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
+12766,1791619545730739665,24729578000000,1791619545729023750,UP_FORCE_RAMP,10,0.044,0.04401965066790581,0.6759550402594038,-0.004883148626858938,0.09067289415202304,0.9999999699515252,-2.8794055493406964e-05,-0.00022512380125179693,5.476277328463226e-06,0.6761,-0.0048,0.09099999315000014,1.0,0.0,0.0,0.0,0.9361046139488611,0.6107416734127478,-1.153227742523184,0.04068797106518061,-0.0643317307632601,0.004263273110605585,0.8951604922306088,0.6739636142324453,-1.2822581249864125,0.039711156328763715,-0.06430691454174635,0.0036629537038381337,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.2243322563806117,0.8769448543040185,2.5175492929002488,-0.13902614131466554,-1.5243965866319849,0.5362788767130712,0.6137136141712698,1.153227742523184,-1.903835678728979,1.153227742523184,0.558,0,0,-8.500000245589333e-07,-9.999924085868912e-05
+12970,1791619547424790069,24731272000000,1791619547421033379,UP_FORCE_HOLD,10,0.044,0.04400060698390007,0.6759587192113286,-0.0049302064052995295,0.09067095440088954,0.9999999702524256,-5.665567013097586e-05,-0.00021771557440172684,1.811287392151771e-05,0.6761,-0.0048,0.09092685471384877,1.0,0.0,0.0,0.0,0.9384508531990082,0.7555869303004545,-0.956892207435082,0.05403703068514266,-0.06668549167903026,0.004223533566455176,0.8975067314807559,0.8188088711201521,-1.0859225898983105,0.053060215948725765,-0.06666067545751651,0.0036232141596877245,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.0723453967396121,1.0196933408333182,2.226144745390819,-0.1256931627071337,-1.336903569031294,0.6348513632258114,0.6137136141712698,0.956892207435082,-1.6124311312195492,0.956892207435082,0.558,0,0,-8.554998357920696e-05,-9.999999025923074e-05
+13190,1791619549257716267,24733105000000,1791619549257024257,UP_FORCE_HOLD,10,0.044,0.0440012626349926,0.6759793825609581,-0.004938063483078031,0.0905979741004436,0.9999999776909572,-4.406623394946706e-05,-0.00017899400556139764,4.560989566140259e-05,0.6761,-0.0048,0.09075424292845873,1.0,0.0,0.0,0.0,0.8419101257830082,0.751818528612692,-0.3874001904427735,0.05512656275484415,-0.059735596075704944,0.0038751122447423184,0.8009660040647558,0.8150404694323896,-0.516430572906002,0.05414974801842726,-0.059710779854191195,0.0032747928379748665,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.2042988991266793,0.9207440559908492,1.3409149793398492,0.01012432674692525,-0.7589861420788078,0.5639806062772249,0.6137136141712698,0.3874001904427735,-0.7272013651685794,0.3874001904427735,0.558,0,0,-6.044395193108431e-05,9.999999025923074e-05
+13382,1791619550857664306,24734705000000,1791619550857024654,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759884061892761,-0.004936155725306538,0.09057221844234693,0.9999999804737582,-3.451069563108245e-05,-0.00016208344367810645,5.507555631414758e-05,0.6761,-0.0048,0.09072149259289301,1.0,0.0,0.0,0.0,0.7990867282910906,0.7741194282305112,-0.252936254940181,0.056263352120127744,-0.05662083755854603,0.003813924695060155,0.7581426065728383,0.8373413690502087,-0.3819666374034095,0.05528653738371085,-0.05659602133703228,0.003213605288292703,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.18372647422317076,0.9202559884627558,1.354617005439644,0.04666540662878067,-0.7852479319554236,0.558102731542332,0.6137136141712698,0.252936254940181,-0.7409033912683742,0.252936254940181,0.558,0,0,1.9556032483684878e-05,9.999999025923074e-05
+13569,1791619552416676762,24736264000000,1791619552413023837,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759789695486971,-0.004933630651158856,0.09056988243456458,0.9999999771578135,-3.357063472500098e-05,-0.00018236436181191042,5.2378326071400294e-05,0.6761,-0.0048,0.09081270348569011,1.0,0.0,0.0,0.0,0.7896075379179102,0.7436283741631402,-0.2611242808460357,0.054643093918505525,-0.055754302702612175,0.0038118255922034786,0.7486634161996578,0.8068503149828378,-0.3901546633092641,0.05366627918208863,-0.05572948648109843,0.003211506185436027,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.2769154899778773,0.941169196891955,1.6611479388417034,-0.00370948906724882,-1.071890525092434,0.5586733874283514,0.6137136141712698,0.2611242808460357,-1.0474343246704336,0.2611242808460357,0.558,0,0,9.75060172978256e-05,9.999999025923074e-05
+13745,1791619553882724273,24737730000000,1791619553877024222,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.675950242910141,-0.004929214247685599,0.09061430669081594,0.9999999646150933,-4.7470420533390396e-05,-0.00024343363270854036,2.6444320271500817e-05,0.6761,-0.0048,0.0909715828187149,1.0,0.0,0.0,0.0,0.8719911816132375,0.7141924531437822,-0.6567275391851994,0.05281764534419023,-0.0625322913206271,0.0029973114393401484,0.8310470598949852,0.7774143939634798,-0.785757921648428,0.051840830607773336,-0.06250747509911335,0.002396992032572697,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.8802249658580468,1.041909166971429,2.654230182252937,-0.1452875225715672,-1.812666197015694,0.63960030776135,0.6137136141712698,0.6567275391851994,-2.0405165680816673,0.6567275391851994,0.558,0,0,8.403560984995983e-05,-9.999999025923074e-05
+13956,1791619555641747481,24739489000000,1791619555637024586,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759335588715818,-0.004926680200902453,0.09064312948668116,0.9999999568918922,-4.7593307067446363e-05,-0.0002736583644407524,2.2473424406383836e-05,0.6761,-0.0048,0.09104209342151891,1.0,0.0,0.0,0.0,0.86698985055662,0.68716382403747,-0.8987121930807084,0.05085464037126839,-0.06257627125532671,0.003168849354170564,0.8260457288383677,0.7503857648571676,-1.0277425755439369,0.0498778256348515,-0.06255145503381296,0.002568529947403112,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.9263330017753312,0.9165087916423731,2.914199192130379,-0.14569804297980393,-1.9804674152121775,0.5593862519070327,0.6137136141712698,0.8987121930807084,-2.300485577959109,0.8987121930807084,0.558,0,0,-3.9143730160270455e-06,-9.999999025923074e-05
+14172,1791619557441668131,24741289000000,1791619557437024594,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759419666291608,-0.00492378159112117,0.09065229532665343,0.9999999615881306,-4.6089186742214376e-05,-0.00025614028282497917,2.3120210132230764e-05,0.6761,-0.0048,0.09095409256587887,1.0,0.0,0.0,0.0,0.8122285791758581,0.6971114269628799,-0.880651341180993,0.05194476039760305,-0.05903439629021685,0.00320634912823055,0.7712844574576058,0.7603333677825774,-1.0096817236442215,0.050967945661186155,-0.059009580068703105,0.002606029721463098,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.4907906365137592,0.8771909352696341,2.4592094918910625,-0.10413604079827499,-1.6140352775325497,0.5443646582984241,0.6137136141712698,0.880651341180993,-1.8454958777197927,0.880651341180993,0.558,0,0,-9.391435548264238e-05,-9.999999025923074e-05
+14272,1791619558274652758,24742122000000,1791619558269025393,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759524022938974,-0.0049215153415246475,0.09064181935215909,0.9999999673170376,-3.888098147139355e-05,-0.00023308097559930486,3.114990226888649e-05,0.6761,-0.0048,0.09085908533837392,1.0,0.0,0.0,0.0,0.8329026314869362,0.7656210843979614,-0.7974846972064578,0.056307265923843566,-0.05923626593521049,0.0031929764310094167,0.7919585097686839,0.828843025217659,-0.9265150796696863,0.055330451187426674,-0.05921144971369674,0.002592657024241965,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.0434536197878957,0.8462518610679799,2.0361959651410495,-0.04064216180381764,-1.2604371336113658,0.5235703900598894,0.6137136141712698,0.7974846972064578,-1.4224823509697797,0.7974846972064578,0.558,0,0,-0.0001264949030790607,6.82076209679983e-05
+14376,1791619559141719915,24742989000000,1791619559137033989,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759623095012174,-0.004933359085404635,0.09059351162081979,0.9999999710096428,-3.482817200509406e-05,-0.00021391586979595365,4.9503304231532236e-05,0.6761,-0.0048,0.09076774129157925,1.0,0.0,0.0,0.0,0.7484463212935787,0.7408735739693536,-0.39541214285084003,0.055411821044559356,-0.05467527861046493,0.003955753417766275,0.7075021995753263,0.8040955147890512,-0.5244425253140685,0.054435006308142464,-0.05465046238895118,0.0033554340109988234,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.2193868828210415,0.7995063844514086,1.4971605293765005,0.047095066989903164,-0.8656081925358015,0.47913258646367046,0.6137136141712698,0.39541214285084003,-0.8834469152052307,0.39541214285084003,0.558,0,0,-8.366656744221578e-05,9.999999025923074e-05
+14515,1791619560299709771,24744147000000,1791619560297024474,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759879419816721,-0.004945350542516204,0.09056313153817702,0.9999999798067926,-3.350558895139229e-05,-0.00016081295850781943,6.961211736253673e-05,0.6761,-0.0048,0.09070435054994451,1.0,0.0,0.0,0.0,0.6839388899649435,0.7740016152243169,-0.11563025342482741,0.05833066203089574,-0.05005378465199308,0.0038250499566506993,0.6429947682466911,0.8372235560440144,-0.2446606358880559,0.05735384729447885,-0.05002896843047933,0.0032247305498832477,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.2564431020165324,0.6688068728052272,1.1643588818398527,0.1324775810008923,-0.6716976132278012,0.383292321181869,0.6137136141712698,0.11563025342482741,-0.5506452676685829,0.11563025342482741,0.558,0,0,-2.5766578722026583e-05,9.999999025923074e-05
+14675,1791619561632650192,24745480000000,1791619561625033619,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759904745433746,-0.004940359177354724,0.09055328970810891,0.9999999810397586,-2.7508908838451133e-05,-0.00015420153728899934,6.948735598624204e-05,0.6761,-0.0048,0.09071439259184742,1.0,0.0,0.0,0.0,0.6686421314228285,0.7583168691377403,-0.08149602606130163,0.0566597237352071,-0.048686569596785544,0.003803554737725136,0.6276980097045761,0.8215388099574379,-0.2105264085245301,0.055682908998790207,-0.048661753375271795,0.0032032353309576845,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.233823983979574,0.822776797609673,1.1622785419772634,0.07673506003798897,-0.6745188922624608,0.48001476875839055,0.6137136141712698,0.08149602606130163,-0.5485649278059936,0.08149602606130163,0.558,0,0,4.0883408293527996e-05,9.999999025923074e-05
+14851,1791619563099665362,24746947000000,1791619563093033940,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759720748256202,-0.004948461255483135,0.09055340394816627,0.9999999735757614,-3.300197318391276e-05,-0.00019606686509000107,6.899271804819642e-05,0.6761,-0.0048,0.09082813409132538,1.0,0.0,0.0,0.0,0.6733602324520318,0.6892458980801671,-0.10636238781376606,0.05181161506925124,-0.04858941839745808,0.003773301220970953,0.6324161107337795,0.7524678388998647,-0.23539277027699454,0.05083480033283435,-0.048564602175944334,0.003172981814203501,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.5730563131717582,0.8385037579230892,1.796843009245138,0.004913115546207161,-1.251934657418245,0.4760823972879032,0.6137136141712698,0.10636238781376606,-1.1831293950738682,0.10636238781376606,0.558,0,0,0.0001142333940038195,9.999999025923074e-05
+15018,1791619564491648760,24748339000000,1791619564489034016,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759438634804764,-0.004953155273629996,0.0906345607128552,0.999999960599562,-5.7274587944124526e-05,-0.0002553335996564181,4.204894236998227e-05,0.6761,-0.0048,0.09099991438844325,1.0,0.0,0.0,0.0,0.7354685642153054,0.604423067883678,-0.8191175500278756,0.045459385103998176,-0.05337100881096002,0.0031723644950361323,0.694524442497053,0.6676450087033755,-0.9481479324911041,0.044482570367581284,-0.05334619258944627,0.002572045088268681,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.9603498186112494,0.8551216231830224,2.878719257867114,-0.14940853026160728,-1.9914603474299362,0.5052624118590776,0.6137136141712698,0.8191175500278756,-2.2650056436958446,0.8191175500278756,0.558,0,0,9.937345113866935e-05,-9.999999025923074e-05
+15188,1791619565907666785,24749755000000,1791619565901034191,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759207005590939,-0.0049522395597900275,0.09066813325054794,0.9999999497213485,-5.9914366119341186e-05,-0.00029532374443318687,3.4558928807155316e-05,0.6761,-0.0048,0.0910905362050279,1.0,0.0,0.0,0.0,0.7757303603880383,0.5558326218496041,-1.0831264634821305,0.04255916014694855,-0.05629009482647841,0.002281705067291316,0.734786238669786,0.6190545626693017,-1.2121568459453589,0.04158234541053166,-0.056265278604964664,0.0016813856605238644,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-1.078321538113627,0.9227281782567498,3.145986966746343,-0.20221567376578956,-2.1725174410784005,0.5622448264072516,0.6137136141712698,1.0831264634821305,-2.532273352575073,1.0831264634821305,0.558,0,0,2.8573464931598618e-05,-9.999999025923074e-05
+15370,1791619567424672369,24751272000000,1791619567421034131,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759172195685129,-0.004957714908074696,0.0906744868613095,0.9999999477862868,-6.105197726128701e-05,-0.0003010853662548628,3.860759808550051e-05,0.6761,-0.0048,0.09107638786254468,1.0,0.0,0.0,0.0,0.7841337566165419,0.5616903561453908,-1.0933245958023068,0.04310797680535914,-0.05726293987295308,0.00330831167076452,0.7431896348982896,0.6249122969650883,-1.2223549782655352,0.04213116206894225,-0.05723812365143933,0.0027079922639970683,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.9701178666126141,0.9124995801061203,2.9679619814022047,-0.19651339618740035,-2.037730398291757,0.5564958032298206,0.6137136141712698,1.0933245958023068,-2.3542483672309347,1.0933245958023068,0.558,0,0,-4.727652029165442e-05,-9.999999025923074e-05
+15473,1791619568282612026,24752130000000,1791619568281033740,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759193621074006,-0.004955319125938454,0.09067401796113513,0.9999999497432273,-6.233988695177816e-05,-0.000294267436266525,3.8429441457919314e-05,0.6761,-0.0048,0.09101744196172402,1.0,0.0,0.0,0.0,0.7738256753457324,0.588051927826103,-1.0766617291917089,0.044593100661277356,-0.05629257828293399,0.0023008988958000253,0.7328815536274801,0.6512738686458006,-1.2056921116549373,0.043616285924860464,-0.05626776206142024,0.0017005794890325738,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.6362792145461854,0.8474245966419035,2.808428462223776,-0.14555808424713468,-1.874247083898921,0.5218923509738621,0.6137136141712698,1.0766617291917089,-2.194714848052506,1.0766617291917089,0.558,0,0,-9.01765119340744e-05,-9.999999025923074e-05
+15613,1791619569449618465,24753297000000,1791619569449033606,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759407010842686,-0.004954053156824232,0.09065600853615305,0.9999999623632506,-4.9969560233413916e-05,-0.0002479407459752699,5.2390757111228656e-05,0.6761,-0.0048,0.09087818792893557,1.0,0.0,0.0,0.0,0.694457813278467,0.6177442639015588,-0.9216282458574446,0.046431321622357066,-0.0503287057624044,0.0033087002265624697,0.6535136915602147,0.6809662047212564,-1.0506586283206731,0.045454506885940174,-0.05030388954089065,0.0027083808197950177,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.01938771867669268,0.6699636438717459,2.097365759468701,-0.01889551905140068,-1.305182576042719,0.3962787217360097,0.6137136141712698,0.9216282458574446,-1.4836521452974314,0.9216282458574446,0.558,0,0,-0.00014852650056659667,-9.999999025923074e-05
+15773,1791619570782638957,24754630000000,1791619570781033890,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759857266927365,-0.004969833051945026,0.09056540968935674,0.9999999778163932,-3.859983060549752e-05,-0.0001612350450736742,9.12326202500063e-05,0.6761,-0.0048,0.09070857698455899,1.0,0.0,0.0,0.0,0.5491426150953753,0.6971899335617222,-0.10054722125871463,0.05301525277830778,-0.040476887786223444,0.002863542427866991,0.508198493377123,0.7604118743814198,-0.2295776037219431,0.052038438041890886,-0.040452071564709695,0.0022632230210995396,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.3067111981144183,0.6683992476003467,1.0969955507841678,0.08836791105283423,-0.6300106683374115,0.37481868484738945,0.6137136141712698,0.10054722125871463,-0.483281936612898,0.10054722125871463,0.558,0,0,-9.453408259388484e-05,9.999999025923074e-05
+15968,1791619572407633313,24756255000000,1791619572405024029,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6760044687388367,-0.0049769994800460205,0.09052749865463919,0.9999999812156618,-3.7696054844669394e-05,-0.00013011063870981365,0.00010325584480513523,0.6761,-0.0048,0.09062093408747515,1.0,0.0,0.0,0.0,0.4981948064815731,0.6854781684156428,0.21370450798098278,0.051978337503537295,-0.03715482133217561,0.003663793906649341,0.4572506847633207,0.7487001092353404,0.0846741255177543,0.0510015227671204,-0.03713000511066186,0.0030634744998818894,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.38023453943385555,0.6229801678648623,0.7641858810690222,0.10138140206064725,-0.40068103814283884,0.33888292053498675,0.6137136141712698,0.21370450798098278,-0.1504722668977524,0.21370450798098278,0.558,0,0,-1.3284098422634888e-05,9.999999025923074e-05
+16184,1791619574207626037,24758055000000,1791619574205024477,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6760074736447642,-0.004975263882795323,0.09052988031869598,0.9999999812857238,-3.6097404438003524e-05,-0.0001318156249620583,0.00010096056120129622,0.6761,-0.0048,0.0906779776945256,1.0,0.0,0.0,0.0,0.503527173110447,0.6927380395028852,0.16510079529407623,0.05302358817435099,-0.037522266508976346,0.002900938727858608,0.46258305139219463,0.7559599803225827,0.03607041283084776,0.052046773437934096,-0.0374974502874626,0.002300619321091156,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.1820814934664516,0.684424824356747,1.0399171079396117,0.06865047686350416,-0.6136913877954806,0.3748932574417583,0.6137136141712698,0.16510079529407623,-0.4262034937683419,0.16510079529407623,0.558,0,0,7.671588404398045e-05,9.999999025923074e-05
+16371,1791619575766586454,24759614000000,1791619575765033626,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759858498620368,-0.004970015155423576,0.0905645944760506,0.9999999758580432,-4.662065083853045e-05,-0.0001755490932037613,8.207197036020276e-05,0.6761,-0.0048,0.09085830079590519,1.0,0.0,0.0,0.0,0.5814623871360224,0.6485423106275005,-0.09116718217770883,0.049128294392856243,-0.042448304173474075,0.0027844060422798885,0.54051826541777,0.711764251447198,-0.22019756464093732,0.04815147965643935,-0.042423487951960326,0.0021840866355124365,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.6400503083905694,0.7980021873097041,1.8104735416770263,-0.06674734574209533,-1.2732770281070491,0.45241575259622857,0.6137136141712698,0.09116718217770883,-1.1967599275057565,0.09116718217770883,0.558,0,0,0.00015466586885812118,9.999999025923074e-05
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+17808,1791619587741587586,24771589000000,1791619587737034839,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6760282088476698,-0.0049794686847601756,0.09051585214007866,0.9999999831427389,-3.4248350445010496e-05,-0.00010403846639509116,0.00011471893724123106,0.6761,-0.0048,0.09063074490918228,1.0,0.0,0.0,0.0,0.4362610424067575,0.7277681637996722,0.32334883497076283,0.0549005134558122,-0.03253514048166804,0.003685449668757856,0.3953169206885051,0.7909901046193698,0.19431845250753438,0.053923698719395306,-0.032510324260154294,0.003085130261990404,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.31946487793437267,0.6616527958148369,0.8313073629048836,0.07040036817213804,-0.458498932668504,0.3611769716696461,0.6137136141712698,0.32334883497076283,-0.2175937487336138,0.32334883497076283,0.558,0,0,7.687043323686827e-05,9.999999025923074e-05
+18012,1791619589441493050,24773289000000,1791619589441034357,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.676004178415166,-0.004970618804912042,0.09055789468426267,0.9999999786954404,-4.081202778731254e-05,-0.0001550138023207953,9.141708030576163e-05,0.6761,-0.0048,0.09083143284843483,1.0,0.0,0.0,0.0,0.5239950806479139,0.6743800130349191,0.0062525274010687,0.051070750855776975,-0.03946975028354764,0.0027689821372607346,0.4830509589296615,0.7376019538546167,-0.12277785506215978,0.05009393611936008,-0.03944493406203389,0.002168662730493283,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.4374625426528109,0.8081461864975273,1.6480894252110008,-0.0774090838229359,-1.1288769138033172,0.46874344401140045,0.6137136141712698,0.0062525274010687,-1.034375811039731,0.0062525274010687,0.558,0,0,0.00015938559074921,9.999999025923074e-05
+18140,1791619590507585095,24774355000000,1791619590505024122,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.675943523179383,-0.004960556264996403,0.09064021319291546,0.9999999612585561,-5.598265400665089e-05,-0.00025127220083739487,5.151673817109633e-05,0.6761,-0.0048,0.09099534151967789,1.0,0.0,0.0,0.0,0.6919624943513243,0.5489540327996165,-0.8026582003237039,0.04157437267664172,-0.05126402293880253,0.0021134950874450074,0.6510183726330719,0.6121759736193141,-0.9316885827869325,0.04059755794022483,-0.05123920671728878,0.0015131756806775556,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.8179796528175748,0.7857857437782263,2.6267200033343965,-0.16734986804990365,-1.7986760904801762,0.4715009874498529,0.6137136141712698,0.8026582003237039,-2.0130063891631265,0.8026582003237039,0.558,0,0,0.00012974096769560883,-9.999999025923074e-05
+18339,1791619592166504121,24776014000000,1791619592161033990,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759000116744182,-0.004952553656437184,0.0906979887362544,0.9999999391551954,-5.810204908254194e-05,-0.00032924144124668516,3.683334391683169e-05,0.6761,-0.0048,0.09114181624849765,1.0,0.0,0.0,0.0,0.7849157533096838,0.4762766181690889,-1.2765405760173691,0.03652274928907776,-0.05815708604792522,0.002338287501872244,0.7439716315914314,0.5394985589887865,-1.4055709584805975,0.03554593455266087,-0.058132269826411474,0.001737968095104792,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-1.0964698140270284,0.8599229482659113,3.325352334930533,-0.19811779424947212,-2.2949268144817756,0.5221674960887404,0.6137136141712698,1.2765405760173691,-2.7116387207592636,1.2765405760173691,0.558,0,0,4.6790983855545025e-05,-9.999999025923074e-05
+18551,1791619593932509416,24777780000000,1791619593929034144,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6758922972667591,-0.004946926227402222,0.09070849561820467,0.9999999360194607,-5.826472769099208e-05,-0.00033877240048307936,3.5247997328698213e-05,0.6761,-0.0048,0.09114652439118469,1.0,0.0,0.0,0.0,0.7897232954269593,0.46403000905959163,-1.2970287995052465,0.035505181698693926,-0.05813311845155202,0.002343957253208233,0.748779173708707,0.5272519498792893,-1.426059181968475,0.034528366962277034,-0.058108302230038274,0.0017436378464407813,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-1.0522050253096604,0.7492627224013837,3.1753984115348897,-0.16727482334034643,-2.193784340505814,0.4479626023167333,0.6137136141712698,1.2970287995052465,-2.56168479736362,1.2970287995052465,0.558,0,0,-4.1508998942256465e-05,-9.999999025923074e-05
+18738,1791619595491529912,24779339000000,1791619595489024944,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759014987623869,-0.004954668069876537,0.09070338650441191,0.9999999428956223,-6.044263456347341e-05,-0.00031643983938110044,4.317560104673489e-05,0.6761,-0.0048,0.09102108882367868,1.0,0.0,0.0,0.0,0.7509691248362165,0.5035209274077067,-1.2759612691405744,0.038547337799326314,-0.05515733177696789,0.002404741400456393,0.7100250031179641,0.5667428682274043,-1.4049916516038028,0.03757052306290942,-0.05513251555545414,0.001804421993688941,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.27057068593073985,0.7377026779498501,2.620056366327312,-0.10209575575302618,-1.6714781880119773,0.4511081446163165,0.6137136141712698,1.2759612691405744,-2.0063427521560424,1.2759612691405744,0.558,0,0,-0.00011945898375639719,-9.999999025923074e-05
+18882,1791619596691462835,24780539000000,1791619596689024371,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759381089622505,-0.004961926729617517,0.09063127255389966,0.9999999614801299,-4.201030876962827e-05,-0.0002465641931930929,7.696645740381335e-05,0.6761,-0.0048,0.09084289197862552,1.0,0.0,0.0,0.0,0.6328266967091549,0.5747594147331734,-0.6332316558896036,0.04425890909206869,-0.04730905209639117,0.0030921460008194145,0.5918825749909026,0.6379813555528709,-0.7622620383528321,0.0432820943556518,-0.04728423587487742,0.002491826594051963,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.13901986563042898,0.7129955985115034,1.7263363284806568,0.03091312707248735,-1.0510393538953946,0.4110899545042747,0.6137136141712698,0.6332316558896036,-1.112622714309387,0.6332316558896036,0.558,0,0,-0.00016443164184834635,9.999999025923074e-05
+19018,1791619597824488041,24781672000000,1791619597817033941,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759859593454903,-0.004974032692121155,0.09056285431324486,0.9999999781764851,-3.579879262183825e-05,-0.00015035844336377382,0.0001058332592066865,0.6761,-0.0048,0.09068865482215377,1.0,0.0,0.0,0.0,0.4761604759226142,0.6860944164285295,-0.05766085399462814,0.05199330044803253,-0.03542885587757991,0.0028891159380164946,0.4352163542043618,0.7493163572482271,-0.18669123645785662,0.051016485711615635,-0.03540403965606616,0.0022887965312490426,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.40617125870673787,0.6148466066485325,0.9708251130278306,0.11034514981349079,-0.5373231237828405,0.34105806778432723,0.6137136141712698,0.05766085399462814,-0.3571114988565608,0.05766085399462814,0.558,0,0,-0.00010778165288463792,9.999999025923074e-05
+19230,1791619599591406124,24783439000000,1791619599589034036,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6760296976202254,-0.004978920087456918,0.09051969023157069,0.9999999830324559,-2.9442312133758927e-05,-0.00010079999627829029,0.0001197934201204567,0.6761,-0.0048,0.09057621767629126,1.0,0.0,0.0,0.0,0.3928578132966491,0.7571972339120808,0.3557052311693628,0.05787745587931758,-0.029554190219821058,0.0027386318488583977,0.3519136915783967,0.8204191747317784,0.22667484870613433,0.056900641142900686,-0.02952937399830731,0.002138312442090946,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.6123492895196277,0.6004045204989351,0.4846654995422574,0.1053942131149805,-0.18617329983933695,0.32601997251266157,0.6137136141712698,0.3557052311693628,0.1290481146290124,0.3557052311693628,0.558,0,0,-1.9431670096577196e-05,9.999999025923074e-05
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Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/real_sim_motion_alignment.csv ADDED Viewed

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

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Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/simulation_data.csv ADDED Viewed

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

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+13,9.6667e+00,UP_FORCE_HOLD,2.6467e-03,5.1717e-02,3.5997e-02,2.4079e+00,-3.9225e-02,4.0457e-02,1.9932e-04,8.8767e-02,3.6318e-02,-3.4285e-02,-2.4701e-03,6.3115e-03,1.9594e-04,1.0185e-01,6.7804e-03
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+16,1.1650e+01,UP_FORCE_HOLD,3.2582e-03,4.4717e-02,3.1797e-02,2.4490e+00,-3.8957e-02,3.9948e-02,1.7260e-04,8.1767e-02,3.2117e-02,6.7821e-03,-2.2025e-03,5.8024e-03,1.6922e-04,8.8110e-02,6.2086e-03
+17,1.2267e+01,UP_FORCE_HOLD,3.4567e-03,4.0583e-02,3.1691e-02,2.4574e+00,-3.8951e-02,3.9631e-02,1.4512e-04,7.7633e-02,3.2012e-02,1.5129e-02,-2.1958e-03,5.4858e-03,1.4174e-04,8.5326e-02,5.9106e-03
+18,1.2950e+01,UP_FORCE_HOLD,3.6611e-03,-2.3199e-03,4.0863e-02,2.5251e+00,-3.9571e-02,3.6531e-02,1.5483e-04,3.4730e-02,4.1184e-02,8.2878e-02,-2.8156e-03,2.3853e-03,1.5146e-04,9.8849e-02,3.6933e-03
+19,1.3767e+01,UP_FORCE_HOLD,3.8652e-03,3.8727e-03,4.6009e-02,2.5246e+00,-3.9892e-02,3.6992e-02,1.6779e-04,4.0923e-02,4.6329e-02,8.2365e-02,-3.1370e-03,2.8470e-03,1.6441e-04,1.0298e-01,4.2394e-03
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+21,1.5517e+01,UP_FORCE_HOLD,4.2699e-03,3.3152e-02,4.4339e-02,2.4497e+00,-3.9778e-02,3.9126e-02,1.9617e-04,7.0201e-02,4.4660e-02,7.5226e-03,-3.0227e-03,4.9808e-03,1.9279e-04,8.3542e-02,5.8294e-03
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+24,1.7817e+01,UP_FORCE_HOLD,4.8833e-03,5.7749e-02,3.4189e-02,2.4308e+00,-3.9147e-02,4.0897e-02,1.5667e-04,9.4799e-02,3.4510e-02,-1.1429e-02,-2.3916e-03,6.7521e-03,1.5330e-04,1.0153e-01,7.1648e-03
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Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/camera_frames_60hz.tar ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
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Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/franka_data.csv ADDED Viewed

