078630770472129,15181894000000,1793078630766262236,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6763730008451425,-0.004918365538845424,0.09892148657460717,0.9999998167723955,-0.00034491444496606355,0.0004780538834973866,0.00010196346975382042,0.6761,-0.0046,0.09823009418574856,1.0,0.0,0.0,0.0,-1.1712364825559098,0.8168414638609812,4.467666605395358,0.05771619898638355,0.07936594546257629,0.0025369664230903604,-0.7722141583406119,1.8166752031545046,6.344235574139735,0.11338700888923664,0.06431534250836463,0.0025140101608578966,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.7846886102834603,1.2760276941357152,-5.331538627035121,-0.10017466911775551,3.8582152058090746,0.7047420134953225,1.4971545748224069,-4.467666605395358,6.8286932018575275,6.8286932018575275,6.81821019899336,0,0,-8.063113259429577e-05,9.999999025923074e-05
+32038,1793078632195591857,15183319000000,1793078632194262102,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6763885492093697,-0.00492214653881159,0.09884039864545204,0.9999998015187025,-0.00035447272214539247,0.0005017166614696953,0.00010504713206298244,0.6761,-0.0046,0.09812705746189189,1.0,0.0,0.0,0.0,-1.168618265829541,0.7532477215503554,4.580946489990637,0.053613777423928956,0.0798900280510446,0.0021833015606461514,-0.7695959416142429,1.7530814608438787,6.457515458735013,0.10928458732678205,0.06483942509683294,0.0021603452984136876,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.7338711533722426,1.2884064168298952,-5.388886556209425,-0.09777592606045327,3.888326864574509,0.714592711197696,1.4971545748224069,-4.580946489990637,6.886041131031831,6.886041131031831,6.960710198993028,0,0,-6.652599809506133e-05,-9.999774205760587e-05
+32188,1793078633445699926,15184569000000,1793078633442261796,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.676397165747676,-0.0049203053772687005,0.09876920543315622,0.9999998541126275,-7.086777262861324e-05,0.0005174102614098545,0.00010238148512783188,0.6761,-0.0046,0.09803656743514963,1.0,0.0,0.0,0.0,-1.1103079322868465,0.7368290738181923,4.656342758544012,0.05163931337234023,0.07636033517618965,0.0010137330307074916,-0.7112856080715485,1.7366628131117157,6.532911727288388,0.10731012327519332,0.06130973222197799,0.0009907767684750278,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.691316274345402,1.4923645351312256,-5.534819044419343,-0.20664279185927972,3.9861443962487013,0.7893954816976816,1.4971545748224069,-4.656342758544012,7.031973619241749,7.031973619241749,7.085710198992737,0,0,-8.542538261904908e-05,5.329943017352008e-05
+32359,1793078634870815003,15185994000000,1793078634870261537,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.676416483440397,-0.004925997036066009,0.09867219985822652,0.9999998344121667,-9.762881610209733e-05,0.000549814482938846,0.00010388047073406151,0.6761,-0.0046,0.09790716148641135,1.0,0.0,0.0,0.0,-1.1273439451518468,0.721369808583122,4.796319484835914,0.05057454515210153,0.0773336643182552,0.0009074881779927625,-0.7283216209365488,1.7212035478766454,6.672888453580291,0.10624535505495462,0.06228306136404353,0.0008845319157602988,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.674581908695563,1.3686792861457449,-5.655881123956902,-0.1474905335915998,4.0543030242937155,0.7424221466109314,1.4971545748224069,-4.796319484835914,7.153035698779308,7.153035698779308,7.228210198992405,0,0,-8.536465408479512e-05,-4.893683000929802e-05
+32537,1793078636353964299,15187477000000,1793078636350261539,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6764305550455891,-0.0049250659811486425,0.0985671104550049,0.9999998208962267,-0.00011073745229526992,0.0005710241566875584,0.00010639082661804915,0.6761,-0.0046,0.09777968575117252,1.0,0.0,0.0,0.0,-1.0954444468877103,0.6809513199953819,4.865500061251328,0.04747312999194556,0.07535244863847622,0.0007893800104626242,-0.6964221226724122,1.6807850592889053,6.7420690299957045,0.10314393989479866,0.060301845684264554,0.0007664237482301605,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.6310043193726407,1.3063986749327214,-5.773746960675607,-0.1080222814121916,4.1176757306894975,0.7268571882234163,1.4971545748224069,-4.865500061251328,7.270901535498013,7.270901535498013,7.376510198992059,0,0,-9.52994062511633e-05,-9.999999025923074e-05
+32724,1793078637912077577,15189035000000,1793078637910271274,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6764524014909612,-0.004932447316006091,0.09844220250930244,0.9999997961592877,-0.00013465957159457698,0.0006075660749227294,0.00010887842736977154,0.6761,-0.0046,0.09762090888039478,1.0,0.0,0.0,0.0,-1.0780402264716265,0.6456384417160747,4.997746697180526,0.04550092948626299,0.07439308898352993,0.0015436146830765318,-0.6790179022563285,1.645472181009598,6.874315665924902,0.10117173938911608,0.05934248602931828,0.001520658420844068,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.7008449361190374,1.3593996490739666,-6.048380500546046,-0.11789823052645834,4.31315159061841,0.7627088834654143,1.4971545748224069,-4.997746697180526,7.545535075368453,7.545535075368453,7.532310198991696,0,0,-0.00010035345511941329,9.687500387845489e-05
+32881,1793078639221194601,15190344000000,1793078639214262531,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6764681816119397,-0.004933253825601165,0.09832754401888884,0.9999997755786773,-0.00015367019730331833,0.0006362671460729627,0.00010878900999351794,0.6761,-0.0046,0.0974744878477205,1.0,0.0,0.0,0.0,-1.070606533926163,0.6211709875083286,5.096486570859508,0.04346765490891414,0.07334809020331205,0.0015559638637168993,-0.6715842097108649,1.621004726801852,6.973055539603885,0.09913846481176723,0.05829748724910039,0.0015330076014844355,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.646579717783963,1.4225974693748709,-6.074300156926358,-0.1368830994426344,4.317304814990926,0.8005744619213989,1.4971545748224069,-5.096486570859508,7.571454731748765,7.571454731748765,7.663210198991391,0,0,-0.00011917634318475637,9.16139645818711e-05
+33044,1793078640579281525,15191702000000,1793078640574262635,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6764836788381791,-0.004935005884260922,0.09819587978289768,0.9999997520031858,-0.00019481533610365322,0.0006629331275043853,0.00010001542093892956,0.6761,-0.0046,0.09732092141526714,1.0,0.0,0.0,0.0,-0.981350390132778,0.5967119479903499,5.166003556942458,0.04115838060853549,0.06839319648659369,0.0014088911372439172,-0.58232806591748,1.5965456872838732,7.042572525686835,0.09682919051138858,0.05334259353238203,0.0013859348750114534,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.6393163495176837,1.2917568547455358,-6.2017677294692835,-0.08932820637178072,4.412088531391397,0.710143686200439,1.4971545748224069,-5.166003556942458,7.69892230429169,7.69892230429169,7.799010198991074,0,0,-0.0001186794778621257,-1.4403997748841356e-05
+33198,1793078641862420108,15192985000000,1793078641858262224,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6765027608020445,-0.004933346021280517,0.09806539670657681,0.999999726827491,-0.00021276819258876393,0.0006943011675723669,0.0001022907250269073,0.6761,-0.0046,0.09715528961902024,1.0,0.0,0.0,0.0,-0.963196877428863,0.5411516980500869,5.300333651730311,0.03746822214418966,0.06669529590913728,0.0012370259143742932,-0.5641745532135649,1.5409854373436103,7.176902620474688,0.09313903204704276,0.05164469295492562,0.0012140696521418294,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.5807283554952405,1.3869411325855108,-6.321930335082274,-0.11347295415502742,4.481645825734924,0.7672855703864406,1.4971545748224069,-5.300333651730311,7.819084909904681,7.819084909904681,7.927310198990775,0,0,-0.00013610910551822985,2.871513723879389e-05
+33363,1793078643237532572,15194360000000,1793078643234262158,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6765229843619965,-0.0049346095198133585,0.09791086417627952,0.9999996995431836,-0.00022998974295909488,0.0007258442693990889,0.00011229969333421264,0.6761,-0.0046,0.0969727543884942,1.0,0.0,0.0,0.0,-0.9001143927531028,0.47147925423708525,5.393866810277274,0.03248619025772182,0.06320447173643029,0.0010470502158249576,-0.5010920685378047,1.4713129935306086,7.27043577902165,0.08815700016057491,0.048153868782218626,0.0010240939535924938,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.52772312564527,1.4179581930942151,-6.439795226400735,-0.09433983839903014,4.556268385525834,0.7926903492904301,1.4971545748224069,-5.393866810277274,7.936949801223141,7.936949801223141,8.064810198990456,0,0,-0.0001380204929888037,-9.970079903188207e-05
+33518,1793078644529535305,15195652000000,1793078644526262566,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6765410672411217,-0.004933657556723872,0.09775127427303859,0.9999996727141099,-0.00025090600184962794,0.0007550335901540863,0.0001139517133619918,0.6761,-0.0046,0.09678653853973376,1.0,0.0,0.0,0.0,-0.8070881833406429,0.46525827263674613,5.506892910383453,0.03258212559150978,0.05726643499453365,0.0016785336286304292,-0.4080658591253448,1.4650920119302695,7.38346187912783,0.08825293549436287,0.042215832040321984,0.0016555773663979654,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.527140375283313,1.4088589262898321,-6.575947113443792,-0.07834306627871503,4.662746124255036,0.77942471612149,1.4971545748224069,-5.506892910383453,8.073101688266199,8.073101688266199,8.194010198990155,0,0,-0.000154767456940454,9.77499401182556e-05
+33668,1793078645779713932,15196902000000,1793078645778261898,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6765578556024285,-0.004934468051926898,0.09758806894861467,0.9999996442330308,-0.00027695197263041766,0.0007831527177118761,0.00011378093536181636,0.6761,-0.0046,0.09660268886394925,1.0,0.0,0.0,0.0,-0.7306139234724757,0.41668462892226044,5.592788031988196,0.028606537745566783,0.0526171817690342,0.0017260349692300113,-0.3315915992571776,1.4165183682157838,7.469357000732572,0.08427734764841988,0.03756657881482254,0.0017030787069975475,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.5084919953602443,1.456222116544795,-6.706941002506561,-0.09032921150724466,4.760978586614636,0.8105253845874815,1.4971545748224069,-5.592788031988196,8.204095577328967,8.204095577328967,8.319010198989863,0,0,-0.00015405093645584766,1.4990782252982629e-05
+33823,1793078647071817859,15198194000000,1793078647070271510,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6765801037051596,-0.0049390306118962815,0.09740898867249471,0.9999996508422537,-3.410360897646888e-05,0.0008201532069098028,0.00012626914219475023,0.6761,-0.0046,0.09638024277740154,1.0,0.0,0.0,0.0,-0.7013755184532853,0.34955998435833047,5.684244013919409,0.02460378256641401,0.049278145459785636,0.0005295882039323362,-0.3023531942379873,1.3493937236518538,7.560812982663786,0.0802745924692671,0.03422754250557397,0.0005066319416998725,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.48680703116893,1.5055103937888556,-6.847578044635613,-0.13820845650330865,4.8689579952972135,0.7692878662755543,1.4971545748224069,-5.684244013919409,8.34473261945802,8.34473261945802,8.448210198989562,0,0,-0.00018940654906010745,9.340193482388343e-05
+33968,1793078648279871619,15199402000000,1793078648278271284,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6766005983670034,-0.0049421811536149,0.09721378843042547,0.999999617362994,-0.00010083781040672355,0.0008572027994987486,0.00010840584164889616,0.6761,-0.0046,0.09615823829123583,1.0,0.0,0.0,0.0,-0.6334519535904266,0.3373600207188462,5.812382350852129,0.023656783698032,0.045285487005786954,0.0013884289843734282,-0.2344296293751285,1.3371937600123696,7.688951319596506,0.0793275936008851,0.03023488405157529,0.0013654727221409644,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.4572163830214118,1.4552113969927343,-6.996748936183223,-0.056871059440892484,4.967125803762139,0.7804613538289867,1.4971545748224069,-5.812382350852129,8.49390351100563,8.49390351100563,8.56901019898928,0,0,-0.00017489689091845927,9.960938604359199e-05
+34126,1793078649597009662,15200719000000,1793078649594261608,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6766177852959687,-0.00494564660994781,0.0970060111476816,0.9999995871160849,-0.00012167875877348917,0.0008871050585326488,0.00012429569086774616,0.6761,-0.0046,0.09591927045417015,1.0,0.0,0.0,0.0,-0.5644964526969802,0.23376348514373768,5.890132719279437,0.016601167231453377,0.041271426315104345,0.0011892036007328775,-0.1654741284816822,1.233597224437261,7.766701688023813,0.07227197713430647,0.026220823360892685,0.0011662473385004137,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.4007884677431526,1.4275285464569174,-7.079751321946888,-0.02275398871357348,5.030925698524565,0.8061080166967101,1.4971545748224069,-5.890132719279437,8.576905896769295,8.576905896769295,8.700710198988974,0,0,-0.0001921223480485804,8.750000310276391e-05
+34273,1793078650822127884,15201944000000,1793078650814262379,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.676646519452401,-0.00494664597695155,0.09678738209175895,0.9999995459330416,-0.00013299800237798182,0.0009280100761231989,0.0001438242151199712,0.6761,-0.0046,0.09566434607319195,1.0,0.0,0.0,0.0,-0.568951923812984,0.20152778134156424,5.983531803069843,0.014539943528224526,0.04129087995253752,0.0010884491310721798,-0.16992959959768594,1.2013615206350876,7.860100771814219,0.07021075343107762,0.026240276998325852,0.001065492868839716,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.430549043049115,1.3725295340108001,-7.184190549486721,0.01167621310234152,5.11012753869103,0.7752707449370781,1.4971545748224069,-5.983531803069843,8.681345124309129,8.681345124309129,8.823210198988688,0,0,-0.00021693065384712084,9.96101215663458e-05
+34419,1793078652038247344,15203160000000,1793078652030262727,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6766671403707565,-0.00495101700092861,0.09655107287507139,0.9999995028927208,-0.00020398267748154595,0.000965135675985594,0.00011207751612814016,0.6761,-0.0046,0.09540081976088789,1.0,0.0,0.0,0.0,-0.4491305618256642,0.15650581696579347,6.085699573941831,0.011653806893959957,0.03382960596261555,0.001446095665116069,-0.05010823761036617,1.1563395562593168,7.962268542686208,0.06732461679681305,0.018779003008403884,0.0014231394028836053,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.3115458354121325,1.4790705955867993,-7.312865906221368,-0.003870624442257591,5.191508898288312,0.8391193104084234,1.4971545748224069,-6.085699573941831,8.810020481043775,8.810020481043775,8.944810198988405,0,0,-0.00021857140973938349,9.999538283367854e-05
+34560,1793078653213336309,15204335000000,1793078653206262535,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6766850888145385,-0.004953323210803444,0.09630747630056832,0.9999994719483708,-0.00019953550171409822,0.000993494141597988,0.00014387778752272766,0.6761,-0.0046,0.09512942710746053,1.0,0.0,0.0,0.0,-0.4182559069855738,0.004292832343019026,6.174462335697534,0.0028456605564321433,0.030795926136191844,0.0016782614761437192,-0.01923358277027577,1.0041265716365424,8.05103130444191,0.058516470459285236,0.015745323181980183,0.0016553052139112554,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.2300469268606466,1.324615386643953,-7.287750377252025,0.04053302141972959,5.1813744196997655,0.7374043496481075,1.4971545748224069,-6.174462335697534,8.784904952074433,8.784904952074433,9.062310198988131,0,0,-0.0002489348872272964,-9.982450563240092e-05
