Datasets:

BAAI
/

EventTouch

+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+7010,1792837966837901550,16646252000000,1792837966836664052,XJC_ZERO_HOLD_BEFORE_UP,2,0.0655,0.06549790501594543,0.6759676173490761,-0.004431106712254718,0.10663351666679019,0.9999999608800116,6.858530774197502e-05,-0.00023947095251567837,-8.736451280440557e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.008306636817172655,-0.00023896197617120918,0.000147732705208483,1.6026651918380971e-07,1.9830795209167725e-07,-8.674354433873925e-07,-0.07301421293434465,-0.06433919557357637,-0.01989025390549329,-0.0010325177186535654,2.430313571993653e-05,0.0010231199171932184,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.129420341889383,0.1389683823226835,2.5767591657996554,-0.38453658895990367,-1.9118146884522562,0.01230170852624149,1.6213854171166837,-0.000147732705208483,-0.9553737486829716,0.0,0.0,0,0,0.0,0.0
+7027,1792837966979932875,16646394000000,1792837966976654503,XJC_ZERO_HOLD_BEFORE_UP,2,0.0655,0.06549790501594543,0.6759661632919869,-0.004433747667407297,0.10663277840840242,0.9999999611299945,6.559195304636957e-05,-0.0002401486743669566,-8.490691358361486e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0017609846184510891,0.005723827996426616,-0.00023810668595250495,8.05070705280379e-07,-4.207612639123909e-07,4.086162801370842e-07,-0.06294659149872091,-0.058376405600978544,-0.02027609329665428,-0.0010318729144674688,2.3684066503932463e-05,0.0010243959689167428,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.1281680444015243,0.19426607719785274,2.547128796967323,-0.4017248390152423,-1.8947573343583033,0.04828975688565869,1.6213854171166837,0.00023810668595250495,-0.9257433798506394,0.0,0.0,0,0,0.0,0.0
+7045,1792837967130860912,16646544999999,1792837967128654955,WAIT_W2,2,0.0603,0.06549790501594543,0.6759667900123083,-0.004436179609579825,0.10663487930009191,0.9999999611817849,6.826818602760859e-05,-0.0002391155990332902,-8.510275072016821e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0021090896172279994,-0.0002657647061287821,-0.00025303841131595756,-4.965062765940019e-08,3.415589235098262e-08,4.775128926446173e-07,-0.062598486499944,-0.06436599830353394,-0.020291025022017732,-0.0010327276358004086,2.4138983660195837e-05,0.0010244648655292504,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.0917094062895902,0.1218131276917983,2.5158930462087983,-0.3811920016790425,-1.86371049274119,0.0035669978691514337,1.6213854171166837,0.00025303841131595756,-0.8945076290921146,0.0,0.0,0,0,0.0,0.0
+7058,1792837967238912832,16646652999999,1792837967236654687,WAIT_W2,2,0.0603,0.06549790501594543,0.6759678484971804,-0.004431264212470178,0.10663707427567372,0.99999996140466,6.815477684105603e-05,-0.00023726803681383316,-8.770603127075198e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0025063347990599907,0.006190086152043445,0.0005455343713780085,1.1641947397363853e-06,-8.910091768617364e-07,-2.901424694318807e-07,-0.062201241318112006,-0.057910147445361715,-0.019492452239323766,-0.0010315137904330128,2.3213818590983118e-05,0.0010236972101671739,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.140220917970605,0.16956293122919508,2.588824072312783,-0.4001552489769091,-1.9230250360184118,0.028685286011519776,1.6213854171166837,-0.0005455343713780085,-0.9674386551960994,0.0,0.0,0,0,0.0,0.0
+7072,1792837967355933643,16646770000000,1792837967352654741,WAIT_W2,2,0.0603,0.06549790501594543,0.6759661908966329,-0.0044313639961265335,0.10663379066120215,0.9999999608462871,6.776028687661434e-05,-0.00023983281127687664,-8.740168701893944e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0005667029352340036,0.007833770479092776,2.5713654148426524e-05,1.109411729186124e-06,-6.687072315006453e-07,4.1844450209081036e-08,-0.064140873181938,-0.05626646311831238,-0.020012272956553348,-0.001031568573443563,2.343612053634421e-05,0.0010240291970868148,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.1691913821892366,0.21072978138275797,2.5315492752766207,-0.4126364739670772,-1.8969534444895038,0.0592323485694973,1.6213854171166837,-2.5713654148426524e-05,-0.910163858159937,0.0,0.0,0,0,0.0,0.0
+7084,1792837967455894660,16646869999999,1792837967452664420,WAIT_W2,2,0.0603,0.06549790501594543,0.6759669043798934,-0.0044336666922677685,0.10663437513348437,0.9999999610555895,6.859530302510851e-05,-0.00023933107743899886,-8.571466513986273e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0005505265316018831,-0.0002558787145693908,-7.691887233450892e-05,-2.3580630986253306e-08,5.729827046751151e-08,2.1647994053190962e-07,-0.06415704958557011,-0.06435611231197455,-0.020114905483036283,-0.0010327015658037355,2.4162126038312366e-05,0.0010242038325771377,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.1386290044626486,0.2085133699147834,2.6128458264904064,-0.40342566702726246,-1.9418301156163011,0.06002788451654201,1.6213854171166837,7.691887233450892e-05,-0.9914604093737227,0.0,0.0,0,0,0.0,0.0
+7095,1792837967546938704,16646961000000,1792837967540663927,WAIT_W2,2,0.0603,0.06549790501594543,0.6759658536352494,-0.004492966842260779,0.10663455242147983,0.999999964667343,3.4785761548584576e-05,-0.00023814294850436668,-6.46997997930514e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.22672600301192586,0.20310899621176476,0.006673744116521316,0.0140709566896988,-0.016417091007420864,-7.39167003591338e-05,0.16201842689475388,0.1390087626143596,-0.013364242494180459,0.01303827870452605,-0.01639298617965302,0.000950070652277472,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.1129018038922933,0.4024133844017924,2.5268225068141397,-0.4027515604343041,-1.8744130500560197,0.19558110049282668,1.6213854171166837,-0.006673744116521316,-0.905437089697456,0.0,0.0,0,0,0.0,0.0
+7095,1792837967546938704,16646961000000,1792837967540663927,WAIT_W2,2,0.0603,0.06549790501594543,0.6759658536352494,-0.004492966842260779,0.10663455242147983,0.999999964667343,3.4785761548584576e-05,-0.00023814294850436668,-6.46997997930514e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.22672600301192586,0.20310899621176476,0.006673744116521316,0.0140709566896988,-0.016417091007420864,-7.39167003591338e-05,0.16201842689475388,0.1390087626143596,-0.013364242494180459,0.01303827870452605,-0.01639298617965302,0.000950070652277472,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.1129018038922933,0.4024133844017924,2.5268225068141397,-0.4027515604343041,-1.8744130500560197,0.19558110049282668,1.6213854171166837,-0.006673744116521316,-0.905437089697456,0.0,0.0,0,0,0.0,0.0
+7098,1792837967571896366,16646986000000,1792837967564664302,WAIT_W2,2,0.0603,0.06549790501594543,0.6759671870840579,-0.00456329690215786,0.10663978525223157,0.9999999665783904,-1.3417806466865043e-05,-0.00023546347117882707,-5.160425217176359e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.5346117344334355,0.5111650192860898,0.03327951899697319,0.036535081354289914,-0.03823047272297321,-0.00014292834095078525,0.4699041583162634,0.4470647856886847,0.013241532386271416,0.03550240336911716,-0.038206367895205366,0.0008810590116858205,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.126773556402954,0.6558199004540372,2.499871523749026,-0.4159330162179309,-1.8607904321298445,0.36745145513948074,1.6213854171166837,-0.03327951899697319,-0.8784861066323424,0.0,0.0,0,0,0.0,0.0
+7098,1792837967571896366,16646986000000,1792837967564664302,WAIT_W2,2,0.0603,0.06549790501594543,0.6759671870840579,-0.00456329690215786,0.10663978525223157,0.9999999665783904,-1.3417806466865043e-05,-0.00023546347117882707,-5.160425217176359e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.5346117344334355,0.5111650192860898,0.03327951899697319,0.036535081354289914,-0.03823047272297321,-0.00014292834095078525,0.4699041583162634,0.4470647856886847,0.013241532386271416,0.03550240336911716,-0.038206367895205366,0.0008810590116858205,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.126773556402954,0.6558199004540372,2.499871523749026,-0.4159330162179309,-1.8607904321298445,0.36745145513948074,1.6213854171166837,-0.03327951899697319,-0.8784861066323424,0.0,0.0,0,0,0.0,0.0
+7100,1792837967588899624,16647003000000,1792837967588654068,WAIT_W2,2,0.0603,0.06549790501594543,0.6759696926706368,-0.004633544642158041,0.10664435856426403,0.9999999662483838,-5.938711193989636e-05,-0.0002306102122967677,-4.730958191218769e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7414694937356576,0.7219578225066161,0.04347183385188972,0.05159817878946717,-0.053769997862797216,-0.00020116994634268484,0.6767619176184856,0.657857588909211,0.023433847241187945,0.050565500804294415,-0.05374589303502937,0.0008228174062939209,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.0991988630324858,0.9781102096228845,2.557326925215596,-0.46742325885885416,-1.8905901825644755,0.5868094292444639,1.6213854171166837,-0.04347183385188972,-0.9359415080989122,0.0,0.0,0,0,0.0,0.0
+7100,1792837967588899624,16647003000000,1792837967588654068,WAIT_W2,2,0.0603,0.06549790501594543,0.6759696926706368,-0.004633544642158041,0.10664435856426403,0.9999999662483838,-5.938711193989636e-05,-0.0002306102122967677,-4.730958191218769e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7414694937356576,0.7219578225066161,0.04347183385188972,0.05159817878946717,-0.053769997862797216,-0.00020116994634268484,0.6767619176184856,0.657857588909211,0.023433847241187945,0.050565500804294415,-0.05374589303502937,0.0008228174062939209,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.0991988630324858,0.9781102096228845,2.557326925215596,-0.46742325885885416,-1.8905901825644755,0.5868094292444639,1.6213854171166837,-0.04347183385188972,-0.9359415080989122,0.0,0.0,0,0,0.0,0.0
+7102,1792837967605937527,16647020000000,1792837967604663940,WAIT_W2,2,0.0603,0.06288634240627289,0.6759665768495852,-0.0047100484774715195,0.10664259569810777,0.9999999611942169,-0.0001157549472328563,-0.00023350581559585632,-3.361927258645812e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.8281100282742186,0.8082932609355041,0.04744826902942774,0.057819033969665604,-0.059161174233094825,-0.0002035469396238749,0.7634024521570466,0.744193027338099,0.02741028241872596,0.05678635598449285,-0.05913706940532698,0.0008204404130127309,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.084336593448757,0.9415245619076617,2.5228566891826825,-0.42390400388914046,-1.8655318699172676,0.5666556756270348,1.6213854171166837,-0.04744826902942774,-0.9014712720659988,0.0,0.0,0,0,0.0,0.0
+7102,1792837967605937527,16647020000000,1792837967604663940,WAIT_W2,2,0.0603,0.06288634240627289,0.6759665768495852,-0.0047100484774715195,0.10664259569810777,0.9999999611942169,-0.0001157549472328563,-0.00023350581559585632,-3.361927258645812e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.8281100282742186,0.8082932609355041,0.04744826902942774,0.057819033969665604,-0.059161174233094825,-0.0002035469396238749,0.7634024521570466,0.744193027338099,0.02741028241872596,0.05678635598449285,-0.05913706940532698,0.0008204404130127309,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.084336593448757,0.9415245619076617,2.5228566891826825,-0.42390400388914046,-1.8655318699172676,0.5666556756270348,1.6213854171166837,-0.04744826902942774,-0.9014712720659988,0.0,0.0,0,0,0.0,0.0
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Part2/Fixed/digit/ball_15A_12.5/press_depth_02/up/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_02/up/real_sim_motion_alignment.csv ADDED Viewed

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

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+31,2.333333333e+00,UP_FORCE_RAMP,1792837969290419230,8.254214748e-06,-3.302109980e-04,3.661466170e-05,1.167517498e-05,-3.279176856e-04,3.947825234e-05,1.322720665e-05,-3.298248344e-04,3.946080911e-05,7.019638870e-01,-3.524817330e-04,8.601797019e-01,7.019673080e-01,-3.501884206e-04,8.601825655e-01,7.027582749e-01,-4.484198945e-04,8.303653385e-01
+32,2.500000000e+00,UP_FORCE_RAMP,1792837969469576124,1.175278729e-05,-3.315758397e-04,4.705789908e-05,1.167517498e-05,-3.279176856e-04,3.947825234e-05,1.324536963e-05,-3.298255871e-04,3.948711602e-05,7.019673856e-01,-3.538465748e-04,8.601901451e-01,7.019673080e-01,-3.501884206e-04,8.601825655e-01,7.027582931e-01,-4.484206472e-04,8.303653648e-01
+33,2.650000000e+00,UP_FORCE_RAMP,1792837969617344001,1.093900106e-05,-3.262219024e-04,5.086771615e-05,1.167517498e-05,-3.279176856e-04,3.947825234e-05,1.325515164e-05,-3.298266646e-04,3.949605369e-05,7.019665718e-01,-3.484926374e-04,8.601939550e-01,7.019673080e-01,-3.501884206e-04,8.601825655e-01,7.027583029e-01,-4.484217246e-04,8.303653738e-01
+34,2.800000000e+00,UP_FORCE_RAMP,1792837969771556728,1.218498200e-05,-3.298723974e-04,6.247727503e-05,1.226202753e-05,-3.298536796e-04,6.221905293e-05,1.420061885e-05,-3.317409461e-04,6.208499769e-05,7.019678178e-01,-3.521431325e-04,8.602055645e-01,7.019678948e-01,-3.521244147e-04,8.602053063e-01,7.027592483e-01,-4.503360062e-04,8.303879627e-01
+35,2.900000000e+00,UP_FORCE_RAMP,1792837969879196434,1.134336304e-05,-3.323994445e-04,6.471760179e-05,1.226202753e-05,-3.298536796e-04,6.221905293e-05,1.420697722e-05,-3.317403434e-04,6.214156309e-05,7.019669762e-01,-3.546701795e-04,8.602078048e-01,7.019678948e-01,-3.521244147e-04,8.602053063e-01,7.027592547e-01,-4.503354035e-04,8.303880193e-01
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+42,3.800000000e+00,UP_FORCE_RAMP,1792837970812627577,-7.943443630e-06,-3.212722340e-04,1.458498739e-04,-1.086791260e-05,-3.182404601e-04,1.361622567e-04,-9.780749528e-06,-3.201190701e-04,1.359465429e-04,7.019476894e-01,-3.435429691e-04,8.602889371e-01,7.019447649e-01,-3.405111952e-04,8.602792495e-01,7.027352670e-01,-4.387141302e-04,8.304618243e-01
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+49,4.850000000e+00,UP_FORCE_RAMP,1792837971878047842,-2.354571571e-05,-3.167783333e-04,2.229262664e-04,-1.884355328e-05,-3.172308867e-04,2.199449858e-04,-1.730076184e-05,-3.190853089e-04,2.196270288e-04,7.019320871e-01,-3.390490683e-04,8.603660135e-01,7.019367893e-01,-3.395016217e-04,8.603630322e-01,7.027277469e-01,-4.376803690e-04,8.305455048e-01
+50,5.016666667e+00,UP_FORCE_HOLD,1792837972041632802,-2.325309005e-05,-3.184326059e-04,2.385159298e-04,-1.884355328e-05,-3.172308867e-04,2.199449858e-04,-1.731382038e-05,-3.190835906e-04,2.196733707e-04,7.019323797e-01,-3.407033409e-04,8.603816032e-01,7.019367893e-01,-3.395016217e-04,8.603630322e-01,7.027277339e-01,-4.376786507e-04,8.305455511e-01
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+54,5.550000000e+00,UP_SETTLE,1792837972565461870,-2.482477683e-05,-3.092375421e-04,2.730404548e-04,-2.299778180e-05,-3.141288538e-04,2.597158675e-04,-2.130865296e-05,-3.159356149e-04,2.593664487e-04,7.019308080e-01,-3.315082771e-04,8.604161277e-01,7.019326350e-01,-3.363995888e-04,8.604028031e-01,7.027237391e-01,-4.345306750e-04,8.305852442e-01
+55,5.683333333e+00,UP_SETTLE,1792837972696545523,-2.456380242e-05,-3.108458927e-04,2.815162272e-04,-2.437922199e-05,-3.109284081e-04,2.816062060e-04,-2.254579612e-05,-3.126992205e-04,2.811940221e-04,7.019310690e-01,-3.331166278e-04,8.604246035e-01,7.019312536e-01,-3.331991431e-04,8.604246934e-01,7.027225019e-01,-4.312942806e-04,8.306070718e-01
+56,5.850000000e+00,UP_SETTLE,1792837972860745578,-2.719243646e-05,-3.140006576e-04,2.826348847e-04,-2.437922199e-05,-3.109284081e-04,2.816062060e-04,-2.255233823e-05,-3.126939084e-04,2.812834500e-04,7.019284404e-01,-3.362713926e-04,8.604257221e-01,7.019312536e-01,-3.331991431e-04,8.604246934e-01,7.027224954e-01,-4.312889685e-04,8.306071612e-01
+57,6.016666667e+00,UP_SETTLE,1792837973023977617,-2.591900916e-05,-3.152068917e-04,2.903929026e-04,-2.437922199e-05,-3.109284081e-04,2.816062060e-04,-2.255632966e-05,-3.126919535e-04,2.813219348e-04,7.019297138e-01,-3.374776267e-04,8.604334801e-01,7.019312536e-01,-3.331991431e-04,8.604246934e-01,7.027224914e-01,-4.312870136e-04,8.306071997e-01
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+59,6.350000000e+00,UP_SETTLE,1792837973434640802,-2.705399528e-05,-3.142170149e-04,2.978583305e-04,-2.437922199e-05,-3.109284081e-04,2.816062060e-04,-2.256309985e-05,-3.126887268e-04,2.813727677e-04,7.019285788e-01,-3.364877499e-04,8.604409456e-01,7.019312536e-01,-3.331991431e-04,8.604246934e-01,7.027224846e-01,-4.312837869e-04,8.306072505e-01

Part2/Fixed/digit/ball_15A_12.5/press_depth_02/up/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,3.3764e-02,6.9502e-02,2.4543e+00,-4.1574e-02,3.9166e-02,1.0307e-04,3.5125e-04,-2.2203e-06,-2.8133e-05,8.1584e-07,2.4829e-05,-6.4413e-07,3.5238e-04,2.4851e-05
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+2,2.8333e-01,WAIT_W2,6.8348e-05,3.8790e-02,6.9423e-02,2.4539e+00,-4.1560e-02,3.9522e-02,9.2535e-05,5.3778e-03,-8.1703e-05,-4.3702e-04,1.5102e-05,3.8016e-04,-1.1180e-05,5.3962e-03,3.8062e-04
+3,4.0000e-01,WAIT_W2,9.7920e-05,4.0437e-02,6.9381e-02,2.4538e+00,-4.1554e-02,3.9638e-02,8.8488e-05,7.0242e-03,-1.2329e-04,-5.7840e-04,2.0541e-05,4.9652e-04,-1.5227e-05,7.0491e-03,4.9718e-04
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+8,6.5000e-01,WAIT_W2,2.7980e-04,4.1482e-02,1.5425e-01,2.4472e+00,-4.7478e-02,3.9717e-02,1.1851e-04,8.0691e-03,8.4742e-02,-7.1459e-03,-5.9033e-03,5.7504e-04,1.4797e-05,8.5425e-02,5.9313e-03
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Part2/Fixed/digit/ball_15A_12.5/press_depth_03/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_15A_12.5/press_depth_03/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_03/down/franka_data.csv ADDED Viewed

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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
+14418,1792838028504665146,16707918000000,1792838028504654416,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0601,0.06010141596198082,0.6759124795247795,-0.004776784878734633,0.10674001647242108,0.9999999438735448,-2.593626900242203e-05,-0.00030782905406454394,9.090849816588967e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0010983500472258045,-0.004997204128564525,-0.00037773518411887697,-0.0007468861780036418,0.0007270684382865433,4.456308016954945e-06,0.7307009561808412,0.7854942742397075,0.18908189994403335,0.059784082030542376,-0.05612510203429612,0.0007710466820742446,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,-0.18287524702089752,1.0649609038442402,1.4718160959493556,-0.08052954186228442,-1.0462845518324337,0.6234885391204603,1.6213854171166837,0.00037773518411887697,0.14956932116732813,0.0,0.0,0,0,0.0,0.0
+14511,1792838029273624066,16708687000000,1792838029268654669,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759121249948403,-0.00477851534491893,0.10673900732289188,0.9999999433705743,-2.7159421251340907e-05,-0.0003086423690594719,9.329505106075557e-05,0.6761,-0.0046,0.10699709823592769,1.0,0.0,0.0,0.0,-0.010069346328972162,0.0007287038569757653,-0.0004175068537323745,-0.0008677580785393935,0.0009492612239030557,4.147245208606376e-06,0.7217299598990948,0.7912201822252478,0.18904212827441985,0.059663210130006625,-0.055902909248679605,0.000770737619265896,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,-0.19701024363211114,1.0238216768634125,1.5222138007158774,-0.06470169815218611,-1.0842761590094927,0.6012067188392134,1.6213854171166837,0.0004175068537323745,0.0991716164008063,0.0991716164008063,0.16468185530285406,0,0,-1.204315037558879e-05,-9.892616867202548e-05
+14615,1792838030140637468,16709554000000,1792838030140653890,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6759148034210773,-0.004775144102603529,0.10674171966462126,0.9999999453903551,-2.459541882741872e-05,-0.00030244578331804816,9.264860934078288e-05,0.6761,-0.0046,0.10697517992920184,1.0,0.0,0.0,0.0,-0.010291321802016196,-0.005056033191175091,-0.00043468531652088305,-0.0008685610394326138,0.0009497330304077817,4.125592034332263e-06,0.7215079844260508,0.785435445177097,0.18902494981163134,0.059662407169113404,-0.05590243744217488,0.0007707159660916219,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.04065682974123531,0.9750671056219311,1.4172135518903823,-0.04670817735705074,-0.9536115539036216,0.5693987664019309,1.6213854171166837,0.00043468531652088305,0.20417186522630137,0.20417186522630137,0.2947318553028555,0,0,-3.3410823908923366e-05,-9.999999025923074e-05
+14733,1792838031123721678,16710537000000,1792838031120654549,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.675912781925571,-0.004780869821282135,0.10671639845661958,0.9999999430889924,-2.708946997028453e-05,-0.00030797602964938473,9.839614937449496e-05,0.6761,-0.0046,0.10693873439150332,1.0,0.0,0.0,0.0,-0.019683668005135768,-0.023257327627519753,0.051878982619347674,-0.0008807907580716187,0.0009403470624566729,-3.8590650525432806e-05,0.7121156382229312,0.7672341507407523,0.2413386177474999,0.0596501774504744,-0.05591182341012599,0.0007279997235318568,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.19281008206998904,1.0213931477268046,1.2183079296704482,-0.043065161449764224,-0.785841025506582,0.592410939335409,1.6213854171166837,-0.051878982619347674,0.4030774874462355,0.4030774874462355,0.44218185530283927,0,0,-4.487813592856454e-05,-2.0677833326868413e-05
+14800,1792838031682649751,16711096000000,1792838031676655800,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759484371359175,-0.004788743110354365,0.1066984373319127,0.9999999642491415,-2.1537252624944737e-05,-0.00022080104642464084,0.00011716494747339238,0.6761,-0.0046,0.10691099851961304,1.0,0.0,0.0,0.0,-0.10644632652535468,0.02024208640238523,0.08736436400176656,0.002002061432540919,0.007080297772062871,5.228965873739662e-05,0.6253529797027123,0.8107335647706573,0.2768239991299188,0.06253302964108694,-0.04977187270051979,0.0008188800327946863,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.12277679635576012,0.927258966090954,1.230110615916995,0.003176754348971974,-0.8345600994722014,0.528902106223092,1.6213854171166837,-0.08736436400176656,0.3912748011996887,0.3912748011996887,0.52603185530283,0,0,-5.5171233480392996e-05,-9.999999025923074e-05
+14896,1792838032482641215,16711896000000,1792838032476655519,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759401230086852,-0.00478664929104424,0.10666233279104068,0.9999999591462683,-1.6478317981658396e-05,-0.000240595835201194,0.00012244360107479326,0.6761,-0.0046,0.10686035212665475,1.0,0.0,0.0,0.0,-0.08646366902719682,-0.004949826870885632,0.20004033912932873,-2.4193982888394416e-05,0.00595576688353474,-7.701739075755974e-05,0.6453356372008702,0.7855416514973864,0.38949997425748095,0.060506774225657624,-0.05089640358904792,0.0006895729832997299,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.2899432731943048,0.8818339557614309,0.9819532732803737,0.05762508298927061,-0.6308875792973829,0.49578605903199385,1.6213854171166837,-0.20004033912932873,0.63943214383631,0.63943214383631,0.6460318553028168,0,0,-6.562732341311583e-05,9.982755874571864e-05
+14975,1792838033140653740,16712554000000,1792838033140655604,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6759353060582599,-0.004793051161716159,0.1066288723715386,0.999999955323846,-1.4996605070412467e-05,-0.00025206680449444384,0.00013050899761749522,0.6761,-0.0046,0.10682201731232252,1.0,0.0,0.0,0.0,-0.07690384847892029,-0.014524674482840894,0.29006189230829205,-0.0010623461242634247,0.005955585298371348,-0.00016009407491683245,0.6548954577491467,0.7759668038854312,0.4795215274364443,0.059468622084282594,-0.05089658517421131,0.0006064962991404572,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.31427912166617766,0.8995804652611004,0.9142363910138273,0.07454690344326176,-0.5852273099514808,0.49982323515695515,1.6213854171166837,-0.29006189230829205,0.7071490261028565,0.7071490261028565,0.744731855302806,0,0,-5.0869017946515764e-05,2.7126047268072287e-05
+15069,1792838033923648961,16713337000000,1792838033916663979,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759377509941846,-0.0047924092294419,0.10660758536080028,0.9999999558351889,-1.0788897406878376e-05,-0.0002470597425566948,0.00013644620955943458,0.6761,-0.0046,0.10677854870553977,1.0,0.0,0.0,0.0,-0.09518176499056408,-0.02003630148974933,0.34964313987669715,-0.0017145781009731617,0.006967737455421591,-0.00019807714056768331,0.6366175412375029,0.7704551768785227,0.5391027750048494,0.058816390107572857,-0.04988443301716107,0.0005685132334896063,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.3360711218851714,0.9837160621002605,0.7951021928264309,0.06594692219131175,-0.5062066187985184,0.5527733547619329,1.6213854171166837,-0.34964313987669715,0.8262832242902528,0.8262832242902528,0.862181855302793,0,0,-6.069189609628355e-05,7.578119662199895e-05
+15189,1792838034923723393,16714337000000,1792838034916654703,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759454210227184,-0.004796105384345492,0.10656356520555813,0.9999999581669605,-6.223359692686696e-06,-0.0002306523843849462,0.00014788403938890583,0.6761,-0.0046,0.10671226211439037,1.0,0.0,0.0,0.0,-0.1049714352620057,-0.03087104108601879,0.46996790799897714,-0.0021740257984591005,0.007963589228380627,-6.793667936366471e-05,0.6268278709660613,0.7596204372822533,0.6594275431271294,0.05835694241008692,-0.048888581244202034,0.0006986536946936249,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.4251517312877682,0.8613914419184528,0.5320743739836638,0.11329947195633351,-0.3153474692995527,0.46839438344783485,1.6213854171166837,-0.46996790799897714,1.08931104313302,1.08931104313302,1.0121818553027855,0,0,-6.962069599017606e-05,9.999999025923074e-05
+15272,1792838035615756497,16715028999999,1792838035612653881,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6759528195102392,-0.004801765077718616,0.10652923341173516,0.9999999606600088,-8.158051980344776e-06,-0.00021324231995340434,0.00015679287156549653,0.6761,-0.0046,0.10666394296547531,1.0,0.0,0.0,0.0,-0.12958694900704493,-0.028387997897300732,0.5501105440569288,-0.002251483157531986,0.009967511741769575,0.00048488593985978267,0.6022123572210221,0.7621034804709713,0.7395701791850811,0.05827948505101403,-0.046884658730813086,0.0012514763139170723,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.46762788966637103,0.875628298636908,0.5091448824270992,0.1147055574800631,-0.28884850681838414,0.4791738489842515,1.6213854171166837,-0.5501105440569288,1.1122405346895845,1.1122405346895845,1.1159818553028509,0,0,-6.959605336889917e-05,9.945402420908351e-05
+15358,1792838036332787289,16715746000000,1792838036332654658,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6759549856945284,-0.004800435987143748,0.10648962723019842,0.9999999603647388,-1.4137318129166041e-06,-0.00020889725962136807,0.00016453972660724877,0.6761,-0.0046,0.10661440695481054,1.0,0.0,0.0,0.0,-0.14303696252985776,-0.029546627131006087,0.6386187703018132,-0.002295746682534204,0.010963499657625851,0.0006438609841239484,0.5887623436982092,0.760944851237266,0.8280784054299655,0.058235221526011814,-0.04588867081495681,0.001410451358181238,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.44290405827786644,0.8340365005519781,0.5058248923964274,0.1342447006836813,-0.2954361412086481,0.44846760422823184,1.6213854171166837,-0.6386187703018132,1.1155605247202565,1.1155605247202565,1.2235318553029186,0,0,-6.923710836190112e-05,-8.804784265426519e-05
+15460,1792838037182747019,16716596000000,1792838037180654299,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759599961280842,-0.004807824296337572,0.10644685062409122,0.999999961686779,-7.81889239792713e-06,-0.0001969173392437322,0.00017097289634584794,0.6761,-0.0046,0.10655355843551842,1.0,0.0,0.0,0.0,-0.15392671309022243,-0.03231907522812605,0.7410593051226178,-0.0023438154525098273,0.011954183109045682,0.0005761774854504741,0.5778725931378446,0.758172403140146,0.93051894025077,0.05818715275603619,-0.04489798736353698,0.0013427678595077637,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.4790384447835261,0.8719362016940014,0.41575279985873137,0.1307607795893744,-0.23105741326050855,0.47242431774254345,1.6213854171166837,-0.7410593051226178,1.2056326172579523,1.2056326172579523,1.351031855302999,0,0,-7.229222457746787e-05,-9.99997404590502e-05
+15521,1792838037690794399,16717104000000,1792838037684655012,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760032699939502,-0.004804961988577706,0.10644448578782932,0.9999999684925123,-4.23721304815234e-06,-0.00015337838581372525,0.00017582649342124177,0.6761,-0.0046,0.1065152260142507,1.0,0.0,0.0,0.0,-0.20588924022282673,0.019338145318434696,0.7519174609526905,0.001675090573470317,0.01533187238301336,0.0006655702052337637,0.5259100660052403,0.8098296236867067,0.9413770960808427,0.062206058782016335,-0.0415202980895693,0.0014321605792910533,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.4168775249595622,0.8425292016866955,0.32891547978067903,0.14827804136503736,-0.207598079531628,0.4585713607694358,1.6213854171166837,-0.7519174609526905,1.2924699373360047,1.2924699373360047,1.427231855303047,0,0,-8.186577346166869e-05,-9.999999025923074e-05
+15612,1792838038448807036,16717862000000,1792838038444654569,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.676005603642489,-0.004802117100028955,0.10639463854270825,0.9999999688073776,-4.9940659762741215e-06,-0.00014318215476588216,0.00018248846067592475,0.6761,-0.0046,0.10644373300926878,1.0,0.0,0.0,0.0,-0.2211756378619214,0.019703463595830195,0.862748679516021,0.002204106178609236,0.01669230165823317,0.0005934866427643557,0.5106236683661456,0.8101949419641022,1.0522083146441732,0.06273507438715525,-0.04015986881434949,0.0013600770168216453,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.6022547585885077,0.7995017135424671,0.21402136168686503,0.15720788007582842,-0.0863890590342905,0.4252978036112125,1.6213854171166837,-0.862748679516021,1.4073640554298188,1.4073640554298188,1.5409318553031186,0,0,-0.00010137046797395322,-9.999946290329404e-05
+15686,1792838039065748815,16718479000000,1792838039064654940,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760191995617726,-0.004787684177572574,0.1063476627405288,0.9999999772259873,-0.00015027178930952927,-0.00010651604515363746,5.534989342074262e-05,0.6761,-0.0046,0.10638329508586868,1.0,0.0,0.0,0.0,-0.1607902209050679,0.11344807138998325,0.956293709829645,0.009437710007164424,0.012093339405000597,0.0005430092226147189,0.5710090853229991,0.9039395497582553,1.1457533449577972,0.06996867821571044,-0.044758831067582064,0.0013095995966720085,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.6358029457813584,1.058798907287219,0.18933967577580355,-0.15905365325661863,-0.015640655683553936,0.6434674852566016,1.6213854171166837,-0.956293709829645,1.4320457413408803,1.4320457413408803,1.633481855303177,0,0,-9.967851778289039e-05,-9.999999025923074e-05
+15781,1792838039857735175,16719271000000,1792838039852665127,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760268191233282,-0.004788997437640043,0.10628763577231089,0.9999999786106657,-0.00014118329757819748,-9.220770078478698e-05,7.606936880435037e-05,0.6761,-0.0046,0.1062923014519734,1.0,0.0,0.0,0.0,-0.19671924718469236,0.09902492932448792,1.1026761819099105,0.0076926764225200145,0.01559239986767988,0.0013428894768693165,0.5350800590433746,0.88951640769276,1.2921358170380626,0.06822364463106603,-0.04125977060490278,0.002109479850926606,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.7723857763963451,0.982589728746258,0.003653930599892803,-0.06145065158138186,0.12399743748006846,0.5850367673089232,1.6213854171166837,-1.1026761819099105,1.6177314865167909,1.6177314865167909,1.7522818553032518,0,0,-0.00011951870707990609,-9.572599243690689e-05
+15873,1792838040623782702,16720037000000,1792838040620654648,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6760342902181778,-0.0047970228885836404,0.1062216865445036,0.9999999787360923,-0.00013657333483330395,-8.018223885718268e-05,9.428261878252555e-05,0.6761,-0.0046,0.10621061991006099,1.0,0.0,0.0,0.0,-0.21936786382839946,0.08414567395751305,1.2501044531633205,0.007625106734445844,0.016711028233109215,0.0013770956142128573,0.5124314423996675,0.8746371523257851,1.4395640882914729,0.06815607494299186,-0.040141142239473446,0.002143685988270147,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.8386810606240387,0.9006228933696898,-0.33136252714841,0.036275825214504405,0.3436939528446879,0.509185108819681,1.6213854171166837,-1.2501044531633205,1.9527479442650937,1.9527479442650937,1.8671818553033241,0,0,-9.001164794489457e-05,9.999999025923074e-05
+15973,1792838041457844713,16720871000000,1792838041452664897,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6760410256967129,-0.004801689231293495,0.10617591717489874,0.9999999786924968,-0.0001311746723410878,-6.942655295637021e-05,0.00010968604929555603,0.6761,-0.0046,0.1061514007708499,1.0,0.0,0.0,0.0,-0.2352449086818928,0.0874384538083226,1.3469395785563072,0.007552097763169022,0.018716766006478563,0.0013292782744383997,0.4965543975461742,0.8779299321765947,1.5363992136844593,0.06808306597171504,-0.0381354044661041,0.0020958686484956893,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.8599125385251756,0.7759197913903114,-0.3518474259562342,0.13745708722808947,0.35125789694253057,0.41156008225691837,1.6213854171166837,-1.3469395785563072,1.973232843072918,1.973232843072918,1.992281855303403,0,0,-5.128445464544639e-05,9.999999025923074e-05
+16080,1792838042348782776,16721761999999,1792838042344654205,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760494653238169,-0.004801127936305686,0.10615314350810126,0.9999999794802432,-0.0001262000637334831,-5.716209269525912e-05,0.00011527539473851493,0.6761,-0.0046,0.10611585877583167,1.0,0.0,0.0,0.0,-0.25885846260351353,0.08803421831068803,1.3962799497961296,0.007516734310664769,0.019721049186962762,0.001305891617668733,0.47294084362455346,0.8785256966789601,1.585739584924282,0.06804770251921079,-0.0371311212856199,0.0020724819917260226,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.8569619362218002,0.830699060028656,-0.46643586989898894,0.15502787322076775,0.4141191490779034,0.44289144718119383,1.6213854171166837,-1.3962799497961296,2.0878212870156725,2.0878212870156725,2.125931855303487,0,0,-3.8393918047869526e-05,-7.412892825765735e-05
+16174,1792838043132794749,16722545999999,1792838043132654413,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760514741742425,-0.0047975179614590845,0.10612162633599784,0.9999999766940414,-0.00017062613367915304,-5.131160001847376e-05,7.94268416969093e-05,0.6761,-0.0046,0.10607743162500027,1.0,0.0,0.0,0.0,-0.2344503162931713,0.11730872597311937,1.4576430773753457,0.009576571444826293,0.018520047515892223,0.0012622160528654764,0.4973489899348957,0.9078002043413914,1.6471027125034978,0.07010753965337231,-0.03833212295669044,0.002028806426922766,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.9018236060888416,0.9126449400494617,-0.5400312481797808,0.1448264968415649,0.4714574166242992,0.49999604351110694,1.6213854171166837,-1.4576430773753457,2.1614166652964646,2.1614166652964646,2.2435318553035613,0,0,-6.029811957661136e-05,-9.9902415533154e-05
+16276,1792838043982854512,16723396000000,1792838043980654279,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6760653965181779,-0.00479685277689305,0.10608743165936174,0.9999999767835648,-0.00017250748736897116,-2.9762714737954915e-05,8.503576732079638e-05,0.6761,-0.0046,0.10601395399607866,1.0,0.0,0.0,0.0,-0.2554183314092188,0.11375368236393701,1.534617839877309,0.009531961816479625,0.019650408662610815,0.0012128015488055192,0.47638097481884817,0.9042451607322091,1.724077475005461,0.07006293002502564,-0.037201761809971846,0.001979391922862809,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.9256991241152633,0.8098380921316023,-0.6144450488136264,0.17723522928624624,0.5221359678223355,0.4309721669552624,1.6213854171166837,-1.534617839877309,2.2358304659303103,2.2358304659303103,2.3710318553036416,0,0,-8.78913853322435e-05,-9.687500387845489e-05
+16367,1792838044740836523,16724153999999,1792838044740654218,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6760763787431332,-0.004800024309809382,0.10602543487933559,0.9999999762412287,-0.00017119835349965144,-1.155299559359032e-05,9.756053625329453e-05,0.6761,-0.0046,0.10594197206330026,1.0,0.0,0.0,0.0,-0.28446985383900586,0.1212747189539819,1.668902835359055,0.010407531153214244,0.021630751348472553,0.001144753837903192,0.44732945238906113,0.911766197322254,1.858362470487207,0.07093849936176026,-0.03522141912411011,0.0019113442119604817,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.9903800861588808,0.8207923845978828,-0.7170951590351164,0.17310078716144395,0.6022716731114922,0.4357859624292976,1.6213854171166837,-1.668902835359055,2.3384805761518,2.3384805761518,2.484731855303713,0,0,-9.643069212170031e-05,-9.997795233219193e-05
+16465,1792838045557827062,16724971000000,1792838045552654299,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.676085572105795,-0.004802574683923126,0.10596769702073307,0.999999974901496,-0.0001748423866499991,4.191536457539097e-06,0.00010513059720602686,0.6761,-0.0046,0.10586421228041022,1.0,0.0,0.0,0.0,-0.30344516686314155,0.12209271860063131,1.783047962202081,0.010395113722492508,0.02363129559922012,0.0010798556064514938,0.42835413936492545,0.9125841969689034,1.9725075973302333,0.07092608193103853,-0.03322087487336254,0.0018464459805087835,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.0720635110021772,0.8804501802177659,-0.9518295417458476,0.1594557638442816,0.7695639042511788,0.47495122317776817,1.6213854171166837,-1.783047962202081,2.5732149588625313,2.5732149588625313,2.6072818553037904,0,0,-9.174200248510266e-05,9.687604471254047e-05
+16567,1792838046407900245,16725821000000,1792838046400654099,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760932049403817,-0.004808568237990124,0.10590287751192544,0.999999972948607,-0.00018268918455411354,1.361793563326408e-05,0.00010947540006592356,0.6761,-0.0046,0.10578908759065266,1.0,0.0,0.0,0.0,-0.31347210660662417,0.12630108241353588,1.9073723816809331,0.010343249097117674,0.0246170228342905,0.0012069819029852545,0.4183271996214428,0.9167925607818079,2.0968320168090853,0.07087421730566369,-0.03223514763829216,0.001973572277042544,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.0568253094160012,0.9321470305963157,-1.1346303236776936,0.14545872100608745,0.882502836328235,0.5043614493941712,1.6213854171166837,-1.9073723816809331,2.7560157407943775,2.7560157407943775,2.7347818553038707,0,0,-8.68136652190391e-05,9.999964331453554e-05
+16659,1792838047173816604,16726587000000,1792838047168663969,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761015247929483,-0.004805206316327311,0.10585506546868384,0.9999999709921537,-0.00019568864620545494,2.751263417366699e-05,0.00010201747286987059,0.6761,-0.0046,0.10572331848117339,1.0,0.0,0.0,0.0,-0.3148718206038455,0.13051338258498402,1.9826067424888207,0.011342906157020424,0.024578342660465685,0.00159781753501199,0.4169274856242215,0.9210048609532561,2.172066377616973,0.07187387436556644,-0.032273827812116976,0.0023644079090692797,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.111171951886064,0.8662938855500716,-1.0832735905687056,0.17585294845316343,0.865034950894024,0.463836118019616,1.6213854171166837,-1.9826067424888207,2.7046590076853896,2.7046590076853896,2.849681855303943,0,0,-8.577672770268408e-05,-9.970528155734399e-05
+16750,1792838047932882553,16727346000000,1792838047928654613,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6761118349144793,-0.004812525397880401,0.10580650359787427,0.9999999674648077,-0.0002085444838900759,4.6589986152209985e-05,0.00010417206473533548,0.6761,-0.0046,0.10565589645408856,1.0,0.0,0.0,0.0,-0.32387387217874875,0.134501440302372,2.0706950951968452,0.011298689591908495,0.025571970374522232,0.0018669935492123505,0.40792543404931825,0.924992918670644,2.2601547303249974,0.07182965780045451,-0.03128020009806043,0.00263358392326964,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.1480785064688883,0.9595518204936565,-1.2705261151957448,0.14925768757856983,0.9873068850436788,0.5254926927875199,1.6213854171166837,-2.0706950951968452,2.8919115323124283,2.8919115323124283,2.963531855304015,0,0,-9.333939895020548e-05,9.740769260256025e-12
+16840,1792838048682930099,16728096000000,1792838048676664784,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761166236643242,-0.004813618148501378,0.10574374913286819,0.9999999659946277,-0.00021329761551767707,5.407199780981765e-05,0.00010504262924021893,0.6761,-0.0046,0.10558296800597981,1.0,0.0,0.0,0.0,-0.33395296973726096,0.1396870090872685,2.1612565011411133,0.011739722883012477,0.026553001923597035,0.00186888608721058,0.39784633649080603,0.9301784874555405,2.3507161362692655,0.0722706910915585,-0.030299168548985626,0.0026354764612678697,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.1918515408307957,0.8329076104445416,-1.2925162097913152,0.1891798942175342,1.012991830463621,0.4430621989258971,1.6213854171166837,-2.1612565011411133,2.913901626907999,2.913901626907999,3.0760318553040857,0,0,-0.00010220227046195263,-9.994085700538164e-05
+16923,1792838049373895792,16728787000000,1792838049372654958,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761289233938085,-0.004810535001765638,0.10569240585432717,0.999999963168486,-0.00022076064339666417,7.359254666299816e-05,0.00010466501878361907,0.6761,-0.0046,0.10551001264793561,1.0,0.0,0.0,0.0,-0.3439946706663563,0.15301270861853755,2.2415942706529983,0.012233025126330274,0.02754028881649021,0.0018195569086634496,0.3878046355617107,0.9435041869868096,2.4310539057811504,0.07276399333487629,-0.029311881656092453,0.002586147282720739,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.248912614357118,0.7851088201216421,-1.5104287874310933,0.20659511298017696,1.1652676063593812,0.4106933366006543,1.6213854171166837,-2.2415942706529983,3.1318142045477773,3.1318142045477773,3.179681855304151,0,0,-0.00010716370946598085,9.999999025923074e-05
+17001,1792838050023949591,16729437000000,1792838050020663819,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761331076302125,-0.004816221090160881,0.1056298377758417,0.9999999598759683,-0.0002329244845303122,7.947049143761507e-05,0.00010545876560208584,0.6761,-0.0046,0.10543819335324782,1.0,0.0,0.0,0.0,-0.3442235583034309,0.14666016658262515,2.3282209690143625,0.012215299760953702,0.02752322940336168,0.001749559447281634,0.3875757479246361,0.9371516449508972,2.5176806041425146,0.07274626796949972,-0.02932894106922098,0.0025161498213389236,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2440293542237122,0.801705110645282,-1.485951576357991,0.20409035665507977,1.1459289162630426,0.41766222317767876,1.6213854171166837,-2.3282209690143625,3.1073369934746746,3.1073369934746746,3.2771818553042125,0,0,-0.00011200114955897534,-9.982467216585462e-05
+17108,1792838050915911517,16730329000000,1792838050912664117,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6761465062655474,-0.0048165824860124246,0.10555132708415904,0.9999999556290957,-0.00024073438935431318,0.00010513648229664071,0.00010572579878460512,0.6761,-0.0046,0.10533642922561239,1.0,0.0,0.0,0.0,-0.35426597790367503,0.15369660692029885,2.4420577896976705,0.013186937506663804,0.02849320693721598,0.0016834438925505475,0.37753332832439196,0.9441880852885709,2.6315174248258226,0.07371790571520982,-0.028358963535366682,0.002450034266607837,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2228575867695024,0.9065924736239872,-1.6390522102509797,0.1792433209448733,1.2339421812136961,0.4900048406192732,1.6213854171166837,-2.4420577896976705,3.260437627367663,3.260437627367663,3.4109818553042968,0,0,-0.00011789655652713472,-9.921875407237763e-05
+17199,1792838051673868680,16731087000000,1792838051668663997,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6761507452142657,-0.004824613184955383,0.1054720329508536,0.9999999837412451,5.657913745122141e-06,0.00010955097379469446,0.00010921055936939222,0.6761,-0.0046,0.10524475022126914,1.0,0.0,0.0,0.0,-0.34713238126903145,0.15703409742582697,2.5228249300949552,0.01310764124048934,0.028476615360389864,0.0016186419354798018,0.38466692495903554,0.947525575794099,2.7122845652231073,0.07363860944903536,-0.028375555112192797,0.0023852323095370914,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.323177984550356,0.9399611495141189,-1.8061651311362934,0.1374192429866397,1.3782288503810474,0.4564725004275091,1.6213854171166837,-2.5228249300949552,3.4275505482529773,3.4275505482529773,3.5246818553043684,0,0,-0.0001277861023149266,8.74568293048938e-05
+17294,1792838052465967936,16731879000000,1792838052460655820,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761589120434972,-0.004830131118043616,0.10538256724508151,0.9999999818654256,-1.6955176883255746e-05,0.00012328106548570663,0.00011057266366580024,0.6761,-0.0046,0.10513782925424507,1.0,0.0,0.0,0.0,-0.3505303871458992,0.15582010279110137,2.622657124577381,0.01307106623279683,0.028455951380359733,0.0015408656632467503,0.3812689190821678,0.9463115811593734,2.812116759705533,0.07360203444134285,-0.028396219092222928,0.00230745603730404,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3118939057324337,0.9273395515382209,-1.8560309481169155,0.16073886714408125,1.4015448491780607,0.46971876701025633,1.6213854171166837,-2.622657124577381,3.477416365233599,3.477416365233599,3.6434818553044432,0,0,-0.00014075634843377228,-9.999527181137608e-05
+17385,1792838053223978532,16732636999999,1792838053220654046,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761673685554287,-0.004833436070853383,0.1052891088114798,0.999999979159544,-4.319432736065565e-05,0.00013806568364360192,0.00011043501789436196,0.6761,-0.0046,0.10502945509255644,1.0,0.0,0.0,0.0,-0.35511421434713364,0.16339324782852893,2.717362883782083,0.013109132332176143,0.029447291963766404,0.001480014749947987,0.37668509188093335,0.953884726196801,2.9068225189102352,0.07364010054072216,-0.027404878508816257,0.0022466051240052766,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3359348328851142,0.7768680179988993,-2.000042725364044,0.2288624258498519,1.4963288865904412,0.3985778836598186,1.6213854171166837,-2.717362883782083,3.6214281424807275,3.6214281424807275,3.757181855304515,0,0,-0.00014670786644829648,-9.999961555895993e-05
+17473,1792838053957963959,16733371000000,1792838053956654485,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6761766311798311,-0.004837322646699254,0.10519619166319796,0.9999999751139091,-6.033131482299827e-05,0.00015519355001653379,0.00011614706193124146,0.6761,-0.0046,0.10492080236786945,1.0,0.0,0.0,0.0,-0.3585171142101546,0.17064198398242814,2.8036755013979358,0.013065755563559892,0.03044032119231499,0.001422382869053536,0.3732821920179124,0.9611334623507002,2.993135136526088,0.07359672377210591,-0.02641184928026767,0.0021889732431108256,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3060896104819135,0.7527213200530901,-2.1492404838224264,0.26108701262284895,1.5750320197221526,0.4145535281794335,1.6213854171166837,-2.8036755013979358,3.77062590093911,3.77062590093911,3.8672818553045842,0,0,-0.00015116007844454137,9.992184443608493e-05
+17568,1792838054749003550,16734162000000,1792838054748663816,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761848350453061,-0.00484096834360434,0.10509486900117405,0.9999999713722588,-8.095061488462096e-05,0.0001700196730809259,0.00011505935324752586,0.6761,-0.0046,0.10480054429063355,1.0,0.0,0.0,0.0,-0.35514348544461105,0.16762947809453876,2.8936246686073175,0.012044223624566738,0.030438267068120674,0.0013387634680526845,0.37665582078345594,0.9581209564628108,3.0830843037354696,0.07257519183311276,-0.026413903404461987,0.002105353842109974,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3469394741306577,0.7603413505987799,-2.21346021843546,0.2727852507645899,1.6287224660600081,0.4226052847591986,1.6213854171166837,-2.8936246686073175,3.834845635552144,3.834845635552144,3.985931855304659,0,0,-0.00015100574547319135,-9.450692592250504e-05
+17648,1792838055416005131,16734829000000,1792838055408663635,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6761961361100158,-0.004842151189540202,0.10500277411895609,0.9999999669167658,-9.754342890428717e-05,0.0001880842413695077,0.00011277823028984885,0.6761,-0.0046,0.1046952454645578,1.0,0.0,0.0,0.0,-0.3562707739712685,0.1661737312476117,2.9644973963991443,0.012977708215691497,0.03053664294153434,0.0012880025014837242,0.3755285322567985,0.9566652096158837,3.1539570315272965,0.07350867642423752,-0.02631552753104832,0.002054592875541014,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.429265933043375,0.787815481909164,-2.3037708665469214,0.2803085411073172,1.70574145332819,0.4472078440098388,1.6213854171166837,-2.9644973963991443,3.925156283663605,3.925156283663605,4.085981855304468,0,0,-0.00016214346183349016,-7.73685796248202e-05
+17723,1792838056041016727,16735454000000,1792838056036663810,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.676200500369785,-0.004845462497385875,0.10490907943365249,0.9999999643210314,-0.00011493446954350807,0.00019337304511661644,0.00011044334858882098,0.6761,-0.0046,0.10459240518633686,1.0,0.0,0.0,0.0,-0.34641951889976147,0.17295167532718247,3.0541641220411044,0.01199836276550545,0.030404715079034177,0.0012158429574534,0.3853797873283055,0.9634431536954545,3.2436237571692565,0.07252933097405147,-0.026447455393548484,0.0019824333315106896,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.4224113595317434,0.7802227861144195,-2.515907999800531,0.2863747818894959,1.841105801516024,0.43993759529912163,1.6213854171166837,-3.0541641220411044,4.137293416917215,4.137293416917215,4.179731855304249,0,0,-0.00016712438459934453,9.998779168374767e-05
+17796,1792838056648937517,16736062000000,1792838056644664462,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.676209486529648,-0.004852275066701228,0.10481734050505913,0.9999999591718494,-0.00012512170260756594,0.00021092031760824997,0.00011382593305231692,0.6761,-0.0046,0.10448785967140786,1.0,0.0,0.0,0.0,-0.34747410205775753,0.1747478798669495,3.1241627964108365,0.011957698572746617,0.03140269202343646,0.0011747820526525658,0.38432520417030946,0.9652393582352216,3.3136224315389886,0.07248866678129263,-0.0254494784491462,0.0019413724267098554,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3958142660143482,0.7221524832130256,-2.4410541262756134,0.3224936116076381,1.7831531163194105,0.4074967910037576,1.6213854171166837,-3.1241627964108365,4.062439543392297,4.062439543392297,4.2709318553040365,0,0,-0.00017846679698926694,-9.97218238804109e-05
+17874,1792838057298999064,16736712000000,1792838057296664286,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762178418698915,-0.004853793218212955,0.10471183599022466,0.9999999560100482,-0.00013084383854919556,0.00022115811020685989,0.00011572271201264633,0.6761,-0.0046,0.10436881926480356,1.0,0.0,0.0,0.0,-0.3556062531356577,0.15590744814563195,3.2045943776039114,0.010918254482633963,0.03140002423512955,0.002037578085819186,0.3761930530924093,0.946398926513904,3.3940540127320635,0.07144922269117998,-0.025452146237453108,0.0028041684598764756,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.463020248733536,0.8078850210364162,-2.596840264199318,0.2913790019881326,1.9054535359205704,0.4610503502397959,1.6213854171166837,-3.2045943776039114,4.218225681316001,4.218225681316001,4.368431855303809,0,0,-0.00018761822733826602,7.445271265551953e-05
+17955,1792838057974041737,16737386999999,1792838057968664266,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.676227130946846,-0.004859197534714988,0.10460150458066612,0.9999999520759988,-0.0001255917402605205,0.00023930407054479163,0.0001193781438809876,0.6761,-0.0046,0.104236977285868,1.0,0.0,0.0,0.0,-0.34726758508084826,0.15801951271560355,3.264433830523433,0.01090800130220429,0.03139191045522508,0.0011711049145895767,0.38453172114721873,0.9485109910838756,3.453893465651585,0.07143896951075031,-0.02546026001735758,0.0019376952886468663,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.4599006945328605,0.6559022977942955,-2.6376213674953215,0.35637432656803214,1.9266054052709012,0.36931954897376007,1.6213854171166837,-3.264433830523433,4.259006784612005,4.259006784612005,4.469681855303573,0,0,-0.00020275164058366902,-9.94506380288584e-05
+18031,1792838058608042430,16738021000000,1792838058604663791,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762434001623338,-0.0048612251694972845,0.10448861701375574,0.9999999508644136,-7.489625267116777e-05,0.00026407166816604186,0.0001198780220515956,0.6761,-0.0046,0.10410231580324995,1.0,0.0,0.0,0.0,-0.35613938995390704,0.17026767460037395,3.334660717145461,0.010870061779073903,0.03219508098349887,0.0010509987352387985,0.37565991627415996,0.960759152968646,3.5241203522736133,0.07140102998761992,-0.02465708948908379,0.0018175891092960881,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.459318625008142,0.749278331132302,-2.7565354278920755,0.3261274609410058,2.0013604823021343,0.41105904155782313,1.6213854171166837,-3.334660717145461,4.377920845008759,4.377920845008759,4.564781855303352,0,0,-0.00022059573847740677,-6.249996380108771e-06
+18110,1792838059266054760,16738679000000,1792838059260663984,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762484623132974,-0.004864222447102805,0.1043494330156667,0.9999999449476548,-9.824648364299499e-05,0.0002769119832232271,0.00012334882984053612,0.6761,-0.0046,0.1039505776981525,1.0,0.0,0.0,0.0,-0.34625140712295277,0.15011620194599407,3.404419899239867,0.009855203246759592,0.031376801849003086,0.0019500269923926937,0.3855478991051142,0.9406076803142661,3.593879534368019,0.07038617145530561,-0.02547536862357958,0.0027166173664499834,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.486747931851431,0.7217070918898808,-2.8757501606758353,0.3541774918787145,2.083405330763582,0.4124117485371523,1.6213854171166837,-3.404419899239867,4.497135577792519,4.497135577792519,4.663481855303122,0,0,-0.00024050247384302536,9.960937216580418e-05
+18171,1792838059774017913,16739187000000,1792838059772664065,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762463079455132,-0.004867704506702932,0.10422340855577572,0.9999999438433469,-0.0001134534376533137,0.00027165934737914026,0.0001307122173193485,0.6761,-0.0046,0.10382382898803272,1.0,0.0,0.0,0.0,-0.3363613906430938,0.13801959791536167,3.4433800922336704,0.00884817009515157,0.030505611188592827,0.001891498285330685,0.3954379155849732,0.9285110762836337,3.6328397273618225,0.06937913830369759,-0.026346559283989834,0.0026580886593879746,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.4528630091794565,0.7785065310141122,-2.901974924135874,0.34136715683300767,2.0945438568004056,0.4467697994995158,1.6213854171166837,-3.4433800922336704,4.523360341252558,4.523360341252558,4.739681855302944,0,0,-0.0002609036168124427,1.2018285004639042e-05
+18234,1792838060299064069,16739712000000,1792838060296664137,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762484727958888,-0.004861944509407731,0.10408847333527493,0.999999940692186,-0.00012616821175450907,0.0002791723694916376,0.00012729045269066014,0.6761,-0.0046,0.1036811443275315,1.0,0.0,0.0,0.0,-0.3210438506880019,0.12601146473295144,3.4636766903312743,0.007853241291067847,0.02940552817814089,0.0018476986423235277,0.4107554555400651,0.9165029431012235,3.6531363254594265,0.06838420949961387,-0.02744664229444177,0.0026142890163808174,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.4417834702496697,0.7998819314959744,-2.802388995093948,0.35402449517066675,2.0293468073132455,0.4644078806092887,1.6213854171166837,-3.4636766903312743,4.423774412210632,4.423774412210632,4.8184318553027605,0,0,-0.00028344339058769395,-9.999999025923074e-05
+18291,1792838060774077175,16740187000000,1792838060768654268,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762531308725245,-0.004867678381325712,0.10394892106973275,0.9999999356991003,-0.00013541485126380783,0.00029032421800952933,0.0001319822942309833,0.6761,-0.0046,0.10354100639665419,1.0,0.0,0.0,0.0,-0.30659003503493054,0.10115144892219252,3.4844253620223338,0.005835148769256518,0.028397770010039198,0.00179349298549689,0.42520927119313645,0.8916429272904646,3.673884997150486,0.06636611697780254,-0.028454400462543463,0.0025600833595541797,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3746827943053723,0.7115376171554233,-3.021562831691802,0.3862158029323132,2.1468568641329457,0.40404892345185,1.6213854171166837,-3.4844253620223338,4.6429482488084854,4.6429482488084854,4.8896818553025945,0,0,-0.00030649621745174196,8.750000310276391e-05
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+18399,1792838061674039102,16741087000000,1792838061668664558,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762504549356485,-0.004869939144859542,0.10365237320126164,0.9999999433113932,-5.53384625743006e-05,0.00028615774075893617,0.00014096622597788676,0.6761,-0.0046,0.10324543259930001,1.0,0.0,0.0,0.0,-0.2762195815351447,0.04986830839229239,3.483165449313389,0.0018046063827410266,0.026448604741001462,0.0017211103336715657,0.4555797246929223,0.8403597867605644,3.672625084441541,0.062335574591287045,-0.0304035657315812,0.0024877007077288554,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3296681588205261,0.753695343948947,-2.9013244138517527,0.38183590133338247,2.0658193990960343,0.4215976234622036,1.6213854171166837,-3.483165449313389,4.522709830968436,4.522709830968436,5.02468185530228,0,0,-0.00035081579840698227,-9.999999025923074e-05
+18451,1792838062107988318,16741521000000,1792838062100664035,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762608269234656,-0.004869821610614137,0.10350312742364172,0.9999999414413809,-8.467176596004554e-05,0.0002874917570523116,0.00013689149228710105,0.6761,-0.0046,0.10308848049371086,1.0,0.0,0.0,0.0,-0.2857315100179493,0.06626996941602914,3.4541488790047024,0.0021579501084603575,0.02746565681881047,0.0016968944483779038,0.4460677962101177,0.8567614477843012,3.6436085141328545,0.06268891831700638,-0.029386513653772192,0.0024634848224351935,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.4173895066208264,0.7783383012940643,-2.8157016384125972,0.40732535741262405,2.0328065399578015,0.45738330667350263,1.6213854171166837,-3.4541488790047024,4.437087055529281,4.437087055529281,5.089781855302128,0,0,-0.0003725157941794884,-9.999999025923074e-05
+18499,1792838062508067273,16741920999999,1792838062504663958,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762598448227034,-0.004874299529223312,0.10335042396800175,0.9999999372604388,-0.0001028850944138251,0.00029266693272108274,0.0001438148345405145,0.6761,-0.0046,0.10293548417682027,1.0,0.0,0.0,0.0,-0.2751372957129298,0.023130474106932142,3.451436355274984,-0.00021394868683450446,0.026494790283407545,0.0017201309393770209,0.4566620105151372,0.8136219524752042,3.640895990403136,0.060317019521711514,-0.030357380189175116,0.0024867213134343105,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.370977270316183,0.6545227547211828,-2.8959446757374194,0.4461155823563133,2.0730902368716686,0.37575547233188844,1.6213854171166837,-3.451436355274984,4.517330092854103,4.517330092854103,5.149781855301988,0,0,-0.0003925157902831807,-9.999999025923074e-05
+18548,1792838062916110726,16742329000000,1792838062912664078,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762551356208109,-0.0048801391053376,0.10318279819521922,0.9999999363067685,-0.00012309442797890438,0.0002861746968058145,0.00014758430828573958,0.6761,-0.0046,0.10277118633519747,1.0,0.0,0.0,0.0,-0.2553243762172246,-0.0031865452831292274,3.4288279940166992,-0.0022414659803739953,0.025526621218191728,0.0013317875542223365,0.4764749300108424,0.7873049330851428,3.6182876291448514,0.05828950222817202,-0.03132554925439093,0.002098377928279626,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3132269547734157,0.6572101841288092,-2.9394165847864047,0.4505584970572185,2.0886196442048384,0.3812280104167268,1.6213854171166837,-3.4288279940166992,4.560802001903088,4.560802001903088,5.210981855301846,0,0,-0.00041291578630894685,-9.999999025923074e-05
+18590,1792838063266059255,16742679000000,1792838063260663931,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762529260043444,-0.004882619632686687,0.10302918806862621,0.9999999356599172,-0.000132184268794766,0.00028438191334882235,0.00014757124428511515,0.6761,-0.0046,0.10262361206058766,1.0,0.0,0.0,0.0,-0.2532906420006213,-0.032601186513729674,3.3892363192588912,-0.005184192160964274,0.024579995966924402,0.0012035763975762393,0.4785086642274457,0.7578902918545424,3.5786959543870434,0.055346776047581744,-0.03227217450565826,0.001970166771633529,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3234704546226015,0.6539169128295779,-2.887094799159648,0.46372289196058053,2.062212139716945,0.38325825348096315,1.6213854171166837,-3.3892363192588912,4.5084802162763316,4.5084802162763316,5.263481855301723,0,0,-0.0004304157828996776,-9.999999025923074e-05
+18631,1792838063608071590,16743021000000,1792838063600654731,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762449430710002,-0.004889042088519616,0.10286760280258922,0.9999999445356998,-6.726198313708267e-05,0.0002723748208187538,0.00015381561777810828,0.6761,-0.0046,0.1024734943134073,1.0,0.0,0.0,0.0,-0.2448270977307912,-0.06389969288334929,3.358440403868925,-0.00730703911181322,0.024625544049467755,0.0015616414275879606,0.4869722084972758,0.7265917854849228,3.547900038997077,0.0532239290967328,-0.032226626423114905,0.0023282318016452502,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3187062291032465,0.6275249023284785,-2.871183187737469,0.4754242788007543,2.056549055755723,0.3683239009388211,1.6213854171166837,-3.358440403868925,4.492568604854153,4.492568604854153,5.314781855301604,0,0,-0.00044751577956833453,-9.999999025923074e-05
+18672,1792838063949004537,16743362000000,1792838063948666677,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762401442734847,-0.0048839045223919,0.10270191221477681,0.9999999456499317,-9.394179610080433e-05,0.00026419651192255645,0.0001466906271898823,0.6761,-0.0046,0.10231799293314249,1.0,0.0,0.0,0.0,-0.24121058199543743,-0.09641320526544739,3.303467299521337,-0.009284191588288047,0.022736475173535685,0.0012261912127250144,0.49058872423262956,0.6940782731028247,3.492926934649489,0.05124677662025797,-0.034115695299046976,0.001992781586782304,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2694627531139977,0.608899578149545,-2.802728708687855,0.4979473674896404,2.0002455461814876,0.3584801579063798,1.6213854171166837,-3.303467299521337,4.424114125804539,4.424114125804539,5.3659318553014845,0,0,-0.0004645657762467322,-9.999999025923074e-05
+18713,1792838064291020407,16743704000000,1792838064284654963,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762320895906496,-0.0048845819532048725,0.10252259151263929,0.9999999468454638,-0.00010917379403335917,0.00025031038061228356,0.00015224233954432695,0.6761,-0.0046,0.10215619588823743,1.0,0.0,0.0,0.0,-0.23946683080891956,-0.13643914619638275,3.2653920422494482,-0.012305244786962356,0.022760745698605235,0.0006499685748986687,0.49233247541914743,0.6540523321718893,3.4548516773776003,0.04822572342158366,-0.034091424773977426,0.0014165589489559584,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2747618581419218,0.5471094205382305,-2.583524209781367,0.5032454378716121,1.8692744503944192,0.31859572829075494,1.6213854171166837,-3.2653920422494482,4.204909626898051,4.204909626898051,5.417231855301365,0,0,-0.0004816657729153891,-9.999999025923074e-05
+18753,1792838064624073695,16744037000000,1792838064620664478,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762271267292506,-0.004897176070313524,0.10234704047146866,0.9999999447105853,-0.00011622334372605154,0.00024138476477539067,0.00017391728001975618,0.6761,-0.0046,0.1019930372863983,1.0,0.0,0.0,0.0,-0.24350817642974715,-0.17751929358508078,3.19593686603721,-0.015413236948546544,0.023810507115938663,0.0006868333125777313,0.48829112979831985,0.6129721847831913,3.385396501165362,0.045117731259999475,-0.033041663356644,0.0014534236866350209,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2686222630776698,0.5453664456581684,-2.604543067064281,0.5083024310619292,1.8869808319796424,0.3219431545897771,1.6213854171166837,-3.19593686603721,4.225928484180964,4.225928484180964,5.467181855301249,0,0,-0.000498315769671713,-9.999999025923074e-05
+18792,1792838064949142447,16744362000000,1792838064948664310,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762188589867967,-0.0048945928040554166,0.10216595553367945,0.9999999463148528,-0.00013803832424613092,0.00022657286196082536,0.00016859215599683057,0.6761,-0.0046,0.10182845216177101,1.0,0.0,0.0,0.0,-0.24517177951082308,-0.21871242477412034,3.119000605533573,-0.018434855344227064,0.022873886766072896,0.000701615721939166,0.4866275267172439,0.5717790535941517,3.308460240661725,0.042096112864318955,-0.033978283706509765,0.0014682060959964557,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2235534934290624,0.5408614175083196,-2.431876227131029,0.5239971137474033,1.7661639443663322,0.31546709380296384,1.6213854171166837,-3.119000605533573,4.053261644247713,4.053261644247713,5.515931855301135,0,0,-0.000514565766505963,-9.999999025923074e-05
+18829,1792838065258119873,16744670999999,1792838065252664465,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762161620923327,-0.004896805303647803,0.10199799900528402,0.9999999461595397,-0.00015219221805895611,0.0002189765793729164,0.00016736358144107507,0.6761,-0.0046,0.1016670720403872,1.0,0.0,0.0,0.0,-0.24063360565242192,-0.2285147568055247,3.048351973022419,-0.0193052431708362,0.022906147083436218,0.0007505278197467281,0.49116570057564507,0.5619767215627474,3.237811608150571,0.04122572503770982,-0.03394602338914644,0.0015171181938040178,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2801306149665281,0.4920243544217813,-2.421030021962898,0.5305793247255994,1.7842695611953632,0.2934467772972447,1.6213854171166837,-3.048351973022419,4.042415439079582,4.042415439079582,5.562281855301027,0,0,-0.0005300157634960653,-9.999999025923074e-05
+18865,1792838065558125330,16744971000000,1792838065552654734,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762136251195664,-0.004897825185745528,0.10182358247450406,0.9999999558657064,-1.202704154188619e-05,0.00021897340791940606,0.0001778129535329842,0.6761,-0.0046,0.10150582481177818,1.0,0.0,0.0,0.0,-0.2653789936244322,-0.2660076891250104,2.9818991152067427,-0.021488622201462956,0.023975938089468005,0.0007879512800800439,0.4664203126036348,0.5244837892432617,3.171358750334895,0.03904234600708306,-0.032876232383114656,0.0015545416541373335,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.294540932667732,0.45010760783002046,-2.4028455003302684,0.5406655924799477,1.7735321785909521,0.25342134608648365,1.6213854171166837,-2.9818991152067427,4.024230917446952,4.024230917446952,5.607281855300922,0,0,-0.0005450157605738345,-9.999999025923074e-05
+18901,1792838065851126651,16745264000000,1792838065844664564,DOWN_SETTLE,3,0.0601,0.06010207161307335,0.6762014875739488,-0.004897031686484984,0.10166820392569383,0.9999999604604957,-5.669858853913038e-05,0.00020149771609463124,0.00016341913001555338,0.6761,-0.0046,0.10137055128523494,1.0,0.0,0.0,0.0,-0.23298192311682747,-0.2780851982623034,2.8972390002940935,-0.022585375530217867,0.021985938940582476,0.0008169570158736835,0.4988173831112395,0.5124062801059687,3.0866986354222457,0.03794559267832815,-0.034866231532000184,0.0015835473899309732,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2963215042563756,0.5730405845400873,-2.177745822041845,0.48060498878528846,1.6425229805948314,0.2977420834688024,1.6213854171166837,-2.8972390002940935,3.7991312391585286,0.0,0.0,0,0,-0.00017979728364954736,0.0018161341782782562
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Part2/Fixed/digit/ball_15A_12.5/press_depth_03/down/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_03/down/real_sim_motion_alignment.csv ADDED Viewed