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

+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+5021,1792668050567449732,36590967000000,1792668050565853627,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6759898237230298,-0.004554390029461084,0.09081405062300385,0.9999999803532283,5.945619215075411e-05,-0.00014871645165098334,7.13076827072826e-05,0.6761,-0.00453,0.0908878300650056,1.0,0.0,0.0,0.0,0.10372093722138394,0.18764374776173492,0.2664453691759917,0.0120333203573983,-0.006557342715257303,-0.00016553719803419592,0.2158194047194233,0.10639069559824664,0.434698760973847,0.004302422183576668,-0.011331804709329788,0.0005756005932678358,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.040250488115548,-0.08771875338158434,0.2903859124161652,0.40396622526084663,0.028200150863400365,-0.07213841663328295,0.7250918013638956,0.2664453691759917,0.43470588894773043,0.43470588894773043,0.3908800000000065,0,0,-2.0613062219594684e-05,9.999924085868912e-05
+5193,1792668052000456208,36592400000000,1792668051997853823,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6759891262968245,-0.004553474831049003,0.09079190366053391,0.9999999795671746,6.470593320942671e-05,-0.0001491718961270494,7.661202595887538e-05,0.6761,-0.00453,0.09086190457382233,1.0,0.0,0.0,0.0,0.10035035007430905,0.19065658616280845,0.36142606333884597,0.01198736262327614,-0.005566508463680551,-0.0002303699663076744,0.2124488175723484,0.10940353399932018,0.5296794551367013,0.004256464449454509,-0.010340970457753037,0.0005107678249943573,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,0.9494555862444006,-0.09064015199730265,0.24382191477050705,0.42480611500824683,0.027710784910535097,-0.08461774525973957,0.7250918013638956,0.36142606333884597,0.48126988659338854,0.48126988659338854,0.49119000000002727,0,0,-1.4061890017654006e-05,2.9122117244045856e-05
+5321,1792668053067372678,36593467000000,1792668053065853690,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6759932612743614,-0.004557439745399276,0.09078682619629921,0.9999999802022261,6.270502161800538e-05,-0.00014319109907209792,8.125762205730572e-05,0.6761,-0.00453,0.09084754663062011,1.0,0.0,0.0,0.0,0.09933061731157304,0.19825566794005645,0.4071294993188149,0.013015818559533241,-0.006169337740207574,-0.00026609380883028347,0.2114290848096124,0.11700261577656819,0.5753828911166703,0.005284920385711608,-0.01094379973428006,0.00047504398247174824,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,0.9640430682392938,-0.13252509760476247,0.23594147376080235,0.4617687898298501,0.03200648340725162,-0.11004270333711938,0.7250918013638956,0.4071294993188149,0.4891503276030933,0.4891503276030933,0.5658800000000427,0,0,-1.537803441117725e-05,-8.922803748501735e-05
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+5608,1792668055458460194,36595858000000,1792668055453853673,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760264144983636,-0.004558521050000511,0.09077751322067791,0.9999999832806028,7.148108103396269e-05,-0.0001067900213420246,9.14768004641263e-05,0.6761,-0.00453,0.09079741601512628,1.0,0.0,0.0,0.0,0.07022783796652392,0.23771013278614253,0.4730543348354561,0.01564463810978555,-0.0038478739639983993,-0.00023798217968449393,0.18232630546456327,0.15645708062265426,0.6413077266333115,0.007913739935963917,-0.008622335958070885,0.0005031556116175378,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.0186369676878637,-0.11270322219818858,0.15776480765347764,0.501446926200027,0.08104195052227096,-0.11312344259407714,0.7250918013638956,0.4730543348354561,0.567326993710418,0.567326993710418,0.7332500000000773,0,0,-2.3909360750999593e-05,-9.999990699250389e-05
+5724,1792668056425467600,36596825000000,1792668056421862792,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760256384231729,-0.004565285652992111,0.09074644181638779,0.9999999824219711,6.98367560063357e-05,-0.00010733594656263574,0.0001009987326535055,0.6761,-0.00453,0.09075848343237376,1.0,0.0,0.0,0.0,0.04928142264927919,0.2596903857477335,0.5577102281645429,0.016948568717797194,-0.0016517592263531385,-0.0002647285349743788,0.16137989014731854,0.17843733358424527,0.7259636199623982,0.009217670543975562,-0.006426221220425624,0.0004764092563276529,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.1424938448365867,-0.1519860008286876,-0.11916298528690479,0.547353319765299,0.2763625772700276,-0.1396764821552105,0.7250918013638956,0.5577102281645429,0.8442547866508004,0.8442547866508004,0.8009400000000914,0,0,-4.374019015454677e-05,9.9999754336838e-05
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+6147,1792668059950432706,36600350000000,1792668059945862826,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760344419370118,-0.004567925575668079,0.09069427884515198,0.999999982495436,7.623107349968927e-05,-8.639323524894306e-05,0.0001147912223795381,0.6761,-0.00453,0.09067848749104301,1.0,0.0,0.0,0.0,0.03672204708179873,0.2588017312195027,0.7802195699717271,0.017889518186152316,-0.0007104147181345105,0.000602000359776792,0.14882051457983808,0.1775486790560144,0.9484729617695825,0.010158620012330685,-0.005484876712206996,0.0013431381510788237,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.125671664906283,-0.07729109699192797,-0.32363805148350333,0.5474062769446211,0.3995876172106667,-0.09908547882632951,0.7250918013638956,0.7802195699717271,1.048729852847399,1.048729852847399,1.0476900000001423,0,0,-2.8689139706912552e-05,9.999695102370083e-05
+6299,1792668061217478116,36601617000000,1792668061213853511,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760366798474876,-0.004573304373518938,0.09066668043402694,0.999999982384851,7.409838833242302e-05,-8.14153656039846e-05,0.0001206404960000355,0.6761,-0.00453,0.09064640273155868,1.0,0.0,0.0,0.0,0.02013947039319723,0.246715759889165,0.8506001107973408,0.017874369204579008,-0.0007238633891185949,0.0005430143326696981,0.13223793789123658,0.16546270772567673,1.0188535025951961,0.010143471030757375,-0.0054983253831910805,0.0012841521239717298,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.1625103705812005,-0.11904553728269655,-0.39543441505385296,0.5575048216223105,0.45848910792924935,-0.13071683900880882,0.7250918013638956,0.8506001107973408,1.1205262164177485,1.1205262164177485,1.1363800000001607,0,0,-2.744251390432583e-05,9.740503822819874e-05
+6435,1792668062350484842,36602750000000,1792668062345853786,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760396452620779,-0.0045761044877036345,0.09063979642777258,0.9999999827944758,7.003772912714235e-05,-7.358861914940543e-05,0.00012463283759052985,0.6761,-0.00453,0.09061165817447542,1.0,0.0,0.0,0.0,0.010080704774095423,0.25576937345834205,0.9098776235328913,0.018882862965224068,-0.0007552558031226377,0.0005054171795671699,0.12217917227213478,0.17451632129485375,1.0781310153307466,0.011151964791402433,-0.005529717797195123,0.0012465549708692016,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.138789790551032,-0.1179375246749305,-0.5213558487374893,0.5502891626953983,0.5281038661258725,-0.13139872029136332,0.7250918013638956,0.9098776235328913,1.246447650101385,1.246447650101385,1.2156900000001771,0,0,-3.393558647005334e-05,9.999667346794467e-05
+6574,1792668063508424738,36603908000000,1792668063505853613,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.67604138172263,-0.004582229944056116,0.09060684414398057,0.999999982121489,6.963167526790142e-05,-6.832950537979115e-05,0.00013297516571072365,0.6761,-0.00453,0.09057201213886754,1.0,0.0,0.0,0.0,0.0005714021022172194,0.2573418511853435,0.9613488985553061,0.018847051102233166,0.0002464423239263835,0.00047840618646823345,0.11266986960025657,0.17608879902185523,1.1296022903531615,0.011116152928411534,-0.004528019670146102,0.0012195439777702652,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.1808537013872409,-0.1516554839959156,-0.5100632778145664,0.5599398212757859,0.5324670322956981,-0.1495497862825242,0.7250918013638956,0.9613488985553061,1.235155079178462,1.235155079178462,1.296750000000194,0,0,-3.5832529744787796e-05,-6.113183156764563e-05
+6734,1792668064842437230,36605242000000,1792668064841862816,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760430292536309,-0.0045777050903116345,0.09056180608638074,0.9999999814424356,7.390926669093668e-05,-6.26568165990066e-05,0.00013845409546168368,0.6761,-0.00453,0.09051755804206263,1.0,0.0,0.0,0.0,-0.010619365733082656,0.262467114849135,1.0285077876291364,0.019854453988473155,0.00023884068709443835,0.0004473064175080819,0.1014791017649567,0.18121406268564674,1.1967611794269917,0.012123555814651523,-0.004535621306978047,0.0011884442088101136,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.202364999561841,-0.1954755719076653,-0.5835725883264965,0.5773708821218486,0.5795223254394668,-0.17816499477539643,0.7250918013638956,1.0285077876291364,1.3086643896903922,1.3086643896903922,1.3901300000002133,0,0,-4.890692784240563e-05,-8.20100946916069e-05
+6810,1792668065475424685,36605875000000,1792668065473862485,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760768790374644,-0.004578365931964953,0.0905576043699328,0.999999982205756,7.466339199588527e-05,-2.6703013947434497e-05,0.00014402666051599588,0.6761,-0.00453,0.09048152341191344,1.0,0.0,0.0,0.0,-0.04967427944472744,0.31887847413433434,0.9934944112883651,0.024655999969896224,0.003299319179309401,0.0005628809213817938,0.062424188053311916,0.23762542197084605,1.1617478030862205,0.016925101796074593,-0.0014751428147630847,0.0013040187126838255,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2588043732753922,-0.13591223680685188,-0.6121341787815607,0.5629075349854128,0.5925225190233281,-0.14057812416054322,0.7250918013638956,0.9934944112883651,1.3372259801454565,1.3372259801454565,1.4344400000002224,0,0,-6.945270516065567e-05,1.4170618811307976e-05
+6942,1792668066575459439,36606975000000,1792668066573857093,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760768228584741,-0.004584371923301985,0.09049049436009252,0.9999999819837938,6.635554582595885e-05,-2.5641286663549964e-05,0.0001497155382934358,0.6761,-0.00453,0.09040581162944358,1.0,0.0,0.0,0.0,-0.04975954929775931,0.3111539226488414,1.1234703994609703,0.023812967184911764,0.004151190925525564,0.0003351908204618126,0.06233891820028004,0.22990087048535313,1.2917237912588255,0.01608206901109013,-0.0006232710685469217,0.0010763286117638443,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3119759098816584,-0.12239152075199705,-0.7114015680596285,0.5660300583347677,0.673147466407607,-0.1307197229809559,0.7250918013638956,1.1234703994609703,1.4364933694235242,1.4364933694235242,1.5114400000002384,0,0,-5.973024281727762e-05,7.341011528866393e-05
+7049,1792668067467479317,36607867000000,1792668067465853327,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760791287051041,-0.004574684963443768,0.0904435598040418,0.999999991825351,-4.038634782903835e-06,-1.4865945122486483e-05,8.69186712402646e-05,0.6761,-0.00453,0.09035455599605335,1.0,0.0,0.0,0.0,-0.022081249398400518,0.33335516986643027,1.1542409248701853,0.02488251644931129,0.002156933463084272,0.0004210182844854645,0.09001721809963883,0.252102117702942,1.3224943166680405,0.017151618275489656,-0.0026175285309882135,0.0011621560757874962,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3031280638462686,-0.1239508541918798,-0.7192275045923437,0.5468099765699677,0.6777777641499224,-0.12403527858295509,0.7250918013638956,1.1542409248701853,1.4443193059562394,1.4443193059562394,1.5738800000002513,0,0,-5.981297608178971e-05,-9.95650048781826e-05
+7173,1792668068500466072,36608900000000,1792668068497853127,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760817428550475,-0.004578045745806095,0.09037974326547132,0.9999999905674251,1.586890835224171e-05,-1.1067726629795807e-05,9.966793630511823e-05,0.6761,-0.00453,0.09028711353389779,1.0,0.0,0.0,0.0,-0.03898641643712303,0.32410457518428926,1.1777980631103573,0.024849587107184004,0.0031353817034014634,0.0004067461151038116,0.07311205106091632,0.24285152302080096,1.3460514549082125,0.01711868893336237,-0.001639080290671022,0.0011478839064058433,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3326472768383402,-0.04750742755344721,-0.7976869962755817,0.5263135864004176,0.7282155229192968,-0.07251188862728511,0.7250918013638956,1.1777980631103573,1.5227787976394773,1.5227787976394773,1.6461900000002663,0,0,-6.993148391895432e-05,-7.835573442716565e-05
+7289,1792668069467433255,36609867000000,1792668069465853802,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760850957252089,-0.004581235181030844,0.09030462260414711,0.9999999827329547,0.00011487759397326157,-1.1563503531502021e-05,0.00011245611901523897,0.6761,-0.00453,0.09020619816198845,1.0,0.0,0.0,0.0,-0.05942023890847526,0.3166682316257807,1.18017096810774,0.024830425946739842,0.004142468932664451,-0.000600866064064688,0.05267822858956409,0.23541517946229243,1.3484243599055952,0.017099527772918212,-0.000631993061408035,0.00014027172723734364,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.340086531816803,-0.009628955928337943,-0.856308887114458,0.49269060247457785,0.7617578015028744,-0.08005677775612947,0.7250918013638956,1.18017096810774,1.5814006884783536,1.5814006884783536,1.7138800000002803,0,0,-9.611334130252972e-05,3.411942663819208e-05
+7409,1792668070467522646,36610867000000,1792668070465853685,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.676086962868598,-0.004590173432750111,0.09020778260172864,0.9999999814210663,0.00010949277467351985,-1.0263138656150788e-05,0.00012847852588491847,0.6761,-0.00453,0.09010422343116097,1.0,0.0,0.0,0.0,-0.05891537017288373,0.3105435684463963,1.2330215220637524,0.023324800128615264,0.00416338708909324,-0.0006625215177627129,0.05318309732515562,0.22929051628290806,1.4012749138616076,0.015593901954793633,-0.0006110749049792457,7.861627353931881e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3185154031517852,-0.10208474086287425,-0.9466256139504085,0.5410108550267837,0.8044758526726192,-0.11449336216945291,0.7250918013638956,1.2330215220637524,1.671717415314304,1.671717415314304,1.7838800000002948,0,0,-0.00010777177542467686,7.594843784287093e-05
+7516,1792668071358445468,36611758000000,1792668071353853326,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.676089535884576,-0.0045885777765466255,0.0901209604562047,0.999999979340473,0.00011282713682458963,-6.9915668360147e-06,0.00014136149835096572,0.6761,-0.00453,0.09000817012798176,1.0,0.0,0.0,0.0,-0.06065719275282904,0.296918384622394,1.253085389065317,0.02277456101525138,0.004165720907200742,-0.0006830267064711936,0.05144127474521031,0.21566533245890573,1.4213387808631723,0.015043662841429746,-0.0006087410868717435,5.811108483083807e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3516103027699846,-0.16589500772421117,-1.0118292050910493,0.5549160064772496,0.8458376633905414,-0.15912459681774105,0.7250918013638956,1.253085389065317,1.736921006454945,1.736921006454945,1.8462500000003077,0,0,-0.00010945664856845815,9.961217547894136e-05
+7612,1792668072158464111,36612558000000,1792668072157853658,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760891964806601,-0.004581856572706998,0.09003111473293668,0.9999999852714108,8.04943852718458e-05,-7.234368542266115e-06,0.00011986809626970937,0.6761,-0.00453,0.08991678340578567,1.0,0.0,0.0,0.0,-0.049441050061727734,0.3115956814060725,1.2531121764794757,0.02277671477134935,0.0041640514730764125,-0.0006817007455612692,0.06265741743631162,0.23034262924258425,1.421365568277331,0.015045816597527715,-0.0006104105209960735,5.9437045740762476e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.315184858074665,-0.1785188782435784,-1.0018810692951496,0.5790099068710154,0.8178935078509296,-0.16573724561261255,0.7250918013638956,1.2531121764794757,1.7269728706590453,1.7269728706590453,1.9022500000003193,0,0,-0.00012417651645642915,1.4975009268053689e-05
+7712,1792668072992559057,36613392000000,1792668072985853785,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760924147325083,-0.004578117589778163,0.08992585281538981,0.9999999882399787,5.403125111483358e-05,-1.5768302821204346e-06,0.00010973169204163355,0.6761,-0.00453,0.0898042568409674,1.0,0.0,0.0,0.0,-0.04051022674498864,0.31710237410537,1.2636583664153218,0.023822436509908798,0.0031293756143634765,-0.0006932979300841103,0.07158824075305072,0.2358493219418817,1.431911758213177,0.016091538336087164,-0.001645086379709009,4.7839861217921414e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3180931794767758,-0.05134597796973337,-0.9751436414385523,0.5194669622425001,0.799508110991314,-0.08504972837859187,0.7250918013638956,1.2636583664153218,1.7002354428024478,1.7002354428024478,1.9606300000003314,0,0,-0.00014737072739498392,-9.998843006198683e-05
+7796,1792668073692523476,36614092000000,1792668073685863018,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760952596988851,-0.004578173770307535,0.08981955789737171,0.999999987207227,4.983898011106368e-05,3.053951931968055e-06,0.00012056185021194531,0.6761,-0.00453,0.08969714308300548,1.0,0.0,0.0,0.0,-0.03143894074635421,0.3242331376067107,1.293761958576589,0.02380017497174905,0.0037327593494414237,-0.000710658107217017,0.08065952675168514,0.24298008544322242,1.4620153503744442,0.016069276797927416,-0.0010417026446310619,3.0479684085014713e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3197836806679024,-0.011725191737856043,-0.9650150309494259,0.5099240019891573,0.7847957084295005,-0.06353655739396494,0.7250918013638956,1.293761958576589,1.6901068323133215,1.6901068323133215,2.0096300000003415,0,0,-0.00015650766758554114,-9.996311697702537e-05
+7876,1792668074358455091,36614758000000,1792668074357863133,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760906780491898,-0.004582642947481768,0.08971198812476788,0.9999999868032768,4.010838582994879e-05,-5.872048421662187e-06,0.00012725229696841235,0.6761,-0.00453,0.08959133514835302,1.0,0.0,0.0,0.0,-0.03476401363940215,0.3061275150215646,1.3170370225328945,0.02280942979900453,0.0031372661139557273,-0.0007478562861357992,0.0773344538586372,0.22487446285807633,1.4852904143307497,0.015078531625182896,-0.0016371958801167585,-6.718494833767439e-06,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.318643522551949,-0.07012526271483994,-1.1821482754175576,0.5252576425618815,0.9179363034725684,-0.09600176099251712,0.7250918013638956,1.3170370225328945,1.9072400767814532,1.9072400767814532,2.056250000000351,0,0,-0.00016096077077168568,9.99993796365672e-05
+7959,1792668075050460780,36615450000000,1792668075049853403,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760926792547096,-0.004584097927323096,0.0895998393268343,0.9999999857649882,6.860263663441996e-05,-1.1134592314672852e-06,0.000123309879091424,0.6761,-0.00453,0.0894753787774702,1.0,0.0,0.0,0.0,-0.04010840174542518,0.3141742957047098,1.3230137026481075,0.022791167884659846,0.0031378487625322833,-0.0007526724114944975,0.07199006575261417,0.23292124354122148,1.4912670944459627,0.015060269710838214,-0.0016366132315402022,-1.1534620192465716e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2991205765338751,-0.05994860589344386,-1.1352910848230444,0.5424635268768757,0.8731257535991033,-0.07657061581799143,0.7250918013638956,1.3230137026481075,1.86038288618694,1.86038288618694,2.104690000000361,0,0,-0.00017294935010242786,1.9539095283162007e-05
+8039,1792668075717506596,36616117000000,1792668075709862842,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760920063104825,-0.004579631685115383,0.08947706438828455,0.9999999874004216,8.378549178605163e-05,-4.117785170023835e-06,9.800538896351738e-05,0.6761,-0.00453,0.08935633478005288,1.0,0.0,0.0,0.0,-0.022026902167489107,0.3053560173606712,1.323249604901299,0.022143020782410438,0.003147573631406456,-0.0007579456378758698,0.09007156533055025,0.22410296519718292,1.4915029966991542,0.014412122608588806,-0.0016268883626660295,-1.680784657383816e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2846025684229159,-0.036253361647335704,-1.0640820057120743,0.5279177576622232,0.8234101540492201,-0.07081681514600596,0.7250918013638956,1.323249604901299,1.78917380707597,1.78917380707597,2.151380000000371,0,0,-0.00018856540123376864,-9.999999025923074e-05
+8107,1792668076283495582,36616683000000,1792668076281853772,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760922333621303,-0.00458946243676562,0.08936579738952573,0.999999985667746,8.533316098195173e-05,-5.081057621119904e-06,0.00011313623100124992,0.6761,-0.00453,0.08924623565081811,1.0,0.0,0.0,0.0,-0.032696089756300326,0.293821917024885,1.351973310295392,0.021736593721587406,0.004161761208460482,-0.000771229459237217,0.07940237774173903,0.21256886486139673,1.5202267020932472,0.014005695547765774,-0.000612700785612003,-3.0091667935185192e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.303415855048858,-0.013180293316072646,-1.191635955214639,0.5074677284069682,0.9099811902840014,-0.05845176116213927,0.7250918013638956,1.351973310295392,1.9167277565785346,1.9167277565785346,2.191000000000379,0,0,-0.00020024940230037457,4.352322255230519e-05
+8175,1792668076850537933,36617250000000,1792668076845863426,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.676089249676343,-0.004591189327465962,0.08924582313149107,0.9999999830537393,8.95817925191241e-05,-1.2006143125853427e-05,0.0001310203824766634,0.6761,-0.00453,0.08912886667433938,1.0,0.0,0.0,0.0,-0.03938904228628941,0.28245074227482664,1.3640609971714184,0.020712064908347955,0.004179668794458982,-0.0007931317446195137,0.07270942521174995,0.20119769011133837,1.5323143889692736,0.012981166734526322,-0.0005947931996135032,-5.1993953317482e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3206816223241786,-0.00921692265323413,-1.121468268071947,0.514299712454252,0.8686881402698896,-0.055964418490932075,0.7250918013638956,1.3640609971714184,1.8465600694358426,1.8465600694358426,2.2306900000003873,0,0,-0.00021625779026843007,-9.939748610155447e-05
+8239,1792668077383547422,36617783000000,1792668077381853454,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760853413581525,-0.004596256374973247,0.08911511715307216,0.9999999812816327,8.539376985157667e-05,-2.2583960545417122e-05,0.00014518080937617027,0.6761,-0.00453,0.08901025582660121,1.0,0.0,0.0,0.0,-0.049855991622183835,0.26062187947869897,1.3722656679817418,0.019695292694790742,0.00420261999553041,-0.0016124280755888062,0.06224247587585552,0.17936882731521073,1.540519059779597,0.01196439452096911,-0.0005718419985420753,-0.0008712902842867745,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2751508069230162,-0.1808061316241593,-1.2016479386551568,0.5611953539301006,0.9083685247843486,-0.1713544022141575,0.7250918013638956,1.3722656679817418,1.9267397400190525,1.9267397400190525,2.268000000000395,0,0,-0.00023120385448801984,-4.657748772641242e-05
+8299,1792668077883532937,36618283000000,1792668077881853536,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760879238069584,-0.004589019164331298,0.08899863102088174,0.9999999897658922,3.263718257480637e-05,-1.553167245061e-05,0.00010297893729059962,0.6761,-0.00453,0.0888913794504171,1.0,0.0,0.0,0.0,-0.039196792427256266,0.2835431099939897,1.3964363451007402,0.020713039353436633,0.0041722772449835095,-0.0008192002535481174,0.07290167507078309,0.20229005783050139,1.5646897368985955,0.012982141179615,-0.0006021847490889759,-7.806246224608562e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2564239266960398,-0.08440655118680002,-1.1018962610564282,0.5454163339029425,0.8364628545419587,-0.10177166580720713,0.7250918013638956,1.3964363451007402,1.8269880624203239,1.8269880624203239,2.3030000000004023,0,0,-0.00024386646589188844,-9.999999025923074e-05
+8359,1792668078383564655,36618783000000,1792668078381853794,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760845990023382,-0.0045957889558098566,0.08887008362617467,0.9999999868161069,5.625280987839526e-05,-2.095656321504051e-05,0.00011919351602207714,0.6761,-0.00453,0.08876509118790828,1.0,0.0,0.0,0.0,-0.04774395462708997,0.2821404522044181,1.3856054655952479,0.020338460911400694,0.0041908617798922815,-0.0018427473883683488,0.06435451287094938,0.20088740004092984,1.5538588573931031,0.012607562737579063,-0.0005836002141802045,-0.001101609597066317,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2840747724250796,-0.08063260286101688,-1.1020983486742972,0.5441555949095259,0.8437448021914793,-0.09907890507372893,0.7250918013638956,1.3856054655952479,1.8271901500381929,1.8271901500381929,2.3380000000004095,0,0,-0.0002630920921911902,-9.999999025923074e-05
+8414,1792668078842509393,36619242000000,1792668078841862993,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760865402429636,-0.004602352395501339,0.08874712103265113,0.9999999835587939,7.88139197836065e-05,-1.972449187603623e-05,0.0001331337174822918,0.6761,-0.00453,0.08863965205908451,1.0,0.0,0.0,0.0,-0.05696568233175293,0.2709077454040121,1.3818893903772314,0.019733492467150754,0.005213772496874424,-0.0018318567036489626,0.055132785166286426,0.1896546932405238,1.5501427821750866,0.012002594293329123,0.0004393105028019383,-0.001090718912346931,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.302354978180929,-0.10962884571974482,-1.1597506329150393,0.5549247010905022,0.881793756258726,-0.11635967972326253,0.7250918013638956,1.3818893903772314,1.884842434278935,1.884842434278935,2.370130000000416,0,0,-0.00028343055521603953,-9.999999025923074e-05
+8466,1792668079275492543,36619675000000,1792668079269862972,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760835613545974,-0.004599959279716028,0.08861641157654535,0.9999999844527668,7.269688650006555e-05,-2.323806589728523e-05,0.00012927677885279446,0.6761,-0.00453,0.08851285945735335,1.0,0.0,0.0,0.0,-0.049326065870190755,0.28119274213302237,1.4019245581089261,0.0199647622901786,0.005200596928604441,-0.0012409078849491145,0.0627724016278486,0.19993968996953407,1.5701779499067814,0.01223386411635697,0.00042613493453195507,-0.0004997700936470828,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2930460088002962,-0.07592110555544314,-1.2117017351513635,0.5473280882156958,0.9156821192294253,-0.10057701498423295,0.7250918013638956,1.4019245581089261,1.936793536515259,1.936793536515259,2.4004400000004225,0,0,-0.00030184441384836633,-9.999999025923074e-05
+8514,1792668079675571656,36620075000000,1792668079669853538,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760828283842555,-0.004604653259260139,0.0884878321088533,0.9999999853531398,6.155198152223206e-05,-2.513292751311036e-05,0.0001277351718676873,0.6761,-0.00453,0.08838863579557267,1.0,0.0,0.0,0.0,-0.05737069752131131,0.27728866502009386,1.3919637760422179,0.019667521094375987,0.0052108854498385745,-0.0016319637513029035,0.05472776997672804,0.1960356128566056,1.5602171678400731,0.011936622920554356,0.0004364234557660885,-0.0008908259600008718,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.276862913028076,-0.1329280313520234,-1.1225934747947548,0.5749174609459062,0.8565823695669127,-0.1355948893163681,0.7250918013638956,1.3919637760422179,1.8476852761586504,1.8476852761586504,2.4284400000004283,0,0,-0.0003199517730853848,-9.999983760356485e-05
+8562,1792668080075498350,36620475000000,1792668080073862822,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760859286785162,-0.004604971866340152,0.08835854930550002,0.9999999851232887,6.579319467973896e-05,-2.1744360545209994e-05,0.000128041888194309,0.6761,-0.00453,0.08825703244963204,1.0,0.0,0.0,0.0,-0.05768498256895104,0.271302479671658,1.4055817280897367,0.019664343933193898,0.005209803957855117,-0.0010390990972686059,0.05441348492908831,0.1900494275081697,1.573835119887592,0.011933445759372264,0.0004353419637826313,-0.00029796130596657403,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3618691417963498,-0.06489830602108591,-1.1472547466441931,0.5572299355202149,0.9016367753805788,-0.09085046418396803,0.7250918013638956,1.4055817280897367,1.8723465480080888,1.8723465480080888,2.456440000000434,0,0,-0.0003379421589053396,-9.999999025923074e-05
+8608,1792668080458474401,36620858000000,1792668080453853576,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760887010367117,-0.004608158899002954,0.08823086001678764,0.9999999839514853,7.815257777434022e-05,-1.653124675265742e-05,0.00013099154956555312,0.6761,-0.00453,0.08812474439449128,1.0,0.0,0.0,0.0,-0.0580417908889622,0.27252538677562665,1.4319858318597518,0.01963193017082983,0.006216154857277431,-0.0017782814201839985,0.054056676609077155,0.19127233461213838,1.600239223657607,0.011901031997008198,0.001441692863204946,-0.0010371436288819668,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3356466036037942,-0.03905288896468032,-1.1193564745726128,0.5645246587678393,0.8804791561546962,-0.06882735610813226,0.7250918013638956,1.4319858318597518,1.8444482759365084,1.8444482759365084,2.4832500000004396,0,0,-0.0003531021042877099,-9.999999025923074e-05
+8650,1792668080809565873,36621208000000,1792668080801853179,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760818838184606,-0.004614963396797222,0.0880947017005288,0.9999999835800788,7.407165250779416e-05,-2.8152311048798098e-05,0.0001341772864090555,0.6761,-0.00453,0.08799832329083983,1.0,0.0,0.0,0.0,-0.0667671620588347,0.26993711299977674,1.4520971332430788,0.018624856156672268,0.005929534743209473,-0.0014768711364088927,0.04533130543920464,0.18868406083628847,1.620350525040934,0.010893957982850633,0.001155072749136988,-0.0007357333451068609,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.315653465088545,-0.0803872363645075,-1.1766876513451285,0.5699739108060495,0.9147948212037164,-0.10285510141329068,0.7250918013638956,1.4520971332430788,1.9017794527090242,1.9017794527090242,2.5077500000004447,0,0,-0.00036962153777550375,-9.999999025923074e-05
+8686,1792668081108540800,36621508000000,1792668081101853583,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.676082700521264,-0.004615213497514379,0.08797318500746357,0.9999999836583041,6.66834770164615e-05,-2.9062328529594327e-05,0.0001372404859316375,0.6761,-0.00453,0.08788527246765933,1.0,0.0,0.0,0.0,-0.06092681611386792,0.256734544662933,1.4773244137856405,0.0186111300955453,0.006222046363362768,-0.0009663731478930377,0.051171651384171436,0.1754814924994447,1.6455778055834958,0.010880231921723669,0.0014475843692902824,-0.00022523535659100603,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3483352048995874,-0.09992547210602326,-1.1932620848527529,0.5849315296433376,0.9362877625987268,-0.11513101134880069,0.7250918013638956,1.4773244137856405,1.9183538862166485,1.9183538862166485,2.528750000000449,0,0,-0.00038397450264768116,-9.999999025923074e-05
+8730,1792668081475574182,36621875000000,1792668081473852881,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760825136420981,-0.0046189312858504975,0.08783406428250638,0.9999999843230701,5.6562668154813105e-05,-2.8340811775456083e-05,0.00013709189180726507,0.6761,-0.00453,0.08774127286418808,1.0,0.0,0.0,0.0,-0.06609740424217954,0.2546743829810276,1.4520196815960187,0.018603032832316936,0.006230953665356514,-0.0008696835371314993,0.046001063255859814,0.17342133081753935,1.620273073393874,0.010872134658495302,0.0014564916712840282,-0.0001285457458294676,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2872016748463178,-0.09678182222631496,-1.1692977791546253,0.5921033126721642,0.9061080284133949,-0.11167428637708335,0.7250918013638956,1.4520196815960187,1.894389580518521,1.894389580518521,2.5544400000004543,0,0,-0.00040085544237708346,-9.999999025923074e-05
+8766,1792668081775475776,36622175000000,1792668081773853653,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760802891157778,-0.004623337143394938,0.08771049311891069,0.9999999847670789,4.728316285891949e-05,-3.133292428449445e-05,0.00013671597128846807,0.6761,-0.00453,0.0876187744830335,1.0,0.0,0.0,0.0,-0.07253779040645532,0.259236117691822,1.433116186143021,0.01860154183599564,0.006231053516930025,-0.0008455941753557448,0.039560677091584034,0.17798306552833373,1.6013695779408763,0.010870643662174006,0.001456591522857539,-0.000104456384053713,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3236319001010626,-0.11558903654311806,-1.1326110937579696,0.6049928738911676,0.896010174818755,-0.12506651260715168,0.7250918013638956,1.433116186143021,1.8577028951218653,1.8577028951218653,2.5754400000004587,0,0,-0.00041581967196865764,-9.999997638144293e-05
+8806,1792668082108569406,36622508000000,1792668082105853919,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760785418329706,-0.004621005147621402,0.08756643423287358,0.9999999850677737,5.104624682960796e-05,-3.5347406006826994e-05,0.0001321066173419887,0.6761,-0.00453,0.08747754263280501,1.0,0.0,0.0,0.0,-0.06826820034282344,0.2558872224377405,1.4209988931669781,0.018612822025772434,0.006239209305738155,-0.001861446763271221,0.04383026715521592,0.1746341702742522,1.5892522849648334,0.0108819238519508,0.0014647473116656696,-0.0011203089719691894,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3544898316533047,-0.0549260109787854,-1.0937360238735307,0.6056556154936802,0.88232812145076,-0.07832655677112278,0.7250918013638956,1.4209988931669781,1.8188278252374264,1.8188278252374264,2.5987500000004635,0,0,-0.00043246966873885926,-9.999999025923074e-05
+8842,1792668082408585383,36622808000000,1792668082405853715,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760779634070406,-0.004617432928415743,0.08743581625136677,0.9999999808165135,0.00010295440115572905,-3.350111495623403e-05,0.0001344912763037031,0.6761,-0.00453,0.08734555923262315,1.0,0.0,0.0,0.0,-0.06870999228381819,0.253407594440727,1.435297879597817,0.018600773600830442,0.006230888145732866,-0.0008463894282921167,0.04338847521422116,0.17215454227723878,1.6035512713956723,0.01086987542700881,0.0014564261516603807,-0.00010525163699008507,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3570343568615217,-0.08083222767714712,-1.1003851371383473,0.6066899173297179,0.8934652906429111,-0.10537240049503396,0.7250918013638956,1.435297879597817,1.825476938502243,1.825476938502243,2.619750000000468,0,0,-0.0004474696658166285,-9.999999025923074e-05
+8877,1792668082700572458,36623100000000,1792668082697854345,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760753351015351,-0.0046218288023495546,0.08730335962806686,0.9999999826550523,7.990390328471307e-05,-3.86323859103807e-05,0.00013511352448603885,0.6761,-0.00453,0.08721277379062138,1.0,0.0,0.0,0.0,-0.06297331038317255,0.26078178800146845,1.4318096229411443,0.01960747920092632,0.005204878237737841,-0.0018240388380547777,0.04912515711486679,0.17952873583798018,1.6000630147389996,0.011876581027104687,0.0004304162436653555,-0.001082901046752746,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3547952180516272,-0.09111600130637128,-1.0858477567576847,0.6149494201042791,0.8818222513003243,-0.10993272014772938,0.7250918013638956,1.4318096229411443,1.8109395581215804,1.8109395581215804,2.640190000000472,0,0,-0.00046206966297232386,-9.999999025923074e-05
+8913,1792668083000578996,36623400000000,1792668082993854118,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760757688360208,-0.004622904008429797,0.0871668049648617,0.9999999836608174,6.452465467870884e-05,-3.6320103451044685e-05,0.0001365234347503377,0.6761,-0.00453,0.08707191039216948,1.0,0.0,0.0,0.0,-0.058790654482715005,0.2614737584072657,1.4220135024412879,0.019651365158610927,0.005201009194051152,-0.0008383275996130279,0.05330781301532435,0.18022070624377748,1.5902668942391431,0.011920466984789295,0.0004265471999786663,-9.718980831099612e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3077494325351484,-0.11855834869854896,-0.9911794245590774,0.6228306102204698,0.8104025053125004,-0.1315306969224299,0.7250918013638956,1.4220135024412879,1.716271225922973,1.716271225922973,2.6611900000004765,0,0,-0.0004770696600500931,-9.999999025923074e-05
+8949,1792668083300468209,36623700000000,1792668083297863171,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760768972267985,-0.004623752198058495,0.08702117968476984,0.9999999841035832,4.8778632426747134e-05,-3.572837989379238e-05,0.0001399279308385191,0.6761,-0.00453,0.08692654699459425,1.0,0.0,0.0,0.0,-0.05800090860469913,0.27894118089087455,1.4502492885759959,0.019621137496319135,0.0062069009201043196,-0.0008714824382413238,0.054097558893340225,0.19768812872738628,1.6185026803738511,0.011890239322497501,0.001432438926031834,-0.00013034464693929208,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3135668269128118,0.04528217990690332,-1.0815708564957018,0.5810066854116718,0.869204160548888,-0.019290950576453754,0.7250918013638956,1.4502492885759959,1.8066626578595975,1.8066626578595975,2.682190000000481,0,0,-0.0004920696571278624,-9.999999025923074e-05
+8981,1792668083567548850,36623967000000,1792668083565853289,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.676077198848534,-0.004620596583171449,0.0868887459366529,0.9999999851890348,3.786630520431115e-05,-3.499240046824488e-05,0.00013567044450040565,0.6761,-0.00453,0.08679338884648961,1.0,0.0,0.0,0.0,-0.06006982038496697,0.2729886768564812,1.4523501166167556,0.01962076032743147,0.006209020830671664,-0.0008493981080665557,0.05202864711307238,0.1917356246929929,1.6206035084146109,0.011889862153609836,0.0014345588365991787,-0.000108260316764524,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2887469926804638,-0.11725918700264515,-1.053953906509491,0.6287739253976763,0.846307612514915,-0.12671185843532198,0.7250918013638956,1.4523501166167556,1.7790457078733866,1.7790457078733866,2.7008800000004847,0,0,-0.000505419654527077,-9.999999025923074e-05
+9013,1792668083833506019,36624233000000,1792668083829853632,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760762996562953,-0.004617429211270646,0.08675261996861232,0.9999999853922739,3.395137977156766e-05,-3.280926669288244e-05,0.00013575408845311343,0.6761,-0.00453,0.08665718496873132,1.0,0.0,0.0,0.0,-0.06772761418717668,0.2746182656573095,1.422688222644278,0.020508494766591216,0.006195701462765929,-0.0008130966616252841,0.04437085331086267,0.19336521349382127,1.5909416144421333,0.012777596592769586,0.0014212394686934438,-7.19588703232524e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.327105986659773,-0.03310949104012146,-0.9863866773877913,0.6021006824697364,0.8127670761836677,-0.0696712716812605,0.7250918013638956,1.422688222644278,1.7114784787516868,1.7114784787516868,2.7195000000004885,0,0,-0.0005187196519360323,-9.999999025923074e-05
+9045,1792668084100580286,36624500000000,1792668084097853958,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760759560614582,-0.004623862800986335,0.08661648250027519,0.9999999833955656,5.2416615376738046e-05,-3.600626973190576e-05,0.00014355410126524622,0.6761,-0.00453,0.0865169112720129,1.0,0.0,0.0,0.0,-0.06723152779244605,0.2720044166468568,1.430155784940776,0.019623527199561796,0.006211779837486776,-0.0008307142268345083,0.0448669397055933,0.19075136448336852,1.5984091767386313,0.011892629025740164,0.0014373178434142905,-8.957643553247658e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3350240173882992,-0.034284562999000054,-1.0153220582782114,0.6131605023302009,0.8398542121378122,-0.06342293406539473,0.7250918013638956,1.430155784940776,1.740413859642107,1.740413859642107,2.7381900000004924,0,0,-0.000532069649335247,-9.999999025923074e-05
+9073,1792668084333525976,36624733000000,1792668084329853372,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760731230164778,-0.004628129724196436,0.08648981500162647,0.9999999783028993,0.0001065733580090259,-3.669844015212673e-05,0.00014876965093896016,0.6761,-0.00453,0.08639158764398333,1.0,0.0,0.0,0.0,-0.0706686333445006,0.2735558651580196,1.4593769118768911,0.01962448301637879,0.006334863291352786,-0.0017978539290111747,0.04142983415353874,0.19230281299453134,1.6276303036747464,0.011893584842557156,0.0015604012972803007,-0.001056716137709143,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3569685856807743,-0.05716575792619751,-1.0335655149242473,0.6139664514861758,0.8549866439462614,-0.0852207497004271,0.7250918013638956,1.4593769118768911,1.758657316288143,1.758657316288143,2.7545000000004958,0,0,-0.0005437196470656477,-9.999999025923074e-05
+9105,1792668084600585353,36625000000000,1792668084597853765,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760692568697613,-0.004625104349301221,0.08634159335890704,0.9999999854490043,6.35849746217563e-05,-3.862833873185396e-05,0.00012251390973544457,0.6761,-0.00453,0.08624463894856531,1.0,0.0,0.0,0.0,-0.05777578205175613,0.27411100102663566,1.432421498597716,0.019649487968186524,0.005415903566467852,-0.000917360369704778,0.05432268544628322,0.19285794886314742,1.6006748903955712,0.011918589794364894,0.0006414415723953668,-0.00017622257840274627,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3446225564119978,-0.082754181355701,-0.94285039258693,0.6161203884050331,0.7982918897632547,-0.10161165801042668,0.7250918013638956,1.432421498597716,1.6679421939508257,1.6679421939508257,2.7731900000004996,0,0,-0.0005570696444648623,-9.999999025923074e-05
+9133,1792668084833581308,36625233000000,1792668084829853499,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760680605369671,-0.004631027858357239,0.08620919920216089,0.9999999834594239,6.054654444158175e-05,-4.109838847804192e-05,0.00013845235582788488,0.6761,-0.00453,0.08611349032167054,1.0,0.0,0.0,0.0,-0.0666219840975787,0.259359403158519,1.4115715952834427,0.018616218922818284,0.006240422987017503,-0.0017161059342962672,0.04547648340046065,0.17810635099503072,1.579824987081298,0.010885320748996652,0.001465960992945017,-0.0009749681429942355,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.331721459782952,-0.13631204862936055,-0.9431284793950432,0.6273847396578925,0.797260014985539,-0.13576398346010587,0.7250918013638956,1.4115715952834427,1.6682202807589388,1.6682202807589388,2.789500000000503,0,0,-0.0005687196421952631,-9.999999025923074e-05
+9161,1792668085067535602,36625467000000,1792668085065853596,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760807175300175,-0.004632180535753989,0.0860872998421502,0.9999999847553871,4.586419605543355e-05,-2.62535717931077e-05,0.00013834491533446544,0.6761,-0.00453,0.08597904687566467,1.0,0.0,0.0,0.0,-0.08565443806825604,0.28365396702882484,1.4026002735295733,0.02062328110811113,0.007211579705819555,-0.0007827389567489507,0.026444029429783307,0.2024009148653366,1.5708536653274285,0.012892382934289499,0.002437117711747069,-4.160116544691906e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3353210131346334,0.01968956305347541,-0.9294412744653435,0.581601261972606,0.7829418547872595,-0.03391388640930179,0.7250918013638956,1.4026002735295733,1.6545330758292391,1.6545330758292391,2.8058800000005064,0,0,-0.0005804196399159231,-9.999999025923074e-05
+9189,1792668085300591698,36625700000000,1792668085297863216,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760786479289123,-0.004634993523579511,0.08595128290719609,0.99999998356981,3.948447767903403e-05,-3.066721108137655e-05,0.00014766090377666929,0.6761,-0.00453,0.0858424576998298,1.0,0.0,0.0,0.0,-0.07695169421923634,0.27163224541649733,1.42207611545383,0.01959768691983181,0.007227254346564145,-0.0008086644084652374,0.03514677327880302,0.19037919325300903,1.5903295072516852,0.011866788746010177,0.0024527923524916596,-6.752661716320566e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.4037812924949746,-0.059825569846390245,-0.9604941451155298,0.609381550456197,0.8229318311737566,-0.08444105691881451,0.7250918013638956,1.42207611545383,1.6855859464794254,1.6855859464794254,2.82219000000051,0,0,-0.0005920696376463238,-9.999999025923074e-05
+9218,1792668085535549845,36625935000000,1792668085533853202,DOWN_SETTLE,1,0.053,0.053002193570137024,0.676074883001659,-0.004633280085137144,0.08580892119706046,0.9999999860218712,4.558986629348693e-05,-3.328248080416044e-05,0.00012733013137955067,0.6761,-0.00453,0.08571011109530159,1.0,0.0,0.0,0.0,-0.0766767960030117,0.2836221768801594,1.4136947205445383,0.019984506946625354,0.006850629938996618,-0.0008667556956834361,0.03542167149502765,0.20236912471667112,1.5819481123423935,0.012253608772803723,0.0020761679449241323,-0.00012561790438140441,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3533968006531578,-0.04441955303938679,-0.8685064332621197,0.6084300653172917,0.7547963276815832,-0.06296505280074666,0.7250918013638956,1.4136947205445383,1.5935982346260154,0.0,0.0,0,0,-0.00036519436065029863,0.0036888319257605924
+9317,1792668086361589266,36626761000000,1792668086357853072,DOWN_PEAK_HOLD,1,0.053,0.053002193570137024,0.676045519991325,-0.004622252900020706,0.08569606343501195,0.99999998017533,7.554063195006281e-05,-8.519390849149426e-05,0.00013463957452384366,0.6761,-0.00453,0.08567475913343577,1.0,0.0,0.0,0.0,-0.06486156661573197,0.23874852532531582,0.9695177535752809,0.017223906572292193,0.00535305115898462,-0.0015243423063721374,0.047236900882307385,0.15749547316182755,1.1377711453731363,0.009493008398470561,0.0005785891649121339,-0.0007832045150701056,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.0792510876318733,-0.05596877706863415,-0.41365050002535425,0.5682732887741366,0.40345334089764534,-0.08245969788618074,0.7250918013638956,0.9695177535752809,1.13874230138925,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/s2/ball_PLA_20/press_depth_01/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,1792668044684077176,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.727080006e-09,-2.294709388e-11,1.527423743e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292671e-01,1.760465543e-06,8.295726658e-01
+1,5.666666667e-01,DOWN_FORCE_DETACH,1792668045780127832,1.446374934e-06,-1.290336057e-05,3.904467845e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.906983597e-08,-3.951517134e-10,2.775612229e-08,7.015393179e-01,-1.135239925e-05,8.407413316e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293135e-01,1.760093338e-06,8.295726920e-01
+2,1.150000000e+00,DOWN_FORCE_DETACH,1792668046878105407,5.350023577e-06,-1.169282219e-05,-1.336185845e-05,3.157338231e-06,-1.526578200e-05,-1.221082377e-05,3.173847845e-06,-1.525958435e-05,-1.207887969e-05,7.015432215e-01,-1.014186087e-05,8.407275793e-01,7.015410288e-01,-1.371482068e-05,8.407287304e-01,7.017324382e-01,-1.349909586e-05,8.295605854e-01
+3,1.850000000e+00,DOWN_FORCE_DETACH,1792668048210120363,1.106221434e-05,-1.852731489e-05,-2.794704874e-05,9.776929331e-06,-2.234620920e-05,-2.971409812e-05,9.897077416e-06,-2.232328440e-05,-2.952768875e-05,7.015489337e-01,-1.697635356e-05,8.407129941e-01,7.015476484e-01,-2.079524787e-05,8.407112271e-01,7.017391615e-01,-2.056279591e-05,8.295431366e-01
+4,2.533333333e+00,DOWN_FORCE_DETACH,1792668049540112309,1.387518312e-05,-2.468799110e-05,-4.075359986e-05,9.776929331e-06,-2.234620920e-05,-2.971409812e-05,9.944482148e-06,-2.232357307e-05,-2.969852494e-05,7.015517467e-01,-2.313702977e-05,8.407001876e-01,7.015476484e-01,-2.079524787e-05,8.407112271e-01,7.017392089e-01,-2.056308458e-05,8.295429658e-01
+5,3.050000000e+00,DOWN_FORCE_DETACH,1792668050570104926,2.046591570e-05,-2.626196357e-05,-5.065126014e-05,1.545115818e-05,-2.407853859e-05,-4.930848972e-05,1.572695255e-05,-2.407874096e-05,-4.919378901e-05,7.015583374e-01,-2.471100225e-05,8.406902899e-01,7.015533226e-01,-2.252757727e-05,8.406916327e-01,7.017449913e-01,-2.231825247e-05,8.295234705e-01
+6,3.766666667e+00,DOWN_FORCE_DETACH,1792668052001043918,1.906310510e-05,-2.646946943e-05,-7.145700031e-05,1.883635752e-05,-2.677234218e-05,-7.147856071e-05,1.914240638e-05,-2.676698517e-05,-7.112311282e-05,7.015569346e-01,-2.491850810e-05,8.406694842e-01,7.015567078e-01,-2.522138086e-05,8.406694626e-01,7.017484068e-01,-2.500649668e-05,8.295015412e-01
+7,4.333333333e+00,DOWN_FORCE_DETACH,1792668053064107020,2.177989016e-05,-3.187645910e-05,-7.904042485e-05,1.883635752e-05,-2.677234218e-05,-7.147856071e-05,1.918476860e-05,-2.676667868e-05,-7.144817929e-05,7.015596514e-01,-3.032549778e-05,8.406619008e-01,7.015567078e-01,-2.522138086e-05,8.406694626e-01,7.017484492e-01,-2.500619019e-05,8.295012161e-01
+8,5.033333333e+00,DOWN_FORCE_DETACH,1792668054396033868,2.326975932e-05,-3.606653697e-05,-9.538873887e-05,2.410996942e-05,-3.647264912e-05,-8.874909883e-05,2.444675923e-05,-3.641865581e-05,-8.867013854e-05,7.015611412e-01,-3.451557565e-05,8.406455524e-01,7.015619815e-01,-3.492168780e-05,8.406521921e-01,7.017537112e-01,-3.465816732e-05,8.294839941e-01
+9,5.583333333e+00,DOWN_FORCE_DETACH,1792668055460698591,5.759428629e-05,-2.840772006e-05,-8.254422867e-05,4.818235127e-05,-3.712671117e-05,-9.370389812e-05,4.893013300e-05,-3.711574946e-05,-9.368875761e-05,7.015954658e-01,-2.685675874e-05,8.406583970e-01,7.015860538e-01,-3.557574985e-05,8.406472373e-01,7.017781945e-01,-3.535526097e-05,8.294789755e-01
+10,6.100000000e+00,DOWN_FORCE_DETACH,1792668056424145734,5.804840789e-05,-2.753138372e-05,-1.132004379e-04,5.528255888e-05,-3.255644043e-05,-1.138871476e-04,5.632836492e-05,-3.254868708e-05,-1.136872413e-04,7.015959199e-01,-2.598042240e-05,8.406277407e-01,7.015931540e-01,-3.100547910e-05,8.406270540e-01,7.017855928e-01,-3.078819859e-05,8.294589770e-01
+11,6.750000000e+00,DOWN_FORCE_DETACH,1792668057690158163,6.007636047e-05,-3.294426422e-05,-1.386794613e-04,5.918340865e-05,-3.369031321e-05,-1.328337721e-04,6.044391878e-05,-3.367475656e-05,-1.327792541e-04,7.015979478e-01,-3.139330290e-05,8.406022617e-01,7.015970549e-01,-3.213935189e-05,8.406081074e-01,7.017897083e-01,-3.191426807e-05,8.294398850e-01
+12,7.283333333e+00,DOWN_FORCE_DETACH,1792668058754099278,6.119770898e-05,-3.718963239e-05,-1.484426937e-04,5.918340865e-05,-3.369031321e-05,-1.328337721e-04,6.049118615e-05,-3.367376489e-05,-1.329139233e-04,7.015990692e-01,-3.563867107e-05,8.405924985e-01,7.015970549e-01,-3.213935189e-05,8.406081074e-01,7.017897556e-01,-3.191327640e-05,8.294397504e-01
+13,7.883333333e+00,DOWN_FORCE_DETACH,1792668059952146643,6.597664433e-05,-3.879279325e-05,-1.693102049e-04,5.930322054e-05,-3.979049270e-05,-1.525156261e-04,6.053637845e-05,-3.975255092e-05,-1.525462418e-04,7.016038481e-01,-3.724183193e-05,8.405716310e-01,7.015971747e-01,-3.823953138e-05,8.405884256e-01,7.017898008e-01,-3.799206243e-05,8.294201180e-01
+14,8.533333333e+00,DOWN_FORCE_DETACH,1792668061216278070,6.455290517e-05,-4.069159917e-05,-1.985634937e-04,6.588196649e-05,-4.295923609e-05,-1.917268766e-04,6.717566572e-05,-4.293675126e-05,-1.915796265e-04,7.016024244e-01,-3.914063785e-05,8.405423777e-01,7.016037534e-01,-4.140827477e-05,8.405492143e-01,7.017964401e-01,-4.117626277e-05,8.293810847e-01
+15,9.133333333e+00,DOWN_FORCE_DETACH,1792668062348198343,6.857302792e-05,-4.920783181e-05,-2.232431886e-04,6.451391214e-05,-4.402459182e-05,-2.136818858e-04,6.565265546e-05,-4.399986281e-05,-2.136394759e-04,7.016064445e-01,-4.765687048e-05,8.405176980e-01,7.016023854e-01,-4.247363050e-05,8.405272593e-01,7.017949170e-01,-4.223937432e-05,8.293590248e-01
+16,9.750000000e+00,DOWN_FORCE_DETACH,1792668063510341398,6.779470290e-05,-5.196252899e-05,-2.601964124e-04,6.755437149e-05,-5.215576063e-05,-2.600070025e-04,6.865081770e-05,-5.214138024e-05,-2.595905496e-04,7.016056662e-01,-5.041156767e-05,8.404807448e-01,7.016054259e-01,-5.060479931e-05,8.404809342e-01,7.017979152e-01,-5.038089175e-05,8.293130737e-01
+17,1.045000000e+01,DOWN_FORCE_DETACH,1792668064842801433,7.273330315e-05,-4.828602158e-05,-3.017258961e-04,7.225705678e-05,-5.034874466e-05,-3.020910678e-04,7.336039255e-05,-5.032328664e-05,-3.016908997e-04,7.016106048e-01,-4.673506025e-05,8.404392153e-01,7.016101285e-01,-4.879778334e-05,8.404388501e-01,7.018026248e-01,-4.856279815e-05,8.292709734e-01
+18,1.078333333e+01,DOWN_FORCE_DETACH,1792668065474209836,1.022894334e-04,-4.763950373e-05,-3.126589129e-04,1.030843191e-04,-5.262935810e-05,-3.078476616e-04,1.048514822e-04,-5.259417940e-05,-3.076347261e-04,7.016401609e-01,-4.608854241e-05,8.404282823e-01,7.016409558e-01,-5.107839678e-05,8.404330935e-01,7.018341159e-01,-5.083369091e-05,8.292650296e-01
+19,1.133333333e+01,DOWN_FORCE_DETACH,1792668066572257472,1.057402962e-04,-5.508795321e-05,-3.728551581e-04,1.063509118e-04,-5.523477014e-05,-3.723617392e-04,1.081934804e-04,-5.523718515e-05,-3.717955027e-04,7.016436118e-01,-5.353699188e-05,8.403680860e-01,7.016442224e-01,-5.368380882e-05,8.403685794e-01,7.018374579e-01,-5.347669666e-05,8.292008688e-01
+20,1.178333333e+01,DOWN_FORCE_DETACH,1792668067470238292,1.070103665e-04,-4.212017024e-05,-4.249598558e-04,1.062902071e-04,-4.301851536e-05,-4.141107738e-04,1.080492090e-04,-4.297126384e-05,-4.136789939e-04,7.016448818e-01,-4.056920892e-05,8.403159813e-01,7.016441617e-01,-4.146755404e-05,8.403268304e-01,7.018373136e-01,-4.121077535e-05,8.291589853e-01
+21,1.230000000e+01,DOWN_FORCE_DETACH,1792668068500206521,1.103776966e-04,-4.938384717e-05,-4.860302833e-04,1.080710776e-04,-4.628136655e-05,-4.798867297e-04,1.096579427e-04,-4.627165658e-05,-4.794119657e-04,7.016482492e-01,-4.783288585e-05,8.402549109e-01,7.016459426e-01,-4.473040523e-05,8.402610545e-01,7.018389223e-01,-4.451116809e-05,8.290932523e-01
+22,1.280000000e+01,DOWN_FORCE_DETACH,1792668069464213154,1.148052726e-04,-5.480599175e-05,-5.568339093e-04,1.141571973e-04,-4.780995957e-05,-5.448053331e-04,1.156214034e-04,-4.780868282e-05,-5.442303667e-04,7.016526768e-01,-5.325503042e-05,8.401841073e-01,7.016520287e-01,-4.625899824e-05,8.401961359e-01,7.018448858e-01,-4.604819433e-05,8.290284339e-01
+23,1.333333333e+01,DOWN_FORCE_DETACH,1792668070464393607,1.176542141e-04,-5.618174562e-05,-6.551689723e-04,1.174641483e-04,-5.623557893e-05,-6.553036201e-04,1.186105966e-04,-5.623416545e-05,-6.544153911e-04,7.016555257e-01,-5.463078430e-05,8.400857722e-01,7.016553356e-01,-5.468461761e-05,8.400856376e-01,7.018478750e-01,-5.447367696e-05,8.289182489e-01
+24,1.380000000e+01,DOWN_FORCE_DETACH,1792668071360527670,1.182168615e-04,-6.453508531e-05,-7.435781934e-04,1.179345137e-04,-6.499551688e-05,-7.438668905e-04,1.188469062e-04,-6.501503240e-05,-7.429255226e-04,7.016560883e-01,-6.298412399e-05,8.399973630e-01,7.016558060e-01,-6.344455556e-05,8.399970743e-01,7.018481113e-01,-6.325454391e-05,8.288297388e-01
+25,1.423333333e+01,DOWN_FORCE_DETACH,1792668072161206229,1.191831776e-04,-5.722381951e-05,-8.328826268e-04,1.170483723e-04,-5.925812727e-05,-8.290374980e-04,1.175981350e-04,-5.927122193e-05,-8.281907794e-04,7.016570547e-01,-5.567285819e-05,8.399080586e-01,7.016549199e-01,-5.770716595e-05,8.399119037e-01,7.018468625e-01,-5.751073344e-05,8.287444735e-01
+26,1.466666667e+01,DOWN_FORCE_DETACH,1792668072992268969,1.234822610e-04,-4.509511560e-05,-9.366266221e-04,1.232706869e-04,-4.495030841e-05,-9.366582597e-04,1.236239931e-04,-4.496663805e-05,-9.355227448e-04,7.016613537e-01,-4.354415428e-05,8.398043146e-01,7.016611422e-01,-4.339934709e-05,8.398042829e-01,7.018528884e-01,-4.320614956e-05,8.286371415e-01
+27,1.503333333e+01,DOWN_FORCE_DETACH,1792668073688644971,1.236562661e-04,-5.311530666e-05,-1.041724323e-03,1.234493391e-04,-5.043689065e-05,-1.022598593e-03,1.235139375e-04,-5.042817085e-05,-1.021696394e-03,7.016615277e-01,-5.156434533e-05,8.396992169e-01,7.016613208e-01,-4.888592933e-05,8.397183426e-01,7.018527783e-01,-4.866768236e-05,8.285509679e-01
+28,1.536666667e+01,DOWN_FORCE_DETACH,1792668074356306924,1.218469701e-04,-4.806270732e-05,-1.149014410e-03,1.200691297e-04,-5.407245055e-05,-1.142372049e-03,1.196467325e-04,-5.404265541e-05,-1.141208264e-03,7.016597185e-01,-4.651174600e-05,8.395919268e-01,7.016579406e-01,-5.252148923e-05,8.395985691e-01,7.018489111e-01,-5.228216692e-05,8.284314560e-01
+29,1.571666667e+01,DOWN_FORCE_DETACH,1792668075054320198,1.230696595e-04,-5.217097630e-05,-1.264590565e-03,1.238854773e-04,-5.411012230e-05,-1.256504108e-03,1.230176908e-04,-5.407014442e-05,-1.255250099e-03,7.016609411e-01,-5.062001498e-05,8.394763506e-01,7.016617570e-01,-5.255916098e-05,8.394844371e-01,7.018522821e-01,-5.230965593e-05,8.283174142e-01
+30,1.605000000e+01,DOWN_FORCE_DETACH,1792668075718524288,1.216969898e-04,-5.021354873e-05,-1.386504766e-03,1.217484823e-04,-5.068477876e-05,-1.368755991e-03,1.204094173e-04,-5.065433121e-05,-1.367509382e-03,7.016595685e-01,-4.866258740e-05,8.393544364e-01,7.016596200e-01,-4.913381744e-05,8.393721852e-01,7.018496738e-01,-4.889384272e-05,8.282051549e-01
+31,1.633333333e+01,DOWN_FORCE_DETACH,1792668076284324748,1.219374116e-04,-6.004336803e-05,-1.497734593e-03,1.192805204e-04,-5.225794989e-05,-1.481307270e-03,1.174080138e-04,-5.223341265e-05,-1.479980878e-03,7.016598089e-01,-5.849240671e-05,8.392432066e-01,7.016571520e-01,-5.070698857e-05,8.392596339e-01,7.018466724e-01,-5.047292416e-05,8.280926834e-01
+32,1.661666667e+01,DOWN_FORCE_DETACH,1792668076850330837,1.189537259e-04,-6.177025873e-05,-1.617708851e-03,1.187347435e-04,-6.192988748e-05,-1.617585778e-03,1.162445278e-04,-6.191557695e-05,-1.616021757e-03,7.016568252e-01,-6.021929741e-05,8.391232323e-01,7.016566062e-01,-6.037892616e-05,8.391233554e-01,7.018455089e-01,-6.015508846e-05,8.279566425e-01
+33,1.690000000e+01,DOWN_FORCE_DETACH,1792668077380404066,1.167792830e-04,-6.704047714e-05,-1.742766711e-03,1.131538751e-04,-6.962705793e-05,-1.732596733e-03,1.101754377e-04,-6.957199428e-05,-1.731235708e-03,7.016546508e-01,-6.548951582e-05,8.389981745e-01,7.016510254e-01,-6.807609661e-05,8.390083445e-01,7.018394398e-01,-6.781150579e-05,8.278414286e-01
+34,1.715000000e+01,DOWN_FORCE_DETACH,1792668077881360079,1.172411724e-04,-6.032180161e-05,-1.863743598e-03,1.172517168e-04,-5.997151645e-05,-1.863604603e-03,1.139156066e-04,-5.994187242e-05,-1.861911004e-03,7.016551127e-01,-5.877084029e-05,8.388771976e-01,7.016551232e-01,-5.842055513e-05,8.388773366e-01,7.018431800e-01,-5.818138393e-05,8.277107533e-01
+35,1.741666667e+01,DOWN_FORCE_DETACH,1792668078380362573,1.168225025e-04,-6.753068551e-05,-1.989104065e-03,1.135405248e-04,-6.591687201e-05,-1.970375280e-03,1.097422752e-04,-6.586169942e-05,-1.968960830e-03,7.016546940e-01,-6.597972419e-05,8.387518371e-01,7.016514120e-01,-6.436591069e-05,8.387705659e-01,7.018390067e-01,-6.410121092e-05,8.276037035e-01
+36,1.766666667e+01,DOWN_FORCE_DETACH,1792668078844489702,1.160367513e-04,-7.295677140e-05,-2.116495099e-03,1.146879053e-04,-7.330245139e-05,-2.100382065e-03,1.103840554e-04,-7.323155199e-05,-2.098940227e-03,7.016539082e-01,-7.140581008e-05,8.386244461e-01,7.016525594e-01,-7.175149007e-05,8.386405591e-01,7.018396484e-01,-7.147106350e-05,8.274737241e-01
+37,1.790000000e+01,DOWN_FORCE_DETACH,1792668079276373035,1.132654041e-04,-7.054021098e-05,-2.247120406e-03,1.141537925e-04,-7.235086656e-05,-2.227533856e-03,1.094578419e-04,-7.232124951e-05,-2.225979806e-03,7.016511369e-01,-6.898924966e-05,8.384938208e-01,7.016520253e-01,-7.079990524e-05,8.385134073e-01,7.018387222e-01,-7.056076102e-05,8.273466845e-01
+38,1.810000000e+01,DOWN_FORCE_DETACH,1792668079676581613,1.125324338e-04,-7.523419052e-05,-2.375699874e-03,1.124634024e-04,-7.528579919e-05,-2.375624934e-03,1.071520405e-04,-7.526416041e-05,-2.373691160e-03,7.016504039e-01,-7.368322920e-05,8.383652413e-01,7.016503349e-01,-7.373483787e-05,8.383653163e-01,7.018364164e-01,-7.350367192e-05,8.271989731e-01
+39,1.831666667e+01,DOWN_FORCE_DETACH,1792668080076386371,1.159803564e-04,-7.940699759e-05,-2.504299229e-03,1.157005592e-04,-7.945450142e-05,-2.504010891e-03,1.100018940e-04,-7.942873668e-05,-2.502128228e-03,7.016538518e-01,-7.785603627e-05,8.382366420e-01,7.016535720e-01,-7.790354010e-05,8.382369303e-01,7.018392663e-01,-7.766824819e-05,8.270705361e-01
+40,1.851666667e+01,DOWN_FORCE_DETACH,1792668080458473715,1.184050862e-04,-7.873983027e-05,-2.632671966e-03,1.182882760e-04,-8.005628705e-05,-2.625244076e-03,1.122021187e-04,-7.998753119e-05,-2.623538015e-03,7.016562766e-01,-7.718886895e-05,8.381082692e-01,7.016561598e-01,-7.850532573e-05,8.381156971e-01,7.018414665e-01,-7.822704270e-05,8.269491263e-01
+41,1.870000000e+01,DOWN_FORCE_DETACH,1792668080808388270,1.119175213e-04,-8.552694083e-05,-2.768265425e-03,1.125345942e-04,-7.851145988e-05,-2.755163120e-03,1.058605270e-04,-7.842906545e-05,-2.753397069e-03,7.016497890e-01,-8.397597951e-05,8.379726758e-01,7.016504061e-01,-7.696049856e-05,8.379857781e-01,7.018351249e-01,-7.666857696e-05,8.268192672e-01
+42,1.886666667e+01,DOWN_FORCE_DETACH,1792668081108380377,1.121381749e-04,-8.603645856e-05,-2.890144673e-03,1.126173348e-04,-8.364756992e-05,-2.880640708e-03,1.054438419e-04,-8.354902347e-05,-2.878746547e-03,7.016500097e-01,-8.448549724e-05,8.378507965e-01,7.016504888e-01,-8.209660860e-05,8.378603005e-01,7.018347082e-01,-8.178853498e-05,8.266939177e-01
+43,1.905000000e+01,DOWN_FORCE_DETACH,1792668081474452894,1.113366884e-04,-8.884032984e-05,-3.030698375e-03,1.122257524e-04,-9.283975915e-05,-3.014828187e-03,1.044402291e-04,-9.277216942e-05,-3.013043014e-03,7.016492082e-01,-8.728936852e-05,8.377102428e-01,7.016500972e-01,-9.128879783e-05,8.377261130e-01,7.018337046e-01,-9.101168093e-05,8.265596213e-01
+44,1.921666667e+01,DOWN_FORCE_DETACH,1792668081773727038,1.110012956e-04,-9.017027132e-05,-3.149942470e-03,1.107710976e-04,-9.009408240e-05,-3.149496059e-03,1.024980470e-04,-8.997894959e-05,-3.147828064e-03,7.016488728e-01,-8.861931000e-05,8.375909987e-01,7.016486426e-01,-8.854312108e-05,8.375914451e-01,7.018317624e-01,-8.821846110e-05,8.264248362e-01
+45,1.938333333e+01,DOWN_FORCE_DETACH,1792668082106435802,1.094672515e-04,-9.662571234e-05,-3.294201617e-03,1.092922651e-04,-9.650770820e-05,-3.294004682e-03,1.005029273e-04,-9.639743336e-05,-3.292206975e-03,7.016473387e-01,-9.507475102e-05,8.374467396e-01,7.016471637e-01,-9.495674688e-05,8.374469365e-01,7.018297673e-01,-9.463694487e-05,8.262804573e-01
+46,1.953333333e+01,DOWN_FORCE_DETACH,1792668082405245055,1.066775492e-04,-9.204262547e-05,-3.425441977e-03,1.049543545e-04,-9.252829009e-05,-3.414014544e-03,9.557773527e-05,-9.237814678e-05,-3.412352336e-03,7.016445490e-01,-9.049166415e-05,8.373154992e-01,7.016428258e-01,-9.097732877e-05,8.373269266e-01,7.018248421e-01,-9.061765829e-05,8.261603119e-01
+47,1.968333333e+01,DOWN_FORCE_DETACH,1792668082704471330,1.064264689e-04,-8.972201750e-05,-3.560986662e-03,1.065534930e-04,-8.968467534e-05,-3.544791671e-03,9.677266979e-05,-8.956865974e-05,-3.542976483e-03,7.016442980e-01,-8.817105618e-05,8.371799545e-01,7.016444250e-01,-8.813371402e-05,8.371961495e-01,7.018260371e-01,-8.780817125e-05,8.260296878e-01
+48,1.983333333e+01,DOWN_FORCE_DETACH,1792668083004417094,1.052588867e-04,-9.084340201e-05,-3.699795097e-03,1.049083867e-04,-9.099614843e-05,-3.699735964e-03,9.454372429e-05,-9.088928912e-05,-3.698000484e-03,7.016431304e-01,-8.929244069e-05,8.370411461e-01,7.016427799e-01,-8.944518711e-05,8.370412052e-01,7.018238081e-01,-8.912880063e-05,8.258746638e-01
+49,1.998333333e+01,DOWN_FORCE_DETACH,1792668083302451990,1.066565410e-04,-9.011735897e-05,-3.843001191e-03,1.064646678e-04,-9.013511837e-05,-3.842618928e-03,9.563289116e-05,-9.006204323e-05,-3.840968446e-03,7.016445280e-01,-8.856639765e-05,8.368979400e-01,7.016443361e-01,-8.858415705e-05,8.368983223e-01,7.018248973e-01,-8.830155474e-05,8.257316958e-01
+50,2.011666667e+01,DOWN_FORCE_DETACH,1792668083570449592,1.073108769e-04,-8.691644341e-05,-3.976870419e-03,1.073464970e-04,-9.359582780e-05,-3.958966419e-03,9.605767136e-05,-9.351227536e-05,-3.957463708e-03,7.016451824e-01,-8.536548209e-05,8.367640708e-01,7.016452180e-01,-9.204486648e-05,8.367819748e-01,7.018253221e-01,-9.175178687e-05,8.256152006e-01
+51,2.025000000e+01,DOWN_FORCE_DETACH,1792668083837321879,1.091010702e-04,-9.274290143e-05,-4.110530492e-03,1.112165543e-04,-9.207082481e-05,-4.092595176e-03,9.952934488e-05,-9.200993428e-05,-4.091161852e-03,7.016469726e-01,-9.119194011e-05,8.366304107e-01,7.016490880e-01,-9.051986349e-05,8.366483460e-01,7.018287937e-01,-9.024944579e-05,8.254815024e-01
+52,2.038333333e+01,DOWN_FORCE_DETACH,1792668084102442212,1.042316083e-04,-9.227071515e-05,-4.251268017e-03,1.037593275e-04,-9.833421906e-05,-4.233072274e-03,9.141420987e-05,-9.823558931e-05,-4.231786578e-03,7.016421031e-01,-9.071975383e-05,8.364896732e-01,7.016416308e-01,-9.678325774e-05,8.365078689e-01,7.018206786e-01,-9.647510082e-05,8.253408777e-01
+53,2.050000000e+01,DOWN_FORCE_DETACH,1792668084332462208,1.045973705e-04,-9.915961543e-05,-4.371760014e-03,1.051489930e-04,-1.016258122e-04,-4.353948735e-03,9.234179335e-05,-1.015086425e-04,-4.352651597e-03,7.016424689e-01,-9.760865411e-05,8.363691812e-01,7.016430205e-01,-1.000748509e-04,8.363869925e-01,7.018216062e-01,-9.974815398e-05,8.252200127e-01
+54,2.063333333e+01,DOWN_FORCE_DETACH,1792668084600427265,9.618391805e-05,-9.809175094e-05,-4.523320621e-03,9.586747796e-05,-9.817938578e-05,-4.523356758e-03,8.218025909e-05,-9.806531554e-05,-4.522032559e-03,7.016340554e-01,-9.654078962e-05,8.362176206e-01,7.016337390e-01,-9.662842446e-05,8.362175844e-01,7.018114447e-01,-9.630482705e-05,8.250506317e-01
+55,2.075000000e+01,DOWN_FORCE_DETACH,1792668084834433407,9.732636032e-05,-1.018210950e-04,-4.655410947e-03,9.696299555e-05,-1.017706802e-04,-4.655385430e-03,8.282596994e-05,-1.016156079e-04,-4.654204975e-03,7.016351978e-01,-1.002701337e-04,8.360855302e-01,7.016348345e-01,-1.002197189e-04,8.360855558e-01,7.018120904e-01,-9.985511940e-05,8.249184593e-01
+56,2.086666667e+01,DOWN_FORCE_DETACH,1792668085064430900,1.074699190e-04,-1.075857372e-04,-4.777494145e-03,1.074275970e-04,-1.077232960e-04,-4.777533696e-03,9.311052245e-05,-1.075957390e-04,-4.776327852e-03,7.016453414e-01,-1.060347758e-04,8.359634470e-01,7.016452991e-01,-1.061723347e-04,8.359634075e-01,7.018223749e-01,-1.058352505e-04,8.247963364e-01
+57,2.098333333e+01,DOWN_FORCE_DETACH,1792668085298445234,1.060462903e-04,-1.081344914e-04,-4.915959257e-03,1.058746360e-04,-1.079205493e-04,-4.915657327e-03,9.110277592e-05,-1.077895864e-04,-4.914495709e-03,7.016439178e-01,-1.065835301e-04,8.358249819e-01,7.016437461e-01,-1.063695880e-04,8.358252839e-01,7.018203672e-01,-1.060290979e-04,8.246581686e-01
+58,2.110000000e+01,DOWN_SETTLE,1792668085532453408,1.035889325e-04,-1.063307812e-04,-5.055893476e-03,1.033761775e-04,-1.062062572e-04,-5.055692633e-03,8.807709420e-05,-1.061154363e-04,-5.054666971e-03,7.016414604e-01,-1.047798199e-04,8.356850477e-01,7.016412477e-01,-1.046552959e-04,8.356852486e-01,7.018173415e-01,-1.043549478e-04,8.245179973e-01
+59,2.155000000e+01,DOWN_PEAK_HOLD,1792668086362522443,7.477469037e-05,-9.414923837e-05,-5.166253697e-03,7.652506810e-05,-9.598577958e-05,-5.163512157e-03,6.001656179e-05,-9.594496099e-05,-5.163547511e-03,7.016126462e-01,-9.259827705e-05,8.355746875e-01,7.016143965e-01,-9.443481826e-05,8.355774290e-01,7.017892810e-01,-9.418447250e-05,8.244091168e-01

Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-1.1142e-03,1.6889e-03,2.4552e+00,-3.6941e-02,3.6717e-02,-4.5194e-05,1.2687e-04,-4.0278e-05,4.0293e-05,3.2745e-06,7.5847e-06,-8.3499e-08,1.3908e-04,8.2618e-06
+1,5.6667e-01,DOWN_FORCE_DETACH,1.3731e-04,1.0506e-03,1.0585e-03,2.4567e+00,-3.6888e-02,3.6857e-02,-5.8559e-05,2.2917e-03,-6.7070e-04,1.4734e-03,5.5924e-05,1.4750e-04,-1.3448e-05,2.8059e-03,1.5832e-04
+2,1.1500e+00,DOWN_FORCE_DETACH,2.7933e-04,2.5056e-04,5.9907e-03,2.4655e+00,-3.7218e-02,3.6803e-02,-5.7053e-05,1.4916e-03,4.2615e-03,1.0327e-02,-2.7363e-04,9.2737e-05,-1.1943e-05,1.1271e-02,2.8916e-04
+3,1.8500e+00,DOWN_FORCE_DETACH,4.1488e-04,-1.6215e-03,8.4908e-03,2.4682e+00,-3.7395e-02,3.6671e-02,-5.3330e-05,-3.8040e-04,6.7616e-03,1.3030e-02,-4.5026e-04,-3.8464e-05,-8.2194e-06,1.4685e-02,4.5197e-04
+4,2.5333e+00,DOWN_FORCE_DETACH,5.5671e-04,4.6715e-04,8.5558e-03,2.4574e+00,-3.7397e-02,3.6813e-02,-5.0986e-05,1.7082e-03,6.8266e-03,2.2094e-03,-4.5264e-04,1.0274e-04,-5.8757e-06,7.3757e-03,4.6419e-04
+5,3.0500e+00,DOWN_FORCE_DETACH,6.9384e-04,-1.4441e-03,9.2429e-03,2.4665e+00,-3.7439e-02,3.6682e-02,-4.9452e-05,-2.0307e-04,7.5138e-03,1.1274e-02,-4.9477e-04,-2.8238e-05,-4.3415e-06,1.3550e-02,4.9559e-04
+6,3.7667e+00,DOWN_FORCE_DETACH,8.3501e-04,2.6022e-04,9.1309e-03,2.4555e+00,-3.7426e-02,3.6800e-02,-4.7487e-05,1.5013e-03,7.4017e-03,3.4189e-04,-4.8136e-04,9.0372e-05,-2.3764e-06,7.5602e-03,4.8978e-04
+7,4.3333e+00,DOWN_FORCE_DETACH,9.7237e-04,-2.3157e-04,1.0148e-02,2.4577e+00,-3.7486e-02,3.6763e-02,-4.5593e-05,1.0095e-03,8.4189e-03,2.5008e-03,-5.4201e-04,5.3491e-05,-4.8194e-07,8.8403e-03,5.4465e-04
+8,5.0333e+00,DOWN_FORCE_DETACH,1.1126e-03,-1.7312e-03,1.3288e-02,2.4616e+00,-3.7695e-02,3.6659e-02,-4.1728e-05,-4.9013e-04,1.1559e-02,6.3460e-03,-7.5102e-04,-5.0414e-05,3.3825e-06,1.3196e-02,7.5272e-04
+9,5.5833e+00,DOWN_FORCE_DETACH,1.2589e-03,-1.7165e-03,1.3433e-02,2.4544e+00,-3.7708e-02,3.6665e-02,-3.8974e-05,-4.7541e-04,1.1704e-02,-8.3613e-04,-7.6388e-04,-4.4957e-05,6.1363e-06,1.1743e-02,7.6522e-04
+10,6.1000e+00,DOWN_FORCE_DETACH,1.3919e-03,-6.4189e-03,1.3138e-02,2.4588e+00,-3.7690e-02,3.6330e-02,-3.3747e-05,-5.1779e-03,1.1409e-02,3.5753e-03,-7.4526e-04,-3.8029e-04,1.1364e-05,1.3029e-02,8.3675e-04
+11,6.7500e+00,DOWN_FORCE_DETACH,1.5299e-03,-3.3642e-03,1.2918e-02,2.4605e+00,-3.7661e-02,3.6531e-02,-2.7317e-05,-2.1231e-03,1.1189e-02,5.2578e-03,-7.1611e-04,-1.7910e-04,1.7794e-05,1.2543e-02,7.3838e-04
+12,7.2833e+00,DOWN_FORCE_DETACH,1.6685e-03,-8.7329e-05,1.2888e-02,2.4518e+00,-3.7664e-02,3.6786e-02,-1.3050e-05,1.1537e-03,1.1159e-02,-3.3615e-03,-7.1947e-04,7.6655e-05,3.2061e-05,1.1711e-02,7.2425e-04
+13,7.8833e+00,DOWN_FORCE_DETACH,1.8082e-03,4.3610e-04,1.4809e-02,2.4529e+00,-3.7793e-02,3.6812e-02,-9.4791e-06,1.6772e-03,1.3079e-02,-2.2743e-03,-8.4868e-04,1.0209e-04,3.5632e-05,1.3381e-02,8.5554e-04
+14,8.5333e+00,DOWN_FORCE_DETACH,1.9466e-03,-9.4651e-05,1.5731e-02,2.4605e+00,-3.7856e-02,3.6769e-02,-6.7237e-06,1.1464e-03,1.4001e-02,5.2650e-03,-9.1131e-04,5.9277e-05,3.8387e-05,1.5002e-02,9.1404e-04
+15,9.1333e+00,DOWN_FORCE_DETACH,2.0859e-03,1.9214e-03,1.6324e-02,2.4593e+00,-3.7902e-02,3.6907e-02,-4.3279e-06,3.1624e-03,1.4595e-02,4.0805e-03,-9.5805e-04,1.9681e-04,4.0783e-05,1.5481e-02,9.7891e-04
+16,9.7500e+00,DOWN_FORCE_DETACH,2.2219e-03,1.4922e-03,1.6904e-02,2.4570e+00,-3.7955e-02,3.6882e-02,-3.0294e-06,2.7332e-03,1.5175e-02,1.7467e-03,-1.0108e-03,1.7204e-04,4.2081e-05,1.5517e-02,1.0262e-03
+17,1.0450e+01,DOWN_FORCE_DETACH,2.3606e-03,2.8735e-03,1.8771e-02,2.4625e+00,-3.8096e-02,3.6976e-02,-1.6237e-06,4.1146e-03,1.7042e-02,7.2997e-03,-1.1514e-03,2.6600e-04,4.3487e-05,1.8991e-02,1.1825e-03
+18,1.0783e+01,DOWN_FORCE_DETACH,2.5056e-03,-9.1780e-03,1.7932e-02,2.4575e+00,-3.8048e-02,3.6152e-02,-4.5873e-07,-7.9369e-03,1.6202e-02,2.2902e-03,-1.1035e-03,-5.5823e-04,4.4652e-05,1.8187e-02,1.2374e-03
+19,1.1333e+01,DOWN_FORCE_DETACH,2.6426e-03,6.6849e-04,1.9137e-02,2.4714e+00,-3.8129e-02,3.6795e-02,5.4609e-06,1.9096e-03,1.7408e-02,1.6165e-02,-1.1843e-03,8.4769e-05,5.0572e-05,2.3833e-02,1.1884e-03
+20,1.1783e+01,DOWN_FORCE_DETACH,2.7809e-03,4.0163e-03,1.6803e-02,2.4781e+00,-3.7975e-02,3.7030e-02,8.7559e-06,5.2574e-03,1.5073e-02,2.2918e-02,-1.0301e-03,3.1979e-04,5.3867e-05,2.7930e-02,1.0799e-03
+21,1.2300e+01,DOWN_FORCE_DETACH,2.9218e-03,5.4792e-03,1.6129e-02,2.4800e+00,-3.7919e-02,3.7137e-02,1.1526e-05,6.7202e-03,1.4400e-02,2.4750e-02,-9.7448e-04,4.2763e-04,5.6636e-05,2.9412e-02,1.0657e-03
+22,1.2800e+01,DOWN_FORCE_DETACH,3.0574e-03,4.9205e-03,1.6794e-02,2.4814e+00,-3.7944e-02,3.7103e-02,1.4950e-05,6.1616e-03,1.5064e-02,2.6232e-02,-9.9935e-04,3.9335e-04,6.0060e-05,3.0871e-02,1.0757e-03
+23,1.3333e+01,DOWN_FORCE_DETACH,3.1976e-03,5.9159e-03,1.8993e-02,2.4874e+00,-3.8043e-02,3.7164e-02,1.7953e-05,7.1570e-03,1.7264e-02,3.2211e-02,-1.0991e-03,4.5398e-04,6.3064e-05,3.7240e-02,1.1908e-03
+24,1.3800e+01,DOWN_FORCE_DETACH,3.3342e-03,7.5113e-03,1.9071e-02,2.4905e+00,-3.8026e-02,3.7267e-02,1.5952e-05,8.7524e-03,1.7342e-02,3.5298e-02,-1.0816e-03,5.5746e-04,6.1063e-05,4.0290e-02,1.2183e-03
+25,1.4233e+01,DOWN_FORCE_DETACH,3.4739e-03,8.0798e-03,2.0250e-02,2.4951e+00,-3.8105e-02,3.7307e-02,1.1456e-05,9.3209e-03,1.8521e-02,3.9857e-02,-1.1602e-03,5.9683e-04,5.6567e-05,4.4928e-02,1.3059e-03
+26,1.4667e+01,DOWN_FORCE_DETACH,3.6183e-03,6.9516e-03,1.6103e-02,2.4997e+00,-3.7836e-02,3.7230e-02,5.3805e-06,8.1927e-03,1.4374e-02,4.4477e-02,-8.9174e-04,5.1982e-04,5.0491e-05,4.7455e-02,1.0334e-03
+27,1.5033e+01,DOWN_FORCE_DETACH,3.7539e-03,7.0500e-03,1.7491e-02,2.5062e+00,-3.7909e-02,3.7232e-02,3.9896e-06,8.2911e-03,1.5762e-02,5.1039e-02,-9.6434e-04,5.2192e-04,4.9100e-05,5.4057e-02,1.0976e-03
+28,1.5367e+01,DOWN_FORCE_DETACH,3.8919e-03,7.6251e-03,1.8775e-02,2.5109e+00,-3.7967e-02,3.7265e-02,5.4062e-06,8.8661e-03,1.7046e-02,5.5721e-02,-1.0231e-03,5.5492e-04,5.0517e-05,5.8940e-02,1.1650e-03
+29,1.5717e+01,DOWN_FORCE_DETACH,4.0364e-03,6.9735e-03,2.0267e-02,2.5119e+00,-3.8041e-02,3.7222e-02,7.1057e-06,8.2145e-03,1.8538e-02,5.6675e-02,-1.0967e-03,5.1183e-04,5.2216e-05,6.0193e-02,1.2114e-03
+30,1.6050e+01,DOWN_FORCE_DETACH,4.1744e-03,6.4036e-03,1.8646e-02,2.5212e+00,-3.7923e-02,3.7176e-02,7.2017e-06,7.6447e-03,1.6917e-02,6.6005e-02,-9.7812e-04,4.6599e-04,5.2312e-05,6.8565e-02,1.0847e-03
+31,1.6333e+01,DOWN_FORCE_DETACH,4.3108e-03,4.5077e-03,1.9114e-02,2.5266e+00,-3.7955e-02,3.7045e-02,7.4832e-06,5.7488e-03,1.7385e-02,7.1383e-02,-1.0102e-03,3.3479e-04,5.2594e-05,7.3694e-02,1.0655e-03
+32,1.6617e+01,DOWN_FORCE_DETACH,4.4455e-03,3.0876e-03,2.0648e-02,2.5272e+00,-3.8059e-02,3.6942e-02,7.5683e-06,4.3287e-03,1.8919e-02,7.2026e-02,-1.1144e-03,2.3207e-04,5.2679e-05,7.4595e-02,1.1395e-03
+33,1.6900e+01,DOWN_FORCE_DETACH,4.5874e-03,3.4958e-03,2.4417e-02,2.5270e+00,-3.8289e-02,3.6960e-02,7.1914e-06,4.7369e-03,2.2688e-02,7.1784e-02,-1.3442e-03,2.5013e-04,5.2302e-05,7.5433e-02,1.3683e-03
+34,1.7150e+01,DOWN_FORCE_DETACH,4.7322e-03,3.8119e-03,2.1741e-02,2.5277e+00,-3.8107e-02,3.6980e-02,5.5047e-06,5.0530e-03,2.0011e-02,7.2498e-02,-1.1628e-03,2.6975e-04,5.0615e-05,7.5379e-02,1.1947e-03
+35,1.7417e+01,DOWN_FORCE_DETACH,4.8691e-03,6.1164e-03,2.3629e-02,2.5323e+00,-3.8218e-02,3.7128e-02,3.9352e-06,7.3575e-03,2.1900e-02,7.7101e-02,-1.2740e-03,4.1862e-04,4.9046e-05,8.0488e-02,1.3420e-03
+36,1.7667e+01,DOWN_FORCE_DETACH,5.0043e-03,5.7290e-03,2.4986e-02,2.5338e+00,-3.8289e-02,3.7104e-02,2.1398e-06,6.9701e-03,2.3257e-02,7.8617e-02,-1.3444e-03,3.9459e-04,4.7251e-05,8.2281e-02,1.4019e-03
+37,1.7900e+01,DOWN_FORCE_DETACH,5.1430e-03,6.8678e-03,2.4235e-02,2.5378e+00,-3.8230e-02,3.7176e-02,1.0250e-06,8.1089e-03,2.2505e-02,8.2613e-02,-1.2859e-03,4.6661e-04,4.6136e-05,8.6007e-02,1.3687e-03
+38,1.8100e+01,DOWN_FORCE_DETACH,5.2844e-03,8.9424e-03,2.4837e-02,2.5445e+00,-3.8263e-02,3.7311e-02,4.8013e-07,1.0183e-02,2.3108e-02,8.9290e-02,-1.3181e-03,6.0165e-04,4.5591e-05,9.2792e-02,1.4497e-03
+39,1.8317e+01,DOWN_FORCE_DETACH,5.4190e-03,8.1217e-03,2.5292e-02,2.5420e+00,-3.8276e-02,3.7263e-02,-2.7005e-07,9.3628e-03,2.3563e-02,8.6828e-02,-1.3320e-03,5.5333e-04,4.4841e-05,9.0455e-02,1.4431e-03
+40,1.8517e+01,DOWN_FORCE_DETACH,5.5587e-03,6.6249e-03,2.8325e-02,2.5444e+00,-3.8442e-02,3.7166e-02,3.8196e-07,7.8660e-03,2.6596e-02,8.9234e-02,-1.4974e-03,4.5589e-04,4.5493e-05,9.3445e-02,1.5659e-03
+41,1.8700e+01,DOWN_FORCE_DETACH,5.7051e-03,7.1838e-03,2.9434e-02,2.5461e+00,-3.8484e-02,3.7199e-02,2.0541e-06,8.4248e-03,2.7705e-02,9.0907e-02,-1.5400e-03,4.8934e-04,4.7165e-05,9.5408e-02,1.6165e-03
+42,1.8867e+01,DOWN_FORCE_DETACH,5.8369e-03,7.2640e-03,3.1167e-02,2.5490e+00,-3.8569e-02,3.7203e-02,4.1024e-06,8.5051e-03,2.9438e-02,9.3822e-02,-1.6242e-03,4.9336e-04,4.9213e-05,9.8699e-02,1.6982e-03
+43,1.9050e+01,DOWN_FORCE_DETACH,5.9865e-03,4.1725e-03,3.2680e-02,2.5479e+00,-3.8645e-02,3.7001e-02,5.7550e-06,5.4135e-03,3.0951e-02,9.2719e-02,-1.7010e-03,2.9114e-04,5.0866e-05,9.7899e-02,1.7265e-03
+44,1.9217e+01,DOWN_FORCE_DETACH,6.1113e-03,3.7365e-03,3.3213e-02,2.5443e+00,-3.8661e-02,3.6967e-02,6.1755e-06,4.9776e-03,3.1484e-02,8.9061e-02,-1.7169e-03,2.5671e-04,5.1286e-05,9.4593e-02,1.7367e-03
+45,1.9383e+01,DOWN_FORCE_DETACH,6.2602e-03,5.5281e-03,3.4532e-02,2.5428e+00,-3.8733e-02,3.7077e-02,6.0298e-06,6.7692e-03,3.2803e-02,8.7567e-02,-1.7886e-03,3.6673e-04,5.1141e-05,9.3754e-02,1.8265e-03
+46,1.9533e+01,DOWN_FORCE_DETACH,6.3947e-03,7.0221e-03,3.5220e-02,2.5452e+00,-3.8760e-02,3.7171e-02,4.5837e-06,8.2632e-03,3.3491e-02,8.9973e-02,-1.8154e-03,4.6093e-04,4.9694e-05,9.6359e-02,1.8737e-03
+47,1.9683e+01,DOWN_FORCE_DETACH,6.5328e-03,6.4919e-03,3.4029e-02,2.5467e+00,-3.8675e-02,3.7136e-02,2.7121e-06,7.7330e-03,3.2300e-02,9.1538e-02,-1.7301e-03,4.2666e-04,4.7823e-05,9.7377e-02,1.7826e-03
+48,1.9833e+01,DOWN_FORCE_DETACH,6.6770e-03,7.6196e-03,3.2655e-02,2.5470e+00,-3.8582e-02,3.7211e-02,9.2405e-07,8.8606e-03,3.0926e-02,9.1746e-02,-1.6381e-03,5.0071e-04,4.6035e-05,9.7222e-02,1.7135e-03
+49,1.9983e+01,DOWN_FORCE_DETACH,6.8230e-03,6.8669e-03,3.1674e-02,2.5435e+00,-3.8519e-02,3.7167e-02,-8.7649e-07,8.1080e-03,2.9945e-02,8.8279e-02,-1.5751e-03,4.5735e-04,4.4234e-05,9.3571e-02,1.6407e-03
+50,2.0117e+01,DOWN_FORCE_DETACH,6.9591e-03,6.1644e-03,3.1667e-02,2.5411e+00,-3.8512e-02,3.7124e-02,-3.0026e-06,7.4055e-03,2.9938e-02,8.5883e-02,-1.5677e-03,4.1451e-04,4.2108e-05,9.1252e-02,1.6221e-03
+51,2.0250e+01,DOWN_FORCE_DETACH,7.0964e-03,5.8070e-03,3.2647e-02,2.5422e+00,-3.8566e-02,3.7100e-02,-3.8361e-06,7.0480e-03,3.0917e-02,8.6945e-02,-1.6217e-03,3.9065e-04,4.1275e-05,9.2547e-02,1.6686e-03
+52,2.0383e+01,DOWN_FORCE_DETACH,7.2403e-03,5.8266e-03,3.4389e-02,2.5373e+00,-3.8663e-02,3.7103e-02,-2.0380e-06,7.0676e-03,3.2660e-02,8.2045e-02,-1.7190e-03,3.9325e-04,4.3073e-05,8.8589e-02,1.7639e-03
+53,2.0500e+01,DOWN_FORCE_DETACH,7.3631e-03,5.0743e-03,3.5891e-02,2.5340e+00,-3.8745e-02,3.7057e-02,6.2311e-07,6.3154e-03,3.4162e-02,7.8746e-02,-1.8005e-03,3.4693e-04,4.5734e-05,8.6069e-02,1.8342e-03
+54,2.0633e+01,DOWN_FORCE_DETACH,7.5168e-03,4.3042e-03,3.5542e-02,2.5295e+00,-3.8717e-02,3.7008e-02,2.9371e-06,5.5453e-03,3.3813e-02,7.4299e-02,-1.7726e-03,2.9863e-04,4.8048e-05,8.1819e-02,1.7982e-03
+55,2.0750e+01,DOWN_FORCE_DETACH,7.6520e-03,5.9646e-03,3.6026e-02,2.5235e+00,-3.8748e-02,3.7118e-02,3.5482e-06,7.2057e-03,3.4297e-02,6.8275e-02,-1.8040e-03,4.0781e-04,4.8659e-05,7.6744e-02,1.8502e-03
+56,2.0867e+01,DOWN_FORCE_DETACH,7.7792e-03,2.2990e-03,3.6783e-02,2.5194e+00,-3.8799e-02,3.6882e-02,4.7888e-06,3.5400e-03,3.5054e-02,6.4157e-02,-1.8541e-03,1.7204e-04,4.9900e-05,7.3194e-02,1.8628e-03
+57,2.0983e+01,DOWN_FORCE_DETACH,7.9190e-03,4.6288e-03,3.8500e-02,2.5200e+00,-3.8898e-02,3.7029e-02,5.9116e-06,5.8699e-03,3.6770e-02,6.4838e-02,-1.9535e-03,3.1937e-04,5.1022e-05,7.4770e-02,1.9801e-03
+58,2.1100e+01,DOWN_SETTLE,8.0621e-03,5.6083e-03,3.5952e-02,2.5178e+00,-3.8748e-02,3.7095e-02,5.1805e-06,6.8494e-03,3.4223e-02,6.2594e-02,-1.8037e-03,3.8567e-04,5.0291e-05,7.1667e-02,1.8452e-03
+59,2.1550e+01,DOWN_PEAK_HOLD,8.2042e-03,8.0208e-03,2.7235e-02,2.4711e+00,-3.8330e-02,3.7296e-02,-5.6274e-06,9.2619e-03,2.5506e-02,1.5944e-02,-1.3851e-03,5.8604e-04,3.9483e-05,3.1473e-02,1.5045e-03

Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/camera_frames_60hz.tar ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
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Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/fem_node.csv ADDED Viewed

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

Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/franka_data.csv ADDED Viewed

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Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/s2/ball_PLA_20/press_depth_01/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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Part2/Fixed/s2/ball_PLA_20/press_depth_01/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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Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/franka_data.csv ADDED Viewed

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

+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+12735,1792668114771602851,36655171000000,1792668114765854519,XJC_ZERO_HOLD_BEFORE_DOWN,2,0.0528,0.05280125513672829,0.6760137470966919,-0.004519155570396319,0.09085080741398384,0.9999999835236879,5.494110930597637e-05,-0.00014576024001801478,1.1441818506923812e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.06580742877461679,0.0679757763770827,0.0018768346961698656,0.004586287675083891,-0.0041490772065175385,-6.008775941158603e-06,0.19726303100304768,0.008056180962816678,0.13109747326683852,-0.0017984515742836666,-0.010132956185721595,0.0007651465199899361,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,-0.13571612001938324,0.14986519590871872,1.3577886748080457,-0.048346866196821686,-0.8398160217573054,0.029198962942392395,0.7250918013638956,0.0018768346961698656,-0.63269687344415,0.0,0.0,0,0,0.0,0.0
+12880,1792668115972662970,36656372000000,1792668115965853735,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760150846244888,-0.004530187742788662,0.09084596729478962,0.9999999844018995,4.944077576280644e-05,-0.00014130936751535745,1.5044517193840721e-05,0.6761,-0.00453,0.09097936565380804,1.0,0.0,0.0,0.0,0.10347339362271246,0.12724918899698445,0.023417314041666137,0.007706156251928592,-0.006323724173825521,-1.708922575665759e-05,0.23492899585114335,0.06732959358271845,0.1526379526123348,0.0013214170025610337,-0.012307603153029577,0.0007540660701744371,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,-0.04578932836808452,0.21169832791412102,1.3975526720250449,-0.04969081928246487,-0.8457156860598407,0.0775137261895722,0.7250918013638956,0.023417314041666137,-0.6724608706611492,-0.6724608706611492,0.06363000000000048,0,0,-4.544999139130391e-05,-9.999999025923074e-05
+13023,1792668117163660373,36657563000000,1792668117161853743,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760260756820282,-0.004538720389956167,0.09080140068374933,0.9999999872815052,5.193527795962798e-05,-0.00011355517526237576,3.588597219641469e-05,0.6761,-0.00453,0.09088980247097535,1.0,0.0,0.0,0.0,0.1001376547674098,0.1710997882280128,0.2513502437037397,0.00970608931867151,-0.006331633474966989,-0.00017712624287702806,0.23159325699584069,0.11118019281374678,0.38057088227440833,0.003321350069303953,-0.012315512454171045,0.0005940290530540666,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.045385974923856404,0.19548557972857908,1.0697908320689127,0.031657955797186076,-0.6381996654579644,0.05148350790391018,0.7250918013638956,0.2513502437037397,-0.34469903070501706,-0.34469903070501706,0.14699999999999686,0,0,-0.00010499997979004772,-9.999999025923074e-05
+13132,1792668118072644343,36658472000000,1792668118065853853,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.676037861936081,-0.004551696689371745,0.09073853627873482,0.9999999882662584,6.034325282940808e-05,-8.722881880461463e-05,6.0499360803074034e-05,0.6761,-0.00453,0.09077794851738946,1.0,0.0,0.0,0.0,0.08882498524386659,0.17750746222738745,0.5758725518602805,0.011647902361901344,-0.005431225555614427,0.0006253024051787006,0.22028058747229748,0.11758786681312142,0.7050931904309492,0.005263163112533785,-0.011415104534818483,0.0013964577011097953,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.1621301412618077,0.12708851089858125,0.6501525515304497,0.11107586558261133,-0.3524894494790237,0.0009942839006885917,0.7250918013638956,0.5758725518602805,0.07493924983344591,0.07493924983344591,0.2106299999999848,0,0,-0.00012389260708037397,9.918239426832116e-05
+13243,1792668118997674635,36659397000000,1792668118993854173,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760477459178124,-0.004560120897067613,0.09067513224598187,0.9999999890428828,5.9595584437428894e-05,-6.279081825770278e-05,7.656877937263367e-05,0.6761,-0.00453,0.09068443550054996,1.0,0.0,0.0,0.0,0.06578867929436186,0.19084728270764262,0.8580755030324236,0.012560799576735492,-0.0034847779627357744,0.00043707663506687994,0.19724428152279275,0.1309276872933766,0.9872961416030923,0.006176060327367934,-0.00946865694193983,0.0012082319309979746,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.22069753769235803,0.13937012871522472,0.28851558730108356,0.12279159461720004,-0.10819957716742462,0.004787597782716521,0.7250918013638956,0.8580755030324236,0.43657621406281205,0.43657621406281205,0.2753799999999826,0,0,-7.796736867651954e-05,9.999999025923074e-05
+13311,1792668119563607550,36659963000000,1792668119557853598,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760811771470724,-0.004564821484743238,0.09066830592325624,0.9999999893215858,6.564126911776638e-05,-2.840921665544403e-05,8.765747364818421e-05,0.6761,-0.00453,0.09064830071831603,1.0,0.0,0.0,0.0,0.037510449926136946,0.24475280872894867,0.8625593112354654,0.017310139965216097,-0.00045208473709129615,0.0005229290697083872,0.16896605215456784,0.18483321331468264,0.991779949806134,0.010925400715848537,-0.006435963716295352,0.0012940843656394818,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.27062190131624403,0.25332357477122935,0.28048298505700214,0.09401885653453967,-0.10867330993170926,0.0803198382002699,0.7250918013638956,0.8625593112354654,0.4446088163068935,0.4446088163068935,0.3149999999999908,0,0,-4.966737418979494e-05,9.999999025923074e-05
+13414,1792668120422583656,36660822000000,1792668120417854048,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.676084419575156,-0.004565044405946038,0.09064947817018949,0.9999999895274327,6.469903775095244e-05,-2.1873117034452783e-05,8.788401557111539e-05,0.6761,-0.00453,0.0906240515612532,1.0,0.0,0.0,0.0,0.01894805992389831,0.24591946946735438,0.887945205450104,0.017578355581770344,-0.0005480228837162985,0.0005123841709441159,0.1504036621523292,0.18599987405308838,1.0171658440207727,0.011193616332402786,-0.006531901862920355,0.0012835394668752106,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.30262811003926576,0.0596398106414959,0.271290183926924,0.15256595771468937,-0.09618462800892053,-0.050600888005542514,0.7250918013638956,0.887945205450104,0.4538016174369716,0.4538016174369716,0.37513000000000324,0,0,-7.195655788716504e-06,7.268339180521721e-05
+13526,1792668121355646327,36661755000000,1792668121353853202,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760852681408505,-0.004567247528979452,0.0906449230480815,0.9999999893077377,6.484635012025167e-05,-2.1098756602218953e-05,9.042777311967656e-05,0.6761,-0.00453,0.09062252649820479,1.0,0.0,0.0,0.0,0.02378813633225027,0.23584842209228163,0.8788593092820778,0.01757978230549121,-0.0005459094702697656,0.0005198996439106187,0.15524373856068116,0.17592882667801563,1.0080799478527465,0.011195043056123653,-0.006529788449473822,0.0012910549398417134,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.33561910516090754,0.15664959097833994,0.21555912866682544,0.12612932396466356,-0.04633301111914009,0.017630815475236372,0.7250918013638956,0.8788593092820778,0.5095326726970701,0.5095326726970701,0.44044000000001676,0,0,-7.13045547606761e-07,7.2024802788561715e-06
+13646,1792668122355626035,36662755000000,1792668122353853900,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760804937693385,-0.0045672865629181976,0.0906342568048883,0.9999999890177663,6.570724635295911e-05,-2.876243521512892e-05,9.089890921602747e-05,0.6761,-0.00453,0.09061779539818185,1.0,0.0,0.0,0.0,0.019560901215569027,0.25039640165377774,0.8601735688990156,0.017595575841098148,-0.0009537960025733294,0.0005285589196875101,0.15101650344399992,0.19047680623951171,0.9893942074696843,0.01121083659173059,-0.0069376749817773855,0.0012997142156186048,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.34815624868920175,0.2077856948505336,0.32272320548297573,0.11514780231038241,-0.11545962147840005,0.047874866017606876,0.7250918013638956,0.8601735688990156,0.4023685958809199,0.4023685958809199,0.5104400000000312,0,0,-1.2556441507409427e-05,-9.999999025923074e-05
+13782,1792668123488658411,36663888000000,1792668123481853996,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760818990339488,-0.0045637186079661145,0.0906208411051427,0.9999999888944079,6.916869883083092e-05,-2.506546037352624e-05,9.078249974710496e-05,0.6761,-0.00453,0.09059668182649883,1.0,0.0,0.0,0.0,0.018913815506162335,0.24584771419091944,0.8902228202860838,0.017577915331675062,-0.0005485064782454717,0.0005105498076736598,0.15036941773459322,0.18592811877665344,1.0194434588567525,0.011193176082307505,-0.006532385457449528,0.0012817051036047545,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.3174035547144843,0.09185830593702224,0.19517693152587742,0.1456441071818549,-0.04573224679675357,-0.03542445297415078,0.7250918013638956,0.8902228202860838,0.5299148698380182,0.5299148698380182,0.5897500000000476,0,0,-2.568387485610136e-05,-9.876339609882762e-05
+13874,1792668124255683050,36664655000000,1792668124253853717,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760891824370344,-0.004544486008548036,0.09060620532313342,0.9999999952962557,-2.857088668339656e-05,-5.833420501099218e-06,1.6877737772896602e-07,0.6761,-0.00453,0.09057429650748812,1.0,0.0,0.0,0.0,0.03636324915654257,0.2928079308540292,0.9557205748504858,0.02068079232654759,-0.0018671795315496533,0.00047329539072170205,0.16781885138497346,0.23288833543976317,1.0849412134211545,0.014296053077180034,-0.00785105851075371,0.0012444506866527967,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.3100153512790804,0.1935141257849708,0.2525251813315372,-0.020122625686573192,-0.05248935436680595,0.07018648104020314,0.7250918013638956,0.9557205748504858,0.47256662003235844,0.47256662003235844,0.6434400000000587,0,0,-3.380825051443737e-05,-9.999999025923074e-05
+14001,1792668125313626548,36665713000000,1792668125309853416,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760949498878724,-0.004554808764922306,0.09057743540393864,0.9999999955750412,-9.108991866227645e-06,7.271838294960779e-06,1.2527117217893356e-05,0.6761,-0.00453,0.090519357336624,1.0,0.0,0.0,0.0,0.017259015631543334,0.26977666687281115,1.0420415058720325,0.020636881251128045,-0.0016467544761265534,0.0005838644742032374,0.14871461785997422,0.20985707145854512,1.1712621444427012,0.014252142001760486,-0.0076306334553306095,0.001355019770134332,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.4258789387384714,0.23529380484735246,0.029742237446924277,-0.00341656885078008,0.10944524702618026,0.10894003716563083,0.7250918013638956,1.0420415058720325,0.6953495639169713,0.6953495639169713,0.7175000000000741,0,0,-5.874579982603911e-05,9.968589428777647e-05
+14133,1792668126413682242,36666813000000,1792668126409853655,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760993394080171,-0.004556678798606426,0.09053424363987357,0.9999999911482189,9.129276776753681e-05,1.0379912906709507e-05,2.653892490887188e-05,0.6761,-0.00453,0.09046490853500895,1.0,0.0,0.0,0.0,-0.002240646843572641,0.2795440574436883,1.132073386506599,0.021615212908179783,-0.0006774329923031732,0.0003584214543186127,0.12921495538485825,0.2196244620294223,1.2612940250772677,0.015230473658812223,-0.006661311971507229,0.0011295767502497074,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.4796171958978987,0.23478409780941445,-0.03341149667602951,0.014109005359766546,0.1542674330725897,0.045227854099618076,0.7250918013638956,1.132073386506599,0.7585032980399251,0.7585032980399251,0.79450000000009,0,0,-3.686915688441849e-05,9.791585184182878e-05
+14265,1792668127513706331,36667913000000,1792668127513853750,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761031342992164,-0.0045650771942257265,0.090502386706106,0.9999999905111218,9.396944259560122e-05,1.2343218572368069e-05,3.792109615101401e-05,0.6761,-0.00453,0.09043332568006751,1.0,0.0,0.0,0.0,-0.0027251506315801866,0.28664155235867866,1.1522868660516707,0.021584735176454907,0.00033088024870224844,0.00035784673786403505,0.1287304515968507,0.22672195694441263,1.2815075046223394,0.015199995927087347,-0.005652998730501808,0.0011290020337951297,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.47240978917176973,0.20516403280399587,-0.028733373200276,0.060103986105383665,0.14051916503641237,0.03339806187591708,0.7250918013638956,1.1522868660516707,0.7538251745641716,0.7538251745641716,0.871500000000106,0,0,-3.0726355802783385e-05,-9.961078770016058e-05
+14376,1792668128438644227,36668838000000,1792668128437853925,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761056475632172,-0.004562629354840901,0.09047347680110648,0.9999999902003457,9.35491543673749e-05,1.6501389709177865e-05,4.4926971820463536e-05,0.6761,-0.00453,0.09039870697428011,1.0,0.0,0.0,0.0,-0.01308693749821388,0.2865032004688321,1.152507211642292,0.021559411265456442,0.001262780128134292,0.00037107097086028305,0.11836866473021701,0.2265836050545661,1.2817278502129608,0.015174672016088886,-0.004721098851069764,0.0011422262667913777,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.5464412634936204,0.16840959593254903,-0.10784549276659305,0.10839046765143372,0.20038911927499026,0.013095481813339069,0.7250918013638956,1.152507211642292,0.8329372941304887,0.8329372941304887,0.9362500000001194,0,0,-4.361725356868818e-05,-8.250981428504218e-05
+14476,1792668129272696603,36669672000000,1792668129269853958,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761064066210792,-0.004568563750576028,0.09043795762378465,0.999999990056925,9.012293707063782e-05,1.8475877509871443e-05,5.3530480789227615e-05,0.6761,-0.00453,0.09035942454754266,1.0,0.0,0.0,0.0,-0.012130356065443423,0.2840614290154096,1.182586081670271,0.021550781708237134,0.0013383009160578595,0.0003480866257997285,0.11932524616298747,0.2241418336011436,1.3118067202409396,0.015166042458869574,-0.004645578063146197,0.0011192419217308232,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.4966478298000271,0.1408333647005191,-0.2097595247790649,0.14614194723752583,0.24407512894026615,0.015230935603182463,0.7250918013638956,1.182586081670271,0.9348513261429605,0.9348513261429605,0.9946300000001315,0,0,-5.125896036670796e-05,9.508978451200302e-05
+14600,1792668130305678879,36670705000000,1792668130305853439,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.676105271252644,-0.00456946905725819,0.09038324905792909,0.9999999893489201,9.218748126554988e-05,1.6465720183157904e-05,6.305055464323848e-05,0.6761,-0.00453,0.09030104290887829,1.0,0.0,0.0,0.0,-0.021303421041416373,0.27794481850683006,1.2025016683567273,0.021351154083306723,0.001338031575168026,0.0003286571232752613,0.11015218118701452,0.21802522309256403,1.331722306927396,0.014966414833939165,-0.00464584740403603,0.001099812419206356,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.5360933214138311,0.13086867611769934,-0.21253955394679316,0.16617618754521857,0.25016856032986406,0.01707658075696046,0.7250918013638956,1.2025016683567273,0.9376313553106888,0.9376313553106888,1.0669400000001463,0,0,-6.33762801918999e-05,-9.794506458516423e-05
+14712,1792668131238680095,36671638000000,1792668131233854016,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761081648963738,-0.0045731051052697105,0.09032730073218963,0.9999999886383796,9.27323049571425e-05,2.113383451725208e-05,7.155547364122179e-05,0.6761,-0.00453,0.09023781432187619,1.0,0.0,0.0,0.0,-0.02150759727411014,0.27989077235414467,1.2423401940882197,0.02153934404245641,0.0013257358913383753,0.00029867635210925115,0.10994800495432075,0.21997117693987867,1.3715608326588884,0.015154604793088852,-0.004658143087865681,0.0010698316480403458,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.5623946941074985,0.09917917572768192,-0.2918059261279039,0.17592732594339644,0.3043668961118702,-0.004865951126933277,0.7250918013638956,1.2423401940882197,1.0168977274917994,1.0168977274917994,1.1322500000001599,0,0,-7.239393464165022e-05,-8.437026377981912e-05
+14815,1792668132097716648,36672497000000,1792668132097853767,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761088966057528,-0.0045741525811845716,0.0902656931528301,0.9999999898246547,7.868782917048698e-05,2.2940482177781647e-05,7.124264828699598e-05,0.6761,-0.00453,0.09017278086880709,1.0,0.0,0.0,0.0,-0.030885843379557062,0.2791592212706947,1.2709172708726029,0.02152302879534928,0.001721324999182118,0.00028713658141255385,0.10056975884887383,0.2192396258564287,1.4001379094432715,0.015138289545981723,-0.004262553980021938,0.0010582918773436485,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.5747012134801716,0.1307927538614813,-0.4314550422666741,0.1733041481714691,0.3915050557936892,0.011569242776187635,0.7250918013638956,1.2709172708726029,1.1565468436305697,1.1565468436305697,1.1923800000001723,0,0,-7.853213936506875e-05,9.984077039971168e-05
+14911,1792668132897721767,36673297000000,1792668132893853726,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761065840356871,-0.004575361354571961,0.09019997549684333,0.9999999940082452,3.222261922339545e-05,2.2247147260552255e-05,4.3510242346344065e-05,0.6761,-0.00453,0.09010849825899583,1.0,0.0,0.0,0.0,-0.0030779831135750446,0.2910466301089698,1.2729301397268498,0.02153477963078114,0.0013178421107412647,0.0002762145936990963,0.12837761911485585,0.2311270346947038,1.4021507782975184,0.015150040381413581,-0.004666036868462791,0.001047369889630191,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6379866988468145,0.16009424363257138,-0.41746107515231123,0.17204648634601039,0.39497528985999714,0.027439664972297093,0.7250918013638956,1.2729301397268498,1.142552876516207,1.142552876516207,1.248380000000184,0,0,-8.477308376522862e-05,9.429988320620026e-05
+15023,1792668133831686755,36674230000000,1792668133825853594,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761099876573965,-0.004574979102491872,0.09012269364758874,0.9999999934534539,3.3697915128503594e-05,2.5768423625808845e-05,5.231056840521835e-05,0.6761,-0.00453,0.0900223459203773,1.0,0.0,0.0,0.0,-0.01262350389728277,0.28388914025903195,1.324363605669284,0.021533029061733933,0.0013130522616016816,-0.0007094421480296812,0.11883209833114812,0.22396954484476594,1.4535842442399527,0.015148289812366374,-0.0046708267176023745,6.17131479014135e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6120103811417275,0.15291155037315704,-0.381810145237759,0.17792523738685462,0.3574629048531864,0.022793341779771645,0.7250918013638956,1.324363605669284,1.1069019466016545,1.1069019466016545,1.3136900000001974,0,0,-9.721890289612756e-05,-9.538340536708318e-05
+15123,1792668134663682877,36675063000000,1792668134657853844,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761099527500388,-0.004565821797462186,0.09004213414289221,0.9999999930220068,3.696895321606876e-05,2.3572164663248e-05,5.896185497609882e-05,0.6761,-0.00453,0.08993814333138951,1.0,0.0,0.0,0.0,-0.010991260246756687,0.2971937089487538,1.3390196785731903,0.022548387786167065,0.0012908825710046092,-0.0007877111087063489,0.1204643419816742,0.2372741135344878,1.468240317143859,0.016163648536799507,-0.004692996408199447,-1.655581277525426e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6169202930428159,0.18796610810278158,-0.5172523514806413,0.17261833527009382,0.4407437762947225,0.04808232093753931,0.7250918013638956,1.3390196785731903,1.242344152844537,1.242344152844537,1.3720000000002095,0,0,-0.0001074023242883263,8.701251805043881e-05
+15219,1792668135463700125,36675863000000,1792668135461853410,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761108378426417,-0.0045648340386594925,0.08995836325173864,0.9999999927486478,3.115899147365708e-05,2.750030414348406e-05,6.494935958368e-05,0.6761,-0.00453,0.0898462268395578,1.0,0.0,0.0,0.0,-0.007188799201726673,0.3072412171232331,1.3471187345860751,0.022551269692476675,0.0012869981628459478,-0.0008025738238956507,0.12426680302670422,0.2473216217089671,1.4763393731567438,0.016166530443109117,-0.004696880816358108,-3.1418527964556e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6652688496350287,0.036773223435460536,-0.5419374298942382,0.21321445611525885,0.46214611585146254,-0.05515964239146119,0.7250918013638956,1.3471187345860751,1.267029231258134,1.267029231258134,1.428000000000221,0,0,-0.00012372942028296562,7.594578718539963e-05
+15295,1792668136097625641,36676497000000,1792668136089853781,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761123957285812,-0.0045720283738493375,0.08988045867003719,0.9999999921007456,2.6073361177103432e-05,3.0093633241968798e-05,7.520589197327506e-05,0.6761,-0.00453,0.08976525488419011,1.0,0.0,0.0,0.0,-0.013348460039068588,0.30769259701403434,1.3594605519926277,0.022520656427593613,0.002297822400113915,-0.0007949380555397898,0.1181071421893623,0.2477730015997683,1.4886811905632964,0.016135917178226055,-0.0036860565790901413,-2.3782759608695165e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6485496482768351,0.2407830385885558,-0.570982682201581,0.16476959866054913,0.4712214468101238,0.08258023307013702,0.7250918013638956,1.3594605519926277,1.2960744835654765,1.2960744835654765,1.4723800000002303,0,0,-0.00013055138419064858,7.209618875071651e-05
+15379,1792668136797722941,36677197000000,1792668136797854009,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761090157441199,-0.004571967141874868,0.08978227002571461,0.9999999911409844,5.153381247162541e-05,2.2756846112776272e-05,7.737756668924612e-05,0.6761,-0.00453,0.08967094861683637,1.0,0.0,0.0,0.0,-0.030000858262266186,0.3040917769216286,1.3728042164453955,0.021499998556069592,0.002314826411504108,-0.0008169237601416894,0.1014547439661647,0.24417218150736258,1.5020248550160642,0.015115259306702034,-0.003669052567699948,-4.5768464210594714e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7099363259002283,0.13391892473840478,-0.6630237271763358,0.20721260285190266,0.5368795277128614,0.020844068490238052,0.7250918013638956,1.3728042164453955,1.3881155285402316,1.3881155285402316,1.5213800000002404,0,0,-0.00013843565934282408,9.999999025923074e-05
+15462,1792668137488665334,36677888000000,1792668137485853156,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761081866930349,-0.004570818280268506,0.08968867186038916,0.9999999938070968,3.8473041686851585e-05,2.4186890099166213e-05,4.199393006727633e-05,0.6761,-0.00453,0.08957404863634076,1.0,0.0,0.0,0.0,-0.013330095920776927,0.30250595915056044,1.383314506456496,0.022522986624619396,0.002068789084239404,-0.0008163083411834301,0.11812550630765396,0.24258636373629444,1.5125351450271647,0.016138247375251838,-0.003915089894964652,-4.5153045252335393e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6987037154553362,0.18771882308287055,-0.6306716571494149,0.21452339753030572,0.5049543295192456,0.06205439094347455,0.7250918013638956,1.383314506456496,1.3557634585133105,1.3557634585133105,1.5697500000002504,0,0,-0.00014096246018643755,-8.793214353731144e-05
+15546,1792668138188740582,36678588000000,1792668138185853653,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.676110020915332,-0.004579096129825149,0.08958138527042908,0.9999999917321106,6.276433299155426e-05,2.30021044607891e-05,5.92468127498744e-05,0.6761,-0.00453,0.08946881042953381,1.0,0.0,0.0,0.0,-0.02208327493370396,0.29386460579419266,1.3920187180411925,0.02149414401415104,0.0023110468895805266,-0.0008338241622925873,0.10937232729472693,0.23394501037992663,1.5212393566118612,0.015109404764783481,-0.0036728320896235295,-6.26688663614926e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.696899379680782,0.12378843178528727,-0.5769659653679488,0.2288991073155651,0.46590267863103335,0.017014901068124158,0.7250918013638956,1.3920187180411925,1.3020577667318443,1.3020577667318443,1.6187500000002606,0,0,-0.0001554974115816884,-9.999398117710995e-05
+15622,1792668138822641491,36679222000000,1792668138821853083,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761077397931597,-0.004575031148160326,0.0894771532015735,0.999999990566128,7.11519565115119e-05,1.7343002330036188e-05,7.033653301472171e-05,0.6761,-0.00453,0.08936509073483069,1.0,0.0,0.0,0.0,-0.030894409463469177,0.2832195858126028,1.4023860110811397,0.02044546006300811,0.003311968045505722,-0.0008450484359969436,0.10056119276496171,0.22329999039833678,1.5316066496518084,0.014060720813640555,-0.0026719109336983344,-7.389314006584893e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7496406564927756,0.0976908733939575,-0.7335646993349817,0.24632276631149744,0.577347477859725,0.0074834027206014606,0.7250918013638956,1.4023860110811397,1.4586565006988774,1.4586565006988774,1.6631300000002698,0,0,-0.0001706250238084087,9.23746870925612e-05
+15694,1792668139422644196,36679822000000,1792668139421853374,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761088972105953,-0.004583940564143159,0.08937416791871992,0.9999999891624287,7.151010598749811e-05,1.843409723552506e-05,8.754710534289736e-05,0.6761,-0.00453,0.089260655963002,1.0,0.0,0.0,0.0,-0.03372566655509385,0.2719986198621959,1.4241554080327978,0.019524385294718016,0.0033553247463193026,-0.0008654785840989294,0.09772993567333704,0.21207902444792992,1.5533760466034665,0.013139646045350457,-0.0026285542328847535,-9.432328816783477e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7874527174549377,0.036540527457525174,-0.6996001542273279,0.2616231096247523,0.5622467551500628,-0.03444801613292892,0.7250918013638956,1.4241554080327978,1.4246919555912236,1.4246919555912236,1.7051300000002785,0,0,-0.0001788902222424601,-9.984387902418063e-05
+15762,1792668139988676196,36680388000000,1792668139985853308,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761043173630444,-0.00459173386038132,0.08926669725796982,0.9999999894147699,5.9760060660160045e-05,8.262031899051846e-06,9.473013539832285e-05,0.6761,-0.00453,0.08915991917679937,1.0,0.0,0.0,0.0,-0.036320937279384624,0.2681116972676507,1.4408595215422102,0.01859718199080563,0.0041620308472167375,-0.0008692099565685878,0.09513466494904627,0.2081921018533847,1.5700801601128789,0.012212442741438071,-0.001821848131987319,-9.805466063749319e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.761911881175327,0.028648128675239713,-0.7064750358278622,0.2684042357309597,0.5538520523329079,-0.0409968577407287,0.7250918013638956,1.4408595215422102,1.4315668371917578,1.4315668371917578,1.7447500000002867,0,0,-0.00017880034659387001,-9.999528568916389e-05
+15834,1792668140588665278,36680988000000,1792668140581854122,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761073755832506,-0.004584131189626833,0.08915745344824698,0.9999999940345482,5.220579450752854e-06,1.712432769036573e-05,5.5256410895294854e-05,0.6761,-0.00453,0.08905022294903774,1.0,0.0,0.0,0.0,-0.030797203405409382,0.28305046433705716,1.451400543495236,0.01978804166878243,0.0033473153935119422,-0.0008883509428033947,0.10065839882302151,0.22313086892279113,1.5806211820659046,0.013403302419414875,-0.002636563585692114,-0.00011719564687230003,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.747349269059966,0.06795681978827926,-0.7668485003836834,0.2808382358588923,0.580489910620411,-0.011316804459695781,0.7250918013638956,1.451400543495236,1.491940301747579,1.491940301747579,1.7867500000002954,0,0,-0.00018621203618926353,-9.449678125961753e-05
+15901,1792668141147742432,36681547000000,1792668141145853427,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760997437439186,-0.004589345563080177,0.08904103544521887,0.9999999929865163,2.416153769078432e-05,1.811013506545211e-06,6.987683480748402e-05,0.6761,-0.00453,0.08894263011492563,1.0,0.0,0.0,0.0,-0.04911136983582981,0.2625121835887842,1.4573204762477565,0.018980476412881607,0.00436674375833955,-0.0008888125674109977,0.08234423239260108,0.2025925881745182,1.5865411148184252,0.01259573716351405,-0.001617135220864506,-0.00011765727147990307,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7885637320650757,0.08849392799368576,-0.80854031400809,0.2815601599000209,0.6123847227699455,0.005862319391300101,0.7250918013638956,1.4573204762477565,1.5336321153719856,1.5336321153719856,1.8258800000003035,0,0,-0.00019724207243114374,-7.405501826948229e-05
+15969,1792668141713706561,36682113000000,1792668141709853799,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760985338234295,-0.004598171724184758,0.0889281491415988,0.9999999906286553,4.955541807461788e-05,3.878834040789327e-07,8.791850782605415e-05,0.6761,-0.00453,0.08882846852917227,1.0,0.0,0.0,0.0,-0.0524289234387815,0.25973613670651,1.4477729806870068,0.018337708783185983,0.005398056755230869,-0.0008759195611705253,0.07902667878964939,0.199816541292244,1.5769936192576754,0.011952969533818426,-0.000585822223973187,-0.00010476426523943061,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7771283072185905,0.032541065868890655,-0.8332735660403073,0.30503739027702076,0.6183508188667968,-0.02544485745406978,0.7250918013638956,1.4477729806870068,1.5583653674042028,1.5583653674042028,1.8655000000003117,0,0,-0.00020871677038714328,-6.340881242558496e-05
+16033,1792668142247712853,36682647000000,1792668142245853383,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761001332864867,-0.004599186652873697,0.08881638418580141,0.9999999894935263,6.138946795869735e-05,-5.271557423416607e-07,9.320336488011601e-05,0.6761,-0.00453,0.08871260752446064,1.0,0.0,0.0,0.0,-0.058599761993633065,0.2506079059441712,1.4497821675063105,0.018344330693953814,0.00540286431930556,-0.0019004206190135473,0.07285584023479783,0.1906883105299052,1.5790028060769792,0.011959591444586255,-0.000581014659898496,-0.0011292653230824527,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.8177224018552741,0.03027477057112059,-0.8013995931650888,0.31513306166258764,0.603678397507614,-0.02812083683849487,0.7250918013638956,1.4497821675063105,1.5264913945289844,1.5264913945289844,1.9028800000003194,0,0,-0.00022437591798016155,-9.999944902550623e-05
+16093,1792668142747741536,36683147000000,1792668142745853743,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760975509672387,-0.004601374702501584,0.08869885832991542,0.999999990663608,4.6430012157721574e-05,-2.0543800621024157e-06,8.919462965206981e-05,0.6761,-0.00453,0.08859743321373238,1.0,0.0,0.0,0.0,-0.06870055548655694,0.2498327182070852,1.4351521412641663,0.01834466563522926,0.005405134332423305,-0.0015655581852265779,0.06275504674187395,0.18991312279281916,1.564372779834835,0.011959926385861705,-0.0005787446467807514,-0.0007944028892954833,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.8368697023489123,-0.013962379992128578,-0.8051169067980184,0.34065306336415485,0.6046835521646747,-0.05950215436788701,0.7250918013638956,1.4351521412641663,1.530208708161914,1.530208708161914,1.9378800000003267,0,0,-0.00023811274700166608,-9.999999025923074e-05
+16149,1792668143213726205,36683613000000,1792668143213852964,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.676095581176383,-0.00460544171614982,0.08858156771020696,0.9999999909595512,3.873449404159689e-05,-5.755425602381643e-06,8.938834421189809e-05,0.6761,-0.00453,0.08848389120747037,1.0,0.0,0.0,0.0,-0.06757032040374698,0.2398486735284609,1.4514530166944661,0.01833436802341775,0.005399197663085052,-0.0008748209398701384,0.0638852818246839,0.17992907811419487,1.5806736552651348,0.011949628774050194,-0.0005846813161190048,-0.00010366564393904379,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7846925443188988,0.020827032203693877,-0.7688469583724691,0.3464071414953158,0.5646253589211232,-0.03361194679809981,0.7250918013638956,1.4514530166944661,1.4939387597363647,1.4939387597363647,1.9705000000003334,0,0,-0.0002488126897390571,-9.999987923692828e-05
+16209,1792668143713704066,36684113000000,1792668143713852617,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760952542365058,-0.004606716685634305,0.0884560497759563,0.9999999908424665,4.06674138924451e-05,-7.877108708706671e-06,8.967744532530397e-05,0.6761,-0.00453,0.08835600501527477,1.0,0.0,0.0,0.0,-0.07654980321979639,0.24943368970127316,1.4512607091828147,0.01790500038217168,0.006413168753162015,-0.0008646870991223382,0.0549057990086345,0.18951409428700716,1.5804813477534834,0.011520261132804124,0.00042928977395795904,-9.353180319124357e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9112436176261652,-0.006941653036254543,-0.8821699819536744,0.3614095803671679,0.6679692238065684,-0.050853773987186414,0.7250918013638956,1.4512607091828147,1.60726178331757,1.60726178331757,2.0055000000003407,0,0,-0.0002647089192245585,-9.999843594699626e-05
+16256,1792668144105724016,36684505000000,1792668144105853862,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760943071098863,-0.00460546911008348,0.08834587898282671,0.9999999900043935,5.075681433337851e-05,-1.0451118206579974e-05,9.353393643912362e-05,0.6761,-0.00453,0.088250584173548,1.0,0.0,0.0,0.0,-0.06748237257743629,0.2422461503242308,1.4806461471137204,0.017282575175605913,0.0064242309970245215,-0.0008958436988815357,0.0639732296509946,0.1823265549099648,1.6098667856843891,0.010897835926238355,0.00044035201782046546,-0.00012468840295044102,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.8654602646774332,-0.007969649890026355,-0.9030464548184649,0.37135104624870097,0.6660503297611454,-0.05125560538823604,0.7250918013638956,1.4806461471137204,1.6281382561823605,1.6281382561823605,2.0329400000003464,0,0,-0.00027341511440601005,-7.327203707519487e-05
+16308,1792668144538671026,36684938000000,1792668144537853083,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760922028091122,-0.00460923517769954,0.0882265285555476,0.999999989257855,5.6961937133830984e-05,-1.459035492912631e-05,9.731193845619058e-05,0.6761,-0.00453,0.08813078818693883,1.0,0.0,0.0,0.0,-0.07659534298738374,0.2391333905512561,1.4811121154185138,0.017275713559424886,0.006645110296208093,-0.0008922588347542203,0.054860259241047156,0.1792137951369901,1.6103327539891825,0.010890974310057328,0.0006612313170040369,-0.0001211035388231257,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9557709895010053,-0.05570360752383776,-0.9392193929873726,0.39533169736668805,0.708146410703024,-0.07884300966271851,0.7250918013638956,1.4811121154185138,1.664311194351268,1.664311194351268,2.0632500000003526,0,0,-0.00027900479593603953,-2.5491719022187158e-06
+16356,1792668144938645378,36685338000000,1792668144937853093,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760911239779546,-0.004615872924060095,0.08810991917020346,0.9999999893064505,4.709606503093462e-05,-1.6565633847825458e-05,0.00010167351555474633,0.6761,-0.00453,0.0880173556491705,1.0,0.0,0.0,0.0,-0.08199350567379261,0.23844272041559672,1.4969772420824874,0.01725115278174618,0.007385710264321443,-0.0008937411493179309,0.04946209655463828,0.17852312500133072,1.626197880653156,0.010866413532378624,0.0014018312851173868,-0.00012258585338683627,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9056341704866084,-0.022750200208096184,-0.9721733856558668,0.39721382528275956,0.7144756149660462,-0.05934960021259168,0.7250918013638956,1.4969772420824874,1.6972651870197624,1.6972651870197624,2.0912500000003584,0,0,-0.00028553612254203644,6.028789553547682e-05
+16404,1792668145338674989,36685738000000,1792668145333853489,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760882425874388,-0.004622220153481957,0.08798502517341751,0.9999999894034349,3.481452966448814e-05,-2.283421370352239e-05,0.00010441523678783613,0.6761,-0.00453,0.0879003218103346,1.0,0.0,0.0,0.0,-0.0852452428505584,0.2392209998309867,1.5110703906219594,0.016454538654891323,0.007413980049656561,-0.0009446127060853577,0.04621035937787249,0.17930140441672068,1.640291029192628,0.010069799405523765,0.0014301010704525043,-0.00017345741015426297,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9566426700534016,-0.09935838799524697,-0.8778880968439478,0.4318934668265925,0.6678223737808355,-0.10861955445408243,0.7250918013638956,1.5110703906219594,1.6029798982078434,1.6029798982078434,2.1192500000003642,0,0,-0.000297712903742113,-9.99898039629798e-05
+16444,1792668145672724479,36686072000000,1792668145669853611,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760851676555041,-0.004621470331012333,0.08787442040818945,0.9999999887714349,3.399163393364915e-05,-2.950321737027078e-05,0.00010896845228392616,0.6761,-0.00453,0.08779912536117207,1.0,0.0,0.0,0.0,-0.08595357879702467,0.2406052298814219,1.5112662328166668,0.01725458485884202,0.0074422507752161145,-0.001448589670733913,0.045502023431406226,0.1806856344671559,1.6404868713873355,0.010869845609474462,0.0014583717960120585,-0.0006774343748028183,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9328455102202925,-0.009261983600017076,-0.9652505492385547,0.41461122707017745,0.7141419051057132,-0.04637726341231961,0.7250918013638956,1.5112662328166668,1.6903423506024504,1.6903423506024504,2.142630000000369,0,0,-0.00031008479135467544,-6.582387094815822e-05
+16492,1792668146072685420,36686472000000,1792668146069853856,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760872779204858,-0.00462432738795841,0.08775711000609458,0.999999989336958,2.661500352573901e-05,-2.4880990375760773e-05,0.00010696507050700215,0.6761,-0.00453,0.08767268821404858,1.0,0.0,0.0,0.0,-0.08272651793905393,0.24822764187461888,1.4906159367021072,0.017253328833937473,0.007435624277857254,-0.0008888590056353184,0.04872908428937696,0.18830804646035287,1.619836575272776,0.010868589584569916,0.0014517452986531976,-0.00011770370970422367,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9405555477063228,-0.023368745672137682,-0.9490945517628282,0.4365517826927657,0.7024627085984941,-0.054683029108536584,0.7250918013638956,1.4906159367021072,1.6741863531267238,1.6741863531267238,2.170630000000375,0,0,-0.0003221179750254307,-9.998167157932442e-05
+16540,1792668146472712362,36686872000000,1792668146469852885,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760850514148544,-0.004624888862564377,0.08762800672589817,0.9999999893883791,2.5097214620483254e-05,-2.739788908744433e-05,0.00010623366576281829,0.6761,-0.00453,0.08754108526855886,1.0,0.0,0.0,0.0,-0.08675478498957154,0.23737811214848498,1.4605502752784492,0.017257714446781487,0.007442947142911069,-0.0008646492909923714,0.044700817238859346,0.17745851673421895,1.5897709138491178,0.010872975197413929,0.001459068163707013,-9.349399506127666e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9813514014317686,-0.09088440770693121,-0.9450920611922942,0.4629748168553486,0.707334380709218,-0.09521465272296101,0.7250918013638956,1.4605502752784492,1.6701838625561898,1.6701838625561898,2.1986300000003807,0,0,-0.000337669902299191,-9.999999025923074e-05
+16580,1792668146805664376,36687205000000,1792668146801853443,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760853430611607,-0.004627337575879239,0.08751688766451808,0.9999999863628515,7.98696323309159e-05,-2.4959257162457656e-05,0.00010823603210866772,0.6761,-0.00453,0.08742627823931433,1.0,0.0,0.0,0.0,-0.0952923456173545,0.23687081327256587,1.4808558568696186,0.01725509779975631,0.007439460551903197,-0.001001687091566993,0.036163256611076396,0.17695121785829984,1.6100764954402873,0.010870358550388752,0.0014555815726991406,-0.0002305317956358982,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0081496863738755,-0.049714979168957424,-0.8706769234173511,0.4625743323192797,0.6657687997826658,-0.07492943361615517,0.7250918013638956,1.4808558568696186,1.5957687247812467,1.5957687247812467,2.2219400000003855,0,0,-0.0003512980786227456,-9.999999025923074e-05
+16620,1792668147138725875,36687538000000,1792668147133853700,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760831006489537,-0.004626705321815518,0.08739661332056527,0.9999999878603026,5.9029833910731226e-05,-2.7848885662009794e-05,0.00010706155863571859,0.6761,-0.00453,0.08730681311879751,1.0,0.0,0.0,0.0,-0.09409890349960998,0.23776641867377574,1.4710432964043274,0.01725538736788159,0.007441143083882261,-0.000873952039549251,0.037356698728820914,0.1778468232595097,1.600263934974996,0.01087064811851403,0.0014572641046782051,-0.00010279674361815633,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0553537477858335,-0.0748904829882686,-0.9317568142161364,0.4763432624956833,0.7155358629325206,-0.09083010704610264,0.7250918013638956,1.4710432964043274,1.656848615580032,1.656848615580032,2.2452500000003903,0,0,-0.0003644765192948026,-9.999980984798924e-05
+16664,1792668147506663633,36687905000000,1792668147505852994,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760816351524849,-0.004630736186185214,0.08726182999639136,0.9999999875812537,4.810775722062437e-05,-3.086990160025379e-05,0.00011407475500762701,0.6761,-0.00453,0.08717036578127126,1.0,0.0,0.0,0.0,-0.0945798081635906,0.22829077807239545,1.4850051043280066,0.01725120181133511,0.0074377334494714065,-0.0008882560364343939,0.03687579406484028,0.16837118265812942,1.6142257428986753,0.010866462561967554,0.0014538544702673503,-0.00011710074050329926,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.01873977207303,-0.03731970370746806,-0.883488198357462,0.4766513947206713,0.6724908063985994,-0.0672808264054554,0.7250918013638956,1.4850051043280066,1.6085799997213575,1.6085799997213575,2.2709400000003956,0,0,-0.0003793948869748861,-9.999924085868912e-05
+16700,1792668147805694065,36688205000000,1792668147805853387,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760852789911826,-0.004629357942630642,0.08715527195999336,0.9999999882571012,3.850820327335323e-05,-2.627461136618724e-05,0.00011293991709617843,0.6761,-0.00453,0.0870545945332002,1.0,0.0,0.0,0.0,-0.09489105458575417,0.23414943570982222,1.5010770220410259,0.017249788391644053,0.007434626500959443,-0.0008983211282655145,0.03656454764267673,0.1742298402955562,1.6302976606116946,0.010865049142276493,0.0014507475217553868,-0.00012716583233441986,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0636023490011137,0.01476466316210525,-0.9373204144052144,0.4726229237743193,0.7206660791972189,-0.030633165493135665,0.7250918013638956,1.5010770220410259,1.66241221576911,1.66241221576911,2.2919400000004,0,0,-0.00039170186455081266,-9.999979597020143e-05
+16740,1792668148138660261,36688538000000,1792668148137853709,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760835077642393,-0.004628846235709566,0.08702027233341902,0.9999999883750187,2.426929846587904e-05,-2.779173283971901e-05,0.00011546188827831323,0.6761,-0.00453,0.08692227061766569,1.0,0.0,0.0,0.0,-0.09559619506372494,0.23883419649419263,1.513105524836698,0.0172232370737032,0.008363193712370324,-0.0008925397454361049,0.035859407164705946,0.17891460107992663,1.6423261634073667,0.010838497824335642,0.002379314733166267,-0.00012138444950501019,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0754111235733954,0.0037511929817909268,-1.0578587453472792,0.4791311088100276,0.8007692968944965,-0.03755695722918623,0.7250918013638956,1.513105524836698,1.7829505467111748,1.7829505467111748,2.315250000000405,0,0,-0.0004032466746808642,9.226051453226631e-05
+16776,1792668148438664067,36688838000000,1792668148437853568,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760859462914326,-0.004623146975155145,0.08690248227366144,0.9999999885200688,1.8194905822542814e-05,-2.3607126965398213e-05,0.00011625134691137767,0.6761,-0.00453,0.08680018814281558,1.0,0.0,0.0,0.0,-0.10309890699874202,0.26810462457570094,1.5014848278718491,0.01824661387491739,0.008426315644670833,-0.0008715314134615706,0.02835669522968887,0.20818502916143491,1.6307054664425178,0.01186187462554983,0.002442436665466777,-0.0001003761175304759,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0907180869233306,-0.04962301057785506,-0.9812643544498629,0.5055959122576391,0.7534925942725301,-0.07511796693700096,0.7250918013638956,1.5014848278718491,1.7063561558137585,1.7063561558137585,2.336250000000409,0,0,-0.00041109701654914863,-9.98793506498174e-05
+16807,1792668148697665690,36689097000000,1792668148697853826,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760827442672102,-0.004624988590549961,0.08678985415299448,0.9999999880896868,1.7303614940379017e-05,-2.783936991090101e-05,0.00011911777834382771,0.6761,-0.00453,0.08669209819096259,1.0,0.0,0.0,0.0,-0.0898457250063164,0.26037962568560585,1.5015107235972631,0.018271686820165146,0.007414288839865333,-0.0008865237342866922,0.0416098772221145,0.20046003027133985,1.6307313621679318,0.01188694757079759,0.0014304098606612776,-0.00011536843835559756,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0939240382605413,-0.02095495911403208,-0.9764812314481769,0.5061206643187796,0.752460565093542,-0.051552138656302524,0.7250918013638956,1.5015107235972631,1.7015730328120724,1.7015730328120724,2.354380000000413,0,0,-0.00042354698523014287,-9.999999025923074e-05
+16843,1792668148997655410,36689397000000,1792668148993853705,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760831615089591,-0.00462325724013514,0.08666559863258749,0.9999999861641882,4.0383234798506256e-05,-2.5793349141208625e-05,0.0001296857183318185,0.6761,-0.00453,0.08656294040420992,1.0,0.0,0.0,0.0,-0.08705688630470566,0.2733384062124618,1.472155643136634,0.01929980632783168,0.0074003259489029815,-0.0008503611041797774,0.04439871592372523,0.2134188107981958,1.6013762817073027,0.012915067078464121,0.0014164469696989258,-7.92058082486828e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.1226026969339136,-0.01881479499681055,-0.9623212040353598,0.517267530588399,0.7535684089900516,-0.04514115439105352,0.7250918013638956,1.472155643136634,1.6874130053992555,1.6874130053992555,2.3753800000004173,0,0,-0.0004379965842058172,-9.999999025923074e-05
+16879,1792668149297704749,36689697000000,1792668149297853961,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760838793933965,-0.004620540116628892,0.0865325345578908,0.9999999820376245,9.643725040800741e-05,-2.3817641156901767e-05,0.0001322882904990831,0.6761,-0.00453,0.08642929892938797,1.0,0.0,0.0,0.0,-0.0952934457459606,0.28703079545719795,1.5022712393308373,0.020281700120280008,0.008383550235727706,-0.0008493120502102872,0.036162156482470294,0.22711120004293192,1.631491877901506,0.01389696087091245,0.0023996712565236508,-7.815675427919249e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.1337286437011378,-0.06667150225414685,-0.8749683515672765,0.5350698795779983,0.7009192037350912,-0.08459749728614467,0.7250918013638956,1.5022712393308373,1.6000601529311722,1.6000601529311722,2.3963800000004216,0,0,-0.0004529965812835864,-9.999999025923074e-05
+16911,1792668149563726289,36689963000000,1792668149561853665,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760777073108463,-0.004618276091571353,0.08640889609418435,0.9999999877234905,5.787756603019841e-05,-2.985765977093823e-05,0.0001084185899379036,0.6761,-0.00453,0.08630717716156751,1.0,0.0,0.0,0.0,-0.07845726007743553,0.2878329140684649,1.5024017933848721,0.020315373388329755,0.00737379894380037,-0.0008628083975352478,0.052998342150995366,0.22791331865419887,1.6316224319555408,0.013930634138962198,0.0013899199645963142,-9.165310160415314e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.1640164435930351,0.03472188866479104,-0.9969790084957905,0.5159323469317697,0.7858740345171517,-0.014891687600542502,0.7250918013638956,1.5024017933848721,1.722070809859686,1.722070809859686,2.4150000000004255,0,0,-0.00046438639908083355,-8.889097377474115e-05
+16943,1792668149830699506,36690230000000,1792668149825853820,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760738416052828,-0.004620536021925503,0.08627802852022808,0.9999999857957005,5.831915563818774e-05,-3.489045518754087e-05,0.00012342202210980662,0.6761,-0.00453,0.08618145646508646,1.0,0.0,0.0,0.0,-0.07811242033966599,0.2743633698233492,1.4855783376322687,0.01930306092870363,0.007400666113058504,-0.001268974807798798,0.0533431818887649,0.2144437744090832,1.6147989762029373,0.012918321679336075,0.0014167871338544474,-0.0004978195118677034,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.1183020054619968,-0.00024241284119638299,-0.8826494055194463,0.5254823560388459,0.7030746795793831,-0.037810846740108935,0.7250918013638956,1.4855783376322687,1.6077412068833419,1.6077412068833419,2.4336900000004293,0,0,-0.0004773382722797744,-9.999999025923074e-05
+16975,1792668150097682751,36690497000000,1792668150093853964,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760741051723129,-0.004622785450094229,0.08615255063095238,0.9999999855424307,5.022199505895708e-05,-3.545559848494823e-05,0.00012875812400596902,0.6761,-0.00453,0.0860523809910003,1.0,0.0,0.0,0.0,-0.09435039215258567,0.2641812825697527,1.4932121809010364,0.019294373873068066,0.0073964416020830745,-0.0008708258452169124,0.03710521007584522,0.2042616871554867,1.622432819471705,0.012909634623700508,0.0014125626228790186,-9.967054928581773e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.2246691167945623,-0.06019386125741645,-0.9277484514450632,0.5493913178220098,0.7588131590472103,-0.08049337667155171,0.7250918013638956,1.4932121809010364,1.652840252808959,1.652840252808959,2.452380000000433,0,0,-0.0004895208021119243,-9.999999025923074e-05
+17007,1792668150363723014,36690763000000,1792668150357853415,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760846258351011,-0.004626846048763208,0.08602997778523863,0.9999999840155748,4.7174198987520816e-05,-2.435685669138267e-05,0.0001435027982470381,0.6761,-0.00453,0.08592043379958499,1.0,0.0,0.0,0.0,-0.10276086575065171,0.2856266489274042,1.4650268166874751,0.020293523821637037,0.0083962557094272,-0.0008191813649773744,0.028694736477779183,0.2257070535131382,1.5942474552581438,0.01390878457226948,0.0024123767302231427,-4.8026069046279745e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.264154279783144,-0.00366259398310095,-0.9644729455541069,0.5337093578949589,0.7948263390790696,-0.039827566162803696,0.7250918013638956,1.4650268166874751,1.6895647469180024,1.6895647469180024,2.471000000000437,0,0,-0.0005026793683069172,-9.999999025923074e-05
+17035,1792668150597716107,36690997000000,1792668150593854679,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760843676520782,-0.004615982317310207,0.08591032422691963,0.9999999904859802,-4.4555638362773294e-06,-2.0791572536726607e-05,0.00010009376774441555,0.6761,-0.00453,0.08580144377766899,1.0,0.0,0.0,0.0,-0.10559876504815027,0.27911516525958646,1.4575363694776204,0.020295196066189243,0.008394604881634564,-0.0008172275118850234,0.025856837180280624,0.21919556984532043,1.5867570080482891,0.013910456816821683,0.002410725902430508,-4.607221595392873e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.2239974578922392,-0.10978710229355264,-0.8645222348249572,0.5848420508405938,0.7155017289216659,-0.10837118511215788,0.7250918013638956,1.4575363694776204,1.5896140361888529,1.5896140361888529,2.4873800000004405,0,0,-0.0005143793660275772,-9.999999025923074e-05
+17064,1792668150832767549,36691232000000,1792668150825853519,DOWN_SETTLE,2,0.0528,0.052802566438913345,0.6760849037787307,-0.00462912235938094,0.08579560721931727,0.9999999859717595,5.707588389886966e-05,-2.1252901421489236e-05,0.0001256582784308501,0.6761,-0.00453,0.08569374164048413,1.0,0.0,0.0,0.0,-0.09774898317659778,0.2985887646337377,1.4725728896174195,0.021314887992549374,0.008374358744949201,-0.0008138176891621037,0.03370661905183311,0.23866916921947165,1.6017935281880882,0.014930148743181814,0.0023904797657451444,-4.2662393231008986e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.2392800633462357,-0.041670075103493215,-0.9297254671783763,0.54731082582776,0.7713829608564488,-0.05923183611561624,0.7250918013638956,1.4725728896174195,1.654817268542272,0.0,0.0,0,0,-0.00023298342542651292,0.0023533679336011407
+17160,1792668151631732394,36692031000000,1792668151629853939,DOWN_PEAK_HOLD,2,0.0528,0.052801910787820816,0.6760597361440829,-0.004621154621795692,0.08571143121742238,0.9999999824806102,6.985361884946033e-05,-6.628971676734382e-05,0.0001311784637228743,0.6761,-0.00453,0.08567153755446927,1.0,0.0,0.0,0.0,-0.0967953012857034,0.24280562435239134,1.0592776301861206,0.017344618458718604,0.007534667503324315,-0.0015688328093890168,0.03466030094272749,0.1828860289381253,1.1884982687567893,0.010959879209351047,0.0015507885241202583,-0.0007976775134579222,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.059396731847955,-0.015464245446842302,-0.4151875920013412,0.5125046629418639,0.4045288419208641,-0.05363060992418635,0.7250918013638956,1.0592776301861206,1.1402793933652369,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/s2/ball_PLA_20/press_depth_02/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,1792668114773324993,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.751085442e-09,-1.691724712e-11,2.438383606e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292350e-01,1.763464662e-06,8.295726893e-01
+1,6.166666667e-01,DOWN_FORCE_DETACH,1792668115969412989,2.432360169e-06,-8.350657265e-06,-4.733752465e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.148477926e-08,-3.050731195e-10,5.345535958e-08,7.015403038e-01,-6.799695944e-06,8.407362074e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293127e-01,1.763176506e-06,8.295727403e-01
+2,1.216666667e+00,DOWN_FORCE_DETACH,1792668117167394322,1.234849562e-05,-2.108310593e-05,-5.082356680e-05,1.133455669e-05,-1.955540804e-05,-3.680282590e-05,1.154636920e-05,-1.952439510e-05,-3.643394626e-05,7.015502200e-01,-1.953214461e-05,8.406901176e-01,7.015492060e-01,-1.800444672e-05,8.407041384e-01,7.017407776e-01,-1.776091352e-05,8.295362529e-01
+3,1.650000000e+00,DOWN_FORCE_DETACH,1792668118068496677,2.143870871e-05,-3.487487755e-05,-1.179838169e-04,2.200168928e-05,-2.684206533e-05,-1.069493520e-04,2.219994433e-05,-2.684315461e-05,-1.061371640e-04,7.015593102e-01,-3.332391623e-05,8.406229574e-01,7.015598732e-01,-2.529110401e-05,8.406339918e-01,7.017514312e-01,-2.507967303e-05,8.294665497e-01
+4,2.150000000e+00,DOWN_FORCE_DETACH,1792668118995969812,3.423476112e-05,-3.429774768e-05,-1.769464428e-04,3.173558116e-05,-3.685349600e-05,-1.672597338e-04,3.197439042e-05,-3.682839335e-05,-1.665951874e-04,7.015721062e-01,-3.274678636e-05,8.405639947e-01,7.015696071e-01,-3.530253468e-05,8.405736815e-01,7.017612056e-01,-3.506491177e-05,8.294060917e-01
+5,2.450000000e+00,DOWN_FORCE_DETACH,1792668119561298606,6.746696747e-05,-4.291090108e-05,-1.858692073e-04,6.241722914e-05,-3.937567298e-05,-1.860183227e-04,6.322187533e-05,-3.934882906e-05,-1.856372353e-04,7.016053384e-01,-4.135993976e-05,8.405550720e-01,7.016002887e-01,-3.782471166e-05,8.405549229e-01,7.017924531e-01,-3.758534748e-05,8.293870496e-01
+6,2.900000000e+00,DOWN_FORCE_DETACH,1792668120425324320,6.928851989e-05,-3.529040998e-05,-2.066084554e-04,6.691397716e-05,-4.379057924e-05,-2.050214722e-04,6.801710599e-05,-4.374243981e-05,-2.047936051e-04,7.016071600e-01,-3.373944866e-05,8.405343327e-01,7.016047855e-01,-4.223961791e-05,8.405359197e-01,7.017972484e-01,-4.197895823e-05,8.293678932e-01
+7,3.383333333e+00,DOWN_FORCE_DETACH,1792668121357530739,6.725401192e-05,-4.352287178e-05,-2.170181284e-04,6.691397716e-05,-4.379057924e-05,-2.050214722e-04,6.818813688e-05,-4.374282751e-05,-2.050778647e-04,7.016051255e-01,-4.197191046e-05,8.405239231e-01,7.016047855e-01,-4.223961791e-05,8.405359197e-01,7.017974194e-01,-4.197934593e-05,8.293676090e-01
+8,3.916666667e+00,DOWN_FORCE_DETACH,1792668122355847839,6.557928795e-05,-4.418043659e-05,-2.207322760e-04,6.691397716e-05,-4.379057924e-05,-2.050214722e-04,6.826282143e-05,-4.374389386e-05,-2.051714312e-04,7.016034508e-01,-4.262947527e-05,8.405202089e-01,7.016047855e-01,-4.223961791e-05,8.405359197e-01,7.017974941e-01,-4.198041228e-05,8.293675154e-01
+9,4.516666667e+00,DOWN_FORCE_DETACH,1792668123487443657,6.708576016e-05,-4.020422869e-05,-2.340239836e-04,6.557444380e-05,-4.251363063e-05,-2.250069817e-04,6.688011439e-05,-4.250066430e-05,-2.250030439e-04,7.016049572e-01,-3.865326736e-05,8.405069172e-01,7.016034459e-01,-4.096266931e-05,8.405159342e-01,7.017961114e-01,-4.073718272e-05,8.293476838e-01
+10,4.900000000e+00,DOWN_FORCE_DETACH,1792668124253697452,7.248295777e-05,-2.377663327e-05,-2.502130076e-04,6.848468072e-05,-3.811473065e-05,-2.460465745e-04,6.973549252e-05,-3.809273843e-05,-2.459210027e-04,7.016103544e-01,-2.222567195e-05,8.404907282e-01,7.016063562e-01,-3.656376933e-05,8.404948946e-01,7.017989668e-01,-3.632925685e-05,8.293267658e-01
+11,5.433333333e+00,DOWN_FORCE_DETACH,1792668125317233938,7.849119796e-05,-3.347828298e-05,-2.785415032e-04,7.758644610e-05,-2.774082976e-05,-2.608534949e-04,7.898269306e-05,-2.771991555e-05,-2.608137449e-04,7.016163627e-01,-3.192732166e-05,8.404623997e-01,7.016154579e-01,-2.618986844e-05,8.404800877e-01,7.018082140e-01,-2.595643397e-05,8.293118731e-01
+12,5.983333333e+00,DOWN_FORCE_DETACH,1792668126415686199,8.571756789e-05,-3.630544431e-05,-3.192474955e-04,7.962405010e-05,-3.632410752e-05,-3.042619342e-04,8.097672547e-05,-3.630775375e-05,-3.040822838e-04,7.016235890e-01,-3.475448299e-05,8.404216937e-01,7.016174955e-01,-3.477314620e-05,8.404366793e-01,7.018102080e-01,-3.454427217e-05,8.292686046e-01
+13,6.550000000e+00,DOWN_FORCE_DETACH,1792668127511255935,8.768736481e-05,-3.655349198e-05,-3.554773195e-04,8.776665824e-05,-3.487433801e-05,-3.438829751e-04,8.928776503e-05,-3.485379955e-05,-3.436355520e-04,7.016255588e-01,-3.500253066e-05,8.403854639e-01,7.016256381e-01,-3.332337669e-05,8.403970582e-01,7.018185190e-01,-3.309031797e-05,8.292290513e-01
+14,7.033333333e+00,DOWN_FORCE_DETACH,1792668128441349403,8.895715154e-05,-4.116279601e-05,-3.837827989e-04,8.887320526e-05,-4.125665807e-05,-3.837188550e-04,9.027501717e-05,-4.123069964e-05,-3.832000652e-04,7.016268286e-01,-3.961183469e-05,8.403571584e-01,7.016267447e-01,-3.970569675e-05,8.403572223e-01,7.018195063e-01,-3.946721806e-05,8.291894868e-01
+15,7.483333333e+00,DOWN_FORCE_DETACH,1792668129276355124,9.213092817e-05,-4.427996316e-05,-4.157980767e-04,9.146082024e-05,-4.560136874e-05,-4.037455897e-04,9.283656996e-05,-4.558865412e-05,-4.034275719e-04,7.016300024e-01,-4.272900184e-05,8.403251431e-01,7.016293323e-01,-4.405040742e-05,8.403371956e-01,7.018220678e-01,-4.382517254e-05,8.291692593e-01
+16,8.016666667e+00,DOWN_FORCE_DETACH,1792668130305447617,9.035677126e-05,-4.636293093e-05,-4.717400230e-04,9.024379825e-05,-5.028541001e-05,-4.696533056e-04,9.138195939e-05,-5.026898593e-05,-4.689581995e-04,7.016282283e-01,-4.481196961e-05,8.402692012e-01,7.016281153e-01,-4.873444869e-05,8.402712879e-01,7.018206132e-01,-4.850550435e-05,8.291037286e-01
+17,8.516666667e+00,DOWN_FORCE_DETACH,1792668131237264122,9.303180727e-05,-5.095537883e-05,-5.277799772e-04,9.027341923e-05,-5.052059157e-05,-5.116997138e-04,9.132905678e-05,-5.054008813e-05,-5.111954435e-04,7.016309033e-01,-4.940441751e-05,8.402131612e-01,7.016281449e-01,-4.896963025e-05,8.402292415e-01,7.018205603e-01,-4.877660655e-05,8.290614914e-01
+18,8.966666667e+00,DOWN_FORCE_DETACH,1792668132101297207,9.242324488e-05,-5.118222427e-05,-5.929564350e-04,9.231360613e-05,-5.109961503e-05,-5.930401763e-04,9.307393301e-05,-5.108342250e-05,-5.921578614e-04,7.016302947e-01,-4.963126295e-05,8.401479848e-01,7.016301851e-01,-4.954865371e-05,8.401479010e-01,7.018223052e-01,-4.931994092e-05,8.289805290e-01
+19,9.366666667e+00,DOWN_FORCE_DETACH,1792668132901470714,9.287830055e-05,-5.078027910e-05,-6.553102479e-04,8.956065564e-05,-4.514784918e-05,-6.385586239e-04,9.011150463e-05,-4.516253920e-05,-6.379014683e-04,7.016307498e-01,-4.922931778e-05,8.400856309e-01,7.016274321e-01,-4.359688786e-05,8.401023826e-01,7.018193428e-01,-4.339905762e-05,8.289347854e-01
+20,9.833333333e+00,DOWN_FORCE_DETACH,1792668133833562335,9.602570404e-05,-4.730160279e-05,-7.308435175e-04,9.471858357e-05,-5.457612650e-05,-7.256084509e-04,9.508935955e-05,-5.459049273e-05,-7.246226613e-04,7.016338972e-01,-4.575064147e-05,8.400100977e-01,7.016325901e-01,-5.302516518e-05,8.400153327e-01,7.018243206e-01,-5.282701115e-05,8.288480642e-01
+21,1.025000000e+01,DOWN_FORCE_DETACH,1792668134663323022,9.503826865e-05,-4.271567113e-05,-8.128549380e-04,9.487025212e-05,-4.297486120e-05,-8.129211655e-04,9.490843892e-05,-4.296586884e-05,-8.117150923e-04,7.016329098e-01,-4.116470981e-05,8.399280862e-01,7.016327417e-01,-4.142389988e-05,8.399280200e-01,7.018241397e-01,-4.120238726e-05,8.287609717e-01
+22,1.065000000e+01,DOWN_FORCE_DETACH,1792668135461342605,9.709689593e-05,-4.268286466e-05,-8.953562614e-04,9.543884786e-05,-4.552304792e-05,-8.785820261e-04,9.523904300e-05,-4.556860260e-05,-8.775682075e-04,7.016349684e-01,-4.113190334e-05,8.398455849e-01,7.016333103e-01,-4.397208659e-05,8.398623592e-01,7.018244703e-01,-4.380512102e-05,8.286951186e-01
+23,1.098333333e+01,DOWN_FORCE_DETACH,1792668136093291094,9.864808705e-05,-4.742141285e-05,-9.732197632e-04,9.565440592e-05,-4.722449424e-05,-9.684585279e-04,9.515650255e-05,-4.724624915e-05,-9.671679557e-04,7.016365196e-01,-4.587045153e-05,8.397677214e-01,7.016335259e-01,-4.567353292e-05,8.397724827e-01,7.018243878e-01,-4.548276757e-05,8.286055189e-01
+24,1.136666667e+01,DOWN_FORCE_DETACH,1792668136793387257,9.200074420e-05,-4.687666524e-05,-1.074914953e-03,9.296427701e-05,-5.496567245e-05,-1.063656748e-03,9.205795243e-05,-5.495505389e-05,-1.062394272e-03,7.016298722e-01,-4.532570392e-05,8.396660262e-01,7.016308358e-01,-5.341471113e-05,8.396772844e-01,7.018212892e-01,-5.319157231e-05,8.285102926e-01
+25,1.173333333e+01,DOWN_FORCE_DETACH,1792668137489450526,9.327221165e-05,-4.771215394e-05,-1.166317221e-03,9.401572455e-05,-4.381043404e-05,-1.148936373e-03,9.276098427e-05,-4.377840165e-05,-1.147854049e-03,7.016311437e-01,-4.616119262e-05,8.395746240e-01,7.016318872e-01,-4.225947272e-05,8.395920048e-01,7.018219922e-01,-4.201492007e-05,8.284248328e-01
+26,1.210000000e+01,DOWN_FORCE_DETACH,1792668138189544660,9.510643395e-05,-5.599000349e-05,-1.273603810e-03,9.568056126e-05,-4.759576654e-05,-1.266179899e-03,9.404404775e-05,-4.755687957e-05,-1.264730116e-03,7.016329779e-01,-5.443904217e-05,8.394673374e-01,7.016335520e-01,-4.604480522e-05,8.394747613e-01,7.018232753e-01,-4.579339799e-05,8.283079567e-01
+27,1.243333333e+01,DOWN_FORCE_DETACH,1792668138821389678,9.108240535e-05,-5.327180666e-05,-1.380579625e-03,9.092991160e-05,-5.345585678e-05,-1.380412340e-03,8.876570500e-05,-5.340894795e-05,-1.378624801e-03,7.016289539e-01,-5.172084534e-05,8.393603616e-01,7.016288014e-01,-5.190489546e-05,8.393605288e-01,7.018179970e-01,-5.164546637e-05,8.281940620e-01
+28,1.275000000e+01,DOWN_FORCE_DETACH,1792668139419445799,9.368241834e-05,-5.904120941e-05,-1.479760024e-03,9.153984174e-05,-5.599617197e-05,-1.463844328e-03,8.898271401e-05,-5.595669085e-05,-1.462348209e-03,7.016315539e-01,-5.749024809e-05,8.392611812e-01,7.016294113e-01,-5.444521064e-05,8.392770969e-01,7.018182140e-01,-5.419320927e-05,8.281103386e-01
+29,1.305000000e+01,DOWN_FORCE_DETACH,1792668139985883700,8.811885261e-05,-6.261031314e-05,-1.588986193e-03,8.885832458e-05,-6.307007399e-05,-1.578722261e-03,8.578524618e-05,-6.301761499e-05,-1.577038769e-03,7.016259903e-01,-6.105935182e-05,8.391519550e-01,7.016267298e-01,-6.151911267e-05,8.391622189e-01,7.018150165e-01,-6.125413341e-05,8.279956481e-01
+30,1.335000000e+01,DOWN_FORCE_DETACH,1792668140585821240,8.948415494e-05,-5.854125554e-05,-1.700854078e-03,8.950188046e-05,-5.852525168e-05,-1.700919562e-03,8.591330742e-05,-5.848238872e-05,-1.699030964e-03,7.016273556e-01,-5.699029422e-05,8.390400871e-01,7.016273734e-01,-5.697429036e-05,8.390400216e-01,7.018151446e-01,-5.671890714e-05,8.278736559e-01
+31,1.363333333e+01,DOWN_FORCE_DETACH,1792668141149516340,8.459906861e-05,-6.631233392e-05,-1.814478522e-03,8.455977612e-05,-6.634997604e-05,-1.814316893e-03,8.056846385e-05,-6.629981626e-05,-1.812269706e-03,7.016224706e-01,-6.476137260e-05,8.389264627e-01,7.016224313e-01,-6.479901472e-05,8.389266243e-01,7.018097997e-01,-6.453633468e-05,8.277604171e-01
+32,1.391666667e+01,DOWN_FORCE_DETACH,1792668141716160808,8.471666623e-05,-6.985108866e-05,-1.926764309e-03,8.376050389e-05,-7.568202814e-05,-1.919881338e-03,7.939356028e-05,-7.560427281e-05,-1.917990048e-03,7.016225881e-01,-6.830012734e-05,8.388141769e-01,7.016216320e-01,-7.413106682e-05,8.388210598e-01,7.018086248e-01,-7.384079123e-05,8.276546968e-01
+33,1.418333333e+01,DOWN_FORCE_DETACH,1792668142247783421,8.521880510e-05,-7.608052654e-05,-2.038604895e-03,8.217414233e-05,-7.814173487e-05,-2.020379458e-03,7.735558925e-05,-7.806795989e-05,-2.018595248e-03,7.016230903e-01,-7.452956522e-05,8.387023363e-01,7.016200456e-01,-7.659077355e-05,8.387205617e-01,7.018065868e-01,-7.630447831e-05,8.275540916e-01
+34,1.443333333e+01,DOWN_FORCE_DETACH,1792668142745529831,8.136007336e-05,-8.272258209e-05,-2.155082282e-03,8.034120572e-05,-7.878722170e-05,-2.140738808e-03,7.499807504e-05,-7.871895149e-05,-2.138921890e-03,7.016192316e-01,-8.117162076e-05,8.385858589e-01,7.016182127e-01,-7.723626038e-05,8.386002024e-01,7.018042293e-01,-7.695546991e-05,8.274337650e-01
+35,1.466666667e+01,DOWN_FORCE_DETACH,1792668143213402814,8.070711771e-05,-8.314299692e-05,-2.273265900e-03,8.070129790e-05,-7.669252129e-05,-2.263533054e-03,7.496224131e-05,-7.661587163e-05,-2.261409618e-03,7.016185786e-01,-8.159203560e-05,8.384676753e-01,7.016185728e-01,-7.514155997e-05,8.384774081e-01,7.018041935e-01,-7.485239005e-05,8.273112772e-01
+36,1.491666667e+01,DOWN_FORCE_DETACH,1792668143711347983,7.720141753e-05,-8.700902580e-05,-2.401598093e-03,7.716532352e-05,-8.711894833e-05,-2.401611901e-03,7.082683829e-05,-8.707519432e-05,-2.399267224e-03,7.016150729e-01,-8.545806448e-05,8.383393431e-01,7.016150368e-01,-8.556798701e-05,8.383393293e-01,7.018000581e-01,-8.531171274e-05,8.271734196e-01
+37,1.513333333e+01,DOWN_FORCE_DETACH,1792668144109563153,7.969129467e-05,-8.678759619e-05,-2.507342750e-03,7.972376557e-05,-8.666177396e-05,-2.507219075e-03,7.305728830e-05,-8.660774996e-05,-2.504997558e-03,7.016175628e-01,-8.523663487e-05,8.382335984e-01,7.016175952e-01,-8.511081264e-05,8.382337221e-01,7.018022885e-01,-8.484426838e-05,8.270676893e-01
+38,1.536666667e+01,DOWN_FORCE_DETACH,1792668144541357467,7.633752397e-05,-9.037124084e-05,-2.630221126e-03,7.742858609e-05,-9.282186398e-05,-2.617917523e-03,7.033659519e-05,-9.272072771e-05,-2.615917919e-03,7.016142090e-01,-8.882027952e-05,8.381107201e-01,7.016153001e-01,-9.127090265e-05,8.381230237e-01,7.017995679e-01,-9.095724613e-05,8.269567689e-01
+39,1.556666667e+01,DOWN_FORCE_DETACH,1792668144941756260,7.543121898e-05,-9.003211726e-05,-2.746192650e-03,7.364756586e-05,-9.212100589e-05,-2.733453491e-03,6.600414729e-05,-9.202739275e-05,-2.731357149e-03,7.016133027e-01,-8.848115594e-05,8.379947485e-01,7.016115190e-01,-9.057004457e-05,8.380074877e-01,7.017952354e-01,-9.026391117e-05,8.268413297e-01
+40,1.578333333e+01,DOWN_FORCE_DETACH,1792668145341420491,7.383728033e-05,-9.693363870e-05,-2.869762207e-03,7.386201051e-05,-9.676254415e-05,-2.869784368e-03,6.573237283e-05,-9.662626843e-05,-2.867458000e-03,7.016117088e-01,-9.538267738e-05,8.378711790e-01,7.016117335e-01,-9.521158283e-05,8.378711568e-01,7.017949636e-01,-9.486278685e-05,8.267052288e-01
+41,1.595000000e+01,DOWN_FORCE_DETACH,1792668145673292651,7.003450785e-05,-9.842427836e-05,-2.980779102e-03,6.975622174e-05,-9.844166161e-05,-2.981086433e-03,6.109900573e-05,-9.828234839e-05,-2.978513854e-03,7.016079060e-01,-9.687331704e-05,8.377601621e-01,7.016076277e-01,-9.689070029e-05,8.377598548e-01,7.017903303e-01,-9.651886681e-05,8.265941730e-01
+42,1.616666667e+01,DOWN_FORCE_DETACH,1792668146073660460,7.236343910e-05,-1.012212616e-04,-3.097879075e-03,7.218723173e-05,-1.012003611e-04,-3.097905609e-03,6.307467570e-05,-1.010485789e-04,-3.095547944e-03,7.016102349e-01,-9.967030031e-05,8.376430621e-01,7.016100587e-01,-9.964939979e-05,8.376430356e-01,7.017923059e-01,-9.928509737e-05,8.264771389e-01
+43,1.638333333e+01,DOWN_FORCE_DETACH,1792668146471362213,7.240346592e-05,-1.013280223e-04,-3.223700590e-03,7.219186823e-05,-1.015663804e-04,-3.223501788e-03,6.264889760e-05,-1.014199990e-04,-3.221265261e-03,7.016102749e-01,-9.977706100e-05,8.375172406e-01,7.016100633e-01,-1.000154190e-04,8.375174394e-01,7.017918802e-01,-9.965651737e-05,8.263514216e-01
+44,1.655000000e+01,DOWN_FORCE_DETACH,1792668146805428821,7.042857978e-05,-1.042314495e-04,-3.338101416e-03,6.803225435e-05,-1.011267317e-04,-3.318999251e-03,5.800527764e-05,-1.009629284e-04,-3.316999470e-03,7.016083001e-01,-1.026804882e-04,8.374028398e-01,7.016059037e-01,-9.957577043e-05,8.374219419e-01,7.017872365e-01,-9.919944678e-05,8.262556874e-01
+45,1.673333333e+01,DOWN_FORCE_DETACH,1792668147137588178,6.838298654e-05,-1.030873153e-04,-3.458331125e-03,6.827512087e-05,-1.035927104e-04,-3.446681243e-03,5.779331101e-05,-1.034204295e-04,-3.444563659e-03,7.016062545e-01,-1.015363540e-04,8.372826101e-01,7.016061466e-01,-1.020417491e-04,8.372942599e-01,7.017870246e-01,-1.016569479e-04,8.261281232e-01
+46,1.691666667e+01,DOWN_FORCE_DETACH,1792668147503365497,6.744007673e-05,-1.016739550e-04,-3.592475182e-03,6.729973390e-05,-1.017738658e-04,-3.592319868e-03,5.630905298e-05,-1.016172413e-04,-3.589777253e-03,7.016053116e-01,-1.001229937e-04,8.371484660e-01,7.016051712e-01,-1.002229045e-04,8.371486213e-01,7.017855403e-01,-9.985375968e-05,8.259829096e-01
+47,1.708333333e+01,DOWN_FORCE_DETACH,1792668147803365424,6.642705169e-05,-1.064533623e-04,-3.705477696e-03,6.691747256e-05,-1.084242601e-04,-3.688455732e-03,5.561574627e-05,-1.082738930e-04,-3.686268534e-03,7.016042985e-01,-1.049024010e-04,8.370354635e-01,7.016047890e-01,-1.068732988e-04,8.370524855e-01,7.017848470e-01,-1.065104114e-04,8.258864183e-01
+48,1.725000000e+01,DOWN_FORCE_DETACH,1792668148135303986,6.924475772e-05,-1.057159838e-04,-3.830862756e-03,6.498406974e-05,-1.076931043e-04,-3.822228847e-03,5.312956364e-05,-1.075474317e-04,-3.820074461e-03,7.016071162e-01,-1.041650224e-04,8.369100784e-01,7.016028556e-01,-1.061421429e-04,8.369187123e-01,7.017823608e-01,-1.057839501e-04,8.257526124e-01
+49,1.741666667e+01,DOWN_FORCE_DETACH,1792668148435367184,7.020958740e-05,-1.008896934e-04,-3.955561422e-03,6.996156534e-05,-1.011864227e-04,-3.955196405e-03,5.767832193e-05,-1.010286744e-04,-3.952945410e-03,7.016080811e-01,-9.933873211e-05,8.367853798e-01,7.016078330e-01,-9.963546133e-05,8.367857448e-01,7.017869096e-01,-9.926519278e-05,8.256197414e-01
+50,1.755000000e+01,DOWN_FORCE_DETACH,1792668148701383638,6.374828335e-05,-9.777221674e-05,-4.072049233e-03,6.360557190e-05,-9.775333684e-05,-4.072172235e-03,5.080257964e-05,-9.762545552e-05,-4.069778699e-03,7.016016198e-01,-9.622125541e-05,8.366688920e-01,7.016014771e-01,-9.620237552e-05,8.366687690e-01,7.017800338e-01,-9.586197394e-05,8.255029081e-01
+51,1.770000000e+01,DOWN_FORCE_DETACH,1792668149001448590,6.793496019e-05,-9.742823493e-05,-4.193277793e-03,6.783494311e-05,-9.751547747e-05,-4.193214367e-03,5.461788127e-05,-9.735714689e-05,-4.190898691e-03,7.016058064e-01,-9.587727361e-05,8.365476634e-01,7.016057064e-01,-9.596451615e-05,8.365477268e-01,7.017838491e-01,-9.559366531e-05,8.253817882e-01
+52,1.785000000e+01,DOWN_FORCE_DETACH,1792668149299414445,6.883832820e-05,-9.740911397e-05,-4.321392611e-03,6.709535512e-05,-9.591033908e-05,-4.307540397e-03,5.342701333e-05,-9.573660900e-05,-4.305548980e-03,7.016067098e-01,-9.585815265e-05,8.364195486e-01,7.016049668e-01,-9.435937776e-05,8.364334008e-01,7.017826583e-01,-9.397312742e-05,8.252671379e-01
+53,1.798333333e+01,DOWN_FORCE_DETACH,1792668149565611302,6.244672585e-05,-9.495406900e-05,-4.447458863e-03,6.370880747e-05,-9.472695751e-05,-4.432612491e-03,4.953452881e-05,-9.452658087e-05,-4.430697138e-03,7.016003182e-01,-9.340310768e-05,8.362934823e-01,7.016015803e-01,-9.317599619e-05,8.363083287e-01,7.017787658e-01,-9.276309929e-05,8.251419897e-01
+54,1.811666667e+01,DOWN_FORCE_DETACH,1792668149831437413,5.955390237e-05,-9.916230557e-05,-4.577055786e-03,5.985196420e-05,-9.920056963e-05,-4.560309646e-03,4.512820650e-05,-9.900895033e-05,-4.558435500e-03,7.015974254e-01,-9.761134425e-05,8.361638854e-01,7.015977234e-01,-9.764960831e-05,8.361806315e-01,7.017743595e-01,-9.724546875e-05,8.250142513e-01
+55,1.825000000e+01,DOWN_FORCE_DETACH,1792668150099330746,5.939027015e-05,-1.008393040e-04,-4.702058750e-03,5.922562472e-05,-1.010158759e-04,-4.701888603e-03,4.397003190e-05,-1.007781084e-04,-4.699946068e-03,7.015972618e-01,-9.928834263e-05,8.360388824e-01,7.015970971e-01,-9.946491463e-05,8.360390526e-01,7.017732013e-01,-9.901462679e-05,8.248727408e-01
+56,1.838333333e+01,DOWN_FORCE_DETACH,1792668150363433512,6.971135372e-05,-1.037399224e-04,-4.825011296e-03,6.673485082e-05,-1.055175621e-04,-4.811286578e-03,5.123518748e-05,-1.052785909e-04,-4.809483804e-03,7.016075828e-01,-1.021889611e-04,8.359159299e-01,7.016046063e-01,-1.039666007e-04,8.359296546e-01,7.017804664e-01,-1.035151093e-04,8.247632030e-01
+57,1.850000000e+01,DOWN_FORCE_DETACH,1792668150597432873,6.947859962e-05,-9.316072411e-05,-4.946099739e-03,6.919282057e-05,-9.346815590e-05,-4.945992262e-03,5.331643985e-05,-9.326266405e-05,-4.943997654e-03,7.016073501e-01,-9.160976279e-05,8.357948414e-01,7.016070643e-01,-9.191719457e-05,8.357949489e-01,7.017825477e-01,-9.149918247e-05,8.246286892e-01
+58,1.861666667e+01,DOWN_SETTLE,1792668150829344953,6.980739039e-05,-1.032031317e-04,-5.056987115e-03,7.100934730e-05,-1.026701721e-04,-5.044562197e-03,5.482554453e-05,-1.024641004e-04,-5.042897708e-03,7.016076789e-01,-1.016521704e-04,8.356839541e-01,7.016088808e-01,-1.011192108e-04,8.356963790e-01,7.017840568e-01,-1.007006188e-04,8.245297891e-01
+59,1.901666667e+01,DOWN_PEAK_HOLD,1792668151627465149,4.458620340e-05,-9.483564277e-05,-5.142829162e-03,4.792707395e-05,-9.965423840e-05,-5.133221502e-03,3.080490533e-05,-9.952794862e-05,-5.133003393e-03,7.015824577e-01,-9.328468145e-05,8.355981120e-01,7.015857986e-01,-9.810327708e-05,8.356077197e-01,7.017600362e-01,-9.776446704e-05,8.244396834e-01