+34698,1793078654363454592,15205485000000,1793078654362262612,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6767063929514533,-0.004956139146180613,0.09603834341366888,0.9999994461346694,-0.00015466027841015874,0.001031257259814505,0.0001084522065966481,0.6761,-0.0046,0.0948250578334213,1.0,0.0,0.0,0.0,-0.2741613280651819,0.04408374689657635,6.283662828964244,0.003343976436306302,0.023573617117904046,0.0014968057671549098,0.12486099615011616,1.0439174861900997,8.16023179770862,0.059014786339159395,0.008523014163692383,0.001473849504922446,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.2808428272932852,1.448909054029812,-7.418992898567723,0.027268830471435333,5.30466645060634,0.7912989771230149,1.4971545748224069,-6.283662828964244,8.91614747339013,8.91614747339013,9.177310198987863,0,0,-0.00027466787142912805,-9.999999025923074e-05
+34821,1793078655388442615,15206510000000,1793078655382262041,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6767223924692669,-0.004958680627052845,0.09577715758467326,0.9999994171747371,-0.0001573863566613022,0.0010549191683141496,0.00013952825295786048,0.6761,-0.0046,0.09453702038517199,1.0,0.0,0.0,0.0,-0.3093768783322378,-0.10998198595173547,6.352825381529861,-0.004459113186277237,0.023341158232721364,0.0013487619321358487,0.08964544588306024,0.8898517533417879,8.229394350274237,0.051211696716575855,0.008290555278509701,0.001325805669903385,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.1180300239727488,1.32012949375822,-7.428157712275326,0.05940073201542043,5.286067559295553,0.7359551557272462,1.4971545748224069,-6.352825381529861,8.925312287097734,8.925312287097734,9.279810198987624,0,0,-0.00029121965274966764,-9.999926861426473e-05
+34931,1793078656305628401,15207427000000,1793078656298262376,DOWN_FORCE_DETACH,10,0.0652,0.06520174443721771,0.6767413364984827,-0.004960664149948039,0.09552253795112722,0.9999993728060206,-0.00022528620679085226,0.0010875704660385653,0.00011075665176021136,0.6761,-0.0046,0.09426157050780276,1.0,0.0,0.0,0.0,-0.2101995383233752,-0.09899880706873065,6.482412883620539,-0.006347643365267164,0.01723391997914921,0.0011591192861437822,0.18882278589192283,0.9008349322247927,8.358981852364915,0.04932316653758593,0.002183317024937547,0.0011361630239113184,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.1232266545504377,1.4059490279617204,-7.672007480918309,0.08073378176152458,5.464758687219281,0.8006305951122524,1.4971545748224069,-6.482412883620539,9.169162055740717,9.169162055740717,9.37151019898741,0,0,-0.0003025485388371844,9.999999025923074e-05
+35045,1793078657255652108,15208377000000,1793078657254261918,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.676761668423987,-0.004966847022387146,0.09525012111859643,0.9999993496117913,-0.00019562916997179164,0.001110335714787448,0.0001452676392987571,0.6761,-0.0046,0.0939700422032597,1.0,0.0,0.0,0.0,-0.2311140087206843,-0.23228855632960976,6.475540483763602,-0.010452673677198557,0.017341129999724602,0.0010956236901366306,0.16790831549461374,0.7675451829639136,8.352109452507978,0.045218136225654536,0.00229052704551294,0.0010726674279041668,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.087429467747949,1.3171133578648078,-7.610538011504928,0.07687948396830203,5.432242927819485,0.7419097905625509,1.4971545748224069,-6.475540483763602,9.107692586327335,9.107692586327335,9.466510198987189,0,0,-0.0003216999770142267,-9.999994862586731e-05
+35150,1793078658130752623,15209252000000,1793078658126271795,DOWN_FORCE_DETACH,10,0.0652,0.06520240008831024,0.6767836238526922,-0.004964885399235127,0.09497160024743802,0.9999993183938731,-0.00011240175209401768,0.001152012062003908,0.00012201929706343432,0.6761,-0.0046,0.09367121375501979,1.0,0.0,0.0,0.0,-0.1641202350300126,-0.2502051509900468,6.593807713938011,-0.01165292486553493,0.0135015824193063,0.0009334134834122365,0.23490208918528543,0.7496285883034766,8.470376682682387,0.04401788503731816,-0.0015490205349053636,0.0009104572211797728,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,2.0731050027107836,1.4175354081836737,-7.773754191161958,0.015859436608426866,5.561197191188553,0.7438783649251828,1.4971545748224069,-6.593807713938011,9.270908765984364,9.270908765984364,9.554010198986985,0,0,-0.00035832978840103093,9.606487413738591e-05
+35289,1793078659276770893,15210398000000,1793078659274271512,DOWN_PEAK_HOLD,10,0.0652,0.06520174443721771,0.6767528828863837,-0.00496774282310182,0.09473415370199348,0.9999993814859521,-0.00013303331858627735,0.0010916589031470265,0.0001380346079058787,0.6761,-0.0046,0.09352939969691192,1.0,0.0,0.0,0.0,0.19440740863796147,-0.6188211332089123,5.7643041336101515,-0.03486070079341973,-0.01037334865070554,-3.258757343008671e-05,0.5934297328532595,0.38101260608461107,7.640873102354528,0.02081010910943337,-0.025423951604917203,-5.5543835662550416e-05,0.39902232421529804,0.9998337392935234,1.8765689687443765,0.05567080990285309,-0.015050602954211663,-2.2956262232463705e-05,1,1.248122069223444,1.370461198164986,-6.84265386217709,0.05050498089992773,4.833542157475153,0.7694740233788165,1.4971545748224069,-5.7643041336101515,8.339808436999498,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_PLA_15/press_depth_10/down/real_sim_motion_alignment.csv

@@ -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,1793078576842691604,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.721664111e-08,-1.464427076e-09,3.719505814e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027463701e-01,-1.137746695e-04,8.303250973e-01
+1,1.450000000e+00,DOWN_FORCE_DETACH,1793078578481432342,3.074982290e-06,1.006815332e-05,-6.559558978e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.940038580e-07,-8.449550951e-08,-3.166049312e-09,7.019587078e-01,-1.220258170e-05,8.601424313e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027473468e-01,-1.138577006e-04,8.303250938e-01
+2,2.950000000e+00,DOWN_FORCE_DETACH,1793078579971518674,1.183624692e-05,5.363348378e-06,8.326986689e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.446695847e-06,-1.232414691e-07,-1.808433692e-08,7.019674691e-01,-1.690738664e-05,8.601431705e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027477995e-01,-1.138964466e-04,8.303250789e-01
+3,4.433333333e+00,DOWN_FORCE_DETACH,1793078581462626928,1.808927770e-05,5.282719954e-06,-5.155650824e-06,1.763520626e-05,9.629937430e-06,-3.988365559e-06,1.950846166e-05,8.460419475e-06,-3.807560779e-06,7.019737221e-01,-1.698801507e-05,8.601379316e-01,7.019732680e-01,-1.264079759e-05,8.601390989e-01,7.027658613e-01,-1.053127856e-04,8.303212894e-01
+4,5.916666667e+00,DOWN_FORCE_DETACH,1793078582953316718,2.602022132e-05,5.338369899e-06,-2.382981643e-05,2.555738098e-05,-2.615073443e-07,-1.974402731e-05,2.826173854e-05,-4.257953825e-07,-1.898732990e-05,7.019816530e-01,-1.693236512e-05,8.601192574e-01,7.019811902e-01,-2.253224237e-05,8.601233432e-01,7.027746146e-01,-1.141990005e-04,8.303061096e-01
+5,7.316666667e+00,DOWN_FORCE_DETACH,1793078584362874601,2.907180680e-05,4.995618803e-06,-2.846042519e-05,2.555738098e-05,-2.615073443e-07,-1.974402731e-05,2.879583342e-05,-4.497523986e-07,-1.938421729e-05,7.019847046e-01,-1.727511622e-05,8.601146268e-01,7.019811902e-01,-2.253224237e-05,8.601233432e-01,7.027751487e-01,-1.142229575e-04,8.303057127e-01
+6,8.833333333e+00,DOWN_FORCE_DETACH,1793078585885467014,3.917821754e-05,4.623527702e-06,-4.384436327e-05,3.379008914e-05,5.844161251e-06,-3.794342664e-05,3.736558054e-05,4.971972009e-06,-3.715629042e-05,7.019948110e-01,-1.764720732e-05,8.600992429e-01,7.019894229e-01,-1.642657377e-05,8.601051438e-01,7.027837184e-01,-1.088012331e-04,8.302879407e-01
+7,1.033333333e+01,DOWN_FORCE_DETACH,1793078587392383321,5.550323553e-05,5.456956794e-06,-5.128134444e-05,4.813405275e-05,5.273768091e-06,-5.174161308e-05,5.230754129e-05,4.491273518e-06,-5.082290998e-05,7.020111361e-01,-1.681377823e-05,8.600918059e-01,7.020037669e-01,-1.699696693e-05,8.600913456e-01,7.027986604e-01,-1.092819316e-04,8.302742741e-01
+8,1.176666667e+01,DOWN_FORCE_DETACH,1793078588850636961,6.848871633e-05,1.968503618e-06,-7.186124218e-05,6.376597259e-05,-3.969227754e-07,-6.344293406e-05,6.894654594e-05,-6.821910177e-07,-6.256820437e-05,7.020241215e-01,-2.030223140e-05,8.600712260e-01,7.020193988e-01,-2.266765780e-05,8.600796443e-01,7.028152994e-01,-1.144553961e-04,8.302625288e-01
+9,1.320000000e+01,DOWN_FORCE_DETACH,1793078590292592083,7.497980598e-05,1.640815331e-06,-7.983439791e-05,6.920770991e-05,4.129226180e-06,-8.231819108e-05,7.498031003e-05,3.349476153e-06,-8.121269451e-05,7.020306126e-01,-2.062991969e-05,8.600632528e-01,7.020248405e-01,-1.814150884e-05,8.600607690e-01,7.028213332e-01,-1.104237289e-04,8.302438843e-01
+10,1.471666667e+01,DOWN_FORCE_DETACH,1793078591817521612,8.522395409e-05,7.525545276e-06,-9.640101465e-05,7.945020396e-05,-4.340141353e-07,-9.930973241e-05,8.566908441e-05,-7.833192806e-07,-9.797806061e-05,7.020408568e-01,-1.474518975e-05,8.600466862e-01,7.020350830e-01,-2.270474916e-05,8.600437775e-01,7.028320219e-01,-1.145565244e-04,8.302271189e-01
+11,1.618333333e+01,DOWN_FORCE_DETACH,1793078593322768804,8.909696656e-05,5.929322839e-06,-1.116101404e-04,7.945020396e-05,-4.340141353e-07,-9.930973241e-05,8.620261293e-05,-8.099629177e-07,-9.865519560e-05,7.020447298e-01,-1.634141218e-05,8.600314771e-01,7.020350830e-01,-2.270474916e-05,8.600437775e-01,7.028325555e-01,-1.145831680e-04,8.302264418e-01
+12,1.793333333e+01,DOWN_FORCE_DETACH,1793078595141545459,1.006708832e-04,8.131061027e-06,-1.320650146e-04,9.925838379e-05,3.001139240e-06,-1.316261396e-04,1.066547338e-04,2.235144535e-06,-1.302702085e-04,7.020563037e-01,-1.413967400e-05,8.600110222e-01,7.020548912e-01,-1.926959578e-05,8.600114611e-01,7.028530076e-01,-1.115380606e-04,8.301948268e-01
+13,1.931666667e+01,DOWN_FORCE_DETACH,1793078596763098236,1.116750492e-04,1.940527656e-06,-1.450621670e-04,9.925838379e-05,3.001139240e-06,-1.316261396e-04,1.071896463e-04,2.207766018e-06,-1.309232369e-04,7.020673079e-01,-2.033020737e-05,8.599980251e-01,7.020548912e-01,-1.926959578e-05,8.600114611e-01,7.028535425e-01,-1.115654391e-04,8.301941737e-01
+14,2.085000000e+01,DOWN_FORCE_DETACH,1793078598303314079,1.205886464e-04,1.205537453e-06,-1.627199736e-04,1.180292050e-04,-9.559921102e-07,-1.665154497e-04,1.265832121e-04,-1.381215070e-06,-1.646996984e-04,7.020762215e-01,-2.106519757e-05,8.599803673e-01,7.020736620e-01,-2.322672713e-05,8.599765718e-01,7.028729361e-01,-1.151544202e-04,8.301603973e-01
+15,2.226666667e+01,DOWN_FORCE_DETACH,1793078599744663762,1.254764957e-04,2.176533672e-06,-1.820327481e-04,1.180292050e-04,-9.559921102e-07,-1.665154497e-04,1.271406647e-04,-1.411634788e-06,-1.656810072e-04,7.020811093e-01,-2.009420135e-05,8.599610545e-01,7.020736620e-01,-2.322672713e-05,8.599765718e-01,7.028734935e-01,-1.151848399e-04,8.301594160e-01
+16,2.366666667e+01,DOWN_FORCE_DETACH,1793078601185776113,1.354416945e-04,-2.309233533e-06,-1.958852651e-04,1.244597453e-04,2.125783395e-06,-1.871746043e-04,1.338692209e-04,1.288964163e-06,-1.861881770e-04,7.020910745e-01,-2.457996856e-05,8.599472020e-01,7.020800926e-01,-2.014495163e-05,8.599559126e-01,7.028802221e-01,-1.124842409e-04,8.301389088e-01
+17,2.513333333e+01,DOWN_FORCE_DETACH,1793078602677396799,1.429299603e-04,2.717067138e-06,-2.145246866e-04,1.355565360e-04,-1.098744012e-08,-2.049339293e-04,1.455127069e-04,-6.722077056e-07,-2.039561867e-04,7.020985628e-01,-1.955366788e-05,8.599285626e-01,7.020911894e-01,-2.228172246e-05,8.599381533e-01,7.028918655e-01,-1.144454128e-04,8.301211408e-01
+18,2.658333333e+01,DOWN_FORCE_DETACH,1793078604135061276,1.492010047e-04,3.326939286e-06,-2.346722277e-04,1.404704734e-04,3.089426375e-06,-2.245916500e-04,1.506475607e-04,2.109553715e-06,-2.235507603e-04,7.021048338e-01,-1.894379574e-05,8.599084150e-01,7.020961033e-01,-1.918130865e-05,8.599184956e-01,7.028970004e-01,-1.116636514e-04,8.301015462e-01
+19,2.806666667e+01,DOWN_FORCE_DETACH,1793078605608901345,1.591262479e-04,-2.015391707e-06,-2.519447782e-04,1.500575016e-04,1.113251066e-06,-2.418261677e-04,1.607341955e-04,2.706826126e-07,-2.408728684e-04,7.021147591e-01,-2.428612673e-05,8.598911425e-01,7.021056903e-01,-2.115748396e-05,8.599012611e-01,7.029070870e-01,-1.135025225e-04,8.300842241e-01
+20,2.960000000e+01,DOWN_FORCE_DETACH,1793078607116221650,1.674268036e-04,-1.871076869e-06,-2.721252998e-04,1.588981865e-04,2.984325205e-06,-2.596623932e-04,1.700671838e-04,1.910596072e-06,-2.587586637e-04,7.021230596e-01,-2.414181189e-05,8.598709619e-01,7.021145310e-01,-1.928640982e-05,8.598834248e-01,7.029164200e-01,-1.118626090e-04,8.300663383e-01
+21,3.118333333e+01,DOWN_FORCE_DETACH,1793078608803124349,1.776382708e-04,1.342452489e-06,-2.980958183e-04,1.742002504e-04,-2.290919649e-06,-2.970241520e-04,1.859174894e-04,-2.880551208e-06,-2.954034845e-04,7.021332711e-01,-2.092828253e-05,8.598449914e-01,7.021298331e-01,-2.456165467e-05,8.598460631e-01,7.029322703e-01,-1.166537563e-04,8.300296935e-01
+22,3.263333333e+01,DOWN_FORCE_DETACH,1793078610359337756,1.887269998e-04,-6.611853133e-07,-3.223508934e-04,1.827760551e-04,1.215747073e-06,-3.147434407e-04,1.950322242e-04,2.463737736e-07,-3.133929299e-04,7.021443598e-01,-2.293192034e-05,8.598207363e-01,7.021384089e-01,-2.105498795e-05,8.598283438e-01,7.029413851e-01,-1.135268313e-04,8.300117040e-01
+23,3.433333333e+01,DOWN_FORCE_DETACH,1793078612064115372,2.011611686e-04,-2.788355882e-06,-3.504686968e-04,2.008975407e-04,-2.733697660e-06,-3.503520919e-04,2.135526181e-04,-3.373059549e-06,-3.483903037e-04,7.021567940e-01,-2.505909090e-05,8.597926185e-01,7.021565304e-01,-2.500443268e-05,8.597927351e-01,7.029599055e-01,-1.171462646e-04,8.299767067e-01
+24,3.586666667e+01,DOWN_FORCE_DETACH,1793078613603254528,2.078628622e-04,-4.783604097e-06,-3.823471913e-04,2.022874130e-04,-3.567027549e-06,-3.704527338e-04,2.156038768e-04,-4.139666415e-06,-3.689588556e-04,7.021634957e-01,-2.705433912e-05,8.597607400e-01,7.021579202e-01,-2.583776257e-05,8.597726345e-01,7.029619567e-01,-1.179128715e-04,8.299561381e-01
+25,3.710000000e+01,DOWN_FORCE_DETACH,1793078614847782903,2.186744778e-04,-1.787707616e-06,-4.044219234e-04,2.102404976e-04,-1.450397300e-06,-3.899672010e-04,2.239229975e-04,-2.234411792e-06,-3.885751742e-04,7.021743073e-01,-2.405844264e-05,8.597386653e-01,7.021658733e-01,-2.372113232e-05,8.597531200e-01,7.029702758e-01,-1.160076169e-04,8.299365218e-01
+26,3.860000000e+01,DOWN_FORCE_DETACH,1793078616322388815,2.279331397e-04,-5.227110950e-06,-4.347812518e-04,2.248251479e-04,-4.430901518e-06,-4.299578813e-04,2.388973383e-04,-4.973058889e-06,-4.280000154e-04,7.021835660e-01,-2.749784597e-05,8.597083060e-01,7.021804580e-01,-2.670163654e-05,8.597131294e-01,7.029852502e-01,-1.187462640e-04,8.298970970e-01
+27,4.006666667e+01,DOWN_FORCE_DETACH,1793078617780524351,2.399291765e-04,-7.687187646e-06,-4.721095411e-04,2.354484530e-04,-4.280824794e-06,-4.702793883e-04,2.498951271e-04,-4.863371296e-06,-4.679040574e-04,7.021955620e-01,-2.995792267e-05,8.596709777e-01,7.021910813e-01,-2.655155982e-05,8.596728079e-01,7.029962480e-01,-1.186365764e-04,8.298571929e-01
+28,4.143333333e+01,DOWN_FORCE_DETACH,1793078619156136973,2.503631608e-04,-5.588868192e-06,-5.103440294e-04,2.476289742e-04,-3.843718935e-06,-5.079024358e-04,2.624573087e-04,-4.502930194e-06,-5.052649043e-04,7.022059960e-01,-2.785960321e-05,8.596327432e-01,7.022032618e-01,-2.611445396e-05,8.596351848e-01,7.030088102e-01,-1.182761353e-04,8.298198321e-01
+29,4.280000000e+01,DOWN_FORCE_DETACH,1793078620565810484,2.623272379e-04,-1.124263933e-05,-5.502027198e-04,2.568298775e-04,-6.773793065e-06,-5.464435361e-04,2.719531520e-04,-7.142898164e-06,-5.437903145e-04,7.022179601e-01,-3.351337435e-05,8.595928845e-01,7.022124627e-01,-2.904452809e-05,8.595966437e-01,7.030183060e-01,-1.209161033e-04,8.297813067e-01
+30,4.436666667e+01,DOWN_FORCE_DETACH,1793078622170634721,2.770424598e-04,-8.714680736e-06,-6.021371215e-04,2.751639799e-04,-7.352227999e-06,-6.013257974e-04,2.908138933e-04,-7.756747152e-06,-5.980944388e-04,7.022326753e-01,-3.098541576e-05,8.595409501e-01,7.022307968e-01,-2.962296302e-05,8.595417614e-01,7.030371667e-01,-1.215299522e-04,8.297270025e-01
