Datasets:

BAAI
/

EventTouch

+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+00,1.3215e-01,4.4488e-01,2.4667e+00,-6.6839e-02,4.6198e-02,1.0393e-03,1.1212e-04,1.2067e-04,-5.0068e-06,-7.7039e-06,6.6757e-06,-5.0291e-08,1.6479e-04,1.0194e-05
+1,1.0333e+00,DOWN_FORCE_DETACH,2.1277e-04,1.9601e-01,4.4480e-01,2.4685e+00,-6.6251e-02,5.0665e-02,6.4163e-04,6.3968e-02,3.5048e-05,1.8494e-03,5.8071e-04,4.4740e-03,-3.9776e-04,6.3995e-02,4.5291e-03
+2,1.9167e+00,DOWN_FORCE_DETACH,4.2221e-04,2.2047e-01,4.4360e-01,2.4690e+00,-6.6002e-02,5.2388e-02,4.5164e-04,8.8433e-02,-1.1592e-03,2.3098e-03,8.2966e-04,6.1971e-03,-5.8775e-04,8.8471e-02,6.2799e-03
+3,2.6000e+00,DOWN_FORCE_DETACH,6.3592e-04,2.1056e-02,4.4808e-01,2.4815e+00,-6.6293e-02,3.8150e-02,5.1172e-04,-1.1098e-01,3.3191e-03,1.4813e-02,5.3824e-04,-8.0411e-03,-5.2767e-04,1.1202e-01,8.0763e-03
+4,3.5333e+00,DOWN_FORCE_DETACH,8.4900e-04,1.6149e-01,3.7560e-01,2.5507e+00,-6.1194e-02,4.8065e-02,4.8861e-04,2.9452e-02,-6.9159e-02,8.4023e-02,5.6377e-03,1.8736e-03,-5.5077e-04,1.1274e-01,5.9663e-03
+5,4.5167e+00,DOWN_FORCE_DETACH,1.0600e-03,2.1336e-01,3.7743e-01,2.5072e+00,-6.1502e-02,5.1816e-02,3.2297e-04,8.1323e-02,-6.7332e-02,4.0529e-02,5.3293e-03,5.6245e-03,-7.1642e-04,1.1309e-01,7.7814e-03
+6,5.3500e+00,DOWN_FORCE_DETACH,1.2738e-03,2.3742e-01,4.5921e-01,2.5844e+00,-6.7267e-02,5.3397e-02,2.7259e-04,1.0538e-01,1.4448e-02,1.1773e-01,-4.3490e-04,7.2057e-03,-7.6680e-04,1.5866e-01,7.2594e-03
+7,6.3500e+00,DOWN_FORCE_DETACH,1.4885e-03,2.6039e-01,4.3643e-01,2.5942e+00,-6.5763e-02,5.5031e-02,5.0563e-05,1.2835e-01,-8.3279e-03,1.2749e-01,1.0682e-03,8.8395e-03,-9.8882e-04,1.8110e-01,8.9586e-03
+8,7.2167e+00,DOWN_FORCE_DETACH,1.7016e-03,2.5982e-01,4.3663e-01,2.5359e+00,-6.5877e-02,5.5029e-02,-1.0982e-04,1.2778e-01,-8.1333e-03,6.9249e-02,9.5426e-04,8.8377e-03,-1.1492e-03,1.4556e-01,8.9631e-03
+9,7.9500e+00,DOWN_FORCE_DETACH,1.9078e-03,2.4547e-01,3.3676e-01,2.5773e+00,-5.8898e-02,5.3941e-02,-2.7700e-04,1.1343e-01,-1.0800e-01,1.1065e-01,7.9339e-03,7.7502e-03,-1.3164e-03,1.9176e-01,1.1169e-02
+10,8.8333e+00,DOWN_FORCE_DETACH,2.1192e-03,1.6174e-01,3.3802e-01,2.6384e+00,-5.9082e-02,4.7863e-02,-4.1775e-04,2.9702e-02,-1.0674e-01,1.7169e-01,7.7501e-03,1.6718e-03,-1.4571e-03,2.0434e-01,8.0612e-03
+11,9.9500e+00,DOWN_FORCE_DETACH,2.3332e-03,1.9670e-01,3.6461e-01,2.6187e+00,-6.1161e-02,5.0399e-02,-6.1855e-04,6.4658e-02,-8.0155e-02,1.5198e-01,5.6709e-03,4.2077e-03,-1.6579e-03,1.8359e-01,7.2535e-03
+12,1.0867e+01,DOWN_FORCE_DETACH,2.5469e-03,1.8411e-01,3.1208e-01,2.6272e+00,-5.7638e-02,4.9410e-02,-9.3887e-04,5.2068e-02,-1.3268e-01,1.6046e-01,9.1935e-03,3.2190e-03,-1.9783e-03,2.1462e-01,9.9396e-03
+13,1.1317e+01,DOWN_FORCE_DETACH,2.7614e-03,5.8897e-02,2.9418e-01,2.5397e+00,-5.6617e-02,4.0704e-02,-9.9647e-04,-7.3144e-02,-1.5059e-01,7.2986e-02,1.0215e-02,-5.4870e-03,-2.0359e-03,1.8263e-01,1.1773e-02
+14,1.2283e+01,DOWN_FORCE_DETACH,2.9735e-03,1.4695e-01,2.9893e-01,2.6324e+00,-5.7207e-02,4.6910e-02,-1.1832e-03,1.4912e-02,-1.4583e-01,1.6574e-01,9.6252e-03,7.1853e-04,-2.2226e-03,2.2127e-01,9.9045e-03
+15,1.3100e+01,DOWN_FORCE_DETACH,3.1816e-03,1.6255e-01,2.9185e-01,2.6568e+00,-5.6885e-02,4.7813e-02,-1.3463e-03,3.0509e-02,-1.5291e-01,1.9006e-01,9.9464e-03,1.6217e-03,-2.3857e-03,2.4584e-01,1.0356e-02
+16,1.3950e+01,DOWN_FORCE_DETACH,3.3943e-03,2.1013e-01,3.1963e-01,2.6378e+00,-5.9106e-02,5.1324e-02,-1.5700e-03,7.8084e-02,-1.2513e-01,1.7107e-01,7.7258e-03,5.1333e-03,-2.6093e-03,2.2588e-01,9.6357e-03
+17,1.4900e+01,DOWN_FORCE_DETACH,3.6078e-03,2.1521e-01,2.6645e-01,2.6209e+00,-5.5472e-02,5.1600e-02,-1.7724e-03,8.3171e-02,-1.7831e-01,1.5423e-01,1.1360e-02,5.4091e-03,-2.8118e-03,2.5000e-01,1.2892e-02
+18,1.5800e+01,DOWN_FORCE_DETACH,3.8197e-03,2.1763e-01,3.0333e-01,2.6697e+00,-5.8126e-02,5.1774e-02,-1.8605e-03,8.5590e-02,-1.4143e-01,2.0303e-01,8.7055e-03,5.5829e-03,-2.8999e-03,2.6181e-01,1.0741e-02
+19,1.6783e+01,DOWN_FORCE_DETACH,4.0320e-03,1.7098e-01,2.7100e-01,2.7254e+00,-5.5861e-02,4.8356e-02,-1.9083e-03,3.8942e-02,-1.7376e-01,2.5870e-01,1.0971e-02,2.1654e-03,-2.9477e-03,3.1406e-01,1.1565e-02
+20,1.7767e+01,DOWN_FORCE_DETACH,4.2477e-03,1.9746e-01,3.2473e-01,2.6312e+00,-5.9690e-02,5.0287e-02,-1.8892e-03,6.5423e-02,-1.2003e-01,1.6447e-01,7.1419e-03,4.0960e-03,-2.9286e-03,2.1386e-01,8.7385e-03
+21,1.8650e+01,DOWN_FORCE_DETACH,4.4557e-03,2.0211e-01,3.3289e-01,2.6789e+00,-6.0163e-02,5.0604e-02,-1.7978e-03,7.0074e-02,-1.1187e-01,2.1216e-01,6.6688e-03,4.4132e-03,-2.8371e-03,2.4987e-01,8.4852e-03
+22,1.9400e+01,DOWN_FORCE_DETACH,4.6685e-03,2.0415e-01,3.5067e-01,2.6538e+00,-6.1239e-02,5.0811e-02,-1.7017e-03,7.2113e-02,-9.4090e-02,1.8707e-01,5.5922e-03,4.6202e-03,-2.7411e-03,2.2147e-01,7.7545e-03
+23,2.0383e+01,DOWN_FORCE_DETACH,4.8812e-03,2.1560e-01,3.3943e-01,2.6483e+00,-6.0183e-02,5.1626e-02,-1.4095e-03,8.3555e-02,-1.0534e-01,1.8165e-01,6.6486e-03,5.4350e-03,-2.4489e-03,2.2600e-01,8.9297e-03
+24,2.1317e+01,DOWN_FORCE_DETACH,5.0945e-03,1.9666e-01,4.0581e-01,2.7198e+00,-6.4529e-02,5.0255e-02,-1.0753e-03,6.4615e-02,-3.8955e-02,2.5310e-01,2.3029e-03,4.0642e-03,-2.1147e-03,2.6411e-01,5.1277e-03
+25,2.1967e+01,DOWN_FORCE_DETACH,5.3026e-03,1.6378e-01,3.7044e-01,2.7726e+00,-6.1926e-02,4.7904e-02,-7.7061e-04,3.1735e-02,-7.4327e-02,3.0588e-01,4.9052e-03,1.7133e-03,-1.8100e-03,3.1637e-01,5.5021e-03
+26,2.2600e+01,DOWN_FORCE_DETACH,5.5145e-03,1.8172e-01,3.3890e-01,2.8045e+00,-5.9536e-02,4.9277e-02,-7.4047e-04,4.9681e-02,-1.0587e-01,3.3780e-01,7.2956e-03,3.0862e-03,-1.7799e-03,3.5747e-01,8.1190e-03
+27,2.3583e+01,DOWN_FORCE_DETACH,5.7308e-03,1.9461e-01,3.1825e-01,2.8422e+00,-5.8341e-02,4.9898e-02,-4.0877e-04,6.2564e-02,-1.2651e-01,3.7548e-01,8.4903e-03,3.7070e-03,-1.4482e-03,4.0113e-01,9.3768e-03
+28,2.4550e+01,DOWN_FORCE_DETACH,5.9430e-03,1.9982e-01,3.7742e-01,2.8523e+00,-6.2453e-02,5.0196e-02,-3.5752e-04,6.7776e-02,-6.7345e-02,3.8564e-01,4.3782e-03,4.0049e-03,-1.3969e-03,3.9730e-01,6.0958e-03
+29,2.5467e+01,DOWN_FORCE_DETACH,6.1546e-03,2.0100e-01,4.3896e-01,2.8320e+00,-6.6622e-02,5.0312e-02,-3.5588e-04,6.8962e-02,-5.7999e-03,3.6529e-01,2.0970e-04,4.1208e-03,-1.3953e-03,3.7178e-01,4.3557e-03
+30,2.6350e+01,DOWN_FORCE_DETACH,6.3686e-03,1.6850e-01,4.3533e-01,2.9343e+00,-6.6335e-02,4.8013e-02,-3.8391e-04,3.6456e-02,-9.4351e-03,4.6756e-01,4.9646e-04,1.8218e-03,-1.4233e-03,4.6907e-01,2.3646e-03
+31,2.7267e+01,DOWN_FORCE_DETACH,6.5813e-03,1.4896e-01,4.6833e-01,2.9632e+00,-6.8337e-02,4.6613e-02,-3.8611e-04,1.6920e-02,2.3571e-02,4.9653e-01,-1.5052e-03,4.2189e-04,-1.4255e-03,4.9738e-01,2.1156e-03
+32,2.8083e+01,DOWN_FORCE_DETACH,6.7892e-03,1.6044e-01,5.3259e-01,2.9975e+00,-7.2628e-02,4.7334e-02,-2.8533e-04,2.8396e-02,8.7826e-02,5.3081e-01,-5.7968e-03,1.1428e-03,-1.3247e-03,5.3877e-01,6.0551e-03
+33,2.8883e+01,DOWN_FORCE_DETACH,7.0025e-03,1.5084e-01,5.4505e-01,3.0810e+00,-7.3386e-02,4.6528e-02,6.2582e-04,1.8802e-02,1.0028e-01,6.1431e-01,-6.5545e-03,3.3719e-04,-4.1357e-04,6.2273e-01,6.5762e-03
+34,2.9783e+01,DOWN_FORCE_DETACH,7.2149e-03,1.7576e-01,5.7214e-01,3.1703e+00,-7.4958e-02,4.8062e-02,1.1559e-03,4.3717e-02,1.2738e-01,7.0362e-01,-8.1259e-03,1.8711e-03,1.1649e-04,7.1639e-01,8.3393e-03
+35,3.0683e+01,DOWN_FORCE_DETACH,7.4251e-03,1.9284e-01,5.6848e-01,3.1512e+00,-7.4665e-02,4.9324e-02,1.3558e-03,6.0796e-02,1.2372e-01,6.8447e-01,-7.8331e-03,3.1331e-03,3.1639e-04,6.9821e-01,8.4424e-03
+36,3.1483e+01,DOWN_FORCE_DETACH,7.6406e-03,2.0141e-01,5.5889e-01,3.2427e+00,-7.3953e-02,4.9921e-02,1.4542e-03,6.9374e-02,1.1413e-01,7.7604e-01,-7.1214e-03,3.7303e-03,4.1481e-04,7.8745e-01,8.0499e-03
+37,3.2200e+01,DOWN_FORCE_DETACH,7.8528e-03,2.0887e-01,5.6527e-01,3.2785e+00,-7.4847e-02,5.0327e-02,1.3797e-03,7.6833e-02,1.2051e-01,8.1175e-01,-8.0156e-03,4.1364e-03,3.4036e-04,8.2424e-01,9.0264e-03
+38,3.2983e+01,DOWN_FORCE_DETACH,8.0662e-03,2.2179e-01,6.0239e-01,3.3560e+00,-7.7568e-02,5.1214e-02,5.2071e-04,8.9747e-02,1.5763e-01,8.8926e-01,-1.0736e-02,5.0232e-03,-5.1867e-04,9.0757e-01,1.1864e-02
+39,3.3683e+01,DOWN_FORCE_DETACH,8.2772e-03,2.0464e-01,5.7033e-01,3.3803e+00,-7.4892e-02,4.9978e-02,6.0522e-05,7.2597e-02,1.2557e-01,9.1358e-01,-8.0600e-03,3.7866e-03,-9.7887e-04,9.2502e-01,8.9588e-03
+40,3.4417e+01,DOWN_FORCE_DETACH,8.4896e-03,1.9336e-01,5.5636e-01,3.3747e+00,-7.3085e-02,4.9197e-02,7.9647e-06,6.1316e-02,1.1160e-01,9.0799e-01,-6.2533e-03,3.0060e-03,-1.0314e-03,9.1688e-01,7.0145e-03
+41,3.5100e+01,DOWN_FORCE_DETACH,8.7002e-03,2.0081e-01,5.8270e-01,3.4018e+00,-7.4792e-02,4.9636e-02,3.9194e-05,6.8773e-02,1.3794e-01,9.3511e-01,-7.9601e-03,3.4450e-03,-1.0002e-03,9.4773e-01,8.7311e-03
+42,3.5783e+01,DOWN_FORCE_DETACH,8.9106e-03,1.7779e-01,5.6370e-01,3.4798e+00,-7.3401e-02,4.7843e-02,4.4107e-04,4.5749e-02,1.1894e-01,1.0131e+00,-6.5694e-03,1.6517e-03,-5.9832e-04,1.0211e+00,6.8002e-03
+43,3.6450e+01,DOWN_FORCE_DETACH,9.1246e-03,1.2540e-01,5.7277e-01,3.5440e+00,-7.4123e-02,4.4063e-02,5.1198e-04,-6.6409e-03,1.2800e-01,1.0773e+00,-7.2911e-03,-2.1284e-03,-5.2741e-04,1.0849e+00,7.6137e-03
+44,3.7033e+01,DOWN_FORCE_DETACH,9.3390e-03,1.4487e-01,5.7549e-01,3.6398e+00,-7.4197e-02,4.5274e-02,4.9813e-04,1.2828e-02,1.3073e-01,1.1731e+00,-7.3650e-03,-9.1666e-04,-5.4126e-04,1.1804e+00,7.4416e-03
+45,3.7617e+01,DOWN_FORCE_DETACH,9.5485e-03,1.7087e-01,5.7061e-01,3.7481e+00,-7.3001e-02,4.6956e-02,5.0262e-04,3.8831e-02,1.2585e-01,1.2814e+00,-6.1697e-03,7.6534e-04,-5.3676e-04,1.2882e+00,6.2401e-03
+46,3.8200e+01,DOWN_FORCE_DETACH,9.7578e-03,1.8624e-01,6.2806e-01,3.7400e+00,-7.6561e-02,4.7959e-02,5.3369e-04,5.4194e-02,1.8330e-01,1.2733e+00,-9.7296e-03,1.7675e-03,-5.0570e-04,1.2875e+00,9.9018e-03
+47,3.8783e+01,DOWN_FORCE_DETACH,9.9761e-03,1.6795e-01,6.0467e-01,3.8059e+00,-7.4381e-02,4.6438e-02,2.4011e-04,3.5907e-02,1.5991e-01,1.3392e+00,-7.5496e-03,2.4693e-04,-7.9928e-04,1.3492e+00,7.5958e-03
+48,3.9283e+01,DOWN_FORCE_DETACH,1.0183e-02,1.6875e-01,5.7127e-01,3.9250e+00,-7.2110e-02,4.6471e-02,8.8553e-05,3.6705e-02,1.2651e-01,1.4583e+00,-5.2788e-03,2.8035e-04,-9.5083e-04,1.4642e+00,5.3710e-03
+49,3.9783e+01,DOWN_FORCE_DETACH,1.0400e-02,1.7215e-01,5.8389e-01,3.9878e+00,-7.3150e-02,4.6652e-02,1.9366e-05,4.0110e-02,1.3913e-01,1.5211e+00,-6.3182e-03,4.6120e-04,-1.0200e-03,1.5280e+00,6.4167e-03
+50,4.0233e+01,DOWN_FORCE_DETACH,1.0611e-02,2.1907e-01,5.8391e-01,4.0574e+00,-7.3047e-02,4.9748e-02,3.5738e-05,8.7027e-02,1.3915e-01,1.5907e+00,-6.2150e-03,3.5565e-03,-1.0037e-03,1.5992e+00,7.2307e-03
+51,4.0667e+01,DOWN_FORCE_DETACH,1.0824e-02,2.5220e-01,5.9190e-01,4.1112e+00,-7.3237e-02,5.2020e-02,1.1331e-04,1.2016e-01,1.4714e-01,1.6445e+00,-6.4055e-03,5.8287e-03,-9.2608e-04,1.6555e+00,8.7098e-03
+52,4.1117e+01,DOWN_FORCE_DETACH,1.1040e-02,2.4593e-01,5.9780e-01,4.1264e+00,-7.3513e-02,5.1584e-02,1.8286e-04,1.1389e-01,1.5303e-01,1.6597e+00,-6.6809e-03,5.3927e-03,-8.5652e-04,1.6706e+00,8.6284e-03
+53,4.1500e+01,DOWN_FORCE_DETACH,1.1249e-02,2.0858e-01,6.2933e-01,4.2288e+00,-7.5326e-02,4.8922e-02,2.3817e-04,7.6535e-02,1.8457e-01,1.7621e+00,-8.4939e-03,2.7312e-03,-8.0121e-04,1.7734e+00,8.9581e-03
+54,4.1867e+01,DOWN_FORCE_DETACH,1.1461e-02,1.5697e-01,5.7149e-01,4.2436e+00,-7.1181e-02,4.5290e-02,2.7520e-04,2.4926e-02,1.2673e-01,1.7769e+00,-4.3492e-03,-9.0134e-04,-7.6419e-04,1.7816e+00,4.5069e-03
+55,4.2183e+01,DOWN_FORCE_DETACH,1.1674e-02,1.7877e-01,6.3900e-01,4.4107e+00,-7.5042e-02,4.6535e-02,3.0489e-04,4.6733e-02,1.9424e-01,1.9440e+00,-8.2103e-03,3.4360e-04,-7.3450e-04,1.9542e+00,8.2503e-03
+56,4.2550e+01,DOWN_FORCE_DETACH,1.1885e-02,2.3142e-01,6.8973e-01,4.3693e+00,-7.7816e-02,5.0014e-02,2.9091e-04,9.9383e-02,2.4497e-01,1.9026e+00,-1.0984e-02,3.8226e-03,-7.4848e-04,1.9209e+00,1.1654e-02
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Part2/Fixed/digit/ball_PLA_17.5/press_depth_07/up/fem_node.csv ADDED Viewed

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Part2/Fixed/digit/ball_PLA_17.5/press_depth_07/up/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_PLA_17.5/press_depth_07/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/digit/ball_PLA_17.5/press_depth_07/up/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+14,8.5000e-01,WAIT_W2,7.8089e-04,2.1784e-01,4.9594e+00,2.3409e+00,-3.8671e-01,5.2372e-02,3.7457e-03,8.2645e-02,4.5137e+00,-1.2582e-01,-3.1984e-01,5.9683e-03,2.7137e-03,4.5162e+00,3.1991e-01
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+18,9.1667e-01,WAIT_W2,9.3889e-04,1.9241e-01,5.8071e+00,2.3747e+00,-4.4847e-01,5.0606e-02,6.6202e-03,5.7218e-02,5.3615e+00,-9.2056e-02,-3.8161e-01,4.2022e-03,5.5882e-03,5.3625e+00,3.8167e-01
+19,9.5000e-01,WAIT_W2,9.8231e-04,1.7030e-01,5.4831e+00,2.3472e+00,-4.2581e-01,4.9070e-02,6.4293e-03,3.5100e-02,5.0374e+00,-1.1959e-01,-3.5894e-01,2.6668e-03,5.3973e-03,5.0390e+00,3.5899e-01
+20,1.0000e+00,WAIT_W2,1.0398e-03,1.8603e-01,6.1574e+00,2.3003e+00,-4.7442e-01,5.0277e-02,6.7652e-03,5.0834e-02,5.7117e+00,-1.6645e-01,-4.0756e-01,3.8739e-03,5.7332e-03,5.7144e+00,4.0762e-01
+21,1.0833e+00,WAIT_W2,1.0954e-03,1.0782e-01,5.8766e+00,2.0836e+00,-4.5763e-01,4.5023e-02,7.5163e-03,-2.7374e-02,5.4309e+00,-3.8316e-01,-3.9076e-01,-1.3803e-03,6.4843e-03,5.4445e+00,3.9082e-01
+22,1.2000e+00,WAIT_W2,1.1444e-03,1.1204e-01,5.8729e+00,2.0973e+00,-4.5736e-01,4.5301e-02,7.5167e-03,-2.3153e-02,5.4273e+00,-3.6949e-01,-3.9049e-01,-1.1027e-03,6.4846e-03,5.4399e+00,3.9055e-01
+23,1.3000e+00,WAIT_W2,1.2016e-03,1.0340e-01,5.6408e+00,2.0766e+00,-4.4140e-01,4.4756e-02,7.5209e-03,-3.1796e-02,5.1951e+00,-3.9012e-01,-3.7454e-01,-1.6470e-03,6.4889e-03,5.2099e+00,3.7459e-01
+24,1.4833e+00,UP_FORCE_RAMP,1.2490e-03,1.6193e-01,5.6544e+00,2.2102e+00,-4.4170e-01,4.8599e-02,7.4522e-03,2.6730e-02,5.2087e+00,-2.5655e-01,-3.7484e-01,2.1960e-03,6.4202e-03,5.2151e+00,3.7490e-01
+25,1.6333e+00,UP_FORCE_RAMP,1.3003e-03,1.5676e-01,5.5974e+00,2.2451e+00,-4.3653e-01,4.8477e-02,6.6325e-03,2.1566e-02,5.1517e+00,-2.2163e-01,-3.6966e-01,2.0737e-03,5.6005e-03,5.1565e+00,3.6971e-01
+26,1.8167e+00,UP_FORCE_RAMP,1.3543e-03,2.0759e-01,5.5877e+00,2.2701e+00,-4.3489e-01,5.1881e-02,6.3143e-03,7.2393e-02,5.1420e+00,-1.9669e-01,-3.6802e-01,5.4777e-03,5.2822e-03,5.1463e+00,3.6810e-01
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+28,2.2500e+00,UP_FORCE_RAMP,1.4588e-03,2.5429e-01,5.5843e+00,2.3799e+00,-4.3354e-01,5.5001e-02,5.5968e-03,1.1909e-01,5.1386e+00,-8.6842e-02,-3.6667e-01,8.5974e-03,4.5648e-03,5.1407e+00,3.6680e-01
+29,2.4667e+00,UP_FORCE_RAMP,1.5058e-03,2.5955e-01,5.5662e+00,2.3627e+00,-4.3185e-01,5.5406e-02,5.3007e-03,1.2435e-01,5.1205e+00,-1.0404e-01,-3.6498e-01,9.0025e-03,4.2687e-03,5.1231e+00,3.6512e-01
+30,2.6500e+00,UP_FORCE_RAMP,1.5580e-03,2.5601e-01,5.6430e+00,2.2861e+00,-4.3844e-01,5.5257e-02,5.1842e-03,1.2082e-01,5.1974e+00,-1.8067e-01,-3.7158e-01,8.8532e-03,4.1522e-03,5.2019e+00,3.7171e-01
+31,2.9000e+00,UP_FORCE_RAMP,1.6130e-03,2.9752e-01,5.6371e+00,2.3647e+00,-4.3701e-01,5.7993e-02,5.0217e-03,1.6233e-01,5.1914e+00,-1.0205e-01,-3.7015e-01,1.1590e-02,3.9896e-03,5.1949e+00,3.7035e-01
+32,3.1667e+00,UP_FORCE_RAMP,1.6652e-03,2.9350e-01,5.5360e+00,2.3259e+00,-4.3071e-01,5.7865e-02,4.6718e-03,1.5831e-01,5.0903e+00,-1.4087e-01,-3.6384e-01,1.1461e-02,3.6398e-03,5.0947e+00,3.6404e-01
+33,3.3000e+00,UP_FORCE_RAMP,1.7195e-03,3.0663e-01,5.5370e+00,2.3757e+00,-4.3034e-01,5.8674e-02,4.6187e-03,1.7143e-01,5.0914e+00,-9.1052e-02,-3.6347e-01,1.2271e-02,3.5866e-03,5.0951e+00,3.6370e-01
+34,3.4500e+00,UP_FORCE_RAMP,1.7698e-03,4.4321e-01,5.5231e+00,2.3592e+00,-4.2937e-01,6.8526e-02,2.1341e-03,3.0802e-01,5.0774e+00,-1.0756e-01,-3.6250e-01,2.2122e-02,1.1020e-03,5.0879e+00,3.6318e-01
+35,3.6333e+00,UP_FORCE_RAMP,1.8214e-03,4.5475e-01,5.5206e+00,2.3642e+00,-4.2900e-01,6.9119e-02,2.1042e-03,3.1955e-01,5.0750e+00,-1.0260e-01,-3.6213e-01,2.2716e-02,1.0722e-03,5.0860e+00,3.6285e-01
+36,3.8833e+00,UP_FORCE_RAMP,1.8726e-03,4.4458e-01,5.5028e+00,2.3308e+00,-4.2843e-01,6.8538e-02,1.9633e-03,3.0938e-01,5.0571e+00,-1.3595e-01,-3.6156e-01,2.2134e-02,9.3129e-04,5.0684e+00,3.6224e-01
+37,4.0667e+00,UP_FORCE_RAMP,1.9248e-03,4.2984e-01,5.4722e+00,2.2240e+00,-4.2711e-01,6.7590e-02,1.9705e-03,2.9464e-01,5.0266e+00,-2.4281e-01,-3.6024e-01,2.1186e-02,9.3844e-04,5.0410e+00,3.6087e-01
+38,4.3500e+00,UP_FORCE_RAMP,1.9772e-03,4.2742e-01,5.4702e+00,2.3087e+00,-4.2652e-01,6.7313e-02,2.0037e-03,2.9222e-01,5.0246e+00,-1.5808e-01,-3.5966e-01,2.0909e-02,9.7167e-04,5.0355e+00,3.6027e-01
+39,4.5333e+00,UP_FORCE_RAMP,2.0297e-03,4.3486e-01,5.4837e+00,2.2240e+00,-4.2852e-01,6.7979e-02,2.0261e-03,2.9967e-01,5.0380e+00,-2.4274e-01,-3.6165e-01,2.1576e-02,9.9407e-04,5.0527e+00,3.6230e-01
+40,4.7500e+00,UP_FORCE_RAMP,2.0836e-03,4.9599e-01,5.4209e+00,2.1908e+00,-4.2458e-01,7.2326e-02,1.1371e-03,3.6080e-01,4.9752e+00,-2.7598e-01,-3.5771e-01,2.5923e-02,1.0504e-04,4.9959e+00,3.5865e-01
+41,4.8167e+00,UP_FORCE_RAMP,2.1376e-03,4.8091e-01,5.4319e+00,2.2287e+00,-4.2519e-01,7.1298e-02,1.1378e-03,3.4572e-01,4.9862e+00,-2.3810e-01,-3.5832e-01,2.4895e-02,1.0579e-04,5.0039e+00,3.5919e-01
+42,4.8833e+00,UP_FORCE_RAMP,2.1879e-03,5.5532e-01,5.4958e+00,2.1221e+00,-4.3099e-01,7.6639e-02,1.7671e-04,4.2013e-01,5.0502e+00,-3.4465e-01,-3.6412e-01,3.0235e-02,-8.5534e-04,5.0793e+00,3.6538e-01
+43,4.9833e+00,UP_FORCE_RAMP,2.2380e-03,5.3631e-01,5.5237e+00,2.1706e+00,-4.3267e-01,7.5334e-02,1.8805e-04,4.0112e-01,5.0781e+00,-2.9618e-01,-3.6581e-01,2.8931e-02,-8.4399e-04,5.1025e+00,3.6695e-01
+44,5.1667e+00,UP_FORCE_RAMP,2.2880e-03,5.5235e-01,5.5925e+00,2.0995e+00,-4.3815e-01,7.6456e-02,2.2675e-04,4.1715e-01,5.1469e+00,-3.6725e-01,-3.7128e-01,3.0052e-02,-8.0529e-04,5.1768e+00,3.7250e-01
+45,5.3667e+00,UP_FORCE_RAMP,2.3392e-03,5.3862e-01,5.5944e+00,2.1372e+00,-4.3777e-01,7.5378e-02,2.5216e-04,4.0343e-01,5.1487e+00,-3.2961e-01,-3.7090e-01,2.8975e-02,-7.7989e-04,5.1750e+00,3.7203e-01
+46,5.5000e+00,UP_FORCE_HOLD,2.4085e-03,5.5015e-01,5.6302e+00,2.1000e+00,-4.4127e-01,7.6346e-02,2.1020e-04,4.1495e-01,5.1846e+00,-3.6679e-01,-3.7441e-01,2.9942e-02,-8.2185e-04,5.2141e+00,3.7560e-01
+47,5.5500e+00,UP_FORCE_HOLD,2.4411e-03,7.9640e-01,5.6039e+00,2.2020e+00,-4.3794e-01,9.3547e-02,-3.1377e-03,6.6121e-01,5.1582e+00,-2.6477e-01,-3.7107e-01,4.7144e-02,-4.1698e-03,5.2071e+00,3.7408e-01
+48,5.6667e+00,UP_FORCE_HOLD,2.4986e-03,7.1819e-01,5.6016e+00,2.2144e+00,-4.3732e-01,8.7871e-02,-2.9660e-03,5.8299e-01,5.1560e+00,-2.5232e-01,-3.7045e-01,4.1467e-02,-3.9980e-03,5.1949e+00,3.7279e-01
+49,5.9000e+00,UP_FORCE_HOLD,2.5494e-03,7.1646e-01,5.6563e+00,2.1679e+00,-4.4215e-01,8.8101e-02,-2.9510e-03,5.8126e-01,5.2107e+00,-2.9887e-01,-3.7529e-01,4.1698e-02,-3.9831e-03,5.2515e+00,3.7762e-01
+50,6.1167e+00,UP_FORCE_HOLD,2.6024e-03,7.1915e-01,5.5893e+00,2.1433e+00,-4.3803e-01,8.8323e-02,-2.6564e-03,5.8396e-01,5.1437e+00,-3.2346e-01,-3.7116e-01,4.1920e-02,-3.6884e-03,5.1868e+00,3.7354e-01
+51,6.3333e+00,UP_SETTLE,2.6558e-03,6.8747e-01,5.5798e+00,2.1728e+00,-4.3637e-01,8.5788e-02,-2.4126e-03,5.5228e-01,5.1342e+00,-2.9399e-01,-3.6950e-01,3.9385e-02,-3.4446e-03,5.1722e+00,3.7161e-01
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+53,6.7167e+00,UP_SETTLE,2.7587e-03,6.7885e-01,5.5827e+00,2.1599e+00,-4.3680e-01,8.5231e-02,-2.3978e-03,5.4366e-01,5.1370e+00,-3.0683e-01,-3.6994e-01,3.8828e-02,-3.4298e-03,5.1748e+00,3.7198e-01
+54,6.9667e+00,UP_SETTLE,2.8097e-03,7.0699e-01,5.5809e+00,2.0926e+00,-4.3747e-01,8.7553e-02,-2.2512e-03,5.7179e-01,5.1352e+00,-3.7416e-01,-3.7061e-01,4.1149e-02,-3.2832e-03,5.1805e+00,3.7290e-01
+55,7.1333e+00,UP_SETTLE,2.8618e-03,6.9213e-01,5.5575e+00,2.1365e+00,-4.3571e-01,8.6422e-02,-2.2838e-03,5.5694e-01,5.1119e+00,-3.3028e-01,-3.6885e-01,4.0019e-02,-3.3159e-03,5.1527e+00,3.7103e-01
+56,7.3167e+00,UP_SETTLE,2.9111e-03,6.5472e-01,5.5491e+00,2.1651e+00,-4.3431e-01,8.3668e-02,-1.9486e-03,5.1952e-01,5.1034e+00,-3.0169e-01,-3.6744e-01,3.7265e-02,-2.9807e-03,5.1387e+00,3.6934e-01
+57,7.5333e+00,UP_SETTLE,2.9642e-03,6.7777e-01,5.6324e+00,2.0965e+00,-4.4096e-01,8.5450e-02,-1.9094e-03,5.4257e-01,5.1868e+00,-3.7028e-01,-3.7409e-01,3.9047e-02,-2.9414e-03,5.2282e+00,3.7614e-01
+58,7.7833e+00,UP_SETTLE,3.0155e-03,6.5810e-01,5.6310e+00,2.1623e+00,-4.4026e-01,8.3907e-02,-1.8811e-03,5.2291e-01,5.1853e+00,-3.0447e-01,-3.7339e-01,3.7503e-02,-2.9131e-03,5.2205e+00,3.7528e-01
+59,7.9833e+00,UP_SETTLE,3.0701e-03,6.4295e-01,5.6170e+00,2.1938e+00,-4.3866e-01,8.2735e-02,-1.7163e-03,5.0776e-01,5.1713e+00,-2.7295e-01,-3.7179e-01,3.6331e-02,-2.7484e-03,5.2033e+00,3.7357e-01

Part2/Fixed/digit/ball_PLA_17.5/press_depth_08/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_PLA_17.5/press_depth_08/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_PLA_17.5/press_depth_08/down/franka_data.csv ADDED Viewed