Part2/Fixed/s2/ball_PLA_20/press_depth_02/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,-3.7095e-03,2.1405e-03,2.4559e+00,-3.6985e-02,3.6539e-02,-6.0697e-05,2.0002e-04,-6.1868e-05,2.4557e-05,4.9472e-06,1.2126e-05,-7.8806e-08,2.1081e-04,1.3096e-05
+1,6.1667e-01,DOWN_FORCE_DETACH,1.2604e-04,3.2902e-04,1.0618e-03,2.4586e+00,-3.6896e-02,3.6813e-02,-7.1646e-05,4.2385e-03,-1.1405e-03,2.6643e-03,9.4045e-05,2.8674e-04,-1.1028e-05,5.1346e-03,3.0197e-04
+2,1.2167e+00,DOWN_FORCE_DETACH,2.5285e-04,-2.5854e-03,7.0705e-03,2.4747e+00,-3.7306e-02,3.6604e-02,-6.9808e-05,1.3241e-03,4.8681e-03,1.8767e-02,-3.1608e-04,7.7259e-05,-9.1905e-06,1.9433e-02,3.2551e-04
+3,1.6500e+00,DOWN_FORCE_DETACH,3.7915e-04,-3.5820e-03,9.8747e-03,2.4907e+00,-3.7482e-02,3.6516e-02,-6.7262e-05,3.2750e-04,7.6724e-03,3.4788e-02,-4.9255e-04,-1.0896e-05,-6.6438e-06,3.5626e-02,4.9271e-04
+4,2.1500e+00,DOWN_FORCE_DETACH,5.0799e-04,-6.0864e-03,1.4556e-02,2.4938e+00,-3.7762e-02,3.6328e-02,-6.1674e-05,-2.1769e-03,1.2354e-02,3.7957e-02,-7.7217e-04,-1.9876e-04,-1.0557e-06,3.9976e-02,7.9735e-04
+5,2.4500e+00,DOWN_FORCE_DETACH,6.4114e-04,-1.2442e-02,1.5586e-02,2.4831e+00,-3.7817e-02,3.5914e-02,-5.7340e-05,-8.5320e-03,1.3384e-02,2.7164e-02,-8.2717e-04,-6.1223e-04,3.2777e-06,3.1461e-02,1.0291e-03
+6,2.9000e+00,DOWN_FORCE_DETACH,7.6208e-04,-1.0520e-02,1.6266e-02,2.4678e+00,-3.7865e-02,3.6022e-02,-4.7966e-05,-6.6103e-03,1.4064e-02,1.1889e-02,-8.7513e-04,-5.0440e-04,1.2652e-05,1.9566e-02,1.0102e-03
+7,3.3833e+00,DOWN_FORCE_DETACH,8.8930e-04,-3.2073e-03,1.6462e-02,2.4546e+00,-3.7902e-02,3.6529e-02,-3.6216e-05,7.0217e-04,1.4260e-02,-1.2710e-03,-9.1229e-04,2.4959e-06,2.4402e-05,1.4334e-02,9.1262e-04
+8,3.9167e+00,DOWN_FORCE_DETACH,1.0161e-03,1.8333e-03,1.6958e-02,2.4486e+00,-3.7972e-02,3.6915e-02,-1.0521e-05,5.7428e-03,1.4756e-02,-7.3125e-03,-9.8217e-04,3.8881e-04,5.0097e-05,1.7441e-02,1.0575e-03
+9,4.5167e+00,DOWN_FORCE_DETACH,1.1415e-03,3.9826e-03,1.6583e-02,2.4560e+00,-3.7953e-02,3.7058e-02,5.4347e-06,7.8921e-03,1.4380e-02,1.5545e-04,-9.6367e-04,5.3188e-04,6.6053e-05,1.6404e-02,1.1027e-03
+10,4.9000e+00,DOWN_FORCE_DETACH,1.2722e-03,3.6078e-03,1.5620e-02,2.4589e+00,-3.7894e-02,3.7036e-02,4.4359e-06,7.5173e-03,1.3417e-02,3.0582e-03,-9.0466e-04,5.0948e-04,6.5054e-05,1.5681e-02,1.0403e-03
+11,5.4333e+00,DOWN_FORCE_DETACH,1.3938e-03,8.5926e-04,1.1851e-02,2.4601e+00,-3.7643e-02,3.6846e-02,1.5552e-06,4.7688e-03,9.6490e-03,4.1673e-03,-6.5371e-04,3.1918e-04,6.2173e-05,1.1542e-02,7.3012e-04
+12,5.9833e+00,DOWN_FORCE_DETACH,1.5240e-03,3.2483e-03,1.3836e-02,2.4680e+00,-3.7775e-02,3.6995e-02,1.8914e-06,7.1578e-03,1.1634e-02,1.2074e-02,-7.8564e-04,4.6843e-04,6.2509e-05,1.8231e-02,9.1682e-04
+13,6.5500e+00,DOWN_FORCE_DETACH,1.6493e-03,3.2864e-03,1.3220e-02,2.4706e+00,-3.7747e-02,3.6997e-02,2.9201e-06,7.1960e-03,1.1018e-02,1.4720e-02,-7.5676e-04,4.7063e-04,6.3538e-05,1.9744e-02,8.9342e-04
+14,7.0333e+00,DOWN_FORCE_DETACH,1.7757e-03,6.0762e-03,1.3972e-02,2.4672e+00,-3.7807e-02,3.7189e-02,5.2935e-06,9.9857e-03,1.1770e-02,1.1298e-02,-8.1696e-04,6.6241e-04,6.5911e-05,1.9129e-02,1.0538e-03
+15,7.4833e+00,DOWN_FORCE_DETACH,1.9045e-03,6.0389e-03,1.5963e-02,2.4736e+00,-3.7948e-02,3.7189e-02,8.8761e-06,9.9484e-03,1.3761e-02,1.7701e-02,-9.5805e-04,6.6254e-04,6.9494e-05,2.4529e-02,1.1669e-03
+16,8.0167e+00,DOWN_FORCE_DETACH,2.0304e-03,8.3684e-03,1.6772e-02,2.4791e+00,-3.8008e-02,3.7341e-02,1.3619e-05,1.2278e-02,1.4570e-02,2.3190e-02,-1.0185e-03,8.1493e-04,7.4237e-05,3.0014e-02,1.3065e-03
+17,8.5167e+00,DOWN_FORCE_DETACH,2.1583e-03,8.1356e-03,1.7591e-02,2.4837e+00,-3.8050e-02,3.7327e-02,1.7325e-05,1.2045e-02,1.5389e-02,2.7776e-02,-1.0602e-03,8.0015e-04,7.7943e-05,3.3962e-02,1.3305e-03
+18,8.9667e+00,DOWN_FORCE_DETACH,2.2864e-03,7.5843e-03,1.7267e-02,2.4882e+00,-3.8002e-02,3.7283e-02,1.9789e-05,1.1494e-02,1.5064e-02,3.2280e-02,-1.0124e-03,7.5627e-04,8.0407e-05,3.7430e-02,1.2662e-03
+19,9.3667e+00,DOWN_FORCE_DETACH,2.4096e-03,8.9104e-03,1.6588e-02,2.4942e+00,-3.7920e-02,3.7365e-02,2.0067e-05,1.2820e-02,1.4386e-02,3.8268e-02,-9.2980e-04,8.3851e-04,8.0685e-05,4.2846e-02,1.2546e-03
+20,9.8333e+00,DOWN_FORCE_DETACH,2.5373e-03,7.4756e-03,1.6719e-02,2.4962e+00,-3.7891e-02,3.7269e-02,1.6107e-05,1.1385e-02,1.4517e-02,4.0284e-02,-9.0117e-04,7.4197e-04,7.6725e-05,4.4308e-02,1.1698e-03
+21,1.0250e+01,DOWN_FORCE_DETACH,2.6656e-03,9.0376e-03,1.4672e-02,2.5032e+00,-3.7754e-02,3.7366e-02,9.3671e-06,1.2947e-02,1.2470e-02,4.7343e-02,-7.6376e-04,8.3991e-04,6.9985e-05,5.0640e-02,1.1374e-03
+22,1.0650e+01,DOWN_FORCE_DETACH,2.7921e-03,9.2240e-03,1.3759e-02,2.5105e+00,-3.7700e-02,3.7377e-02,2.1542e-06,1.3134e-02,1.1557e-02,5.4577e-02,-7.1063e-04,8.5089e-04,6.2772e-05,5.7312e-02,1.1104e-03
+23,1.0983e+01,DOWN_FORCE_DETACH,2.9165e-03,9.3750e-03,1.4021e-02,2.5165e+00,-3.7719e-02,3.7385e-02,-1.2832e-06,1.3285e-02,1.1819e-02,6.0606e-02,-7.2908e-04,8.5865e-04,5.9335e-05,6.3161e-02,1.1280e-03
+24,1.1367e+01,DOWN_FORCE_DETACH,3.0496e-03,1.0535e-02,1.7080e-02,2.5214e+00,-3.7895e-02,3.7456e-02,-8.3458e-07,1.4445e-02,1.4878e-02,6.5464e-02,-9.0550e-04,9.2957e-04,5.9783e-05,6.8670e-02,1.2991e-03
+25,1.1733e+01,DOWN_FORCE_DETACH,3.1702e-03,9.8422e-03,1.6464e-02,2.5198e+00,-3.7824e-02,3.7412e-02,7.8299e-07,1.3752e-02,1.4261e-02,6.3908e-02,-8.3457e-04,8.8497e-04,6.1401e-05,6.6908e-02,1.2180e-03
+26,1.2100e+01,DOWN_FORCE_DETACH,3.2964e-03,8.9356e-03,1.7407e-02,2.5220e+00,-3.7861e-02,3.7349e-02,2.4738e-06,1.2845e-02,1.5204e-02,6.6090e-02,-8.7115e-04,8.2218e-04,6.3092e-05,6.9022e-02,1.1995e-03
+27,1.2433e+01,DOWN_FORCE_DETACH,3.4274e-03,8.9960e-03,1.9245e-02,2.5308e+00,-3.7966e-02,3.7345e-02,3.8253e-06,1.2905e-02,1.7043e-02,7.4954e-02,-9.7659e-04,8.1852e-04,6.4443e-05,7.7943e-02,1.2759e-03
+28,1.2750e+01,DOWN_FORCE_DETACH,3.5539e-03,7.4415e-03,2.0525e-02,2.5384e+00,-3.8052e-02,3.7236e-02,4.4551e-06,1.1351e-02,1.8322e-02,8.2497e-02,-1.0627e-03,7.0993e-04,6.5073e-05,8.5266e-02,1.2797e-03
+29,1.3050e+01,DOWN_FORCE_DETACH,3.6793e-03,5.0795e-03,2.2363e-02,2.5421e+00,-3.8181e-02,3.7072e-02,4.1301e-06,8.9891e-03,2.0161e-02,8.6188e-02,-1.1907e-03,5.4515e-04,6.4748e-05,8.8969e-02,1.3112e-03
+30,1.3350e+01,DOWN_FORCE_DETACH,3.8103e-03,2.5117e-03,2.3098e-02,2.5397e+00,-3.8226e-02,3.6894e-02,1.9537e-06,6.4212e-03,2.0895e-02,8.3840e-02,-1.2364e-03,3.6751e-04,6.2572e-05,8.6643e-02,1.2914e-03
+31,1.3633e+01,DOWN_FORCE_DETACH,3.9355e-03,4.6975e-03,2.4120e-02,2.5413e+00,-3.8280e-02,3.7027e-02,-1.0045e-06,8.6070e-03,2.1917e-02,8.5373e-02,-1.2905e-03,5.0047e-04,5.9613e-05,8.8561e-02,1.3854e-03
+32,1.3917e+01,DOWN_FORCE_DETACH,4.0659e-03,8.0825e-03,2.7360e-02,2.5455e+00,-3.8478e-02,3.7250e-02,-2.9784e-06,1.1992e-02,2.5158e-02,8.9617e-02,-1.4880e-03,7.2324e-04,5.7640e-05,9.3851e-02,1.6554e-03
+33,1.4183e+01,DOWN_FORCE_DETACH,4.1870e-03,8.4437e-03,2.9199e-02,2.5485e+00,-3.8581e-02,3.7278e-02,-5.3432e-06,1.2353e-02,2.6996e-02,9.2603e-02,-1.5917e-03,7.5192e-04,5.5275e-05,9.7246e-02,1.7612e-03
+34,1.4433e+01,DOWN_FORCE_DETACH,4.3119e-03,9.2457e-03,2.9111e-02,2.5533e+00,-3.8564e-02,3.7330e-02,-7.8097e-06,1.3155e-02,2.6908e-02,9.7398e-02,-1.5741e-03,8.0376e-04,5.2808e-05,1.0190e-01,1.7682e-03
+35,1.4667e+01,DOWN_FORCE_DETACH,4.4400e-03,1.0191e-02,2.8375e-02,2.5569e+00,-3.8517e-02,3.7391e-02,-9.0666e-06,1.4100e-02,2.6173e-02,1.0097e-01,-1.5273e-03,8.6452e-04,5.1551e-05,1.0526e-01,1.7558e-03
+36,1.4917e+01,DOWN_FORCE_DETACH,4.5746e-03,1.1653e-02,2.8716e-02,2.5614e+00,-3.8538e-02,3.7489e-02,-9.7239e-06,1.5562e-02,2.6513e-02,1.0551e-01,-1.5478e-03,9.6204e-04,5.0894e-05,1.0990e-01,1.8232e-03
+37,1.5133e+01,DOWN_FORCE_DETACH,4.6928e-03,1.1243e-02,2.9810e-02,2.5592e+00,-3.8595e-02,3.7467e-02,-1.0388e-05,1.5152e-02,2.7608e-02,1.0332e-01,-1.6052e-03,9.4058e-04,5.0230e-05,1.0801e-01,1.8612e-03
+38,1.5367e+01,DOWN_FORCE_DETACH,4.8240e-03,1.0687e-02,3.2191e-02,2.5601e+00,-3.8720e-02,3.7433e-02,-1.0528e-05,1.4596e-02,2.9988e-02,1.0418e-01,-1.7302e-03,9.0600e-04,5.0089e-05,1.0939e-01,1.9537e-03
+39,1.5567e+01,DOWN_FORCE_DETACH,4.9482e-03,1.2095e-02,3.4775e-02,2.5631e+00,-3.8858e-02,3.7523e-02,-9.5026e-06,1.6004e-02,3.2573e-02,1.0725e-01,-1.8681e-03,9.9597e-04,5.1115e-05,1.1323e-01,2.1177e-03
+40,1.5783e+01,DOWN_FORCE_DETACH,5.0810e-03,1.1167e-02,3.5603e-02,2.5628e+00,-3.8883e-02,3.7463e-02,-7.8648e-06,1.5076e-02,3.3400e-02,1.0693e-01,-1.8932e-03,9.3689e-04,5.2753e-05,1.1304e-01,2.1130e-03
+41,1.5950e+01,DOWN_FORCE_DETACH,5.2018e-03,9.9866e-03,3.7556e-02,2.5629e+00,-3.8989e-02,3.7386e-02,-6.2290e-06,1.3896e-02,3.5354e-02,1.0706e-01,-1.9988e-03,8.5908e-04,5.4389e-05,1.1360e-01,2.1763e-03
+42,1.6167e+01,DOWN_FORCE_DETACH,5.3315e-03,8.2808e-03,3.9497e-02,2.5650e+00,-3.9090e-02,3.7269e-02,-4.5920e-06,1.2190e-02,3.7295e-02,1.0910e-01,-2.1006e-03,7.4233e-04,5.6026e-05,1.1594e-01,2.2286e-03
+43,1.6383e+01,DOWN_FORCE_DETACH,5.4620e-03,7.9409e-03,3.9504e-02,2.5635e+00,-3.9077e-02,3.7240e-02,-4.2070e-06,1.1850e-02,3.7302e-02,1.0758e-01,-2.0877e-03,7.1318e-04,5.6411e-05,1.1447e-01,2.2069e-03
+44,1.6550e+01,DOWN_FORCE_DETACH,5.5792e-03,9.5245e-03,4.0061e-02,2.5647e+00,-3.9102e-02,3.7337e-02,-4.6493e-06,1.3434e-02,3.7859e-02,1.0886e-01,-2.1126e-03,8.1064e-04,5.5969e-05,1.1603e-01,2.2635e-03
+45,1.6733e+01,DOWN_FORCE_DETACH,5.7068e-03,9.8400e-03,4.0481e-02,2.5656e+00,-3.9116e-02,3.7356e-02,-5.8782e-06,1.3749e-02,3.8278e-02,1.0970e-01,-2.1264e-03,8.2932e-04,5.4740e-05,1.1700e-01,2.2831e-03
+46,1.6917e+01,DOWN_FORCE_DETACH,5.8454e-03,1.1508e-02,4.0005e-02,2.5714e+00,-3.9077e-02,3.7462e-02,-7.5589e-06,1.5418e-02,3.7802e-02,1.1554e-01,-2.0873e-03,9.3541e-04,5.3059e-05,1.2254e-01,2.2880e-03
+47,1.7083e+01,DOWN_FORCE_DETACH,5.9628e-03,1.2115e-02,3.9571e-02,2.5715e+00,-3.9046e-02,3.7503e-02,-9.1246e-06,1.6024e-02,3.7368e-02,1.1559e-01,-2.0559e-03,9.7685e-04,5.1493e-05,1.2254e-01,2.2767e-03
+48,1.7250e+01,DOWN_FORCE_DETACH,6.0933e-03,1.2754e-02,3.9838e-02,2.5740e+00,-3.9052e-02,3.7547e-02,-1.1688e-05,1.6664e-02,3.7636e-02,1.1815e-01,-2.0624e-03,1.0203e-03,4.8930e-05,1.2512e-01,2.3015e-03
+49,1.7417e+01,DOWN_FORCE_DETACH,6.2223e-03,1.0820e-02,3.8961e-02,2.5671e+00,-3.8979e-02,3.7426e-02,-1.5757e-05,1.4729e-02,3.6759e-02,1.1118e-01,-1.9896e-03,8.9984e-04,4.4861e-05,1.1802e-01,2.1841e-03
+50,1.7550e+01,DOWN_FORCE_DETACH,6.3439e-03,1.1007e-02,3.8899e-02,2.5712e+00,-3.8964e-02,3.7436e-02,-1.9187e-05,1.4917e-02,3.6697e-02,1.1528e-01,-1.9746e-03,9.0952e-04,4.1431e-05,1.2190e-01,2.1744e-03
+51,1.7700e+01,DOWN_FORCE_DETACH,6.4674e-03,1.0196e-02,3.7583e-02,2.5713e+00,-3.8872e-02,3.7383e-02,-2.1505e-05,1.4106e-02,3.5381e-02,1.1538e-01,-1.8818e-03,8.5669e-04,3.9113e-05,1.2150e-01,2.0680e-03
+52,1.7850e+01,DOWN_FORCE_DETACH,6.5989e-03,9.2264e-03,3.7550e-02,2.5693e+00,-3.8855e-02,3.7319e-02,-2.1520e-05,1.3136e-02,3.5347e-02,1.1343e-01,-1.8655e-03,7.9262e-04,3.9097e-05,1.1954e-01,2.0273e-03
+53,1.7983e+01,DOWN_FORCE_DETACH,6.7285e-03,8.6709e-03,3.7137e-02,2.5660e+00,-3.8812e-02,3.7282e-02,-2.0098e-05,1.2580e-02,3.4935e-02,1.1013e-01,-1.8219e-03,7.5543e-04,4.0520e-05,1.1622e-01,1.9728e-03
+54,1.8117e+01,DOWN_FORCE_DETACH,6.8590e-03,8.7651e-03,3.8388e-02,2.5650e+00,-3.8884e-02,3.7286e-02,-1.8608e-05,1.2675e-02,3.6186e-02,1.0915e-01,-1.8947e-03,7.5953e-04,4.2010e-05,1.1569e-01,2.0417e-03
+55,1.8250e+01,DOWN_FORCE_DETACH,6.9871e-03,9.4160e-03,3.9453e-02,2.5600e+00,-3.8950e-02,3.7328e-02,-1.7758e-05,1.3325e-02,3.7251e-02,1.0410e-01,-1.9602e-03,8.0171e-04,4.2860e-05,1.1137e-01,2.1183e-03
+56,1.8383e+01,DOWN_FORCE_DETACH,7.1136e-03,8.5522e-03,4.1967e-02,2.5562e+00,-3.9095e-02,3.7273e-02,-1.6721e-05,1.2462e-02,3.9764e-02,1.0033e-01,-2.1052e-03,7.4645e-04,4.3897e-05,1.0864e-01,2.2341e-03
+57,1.8500e+01,DOWN_FORCE_DETACH,7.2435e-03,8.2278e-03,4.1630e-02,2.5578e+00,-3.9069e-02,3.7250e-02,-1.5873e-05,1.2137e-02,3.9428e-02,1.0192e-01,-2.0793e-03,7.2380e-04,4.4745e-05,1.0995e-01,2.2022e-03
+58,1.8617e+01,DOWN_SETTLE,7.3591e-03,8.0526e-03,3.8853e-02,2.5575e+00,-3.8912e-02,3.7237e-02,-1.5329e-05,1.1962e-02,3.6650e-02,1.0163e-01,-1.9220e-03,7.1085e-04,4.5289e-05,1.0870e-01,2.0498e-03
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The diff for this file is too large to render. See raw diff