+31,4.578333333e+01,DOWN_FORCE_DETACH,1793078623595807226,2.850243899e-04,-1.065418778e-05,-6.526367851e-04,2.868369909e-04,-1.045683977e-05,-6.409808998e-04,3.030516307e-04,-1.054662806e-05,-6.379738371e-04,7.022406572e-01,-3.292492280e-05,8.594904505e-01,7.022424698e-01,-3.272757479e-05,8.595021063e-01,7.030494045e-01,-1.243198332e-04,8.296871231e-01
+32,4.701666667e+01,DOWN_FORCE_DETACH,1793078624890906270,3.013693806e-04,-6.476575793e-06,-6.965746708e-04,2.974340274e-04,-5.318526684e-06,-7.011723735e-04,3.138471348e-04,-6.049543373e-06,-6.969545929e-04,7.022570022e-01,-2.874731082e-05,8.594465126e-01,7.022530668e-01,-2.758926171e-05,8.594419149e-01,7.030602000e-01,-1.198227485e-04,8.296281424e-01
+33,4.836666667e+01,DOWN_FORCE_DETACH,1793078626232930801,3.118514356e-04,-1.945602526e-05,-7.491406187e-04,3.086877838e-04,-9.160234916e-06,-7.358174900e-04,3.255367085e-04,-9.567353721e-06,-7.325563329e-04,7.022674843e-01,-4.172676029e-05,8.593939466e-01,7.022643206e-01,-3.143096994e-05,8.594072697e-01,7.030718895e-01,-1.233405588e-04,8.295925406e-01
+34,4.975000000e+01,DOWN_FORCE_DETACH,1793078627789398807,3.294241923e-04,-1.665509066e-05,-8.164090646e-04,3.250124949e-04,-2.089190295e-05,-8.199550583e-04,3.418283106e-04,-2.014760409e-05,-8.150785486e-04,7.022850570e-01,-3.892582568e-05,8.593266782e-01,7.022806453e-01,-4.316263797e-05,8.593231322e-01,7.030881812e-01,-1.339208092e-04,8.295100184e-01
+35,5.116666667e+01,DOWN_FORCE_DETACH,1793078629212014780,3.404917754e-04,-1.550932207e-05,-8.826804653e-04,3.396759294e-04,-2.034541367e-05,-8.800558985e-04,3.567922409e-04,-1.974091605e-05,-8.752701875e-04,7.022961246e-01,-3.778005709e-05,8.592604068e-01,7.022953087e-01,-4.261614869e-05,8.592630313e-01,7.031031451e-01,-1.335141211e-04,8.294498268e-01
+36,5.261666667e+01,DOWN_FORCE_DETACH,1793078630771504945,3.581604317e-04,-2.303988262e-05,-9.614964429e-04,3.582306906e-04,-1.576810442e-05,-9.610147457e-04,3.755067053e-04,-1.568908257e-05,-9.554828191e-04,7.023137932e-01,-4.531061764e-05,8.591815908e-01,7.023138635e-01,-3.803883944e-05,8.591820725e-01,7.031218595e-01,-1.294622877e-04,8.293696141e-01
+37,5.406666667e+01,DOWN_FORCE_DETACH,1793078632196379700,3.738415176e-04,-2.671465931e-05,-1.042257748e-03,3.684718886e-04,-2.725061290e-05,-1.025982250e-03,3.861014136e-04,-2.602885327e-05,-1.021329272e-03,7.023294743e-01,-4.898539433e-05,8.591008295e-01,7.023241047e-01,-4.952134792e-05,8.591171050e-01,7.031324543e-01,-1.398020584e-04,8.293037677e-01
+38,5.533333333e+01,DOWN_FORCE_DETACH,1793078633441275256,3.846670961e-04,-2.694633909e-05,-1.112080068e-03,3.820821855e-04,-3.037103335e-05,-1.111572287e-03,3.997079183e-04,-2.885418845e-05,-1.106121696e-03,7.023402999e-01,-4.921707411e-05,8.590310072e-01,7.023377150e-01,-5.264176837e-05,8.590315150e-01,7.031460608e-01,-1.426273935e-04,8.292189753e-01
+39,5.675000000e+01,DOWN_FORCE_DETACH,1793078634866401195,4.014491010e-04,-3.173628610e-05,-1.211590996e-03,3.996935507e-04,-2.957764656e-05,-1.192716019e-03,4.176118088e-04,-2.817813015e-05,-1.187398777e-03,7.023570819e-01,-5.400702112e-05,8.589314962e-01,7.023553264e-01,-5.184838159e-05,8.589503712e-01,7.031639647e-01,-1.419513352e-04,8.291376982e-01
+40,5.823333333e+01,DOWN_FORCE_DETACH,1793078636352824784,4.147947678e-04,-3.159574059e-05,-1.318503583e-03,4.133069734e-04,-3.394305004e-05,-1.316494821e-03,4.310374370e-04,-3.213139841e-05,-1.309921284e-03,7.023704276e-01,-5.386647561e-05,8.588245837e-01,7.023689398e-01,-5.621378506e-05,8.588265924e-01,7.031773903e-01,-1.459046035e-04,8.290151757e-01
+41,5.970000000e+01,DOWN_FORCE_DETACH,1793078637913136774,4.361859796e-04,-3.614812945e-05,-1.441721613e-03,4.349036313e-04,-3.535669048e-05,-1.440873068e-03,4.527314525e-04,-3.346968978e-05,-1.433428623e-03,7.023918188e-01,-5.841886447e-05,8.587013656e-01,7.023905364e-01,-5.762742551e-05,8.587022142e-01,7.031990843e-01,-1.472428949e-04,8.288916683e-01
+42,6.103333333e+01,DOWN_FORCE_DETACH,1793078639223774713,4.530248249e-04,-3.873999186e-05,-1.555813093e-03,4.490775722e-04,-3.397809067e-05,-1.542866627e-03,4.670398881e-04,-3.234415463e-05,-1.535742591e-03,7.024086576e-01,-6.101072688e-05,8.585872741e-01,7.024047104e-01,-5.624882569e-05,8.586002206e-01,7.032133927e-01,-1.461173597e-04,8.287893544e-01
+43,6.238333333e+01,DOWN_FORCE_DETACH,1793078640583046511,4.697000084e-04,-3.639397359e-05,-1.685176727e-03,4.696045157e-04,-3.624938228e-05,-1.685213128e-03,4.874134411e-04,-3.450766944e-05,-1.676670426e-03,7.024253328e-01,-5.866470862e-05,8.584579105e-01,7.024252373e-01,-5.852011731e-05,8.584578741e-01,7.032337663e-01,-1.482808745e-04,8.286484265e-01
+44,6.368333333e+01,DOWN_FORCE_DETACH,1793078641861405510,4.880531103e-04,-3.791414177e-05,-1.817259686e-03,4.866805736e-04,-3.743989569e-05,-1.809146468e-03,5.043766116e-04,-3.561005646e-05,-1.800741290e-03,7.024436859e-01,-6.018487680e-05,8.583258276e-01,7.024423134e-01,-5.971063072e-05,8.583339408e-01,7.032507295e-01,-1.493832615e-04,8.285243557e-01
+45,6.508333333e+01,DOWN_FORCE_DETACH,1793078643237437104,5.090757199e-04,-3.533257940e-05,-1.971097900e-03,5.045547348e-04,-4.205573567e-05,-1.956643871e-03,5.220729980e-04,-3.985333487e-05,-1.948021437e-03,7.024647085e-01,-5.760331442e-05,8.581719893e-01,7.024601876e-01,-6.432647070e-05,8.581864434e-01,7.032684258e-01,-1.536265400e-04,8.283770755e-01
+46,6.638333333e+01,DOWN_FORCE_DETACH,1793078644530954349,5.250881294e-04,-3.769426920e-05,-2.130626435e-03,5.244247236e-04,-4.209681063e-05,-2.123041681e-03,5.412871937e-04,-3.992777669e-05,-2.113147213e-03,7.024807209e-01,-5.996500422e-05,8.580124608e-01,7.024800575e-01,-6.436754565e-05,8.580200456e-01,7.032876400e-01,-1.537009818e-04,8.282119498e-01
+47,6.763333333e+01,DOWN_FORCE_DETACH,1793078645778613746,5.453630298e-04,-4.000226136e-05,-2.291437750e-03,5.408280417e-04,-3.768174675e-05,-2.274487109e-03,5.571290515e-04,-3.602981861e-05,-2.264494334e-03,7.025009958e-01,-6.227299639e-05,8.578516495e-01,7.024964609e-01,-5.995248178e-05,8.578686001e-01,7.033034819e-01,-1.498030237e-04,8.280606026e-01
+48,6.893333333e+01,DOWN_FORCE_DETACH,1793078647070424266,5.648430330e-04,-4.132779423e-05,-2.475614171e-03,5.610392497e-04,-4.345229044e-05,-2.457174943e-03,5.766339135e-04,-4.137338474e-05,-2.446376949e-03,7.025204758e-01,-6.359852925e-05,8.576674731e-01,7.025166721e-01,-6.572302546e-05,8.576859123e-01,7.033229868e-01,-1.551465898e-04,8.278787200e-01
+49,7.005000000e+01,DOWN_FORCE_DETACH,1793078648282531605,5.902362417e-04,-4.574432510e-05,-2.663432035e-03,5.866458001e-04,-4.156054074e-05,-2.660704414e-03,6.014959238e-04,-3.980124617e-05,-2.647844077e-03,7.025458691e-01,-6.801506013e-05,8.574796552e-01,7.025422786e-01,-6.383127577e-05,8.574823828e-01,7.033478488e-01,-1.535744513e-04,8.276772529e-01
+50,7.133333333e+01,DOWN_FORCE_DETACH,1793078649594049555,6.073944419e-04,-4.576337971e-05,-2.870120336e-03,6.034571643e-04,-4.807279146e-05,-2.855826886e-03,6.176815437e-04,-4.573124740e-05,-2.843403293e-03,7.025630273e-01,-6.803411473e-05,8.572729669e-01,7.025590900e-01,-7.034352649e-05,8.572872604e-01,7.033640344e-01,-1.595044525e-04,8.274816937e-01
+51,7.256666667e+01,DOWN_FORCE_DETACH,1793078650821869926,6.312547272e-04,-5.518482913e-05,-3.092804340e-03,6.313759941e-04,-5.528712079e-05,-3.092456225e-03,6.446908042e-04,-5.228171888e-05,-3.078322602e-03,7.025868875e-01,-7.745556416e-05,8.570502829e-01,7.025870088e-01,-7.755785582e-05,8.570506310e-01,7.033910436e-01,-1.660549240e-04,8.272467744e-01
+52,7.371666667e+01,DOWN_FORCE_DETACH,1793078652034713230,6.500387401e-04,-5.858431136e-05,-3.332880462e-03,6.499497302e-04,-5.856880412e-05,-3.332377530e-03,6.621130477e-04,-5.529480507e-05,-3.316895991e-03,7.026056716e-01,-8.085504638e-05,8.568102068e-01,7.026055825e-01,-8.083953915e-05,8.568107097e-01,7.034084659e-01,-1.690680102e-04,8.270082010e-01
+53,7.486666667e+01,DOWN_FORCE_DETACH,1793078653213656749,6.701381447e-04,-5.921930097e-05,-3.575647243e-03,6.668770448e-04,-5.845731689e-05,-3.572190053e-03,6.777787642e-04,-5.520541033e-05,-3.556102682e-03,7.026257710e-01,-8.149003599e-05,8.565674400e-01,7.026225099e-01,-8.072805191e-05,8.565708972e-01,7.034241316e-01,-1.689786154e-04,8.267689943e-01
+54,7.573333333e+01,DOWN_FORCE_DETACH,1793078654374350620,6.932635329e-04,-5.860909654e-05,-3.842471319e-03,6.930136263e-04,-5.871700470e-05,-3.842127956e-03,7.020689452e-04,-5.564413290e-05,-3.821838398e-03,7.026488963e-01,-8.087983156e-05,8.563006159e-01,7.026486464e-01,-8.098773973e-05,8.563009593e-01,7.034484218e-01,-1.694173380e-04,8.265032586e-01
+55,7.670000000e+01,DOWN_FORCE_DETACH,1793078655392055503,7.106035544e-04,-6.427107997e-05,-4.103171180e-03,7.096123398e-04,-6.509804993e-05,-4.089281553e-03,7.173497894e-04,-6.157226748e-05,-4.070033666e-03,7.026662364e-01,-8.654181500e-05,8.560399161e-01,7.026652452e-01,-8.736878495e-05,8.560538057e-01,7.034637026e-01,-1.753454726e-04,8.262550633e-01
+56,7.758333333e+01,DOWN_FORCE_DETACH,1793078656309402586,7.259194549e-04,-6.378045107e-05,-4.360061998e-03,7.269823433e-04,-6.290453106e-05,-4.345855882e-03,7.330680457e-04,-5.975507280e-05,-4.325760576e-03,7.026815523e-01,-8.605118609e-05,8.557830252e-01,7.026826152e-01,-8.517526608e-05,8.557972314e-01,7.034794209e-01,-1.735282779e-04,8.259993364e-01
+57,7.848333333e+01,DOWN_FORCE_DETACH,1793078657259628009,7.476900700e-04,-7.045614353e-05,-4.631914380e-03,7.487211664e-04,-7.059053734e-05,-4.614748329e-03,7.532665693e-04,-6.675500306e-05,-4.594011988e-03,7.027033229e-01,-9.272687855e-05,8.555111729e-01,7.027043540e-01,-9.286127236e-05,8.555283389e-01,7.034996194e-01,-1.805282082e-04,8.257310850e-01
+58,7.930000000e+01,DOWN_FORCE_DETACH,1793078658129429651,7.689161609e-04,-6.945351973e-05,-4.911056146e-03,7.687881804e-04,-6.948347253e-05,-4.910623190e-03,7.712850867e-04,-6.567861943e-05,-4.887175162e-03,7.027245490e-01,-9.172425475e-05,8.552320311e-01,7.027244210e-01,-9.175420755e-05,8.552324640e-01,7.035176379e-01,-1.794518245e-04,8.254379218e-01
+59,8.046666667e+01,DOWN_PEAK_HOLD,1793078659274862289,7.369001951e-04,-7.102231794e-05,-5.148924371e-03,7.424899880e-04,-6.921319014e-05,-5.138514539e-03,7.423644886e-04,-6.533169227e-05,-5.120775042e-03,7.026925330e-01,-9.329305296e-05,8.549941629e-01,7.026981228e-01,-9.148392516e-05,8.550045727e-01,7.034887173e-01,-1.791048974e-04,8.252043219e-01

Part2/Fixed/digit/cylinder_PLA_15/press_depth_10/down/simulation_data.csv

@@ -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+00,4.1532e-01,9.7003e-01,2.4730e+00,-1.0766e-01,6.6897e-02,2.5104e-03,1.9804e-02,2.0688e-03,-2.3255e-03,-8.7023e-05,1.4399e-03,-2.6649e-04,2.0047e-02,1.4669e-03
+1,1.4500e+00,DOWN_FORCE_DETACH,3.3544e-04,5.8176e-01,9.5726e-01,2.4749e+00,-1.0684e-01,7.8849e-02,1.6227e-03,1.8625e-01,-1.0701e-02,-3.8671e-04,7.3895e-04,1.3392e-02,-1.1542e-03,1.8655e-01,1.3462e-02
+2,2.9500e+00,DOWN_FORCE_DETACH,6.7618e-04,6.6099e-01,9.5104e-01,2.4725e+00,-1.0636e-01,8.4546e-02,1.1685e-03,2.6548e-01,-1.6927e-02,-2.7881e-03,1.2120e-03,1.9089e-02,-1.6084e-03,2.6603e-01,1.9195e-02
+3,4.4333e+00,DOWN_FORCE_DETACH,1.0143e-03,4.7677e-01,7.2778e-01,2.5099e+00,-9.0191e-02,7.1109e-02,8.1938e-04,8.1256e-02,-2.4019e-01,3.4605e-02,1.7383e-02,5.6518e-03,-1.9575e-03,2.5591e-01,1.8383e-02
+4,5.9167e+00,DOWN_FORCE_DETACH,1.3508e-03,5.7367e-01,9.4423e-01,2.5982e+00,-1.0579e-01,7.8020e-02,1.0021e-03,1.7816e-01,-2.3735e-02,1.2291e-01,1.7870e-03,1.2563e-02,-1.7748e-03,2.1774e-01,1.2813e-02
+5,7.3167e+00,DOWN_FORCE_DETACH,1.6902e-03,6.6368e-01,9.4108e-01,2.5317e+00,-1.0557e-01,8.4659e-02,9.4577e-04,2.6817e-01,-2.6890e-02,5.6389e-02,2.0039e-03,1.9202e-02,-1.8311e-03,2.7535e-01,1.9393e-02
+6,8.8333e+00,DOWN_FORCE_DETACH,2.0285e-03,6.5130e-01,8.0458e-01,2.6028e+00,-9.5630e-02,8.3639e-02,8.2086e-04,2.5579e-01,-1.6338e-01,1.2751e-01,1.1944e-02,1.8182e-02,-1.9561e-03,3.2921e-01,2.1842e-02
+7,1.0333e+01,DOWN_FORCE_DETACH,2.3654e-03,5.8321e-01,8.0884e-01,2.6285e+00,-9.5896e-02,7.8660e-02,8.5588e-04,1.8770e-01,-1.5913e-01,1.5319e-01,1.1679e-02,1.3203e-02,-1.9210e-03,2.8987e-01,1.7731e-02
+8,1.1767e+01,DOWN_FORCE_DETACH,2.7052e-03,5.7334e-01,9.2494e-01,2.6126e+00,-1.0422e-01,7.7948e-02,9.7791e-04,1.7783e-01,-4.3027e-02,1.3731e-01,3.3523e-03,1.2491e-02,-1.7990e-03,2.2875e-01,1.3058e-02
+9,1.3200e+01,DOWN_FORCE_DETACH,3.0412e-03,6.3492e-01,8.2070e-01,2.6565e+00,-9.6602e-02,8.2372e-02,8.7122e-04,2.3941e-01,-1.4726e-01,1.8117e-01,1.0973e-02,1.6915e-02,-1.9057e-03,3.3440e-01,2.0252e-02
+10,1.4717e+01,DOWN_FORCE_DETACH,3.3790e-03,6.1141e-01,9.1473e-01,2.6859e+00,-1.0331e-01,8.0600e-02,8.4042e-04,2.1590e-01,-5.3239e-02,2.1059e-01,4.2648e-03,1.5143e-02,-1.9365e-03,3.0625e-01,1.5851e-02
+11,1.6183e+01,DOWN_FORCE_DETACH,3.7214e-03,7.0226e-01,9.1081e-01,2.5730e+00,-1.0302e-01,8.7434e-02,7.5539e-04,3.0674e-01,-5.7157e-02,9.7691e-02,4.5494e-03,2.1977e-02,-2.0215e-03,3.2696e-01,2.2534e-02
+12,1.7933e+01,DOWN_FORCE_DETACH,4.0577e-03,6.0703e-01,8.2681e-01,2.6916e+00,-9.6802e-02,8.0300e-02,6.5583e-04,2.1152e-01,-1.4116e-01,2.1631e-01,1.0773e-02,1.4842e-02,-2.1211e-03,3.3385e-01,1.8462e-02
+13,1.9317e+01,DOWN_FORCE_DETACH,4.3943e-03,7.0451e-01,8.2228e-01,2.5751e+00,-9.6478e-02,8.7532e-02,5.9267e-04,3.0899e-01,-1.4569e-01,9.9834e-02,1.1096e-02,2.2075e-02,-2.1842e-03,3.5591e-01,2.4803e-02
+14,2.0850e+01,DOWN_FORCE_DETACH,4.7341e-03,6.4931e-01,8.7585e-01,2.7163e+00,-9.9938e-02,8.3818e-02,5.0555e-04,2.5380e-01,-9.2120e-02,2.4103e-01,7.6359e-03,1.8361e-02,-2.2714e-03,3.6194e-01,2.0015e-02
+15,2.2267e+01,DOWN_FORCE_DETACH,5.0691e-03,7.2128e-01,8.9288e-01,2.5934e+00,-1.0143e-01,8.8767e-02,4.2054e-04,3.2577e-01,-7.5086e-02,1.1805e-01,6.1479e-03,2.3310e-02,-2.3564e-03,3.5454e-01,2.4222e-02
+16,2.3667e+01,DOWN_FORCE_DETACH,5.4100e-03,7.2841e-01,8.2238e-01,2.6087e+00,-9.6272e-02,8.9228e-02,2.8328e-04,3.3290e-01,-1.4558e-01,1.3340e-01,1.1303e-02,2.3771e-02,-2.4936e-03,3.8706e-01,2.6439e-02
+17,2.5133e+01,DOWN_FORCE_DETACH,5.7492e-03,7.0919e-01,8.6102e-01,2.6047e+00,-9.9004e-02,8.7813e-02,2.3671e-04,3.1367e-01,-1.0694e-01,1.2943e-01,8.5703e-03,2.2355e-02,-2.5402e-03,3.5578e-01,2.4076e-02
+18,2.6583e+01,DOWN_FORCE_DETACH,6.0844e-03,7.3079e-01,7.8970e-01,2.6186e+00,-9.3800e-02,8.9347e-02,1.1205e-04,3.3528e-01,-1.7826e-01,1.4324e-01,1.3775e-02,2.3889e-02,-2.6649e-03,4.0584e-01,2.7705e-02
+19,2.8067e+01,DOWN_FORCE_DETACH,6.4224e-03,7.1811e-01,8.2695e-01,2.6063e+00,-9.6430e-02,8.8422e-02,9.6732e-05,3.2260e-01,-1.4101e-01,1.3100e-01,1.1144e-02,2.2965e-02,-2.6802e-03,3.7565e-01,2.5667e-02
+20,2.9600e+01,DOWN_FORCE_DETACH,6.7601e-03,7.2382e-01,7.8049e-01,2.5873e+00,-9.3069e-02,8.8834e-02,1.0321e-05,3.2831e-01,-1.8747e-01,1.1202e-01,1.4505e-02,2.3377e-02,-2.7666e-03,3.9431e-01,2.7650e-02
+21,3.1183e+01,DOWN_FORCE_DETACH,7.1019e-03,6.7434e-01,8.8571e-01,2.7149e+00,-1.0055e-01,8.5023e-02,1.0606e-05,2.7882e-01,-8.2254e-02,2.3958e-01,7.0236e-03,1.9566e-02,-2.7663e-03,3.7671e-01,2.0972e-02
+22,3.2633e+01,DOWN_FORCE_DETACH,7.4394e-03,6.8930e-01,8.0292e-01,2.6689e+00,-9.4614e-02,8.6150e-02,-8.9737e-05,2.9379e-01,-1.6505e-01,1.9359e-01,1.2961e-02,2.0693e-02,-2.8667e-03,3.8863e-01,2.4584e-02
+23,3.4333e+01,DOWN_FORCE_DETACH,7.7750e-03,7.3665e-01,8.6740e-01,2.6131e+00,-9.9289e-02,8.9614e-02,-1.4032e-04,3.4114e-01,-1.0057e-01,1.3774e-01,8.2852e-03,2.4157e-02,-2.9172e-03,3.8140e-01,2.5705e-02
+24,3.5867e+01,DOWN_FORCE_DETACH,8.1142e-03,7.2451e-01,8.9372e-01,2.6947e+00,-1.0110e-01,8.8574e-02,-1.6048e-04,3.2900e-01,-7.4250e-02,2.1937e-01,6.4756e-03,2.3117e-02,-2.9374e-03,4.0234e-01,2.4186e-02
+25,3.7100e+01,DOWN_FORCE_DETACH,8.4534e-03,7.2148e-01,8.4354e-01,2.6665e+00,-9.7497e-02,8.8359e-02,-2.0977e-04,3.2597e-01,-1.2443e-01,1.9118e-01,1.0078e-02,2.2902e-02,-2.9867e-03,3.9785e-01,2.5199e-02
+26,3.8600e+01,DOWN_FORCE_DETACH,8.7906e-03,6.7574e-01,9.0191e-01,2.7672e+00,-1.0158e-01,8.4870e-02,-1.7855e-04,2.8023e-01,-6.6057e-02,2.9193e-01,5.9899e-03,1.9413e-02,-2.9555e-03,4.1002e-01,2.0530e-02
+27,4.0067e+01,DOWN_FORCE_DETACH,9.1264e-03,6.8482e-01,8.9155e-01,2.8409e+00,-1.0070e-01,8.5439e-02,-1.7715e-04,2.8931e-01,-7.6410e-02,3.6557e-01,6.8712e-03,1.9982e-02,-2.9541e-03,4.7242e-01,2.1336e-02