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+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+47640,1792845189652715522,23869087000000,1792845189652365506,XJC_ZERO_HOLD_BEFORE_DOWN,8,0.0698,0.06980103999376297,0.6759581420299883,-0.004975335806907787,0.10683213299639129,0.9999999512241128,-7.838735685855487e-05,-0.00022941816074847432,0.0001738314303610422,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0019907310673324963,-0.01054463763816682,-0.04921227784315407,-0.0005685285211716878,-0.00033614636104237205,2.268075606816876e-05,0.8734763769256261,1.1108951653142811,1.4937323685180484,0.08734942840993273,-0.07152155880234325,-0.004297615902848419,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,-0.28832468086007496,1.632700400542387,0.6326347484508564,-0.18944614517625308,-0.5273857733171959,0.9969147615138689,1.6312548422581434,0.04921227784315407,0.998620093807287,0.0,0.0,0,0,0.0,0.0
+47763,1792845190679704538,23870114000000,1792845190672365906,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6759601556305899,-0.0049700435452433795,0.10683297897809259,0.9999999524374652,-7.630599484079315e-05,-0.0002260787515617947,0.00017214448873069618,0.6761,-0.0046,0.10698856634456297,1.0,0.0,0.0,0.0,-0.0036469078595510185,-0.015165349222561852,-0.07971926717338307,-0.001516074220698077,-7.34154728746772e-05,4.9264861100207884e-05,0.8718202001334076,1.106274453729886,1.4632253791878194,0.08640188271040634,-0.07125882791417555,-0.00427103179781638,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,-0.19133142740765324,1.6185968468467646,0.4771214825677974,-0.1900390220389299,-0.4051373717995274,0.9859924174090946,1.6312548422581434,0.07971926717338307,1.154133359690346,1.154133359690346,1.0789270692295685,0,0,-2.7849751217641543e-05,9.375010076440588e-05
+47899,1792845191812749908,23871247000000,1792845191812365596,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6759659555512284,-0.004968760830672272,0.1068349079602641,0.9999999552258035,-7.429308593367065e-05,-0.00021232473584755174,0.00017432727608354017,0.6761,-0.0046,0.10693329940709884,1.0,0.0,0.0,0.0,-0.029737843445644008,-0.015556156321474779,-0.10956599878277418,-0.0005307595176170937,0.001438813395485683,9.879277917908529e-05,0.8457292645473146,1.1058836466309732,1.4333786475784283,0.08738719741348733,-0.06974659904581519,-0.004221503879737502,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.2093945065147513,1.564354198079641,0.35592623162801945,-0.1605293614185901,-0.22357819032251014,0.9517769241239631,1.6312548422581434,0.10956599878277418,1.275328610630124,1.275328610630124,1.2488770692296756,0,0,-5.8114524655013315e-05,9.99954799781932e-05
+48009,1792845192729798004,23872164000000,1792845192728365292,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6760089385778011,-0.0049766238110549345,0.10682855418784663,0.9999999694171776,-6.984995021219817e-05,-0.0001038651597598996,0.0001922017722863021,0.6761,-0.0046,0.106894639787165,1.0,0.0,0.0,0.0,-0.1958503122809443,0.0924733097684991,-0.1048857475216316,0.008368709717846437,0.013763066392717169,0.001413893305603489,0.6796167957120143,1.213913112720947,1.4380588988395708,0.09628666664895086,-0.057422346048583706,-0.0029064033533130985,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.47878981111632957,1.4845225085551834,0.40293832624598647,-0.13575931973505825,-0.22722101759234611,0.8851435955839452,1.6312548422581434,0.1048857475216316,1.228316516012157,1.228316516012157,1.3864270692297622,0,0,-2.5577927521862283e-05,-9.999997638144293e-05
+48117,1792845193629796312,23873064000000,1792845193628364722,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6760097301415496,-0.004970808739271155,0.10682161659994456,0.99999996942395,-6.453784957333387e-05,-0.00010552090195388625,0.00019311957089160112,0.6761,-0.0046,0.10686770959620055,1.0,0.0,0.0,0.0,-0.20015551871172066,0.08145673814071541,-0.03686342376041796,0.007292742834120389,0.01331816345040543,0.0013273076537022232,0.6753115892812379,1.2028965410931634,1.5060812226007845,0.09521069976522481,-0.057867248990895445,-0.0029929890052143642,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.6884004261019959,1.5140250875961347,0.14790621933958603,-0.11351188158770353,-0.004902918597091706,0.9073633239378426,1.6312548422581434,0.03686342376041796,1.4833486229185575,1.4833486229185575,1.5214270692298473,0,0,-2.764940860574961e-05,-9.998779168374767e-05
+48247,1792845194712824229,23874147000000,1792845194712365325,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6760076796829466,-0.004973157242639053,0.10680637360149906,0.9999999681513477,-6.272082920544774e-05,-0.00011135499550157616,0.0001969932240990081,0.6761,-0.0046,0.10684202546859888,1.0,0.0,0.0,0.0,-0.20433247614543149,0.053110637499327096,0.08275903901828086,0.00624650993950053,0.013312648561253526,0.0012187249645333508,0.6711346318475271,1.174550440451775,1.6257036853794833,0.09416446687060495,-0.05787276388004735,-0.0031015716943832367,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.687620413482943,1.5293126622095254,0.0033699987417304157,-0.11242244263174027,0.0897922638418475,0.916730226373244,1.6312548422581434,-0.08275903901828086,1.627884843516413,1.627884843516413,1.6838770692299496,0,0,-2.4843207792361828e-05,-8.750018351400541e-05
+48375,1792845195779795401,23875214000000,1792845195776375215,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6760071056096005,-0.004970955589153082,0.10678700452394235,0.9999999665340027,-6.359917945897439e-05,-0.0001178469244967403,0.00020110222419188027,0.6761,-0.0046,0.106813273963531,1.0,0.0,0.0,0.0,-0.2211903255787543,0.045805074501015675,0.23099000916356327,0.00519041396175729,0.014231180610873972,0.001098887815810717,0.6542767824142043,1.1672448774534636,1.7739346555247657,0.09310837089286171,-0.0569542318304269,-0.0032214088431058705,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.7849075555239386,1.402463742726264,-0.24364150400412662,-0.06014946078192872,0.2790527296584186,0.824383140595244,1.6312548422581434,-0.23099000916356327,1.87489634626227,1.87489634626227,1.8439270692300505,0,0,-2.597927766381935e-05,9.999999025923074e-05
+48493,1792845196762887783,23876197000000,1792845196760364820,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6760100032060897,-0.004973531872655556,0.10677598907280816,0.9999999663210177,-5.940038558511254e-05,-0.00011736648852586845,0.0002037094240294479,0.6761,-0.0046,0.1067889828915105,1.0,0.0,0.0,0.0,-0.22120605815127548,0.030175828913176606,0.3421796430608164,0.005146841386962114,0.014290644697418108,0.0010131195094386647,0.6542610498416831,1.1516156318656245,1.8851242894220188,0.09306479831806654,-0.05689476774388277,-0.0033071771494779228,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.6876247985482047,1.4403973337355689,-0.2224728753763861,-0.05187062467945556,0.23688823007050747,0.8491309840620711,1.6312548422581434,-0.3421796430608164,1.8537277176345295,1.8537277176345295,1.9913770692301433,0,0,-2.661704106707153e-05,-9.932478037122933e-05
+48597,1792845197629908251,23877064000000,1792845197624374822,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6760109292421942,-0.004971172199420954,0.10676402032742494,0.9999999658331358,-5.731038431145053e-05,-0.00011740931987986614,0.00020665711531019708,0.6761,-0.0046,0.10675704918306529,1.0,0.0,0.0,0.0,-0.23154243652134354,0.033068301809552114,0.4431407336904156,0.0051071116419016405,0.015271073366085651,0.0010847570727713749,0.643924671471615,1.154508104762,1.986085380051618,0.09302506857300606,-0.05591433907521522,-0.0032355395861452126,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.8116062177975001,1.3652158693632912,-0.40133858309100773,-0.018639656775377385,0.38682885031659464,0.8003056454789569,1.6312548422581434,-0.4431407336904156,2.0325934253491513,2.0325934253491513,2.1214270692302253,0,0,-4.6418029138488255e-05,-8.659945957412702e-05
+48731,1792845198745910170,23878180000000,1792845198740374627,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6760265260085648,-0.004972478973305902,0.10673866854797388,0.9999999667741377,-5.451930245161925e-05,-8.877124269830555e-05,0.00021689144794544252,0.6761,-0.0046,0.10670716660401218,1.0,0.0,0.0,0.0,-0.2894714786792748,0.04674919557538648,0.6752991002420685,0.006992102201481568,0.0191605132557158,0.0018615986617546818,0.5859956293136838,1.1681889985278344,2.218243746603271,0.09491005913258599,-0.052024899185585075,-0.0024586979971619057,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.9409466309161061,1.3500307840436079,-0.8009484536382819,-0.013415241145869316,0.670718661958659,0.788160074126031,1.6312548422581434,-0.6752991002420685,2.4322032958964255,2.4322032958964255,2.2888270692303307,0,0,-3.259252670942547e-05,9.999964331453554e-05
+48847,1792845199712943211,23879147000000,1792845199712365811,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6760364805963749,-0.00497645419385396,0.10672392553255193,0.99999996737342,-5.6188186796605e-05,-6.726116858295335e-05,0.00022139296775877725,0.6761,-0.0046,0.10668995090238668,1.0,0.0,0.0,0.0,-0.3287980545874629,0.07270251329276123,0.7398172015870743,0.008974996266970153,0.021545240330938104,0.001873170774815624,0.5466690534054957,1.1941423162452092,2.2827618479482767,0.09689295319807457,-0.04964017211036277,-0.0024471258841009635,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.9048199381055619,1.3828194860980987,-0.7277586343327771,-0.021627008782021027,0.6058925889477728,0.8071746907664722,1.6312548422581434,-0.7398172015870743,2.3590134765909205,2.3590134765909205,2.433877069230422,0,0,-1.8753004658893187e-05,-9.999999025923074e-05
+48945,1792845200529982238,23879964000000,1792845200528364803,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6760450203319606,-0.0049432712715903595,0.10671217611441478,0.9999999745832373,-0.00016999990812038656,-4.77019457915618e-05,0.00010536102047369233,0.6761,-0.0046,0.10666363395881134,1.0,0.0,0.0,0.0,-0.3402217921884638,0.09074463022298884,0.7782060331729996,0.010930527332896608,0.0223154133693867,0.002758547124845955,0.5352453158044947,1.2121844331754368,2.321150679534202,0.09884848426400103,-0.04886999907191417,-0.0015617495340706326,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.931109769488536,1.2977626637770898,-0.7904300657990523,0.01889054456180048,0.6502445871041659,0.7472098363298342,1.6312548422581434,-0.7782060331729996,2.4216849080571956,2.4216849080571956,2.5564270692304993,0,0,-4.818309972817592e-05,-9.9841686333707e-05
+48984,1792845200854970253,23880289000000,1792845200852365764,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6760753713890443,-0.004954245128175049,0.10671430486750436,0.9999999748341786,-0.0001628773852270502,-1.9936022056354126e-05,0.00012185244708529776,0.6761,-0.0046,0.10664534195180113,1.0,0.0,0.0,0.0,-0.3352384891782333,0.33006757720549396,0.6268871606979067,0.02721387073920442,0.023812702444498027,0.0032129771942955706,0.5402286188147253,1.451507380157942,2.169831807059109,0.11513182767030884,-0.04737270999680285,-0.001107319464621017,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.9563680879093454,1.5390795022134438,-0.5082256166303716,-0.22897318686389212,0.47710443826070514,0.9473335014854407,1.6312548422581434,-0.6268871606979067,2.139480458888515,2.139480458888515,2.60517706923053,0,0,-6.443309667344822e-05,-9.999999025923074e-05
+49090,1792845201737940185,23881172000000,1792845201736374929,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6760899156844646,-0.0049587295982998865,0.10668950226780248,0.9999999738831473,-0.00016080825263861502,8.135251022085516e-06,0.00013323322612261384,0.6761,-0.0046,0.10656907975468544,1.0,0.0,0.0,0.0,-0.39518279937349643,0.3056439545589913,0.9624232637412156,0.027113347789397085,0.026878803747179325,0.004027592640488558,0.48028430861946214,1.4270837575114392,2.505367910102418,0.1150313047205015,-0.04430660869412155,-0.00029270401842802936,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.2883821772232167,1.510055185329241,-0.9989964795955943,-0.1721791983886508,0.8698248096837811,0.9226504257771503,1.6312548422581434,-0.9624232637412156,2.630251321853738,2.630251321853738,2.7376270692306135,0,0,-0.0001075165876149572,-9.999999025923074e-05
+49222,1792845202837945670,23882272000000,1792845202836365496,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.676114889841735,-0.00496512511831594,0.10664506368519819,0.9999999703914622,-0.00015328660258492934,5.9047620476543536e-05,0.0001538718134813423,0.6761,-0.0046,0.10646745115354622,1.0,0.0,0.0,0.0,-0.5005852599281324,0.32678746551476,1.3463855494200339,0.02989995757775782,0.0342462773395578,0.003848066931489914,0.3748818480648262,1.448227268467208,2.8893301957812363,0.11781791450886224,-0.03693913510174308,-0.00047222972742667327,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.3940003073327514,1.4072518355139911,-1.4245220860633883,-0.07761333563458038,1.1471573481624706,0.838394304282926,1.6312548422581434,-1.3463855494200339,3.0557769283215315,3.0557769283215315,2.9026270692307174,0,0,-6.664696955841076e-05,9.999999025923074e-05
+49350,1792845203905055290,23883339000000,1792845203904365404,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6761199775137823,-0.00496988786846266,0.10661638287733427,0.9999999686173021,-0.00014852269615082316,6.929924812069439e-05,0.00016536892709288867,0.6761,-0.0046,0.10642477438147732,1.0,0.0,0.0,0.0,-0.5204413949165452,0.3198863771751288,1.5108341684550475,0.02983283366639637,0.034824079289801566,0.003738417188534925,0.35502571307641345,1.4413261801275767,3.05377881481625,0.11775079059750079,-0.03636133315149931,-0.0005818794703816624,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.3996909039339618,1.4419354977619117,-1.6091748907196868,-0.058118760968341926,1.2651666635910088,0.8505611726825313,1.6312548422581434,-1.5108341684550475,3.24042973297783,3.24042973297783,3.0626770692308183,0,0,-1.3296979951811556e-05,9.999999025923074e-05
+49488,1792845205055081241,23884489000000,1792845205052365870,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6761190245733564,-0.004966327131642313,0.1066055068981896,0.9999999695563441,-0.000143218211751052,6.52149242633561e-05,0.00016602931253165232,0.6761,-0.0046,0.10642043777654048,1.0,0.0,0.0,0.0,-0.5014157008018324,0.30388611174819813,1.4961225850193463,0.027830016472212463,0.03477762949276803,0.003801991341431899,0.3740514071911262,1.425325914700646,3.0390672313805487,0.11574797340331688,-0.03640778294853284,-0.0005183053174846885,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.3451523726830568,1.4896105330532867,-1.4995663104556383,-0.059094375759985385,1.1829097787908984,0.8842131996327879,1.6312548422581434,-1.4961225850193463,3.1308211527137817,3.1308211527137817,3.235177069230927,0,0,-8.396843091699973e-06,-9.999568814501032e-05
+49599,1792845205980070858,23885414000000,1792845205976375366,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6761219089493951,-0.004966283063361338,0.10659586824766504,0.9999999685503107,-0.00014281371785142087,7.016541973434907e-05,0.0001703622550119753,0.6761,-0.0046,0.10639666344488871,1.0,0.0,0.0,0.0,-0.500846804766182,0.30090672288996134,1.5266048140980304,0.027807336828809898,0.03449529934051466,0.00467301375757988,0.37462030322677653,1.4223465258424093,3.069549460459233,0.11572529375991432,-0.036690113100786216,0.0003527170986632925,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.3502264989853532,1.458162348333861,-1.5678172416541416,-0.04527023161936651,1.22416228106189,0.8578246820265221,1.6312548422581434,-1.5266048140980304,3.1990720839122853,3.1990720839122853,3.3739270692310144,0,0,-4.57806517515077e-05,-9.999999025923074e-05
+49717,1792845206963070818,23886397000000,1792845206960374904,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6761344246861591,-0.004970546160826834,0.10657202121075829,0.9999999656490878,-0.00014263717124848605,9.154535814598664e-05,0.00017725341315691636,0.6761,-0.0046,0.10633599890623048,1.0,0.0,0.0,0.0,-0.5493856659139126,0.3089618369464029,1.7177146219170798,0.029717685513827696,0.03778096613750195,0.004633909889015587,0.326081442079046,1.4304016398988508,3.2606592682782822,0.11763564244493212,-0.03340444630379892,0.00031361323009899923,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.4961953023735637,1.3868210094241986,-1.8252796837494576,-0.020662844274373014,1.4264747916926568,0.8071492644169893,1.6312548422581434,-1.7177146219170798,3.456534526007601,3.456534526007601,3.5213770692311073,0,0,-6.853839265022248e-05,-9.366322442409109e-05
+49855,1792845208113133852,23887547000000,1792845208112365587,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6761535588020132,-0.004971989703291551,0.10653748683995894,0.9999999615611395,-0.0001350189585832288,0.0001190553836516038,0.000189515910551296,0.6761,-0.0046,0.1062724207145958,1.0,0.0,0.0,0.0,-0.6079486706474448,0.343558504711158,1.9289755932305177,0.03215311203625998,0.041768237055708646,0.0045535361228290225,0.2675184373455137,1.464998307663606,3.47192023959172,0.1200710689673644,-0.029417175385592225,0.00023323946391243475,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.5527398004470858,1.4633946816098324,-2.0872566162351194,-0.050636273897715876,1.6007375844853666,0.8553077830333395,1.6312548422581434,-1.9289755932305177,3.718511458493263,3.718511458493263,3.693877069231216,0,0,-3.9411727094347586e-05,9.999940739214281e-05
+50000,1792845209321182286,23888755000000,1792845209320375488,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6761623107507838,-0.004969287666342726,0.1065096839207709,0.9999999581675985,-0.00013371693499730222,0.0001360197758596481,0.0001967893989201078,0.6761,-0.0046,0.10623071292945041,1.0,0.0,0.0,0.0,-0.6398730511232313,0.3567247781804801,2.029458521584937,0.03257172251731799,0.04376386174123505,0.004500178028336208,0.23559405686972726,1.478164581132928,3.572403167946139,0.12048967944842241,-0.027421550700065828,0.00017988136941962036,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.6405334565661418,1.3378470079187312,-2.2073497455412268,-0.004361807062942516,1.6959094225691653,0.7728323897160128,1.6312548422581434,-2.029458521584937,3.83860458779937,3.83860458779937,3.87507706923133,0,0,-4.239316802527538e-05,-1.3876865586631438e-05
+50107,1792845210213186403,23889647000000,1792845210208365843,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6761719996186628,-0.00497066346769937,0.10648246849410618,0.9999999553780986,-0.00012875470767398427,0.0001520586005173146,0.00020245264223000715,0.6761,-0.0046,0.10618423254539862,1.0,0.0,0.0,0.0,-0.6653416423385119,0.3737540887847175,2.1492934826699717,0.033505073875354105,0.04574517333057389,0.0044429462923872435,0.21012546565444665,1.4951938917371654,3.6922381290311743,0.12142303080645853,-0.025440239110726987,0.00012264963347065637,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.6063821475705582,1.3202355770462162,-2.2704053361170637,-0.0012955877300866536,1.7257084062753245,0.7612664070524895,1.6312548422581434,-2.1492934826699717,3.901660178375207,3.901660178375207,4.008877069231388,0,0,-6.20570323698041e-05,-9.999999025923074e-05
+50234,1792845211271228376,23890705000000,1792845211264365468,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6761883911422242,-0.0049752681765615194,0.1064457849476884,0.999999948707799,-0.00012927462115396086,0.00017840238133701427,0.0002132789874662971,0.6761,-0.0046,0.10611493338124427,1.0,0.0,0.0,0.0,-0.7037118656113783,0.37505692693228254,2.3176122525736185,0.03440743866131746,0.04871664268090534,0.0048984854416401396,0.17175524238158027,1.4964967298847305,3.860556898934821,0.12232539559242188,-0.02246876976039554,0.0005781887827235523,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.7506981255220726,1.3948719085936685,-2.564135516564783,-0.019460565052913492,1.9498795663827337,0.8130743830127163,1.6312548422581434,-2.3176122525736185,4.195390358822927,4.195390358822927,4.167577069231018,0,0,-6.475606028202995e-05,9.999999025923074e-05
+50356,1792845212288234416,23891722000000,1792845212284365443,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6761967614586512,-0.004976826057044467,0.1064002210840956,0.9999999447639575,-0.00012386956937573588,0.0001914203513879182,0.00022344915564853526,0.6761,-0.0046,0.10605374015462297,1.0,0.0,0.0,0.0,-0.713847651559359,0.39209557413907103,2.452106468413044,0.03537227534411712,0.04969109014702867,0.004936399443464306,0.16161945643359948,1.513535377091519,3.9950511147742467,0.12329023227522154,-0.021494322294272207,0.0006161027845477183,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.7210066584004455,1.4336882270090046,-2.585019702654709,-0.029519724934785607,1.9544615487198609,0.8383832173021588,1.6312548422581434,-2.452106468413044,4.216274544912853,4.216274544912853,4.320127069230662,0,0,-5.705254704366081e-05,-9.387026852903375e-05
+50478,1792845213305220722,23892739000000,1792845213300375545,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.676207567091279,-0.004981403371249917,0.10635882793610309,0.9999999391490155,-0.00012257561466769924,0.0002086650151291707,0.00023362140259241293,0.6761,-0.0046,0.1059963041111357,1.0,0.0,0.0,0.0,-0.6955679723901163,0.3830307673752893,2.5548659764675286,0.03433725459217564,0.04969204024936611,0.004187187102719501,0.17989913560284235,1.5044705703277372,4.097810622828731,0.12225521152328006,-0.021493372191934763,-0.0001331095561970872,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.7747710302069857,1.4282746270067395,-2.8125407418281316,-0.019153062213722052,2.115658475907124,0.8381509180717908,1.6312548422581434,-2.5548659764675286,4.443795584086275,4.443795584086275,4.472677069230307,0,0,-6.34937838875097e-05,9.998809699507944e-05
+50570,1792845214071259632,23893505000000,1792845214068365870,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6762237476417969,-0.00497134326775497,0.10631437692172037,0.9999999121385723,-0.0003159632572611681,0.00024938771014365,7.168473545179445e-05,0.6761,-0.0046,0.10594055636649029,1.0,0.0,0.0,0.0,-0.5884978415167694,0.5172945865460536,2.647076916603064,0.040506964389636205,0.042482371316936156,0.0041190170825805535,0.2869692664761892,1.6387343894985016,4.190021562964266,0.12842492132074063,-0.02870304112436472,-0.00020127957633603365,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.675507139781332,1.479719776113696,-2.703139305080677,-0.027148851329814788,2.022833193228764,0.8722858271826391,1.6312548422581434,-2.647076916603064,4.33439414733882,4.33439414733882,4.587577069230039,0,0,-8.034251570562668e-05,-9.999942126993062e-05
+50641,1792845214663272931,23894097000000,1792845214660365543,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.676231436398603,-0.0049678518052640045,0.1062803816966044,0.9999999104280948,-0.0003077949825155861,0.00026279451853946105,8.2389051276707e-05,0.6761,-0.0046,0.10588473507475846,1.0,0.0,0.0,0.0,-0.5651219905407394,0.5792211975678374,2.77171557027837,0.04569401480545311,0.042989611027775224,0.005071119401523753,0.3103451174522192,1.7006610005202853,4.314660216639572,0.13361197173655753,-0.02819580141352565,0.0007508227426071659,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.8648583775371923,1.558632150719514,-2.9217064224058955,-0.1702859049196774,2.237210957373119,0.9643318799335179,1.6312548422581434,-2.77171557027837,4.552961264664039,4.552961264664039,4.676377069229832,0,0,-0.00010465886792906798,-8.845197771301656e-05
+50761,1792845215663334334,23895097000000,1792845215660365389,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6762477085309085,-0.004979169172711887,0.1062143819864924,0.9999999067771727,-0.0002913588256870167,0.000285717564795251,0.00010660214640492881,0.6761,-0.0046,0.10578484763158093,1.0,0.0,0.0,0.0,-0.570664183717486,0.551970934974034,2.947227894103361,0.04336086573091748,0.04455629398194537,0.004939094699311367,0.3048029242754726,1.673410737926482,4.490172540464563,0.1312788226620219,-0.026629118459355505,0.0006187980403947802,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.9319286940199447,1.474028661903643,-3.0866894550740662,-0.06966333067711149,2.3551321916014047,0.8989219243361455,1.6312548422581434,-2.947227894103361,4.71794429733221,4.71794429733221,4.8263770692294825,0,0,-8.89172731236273e-05,-9.687500387845489e-05
+50871,1792845216580324917,23896014000000,1792845216576366102,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6762589522160786,-0.00497877615871601,0.10615926007477136,0.999999904063788,-0.0002747993588505866,0.0003044412774728167,0.0001229475479234324,0.6761,-0.0046,0.10571316499994605,1.0,0.0,0.0,0.0,-0.578294237864587,0.512348329331525,3.0262062567982095,0.03954760799433428,0.04542336654110411,0.004842021040017327,0.2971728701283716,1.633788132283973,4.569150903159412,0.1274655649254387,-0.02576204590019676,0.0005217243811007395,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.917347239485621,1.5052573550801827,-3.32563051120634,-0.01914099407853785,2.4945691719168748,0.9018431456206577,1.6312548422581434,-3.0262062567982095,4.956885353464483,4.956885353464483,4.963927069229162,0,0,-7.089891234238343e-05,9.999999025923074e-05
+50975,1792845217446357936,23896880000000,1792845217440365519,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6762682532698724,-0.004986602780124518,0.10611181888025223,0.9999999002998669,-0.00026795162243680045,0.0003165986145133686,0.00013715088576748396,0.6761,-0.0046,0.10564978502446212,1.0,0.0,0.0,0.0,-0.5655124890687211,0.487644883784232,3.045662902529026,0.03745516652421531,0.04445298056849273,0.0037618169850653412,0.3099546189242375,1.60908468673668,4.588607548890228,0.12537312345531973,-0.026732431872808146,-0.0005584796738512465,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.8087968547517437,1.5257847587976299,-3.265733697879173,0.03475879426384589,2.4200769551695958,0.9066226655613346,1.6312548422581434,-3.045662902529026,4.8969885401373165,4.8969885401373165,5.093827069228859,0,0,-8.341898055238962e-05,-9.999999025923074e-05
+51078,1792845218305342667,23897739000000,1792845218304365022,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6762803517200514,-0.004985674263705379,0.10604858295774357,0.9999998934552824,-0.00026871224179001655,0.00033558738285684734,0.000140382076395722,0.6761,-0.0046,0.10556644522599129,1.0,0.0,0.0,0.0,-0.5574802492839966,0.4660588789455804,3.1543859795676417,0.03539220774508556,0.044468361543780685,0.0036517277899603077,0.31798685870896193,1.5874986818980283,4.697330625928844,0.12331016467618998,-0.026717050897520193,-0.00066856886895628,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.9107099920010713,1.395850155801772,-3.4513284902952965,0.08287225031366903,2.5663666192021353,0.8217965627410562,1.6312548422581434,-3.1543859795676417,5.08258333255344,5.08258333255344,5.222677069228559,0,0,-0.0001105919198260682,-9.908161377326081e-05
+51197,1792845219296343295,23898730000000,1792845219292364792,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6762983093168348,-0.004989376377619517,0.1059688615407921,0.9999999170615175,-4.893269115016317e-05,0.0003691370190702873,0.00013661359959609446,0.6761,-0.0046,0.10545483709154263,1.0,0.0,0.0,0.0,-0.530147823701298,0.463719038711744,3.3032578802190207,0.03538254078272976,0.04347778415526807,0.0035699016076396546,0.34531928429166053,1.585158841664192,4.846202526580223,0.12330049771383418,-0.027707628286032803,-0.0007503950512769328,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.8815298823513809,1.5146446129224416,-3.664454372084996,0.059761895033877105,2.697243521367006,0.9132613674868735,1.6312548422581434,-3.3032578802190207,5.295709214343139,5.295709214343139,5.3713270692282125,0,0,-0.00011190335375413506,5.502010932823538e-05
+51331,1792845220413449048,23899847000000,1792845220408366157,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6763161756766061,-0.004993031947154027,0.10586841919807366,0.9999999037060717,-6.132655994403797e-05,0.0003952003323962877,0.00015519813790950904,0.6761,-0.0046,0.10532347049038043,1.0,0.0,0.0,0.0,-0.5168274134433999,0.41574709259033815,3.4542028509996268,0.03127907776791314,0.043147088921159,0.0033478172135721174,0.35863969454955874,1.537186895542786,4.997147497360829,0.11919703469901756,-0.02803832352014187,-0.0009724794453444701,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.906577730494437,1.570347761053137,-3.781400611552145,0.0020939879074394945,2.795592695467201,0.8976565215059599,1.6312548422581434,-3.4542028509996268,5.412655453810288,5.412655453810288,5.538877069227822,0,0,-0.00012382935540430762,-9.999986535914047e-05
+51430,1792845221238471202,23900672000000,1792845221236365513,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6763292108924095,-0.004998393970591907,0.10578530153596306,0.9999998929377172,-7.576044498539487e-05,0.0004161864081229589,0.00016314609160813059,0.6761,-0.0046,0.10521920077500858,1.0,0.0,0.0,0.0,-0.48803528816018293,0.383092908353051,3.551315149746225,0.028836451995743542,0.041475037833285315,0.0032254980919026416,0.38743181983277564,1.504532711305499,5.094259796107427,0.11675440892684796,-0.02971037460801556,-0.001094798567013946,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.9040237441238337,1.490097034639022,-3.8420541623131523,0.053723940500370916,2.8350344746381486,0.8746639985344881,1.6312548422581434,-3.551315149746225,5.473309004571296,5.473309004571296,5.662627069227534,0,0,-0.00012636291673725897,-9.843750400773672e-05
+51526,1792845222038382041,23901472000000,1792845222036365804,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6763426101877869,-0.004996620644156991,0.10570267367415351,0.999999880816361,-0.00010861641212714543,0.0004416273225664128,0.0001515846664066799,0.6761,-0.0046,0.10511625339245421,1.0,0.0,0.0,0.0,-0.4417443312389057,0.37171772178289153,3.632586555166448,0.026245356940675896,0.03946946549935964,0.0031154497242136007,0.43372277675405285,1.4931575247353395,5.17553120152765,0.11416331387178032,-0.031715946941941235,-0.001204846934702987,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.8689410611357236,1.3960373034871882,-4.044847302930126,0.10610069972501716,2.9596791839845835,0.8323902463414171,1.6312548422581434,-3.632586555166448,5.67610214518827,5.67610214518827,5.782627069227254,0,0,-0.00013002789530228297,7.306613910628836e-07
+51642,1792845223005505891,23902439000000,1792845223004365666,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6763571352130701,-0.004996023048381074,0.10559354747832896,0.9999998664445278,-0.00016328136883752596,0.0004653184615686845,0.00012398272013629401,0.6761,-0.0046,0.10497944582415929,1.0,0.0,0.0,0.0,-0.3842686904649252,0.34727154328312926,3.7198789350901054,0.024289829707799596,0.03543254571004875,0.003973866584665939,0.4911984175280334,1.4687113462355772,5.262823581451308,0.11220778663890402,-0.03575286673125212,-0.0003464300742506484,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.8699067849024795,1.3381163154581033,-4.153179546145173,0.16659042862052895,3.036630191305796,0.8101448714215457,1.6312548422581434,-3.7198789350901054,5.784434388403317,5.784434388403317,5.927677069226916,0,0,-0.00014973745040699894,-9.998935987376995e-05
+51748,1792845223888502150,23903322000000,1792845223888365942,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6763763350406176,-0.004995459080542881,0.10548965646961078,0.9999998474483447,-0.00018260045060695135,0.0004977641982015613,0.00012423377186439297,0.6761,-0.0046,0.10484341794070937,1.0,0.0,0.0,0.0,-0.3417068143704638,0.3107527042571083,3.8328567142251,0.021259676234414562,0.03343983405152533,0.003821709629767323,0.5337602936224948,1.4321925072095563,5.375801360586302,0.10917763316551898,-0.03774557838977555,-0.0004985870291492648,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.8051539329741917,1.3769262097273163,-4.255744034662144,0.1525055920306633,3.094154987800288,0.8379065610789929,1.6312548422581434,-3.8328567142251,5.886998876920288,5.886998876920288,6.060127069226607,0,0,-0.00015887198407812798,-9.996604519025282e-05
+51850,1792845224738504548,23904172000000,1792845224736365225,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6763909011647774,-0.004999604264677909,0.10536991055946357,0.99999983279583,-0.00018659210856609065,0.0005213758874344334,0.00013857036226433975,0.6761,-0.0046,0.10470695555163027,1.0,0.0,0.0,0.0,-0.2973264996801708,0.25066160014058636,3.951980069364251,0.016211411430614553,0.030471020540488176,0.0038367746258848945,0.5781406083127878,1.3721014030930343,5.494924715725453,0.10412936836171897,-0.0407143919008127,-0.00048352203303169284,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.8147319123405863,1.4303567889288706,-4.4654539977475425,0.1315877581280025,3.248824152647022,0.8695282979493846,1.6312548422581434,-3.951980069364251,6.096708840005686,6.096708840005686,6.18762706922631,0,0,-0.00016061118185831257,7.500101514701924e-05
+51939,1792845225480537038,23904914000000,1792845225480365231,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6764049679277317,-0.005001051565648688,0.10526900174341622,0.9999998181207128,-0.00018550829551334554,0.0005454253919029848,0.00015264081954211516,0.6761,-0.0046,0.10458522983212226,1.0,0.0,0.0,0.0,-0.25383123491928383,0.1885709826044215,4.0120174095078465,0.011967918244321571,0.02810705459348859,0.0045186589566328945,0.6216358730736747,1.3100107855568695,5.554962055869049,0.09988587517542599,-0.04307835784781228,0.00019836229771630674,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.7784026358010996,1.3263558291360793,-4.495114653944217,0.17510839732686423,3.266071481997443,0.8030999941713843,1.6312548422581434,-4.0120174095078465,6.1263694962023605,6.1263694962023605,6.298927069226051,0,0,-0.00017179963710953062,-9.999999025923074e-05
+52043,1792845226346557726,23905780000000,1792845226344365652,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6764249123638378,-0.004998320744330611,0.10513791167024307,0.9999997982299763,-0.0001873863562379249,0.000578437434872174,0.00015899483757579006,0.6761,-0.0046,0.10442675491407434,1.0,0.0,0.0,0.0,-0.21643222999605716,0.14266494018808573,4.133825802690224,0.008138847639365912,0.025488652520657004,0.004326211134871792,0.6590348779969014,1.2641047431405337,5.676770449051427,0.09605680457047033,-0.04569675992064387,5.914475955203921e-06,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.706521434200302,1.4349594533109136,-4.595856812400036,0.16318789464255407,3.3245263125709643,0.8786880166006615,1.6312548422581434,-4.133825802690224,6.227111654658179,6.227111654658179,6.428827069225748,0,0,-0.00019230625268182167,-9.992456448249527e-05
+52131,1792845227080610646,23906514000000,1792845227076365613,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6764405968960118,-0.004992923042756961,0.10502021442224903,0.9999997798723974,-0.00020667993990077505,0.0006070135259913035,0.00014323408321740595,0.6761,-0.0046,0.10428095541067312,1.0,0.0,0.0,0.0,-0.149139018812812,0.09623104142716321,4.198188505711127,0.004257253496696631,0.020512597107286,0.00420316158236543,0.7263280891801466,1.2176708443796112,5.741133152072329,0.09217521042780105,-0.050672815334014874,-0.00011713507655115814,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.6574327312088522,1.4752401970397728,-4.669783130859356,0.16204315317850776,3.370905800877235,0.9043262726626095,1.6312548422581434,-4.198188505711127,6.3010379731174995,6.3010379731174995,6.538927069225491,0,0,-0.00020725464538603878,-9.999924085868912e-05
+52231,1792845227913584153,23907347000000,1792845227908365571,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6764546010144012,-0.004997873861463024,0.10486624483733933,0.999999764663135,-0.00020383487743183234,0.0006307132254161039,0.00015089303720178246,0.6761,-0.0046,0.10410004610157576,1.0,0.0,0.0,0.0,-0.09056299302016291,0.033445498845899646,4.291235693221324,-0.0008483537369536193,0.016531622114456544,0.0050168555399288245,0.7849041149727957,1.1548853017983476,5.8341803395825265,0.0870696031941508,-0.05465379032684433,0.0006965588810122371,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.6214357382660347,1.4190856527011295,-4.777914168857682,0.19625021216024746,3.4486141171552704,0.8679279029486884,1.6312548422581434,-4.291235693221324,6.409169011115825,6.409169011115825,6.6638770692252,0,0,-0.00022490156488116775,-9.999990699250389e-05
+52320,1792845228655641714,23908089000000,1792845228652365530,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6764727795281285,-0.0050067973621962,0.10471832567931412,0.9999997587627992,-0.0001248547978318844,0.0006605276182544001,0.0001484309696364176,0.6761,-0.0046,0.1039272629162933,1.0,0.0,0.0,0.0,-0.03185649055516493,-0.023259077147786966,4.397073320893161,-0.004845199641579354,0.012536204655173896,0.004829703941056996,0.8436106174377936,1.098180725804661,5.940017967254363,0.08307275728952507,-0.05864920778612698,0.0005094072821404085,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.6270706311685792,1.450831856473136,-4.939956060683759,0.18553626640413423,3.572367784201964,0.8490110033994543,1.6312548422581434,-4.397073320893161,6.571210902941902,6.571210902941902,6.775177069224941,0,0,-0.00023582574029265414,-9.740769260256025e-12
+52402,1792845229338615614,23908772000000,1792845229332374881,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.676493199164795,-0.005002311814345421,0.10457803515758878,0.999999733901117,-0.00014672782648763704,0.0006918911046242679,0.0001529647141153041,0.6761,-0.0046,0.10376057573141567,1.0,0.0,0.0,0.0,-0.010916665311207385,-0.058209078964204686,4.435287182302339,-0.008896645536350556,0.01158863586569999,0.004739488571844828,0.8645504426817512,1.0632307239882433,5.978231828663541,0.07902131139475387,-0.059596776575600884,0.0004191919129282398,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.5515578246722668,1.3175787003041048,-4.961449976273819,0.25093679561240406,3.569302072816617,0.7985233787802669,1.6312548422581434,-4.435287182302339,6.5927048185319626,6.5927048185319626,6.877627069224702,0,0,-0.00025390936434918485,-9.999999025923074e-05
+52481,1792845229996637334,23909430000000,1792845229996365827,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6765034675325906,-0.005003901206418463,0.10442004721627675,0.9999997173434275,-0.0001657568988630474,0.0007096880452776707,0.0001600732899747323,0.6761,-0.0046,0.10358695737864523,1.0,0.0,0.0,0.0,0.04817006574097937,-0.14480504139016648,4.584317486123466,-0.01473999660970636,0.0076147284705033735,0.005522461025421905,0.9236371737339379,0.9766347615622815,6.1272621324846686,0.07317796032139806,-0.0635706839707975,0.001202164366505318,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.509628774999397,1.2780411559268579,-5.171874070055545,0.2850621071649118,3.7115640469586797,0.7753813772820891,1.6312548422581434,-4.584317486123466,6.803128912313689,6.803128912313689,6.976327069224472,0,0,-0.00026838568783074814,9.687507326739393e-05
+52565,1792845230696594742,23910130000000,1792845230692366220,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6765192355771131,-0.00500415715361663,0.1042494335073244,0.9999996939709179,-0.0002015762784850567,0.0007339936728872706,0.00015531009869295114,0.6761,-0.0046,0.10339673766530182,1.0,0.0,0.0,0.0,0.12541109254482086,-0.1996590616918973,4.62215388432929,-0.018549704969769015,0.0026137246853835394,0.0053772993433973525,1.0008782005377794,0.9217807412605507,6.165098530690492,0.0693682519613354,-0.06857168775591733,0.001057002684480765,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.4604483352623345,1.3680602823108423,-5.1794743926209295,0.2719827560718056,3.7200993314434205,0.8294178048836587,1.6312548422581434,-4.62215388432929,6.810729234879073,6.810729234879073,7.081327069224227,0,0,-0.00028033102859456447,-9.998390590316148e-05
+52648,1792845231388640654,23910822000000,1792845231388365820,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6765356765356277,-0.005001967713825585,0.10407052582424642,0.9999996733468247,-0.00020585055407724702,0.0007583311304643716,0.00016525299939270724,0.6761,-0.0046,0.10319769449437921,1.0,0.0,0.0,0.0,0.196445579990582,-0.267663216117631,4.725679963200053,-0.024882107627907588,-0.002354247518536315,0.0051513842797642866,1.0719126879835406,0.8537765868348169,6.268624609561255,0.06303584930319683,-0.07353965995983719,0.000831087620847699,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.387572363538963,1.3355209137682773,-5.231180305537643,0.30829876191610395,3.755766338969145,0.8157590708878842,1.6312548422581434,-4.725679963200053,6.862435147795787,6.862435147795787,7.185127069223985,0,0,-0.0002935719293176416,-9.862135694061464e-05
+52721,1792845231997723798,23911430000000,1792845231996365747,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6765477736216482,-0.0050030490041613,0.10390746790360655,0.9999996732751844,-0.00011397988183100878,0.0007777962091003877,0.00016411591179425956,0.6761,-0.0046,0.10301380871384934,1.0,0.0,0.0,0.0,0.29417736374155234,-0.3351454296815549,4.75951281901401,-0.029868774364837737,-0.008744913416010608,0.004979493274013989,1.169644471734511,0.786294373270893,6.302457465375213,0.058049182566266684,-0.07993032585731148,0.0006591966150974017,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.3223015943600334,1.495505787044526,-5.254118678107724,0.26578128274416013,3.7753684208690363,0.8911353031844246,1.6312548422581434,-4.75951281901401,6.885373520365867,6.885373520365867,7.276327069223773,0,0,-0.00031248819352544386,-9.999999025923074e-05
+52799,1792845232646660346,23912080000000,1792845232644365917,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6765593889511916,-0.004997798835770622,0.10371068613876346,0.999999652204536,-0.00014138430694982313,0.0007984069098604333,0.0001720190557249609,0.6761,-0.0046,0.1028010424766368,1.0,0.0,0.0,0.0,0.36372141231052946,-0.4028577607564431,4.82111730346828,-0.03486174925616357,-0.013326164713430108,0.004808364416290107,1.239188520303488,0.7185820421960049,6.364061949829482,0.053056207674940854,-0.08451157715473098,0.0004880677573735196,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.2462215166590989,1.369568487615703,-5.329446327228902,0.3338928410282304,3.818894454823935,0.8361171263703508,1.6312548422581434,-4.82111730346828,6.960701169487045,6.960701169487045,7.3738270692235455,0,0,-0.00034161513736838254,-9.999999025923074e-05
+52868,1792845233221649605,23912655000000,1792845233216365447,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6765764656358432,-0.0049985743881704936,0.10352799003113518,0.9999996226773554,-0.0001685613649916115,0.0008293639723725945,0.00017271502160701158,0.6761,-0.0046,0.10259700357295931,1.0,0.0,0.0,0.0,0.41492047575124213,-0.4656994828059341,4.871446180192698,-0.0398769415066562,-0.017291950477688056,0.005680646757220145,1.2903875837442007,0.6557403201465138,6.4143908265539,0.04804101542444822,-0.08847736291898893,0.0013603500983035582,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.2156391075061075,1.448290198237617,-5.437660376294781,0.32938974389312053,3.893731431864737,0.890984000472971,1.6312548422581434,-4.871446180192698,7.068915218552925,7.068915218552925,7.4600770692233445,0,0,-0.00036867507762913663,-9.999999025923074e-05
+52935,1792845233780764082,23913214000000,1792845233780374821,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6765893234344876,-0.005005260928892754,0.10333282537092013,0.9999996108257777,-0.00012766399290302388,0.0008488011610012364,0.00018174061606035746,0.6761,-0.0046,0.10238375445334615,1.0,0.0,0.0,0.0,0.4655148906588622,-0.573044032237038,4.936803503689913,-0.046927321390933655,-0.021224743191509868,0.0054431893219267615,1.3409819986518208,0.5483957707154099,6.479748150051115,0.04099063554017077,-0.09241015563281074,0.001122892663010174,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.1757404669076321,1.3044025867059323,-5.526648976338974,0.3815851338113796,3.96325128396788,0.8039577551928053,1.6312548422581434,-4.936803503689913,7.157903818597117,7.157903818597117,7.543927069223149,0,0,-0.0003942569841944562,-9.999999025923074e-05
+52996,1792845234288771359,23913722000000,1792845234288365776,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.676595859153674,-0.005004406137148709,0.10313359021534882,0.9999995972895616,-0.00015556709994182547,0.0008614880681380682,0.00017464468194006657,0.6761,-0.0046,0.10217777088125551,1.0,0.0,0.0,0.0,0.5329492005941425,-0.6249804901225617,4.993153999137957,-0.051928548272410446,-0.025178356276988764,0.005332277199391634,1.408416308587101,0.4964593128298862,6.536098645499159,0.035989408658693975,-0.09636376871828964,0.0010119805404750467,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.0889088185333753,1.4174422524385133,-5.622893403918045,0.36303870757781664,4.021320215327415,0.8792755724182957,1.6312548422581434,-4.993153999137957,7.254148246176189,7.254148246176189,7.6201270692229714,0,0,-0.000417467347603477,-9.999999025923074e-05
+53055,1792845234780711113,23914214000000,1792845234776365458,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6766084040495682,-0.005006211644638541,0.10292939305095486,0.9999995764614863,-0.00016815204644688255,0.0008809587296048449,0.00018481428085846587,0.6761,-0.0046,0.10196663580663412,1.0,0.0,0.0,0.0,0.573296378376017,-0.726263282692645,5.031026231146031,-0.05899624321757862,-0.02810996971962744,0.005178331923563416,1.4487634863689756,0.395176520259803,6.573970877507233,0.028921713713525803,-0.09929538216092831,0.0008580352646468284,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,1.022934918148233,1.2844503896306338,-5.613023448742848,0.39672793510012083,4.024355782935246,0.7914247440446385,1.6312548422581434,-5.031026231146031,7.244278291000992,7.244278291000992,7.6939270692227995,0,0,-0.0004412647291410484,-9.999999025923074e-05
+53110,1792845235238767079,23914672000000,1792845235236365024,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6766133994600694,-0.005013740288599738,0.1027285293659822,0.999999563351795,-0.00017415864386333225,0.0008893869197143826,0.00020832368446588144,0.6761,-0.0046,0.10175930391171138,1.0,0.0,0.0,0.0,0.6172200138993886,-0.8357440143775013,5.02867829832793,-0.06705774479644337,-0.03199611187387345,0.005031444209769106,1.4926871218923472,0.2856957885749466,6.571622944689132,0.020860212134661046,-0.10318152431517433,0.0007111475508525191,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.9483589726535615,1.2024016730487286,-5.587898592346109,0.4169390643079788,4.011575599521557,0.7362540314384804,1.6312548422581434,-5.02867829832793,7.2191534346042525,7.2191534346042525,7.762627069222639,0,0,-0.0004641647246797761,-9.999999025923074e-05
+53161,1792845235663744923,23915097000000,1792845235656374893,DOWN_FORCE_DETACH,8,0.0698,0.06980235129594803,0.6766270706861963,-0.005011675546747516,0.10253885696564241,0.9999995708449212,-8.524754548046403e-05,0.000901069557015404,0.0001748123204653638,0.6761,-0.0046,0.10155752890460426,1.0,0.0,0.0,0.0,0.6959131934487621,-0.8404435356885303,4.978440700928926,-0.06795317768654811,-0.03636503834263953,0.004995199608286042,1.5713803014417207,0.2809962672639177,6.521385347290129,0.01996477924455631,-0.1075504507839404,0.0006749029493694546,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.9179227266444959,1.3347468128661537,-5.438183768554453,0.39940965572187975,3.9223826371070096,0.8380030919203977,1.6312548422581434,-4.978440700928926,7.069438610812597,7.069438610812597,7.826377069222491,0,0,-0.00048541472053994914,-9.999999025923074e-05
+53208,1792845236055830647,23915489000000,1792845236052374179,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.676631433005921,-0.005014387780306013,0.1023475719023031,0.9999995553626972,-0.00010409148602527019,0.0009113595410934261,0.00019825746311882765,0.6761,-0.0046,0.10136341453490291,1.0,0.0,0.0,0.0,0.7051487747125924,-0.9582182480460009,4.994005702714097,-0.0760258761376014,-0.03854059971581257,0.004857401617816979,1.580615882705551,0.16322155490644707,6.536950349075299,0.011892080793503033,-0.10972601215711345,0.0005371049589003918,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.8507276480680304,1.177294503577662,-5.574692957454965,0.41841429795242535,4.015485356891826,0.7035424124309065,1.6312548422581434,-4.994005702714097,7.205947799713108,7.205947799713108,7.885177069222354,0,0,-0.0005050147167215676,-9.999999025923074e-05
+53257,1792845236463802229,23915897000000,1792845236460374967,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6766356237144555,-0.005017427560484305,0.10213874715558947,0.9999995467332942,-0.000119827094456899,0.0009150773110420365,0.00021506057964829325,0.6761,-0.0046,0.10115321713129324,1.0,0.0,0.0,0.0,0.7574571938482888,-1.0533238831418767,4.928871042528752,-0.08275949879775596,-0.0416670151760246,0.004793767212225829,1.6329243018412474,0.06811591981057125,6.471815688889954,0.005158458133348455,-0.11285242761732547,0.0004734705533092415,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.8045248476540171,1.2415316094102993,-5.542299392383655,0.40449675802619933,3.9952023346274768,0.7651219158000636,1.6312548422581434,-4.928871042528752,7.173554234641799,7.173554234641799,7.946377069222211,0,0,-0.0005254147127473338,-9.999999025923074e-05
+53301,1792845236830838663,23916264000000,1792845236828364961,DOWN_FORCE_DETACH,8,0.0698,0.0698016956448555,0.6766304636989345,-0.0050164845483614585,0.10192945838228935,0.9999995417421874,-0.00021147362348089693,0.0009135577513319691,0.0001692613979563029,0.6761,-0.0046,0.10095703188237275,1.0,0.0,0.0,0.0,0.9011981127082487,-1.0358961281798427,4.915100415482114,-0.08295298916679761,-0.051767535926474526,0.0046616352228964365,1.7766652207012072,0.08554367477260535,6.4580450618433165,0.004964967764306808,-0.1229529483677754,0.0003413385639798491,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.7234850404802243,1.2252171402784684,-5.4720122728660785,0.365984828273719,3.9606992080435446,0.7765468073851705,1.6312548422581434,-4.915100415482114,7.103267115124222,7.103267115124222,8.001427069222084,0,0,-0.0005437647091724715,-9.999999025923074e-05
+53350,1792845237234848066,23916667000000,1792845237228374727,DOWN_SETTLE,8,0.0698,0.0698016956448555,0.6766193634911888,-0.005016936111062872,0.10172702696682295,0.9999995684324037,-0.00020006460462392833,0.0008794319576130882,0.00020285821722875355,0.6761,-0.0046,0.10079690848628899,1.0,0.0,0.0,0.0,0.9061565194286139,-1.1798119525580124,4.623102221859438,-0.09174043726268194,-0.052333134100819106,0.004778727252350801,1.7816236274215724,-0.05837214960556447,6.16604686822064,-0.003822480331577521,-0.12351854654211998,0.00045843059343421335,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.6091847018028728,1.1684784207049834,-5.175124620154281,0.4205087899555418,3.7492916890806205,0.7255611253135836,1.6312548422581434,-4.623102221859438,6.8063794624124245,0.0,0.0,0,0,-7.80932319403957e-05,0.0007888205246504615
+53433,1792845237923842880,23917357000000,1792845237916365604,DOWN_PEAK_HOLD,8,0.0698,0.0698016956448555,0.676560681023226,-0.005017637150410491,0.10158282198038374,0.9999996694823478,-0.0001083476862176016,0.0007721095428724758,0.0002111532435187915,0.6761,-0.0046,0.10079011834621567,1.0,0.0,0.0,0.0,1.0596834102345547,-1.3819408184097635,3.623984950407971,-0.10568872074176548,-0.06422420644315475,0.002173253743706768,1.9351505182275133,-0.2605010154573155,5.166929596769173,-0.017770763810661065,-0.13540961888445563,-0.0021470429152098194,0.8754671079929586,1.121439802952448,1.5429446463612024,0.08791795693110442,-0.07118541244130087,-0.0043202966589165875,1,0.12683762014300776,1.1952918693853427,-4.030236216302768,0.38345282839467887,2.907568174571954,0.732799535380788,1.6312548422581434,-3.623984950407971,5.6614910585609115,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_PLA_17.5/press_depth_08/down/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_PLA_17.5/press_depth_08/down/real_sim_motion_alignment.csv ADDED Viewed

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

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792845189652034352,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.364985288e-09,-6.395441347e-10,5.002611658e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027454562e-01,-1.156814240e-04,8.303258915e-01
+1,1.050000000e+00,DOWN_FORCE_DETACH,1792845190683636151,-2.374897529e-06,3.223037296e-06,-6.442124891e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.501583123e-07,-3.776631393e-08,1.856865550e-08,7.019532230e-01,-1.876201728e-05,8.601369438e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027457990e-01,-1.157185508e-04,8.303259095e-01
+2,2.166666667e+00,DOWN_FORCE_DETACH,1792845191813704099,5.940983722e-06,6.591964919e-06,5.741993522e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.309377233e-07,-5.660779120e-08,2.665495991e-08,7.019615389e-01,-1.539308966e-05,8.601439601e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027459798e-01,-1.157373923e-04,8.303259176e-01
+3,3.033333333e+00,DOWN_FORCE_DETACH,1792845192731063729,5.297822873e-05,-3.991817546e-06,1.088035603e-07,3.961219933e-05,1.237917626e-06,1.243868189e-06,4.207035464e-05,1.141849934e-06,1.367970019e-06,7.020085761e-01,-2.597687213e-05,8.601434947e-01,7.019952101e-01,-2.074713695e-05,8.601446298e-01,7.027875192e-01,-1.145389346e-04,8.303272589e-01
+4,3.933333333e+00,DOWN_FORCE_DETACH,1792845193631724833,4.971557404e-05,4.544056320e-06,-1.271716097e-05,3.961219933e-05,1.237917626e-06,1.243868189e-06,4.286711803e-05,1.107643047e-06,1.381703839e-06,7.020053134e-01,-1.744099826e-05,8.601306688e-01,7.019952101e-01,-2.074713695e-05,8.601446298e-01,7.027883160e-01,-1.145731414e-04,8.303272727e-01
+5,5.033333333e+00,DOWN_FORCE_DETACH,1792845194713634185,4.766511544e-05,2.195552952e-06,-2.796015941e-05,4.654399501e-05,-5.221949428e-07,-1.833703901e-05,5.036799497e-05,-6.308396740e-07,-1.793835445e-05,7.020032630e-01,-1.978950163e-05,8.601154258e-01,7.020021419e-01,-2.250724952e-05,8.601250489e-01,7.027958169e-01,-1.163116242e-04,8.303079526e-01
+6,6.100000000e+00,DOWN_FORCE_DETACH,1792845195777876609,4.862769725e-05,3.221674677e-06,-4.303283038e-05,4.579893726e-05,8.961314627e-07,-3.833392094e-05,4.956822163e-05,7.485082988e-07,-3.772442381e-05,7.020042256e-01,-1.876337990e-05,8.601003531e-01,7.020013968e-01,-2.108892312e-05,8.601050520e-01,7.027950171e-01,-1.149322762e-04,8.302881665e-01
+7,7.050000000e+00,DOWN_FORCE_DETACH,1792845196762056176,4.825177658e-05,4.054653008e-06,-6.014747991e-05,4.773090041e-05,-8.090539610e-07,-5.842950838e-05,5.144266054e-05,-8.365997595e-07,-5.750989893e-05,7.020038496e-01,-1.793040157e-05,8.600832384e-01,7.020033288e-01,-2.279410854e-05,8.600849564e-01,7.027968915e-01,-1.165173842e-04,8.302683811e-01
+8,7.933333333e+00,DOWN_FORCE_DETACH,1792845197629030065,5.170284333e-05,5.382463765e-06,-7.017053042e-05,4.773090041e-05,-8.090539610e-07,-5.842950838e-05,5.151367461e-05,-8.267310019e-07,-5.789118848e-05,7.020073007e-01,-1.660259081e-05,8.600732154e-01,7.020033288e-01,-2.279410854e-05,8.600849564e-01,7.027969625e-01,-1.165075155e-04,8.302679998e-01
+9,9.016666667e+00,DOWN_FORCE_DETACH,1792845198742777531,6.633174175e-05,3.703018217e-06,-9.658086906e-05,6.011324891e-05,2.187833363e-06,-9.455929484e-05,6.414035163e-05,2.052223040e-06,-9.347538698e-05,7.020219296e-01,-1.828203636e-05,8.600468050e-01,7.020157111e-01,-1.979722122e-05,8.600488266e-01,7.028095892e-01,-1.136285614e-04,8.302324156e-01
+10,1.000000000e+01,DOWN_FORCE_DETACH,1792845199709886016,7.790600811e-05,1.449620921e-06,-1.078538317e-04,7.500181150e-05,1.693713982e-06,-1.093091989e-04,7.986240333e-05,1.584027688e-06,-1.082646265e-04,7.020335039e-01,-2.053543366e-05,8.600355321e-01,7.020305997e-01,-2.029134060e-05,8.600340767e-01,7.028253113e-01,-1.140967568e-04,8.302176263e-01
+11,1.083333333e+01,DOWN_FORCE_DETACH,1792845200528431438,8.684250376e-05,3.465531269e-05,-1.224202564e-04,8.658597052e-05,3.470876816e-05,-1.227696761e-04,9.201666724e-05,3.308491215e-05,-1.215608319e-04,7.020424404e-01,1.267025811e-05,8.600209657e-01,7.020421838e-01,1.272371358e-05,8.600206162e-01,7.028374655e-01,-8.259587234e-05,8.302043301e-01
+12,1.116666667e+01,DOWN_FORCE_DETACH,1792845200856182547,1.167090386e-04,2.114560211e-05,-1.180480629e-04,1.249256085e-04,1.789075217e-05,-1.079262297e-04,1.325746077e-04,1.707858365e-05,-1.073218065e-04,7.020723069e-01,-8.394524743e-07,8.600253379e-01,7.020805235e-01,-4.094302412e-06,8.600354597e-01,7.028780235e-01,-9.860220084e-05,8.302185692e-01
+13,1.205000000e+01,DOWN_FORCE_DETACH,1792845201740373850,1.298573961e-04,1.659619650e-05,-1.449078708e-04,1.191564002e-04,1.695211331e-05,-1.304057690e-04,1.271355615e-04,1.609787402e-05,-1.294524364e-04,7.020854553e-01,-5.388858076e-06,8.599984780e-01,7.020747543e-01,-5.032941272e-06,8.600129801e-01,7.028725844e-01,-9.958291047e-05,8.301964385e-01
+14,1.305000000e+01,DOWN_FORCE_DETACH,1792845202851074137,1.539902024e-04,1.358356985e-05,-1.898430079e-04,1.498707986e-04,1.039257939e-05,-1.826913475e-04,1.594113646e-04,9.758906272e-06,-1.809404806e-04,7.021095881e-01,-8.401484729e-06,8.599535429e-01,7.021054687e-01,-1.159247519e-05,8.599606946e-01,7.029048602e-01,-1.059218782e-04,8.301449505e-01
+15,1.411666667e+01,DOWN_FORCE_DETACH,1792845203903364022,1.637677919e-04,9.526930481e-06,-2.129195725e-04,1.562642913e-04,6.785893249e-06,-2.041261569e-04,1.665035450e-04,6.253109152e-06,-2.027462398e-04,7.021193657e-01,-1.245812410e-05,8.599304663e-01,7.021118622e-01,-1.519916133e-05,8.599392598e-01,7.029119524e-01,-1.094276753e-04,8.301231447e-01
+16,1.516666667e+01,DOWN_FORCE_DETACH,1792845205054098555,1.618271054e-04,4.020454637e-06,-2.273943192e-04,1.595382123e-04,6.217198730e-06,-2.235557748e-04,1.699698385e-04,5.645860405e-06,-2.223725811e-04,7.021174250e-01,-1.796459994e-05,8.599159916e-01,7.021151361e-01,-1.576785585e-05,8.599198301e-01,7.029154187e-01,-1.100349241e-04,8.301035184e-01
+17,1.610000000e+01,DOWN_FORCE_DETACH,1792845205983084981,1.607525138e-04,1.061781169e-05,-2.394706711e-04,1.595382123e-04,6.217198730e-06,-2.235557748e-04,1.701018731e-04,5.634214344e-06,-2.227093780e-04,7.021163504e-01,-1.136724289e-05,8.599039152e-01,7.021151361e-01,-1.576785585e-05,8.599198301e-01,7.029155507e-01,-1.100465701e-04,8.301031816e-01
+18,1.710000000e+01,DOWN_FORCE_DETACH,1792845206966221361,1.742992104e-04,6.392437332e-06,-2.639882467e-04,1.688647306e-04,1.132676301e-05,-2.636466904e-04,1.795338494e-04,1.053179661e-05,-2.621922818e-04,7.021298971e-01,-1.559261725e-05,8.598793977e-01,7.021244626e-01,-1.065829157e-05,8.598797392e-01,7.029249827e-01,-1.051489879e-04,8.300636987e-01
+19,1.821666667e+01,DOWN_FORCE_DETACH,1792845208112122482,1.912915588e-04,6.834685131e-06,-3.025088336e-04,1.887862159e-04,1.111643024e-05,-2.968565734e-04,2.004042689e-04,1.027806350e-05,-2.951802383e-04,7.021468894e-01,-1.515036945e-05,8.598408771e-01,7.021443841e-01,-1.086862434e-05,8.598465293e-01,7.029458531e-01,-1.054027210e-04,8.300307107e-01
+20,1.916666667e+01,DOWN_FORCE_DETACH,1792845209325086338,2.022961833e-04,6.065129248e-06,-3.246498401e-04,2.001153969e-04,4.788220835e-06,-3.117498480e-04,2.125119829e-04,4.163485158e-06,-3.104703969e-04,7.021578941e-01,-1.591992533e-05,8.598187361e-01,7.021557133e-01,-1.719683374e-05,8.598316361e-01,7.029579609e-01,-1.115172993e-04,8.300154206e-01
+21,2.003333333e+01,DOWN_FORCE_DETACH,1792845210209897074,2.127350239e-04,4.420563506e-06,-3.524025527e-04,2.126701712e-04,4.127973468e-06,-3.519966944e-04,2.254300098e-04,3.501737286e-06,-3.500346009e-04,7.021683329e-01,-1.756449107e-05,8.597909834e-01,7.021682680e-01,-1.785708111e-05,8.597913892e-01,7.029708789e-01,-1.121790472e-04,8.299758564e-01
+22,2.111666667e+01,DOWN_FORCE_DETACH,1792845211274165713,2.268617586e-04,-2.738235934e-06,-3.904420455e-04,2.267290948e-04,6.621227308e-06,-3.879952329e-04,2.401805853e-04,5.831417786e-06,-3.861403865e-04,7.021824596e-01,-2.472329051e-05,8.597529439e-01,7.021823270e-01,-1.536382727e-05,8.597553907e-01,7.029856295e-01,-1.098493667e-04,8.299397506e-01
+23,2.213333333e+01,DOWN_FORCE_DETACH,1792845212289873384,2.395026882e-04,-1.442811825e-06,-4.304756417e-04,2.355206991e-04,-1.285740906e-06,-4.233753724e-04,2.495122712e-04,-1.761551897e-06,-4.218207894e-04,7.021951006e-01,-2.342786641e-05,8.597129103e-01,7.021911186e-01,-2.327079549e-05,8.597200105e-01,7.029949611e-01,-1.174423364e-04,8.299040702e-01
+24,2.311666667e+01,DOWN_FORCE_DETACH,1792845213305093399,2.483119618e-04,-7.927150499e-06,-4.769667885e-04,2.448018429e-04,-5.377244807e-06,-4.616162551e-04,2.592107580e-04,-5.731945328e-06,-4.601383983e-04,7.022039098e-01,-2.991220508e-05,8.596664191e-01,7.022003997e-01,-2.736229939e-05,8.596817697e-01,7.030046596e-01,-1.214127298e-04,8.298657526e-01
+25,2.383333333e+01,DOWN_FORCE_DETACH,1792845214074800571,2.647188742e-04,-2.961530956e-06,-5.180188991e-04,2.647156857e-04,-2.898754985e-06,-5.181570273e-04,2.795713669e-04,-3.307961472e-06,-5.158371541e-04,7.022203167e-01,-2.494658554e-05,8.596253670e-01,7.022203136e-01,-2.488380956e-05,8.596252289e-01,7.030250202e-01,-1.189887460e-04,8.298100538e-01
+26,2.443333333e+01,DOWN_FORCE_DETACH,1792845214664950584,2.714218311e-04,7.500990327e-06,-5.539520643e-04,2.683330762e-04,1.183715070e-05,-5.359747968e-04,2.835183095e-04,1.075567567e-05,-5.341183222e-04,7.022270197e-01,-1.448406425e-05,8.595894339e-01,7.022239309e-01,-1.014790388e-05,8.596074111e-01,7.030289672e-01,-1.049251088e-04,8.297917726e-01
+27,2.545000000e+01,DOWN_FORCE_DETACH,1792845215663626302,2.876939634e-04,-3.816377121e-06,-6.199517744e-04,2.863018061e-04,3.568531814e-06,-6.112079350e-04,3.018720243e-04,2.748630890e-06,-6.087590993e-04,7.022432918e-01,-2.580143170e-05,8.595234341e-01,7.022418997e-01,-1.841652277e-05,8.595321780e-01,7.030473209e-01,-1.129321536e-04,8.297171319e-01
+28,2.636666667e+01,DOWN_FORCE_DETACH,1792845216581332070,2.996416017e-04,-4.703433759e-06,-6.724930335e-04,2.992720785e-04,-2.909955044e-06,-6.737079796e-04,3.149687551e-04,-3.491179948e-06,-6.708778816e-04,7.022552395e-01,-2.668848834e-05,8.594708929e-01,7.022548699e-01,-2.489500962e-05,8.594696779e-01,7.030604176e-01,-1.191719644e-04,8.296550131e-01
+29,2.723333333e+01,DOWN_FORCE_DETACH,1792845217449810156,3.067983093e-04,-6.555440577e-06,-7.268173835e-04,3.037264234e-04,-4.399069436e-06,-7.138351763e-04,3.194673001e-04,-4.910559706e-06,-7.113646997e-04,7.022623962e-01,-2.854049516e-05,8.594165685e-01,7.022593243e-01,-2.638412402e-05,8.594295507e-01,7.030649162e-01,-1.205913442e-04,8.296145263e-01
+30,2.810000000e+01,DOWN_FORCE_DETACH,1792845218301320428,3.175427269e-04,-9.297899322e-06,-7.873936734e-04,3.167070079e-04,-1.212376295e-05,-7.730534341e-04,3.326302370e-04,-1.237162081e-05,-7.702625412e-04,7.022731406e-01,-3.128295390e-05,8.593559922e-01,7.022723049e-01,-3.410881753e-05,8.593703325e-01,7.030780791e-01,-1.280524053e-04,8.295556284e-01
+31,2.908333333e+01,DOWN_FORCE_DETACH,1792845219300154421,3.376953246e-04,-1.226509617e-05,-8.637226696e-04,3.344968555e-04,-1.163719560e-05,-8.547932505e-04,3.506131889e-04,-1.185867448e-05,-8.516793046e-04,7.022932932e-01,-3.425015075e-05,8.592796632e-01,7.022900947e-01,-3.362225018e-05,8.592885927e-01,7.030960621e-01,-1.275394590e-04,8.294742117e-01
+32,2.996666667e+01,DOWN_FORCE_DETACH,1792845220414542876,3.543838956e-04,-1.834487614e-05,-9.684724133e-04,3.541124439e-04,-1.342059012e-05,-9.609247742e-04,3.703238423e-04,-1.350845456e-05,-9.570362098e-04,7.023099818e-01,-4.032993072e-05,8.591749135e-01,7.023097103e-01,-3.540564470e-05,8.591824611e-01,7.031157727e-01,-1.291892390e-04,8.293688548e-01
+33,3.080000000e+01,DOWN_FORCE_DETACH,1792845221235521390,3.689125079e-04,-1.945079186e-05,-1.048257655e-03,3.701904419e-04,-2.291644102e-05,-1.044825778e-03,3.866563903e-04,-2.256131871e-05,-1.040781661e-03,7.023245104e-01,-4.143584644e-05,8.590951283e-01,7.023257883e-01,-4.490149560e-05,8.590985601e-01,7.031321053e-01,-1.382421032e-04,8.292851093e-01
+34,3.156666667e+01,DOWN_FORCE_DETACH,1792845222035427581,3.820972311e-04,-1.676530155e-05,-1.132975055e-03,3.804185506e-04,-1.694302581e-05,-1.128828800e-03,3.969241275e-04,-1.677792237e-05,-1.124641185e-03,7.023376951e-01,-3.875035613e-05,8.590104109e-01,7.023360164e-01,-3.892808039e-05,8.590145571e-01,7.031423730e-01,-1.324587069e-04,8.292012498e-01
+35,3.243333333e+01,DOWN_FORCE_DETACH,1792845223002418257,3.976404942e-04,-1.663299061e-05,-1.240114392e-03,3.978946674e-04,-1.808659279e-05,-1.232471287e-03,4.146027533e-04,-1.780503841e-05,-1.227972553e-03,7.023532384e-01,-3.861804519e-05,8.589032715e-01,7.023534925e-01,-4.007164737e-05,8.589109146e-01,7.031600516e-01,-1.334858229e-04,8.290979184e-01
+36,3.333333333e+01,DOWN_FORCE_DETACH,1792845223886651747,4.163204731e-04,-2.010628495e-05,-1.344677291e-03,4.137701176e-04,-2.024155610e-05,-1.341614853e-03,4.305031741e-04,-1.988047487e-05,-1.336840261e-03,7.023719183e-01,-4.209133953e-05,8.587987086e-01,7.023693680e-01,-4.222661068e-05,8.588017711e-01,7.031759520e-01,-1.355612594e-04,8.289890507e-01
+37,3.418333333e+01,DOWN_FORCE_DETACH,1792845224738576195,4.308865973e-04,-2.425146909e-05,-1.464423201e-03,4.284023324e-04,-2.476530300e-05,-1.445098908e-03,4.450793430e-04,-2.436347034e-05,-1.440436263e-03,7.023864845e-01,-4.623652367e-05,8.586789627e-01,7.023840002e-01,-4.675035758e-05,8.586982870e-01,7.031905282e-01,-1.400442548e-04,8.288854547e-01
+38,3.493333333e+01,DOWN_FORCE_DETACH,1792845225476110708,4.447965276e-04,-1.808806281e-05,-1.566572877e-03,4.446896327e-04,-1.807258475e-05,-1.566352187e-03,4.611399044e-04,-1.807005504e-05,-1.560773453e-03,7.024003944e-01,-4.007311739e-05,8.585768130e-01,7.024002875e-01,-4.005763933e-05,8.585770337e-01,7.032065888e-01,-1.337508395e-04,8.287651175e-01
+39,3.580000000e+01,DOWN_FORCE_DETACH,1792845226343582906,4.629411283e-04,-1.914640216e-05,-1.699786766e-03,4.593549594e-04,-2.327472317e-05,-1.690838700e-03,4.755823432e-04,-2.309099523e-05,-1.685271270e-03,7.024185390e-01,-4.113145674e-05,8.584435992e-01,7.024149528e-01,-4.525977775e-05,8.584525472e-01,7.032210312e-01,-1.387717797e-04,8.286406197e-01
+40,3.653333333e+01,DOWN_FORCE_DETACH,1792845227081504712,4.815581635e-04,-2.330021687e-05,-1.812724219e-03,4.792301325e-04,-2.093290537e-05,-1.816840645e-03,4.953360650e-04,-2.079153682e-05,-1.811012288e-03,7.024371560e-01,-4.528527145e-05,8.583306617e-01,7.024348280e-01,-4.291795995e-05,8.583265453e-01,7.032407849e-01,-1.364723213e-04,8.285148787e-01
+41,3.733333333e+01,DOWN_FORCE_DETACH,1792845227916993842,4.953383648e-04,-2.203221129e-05,-1.966927563e-03,4.922726082e-04,-2.895233604e-05,-1.948977753e-03,5.079800870e-04,-2.854540639e-05,-1.943569405e-03,7.024509362e-01,-4.401726587e-05,8.581764584e-01,7.024478705e-01,-5.093739062e-05,8.581944082e-01,7.032534290e-01,-1.442261909e-04,8.283823216e-01
+42,3.808333333e+01,DOWN_FORCE_DETACH,1792845228653027893,5.145537408e-04,-2.226485841e-05,-2.113372397e-03,5.100871349e-04,-2.265606006e-05,-2.104114377e-03,5.250830285e-04,-2.259313993e-05,-2.098154212e-03,7.024701516e-01,-4.424991299e-05,8.580300135e-01,7.024656850e-01,-4.464111464e-05,8.580392715e-01,7.032705319e-01,-1.382739244e-04,8.282277367e-01
+43,3.875000000e+01,DOWN_FORCE_DETACH,1792845229341665567,5.307834773e-04,-2.487059102e-05,-2.259892318e-03,5.308035349e-04,-2.624148420e-05,-2.254096354e-03,5.451935865e-04,-2.615204689e-05,-2.247555911e-03,7.024863813e-01,-4.685564560e-05,8.578834936e-01,7.024864014e-01,-4.822653878e-05,8.578892896e-01,7.032906425e-01,-1.418328314e-04,8.280783350e-01
+44,3.941666667e+01,DOWN_FORCE_DETACH,1792845229996558313,5.443041960e-04,-2.651586248e-05,-2.412112242e-03,5.421962745e-04,-2.922145713e-05,-2.405101753e-03,5.556316784e-04,-2.913407447e-05,-2.398335851e-03,7.024999021e-01,-4.850091706e-05,8.577312737e-01,7.024977941e-01,-5.120651171e-05,8.577382842e-01,7.033010806e-01,-1.448148590e-04,8.279275551e-01
+45,4.013333333e+01,DOWN_FORCE_DETACH,1792845230700845818,5.619370021e-04,-2.745500307e-05,-2.582454369e-03,5.602129680e-04,-3.038065935e-05,-2.580523956e-03,5.730337320e-04,-3.020662562e-05,-2.573144959e-03,7.025175349e-01,-4.944005765e-05,8.575609315e-01,7.025158108e-01,-5.236571393e-05,8.575628620e-01,7.033184826e-01,-1.458874101e-04,8.277527460e-01
+46,4.081666667e+01,DOWN_FORCE_DETACH,1792845231388819595,5.727821355e-04,-2.938957295e-05,-2.766566920e-03,5.750919616e-04,-2.901941478e-05,-2.750479551e-03,5.872799851e-04,-2.872176340e-05,-2.743079323e-03,7.025283800e-01,-5.137462753e-05,8.573768190e-01,7.025306898e-01,-5.100446936e-05,8.573929064e-01,7.033327289e-01,-1.444025479e-04,8.275828116e-01
+47,4.143333333e+01,DOWN_FORCE_DETACH,1792845231994724923,5.852031824e-04,-2.872077835e-05,-2.929442310e-03,5.850332379e-04,-2.899441082e-05,-2.929421841e-03,5.959530804e-04,-2.860900428e-05,-2.921418117e-03,7.025408010e-01,-5.070583293e-05,8.572139436e-01,7.025406311e-01,-5.097946540e-05,8.572139641e-01,7.033414020e-01,-1.442897888e-04,8.274044728e-01
+48,4.201666667e+01,DOWN_FORCE_DETACH,1792845232646064127,6.028438121e-04,-2.484501890e-05,-3.119174743e-03,6.024316487e-04,-2.505741578e-05,-3.118869133e-03,6.121910397e-04,-2.481080720e-05,-3.109625378e-03,7.025584417e-01,-4.683007348e-05,8.570242112e-01,7.025580295e-01,-4.704247036e-05,8.570245168e-01,7.033576399e-01,-1.404915917e-04,8.272162656e-01
+49,4.256666667e+01,DOWN_FORCE_DETACH,1792845233223196358,6.146345860e-04,-2.573645338e-05,-3.308735422e-03,6.144875329e-04,-2.562873331e-05,-3.308833961e-03,6.230600476e-04,-2.547635161e-05,-3.299314282e-03,7.025702325e-01,-4.772150796e-05,8.568346505e-01,7.025700854e-01,-4.761378789e-05,8.568345520e-01,7.033685089e-01,-1.411571361e-04,8.270265767e-01
+50,4.313333333e+01,DOWN_FORCE_DETACH,1792845233780653772,6.264654486e-04,-2.498594068e-05,-3.502600823e-03,6.275520526e-04,-2.385936735e-05,-3.483752939e-03,6.352352473e-04,-2.378252854e-05,-3.474945030e-03,7.025820633e-01,-4.697099526e-05,8.566407851e-01,7.025831499e-01,-4.584442193e-05,8.566596330e-01,7.033806841e-01,-1.394633130e-04,8.268509459e-01
+51,4.365000000e+01,DOWN_FORCE_DETACH,1792845234289037938,6.389433527e-04,-2.936180272e-05,-3.696627340e-03,6.374587350e-04,-2.885635651e-05,-3.694138760e-03,6.436809770e-04,-2.857988981e-05,-3.684494291e-03,7.025945412e-01,-5.134685730e-05,8.564467586e-01,7.025930566e-01,-5.084141109e-05,8.564492472e-01,7.033891298e-01,-1.442606743e-04,8.266413967e-01
+52,4.398333333e+01,DOWN_FORCE_DETACH,1792845234779496795,6.516615680e-04,-3.358208187e-05,-3.899637184e-03,6.467238948e-04,-3.609534194e-05,-3.884898006e-03,6.513358810e-04,-3.567517729e-05,-3.874158515e-03,7.026072594e-01,-5.556713645e-05,8.562437487e-01,7.026023218e-01,-5.808039652e-05,8.562584879e-01,7.033967848e-01,-1.513559618e-04,8.264517324e-01
+53,4.445000000e+01,DOWN_FORCE_DETACH,1792845235238408444,6.529470402e-04,-3.831357052e-05,-4.106212209e-03,6.532033387e-04,-3.673330431e-05,-4.090177013e-03,6.557391467e-04,-3.638117963e-05,-4.079628616e-03,7.026085449e-01,-6.029862510e-05,8.560371737e-01,7.026088012e-01,-5.871835889e-05,8.560532089e-01,7.034011880e-01,-1.520619641e-04,8.262462623e-01
+54,4.488333333e+01,DOWN_FORCE_DETACH,1792845235664298961,6.673133392e-04,-3.675821971e-05,-4.295361505e-03,6.685227361e-04,-2.957015841e-05,-4.285006684e-03,6.696056714e-04,-2.962190440e-05,-4.274590215e-03,7.026229112e-01,-5.874327429e-05,8.558480244e-01,7.026241206e-01,-5.155521299e-05,8.558583792e-01,7.034150545e-01,-1.453026889e-04,8.260513007e-01
+55,4.528333333e+01,DOWN_FORCE_DETACH,1792845236057854992,6.714184384e-04,-3.903498471e-05,-4.486761859e-03,6.727612197e-04,-3.926846692e-05,-4.471325167e-03,6.720363933e-04,-3.891518246e-05,-4.460914879e-03,7.026270163e-01,-6.102003929e-05,8.556566241e-01,7.026283591e-01,-6.125352150e-05,8.556720607e-01,7.034174853e-01,-1.545959669e-04,8.258649761e-01
+56,4.565000000e+01,DOWN_FORCE_DETACH,1792845236466587487,6.755779872e-04,-4.221646218e-05,-4.695749782e-03,6.752725319e-04,-4.212796089e-05,-4.695961386e-03,6.722949179e-04,-4.158221360e-05,-4.684395414e-03,7.026311759e-01,-6.420151676e-05,8.554476361e-01,7.026308704e-01,-6.411301547e-05,8.554474245e-01,7.034177438e-01,-1.572629981e-04,8.256414955e-01
+57,4.601666667e+01,DOWN_FORCE_DETACH,1792845236827118580,6.709648429e-04,-3.843068599e-05,-4.903486645e-03,6.708995827e-04,-3.679351865e-05,-4.885325987e-03,6.656310654e-04,-3.626132780e-05,-4.874090189e-03,7.026265627e-01,-6.041574057e-05,8.552398993e-01,7.026264974e-01,-5.877857323e-05,8.552580599e-01,7.034110799e-01,-1.519421123e-04,8.254518008e-01
+58,4.640000000e+01,DOWN_SETTLE,1792845237237415959,6.592665258e-04,-4.356356731e-05,-5.108889261e-03,6.625713375e-04,-4.340859053e-05,-5.099058710e-03,6.543806372e-04,-4.267998315e-05,-5.088075460e-03,7.026148644e-01,-6.554862189e-05,8.550344967e-01,7.026181692e-01,-6.539364511e-05,8.550443272e-01,7.033998295e-01,-1.583607676e-04,8.252378155e-01
+59,4.705000000e+01,DOWN_PEAK_HOLD,1792845237925443937,6.005258424e-04,-4.244791130e-05,-5.251858207e-03,6.056231077e-04,-3.858823068e-05,-5.240825121e-03,5.924252977e-04,-3.807253095e-05,-5.233568686e-03,7.025561237e-01,-6.443296588e-05,8.548915277e-01,7.025612210e-01,-6.057328526e-05,8.549025608e-01,7.033378742e-01,-1.537533154e-04,8.250923223e-01