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Part2/Fixed/s2/ball_PLA_20/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/s2/ball_PLA_20/press_depth_02/up/real_sim_motion_alignment.csv ADDED Viewed

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

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Part2/Fixed/s2/ball_PLA_20/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
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+1,1.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.4840e-05,-2.5150e-03,1.7776e-03,2.4565e+00,-3.6956e-02,3.6612e-02,-6.1423e-05,1.3945e-03,-4.2487e-04,5.8270e-04,3.4209e-05,8.5920e-05,-8.0692e-07,1.5699e-03,9.2483e-05
+2,3.0000e-01,WAIT_W2,6.8782e-05,-1.5316e-03,1.5276e-03,2.4573e+00,-3.6936e-02,3.6676e-02,-6.2396e-05,2.3779e-03,-6.7486e-04,1.3716e-03,5.4259e-05,1.4937e-04,-1.7795e-06,2.8269e-03,1.5893e-04
+3,4.5000e-01,WAIT_W2,1.0456e-04,-2.4394e-04,1.2158e-03,2.4582e+00,-3.6909e-02,3.6768e-02,-7.7028e-05,3.6656e-03,-9.8665e-04,2.3053e-03,8.0608e-05,2.4185e-04,-1.6412e-05,4.4412e-03,2.5545e-04
+4,6.3333e-01,WAIT_W2,1.3697e-04,1.3521e-04,1.2000e-03,2.4585e+00,-3.6909e-02,3.6793e-02,-7.7058e-05,4.0447e-03,-1.0024e-03,2.6131e-03,8.1219e-05,2.6663e-04,-1.6442e-05,4.9186e-03,2.7921e-04
+5,8.6667e-01,WAIT_W2,1.7385e-04,3.3938e-04,-6.3794e-03,2.4595e+00,-3.6374e-02,3.6806e-02,-1.0601e-04,4.2489e-03,-8.5818e-03,3.6407e-03,6.1604e-04,2.7942e-04,-4.5392e-05,1.0245e-02,6.7796e-04
+6,9.6667e-01,WAIT_W2,2.0550e-04,-1.2963e-03,-1.3577e-02,2.4539e+00,-3.5900e-02,3.6703e-02,-1.0799e-04,2.6132e-03,-1.5780e-02,-2.0032e-03,1.0895e-03,1.7622e-04,-4.7378e-05,1.6119e-02,1.1047e-03
+7,1.1000e+00,WAIT_W2,2.4501e-04,-5.2895e-04,-1.2570e-02,2.4555e+00,-3.5955e-02,3.6751e-02,-1.0888e-04,3.3806e-03,-1.4772e-02,-4.2725e-04,1.0352e-03,2.2412e-04,-4.8259e-05,1.5160e-02,1.0603e-03
+8,1.2333e+00,WAIT_W2,2.7908e-04,-2.3946e-05,-1.2600e-02,2.4567e+00,-3.5948e-02,3.6783e-02,-1.0928e-04,3.8856e-03,-1.4803e-02,8.1968e-04,1.0419e-03,2.5654e-04,-4.8668e-05,1.5326e-02,1.0741e-03
+9,1.4167e+00,UP_FORCE_RAMP,3.1434e-04,5.1753e-04,-1.2770e-02,2.4580e+00,-3.5935e-02,3.6819e-02,-1.0926e-04,4.4270e-03,-1.4972e-02,2.0647e-03,1.0552e-03,2.9234e-04,-4.8645e-05,1.5749e-02,1.0960e-03
+10,1.5667e+00,UP_FORCE_RAMP,3.4862e-04,8.2632e-04,-1.2850e-02,2.4586e+00,-3.5929e-02,3.6840e-02,-1.0896e-04,4.7358e-03,-1.5052e-02,2.6970e-03,1.0605e-03,3.1316e-04,-4.8347e-05,1.6008e-02,1.1068e-03
+11,1.6833e+00,UP_FORCE_RAMP,3.8736e-04,3.5186e-03,-6.5098e-03,2.4621e+00,-3.6374e-02,3.7026e-02,-7.7754e-05,7.4281e-03,-8.7122e-03,6.1684e-03,6.1595e-04,4.9926e-04,-1.7137e-05,1.3005e-02,7.9306e-04
+12,1.7667e+00,UP_FORCE_RAMP,4.1568e-04,3.4910e-03,-6.3796e-03,2.4621e+00,-3.6384e-02,3.7025e-02,-7.7686e-05,7.4005e-03,-8.5820e-03,6.1769e-03,6.0586e-04,4.9821e-04,-1.7069e-05,1.2906e-02,7.8458e-04
+13,1.9167e+00,UP_FORCE_RAMP,4.5242e-04,3.2920e-03,-6.2772e-03,2.4618e+00,-3.6393e-02,3.7013e-02,-7.7662e-05,7.2015e-03,-8.4796e-03,5.8837e-03,5.9705e-04,4.8625e-04,-1.7046e-05,1.2585e-02,7.7019e-04
+14,2.0333e+00,UP_FORCE_RAMP,4.8781e-04,3.0970e-03,-6.2205e-03,2.4615e+00,-3.6398e-02,3.7001e-02,-7.7710e-05,7.0065e-03,-8.4229e-03,5.5685e-03,5.9206e-04,4.7402e-04,-1.7094e-05,1.2290e-02,7.5863e-04
+15,2.1667e+00,UP_FORCE_RAMP,5.2091e-04,2.1643e-03,2.3404e-03,2.4607e+00,-3.7017e-02,3.6935e-02,-6.9871e-05,6.0738e-03,1.3803e-04,4.8084e-03,-2.7321e-05,4.0827e-04,-9.2544e-06,7.7480e-03,4.0928e-04
+16,2.3667e+00,UP_FORCE_RAMP,5.5702e-04,2.1831e-03,1.7463e-03,2.4604e+00,-3.6961e-02,3.6938e-02,-5.9609e-05,6.0926e-03,-4.5616e-04,4.5009e-03,2.8308e-05,4.1097e-04,1.0073e-06,7.5885e-03,4.1195e-04
+17,2.5167e+00,UP_FORCE_RAMP,5.9050e-04,2.1737e-03,1.6578e-03,2.4604e+00,-3.6955e-02,3.6937e-02,-5.9756e-05,6.0833e-03,-5.4465e-04,4.5376e-03,3.4291e-05,4.1040e-04,8.6053e-07,7.6087e-03,4.1183e-04
+18,2.6667e+00,UP_FORCE_RAMP,6.2383e-04,2.1210e-03,1.5928e-03,2.4604e+00,-3.6948e-02,3.6934e-02,-6.5940e-05,6.0305e-03,-6.0967e-04,4.5133e-03,4.2018e-05,4.0720e-04,-5.3240e-06,7.5570e-03,4.0940e-04
+19,2.8167e+00,UP_FORCE_RAMP,6.6087e-04,2.1451e-03,1.5802e-03,2.4603e+00,-3.6947e-02,3.6935e-02,-6.6059e-05,6.0546e-03,-6.2219e-04,4.4508e-03,4.3042e-05,4.0871e-04,-5.4427e-06,7.5402e-03,4.1101e-04
+20,3.0000e+00,UP_FORCE_RAMP,6.9286e-04,2.1446e-03,1.5836e-03,2.4603e+00,-3.6946e-02,3.6935e-02,-6.6350e-05,6.0541e-03,-6.1885e-04,4.3755e-03,4.3444e-05,4.0868e-04,-5.7335e-06,7.4953e-03,4.1102e-04
+21,3.1500e+00,UP_FORCE_RAMP,7.3032e-04,8.8019e-03,8.2518e-03,2.4534e+00,-3.7385e-02,3.7377e-02,-6.4761e-05,1.2711e-02,6.0494e-03,-2.4600e-03,-3.9518e-04,8.5017e-04,-4.1444e-06,1.4291e-02,9.3753e-04
+22,3.2333e+00,UP_FORCE_RAMP,7.6342e-04,7.5162e-03,7.4116e-03,2.4547e+00,-3.7338e-02,3.7301e-02,-6.4412e-05,1.1426e-02,5.2092e-03,-1.2317e-03,-3.4842e-04,7.7440e-04,-3.7962e-06,1.2617e-02,8.4918e-04
+23,3.3667e+00,UP_FORCE_RAMP,8.0077e-04,6.4159e-03,7.2538e-03,2.4562e+00,-3.7335e-02,3.7235e-02,-6.4093e-05,1.0325e-02,5.0514e-03,2.9516e-04,-3.4501e-04,7.0838e-04,-3.4766e-06,1.1499e-02,7.8794e-04
+24,3.5167e+00,UP_FORCE_RAMP,8.3310e-04,5.5987e-03,7.3725e-03,2.4574e+00,-3.7347e-02,3.7183e-02,-6.4050e-05,9.5082e-03,5.1701e-03,1.4777e-03,-3.5677e-04,6.5657e-04,-3.4334e-06,1.0923e-02,7.4725e-04
+25,3.5667e+00,UP_FORCE_RAMP,8.7354e-04,5.4049e-03,7.4034e-03,2.4576e+00,-3.7349e-02,3.7170e-02,-6.4084e-05,9.3145e-03,5.2010e-03,1.7333e-03,-3.5945e-04,6.4388e-04,-3.4678e-06,1.0808e-02,7.3743e-04
+26,3.6167e+00,UP_FORCE_RAMP,9.0353e-04,1.4699e-02,9.1858e-03,2.4574e+00,-3.7467e-02,3.7777e-02,-6.3460e-05,1.8608e-02,6.9834e-03,1.4586e-03,-4.7692e-04,1.2506e-03,-2.8434e-06,1.9929e-02,1.3385e-03
+27,3.7167e+00,UP_FORCE_RAMP,9.3961e-04,1.8140e-02,1.0128e-02,2.4575e+00,-3.7532e-02,3.8015e-02,-6.3340e-05,2.2050e-02,7.9251e-03,1.6160e-03,-5.4242e-04,1.4880e-03,-2.7235e-06,2.3487e-02,1.5838e-03
+28,3.8667e+00,UP_FORCE_RAMP,9.7375e-04,1.6740e-02,1.0681e-02,2.4580e+00,-3.7574e-02,3.7942e-02,-6.3892e-05,2.0650e-02,8.4782e-03,2.1491e-03,-5.8410e-04,1.4152e-03,-3.2760e-06,2.2426e-02,1.5310e-03
+29,3.9833e+00,UP_FORCE_RAMP,1.0069e-03,1.4733e-02,1.1125e-02,2.4568e+00,-3.7606e-02,3.7819e-02,-6.4566e-05,1.8642e-02,8.9222e-03,9.4557e-04,-6.1617e-04,1.2926e-03,-3.9501e-06,2.0689e-02,1.4320e-03
+30,4.1333e+00,UP_FORCE_RAMP,1.0401e-03,1.2842e-02,1.2347e-02,2.4486e+00,-3.7692e-02,3.7704e-02,-6.5292e-05,1.6751e-02,1.0144e-02,-7.3123e-03,-7.0204e-04,1.1774e-03,-4.6753e-06,2.0904e-02,1.3708e-03
+31,4.3167e+00,UP_FORCE_RAMP,1.0770e-03,1.0651e-02,1.2755e-02,2.4507e+00,-3.7727e-02,3.7559e-02,-6.6376e-05,1.4561e-02,1.0553e-02,-5.2280e-03,-7.3677e-04,1.0326e-03,-5.7600e-06,1.8727e-02,1.2685e-03
+32,4.5000e+00,UP_FORCE_RAMP,1.1119e-03,9.2763e-03,1.2694e-02,2.4457e+00,-3.7728e-02,3.7466e-02,-6.7622e-05,1.3186e-02,1.0491e-02,-1.0142e-02,-7.3859e-04,9.3934e-04,-7.0059e-06,1.9667e-02,1.1950e-03
+33,4.6333e+00,UP_FORCE_RAMP,1.1483e-03,8.6518e-03,1.2627e-02,2.4453e+00,-3.7728e-02,3.7423e-02,-6.8396e-05,1.2561e-02,1.0424e-02,-1.0557e-02,-7.3775e-04,8.9610e-04,-7.7798e-06,1.9440e-02,1.1607e-03
+34,4.8000e+00,UP_FORCE_RAMP,1.1834e-03,7.8992e-03,1.2710e-02,2.4492e+00,-3.7737e-02,3.7368e-02,-6.9295e-05,1.1809e-02,1.0508e-02,-6.7081e-03,-7.4705e-04,8.4106e-04,-8.6785e-06,1.7172e-02,1.1250e-03
+35,4.9667e+00,UP_FORCE_RAMP,1.2157e-03,7.3366e-03,1.2838e-02,2.4528e+00,-3.7748e-02,3.7324e-02,-7.0052e-05,1.1246e-02,1.0636e-02,-3.0818e-03,-7.5786e-04,7.9767e-04,-9.4361e-06,1.5783e-02,1.1003e-03
+36,5.1000e+00,UP_FORCE_RAMP,1.2513e-03,7.0085e-03,1.2925e-02,2.4550e+00,-3.7754e-02,3.7298e-02,-7.0541e-05,1.0918e-02,1.0722e-02,-9.2840e-04,-7.6456e-04,7.7141e-04,-9.9251e-06,1.5331e-02,1.0861e-03
+37,5.2667e+00,UP_FORCE_RAMP,1.2882e-03,6.7270e-03,1.3002e-02,2.4568e+00,-3.7760e-02,3.7275e-02,-7.0997e-05,1.0637e-02,1.0800e-02,9.1624e-04,-7.7004e-04,7.4822e-04,-1.0381e-05,1.5186e-02,1.0737e-03
+38,5.3833e+00,UP_FORCE_RAMP,1.3224e-03,6.5934e-03,1.3039e-02,2.4577e+00,-3.7762e-02,3.7263e-02,-7.1228e-05,1.0503e-02,1.0837e-02,1.8039e-03,-7.7238e-04,7.3696e-04,-1.0612e-05,1.5199e-02,1.0676e-03
+39,5.5167e+00,UP_FORCE_RAMP,1.3564e-03,6.3408e-03,1.3085e-02,2.4590e+00,-3.7765e-02,3.7241e-02,-7.1781e-05,1.0250e-02,1.0882e-02,3.1562e-03,-7.7481e-04,7.1485e-04,-1.1164e-05,1.5279e-02,1.0543e-03
+40,5.6333e+00,UP_FORCE_RAMP,1.3891e-03,5.1660e-03,1.4769e-02,2.4444e+00,-3.7877e-02,3.7170e-02,-7.1515e-05,9.0755e-03,1.2566e-02,-1.1539e-02,-8.8683e-04,6.4301e-04,-1.0899e-05,1.9324e-02,1.0955e-03
+41,5.8167e+00,UP_FORCE_RAMP,1.4239e-03,5.6528e-03,1.4734e-02,2.4493e+00,-3.7880e-02,3.7199e-02,-7.1221e-05,9.5623e-03,1.2532e-02,-6.6004e-03,-8.9008e-04,6.7250e-04,-1.0605e-05,1.7090e-02,1.1156e-03
+42,5.9667e+00,UP_FORCE_RAMP,1.4617e-03,5.9314e-03,1.4843e-02,2.4529e+00,-3.7890e-02,3.7215e-02,-7.0986e-05,9.8409e-03,1.2641e-02,-2.9812e-03,-9.0003e-04,6.8892e-04,-1.0370e-05,1.6295e-02,1.1335e-03
+43,6.0833e+00,UP_FORCE_RAMP,1.4908e-03,6.1129e-03,1.4927e-02,2.4550e+00,-3.7897e-02,3.7226e-02,-7.0815e-05,1.0022e-02,1.2724e-02,-8.5688e-04,-9.0672e-04,6.9962e-04,-1.0199e-05,1.6220e-02,1.1453e-03
+44,6.2500e+00,UP_FORCE_RAMP,1.5313e-03,6.3267e-03,1.5023e-02,2.4572e+00,-3.7903e-02,3.7239e-02,-7.0597e-05,1.0236e-02,1.2820e-02,1.3471e-03,-9.1358e-04,7.1235e-04,-9.9812e-06,1.6461e-02,1.1585e-03
+45,6.3833e+00,UP_FORCE_RAMP,1.5631e-03,6.4673e-03,1.5076e-02,2.4585e+00,-3.7907e-02,3.7247e-02,-7.0446e-05,1.0377e-02,1.2873e-02,2.5907e-03,-9.1685e-04,7.2087e-04,-9.8301e-06,1.6737e-02,1.1663e-03
+46,6.5500e+00,UP_FORCE_RAMP,1.5982e-03,5.3389e-03,1.5295e-02,2.4491e+00,-3.7922e-02,3.7178e-02,-7.0235e-05,9.2484e-03,1.3092e-02,-6.7430e-03,-9.3212e-04,6.5118e-04,-9.6186e-06,1.7390e-02,1.1371e-03
+47,6.7167e+00,UP_FORCE_RAMP,1.6361e-03,5.7525e-03,1.5375e-02,2.4512e+00,-3.7929e-02,3.7204e-02,-6.9933e-05,9.6620e-03,1.3173e-02,-4.7116e-03,-9.3945e-04,6.7700e-04,-9.3166e-06,1.7002e-02,1.1580e-03
+48,6.9000e+00,UP_FORCE_RAMP,1.6697e-03,6.2946e-03,1.5497e-02,2.4548e+00,-3.7938e-02,3.7238e-02,-6.9601e-05,1.0204e-02,1.3295e-02,-1.0684e-03,-9.4823e-04,7.1106e-04,-8.9851e-06,1.6793e-02,1.1853e-03
+49,7.0333e+00,UP_FORCE_RAMP,1.7044e-03,6.6161e-03,1.5571e-02,2.4569e+00,-3.7942e-02,3.7258e-02,-6.9394e-05,1.0526e-02,1.3369e-02,9.9611e-04,-9.5261e-04,7.3153e-04,-8.7775e-06,1.7044e-02,1.2011e-03
+50,7.2167e+00,UP_FORCE_RAMP,1.7383e-03,9.6549e-03,1.9481e-02,2.4466e+00,-3.8196e-02,3.7462e-02,-6.7968e-05,1.3564e-02,1.7279e-02,-9.2535e-03,-1.2063e-03,9.3572e-04,-7.3519e-06,2.3836e-02,1.5267e-03
+51,7.3667e+00,UP_FORCE_RAMP,1.7723e-03,9.3195e-03,1.9009e-02,2.4501e+00,-3.8174e-02,3.7447e-02,-6.7194e-05,1.3229e-02,1.6806e-02,-5.7464e-03,-1.1840e-03,9.2034e-04,-6.5773e-06,2.2147e-02,1.4997e-03
+52,7.5167e+00,UP_FORCE_RAMP,1.8081e-03,9.1940e-03,1.9120e-02,2.4537e+00,-3.8185e-02,3.7441e-02,-6.6656e-05,1.3104e-02,1.6918e-02,-2.1544e-03,-1.1954e-03,9.1419e-04,-6.0401e-06,2.1507e-02,1.5049e-03
+53,7.6667e+00,UP_FORCE_RAMP,1.8442e-03,9.1068e-03,1.9278e-02,2.4564e+00,-3.8197e-02,3.7435e-02,-6.6291e-05,1.3016e-02,1.7075e-02,5.4979e-04,-1.2072e-03,9.0857e-04,-5.6747e-06,2.1478e-02,1.5109e-03
+54,7.8167e+00,UP_FORCE_RAMP,1.8764e-03,9.0375e-03,1.9397e-02,2.4584e+00,-3.8205e-02,3.7430e-02,-6.6044e-05,1.2947e-02,1.7194e-02,2.4667e-03,-1.2149e-03,9.0326e-04,-5.4279e-06,2.1664e-02,1.5139e-03
+55,7.9667e+00,UP_FORCE_RAMP,1.9109e-03,8.9833e-03,1.9473e-02,2.4597e+00,-3.8208e-02,3.7425e-02,-6.5879e-05,1.2893e-02,1.7270e-02,3.8066e-03,-1.2187e-03,8.9866e-04,-5.2628e-06,2.1885e-02,1.5142e-03
+56,8.1500e+00,UP_FORCE_RAMP,1.9486e-03,8.9431e-03,1.9519e-02,2.4607e+00,-3.8210e-02,3.7421e-02,-6.5774e-05,1.2853e-02,1.7317e-02,4.7863e-03,-1.2201e-03,8.9494e-04,-5.1582e-06,2.2090e-02,1.5131e-03
+57,8.2667e+00,UP_FORCE_RAMP,1.9819e-03,1.0270e-02,1.7296e-02,2.4460e+00,-3.8062e-02,3.7515e-02,-6.6301e-05,1.4180e-02,1.5094e-02,-9.8929e-03,-1.0726e-03,9.8825e-04,-5.6850e-06,2.2951e-02,1.4584e-03
+58,8.4333e+00,UP_FORCE_RAMP,2.0161e-03,1.0146e-02,1.7394e-02,2.4502e+00,-3.8065e-02,3.7510e-02,-6.6779e-05,1.4056e-02,1.5192e-02,-5.7211e-03,-1.0757e-03,9.8343e-04,-6.1624e-06,2.1473e-02,1.4575e-03
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Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/franka_data.csv ADDED Viewed