+28,4.1433e+01,DOWN_FORCE_DETACH,9.4660e-03,6.5976e-01,8.7733e-01,2.9023e+00,-9.9661e-02,8.3509e-02,-1.0195e-04,2.6425e-01,-9.0640e-02,4.2695e-01,7.9133e-03,1.8052e-02,-2.8789e-03,5.1022e-01,1.9920e-02
+29,4.2800e+01,DOWN_FORCE_DETACH,9.8022e-03,6.7907e-01,9.3866e-01,2.8932e+00,-1.0404e-01,8.4844e-02,-2.2334e-05,2.8356e-01,-2.9303e-02,4.1787e-01,3.5347e-03,1.9387e-02,-2.7992e-03,5.0584e-01,1.9904e-02
+30,4.4367e+01,DOWN_FORCE_DETACH,1.0145e-02,6.2047e-01,9.3374e-01,2.9984e+00,-1.0354e-01,8.0507e-02,8.1092e-05,2.2496e-01,-3.4226e-02,5.2311e-01,4.0367e-03,1.5050e-02,-2.6958e-03,5.7046e-01,1.5813e-02
+31,4.5783e+01,DOWN_FORCE_DETACH,1.0479e-02,6.4003e-01,9.9136e-01,2.9615e+00,-1.0760e-01,8.1937e-02,6.2471e-05,2.4452e-01,2.3392e-02,4.8615e-01,-2.9661e-05,1.6480e-02,-2.7144e-03,5.4468e-01,1.6702e-02
+32,4.7017e+01,DOWN_FORCE_DETACH,1.0821e-02,6.6500e-01,8.6508e-01,3.1550e+00,-9.8532e-02,8.3486e-02,-6.3267e-05,2.6949e-01,-1.0289e-01,6.7965e-01,9.0424e-03,1.8029e-02,-2.8402e-03,7.3833e-01,2.0368e-02
+33,4.8367e+01,DOWN_FORCE_DETACH,1.1154e-02,6.4582e-01,9.4407e-01,3.0040e+00,-1.0425e-01,8.2079e-02,5.5638e-05,2.5030e-01,-2.3897e-02,5.2871e-01,3.3237e-03,1.6622e-02,-2.7213e-03,5.8545e-01,1.7168e-02
+34,4.9750e+01,DOWN_FORCE_DETACH,1.1493e-02,6.1778e-01,1.1773e+00,3.2656e+00,-1.2041e-01,8.0071e-02,1.4829e-04,2.2226e-01,2.0933e-01,7.9024e-01,-1.2833e-02,1.4614e-02,-2.6286e-03,8.4717e-01,1.9626e-02
+35,5.1167e+01,DOWN_FORCE_DETACH,1.1833e-02,5.9582e-01,1.1568e+00,3.2522e+00,-1.1892e-01,7.8533e-02,1.9464e-04,2.0030e-01,1.8882e-01,7.7692e-01,-1.1348e-02,1.3076e-02,-2.5823e-03,8.2424e-01,1.7505e-02
+36,5.2617e+01,DOWN_FORCE_DETACH,1.2172e-02,5.7648e-01,1.1184e+00,3.2816e+00,-1.1626e-01,7.7008e-02,2.2967e-04,1.8096e-01,1.5042e-01,8.0628e-01,-8.6892e-03,1.1550e-02,-2.5472e-03,8.3992e-01,1.4677e-02
+37,5.4067e+01,DOWN_FORCE_DETACH,1.2509e-02,5.9171e-01,1.2920e+00,3.2631e+00,-1.2791e-01,7.7695e-02,3.5998e-04,1.9619e-01,3.2407e-01,7.8780e-01,-2.0334e-02,1.2237e-02,-2.4169e-03,8.7415e-01,2.3855e-02
+38,5.5333e+01,DOWN_FORCE_DETACH,1.2848e-02,5.8343e-01,1.3535e+00,3.3996e+00,-1.3145e-01,7.7159e-02,3.7486e-04,1.8792e-01,3.8551e-01,9.2430e-01,-2.3879e-02,1.1702e-02,-2.4020e-03,1.0190e+00,2.6701e-02
+39,5.6750e+01,DOWN_FORCE_DETACH,1.3187e-02,5.6470e-01,1.3319e+00,3.3949e+00,-1.3004e-01,7.5726e-02,4.2591e-04,1.6918e-01,3.6393e-01,9.1964e-01,-2.2467e-02,1.0269e-02,-2.3510e-03,1.0034e+00,2.4814e-02
+40,5.8233e+01,DOWN_FORCE_DETACH,1.3522e-02,6.2174e-01,1.3595e+00,3.4945e+00,-1.3184e-01,7.9531e-02,4.5206e-04,2.2623e-01,3.9149e-01,1.0191e+00,-2.4264e-02,1.4074e-02,-2.3249e-03,1.1150e+00,2.8146e-02
+41,5.9700e+01,DOWN_FORCE_DETACH,1.3861e-02,6.1086e-01,1.4065e+00,3.6592e+00,-1.3488e-01,7.8639e-02,4.7993e-04,2.1535e-01,4.3853e-01,1.1839e+00,-2.7301e-02,1.3182e-02,-2.2970e-03,1.2808e+00,3.0404e-02
+42,6.1033e+01,DOWN_FORCE_DETACH,1.4198e-02,6.3637e-01,1.4126e+00,3.7323e+00,-1.3516e-01,8.0239e-02,5.1201e-04,2.4086e-01,4.4466e-01,1.2570e+00,-2.7586e-02,1.4782e-02,-2.2649e-03,1.3549e+00,3.1378e-02
+43,6.2383e+01,DOWN_FORCE_DETACH,1.4535e-02,6.6240e-01,1.4233e+00,3.7630e+00,-1.3559e-01,8.1785e-02,5.5339e-04,2.6689e-01,4.5537e-01,1.2877e+00,-2.8020e-02,1.6328e-02,-2.2235e-03,1.3917e+00,3.2507e-02
+44,6.3683e+01,DOWN_FORCE_DETACH,1.4877e-02,6.4801e-01,1.4684e+00,3.9277e+00,-1.3811e-01,8.0698e-02,5.7677e-04,2.5250e-01,5.0039e-01,1.4524e+00,-3.0537e-02,1.5241e-02,-2.2001e-03,1.5568e+00,3.4199e-02
+45,6.5083e+01,DOWN_FORCE_DETACH,1.5214e-02,6.6050e-01,1.4651e+00,4.0058e+00,-1.3753e-01,8.1313e-02,6.0082e-04,2.6499e-01,4.9713e-01,1.5305e+00,-2.9953e-02,1.5856e-02,-2.1761e-03,1.6309e+00,3.3960e-02
+46,6.6383e+01,DOWN_FORCE_DETACH,1.5550e-02,6.5646e-01,1.4889e+00,4.1300e+00,-1.3853e-01,8.0847e-02,6.5844e-04,2.6095e-01,5.2097e-01,1.6547e+00,-3.0954e-02,1.5390e-02,-2.1185e-03,1.7543e+00,3.4634e-02
+47,6.7633e+01,DOWN_FORCE_DETACH,1.5887e-02,6.4445e-01,1.3981e+00,4.3027e+00,-1.3131e-01,7.9463e-02,7.5521e-04,2.4894e-01,4.3010e-01,1.8274e+00,-2.3732e-02,1.4006e-02,-2.0217e-03,1.8938e+00,2.7630e-02
+48,6.8933e+01,DOWN_FORCE_DETACH,1.6227e-02,6.2435e-01,1.4814e+00,4.4679e+00,-1.3660e-01,7.7640e-02,7.3778e-04,2.2884e-01,5.1346e-01,1.9926e+00,-2.9024e-02,1.2183e-02,-2.0391e-03,2.0704e+00,3.1543e-02
+49,7.0050e+01,DOWN_FORCE_DETACH,1.6565e-02,5.4802e-01,1.4437e+00,4.7332e+00,-1.3318e-01,7.1844e-02,6.8705e-04,1.5250e-01,4.7577e-01,2.2579e+00,-2.5604e-02,6.3871e-03,-2.0899e-03,2.3125e+00,2.6471e-02
+50,7.1333e+01,DOWN_FORCE_DETACH,1.6902e-02,6.2522e-01,1.5570e+00,4.7727e+00,-1.4052e-01,7.7121e-02,6.7757e-04,2.2971e-01,5.8903e-01,2.2974e+00,-3.2944e-02,1.1664e-02,-2.0993e-03,2.3828e+00,3.5011e-02
+51,7.2567e+01,DOWN_FORCE_DETACH,1.7240e-02,5.9172e-01,1.5621e+00,4.9271e+00,-1.4003e-01,7.4443e-02,6.2161e-04,1.9620e-01,5.9418e-01,2.4517e+00,-3.2456e-02,8.9858e-03,-2.1553e-03,2.5303e+00,3.3745e-02
+52,7.3717e+01,DOWN_FORCE_DETACH,1.7580e-02,6.3935e-01,1.7021e+00,5.1460e+00,-1.4882e-01,7.7173e-02,9.0116e-04,2.4384e-01,7.3411e-01,2.6707e+00,-4.1244e-02,1.1716e-02,-1.8758e-03,2.7805e+00,4.2917e-02
+53,7.4867e+01,DOWN_FORCE_DETACH,1.7920e-02,6.8175e-01,1.7655e+00,5.3461e+00,-1.5164e-01,7.9659e-02,1.0405e-03,2.8623e-01,7.9749e-01,2.8708e+00,-4.4069e-02,1.4202e-02,-1.7364e-03,2.9932e+00,4.6333e-02
+54,7.5733e+01,DOWN_FORCE_DETACH,1.8261e-02,6.5298e-01,1.8314e+00,5.5147e+00,-1.5556e-01,7.7529e-02,1.0899e-03,2.5746e-01,8.6341e-01,3.0394e+00,-4.7989e-02,1.2072e-02,-1.6870e-03,3.1701e+00,4.9513e-02
+55,7.6700e+01,DOWN_FORCE_DETACH,1.8595e-02,6.1398e-01,1.8166e+00,5.9724e+00,-1.5293e-01,7.3614e-02,1.1302e-03,2.1847e-01,8.4865e-01,3.4971e+00,-4.5361e-02,8.1570e-03,-1.6467e-03,3.6052e+00,4.6118e-02
+56,7.7583e+01,DOWN_FORCE_DETACH,1.8933e-02,6.4647e-01,1.9117e+00,6.1308e+00,-1.5796e-01,7.5359e-02,1.0481e-03,2.5096e-01,9.4372e-01,3.6555e+00,-5.0382e-02,9.9019e-03,-1.7288e-03,3.7836e+00,5.1375e-02
+57,7.8483e+01,DOWN_FORCE_DETACH,1.9274e-02,6.2590e-01,1.8802e+00,6.1706e+00,-1.5476e-01,7.4002e-02,7.1525e-04,2.3039e-01,9.1226e-01,3.6953e+00,-4.7182e-02,8.5445e-03,-2.0617e-03,3.8132e+00,4.7993e-02
+58,7.9300e+01,DOWN_FORCE_DETACH,1.9604e-02,6.1572e-01,2.0047e+00,6.5115e+00,-1.6168e-01,7.2842e-02,6.8274e-04,2.2020e-01,1.0367e+00,4.0362e+00,-5.4110e-02,7.3850e-03,-2.0942e-03,4.1730e+00,5.4652e-02
+59,8.0467e+01,DOWN_PEAK_HOLD,1.9947e-02,8.9768e-01,1.9928e+00,6.0041e+00,-1.5979e-01,9.1171e-02,8.0420e-04,5.0217e-01,1.0249e+00,3.5288e+00,-5.2214e-02,2.5714e-02,-1.9727e-03,3.7088e+00,5.8236e-02

Part2/Fixed/digit/cylinder_PLA_15/press_depth_10/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8020b8cbc33b93cd8278a28676238b555e0c8ed47dc64df8b3a15d26b5016134
+size 604160

Part2/Fixed/digit/cylinder_PLA_15/press_depth_10/up/franka_data.csv

@@ -0,0 +1,61 @@
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Part2/Fixed/digit/cylinder_PLA_15/press_depth_10/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+2,3.500000000e-01,WAIT_W2,1793078562689073062,-4.577721112e-06,1.658316026e-06,-5.766115900e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.352946457e-07,-2.880657303e-08,5.476759268e-09,7.019510551e-01,-2.061241900e-05,8.601373211e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027466881e-01,-1.138020104e-04,8.303251024e-01
+3,5.666666667e-01,WAIT_W2,1793078562902417940,-1.381119752e-06,4.101760421e-06,2.618278488e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.999058568e-07,-4.249471556e-08,5.463494768e-09,7.019542517e-01,-1.816897460e-05,8.601457055e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027468527e-01,-1.138156985e-04,8.303251024e-01
+4,7.333333333e-01,WAIT_W2,1793078563066801821,-3.129353027e-06,3.590087455e-06,1.545547898e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.128977771e-07,-5.212869282e-08,4.555389510e-09,7.019525035e-01,-1.868064757e-05,8.601446328e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027469657e-01,-1.138253325e-04,8.303251015e-01
+5,9.166666667e-01,WAIT_W2,1793078563262815745,-5.273431756e-06,-1.218906582e-06,-2.754430794e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.253335365e-07,-6.175664407e-08,2.986379366e-09,7.019503594e-01,-2.348964161e-05,8.601403328e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027470782e-01,-1.138349605e-04,8.303251000e-01
+6,9.666666667e-01,WAIT_W2,1793078563312666495,-4.328221941e-06,-2.449774513e-05,-9.260323910e-07,-4.426868008e-06,-2.421349509e-05,-6.871317493e-07,-3.648345581e-06,-2.164941821e-05,-6.945805924e-07,7.019513046e-01,-4.676848015e-05,8.601421612e-01,7.019512059e-01,-4.648423012e-05,8.601424001e-01,7.027427045e-01,-1.354226220e-04,8.303244024e-01
+7,1.000000000e+00,WAIT_W2,1793078563344425202,-4.535822333e-06,-1.091970133e-04,1.349123475e-06,-4.510308004e-06,-1.090500920e-04,1.521064405e-06,-3.713729911e-06,-9.751188805e-05,1.370546331e-06,7.019510970e-01,-1.314677483e-04,8.601444364e-01,7.019511225e-01,-1.313208270e-04,8.601446083e-01,7.027426391e-01,-2.112850919e-04,8.303264675e-01
+8,1.016666667e+00,WAIT_W2,1793078563361425843,-4.582384756e-06,-1.510703125e-04,4.192994382e-06,-4.603729718e-06,-1.511471615e-04,3.670108710e-06,-3.697885603e-06,-1.351927792e-04,3.435411847e-06,7.019510504e-01,-1.733410475e-04,8.601472802e-01,7.019510291e-01,-1.734178965e-04,8.601467573e-01,7.027426550e-01,-2.489659830e-04,8.303285324e-01
+9,1.016666667e+00,WAIT_W2,1793078563361425843,-4.582384756e-06,-1.510703125e-04,4.192994382e-06,-4.603729718e-06,-1.511471615e-04,3.670108710e-06,-3.697885603e-06,-1.351927792e-04,3.435411847e-06,7.019510504e-01,-1.733410475e-04,8.601472802e-01,7.019510291e-01,-1.734178965e-04,8.601467573e-01,7.027426550e-01,-2.489659830e-04,8.303285324e-01
+10,1.033333333e+00,WAIT_W2,1793078563377632930,-2.991762385e-06,-2.184722002e-04,6.392600423e-06,-3.115884777e-06,-2.181962919e-04,6.487400892e-06,-2.116063486e-06,-1.951108903e-04,6.064234435e-06,7.019526411e-01,-2.407429353e-04,8.601494798e-01,7.019525169e-01,-2.404670269e-04,8.601495746e-01,7.027442368e-01,-3.088840941e-04,8.303311612e-01
+11,1.050000000e+00,WAIT_W2,1793078563393675251,-2.646978933e-06,-2.976023894e-04,1.010083898e-05,-2.690822817e-06,-2.977749158e-04,1.055086940e-05,-1.522744122e-06,-2.662670516e-04,9.869505926e-06,7.019529858e-01,-3.198731244e-04,8.601531881e-01,7.019529420e-01,-3.200456508e-04,8.601536381e-01,7.027448301e-01,-3.800402554e-04,8.303349665e-01
+12,1.050000000e+00,WAIT_W2,1793078563393675251,-2.646978933e-06,-2.976023894e-04,1.010083898e-05,-2.690822817e-06,-2.977749158e-04,1.055086940e-05,-1.522744122e-06,-2.662670516e-04,9.869505926e-06,7.019529858e-01,-3.198731244e-04,8.601531881e-01,7.019529420e-01,-3.200456508e-04,8.601536381e-01,7.027448301e-01,-3.800402554e-04,8.303349665e-01
+13,1.083333333e+00,WAIT_W2,1793078563427076233,-1.482136036e-06,-3.821742270e-04,1.577773331e-05,-1.530971641e-06,-3.819740082e-04,1.581362138e-05,-1.605640928e-07,-3.415891448e-04,1.480660573e-05,7.019541507e-01,-4.044449621e-04,8.601588650e-01,7.019541018e-01,-4.042447432e-04,8.601589009e-01,7.027461923e-01,-4.553623487e-04,8.303399036e-01
+14,1.100000000e+00,WAIT_W2,1793078563447711159,1.194297219e-06,-4.148532668e-04,1.873100167e-05,1.184604752e-06,-4.146942257e-04,1.881792363e-05,2.688108292e-06,-3.708043762e-04,1.769661605e-05,7.019568271e-01,-4.371240018e-04,8.601618182e-01,7.019568174e-01,-4.369649607e-04,8.601619052e-01,7.027490409e-01,-4.845775800e-04,8.303427936e-01
+15,1.133333333e+00,WAIT_W2,1793078563475680573,5.396117866e-07,-4.608950759e-04,2.331655807e-05,6.018574255e-07,-4.608204543e-04,2.299217585e-05,2.257320839e-06,-4.119783482e-04,2.169036503e-05,7.019561724e-01,-4.831658109e-04,8.601664038e-01,7.019562347e-01,-4.830911893e-04,8.601660794e-01,7.027486102e-01,-5.257515520e-04,8.303467873e-01
+16,1.216666667e+00,WAIT_W2,1793078563557680444,1.386461607e-05,-4.852658349e-04,4.864583175e-05,1.401116251e-05,-4.854658270e-04,4.892981582e-05,1.609492702e-05,-4.342201986e-04,4.633533910e-05,7.019694974e-01,-5.075365699e-04,8.601917331e-01,7.019696440e-01,-5.077365620e-04,8.601920171e-01,7.027624478e-01,-5.479934024e-04,8.303714323e-01
+17,1.266666667e+00,WAIT_W2,1793078563608093209,3.189610883e-05,-4.799529664e-04,8.635053619e-05,2.489133153e-05,-4.839652006e-04,6.965665056e-05,2.750217471e-05,-4.329146337e-04,6.617666891e-05,7.019875289e-01,-5.022237014e-04,8.602294378e-01,7.019805241e-01,-5.062359356e-04,8.602127439e-01,7.027738550e-01,-5.466878376e-04,8.303912736e-01
+18,1.333333333e+00,WAIT_W2,1793078563672723678,5.312075933e-05,-4.694124335e-04,1.358302147e-04,4.911239589e-05,-4.727801409e-04,1.272391801e-04,5.289809565e-05,-4.229495603e-04,1.212144477e-04,7.020087536e-01,-4.916831685e-04,8.602789175e-01,7.020047452e-01,-4.950508759e-04,8.602703264e-01,7.027992509e-01,-5.367227641e-04,8.304463114e-01
+19,1.400000000e+00,WAIT_W2,1793078563755778510,6.977513543e-05,-4.661203093e-04,1.759192994e-04,6.990519192e-05,-4.659656774e-04,1.763857079e-04,7.481714532e-05,-4.169131377e-04,1.682858194e-04,7.020254080e-01,-4.883910443e-04,8.603190065e-01,7.020255380e-01,-4.882364124e-04,8.603194729e-01,7.028211700e-01,-5.306863416e-04,8.304933828e-01
+20,1.533333333e+00,WAIT_W2,1793078563901761617,7.896439020e-05,-4.540099796e-04,1.989455501e-04,7.743383458e-05,-4.598104830e-04,1.963124448e-04,8.338413971e-05,-4.114606671e-04,1.883794365e-04,7.020345972e-01,-4.762807146e-04,8.603420328e-01,7.020330667e-01,-4.820812180e-04,8.603393997e-01,7.028297370e-01,-5.252338709e-04,8.305134764e-01
+21,1.700000000e+00,WAIT_W2,1793078564065820744,8.431419706e-05,-4.527640910e-04,2.144454687e-04,8.428979623e-05,-4.528613034e-04,2.144442504e-04,9.120417971e-05,-4.053199314e-04,2.065879137e-04,7.020399470e-01,-4.750348260e-04,8.603575327e-01,7.020399226e-01,-4.751320384e-04,8.603575315e-01,7.028375570e-01,-5.190931352e-04,8.305316849e-01
+22,2.000000000e+00,UP_FORCE_RAMP,1793078564360220650,8.245225346e-05,-4.539126260e-04,2.140534480e-04,8.428979623e-05,-4.528613034e-04,2.144442504e-04,9.217621419e-05,-4.053848240e-04,2.080777417e-04,7.020380851e-01,-4.761833610e-04,8.603571407e-01,7.020399226e-01,-4.751320384e-04,8.603575315e-01,7.028385291e-01,-5.191580278e-04,8.305331747e-01
+23,2.183333333e+00,UP_FORCE_RAMP,1793078564580037330,8.596048819e-05,-4.455229146e-04,2.195166778e-04,8.428979623e-05,-4.528613034e-04,2.144442504e-04,9.258165839e-05,-4.054287593e-04,2.086629768e-04,7.020415933e-01,-4.677936496e-04,8.603626039e-01,7.020399226e-01,-4.751320384e-04,8.603575315e-01,7.028389345e-01,-5.192019631e-04,8.305337599e-01
+24,2.383333333e+00,UP_FORCE_RAMP,1793078564786669086,8.739047994e-05,-4.451888728e-04,2.224218159e-04,8.428979623e-05,-4.528613034e-04,2.144442504e-04,9.294176652e-05,-4.054714073e-04,2.091737714e-04,7.020430233e-01,-4.674596078e-04,8.603655091e-01,7.020399226e-01,-4.751320384e-04,8.603575315e-01,7.028392946e-01,-5.192446111e-04,8.305342707e-01
+25,2.566666667e+00,UP_FORCE_RAMP,1793078564966328929,8.643988967e-05,-4.436760402e-04,2.244990290e-04,8.428979623e-05,-4.528613034e-04,2.144442504e-04,9.322391507e-05,-4.055087963e-04,2.095598348e-04,7.020420727e-01,-4.659467752e-04,8.603675863e-01,7.020399226e-01,-4.751320384e-04,8.603575315e-01,7.028395768e-01,-5.192820001e-04,8.305346568e-01
+26,2.766666667e+00,UP_FORCE_RAMP,1793078565163058659,8.321622312e-05,-4.512318287e-04,2.228583019e-04,8.428979623e-05,-4.528613034e-04,2.144442504e-04,9.348900628e-05,-4.055436574e-04,2.099131136e-04,7.020388490e-01,-4.735025637e-04,8.603659455e-01,7.020399226e-01,-4.751320384e-04,8.603575315e-01,7.028398418e-01,-5.193168613e-04,8.305350101e-01
+27,3.000000000e+00,UP_FORCE_RAMP,1793078565408588212,8.535240153e-05,-4.465850029e-04,2.324678394e-04,8.428979623e-05,-4.528613034e-04,2.144442504e-04,9.376085164e-05,-4.055824221e-04,2.102618251e-04,7.020409852e-01,-4.688557380e-04,8.603755551e-01,7.020399226e-01,-4.751320384e-04,8.603575315e-01,7.028401137e-01,-5.193556260e-04,8.305353588e-01