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

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792838028503859117,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.284759715e-09,-8.333905788e-11,-1.791511384e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450696e-01,-1.185647980e-04,8.303258689e-01
+1,7.500000000e-01,DOWN_FORCE_DETACH,1792838029273925769,-1.772133714e-07,-4.623255871e-07,-6.838829503e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.415245440e-08,-3.713970326e-09,-6.204499803e-09,7.019554556e-01,-2.273306061e-05,8.601424034e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451414e-01,-1.185684286e-04,8.303258629e-01
+2,1.616666667e+00,DOWN_FORCE_DETACH,1792838030142020372,2.188799683e-06,1.207223667e-07,1.960754852e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.136147390e-07,-6.679717637e-09,-1.049484433e-08,7.019578216e-01,-2.215001266e-05,8.601450480e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451809e-01,-1.185713944e-04,8.303258586e-01
+3,2.466666667e+00,DOWN_FORCE_DETACH,1792838031124712608,2.358841832e-07,-3.345564289e-06,-2.356367171e-05,-7.269421474e-07,-1.042560569e-06,-2.071148816e-05,-8.872139534e-07,-1.081194910e-06,-2.059803818e-05,7.019558687e-01,-2.561629931e-05,8.601195236e-01,7.019549059e-01,-2.331329559e-05,8.601223758e-01,7.027441801e-01,-1.196459096e-04,8.303052710e-01
+4,3.033333333e+00,DOWN_FORCE_DETACH,1792838031682033622,3.613492771e-05,-1.069009102e-05,-4.125387393e-05,2.677421500e-05,-5.635597861e-06,-3.542877093e-05,2.842052564e-05,-5.655625492e-06,-3.527734983e-05,7.019917677e-01,-3.296082605e-05,8.601018334e-01,7.019824070e-01,-2.790633288e-05,8.601076585e-01,7.027734878e-01,-1.242203402e-04,8.302905917e-01
+5,3.816666667e+00,DOWN_FORCE_DETACH,1792838032484526131,2.782080047e-05,-8.596271712e-06,-7.735841480e-05,2.786683325e-05,-8.749010244e-06,-7.581847431e-05,2.916365358e-05,-8.774169840e-06,-7.553356667e-05,7.019834536e-01,-3.086700673e-05,8.600657288e-01,7.019834997e-01,-3.101974527e-05,8.600672688e-01,7.027742309e-01,-1.273388845e-04,8.302503355e-01
+6,4.466666667e+00,DOWN_FORCE_DETACH,1792838033139775434,2.300385005e-05,-1.499814238e-05,-1.108188343e-04,2.339777720e-05,-8.277476883e-06,-9.727338246e-05,2.420677835e-05,-8.307310375e-06,-9.706752520e-05,7.019786367e-01,-3.726887741e-05,8.600322684e-01,7.019790306e-01,-3.054821191e-05,8.600458139e-01,7.027692741e-01,-1.268720250e-04,8.302288015e-01
+7,5.266666667e+00,DOWN_FORCE_DETACH,1792838033925761709,2.544878597e-05,-1.435621011e-05,-1.321058450e-04,2.134383878e-05,-1.132864476e-05,-1.197860325e-04,2.169970169e-05,-1.136728645e-05,-1.196297249e-04,7.019810816e-01,-3.662694513e-05,8.600109814e-01,7.019769767e-01,-3.359937979e-05,8.600233012e-01,7.027667670e-01,-1.299320011e-04,8.302062393e-01
+8,6.066666667e+00,DOWN_FORCE_DETACH,1792838034925163265,3.293840971e-05,-1.789097704e-05,-1.762538564e-04,2.614727757e-05,-1.598804050e-05,-1.633717829e-04,2.628644707e-05,-1.607350708e-05,-1.631195694e-04,7.019885712e-01,-4.016171206e-05,8.599668334e-01,7.019817801e-01,-3.825877552e-05,8.599797155e-01,7.027713537e-01,-1.346382217e-04,8.301627495e-01
+9,6.766666667e+00,DOWN_FORCE_DETACH,1792838035613374818,3.818152055e-05,-2.381841753e-05,-2.111154728e-04,3.655843782e-05,-1.974035355e-05,-2.022609185e-04,3.706522243e-05,-1.985839621e-05,-2.019357542e-04,7.019938143e-01,-4.608915256e-05,8.599319718e-01,7.019921913e-01,-4.201108857e-05,8.599408263e-01,7.027821325e-01,-1.384231109e-04,8.301239333e-01
+10,7.466666667e+00,DOWN_FORCE_DETACH,1792838036334119617,4.376194237e-05,-2.304831777e-05,-2.449202456e-04,4.148789442e-05,-2.427542676e-05,-2.448928154e-04,4.184825991e-05,-2.439476403e-05,-2.445104722e-04,7.019993948e-01,-4.531905279e-05,8.598981670e-01,7.019971207e-01,-4.654616178e-05,8.598981944e-01,7.027869155e-01,-1.429594787e-04,8.300813586e-01
+11,8.333333333e+00,DOWN_FORCE_DETACH,1792838037185578801,4.681910324e-05,-2.479529793e-05,-2.957503732e-04,4.659550687e-05,-3.006351649e-05,-2.831044887e-04,4.685304744e-05,-3.020968601e-05,-2.827435991e-04,7.020024519e-01,-4.706603295e-05,8.598473369e-01,7.020022283e-01,-5.233425151e-05,8.598599828e-01,7.027919203e-01,-1.487744007e-04,8.300431255e-01
+12,8.800000000e+00,DOWN_FORCE_DETACH,1792838037693755226,8.948423908e-05,-2.152761134e-05,-2.962180580e-04,8.073224690e-05,-2.436878219e-05,-3.015321276e-04,8.330080710e-05,-2.449811713e-05,-3.011122642e-04,7.020451171e-01,-4.379834637e-05,8.598468692e-01,7.020363651e-01,-4.663951721e-05,8.598415551e-01,7.028283681e-01,-1.430628318e-04,8.300247568e-01
+13,9.533333333e+00,DOWN_FORCE_DETACH,1792838038446803635,9.354410501e-05,-2.661109349e-05,-3.465606118e-04,9.335517355e-05,-2.134401883e-05,-3.442859338e-04,9.637834847e-05,-2.143445695e-05,-3.437585036e-04,7.020491769e-01,-4.888182851e-05,8.597965266e-01,7.020489880e-01,-4.361475385e-05,8.597988013e-01,7.028414456e-01,-1.399991716e-04,8.299821106e-01
+14,1.015000000e+01,DOWN_FORCE_DETACH,1792838039062795512,1.057457917e-04,-9.452627240e-06,-3.919204227e-04,1.001127659e-04,1.422561961e-06,-3.811135423e-04,1.032813601e-04,1.403648508e-06,-3.806374724e-04,7.020613786e-01,-3.172336226e-05,8.597511668e-01,7.020557456e-01,-2.084817306e-05,8.597619737e-01,7.028483486e-01,-1.171610662e-04,8.299452316e-01
+15,1.090000000e+01,DOWN_FORCE_DETACH,1792838039855512448,1.093894209e-04,-1.394976258e-05,-4.597949492e-04,1.110385905e-04,-1.162703157e-05,-4.411847694e-04,1.143770718e-04,-1.170859940e-05,-4.406232684e-04,7.020650222e-01,-3.622049760e-05,8.596832923e-01,7.020666714e-01,-3.389776659e-05,8.597019025e-01,7.028594443e-01,-1.302733141e-04,8.298852458e-01
+16,1.166666667e+01,DOWN_FORCE_DETACH,1792838040625434315,1.221515049e-04,-1.910260140e-05,-5.179568388e-04,1.171068492e-04,-1.741077599e-05,-5.059441082e-04,1.200766710e-04,-1.756162072e-05,-5.054501265e-04,7.020777843e-01,-4.137333643e-05,8.596251304e-01,7.020727397e-01,-3.968151101e-05,8.596371431e-01,7.028651439e-01,-1.361263354e-04,8.298204189e-01
+17,1.251666667e+01,DOWN_FORCE_DETACH,1792838041460812423,1.265082178e-04,-2.348928040e-05,-5.663617124e-04,1.264277346e-04,-2.359003552e-05,-5.662052651e-04,1.293834384e-04,-2.372726089e-05,-5.656808800e-04,7.020821410e-01,-4.576001542e-05,8.595767255e-01,7.020820606e-01,-4.586077054e-05,8.595768820e-01,7.028744507e-01,-1.422919756e-04,8.297601882e-01
+18,1.336666667e+01,DOWN_FORCE_DETACH,1792838042345438853,1.397582226e-04,-2.052529394e-05,-5.829602615e-04,1.349480711e-04,-2.283103014e-05,-5.848800415e-04,1.383391405e-04,-2.297457755e-05,-5.845608013e-04,7.020953910e-01,-4.279602896e-05,8.595601270e-01,7.020905809e-01,-4.510176517e-05,8.595582072e-01,7.028834064e-01,-1.415392922e-04,8.297413083e-01
+19,1.415000000e+01,DOWN_FORCE_DETACH,1792838043131679273,1.391719660e-04,-1.946494213e-05,-6.180648698e-04,1.383412134e-04,-2.283764442e-05,-6.047865255e-04,1.418486490e-04,-2.295197546e-05,-6.045460630e-04,7.020948048e-01,-4.173567715e-05,8.595250224e-01,7.020939740e-01,-4.510837945e-05,8.595383007e-01,7.028869159e-01,-1.415166901e-04,8.297213230e-01
+20,1.498333333e+01,DOWN_FORCE_DETACH,1792838043983415957,1.526763864e-04,-2.060793045e-05,-6.543303702e-04,1.476327627e-04,-1.978164258e-05,-6.441616648e-04,1.513331878e-04,-1.989018479e-05,-6.438502951e-04,7.021083092e-01,-4.287866548e-05,8.594887569e-01,7.021032656e-01,-4.205237761e-05,8.594989256e-01,7.028964005e-01,-1.384548995e-04,8.296820188e-01
+21,1.575000000e+01,DOWN_FORCE_DETACH,1792838044737351612,1.626580828e-04,-2.108578316e-05,-7.164681434e-04,1.599702296e-04,-2.364192882e-05,-7.036828637e-04,1.639202325e-04,-2.375365435e-05,-7.033473510e-04,7.021182909e-01,-4.335651818e-05,8.594266191e-01,7.021156030e-01,-4.591266385e-05,8.594394044e-01,7.029089875e-01,-1.423183690e-04,8.296225217e-01
+22,1.658333333e+01,DOWN_FORCE_DETACH,1792838045556028169,1.756778129e-04,-2.531290266e-05,-7.705530339e-04,1.712268505e-04,-2.392916024e-05,-7.650631892e-04,1.753551807e-04,-2.405070299e-05,-7.646633931e-04,7.021313106e-01,-4.758363768e-05,8.593725342e-01,7.021268597e-01,-4.619989527e-05,8.593780241e-01,7.029204225e-01,-1.426154177e-04,8.295612057e-01
+23,1.745000000e+01,DOWN_FORCE_DETACH,1792838046408266069,1.811526736e-04,-3.106914774e-05,-8.363962096e-04,1.808294979e-04,-2.597602462e-05,-8.307520529e-04,1.849238747e-04,-2.610528965e-05,-8.303498237e-04,7.021367855e-01,-5.333988276e-05,8.593066910e-01,7.021364623e-01,-4.824675964e-05,8.593123352e-01,7.029299912e-01,-1.446700043e-04,8.294955192e-01
+24,1.823333333e+01,DOWN_FORCE_DETACH,1792838047177801102,1.863257453e-04,-3.036426100e-05,-8.881870214e-04,1.861200820e-04,-3.153977194e-05,-8.746920426e-04,1.900644146e-04,-3.169204859e-05,-8.743393095e-04,7.021419586e-01,-5.263499602e-05,8.592549002e-01,7.021417529e-01,-5.381050696e-05,8.592683952e-01,7.029351317e-01,-1.502567633e-04,8.294515298e-01
+25,1.898333333e+01,DOWN_FORCE_DETACH,1792838047930954004,1.988232024e-04,-3.048229372e-05,-9.315394058e-04,1.955542258e-04,-3.394610632e-05,-9.356090808e-04,1.994893797e-04,-3.411744753e-05,-9.351772836e-04,7.021544560e-01,-5.275302874e-05,8.592115478e-01,7.021511870e-01,-5.621684134e-05,8.592074782e-01,7.029445567e-01,-1.526821622e-04,8.293906918e-01
+26,1.975000000e+01,DOWN_FORCE_DETACH,1792838048684694907,2.043214561e-04,-3.556512917e-05,-9.959420730e-04,2.036167154e-04,-3.258032852e-05,-9.767231945e-04,2.076897856e-04,-3.274753643e-05,-9.763404568e-04,7.021599543e-01,-5.783586419e-05,8.591471452e-01,7.021592495e-01,-5.485106355e-05,8.591663640e-01,7.029527571e-01,-1.513122511e-04,8.293495286e-01
+27,2.045000000e+01,DOWN_FORCE_DETACH,1792838049372369807,2.157144123e-04,-3.796046936e-05,-1.048127038e-03,2.106116890e-04,-3.791754778e-05,-1.037357875e-03,2.145486420e-04,-3.813520490e-05,-1.036887452e-03,7.021713472e-01,-6.023120438e-05,8.590949602e-01,7.021662445e-01,-6.018828281e-05,8.591057294e-01,7.029596159e-01,-1.566999196e-04,8.292889816e-01
+28,2.108333333e+01,DOWN_FORCE_DETACH,1792838050027946894,2.218942623e-04,-4.003944211e-05,-1.107798277e-03,2.205082234e-04,-3.806869361e-05,-1.099225855e-03,2.243836583e-04,-3.832748163e-05,-1.098647258e-03,7.021775271e-01,-6.231017713e-05,8.590352890e-01,7.021761410e-01,-6.033942863e-05,8.590438614e-01,7.029694509e-01,-1.568921963e-04,8.292272218e-01
+29,2.196666667e+01,DOWN_FORCE_DETACH,1792838050912261553,2.322484100e-04,-4.054497747e-05,-1.188991236e-03,2.338163608e-04,-3.935615467e-05,-1.182907135e-03,2.377284259e-04,-3.958386188e-05,-1.182228509e-03,7.021878812e-01,-6.281571249e-05,8.589540960e-01,7.021894492e-01,-6.162688969e-05,8.589601801e-01,7.029827957e-01,-1.581485766e-04,8.291436406e-01
+30,2.268333333e+01,DOWN_FORCE_DETACH,1792838051678203533,2.382168012e-04,-4.613769009e-05,-1.268205066e-03,2.371251530e-04,-4.313192176e-05,-1.267558132e-03,2.402888286e-04,-4.337170155e-05,-1.266840349e-03,7.021938496e-01,-6.840842512e-05,8.588748822e-01,7.021927580e-01,-6.540265679e-05,8.588755291e-01,7.029853561e-01,-1.619364162e-04,8.290590287e-01
+31,2.348333333e+01,DOWN_FORCE_DETACH,1792838052468611220,2.473358542e-04,-4.675721226e-05,-1.357008638e-03,2.470920404e-04,-4.748960708e-05,-1.351564397e-03,2.500673057e-04,-4.776881673e-05,-1.350878902e-03,7.022029687e-01,-6.902794728e-05,8.587860786e-01,7.022027249e-01,-6.976034210e-05,8.587915228e-01,7.029951346e-01,-1.663335314e-04,8.289749902e-01
+32,2.423333333e+01,DOWN_FORCE_DETACH,1792838053221486345,2.563013836e-04,-4.908404333e-05,-1.449687784e-03,2.545704605e-04,-5.527598497e-05,-1.437316099e-03,2.571617097e-04,-5.564310150e-05,-1.436677821e-03,7.022119342e-01,-7.135477835e-05,8.586933995e-01,7.022102033e-01,-7.754672000e-05,8.587057711e-01,7.030022290e-01,-1.742078162e-04,8.288891912e-01
+33,2.496666667e+01,DOWN_FORCE_DETACH,1792838053958790316,2.643289716e-04,-5.926962737e-05,-1.543499543e-03,2.612926616e-04,-6.074161795e-05,-1.524149758e-03,2.633368776e-04,-6.112004520e-05,-1.523493061e-03,7.022199618e-01,-8.154036239e-05,8.585995877e-01,7.022169255e-01,-8.301235298e-05,8.586189375e-01,7.030084042e-01,-1.796847599e-04,8.288023760e-01
+34,2.566666667e+01,DOWN_FORCE_DETACH,1792838054745697118,2.732768924e-04,-6.004139624e-05,-1.644380367e-03,2.709930222e-04,-6.167536760e-05,-1.632383157e-03,2.724800874e-04,-6.208373934e-05,-1.631630258e-03,7.022289097e-01,-8.231213126e-05,8.584987069e-01,7.022266258e-01,-8.394610263e-05,8.585107041e-01,7.030175474e-01,-1.806484540e-04,8.286942388e-01
+35,2.633333333e+01,DOWN_FORCE_DETACH,1792838055417076283,2.878200694e-04,-6.557979469e-05,-1.730061094e-03,2.816646654e-04,-6.584147205e-05,-1.716800569e-03,2.829107303e-04,-6.626957484e-05,-1.716127651e-03,7.022434529e-01,-8.785052971e-05,8.584130261e-01,7.022372975e-01,-8.811220708e-05,8.584262867e-01,7.030279780e-01,-1.848342895e-04,8.286097414e-01
+36,2.695000000e+01,DOWN_FORCE_DETACH,1792838056039973628,2.881981616e-04,-6.740947805e-05,-1.830611772e-03,2.877320787e-04,-6.880286806e-05,-1.825477864e-03,2.882072698e-04,-6.924622482e-05,-1.824705585e-03,7.022438310e-01,-8.968021308e-05,8.583124755e-01,7.022433649e-01,-9.107360308e-05,8.583176094e-01,7.030332745e-01,-1.878109395e-04,8.285011635e-01
+37,2.756666667e+01,DOWN_FORCE_DETACH,1792838056645020427,2.968275167e-04,-7.857751796e-05,-1.922683580e-03,2.972369426e-04,-7.041473338e-05,-1.918556266e-03,2.972609324e-04,-7.082414752e-05,-1.917732314e-03,7.022524603e-01,-1.008482530e-04,8.582204037e-01,7.022528698e-01,-9.268546841e-05,8.582245310e-01,7.030423282e-01,-1.893888622e-04,8.284081368e-01
+38,2.823333333e+01,DOWN_FORCE_DETACH,1792838057300384743,3.055396617e-04,-7.574019888e-05,-2.027855216e-03,3.052932508e-04,-7.553985487e-05,-2.027995083e-03,3.046190940e-04,-7.594824079e-05,-2.027122106e-03,7.022611725e-01,-9.801093390e-05,8.581152320e-01,7.022609261e-01,-9.781058989e-05,8.581150922e-01,7.030496864e-01,-1.945129555e-04,8.282987470e-01
+39,2.891666667e+01,DOWN_FORCE_DETACH,1792838057972292449,3.164338092e-04,-7.980923754e-05,-2.136164999e-03,3.156657031e-04,-7.841658167e-05,-2.133895382e-03,3.145441828e-04,-7.881424947e-05,-2.133075205e-03,7.022720666e-01,-1.020799726e-04,8.580069222e-01,7.022712985e-01,-1.006873167e-04,8.580091919e-01,7.030596115e-01,-1.973789641e-04,8.281927939e-01
+40,2.956666667e+01,DOWN_FORCE_DETACH,1792838058610940638,3.287846300e-04,-8.166424415e-05,-2.253965385e-03,3.284136720e-04,-8.327063720e-05,-2.244015149e-03,3.269357301e-04,-8.372716508e-05,-2.243143299e-03,7.022844174e-01,-1.039349792e-04,8.578891219e-01,7.022840465e-01,-1.055413722e-04,8.578990721e-01,7.030720030e-01,-2.022918797e-04,8.280827258e-01
+41,3.023333333e+01,DOWN_FORCE_DETACH,1792838059266066482,3.384305306e-04,-8.105076014e-05,-2.386703116e-03,3.349993706e-04,-8.567393401e-05,-2.378107847e-03,3.324468758e-04,-8.614872871e-05,-2.377244583e-03,7.022940633e-01,-1.033214952e-04,8.577563841e-01,7.022906322e-01,-1.079446690e-04,8.577649794e-01,7.030775142e-01,-2.047134434e-04,8.279486245e-01
+42,3.075000000e+01,DOWN_FORCE_DETACH,1792838059774740213,3.340057373e-04,-8.965148737e-05,-2.516282650e-03,3.331481951e-04,-8.243617792e-05,-2.514351882e-03,3.287676684e-04,-8.291825471e-05,-2.513344996e-03,7.022896386e-01,-1.119222224e-04,8.576268046e-01,7.022887810e-01,-1.047069129e-04,8.576287354e-01,7.030738349e-01,-2.014829694e-04,8.278125241e-01
+43,3.125000000e+01,DOWN_FORCE_DETACH,1792838060295950633,3.407906840e-04,-8.755412878e-05,-2.644838057e-03,3.382339343e-04,-8.401504560e-05,-2.630015678e-03,3.328019163e-04,-8.449373685e-05,-2.629067226e-03,7.022964235e-01,-1.098248638e-04,8.574982492e-01,7.022938668e-01,-1.062857806e-04,8.575130716e-01,7.030778692e-01,-2.030584515e-04,8.276968018e-01
+44,3.171666667e+01,DOWN_FORCE_DETACH,1792838060772980544,3.407993256e-04,-8.755152037e-05,-2.787691446e-03,3.365220723e-04,-8.337291297e-05,-2.771745286e-03,3.293110612e-04,-8.384842230e-05,-2.770746135e-03,7.022964321e-01,-1.098222554e-04,8.573553958e-01,7.022921549e-01,-1.056436480e-04,8.573713420e-01,7.030743783e-01,-2.024131370e-04,8.275551229e-01
+45,3.218333333e+01,DOWN_FORCE_DETACH,1792838061232243241,3.342251092e-04,-9.438810232e-05,-2.937404659e-03,3.344944290e-04,-9.476556976e-05,-2.928156159e-03,3.252017478e-04,-9.528222644e-05,-2.927064137e-03,7.022898579e-01,-1.166588373e-04,8.572056826e-01,7.022901272e-01,-1.170363048e-04,8.572149311e-01,7.030702690e-01,-2.138469411e-04,8.273988049e-01
+46,3.261666667e+01,DOWN_FORCE_DETACH,1792838061673789569,3.374891317e-04,-9.475156680e-05,-3.083118557e-03,3.333972098e-04,-9.468653411e-05,-3.069522122e-03,3.223248009e-04,-9.520847062e-05,-3.068437816e-03,7.022931219e-01,-1.170223018e-04,8.570599687e-01,7.022890300e-01,-1.169572691e-04,8.570735651e-01,7.030673921e-01,-2.137731853e-04,8.272574312e-01
+47,3.303333333e+01,DOWN_FORCE_DETACH,1792838062107082680,3.479042911e-04,-9.600658741e-05,-3.233271458e-03,3.496094149e-04,-9.602673571e-05,-3.227889549e-03,3.379137242e-04,-9.655968873e-05,-3.226632011e-03,7.023035371e-01,-1.182773224e-04,8.569098158e-01,7.023052422e-01,-1.182974707e-04,8.569151977e-01,7.030829810e-01,-2.151244034e-04,8.270992371e-01
+48,3.341666667e+01,DOWN_FORCE_DETACH,1792838062509601413,3.479346947e-04,-9.681684605e-05,-3.392128642e-03,3.489707537e-04,-1.009338868e-04,-3.381781674e-03,3.353712702e-04,-1.015116527e-04,-3.380469406e-03,7.023035675e-01,-1.190875811e-04,8.567509586e-01,7.023046036e-01,-1.232046218e-04,8.567613056e-01,7.030804385e-01,-2.200763674e-04,8.269453997e-01
+49,3.381666667e+01,DOWN_FORCE_DETACH,1792838062919062124,3.439285102e-04,-1.029724739e-04,-3.557750798e-03,3.438448958e-04,-1.030044693e-04,-3.557544817e-03,3.277314632e-04,-1.036009051e-04,-3.556174356e-03,7.022995613e-01,-1.252432090e-04,8.565853364e-01,7.022994777e-01,-1.252752043e-04,8.565855424e-01,7.030727987e-01,-2.221656197e-04,8.267696947e-01
+50,3.416666667e+01,DOWN_FORCE_DETACH,1792838063262715422,3.395695836e-04,-1.064351445e-04,-3.707637940e-03,3.377926807e-04,-1.072630261e-04,-3.689158976e-03,3.196902492e-04,-1.078775805e-04,-3.687957870e-03,7.022952024e-01,-1.287058795e-04,8.564354493e-01,7.022934255e-01,-1.295337611e-04,8.564539283e-01,7.030647575e-01,-2.264422952e-04,8.266379112e-01
+51,3.451666667e+01,DOWN_FORCE_DETACH,1792838063607112992,3.347272735e-04,-1.051067914e-04,-3.867888648e-03,3.347092738e-04,-1.051329339e-04,-3.867590376e-03,3.142393727e-04,-1.057547874e-04,-3.866222250e-03,7.022903601e-01,-1.273775264e-04,8.562751986e-01,7.022903421e-01,-1.274036689e-04,8.562754969e-01,7.030593066e-01,-2.243195020e-04,8.264596468e-01
+52,3.486666667e+01,DOWN_FORCE_DETACH,1792838063951297908,3.276408487e-04,-1.082165073e-04,-4.036673261e-03,3.274833335e-04,-1.078451506e-04,-4.036563023e-03,3.044655835e-04,-1.084310944e-04,-4.035218194e-03,7.022832737e-01,-1.304872423e-04,8.561064140e-01,7.022831162e-01,-1.301158856e-04,8.561065242e-01,7.030495329e-01,-2.269958090e-04,8.262906509e-01
+53,3.520000000e+01,DOWN_FORCE_DETACH,1792838064295005897,3.209556026e-04,-1.117577133e-04,-4.217744152e-03,3.218059683e-04,-1.117193533e-04,-4.198602431e-03,2.963563936e-04,-1.122891470e-04,-4.197302475e-03,7.022765884e-01,-1.340284483e-04,8.559253431e-01,7.022774388e-01,-1.339900884e-04,8.559444848e-01,7.030414237e-01,-2.308538616e-04,8.261285666e-01
+54,3.548333333e+01,DOWN_FORCE_DETACH,1792838064622854151,3.134542818e-04,-1.186194950e-04,-4.390666597e-03,3.131355449e-04,-1.186676385e-04,-4.390435831e-03,2.847008074e-04,-1.192579590e-04,-4.389048170e-03,7.022690871e-01,-1.408902300e-04,8.557524206e-01,7.022687684e-01,-1.409383735e-04,8.557526514e-01,7.030297681e-01,-2.378226737e-04,8.259368209e-01
+55,3.580000000e+01,DOWN_FORCE_DETACH,1792838064950610081,3.068405668e-04,-1.149032796e-04,-4.572048716e-03,3.064892459e-04,-1.150042128e-04,-4.571931154e-03,2.753117377e-04,-1.155424994e-04,-4.570556936e-03,7.022624734e-01,-1.371740146e-04,8.555710385e-01,7.022621221e-01,-1.372749478e-04,8.555711561e-01,7.030203790e-01,-2.341072141e-04,8.257553121e-01
+56,3.606666667e+01,DOWN_FORCE_DETACH,1792838065261528489,3.048619561e-04,-1.177565502e-04,-4.741209846e-03,3.018908870e-04,-1.190506597e-04,-4.733422609e-03,2.684347945e-04,-1.196464020e-04,-4.732129841e-03,7.022604948e-01,-1.400272852e-04,8.554018774e-01,7.022575237e-01,-1.413213948e-04,8.554096646e-01,7.030135021e-01,-2.382111166e-04,8.255937392e-01
+57,3.628333333e+01,DOWN_FORCE_DETACH,1792838065557091088,3.013229114e-04,-1.197721664e-04,-4.916108731e-03,3.039896392e-04,-1.221916098e-04,-4.897193861e-03,2.687208713e-04,-1.228009594e-04,-4.895811728e-03,7.022569557e-01,-1.420429014e-04,8.552269785e-01,7.022596225e-01,-1.444623449e-04,8.552458934e-01,7.030137881e-01,-2.413656741e-04,8.254300573e-01
+58,3.658333333e+01,DOWN_SETTLE,1792838065851322553,2.885218991e-04,-1.209165709e-04,-5.072617592e-03,2.910603905e-04,-1.217837363e-04,-5.055161788e-03,2.529087125e-04,-1.223953430e-04,-5.054029957e-03,7.022441547e-01,-1.431873059e-04,8.550704696e-01,7.022466932e-01,-1.440544713e-04,8.550879255e-01,7.029979760e-01,-2.409600577e-04,8.252718391e-01
+59,3.736666667e+01,DOWN_PEAK_HOLD,1792838066620959114,2.609710709e-04,-1.109805065e-04,-5.167586937e-03,2.630902503e-04,-1.129748394e-04,-5.163054286e-03,2.214871998e-04,-1.135428482e-04,-5.163061069e-03,7.022166039e-01,-1.332512415e-04,8.549755003e-01,7.022187231e-01,-1.352455745e-04,8.549800330e-01,7.029665545e-01,-2.321075629e-04,8.251628080e-01

Part2/Fixed/digit/ball_15A_12.5/press_depth_03/down/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,3.8922e-02,7.5177e-02,2.4548e+00,-4.1964e-02,3.9526e-02,1.1946e-04,3.9818e-04,-1.4305e-06,-3.2663e-05,8.5682e-07,2.8133e-05,-5.9267e-07,3.9952e-04,2.8153e-05
+1,7.5000e-01,DOWN_FORCE_DETACH,1.8209e-04,5.1435e-02,7.4918e-02,2.4537e+00,-4.1926e-02,4.0411e-02,9.5099e-05,1.2911e-02,-2.6042e-04,-1.1256e-03,3.8832e-05,9.1253e-04,-2.4951e-05,1.2963e-02,9.1370e-04
+2,1.6167e+00,DOWN_FORCE_DETACH,3.6631e-04,5.8294e-02,7.4597e-02,2.4529e+00,-4.1898e-02,4.0896e-02,7.2975e-05,1.9770e-02,-5.8067e-04,-1.8981e-03,6.7290e-05,1.3974e-03,-4.7075e-05,1.9869e-02,1.3998e-03
+3,2.4667e+00,DOWN_FORCE_DETACH,5.5232e-04,6.2631e-02,7.7038e-02,2.4741e+00,-4.2063e-02,4.1180e-02,5.7613e-05,2.4107e-02,1.8603e-03,1.9278e-02,-9.7752e-05,1.6819e-03,-6.2436e-05,3.0923e-02,1.6859e-03
+4,3.0333e+00,DOWN_FORCE_DETACH,7.3831e-04,3.1072e-02,8.5969e-02,2.4792e+00,-4.2678e-02,3.8948e-02,5.5335e-05,-7.4514e-03,1.0791e-02,2.4436e-02,-7.1242e-04,-5.5058e-04,-6.4714e-05,2.7732e-02,9.0270e-04
+5,3.8167e+00,DOWN_FORCE_DETACH,9.2199e-04,5.3028e-02,9.2246e-02,2.5015e+00,-4.3106e-02,4.0471e-02,4.3908e-05,1.4504e-02,1.7068e-02,4.6719e-02,-1.1404e-03,9.7245e-04,-7.6141e-05,5.1811e-02,1.5006e-03
+6,4.4667e+00,DOWN_FORCE_DETACH,1.1083e-03,6.1661e-02,9.1390e-02,2.4949e+00,-4.3042e-02,4.1084e-02,5.7931e-06,2.3137e-02,1.6212e-02,4.0106e-02,-1.0769e-03,1.5856e-03,-1.1426e-04,4.9058e-02,1.9201e-03
+7,5.2667e+00,DOWN_FORCE_DETACH,1.2895e-03,6.4025e-02,9.8031e-02,2.4892e+00,-4.3508e-02,4.1252e-02,-4.3506e-05,2.5502e-02,2.2853e-02,3.4401e-02,-1.5425e-03,1.7534e-03,-1.6356e-04,4.8539e-02,2.3410e-03
+8,6.0667e+00,DOWN_FORCE_DETACH,1.4726e-03,6.0944e-02,1.0797e-01,2.5056e+00,-4.4198e-02,4.1013e-02,-8.4492e-05,2.2421e-02,3.2790e-02,5.0833e-02,-2.2326e-03,1.5151e-03,-2.0454e-04,6.4512e-02,2.7059e-03
+9,6.7667e+00,DOWN_FORCE_DETACH,1.6570e-03,5.4150e-02,1.1549e-01,2.5150e+00,-4.4732e-02,4.0521e-02,-1.1758e-04,1.5626e-02,4.0309e-02,6.0167e-02,-2.7672e-03,1.0228e-03,-2.3763e-04,7.4088e-02,2.9597e-03
+10,7.4667e+00,DOWN_FORCE_DETACH,1.8416e-03,5.4242e-02,1.2515e-01,2.5304e+00,-4.5433e-02,4.0510e-02,-1.4858e-04,1.5719e-02,4.9974e-02,7.5558e-02,-3.4682e-03,1.0122e-03,-2.6863e-04,9.1943e-02,3.6228e-03
+11,8.3333e+00,DOWN_FORCE_DETACH,2.0259e-03,5.3124e-02,1.3742e-01,2.5260e+00,-4.6330e-02,4.0440e-02,-1.7567e-04,1.4601e-02,6.2238e-02,7.1186e-02,-4.3651e-03,9.4165e-04,-2.9572e-04,9.5678e-02,4.4753e-03
+12,8.8000e+00,DOWN_FORCE_DETACH,2.2095e-03,1.9051e-02,1.2290e-01,2.5214e+00,-4.5343e-02,3.8041e-02,-1.7551e-04,-1.9472e-02,4.7719e-02,6.6567e-02,-3.3781e-03,-1.4571e-03,-2.9556e-04,8.4187e-02,3.6908e-03
+13,9.5333e+00,DOWN_FORCE_DETACH,2.3955e-03,2.5437e-02,1.1458e-01,2.5383e+00,-4.4796e-02,3.8480e-02,-1.7171e-04,-1.3086e-02,3.9401e-02,8.3516e-02,-2.8313e-03,-1.0177e-03,-2.9175e-04,9.3266e-02,3.0227e-03
+14,1.0150e+01,DOWN_FORCE_DETACH,2.5787e-03,2.9374e-02,6.4440e-02,2.5337e+00,-4.1310e-02,3.8766e-02,-1.8267e-04,-9.1499e-03,-1.0738e-02,7.8925e-02,6.5511e-04,-7.3179e-04,-3.0272e-04,8.0176e-02,1.0278e-03
+15,1.0900e+01,DOWN_FORCE_DETACH,2.7592e-03,3.0024e-02,9.1066e-02,2.5392e+00,-4.3164e-02,3.8810e-02,-1.4481e-04,-8.5002e-03,1.5888e-02,8.4443e-02,-1.1993e-03,-6.8856e-04,-2.6486e-04,8.6344e-02,1.4081e-03
+16,1.1667e+01,DOWN_FORCE_DETACH,2.9455e-03,3.3616e-02,1.0312e-01,2.5363e+00,-4.3952e-02,3.9064e-02,-9.1170e-05,-4.9077e-03,2.7945e-02,8.1518e-02,-1.9872e-03,-4.3462e-04,-2.1122e-04,8.6315e-02,2.0451e-03
+17,1.2517e+01,DOWN_FORCE_DETACH,3.1330e-03,3.6504e-02,1.1390e-01,2.5091e+00,-4.4669e-02,3.9291e-02,-8.3062e-07,-2.0193e-03,3.8721e-02,5.4295e-02,-2.7043e-03,-2.0730e-04,-1.2088e-04,6.6719e-02,2.7149e-03
+18,1.3367e+01,DOWN_FORCE_DETACH,3.3134e-03,3.4374e-02,1.1536e-01,2.5017e+00,-4.4784e-02,3.9149e-02,9.8017e-05,-4.1494e-03,4.0180e-02,4.6921e-02,-2.8184e-03,-3.4932e-04,-2.2033e-05,6.1914e-02,2.8401e-03
+19,1.4150e+01,DOWN_FORCE_DETACH,3.5023e-03,4.1085e-02,1.1606e-01,2.4874e+00,-4.4857e-02,3.9640e-02,1.7573e-04,2.5612e-03,4.0882e-02,3.2577e-02,-2.8917e-03,1.4177e-04,5.5685e-05,5.2337e-02,2.8957e-03
+20,1.4983e+01,DOWN_FORCE_DETACH,3.6799e-03,4.0722e-02,1.1002e-01,2.4908e+00,-4.4458e-02,3.9614e-02,2.3253e-04,2.1979e-03,3.4839e-02,3.6029e-02,-2.4932e-03,1.1550e-04,1.1248e-04,5.0166e-02,2.4984e-03
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Part2/Fixed/digit/ball_15A_12.5/press_depth_03/up/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_15A_12.5/press_depth_03/up/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_03/up/franka_data.csv ADDED Viewed

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Part2/Fixed/digit/ball_15A_12.5/press_depth_03/up/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_03/up/real_sim_motion_alignment.csv ADDED Viewed

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

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+1,2.166666667e-01,WAIT_W2,1792838017874544413,2.352144281e-06,3.898112144e-06,3.761104035e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.868496296e-08,-1.196623663e-09,-2.276818956e-09,7.019579850e-01,-1.837262288e-05,8.601468483e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450959e-01,-1.185659082e-04,8.303258668e-01
+2,3.833333333e-01,WAIT_W2,1792838018039487174,1.119629641e-07,1.856148571e-08,-1.518546899e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.545090981e-08,-2.033649388e-09,-3.658164993e-09,7.019557448e-01,-2.225217354e-05,8.601415687e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451127e-01,-1.185667452e-04,8.303258654e-01
+3,5.166666667e-01,WAIT_W2,1792838018184636871,1.443184265e-06,-2.948658355e-06,2.289400505e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.705758521e-08,-2.674238634e-09,-4.650800411e-09,7.019570760e-01,-2.521939338e-05,8.601453766e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451243e-01,-1.185673858e-04,8.303258644e-01
+4,6.166666667e-01,WAIT_W2,1792838018282992176,1.987995160e-06,-1.292486546e-05,3.312464383e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.485517889e-08,-3.133633372e-09,-5.342221776e-09,7.019576208e-01,-3.519560048e-05,8.601463997e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451321e-01,-1.185678452e-04,8.303258637e-01
+5,6.333333333e-01,WAIT_W2,1792838018299472123,2.236704640e-06,-4.285500563e-05,4.334038828e-06,2.117458758e-06,-4.267518531e-05,4.492575874e-06,2.398473429e-06,-4.282972261e-05,4.447733156e-06,7.019578695e-01,-6.512574065e-05,8.601474213e-01,7.019577503e-01,-6.494592033e-05,8.601475798e-01,7.027474657e-01,-1.613944342e-04,8.303303168e-01
+6,6.500000000e-01,WAIT_W2,1792838018316040918,1.837346715e-06,-8.102796410e-05,4.665600656e-06,1.833314947e-06,-8.096641585e-05,4.431018945e-06,2.119726789e-06,-8.131014028e-05,4.365608267e-06,7.019574702e-01,-1.032986991e-04,8.601477528e-01,7.019574661e-01,-1.032371509e-04,8.601475183e-01,7.027471869e-01,-1.998748519e-04,8.303302347e-01
+7,6.666666667e-01,WAIT_W2,1792838018332124864,1.189299132e-06,-1.305573439e-04,8.100705142e-06,1.386681626e-06,-1.305519356e-04,8.307282612e-06,1.692429784e-06,-1.310872630e-04,8.216917401e-06,7.019568221e-01,-1.528280790e-04,8.601511879e-01,7.019570195e-01,-1.528226706e-04,8.601513945e-01,7.027467596e-01,-2.496519745e-04,8.303340860e-01
+8,6.666666667e-01,WAIT_W2,1792838018332124864,1.189299132e-06,-1.305573439e-04,8.100705142e-06,1.386681626e-06,-1.305519356e-04,8.307282612e-06,1.692429784e-06,-1.310872630e-04,8.216917401e-06,7.019568221e-01,-1.528280790e-04,8.601511879e-01,7.019570195e-01,-1.528226706e-04,8.601513945e-01,7.027467596e-01,-2.496519745e-04,8.303340860e-01
+9,6.833333333e-01,WAIT_W2,1792838018348044337,2.583678189e-06,-1.995369693e-04,1.073171470e-05,2.459669275e-06,-1.992289636e-04,1.070424458e-05,2.905761015e-06,-2.000650118e-04,1.063735246e-05,7.019582165e-01,-2.218077043e-04,8.601538190e-01,7.019580925e-01,-2.214996986e-04,8.601537915e-01,7.027479730e-01,-3.186297234e-04,8.303365064e-01
+10,6.833333333e-01,WAIT_W2,1792838018348044337,2.583678189e-06,-1.995369693e-04,1.073171470e-05,2.459669275e-06,-1.992289636e-04,1.070424458e-05,2.905761015e-06,-2.000650118e-04,1.063735246e-05,7.019582165e-01,-2.218077043e-04,8.601538190e-01,7.019580925e-01,-2.214996986e-04,8.601537915e-01,7.027479730e-01,-3.186297234e-04,8.303365064e-01
+11,7.000000000e-01,WAIT_W2,1792838018365621065,4.709681657e-06,-2.654635000e-04,1.531854457e-05,4.641927411e-06,-2.656509748e-04,1.543634740e-05,5.254641110e-06,-2.668549915e-04,1.532412336e-05,7.019603425e-01,-2.877342350e-04,8.601584058e-01,7.019602747e-01,-2.879217099e-04,8.601585236e-01,7.027503219e-01,-3.854197031e-04,8.303411932e-01
+12,7.166666667e-01,WAIT_W2,1792838018381310863,-1.064340258e-07,-3.270603378e-04,1.368689739e-05,-9.046652738e-08,-3.269620587e-04,1.337466878e-05,2.011890313e-07,-3.284507736e-04,1.334753752e-05,7.019555264e-01,-3.493310729e-04,8.601567741e-01,7.019555424e-01,-3.492327937e-04,8.601564619e-01,7.027452684e-01,-4.470154851e-04,8.303392166e-01
+13,7.166666667e-01,WAIT_W2,1792838018381310863,-1.064340258e-07,-3.270603378e-04,1.368689739e-05,-9.046652738e-08,-3.269620587e-04,1.337466878e-05,2.011890313e-07,-3.284507736e-04,1.334753752e-05,7.019555264e-01,-3.493310729e-04,8.601567741e-01,7.019555424e-01,-3.492327937e-04,8.601564619e-01,7.027452684e-01,-4.470154851e-04,8.303392166e-01
+14,7.500000000e-01,WAIT_W2,1792838018413685977,2.559492082e-06,-3.573602241e-04,1.733116413e-05,2.372285349e-06,-3.607682364e-04,1.578093307e-05,2.932202685e-06,-3.624361682e-04,1.575219029e-05,7.019581923e-01,-3.796309591e-04,8.601604184e-01,7.019580051e-01,-3.830389714e-04,8.601588682e-01,7.027479994e-01,-4.810008798e-04,8.303416212e-01
+15,8.000000000e-01,WAIT_W2,1792838018463589056,4.149485875e-06,-3.133050116e-04,1.767913984e-05,1.915372621e-06,-3.145332684e-04,1.452359313e-05,2.353656420e-06,-3.160150261e-04,1.454632553e-05,7.019597823e-01,-3.355757466e-04,8.601607664e-01,7.019575482e-01,-3.368040034e-04,8.601576108e-01,7.027474209e-01,-4.345797377e-04,8.303404154e-01
+16,8.333333333e-01,WAIT_W2,1792838018496130325,4.587024741e-06,-3.477657547e-04,2.041818900e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.505405132e-06,-3.493422776e-04,2.091222774e-05,7.019602198e-01,-3.700364897e-04,8.601635054e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027505726e-01,-4.679069892e-04,8.303467813e-01
+17,9.333333333e-01,WAIT_W2,1792838018610787019,6.560220889e-06,-3.437541769e-04,2.431489498e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.515217719e-06,-3.493722354e-04,2.095208832e-05,7.019621930e-01,-3.660249120e-04,8.601674021e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027505824e-01,-4.679369470e-04,8.303468211e-01
+18,1.050000000e+00,WAIT_W2,1792838018725405810,5.931394116e-06,-3.429080322e-04,2.234190704e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.526496140e-06,-3.493777282e-04,2.096941243e-05,7.019615642e-01,-3.651787672e-04,8.601654291e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027505937e-01,-4.679424398e-04,8.303468385e-01
+19,1.150000000e+00,WAIT_W2,1792838018823363362,8.389158042e-06,-3.461994600e-04,2.579493459e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.534678110e-06,-3.493804757e-04,2.097677742e-05,7.019640220e-01,-3.684701951e-04,8.601688822e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506019e-01,-4.679451873e-04,8.303468458e-01
+20,1.250000000e+00,WAIT_W2,1792838018928846971,7.228932842e-06,-3.459859943e-04,2.604161259e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.541986029e-06,-3.493825894e-04,2.098066979e-05,7.019628617e-01,-3.682567293e-04,8.601691289e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506092e-01,-4.679473010e-04,8.303468497e-01
+21,1.383333333e+00,UP_FORCE_RAMP,1792838019085581677,7.718939345e-06,-3.400425892e-04,2.615275105e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.550839952e-06,-3.493848933e-04,2.098295058e-05,7.019633518e-01,-3.623133242e-04,8.601692400e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506181e-01,-4.679496049e-04,8.303468520e-01
+22,1.516666667e+00,UP_FORCE_RAMP,1792838019232580591,6.784853003e-06,-3.386094028e-04,2.450343143e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.558994610e-06,-3.493868309e-04,2.098348239e-05,7.019624177e-01,-3.608801378e-04,8.601675907e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506262e-01,-4.679515425e-04,8.303468525e-01
+23,1.683333333e+00,UP_FORCE_RAMP,1792838019413679021,8.142701199e-06,-3.365514073e-04,2.867010623e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.568488583e-06,-3.493889234e-04,2.098297410e-05,7.019637755e-01,-3.588221423e-04,8.601717573e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506357e-01,-4.679536350e-04,8.303468520e-01
+24,1.816666667e+00,UP_FORCE_RAMP,1792838019545739964,8.645394760e-06,-3.415440679e-04,3.010660330e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.575643243e-06,-3.493904161e-04,2.098212423e-05,7.019642782e-01,-3.638148029e-04,8.601731938e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506429e-01,-4.679551277e-04,8.303468512e-01
+25,1.966666667e+00,UP_FORCE_RAMP,1792838019709762015,9.373331577e-06,-3.440847659e-04,3.228999698e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.583298961e-06,-3.493919526e-04,2.098095690e-05,7.019650061e-01,-3.663555009e-04,8.601753772e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506505e-01,-4.679566642e-04,8.303468500e-01
+26,2.133333333e+00,UP_FORCE_RAMP,1792838019904635529,8.634060522e-06,-3.384303162e-04,3.427813194e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.591215377e-06,-3.493936015e-04,2.097952473e-05,7.019642669e-01,-3.607010512e-04,8.601773654e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506584e-01,-4.679583131e-04,8.303468486e-01
+27,2.300000000e+00,UP_FORCE_RAMP,1792838020068502987,8.515887477e-06,-3.407750946e-04,3.896649950e-05,1.076437279e-05,-3.399129405e-04,3.869541060e-05,1.227673214e-05,-3.415679184e-04,3.866984193e-05,7.019641487e-01,-3.630458296e-04,8.601820537e-01,7.019663972e-01,-3.621836755e-04,8.601817826e-01,7.027573439e-01,-4.601326300e-04,8.303645389e-01
+28,2.433333333e+00,UP_FORCE_RAMP,1792838020199721841,1.151905765e-05,-3.400459195e-04,4.882715185e-05,1.076437279e-05,-3.399129405e-04,3.869541060e-05,1.229066799e-05,-3.415688757e-04,3.868811994e-05,7.019671519e-01,-3.623166545e-04,8.601919144e-01,7.019663972e-01,-3.621836755e-04,8.601817826e-01,7.027573579e-01,-4.601335873e-04,8.303645572e-01
+29,2.600000000e+00,UP_FORCE_RAMP,1792838020363014097,1.093174585e-05,-3.404622988e-04,5.383491783e-05,1.076437279e-05,-3.399129405e-04,3.869541060e-05,1.230295736e-05,-3.415702618e-04,3.869950169e-05,7.019665646e-01,-3.627330338e-04,8.601969222e-01,7.019663972e-01,-3.621836755e-04,8.601817826e-01,7.027573702e-01,-4.601349734e-04,8.303645686e-01
+30,2.783333333e+00,UP_FORCE_RAMP,1792838020543422595,1.263299658e-05,-3.421264608e-04,6.681948683e-05,1.097553348e-05,-3.391322802e-04,5.880829236e-05,1.279431793e-05,-3.407779251e-04,5.874240383e-05,7.019682658e-01,-3.643971958e-04,8.602099067e-01,7.019666084e-01,-3.614030152e-04,8.602018955e-01,7.027578615e-01,-4.593426367e-04,8.303846115e-01
+31,2.933333333e+00,UP_FORCE_RAMP,1792838020690673556,1.062126283e-05,-3.382016560e-04,7.255826400e-05,1.097553348e-05,-3.391322802e-04,5.880829236e-05,1.280288634e-05,-3.407793382e-04,5.877216998e-05,7.019662541e-01,-3.604723910e-04,8.602156455e-01,7.019666084e-01,-3.614030152e-04,8.602018955e-01,7.027578701e-01,-4.593440498e-04,8.303846412e-01
+32,3.066666667e+00,UP_FORCE_RAMP,1792838020821719603,9.800248555e-06,-3.381587399e-04,8.544165509e-05,1.213595234e-05,-3.362469594e-04,7.952338822e-05,1.436506596e-05,-3.379008236e-04,7.944307088e-05,7.019654331e-01,-3.604294749e-04,8.602285289e-01,7.019677688e-01,-3.585176944e-04,8.602226106e-01,7.027594323e-01,-4.564655352e-04,8.304053121e-01
+33,3.100000000e+00,UP_FORCE_RAMP,1792838020854581730,-2.655665188e-05,-3.384298719e-04,7.624227924e-05,-2.613455922e-05,-3.386974556e-04,7.572253277e-05,-2.680119690e-05,-3.403437160e-04,7.557895842e-05,7.019290762e-01,-3.607006069e-04,8.602193295e-01,7.019294983e-01,-3.609681906e-04,8.602188098e-01,7.027182660e-01,-4.589084276e-04,8.304014480e-01
+34,3.183333333e+00,UP_FORCE_RAMP,1792838020936306633,-2.262230406e-05,-3.336001208e-04,8.560146449e-05,-2.613455922e-05,-3.386974556e-04,7.572253277e-05,-2.687417715e-05,-3.403515181e-04,7.559655196e-05,7.019330105e-01,-3.558708558e-04,8.602286887e-01,7.019294983e-01,-3.609681906e-04,8.602188098e-01,7.027181930e-01,-4.589162297e-04,8.304014656e-01
+35,3.300000000e+00,UP_FORCE_RAMP,1792838021067707151,-1.753031918e-05,-3.363588893e-04,9.644548192e-05,-1.780839535e-05,-3.314448541e-04,9.463885941e-05,-1.776151575e-05,-3.330711016e-04,9.445349918e-05,7.019381025e-01,-3.586296243e-04,8.602395327e-01,7.019378244e-01,-3.537155891e-04,8.602377261e-01,7.027273057e-01,-4.516358132e-04,8.304203226e-01
+36,3.466666667e+00,UP_FORCE_RAMP,1792838021231360380,-1.410421965e-05,-3.355312895e-04,1.128407451e-04,-1.780839535e-05,-3.314448541e-04,9.463885941e-05,-1.776966755e-05,-3.330693794e-04,9.450571763e-05,7.019415286e-01,-3.578020246e-04,8.602559280e-01,7.019378244e-01,-3.537155891e-04,8.602377261e-01,7.027272975e-01,-4.516340910e-04,8.304203748e-01
+37,3.633333333e+00,UP_FORCE_RAMP,1792838021395101415,-8.687019277e-06,-3.356057885e-04,1.329631529e-04,-1.319369797e-05,-3.326856673e-04,1.155595577e-04,-1.251474501e-05,-3.343261103e-04,1.153495629e-04,7.019469458e-01,-3.578765235e-04,8.602760504e-01,7.019424391e-01,-3.549564023e-04,8.602586468e-01,7.027325525e-01,-4.528908218e-04,8.304412186e-01
+38,3.733333333e+00,UP_FORCE_RAMP,1792838021494011150,-9.763201793e-06,-3.305020566e-04,1.377429682e-04,-9.232847097e-06,-3.395066905e-04,1.355785751e-04,-8.009283588e-06,-3.411730981e-04,1.353333339e-04,7.019458696e-01,-3.527727917e-04,8.602808302e-01,7.019464000e-01,-3.617774255e-04,8.602786658e-01,7.027370579e-01,-4.597378097e-04,8.304612024e-01
+39,3.866666667e+00,UP_FORCE_RAMP,1792838021640884694,-8.378002017e-06,-3.355549320e-04,1.509843845e-04,-9.232847097e-06,-3.395066905e-04,1.355785751e-04,-8.000809915e-06,-3.411739511e-04,1.353883498e-04,7.019472548e-01,-3.578256670e-04,8.602940716e-01,7.019464000e-01,-3.617774255e-04,8.602786658e-01,7.027370664e-01,-4.597386627e-04,8.304612574e-01
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Part2/Fixed/digit/ball_15A_12.5/press_depth_03/up/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+1,2.1667e-01,WAIT_W2,3.5803e-05,4.3511e-02,7.5127e-02,2.4544e+00,-4.1953e-02,3.9851e-02,1.1195e-04,4.9977e-03,-5.1215e-05,-4.1437e-04,1.2558e-05,3.5321e-04,-8.0686e-06,5.0151e-03,3.5352e-04
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+6,6.5000e-01,WAIT_W2,2.1193e-04,4.8779e-02,1.6921e-01,2.4483e+00,-4.8504e-02,4.0227e-02,1.3584e-04,1.0266e-02,9.4034e-02,-6.5334e-03,-6.5389e-03,7.2915e-04,1.5824e-05,9.4818e-02,6.5795e-03
+7,6.6667e-01,WAIT_W2,2.6158e-04,5.1198e-02,2.5428e-01,2.4499e+00,-5.4449e-02,4.0394e-02,1.7239e-04,1.2685e-02,1.7910e-01,-4.8800e-03,-1.2484e-02,8.9624e-04,5.2372e-05,1.7962e-01,1.2516e-02
+8,6.6667e-01,WAIT_W2,2.6158e-04,5.1198e-02,2.5428e-01,2.4499e+00,-5.4449e-02,4.0394e-02,1.7239e-04,1.2685e-02,1.7910e-01,-4.8800e-03,-1.2484e-02,8.9624e-04,5.2372e-05,1.7962e-01,1.2516e-02
+9,6.8333e-01,WAIT_W2,3.3063e-04,5.5013e-02,3.6201e-01,2.4460e+00,-6.1973e-02,4.0663e-02,2.1330e-04,1.6500e-02,2.8683e-01,-8.8081e-03,-2.0008e-02,1.1654e-03,9.3284e-05,2.8744e-01,2.0042e-02
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+11,7.0000e-01,WAIT_W2,3.9675e-04,5.8804e-02,5.0785e-01,2.4468e+00,-7.2173e-02,4.0928e-02,2.7495e-04,2.0291e-02,4.3267e-01,-7.9701e-03,-3.0208e-02,1.4301e-03,1.5493e-04,4.3322e-01,3.0242e-02
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+14,7.5000e-01,WAIT_W2,4.9639e-04,7.3022e-02,8.4300e-01,2.4570e+00,-9.5690e-02,4.1922e-02,4.1641e-04,3.4509e-02,7.6782e-01,2.2297e-03,-5.3725e-02,2.4248e-03,2.9640e-04,7.6860e-01,5.3780e-02
+15,8.0000e-01,WAIT_W2,5.4444e-04,6.9979e-02,7.4023e-01,2.4640e+00,-8.8589e-02,4.1706e-02,3.5299e-04,3.1466e-02,6.6505e-01,9.2492e-03,-4.6624e-02,2.2089e-03,2.3297e-04,6.6586e-01,4.6677e-02
+16,8.3333e-01,WAIT_W2,5.7902e-04,7.0360e-02,7.4093e-01,2.4647e+00,-8.8651e-02,4.1733e-02,3.4609e-04,3.1847e-02,6.6575e-01,9.8758e-03,-4.6686e-02,2.2359e-03,2.2607e-04,6.6659e-01,4.6740e-02
+17,9.3333e-01,WAIT_W2,6.1977e-04,7.1889e-02,8.0786e-01,2.4653e+00,-9.3420e-02,4.1845e-02,3.7223e-04,3.3376e-02,7.3268e-01,1.0506e-02,-5.1455e-02,2.3480e-03,2.5222e-04,7.3351e-01,5.1510e-02
+18,1.0500e+00,WAIT_W2,6.5168e-04,7.3872e-02,8.0677e-01,2.4688e+00,-9.3386e-02,4.1984e-02,3.5397e-04,3.5359e-02,7.3160e-01,1.3972e-02,-5.1421e-02,2.4868e-03,2.3395e-04,7.3258e-01,5.1482e-02
+19,1.1500e+00,WAIT_W2,6.9118e-04,7.5306e-02,8.0629e-01,2.4702e+00,-9.3373e-02,4.2085e-02,3.3895e-04,3.6793e-02,7.3111e-01,1.5432e-02,-5.1408e-02,2.5877e-03,2.1894e-04,7.3219e-01,5.1473e-02
+20,1.2500e+00,WAIT_W2,7.2452e-04,7.6580e-02,8.0593e-01,2.4710e+00,-9.3362e-02,4.2175e-02,3.2439e-04,3.8067e-02,7.3075e-01,1.6206e-02,-5.1397e-02,2.6777e-03,2.0438e-04,7.3192e-01,5.1467e-02
+21,1.3833e+00,UP_FORCE_RAMP,7.6039e-04,7.8114e-02,8.0557e-01,2.4715e+00,-9.3348e-02,4.2284e-02,3.0578e-04,3.9601e-02,7.3039e-01,1.6666e-02,-5.1383e-02,2.7863e-03,1.8576e-04,7.3165e-01,5.1459e-02
+22,1.5167e+00,UP_FORCE_RAMP,7.9572e-04,7.9521e-02,8.0528e-01,2.4716e+00,-9.3335e-02,4.2383e-02,2.8809e-04,4.1008e-02,7.3010e-01,1.6784e-02,-5.1370e-02,2.8861e-03,1.6808e-04,7.3145e-01,5.1451e-02
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Part2/Fixed/digit/ball_15A_12.5/press_depth_04/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_15A_12.5/press_depth_04/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_04/down/franka_data.csv ADDED Viewed