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

+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+4231,1792668898569524295,37438969000000,1792668898568196183,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0526,0.05260096862912178,0.6760304546731208,-0.004510368008839099,0.09092288961583055,0.9999999844284793,9.22156923275391e-05,-0.00011866701676688715,5.574310378084285e-07,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.04782836841488056,0.0600498694115075,0.014300389818795362,0.003598089883649468,-0.0029904886208737946,-1.1457161818616973e-05,0.19011187916740077,0.042648184876068,0.10185394503610966,0.0002518281465838622,-0.010166924444410577,0.0008105941101773184,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,-0.17135250287444448,0.1320562476024141,1.413795922807653,0.09721804245221863,-0.9050629093754554,-0.006696420037479389,1.1241334081111165,0.014300389818795362,-0.2896625146965366,0.0,0.0,0,0,0.0,0.0
+4348,1792668899536511569,37439936000000,1792668899532205730,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760270186135834,-0.004519372260823089,0.0909123220375098,0.9999999843248426,8.659523975720266e-05,-0.00012359429464017823,4.346688220215374e-06,0.6761,-0.00453,0.09098687745238804,1.0,0.0,0.0,0.0,0.08972096953858058,0.10958385763780797,0.06211626310158512,0.006109735353918067,-0.0057235510350851695,-5.563552659789946e-05,0.2320044802911008,0.09218217310236847,0.14966981831889942,0.0027634736168524617,-0.012899986858621952,0.0007664157453980359,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,-0.024538541361221387,0.08230826333873739,1.3741833296534791,0.12968359680182023,-0.8403210143203667,-0.03555428775632592,1.1241334081111165,0.06211626310158512,-0.2500499215423626,-0.2500499215423626,0.050750000000000364,0,0,-3.624999318360545e-05,-9.999999025923074e-05
+4432,1792668900237475150,37440636000000,1792668900232196559,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760117727923711,-0.004527525551611017,0.09085062351104074,0.9999999797763043,8.52686515463097e-05,-0.00015577099394736125,1.8839054966321693e-05,0.6761,-0.00453,0.09096719624911546,1.0,0.0,0.0,0.0,0.11680815859019072,0.10848515249815086,0.36669399506206607,0.005686193121679214,-0.007165782580844521,-0.0003272372358139081,0.25909166934271094,0.09108346796271136,0.45424755027938035,0.0023399313846136087,-0.014342218404381303,0.0004948140361820273,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,-0.03387849880690805,0.008675990042629991,0.937394970558271,0.16237571590823002,-0.552644160953321,-0.08422196273811275,1.1241334081111165,0.36669399506206607,0.18673843755284547,0.18673843755284547,0.0997500000000008,0,0,-1.5424411765858952e-05,9.989676727351621e-05
+4532,1792668901070418712,37441470000000,1792668901064196214,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760452249663631,-0.004535836509389853,0.09085435029578205,0.9999999895171187,8.051699904879393e-05,-7.066669703398787e-05,3.0526344969156795e-05,0.6761,-0.00453,0.0909612839656282,1.0,0.0,0.0,0.0,0.040372690220368934,0.1726493410191611,0.2968626131748648,0.011009443593001154,-0.0021706925962433708,-0.00014813483570844718,0.18265620097288915,0.1552476564837216,0.38441616839217907,0.007663181855935548,-0.009347128419780153,0.0006739164362874882,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,-0.10958379283898613,0.21044464714557867,1.1377552616586508,0.1075654114867307,-0.732573339594632,0.05798863498811463,1.1241334081111165,0.2968626131748648,-0.013621853547534313,-0.013621853547534313,0.15812999999999475,0,0,-8.12529976221133e-06,-9.999999025923074e-05
+4691,1792668902395451767,37442795000000,1792668902392196316,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760452324948805,-0.004537419727328136,0.09084290274149188,0.999999988833467,8.487526675157014e-05,-7.357571249406017e-05,3.404018072440739e-05,0.6761,-0.00453,0.09092421866390316,1.0,0.0,0.0,0.0,0.06819579430651543,0.16417472364877242,0.37839279245353047,0.010707169787895538,-0.004220980517642968,-0.00023777083607973083,0.21047930505903564,0.14677303911333292,0.46594634767084475,0.007360908050829932,-0.01139741634117975,0.0005842804359162046,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.08908431005645986,0.15774409650469215,0.8124086720870024,0.1560473086129676,-0.47793456797996353,0.02501848385720787,1.1241334081111165,0.37839279245353047,0.3117247360241141,0.3117247360241141,0.2508799999999775,0,0,-3.270263867064115e-05,9.999999025923074e-05
+4843,1792668903661465249,37444061000000,1792668903660196158,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760438817822675,-0.004538446206197394,0.09082750969196814,0.9999999886315967,8.196484508143844e-05,-7.820249635650406e-05,3.668521179051797e-05,0.6761,-0.00453,0.09090113705467678,1.0,0.0,0.0,0.0,0.07403124958367954,0.16604501214517225,0.4791272200043281,0.010651368629662122,-0.0042456550224927135,0.00035301665405974045,0.21631476033619976,0.14864332760973276,0.5666807752216424,0.007305106892596516,-0.011422090846029496,0.0011750679260556758,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.09617028214025382,0.15027735251371716,0.8583532445792026,0.1555826935789799,-0.5037082607067628,0.015883683700458104,1.1241334081111165,0.4791272200043281,0.2657801635319139,0.2657801635319139,0.33949999999999586,0,0,-6.03220498138069e-06,-9.695856203884574e-05
+4994,1792668904920454989,37445320000000,1792668904916196620,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760433162983548,-0.004540244530689875,0.09081801442964134,0.9999999886251572,7.959557779969905e-05,-8.010194925340214e-05,3.795749772612076e-05,0.6761,-0.00453,0.0908872673503166,1.0,0.0,0.0,0.0,0.07720879685622262,0.16735829299840912,0.5093800168686536,0.010688174195444445,-0.004257849833043481,0.0002676142779226374,0.21949230760874283,0.14995660846296963,0.596933572085968,0.007341912458378839,-0.011434285656580263,0.0010896655499185728,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.1156568319579431,0.10837819165391195,0.7313535579283702,0.1730611476242907,-0.41514516979656374,-0.011378719775790011,1.1241334081111165,0.5093800168686536,0.3927798501827463,0.3927798501827463,0.4276300000000141,0,0,-1.9955501490612974e-05,-4.484447860075241e-05
+5148,1792668906203500565,37446603000000,1792668906196196450,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760426758415091,-0.00454521703705445,0.09080206088148303,0.9999999881040409,8.187251438813498e-05,-8.169432872322276e-05,4.310116689451542e-05,0.6761,-0.00453,0.09086673388794936,1.0,0.0,0.0,0.0,0.09518127767114773,0.15633016643028247,0.6101525510964957,0.010676491482018333,-0.00528938367048796,0.0005897140770135397,0.23746478842366794,0.13892848189484297,0.69770610631381,0.007330229744952728,-0.012465819494024743,0.0014117653490094751,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.16539683076125042,0.07917826139522596,0.622248134851978,0.18456073926022826,-0.3301121495115482,-0.0325001825508075,1.1241334081111165,0.6101525510964957,0.5018852732591385,0.5018852732591385,0.5174400000000327,0,0,-9.990899665968998e-06,-9.064737905625668e-06
+5302,1792668907486386627,37447886000000,1792668907480196730,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760411111185882,-0.0045416926473714515,0.09078840852556261,0.9999999879450718,8.138214801938675e-05,-8.410296741999527e-05,4.3085467517139116e-05,0.6761,-0.00453,0.09084535251298388,1.0,0.0,0.0,0.0,0.07661636598630564,0.15564431242321464,0.6410476311578884,0.010312815557649603,-0.005291975821813257,0.000561102586410088,0.21889987673882585,0.13824262788777514,0.7286011863752028,0.006966553820583997,-0.01246841164535004,0.0013831538584060234,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.1664843697237908,0.13599777124872228,0.5697014741687161,0.16754810025149566,-0.2992877364317031,0.008695978229248905,1.1241334081111165,0.6410476311578884,0.5544319339424004,0.5544319339424004,0.6072500000000512,0,0,-2.6831929188257615e-05,-9.471065184752376e-05
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+5813,1792668911745471442,37452145000000,1792668911744196420,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760469950192456,-0.004550130886146104,0.09072318956718627,0.9999999885284572,7.932617464022282e-05,-6.722174068511091e-05,5.9787502542653245e-05,0.6761,-0.00453,0.09074968237862875,1.0,0.0,0.0,0.0,0.06131425410050817,0.15369049461663953,0.9008734334720945,0.011435910634975666,-0.004147029182252874,0.00037929640291132984,0.20359776485302838,0.13628881008120003,0.9884269886894088,0.00808964889791006,-0.011323465005789657,0.0012013476749072652,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.21765800383630973,0.10235093902946778,0.21923179430166756,0.1835078075755001,-0.06487613871326615,-0.016511715035925995,1.1241334081111165,0.9008734334720945,0.904901613809449,0.904901613809449,0.905380000000113,0,0,-1.8621681811799344e-05,9.99837532474956e-05
+5985,1792668913178380820,37453578000000,1792668913172196765,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760526213905095,-0.00455213398283743,0.09070410595589151,0.9999999896590125,7.37994564981917e-05,-5.3710041483066635e-05,6.159310990788633e-05,0.6761,-0.00453,0.09070390433417104,1.0,0.0,0.0,0.0,0.04717913086335432,0.16788391584721923,0.9509200805669888,0.012468344304165364,-0.003372021282613911,0.0003665204778364123,0.18946264161587453,0.15048223131177973,1.0384736357843032,0.009122082567099758,-0.010548457106150693,0.0011885717498323477,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.2524629417734905,0.04182240042393958,0.22793851750761535,0.20649409543389974,-0.06489718080253408,-0.054154736497147776,1.1241334081111165,0.9509200805669888,0.8961948906035011,0.8961948906035011,1.0056900000001336,0,0,-4.4051059393283805e-05,-9.99983249246938e-05
+6112,1792668914236450554,37454636000000,1792668914236196955,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760556193836038,-0.00455914570757374,0.09066931993642453,0.9999999898941382,6.917537180185492e-05,-4.698885759494899e-05,6.82744698189894e-05,0.6761,-0.00453,0.09066009151495585,1.0,0.0,0.0,0.0,0.037440693212905274,0.17255253718212427,1.0617344714233585,0.01255503087846105,-0.0023845785396083286,0.0002881363297704833,0.1797242039654255,0.15515085264668477,1.1492880266406729,0.009208769141395444,-0.00956101436314511,0.0011101876017664187,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.342949706165764,0.0786235802402553,0.03834207133211335,0.19312431861718912,0.08259256492494511,-0.029241048466283094,1.1241334081111165,1.0617344714233585,1.085791336779003,1.085791336779003,1.079750000000149,0,0,-3.071513253874591e-05,9.999999025923074e-05
+6184,1792668914836409630,37455236000000,1792668914836196508,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760918843075294,-0.004553261330093429,0.09067861761685699,0.9999999901831581,7.7104326426393e-05,-1.2981090827654978e-05,7.04482949442349e-05,0.6761,-0.00453,0.09064317957394338,1.0,0.0,0.0,0.0,-0.0033485225409320696,0.2341951479431088,0.9947754225122922,0.01759136546079094,0.00058278148178502,0.00044433684900413244,0.13893498821158815,0.2167934634076693,1.0823289777296066,0.014245103723725335,-0.006593654341751762,0.0012663881210000678,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.2938647322744635,0.1600313139144785,0.21559844546856416,0.17080979029789428,-0.06269681287835793,0.02811558498376425,1.1241334081111165,0.9947754225122922,0.9085349626425523,0.9085349626425523,1.1217500000001577,0,0,-3.673619089070013e-05,-9.999999025923074e-05
+6304,1792668915836466546,37456236000000,1792668915832196455,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760964495527095,-0.004556508754523474,0.09064891511494855,0.9999999900093534,7.430317654476275e-05,-4.444766469581288e-07,7.683097118269447e-05,0.6761,-0.00453,0.09059032788887895,1.0,0.0,0.0,0.0,-0.022350065381448292,0.23924390328372203,1.0736399727208825,0.0185201547912661,0.0015501428732234146,0.0004030303503343756,0.11993344537107192,0.22184221874828253,1.1611935279381969,0.015173893054200496,-0.005626292950313368,0.001225081622330311,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.5048450745528673,0.11300238900461128,-0.026776619530264178,0.18830223837640434,0.14482463035335943,-0.0044204201305261814,1.1241334081111165,1.0736399727208825,1.1509100276413806,1.1509100276413806,1.1917500000001722,0,0,-5.89342044373956e-05,9.891957672281677e-05
+6456,1792668917103473796,37457503000000,1792668917100197526,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761007456133439,-0.004560716263859054,0.09060275809188666,0.9999999888475475,7.616597519243563e-05,9.976543994222238e-06,8.85831923447854e-05,0.6761,-0.00453,0.09053400446632903,1.0,0.0,0.0,0.0,-0.0318606556004566,0.22336860698735556,1.1740941540573397,0.018547400522411186,0.0015298602843449652,0.00032090282174440155,0.11042285515206361,0.20596692245191606,1.261647709274654,0.015201138785345581,-0.005646575539191817,0.001142954093740337,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.5176669137506803,0.04581974864615387,-0.1960659367517956,0.19927658582278376,0.2529987963154427,-0.049752920866457585,1.1241334081111165,1.1740941540573397,1.3201993448629121,1.3201993448629121,1.2804400000001905,0,0,-3.209804135398541e-05,9.960937216580418e-05
+6596,1792668918270393239,37458670000000,1792668918268196412,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760992985247956,-0.004566066689637184,0.0905644924695797,0.9999999882712097,7.400037554370214e-05,8.025817972383354e-06,9.6746965907443e-05,0.6761,-0.00453,0.09049534367501588,1.0,0.0,0.0,0.0,-0.03718611688487017,0.2242323671799352,1.1949301965805326,0.018542324561203857,0.0015261131672114408,0.0003041228197465174,0.10509739386765005,0.2068306826444957,1.282483751797847,0.015196062824138252,-0.0056503226563253415,0.0011261740917424528,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.4897776687877275,0.1513345480076059,-0.09940660381771059,0.16558619410444206,0.18141383253234247,0.017831763198258202,1.1241334081111165,1.1949301965805326,1.223540011928827,1.223540011928827,1.3621300000002075,0,0,-4.235973761620849e-05,-9.631092731521846e-05
+6715,1792668919261450240,37459661000000,1792668919256197128,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761048985823795,-0.004565390519225645,0.09052906666512692,0.9999999866205765,8.117819352754252e-05,1.529249322353693e-05,0.00010666748122681518,0.6761,-0.00453,0.0904477605976803,1.0,0.0,0.0,0.0,-0.040244903662088494,0.23462968546238389,1.2442732521371702,0.01850816924166842,0.0025272314757663235,0.0002789171182005731,0.10203860709043172,0.2172280009269444,1.3318268073544846,0.015161907504602815,-0.004649204347770459,0.0011009683901965085,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.5556932899585033,0.06810738421070273,-0.21205423401857407,0.1970852638960752,0.27156416390072924,-0.031144131116938,1.1241334081111165,1.2442732521371702,1.3361876421296905,1.3361876421296905,1.4315000000002218,0,0,-5.467706142989049e-05,-9.927720731462415e-05
+6865,1792668920511388848,37460911000000,1792668920508196746,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761118678868255,-0.004569718270382095,0.09047391462749853,0.9999999848508533,8.242289052673074e-05,2.551727383817374e-05,0.00011956794455671025,0.6761,-0.00453,0.09037824264768576,1.0,0.0,0.0,0.0,-0.042463346859554815,0.2500995764144729,1.2947927542532522,0.01949265185422815,0.003509771049861756,0.00026507162724238105,0.0998201638929654,0.2326978918790334,1.3823463094705666,0.016146390117162544,-0.0036666647736750264,0.0010871228992383165,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.6145172121574735,0.16616960528395333,-0.26867683682538746,0.15875536326019327,0.31723284212461095,0.025123760909510046,1.1241334081111165,1.2947927542532522,1.3928102449365038,1.3928102449365038,1.51900000000024,0,0,-5.874994434970494e-05,-8.98180793892422e-05
+6993,1792668921578367518,37461978000000,1792668921576196649,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761101716067055,-0.004579861196173338,0.09040579045590004,0.9999999825531998,8.722256417956179e-05,2.1845525781467987e-05,0.0001350979709294279,0.6761,-0.00453,0.09031208476930194,1.0,0.0,0.0,0.0,-0.060419188435542934,0.2292185094301375,1.3349148780176077,0.01845152243393517,0.00392221984104541,0.00022915677374368295,0.08186432231697728,0.211816824894698,1.422468433234922,0.015105260696869564,-0.003254215982491372,0.0010512080457396183,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.594018701884863,0.12183517381350271,-0.2697368564454867,0.1712086839516705,0.3067676017702651,0.0007577264641331211,1.1241334081111165,1.3349148780176077,1.3938702645566032,1.3938702645566032,1.5936900000002554,0,0,-6.289659496980094e-05,-9.999990699250389e-05
+7106,1792668922520348137,37462920000000,1792668922520196331,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.676110708296082,-0.004581341422243656,0.09034539334290095,0.9999999795714526,0.00010093355388999273,2.0755961644351508e-05,0.00014724661810878274,0.6761,-0.00453,0.09024514137888431,1.0,0.0,0.0,0.0,-0.053869033465568206,0.22901146044233006,1.3343272303458065,0.018435727704624698,0.00451705294068754,0.00023493405734552873,0.08841447728695201,0.21160977590689056,1.4218807855631208,0.015089465967559092,-0.0026593828828492426,0.0010569853293414641,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.6441202234165324,0.04664889436159264,-0.4411869541059637,0.19426803324983405,0.42297414315773085,-0.043897488109608904,1.1241334081111165,1.3343272303458065,1.5653203622170802,1.5653203622170802,1.659630000000269,0,0,-8.03244000937856e-05,9.999259339832917e-05
+7220,1792668923470356120,37463870000000,1792668923468196002,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.676113116426611,-0.004586476395571685,0.09026290881603634,0.9999999540346054,0.0002354047356753784,2.2254446898763364e-05,0.00016571964603484125,0.6761,-0.00453,0.09015483789337622,1.0,0.0,0.0,0.0,-0.06024780107216404,0.2219250260280913,1.3841840162136871,0.017423437632033533,0.004543469970315572,0.000183481471312356,0.08203570968035617,0.2045233414926518,1.4717375714310015,0.014077175894967929,-0.0026329658532212095,0.0010055327433082914,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.6501944454106641,0.08636703524377745,-0.4716076673864312,0.15649447613087963,0.446020293637311,-0.06315445436557617,1.1241334081111165,1.3841840162136871,1.5957410754975476,1.5957410754975476,1.7261300000002828,0,0,-0.00010507931110373547,9.989604562855021e-05
+7334,1792668924420406601,37464820000000,1792668924420195904,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761106911744127,-0.004591067176288135,0.09016614025153992,0.999999955886885,0.00022022660755395548,1.876121456294244e-05,0.00017554871208077825,0.6761,-0.00453,0.09005694329562575,1.0,0.0,0.0,0.0,-0.06956639490383237,0.21004239761313917,1.404220748325223,0.017408217748918965,0.004595324177547176,-0.0008422635764567633,0.07271711584868784,0.19264071307769967,1.4917743035425373,0.01406195601185336,-0.0025811116459896056,-2.021230446082788e-05,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.6418192839465472,0.06857119603618612,-0.5051943608803394,0.17804901002965862,0.45472742082468565,-0.04221548831168518,1.1241334081111165,1.404220748325223,1.6293277689914558,1.6293277689914558,1.7926300000002966,0,0,-0.00010374816631772277,-9.997673108686484e-05
+7366,1792668924686428523,37465086000000,1792668924684196419,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761190645431837,-0.004555627673541292,0.09014115314846165,0.9999999944944519,6.955048350232069e-06,4.780231292707695e-05,-1.097847186342031e-05,0.6761,-0.00453,0.09002812461197106,1.0,0.0,0.0,0.0,-0.015546294838614944,0.2935707443330324,1.4065699657670145,0.022587904773845455,0.0017366186761212064,0.00018651087662976832,0.12673721591390527,0.2761690597975929,1.4941235209843289,0.01924164303677985,-0.005439817147415576,0.0010085621486257037,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.715132487004027,0.12090343409212181,-0.42935846046596626,0.052230159937009676,0.45026247455180346,0.039920435442312906,1.1241334081111165,1.4065699657670145,1.5534918685770829,1.5534918685770829,1.8112500000003005,0,0,-0.00011458275793049667,-9.999999025923074e-05
+7474,1792668925586419987,37465986000000,1792668925584196700,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761193772064162,-0.004561340585272971,0.09003592308621862,0.9999999943141425,2.0240505460868442e-05,4.493271604064179e-05,1.9645671372566434e-05,0.6761,-0.00453,0.08991319545558277,1.0,0.0,0.0,0.0,-0.02717293724822352,0.27099190624349506,1.4560565111688304,0.020899454187910754,0.0030455180829881447,0.0001448586404566701,0.1151105735042967,0.25359022170805556,1.5436100663861447,0.017553192450845148,-0.004130917740548638,0.0009669099124526055,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.73208695844682,0.10459385631435952,-0.6221395825520534,0.1391310898756402,0.5523508027712754,0.031404318853654835,1.1241334081111165,1.4560565111688304,1.74627299066317,1.74627299066317,1.8742500000003135,0,0,-0.00013295898443757703,9.921875407237763e-05
+7577,1792668926445426544,37466845000000,1792668926444198321,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761154518693901,-0.004573219431619288,0.08992472129891842,0.9999999932547334,3.117179323036647e-05,3.7332980827087024e-05,5.067509626278908e-05,0.6761,-0.00453,0.08980341172059335,1.0,0.0,0.0,0.0,-0.04270860636011119,0.2558341934804618,1.4453569792802443,0.019465896674041007,0.003476134791649587,0.00011301274916866906,0.09957490439240903,0.23843250894502235,1.5329105344975587,0.0161196349369754,-0.003700301031887195,0.0009350640211646045,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.7219862712753815,0.0568372007327268,-0.6135900635378841,0.2407068017068464,0.5174482289484897,-0.028471788396658593,1.1241334081111165,1.4453569792802443,1.7377234716490007,1.7377234716490007,1.934380000000326,0,0,-0.00012469868240358307,-9.622849325564004e-05
+7681,1792668927311336869,37467711000000,1792668927308196475,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761125268712088,-0.004563712390383854,0.08981364227820919,0.999999992181475,4.240911183401613e-05,2.9694734076937265e-05,6.632951475712394e-05,0.6761,-0.00453,0.08969811570626773,1.0,0.0,0.0,0.0,-0.042014844574258844,0.2565006978270685,1.4448809179294644,0.019474080906724797,0.003482333472848384,-0.0008833896430281664,0.10026866617826137,0.23909901329162905,1.5324344731467787,0.01612781916965919,-0.0036941023506883983,-6.133837103223098e-05,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.7242170664712585,0.10059907466868945,-0.6707930802184112,0.2340487633923344,0.5486192158463925,-0.0012530701169824465,1.1241334081111165,1.4448809179294644,1.7949264883295277,1.7949264883295277,1.9950000000003385,0,0,-0.00012490920360127967,-8.63033908490351e-05
+7789,1792668928211333868,37468611000000,1792668928208196550,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761150834832758,-0.00457117411404062,0.08969828796272583,0.9999999916571412,3.189960489198518e-05,3.09383844817231e-05,7.84462460782328e-05,0.6761,-0.00453,0.08957475175298008,1.0,0.0,0.0,0.0,-0.04275769778596926,0.25592901841668486,1.4549103981049751,0.019471386752875994,0.003479306914467569,-0.0008915450518950284,0.09952581296655096,0.2385273338812454,1.5424639533222895,0.01612512501581039,-0.003697128909069213,-6.949377989909297e-05,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.7496267963242207,0.027981923658202342,-0.6874111687739609,0.27098701435354616,0.5549878624334956,-0.04283445119082351,1.1241334081111165,1.4549103981049751,1.8115445768850775,1.8115445768850775,2.0580000000003515,0,0,-0.00014858358991373522,-9.994943347824687e-05
+7885,1792668929011408328,37469411000000,1792668929004196657,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761142399333991,-0.004572331818290612,0.08957499337415235,0.9999999901898312,5.6595596444917554e-05,2.796438269849174e-05,8.413164659748242e-05,0.6761,-0.00453,0.08945055790413771,1.0,0.0,0.0,0.0,-0.05205651083897704,0.23763824754503593,1.4749728063569139,0.01946578574688923,0.0034775850045373883,-0.0009089087214642219,0.09022699991354317,0.22023656300959643,1.5625263615742282,0.016119524009823624,-0.003698850818999394,-8.685744946828645e-05,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.7541878366041753,0.0477791014051512,-0.7092308895798757,0.27479652745212946,0.5624207059485634,-0.02392106921293398,1.1241334081111165,1.4749728063569139,1.8333642976909923,1.8333642976909923,2.114000000000363,0,0,-0.00016170125726885776,-9.999999025923074e-05
+7969,1792668929712182961,37470111000000,1792668929708196754,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761125263159136,-0.004567341353052506,0.0894558999080054,0.9999999930671148,4.847446215364485e-05,2.84262058603676e-05,4.6376847975086834e-05,0.6761,-0.00453,0.0893352645344698,1.0,0.0,0.0,0.0,-0.033577614853124924,0.2581803905091488,1.4850302982524104,0.019466485054496167,0.0034733438043845293,-0.000914762612679529,0.10870589589939529,0.24077870597370932,1.5725838534697247,0.01612022331743056,-0.003703092019152253,-9.271134068359367e-05,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.7905085166602184,0.11727156626700799,-0.7391159309603026,0.2684803081020539,0.5841580983545808,0.027636985948118198,1.1241334081111165,1.4850302982524104,1.863249339071419,1.863249339071419,2.1630000000003733,0,0,-0.00016856828038566552,-9.999960168117212e-05
+8048,1792668930370341395,37470770000000,1792668930364196734,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761104358336106,-0.004574571860972094,0.08934196907060085,0.9999999911592716,6.497923605685404e-05,2.1549807030015172e-05,6.661550755388366e-05,0.6761,-0.00453,0.08922281494952569,1.0,0.0,0.0,0.0,-0.03513110753797298,0.24404982936448147,1.5048532625675184,0.018440847774468347,0.0035064143800105506,-0.0009422756662598095,0.10715240321454723,0.22664814482904197,1.5924068177848327,0.01509458603740274,-0.0036700214435262317,-0.0001202243942638741,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.82076004060031,0.07171433396537555,-0.8284877187105558,0.2879416212442656,0.6459079791165495,-0.0005542102310824581,1.1241334081111165,1.5048532625675184,1.9526211268216724,1.9526211268216724,2.209130000000383,0,0,-0.00017291238780629082,-6.71093274626916e-05
+8120,1792668930970369547,37471370000000,1792668930964196392,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761121736911495,-0.0045820000421459926,0.08923622863143522,0.9999999895669848,7.028862584745111e-05,2.1288811505164326e-05,8.315762347993314e-05,0.6761,-0.00453,0.08911625047353049,1.0,0.0,0.0,0.0,-0.05195718748746041,0.23222444135224551,1.5220424554821852,0.017390760291121122,0.004518333738037131,-0.0009553617343351886,0.09032632326505981,0.21482275681680602,1.6095960106994995,0.014044498554055517,-0.0026581020854996515,-0.00013331046233925318,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.8065779571339866,0.0514341202914316,-0.7686945864230922,0.2979402573906514,0.6021594202715397,-0.0137215562638065,1.1241334081111165,1.5220424554821852,1.8928279945342088,1.8928279945342088,2.2511300000003915,0,0,-0.0001841007913852818,-9.987800450440005e-05
+8196,1792668931603431812,37472003000000,1792668931600196600,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761094915125552,-0.004583722110192643,0.08911333246794927,0.9999999883769255,7.172624330831125e-05,1.4684516861838799e-05,9.658532130619028e-05,0.6761,-0.00453,0.0889967526480566,1.0,0.0,0.0,0.0,-0.0602913311686164,0.22173300350014855,1.537838651407275,0.01633970458570623,0.005547829671154979,-0.0009637590576571419,0.08199217958390381,0.20433131896470905,1.6253922066245894,0.012993442848640624,-0.0016286061523818035,-0.00014170778566120645,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.8294355514226479,0.06286386624122656,-0.8504574104514967,0.2959947886383777,0.6542162844217911,-0.006403835706341787,1.1241334081111165,1.537838651407275,1.9745908185626133,1.9745908185626133,2.2954400000004007,0,0,-0.00019246618702536823,-9.999997638144293e-05
+8276,1792668932270365478,37472670000000,1792668932264205518,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761071843745228,-0.004584711763537219,0.08897957809494042,0.9999999922068599,3.221629872310646e-05,1.5581011349580694e-05,7.58187766986483e-05,0.6761,-0.00453,0.08886485988288391,1.0,0.0,0.0,0.0,-0.07056023117569853,0.23181311504926164,1.524569718555298,0.01733379153347222,0.006543445949405576,-0.0009269779427902937,0.07172327957682169,0.21441143051382214,1.6121232737726123,0.013987529796406613,-0.0006329898741312064,-0.00010492667079435831,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.8637094363671949,0.033304185730792024,-0.9269100778542101,0.3243320464858247,0.7034430346360846,-0.02597803776108974,1.1241334081111165,1.524569718555298,2.0510434859653266,2.0510434859653266,2.3421300000004104,0,0,-0.00020289940097961408,-8.698574191359299e-06
+8340,1792668932803424252,37473203000000,1792668932800196053,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.676106210790604,-0.004583699172581072,0.08886093112121957,0.9999999934053093,1.352408628111663e-05,1.1134174757757743e-05,6.576758372365918e-05,0.6761,-0.00453,0.08875181554082641,1.0,0.0,0.0,0.0,-0.07000732858004162,0.22164237111231772,1.5442331866089398,0.017357673883763823,0.005528101014664732,-0.0009586384925618944,0.0722761821724786,0.20424068657687822,1.6317867418262542,0.014011412146698217,-0.001648334808872051,-0.000136587220565959,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.8722983330693164,-0.10212375263972404,-0.9297546707733192,0.36733017680779495,0.7057118017535009,-0.10717488885975399,1.1241334081111165,1.5442331866089398,2.0538880788844356,2.0538880788844356,2.379440000000418,0,0,-0.0002203756353863537,-7.586575146297035e-05
+8403,1792668933328421445,37473728000000,1792668933324196419,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761047049883162,-0.004590180676816653,0.08874313129769476,0.9999999912917137,4.3297543397701316e-05,7.13989262911345e-06,8.326933321532567e-05,0.6761,-0.00453,0.0886314679919003,1.0,0.0,0.0,0.0,-0.07954027981911681,0.22435721415096793,1.5239144640642301,0.017332028177433886,0.006545594988845444,-0.0009277812813798331,0.06274323093340341,0.20695552961552843,1.6114680192815445,0.013985766440368282,-0.0006308408346913381,-0.00010573000938389769,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9300158511135922,0.0011950111267786537,-0.926162926256589,0.35234722345888636,0.7136712206389065,-0.033435085816058356,1.1241334081111165,1.5239144640642301,2.0502963343677054,2.0502963343677054,2.4161900000004257,0,0,-0.00023842024328010603,-9.999965719232335e-05
+8471,1792668933895356629,37474295000000,1792668933888197046,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761026028271147,-0.004598118888058756,0.08860151153282023,0.9999999887898118,6.658660807691947e-05,3.7045759948885e-06,9.703473821255748e-05,0.6761,-0.00453,0.08849144181336852,1.0,0.0,0.0,0.0,-0.09153508042894656,0.2044168070116314,1.5336411796173446,0.0163089836347818,0.006564090591816231,-0.0009485299770061976,0.05074843032357365,0.1870151224761919,1.621194734834659,0.012962721897716195,-0.0006123452317205512,-0.0001264787050102622,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.8811248089104872,0.04402900952781921,-0.889002818206952,0.3460874829511498,0.6720165796666338,-0.008512773306024332,1.1241334081111165,1.5336411796173446,2.0131362263180685,2.0131362263180685,2.455880000000434,0,0,-0.0002561262745046352,-9.999999025923074e-05
+8531,1792668934395318749,37474795000000,1792668934388197539,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761045776444039,-0.004600897331244879,0.08847239884867454,0.9999999904243415,4.8059923411410055e-05,6.59666346596691e-06,9.077945346447549e-05,0.6761,-0.00453,0.08835994689662452,1.0,0.0,0.0,0.0,-0.08845817520967098,0.21228785104980172,1.5537602569086608,0.016306245978455827,0.006559036343447707,-0.0009643842083187439,0.05382533554284925,0.19488616651436222,1.6413138121259752,0.012959984241390221,-0.0006173994800890752,-0.00014233293632280846,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9015520758471399,0.05264213816448484,-0.985653082725739,0.366193785323008,0.7335735555724399,-0.003127321107179719,1.1241334081111165,1.5537602569086608,2.1097864908368553,2.1097864908368553,2.490880000000441,0,0,-0.0002677059439807699,9.499874406664315e-06
+8591,1792668934895331995,37475295000000,1792668934892196971,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761028781249823,-0.004598268817958758,0.08833209858306933,0.9999999902311827,4.8203179029025206e-05,1.7803448629140369e-06,9.302571154255679e-05,0.6761,-0.00453,0.08822198229512136,1.0,0.0,0.0,0.0,-0.08859911049175556,0.2133295451200845,1.5776999299237287,0.016274140204156205,0.0075670662434131186,-0.0009680464078441878,0.05368440026076466,0.195927860584645,1.665253485141043,0.0129278784670906,0.00039063041987633584,-0.00014599513584825233,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9270561466281736,0.012111062116680818,-0.9611316292913722,0.3814560364566939,0.7235170246813665,-0.03361013094167933,1.1241334081111165,1.5776999299237287,2.085265037402489,2.085265037402489,2.5258800000004484,0,0,-0.00028209923722963124,-9.675866638326198e-05
+8647,1792668935361373821,37475761000000,1792668935360205901,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761021354178225,-0.004600573117285722,0.08819734638438469,0.9999999897932005,5.081799338681867e-05,2.235232501854493e-06,9.62756396639195e-05,0.6761,-0.00453,0.0880893454114606,1.0,0.0,0.0,0.0,-0.08860194734739446,0.21931760420664165,1.5715818267936021,0.01627635190256922,0.007567754791586738,-0.0009637893621566509,0.053681563405125754,0.20191591967120215,1.6591353820109165,0.012930090165503614,0.00039131896804995604,-0.00014173809016071549,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9129198123494384,0.011138926270610134,-0.9576066269593719,0.40425104026520065,0.7132885642913258,-0.02590345564016478,1.1241334081111165,1.5715818267936021,2.0817400350704887,2.0817400350704887,2.558500000000455,0,0,-0.0002877139990517793,-9.941907993938343e-05
+8699,1792668935795395783,37476195000000,1792668935792196378,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760994740087362,-0.004599939294920258,0.08806788378419803,0.9999999877060137,7.282656712970572e-05,-4.394773849677333e-06,0.00010347856775464621,0.6761,-0.00453,0.08796227877929658,1.0,0.0,0.0,0.0,-0.08872797007973254,0.21887165888080945,1.593821852493653,0.016272604803748626,0.007564004459313602,-0.0009810743088548583,0.05355554067278768,0.20146997434536995,1.6813754077109673,0.012926343066683022,0.00038756863577681924,-0.00015902303685892292,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9395874869410358,-0.053812062547388274,-0.9850152461546212,0.43371596248738087,0.7340114921848124,-0.06388356464570127,1.1241334081111165,1.593821852493653,2.109148654265738,2.109148654265738,2.5888800000004615,0,0,-0.00029694461761295275,-8.907431322947019e-05
+8755,1792668936261369941,37476661000000,1792668936256196109,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760978351105005,-0.0046037328932089045,0.08792748675903281,0.99999998838979,5.916570832061397e-05,-7.244805223055315e-06,0.00010540500938613389,0.6761,-0.00453,0.08782089502573774,1.0,0.0,0.0,0.0,-0.09785346600911227,0.20666514622398374,1.5741970201588613,0.016274020275465373,0.007568558475626619,-0.0009663482589199624,0.04443004474340794,0.18926346168854424,1.6617505753761757,0.012927758538399767,0.0003921226520898373,-0.00014429698692402696,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9462632591084043,-0.022260576631283953,-0.9563454132839276,0.4346516953609611,0.7128008142619542,-0.04995078056471224,1.1241334081111165,1.5741970201588613,2.0804788213950443,2.0804788213950443,2.6215000000004682,0,0,-0.0003105641701403857,-9.999999025923074e-05
+8803,1792668936661390758,37477061000000,1792668936660196158,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.676094347777441,-0.004607121227829906,0.08778951012603753,0.9999999887424972,4.8694253545009415e-05,-1.3256334948207348e-05,0.00010682232575914722,0.6761,-0.00453,0.08769332102330091,1.0,0.0,0.0,0.0,-0.09792633717165361,0.20124814716457762,1.5730223461642237,0.01525440101102524,0.007587889106620521,-0.0009768217902205666,0.04435717358086661,0.18384646262913812,1.660575901381538,0.011908139273959634,0.0004114532830837391,-0.00015477051822463116,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.907500793318416,-0.08417115294661733,-0.9359811651344195,0.4638299787886066,0.6864609443863885,-0.08922607132316174,1.1241334081111165,1.5730223461642237,2.060114573245536,2.060114573245536,2.649500000000474,0,0,-0.00032732572636670474,-9.999999025923074e-05
+8851,1792668937061414039,37477461000000,1792668937056205831,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760938053015757,-0.004608937086117734,0.08765987644325,0.9999999887529369,4.573695020290543e-05,-1.3606471995684024e-05,0.00010798141371233958,0.6761,-0.00453,0.08755860175828048,1.0,0.0,0.0,0.0,-0.10672988131199623,0.19974328421245177,1.5632035999958926,0.015230701737421507,0.008592527964379149,-0.0009544875626870625,0.03555362944052399,0.18234159967701227,1.650757155213207,0.0118844400003559,0.0014160921408423656,-0.00013243629069112703,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9412412805953312,-0.07220773510849879,-0.9773769261048192,0.4696075840492963,0.7189047070553207,-0.08257913780284398,1.1241334081111165,1.5632035999958926,2.1015103342159356,2.1015103342159356,2.67750000000048,0,0,-0.00034558120421831893,-9.999958780338431e-05
+8899,1792668937461394548,37477861000000,1792668937460196912,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760939980643698,-0.004614918750200071,0.08752352908896319,0.9999999893381324,3.3155146839007e-05,-1.1063911613610682e-05,0.00010744731577104346,0.6761,-0.00453,0.08741659699137207,1.0,0.0,0.0,0.0,-0.10682476200090411,0.20061034388045032,1.5830840348932753,0.01525431051715546,0.008598927442755288,-0.0009704220561144799,0.0354587487516161,0.18320865934501082,1.6706375901105897,0.011908048780089853,0.0014224916192185062,-0.00014837078411854455,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9794976454687775,-0.06456110620140663,-1.0378484434748143,0.479308275907878,0.7670976247736069,-0.0753301357739567,1.1241334081111165,1.5830840348932753,2.1619818515859306,2.1619818515859306,2.7055000000004856,0,0,-0.00036305168050618084,-6.498882962192027e-05
+8942,1792668937820369113,37478220000000,1792668937816197727,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760926138666398,-0.004616464342813262,0.08738845215819431,0.9999999881938236,5.191601202407847e-05,-1.4220014801131747e-05,0.00011026212350081587,0.6761,-0.00453,0.08728369620359404,1.0,0.0,0.0,0.0,-0.10682377608223914,0.19404949114240785,1.5839558100737363,0.015223314557407795,0.00859954458643454,-0.000971190984897325,0.035459734670281066,0.17664780660696836,1.6715093652910507,0.011877052820342189,0.0014231087628977573,-0.00014913971290138954,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9977315081310227,-0.08135828956284126,-1.0429332762213248,0.5004850693966062,0.772960194144908,-0.07917799210306989,1.1241334081111165,1.5839558100737363,2.1670666843324415,2.1670666843324415,2.730630000000491,0,0,-0.0003775095264405267,-9.999876901390365e-05
+8986,1792668938186325924,37478586000000,1792668938184197095,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760918078975984,-0.004620751718065805,0.08725329524839025,0.9999999872148493,7.262192262755534e-05,-1.47667764705919e-05,0.00010733668712389816,0.6761,-0.00453,0.08714303399739654,1.0,0.0,0.0,0.0,-0.09712134734305075,0.18874415920593668,1.6007465367525167,0.014249309868959614,0.008613796422784913,-0.0009959023177898859,0.045162163409469464,0.17134247467049718,1.688300091969831,0.010903048131894008,0.0014373605992481313,-0.00017385104579395046,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.0325638019578023,-0.1718249748507077,-1.0384209673527558,0.5398262847966743,0.7786367586596104,-0.14002034231532265,1.1241334081111165,1.6007465367525167,2.1625543754638725,2.1625543754638725,2.756250000000496,0,0,-0.00039138096700616485,-9.999999025923074e-05
+9030,1792668938553343623,37478953000000,1792668938552195862,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760947285823793,-0.004622183910904849,0.08711078303802182,0.9999999880545523,5.6780137548230254e-05,-1.1126715657687074e-05,0.000109480463598932,0.6761,-0.00453,0.08699759677306482,1.0,0.0,0.0,0.0,-0.11587114658080838,0.19172760270713293,1.6133299512301438,0.01521756134033947,0.00859359826631568,-0.0009959994393888667,0.02641236417171183,0.17432591817169343,1.7008835064474581,0.011871299603273863,0.0014171624427788986,-0.00017394816739293133,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.077689715161853,-0.10447816340071754,-0.9861414403539173,0.5363600301993835,0.7573571004730116,-0.09471797652029576,1.1241334081111165,1.6133299512301438,2.1102748484650338,2.1102748484650338,2.7819400000005015,0,0,-0.000401908146301115,-9.998219893526112e-05
+9070,1792668938886383873,37479286000000,1792668938880196371,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760947913654456,-0.004629968063988206,0.08697814877147962,0.9999999880164933,3.947657747668989e-05,-1.1486337582141982e-05,0.00011713044733573594,0.6761,-0.00453,0.0868620036183293,1.0,0.0,0.0,0.0,-0.11673664742965904,0.19389502188358482,1.61424608870065,0.01518987813466324,0.009606455144470803,-0.0009811030897321367,0.02554686332286117,0.17649333734814532,1.7017996439179643,0.011843616397597633,0.002430019320934021,-0.00015905181773620135,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.0809459746075698,-0.06217656803218057,-1.0082884461751416,0.5262601202677929,0.771836938064473,-0.07157303989022909,1.1241334081111165,1.61424608870065,2.132421854286258,2.132421854286258,2.8052500000005063,0,0,-0.0004133733589276308,-9.999999025923074e-05
+9110,1792668939220407543,37479620000000,1792668939216196533,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760954739247675,-0.004634263627838259,0.08683693134410278,0.9999999885709333,2.1367592141959032e-05,-4.428145608202127e-06,0.0001175789742647001,0.6761,-0.00453,0.08672260471558305,1.0,0.0,0.0,0.0,-0.12538970894023635,0.20094944745027302,1.5932767143874857,0.015195207804079574,0.00961061349855355,-0.0009651935293831899,0.016893801812283855,0.18354776291483352,1.6808302696048,0.011848946067013968,0.0024341776750167674,-0.0001431422573872545,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.0905227713617334,-0.14412268526262184,-1.0418072105981104,0.5573014869577233,0.7932409930077632,-0.1240768900978505,1.1241334081111165,1.5932767143874857,2.165940618709227,2.165940618709227,2.828630000000511,0,0,-0.00042329295516926733,-9.999999025923074e-05
+9146,1792668939520378351,37479920000000,1792668939520196508,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760869179260709,-0.00463533620796583,0.0867005014743739,0.9999999885761748,8.619431712074224e-06,-1.7421562144943508e-05,0.00011795214848909637,0.6761,-0.00453,0.08659384014808906,1.0,0.0,0.0,0.0,-0.1259423246064493,0.19122607528650995,1.601870225540972,0.015192129023910605,0.009609573753467151,-0.000972911367901985,0.01634118614607091,0.17382439075107045,1.6894237807582864,0.011845867286844999,0.002433137929930369,-0.00015086009590604968,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.0698892043763277,-0.1691264457840886,-1.024768698835735,0.5826739430489443,0.7798871919545057,-0.143074256827031,1.1241334081111165,1.601870225540972,2.1489021069468515,2.1489021069468515,2.8496300000005155,0,0,-0.0004358137097135436,-9.999999025923074e-05
+9190,1792668939886315795,37480286000000,1792668939880196381,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760956224599546,-0.004640706369864077,0.08655133829302163,0.9999999876769229,1.559999259186575e-05,-4.834713077904718e-06,0.00012578666228132808,0.6761,-0.00453,0.08643151044179084,1.0,0.0,0.0,0.0,-0.1380266256851397,0.20986386082970374,1.6030412724928067,0.01618631110897223,0.010574555241461905,-0.0009482040972550231,0.004256885067380512,0.19246217629426424,1.690594827710121,0.012840049371906625,0.003398119417925123,-0.00012615282525908766,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.1535295521596662,-0.18213772450366464,-1.031715090819717,0.5927608799169926,0.8050230836277011,-0.14192302171815255,1.1241334081111165,1.6030412724928067,2.1558484989308333,2.1558484989308333,2.875250000000521,0,0,-0.00045114527826991955,-9.975596323841813e-05
+9226,1792668940186322510,37480586000000,1792668940184196647,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760946284142044,-0.004641672428131368,0.08641601204595387,0.999999983006488,8.864812310300583e-05,-9.48756485484932e-06,0.00013221718690049195,0.6761,-0.00453,0.08629407900676525,1.0,0.0,0.0,0.0,-0.1441242947681054,0.20404361895931364,1.601331238457196,0.016186009478873983,0.01060335088073135,-0.000947916186406858,-0.0018407840155851723,0.18664193442387414,1.6888847936745104,0.012839747741808377,0.0034269150571945685,-0.00012586491441092255,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.1338823476593693,-0.20610500286540057,-0.9438416054689899,0.6097875411820824,0.743645452204325,-0.15296124867302177,1.1241334081111165,1.601331238457196,2.0679750135801065,2.0679750135801065,2.896250000000525,0,0,-0.0004650964316136027,-9.999883840284269e-05
+9258,1792668940453374211,37480853000000,1792668940448196581,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760855969537625,-0.004636872457173797,0.08628277085002378,0.999999989020078,4.2808024740716746e-05,-1.537020535141196e-05,0.0001064609698840212,0.6761,-0.00453,0.08616826892034496,1.0,0.0,0.0,0.0,-0.11716693416252424,0.20370384924854198,1.5936209329374575,0.016214830927989293,0.009592427698688427,-0.0009529904931762689,0.025116576589995974,0.18630216471310249,1.6811744881547719,0.012868569190923686,0.002415991875151644,-0.00013093922118033352,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.1625856002884358,-0.17226643192954924,-1.129321278314725,0.6062831168833976,0.872724107861317,-0.1400131638643491,1.1241334081111165,1.5936209329374575,2.2534546864258416,2.2534546864258416,2.914940000000529,0,0,-0.0004774518420111188,6.76111902838727e-05
+9294,1792668940753380696,37481153000000,1792668940748196593,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760824687089557,-0.004645991219661524,0.08613987050273778,0.9999999874517222,3.5851096141064e-05,-1.3590413405346623e-05,0.00012275756376804747,0.6761,-0.00453,0.08602287820969752,1.0,0.0,0.0,0.0,-0.13458167145431366,0.19165085084888225,1.613196627771767,0.015190242618624974,0.009607264042303915,-0.000982432017801994,0.007701839298206569,0.17424916631344275,1.7007501829890814,0.011843980881559368,0.0024308282187671328,-0.00016038074580605855,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.1312395192462645,-0.16870370775857707,-1.0427661849721208,0.603087882642101,0.8115028085085206,-0.13870006236516816,1.1241334081111165,1.613196627771767,2.1668995930832375,2.1668995930832375,2.9359400000005333,0,0,-0.0004920526894783547,-9.999999025923074e-05
+9326,1792668941020389936,37481420000000,1792668941016195898,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760624056730427,-0.00464941302072741,0.08599359051033886,0.9999999862230362,2.2461579290233747e-05,-4.9080408691000026e-05,0.00012682027723189096,0.6761,-0.00453,0.08588972634864929,1.0,0.0,0.0,0.0,-0.11508761571645437,0.16592530963509858,1.6102998156967399,0.013175144863362331,0.00863325804174193,-0.001017601701567256,0.027195895036065836,0.14852362509965908,1.6978533709140542,0.009828883126296725,0.001456822218205148,-0.0001955504295713207,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.1441514820428003,-0.16667015394023063,-1.01002190774039,0.6081198345334432,0.7984169600308709,-0.13713996102646697,1.1241334081111165,1.6102998156967399,2.1341553158515065,2.1341553158515065,2.954630000000537,0,0,-0.0005053879224378985,-9.999999025923074e-05
+9354,1792668941249406916,37481649000000,1792668941248196026,DOWN_SETTLE,3,0.0526,0.05260228365659714,0.676098794344802,-0.004649269658053554,0.08589927097340178,0.9999999860444649,1.748117289728106e-05,3.3866930062825816e-07,0.00013801531901380966,0.6761,-0.00453,0.08577753004354355,1.0,0.0,0.0,0.0,-0.13873333946727723,0.20024405279243507,1.5617841797956271,0.01514388934557933,0.010628328128600883,-0.000905198130383087,0.003550171285242996,0.18284236825699557,1.6493377350129415,0.011797627608513724,0.003451892305064101,-8.314685838715161e-05,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.2692544685909035,-0.16008926965263862,-0.9720869033573011,0.6043321991393147,0.8095362184907322,-0.13021660033202728,1.1241334081111165,1.5617841797956271,2.0962203114684175,0.0,0.0,0,0,-0.0003450492319885682,0.003485345777662305
+9455,1792668942087373572,37482487000000,1792668942080196106,DOWN_PEAK_HOLD,3,0.0526,0.05260162800550461,0.6760748370892167,-0.004638013666363313,0.0858051725495565,0.9999999834971982,3.442642962451037e-05,-4.5548224931194525e-05,0.00014556320944844508,0.6761,-0.00453,0.08574417614992512,1.0,0.0,0.0,0.0,-0.1432470391467255,0.19424066479284233,1.1324002854392667,0.015254398879337149,0.010724121098493238,-0.0005793424865829661,-0.0009635283942053051,0.17683898025740283,1.219953840656581,0.011908137142271543,0.0035476852749564557,0.00024270878541296926,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.0704236080404526,-0.12047035135799226,-0.2693132237596982,0.5761073801019871,0.312663330163194,-0.10879220268834638,1.1241334081111165,1.1324002854392667,1.3934466318708147,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/s2/ball_PLA_20/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/s2/ball_PLA_20/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,1792668898572936209,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.036342010e-09,-1.781076502e-11,3.453953901e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292361e-01,1.773288393e-06,8.295727100e-01
+1,5.000000000e-01,DOWN_FORCE_DETACH,1792668899538283235,-2.878664138e-06,-9.075297192e-06,-1.213528350e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.072297566e-07,-2.625051600e-10,7.409817371e-08,7.015349928e-01,-7.524335871e-06,8.407288059e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293383e-01,1.773043699e-06,8.295727807e-01
+2,8.666666667e-01,DOWN_FORCE_DETACH,1792668900236196141,-1.396064745e-05,-1.665966502e-05,-6.886163538e-05,-2.295264348e-05,-1.222071350e-05,-7.018731416e-05,-2.363238740e-05,-1.217425721e-05,-6.963958172e-05,7.015239108e-01,-1.510870370e-05,8.406720796e-01,7.015149188e-01,-1.066975218e-05,8.406707539e-01,7.017055987e-01,-1.040095101e-05,8.295030670e-01
+3,1.283333333e+00,DOWN_FORCE_DETACH,1792668901068232125,1.713533855e-05,-2.254169985e-05,-6.890886033e-05,2.059521123e-05,-2.145182618e-05,-6.461122995e-05,2.050912133e-05,-2.141035352e-05,-6.441409315e-05,7.015550068e-01,-2.099073853e-05,8.406720323e-01,7.015584667e-01,-1.990086485e-05,8.406763300e-01,7.017497402e-01,-1.963704731e-05,8.295082925e-01
+4,1.950000000e+00,DOWN_FORCE_DETACH,1792668902396626159,1.656390212e-05,-2.616580647e-05,-8.046204887e-05,2.059521123e-05,-2.145182618e-05,-6.461122995e-05,2.087191743e-05,-2.140887645e-05,-6.455532484e-05,7.015544354e-01,-2.461484515e-05,8.406604791e-01,7.015584667e-01,-1.990086485e-05,8.406763300e-01,7.017501030e-01,-1.963557025e-05,8.295081512e-01
+5,2.583333333e+00,DOWN_FORCE_DETACH,1792668903660934940,1.460303418e-05,-2.681252987e-05,-9.858177472e-05,1.617733527e-05,-2.558434658e-05,-8.669983798e-05,1.642185518e-05,-2.555933505e-05,-8.660692158e-05,7.015524745e-01,-2.526156855e-05,8.406423594e-01,7.015540488e-01,-2.403338526e-05,8.406542413e-01,7.017456529e-01,-2.378602885e-05,8.294860997e-01
+6,3.250000000e+00,DOWN_FORCE_DETACH,1792668904924047264,1.601551511e-05,-2.791236607e-05,-1.027541502e-04,1.212341085e-05,-2.769801316e-05,-1.083083974e-04,1.221357064e-05,-2.766802526e-05,-1.080399270e-04,7.015538870e-01,-2.636140474e-05,8.406381870e-01,7.015499949e-01,-2.614705184e-05,8.406326328e-01,7.017414446e-01,-2.589471906e-05,8.294646666e-01
+7,3.933333333e+00,DOWN_FORCE_DETACH,1792668906206106778,1.055652916e-05,-3.372951080e-05,-1.272470002e-04,1.212341085e-05,-2.769801316e-05,-1.083083974e-04,1.219105394e-05,-2.766881459e-05,-1.083016288e-04,7.015484280e-01,-3.217854948e-05,8.406136942e-01,7.015499949e-01,-2.614705184e-05,8.406326328e-01,7.017414221e-01,-2.589550839e-05,8.294644049e-01
+8,4.616666667e+00,DOWN_FORCE_DETACH,1792668907488121634,1.317869951e-05,-2.733826050e-05,-1.344284015e-04,1.226762637e-05,-3.294690174e-05,-1.276917271e-04,1.222996520e-05,-3.288620681e-05,-1.276962819e-04,7.015510502e-01,-2.578729918e-05,8.406065128e-01,7.015501391e-01,-3.139594042e-05,8.406132495e-01,7.017414610e-01,-3.111290060e-05,8.294450103e-01
+9,5.100000000e+00,DOWN_FORCE_DETACH,1792668908418132110,1.780752625e-05,-3.577580002e-05,-1.452446571e-04,1.425337704e-05,-3.760902407e-05,-1.483176731e-04,1.420642732e-05,-3.758680464e-05,-1.480543465e-04,7.015556790e-01,-3.422483870e-05,8.405956965e-01,7.015521249e-01,-3.605806275e-05,8.405926235e-01,7.017434375e-01,-3.581349844e-05,8.294246522e-01
+10,5.700000000e+00,DOWN_FORCE_DETACH,1792668909616045830,2.220607547e-05,-3.948979788e-05,-1.650487336e-04,1.796311993e-05,-3.366717655e-05,-1.701286477e-04,1.789657526e-05,-3.362109969e-05,-1.698386184e-04,7.015600776e-01,-3.793883656e-05,8.405758925e-01,7.015558346e-01,-3.211621523e-05,8.405708125e-01,7.017471277e-01,-3.184779349e-05,8.294028680e-01
+11,6.233333333e+00,DOWN_FORCE_DETACH,1792668910680390769,2.075980989e-05,-3.549201344e-05,-1.861931614e-04,1.758134336e-05,-4.032353405e-05,-1.887975575e-04,1.752599559e-05,-4.030136055e-05,-1.885777811e-04,7.015586313e-01,-3.394105212e-05,8.405547480e-01,7.015554528e-01,-3.877257273e-05,8.405521436e-01,7.017467571e-01,-3.852805435e-05,8.293841288e-01
+12,6.766666667e+00,DOWN_FORCE_DETACH,1792668911746213924,1.946051607e-05,-3.953093355e-05,-1.988033147e-04,1.758134336e-05,-4.032353405e-05,-1.887975575e-04,1.756036864e-05,-4.030184303e-05,-1.888561844e-04,7.015573320e-01,-3.797997223e-05,8.405421379e-01,7.015554528e-01,-3.877257273e-05,8.405521436e-01,7.017467914e-01,-3.852853683e-05,8.293838504e-01
+13,7.516666667e+00,DOWN_FORCE_DETACH,1792668913176205774,2.239724849e-05,-3.871201996e-05,-2.233497619e-04,2.063747627e-05,-4.360528023e-05,-2.092992352e-04,2.064707189e-05,-4.356862467e-05,-2.093375523e-04,7.015602687e-01,-3.716105864e-05,8.405175914e-01,7.015585090e-01,-4.205431890e-05,8.405316420e-01,7.017498781e-01,-4.179531847e-05,8.293633690e-01
+14,8.083333333e+00,DOWN_FORCE_DETACH,1792668914240075449,2.835845691e-05,-4.790474192e-05,-2.525530480e-04,2.675202576e-05,-4.493326387e-05,-2.536424528e-04,2.669140274e-05,-4.489807527e-05,-2.532559945e-04,7.015662299e-01,-4.635378060e-05,8.404883881e-01,7.015646235e-01,-4.338230255e-05,8.404872987e-01,7.017559225e-01,-4.312476907e-05,8.293194506e-01
+15,8.400000000e+00,DOWN_FORCE_DETACH,1792668914838247134,6.535766889e-05,-3.967692939e-05,-2.422746530e-04,5.289161892e-05,-4.088632730e-05,-2.514895796e-04,5.340571270e-05,-4.085449542e-05,-2.514310442e-04,7.016032292e-01,-3.812596807e-05,8.404986665e-01,7.015907631e-01,-3.933536598e-05,8.404894516e-01,7.017826368e-01,-3.908118922e-05,8.293212755e-01
+16,8.933333333e+00,DOWN_FORCE_DETACH,1792668915836593871,6.778095995e-05,-4.525483366e-05,-2.744496754e-04,6.501431442e-05,-4.989945043e-05,-2.658642879e-04,6.595106088e-05,-4.985549721e-05,-2.658141661e-04,7.016056524e-01,-4.370387234e-05,8.404664915e-01,7.016028858e-01,-4.834848910e-05,8.404750769e-01,7.017951821e-01,-4.808219100e-05,8.293068924e-01
+17,9.583333333e+00,DOWN_FORCE_DETACH,1792668917100078312,7.498488182e-05,-4.685816374e-05,-3.175419422e-04,7.191583356e-05,-4.732361795e-05,-3.054327538e-04,7.307681101e-05,-4.726453473e-05,-3.052121765e-04,7.016128564e-01,-4.530720242e-05,8.404233992e-01,7.016097873e-01,-4.577265663e-05,8.404355084e-01,7.018023079e-01,-4.549122853e-05,8.292674944e-01
+18,1.016666667e+01,DOWN_FORCE_DETACH,1792668918266161235,7.457818036e-05,-5.022911157e-05,-3.547659056e-04,6.974048551e-05,-5.021533526e-05,-3.466539260e-04,7.079010848e-05,-5.020127124e-05,-3.463105632e-04,7.016124497e-01,-4.867815025e-05,8.403861753e-01,7.016076120e-01,-4.866437393e-05,8.403942873e-01,7.018000212e-01,-4.842796503e-05,8.292263960e-01
+19,1.066666667e+01,DOWN_FORCE_DETACH,1792668919262388878,7.692197502e-05,-5.713889885e-05,-3.925830260e-04,7.416997060e-05,-5.103457520e-05,-3.907075868e-04,7.515405319e-05,-5.098569761e-05,-3.901880291e-04,7.016147935e-01,-5.558793752e-05,8.403483582e-01,7.016120415e-01,-4.948361388e-05,8.403502336e-01,7.018043851e-01,-4.921239141e-05,8.291825185e-01
+20,1.130000000e+01,DOWN_FORCE_DETACH,1792668920509934674,8.134067109e-05,-5.953200518e-05,-4.522764396e-04,8.119126095e-05,-5.958486716e-05,-4.521632520e-04,8.217658024e-05,-5.956716035e-05,-4.513524687e-04,7.016192122e-01,-5.798104386e-05,8.402886647e-01,7.016190627e-01,-5.803390584e-05,8.402887779e-01,7.018114077e-01,-5.779385415e-05,8.291213541e-01
+21,1.186666667e+01,DOWN_FORCE_DETACH,1792668921574823489,8.437232367e-05,-6.086086297e-05,-5.115099656e-04,8.215808685e-05,-6.568780043e-05,-4.967092070e-04,8.308860921e-05,-6.567865168e-05,-4.961076921e-04,7.016222438e-01,-5.930990165e-05,8.402294312e-01,7.016200296e-01,-6.413683911e-05,8.402442320e-01,7.018123197e-01,-6.390534547e-05,8.290765989e-01
+22,1.236666667e+01,DOWN_FORCE_DETACH,1792668922522091099,8.329073553e-05,-6.623901113e-05,-5.781940428e-04,8.132322185e-05,-6.584702896e-05,-5.624375469e-04,8.195717050e-05,-6.582542691e-05,-5.616848061e-04,7.016211622e-01,-6.468804981e-05,8.401627471e-01,7.016191947e-01,-6.429606764e-05,8.401785036e-01,7.018111882e-01,-6.405212071e-05,8.290110218e-01
+23,1.286666667e+01,DOWN_FORCE_DETACH,1792668923470125406,8.444783385e-05,-7.522247471e-05,-6.604559743e-04,8.220872379e-05,-7.719671893e-05,-6.503429609e-04,8.252972426e-05,-7.717183572e-05,-6.493229559e-04,7.016223193e-01,-7.367151339e-05,8.400804852e-01,7.016200802e-01,-7.564575761e-05,8.400905982e-01,7.018117608e-01,-7.539852952e-05,8.289233836e-01
+24,1.336666667e+01,DOWN_FORCE_DETACH,1792668924418123792,8.454547473e-05,-7.645431680e-05,-7.533424910e-04,8.323178365e-05,-7.413948373e-05,-7.389632587e-04,8.321731645e-05,-7.413336633e-05,-7.378994873e-04,7.016224170e-01,-7.490335548e-05,8.399875987e-01,7.016211033e-01,-7.258852240e-05,8.400019779e-01,7.018124484e-01,-7.236006013e-05,8.288348071e-01
+25,1.350000000e+01,DOWN_FORCE_DETACH,1792668924684127750,8.907323263e-05,-4.621729733e-05,-7.820678841e-04,8.930020353e-05,-3.578942494e-05,-7.756728032e-04,8.930235371e-05,-3.583827687e-05,-7.744005696e-04,7.016269447e-01,-4.466633601e-05,8.399588733e-01,7.016271717e-01,-3.423846362e-05,8.399652684e-01,7.018185334e-01,-3.406497067e-05,8.287983060e-01
+26,1.396666667e+01,DOWN_FORCE_DETACH,1792668925582707421,9.203364612e-05,-5.085060184e-05,-8.825117148e-04,8.966415640e-05,-5.060255022e-05,-8.840960806e-04,8.932195052e-05,-5.061181474e-05,-8.824854885e-04,7.016299051e-01,-4.929964052e-05,8.398584295e-01,7.016275356e-01,-4.905158890e-05,8.398568451e-01,7.018185530e-01,-4.883850853e-05,8.286902211e-01
+27,1.440000000e+01,DOWN_FORCE_DETACH,1792668926448502912,9.001742290e-05,-5.771193649e-05,-9.944362604e-04,8.988654990e-05,-5.782109058e-05,-9.945482007e-04,8.916590397e-05,-5.783169513e-05,-9.927111084e-04,7.016278889e-01,-5.616097517e-05,8.397465049e-01,7.016277580e-01,-5.627012926e-05,8.397463930e-01,7.018183970e-01,-5.605838893e-05,8.285799955e-01
+28,1.483333333e+01,DOWN_FORCE_DETACH,1792668927312851656,8.438156320e-05,-5.678927589e-05,-1.107825639e-03,8.449233264e-05,-5.689494066e-05,-1.107174552e-03,8.321142924e-05,-5.691684719e-05,-1.105321254e-03,7.016222530e-01,-5.523831457e-05,8.396331155e-01,7.016223638e-01,-5.534397934e-05,8.396337666e-01,7.018124425e-01,-5.514354099e-05,8.284673853e-01
+29,1.528333333e+01,DOWN_FORCE_DETACH,1792668928212183448,8.641489052e-05,-5.992019318e-05,-1.225076828e-03,8.435261486e-05,-5.757518898e-05,-1.215420034e-03,8.268020931e-05,-5.753544067e-05,-1.213745632e-03,7.016242864e-01,-5.836923186e-05,8.395158644e-01,7.016222241e-01,-5.602422766e-05,8.395255212e-01,7.018119113e-01,-5.576213446e-05,8.283589609e-01
+30,1.570000000e+01,DOWN_FORCE_DETACH,1792668929010131859,8.608782435e-05,-5.847465009e-05,-1.346979670e-03,8.445162719e-05,-6.321535615e-05,-1.329211629e-03,8.232474908e-05,-6.314774194e-05,-1.327502966e-03,7.016239593e-01,-5.692368877e-05,8.393939615e-01,7.016223231e-01,-6.166439483e-05,8.394117296e-01,7.018115558e-01,-6.137443574e-05,8.282452036e-01
+31,1.606666667e+01,DOWN_FORCE_DETACH,1792668929708243262,8.770863504e-05,-5.820173054e-05,-1.460142442e-03,8.616375329e-05,-5.595242297e-05,-1.452060918e-03,8.356383132e-05,-5.590788846e-05,-1.450031681e-03,7.016255801e-01,-5.665076922e-05,8.392807987e-01,7.016240352e-01,-5.440146165e-05,8.392888803e-01,7.018127949e-01,-5.413458225e-05,8.281226749e-01
+32,1.641666667e+01,DOWN_FORCE_DETACH,1792668930372159428,7.959298407e-05,-6.565401388e-05,-1.585731588e-03,7.954527653e-05,-6.568779137e-05,-1.585683786e-03,7.628696344e-05,-6.559972606e-05,-1.583256918e-03,7.016174645e-01,-6.410305256e-05,8.391552096e-01,7.016174168e-01,-6.413683005e-05,8.391552574e-01,7.018055180e-01,-6.382641986e-05,8.279894497e-01
+33,1.673333333e+01,DOWN_FORCE_DETACH,1792668930972160940,8.383737176e-05,-7.089888560e-05,-1.687222453e-03,8.394493065e-05,-6.494486309e-05,-1.679773156e-03,8.034844505e-05,-6.485603374e-05,-1.677678298e-03,7.016217089e-01,-6.934792428e-05,8.390537187e-01,7.016218164e-01,-6.339390176e-05,8.390611680e-01,7.018095795e-01,-6.308272754e-05,8.278950283e-01
+34,1.706666667e+01,DOWN_FORCE_DETACH,1792668931604194689,7.968720880e-05,-7.561805265e-05,-1.812859511e-03,7.945116530e-05,-7.549978413e-05,-1.812848434e-03,7.529708015e-05,-7.541700497e-05,-1.810499198e-03,7.016175587e-01,-7.406709133e-05,8.389280817e-01,7.016173226e-01,-7.394882281e-05,8.389280928e-01,7.018045282e-01,-7.364369876e-05,8.277622074e-01
+35,1.741666667e+01,DOWN_FORCE_DETACH,1792668932268431266,7.888274382e-05,-7.604026485e-05,-1.943569745e-03,7.748695608e-05,-7.997587600e-05,-1.931837361e-03,7.288886664e-05,-7.987606956e-05,-1.929580782e-03,7.016167542e-01,-7.448930353e-05,8.387973714e-01,7.016153584e-01,-7.842491468e-05,8.388091038e-01,7.018021199e-01,-7.810276336e-05,8.276431258e-01
+36,1.770000000e+01,DOWN_FORCE_DETACH,1792668932802159445,7.753262984e-05,-7.277976051e-05,-2.062435130e-03,7.764353854e-05,-7.902443493e-05,-2.053559384e-03,7.258724721e-05,-7.892499137e-05,-2.051184612e-03,7.016154041e-01,-7.122879918e-05,8.386785061e-01,7.016155150e-01,-7.747347361e-05,8.386873818e-01,7.018018183e-01,-7.715168516e-05,8.275215220e-01
+37,1.798333333e+01,DOWN_FORCE_DETACH,1792668933332342980,7.257387976e-05,-8.042384594e-05,-2.186956388e-03,7.240988787e-05,-8.038293981e-05,-2.186875650e-03,6.678781240e-05,-8.028320143e-05,-2.184225774e-03,7.016104454e-01,-7.887288462e-05,8.385539848e-01,7.016102814e-01,-7.883197849e-05,8.385540655e-01,7.017960189e-01,-7.850989522e-05,8.273884808e-01
+38,1.826666667e+01,DOWN_FORCE_DETACH,1792668933898840138,7.405637195e-05,-8.405290933e-05,-2.322919660e-03,7.426205263e-05,-8.673419041e-05,-2.305606712e-03,6.823680932e-05,-8.664890617e-05,-2.303077320e-03,7.016119279e-01,-8.250194801e-05,8.384180215e-01,7.016121335e-01,-8.518322909e-05,8.384353345e-01,7.017974679e-01,-8.487559997e-05,8.272696293e-01
+39,1.851666667e+01,DOWN_FORCE_DETACH,1792668934397045871,7.483448424e-05,-8.409832086e-05,-2.450959352e-03,7.169377125e-05,-9.330798368e-05,-2.438075436e-03,6.512500214e-05,-9.323958522e-05,-2.435447857e-03,7.016127060e-01,-8.254735954e-05,8.382899818e-01,7.016095653e-01,-9.175702236e-05,8.383028658e-01,7.017943561e-01,-9.146627902e-05,8.271372587e-01
+40,1.876666667e+01,DOWN_FORCE_DETACH,1792668934898227767,7.559378449e-05,-8.867432694e-05,-2.589092937e-03,7.141286276e-05,-8.796698987e-05,-2.575065650e-03,6.431983956e-05,-8.786404521e-05,-2.572389188e-03,7.016134653e-01,-8.712336562e-05,8.381518483e-01,7.016092843e-01,-8.641602855e-05,8.381658755e-01,7.017935509e-01,-8.609073900e-05,8.270003174e-01
+41,1.900000000e+01,DOWN_FORCE_DETACH,1792668935362343792,7.177566497e-05,-9.033194698e-05,-2.729046446e-03,7.144439015e-05,-9.033420612e-05,-2.729288963e-03,6.384897537e-05,-9.020634909e-05,-2.726192187e-03,7.016096471e-01,-8.878098566e-05,8.380118947e-01,7.016093159e-01,-8.878324480e-05,8.380116522e-01,7.017930801e-01,-8.843304289e-05,8.268465144e-01
+42,1.921666667e+01,DOWN_FORCE_DETACH,1792668935796243800,7.080541598e-05,-8.868537406e-05,-2.855481006e-03,6.997745950e-05,-9.243465167e-05,-2.846185985e-03,6.186705770e-05,-9.231140446e-05,-2.843278923e-03,7.016086769e-01,-8.713441274e-05,8.378854602e-01,7.016078489e-01,-9.088369035e-05,8.378947552e-01,7.017910981e-01,-9.053809825e-05,8.267294276e-01
+43,1.945000000e+01,DOWN_FORCE_DETACH,1792668936260351403,6.834983936e-05,-9.047298211e-05,-2.994825877e-03,6.862992615e-05,-9.253449997e-05,-2.980019299e-03,5.996356201e-05,-9.240010338e-05,-2.977207878e-03,7.016062213e-01,-8.892202078e-05,8.377461153e-01,7.016065014e-01,-9.098353865e-05,8.377609219e-01,7.017891946e-01,-9.062679718e-05,8.265954987e-01
+44,1.965000000e+01,DOWN_FORCE_DETACH,1792668936660399140,6.510583161e-05,-9.873070236e-05,-3.132744899e-03,6.509387441e-05,-9.702987822e-05,-3.113682984e-03,5.578410528e-05,-9.685497826e-05,-3.110858432e-03,7.016029773e-01,-9.717974104e-05,8.376081963e-01,7.016029654e-01,-9.547891690e-05,8.376272582e-01,7.017850152e-01,-9.508167206e-05,8.264618481e-01
+45,1.986666667e+01,DOWN_FORCE_DETACH,1792668937058338562,6.383699923e-05,-9.559163934e-05,-3.265210691e-03,6.375260491e-05,-9.562411182e-05,-3.264928961e-03,5.389513868e-05,-9.542129458e-05,-3.261823766e-03,7.016017085e-01,-9.404067802e-05,8.374757305e-01,7.016016241e-01,-9.407315050e-05,8.374760122e-01,7.017831262e-01,-9.364798838e-05,8.263108828e-01
+46,2.006666667e+01,DOWN_FORCE_DETACH,1792668937458223101,6.841751002e-05,-1.028559392e-04,-3.395561326e-03,6.703477367e-05,-1.002189912e-04,-3.385083431e-03,5.676337531e-05,-1.000209079e-04,-3.382189455e-03,7.016062890e-01,-1.013049779e-04,8.373453799e-01,7.016049063e-01,-9.866802988e-05,8.373558578e-01,7.017859945e-01,-9.824760167e-05,8.261905171e-01
+47,2.026666667e+01,DOWN_FORCE_DETACH,1792668937824210220,6.364323357e-05,-1.102297839e-04,-3.534722898e-03,6.357299690e-05,-1.104505163e-04,-3.534608639e-03,5.278561927e-05,-1.102494991e-04,-3.531470389e-03,7.016015147e-01,-1.086788225e-04,8.372062183e-01,7.016014445e-01,-1.088995550e-04,8.372063325e-01,7.017820167e-01,-1.084761929e-04,8.260412362e-01
+48,2.045000000e+01,DOWN_FORCE_DETACH,1792668938188226984,6.257750635e-05,-1.077007748e-04,-3.671257605e-03,5.948813033e-05,-1.129337889e-04,-3.663264666e-03,4.814691421e-05,-1.127417896e-04,-3.660124085e-03,7.016004490e-01,-1.061498135e-04,8.370696836e-01,7.015973596e-01,-1.113828276e-04,8.370776765e-01,7.017773780e-01,-1.109684834e-04,8.259125825e-01
+49,2.065000000e+01,DOWN_FORCE_DETACH,1792668938556233345,6.548541826e-05,-1.165017952e-04,-3.813116385e-03,6.544007477e-05,-1.164010547e-04,-3.813343290e-03,5.370439469e-05,-1.161792629e-04,-3.810095910e-03,7.016033569e-01,-1.149508339e-04,8.369278248e-01,7.016033116e-01,-1.148500934e-04,8.369275979e-01,7.017829355e-01,-1.144059567e-04,8.257626107e-01
+50,2.083333333e+01,DOWN_FORCE_DETACH,1792668938889146294,6.719188481e-05,-1.205963868e-04,-3.943521403e-03,6.698190321e-05,-1.205241715e-04,-3.943403223e-03,5.474361181e-05,-1.203253548e-04,-3.940354845e-03,7.016050634e-01,-1.190454255e-04,8.367974198e-01,7.016048534e-01,-1.189732102e-04,8.367975380e-01,7.017839747e-01,-1.185520486e-04,8.256323517e-01
+51,2.100000000e+01,DOWN_FORCE_DETACH,1792668939222469886,6.805309816e-05,-1.243464605e-04,-4.086091732e-03,6.776346727e-05,-1.242933087e-04,-4.086169032e-03,5.502015419e-05,-1.240763401e-04,-4.082957961e-03,7.016059246e-01,-1.227954992e-04,8.366548495e-01,7.016056349e-01,-1.227423474e-04,8.366547722e-01,7.017842512e-01,-1.223030339e-04,8.254897486e-01
+52,2.116666667e+01,DOWN_FORCE_DETACH,1792668939520530297,5.824933331e-05,-1.240822871e-04,-4.222863316e-03,5.804178488e-05,-1.241130439e-04,-4.223137213e-03,4.465277897e-05,-1.238640868e-04,-4.220049502e-03,7.015961208e-01,-1.225313258e-04,8.365180779e-01,7.015959133e-01,-1.225620826e-04,8.365178040e-01,7.017738839e-01,-1.220907806e-04,8.253526571e-01
+53,2.135000000e+01,DOWN_FORCE_DETACH,1792668939888247032,6.910400693e-05,-1.321959341e-04,-4.367297599e-03,6.599291100e-05,-1.262617552e-04,-4.354540492e-03,5.220420537e-05,-1.259848270e-04,-4.351739462e-03,7.016069755e-01,-1.306449728e-04,8.363736436e-01,7.016038644e-01,-1.247107939e-04,8.363864007e-01,7.017814353e-01,-1.242115208e-04,8.252209671e-01
+54,2.151666667e+01,DOWN_FORCE_DETACH,1792668940184257302,6.669575500e-05,-1.295523845e-04,-4.505088476e-03,6.678056865e-05,-1.275936181e-04,-4.491640330e-03,5.248640944e-05,-1.273022487e-04,-4.488900359e-03,7.016045672e-01,-1.280014231e-04,8.362358527e-01,7.016046521e-01,-1.260426567e-04,8.362493009e-01,7.017817175e-01,-1.255289425e-04,8.250838062e-01
+55,2.165000000e+01,DOWN_FORCE_DETACH,1792668940452474797,5.816140238e-05,-1.309712614e-04,-4.637489254e-03,5.872110106e-05,-1.271257674e-04,-4.622695511e-03,4.379190910e-05,-1.268229829e-04,-4.619989586e-03,7.015960329e-01,-1.294203001e-04,8.361034519e-01,7.015965926e-01,-1.255748061e-04,8.361182457e-01,7.017730230e-01,-1.250496767e-04,8.249527170e-01
+56,2.181666667e+01,DOWN_FORCE_DETACH,1792668940752181177,5.390923008e-05,-1.363186351e-04,-4.783364443e-03,5.587182966e-05,-1.327976892e-04,-4.773288957e-03,4.032876240e-05,-1.324430700e-04,-4.770811684e-03,7.015917807e-01,-1.347676738e-04,8.359575767e-01,7.015937433e-01,-1.312467278e-04,8.359676522e-01,7.017695598e-01,-1.306697638e-04,8.248018949e-01
+57,2.195000000e+01,DOWN_FORCE_DETACH,1792668941016236345,3.660142649e-05,-1.336905675e-04,-4.924170474e-03,3.682834820e-05,-1.349255891e-04,-4.908864259e-03,2.044148152e-05,-1.345844476e-04,-4.906231607e-03,7.015744729e-01,-1.321396062e-04,8.358167707e-01,7.015746998e-01,-1.333746278e-04,8.358320769e-01,7.017496726e-01,-1.328111414e-04,8.246664750e-01
+58,2.206666667e+01,DOWN_SETTLE,1792668941250367425,7.045077913e-05,-1.340555444e-04,-5.023065317e-03,7.016893608e-05,-1.341910167e-04,-5.023098931e-03,5.390371102e-05,-1.338528433e-04,-5.020604044e-03,7.016083223e-01,-1.325045831e-04,8.357178759e-01,7.016080404e-01,-1.326400554e-04,8.357178423e-01,7.017831348e-01,-1.320795371e-04,8.245521025e-01
+59,2.250000000e+01,DOWN_PEAK_HOLD,1792668942082846557,4.423717426e-05,-1.286298723e-04,-5.117198343e-03,4.675778204e-05,-1.344226260e-04,-5.110209021e-03,2.980895967e-05,-1.341977055e-04,-5.109527272e-03,7.015821087e-01,-1.270789109e-04,8.356237428e-01,7.015846293e-01,-1.328716646e-04,8.356307322e-01,7.017590400e-01,-1.324243993e-04,8.244631793e-01