+28,3.166666667e+00,UP_FORCE_RAMP,1793078565573551485,8.019928952e-05,-4.436147436e-04,2.324671683e-04,8.594131396e-05,-4.478076049e-04,2.342674767e-04,9.579215418e-05,-4.010622662e-04,2.293870793e-04,7.020358321e-01,-4.658854786e-04,8.603755544e-01,7.020415741e-01,-4.700783399e-04,8.603773547e-01,7.028421450e-01,-5.148354700e-04,8.305544840e-01
+29,3.400000000e+00,UP_FORCE_RAMP,1793078565801416388,7.753683572e-05,-4.454619918e-04,2.385148805e-04,8.594131396e-05,-4.478076049e-04,2.342674767e-04,9.603964862e-05,-4.010975799e-04,2.298175509e-04,7.020331697e-01,-4.677327268e-04,8.603816021e-01,7.020415741e-01,-4.700783399e-04,8.603773547e-01,7.028423925e-01,-5.148707837e-04,8.305549145e-01
+30,3.616666667e+00,UP_FORCE_RAMP,1793078566014751010,7.497920583e-05,-4.460303854e-04,2.449959137e-04,8.594131396e-05,-4.478076049e-04,2.342674767e-04,9.624273380e-05,-4.011284641e-04,2.301338223e-04,7.020306120e-01,-4.683011204e-04,8.603880832e-01,7.020415741e-01,-4.700783399e-04,8.603773547e-01,7.028425956e-01,-5.149016679e-04,8.305552308e-01
+31,3.800000000e+00,UP_FORCE_RAMP,1793078566194571297,7.297075858e-05,-4.494349915e-04,2.522971616e-04,7.569188778e-05,-4.477957472e-04,2.528099285e-04,8.615901352e-05,-4.011166239e-04,2.479947822e-04,7.020286036e-01,-4.717057265e-04,8.603953844e-01,7.020313247e-01,-4.700664822e-04,8.603958972e-01,7.028325119e-01,-5.148898277e-04,8.305730917e-01
+32,3.950000000e+00,UP_FORCE_RAMP,1793078566342966987,7.134655171e-05,-4.455211061e-04,2.593206991e-04,7.569188778e-05,-4.477957472e-04,2.528099285e-04,8.618315258e-05,-4.011357526e-04,2.483012196e-04,7.020269794e-01,-4.677918411e-04,8.604024079e-01,7.020313247e-01,-4.700664822e-04,8.603958972e-01,7.028325360e-01,-5.149089564e-04,8.305733982e-01
+33,4.116666667e+00,UP_FORCE_RAMP,1793078566506091477,6.571190602e-05,-4.438260823e-04,2.630821053e-04,7.569188778e-05,-4.477957472e-04,2.528099285e-04,8.624222849e-05,-4.011546061e-04,2.485653896e-04,7.020213447e-01,-4.660968173e-04,8.604061693e-01,7.020313247e-01,-4.700664822e-04,8.603958972e-01,7.028325951e-01,-5.149278100e-04,8.305736624e-01
+34,4.250000000e+00,UP_FORCE_RAMP,1793078566637289285,6.068298211e-05,-4.453813491e-04,2.663411886e-04,6.423676250e-05,-4.379306008e-04,2.687179307e-04,7.480853147e-05,-3.923348005e-04,2.638635217e-04,7.020163158e-01,-4.676520841e-04,8.604094284e-01,7.020198696e-01,-4.602013358e-04,8.604118052e-01,7.028211614e-01,-5.061080043e-04,8.305889605e-01
+35,4.433333333e+00,UP_FORCE_RAMP,1793078566817383816,5.776458737e-05,-4.456607503e-04,2.800567231e-04,6.423676250e-05,-4.379306008e-04,2.687179307e-04,7.475701594e-05,-3.923481790e-04,2.642348241e-04,7.020133974e-01,-4.679314853e-04,8.604231440e-01,7.020198696e-01,-4.602013358e-04,8.604118052e-01,7.028211099e-01,-5.061213828e-04,8.305893318e-01
+36,4.616666667e+00,UP_FORCE_RAMP,1793078566997310565,4.596609447e-05,-4.424074265e-04,2.843386107e-04,5.207612700e-05,-4.457793347e-04,2.849185117e-04,6.261863401e-05,-3.993638754e-04,2.799114255e-04,7.020015989e-01,-4.646781615e-04,8.604274258e-01,7.020077089e-01,-4.680500697e-04,8.604280058e-01,7.028089715e-01,-5.131370792e-04,8.306050084e-01
+37,4.816666667e+00,UP_FORCE_RAMP,1793078567227790820,4.331711131e-05,-4.401046516e-04,3.086031224e-04,4.395451921e-05,-4.426969744e-04,3.037760421e-04,5.447046664e-05,-3.965864611e-04,2.982422614e-04,7.019989499e-01,-4.623753866e-04,8.604516904e-01,7.019995873e-01,-4.649677094e-04,8.604468633e-01,7.028008233e-01,-5.103596650e-04,8.306233392e-01
+38,5.016666667e+00,UP_FORCE_RAMP,1793078567473414574,3.251438129e-05,-4.419717769e-04,3.251939265e-04,3.189047707e-05,-4.422204448e-04,3.195005863e-04,4.229865291e-05,-3.961656209e-04,3.136073128e-04,7.019881472e-01,-4.642425119e-04,8.604682812e-01,7.019875233e-01,-4.644911799e-04,8.604625878e-01,7.027886515e-01,-5.099388248e-04,8.306387043e-01
+39,5.233333333e+00,UP_FORCE_RAMP,1793078567685553633,2.307243869e-05,-4.396529231e-04,3.346321635e-04,3.189047707e-05,-4.422204448e-04,3.195005863e-04,4.203549741e-05,-3.961717287e-04,3.142063385e-04,7.019787053e-01,-4.619236581e-04,8.604777194e-01,7.019875233e-01,-4.644911799e-04,8.604625878e-01,7.027883883e-01,-5.099449325e-04,8.306393033e-01
+40,5.400000000e+00,UP_FORCE_RAMP,1793078567865761657,1.564010892e-05,-4.370927796e-04,3.509842102e-04,2.489300924e-05,-4.397341056e-04,3.389619442e-04,3.498090692e-05,-3.939320332e-04,3.330994736e-04,7.019712729e-01,-4.593635146e-04,8.604940714e-01,7.019805258e-01,-4.620048407e-04,8.604820492e-01,7.027813337e-01,-5.077052370e-04,8.306581964e-01
+41,5.600000000e+00,UP_FORCE_RAMP,1793078568079174337,7.051805599e-06,-4.373188156e-04,3.675114659e-04,1.346227732e-05,-4.353886871e-04,3.570167767e-04,2.337134034e-05,-3.899637516e-04,3.508241392e-04,7.019626846e-01,-4.595895506e-04,8.605105987e-01,7.019690951e-01,-4.576594221e-04,8.605001040e-01,7.027697242e-01,-5.037369554e-04,8.306759211e-01
+42,5.766666667e+00,UP_FORCE_RAMP,1793078568242484888,7.202268646e-07,-4.335384377e-04,3.823643844e-04,5.873698525e-06,-4.364683810e-04,3.764752922e-04,1.564289899e-05,-3.909482656e-04,3.697758640e-04,7.019563530e-01,-4.558091727e-04,8.605254516e-01,7.019615065e-01,-4.587391160e-04,8.605195625e-01,7.027619957e-01,-5.047214694e-04,8.306948728e-01
+43,5.966666667e+00,UP_FORCE_RAMP,1793078568440764528,-2.144415218e-05,-4.367834618e-04,3.909527842e-04,-1.642519396e-05,-4.337211301e-04,3.849041904e-04,-7.136559581e-06,-3.884224112e-04,3.783596071e-04,7.019341887e-01,-4.590541968e-04,8.605340400e-01,7.019392076e-01,-4.559918651e-04,8.605279914e-01,7.027392163e-01,-5.021956150e-04,8.307034566e-01
+44,6.150000000e+00,UP_FORCE_RAMP,1793078568619669719,-3.201821062e-05,-4.357440344e-04,4.035980979e-04,-2.615204332e-05,-4.364704271e-04,4.045259676e-04,-1.711223590e-05,-3.908188186e-04,3.974490464e-04,7.019236146e-01,-4.580147694e-04,8.605466853e-01,7.019294808e-01,-4.587411621e-04,8.605476132e-01,7.027292406e-01,-5.045920224e-04,8.307225460e-01
+45,6.366666667e+00,UP_FORCE_HOLD,1793078568832551783,-3.853352450e-05,-4.334548523e-04,4.214358359e-04,-3.671578712e-05,-4.350188547e-04,4.227076104e-04,-2.804860016e-05,-3.895406460e-04,4.153052134e-04,7.019170993e-01,-4.557255874e-04,8.605645231e-01,7.019189170e-01,-4.572895897e-04,8.605657948e-01,7.027183042e-01,-5.033138498e-04,8.307404022e-01
+46,6.566666667e+00,UP_SETTLE,1793078569028863049,-4.389170912e-05,-4.352512621e-04,4.403404075e-04,-3.671578712e-05,-4.350188547e-04,4.227076104e-04,-2.847841590e-05,-3.895320761e-04,4.159901543e-04,7.019117411e-01,-4.575219971e-04,8.605834276e-01,7.019189170e-01,-4.572895897e-04,8.605657948e-01,7.027178744e-01,-5.033052799e-04,8.307410871e-01
+47,6.750000000e+00,UP_SETTLE,1793078569208816725,-5.001608897e-05,-4.322602874e-04,4.517286018e-04,-4.618600688e-05,-4.297662786e-04,4.396442950e-04,-3.825071886e-05,-3.847550507e-04,4.326511945e-04,7.019056167e-01,-4.545310224e-04,8.605948158e-01,7.019094468e-01,-4.520370136e-04,8.605827315e-01,7.027081021e-01,-4.985282545e-04,8.307577482e-01
+48,6.966666667e+00,UP_SETTLE,1793078569421782919,-5.776821926e-05,-4.317064973e-04,4.625662295e-04,-5.372111711e-05,-4.301603096e-04,4.585663197e-04,-4.604919214e-05,-3.850937293e-04,4.512410000e-04,7.018978646e-01,-4.539772323e-04,8.606056535e-01,7.019019117e-01,-4.524310446e-04,8.606016536e-01,7.027003036e-01,-4.988669331e-04,8.307763380e-01
+49,7.133333333e+00,UP_SETTLE,1793078569602186698,-6.483699254e-05,-4.259339702e-04,4.731194225e-04,-5.372111711e-05,-4.301603096e-04,4.585663197e-04,-4.630864059e-05,-3.850885661e-04,4.517373864e-04,7.018907958e-01,-4.482047052e-04,8.606162067e-01,7.019019117e-01,-4.524310446e-04,8.606016536e-01,7.027000442e-01,-4.988617699e-04,8.307768344e-01
+50,7.366666667e+00,UP_SETTLE,1793078569831716869,-7.037169764e-05,-4.309562573e-04,4.863553269e-04,-6.265336407e-05,-4.280485435e-04,4.781321424e-04,-5.555042845e-05,-3.831540315e-04,4.709879436e-04,7.018852611e-01,-4.532269923e-04,8.606294426e-01,7.018929795e-01,-4.503192785e-04,8.606212194e-01,7.026908024e-01,-4.969272354e-04,8.307960849e-01
+51,7.566666667e+00,UP_SETTLE,1793078570029975197,-7.429133573e-05,-4.258697781e-04,4.998245728e-04,-7.180467194e-05,-4.310709081e-04,4.956109622e-04,-6.487638730e-05,-3.858046260e-04,4.881724503e-04,7.018813415e-01,-4.481405132e-04,8.606429118e-01,7.018838281e-01,-4.533416431e-04,8.606386982e-01,7.026814765e-01,-4.995778298e-04,8.308132694e-01
+52,7.816666667e+00,UP_SETTLE,1793078570290199907,-8.131247513e-05,-4.256082073e-04,5.082953708e-04,-7.180467194e-05,-4.310709081e-04,4.956109622e-04,-6.523811684e-05,-3.857869127e-04,4.888694115e-04,7.018743203e-01,-4.478789423e-04,8.606513826e-01,7.018838281e-01,-4.533416431e-04,8.606386982e-01,7.026811147e-01,-4.995601165e-04,8.308139664e-01
+53,8.066666667e+00,UP_SETTLE,1793078570536404371,-8.803052838e-05,-4.270071762e-04,5.174040850e-04,-8.147634225e-05,-4.216142046e-04,5.106365469e-04,-7.525751606e-05,-3.772885598e-04,5.038316907e-04,7.018676023e-01,-4.492779113e-04,8.606604913e-01,7.018741565e-01,-4.438849396e-04,8.606537238e-01,7.026710953e-01,-4.910617636e-04,8.308289287e-01
+54,8.266666667e+00,UP_SETTLE,1793078570738764025,-9.047680279e-05,-4.250192721e-04,5.247298939e-04,-8.147634225e-05,-4.216142046e-04,5.106365469e-04,-7.550309727e-05,-3.772688894e-04,5.042916295e-04,7.018651560e-01,-4.472900071e-04,8.606678171e-01,7.018741565e-01,-4.438849396e-04,8.606537238e-01,7.026708497e-01,-4.910420932e-04,8.308293886e-01
+55,8.500000000e+00,UP_SETTLE,1793078570981480008,-9.517263734e-05,-4.209660566e-04,5.316221756e-04,-8.834011779e-05,-4.229707224e-04,5.309347048e-04,-8.254492497e-05,-3.784471763e-04,5.241415833e-04,7.018604602e-01,-4.432367916e-04,8.606747094e-01,7.018672927e-01,-4.452414574e-04,8.606740219e-01,7.026638079e-01,-4.922203801e-04,8.308492385e-01
+56,8.750000000e+00,UP_SETTLE,1793078571258184501,-9.962547660e-05,-4.243648097e-04,5.420407132e-04,-8.834011779e-05,-4.229707224e-04,5.309347048e-04,-8.280970909e-05,-3.784212269e-04,5.247058088e-04,7.018560073e-01,-4.466355447e-04,8.606851280e-01,7.018672927e-01,-4.452414574e-04,8.606740219e-01,7.026635431e-01,-4.921944307e-04,8.308498028e-01
+57,9.033333333e+00,UP_SETTLE,1793078571536994271,-1.006532542e-04,-4.208457350e-04,5.509911937e-04,-9.834651296e-05,-4.250678459e-04,5.485259123e-04,-9.305844439e-05,-3.802272843e-04,5.420479418e-04,7.018549796e-01,-4.431164700e-04,8.606940784e-01,7.018572863e-01,-4.473385809e-04,8.606916132e-01,7.026532944e-01,-4.940004881e-04,8.308671449e-01
+58,9.266666667e+00,UP_SETTLE,1793078571764510814,-1.022752065e-04,-4.206776003e-04,5.560482491e-04,-9.834651296e-05,-4.250678459e-04,5.485259123e-04,-9.331466977e-05,-3.802011095e-04,5.425364842e-04,7.018533576e-01,-4.429483353e-04,8.606991355e-01,7.018572863e-01,-4.473385809e-04,8.606916132e-01,7.026530382e-01,-4.939743133e-04,8.308676334e-01
+59,9.500000000e+00,UP_SETTLE,1793078571994191633,-1.029750495e-04,-4.196415156e-04,5.608969648e-04,-9.834651296e-05,-4.250678459e-04,5.485259123e-04,-9.351354259e-05,-3.801778850e-04,5.429387851e-04,7.018526578e-01,-4.419122506e-04,8.607039842e-01,7.018572863e-01,-4.473385809e-04,8.606916132e-01,7.026528393e-01,-4.939510888e-04,8.308680357e-01

Part2/Fixed/digit/cylinder_PLA_15/press_depth_10/up/simulation_data.csv

@@ -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+00,4.1531e-01,9.7003e-01,2.4730e+00,-1.0766e-01,6.6897e-02,2.5104e-03,1.9803e-02,2.0684e-03,-2.3251e-03,-8.7000e-05,1.4398e-03,-2.6650e-04,2.0046e-02,1.4668e-03
+1,1.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,4.8088e-05,4.4067e-01,9.6858e-01,2.4768e+00,-1.0759e-01,6.8723e-02,2.3965e-03,4.5157e-02,6.1738e-04,1.4935e-03,-1.6302e-05,3.2659e-03,-3.8039e-04,4.5186e-02,3.2880e-03
+2,3.5000e-01,WAIT_W2,9.2038e-05,4.6386e-01,9.6533e-01,2.4749e+00,-1.0734e-01,7.0389e-02,2.2685e-03,6.8348e-02,-2.6352e-03,-4.6206e-04,2.3093e-04,4.9316e-03,-5.0845e-04,6.8400e-02,4.9631e-03
+3,5.6667e-01,WAIT_W2,1.4605e-04,4.9865e-01,9.6208e-01,2.4754e+00,-1.0712e-01,7.2880e-02,2.0784e-03,1.0314e-01,-5.8891e-03,4.5776e-05,4.5127e-04,7.4225e-03,-6.9851e-04,1.0331e-01,7.4690e-03
+4,7.3333e-01,WAIT_W2,1.9121e-04,5.1480e-01,9.6199e-01,2.4764e+00,-1.0715e-01,7.4039e-02,1.9886e-03,1.1929e-01,-5.9752e-03,1.0376e-03,4.2024e-04,8.5817e-03,-7.8828e-04,1.1945e-01,8.6281e-03
+5,9.1667e-01,WAIT_W2,2.3905e-04,5.3059e-01,9.5951e-01,2.4754e+00,-1.0695e-01,7.5162e-02,1.9096e-03,1.3508e-01,-8.4596e-03,9.4414e-05,6.2579e-04,9.7049e-03,-8.6733e-04,1.3534e-01,9.7637e-03
+6,9.6667e-01,WAIT_W2,2.7009e-04,5.4085e-01,9.6014e-01,2.4759e+00,-1.0703e-01,7.5902e-02,1.8412e-03,1.4534e-01,-7.8301e-03,6.1369e-04,5.4155e-04,1.0445e-02,-9.3576e-04,1.4555e-01,1.0501e-02
+7,1.0000e+00,WAIT_W2,3.5494e-04,6.0138e-01,2.2626e+00,2.4597e+00,-2.0110e-01,8.0340e-02,2.8075e-03,2.0587e-01,1.2946e+00,-1.5565e-02,-9.3526e-02,1.4883e-02,3.0606e-05,1.3110e+00,9.4702e-02
+8,1.0167e+00,WAIT_W2,3.9691e-04,6.3756e-01,3.4102e+00,2.4642e+00,-2.8426e-01,8.2857e-02,3.2107e-03,2.4205e-01,2.4422e+00,-1.1143e-02,-1.7669e-01,1.7400e-02,4.3381e-04,2.4542e+00,1.7754e-01
+9,1.0167e+00,WAIT_W2,3.9691e-04,6.3756e-01,3.4102e+00,2.4642e+00,-2.8426e-01,8.2857e-02,3.2107e-03,2.4205e-01,2.4422e+00,-1.1143e-02,-1.7669e-01,1.7400e-02,4.3381e-04,2.4542e+00,1.7754e-01
+10,1.0333e+00,WAIT_W2,4.6437e-04,6.4701e-01,4.3267e+00,2.4444e+00,-3.5016e-01,8.3670e-02,4.3992e-03,2.5150e-01,3.3588e+00,-3.0869e-02,-2.4258e-01,1.8213e-02,1.6223e-03,3.3683e+00,2.4327e-01
+11,1.0500e+00,WAIT_W2,5.4359e-04,6.6778e-01,5.8335e+00,2.4203e+00,-4.5966e-01,8.5071e-02,4.9894e-03,2.7227e-01,4.8655e+00,-5.5050e-02,-3.5208e-01,1.9614e-02,2.2125e-03,4.8734e+00,3.5264e-01
+12,1.0500e+00,WAIT_W2,5.4359e-04,6.6778e-01,5.8335e+00,2.4203e+00,-4.5966e-01,8.5071e-02,4.9894e-03,2.7227e-01,4.8655e+00,-5.5050e-02,-3.5208e-01,1.9614e-02,2.2125e-03,4.8734e+00,3.5264e-01
+13,1.0833e+00,WAIT_W2,6.2837e-04,7.2668e-01,8.8412e+00,2.3604e+00,-6.7723e-01,8.9469e-02,7.3207e-03,3.3116e-01,7.8733e+00,-1.1496e-01,-5.6966e-01,2.4012e-02,4.5438e-03,7.8811e+00,5.7018e-01
+14,1.1000e+00,WAIT_W2,6.6129e-04,7.3171e-01,9.4397e+00,2.3249e+00,-7.2050e-01,8.9882e-02,8.1421e-03,3.3620e-01,8.4717e+00,-1.5039e-01,-6.1293e-01,2.4425e-02,5.3652e-03,8.4797e+00,6.1344e-01
+15,1.1333e+00,WAIT_W2,7.0762e-04,7.1749e-01,1.0172e+01,2.3103e+00,-7.7367e-01,8.8897e-02,8.4067e-03,3.2198e-01,9.2042e+00,-1.6500e-01,-6.6609e-01,2.3440e-02,5.6298e-03,9.2113e+00,6.6653e-01
+16,1.2167e+00,WAIT_W2,7.5783e-04,7.5338e-01,1.1720e+01,2.2261e+00,-8.8618e-01,9.1629e-02,9.5303e-03,3.5786e-01,1.0752e+01,-2.4920e-01,-7.7860e-01,2.6172e-02,6.7534e-03,1.0761e+01,7.7907e-01
+17,1.2667e+00,WAIT_W2,8.0152e-04,5.7917e-01,1.1610e+01,1.9866e+00,-8.7968e-01,8.0094e-02,9.6124e-03,1.8366e-01,1.0642e+01,-4.8868e-01,-7.7210e-01,1.4637e-02,6.8355e-03,1.0655e+01,7.7227e-01
+18,1.3333e+00,WAIT_W2,8.5809e-04,2.3346e-01,1.1324e+01,1.3938e+00,-8.6386e-01,5.5093e-02,1.1815e-02,-1.6205e-01,1.0356e+01,-1.0815e+00,-7.5629e-01,-1.0364e-02,9.0385e-03,1.0414e+01,7.5641e-01
+19,1.4000e+00,WAIT_W2,9.0257e-04,1.1603e-01,1.1106e+01,1.1934e+00,-8.4993e-01,4.6850e-02,1.2445e-02,-2.7948e-01,1.0138e+01,-1.2819e+00,-7.4236e-01,-1.8607e-02,9.6686e-03,1.0223e+01,7.4265e-01
+20,1.5333e+00,WAIT_W2,9.4829e-04,7.7018e-02,1.1038e+01,1.0994e+00,-8.4589e-01,4.4322e-02,1.2487e-02,-3.1849e-01,1.0070e+01,-1.3759e+00,-7.3831e-01,-2.1135e-02,9.7097e-03,1.0169e+01,7.3868e-01
+21,1.7000e+00,WAIT_W2,9.9607e-04,1.2708e-01,1.0980e+01,1.1580e+00,-8.4241e-01,4.7596e-02,1.2516e-02,-2.6843e-01,1.0012e+01,-1.3174e+00,-7.3483e-01,-1.7861e-02,9.7390e-03,1.0102e+01,7.3511e-01
+22,2.0000e+00,UP_FORCE_RAMP,1.0451e-03,1.7217e-01,1.0818e+01,1.2004e+00,-8.3235e-01,5.0642e-02,1.2575e-02,-2.2334e-01,9.8496e+00,-1.2749e+00,-7.2478e-01,-1.4815e-02,9.7979e-03,9.9343e+00,7.2500e-01
+23,2.1833e+00,UP_FORCE_RAMP,1.0907e-03,3.4367e-01,1.0794e+01,1.4744e+00,-8.3093e-01,6.2633e-02,1.2542e-02,-5.1846e-02,9.8256e+00,-1.0009e+00,-7.2336e-01,-2.8242e-03,9.7653e-03,9.8766e+00,7.2343e-01