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+21144,1792838084505354538,16763918000000,1792838084504663718,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6759577348779817,-0.004774944589881055,0.10671657863598775,0.9999999671369095,-0.00013879182044573726,-0.0001942450696406244,1.3218461781385016e-05,0.6761,-0.0046,0.10691823714209867,1.0,0.0,0.0,0.0,-0.029655861744882772,-0.011660900816171993,0.1039856997024669,-0.0010608434833315888,0.0020297632036487476,0.0005036465781292008,0.7485592053596233,0.8403601147297374,0.3101203608927331,0.06377590843842491,-0.05811874456980804,0.0012603653374734234,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.23112724368183354,1.140979813668934,1.21902701135776,-0.11354274508146812,-0.7745895596293813,0.6871355794852508,1.6213854171166837,-0.1039856997024669,0.4023584057589238,0.4023584057589238,0.48743600243960306,0,0,-5.5244220430210274e-05,-9.687597532360143e-05
+21247,1792838085364255254,16764776999999,1792838085360654455,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6759449041359883,-0.004781108648159875,0.10667121356370804,0.9999999609063531,-0.00014092225842230152,-0.0002222196003306419,1.9736330232572884e-05,0.6761,-0.0046,0.10686363769479514,1.0,0.0,0.0,0.0,-0.08812917483828109,-0.004807685385310179,0.19525252684879862,-0.00011344704888045787,0.006129088081177056,-6.051136777301459e-05,0.690085892266225,0.8472133301605992,0.4013871880390648,0.06472330487287604,-0.05401941969227973,0.000696207391571208,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.31139631722867606,1.0153683282324033,1.0798629016649115,-0.04320342212466625,-0.678312564301976,0.5957898153194929,1.6213854171166837,-0.19525252684879862,0.5415225154517722,0.5415225154517722,0.6162860024395889,0,0,-6.194223808461542e-05,-5.01624950174417e-05
+21358,1792838086289329890,16765702000000,1792838086288653868,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6759375501433547,-0.004782985581253261,0.1066269990311631,0.9999999576119587,-0.00013476153943110783,-0.00023902024171084876,3.045647150418579e-05,0.6761,-0.0046,0.10681692320003343,1.0,0.0,0.0,0.0,-0.08781241244203764,-0.017887346141620464,0.30580268527455995,-0.0012108646524258831,0.006121535190854767,0.0007711060813047993,0.6904026546624684,0.8341336694042889,0.5119373464648261,0.06362588726933062,-0.05402697258260202,0.0015278248406490219,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.298807495825769,0.987692620501692,1.0051234288177033,-0.0057684234957154044,-0.6339058269295433,0.5686412213339214,1.6213854171166837,-0.30580268527455995,0.6162619882989804,0.6162619882989804,0.7550360024395736,0,0,-4.398714761463663e-05,-9.999999025923074e-05
+21445,1792838087014395216,16766427000000,1792838087012654846,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6759377367242188,-0.0047809565824079745,0.10660699322558415,0.9999999583436705,-0.0001286844697072127,-0.00023862550291073233,3.540760168762627e-05,0.6761,-0.0046,0.10678215149018688,1.0,0.0,0.0,0.0,-0.08359810961898129,-0.022427350175724503,0.355705057928075,-0.0012188596881407,0.006112838427659653,0.00016243153937324452,0.6946169574855248,0.8295936653701849,0.5618397191183412,0.0636178922336158,-0.054035669345797135,0.0009191502987174671,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.3540291374031956,1.0083079071488716,0.8541017966115847,0.011111235410268696,-0.5278911951218261,0.5863813034380301,1.6213854171166837,-0.355705057928075,0.767283620505099,0.767283620505099,0.8637860024395616,0,0,-5.3319209654427386e-05,-9.999990699250389e-05
+21547,1792838087864395315,16767276999999,1792838087856663750,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6759435351467772,-0.0047860033784077076,0.10657609975593799,0.9999999607631097,-0.0001287744527399695,-0.00022677808459926037,4.365185150614775e-05,0.6761,-0.0046,0.10673100966423742,1.0,0.0,0.0,0.0,-0.10754016531452626,-0.03145515180865044,0.44242848907092874,-0.0013101752926500815,0.007943633140484657,0.0007692764214095,0.6706749017899798,0.8205658637372589,0.6485631502611949,0.06352657662910642,-0.05220487463297213,0.0015259951807537226,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.40264169669360794,0.9146196720916274,0.7175135112866878,0.07040203280861788,-0.4325346971209085,0.5137656124330015,1.6213854171166837,-0.44242848907092874,0.9038719058299959,0.9038719058299959,0.9912860024395476,0,0,-6.567098264772942e-05,-9.990534374638144e-05
+21636,1792838088606392837,16768018000000,1792838088604654190,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6759552838481391,-0.004789740345018491,0.10654875758714541,0.9999999661266968,-0.00012532333656120332,-0.00020127901799902874,5.450034656020364e-05,0.6761,-0.0046,0.10668038008070209,1.0,0.0,0.0,0.0,-0.12602924158215478,-0.03167675163393224,0.5262509401046722,-0.0013406718800689638,0.009113982859534422,0.0007185014488577361,0.6521858255223513,0.8203442639119771,0.7323856012949383,0.06349608004168754,-0.051034524913922366,0.0014752202082019587,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.37161543886182064,0.9596075495035031,0.6442041354973856,0.08191631554349939,-0.4040027974399726,0.5360360769156772,1.6213854171166837,-0.5262509401046722,0.9771812816192981,0.9771812816192981,1.1024360024396112,0,0,-7.223867262293038e-05,-9.999911595859885e-05
+21737,1792838089447409958,16768860000000,1792838089444654582,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6759574278745805,-0.0047893432183990226,0.10650309326192499,0.9999999671983588,-0.0001226187465952429,-0.0001947680259147657,6.384516224920258e-05,0.6761,-0.0046,0.10662179532235878,1.0,0.0,0.0,0.0,-0.14452939915212448,-0.03520984866367449,0.6269937169686266,-0.002423997699819082,0.011128778440511376,0.0006401995187853938,0.6336856679523816,0.8168111668822349,0.8331283781588928,0.06241275422193742,-0.04901972933294541,0.0013969182781296164,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.46609229040456357,0.927913232639307,0.48424089011111004,0.11111680505848807,-0.2763009472421753,0.5106716621012021,1.6213854171166837,-0.6269937169686266,1.1371445270055736,1.1371445270055736,1.2287360024396907,0,0,-6.772149686448537e-05,-9.121006313972941e-05
+21842,1792838090322389020,16769735000000,1792838090316654463,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6759599633129587,-0.0047956760096908805,0.10645314225947278,0.999999967005765,-0.00013055377894683856,-0.00018933217455711815,6.738228158983524e-05,0.6761,-0.0046,0.10656341552107176,1.0,0.0,0.0,0.0,-0.16019536028677517,-0.030942449166651342,0.7527841815186027,-0.0024616401071760885,0.011235146062663647,0.0005510515162831599,0.6180197068177309,0.821078566379258,0.9589188427088688,0.062375111814580414,-0.04891336171079314,0.0013077702756273824,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.465517167035981,0.9399134759518809,0.43886761878194486,0.11770103339176048,-0.24832362358691049,0.517150658627078,1.6213854171166837,-0.7527841815186027,1.1825177983347388,1.1825177983347388,1.3599860024397734,0,0,-6.552486838814898e-05,-9.999968494789897e-05
+21934,1792838091089421113,16770502000000,1792838091088654239,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6759667643240136,-0.004794746023038076,0.10641884658667349,0.9999999686989294,-0.00013713729158157934,-0.00017523513573937768,6.731281501017725e-05,0.6761,-0.0046,0.1065134171732335,1.0,0.0,0.0,0.0,-0.17609241566140854,-0.03643029569344003,0.8368949646074137,-0.0020167290978667374,0.01209354309947882,0.0005082004101175033,0.6021226514430975,0.8155907198524693,1.0430296257976799,0.06282002282388977,-0.04805496467397797,0.0012649191694617259,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.5167801909719567,0.9771600863894869,0.259422595492807,0.09662480580365435,-0.12051510599153319,0.5419779383122856,1.6213854171166837,-0.8368949646074137,1.3619628216238766,1.3619628216238766,1.475036002439846,0,0,-6.553955698570946e-05,-9.991586310953977e-05
+22035,1792838091930357756,16771343000000,1792838091928654556,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6760097734967971,-0.00479613544733895,0.1063986414076932,0.9999999755584312,-0.00013163154198787214,-0.00013065362916838124,7.699849083870978e-05,0.6761,-0.0046,0.10645448356116155,1.0,0.0,0.0,0.0,-0.22055010660386132,0.047071832633769906,0.8569891927239917,0.004028583356356877,0.0170348007283556,0.0006237267482778922,0.5576649605006447,0.8990928481796793,1.0631238539142578,0.06886533527811338,-0.04311370704510119,0.0013804455076221148,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.5610549712509032,0.8611609325147405,0.2456835782071723,0.1327046659035386,-0.11412843828378545,0.4686784839437865,1.6213854171166837,-0.8569891927239917,1.3757018389095115,1.3757018389095115,1.6011860024399254,0,0,-7.803833039085462e-05,-9.999999025923074e-05
+22133,1792838092747339589,16772160000000,1792838092740654530,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6760200174107669,-0.004796050754736976,0.10635311337206572,0.9999999782087375,-0.000125976450380559,-0.0001074837015770349,8.719275543091403e-05,0.6761,-0.0046,0.10637672494153882,1.0,0.0,0.0,0.0,-0.24345118654674558,0.023974018375213846,0.9767642090035766,0.0034319825448401314,0.018041034571131376,0.0005381463793086007,0.5347638805577605,0.8759950339211232,1.1828988701938428,0.06826873446659663,-0.04210747320232541,0.0012948651386528232,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.7527187323669355,0.9269098118638225,0.059188317071237756,0.1166800105758117,0.05308353050197885,0.5163987323836364,1.6213854171166837,-0.9767642090035766,1.562197100045446,1.562197100045446,1.7237360024400026,0,0,-0.00010741029619484722,-9.819532273270255e-05
+22219,1792838093464460403,16772877000000,1792838093456655009,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6760255344459233,-0.004798743901173813,0.10629410675659497,0.9999999787144447,-0.0001238486857140282,-9.53155781962096e-05,9.79306794348449e-05,0.6761,-0.0046,0.10629996441316933,1.0,0.0,0.0,0.0,-0.2741733368540191,0.01752320656685813,1.1184218965590533,0.0023482074902071576,0.0200474668886454,0.0008548440124966449,0.5040417302504869,0.8695442221127675,1.3245565577493195,0.06718495941196366,-0.04010104088481139,0.0016115627718408675,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.790881601438896,0.8883942169662611,-0.12129100332618051,0.11447832727136027,0.18208389326684632,0.48132573633414377,1.6213854171166837,-1.1184218965590533,1.7426764204428642,1.7426764204428642,1.8312860024400703,0,0,-0.00010474650374110858,-1.6010047025644288e-05
+22308,1792838094205440516,16773617999999,1792838094200655080,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760336316090607,-0.004803021126807038,0.1062436081825443,0.999999978510498,-0.0001256031554096343,-8.160811883782834e-05,0.00010947981608537221,0.6761,-0.0046,0.10622936332544101,1.0,0.0,0.0,0.0,-0.2972435301067014,0.010597346884793968,1.2494295127179553,0.002257793152182608,0.021455897101381308,0.0013840322484299987,0.48097153699780465,0.8626183624307033,1.4555641739082215,0.06709454507393911,-0.03869261067207548,0.002140751007774221,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.8246600500928919,0.900783165824708,-0.3169120604250428,0.11621835940044538,0.3129589621861838,0.4919436961528841,1.6213854171166837,-1.2494295127179553,1.9382974775417265,1.9382974775417265,1.9424360024401404,0,0,-8.699506196388628e-05,9.921915652822406e-05
+22408,1792838095039474479,16774452000000,1792838095032654795,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760408533869132,-0.004806643428241579,0.10619524413292081,0.9999999787129806,-0.00012489754553413434,-6.930335463701435e-05,0.00011668140679897961,0.6761,-0.0046,0.10616817432233158,1.0,0.0,0.0,0.0,-0.3096231886056956,0.016850400741047156,1.3501909475251135,0.003214063588110494,0.023023385720469122,0.0013353564450084435,0.46859187849881045,0.8688714162869565,1.5563256087153796,0.068050815509867,-0.037125122052987666,0.002092075204352666,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.8842105304974258,0.9640422147449406,-0.4838452476104698,0.08822359020348826,0.4392132257672544,0.5341778909330295,1.6213854171166837,-1.3501909475251135,2.1052306647271535,2.1052306647271535,2.067536002440219,0,0,-6.295671089032317e-05,9.99999347480795e-05
+22506,1792838095855491053,16775268000000,1792838095852654093,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760463570513826,-0.004807943642785993,0.10615935612322634,0.9999999786728004,-0.000123912237789468,-6.306828627722722e-05,0.00012151301016426396,0.6761,-0.0046,0.10611815934765505,1.0,0.0,0.0,0.0,-0.3222855129429165,0.019577623200509264,1.4247441943104404,0.003172385200217523,0.02402061767582956,0.0012875920411441733,0.45592955416158953,0.8715986387464186,1.6308788555007065,0.06800913712197403,-0.03612789009762723,0.0020443108004883958,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.9429263750970066,0.8659761708251604,-0.4900482306996224,0.11678706836382642,0.4573634789639556,0.4696115972585072,1.6213854171166837,-1.4247441943104404,2.1114336478163063,2.1114336478163063,2.1899360024402963,0,0,-6.536373092366621e-05,-8.832563433281421e-05
+22609,1792838096714498351,16776127000000,1792838096712654515,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6760607607990119,-0.004797176457388892,0.10611740142016178,0.9999999750754613,-0.0001885086433478505,-3.456637437134727e-05,6.75396024022385e-05,0.6761,-0.0046,0.10605502500698802,1.0,0.0,0.0,0.0,-0.3110773203579739,0.07186982065690128,1.5214770172971583,0.006449104512199336,0.02332724675418102,0.0012395105344513188,0.46713774674653213,0.9238908362028107,1.7276116784874245,0.07128585643395584,-0.03682126101927577,0.0019962292937955413,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.9870629160043687,0.9454144566981599,-0.5284069555887757,0.068958763823617,0.49956810634358,0.5327910458711742,1.6213854171166837,-1.5214770172971583,2.1497923727054595,2.1497923727054595,2.3187860024403775,0,0,-8.197520223326838e-05,-9.999997638144293e-05
+22699,1792838097464468568,16776877000000,1792838097460663602,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6760687267890085,-0.0048042601218146455,0.10606042392613355,0.9999999746652334,-0.00018677438616633959,-2.16940644754588e-05,8.220153885447727e-05,0.6761,-0.0046,0.1059864753231575,1.0,0.0,0.0,0.0,-0.33032556364115506,0.07866390470514795,1.6405274748942713,0.007190531412284831,0.02490787046702477,0.00117432136370656,0.447889503463351,0.9306849202510573,1.8466621360845374,0.07202728333404133,-0.03524063730643202,0.0019310401230507824,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.04923195057247,0.8699122595385032,-0.7817560355269417,0.11538693154281067,0.669108429355187,0.478473756303117,1.6213854171166837,-1.6405274748942713,2.4031414526436254,2.4031414526436254,2.4312860024404483,0,0,-9.51074705976288e-05,9.961626942634467e-05
+22799,1792838098297511121,16777710000000,1792838098292654390,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760810046572924,-0.004808247621467171,0.10600906171592932,0.9999999747692889,-0.0001825357449314159,-3.2394044147253664e-07,9.265464186716421e-05,0.6761,-0.0046,0.10591134113883804,1.0,0.0,0.0,0.0,-0.3506953036571148,0.07302973755548015,1.762379372003636,0.00711188252529632,0.026909332235443804,0.0011063231958786147,0.42751976344739123,0.9250507531013895,1.9685140331939022,0.07194863444705282,-0.033239175538012984,0.0018630419552228372,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.0231849129343258,0.834006855910689,-0.8429604646969734,0.13280277796996537,0.6968061375644544,0.45091673001077937,1.6213854171166837,-1.762379372003636,2.464345881813657,2.464345881813657,2.556236002440527,0,0,-8.567079729934613e-05,-7.500000206850927e-05
+22878,1792838098955513811,16778367999999,1792838098948654512,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760899771098087,-0.004806905257033798,0.10596980351329952,0.9999999740808581,-0.00018307263440627624,1.1672563798015143e-05,9.81290431085291e-05,0.6761,-0.0046,0.10585658226946784,1.0,0.0,0.0,0.0,-0.3695789638362639,0.06714379853969887,1.8434318624701032,0.007066201154301607,0.027902792160487015,0.0016421683979198271,0.4086361032682422,0.9191648140856082,2.0495665236603693,0.07190295307605811,-0.03224571561296977,0.0023988871572640496,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.101578004737213,0.8468537014964979,-0.93740662759744,0.13567641772646993,0.7768717708837426,0.46089839226648904,1.6213854171166837,-1.8434318624701032,2.5587920447141235,2.5587920447141235,2.6549360024405892,0,0,-8.07081676310314e-05,-9.375000361989123e-05
+22976,1792838099772523616,16779185000000,1792838099772654525,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760979738910365,-0.004809154091810629,0.10591668226599828,0.9999999733461306,-0.0001845787207330116,2.2447905652702416e-05,0.00010088304986661732,0.6761,-0.0046,0.1057918879705491,1.0,0.0,0.0,0.0,-0.3798501037991774,0.08272920976706499,1.9536998276880304,0.007974306896134459,0.028876953618049185,0.00112079857593139,0.39836496330532867,0.9347502253129744,2.1598344888782965,0.07281105881789096,-0.031271554155407603,0.0018775173352756124,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.1140008563820138,0.8751979750858025,-1.0868488769640772,0.13495061420097557,0.8718425579022824,0.4761408157326126,1.6213854171166837,-1.9536998276880304,2.7082342940807607,2.7082342940807607,2.7774860024406665,0,0,-7.635938259062248e-05,-6.099421942374335e-05
+23063,1792838100497502698,16779910000000,1792838100496654460,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761048913717992,-0.0048091545830751,0.10587498322439289,0.9999999711236642,-0.00019614078764605366,3.534442804005285e-05,9.734011339457086e-05,0.6761,-0.0046,0.10573616189781189,1.0,0.0,0.0,0.0,-0.3894466674789069,0.08466363331710158,2.024312151503855,0.007998016201877983,0.029644468667101354,0.0019616604771680863,0.38876839962559917,0.936684648863011,2.230446812694121,0.07283476812363449,-0.030504039106355435,0.002718379236512309,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.0921251474803102,0.8654774739691188,-1.1937885882177461,0.14207723162375974,0.9318112159517085,0.4706575399951322,1.6213854171166837,-2.024312151503855,2.8151740053344296,2.8151740053344296,2.886236002440735,0,0,-7.874333843205415e-05,-6.597028379305312e-05
+23167,1792838101364513067,16780776999999,1792838101360655031,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761175959357153,-0.004815759724349299,0.10582392889707998,0.9999999685442703,-0.00020366582325065226,5.540381175318866e-05,9.9020061716164e-05,0.6761,-0.0046,0.10566268465644706,1.0,0.0,0.0,0.0,-0.400330375391767,0.0910580348721356,2.124889673096509,0.008965906547309,0.030837187331650234,0.0019204749877722925,0.37788469171273903,0.943079050418045,2.331024334286775,0.0738026584690655,-0.029311320441806555,0.002677193747116515,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.1775383814029219,0.8373639073417745,-1.4166036390563215,0.14699405061632664,1.0944233768145148,0.4494393656525955,1.6213854171166837,-2.124889673096509,3.0379890561730054,3.0379890561730054,3.016286002440817,0,0,-8.823327502374833e-05,9.997730007616496e-05
+23257,1792838102114528516,16781526999999,1792838102112654623,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761251965476623,-0.004814329230712209,0.10576999936550446,0.9999999662339818,-0.00021018694922680174,6.963049124958057e-05,9.97393625714709e-05,0.6761,-0.0046,0.10559283271494721,1.0,0.0,0.0,0.0,-0.4121563351861329,0.09621988870677112,2.2292410597650063,0.008942771523238136,0.03093472472188338,0.0018313851722319583,0.3660587319183731,0.9482409042526805,2.4353757209552724,0.07377952344499464,-0.02921378305157341,0.002588103931576181,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.1691214713546547,0.8664313932428066,-1.414211986741882,0.15073337359767913,1.0855361520161786,0.47603583668105925,1.6213854171166837,-2.2292410597650063,3.035597403858566,3.035597403858566,3.128786002440888,0,0,-9.599629386822096e-05,-9.994431257454579e-05
+23340,1792838102805512381,16782218000000,1792838102804654935,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761348153511768,-0.004814502395118011,0.1057169744658585,0.9999999641474056,-0.00021532718244337244,8.472843930806287e-05,9.799667165973425e-05,0.6761,-0.0046,0.10552520179936262,1.0,0.0,0.0,0.0,-0.42721224482539266,0.10864812060782025,2.315409305796832,0.009924709046858826,0.031793782347572276,0.0017905569152628126,0.3510028222791134,0.9606691361537296,2.5215439669870983,0.07476146096861533,-0.028354725425884512,0.002547275674607035,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.2827057816842569,0.8534525418006124,-1.5674480341613433,0.15618604354657944,1.2166235732034705,0.4635124509627446,1.6213854171166837,-2.315409305796832,3.188833451278027,3.188833451278027,3.232436002440953,0,0,-0.00010208319513729946,7.500000206850927e-05
+23432,1792838103572466147,16782985000000,1792838103564654612,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761431056325992,-0.004818081614098034,0.10565706958806001,0.9999999608796136,-0.00022508212119535658,9.789309556221541e-05,9.715253923845785e-05,0.6761,-0.0046,0.10544680510798514,1.0,0.0,0.0,0.0,-0.42792078084967494,0.11106344063586937,2.406127322249753,0.009879099642509201,0.032787114129823214,0.0017329610006556976,0.3502942862548311,0.9630844561817787,2.612261983440019,0.0747158515642657,-0.027361393643633575,0.00248967975999992,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.2147082208298285,0.8008332942748626,-1.5690716400596088,0.18355507805013954,1.1921655336717418,0.4307312742168464,1.6213854171166837,-2.406127322249753,3.1904570571762925,3.1904570571762925,3.3474860024410256,0,0,-0.00010470613617394176,-9.979287815398691e-05
+23521,1792838104314531957,16783726999999,1792838104308655482,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6761502743396478,-0.0048202731342257485,0.10559037728668234,0.9999999844716894,2.6330430776793922e-05,0.00010994479462612619,9.858162192904629e-05,0.6761,-0.0046,0.10536706907459073,1.0,0.0,0.0,0.0,-0.436803788843518,0.11785155174510631,2.50638030870355,0.009863739830534152,0.03375973137141915,0.0016665359301831686,0.34141127826098805,0.9698725672910157,2.712514969893816,0.07470049175229065,-0.026388776402037645,0.002423254689527391,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3003622780342503,1.0043701411759292,-1.6768040231560235,0.08926302751203113,1.2893668368463453,0.5037572830631307,1.6213854171166837,-2.50638030870355,3.298189440272707,3.298189440272707,3.4587860024410957,0,0,-0.00010949271580659582,-9.990236002200276e-05
+23621,1792838105147547037,16784560000000,1792838105144655093,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761573767349961,-0.004823793424302884,0.1055114973744376,0.9999999827167665,1.2323417761950774e-05,0.00012229405199426917,0.00010441086866914281,0.6761,-0.0046,0.10527245022388927,1.0,0.0,0.0,0.0,-0.44814235371943906,0.12123105954530145,2.625774374593851,0.010804971889377846,0.034717138419630894,0.0015909196228396003,0.330072713385067,0.9732520750912108,2.831909035784117,0.07564172381113435,-0.02543136935382589,0.0023476383821838228,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3172638115218698,0.9131212539162215,-1.931161573771276,0.12956941094493477,1.4533644387883544,0.4564721336703873,1.6213854171166837,-2.625774374593851,3.5525469908879597,3.5525469908879597,3.5837360024411744,0,0,-0.00011799889846200872,9.504382977721377e-05
+23721,1792838105980596138,16785393000000,1792838105976654673,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6761662328771625,-0.004827613793936497,0.10543380246895605,0.999999981090579,-1.1628289226397021e-05,0.00013706479206276369,0.00010168447256010239,0.6761,-0.0046,0.10517529434005969,1.0,0.0,0.0,0.0,-0.4399386842693698,0.1165295063947791,2.7335696173581967,0.010379736791570324,0.03473617158225202,0.0015022296484195068,0.3382763828351363,0.9685505219406885,2.939704278548463,0.07521648871332683,-0.02541233619120477,0.0022589484077637292,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3366391933783195,0.9237562968466689,-1.9612750863819286,0.14395795963252045,1.476204063680372,0.4864161892631037,1.6213854171166837,-2.7335696173581967,3.5826605034986123,3.5826605034986123,3.708686002441253,0,0,-0.00011580533652441461,-9.999999025923074e-05
+23812,1792838106739533272,16786151999999,1792838106736654443,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.676173806522434,-0.004828403326154603,0.10536133270332404,0.9999999788849525,-3.1392977506947145e-05,0.0001496318645126723,0.00010147780573601906,0.6761,-0.0046,0.10508650749947389,1.0,0.0,0.0,0.0,-0.4402639666357969,0.13067572743687228,2.797530934802834,0.010772759129526632,0.03470959673581764,0.0014582205508788938,0.33795110046870913,0.9826967429827816,3.0036655959931,0.07560951105128313,-0.025438911037639147,0.0022149393102231163,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3557234845812034,0.8352013616677371,-2.102561099883296,0.19648654150933184,1.565513150128584,0.45923420174353974,1.6213854171166837,-2.797530934802834,3.7239465169999795,3.7239465169999795,3.822536002441325,0,0,-0.0001204451696580634,2.1593809378272257e-05
+23902,1792838107489514067,16786901999999,1792838107488654537,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6761813521772305,-0.004832978582067241,0.10527780810204501,0.9999999758040761,-4.8671668994818813e-05,0.00016232895042903823,0.0001054281378261979,0.6761,-0.0046,0.10499113237953095,1.0,0.0,0.0,0.0,-0.4405768368877037,0.13220986732906503,2.8874805821489793,0.010729832478481915,0.03548037615571681,0.0014649259086918494,0.33763823021680234,0.9842308828749744,3.0936152433392454,0.07556658440023842,-0.024668131617739984,0.002221644668036072,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4090512871089957,0.7459776189195264,-2.177667961567495,0.23907529818579498,1.6253448904662031,0.4173426826114096,1.6213854171166837,-2.8874805821489793,3.799053378684179,3.799053378684179,3.9350360024413957,0,0,-0.0001341658726020364,-9.942000975116656e-05
+23981,1792838108147590845,16787560000000,1792838108144654897,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6761924240251288,-0.004838426300010886,0.10520625368187769,0.9999999711620864,-6.6001270384489e-05,0.0001823278695980425,0.00010732693552067136,0.6761,-0.0046,0.10490179860384846,1.0,0.0,0.0,0.0,-0.4442702304514239,0.12672612653662374,2.9672703306405324,0.010705536619601497,0.035681274390846555,0.0021372418622277417,0.33394483665308217,0.9787471420825331,3.1734049918307985,0.075542288541358,-0.024467233382610233,0.002893960621571964,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4219962324170654,0.7552272259060855,-2.280288641238277,0.24273962009739153,1.692818277694851,0.4282116308417128,1.6213854171166837,-2.9672703306405324,3.9016740583549607,3.9016740583549607,4.033736002441358,0,0,-0.00013537951827210926,-8.239082613237798e-05
+24073,1792838108914627149,16788327000000,1792838108912655330,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761996583633424,-0.004841741598750459,0.10511706704141248,0.9999999673195099,-8.182883799458097e-05,0.00019508827533406336,0.00010976542955260704,0.6761,-0.0046,0.10479486924717152,1.0,0.0,0.0,0.0,-0.44132981316146197,0.1296223103584374,3.055221945915707,0.010663774005797141,0.03654051561230562,0.0023096866364003934,0.3368852539430441,0.9816433259043468,3.261356607105973,0.07550052592755364,-0.023607992161151174,0.003066405395744616,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.371135026939803,0.7706807152018067,-2.370279681612217,0.25221131537127867,1.732837132581998,0.4414479974819263,1.6213854171166837,-3.055221945915707,3.991665098728901,3.991665098728901,4.14878600244109,0,0,-0.00014458682667392442,-9.999999025923074e-05
+24160,1792838109639637154,16789052000000,1792838109636654026,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762109317166084,-0.004842186754131011,0.10502054800916875,0.9999999614846306,-0.00011050369679386574,0.00021413516870559546,0.00010202286216261346,0.6761,-0.0046,0.10468615877892437,1.0,0.0,0.0,0.0,-0.4420008732267662,0.14598695818970697,3.149474062740413,0.011613309663787721,0.03664207053297632,0.0022355210732353642,0.3362141938777399,0.9980079737356163,3.355608723930679,0.07645006158554422,-0.023506437240480467,0.0029922398325795867,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4151108391770566,0.8212984140883289,-2.4397972018916465,0.24572907744003794,1.78805139813057,0.4747717388465486,1.6213854171166837,-3.149474062740413,4.06118261900833,4.06118261900833,4.257536002440837,0,0,-0.00015564690792754655,-9.999999025923074e-05
+24235,1792838110264604457,16789677000000,1792838110264654412,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762157221512273,-0.004843995236380578,0.10493558066885102,0.9999999583543289,-0.00012508277647978546,0.0002214454910723482,0.0001002516754737593,0.6761,-0.0046,0.10458865113300259,1.0,0.0,0.0,0.0,-0.4316344561469007,0.13991351939947527,3.229564204245117,0.010678223708067675,0.03562252895270217,0.002153156465151354,0.34658061095760534,0.9919345349453846,3.4356988654353833,0.07551497562982418,-0.024525978820754617,0.0029098752244955763,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4501747716691393,0.7846479630314485,-2.615953179123895,0.2706989871787237,1.9124008150050682,0.4540418086590112,1.6213854171166837,-3.229564204245117,4.237338596240579,4.237338596240579,4.351286002440618,0,0,-0.00015724210105230873,6.540816085832119e-05
+24321,1792838110980608074,16790393000000,1792838110976654977,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762259325520845,-0.004848083630122421,0.10483071860131454,0.999999952618405,-0.00013450119551745138,0.0002384505186044885,0.0001060982126073037,0.6761,-0.0046,0.10447161645485335,1.0,0.0,0.0,0.0,-0.4328275498508124,0.14785817224811404,3.3193807672297777,0.010837162316710738,0.03661251296684122,0.0020985151473723986,0.34538751725369365,0.9998791877940234,3.525515428420044,0.07567391423846724,-0.02353599480661557,0.002855233906716621,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4264709710285062,0.7366695989043862,-2.649225880437102,0.2911621905518658,1.9259469132860862,0.4196624099564259,1.6213854171166837,-3.3193807672297777,4.270611297553786,4.270611297553786,4.458686002440368,0,0,-0.00017027352592765966,-9.996111857558105e-05
+24401,1792838111647589303,16791060000000,1792838111644654778,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762353715670133,-0.004852320666205374,0.1047292905223438,0.9999999476076342,-0.00014498744415280306,0.0002515197102812811,0.00010928892623377169,0.6761,-0.0046,0.10435492350939428,1.0,0.0,0.0,0.0,-0.44184519274702183,0.13658124202122468,3.392207784130996,0.010595329306067505,0.03660011135448742,0.002036279595278543,0.3363698743574842,0.988602257567134,3.5983424453212622,0.07543208122782401,-0.023548396418969365,0.0027929983546227653,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.503068029981709,0.7281212276932874,-2.724986228466024,0.30289060696403225,1.9952457948786602,0.41753339015582613,1.6213854171166837,-3.392207784130996,4.346371645582708,4.346371645582708,4.558736002440135,0,0,-0.00017911340868401038,-9.99999208702917e-05
+24484,1792838112339639624,16791752000000,1792838112336654042,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762447551237873,-0.004856947392895987,0.10462466035647526,0.9999999419546454,-0.00015035992795200582,0.0002679628353070852,0.00011454859751336554,0.6761,-0.0046,0.10422772864142668,1.0,0.0,0.0,0.0,-0.43342806970832826,0.14807794343462088,3.467086085520585,0.011595078421639093,0.036701553269304577,0.0019814125295680696,0.3447869973961778,1.0000989589805303,3.673220746710851,0.0764318303433956,-0.023446954504152212,0.002738131288912292,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.5098071218140692,0.8394771959068478,-2.9117150856429634,0.28571430996565045,2.1124551453274596,0.4899294825558767,1.6213854171166837,-3.467086085520585,4.533100502759647,4.533100502759647,4.662536002439893,0,0,-0.00019162810356990333,8.565318873466338e-05
+24568,1792838113039674956,16792452000000,1792838113036655130,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762581422981,-0.0048532888300373556,0.10450655522958695,0.9999999438264027,-7.117361456995651e-05,0.0002929338290773922,0.00011364041644418343,0.6761,-0.0046,0.10408833774034353,1.0,0.0,0.0,0.0,-0.4316441404405954,0.14863061981822723,3.559787770209094,0.010564994129369967,0.03661038370244745,0.0019042923503055087,0.34657092666391065,1.0006516353641366,3.76592243139936,0.07540174605112647,-0.023538124071009338,0.002661011109649731,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.5754761388552359,0.8449956552198259,-2.907835697039377,0.2771655963438967,2.1323895077126527,0.45974625519891354,1.6213854171166837,-3.559787770209094,4.52922111415606,4.52922111415606,4.767536002439648,0,0,-0.00021079131009712893,-9.99674190912458e-05
+24659,1792838113797585096,16793210000000,1792838113796654041,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762686055365117,-0.004860034151619772,0.10436099289480535,0.9999999347946166,-0.00010165022777566773,0.00031239316770904197,0.0001180312115780148,0.6761,-0.0046,0.1039231616134766,1.0,0.0,0.0,0.0,-0.4244357764567872,0.15125981726925897,3.64478135719659,0.010523194963945728,0.037509415451970264,0.0018496160895769519,0.35377929064771885,1.0032808328151683,3.8509160183868563,0.07535994688570223,-0.022639092321486524,0.0026063348489211743,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.5460953356750973,0.7549219179097841,-3.07226347376302,0.3315712583939547,2.2241118727140265,0.4347868350454685,1.6213854171166837,-3.64478135719659,4.693648890879704,4.693648890879704,4.881236002439383,0,0,-0.0002238342957581765,-1.283068801453339e-05
+24732,1792838114405604679,16793818000000,1792838114404654558,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762684315502093,-0.0048673862255385995,0.10422355398308533,0.9999999319342407,-0.00011775437580988882,0.00031213275938775083,0.00012759869022124765,0.6761,-0.0046,0.10378275209975373,1.0,0.0,0.0,0.0,-0.41398481725531194,0.1276625192144175,3.70061546996601,0.00849691109259762,0.03657305410337906,0.0017676400328963246,0.3642302498491941,0.9796835347603269,3.9067501311562762,0.07333366301435412,-0.02357545367007773,0.002524358792240547,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.512772191053962,0.8303090352116784,-3.0696990873233276,0.3182006672671932,2.2167760997386927,0.4825649975978064,1.6213854171166837,-3.70061546996601,4.691084504440012,4.691084504440012,4.972436002439171,0,0,-0.00023952904237431317,-9.999999025923074e-05
+24809,1792838115047663017,16794460000000,1792838115044654862,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762732075681802,-0.004865668362286446,0.10408106270958963,0.9999999257263055,-0.00013980681602612517,0.0003253562833361574,0.00012077910010115469,0.6761,-0.0046,0.10362182774003824,1.0,0.0,0.0,0.0,-0.39298708627504964,0.12127907862482701,3.7201870886480184,0.008544861991215083,0.03454374173640655,0.0017242348766477044,0.3852279808294564,0.9733000941707364,3.9263217498382845,0.07338161391297159,-0.025604766037050235,0.002480953635991927,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.5178500086689326,0.7328365031733078,-3.1207612711514217,0.3715107142199045,2.2510710762104376,0.4245452797895601,1.6213854171166837,-3.7201870886480184,4.742146688268106,4.742146688268106,5.068736002438946,0,0,-0.00026348788524230136,-9.999999025923074e-05
+24867,1792838115530698799,16794943000000,1792838115524654977,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762717640103578,-0.004869446439452279,0.10394059226227065,0.9999999263091245,-0.0001368024372602776,0.00032319458398763837,0.0001251197989028285,0.6761,-0.0046,0.10348953010522273,1.0,0.0,0.0,0.0,-0.3845517813515328,0.1001963387095488,3.7695803370365684,0.005849018621539068,0.03458498789309099,0.0016519068000530692,0.39366328575297327,0.9522173542554582,3.9757149982268345,0.07068577054329557,-0.0255635198803658,0.0024086255593972917,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4932065526489393,0.7628481312860675,-3.200086031551519,0.37044305199001054,2.2991503294619484,0.44702029170592267,1.6213854171166837,-3.7695803370365684,4.821471448668203,4.821471448668203,5.141186002438777,0,0,-0.0002848727477758591,-9.999999025923074e-05
+24930,1792838116055708145,16795468000000,1792838116048654257,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762832718818743,-0.004875622788878506,0.10379304623696098,0.9999999236754601,-0.00011745596136625176,0.0003348064004894075,0.00013491000647377895,0.6761,-0.0046,0.10333313172795135,1.0,0.0,0.0,0.0,-0.3743083406880013,0.07576215586870938,3.7805294242620846,0.004478824363288392,0.03359403662936782,0.0016145235775009907,0.40390672641650477,0.9277831714146187,3.9866640854523507,0.0693155762850449,-0.026554471144088966,0.002371242336845213,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.5241099161513845,0.6658225853078625,-3.172391147699745,0.4105255109050558,2.291786504868849,0.39496135312138037,1.6213854171166837,-3.7805294242620846,4.7937765648164286,4.7937765648164286,5.219936002438594,0,0,-0.0003109964322137434,-9.999999025923074e-05
+24987,1792838116530633712,16795943000000,1792838116528654830,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762934265271576,-0.004878218673221672,0.10364923661315081,0.9999999224748279,-8.041561542836046e-05,0.0003479611897137999,0.0001376573348769432,0.6761,-0.0046,0.10317977967375101,1.0,0.0,0.0,0.0,-0.3746507391405291,0.07916641187683138,3.7754673481671874,0.004452891413924867,0.03460798575789656,0.0016331159078338165,0.40356432796397695,0.9311874274227407,3.9816020093574536,0.06928964333568137,-0.02554052201556023,0.002389834667178039,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.526455344702818,0.7947817492064762,-3.2686170406933353,0.3815350670071384,2.350326585832944,0.4738877641338628,1.6213854171166837,-3.7754673481671874,4.890002457810019,4.890002457810019,5.291186002438428,0,0,-0.000334746427586878,-9.999999025923074e-05
+25042,1792838116989697638,16796401999999,1792838116984654564,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762844996877013,-0.004875661521694343,0.1034855337341632,0.999999924627483,-0.00010428071718680116,0.0003364263993606289,0.00013465029689791637,0.6761,-0.0046,0.10302087551451697,1.0,0.0,0.0,0.0,-0.3444930612049584,0.041203239199024244,3.7879113961426314,0.001468450826235243,0.03162410863276757,0.001546186443074556,0.4337220058995477,0.8932242547449336,3.9940460573328975,0.06630520274799175,-0.028524399140689216,0.0023029052024187784,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4769890266389558,0.703868477550634,-3.2779534929395986,0.42600764724806706,2.34514296071507,0.41716739039184975,1.6213854171166837,-3.7879113961426314,4.899338910056282,4.899338910056282,5.360036002438267,0,0,-0.0003576964231158649,-9.999999025923074e-05
+25095,1792838117430663256,16796843000000,1792838117424654652,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762868256739588,-0.004875191444365959,0.10332725353399036,0.9999999213660002,-0.0001188170546851031,0.0003394370485697545,0.00013919718080559844,0.6761,-0.0046,0.10285828039287222,1.0,0.0,0.0,0.0,-0.3338752784994637,0.0076531561013611915,3.757355181598441,-0.0005421231001866283,0.030656946205531232,0.0015333898631540543,0.44433978860504236,0.8596741716472706,3.9634898427887073,0.06429462882156987,-0.029491561567925557,0.002290108622498277,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4706355813224858,0.6709742889192215,-3.2562064062610006,0.439547413889893,2.335073672500593,0.39423079477953404,1.6213854171166837,-3.757355181598441,4.877591823377684,4.877591823377684,5.426186002438113,0,0,-0.00037974641882018565,-9.999999025923074e-05
+25144,1792838117839642543,16797252000000,1792838117836654356,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762811889065939,-0.004878090535294242,0.10316007323198148,0.9999999220657727,-0.0001312724928502607,0.0003313602305845642,0.00014240520744643824,0.6761,-0.0046,0.10269879230839148,1.0,0.0,0.0,0.0,-0.3326202682597733,-0.02208946195548167,3.733001948474479,-0.0026033342495339826,0.030702503968632822,0.001530075751277928,0.44559479884473274,0.8299315535904277,3.9391366096647453,0.06223341767222252,-0.029446003804823966,0.0022867945106221504,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.434471410532779,0.6636932635410727,-3.1897892103917087,0.4534312106352415,2.2858628139563026,0.39241303746827544,1.6213854171166837,-3.733001948474479,4.811174627508392,4.811174627508392,5.48753600243797,0,0,-0.000400196414836211,-9.999999025923074e-05
+25191,1792838118230732890,16797643000000,1792838118228655120,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.676277487771672,-0.004880833016847326,0.10299431746616432,0.9999999232467295,-0.00012826043016799402,0.0003268410370824151,0.00014721955665274433,0.6761,-0.0046,0.10253850326093701,1.0,0.0,0.0,0.0,-0.3215646378318098,-0.050359646006174485,3.7053516371431368,-0.005612087581165291,0.029752975682437448,0.00150356472740779,0.4566504292726963,0.8016613695397349,3.911486298333403,0.05922466434059121,-0.03039553209101934,0.0022602834867520125,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4087732637029302,0.6233228291889271,-3.165164407824894,0.47059853570847465,2.26889600478357,0.371358955195726,1.6213854171166837,-3.7053516371431368,4.786549824941578,4.786549824941578,5.5461860024378336,0,0,-0.00041974641102757024,-9.999999025923074e-05
+25235,1792838118597726628,16798009999999,1792838118592654649,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762733029436699,-0.00488514215474614,0.10282494632078175,0.9999999299901831,-8.124869717358138e-05,0.0003214336206659102,0.00014677046775408585,0.6761,-0.0046,0.10238109827874767,1.0,0.0,0.0,0.0,-0.3104821212413748,-0.09032005998001535,3.6740289821573207,-0.008639570725832324,0.02880532040844533,0.0014818857388921715,0.46773294586313124,0.761700955565894,3.880163643347587,0.05619718119592418,-0.03134318736501146,0.002238604498236394,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4092971238352046,0.5597613631349803,-3.092152377426524,0.503342284039449,2.2288805716046443,0.3290758116825549,1.6213854171166837,-3.6740289821573207,4.713537794543208,4.713537794543208,5.601236002437705,0,0,-0.00043809640745270793,-9.999999025923074e-05
+25276,1792838118939746401,16798351999999,1792838118936653917,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762653328433614,-0.004887973119385543,0.1026608509306081,0.9999999313730767,-0.00010935631322518564,0.000310660095943773,0.0001422259036319482,0.6761,-0.0046,0.10222835375797017,1.0,0.0,0.0,0.0,-0.29970995880524204,-0.12515409327474525,3.6132595253470603,-0.010646748731158957,0.027844744207214348,0.0014917030478051431,0.478505108299264,0.7268669222711641,3.8193941865373264,0.054190003190597545,-0.03230376356624244,0.0022484218071493656,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4000032397952142,0.5755379026573195,-3.036941213659941,0.4984475485673183,2.1940396563282665,0.33620864749775853,1.6213854171166837,-3.6132595253470603,4.6583266307766245,4.6583266307766245,5.652536002437586,0,0,-0.00045519640412136484,-9.999999025923074e-05
+25317,1792838119280747101,16798693000000,1792838119276656353,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762579965237755,-0.0048943651401980775,0.10248213309136354,0.999999932238965,-0.00011637182853766465,0.0002960608848338341,0.00016053186488559798,0.6761,-0.0046,0.10207023328473278,1.0,0.0,0.0,0.0,-0.2985998111480581,-0.17126023454283734,3.5613628451401844,-0.014584583113481354,0.027931751427590766,0.001488548619918407,0.47961525595644794,0.680760781003072,3.7674975063304506,0.05025216880827515,-0.03221675634586602,0.0022452673792626296,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.372326165350338,0.5669954355199955,-3.0279774235702845,0.5040488052101286,2.187345744540326,0.3385386948814231,1.6213854171166837,-3.5613628451401844,4.649362840686968,4.649362840686968,5.7036860024374665,0,0,-0.0004722464007997625,-9.999999025923074e-05
+25357,1792838119614753415,16799026999999,1792838119612655066,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.676255061904601,-0.004894022267396144,0.10230977664660959,0.9999999328522763,-0.00011426858914488579,0.0002859809333022174,0.00017577230338200505,0.6761,-0.0046,0.1019097224374106,1.0,0.0,0.0,0.0,-0.30543828792471084,-0.21437592803625938,3.510102356356031,-0.01715884734341029,0.027992965870575336,0.0015000680846044456,0.4727767791797952,0.63764508750965,3.7162370175462973,0.04767790457834621,-0.03215554190288145,0.002256786843948668,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3456740082015228,0.6012793102890658,-2.8878831376572727,0.4910605632568712,2.0968457024950213,0.3626973548031982,1.6213854171166837,-3.510102356356031,4.509268554773956,4.509268554773956,5.75378600243735,0,0,-0.0004889463975463456,-9.999999025923074e-05
+25396,1792838119939719173,16799351999999,1792838119932655087,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762491993246886,-0.004892303939147969,0.10213943394040886,0.9999999317195462,-0.00016219525458947785,0.00028229889392365705,0.00014833678277102158,0.6761,-0.0046,0.10174818235872406,1.0,0.0,0.0,0.0,-0.28532762176834914,-0.2108023419875985,3.4397987547345874,-0.017650202036816894,0.026922196466499813,0.0015366511568308625,0.4928874453361569,0.6412186735583109,3.6459334159248535,0.04718654988493961,-0.033226311306956975,0.002293369916175085,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3414205459243989,0.5875431899216612,-2.8328118853555164,0.49335027692470335,2.066283914163641,0.3543295391979553,1.6213854171166837,-3.4397987547345874,4.4541973024722,4.4541973024722,5.802536002437236,0,0,-0.0005051963943805956,-9.999999025923074e-05
+25435,1792838120264761405,16799677000000,1792838120264654313,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762438046839981,-0.004901762902001737,0.1019626451151609,0.9999999341900638,-0.00013611093393587392,0.00027146524356417087,0.00017562222916708308,0.6761,-0.0046,0.10158136103106638,1.0,0.0,0.0,0.0,-0.29707350756280565,-0.2666647408950623,3.372549934797667,-0.021191386940576908,0.027088179900381495,0.0015508798306081584,0.4811415595417004,0.585356274650847,3.578684595987933,0.043645364981179595,-0.03306032787307529,0.002307598589952381,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.335690820315096,0.45051127760455423,-2.7661996479095508,0.5458853531471963,2.0221517892932566,0.2743140702324079,1.6213854171166837,-3.372549934797667,4.387585065026235,4.387585065026235,5.8512860024371225,0,0,-0.0005214463912148456,-9.999999025923074e-05
+25471,1792838120565769626,16799976999999,1792838120564654662,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762541625366847,-0.004897435644035814,0.10180325369172352,0.9999999455230564,-4.761549826246778e-05,0.0002662961773057742,0.00016497229794735723,0.6761,-0.0046,0.10142268461414172,1.0,0.0,0.0,0.0,-0.30424746050161916,-0.23662800372850512,3.2386150391973425,-0.019760505676632976,0.02810437160639412,0.0006657638128505016,0.4739676066028869,0.6153930118174042,3.4447497003876086,0.045076246245123526,-0.03204413616706267,0.0014224825721947242,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4230406881472581,0.5835197855106249,-2.6875374331485813,0.4985131522568965,1.9952662745884508,0.3266284262781963,1.6213854171166837,-3.2386150391973425,4.308922850265265,4.308922850265265,5.896286002437018,0,0,-0.0005364463882926149,-9.999999025923074e-05
+25510,1792838120888778932,16800301000000,1792838120888654537,DOWN_SETTLE,4,0.0599,0.05990178883075714,0.6762473078071699,-0.00489604946292157,0.1016520494418462,0.9999999450118456,-0.00011201398985352122,0.0002650817406381894,0.00013639540586478493,0.6761,-0.0046,0.10129683637229474,1.0,0.0,0.0,0.0,-0.2846359892982068,-0.2701215417790289,3.1878057694140116,-0.021723809335805762,0.02573034852029512,0.0010690177431957751,0.4935790778062992,0.5818994737668804,3.3939404306042777,0.04311294258595074,-0.03441815925316167,0.0018257365025399976,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.336870749214578,0.43381910569617005,-2.628131843301197,0.5548697418457699,1.9444220887757615,0.25901457914429715,1.6213854171166837,-3.1878057694140116,4.249517260417881,0.0,0.0,0,0,-9.786455323349702e-05,0.000988530840742394
+25597,1792838121608786770,16801021000000,1792838121604655466,DOWN_PEAK_HOLD,4,0.0599,0.05990244820713997,0.6762228944880665,-0.004890223036176561,0.10158056813783647,0.9999999568001543,-0.00010636191120990596,0.00021674882513312847,0.00013982004466228976,0.6761,-0.0046,0.10128808347880124,1.0,0.0,0.0,0.0,-0.26124181959154436,-0.3084216297801212,2.7559367033994318,-0.024637190856394202,0.023243232133639886,0.0009217607953840207,0.5169732475129617,0.5435993857657881,2.962071364589698,0.0401995610653623,-0.0369052756398169,0.0016784795547282432,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.1075017737878592,0.5725887346485,-2.0354907102770476,0.49446984766236796,1.5081895638492482,0.348800204040924,1.6213854171166837,-2.7559367033994318,3.6568761273937316,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_15A_12.5/press_depth_04/down/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_04/down/real_sim_motion_alignment.csv ADDED Viewed