Part2/Fixed/s2/ball_PLA_20/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,-6.8319e-03,1.1299e-03,2.4555e+00,-3.6882e-02,3.6302e-02,-1.7515e-05,2.1973e-04,1.1460e-06,2.0504e-04,-6.3330e-07,1.4421e-05,-5.0226e-07,3.0054e-04,1.4443e-05
+1,5.0000e-01,DOWN_FORCE_DETACH,1.3945e-04,-1.3233e-03,1.7229e-03,2.4596e+00,-3.6945e-02,3.6692e-02,-7.1406e-05,5.7283e-03,5.9410e-04,4.3631e-03,-6.3241e-05,4.0455e-04,-5.4393e-05,7.2252e-03,4.1306e-04
+2,8.6667e-01,DOWN_FORCE_DETACH,2.8713e-04,9.3703e-03,5.8565e-03,2.4933e+00,-3.7215e-02,3.7394e-02,-7.1285e-05,1.6422e-02,4.7278e-03,3.8075e-02,-3.3388e-04,1.1063e-03,-5.4272e-05,4.1734e-02,1.1568e-03
+3,1.2833e+00,DOWN_FORCE_DETACH,4.3164e-04,-2.7321e-02,9.7907e-03,2.4655e+00,-3.7463e-02,3.5018e-02,-7.4452e-05,-2.0270e-02,8.6620e-03,1.0197e-02,-5.8159e-04,-1.2698e-03,-5.7439e-05,2.4287e-02,1.3979e-03
+4,1.9500e+00,DOWN_FORCE_DETACH,5.7404e-04,-9.0628e-03,9.3850e-03,2.4597e+00,-3.7437e-02,3.6130e-02,-7.1727e-05,-2.0112e-03,8.2563e-03,4.4236e-03,-5.5500e-04,-1.5714e-04,-5.4715e-05,9.5802e-03,5.7940e-04
+5,2.5833e+00,DOWN_FORCE_DETACH,7.1750e-04,-1.7278e-03,1.0896e-02,2.4651e+00,-3.7527e-02,3.6641e-02,-6.6905e-05,5.3238e-03,9.7673e-03,9.8410e-03,-6.4577e-04,3.5367e-04,-4.9893e-05,1.4852e-02,7.3796e-04
+6,3.2500e+00,DOWN_FORCE_DETACH,8.6099e-04,2.7477e-03,1.1554e-02,2.4726e+00,-3.7560e-02,3.6962e-02,-5.6545e-05,9.7993e-03,1.0425e-02,1.7385e-02,-6.7883e-04,6.7483e-04,-3.9532e-05,2.2515e-02,9.5800e-04
+7,3.9333e+00,DOWN_FORCE_DETACH,1.0019e-03,1.3348e-03,1.1515e-02,2.4575e+00,-3.7555e-02,3.6877e-02,-5.4110e-05,8.3865e-03,1.0386e-02,2.2824e-03,-6.7379e-04,5.9003e-04,-3.7097e-05,1.3543e-02,8.9638e-04
+8,4.6167e+00,DOWN_FORCE_DETACH,1.1495e-03,1.1357e-03,1.3306e-02,2.4587e+00,-3.7676e-02,3.6861e-02,-5.0250e-05,8.1873e-03,1.2178e-02,3.4370e-03,-7.9415e-04,5.7368e-04,-3.3237e-05,1.5071e-02,9.8025e-04
+9,5.1000e+00,DOWN_FORCE_DETACH,1.2907e-03,5.2869e-04,1.5185e-02,2.4700e+00,-3.7801e-02,3.6820e-02,-4.7585e-05,7.5803e-03,1.4056e-02,1.4779e-02,-9.1920e-04,5.3246e-04,-3.0573e-05,2.1759e-02,1.0627e-03
+10,5.7000e+00,DOWN_FORCE_DETACH,1.4322e-03,6.5839e-04,1.4629e-02,2.4603e+00,-3.7769e-02,3.6828e-02,-4.4210e-05,7.7100e-03,1.3500e-02,5.0468e-03,-8.8784e-04,5.4087e-04,-2.7197e-05,1.6346e-02,1.0400e-03
+11,6.2333e+00,DOWN_FORCE_DETACH,1.5762e-03,1.3100e-03,1.5267e-02,2.4659e+00,-3.7806e-02,3.6865e-02,-4.1586e-05,8.3616e-03,1.4139e-02,1.0684e-02,-9.2477e-04,5.7765e-04,-2.4574e-05,1.9595e-02,1.0906e-03
+12,6.7667e+00,DOWN_FORCE_DETACH,1.7218e-03,2.6653e-03,1.5870e-02,2.4556e+00,-3.7857e-02,3.6965e-02,-3.7460e-05,9.7169e-03,1.4742e-02,3.9291e-04,-9.7504e-04,6.7797e-04,-2.0447e-05,1.7660e-02,1.1878e-03
+13,7.5167e+00,DOWN_FORCE_DETACH,1.8639e-03,3.0472e-03,1.7141e-02,2.4589e+00,-3.7959e-02,3.6995e-02,-3.1781e-05,1.0099e-02,1.6013e-02,3.6316e-03,-1.0775e-03,7.0754e-04,-1.4768e-05,1.9276e-02,1.2891e-03
+14,8.0833e+00,DOWN_FORCE_DETACH,2.0067e-03,3.2191e-03,1.7193e-02,2.4660e+00,-3.7973e-02,3.7004e-02,-2.9087e-05,1.0271e-02,1.6064e-02,1.0697e-02,-1.0912e-03,7.1696e-04,-1.2074e-05,2.1863e-02,1.3057e-03
+15,8.4000e+00,DOWN_FORCE_DETACH,2.1495e-03,-6.6434e-03,1.6479e-02,2.4636e+00,-3.7934e-02,3.6354e-02,-2.8092e-05,4.0819e-04,1.5350e-02,8.3513e-03,-1.0523e-03,6.6493e-05,-1.1079e-05,1.7479e-02,1.0545e-03
+16,8.9333e+00,DOWN_FORCE_DETACH,2.2944e-03,-5.7563e-03,1.8332e-02,2.4609e+00,-3.8074e-02,3.6385e-02,-2.4253e-05,1.2953e-03,1.7204e-02,5.6624e-03,-1.1924e-03,9.7293e-05,-7.2407e-06,1.8158e-02,1.1964e-03
+17,9.5833e+00,DOWN_FORCE_DETACH,2.4349e-03,2.7678e-04,1.8167e-02,2.4700e+00,-3.8091e-02,3.6776e-02,-1.8632e-05,7.3284e-03,1.7039e-02,1.4716e-02,-1.2092e-03,4.8850e-04,-1.6191e-06,2.3677e-02,1.3041e-03
+18,1.0167e+01,DOWN_FORCE_DETACH,2.5827e-03,6.9449e-03,1.8840e-02,2.4752e+00,-3.8154e-02,3.7232e-02,-1.4144e-05,1.3997e-02,1.7711e-02,1.9987e-02,-1.2722e-03,9.4449e-04,2.8687e-06,3.0151e-02,1.5845e-03
+19,1.0667e+01,DOWN_FORCE_DETACH,2.7214e-03,7.9959e-03,1.9072e-02,2.4800e+00,-3.8185e-02,3.7317e-02,-1.0528e-05,1.5048e-02,1.7943e-02,2.4717e-02,-1.3030e-03,1.0297e-03,6.4848e-06,3.4049e-02,1.6608e-03
+20,1.1300e+01,DOWN_FORCE_DETACH,2.8699e-03,6.9691e-03,2.0501e-02,2.4822e+00,-3.8291e-02,3.7249e-02,-4.0711e-06,1.4021e-02,1.9372e-02,2.6958e-02,-1.4098e-03,9.6112e-04,1.2942e-05,3.6037e-02,1.7063e-03
+21,1.1867e+01,DOWN_FORCE_DETACH,3.0101e-03,9.1858e-03,2.3248e-02,2.4908e+00,-3.8470e-02,3.7390e-02,3.7821e-06,1.6237e-02,2.2119e-02,3.5536e-02,-1.5883e-03,1.1022e-03,2.0795e-05,4.4897e-02,1.9334e-03
+22,1.2367e+01,DOWN_FORCE_DETACH,3.1546e-03,1.0266e-02,2.3876e-02,2.4960e+00,-3.8489e-02,3.7460e-02,9.7303e-06,1.7318e-02,2.2747e-02,4.0724e-02,-1.6076e-03,1.1724e-03,2.6743e-05,4.9757e-02,1.9899e-03
+23,1.2867e+01,DOWN_FORCE_DETACH,3.3002e-03,9.8700e-03,2.7293e-02,2.5057e+00,-3.8666e-02,3.7429e-02,1.4215e-05,1.6922e-02,2.6164e-02,5.0433e-02,-1.7849e-03,1.1418e-03,3.1228e-05,5.9282e-02,2.1191e-03
+24,1.3367e+01,DOWN_FORCE_DETACH,3.4434e-03,9.6956e-03,2.7241e-02,2.5144e+00,-3.8613e-02,3.7408e-02,1.3147e-05,1.6747e-02,2.6112e-02,5.9193e-02,-1.7316e-03,1.1204e-03,3.0159e-05,6.6829e-02,2.0626e-03
+25,1.3500e+01,DOWN_FORCE_DETACH,3.5848e-03,7.3421e-03,1.8383e-02,2.5221e+00,-3.8027e-02,3.7248e-02,8.8213e-06,1.4394e-02,1.7255e-02,6.6886e-02,-1.1455e-03,9.6089e-04,2.5834e-05,7.0559e-02,1.4953e-03
+26,1.3967e+01,DOWN_FORCE_DETACH,3.7259e-03,8.8907e-03,1.6477e-02,2.5260e+00,-3.7883e-02,3.7340e-02,-7.3538e-07,1.5942e-02,1.5348e-02,7.0739e-02,-1.0018e-03,1.0525e-03,1.6277e-05,7.4120e-02,1.4531e-03
+27,1.4400e+01,DOWN_FORCE_DETACH,3.8725e-03,1.0925e-02,1.8023e-02,2.5359e+00,-3.7987e-02,3.7468e-02,-3.5502e-06,1.7976e-02,1.6894e-02,8.0619e-02,-1.1059e-03,1.1807e-03,1.3462e-05,8.4309e-02,1.6178e-03
+28,1.4833e+01,DOWN_FORCE_DETACH,4.0216e-03,1.2156e-02,2.0290e-02,2.5379e+00,-3.8107e-02,3.7549e-02,-1.6085e-06,1.9207e-02,1.9161e-02,8.2672e-02,-1.2253e-03,1.2618e-03,1.5404e-05,8.7010e-02,1.7589e-03
+29,1.5283e+01,DOWN_FORCE_DETACH,4.1605e-03,1.2488e-02,2.0819e-02,2.5369e+00,-3.8090e-02,3.7576e-02,1.8437e-06,1.9540e-02,1.9690e-02,8.1676e-02,-1.2087e-03,1.2885e-03,1.8856e-05,8.6258e-02,1.7668e-03
+30,1.5700e+01,DOWN_FORCE_DETACH,4.3055e-03,1.1618e-02,2.3441e-02,2.5439e+00,-3.8229e-02,3.7512e-02,4.7115e-06,1.8670e-02,2.2312e-02,8.8669e-02,-1.3476e-03,1.2249e-03,2.1724e-05,9.3320e-02,1.8213e-03
+31,1.6067e+01,DOWN_FORCE_DETACH,4.4448e-03,1.0333e-02,2.1051e-02,2.5553e+00,-3.8071e-02,3.7420e-02,4.3190e-06,1.7385e-02,1.9923e-02,1.0004e-01,-1.1898e-03,1.1326e-03,2.1332e-05,1.0348e-01,1.6429e-03
+32,1.6417e+01,DOWN_FORCE_DETACH,4.5935e-03,7.5618e-03,2.1797e-02,2.5614e+00,-3.8132e-02,3.7226e-02,2.2564e-06,1.4613e-02,2.0669e-02,1.0619e-01,-1.2505e-03,9.3822e-04,1.9269e-05,1.0917e-01,1.5634e-03
+33,1.6733e+01,DOWN_FORCE_DETACH,4.7333e-03,5.3008e-03,2.4935e-02,2.5592e+00,-3.8337e-02,3.7070e-02,-1.8353e-07,1.2352e-02,2.3806e-02,1.0390e-01,-1.4555e-03,7.8266e-04,1.6829e-05,1.0731e-01,1.6527e-03
+34,1.7067e+01,DOWN_FORCE_DETACH,4.8791e-03,6.2609e-03,2.8845e-02,2.5613e+00,-3.8578e-02,3.7120e-02,-3.4059e-06,1.3312e-02,2.7716e-02,1.0606e-01,-1.6967e-03,8.3298e-04,1.3607e-05,1.1043e-01,1.8902e-03
+35,1.7417e+01,DOWN_FORCE_DETACH,5.0194e-03,8.3285e-03,3.0619e-02,2.5645e+00,-3.8679e-02,3.7255e-02,-7.7308e-06,1.5380e-02,2.9490e-02,1.0925e-01,-1.7972e-03,9.6733e-04,9.2819e-06,1.1420e-01,2.0410e-03
+36,1.7700e+01,DOWN_FORCE_DETACH,5.1596e-03,9.7181e-03,2.9471e-02,2.5683e+00,-3.8594e-02,3.7348e-02,-1.2553e-05,1.6770e-02,2.8343e-02,1.1301e-01,-1.7128e-03,1.0602e-03,4.4600e-06,1.1771e-01,2.0144e-03
+37,1.7983e+01,DOWN_FORCE_DETACH,5.3040e-03,1.0679e-02,2.9757e-02,2.5726e+00,-3.8609e-02,3.7410e-02,-1.6822e-05,1.7730e-02,2.8628e-02,1.1731e-01,-1.7274e-03,1.1221e-03,1.9046e-07,1.2205e-01,2.0599e-03
+38,1.8267e+01,DOWN_FORCE_DETACH,5.4486e-03,1.1901e-02,3.0849e-02,2.5823e+00,-3.8688e-02,3.7487e-02,-1.9766e-05,1.8953e-02,2.9720e-02,1.2701e-01,-1.8066e-03,1.1993e-03,-2.7529e-06,1.3181e-01,2.1685e-03
+39,1.8517e+01,DOWN_FORCE_DETACH,5.5925e-03,1.2997e-02,3.1483e-02,2.5891e+00,-3.8729e-02,3.7558e-02,-2.1092e-05,2.0048e-02,3.0354e-02,1.3386e-01,-1.8474e-03,1.2708e-03,-4.0789e-06,1.3872e-01,2.2422e-03
+40,1.8767e+01,DOWN_FORCE_DETACH,5.7382e-03,1.2595e-02,3.3424e-02,2.5921e+00,-3.8830e-02,3.7534e-02,-2.2047e-05,1.9647e-02,3.2296e-02,1.3689e-01,-1.9484e-03,1.2462e-03,-5.0342e-06,1.4201e-01,2.3128e-03
+41,1.9000e+01,DOWN_FORCE_DETACH,5.8883e-03,1.2690e-02,3.5698e-02,2.5950e+00,-3.8938e-02,3.7538e-02,-2.2605e-05,1.9741e-02,3.4569e-02,1.3975e-01,-2.0561e-03,1.2508e-03,-5.5921e-06,1.4531e-01,2.4067e-03
+42,1.9217e+01,DOWN_FORCE_DETACH,6.0212e-03,1.3251e-02,3.6855e-02,2.5982e+00,-3.8975e-02,3.7572e-02,-2.2230e-05,2.0303e-02,3.5726e-02,1.4291e-01,-2.0937e-03,1.2843e-03,-5.2177e-06,1.4870e-01,2.4562e-03
+43,1.9450e+01,DOWN_FORCE_DETACH,6.1689e-03,1.3872e-02,3.7508e-02,2.6027e+00,-3.8981e-02,3.7608e-02,-2.0879e-05,2.0924e-02,3.6379e-02,1.4745e-01,-2.0994e-03,1.3207e-03,-3.8662e-06,1.5331e-01,2.4803e-03
+44,1.9650e+01,DOWN_FORCE_DETACH,6.3133e-03,1.1900e-02,3.9328e-02,2.6072e+00,-3.9070e-02,3.7476e-02,-1.9293e-05,1.8952e-02,3.8199e-02,1.5194e-01,-2.1888e-03,1.1887e-03,-2.2801e-06,1.5781e-01,2.4908e-03
+45,1.9867e+01,DOWN_FORCE_DETACH,6.4583e-03,1.0655e-02,4.0138e-02,2.6024e+00,-3.9105e-02,3.7392e-02,-1.8277e-05,1.7706e-02,3.9010e-02,1.4714e-01,-2.2236e-03,1.1045e-03,-1.2640e-06,1.5325e-01,2.4828e-03
+46,2.0067e+01,DOWN_FORCE_DETACH,6.5990e-03,1.1085e-02,4.0673e-02,2.6019e+00,-3.9125e-02,3.7415e-02,-1.8353e-05,1.8137e-02,3.9544e-02,1.4665e-01,-2.2433e-03,1.1279e-03,-1.3405e-06,1.5297e-01,2.5109e-03
+47,2.0267e+01,DOWN_FORCE_DETACH,6.7432e-03,1.2057e-02,4.2131e-02,2.6031e+00,-3.9206e-02,3.7476e-02,-1.8960e-05,1.9109e-02,4.1003e-02,1.4788e-01,-2.3246e-03,1.1882e-03,-1.9468e-06,1.5465e-01,2.6107e-03
+48,2.0450e+01,DOWN_FORCE_DETACH,6.8846e-03,1.4296e-02,4.3036e-02,2.6095e+00,-3.9255e-02,3.7619e-02,-1.9556e-05,2.1348e-02,4.1907e-02,1.5419e-01,-2.3739e-03,1.3320e-03,-2.5429e-06,1.6121e-01,2.7221e-03
+49,2.0650e+01,DOWN_FORCE_DETACH,7.0296e-03,1.5019e-02,4.3708e-02,2.6091e+00,-3.9292e-02,3.7670e-02,-2.0802e-05,2.2071e-02,4.2579e-02,1.5386e-01,-2.4102e-03,1.3830e-03,-3.7896e-06,1.6116e-01,2.7788e-03
+50,2.0833e+01,DOWN_FORCE_DETACH,7.1660e-03,1.4980e-02,4.4749e-02,2.6107e+00,-3.9340e-02,3.7670e-02,-2.3085e-05,2.2032e-02,4.3620e-02,1.5542e-01,-2.4587e-03,1.3823e-03,-6.0722e-06,1.6292e-01,2.8206e-03
+51,2.1000e+01,DOWN_FORCE_DETACH,7.3122e-03,1.3666e-02,4.6603e-02,2.6089e+00,-3.9433e-02,3.7587e-02,-2.6055e-05,2.0718e-02,4.5475e-02,1.5366e-01,-2.5515e-03,1.2992e-03,-9.0424e-06,1.6158e-01,2.8633e-03
+52,2.1167e+01,DOWN_FORCE_DETACH,7.4523e-03,1.3131e-02,4.8646e-02,2.6084e+00,-3.9536e-02,3.7551e-02,-2.7892e-05,2.0183e-02,4.7518e-02,1.5312e-01,-2.6547e-03,1.2635e-03,-1.0880e-05,1.6159e-01,2.9401e-03
+53,2.1350e+01,DOWN_FORCE_DETACH,7.6040e-03,1.3758e-02,5.0890e-02,2.6031e+00,-3.9647e-02,3.7594e-02,-2.7902e-05,2.0810e-02,4.9761e-02,1.4786e-01,-2.7653e-03,1.3064e-03,-1.0889e-05,1.5739e-01,3.0584e-03
+54,2.1517e+01,DOWN_FORCE_DETACH,7.7478e-03,1.0289e-02,5.3942e-02,2.6023e+00,-3.9806e-02,3.7367e-02,-2.5925e-05,1.7341e-02,5.2813e-02,1.4708e-01,-2.9250e-03,1.0796e-03,-8.9121e-06,1.5724e-01,3.1179e-03
+55,2.1650e+01,DOWN_FORCE_DETACH,7.8842e-03,1.2008e-02,5.4909e-02,2.6025e+00,-3.9836e-02,3.7473e-02,-2.4237e-05,1.9060e-02,5.3780e-02,1.4722e-01,-2.9547e-03,1.1855e-03,-7.2238e-06,1.5789e-01,3.1836e-03
+56,2.1817e+01,DOWN_FORCE_DETACH,8.0349e-03,1.4596e-02,5.6499e-02,2.5968e+00,-3.9912e-02,3.7642e-02,-2.2771e-05,2.1647e-02,5.5370e-02,1.4159e-01,-3.0300e-03,1.3541e-03,-5.7579e-06,1.5356e-01,3.3188e-03
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Part2/Fixed/s2/ball_PLA_20/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/s2/ball_PLA_20/press_depth_03/up/real_sim_motion_alignment.csv ADDED Viewed

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

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Part2/Fixed/s2/ball_PLA_20/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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Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/franka_data.csv ADDED Viewed

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

+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+12944,1792668971093346404,37511493000000,1792668971088196597,XJC_ZERO_HOLD_BEFORE_DOWN,4,0.0524,0.05240003019571304,0.6760182207709557,-0.004498094819962703,0.09086402174859516,0.9999999753979754,-7.585204867675393e-05,-0.0001361714952681819,-0.00012786986973957172,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.05789350340653071,0.06614530990033352,-0.005458316776969341,0.0034568307858099025,-0.0029258712628143467,0.00017723095583208775,0.30804598369167546,0.061869023514695275,0.37385359107732036,0.0003852895479400983,-0.017327309844833008,0.0014990875536721232,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,-0.1127940444470864,0.16643467325781763,1.1743435935491617,-0.0607505924545884,-0.6819435170629344,0.07182489385097665,1.1241334081111165,0.005458316776969341,-0.05021018543804523,0.0,0.0,0,0,0.0,0.0
+13080,1792668972219263975,37512619000000,1792668972216195727,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760156209454584,-0.004506995549421519,0.0908589503860362,0.9999999750572092,-8.242137687101111e-05,-0.000138250955800658,-0.00012418468234134792,0.6761,-0.00453,0.09098502493143323,1.0,0.0,0.0,0.0,0.08453173335700281,0.11493743716559379,0.0060036349196760375,0.0065749386888976965,-0.005015319337709916,1.7226548052275397e-05,0.33468421364214757,0.11066115077995556,0.38531554277396574,0.0035033974510278927,-0.019416757919728578,0.0013390831458923108,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,-0.05721728112491577,0.22474423010905525,1.1154881339220764,-0.0682743618546327,-0.634857568653458,0.11244798208735515,1.1241334081111165,0.0060036349196760375,0.008645274189040153,0.008645274189040153,0.06188000000000046,0,0,-3.167567026315788e-05,-1.3788373484146656e-06
+13196,1792668973185329623,37513585000000,1792668973180196166,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760550257655451,-0.004510960719983346,0.09085884709262113,0.9999999858771258,-7.62913400548053e-05,-4.474327596363394e-05,-0.00010893247127945657,0.6761,-0.00453,0.0909461668739568,1.0,0.0,0.0,0.0,0.016031232929086592,0.1776110746318809,0.02809514989233225,0.011540134675109797,-5.0589436501664864e-05,0.000308102499472595,0.26618371321423134,0.17333478824624265,0.40740705774662195,0.008468593437239992,-0.014452028018520326,0.0016299590973126304,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.04652125499945416,0.23561630581222665,0.9825908955007364,-0.050872486140575345,-0.5554837715837024,0.11717756549420782,1.1241334081111165,0.02809514989233225,0.1415425126103801,0.1415425126103801,0.12950000000000017,0,0,-4.9498687708345084e-05,9.954064936057989e-05
+13327,1792668974277323362,37514677000000,1792668974276195818,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760501843789891,-0.004515836265105965,0.09083248378174423,0.9999999865558526,-7.1992447206319e-05,-5.630835593818977e-05,-9.98880153563592e-05,0.6761,-0.00453,0.09090438030181275,1.0,0.0,0.0,0.0,0.025333945645859612,0.17451141736521933,0.15817342499603992,0.011542414658705955,-0.0010918880520897206,0.00018845768920949628,0.27548642593100436,0.1702351309795811,0.5374853328503296,0.008470873420836151,-0.015493326634108382,0.0015103142870495317,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.002715827939920502,0.26100109944473043,0.9345517977341354,-0.03371391753331018,-0.5380059322613235,0.13269538334749892,1.1241334081111165,0.15817342499603992,0.18958161037698107,0.18958161037698107,0.2059399999999857,0,0,-1.92467340313915e-05,7.874607368978048e-05
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+13615,1792668976677340169,37517077000000,1792668976676196135,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760473137770137,-0.004522179352193305,0.0908121540117816,0.9999999867110168,-7.464123598132325e-05,-6.108591465145996e-05,-9.337037850338243e-05,0.6761,-0.00453,0.09087170970899142,1.0,0.0,0.0,0.0,0.025121540261216324,0.1779356100389566,0.2585178140528257,0.01152387756642076,-0.001113812868325707,0.00010737261719365263,0.2752740205463611,0.17365932365331838,0.6378297219071154,0.008452336328550955,-0.015515251450344368,0.001429229215033688,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.0826213742970849,0.16104310590346022,0.7363677925709847,0.010413966019235638,-0.39157375556725255,0.06088513776789479,1.1241334081111165,0.2585178140528257,0.3877656155401318,0.3877656155401318,0.373940000000003,0,0,-2.107834750211956e-05,9.999999025923074e-05
+13767,1792668977945313947,37518344000000,1792668977940196310,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760456508116244,-0.004524556556680545,0.09079493321908548,0.9999999870260953,-7.259462563354604e-05,-6.439554943276154e-05,-8.929673575077233e-05,0.6761,-0.00453,0.09085056918782569,1.0,0.0,0.0,0.0,0.026155721292852485,0.17092935347627783,0.3352687799952264,0.011507902307024467,-0.0011303751774527897,4.430795278566346e-05,0.27630820157799724,0.1666530670906396,0.7145806878495161,0.008436361069154663,-0.015531813759471451,0.001366164550625699,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.11062172604564205,0.3067357812719229,0.6547093306309265,-0.014538872645803273,-0.3348179452208409,0.1557397912098495,1.1241334081111165,0.3352687799952264,0.46942407748019,0.46942407748019,0.46263000000002136,0,0,-1.488913194539065e-05,9.723722801802665e-05
+13887,1792668978944242981,37519344000000,1792668978940196161,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760468486288774,-0.004523974619686972,0.09078364934693287,0.9999999874784825,-6.986216229543877e-05,-6.343022177094387e-05,-8.707344300539357e-05,0.6761,-0.00453,0.09083479511320582,1.0,0.0,0.0,0.0,0.024836550091491327,0.17240616998082145,0.3788911693812137,0.011500197695717716,-0.0011392749131560811,1.0086278462770283e-05,0.2749890303766361,0.16812988359518322,0.7582030772355034,0.008428656457847912,-0.015540713495174743,0.0013319428763028057,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.10530336161228547,0.16182402204442328,0.6831682016452888,0.027319703402559382,-0.35413247279991344,0.05864802134932972,1.1241334081111165,0.3788911693812137,0.4409652064658277,0.4409652064658277,0.5326300000000358,0,0,-2.00095916600126e-05,-9.999999025923074e-05
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+14174,1792668981335232326,37521735000000,1792668981328196437,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760529123094723,-0.004530569673361668,0.09075662784082178,0.9999999895217526,-6.814795970118763e-05,-4.8338954444173866e-05,-7.361086956508204e-05,0.6761,-0.00453,0.0907830004120376,1.0,0.0,0.0,0.0,0.014405442607239805,0.17148627914465003,0.5054233699597388,0.01233223693943207,-0.00016826790547500373,-6.772772235353339e-05,0.26455792289238456,0.1672099927590118,0.8847352778140285,0.009260695701562266,-0.014569706487493665,0.001254128875486502,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.11679411112032427,0.3091898678144349,0.5337651695022201,0.013053020308116937,-0.26633825037805603,0.14848096335360683,1.1241334081111165,0.5054233699597388,0.5903682386088964,0.5903682386088964,0.7000000000000705,0,0,-2.0589853054502012e-05,-8.128780567962508e-05
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+14605,1792668984927292263,37525327000000,1792668984920196562,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760579661821504,-0.004537190664238831,0.09070005057478846,0.9999999914355192,-6.490301474694454e-05,-3.423290696177802e-05,-5.645823786958237e-05,0.6761,-0.00453,0.09069726741590685,1.0,0.0,0.0,0.0,-0.02259979999883996,0.15988849791531914,0.6903978248587952,0.012421203810689093,0.0008020953667644583,0.0005956227179713686,0.2275526802863048,0.1556122115296809,1.069709732713085,0.009349662572819288,-0.013599343215254203,0.001917479315811404,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.21125633787965947,0.1463813424673443,0.21091117446326552,0.10241133164706571,-0.04540924977496455,0.03492229999426409,1.1241334081111165,0.6903978248587952,0.913222233647851,0.913222233647851,0.9514400000001225,0,0,-2.0134392761105547e-05,-6.684892611600491e-05
+14737,1792668986027191459,37526427000000,1792668986024195598,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760620404896772,-0.004538940048796503,0.09068566803463289,0.9999999921374444,-6.122610757497524e-05,-2.8501656429203502e-05,-5.105874133984062e-05,0.6761,-0.00453,0.09067567697791262,1.0,0.0,0.0,0.0,-0.023899430663057275,0.17048305926006418,0.7403897412807048,0.013091850866979778,0.0017929496887570447,-0.00022177303616648688,0.22625304962208748,0.16620677287442595,1.1197016491349945,0.010020309629109974,-0.012608488893261617,0.0011000835616735486,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.2620445666105233,0.18993757478000858,0.08081965933955444,0.09145016242680284,0.051011694993170154,0.054249552696204045,1.1241334081111165,0.7403897412807048,1.043313748771562,1.043313748771562,1.0284400000001384,0,0,-1.9828951512675157e-05,9.998834679525998e-05
+14861,1792668987061289405,37527460000000,1792668987056196325,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760639373513506,-0.004537761543437522,0.09066838516665893,0.9999999928439897,-5.677547686847008e-05,-2.36363009529995e-05,-4.441571508094408e-05,0.6761,-0.00453,0.09065045269949908,1.0,0.0,0.0,0.0,-0.03388397539318366,0.17436657215332846,0.7709470480798599,0.014176494719044112,0.0017649343592687425,-0.0002386585684218791,0.2162685048919611,0.17009028576769022,1.1502589559341496,0.011104953481174308,-0.012636504222749919,0.0010831980294181563,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.2781568937956721,0.21938454594519155,0.11885766610650926,0.09167661449563907,0.02320239112631698,0.06753610333361484,1.1241334081111165,0.7709470480798599,1.0052757420046072,1.0052757420046072,1.1007500000001533,0,0,-2.9896517562992504e-05,-9.75479100536802e-05
+14920,1792668987552254735,37527952000000,1792668987548196292,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760992833844808,-0.004532454373740463,0.09067798639738614,0.9999999935677104,-4.978673428486399e-05,1.0389110665978729e-05,-4.1482419776753614e-05,0.6761,-0.00453,0.09063080321909263,1.0,0.0,0.0,0.0,-0.08332896302869819,0.23411588675387887,0.7119609461401382,0.01839052835135538,0.005748485778119854,-8.152628127802708e-05,0.16682351725644656,0.22983960036824064,1.0912728539944279,0.015318987113485576,-0.008652952803898807,0.0012403303165620084,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.35028219873335487,0.1936245043608268,0.17038741264656973,0.1058798495684201,-0.006194243424773873,0.0565779548475404,1.1241334081111165,0.7119609461401382,0.9537459954645467,0.9537459954645467,1.1351900000001605,0,0,-5.2079773170425565e-05,-9.999999025923074e-05
+15048,1792668988619221817,37529019000000,1792668988612198071,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761040090364627,-0.004542744182849334,0.09063550920350033,0.9999999939051777,-4.929312917664005e-05,2.28031725814236e-05,-2.6128752861370906e-05,0.6761,-0.00453,0.09056704154504504,1.0,0.0,0.0,0.0,-0.10218081087971623,0.22992433542712298,0.8617548644587096,0.018384128553294604,0.006727813739453684,-0.00018783603392355454,0.14797166940542852,0.22564804904148475,1.2410667723129993,0.015312587315424802,-0.007673624842564977,0.001134020563916481,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.4160353483424409,0.1747850638049725,0.03912889278798191,0.13493497422102002,0.0892236521604035,0.03463024149490933,1.1241334081111165,0.8617548644587096,1.0850045153231347,1.0850045153231347,1.209880000000176,0,0,-5.018221840433069e-05,-9.643213591393191e-05
+15188,1792668989785295834,37530185000000,1792668989784195582,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761053616237631,-0.004545150209255445,0.09059828303867312,0.9999999940797566,-4.722710453779216e-05,2.665045419726435e-05,-1.851229411126917e-05,0.6761,-0.00453,0.09052755901747372,1.0,0.0,0.0,0.0,-0.10302963562505815,0.2338654339203497,0.9235548164384337,0.019333496551193863,0.006692731033122973,0.000799623218256025,0.1471228446600866,0.22958914753471146,1.3028667242927234,0.01626195531332406,-0.007708707548895689,0.0021214798160960604,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.44688037220174115,0.10072601100999519,-0.1742135297093912,0.1526557097065715,0.22974344399607338,-0.01502435870612967,1.1241334081111165,0.9235548164384337,1.2983469378205077,1.2983469378205077,1.2915000000001928,0,0,-2.1895497363784482e-05,9.704464595661761e-05
+15359,1792668991210200519,37531610000000,1792668991204196474,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761075367528784,-0.004545018727533711,0.09056400811444727,0.9999999943056813,-4.2636041899695915e-05,3.014760602641796e-05,-1.0236782082667323e-05,0.6761,-0.00453,0.0904848664619784,1.0,0.0,0.0,0.0,-0.1122036116254275,0.22553263490924488,0.9597872632690163,0.019325291259642365,0.0066852047084950215,0.0007651460689411882,0.13794886865971726,0.22125634852360665,1.339099171123306,0.01625375002177256,-0.00771623387352364,0.0020870026667812237,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.4898714067283264,0.1480765214767913,-0.16241062675700044,0.14666494250754156,0.23317825650097793,0.01930376580905581,1.1241334081111165,0.9597872632690163,1.286544034868117,1.286544034868117,1.3912500000002135,0,0,-4.068820401023488e-05,-9.999985148135266e-05
+15515,1792668992510193024,37532910000000,1792668992508196264,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.676116813348511,-0.004550877918007732,0.09052236415677584,0.9999999939703395,-4.194456891725144e-05,4.1726947903680265e-05,1.30403798976164e-06,0.6761,-0.00453,0.09042754293778095,1.0,0.0,0.0,0.0,-0.12236714860303627,0.24110444820846189,1.020056285631119,0.020317304499059278,0.007671768923000998,-0.00028000409206410215,0.12778533168210848,0.23682816182282365,1.3993681934854088,0.017245763261189474,-0.006729669659017663,0.0010418525057759333,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.5004968660254926,0.18744215870703,-0.287658527285382,0.13648926035406833,0.30670877387058604,0.04751126372251206,1.1241334081111165,1.020056285631119,1.4117919353964985,1.4117919353964985,1.4822500000002323,0,0,-4.76027054465061e-05,-1.7352927031389715e-05
+15683,1792668993910248883,37534310000000,1792668993908195817,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761223288840483,-0.004555847077078893,0.09046061413858074,0.9999999935536625,-4.128027843047779e-05,4.8888941314336194e-05,1.5535417193968827e-05,0.6761,-0.00453,0.090353407518922,1.0,0.0,0.0,0.0,-0.132080670774307,0.25574753203764394,1.0839375687717185,0.02025537079877142,0.009069494272383065,-8.222659430386211e-05,0.11807180951083776,0.2514712456520057,1.4632494766260082,0.017183829560901615,-0.005331944309635596,0.0012396300035361733,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.5831755621543139,0.1090560751324481,-0.40505180876218805,0.1682505324248908,0.39840999413849965,-0.0009932126767667887,1.1241334081111165,1.0839375687717185,1.5291852168733047,1.5291852168733047,1.5802500000002526,0,0,-5.8657883332509424e-05,9.829135702433262e-05
+15814,1792668995002175076,37535402000000,1792668994996196058,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761203182006195,-0.004559575130333191,0.0903963182727529,0.9999999935773091,-3.931671205022078e-05,4.592716553185859e-05,2.516223327329151e-05,0.6761,-0.00453,0.09028895220898077,1.0,0.0,0.0,0.0,-0.14130283972731658,0.23781033500608462,1.1039023627233633,0.02027355023349039,0.008667622937281015,-0.0003350302705628814,0.10884964055782817,0.23353404862044638,1.483214270577653,0.017202008995620587,-0.005733815644737647,0.000986826327277154,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.5401442375368306,0.29416989936684296,-0.4232939346344573,0.1012063074350564,0.3956187063248031,0.11287784854821796,1.1241334081111165,1.1039023627233633,1.5474273427455738,1.5474273427455738,1.6566900000002684,0,0,-6.44946648961905e-05,-9.999999025923074e-05
+15938,1792668996035237021,37536435000000,1792668996032196015,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761213949923691,-0.004563500529172248,0.09032566041766674,0.9999999936014178,-2.2126506367525633e-05,4.750361201193024e-05,3.865039900066782e-05,0.6761,-0.00453,0.09020997379645586,1.0,0.0,0.0,0.0,-0.14155607086480856,0.24867756813850192,1.114063205355491,0.020245542911077132,0.009677704844316844,-0.00032746135841891654,0.10859640942033619,0.24440128175286369,1.4933751132097808,0.017174001673207328,-0.004723733737701818,0.000994395239421119,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.5877344875619871,0.17962520443407995,-0.5806424194252218,0.1372299262755351,0.5001210465283291,0.0496022088300236,1.1241334081111165,1.114063205355491,1.7047758275363383,1.7047758275363383,1.7290000000002834,0,0,-8.77948059016268e-05,9.863287550449513e-05
+16050,1792668996969277639,37537369000000,1792668996964195910,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761202016753736,-0.004562680326829924,0.09023575474566657,0.9999999874159802,0.00010892505634858039,4.515059188829067e-05,5.2035179817094915e-05,0.6761,-0.00453,0.09011990225259252,1.0,0.0,0.0,0.0,-0.13322900429047874,0.246774170487298,1.183631997094463,0.02023186486540021,0.009662781712821648,-0.000382846082164673,0.11692347599466603,0.24249788410165976,1.5629439049487528,0.017160323627530404,-0.004738656869197015,0.0009390105156753624,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.6359105512637334,0.12706021244719692,-0.5024528500743999,0.12372495965914813,0.4676332254495257,-0.0353643442824851,1.1241334081111165,1.183631997094463,1.6265862581855164,1.6265862581855164,1.794380000000297,0,0,-0.00010045519035636741,-8.018374439278659e-05
+16162,1792668997902235647,37538302000000,1792668997900195926,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761217374125471,-0.004563064556064536,0.09014786607262548,0.999999987041506,0.00010440219015413711,4.46677139332354e-05,6.681938306693447e-05,0.6761,-0.00453,0.09002414618116118,1.0,0.0,0.0,0.0,-0.1325671479325498,0.2575519720841704,1.2041845741184958,0.02022955069272403,0.009657493769347877,-0.00039926995881152134,0.11758533235259493,0.25327568569853215,1.5834964819727855,0.017158009454854226,-0.004743944812670784,0.0009225866390285141,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.6474746894485297,0.25275910776758326,-0.5717929559020195,0.10318210089056642,0.5031157417542577,0.07396233787702429,1.1241334081111165,1.2041845741184958,1.6959263640131361,1.6959263640131361,1.8596900000003105,0,0,-0.00010585348225319725,-8.449963925650223e-05
+16273,1792668998827233765,37539227000000,1792668998824195764,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761183573884934,-0.004562738565705311,0.09004976665937574,0.9999999869835036,9.823846937836356e-05,4.003235708386197e-05,7.888263802147741e-05,0.6761,-0.00453,0.08992359895661044,1.0,0.0,0.0,0.0,-0.14152488115262285,0.24793260554520163,1.2150267380759898,0.02022637146452328,0.009656198086180193,-0.0004086602756676942,0.1086275991325219,0.2436563191595634,1.5943386459302795,0.017154830226653477,-0.004745240495838468,0.0009131963221723412,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.6524342150075599,0.19399036288857835,-0.6068288412740127,0.14933779890812793,0.515974999206723,0.06804603460359086,1.1241334081111165,1.2150267380759898,1.7309622493851293,1.7309622493851293,1.924440000000324,0,0,-0.00011140616613533461,-9.997798008776754e-05
+16365,1792668999594167265,37539994000000,1792668999592196073,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761204239599428,-0.004550798921119911,0.08996300517049316,0.9999999941284443,2.118015516621046e-05,4.748443442860119e-05,2.1968279555932718e-05,0.6761,-0.00453,0.0898338294006356,1.0,0.0,0.0,0.0,-0.1279012087154271,0.27132820025554555,1.2247342306246738,0.02127756640740375,0.009551093466780913,-0.0004048665160988168,0.12225127156971764,0.2670519138699073,1.6040461384789635,0.018206025169533947,-0.00485034511523775,0.0009169900817412186,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.6621194441579231,0.2383748266762238,-0.709927708756606,0.09021042929205077,0.586619955333703,0.1149765856354504,1.1241334081111165,1.2247342306246738,1.8340611168677226,1.8340611168677226,1.978130000000335,0,0,-0.0001240276801719745,9.916388129938553e-05
+16465,1792669000427241088,37540827000000,1792669000420196404,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761229394764922,-0.0045615582224992285,0.08985864381239556,0.9999999926690153,3.171730688898375e-05,4.985427514540533e-05,5.112139994075434e-05,0.6761,-0.00453,0.08972498577477787,1.0,0.0,0.0,0.0,-0.1328425591247841,0.2694387693278945,1.258328975243605,0.020193585229271425,0.01065841735441747,-0.00042609928411586374,0.11730992116036067,0.26516248294225625,1.6376408830978948,0.01712204399140162,-0.003743021227601192,0.0008957573137241717,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.6815223245124078,0.13776604486556004,-0.6961929719124806,0.180037006267954,0.565211975227526,0.03481381596778004,1.1241334081111165,1.258328975243605,1.8203263800235971,1.8203263800235971,2.036440000000347,0,0,-0.0001339369449335478,-6.881929334590637e-05
+16561,1792669001227260222,37541627000000,1792669001220196031,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761228119029932,-0.004568246267311091,0.08975108532282787,0.9999999922550317,2.7900471302602658e-05,4.4100065996668343e-05,6.488103767530116e-05,0.6761,-0.00453,0.08961596910852665,1.0,0.0,0.0,0.0,-0.15010579453494646,0.2597779514900721,1.25382754925079,0.020199856536208947,0.01074626555929616,-0.001451919965054912,0.10004668575019829,0.25550166510443384,1.6331394571050797,0.017128315298339143,-0.0036551730227225017,-0.00013006336721487649,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.7195713078178023,0.16537691799355494,-0.7879159695157708,0.1857439677141827,0.6223615018899834,0.05108656737299508,1.1241334081111165,1.25382754925079,1.9120493776268872,1.9120493776268872,2.0924400000003587,0,0,-0.0001398166804597326,9.981617895971624e-05
+16653,1792669001994187838,37542394000000,1792669001988196446,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761242402671874,-0.004575663439955008,0.08964364232899937,0.9999999915692491,2.3508158480056683e-05,4.6636731813363474e-05,7.467762629581186e-05,0.6761,-0.00453,0.08950388629540942,1.0,0.0,0.0,0.0,-0.1550193740788831,0.2582891208975899,1.2686041703382378,0.020169664728748204,0.01167546849389638,-0.0014517806483962824,0.09513310620626164,0.2540128345119516,1.6479160781925275,0.0170981234908784,-0.0027259700881222815,-0.000129924050556247,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.7653534189598016,0.09284048941815196,-0.8302115462067295,0.21268033389968963,0.6556036341207454,0.00533082934940729,1.1241334081111165,1.2686041703382378,1.954344954317846,1.954344954317846,2.14613000000037,0,0,-0.0001485295330102846,9.843442313884338e-05
+16748,1792669002785179982,37543185000000,1792669002784195648,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761220870602059,-0.004570535448047509,0.08951666458676028,0.9999999937008484,2.5221971268686526e-05,4.34303865681851e-05,3.897205988534342e-05,0.6761,-0.00453,0.0893822137215244,1.0,0.0,0.0,0.0,-0.142101595759704,0.2524136166973097,1.2831649751201348,0.02020616654899056,0.010248737669901108,-0.0014816945490325776,0.10805088452544076,0.24813733031167146,1.6624768829744245,0.017134625311120755,-0.004152700912117554,-0.0001598379511925423,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.7643543849050114,0.06829490845599023,-0.8835450460024035,0.24682548662324738,0.6816337520674405,-0.0052275957044525465,1.1241334081111165,1.2831649751201348,2.00767845411352,2.00767845411352,2.2015000000003813,0,0,-0.00016062877212089243,9.645424322990976e-05
+16836,1792669003519157334,37543919000000,1792669003512196006,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761240744344291,-0.004573287250918573,0.08939753824619479,0.9999999915037433,5.7784292078417856e-05,4.419417395912424e-05,5.606450163246008e-05,0.6761,-0.00453,0.089260268015919,1.0,0.0,0.0,0.0,-0.15816409826066533,0.23905281889085322,1.291264552496415,0.019166558061999225,0.01089835259158504,-0.0014923753814082394,0.09198838202447943,0.234776532505215,1.6705764603507047,0.01609501682412942,-0.0035030859904336222,-0.00017051878356820406,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.817951744267988,0.0280084563302856,-0.9167610871289525,0.2645122428978239,0.7109545322317803,-0.029073078764765538,1.1241334081111165,1.291264552496415,2.040894495240069,2.040894495240069,2.252880000000392,0,0,-0.00016881718938458056,9.98125707348862e-05
+16924,1792669004252212659,37544652000000,1792669004248196046,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761182905354085,-0.0045831002337775135,0.08926462258766697,0.9999999905483951,6.27357395343003e-05,3.154816943417586e-05,7.358677932016799e-05,0.6761,-0.00453,0.08913321373961466,1.0,0.0,0.0,0.0,-0.15986862956267767,0.2276090554322196,1.3024881932890935,0.018121587678786334,0.011708549013239271,-0.0015008564396756525,0.09028385072246707,0.22333276904658136,1.6818001011433832,0.015050046440916528,-0.0026928895687793907,-0.000178999841835617,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.850055077804229,0.021101845663333348,-0.9151319135187596,0.284756138946792,0.7129079697281616,-0.026962782147256496,1.1241334081111165,1.3024881932890935,2.039265321629876,2.039265321629876,2.3041900000004025,0,0,-0.0001768987605219397,-8.634862967099892e-05
+17000,1792669004885222751,37545285000000,1792669004880196387,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.676117342966495,-0.004589012063887252,0.08914529353518805,0.9999999896093851,5.8178079920912645e-05,2.7207132480712112e-05,8.999542854690464e-05,0.6761,-0.00453,0.08901869860651587,1.0,0.0,0.0,0.0,-0.16167882506570688,0.22217087477561925,1.3227386755343205,0.01706993071491166,0.012736408190038096,-0.001513140200719097,0.08847365521943787,0.21789458838998102,1.7020505833886101,0.013998389477041856,-0.001665030391980565,-0.0001912836028790616,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.8235200470671311,-0.010323403754324726,-0.9569445894449634,0.291749351525916,0.7286800578376978,-0.04849522220271015,1.1241334081111165,1.3227386755343205,2.08107799755608,2.08107799755608,2.3485000000004117,0,0,-0.00018586458008080514,-1.3442642729565924e-05
+17080,1792669005552222200,37545952000000,1792669005544197099,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761175293677141,-0.004592905217348021,0.08901971901262253,0.9999999908314441,3.71439703265126e-05,3.013235180043983e-05,8.655832137396529e-05,0.6761,-0.00453,0.08888897900765537,1.0,0.0,0.0,0.0,-0.1783224209163346,0.22228083150504152,1.3266356742006382,0.017046970931651168,0.013530753514361006,-0.0015091694040214525,0.07183005936881015,0.2180045451194033,1.705947582054928,0.013975429693781362,-0.0008706850676576553,-0.000187312806181417,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.876807455899404,0.06190245196427949,-1.0047476911740034,0.28742608256318825,0.7640937142333419,0.0006439947361885842,1.1241334081111165,1.3266356742006382,2.12888109928512,2.12888109928512,2.3951900000004214,0,0,-0.0002020443218050686,9.105139839172267e-05
+17148,1792669006119242571,37546519000000,1792669006116196064,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761151012238531,-0.004584568626993168,0.0888935785278846,0.9999999935765873,8.905411046879473e-06,2.4542539385865084e-05,6.0067022344729765e-05,0.6761,-0.00453,0.08877040435202208,1.0,0.0,0.0,0.0,-0.17748466978833508,0.23427886128724654,1.3531580031731036,0.018058672595756532,0.0137169638391788,-0.0015127137502398704,0.07266781049680968,0.2300025749016083,1.7324699110273933,0.014987131357886728,-0.0006844747428398613,-0.00019085715239983492,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.8978744287763714,-0.02589288129795041,-0.9073474528470057,0.3309223346544565,0.7034794413425698,-0.05502191254218887,1.1241334081111165,1.3531580031731036,2.0314808609581223,2.0314808609581223,2.4348800000004296,0,0,-0.00021430478344272442,-9.999999025923074e-05
+17215,1792669006677202762,37547077000000,1792669006676196447,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761125166513894,-0.00459715876269058,0.08877325881105401,0.9999999918908287,2.8825366052565727e-05,1.9876209533852635e-05,8.021995851176625e-05,0.6761,-0.00453,0.08864767894201923,1.0,0.0,0.0,0.0,-0.18760385620615092,0.21734576180268658,1.322614617493167,0.01704197194920329,0.013750694906085124,-0.0015005811665798649,0.06254862407899384,0.21306947541704835,1.7019265253474567,0.013970430711333486,-0.000650743675933537,-0.00017872456873982935,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9040683037166086,-0.05751596193944822,-0.8754453832528205,0.35233900204394114,0.679069843831613,-0.0703063173921444,1.1241334081111165,1.322614617493167,1.9995787913639371,1.9995787913639371,2.4739400000004377,0,0,-0.0002290014246106572,-9.9999393514355e-05
+17283,1792669007244196592,37547644000000,1792669007236196298,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761125627114427,-0.004594613848373979,0.08863683338621074,0.9999999895681237,6.31454392463644e-05,1.9036821613253e-05,8.920128750267063e-05,0.6761,-0.00453,0.0885124821331827,1.0,0.0,0.0,0.0,-0.19750150161785573,0.20288235196943408,1.3423186423601434,0.016241887990879333,0.013780502379426861,-0.0015282096682458948,0.052650978667289,0.19860606558379584,1.7216305502144331,0.01317034675300953,-0.0006209362025918007,-0.00020635307040585941,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9140060681435478,-0.005943979008302178,-1.0049462673053453,0.3449684886030314,0.7583494604925973,-0.036378255924746146,1.1241334081111165,1.3423186423601434,2.129079675416462,2.129079675416462,2.513630000000446,0,0,-0.0002483863704258723,-9.999999025923074e-05
+17347,1792669007777151200,37548177000000,1792669007776195840,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761125708171326,-0.004602662317852015,0.08850234103033555,0.9999999910748084,4.0734359955099676e-05,1.845654169123222e-05,8.54009102901284e-05,0.6761,-0.00453,0.08837670555341214,1.0,0.0,0.0,0.0,-0.1982141679635599,0.21489289119040011,1.347156920966662,0.017010319866142883,0.014760073051943944,-0.0015023003929145959,0.05193831232158486,0.21061660480476188,1.7264688288209518,0.013938778628273078,0.000358634469925282,-0.0001804437950745605,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9084759159131488,0.021370475800032325,-1.0740742698382437,0.3508421533107159,0.7954856286643398,-0.01905913610986565,1.1241334081111165,1.347156920966662,2.1982076779493602,2.1982076779493602,2.5509400000004536,0,0,-0.0002620687548679238,9.959826993555793e-05
+17407,1792669008277203978,37548677000000,1792669008276196039,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761101888457751,-0.004603033759782656,0.08836553570727348,0.999999991066546,3.810073855612285e-05,1.4144444977397449e-05,8.751023267500121e-05,0.6761,-0.00453,0.0882421900067418,1.0,0.0,0.0,0.0,-0.19681177093377195,0.2028031088441614,1.362116457564918,0.015985094545822455,0.014775124224764466,-0.0015294264722591397,0.053340709351372806,0.19852682245852316,1.7414283654192078,0.01291355330795265,0.0003736856427458055,-0.0002075698744191044,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.964824514442259,-0.01584591501999231,-1.0863041949635337,0.3762716683124926,0.8172344698969556,-0.043019746418866946,1.1241334081111165,1.362116457564918,2.2104376030746504,2.2104376030746504,2.585940000000461,0,0,-0.00027485454200529426,6.83535270315005e-05
+17464,1792669008752241806,37549152000000,1792669008744196537,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761115705561687,-0.004605549527376844,0.08823419941977649,0.999999990678885,4.100493010731139e-05,1.8318419529037483e-05,8.98227453565738e-05,0.6761,-0.00453,0.08810968252240574,1.0,0.0,0.0,0.0,-0.206136254278779,0.20315835853478156,1.3714104391762096,0.015957382690248153,0.015786865334361338,-0.0015223509564977879,0.044016226006365754,0.19888207214914333,1.7507223470304993,0.012885841452378349,0.0013854267523426757,-0.00020049435865775235,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9510732826878935,-0.11403593343305557,-1.1396743220805654,0.41492317681326224,0.8429557782738033,-0.1059204318182003,1.1241334081111165,1.3714104391762096,2.263807730191682,2.263807730191682,2.6191900000004678,0,0,-0.00028339142663505603,9.977902812175472e-05
+17519,1792669009210221866,37549610000000,1792669009208196372,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761067920443229,-0.0046124847448347555,0.08809719743079163,0.999999989605481,5.4318910114024594e-05,7.94214515630614e-06,9.601187825820191e-05,0.6761,-0.00453,0.08797861243765835,1.0,0.0,0.0,0.0,-0.21452006261689324,0.19616579069280665,1.3918726681453726,0.01493261136113369,0.015801835608228215,-0.0015514516551618095,0.0356324176682515,0.19188950430716842,1.7711845759996623,0.011861070123263887,0.0014003970262095522,-0.00022959505732177404,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9508373844850511,-0.14100504280604315,-1.1465383024691005,0.44377436286985805,0.8441623421622955,-0.1165074313129892,1.1241334081111165,1.3918726681453726,2.270671710580217,2.270671710580217,2.6512500000004744,0,0,-0.0002888424572619356,9.229046279835557e-05
+17575,1792669009677132410,37550077000000,1792669009676205194,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761068750352051,-0.004616562079592501,0.08795874995812811,0.9999999895731567,4.7137026748461864e-05,8.22313120564779e-06,0.00010003515352821496,0.6761,-0.00453,0.08784050610371591,1.0,0.0,0.0,0.0,-0.21459745531806831,0.190789944481249,1.387939872318885,0.014933287178261397,0.015803807285167032,-0.001547972262225091,0.03555502496707644,0.18651365809561077,1.7672517801731746,0.011861745940391593,0.0014023687031483718,-0.00022611566438505537,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9555760826769052,-0.10695332390550212,-1.073086214255609,0.44223562480761197,0.7962471632515367,-0.10319053698012906,1.1241334081111165,1.387939872318885,2.1972196223667257,2.1972196223667257,2.683940000000481,0,0,-0.000302885205384655,-9.999996250365512e-05
+17623,1792669010077231619,37550477000000,1792669010072196497,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.676104376402292,-0.004622352641121038,0.0878290465889924,0.999999989950008,3.340669079539835e-05,3.3163962352719744e-06,0.00010205803661777698,0.6761,-0.00453,0.0877168695193336,1.0,0.0,0.0,0.0,-0.2148552510935261,0.19149625954062682,1.3729534793458036,0.015338231458720965,0.01579972368855817,-0.0015280158792624315,0.03529722919161865,0.1872199731549886,1.7522653872000933,0.01226669022085116,0.0013982851065395105,-0.000206159281422396,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.003429283041425,-0.04647018155401099,-1.0978004936638965,0.43784339231611197,0.8184687340929523,-0.05960899244292073,1.1241334081111165,1.3729534793458036,2.221933901775013,2.221933901775013,2.711940000000487,0,0,-0.00031500349667176595,-9.999999025923074e-05
+17678,1792669010535136806,37550935000000,1792669010532196690,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761025995936987,-0.004619678051882314,0.08768491661309738,0.9999999899192211,3.0085868131888768e-05,9.546823834506138e-07,0.00010343283468927482,0.6761,-0.00453,0.08756834487183925,1.0,0.0,0.0,0.0,-0.22411821055606504,0.18042840775767124,1.3722416908628072,0.014951329495237083,0.015807253262813285,-0.0015362924996246382,0.02603426972907971,0.176152121372033,1.751553598717097,0.011879788257367279,0.0014058146807946253,-0.00021443590178460274,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9866874074742136,-0.07663022378377686,-1.1460680508563554,0.4583746916069813,0.8409783806828903,-0.08172095049538738,1.1241334081111165,1.3722416908628072,2.270201458967472,2.270201458967472,2.7440000000004936,0,0,-0.00033322073559131416,1.5775321901001504e-05
+17726,1792669010935226816,37551335000000,1792669010932195709,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761029053913495,-0.004620051798051595,0.08755104026629797,0.999999990154966,2.5477144932447124e-05,2.9484684934120982e-06,0.00010234820024729312,0.6761,-0.00453,0.08743195976806782,1.0,0.0,0.0,0.0,-0.22465552191452165,0.19422535772408886,1.4019334059205832,0.01584317999213993,0.015783467737554856,-0.001550455920190801,0.02549695837062311,0.18994907133845063,1.781245313774873,0.012771638754270127,0.0013820291555361947,-0.00022859932235076553,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.0228454789606334,-0.13502571186181442,-1.0407256836622807,0.4937473984839299,0.7820925510797085,-0.1160496488058845,1.1241334081111165,1.4019334059205832,2.164859091773397,2.164859091773397,2.7720000000004994,0,0,-0.00034793521489914623,-9.999999025923074e-05
+17774,1792669011335179087,37551735000000,1792669011328196619,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761008979682391,-0.004626146546339086,0.08741014598481538,0.999999989566977,2.9579399387596426e-05,6.297700275350566e-07,0.00010692788571351164,0.6761,-0.00453,0.08728975984366732,1.0,0.0,0.0,0.0,-0.2149340171610828,0.18115337029770368,1.3896187650602343,0.014945703362604684,0.015802110408004878,-0.0015501780499564072,0.03521846312406195,0.17687708391206544,1.768930672914524,0.01187416212473488,0.0014006718259862165,-0.00022832145211637174,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.995031232873312,-0.09131472269865973,-1.108064293331294,0.4925098189784714,0.8149490700558112,-0.08248189220102597,1.1241334081111165,1.3896187650602343,2.2321977014424106,2.2321977014424106,2.800000000000505,0,0,-0.0003631044790633738,-9.989583746173309e-05
+17818,1792669011702122005,37552102000000,1792669011696196608,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760973715650214,-0.004625414407662722,0.08727612546159881,0.9999999884939978,6.323395782190028e-05,-5.116795105975005e-06,0.00010212812330089717,0.6761,-0.00453,0.08715422298590818,1.0,0.0,0.0,0.0,-0.22216500562627386,0.18333819195195095,1.397874936533602,0.014923294046452535,0.01602026272375782,-0.0015498688355665875,0.027987474658870876,0.1790619055663127,1.7771868443878918,0.01185175280858273,0.0016188241417391615,-0.00022801223772655197,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9950301562594672,-0.058147299440190175,-1.0300778559249615,0.49973211259330397,0.761317296005105,-0.06083514167389298,1.1241334081111165,1.397874936533602,2.154211264036078,2.154211264036078,2.8256900000005105,0,0,-0.0003757188162631638,-9.999990699250389e-05
+17862,1792669012069131038,37552469000000,1792669012068196307,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.676106475386846,-0.004629275776148335,0.08714603278726293,0.9999999887026823,4.962260738143123e-05,7.3272133418661165e-06,0.00010733782515482036,0.6761,-0.00453,0.08701397345054615,1.0,0.0,0.0,0.0,-0.2250117739823744,0.18948872917044682,1.41245907164996,0.01591814279916797,0.016791981792423534,-0.0015421310900353192,0.02514070630277034,0.18521244278480858,1.7917709795042498,0.012846601561298169,0.0023905432104048717,-0.0002202744921952838,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.0375693416640384,-0.0015421699346008996,-1.179889400100308,0.4942804738850078,0.8670625628637036,-0.02434054239852477,1.1241334081111165,1.41245907164996,2.3040228082114247,2.3040228082114247,2.851380000000516,0,0,-0.00038938719167516824,2.588007172311109e-05
+17906,1792669012435189791,37552835000000,1792669012432196835,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761019575829549,-0.004632059834067251,0.08699976932652295,0.9999999891935003,3.098877599931135e-05,1.3060215510157178e-06,0.00010997205871378927,0.6761,-0.00453,0.08686979655305466,1.0,0.0,0.0,0.0,-0.22472217311011958,0.19147153108763243,1.4417245207768028,0.015119839294351447,0.016800765335555197,-0.001574832707194346,0.025430307175025174,0.1871952447019942,1.8210364286310925,0.012048298056481643,0.002399326753536536,-0.0002529761093543106,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.1071863989991344,-0.1580580399360119,-1.1683803661310384,0.544867328301805,0.8820602632474225,-0.12937789675189992,1.1241334081111165,1.4417245207768028,2.292513774242155,2.292513774242155,2.877000000000521,0,0,-0.00039825201437612554,-9.999996250365512e-05
+17950,1792669012802146344,37553202000000,1792669012796196331,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.676102989545211,-0.004633429143120034,0.08685207967202573,0.9999999894265704,1.4627093444731822e-05,8.002905994017514e-06,0.00011095821313541945,0.6761,-0.00453,0.08672172083179737,1.0,0.0,0.0,0.0,-0.23424802992206137,0.2030655509618061,1.393452283429061,0.01589913389534766,0.017727111162729414,-0.0015137071751505618,0.01590445036308338,0.19878926457616786,1.7727641912833507,0.012827592657477854,0.0033256725807107525,-0.00019185057731052634,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.142815830782005,-0.14540523485809875,-1.2429884473107775,0.5580610626064414,0.9356284445701956,-0.11850995602217215,1.1241334081111165,1.393452283429061,2.3671218554218942,2.3671218554218942,2.9026900000005265,0,0,-0.0004087573457253483,8.679714866144934e-05
+17986,1792669013102120700,37553502000000,1792669013100196266,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761018989177573,-0.004635382674562953,0.08672723109771388,0.9999999895483509,2.7526840608597017e-06,4.720482794159358e-06,0.00011097883780172544,0.6761,-0.00453,0.08659723237295358,1.0,0.0,0.0,0.0,-0.22860636864575187,0.19788961529025895,1.402129009546737,0.01589452048351042,0.017807669847586735,-0.0015184852890624077,0.02154611163939289,0.1936133289046207,1.7814409174010266,0.012822979245640619,0.0034062312655680745,-0.00019662869122237222,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.1576257017738647,-0.12505376533260862,-1.1240035900835808,0.5605318376453596,0.866497713445001,-0.10560210473482015,1.1241334081111165,1.402129009546737,2.2481369981946973,2.2481369981946973,2.923690000000531,0,0,-0.00042178382845678284,-9.999997638144293e-05
+18030,1792669013469145832,37553869000000,1792669013464205509,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761057375973998,-0.004638659949192806,0.08657754350407287,0.9999999886300309,6.354260023655443e-06,1.205799829577669e-05,0.00011830904662126507,0.6761,-0.00453,0.0864392762101891,1.0,0.0,0.0,0.0,-0.25322078232584216,0.20532662431339946,1.395917613387077,0.01651816464307451,0.018728299753376743,-0.0014941910033589934,-0.0030683020406974204,0.20105033792776122,1.7752295212413667,0.013446623405204704,0.004326861171358081,-0.00017233440551895783,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.1730181687779344,-0.24066902656050895,-1.1555251489899554,0.6053403002490421,0.8882387524072611,-0.17896117640488587,1.1241334081111165,1.395917613387077,2.279658557101072,2.279658557101072,2.949380000000536,0,0,-0.00043944775022650005,-9.999999025923074e-05
+18066,1792669013769151607,37554169000000,1792669013768196688,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761000889619483,-0.004646742764780048,0.0864407956482879,0.9999999871346406,2.4379866516617257e-05,1.2126747068287415e-06,0.0001287545519028405,0.6761,-0.00453,0.08630565786277891,1.0,0.0,0.0,0.0,-0.25322006574242517,0.19715206589838785,1.420421779355244,0.015874613655041843,0.018817375457740933,-0.001520616595851421,-0.0030675854572804464,0.19287577951274962,1.7997336872095338,0.012803072417172039,0.004415936875722272,-0.0001987599980113854,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.1817356162068724,-0.09296115072599247,-1.2261216367364831,0.5686034407728789,0.9362237134774934,-0.07778429347471141,1.1241334081111165,1.420421779355244,2.3502550448475996,2.3502550448475996,2.9703800000005405,0,0,-0.00045227688947183244,8.18442494595672e-05
+18102,1792669014069202045,37554469000000,1792669014064196319,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760957322577883,-0.0046446777143633105,0.08630091774256889,0.9999999886915825,4.763930774282278e-05,4.911843434001503e-07,0.00010858155678592254,0.6761,-0.00453,0.08616796104820743,1.0,0.0,0.0,0.0,-0.24349052621270895,0.2110142884389294,1.4025083389711568,0.016915846860532296,0.017799227377461365,-0.0015089518019226747,0.006661954072435807,0.20673800205329115,1.7818202468254465,0.01384430562266249,0.003397788795442704,-0.0001870952040826391,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.18637510376811,-0.09059398434361192,-1.0889407149176733,0.5856346565172132,0.8514971408536045,-0.08642060899593046,1.1241334081111165,1.4025083389711568,2.2130741230287896,2.2130741230287896,2.991380000000545,0,0,-0.00046606729453144,-9.999999025923074e-05
+18138,1792669014369221184,37554769000000,1792669014368195933,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760881004067619,-0.004641970693922614,0.08615376598936456,0.9999999875563427,4.3269459822498e-05,-5.644489346844672e-06,0.00012010858672589735,0.6761,-0.00453,0.08602603577677784,1.0,0.0,0.0,0.0,-0.24334814256934767,0.19161865354923852,1.4308431795058774,0.01588843447153708,0.017801701785067573,-0.001544167054029698,0.006804337715797088,0.18734236716360028,1.810155087360167,0.012816893233667276,0.0034002632030489103,-0.00022231045618966257,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.2032848782251426,-0.15818662919796775,-1.1900842662216577,0.59650313436107,0.9258298910346212,-0.12629404668466376,1.1241334081111165,1.4308431795058774,2.3142176743327743,2.3142176743327743,3.012380000000549,0,0,-0.00048042478031832826,-8.372573382943644e-05
+18169,1792669014627229974,37555027000000,1792669014624196773,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760715603779897,-0.004652168583548748,0.08602167083922736,0.9999999887984892,6.629690100487257e-06,-3.326276057012512e-05,0.00011267440701114627,0.6761,-0.00453,0.08590073529001951,1.0,0.0,0.0,0.0,-0.2178768276633473,0.1606639975046739,1.4237101937164545,0.013897778411235703,0.015952312842325882,-0.0015860314381472473,0.03227565262179747,0.15638771111903566,1.8030221015707442,0.010826237173365899,0.0015508742603072194,-0.0002641748403072119,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.1534095917125686,-0.07258951708865606,-1.1296697046169446,0.5964086020362075,0.8798735340666111,-0.06899136356294172,1.1241334081111165,1.4237101937164545,2.253803112728061,2.253803112728061,3.030440000000553,0,0,-0.0004911234081875479,-9.999999025923074e-05
+18198,1792669014869219523,37555269000000,1792669014868196265,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761103010824041,-0.004649988610046957,0.08591634152720601,0.9999999860683947,1.9807335842088987e-05,1.544103338302493e-05,0.0001366576699904177,0.6761,-0.00453,0.08578056474021442,1.0,0.0,0.0,0.0,-0.25259578411086114,0.18902042381965672,1.3939926551012127,0.014850955515302803,0.018842695084339483,-0.0015092331650034226,-0.0024433038257164114,0.1847441374340185,1.7733045629555024,0.011779414277432999,0.0044412565023208206,-0.00018737656716338709,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.2239028789413189,-0.1673741258953858,-0.97337815609503,0.6069141869146683,0.7966462545287232,-0.1291235590283348,1.1241334081111165,1.3939926551012127,2.0975115642061466,2.0975115642061466,3.0473800000005564,0,0,-0.0005025617083140574,-9.999999025923074e-05
+18231,1792669015139149879,37555539000000,1792669015136196568,DOWN_SETTLE,4,0.0524,0.0524013414978981,0.6760966705254224,-0.004654382306063333,0.08579915223177864,0.9999999836684028,2.4826152632770378e-05,-4.708828765219091e-06,0.0001531912128420066,0.6761,-0.00453,0.08567436794736094,1.0,0.0,0.0,0.0,-0.2820344986303673,0.20692504812974138,1.3190455959632643,0.017895958729635068,0.01981492235526232,-0.0014034078836648342,-0.03188201834522253,0.20264876174410315,1.698357503817554,0.014824417491765263,0.0054134837732436585,-8.15512858247988e-05,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.2509379244887402,-0.1648924804614949,-1.0506391282078724,0.611759027047846,0.84665821590013,-0.12920894793225568,1.1241334081111165,1.3190455959632643,2.174772536318989,0.0,0.0,0,0,-0.000136286672732555,0.001376633057904596
+18322,1792669015892219330,37556292000000,1792669015884196173,DOWN_PEAK_HOLD,4,0.0524,0.0524013414978981,0.6760712669266188,-0.004646867821775013,0.08572088950816775,0.9999999813937434,3.604317427106762e-05,-4.9611658470012114e-05,0.00015778133737900512,0.6761,-0.00453,0.08566179157560581,1.0,0.0,0.0,0.0,-0.2513771022434001,0.1750526630232451,0.9501562830994208,0.014958004090329751,0.017926030002209194,-0.0011676611135553242,-0.001224621958255345,0.17077637663760686,1.3294681909537105,0.011886462852459947,0.003524591420190534,0.00015419548428471136,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.0406143039476448,-0.1349766808616433,-0.5274495399726934,0.5879494423014684,0.4669721605980642,-0.11235054536450352,1.1241334081111165,0.9501562830994208,1.65158294808381,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/s2/ball_PLA_20/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/s2/ball_PLA_20/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,1792668971089053596,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.361677185e-09,-1.154944196e-13,4.108255514e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292166e-01,1.766095902e-06,8.295727198e-01
+1,6.000000000e-01,DOWN_FORCE_DETACH,1792668972219024569,-1.441657771e-06,-9.546075049e-06,-5.094949209e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.599506014e-07,3.503984498e-10,1.033722279e-07,7.015364298e-01,-7.995113728e-06,8.407358462e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293702e-01,1.766446416e-06,8.295728191e-01
+2,1.100000000e+00,DOWN_FORCE_DETACH,1792668973185037863,3.796316232e-05,-1.351124561e-05,-5.198242624e-06,2.788889753e-05,-1.416857285e-05,5.511759160e-07,2.861096925e-05,-1.414705075e-05,7.181877388e-07,7.015758346e-01,-1.196028429e-05,8.407357429e-01,7.015657604e-01,-1.261761153e-05,8.407414924e-01,7.017578212e-01,-1.238095473e-05,8.295734339e-01
+3,1.683333333e+00,DOWN_FORCE_DETACH,1792668974280951203,3.468234837e-05,-2.063578126e-05,-2.891952593e-05,3.191926517e-05,-1.946270592e-05,-1.982682666e-05,3.284843634e-05,-1.944806045e-05,-1.948034654e-05,7.015725538e-01,-1.908481994e-05,8.407120217e-01,7.015697907e-01,-1.791174460e-05,8.407211144e-01,7.017620587e-01,-1.768196443e-05,8.295532354e-01
+4,2.250000000e+00,DOWN_FORCE_DETACH,1792668975382508467,3.072555519e-05,-2.019449665e-05,-4.097929704e-05,3.083250732e-05,-1.947499774e-05,-3.945340213e-05,3.181742081e-05,-1.944324705e-05,-3.900474615e-05,7.015685970e-01,-1.864353533e-05,8.406999619e-01,7.015687040e-01,-1.792403642e-05,8.407014878e-01,7.017610277e-01,-1.767715103e-05,8.295337110e-01
+5,2.900000000e+00,DOWN_FORCE_DETACH,1792668976676734208,3.058462234e-05,-2.000296284e-05,-5.311020514e-05,3.083250732e-05,-1.947499774e-05,-3.945340213e-05,3.185764683e-05,-1.944201304e-05,-3.922966242e-05,7.015684561e-01,-1.845200152e-05,8.406878310e-01,7.015687040e-01,-1.792403642e-05,8.407014878e-01,7.017610679e-01,-1.767591702e-05,8.295334861e-01
+6,3.533333333e+00,DOWN_FORCE_DETACH,1792668977940936324,3.016485316e-05,-3.005601757e-05,-6.773788877e-05,2.978726489e-05,-2.751268350e-05,-5.913988658e-05,3.065681748e-05,-2.748480288e-05,-5.881796213e-05,7.015680363e-01,-2.850505625e-05,8.406732033e-01,7.015676587e-01,-2.596172217e-05,8.406818013e-01,7.017598671e-01,-2.571870686e-05,8.295138978e-01
+7,4.050000000e+00,DOWN_FORCE_DETACH,1792668978940873587,2.867853579e-05,-2.818008518e-05,-7.998869756e-05,2.751470821e-05,-2.753485886e-05,-7.901089867e-05,2.829934584e-05,-2.752612922e-05,-7.852699267e-05,7.015665500e-01,-2.662912386e-05,8.406609525e-01,7.015653862e-01,-2.598389754e-05,8.406619303e-01,7.017575096e-01,-2.576003320e-05,8.294941887e-01
+8,4.683333333e+00,DOWN_FORCE_DETACH,1792668980137348612,3.178375496e-05,-2.621855515e-05,-9.574525644e-05,2.751470821e-05,-2.753485886e-05,-7.901089867e-05,2.827512820e-05,-2.752683863e-05,-7.881468796e-05,7.015696552e-01,-2.466759383e-05,8.406451959e-01,7.015653862e-01,-2.598389754e-05,8.406619303e-01,7.017574854e-01,-2.576074261e-05,8.294939010e-01
+9,5.316666667e+00,DOWN_FORCE_DETACH,1792668981332835543,3.473645280e-05,-3.233439357e-05,-1.101258858e-04,3.040864128e-05,-2.642665721e-05,-9.885765588e-05,3.112232862e-05,-2.638371823e-05,-9.868113433e-05,7.015726079e-01,-3.078343225e-05,8.406308153e-01,7.015682801e-01,-2.487569589e-05,8.406420835e-01,7.017603326e-01,-2.461762221e-05,8.294740346e-01
+10,5.900000000e+00,DOWN_FORCE_DETACH,1792668982431324166,3.977162482e-05,-3.452883569e-05,-1.185859816e-04,3.605421603e-05,-3.566841618e-05,-1.162461138e-04,3.683378458e-05,-3.563119046e-05,-1.159971708e-04,7.015776431e-01,-3.297787437e-05,8.406223552e-01,7.015739257e-01,-3.411745485e-05,8.406246951e-01,7.017660441e-01,-3.386509444e-05,8.294567185e-01
+11,6.650000000e+00,DOWN_FORCE_DETACH,1792668983896916731,4.054331043e-05,-3.774637045e-05,-1.451598207e-04,3.728764747e-05,-3.443493334e-05,-1.371738047e-04,3.804146797e-05,-3.438182547e-05,-1.369565761e-04,7.015784148e-01,-3.619540913e-05,8.405957814e-01,7.015751591e-01,-3.288397202e-05,8.406037674e-01,7.017672517e-01,-3.261572945e-05,8.294357591e-01
+12,7.166666667e+00,DOWN_FORCE_DETACH,1792668984926792297,4.090357892e-05,-3.974118987e-05,-1.639947605e-04,3.960392319e-05,-3.383229063e-05,-1.580365976e-04,4.036126075e-05,-3.377923168e-05,-1.577594656e-04,7.015787751e-01,-3.819022855e-05,8.405769464e-01,7.015774754e-01,-3.228132931e-05,8.405829046e-01,7.017695715e-01,-3.201313566e-05,8.294149562e-01
+13,7.716666667e+00,DOWN_FORCE_DETACH,1792668986025066609,4.392400746e-05,-4.269130010e-05,-1.779415426e-04,4.258431208e-05,-4.159896647e-05,-1.763917506e-04,4.337983851e-05,-4.157097074e-05,-1.761714396e-04,7.015817955e-01,-4.114033878e-05,8.405629996e-01,7.015804558e-01,-4.004800515e-05,8.405645494e-01,7.017725901e-01,-3.980487473e-05,8.293965443e-01
+14,8.250000000e+00,DOWN_FORCE_DETACH,1792668987056907916,4.434904634e-05,-4.275356072e-05,-2.005102929e-04,4.422873889e-05,-4.292246155e-05,-2.004189888e-04,4.499095943e-05,-4.285210103e-05,-1.999931822e-04,7.015822205e-01,-4.120259940e-05,8.405404309e-01,7.015821002e-01,-4.137150023e-05,8.405405222e-01,7.017742012e-01,-4.108600502e-05,8.293727225e-01
+15,8.516666667e+00,DOWN_FORCE_DETACH,1792668987553238617,7.851687576e-05,-3.622046933e-05,-1.893835551e-04,7.494441405e-05,-3.965035908e-05,-1.888205536e-04,7.635961895e-05,-3.959626709e-05,-1.887958145e-04,7.016163884e-01,-3.466950801e-05,8.405515576e-01,7.016128159e-01,-3.809939776e-05,8.405521206e-01,7.018055699e-01,-3.783017107e-05,8.293839199e-01
+16,9.066666667e+00,DOWN_FORCE_DETACH,1792668988621734758,8.744515927e-05,-4.586601007e-05,-2.285466792e-04,8.717060433e-05,-4.603516296e-05,-2.283032881e-04,8.895028712e-05,-4.598795679e-05,-2.278146908e-04,7.016253166e-01,-4.431504875e-05,8.405123945e-01,7.016250421e-01,-4.448420164e-05,8.405126379e-01,7.018181606e-01,-4.422186077e-05,8.293449010e-01
+17,9.683333333e+00,DOWN_FORCE_DETACH,1792668989784583784,9.169153046e-05,-4.751633778e-05,-2.627198111e-04,8.957767794e-05,-4.811798679e-05,-2.486887102e-04,9.153021053e-05,-4.805862505e-05,-2.485190666e-04,7.016295630e-01,-4.596537646e-05,8.404782214e-01,7.016274492e-01,-4.656702547e-05,8.404922525e-01,7.018207405e-01,-4.629252903e-05,8.293241966e-01
+18,1.043333333e+01,DOWN_FORCE_DETACH,1792668991213057509,8.923435055e-05,-4.755693893e-05,-3.020001011e-04,8.923113033e-05,-5.063929073e-05,-2.886493805e-04,9.120697144e-05,-5.059940996e-05,-2.884418314e-04,7.016271058e-01,-4.600597761e-05,8.404389411e-01,7.016271026e-01,-4.908832941e-05,8.404522918e-01,7.018204172e-01,-4.883331394e-05,8.292842739e-01
+19,1.110000000e+01,DOWN_FORCE_DETACH,1792668992510925127,9.880728116e-05,-5.600474362e-05,-3.435229698e-04,9.628068503e-05,-4.989015418e-05,-3.300660911e-04,9.826632224e-05,-4.981139053e-05,-3.296941503e-04,7.016366788e-01,-5.445378229e-05,8.403974182e-01,7.016341522e-01,-4.833919286e-05,8.404108751e-01,7.018274766e-01,-4.804529451e-05,8.292430216e-01
+20,1.180000000e+01,DOWN_FORCE_DETACH,1792668993906938906,1.074100373e-04,-6.076665605e-05,-4.013208658e-04,1.048802656e-04,-5.953895172e-05,-3.899633167e-04,1.069022119e-04,-5.951566657e-05,-3.893284510e-04,7.016452815e-01,-5.921569473e-05,8.403396203e-01,7.016427517e-01,-5.798799040e-05,8.403509779e-01,7.018361125e-01,-5.774957055e-05,8.291833873e-01
+21,1.235000000e+01,DOWN_FORCE_DETACH,1792668995005370793,1.032270082e-04,-6.481129315e-05,-4.663209330e-04,9.929809029e-05,-6.113693618e-05,-4.575629328e-04,1.010680263e-04,-6.111106241e-05,-4.566765983e-04,7.016410985e-01,-6.326033183e-05,8.402746203e-01,7.016371696e-01,-5.958597486e-05,8.402833783e-01,7.018302783e-01,-5.934496639e-05,8.291160391e-01
+22,1.290000000e+01,DOWN_FORCE_DETACH,1792668996036866189,1.029066337e-04,-5.914627279e-05,-5.420506293e-04,1.026060747e-04,-5.911625532e-05,-5.419975260e-04,1.041208736e-04,-5.909089747e-05,-5.407076495e-04,7.016407781e-01,-5.759531146e-05,8.401988906e-01,7.016404776e-01,-5.756529400e-05,8.401989437e-01,7.018333311e-01,-5.732480145e-05,8.290320081e-01
+23,1.338333333e+01,DOWN_FORCE_DETACH,1792668996968819757,1.030667891e-04,-6.532807796e-05,-6.283606722e-04,1.029141518e-04,-6.540281307e-05,-6.277601176e-04,1.040515893e-04,-6.537300141e-05,-6.262055730e-04,7.016409383e-01,-6.377711664e-05,8.401125805e-01,7.016407856e-01,-6.385185175e-05,8.401131811e-01,7.018332619e-01,-6.360690539e-05,8.289465101e-01
+24,1.388333333e+01,DOWN_FORCE_DETACH,1792668997900790436,1.029798821e-04,-6.830642747e-05,-7.176618768e-04,1.025892866e-04,-6.373515386e-05,-7.114371025e-04,1.033643431e-04,-6.368440862e-05,-7.099364633e-04,7.016408514e-01,-6.675546615e-05,8.400232793e-01,7.016404608e-01,-6.218419253e-05,8.400295041e-01,7.018325746e-01,-6.191831260e-05,8.288627793e-01
+25,1.436666667e+01,DOWN_FORCE_DETACH,1792668998830747555,1.032582723e-04,-6.932620239e-05,-8.121254986e-04,1.025951700e-04,-6.728834718e-05,-8.027448700e-04,1.030037314e-04,-6.725443729e-05,-8.011928846e-04,7.016411298e-01,-6.777524107e-05,8.399288157e-01,7.016404667e-01,-6.573738586e-05,8.399381963e-01,7.018322140e-01,-6.548834127e-05,8.287715228e-01
+26,1.478333333e+01,DOWN_FORCE_DETACH,1792668999597159179,1.056893982e-04,-5.523666534e-05,-9.007875879e-04,1.033613276e-04,-6.557225492e-05,-8.875507971e-04,1.035118797e-04,-6.554016614e-05,-8.858419417e-04,7.016435609e-01,-5.368570402e-05,8.398401536e-01,7.016412328e-01,-6.402129360e-05,8.398533904e-01,7.018327221e-01,-6.377407012e-05,8.286868738e-01
+27,1.520000000e+01,DOWN_FORCE_DETACH,1792669000427012097,1.058768733e-04,-6.410874813e-05,-1.005401523e-03,1.056693957e-04,-6.430639685e-05,-1.005507143e-03,1.054668182e-04,-6.427631437e-05,-1.003313668e-03,7.016437484e-01,-6.255778681e-05,8.397355397e-01,7.016435409e-01,-6.275543553e-05,8.397354340e-01,7.018346771e-01,-6.251021835e-05,8.285694020e-01
+28,1.560000000e+01,DOWN_FORCE_DETACH,1792669001226985419,1.057492998e-04,-7.079679294e-05,-1.112960012e-03,1.042923606e-04,-7.311768959e-05,-1.099744601e-03,1.037375932e-04,-7.312175318e-05,-1.097719888e-03,7.016436208e-01,-6.924583162e-05,8.396279812e-01,7.016421638e-01,-7.156672827e-05,8.396411966e-01,7.018329479e-01,-7.135565716e-05,8.284749958e-01
+29,1.598333333e+01,DOWN_FORCE_DETACH,1792669001992801437,1.083803499e-04,-7.474158431e-05,-1.220442868e-03,1.081191538e-04,-7.435917063e-05,-1.220377363e-03,1.072098319e-04,-7.429253984e-05,-1.218047993e-03,7.016462518e-01,-7.319062299e-05,8.395204983e-01,7.016459906e-01,-7.280820931e-05,8.395205638e-01,7.018364201e-01,-7.252644383e-05,8.283546677e-01
+30,1.638333333e+01,DOWN_FORCE_DETACH,1792669002788801752,1.058979865e-04,-7.308833406e-05,-1.347036169e-03,1.060253320e-04,-7.199311091e-05,-1.331019053e-03,1.046702912e-04,-7.192787453e-05,-1.328742733e-03,7.016437695e-01,-7.153737274e-05,8.393939050e-01,7.016438968e-01,-7.044214959e-05,8.394099221e-01,7.018338806e-01,-7.016177851e-05,8.282439730e-01
+31,1.676666667e+01,DOWN_FORCE_DETACH,1792669003522075258,1.048068846e-04,-7.873589184e-05,-1.466795377e-03,1.048361738e-04,-7.891668902e-05,-1.466585190e-03,1.029174313e-04,-7.882879595e-05,-1.463869360e-03,7.016426784e-01,-7.718493052e-05,8.392741458e-01,7.016427077e-01,-7.736572769e-05,8.392743560e-01,7.018321277e-01,-7.706269993e-05,8.281088464e-01
+32,1.715000000e+01,DOWN_FORCE_DETACH,1792669004253899836,1.005761388e-04,-8.674869009e-05,-1.600486263e-03,1.045449561e-04,-8.476241931e-05,-1.590874678e-03,1.020526167e-04,-8.468818803e-05,-1.588113976e-03,7.016384476e-01,-8.519772877e-05,8.391404549e-01,7.016424164e-01,-8.321145799e-05,8.391500665e-01,7.018312629e-01,-8.292209201e-05,8.279846017e-01
+33,1.748333333e+01,DOWN_FORCE_DETACH,1792669004884892730,9.948089222e-05,-9.032521716e-05,-1.716776324e-03,1.001698203e-04,-9.030620107e-05,-1.698365023e-03,9.710409335e-05,-9.018122782e-05,-1.695881831e-03,7.016373524e-01,-8.877425584e-05,8.390241649e-01,7.016380413e-01,-8.875523975e-05,8.390425762e-01,7.018263144e-01,-8.841513180e-05,8.278768339e-01
+34,1.783333333e+01,DOWN_FORCE_DETACH,1792669005550948556,9.932016886e-05,-9.225111482e-05,-1.846789251e-03,9.922961601e-05,-9.232393917e-05,-1.846931114e-03,9.566085577e-05,-9.220666053e-05,-1.844073575e-03,7.016371917e-01,-9.070015350e-05,8.388941519e-01,7.016371011e-01,-9.077297785e-05,8.388940101e-01,7.018248711e-01,-9.044056451e-05,8.277286421e-01
+35,1.813333333e+01,DOWN_FORCE_DETACH,1792669006114927802,9.879458582e-05,-8.997125766e-05,-1.968784541e-03,9.868951808e-05,-8.998924835e-05,-1.968656178e-03,9.472586495e-05,-8.986159472e-05,-1.965605626e-03,7.016366661e-01,-8.842029634e-05,8.387721566e-01,7.016365610e-01,-8.843828703e-05,8.387722850e-01,7.018239361e-01,-8.809549870e-05,8.276071101e-01
+36,1.843333333e+01,DOWN_FORCE_DETACH,1792669006680884369,9.388682581e-05,-9.248958644e-05,-2.093647163e-03,9.306531782e-05,-9.887770024e-05,-2.085633854e-03,8.849122527e-05,-9.874738478e-05,-2.082716449e-03,7.016317583e-01,-9.093862512e-05,8.386472940e-01,7.016309368e-01,-9.732673892e-05,8.386553073e-01,7.018177015e-01,-9.698128876e-05,8.274899993e-01
+37,1.871666667e+01,DOWN_FORCE_DETACH,1792669007245044769,9.550010821e-05,-9.716437400e-05,-2.227211949e-03,9.532205197e-05,-1.032128278e-04,-2.212236229e-03,9.030658746e-05,-1.031031798e-04,-2.209229144e-03,7.016333716e-01,-9.561341268e-05,8.385137292e-01,7.016331935e-01,-1.016618665e-04,8.385287050e-01,7.018195169e-01,-1.013370838e-04,8.273634866e-01
+38,1.900000000e+01,DOWN_FORCE_DETACH,1792669007779567449,9.402295472e-05,-1.031238016e-04,-2.363433666e-03,9.356394993e-05,-1.059760260e-04,-2.356987342e-03,8.794072215e-05,-1.058644659e-04,-2.353740547e-03,7.016318944e-01,-1.015728403e-04,8.383775075e-01,7.016314354e-01,-1.044250647e-04,8.383839538e-01,7.018171510e-01,-1.040983699e-04,8.272189752e-01
+39,1.926666667e+01,DOWN_FORCE_DETACH,1792669008278982386,9.307080097e-05,-1.116429510e-04,-2.497820091e-03,9.305878103e-05,-1.094217096e-04,-2.480559755e-03,8.703760055e-05,-1.092894135e-04,-2.477373446e-03,7.016309423e-01,-1.100919897e-04,8.382431211e-01,7.016309303e-01,-1.078707482e-04,8.382603814e-01,7.018162479e-01,-1.075233175e-04,8.270953423e-01
+40,1.950000000e+01,DOWN_FORCE_DETACH,1792669008749085818,9.460152366e-05,-1.107919150e-04,-2.628615029e-03,9.448591395e-05,-1.108528274e-04,-2.628456179e-03,8.794160502e-05,-1.107374861e-04,-2.624830432e-03,7.016324730e-01,-1.092409537e-04,8.381123262e-01,7.016323574e-01,-1.093018661e-04,8.381124850e-01,7.018171519e-01,-1.089713900e-04,8.269478853e-01
+41,1.973333333e+01,DOWN_FORCE_DETACH,1792669009208875691,9.165784931e-05,-1.154434302e-04,-2.762585008e-03,9.026915615e-05,-1.140754633e-04,-2.746439380e-03,8.318561958e-05,-1.138921530e-04,-2.743094516e-03,7.016295293e-01,-1.138924689e-04,8.379783562e-01,7.016281406e-01,-1.125245020e-04,8.379945018e-01,7.018123959e-01,-1.121260570e-04,8.268296212e-01
+42,1.996666667e+01,DOWN_FORCE_DETACH,1792669009675162546,9.049261947e-05,-1.212242256e-04,-2.902101639e-03,8.763124621e-05,-1.174948873e-04,-2.889283826e-03,8.001803062e-05,-1.173035146e-04,-2.885734926e-03,7.016283641e-01,-1.196732643e-04,8.378388395e-01,7.016255027e-01,-1.159439259e-04,8.378516574e-01,7.018092283e-01,-1.155374186e-04,8.266869808e-01
+43,2.016666667e+01,DOWN_FORCE_DETACH,1792669010075629832,8.790928590e-05,-1.221231753e-04,-3.032654192e-03,8.572039988e-05,-1.182872173e-04,-3.016082443e-03,7.750588291e-05,-1.180896753e-04,-3.012474479e-03,7.016257808e-01,-1.205722140e-04,8.377082870e-01,7.016235919e-01,-1.167362560e-04,8.377248587e-01,7.018067162e-01,-1.163235793e-04,8.265602412e-01
+44,2.040000000e+01,DOWN_FORCE_DETACH,1792669010539497016,8.436183023e-05,-1.237041228e-04,-3.183523467e-03,8.775996285e-05,-1.234567266e-04,-3.167075176e-03,7.897346919e-05,-1.232662808e-04,-3.163380576e-03,7.016222333e-01,-1.221531615e-04,8.375574177e-01,7.016256314e-01,-1.219057653e-04,8.375738660e-01,7.018081837e-01,-1.215001848e-04,8.264093351e-01
+45,2.060000000e+01,DOWN_FORCE_DETACH,1792669010938810834,8.353850147e-05,-1.238129975e-04,-3.316106906e-03,8.450754154e-05,-1.233459764e-04,-3.304733528e-03,7.517322748e-05,-1.231287242e-04,-3.300972957e-03,7.016214100e-01,-1.222620362e-04,8.374248343e-01,7.016223790e-01,-1.217950151e-04,8.374362077e-01,7.018043835e-01,-1.213626282e-04,8.262717428e-01
+46,2.080000000e+01,DOWN_FORCE_DETACH,1792669011338936827,8.205107179e-05,-1.242156960e-04,-3.457163690e-03,8.198656406e-05,-1.254815072e-04,-3.447336562e-03,7.208520783e-05,-1.252678645e-04,-3.443527086e-03,7.016199226e-01,-1.226647347e-04,8.372837775e-01,7.016198580e-01,-1.239305459e-04,8.372936046e-01,7.018012955e-01,-1.235017685e-04,8.261291886e-01
+47,2.098333333e+01,DOWN_FORCE_DETACH,1792669011704887332,8.282382699e-05,-1.332484458e-04,-3.584204898e-03,8.327151682e-05,-1.236491397e-04,-3.572450259e-03,7.290504035e-05,-1.234034178e-04,-3.568660787e-03,7.016206953e-01,-1.316974845e-04,8.371567363e-01,7.016211430e-01,-1.220981784e-04,8.371684909e-01,7.018021153e-01,-1.216373217e-04,8.260040549e-01
+48,2.118333333e+01,DOWN_FORCE_DETACH,1792669012070103830,8.783829007e-05,-1.301811320e-04,-3.718216596e-03,8.629697999e-05,-1.329609229e-04,-3.709481622e-03,7.556917110e-05,-1.327146399e-04,-3.705634993e-03,7.016257098e-01,-1.286301707e-04,8.370227246e-01,7.016241685e-01,-1.314099616e-04,8.370314596e-01,7.018047794e-01,-1.309485439e-04,8.258670807e-01
+49,2.138333333e+01,DOWN_FORCE_DETACH,1792669012436870896,8.490308664e-05,-1.335456807e-04,-3.866901313e-03,8.460649293e-05,-1.333624671e-04,-3.867288019e-03,7.332466786e-05,-1.331483047e-04,-3.863248484e-03,7.016227746e-01,-1.319947193e-04,8.368740399e-01,7.016224780e-01,-1.318115058e-04,8.368736532e-01,7.018025349e-01,-1.313822086e-04,8.257094672e-01
+50,2.156666667e+01,DOWN_FORCE_DETACH,1792669012802845666,8.584401557e-05,-1.354600217e-04,-4.012450754e-03,8.568784625e-05,-1.364377582e-04,-3.993832104e-03,7.390397742e-05,-1.362161524e-04,-3.990001749e-03,7.016237155e-01,-1.339090604e-04,8.367284904e-01,7.016235593e-01,-1.348867969e-04,8.367471091e-01,7.018031142e-01,-1.344500564e-04,8.255827140e-01
+51,2.173333333e+01,DOWN_FORCE_DETACH,1792669013101275133,8.136605824e-05,-1.434053004e-04,-4.140862220e-03,8.106289693e-05,-1.432616482e-04,-4.141035201e-03,6.867188475e-05,-1.429771026e-04,-4.137072094e-03,7.016192375e-01,-1.418543390e-04,8.366000790e-01,7.016189344e-01,-1.417106869e-04,8.365999060e-01,7.017978822e-01,-1.412110066e-04,8.254356436e-01
+52,2.191666667e+01,DOWN_FORCE_DETACH,1792669013469084997,8.736035792e-05,-1.426055166e-04,-4.288388264e-03,8.546907053e-05,-1.404314336e-04,-4.273170560e-03,7.263976761e-05,-1.401022966e-04,-4.269382803e-03,7.016252318e-01,-1.410545553e-04,8.364525529e-01,7.016233406e-01,-1.388804722e-04,8.364677706e-01,7.018018500e-01,-1.383362005e-04,8.253033329e-01
+53,2.208333333e+01,DOWN_FORCE_DETACH,1792669013768331252,8.302635872e-05,-1.492932904e-04,-4.423249687e-03,8.430857119e-05,-1.476375997e-04,-4.410100135e-03,7.100250111e-05,-1.472624076e-04,-4.406426363e-03,7.016208978e-01,-1.477423291e-04,8.363176915e-01,7.016221801e-01,-1.460866384e-04,8.363308411e-01,7.018002128e-01,-1.454963115e-04,8.251662894e-01
+54,2.223333333e+01,DOWN_FORCE_DETACH,1792669014068296520,7.865126192e-05,-1.512895800e-04,-4.562643153e-03,7.848766792e-05,-1.511273603e-04,-4.562555212e-03,6.454145401e-05,-1.507276298e-04,-4.558637360e-03,7.016165227e-01,-1.497386187e-04,8.361782980e-01,7.016163591e-01,-1.495763989e-04,8.361783860e-01,7.017937517e-01,-1.489615338e-04,8.250140784e-01
+55,2.240000000e+01,DOWN_FORCE_DETACH,1792669014365077136,7.219450722e-05,-1.488287188e-04,-4.706631796e-03,7.088022861e-05,-1.480364766e-04,-4.686869889e-03,5.626634256e-05,-1.476251951e-04,-4.683495795e-03,7.016100660e-01,-1.472777575e-04,8.360343094e-01,7.016087517e-01,-1.464855152e-04,8.360540713e-01,7.017854766e-01,-1.458590991e-04,8.248892199e-01
+56,2.253333333e+01,DOWN_FORCE_DETACH,1792669014630847130,5.462978628e-05,-1.523515410e-04,-4.845624695e-03,5.434441121e-05,-1.523441402e-04,-4.845394509e-03,3.886799384e-05,-1.519110879e-04,-4.841621407e-03,7.015925013e-01,-1.508005797e-04,8.358953165e-01,7.015922159e-01,-1.507931789e-04,8.358955467e-01,7.017680783e-01,-1.501449919e-04,8.247310943e-01
+57,2.265000000e+01,DOWN_FORCE_DETACH,1792669014865255469,9.408391739e-05,-1.490100080e-04,-4.945505183e-03,9.364235461e-05,-1.489955422e-04,-4.945350507e-03,7.828344029e-05,-1.486078767e-04,-4.941832360e-03,7.016319554e-01,-1.474590467e-04,8.357954360e-01,7.016315138e-01,-1.474445809e-04,8.357955907e-01,7.018074937e-01,-1.468417807e-04,8.246308834e-01
+58,2.280000000e+01,DOWN_SETTLE,1792669015137631926,8.167920934e-05,-1.546199971e-04,-5.062191877e-03,8.157938539e-05,-1.547120317e-04,-5.062050910e-03,6.583756683e-05,-1.543293202e-04,-5.058487328e-03,7.016195507e-01,-1.530690358e-04,8.356787493e-01,7.016194509e-01,-1.531610704e-04,8.356788903e-01,7.017950478e-01,-1.525632242e-04,8.245142284e-01
+59,2.320000000e+01,DOWN_PEAK_HOLD,1792669015894890033,5.467424364e-05,-1.453889836e-04,-5.142321329e-03,6.287377477e-05,-1.489412899e-04,-5.125346436e-03,4.652579488e-05,-1.486271910e-04,-5.124097350e-03,7.015925457e-01,-1.438380223e-04,8.355986199e-01,7.016007453e-01,-1.473903286e-04,8.356155948e-01,7.017757361e-01,-1.468610950e-04,8.244486184e-01