+24,2.3833e+00,UP_FORCE_RAMP,1.1378e-03,3.8311e-01,1.0780e+01,1.4934e+00,-8.2967e-01,6.6473e-02,1.2184e-02,-1.2401e-02,9.8117e+00,-9.8194e-01,-7.2209e-01,1.0158e-03,9.4066e-03,9.8607e+00,7.2216e-01
+25,2.5667e+00,UP_FORCE_RAMP,1.1879e-03,3.9747e-01,1.0767e+01,1.5838e+00,-8.2851e-01,6.7183e-02,1.1621e-02,1.9573e-03,9.7988e+00,-8.9147e-01,-7.2094e-01,1.7261e-03,8.8436e-03,9.8393e+00,7.2099e-01
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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_01/down/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_PLA_17.5/press_depth_01/down/franka_data.csv

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+3997,1793078838784414062,15389893000000,1793078838780727884,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6759222638666751,-0.0049311954447064845,0.0996957617601943,0.9999999581534782,-2.4700236050058332e-05,-0.0002597841980964494,8.389264001503804e-05,0.6761,-0.0046,0.09991841228432694,1.0,0.0,0.0,0.0,-0.07921896421656349,-0.021762121194147444,0.19386314369830576,-0.0004995628334240609,0.004181852710759562,-0.00010514360858103787,1.18573143357187,1.236481475900939,0.5242344762068957,0.08919935125629277,-0.08491857028265544,0.0004416043189902112,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.5377364160222472,1.7209888804191904,1.0104585590123834,-0.17236127467785284,-0.4998303946033852,1.0645214053147418,1.6826685290495669,-0.19386314369830576,0.6722099700371835,0.6722099700371835,0.6110588396620131,0,0,-3.133144863412684e-05,9.994181457274038e-05
+4088,1793078839542398418,15390651000000,1793078839536737741,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6759265664479623,-0.004930422112188179,0.09968526474640103,0.9999999599972498,-1.936854040652879e-05,-0.0002513300118559584,8.891821083539236e-05,0.6761,-0.0046,0.09989613457990011,1.0,0.0,0.0,0.0,-0.10037246204753947,-0.007789316678477043,0.25428797981113144,0.0005311731396054203,0.005210420959674486,-0.00011828681504370966,1.164577935740894,1.2504542804166094,0.5846593123197213,0.09023008722932226,-0.08389000203374052,0.0004284611125275394,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.5338781028736667,1.7826339228024541,0.9927904740770807,-0.1777148813900529,-0.49555519651574514,1.106288499743824,1.6826685290495669,-0.25428797981113144,0.6898780549724862,0.6898780549724862,0.6868588396620048,0,0,-2.7678911305979763e-05,9.999980984798924e-05
+4174,1793078840259495733,15391368000000,1793078840252728085,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6759308330221787,-0.004932351286329537,0.09967686985942427,0.9999999618656628,-2.0175498127198123e-05,-0.00024276219114902311,9.149319737413501e-05,0.6761,-0.0046,0.09987721188442047,1.0,0.0,0.0,0.0,-0.11081148898552096,0.007446255041276162,0.3150886030276408,0.0012064854150757448,0.007156656521823693,0.0008390037938885538,1.1541389088029126,1.2656898521363626,0.6454599355362307,0.09090539950479258,-0.08194376647159131,0.0013857517214598029,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.6192549178642006,1.6703141718430565,1.0226470137582924,-0.1463897744972744,-0.49573333847354695,1.030087500034392,1.6826685290495669,-0.3150886030276408,0.6600215152912745,0.6600215152912745,0.7585588396619969,0,0,-2.6474740298680584e-05,-9.999999025923074e-05
+4271,1793078841067540074,15392176000000,1793078841064728127,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6759351705101463,-0.004930272998071732,0.09966544790508863,0.9999999635627189,-1.9079258943041273e-05,-0.00023485200281908188,9.379735546483454e-05,0.6761,-0.0046,0.09985494099032345,1.0,0.0,0.0,0.0,-0.13968513643495073,0.012358803724555889,0.3657845356830261,0.0021621329954424756,0.009152263341387246,0.0008865807681407064,1.1252652613534828,1.2706024008196424,0.696155868191616,0.09186104708515931,-0.07994815965202776,0.0014333286957119555,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.6455321852809882,1.6674022881657578,0.8717912546433987,-0.11888204384891662,-0.401072293852268,1.0288723449860901,1.6826685290495669,-0.3657845356830261,0.8108772744061682,0.8108772744061682,0.839358839661988,0,0,-2.9696905025372913e-05,-4.526235637990745e-05
+4367,1793078841867621647,15392976000000,1793078841860737854,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6759411607491415,-0.004932175552501727,0.09965366326521728,0.9999999651153927,-1.7620425439658343e-05,-0.00022633560734659265,9.835543398202241e-05,0.6761,-0.0046,0.09983262746459486,1.0,0.0,0.0,0.0,-0.17610975209911484,0.026421469001068898,0.40678703862313986,0.003121112267416959,0.011149878627184695,0.0008923332678129847,1.0888406456893187,1.2846650660961554,0.7371583711317298,0.0928200263571338,-0.0779505443662303,0.0014390811953842338,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.7772267787086676,1.640390856961569,0.7511250323611748,-0.10031472529052891,-0.29372501915050364,1.0162735940604368,1.6826685290495669,-0.40678703862313986,0.9315434966883921,0.9315434966883921,0.9193588396619792,0,0,-2.6718077934780087e-05,9.999649305670317e-05
+4471,1793078842734641538,15393843000000,1793078842728737179,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6759543732926815,-0.004933842623610224,0.09964228810179512,0.9999999675914076,-1.5992176407884816e-05,-0.0002128231961178353,0.00010349195904534355,0.6761,-0.0046,0.09980506275703342,1.0,0.0,0.0,0.0,-0.2170601813281603,0.07872100665793136,0.4373760354764656,0.0064696971170709605,0.014117939734812901,0.0009482061005198424,1.0478902164602732,1.3369646037530178,0.7677473679850555,0.0961686112067878,-0.0749824832586021,0.0014949540280910915,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8317959736479045,1.6678583094822432,0.7210272844260661,-0.0980761102547717,-0.2775503751172649,1.0353673805691042,1.6826685290495669,-0.4373760354764656,0.9616412446235008,0.9616412446235008,1.0060588396619696,0,0,-3.9996262367362985e-05,-7.50000575796605e-05
+4564,1793078843509621556,15394618000000,1793078843504737040,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6759605659534217,-0.004937973171820497,0.09962473048007651,0.9999999689119521,-1.6324336177662075e-05,-0.0002025719913655564,0.00011098226734821605,0.6761,-0.0046,0.0997712416233079,1.0,0.0,0.0,0.0,-0.24625422596149193,0.09147593170551471,0.5077229222422515,0.0070822257377409215,0.01611637161509845,0.0009305712778464424,1.0186961718269416,1.3497195288006012,0.8380942547508413,0.09678113982745776,-0.07298405137831655,0.0014773192054176915,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8278599423676696,1.6020361526981681,0.6394936207920023,-0.04930217259818622,-0.23700555924594077,0.9893211641263865,1.6826685290495669,-0.5077229222422515,1.0431749082575645,1.0431749082575645,1.083558839661961,0,0,-4.4202060714114733e-05,-4.3016737082435624e-05
+4677,1793078844452687249,15395560000000,1793078844448728293,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6759686479158251,-0.004940809352208748,0.09960471514633072,0.9999999707892745,-1.547208495474696e-05,-0.00018814693581857797,0.00011927137050238881,0.6761,-0.0046,0.0997296741683417,1.0,0.0,0.0,0.0,-0.26574147679996696,0.09904108780642296,0.5881947200898896,0.007972277492715743,0.01810787339123522,0.0009018212204055671,0.9992089209884666,1.3572846849015094,0.9185660525984796,0.09767119158243258,-0.07099254960217978,0.0014485691479768162,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8911226626874337,1.5993450275202432,0.5220399407960704,-0.033212548609965364,-0.15181457699488546,0.9864826201272107,1.6826685290495669,-0.5881947200898896,1.1606285882534966,1.1606285882534966,1.1777588396619507,0,0,-4.39522319136979e-05,9.919482876619696e-05
+4762,1793078845159813232,15396268000000,1793078845152727969,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6759738645366101,-0.004940308876819597,0.0995784831832126,0.9999999716260387,-1.6181090118821957e-05,-0.00018120582739330316,0.0001228552266376421,0.6761,-0.0046,0.09970229428420056,1.0,0.0,0.0,0.0,-0.27461455983669536,0.09419823620615486,0.678174622491692,0.006451331387163944,0.019124992331717605,0.0008238154801377731,0.9903358379517382,1.3524418333012413,1.008545955000282,0.09615024547688078,-0.0699754306616974,0.0013705634077090221,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9064889898848341,1.6538450994684661,0.41677402272053415,-0.02792324151198971,-0.0839977485245987,1.0250578973301077,1.6826685290495669,-0.678174622491692,1.2658945063290328,1.2658945063290328,1.248558839661943,0,0,-2.9667509106297334e-05,9.999999025923074e-05
+4849,1793078845884857137,15396993000000,1793078845880728031,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.675974747323257,-0.004943312749311963,0.09956507354205774,0.9999999711736827,-1.31755821308439e-05,-0.00018022637575259637,0.00012821995101184114,0.6761,-0.0046,0.0996861607478632,1.0,0.0,0.0,0.0,-0.26115567189465283,0.06401196160209266,0.6969303216892966,0.004927076263763264,0.018148153906849776,-0.00024033737467887292,1.0037947258937807,1.3222555586971791,1.0273016541978865,0.0946259903534801,-0.07095226908656523,0.00030641055289237616,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8370303976977352,1.5692881803326617,0.3537442172606817,0.001385099499854177,-0.05873455951236614,0.9689400170363,1.6826685290495669,-0.6969303216892966,1.3289243117888851,1.3289243117888851,1.321058839661935,0,0,-2.344975339321908e-05,9.996869584772412e-05
+4955,1793078846767865005,15397876000000,1793078846760728795,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6759823882179523,-0.004942969369279641,0.09954976253698805,0.9999999728530483,-1.2938270014766213e-05,-0.00016684452149441615,0.0001331625844241836,0.6761,-0.0046,0.09965351065735421,1.0,0.0,0.0,0.0,-0.2707388353541056,0.0424127794921636,0.7262500709886679,0.003871930921987121,0.019175221872914802,-0.00026754468610104315,0.994211562434328,1.30065637658725,1.0566214034972579,0.09357084501170396,-0.0699252011205002,0.0002792032414702059,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8550772574816011,1.5166543513290955,0.39743807529896635,0.02768223794397524,-0.08448309269314788,0.9380330326587402,1.6826685290495669,-0.7262500709886679,1.2852304537506005,1.2852304537506005,1.4093588396619252,0,0,-5.3422797695350195e-05,-9.999999025923074e-05
+5063,1793078847667957922,15398776000000,1793078847660738711,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.675987424110242,-0.004951636101138002,0.09950542076279063,0.9999999721884404,-1.3493113571470251e-05,-0.00016031057657864785,0.000145548747645712,0.6761,-0.0046,0.09960191055520175,1.0,0.0,0.0,0.0,-0.27879236448831235,0.032373894496692035,0.8925617374207844,0.001771572278402675,0.020190865326117344,-0.00041026374129647186,0.9861580333001212,1.2906174915917785,1.2229330699293743,0.09147048636811951,-0.06890955766729766,0.0001364841862747772,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8320327897126844,1.5005416890264234,0.2009772395113341,0.04918311055242959,0.033886406894658945,0.9278711318041903,1.6826685290495669,-0.8925617374207844,1.4816912895382328,1.4816912895382328,1.4993588396619153,0,0,-4.8490788263884414e-05,9.999999025923074e-05
+5155,1793078848434988520,15399543000000,1793078848428727993,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6759888740678719,-0.0049480904033617715,0.09948307679641023,0.9999999725010748,-9.2993636213144e-06,-0.00015577154841807018,0.000148625235991741,0.6761,-0.0046,0.09956914152407713,1.0,0.0,0.0,0.0,-0.27611796841015424,0.015220129912254743,0.8652402778141774,-0.0002644709121844696,0.020236907299453766,-0.000411044820362183,0.9888324293782793,1.2734637270073412,1.1956116103227674,0.08943444317753237,-0.06886351569396124,0.00013570310720906607,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8409030665855185,1.531084184671936,0.2657419112695321,0.04943126428328821,-0.00689464543511097,0.9497218921348028,1.6826685290495669,-0.8652402778141774,1.4169266177800348,1.4169266177800348,1.5760588396619069,0,0,-4.762709748393069e-05,-9.99880276061404e-05
+5275,1793078849434971614,15400543000000,1793078849432727363,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6760007243981027,-0.00495118053990673,0.09944263947683638,0.9999999735905567,-9.966614839186336e-06,-0.00013897695169252854,0.0001576319247686329,0.6761,-0.0046,0.09950763732616091,1.0,0.0,0.0,0.0,-0.2997289800658397,0.0052460912887688504,0.9349092901547784,-0.0013805349838997977,0.023250244897087297,-0.0004348908647734991,0.9652214177225938,1.2634896883838553,1.2652806226633684,0.08831837910581704,-0.0658501780963277,0.00011185706279774996,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8803448010800966,1.5929041962308,0.04593766223690721,0.04816548251320928,0.1341998498470451,0.9986147178232845,1.6826685290495669,-0.9349092901547784,1.6367308668126597,1.6367308668126597,1.6760588396618958,0,0,-7.093717270948018e-05,9.99882080173819e-05
+5375,1793078850268071483,15401376000000,1793078850260737941,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6760139764444903,-0.004954160317644057,0.09939514379104918,0.9999999734786528,-6.542892665632596e-06,-0.00012355203200649614,0.00017081464819961652,0.6761,-0.0046,0.09944061499005205,1.0,0.0,0.0,0.0,-0.319520755430163,0.011411622001942012,1.0252744219568526,-0.0005657146689153209,0.02526983230546219,-0.00046840626828616774,0.9454296423582705,1.2696552190970285,1.3556457544654426,0.08913319942080151,-0.06383059068795281,7.834165928508134e-05,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9047410056539597,1.4748198147279061,-0.08282380668128882,0.07681487826805766,0.21796596816633493,0.9192220243199958,1.6826685290495669,-1.0252744219568526,1.7654923357308556,1.7654923357308556,1.7593588396618867,0,0,-8.229852937050174e-05,9.989074431360762e-05
+5476,1793078851110057290,15402218000000,1793078851104728756,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6760194145047748,-0.004956997853602638,0.09934263941580496,0.9999999740286432,-1.639731707898229e-05,-0.00011275943809567936,0.00017436173500792485,0.6761,-0.0046,0.09937551652284904,1.0,0.0,0.0,0.0,-0.30980172018071817,-0.007386351397788982,1.0909989787156051,-0.00294026241088427,0.025305732687436355,-0.0005501597628639162,0.9551486776077154,1.2508572456972975,1.421370311224195,0.08675865167883257,-0.06379469030597865,-3.411835292667118e-06,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8921774494841811,1.3862903469671473,-0.0765703233558171,0.11389119883835251,0.210414310153607,0.8599487829616692,1.6826685290495669,-1.0909989787156051,1.759238852405384,1.759238852405384,1.8435588396618774,0,0,-7.131393501699635e-05,-9.47858555796543e-05
+5562,1793078851827169049,15402935000000,1793078851824727765,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6760245339042334,-0.004953573325523927,0.0992988450382831,0.9999999790945507,-7.132875970284315e-05,-0.00010066557143070943,0.00013428482141757966,0.6761,-0.0046,0.09932419649020142,1.0,0.0,0.0,0.0,-0.24492293938221632,0.03145730447386019,1.1126705920178641,-0.0013556720033830877,0.02121360090975946,-0.0006050023989874622,1.0200274584062172,1.2897009015689467,1.443041924526454,0.08834324208633375,-0.06788682208365554,-5.8254471416213135e-05,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9261248432925272,1.5111559706958362,-0.1184882061167625,0.11443106404708436,0.24885693885451327,0.944995382980182,1.6826685290495669,-1.1126705920178641,1.8011567351663293,1.8011567351663293,1.9152588396618695,0,0,-7.219143384060012e-05,-9.99867786052377e-05