Part2/Fixed/digit/ball_PLA_17.5/press_depth_08/down/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.5465e-01,4.7385e-01,2.4715e+00,-6.8691e-02,4.7773e-02,1.1286e-03,9.0766e-03,-1.7880e-03,-2.4366e-04,2.7779e-04,6.3107e-04,-7.6341e-05,9.2542e-03,6.9372e-04
+1,1.0500e+00,DOWN_FORCE_DETACH,2.2324e-04,2.1093e-01,4.7309e-01,2.4749e+00,-6.8071e-02,5.1719e-02,7.5924e-04,6.5359e-02,-2.5516e-03,3.1476e-03,8.9815e-04,4.5774e-03,-4.4573e-04,6.5484e-02,4.6860e-03
+2,2.1667e+00,DOWN_FORCE_DETACH,4.4784e-04,2.4420e-01,4.7167e-01,2.4763e+00,-6.7722e-02,5.4053e-02,4.9092e-04,9.8631e-02,-3.9699e-03,4.5519e-03,1.2474e-03,6.9112e-03,-7.1404e-04,9.8816e-02,7.0591e-03
+3,3.0333e+00,DOWN_FORCE_DETACH,6.7231e-04,3.4291e-02,4.5233e-01,2.4703e+00,-6.6307e-02,3.9020e-02,4.2138e-04,-1.1128e-01,-2.3304e-02,-1.5135e-03,2.6623e-03,-8.1213e-03,-7.8358e-04,1.1370e-01,8.5824e-03
+4,3.9333e+00,DOWN_FORCE_DETACH,8.9267e-04,1.7368e-01,4.4790e-01,2.4729e+00,-6.6044e-02,4.9040e-02,4.7647e-04,2.8108e-02,-2.7743e-02,1.1041e-03,2.9248e-03,1.8981e-03,-7.2850e-04,3.9509e-02,3.5620e-03
+5,5.0333e+00,DOWN_FORCE_DETACH,1.1194e-03,2.1925e-01,4.6808e-01,2.5214e+00,-6.7566e-02,5.2259e-02,4.3254e-04,7.3683e-02,-7.5544e-03,4.9598e-02,1.4029e-03,5.1170e-03,-7.7243e-04,8.9142e-02,5.3617e-03
+6,6.1000e+00,DOWN_FORCE_DETACH,1.3439e-03,2.6176e-01,4.5639e-01,2.5641e+00,-6.6840e-02,5.5174e-02,2.6381e-04,1.1619e-01,-1.9247e-02,9.2271e-02,2.1285e-03,8.0323e-03,-9.4116e-04,1.4961e-01,8.3626e-03
+7,7.0500e+00,DOWN_FORCE_DETACH,1.5644e-03,2.6783e-01,4.7368e-01,2.6225e+00,-6.8089e-02,5.5535e-02,1.3171e-04,1.2226e-01,-1.9577e-03,1.5067e-01,8.8017e-04,8.3929e-03,-1.0733e-03,1.9404e-01,8.5069e-03
+8,7.9333e+00,DOWN_FORCE_DETACH,1.7915e-03,2.7996e-01,4.7702e-01,2.5511e+00,-6.8509e-02,5.6462e-02,-5.5023e-05,1.3439e-01,1.3839e-03,7.9306e-02,4.6004e-04,9.3199e-03,-1.2600e-03,1.5605e-01,9.4159e-03
+9,9.0167e+00,DOWN_FORCE_DETACH,2.0146e-03,2.3209e-01,4.4730e-01,2.6489e+00,-6.6445e-02,5.2870e-02,-2.1879e-04,8.6517e-02,-2.8342e-02,1.7710e-01,2.5240e-03,5.7284e-03,-1.4238e-03,1.9913e-01,6.4196e-03
+10,1.0000e+01,DOWN_FORCE_DETACH,2.2389e-03,1.9125e-01,4.4976e-01,2.6386e+00,-6.6771e-02,4.9944e-02,-3.7264e-04,4.5683e-02,-2.5878e-02,1.6680e-01,2.1976e-03,2.8025e-03,-1.5776e-03,1.7487e-01,3.8952e-03
+11,1.0833e+01,DOWN_FORCE_DETACH,2.4778e-03,2.4525e-01,4.5046e-01,2.5704e+00,-6.7052e-02,5.3926e-02,-5.9760e-04,9.9681e-02,-2.5178e-02,9.8636e-02,1.9173e-03,6.7845e-03,-1.8026e-03,1.4248e-01,7.2770e-03
+12,1.1167e+01,DOWN_FORCE_DETACH,2.6848e-03,-2.7872e-02,2.7749e-01,2.5271e+00,-5.5084e-02,3.4702e-02,-7.3659e-04,-1.7344e-01,-1.9815e-01,5.5310e-02,1.3885e-02,-1.2440e-02,-1.9416e-03,2.6908e-01,1.8744e-02
+13,1.2050e+01,DOWN_FORCE_DETACH,2.9110e-03,1.8094e-01,2.8448e-01,2.6054e+00,-5.5747e-02,4.9367e-02,-9.6691e-04,3.5366e-02,-1.9116e-01,1.3364e-01,1.3222e-02,2.2252e-03,-2.1719e-03,2.3591e-01,1.3582e-02
+14,1.3050e+01,DOWN_FORCE_DETACH,3.1325e-03,1.3414e-01,3.3243e-01,2.7385e+00,-5.9316e-02,4.5763e-02,-1.0719e-03,-1.1427e-02,-1.4321e-01,2.6669e-01,9.6526e-03,-1.3783e-03,-2.2769e-03,3.0292e-01,1.0013e-02
+15,1.4117e+01,DOWN_FORCE_DETACH,3.3534e-03,2.0893e-01,3.6159e-01,2.6686e+00,-6.1816e-02,5.1137e-02,-1.4352e-03,6.3360e-02,-1.1405e-01,1.9679e-01,7.1533e-03,3.9949e-03,-2.6401e-03,2.3611e-01,8.6081e-03
+16,1.5167e+01,DOWN_FORCE_DETACH,3.5821e-03,2.4447e-01,3.6322e-01,2.6329e+00,-6.2245e-02,5.3683e-02,-1.8017e-03,9.8894e-02,-1.1242e-01,1.6107e-01,6.7244e-03,6.5412e-03,-3.0067e-03,2.1991e-01,9.8511e-03
+17,1.6100e+01,DOWN_FORCE_DETACH,3.8077e-03,2.6787e-01,3.6000e-01,2.5756e+00,-6.2233e-02,5.5394e-02,-1.9152e-03,1.2230e-01,-1.1564e-01,1.0383e-01,6.7358e-03,8.2520e-03,-3.1202e-03,1.9776e-01,1.1100e-02
+18,1.7100e+01,DOWN_FORCE_DETACH,4.0276e-03,2.4070e-01,3.0485e-01,2.6825e+00,-5.8413e-02,5.3331e-02,-2.0020e-03,9.5129e-02,-1.7079e-01,2.1066e-01,1.0556e-02,6.1894e-03,-3.2070e-03,2.8740e-01,1.2650e-02
+19,1.8217e+01,DOWN_FORCE_DETACH,4.2494e-03,1.9983e-01,3.0097e-01,2.7191e+00,-5.8216e-02,5.0415e-02,-2.0046e-03,5.4254e-02,-1.7467e-01,2.4728e-01,1.0753e-02,3.2731e-03,-3.2096e-03,3.0757e-01,1.1689e-02
+20,1.9167e+01,DOWN_FORCE_DETACH,4.4745e-03,2.0721e-01,3.4972e-01,2.6429e+00,-6.1560e-02,5.0962e-02,-1.9366e-03,6.1636e-02,-1.2592e-01,1.7114e-01,7.4087e-03,3.8206e-03,-3.1416e-03,2.2123e-01,8.9081e-03
+21,2.0033e+01,DOWN_FORCE_DETACH,4.6985e-03,2.3711e-01,3.3238e-01,2.6315e+00,-6.0240e-02,5.3156e-02,-1.8521e-03,9.1541e-02,-1.4326e-01,1.5969e-01,8.7286e-03,6.0145e-03,-3.0570e-03,2.3325e-01,1.1032e-02
+22,2.1117e+01,DOWN_FORCE_DETACH,4.9211e-03,2.0231e-01,3.2233e-01,2.7422e+00,-5.9117e-02,5.0595e-02,-1.4989e-03,5.6743e-02,-1.5331e-01,2.7045e-01,9.8521e-03,3.4535e-03,-2.7039e-03,3.1601e-01,1.0784e-02
+23,2.2133e+01,DOWN_FORCE_DETACH,5.1472e-03,2.3982e-01,3.9648e-01,2.6924e+00,-6.4113e-02,5.3323e-02,-1.1598e-03,9.4249e-02,-7.9162e-02,2.2056e-01,4.8557e-03,6.1808e-03,-2.3648e-03,2.5258e-01,8.2081e-03
+24,2.3117e+01,DOWN_FORCE_DETACH,5.3721e-03,2.6185e-01,4.3141e-01,2.6735e+00,-6.6327e-02,5.4905e-02,-8.8743e-04,1.1628e-01,-4.4234e-02,2.0168e-01,2.6415e-03,7.7634e-03,-2.0924e-03,2.3697e-01,8.4632e-03
+25,2.3833e+01,DOWN_FORCE_DETACH,5.6034e-03,1.9812e-01,7.9684e-02,2.8691e+00,-4.1384e-02,5.0247e-02,-8.1048e-04,5.2547e-02,-3.9596e-01,3.9731e-01,2.7585e-02,3.1051e-03,-2.0154e-03,5.6338e-01,2.7833e-02
+26,2.4433e+01,DOWN_FORCE_DETACH,5.8175e-03,2.2995e-01,2.4793e-01,2.7615e+00,-5.3453e-02,5.2578e-02,-6.7848e-04,8.4378e-02,-2.2771e-01,2.8966e-01,1.5516e-02,5.4359e-03,-1.8834e-03,3.7799e-01,1.6548e-02
+27,2.5450e+01,DOWN_FORCE_DETACH,6.0414e-03,2.1700e-01,3.3104e-01,2.8508e+00,-5.9340e-02,5.1592e-02,-5.9105e-04,7.1431e-02,-1.4460e-01,3.7901e-01,9.6290e-03,4.4507e-03,-1.7960e-03,4.1190e-01,1.0759e-02
+28,2.6367e+01,DOWN_FORCE_DETACH,6.2654e-03,2.2235e-01,3.7761e-01,2.8407e+00,-6.2563e-02,5.1854e-02,-5.3971e-04,7.6782e-02,-9.8024e-02,3.6890e-01,6.4058e-03,4.7124e-03,-1.7447e-03,3.8934e-01,8.1416e-03
+29,2.7233e+01,DOWN_FORCE_DETACH,6.4884e-03,2.3208e-01,4.0022e-01,2.8603e+00,-6.4120e-02,5.2512e-02,-5.5770e-04,8.6506e-02,-7.5418e-02,3.8846e-01,4.8489e-03,5.3701e-03,-1.7627e-03,4.0506e-01,7.4469e-03
+30,2.8100e+01,DOWN_FORCE_DETACH,6.7134e-03,2.0526e-01,4.7455e-01,2.9381e+00,-6.9036e-02,5.0589e-02,-6.4815e-04,5.9692e-02,-1.0839e-03,4.6633e-01,-6.7048e-05,3.4471e-03,-1.8531e-03,4.7014e-01,3.9142e-03
+31,2.9083e+01,DOWN_FORCE_DETACH,6.9373e-03,1.7396e-01,4.6687e-01,2.9733e+00,-6.8273e-02,4.8275e-02,-7.6452e-04,2.8391e-02,-8.7679e-03,5.0155e-01,6.9610e-04,1.1331e-03,-1.9695e-03,5.0243e-01,2.3764e-03
+32,2.9967e+01,DOWN_FORCE_DETACH,7.1606e-03,1.5449e-01,5.2579e-01,3.0708e+00,-7.2074e-02,4.6810e-02,-5.8811e-04,8.9143e-03,5.0156e-02,5.9902e-01,-3.1054e-03,-3.3169e-04,-1.7931e-03,6.0119e-01,3.6012e-03
+33,3.0800e+01,DOWN_FORCE_DETACH,7.3866e-03,1.5219e-01,6.1003e-01,3.1193e+00,-7.7751e-02,4.6570e-02,1.1659e-04,6.6160e-03,1.3439e-01,6.4748e-01,-8.7819e-03,-5.7131e-04,-1.0884e-03,6.6132e-01,8.8675e-03
+34,3.1567e+01,DOWN_FORCE_DETACH,7.6081e-03,1.9311e-01,5.6139e-01,3.1246e+00,-7.4195e-02,4.9368e-02,1.9242e-04,4.7537e-02,8.5747e-02,6.5278e-01,-5.2261e-03,2.2258e-03,-1.0125e-03,6.6010e-01,5.7699e-03
+35,3.2433e+01,DOWN_FORCE_DETACH,7.8321e-03,2.0739e-01,5.8485e-01,3.1907e+00,-7.5702e-02,5.0227e-02,9.7633e-04,6.1814e-02,1.0921e-01,7.1892e-01,-6.7333e-03,3.0855e-03,-2.2863e-04,7.2979e-01,7.4101e-03
+36,3.3333e+01,DOWN_FORCE_DETACH,8.0539e-03,2.1692e-01,6.0152e-01,3.2899e+00,-7.6876e-02,5.0848e-02,1.2958e-03,7.1351e-02,1.2588e-01,8.1813e-01,-7.9071e-03,3.7067e-03,9.0809e-05,8.3082e-01,8.7333e-03
+37,3.4183e+01,DOWN_FORCE_DETACH,8.2814e-03,2.2296e-01,6.0841e-01,3.2856e+00,-7.7500e-02,5.1317e-02,1.2708e-03,7.7390e-02,1.3277e-01,8.1380e-01,-8.5313e-03,4.1754e-03,6.5844e-05,8.2819e-01,9.4984e-03
+38,3.4933e+01,DOWN_FORCE_DETACH,8.5053e-03,2.4106e-01,6.0023e-01,3.3223e+00,-7.7405e-02,5.2635e-02,9.1258e-04,9.5486e-02,1.2459e-01,8.5050e-01,-8.4357e-03,5.4930e-03,-2.9239e-04,8.6486e-01,1.0071e-02
+39,3.5800e+01,DOWN_FORCE_DETACH,8.7265e-03,2.5201e-01,5.7268e-01,3.4222e+00,-7.5683e-02,5.3276e-02,3.5434e-04,1.0644e-01,9.7040e-02,9.5037e-01,-6.7141e-03,6.1346e-03,-8.5062e-04,9.6122e-01,9.1344e-03
+40,3.6533e+01,DOWN_FORCE_DETACH,8.9488e-03,2.4281e-01,5.6075e-01,3.4529e+00,-7.4194e-02,5.2543e-02,2.4552e-04,9.7238e-02,8.5116e-02,9.8111e-01,-5.2246e-03,5.4014e-03,-9.5945e-04,9.8959e-01,7.5757e-03
+41,3.7333e+01,DOWN_FORCE_DETACH,9.1730e-03,2.4567e-01,6.4102e-01,3.4803e+00,-7.9255e-02,5.2727e-02,4.3206e-04,1.0010e-01,1.6538e-01,1.0085e+00,-1.0286e-02,5.5851e-03,-7.7291e-04,1.0269e+00,1.1730e-02
+42,3.8083e+01,DOWN_FORCE_DETACH,9.3988e-03,2.0934e-01,5.5514e-01,3.5483e+00,-7.2955e-02,4.9930e-02,4.4952e-04,6.3772e-02,7.9500e-02,1.0765e+00,-3.9856e-03,2.7888e-03,-7.5544e-04,1.0814e+00,4.9227e-03
+43,3.8750e+01,DOWN_FORCE_DETACH,9.6230e-03,1.4738e-01,5.9345e-01,3.5946e+00,-7.5796e-02,4.5531e-02,4.5429e-04,1.8039e-03,1.1782e-01,1.1228e+00,-6.8265e-03,-1.6108e-03,-7.5067e-04,1.1290e+00,7.0540e-03
+44,3.9417e+01,DOWN_FORCE_DETACH,9.8448e-03,1.3186e-01,5.8199e-01,3.6519e+00,-7.4978e-02,4.4340e-02,4.2780e-04,-1.3712e-02,1.0635e-01,1.1801e+00,-6.0094e-03,-2.8013e-03,-7.7717e-04,1.1850e+00,6.6757e-03
+45,4.0133e+01,DOWN_FORCE_DETACH,1.0069e-02,1.3070e-01,6.1713e-01,3.7249e+00,-7.7098e-02,4.4061e-02,5.0158e-04,-1.4869e-02,1.4149e-01,1.2531e+00,-8.1290e-03,-3.0803e-03,-7.0339e-04,1.2612e+00,8.7215e-03
+46,4.0817e+01,DOWN_FORCE_DETACH,1.0295e-02,1.7424e-01,6.1220e-01,3.8083e+00,-7.5862e-02,4.6982e-02,7.9271e-04,2.8665e-02,1.3656e-01,1.3365e+00,-6.8925e-03,-1.5931e-04,-4.1225e-04,1.3437e+00,6.9067e-03
+47,4.1433e+01,DOWN_FORCE_DETACH,1.0515e-02,2.0335e-01,6.1227e-01,3.8259e+00,-7.5740e-02,4.8984e-02,7.7720e-04,5.7777e-02,1.3663e-01,1.3541e+00,-6.7710e-03,1.8426e-03,-4.2776e-04,1.3622e+00,7.0303e-03
+48,4.2017e+01,DOWN_FORCE_DETACH,1.0742e-02,1.9583e-01,5.7999e-01,3.9213e+00,-7.2938e-02,4.8231e-02,9.7656e-05,5.0261e-02,1.0436e-01,1.4496e+00,-3.9686e-03,1.0894e-03,-1.1073e-03,1.4542e+00,4.2618e-03
+49,4.2567e+01,DOWN_FORCE_DETACH,1.0965e-02,1.8307e-01,5.9157e-01,4.0846e+00,-7.3663e-02,4.7162e-02,-4.7214e-05,3.7494e-02,1.1593e-01,1.6129e+00,-4.6938e-03,2.0660e-05,-1.2522e-03,1.6175e+00,4.8580e-03
+50,4.3133e+01,DOWN_FORCE_DETACH,1.1189e-02,2.1296e-01,5.7098e-01,4.1111e+00,-7.2359e-02,4.9230e-02,-1.1982e-04,6.7385e-02,9.5339e-02,1.6393e+00,-3.3901e-03,2.0880e-03,-1.3248e-03,1.6434e+00,4.1962e-03
+51,4.3650e+01,DOWN_FORCE_DETACH,1.1411e-02,2.6218e-01,6.1432e-01,4.1960e+00,-7.5007e-02,5.2550e-02,-1.7414e-05,1.1661e-01,1.3868e-01,1.7243e+00,-6.0381e-03,5.4088e-03,-1.2224e-03,1.7338e+00,8.1981e-03
+52,4.3983e+01,DOWN_FORCE_DETACH,1.1632e-02,2.6939e-01,6.4743e-01,4.4946e+00,-7.6882e-02,5.2779e-02,7.9692e-05,1.2382e-01,1.7179e-01,2.0228e+00,-7.9126e-03,5.6376e-03,-1.1253e-03,2.0339e+00,9.7805e-03
+53,4.4450e+01,DOWN_FORCE_DETACH,1.1865e-02,2.5338e-01,6.4724e-01,4.4374e+00,-7.6560e-02,5.1601e-02,2.0132e-04,1.0781e-01,1.7160e-01,1.9656e+00,-7.5915e-03,4.4595e-03,-1.0036e-03,1.9760e+00,8.8614e-03
+54,4.4883e+01,DOWN_FORCE_DETACH,1.2087e-02,1.8316e-01,5.9210e-01,4.3846e+00,-7.2587e-02,4.6878e-02,3.1194e-04,3.7584e-02,1.1646e-01,1.9128e+00,-3.6181e-03,-2.6352e-04,-8.9303e-04,1.9167e+00,3.7360e-03
+55,4.5283e+01,DOWN_FORCE_DETACH,1.2305e-02,1.8575e-01,6.6242e-01,4.4262e+00,-7.6921e-02,4.6895e-02,4.1511e-04,4.0174e-02,1.8678e-01,1.9544e+00,-7.9517e-03,-2.4707e-04,-7.8986e-04,1.9637e+00,7.9947e-03
+56,4.5650e+01,DOWN_FORCE_DETACH,1.2527e-02,2.1810e-01,7.1583e-01,4.5595e+00,-7.9942e-02,4.8910e-02,4.3071e-04,7.2528e-02,2.4019e-01,2.0877e+00,-1.0973e-02,1.7685e-03,-7.7426e-04,2.1027e+00,1.1142e-02
+57,4.6017e+01,DOWN_FORCE_DETACH,1.2759e-02,2.6425e-01,7.2811e-01,4.5989e+00,-8.0301e-02,5.1931e-02,3.6393e-04,1.1868e-01,2.5247e-01,2.1271e+00,-1.1332e-02,4.7895e-03,-8.4103e-04,2.1454e+00,1.2331e-02
+58,4.6400e+01,DOWN_SETTLE,1.2980e-02,3.0393e-01,7.4953e-01,4.6070e+00,-8.1118e-02,5.4647e-02,2.5204e-04,1.5836e-01,2.7389e-01,2.1352e+00,-1.2149e-02,7.5055e-03,-9.5293e-04,2.1586e+00,1.4312e-02
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Part2/Fixed/digit/ball_PLA_17.5/press_depth_08/up/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_PLA_17.5/press_depth_08/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/digit/ball_PLA_17.5/press_depth_08/up/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/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
+55461,1792845254782278191,23934215000000,1792845254780365499,XJC_ZERO_HOLD_BEFORE_DOWN,9,0.0696,0.06960009783506393,0.6759706637771574,-0.004970046984252829,0.10685420862692817,0.9999999548703961,-7.535696439165719e-05,-0.00020999129143225108,0.00017868143660469517,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0041075431790281725,-0.013306989457219975,-0.05963460493988593,-0.00073171391231934,-0.0002857749736534104,-2.6929134683880557e-07,0.8362623163716907,1.0720778098805295,1.713232676591026,0.0852135273104766,-0.06949847230000544,-0.005483043825220521,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,-0.2584387520561918,1.5342244831361678,0.4182600665083686,-0.16155673180039407,-0.3786363739571567,0.9289555537751164,1.6312548422581434,0.05963460493988593,1.2129947757497748,0.0,0.0,0,0,0.0,0.0
+55600,1792845255942292007,23935375000000,1792845255940365449,DOWN_FORCE_DETACH,9,0.0696,0.06960075348615646,0.6759716673130469,-0.004969251673879263,0.10685496593756623,0.999999955213157,-7.353200199919143e-05,-0.00020868716369462889,0.00017905100057267424,0.6761,-0.0046,0.10699647184846485,1.0,0.0,0.0,0.0,-0.00853548164630702,-0.025926680467170504,-0.10047716136354112,-0.0016804252772483902,0.00033793275429121195,1.96273284040014e-05,0.8318343779044118,1.059458118870579,1.6723901201673708,0.08426481594554755,-0.06887476457206082,-0.005463147205469681,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,-0.16019987053393578,1.633050079464274,0.32235927715763296,-0.19479023996594025,-0.2901625225449615,0.9916301229849025,1.6312548422581434,0.10047716136354112,1.3088955651005105,1.3088955651005105,1.2566757370996835,0,0,-1.3035940733792434e-05,9.998779168374767e-05
+55738,1792845257092333518,23936525000000,1792845257084366124,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6759735033747412,-0.004969036634051102,0.1068532840101726,0.9999999559665821,-7.445098474316107e-05,-0.0002028228669150158,0.00018118949725116494,0.6761,-0.0046,0.10695474746131074,1.0,0.0,0.0,0.0,-0.021517216144209206,-0.03335237430872384,-0.12063944548984495,-0.0016829487719236952,0.0005935757680325254,3.678252736402307e-05,0.8188526434065097,1.0520324250290256,1.652227836041067,0.08426229245087224,-0.0686191215583195,-0.005445992006509659,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.0647599092316727,1.5444689729894636,0.26942169519000503,-0.15699305421291462,-0.2025279145582238,0.9363539805105594,1.6312548422581434,0.12063944548984495,1.3618331470681384,1.3618331470681384,1.4291757370997922,0,0,-5.6490893639320146e-05,-5e-05
+55867,1792845258167361076,23937600000000,1792845258160365929,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6759909966373603,-0.004971318268687836,0.10685707822534973,0.9999999624656887,-7.517824063917722e-05,-0.00016135649553402232,0.0001866113590415016,0.6761,-0.0046,0.10690298774518539,1.0,0.0,0.0,0.0,-0.06983303933065399,-0.0038723735521091207,-0.12956570146331292,0.0006540526820976722,0.004395018754245986,0.0011541223667235747,0.7705368202200649,1.0815124257856403,1.643301580067599,0.08659929390489361,-0.06481767857210605,-0.004328652167150108,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.5121464369570465,1.50061177055672,-0.01671305643730017,-0.12566566761207426,0.08474432242932989,0.9003514794478549,1.6312548422581434,0.12956570146331292,1.6479678986954436,1.6479678986954436,1.5904257370998938,0,0,-3.1624204675757876e-05,9.999999025923074e-05
+55987,1792845259167350339,23938600000000,1792845259160365461,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6760191107543,-0.0049726026140370794,0.10684376538262622,0.9999999695563601,-6.79850638484681e-05,-8.865967815881368e-05,0.0001996187262977582,0.6761,-0.0046,0.1068597901883891,1.0,0.0,0.0,0.0,-0.2076802235434011,0.09254750126411371,-0.07602182861898665,0.008132528618176108,0.014370487652797949,0.0013379104302085089,0.6326896360073178,1.1779323006018632,1.6968454529119252,0.09407776984097205,-0.05484220967355408,-0.0041448641036651735,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.7367399031730646,1.4904007971550952,-0.14226422719776363,-0.10343041493083194,0.1943678908997459,0.8929399642724497,1.6312548422581434,0.07602182861898665,1.773519069455907,1.773519069455907,1.7404257370999883,0,0,-4.5463490504189845e-05,9.999847758035969e-05
+56127,1792845260333392076,23939766000000,1792845260332365187,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6760169115285606,-0.004967850214798915,0.10682330159490225,0.9999999686567073,-6.253484373682418e-05,-9.563365942183284e-05,0.00020266485993707562,0.6761,-0.0046,0.10682748111782905,1.0,0.0,0.0,0.0,-0.2130103261759636,0.06362775768361062,0.10157126415149365,0.006431376959507157,0.014288196815541908,0.0011712161097467786,0.6273595333747553,1.14901255702136,1.8744385456824055,0.0923766181823031,-0.054924500510810124,-0.004311558424126904,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.75136728636499,1.352468731553408,-0.2725736502016957,-0.04831019936118754,0.28453276526266624,0.7931109013428393,1.6312548422581434,-0.10157126415149365,1.9038284924598392,1.9038284924598392,1.9153257371000985,0,0,-1.1621445240196794e-05,-2.197220533448795e-05
+56263,1792845261467452913,23940900000000,1792845261460365959,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6760188217936924,-0.004971243326670418,0.1068161927224708,0.9999999679733707,-6.179718196097888e-05,-9.539115187727734e-05,0.0002063437875744842,0.6761,-0.0046,0.1068103729699408,1.0,0.0,0.0,0.0,-0.2107541215679951,0.049816564550144715,0.18845198469578883,0.006063682450327748,0.013412380577831555,0.0010866900743994523,0.6296157379827237,1.1352013638878942,1.9613192662267007,0.09200892367312369,-0.05580031674852048,-0.00439608445947423,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.8141964456041939,1.4235013621082775,-0.49448938229192213,-0.06506480546754069,0.4500674441909508,0.8384650761406653,1.6312548422581434,-0.18845198469578883,2.1257442245500657,2.1257442245500657,2.0854257371002056,0,0,-2.8931548411133316e-05,9.957764754287552e-05
+56392,1792845262542467533,23941975000000,1792845262540365851,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6760218299891153,-0.004968665218703165,0.10679674506667691,0.9999999674789689,-5.7422897921878365e-05,-9.540280448321513e-05,0.0002099662857958161,0.6761,-0.0046,0.10677065720549153,1.0,0.0,0.0,0.0,-0.22555409286208183,0.033302187968034414,0.36373041607103374,0.005993004627013909,0.014312619450857579,0.001985535873411229,0.614815766688637,1.1186869873057839,2.1365976976019456,0.09193824584980985,-0.05490007787549445,-0.0034972386604624536,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.8264550868359724,1.3664509178238322,-0.5868703399195381,-0.02510712985452899,0.5093509475497341,0.7987859513279073,1.6312548422581434,-0.36373041607103374,2.2181251821776815,2.2181251821776815,2.246675737100307,0,0,-3.5288710943633166e-05,6.4847530386657605e-06
+56518,1792845263592464386,23943025000000,1792845263592364767,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6760244667106943,-0.004967679220421997,0.10677925558845962,0.9999999670620267,-5.5509687965505093e-05,-9.265536333187774e-05,0.00021366438254180937,0.6761,-0.0046,0.1067344395290588,1.0,0.0,0.0,0.0,-0.24353959279736392,0.04115917801828628,0.49281424601679125,0.0060657247714065304,0.015696279453179827,0.001898920894888132,0.5968302667533549,1.1265439773560357,2.265681527547703,0.09201096599420247,-0.053516417873172205,-0.0035838536389855504,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.8462468888964678,1.2970458199389345,-0.7622402159147824,-0.005330679067347013,0.6244041648471087,0.7498720334755338,1.6312548422581434,-0.49281424601679125,2.3934950581729257,2.3934950581729257,2.4041757371004064,0,0,-3.704627645342994e-05,5.000610622663544e-05
+56636,1792845264575519278,23944008000000,1792845264572365456,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6760388866348368,-0.004970363060844383,0.10676052702570744,0.9999999677170769,-5.526502995614965e-05,-6.135346852207606e-05,0.00022178872360366912,0.6761,-0.0046,0.10670041332154041,1.0,0.0,0.0,0.0,-0.3112127821912566,0.06100936088410802,0.6484762088512552,0.008837363301249956,0.02027022913904357,0.0018735331434559374,0.5291570773594623,1.1463941602218575,2.421343490382167,0.0947826045240459,-0.04894246818730846,-0.003609241390417745,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.9432244656402339,1.3455202931331378,-0.8895393568235938,-0.01567077111460946,0.7220314584751917,0.7819511409596299,1.6312548422581434,-0.6484762088512552,2.5207941990817373,2.5207941990817373,2.5516257371004993,0,0,-2.967872724165336e-05,-7.393048869556651e-05
+56762,1792845265625568124,23945058000000,1792845265624365699,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6760501334236774,-0.00497173868645339,0.10674533301453477,0.9999999672912807,-5.3251752238021496e-05,-4.080101627030535e-05,0.00022882270426543674,0.6761,-0.0046,0.10667598666903373,1.0,0.0,0.0,0.0,-0.3415026465706306,0.10202283942839507,0.7505649381762576,0.011736993695733125,0.022271238964006228,0.001860852027408151,0.49886721298008824,1.1874076387661445,2.5234322197071695,0.09768223491852907,-0.046941458362345805,-0.0036219225064655315,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.9959730243725425,1.3520254037524027,-0.9571105361925414,-0.023590634959429264,0.7744664429399468,0.7861821118466517,1.6312548422581434,-0.7505649381762576,2.5883653784506846,2.5883653784506846,2.7091257371005986,0,0,-2.5408735000757805e-05,-9.999999025923074e-05
+56827,1792845266167550775,23945600000000,1792845266164365623,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6760809710283329,-0.004970092807241798,0.10674599717299674,0.9999999670778359,-4.841274191529295e-05,-1.6566298314596157e-05,0.00023381393395723897,0.6761,-0.0046,0.10665638784459511,1.0,0.0,0.0,0.0,-0.4219262504113186,0.23446322358959493,0.6385151614882323,0.021368431853350245,0.028829798605137645,0.0031653674139550314,0.41844360913940026,1.3198480229273444,2.411382443019144,0.10731367307614618,-0.04038289872121439,-0.002317407119918651,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.0309847924048579,1.3937474646307688,-0.7746816689316653,-0.023987954154254566,0.6385044751047707,0.8221439557949406,1.6312548422581434,-0.6385151614882323,2.405936511189809,2.405936511189809,2.79042573710065,0,0,-4.856378172798793e-05,-9.999999025923074e-05
+56956,1792845267242585398,23946675000000,1792845267236366572,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6760987503452728,-0.004970089411989329,0.10672057267563141,0.9999999653098491,-4.6127666894419e-05,1.6916697345441976e-05,0.00024168001286056296,0.6761,-0.0046,0.1065757560263648,1.0,0.0,0.0,0.0,-0.49208057909691116,0.22658404195496762,0.9294060068288885,0.021695408148520307,0.033129044525029856,0.003006313854757806,0.3482892804538077,1.311968841292717,2.7022732883598004,0.10764064937131625,-0.036083652801322176,-0.0024764606791158766,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.2927593993236963,1.3900048748487182,-1.2356204248689424,-0.024947616579654098,0.998171967724746,0.8124595911357047,1.6312548422581434,-0.9294060068288885,2.866875267127086,2.866875267127086,2.9516757371007514,0,0,-9.695704311911489e-05,-4.8520412619024915e-05
+57031,1792845267867499896,23947300000000,1792845267864365401,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6761160101083827,-0.004955589148760559,0.10669405499233574,0.9999999694953576,-0.0001809174588734289,6.079012713169314e-05,0.000126592185679387,0.6761,-0.0046,0.1065196507982876,1.0,0.0,0.0,0.0,-0.4283360565259337,0.3976548948266352,1.118208619653905,0.03264130924296421,0.03007541184038836,0.003977085734963224,0.41203380302478515,1.4830396941643846,2.891075901184817,0.11858655046576015,-0.03913728548596367,-0.0015056887989104584,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.4031529589908445,1.4379751264672933,-1.3455726026040886,-0.20055056094097207,1.1271022741182588,0.8847705302512431,1.6312548422581434,-1.118208619653905,2.976827444862232,2.976827444862232,3.0454257371008104,0,0,-9.136219879660323e-05,8.540949478075816e-05
+57169,1792845269017629318,23948450000000,1792845269012365395,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.676129990860822,-0.004960160235211511,0.10665613664287632,0.9999999666237515,-0.0001738103009682869,8.700796597527269e-05,0.000142880906060301,0.6761,-0.0046,0.10644217626794715,1.0,0.0,0.0,0.0,-0.5052491395379067,0.37568447673625793,1.4377536182964528,0.032844307168150275,0.03481697602862455,0.004807648749023426,0.3351207200128121,1.4610692760740074,3.2106208998273646,0.11878954839094621,-0.034395721297727486,-0.0006751257848502567,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.4447736775620386,1.4232229775975815,-1.6877077652731625,-0.14613464803156276,1.3429690784842003,0.8585210924615122,1.6312548422581434,-1.4377536182964528,3.318962607531306,3.318962607531306,3.217925737100919,0,0,-3.9134684441639915e-05,9.999999025923074e-05
+57306,1792845270158590297,23949591000000,1792845270156365990,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6761339325492802,-0.004959701075092832,0.10664192650594384,0.9999999663598161,-0.00017092368398735985,9.079945074654805e-05,0.00014582107120237798,0.6761,-0.0046,0.10642455426100819,1.0,0.0,0.0,0.0,-0.5060429126383484,0.3661555190054149,1.4778435842535835,0.032752826086708306,0.03481065219129733,0.004774220089942566,0.3343269469123704,1.4515403183431643,3.2507108657844954,0.11869806730950425,-0.0344020451350547,-0.0007085544439311166,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.4453348451764483,1.422161340515283,-1.765581445177976,-0.13231534512512869,1.3930843169661222,0.856174007001614,1.6312548422581434,-1.4778435842535835,3.3968362874361198,3.3968362874361198,3.389075737101027,0,0,-6.5825550468482316e-06,5e-05
+57438,1792845271258608098,23950691000000,1792845271256365787,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6761372511808503,-0.004957132134105133,0.10662876588852277,0.9999999666114563,-0.00016247413921484692,9.598968861551999e-05,0.00015035984881132803,0.6761,-0.0046,0.10639736771904096,1.0,0.0,0.0,0.0,-0.5147625698960316,0.36184628370718475,1.5218777161989696,0.032738994465385335,0.03482082918406085,0.004745174986400199,0.32560728965468716,1.4472310830449342,3.2947449977298815,0.11868423568818127,-0.034391868142291185,-0.000737599547473483,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.4417568987683314,1.4573983403743445,-1.766069964512944,-0.13073280162408682,1.38819705899257,0.8807666842942188,1.6312548422581434,-1.5218777161989696,3.3973248067710875,3.3973248067710875,3.554075737101131,0,0,-4.880916689850435e-05,-9.999999025923074e-05
+57564,1792845272308708327,23951741000000,1792845272308365243,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6761547638234509,-0.004961851342297356,0.10660092902360965,0.9999999622334419,-0.00016180991192462084,0.00012102673610441328,0.00016169743566000724,0.6761,-0.0046,0.10633143341945159,1.0,0.0,0.0,0.0,-0.5918551713309601,0.3952521893475478,1.718329692141048,0.035607323657824166,0.040646414234134814,0.004697320607315696,0.24851468821975878,1.4806369886852973,3.49119697367196,0.1215525648806201,-0.02856628309221722,-0.0007854539265579871,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.607177826804651,1.4438043062280563,-2.0009433225336877,-0.09158577515052413,1.5669710806132902,0.8568468311609762,1.6312548422581434,-1.718329692141048,3.632198164791831,3.632198164791831,3.71157573710123,0,0,-6.791432291128186e-05,-9.966149713681034e-05
+57684,1792845273308742616,23952741000000,1792845273308365547,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6761689339111521,-0.004960885618567959,0.10657282265343654,0.9999999585417185,-0.00015094564870833131,0.0001452839355937966,0.00017454917524994143,0.6761,-0.0046,0.10627886412786838,1.0,0.0,0.0,0.0,-0.6442393932624655,0.4153144762239023,1.9045554041138575,0.037525201165068994,0.04374175644141374,0.004659078186622027,0.1961304662882534,1.5006992755616517,3.6774226856447694,0.12347044238786493,-0.025470940884938294,-0.0008236963472516548,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.6382278207422747,1.3642909815949584,-2.2547500016025457,-0.04145183969837413,1.7251299290904956,0.797291198815844,1.6312548422581434,-1.9045554041138575,3.886004843860689,3.886004843860689,3.8615757371013246,0,0,-3.775097530825532e-05,9.999999025923074e-05
+57811,1792845274367761154,23953800000000,1792845274360365468,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6761779994468564,-0.004960756962177097,0.10655460711939516,0.9999999556005358,-0.0001467471056440203,0.00016167186050126644,0.0001804696297713722,0.6761,-0.0046,0.10625184845650923,1.0,0.0,0.0,0.0,-0.6620166703135503,0.4175890707004015,1.9809460939052979,0.03746795719143331,0.04513597179198846,0.0055785556282542835,0.17835318923716859,1.502973870038151,3.7538133754362097,0.12341319841422925,-0.02407672553436357,9.578109438060065e-05,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.6158117846561841,1.3239480176574376,-2.2783921161127934,-0.017032012910472325,1.7313502318753415,0.7632412545373568,1.6312548422581434,-1.9809460939052979,3.909646958370937,3.909646958370937,4.020425737101364,0,0,-2.687635565076641e-05,-9.99327940106653e-05
+57928,1792845275342711481,23954775000000,1792845275336375079,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6761861155459091,-0.004962834192735156,0.10653440106294466,0.9999999524670294,-0.00014460830444170634,0.00017620647672553848,0.0001858723190345201,0.6761,-0.0046,0.10621309303571186,1.0,0.0,0.0,0.0,-0.6828957769863151,0.42427460059035416,2.090735299412149,0.03842267159743616,0.04672014002330191,0.00554180095763435,0.1574740825644038,1.5096593999281036,3.863602580943061,0.1243679128202321,-0.022492557303050123,5.9026423760667046e-05,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.7251037099017053,1.2819232585316032,-2.3555614744025273,0.007579433574719541,1.8081249506033084,0.737820249381274,1.6312548422581434,-2.090735299412149,3.9868163166606707,3.9868163166606707,4.1666757371010235,0,0,-5.235541742784478e-05,-9.999999025923074e-05
+58036,1792845276242767696,23955675000000,1792845276240364898,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6761961424459789,-0.0049651588041292475,0.10650706636471614,0.9999999483862944,-0.0001401270540053714,0.00019180149019117638,0.000195568070038973,0.6761,-0.0046,0.10616010545032481,1.0,0.0,0.0,0.0,-0.7240850161605741,0.4421036467035282,2.2311756788372232,0.03933662697646258,0.04970596813157552,0.005481932733711212,0.11628484339014483,1.5274884460412776,4.004042960368135,0.12528186819925852,-0.019506729194776515,-8.418001624704381e-07,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.7612394744114956,1.3182680252156633,-2.6061603433363376,-0.0041140247560655895,1.9726464149278198,0.7608681767397921,1.6312548422581434,-2.2311756788372232,4.237415185594481,4.237415185594481,4.301675737100709,0,0,-6.206020039120486e-05,-9.999427261065392e-05
+58169,1792845277350769113,23956783000000,1792845277348366585,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.67620873524176,-0.004968494956232126,0.10647164101366843,0.9999999425114304,-0.00013492344306142634,0.00021291953575792582,0.00020707712580589972,0.6761,-0.0046,0.1060997695877088,1.0,0.0,0.0,0.0,-0.761838122908752,0.44175424944724706,2.4093074291248655,0.04027515990551693,0.052468640922663554,0.00538837660836441,0.07853173664196691,1.5271390487849965,4.182174710655778,0.12622040112831287,-0.016744056403688482,-9.439792550927245e-05,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.816162616693944,1.3427967379061323,-2.8708047506325096,-0.011054722479083486,2.1554456257207675,0.7791304208814767,1.6312548422581434,-2.4093074291248655,4.502059592890653,4.502059592890653,4.4678757371003215,0,0,-4.6559185344603786e-05,9.853362156609364e-05
+58297,1792845278417777278,23957850000000,1792845278416365704,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.67622075762662,-0.004970049252756832,0.10644002205034435,0.9999999369044528,-0.00012997758704187445,0.0002314353697478212,0.00021720370942348912,0.6761,-0.0046,0.10605055401321965,1.0,0.0,0.0,0.0,-0.7670417917451987,0.45811372011186746,2.5135971336033434,0.04114310209623388,0.05366551121550836,0.005334710070034458,0.07332806780552012,1.543498519449617,4.2864644151342555,0.12708834331902982,-0.01554718611084367,-0.00014806446383922468,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.849094481328859,1.2618125779480618,-2.8545314564459385,0.01865888241385839,2.151390505494473,0.7230696681973003,1.6312548422581434,-2.5135971336033434,4.485786298704082,4.485786298704082,4.6279257370999485,0,0,-5.118200537976148e-05,-9.999987923692828e-05
+58397,1792845279250880134,23958683000000,1792845279244375189,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6762280132670725,-0.004970564229094164,0.10640683479565531,0.9999999333454784,-0.00012494607923962367,0.0002418297813183026,0.00022507495888219575,0.6761,-0.0046,0.10600309279875533,1.0,0.0,0.0,0.0,-0.7857027503783771,0.46180965591925904,2.633873963939979,0.04116497302629114,0.05465169134032047,0.0052514952115547625,0.05466710917234177,1.5471944552570085,4.406741245470891,0.12711021424908708,-0.014561005986031564,-0.00023127932231892001,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.8695680336790623,1.3158825865602304,-3.0147625983918678,0.004867335926205068,2.257214235643719,0.7590423618441325,1.6312548422581434,-2.633873963939979,4.646017440650011,4.646017440650011,4.752875737099657,0,0,-6.0633943389813656e-05,-9.999999025923074e-05
+58511,1792845280200822605,23959633000000,1792845280200365103,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6762427505132578,-0.004978090480777933,0.10637159237637,0.9999999244063132,-0.00012186974817147431,0.00026744316708530265,0.00023717535467323613,0.6761,-0.0046,0.10593888991049805,1.0,0.0,0.0,0.0,-0.8000558720848442,0.46735928569026575,2.7642337806189854,0.04108712852838499,0.056611359719168586,0.005176410509989895,0.04031398746587463,1.5527440850280152,4.5371010621498975,0.12703236975118093,-0.012601337607183443,-0.000306364023883787,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.9378553305865083,1.3326433297164089,-3.1217607461213985,0.0009371830005865194,2.3475000610040997,0.7720393757334774,1.6312548422581434,-2.7642337806189854,4.753015588379542,4.753015588379542,4.895375737099325,0,0,-7.151365564592028e-05,-9.999117786397278e-05
+58590,1792845280858850503,23960291000000,1792845280852365536,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6762571019728983,-0.0049792961732187105,0.10632782386784301,0.9999998893025914,-0.0003361201707996119,0.00030798843769914134,7.073910773085516e-05,0.6761,-0.0046,0.1058930751679601,1.0,0.0,0.0,0.0,-0.5832671114893423,0.7589058783963234,2.846468392305881,0.059159254587304436,0.04470243937893991,0.005949168866039494,0.25710274806137656,1.8442906777340728,4.619335673836793,0.14510449581010038,-0.02451025794741212,0.0004663943321658112,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.836557071566999,1.379253792215145,-3.0871246076753027,-0.0705113345793877,2.3111760440039126,0.8112391957369004,1.6312548422581434,-2.846468392305881,4.718379449933446,4.718379449933446,4.994075737099095,0,0,-7.0930116165295e-05,-9.999999025923074e-05
+58682,1792845281625882574,23961058000000,1792845281624374795,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6762656364718301,-0.004958445361566601,0.1062890990239856,0.9999998924832891,-0.00031486253763673435,0.00031827165244090134,7.772394379108202e-05,0.6761,-0.0046,0.10582662717249768,1.0,0.0,0.0,0.0,-0.6617595624344552,0.6568666784610819,3.019335161523612,0.05245248341541019,0.04974866995986888,0.006037476357798222,0.1786102971162636,1.7422514777988314,4.792202443054524,0.13839772463820613,-0.01946402736648315,0.00055470182392454,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,2.047573350808412,1.415606300206492,-3.472099981264999,-0.1370788322305102,2.628745278909278,0.8702242832697112,1.6312548422581434,-3.019335161523612,5.1033548235231425,5.1033548235231425,5.109125737098827,0,0,-9.477449038478169e-05,9.969562261702975e-05
+58792,1792845282542881610,23961975000000,1792845282540365314,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6762777786169444,-0.004966531084355074,0.10623490325006361,0.9999998891867717,-0.00030012444574582906,0.0003373946255597956,9.570523348545222e-05,0.6761,-0.0046,0.1057446352484608,1.0,0.0,0.0,0.0,-0.6755598873557902,0.6362768273292798,3.1376913771110235,0.05035620670982276,0.05123649297765526,0.0049810590940816656,0.16480997219492868,1.7216616266670293,4.910558658641936,0.1363014479326187,-0.017976204348696775,-0.0005017154397920166,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,2.0971348496335764,1.3670293556407522,-3.6837439482634213,-0.06427195825326093,2.7700903345960173,0.8263586716528959,1.6312548422581434,-3.1376913771110235,5.314998790521565,5.314998790521565,5.246675737098506,0,0,-8.373077345772006e-05,9.995116820172285e-05
+58938,1792845283758957070,23963191000000,1792845283756365330,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6762928384010759,-0.004971313988738946,0.10616789990885749,0.9999998855621884,-0.00027757627053976434,0.00035963372161289676,0.00011804013781669106,0.6761,-0.0046,0.10565656468385783,1.0,0.0,0.0,0.0,-0.6599531094043491,0.5915633667702391,3.228959758514905,0.04729467992664889,0.0503951509515459,0.004793156172662646,0.18041675014636976,1.6769481661079886,5.001827040045817,0.13323992114944483,-0.018817546374806135,-0.0006896183612110363,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,2.0375831029474094,1.31370144175472,-3.7134183240653087,0.04506580082649899,2.762760601203667,0.7728000590628294,1.6312548422581434,-3.228959758514905,5.344673166323452,5.344673166323452,5.429075737098081,0,0,-6.769337850961866e-05,-9.805394970830434e-05
+59058,1792845284758926285,23964191000000,1792845284756366306,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6763051128417963,-0.0049767862006504585,0.10611212190552559,0.9999998788744724,-0.0002722069928381625,0.00037826817483869844,0.00012849297799704025,0.6761,-0.0046,0.10557795879638118,1.0,0.0,0.0,0.0,-0.6493390361361906,0.5731216966943129,3.303760694806499,0.04419867606692053,0.05117683338701615,0.00471388401042074,0.19103082341452826,1.6585064960320623,5.076627976337411,0.13014391728971647,-0.01803586393933588,-0.0007688905234529426,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,2.0045015514461753,1.4295740276095028,-3.788295616521606,0.06323138397860704,2.7940805458115716,0.8443175212609755,1.6312548422581434,-3.303760694806499,5.419550458779749,5.419550458779749,5.579075737097732,0,0,-9.185090641824901e-05,-9.99931762654171e-05
+59185,1792845285818051909,23965250000000,1792845285816374787,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6763196830034577,-0.0049781449679047116,0.10603091858927645,0.9999999043359101,-5.331690594606192e-05,0.00040387489578044106,0.0001296665385856387,0.6761,-0.0046,0.10547256850608112,1.0,0.0,0.0,0.0,-0.6404731536570479,0.5632657293554588,3.4672238461100733,0.04419229166921611,0.051265988119572364,0.003535184612127879,0.19989670589367095,1.6486505286932083,5.240091127640985,0.13013753289201205,-0.01794670920677967,-0.0019475899217458036,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,2.0869439516009156,1.6090098869029672,-3.966930548310644,-0.01834224969303135,2.940048179983247,0.9114289794540729,1.6312548422581434,-3.4672238461100733,5.598185390568787,5.598185390568787,5.7379257370973615,0,0,-0.00010807867923820347,-9.999997638144293e-05
+59292,1792845286709026706,23966141000000,1792845286704375321,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6763353800033296,-0.004986066243653624,0.10595824075704033,0.9999998921332378,-6.685399318889287e-05,0.0004271700626834835,0.0001422415495776329,0.6761,-0.0046,0.10537296182354328,1.0,0.0,0.0,0.0,-0.6397450818268324,0.5519236693958538,3.597852692238739,0.04210292299128769,0.05138031472722321,0.0036562633648132975,0.20062477772388648,1.6373084687336033,5.370719973769651,0.12804816421408363,-0.017832382599128824,-0.0018265111690603847,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,2.022880461047669,1.4607193610453006,-4.129069301723186,0.028470567279918774,3.029930942517575,0.8287404689385905,1.6312548422581434,-3.597852692238739,5.76032414398133,5.76032414398133,5.87157573709705,0,0,-0.00011289108898668155,-9.99976171575156e-05
+59402,1792845287626101218,23967058000000,1792845287624374841,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6763496216510897,-0.004986333632829511,0.10587940768609316,0.9999998792557626,-7.155353603215602e-05,0.0004520557805558951,0.00015315674078532677,0.6761,-0.0046,0.10527047797364575,1.0,0.0,0.0,0.0,-0.6277044164885097,0.5168084817038621,3.7238298608303877,0.03901958068969799,0.05095617356548468,0.004308819304028217,0.21266544306220908,1.6021932810416115,5.4966971423613,0.12496482191249393,-0.01825652376086735,-0.0011739552298454658,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,2.0474551015463116,1.441272979458447,-4.234311886633208,0.051253027041431636,3.106041171767023,0.8398237265348591,1.6312548422581434,-3.7238298608303877,5.865566728891351,5.865566728891351,6.0091257370967295,0,0,-0.00011002075723662153,-9.999999025923074e-05
+59510,1792845288526074015,23967958000000,1792845288524366565,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6763644566423349,-0.004989045317350892,0.10580228640345027,0.9999998658585411,-9.293301116556069e-05,0.0004771643981958877,0.00015298155685738356,0.6761,-0.0046,0.10516914894966659,1.0,0.0,0.0,0.0,-0.5987915272825928,0.503791802671401,3.797080395116433,0.03700697659631638,0.049401841922709896,0.0042099579787458945,0.24157833226812606,1.5891766020091505,5.569947676647345,0.12295221781911232,-0.019810855403642136,-0.0012728165551277879,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,2.0738397550644585,1.4234483456695326,-4.469246210303942,0.08509416868515791,3.266092503977826,0.8557208829561623,1.6312548422581434,-3.797080395116433,6.100501052562086,6.100501052562086,6.144125737096415,0,0,-0.00011970585050005843,9.687500387845489e-05
+59612,1792845289376147529,23968808000000,1792845289372365596,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6763796298731708,-0.004991014029007934,0.10572208887552167,0.9999998518545002,-0.0001321246891956722,0.0005009689044200544,0.00013894986574976441,0.6761,-0.0046,0.10506236120356544,1.0,0.0,0.0,0.0,-0.5381080279208099,0.48537507658543233,3.886901432041155,0.03503057359899486,0.046380040314520025,0.004074326852387427,0.302261831629909,1.5707598759231818,5.659768713572067,0.1209758148217908,-0.022832657011832007,-0.0014084476814862556,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,2.03544195058777,1.3369517192555964,-4.4695619765109615,0.12701924001962864,3.2651048293532505,0.8083316067966676,1.6312548422581434,-3.886901432041155,6.100816818769105,6.100816818769105,6.271625737096118,0,0,-0.00013407584701782683,-9.999999025923074e-05
+59730,1792845290359065469,23969791000000,1792845290356375452,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6763979567654178,-0.004984633391133691,0.1056165376960688,0.999999830051958,-0.0001724879644722333,0.0005365545042113108,0.00011703027533122411,0.6761,-0.0046,0.10492532348246425,1.0,0.0,0.0,0.0,-0.4775688926059105,0.4726181907068219,4.017323216078882,0.034086648226622426,0.04231560294710823,0.004702857119392999,0.36280096694480835,1.5580029900445713,5.790190497609794,0.12003188944941837,-0.026897094379243803,-0.0007799174144806834,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,2.1156076310181007,1.381608755135417,-4.721460957616252,0.14030964431028578,3.456782696227317,0.8419082317194703,1.6312548422581434,-4.017323216078882,6.352715799874395,6.352715799874395,6.419075737095774,0,0,-0.0001419091664497677,9.999695102370083e-05
+59864,1792845291476191268,23970908000000,1792845291472365992,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.676415957839592,-0.004991232520963116,0.1054856544669084,0.9999998097197291,-0.00018725189177843694,0.0005663601518471735,0.00012718599387717423,0.6761,-0.0046,0.10476732223035616,1.0,0.0,0.0,0.0,-0.4286281703796254,0.41929056000716414,4.136344547809441,0.029039210902425408,0.03935341288850851,0.0047353852484244,0.41174168917109344,1.5046753593449136,5.909211829340353,0.11498445212522135,-0.029859284437843525,-0.0007473892854492824,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,2.024264140323286,1.2758020155113916,-4.7836967448346375,0.17855252224084814,3.48364028619441,0.7705890001924929,1.6312548422581434,-4.136344547809441,6.414951587092781,6.414951587092781,6.586625737095384,0,0,-0.00014467924650959774,-9.999999025923074e-05
+59980,1792845292443216346,23971875000000,1792845292440364789,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6764344372303112,-0.004992719157642824,0.10536269707523026,0.9999997894883939,-0.00018706899894392804,0.0005974845886785924,0.00014312018739330015,0.6761,-0.0046,0.10461874931975834,1.0,0.0,0.0,0.0,-0.37910503731454753,0.3474778504520364,4.274564040379629,0.023986683944261844,0.03637156673200184,0.004523986316897021,0.4612648222361713,1.4328626497897858,6.047431321910541,0.10993192516705778,-0.03284113059435019,-0.0009587882169766615,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.9431216616255682,1.3918933705586902,-4.975728904128931,0.14685680634786347,3.6007961536243043,0.8458722515922575,1.6312548422581434,-4.274564040379629,6.606983746387074,6.606983746387074,6.7316757370950455,0,0,-0.00016023314743510297,1.7504327180733983e-05
+60092,1792845293376247085,23972808000000,1792845293372365110,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6764533271439415,-0.004994318876443944,0.10523309217480174,0.9999997686314154,-0.00018675499934660094,0.0006286557986049545,0.0001552238280196759,0.6761,-0.0046,0.10446254795612958,1.0,0.0,0.0,0.0,-0.32890888740220225,0.29286217814619664,4.364081420189903,0.018940715962612473,0.03340477356502692,0.004971189156736934,0.5114609721485166,1.378246977483946,6.136948701720815,0.10488595718540841,-0.03580792376132511,-0.0005115853771367479,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.9061979889015497,1.4128783909707812,-5.03515736552613,0.15058301067720442,3.640631304920414,0.8622699337833503,1.6312548422581434,-4.364081420189903,6.666412207784274,6.666412207784274,6.871625737094719,0,0,-0.0001739340311876766,-9.999996250365512e-05
+60202,1792845294293279396,23973725000000,1792845294288366772,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.676471909252153,-0.004990374858099137,0.10509868969098729,0.9999997471690383,-0.00020367729382640056,0.0006604375740157919,0.00013943634505528924,0.6761,-0.0046,0.10429818452848338,1.0,0.0,0.0,0.0,-0.24321057148466552,0.24514636607142037,4.47323372601227,0.014971569738551363,0.028387156109929847,0.005177889044359245,0.5971592880660533,1.3305311654091698,6.246101007543182,0.1009168109613473,-0.040825541216422186,-0.00030488548951443725,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.8820552919568145,1.4520579808734095,-5.226324113737723,0.15341040649985463,3.7728722764973432,0.8872709116466768,1.6312548422581434,-4.47323372601227,6.857578955995867,6.857578955995867,7.009175737094399,0,0,-0.00018592848614757207,4.05287760538739e-05
+60308,1792845295176288971,23974608000000,1792845295172375095,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6764901935147435,-0.004994229293836306,0.10495960557976017,0.999999725394903,-0.00020034044445375908,0.0006919069583627126,0.00014758539895353478,0.6761,-0.0046,0.10412574316289813,1.0,0.0,0.0,0.0,-0.1932208842711184,0.17453136521135493,4.585098484475696,0.009949328080719869,0.024411113955153024,0.004972751296905258,0.6471489752796005,1.2599161645491044,6.3579657660066085,0.09589456930351581,-0.04480158337119901,-0.0005100232369684244,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.8376955612114838,1.3977636004829812,-5.328842032381178,0.20083828130484646,3.844349382396517,0.8597384937902864,1.6312548422581434,-4.585098484475696,6.960096874639321,6.960096874639321,7.14162573709409,0,0,-0.00020217120091511743,-5.375618980363868e-05
+60412,1792845296043267122,23975475000000,1792845296040365069,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6765110242576988,-0.004995498449863252,0.10480733032742312,0.9999997168610898,-0.00011878915244722889,0.0007238356799079689,0.00014025566054625159,0.6761,-0.0046,0.10394229539074464,1.0,0.0,0.0,0.0,-0.1256073724336365,0.11430369168827093,4.678693485865893,0.005153118529089715,0.02042685245887778,0.005704867217826851,0.7147624871170823,1.1996884910260204,6.451560767396805,0.09109835975188565,-0.048785844867474254,0.00022209268395316875,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.8217818184360848,1.441676280242788,-5.354498152094704,0.18494071143682547,3.876227239297504,0.8477157211350158,1.6312548422581434,-4.678693485865893,6.985752994352848,6.985752994352848,7.271675737093787,0,0,-0.00022206910240826628,-9.921883733910448e-05
+60500,1792845296776285390,23976208000000,1792845296772365593,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6765292385106979,-0.004996942720557268,0.10466652165035051,0.9999996895912739,-0.00014549683716101982,0.0007549077099485924,0.0001456201907633443,0.6761,-0.0046,0.10377561950992618,1.0,0.0,0.0,0.0,-0.09653465657706173,0.055817687161452856,4.767735009453216,0.0008962130977270694,0.017819009389740695,0.005655277629134016,0.7438352029736571,1.1412024864992023,6.540602290984128,0.08684145432052301,-0.05139368793661134,0.00017250309526033332,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.7043830758383383,1.4184379212720228,-5.604164319394364,0.2164399364990124,4.009609986625034,0.8681804276035154,1.6312548422581434,-4.767735009453216,7.235419161652508,7.235419161652508,7.381625737093531,0,0,-0.00023275783965906604,9.999681224582275e-05
+60583,1792845297468388566,23976900000000,1792845297460365810,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6765430601947207,-0.004999461877898458,0.10452565324993392,0.9999996662676156,-0.0001602095039665237,0.0007804730808532513,0.00015524885323622286,0.6761,-0.0046,0.10361032032701233,1.0,0.0,0.0,0.0,-0.03509690813362354,-0.026810401913159865,4.878275592627703,-0.00513836849938977,0.0136243226402279,0.005439196816125537,0.8052729514170953,1.0585743974245896,6.651142874158615,0.08080687272340617,-0.05558837468612413,-4.357771774814485e-05,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.6633426218101788,1.401106896015148,-5.651357694517352,0.239004107344059,4.052041161681842,0.8580805205856703,1.6312548422581434,-4.878275592627703,7.2826125367754955,7.2826125367754955,7.485425737093289,0,0,-0.00023959214166922025,-3.821917891042216e-05
+60669,1792845298184364662,23977616000000,1792845298180365553,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6765672562550974,-0.004999082747068939,0.10437442296819872,0.9999996332465485,-0.00019414725973165462,0.0008158011351610572,0.00014739396875046974,0.6761,-0.0046,0.10343426642540575,1.0,0.0,0.0,0.0,0.022719896748748525,-0.054456675862501136,4.9048597998058066,-0.00807896030290603,0.01049415964393735,0.005482746465167662,0.8630897562994674,1.0309281234752483,6.677727081336719,0.07786628091988991,-0.05871853768241468,-2.806870601999292e-08,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.6285097548550793,1.413482412893247,-5.65146987621318,0.265136026211751,4.052158387973444,0.8644286619304277,1.6312548422581434,-4.9048597998058066,7.282724718471323,7.282724718471323,7.5928257370930385,0,0,-0.0002543146479058996,-9.999999025923074e-05
+60758,1792845298926386531,23978358000000,1792845298924365711,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.676580754564308,-0.004994829934252235,0.10419347085371872,0.9999996118875207,-0.00020245276798008124,0.0008376848689800778,0.00015800192736282665,0.6761,-0.0046,0.1032378250667387,1.0,0.0,0.0,0.0,0.10481377993464491,-0.1473814797936599,5.064356198292603,-0.015012013376856967,0.004650321901147614,0.006076914211553585,0.9451836394853638,0.9380033195440896,6.837223479823515,0.07093322784593897,-0.06456237542520442,0.0005941396776799026,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.6013939544263809,1.3566838503093062,-5.842983361328605,0.2899913193688084,4.195569736554651,0.8245354866149536,1.6312548422581434,-5.064356198292603,7.474238203586748,7.474238203586748,7.704125737092779,0,0,-0.00027157411075846985,-4.33427217047213e-05
+60848,1792845299676368181,23979108000000,1792845299672365444,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6765926023553364,-0.004992217960440418,0.1040097103192968,0.9999996134253128,-0.00010484046002843123,0.0008536878924952642,0.00015753586725715616,0.6761,-0.0046,0.10303141644754657,1.0,0.0,0.0,0.0,0.23424310590522468,-0.24088264297316253,5.105477869949444,-0.022081509541028818,-0.0034623926568950053,0.0058505145560694095,1.0746129654559435,0.8445021563645869,6.878345151480356,0.06386373168176712,-0.07267508998324704,0.00036774002219572716,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.448697184991221,1.3910147154271204,-5.877122419859559,0.2923506876360724,4.206547561568438,0.8207663921900337,1.6312548422581434,-5.105477869949444,7.508377262117702,7.508377262117702,7.816625737092517,0,0,-0.00028576334245719446,-9.999999025923074e-05
+60935,1792845300401392716,23979833000000,1792845300400364853,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6766096062924934,-0.004990019829951753,0.10381704324460514,0.9999995836064506,-0.00013758338232343993,0.0008824479050200229,0.00016305305128231897,0.6761,-0.0046,0.10281291253662814,1.0,0.0,0.0,0.0,0.3148045048254656,-0.3141022492537977,5.1601395783096065,-0.028056285460756322,-0.009437743993615216,0.00565270604668026,1.1551743643761845,0.7712825500839517,6.933006859840519,0.05788895576203962,-0.07865044131996725,0.00016993151280657784,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.3816488885476008,1.3643015844851787,-5.967464732240375,0.33656196277154243,4.262378934616732,0.8350166985665132,1.6312548422581434,-5.1601395783096065,7.598719574498518,7.598719574498518,7.9253757370922635,0,0,-0.00031666237770430614,-9.999999025923074e-05
+61013,1792845301051425657,23980483000000,1792845301044365769,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.676626830396826,-0.004992725006360416,0.1036228638708328,0.9999995487728872,-0.00016490988372026903,0.0009157846190714224,0.00016745192712518033,0.6761,-0.0046,0.10259887650941016,1.0,0.0,0.0,0.0,0.36390799721203326,-0.38270785901036786,5.231624564525102,-0.03310357359273503,-0.012450191422963386,0.006522976866075196,1.2042778567627521,0.7026769403273816,7.004491846056014,0.05284166763006091,-0.08166288874931542,0.0010402023322015129,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.334383633529354,1.359106477185934,-6.0195573320146405,0.3482462573605327,4.301836543041973,0.824664276987934,1.6312548422581434,-5.231624564525102,7.650812174272784,7.650812174272784,8.022875737092036,0,0,-0.00034141089645253606,-9.999266278726821e-05
+61087,1792845301668378454,23981100000000,1792845301660365665,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6766428648329177,-0.004996379871057766,0.1034275364814981,0.9999995271504059,-0.00014958735276097605,0.0009401223208885704,0.00017588483360647962,0.6761,-0.0046,0.10238066363415115,1.0,0.0,0.0,0.0,0.42810791997791775,-0.48503116448841854,5.316949921620743,-0.040135343492320494,-0.017347753564139368,0.006302888944446287,1.2684777795286366,0.6003536348493309,7.0898172031516555,0.045809897730475446,-0.0865604508904914,0.0008201144105726049,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.2240153995975562,1.335042708708709,-6.089386872172028,0.374638807777577,4.338138065083898,0.8265871341811866,1.6312548422581434,-5.316949921620743,7.7206417144301716,7.7206417144301716,8.11542573709182,0,0,-0.00036678397221798074,-9.999997638144293e-05
+61157,1792845302251435562,23981683000000,1792845302248365708,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6766575884945921,-0.004995736533975173,0.10322591644531875,0.999999508362363,-0.00014627755689155644,0.0009619685069184134,0.00016714474140910038,0.6761,-0.0046,0.10216082593589797,1.0,0.0,0.0,0.0,0.49447797489883116,-0.5555686231332705,5.377340755734151,-0.046135866370986614,-0.02231087560597271,0.0061150792424621014,1.33484783444955,0.529816176204479,7.150208037265063,0.039809374851809326,-0.09152357293232474,0.000632304708588419,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.1567328281298854,1.2958512880452708,-6.2185803761301335,0.4037490330256221,4.426865816031042,0.7993339072207485,1.6312548422581434,-5.377340755734151,7.849835218388277,7.849835218388277,8.202875737091617,0,0,-0.0003888965623935744,-9.999999025923074e-05
+61224,1792845302809479355,23982241000000,1792845302808365729,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6766746655417752,-0.0049992192365239975,0.10301166503938718,0.9999994774341842,-0.00015562865415339407,0.0009892956594876668,0.00018343402882624977,0.6761,-0.0046,0.10193754335679889,1.0,0.0,0.0,0.0,0.545661160044132,-0.6742368948273345,5.444478434353855,-0.05420931381481828,-0.026085697951558795,0.005913623216944198,1.3860310195948509,0.41114790451041494,7.217345715884767,0.03173592740797766,-0.09529839527791083,0.0004308486830705152,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.1554317750085632,1.1748677749015055,-6.215292553245257,0.43893917249563835,4.452617643433658,0.7188967784492302,1.6312548422581434,-5.444478434353855,7.846547395503401,7.846547395503401,8.286575737091422,0,0,-0.0004131478449035094,-9.999989311471608e-05
+61285,1792845303318432928,23982750000000,1792845303312365917,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.676681578825891,-0.005000713318766778,0.10280860073093996,0.9999994669312728,-0.00013712522786460749,0.0009995263437046719,0.00019930829019343673,0.6761,-0.0046,0.10172079851611068,1.0,0.0,0.0,0.0,0.606310425285424,-0.7908534734148356,5.452972120431353,-0.0632914910638813,-0.03009994975737769,0.0057455385828135445,1.4466802848361429,0.29453132592291387,7.225839401962265,0.022653750158914653,-0.09931264708372972,0.0002627640489398618,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,1.028506983080809,1.1957798297245004,-6.267642443625267,0.43367378170140936,4.4760549493354835,0.7391824532058408,1.6312548422581434,-5.452972120431353,7.89889728588341,7.89889728588341,8.362925737091244,0,0,-0.00043850669389641626,-9.999999025923074e-05
+61344,1792845303809410428,23983241000000,1792845303804365590,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.676698372798694,-0.005004818560478775,0.1026006555778671,0.9999994411494869,-0.00012206806682422502,0.0010311300196290817,0.00017610748954815145,0.6761,-0.0046,0.10149947698058409,1.0,0.0,0.0,0.0,0.7126822583391531,-0.8560685242987177,5.436020947651788,-0.06857599728531957,-0.037099632805570354,0.005601596482587365,1.553052117889872,0.2293162750390317,7.2088882291827,0.01736924393747637,-0.10631233013192239,0.0001188219487136829,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.9670056546470734,1.2244187581416999,-6.264662226419698,0.42489980883895623,4.482579092909899,0.7611912185447831,1.6312548422581434,-5.436020947651788,7.895917068677841,7.895917068677841,8.436575737091072,0,0,-0.00046305668911369855,-9.999999025923074e-05
+61395,1792845304234520059,23983666000000,1792845304232365423,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6767022980329999,-0.005011088602863413,0.10240310210388119,0.9999994388792077,-0.00012449584534133097,0.0010290729538703284,0.0001979741753181124,0.6761,-0.0046,0.10129817288859255,1.0,0.0,0.0,0.0,0.7310797047550542,-0.9324216164145067,5.420699085814051,-0.07428093050059635,-0.038979029735719664,0.005649725064764221,1.571449564305773,0.15296318292324268,7.193566367344963,0.011664310722199586,-0.1081917270620717,0.00016695053089053882,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.9024848903382957,1.2041450694850546,-6.239310897594319,0.4314424526737649,4.466487949475102,0.7459648551464344,1.6312548422581434,-5.420699085814051,7.870565739852462,7.870565739852462,8.500325737090924,0,0,-0.0004843066849738716,-9.999999025923074e-05
+61446,1792845304659464277,23984091000000,1792845304656365638,DOWN_FORCE_DETACH,9,0.0696,0.06960141658782959,0.6767118997804974,-0.005008581528708806,0.10219577797234937,0.9999994268499259,-0.00013673682660422364,0.0010366379841415705,0.00021077811604815476,0.6761,-0.0046,0.10108783754836044,1.0,0.0,0.0,0.0,0.7564814316574137,-1.0081830715910949,5.365643248054029,-0.07932711533444312,-0.04090412631419915,0.006122329920149539,1.5968512912081325,0.07720172774665464,7.138510529584941,0.006618125888352819,-0.11011682364055118,0.0006395553862758571,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.9018741483386427,1.1437434019902728,-6.066107297588981,0.44154940000679577,4.3746184295815596,0.7011682011338467,1.6312548422581434,-5.365643248054029,7.697362139847124,7.697362139847124,8.564075737090775,0,0,-0.0005055566808340447,-9.999999025923074e-05
+61493,1792845305051473266,23984483000000,1792845305048365309,DOWN_FORCE_DETACH,9,0.0696,0.06960207223892212,0.6767099993009728,-0.005009282392387661,0.10198737952305723,0.9999994198268778,-0.00021625619156404383,0.0010365704466601083,0.00017476767613908481,0.6761,-0.0046,0.1008858275302238,1.0,0.0,0.0,0.0,0.8722820106651458,-1.0767563093629284,5.364687807376119,-0.08299226198578555,-0.04916754759743862,0.0059412187425942325,1.7126518702158646,0.008628489974820927,7.137555088907031,0.002952979237010398,-0.11838024492379065,0.0004584442087205502,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.7864052386190711,1.173918233551391,-6.084701424908785,0.4359028639614513,4.378467161205551,0.7274446433608166,1.6312548422581434,-5.364687807376119,7.715956267166929,7.715956267166929,8.622875737090638,0,0,-0.0005251566770156632,-9.999999025923074e-05
+61546,1792845305493519360,23984925000000,1792845305492365517,DOWN_SETTLE,9,0.0696,0.06960207223892212,0.6766998925665387,-0.005011826406098098,0.10176432139582565,0.9999994387366,-0.00021906698407827576,0.0010134236433285968,0.00019736140595784008,0.6761,-0.0046,0.10069552243008596,1.0,0.0,0.0,0.0,0.9330832021320815,-1.2028252526560608,5.151730719466217,-0.09219056733869671,-0.05373067379199983,0.005312530953324942,1.7734530616828004,-0.11744045331831121,6.924598000997129,-0.006245326115900765,-0.12294337111835187,-0.00017024358054874058,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.6150510174944892,1.1830881001165758,-5.8675965906688266,0.4412320050780886,4.216548443039886,0.7359732298567765,1.6312548422581434,-5.151730719466217,7.49885143292697,0.0,0.0,0,0,-0.0001047024791608652,0.001057600799604699
+61633,1792845306212570071,23985644000000,1792845306208366600,DOWN_PEAK_HOLD,9,0.0696,0.06960207223892212,0.6766434562766527,-0.005006702867734921,0.10161496787028987,0.9999995614003984,-8.26280475055634e-05,0.0009064674660774391,0.00020032776657579203,0.6761,-0.0046,0.10068608639614196,1.0,0.0,0.0,0.0,1.1430147000860233,-1.421608783883093,4.064410111310248,-0.10889624339575445,-0.06941845219257685,0.0026921294651597043,1.983384559636742,-0.3362239845453437,5.83727739284116,-0.022951002172958507,-0.13863114951892888,-0.002790645068713978,0.8403698595507189,1.0853847993377495,1.7728672815309119,0.08594524122279594,-0.06921269732635203,-0.005482774533873682,1,0.11079384602612044,1.3065451580559835,-4.727853165443044,0.3327331223562789,3.391095513626515,0.7421278826921794,1.6312548422581434,-4.064410111310248,6.359108007701187,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/down/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/down/real_sim_motion_alignment.csv ADDED Viewed