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

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792838082149093713,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.529323084e-09,-1.128811610e-10,-1.902357161e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450896e-01,-1.185258813e-04,8.303258605e-01
+1,9.166666667e-01,DOWN_FORCE_DETACH,1792838083050153269,1.938116344e-06,-2.238361430e-06,3.384088155e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.755393504e-08,-5.373573909e-09,-8.081244118e-09,7.019575709e-01,-2.450909645e-05,8.601464713e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451847e-01,-1.185311420e-04,8.303258526e-01
+2,1.733333333e+00,DOWN_FORCE_DETACH,1792838083902785204,3.166580006e-06,-2.514357039e-06,-8.160467057e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.387878323e-07,-8.620785644e-09,-1.256730719e-08,7.019587994e-01,-2.478509206e-05,8.601349268e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452259e-01,-1.185343893e-04,8.303258481e-01
+3,2.350000000e+00,DOWN_FORCE_DETACH,1792838084508012860,4.803966567e-05,-1.217204141e-05,-2.186664199e-05,4.772581630e-05,-1.206095508e-05,-2.178780020e-05,5.101014326e-05,-1.210666063e-05,-2.161681803e-05,7.020036725e-01,-3.444277643e-05,8.601212206e-01,7.020033586e-01,-3.433169010e-05,8.601212994e-01,7.027960973e-01,-1.306324291e-04,8.303042439e-01
+4,3.200000000e+00,DOWN_FORCE_DETACH,1792838085360331682,2.913785130e-05,-1.459303735e-05,-7.254687725e-05,3.156081944e-05,-1.404019173e-05,-5.759154592e-05,3.342131577e-05,-1.411020500e-05,-5.733463929e-05,7.019847707e-01,-3.686377237e-05,8.600705404e-01,7.019871936e-01,-3.631092676e-05,8.600854957e-01,7.027785084e-01,-1.326359735e-04,8.302685261e-01
+5,4.133333333e+00,DOWN_FORCE_DETACH,1792838086293243844,2.376888452e-05,-1.628327445e-05,-1.146343633e-04,2.327235888e-05,-1.459366861e-05,-9.990073176e-05,2.402347760e-05,-1.465841905e-05,-9.971482807e-05,7.019794017e-01,-3.855400947e-05,8.600284529e-01,7.019789052e-01,-3.686440363e-05,8.600431865e-01,7.027691106e-01,-1.331841875e-04,8.302261459e-01
+6,4.866666667e+00,DOWN_FORCE_DETACH,1792838087014517177,2.289431748e-05,-1.680207465e-05,-1.350991770e-04,2.154092590e-05,-1.687522378e-05,-1.204410678e-04,2.194074970e-05,-1.698474163e-05,-1.202526101e-04,7.019785271e-01,-3.907280967e-05,8.600079881e-01,7.019771737e-01,-3.914595880e-05,8.600226462e-01,7.027670279e-01,-1.355105101e-04,8.302056081e-01
+7,5.716666667e+00,DOWN_FORCE_DETACH,1792838087866564298,2.870377387e-05,-2.132171489e-05,-1.659922290e-04,2.679440044e-05,-2.146801613e-05,-1.614566355e-04,2.709061834e-05,-2.158184411e-05,-1.611585434e-04,7.019843366e-01,-4.359244991e-05,8.599770950e-01,7.019824272e-01,-4.373875116e-05,8.599816306e-01,7.027721777e-01,-1.401076126e-04,8.301647022e-01
+8,6.466666667e+00,DOWN_FORCE_DETACH,1792838088603550636,3.853310002e-05,-2.392351732e-05,-1.967323930e-04,3.348610806e-05,-2.201870142e-05,-1.801452354e-04,3.403944751e-05,-2.211677602e-05,-1.798946029e-04,7.019941659e-01,-4.619425234e-05,8.599463548e-01,7.019891189e-01,-4.428943644e-05,8.599629420e-01,7.027791266e-01,-1.406425445e-04,8.301459661e-01
+9,7.316666667e+00,DOWN_FORCE_DETACH,1792838089448666641,4.041780618e-05,-2.941292149e-05,-2.436238614e-04,4.095124300e-05,-2.909043980e-05,-2.423297066e-04,4.134813110e-05,-2.922274670e-05,-2.418328447e-04,7.019960506e-01,-5.168365651e-05,8.598994634e-01,7.019965841e-01,-5.136117482e-05,8.599007575e-01,7.027864352e-01,-1.477485152e-04,8.300840279e-01
+10,8.183333333e+00,DOWN_FORCE_DETACH,1792838090323003665,4.617228290e-05,-3.151536776e-05,-2.865747515e-04,4.433734865e-05,-3.036762101e-05,-2.843749136e-04,4.444072762e-05,-3.053397090e-05,-2.838958894e-04,7.020018051e-01,-5.378610278e-05,8.598565125e-01,7.019999702e-01,-5.263835603e-05,8.598587123e-01,7.027895278e-01,-1.490597394e-04,8.300419648e-01
+11,8.966666667e+00,DOWN_FORCE_DETACH,1792838091092838555,5.197749286e-05,-3.158556035e-05,-3.239661599e-04,5.186534275e-05,-3.182078253e-05,-3.235848099e-04,5.201859182e-05,-3.196639437e-05,-3.230715724e-04,7.020076103e-01,-5.385629537e-05,8.598191211e-01,7.020074982e-01,-5.409151756e-05,8.598195024e-01,7.027971057e-01,-1.504921628e-04,8.300027891e-01
+12,9.400000000e+00,DOWN_FORCE_DETACH,1792838091928188492,9.537953213e-05,-2.820280754e-05,-3.431337704e-04,8.694758979e-05,-2.763502106e-05,-3.427796061e-04,8.948167305e-05,-2.779139623e-05,-3.423198462e-04,7.020510123e-01,-5.047354256e-05,8.597999535e-01,7.020425804e-01,-4.990575608e-05,8.598003076e-01,7.028345688e-01,-1.463171647e-04,8.299835409e-01
+13,1.021666667e+01,DOWN_FORCE_DETACH,1792838092747770627,1.035116146e-04,-3.304179918e-05,-3.916043794e-04,1.020483727e-04,-3.219520135e-05,-3.777567944e-04,1.054093302e-04,-3.237238149e-05,-3.772233040e-04,7.020591444e-01,-5.531253421e-05,8.597514829e-01,7.020576812e-01,-5.446593637e-05,8.597653304e-01,7.028504964e-01,-1.508981500e-04,8.299486374e-01
+14,1.095000000e+01,DOWN_FORCE_DETACH,1792838093468114183,1.117891101e-04,-3.599393213e-05,-4.459904407e-04,1.102061200e-04,-3.806786064e-05,-4.401740518e-04,1.134147346e-04,-3.826352952e-05,-4.395486889e-04,7.020674219e-01,-5.826466715e-05,8.596970968e-01,7.020658389e-01,-6.033859566e-05,8.597029132e-01,7.028585018e-01,-1.567892980e-04,8.298863120e-01
+15,1.168333333e+01,DOWN_FORCE_DETACH,1792838094205215429,1.189141784e-04,-3.934119973e-05,-4.984611591e-04,1.140685460e-04,-4.012751676e-05,-4.819762111e-04,1.170893240e-04,-4.033842924e-05,-4.814366064e-04,7.020745470e-01,-6.161193475e-05,8.596446261e-01,7.020697014e-01,-6.239825179e-05,8.596611110e-01,7.028621764e-01,-1.588641977e-04,8.298444241e-01
+16,1.250000000e+01,DOWN_FORCE_DETACH,1792838095041475825,1.241312100e-04,-4.080804173e-05,-5.503445222e-04,1.230542984e-04,-4.621534451e-05,-5.451636964e-04,1.260344514e-04,-4.646376236e-05,-5.446575050e-04,7.020797640e-01,-6.307877675e-05,8.595927427e-01,7.020786871e-01,-6.848607953e-05,8.595979235e-01,7.028711216e-01,-1.649895308e-04,8.297812032e-01
+17,1.331666667e+01,DOWN_FORCE_DETACH,1792838095859676161,1.349595025e-04,-4.262424109e-05,-5.788279217e-04,1.287061685e-04,-4.129267994e-05,-5.642765814e-04,1.319824458e-04,-4.151974167e-05,-5.639324016e-04,7.020905923e-01,-6.489497612e-05,8.595642593e-01,7.020843390e-01,-6.356341496e-05,8.595788107e-01,7.028770696e-01,-1.600455101e-04,8.297619283e-01
+18,1.411666667e+01,DOWN_FORCE_DETACH,1792838096711813509,1.458577144e-04,-3.153146666e-05,-6.248523147e-04,1.457311264e-04,-3.174621387e-05,-6.249590337e-04,1.495207607e-04,-3.194486279e-05,-6.244543122e-04,7.021014905e-01,-5.380220168e-05,8.595182349e-01,7.021013639e-01,-5.401694889e-05,8.595181282e-01,7.028946079e-01,-1.504706313e-04,8.297014064e-01
+19,1.483333333e+01,DOWN_FORCE_DETACH,1792838097465321837,1.538843823e-04,-4.010561405e-05,-6.816684764e-04,1.547801237e-04,-3.925346965e-05,-6.647544579e-04,1.588398725e-04,-3.946880386e-05,-6.642808390e-04,7.021095172e-01,-6.237634907e-05,8.594614188e-01,7.021104129e-01,-6.152420468e-05,8.594783328e-01,7.029039270e-01,-1.579945723e-04,8.296615799e-01
+20,1.565000000e+01,DOWN_FORCE_DETACH,1792838098300467929,1.675683636e-04,-4.430582706e-05,-7.312087427e-04,1.657637358e-04,-3.732655850e-05,-7.319849208e-04,1.698885093e-04,-3.751366472e-05,-7.314195610e-04,7.021232012e-01,-6.657656209e-05,8.594118785e-01,7.021213966e-01,-5.959729352e-05,8.594111023e-01,7.029149756e-01,-1.560394332e-04,8.295944411e-01
+21,1.631666667e+01,DOWN_FORCE_DETACH,1792838098955743406,1.751347031e-04,-4.275074927e-05,-7.722888893e-04,1.749031586e-04,-4.287022033e-05,-7.723756024e-04,1.792066987e-04,-4.314226031e-05,-7.718911186e-04,7.021307675e-01,-6.502148429e-05,8.593707984e-01,7.021305360e-01,-6.514095535e-05,8.593707116e-01,7.029242938e-01,-1.616680288e-04,8.295539696e-01
+22,1.715000000e+01,DOWN_FORCE_DETACH,1792838099774555480,1.818837426e-04,-4.949536143e-05,-8.270964650e-04,1.808880052e-04,-4.842024323e-05,-8.112370832e-04,1.852340128e-04,-4.867027127e-05,-8.108050416e-04,7.021375166e-01,-7.176609645e-05,8.593159908e-01,7.021365208e-01,-7.069097825e-05,8.593318502e-01,7.029303211e-01,-1.671960397e-04,8.295150557e-01
+23,1.786666667e+01,DOWN_FORCE_DETACH,1792838100495410781,1.927065766e-04,-4.890110940e-05,-8.633534671e-04,1.875023785e-04,-4.334927040e-05,-8.502154828e-04,1.918530104e-04,-4.359397022e-05,-8.498334696e-04,7.021483394e-01,-7.117184442e-05,8.592797338e-01,7.021431352e-01,-6.562000542e-05,8.592928718e-01,7.029369401e-01,-1.621197387e-04,8.294760272e-01
+24,1.875000000e+01,DOWN_FORCE_DETACH,1792838101363611948,2.015661295e-04,-5.130610993e-05,-9.192757687e-04,1.990507897e-04,-4.971887182e-05,-9.093260849e-04,2.036380169e-04,-4.995902136e-05,-9.089604299e-04,7.021571989e-01,-7.357684495e-05,8.592238115e-01,7.021546836e-01,-7.198960685e-05,8.592337612e-01,7.029487251e-01,-1.684847898e-04,8.294169003e-01
+25,1.950000000e+01,DOWN_FORCE_DETACH,1792838102116168407,2.119339290e-04,-4.986654150e-05,-9.709209979e-04,2.058359088e-04,-4.833796664e-05,-9.702597763e-04,2.102017854e-04,-4.858499463e-05,-9.697762891e-04,7.021675667e-01,-7.213727652e-05,8.591721662e-01,7.021614687e-01,-7.060870167e-05,8.591728275e-01,7.029552889e-01,-1.671107631e-04,8.293560844e-01
+26,2.018333333e+01,DOWN_FORCE_DETACH,1792838102804490723,2.191236347e-04,-5.774064874e-05,-1.024891911e-03,2.169456461e-04,-5.287474349e-05,-1.011293333e-03,2.216884603e-04,-5.312887049e-05,-1.010799393e-03,7.021747565e-01,-8.001138377e-05,8.591181953e-01,7.021725785e-01,-7.514547851e-05,8.591317939e-01,7.029667756e-01,-1.716546390e-04,8.293150613e-01
+27,2.093333333e+01,DOWN_FORCE_DETACH,1792838103574577201,2.243720027e-04,-5.256847359e-05,-1.089910997e-03,2.225742550e-04,-5.341919810e-05,-1.076414219e-03,2.269943555e-04,-5.369899018e-05,-1.075785882e-03,7.021800048e-01,-7.483920861e-05,8.590531762e-01,7.021782071e-01,-7.568993312e-05,8.590666730e-01,7.029720815e-01,-1.722247586e-04,8.292500748e-01
+28,2.165000000e+01,DOWN_FORCE_DETACH,1792838104312167312,2.380053788e-04,-5.101092952e-05,-1.147921017e-03,2.311123352e-04,-5.598413251e-05,-1.138291315e-03,2.355033680e-04,-5.629302982e-05,-1.137627206e-03,7.021936382e-01,-7.328166454e-05,8.589951662e-01,7.021867452e-01,-7.825486753e-05,8.590047959e-01,7.029805905e-01,-1.748187983e-04,8.291882335e-01
+29,2.246666667e+01,DOWN_FORCE_DETACH,1792838105147216000,2.438432182e-04,-6.195393645e-05,-1.230366830e-03,2.425175557e-04,-5.948011976e-05,-1.221809512e-03,2.467492612e-04,-5.981075928e-05,-1.221086553e-03,7.021994760e-01,-8.422467147e-05,8.589127204e-01,7.021981504e-01,-8.175085478e-05,8.589212777e-01,7.029918364e-01,-1.783365277e-04,8.291047742e-01
+30,2.328333333e+01,DOWN_FORCE_DETACH,1792838105983004566,2.519552754e-04,-5.751084356e-05,-1.309445038e-03,2.505235354e-04,-6.048940220e-05,-1.291088604e-03,2.546462188e-04,-6.080455484e-05,-1.290432082e-03,7.022075881e-01,-7.978157858e-05,8.588336422e-01,7.022061564e-01,-8.276013722e-05,8.588519986e-01,7.029997333e-01,-1.793303233e-04,8.290354286e-01
+31,2.405000000e+01,DOWN_FORCE_DETACH,1792838106736207094,2.596076816e-04,-6.899972151e-05,-1.381188514e-03,2.599785547e-04,-6.854822025e-05,-1.375396935e-03,2.637684881e-04,-6.891836077e-05,-1.374681971e-03,7.022152405e-01,-9.127045653e-05,8.587618987e-01,7.022156114e-01,-9.081895527e-05,8.587676903e-01,7.030088556e-01,-1.874441292e-04,8.289511787e-01
+32,2.480000000e+01,DOWN_FORCE_DETACH,1792838107489520970,2.685046041e-04,-6.745118539e-05,-1.461966829e-03,2.648987863e-04,-6.530431757e-05,-1.458422827e-03,2.680518426e-04,-6.571050122e-05,-1.457671224e-03,7.022241374e-01,-8.972192041e-05,8.586811204e-01,7.022205316e-01,-8.757505260e-05,8.586846644e-01,7.030131390e-01,-1.842362697e-04,8.288681895e-01
+33,2.546666667e+01,DOWN_FORCE_DETACH,1792838108144556911,2.794478285e-04,-7.216719680e-05,-1.534114221e-03,2.742751869e-04,-7.589898136e-05,-1.518443988e-03,2.774143774e-04,-7.633093348e-05,-1.517738656e-03,7.022350806e-01,-9.443793182e-05,8.586089730e-01,7.022299080e-01,-9.816971639e-05,8.586246433e-01,7.030225015e-01,-1.948567019e-04,8.288081220e-01
+34,2.623333333e+01,DOWN_FORCE_DETACH,1792838108914817150,2.848159566e-04,-7.758709099e-05,-1.625025361e-03,2.845982120e-04,-7.764658017e-05,-1.625061076e-03,2.872473885e-04,-7.813109707e-05,-1.624187933e-03,7.022404488e-01,-9.985782601e-05,8.585180619e-01,7.022402310e-01,-9.991731520e-05,8.585180262e-01,7.030323345e-01,-1.966568655e-04,8.287016728e-01
+35,2.693333333e+01,DOWN_FORCE_DETACH,1792838109635263108,2.930119356e-04,-8.220165689e-05,-1.722657280e-03,2.918011836e-04,-7.750055651e-05,-1.711593555e-03,2.940029165e-04,-7.796492613e-05,-1.710715217e-03,7.022486448e-01,-1.044723919e-04,8.584204300e-01,7.022474340e-01,-9.977129153e-05,8.584314937e-01,7.030390900e-01,-1.964906946e-04,8.286151455e-01
+36,2.753333333e+01,DOWN_FORCE_DETACH,1792838110260556760,2.994642579e-04,-7.859691267e-05,-1.808613339e-03,2.990862840e-04,-8.468760429e-05,-1.796691559e-03,3.008191190e-04,-8.519632698e-05,-1.795876527e-03,7.022550971e-01,-1.008676477e-04,8.583344739e-01,7.022547191e-01,-1.069583393e-04,8.583463957e-01,7.030459062e-01,-2.037220954e-04,8.285299842e-01
+37,2.820000000e+01,DOWN_FORCE_DETACH,1792838110978836103,3.110901453e-04,-8.392912236e-05,-1.911373801e-03,3.073238102e-04,-8.584513429e-05,-1.902249892e-03,3.084122012e-04,-8.637891171e-05,-1.901360752e-03,7.022667230e-01,-1.061998574e-04,8.582317134e-01,7.022629566e-01,-1.081158693e-04,8.582408373e-01,7.030534993e-01,-2.049046802e-04,8.284245000e-01
+38,2.885000000e+01,DOWN_FORCE_DETACH,1792838111650521704,3.192629182e-04,-8.771522208e-05,-2.014018504e-03,3.201349527e-04,-8.674186112e-05,-2.005805372e-03,3.209095804e-04,-8.721231010e-05,-2.004857437e-03,7.022748957e-01,-1.099859571e-04,8.581290687e-01,7.022757678e-01,-1.090125961e-04,8.581372819e-01,7.030659967e-01,-2.057380786e-04,8.283210033e-01
+39,2.955000000e+01,DOWN_FORCE_DETACH,1792838112337973674,3.332008394e-04,-9.164842972e-05,-2.112520166e-03,3.309269443e-04,-9.111718613e-05,-2.111346432e-03,3.313368959e-04,-9.161542169e-05,-2.110322662e-03,7.022888337e-01,-1.139191647e-04,8.580305671e-01,7.022865598e-01,-1.133879212e-04,8.580317408e-01,7.030764240e-01,-2.101411902e-04,8.282155380e-01
+40,3.025000000e+01,DOWN_FORCE_DETACH,1792838113042270088,3.414491189e-04,-9.612919641e-05,-2.239873692e-03,3.414476886e-04,-9.602958937e-05,-2.239622946e-03,3.411058381e-04,-9.649776246e-05,-2.238491616e-03,7.022970819e-01,-1.183999314e-04,8.579032135e-01,7.022970805e-01,-1.183003244e-04,8.579034643e-01,7.030861929e-01,-2.150235309e-04,8.280873691e-01
+41,3.090000000e+01,DOWN_FORCE_DETACH,1792838113795847471,3.516509781e-04,-9.627715386e-05,-2.383823554e-03,3.504090250e-04,-9.343438937e-05,-2.370892630e-03,3.492301751e-04,-9.391535836e-05,-2.369750211e-03,7.023072838e-01,-1.185478889e-04,8.577592637e-01,7.023060418e-01,-1.157051244e-04,8.577721946e-01,7.030943173e-01,-2.124411268e-04,8.279561105e-01
+42,3.151666667e+01,DOWN_FORCE_DETACH,1792838114402050008,3.551623712e-04,-9.891902771e-05,-2.515690479e-03,3.556557012e-04,-9.701525267e-05,-2.507502049e-03,3.531607153e-04,-9.751595525e-05,-2.506312514e-03,7.023107952e-01,-1.211897627e-04,8.576273968e-01,7.023112885e-01,-1.192859877e-04,8.576355852e-01,7.030982478e-01,-2.160417237e-04,8.278195482e-01
+43,3.216666667e+01,DOWN_FORCE_DETACH,1792838115048693691,3.563589226e-04,-1.005717517e-04,-2.663894928e-03,3.586352176e-04,-1.018556177e-04,-2.644603839e-03,3.546829257e-04,-1.023628788e-04,-2.643518788e-03,7.023119917e-01,-1.228424867e-04,8.574791923e-01,7.023142680e-01,-1.241263527e-04,8.574984834e-01,7.030997700e-01,-2.208886473e-04,8.276823419e-01
+44,3.265000000e+01,DOWN_FORCE_DETACH,1792838115532158267,3.571801433e-04,-1.069881167e-04,-2.799338353e-03,3.560483346e-04,-1.048183537e-04,-2.787892318e-03,3.502143548e-04,-1.053482484e-04,-2.786777503e-03,7.023128130e-01,-1.292588518e-04,8.573437489e-01,7.023116812e-01,-1.270890887e-04,8.573551949e-01,7.030953015e-01,-2.238740169e-04,8.275390832e-01
+45,3.318333333e+01,DOWN_FORCE_DETACH,1792838116056490448,3.684294751e-04,-1.114682811e-04,-2.949046166e-03,3.683002031e-04,-1.115253643e-04,-2.948972636e-03,3.614166591e-04,-1.120553046e-04,-2.947664422e-03,7.023240623e-01,-1.337390161e-04,8.571940411e-01,7.023239330e-01,-1.337960994e-04,8.571941146e-01,7.031065038e-01,-2.305810731e-04,8.273781963e-01
+46,3.366666667e+01,DOWN_FORCE_DETACH,1792838116532432243,3.776428997e-04,-1.131841207e-04,-3.093282341e-03,3.775187972e-04,-1.131089298e-04,-3.093547011e-03,3.696940531e-04,-1.136258653e-04,-3.092135823e-03,7.023332757e-01,-1.354548557e-04,8.570498049e-01,7.023331516e-01,-1.353796649e-04,8.570495402e-01,7.031147812e-01,-2.321516337e-04,8.272337249e-01
+47,3.410000000e+01,DOWN_FORCE_DETACH,1792838116992050380,3.696572810e-04,-1.115070139e-04,-3.256558668e-03,3.696432344e-04,-1.113119927e-04,-3.256682209e-03,3.592491653e-04,-1.118478807e-04,-3.255091243e-03,7.023252901e-01,-1.337777490e-04,8.568865286e-01,7.023252761e-01,-1.335827278e-04,8.568864050e-01,7.031043363e-01,-2.303736492e-04,8.270707695e-01
+48,3.453333333e+01,DOWN_FORCE_DETACH,1792838117432597184,3.712096114e-04,-1.117450075e-04,-3.415656407e-03,3.674259545e-04,-1.132958648e-04,-3.397997303e-03,3.551723641e-04,-1.138560066e-04,-3.396573504e-03,7.023268424e-01,-1.340157425e-04,8.567274308e-01,7.023230588e-01,-1.355665999e-04,8.567450899e-01,7.031002595e-01,-2.323817750e-04,8.269292872e-01
+49,3.495000000e+01,DOWN_FORCE_DETACH,1792838117841916515,3.673133569e-04,-1.140945169e-04,-3.581562301e-03,3.672048482e-04,-1.189129313e-04,-3.564594324e-03,3.529035816e-04,-1.195144569e-04,-3.563152374e-03,7.023229462e-01,-1.363652519e-04,8.565615249e-01,7.023228377e-01,-1.411836663e-04,8.565784929e-01,7.030979907e-01,-2.380402254e-04,8.267627083e-01
+50,3.531666667e+01,DOWN_FORCE_DETACH,1792838118234984053,3.620323234e-04,-1.187187340e-04,-3.752659356e-03,3.618206054e-04,-1.186811225e-04,-3.752532604e-03,3.449647596e-04,-1.192693200e-04,-3.750870056e-03,7.023176651e-01,-1.409894690e-04,8.563904279e-01,7.023174534e-01,-1.409518575e-04,8.563905546e-01,7.030900519e-01,-2.377950884e-04,8.265749906e-01
+51,3.566666667e+01,DOWN_FORCE_DETACH,1792838118595439189,3.579000308e-04,-1.198041075e-04,-3.915414698e-03,3.577405047e-04,-1.198446851e-04,-3.915220507e-03,3.385975304e-04,-1.204172282e-04,-3.913552577e-03,7.023135328e-01,-1.420748426e-04,8.562276725e-01,7.023133733e-01,-1.421154201e-04,8.562278667e-01,7.030836846e-01,-2.389429967e-04,8.264123081e-01
+52,3.600000000e+01,DOWN_FORCE_DETACH,1792838118939599663,3.503777038e-04,-1.234810031e-04,-4.081847295e-03,3.512366851e-04,-1.252649975e-04,-4.066823763e-03,3.298446311e-04,-1.258797535e-04,-4.065170633e-03,7.023060105e-01,-1.457517382e-04,8.560612399e-01,7.023068695e-01,-1.475357326e-04,8.560762635e-01,7.030749317e-01,-2.444055220e-04,8.262606901e-01
+53,3.635000000e+01,DOWN_FORCE_DETACH,1792838119283349045,3.430337050e-04,-1.306480559e-04,-4.263271663e-03,3.427824203e-04,-1.305532852e-04,-4.263251752e-03,3.183061519e-04,-1.311289133e-04,-4.261452303e-03,7.022986665e-01,-1.529187909e-04,8.558798156e-01,7.022984152e-01,-1.528240202e-04,8.558798355e-01,7.030633933e-01,-2.496546817e-04,8.260644084e-01
+54,3.665000000e+01,DOWN_FORCE_DETACH,1792838119610823011,3.410295797e-04,-1.352468104e-04,-4.430683509e-03,3.399514953e-04,-1.318738801e-04,-4.420556496e-03,3.132706777e-04,-1.324410971e-04,-4.418875627e-03,7.022966624e-01,-1.575175454e-04,8.557124037e-01,7.022955843e-01,-1.541446151e-04,8.557225307e-01,7.030583578e-01,-2.509668656e-04,8.259069851e-01
+55,3.698333333e+01,DOWN_FORCE_DETACH,1792838119938415601,3.355881533e-04,-1.274570037e-04,-4.598927638e-03,3.355404576e-04,-1.273882213e-04,-4.598695577e-03,3.064127401e-04,-1.279456745e-04,-4.596994508e-03,7.022912210e-01,-1.497277387e-04,8.555441596e-01,7.022911733e-01,-1.496589563e-04,8.555443917e-01,7.030514999e-01,-2.464714430e-04,8.257288662e-01
+56,3.731666667e+01,DOWN_FORCE_DETACH,1792838120266579804,3.287780301e-04,-1.376852148e-04,-4.779992821e-03,3.279175126e-04,-1.389129614e-04,-4.772798432e-03,2.961600524e-04,-1.394951273e-04,-4.771148881e-03,7.022844108e-01,-1.599559499e-04,8.553630944e-01,7.022835503e-01,-1.611836964e-04,8.553702888e-01,7.030412472e-01,-2.580208957e-04,8.255547118e-01
+57,3.761666667e+01,DOWN_FORCE_DETACH,1792838120561110821,3.390484495e-04,-1.337612373e-04,-4.936502685e-03,3.412273597e-04,-1.327513464e-04,-4.919426449e-03,3.086210497e-04,-1.333391873e-04,-4.917935413e-03,7.022946813e-01,-1.560319723e-04,8.552065846e-01,7.022968602e-01,-1.550220814e-04,8.552236608e-01,7.030537082e-01,-2.518649558e-04,8.254079253e-01
+58,3.795000000e+01,DOWN_SETTLE,1792838120888430862,3.351900041e-04,-1.323180735e-04,-5.086288550e-03,3.324579732e-04,-1.321065172e-04,-5.088464028e-03,2.972574300e-04,-1.326652464e-04,-5.087048457e-03,7.022908228e-01,-1.545888085e-04,8.550567987e-01,7.022880908e-01,-1.543772522e-04,8.550546232e-01,7.030423445e-01,-2.511910149e-04,8.252388122e-01
+59,3.866666667e+01,DOWN_PEAK_HOLD,1792838121609832133,3.072256057e-04,-1.258284601e-04,-5.163720885e-03,3.094896027e-04,-1.295566226e-04,-5.153780028e-03,2.717608782e-04,-1.301597616e-04,-5.153469881e-03,7.022628584e-01,-1.480991951e-04,8.549793664e-01,7.022651224e-01,-1.518273576e-04,8.549893072e-01,7.030168480e-01,-2.486855301e-04,8.251723908e-01

Part2/Fixed/digit/ball_15A_12.5/press_depth_04/down/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,4.4265e-02,8.1662e-02,2.4554e+00,-4.2409e-02,3.9900e-02,1.3395e-04,4.3980e-04,-4.9472e-06,-3.4809e-05,1.1474e-06,3.1058e-05,-5.7754e-07,4.4120e-04,3.1084e-05
+1,9.1667e-01,DOWN_FORCE_DETACH,1.8294e-04,6.0777e-02,8.1237e-02,2.4540e+00,-4.2354e-02,4.1067e-02,1.0443e-04,1.6952e-02,-4.2951e-04,-1.4648e-03,5.5630e-05,1.1978e-03,-3.0096e-05,1.7021e-02,1.1995e-03
+2,1.7333e+00,DOWN_FORCE_DETACH,3.6920e-04,6.7934e-02,8.0875e-02,2.4532e+00,-4.2324e-02,4.1573e-02,8.2342e-05,2.4109e-02,-7.9162e-04,-2.2736e-03,8.6244e-05,1.7035e-03,-5.2181e-05,2.4229e-02,1.7065e-03
+3,2.3500e+00,DOWN_FORCE_DETACH,5.5387e-04,4.0280e-02,1.0258e-01,2.4818e+00,-4.3830e-02,3.9597e-02,8.0561e-05,-3.5446e-03,2.0914e-02,2.6323e-02,-1.4196e-03,-2.7239e-04,-5.3962e-05,3.3806e-02,1.4465e-03
+4,3.2000e+00,DOWN_FORCE_DETACH,7.4277e-04,6.0653e-02,1.1093e-01,2.4884e+00,-4.4416e-02,4.1020e-02,6.2728e-05,1.6828e-02,2.9261e-02,3.3006e-02,-2.0058e-03,1.1513e-03,-7.1795e-05,4.7210e-02,2.3138e-03
+5,4.1333e+00,DOWN_FORCE_DETACH,9.2900e-04,7.4344e-02,1.1278e-01,2.4970e+00,-4.4541e-02,4.1973e-02,1.0611e-06,3.0519e-02,3.1117e-02,4.1541e-02,-2.1314e-03,2.1042e-03,-1.3346e-04,6.0211e-02,2.9980e-03
+6,4.8667e+00,DOWN_FORCE_DETACH,1.1148e-03,7.6036e-02,1.1813e-01,2.4956e+00,-4.4917e-02,4.2091e-02,-4.7446e-05,3.2211e-02,3.6463e-02,4.0181e-02,-2.5075e-03,2.2219e-03,-1.8197e-04,6.3100e-02,3.3552e-03
+7,5.7167e+00,DOWN_FORCE_DETACH,1.2996e-03,7.1518e-02,1.2823e-01,2.5150e+00,-4.5620e-02,4.1749e-02,-9.2421e-05,2.7693e-02,4.6562e-02,5.9530e-02,-3.2099e-03,1.8799e-03,-2.2694e-04,8.0491e-02,3.7267e-03
+8,6.4667e+00,DOWN_FORCE_DETACH,1.4860e-03,6.7137e-02,1.2858e-01,2.5076e+00,-4.5656e-02,4.1445e-02,-1.2935e-04,2.3312e-02,4.6918e-02,5.2130e-02,-3.2456e-03,1.5761e-03,-2.6388e-04,7.3907e-02,3.6177e-03
+9,7.3167e+00,DOWN_FORCE_DETACH,1.6695e-03,6.5881e-02,1.4507e-01,2.5481e+00,-4.6812e-02,4.1316e-02,-1.5959e-04,2.2056e-02,6.3399e-02,9.2661e-02,-4.4024e-03,1.4464e-03,-2.9411e-04,1.1442e-01,4.6433e-03
+10,8.1833e+00,DOWN_FORCE_DETACH,1.8541e-03,6.4188e-02,1.4723e-01,2.5471e+00,-4.6991e-02,4.1197e-02,-1.9177e-04,2.0363e-02,6.5561e-02,9.1680e-02,-4.5812e-03,1.3275e-03,-3.2629e-04,1.1453e-01,4.7808e-03
+11,8.9667e+00,DOWN_FORCE_DETACH,2.0367e-03,6.1015e-02,1.5592e-01,2.5266e+00,-4.7642e-02,4.0998e-02,-2.0633e-04,1.7190e-02,7.4251e-02,7.1145e-02,-5.2319e-03,1.1294e-03,-3.4085e-04,1.0426e-01,5.3632e-03
+12,9.4000e+00,DOWN_FORCE_DETACH,2.2246e-03,2.2298e-02,1.3749e-01,2.5395e+00,-4.6365e-02,3.8256e-02,-1.9680e-04,-2.1527e-02,5.5819e-02,8.4045e-02,-3.9554e-03,-1.6135e-03,-3.3132e-04,1.0316e-01,4.2847e-03
+13,1.0217e+01,DOWN_FORCE_DETACH,2.4137e-03,2.8776e-02,1.4546e-01,2.5349e+00,-4.6958e-02,3.8724e-02,-1.7269e-04,-1.5049e-02,6.3789e-02,7.9464e-02,-4.5482e-03,-1.1456e-03,-3.0722e-04,1.0300e-01,4.7003e-03
+14,1.0950e+01,DOWN_FORCE_DETACH,2.5989e-03,3.3592e-02,1.5738e-01,2.5511e+00,-4.7779e-02,3.9049e-02,-1.4003e-04,-1.0233e-02,7.5713e-02,9.5700e-02,-5.3688e-03,-8.1966e-04,-2.7455e-04,1.2246e-01,5.4379e-03
+15,1.1683e+01,DOWN_FORCE_DETACH,2.7844e-03,4.0105e-02,1.6087e-01,2.5346e+00,-4.7987e-02,3.9526e-02,-9.9578e-05,-3.7196e-03,7.9205e-02,7.9188e-02,-5.5775e-03,-3.4329e-04,-2.3410e-04,1.1206e-01,5.5930e-03
+16,1.2500e+01,DOWN_FORCE_DETACH,2.9674e-03,4.1487e-02,1.7464e-01,2.5395e+00,-4.8894e-02,3.9610e-02,-2.3869e-05,-2.3374e-03,9.2976e-02,8.4039e-02,-6.4840e-03,-2.5906e-04,-1.5839e-04,1.2535e-01,6.4911e-03
+17,1.3317e+01,DOWN_FORCE_DETACH,3.1520e-03,4.6057e-02,1.6295e-01,2.5057e+00,-4.8079e-02,3.9966e-02,6.2283e-05,2.2324e-03,8.1283e-02,5.0230e-02,-5.6694e-03,9.6455e-05,-7.2240e-05,9.5577e-02,5.6707e-03
+18,1.4117e+01,DOWN_FORCE_DETACH,3.3439e-03,4.5516e-02,1.6602e-01,2.5027e+00,-4.8299e-02,3.9931e-02,1.5915e-04,1.6912e-03,8.4353e-02,4.7264e-02,-5.8895e-03,6.1858e-05,2.4627e-05,9.6706e-02,5.8899e-03
+19,1.4833e+01,DOWN_FORCE_DETACH,3.5251e-03,4.3689e-02,1.6030e-01,2.5222e+00,-4.7901e-02,3.9783e-02,2.3094e-04,-1.3568e-04,7.8632e-02,6.6807e-02,-5.4908e-03,-8.5857e-05,9.6419e-05,1.0318e-01,5.4923e-03
+20,1.5650e+01,DOWN_FORCE_DETACH,3.7112e-03,4.5223e-02,1.5631e-01,2.5394e+00,-4.7642e-02,3.9877e-02,2.6631e-04,1.3977e-03,7.4644e-02,8.3941e-02,-5.2322e-03,8.3931e-06,1.3179e-04,1.1234e-01,5.2338e-03
+21,1.6317e+01,DOWN_FORCE_DETACH,3.8971e-03,5.2021e-02,1.7213e-01,2.5091e+00,-4.8782e-02,4.0395e-02,2.6026e-04,8.1962e-03,9.0463e-02,5.3651e-02,-6.3717e-03,5.2623e-04,1.2574e-04,1.0550e-01,6.3946e-03
+22,1.7150e+01,DOWN_FORCE_DETACH,4.0829e-03,5.1206e-02,1.8079e-01,2.5104e+00,-4.9386e-02,4.0347e-02,2.2119e-04,7.3807e-03,9.9123e-02,5.4953e-02,-6.9758e-03,4.7784e-04,8.6669e-05,1.1358e-01,6.9926e-03
+23,1.7867e+01,DOWN_FORCE_DETACH,4.2691e-03,5.3258e-02,1.7009e-01,2.5012e+00,-4.8620e-02,4.0510e-02,1.6542e-04,9.4333e-03,8.8423e-02,4.5775e-02,-6.2104e-03,6.4067e-04,3.0898e-05,1.0001e-01,6.2434e-03
+24,1.8750e+01,DOWN_FORCE_DETACH,4.4545e-03,5.1484e-02,1.8679e-01,2.5099e+00,-4.9748e-02,4.0381e-02,1.1283e-04,7.6594e-03,1.0512e-01,5.4495e-02,-7.3385e-03,5.1143e-04,-2.1693e-05,1.1866e-01,7.3564e-03
+25,1.9500e+01,DOWN_FORCE_DETACH,4.6388e-03,5.3764e-02,1.8519e-01,2.5303e+00,-4.9604e-02,4.0519e-02,7.0135e-05,9.9389e-03,1.0352e-01,7.4880e-02,-7.1940e-03,6.4942e-04,-6.4388e-05,1.2815e-01,7.2235e-03
+26,2.0183e+01,DOWN_FORCE_DETACH,4.8274e-03,5.0593e-02,1.9519e-01,2.5282e+00,-5.0291e-02,4.0292e-02,4.9024e-05,6.7682e-03,1.1352e-01,7.2725e-02,-7.8812e-03,4.2248e-04,-8.5499e-05,1.3499e-01,7.8930e-03
+27,2.0933e+01,DOWN_FORCE_DETACH,5.0087e-03,5.6010e-02,1.9532e-01,2.5454e+00,-5.0282e-02,4.0649e-02,2.8558e-05,1.2185e-02,1.1365e-01,8.9931e-02,-7.8718e-03,7.7996e-04,-1.0596e-04,1.4544e-01,7.9111e-03
+28,2.1650e+01,DOWN_FORCE_DETACH,5.1943e-03,5.7573e-02,1.9986e-01,2.5568e+00,-5.0583e-02,4.0743e-02,2.0959e-05,1.3749e-02,1.1819e-01,1.0132e-01,-8.1727e-03,8.7357e-04,-1.1356e-04,1.5628e-01,8.2200e-03
+29,2.2467e+01,DOWN_FORCE_DETACH,5.3822e-03,5.9123e-02,2.0661e-01,2.5724e+00,-5.1018e-02,4.0834e-02,2.0884e-05,1.5298e-02,1.2495e-01,1.1699e-01,-8.6077e-03,9.6539e-04,-1.1364e-04,1.7185e-01,8.6624e-03
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+41,3.0900e+01,DOWN_FORCE_DETACH,7.6107e-03,6.4346e-02,2.8437e-01,2.6667e+00,-5.5927e-02,4.1052e-02,2.8911e-04,2.0522e-02,2.0270e-01,2.1128e-01,-1.3517e-02,1.1826e-03,1.5459e-04,2.9351e-01,1.3570e-02
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+49,3.4950e+01,DOWN_FORCE_DETACH,9.0942e-03,7.8659e-02,3.4204e-01,2.8019e+00,-5.9032e-02,4.1874e-02,-1.2986e-04,3.4835e-02,2.6038e-01,3.4641e-01,-1.6622e-02,2.0050e-03,-2.6438e-04,4.3475e-01,1.6745e-02
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Part2/Fixed/digit/ball_15A_12.5/press_depth_04/up/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_15A_12.5/press_depth_04/up/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_04/up/franka_data.csv ADDED Viewed

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Part2/Fixed/digit/ball_15A_12.5/press_depth_04/up/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_04/up/real_sim_motion_alignment.csv ADDED Viewed

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

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+8,1.150000000e+00,WAIT_W2,1792838071453097810,2.316260255e-07,-6.435247592e-05,4.274561813e-06,3.070001514e-07,-6.424487675e-05,4.360621632e-06,5.200451912e-07,-6.443332785e-05,4.259596999e-06,7.019558644e-01,-8.662321094e-05,8.601473618e-01,7.019559398e-01,-8.651561177e-05,8.601474479e-01,7.027456072e-01,-1.829591111e-04,8.303301203e-01
+9,1.166666667e+00,WAIT_W2,1792838071469322685,-1.924079551e-08,-1.169042749e-04,7.288307464e-06,1.227722296e-07,-1.169407078e-04,7.462708961e-06,3.434940641e-07,-1.173597222e-04,7.378659845e-06,7.019556136e-01,-1.391750099e-04,8.601503755e-01,7.019557556e-01,-1.392114428e-04,8.601505499e-01,7.027454307e-01,-2.358855055e-04,8.303332394e-01
+10,1.166666667e+00,WAIT_W2,1792838071469322685,-1.924079551e-08,-1.169042749e-04,7.288307464e-06,1.227722296e-07,-1.169407078e-04,7.462708961e-06,3.434940641e-07,-1.173597222e-04,7.378659845e-06,7.019556136e-01,-1.391750099e-04,8.601503755e-01,7.019557556e-01,-1.392114428e-04,8.601505499e-01,7.027454307e-01,-2.358855055e-04,8.303332394e-01
+11,1.183333333e+00,WAIT_W2,1792838071485723275,1.347354544e-06,-1.708432501e-04,1.079019238e-05,1.220990509e-06,-1.706660536e-04,1.033676501e-05,1.560045361e-06,-1.712590253e-04,1.029755525e-05,7.019569802e-01,-1.931139851e-04,8.601538774e-01,7.019568538e-01,-1.929367886e-04,8.601534240e-01,7.027466472e-01,-2.897848085e-04,8.303361583e-01
+12,1.200000000e+00,WAIT_W2,1792838071501964993,5.408519728e-07,-2.286609246e-04,9.090330861e-06,7.182051015e-07,-2.286299305e-04,9.260000617e-06,1.094599685e-06,-2.294638629e-04,9.215393540e-06,7.019561737e-01,-2.509316596e-04,8.601521776e-01,7.019563510e-01,-2.509006655e-04,8.601523472e-01,7.027461818e-01,-3.479896461e-04,8.303350761e-01
+13,1.200000000e+00,WAIT_W2,1792838071501964993,5.408519728e-07,-2.286609246e-04,9.090330861e-06,7.182051015e-07,-2.286299305e-04,9.260000617e-06,1.094599685e-06,-2.294638629e-04,9.215393540e-06,7.019561737e-01,-2.509316596e-04,8.601521776e-01,7.019563510e-01,-2.509006655e-04,8.601523472e-01,7.027461818e-01,-3.479896461e-04,8.303350761e-01
+14,1.216666667e+00,WAIT_W2,1792838071518260693,2.375477688e-06,-3.055163154e-04,1.523840235e-05,2.444117849e-06,-3.054957368e-04,1.530114591e-05,3.021585090e-06,-3.066222613e-04,1.522570824e-05,7.019580083e-01,-3.277870504e-04,8.601583256e-01,7.019580769e-01,-3.277664719e-04,8.601583884e-01,7.027481088e-01,-4.251480445e-04,8.303410864e-01
+15,1.216666667e+00,WAIT_W2,1792838071518260693,2.375477688e-06,-3.055163154e-04,1.523840235e-05,2.444117849e-06,-3.054957368e-04,1.530114591e-05,3.021585090e-06,-3.066222613e-04,1.522570824e-05,7.019580083e-01,-3.277870504e-04,8.601583256e-01,7.019580769e-01,-3.277664719e-04,8.601583884e-01,7.027481088e-01,-4.251480445e-04,8.303410864e-01
+16,1.250000000e+00,WAIT_W2,1792838071551048867,-1.074896056e-06,-3.671052753e-04,1.225298613e-05,-1.114559707e-06,-3.545377965e-04,1.211566309e-05,-8.376651580e-07,-3.559174615e-04,1.209849863e-05,7.019545579e-01,-3.893760103e-04,8.601553402e-01,7.019545183e-01,-3.768085315e-04,8.601552029e-01,7.027442495e-01,-4.744432447e-04,8.303379592e-01
+17,1.283333333e+00,WAIT_W2,1792838071584233333,3.458555454e-06,-3.242293216e-04,1.645709966e-05,3.403170542e-06,-3.243062124e-04,1.644381258e-05,3.998894079e-06,-3.255942181e-04,1.642294617e-05,7.019590914e-01,-3.465000566e-04,8.601595443e-01,7.019590360e-01,-3.465769474e-04,8.601595311e-01,7.027490861e-01,-4.441200013e-04,8.303422837e-01
+18,1.333333333e+00,WAIT_W2,1792838071632957906,1.393010851e-07,-3.435725705e-04,1.436742809e-05,3.403170542e-06,-3.243062124e-04,1.644381258e-05,4.013102328e-06,-3.255928985e-04,1.644263253e-05,7.019557721e-01,-3.658433055e-04,8.601574547e-01,7.019590360e-01,-3.465769474e-04,8.601595311e-01,7.027491003e-01,-4.441186817e-04,8.303423033e-01
+19,1.450000000e+00,WAIT_W2,1792838071747839038,4.881180082e-06,-3.489676513e-04,2.272728850e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.077535653e-06,-3.513607441e-04,2.066518237e-05,7.019605140e-01,-3.712383863e-04,8.601658145e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027491647e-01,-4.698865273e-04,8.303465259e-01
+20,1.616666667e+00,WAIT_W2,1792838071911595629,5.041648301e-06,-3.478891971e-04,2.515471050e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.089818729e-06,-3.513692274e-04,2.069303295e-05,7.019606745e-01,-3.701599321e-04,8.601682419e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027491770e-01,-4.698950106e-04,8.303465537e-01
+21,1.716666667e+00,WAIT_W2,1792838072009914404,5.279233609e-06,-3.496143538e-04,2.537110860e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.096608554e-06,-3.513718519e-04,2.070194482e-05,7.019609121e-01,-3.718850889e-04,8.601684583e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027491838e-01,-4.698976351e-04,8.303465627e-01
+22,1.833333333e+00,WAIT_W2,1792838072124765688,5.913216103e-06,-3.438572952e-04,2.679276143e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.103925362e-06,-3.513741851e-04,2.070861861e-05,7.019615460e-01,-3.661280302e-04,8.601698800e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027491911e-01,-4.698999684e-04,8.303465693e-01
+23,1.983333333e+00,UP_FORCE_RAMP,1792838072272057497,7.539136194e-06,-3.481180718e-04,2.794498248e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.112560078e-06,-3.513765954e-04,2.071354577e-05,7.019631720e-01,-3.703888068e-04,8.601710322e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027491997e-01,-4.699023786e-04,8.303465743e-01
+24,2.133333333e+00,UP_FORCE_RAMP,1792838072419195654,6.462389031e-06,-3.503720909e-04,2.814284364e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.120541922e-06,-3.513786017e-04,2.071595579e-05,7.019620952e-01,-3.726428259e-04,8.601712301e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027492077e-01,-4.699043849e-04,8.303465767e-01
+25,2.316666667e+00,UP_FORCE_RAMP,1792838072599705502,7.988549459e-06,-3.496942311e-04,3.264714135e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.129632867e-06,-3.513806955e-04,2.071690636e-05,7.019636214e-01,-3.719649662e-04,8.601757344e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027492168e-01,-4.699064787e-04,8.303465776e-01
+26,2.483333333e+00,UP_FORCE_RAMP,1792838072763854666,6.684033395e-06,-3.462240953e-04,3.066250172e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.137400780e-06,-3.513823579e-04,2.071666073e-05,7.019623169e-01,-3.684948303e-04,8.601737497e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027492246e-01,-4.699081411e-04,8.303465774e-01
+27,2.716666667e+00,UP_FORCE_RAMP,1792838072992861855,9.226307071e-06,-3.439209729e-04,3.609605597e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.147604428e-06,-3.513844417e-04,2.071537888e-05,7.019648591e-01,-3.661917079e-04,8.601791833e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027492348e-01,-4.699102249e-04,8.303465761e-01
+28,2.816666667e+00,UP_FORCE_RAMP,1792838073090987774,8.385277621e-06,-3.443285221e-04,3.689376261e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.151782530e-06,-3.513852612e-04,2.071463866e-05,7.019640181e-01,-3.665992571e-04,8.601799810e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027492389e-01,-4.699110444e-04,8.303465754e-01
+29,2.966666667e+00,UP_FORCE_RAMP,1792838073238679209,6.249396273e-06,-3.487709553e-04,3.663828074e-05,1.074780272e-05,-3.469337416e-04,4.305264617e-05,1.234447730e-05,-3.483424881e-04,4.301292008e-05,7.019618822e-01,-3.710416903e-04,8.601797255e-01,7.019663806e-01,-3.692044766e-04,8.601861399e-01,7.027574316e-01,-4.668682714e-04,8.303688736e-01
+30,3.100000000e+00,UP_FORCE_RAMP,1792838073369907597,8.461396930e-06,-3.471763536e-04,4.401807128e-05,1.074780272e-05,-3.469337416e-04,4.305264617e-05,1.236353686e-05,-3.483438800e-04,4.304806993e-05,7.019640942e-01,-3.694470886e-04,8.601871053e-01,7.019663806e-01,-3.692044766e-04,8.601861399e-01,7.027574507e-01,-4.668696633e-04,8.303689088e-01
+31,3.216666667e+00,UP_FORCE_RAMP,1792838073484768719,1.137789917e-05,-3.410849657e-04,5.276793220e-05,1.074780272e-05,-3.469337416e-04,4.305264617e-05,1.237477595e-05,-3.483449501e-04,4.306444605e-05,7.019670107e-01,-3.633557007e-04,8.601958552e-01,7.019663806e-01,-3.692044766e-04,8.601861399e-01,7.027574619e-01,-4.668707333e-04,8.303689252e-01
+32,3.416666667e+00,UP_FORCE_RAMP,1792838073681116978,1.201119304e-05,-3.441944175e-04,6.345314662e-05,1.212366562e-05,-3.442153755e-04,6.323225091e-05,1.409190501e-05,-3.456439094e-04,6.313500509e-05,7.019676440e-01,-3.664651525e-04,8.602065404e-01,7.019677565e-01,-3.664861105e-04,8.602063195e-01,7.027591791e-01,-4.641696927e-04,8.303889957e-01
+33,3.550000000e+00,UP_FORCE_RAMP,1792838073811801344,1.251360349e-05,-3.467879414e-04,7.384038172e-05,1.212366562e-05,-3.442153755e-04,6.323225091e-05,1.410473253e-05,-3.456435453e-04,6.318812083e-05,7.019681464e-01,-3.690586764e-04,8.602169276e-01,7.019677565e-01,-3.664861105e-04,8.602063195e-01,7.027591919e-01,-4.641693285e-04,8.303890488e-01
+34,3.716666667e+00,UP_FORCE_RAMP,1792838073975569775,9.079307941e-06,-3.434175449e-04,8.140855599e-05,1.212366562e-05,-3.442153755e-04,6.323225091e-05,1.411559499e-05,-3.456447877e-04,6.321776525e-05,7.019647121e-01,-3.656882799e-04,8.602244958e-01,7.019677565e-01,-3.664861105e-04,8.602063195e-01,7.027592028e-01,-4.641705710e-04,8.303890785e-01
+35,3.800000000e+00,UP_FORCE_RAMP,1792838074057953943,-2.692346934e-05,-3.409991944e-04,7.515081817e-05,-9.923420976e-06,-3.413438515e-04,7.780935310e-05,-9.328895984e-06,-3.427775445e-04,7.767951448e-05,7.019287093e-01,-3.632699295e-04,8.602182381e-01,7.019457094e-01,-3.636145865e-04,8.602208966e-01,7.027357583e-01,-4.613033277e-04,8.304035402e-01
+36,3.916666667e+00,UP_FORCE_RAMP,1792838074172033412,-2.013582570e-05,-3.415188318e-04,8.935749969e-05,-9.923420976e-06,-3.413438515e-04,7.780935310e-05,-9.361824341e-06,-3.427776432e-04,7.770554270e-05,7.019354970e-01,-3.637895668e-04,8.602324447e-01,7.019457094e-01,-3.636145865e-04,8.602208966e-01,7.027357253e-01,-4.613034265e-04,8.304035663e-01
+37,4.050000000e+00,UP_FORCE_RAMP,1792838074302907467,-1.835942951e-05,-3.343475805e-04,9.806497638e-05,-1.862419626e-05,-3.351767498e-04,9.505195733e-05,-1.847605027e-05,-3.365636795e-04,9.484515771e-05,7.019372734e-01,-3.566183156e-04,8.602411522e-01,7.019370086e-01,-3.574474848e-04,8.602381392e-01,7.027266111e-01,-4.550894627e-04,8.304207059e-01
+38,4.200000000e+00,UP_FORCE_RAMP,1792838074450805433,-1.574268928e-05,-3.354591799e-04,1.125592307e-04,-1.862419626e-05,-3.351767498e-04,9.505195733e-05,-1.849988707e-05,-3.365629631e-04,9.488891217e-05,7.019398901e-01,-3.577299149e-04,8.602556465e-01,7.019370086e-01,-3.574474848e-04,8.602381392e-01,7.027265873e-01,-4.550887463e-04,8.304207496e-01
+39,4.316666667e+00,UP_FORCE_RAMP,1792838074564992515,-1.137131888e-05,-3.364455566e-04,1.284458344e-04,-1.407171548e-05,-3.400484416e-04,1.170440110e-04,-1.339332480e-05,-3.414670205e-04,1.168320253e-04,7.019442615e-01,-3.587162916e-04,8.602715331e-01,7.019415611e-01,-3.623191766e-04,8.602601313e-01,7.027316938e-01,-4.599928037e-04,8.304426927e-01
+40,4.466666667e+00,UP_FORCE_RAMP,1792838074713014557,-8.771791659e-06,-3.380757732e-04,1.419284738e-04,-9.286207447e-06,-3.372362049e-04,1.393384915e-04,-7.975665981e-06,-3.386392569e-04,1.390546123e-04,7.019468610e-01,-3.603465083e-04,8.602850157e-01,7.019463466e-01,-3.595069400e-04,8.602824257e-01,7.027371115e-01,-4.571650401e-04,8.304649153e-01
+41,4.583333333e+00,UP_FORCE_RAMP,1792838074859841061,-8.776532708e-06,-3.441475818e-04,1.539542743e-04,-9.286207447e-06,-3.372362049e-04,1.393384915e-04,-7.969532461e-06,-3.386391762e-04,1.391101316e-04,7.019468563e-01,-3.664183168e-04,8.602970415e-01,7.019463466e-01,-3.595069400e-04,8.602824257e-01,7.027371176e-01,-4.571649594e-04,8.304649708e-01
+42,4.716666667e+00,UP_FORCE_RAMP,1792838074991062755,-9.795424245e-06,-3.383755530e-04,1.640177694e-04,-6.665396503e-06,-3.373721886e-04,1.636449555e-04,-4.847880574e-06,-3.387648164e-04,1.633081619e-04,7.019458374e-01,-3.606462880e-04,8.603071050e-01,7.019489674e-01,-3.596429237e-04,8.603067322e-01,7.027402393e-01,-4.572905997e-04,8.304891689e-01
+43,4.883333333e+00,UP_FORCE_RAMP,1792838075171092087,-9.707517038e-06,-3.378813250e-04,1.831161190e-04,-6.665396503e-06,-3.373721886e-04,1.636449555e-04,-4.839638996e-06,-3.387647130e-04,1.633824677e-04,7.019459253e-01,-3.601520600e-04,8.603262034e-01,7.019489674e-01,-3.596429237e-04,8.603067322e-01,7.027402475e-01,-4.572904962e-04,8.304892432e-01
+44,5.066666667e+00,UP_FORCE_RAMP,1792838075363698155,-1.720621450e-05,-3.312821469e-04,1.960572019e-04,-9.992803117e-06,-3.338803430e-04,1.843263672e-04,-8.162065574e-06,-3.352784917e-04,1.840758344e-04,7.019384266e-01,-3.535528820e-04,8.603391444e-01,7.019456400e-01,-3.561510781e-04,8.603274136e-01,7.027369251e-01,-4.538042749e-04,8.305099365e-01
+45,5.183333333e+00,UP_FORCE_RAMP,1792838075673006516,-2.546567248e-05,-3.311884742e-04,2.249687034e-04,-2.525955905e-05,-3.311592343e-04,2.249712745e-04,-2.407159327e-05,-3.325479384e-04,2.244013677e-04,7.019301671e-01,-3.534592092e-04,8.603680559e-01,7.019303733e-01,-3.534299693e-04,8.603680585e-01,7.027210156e-01,-4.510737216e-04,8.305502621e-01
+46,5.266666667e+00,UP_FORCE_RAMP,1792838075845687630,-2.650865060e-05,-3.328634639e-04,2.409567994e-04,-2.525955905e-05,-3.311592343e-04,2.249712745e-04,-2.409316729e-05,-3.325477103e-04,2.244727308e-04,7.019291242e-01,-3.551341989e-04,8.603840440e-01,7.019303733e-01,-3.534299693e-04,8.603680585e-01,7.027209940e-01,-4.510734935e-04,8.305503334e-01
+47,5.433333333e+00,UP_FORCE_HOLD,1792838076137710362,-2.910778261e-05,-3.327230389e-04,2.644984101e-04,-2.769748897e-05,-3.304342322e-04,2.491207430e-04,-2.638307433e-05,-3.318279667e-04,2.486147230e-04,7.019265250e-01,-3.549937740e-04,8.604075856e-01,7.019279353e-01,-3.527049672e-04,8.603922080e-01,7.027187041e-01,-4.503537499e-04,8.305744754e-01
+48,5.616666667e+00,UP_SETTLE,1792838076334789844,-3.014905672e-05,-3.289276205e-04,2.759309514e-04,-2.884893306e-05,-3.301732762e-04,2.718485686e-04,-2.737654827e-05,-3.315638936e-04,2.713232560e-04,7.019254838e-01,-3.511983556e-04,8.604190182e-01,7.019267839e-01,-3.524440112e-04,8.604149358e-01,7.027177106e-01,-4.500896768e-04,8.305971840e-01
+49,5.800000000e+00,UP_SETTLE,1792838076514740676,-3.128898801e-05,-3.297814450e-04,2.901554525e-04,-2.884893306e-05,-3.301732762e-04,2.718485686e-04,-2.738676583e-05,-3.315632603e-04,2.714102354e-04,7.019243438e-01,-3.520521800e-04,8.604332427e-01,7.019267839e-01,-3.524440112e-04,8.604149358e-01,7.027177004e-01,-4.500890435e-04,8.305972709e-01
+50,5.983333333e+00,UP_SETTLE,1792838076711566657,-3.298332881e-05,-3.277157788e-04,3.057319307e-04,-3.108349727e-05,-3.275901557e-04,2.920004058e-04,-2.949710635e-05,-3.289586757e-04,2.915171062e-04,7.019226495e-01,-3.499865138e-04,8.604488192e-01,7.019245493e-01,-3.498608908e-04,8.604350876e-01,7.027155901e-01,-4.474844589e-04,8.306173778e-01
+51,6.033333333e+00,UP_SETTLE,1792838076760472753,-4.779188734e-05,-3.309606773e-04,3.029936007e-04,-4.765682035e-05,-3.314209074e-04,3.027395486e-04,-4.712528991e-05,-3.328068557e-04,3.021724065e-04,7.019078409e-01,-3.532314124e-04,8.604460808e-01,7.019079760e-01,-3.536916425e-04,8.604458268e-01,7.026979619e-01,-4.513326389e-04,8.306280331e-01
+52,6.066666667e+00,UP_SETTLE,1792838076799600771,-7.237963457e-05,-3.381664411e-04,2.798384926e-04,-7.169445888e-05,-3.305776412e-04,2.831110353e-04,-7.321318524e-05,-3.319798368e-04,2.825993530e-04,7.018832532e-01,-3.604371761e-04,8.604229257e-01,7.018839384e-01,-3.528483762e-04,8.604261983e-01,7.026718740e-01,-4.505056200e-04,8.306084601e-01
+53,6.100000000e+00,UP_SETTLE,1792838076859755433,-6.847373813e-05,-3.337191210e-04,2.952379608e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.645008025e-05,-3.343510391e-04,3.074849834e-04,7.018871591e-01,-3.559898560e-04,8.604383252e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026886371e-01,-4.528768224e-04,8.306333457e-01
+54,6.250000000e+00,UP_SETTLE,1792838077006218746,-6.493830920e-05,-3.347508709e-04,3.045588029e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.648620067e-05,-3.343501235e-04,3.075592634e-04,7.018906945e-01,-3.570216060e-04,8.604476460e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026886010e-01,-4.528759067e-04,8.306334200e-01
+55,6.366666667e+00,UP_SETTLE,1792838077120464847,-6.527614222e-05,-3.344546798e-04,3.094894533e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.650436695e-05,-3.343492993e-04,3.075966794e-04,7.018903567e-01,-3.567254148e-04,8.604525767e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026885828e-01,-4.528750825e-04,8.306334574e-01
+56,6.583333333e+00,UP_SETTLE,1792838077333954855,-6.814866571e-05,-3.356931977e-04,3.133029526e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.652653385e-05,-3.343471585e-04,3.076482378e-04,7.018874842e-01,-3.579639327e-04,8.604563902e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026885606e-01,-4.528729418e-04,8.306335090e-01
+57,6.766666667e+00,UP_SETTLE,1792838077513873355,-6.675217834e-05,-3.320930065e-04,3.208088470e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.653924743e-05,-3.343450077e-04,3.076820540e-04,7.018888806e-01,-3.543637415e-04,8.604638961e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026885479e-01,-4.528707909e-04,8.306335428e-01
+58,6.966666667e+00,UP_SETTLE,1792838077710122701,-6.684468339e-05,-3.286425718e-04,3.244563497e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.654995449e-05,-3.343425075e-04,3.077129660e-04,7.018887881e-01,-3.509133068e-04,8.604675436e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026885372e-01,-4.528682907e-04,8.306335737e-01
+59,7.133333333e+00,UP_SETTLE,1792838077873946191,-6.818281015e-05,-3.343406086e-04,3.250909275e-04,-6.578170912e-05,-3.357894142e-04,3.252240796e-04,-6.648971872e-05,-3.371702347e-04,3.247776756e-04,7.018874500e-01,-3.566113436e-04,8.604681782e-01,7.018898511e-01,-3.580601493e-04,8.604683113e-01,7.026785974e-01,-4.556960179e-04,8.306506384e-01