+5645,1793078852518247929,15403626000000,1793078852512727893,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6760298035512975,-0.004958732906667668,0.09925417226574759,0.999999978579863,-7.137055327995458e-05,-9.34198732076706e-05,0.00014304582892468593,0.6761,-0.0046,0.09926913186136152,1.0,0.0,0.0,0.0,-0.23529057349736981,-0.002746100016052022,1.145012504050025,-0.003421510480546369,0.02124506825470522,-0.0006508908444329165,1.0296598242910637,1.2554974970790345,1.475383836558615,0.08627740360917047,-0.06785535473870978,-0.00010414291686166738,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9216283870355113,1.540410643312664,-0.2611619209853278,0.10698605107296402,0.33943339952089074,0.9647165141539497,1.6826685290495669,-1.145012504050025,1.9438304500348946,1.9438304500348946,1.9843588396618619,0,0,-9.136410106661141e-05,7.669314769221387e-05
+5731,1793078853235185403,15404343000000,1793078853232737647,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6760394987020206,-0.004961223686296833,0.09920271090602692,0.9999999785068122,-7.434614741066164e-05,-7.785022792361798e-05,0.00015113315882082332,0.6761,-0.0046,0.09919757087562033,1.0,0.0,0.0,0.0,-0.25189360420805884,-0.02666348510495764,1.192345944231801,-0.005486260190249684,0.02228746037833894,-0.0006983344717201663,1.0130567935803747,1.2315801119901288,1.522717276740391,0.08421265389946715,-0.06681296261507606,-0.00015158654414891725,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.874884944916437,1.5503591204682914,-0.2236060211896034,0.10433725742283258,0.2997364850430294,0.9704881869787377,1.6826685290495669,-1.192345944231801,1.9062745502391703,1.9062745502391703,2.0560588396619783,0,0,-0.00010788831082272766,-9.999999025923074e-05
+5820,1793078853977234480,15405085000000,1793078853972737342,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6760454715195213,-0.004960687609721935,0.09913061556001836,0.9999999779982147,-7.632712789306802e-05,-6.728765227465204e-05,0.00015840762641194502,0.6761,-0.0046,0.09911475093395317,1.0,0.0,0.0,0.0,-0.2615858491508152,-0.05998756594132826,1.2536695827746616,-0.00756908587166881,0.02332784244618681,-0.0007564575451373991,1.0033645486376184,1.1982560311537582,1.5840409152832515,0.08212982821804803,-0.06577258054722819,-0.00020970961756615,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9034255845923139,1.537545306029304,-0.3442590197842991,0.10055735675567826,0.3854051420169275,0.957293986197616,1.6826685290495669,-1.2536695827746616,2.026927548833866,2.026927548833866,2.130258839662135,0,0,-0.00011559212570512486,-8.49032655434118e-05
+5904,1793078854677275638,15405785000000,1793078854676737662,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6760494389364147,-0.00496527115127826,0.09905967718420237,0.9999999766060909,-8.331401371270096e-05,-6.0878670949073206e-05,0.00016608204236801764,0.6761,-0.0046,0.09903121668424997,1.0,0.0,0.0,0.0,-0.2614070109342952,-0.10094905091759254,1.2925306741674873,-0.010640918812421449,0.023378855033198073,-0.0008224355017653387,1.0035433868541384,1.157294546177494,1.6229020066760773,0.07905799527729539,-0.06572156796021693,-0.0002756875741940896,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8704533501278371,1.5527475729478488,-0.3601195381497156,0.087037166176006,0.38678021319293276,0.9635378080073433,1.6826685290495669,-1.2925306741674873,2.0427880671992824,2.0427880671992824,2.2002588396622826,0,0,-0.00012292686927681119,-9.998779168374767e-05
+5993,1793078855418352128,15406526000000,1793078855412737310,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6760518633596588,-0.004970987720902881,0.09897280421487673,0.9999999754083537,-0.00010352205905991324,-5.559433082436325e-05,0.0001637638850165337,0.6761,-0.0046,0.09893397280659111,1.0,0.0,0.0,0.0,-0.23916518230618222,-0.12555784748790222,1.332157057922729,-0.01266977999540514,0.022392388430275162,-0.0004846346582661246,1.0257852154822513,1.1326857496071843,1.662528390431319,0.0770291340943117,-0.06670803456313984,6.211326930512446e-05,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8564763947682541,1.5822042000101717,-0.4431161893801289,0.08056374581243829,0.4375349040595361,0.9794421007634245,1.6826685290495669,-1.332157057922729,2.1257847184296956,2.1257847184296956,2.274358839662439,0,0,-0.0001390449391833456,-8.430306039220454e-05
+6065,1793078856018413973,15407126000000,1793078856012737525,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6760568634673344,-0.00497376023343861,0.09889582774260237,0.9999999740246168,-0.00011505562681888201,-4.735118659467953e-05,0.00016707392901705133,0.6761,-0.0046,0.09885033611206635,1.0,0.0,0.0,0.0,-0.2466315799095502,-0.15600977180335085,1.3722176706643012,-0.01472356548454079,0.02242147426365723,8.039853869752699e-05,1.0183188178788833,1.1022338252917356,1.7025890031728912,0.07497534860517605,-0.06667894872975777,0.0006271464662687761,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.827603636621149,1.5062023575226404,-0.5738435237179826,0.10029370289820294,0.5126122592721434,0.9262541090578221,1.6826685290495669,-1.3722176706643012,2.2565120527675493,2.2565120527675493,2.3343588396625656,0,0,-0.00013929201750775976,9.997557923047679e-05
+6148,1793078856710483220,15407818000000,1793078856708727650,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6760595383979474,-0.004976624378884552,0.09880395469413998,0.999999972706474,-0.00012806021789807075,-4.20890429374864e-05,0.0001669101812832355,0.6761,-0.0046,0.09875007426306766,1.0,0.0,0.0,0.0,-0.22816812295326683,-0.16556278368199662,1.369910124548947,-0.015761601458884472,0.022448682677554593,6.706297731750178e-05,1.0367822748351667,1.0926808134130899,1.7002814570575369,0.07393731263083236,-0.06665174031586041,0.0006138109048887509,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8068693781437182,1.6125190840041785,-0.4607436214716718,0.07694706251845888,0.43219060494530104,0.9937557079374614,1.6826685290495669,-1.369910124548947,2.1434121505212387,2.1434121505212387,2.4035588396627117,0,0,-0.00015343891476424088,-9.999999025923074e-05
+6230,1793078857393456529,15408501000000,1793078857388737471,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6760664175899327,-0.004976292017868339,0.09870324873373783,0.9999999706796595,-0.00015077078265925763,-3.227106299707461e-05,0.00016220448188867918,0.6761,-0.0046,0.09863730751564602,1.0,0.0,0.0,0.0,-0.22977057075837282,-0.18035660172661983,1.4232484954379985,-0.016882016916982254,0.02245174604529586,1.7571546141470994e-05,1.0351798270300607,1.0778869953684667,1.7536198279465884,0.07281689717273458,-0.06664867694811914,0.0005643194737127201,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8406957266415157,1.6070230525042624,-0.5892522232400009,0.07280270898500071,0.5191139800886484,0.985569519971385,1.6826685290495669,-1.4232484954379985,2.2719207522895677,2.2719207522895677,2.471858839662856,0,0,-0.0001746598953758768,-9.999910208081104e-05
+6313,1793078858085570826,15409193000000,1793078858084737407,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6760711287890895,-0.0049798600849858465,0.09859028715098385,0.9999999673480369,-0.00017162459515712863,-2.350842867404857e-05,0.0001635210739808893,0.6761,-0.0046,0.09851148640481708,1.0,0.0,0.0,0.0,-0.2289404191957085,-0.20240884277627424,1.4541734137347708,-0.018451558318444902,0.02247436220029063,-2.785686217889169e-05,1.036009978592725,1.0558347543188122,1.7845447462433608,0.07124735577127193,-0.06662606079312437,0.0005188910653923574,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8112288508588072,1.572120365786757,-0.6765158523598592,0.07880543137265406,0.5625209778219034,0.958310703889372,1.6826685290495669,-1.4541734137347708,2.359184381409426,2.359184381409426,2.541058839663002,0,0,-0.00019014752864895813,-9.999999025923074e-05
+6380,1793078858643598240,15409751000000,1793078858640737323,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6760760500029661,-0.004982757188020976,0.09848768662048897,0.9999999644571534,-0.00018581746220351704,-1.4847226869634461e-05,0.0001666732926340981,0.6761,-0.0046,0.09840273608561016,1.0,0.0,0.0,0.0,-0.23537284331179453,-0.22205352287508484,1.490574328458372,-0.019863361171488098,0.022814008298908922,-7.159299373115047e-05,1.029577554476639,1.0361900742200016,1.8209456609669619,0.06983555291822874,-0.06628641469450608,0.0004751549338400986,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8758307022292533,1.5747271313586955,-0.7133625156420859,0.07113444558690618,0.6077163445034002,0.9574967402008263,1.6826685290495669,-1.490574328458372,2.396031044691653,2.396031044691653,2.5968588396631196,0,0,-0.00020141220134359118,-9.999999025923074e-05
+6458,1793078859293634782,15410401000000,1793078859288728232,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6760788984745357,-0.004985737588569229,0.09836079306583949,0.9999999602568576,-0.0002042610301415499,-1.0040242754683482e-05,0.0001706041398246127,0.6761,-0.0046,0.09826872280906547,1.0,0.0,0.0,0.0,-0.24084291171984828,-0.24103721014620016,1.499268068130723,-0.021924545370613488,0.023544535409710243,-8.644123346700862e-05,1.0241074860685853,1.0172063869488863,1.829639400639313,0.06777436871910335,-0.06555588758370476,0.00046030669410424045,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8074863532056781,1.6636658034087692,-0.705880494726717,0.03753687172772325,0.5818164921498087,1.0127434844806291,1.6826685290495669,-1.499268068130723,2.388549023776284,2.388549023776284,2.6618588396632568,0,0,-0.00021473982162875516,-9.999980984798924e-05
+6525,1793078859852601295,15410960000000,1793078859848736858,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6760824590924301,-0.004992226409776001,0.09824394489646662,0.9999999566718007,-0.00021906421748201012,-4.887152954918734e-06,0.0001734538703865313,0.6761,-0.0046,0.09814427062746625,1.0,0.0,0.0,0.0,-0.25303115167930335,-0.26305104107507093,1.539293355865086,-0.022990976358227055,0.024564391044266873,0.000911133572859764,1.0119192461091302,0.9951925560200156,1.869664688373676,0.06670793773148978,-0.06453603194914813,0.001457881500431013,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8286511253308084,1.574111704289657,-0.7789754143608987,0.059386510882936006,0.629065273035733,0.9478403683737665,1.6826685290495669,-1.539293355865086,2.4616439434104658,2.4616439434104658,2.7177588396633747,0,0,-0.00023041140343879463,-9.996128510903474e-05
+6594,1793078860427698146,15411535000000,1793078860424727827,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6760857330117562,-0.0050000197049262195,0.09811602803200517,0.9999999519603536,-0.00023667985292910628,9.259299205387345e-07,0.00017749350530987703,0.6761,-0.0046,0.09800646776152809,1.0,0.0,0.0,0.0,-0.25475809796820004,-0.28254606050492914,1.5588834213641232,-0.0240186867792173,0.024628891579047282,0.0008845215591279232,1.0101922998202335,0.9756975365901573,1.8892547538727131,0.06568022731049954,-0.06447153141436772,0.0014312694866991723,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8834752331922605,1.638435067199022,-0.8016218715969822,0.036471670512356016,0.6551347013422458,0.987551734687854,1.6826685290495669,-1.5588834213641232,2.484290400646549,2.484290400646549,2.775258839663496,0,0,-0.0002485274481587015,-9.999999025923074e-05
+6661,1793078860985732212,15412093000000,1793078860984728292,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.676089480915379,-0.005003128877959592,0.09798397656096529,0.9999999482835109,-0.00025119465952532535,8.39426967788597e-06,0.0001780635243909902,0.6761,-0.0046,0.09786339176009798,1.0,0.0,0.0,0.0,-0.27970486445046583,-0.2862851377470359,1.5784605939450804,-0.024963266041432106,0.026618385508272405,0.0005261788543657228,0.9852455333379677,0.9719584593480506,1.9088319264536704,0.06473564804828473,-0.0624820374851426,0.0010729267819369719,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8919057002204253,1.5961485427563438,-0.8060760486203294,0.036859998368997685,0.6587983824427893,0.954388659326802,1.6826685290495669,-1.5784605939450804,2.4887445776698964,2.4887445776698964,2.831058839663614,0,0,-0.00026556053498857777,-9.999925473647692e-05
+6726,1793078861527762601,15412635000000,1793078861524728328,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6760961171671513,-0.005002579470407745,0.0978493795602234,0.9999999747158569,-9.221341770392027e-05,2.2707265064236142e-05,0.00018163759406918917,0.6761,-0.0046,0.09771531364655577,1.0,0.0,0.0,0.0,-0.29791241949908853,-0.2966556734793947,1.6030452036920095,-0.0254628630741717,0.027643327928831007,-0.00015046974485876454,0.967037978289345,0.9615879236156918,1.9334165362005995,0.06423605101554514,-0.061457095064583994,0.00039627818271248454,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8762337910617312,1.85150034621322,-0.8952766083742619,-0.08728090750319548,0.7169143813002286,1.0471856736282639,1.6826685290495669,-1.6030452036920095,2.577945137423829,2.577945137423829,2.885258839663728,0,0,-0.00028262944374721064,-9.999999025923074e-05
+6781,1793078861985812443,15413093000000,1793078861980727758,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6760996105442024,-0.005009690996723817,0.09771967352150077,0.9999999712089799,-0.0001167297458317519,2.708222658927244e-05,0.00018618706500845192,0.6761,-0.0046,0.09758136664425862,1.0,0.0,0.0,0.0,-0.30787389796144204,-0.30793011592505704,1.6473556347212683,-0.026580164337688825,0.028667598546750918,-0.00018901377969672112,0.9570764998269915,0.9503134811700295,1.9777269672298583,0.06311874975202801,-0.060432824446664084,0.00035773414787452796,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9200077515813655,1.7628035102566217,-0.9850475315601099,-0.06518701374464625,0.7863935861204239,0.9909854703801223,1.6826685290495669,-1.6473556347212683,2.667716060609677,2.667716060609677,2.931058839663825,0,0,-0.0003005997885150143,-9.980506285168218e-05
+6832,1793078862410774922,15413518000000,1793078862408728177,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761035646484138,-0.005012450761739944,0.09760140257453129,0.9999999677684575,-0.000139290305876471,3.5579126819162315e-05,0.0001877186320167859,0.6761,-0.0046,0.09745029437331167,1.0,0.0,0.0,0.0,-0.3259050732889137,-0.33242128803666593,1.6489753643886758,-0.028246974326318126,0.02971302561339733,-0.00019250017402333629,0.9390453244995198,0.9258223090584206,1.9793466968972657,0.06145193976339871,-0.05938739738001767,0.0003542477535479128,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8875878084462244,1.8502734696386003,-1.0503671623754214,-0.08385441735611991,0.8161800502106814,1.0705774990851427,1.6826685290495669,-1.6489753643886758,2.7330356914249885,2.7330356914249885,2.9735588396639145,0,0,-0.0003168211753681608,9.670049069677162e-05
+6887,1793078862868792055,15413976000000,1793078862868727880,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761064338793028,-0.005017769879074827,0.09745902842541283,0.9999999628179137,-0.0001691079334306638,4.0202649573503085e-05,0.00018866183863685534,0.6761,-0.0046,0.09730186902531619,1.0,0.0,0.0,0.0,-0.3342141494519618,-0.3419366564792663,1.677060529433121,-0.02908525707308049,0.03072967147804733,0.0008159094031518667,0.9307362483364717,0.9163069406158202,2.007431861941711,0.060613657016636346,-0.05837075151536767,0.0013626573307231158,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8946674599441388,1.7390001082911453,-1.0095486058180814,-0.023944937694060333,0.7885487473006784,1.0393291876925754,1.6826685290495669,-1.677060529433121,2.692217134867648,2.692217134867648,3.019358839664011,0,0,-0.0003316994309041351,-9.999999025923074e-05
+6938,1793078863293771556,15414401000000,1793078863292727258,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761078832050914,-0.005016578800821144,0.09731629243211985,0.9999999579497016,-0.0002100802213193,4.215847221446765e-05,0.0001721407065174765,0.6761,-0.0046,0.0971584094312435,1.0,0.0,0.0,0.0,-0.3134804156306713,-0.3325334508821757,1.7035312653121086,-0.028669626444716198,0.029706999862582108,0.0007854876766869558,0.9514699821577622,0.9257101462129108,2.0339025978206986,0.06102928764500064,-0.059393423130832894,0.0013322356042582049,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9198153489085278,1.6043726755873768,-1.0034493653050078,0.04402043108021914,0.7919961056387528,0.9614269631390706,1.6826685290495669,-1.7035312653121086,2.6861178943545747,2.6861178943545747,3.061858839664101,0,0,-0.00034461663440540766,-8.215487598406952e-05