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

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792845254780260437,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.688311099e-09,-6.921241254e-10,6.939279151e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027455073e-01,-1.155175064e-04,8.303258770e-01
+1,1.133333333e+00,DOWN_FORCE_DETACH,1792845255943505364,-7.836058680e-08,1.530408584e-06,-2.084721132e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.796105856e-07,-4.223559243e-08,2.826455303e-08,7.019555195e-01,-2.045464600e-05,8.601413012e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027458792e-01,-1.155590499e-04,8.303259046e-01
+2,2.250000000e+00,DOWN_FORCE_DETACH,1792845257089975094,3.682908784e-06,4.119290542e-06,-9.160436186e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.702173158e-07,-6.253309091e-08,3.784928915e-08,7.019592808e-01,-1.786576404e-05,8.601424699e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027460698e-01,-1.155793474e-04,8.303259142e-01
+3,3.316666667e+00,DOWN_FORCE_DETACH,1792845258170688401,1.954568550e-05,5.438885562e-06,-1.343269391e-06,1.932856105e-05,5.580139639e-06,-1.112402725e-06,2.072297855e-05,5.266148859e-06,-9.749708733e-07,7.019751436e-01,-1.654616902e-05,8.601420426e-01,7.019749264e-01,-1.640491494e-05,8.601422735e-01,7.027662225e-01,-1.102506654e-04,8.303249013e-01
+4,4.183333333e+00,DOWN_FORCE_DETACH,1792845259170252602,4.692185167e-05,3.728587953e-06,-1.205746591e-05,5.250715612e-05,-1.632809211e-06,8.629132153e-08,5.647895841e-05,-1.681544167e-06,2.590639414e-07,7.020025197e-01,-1.825646663e-05,8.601313284e-01,7.020081050e-01,-2.361786379e-05,8.601434722e-01,7.028019785e-01,-1.171983585e-04,8.303261354e-01
+5,5.333333333e+00,DOWN_FORCE_DETACH,1792845260333461319,4.597372098e-05,4.795369209e-06,-3.254001295e-05,4.851086658e-05,5.925958136e-06,-1.814408591e-05,5.262780065e-05,5.546277587e-06,-1.770066533e-05,7.020015716e-01,-1.718968537e-05,8.601108459e-01,7.020041087e-01,-1.605909644e-05,8.601252418e-01,7.027981274e-01,-1.099705367e-04,8.303081757e-01
+6,6.483333333e+00,DOWN_FORCE_DETACH,1792845261463376006,4.885225287e-05,6.042337693e-06,-3.730050218e-05,4.500378357e-05,3.403599362e-06,-3.917531378e-05,4.886073326e-05,3.138770760e-06,-3.851473823e-05,7.020044501e-01,-1.594271689e-05,8.601060854e-01,7.020006017e-01,-1.858145522e-05,8.601042106e-01,7.027943603e-01,-1.123780435e-04,8.302873616e-01
+7,7.566666667e+00,DOWN_FORCE_DETACH,1792845262544502099,4.978781741e-05,2.188004314e-06,-5.823946318e-05,4.779056240e-05,4.268841142e-06,-5.920446658e-05,5.153014330e-05,3.982062531e-06,-5.822229614e-05,7.020053857e-01,-1.979705027e-05,8.600851465e-01,7.020033884e-01,-1.771621344e-05,8.600841814e-01,7.027970297e-01,-1.115347518e-04,8.302676540e-01
+8,8.616666667e+00,DOWN_FORCE_DETACH,1792845263592832179,5.415568379e-05,2.598258138e-06,-7.265133059e-05,4.779056240e-05,4.268841142e-06,-5.920446658e-05,5.161434212e-05,3.994184353e-06,-5.866450380e-05,7.020097536e-01,-1.938679644e-05,8.600707346e-01,7.020033884e-01,-1.771621344e-05,8.600841814e-01,7.027971139e-01,-1.115226299e-04,8.302672118e-01
+9,9.600000000e+00,DOWN_FORCE_DETACH,1792845264575695525,6.795972036e-05,1.957592181e-06,-9.496821363e-05,6.415309869e-05,4.695038713e-06,-9.494840197e-05,6.848169179e-05,4.405996347e-06,-9.376472066e-05,7.020235576e-01,-2.002746240e-05,8.600484177e-01,7.020197510e-01,-1.729001587e-05,8.600484375e-01,7.028139813e-01,-1.111108179e-04,8.302321116e-01
+10,1.066666667e+01,DOWN_FORCE_DETACH,1792845265623953721,7.947484696e-05,2.648387983e-06,-1.091977066e-04,7.504709985e-05,6.790195409e-07,-1.119337448e-04,7.998194190e-05,5.542276884e-07,-1.107588946e-04,7.020350727e-01,-1.933666660e-05,8.600341882e-01,7.020306450e-01,-2.130603504e-05,8.600314522e-01,7.028254815e-01,-1.149625866e-04,8.302151174e-01
+11,1.118333333e+01,DOWN_FORCE_DETACH,1792845266164532039,1.100985578e-04,2.442688202e-06,-1.108678364e-04,1.058973748e-04,6.020899746e-06,-1.110500024e-04,1.126340175e-04,5.617665447e-06,-1.100849866e-04,7.020656964e-01,-1.954236638e-05,8.600325181e-01,7.020614952e-01,-1.596415483e-05,8.600323359e-01,7.028581336e-01,-1.098991488e-04,8.302157913e-01
+12,1.221666667e+01,DOWN_FORCE_DETACH,1792845267245406667,1.296501451e-04,9.501354719e-07,-1.324999204e-04,1.247657917e-04,2.377994948e-06,-1.189666036e-04,1.330745583e-04,2.097597702e-06,-1.180481638e-04,7.020852480e-01,-2.103491911e-05,8.600108860e-01,7.020803637e-01,-1.960705963e-05,8.600244193e-01,7.028785741e-01,-1.134192166e-04,8.302078282e-01
+13,1.281666667e+01,DOWN_FORCE_DETACH,1792845267868494325,1.433114213e-04,1.411771042e-05,-1.623851268e-04,1.463026042e-04,1.772747077e-05,-1.501359401e-04,1.557517932e-04,1.672593701e-05,-1.486209771e-04,7.020989093e-01,-7.867344156e-06,8.599810008e-01,7.021019005e-01,-4.257583806e-06,8.599932500e-01,7.029012514e-01,-9.879087728e-05,8.301772553e-01
+14,1.388333333e+01,DOWN_FORCE_DETACH,1792845269014953858,1.567238864e-04,1.115701396e-05,-2.025422553e-04,1.559492127e-04,1.394376564e-05,-1.897460480e-04,1.661901945e-04,1.303966700e-05,-1.880566030e-04,7.021123218e-01,-1.082804062e-05,8.599408437e-01,7.021115471e-01,-8.041288937e-06,8.599536399e-01,7.029116898e-01,-1.024771473e-04,8.301378197e-01
+15,1.495000000e+01,DOWN_FORCE_DETACH,1792845270161333868,1.630837578e-04,1.263369077e-05,-2.134929781e-04,1.588536783e-04,1.304990807e-05,-2.110881249e-04,1.693641536e-04,1.214973826e-05,-2.096917952e-04,7.021186816e-01,-9.351363806e-06,8.599298929e-01,7.021144515e-01,-8.935146506e-06,8.599322978e-01,7.029148637e-01,-1.033670760e-04,8.301161845e-01
+16,1.603333333e+01,DOWN_FORCE_DETACH,1792845271259532654,1.646438824e-04,1.787336145e-05,-2.285291675e-04,1.588536783e-04,1.304990807e-05,-2.110881249e-04,1.695669484e-04,1.212865938e-05,-2.101638398e-04,7.021202417e-01,-4.111693134e-06,8.599148567e-01,7.021144515e-01,-8.935146506e-06,8.599322978e-01,7.029150665e-01,-1.033881549e-04,8.301157125e-01
+17,1.706666667e+01,DOWN_FORCE_DETACH,1792845272307392363,1.851883599e-04,1.286893035e-05,-2.513924184e-04,1.774991778e-04,1.538815264e-05,-2.474721699e-04,1.888919215e-04,1.433198866e-05,-2.460114625e-04,7.021407862e-01,-9.116124226e-06,8.598919935e-01,7.021330970e-01,-6.596901939e-06,8.598959137e-01,7.029343915e-01,-1.011848256e-04,8.300798649e-01
+18,1.805000000e+01,DOWN_FORCE_DETACH,1792845273306413197,1.971802179e-04,6.466679443e-06,-2.841312076e-04,1.987027714e-04,9.199441460e-06,-2.809694123e-04,2.110971482e-04,8.342822129e-06,-2.791403729e-04,7.021527781e-01,-1.551837514e-05,8.598592547e-01,7.021543006e-01,-1.278561312e-05,8.598624165e-01,7.029565967e-01,-1.071739922e-04,8.300467359e-01
+19,1.913333333e+01,DOWN_FORCE_DETACH,1792845274371255428,2.068053531e-04,9.662218306e-06,-3.016028270e-04,2.015492867e-04,7.424947541e-06,-3.014157635e-04,2.143523385e-04,6.608081275e-06,-2.999010096e-04,7.021624032e-01,-1.232283627e-05,8.598417831e-01,7.021571472e-01,-1.456010704e-05,8.598419702e-01,7.029598519e-01,-1.089087330e-04,8.300259753e-01
+20,2.010000000e+01,DOWN_FORCE_DETACH,1792845275338385357,2.149282836e-04,4.779694503e-06,-3.212824048e-04,2.103266938e-04,8.557876289e-06,-3.206855889e-04,2.235946455e-04,7.652339365e-06,-3.192027758e-04,7.021705262e-01,-1.720536008e-05,8.598221035e-01,7.021659246e-01,-1.342717829e-05,8.598227003e-01,7.029690942e-01,-1.078644749e-04,8.300066735e-01
+21,2.100000000e+01,DOWN_FORCE_DETACH,1792845276238798164,2.278984069e-04,2.751294871e-06,-3.448879426e-04,2.192698978e-04,7.567087101e-06,-3.384011877e-04,2.330332589e-04,6.649355921e-06,-3.370444039e-04,7.021834963e-01,-1.923375971e-05,8.597984980e-01,7.021748678e-01,-1.441796748e-05,8.598049847e-01,7.029785328e-01,-1.088674584e-04,8.299888319e-01
+22,2.210000000e+01,DOWN_FORCE_DETACH,1792845277352352628,2.378864503e-04,3.839809635e-06,-3.837784704e-04,2.346380531e-04,2.205254268e-06,-3.758816432e-04,2.491650667e-04,1.502370430e-06,-3.743873259e-04,7.021934843e-01,-1.814524494e-05,8.597596074e-01,7.021902359e-01,-1.977980031e-05,8.597675043e-01,7.029946646e-01,-1.140144439e-04,8.299514890e-01
+23,2.306666667e+01,DOWN_FORCE_DETACH,1792845278417065108,2.489833533e-04,3.758681786e-06,-4.145300607e-04,2.473035241e-04,-7.183971730e-07,-4.149332504e-04,2.623424212e-04,-1.319561734e-06,-4.130056504e-04,7.022045812e-01,-1.822637279e-05,8.597288559e-01,7.022029014e-01,-2.270345175e-05,8.597284527e-01,7.030078420e-01,-1.168363760e-04,8.299128707e-01
+24,2.391666667e+01,DOWN_FORCE_DETACH,1792845279252299335,2.556936916e-04,-1.355153340e-06,-4.494523074e-04,2.527209531e-04,4.016702008e-06,-4.338685134e-04,2.681873913e-04,3.185088219e-06,-4.325202658e-04,7.022112916e-01,-2.334020792e-05,8.596939336e-01,7.022083188e-01,-1.796835257e-05,8.597095174e-01,7.030136870e-01,-1.123317261e-04,8.298933561e-01
+25,2.486666667e+01,DOWN_FORCE_DETACH,1792845280202644516,2.692253067e-04,-3.784497239e-06,-4.887157025e-04,2.644863412e-04,-1.209797907e-06,-4.747179740e-04,2.803158064e-04,-1.841480648e-06,-4.731428873e-04,7.022248232e-01,-2.576955182e-05,8.596546702e-01,7.022200842e-01,-2.319485249e-05,8.596686679e-01,7.030258154e-01,-1.173582949e-04,8.298527334e-01
+26,2.553333333e+01,DOWN_FORCE_DETACH,1792845280857656732,2.861021566e-04,2.043376149e-06,-5.259267875e-04,2.857934187e-04,3.090787048e-06,-5.194337883e-04,3.023349836e-04,2.255681690e-06,-5.172417701e-04,7.022417000e-01,-1.994167843e-05,8.596174591e-01,7.022413913e-01,-1.889426753e-05,8.596239521e-01,7.030478345e-01,-1.132611326e-04,8.298086345e-01
+27,2.626666667e+01,DOWN_FORCE_DETACH,1792845281628319730,2.956912668e-04,1.117535847e-05,-5.659085373e-04,2.880013990e-04,1.402689496e-05,-5.491347605e-04,3.046287391e-04,1.269430170e-05,-5.471198383e-04,7.022512891e-01,-1.080969611e-05,8.595774774e-01,7.022435993e-01,-7.958159623e-06,8.595942512e-01,7.030501283e-01,-1.028225126e-04,8.297787565e-01
+28,2.715000000e+01,DOWN_FORCE_DETACH,1792845282545028671,3.089553913e-04,4.293761963e-06,-6.202742678e-04,3.034128006e-04,6.496363366e-06,-6.074399540e-04,3.204386915e-04,5.441885964e-06,-6.049788635e-04,7.022645533e-01,-1.769129262e-05,8.595231116e-01,7.022590107e-01,-1.548869121e-05,8.595359460e-01,7.030659383e-01,-1.100749283e-04,8.297208975e-01
+29,2.825000000e+01,DOWN_FORCE_DETACH,1792845283757107727,3.222161217e-04,-3.792410373e-06,-6.869707525e-04,3.191869673e-04,-3.401676348e-06,-6.902682061e-04,3.364016258e-04,-4.107844265e-06,-6.870162960e-04,7.022778140e-01,-2.577746495e-05,8.594564152e-01,7.022747848e-01,-2.538673093e-05,8.594531177e-01,7.030819012e-01,-1.196246586e-04,8.296388600e-01
+30,2.925000000e+01,DOWN_FORCE_DETACH,1792845284756487576,3.312263046e-04,-4.827668872e-06,-7.460656143e-04,3.242063776e-04,-7.475889668e-06,-7.301529444e-04,3.414620449e-04,-8.028288288e-06,-7.274188347e-04,7.022868242e-01,-2.681272345e-05,8.593973203e-01,7.022798042e-01,-2.946094425e-05,8.594132330e-01,7.030869616e-01,-1.235451026e-04,8.295984575e-01
+31,3.028333333e+01,DOWN_FORCE_DETACH,1792845285821008567,3.505301627e-04,-1.170059147e-05,-8.221049832e-04,3.471461622e-04,-8.281352285e-06,-8.159709206e-04,3.647729077e-04,-8.782189194e-06,-8.124910301e-04,7.023061280e-01,-3.368564605e-05,8.593212809e-01,7.023027440e-01,-3.026640687e-05,8.593274150e-01,7.031102725e-01,-1.242990035e-04,8.295133853e-01
+32,3.118333333e+01,DOWN_FORCE_DETACH,1792845286705755777,3.625798237e-04,-1.327223793e-05,-8.985385583e-04,3.622580643e-04,-1.296895013e-05,-8.986254639e-04,3.799385112e-04,-1.321241064e-05,-8.945036622e-04,7.023181777e-01,-3.525729251e-05,8.592448474e-01,7.023178559e-01,-3.495400471e-05,8.592447605e-01,7.031254381e-01,-1.287292249e-04,8.294313727e-01
+33,3.208333333e+01,DOWN_FORCE_DETACH,1792845287622664753,3.786636994e-04,-1.503017219e-05,-9.753624345e-04,3.737081036e-04,-1.761087816e-05,-9.595266346e-04,3.917007687e-04,-1.761195595e-05,-9.560060681e-04,7.023342616e-01,-3.701522677e-05,8.591680235e-01,7.023293060e-01,-3.959593274e-05,8.591838593e-01,7.031372003e-01,-1.331287702e-04,8.293698703e-01
+34,3.298333333e+01,DOWN_FORCE_DETACH,1792845288523929849,3.944483026e-04,-1.693793327e-05,-1.051323872e-03,3.881873596e-04,-1.851074993e-05,-1.042485118e-03,4.063741636e-04,-1.835969894e-05,-1.038870569e-03,7.023500462e-01,-3.892298785e-05,8.590920620e-01,7.023437852e-01,-4.049580451e-05,8.591009008e-01,7.031518737e-01,-1.338765132e-04,8.292870058e-01
+35,3.381666667e+01,DOWN_FORCE_DETACH,1792845289376149573,4.082614612e-04,-1.777569610e-05,-1.134066289e-03,4.073908841e-04,-1.793286524e-05,-1.121109710e-03,4.261558003e-04,-1.775184951e-05,-1.117181139e-03,7.023638593e-01,-3.976075068e-05,8.590093196e-01,7.023629888e-01,-3.991791982e-05,8.590222762e-01,7.031716554e-01,-1.332686638e-04,8.292086952e-01
+36,3.478333333e+01,DOWN_FORCE_DETACH,1792845290358507303,4.271079739e-04,-1.229862527e-05,-1.238881788e-03,4.236262212e-04,-1.409047187e-05,-1.230072905e-03,4.424408087e-04,-1.404267662e-05,-1.225580959e-03,7.023827058e-01,-3.428367985e-05,8.589045041e-01,7.023792241e-01,-3.607552645e-05,8.589133130e-01,7.031879404e-01,-1.295594909e-04,8.291002954e-01
+37,3.546666667e+01,DOWN_FORCE_DETACH,1792845291472251642,4.445043254e-04,-1.533389377e-05,-1.370453235e-03,4.434398928e-04,-1.700789640e-05,-1.367410955e-03,4.621457951e-04,-1.686651861e-05,-1.361445990e-03,7.024001022e-01,-3.731894835e-05,8.587729327e-01,7.023990378e-01,-3.899295098e-05,8.587759750e-01,7.032076454e-01,-1.323833329e-04,8.289644303e-01
+38,3.643333333e+01,DOWN_FORCE_DETACH,1792845292439361150,4.642556104e-04,-1.973894609e-05,-1.490835437e-03,4.607149059e-04,-1.814690489e-05,-1.474216281e-03,4.796306537e-04,-1.810288349e-05,-1.468877812e-03,7.024198535e-01,-4.172400067e-05,8.586525505e-01,7.024163128e-01,-4.013195947e-05,8.586691696e-01,7.032251302e-01,-1.336196978e-04,8.288569985e-01
+39,3.736666667e+01,DOWN_FORCE_DETACH,1792845293372810630,4.824699500e-04,-2.027342543e-05,-1.620117732e-03,4.771665932e-04,-1.989758212e-05,-1.602211613e-03,4.960236388e-04,-1.988581412e-05,-1.596673473e-03,7.024380678e-01,-4.225848001e-05,8.585232682e-01,7.024327645e-01,-4.188263670e-05,8.585411743e-01,7.032415232e-01,-1.354026284e-04,8.287292028e-01
+40,3.825000000e+01,DOWN_FORCE_DETACH,1792845294289729153,4.995509584e-04,-2.204311272e-05,-1.754361837e-03,4.964811256e-04,-2.255648058e-05,-1.751250536e-03,5.151295463e-04,-2.245840438e-05,-1.745000213e-03,7.024551488e-01,-4.402816730e-05,8.583890241e-01,7.024520790e-01,-4.454153516e-05,8.583921354e-01,7.032606291e-01,-1.379752187e-04,8.285808761e-01
+41,3.911666667e+01,DOWN_FORCE_DETACH,1792845295174417315,5.183510610e-04,-1.922446023e-05,-1.898157115e-03,5.182081445e-04,-2.596638581e-05,-1.895974529e-03,5.367141015e-04,-2.564513352e-05,-1.889472641e-03,7.024739489e-01,-4.120951481e-05,8.582452288e-01,7.024738060e-01,-4.795144039e-05,8.582474114e-01,7.032822137e-01,-1.411619478e-04,8.284364037e-01
+42,3.996666667e+01,DOWN_FORCE_DETACH,1792845296042967259,5.383268279e-04,-2.262397125e-05,-2.051426847e-03,5.401528747e-04,-2.089038606e-05,-2.045111640e-03,5.583223150e-04,-2.091199768e-05,-2.038500008e-03,7.024939247e-01,-4.460902583e-05,8.580919591e-01,7.024957507e-01,-4.287544064e-05,8.580982743e-01,7.033038219e-01,-1.364288120e-04,8.282873763e-01
+43,4.066666667e+01,DOWN_FORCE_DETACH,1792845296779697449,5.602866943e-04,-2.154644155e-05,-2.187832116e-03,5.572317358e-04,-2.307843793e-05,-2.181694003e-03,5.748663721e-04,-2.315461600e-05,-2.174722954e-03,7.025158846e-01,-4.353149613e-05,8.579555538e-01,7.025128296e-01,-4.506349251e-05,8.579616919e-01,7.033203659e-01,-1.386714303e-04,8.281511534e-01
+44,4.131666667e+01,DOWN_FORCE_DETACH,1792845297470573752,5.691476848e-04,-2.437534232e-05,-2.335122620e-03,5.694633192e-04,-2.421646847e-05,-2.330366987e-03,5.861222240e-04,-2.434069510e-05,-2.322850726e-03,7.025247456e-01,-4.636039690e-05,8.578082633e-01,7.025250612e-01,-4.620152304e-05,8.578130189e-01,7.033316218e-01,-1.398575094e-04,8.280030256e-01
+45,4.205000000e+01,DOWN_FORCE_DETACH,1792845298187988666,5.946623303e-04,-2.302186750e-05,-2.483913508e-03,5.944038850e-04,-2.318207882e-05,-2.483896606e-03,6.108811666e-04,-2.343744914e-05,-2.476240075e-03,7.025502602e-01,-4.500692208e-05,8.576594724e-01,7.025500018e-01,-4.516713340e-05,8.576594893e-01,7.033563807e-01,-1.389542634e-04,8.278496362e-01
+46,4.278333333e+01,DOWN_FORCE_DETACH,1792845298926435755,6.097459904e-04,-2.334394241e-05,-2.660326274e-03,6.095747375e-04,-2.326800865e-05,-2.660354476e-03,6.253603086e-04,-2.340069312e-05,-2.652018204e-03,7.025653439e-01,-4.532899699e-05,8.574830596e-01,7.025651726e-01,-4.525306323e-05,8.574830314e-01,7.033708599e-01,-1.389175074e-04,8.276738581e-01
+47,4.350000000e+01,DOWN_FORCE_DETACH,1792845299678739612,6.217025067e-04,-1.983914924e-05,-2.847571491e-03,6.226537485e-04,-2.399255342e-05,-2.841302015e-03,6.374092073e-04,-2.396768478e-05,-2.832901209e-03,7.025773004e-01,-4.182420382e-05,8.572958144e-01,7.025782516e-01,-4.597760800e-05,8.573020839e-01,7.033829088e-01,-1.394844991e-04,8.274929751e-01
+48,4.411666667e+01,DOWN_FORCE_DETACH,1792845300399955370,6.375744196e-04,-2.205151636e-05,-3.038280049e-03,6.377016684e-04,-1.459648571e-05,-3.033394032e-03,6.513787398e-04,-1.491055461e-05,-3.024197602e-03,7.025931723e-01,-4.403657094e-05,8.571051059e-01,7.025932995e-01,-3.658154029e-05,8.571099919e-01,7.033968783e-01,-1.304273689e-04,8.273016787e-01
+49,4.476666667e+01,DOWN_FORCE_DETACH,1792845301055206991,6.565710308e-04,-1.891009498e-05,-3.231403441e-03,6.561608840e-04,-1.902070138e-05,-3.231246037e-03,6.689671620e-04,-1.921415926e-05,-3.221512210e-03,7.026121689e-01,-4.089514956e-05,8.569119825e-01,7.026117588e-01,-4.100575596e-05,8.569121399e-01,7.034144667e-01,-1.347309735e-04,8.271043641e-01
+50,4.535000000e+01,DOWN_FORCE_DETACH,1792845301667314110,6.740662918e-04,-2.498198979e-05,-3.424505623e-03,6.695237143e-04,-2.493039756e-05,-3.416367338e-03,6.813999835e-04,-2.497091020e-05,-3.406676544e-03,7.026296642e-01,-4.696704437e-05,8.567188803e-01,7.026251216e-01,-4.691545214e-05,8.567270186e-01,7.034268995e-01,-1.404877245e-04,8.269191998e-01
+51,4.591666667e+01,DOWN_FORCE_DETACH,1792845302251034426,6.842294338e-04,-2.511595247e-05,-3.631618301e-03,6.833514266e-04,-2.494008558e-05,-3.617298553e-03,6.940893672e-04,-2.494449241e-05,-3.607172973e-03,7.026398273e-01,-4.710100705e-05,8.565117676e-01,7.026389493e-01,-4.692514016e-05,8.565260874e-01,7.034395889e-01,-1.404613067e-04,8.267187033e-01
+52,4.646666667e+01,DOWN_FORCE_DETACH,1792845302807589694,6.997890420e-04,-2.923691183e-05,-3.845494478e-03,6.996205444e-04,-2.923443353e-05,-3.845301216e-03,7.089269303e-04,-2.917688061e-05,-3.834107652e-03,7.026553869e-01,-5.122196641e-05,8.562978914e-01,7.026552184e-01,-5.121948811e-05,8.562980847e-01,7.034544265e-01,-1.446936949e-04,8.264917687e-01
+53,4.696666667e+01,DOWN_FORCE_DETACH,1792845303317954975,7.111887858e-04,-3.275905805e-05,-4.047165063e-03,7.071926877e-04,-3.297874389e-05,-4.035534865e-03,7.148185015e-04,-3.282417161e-05,-4.024416844e-03,7.026667867e-01,-5.474411263e-05,8.560962209e-01,7.026627906e-01,-5.496379847e-05,8.561078511e-01,7.034603181e-01,-1.483409859e-04,8.263014595e-01
+54,4.743333333e+01,DOWN_FORCE_DETACH,1792845303806449010,7.262366778e-04,-3.138046998e-05,-4.254733653e-03,7.145124749e-04,-3.088817094e-05,-4.247072946e-03,7.201367528e-04,-3.094765046e-05,-4.235588281e-03,7.026818345e-01,-5.336552456e-05,8.558886523e-01,7.026701103e-01,-5.287322552e-05,8.558963130e-01,7.034656363e-01,-1.464644647e-04,8.260902880e-01
+55,4.786666667e+01,DOWN_FORCE_DETACH,1792845304232972392,7.308302451e-04,-3.189347767e-05,-4.450990540e-03,7.279777788e-04,-3.753786415e-05,-4.433205393e-03,7.322161398e-04,-3.733815666e-05,-4.421904275e-03,7.026864281e-01,-5.387853225e-05,8.556923954e-01,7.026835756e-01,-5.952291873e-05,8.557101805e-01,7.034777157e-01,-1.528549709e-04,8.259039720e-01
+56,4.828333333e+01,DOWN_FORCE_DETACH,1792845304658436233,7.404474018e-04,-3.447234127e-05,-4.658291932e-03,7.402319384e-04,-3.456706470e-05,-4.658368873e-03,7.426238387e-04,-3.444016387e-05,-4.645922491e-03,7.026960453e-01,-5.645739585e-05,8.554850940e-01,7.026958298e-01,-5.655211928e-05,8.554850170e-01,7.034881234e-01,-1.499569782e-04,8.256799538e-01
+57,4.866666667e+01,DOWN_FORCE_DETACH,1792845305051758732,7.395084772e-04,-3.631194449e-05,-4.867539366e-03,7.399088747e-04,-3.905169653e-05,-4.850569294e-03,7.402401529e-04,-3.864117821e-05,-4.838237417e-03,7.026951063e-01,-5.829699907e-05,8.552758466e-01,7.026955067e-01,-6.103675111e-05,8.552928166e-01,7.034857397e-01,-1.541579925e-04,8.254876389e-01
+58,4.911666667e+01,DOWN_SETTLE,1792845305495062829,7.290437751e-04,-3.949164023e-05,-5.091098088e-03,7.316323720e-04,-3.835294001e-05,-5.081252736e-03,7.291636597e-04,-3.791910500e-05,-5.069210138e-03,7.026846416e-01,-6.147669481e-05,8.550522878e-01,7.026872302e-01,-6.033799459e-05,8.550621332e-01,7.034746632e-01,-1.534359193e-04,8.252566662e-01
+59,4.985000000e+01,DOWN_PEAK_HOLD,1792845306215259349,6.713031578e-04,-3.313375265e-05,-5.244147482e-03,6.744279948e-04,-3.196072097e-05,-5.239910614e-03,6.668714295e-04,-3.177599154e-05,-5.231720488e-03,7.026269010e-01,-5.511880723e-05,8.548992384e-01,7.026300259e-01,-5.394577555e-05,8.549034753e-01,7.034123710e-01,-1.472928058e-04,8.250941558e-01

Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/down/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.6561e-01,5.0607e-01,2.4776e+00,-7.1015e-02,4.8537e-02,1.3357e-03,1.0388e-04,6.4909e-05,4.7684e-06,-3.8967e-06,6.8843e-06,-1.3318e-07,1.2258e-04,7.9117e-06
+1,1.1333e+00,DOWN_FORCE_DETACH,2.3723e-04,2.3345e-01,5.0208e-01,2.4828e+00,-6.9904e-02,5.3316e-02,8.3392e-04,6.7935e-02,-3.9246e-03,5.1255e-03,1.1068e-03,4.7860e-03,-5.0193e-04,6.8241e-02,4.9379e-03
+2,2.2500e+00,DOWN_FORCE_DETACH,4.7261e-04,2.6728e-01,5.0072e-01,2.4844e+00,-6.9544e-02,5.5687e-02,5.6834e-04,1.0177e-01,-5.2867e-03,6.7515e-03,1.4674e-03,7.1570e-03,-7.6751e-04,1.0213e-01,7.3460e-03
+3,3.3167e+00,DOWN_FORCE_DETACH,6.9507e-04,2.8391e-01,4.9989e-01,2.4851e+00,-6.9396e-02,5.6855e-02,4.2078e-04,1.1840e-01,-6.1170e-03,7.4449e-03,1.6155e-03,8.3249e-03,-9.1507e-04,1.1879e-01,8.5294e-03
+4,4.1833e+00,DOWN_FORCE_DETACH,9.4101e-04,1.3938e-01,5.0438e-01,2.4840e+00,-6.9780e-02,4.6595e-02,5.8955e-04,-2.6126e-02,-1.6250e-03,6.3558e-03,1.2308e-03,-1.9343e-03,-7.4630e-04,2.6937e-02,2.4111e-03
+5,5.3333e+00,DOWN_FORCE_DETACH,1.1783e-03,2.5155e-01,4.2709e-01,2.5368e+00,-6.4492e-02,5.4521e-02,4.4725e-04,8.6042e-02,-7.8915e-02,5.9143e-02,6.5192e-03,5.9911e-03,-8.8860e-04,1.3088e-01,8.8984e-03
+6,6.4833e+00,DOWN_FORCE_DETACH,1.4133e-03,3.0018e-01,4.5683e-01,2.5748e+00,-6.6700e-02,5.7877e-02,2.8087e-04,1.3467e-01,-4.9172e-02,9.7124e-02,4.3107e-03,9.3469e-03,-1.0550e-03,1.7317e-01,1.0347e-02
+7,7.5667e+00,DOWN_FORCE_DETACH,1.6514e-03,2.9770e-01,4.4999e-01,2.6455e+00,-6.6324e-02,5.7637e-02,8.0137e-05,1.3219e-01,-5.6011e-02,1.6788e-01,4.6867e-03,9.1069e-03,-1.2557e-03,2.2090e-01,1.0319e-02
+8,8.6167e+00,DOWN_FORCE_DETACH,1.8855e-03,3.1181e-01,4.5192e-01,2.5591e+00,-6.6630e-02,5.8712e-02,-1.1886e-04,1.4630e-01,-5.4084e-02,8.1490e-02,4.3813e-03,1.0182e-02,-1.4547e-03,1.7598e-01,1.1180e-02
+9,9.6000e+00,DOWN_FORCE_DETACH,2.1217e-03,2.3683e-01,4.4512e-01,2.6772e+00,-6.6175e-02,5.3206e-02,-2.5733e-04,7.1323e-02,-6.0887e-02,1.9958e-01,4.8356e-03,4.6761e-03,-1.5932e-03,2.2052e-01,6.9128e-03
+10,1.0667e+01,DOWN_FORCE_DETACH,2.3558e-03,2.3870e-01,4.8547e-01,2.6536e+00,-6.9215e-02,5.3312e-02,-4.2368e-04,7.3185e-02,-2.0531e-02,1.7593e-01,1.7964e-03,4.7821e-03,-1.7595e-03,1.9165e-01,5.4029e-03
+11,1.1183e+01,DOWN_FORCE_DETACH,2.5949e-03,1.1299e-01,4.2245e-01,2.6142e+00,-6.4940e-02,4.4432e-02,-5.0983e-04,-5.2522e-02,-8.3558e-02,1.3655e-01,6.0711e-03,-4.0976e-03,-1.8457e-03,1.6849e-01,7.5534e-03
+12,1.2217e+01,DOWN_FORCE_DETACH,2.8299e-03,1.4757e-01,4.5085e-01,2.5946e+00,-6.7258e-02,4.6912e-02,-6.6876e-04,-1.7937e-02,-5.5153e-02,1.1697e-01,3.7533e-03,-1.6175e-03,-2.0046e-03,1.3056e-01,4.5521e-03
+13,1.2817e+01,DOWN_FORCE_DETACH,3.0649e-03,1.0483e-01,2.8010e-01,2.6932e+00,-5.5378e-02,4.3645e-02,-1.0168e-03,-6.0684e-02,-2.2590e-01,2.1559e-01,1.5633e-02,-4.8851e-03,-2.3526e-03,3.1811e-01,1.6546e-02
+14,1.3883e+01,DOWN_FORCE_DETACH,3.3013e-03,1.9338e-01,3.0982e-01,2.7295e+00,-5.7870e-02,4.9886e-02,-1.2191e-03,2.7870e-02,-1.9618e-01,2.5182e-01,1.3141e-02,1.3563e-03,-2.5549e-03,3.2043e-01,1.3456e-02
+15,1.4950e+01,DOWN_FORCE_DETACH,3.5359e-03,2.5735e-01,3.1657e-01,2.6834e+00,-5.8777e-02,5.4535e-02,-1.6658e-03,9.1836e-02,-1.8943e-01,2.0574e-01,1.2234e-02,6.0055e-03,-3.0016e-03,2.9436e-01,1.3955e-02
+16,1.6033e+01,DOWN_FORCE_DETACH,3.7717e-03,2.8921e-01,3.1416e-01,2.6018e+00,-5.8927e-02,5.6887e-02,-1.9107e-03,1.2370e-01,-1.9185e-01,1.2415e-01,1.2084e-02,8.3576e-03,-3.2466e-03,2.5984e-01,1.5047e-02
+17,1.7067e+01,DOWN_FORCE_DETACH,4.0074e-03,2.3738e-01,2.7751e-01,2.6732e+00,-5.6461e-02,5.3025e-02,-2.0411e-03,7.1873e-02,-2.2850e-01,1.9558e-01,1.4550e-02,4.4951e-03,-3.3769e-03,3.0924e-01,1.5598e-02
+18,1.8050e+01,DOWN_FORCE_DETACH,4.2427e-03,1.8587e-01,3.3189e-01,2.7536e+00,-6.0361e-02,4.9324e-02,-2.0492e-03,2.0362e-02,-1.7411e-01,2.7599e-01,1.0650e-02,7.9393e-04,-3.3850e-03,3.2696e-01,1.1203e-02
+19,1.9133e+01,DOWN_FORCE_DETACH,4.4800e-03,2.5236e-01,3.4259e-01,2.6997e+00,-6.1127e-02,5.4056e-02,-2.0141e-03,8.6851e-02,-1.6342e-01,2.2203e-01,9.8839e-03,5.5260e-03,-3.3499e-03,2.8905e-01,1.1809e-02
+20,2.0100e+01,DOWN_FORCE_DETACH,4.7148e-03,2.4882e-01,3.2549e-01,2.6842e+00,-5.9920e-02,5.3809e-02,-1.9209e-03,8.3308e-02,-1.8051e-01,2.0653e-01,1.1091e-02,5.2788e-03,-3.2567e-03,2.8667e-01,1.2708e-02
+21,2.1000e+01,DOWN_FORCE_DETACH,4.9483e-03,2.6529e-01,3.3155e-01,2.6419e+00,-6.0229e-02,5.5074e-02,-1.7532e-03,9.9777e-02,-1.7446e-01,1.6429e-01,1.0782e-02,6.5446e-03,-3.0891e-03,2.5958e-01,1.2986e-02
+22,2.2100e+01,DOWN_FORCE_DETACH,5.1885e-03,2.6819e-01,3.8290e-01,2.6791e+00,-6.3468e-02,5.5424e-02,-1.3221e-03,1.0268e-01,-1.2311e-01,2.0145e-01,7.5428e-03,6.8944e-03,-2.6580e-03,2.5745e-01,1.0559e-02
+23,2.3067e+01,DOWN_FORCE_DETACH,5.4219e-03,2.8696e-01,3.8338e-01,2.6643e+00,-6.3193e-02,5.6745e-02,-1.0869e-03,1.2145e-01,-1.2263e-01,1.8662e-01,7.8185e-03,8.2152e-03,-2.4227e-03,2.5419e-01,1.1597e-02
+24,2.3917e+01,DOWN_FORCE_DETACH,5.6577e-03,2.9291e-01,3.5822e-01,2.6614e+00,-6.1342e-02,5.7091e-02,-8.4801e-04,1.2740e-01,-1.4779e-01,1.8374e-01,9.6692e-03,8.5612e-03,-2.1839e-03,2.6802e-01,1.3098e-02
+25,2.4867e+01,DOWN_FORCE_DETACH,5.8918e-03,2.9345e-01,4.0465e-01,2.6871e+00,-6.4523e-02,5.7143e-02,-6.2568e-04,1.2794e-01,-1.0136e-01,2.0945e-01,6.4879e-03,8.6131e-03,-1.9615e-03,2.6554e-01,1.0960e-02
+26,2.5533e+01,DOWN_FORCE_DETACH,6.1327e-03,2.1074e-01,3.6548e-01,2.7730e+00,-6.1792e-02,5.1220e-02,-6.3026e-04,4.5230e-02,-1.4053e-01,2.9534e-01,9.2191e-03,2.6902e-03,-1.9661e-03,3.3018e-01,9.8028e-03
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+28,2.7150e+01,DOWN_FORCE_DETACH,6.6035e-03,2.4211e-01,3.0102e-01,2.8568e+00,-5.7332e-02,5.3362e-02,-5.9683e-04,7.6597e-02,-2.0499e-01,3.7919e-01,1.3679e-02,4.8321e-03,-1.9327e-03,4.3780e-01,1.4635e-02
+29,2.8250e+01,DOWN_FORCE_DETACH,6.8393e-03,2.4082e-01,3.8106e-01,2.9047e+00,-6.2814e-02,5.3082e-02,-6.4844e-04,7.5306e-02,-1.2495e-01,4.2703e-01,8.1966e-03,4.5527e-03,-1.9843e-03,4.5126e-01,9.5838e-03
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+33,3.2083e+01,DOWN_FORCE_DETACH,7.7821e-03,1.9219e-01,5.4538e-01,3.0681e+00,-7.3162e-02,4.9496e-02,-9.7631e-04,2.6684e-02,3.9376e-02,5.9050e-01,-2.1506e-03,9.6661e-04,-2.3122e-03,5.9241e-01,3.3024e-03
+34,3.2983e+01,DOWN_FORCE_DETACH,8.0159e-03,2.1936e-01,5.7897e-01,3.0693e+00,-7.5272e-02,5.1546e-02,-1.9604e-04,5.3854e-02,7.2964e-02,5.9164e-01,-4.2614e-03,3.0163e-03,-1.5319e-03,5.9855e-01,5.4410e-03
+35,3.3817e+01,DOWN_FORCE_DETACH,8.2540e-03,2.1546e-01,5.9110e-01,3.0970e+00,-7.6137e-02,5.1017e-02,1.4322e-05,4.9948e-02,8.5094e-02,6.1936e-01,-5.1264e-03,2.4877e-03,-1.3215e-03,6.2717e-01,5.8493e-03
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+37,3.5467e+01,DOWN_FORCE_DETACH,8.7233e-03,2.1326e-01,6.0695e-01,3.4738e+00,-7.7229e-02,5.0177e-02,1.0179e-03,4.7745e-02,1.0094e-01,9.9612e-01,-6.2176e-03,1.6476e-03,-3.1800e-04,1.0024e+00,6.4400e-03
+38,3.6433e+01,DOWN_FORCE_DETACH,8.9605e-03,2.3831e-01,5.7626e-01,3.4138e+00,-7.5403e-02,5.2145e-02,9.0312e-04,7.2798e-02,7.0259e-02,9.3620e-01,-4.3920e-03,3.6150e-03,-4.3273e-04,9.4165e-01,5.7048e-03
+39,3.7367e+01,DOWN_FORCE_DETACH,9.1971e-03,2.7651e-01,5.6399e-01,3.4696e+00,-7.5106e-02,5.4847e-02,3.9032e-04,1.1100e-01,5.7988e-02,9.9191e-01,-4.0947e-03,6.3174e-03,-9.4553e-04,9.9978e-01,7.5875e-03
+40,3.8250e+01,DOWN_FORCE_DETACH,9.4310e-03,3.0390e-01,5.9546e-01,3.5781e+00,-7.6923e-02,5.6681e-02,4.3056e-04,1.3839e-01,8.9451e-02,1.1005e+00,-5.9124e-03,8.1511e-03,-9.0529e-04,1.1127e+00,1.0110e-02
+41,3.9117e+01,DOWN_FORCE_DETACH,9.6698e-03,2.9900e-01,6.1250e-01,3.5353e+00,-7.7541e-02,5.6392e-02,5.1156e-04,1.3349e-01,1.0649e-01,1.0577e+00,-6.5301e-03,7.8628e-03,-8.2429e-04,1.0714e+00,1.0254e-02
+42,3.9967e+01,DOWN_FORCE_DETACH,9.9056e-03,2.6864e-01,5.9222e-01,3.5743e+00,-7.5955e-02,5.4253e-02,9.6998e-04,1.0313e-01,8.6217e-02,1.0966e+00,-4.9436e-03,5.7233e-03,-3.6587e-04,1.1048e+00,7.5716e-03
+43,4.0667e+01,DOWN_FORCE_DETACH,1.0139e-02,2.0128e-01,5.7517e-01,3.7180e+00,-7.4579e-02,4.9064e-02,6.6101e-04,3.5767e-02,6.9160e-02,1.2404e+00,-3.5683e-03,5.3465e-04,-6.7484e-04,1.2428e+00,3.6707e-03
+44,4.1317e+01,DOWN_FORCE_DETACH,1.0374e-02,1.7590e-01,5.7462e-01,3.7757e+00,-7.4399e-02,4.7229e-02,4.4461e-04,1.0385e-02,6.8610e-02,1.2981e+00,-3.3877e-03,-1.3008e-03,-8.9124e-04,1.2999e+00,3.7367e-03
+45,4.2050e+01,DOWN_FORCE_DETACH,1.0611e-02,1.2837e-01,5.4517e-01,3.7523e+00,-7.2500e-02,4.4084e-02,4.2805e-04,-3.7142e-02,3.9169e-02,1.2746e+00,-1.4893e-03,-4.4455e-03,-9.0780e-04,1.2758e+00,4.7754e-03
+46,4.2783e+01,DOWN_FORCE_DETACH,1.0848e-02,1.5362e-01,5.8354e-01,3.8492e+00,-7.4540e-02,4.5544e-02,7.4755e-04,-1.1888e-02,7.7534e-02,1.3716e+00,-3.5289e-03,-2.9854e-03,-5.8830e-04,1.3738e+00,4.6596e-03
+47,4.3500e+01,DOWN_FORCE_DETACH,1.1084e-02,1.9673e-01,5.9454e-01,3.9399e+00,-7.4886e-02,4.8415e-02,8.3891e-04,3.1223e-02,8.8534e-02,1.4623e+00,-3.8754e-03,-1.1432e-04,-4.9694e-04,1.4653e+00,3.9088e-03
+48,4.4117e+01,DOWN_FORCE_DETACH,1.1319e-02,1.9527e-01,5.0614e-01,4.0881e+00,-6.8179e-02,4.7933e-02,2.9052e-04,2.9759e-02,1.3679e-04,1.6105e+00,2.8323e-03,-5.9723e-04,-1.0453e-03,1.6108e+00,3.0775e-03
+49,4.4767e+01,DOWN_FORCE_DETACH,1.1557e-02,2.0430e-01,5.6424e-01,4.1471e+00,-7.2042e-02,4.8460e-02,-2.4085e-04,3.8792e-02,5.8236e-02,1.6694e+00,-1.0305e-03,-6.9872e-05,-1.5767e-03,1.6709e+00,1.8849e-03
+50,4.5350e+01,DOWN_FORCE_DETACH,1.1787e-02,2.2764e-01,5.6849e-01,4.2108e+00,-7.2301e-02,5.0073e-02,-3.2321e-04,6.2134e-02,6.2487e-02,1.7331e+00,-1.2902e-03,1.5430e-03,-1.6591e-03,1.7353e+00,2.6073e-03
+51,4.5917e+01,DOWN_FORCE_DETACH,1.2029e-02,2.5697e-01,6.0711e-01,4.3234e+00,-7.4685e-02,5.1978e-02,-2.4423e-04,9.1458e-02,1.0110e-01,1.8458e+00,-3.6735e-03,3.4483e-03,-1.5801e-03,1.8508e+00,5.2804e-03
+52,4.6467e+01,DOWN_FORCE_DETACH,1.2263e-02,2.5765e-01,6.2203e-01,4.4081e+00,-7.5580e-02,5.1891e-02,-1.9389e-05,9.2136e-02,1.1602e-01,1.9305e+00,-4.5688e-03,3.3615e-03,-1.3552e-03,1.9362e+00,5.8318e-03
+53,4.6967e+01,DOWN_FORCE_DETACH,1.2495e-02,2.7960e-01,6.4461e-01,4.5004e+00,-7.6980e-02,5.3248e-02,2.0489e-04,1.1409e-01,1.3860e-01,2.0228e+00,-5.9687e-03,4.7187e-03,-1.1310e-03,2.0307e+00,7.6922e-03
+54,4.7433e+01,DOWN_FORCE_DETACH,1.2734e-02,2.7366e-01,6.0543e-01,4.5399e+00,-7.4040e-02,5.2839e-02,4.1957e-04,1.0815e-01,9.9422e-02,2.0623e+00,-3.0290e-03,4.3092e-03,-9.1628e-04,2.0675e+00,5.3464e-03
+55,4.7867e+01,DOWN_FORCE_DETACH,1.2965e-02,2.2227e-01,6.4742e-01,4.5846e+00,-7.6504e-02,4.9239e-02,5.8042e-04,5.6758e-02,1.4142e-01,2.1069e+00,-5.4929e-03,7.0920e-04,-7.5543e-04,2.1124e+00,5.5898e-03
+56,4.8283e+01,DOWN_FORCE_DETACH,1.3199e-02,1.9219e-01,6.7824e-01,4.6589e+00,-7.8140e-02,4.7101e-02,6.2373e-04,2.6683e-02,1.7224e-01,2.1813e+00,-7.1287e-03,-1.4286e-03,-7.1212e-04,2.1882e+00,7.3052e-03
+57,4.8667e+01,DOWN_FORCE_DETACH,1.3441e-02,2.3223e-01,6.8211e-01,4.7633e+00,-7.7926e-02,4.9532e-02,5.4321e-04,6.6716e-02,1.7611e-01,2.2857e+00,-6.9152e-03,1.0021e-03,-7.9264e-04,2.2934e+00,7.0323e-03
+58,4.9117e+01,DOWN_SETTLE,1.3680e-02,3.0578e-01,7.2552e-01,4.7732e+00,-8.0191e-02,5.4450e-02,4.0915e-04,1.4027e-01,2.1951e-01,2.2956e+00,-9.1799e-03,5.9201e-03,-9.2670e-04,2.3103e+00,1.0963e-02
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Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/up/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/up/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/up/franka_data.csv ADDED Viewed