Part2/Fixed/digit/ball_15A_12.5/press_depth_04/up/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,4.4274e-02,8.1660e-02,2.4554e+00,-4.2409e-02,3.9901e-02,1.3381e-04,4.3967e-04,-4.9099e-06,-3.4809e-05,1.1474e-06,3.1058e-05,-5.7684e-07,4.4107e-04,3.1084e-05
+1,1.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.8194e-05,4.8693e-02,8.1589e-02,2.4551e+00,-4.2396e-02,4.0213e-02,1.2762e-04,4.8590e-03,-7.5832e-05,-3.8481e-04,1.3869e-05,3.4324e-04,-6.7706e-06,4.8748e-03,3.4359e-04
+2,3.3333e-01,WAIT_W2,7.5329e-05,5.1809e-02,8.1522e-02,2.4548e+00,-4.2386e-02,4.0433e-02,1.2268e-04,7.9746e-03,-1.4298e-04,-6.4135e-04,2.3637e-05,5.6340e-04,-1.1712e-05,8.0017e-03,5.6402e-04
+3,5.3333e-01,WAIT_W2,1.1239e-04,5.5385e-02,8.1425e-02,2.4545e+00,-4.2374e-02,4.0686e-02,1.1622e-04,1.1550e-02,-2.3926e-04,-9.5320e-04,3.5681e-05,8.1608e-04,-1.8176e-05,1.1592e-02,8.1706e-04
+4,7.0000e-01,WAIT_W2,1.5253e-04,5.7940e-02,8.1343e-02,2.4543e+00,-4.2365e-02,4.0866e-02,1.1096e-04,1.4106e-02,-3.2173e-04,-1.1890e-03,4.4834e-05,9.9669e-04,-2.3432e-05,1.4160e-02,9.9797e-04
+5,8.8333e-01,WAIT_W2,1.8607e-04,6.0377e-02,8.1252e-02,2.4540e+00,-4.2356e-02,4.1039e-02,1.0535e-04,1.6542e-02,-4.1220e-04,-1.4255e-03,5.4013e-05,1.1688e-03,-2.9045e-05,1.6609e-02,1.1704e-03
+6,1.0500e+00,WAIT_W2,2.2308e-04,6.2296e-02,8.1172e-02,2.4538e+00,-4.2348e-02,4.1174e-02,1.0042e-04,1.8462e-02,-4.9278e-04,-1.6220e-03,6.1601e-05,1.3045e-03,-3.3971e-05,1.8539e-02,1.3064e-03
+7,1.1333e+00,WAIT_W2,2.5789e-04,6.3162e-02,8.1133e-02,2.4537e+00,-4.2345e-02,4.1235e-02,9.8026e-05,1.9328e-02,-5.3211e-04,-1.7142e-03,6.5133e-05,1.3657e-03,-3.6366e-05,1.9411e-02,1.3677e-03
+8,1.1500e+00,WAIT_W2,3.0051e-04,6.9119e-02,1.3347e-01,2.4550e+00,-4.5992e-02,4.1652e-02,1.1616e-04,2.5285e-02,5.1809e-02,-4.5967e-04,-3.5823e-03,1.7827e-03,-1.8229e-05,5.7652e-02,4.0014e-03
+9,1.1667e+00,WAIT_W2,3.5315e-04,6.5272e-02,2.3172e-01,2.4490e+00,-5.2851e-02,4.1386e-02,1.5614e-04,2.1437e-02,1.5005e-01,-6.4480e-03,-1.0441e-02,1.5165e-03,2.1749e-05,1.5171e-01,1.0551e-02
+10,1.1667e+00,WAIT_W2,3.5315e-04,6.5272e-02,2.3172e-01,2.4490e+00,-5.2851e-02,4.1386e-02,1.5614e-04,2.1437e-02,1.5005e-01,-6.4480e-03,-1.0441e-02,1.5165e-03,2.1749e-05,1.5171e-01,1.0551e-02
+11,1.1833e+00,WAIT_W2,4.0722e-04,6.8888e-02,3.5305e-01,2.4466e+00,-6.1327e-02,4.1639e-02,2.0187e-04,2.5054e-02,2.7138e-01,-8.8582e-03,-1.8918e-02,1.7689e-03,6.7481e-05,2.7268e-01,1.9000e-02
+12,1.2000e+00,WAIT_W2,4.6507e-04,7.1007e-02,4.7920e-01,2.4454e+00,-7.0147e-02,4.1788e-02,2.5277e-04,2.7173e-02,3.9754e-01,-1.0067e-02,-2.7738e-02,1.9184e-03,1.1838e-04,3.9859e-01,2.7804e-02
+13,1.2000e+00,WAIT_W2,4.6507e-04,7.1007e-02,4.7920e-01,2.4454e+00,-7.0147e-02,4.1788e-02,2.5277e-04,2.7173e-02,3.9754e-01,-1.0067e-02,-2.7738e-02,1.9184e-03,1.1838e-04,3.9859e-01,2.7804e-02
+14,1.2167e+00,WAIT_W2,5.4219e-04,7.6759e-02,6.1097e-01,2.4505e+00,-7.9357e-02,4.2187e-02,3.0247e-04,3.2924e-02,5.2931e-01,-4.9527e-03,-3.6947e-02,2.3173e-03,1.6808e-04,5.3036e-01,3.7020e-02
+15,1.2167e+00,WAIT_W2,5.4219e-04,7.6759e-02,6.1097e-01,2.4505e+00,-7.9357e-02,4.2187e-02,3.0247e-04,3.2924e-02,5.2931e-01,-4.9527e-03,-3.6947e-02,2.3173e-03,1.6808e-04,5.3036e-01,3.7020e-02
+16,1.2500e+00,WAIT_W2,6.0399e-04,9.1035e-02,8.8901e-01,2.4588e+00,-9.8850e-02,4.3187e-02,4.1195e-04,4.7201e-02,8.0734e-01,3.3627e-03,-5.6440e-02,3.3172e-03,2.7756e-04,8.0873e-01,5.6538e-02
+17,1.2833e+00,WAIT_W2,6.4786e-04,8.9970e-02,8.8518e-01,2.4636e+00,-9.8636e-02,4.3113e-02,3.9613e-04,4.6136e-02,8.0351e-01,8.1906e-03,-5.6226e-02,3.2435e-03,2.6174e-04,8.0488e-01,5.6320e-02
+18,1.3333e+00,WAIT_W2,6.7856e-04,8.1721e-02,8.1517e-01,2.4600e+00,-9.3798e-02,4.2538e-02,3.6631e-04,3.7887e-02,7.3351e-01,4.5087e-03,-5.1388e-02,2.6678e-03,2.3191e-04,7.3450e-01,5.1458e-02
+19,1.4500e+00,WAIT_W2,7.1406e-04,8.5858e-02,8.7004e-01,2.4637e+00,-9.7724e-02,4.2832e-02,3.7171e-04,4.2024e-02,7.8837e-01,8.2550e-03,-5.5314e-02,2.9623e-03,2.3732e-04,7.8953e-01,5.5394e-02
+20,1.6167e+00,WAIT_W2,7.4620e-04,8.7989e-02,8.6840e-01,2.4691e+00,-9.7673e-02,4.2981e-02,3.4580e-04,4.4155e-02,7.8673e-01,1.3659e-02,-5.5263e-02,3.1117e-03,2.1141e-04,7.8809e-01,5.5351e-02
+21,1.7167e+00,WAIT_W2,7.8784e-04,8.9169e-02,8.6791e-01,2.4708e+00,-9.7663e-02,4.3065e-02,3.3196e-04,4.5335e-02,7.8625e-01,1.5362e-02,-5.5253e-02,3.1949e-03,1.9757e-04,7.8771e-01,5.5346e-02
+22,1.8333e+00,WAIT_W2,8.2566e-04,9.0440e-02,8.6750e-01,2.4721e+00,-9.7654e-02,4.3154e-02,3.1665e-04,4.6606e-02,7.8584e-01,1.6636e-02,-5.5244e-02,3.2847e-03,1.8226e-04,7.8740e-01,5.5342e-02
+23,1.9833e+00,UP_FORCE_RAMP,8.6105e-04,9.1936e-02,8.6710e-01,2.4730e+00,-9.7644e-02,4.3260e-02,2.9790e-04,4.8102e-02,7.8544e-01,1.7578e-02,-5.5234e-02,3.3907e-03,1.6351e-04,7.8710e-01,5.5339e-02
+24,2.1333e+00,UP_FORCE_RAMP,8.9524e-04,9.3316e-02,8.6678e-01,2.4735e+00,-9.7634e-02,4.3358e-02,2.8005e-04,4.9482e-02,7.8511e-01,1.8042e-02,-5.5224e-02,3.4886e-03,1.4566e-04,7.8688e-01,5.5335e-02
+25,2.3167e+00,UP_FORCE_RAMP,9.3882e-04,9.4884e-02,8.6645e-01,2.4737e+00,-9.7623e-02,4.3470e-02,2.5933e-04,5.1050e-02,7.8479e-01,1.8232e-02,-5.5213e-02,3.6001e-03,1.2494e-04,7.8666e-01,5.5330e-02
+26,2.4833e+00,UP_FORCE_RAMP,9.7323e-04,9.6222e-02,8.6620e-01,2.4736e+00,-9.7612e-02,4.3565e-02,2.4149e-04,5.2388e-02,7.8454e-01,1.8197e-02,-5.5203e-02,3.6952e-03,1.0709e-04,7.8649e-01,5.5326e-02
+27,2.7167e+00,UP_FORCE_RAMP,1.0107e-03,9.7983e-02,8.6589e-01,2.4734e+00,-9.7599e-02,4.3690e-02,2.1794e-04,5.4149e-02,7.8422e-01,1.7970e-02,-5.5189e-02,3.8205e-03,8.3545e-05,7.8630e-01,5.5321e-02
+28,2.8167e+00,UP_FORCE_RAMP,1.0487e-03,9.8702e-02,8.6576e-01,2.4733e+00,-9.7593e-02,4.3741e-02,2.0831e-04,5.4868e-02,7.8410e-01,1.7837e-02,-5.5183e-02,3.8716e-03,7.3921e-05,7.8622e-01,5.5319e-02
+29,2.9667e+00,UP_FORCE_RAMP,1.0834e-03,9.0134e-02,8.5655e-01,2.4466e+00,-9.7046e-02,4.3166e-02,2.1765e-04,4.6299e-02,7.7488e-01,-8.7976e-03,-5.4636e-02,3.2960e-03,8.3260e-05,7.7632e-01,5.4735e-02
+30,3.1000e+00,UP_FORCE_RAMP,1.1224e-03,9.3764e-02,8.5633e-01,2.4539e+00,-9.7055e-02,4.3417e-02,2.1452e-04,4.9930e-02,7.7466e-01,-1.5507e-03,-5.4645e-02,3.5476e-03,8.0133e-05,7.7627e-01,5.4760e-02
+31,3.2167e+00,UP_FORCE_RAMP,1.1602e-03,9.5775e-02,8.5615e-01,2.4570e+00,-9.7053e-02,4.3557e-02,2.0861e-04,5.1941e-02,7.7448e-01,1.5395e-03,-5.4643e-02,3.6873e-03,7.4213e-05,7.7622e-01,5.4768e-02
+32,3.4167e+00,UP_FORCE_RAMP,1.1981e-03,9.8347e-02,8.5591e-01,2.4600e+00,-9.7044e-02,4.3736e-02,1.9558e-04,5.4513e-02,7.7424e-01,4.5896e-03,-5.4635e-02,3.8661e-03,6.1184e-05,7.7617e-01,5.4771e-02
+33,3.5500e+00,UP_FORCE_RAMP,1.2358e-03,9.7905e-02,8.4830e-01,2.4431e+00,-9.6614e-02,4.3725e-02,1.9043e-04,5.4071e-02,7.6664e-01,-1.2390e-02,-5.4204e-02,3.8555e-03,5.6041e-05,7.6864e-01,5.4341e-02
+34,3.7167e+00,UP_FORCE_RAMP,1.2727e-03,9.9822e-02,8.4809e-01,2.4486e+00,-9.6610e-02,4.3856e-02,1.8001e-04,5.5988e-02,7.6643e-01,-6.8374e-03,-5.4201e-02,3.9859e-03,4.5614e-05,7.6850e-01,5.4347e-02
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Part2/Fixed/digit/ball_15A_12.5/press_depth_05/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_15A_12.5/press_depth_05/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_05/down/franka_data.csv ADDED Viewed

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

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+27944,1792838141120979978,16820533000000,1792838141116654336,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.675939033155674,-0.004801931944533473,0.10663771788937584,0.999999955213472,1.2067564321518422e-05,-0.0002457139452981379,0.00014316057186056493,0.6761,-0.0046,0.10682091683313154,1.0,0.0,0.0,0.0,-0.09030751420667393,-0.01699806893198519,0.29529706302685965,-0.0009293972474601758,0.006061784796531293,-0.00016278253096321967,0.635530917808539,0.7906347634006019,0.5300084686719652,0.06045332513705794,-0.04991347801116816,0.00059059126591418,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.34456847882017566,0.9506498223537286,0.8296555488784603,0.0998970727805712,-0.5324964378450863,0.5272612389232679,1.6213854171166837,-0.29529706302685965,0.7917298682382234,0.7917298682382234,0.8339712805684177,0,0,-5.208479375525452e-05,1.409190867698355e-05
+28058,1792838142070961371,16821483000000,1792838142064664170,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6759371757376929,-0.004802038404842741,0.10660604154363403,0.9999999537235877,1.7506007283437557e-05,-0.0002482141647767138,0.00014858988869849242,0.6761,-0.0046,0.10677321112887966,1.0,0.0,0.0,0.0,-0.09839319185064088,-0.01747518296208994,0.38329932565557534,-0.0009735220522083948,0.007056008674099883,-0.00021911398810322712,0.627445240164572,0.7901576493704972,0.6180107313006808,0.06040920033230972,-0.04891925413359957,0.0005342598087741726,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.39729179292182903,0.8297917110191706,0.753645708596622,0.13953841627790597,-0.4695307548421268,0.446722033577319,1.6213854171166837,-0.38329932565557534,0.8677397085200617,0.8677397085200617,0.976471280568402,0,0,-5.187385431901082e-05,-9.843833667500518e-05
+28170,1792838143004986009,16822417000000,1792838143004653910,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.675942095261369,-0.004805933480800701,0.10656789159214321,0.9999999555623901,1.6859664197285387e-05,-0.00023491398389894588,0.00015763646204845622,0.6761,-0.0046,0.10671582833321056,1.0,0.0,0.0,0.0,-0.11891169471775909,-0.022631087766060376,0.4721717780967206,-0.0010221757490015554,0.008049590266405567,9.698987371647809e-05,0.6069267372974538,0.7850017445665267,0.7068831837418261,0.06036054663551656,-0.04792567254129389,0.0008503636705938778,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.4534311226787768,0.8491648599968079,0.6486061624722691,0.13584723920500616,-0.38832900813574306,0.45576862695761466,1.6213854171166837,-0.4721717780967206,0.9727792546444146,0.9727792546444146,1.1165712805684729,0,0,-7.29836784438539e-05,-9.999999025923074e-05
+28270,1792838143837985733,16823250000000,1792838143832664463,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6759522534767408,-0.004808643720775919,0.1065283115234747,0.9999999588473392,1.691413734168001e-05,-0.00021182396909829023,0.00016909376836488535,0.6761,-0.0046,0.10665010658951778,1.0,0.0,0.0,0.0,-0.14710018794827007,-0.023824610081214836,0.5761079342292938,-0.0011024258242109813,0.010050456695314312,0.0006935238253685816,0.5787382440669429,0.7838082222513723,0.8108193398743994,0.06028029656030713,-0.04592480611238514,0.0014468976222459812,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.5009574921146781,0.9351637879344091,0.41199860376111525,0.11294661405613032,-0.22790365632086373,0.5162836023046901,1.6213854171166837,-0.5761079342292938,1.2093868133555685,1.2093868133555685,1.2415212805685516,0,0,-7.889474295111475e-05,9.884571913610358e-05
+28364,1792838144620992870,16824033000000,1792838144616663752,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6759568353027925,-0.004810318092031364,0.10647938364038126,0.9999999597018511,1.7435261421801197e-05,-0.00020191601660738917,0.00017596901613092583,0.6761,-0.0046,0.10658749532778238,1.0,0.0,0.0,0.0,-0.16599739098282051,-0.04013617548950077,0.7064524040000566,-0.0011667372888131688,0.011648426842163363,0.0006073683709153723,0.5598410410323924,0.7674966568430863,0.9411638096451621,0.060215985095704944,-0.04432683596553609,0.001360742167792772,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.5299340260105306,0.8386643255581481,0.242147570007873,0.14152163750014857,-0.10946741980312276,0.44922477209696043,1.6213854171166837,-0.7064524040000566,1.3792378471088107,1.3792378471088107,1.3589712805686256,0,0,-7.614326294894257e-05,9.999381464365626e-05
+28473,1792838145530044285,16824942000000,1792838145524664253,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6759624236777924,-0.004814845388051779,0.10643131502675038,0.9999999604814701,1.2554024779079088e-05,-0.00018982446863894227,0.00018517286569419438,0.6761,-0.0046,0.106527036824254,1.0,0.0,0.0,0.0,-0.176380229936274,-0.028794004273975826,0.8168254024635547,-0.0012379827023341894,0.013039513070850245,0.000542594535179527,0.5494582020789389,0.7788388280586113,1.0515368081086602,0.06014473968218392,-0.04293574973684921,0.0012959683320569266,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.5454236885779238,0.9516578321386401,0.2094057999710163,0.10649457311551119,-0.08478941011764748,0.5224650084701308,1.6213854171166837,-0.8168254024635547,1.4119796171456673,1.4119796171456673,1.4953212805687115,0,0,-5.938099057886526e-05,-9.999860248044996e-05
+28579,1792838146413045886,16825825000000,1792838146412663762,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6759639910794355,-0.004819749036529854,0.10639198022595962,0.999999960638469,6.968774964401473e-06,-0.00018512480954875577,0.0001893308377894604,0.6761,-0.0046,0.1064755483739607,1.0,0.0,0.0,0.0,-0.19167298766334762,-0.04545683345218898,0.9161919586455197,-0.001285861173203201,0.013155731125684383,0.0004567263757249277,0.5341654443518653,0.7621759988803981,1.1509033642906252,0.06009686121131491,-0.04281953168201507,0.0012101001726023274,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.5752544347032155,0.8460466670010185,0.06718699438876465,0.13942467730456423,0.014476320205646893,0.4499022586509991,1.6213854171166837,-0.9161919586455197,1.554198422727919,1.554198422727919,1.627771280568795,0,0,-6.079273582734602e-05,-9.999863023602557e-05
+28677,1792838147230023680,16826642000000,1792838147228664282,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6759717095299277,-0.004817588765670207,0.10635462755442662,0.9999999624613517,9.736699210619493e-06,-0.00017257037397002767,0.0001914283739697371,0.6761,-0.0046,0.10642090513122712,1.0,0.0,0.0,0.0,-0.20477180704102893,-0.03226092244818346,0.996426988470236,-0.0013209474372850583,0.015027452879055332,0.0004250008548986556,0.521066624974184,0.7753719098844036,1.2311383941153415,0.060061774947233054,-0.04094780992864412,0.0011783746517760553,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.6052601416270513,0.9460356077623061,-0.04232614910861239,0.10725975610062385,0.08997484142394466,0.5201748276672372,1.6213854171166837,-0.996426988470236,1.6637115662252961,1.6637115662252961,1.7503212805688722,0,0,-7.537367836404763e-05,-6.289821027761206e-05
+28728,1792838147655001743,16827067000000,1792838147652654703,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6760197569580066,-0.004812566652637941,0.10636491260842078,0.9999999695639209,1.2061010280986667e-05,-0.00011816338358347378,0.00019546602880337525,0.6761,-0.0046,0.10638445038938871,1.0,0.0,0.0,0.0,-0.25865334421293357,0.042447905342328784,0.9691604434731195,0.004702275654591054,0.018969126077265475,0.0005729820741991261,0.46718508780227935,0.8500807376749159,1.203871849118225,0.06608499803910917,-0.03700613673043398,0.0013263558710765258,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.8009390277052719,0.8032503245710705,-0.007313084813189675,0.15614234873455782,0.0996202170533955,0.42461550341518306,1.6213854171166837,-0.9691604434731195,1.6286985019298734,1.6286985019298734,1.8140712805689123,0,0,-9.640407688390885e-05,-9.999999025923074e-05
+28787,1792838148146096444,16827558000000,1792838148140663973,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6760310586694206,-0.004793123405563582,0.10632923491194571,0.9999999805876698,-0.00014114478135139803,-8.326823463826077e-05,5.841297779673523e-05,0.6761,-0.0046,0.10633169348496645,1.0,0.0,0.0,0.0,-0.1936444953948281,0.1458159722593454,1.0527246778600365,0.01193722997161456,0.01475951859106072,0.0005613167820468839,0.5321939366203848,0.9534488045919325,1.287436083505142,0.07331995235613267,-0.04121574421663873,0.0013146905789242836,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.8145105955134881,0.9641586770931264,-0.0801460268028672,-0.10226708426687875,0.1903636557873509,0.5806379733881143,1.6213854171166837,-1.0527246778600365,1.701531443919551,1.701531443919551,1.8877212805689587,0,0,-0.00011943218047458094,-9.999999025923074e-05
+28873,1792838148863039321,16828275000000,1792838148856654845,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6760332196132853,-0.004803472499697413,0.10625270512405256,0.9999999801565551,-0.00013394194229962139,-7.926203064997925e-05,8.310740234688566e-05,0.6761,-0.0046,0.10623467940036678,1.0,0.0,0.0,0.0,-0.22174723291006682,0.11955399316933613,1.238473665354249,0.010824577256780363,0.0167711182343318,0.0014128239248548653,0.5040911991051461,0.9271868255019232,1.4731850709993544,0.07220729964129848,-0.039204144573367655,0.002166197721732265,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.9282809882809487,0.9457397314822226,-0.256449198129806,-0.015931278139960987,0.3232146824637212,0.5539217261798184,1.6213854171166837,-1.238473665354249,1.8778346152464898,1.8778346152464898,1.9952712805690265,0,0,-0.00014246089386951366,1.5524196792622504e-05
+28960,1792838149588037350,16829000000000,1792838149580665221,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6760469906471953,-0.004809006935965222,0.10618633156291798,0.9999999812349802,-0.0001221697034141413,-5.769169451632656e-05,0.00010353325772027641,0.6761,-0.0046,0.10614241307370623,1.0,0.0,0.0,0.0,-0.2506116202600697,0.11431257982982124,1.4130008137245897,0.009716697308904482,0.01877014831633119,0.001300175673135258,0.4752268117551432,0.9219454121624083,1.6477122193696951,0.0710994196934226,-0.03720511449136826,0.0020535494700126577,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.9545779812897259,0.794646635667674,-0.49785811824669013,0.12839238326763694,0.46393086117850085,0.43348933984491334,1.6213854171166837,-1.4130008137245897,2.119243535363374,2.119243535363374,2.104021280569095,0,0,-0.00010945086828942496,9.999999025923074e-05
+29054,1792838150371067422,16829783000000,1792838150368663964,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6760597065667558,-0.004810226344959523,0.10613578492146439,0.9999999814064937,-0.00012045464779254138,-3.892241942724396e-05,0.0001122746605374043,0.6761,-0.0046,0.10607184676640355,1.0,0.0,0.0,0.0,-0.2880593036541598,0.11982670503897386,1.5237501241168174,0.010661365273835655,0.020754467723605563,0.0012491902098026905,0.4377791283610531,0.927459537371561,1.7584615297619228,0.07204408765835377,-0.03522079508409389,0.00200256400668009,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.0402061438523655,0.8269755028006813,-0.6057297031452825,0.1818251652620898,0.5428977605432447,0.44149153370323113,1.6213854171166837,-1.5237501241168174,2.227115120261966,2.227115120261966,2.221471280569169,0,0,-7.144343564383237e-05,9.999999025923074e-05
+29158,1792838151238016986,16830650000000,1792838151236654923,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.676068062141042,-0.00481192395373581,0.10610222794004105,0.9999999795823709,-0.00015625732641677336,-2.3670817323356505e-05,8.544859581126342e-05,0.6761,-0.0046,0.10602807489440125,1.0,0.0,0.0,0.0,-0.2796155161646722,0.15363209036408487,1.604803506816816,0.012689745641077207,0.020696799172390833,0.0012077743221123145,0.44622291585054075,0.961264922696672,1.8395149124619214,0.07407246802559532,-0.03527846363530862,0.001961148118989714,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.0151791894367486,0.806916099521786,-0.6921268743377464,0.1802127764371672,0.5930014405976519,0.4290139576181308,1.6213854171166837,-1.604803506816816,2.31351229145443,2.31351229145443,2.351521280569251,0,0,-3.377786386290905e-05,-9.96303553809696e-05
+29271,1792838152180084270,16831592000000,1792838152176664185,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6760710202848741,-0.004807058412458919,0.10607568707020228,0.9999999801988065,-0.00015158804835538084,-1.916263497115114e-05,8.774455990510464e-05,0.6761,-0.0046,0.10600071786700623,1.0,0.0,0.0,0.0,-0.288915148702489,0.15018008228232205,1.6548859343133513,0.012652069322705017,0.021699669947802938,0.001182315840634808,0.4369232833127239,0.9578129146149091,1.8895973399584567,0.07403479170722313,-0.034275592859896516,0.0019356896375122077,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.0280712581017628,0.8194647927731364,-0.7921494174815363,0.17848342560032154,0.6587854233108137,0.4401768909118505,1.6213854171166837,-1.6548859343133513,2.41353483459822,2.41353483459822,2.49282128056934,0,0,-3.664939434852433e-05,-9.999999025923074e-05
+29371,1792838153013125254,16832425000000,1792838153008654577,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6760761023796847,-0.0048064372961987845,0.10604432535828366,0.9999999805266759,-0.00014779677608303075,-1.2027781769715554e-05,9.165673677706714e-05,0.6761,-0.0046,0.10595641688722279,1.0,0.0,0.0,0.0,-0.2992994940430266,0.1417165042580757,1.7148661412188897,0.012614289561759917,0.022618979955010977,0.0011466214239606286,0.42653893797218634,0.9493493365906628,1.949577546863995,0.07399701194627803,-0.033356282852688476,0.0018999952208380282,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.0182866934771975,0.8621692144520011,-0.816904186969326,0.17492514570015472,0.665431301588185,0.4660862064534524,1.6213854171166837,-1.7148661412188897,2.43828960408601,2.43828960408601,2.6177712805694187,0,0,-6.862810476434967e-05,-9.995129310181312e-05
+29481,1792838153930136504,16833342000000,1792838153928654634,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6760907250204665,-0.004815516539696278,0.10599497171251003,0.9999999790649501,-0.00014879369697317702,1.200449790797842e-05,0.00010502043433281874,0.6761,-0.0046,0.1058750274175664,1.0,0.0,0.0,0.0,-0.32607888037814237,0.153158364864592,1.8257037400439695,0.013581136680432426,0.023688785621458097,0.0010823276838253014,0.39975955163707055,0.9607911971971791,2.060415145689075,0.07496385906495054,-0.03228647718624136,0.001835701480702701,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.092359007068327,0.8595678691005932,-0.928841290532182,0.17803353898790256,0.753693107947001,0.46406639998619464,1.6213854171166837,-1.8257037400439695,2.5502267076488656,2.5502267076488656,2.7553212805695053,0,0,-0.0001040518000886267,-9.999900493629638e-05
+29583,1792838154780064781,16834192000000,1792838154772664358,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761044942231267,-0.00481500960489556,0.10592096618433768,0.9999999783885869,-0.00014297683011492448,3.3818564449118495e-05,0.00011436617022435952,0.6761,-0.0046,0.10578490975624587,1.0,0.0,0.0,0.0,-0.3569338619377717,0.15532931173640174,2.0061349805947057,0.013463044837514732,0.026669470195650396,0.0016013599469656672,0.3689045700774412,0.9629621440689888,2.240846386239811,0.07484576722203284,-0.029305792612049058,0.002354733743843067,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.2126868877681103,0.7943037011607722,-1.330889632614308,0.19263376925978684,1.0423643087225796,0.4176427633756431,1.6213854171166837,-2.0061349805947057,2.952275049730992,2.952275049730992,2.8828212805695856,0,0,-9.670525729224699e-05,9.999999025923074e-05
+29669,1792838155496132037,16834908000000,1792838155488664888,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761131013713404,-0.004819088519513315,0.10587725541450418,0.999999977414382,-0.00014784718590117824,4.857113439594541e-05,0.00011133801802842939,0.6761,-0.0046,0.10572326006528933,1.0,0.0,0.0,0.0,-0.35974952877565525,0.1577807521378436,2.0968653759648954,0.01445442497469504,0.026710358333249612,0.0019445666476372817,0.3660889032395577,0.9654135844704307,2.331576781610001,0.07583714735921315,-0.029264904474449842,0.0026979404445146814,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.2021018713491514,0.7572584543374178,-1.363793794065214,0.21198196099596092,1.055616582067473,0.40035085016925404,1.6213854171166837,-2.0968653759648954,2.9851792111818978,2.9851792111818978,2.9902212805696533,0,0,-7.715090627882925e-05,9.997464941869367e-05
+29774,1792838156372133468,16835783000000,1792838156368664340,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6761190799617454,-0.004818981442116261,0.10582587149379998,0.9999999879336826,2.0965340841210416e-05,5.787833967201146e-05,0.000108563581709016,0.6761,-0.0046,0.1056546954084225,1.0,0.0,0.0,0.0,-0.3765096662817168,0.16443589468919573,2.187443001125037,0.014418574207847909,0.027622561602237042,0.0018855741566165326,0.34932876573349614,0.9720687270217828,2.4221544067701424,0.07580129659236602,-0.028352701205462412,0.0026389479534939322,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.3020214147588451,0.9387599582361379,-1.4599515659427333,0.11579069879285966,1.155612587031908,0.4443931054317475,1.6213854171166837,-2.187443001125037,3.0813369830594173,3.0813369830594173,3.121471280569736,0,0,-8.434094317802542e-05,5.312451453599039e-05
+29890,1792838157338133541,16836750000000,1792838157336654738,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761320695921432,-0.004819306362732722,0.10575833745778929,0.999999986939436,7.536989907230254e-07,7.920120312098023e-05,0.00010625720516055984,0.6761,-0.0046,0.10556668623856653,1.0,0.0,0.0,0.0,-0.38714441028613505,0.1787819668444547,2.328089652157122,0.015368042205812851,0.029239083067720027,0.0018080826267243613,0.33869402172907787,0.9864147991770418,2.5628010578022273,0.07675076459033096,-0.026736179739979427,0.002561456423601761,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.2945538318739496,0.9304315232079102,-1.6058151103960272,0.1296736218184436,1.2399967741347584,0.45884683796045733,1.6213854171166837,-2.328089652157122,3.2272005275127107,3.2272005275127107,3.2665212805698274,0,0,-9.692533209784836e-05,8.8292216619773e-05
+29970,1792838158005152569,16837417000000,1792838158004654455,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761421217439628,-0.00481923940124972,0.10571368467039301,0.9999999853605274,-1.309663166677081e-05,9.821131870249901e-05,0.00010442616866777832,0.6761,-0.0046,0.10550255366470924,1.0,0.0,0.0,0.0,-0.40000595832058844,0.1856935024289107,2.4170321652514932,0.015364546045488855,0.030592168752584966,0.0017556003660346667,0.3258324736946245,0.9933263347614978,2.6517435708965986,0.07674726843000697,-0.025383094055114488,0.0025089741629120664,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.3071807053490723,0.8116981506549038,-1.6698226480665086,0.18634203461440169,1.276188455794395,0.39803669511663864,1.6213854171166837,-2.4170321652514932,3.2912080651831923,3.2912080651831923,3.3665712805698904,0,0,-9.56821621150396e-05,5.299296617173617e-05
+30070,1792838158838092771,16838250000000,1792838158832654629,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6761496851519551,-0.00482268514559412,0.10564722809018315,0.9999999835667416,-3.1478215175179784e-05,0.00010956868509061974,0.0001063635574596075,0.6761,-0.0046,0.1054224940962119,1.0,0.0,0.0,0.0,-0.4159550719768991,0.19265667270888798,2.5288445939329756,0.01628820629378501,0.0315136226006589,0.0016905770018015105,0.3098833600383138,1.000289505041475,2.763555999578081,0.07767092867830312,-0.024461640207040548,0.00244395079867891,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.2759596048518607,0.7917651419927303,-1.643931352480936,0.20951917437040418,1.2454458304280906,0.4096424063655817,1.6213854171166837,-2.5288445939329756,3.2653167695976197,3.2653167695976197,3.491521280569969,0,0,-9.33645520992662e-05,-9.990843849306259e-05
+30173,1792838159696199921,16839108000000,1792838159688655375,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6761587498135717,-0.004820580038547823,0.10558351259969614,0.9999999816877656,-4.391256660935252e-05,0.00012403492470382276,0.00010370321481211541,0.6761,-0.0046,0.105341554150589,1.0,0.0,0.0,0.0,-0.42072010199830945,0.19161556855843154,2.624696570104376,0.01687333429281193,0.03153163855788774,0.0016260244139850897,0.30511833001690347,0.9992484008910186,2.8594079757494812,0.07825605667733004,-0.024443624249811714,0.0023793982108624894,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.34342500585651,0.7414627716916522,-1.8884877329510437,0.24167788881338342,1.4198765173312085,0.3971236389831512,1.6213854171166837,-2.624696570104376,3.5098731500677274,3.5098731500677274,3.62022128057005,0,0,-9.532018007826627e-05,-9.999996250365512e-05
+30263,1792838160446164302,16839858000000,1792838160444654600,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6761636338128302,-0.0048305755284697195,0.10552356874763001,0.9999999791652887,-6.147160110258154e-05,0.00013211140775689636,0.00010899589318518785,0.6761,-0.0046,0.10526834511379266,1.0,0.0,0.0,0.0,-0.4269139458782239,0.1923909766119588,2.729146453264443,0.017229509825979025,0.03251510282599342,0.0015545673703520958,0.298924486136989,1.000023808944546,2.9638578589095483,0.07861223221049714,-0.023460159981706034,0.0023079411672294954,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.322438717224138,0.781193904658119,-1.9816329746295829,0.24101083687756872,1.4705274634749348,0.4364054658824317,1.6213854171166837,-2.729146453264443,3.6030183917462666,3.6030183917462666,3.732721280570121,0,0,-9.946151689341066e-05,-9.991904112294776e-05
+30355,1792838161213121312,16840625000000,1792838161212664286,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6761734318043422,-0.004829249382268845,0.10546610703873871,0.9999999765588945,-7.018133463872158e-05,0.00014827441851512845,0.00010683797075345506,0.6761,-0.0046,0.1051929631404963,1.0,0.0,0.0,0.0,-0.43320056864431894,0.19524216235545577,2.810163464134613,0.017198279645998363,0.033504390094037356,0.0016102226811883552,0.292637863370894,1.0028749946880429,3.0448748697797186,0.07858100203051648,-0.022470872713662098,0.002363596478065755,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4094364991882988,0.7266946984745115,-2.1311547828589585,0.2584443701122873,1.5876906343228707,0.4040897527031778,1.6213854171166837,-2.810163464134613,3.752540199975642,3.752540199975642,3.8477712805701936,0,0,-0.00010140574549097193,-8.512973245634043e-05
+30451,1792838162013201768,16841425000000,1792838162008664255,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761801791206692,-0.004833085066334661,0.10539810302028035,0.9999999738727198,-8.488177396189346e-05,0.00015906716549786646,0.00010578348366788848,0.6761,-0.0046,0.1051100439312617,1.0,0.0,0.0,0.0,-0.4367881889938904,0.19839309162524732,2.9104323685536,0.01717083940034289,0.033483613079485094,0.002408987156386904,0.28905024302132254,1.0060259239578344,3.1451437741987056,0.078553561784861,-0.022491649728214356,0.0031623609532643038,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4419315770629881,0.7186921237487645,-2.143829279175822,0.2684907803000783,1.6035474287237506,0.39865995850819624,1.6213854171166837,-2.9104323685536,3.7652146962925057,3.7652146962925057,3.967771280570269,0,0,-0.00010840109533202658,-9.990256818881988e-05
+30552,1792838162855227256,16842267000000,1792838162848654494,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761916528411042,-0.004835702292981436,0.10532171769174765,0.999999969989825,-8.82422344218785e-05,0.00017818737820050803,0.00010920521899274432,0.6761,-0.0046,0.10501523567726835,1.0,0.0,0.0,0.0,-0.44064484820368593,0.20205603310217912,3.0111104770002606,0.01712462934360666,0.034475093147097007,0.002258006017028977,0.285193583811527,1.0096888654347662,3.245821882645366,0.07850735172812477,-0.021500169660602447,0.0030113798139063765,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4348395231231799,0.7900098859115152,-2.3409757895754972,0.24802145312325527,1.7261834985820381,0.4447809104272542,1.6213854171166837,-3.0111104770002606,3.962361206692181,3.962361206692181,4.09407128057007,0,0,-0.00011881950432865297,-7.542180355113998e-05
+30667,1792838163813250968,16843224999999,1792838163812654317,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762043820185265,-0.004841287612426416,0.10522397996127159,0.9999999642116747,-9.757300073430877e-05,0.0002019822882944462,0.00011270394129503865,0.6761,-0.0046,0.10489226535922354,1.0,0.0,0.0,0.0,-0.4472298020109313,0.21045416006061612,3.131735363082298,0.018094134802688927,0.035443052863797425,0.002313014170007217,0.2786086300042816,1.0180869923932032,3.3664467687274033,0.07947685718720704,-0.02053220994390203,0.0030663879668846165,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4653537811678257,0.8098873060884741,-2.500263270728955,0.25327513629529447,1.8315392173647695,0.4602333456846661,1.6213854171166837,-3.131735363082298,4.121648687845639,4.121648687845639,4.237771280569735,0,0,-0.00013708016764870843,-2.2898420406132524e-05
+30770,1792838164671231671,16844082999999,1792838164664655072,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762166633540485,-0.00484318039199929,0.10512481734819347,0.9999999594743793,-0.00010480886437684045,0.0002223066680866139,0.00010994976769504528,0.6761,-0.0046,0.10477052831082523,1.0,0.0,0.0,0.0,-0.442384475848851,0.21716929609604463,3.2415055664155803,0.018075257423230837,0.03541857187498694,0.0022252330385395345,0.28345395616636193,1.0248021284286317,3.4762169720606857,0.07945797980774895,-0.02055669093271251,0.002978606835416934,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4787494651956696,0.7406828829080092,-2.6287141444525086,0.27885277160850874,1.9172821072319979,0.41512018801837325,1.6213854171166837,-3.2415055664155803,4.2500995615691926,4.2500995615691926,4.366471280569435,0,0,-0.0001472378190522664,7.456126968475302e-05
+30863,1792838165446260046,16844858000000,1792838165444654392,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762304497726088,-0.0048480041466986415,0.1050251723105472,0.9999999525761883,-0.0001210356925032506,0.00024502110493783956,0.00010772884799276708,0.6761,-0.0046,0.10465559865472075,1.0,0.0,0.0,0.0,-0.4481423402652226,0.22750210713808328,3.351315813215828,0.018027538914725652,0.036407410930271514,0.0021509524255850588,0.2776960917499903,1.0351349394706704,3.5860272188609335,0.07941026129924376,-0.019567851877427943,0.0029043262224624582,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5381635514705418,0.7098837710818875,-2.819794076887266,0.29472869848796623,2.0549655975571097,0.3941562815318389,1.6213854171166837,-3.351315813215828,4.44117949400395,4.44117949400395,4.482721280569164,0,0,-0.00014742293840267073,9.980559020761887e-05
+30959,1792838166246186198,16845658000000,1792838166240664148,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762368970000932,-0.004853018512530905,0.10492065204424902,0.9999999478869586,-0.00013929464381913422,0.00025405948984409985,0.00010825766660857538,0.6761,-0.0046,0.10453652609680147,1.0,0.0,0.0,0.0,-0.4527278461451709,0.22114170253571996,3.4429362195928688,0.01800955030594055,0.036386664675741746,0.0020773391190123227,0.273110585870042,1.028774534868307,3.677647625237974,0.07939227269045866,-0.019588598131957707,0.0028307129158897226,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5037432791529897,0.7325664193323781,-2.7513075818159893,0.3009457680895495,2.001427816653368,0.4075851961079912,1.6213854171166837,-3.4429362195928688,4.372692998932673,4.372692998932673,4.602721280568884,0,0,-0.00015208170371236308,-9.999999025923074e-05
+31043,1792838166946269966,16846358000000,1792838166940657324,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762483617856586,-0.004853271365637473,0.1048307983583132,0.9999999411662218,-0.00015035968593185477,0.0002731280361949943,0.00010910296966392545,0.6761,-0.0046,0.10442816982650929,1.0,0.0,0.0,0.0,-0.4486878463297416,0.22396281907880955,3.53311504599251,0.017992635738445423,0.036368637707248457,0.0020044078034839466,0.2771505856854713,1.0315956514113966,3.767826451637615,0.07937535812296354,-0.019606625100450997,0.0027577816003613465,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5593273579164821,0.7486314319294499,-2.9607457031591906,0.30252711903705687,2.1522305100114854,0.42066977237879305,1.6213854171166837,-3.53311504599251,4.582131120275874,4.582131120275874,4.70772128056864,0,0,-0.00015757081095882507,1.533506241291889e-05
+31132,1792838167688289297,16847099999999,1792838167684663794,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6762588411248995,-0.004852110363756661,0.104726561783049,0.9999999368081656,-0.00014644612279584196,0.0002888686919628967,0.0001137318822036949,0.6761,-0.0046,0.10430843185021578,1.0,0.0,0.0,0.0,-0.43969330629920506,0.2270576666867562,3.6234387880232335,0.017974468730936416,0.03634874599479442,0.0019325382328439576,0.28614512571600786,1.0346904990193433,3.858150193668339,0.07935719111545453,-0.01962651681290503,0.0026859120297213573,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.579594872153535,0.7089999129955015,-2.9728248199170837,0.3228038041791506,2.1638592277159905,0.39388559729171235,1.6213854171166837,-3.6234387880232335,4.594210237033767,4.594210237033767,4.81902128056838,0,0,-0.000164972304937698,-9.999997638144293e-05
+31214,1792838168371305866,16847783000000,1792838168368654429,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762675314156352,-0.0048580111145059566,0.10462509350172558,0.9999999415771514,-4.0980086655947525e-05,0.0003045833997083333,0.00011763563776545055,0.6761,-0.0046,0.1041898142009873,1.0,0.0,0.0,0.0,-0.4327040832565063,0.23571660536080075,3.69371837568627,0.017936249152198255,0.03734576259807893,0.0018923454207357851,0.29313434875870664,1.0433494376933878,3.9284297813313755,0.07931897153671637,-0.018629500209620523,0.002645719217613185,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.59670865850928,0.8798786918118551,-3.066830452849328,0.2467274210797113,2.234397664615002,0.4495624617660798,1.6213854171166837,-3.69371837568627,4.688215869966012,4.688215869966012,4.9214712805681415,0,0,-0.0001825705776517791,-9.868679071012849e-05
+31303,1792838169113304122,16848525000000,1792838169112664360,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6762794388179677,-0.0048601521067400755,0.10450458267239007,0.9999999329820995,-7.297701128402885e-05,0.00032641909957399954,0.00011663442120942874,0.6761,-0.0046,0.10404553802816581,1.0,0.0,0.0,0.0,-0.42762847766940193,0.229056553460674,3.8041797922928438,0.017942116839584327,0.03630908798309864,0.0017877683494206857,0.298209954345811,1.036689385793261,4.038891197937949,0.07932483922410244,-0.019666174824600813,0.0025411421462980853,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.6164519866011295,0.8114316117262006,-3.172050661814115,0.2987852226491372,2.304005102627243,0.436326279069807,1.6213854171166837,-3.8041797922928438,4.793436078930799,4.793436078930799,5.032771280567882,0,0,-0.00020232144105489092,-9.943967457649023e-05
+31383,1792838169780278205,16849192000000,1792838169776664113,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762843404463064,-0.004866438913829164,0.10437967050637748,0.9999999257824562,-9.940259238177908e-05,0.0003388647370961752,0.00012315746377292074,0.6761,-0.0046,0.10390742052133142,1.0,0.0,0.0,0.0,-0.4213122574471796,0.22376225937659544,3.8840635249559186,0.016905923029112133,0.03631107924335891,0.0017127394036889935,0.3045261745680333,1.0313950917091825,4.118774930601024,0.07828864541363025,-0.019664183564340538,0.002466113200566393,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5643067606538674,0.7126979697475082,-3.332876153743707,0.35216250865174614,2.3890662048229383,0.4007020129780924,1.6213854171166837,-3.8840635249559186,4.954261570860391,4.954261570860391,5.132821280567649,0,0,-0.00021021533649498293,-7.865516427614478e-08
+31456,1792838170388328826,16849800000000,1792838170384654830,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762912025089913,-0.004868286045865781,0.10426376830758316,0.9999999190063712,-0.00011094239499502104,0.0003519685086667729,0.00013130144420619769,0.6761,-0.0046,0.10377834741575802,1.0,0.0,0.0,0.0,-0.4179113438613321,0.220186309384082,3.963149779400075,0.015871284613371284,0.036312704663815566,0.0016364362707929406,0.3079270881538808,1.027819141716669,4.197861185045181,0.0772540069978894,-0.019662558143883888,0.0023898100676703403,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.6264491820343523,0.8831750688769293,-3.4220843677379578,0.30887574740866824,2.46678705821725,0.5161862597938593,1.6213854171166837,-3.963149779400075,5.043469784854642,5.043469784854642,5.224021280567436,0,0,-0.00021489148809994638,-1.7881886418255122e-05
+31535,1792838171046320352,16850457999999,1792838171044654223,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762965000353065,-0.004869149537430108,0.1041366964703084,0.9999999112808209,-0.0001378277755772468,0.00036671370423961444,0.00012412001428906174,0.6761,-0.0046,0.1036338792828833,1.0,0.0,0.0,0.0,-0.3984445255881763,0.21888147514470713,3.9941590099531763,0.015892342350840333,0.035292348384919,0.0015996281280297477,0.32739390642703664,1.0265143074772942,4.228870415598282,0.07727506473535845,-0.02068291442278045,0.0023530019249071474,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.6122401088420082,0.8052224953647369,-3.492823449292543,0.35358907570626485,2.5058679543305473,0.46562767864673776,1.6213854171166837,-3.9941590099531763,5.114208866409227,5.114208866409227,5.322721280567206,0,0,-0.0002292804186468641,-9.989907098629231e-05
+31608,1792838171655279671,16851067000000,1792838171652663821,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.676299742919026,-0.004871752561733136,0.10399132977297781,0.9999999092654948,-0.0001451764743995551,0.0003679243914067826,0.00012832497749545418,0.6761,-0.0046,0.10348910093473318,1.0,0.0,0.0,0.0,-0.38858415492243914,0.1925500928839593,4.063521363726953,0.01386317548181576,0.034303425610133,0.001640503970537537,0.3372542770927738,1.0001829252165464,4.298232769372059,0.07524589786633387,-0.021671837197566456,0.0023938777674149367,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.605360103577732,0.7747848773268158,-3.524912019099045,0.37104462121722487,2.5279895117975397,0.4493193699854562,1.6213854171166837,-4.063521363726953,5.146297436215729,5.146297436215729,5.4140712805669935,0,0,-0.0002474242957143088,-9.999997638144293e-05
+31676,1792838172221327110,16851633000000,1792838172216654751,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6763127577743191,-0.004877942485983019,0.10385194190989314,0.9999999051952678,-0.0001262165417518057,0.00038242937701494806,0.00013736621068084857,0.6761,-0.0046,0.1033419495012512,1.0,0.0,0.0,0.0,-0.3928541055335437,0.19899317770804636,4.083739247616582,0.0139358400990056,0.03466401904539211,0.001501100908536413,0.3329843264816692,1.0066260100406335,4.318450653261688,0.07531856248352371,-0.021311243762307346,0.0022544747054138127,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.6691237556116518,0.7394094207187576,-3.581628682655039,0.3930335375947058,2.578701326189771,0.4279209967489138,1.6213854171166837,-4.083739247616582,5.203014099771723,5.203014099771723,5.498971280566796,0,0,-0.00027350659238398043,-9.999999025923074e-05
+31743,1792838172780351481,16852192000000,1792838172772664195,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6763156788712715,-0.004876704211380436,0.10370164789832122,0.9999999072171941,-7.076595965461153e-05,0.0003909135069554737,0.00013851814600163991,0.6761,-0.0046,0.10318133979108614,1.0,0.0,0.0,0.0,-0.37211395374657263,0.1678002457867499,4.105923847809176,0.011845706522920371,0.03332663890234884,0.0014362764411150468,0.3537244782686403,0.975433078119337,4.340635253454282,0.07322842890743848,-0.02264862390535061,0.0021896502379924465,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.6183818755016384,0.787334643807898,-3.6346333802286495,0.3947860406616065,2.605151501859693,0.4612457972215768,1.6213854171166837,-4.105923847809176,5.256018797345333,5.256018797345333,5.5828212805666,0,0,-0.00030123931167166793,-9.999999025923074e-05
+31804,1792838173288291305,16852700000000,1792838173280655036,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.676313404876824,-0.004879675792382488,0.10354348024165327,0.9999999077085743,-0.0001018787098198108,0.0003836462234502784,0.00013587498309839384,0.6761,-0.0046,0.10302187132201628,1.0,0.0,0.0,0.0,-0.34284356448336095,0.13986195004911928,4.122489037114911,0.009849013832531478,0.03132892786361083,0.0013705046528173588,0.38299486753185197,0.9474947823817064,4.357200442760017,0.07123173621704959,-0.02464633494408863,0.0021238784496947585,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5658117090901598,0.7159275441180835,-3.622281246230643,0.42665645654060835,2.5811369838094684,0.41909973334015493,1.6213854171166837,-4.122489037114911,5.243666663347327,5.243666663347327,5.659021280566423,0,0,-0.00032663930672335715,-9.999999025923074e-05
+31868,1792838173821257421,16853233000000,1792838173820655030,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6763147226312551,-0.004883003811843545,0.10336369105074722,0.9999999044674219,-0.00011982973423615489,0.00038426389853128353,0.00014314364243427826,0.6761,-0.0046,0.10284068367291894,1.0,0.0,0.0,0.0,-0.33399922871497056,0.11510475502110051,4.1016934698112895,0.007837895941393544,0.030359232433607282,0.0013495397585166745,0.39183920330024236,0.9227375873536876,4.336404875456395,0.06922061832591166,-0.025616030374092172,0.002102913555394074,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5708849939620586,0.751581113523338,-3.6825052573644106,0.4274699334341754,2.62707985170983,0.44602140519620137,1.6213854171166837,-4.1016934698112895,5.303890674481094,5.303890674481094,5.738971280566236,0,0,-0.00035328930153152714,-9.999999025923074e-05
+31918,1792838174238385259,16853650000000,1792838174236654328,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6763162509145796,-0.004882354304548465,0.10321301480195262,0.9999999016646077,-0.00013654596504168736,0.0003865947742192887,0.0001414684382844048,0.6761,-0.0046,0.10268902523502924,1.0,0.0,0.0,0.0,-0.32846263439592305,0.07764257518356155,4.0910169789947455,0.0048319980229265674,0.03001954543178672,0.0013273068141895544,0.39737579761928987,0.8852754075161486,4.325728384639851,0.06621472040744468,-0.025955717375912735,0.002080680611066954,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5434250917545072,0.690987081035528,-3.5207998891127374,0.4542813440024657,2.5200108259694964,0.40699968339261755,1.6213854171166837,-4.0910169789947455,5.142185306229421,5.142185306229421,5.8015212805660905,0,0,-0.00037413929746962635,-9.999999025923074e-05
+31969,1792838174663342081,16854075000000,1792838174660654485,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6763091232728333,-0.00488963867323997,0.10304068751164817,0.9999999041075676,-0.00012834757395380534,0.00037974963148269586,0.00015014938478525222,0.6761,-0.0046,0.10252551103448643,1.0,0.0,0.0,0.0,-0.31016630277236923,0.04251576897956122,4.079303742038474,0.0017896867248650972,0.02882624497605638,0.0012900833688865483,0.4156721292428437,0.8501486013121483,4.3140151476835795,0.06317240910938321,-0.027149017831643075,0.002043457165763948,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5014746719925312,0.6840500352372026,-3.50708854575293,0.46830320819715926,2.50491825024302,0.4116741227128511,1.6213854171166837,-4.079303742038474,5.128473962869614,5.128473962869614,5.865271280565942,0,0,-0.0003953892933297994,-9.999999025923074e-05
+32018,1792838175071336088,16854483000000,1792838175064654469,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6763064282245527,-0.004888069299747157,0.10286661716058987,0.999999911134325,-8.602140266931278e-05,0.00037458292129088195,0.0001464996922707637,0.6761,-0.0046,0.1023600408036206,1.0,0.0,0.0,0.0,-0.299526019461286,0.011318612426331365,4.028896810488701,-0.00026297888717065343,0.028506483303462067,0.0012889383837403512,0.42631241255392693,0.8189514447589185,4.2636082161338065,0.06111974349734746,-0.027468779504237387,0.002042312180617751,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5199395807671796,0.6337090821858297,-3.553149616977932,0.48885143456534746,2.5432727992649222,0.3739806501697385,1.6213854171166837,-4.028896810488701,5.174535034094616,5.174535034094616,5.926471280565799,0,0,-0.00041578928935556556,-9.999999025923074e-05
+32064,1792838175455367977,16854866999999,1792838175452654513,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6763077412827295,-0.0048897447667272,0.10269691568430164,0.9999999086663358,-0.00011074150243444282,0.0003748435713894291,0.00014607806496110725,0.6761,-0.0046,0.1021967009172281,1.0,0.0,0.0,0.0,-0.29063344715976935,-0.016134611740808658,3.9777846379843917,-0.0022702346627979653,0.027542093605039505,0.001292551004538286,0.43520498485544357,0.7914982205917784,4.212496043629497,0.05911248772172015,-0.02843316920265995,0.0020459248014156857,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.483153763107365,0.6756618248872457,-3.431637360223246,0.48047020083332465,2.461234758288321,0.4045680436326573,1.6213854171166837,-3.9777846379843917,5.05302277733993,5.05302277733993,5.984071280565665,0,0,-0.00043498928561511017,-9.999999025923074e-05
+32109,1792838175830385755,16855241999999,1792838175824654248,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762984276411167,-0.0048999158671362356,0.10251325042196785,0.9999999098302584,-0.00011818274362547908,0.0003611201487271809,0.00016555185454584956,0.6761,-0.0046,0.10203007368580916,1.0,0.0,0.0,0.0,-0.29516054876606673,-0.08116651321519575,3.92577157472869,-0.007348953719578,0.027651399777948223,0.0012769858685565242,0.4306778832491462,0.7264663191173913,4.1604829803737955,0.05403376866494011,-0.02832386302975123,0.002030359665433924,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4575745170422125,0.6078176111792939,-3.3756177817318127,0.49658981304454514,2.4262286667097572,0.3638761125981333,1.6213854171166837,-3.92577157472869,4.997003198848496,4.997003198848496,6.040321280565534,0,0,-0.0004537392819623217,-9.999999025923074e-05
+32150,1792838176171350221,16855582999999,1792838176168654691,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.676286840769636,-0.004904147998160593,0.10233798737078786,0.9999999135417815,-0.0001274046650243165,0.00034297556068520175,0.0001746284910410175,0.6761,-0.0046,0.101872450091228,1.0,0.0,0.0,0.0,-0.28402540132348486,-0.13457569908183165,3.8883216727967924,-0.011416055225285847,0.026725091153217497,0.001245534253854419,0.44181303069172806,0.6730571332507554,4.123033078441898,0.049966667159232266,-0.029250171654481957,0.0019989080507318187,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.3936278383919058,0.4868339268550637,-3.354526679788536,0.5431885592280281,2.4039329814839916,0.2871247048079867,1.6213854171166837,-3.8883216727967924,4.97591209690522,4.97591209690522,6.091471280565415,0,0,-0.0004707892786407194,-9.999999025923074e-05
+32191,1792838176513356672,16855925000000,1792838176508655068,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6762772725953627,-0.004902039245044961,0.10216120541587999,0.9999999156368488,-0.00016138491407907427,0.0003328306731883679,0.00015279990852278764,0.6761,-0.0046,0.1017085246085042,1.0,0.0,0.0,0.0,-0.2645252703987404,-0.1501113624883117,3.813288540486536,-0.012368333730874675,0.02473434168092323,0.0012663258749475755,0.4613131616164725,0.6575214698442754,4.047999946131641,0.04901438865364344,-0.031240921126776223,0.0020196996718249752,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.402347501732555,0.5881721120032402,-3.325709708886694,0.5028658063423169,2.398923773597582,0.3610186832976769,1.6213854171166837,-3.813288540486536,4.9470951260033775,4.9470951260033775,6.142771280565295,0,0,-0.0004878892753093763,-9.999999025923074e-05
+32231,1792838176846388246,16856258000000,1792838176844654278,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6763052116366589,-0.0049112873402309505,0.1020055849970544,0.9999999072539638,-0.00012422282127673572,0.00035779430925924114,0.0001829941283819535,0.6761,-0.0046,0.10154329358036787,1.0,0.0,0.0,0.0,-0.28802835555015577,-0.1911114822519916,3.7418658518260437,-0.015448919471552018,0.02582270692411025,0.0013022131301600635,0.43781007646505715,0.6165213500805955,3.976577257471149,0.045933802912966094,-0.030152555883589203,0.002055586927037463,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4770210474935848,0.5126764606951986,-3.1411854321600727,0.5308717396727035,2.3045183492619588,0.31560385346243364,1.6213854171166837,-3.7418658518260437,4.762570849276757,4.762570849276757,6.192721280565179,0,0,-0.0005045392720657002,-9.999999025923074e-05
+32266,1792838177138351136,16856550000000,1792838177136654410,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762866210537011,-0.00491284547364028,0.10183918635795915,0.9999999233121892,-3.6495166621423455e-05,0.0003295957056524858,0.00018669026190070887,0.6761,-0.0046,0.10139384381334138,1.0,0.0,0.0,0.0,-0.2830813774494477,-0.19644273681523827,3.6709391756803553,-0.016452979530881096,0.025857500881876563,0.0013486782272079552,0.4427570545657652,0.6111900955173488,3.9056505813254607,0.04492974285363702,-0.03011776192582289,0.002102052024085355,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4690008804786672,0.5334159305199556,-3.1950210882563876,0.5150053362529097,2.3348994501722986,0.2930636753312444,1.6213854171166837,-3.6709391756803553,4.816406505373071,4.816406505373071,6.236521280565077,0,0,-0.0005191392692213956,-9.999999025923074e-05
+32305,1792838177463338445,16856875000000,1792838177456654913,DOWN_SETTLE,5,0.0597,0.05970216169953346,0.6762715911959777,-0.004907179380542333,0.10166594648972119,0.9999999296668564,-0.00012704300801260726,0.00031194380804482936,0.00013660264061992963,0.6761,-0.0046,0.10124844419585276,1.0,0.0,0.0,0.0,-0.2331250611428745,-0.20055874996472423,3.5836487059023914,-0.016333459117791722,0.021831242454137784,0.0013719166658698312,0.4927133708723384,0.6070740823678629,3.8183601115474968,0.04504926326672639,-0.03414402035356167,0.002125290462747231,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.3392081679704144,0.46710371787241506,-2.969266984893286,0.5196459368002796,2.1722450923679824,0.2904491121451844,1.6213854171166837,-3.5836487059023914,4.59065240200997,0.0,0.0,0,0,-0.00016888513529308185,0.001705910457505877
+32398,1792838178238417144,16857650000000,1792838178236654483,DOWN_PEAK_HOLD,5,0.0597,0.05970150604844093,0.6762420064189087,-0.004901537890875058,0.10157160741279371,0.999999945759756,-0.00011934565972071738,0.0002544637920788147,0.00014466561957997482,0.6761,-0.0046,0.10123261775502142,1.0,0.0,0.0,0.0,-0.21719435095860773,-0.2639917764141134,3.0986044372141954,-0.021280105257211794,0.02000320350436669,0.0006397519591330842,0.5086440810566052,0.5436410559184737,3.333315842859301,0.04010261712730632,-0.03597205930333276,0.0013931257560104839,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.127811617456499,0.4658910796872842,-2.4368528966819354,0.5107779746838664,1.779962400660086,0.2794270159961161,1.6213854171166837,-3.0986044372141954,4.058238313798619,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_15A_12.5/press_depth_05/down/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_05/down/real_sim_motion_alignment.csv ADDED Viewed