+6991,1793078863735810183,15414843000000,1793078863732727908,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761127824289312,-0.005023383041635071,0.09716818513788948,0.9999999512556925,-0.00023401565382656647,5.168694493401729e-05,0.00017747284322732477,0.6761,-0.0046,0.09700338680019491,1.0,0.0,0.0,0.0,-0.3252934062238123,-0.361650556761816,1.7466078937317393,-0.030345506732999225,0.030739909369627463,0.0007484569909961904,0.9396569915646212,0.8965930403332705,2.0769792262403293,0.05935340735671761,-0.05836051362378754,0.0012952049185674394,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9126547132594333,1.6511853972159614,-1.146985901975677,0.018863893714697804,0.8855950450667137,0.9881076210202545,1.6826685290495669,-1.7466078937317393,2.8296544310252436,2.8296544310252436,3.106058839664194,0,0,-0.000356588640106044,9.969388789355377e-05
+7040,1793078864143911801,15415251000000,1793078864140728059,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761136571330674,-0.005025921970310131,0.09702356214950193,0.9999999468831877,-0.00024639863973974674,5.260631742382022e-05,0.00018492369082447893,0.6761,-0.0046,0.09685390869247475,1.0,0.0,0.0,0.0,-0.35091930046536346,-0.38503384841799526,1.7356852443957136,-0.032413550518065076,0.03179443356685785,0.0007467970352273344,0.9140310973230701,0.8732097486770912,2.0660565769043036,0.05728536357165176,-0.05730598942655715,0.0012935449627985835,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9167449516707951,1.7168428200834824,-1.065619625784784,-0.003907318081408063,0.836363733238254,1.0273076383844968,1.6826685290495669,-1.7356852443957136,2.748288154834351,2.748288154834351,3.1468588396642803,0,0,-0.00037581369547875907,-9.999999025923074e-05
+7095,1793078864602936269,15415710000000,1793078864600727981,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761200466100279,-0.005027407693728846,0.09685910586726297,0.9999999406204584,-0.00026436452078662347,6.403075693581423e-05,0.00019029820275600254,0.6761,-0.0046,0.09667636417538572,1.0,0.0,0.0,0.0,-0.362145776855746,-0.3907770234527851,1.7447520987501952,-0.03244565934931305,0.032836095294854414,0.0007540984452542022,0.9028046209326875,0.8674665736423014,2.075123431258785,0.05725325474040378,-0.05626432769856059,0.0013008463728254513,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.908950899808215,1.6490367782607056,-0.9987346290730534,0.017989868577816818,0.786078167042058,0.9777773135746772,1.6826685290495669,-1.7447520987501952,2.6814031581226203,2.6814031581226203,3.192758839664377,0,0,-0.00039742146566298784,-9.999999025923074e-05
+7142,1793078864993881755,15416101000000,1793078864988728138,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761196568343242,-0.005034040706735073,0.09670383000692309,0.9999999701256795,-0.00011424520737967376,6.64474527520927e-05,0.0001836416970424678,0.6761,-0.0046,0.09651757415177052,1.0,0.0,0.0,0.0,-0.35200834634807854,-0.3928308735388506,1.759028535275608,-0.0334572648768409,0.03282733454441994,-0.0002949947765531465,0.912942051440355,0.8654127235562359,2.089399867784198,0.05624164921287594,-0.05627308844899506,0.00025175315101810255,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9349565886904747,1.7337503216021621,-1.0963879428609917,-0.031959011330668335,0.8667503830000179,0.9659986481161595,1.6826685290495669,-1.759028535275608,2.7790564719105584,2.7790564719105584,3.2318588396644596,0,0,-0.00041394501818922534,-9.999999025923074e-05
+7190,1793078865393940720,15416501000000,1793078865392728035,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761217998773211,-0.005038494297041025,0.09653841560814828,0.9999999651767673,-0.0001413080735046575,6.944738135453107e-05,0.00019052143784023206,0.6761,-0.0046,0.09634801805455791,1.0,0.0,0.0,0.0,-0.369532752859958,-0.4238458585672248,1.7958200805353934,-0.034501857243338235,0.032844851894642986,7.433204597197425e-05,0.8954176449284755,0.8343977385278617,2.1261914130439834,0.0551970568463786,-0.056255571098772016,0.0006210799735432233,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9527966215781173,1.8079080315373834,-1.069746095203238,-0.051342361181800786,0.860256540774647,1.0223908213596602,1.6826685290495669,-1.7958200805353934,2.752414624252805,2.752414624252805,3.271858839664544,0,0,-0.000433587508309767,-9.999999025923074e-05
+7231,1793078865735956235,15416843000000,1793078865728728060,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6761259188918143,-0.00504121678446576,0.09639398822831155,0.9999999601347443,-0.0001589223533809895,7.648122594474837e-05,0.00020016913228464115,0.6761,-0.0046,0.09619688967720395,1.0,0.0,0.0,0.0,-0.3791281772695133,-0.4175393418796418,1.7949281690679744,-0.03557040641667852,0.034880634941859626,0.0007123350667382875,0.8858222205189202,0.8407042552154447,2.1252995015765643,0.05412850767303832,-0.054219788051555376,0.0012590829943095365,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9799416881467417,1.7533646736476856,-1.1807668860195513,-0.0017198641045201727,0.9267072496604667,1.0303885523426253,1.6826685290495669,-1.7949281690679744,2.863435415069118,2.863435415069118,3.3060588396646162,0,0,-0.0004502863437630663,-9.999999025923074e-05
+7276,1793078866110957712,15417218000000,1793078866108729726,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761243003502756,-0.005041927195386411,0.09622074231540637,0.9999999558007159,-0.00019224865654387532,7.444770784777855e-05,0.00019323411514300621,0.6761,-0.0046,0.09602465997455,1.0,0.0,0.0,0.0,-0.37919371048515926,-0.42233284550523875,1.8244301720895142,-0.03557629674412046,0.03487425962018395,0.0006839910892803949,0.8857566873032743,0.8359107515898477,2.154801504598104,0.054122617345596376,-0.05422616337323105,0.001230739016851644,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9624385945976878,1.6971480856806074,-1.167592832487329,0.048204762936229224,0.9114254583380946,1.0216635632818085,1.6826685290495669,-1.8244301720895142,2.850261361536896,2.850261361536896,3.3435588396646954,0,0,-0.0004680768727158543,-9.999999025923074e-05
+7315,1793078866436046747,15417543000000,1793078866428738677,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761301315904391,-0.0050430870983810714,0.0960703252183666,0.9999999522272619,-0.0002141932022129177,8.289352932328576e-05,0.00018503586935570435,0.6761,-0.0046,0.09587009884310006,1.0,0.0,0.0,0.0,-0.35431542685815276,-0.4055159329630521,1.825628605441536,-0.03396193133520664,0.03393476967939617,0.0006845988563109051,0.9106349709302808,0.8527276641320344,2.155999937950126,0.055736982754510195,-0.055165653314018834,0.0012313467838821542,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.996979652916574,1.6914917783054106,-1.2661260414557558,0.051765541402195595,0.9829366704361776,1.0205215921339792,1.6826685290495669,-1.825628605441536,2.9487945705053225,2.9487945705053225,3.376058839664764,0,0,-0.00048348212227797136,-9.999999025923074e-05
+7357,1793078866786061180,15417893000000,1793078866784728292,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6761319289684451,-0.0050423436780592645,0.09590462233000209,0.9999999505232922,-0.00020465343463333955,8.635393892032902e-05,0.00020262340977856782,0.6761,-0.0046,0.09569816182857624,1.0,0.0,0.0,0.0,-0.3792216613139252,-0.42505084741819943,1.8549218232992866,-0.035567936669858836,0.03486791055884832,0.0006596904984575912,0.8857287364745083,0.8331927496768871,2.1852931558078765,0.054130977419858,-0.054232512434566685,0.0012064384260288402,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9935380075258584,1.5936204526684243,-1.146709522440721,0.08244012211006484,0.907896550459248,0.957262605162359,1.6826685290495669,-1.8549218232992866,2.8293780514902878,2.8293780514902878,3.411058839664838,0,0,-0.00049936284200333,-9.999999025923074e-05
+7398,1793078867128080677,15418235000000,1793078867120728572,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6761327090564011,-0.005046865695359908,0.09573486741490292,0.9999999460103576,-0.00020774912200643498,8.920043634257695e-05,0.0002197856467680987,0.6761,-0.0046,0.0955244771953829,1.0,0.0,0.0,0.0,-0.37007936997591373,-0.425321783889676,1.8546511982761045,-0.03559425189534388,0.03486831864197266,0.0006608925212549963,0.8948710278125198,0.8329218132054105,2.1850225307846944,0.05410466219437295,-0.054232104351442344,0.0012076404488262453,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9624479938707029,1.6537642180183847,-1.1639605336061238,0.0755354922450633,0.9091621759396662,0.9945930159738863,1.6826685290495669,-1.8546511982761045,2.8466290626556905,2.8466290626556905,3.44525883966491,0,0,-0.0005157745146214518,-9.999611835643236e-05
+7435,1793078867436059830,15418543000000,1793078867428737152,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761346021048275,-0.005044014975041939,0.09557986764088548,0.9999999402305908,-0.000253397422017078,9.578354823654648e-05,0.00019389929650038708,0.6761,-0.0046,0.09536333493155667,1.0,0.0,0.0,0.0,-0.36072299642910033,-0.4151482889312099,1.8641810919093134,-0.035558179022954,0.03390050752304212,0.0006391704928173984,0.9042274013593332,0.8430953081638766,2.1945524244179033,0.054140735066762834,-0.05519991547037288,0.0011859184203886475,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.9984588174773773,1.7432400251182325,-1.3229303449715193,0.08226255873874813,1.018366212366296,1.0531952330817673,1.6826685290495669,-1.8641810919093134,3.005598874021086,3.005598874021086,3.476058839664975,0,0,-0.0005308102402304657,-9.999999025923074e-05
+7473,1793078867753126598,15418860000000,1793078867752727212,DOWN_FORCE_DETACH,1,0.072,0.07200153172016144,0.6761365249425398,-0.005049852584811061,0.09541468611035446,0.9999999332052184,-0.0002779931939165544,0.00010090857680983966,0.00019382896029434453,0.6761,-0.0046,0.09519275815527811,1.0,0.0,0.0,0.0,-0.33570826529309816,-0.40717676565126737,1.865137062500632,-0.03491030384443427,0.03282685909976393,0.0006342412976075555,0.9292421324953354,0.8510668314438191,2.195508395009222,0.05478861024528257,-0.05627356389365107,0.0011809892251788045,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,1.0040402300480116,1.7599854843662688,-1.2289691969493592,0.06489142015674366,0.961336968134462,1.062607984577345,1.6826685290495669,-1.865137062500632,2.911637725998926,2.911637725998926,3.507758839665042,0,0,-0.0005449029642043676,-9.999999025923074e-05
+7508,1793078868044093976,15419151000000,1793078868036727835,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761403736328876,-0.005051134832972046,0.0952618345402047,0.9999999307048336,-0.0002746583031940314,0.00010568594548071361,0.00020839023267827945,0.6761,-0.0046,0.09503213355699665,1.0,0.0,0.0,0.0,-0.36131086585826144,-0.4375815741546505,1.8656742883037962,-0.036582766429338213,0.03409603689565811,0.0006280076812865302,0.9036395319301721,0.820662022940436,2.196045620812386,0.05311614766037862,-0.05500438609775689,0.0011747556088577793,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,1.0618260355798808,1.6048392694958613,-1.3035775927309792,0.11693279207681953,1.0275912578878714,0.9681228969716966,1.6826685290495669,-1.8656742883037962,2.986246121780546,2.986246121780546,3.5368588396651033,0,0,-0.0005592520141664822,-9.999999025923074e-05
+7543,1793078868336152048,15419443000000,1793078868328727934,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761406098393808,-0.00505401795990894,0.09509849716938962,0.9999999286102642,-0.00026901773285766884,0.00010515894788750054,0.00022537387901053768,0.6761,-0.0046,0.09486670972707684,1.0,0.0,0.0,0.0,-0.38848569868944327,-0.46077104261795365,1.8835755345719334,-0.03778998197688799,0.0359180094604443,0.0006276856659258825,0.8764646990989903,0.7974725544771328,2.2139468670805234,0.05190893211282885,-0.0531824135329707,0.0011744335934971315,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,1.0794243208523604,1.6364189252814163,-1.3763005466337022,0.10373211669657355,1.0813499884338413,0.9887460363842162,1.6826685290495669,-1.8835755345719334,3.058969075683269,3.058969075683269,3.566058839665165,0,0,-0.0005738159095894632,-9.999999025923074e-05
+7579,1793078868636163912,15419743000000,1793078868628728807,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.67614216440398,-0.005051284126011171,0.09492251266186295,0.9999999578686091,-0.00015449765177987461,0.0001076602010010072,0.00020061256482844532,0.6761,-0.0046,0.09469234620158222,1.0,0.0,0.0,0.0,-0.3867198780668648,-0.48405202621630306,1.8962709273252196,-0.03969497370468289,0.035957306300467194,-0.0004304153168041117,0.8782305197215687,0.7741915708787834,2.2266422598338096,0.050003940385033946,-0.05314311669294781,0.00011633261076713734,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,1.1261085656463883,1.691870412408056,-1.2987915552236586,0.0637280488779297,1.0507422722853106,0.9509321567200439,1.6826685290495669,-1.8962709273252196,2.9814600842732255,2.9814600842732255,3.596058839665228,0,0,-0.0005885442710365771,-9.999999025923074e-05
+7608,1793078868878185258,15419985000000,1793078868876729652,DOWN_FORCE_DETACH,1,0.072,0.07200218737125397,0.6761390707636592,-0.00505544640692719,0.0947748768762495,0.9999999528433932,-0.00019133995952048374,0.00010363042433135823,0.00019597405635831717,0.6761,-0.0046,0.09454850269577317,1.0,0.0,0.0,0.0,-0.32393193069992454,-0.42460688778561306,1.8966944338767489,-0.035662395382906824,0.03224283038811575,0.0005937090401404883,0.941018467088509,0.8336367093094734,2.227065766385339,0.05403651870681001,-0.056857592605299254,0.0011404569677117373,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,1.1414129977091279,1.6089582136258265,-1.3393824531636875,0.11502602361640228,1.0845907741530572,0.942900165415281,1.6826685290495669,-1.8966944338767489,3.0220509822132544,3.0220509822132544,3.6202588396652793,0,0,-0.0005998904656037959,-9.999999025923074e-05
+7652,1793078869240202623,15420347000000,1793078869236737074,DOWN_SETTLE,1,0.072,0.07200153172016144,0.6761320729240836,-0.005056740482056364,0.09461474621626306,0.9999999498952887,-0.0001964307382403751,8.903125469741374e-05,0.00021246337299485262,0.6761,-0.0046,0.09441812224702213,1.0,0.0,0.0,0.0,-0.34830485368248765,-0.511827590744424,1.7131341297264284,-0.041259292287726596,0.03335931417064634,-0.0003276508307798132,0.9166455441059459,0.7464160063506625,2.0435054622350184,0.04843962180199024,-0.05574110882276866,0.00021909709679143592,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,1.0736838922994008,1.512783384168783,-1.0715291221568133,0.1436195960402837,0.8989657971642853,0.9038506144048352,1.6826685290495669,-1.7131341297264284,2.75419765120638,0.0,0.0,0,0,-5.814451365202754e-05,0.0005873183197174499
+7732,1793078869901202512,15421008000000,1793078869896727945,DOWN_PEAK_HOLD,1,0.072,0.07200153172016144,0.6761072665805502,-0.005053650523199681,0.09454347701744836,0.9999999523711024,-0.0001960900112735972,4.2726371820129153e-05,0.00021546188012323367,0.6761,-0.0046,0.09441331356809146,1.0,0.0,0.0,0.0,-0.2775721860566691,-0.5991956531326741,1.2685423572393064,-0.04648158376820242,0.02711213226779266,-0.00013398905387976734,0.9873782117317644,0.6590479439624124,1.5989136897478964,0.04321733032151442,-0.06198829072562234,0.00041275887369148173,1.2649503977884335,1.2582435970950865,0.3303713325085899,0.08969891408971684,-0.089100422993415,0.0005467479275712491,1,0.8409397068177814,1.61385396723868,-0.6253522770988397,0.1016111645940932,0.5749224973226678,0.9734169395617335,1.6826685290495669,-1.2685423572393064,2.3080208061484067,0.0,0.0,0,0,0.0,0.0