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

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Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/up/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/up/real_sim_motion_alignment.csv ADDED Viewed

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

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792845241790851209,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.689576753e-09,-6.928430139e-10,6.826710308e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027455073e-01,-1.155175073e-04,8.303258770e-01
+1,3.333333333e-01,WAIT_W2,1792845242118420525,-7.536176104e-07,-3.568096987e-06,-4.508094944e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.427224293e-07,-1.604762748e-08,1.217133816e-08,7.019548442e-01,-2.555315157e-05,8.601429351e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027456423e-01,-1.155328621e-04,8.303258885e-01
+2,4.833333333e-01,WAIT_W2,1792845242282945119,-1.238022898e-06,-9.282722290e-07,-6.081026604e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.956942335e-07,-2.202736792e-08,1.631800539e-08,7.019543598e-01,-2.291332681e-05,8.601427778e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027456953e-01,-1.155388418e-04,8.303258926e-01
+3,6.833333333e-01,WAIT_W2,1792845242529127735,3.560449694e-07,-3.000140733e-05,2.868413841e-06,4.183728909e-07,-2.997631113e-05,3.046789282e-06,7.533070923e-07,-2.854471711e-05,3.008703640e-06,7.019559539e-01,-5.198646191e-05,8.601462543e-01,7.019560162e-01,-5.196136571e-05,8.601464327e-01,7.027462529e-01,-1.440615316e-04,8.303288850e-01
+4,6.833333333e-01,WAIT_W2,1792845242529127735,3.560449694e-07,-3.000140733e-05,2.868413841e-06,4.183728909e-07,-2.997631113e-05,3.046789282e-06,7.533070923e-07,-2.854471711e-05,3.008703640e-06,7.019559539e-01,-5.198646191e-05,8.601462543e-01,7.019560162e-01,-5.196136571e-05,8.601464327e-01,7.027462529e-01,-1.440615316e-04,8.303288850e-01
+5,7.000000000e-01,WAIT_W2,1792845242545780052,2.546620211e-06,-1.122811021e-04,9.745846262e-06,2.515040961e-06,-1.123692023e-04,9.509872820e-06,3.062104973e-06,-1.071300358e-04,9.274494106e-06,7.019581445e-01,-1.342661567e-04,8.601531318e-01,7.019581129e-01,-1.343542569e-04,8.601528958e-01,7.027485617e-01,-2.226468503e-04,8.303351508e-01
+6,7.166666667e-01,WAIT_W2,1792845242560256824,7.640913330e-06,-2.278593353e-04,2.066124543e-05,7.928774087e-06,-2.276661451e-04,2.100874156e-05,8.786795991e-06,-2.173020154e-04,2.037803399e-05,7.019632388e-01,-2.498443899e-04,8.601640472e-01,7.019635266e-01,-2.496511997e-04,8.601643947e-01,7.027542864e-01,-3.328188299e-04,8.303462544e-01
+7,7.166666667e-01,WAIT_W2,1792845242560256824,7.640913330e-06,-2.278593353e-04,2.066124543e-05,7.928774087e-06,-2.276661451e-04,2.100874156e-05,8.786795991e-06,-2.173020154e-04,2.037803399e-05,7.019632388e-01,-2.498443899e-04,8.601640472e-01,7.019635266e-01,-2.496511997e-04,8.601643947e-01,7.027542864e-01,-3.328188299e-04,8.303462544e-01
+8,7.333333333e-01,WAIT_W2,1792845242576900475,9.931788488e-06,-3.337929616e-04,3.032324703e-05,1.004982248e-05,-3.336357955e-04,3.027675034e-05,1.120882924e-05,-3.185931953e-04,2.943384907e-05,7.019655297e-01,-3.557780162e-04,8.601737092e-01,7.019656477e-01,-3.556208501e-04,8.601736627e-01,7.027567084e-01,-4.341100098e-04,8.303553102e-01
+9,7.333333333e-01,WAIT_W2,1792845242576900475,9.931788488e-06,-3.337929616e-04,3.032324703e-05,1.004982248e-05,-3.336357955e-04,3.027675034e-05,1.120882924e-05,-3.185931953e-04,2.943384907e-05,7.019655297e-01,-3.557780162e-04,8.601737092e-01,7.019656477e-01,-3.556208501e-04,8.601736627e-01,7.027567084e-01,-4.341100098e-04,8.303553102e-01
+10,7.333333333e-01,WAIT_W2,1792845242576900475,9.931788488e-06,-3.337929616e-04,3.032324703e-05,1.004982248e-05,-3.336357955e-04,3.027675034e-05,1.120882924e-05,-3.185931953e-04,2.943384907e-05,7.019655297e-01,-3.557780162e-04,8.601737092e-01,7.019656477e-01,-3.556208501e-04,8.601736627e-01,7.027567084e-01,-4.341100098e-04,8.303553102e-01
+11,7.333333333e-01,WAIT_W2,1792845242576900475,9.931788488e-06,-3.337929616e-04,3.032324703e-05,1.004982248e-05,-3.336357955e-04,3.027675034e-05,1.120882924e-05,-3.185931953e-04,2.943384907e-05,7.019655297e-01,-3.557780162e-04,8.601737092e-01,7.019656477e-01,-3.556208501e-04,8.601736627e-01,7.027567084e-01,-4.341100098e-04,8.303553102e-01
+12,7.500000000e-01,WAIT_W2,1792845242593773714,8.021843214e-06,-5.548080505e-04,3.827261809e-05,7.976195002e-06,-5.544313527e-04,3.844579516e-05,9.404947261e-06,-5.295808239e-04,3.751649127e-05,7.019636197e-01,-5.767931051e-04,8.601816585e-01,7.019635741e-01,-5.764164073e-04,8.601818317e-01,7.027549045e-01,-6.450976384e-04,8.303633928e-01
+13,7.500000000e-01,WAIT_W2,1792845242593773714,8.021843214e-06,-5.548080505e-04,3.827261809e-05,7.976195002e-06,-5.544313527e-04,3.844579516e-05,9.404947261e-06,-5.295808239e-04,3.751649127e-05,7.019636197e-01,-5.767931051e-04,8.601816585e-01,7.019635741e-01,-5.764164073e-04,8.601818317e-01,7.027549045e-01,-6.450976384e-04,8.303633928e-01
+14,7.666666667e-01,WAIT_W2,1792845242609647574,1.165184925e-05,-6.502594991e-04,4.355739530e-05,1.156011575e-05,-6.502500277e-04,4.336900097e-05,1.330909059e-05,-6.212498767e-04,4.253717522e-05,7.019672497e-01,-6.722445537e-04,8.601869433e-01,7.019671580e-01,-6.722350823e-04,8.601867549e-01,7.027588087e-01,-7.367666912e-04,8.303684135e-01
+15,7.833333333e-01,WAIT_W2,1792845242625844191,1.167659727e-05,-6.555222077e-04,4.622333796e-05,1.156011575e-05,-6.502500277e-04,4.336900097e-05,1.327133645e-05,-6.214906731e-04,4.278202684e-05,7.019672745e-01,-6.775072623e-04,8.601896093e-01,7.019671580e-01,-6.722350823e-04,8.601867549e-01,7.027587709e-01,-7.370074876e-04,8.303686583e-01
+16,8.000000000e-01,WAIT_W2,1792845242644333696,1.522565608e-05,-6.198168582e-04,5.170884014e-05,1.545436477e-05,-6.198280085e-04,5.145128025e-05,1.740090169e-05,-5.926242288e-04,5.062335804e-05,7.019708235e-01,-6.418019128e-04,8.601950948e-01,7.019710522e-01,-6.418130631e-04,8.601948372e-01,7.027629005e-01,-7.081410432e-04,8.303764997e-01
+17,8.333333333e-01,WAIT_W2,1792845242675227106,2.112081801e-05,-5.426500945e-04,6.288590883e-05,2.381230893e-05,-5.582722906e-04,6.380371878e-05,2.626675568e-05,-5.338717390e-04,6.273249990e-05,7.019767187e-01,-5.646351491e-04,8.602062718e-01,7.019794102e-01,-5.802573452e-04,8.602071896e-01,7.027717663e-01,-6.493885535e-04,8.303886088e-01
+18,8.500000000e-01,WAIT_W2,1792845242691556766,2.670643159e-05,-5.822562399e-04,7.406501975e-05,2.668469556e-05,-5.823340723e-04,7.408863505e-05,2.947692681e-05,-5.567197561e-04,7.262911789e-05,7.019823043e-01,-6.042412945e-04,8.602174509e-01,7.019822826e-01,-6.043191269e-04,8.602174746e-01,7.027749765e-01,-6.722365706e-04,8.303985054e-01
+19,8.833333333e-01,WAIT_W2,1792845242735926098,3.860128658e-05,-6.067539104e-04,1.037476864e-04,3.453505361e-05,-6.158931149e-04,9.491430581e-05,3.800523414e-05,-5.888348682e-04,9.300271600e-05,7.019941992e-01,-6.287389650e-04,8.602471336e-01,7.019901329e-01,-6.378781695e-04,8.602383002e-01,7.027835048e-01,-7.043516827e-04,8.304188790e-01
+20,9.333333333e-01,WAIT_W2,1792845242790837048,4.568462656e-05,-5.809429312e-04,1.273682059e-04,4.257227347e-05,-5.727460911e-04,1.175882084e-04,4.678557013e-05,-5.477279587e-04,1.152563285e-04,7.020012825e-01,-6.029279858e-04,8.602707541e-01,7.019981701e-01,-5.947311457e-04,8.602609741e-01,7.027922851e-01,-6.632447732e-04,8.304411326e-01
+21,1.066666667e+00,WAIT_W2,1792845242921766984,5.953702726e-05,-5.674702200e-04,1.631410118e-04,5.849734083e-05,-5.803091314e-04,1.575071745e-04,6.425984770e-05,-5.550209549e-04,1.545227832e-04,7.020151349e-01,-5.894552745e-04,8.603065269e-01,7.020140952e-01,-6.022941860e-04,8.603008931e-01,7.028097594e-01,-6.705377694e-04,8.304803991e-01
+22,1.150000000e+00,WAIT_W2,1792845243002805594,6.422774577e-05,-5.595183901e-04,1.708200133e-04,6.417461250e-05,-5.596937737e-04,1.706770832e-04,7.050861841e-05,-5.354665835e-04,1.676113074e-04,7.020198256e-01,-5.815034447e-04,8.603142059e-01,7.020197725e-01,-5.816788283e-04,8.603140630e-01,7.028160082e-01,-6.509833980e-04,8.304934876e-01
+23,1.266666667e+00,WAIT_W2,1792845243117423274,6.502396116e-05,-5.666471515e-04,1.778371397e-04,6.819645108e-05,-5.613708181e-04,1.833586837e-04,7.516512143e-05,-5.370676805e-04,1.803348557e-04,7.020206218e-01,-5.886322061e-04,8.603212231e-01,7.020237943e-01,-5.833558727e-04,8.603267446e-01,7.028206647e-01,-6.525844950e-04,8.305062112e-01
+24,1.450000000e+00,UP_FORCE_RAMP,1792845243314260712,6.832663591e-05,-5.634324704e-04,1.854941085e-04,6.819645108e-05,-5.613708181e-04,1.833586837e-04,7.544391555e-05,-5.371440894e-04,1.808813813e-04,7.020239245e-01,-5.854175250e-04,8.603288800e-01,7.020237943e-01,-5.833558727e-04,8.603267446e-01,7.028209435e-01,-6.526609039e-04,8.305067577e-01
+25,1.650000000e+00,UP_FORCE_RAMP,1792845243559896238,6.827067604e-05,-5.700940992e-04,1.869068675e-04,6.819645108e-05,-5.613708181e-04,1.833586837e-04,7.565752293e-05,-5.372424833e-04,1.812880356e-04,7.020238685e-01,-5.920791537e-04,8.603302928e-01,7.020237943e-01,-5.833558727e-04,8.603267446e-01,7.028211571e-01,-6.527592978e-04,8.305071644e-01
+26,1.900000000e+00,UP_FORCE_RAMP,1792845243822105192,6.822673061e-05,-5.610234653e-04,1.884410422e-04,6.819645108e-05,-5.613708181e-04,1.833586837e-04,7.586486478e-05,-5.373422522e-04,1.816736671e-04,7.020238246e-01,-5.830085199e-04,8.603318270e-01,7.020237943e-01,-5.833558727e-04,8.603267446e-01,7.028213644e-01,-6.528590667e-04,8.305075500e-01
+27,2.183333333e+00,UP_FORCE_RAMP,1792845244100543727,6.816769442e-05,-5.617917577e-04,1.905556570e-04,6.819645108e-05,-5.613708181e-04,1.833586837e-04,7.605275448e-05,-5.374307875e-04,1.820173900e-04,7.020237656e-01,-5.837768122e-04,8.603339416e-01,7.020237943e-01,-5.833558727e-04,8.603267446e-01,7.028215523e-01,-6.529476020e-04,8.305078937e-01
+28,2.416666667e+00,UP_FORCE_RAMP,1792845244329461787,7.034355387e-05,-5.604299093e-04,1.956830971e-04,6.819645108e-05,-5.613708181e-04,1.833586837e-04,7.618302690e-05,-5.374884384e-04,1.822490093e-04,7.020259414e-01,-5.824149639e-04,8.603390690e-01,7.020237943e-01,-5.833558727e-04,8.603267446e-01,7.028216826e-01,-6.530052529e-04,8.305081253e-01
+29,2.650000000e+00,UP_FORCE_RAMP,1792845244572943366,7.112424362e-05,-5.607243580e-04,2.048112286e-04,7.134531729e-05,-5.607930987e-04,2.048638863e-04,7.980310395e-05,-5.369795402e-04,2.032666779e-04,7.020267221e-01,-5.827094126e-04,8.603481971e-01,7.020269432e-01,-5.827781532e-04,8.603482498e-01,7.028253027e-01,-6.524963546e-04,8.305291430e-01
+30,2.933333333e+00,UP_FORCE_RAMP,1792845244903234809,6.681477688e-05,-5.594690427e-04,2.105010327e-04,7.134531729e-05,-5.607930987e-04,2.048638863e-04,7.997023808e-05,-5.370256577e-04,2.037719325e-04,7.020224126e-01,-5.814540973e-04,8.603538869e-01,7.020269432e-01,-5.827781532e-04,8.603482498e-01,7.028254698e-01,-6.525424722e-04,8.305296483e-01
+31,3.166666667e+00,UP_FORCE_RAMP,1792845245131840014,6.579186897e-05,-5.601307060e-04,2.186850308e-04,7.134531729e-05,-5.607930987e-04,2.048638863e-04,8.006414801e-05,-5.370610919e-04,2.039883400e-04,7.020213897e-01,-5.821157606e-04,8.603620709e-01,7.020269432e-01,-5.827781532e-04,8.603482498e-01,7.028255637e-01,-6.525779064e-04,8.305298647e-01
+32,3.283333333e+00,UP_FORCE_RAMP,1792845245246894082,3.288181102e-05,-5.559283564e-04,2.170841881e-04,3.341569107e-05,-5.558799577e-04,2.173527637e-04,4.072326090e-05,-5.323252941e-04,2.160650882e-04,7.019884797e-01,-5.779134110e-04,8.603604701e-01,7.019890136e-01,-5.778650123e-04,8.603607387e-01,7.027862228e-01,-6.478421086e-04,8.305419414e-01
+33,3.400000000e+00,UP_FORCE_RAMP,1792845245378373566,2.670661357e-05,-5.564382412e-04,2.209105034e-04,3.341569107e-05,-5.558799577e-04,2.173527637e-04,4.043655306e-05,-5.323179813e-04,2.162218315e-04,7.019823045e-01,-5.784232958e-04,8.603642964e-01,7.019890136e-01,-5.778650123e-04,8.603607387e-01,7.027859361e-01,-6.478347958e-04,8.305420982e-01
+34,3.616666667e+00,UP_FORCE_RAMP,1792845245590890783,2.952581303e-05,-5.558000988e-04,2.319439865e-04,3.341569107e-05,-5.558799577e-04,2.173527637e-04,4.029117951e-05,-5.323287387e-04,2.164181276e-04,7.019851237e-01,-5.777851534e-04,8.603753299e-01,7.019890136e-01,-5.778650123e-04,8.603607387e-01,7.027857907e-01,-6.478455532e-04,8.305422944e-01
+35,3.866666667e+00,UP_FORCE_RAMP,1792845245836800984,3.262346347e-05,-5.526400287e-04,2.455101301e-04,3.193853885e-05,-5.548137402e-04,2.379889698e-04,3.888388195e-05,-5.313216193e-04,2.366749007e-04,7.019882213e-01,-5.746250833e-04,8.603888960e-01,7.019875364e-01,-5.767987948e-04,8.603813749e-01,7.027843834e-01,-6.468384338e-04,8.305625512e-01
+36,4.100000000e+00,UP_FORCE_RAMP,1792845246065865440,3.163276785e-05,-5.556541255e-04,2.575993733e-04,3.193853885e-05,-5.548137402e-04,2.379889698e-04,3.885196639e-05,-5.313346668e-04,2.369197614e-04,7.019872306e-01,-5.776391801e-04,8.604009853e-01,7.019875364e-01,-5.767987948e-04,8.603813749e-01,7.027843515e-01,-6.468514813e-04,8.305627961e-01
+37,4.316666667e+00,UP_FORCE_RAMP,1792845246279169474,3.119306461e-05,-5.533096272e-04,2.723735537e-04,3.197470845e-05,-5.542804184e-04,2.582197235e-04,3.914308475e-05,-5.308058140e-04,2.568360716e-04,7.019867909e-01,-5.752946818e-04,8.604157595e-01,7.019875726e-01,-5.762654730e-04,8.604016056e-01,7.027846427e-01,-6.463226285e-04,8.305827124e-01
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+50,6.500000000e+00,UP_SETTLE,1792845248507019970,-9.658752796e-05,-5.590363047e-04,4.074282931e-04,-9.463964404e-05,-5.571348161e-04,4.051624235e-04,-9.339882600e-05,-5.333692197e-04,4.022144501e-04,7.018590103e-01,-5.810213593e-04,8.605508142e-01,7.018609582e-01,-5.791198707e-04,8.605485483e-01,7.026521007e-01,-6.488860342e-04,8.307280908e-01
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+56,7.900000000e+00,UP_SETTLE,1792845249931974627,-1.211353947e-04,-5.567794788e-04,4.645586626e-04,-1.173975785e-04,-5.575811760e-04,4.608505040e-04,-1.177873620e-04,-5.337412969e-04,4.580995216e-04,7.018344625e-01,-5.787645334e-04,8.606079446e-01,7.018382003e-01,-5.795662306e-04,8.606042364e-01,7.026277122e-01,-6.492581114e-04,8.307839758e-01
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+59,8.433333333e+00,UP_SETTLE,1792845250456556033,-1.286701592e-04,-5.675577631e-04,4.722603042e-04,-1.173975785e-04,-5.575811760e-04,4.608505040e-04,-1.180538046e-04,-5.337453166e-04,4.586400117e-04,7.018269277e-01,-5.895428177e-04,8.606156462e-01,7.018382003e-01,-5.795662306e-04,8.606042364e-01,7.026274458e-01,-6.492621311e-04,8.307845163e-01

Part2/Fixed/digit/ball_PLA_17.5/press_depth_09/up/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+1,3.3333e-01,WAIT_W2,5.4376e-05,1.9441e-01,5.0873e-01,2.4807e+00,-7.0871e-02,5.0523e-02,1.1310e-03,2.8900e-02,2.7211e-03,3.0470e-03,1.4023e-04,1.9934e-03,-2.0486e-04,2.9187e-02,2.0088e-03
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Part2/Fixed/digit/ball_PLA_17.5/press_depth_10/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_PLA_17.5/press_depth_10/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_PLA_17.5/press_depth_10/down/franka_data.csv ADDED Viewed

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+63982,1792845325757046786,24005188000000,1792845325756374883,DOWN_FORCE_DETACH,10,0.0694,0.06940572708845139,0.6759908399413479,-0.004959652188700353,0.10687706532209137,0.9999999633506752,-0.00016301130989559157,-0.00016483139911281666,0.00010487819195660731,0.6761,-0.0046,0.1069395280914162,1.0,0.0,0.0,0.0,-0.04281590139136271,-0.030723003952994876,-0.1353375338964482,-0.001266693897604032,0.0019776647270168812,0.0001144578153761417,0.826934272868622,1.0709877460181483,1.835978497345262,0.08629977702941853,-0.06991359033661092,-0.005592981984171482,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,0.2203397923366775,1.4727538745388762,-0.016398035619286093,-0.10951100227637034,0.023979210272480896,0.8892480252503834,1.6312548422581434,0.1353375338964482,1.6476528778774295,1.6476528778774295,1.7022323571759004,0,0,-5.923529019655061e-05,-1.0722076268010052e-06
+64100,1792845326741099292,24006172000000,1792845326736374774,DOWN_FORCE_DETACH,10,0.0694,0.06940244138240814,0.6760339184330986,-0.004957187937734209,0.10687864455186688,0.9999999755967226,-0.0001501744212898244,-5.6385223915025013e-05,0.00012048970113917349,0.6761,-0.0046,0.10689086015366135,1.0,0.0,0.0,0.0,-0.21746844752886552,0.10136564639770884,-0.1648721368240289,0.008605395412202121,0.014961163237073902,0.0008474872204432106,0.6522817267311192,1.203076396368852,1.8064438944176813,0.09617186633922468,-0.0569300918265539,-0.004859952579104413,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,0.6584686342308064,1.520665349054907,-0.18024732536713248,-0.09374323796572649,0.19781986820550385,0.9089360864825803,1.6312548422581434,0.1648721368240289,1.8115021676252758,1.8115021676252758,1.8498323571759934,0,0,-5.144874370417037e-05,5.507592164958914e-05
+64234,1792845327857138572,24007288000000,1792845327856375064,DOWN_FORCE_DETACH,10,0.0694,0.06940047442913055,0.6760321853563188,-0.004956373673489293,0.10685788022427478,0.9999999748721043,-0.00015012927539730697,-6.212674748845535e-05,0.00012369366627557583,0.6761,-0.0046,0.10683846894010134,1.0,0.0,0.0,0.0,-0.23380376167568595,0.06398987455562999,0.0035499950647592815,0.00674608220895466,0.015415750261919159,0.001317299425350897,0.6359464125842987,1.1657006245267731,1.9748660263064695,0.09431255313597722,-0.05647550480170864,-0.004390140374196726,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,0.7725473768852046,1.4397679596104749,-0.3481890152598398,-0.024081491737226946,0.3349179348654443,0.8487429828683087,1.6312548422581434,-0.0035499950647592815,1.9794438575179831,1.9794438575179831,2.017232357176099,0,0,-3.364637071320698e-05,-9.895715777220033e-05
+64381,1792845329082092850,24008513000000,1792845329080374778,DOWN_FORCE_DETACH,10,0.0694,0.06939981877803802,0.6760308667870182,-0.004958632466759458,0.10684353486783511,0.9999999743413194,-0.0001483435148060505,-6.737014111813917e-05,0.00012734084471444201,0.6761,-0.0046,0.1068199886420832,1.0,0.0,0.0,0.0,-0.22686885205898888,0.060557200954193036,0.12498726582866193,0.006492720210782732,0.01493479552827387,0.001210317098939668,0.6428813222009958,1.1622679509253362,2.096303297070372,0.0940591911378053,-0.05695645953535393,-0.004497122700607955,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,0.8225994248092564,1.393728419697225,-0.574294198706608,-0.011953589238878995,0.5014225738615375,0.8143402177934429,1.6312548422581434,-0.12498726582866193,2.2055490409647516,2.2055490409647516,2.2009823571762146,0,0,-9.396743935463636e-06,9.49166054087236e-05
+64513,1792845330182189930,24009613000000,1792845330180374662,DOWN_FORCE_DETACH,10,0.0694,0.0693991631269455,0.6760331909980389,-0.004958088884928387,0.10683386597409321,0.9999999739496936,-0.00015060025077695693,-6.600411306030393e-05,0.0001284776158423258,0.6761,-0.0046,0.10679171321636023,1.0,0.0,0.0,0.0,-0.22672280146112023,0.054128254467063375,0.2247690161614282,0.006468617897345402,0.014916172159622043,0.0011299909174314745,0.6430273727988645,1.1558390044382065,2.1960850474031384,0.09403508882436797,-0.056975082904005755,-0.004577448882116149,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,0.7876388312264346,1.4088031557085818,-0.6422972981950368,-0.01762425921157304,0.5364373958314917,0.8234367006207863,1.6312548422581434,-0.2247690161614282,2.27355214045318,2.27355214045318,2.3659823571763186,0,0,-4.5836395272418014e-05,-9.999999025923074e-05
+64646,1792845331291183885,24010722000000,1792845331288375720,DOWN_FORCE_DETACH,10,0.0694,0.06939718872308731,0.6760346676788462,-0.00495613717741395,0.10681105004772612,0.9999999742910646,-0.00014733944679635826,-6.481981440778746e-05,0.0001301929862412308,0.6761,-0.0046,0.1067457832102026,1.0,0.0,0.0,0.0,-0.2493533448438746,0.04202442496346248,0.4444313058131544,0.006397785797158911,0.01588365054292632,0.0009650352019059229,0.6203968294161101,1.1437351749346056,2.4157473370548646,0.09396425672418147,-0.05600760452070148,-0.0047424045976417,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,0.861450381825228,1.3941431412061638,-0.871768166123589,-0.013591145949125584,0.702797837820476,0.8140119432929274,1.6312548422581434,-0.4444313058131544,2.5030230083817324,2.5030230083817324,2.5323323571764234,0,0,-2.901596373869187e-05,-2.3764722160929355e-05
+64780,1792845332407155769,24011838000000,1792845332400365784,DOWN_FORCE_DETACH,10,0.0694,0.06939653307199478,0.6760404394244907,-0.00496172570558396,0.10679106453410288,0.9999999737670487,-0.0001508910563433726,-5.076511048955642e-05,0.00013624815126564503,0.6761,-0.0046,0.10671521263111756,1.0,0.0,0.0,0.0,-0.2847836886143006,0.06116284844014008,0.5476177331718703,0.008314346442057002,0.017986224026914625,0.0009325233194207964,0.5849664856456841,1.1628735984112832,2.5189337644135805,0.09588081736907957,-0.05390503103671317,-0.004774916480126827,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,0.9519867379483657,1.3334815305687266,-0.9903172588091064,0.001650901460668837,0.8013927450489168,0.7751237936054848,1.6312548422581434,-0.5476177331718703,2.6215721010672497,2.6215721010672497,2.699732357176529,0,0,-3.137030336472358e-05,-9.569410128052453e-05
+64894,1792845333357270140,24012788000000,1792845333356365783,DOWN_FORCE_DETACH,10,0.0694,0.06939522176980972,0.6760597139795131,-0.004963135698086858,0.10677955825638456,0.9999999738785007,-0.0001538211304161512,-1.055520919786824e-05,0.00014111523566465343,0.6761,-0.0046,0.1066801392759578,1.0,0.0,0.0,0.0,-0.349225950354643,0.08525558640315056,0.7190955587866392,0.011241850191181735,0.022817542011692976,0.0019235195925302907,0.5205242239053417,1.1869663363742937,2.6904115900283494,0.0988083211182043,-0.04907371305193482,-0.0037839202070173326,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.008364653114925,1.391356975861689,-1.248810391771753,-0.010728703599829493,0.9706028365491522,0.8100333759011333,1.6312548422581434,-0.7190955587866392,2.8800652340298964,2.8800652340298964,2.8422323571766186,0,0,-3.204049205532555e-05,9.999999025923074e-05
+65006,1792845334291306998,24013722000000,1792845334284365512,DOWN_FORCE_DETACH,10,0.0694,0.06939324736595154,0.6760975273539668,-0.004953180494673165,0.10678442463104103,0.999999974667289,-0.00014626504551814153,2.5017660750557724e-05,0.0001417354543580662,0.6761,-0.0046,0.10665863354841996,1.0,0.0,0.0,0.0,-0.3820047540704081,0.15637148956358726,0.7311130422096614,0.013221421124872262,0.025428983612193264,0.0020312216341545914,0.48774542018957656,1.2580822395347304,2.7024290734513716,0.10078789205189483,-0.046462271451434535,-0.003676218165393032,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.05713709307101,1.3681546590826146,-0.9489567123130137,-0.01571565482733151,0.7700907001572648,0.798048485898213,1.6312548422581434,-0.7311130422096614,2.5802115545711573,2.5802115545711573,2.982332357176707,0,0,-2.302953170804501e-05,-9.999961555895993e-05
+65092,1792845335007288825,24014438000000,1792845335004365759,DOWN_FORCE_DETACH,10,0.0694,0.06939324736595154,0.6761043184131744,-0.004957393949469421,0.10676982591486303,0.9999999734048867,-0.00014993088254623043,3.2270733374228276e-05,0.00014530113705740213,0.6761,-0.0046,0.10662934590617751,1.0,0.0,0.0,0.0,-0.46962324464041005,0.23680519537345934,0.7129639266082946,0.022239980246944818,0.03169400535144931,0.00218461151868012,0.40012692961957463,1.3385159453446025,2.6842799578500047,0.10980645117396738,-0.04019724971217849,-0.0035228282808675033,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.293941471723215,1.3942018168937005,-1.2258591904470464,-0.00042941236651440753,0.9991639776733204,0.8177254767699099,1.6312548422581434,-0.7129639266082946,2.85711403270519,2.85711403270519,3.0897323571767745,0,0,-5.882952478916537e-05,-9.999999025923074e-05
+65207,1792845335966318970,24015397000000,1792845335964365678,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.676121030933544,-0.0049595559993846445,0.10673953972301647,0.9999999700322367,-0.00015921746816216476,6.646729520134124e-05,0.00014700437605504743,0.6761,-0.0046,0.10655222215118974,1.0,0.0,0.0,0.0,-0.5303992724284912,0.2635370824003027,1.0013640549098894,0.02512825758055344,0.03565142532743887,0.0024763553401807225,0.3393509018314935,1.3652478323714459,2.9726800861515996,0.112694728507576,-0.03623982973618893,-0.003231084459366901,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.4232299734672544,1.320729381729145,-1.563361326463986,-0.0020832370453439794,1.2433894710945006,0.7662678548601412,1.6312548422581434,-1.0013640549098894,3.1946161687221295,3.1946161687221295,3.233582357176865,0,0,-8.974751792148605e-05,9.999999025923074e-05
+65326,1792845336957276185,24016388000000,1792845336956365917,DOWN_FORCE_DETACH,10,0.0694,0.06939850002527237,0.6761364038066158,-0.004957605811503325,0.10670838355608896,0.9999999674056926,-0.00015606608021774977,9.604218852746737e-05,0.00015182474885009847,0.6761,-0.0046,0.1064818313101632,1.0,0.0,0.0,0.0,-0.6032854595743413,0.296491487811525,1.2821971703212551,0.027011907896219725,0.04060734592299499,0.002935307153542154,0.2664647146856434,1.3982022377826682,3.2535132015629653,0.11457837882324229,-0.03128390914063281,-0.0027721326460054692,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.4973553642688273,1.4062796965753046,-1.8745879427835828,-0.03810400387142903,1.4580265384126254,0.8210857077669582,1.6312548422581434,-1.2821971703212551,3.505842785041726,3.505842785041726,3.382232357176959,0,0,-4.786342780863239e-05,9.999999025923074e-05
+65456,1792845338041390923,24017472000000,1792845338040365895,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6761419358683358,-0.004953991503320837,0.10668662564944158,0.9999999663636366,-0.0001550718715695494,0.00010359737810921,0.0001547122740775596,0.6761,-0.0046,0.10645617998584801,1.0,0.0,0.0,0.0,-0.6155606165356874,0.29746373342469856,1.3776473505657532,0.028333567543981128,0.04097471214973325,0.002877335930311989,0.2541895577242973,1.3991744833958417,3.3489633818074633,0.11590003847100369,-0.030916542913894552,-0.0028301038692356345,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.4535654701885778,1.3502939481714618,-1.841116527439853,-0.018555691885231578,1.42390587884764,0.7867062097741532,1.6312548422581434,-1.3776473505657532,3.4723713696979965,3.4723713696979965,3.5448323571770612,0,0,-6.725903621577995e-06,-8.963010475338535e-05
+65588,1792845339141381907,24018572000000,1792845339140365897,DOWN_FORCE_DETACH,10,0.0694,0.06939718872308731,0.6761448177445978,-0.004959110103336503,0.10667317482507281,0.9999999648837594,-0.00015821597070236055,0.00010640670992110923,0.00015912467722720586,0.6761,-0.0046,0.10643226582948537,1.0,0.0,0.0,0.0,-0.6096842277043839,0.30887207868888233,1.4177150088702095,0.028946528312151415,0.04127828939166575,0.0028572235225590658,0.2600659465556007,1.4105828286600255,3.3890310401119197,0.11651299923917398,-0.03061296567196205,-0.0028502162769885576,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.4957634281879715,1.4279120252358821,-1.9146217915433161,-0.050975647576640186,1.483586696579382,0.8315327687972831,1.6312548422581434,-1.4177150088702095,3.5458766338014596,3.5458766338014596,3.709832357177165,0,0,-4.4308909467909115e-05,-9.999999025923074e-05
+65700,1792845340074438659,24019505000000,1792845340072365678,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6761610890849051,-0.004957975335871075,0.10665710006503389,0.9999999613825443,-0.00015545977957047384,0.00013215494036018886,0.00016445395307783324,0.6761,-0.0046,0.10637414152545958,1.0,0.0,0.0,0.0,-0.6761945280056095,0.3334233380059506,1.5821387544729897,0.031655843199053096,0.045532360124036636,0.0038385199082574106,0.19355564625437519,1.4351340879770937,3.5534547857147,0.11922231412607566,-0.026358894939591166,-0.0018689198912902128,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.6073160056613554,1.4357432042568141,-2.112441384102781,-0.04679512829292227,1.6294319225643605,0.8401196185547884,1.6312548422581434,-1.5821387544729897,3.7436962263609246,3.7436962263609246,3.8497823571772534,0,0,-7.343490232156048e-05,-9.737456260617278e-05
+65832,1792845341174454220,24020605000000,1792845341172365679,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6761793338655605,-0.00495972243204348,0.10661964274625563,0.9999999561284623,-0.00014765547088386888,0.00016255686406292793,0.00017595188422907877,0.6761,-0.0046,0.1063047173006774,1.0,0.0,0.0,0.0,-0.7458708264340715,0.3708013847625147,1.832469972910025,0.03474276145965638,0.050476226882000874,0.0037498624348176377,0.12387934782591314,1.4725121347336578,3.803786004151735,0.12230923238667894,-0.021415028181626924,-0.0019575773647299856,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.7011111839618425,1.3586659127250802,-2.360689476725926,-0.032433291690623145,1.8069619933822705,0.7866193356371112,1.6312548422581434,-1.832469972910025,3.9919443189840695,3.9919443189840695,4.014782357177314,0,0,-4.415122244608304e-05,9.999999025923074e-05
+65951,1792845342166525346,24021597000000,1792845342164365519,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6761870688476386,-0.004962410659481918,0.1066021592582031,0.9999999530087508,-0.00014500401800728973,0.00017653034696132712,0.000182308068859769,0.6761,-0.0046,0.10627699004188354,1.0,0.0,0.0,0.0,-0.7644270250205304,0.36803857297913867,1.939578904755688,0.03568452254821396,0.05144956855682181,0.0036864553470093283,0.10532314923945425,1.4697493229502818,3.910894935997398,0.12325099347523652,-0.020441686506805987,-0.002020984452538295,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.7304041201239813,1.3388134832157377,-2.495338570121548,-0.03387377471877368,1.89992064341331,0.7747856845825023,1.6312548422581434,-1.939578904755688,4.126593412379691,4.126593412379691,4.163582357176967,0,0,-2.2401083928118244e-05,-9.978828460622253e-05
+66087,1792845343299518332,24022730000000,1792845343292365742,DOWN_FORCE_DETACH,10,0.0694,0.06939850002527237,0.6761979843747831,-0.004961294966616497,0.10657795434832656,0.9999999490866263,-0.0001411842443556211,0.000194991931924087,0.00018792223094594198,0.6761,-0.0046,0.1062332707057822,1.0,0.0,0.0,0.0,-0.7928433158835151,0.37578806361212913,2.0462960572715367,0.03614123537258958,0.053437493666029984,0.003928459932720952,0.07690685837646961,1.4774988135832723,4.017612088513247,0.12370770629961214,-0.01845376139759782,-0.0017789798668266712,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.8108008218403322,1.239174729526131,-2.6041537572313924,0.004218081973768128,1.9917055420261554,0.7089794345408214,1.6312548422581434,-2.0462960572715367,4.235408599489536,4.235408599489536,4.333532357176571,0,0,-5.4415503057707266e-05,-9.999999025923074e-05
+66237,1792845344549541809,24023980000000,1792845344548365131,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6762136541400675,-0.004960437597660648,0.10654437713882971,0.9999999428441154,-0.00013312776135674875,0.00022050895413977718,0.00019851304869086667,0.6761,-0.0046,0.10616114082954126,1.0,0.0,0.0,0.0,-0.8418902945073059,0.4082914965188711,2.2840416118260105,0.038557078266742414,0.05739046154256397,0.004556402051716358,0.027859879752678753,1.5100022464900142,4.255357643067721,0.12612354919376498,-0.01450079352106383,-0.0011510377478312654,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.8816173294625975,1.2795048478277775,-2.901135564961999,-0.015424261810860602,2.195265929753391,0.7388276328102549,1.6312548422581434,-2.2840416118260105,4.532390407220142,4.532390407220142,4.521032357176134,0,0,-5.006134722454624e-05,9.999678449024713e-05
+66364,1792845345607547375,24025038000000,1792845345604366016,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6762265589418331,-0.004966215863869735,0.1065218942234933,0.9999999361292707,-0.0001312846932626354,0.0002428352269445986,0.00020731546156926603,0.6761,-0.0046,0.10611870100096069,1.0,0.0,0.0,0.0,-0.8765547199774416,0.420099481513027,2.414677753976454,0.039498755517345566,0.05937002489177037,0.004489702418555304,-0.006804545717456877,1.5218102314841702,4.385993785218164,0.12706522644436813,-0.012521230171857422,-0.001217737380992319,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.8816125056732003,1.2432416421364605,-3.0532856478696884,-0.01204753964825293,2.291179384033667,0.7128413852672046,1.6312548422581434,-2.414677753976454,4.684540490127832,4.684540490127832,4.679732357175764,0,0,-3.7377778529219856e-05,5.000294209101526e-05
+66484,1792845346607593342,24026038000000,1792845346600365718,DOWN_FORCE_DETACH,10,0.0694,0.06939718872308731,0.6762354212652948,-0.004964961273754787,0.10649202536529001,0.9999999321633113,-0.00012634223259088703,0.0002564943290796316,0.00021298952198109213,0.6761,-0.0046,0.1060733278750805,1.0,0.0,0.0,0.0,-0.8907632922457461,0.4324035241637063,2.515231589892271,0.04044626050962423,0.0613373872922597,0.004449311525329485,-0.021013117985761463,1.5341142741348495,4.486547621133981,0.1280127314366468,-0.010553867771368096,-0.0012581282742181387,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.9321025033527675,1.1512085421307294,-3.138897268519701,0.013953670229955197,2.35660918921475,0.6495860651344588,1.6312548422581434,-2.515231589892271,4.770152110777845,4.770152110777845,4.8297323571754145,0,0,-5.670922725439643e-05,-6.70354425010899e-05
+66632,1792845347841642215,24027272000000,1792845347840365155,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6762517159795554,-0.004965389052300295,0.10645555414477827,0.9999999240685166,-0.00011438909138591982,0.00028192206666534603,0.00022525742945459277,0.6761,-0.0046,0.10600067394465244,1.0,0.0,0.0,0.0,-0.9298935780558178,0.4520226704812811,2.7328771835324392,0.042369528734010994,0.06390894982473103,0.004329190644929412,-0.06014340379583316,1.5537334204524242,4.70419321477415,0.12993599966103356,-0.007982305238896772,-0.001378249154618211,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.9991016451408894,1.1855888562778227,-3.381445019740979,0.0072031210914814525,2.525003684697756,0.676308829044975,1.6312548422581434,-2.7328771835324392,5.012699861999122,5.012699861999122,5.014832357174983,0,0,-5.5614356582441065e-05,9.997688374253073e-05
+66765,1792845348949586712,24028380000000,1792845348948365439,DOWN_FORCE_DETACH,10,0.0694,0.06939850002527237,0.6762636393545698,-0.004967851625880412,0.10641871984675425,0.9999999163693718,-0.00011039492263860827,0.00030206881716991063,0.00023509892517286013,0.6761,-0.0046,0.10594790665229811,1.0,0.0,0.0,0.0,-0.9455492224228156,0.4499210084975458,2.8370576385770034,0.04231776865734081,0.06530168768910027,0.004272840506155344,-0.07579904816283085,1.551631758468689,4.808373669818714,0.12988423958436338,-0.00658956737452752,-0.001434599293392279,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.0121640772845173,1.2957163233689415,-3.4561431274814196,-0.02699849267488455,2.5768777838163377,0.7475133661152332,1.6312548422581434,-2.8370576385770034,5.087397969739563,5.087397969739563,5.181032357174596,0,0,-4.956573193134884e-05,-9.791150809424493e-05
+66895,1792845350032681539,24029463000000,1792845350032365486,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6762777242562514,-0.004973402230673048,0.10637669405326296,0.9999999060570138,-0.00010382294484418183,0.00032747680866870664,0.000247605661989309,0.6761,-0.0046,0.10587906546754254,1.0,0.0,0.0,0.0,-0.9668469900265269,0.4684998596141259,2.997535116171151,0.043252926106690084,0.06727406592030592,0.004179552888547414,-0.09709681576654217,1.570210609585269,4.968851147412861,0.13081939703371265,-0.004617189143321879,-0.0015278869110002095,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.1056011161353423,1.2202697817530972,-3.6454623085526654,0.008182763884357715,2.714978749807103,0.705451332474298,1.6312548422581434,-2.997535116171151,5.276717150810809,5.276717150810809,5.343482357174217,0,0,-7.218384268414695e-05,-8.014550456508115e-05
+66977,1792845350716631218,24030147000000,1792845350716365842,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6762936987606141,-0.004970113369631738,0.10633785652009237,0.9999998640581386,-0.0003492932585855594,0.0003729564871236064,4.716191350111708e-05,0.6761,-0.0046,0.10583110200745756,1.0,0.0,0.0,0.0,-0.68645230158067,0.8426565675062143,3.085833732295626,0.06567275162374615,0.049781284934687434,0.004788513156637837,0.18329787267931458,1.9443673174773575,5.057149763537336,0.15323922255076872,-0.02210997012894037,-0.0009189266429097864,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.9551669482438379,1.497481994959992,-3.7048042872882907,-0.08278723840267721,2.724999987322762,0.8896326755179442,1.6312548422581434,-3.085833732295626,5.336059129546435,5.336059129546435,5.446082357173978,0,0,-6.688084079195378e-05,-9.999999025923074e-05
+67058,1792845351391752226,24030822000000,1792845351388365694,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6762987684695388,-0.004954393727332211,0.10630007345739667,0.9999998717150438,-0.0003240092847160722,0.0003744962600396531,5.2756934467070375e-05,0.6761,-0.0046,0.10577622524864078,1.0,0.0,0.0,0.0,-0.8044472301461407,0.6904172041597241,3.252654718145865,0.05712262406805531,0.058592686687183544,0.0050430136998111524,0.06530294411384398,1.7921279541308672,5.2239707493875756,0.14468909499507787,-0.013298568376444253,-0.0006644260997364707,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.176556053561082,1.3924204273133916,-3.8293677768821546,-0.15691358382591583,2.88812963345798,0.8688451117212116,1.6312548422581434,-3.252654718145865,5.460622619140298,5.460622619140298,5.547332357173742,0,0,-9.182331808385425e-05,-9.999844982478407e-05
+67194,1792845352524678367,24031955000000,1792845352524375159,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6763173169115517,-0.004960225887964708,0.10624048720488827,0.9999999029454141,-0.0001230420024168163,0.0004061163197379204,7.404206429311483e-05,0.6761,-0.0046,0.10567610034071966,1.0,0.0,0.0,0.0,-0.8305486897992551,0.6798498904147237,3.423762697680118,0.055600225088307656,0.06085916433795452,0.0038955802452804063,0.0392014844607296,1.7815606403858668,5.3950787289218285,0.14316669601533022,-0.011032090725673276,-0.001811859554267217,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.2589451709861375,1.4820014623193893,-4.07978621708894,-0.16018381431639098,3.0664589843915815,0.8513296844169628,1.6312548422581434,-3.423762697680118,5.7110410593470835,5.7110410593470835,5.717282357173346,0,0,-8.256031693435061e-05,9.999999025923074e-05
+67327,1792845353632790446,24033063000000,1792845353628365639,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6763287856220767,-0.004963544206978265,0.10617421547954262,0.9999998962625856,-0.00011501984867081158,0.00042007009617886905,9.606888746875184e-05,0.6761,-0.0046,0.10559718598371362,1.0,0.0,0.0,0.0,-0.8074553567946935,0.6526952301652835,3.5238099071497357,0.05251844399165233,0.060895045937560836,0.003783290962785024,0.06229481746529115,1.7544059801364267,5.495125938391446,0.1400849149186749,-0.010996209126066964,-0.0019241488367625994,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.232783072254554,1.571902593897893,-4.162897836413311,-0.09941714445272962,3.105518512799476,0.9084662019405246,1.6312548422581434,-3.5238099071497357,5.794152678671455,5.794152678671455,5.883482357172959,0,0,-6.414643725502345e-05,-7.500000206850927e-05
+67453,1792845354682836515,24034113000000,1792845354676376156,DOWN_FORCE_DETACH,10,0.0694,0.06939850002527237,0.6763383596127184,-0.004970805000192369,0.10611717284890514,0.9999998878339541,-0.00011803381945695523,0.000434994523775828,0.00011235090174429071,0.6761,-0.0046,0.10551867912913282,1.0,0.0,0.0,0.0,-0.8006918091964386,0.6256978794315358,3.591529631077158,0.04944291555074383,0.060938049816421154,0.0036948565243966306,0.06905836506354616,1.727408629402679,5.5628456623188685,0.1370093864777664,-0.010953205247206643,-0.0020125832751509928,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.222364873997379,1.4733716689156513,-4.3402600492149865,0.002917521611924364,3.2048560131729467,0.8429055450260974,1.6312548422581434,-3.591529631077158,5.97151489147313,5.97151489147313,6.040982357172592,0,0,-8.588874646826264e-05,2.553320837281534e-05
+67579,1792845355732779846,24035163000000,1792845355732365275,DOWN_FORCE_DETACH,10,0.0694,0.06939850002527237,0.6763574352347462,-0.004977356892572186,0.10605215268233668,0.9999998709096866,-0.00012514503080667322,0.0004670561470010009,0.00012578056800010523,0.6761,-0.0046,0.10541990009387658,1.0,0.0,0.0,0.0,-0.8150671264304811,0.6038871940623223,3.7367415598291194,0.04833788637710247,0.06294766083938678,0.003596040386141045,0.05468304782950363,1.7055979440334654,5.70805759107083,0.13590435730412503,-0.008943594224241009,-0.0021113994134065784,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.207850662686698,1.4595914712938014,-4.440133730505359,0.025229135231270988,3.2596774825712314,0.8606212138062309,1.6312548422581434,-3.7367415598291194,6.071388572763502,6.071388572763502,6.1984823571722245,0,0,-9.808961428800356e-05,-8.611476395715129e-05
+67703,1792845356766888557,24036197000000,1792845356760375437,DOWN_FORCE_DETACH,10,0.0694,0.06939718872308731,0.6763700171598462,-0.004977530239229047,0.10597506055206746,0.9999998591682949,-0.00012718235787331477,0.0004875521272890916,0.00013865001194675395,0.6761,-0.0046,0.1053196796483683,1.0,0.0,0.0,0.0,-0.8032867414526097,0.579509970932484,3.8512507935178144,0.045890944425947613,0.06259758168128068,0.0034546470948461283,0.06646343280737496,1.6812207209036272,5.822566824759525,0.13345741535297018,-0.009293673382347111,-0.002252792704701495,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.2406178444525064,1.3930709510822992,-4.726374559187294,0.06037445492039376,3.4564273539344605,0.8398551096545639,1.6312548422581434,-3.8512507935178144,6.357629401445437,6.357629401445437,6.353582357171863,0,0,-9.840549145404142e-05,9.974345935160329e-05
+67825,1792845357782885701,24037213000000,1792845357780364884,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6763864987229085,-0.004985827963671039,0.10589657267667174,0.9999998433342772,-0.00013948620987198283,0.0005139420266626879,0.00014553857181341456,0.6761,-0.0046,0.10521473965893656,1.0,0.0,0.0,0.0,-0.7701822988292795,0.5675204369140106,3.9916302559996604,0.04425928642942749,0.06094937460140015,0.0033173460195681523,0.09956787543070528,1.6692311868851537,5.962946287241371,0.13182575735645005,-0.010941880462227644,-0.002390093779979471,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.217140340332564,1.2586728203040634,-4.732853404159498,0.11608100652136191,3.457090604222096,0.7579758179391911,1.6312548422581434,-3.9916302559996604,6.364108246417642,6.364108246417642,6.505982357171508,0,0,-0.00010668363983476337,-9.999943514771843e-05
+67943,1792845358766912998,24038197000000,1792845358764374757,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6764015041256927,-0.0049837712230183856,0.1058131673870955,0.9999998264480757,-0.00016789072425746004,0.000540902336226334,0.00013335685251520955,0.6761,-0.0046,0.10510706860205099,1.0,0.0,0.0,0.0,-0.7284996130509604,0.5561729089462477,4.101239003273973,0.04228433293244317,0.0589367754888652,0.0031861579216242407,0.14125056120902424,1.6578836589173909,6.072555034515683,0.12985080385946574,-0.012954479574762595,-0.0025212818779233826,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.2480647774082017,1.3465096058582702,-4.877475599639767,0.10402779363463892,3.566535099456841,0.8146182687504,1.6312548422581434,-4.101239003273973,6.50873044189791,6.50873044189791,6.653582357171164,0,0,-0.00011573249845550494,-9.999999025923074e-05
+68062,1792845359757872433,24039188000000,1792845359752374804,DOWN_FORCE_DETACH,10,0.0694,0.06939718872308731,0.6764188458445377,-0.004977670200528,0.10572556695003546,0.999999807600986,-0.00018987549041652913,0.0005715333336896967,0.00011635206019849085,0.6761,-0.0046,0.10498855674507468,1.0,0.0,0.0,0.0,-0.6862910595539067,0.5354089796957706,4.230768518943368,0.040396998396696124,0.05589886285853246,0.0040384511005800185,0.18345911470607795,1.6371197296669138,6.202084550185078,0.1279634693237187,-0.01599239220509534,-0.0016689886989676047,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.249048461484549,1.495820980774416,-5.059234478982502,0.08553549658492293,3.688727763654629,0.9169836935240244,1.6312548422581434,-4.230768518943368,6.690489321240645,6.690489321240645,6.802232357170817,0,0,-0.000126764118296783,-7.40154022164016e-05
+68175,1792845360699972068,24040130000000,1792845360696365895,DOWN_FORCE_DETACH,10,0.0694,0.06939850002527237,0.6764350317013846,-0.004982417204759746,0.10562991388172871,0.9999997916370279,-0.00019179018123102143,0.0005989698587067041,0.00011234055202751383,0.6761,-0.0046,0.1048650949114138,1.0,0.0,0.0,0.0,-0.6403323824680807,0.5129382845057882,4.348061135479062,0.038259580981464855,0.053838570598685034,0.0038973658477084038,0.22941779179190397,1.6146490344769313,6.3193771667207725,0.12582605190848742,-0.01805268446494276,-0.0018100739518392196,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.233293247173293,1.4338002521848536,-5.20655246572502,0.10555828586967679,3.7892636077189623,0.8772732386979148,1.6312548422581434,-4.348061135479062,6.837807307983163,6.837807307983163,6.943532357170488,0,0,-0.000135045475763953,8.257996706225352e-05
+68293,1792845361682950578,24041113000000,1792845361680375046,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6764533733891009,-0.004987141728586739,0.10552709816122108,0.9999997711237448,-0.00019904893305882075,0.0006282220212107628,0.00012211444002868804,0.6761,-0.0046,0.10473358234997342,1.0,0.0,0.0,0.0,-0.5898361134276993,0.4735972008241116,4.4415988895001055,0.034231452147834976,0.05090437802404289,0.003730571356597041,0.2799140608322854,1.5753079507952548,6.412914920741816,0.12179792307485754,-0.020986877039584906,-0.001976868442950582,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.123572277809188,1.4263721218850554,-5.2787845516063685,0.11250166642893394,3.8154223569298056,0.87152188339913,1.6312548422581434,-4.4415988895001055,6.910039393864512,6.910039393864512,7.0909823571701445,0,0,-0.0001381315851936834,-9.981777490531413e-05
+68408,1792845362641949321,24042072000000,1792845362640365695,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6764725314339354,-0.0049855494270701324,0.10541557718236051,0.9999997494347876,-0.00018989580739010577,0.0006614371803541455,0.00013789004698352349,0.6761,-0.0046,0.10459553594536497,1.0,0.0,0.0,0.0,-0.548327155193107,0.40870513695082833,4.569716053394685,0.03018092422113061,0.04831532661269809,0.0037590522307679158,0.3214230190668777,1.5104158869219715,6.541032084636395,0.11774739514815317,-0.023575928450929706,-0.0019483875687797074,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.1880711608022922,1.3918244546527594,-5.438306832627741,0.12590353913896396,3.9505653308164543,0.8481835872752334,1.6312548422581434,-4.569716053394685,7.069561674885884,7.069561674885884,7.234832357169809,0,0,-0.00015096681940249124,-9.999770042424245e-05
+68517,1792845363549974259,24042980000000,1792845363548374993,DOWN_FORCE_DETACH,10,0.0694,0.06939850002527237,0.6764895686628553,-0.004987605363665573,0.10529906378574454,0.9999997295164679,-0.00018797763891932568,0.0006901923653340282,0.00014390539079603545,0.6761,-0.0046,0.1044536019305694,1.0,0.0,0.0,0.0,-0.5051870158838991,0.3616189924821178,4.669515427837399,0.026149132552833618,0.04575810785920986,0.004413583567310145,0.3645631583760856,1.463329742453261,6.640831459079109,0.11371560347985618,-0.02613314720441794,-0.0012938562322374785,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.1162432639775703,1.3721099958858503,-5.654364054896916,0.14748836417024708,4.079838239854788,0.8374551066945355,1.6312548422581434,-4.669515427837399,7.285618897155059,7.285618897155059,7.371032357169492,0,0,-0.00016295470394303712,9.53715398585075e-05
+68636,1792845364542086729,24043972000000,1792845364540365700,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6765104098148832,-0.004982859761836531,0.10516273850321323,0.9999997030676337,-0.00020395385444663082,0.0007257340775103994,0.0001304621879591541,0.6761,-0.0046,0.10428793099909857,1.0,0.0,0.0,0.0,-0.41858247478105765,0.3142950732027898,4.788775672828789,0.021598082574710492,0.040042679370667564,0.0041880432901056815,0.45116769947892704,1.416005823173933,6.7600917040705,0.10916455350173306,-0.031848575692960235,-0.0015193965094419419,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.0911336885467486,1.4058384139572357,-5.697777441076357,0.16236847359227202,4.119949442606764,0.8604340342701373,1.6312548422581434,-4.788775672828789,7.3290322833345005,7.3290322833345005,7.519832357169145,0,0,-0.00017144259289589148,-9.999980984798924e-05
+68749,1792845365483033807,24044913000000,1792845365476366462,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6765285184028919,-0.004988072975830328,0.10502506235253099,0.9999996813060781,-0.0001926320740935636,0.0007570797206074172,0.00013621228695297294,0.6761,-0.0046,0.10411998322041517,1.0,0.0,0.0,0.0,-0.36961257680119,0.2398008128071043,4.8959005339484225,0.016126500643557154,0.03695965550194583,0.005014114980212596,0.5001375974587947,1.3415115627782475,6.867216565190133,0.10369297157057972,-0.034931599561681966,-0.0006933248193350276,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.9649644442741816,1.3074247433576611,-5.7677921812779,0.2085447043950431,4.143032749187946,0.8013269935616915,1.6312548422581434,-4.8959005339484225,7.399047023536044,7.399047023536044,7.660982357168816,0,0,-0.0001877633729705216,-9.999999025923074e-05
+68857,1792845366383123638,24045813000000,1792845366380366138,DOWN_FORCE_DETACH,10,0.0694,0.06939718872308731,0.6765536129861152,-0.004989322552049807,0.10488265622316788,0.9999996634638942,-0.00011550282456702126,0.0007959157795259398,0.0001330117743439865,0.6761,-0.0046,0.10394021051072723,1.0,0.0,0.0,0.0,-0.31082139278002463,0.1936569635719756,5.006691422473094,0.012419291526856446,0.03298358777675413,0.00483090030359249,0.5589287814799601,1.2953677135431187,6.978007453714804,0.09998576245387901,-0.03890766728687367,-0.0008765394959551334,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,2.019290928875287,1.3223487680157955,-5.926888719750126,0.20821652337681082,4.282054939054371,0.7811789551701155,1.6312548422581434,-5.006691422473094,7.5581435620082695,7.5581435620082695,7.795982357168501,0,0,-0.0002107571708778996,-9.999999025923074e-05
+68949,1792845367150170124,24046580000000,1792845367144375316,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6765696046281803,-0.00499099771342414,0.1047489081003264,0.9999996352577135,-0.00014239247899228757,0.0008254608543634262,0.00013880224816047266,0.6761,-0.0046,0.10377666263497946,1.0,0.0,0.0,0.0,-0.25657304663563496,0.12280961148098846,5.133522407142673,0.0070398972100834956,0.030126884649918945,0.004626092438538259,0.6131771276243497,1.2245203614521316,7.104838438384383,0.09460636813710606,-0.041764370413708854,-0.0010813473610093648,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.9171373127902283,1.3236089883294697,-6.074087499816914,0.23545974391800775,4.358833763534466,0.8109445491128203,1.6312548422581434,-5.133522407142673,7.705342342075057,7.705342342075057,7.911032357168233,0,0,-0.00021081173491174632,-7.526144571302069e-05
+69061,1792845368083176521,24047513000000,1792845368080365970,DOWN_FORCE_DETACH,10,0.0694,0.06939850002527237,0.6765928211523967,-0.004993061868065308,0.10457752951143465,0.999999604372217,-0.00016565792096828348,0.0008570911295174094,0.00014370289723574854,0.6761,-0.0046,0.10357727986146352,1.0,0.0,0.0,0.0,-0.18325699021264164,0.057666667309116626,5.1937311720437584,0.001080810186243203,0.025027781316908984,0.00546588425970353,0.686493184047343,1.1593774172802598,7.165047203285469,0.08864728111326577,-0.046863473746718814,-0.00024155553984409316,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.964831805913803,1.3191538492390988,-6.217727847177806,0.25641322121681376,4.487459847118543,0.8060736323186887,1.6312548422581434,-5.1937311720437584,7.84898268943595,7.84898268943595,8.050982357167907,0,0,-0.00022105021938864512,-7.526849562922706e-05
+69159,1792845368900198988,24048330000000,1792845368892365393,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6766112313951811,-0.0049887796852189845,0.10441198711288187,0.9999995704220755,-0.0001956783743214982,0.0008903304612374257,0.00014007202495159278,0.6761,-0.0046,0.10338550112816004,1.0,0.0,0.0,0.0,-0.09611346345523608,-0.014294608194530545,5.312866555955087,-0.003896620489777597,0.01902011388949998,0.005228270233872258,0.7736367108047486,1.0874161417766126,7.284182587196797,0.08366985043724497,-0.05287114117412782,-0.0004791695656753653,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.84346250688238,1.3284632143675257,-6.2689333230429,0.27722223337244484,4.511123158771823,0.8113946454079307,1.6312548422581434,-5.312866555955087,7.900188165301043,7.900188165301043,8.173532357167621,0,0,-0.0002440108822041306,-9.39501074422921e-05
+69258,1792845369725248463,24049155000000,1792845369724365296,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6766284550705949,-0.004986739065133452,0.10423136712674622,0.9999995468585198,-0.00019604975857167523,0.0009145185650569286,0.00015147905963755704,0.6761,-0.0046,0.10318192870322763,1.0,0.0,0.0,0.0,0.02891901128817853,-0.11167469053613877,5.462029825037564,-0.01087956914627751,0.011554596815868415,0.005937567014787111,0.8986691855481632,0.9900360594350044,7.433345856279274,0.07668690178074505,-0.060336658247759384,0.00023012721523948783,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.7002337839002364,1.3079751187270359,-6.408083733502639,0.2990217696047854,4.589150618678922,0.7989428427459694,1.6312548422581434,-5.462029825037564,8.039338575760782,8.039338575760782,8.297282357167333,0,0,-0.00024547591561815816,-9.999847758035969e-05
+69348,1792845370475224888,24049905000000,1792845370472375421,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6766443197725353,-0.004985960697419325,0.10406231015554313,0.9999995337295815,-0.00011070019077098668,0.0009429523555251735,0.00015023250983673339,0.6761,-0.0046,0.10299260215694615,1.0,0.0,0.0,0.0,0.1191915243205467,-0.19544198119242773,5.499461899743826,-0.017849935040596954,0.004828834559486489,0.005740907737597988,0.9889416985805314,0.9062687687787154,7.470777930985537,0.06971653588642561,-0.06706242050414131,3.3467938050364114e-05,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.6305125545163948,1.4152838359195588,-6.42820440608006,0.28155634863905726,4.6072681322435844,0.8496643533202418,1.6312548422581434,-5.499461899743826,8.059459248338204,8.059459248338204,8.409782357167071,0,0,-0.0002648970018434823,-9.999999025923074e-05
+69439,1792845371233301347,24050663000000,1792845371232365739,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6766645346187942,-0.004987216437516066,0.10387907749973581,0.9999994938858163,-0.00013988104133835094,0.0009794014766349444,0.00015772449785521136,0.6761,-0.0046,0.10277879760804397,1.0,0.0,0.0,0.0,0.17820804897200415,-0.29251956342509877,5.566201833252979,-0.024881879008835525,0.00010916715850968484,0.005543529600161509,1.0479582232319888,0.8091911865460444,7.537517864494689,0.06268459191818704,-0.07178208790511811,-0.00016391019938611425,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.5208388710959857,1.3733139932963645,-6.5550577077703895,0.32439357869349006,4.675461359771022,0.8426725986696229,1.6312548422581434,-5.566201833252979,8.186312550028532,8.186312550028532,8.523482357166806,0,0,-0.00029943682467867126,-9.999999025923074e-05
+69525,1792845371950210696,24051380000000,1792845371948365129,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6766839316849134,-0.004986349229060514,0.10367985665665896,0.9999994585931887,-0.00016957256022567528,0.0010103563729697868,0.00015710295965535895,0.6761,-0.0046,0.10255394201618194,1.0,0.0,0.0,0.0,0.24642496973091133,-0.36616937730565546,5.6659702862058285,-0.03089759991176174,-0.003854904375976506,0.006366859917519365,1.116175143990896,0.7355413726654877,7.637286317447539,0.05666887101526082,-0.0757461594396043,0.0006594201179717413,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.4643339617952351,1.3366088126943412,-6.6442660027611495,0.3595265115425366,4.738459277542304,0.8210321467415584,1.6312548422581434,-5.6659702862058285,8.275520845019294,8.275520845019294,8.631032357166555,0,0,-0.00032551396637467276,-9.999999025923074e-05
+69604,1792845372608278366,24052038000000,1792845372604365376,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6767007770177388,-0.004989137578195055,0.10348667980479977,0.9999994370464014,-0.00014237592636937176,0.0010340733087025311,0.0001666470292753202,0.6761,-0.0046,0.1023346961915951,1.0,0.0,0.0,0.0,0.3163459343531747,-0.4640019894840419,5.743684608927773,-0.03795677395492252,-0.008799419572469769,0.006152890938346101,1.1860961086131594,0.6377087604871012,7.7150006401694835,0.04960969697210004,-0.08069067463609757,0.0004454511387984776,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.4238544444311945,1.2497267384247273,-6.736405195779528,0.39837388904034526,4.8150212331367435,0.7740695840381935,1.6312548422581434,-5.743684608927773,8.367660038037672,8.367660038037672,8.729732357166325,0,0,-0.0003423211193773464,-9.999999025923074e-05
+69678,1792845373225266990,24052655000000,1792845373224365898,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6767211154468561,-0.004991802747753621,0.10328838871575369,0.999999398867171,-0.00015435084824415234,0.0010694866772239763,0.00016149991852259265,0.6761,-0.0046,0.10211784797126881,1.0,0.0,0.0,0.0,0.3858416902816104,-0.5503265064736225,5.822464800670114,-0.04497541898704796,-0.01374713203001339,0.0059386328072936175,1.255591864541595,0.5513842434975207,7.793780831911825,0.0425910519399746,-0.08563838709364119,0.00023119300774599415,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.3428473843395117,1.1948819993720958,-6.790850998643943,0.4245378091699366,4.851383248099067,0.7306970319593626,1.6312548422581434,-5.822464800670114,8.422105840902088,8.422105840902088,8.82228235716611,0,0,-0.00036124086563313194,-9.999999025923074e-05
+69747,1792845373800357844,24053230000000,1792845373796365302,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6767353229712978,-0.0049938388939749,0.10309058966278456,0.999999373540863,-0.0001538029247450678,0.001090316109135523,0.0001786510240280905,0.6761,-0.0046,0.10190357051057808,1.0,0.0,0.0,0.0,0.44711567072603153,-0.6723874694376759,5.888201884910513,-0.053819084204979564,-0.018655742323761063,0.005713052848235998,1.3168658449860162,0.42932328053346724,7.859517916152224,0.033747386722043,-0.09054699738738886,5.613048688374322e-06,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.2622137676521794,1.1375100323732024,-6.915474555198199,0.45018807837767466,4.938971599980792,0.6979345138643556,1.6312548422581434,-5.888201884910513,8.546729397456343,8.546729397456343,8.908532357165909,0,0,-0.0003833069975686928,-9.999999025923074e-05
+69816,1792845374375374693,24053805000000,1792845374372365591,DOWN_FORCE_DETACH,10,0.0694,0.06939850002527237,0.676751677430244,-0.004992065611390095,0.10287663894867817,0.9999993486961025,-0.00012561513058763232,0.0011216267532522916,0.00014221287023350279,0.6761,-0.0046,0.10167585554537979,1.0,0.0,0.0,0.0,0.5629398386072137,-0.70609480628153,5.905326837365259,-0.0574114871806775,-0.02608258097948797,0.005555744539876134,1.4326900128671984,0.3956159436896131,7.87664286860697,0.030154983746345065,-0.09797383604311577,-0.0001516952596714895,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.1171016798552313,1.1187448826334554,-6.926966368070615,0.4930559706011827,4.9252629658995755,0.6904769186664348,1.6312548422581434,-5.905326837365259,8.558221210328758,8.558221210328758,8.994782357165708,0,0,-0.00041004767711435983,-9.999999025923074e-05
+69879,1792845374900420773,24054330000000,1792845374900365669,DOWN_FORCE_DETACH,10,0.0694,0.06939718872308731,0.6767613733464184,-0.00499950999853003,0.10266905909324857,0.9999993244571785,-0.0001216784090222387,0.0011386380956443516,0.00017670795881915,0.6761,-0.0046,0.1014537638169518,1.0,0.0,0.0,0.0,0.5951669719936246,-0.8680767389150683,5.934910077236108,-0.06906011477867391,-0.028906505910717695,0.0056753566801314255,1.4649171462536092,0.2336340110560748,7.906226108477818,0.018506356148348658,-0.1007977609743455,-3.208311941619793e-05,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.059118506339437,1.1669746060018698,-6.897023123557946,0.44656234283101726,4.925411251851018,0.7251659560729312,1.6312548422581434,-5.934910077236108,8.52827796581609,8.52827796581609,9.073532357165524,0,0,-0.0004361069424571858,-9.999999025923074e-05
+69940,1792845375408334853,24054838000000,1792845375404365676,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6767732462246692,-0.005003744131413917,0.10244712180868636,0.9999993152425698,-0.00013273772435684896,0.0011424759037251691,0.00019515829916564938,0.6761,-0.0046,0.1012257825914429,1.0,0.0,0.0,0.0,0.6396752873660603,-0.9713784319686033,5.891870181425905,-0.07616307023910814,-0.031402195381141196,0.0062943508227616875,1.509425461626045,0.1303323180025399,7.863186212667616,0.011403400687914428,-0.103293450444769,0.0005869110232140643,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,1.0380824522881429,1.1733528456474906,-6.888281480292874,0.44564580195481784,4.934004499718192,0.7279177388557391,1.6312548422581434,-5.891870181425905,8.519536322551017,8.519536322551017,9.149732357165346,0,0,-0.00046150693750887504,-9.999999025923074e-05
+69993,1792845375850301205,24055280000000,1792845375848365505,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6767865034286036,-0.004988095711892915,0.10224991496891961,0.9999992873183688,-0.00020822491290790787,0.001162832287627521,0.0001458392095518317,0.6761,-0.0046,0.10101692347601762,1.0,0.0,0.0,0.0,0.7922170597090392,-0.973890652411091,5.882024333648083,-0.07761371509826194,-0.04145219513265784,0.006149720433385722,1.661967233969024,0.1278200975600522,7.853340364889793,0.009952755828760627,-0.11334345019628564,0.00044228063383809857,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,0.935750476656619,1.1120044228643153,-6.8877377986663415,0.4589219821403692,4.935177636851744,0.6957861010084057,1.6312548422581434,-5.882024333648083,8.518992640924484,8.518992640924484,9.216032357165192,0,0,-0.000483606933203455,-9.999999025923074e-05
+70046,1792845376292373824,24055722000000,1792845376288364901,DOWN_FORCE_DETACH,10,0.0694,0.06939784437417984,0.6767906192603986,-0.004998881725392597,0.10202877042130926,0.9999992775042932,-0.00020062694867298603,0.0011668208874865585,0.00018631049279704473,0.6761,-0.0046,0.10079829616249535,1.0,0.0,0.0,0.0,0.7761876824660228,-1.1382085406559126,5.840303593344118,-0.08709796510341652,-0.04138960832211411,0.00606633403902591,1.6459378567260075,-0.03649779068476951,7.811619624585829,0.0004685058236060346,-0.1132808633857419,0.000358894239478286,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,0.8407078572712523,1.0614415422122214,-6.7242233019528905,0.4676788572751406,4.8224072260790445,0.6578738150305895,1.6312548422581434,-5.840303593344118,8.355478144211034,8.355478144211034,9.282332357165037,0,0,-0.0005057069288980351,-9.999999025923074e-05
+70102,1792845376753396960,24056183000000,1792845376748365701,DOWN_SETTLE,10,0.0694,0.06939850002527237,0.6767811865742919,-0.005002014432081797,0.10180035406432482,0.9999993178961103,-0.0001283595764558415,0.0011485164304209058,0.00014171805394812934,0.6761,-0.0046,0.10059201775292283,1.0,0.0,0.0,0.0,0.9066533743100738,-1.2819945299615692,5.729769613790667,-0.09786931027284625,-0.04996141986156183,0.004880925870295465,1.7764035485700584,-0.180283779990426,7.701085645032378,-0.010302839345823689,-0.12185267492518963,-0.0008265139292521576,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,0.6341361863948316,1.2747355278896284,-6.713095974806039,0.3823283469331611,4.800592333842566,0.7252532368821626,1.6312548422581434,-5.729769613790667,8.344350817064182,0.0,0.0,0,0,-0.0001395754987280063,0.0014098535225051142
+70192,1792845377501404557,24056931000000,1792845377500365422,DOWN_PEAK_HOLD,10,0.0694,0.06939784437417984,0.6767219014707362,-0.004996432837405565,0.10163918562692136,0.9999994358505465,-0.00012367300534545854,0.001039095297262006,0.00015724949610493313,0.6761,-0.0046,0.10057910795654375,1.0,0.0,0.0,0.0,1.1845973571748651,-1.5193359824674113,4.533444416204728,-0.11537330900733736,-0.07185376878702861,0.0022585983506064034,2.05434753143485,-0.4176252324962682,6.504760447446438,-0.027806838080314804,-0.1437450238506564,-0.00344884144894122,0.8697501742599847,1.1017107499711432,1.9713160312417102,0.08756647092702256,-0.0718912550636278,-0.005707439799547623,1,0.0179285834675577,1.2417992318616429,-5.417911666259062,0.32774789189635545,3.8532904165498683,0.7045711802362566,1.6312548422581434,-4.533444416204728,7.049166508517206,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/ball_PLA_17.5/press_depth_10/down/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/digit/ball_PLA_17.5/press_depth_10/down/real_sim_motion_alignment.csv ADDED Viewed