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

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792838137056986902,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.716644243e-09,-1.314867989e-10,-2.088116346e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451446e-01,-1.184936161e-04,8.303258529e-01
+1,8.500000000e-01,DOWN_FORCE_DETACH,1792838137907677387,-1.465048727e-06,3.370578192e-06,-1.188091232e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.028290421e-07,-5.681325570e-09,-8.313426392e-09,7.019541678e-01,-1.890015683e-05,8.601418991e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452448e-01,-1.184991659e-04,8.303258448e-01
+2,1.666666667e+00,DOWN_FORCE_DETACH,1792838138709927466,1.398693310e-06,-1.019969332e-07,-7.285449394e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.546274602e-07,-9.544739431e-09,-1.348297618e-08,7.019570315e-01,-2.237273196e-05,8.601358018e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452966e-01,-1.185030293e-04,8.303258396e-01
+3,2.500000000e+00,DOWN_FORCE_DETACH,1792838139562288129,4.474067214e-05,-9.041257219e-06,-3.002114831e-05,4.437064450e-05,-9.190873893e-06,-2.974900805e-05,4.729063085e-05,-9.218666409e-06,-2.957393030e-05,7.020003735e-01,-3.131199224e-05,8.601130661e-01,7.020000035e-01,-3.146160892e-05,8.601133382e-01,7.027924326e-01,-1.277121510e-04,8.302962792e-01
+4,3.183333333e+00,DOWN_FORCE_DETACH,1792838140233635771,3.670272149e-05,-7.249280729e-06,-5.609989144e-05,3.679066495e-05,-7.205943287e-06,-5.170495793e-05,3.913263225e-05,-7.277248763e-06,-5.144941586e-05,7.019923355e-01,-2.952001575e-05,8.600869873e-01,7.019924235e-01,-2.947667831e-05,8.600913823e-01,7.027842746e-01,-1.257707333e-04,8.302744037e-01
+5,4.066666667e+00,DOWN_FORCE_DETACH,1792838141119874321,2.679149723e-05,-1.350141413e-05,-1.081302037e-04,2.755695145e-05,-1.200978732e-05,-9.402181709e-05,2.872867118e-05,-1.207897984e-05,-9.373533983e-05,7.019824243e-01,-3.577214915e-05,8.600349570e-01,7.019831898e-01,-3.428052234e-05,8.600490654e-01,7.027738706e-01,-1.305724644e-04,8.302321178e-01
+6,5.000000000e+00,DOWN_FORCE_DETACH,1792838142068844838,2.490837700e-05,-1.676087841e-05,-1.386262053e-04,2.499167401e-05,-1.708256726e-05,-1.348560909e-04,2.546864160e-05,-1.713209029e-05,-1.344781394e-04,7.019805412e-01,-3.903161343e-05,8.600044610e-01,7.019806245e-01,-3.935330229e-05,8.600082311e-01,7.027706106e-01,-1.356255749e-04,8.301913750e-01
+7,5.950000000e+00,DOWN_FORCE_DETACH,1792838143001923061,3.211351996e-05,-1.487535490e-05,-1.723360460e-04,2.800684695e-05,-1.852418899e-05,-1.546454537e-04,2.846325138e-05,-1.859094465e-05,-1.543607474e-04,7.019877463e-01,-3.714608992e-05,8.599707512e-01,7.019836397e-01,-4.079492401e-05,8.599884418e-01,7.027736052e-01,-1.370844292e-04,8.301714924e-01
+8,6.800000000e+00,DOWN_FORCE_DETACH,1792838143836982150,4.530724647e-05,-1.914286098e-05,-2.105025034e-04,3.960810638e-05,-2.178341428e-05,-1.975249841e-04,4.041212613e-05,-2.187434856e-05,-1.971607450e-04,7.020009401e-01,-4.141359601e-05,8.599325847e-01,7.019952409e-01,-4.405414930e-05,8.599455623e-01,7.027855541e-01,-1.403678331e-04,8.301286924e-01
+9,7.600000000e+00,DOWN_FORCE_DETACH,1792838144623591328,4.691953657e-05,-2.262566560e-05,-2.630971205e-04,4.488270532e-05,-2.566849038e-05,-2.603821619e-04,4.529682317e-05,-2.579037599e-05,-2.598363737e-04,7.020025524e-01,-4.489640062e-05,8.598799901e-01,7.020005155e-01,-4.793922540e-05,8.598827051e-01,7.027904387e-01,-1.442838606e-04,8.300660168e-01
+10,8.383333333e+00,DOWN_FORCE_DETACH,1792838145526296829,5.019428392e-05,-2.874343374e-05,-3.139403831e-04,5.115794314e-05,-3.054329536e-05,-3.014507839e-04,5.155226267e-05,-3.066749359e-05,-3.008810088e-04,7.020058271e-01,-5.101416876e-05,8.598291469e-01,7.020067908e-01,-5.281403038e-05,8.598416365e-01,7.027966942e-01,-1.491609782e-04,8.300249721e-01
+11,9.250000000e+00,DOWN_FORCE_DETACH,1792838146409260698,5.475918524e-05,-3.085135530e-05,-3.488675729e-04,5.360873926e-05,-2.742671648e-05,-3.424274708e-04,5.365859554e-05,-2.756047672e-05,-3.418505707e-04,7.020103920e-01,-5.312209032e-05,8.597942197e-01,7.020092416e-01,-4.969745150e-05,8.598006598e-01,7.027988005e-01,-1.460539613e-04,8.299840026e-01
+12,1.006666667e+01,DOWN_FORCE_DETACH,1792838147228208668,6.498201340e-05,-2.944683232e-05,-3.829500204e-04,6.020412786e-05,-3.340613716e-05,-3.816446028e-04,6.023828568e-05,-3.355593704e-05,-3.811491778e-04,7.020206148e-01,-5.171756735e-05,8.597601372e-01,7.020158369e-01,-5.567687219e-05,8.597614426e-01,7.028053802e-01,-1.520494216e-04,8.299447040e-01
+13,1.048333333e+01,DOWN_FORCE_DETACH,1792838147653833338,1.054537342e-04,-2.536520191e-05,-3.812224818e-04,9.867385592e-05,-2.024089383e-05,-3.691892201e-04,1.017381070e-04,-2.035141651e-05,-3.687519147e-04,7.020610866e-01,-4.763593693e-05,8.597618648e-01,7.020543067e-01,-4.251162885e-05,8.597738980e-01,7.028468800e-01,-1.388449011e-04,8.299571012e-01
+14,1.093333333e+01,DOWN_FORCE_DETACH,1792838148146136510,1.206620758e-04,-5.201416476e-06,-4.145348466e-04,1.158891077e-04,-1.183577701e-05,-4.020026653e-04,1.199121213e-04,-1.196498827e-05,-4.014793293e-04,7.020762949e-01,-2.747215150e-05,8.597285524e-01,7.020715219e-01,-3.410651203e-05,8.597410846e-01,7.028650540e-01,-1.304584729e-04,8.299243738e-01
+15,1.165000000e+01,DOWN_FORCE_DETACH,1792838148865831005,1.261608967e-04,-1.283520274e-05,-4.852160405e-04,1.238417183e-04,-7.076941654e-06,-4.767748477e-04,1.276222341e-04,-7.210029093e-06,-4.760541695e-04,7.020817937e-01,-3.510593776e-05,8.596578712e-01,7.020794745e-01,-2.934767668e-05,8.596663124e-01,7.028727642e-01,-1.257035137e-04,8.298497990e-01
+16,1.238333333e+01,DOWN_FORCE_DETACH,1792838149586635371,1.398004067e-04,-1.890763951e-05,-5.522914629e-04,1.329800922e-04,-1.602128727e-05,-5.432428607e-04,1.366818333e-04,-1.619375580e-05,-5.425684289e-04,7.020954332e-01,-4.117837453e-05,8.595907958e-01,7.020886129e-01,-3.829202230e-05,8.595998444e-01,7.028818238e-01,-1.346872404e-04,8.297832847e-01
+17,1.318333333e+01,DOWN_FORCE_DETACH,1792838150374121503,1.506793866e-04,-2.278463863e-05,-6.056830832e-04,1.509460897e-04,-1.768093044e-05,-6.025449490e-04,1.553034976e-04,-1.785241219e-05,-6.018215325e-04,7.021063122e-01,-4.505537365e-05,8.595374042e-01,7.021065789e-01,-3.995166546e-05,8.595405423e-01,7.029004454e-01,-1.363458968e-04,8.297240316e-01
+18,1.403333333e+01,DOWN_FORCE_DETACH,1792838151240971629,1.595533379e-04,-2.067344900e-05,-6.412132430e-04,1.584025159e-04,-1.764848984e-05,-6.415763084e-04,1.629375964e-04,-1.779910309e-05,-6.410080204e-04,7.021151862e-01,-4.294418402e-05,8.595018740e-01,7.021140353e-01,-3.991922486e-05,8.595015109e-01,7.029080795e-01,-1.362925877e-04,8.296848451e-01
+19,1.491666667e+01,DOWN_FORCE_DETACH,1792838152176213269,1.624525714e-04,-1.672648375e-05,-6.666313911e-04,1.595333365e-04,-1.689210076e-05,-6.632287276e-04,1.639956160e-04,-1.703481461e-05,-6.628187031e-04,7.021180854e-01,-3.899721877e-05,8.594764558e-01,7.021151662e-01,-3.916283578e-05,8.594798585e-01,7.029091375e-01,-1.355282992e-04,8.296630344e-01
+20,1.573333333e+01,DOWN_FORCE_DETACH,1792838153012202183,1.664652038e-04,-1.703593018e-05,-6.979070595e-04,1.630892949e-04,-1.656724795e-05,-6.843261558e-04,1.676337760e-04,-1.671023289e-05,-6.839770417e-04,7.021220980e-01,-3.930666520e-05,8.594451802e-01,7.021187221e-01,-3.883798297e-05,8.594587611e-01,7.029127757e-01,-1.352037175e-04,8.296418761e-01
+21,1.661666667e+01,DOWN_FORCE_DETACH,1792838153927813759,1.802083716e-04,-2.322232596e-05,-7.469279403e-04,1.801982992e-04,-2.151914342e-05,-7.454248054e-04,1.852943989e-04,-2.166139184e-05,-7.449211563e-04,7.021358412e-01,-4.549306099e-05,8.593961593e-01,7.021358311e-01,-4.378987845e-05,8.593976624e-01,7.029304363e-01,-1.401548764e-04,8.295809320e-01
+22,1.735000000e+01,DOWN_FORCE_DETACH,1792838154779054685,1.942064778e-04,-2.374764210e-05,-8.216631996e-04,1.916664648e-04,-2.786930510e-05,-8.062064699e-04,1.968582633e-04,-2.803478022e-05,-8.056559766e-04,7.021498393e-01,-4.601837712e-05,8.593214240e-01,7.021472993e-01,-5.014004013e-05,8.593368808e-01,7.029420002e-01,-1.465282648e-04,8.295201972e-01
+23,1.808333333e+01,DOWN_FORCE_DETACH,1792838155500542120,2.025050556e-04,-2.563150425e-05,-8.637659047e-04,2.015890424e-04,-2.396476702e-05,-8.472464023e-04,2.071484736e-04,-2.409737176e-05,-8.467006672e-04,7.021581379e-01,-4.790223927e-05,8.592793213e-01,7.021572219e-01,-4.623550204e-05,8.592958408e-01,7.029522904e-01,-1.425908563e-04,8.294791525e-01
+24,1.895000000e+01,DOWN_FORCE_DETACH,1792838156367807765,2.081367932e-04,-2.974863925e-05,-9.187645390e-04,2.077945266e-04,-2.778987830e-05,-9.109920886e-04,2.130399161e-04,-2.792031066e-05,-9.104580573e-04,7.021637696e-01,-5.201937427e-05,8.592243227e-01,7.021634273e-01,-5.006061333e-05,8.592320952e-01,7.029581818e-01,-1.464137952e-04,8.294153951e-01
+25,1.981666667e+01,DOWN_FORCE_DETACH,1792838157335381403,2.221985466e-04,-3.061262027e-05,-9.824190232e-04,2.197685051e-04,-3.249674539e-05,-9.724851127e-04,2.251588898e-04,-3.266239153e-05,-9.719048823e-04,7.021778314e-01,-5.288335529e-05,8.591606682e-01,7.021754013e-01,-5.476748042e-05,8.591706021e-01,7.029703008e-01,-1.511558761e-04,8.293539482e-01
+26,2.046666667e+01,DOWN_FORCE_DETACH,1792838158005920656,2.324845681e-04,-2.983803523e-05,-1.028547747e-03,2.286200403e-04,-2.856944433e-05,-1.012340829e-03,2.342466146e-04,-2.869771634e-05,-1.011803139e-03,7.021881174e-01,-5.210877025e-05,8.591145395e-01,7.021842529e-01,-5.084017935e-05,8.591307464e-01,7.029793885e-01,-1.471912009e-04,8.293140500e-01
+27,2.131666667e+01,DOWN_FORCE_DETACH,1792838158841707395,2.390965119e-04,-3.313438438e-05,-1.097072114e-03,2.367946641e-04,-3.043907217e-05,-1.079413253e-03,2.422451836e-04,-3.060499081e-05,-1.078753115e-03,7.021947293e-01,-5.540511940e-05,8.590460151e-01,7.021924275e-01,-5.270980720e-05,8.590636740e-01,7.029873871e-01,-1.490984754e-04,8.292471000e-01
+28,2.218333333e+01,DOWN_FORCE_DETACH,1792838159693015963,2.484872939e-04,-3.632561540e-05,-1.156773180e-03,2.448663773e-04,-3.368530132e-05,-1.143501811e-03,2.502409877e-04,-3.384534719e-05,-1.142831325e-03,7.022041201e-01,-5.859635042e-05,8.589863141e-01,7.022004992e-01,-5.595603634e-05,8.589995854e-01,7.029953829e-01,-1.523388318e-04,8.291830218e-01
+29,2.293333333e+01,DOWN_FORCE_DETACH,1792838160447088955,2.572697094e-04,-3.801770325e-05,-1.212512806e-03,2.564311703e-04,-3.559154073e-05,-1.204938237e-03,2.619177026e-04,-3.578320278e-05,-1.204189680e-03,7.022129025e-01,-6.028843827e-05,8.589305744e-01,7.022120640e-01,-5.786227575e-05,8.589381490e-01,7.030070596e-01,-1.542766874e-04,8.291216635e-01
+30,2.370000000e+01,DOWN_FORCE_DETACH,1792838161217087362,2.652120678e-04,-3.718748823e-05,-1.275362368e-03,2.608556932e-04,-3.666520540e-05,-1.270068985e-03,2.659884495e-04,-3.687747032e-05,-1.269322282e-03,7.022208449e-01,-5.945822326e-05,8.588677249e-01,7.022164885e-01,-5.893594042e-05,8.588730183e-01,7.030111304e-01,-1.553709549e-04,8.290565308e-01
+31,2.448333333e+01,DOWN_FORCE_DETACH,1792838162015368176,2.697073257e-04,-4.268323927e-05,-1.346801990e-03,2.690955779e-04,-4.026896785e-05,-1.330873191e-03,2.741480019e-04,-4.048985872e-05,-1.330207914e-03,7.022253401e-01,-6.495397429e-05,8.587962852e-01,7.022247284e-01,-6.253970288e-05,8.588122140e-01,7.030192899e-01,-1.589833433e-04,8.289956452e-01
+32,2.533333333e+01,DOWN_FORCE_DETACH,1792838162854868166,2.804803672e-04,-4.566114880e-05,-1.421050063e-03,2.805725741e-04,-4.458412295e-05,-1.415821539e-03,2.854937882e-04,-4.487124472e-05,-1.415026497e-03,7.022361132e-01,-6.793188382e-05,8.587220372e-01,7.022362054e-01,-6.685485797e-05,8.587272657e-01,7.030306357e-01,-1.633647293e-04,8.289108266e-01
+33,2.620000000e+01,DOWN_FORCE_DETACH,1792838163821739314,2.961033144e-04,-5.039608638e-05,-1.517097008e-03,2.925906594e-04,-4.884911546e-05,-1.500528170e-03,2.973586393e-04,-4.917746871e-05,-1.499763288e-03,7.022517361e-01,-7.266682141e-05,8.586259902e-01,7.022482235e-01,-7.111985048e-05,8.586425591e-01,7.030425006e-01,-1.676709533e-04,8.288260898e-01
+34,2.678333333e+01,DOWN_FORCE_DETACH,1792838164673331533,3.067575478e-04,-4.859197386e-05,-1.619856206e-03,3.021510091e-04,-4.914103544e-05,-1.606553776e-03,3.063951158e-04,-4.949689488e-05,-1.605571358e-03,7.022623904e-01,-7.086270888e-05,8.585232310e-01,7.022577838e-01,-7.141177046e-05,8.585365335e-01,7.030515370e-01,-1.679903795e-04,8.287202818e-01
+35,2.753333333e+01,DOWN_FORCE_DETACH,1792838165443173904,3.173342644e-04,-5.253635077e-05,-1.718754914e-03,3.163472735e-04,-5.722062576e-05,-1.707832735e-03,3.204562858e-04,-5.759359504e-05,-1.706812181e-03,7.022729671e-01,-7.480708580e-05,8.584243323e-01,7.022719801e-01,-7.949136079e-05,8.584352545e-01,7.030655982e-01,-1.760870796e-04,8.286190410e-01
+36,2.833333333e+01,DOWN_FORCE_DETACH,1792838166245311339,3.272794671e-04,-5.929224203e-05,-1.822546947e-03,3.245129589e-04,-6.341891859e-05,-1.816257266e-03,3.279136647e-04,-6.379332470e-05,-1.815223140e-03,7.022829123e-01,-8.156297705e-05,8.583205403e-01,7.022801458e-01,-8.568965362e-05,8.583268300e-01,7.030730556e-01,-1.822868093e-04,8.285106300e-01
+37,2.903333333e+01,DOWN_FORCE_DETACH,1792838166949904247,3.374284249e-04,-6.142991218e-05,-1.913772540e-03,3.340051689e-04,-6.644311279e-05,-1.901995228e-03,3.371302769e-04,-6.680667047e-05,-1.901076737e-03,7.022930612e-01,-8.370064720e-05,8.582293147e-01,7.022896380e-01,-8.871384781e-05,8.582410920e-01,7.030822722e-01,-1.853001551e-04,8.284247764e-01
+38,2.973333333e+01,DOWN_FORCE_DETACH,1792838167687176888,3.466517124e-04,-6.797197408e-05,-2.019997565e-03,3.453474659e-04,-6.939528598e-05,-2.006754884e-03,3.480977588e-04,-6.973570668e-05,-2.005683585e-03,7.023022845e-01,-9.024270911e-05,8.581230897e-01,7.023009803e-01,-9.166602100e-05,8.581363324e-01,7.030932397e-01,-1.882291913e-04,8.283201695e-01
+39,3.041666667e+01,DOWN_FORCE_DETACH,1792838168374715191,3.571497151e-04,-6.874584567e-05,-2.116423607e-03,3.583950568e-04,-6.865302942e-05,-2.112100204e-03,3.609627355e-04,-6.895689471e-05,-2.110916077e-03,7.023127825e-01,-9.101658069e-05,8.580266636e-01,7.023140279e-01,-9.092376445e-05,8.580309870e-01,7.031061047e-01,-1.874503793e-04,8.282149371e-01
+40,3.116666667e+01,DOWN_FORCE_DETACH,1792838169112419565,3.698016421e-04,-7.075074072e-05,-2.237649745e-03,3.663595025e-04,-7.037409863e-05,-2.220166096e-03,3.682105058e-04,-7.063474771e-05,-2.219122061e-03,7.023254345e-01,-9.302147574e-05,8.579054375e-01,7.023219923e-01,-9.264483365e-05,8.579229211e-01,7.031133524e-01,-1.891282323e-04,8.281067311e-01
+41,3.185000000e+01,DOWN_FORCE_DETACH,1792838169783252214,3.737254120e-04,-7.933825467e-05,-2.362679009e-03,3.742929496e-04,-7.490390842e-05,-2.349475617e-03,3.752264523e-04,-7.520541531e-05,-2.348277067e-03,7.023293582e-01,-1.016089897e-04,8.577804082e-01,7.023299258e-01,-9.717464344e-05,8.577936116e-01,7.031203684e-01,-1.936988999e-04,8.279775761e-01
+42,3.245000000e+01,DOWN_FORCE_DETACH,1792838170389856352,3.815653331e-04,-7.888467984e-05,-2.478464110e-03,3.755150415e-04,-7.693526491e-05,-2.464573655e-03,3.751306099e-04,-7.727808816e-05,-2.463348232e-03,7.023371982e-01,-1.011554149e-04,8.576646231e-01,7.023311479e-01,-9.920599993e-05,8.576785136e-01,7.031202725e-01,-1.957715727e-04,8.278625049e-01
+43,3.303333333e+01,DOWN_FORCE_DETACH,1792838171045006461,3.867663091e-04,-7.990022034e-05,-2.605239634e-03,3.862127730e-04,-8.120345066e-05,-2.592250982e-03,3.851504258e-04,-8.154994153e-05,-2.590985360e-03,7.023423991e-01,-1.021709554e-04,8.575378476e-01,7.023418456e-01,-1.034741857e-04,8.575508363e-01,7.031302924e-01,-2.000434261e-04,8.277348678e-01
+44,3.363333333e+01,DOWN_FORCE_DETACH,1792838171651063737,3.907888242e-04,-8.512957493e-05,-2.748827510e-03,3.871009971e-04,-8.345353670e-05,-2.741660044e-03,3.842767789e-04,-8.382712643e-05,-2.740336166e-03,7.023464216e-01,-1.074003100e-04,8.573942597e-01,7.023427338e-01,-1.057242717e-04,8.574014272e-01,7.031294187e-01,-2.023206110e-04,8.275855170e-01
+45,3.420000000e+01,DOWN_FORCE_DETACH,1792838172224438891,4.041261341e-04,-8.621185578e-05,-2.889582741e-03,4.035566751e-04,-8.260349879e-05,-2.872636512e-03,4.004389395e-04,-8.289528886e-05,-2.871282152e-03,7.023597590e-01,-1.084825908e-04,8.572535045e-01,7.023591895e-01,-1.048742338e-04,8.572704507e-01,7.031455809e-01,-2.013887734e-04,8.274545710e-01
+46,3.476666667e+01,DOWN_FORCE_DETACH,1792838172781394679,4.060416954e-04,-8.730284536e-05,-3.040584519e-03,4.073632069e-04,-8.386895480e-05,-3.025425486e-03,4.027264771e-04,-8.417697853e-05,-3.024041857e-03,7.023616745e-01,-1.095735804e-04,8.571025027e-01,7.023629960e-01,-1.061396898e-04,8.571176618e-01,7.031478684e-01,-2.026704631e-04,8.273018113e-01
+47,3.528333333e+01,DOWN_FORCE_DETACH,1792838173289134363,4.037677010e-04,-9.027442636e-05,-3.198752176e-03,4.021279936e-04,-8.937980196e-05,-3.191884790e-03,3.950486499e-04,-8.975413179e-05,-3.190304507e-03,7.023594005e-01,-1.125451614e-04,8.569443351e-01,7.023577608e-01,-1.116505370e-04,8.569512024e-01,7.031401906e-01,-2.082476164e-04,8.271355486e-01
+48,3.556666667e+01,DOWN_FORCE_DETACH,1792838173825105618,4.055237187e-04,-9.566997103e-05,-3.380404375e-03,4.054110834e-04,-9.575449361e-05,-3.380358287e-03,3.963480034e-04,-9.614876599e-05,-3.378254195e-03,7.023611565e-01,-1.179407060e-04,8.567626829e-01,7.023610439e-01,-1.180252286e-04,8.567627290e-01,7.031414899e-01,-2.146422506e-04,8.269475989e-01
+49,3.598333333e+01,DOWN_FORCE_DETACH,1792838174239239529,4.066137387e-04,-9.295293853e-05,-3.529217616e-03,4.052525892e-04,-9.482041981e-05,-3.513541784e-03,3.946095077e-04,-9.522478858e-05,-3.511680182e-03,7.023622466e-01,-1.152236735e-04,8.566138696e-01,7.023608854e-01,-1.170911548e-04,8.566295455e-01,7.031397514e-01,-2.137182732e-04,8.268141730e-01
+50,3.641666667e+01,DOWN_FORCE_DETACH,1792838174666283949,3.994860970e-04,-1.002373072e-04,-3.701544906e-03,4.004060997e-04,-9.944700368e-05,-3.682740390e-03,3.873916903e-04,-9.984694249e-05,-3.680945336e-03,7.023551189e-01,-1.225080422e-04,8.564415423e-01,7.023560389e-01,-1.217177387e-04,8.564603468e-01,7.031325336e-01,-2.183404271e-04,8.266449078e-01
+51,3.681666667e+01,DOWN_FORCE_DETACH,1792838175074523391,3.987678461e-04,-1.000516222e-04,-3.873377265e-03,3.984596388e-04,-1.002954481e-04,-3.873636572e-03,3.830191738e-04,-1.006816291e-04,-3.871691848e-03,7.023544007e-01,-1.223223572e-04,8.562697100e-01,7.023540925e-01,-1.225661831e-04,8.562694507e-01,7.031281611e-01,-2.191751136e-04,8.264541613e-01
+52,3.720000000e+01,DOWN_FORCE_DETACH,1792838175451138748,3.965481449e-04,-1.041036534e-04,-4.044417422e-03,3.962351061e-04,-1.039865264e-04,-4.044365063e-03,3.786482537e-04,-1.043716057e-04,-4.042344173e-03,7.023521810e-01,-1.263743884e-04,8.560986698e-01,7.023518679e-01,-1.262572614e-04,8.560987222e-01,7.031237902e-01,-2.228650903e-04,8.262835090e-01
+53,3.758333333e+01,DOWN_FORCE_DETACH,1792838175828083900,3.889774698e-04,-1.076369529e-04,-4.227155370e-03,3.888899639e-04,-1.075408116e-04,-4.226763394e-03,3.684977146e-04,-1.078931587e-04,-4.224700749e-03,7.023446103e-01,-1.299076879e-04,8.559159319e-01,7.023445228e-01,-1.298115466e-04,8.559163238e-01,7.031136396e-01,-2.263866432e-04,8.261011524e-01
+54,3.793333333e+01,DOWN_FORCE_DETACH,1792838176173137891,3.753903353e-04,-1.182513742e-04,-4.409245667e-03,3.754044256e-04,-1.134048338e-04,-4.392917830e-03,3.519796791e-04,-1.137892930e-04,-4.390946694e-03,7.023310232e-01,-1.405221092e-04,8.557338416e-01,7.023310372e-01,-1.356755688e-04,8.557501694e-01,7.030971216e-01,-2.322827775e-04,8.259349064e-01
+55,3.826666667e+01,DOWN_FORCE_DETACH,1792838176515576692,3.673059325e-04,-1.103702752e-04,-4.582595170e-03,3.671777529e-04,-1.102535231e-04,-4.582242007e-03,3.408011505e-04,-1.105677911e-04,-4.580296380e-03,7.023229387e-01,-1.326410102e-04,8.555604921e-01,7.023228106e-01,-1.325242582e-04,8.555608452e-01,7.030859431e-01,-2.290612757e-04,8.257455568e-01
+56,3.858333333e+01,DOWN_FORCE_DETACH,1792838176843572176,3.954235641e-04,-1.213845345e-04,-4.734835516e-03,3.950595739e-04,-1.215753031e-04,-4.734376131e-03,3.688368306e-04,-1.219233613e-04,-4.732447766e-03,7.023510564e-01,-1.436552695e-04,8.554082517e-01,7.023506924e-01,-1.438460381e-04,8.554087111e-01,7.031139788e-01,-2.404168459e-04,8.255934054e-01
+57,3.888333333e+01,DOWN_FORCE_DETACH,1792838177138049314,3.764666286e-04,-1.260774977e-04,-4.902548189e-03,3.762944456e-04,-1.261553536e-04,-4.902173716e-03,3.468085818e-04,-1.265789654e-04,-4.900275742e-03,7.023320994e-01,-1.483482328e-04,8.552405391e-01,7.023319273e-01,-1.484260886e-04,8.552409135e-01,7.030919505e-01,-2.450724499e-04,8.254255774e-01
+58,3.921666667e+01,DOWN_SETTLE,1792838177466007847,3.629949623e-04,-1.135405531e-04,-5.074115571e-03,3.639883050e-04,-1.137387161e-04,-5.065570252e-03,3.315926116e-04,-1.140822604e-04,-5.063796542e-03,7.023186278e-01,-1.358112881e-04,8.550689717e-01,7.023196211e-01,-1.360094511e-04,8.550775170e-01,7.030767345e-01,-2.325757450e-04,8.252620566e-01
+59,4.000000000e+01,DOWN_PEAK_HOLD,1792838178235550920,3.327751670e-04,-1.134353827e-04,-5.167777217e-03,3.339504116e-04,-1.116494388e-04,-5.167214986e-03,2.980473056e-04,-1.120005713e-04,-5.166584036e-03,7.022884080e-01,-1.357061177e-04,8.549753100e-01,7.022895832e-01,-1.339201738e-04,8.549758723e-01,7.030431892e-01,-2.304940559e-04,8.251592691e-01

Part2/Fixed/digit/ball_15A_12.5/press_depth_05/down/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,5.0611e-02,8.7653e-02,2.4563e+00,-4.2819e-02,4.0344e-02,1.4814e-04,4.7158e-04,-6.9141e-06,-3.7670e-05,1.3486e-06,3.3278e-05,-5.9954e-07,4.7313e-04,3.3311e-05
+1,8.5000e-01,DOWN_FORCE_DETACH,1.9395e-04,6.7983e-02,8.7209e-02,2.4548e+00,-4.2761e-02,4.1571e-02,1.1869e-04,1.7844e-02,-4.5150e-04,-1.5044e-03,5.9269e-05,1.2603e-03,-3.0048e-05,1.7913e-02,1.2620e-03
+2,1.6667e+00,DOWN_FORCE_DETACH,3.8543e-04,7.6966e-02,8.6783e-02,2.4539e+00,-4.2724e-02,4.2206e-02,9.3464e-05,2.6827e-02,-8.7693e-04,-2.4366e-03,9.6377e-05,1.8950e-03,-5.5272e-05,2.6951e-02,1.8983e-03
+3,2.5000e+00,DOWN_FORCE_DETACH,6.0054e-04,7.3209e-02,9.3583e-02,2.4957e+00,-4.3186e-02,4.1899e-02,7.3215e-05,2.3070e-02,5.9224e-03,3.9373e-02,-3.6589e-04,1.5881e-03,-7.5522e-05,4.6017e-02,1.6315e-03
+4,3.1833e+00,DOWN_FORCE_DETACH,7.7254e-04,6.2059e-02,1.0189e-01,2.4912e+00,-4.3774e-02,4.1114e-02,6.5693e-05,1.1920e-02,1.4232e-02,3.4868e-02,-9.5415e-04,8.0341e-04,-8.3043e-05,3.9502e-02,1.2501e-03
+5,4.0667e+00,DOWN_FORCE_DETACH,9.6777e-04,8.3195e-02,1.1406e-01,2.5071e+00,-4.4628e-02,4.2586e-02,1.9104e-05,3.3055e-02,2.6397e-02,5.0725e-02,-1.8080e-03,2.2750e-03,-1.2963e-04,6.6049e-02,2.9088e-03
+6,5.0000e+00,DOWN_FORCE_DETACH,1.1635e-03,8.7724e-02,1.2671e-01,2.5204e+00,-4.5512e-02,4.2888e-02,-4.1730e-05,3.7585e-02,3.9050e-02,6.4027e-02,-2.6919e-03,2.5773e-03,-1.9047e-04,8.3887e-02,3.7316e-03
+7,5.9500e+00,DOWN_FORCE_DETACH,1.3553e-03,8.3912e-02,1.2951e-01,2.5087e+00,-4.5720e-02,4.2629e-02,-1.0339e-04,3.3773e-02,4.1851e-02,5.2331e-02,-2.8995e-03,2.3177e-03,-2.5212e-04,7.5038e-02,3.7205e-03
+8,6.8000e+00,DOWN_FORCE_DETACH,1.5480e-03,7.4099e-02,1.3631e-01,2.5248e+00,-4.6200e-02,4.1918e-02,-1.4200e-04,2.3960e-02,4.8651e-02,6.8421e-02,-3.3796e-03,1.6069e-03,-2.9074e-04,8.7306e-02,3.7535e-03
+9,7.6000e+00,DOWN_FORCE_DETACH,1.7410e-03,7.3844e-02,1.4537e-01,2.5612e+00,-4.6837e-02,4.1862e-02,-1.7358e-04,2.3704e-02,5.7713e-02,1.0489e-01,-4.0173e-03,1.5509e-03,-3.2232e-04,1.2204e-01,4.3183e-03
+10,8.3833e+00,DOWN_FORCE_DETACH,1.9353e-03,6.9151e-02,1.5583e-01,2.5600e+00,-4.7589e-02,4.1534e-02,-1.9723e-04,1.9012e-02,6.8170e-02,1.0368e-01,-4.7690e-03,1.2230e-03,-3.4597e-04,1.2553e-01,4.9354e-03
+11,9.2500e+00,DOWN_FORCE_DETACH,2.1298e-03,6.6940e-02,1.4710e-01,2.5546e+00,-4.7026e-02,4.1389e-02,-2.1980e-04,1.6801e-02,5.9444e-02,9.8214e-02,-4.2061e-03,1.0783e-03,-3.6854e-04,1.1603e-01,4.3577e-03
+12,1.0067e+01,DOWN_FORCE_DETACH,2.3215e-03,5.8356e-02,1.5994e-01,2.5508e+00,-4.7965e-02,4.0793e-02,-2.1740e-04,8.2166e-03,7.2281e-02,9.4427e-02,-5.1453e-03,4.8200e-04,-3.6613e-04,1.1920e-01,5.1808e-03
+13,1.0483e+01,DOWN_FORCE_DETACH,2.5171e-03,2.3240e-02,1.2479e-01,2.5173e+00,-4.5543e-02,3.8354e-02,-2.0885e-04,-2.6899e-02,3.7128e-02,6.0959e-02,-2.7233e-03,-1.9570e-03,-3.5758e-04,7.6276e-02,3.3726e-03
+14,1.0933e+01,DOWN_FORCE_DETACH,2.7083e-03,1.8437e-02,1.0241e-01,2.5318e+00,-4.3993e-02,3.8003e-02,-2.0013e-04,-3.1702e-02,1.4755e-02,7.5512e-02,-1.1733e-03,-2.3077e-03,-3.4887e-04,8.3215e-02,2.6122e-03
+15,1.1650e+01,DOWN_FORCE_DETACH,2.9011e-03,2.9514e-02,8.8534e-02,2.5662e+00,-4.3017e-02,3.8749e-02,-1.6923e-04,-2.0626e-02,8.7396e-04,1.0990e-01,-1.9674e-04,-1.5619e-03,-3.1797e-04,1.1182e-01,1.6060e-03
+16,1.2383e+01,DOWN_FORCE_DETACH,3.0951e-03,3.6656e-02,1.0797e-01,2.5683e+00,-4.4313e-02,3.9246e-02,-9.9006e-05,-1.3484e-02,2.0306e-02,1.1197e-01,-1.4924e-03,-1.0646e-03,-2.4774e-04,1.1460e-01,1.8499e-03
+17,1.3183e+01,DOWN_FORCE_DETACH,3.2893e-03,3.3916e-02,1.1145e-01,2.5650e+00,-4.4490e-02,3.9050e-02,5.2105e-06,-1.6224e-02,2.3788e-02,1.0864e-01,-1.6703e-03,-1.2610e-03,-1.4353e-04,1.1239e-01,2.0978e-03
+18,1.4033e+01,DOWN_FORCE_DETACH,3.4836e-03,4.5325e-02,1.1350e-01,2.5429e+00,-4.4616e-02,3.9874e-02,1.2060e-04,-4.8148e-03,2.5840e-02,8.6596e-02,-1.7954e-03,-4.3718e-04,-2.8138e-05,9.0498e-02,1.8481e-03
+19,1.4917e+01,DOWN_FORCE_DETACH,3.6773e-03,6.0838e-02,1.1292e-01,2.5132e+00,-4.4612e-02,4.0999e-02,2.0128e-04,1.0699e-02,2.5259e-02,5.6844e-02,-1.7922e-03,6.8782e-04,5.2543e-05,6.3117e-02,1.9204e-03
+20,1.5733e+01,DOWN_FORCE_DETACH,3.8711e-03,6.4321e-02,1.1269e-01,2.4969e+00,-4.4644e-02,4.1267e-02,2.3452e-04,1.4181e-02,2.5032e-02,4.0575e-02,-1.8239e-03,9.5574e-04,8.5788e-05,4.9740e-02,2.0609e-03
+21,1.6617e+01,DOWN_FORCE_DETACH,4.0628e-03,5.3180e-02,1.2468e-01,2.5295e+00,-4.5517e-02,4.0455e-02,2.4214e-04,3.0409e-03,3.7024e-02,7.3126e-02,-2.6968e-03,1.4406e-04,9.3403e-05,8.2021e-02,2.7023e-03
+22,1.7350e+01,DOWN_FORCE_DETACH,4.2546e-03,5.4838e-02,1.3963e-01,2.5366e+00,-4.6562e-02,4.0568e-02,2.1962e-04,4.6982e-03,5.1969e-02,8.0259e-02,-3.7417e-03,2.5718e-04,7.0888e-05,9.5731e-02,3.7512e-03
+23,1.8083e+01,DOWN_FORCE_DETACH,4.4514e-03,5.5214e-02,1.3150e-01,2.5206e+00,-4.5964e-02,4.0621e-02,1.7165e-04,5.0747e-03,4.3838e-02,6.4306e-02,-3.1443e-03,3.1014e-04,2.2910e-05,7.7992e-02,3.1596e-03
+24,1.8950e+01,DOWN_FORCE_DETACH,4.6441e-03,5.8151e-02,1.4401e-01,2.5279e+00,-4.6783e-02,4.0830e-02,1.1759e-04,8.0113e-03,5.6350e-02,7.1605e-02,-3.9632e-03,5.1888e-04,-3.1149e-05,9.1470e-02,3.9972e-03
+25,1.9817e+01,DOWN_FORCE_DETACH,4.8360e-03,5.5771e-02,1.5724e-01,2.5372e+00,-4.7664e-02,4.0653e-02,7.7251e-05,5.6314e-03,6.9576e-02,8.0847e-02,-4.8438e-03,3.4242e-04,-7.1485e-05,1.0681e-01,4.8564e-03
+26,2.0467e+01,DOWN_FORCE_DETACH,5.0267e-03,5.5752e-02,1.4728e-01,2.5356e+00,-4.6966e-02,4.0649e-02,5.1153e-05,5.6129e-03,5.9619e-02,7.9294e-02,-4.1464e-03,3.3777e-04,-9.7584e-05,9.9365e-02,4.1612e-03
+27,2.1317e+01,DOWN_FORCE_DETACH,5.2234e-03,5.9969e-02,1.5065e-01,2.5512e+00,-4.7201e-02,4.0921e-02,3.7057e-05,9.8300e-03,6.2989e-02,9.4863e-02,-4.3808e-03,6.1013e-04,-1.1168e-04,1.1429e-01,4.4245e-03
+28,2.2183e+01,DOWN_FORCE_DETACH,5.4178e-03,6.4881e-02,1.5667e-01,2.5579e+00,-4.7617e-02,4.1258e-02,3.9773e-05,1.4741e-02,6.9006e-02,1.0154e-01,-4.7971e-03,9.4710e-04,-1.0896e-04,1.2365e-01,4.8909e-03
+29,2.2933e+01,DOWN_FORCE_DETACH,5.6110e-03,6.4888e-02,1.5959e-01,2.5674e+00,-4.7818e-02,4.1249e-02,4.5691e-05,1.4749e-02,7.1926e-02,1.1103e-01,-4.9978e-03,9.3815e-04,-1.0305e-04,1.3311e-01,5.0862e-03
+30,2.3700e+01,DOWN_FORCE_DETACH,5.8037e-03,7.2797e-02,1.6115e-01,2.5704e+00,-4.7910e-02,4.1803e-02,3.6080e-05,2.2658e-02,7.3491e-02,1.1404e-01,-5.0901e-03,1.4921e-03,-1.1266e-04,1.3755e-01,5.3055e-03
+31,2.4483e+01,DOWN_FORCE_DETACH,5.9987e-03,7.5621e-02,1.6829e-01,2.5604e+00,-4.8383e-02,4.2010e-02,1.0643e-06,2.5482e-02,8.0633e-02,1.0402e-01,-5.5632e-03,1.6995e-03,-1.4767e-04,1.3406e-01,5.8189e-03
+32,2.5333e+01,DOWN_FORCE_DETACH,6.1904e-03,7.3996e-02,1.7536e-01,2.5786e+00,-4.8844e-02,4.1870e-02,-6.6245e-05,2.3857e-02,8.7703e-02,1.2224e-01,-6.0242e-03,1.5589e-03,-2.1498e-04,1.5233e-01,6.2264e-03
+33,2.6200e+01,DOWN_FORCE_DETACH,6.3832e-03,7.2690e-02,1.8057e-01,2.5824e+00,-4.9200e-02,4.1757e-02,-1.5456e-04,2.2551e-02,9.2906e-02,1.2609e-01,-6.3803e-03,1.4466e-03,-3.0330e-04,1.5823e-01,6.5493e-03
+34,2.6783e+01,DOWN_FORCE_DETACH,6.5755e-03,7.0673e-02,1.7846e-01,2.6197e+00,-4.9025e-02,4.1567e-02,-2.2156e-04,2.0533e-02,9.0797e-02,1.6335e-01,-6.2046e-03,1.2562e-03,-3.7030e-04,1.8801e-01,6.3414e-03
+35,2.7533e+01,DOWN_FORCE_DETACH,6.7735e-03,6.3591e-02,1.9497e-01,2.6260e+00,-5.0155e-02,4.1062e-02,-2.7420e-04,1.3452e-02,1.0731e-01,1.6970e-01,-7.3351e-03,7.5106e-04,-4.2294e-04,2.0123e-01,7.3856e-03
+36,2.8333e+01,DOWN_FORCE_DETACH,6.9653e-03,6.4953e-02,2.1101e-01,2.6313e+00,-5.1203e-02,4.1152e-02,-2.5811e-04,1.4813e-02,1.2335e-01,1.7495e-01,-8.3834e-03,8.4158e-04,-4.0684e-04,2.1457e-01,8.4353e-03
+37,2.9033e+01,DOWN_FORCE_DETACH,7.1574e-03,6.6878e-02,2.2237e-01,2.6246e+00,-5.1898e-02,4.1285e-02,-1.4966e-04,1.6739e-02,1.3471e-01,1.6828e-01,-9.0782e-03,9.7441e-04,-2.9839e-04,2.1621e-01,9.1352e-03
+38,2.9733e+01,DOWN_FORCE_DETACH,7.3532e-03,6.8682e-02,2.3589e-01,2.6397e+00,-5.2758e-02,4.1393e-02,3.4952e-05,1.8543e-02,1.4823e-01,1.8337e-01,-9.9377e-03,1.0820e-03,-1.1378e-04,2.3652e-01,9.9971e-03
+39,3.0417e+01,DOWN_FORCE_DETACH,7.5454e-03,6.7333e-02,2.3995e-01,2.6597e+00,-5.3018e-02,4.1286e-02,2.0242e-04,1.7193e-02,1.5229e-01,2.0339e-01,-1.0197e-02,9.7497e-04,5.3687e-05,2.5467e-01,1.0244e-02
+40,3.1167e+01,DOWN_FORCE_DETACH,7.7374e-03,7.3417e-02,2.4692e-01,2.6524e+00,-5.3520e-02,4.1730e-02,3.0028e-04,2.3277e-02,1.5926e-01,1.9602e-01,-1.0700e-02,1.4189e-03,1.5154e-04,2.5363e-01,1.0794e-02
+41,3.1850e+01,DOWN_FORCE_DETACH,7.9341e-03,7.4164e-02,2.5481e-01,2.6709e+00,-5.4062e-02,4.1746e-02,3.1626e-04,2.4024e-02,1.6715e-01,2.1457e-01,-1.1241e-02,1.4350e-03,1.6752e-04,2.7305e-01,1.1334e-02
+42,3.2450e+01,DOWN_FORCE_DETACH,8.1230e-03,8.0587e-02,2.5612e-01,2.6808e+00,-5.4146e-02,4.2169e-02,2.6275e-04,3.0447e-02,1.6846e-01,2.2448e-01,-1.1326e-02,1.8582e-03,1.1401e-04,2.8231e-01,1.1478e-02
+43,3.3033e+01,DOWN_FORCE_DETACH,8.3212e-03,7.4393e-02,2.6479e-01,2.6971e+00,-5.4684e-02,4.1712e-02,1.8529e-04,2.4254e-02,1.7713e-01,2.4077e-01,-1.1864e-02,1.4009e-03,3.6555e-05,2.9988e-01,1.1946e-02
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+45,3.4200e+01,DOWN_FORCE_DETACH,8.7048e-03,6.5047e-02,2.7560e-01,2.7147e+00,-5.5182e-02,4.1038e-02,7.9231e-05,1.4908e-02,1.8794e-01,2.5841e-01,-1.2362e-02,7.2727e-04,-6.9505e-05,3.1987e-01,1.2384e-02
+46,3.4767e+01,DOWN_FORCE_DETACH,8.8987e-03,6.6330e-02,2.7707e-01,2.7399e+00,-5.5229e-02,4.1104e-02,6.2380e-05,1.6190e-02,1.8941e-01,2.8352e-01,-1.2409e-02,7.9308e-04,-8.6357e-05,3.4135e-01,1.2435e-02
+47,3.5283e+01,DOWN_FORCE_DETACH,9.0881e-03,7.4203e-02,2.8822e-01,2.7771e+00,-5.5919e-02,4.1620e-02,2.2210e-05,2.4064e-02,2.0056e-01,3.2075e-01,-1.3099e-02,1.3089e-03,-1.2653e-04,3.7906e-01,1.3165e-02
+48,3.5567e+01,DOWN_FORCE_DETACH,9.2907e-03,7.1543e-02,2.8887e-01,2.8560e+00,-5.5814e-02,4.1334e-02,-3.1684e-06,2.1404e-02,2.0121e-01,3.9966e-01,-1.2993e-02,1.0236e-03,-1.5190e-04,4.4797e-01,1.3035e-02
+49,3.5983e+01,DOWN_FORCE_DETACH,9.4778e-03,7.9206e-02,2.9434e-01,2.8570e+00,-5.6041e-02,4.1865e-02,-7.3107e-05,2.9067e-02,2.0668e-01,4.0063e-01,-1.3221e-02,1.5543e-03,-2.2184e-04,4.5174e-01,1.3313e-02
+50,3.6417e+01,DOWN_FORCE_DETACH,9.6744e-03,9.2114e-02,3.1080e-01,2.8562e+00,-5.6957e-02,4.2759e-02,-1.2993e-04,4.1975e-02,2.2314e-01,3.9988e-01,-1.4137e-02,2.4485e-03,-2.7866e-04,4.5984e-01,1.4350e-02
+51,3.6817e+01,DOWN_FORCE_DETACH,9.8664e-03,9.8783e-02,3.2036e-01,2.8643e+00,-5.7481e-02,4.3210e-02,-9.5579e-05,4.8644e-02,2.3270e-01,4.0799e-01,-1.4660e-02,2.8992e-03,-2.4432e-04,4.7220e-01,1.4946e-02
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+53,3.7583e+01,DOWN_FORCE_DETACH,1.0250e-02,1.0391e-01,3.4434e-01,2.9041e+00,-5.8911e-02,4.3548e-02,4.3000e-05,5.3775e-02,2.5668e-01,4.4775e-01,-1.6091e-02,3.2375e-03,-1.0574e-04,5.1891e-01,1.6414e-02
+54,3.7933e+01,DOWN_FORCE_DETACH,1.0452e-02,1.1172e-01,3.5660e-01,2.9360e+00,-5.9579e-02,4.4037e-02,2.1023e-05,6.1579e-02,2.6894e-01,4.7966e-01,-1.6759e-02,3.7258e-03,-1.2771e-04,5.5335e-01,1.7168e-02
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Part2/Fixed/digit/ball_15A_12.5/press_depth_05/up/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_15A_12.5/press_depth_05/up/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_05/up/franka_data.csv ADDED Viewed

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

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Part2/Fixed/digit/ball_15A_12.5/press_depth_05/up/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_05/up/real_sim_motion_alignment.csv ADDED Viewed