Part2/Fixed/s2/ball_PLA_20/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,-9.2736e-03,1.1115e-03,2.4551e+00,-3.6876e-02,3.6131e-02,-1.8632e-05,2.7088e-04,-1.7189e-06,2.4486e-04,-2.8312e-07,1.7662e-05,-4.9123e-07,3.6515e-04,1.7671e-05
+1,6.0000e-01,DOWN_FORCE_DETACH,1.4282e-04,-9.9433e-04,1.5283e-03,2.4609e+00,-3.6920e-02,3.6721e-02,-7.3431e-05,8.5501e-03,4.1510e-04,6.0675e-03,-4.5002e-05,6.0761e-04,-5.5290e-05,1.0492e-02,6.1178e-04
+2,1.1000e+00,DOWN_FORCE_DETACH,2.8523e-04,-1.3854e-02,6.3681e-03,2.4630e+00,-3.7249e-02,3.5836e-02,-7.4185e-05,-4.3097e-03,5.2549e-03,8.1825e-03,-3.7318e-04,-2.7708e-04,-5.6044e-05,1.0637e-02,4.6816e-04
+3,1.6833e+00,DOWN_FORCE_DETACH,4.3102e-04,-6.1167e-03,8.5346e-03,2.4761e+00,-3.7403e-02,3.6322e-02,-6.9444e-05,3.4278e-03,7.4214e-03,2.1277e-02,-5.2794e-04,2.0912e-04,-5.1303e-05,2.2793e-02,5.7016e-04
+4,2.2500e+00,DOWN_FORCE_DETACH,5.7322e-04,3.4088e-04,8.8188e-03,2.4834e+00,-3.7420e-02,3.6770e-02,-6.3020e-05,9.8854e-03,7.7056e-03,2.8538e-02,-5.4436e-04,6.5723e-04,-4.4879e-05,3.1169e-02,8.5457e-04
+5,2.9000e+00,DOWN_FORCE_DETACH,7.1545e-04,2.5009e-03,8.8610e-03,2.4701e+00,-3.7413e-02,3.6938e-02,-5.6330e-05,1.2045e-02,7.7478e-03,1.5227e-02,-5.3706e-04,8.2518e-04,-3.8189e-05,2.0904e-02,9.8530e-04
+6,3.5333e+00,DOWN_FORCE_DETACH,8.6029e-04,4.1020e-03,1.1612e-02,2.4742e+00,-3.7590e-02,3.7058e-02,-3.5912e-05,1.3646e-02,1.0499e-02,1.9388e-02,-7.1416e-04,9.4493e-04,-1.7770e-05,2.5930e-02,1.1846e-03
+7,4.0500e+00,DOWN_FORCE_DETACH,1.0012e-03,4.9515e-03,1.1816e-02,2.4759e+00,-3.7600e-02,3.7113e-02,-3.2775e-05,1.4496e-02,1.0702e-02,2.1020e-02,-7.2437e-04,9.9982e-04,-1.4633e-05,2.7686e-02,1.2347e-03
+8,4.6833e+00,DOWN_FORCE_DETACH,1.1475e-03,4.2099e-03,1.1776e-02,2.4666e+00,-3.7588e-02,3.7070e-02,-2.9718e-05,1.3754e-02,1.0663e-02,1.1762e-02,-7.1214e-04,9.5747e-04,-1.1577e-05,2.1005e-02,1.1933e-03
+9,5.3167e+00,DOWN_FORCE_DETACH,1.2854e-03,2.6855e-03,1.1403e-02,2.4677e+00,-3.7552e-02,3.6964e-02,-2.7463e-05,1.2230e-02,1.0290e-02,1.2847e-02,-6.7692e-04,8.5059e-04,-9.3219e-06,2.0506e-02,1.0871e-03
+10,5.9000e+00,DOWN_FORCE_DETACH,1.4307e-03,3.7486e-04,1.4512e-02,2.4694e+00,-3.7756e-02,3.6802e-02,-2.2579e-05,9.9193e-03,1.3399e-02,1.4575e-02,-8.8002e-04,6.8896e-04,-4.4380e-06,2.2144e-02,1.1176e-03
+11,6.6500e+00,DOWN_FORCE_DETACH,1.5743e-03,2.0793e-03,1.4294e-02,2.4696e+00,-3.7738e-02,3.6916e-02,-1.7460e-05,1.1624e-02,1.3180e-02,1.4794e-02,-8.6248e-04,8.0326e-04,6.8100e-07,2.2972e-02,1.1786e-03
+12,7.1667e+00,DOWN_FORCE_DETACH,1.7160e-03,2.4788e-03,1.4146e-02,2.4693e+00,-3.7723e-02,3.6947e-02,-1.5200e-05,1.2023e-02,1.3033e-02,1.4489e-02,-8.4747e-04,8.3388e-04,2.9410e-06,2.2899e-02,1.1889e-03
+13,7.7167e+00,DOWN_FORCE_DETACH,1.8589e-03,3.0669e-03,1.5756e-02,2.4649e+00,-3.7825e-02,3.6993e-02,-1.2291e-05,1.2611e-02,1.4643e-02,1.0061e-02,-9.4911e-04,8.8052e-04,5.8501e-06,2.1787e-02,1.2947e-03
+14,8.2500e+00,DOWN_FORCE_DETACH,2.0007e-03,4.4033e-03,1.6578e-02,2.4557e+00,-3.7889e-02,3.7089e-02,-8.4495e-06,1.3948e-02,1.5465e-02,8.2040e-04,-1.0139e-03,9.7576e-04,9.6916e-06,2.0842e-02,1.4072e-03
+15,8.5167e+00,DOWN_FORCE_DETACH,2.1444e-03,-9.6263e-03,1.6122e-02,2.4582e+00,-3.7865e-02,3.6152e-02,-7.2081e-06,-8.1872e-05,1.5009e-02,3.3214e-03,-9.8977e-04,3.8970e-05,1.0933e-05,1.5373e-02,9.9060e-04
+16,9.0667e+00,DOWN_FORCE_DETACH,2.2889e-03,-5.6926e-03,1.7382e-02,2.4592e+00,-3.7961e-02,3.6380e-02,-2.5302e-06,3.8519e-03,1.6268e-02,4.3564e-03,-1.0852e-03,2.6694e-04,1.5611e-05,1.7277e-02,1.1176e-03
+17,9.6833e+00,DOWN_FORCE_DETACH,2.4327e-03,1.3242e-03,1.8559e-02,2.4673e+00,-3.8062e-02,3.6845e-02,2.9294e-06,1.0869e-02,1.7446e-02,1.2450e-02,-1.1863e-03,7.3160e-04,2.1071e-05,2.4031e-02,1.3939e-03
+18,1.0433e+01,DOWN_FORCE_DETACH,2.5743e-03,9.1298e-03,1.9070e-02,2.4689e+00,-3.8129e-02,3.7394e-02,5.1497e-06,1.8674e-02,1.7957e-02,1.4002e-02,-1.2537e-03,1.2807e-03,2.3291e-05,2.9449e-02,1.7923e-03
+19,1.1100e+01,DOWN_FORCE_DETACH,2.7177e-03,9.9060e-03,1.9192e-02,2.4751e+00,-3.8171e-02,3.7461e-02,5.5014e-06,1.9450e-02,1.8078e-02,2.0217e-02,-1.2954e-03,1.3483e-03,2.3643e-05,3.3375e-02,1.8699e-03
+20,1.1800e+01,DOWN_FORCE_DETACH,2.8598e-03,1.0222e-02,2.1834e-02,2.4859e+00,-3.8367e-02,3.7475e-02,7.6803e-06,1.9766e-02,2.0720e-02,3.1095e-02,-1.4913e-03,1.3618e-03,2.5821e-05,4.2272e-02,2.0197e-03
+21,1.2350e+01,DOWN_FORCE_DETACH,3.0050e-03,1.5594e-02,2.2959e-02,2.5017e+00,-3.8452e-02,3.7822e-02,1.2214e-05,2.5138e-02,2.1846e-02,4.6843e-02,-1.5769e-03,1.7086e-03,3.0355e-05,5.7476e-02,2.3252e-03
+22,1.2900e+01,DOWN_FORCE_DETACH,3.1435e-03,1.5856e-02,2.5152e-02,2.5067e+00,-3.8596e-02,3.7845e-02,1.8158e-05,2.5401e-02,2.4039e-02,5.1826e-02,-1.7203e-03,1.7321e-03,3.6299e-05,6.2522e-02,2.4415e-03
+23,1.3383e+01,DOWN_FORCE_DETACH,3.2927e-03,1.4401e-02,2.5844e-02,2.5178e+00,-3.8617e-02,3.7740e-02,2.3134e-05,2.3945e-02,2.4731e-02,6.2993e-02,-1.7418e-03,1.6270e-03,4.1275e-05,7.1785e-02,2.3838e-03
+24,1.3883e+01,DOWN_FORCE_DETACH,3.4339e-03,1.3556e-02,2.6182e-02,2.5265e+00,-3.8593e-02,3.7669e-02,2.6488e-05,2.3100e-02,2.5068e-02,7.1605e-02,-1.7176e-03,1.5565e-03,4.4629e-05,7.9306e-02,2.3184e-03
+25,1.4367e+01,DOWN_FORCE_DETACH,3.5795e-03,1.3134e-02,2.5608e-02,2.5316e+00,-3.8520e-02,3.7634e-02,2.4514e-05,2.2679e-02,2.4495e-02,7.6738e-02,-1.6445e-03,1.5209e-03,4.2655e-05,8.3684e-02,2.2403e-03
+26,1.4783e+01,DOWN_FORCE_DETACH,3.7175e-03,1.2224e-02,2.4597e-02,2.5393e+00,-3.8445e-02,3.7564e-02,2.0638e-05,2.1769e-02,2.3484e-02,8.4484e-02,-1.5693e-03,1.4513e-03,3.8779e-05,9.0349e-02,2.1379e-03
+27,1.5200e+01,DOWN_FORCE_DETACH,3.8620e-03,1.1845e-02,2.3255e-02,2.5481e+00,-3.8353e-02,3.7530e-02,1.8288e-05,2.1389e-02,2.2142e-02,9.3226e-02,-1.4778e-03,1.4175e-03,3.6429e-05,9.8178e-02,2.0481e-03
+28,1.5600e+01,DOWN_FORCE_DETACH,4.0037e-03,1.3956e-02,2.6204e-02,2.5589e+00,-3.8514e-02,3.7658e-02,2.1996e-05,2.3500e-02,2.5090e-02,1.0401e-01,-1.6385e-03,1.5446e-03,4.0137e-05,1.0954e-01,2.2521e-03
+29,1.5983e+01,DOWN_FORCE_DETACH,4.1500e-03,1.3645e-02,2.8823e-02,2.5593e+00,-3.8630e-02,3.7635e-02,2.7945e-05,2.3190e-02,2.7710e-02,1.0447e-01,-1.7543e-03,1.5223e-03,4.6086e-05,1.1054e-01,2.3232e-03
+30,1.6383e+01,DOWN_FORCE_DETACH,4.2941e-03,1.5308e-02,2.8955e-02,2.5684e+00,-3.8587e-02,3.7738e-02,3.1346e-05,2.4852e-02,2.7842e-02,1.1350e-01,-1.7112e-03,1.6251e-03,4.9487e-05,1.1948e-01,2.3605e-03
+31,1.6767e+01,DOWN_FORCE_DETACH,4.4328e-03,1.4398e-02,2.8583e-02,2.5799e+00,-3.8545e-02,3.7672e-02,3.0663e-05,2.3942e-02,2.7469e-02,1.2503e-01,-1.6690e-03,1.5586e-03,4.8804e-05,1.3024e-01,2.2842e-03
+32,1.7150e+01,DOWN_FORCE_DETACH,4.5824e-03,1.2189e-02,3.0948e-02,2.5874e+00,-3.8700e-02,3.7517e-02,2.8027e-05,2.1734e-02,2.9834e-02,1.3254e-01,-1.8247e-03,1.4037e-03,4.6168e-05,1.3758e-01,2.3026e-03
+33,1.7483e+01,DOWN_FORCE_DETACH,4.7187e-03,9.7920e-03,3.3740e-02,2.5868e+00,-3.8880e-02,3.7351e-02,2.5026e-05,1.9336e-02,3.2627e-02,1.3197e-01,-2.0041e-03,1.2385e-03,4.3167e-05,1.3732e-01,2.3563e-03
+34,1.7833e+01,DOWN_FORCE_DETACH,4.8701e-03,9.6043e-03,3.5979e-02,2.5840e+00,-3.9014e-02,3.7334e-02,2.0321e-05,1.9149e-02,3.4865e-02,1.2918e-01,-2.1386e-03,1.2216e-03,3.8462e-05,1.3516e-01,2.4632e-03
+35,1.8133e+01,DOWN_FORCE_DETACH,5.0059e-03,1.0587e-02,3.4569e-02,2.5904e+00,-3.8913e-02,3.7393e-02,1.3254e-05,2.0132e-02,3.3455e-02,1.3554e-01,-2.0377e-03,1.2796e-03,3.1395e-05,1.4105e-01,2.4064e-03
+36,1.8433e+01,DOWN_FORCE_DETACH,5.1458e-03,1.2681e-02,3.7191e-02,2.5988e+00,-3.9067e-02,3.7526e-02,5.6770e-06,2.2225e-02,3.6077e-02,1.4392e-01,-2.1918e-03,1.4129e-03,2.3818e-05,1.5003e-01,2.6079e-03
+37,1.8717e+01,DOWN_FORCE_DETACH,5.2911e-03,1.2307e-02,3.7991e-02,2.6022e+00,-3.9115e-02,3.7501e-02,-2.0898e-06,2.1852e-02,3.6878e-02,1.4733e-01,-2.2393e-03,1.3884e-03,1.6051e-05,1.5344e-01,2.6349e-03
+38,1.9000e+01,DOWN_FORCE_DETACH,5.4372e-03,1.2871e-02,3.8131e-02,2.6086e+00,-3.9134e-02,3.7531e-02,-8.9321e-06,2.2416e-02,3.7018e-02,1.5371e-01,-2.2590e-03,1.4185e-03,9.2091e-06,1.5968e-01,2.6675e-03
+39,1.9267e+01,DOWN_FORCE_DETACH,5.5811e-03,1.3190e-02,3.9265e-02,2.6145e+00,-3.9207e-02,3.7549e-02,-1.3114e-05,2.2735e-02,3.8151e-02,1.5960e-01,-2.3319e-03,1.4365e-03,5.0275e-06,1.6567e-01,2.7389e-03
+40,1.9500e+01,DOWN_FORCE_DETACH,5.7198e-03,1.2994e-02,4.2210e-02,2.6211e+00,-3.9372e-02,3.7534e-02,-1.5130e-05,2.2538e-02,4.1097e-02,1.6623e-01,-2.4963e-03,1.4211e-03,3.0109e-06,1.7271e-01,2.8724e-03
+41,1.9733e+01,DOWN_FORCE_DETACH,5.8619e-03,1.4170e-02,4.5274e-02,2.6274e+00,-3.9522e-02,3.7605e-02,-1.6725e-05,2.3715e-02,4.4161e-02,1.7255e-01,-2.6461e-03,1.4924e-03,1.4166e-06,1.7969e-01,3.0380e-03
+42,1.9967e+01,DOWN_FORCE_DETACH,6.0054e-03,1.5757e-02,4.8380e-02,2.6343e+00,-3.9669e-02,3.7703e-02,-1.7597e-05,2.5301e-02,4.7267e-02,1.7943e-01,-2.7932e-03,1.5901e-03,5.4398e-07,1.8727e-01,3.2141e-03
+43,2.0167e+01,DOWN_FORCE_DETACH,6.1474e-03,1.5994e-02,4.9805e-02,2.6427e+00,-3.9714e-02,3.7712e-02,-1.7655e-05,2.5539e-02,4.8692e-02,1.8780e-01,-2.8385e-03,1.5990e-03,4.8659e-07,1.9568e-01,3.2579e-03
+44,2.0400e+01,DOWN_FORCE_DETACH,6.3029e-03,1.3350e-02,5.0686e-02,2.6415e+00,-3.9731e-02,3.7538e-02,-1.7246e-05,2.2895e-02,4.9573e-02,1.8663e-01,-2.8560e-03,1.4249e-03,8.9480e-07,1.9446e-01,3.1917e-03
+45,2.0600e+01,DOWN_FORCE_DETACH,6.4394e-03,1.1256e-02,5.1068e-02,2.6423e+00,-3.9733e-02,3.7397e-02,-1.7159e-05,2.0801e-02,4.9955e-02,1.8743e-01,-2.8570e-03,1.2844e-03,9.8257e-07,1.9508e-01,3.1324e-03
+46,2.0800e+01,DOWN_FORCE_DETACH,6.5850e-03,1.2134e-02,5.1994e-02,2.6436e+00,-3.9768e-02,3.7449e-02,-1.7684e-05,2.1679e-02,5.0881e-02,1.8871e-01,-2.8927e-03,1.3358e-03,4.5754e-07,1.9664e-01,3.1863e-03
+47,2.0983e+01,DOWN_FORCE_DETACH,6.7211e-03,1.3529e-02,5.2462e-02,2.6451e+00,-3.9784e-02,3.7537e-02,-1.8683e-05,2.3074e-02,5.1348e-02,1.9022e-01,-2.9088e-03,1.4240e-03,-5.4212e-07,1.9838e-01,3.2386e-03
+48,2.1183e+01,DOWN_FORCE_DETACH,6.8592e-03,1.3567e-02,5.1947e-02,2.6445e+00,-3.9749e-02,3.7541e-02,-1.9845e-05,2.3112e-02,5.0834e-02,1.8965e-01,-2.8733e-03,1.4283e-03,-1.7041e-06,1.9770e-01,3.2087e-03
+49,2.1383e+01,DOWN_FORCE_DETACH,7.0123e-03,1.5239e-02,5.3196e-02,2.6494e+00,-3.9825e-02,3.7648e-02,-2.0581e-05,2.4783e-02,5.2083e-02,1.9460e-01,-2.9493e-03,1.5353e-03,-2.4400e-06,2.0297e-01,3.3250e-03
+50,2.1567e+01,DOWN_FORCE_DETACH,7.1606e-03,1.5424e-02,5.3839e-02,2.6472e+00,-3.9854e-02,3.7664e-02,-2.2156e-05,2.4969e-02,5.2726e-02,1.9233e-01,-2.9785e-03,1.5512e-03,-4.0150e-06,2.0098e-01,3.3582e-03
+51,2.1733e+01,DOWN_FORCE_DETACH,7.2947e-03,1.4776e-02,5.6475e-02,2.6484e+00,-3.9992e-02,3.7623e-02,-2.4222e-05,2.4321e-02,5.5362e-02,1.9359e-01,-3.1168e-03,1.5104e-03,-6.0805e-06,2.0281e-01,3.4635e-03
+52,2.1917e+01,DOWN_FORCE_DETACH,7.4459e-03,1.5951e-02,5.9462e-02,2.6454e+00,-4.0149e-02,3.7701e-02,-2.5489e-05,2.5496e-02,5.8349e-02,1.9056e-01,-3.2733e-03,1.5877e-03,-7.3475e-06,2.0091e-01,3.6380e-03
+53,2.2083e+01,DOWN_FORCE_DETACH,7.5850e-03,1.3445e-02,6.2895e-02,2.6449e+00,-4.0326e-02,3.7538e-02,-2.4272e-05,2.2989e-02,6.1782e-02,1.9007e-01,-3.4500e-03,1.4253e-03,-6.1313e-06,2.0118e-01,3.7328e-03
+54,2.2233e+01,DOWN_FORCE_DETACH,7.7282e-03,1.4179e-02,6.4641e-02,2.6453e+00,-4.0400e-02,3.7581e-02,-2.2007e-05,2.3724e-02,6.3528e-02,1.9049e-01,-3.5246e-03,1.4682e-03,-3.8657e-06,2.0220e-01,3.8182e-03
+55,2.2400e+01,DOWN_FORCE_DETACH,7.8751e-03,1.6748e-02,6.5632e-02,2.6445e+00,-4.0418e-02,3.7745e-02,-1.9467e-05,2.6293e-02,6.4518e-02,1.8963e-01,-3.5423e-03,1.6321e-03,-1.3254e-06,2.0202e-01,3.9002e-03
+56,2.2533e+01,DOWN_FORCE_DETACH,8.0181e-03,2.1652e-02,6.5983e-02,2.6417e+00,-4.0412e-02,3.8066e-02,-1.7876e-05,3.1196e-02,6.4870e-02,1.8684e-01,-3.5370e-03,1.9534e-03,2.6546e-07,2.0023e-01,4.0405e-03
+57,2.2650e+01,DOWN_FORCE_DETACH,8.1645e-03,1.9321e-02,6.6961e-02,2.6431e+00,-4.0460e-02,3.7926e-02,-1.6802e-05,2.8866e-02,6.5848e-02,1.8826e-01,-3.5842e-03,1.8134e-03,1.3387e-06,2.0152e-01,4.0168e-03
+58,2.2800e+01,DOWN_SETTLE,8.2945e-03,1.1179e-02,6.3910e-02,2.6313e+00,-4.0278e-02,3.7406e-02,-1.5150e-05,2.0724e-02,6.2797e-02,1.7649e-01,-3.4021e-03,1.2928e-03,2.9910e-06,1.8847e-01,3.6394e-03
+59,2.3200e+01,DOWN_PEAK_HOLD,8.4403e-03,1.9972e-02,5.5474e-02,2.5574e+00,-3.9851e-02,3.8013e-02,-1.3556e-05,2.9517e-02,5.4361e-02,1.0258e-01,-2.9752e-03,1.8998e-03,4.5856e-06,1.1978e-01,3.5300e-03

Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/camera_frames_60hz.tar ADDED Viewed

	@@ -0,0 +1,3 @@

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Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/fem_node.csv ADDED Viewed

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

Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/franka_data.csv ADDED Viewed

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Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/multimodal_aligned_data.csv ADDED Viewed

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