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

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792845323414804764,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.333863072e-09,-1.019126623e-09,6.975443556e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027455768e-01,-1.153600794e-04,8.303258605e-01
+1,1.266666667e+00,DOWN_FORCE_DETACH,1792845324675368626,-9.233444198e-07,-2.810931092e-07,-1.533458031e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.174077072e-07,-4.739089868e-08,3.805832727e-08,7.019546745e-01,-2.226614769e-05,8.601418525e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027459869e-01,-1.154064512e-04,8.303258978e-01
+2,2.350000000e+00,DOWN_FORCE_DETACH,1792845325756628978,5.937664449e-06,-6.266658106e-07,2.691634291e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.043629527e-07,-6.787442779e-08,4.964343925e-08,7.019615355e-01,-2.261172039e-05,8.601460776e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027461738e-01,-1.154269347e-04,8.303259094e-01
+3,3.283333333e+00,DOWN_FORCE_DETACH,1792845326739698725,5.129428690e-05,2.000304689e-06,5.194051626e-06,5.428416964e-05,-7.435602794e-07,1.149584869e-05,5.786227385e-05,-8.272510789e-07,1.141914952e-05,7.020068922e-01,-1.998474989e-05,8.601485800e-01,7.020098820e-01,-2.272861486e-05,8.601548818e-01,7.028034317e-01,-1.161863114e-04,8.303372789e-01
+4,4.383333333e+00,DOWN_FORCE_DETACH,1792845327853559612,4.759610772e-05,2.295901274e-08,-1.541147804e-05,4.709443922e-05,-6.833006784e-07,-7.413154625e-06,5.096509561e-05,-7.682208154e-07,-6.996980041e-06,7.020031940e-01,-2.196209557e-05,8.601279744e-01,7.020026923e-01,-2.266835526e-05,8.601359728e-01,7.027965345e-01,-1.161272811e-04,8.303188628e-01
+5,5.516666667e+00,DOWN_FORCE_DETACH,1792845329082447037,4.751083608e-05,-2.247361510e-06,-3.095699943e-05,4.677044543e-05,1.476307879e-06,-2.812205893e-05,5.072829152e-05,1.269340527e-06,-2.727160445e-05,7.020031087e-01,-2.423241609e-05,8.601124289e-01,7.020023683e-01,-2.050874670e-05,8.601152639e-01,7.027962977e-01,-1.140897198e-04,8.302985882e-01
+6,6.600000000e+00,DOWN_FORCE_DETACH,1792845330179641289,4.704653716e-05,8.394106060e-07,-4.343198140e-05,4.677044543e-05,1.476307879e-06,-2.812205893e-05,5.089800783e-05,1.278033389e-06,-2.764725216e-05,7.020026444e-01,-2.114564397e-05,8.600999539e-01,7.020023683e-01,-2.050874670e-05,8.601152639e-01,7.027964675e-01,-1.140810269e-04,8.302982125e-01
+7,7.700000000e+00,DOWN_FORCE_DETACH,1792845331293040323,5.182925817e-05,1.969608478e-06,-6.323819407e-05,4.715757224e-05,5.857431140e-06,-4.763267795e-05,5.115661733e-05,5.456172219e-06,-4.695244050e-05,7.020074271e-01,-2.001544610e-05,8.600801477e-01,7.020027554e-01,-1.612762344e-05,8.600957532e-01,7.027967261e-01,-1.099028881e-04,8.302789073e-01
+8,8.800000000e+00,DOWN_FORCE_DETACH,1792845332406879471,5.632090088e-05,-1.073006725e-06,-8.353453823e-05,5.094743125e-05,3.276576374e-06,-6.801332479e-05,5.501884556e-05,3.028973552e-06,-6.727331063e-05,7.020119188e-01,-2.305806130e-05,8.600598514e-01,7.020065453e-01,-1.870847821e-05,8.600753726e-01,7.028005883e-01,-1.123300868e-04,8.302585865e-01
+9,9.733333333e+00,DOWN_FORCE_DETACH,1792845333357667589,7.547275034e-05,-3.035839566e-06,-9.511107247e-05,6.232210967e-05,1.009853543e-06,-8.523391641e-05,6.691538900e-05,8.750723571e-07,-8.432100795e-05,7.020310706e-01,-2.502089415e-05,8.600482748e-01,7.020179200e-01,-2.097520104e-05,8.600581520e-01,7.028124848e-01,-1.144839880e-04,8.302415388e-01
+10,1.041666667e+01,DOWN_FORCE_DETACH,1792845334290750474,1.141491921e-04,8.163412023e-06,-9.023436007e-05,1.264107384e-04,1.333513200e-06,-8.368666398e-05,1.338665703e-04,1.107417601e-06,-8.317776614e-05,7.020697471e-01,-1.382164256e-05,8.600531516e-01,7.020820086e-01,-2.065154138e-05,8.600596993e-01,7.028794360e-01,-1.142516427e-04,8.302426820e-01
+11,1.115000000e+01,DOWN_FORCE_DETACH,1792845335011357080,1.202482993e-04,4.775601085e-06,-1.061867005e-04,1.088665734e-04,1.924572338e-06,-1.081041247e-04,1.162221511e-04,1.656705676e-06,-1.070906779e-04,7.020758462e-01,-1.720945350e-05,8.600371992e-01,7.020644644e-01,-2.006048224e-05,8.600352818e-01,7.028617916e-01,-1.137023546e-04,8.302187691e-01
+12,1.211666667e+01,DOWN_FORCE_DETACH,1792845335961937135,1.347827554e-04,2.613850733e-06,-1.360679074e-04,1.321925679e-04,3.435681932e-06,-1.361579437e-04,1.409218446e-04,3.038505431e-06,-1.345142549e-04,7.020903806e-01,-1.937120385e-05,8.600073180e-01,7.020877904e-01,-1.854937265e-05,8.600072280e-01,7.028864913e-01,-1.123205549e-04,8.301913455e-01
+13,1.313333333e+01,DOWN_FORCE_DETACH,1792845336960477424,1.491266125e-04,2.244276448e-06,-1.734679549e-04,1.489578337e-04,2.164107365e-06,-1.727329063e-04,1.586458870e-04,1.776590450e-06,-1.705570540e-04,7.021047245e-01,-1.974077813e-05,8.599699180e-01,7.021045557e-01,-1.982094721e-05,8.599706530e-01,7.029042153e-01,-1.135824699e-04,8.301553027e-01
+14,1.421666667e+01,DOWN_FORCE_DETACH,1792845338042433235,1.576946392e-04,6.108355200e-06,-1.880436794e-04,1.489578337e-04,2.164107365e-06,-1.727329063e-04,1.592036000e-04,1.735298610e-06,-1.715398377e-04,7.021132925e-01,-1.587669938e-05,8.599553422e-01,7.021045557e-01,-1.982094721e-05,8.599706530e-01,7.029047731e-01,-1.136237617e-04,8.301543199e-01
+15,1.533333333e+01,DOWN_FORCE_DETACH,1792845339139723798,1.616570200e-04,3.737326500e-06,-1.987972753e-04,1.564858460e-04,1.995626861e-06,-1.917127725e-04,1.672582126e-04,1.545095140e-06,-1.905477986e-04,7.021172549e-01,-1.824772808e-05,8.599445886e-01,7.021120837e-01,-1.998942772e-05,8.599516731e-01,7.029128277e-01,-1.138139652e-04,8.301353120e-01
+16,1.626666667e+01,DOWN_FORCE_DETACH,1792845340072922871,1.762744782e-04,-2.318773932e-06,-2.188965894e-04,1.694339516e-04,5.110734759e-06,-2.091014848e-04,1.808010842e-04,4.485371846e-06,-2.078048003e-04,7.021318723e-01,-2.430382851e-05,8.599244893e-01,7.021250318e-01,-1.687431982e-05,8.599342844e-01,7.029263705e-01,-1.108736885e-04,8.301180550e-01
+17,1.738333333e+01,DOWN_FORCE_DETACH,1792845341170474984,1.952807994e-04,3.910207804e-07,-2.545616633e-04,1.896659007e-04,-3.414560168e-07,-2.445161813e-04,2.020419250e-04,-8.217800057e-07,-2.428774083e-04,7.021508787e-01,-2.159403380e-05,8.598888243e-01,7.021452638e-01,-2.232651060e-05,8.598988697e-01,7.029476114e-01,-1.161808403e-04,8.300829824e-01
+18,1.840000000e+01,DOWN_FORCE_DETACH,1792845342170121089,2.031148835e-04,1.091527196e-06,-2.741477658e-04,1.985907677e-04,-2.651701829e-06,-2.622918909e-04,2.116229153e-04,-3.063409948e-06,-2.608841586e-04,7.021587128e-01,-2.089352738e-05,8.598692382e-01,7.021541886e-01,-2.463675641e-05,8.598810940e-01,7.029571924e-01,-1.184224703e-04,8.300649756e-01
+19,1.955000000e+01,DOWN_FORCE_DETACH,1792845343300508444,2.134704888e-04,2.466231801e-06,-2.949657849e-04,2.050051575e-04,1.966670782e-06,-2.821749045e-04,2.185241695e-04,1.354753104e-06,-2.808827387e-04,7.021690684e-01,-1.951882278e-05,8.598484201e-01,7.021606030e-01,-2.001838380e-05,8.598612110e-01,7.029640936e-01,-1.140043072e-04,8.300449770e-01
+20,2.075000000e+01,DOWN_FORCE_DETACH,1792845344545760852,2.299557335e-04,-4.465742976e-06,-3.307939525e-04,2.248691498e-04,-3.082998490e-06,-3.171756165e-04,2.393510033e-04,-3.549734165e-06,-3.156463835e-04,7.021855536e-01,-2.645079756e-05,8.598125920e-01,7.021804670e-01,-2.506805307e-05,8.598262103e-01,7.029849205e-01,-1.189087945e-04,8.300102134e-01
+21,2.180000000e+01,DOWN_FORCE_DETACH,1792845345609804009,2.418596602e-04,-6.290414387e-06,-3.561175875e-04,2.368463537e-04,-4.580322536e-06,-3.576650707e-04,2.517866707e-04,-5.039392255e-06,-3.558007790e-04,7.021974575e-01,-2.827546897e-05,8.597872683e-01,7.021924442e-01,-2.656537712e-05,8.597857208e-01,7.029973561e-01,-1.203984526e-04,8.299700590e-01
+22,2.278333333e+01,DOWN_FORCE_DETACH,1792845346608805640,2.498734030e-04,-3.380099636e-06,-3.803014632e-04,2.448117359e-04,-4.818033261e-06,-3.768809961e-04,2.603024326e-04,-5.285918836e-06,-3.753558650e-04,7.022054713e-01,-2.536515422e-05,8.597630845e-01,7.022004096e-01,-2.680308784e-05,8.597665049e-01,7.030058719e-01,-1.206449791e-04,8.299505039e-01
+23,2.395000000e+01,DOWN_FORCE_DETACH,1792845347838259970,2.666825877e-04,-5.202572013e-06,-4.212259816e-04,2.601920351e-04,-9.984343800e-06,-4.151954643e-04,2.764913440e-04,-1.024348369e-05,-4.135489148e-04,7.022222805e-01,-2.718762659e-05,8.597221599e-01,7.022157899e-01,-3.196939838e-05,8.597281905e-01,7.030220608e-01,-1.256025440e-04,8.299123109e-01
+24,2.505000000e+01,DOWN_FORCE_DETACH,1792845348951226286,2.779039802e-04,-1.448270246e-05,-4.599726154e-04,2.745179926e-04,-8.301115746e-06,-4.535787807e-04,2.914549969e-04,-8.658999897e-06,-4.518950763e-04,7.022335018e-01,-3.646775704e-05,8.596834133e-01,7.022301159e-01,-3.028617033e-05,8.596898071e-01,7.030370245e-01,-1.240180602e-04,8.298739647e-01
+25,2.615000000e+01,DOWN_FORCE_DETACH,1792845350032397095,2.929380963e-04,-1.351166747e-05,-4.982153169e-04,2.881947281e-04,-1.336225786e-05,-4.920857617e-04,3.057461705e-04,-1.353842088e-05,-4.902595020e-04,7.022485360e-01,-3.549672205e-05,8.596451706e-01,7.022437926e-01,-3.534731244e-05,8.596513002e-01,7.030513156e-01,-1.288974812e-04,8.298356003e-01
+26,2.685000000e+01,DOWN_FORCE_DETACH,1792845350720341550,3.078820903e-04,-1.399681783e-05,-5.408079032e-04,3.080281080e-04,-1.401319812e-05,-5.407508507e-04,3.260661084e-04,-1.409808585e-05,-5.379511950e-04,7.022634800e-01,-3.598187241e-05,8.596025780e-01,7.022636260e-01,-3.599825270e-05,8.596026351e-01,7.030716356e-01,-1.294571462e-04,8.297879086e-01
+27,2.751666667e+01,DOWN_FORCE_DETACH,1792845351391890471,3.159150070e-04,6.916713242e-06,-5.714465752e-04,3.089164561e-04,1.066408123e-05,-5.594222740e-04,3.271479676e-04,9.291807216e-06,-5.571128008e-04,7.022715129e-01,-1.506834134e-05,8.595719393e-01,7.022645143e-01,-1.132097335e-05,8.595839636e-01,7.030727174e-01,-1.060672531e-04,8.297687470e-01
+28,2.865000000e+01,DOWN_FORCE_DETACH,1792845352522422325,3.331996483e-04,-3.096076704e-07,-6.350053650e-04,3.280987600e-04,1.006198401e-06,-6.170437920e-04,3.469849799e-04,1.154293853e-08,-6.145231215e-04,7.022887975e-01,-2.229466225e-05,8.595083806e-01,7.022836966e-01,-2.097885618e-05,8.595263421e-01,7.030925544e-01,-1.153475174e-04,8.297113367e-01
+29,2.978333333e+01,DOWN_FORCE_DETACH,1792845353635918395,3.432357667e-04,-6.555512218e-06,-7.012278409e-04,3.431926404e-04,-6.523643833e-06,-7.010696684e-04,3.621738857e-04,-7.220290460e-06,-6.975029376e-04,7.022988336e-01,-2.854056680e-05,8.594421581e-01,7.022987905e-01,-2.850869841e-05,8.594423162e-01,7.031077433e-01,-1.225793508e-04,8.296283568e-01
+30,3.081666667e+01,DOWN_FORCE_DETACH,1792845354684662084,3.546150680e-04,-1.327436293e-05,-7.566314448e-04,3.513148282e-04,-8.826929708e-06,-7.422430850e-04,3.705357792e-04,-9.399245687e-06,-7.392117121e-04,7.023102129e-01,-3.525941751e-05,8.593867545e-01,7.023069127e-01,-3.081198429e-05,8.594011428e-01,7.031161052e-01,-1.247583060e-04,8.295866481e-01
+31,3.185000000e+01,DOWN_FORCE_DETACH,1792845355732487928,3.730653548e-04,-1.725609568e-05,-8.228572488e-04,3.723638701e-04,-1.430769748e-05,-8.193048996e-04,3.918690484e-04,-1.457981742e-05,-8.154743907e-04,7.023286632e-01,-3.924115026e-05,8.593205287e-01,7.023279617e-01,-3.629275206e-05,8.593240810e-01,7.031374385e-01,-1.299388777e-04,8.295103854e-01
+32,3.283333333e+01,DOWN_FORCE_DETACH,1792845356765663725,3.897776368e-04,-1.804187044e-05,-8.931818538e-04,3.866636338e-04,-1.714762026e-05,-8.816754819e-04,4.065007615e-04,-1.724925883e-05,-8.780785756e-04,7.023453755e-01,-4.002692502e-05,8.592502041e-01,7.023422615e-01,-3.913267484e-05,8.592617104e-01,7.031520702e-01,-1.326083191e-04,8.294477812e-01
+33,3.385000000e+01,DOWN_FORCE_DETACH,1792845357781170052,4.022574937e-04,-2.572810515e-05,-9.780966522e-04,3.985148743e-04,-2.442022300e-05,-9.651897983e-04,4.184224133e-04,-2.411132256e-05,-9.614384469e-04,7.023578554e-01,-4.771315973e-05,8.591652893e-01,7.023541127e-01,-4.640527758e-05,8.591781961e-01,7.031639919e-01,-1.394703829e-04,8.293644213e-01
+34,3.483333333e+01,DOWN_FORCE_DETACH,1792845358763003614,4.181440702e-04,-2.269787745e-05,-1.059472592e-03,4.178129798e-04,-2.369494383e-05,-1.048349739e-03,4.383171330e-04,-2.328622628e-05,-1.044425279e-03,7.023737419e-01,-4.468293203e-05,8.590839133e-01,7.023734108e-01,-4.567999841e-05,8.590950362e-01,7.031838866e-01,-1.386452866e-04,8.292814345e-01
+35,3.580000000e+01,DOWN_FORCE_DETACH,1792845359762282453,4.358023637e-04,-2.036335411e-05,-1.147131388e-03,4.317561913e-04,-2.020853545e-05,-1.128924068e-03,4.525449070e-04,-1.995124435e-05,-1.124961013e-03,7.023914002e-01,-4.234840869e-05,8.589962545e-01,7.023873541e-01,-4.219359003e-05,8.590144618e-01,7.031981144e-01,-1.353103047e-04,8.292008988e-01
+36,3.673333333e+01,DOWN_FORCE_DETACH,1792845360696101138,4.518662987e-04,-2.177591321e-05,-1.241398196e-03,4.501964739e-04,-2.209853735e-05,-1.240077993e-03,4.710789539e-04,-2.172905592e-05,-1.235069609e-03,7.024074642e-01,-4.376096779e-05,8.589019877e-01,7.024057943e-01,-4.408359193e-05,8.589033079e-01,7.032166484e-01,-1.370881162e-04,8.290907902e-01
+37,3.773333333e+01,DOWN_FORCE_DETACH,1792845361679676218,4.681914226e-04,-2.363555007e-05,-1.349476076e-03,4.669515408e-04,-2.193819845e-05,-1.343904271e-03,4.879400999e-04,-2.162478753e-05,-1.338699283e-03,7.024237893e-01,-4.562060465e-05,8.587939098e-01,7.024225494e-01,-4.392325303e-05,8.587994816e-01,7.032335096e-01,-1.369838478e-04,8.289871605e-01
+38,3.871666667e+01,DOWN_FORCE_DETACH,1792845362645548432,4.877929153e-04,-2.906173032e-05,-1.460827433e-03,4.830981640e-04,-2.798272281e-05,-1.448629672e-03,5.042746198e-04,-2.751848429e-05,-1.443383660e-03,7.024433908e-01,-5.104678490e-05,8.586825585e-01,7.024386960e-01,-4.996777739e-05,8.586947562e-01,7.032498441e-01,-1.428775446e-04,8.288824761e-01
+39,3.963333333e+01,DOWN_FORCE_DETACH,1792845363546231033,5.059653800e-04,-2.244426104e-05,-1.574799529e-03,5.051183232e-04,-2.292355899e-05,-1.569481390e-03,5.264643677e-04,-2.277035146e-05,-1.563616746e-03,7.024615632e-01,-4.442931562e-05,8.585685864e-01,7.024607162e-01,-4.490861357e-05,8.585739045e-01,7.032720338e-01,-1.381294118e-04,8.287622430e-01
+40,4.061666667e+01,DOWN_FORCE_DETACH,1792845364545687353,5.274401513e-04,-2.432971613e-05,-1.709341126e-03,5.221166216e-04,-2.421237834e-05,-1.697830906e-03,5.435167145e-04,-2.401612103e-05,-1.691731926e-03,7.024830380e-01,-4.631477071e-05,8.584340448e-01,7.024777145e-01,-4.619743292e-05,8.584455550e-01,7.032890862e-01,-1.393751813e-04,8.286341279e-01
+41,4.153333333e+01,DOWN_FORCE_DETACH,1792845365479915465,5.450068940e-04,-2.870987238e-05,-1.847019398e-03,5.421994924e-04,-2.820780053e-05,-1.846924812e-03,5.634216018e-04,-2.777863522e-05,-1.840072681e-03,7.025006048e-01,-5.069492696e-05,8.582963665e-01,7.024977974e-01,-5.019285511e-05,8.582964611e-01,7.033089911e-01,-1.431376955e-04,8.284857871e-01
+42,4.241666667e+01,DOWN_FORCE_DETACH,1792845366379968746,5.676073345e-04,-2.989259805e-05,-1.992640718e-03,5.673008545e-04,-2.976447015e-05,-1.992696490e-03,5.884064168e-04,-2.930224581e-05,-1.985477032e-03,7.025232052e-01,-5.187765263e-05,8.581507452e-01,7.025228987e-01,-5.174952473e-05,8.581506894e-01,7.033339759e-01,-1.446613061e-04,8.283403827e-01
+43,4.318333333e+01,DOWN_FORCE_DETACH,1792845367149801349,5.853137054e-04,-3.185851867e-05,-2.125135557e-03,5.869969221e-04,-2.472899971e-05,-2.119950167e-03,6.079283396e-04,-2.470202432e-05,-2.112686157e-03,7.025409116e-01,-5.384357325e-05,8.580182504e-01,7.025425948e-01,-4.671405429e-05,8.580234357e-01,7.033534978e-01,-1.400610846e-04,8.282131736e-01
+44,4.408333333e+01,DOWN_FORCE_DETACH,1792845368084127319,6.088775399e-04,-3.277396260e-05,-2.296827032e-03,6.069347677e-04,-3.003315808e-05,-2.277336272e-03,6.272874872e-04,-2.985728331e-05,-2.270182483e-03,7.025644754e-01,-5.475901718e-05,8.578465589e-01,7.025625326e-01,-5.201821266e-05,8.578660496e-01,7.033728569e-01,-1.452163436e-04,8.280556773e-01
+45,4.488333333e+01,DOWN_FORCE_DETACH,1792845368896514935,6.265732093e-04,-2.941580366e-05,-2.459475747e-03,6.264392868e-04,-2.948856939e-05,-2.459312382e-03,6.459649231e-04,-2.940224428e-05,-2.451163332e-03,7.025821711e-01,-5.140085824e-05,8.576839102e-01,7.025820372e-01,-5.147362397e-05,8.576840735e-01,7.033915344e-01,-1.447613046e-04,8.278746964e-01
+46,4.570000000e+01,DOWN_FORCE_DETACH,1792845369721637039,6.428170638e-04,-2.610638654e-05,-2.645656851e-03,6.444828535e-04,-2.817368600e-05,-2.637837048e-03,6.633651209e-04,-2.802877000e-05,-2.629194360e-03,7.025984149e-01,-4.809144112e-05,8.574977291e-01,7.026000807e-01,-5.015874058e-05,8.575055489e-01,7.034089346e-01,-1.433878303e-04,8.276966654e-01
+47,4.645000000e+01,DOWN_FORCE_DETACH,1792845370476024386,6.599922250e-04,-2.284504032e-05,-2.812776855e-03,6.582339152e-04,-2.356739092e-05,-2.811082762e-03,6.761804455e-04,-2.356020565e-05,-2.802186144e-03,7.026155901e-01,-4.483009490e-05,8.573306091e-01,7.026138318e-01,-4.555244550e-05,8.573323032e-01,7.034217499e-01,-1.389192660e-04,8.275236736e-01
+48,4.718333333e+01,DOWN_FORCE_DETACH,1792845371229999323,6.806757148e-04,-2.814196169e-05,-2.994719111e-03,6.773065401e-04,-2.448761348e-05,-2.984706329e-03,6.946462580e-04,-2.443422481e-05,-2.975674402e-03,7.026362736e-01,-5.012701627e-05,8.571486668e-01,7.026329044e-01,-4.647266806e-05,8.571586796e-01,7.034402157e-01,-1.397932851e-04,8.273501854e-01
+49,4.788333333e+01,DOWN_FORCE_DETACH,1792845371949162883,7.002746920e-04,-2.777744907e-05,-3.191152345e-03,7.000772857e-04,-2.764469276e-05,-3.190703128e-03,7.167046965e-04,-2.753157956e-05,-3.180518481e-03,7.026558726e-01,-4.976250365e-05,8.569522336e-01,7.026556752e-01,-4.962974734e-05,8.569526828e-01,7.034622742e-01,-1.428906399e-04,8.271453413e-01
+50,4.853333333e+01,DOWN_FORCE_DETACH,1792845372604859179,7.199891018e-04,-2.433457495e-05,-3.382171998e-03,7.177944964e-04,-2.861375340e-05,-3.380267974e-03,7.338499952e-04,-2.850530803e-05,-3.370029414e-03,7.026755870e-01,-4.631962953e-05,8.567612139e-01,7.026733924e-01,-5.059880798e-05,8.567631179e-01,7.034794194e-01,-1.438643683e-04,8.269558304e-01
+51,4.911666667e+01,DOWN_FORCE_DETACH,1792845373227520518,7.366634322e-04,-2.802016716e-05,-3.585650373e-03,7.363133715e-04,-2.823243462e-05,-3.585759359e-03,7.513420672e-04,-2.808657696e-05,-3.574540084e-03,7.026922613e-01,-5.000522174e-05,8.565577355e-01,7.026919112e-01,-5.021748920e-05,8.565576266e-01,7.034969115e-01,-1.434456373e-04,8.267513197e-01
+52,4.970000000e+01,DOWN_FORCE_DETACH,1792845373800412989,7.516938742e-04,-3.084734303e-05,-3.783629385e-03,7.513141907e-04,-3.085794861e-05,-3.783637247e-03,7.652135855e-04,-3.065511480e-05,-3.772122905e-03,7.027072917e-01,-5.283239761e-05,8.563597565e-01,7.027069121e-01,-5.284300319e-05,8.563597487e-01,7.035107830e-01,-1.460141751e-04,8.265537369e-01
+53,5.015000000e+01,DOWN_FORCE_DETACH,1792845374374237799,7.679977502e-04,-3.275922040e-05,-3.998100816e-03,7.678545898e-04,-3.278567373e-05,-3.998272170e-03,7.804028305e-04,-3.251416645e-05,-3.985058928e-03,7.027235956e-01,-5.474427498e-05,8.561452851e-01,7.027234525e-01,-5.477072831e-05,8.561451137e-01,7.035259723e-01,-1.478732268e-04,8.263408009e-01
+54,5.068333333e+01,DOWN_FORCE_DETACH,1792845374897826543,7.758968913e-04,-3.538765328e-05,-4.207062175e-03,7.728825672e-04,-3.591332089e-05,-4.189478881e-03,7.838463745e-04,-3.559640590e-05,-4.177246246e-03,7.027314948e-01,-5.737270785e-05,8.559363237e-01,7.027284804e-01,-5.789837547e-05,8.559539070e-01,7.035294158e-01,-1.509554662e-04,8.261486135e-01
+55,5.120000000e+01,DOWN_FORCE_DETACH,1792845375406653849,7.918918465e-04,-3.856727510e-05,-4.421473046e-03,7.917475200e-04,-3.864196551e-05,-4.421339070e-03,8.010544942e-04,-3.836559932e-05,-4.408380852e-03,7.027474897e-01,-6.055232968e-05,8.557219129e-01,7.027473454e-01,-6.062702009e-05,8.557220468e-01,7.035466239e-01,-1.537246596e-04,8.259174789e-01
+56,5.165000000e+01,DOWN_FORCE_DETACH,1792845375847747913,7.992897691e-04,-3.103220462e-05,-4.628812772e-03,7.981773775e-04,-2.674484626e-05,-4.621544887e-03,8.055748290e-04,-2.692445253e-05,-4.608336108e-03,7.027548876e-01,-5.301725920e-05,8.555145731e-01,7.027537752e-01,-4.872990084e-05,8.555218410e-01,7.035511443e-01,-1.422835128e-04,8.257175237e-01
+57,5.210000000e+01,DOWN_FORCE_DETACH,1792845376290329045,8.027622623e-04,-4.473471347e-05,-4.848557177e-03,8.027051261e-04,-4.470735189e-05,-4.848377662e-03,8.079403667e-04,-4.411910763e-05,-4.834618354e-03,7.027583601e-01,-6.671976805e-05,8.552948287e-01,7.027583030e-01,-6.669240647e-05,8.552950083e-01,7.035535098e-01,-1.594781679e-04,8.254912414e-01
+58,5.256666667e+01,DOWN_SETTLE,1792845376749149549,7.999851536e-04,-3.299693754e-05,-5.074773890e-03,7.986916424e-04,-4.195347371e-05,-5.058862184e-03,8.016896486e-04,-4.142559222e-05,-5.045709745e-03,7.027555830e-01,-5.498199212e-05,8.550686120e-01,7.027542895e-01,-6.393852829e-05,8.550845237e-01,7.035472591e-01,-1.567846525e-04,8.252801500e-01
+59,5.331666667e+01,DOWN_PEAK_HOLD,1792845377504832742,7.385855566e-04,-3.683526130e-05,-5.233778858e-03,7.405348274e-04,-3.727130747e-05,-5.226900963e-03,7.384757804e-04,-3.691079848e-05,-5.217720937e-03,7.026941834e-01,-5.882031588e-05,8.549096071e-01,7.026961327e-01,-5.925636205e-05,8.549164850e-01,7.034840452e-01,-1.522698588e-04,8.251081388e-01

Part2/Fixed/digit/ball_PLA_17.5/press_depth_10/down/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.8750e-01,5.4260e-01,2.4835e+00,-7.3599e-02,5.0036e-02,1.5411e-03,2.6509e-05,-3.0577e-05,1.0490e-05,2.8163e-06,2.1383e-06,-2.0862e-07,4.1806e-05,3.5423e-06
+1,1.2667e+00,DOWN_FORCE_DETACH,2.4499e-04,2.5943e-01,5.3237e-01,2.4908e+00,-7.1862e-02,5.5138e-02,9.2861e-04,7.1959e-02,-1.0264e-02,7.2789e-03,1.7405e-03,5.1038e-03,-6.1271e-04,7.3051e-02,5.4271e-03
+2,2.3500e+00,DOWN_FORCE_DETACH,4.8997e-04,2.9256e-01,5.2991e-01,2.4929e+00,-7.1395e-02,5.7474e-02,6.7964e-04,1.0509e-01,-1.2727e-02,9.3620e-03,2.2073e-03,7.4393e-03,-8.6169e-04,1.0627e-01,7.8076e-03
+3,3.2833e+00,DOWN_FORCE_DETACH,7.3488e-04,4.7618e-02,5.2621e-01,2.4409e+00,-7.1110e-02,4.0063e-02,6.8576e-04,-1.3985e-01,-1.6420e-02,-4.2564e-02,2.4923e-03,-9.9711e-03,-8.5556e-04,1.4710e-01,1.0313e-02
+4,4.3833e+00,DOWN_FORCE_DETACH,9.8052e-04,2.3771e-01,5.2346e-01,2.5341e+00,-7.0947e-02,5.3525e-02,6.8950e-04,5.0242e-02,-1.9178e-02,5.0632e-02,2.6550e-03,3.4906e-03,-8.5182e-04,7.3862e-02,4.4675e-03
+5,5.5167e+00,DOWN_FORCE_DETACH,1.2238e-03,2.9551e-01,5.0136e-01,2.6284e+00,-6.9507e-02,5.7505e-02,5.5332e-04,1.0804e-01,-4.1273e-02,1.4491e-01,4.0951e-03,7.4710e-03,-9.8800e-04,1.8541e-01,8.5768e-03
+6,6.6000e+00,DOWN_FORCE_DETACH,1.4718e-03,3.2790e-01,5.0346e-01,2.5535e+00,-6.9872e-02,5.9912e-02,3.5182e-04,1.4043e-01,-3.9178e-02,6.9975e-02,3.7305e-03,9.8781e-03,-1.1895e-03,1.6172e-01,1.0626e-02
+7,7.7000e+00,DOWN_FORCE_DETACH,1.7147e-03,3.4229e-01,4.5578e-01,2.5812e+00,-6.6615e-02,6.0850e-02,1.3293e-04,1.5482e-01,-8.6850e-02,9.7684e-02,6.9875e-03,1.0816e-02,-1.4084e-03,2.0262e-01,1.2953e-02
+8,8.8000e+00,DOWN_FORCE_DETACH,1.9634e-03,3.4103e-01,4.8653e-01,2.5999e+00,-6.8923e-02,6.0725e-02,-7.5541e-05,1.5356e-01,-5.6099e-02,1.1641e-01,4.6797e-03,1.0690e-02,-1.6169e-03,2.0070e-01,1.1781e-02
+9,9.7333e+00,DOWN_FORCE_DETACH,2.2045e-03,3.1194e-01,5.1044e-01,2.6167e+00,-7.0749e-02,5.8641e-02,-2.3532e-04,1.2447e-01,-3.2198e-02,1.3322e-01,2.8533e-03,8.6073e-03,-1.7766e-03,1.8514e-01,9.2403e-03
+10,1.0417e+01,DOWN_FORCE_DETACH,2.4566e-03,-9.3993e-02,4.9098e-01,2.5018e+00,-6.9577e-02,3.0073e-02,-2.9994e-04,-2.8146e-01,-5.1654e-02,1.8256e-02,4.0255e-03,-1.9962e-02,-1.8413e-03,2.8674e-01,2.0446e-02
+11,1.1150e+01,DOWN_FORCE_DETACH,2.6979e-03,2.0089e-01,4.8872e-01,2.6177e+00,-6.9575e-02,5.0839e-02,-4.5543e-04,1.3425e-02,-5.3909e-02,1.3417e-01,4.0271e-03,8.0435e-04,-1.9968e-03,1.4522e-01,4.5663e-03
+12,1.2117e+01,DOWN_FORCE_DETACH,2.9389e-03,1.8182e-01,4.6076e-01,2.7266e+00,-6.7887e-02,4.9321e-02,-7.2748e-04,-5.6443e-03,-8.1872e-02,2.4314e-01,5.7153e-03,-7.1303e-04,-2.2688e-03,2.5662e-01,6.1904e-03
+13,1.3133e+01,DOWN_FORCE_DETACH,3.1838e-03,2.2425e-01,4.5019e-01,2.6883e+00,-6.7496e-02,5.2281e-02,-9.8441e-04,3.6778e-02,-9.2445e-02,2.0478e-01,6.1059e-03,2.2472e-03,-2.5257e-03,2.2767e-01,6.9793e-03
+14,1.4217e+01,DOWN_FORCE_DETACH,3.4334e-03,2.8845e-01,4.6058e-01,2.6504e+00,-6.8647e-02,5.6811e-02,-1.3937e-03,1.0098e-01,-8.2057e-02,1.6691e-01,4.9554e-03,6.7764e-03,-2.9350e-03,2.1163e-01,8.8933e-03
+15,1.5333e+01,DOWN_FORCE_DETACH,3.6780e-03,3.0838e-01,4.5756e-01,2.6420e+00,-6.8806e-02,5.8247e-02,-1.7385e-03,1.2091e-01,-8.5076e-02,1.5852e-01,4.7958e-03,8.2129e-03,-3.2798e-03,2.1676e-01,1.0060e-02
+16,1.6267e+01,DOWN_FORCE_DETACH,3.9190e-03,2.7782e-01,4.1255e-01,2.6597e+00,-6.5845e-02,5.5952e-02,-1.9131e-03,9.0349e-02,-1.3008e-01,1.7615e-01,7.7570e-03,5.9182e-03,-3.4544e-03,2.3688e-01,1.0350e-02
+17,1.7383e+01,DOWN_FORCE_DETACH,4.1674e-03,2.4724e-01,4.6091e-01,2.7192e+00,-6.9410e-02,5.3663e-02,-1.9520e-03,5.9769e-02,-8.1723e-02,2.3572e-01,4.1924e-03,3.6285e-03,-3.4933e-03,2.5655e-01,6.5533e-03
+18,1.8400e+01,DOWN_FORCE_DETACH,4.4137e-03,2.7405e-01,4.7685e-01,2.6823e+00,-7.0600e-02,5.5552e-02,-1.9846e-03,8.6586e-02,-6.5785e-02,1.9879e-01,3.0020e-03,5.5180e-03,-3.5260e-03,2.2659e-01,7.2036e-03
+19,1.9550e+01,DOWN_FORCE_DETACH,4.6576e-03,3.0695e-01,4.1828e-01,2.6567e+00,-6.6597e-02,5.7957e-02,-2.0034e-03,1.1948e-01,-1.2435e-01,1.7321e-01,7.0053e-03,7.9233e-03,-3.5447e-03,2.4442e-01,1.1154e-02
+20,2.0750e+01,DOWN_FORCE_DETACH,4.9022e-03,2.8596e-01,4.6401e-01,2.6813e+00,-6.9745e-02,5.6432e-02,-1.8065e-03,9.8491e-02,-7.8627e-02,1.9779e-01,3.8567e-03,6.3979e-03,-3.3478e-03,2.3453e-01,8.1863e-03
+21,2.1800e+01,DOWN_FORCE_DETACH,5.1471e-03,2.9181e-01,4.7399e-01,2.7552e+00,-7.0171e-02,5.6870e-02,-1.5620e-03,1.0434e-01,-6.8639e-02,2.7171e-01,3.4312e-03,6.8353e-03,-3.1033e-03,2.9904e-01,8.2538e-03
+22,2.2783e+01,DOWN_FORCE_DETACH,5.3902e-03,3.1612e-01,4.7525e-01,2.6826e+00,-6.9986e-02,5.8630e-02,-1.2374e-03,1.2865e-01,-6.7387e-02,1.9905e-01,3.6160e-03,8.5955e-03,-2.7788e-03,2.4640e-01,9.7304e-03
+23,2.3950e+01,DOWN_FORCE_DETACH,5.6357e-03,3.1823e-01,5.2565e-01,2.6947e+00,-7.3164e-02,5.8784e-02,-8.3645e-04,1.3076e-01,-1.6984e-02,2.1124e-01,4.3844e-04,8.7497e-03,-2.3778e-03,2.4902e-01,9.0777e-03
+24,2.5050e+01,DOWN_FORCE_DETACH,5.8845e-03,3.1649e-01,5.0034e-01,2.7220e+00,-7.1260e-02,5.8738e-02,-5.9745e-04,1.2902e-01,-4.2292e-02,2.3845e-01,2.3426e-03,8.7037e-03,-2.1388e-03,2.7440e-01,9.2637e-03
+25,2.6150e+01,DOWN_FORCE_DETACH,6.1272e-03,3.1258e-01,5.4290e-01,2.7466e+00,-7.4229e-02,5.8444e-02,-4.4690e-04,1.2512e-01,2.6935e-04,2.6307e-01,-6.2693e-04,8.4101e-03,-1.9882e-03,2.9131e-01,8.6647e-03
+26,2.6850e+01,DOWN_FORCE_DETACH,6.3828e-03,1.7412e-01,2.4304e-01,2.8516e+00,-5.3252e-02,4.8594e-02,-6.7588e-04,-1.3347e-02,-2.9960e-01,3.6811e-01,2.0350e-02,-1.4397e-03,-2.2172e-03,4.7481e-01,2.0521e-02
+27,2.7517e+01,DOWN_FORCE_DETACH,6.6173e-03,2.9318e-01,2.6564e-01,2.8197e+00,-5.4931e-02,5.6942e-02,-6.2230e-04,1.0571e-01,-2.7699e-01,3.3621e-01,1.8672e-02,6.9081e-03,-2.1636e-03,4.4826e-01,2.0026e-02
+28,2.8650e+01,DOWN_FORCE_DETACH,6.8644e-03,2.6161e-01,3.6612e-01,2.8886e+00,-6.2077e-02,5.4669e-02,-6.1201e-04,7.4138e-02,-1.7651e-01,4.0510e-01,1.1525e-02,4.6350e-03,-2.1533e-03,4.4806e-01,1.2608e-02
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Part2/Fixed/digit/ball_PLA_17.5/press_depth_10/up/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/ball_PLA_17.5/press_depth_10/up/fem_node.csv ADDED Viewed