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

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+9,6.000000000e-01,WAIT_W2,1792838126293741752,4.927366383e-06,-2.544147791e-04,1.644252623e-05,4.997724851e-06,-2.545421932e-04,1.609479039e-05,5.667997032e-06,-2.552323674e-04,1.602821985e-05,7.019605602e-01,-2.766855141e-04,8.601595298e-01,7.019606305e-01,-2.768129282e-04,8.601591820e-01,7.027508099e-01,-3.737258603e-04,8.303418813e-01
+10,6.166666667e-01,WAIT_W2,1792838126310922534,-3.034575135e-06,-3.338399647e-04,9.069903709e-06,-2.887161992e-06,-3.338848767e-04,9.415880258e-06,-2.814945559e-06,-3.348604342e-04,9.419578348e-06,7.019525982e-01,-3.561106998e-04,8.601521571e-01,7.019527457e-01,-3.561556117e-04,8.601525031e-01,7.027423270e-01,-4.533539271e-04,8.303352727e-01
+11,6.166666667e-01,WAIT_W2,1792838126310922534,-3.034575135e-06,-3.338399647e-04,9.069903709e-06,-2.887161992e-06,-3.338848767e-04,9.415880258e-06,-2.814945559e-06,-3.348604342e-04,9.419578348e-06,7.019525982e-01,-3.561106998e-04,8.601521571e-01,7.019527457e-01,-3.561556117e-04,8.601525031e-01,7.027423270e-01,-4.533539271e-04,8.303352727e-01
+12,6.333333333e-01,WAIT_W2,1792838126327118259,1.566749405e-06,-3.730597761e-04,1.565875307e-05,1.360882428e-06,-3.727017672e-04,1.553505129e-05,1.824073292e-06,-3.738086487e-04,1.551161285e-05,7.019571996e-01,-3.953305111e-04,8.601587460e-01,7.019569937e-01,-3.949725023e-04,8.601586223e-01,7.027469660e-01,-4.923021416e-04,8.303413647e-01
+13,6.833333333e-01,WAIT_W2,1792838126376851015,2.454596226e-06,-3.303968034e-04,1.673299011e-05,2.481913721e-06,-3.306040723e-04,1.685420587e-05,3.002085588e-06,-3.316438103e-04,1.684292114e-05,7.019580874e-01,-3.526675384e-04,8.601598202e-01,7.019581147e-01,-3.528748074e-04,8.601599414e-01,7.027481440e-01,-4.501373032e-04,8.303426960e-01
+14,7.333333333e-01,WAIT_W2,1792838126425704984,3.256201772e-06,-3.541380137e-04,1.902663220e-05,3.297079217e-06,-3.539572569e-04,1.918847466e-05,3.952195655e-06,-3.550549762e-04,1.920844310e-05,7.019588890e-01,-3.764087488e-04,8.601621139e-01,7.019589299e-01,-3.762279919e-04,8.601622757e-01,7.027490941e-01,-4.735484691e-04,8.303450616e-01
+15,8.166666667e-01,WAIT_W2,1792838126506708353,3.911455438e-06,-3.457667306e-04,2.059397229e-05,3.297079217e-06,-3.539572569e-04,1.918847466e-05,3.960075568e-06,-3.550760373e-04,1.923499258e-05,7.019595443e-01,-3.680374656e-04,8.601636812e-01,7.019589299e-01,-3.762279919e-04,8.601622757e-01,7.027491020e-01,-4.735695302e-04,8.303450881e-01
+16,9.500000000e-01,WAIT_W2,1792838126639044423,6.650264147e-06,-3.511070221e-04,2.651589619e-05,3.297079217e-06,-3.539572569e-04,1.918847466e-05,3.975356404e-06,-3.550833601e-04,1.926050961e-05,7.019622831e-01,-3.733777572e-04,8.601696031e-01,7.019589299e-01,-3.762279919e-04,8.601622757e-01,7.027491173e-01,-4.735768530e-04,8.303451136e-01
+17,1.083333333e+00,WAIT_W2,1792838126769217009,8.790583743e-06,-3.607706372e-04,2.978393203e-05,3.297079217e-06,-3.539572569e-04,1.918847466e-05,3.988306114e-06,-3.550873271e-04,1.927635463e-05,7.019644234e-01,-3.830413722e-04,8.601728712e-01,7.019589299e-01,-3.762279919e-04,8.601622757e-01,7.027491302e-01,-4.735808200e-04,8.303451295e-01
+18,1.200000000e+00,WAIT_W2,1792838126883653904,8.834519919e-06,-3.602321056e-04,3.077471303e-05,3.297079217e-06,-3.539572569e-04,1.918847466e-05,3.998351324e-06,-3.550898625e-04,1.928561265e-05,7.019644673e-01,-3.825028406e-04,8.601738620e-01,7.019589299e-01,-3.762279919e-04,8.601622757e-01,7.027491403e-01,-4.735833554e-04,8.303451387e-01
+19,1.366666667e+00,UP_FORCE_RAMP,1792838127047701633,8.074372724e-06,-3.598401688e-04,3.080945064e-05,3.297079217e-06,-3.539572569e-04,1.918847466e-05,4.011072488e-06,-3.550927480e-04,1.929417776e-05,7.019637072e-01,-3.821109039e-04,8.601738967e-01,7.019589299e-01,-3.762279919e-04,8.601622757e-01,7.027491530e-01,-4.735862409e-04,8.303451473e-01
+20,1.533333333e+00,UP_FORCE_RAMP,1792838127212100086,7.889764445e-06,-3.573402222e-04,2.968961384e-05,3.297079217e-06,-3.539572569e-04,1.918847466e-05,4.022348592e-06,-3.550951815e-04,1.929920356e-05,7.019635226e-01,-3.796109573e-04,8.601727769e-01,7.019589299e-01,-3.762279919e-04,8.601622757e-01,7.027491643e-01,-4.735886744e-04,8.303451523e-01
+21,1.683333333e+00,UP_FORCE_RAMP,1792838127374623143,8.078334217e-06,-3.582380999e-04,3.434175466e-05,1.330383503e-05,-3.560922309e-04,3.889465113e-05,1.499867142e-05,-3.572504432e-04,3.893018858e-05,7.019637112e-01,-3.805088349e-04,8.601774290e-01,7.019689367e-01,-3.783629659e-04,8.601819819e-01,7.027601406e-01,-4.757439361e-04,8.303647833e-01
+22,1.866666667e+00,UP_FORCE_RAMP,1792838127555437689,9.981364443e-06,-3.539283319e-04,3.774068155e-05,1.330383503e-05,-3.560922309e-04,3.889465113e-05,1.502480167e-05,-3.572536890e-04,3.896019599e-05,7.019656142e-01,-3.761990669e-04,8.601808279e-01,7.019689367e-01,-3.783629659e-04,8.601819819e-01,7.027601667e-01,-4.757471819e-04,8.303648133e-01
+23,2.016666667e+00,UP_FORCE_RAMP,1792838127703410502,1.326787553e-05,-3.586665535e-04,4.388708078e-05,1.330383503e-05,-3.560922309e-04,3.889465113e-05,1.504053660e-05,-3.572555428e-04,3.897446059e-05,7.019689007e-01,-3.809372886e-04,8.601869743e-01,7.019689367e-01,-3.783629659e-04,8.601819819e-01,7.027601825e-01,-4.757490357e-04,8.303648276e-01
+24,2.183333333e+00,UP_FORCE_RAMP,1792838127888340602,1.353749123e-05,-3.516741815e-04,4.866134971e-05,1.330383503e-05,-3.560922309e-04,3.889465113e-05,1.505499292e-05,-3.572573095e-04,3.898484356e-05,7.019691703e-01,-3.739449165e-04,8.601917486e-01,7.019689367e-01,-3.783629659e-04,8.601819819e-01,7.027601969e-01,-4.757508024e-04,8.303648380e-01
+25,2.316666667e+00,UP_FORCE_RAMP,1792838128030150688,1.438278595e-05,-3.563404569e-04,5.280220221e-05,1.330383503e-05,-3.560922309e-04,3.889465113e-05,1.506500359e-05,-3.572586084e-04,3.899060328e-05,7.019700156e-01,-3.786111919e-04,8.601958894e-01,7.019689367e-01,-3.783629659e-04,8.601819819e-01,7.027602069e-01,-4.757521013e-04,8.303648437e-01
+26,2.466666667e+00,UP_FORCE_RAMP,1792838128178429891,1.437150768e-05,-3.516345603e-04,5.924448777e-05,1.458983944e-05,-3.519499247e-04,5.919264985e-05,1.668895612e-05,-3.530959347e-04,5.916008259e-05,7.019700043e-01,-3.739052954e-04,8.602023317e-01,7.019702227e-01,-3.742206597e-04,8.602022799e-01,7.027618309e-01,-4.715894276e-04,8.303850132e-01
+27,2.600000000e+00,UP_FORCE_RAMP,1792838128309289007,1.406549335e-05,-3.540133571e-04,6.322383356e-05,1.458983944e-05,-3.519499247e-04,5.919264985e-05,1.670229031e-05,-3.530952335e-04,5.920657738e-05,7.019696983e-01,-3.762840921e-04,8.602063111e-01,7.019702227e-01,-3.742206597e-04,8.602022799e-01,7.027618442e-01,-4.715887264e-04,8.303850597e-01
+28,2.783333333e+00,UP_FORCE_RAMP,1792838128490092271,1.567779953e-05,-3.516657605e-04,7.487235135e-05,1.458983944e-05,-3.519499247e-04,5.919264985e-05,1.671501549e-05,-3.530969020e-04,5.923555752e-05,7.019713106e-01,-3.739364955e-04,8.602179596e-01,7.019702227e-01,-3.742206597e-04,8.602022799e-01,7.027618570e-01,-4.715903949e-04,8.303850887e-01
+29,2.933333333e+00,UP_FORCE_RAMP,1792838128636146103,1.721772345e-05,-3.514749885e-04,8.681925562e-05,1.668909978e-05,-3.544468815e-04,8.051147498e-05,1.928679387e-05,-3.556412599e-04,8.043515549e-05,7.019728505e-01,-3.737457235e-04,8.602299065e-01,7.019723219e-01,-3.767176165e-04,8.602235987e-01,7.027644287e-01,-4.741347528e-04,8.304062883e-01
+30,3.100000000e+00,UP_FORCE_RAMP,1792838128800875222,1.308512647e-05,-3.486514681e-04,9.404194734e-05,1.668909978e-05,-3.544468815e-04,8.051147498e-05,1.929977089e-05,-3.556435917e-04,8.047809548e-05,7.019687179e-01,-3.709222031e-04,8.602371292e-01,7.019723219e-01,-3.767176165e-04,8.602235987e-01,7.027644417e-01,-4.741370847e-04,8.304063312e-01
+31,3.150000000e+00,UP_FORCE_RAMP,1792838128849949359,-2.358714937e-05,-3.478599587e-04,8.932656501e-05,-2.338570533e-05,-3.476710246e-04,8.904950124e-05,-2.358799355e-05,-3.488407537e-04,8.886945109e-05,7.019320457e-01,-3.701306937e-04,8.602324138e-01,7.019322471e-01,-3.699417596e-04,8.602321367e-01,7.027215539e-01,-4.673342466e-04,8.304147226e-01
+32,3.283333333e+00,UP_FORCE_RAMP,1792838128980478269,-1.687250989e-05,-3.488082001e-04,1.051755841e-04,-2.338570533e-05,-3.476710246e-04,8.904950124e-05,-2.367331700e-05,-3.488426436e-04,8.889906691e-05,7.019387603e-01,-3.710789351e-04,8.602482628e-01,7.019322471e-01,-3.699417596e-04,8.602321367e-01,7.027214686e-01,-4.673361365e-04,8.304147522e-01
+33,3.466666667e+00,UP_FORCE_RAMP,1792838129161822437,-1.299446867e-05,-3.469158228e-04,1.236971482e-04,-1.296009224e-05,-3.467446354e-04,1.126360963e-04,-1.217102125e-05,-3.479060806e-04,1.124570191e-04,7.019426383e-01,-3.691865578e-04,8.602667844e-01,7.019426727e-01,-3.690153704e-04,8.602557233e-01,7.027329709e-01,-4.663995735e-04,8.304383101e-01
+34,3.666666667e+00,UP_FORCE_RAMP,1792838129356877807,-7.295688848e-06,-3.472911796e-04,1.438575510e-04,-1.028117393e-05,-3.467879562e-04,1.358679971e-04,-9.105621190e-06,-3.479350242e-04,1.356146995e-04,7.019483371e-01,-3.695619146e-04,8.602869448e-01,7.019453516e-01,-3.690586912e-04,8.602789552e-01,7.027360363e-01,-4.664285171e-04,8.304614678e-01
+35,3.833333333e+00,UP_FORCE_RAMP,1792838129520897861,-7.354294136e-06,-3.471228540e-04,1.554006979e-04,-7.257123444e-06,-3.469790544e-04,1.553445147e-04,-5.602865590e-06,-3.481339910e-04,1.549966361e-04,7.019482785e-01,-3.693935890e-04,8.602984879e-01,7.019483757e-01,-3.692497895e-04,8.602984318e-01,7.027395391e-01,-4.666274839e-04,8.304808498e-01
+36,4.016666667e+00,UP_FORCE_RAMP,1792838129701997905,-6.694014290e-06,-3.516238197e-04,1.681948317e-04,-7.257123444e-06,-3.469790544e-04,1.553445147e-04,-5.592546547e-06,-3.481347756e-04,1.550934746e-04,7.019489388e-01,-3.738945547e-04,8.603112821e-01,7.019483757e-01,-3.692497895e-04,8.602984318e-01,7.027395494e-01,-4.666282685e-04,8.304809466e-01
+37,4.216666667e+00,UP_FORCE_RAMP,1792838129897859614,-6.163855122e-06,-3.486293197e-04,1.869579875e-04,-3.799191924e-06,-3.470549110e-04,1.799554110e-04,-1.548984471e-06,-3.482046432e-04,1.796451274e-04,7.019494690e-01,-3.709000547e-04,8.603300452e-01,7.019518336e-01,-3.693256460e-04,8.603230427e-01,7.027435930e-01,-4.666981361e-04,8.305054982e-01
+38,4.400000000e+00,UP_FORCE_RAMP,1792838130078002463,-1.140619379e-05,-3.479221220e-04,2.035079153e-04,-4.208858318e-06,-3.501769620e-04,2.011359233e-04,-1.716287847e-06,-3.513605998e-04,2.007334190e-04,7.019442266e-01,-3.701928570e-04,8.603465952e-01,7.019514240e-01,-3.724476970e-04,8.603442232e-01,7.027434257e-01,-4.698540927e-04,8.305265865e-01
+39,4.533333333e+00,UP_FORCE_RAMP,1792838130209236069,-1.835818973e-05,-3.463895426e-04,2.136857619e-04,-4.208858318e-06,-3.501769620e-04,2.011359233e-04,-1.712120342e-06,-3.513616544e-04,2.007926659e-04,7.019372746e-01,-3.686602776e-04,8.603567730e-01,7.019514240e-01,-3.724476970e-04,8.603442232e-01,7.027434298e-01,-4.698551473e-04,8.305266458e-01
+40,4.733333333e+00,UP_FORCE_RAMP,1792838130405668669,-2.232410521e-05,-3.412578285e-04,2.370924864e-04,-1.597582664e-05,-3.455102021e-04,2.200261465e-04,-1.408708094e-05,-3.466790992e-04,2.196947061e-04,7.019333087e-01,-3.635285635e-04,8.603801797e-01,7.019396570e-01,-3.677809371e-04,8.603631134e-01,7.027310549e-01,-4.651725921e-04,8.305455478e-01
+41,4.883333333e+00,UP_FORCE_RAMP,1792838130552808730,-2.421908307e-05,-3.479165739e-04,2.505576334e-04,-2.102329979e-05,-3.465739667e-04,2.408144557e-04,-1.927478958e-05,-3.477728232e-04,2.403905032e-04,7.019314137e-01,-3.701873089e-04,8.603936449e-01,7.019346095e-01,-3.688447017e-04,8.603839017e-01,7.027258672e-01,-4.662663161e-04,8.305662436e-01
+42,5.000000000e+00,UP_FORCE_HOLD,1792838130683016910,-2.208429233e-05,-3.402357112e-04,2.667949729e-04,-2.155821596e-05,-3.418566311e-04,2.616369187e-04,-1.958335088e-05,-3.430261635e-04,2.611151574e-04,7.019335485e-01,-3.625064462e-04,8.604098822e-01,7.019340746e-01,-3.641273661e-04,8.604047242e-01,7.027255586e-01,-4.615196564e-04,8.305869683e-01
+43,5.150000000e+00,UP_FORCE_HOLD,1792838130831430336,-2.511336837e-05,-3.388373441e-04,2.767791094e-04,-2.155821596e-05,-3.418566311e-04,2.616369187e-04,-1.959128493e-05,-3.430250955e-04,2.611945780e-04,7.019305194e-01,-3.611080792e-04,8.604198663e-01,7.019340746e-01,-3.641273661e-04,8.604047242e-01,7.027255507e-01,-4.615185884e-04,8.305870477e-01
+44,5.300000000e+00,UP_SETTLE,1792838130978704401,-2.431288326e-05,-3.427079570e-04,2.899757275e-04,-2.513648954e-05,-3.414966096e-04,2.833313575e-04,-2.323086258e-05,-3.426365404e-04,2.828081356e-04,7.019313199e-01,-3.649786920e-04,8.604330630e-01,7.019304963e-01,-3.637673446e-04,8.604264186e-01,7.027219111e-01,-4.611300333e-04,8.306086613e-01
+45,5.466666667e+00,UP_SETTLE,1792838131142714032,-2.903065188e-05,-3.455028388e-04,2.987093405e-04,-2.513648954e-05,-3.414966096e-04,2.833313575e-04,-2.324080087e-05,-3.426363015e-04,2.828825448e-04,7.019266022e-01,-3.677735738e-04,8.604417966e-01,7.019304963e-01,-3.637673446e-04,8.604264186e-01,7.027219011e-01,-4.611297944e-04,8.306087357e-01
+46,5.650000000e+00,UP_SETTLE,1792838131322488321,-2.798201697e-05,-3.387607686e-04,3.154025457e-04,-2.570219426e-05,-3.410611250e-04,3.037955087e-04,-2.356894824e-05,-3.422379950e-04,3.033204490e-04,7.019276508e-01,-3.610315037e-04,8.604584898e-01,7.019299306e-01,-3.633318600e-04,8.604468827e-01,7.027215730e-01,-4.607314879e-04,8.306291736e-01
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+50,6.066666667e+00,UP_SETTLE,1792838131732507470,-7.095813402e-05,-3.473502107e-04,3.119551620e-04,-7.482323857e-05,-3.414764456e-04,3.131622874e-04,-7.612172520e-05,-3.426118036e-04,3.126908517e-04,7.018846747e-01,-3.696209457e-04,8.604550424e-01,7.018808096e-01,-3.637471806e-04,8.604562495e-01,7.026690202e-01,-4.611052965e-04,8.306385440e-01
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+53,6.400000000e+00,UP_SETTLE,1792838132059797861,-7.154102036e-05,-3.456406404e-04,3.345866267e-04,-6.190469377e-05,-3.495843368e-04,3.293091791e-04,-6.220312394e-05,-3.507544293e-04,3.288087258e-04,7.018840918e-01,-3.679113754e-04,8.604776739e-01,7.018937281e-01,-3.718550719e-04,8.604723964e-01,7.026829388e-01,-4.692479222e-04,8.306546618e-01
+54,6.500000000e+00,UP_SETTLE,1792838132157978181,-7.225649716e-05,-3.773921205e-04,3.429124763e-04,-7.209233097e-05,-3.773646149e-04,3.428417675e-04,-7.298370554e-05,-3.786366674e-04,3.422523396e-04,7.018833763e-01,-3.996628556e-04,8.604859997e-01,7.018835405e-01,-3.996353499e-04,8.604859290e-01,7.026721582e-01,-4.971301603e-04,8.306681055e-01
+55,6.566666667e+00,UP_SETTLE,1792838132223893645,-7.328153645e-05,-3.576040702e-04,3.482565593e-04,-7.310266698e-05,-3.559402583e-04,3.476063630e-04,-7.402384523e-05,-3.571445553e-04,3.470417053e-04,7.018823513e-01,-3.798748052e-04,8.604913438e-01,7.018825302e-01,-3.782109934e-04,8.604906936e-01,7.026711181e-01,-4.756380482e-04,8.306728948e-01
+56,6.700000000e+00,UP_SETTLE,1792838132355192201,-7.486833632e-05,-3.607498923e-04,3.503791046e-04,-7.310266698e-05,-3.559402583e-04,3.476063630e-04,-7.405124419e-05,-3.571410278e-04,3.470870027e-04,7.018807645e-01,-3.830206273e-04,8.604934663e-01,7.018825302e-01,-3.782109934e-04,8.604906936e-01,7.026710907e-01,-4.756345207e-04,8.306729401e-01
+57,6.850000000e+00,UP_SETTLE,1792838132501863742,-7.516113569e-05,-3.614191000e-04,3.548169135e-04,-7.310266698e-05,-3.559402583e-04,3.476063630e-04,-7.407234380e-05,-3.571388870e-04,3.471229246e-04,7.018804717e-01,-3.836898350e-04,8.604979042e-01,7.018825302e-01,-3.782109934e-04,8.604906936e-01,7.026710696e-01,-4.756323799e-04,8.306729760e-01
+58,7.033333333e+00,UP_SETTLE,1792838132682403931,-7.483812440e-05,-3.582215165e-04,3.592238597e-04,-7.310266698e-05,-3.559402583e-04,3.476063630e-04,-7.409058701e-05,-3.571365734e-04,3.471572536e-04,7.018807947e-01,-3.804922515e-04,8.605023111e-01,7.018825302e-01,-3.782109934e-04,8.604906936e-01,7.026710514e-01,-4.756300663e-04,8.306730104e-01
+59,7.216666667e+00,UP_SETTLE,1792838132862496101,-7.641726429e-05,-3.621202284e-04,3.585162925e-04,-7.310266698e-05,-3.559402583e-04,3.476063630e-04,-7.410419442e-05,-3.571341830e-04,3.471853770e-04,7.018792156e-01,-3.843909634e-04,8.605016035e-01,7.018825302e-01,-3.782109934e-04,8.604906936e-01,7.026710377e-01,-4.756276759e-04,8.306730385e-01

Part2/Fixed/digit/ball_15A_12.5/press_depth_05/up/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,5.0614e-02,8.7652e-02,2.4563e+00,-4.2819e-02,4.0344e-02,1.4806e-04,4.7154e-04,-6.8992e-06,-3.8147e-05,1.3448e-06,3.3278e-05,-5.9884e-07,4.7313e-04,3.3311e-05
+1,2.1667e-01,WAIT_W2,3.9419e-05,5.6180e-02,8.7550e-02,2.4559e+00,-4.2802e-02,4.0737e-02,1.4040e-04,6.0380e-03,-1.0878e-04,-4.8256e-04,1.8261e-05,4.2630e-04,-8.2595e-06,6.0582e-03,4.2677e-04
+2,3.8333e-01,WAIT_W2,7.8629e-05,5.9852e-02,8.7464e-02,2.4555e+00,-4.2790e-02,4.0997e-02,1.3458e-04,9.7096e-03,-1.9481e-04,-7.8464e-04,3.0231e-05,6.8564e-04,-1.4079e-05,9.7432e-03,6.8645e-04
+3,5.1667e-01,WAIT_W2,1.1108e-04,6.2469e-02,8.7392e-02,2.4553e+00,-4.2781e-02,4.1182e-02,1.2996e-04,1.2328e-02,-2.6680e-04,-1.0076e-03,3.9190e-05,8.7058e-04,-1.8702e-05,1.2372e-02,8.7166e-04
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+5,5.5000e-01,WAIT_W2,1.6841e-04,6.3311e-02,1.6435e-01,2.4494e+00,-4.8148e-02,4.1246e-02,1.5772e-04,1.3169e-02,7.6696e-02,-6.8870e-03,-5.3283e-03,9.3466e-04,9.0653e-06,7.8122e-02,5.4097e-03
+6,5.6667e-01,WAIT_W2,2.2722e-04,6.3428e-02,2.6200e-01,2.4467e+00,-5.4962e-02,4.1255e-02,1.9514e-04,1.3286e-02,1.7434e-01,-9.6116e-03,-1.2142e-02,9.4387e-04,4.6479e-05,1.7511e-01,1.2179e-02
+7,5.8333e-01,WAIT_W2,2.8993e-04,6.5131e-02,4.0747e-01,2.4437e+00,-6.5111e-02,4.1373e-02,2.4523e-04,1.4989e-02,3.1981e-01,-1.2672e-02,-2.2291e-02,1.0615e-03,9.6571e-05,3.2041e-01,2.2316e-02
+8,5.8333e-01,WAIT_W2,2.8993e-04,6.5131e-02,4.0747e-01,2.4437e+00,-6.5111e-02,4.1373e-02,2.4523e-04,1.4989e-02,3.1981e-01,-1.2672e-02,-2.2291e-02,1.0615e-03,9.6571e-05,3.2041e-01,2.2316e-02
+9,6.0000e-01,WAIT_W2,3.5339e-04,7.3796e-02,5.5808e-01,2.4481e+00,-7.5644e-02,4.1977e-02,3.0484e-04,2.3654e-02,4.7042e-01,-8.2417e-03,-3.2824e-02,1.6655e-03,1.5618e-04,4.7108e-01,3.2867e-02
+10,6.1667e-01,WAIT_W2,4.3355e-04,7.3511e-02,7.1101e-01,2.4443e+00,-8.6352e-02,4.1962e-02,3.7172e-04,2.3369e-02,6.2335e-01,-1.2075e-02,-4.3532e-02,1.6509e-03,2.2306e-04,6.2391e-01,4.3564e-02
+11,6.1667e-01,WAIT_W2,4.3355e-04,7.3511e-02,7.1101e-01,2.4443e+00,-8.6352e-02,4.1962e-02,3.7172e-04,2.3369e-02,6.2335e-01,-1.2075e-02,-4.3532e-02,1.6509e-03,2.2306e-04,6.2391e-01,4.3564e-02
+12,6.3333e-01,WAIT_W2,4.7359e-04,9.3781e-02,8.9927e-01,2.4600e+00,-9.9515e-02,4.3373e-02,4.3312e-04,4.3639e-02,8.1161e-01,3.6497e-03,-5.6695e-02,3.0616e-03,2.8446e-04,8.1279e-01,5.6778e-02
+13,6.8333e-01,WAIT_W2,5.2602e-04,9.1485e-02,9.8452e-01,2.4625e+00,-1.0558e-01,4.3220e-02,4.6928e-04,4.1343e-02,8.9686e-01,6.1331e-03,-6.2761e-02,2.9090e-03,3.2062e-04,8.9783e-01,6.2829e-02
+14,7.3333e-01,WAIT_W2,5.5323e-04,8.6875e-02,8.8215e-01,2.4614e+00,-9.8467e-02,4.2899e-02,4.2117e-04,3.6734e-02,7.9449e-01,5.0349e-03,-5.5646e-02,2.5878e-03,2.7251e-04,7.9535e-01,5.5707e-02
+15,8.1667e-01,WAIT_W2,5.9399e-04,8.9974e-02,9.3632e-01,2.4645e+00,-1.0231e-01,4.3119e-02,4.3752e-04,3.9832e-02,8.4866e-01,8.1239e-03,-5.9491e-02,2.8081e-03,2.8886e-04,8.4963e-01,5.9558e-02
+16,9.5000e-01,WAIT_W2,6.3059e-04,9.2654e-02,9.3489e-01,2.4693e+00,-1.0227e-01,4.3309e-02,4.2169e-04,4.2512e-02,8.4723e-01,1.2996e-02,-5.9449e-02,2.9975e-03,2.7303e-04,8.4840e-01,5.9525e-02
+17,1.0833e+00,WAIT_W2,6.7112e-04,9.4920e-02,9.3416e-01,2.4723e+00,-1.0226e-01,4.3469e-02,4.0623e-04,4.4778e-02,8.4650e-01,1.5990e-02,-5.9438e-02,3.1577e-03,2.5757e-04,8.4783e-01,5.9523e-02
+18,1.2000e+00,WAIT_W2,7.0928e-04,9.6673e-02,9.3371e-01,2.4741e+00,-1.0225e-01,4.3593e-02,3.9284e-04,4.6531e-02,8.4605e-01,1.7733e-02,-5.9433e-02,3.2817e-03,2.4418e-04,8.4751e-01,5.9524e-02
+19,1.3667e+00,UP_FORCE_RAMP,7.4772e-04,9.8890e-02,9.3321e-01,2.4757e+00,-1.0224e-01,4.3750e-02,3.7380e-04,4.8748e-02,8.4555e-01,1.9342e-02,-5.9425e-02,3.4387e-03,2.2514e-04,8.4717e-01,5.9525e-02
+20,1.5333e+00,UP_FORCE_RAMP,7.9070e-04,1.0085e-01,9.3280e-01,2.4766e+00,-1.0224e-01,4.3889e-02,3.5491e-04,5.0707e-02,8.4514e-01,2.0287e-02,-5.9416e-02,3.5777e-03,2.0625e-04,8.4691e-01,5.9524e-02
+21,1.6833e+00,UP_FORCE_RAMP,8.2590e-04,9.1613e-02,9.3493e-01,2.4569e+00,-1.0249e-01,4.3260e-02,3.7964e-04,4.1471e-02,8.4727e-01,5.6982e-04,-5.9666e-02,2.9490e-03,2.3098e-04,8.4828e-01,5.9739e-02
+22,1.8667e+00,UP_FORCE_RAMP,8.6597e-04,9.6306e-02,9.3437e-01,2.4626e+00,-1.0248e-01,4.3589e-02,3.6764e-04,4.6164e-02,8.4671e-01,6.2375e-03,-5.9655e-02,3.2779e-03,2.1898e-04,8.4799e-01,5.9746e-02
+23,2.0167e+00,UP_FORCE_RAMP,9.0639e-04,9.9079e-02,9.3406e-01,2.4652e+00,-1.0247e-01,4.3784e-02,3.5487e-04,4.8937e-02,8.4640e-01,8.8797e-03,-5.9648e-02,3.4725e-03,2.0621e-04,8.4786e-01,5.9749e-02
+24,2.1833e+00,UP_FORCE_RAMP,9.4954e-04,1.0161e-01,9.3379e-01,2.4671e+00,-1.0246e-01,4.3961e-02,3.3931e-04,5.1470e-02,8.4613e-01,1.0787e-02,-5.9639e-02,3.6503e-03,1.9066e-04,8.4776e-01,5.9750e-02
+25,2.3167e+00,UP_FORCE_RAMP,9.8861e-04,1.0336e-01,9.3360e-01,2.4682e+00,-1.0245e-01,4.4084e-02,3.2631e-04,5.3217e-02,8.4594e-01,1.1838e-02,-5.9630e-02,3.7731e-03,1.7765e-04,8.4769e-01,5.9749e-02
+26,2.4667e+00,UP_FORCE_RAMP,1.0244e-03,1.0511e-01,9.3340e-01,2.4690e+00,-1.0244e-01,4.4207e-02,3.1140e-04,5.4969e-02,8.4574e-01,1.2693e-02,-5.9620e-02,3.8964e-03,1.6274e-04,8.4762e-01,5.9747e-02
+27,2.6000e+00,UP_FORCE_RAMP,1.0656e-03,1.0449e-01,9.2193e-01,2.4495e+00,-1.0173e-01,4.4187e-02,3.0020e-04,5.4351e-02,8.3427e-01,-6.8083e-03,-5.8913e-02,3.8757e-03,1.5154e-04,8.3607e-01,5.9040e-02
+28,2.7833e+00,UP_FORCE_RAMP,1.1054e-03,1.0674e-01,9.2165e-01,2.4549e+00,-1.0173e-01,4.4341e-02,2.8435e-04,5.6593e-02,8.3399e-01,-1.4148e-03,-5.8907e-02,4.0300e-03,1.3569e-04,8.3591e-01,5.9045e-02
+29,2.9333e+00,UP_FORCE_RAMP,1.1426e-03,1.0578e-01,9.2571e-01,2.4351e+00,-1.0211e-01,4.4296e-02,2.8193e-04,5.5634e-02,8.3805e-01,-2.1224e-02,-5.9288e-02,3.9853e-03,1.3327e-04,8.4017e-01,5.9422e-02
+30,3.1000e+00,UP_FORCE_RAMP,1.1829e-03,1.0809e-01,9.2527e-01,2.4432e+00,-1.0210e-01,4.4454e-02,2.6932e-04,5.7952e-02,8.3761e-01,-1.3176e-02,-5.9276e-02,4.1426e-03,1.2066e-04,8.3971e-01,5.9421e-02
+31,3.1500e+00,UP_FORCE_RAMP,1.2225e-03,1.2616e-01,9.2137e-01,2.4242e+00,-1.0188e-01,4.5748e-02,2.2628e-04,7.6021e-02,8.3371e-01,-3.2119e-02,-5.9064e-02,5.4369e-03,7.7617e-05,8.3779e-01,5.9314e-02
+32,3.2833e+00,UP_FORCE_RAMP,1.2633e-03,1.4913e-01,9.1272e-01,2.4403e+00,-1.0127e-01,4.7354e-02,8.7032e-05,9.8984e-02,8.2506e-01,-1.5991e-02,-5.8445e-02,7.0429e-03,-6.1627e-05,8.3113e-01,5.8868e-02
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Part2/Fixed/digit/ball_15A_12.5/press_depth_06/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_06/down/franka_data.csv ADDED Viewed

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+34817,1792838198362637404,16877774000000,1792838198360654895,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6759527723760367,-0.004789137407468693,0.10670024187226472,0.999999968151383,-0.00011617358984798437,-0.00020233767845120014,2.6519017315405272e-05,0.6761,-0.0046,0.10689052613092451,1.0,0.0,0.0,0.0,-0.0951421759151524,0.020930317915726415,0.12780711802649136,0.0017062476914732339,0.007153446600587858,0.0009102901770662622,0.6880914353470607,0.8951008751918214,0.3948672410485987,0.06784170010328279,-0.053069717961570645,0.0016319862801080656,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.335010865761345,1.0934108546827828,1.0762794316512538,-0.06183874995253553,-0.6766625296187608,0.6447920949705604,1.6213854171166837,-0.12780711802649136,0.5451059854654299,0.5451059854654299,0.6839413060659576,0,0,-6.243736655062027e-05,-9.999999025923074e-05
+34937,1792838199362603013,16878774000000,1792838199356654685,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6759417750910413,-0.004791796599421542,0.10664306008286285,0.9999999623566362,-0.00011211042757615972,-0.00022996008716547905,3.576591715366154e-05,0.6761,-0.0046,0.10682369225864577,1.0,0.0,0.0,0.0,-0.08530857573475292,-0.014126671715958605,0.2941301721313161,-0.0004821527493650002,0.006556608724706162,-0.00010548577874987415,0.6979250355274602,0.8600438855601363,0.5611902951534234,0.06565329966244456,-0.05366655583745234,0.0006162103242919293,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.42886862677972654,1.05355104669625,0.7879311685463015,-0.007242910318115807,-0.4668033175041204,0.6114457140985066,1.6213854171166837,-0.2941301721313161,0.8334542485703822,0.8334542485703822,0.8339413060659411,0,0,-6.124657023623558e-05,9.218571325598219e-05
+35059,1792838200379644211,16879791000000,1792838200376654544,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6759446524013045,-0.004792174102138323,0.10661471920886954,0.999999963135548,-0.00010875764364848078,-0.00022645224352507373,4.5419417138457985e-05,0.6761,-0.0046,0.1067718579328691,1.0,0.0,0.0,0.0,-0.10197362841007751,-0.026697169026925982,0.3853071178615063,-0.0015336963076672816,0.00716272414499456,-0.0001422252354552657,0.6812599828521356,0.847473388249169,0.6523672408836136,0.06460175610414227,-0.05306044041716394,0.0005794708675865378,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.44737591151794043,0.8902477791787912,0.6089154773523359,0.07928630335563429,-0.35243763574970377,0.5006527408401483,1.6213854171166837,-0.3853071178615063,1.012469939764348,1.012469939764348,0.9864913060659243,0,0,-4.6564682128187644e-05,9.961211996779013e-05
+35152,1792838201154647953,16880565999999,1792838201152654725,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6759442797438926,-0.004797581983174405,0.10658314918470667,0.9999999638162834,-0.00010579637975299987,-0.0002227101064553589,5.4932966610250936e-05,0.6761,-0.0046,0.10673102567130345,1.0,0.0,0.0,0.0,-0.11301845721511283,-0.01731397071876395,0.45581969493089114,-0.0015924655866879495,0.008555470502183027,0.0007716166831052811,0.6702151540471003,0.856856586557331,0.7228798179529985,0.0645429868251216,-0.051667694059975476,0.0014933127861470846,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.47491368184139077,0.9276627399559657,0.5743538303774557,0.09873845890776656,-0.3274205545754371,0.5170599112555819,1.6213854171166837,-0.45581969493089114,1.047031586739228,1.047031586739228,1.1027413060659874,0,0,-5.750473639906518e-05,-7.570696433501495e-05
+35254,1792838202004637334,16881416000000,1792838202004655088,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.675956109034876,-0.004800429087389793,0.10655167860390352,0.9999999686039701,-0.0001051178824317203,-0.00019763780883091212,6.4221883704354e-05,0.6761,-0.0046,0.10667640883440915,1.0,0.0,0.0,0.0,-0.14153611235867247,-0.026166015553587996,0.5418818853495818,-0.0006376839698817027,0.010146367684188813,0.0007289943657437927,0.6416974989035407,0.8480045417225069,0.8089420083716892,0.06549776844192785,-0.05007679687796969,0.0014506904687855962,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.517631647753664,0.9781187067945178,0.44588130248533203,0.10206304630483194,-0.24263190815535604,0.5486578808624207,1.6213854171166837,-0.5418818853495818,1.1755041146313516,1.1755041146313516,1.2302413060660677,0,0,-7.151214805934044e-05,5.8863821592738486e-05
+35378,1792838203037674455,16882449000000,1792838203032654948,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6759623112724208,-0.004800707462883276,0.10649777685251118,0.9999999698088845,-0.00012297315597845077,-0.00018266227609643287,5.776841799953246e-05,0.6761,-0.0046,0.10660070746470916,1.0,0.0,0.0,0.0,-0.1516149948143083,-0.02247712513803579,0.6965838708820581,-0.0006947612164772687,0.01112594044752007,0.0006186661488606732,0.6316186164479048,0.8516934321380591,0.9636439939041654,0.06544069119533229,-0.04909722411463843,0.0013403622519024766,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.5298678939451864,0.9184345315222716,0.30079297646790476,0.12945854141025184,-0.14775912285966714,0.5057356173347725,1.6213854171166837,-0.6965838708820581,1.320592440648779,1.320592440648779,1.3851913060661654,0,0,-6.904974890062222e-05,-7.19170792625789e-05
+35502,1792838204071612057,16883483000000,1792838204068654901,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.67596336965609,-0.004803624854609221,0.10643981965631248,0.9999999694766906,-0.00012977626739072746,-0.00017778901915337282,6.355051092126298e-05,0.6761,-0.0046,0.10653325426069286,1.0,0.0,0.0,0.0,-0.17064558253494588,-0.02994809051231817,0.8234090218709794,-0.0007475366140864692,0.0121125611921655,0.0005284307430257624,0.6125880287272673,0.8442224667637768,1.0904691448930868,0.06538791579772309,-0.048110603369993,0.001250126846067566,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.5513290440495501,1.0023854515178616,0.12293871325382008,0.0910369256392936,-0.027511741525649152,0.5573291343900574,1.6213854171166837,-0.8234090218709794,1.4984467038628637,1.4984467038628637,1.540291306066263,0,0,-6.142874502537842e-05,9.999924085868912e-05
+35633,1792838205162674038,16884574000000,1792838205160655993,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6759703604189191,-0.004807530549105559,0.10639121073286764,0.9999999716795194,-0.00012739177403817302,-0.00016311965489237038,7.243713677710005e-05,0.6761,-0.0046,0.10646370005081718,1.0,0.0,0.0,0.0,-0.1935065487271932,-0.035551902985011874,0.9472009738855659,-0.0008262120571201903,0.014114024784344599,0.0004589224309207786,0.5897270625350199,0.8386186542910831,1.2142610969076733,0.06530924035468937,-0.046109139777813904,0.001180618533962582,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.641885662264901,0.8902471359774009,-0.03733652755765585,0.12938350430165813,0.10146446449985648,0.4909303546147038,1.6213854171166837,-0.9472009738855659,1.6587219446743395,1.6587219446743395,1.7039413060663662,0,0,-6.647149202313051e-05,9.999990699250389e-05
+35741,1792838206062707280,16885473999999,1792838206060654389,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6759771400815087,-0.004810819200890773,0.10634530803014532,0.9999999731671334,-0.00012680094424959325,-0.00014838671892621378,8.373469449310854e-05,0.6761,-0.0046,0.1063986751870529,1.0,0.0,0.0,0.0,-0.20911828524711384,-0.03092762320769582,1.057512835783366,-0.0009016902526016168,0.016109768706894644,0.0003982962351932348,0.5741153260150993,0.8432429340683991,1.3245729588054735,0.06523376215920794,-0.04411339585526386,0.0011199923382350383,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.6730124463044793,0.9618099391082667,-0.16706961651600205,0.09904618514267295,0.1910295123879914,0.5343363666416535,1.6213854171166837,-1.057512835783366,1.7884550336326859,1.7884550336326859,1.8389413060664512,0,0,-7.249552723823249e-05,5.761135598992269e-05
+35806,1792838206604609505,16886016000000,1792838206604654572,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6760288151578451,-0.004806013636346114,0.10634431083223085,0.9999999803804986,-0.00011675423227155195,-9.423129430056536e-05,9.03923617960696e-05,0.6761,-0.0046,0.10635784789496569,1.0,0.0,0.0,0.0,-0.2705300156148722,0.04821852879811739,1.0632040394941629,0.005100274935829735,0.02027598514133238,0.0007307113043411711,0.5127035956473409,0.9223890860742123,1.33026416251627,0.07123572734763929,-0.03994717942082612,0.0014524074073829745,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.6652568199849274,0.8988101399869994,-0.035139487645146655,0.11809459156952432,0.08185698685644793,0.5005806111909977,1.6213854171166837,-1.0632040394941629,1.6565249047618305,1.6565249047618305,1.9202413060665025,0,0,-7.94515762861644e-05,-9.999999025923074e-05
+35901,1792838207396695627,16886808000000,1792838207396654730,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6760339552317353,-0.004810169628343491,0.10629284119916237,0.9999999799647248,-0.0001207183149686302,-8.312542255848327e-05,0.00010015321709221766,0.6761,-0.0046,0.10628058981515023,1.0,0.0,0.0,0.0,-0.29725508993913513,0.049203251966719264,1.1799575347825155,0.005029866182000284,0.022047627537646476,0.0014795485535012629,0.485978521323078,0.9233738092428142,1.447017657804623,0.07116531859380984,-0.03817553702451203,0.002201244656543066,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.9334639065871031,0.922711752484945,-0.24950054241321104,0.12332816515480956,0.29181940119016975,0.51574095383216,1.6213854171166837,-1.1799575347825155,1.8708859595298948,1.8708859595298948,2.039041306066577,0,0,-0.00011095793529400234,-9.999961555895993e-05
+36016,1792838208354746245,16887766000000,1792838208352654540,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6760522959293224,-0.0048111367948426575,0.1062244920440473,0.9999999818346299,-0.0001148310935756498,-4.780745307302928e-05,0.00011091380305192766,0.6761,-0.0046,0.10617521400321066,1.0,0.0,0.0,0.0,-0.3359522688900876,0.04886649463419679,1.3705122876668066,0.0059302451775773285,0.0250286192286049,0.0013796748653256028,0.4472813423721255,0.9230370519102917,1.637572410688914,0.07206569758938688,-0.0351945453335536,0.002101370968367406,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.9981161991977234,0.9483788389870761,-0.6248053743727847,0.10989611531811015,0.547359396973108,0.5263189969551187,1.6213854171166837,-1.3705122876668066,2.2461907914894685,2.2461907914894685,2.1827413060666676,0,0,-9.922283957378297e-05,9.999999025923074e-05
+36129,1792838209296753231,16888707999999,1792838209296654705,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6760594008219698,-0.004813981438566699,0.10615823037663089,0.9999999810308839,-0.00011787110712803898,-3.848322560208833e-05,0.00011834922737239946,0.6761,-0.0046,0.10609494837442644,1.0,0.0,0.0,0.0,-0.3462328985664065,0.0503741093527974,1.52124812707918,0.0058748241212219915,0.02600943182676732,0.0012723894388288952,0.43700071269580665,0.9245446666288923,1.7883082501012872,0.07201027653303155,-0.03421373273539118,0.0019940855418706985,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,0.9982389823339513,0.8469042023483377,-0.6485900127361142,0.13963614237430105,0.5617957614225497,0.4626915030421544,1.6213854171166837,-1.52124812707918,2.269975429852798,2.269975429852798,2.3240413060667566,0,0,-7.094642436609127e-05,6.128659504384622e-05
+36221,1792838210062711874,16889473999999,1792838210060654494,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6760703274727591,-0.004807797965633479,0.10612571038777653,0.9999999782168049,-0.00017069776871204753,-1.9508714705719984e-05,7.410084823570482e-05,0.6761,-0.0046,0.10604519018312386,1.0,0.0,0.0,0.0,-0.32888432243318955,0.08947460193480572,1.602889740431503,0.008948591770704992,0.02491820154844926,0.001227378599328421,0.4543492888290236,0.9636451592109007,1.8699498634536103,0.07508404418251455,-0.035304963013709244,0.0019490747023702246,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.0349146716858177,0.9348453741322252,-0.712325470242898,0.10892686352687238,0.6154720780831965,0.523072907930537,1.6213854171166837,-1.602889740431503,2.3337108873595818,2.3337108873595818,2.438941306066829,0,0,-6.304691884814607e-05,-9.796940622497913e-05
+36325,1792838210929728163,16890341000000,1792838210928655129,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6760785612733243,-0.004810174446604375,0.10608420414898823,0.9999999784660349,-0.00016730644393157825,-8.295727901376983e-06,8.031518254486465e-05,0.6761,-0.0046,0.1059864724144489,1.0,0.0,0.0,0.0,-0.34803594489849843,0.09821220031781497,1.7031619464794838,0.00887843210662681,0.026923930373300896,0.0011757821180566615,0.4351976663637147,0.9723827575939099,1.9702220695015913,0.07501388451843637,-0.03329923418885761,0.0018974782210984648,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.0681622307344822,0.7906933175820413,-0.8526082047846609,0.15525448832975228,0.7085004879175607,0.42212120922292895,1.6213854171166837,-1.7031619464794838,2.4739936219013448,2.4739936219013448,2.568991306066911,0,0,-7.260607022138566e-05,-9.98464741705007e-05
+36425,1792838211762741099,16891174000000,1792838211756654670,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6760891201009106,-0.004816407804470239,0.10603881342996516,0.9999999777895063,-0.0001646241633241789,9.257238825702302e-06,9.315062921859631e-05,0.6761,-0.0046,0.10592273570273401,1.0,0.0,0.0,0.0,-0.37512223347420265,0.08419855499130569,1.803417962826829,0.008829056534965893,0.027916820438790617,0.0012432914291428004,0.4081113777880105,0.9583691122674006,2.0704780858489364,0.07496450894677545,-0.032306344123367886,0.0019649875321846037,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.1106206853665763,0.8242362741094544,-0.9450198975895138,0.14937326630112546,0.7762640371191143,0.444992903486945,1.6213854171166837,-1.803417962826829,2.5664053147061976,2.5664053147061976,2.6939413060669897,0,0,-8.070757248210126e-05,-9.980485468486506e-05
+36529,1792838212629763190,16892041000000,1792838212628654659,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6761025847240282,-0.004817719608125889,0.10598741181870695,0.9999999770315636,-0.0001614784194841748,3.4219959359752506e-05,0.00010066504349329776,0.6761,-0.0046,0.10585192282375419,1.0,0.0,0.0,0.0,-0.4092937752207264,0.0991801907019465,1.9243868123870005,0.00973722893241602,0.030904878878127113,0.002090339270916986,0.37393983604148673,0.9733507479780414,2.191446935409108,0.07587268134422558,-0.02931828568403139,0.0028120353739587893,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.1722270709448173,0.8658377116876171,-1.0743836413989998,0.13580807635693032,0.8711181837932788,0.4738343887962024,1.6213854171166837,-1.9243868123870005,2.6957690585156833,2.6957690585156833,2.8239913060670716,0,0,-8.15255008876622e-05,-9.999306524311464e-05
+36638,1792838213537788957,16892949000000,1792838213536654447,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6761104533665231,-0.004815417603852056,0.10592957823350073,0.9999999760816649,-0.00016439051426459894,4.638348594005413e-05,0.00010051798290122702,0.6761,-0.0046,0.10578087771992023,1.0,0.0,0.0,0.0,-0.4239267820702052,0.08803806591907082,2.0546899630481756,0.00971051388024742,0.030897622946516965,0.0019839205162350392,0.35930682919200796,0.9622086231951658,2.321750086070283,0.07584596629205698,-0.029325541615641538,0.0027056166192768426,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.1928131190251496,0.7859928976195079,-1.2081486755545865,0.17773599140268553,0.9622062480817103,0.4213900741070148,1.6213854171166837,-2.0546899630481756,2.8295340926712704,2.8295340926712704,2.9601913060671574,0,0,-7.373199288204647e-05,-9.960978849943842e-05
+36722,1792838214237782568,16893649000000,1792838214236654109,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6761129465832394,-0.004817093973282895,0.10588944923882294,0.9999999749830356,-0.00017111335741392663,4.889664512987277e-05,9.902590321533299e-05,0.6761,-0.0046,0.10572905012645523,1.0,0.0,0.0,0.0,-0.42458118120014327,0.09860482458369002,2.134950363435727,0.010208872077145326,0.031864720386676086,0.0019395625412716327,0.35865243006206987,0.972775381859785,2.4020104864578347,0.07634432448895488,-0.028358444175482417,0.002661258644313436,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.2319322574921303,0.8820005057944015,-1.3267975648320058,0.14091355303699463,1.0487975321338043,0.4814771214516365,1.6213854171166837,-2.134950363435727,2.9481829819486896,2.9481829819486896,3.0651913060672236,0,0,-7.533638618081729e-05,-9.998122749011457e-05
+36838,1792838215204791022,16894616000000,1792838215204655035,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6761260249526532,-0.004821126510752845,0.10583483127974545,0.999999972487524,-0.0001767936386532547,7.047078271240507e-05,0.00010122101368103163,0.6761,-0.0046,0.10565296008213654,1.0,0.0,0.0,0.0,-0.44429542683636714,0.10468304877692935,2.2657088424189613,0.010637786909796026,0.032841241120782544,0.0018538644027231684,0.338938184425846,0.9788536060530243,2.5327689654410688,0.07677323932160558,-0.027381923441375963,0.0025755605057649717,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.2472113893183456,0.7496478106520549,-1.5080555979504027,0.18531249401591127,1.1631187267949763,0.3975026828560523,1.6213854171166837,-2.2657088424189613,3.129441015067086,3.129441015067086,3.210241306067315,0,0,-7.906707509139211e-05,-3.0277720634802565e-05
+36948,1792838216121819123,16895533000000,1792838216120654246,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6761361553280861,-0.004822546956047886,0.10577584348105556,0.9999999693989199,-0.00018659866585147512,8.903202640903006e-05,9.949502254541825e-05,0.6761,-0.0046,0.10557407483485463,1.0,0.0,0.0,0.0,-0.4640712784353627,0.11192904043856178,2.38411518768577,0.011580656567810918,0.03482295608855885,0.001798034260235881,0.3191623328268504,0.9860995977146567,2.6511753107078775,0.07771610897962047,-0.025400208473599653,0.0025197303632776844,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.2693437097105078,0.890677099084865,-1.5700550509004723,0.1558884749011437,1.2042124538283894,0.4912622419218327,1.6213854171166837,-2.38411518768577,3.1914404680171558,3.1914404680171558,3.3477913060674016,0,0,-9.098469749421601e-05,-9.995155677978147e-05
+37050,1792838216971729912,16896383000000,1792838216968654643,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6761480062030502,-0.004821452282313624,0.10572154686460117,0.9999999848394397,2.3102465735806813e-05,0.00010917465363447683,9.649433059939568e-05,0.6761,-0.0046,0.10549770916708529,1.0,0.0,0.0,0.0,-0.47378524691569074,0.13041444564073879,2.496971388005503,0.012553964256634423,0.03579233888682677,0.0017336422281109022,0.3094483643465224,1.0045850029168337,2.7640315110276106,0.07868941666844398,-0.024430825675331728,0.0024553383311527056,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.3025547820684933,0.9315002508853658,-1.748058054409103,0.11026951127667552,1.331125060442491,0.46853324437183574,1.6213854171166837,-2.496971388005503,3.369443471525787,3.369443471525787,3.475291306067482,0,0,-8.836202484571588e-05,-9.995116820172285e-05
+37164,1792838217921837580,16897332999999,1792838217916654554,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6761578146839952,-0.00482369100680697,0.10565027897826837,0.9999999827992216,3.707449377473941e-06,0.0001264415903431119,9.921290198541797e-05,0.6761,-0.0046,0.10540728252508229,1.0,0.0,0.0,0.0,-0.48460944429204067,0.12435130364633451,2.617359640955048,0.012502660942996194,0.03678014590244041,0.0016502598679330807,0.29862416697017247,0.9985218609224294,2.8844197639771556,0.07863811335480575,-0.023443018659718096,0.002371955970974884,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.3845917103168899,0.9153031972888207,-1.9646441052432069,0.10888724713524697,1.4879922049916057,0.44295325804076857,1.6213854171166837,-2.617359640955048,3.5860295223598904,3.5860295223598904,3.6177913060675717,0,0,-9.824659512738953e-05,9.922252883066136e-05
+37275,1792838218846784089,16898258000000,1792838218844654292,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6761712063840774,-0.004830333644441623,0.10558770285367154,0.9999999796086143,-1.8760886085355903e-05,0.0001476709231198448,0.00010033425708782827,0.6761,-0.0046,0.10531573478152623,1.0,0.0,0.0,0.0,-0.5113026125117167,0.1326755895351659,2.7484467273772335,0.013468929717041708,0.03776172118536145,0.0021871661602048892,0.2719309987504964,1.0068461468112608,3.015506850399341,0.07960438212885126,-0.02246144337679705,0.0029088622632466926,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.423682262440159,0.840777741316535,-2.0005358899210353,0.1524418381308032,1.5170141699549995,0.41943378553348265,1.6213854171166837,-2.7484467273772335,3.621921307037719,3.621921307037719,3.756541306067659,0,0,-9.718535216449021e-05,-9.986289159347734e-05
+37373,1792838219662815673,16899074000000,1792838219660654587,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6761748057746084,-0.0048307936020773636,0.10551878974095115,0.9999999786108063,-3.471969755924713e-05,0.00015232789077465768,9.905557887218146e-05,0.6761,-0.0046,0.10523861154262541,1.0,0.0,0.0,0.0,-0.5134091828381221,0.14172639134845366,2.8588167044368067,0.013415278178240439,0.038729735706842155,0.0025188844258796535,0.26982442842409105,1.0158969486245486,3.125876827458914,0.07955073059005,-0.021493428855316344,0.003240580528921457,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.4534944109287598,0.9020244574109751,-2.215909328787708,0.1444998599059166,1.6633215261755157,0.47730883967750304,1.6213854171166837,-2.8588167044368067,3.8372947459043916,3.8372947459043916,3.8789413060677362,0,0,-9.36234643325332e-05,9.375161344327693e-05
+37471,1792838220479867151,16899891000000,1792838220472664116,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6761857780442141,-0.004830672086736536,0.1054625455567177,0.9999999755223563,-4.6708237804587925e-05,0.00016808160753491023,9.982517239627286e-05,0.6761,-0.0046,0.10516590725166604,1.0,0.0,0.0,0.0,-0.5146351671720597,0.1463319377459067,2.9585524371506056,0.013731555138851964,0.03971445164304068,0.0024675514063783603,0.26859844409015343,1.0205024950220016,3.225612560172713,0.07986700755066152,-0.020508712919117822,0.0031892475094201637,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.4677629902396827,0.7716529301473943,-2.3079361970281185,0.2046109732205552,1.7216490084457694,0.4125264911831315,1.6213854171166837,-2.9585524371506056,3.9293216141448024,3.9293216141448024,4.001491306067809,0,0,-9.006560519677026e-05,3.496944332487229e-05
+37565,1792838221262785821,16900674000000,1792838221256663474,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6761946876808068,-0.00483233671947758,0.10540715171590151,0.9999999717180714,-6.416452204765581e-05,0.00018483648366558793,9.861596765947393e-05,0.6761,-0.0046,0.10509239967910348,1.0,0.0,0.0,0.0,-0.5284500094487965,0.16110177804788273,3.0388547360620426,0.014347425489399462,0.04069798398769857,0.0024171924554442815,0.25478360181341664,1.0352723353239777,3.30591485908415,0.08048287790120902,-0.019525180574459934,0.003138888558486085,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.4400058762662524,0.775617336981448,-2.3710722311782018,0.21601259447411086,1.7470730398570302,0.4315136497720997,1.6213854171166837,-3.0388547360620426,3.9924576482948853,3.9924576482948853,4.118941306067535,0,0,-9.895318404537357e-05,-8.027121608933924e-05
+37656,1792838222021880840,16901433000000,1792838222020655037,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6762062523666855,-0.004835289413318508,0.10534696766152835,0.9999999673880074,-7.444187459584953e-05,0.0002022036132298551,0.00010118771947821417,0.6761,-0.0046,0.10501372226658069,1.0,0.0,0.0,0.0,-0.5425769739043302,0.15604488999209853,3.1365436332003997,0.014302760771637626,0.041608511888529834,0.0023526596029358167,0.2406566373578829,1.0302154472681935,3.403603756222507,0.08043821318344718,-0.01861465267362867,0.00307435570597762,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.473357901291946,0.7889859721142977,-2.470935222901958,0.22361857327353296,1.8173381209393702,0.4486478146271678,1.6213854171166837,-3.1365436332003997,4.092320640018642,4.092320640018642,4.23279130606727,0,0,-0.00010606628781803374,-9.999999025923074e-05
+37764,1792838222921894549,16902332999999,1792838222916664294,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6762145700132421,-0.004838216178881667,0.10526300157615331,0.9999999624429726,-8.877898081792189e-05,0.00021883447170495323,0.00010385896380291052,0.6761,-0.0046,0.1049115553160406,1.0,0.0,0.0,0.0,-0.5533308984457518,0.16394965185003074,3.254219996553541,0.015272447541865186,0.04265973507847931,0.00228397918034082,0.22990271281646138,1.0381202091261257,3.5212801195756485,0.08140789995367474,-0.017563429483679192,0.0030056752833826235,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.4900428792863674,0.6879137176960379,-2.525309720758079,0.26325861977360737,1.8550070557191398,0.3884170948076792,1.6213854171166837,-3.254219996553541,4.1466951378747625,4.1466951378747625,4.367791306066955,0,0,-0.00011899411129642624,-9.999999025923074e-05
+37854,1792838223671857618,16903082999999,1792838223664654002,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6762261076674567,-0.004840282836531733,0.10518869678638922,0.9999999566658275,-0.00010044979188027381,0.0002384249675088896,0.00010570989326003992,0.6761,-0.0046,0.10481977440008015,1.0,0.0,0.0,0.0,-0.5625214950779135,0.16717490352953246,3.3509196594324138,0.015254470605004428,0.04263848880245695,0.00220477253615732,0.22071211618429962,1.0413454608056274,3.6179797824545212,0.08138992301681398,-0.01758467575970155,0.0029264686391991235,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.5595707629770614,0.8033506019758953,-2.7778468375682355,0.23024930123639556,2.0328944800887188,0.4600197209886554,1.6213854171166837,-3.3509196594324138,4.399232254684919,4.399232254684919,4.480291306066693,0,0,-0.00012278764865006486,9.975420075936654e-05
+37953,1792838224496840792,16903908000000,1792838224492654616,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6762318641832731,-0.0048436056564272086,0.10509428343732918,0.999999952103357,-0.00012310925688138817,0.0002493457887110416,9.953359605173538e-05,0.6761,-0.0046,0.10471354986214564,1.0,0.0,0.0,0.0,-0.5450950584089344,0.17779033897721086,3.451571993146153,0.01623253955856943,0.04259696113224825,0.0021370570519916657,0.23813855285327878,1.0519608962533058,3.7186321161682603,0.08236799197037899,-0.017626203429910253,0.002858753155033469,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.519174459143388,0.7895189784013257,-2.7677248860442853,0.24624368492003393,2.013683210354393,0.44713046795272976,1.6213854171166837,-3.451571993146153,4.389110303160969,4.389110303160969,4.604041306066405,0,0,-0.00013498864417513102,-9.753950011426866e-05
+38041,1792838225229878366,16904641000000,1792838225228654066,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6762446920661348,-0.004843270411637542,0.10501547531235196,0.9999999457792329,-0.0001349120260804265,0.00026853486952522533,9.783744006032166e-05,0.6761,-0.0046,0.10461334087790344,1.0,0.0,0.0,0.0,-0.5453759290711954,0.17960383129016178,3.5518315405045926,0.016235050672130755,0.04265069412799721,0.0020571638271864486,0.2378576821910178,1.0537743885662567,3.8188916635267,0.08237050308394031,-0.017572470434161293,0.002778859930228252,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.5971661766473455,0.7227116472644999,-2.8835131451484965,0.2722961711231171,2.1135694839194263,0.40342624979316516,1.6213854171166837,-3.5518315405045926,4.50489856226518,4.50489856226518,4.7139913060661485,0,0,-0.00014005550875581386,-9.999999025923074e-05
+38145,1792838226096882749,16905508000000,1792838226096654036,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6762580337600476,-0.004848487655075337,0.10491074580183461,0.9999999367074586,-0.00015252462161881726,0.0002911507769092383,9.997703774873729e-05,0.6761,-0.0046,0.10449020385760534,1.0,0.0,0.0,0.0,-0.5462561392027789,0.19812633939635593,3.6526916468269914,0.017075429123324826,0.04354720533711782,0.002000798281688326,0.2369774720594342,1.0722968966724509,3.919751769849099,0.08321088153513438,-0.016675959225040685,0.0027224943847301295,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.6434427033284034,0.742332992835033,-3.125515757077855,0.2744990749138857,2.2782203113433495,0.41830295679217255,1.6213854171166837,-3.6526916468269914,4.746901174194539,4.746901174194539,4.844041306065845,0,0,-0.00014366953359348932,9.999418934392707e-05
+38244,1792838226921933159,16906332999999,1792838226916664050,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6762675385626165,-0.004849734561827618,0.10480635073375576,0.9999999320791251,-0.0001491512313344541,0.0003064213512284146,0.0001055673958961482,0.6761,-0.0046,0.10436626659713191,1.0,0.0,0.0,0.0,-0.5423905216115223,0.19553099793644568,3.7719580139507465,0.01616991923390483,0.04353950386112887,0.0019219237728559622,0.24084308965069076,1.0697015552125406,4.039018136972854,0.08230537164571439,-0.01668366070102963,0.0026436198758977656,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.6600439008351664,0.7425904616087643,-3.2508338426163457,0.2860377205926747,2.360599243753403,0.42024752423425016,1.6213854171166837,-3.7719580139507465,4.872219259733029,4.872219259733029,4.967791306065557,0,0,-0.00015389516575395478,9.999389791038311e-05
+38326,1792838227604912511,16907016000000,1792838227604663740,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6762800543635477,-0.004851595658464939,0.10471959446059226,0.9999999352996447,-4.571565886785572e-05,0.0003265346687535829,0.00011013064669899591,0.6761,-0.0046,0.10425810260632538,1.0,0.0,0.0,0.0,-0.5369802872329371,0.19867239655520974,3.859377341414301,0.016154859780160236,0.043521796902739454,0.001836566028466915,0.24625332402927602,1.0728429538313047,4.126437464436409,0.08229031219196979,-0.01670136765941905,0.0025582621315087184,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.6375001724359868,0.8281440210958877,-3.2968124396883414,0.24131204760987487,2.3889969395823036,0.4331637555052825,1.6213854171166837,-3.859377341414301,4.918197856805025,4.918197856805025,5.070241306065318,0,0,-0.00016582869560441272,-9.922179330790754e-05
+38430,1792838228471949243,16907883000000,1792838228464664383,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6762905823941129,-0.004859158541749083,0.1045926841053519,0.9999999261553265,-7.978155751223477e-05,0.00034662772469775,0.00011232243609685664,0.6761,-0.0046,0.10411040465903988,1.0,0.0,0.0,0.0,-0.5192880229866766,0.2148056808241916,3.9703252116142864,0.01714581130928261,0.043469985478730946,0.002761588268927521,0.2639455882755365,1.0889762381002865,4.237385334636394,0.08328126372109217,-0.016753179083427557,0.0034832843719693244,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.728220683960656,0.7972156231587807,-3.467098275255238,0.2923108471261607,2.5187550303542787,0.45060067888129496,1.6213854171166837,-3.9703252116142864,5.088483692371922,5.088483692371922,5.200291306065015,0,0,-0.000173297811036062,9.831497701918152e-05
+38519,1792838229212890736,16908624000000,1792838229212654189,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6762972825849359,-0.004859077784160985,0.10447835418524368,0.9999999191321334,-0.00010047762739817102,0.0003615674872574163,0.00011113860578685813,0.6761,-0.0046,0.10397933827937968,1.0,0.0,0.0,0.0,-0.5194827338148361,0.21138339948027451,4.051697820748889,0.017128749473993093,0.04344678475707549,0.0027081874288480603,0.263750877447377,1.0855539567563695,4.318757943770996,0.08326420188580265,-0.016776379805083015,0.0034298835318898636,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.6986320245114657,0.814765719091736,-3.5048757876191714,0.30542849425532376,2.5316636221635354,0.47335135461552413,1.6213854171166837,-4.051697820748889,5.126261204735855,5.126261204735855,5.311441306064756,0,0,-0.0001815452350770449,-9.439706935421838e-05
+38611,1792838229979873897,16909391000000,1792838229972654611,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6763070146747518,-0.004864360688517444,0.10435390331164032,0.9999999113200453,-0.00011332171751371532,0.00037621159603028713,0.00012010740803124904,0.6761,-0.0046,0.10383696534600871,1.0,0.0,0.0,0.0,-0.5096680971054817,0.20871889708096436,4.154589811942132,0.016117307224578464,0.042436769822014234,0.0026007365368627545,0.2735655141567314,1.0828894543570593,4.421649934964239,0.08225275963638802,-0.017786394740144266,0.003322432639904558,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.7099005961532825,0.7214955733993335,-3.6181985630186713,0.3443225293959009,2.6087613870118274,0.4153424520930036,1.6213854171166837,-4.154589811942132,5.239583980135355,5.239583980135355,5.426491306064488,0,0,-0.00018821430073786972,-5.6963193910358714e-05
+38702,1792838230737947142,16910149000000,1792838230732655621,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6763169004779281,-0.004865359482493084,0.10422952545643313,0.9999999012672955,-0.00013158160108665213,0.00039664249564726206,0.00011945407651808119,0.6761,-0.0046,0.10369054373522851,1.0,0.0,0.0,0.0,-0.4989670209129974,0.20656859348961687,4.205250817074198,0.01610662267444256,0.0424261290652213,0.002561099883800553,0.28426659034921575,1.0807391507657118,4.472310940096305,0.08224207508625211,-0.017797035496937202,0.0032827959868423563,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.6805560707845715,0.7809733352720646,-3.752747170759302,0.3371599305155321,2.6862437614014443,0.4499465183736413,1.6213854171166837,-4.205250817074198,5.374132587875986,5.374132587875986,5.540191306064223,0,0,-0.00020123507188799105,4.158724779773595e-06
+38792,1792838231487947810,16910899000000,1792838231480664623,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6763245475342116,-0.004864602134809039,0.10407785817820167,0.9999998938545145,-0.00014505940166339496,0.00040979856454002986,0.00012147728399112959,0.6761,-0.0046,0.1035312271594976,1.0,0.0,0.0,0.0,-0.4909851189397259,0.21164689228083367,4.313983531851454,0.015067722890184182,0.042414080842211016,0.0024624129972432773,0.29224849232248723,1.0858174495569286,4.581043654873561,0.08120317530199374,-0.01780908371994749,0.0031841091002850807,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.678031154101866,0.754584836321175,-3.762003145527168,0.3663238597186159,2.6918409312980667,0.4379227976315881,1.6213854171166837,-4.313983531851454,5.383388562643852,5.383388562643852,5.652691306063961,0,0,-0.00022306798321966437,-9.911776541050016e-05
+38874,1792838232171991163,16911582999999,1792838232168664006,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6763371717683653,-0.004875367028461716,0.1039320965848511,0.9999998851933122,-0.00013921000827608554,0.00042988033888926414,0.0001299218795498758,0.6761,-0.0046,0.10337222687707034,1.0,0.0,0.0,0.0,-0.48983491396551276,0.19112993123699318,4.375367591280572,0.014035708210848707,0.04234536071145101,0.0024004606310192127,0.2933986972967004,1.0653004885130881,4.642427714302679,0.08017116062265826,-0.01787780385070749,0.003122156734061016,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.7451503222065996,0.6861545595660434,-3.8342125139872505,0.39823444871468927,2.755003133078269,0.3945792149899229,1.6213854171166837,-4.375367591280572,5.455597931103934,5.455597931103934,5.755291306063722,0,0,-0.00024159259618824892,-9.999999025923074e-05
+38951,1792838232812961374,16912223999999,1792838232812663791,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6763457011794066,-0.00487148698282107,0.1037770048224247,0.9999998875258307,-5.948725128754953e-05,0.00044178587099927475,0.00013295751753512154,0.6761,-0.0046,0.10320904307009597,1.0,0.0,0.0,0.0,-0.4808208454893636,0.17945277408056381,4.404356284054311,0.013039871122813351,0.041456875416990585,0.0023527964893581554,0.30241276577284953,1.0536233313566588,4.671416407076418,0.07917532353462291,-0.018766289145167914,0.003074492592399959,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.746418980621574,0.8013287005229991,-3.911461120475515,0.37024268671526844,2.8085506776595426,0.46092920134846316,1.6213854171166837,-4.404356284054311,5.5328465375921985,5.5328465375921985,5.8514413060634975,0,0,-0.0002686255341180762,-9.999999025923074e-05
+39022,1792838233404964991,16912815999999,1792838233400663948,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.676341548897412,-0.004870930926663682,0.10361407278747432,0.999999891363187,-9.171658235268908e-05,0.0004286133071902502,0.0001288222808574484,0.6761,-0.0046,0.10304129345049548,1.0,0.0,0.0,0.0,-0.4421766977881406,0.15560890948408623,4.433829320561743,0.011040974629621544,0.03943059017476193,0.002278570061124568,0.3410569134740725,1.0297794667601812,4.70088944358385,0.0771764270414311,-0.02079257438739657,0.003000266164166371,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.7252068505971474,0.7602841439365479,-3.949724992863956,0.3999381840518112,2.83346718814384,0.4478545770599984,1.6213854171166837,-4.433829320561743,5.57111040998064,5.57111040998064,5.940241306063291,0,0,-0.0002980617331102816,-9.999999025923074e-05
+39087,1792838233947016818,16913358000000,1792838233940663795,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6763423032314742,-0.004879537405047309,0.10344264832417248,0.9999998870776764,-0.00011805819556751119,0.00042977021315056117,0.00013655520997873404,0.6761,-0.0046,0.10287241344258309,1.0,0.0,0.0,0.0,-0.42798419748938366,0.1297777693982607,4.443073156127905,0.009023959742671617,0.038456625390239293,0.0022341047096410215,0.3552494137728295,1.0039483266743556,4.710133279150012,0.07515941215448117,-0.021766539171919213,0.002955800812682825,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.7049625983251728,0.7779691636257363,-3.948813014032381,0.407861586214486,2.829777892784832,0.46102076898985506,1.6213854171166837,-4.443073156127905,5.570198431149064,5.570198431149064,6.021541306063101,0,0,-0.00032516172783078465,-9.999999025923074e-05
+39146,1792838234437928010,16913848999999,1792838234436663944,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6763429742769896,-0.004879710415537089,0.10327999218260747,0.9999998828104861,-0.00013544057089456276,0.000435214041006131,0.00013441156448056027,0.6761,-0.0046,0.10270674428539472,1.0,0.0,0.0,0.0,-0.42040508995792963,0.09074625595410057,4.432347651349685,0.005989573641663012,0.037504635712229735,0.002193408823490918,0.3628285213042835,0.9649168132301955,4.699407774371792,0.07212502605347257,-0.022718528849928768,0.002915104926532721,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.716056813212399,0.702800357693263,-3.872526616276876,0.44589297697586655,2.79016597342523,0.4179618481655117,1.6213854171166837,-4.432347651349685,5.49391203339356,5.49391203339356,6.0951913060629295,0,0,-0.00034971172304806695,-9.999999025923074e-05
+39207,1792838234946986806,16914358000000,1792838234940654882,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6763428258019778,-0.0048900281999983775,0.10309152459577661,0.9999998884770412,-6.0658401731452264e-05,0.0004351618873475795,0.0001464358548144983,0.6761,-0.0046,0.10252227671962756,1.0,0.0,0.0,0.0,-0.40054944783061697,0.04948827927114674,4.410766716093823,0.0029565289169550674,0.03655462781119904,0.002162967091949971,0.38268416343159617,0.9236588365472417,4.67782683911593,0.06909198132876462,-0.023668536750959465,0.0028846631949917744,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.718862158652163,0.656442082156801,-3.93293023580774,0.47054830963133876,2.8385543458175415,0.3996734575358544,1.6213854171166837,-4.410766716093823,5.554315652924424,5.554315652924424,6.1715413060627515,0,0,-0.0003751617180900154,-9.999999025923074e-05
+39264,1792838235422036655,16914832999999,1792838235416663759,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6763371621299573,-0.004889953624898405,0.10290445668608425,0.9999998903597581,-9.777200540706145e-05,0.00042639816027340114,0.00013909917402878642,0.6761,-0.0046,0.102338446154636,1.0,0.0,0.0,0.0,-0.39815921833774276,0.011555742625064647,4.369488664851449,-7.220076224748184e-05,0.03560928573411631,0.0021463232228568553,0.3850743929244704,0.8857262999011596,4.636548787873556,0.06606325164956207,-0.024613878828042196,0.0028680193258986586,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.6697137968658176,0.7534121746685509,-3.9330796314608736,0.45196171244435607,2.8322445376197902,0.4560828430988548,1.6213854171166837,-4.369488664851449,5.5544650485775575,5.5544650485775575,6.2427913060625855,0,0,-0.00039891171346315,-9.999999025923074e-05
+39311,1792838235812999462,16915223999999,1792838235812654098,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6763345309676282,-0.0048898038384578586,0.10273624362677679,0.9999998882874117,-0.00011755422261473756,0.0004255590307176296,0.00014123931683446232,0.6761,-0.0046,0.1021786594254184,1.0,0.0,0.0,0.0,-0.37758733186158405,-0.037404676724343,4.338277579600473,-0.003086177989657213,0.03401922293774498,0.0021121042635162267,0.4056462794006291,0.8367658805517519,4.60533770262258,0.06304927442215234,-0.02620394162441352,0.00283380036655803,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.629864362405267,0.6624400245530699,-3.757017105400414,0.4802701120187481,2.715689863718934,0.39727343846019814,1.6213854171166837,-4.338277579600473,5.3784025225170975,5.3784025225170975,6.301441306062449,0,0,-0.0004184617096545092,-9.999999025923074e-05
+39357,1792838236196935376,16915608000000,1792838236196654203,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.676323312568835,-0.004901786928455629,0.1025517914101726,0.9999998920031912,-0.0001248453734778509,0.0004071260074136785,0.0001615503543552281,0.6761,-0.0046,0.1020142933296311,1.0,0.0,0.0,0.0,-0.37467652616311564,-0.09243847857109122,4.286947845031922,-0.008165959672351057,0.03375737353629882,0.0020923130324672005,0.4085570850990975,0.7817320787050037,4.554007968054029,0.0579694927394585,-0.02646579102585969,0.002814009135509004,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.5558854625805916,0.6488417276012274,-3.77162629297263,0.47814114255843965,2.7148114976338826,0.38929123564284246,1.6213854171166837,-4.286947845031922,5.393011710089314,5.393011710089314,6.3590413060623145,0,0,-0.0004376617059140538,-9.999999025923074e-05
+39403,1792838236579988104,16915991000000,1792838236576663913,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6763106585174,-0.004892304869239312,0.10235452661398048,0.9999998963771599,-0.00016925105022094577,0.0003905395556770535,0.0001323686943819151,0.6761,-0.0046,0.10184301124698232,1.0,0.0,0.0,0.0,-0.3544685128072214,-0.1440914670711212,4.235356372746441,-0.011174258190266052,0.031819988039335056,0.002070928242273974,0.4287650984549917,0.7300790902049737,4.502416495768548,0.054961194221543504,-0.028403176522823443,0.0027926243453157773,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.5695841318824542,0.4707857032849739,-3.720840981431282,0.5612683327515001,2.692669746285457,0.2745515563482295,1.6213854171166837,-4.235356372746441,5.342226398547965,5.342226398547965,6.416491306062181,0,0,-0.0004568117021833392,-9.999999025923074e-05
+39446,1792838236937992517,16916348999999,1792838236932664246,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.676339438413925,-0.004897482778518559,0.102210699844384,0.9999998846968507,-0.00014759950911638243,0.00041907686379783924,0.00015696533558185136,0.6761,-0.0046,0.10167627750822664,1.0,0.0,0.0,0.0,-0.3522043640013423,-0.16385415164808492,4.153929408414088,-0.013172003835670486,0.030845019608778623,0.0020497926412655692,0.43102924726087083,0.71031640562801,4.420989531436195,0.05296344857613907,-0.02937814495337988,0.0027714887443073726,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.5745833942972696,0.507213636213856,-3.551799644288035,0.5283142838201667,2.5914308897011904,0.3068087370707394,1.6213854171166837,-4.153929408414088,5.173185061404719,5.173185061404719,6.4701913060620555,0,0,-0.0004747116986961438,-9.999999025923074e-05
+39488,1792838237287999496,16916699000000,1792838237284653955,DOWN_FORCE_DETACH,6,0.0595,0.05950253829360008,0.6763217423581273,-0.004908320302230331,0.10202129274692966,0.9999999025066211,-1.7870872184305013e-05,0.0003921305761250979,0.0001798439765276609,0.6761,-0.0046,0.10150707466428131,1.0,0.0,0.0,0.0,-0.3800611779096751,-0.18297603905039017,4.080377489534804,-0.014202630718129008,0.03313728540980315,0.0011479776324521433,0.40317243335253805,0.6911945182257048,4.347437612556911,0.05193282169368055,-0.02708587915235535,0.0018696737354939469,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.5649300431304993,0.46803823529832117,-3.505285821065798,0.5518259581104016,2.5581901460513286,0.2947242766047414,1.6213854171166837,-4.080377489534804,5.126671238182482,5.126671238182482,6.522691306061933,0,0,-0.0004922116952868746,-9.999999025923074e-05
+39531,1792838237647062303,16917058000000,1792838237640663924,DOWN_FORCE_DETACH,6,0.0595,0.059501878917217255,0.6763136813104739,-0.004908866920414659,0.10182676832193319,0.9999999035097009,-5.038820210251447e-05,0.0003862080334085713,0.00018090836764610046,0.6761,-0.0046,0.10132715761630277,1.0,0.0,0.0,0.0,-0.3626423838173973,-0.236831081675837,4.021178888453908,-0.01827331422000031,0.03199135838313079,0.0011346457904154996,0.42059122744481586,0.6373394756002579,4.288239011476015,0.04786213819180925,-0.028231806179027718,0.0018563418934573032,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.5107348451351963,0.5943985702559017,-3.5419851745199757,0.5071127188272456,2.5762610974782056,0.3371471774816943,1.6213854171166837,-4.021178888453908,5.163370591636659,5.163370591636659,6.576541306061808,0,0,-0.0005101616917899385,-9.999999025923074e-05
+39576,1792838238021011782,16917432000000,1792838238016664331,DOWN_SETTLE,6,0.0595,0.059501878917217255,0.6762901537212916,-0.004903934851841164,0.1016503999249069,0.999999918099578,-0.00012333841268059146,0.0003473716149024146,0.00013915566371499469,0.6761,-0.0046,0.10119302528390986,1.0,0.0,0.0,0.0,-0.30077748929584364,-0.25901919394059136,3.853001524139122,-0.020821448788030397,0.02800775716121058,0.001188548056193462,0.4824561219663695,0.6151513633355036,4.120061647161229,0.04531400362377916,-0.03221540740094792,0.0019102441592352656,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.3299751097163106,0.5867554167504923,-3.2107887979034047,0.5029232392759234,2.3301485643388804,0.3618388642732009,1.6213854171166837,-3.853001524139122,4.832174215020088,0.0,0.0,0,0,-7.129195083768336e-05,0.0007201207155321551
+39659,1792838238710030041,16918121000000,1792838238704664049,DOWN_PEAK_HOLD,6,0.0595,0.05950253829360008,0.6762602143121522,-0.004906123494482706,0.10157237918931698,0.9999999350879658,-0.00012163874493279873,0.00029162541347518367,0.00014637473340658444,0.6761,-0.0046,0.10118691121783,1.0,0.0,0.0,0.0,-0.27838063268805646,-0.30940537079209396,3.419510636716651,-0.02406600263520712,0.02413238125439584,0.0014415965472566582,0.5048529785741567,0.564765186484001,3.6865707597387583,0.04206944977660244,-0.036090783307762664,0.0021632926502984616,0.7832336112622131,0.8741705572760949,0.26706012302210735,0.06613545241180956,-0.0602231645621585,0.0007216961030418035,1,1.2201126365521788,0.6040796955633898,-2.813719093314953,0.48206442198666805,2.055979984846055,0.37387268960657494,1.6213854171166837,-3.419510636716651,4.4351045104316364,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_15A_12.5/press_depth_06/down/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_06/down/real_sim_motion_alignment.csv ADDED Viewed