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

Part2/Fixed/digit/ball_PLA_17.5/press_depth_10/up/franka_data.csv ADDED Viewed

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

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

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+13,7.833333333e-01,WAIT_W2,1792845310784792052,8.799620885e-06,-5.337621725e-04,3.660873432e-05,8.890505965e-06,-5.338943457e-04,3.630294004e-05,1.038303044e-05,-5.080449651e-04,3.541916880e-05,7.019643975e-01,-5.557472271e-04,8.601799947e-01,7.019644884e-01,-5.558794003e-04,8.601796889e-01,7.027559525e-01,-6.234040261e-04,8.303612789e-01
+14,8.000000000e-01,WAIT_W2,1792845310801036162,1.148920096e-05,-6.488755780e-04,4.487549028e-05,1.165644201e-05,-6.485248118e-04,4.480041480e-05,1.344555271e-05,-6.172037322e-04,4.380690605e-05,7.019670871e-01,-6.708606326e-04,8.601882614e-01,7.019672543e-01,-6.705098664e-04,8.601881863e-01,7.027590150e-01,-7.325627932e-04,8.303696667e-01
+15,8.166666667e-01,WAIT_W2,1792845310817589583,1.574206469e-05,-6.712870382e-04,5.093339304e-05,1.566107121e-05,-6.713534584e-04,5.073890083e-05,1.768444714e-05,-6.390811987e-04,4.979550489e-05,7.019713399e-01,-6.932720928e-04,8.601943193e-01,7.019712589e-01,-6.933385130e-04,8.601941248e-01,7.027632539e-01,-7.544402597e-04,8.303756553e-01
+16,8.333333333e-01,WAIT_W2,1792845310834701481,2.196172069e-05,-6.030910328e-04,6.098617434e-05,2.188062242e-05,-6.032964314e-04,6.104559869e-05,2.427109218e-05,-5.747443454e-04,5.980229527e-05,7.019775596e-01,-6.250760874e-04,8.602043721e-01,7.019774785e-01,-6.252814860e-04,8.602044315e-01,7.027698405e-01,-6.901034064e-04,8.303856621e-01
+17,8.500000000e-01,WAIT_W2,1792845310850725490,2.901278259e-05,-5.572045133e-04,6.991619670e-05,2.892433300e-05,-5.568248082e-04,6.968888205e-05,3.168446984e-05,-5.305502748e-04,6.823196587e-05,7.019846106e-01,-5.791895678e-04,8.602133021e-01,7.019845222e-01,-5.788098628e-04,8.602130748e-01,7.027772539e-01,-6.459093358e-04,8.303940917e-01
+18,8.833333333e-01,WAIT_W2,1792845310882859753,3.069593040e-05,-5.753293970e-04,8.161354045e-05,3.097453019e-05,-5.753661948e-04,8.151889750e-05,3.401205143e-05,-5.480316646e-04,7.976304699e-05,7.019862938e-01,-5.973144516e-04,8.602249995e-01,7.019865724e-01,-5.973512494e-04,8.602249048e-01,7.027795815e-01,-6.633907256e-04,8.304056228e-01
+19,9.166666667e-01,WAIT_W2,1792845310917195443,4.389294065e-05,-6.175844912e-04,1.117583150e-04,3.721637516e-05,-6.091994577e-04,9.630552899e-05,4.085327063e-05,-5.802277879e-04,9.422671654e-05,7.019994908e-01,-6.395695458e-04,8.602551442e-01,7.019928142e-01,-6.311845123e-04,8.602396914e-01,7.027864227e-01,-6.955868489e-04,8.304200865e-01
+20,9.666666667e-01,WAIT_W2,1792845310965457714,5.721615301e-05,-5.707462894e-04,1.465648893e-04,5.722955268e-05,-5.706391738e-04,1.466376359e-04,6.244113315e-05,-5.436823575e-04,1.431414063e-04,7.020128140e-01,-5.927313440e-04,8.602899508e-01,7.020128274e-01,-5.926242284e-04,8.602900236e-01,7.028080106e-01,-6.590414185e-04,8.304690012e-01
+21,1.066666667e+00,WAIT_W2,1792845311080256827,7.079223270e-05,-5.770420187e-04,1.829664927e-04,6.372182768e-05,-5.775439429e-04,1.655428663e-04,6.975383208e-05,-5.502879671e-04,1.621023672e-04,7.020263901e-01,-5.990270732e-04,8.603263524e-01,7.020193197e-01,-5.995289974e-04,8.603089288e-01,7.028153233e-01,-6.656470281e-04,8.304879621e-01
+22,1.150000000e+00,WAIT_W2,1792845311162075410,7.651490113e-05,-5.764317965e-04,1.998624695e-04,7.680216485e-05,-5.863577269e-04,1.987583757e-04,8.412942647e-05,-5.586967910e-04,1.946908778e-04,7.020321128e-01,-5.984168511e-04,8.603432484e-01,7.020324000e-01,-6.083427815e-04,8.603421443e-01,7.028296989e-01,-6.740558520e-04,8.305205507e-01
+23,1.250000000e+00,WAIT_W2,1792845311276977250,7.965909852e-05,-5.629656700e-04,2.064750405e-04,7.550247055e-05,-5.648516139e-04,1.970181506e-04,8.296283641e-05,-5.383119454e-04,1.935698931e-04,7.020352570e-01,-5.849507245e-04,8.603498610e-01,7.020311003e-01,-5.868366685e-04,8.603404041e-01,7.028285323e-01,-6.536710064e-04,8.305194297e-01
+24,1.500000000e+00,UP_FORCE_RAMP,1792845311523884603,7.779100758e-05,-5.651208268e-04,2.072319652e-04,7.550247055e-05,-5.648516139e-04,1.970181506e-04,8.336989151e-05,-5.384601698e-04,1.943638361e-04,7.020333889e-01,-5.871058814e-04,8.603506179e-01,7.020311003e-01,-5.868366685e-04,8.603404041e-01,7.028289393e-01,-6.538192308e-04,8.305202236e-01
+25,1.750000000e+00,UP_FORCE_RAMP,1792845311767477803,7.992500257e-05,-5.623284863e-04,2.132606056e-04,7.550247055e-05,-5.648516139e-04,1.970181506e-04,8.363879099e-05,-5.385803292e-04,1.948943209e-04,7.020355229e-01,-5.843135409e-04,8.603566465e-01,7.020311003e-01,-5.868366685e-04,8.603404041e-01,7.028292082e-01,-6.539393902e-04,8.305207541e-01
+26,1.916666667e+00,UP_FORCE_RAMP,1792845311931730265,7.905792984e-05,-5.654136566e-04,2.101832984e-04,8.224603837e-05,-5.606573170e-04,2.157446647e-04,9.109044908e-05,-5.346723241e-04,2.132429192e-04,7.020346558e-01,-5.873987111e-04,8.603535692e-01,7.020378439e-01,-5.826423716e-04,8.603591306e-01,7.028366599e-01,-6.500313851e-04,8.305391027e-01
+27,2.183333333e+00,UP_FORCE_RAMP,1792845312211558780,7.967009494e-05,-5.577472337e-04,2.123325005e-04,8.224603837e-05,-5.606573170e-04,2.157446647e-04,9.136656940e-05,-5.347590742e-04,2.138194136e-04,7.020352680e-01,-5.797322882e-04,8.603557184e-01,7.020378439e-01,-5.826423716e-04,8.603591306e-01,7.028369360e-01,-6.501181352e-04,8.305396792e-01
+28,2.450000000e+00,UP_FORCE_RAMP,1792845312505627015,8.173052053e-05,-5.562828565e-04,2.200684176e-04,8.224603837e-05,-5.606573170e-04,2.157446647e-04,9.155447823e-05,-5.348375735e-04,2.141850345e-04,7.020373284e-01,-5.782679111e-04,8.603634543e-01,7.020378439e-01,-5.826423716e-04,8.603591306e-01,7.028371239e-01,-6.501966345e-04,8.305400448e-01
+29,2.683333333e+00,UP_FORCE_RAMP,1792845312734562591,8.101175443e-05,-5.567292936e-04,2.234505149e-04,8.224603837e-05,-5.606573170e-04,2.157446647e-04,9.168835071e-05,-5.348945405e-04,2.144347348e-04,7.020366096e-01,-5.787143482e-04,8.603668364e-01,7.020378439e-01,-5.826423716e-04,8.603591306e-01,7.028372578e-01,-6.502536015e-04,8.305402945e-01
+30,2.950000000e+00,UP_FORCE_RAMP,1792845312998572219,7.869700752e-05,-5.598888595e-04,2.282060840e-04,8.224603837e-05,-5.606573170e-04,2.157446647e-04,9.182005317e-05,-5.349426476e-04,2.146701001e-04,7.020342949e-01,-5.818739140e-04,8.603715920e-01,7.020378439e-01,-5.826423716e-04,8.603591306e-01,7.028373895e-01,-6.503017086e-04,8.305405299e-01
+31,3.183333333e+00,UP_FORCE_RAMP,1792845313242176840,7.826806961e-05,-5.565828072e-04,2.357933867e-04,7.922711720e-05,-5.554886861e-04,2.367274520e-04,8.893091974e-05,-5.300057763e-04,2.351218357e-04,7.020338659e-01,-5.785678618e-04,8.603791793e-01,7.020348250e-01,-5.774737407e-04,8.603801134e-01,7.028345004e-01,-6.453648373e-04,8.305609816e-01
+32,3.400000000e+00,UP_FORCE_RAMP,1792845313455207588,6.394660167e-05,-5.556981273e-04,2.407010531e-04,7.922711720e-05,-5.554886861e-04,2.367274520e-04,8.898742324e-05,-5.300285916e-04,2.354255263e-04,7.020195445e-01,-5.776831819e-04,8.603840870e-01,7.020348250e-01,-5.774737407e-04,8.603801134e-01,7.028345569e-01,-6.453876526e-04,8.305612853e-01
+33,3.500000000e+00,UP_FORCE_RAMP,1792845313553991974,3.729794642e-05,-5.572423937e-04,2.414592455e-04,3.409194613e-05,-5.554930108e-04,2.340068694e-04,4.171668689e-05,-5.300412677e-04,2.327790211e-04,7.019928958e-01,-5.792274483e-04,8.603848452e-01,7.019896898e-01,-5.774780653e-04,8.603773928e-01,7.027872861e-01,-6.454003287e-04,8.305586388e-01
+34,3.666666667e+00,UP_FORCE_RAMP,1792845313733598632,3.829859994e-05,-5.512802863e-04,2.453471517e-04,3.409194613e-05,-5.554930108e-04,2.340068694e-04,4.150454629e-05,-5.300455781e-04,2.329045768e-04,7.019938965e-01,-5.732653409e-04,8.603887331e-01,7.019896898e-01,-5.774780653e-04,8.603773928e-01,7.027870740e-01,-6.454046391e-04,8.305587644e-01
+35,3.883333333e+00,UP_FORCE_RAMP,1792845313962925710,4.069420155e-05,-5.553885516e-04,2.579998179e-04,4.347955247e-05,-5.509245366e-04,2.560358019e-04,5.150647625e-05,-5.256778127e-04,2.545054566e-04,7.019962921e-01,-5.773736062e-04,8.604013857e-01,7.019990774e-01,-5.729095912e-04,8.603994217e-01,7.027970759e-01,-6.410368737e-04,8.305803652e-01
+36,4.133333333e+00,UP_FORCE_RAMP,1792845314226081857,4.268809192e-05,-5.488178034e-04,2.746345477e-04,4.347955247e-05,-5.509245366e-04,2.560358019e-04,5.149983416e-05,-5.256882756e-04,2.547913958e-04,7.019982860e-01,-5.708028580e-04,8.604180205e-01,7.019990774e-01,-5.729095912e-04,8.603994217e-01,7.027970693e-01,-6.410473366e-04,8.305806512e-01
+37,4.366666667e+00,UP_FORCE_RAMP,1792845314454620202,4.295092747e-05,-5.513087783e-04,2.937355404e-04,4.370390335e-05,-5.480463105e-04,2.800862246e-04,5.204058463e-05,-5.229246688e-04,2.783750238e-04,7.019985488e-01,-5.732938328e-04,8.604371215e-01,7.019993018e-01,-5.700313650e-04,8.604234721e-01,7.027976100e-01,-6.382837298e-04,8.306042348e-01
+38,4.566666667e+00,UP_FORCE_RAMP,1792845314651006027,3.561663552e-05,-5.510459175e-04,3.013427953e-04,3.994345582e-05,-5.536329157e-04,2.995706690e-04,4.832279471e-05,-5.282845374e-04,2.974796824e-04,7.019912145e-01,-5.730309721e-04,8.604447287e-01,7.019955413e-01,-5.756179702e-04,8.604429566e-01,7.027938922e-01,-6.436435984e-04,8.306233395e-01
+39,4.783333333e+00,UP_FORCE_RAMP,1792845314880407732,2.176832192e-05,-5.470419328e-04,3.165198015e-04,2.506276249e-05,-5.441648985e-04,3.131860715e-04,3.285815946e-05,-5.192548207e-04,3.109581035e-04,7.019773662e-01,-5.690269874e-04,8.604599057e-01,7.019806606e-01,-5.661499531e-04,8.604565720e-01,7.027784276e-01,-6.346138817e-04,8.306368179e-01
+40,4.950000000e+00,UP_FORCE_RAMP,1792845315062151468,2.183118914e-06,-5.796687013e-04,3.409001117e-04,2.540476500e-06,-5.795644772e-04,3.410684537e-04,9.689939564e-06,-5.527997005e-04,3.380943998e-04,7.019577810e-01,-6.016537558e-04,8.604842860e-01,7.019581383e-01,-6.015495318e-04,8.604844544e-01,7.027552594e-01,-6.681587615e-04,8.306639542e-01
+41,4.983333333e+00,UP_FORCE_RAMP,1792845315093523398,1.135645917e-05,-5.466951284e-04,3.422703594e-04,9.906424728e-06,-5.550503492e-04,3.391522630e-04,1.720263595e-05,-5.295835296e-04,3.363715258e-04,7.019669543e-01,-5.686801830e-04,8.604856563e-01,7.019655043e-01,-5.770354038e-04,8.604825382e-01,7.027627721e-01,-6.449425906e-04,8.306622313e-01
+42,5.100000000e+00,UP_FORCE_RAMP,1792845315207713326,7.379583958e-06,-5.641541933e-04,3.504379723e-04,9.906424728e-06,-5.550503492e-04,3.391522630e-04,1.708719511e-05,-5.295796451e-04,3.366316051e-04,7.019629775e-01,-5.861392479e-04,8.604938239e-01,7.019655043e-01,-5.770354038e-04,8.604825382e-01,7.027626566e-01,-6.449387061e-04,8.306624914e-01
+43,5.350000000e+00,UP_FORCE_RAMP,1792845315453677766,-1.807511285e-06,-5.618224054e-04,3.644669094e-04,5.249124511e-06,-5.580703471e-04,3.585721189e-04,1.230494820e-05,-5.324479786e-04,3.558454460e-04,7.019537904e-01,-5.838074599e-04,8.605078528e-01,7.019608470e-01,-5.800554017e-04,8.605019580e-01,7.027578744e-01,-6.478070396e-04,8.306817052e-01
+44,5.516666667e+00,UP_FORCE_RAMP,1792845315633600204,-6.085077517e-06,-5.583088596e-04,3.834891324e-04,-2.684338570e-06,-5.600068838e-04,3.778474601e-04,4.140624792e-06,-5.343185520e-04,3.748101712e-04,7.019495128e-01,-5.802939142e-04,8.605268750e-01,7.019529135e-01,-5.819919384e-04,8.605212334e-01,7.027497101e-01,-6.496776130e-04,8.307006699e-01
+45,5.783333333e+00,UP_FORCE_RAMP,1792845315895368484,-1.853605963e-05,-5.560730858e-04,4.060691319e-04,-1.494840530e-05,-5.555860324e-04,3.938695304e-04,-8.683307997e-06,-5.300581831e-04,3.907640426e-04,7.019370618e-01,-5.780581404e-04,8.605494550e-01,7.019406495e-01,-5.775710870e-04,8.605372554e-01,7.027368861e-01,-6.454172441e-04,8.307166238e-01
+46,5.983333333e+00,UP_FORCE_HOLD,1792845316092072552,-2.698769096e-05,-5.528821902e-04,4.144431147e-04,-2.184930492e-05,-5.532771449e-04,4.126167425e-04,-1.583305592e-05,-5.278773164e-04,4.093005961e-04,7.019286102e-01,-5.748672448e-04,8.605578290e-01,7.019337486e-01,-5.752621994e-04,8.605560027e-01,7.027297364e-01,-6.432363774e-04,8.307351604e-01
+47,6.200000000e+00,UP_SETTLE,1792845316305073665,-3.286045961e-05,-5.529558633e-04,4.335417036e-04,-2.995676189e-05,-5.571984015e-04,4.345761169e-04,-2.420808816e-05,-5.315623044e-04,4.308158591e-04,7.019227374e-01,-5.749409179e-04,8.605769276e-01,7.019256411e-01,-5.791834561e-04,8.605779620e-01,7.027213614e-01,-6.469213654e-04,8.307566756e-01
+48,6.283333333e+00,UP_SETTLE,1792845316387606240,-8.832527258e-05,-5.547691099e-04,4.093397196e-04,-8.807829378e-05,-5.546673203e-04,4.093867646e-04,-8.506979352e-05,-5.291513744e-04,4.066427378e-04,7.018672726e-01,-5.767541645e-04,8.605527256e-01,7.018675196e-01,-5.766523749e-04,8.605527727e-01,7.026604997e-01,-6.445104354e-04,8.307325025e-01
+49,6.333333333e+00,UP_SETTLE,1792845316435971293,-7.146047505e-05,-5.617496906e-04,4.363803874e-04,-7.146256829e-05,-5.620492697e-04,4.361812285e-04,-6.784478501e-05,-5.361289891e-04,4.324305324e-04,7.018841374e-01,-5.837347452e-04,8.605797663e-01,7.018841353e-01,-5.840343243e-04,8.605795671e-01,7.026777247e-01,-6.514880501e-04,8.307582903e-01
+50,6.483333333e+00,UP_SETTLE,1792845316583520181,-8.030043981e-05,-5.579591449e-04,4.431763494e-04,-7.146256829e-05,-5.620492697e-04,4.361812285e-04,-6.810731886e-05,-5.361601569e-04,4.328156097e-04,7.018752974e-01,-5.799441995e-04,8.605865623e-01,7.018841353e-01,-5.840343243e-04,8.605795671e-01,7.026774621e-01,-6.515192179e-04,8.307586754e-01
+51,6.733333333e+00,UP_SETTLE,1792845316829551212,-9.311130609e-05,-5.519850463e-04,4.501188210e-04,-8.702113673e-05,-5.537638064e-04,4.467492356e-04,-8.460602061e-05,-5.282687750e-04,4.434298017e-04,7.018624866e-01,-5.739701009e-04,8.605935047e-01,7.018685767e-01,-5.757488609e-04,8.605901352e-01,7.026609634e-01,-6.436278360e-04,8.307692896e-01
+52,7.016666667e+00,UP_SETTLE,1792845317125804458,-1.029780893e-04,-5.496533841e-04,4.641119347e-04,-9.886376007e-05,-5.512374865e-04,4.637884460e-04,-9.708093395e-05,-5.258301897e-04,4.602865511e-04,7.018526198e-01,-5.716384387e-04,8.606074979e-01,7.018567341e-01,-5.732225411e-04,8.606071744e-01,7.026484885e-01,-6.411892507e-04,8.307861463e-01
+53,7.266666667e+00,UP_SETTLE,1792845317386974314,-1.089286221e-04,-5.516596580e-04,4.778190077e-04,-9.886376007e-05,-5.512374865e-04,4.637884460e-04,-9.738662498e-05,-5.258340908e-04,4.606979467e-04,7.018466692e-01,-5.736447125e-04,8.606212049e-01,7.018567341e-01,-5.732225411e-04,8.606071744e-01,7.026481828e-01,-6.411931518e-04,8.307865577e-01
+54,7.500000000e+00,UP_SETTLE,1792845317615446365,-1.152632911e-04,-5.516456407e-04,4.863658276e-04,-1.101441708e-04,-5.500200112e-04,4.828017324e-04,-1.091782879e-04,-5.246772546e-04,4.793749533e-04,7.018403346e-01,-5.736306953e-04,8.606297517e-01,7.018454537e-01,-5.720050657e-04,8.606261876e-01,7.026363912e-01,-6.400363156e-04,8.308052347e-01
+55,7.750000000e+00,UP_SETTLE,1792845317861900209,-1.208962100e-04,-5.456021361e-04,4.990303273e-04,-1.183518656e-04,-5.505314208e-04,5.011211517e-04,-1.177065278e-04,-5.251478741e-04,4.974143383e-04,7.018347017e-01,-5.675871907e-04,8.606424162e-01,7.018372460e-01,-5.725164754e-04,8.606445071e-01,7.026278629e-01,-6.405069351e-04,8.308232741e-01
+56,8.033333333e+00,UP_SETTLE,1792845318173157533,-1.278849209e-04,-5.483714997e-04,5.097366219e-04,-1.183518656e-04,-5.505314208e-04,5.011211517e-04,-1.179863868e-04,-5.251531417e-04,4.979403579e-04,7.018277129e-01,-5.703565543e-04,8.606531225e-01,7.018372460e-01,-5.725164754e-04,8.606445071e-01,7.026275831e-01,-6.405122027e-04,8.308238001e-01
+57,8.316666667e+00,UP_SETTLE,1792845318499734165,-1.432161392e-04,-5.516847311e-04,5.109501892e-04,-1.375346803e-04,-5.499956610e-04,5.117230658e-04,-1.381650131e-04,-5.246075425e-04,5.085792969e-04,7.018123817e-01,-5.736697857e-04,8.606543361e-01,7.018180632e-01,-5.719807156e-04,8.606551090e-01,7.026074044e-01,-6.399666035e-04,8.308344391e-01
+58,8.483333333e+00,UP_SETTLE,1792845318681755063,-1.428572907e-04,-5.517139128e-04,5.181712769e-04,-1.375346803e-04,-5.499956610e-04,5.117230658e-04,-1.383476520e-04,-5.246062867e-04,5.087965295e-04,7.018127406e-01,-5.736989673e-04,8.606615572e-01,7.018180632e-01,-5.719807156e-04,8.606551090e-01,7.026072218e-01,-6.399653477e-04,8.308346563e-01
+59,8.766666667e+00,UP_SETTLE,1792845319107335682,-1.457546431e-04,-5.474316198e-04,5.258577665e-04,-1.375346803e-04,-5.499956610e-04,5.117230658e-04,-1.385681383e-04,-5.246091942e-04,5.090917058e-04,7.018098432e-01,-5.694166743e-04,8.606692437e-01,7.018180632e-01,-5.719807156e-04,8.606551090e-01,7.026070013e-01,-6.399682552e-04,8.308349515e-01