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

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792838194599231718,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.907539765e-09,-1.237414875e-10,-2.155812195e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451691e-01,-1.184618192e-04,8.303258775e-01
+1,7.500000000e-01,DOWN_FORCE_DETACH,1792838195353228607,-4.169717875e-07,1.822930053e-07,-1.795069344e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.027123402e-07,-5.056108050e-09,-7.521774648e-09,7.019552158e-01,-2.208844202e-05,8.601412922e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452689e-01,-1.184667516e-04,8.303258702e-01
+2,1.533333333e+00,DOWN_FORCE_DETACH,1792838196122642784,5.163603797e-07,-1.006203390e-06,-1.382723188e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.644588158e-07,-8.981423529e-09,-1.282597517e-08,7.019561492e-01,-2.327693841e-05,8.601417045e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453306e-01,-1.184706769e-04,8.303258649e-01
+3,2.366666667e+00,DOWN_FORCE_DETACH,1792838196942179460,5.436523550e-07,2.584597503e-07,-1.355541427e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.032895293e-07,-1.211011415e-08,-1.695428009e-08,7.019561765e-01,-2.201227527e-05,8.601295318e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453695e-01,-1.184738056e-04,8.303258607e-01
+4,3.216666667e+00,DOWN_FORCE_DETACH,1792838197777665231,4.600879344e-07,-2.514416192e-06,-3.466693709e-05,3.251216550e-07,-2.342970441e-06,-2.022729433e-05,2.992471585e-07,-2.376203973e-06,-2.020624053e-05,7.019560929e-01,-2.478515121e-05,8.601084203e-01,7.019559579e-01,-2.461370546e-05,8.601228599e-01,7.027454654e-01,-1.208378994e-04,8.303056714e-01
+5,3.816666667e+00,DOWN_FORCE_DETACH,1792838198367068114,3.744797198e-05,-9.206970249e-06,-5.075634376e-05,4.339862730e-05,-9.984939696e-06,-4.008009258e-05,4.633843854e-05,-1.004111376e-05,-3.995481016e-05,7.019930808e-01,-3.147770527e-05,8.600923309e-01,7.019990314e-01,-3.225567472e-05,8.601030071e-01,7.027915046e-01,-1.285028092e-04,8.302859229e-01
+6,4.833333333e+00,DOWN_FORCE_DETACH,1792838199366063855,2.646775008e-05,-1.079977792e-05,-1.114495224e-04,2.733301797e-05,-1.118905916e-05,-9.969179134e-05,2.849864286e-05,-1.125077575e-05,-9.935388568e-05,7.019821006e-01,-3.307051294e-05,8.600316377e-01,7.019829658e-01,-3.345979419e-05,8.600433954e-01,7.027736648e-01,-1.297124712e-04,8.302265238e-01
+7,5.800000000e+00,DOWN_FORCE_DETACH,1792838200381880551,3.104403222e-05,-1.419807907e-05,-1.353243054e-04,2.466841056e-05,-1.128027869e-05,-1.206567830e-04,2.529268488e-05,-1.131854138e-05,-1.203905117e-04,7.019866768e-01,-3.646881409e-05,8.600077629e-01,7.019803012e-01,-3.355101371e-05,8.600224305e-01,7.027704589e-01,-1.297802368e-04,8.302054872e-01
+8,6.583333333e+00,DOWN_FORCE_DETACH,1792838201151610204,3.159303994e-05,-1.490996712e-05,-1.649378682e-04,3.080410181e-05,-1.772500341e-05,-1.625619687e-04,3.137425889e-05,-1.777694517e-05,-1.621601686e-04,7.019872259e-01,-3.718070214e-05,8.599781494e-01,7.019864369e-01,-3.999573843e-05,8.599805253e-01,7.027765404e-01,-1.362386406e-04,8.301637175e-01
+9,7.450000000e+00,DOWN_FORCE_DETACH,1792838202004692208,4.140202659e-05,-1.986285920e-05,-1.983274899e-04,3.283897114e-05,-1.914714404e-05,-1.868334179e-04,3.328959704e-05,-1.919521190e-05,-1.864816117e-04,7.019970348e-01,-4.213359422e-05,8.599447597e-01,7.019884718e-01,-4.141787906e-05,8.599562538e-01,7.027784558e-01,-1.376569074e-04,8.301393961e-01
+10,8.483333333e+00,DOWN_FORCE_DETACH,1792838203035499771,4.869809049e-05,-2.093676983e-05,-2.529939769e-04,4.349915185e-05,-2.600957808e-05,-2.436837155e-04,4.399797690e-05,-2.612740201e-05,-2.431665814e-04,7.020043309e-01,-4.320750485e-05,8.598900933e-01,7.019991320e-01,-4.828031311e-05,8.598994035e-01,7.027891642e-01,-1.445890975e-04,8.300827111e-01
+11,9.500000000e+00,DOWN_FORCE_DETACH,1792838204068104717,5.210995433e-05,-2.199272912e-05,-3.086090017e-04,4.670498496e-05,-2.234970464e-05,-3.035117750e-04,4.676277881e-05,-2.244040119e-05,-3.029539859e-04,7.020077428e-01,-4.426346414e-05,8.598344782e-01,7.020023378e-01,-4.462043967e-05,8.598395755e-01,7.027919290e-01,-1.409020967e-04,8.300229237e-01
+12,1.053333333e+01,DOWN_FORCE_DETACH,1792838205164581635,5.556924499e-05,-3.257937277e-05,-3.597113364e-04,5.177775905e-05,-2.980268543e-05,-3.439924743e-04,5.167893452e-05,-2.992343678e-05,-3.434348067e-04,7.020112021e-01,-5.485010779e-05,8.597833759e-01,7.020074106e-01,-5.207342046e-05,8.597990948e-01,7.027968451e-01,-1.483851322e-04,8.299824429e-01
+13,1.145000000e+01,DOWN_FORCE_DETACH,1792838206065605535,6.338532280e-05,-3.095450016e-05,-4.061108374e-04,6.326664303e-05,-3.099248872e-05,-4.058498315e-04,6.321950423e-05,-3.111684327e-05,-4.052145242e-04,7.020190181e-01,-5.322523519e-05,8.597369764e-01,7.020188995e-01,-5.326322374e-05,8.597372374e-01,7.028083857e-01,-1.495785387e-04,8.299206632e-01
+14,1.198333333e+01,DOWN_FORCE_DETACH,1792838206606539064,1.160836595e-04,-2.871903577e-05,-4.047356728e-04,1.081257608e-04,-2.790838917e-05,-4.096375175e-04,1.113027317e-04,-2.805702017e-05,-4.090815178e-04,7.020717165e-01,-5.098977079e-05,8.597383516e-01,7.020637586e-01,-5.017912419e-05,8.597334497e-01,7.028564689e-01,-1.465187156e-04,8.299167962e-01
+15,1.275000000e+01,DOWN_FORCE_DETACH,1792838207393835494,1.213463690e-04,-3.006962326e-05,-4.563409125e-04,1.228359758e-04,-3.041535496e-05,-4.447363472e-04,1.268427995e-04,-3.058511770e-05,-4.441785666e-04,7.020769792e-01,-5.234035828e-05,8.596867463e-01,7.020784688e-01,-5.268608999e-05,8.596983509e-01,7.028720090e-01,-1.490468132e-04,8.298816991e-01
+16,1.373333333e+01,DOWN_FORCE_DETACH,1792838208358606955,1.382945124e-04,-3.793933909e-05,-5.256450839e-04,1.309156773e-04,-3.391563194e-05,-5.077502077e-04,1.349033418e-04,-3.409815730e-05,-5.071855720e-04,7.020939273e-01,-6.021007412e-05,8.596174422e-01,7.020865485e-01,-5.618636696e-05,8.596353370e-01,7.028800695e-01,-1.525598528e-04,8.298186921e-01
+17,1.466666667e+01,DOWN_FORCE_DETACH,1792838209292373657,1.492800330e-04,-3.545921866e-05,-5.868563942e-04,1.477929841e-04,-3.337979382e-05,-5.872308450e-04,1.521420162e-04,-3.357889043e-05,-5.865581290e-04,7.021049129e-01,-5.772995368e-05,8.595562308e-01,7.021034258e-01,-5.565052885e-05,8.595558564e-01,7.028973082e-01,-1.520405859e-04,8.297393196e-01
+18,1.543333333e+01,DOWN_FORCE_DETACH,1792838210062364706,1.562501440e-04,-3.035216986e-05,-6.225852265e-04,1.516678607e-04,-2.702386557e-05,-6.240809026e-04,1.559181343e-04,-2.720279611e-05,-6.234921428e-04,7.021118830e-01,-5.262290489e-05,8.595205020e-01,7.021073007e-01,-4.929460059e-05,8.595190063e-01,7.029010843e-01,-1.456644916e-04,8.297023855e-01
+19,1.630000000e+01,DOWN_FORCE_DETACH,1792838210931443916,1.628051080e-04,-3.688623597e-05,-6.681567456e-04,1.618245301e-04,-3.663662863e-05,-6.642250254e-04,1.664537003e-04,-3.682640666e-05,-6.636747333e-04,7.021184379e-01,-5.915697100e-05,8.594749305e-01,7.021174573e-01,-5.890736365e-05,8.594788622e-01,7.029116199e-01,-1.552881021e-04,8.296622030e-01
+20,1.713333333e+01,DOWN_FORCE_DETACH,1792838211766800515,1.755960909e-04,-3.875583097e-05,-7.121650277e-04,1.705572230e-04,-4.050037862e-05,-7.071251992e-04,1.753455262e-04,-4.070304219e-05,-7.066522522e-04,7.021312289e-01,-6.102656600e-05,8.594309222e-01,7.021261900e-01,-6.277111364e-05,8.594359620e-01,7.029205117e-01,-1.591647376e-04,8.296192254e-01
+21,1.795000000e+01,DOWN_FORCE_DETACH,1792838212630050805,1.878745372e-04,-3.750617990e-05,-7.635498722e-04,1.876435308e-04,-3.733252439e-05,-7.635094793e-04,1.930668338e-04,-3.751116813e-05,-7.628721549e-04,7.021435074e-01,-5.977691492e-05,8.593795374e-01,7.021432763e-01,-5.960325941e-05,8.593795778e-01,7.029382330e-01,-1.559728636e-04,8.295630055e-01
+22,1.883333333e+01,DOWN_FORCE_DETACH,1792838213535419885,1.984748098e-04,-3.575584265e-05,-8.148913192e-04,1.921241150e-04,-4.310233511e-05,-8.066191323e-04,1.974321192e-04,-4.330438412e-05,-8.060690769e-04,7.021541076e-01,-5.802657767e-05,8.593281959e-01,7.021477569e-01,-6.537307014e-05,8.593364681e-01,7.029425983e-01,-1.617660796e-04,8.295198086e-01
+23,1.953333333e+01,DOWN_FORCE_DETACH,1792838214239570307,2.002886903e-04,-3.903483596e-05,-8.578387575e-04,1.975360686e-04,-3.701166689e-05,-8.456057766e-04,2.028190726e-04,-3.715954490e-05,-8.451216261e-04,7.021559215e-01,-6.130557098e-05,8.592852485e-01,7.021531689e-01,-5.928240191e-05,8.592974815e-01,7.029479852e-01,-1.556212404e-04,8.294807561e-01
+24,2.050000000e+01,DOWN_FORCE_DETACH,1792838215205878444,2.103169147e-04,-4.494692896e-05,-9.174065287e-04,2.092286557e-04,-4.334026341e-05,-9.093696319e-04,2.145864309e-04,-4.348549962e-05,-9.088088976e-04,7.021659497e-01,-6.721766398e-05,8.592256807e-01,7.021648615e-01,-6.561099843e-05,8.592337176e-01,7.029597526e-01,-1.619471951e-04,8.294170688e-01
+25,2.141666667e+01,DOWN_FORCE_DETACH,1792838216123042483,2.225469590e-04,-4.457093298e-05,-9.742000333e-04,2.222629639e-04,-4.248511098e-05,-9.721100035e-04,2.278731757e-04,-4.265654796e-05,-9.714531450e-04,7.021781798e-01,-6.684166800e-05,8.591688872e-01,7.021778958e-01,-6.475584601e-05,8.591709772e-01,7.029730394e-01,-1.611182434e-04,8.293544245e-01
+26,2.225000000e+01,DOWN_FORCE_DETACH,1792838216975159244,2.341595439e-04,-4.315124557e-05,-1.030713847e-03,2.319428805e-04,-4.441944345e-05,-1.014225976e-03,2.378344218e-04,-4.459635106e-05,-1.013654464e-03,7.021897924e-01,-6.542198059e-05,8.591123734e-01,7.021875757e-01,-6.669017848e-05,8.591288613e-01,7.029830006e-01,-1.630580465e-04,8.293122232e-01
+27,2.321666667e+01,DOWN_FORCE_DETACH,1792838217924886320,2.447981764e-04,-4.558660586e-05,-1.097856311e-03,2.432104365e-04,-4.754358595e-05,-1.097267833e-03,2.489252913e-04,-4.775432170e-05,-1.096514826e-03,7.022004310e-01,-6.785734088e-05,8.590452309e-01,7.021988433e-01,-6.981432098e-05,8.590458194e-01,7.029940915e-01,-1.662160172e-04,8.292293629e-01
+28,2.415000000e+01,DOWN_FORCE_DETACH,1792838218842580499,2.539718497e-04,-4.985265582e-05,-1.166869440e-03,2.531809157e-04,-4.617246959e-05,-1.158537825e-03,2.590431096e-04,-4.635305001e-05,-1.157796496e-03,7.022096047e-01,-7.212339084e-05,8.589762178e-01,7.022088137e-01,-6.844320462e-05,8.589845494e-01,7.030042093e-01,-1.648147455e-04,8.291680812e-01
+29,2.498333333e+01,DOWN_FORCE_DETACH,1792838219662055772,2.623277277e-04,-4.904633466e-05,-1.229542947e-03,2.606772144e-04,-4.932267778e-05,-1.221675350e-03,2.663477742e-04,-4.949055136e-05,-1.220915104e-03,7.022179605e-01,-7.131706968e-05,8.589135443e-01,7.022163100e-01,-7.159341281e-05,8.589214119e-01,7.030115140e-01,-1.679522468e-04,8.291049626e-01
+30,2.580000000e+01,DOWN_FORCE_DETACH,1792838220480267691,2.735431394e-04,-4.900913830e-05,-1.285466527e-03,2.704893161e-04,-5.166950425e-05,-1.284139968e-03,2.762169008e-04,-5.189141968e-05,-1.283335814e-03,7.022291760e-01,-7.127987332e-05,8.588576207e-01,7.022261221e-01,-7.394023927e-05,8.588589473e-01,7.030213831e-01,-1.703531151e-04,8.290425419e-01
+31,2.655000000e+01,DOWN_FORCE_DETACH,1792838221266933193,2.803767563e-04,-5.640775660e-05,-1.345238270e-03,2.803769576e-04,-5.660433229e-05,-1.344932008e-03,2.860889413e-04,-5.686926020e-05,-1.344150764e-03,7.022360096e-01,-7.867849162e-05,8.587978490e-01,7.022360098e-01,-7.887506731e-05,8.587981552e-01,7.030312551e-01,-1.753309557e-04,8.289817269e-01
+32,2.728333333e+01,DOWN_FORCE_DETACH,1792838222020877017,2.922850466e-04,-5.758034501e-05,-1.403375453e-03,2.853575260e-04,-6.072200568e-05,-1.387322655e-03,2.910466635e-04,-6.100744551e-05,-1.386637230e-03,7.022479179e-01,-7.985108003e-05,8.587397118e-01,7.022409903e-01,-8.299274070e-05,8.587557646e-01,7.030362128e-01,-1.794691410e-04,8.289392405e-01
+33,2.818333333e+01,DOWN_FORCE_DETACH,1792838222920735943,3.046111742e-04,-5.686588589e-05,-1.483371444e-03,2.981908349e-04,-6.146572237e-05,-1.470172613e-03,3.038404831e-04,-6.178617681e-05,-1.469399318e-03,7.022602440e-01,-7.913662091e-05,8.586597158e-01,7.022538237e-01,-8.373645739e-05,8.586729146e-01,7.030490067e-01,-1.802478723e-04,8.288564784e-01
+34,2.895000000e+01,DOWN_FORCE_DETACH,1792838223674836736,3.135078866e-04,-6.321769502e-05,-1.559587520e-03,3.132148517e-04,-6.340035884e-05,-1.551276908e-03,3.190736031e-04,-6.375117233e-05,-1.550389819e-03,7.022691407e-01,-8.548843004e-05,8.585834997e-01,7.022688477e-01,-8.567109386e-05,8.585918103e-01,7.030642398e-01,-1.822128678e-04,8.287754879e-01
+35,2.975000000e+01,DOWN_FORCE_DETACH,1792838224493564310,3.217678882e-04,-6.550564308e-05,-1.649249292e-03,3.181079361e-04,-6.081590264e-05,-1.631439469e-03,3.233297557e-04,-6.118425223e-05,-1.630524893e-03,7.022774007e-01,-8.777637810e-05,8.584938379e-01,7.022737408e-01,-8.308663766e-05,8.585116478e-01,7.030684959e-01,-1.796459477e-04,8.286953528e-01
+36,3.046666667e+01,DOWN_FORCE_DETACH,1792838225230713279,3.291193745e-04,-6.498172384e-05,-1.737584151e-03,3.290085169e-04,-6.389880569e-05,-1.732802417e-03,3.338152836e-04,-6.427870364e-05,-1.731723421e-03,7.022847522e-01,-8.725245886e-05,8.584055031e-01,7.022846413e-01,-8.616954071e-05,8.584102848e-01,7.030789815e-01,-1.827403991e-04,8.285941543e-01
+37,3.135000000e+01,DOWN_FORCE_DETACH,1792838226099073683,3.445152867e-04,-6.993512812e-05,-1.838928198e-03,3.428632169e-04,-6.795712616e-05,-1.821014900e-03,3.477132091e-04,-6.831533304e-05,-1.820059625e-03,7.023001481e-01,-9.220586314e-05,8.583041590e-01,7.022984960e-01,-9.022786118e-05,8.583220723e-01,7.030928794e-01,-1.867770285e-04,8.285058181e-01
+38,3.218333333e+01,DOWN_FORCE_DETACH,1792838226917597259,3.542033836e-04,-7.134393234e-05,-1.942136874e-03,3.502579066e-04,-7.147995738e-05,-1.922998979e-03,3.545005876e-04,-7.182222105e-05,-1.922016916e-03,7.023098362e-01,-9.361466737e-05,8.582009504e-01,7.023058907e-01,-9.375069240e-05,8.582200883e-01,7.030996668e-01,-1.902839165e-04,8.284038608e-01
+39,3.288333333e+01,DOWN_FORCE_DETACH,1792838227606379652,3.638711611e-04,-7.253976440e-05,-2.033189501e-03,3.606897688e-04,-7.637464609e-05,-2.028124648e-03,3.645029491e-04,-7.668173654e-05,-2.026981402e-03,7.023195040e-01,-9.481049942e-05,8.581098977e-01,7.023163226e-01,-9.864538111e-05,8.581149626e-01,7.031096691e-01,-1.951434320e-04,8.282988963e-01
+40,3.376666667e+01,DOWN_FORCE_DETACH,1792838228474094089,3.776375897e-04,-8.047417618e-05,-2.156828033e-03,3.747843874e-04,-7.666473294e-05,-2.150647909e-03,3.781617703e-04,-7.692268267e-05,-2.149405482e-03,7.023332704e-01,-1.027449112e-04,8.579862592e-01,7.023304172e-01,-9.893546797e-05,8.579924393e-01,7.031233279e-01,-1.953843781e-04,8.281764722e-01
+41,3.451666667e+01,DOWN_FORCE_DETACH,1792838229210940619,3.863669018e-04,-8.226158929e-05,-2.268217442e-03,3.838167306e-04,-7.925732546e-05,-2.256557125e-03,3.866806738e-04,-7.949615420e-05,-2.255340807e-03,7.023419997e-01,-1.045323243e-04,8.578748698e-01,7.023394495e-01,-1.015280605e-04,8.578865301e-01,7.031318469e-01,-1.979578497e-04,8.280705369e-01
+42,3.526666667e+01,DOWN_FORCE_DETACH,1792838229981813184,3.922345605e-04,-8.163726718e-05,-2.398377269e-03,3.904746861e-04,-8.080347769e-05,-2.390173227e-03,3.921821065e-04,-8.107186241e-05,-2.388917471e-03,7.023478674e-01,-1.039080022e-04,8.577447100e-01,7.023461075e-01,-1.030742127e-04,8.577529140e-01,7.031373483e-01,-1.995335579e-04,8.279369602e-01
+43,3.600000000e+01,DOWN_FORCE_DETACH,1792838230734214155,4.012202784e-04,-8.789730753e-05,-2.521518376e-03,4.025592851e-04,-8.737806400e-05,-2.519690092e-03,4.036658893e-04,-8.772747823e-05,-2.518310798e-03,7.023568531e-01,-1.101680426e-04,8.576215689e-01,7.023581921e-01,-1.096487990e-04,8.576233971e-01,7.031488321e-01,-2.061891737e-04,8.278075669e-01
+44,3.673333333e+01,DOWN_FORCE_DETACH,1792838231488324064,4.124422924e-04,-8.935842706e-05,-2.671602923e-03,4.089010616e-04,-8.905977299e-05,-2.652352781e-03,4.089248131e-04,-8.935974136e-05,-2.651051235e-03,7.023680751e-01,-1.116291621e-04,8.574714843e-01,7.023645339e-01,-1.113305080e-04,8.574907345e-01,7.031540910e-01,-2.078214368e-04,8.276748264e-01
+45,3.733333333e+01,DOWN_FORCE_DETACH,1792838232175970517,4.230498707e-04,-9.384962725e-05,-2.816928911e-03,4.231237595e-04,-9.482997209e-05,-2.814434358e-03,4.222409180e-04,-9.513591740e-05,-2.812957151e-03,7.023786827e-01,-1.161203623e-04,8.573261583e-01,7.023787566e-01,-1.171007071e-04,8.573286529e-01,7.031674071e-01,-2.135976129e-04,8.275129205e-01
+46,3.796666667e+01,DOWN_FORCE_DETACH,1792838232814841659,4.333809826e-04,-9.342753322e-05,-2.970686142e-03,4.326607605e-04,-9.399031506e-05,-2.959543834e-03,4.307729712e-04,-9.427260476e-05,-2.958006959e-03,7.023890138e-01,-1.156982682e-04,8.571724011e-01,7.023882936e-01,-1.162610501e-04,8.571835434e-01,7.031759391e-01,-2.127343002e-04,8.273678707e-01
+47,3.853333333e+01,DOWN_FORCE_DETACH,1792838233404394269,4.297332918e-04,-9.267702373e-05,-3.132954606e-03,4.264681211e-04,-9.567142706e-05,-3.118134737e-03,4.222258071e-04,-9.597854761e-05,-3.116515097e-03,7.023853661e-01,-1.149477588e-04,8.570101326e-01,7.023821009e-01,-1.179421621e-04,8.570249525e-01,7.031673920e-01,-2.144402431e-04,8.272093626e-01
+48,3.906666667e+01,DOWN_FORCE_DETACH,1792838233944721407,4.306379021e-04,-9.873267798e-05,-3.302424733e-03,4.304211064e-04,-9.840569893e-05,-3.302246494e-03,4.242565546e-04,-9.872782007e-05,-3.300338567e-03,7.023862707e-01,-1.210034130e-04,8.568406625e-01,7.023860539e-01,-1.206764340e-04,8.568408407e-01,7.031694227e-01,-2.171895155e-04,8.270255391e-01
+49,3.956666667e+01,DOWN_FORCE_DETACH,1792838234436286798,4.295631861e-04,-1.045356255e-04,-3.468555357e-03,4.279375305e-04,-1.048287195e-04,-3.463135322e-03,4.197064782e-04,-1.052727669e-04,-3.461185792e-03,7.023851960e-01,-1.268063605e-04,8.566745319e-01,7.023835703e-01,-1.270994545e-04,8.566799519e-01,7.031648727e-01,-2.237344624e-04,8.268646919e-01
+50,4.008333333e+01,DOWN_FORCE_DETACH,1792838234944525510,4.289828804e-04,-1.069393829e-04,-3.656600388e-03,4.287405747e-04,-1.071219461e-04,-3.657056932e-03,4.182958368e-04,-1.075090711e-04,-3.654989592e-03,7.023846157e-01,-1.292101179e-04,8.564864869e-01,7.023843734e-01,-1.293926811e-04,8.564860303e-01,7.031634620e-01,-2.259707665e-04,8.266708881e-01
+51,4.056666667e+01,DOWN_FORCE_DETACH,1792838235419142498,4.245001668e-04,-1.112003705e-04,-3.842790470e-03,4.264008929e-04,-1.084177898e-04,-3.829039936e-03,4.138206720e-04,-1.087758423e-04,-3.827067275e-03,7.023801330e-01,-1.334711055e-04,8.563002968e-01,7.023820337e-01,-1.306885249e-04,8.563140473e-01,7.031589868e-01,-2.272375378e-04,8.264988104e-01
+52,4.096666667e+01,DOWN_FORCE_DETACH,1792838235811845454,4.209207791e-04,-1.121742121e-04,-4.011802452e-03,4.214083921e-04,-1.119328418e-04,-3.999789948e-03,4.063597412e-04,-1.122381585e-04,-3.997689312e-03,7.023765536e-01,-1.344449471e-04,8.561312848e-01,7.023770412e-01,-1.342035769e-04,8.561432973e-01,7.031515259e-01,-2.306998540e-04,8.263281884e-01
+53,4.133333333e+01,DOWN_FORCE_DETACH,1792838236200079126,4.097041997e-04,-1.238109054e-04,-4.198252104e-03,4.090188175e-04,-1.218789763e-04,-4.192608895e-03,3.907272087e-04,-1.222106681e-04,-4.190297026e-03,7.023653370e-01,-1.460816404e-04,8.559448351e-01,7.023646516e-01,-1.441497113e-04,8.559504783e-01,7.031358934e-01,-2.406723636e-04,8.261355807e-01
+54,4.168333333e+01,DOWN_FORCE_DETACH,1792838236582464169,3.988578918e-04,-1.165799889e-04,-4.391488990e-03,3.985898157e-04,-1.166367625e-04,-4.391676393e-03,3.771088402e-04,-1.169258325e-04,-4.389244137e-03,7.023544907e-01,-1.388507240e-04,8.557515982e-01,7.023542226e-01,-1.389074975e-04,8.557514108e-01,7.031222750e-01,-2.353875280e-04,8.259366335e-01
+55,4.205000000e+01,DOWN_FORCE_DETACH,1792838236942229299,4.238759965e-04,-1.191806915e-04,-4.541064926e-03,4.270115425e-04,-1.224258507e-04,-4.535274591e-03,4.057876219e-04,-1.227079242e-04,-4.533079663e-03,7.023795088e-01,-1.414514266e-04,8.556020223e-01,7.023826444e-01,-1.446965857e-04,8.556078126e-01,7.031509538e-01,-2.411696197e-04,8.257927980e-01
+56,4.236666667e+01,DOWN_FORCE_DETACH,1792838237286653014,4.102554817e-04,-1.282330262e-04,-4.724331955e-03,4.125186956e-04,-1.292093658e-04,-4.706146552e-03,3.883248255e-04,-1.295029775e-04,-4.703917112e-03,7.023658883e-01,-1.505037612e-04,8.554187553e-01,7.023681515e-01,-1.514801009e-04,8.554369407e-01,7.031334910e-01,-2.479646729e-04,8.256219606e-01
+57,4.273333333e+01,DOWN_FORCE_DETACH,1792838237647139840,3.969316363e-04,-1.340575035e-04,-4.927309079e-03,3.966034322e-04,-1.313994486e-04,-4.910083874e-03,3.687176769e-04,-1.317178914e-04,-4.907837287e-03,7.023525645e-01,-1.563282385e-04,8.552157782e-01,7.023522362e-01,-1.536701836e-04,8.552330034e-01,7.031138839e-01,-2.501795869e-04,8.254180404e-01
+58,4.308333333e+01,DOWN_SETTLE,1792838238023586613,3.730005845e-04,-1.308459145e-04,-5.102806599e-03,3.747174591e-04,-1.276425421e-04,-5.095206125e-03,3.429806646e-04,-1.279814195e-04,-5.093048587e-03,7.023286334e-01,-1.531166496e-04,8.550402806e-01,7.023303503e-01,-1.499132772e-04,8.550478811e-01,7.030881468e-01,-2.464431149e-04,8.252328291e-01
+59,4.376666667e+01,DOWN_PEAK_HOLD,1792838238711657526,3.456613428e-04,-1.286453122e-04,-5.179793154e-03,3.460560073e-04,-1.267361748e-04,-5.179538454e-03,3.111124963e-04,-1.270930302e-04,-5.178470042e-03,7.023012942e-01,-1.509160473e-04,8.549632941e-01,7.023016888e-01,-1.490069098e-04,8.549635488e-01,7.030562787e-01,-2.455547257e-04,8.251474076e-01

Part2/Fixed/digit/ball_15A_12.5/press_depth_06/down/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,5.6960e-02,9.3588e-02,2.4577e+00,-4.3223e-02,4.0790e-02,1.6460e-04,5.0414e-04,-4.8131e-06,-3.8862e-05,1.3188e-06,3.5573e-05,-5.9861e-07,5.0565e-04,3.5602e-05
+1,7.5000e-01,DOWN_FORCE_DETACH,2.0468e-04,7.4268e-02,9.3249e-02,2.4564e+00,-4.3171e-02,4.2012e-02,1.3866e-04,1.7812e-02,-3.4368e-04,-1.3614e-03,5.3972e-05,1.2581e-03,-2.6548e-05,1.7867e-02,1.2595e-03
+2,1.5333e+00,DOWN_FORCE_DETACH,4.0920e-04,8.4972e-02,9.2851e-02,2.4554e+00,-4.3132e-02,4.2769e-02,1.1331e-04,2.8517e-02,-7.4154e-04,-2.3189e-03,9.2488e-05,2.0145e-03,-5.1898e-05,2.8620e-02,2.0173e-03
+3,2.3667e+00,DOWN_FORCE_DETACH,6.0969e-04,9.1700e-02,9.2481e-02,2.4547e+00,-4.3105e-02,4.3244e-02,8.9990e-05,3.5244e-02,-1.1114e-03,-3.0613e-03,1.1995e-04,2.4900e-03,-7.5213e-05,3.5395e-02,2.4940e-03
+4,3.2167e+00,DOWN_FORCE_DETACH,8.1632e-04,9.5842e-02,9.8736e-02,2.4711e+00,-4.3539e-02,4.3519e-02,7.0148e-05,3.9387e-02,5.1431e-03,1.3342e-02,-3.1425e-04,2.7646e-03,-9.5056e-05,4.1902e-02,2.7840e-03
+5,3.8167e+00,DOWN_FORCE_DETACH,1.0225e-03,5.4534e-02,1.1593e-01,2.4827e+00,-4.4738e-02,4.0593e-02,6.9688e-05,-1.9217e-03,2.2339e-02,2.4919e-02,-1.5136e-03,-1.6120e-04,-9.5515e-05,3.3521e-02,1.5252e-03
+6,4.8333e+00,DOWN_FORCE_DETACH,1.2258e-03,9.4609e-02,1.2017e-01,2.5227e+00,-4.5044e-02,4.3373e-02,2.2216e-05,3.8154e-02,2.6575e-02,6.4896e-02,-1.8194e-03,2.6191e-03,-1.4299e-04,7.9834e-02,3.1922e-03
+7,5.8000e+00,DOWN_FORCE_DETACH,1.4272e-03,9.7938e-02,1.2022e-01,2.5074e+00,-4.5061e-02,4.3620e-02,-4.4357e-05,4.1483e-02,2.6628e-02,4.9691e-02,-1.8370e-03,2.8657e-03,-2.0956e-04,6.9993e-02,3.4103e-03
+8,6.5833e+00,DOWN_FORCE_DETACH,1.6349e-03,9.2016e-02,1.3629e-01,2.5317e+00,-4.6186e-02,4.3176e-02,-8.9820e-05,3.5560e-02,4.2694e-02,7.3915e-02,-2.9619e-03,2.4213e-03,-2.5502e-04,9.2470e-02,3.8342e-03
+9,7.4500e+00,DOWN_FORCE_DETACH,1.8355e-03,9.2055e-02,1.3902e-01,2.5274e+00,-4.6393e-02,4.3181e-02,-1.3778e-04,3.5599e-02,4.5423e-02,6.9602e-02,-3.1683e-03,2.4268e-03,-3.0298e-04,9.0416e-02,4.0024e-03
+10,8.4833e+00,DOWN_FORCE_DETACH,2.0405e-03,8.6268e-02,1.5516e-01,2.5522e+00,-4.7532e-02,4.2747e-02,-1.7686e-04,2.9813e-02,6.1564e-02,9.4412e-02,-4.3074e-03,1.9930e-03,-3.4206e-04,1.1659e-01,4.7585e-03
+11,9.5000e+00,DOWN_FORCE_DETACH,2.2451e-03,8.3626e-02,1.4416e-01,2.5679e+00,-4.6790e-02,4.2547e-02,-2.1412e-04,2.7170e-02,5.0567e-02,1.1018e-01,-3.5659e-03,1.7927e-03,-3.7933e-04,1.2424e-01,4.0091e-03
+12,1.0533e+01,DOWN_FORCE_DETACH,2.4501e-03,7.6844e-02,1.6109e-01,2.5569e+00,-4.8026e-02,4.2087e-02,-2.2877e-04,2.0388e-02,6.7494e-02,9.9105e-02,-4.8019e-03,1.3324e-03,-3.9397e-04,1.2163e-01,4.9989e-03
+13,1.1450e+01,DOWN_FORCE_DETACH,2.6501e-03,6.8981e-02,1.5874e-01,2.5504e+00,-4.7909e-02,4.1545e-02,-2.3134e-04,1.2526e-02,6.5148e-02,9.2667e-02,-4.6844e-03,7.9033e-04,-3.9654e-04,1.1397e-01,4.7671e-03
+14,1.1983e+01,DOWN_FORCE_DETACH,2.8539e-03,8.6905e-03,1.4937e-01,2.5469e+00,-4.7273e-02,3.7301e-02,-2.0890e-04,-4.7765e-02,5.5777e-02,8.9168e-02,-4.0483e-03,-3.4533e-03,-3.7411e-04,1.1551e-01,5.3343e-03
+15,1.2750e+01,DOWN_FORCE_DETACH,3.0612e-03,2.1386e-02,1.5272e-01,2.5505e+00,-4.7521e-02,3.8194e-02,-1.7092e-04,-3.5069e-02,5.9128e-02,9.2787e-02,-4.2970e-03,-2.5606e-03,-3.3612e-04,1.1548e-01,5.0134e-03
+16,1.3733e+01,DOWN_FORCE_DETACH,3.2657e-03,3.9636e-02,1.5843e-01,2.5511e+00,-4.7876e-02,3.9479e-02,-1.0213e-04,-1.6820e-02,6.4835e-02,9.3364e-02,-4.6513e-03,-1.2756e-03,-2.6734e-04,1.1491e-01,4.8304e-03
+17,1.4667e+01,DOWN_FORCE_DETACH,3.4678e-03,4.5124e-02,1.5624e-01,2.5730e+00,-4.7634e-02,3.9832e-02,2.1590e-06,-1.1332e-02,6.2645e-02,1.1521e-01,-4.4094e-03,-9.2239e-04,-1.6304e-04,1.3163e-01,4.5078e-03
+18,1.5433e+01,DOWN_FORCE_DETACH,3.6691e-03,5.8904e-02,1.4162e-01,2.5512e+00,-4.6574e-02,4.0818e-02,9.1495e-05,2.4482e-03,4.8024e-02,9.3416e-02,-3.3492e-03,6.3721e-05,-7.3709e-05,1.0507e-01,3.3506e-03
+19,1.6300e+01,DOWN_FORCE_DETACH,3.8766e-03,6.3387e-02,1.6860e-01,2.5466e+00,-4.8448e-02,4.1136e-02,1.9884e-04,6.9316e-03,7.5009e-02,8.8810e-02,-5.2237e-03,3.8225e-04,3.3633e-05,1.1645e-01,5.2378e-03
+20,1.7133e+01,DOWN_FORCE_DETACH,4.0810e-03,6.7421e-02,1.7985e-01,2.5380e+00,-4.9258e-02,4.1432e-02,2.5107e-04,1.0966e-02,8.6262e-02,8.0220e-02,-6.0340e-03,6.7762e-04,8.5862e-05,1.1831e-01,6.0725e-03
+21,1.7950e+01,DOWN_FORCE_DETACH,4.2859e-03,6.0027e-02,1.7925e-01,2.5229e+00,-4.9263e-02,4.0935e-02,2.5749e-04,3.5711e-03,8.5659e-02,6.5151e-02,-6.0380e-03,1.8035e-04,9.2282e-05,1.0768e-01,6.0414e-03
+22,1.8833e+01,DOWN_FORCE_DETACH,4.4847e-03,6.9333e-02,1.8823e-01,2.5325e+00,-4.9904e-02,4.1592e-02,2.2387e-04,1.2877e-02,9.4635e-02,7.4786e-02,-6.6796e-03,8.3751e-04,5.8668e-05,1.2130e-01,6.7321e-03
+23,1.9533e+01,DOWN_FORCE_DETACH,4.6939e-03,7.1192e-02,1.7455e-01,2.5257e+00,-4.8933e-02,4.1741e-02,1.7766e-04,1.4736e-02,8.0961e-02,6.7904e-02,-5.7082e-03,9.8664e-04,1.2461e-05,1.0669e-01,5.7929e-03
+24,2.0500e+01,DOWN_FORCE_DETACH,4.9004e-03,6.7068e-02,1.9435e-01,2.5348e+00,-5.0262e-02,4.1452e-02,1.3138e-04,1.0612e-02,1.0076e-01,7.7070e-02,-7.0378e-03,6.9770e-04,-3.3820e-05,1.2730e-01,7.0723e-03
+25,2.1417e+01,DOWN_FORCE_DETACH,5.1005e-03,6.3326e-02,1.9397e-01,2.5535e+00,-5.0201e-02,4.1172e-02,9.2703e-05,6.8702e-03,1.0038e-01,9.5793e-02,-6.9769e-03,4.1762e-04,-7.2501e-05,1.3892e-01,6.9898e-03
+26,2.2250e+01,DOWN_FORCE_DETACH,5.3072e-03,6.5152e-02,1.9820e-01,2.5442e+00,-5.0500e-02,4.1304e-02,6.7611e-05,8.6969e-03,1.0461e-01,8.6453e-02,-7.2757e-03,5.4964e-04,-9.7592e-05,1.3599e-01,7.2971e-03
+27,2.3217e+01,DOWN_FORCE_DETACH,5.5098e-03,6.7805e-02,2.0490e-01,2.5834e+00,-5.0964e-02,4.1441e-02,5.7477e-05,1.1350e-02,1.1130e-01,1.2565e-01,-7.7399e-03,6.8701e-04,-1.0773e-04,1.6824e-01,7.7711e-03
+28,2.4150e+01,DOWN_FORCE_DETACH,5.7122e-03,7.3009e-02,1.9856e-01,2.5795e+00,-5.0528e-02,4.1804e-02,6.3344e-05,1.6553e-02,1.0497e-01,1.2175e-01,-7.3032e-03,1.0498e-03,-1.0186e-04,1.6160e-01,7.3790e-03
+29,2.4983e+01,DOWN_FORCE_DETACH,5.9139e-03,7.9116e-02,2.0431e-01,2.5822e+00,-5.0918e-02,4.2234e-02,7.1564e-05,2.2661e-02,1.1072e-01,1.2444e-01,-7.6937e-03,1.4794e-03,-9.3639e-05,1.6810e-01,7.8352e-03
+30,2.5800e+01,DOWN_FORCE_DETACH,6.1212e-03,8.0306e-02,2.0836e-01,2.5795e+00,-5.1187e-02,4.2320e-02,5.9699e-05,2.3850e-02,1.1477e-01,1.2173e-01,-7.9621e-03,1.5662e-03,-1.0550e-04,1.6899e-01,8.1154e-03
+31,2.6550e+01,DOWN_FORCE_DETACH,6.3258e-03,8.4044e-02,2.0776e-01,2.5560e+00,-5.1144e-02,4.2608e-02,2.0373e-05,2.7588e-02,1.1416e-01,9.8227e-02,-7.9191e-03,1.8535e-03,-1.4483e-04,1.5311e-01,8.1344e-03
+32,2.7283e+01,DOWN_FORCE_DETACH,6.5270e-03,8.7061e-02,2.2553e-01,2.5626e+00,-5.2366e-02,4.2806e-02,-3.5625e-05,3.0606e-02,1.3193e-01,1.0488e-01,-9.1418e-03,2.0523e-03,-2.0083e-04,1.7130e-01,9.3715e-03
+33,2.8183e+01,DOWN_FORCE_DETACH,6.7354e-03,8.5006e-02,2.2180e-01,2.5783e+00,-5.2104e-02,4.2632e-02,-1.3057e-04,2.8550e-02,1.2821e-01,1.2056e-01,-8.8795e-03,1.8781e-03,-2.9577e-04,1.7829e-01,9.0808e-03
+34,2.8950e+01,DOWN_FORCE_DETACH,6.9371e-03,7.5956e-02,2.2283e-01,2.6000e+00,-5.2172e-02,4.1963e-02,-2.0939e-04,1.9501e-02,1.2924e-01,1.4222e-01,-8.9479e-03,1.2092e-03,-3.7460e-04,1.9316e-01,9.0370e-03
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+37,3.1350e+01,DOWN_FORCE_DETACH,7.5463e-03,6.9955e-02,2.3309e-01,2.6186e+00,-5.2727e-02,4.1512e-02,-2.7967e-04,1.3499e-02,1.3950e-01,1.6087e-01,-9.5028e-03,7.5808e-04,-4.4487e-04,2.1336e-01,9.5434e-03
+38,3.2183e+01,DOWN_FORCE_DETACH,7.7520e-03,7.9169e-02,2.4929e-01,2.6255e+00,-5.3716e-02,4.2143e-02,-1.2374e-04,2.2714e-02,1.5570e-01,1.6775e-01,-1.0492e-02,1.3889e-03,-2.8894e-04,2.3000e-01,1.0587e-02
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+40,3.3767e+01,DOWN_FORCE_DETACH,8.1603e-03,8.2472e-02,2.7492e-01,2.6690e+00,-5.5425e-02,4.2338e-02,2.5202e-04,2.6016e-02,1.8133e-01,2.1128e-01,-1.2200e-02,1.5837e-03,8.6815e-05,2.7964e-01,1.2303e-02
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Part2/Fixed/digit/ball_15A_12.5/press_depth_06/up/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_15A_12.5/press_depth_06/up/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_15A_12.5/press_depth_06/up/franka_data.csv ADDED Viewed

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Part2/Fixed/digit/ball_15A_12.5/press_depth_06/up/multimodal_aligned_data.csv ADDED Viewed

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