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

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.8750e-01,5.4261e-01,2.4835e+00,-7.3600e-02,5.0037e-02,1.5412e-03,2.6390e-05,-3.0756e-05,1.0967e-05,2.8312e-06,2.1346e-06,-2.0582e-07,4.1984e-05,3.5517e-06
+1,2.6667e-01,WAIT_W2,5.4623e-05,2.0984e-01,5.3367e-01,2.4868e+00,-7.2535e-02,5.1665e-02,1.3003e-03,2.2369e-02,-8.9756e-03,3.2747e-03,1.0675e-03,1.6304e-03,-2.4107e-04,2.4324e-02,1.9637e-03
+2,5.5000e-01,WAIT_W2,1.1169e-04,2.2318e-01,5.3315e-01,2.4880e+00,-7.2317e-02,5.2604e-02,1.1885e-03,3.5702e-02,-9.4933e-03,4.5094e-03,1.2858e-03,2.5692e-03,-3.5287e-04,3.7217e-02,2.8946e-03
+3,7.1667e-01,WAIT_W2,1.7247e-04,2.3572e-01,5.3182e-01,2.4890e+00,-7.2057e-02,5.3492e-02,1.1043e-03,4.8242e-02,-1.0823e-02,5.5223e-03,1.5458e-03,3.4579e-03,-4.3710e-04,4.9748e-02,3.8129e-03
+4,7.3333e-01,WAIT_W2,2.2594e-04,2.3576e-01,5.3184e-01,2.4890e+00,-7.2059e-02,5.3496e-02,1.1043e-03,4.8291e-02,-1.0798e-02,5.5184e-03,1.5441e-03,3.4611e-03,-4.3714e-04,4.9790e-02,3.8150e-03
+5,7.3333e-01,WAIT_W2,2.2594e-04,2.3576e-01,5.3184e-01,2.4890e+00,-7.2059e-02,5.3496e-02,1.1043e-03,4.8291e-02,-1.0798e-02,5.5184e-03,1.5441e-03,3.4611e-03,-4.3714e-04,4.9790e-02,3.8150e-03
+6,7.5000e-01,WAIT_W2,3.5480e-04,2.1461e-01,1.3830e+00,2.4130e+00,-1.3220e-01,5.2055e-02,1.4546e-03,2.7138e-02,8.4032e-01,-7.0547e-02,-5.8599e-02,2.0207e-03,-8.6808e-05,8.4372e-01,5.8634e-02
+7,7.5000e-01,WAIT_W2,3.5480e-04,2.1461e-01,1.3830e+00,2.4130e+00,-1.3220e-01,5.2055e-02,1.4546e-03,2.7138e-02,8.4032e-01,-7.0547e-02,-5.8599e-02,2.0207e-03,-8.6808e-05,8.4372e-01,5.8634e-02
+8,7.6667e-01,WAIT_W2,5.1645e-04,2.1864e-01,2.8981e+00,2.3549e+00,-2.3940e-01,5.2394e-02,2.2606e-03,3.1172e-02,2.3554e+00,-1.2860e-01,-1.6580e-01,2.3598e-03,7.1918e-04,2.3591e+00,1.6582e-01
+9,7.6667e-01,WAIT_W2,5.1645e-04,2.1864e-01,2.8981e+00,2.3549e+00,-2.3940e-01,5.2394e-02,2.2606e-03,3.1172e-02,2.3554e+00,-1.2860e-01,-1.6580e-01,2.3598e-03,7.1918e-04,2.3591e+00,1.6582e-01
+10,7.6667e-01,WAIT_W2,5.1645e-04,2.1864e-01,2.8981e+00,2.3549e+00,-2.3940e-01,5.2394e-02,2.2606e-03,3.1172e-02,2.3554e+00,-1.2860e-01,-1.6580e-01,2.3598e-03,7.1918e-04,2.3591e+00,1.6582e-01
+11,7.8333e-01,WAIT_W2,6.9121e-04,2.2168e-01,4.7801e+00,2.2683e+00,-3.7251e-01,5.2718e-02,3.4544e-03,3.4209e-02,4.2375e+00,-2.1520e-01,-2.9891e-01,2.6836e-03,1.9130e-03,4.2431e+00,2.9893e-01
+12,7.8333e-01,WAIT_W2,6.9121e-04,2.2168e-01,4.7801e+00,2.2683e+00,-3.7251e-01,5.2718e-02,3.4544e-03,3.4209e-02,4.2375e+00,-2.1520e-01,-2.9891e-01,2.6836e-03,1.9130e-03,4.2431e+00,2.9893e-01
+13,7.8333e-01,WAIT_W2,6.9121e-04,2.2168e-01,4.7801e+00,2.2683e+00,-3.7251e-01,5.2718e-02,3.4544e-03,3.4209e-02,4.2375e+00,-2.1520e-01,-2.9891e-01,2.6836e-03,1.9130e-03,4.2431e+00,2.9893e-01
+14,8.0000e-01,WAIT_W2,8.0665e-04,3.3320e-01,7.0296e+00,2.3577e+00,-5.2976e-01,6.0460e-02,4.8826e-03,1.4572e-01,6.4869e+00,-1.2578e-01,-4.5616e-01,1.0425e-02,3.3413e-03,6.4898e+00,4.5629e-01
+15,8.1667e-01,WAIT_W2,8.3025e-04,3.4141e-01,8.5226e+00,2.3134e+00,-6.3294e-01,6.1120e-02,5.8495e-03,1.5394e-01,7.9800e+00,-1.7015e-01,-5.5934e-01,1.1086e-02,4.3081e-03,7.9833e+00,5.5947e-01
+16,8.3333e-01,WAIT_W2,8.9946e-04,3.1446e-01,8.3695e+00,2.3541e+00,-6.2951e-01,5.9233e-02,7.4466e-03,1.2699e-01,7.8269e+00,-1.2937e-01,-5.5590e-01,9.1990e-03,5.9052e-03,7.8290e+00,5.5601e-01
+17,8.5000e-01,WAIT_W2,9.4674e-04,2.4869e-01,7.3904e+00,2.2783e+00,-5.5980e-01,5.4690e-02,7.7009e-03,6.1212e-02,6.8478e+00,-2.0522e-01,-4.8620e-01,4.6558e-03,6.1595e-03,6.8511e+00,4.8626e-01
+18,8.8333e-01,WAIT_W2,1.0007e-03,1.9066e-01,6.8309e+00,2.2312e+00,-5.2093e-01,5.0666e-02,7.8217e-03,3.1845e-03,6.2883e+00,-2.5230e-01,-4.4733e-01,6.3125e-04,6.2803e-03,6.2933e+00,4.4737e-01
+19,9.1667e-01,WAIT_W2,1.0570e-03,1.7644e-01,7.4850e+00,2.1067e+00,-5.6867e-01,4.9836e-02,9.2346e-03,-1.1029e-02,6.9424e+00,-3.7684e-01,-4.9507e-01,-1.9844e-04,7.6932e-03,6.9526e+00,4.9513e-01
+20,9.6667e-01,WAIT_W2,1.1187e-03,1.0300e-01,7.1393e+00,1.9495e+00,-5.4658e-01,4.5069e-02,9.2625e-03,-8.4469e-02,6.5967e+00,-5.3402e-01,-4.7298e-01,-4.9655e-03,7.7211e-03,6.6188e+00,4.7307e-01
+21,1.0667e+00,WAIT_W2,1.1797e-03,5.0911e-02,6.9778e+00,1.8605e+00,-5.3632e-01,4.1185e-02,9.7745e-03,-1.3656e-01,6.4351e+00,-6.2303e-01,-4.6271e-01,-8.8491e-03,8.2331e-03,6.4667e+00,4.6287e-01
+22,1.1500e+00,WAIT_W2,1.2346e-03,3.4824e-02,7.1340e+00,1.7417e+00,-5.5009e-01,4.0413e-02,1.0829e-02,-1.5265e-01,6.5913e+00,-7.4177e-01,-4.7648e-01,-9.6211e-03,9.2873e-03,6.6347e+00,4.7667e-01
+23,1.2500e+00,WAIT_W2,1.2919e-03,5.6606e-02,6.8521e+00,1.8004e+00,-5.2996e-01,4.1902e-02,1.0636e-02,-1.3087e-01,6.3095e+00,-6.8315e-01,-4.5636e-01,-8.1322e-03,9.0944e-03,6.3477e+00,4.5652e-01
+24,1.5000e+00,UP_FORCE_RAMP,1.3477e-03,1.2900e-01,6.8593e+00,1.9335e+00,-5.3014e-01,4.6624e-02,1.0558e-02,-5.8471e-02,6.3166e+00,-5.5002e-01,-4.5653e-01,-3.4103e-03,9.0169e-03,6.3408e+00,4.5663e-01
+25,1.7500e+00,UP_FORCE_RAMP,1.4033e-03,1.5562e-01,6.8005e+00,2.1053e+00,-5.2453e-01,4.8610e-02,9.0677e-03,-3.1851e-02,6.2578e+00,-3.7818e-01,-4.5093e-01,-1.4249e-03,7.5263e-03,6.2693e+00,4.5099e-01
+26,1.9167e+00,UP_FORCE_RAMP,1.4581e-03,2.1048e-01,6.7651e+00,2.1144e+00,-5.2141e-01,5.2363e-02,8.9058e-03,2.3002e-02,6.2224e+00,-3.6913e-01,-4.4781e-01,2.3287e-03,7.3644e-03,6.2334e+00,4.4787e-01
+27,2.1833e+00,UP_FORCE_RAMP,1.5137e-03,2.1318e-01,6.7023e+00,2.1197e+00,-5.1652e-01,5.2643e-02,8.5005e-03,2.5703e-02,6.1597e+00,-3.6385e-01,-4.4291e-01,2.6086e-03,6.9591e-03,6.1705e+00,4.4298e-01
+28,2.4500e+00,UP_FORCE_RAMP,1.5712e-03,2.5074e-01,6.6926e+00,2.1711e+00,-5.1513e-01,5.5134e-02,8.0329e-03,6.3262e-02,6.1500e+00,-3.1237e-01,-4.4152e-01,5.0995e-03,6.4915e-03,6.1583e+00,4.4160e-01
+29,2.6833e+00,UP_FORCE_RAMP,1.6252e-03,3.0897e-01,6.7237e+00,2.2565e+00,-5.1663e-01,5.8903e-02,7.7509e-03,1.2150e-01,6.1811e+00,-2.2697e-01,-4.4302e-01,8.8683e-03,6.2095e-03,6.1864e+00,4.4315e-01
+30,2.9500e+00,UP_FORCE_RAMP,1.6832e-03,3.0374e-01,6.6874e+00,2.2793e+00,-5.1345e-01,5.8669e-02,7.0514e-03,1.1627e-01,6.1448e+00,-2.0416e-01,-4.3985e-01,8.6350e-03,5.5100e-03,6.1492e+00,4.3997e-01
+31,3.1833e+00,UP_FORCE_RAMP,1.7388e-03,3.5010e-01,6.6620e+00,2.1590e+00,-5.1249e-01,6.2115e-02,6.7556e-03,1.6262e-01,6.1194e+00,-3.2452e-01,-4.3889e-01,1.2081e-02,5.2142e-03,6.1301e+00,4.3908e-01
+32,3.4000e+00,UP_FORCE_RAMP,1.7880e-03,3.6071e-01,6.6399e+00,2.2189e+00,-5.1024e-01,6.2617e-02,6.2865e-03,1.7324e-01,6.0973e+00,-2.6465e-01,-4.3664e-01,1.2582e-02,4.7451e-03,6.1054e+00,4.3684e-01
+33,3.5000e+00,UP_FORCE_RAMP,1.8475e-03,6.2745e-01,6.6516e+00,2.2699e+00,-5.1100e-01,8.1655e-02,3.6125e-03,4.3998e-01,6.1090e+00,-2.1364e-01,-4.3739e-01,3.1620e-02,2.0712e-03,6.1285e+00,4.3854e-01
+34,3.6667e+00,UP_FORCE_RAMP,1.9050e-03,5.6955e-01,6.6550e+00,2.2950e+00,-5.1107e-01,7.7682e-02,3.5663e-03,3.8208e-01,6.1123e+00,-1.8849e-01,-4.3747e-01,2.7648e-02,2.0249e-03,6.1271e+00,4.3835e-01
+35,3.8833e+00,UP_FORCE_RAMP,1.9611e-03,4.9352e-01,6.5882e+00,2.1854e+00,-5.0720e-01,7.2147e-02,3.6316e-03,3.0604e-01,6.0455e+00,-2.9806e-01,-4.3360e-01,2.2113e-02,2.0902e-03,6.0606e+00,4.3417e-01
+36,4.1333e+00,UP_FORCE_RAMP,2.0236e-03,4.9516e-01,6.5963e+00,2.2693e+00,-5.0733e-01,7.2158e-02,3.6151e-03,3.0768e-01,6.0537e+00,-2.1425e-01,-4.3373e-01,2.2123e-02,2.0737e-03,6.0653e+00,4.3430e-01
+37,4.3667e+00,UP_FORCE_RAMP,2.0761e-03,4.9003e-01,6.5539e+00,2.1508e+00,-5.0543e-01,7.1963e-02,3.5987e-03,3.0256e-01,6.0113e+00,-3.3272e-01,-4.3182e-01,2.1929e-02,2.0573e-03,6.0281e+00,4.3238e-01
+38,4.5667e+00,UP_FORCE_RAMP,2.1298e-03,5.1135e-01,6.6153e+00,2.0904e+00,-5.1039e-01,7.3544e-02,3.5376e-03,3.2388e-01,6.0726e+00,-3.9311e-01,-4.3679e-01,2.3510e-02,1.9962e-03,6.0940e+00,4.3742e-01
+39,4.7833e+00,UP_FORCE_RAMP,2.1866e-03,5.9692e-01,6.5051e+00,2.0765e+00,-5.0298e-01,7.9614e-02,2.3940e-03,4.0945e-01,5.9625e+00,-4.0699e-01,-4.2938e-01,2.9580e-02,8.5264e-04,5.9903e+00,4.3040e-01
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+47,6.2000e+00,UP_SETTLE,2.6349e-03,7.3753e-01,6.6665e+00,1.8210e+00,-5.1783e-01,8.9973e-02,-1.2547e-05,5.5006e-01,6.1238e+00,-6.6250e-01,-4.4422e-01,3.9938e-02,-1.5539e-03,6.1841e+00,4.4602e-01
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Part2/Fixed/digit/ball_PLA_20/press_depth_01/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/digit/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/digit/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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+3380,1792845622371421833,24301794000000,1792845622366636507,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6759653308596726,-0.004669133295914125,0.10670386967971143,0.9999999748303741,-5.0286450824452984e-05,-0.00019469271667160392,3.671695277327823e-05,0.6761,-0.0046,0.10686859401398649,1.0,0.0,0.0,0.0,-0.17845881143986353,0.04154251669964437,0.2964490022505134,0.004627398938014275,0.01210320844682573,0.00048370964234621363,0.25970080430679227,0.5070629738075498,0.8897864898000728,0.03919167039997167,-0.021212863988680424,-0.00027091700046338966,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.4537551938016858,0.5563002006589433,0.874330662861433,0.04842686350555098,-0.5231365613161287,0.2666019385099604,1.6381774756034406,-0.2964490022505134,0.7638468127420076,0.7638468127420076,0.7765774756591864,0,0,-5.6247105144320624e-05,9.999997638144293e-05
+3459,1792845623029494556,24302452000000,1792845623022637282,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6759607540047617,-0.004672544803400356,0.10667759873095073,0.9999999723841333,-4.849351333861604e-05,-0.00020664270827896577,4.0271172791006277e-05,0.6761,-0.0046,0.10683045378547854,1.0,0.0,0.0,0.0,-0.1744651874993658,0.027762553485214836,0.39645909800811086,0.003589890438214789,0.01210270151346475,0.00012304664668922184,0.26369442824729,0.4932830105931203,0.9897965855576702,0.038154161900172186,-0.021213370922041404,-0.0006315799961203814,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.45204283135123013,0.6033837390514778,0.7996323214944274,0.053115879284015455,-0.4742279312903695,0.29082834929399387,1.6381774756034406,-0.39645909800811086,0.8385451541090132,0.8385451541090132,0.8752774756591756,0,0,-5.619708745988194e-05,5.4610714587904854e-05
+3539,1792845623696522287,24303119000000,1792845623694636935,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6759581006078728,-0.004674789569473149,0.10665323907303208,0.9999999701492986,-4.854033373219142e-05,-0.0002162999629369528,4.474849839715257e-05,0.6761,-0.0046,0.10679933035054523,1.0,0.0,0.0,0.0,-0.17740014952114308,-0.003445389712832425,0.5168731316030319,0.002561515529800329,0.01107952677818183,0.0010012776293360469,0.2607594662255127,0.46207506739507304,1.1102106191525913,0.037125786991757725,-0.022236545657324323,0.0002466509865264436,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.5019660864308718,0.5651169541415098,0.5754710855397769,0.07820234745712733,-0.31398689036164396,0.2674599348702365,1.6381774756034406,-0.5168731316030319,1.0627063900636637,1.0627063900636637,0.9753274756591646,0,0,-3.46466751579858e-05,9.999999025923074e-05
+3612,1792845624304440682,24303727000000,1792845624302636286,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6759538611173478,-0.004671068852386311,0.10663156702798497,0.9999999679828991,-4.336531083315492e-05,-0.00022665682320848152,4.7150815661277765e-05,0.6761,-0.0046,0.10678495595058421,1.0,0.0,0.0,0.0,-0.15895638008721624,-0.009980303250836375,0.5754007766106186,0.0015311905995374908,0.011087652813704312,0.0003995891081012517,0.27920323565943955,0.4555401538570691,1.168738264160178,0.03609546206149489,-0.022228419621801842,-0.0003550375347083516,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.4312834626337173,0.636358907293009,0.5346587504021495,0.06032312967262778,-0.30255469710941557,0.3133253871633226,1.6381774756034406,-0.5754007766106186,1.1035187252012912,1.1035187252012912,1.0665274756592038,0,0,-1.680283489150091e-05,9.999999025923074e-05
+3704,1792845625071532989,24304494000000,1792845625070636051,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6759567569857997,-0.004674187159678888,0.1066292743332622,0.9999999686992329,-4.592187809434969e-05,-0.00022250998174446176,4.924314168039838e-05,0.6761,-0.0046,0.10676644747816526,1.0,0.0,0.0,0.0,-0.1586900703160808,-0.008511058243247938,0.566487279078409,0.0015198973855078887,0.010913198819903235,0.0009065012526945698,0.279469545430575,0.4570093988646575,1.1598247666279684,0.036084168847465285,-0.02240287361560292,0.00015187460988496645,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.41197334238836386,0.512020188710333,0.5991157593600087,0.09016672784916352,-0.3497914277822857,0.22647852286412312,1.6381774756034406,-0.566487279078409,1.039061716243432,1.039061716243432,1.1815774756592763,0,0,-3.683170652776647e-05,-9.999999025923074e-05
+3787,1792845625763590793,24305186000000,1792845625762636324,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6759567044226689,-0.004677217030085914,0.10661110196461311,0.9999999687118881,-4.7401265499074314e-05,-0.00022101049653014241,5.4097760057371296e-05,0.6761,-0.0046,0.10672941684981212,1.0,0.0,0.0,0.0,-0.16808552802868437,-0.015795181746885878,0.6056755176130701,0.001441625236243728,0.011090698844747938,0.0008120631954510933,0.2700740877179714,0.4497252753610196,1.1990130051626295,0.036005896698201124,-0.022225373590758216,5.7436552641489995e-05,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.45522576576771145,0.6490142621271223,0.5613787910957159,0.06395038749122936,-0.32013168857454655,0.321370779939417,1.6381774756034406,-0.6056755176130701,1.0767986845077249,1.0767986845077249,1.2853774756593417,0,0,-6.972728381768179e-05,-9.999980984798924e-05
+3854,1792845626321537341,24305744000000,1792845626318635883,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6759761444235145,-0.004682296329728434,0.10658569735586201,0.9999999770337552,-4.6005243790180417e-05,-0.0001760442148363713,6.53246175652383e-05,0.6761,-0.0046,0.10668357964168859,1.0,0.0,0.0,0.0,-0.22021092638832518,0.02002585928299505,0.7064878718598124,0.0034103696566056343,0.016078736964143713,0.0009327542703316881,0.21794868935833062,0.4855463163909005,1.2998253594093718,0.03797464111856303,-0.01723733547136244,0.0001781276275220848,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.557868378180642,0.5569222010361503,0.4612929517433578,0.09513912965487645,-0.24091916985048048,0.2616013854846746,1.6381774756034406,-0.7064878718598124,1.1768845238600827,1.1768845238600827,1.3690774756593944,0,0,-9.129063704568641e-05,-9.99995739255965e-05
+3930,1792845626954553000,24306377000000,1792845626954645957,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6759780236628653,-0.004684440015525295,0.10652977624821636,0.9999999770098071,-4.3118376198576464e-05,-0.00017183079793635798,7.770606223427136e-05,0.6761,-0.0046,0.10662643892373386,1.0,0.0,0.0,0.0,-0.22635093085408323,0.007866384384858816,0.8879540081013406,0.0023274041297956377,0.01707926119628675,0.0007901348439908537,0.21180868489257257,0.4733868414927643,1.4812914956509,0.036891675591753034,-0.016236811239219405,3.550820118125048e-05,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.6685505252219724,0.4969789550649252,0.09143104233747916,0.10267247123122336,0.034386181114853503,0.21839921560665165,1.6381774756034406,-0.8879540081013406,1.5467464332659615,1.5467464332659615,1.4640274756594542,0,0,-7.986058373346682e-05,9.999999025923074e-05
+4011,1792845627629640464,24307052000000,1792845627626635518,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6759809840489498,-0.004685698349385268,0.10649295635446755,0.9999999776831712,-3.9996005540213987e-05,-0.00016571237044231714,8.376306826212634e-05,0.6761,-0.0046,0.1065756905124173,1.0,0.0,0.0,0.0,-0.21499570093009504,0.00616379508987247,0.8562198644383183,0.0014518661739973335,0.017021333446393543,0.0008048351415790279,0.22316391481656075,0.47168425219777793,1.4495573519878777,0.03601613763595473,-0.01629473898911261,5.020849876942454e-05,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.6198861722903791,0.5434390239093432,0.18274519455015062,0.10059356344629937,-0.04269414232434282,0.24713224081566176,1.6381774756034406,-0.8562198644383183,1.45543228105329,1.45543228105329,1.565277475659518,0,0,-8.151935150110668e-05,-9.999999025923074e-05
+4093,1792845628313562372,24307736000000,1792845628310636097,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6759839704410852,-0.00469445936543993,0.10644620948907725,0.9999999782752313,-4.590244497023157e-05,-0.00015655493354127618,9.097208140094017e-05,0.6761,-0.0046,0.10651302535785818,1.0,0.0,0.0,0.0,-0.2164088383244213,0.01048033588114744,0.8971661819839867,0.001306196160311933,0.01709536357475242,0.0007722443905167992,0.2217507774222345,0.4760007929890529,1.490503669533546,0.03587046762226933,-0.016220708860753733,1.7617747707195852e-05,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.6148400609272869,0.5081920432091198,0.09408892600131384,0.11534254134549131,0.00949733054209322,0.2268413798937377,1.6381774756034406,-0.8971661819839867,1.5440885496021268,1.5440885496021268,1.6678774756595827,0,0,-0.0001037303227022487,-9.381840723599594e-05
+4154,1792845628821676370,24308244000000,1792845628814636095,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.675982762977974,-0.004694666463299429,0.1064006570439177,0.9999999783366003,-4.689458591708486e-05,-0.00015640890571983024,9.003785682471997e-05,0.6761,-0.0046,0.10645477342146388,1.0,0.0,0.0,0.0,-0.20850406853404183,0.009621771204596286,0.9678924635520167,0.0012926177764515379,0.017080138857511695,0.0007162118836058993,0.22965554721261397,0.47514222831250175,1.5612299511015761,0.035856889238408934,-0.01623593357799446,-3.841475920370397e-05,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.650141703072324,0.6459009282441754,-0.025410282325394683,0.07511580250300275,0.097295073651652,0.3189025137304195,1.6381774756034406,-0.9678924635520167,1.6635877579288354,1.6635877579288354,1.7440774756596307,0,0,-0.00012413920501688912,9.720919488665487e-05
+4223,1792845629396670197,24308819000000,1792845629394645588,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6759880153835893,-0.004702238293166808,0.10633872397808926,0.9999999790337093,-4.1506838869994084e-05,-0.00014774935357923344,9.910981921840308e-05,0.6761,-0.0046,0.10638295987036507,1.0,0.0,0.0,0.0,-0.22587454099542867,0.00951958253224583,1.0763964839717821,0.00019868767727896502,0.01902000893635457,0.0006449107510304997,0.21228507475122713,0.4750400396401513,1.6697339715213415,0.03476295913923636,-0.014296063499151582,-0.00010971589177910361,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.7331119731866698,0.46376056337840205,-0.044511900001348415,0.13304381466696516,0.13075792166110733,0.2051672376589342,1.6381774756034406,-1.0763964839717821,1.682689375604789,1.682689375604789,1.830327475659685,0,0,-0.00012358731576597582,-9.805986164591047e-05
+4290,1792845629954665137,24309377000000,1792845629950645618,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6759933338836029,-0.0047062841906802865,0.10627820141747393,0.9999999794642211,-3.4126025222254256e-05,-0.00013730866277459797,0.00011178625768177212,0.6761,-0.0046,0.10631457252200835,1.0,0.0,0.0,0.0,-0.21673610264741758,0.006922710635927032,1.1191204812116406,-0.0008303883595191172,0.019111936513300926,0.000602567376779381,0.22142351309923822,0.4724431677438325,1.7124579687612,0.03373388310243828,-0.014204135922205229,-0.0001520592660302223,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.7637260046326044,0.5815012256923481,-0.1852281149001963,0.09337107923742811,0.23005433866058497,0.28087285216504576,1.6381774756034406,-1.1191204812116406,1.8234055905036368,1.8234055905036368,1.9140274756597377,0,0,-0.00012352719625377683,9.999695102370083e-05
+4339,1792845630363654540,24309786000000,1792845630362636209,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.676023923316745,-0.004703844933172791,0.10625312295260125,0.9999999820090936,-2.72724295151887e-05,-0.00011117930635460008,0.00011966642638450817,0.6761,-0.0046,0.10626192999895281,1.0,0.0,0.0,0.0,-0.23453492230017753,0.06270310845343985,1.0288865698016116,0.0035660007572734867,0.022086561358448567,0.0007813256503052554,0.20362469344647827,0.5282235655613453,1.622224057351171,0.03813027221923088,-0.011229511077057587,2.6699007495652133e-05,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.7385200141263015,0.4809375688614212,0.00714487589774365,0.12537746551970969,0.08528478211493343,0.21748929809011416,1.6381774756034406,-1.0288865698016116,1.631032599705697,1.631032599705697,1.9753774756597764,0,0,-0.00013459600213125279,-9.999847758035969e-05
+4374,1792845630654711646,24310077000000,1792845630654645709,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760270192482262,-0.0047083058008329385,0.10621021406358656,0.9999999808820871,-2.4924012839240434e-05,-0.00011123664001289228,0.00012916614684950494,0.6761,-0.0046,0.10622065281272575,1.0,0.0,0.0,0.0,-0.29112015194184593,0.09198149751591567,1.0731144842010123,0.005131832179510298,0.02507899654136328,0.0018209416456241231,0.14703946380480987,0.5575019546238211,1.6664519717505717,0.039696103641467695,-0.008237075894142874,0.0010663150028145199,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.9128235174146304,0.5041011334976006,-0.1666390049695255,0.11742983211459017,0.2353131972026469,0.2312955889372921,1.6381774756034406,-1.0731144842010123,1.804816480572966,1.804816480572966,2.019027475659804,0,0,-0.00014914599936607787,-9.999999025923074e-05
+4455,1792845631329749269,24310752000000,1792845631326636276,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760336337457131,-0.004708740045314001,0.10612251452454212,0.9999999805295335,-2.0191113442661203e-05,-9.446387472347764e-05,0.00014509545918438898,0.6761,-0.0046,0.10610884422655326,1.0,0.0,0.0,0.0,-0.3101866394586268,0.04453105285051984,1.1787160307872713,0.0020247675731885073,0.026131326566973156,0.0017116087702601253,0.12797297628802903,0.5100515099584253,1.7720535183368307,0.036589039035145904,-0.007184745868532998,0.000956982127450522,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.9490135394094947,0.36598273179225616,-0.3213769104082981,0.1545175689482652,0.34515589574190514,0.1399458097564541,1.6381774756034406,-1.1787160307872713,1.9595543860117388,1.9595543860117388,2.1202774756598677,0,0,-0.00018108217064302513,-8.260175462926895e-05
+4514,1792845631822222225,24311244000000,1792845631818647828,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760333173527595,-0.004715651784003042,0.1060337382799117,0.9999999777147874,-1.7467591261252446e-05,-9.416680191978513e-05,0.00016383157719126383,0.6761,-0.0046,0.10601729699040947,1.0,0.0,0.0,0.0,-0.3018559924907239,0.025250126354117663,1.2481159195300076,-3.317031547482585e-05,0.026153702799705386,0.001498132071937123,0.13630362325593184,0.4907705834620231,1.841453407079567,0.03453110114648257,-0.007162369635800768,0.0007435054291275196,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.98979628167969,0.4644398235387945,-0.3748424925724326,0.12353959219774945,0.39481363763385996,0.2035937399217267,1.6381774756034406,-1.2481159195300076,2.013019968175873,2.013019968175873,2.194077475659914,0,0,-0.00018909323141610835,-9.999360647683914e-05
+4579,1792845632363754669,24311786000000,1792845632362645805,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760383991103863,-0.004720493190961054,0.10593924776093762,0.9999999754504946,-1.6105640364271313e-05,-8.45159265844693e-05,0.00018204269063819216,0.6761,-0.0046,0.10591245998919048,1.0,0.0,0.0,0.0,-0.302554150543098,-0.018977380827779222,1.2866384309201353,-0.0030999544311962404,0.026384124884748887,0.0005453389802526034,0.13560546520355782,0.44654307628012624,1.8799759184696947,0.031464317030761156,-0.006931947550757266,-0.00020928766255699988,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.9464089028796434,0.4486455697667243,-0.3787451699855739,0.11578813354862057,0.38373544401991827,0.19322158585338278,1.6381774756034406,-1.2866384309201353,2.0169226455890144,2.0169226455890144,2.2753774756599654,0,0,-0.00020141038111906451,-9.999999025923074e-05
+4648,1792845632938762752,24312361000000,1792845632938635638,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.676043903992749,-0.004730642044633942,0.10582778752969144,0.9999999713733675,-1.4801330414783222e-05,-7.98262393236658e-05,0.00020519459244221897,0.6761,-0.0046,0.10579400051603285,1.0,0.0,0.0,0.0,-0.2996998278492735,-0.04520936161777667,1.31298694581743,-0.005157933823197486,0.02672572648149009,0.0005094176559585267,0.13845978789738228,0.4203110954901288,1.9063244333669893,0.02940633763875991,-0.006590345954016065,-0.0002452089868510765,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0159985455698566,0.5099570905163314,-0.5733719951086496,0.09834466642097094,0.5273612821498211,0.2332247080330412,1.6381774756034406,-1.31298694581743,2.2115494707120904,2.2115494707120904,2.3616274756600197,0,0,-0.00021365643157880842,9.717964907641203e-05
+4697,1792845633346801136,24312769000000,1792845633346635979,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760460087185634,-0.004730811584278493,0.10574564133589637,0.9999999704120892,-2.272620255507103e-05,-7.531174272021812e-05,0.00021078507133758244,0.6761,-0.0046,0.1057033898590804,1.0,0.0,0.0,0.0,-0.31032381627119987,-0.06172938522036253,1.355427502051061,-0.005823381670760592,0.026908959914011175,0.0004668391081793831,0.12783579947545595,0.40379107188754293,1.9487649896006205,0.028740889791196805,-0.00640711252149498,-0.0002877875346302202,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0420438197868045,0.40940324701881803,-0.5807391929247133,0.13929702013264134,0.5335253208628455,0.17050046131096283,1.6381774756034406,-1.355427502051061,2.218916668528154,2.218916668528154,2.4228274756600583,0,0,-0.00023076830071441646,-9.999999025923074e-05
+4722,1792845633554781279,24312977000000,1792845633554645639,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760537126378706,-0.004697557900247348,0.10569872903013855,0.9999999614167515,-0.0002580412933243035,-4.492760593840658e-05,2.3581008071827876e-06,0.6761,-0.0046,0.10565437065400961,1.0,0.0,0.0,0.0,-0.15001819084950674,0.13618043632013244,1.3539958874967386,0.006591108362015333,0.01762774263976991,0.001514322165525705,0.28814142489714906,0.6017008934280379,1.947333375046298,0.04115537982397273,-0.015688329795736245,0.0007596955227161015,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0155117553094222,0.652762808739514,-0.4722578608878656,-0.05668955171903225,0.48807467507982627,0.3688670731266555,1.6381774756034406,-1.3539958874967386,2.110435336491306,2.110435336491306,2.454027475660078,0,0,-0.00024088602645497138,-9.999999025923074e-05
+4766,1792845633921795398,24313344000000,1792845633918645174,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760554726804968,-0.00470713459391612,0.10561470342116211,0.9999999633450032,-0.00024917861235432563,-4.5209251553129286e-05,2.4879688987677956e-05,0.6761,-0.0046,0.10556260743295841,1.0,0.0,0.0,0.0,-0.16702206201620867,0.10020086974455844,1.3806034389439112,0.0041460829079951675,0.017985677476556466,0.0014650259022851932,0.2711375537304471,0.5657213268524639,1.9739409264934706,0.038710354369952564,-0.015330394958949688,0.0007103992594755898,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0516960573648484,0.5864917177482591,-0.5180510883986169,0.0058197270778728785,0.51884555991109,0.31237367013422734,1.6381774756034406,-1.3806034389439112,2.1562285640020575,2.1562285640020575,2.5090774756601126,0,0,-0.00025923602288010903,-9.999999025923074e-05
+4819,1792845634363749116,24313786000000,1792845634362645561,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760599897076284,-0.004712969761325633,0.10550579295535881,0.9999999658828754,-0.00023505044959003983,-3.8337758217448146e-05,5.439314546441547e-05,0.6761,-0.0046,0.1054438369767595,1.0,0.0,0.0,0.0,-0.20699055311865291,0.013853417557030512,1.4338864881969253,-0.0002399703724887403,0.019991060293156497,0.0014068394751689522,0.23116906262800288,0.479373874664936,2.0272239757464847,0.034324301089468656,-0.013325012142349659,0.0006522128323593489,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.002629936755909,0.5686498690636081,-0.6699371289762072,0.09516927383206185,0.5826316169522681,0.2842510809259007,1.6381774756034406,-1.4338864881969253,2.308114604579648,2.308114604579648,2.5753774756601544,0,0,-0.00027600199179886174,-9.999990699250389e-05
+4870,1792845634788856297,24314211000000,1792845634786645352,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760599293938385,-0.004718837482454298,0.10538867075728603,0.9999999904614227,5.2094777910379524e-05,-4.131842221228714e-05,7.809571723603089e-05,0.6761,-0.0046,0.10532311074938175,1.0,0.0,0.0,0.0,-0.22315469684219122,-0.002070722540643666,1.4367029159489513,-0.0029373821290416963,0.0210253858279622,0.00035135842354655755,0.21500491890446458,0.4634497345672618,2.0300404034985107,0.0316268893329157,-0.012290686607543956,-0.00040326821926304574,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0207866105808399,0.5657845253560269,-0.5891894408100322,0.13651087601945722,0.5315606750351887,0.22770046866635127,1.6381774756034406,-1.4367029159489513,2.227366916413473,2.227366916413473,2.6391274756601946,0,0,-0.00029057205516300053,-9.999684000139836e-05
+4921,1792845635213793495,24314636000000,1792845635210636066,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760653763871665,-0.004724170291374581,0.10527180731992192,0.9999999893312856,4.61048002637717e-05,-3.416038246720973e-05,9.740487050931431e-05,0.6761,-0.0046,0.10519624731629947,1.0,0.0,0.0,0.0,-0.2342129433347201,-0.02790225265007601,1.4468440494033152,-0.004834559510635567,0.022155577280297725,0.00033416457074980535,0.2039466724119357,0.43761820445782945,2.0401815369528746,0.02972971195132183,-0.011160495155208427,-0.00042046207205979793,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0373375794271122,0.6292855755020275,-0.7324267215150846,0.12368501485747413,0.6198341785615591,0.3023272518040401,1.6381774756034406,-1.4468440494033152,2.370604197118525,2.370604197118525,2.7028774756602347,0,0,-0.0003063106374754084,-9.999999025923074e-05
+4966,1792845635588890723,24315011000000,1792845635586635833,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760680928439101,-0.004722514811007193,0.10515908080026455,0.9999999894996885,3.293835536294441e-05,-2.967782498215648e-05,0.00010236102234604261,0.6761,-0.0046,0.10507890101917816,1.0,0.0,0.0,0.0,-0.23697019432564184,-0.04323933997684676,1.4703683429609509,-0.006084703163571521,0.022171429250938283,0.0010978521011309542,0.20118942142101395,0.4222811171310587,2.0637058305105103,0.028479568298385875,-0.011144643184567869,0.00034322545832135077,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.051251992365275,0.4196083050393128,-0.821951285258988,0.2127849770109607,0.6759745736291856,0.19310874603833184,1.6381774756034406,-1.4703683429609509,2.4601287608624287,2.4601287608624287,2.75912747566027,0,0,-0.00031999906971033463,-9.718654633695251e-05
+5011,1792845635963890755,24315386000000,1792845635962645930,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760696527321629,-0.004726880583575101,0.1050383522252588,0.9999999913625929,-7.5669884047977445e-06,-2.6056645138670522e-05,8.93390769214537e-05,0.6761,-0.0046,0.10495578916630824,1.0,0.0,0.0,0.0,-0.22491192996274545,-0.0312750947077261,1.4975980219326224,-0.005111882402488093,0.02214423718420273,0.0005215923930436477,0.21324768578391035,0.43424536240017936,2.0909355094821818,0.029452389059469303,-0.011171835251303424,-0.0002330342497659555,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0264781665737839,0.4711045405319436,-0.7666484691839205,0.20869413189976854,0.6308475334952026,0.22682882627125922,1.6381774756034406,-1.4975980219326224,2.404825944787361,2.404825944787361,2.8153774756603056,0,0,-0.0003363970018752368,-9.999999025923074e-05
+5057,1792845636346802163,24315769000000,1792845636346636175,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760725432364579,-0.004726401190401393,0.10491289677983583,0.9999999919981089,-4.378516059304884e-05,-2.0247693359671613e-05,7.15509426361553e-05,0.6761,-0.0046,0.10482356019155487,1.0,0.0,0.0,0.0,-0.21537834782778864,-0.03941451110194527,1.4974598455568082,-0.005051806756247106,0.021129466455788528,0.0013085368425293175,0.22278126791886715,0.4261059460059602,2.0907973331063676,0.02951246470571029,-0.012186605979717626,0.0005539101997197142,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.093096307975062,0.44248916180187103,-0.9209519854106912,0.23952085317886782,0.7451396613472352,0.21173361109117744,1.6381774756034406,-1.4974598455568082,2.5591294610141317,2.5591294610141317,2.872827475660342,0,0,-0.00035432870015425353,-9.999999025923074e-05
+5096,1792845636671917811,24316094000000,1792845636670635956,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760730364679375,-0.0047312137266613714,0.10479652859822594,0.999999990857368,-6.062058224557688e-05,-1.947660711117743e-05,7.532552765503112e-05,0.6761,-0.0046,0.1047059343313964,1.0,0.0,0.0,0.0,-0.2229120825978101,-0.0626238715436056,1.515744212505485,-0.007079032839278028,0.021164403542735452,0.001269259458493062,0.2152475331488457,0.40289658556429986,2.1090817000550444,0.02748523862267937,-0.012151668892770704,0.0005146328156834589,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0806147443388516,0.5562026244192406,-0.8686895095875614,0.19924041282063548,0.7117468980064532,0.28492579275933566,1.6381774756034406,-1.515744212505485,2.506866985191002,2.506866985191002,2.9215774756603725,0,0,-0.0003699713554225755,-9.999999025923074e-05
+5139,1792845637029927104,24316452000000,1792845637022645386,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760768568676597,-0.004728234810671216,0.10466440921923818,0.9999999912367799,2.9939413020963458e-05,-1.4942424450942166e-05,8.859830787679389e-05,0.6761,-0.0046,0.10457032643251897,1.0,0.0,0.0,0.0,-0.22520458165157428,-0.08178432991020423,1.5141456574489083,-0.00913002049193861,0.021208893835730054,0.0005983157548582004,0.2129550340950815,0.3837361271977012,2.1074831449984677,0.025434250970018786,-0.012107178599776098,-0.00015631088795140283,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.088501526422904,0.45507076520029643,-0.8933062713718526,0.23885428334685052,0.7250283374733225,0.23235425039553725,1.6381774756034406,-1.5141456574489083,2.5314837469752933,2.5314837469752933,2.9752774756604063,0,0,-0.0003877636265650893,-9.999999025923074e-05
+5176,1792845637338932278,24316761000000,1792845637334645396,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760746706051938,-0.004731372101796804,0.10454360556824314,0.9999999903126414,1.5512828716031314e-05,-2.0028927128268945e-05,0.00010087505039342276,0.6761,-0.0046,0.10444812817237689,1.0,0.0,0.0,0.0,-0.23163638942824522,-0.10358357050939065,1.5050749271639168,-0.010187383249039984,0.02223966688267969,0.0012583992570253252,0.20652322631841058,0.3619368865985148,2.098412414713476,0.024376888212917412,-0.011076405552826463,0.0005037726142157219,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0577122952555138,0.41853449600022846,-0.803204402553076,0.2562020263278233,0.6597064179275656,0.20972939884890038,1.6381774756034406,-1.5050749271639168,2.4413818781565166,2.4413818781565166,3.0216274756604355,0,0,-0.0004032136235551916,-9.999999025923074e-05
+5214,1792845637654894878,24317077000000,1792845637654645710,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760741995936602,-0.004734413884589701,0.10441268471596113,0.9999999904656215,-5.906174632789945e-06,-2.006334567373376e-05,0.00010037031771632576,0.6761,-0.0046,0.10431822416782133,1.0,0.0,0.0,0.0,-0.23076696310768913,-0.12027645446743046,1.4944759648255284,-0.011189668521431585,0.021619470292002847,0.001245681419648099,0.20739265263896667,0.345244002640475,2.0878134523750878,0.02337460294052581,-0.011696602143503309,0.0004910547768384956,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0720822874004847,0.3429854684754997,-0.9549972248094175,0.2917891980122052,0.7604024050257289,0.16369681902418237,1.6381774756034406,-1.4944759648255284,2.5931747004128582,2.5931747004128582,3.0690274756604654,0,0,-0.00041901362047710853,-9.999999025923074e-05
+5249,1792845637946951499,24317369000000,1792845637942645861,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760783562091802,-0.004735200319323623,0.10429379120470854,0.9999999908660665,-3.479584462006629e-05,-1.06580303886814e-05,9.157721898999042e-05,0.6761,-0.0046,0.1041937478910587,1.0,0.0,0.0,0.0,-0.22507569547480716,-0.11508525015036652,1.4937059580923724,-0.011051935104055867,0.02161497999425014,0.0012433707358561028,0.21308392027184864,0.35043520695753894,2.087043445641932,0.02351233635790153,-0.011701092441256016,0.0004887440930464994,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.069727784002459,0.42715866557211785,-0.9240878823798299,0.2774265519741228,0.7379016820603562,0.21816625583116492,1.6381774756034406,-1.4937059580923724,2.5622653579832706,2.5622653579832706,3.112827475660493,0,0,-0.0004336136176328039,-9.999999025923074e-05
+5285,1792845638246866414,24317669000000,1792845638246636072,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760771341183337,-0.004741019548780902,0.1041580683337171,0.99999998945633,-4.955807805409362e-05,-1.0947460552583114e-05,9.977150975837945e-05,0.6761,-0.0046,0.10406142130620866,1.0,0.0,0.0,0.0,-0.24950397261386706,-0.13015955130479878,1.464257528969818,-0.012232461379864917,0.022657665411973435,0.0012683866104134319,0.18865564313278874,0.3353609058031067,2.0575950165193775,0.02233181008209248,-0.010658407023532717,0.0005137599676038285,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.09670800147967,0.38314293690444784,-0.7849884561437953,0.29177201138444486,0.6567717393747691,0.18706328718705317,1.6381774756034406,-1.464257528969818,2.423165931747236,2.423165931747236,3.1578274756605214,0,0,-0.00044861361471057313,-9.999999025923074e-05
+5320,1792845638538969015,24317961000000,1792845638538635987,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760783172113325,-0.004735174298729666,0.10402473657608506,0.9999999890865495,-6.263831289290395e-05,-7.714676391322532e-06,9.63674784997114e-05,0.6761,-0.0046,0.10392830183112986,1.0,0.0,0.0,0.0,-0.2389827037046991,-0.14408643300811796,1.4439211737010935,-0.013238791324867997,0.02231354919495969,0.0012775709118185252,0.1991769120419567,0.3214340240997875,2.037258661250653,0.0213254801370894,-0.011002523240546467,0.0005229442690089219,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0918709921494527,0.3581940957243621,-0.8706744571344489,0.3144239392697245,0.7083772905688379,0.1722380246049729,1.6381774756034406,-1.4439211737010935,2.5088519327378895,2.5088519327378895,3.201627475660549,0,0,-0.0004632136118662685,-9.999999025923074e-05
+5355,1792845638829939258,24318252000000,1792845638826647122,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.676074733784319,-0.004737892973552286,0.10388398550635236,0.9999999901198412,3.994636750164531e-05,-1.6318619928850897e-05,9.66497404369455e-05,0.6761,-0.0046,0.10379139692049062,1.0,0.0,0.0,0.0,-0.22897791891014366,-0.15719453735410577,1.4450496926006182,-0.014232493153670315,0.021319961146437166,0.0009572177666633928,0.20918169683651214,0.3083259197537997,2.0383871801501776,0.02033177830828708,-0.01199611128906899,0.00020259112385378951,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.065036898823988,0.4398737938020355,-0.8110880211149083,0.2770683305472259,0.6683200238968305,0.19210255859177588,1.6381774756034406,-1.4450496926006182,2.4492654967183487,2.4492654967183487,3.2452774756605764,0,0,-0.00047776360903170465,-9.999999025923074e-05
+5387,1792845639096959438,24318519000000,1792845639094646127,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760698377251283,-0.004739227422194829,0.10374344138919105,0.9999999896170826,1.7945961240309265e-05,-2.6030608541367484e-05,0.00010587279705255898,0.6761,-0.0046,0.10366205848722766,1.0,0.0,0.0,0.0,-0.2286175032579834,-0.16980035790419812,1.4431879980213123,-0.015254756167615489,0.02134065753761174,0.0012355394554001862,0.20954211248867238,0.29572009920370734,2.0365254855708717,0.019309515294341908,-0.011975414897894417,0.000480912812590583,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0320768983086872,0.3657393775450051,-0.6817972216794939,0.3059139987873235,0.576332333979372,0.14378454073126773,1.6381774756034406,-1.4431879980213123,2.3199746972829347,2.3199746972829347,3.2853274756606017,0,0,-0.0004911136064309193,-9.999999025923074e-05
+5418,1792845639354995121,24318777000000,1792845639354636083,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760666256865916,-0.004738311666275675,0.10360398392099097,0.9999999889047638,2.373634533727067e-06,-3.29127516149218e-05,0.0001120020234093954,0.6761,-0.0046,0.10353369352709393,1.0,0.0,0.0,0.0,-0.22791583942101273,-0.18571954007722535,1.4053330306139449,-0.016264455580177018,0.02119167326802299,0.0012599105992327074,0.21024377632564306,0.2798009170306801,1.9986705181635043,0.01829981588178038,-0.012124399167483164,0.0005052839564231042,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0936235055812134,0.3019115123736049,-0.8592408154453004,0.3453825236985159,0.7058259522230961,0.13229545648470215,1.6381774756034406,-1.4053330306139449,2.4974182910487412,2.4974182910487412,3.324027475660626,0,0,-0.0005040136039178008,-9.999999025923074e-05
+5450,1792845639621974655,24319044000000,1792845639614636359,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760689601865725,-0.004732691250755686,0.10346881338895143,0.9999999894959005,-2.7126312951124414e-05,-2.6747618244493408e-05,0.00010487989154658169,0.6761,-0.0046,0.10339734634519639,1.0,0.0,0.0,0.0,-0.22779734809063756,-0.1867377614084334,1.3424797837693676,-0.01626449618578687,0.021378474052733402,0.0013054346500745335,0.21036226765601823,0.27878269569947206,1.935817271318927,0.018299775276170528,-0.01193759838277275,0.0005508080072649304,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0354048399941316,0.33257315811094956,-0.6663628726709337,0.35580914087079074,0.5584074027215586,0.15413326495211144,1.6381774756034406,-1.3424797837693676,2.3045403482743745,2.3045403482743745,3.3640774756606513,0,0,-0.0005173636013170155,-9.999999025923074e-05
+5481,1792845639880017381,24319302000000,1792845639878645713,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760613963976707,-0.004734017311074274,0.10332450067481053,0.9999999883275205,-4.4852421367715924e-05,-4.3131997465921455e-05,0.0001044782961370223,0.6761,-0.0046,0.10326220888638205,1.0,0.0,0.0,0.0,-0.2337647922175699,-0.20284511722585563,1.3043285772431996,-0.018060332670292216,0.020809790263352966,0.0013118896198007282,0.2043948235290859,0.26267533988204983,1.897666064792759,0.01650393879166518,-0.012506282172153186,0.000557262976991125,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0131107865841549,0.2852088175607015,-0.6630381117021615,0.37215570526349395,0.552098863308971,0.12369646143525093,1.6381774756034406,-1.3043285772431996,2.3012155873056024,2.3012155873056024,3.4027774756606757,0,0,-0.000530263598803897,-9.999999025923074e-05
+5511,1792845640129997887,24319552000000,1792845640126636517,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760598091411204,-0.004731097309465375,0.10318960705256806,0.9999999871657403,-5.258885533524608e-05,-4.342782616152722e-05,0.00011162356293883716,0.6761,-0.0046,0.10312808673698669,1.0,0.0,0.0,0.0,-0.25004445903257566,-0.22070409315901293,1.2613845012810359,-0.018284832899256868,0.021453330859030006,0.0013452847570982265,0.18811515671408013,0.24481636394889253,1.8547219888305952,0.01627943856270053,-0.011862741576476146,0.0005906581142886231,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0474147427125906,0.3071204556969146,-0.6346943665684195,0.36532140929298457,0.5421924100140091,0.13713955189042767,1.6381774756034406,-1.2613845012810359,2.27287184217186,2.27287184217186,3.4402774756606993,0,0,-0.0005427635963687047,-9.999999025923074e-05
+5540,1792845640372031331,24319794000000,1792845640370645736,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.676058106674567,-0.004735245046250759,0.10304752932592055,0.9999999869000985,-4.779516541828123e-05,-4.458463000931863e-05,0.00011563087942187196,0.6761,-0.0046,0.10299527989695187,1.0,0.0,0.0,0.0,-0.27110621905907395,-0.2175443347885316,1.2214081765686648,-0.01830628811970575,0.022453278133170322,0.0013906816647906782,0.16705339668758187,0.24797612231937385,1.8147456641182242,0.016257983342251647,-0.01086279430233583,0.0006360550219810748,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0179895640388288,0.2694805844765391,-0.5638137377550217,0.39265249164678934,0.4784496283667511,0.12241301092541054,1.6381774756034406,-1.2214081765686648,2.2019912133584625,2.2019912133584625,3.476577475660722,0,0,-0.0005548635940114385,-9.999999025923074e-05
+5568,1792845640604992999,24320027000000,1792845640602645863,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760506086971756,-0.004735728849939338,0.10290970990042181,0.9999999875648258,2.3826379523744742e-05,-5.7943411171101924e-05,0.00011130174089311534,0.6761,-0.0046,0.10286464527981275,1.0,0.0,0.0,0.0,-0.24021618293929511,-0.24361510302244893,1.200062389824213,-0.020302456520158087,0.021125313384071878,0.0005491837262982847,0.19794343280736068,0.22190535408545653,1.7933998773737725,0.014261814941799312,-0.012190759051434274,-0.0002054429165113186,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.9864912675041303,0.3507402869107001,-0.44897845442154105,0.3619633551273302,0.40212847229651844,0.1483961217213471,1.6381774756034406,-1.200062389824213,2.0871559300249816,2.0871559300249816,3.511527475660744,0,0,-0.0005665135917418393,-9.999999025923074e-05
+5595,1792845640830038374,24320252000000,1792845640822645223,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760398536361307,-0.004736719034124396,0.1027680348585601,0.9999999858000377,2.391825709496146e-06,-7.817406552949898e-05,0.00011715751625892434,0.6761,-0.0046,0.10273591972191849,1.0,0.0,0.0,0.0,-0.2532732167670376,-0.26499653689351377,1.160717291932821,-0.02135763543943442,0.022534183899916894,0.0011199704382009973,0.18488639897961817,0.20052392021439167,1.7540547794823804,0.013206636022522979,-0.01078188853558926,0.000365343795391394,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0216082586215975,0.2717745392831719,-0.4612689669621731,0.4008265421405769,0.4182235079094712,0.11759877372475018,1.6381774756034406,-1.160717291932821,2.099446442565614,2.099446442565614,3.5452774756607655,0,0,-0.0005777635895501662,-9.999999025923074e-05
+5623,1792845641064016430,24320486000000,1792845641062636136,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760395598308594,-0.004739233580447826,0.10262471796391257,0.9999999850619268,-9.743487501585957e-06,-7.627656952141882e-05,0.00012412074808662175,0.6761,-0.0046,0.10259935999223158,1.0,0.0,0.0,0.0,-0.2764711466412091,-0.272284499538027,1.121334428720457,-0.022395816876685536,0.023438350436274624,0.0014388173171747435,0.16168846910544668,0.1932359575698784,1.7146719162700164,0.012168454585271863,-0.009877721999231528,0.0006841906743651402,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0120786966324375,0.2272927056116556,-0.5220705553583874,0.4174229472070791,0.44584509438692,0.09032314567046268,1.6381774756034406,-1.121334428720457,2.160248030961828,2.160248030961828,3.5803774756607876,0,0,-0.0005894635872708262,-9.999999025923074e-05
+5650,1792845641289051568,24320711000000,1792845641282636079,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.676033921183832,-0.004743075740718942,0.10247938112361706,0.999999983896441,-3.9780775562783315e-05,-8.779639319065467e-05,0.00011983015301625736,0.6761,-0.0046,0.1024654706853433,1.0,0.0,0.0,0.0,-0.2758704221256192,-0.28636919534812527,1.0894193489327517,-0.023411547974662463,0.0234648153598477,0.0014532880517102798,0.1622891936210366,0.1791512617597802,1.6827568364823111,0.011152723487294933,-0.009851257075658452,0.0006986614089006764,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.9844860774058755,0.16875226485638373,-0.5358460893531571,0.4411346111722351,0.4448001566023397,0.04989917503563539,1.6381774756034406,-1.0894193489327517,2.174023564956598,2.174023564956598,3.614127475660809,0,0,-0.0006007135850791531,-9.999999025923074e-05
+5676,1792845641505030008,24320927000000,1792845641502636132,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760227779225781,-0.004743210955254141,0.10233060072165112,0.9999999805343837,-4.040181203227604e-05,-0.00011087297983707636,0.0001282535491036463,0.6761,-0.0046,0.10233455555119449,1.0,0.0,0.0,0.0,-0.28457493436696785,-0.3088898936060647,1.06128471184555,-0.024433020322193223,0.02362746621852569,0.0014607604617825547,0.15358468137968795,0.15663056350184074,1.6546221993951093,0.010131251139764175,-0.009688606216980465,0.0007061338189729514,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0000127825701908,0.1729621458428574,-0.4246619025197289,0.433808019892005,0.3813967498138269,0.05357094345055534,1.6381774756034406,-1.06128471184555,2.0628393781231695,2.0628393781231695,3.6465274756608292,0,0,-0.0006115135829751469,-9.999999025923074e-05
+5701,1792845641714064368,24321136000000,1792845641706645247,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760175062672615,-0.004747971718184622,0.10219385824086985,0.9999999799349651,2.2481622344094716e-05,-0.00011869837969670591,0.00013030044213480443,0.6761,-0.0046,0.10220566241256644,1.0,0.0,0.0,0.0,-0.3055317152831645,-0.3129625296686407,1.007019799536964,-0.02546126469227526,0.02467686111051204,0.0005602753626720759,0.13262790046349132,0.1525579274392648,1.6003572870865235,0.009103006769682138,-0.008639211324994114,-0.00019435128013752735,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.0159696639430604,0.18177009635078029,-0.33628211075153935,0.45055501059576974,0.3201733424430871,0.06981004313100728,1.6381774756034406,-1.007019799536964,1.97445958635498,1.97445958635498,3.677877475660849,0,0,-0.0006219635809393262,-9.999999025923074e-05
+5727,1792845641930081793,24321352000000,1792845641926645741,DOWN_FORCE_DETACH,1,0.0762,0.07620222866535187,0.6760146070260772,-0.004746655855905657,0.1020521954481952,0.9999999810666799,-1.0225897609018663e-05,-0.00012048644731463962,0.00012119385925497601,0.6761,-0.0046,0.10207015727931183,1.0,0.0,0.0,0.0,-0.30586376949823396,-0.3254762626969413,0.9571454469867695,-0.025461860433588147,0.024683256148502516,0.001547067572180148,0.13229584624842183,0.1400441944109642,1.550482934536329,0.009102411028369247,-0.00863281628700364,0.0007924409293705445,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.9890925566343205,0.01853461658295461,-0.24036131107872885,0.49777958787179827,0.24668449549640623,-0.04734560715653564,1.6381774756034406,-0.9571454469867695,1.8785387866821694,1.8785387866821694,3.7102774756608694,0,0,-0.00063276357883532,-9.999999025923074e-05
+5752,1792845642139013096,24321561000000,1792845642134636162,DOWN_FORCE_DETACH,1,0.0762,0.07620157301425934,0.6760089774883541,-0.004750598300047856,0.10190997816756235,0.9999999786204156,-2.3796167700075005e-05,-0.0001301113737479064,0.00012925480932007586,0.6761,-0.0046,0.10193682289154901,1.0,0.0,0.0,0.0,-0.32052060480551825,-0.34022500523869526,0.9079750742192998,-0.026524772415113536,0.025726156573802623,0.0015887872000384016,0.11763901094113753,0.12529545186921023,1.5013125617688592,0.00803949904684386,-0.0075899158617035315,0.0008341605572287983,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.057885121183271,0.17626977602205812,-0.28173739734041153,0.44829227806330657,0.29483019774702246,0.06071626884494703,1.6381774756034406,-0.9079750742192998,1.9199148729438522,1.9199148729438522,3.741627475660889,0,0,-0.0006432135767994992,-9.999999025923074e-05
+5778,1792845642354084051,24321776000000,1792845642346636595,DOWN_SETTLE,1,0.0762,0.07620157301425934,0.6760021536043235,-0.004754681873005126,0.10175620206408874,0.9999999748851965,-3.00053021342473e-05,-0.00014181664293028696,0.00014373653778011584,0.6761,-0.0046,0.1017973817227633,1.0,0.0,0.0,0.0,-0.3415564164746198,-0.35852683869959756,0.8657369394022063,-0.027947949997121194,0.026776571843546548,0.0016240001791047753,0.09660319927203598,0.1069936184083079,1.4590744269517657,0.006616321464836202,-0.0065395005919596065,0.0008693735362951719,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,1.074108649736426,0.06365681807392395,-0.2586401651287238,0.4671336743804231,0.285645361407553,-0.017637118763572428,1.6381774756034406,-0.8657369394022063,1.8968176407321644,0.0,0.0,0,0,-0.0006539635747052338,-9.999999025923074e-05
+5816,1792845642670997919,24322093000000,1792845642670636506,DOWN_SETTLE,1,0.0762,0.07620157301425934,0.6759849954346306,-0.004752285924532996,0.10162239204193409,0.9999999688528186,-2.7683626721812257e-05,-0.00017408922314977372,0.00015054496206264495,0.6761,-0.0046,0.10170334586586717,1.0,0.0,0.0,0.0,-0.3212490050605288,-0.3801483804855381,0.6402808895036838,-0.030389161009054484,0.025867517561514418,0.000736010271786016,0.11691061068612703,0.08537207662236732,1.2336183770532432,0.004175110452902913,-0.007448554873991738,-1.861637102358728e-05,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.9864550318565152,0.06970288715748611,0.012289795009484149,0.4690773516456221,0.09007727423758591,-0.0069370776584782995,1.6381774756034406,-0.6402808895036838,1.6258876805939564,0.0,0.0,0,0,-4.681876914104574e-05,0.00047291686001056296
+5894,1792845643318101105,24322740000000,1792845643314645826,DOWN_PEAK_HOLD,1,0.0762,0.07620222866535187,0.6759657787461973,-0.004747125327612116,0.10156795308374858,0.9999999625573384,-2.8402066288326828e-05,-0.00020974890585284957,0.00014672050131466513,0.6761,-0.0046,0.10169966846436096,1.0,0.0,0.0,0.0,-0.29350502109452403,-0.39161362799948063,0.33306860291721085,-0.03038622658026384,0.02289491153630965,0.000940043732781513,0.14465459465213176,0.07390682910842483,0.9264060904667702,0.004178044881693558,-0.010421160899196504,0.00018541708997190975,0.4381596157466558,0.46552045710790546,0.5933374875495594,0.034564271461957397,-0.033316072435506154,-0.0007546266428096033,1,0.7995932288353141,0.25152865547115233,0.35161928091908107,0.39601433819208187,-0.17319514823676185,0.10601645561980726,1.6381774756034406,-0.33306860291721085,1.2865581946843596,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/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/digit/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,1792845617587218640,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.286897726e-09,-5.029134748e-10,2.563426138e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027452163e-01,-1.140828428e-04,8.303261688e-01
+1,7.833333333e-01,DOWN_FORCE_DETACH,1792845618357419058,-3.414447497e-07,-1.803870774e-06,-9.192736117e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.232089538e-07,-1.755591041e-08,1.154972351e-08,7.019553282e-01,-2.389178218e-05,8.601425266e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027453352e-01,-1.140998958e-04,8.303261801e-01
+2,1.516666667e+00,DOWN_FORCE_DETACH,1792845619078108558,-3.702752637e-07,2.275097683e-06,-1.851468662e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.608415330e-07,-2.330384094e-08,1.785253534e-08,7.019552993e-01,-1.981281372e-05,8.601415944e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027453729e-01,-1.141056437e-04,8.303261864e-01
+3,2.266666667e+00,DOWN_FORCE_DETACH,1792845619815882324,-8.455067650e-07,-1.463342953e-06,-1.029160784e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.750204106e-07,-2.556591178e-08,2.103813557e-08,7.019548241e-01,-2.355125436e-05,8.601331542e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027453870e-01,-1.141079058e-04,8.303261896e-01
+4,3.000000000e+00,DOWN_FORCE_DETACH,1792845620568464598,-4.835106976e-07,-2.240650559e-07,-2.446677998e-05,-1.976363083e-06,-4.852642937e-06,-1.958675962e-05,-2.186416592e-06,-4.794929246e-06,-1.938333266e-05,7.019551861e-01,-2.231197646e-05,8.601189791e-01,7.019536933e-01,-2.694055434e-05,8.601238591e-01,7.027430256e-01,-1.188772691e-04,8.303067852e-01
+5,3.750000000e+00,DOWN_FORCE_DETACH,1792845621305980962,1.050297845e-06,-1.114953969e-06,-3.983804199e-05,9.834231771e-07,-1.085117771e-06,-3.967572714e-05,6.984767134e-07,-1.074211589e-06,-3.906971944e-05,7.019567199e-01,-2.320286537e-05,8.601036078e-01,7.019566530e-01,-2.317302918e-05,8.601037701e-01,7.027459105e-01,-1.151565515e-04,8.302870988e-01
+6,4.183333333e+00,DOWN_FORCE_DETACH,1792845621748770713,4.444265980e-05,-7.719567809e-06,-3.816630603e-05,4.892027385e-05,-7.548048904e-06,-3.174498850e-05,5.134141676e-05,-7.413115634e-06,-3.164637952e-05,7.020001123e-01,-2.980747921e-05,8.601052795e-01,7.020045899e-01,-2.963596031e-05,8.601117009e-01,7.027965534e-01,-1.214954555e-04,8.302945221e-01
+7,4.816666667e+00,DOWN_FORCE_DETACH,1792845622371028169,4.010987897e-05,-1.232136132e-05,-5.507464456e-05,3.699410421e-05,-6.881037341e-06,-5.206196004e-05,3.926629579e-05,-6.799908904e-06,-5.177337409e-05,7.019957795e-01,-3.440927273e-05,8.600883712e-01,7.019926637e-01,-2.896894875e-05,8.600913839e-01,7.027844783e-01,-1.208822488e-04,8.302743952e-01
+8,5.466666667e+00,DOWN_FORCE_DETACH,1792845623026106838,3.656995792e-05,-8.835665274e-06,-7.826785997e-05,3.718783457e-05,-1.075704366e-05,-7.193198952e-05,3.935134415e-05,-1.061321559e-05,-7.151432971e-05,7.019922396e-01,-3.092357668e-05,8.600651780e-01,7.019928575e-01,-3.284495506e-05,8.600715139e-01,7.027845634e-01,-1.246955555e-04,8.302546542e-01
+9,6.150000000e+00,DOWN_FORCE_DETACH,1792845623698307195,3.306842910e-05,-1.155458057e-05,-1.065574376e-04,3.461380586e-05,-1.085283775e-05,-9.301542108e-05,3.641668623e-05,-1.069285556e-05,-9.257615613e-05,7.019887381e-01,-3.364249197e-05,8.600368884e-01,7.019902834e-01,-3.294074916e-05,8.600504304e-01,7.027816287e-01,-1.247751954e-04,8.302335924e-01
+10,6.766666667e+00,DOWN_FORCE_DETACH,1792845624303679274,2.911313377e-05,-7.799393945e-06,-1.269535064e-04,3.176821442e-05,-1.295009631e-05,-1.147568844e-04,3.309205913e-05,-1.274577061e-05,-1.142936078e-04,7.019847828e-01,-2.988730535e-05,8.600164923e-01,7.019874378e-01,-3.503800771e-05,8.600286890e-01,7.027783041e-01,-1.268281105e-04,8.302118749e-01
+11,7.533333333e+00,DOWN_FORCE_DETACH,1792845625073570131,3.016844736e-05,-1.505524521e-05,-1.323987036e-04,2.983337235e-05,-1.240288099e-05,-1.348211018e-04,3.076867862e-05,-1.217808398e-05,-1.341357343e-04,7.019858381e-01,-3.714315662e-05,8.600110471e-01,7.019855030e-01,-3.449079240e-05,8.600086247e-01,7.027759807e-01,-1.262604238e-04,8.301920328e-01
+12,8.200000000e+00,DOWN_FORCE_DETACH,1792845625762264693,3.336947547e-05,-1.489982924e-05,-1.462210752e-04,2.983337235e-05,-1.240288099e-05,-1.348211018e-04,3.071407964e-05,-1.216401073e-05,-1.345433076e-04,7.019890391e-01,-3.698774064e-05,8.599972248e-01,7.019855030e-01,-3.449079240e-05,8.600086247e-01,7.027759261e-01,-1.262463506e-04,8.301916252e-01
+13,8.766666667e+00,DOWN_FORCE_DETACH,1792845626319091797,4.964328312e-05,-1.585307129e-05,-1.752565232e-04,4.820500441e-05,-1.300349871e-05,-1.704902955e-04,4.981390105e-05,-1.278164982e-05,-1.697867830e-04,7.020053129e-01,-3.794098270e-05,8.599681893e-01,7.020038746e-01,-3.509141012e-05,8.599729555e-01,7.027950259e-01,-1.268639897e-04,8.301563817e-01
+14,9.416666667e+00,DOWN_FORCE_DETACH,1792845626957194739,5.141935180e-05,-1.992452282e-05,-2.326597996e-04,5.138206208e-05,-1.984308575e-05,-2.325275131e-04,5.265324665e-05,-1.949887744e-05,-2.311351074e-04,7.020070890e-01,-4.201243423e-05,8.599107860e-01,7.020070517e-01,-4.193099716e-05,8.599109183e-01,7.027978653e-01,-1.335812173e-04,8.300950334e-01
+15,1.006666667e+01,DOWN_FORCE_DETACH,1792845627629068568,5.423205253e-05,-2.510060154e-05,-2.674633752e-04,5.345183088e-05,-2.654845464e-05,-2.527416712e-04,5.462218711e-05,-2.608207022e-05,-2.519484103e-04,7.020099017e-01,-4.718851294e-05,8.598759825e-01,7.020091215e-01,-4.863636604e-05,8.598907042e-01,7.027998342e-01,-1.401644101e-04,8.300742201e-01
+16,1.070000000e+01,DOWN_FORCE_DETACH,1792845628317364584,5.855003715e-05,-2.189323863e-05,-3.131777270e-04,5.865278219e-05,-2.208044912e-05,-3.126756120e-04,5.945308513e-05,-2.171293910e-05,-3.114353355e-04,7.020142197e-01,-4.398115004e-05,8.598302681e-01,7.020143224e-01,-4.416836052e-05,8.598307702e-01,7.028046651e-01,-1.357952790e-04,8.300147332e-01
+17,1.120000000e+01,DOWN_FORCE_DETACH,1792845628825541062,5.830077384e-05,-3.470566527e-05,-3.582004524e-04,5.736942414e-05,-3.352932357e-05,-3.528438057e-04,5.763074720e-05,-3.294257750e-05,-3.517628946e-04,7.020139704e-01,-5.679357667e-05,8.597852454e-01,7.020130390e-01,-5.561723498e-05,8.597906020e-01,7.028028428e-01,-1.470249174e-04,8.299744056e-01
+18,1.178333333e+01,DOWN_FORCE_DETACH,1792845629397811813,6.130807070e-05,-3.323185486e-05,-4.230118838e-04,6.098828089e-05,-3.337235265e-05,-4.229913777e-04,6.058880952e-05,-3.278280669e-05,-4.215094325e-04,7.020169777e-01,-5.531976626e-05,8.597204340e-01,7.020166579e-01,-5.546026405e-05,8.597204545e-01,7.028058008e-01,-1.468651466e-04,8.299046591e-01
+19,1.235000000e+01,DOWN_FORCE_DETACH,1792845629954798012,6.496270312e-05,-3.817167900e-05,-4.830115043e-04,6.396324187e-05,-3.894567416e-05,-4.665311738e-04,6.334395732e-05,-3.818191552e-05,-4.654745523e-04,7.020206323e-01,-6.025959041e-05,8.596604343e-01,7.020196329e-01,-6.103358557e-05,8.596769147e-01,7.028085560e-01,-1.522642554e-04,8.298606940e-01
+20,1.271666667e+01,DOWN_FORCE_DETACH,1792845630364927488,1.022600518e-04,-3.611692093e-05,-5.033239246e-04,1.148190500e-04,-4.357614986e-05,-4.946224485e-04,1.167455954e-04,-4.270136118e-05,-4.938197560e-04,7.020579297e-01,-5.820483233e-05,8.596401219e-01,7.020704887e-01,-6.566406126e-05,8.596488234e-01,7.028619576e-01,-1.567837010e-04,8.298323488e-01
+21,1.301666667e+01,DOWN_FORCE_DETACH,1792845630659083099,1.021690007e-04,-4.371930154e-05,-5.479353034e-04,1.019694536e-04,-4.391284721e-05,-5.478249416e-04,1.028400822e-04,-4.303845164e-05,-5.463811192e-04,7.020578386e-01,-6.580721294e-05,8.595955105e-01,7.020576391e-01,-6.600075861e-05,8.595956209e-01,7.028480521e-01,-1.571207915e-04,8.297797874e-01
+22,1.366666667e+01,DOWN_FORCE_DETACH,1792845631331172325,1.062069841e-04,-4.650967463e-05,-6.389772614e-04,1.059072468e-04,-4.667172488e-05,-6.386769088e-04,1.064797784e-04,-4.575247904e-05,-6.367472422e-04,7.020618766e-01,-6.859758604e-05,8.595044686e-01,7.020615769e-01,-6.875963628e-05,8.595047689e-01,7.028516918e-01,-1.598348189e-04,8.296894213e-01
+23,1.416666667e+01,DOWN_FORCE_DETACH,1792845631821949432,1.113825863e-04,-5.343254663e-05,-7.215260056e-04,1.105349975e-04,-5.187283116e-05,-7.076856828e-04,1.107202022e-04,-5.095747172e-05,-7.060184979e-04,7.020670522e-01,-7.552045804e-05,8.594219198e-01,7.020662046e-01,-7.396074257e-05,8.594357602e-01,7.028559322e-01,-1.650398116e-04,8.296201500e-01
+24,1.471666667e+01,DOWN_FORCE_DETACH,1792845632362795873,1.130661753e-04,-5.846813581e-05,-8.201700644e-04,1.122027357e-04,-5.789507301e-05,-8.171124365e-04,1.113221614e-04,-5.687129380e-05,-8.151016419e-04,7.020687358e-01,-8.055604722e-05,8.593232758e-01,7.020678724e-01,-7.998298441e-05,8.593263334e-01,7.028565342e-01,-1.709536337e-04,8.295110669e-01
+25,1.526666667e+01,DOWN_FORCE_DETACH,1792845632936662349,1.177873124e-04,-6.363962716e-05,-9.307758667e-04,1.167128687e-04,-6.313177463e-05,-9.287856186e-04,1.148269564e-04,-6.204842297e-05,-9.265781169e-04,7.020734569e-01,-8.572753856e-05,8.592126700e-01,7.020723825e-01,-8.521968603e-05,8.592146602e-01,7.028600390e-01,-1.761307628e-04,8.293995904e-01
+26,1.568333333e+01,DOWN_FORCE_DETACH,1792845633346180687,1.236752389e-04,-6.539724460e-05,-1.008909660e-03,1.213937367e-04,-6.666958677e-05,-9.952267534e-04,1.189320751e-04,-6.552752923e-05,-9.933543954e-04,7.020793449e-01,-8.748515601e-05,8.591345362e-01,7.020770634e-01,-8.875749818e-05,8.591482191e-01,7.028641441e-01,-1.796098691e-04,8.293328141e-01
+27,1.590000000e+01,DOWN_FORCE_DETACH,1792845633558639970,1.292820774e-04,-4.149399202e-05,-1.060627846e-03,1.290303173e-04,-4.122616563e-05,-1.060751482e-03,1.262865784e-04,-4.049893914e-05,-1.058391556e-03,7.020849517e-01,-6.358190342e-05,8.590828180e-01,7.020846999e-01,-6.331407703e-05,8.590826944e-01,7.028714986e-01,-1.545812790e-04,8.292677770e-01
+28,1.626666667e+01,DOWN_FORCE_DETACH,1792845633918859264,1.281185931e-04,-4.667029670e-05,-1.145331900e-03,1.278650782e-04,-4.426414443e-05,-1.127413923e-03,1.242387738e-04,-4.347728475e-05,-1.125274472e-03,7.020837882e-01,-6.875820811e-05,8.589981139e-01,7.020835347e-01,-6.635205584e-05,8.590160319e-01,7.028694508e-01,-1.575596246e-04,8.292008941e-01
+29,1.670000000e+01,DOWN_FORCE_DETACH,1792845634361835170,1.342320461e-04,-4.964022318e-05,-1.252138821e-03,1.317891782e-04,-4.841828928e-05,-1.232765334e-03,1.270732826e-04,-4.756699824e-05,-1.230543293e-03,7.020899017e-01,-7.172813459e-05,8.588913070e-01,7.020874588e-01,-7.050620069e-05,8.589106805e-01,7.028722853e-01,-1.616493381e-04,8.290956252e-01
+30,1.713333333e+01,DOWN_FORCE_DETACH,1792845634786773728,1.342867473e-04,-5.756932784e-05,-1.371478637e-03,1.336854501e-04,-5.658111785e-05,-1.365697755e-03,1.275376893e-04,-5.564433055e-05,-1.362940976e-03,7.020899564e-01,-7.965723924e-05,8.587719672e-01,7.020893551e-01,-7.866902925e-05,8.587777481e-01,7.028727497e-01,-1.697266704e-04,8.289632276e-01
+31,1.756666667e+01,DOWN_FORCE_DETACH,1792845635214183982,1.387703770e-04,-6.071354124e-05,-1.486782793e-03,1.409984959e-04,-6.197219080e-05,-1.480632923e-03,1.339176163e-04,-6.092500916e-05,-1.477874550e-03,7.020944400e-01,-8.280145265e-05,8.586566631e-01,7.020966681e-01,-8.406010221e-05,8.586628129e-01,7.028791296e-01,-1.750073490e-04,8.288482940e-01
+32,1.795000000e+01,DOWN_FORCE_DETACH,1792845635589835432,1.430456514e-04,-6.503287296e-05,-1.597076876e-03,1.429623371e-04,-6.157458051e-05,-1.593636685e-03,1.347086988e-04,-6.052337482e-05,-1.590679171e-03,7.020987153e-01,-8.712078437e-05,8.585463690e-01,7.020986320e-01,-8.366249192e-05,8.585498092e-01,7.028799207e-01,-1.746057147e-04,8.287354894e-01
+33,1.831666667e+01,DOWN_FORCE_DETACH,1792845635966387717,1.476139978e-04,-6.750054287e-05,-1.717920396e-03,1.452794620e-04,-6.140017156e-05,-1.704130776e-03,1.359159797e-04,-6.045324044e-05,-1.701336700e-03,7.021032836e-01,-8.958845428e-05,8.584255254e-01,7.021009491e-01,-8.348808297e-05,8.584393151e-01,7.028811280e-01,-1.745355803e-04,8.286248318e-01
+34,1.870000000e+01,DOWN_FORCE_DETACH,1792845636343515889,1.505795947e-04,-5.903779264e-05,-1.842669936e-03,1.494181131e-04,-6.510945885e-05,-1.837941599e-03,1.387873414e-04,-6.407451697e-05,-1.834968654e-03,7.021062492e-01,-8.112570405e-05,8.583007759e-01,7.021050877e-01,-8.719737025e-05,8.583055042e-01,7.028839994e-01,-1.781568568e-04,8.284911999e-01
+35,1.903333333e+01,DOWN_FORCE_DETACH,1792845636670624905,1.487406455e-04,-6.484675539e-05,-1.963479300e-03,1.499025806e-04,-6.707199418e-05,-1.950061305e-03,1.379579572e-04,-6.601616454e-05,-1.947023520e-03,7.021044103e-01,-8.693466680e-05,8.581799665e-01,7.021055722e-01,-8.915990559e-05,8.581933845e-01,7.028831700e-01,-1.800985044e-04,8.283791450e-01
+36,1.940000000e+01,DOWN_FORCE_DETACH,1792845637031398763,1.521104258e-04,-6.487941677e-05,-2.094131033e-03,1.494358257e-04,-6.998254259e-05,-2.086947649e-03,1.357423089e-04,-6.883792011e-05,-2.083685241e-03,7.021077801e-01,-8.696732818e-05,8.580493148e-01,7.021051055e-01,-9.207045400e-05,8.580564982e-01,7.028809543e-01,-1.829202600e-04,8.282424833e-01
+37,1.971666667e+01,DOWN_FORCE_DETACH,1792845637342463151,1.527401027e-04,-7.103356809e-05,-2.212645356e-03,1.500351983e-04,-7.034207051e-05,-2.196617034e-03,1.350705710e-04,-6.920300740e-05,-2.193458462e-03,7.021084097e-01,-9.312147950e-05,8.579308005e-01,7.021057048e-01,-9.242998192e-05,8.579468288e-01,7.028802826e-01,-1.832853473e-04,8.281327101e-01
+38,2.003333333e+01,DOWN_FORCE_DETACH,1792845637653503142,1.491496241e-04,-7.495626155e-05,-2.344160614e-03,1.489093765e-04,-7.458377569e-05,-2.344069858e-03,1.322103222e-04,-7.323227916e-05,-2.340243250e-03,7.021048192e-01,-9.704417295e-05,8.577992852e-01,7.021045790e-01,-9.667168709e-05,8.577993760e-01,7.028774224e-01,-1.873146190e-04,8.279859253e-01
+39,2.033333333e+01,DOWN_FORCE_DETACH,1792845637948806772,1.506324696e-04,-7.423086305e-05,-2.469287338e-03,1.542905398e-04,-7.103783120e-05,-2.457583536e-03,1.365887020e-04,-6.972086493e-05,-2.453958811e-03,7.021063021e-01,-9.631877445e-05,8.576741585e-01,7.021099602e-01,-9.312574261e-05,8.576858623e-01,7.028818007e-01,-1.838032048e-04,8.278722097e-01
+40,2.063333333e+01,DOWN_FORCE_DETACH,1792845638243401046,1.524686874e-04,-7.410420792e-05,-2.600118749e-03,1.524990885e-04,-7.399807315e-05,-2.599789257e-03,1.330065353e-04,-7.262159736e-05,-2.595816769e-03,7.021081383e-01,-9.619211933e-05,8.575433271e-01,7.021081687e-01,-9.608598456e-05,8.575436566e-01,7.028782186e-01,-1.867039372e-04,8.277303518e-01
+41,2.093333333e+01,DOWN_FORCE_DETACH,1792845638538011371,1.539931351e-04,-7.609648750e-05,-2.733827153e-03,1.537623644e-04,-7.613535066e-05,-2.734095723e-03,1.326519234e-04,-7.475995775e-05,-2.730240765e-03,7.021096628e-01,-9.818439890e-05,8.574096187e-01,7.021094320e-01,-9.822326207e-05,8.574093501e-01,7.028778640e-01,-1.888422976e-04,8.275959278e-01
+42,2.120000000e+01,DOWN_FORCE_DETACH,1792845638832933544,1.493307999e-04,-7.476978682e-05,-2.877802308e-03,1.493897923e-04,-7.459971749e-05,-2.863729298e-03,1.263877930e-04,-7.324251164e-05,-2.859854204e-03,7.021050004e-01,-9.685769823e-05,8.572656435e-01,7.021050594e-01,-9.668762890e-05,8.572797165e-01,7.028715998e-01,-1.873248515e-04,8.274663143e-01
+43,2.146666667e+01,DOWN_FORCE_DETACH,1792845639094917547,1.469802279e-04,-7.044555091e-05,-3.010825160e-03,1.454747950e-04,-7.196079076e-05,-2.998071706e-03,1.205498523e-04,-7.064788847e-05,-2.994201023e-03,7.021026499e-01,-9.253346232e-05,8.571326207e-01,7.021011444e-01,-9.404870216e-05,8.571453741e-01,7.028657619e-01,-1.847302283e-04,8.273319675e-01
+44,2.173333333e+01,DOWN_FORCE_DETACH,1792845639357017064,1.439181455e-04,-7.398709624e-05,-3.151344270e-03,1.426433975e-04,-7.377860430e-05,-3.144280722e-03,1.157275885e-04,-7.245621127e-05,-3.140253208e-03,7.020995878e-01,-9.607500764e-05,8.569921016e-01,7.020983130e-01,-9.586651570e-05,8.569991651e-01,7.028609396e-01,-1.865385511e-04,8.271859153e-01
+45,2.198333333e+01,DOWN_FORCE_DETACH,1792845639620826676,1.442122030e-04,-6.942179231e-05,-3.289707145e-03,1.438932058e-04,-6.970122962e-05,-3.290100677e-03,1.151899677e-04,-6.845341123e-05,-3.285735302e-03,7.020998818e-01,-9.150970372e-05,8.568537387e-01,7.020995628e-01,-9.178914102e-05,8.568533452e-01,7.028604020e-01,-1.825357511e-04,8.270404332e-01
+46,2.225000000e+01,DOWN_FORCE_DETACH,1792845639881720814,1.365331784e-04,-7.105197288e-05,-3.434819084e-03,1.352061961e-04,-7.133336355e-05,-3.416540184e-03,1.044345006e-04,-7.011300565e-05,-3.412764395e-03,7.020922028e-01,-9.313988428e-05,8.567086268e-01,7.020908758e-01,-9.342127496e-05,8.567269057e-01,7.028496465e-01,-1.841953455e-04,8.269134041e-01
+47,2.250000000e+01,DOWN_FORCE_DETACH,1792845640127084727,1.337776420e-04,-6.665181945e-05,-3.570228869e-03,1.349789140e-04,-7.098160834e-05,-3.561295172e-03,1.024700512e-04,-6.976656157e-05,-3.557470142e-03,7.020894473e-01,-8.873973086e-05,8.565732170e-01,7.020906485e-01,-9.306951975e-05,8.565821507e-01,7.028476821e-01,-1.838489014e-04,8.267686984e-01
+48,2.273333333e+01,DOWN_FORCE_DETACH,1792845640373746566,1.298864018e-04,-7.495418237e-05,-3.713289195e-03,1.297655497e-04,-7.511190380e-05,-3.713483870e-03,9.505570595e-05,-7.386778506e-05,-3.709320667e-03,7.020855560e-01,-9.704209377e-05,8.564301567e-01,7.020854352e-01,-9.719981521e-05,8.564299620e-01,7.028402677e-01,-1.879501249e-04,8.266168479e-01
+49,2.296666667e+01,DOWN_FORCE_DETACH,1792845640601975920,1.238436149e-04,-7.494523983e-05,-3.848945861e-03,1.237322660e-04,-7.492655589e-05,-3.848793067e-03,8.689872457e-05,-7.376243759e-05,-3.844705026e-03,7.020795132e-01,-9.703315124e-05,8.562945000e-01,7.020794019e-01,-9.701446730e-05,8.562946528e-01,7.028321108e-01,-1.878447774e-04,8.264814635e-01
+50,2.320000000e+01,DOWN_FORCE_DETACH,1792845640832856893,1.151172340e-04,-7.295179160e-05,-3.990582243e-03,1.151654005e-04,-7.275339801e-05,-3.990443132e-03,7.604712680e-05,-7.155810050e-05,-3.986251335e-03,7.020707869e-01,-9.503970300e-05,8.561528636e-01,7.020708350e-01,-9.484130941e-05,8.561530027e-01,7.028212592e-01,-1.856404404e-04,8.263399172e-01
+51,2.341666667e+01,DOWN_FORCE_DETACH,1792845641061066840,1.138813127e-04,-7.566957682e-05,-4.129243790e-03,1.166586380e-04,-7.890175010e-05,-4.112510795e-03,7.603828485e-05,-7.761992287e-05,-4.108547804e-03,7.020695509e-01,-9.775748823e-05,8.560142021e-01,7.020723283e-01,-1.009896615e-04,8.560309351e-01,7.028212503e-01,-1.917022627e-04,8.262176207e-01
+52,2.358333333e+01,DOWN_FORCE_DETACH,1792845641290865973,1.107746615e-04,-7.756430575e-05,-4.274988173e-03,1.104655978e-04,-7.762397849e-05,-4.274726657e-03,6.744736649e-05,-7.630774554e-05,-4.270011560e-03,7.020664443e-01,-9.965221716e-05,8.558684577e-01,7.020661352e-01,-9.971188989e-05,8.558687192e-01,7.028126594e-01,-1.903900854e-04,8.260561570e-01
+53,2.378333333e+01,DOWN_FORCE_DETACH,1792845641502911300,1.012664558e-04,-8.143183701e-05,-4.420919235e-03,1.012183030e-04,-8.143888321e-05,-4.420973964e-03,5.577226304e-05,-8.001342391e-05,-4.416594498e-03,7.020569361e-01,-1.035197484e-04,8.557225266e-01,7.020568879e-01,-1.035267946e-04,8.557224719e-01,7.028009843e-01,-1.940957638e-04,8.259095740e-01
+54,2.398333333e+01,DOWN_FORCE_DETACH,1792845641716202493,9.498837377e-05,-8.250397237e-05,-4.562012694e-03,9.310766586e-05,-8.378793139e-05,-4.555159617e-03,4.542767099e-05,-8.238039307e-05,-4.551076831e-03,7.020506580e-01,-1.045918838e-04,8.555814332e-01,7.020487773e-01,-1.058758428e-04,8.555882862e-01,7.027906397e-01,-1.964627329e-04,8.257750917e-01
+55,2.420000000e+01,DOWN_FORCE_DETACH,1792845641929120401,8.878754372e-05,-7.954186524e-05,-4.706382555e-03,8.871633093e-05,-7.936001525e-05,-4.706203501e-03,3.888617270e-05,-7.806496431e-05,-4.702094343e-03,7.020444572e-01,-1.016297766e-04,8.554370633e-01,7.020443860e-01,-1.014479267e-04,8.554372423e-01,7.027840982e-01,-1.921473042e-04,8.256240742e-01
+56,2.438333333e+01,DOWN_FORCE_DETACH,1792845642142873501,8.324739824e-05,-8.757658137e-05,-4.851132472e-03,8.305690054e-05,-8.751563371e-05,-4.850872223e-03,3.107708174e-05,-8.612858112e-05,-4.846713079e-03,7.020389170e-01,-1.096644928e-04,8.552923134e-01,7.020387265e-01,-1.096035451e-04,8.552925736e-01,7.027762891e-01,-2.002109210e-04,8.254794554e-01
+57,2.460000000e+01,DOWN_SETTLE,1792845642355118442,7.832442987e-05,-9.230928583e-05,-4.998628887e-03,7.808211347e-05,-9.235306193e-05,-4.998695850e-03,2.398071090e-05,-9.099857351e-05,-4.994655574e-03,7.020339941e-01,-1.143971972e-04,8.551448170e-01,7.020337517e-01,-1.144409733e-04,8.551447500e-01,7.027691927e-01,-2.050809134e-04,8.253315130e-01
+58,2.488333333e+01,DOWN_SETTLE,1792845642667748835,6.114370313e-05,-9.013212744e-05,-5.136866353e-03,6.088399452e-05,-9.002600583e-05,-5.136997470e-03,3.850304487e-06,-8.868952549e-05,-5.134003149e-03,7.020168133e-01,-1.122200388e-04,8.550065795e-01,7.020165536e-01,-1.121139172e-04,8.550064484e-01,7.027490623e-01,-2.027718654e-04,8.251921654e-01
+59,2.550000000e+01,DOWN_PEAK_HOLD,1792845643321755966,4.095576827e-05,-8.374651107e-05,-5.188931153e-03,4.671244240e-05,-8.282282652e-05,-5.176533267e-03,-1.223663255e-05,-8.161785327e-05,-5.176503530e-03,7.019966254e-01,-1.058344225e-04,8.549545147e-01,7.020023821e-01,-1.049107379e-04,8.549669126e-01,7.027329754e-01,-1.957001931e-04,8.251496650e-01

Part2/Fixed/digit/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+00,6.1635e-02,2.7100e-01,2.4559e+00,-5.5419e-02,4.1204e-02,1.3029e-04,4.1816e-03,-1.3400e-03,2.6512e-04,1.2989e-04,3.5263e-04,-1.2910e-05,4.3991e-03,3.7601e-04
+1,7.8333e-01,DOWN_FORCE_DETACH,1.4737e-04,8.1423e-02,2.6901e-01,2.4578e+00,-5.5154e-02,4.2575e-02,-1.7734e-04,2.3970e-02,-3.3342e-03,2.1365e-03,3.9522e-04,1.7233e-03,-3.2054e-04,2.4295e-02,1.7969e-03
+2,1.5167e+00,DOWN_FORCE_DETACH,2.9890e-04,8.8709e-02,2.6843e-01,2.4589e+00,-5.5076e-02,4.3097e-02,-2.8746e-04,3.1256e-02,-3.9111e-03,3.2959e-03,4.7325e-04,2.2460e-03,-4.3066e-04,3.1671e-02,2.3353e-03
+3,2.2667e+00,DOWN_FORCE_DETACH,4.4712e-04,9.1471e-02,2.6820e-01,2.4596e+00,-5.5044e-02,4.3295e-02,-3.3353e-04,3.4017e-02,-4.1431e-03,3.9487e-03,5.0447e-04,2.4439e-03,-4.7673e-04,3.4496e-02,2.5406e-03
+4,3.0000e+00,DOWN_FORCE_DETACH,5.9480e-04,9.8226e-02,2.9756e-01,2.5031e+00,-5.6966e-02,4.3709e-02,-3.4302e-04,4.0772e-02,2.5213e-02,4.7491e-02,-1.4173e-03,2.8572e-03,-4.8622e-04,6.7480e-02,3.2262e-03
+5,3.7500e+00,DOWN_FORCE_DETACH,7.4442e-04,9.5201e-02,2.9882e-01,2.4741e+00,-5.7081e-02,4.3533e-02,-3.4501e-04,3.7747e-02,2.6475e-02,1.8412e-02,-1.5325e-03,2.6819e-03,-4.8821e-04,4.9647e-02,3.1272e-03
+6,4.1833e+00,DOWN_FORCE_DETACH,8.9805e-04,-1.4672e-01,3.1592e-01,2.4537e+00,-5.8271e-02,2.6388e-02,-2.5240e-04,-2.0417e-01,4.3581e-02,-1.9069e-03,-2.7220e-03,-1.4463e-02,-3.9560e-04,2.0878e-01,1.4722e-02
+7,4.8167e+00,DOWN_FORCE_DETACH,1.0464e-03,5.6734e-02,3.0690e-01,2.5014e+00,-5.7475e-02,4.0729e-02,-7.9995e-05,-7.1948e-04,3.4559e-02,4.5716e-02,-1.9263e-03,-1.2266e-04,-2.2320e-04,5.7313e-02,1.9430e-03
+8,5.4667e+00,DOWN_FORCE_DETACH,1.1942e-03,8.0868e-02,3.3147e-01,2.5606e+00,-5.9063e-02,4.2437e-02,-1.2794e-04,2.3415e-02,5.9130e-02,1.0500e-01,-3.5139e-03,1.5852e-03,-2.7114e-04,1.2276e-01,3.8644e-03
+9,6.1500e+00,DOWN_FORCE_DETACH,1.3427e-03,9.6403e-02,3.3147e-01,2.5398e+00,-5.8983e-02,4.3498e-02,-1.8298e-04,3.8950e-02,5.9131e-02,8.4134e-02,-3.4337e-03,2.6469e-03,-3.2618e-04,1.0996e-01,4.3478e-03
+10,6.7667e+00,DOWN_FORCE_DETACH,1.4916e-03,1.0199e-01,3.4665e-01,2.5401e+00,-6.0025e-02,4.3892e-02,-2.0558e-04,4.4535e-02,7.4307e-02,8.4431e-02,-4.4761e-03,3.0400e-03,-3.4878e-04,1.2097e-01,5.4221e-03
+11,7.5333e+00,DOWN_FORCE_DETACH,1.6370e-03,1.0116e-01,3.5008e-01,2.5220e+00,-6.0509e-02,4.3855e-02,-2.2158e-04,4.3703e-02,7.7736e-02,6.6341e-02,-4.9598e-03,3.0038e-03,-3.6478e-04,1.1115e-01,5.8099e-03
+12,8.2000e+00,DOWN_FORCE_DETACH,1.7921e-03,9.8109e-02,3.4870e-01,2.5051e+00,-6.0475e-02,4.3652e-02,-2.1494e-04,4.0656e-02,7.6353e-02,4.9501e-02,-4.9259e-03,2.8008e-03,-3.5814e-04,9.9665e-02,5.6778e-03
+13,8.7667e+00,DOWN_FORCE_DETACH,1.9367e-03,4.2726e-02,3.5328e-01,2.5876e+00,-6.0712e-02,3.9642e-02,-1.5513e-04,-1.4727e-02,8.0937e-02,1.3194e-01,-5.1628e-03,-1.2093e-03,-2.9833e-04,1.5549e-01,5.3109e-03
+14,9.4167e+00,DOWN_FORCE_DETACH,2.0887e-03,6.6358e-02,3.9031e-01,2.5942e+00,-6.3223e-02,4.1220e-02,-3.1263e-05,8.9046e-03,1.1796e-01,1.3858e-01,-7.6746e-03,3.6884e-04,-1.7446e-04,1.8221e-01,7.6854e-03
+15,1.0067e+01,DOWN_FORCE_DETACH,2.2366e-03,7.8399e-02,4.2866e-01,2.5994e+00,-6.5882e-02,4.2067e-02,-1.0636e-05,2.0945e-02,1.5632e-01,1.4380e-01,-1.0333e-02,1.2152e-03,-1.5384e-04,2.1343e-01,1.0405e-02
+16,1.0700e+01,DOWN_FORCE_DETACH,2.3896e-03,7.9660e-02,4.5232e-01,2.5887e+00,-6.7655e-02,4.2163e-02,9.3309e-06,2.2206e-02,1.7998e-01,1.3310e-01,-1.2106e-02,1.3116e-03,-1.3387e-04,2.2495e-01,1.2177e-02
+17,1.1200e+01,DOWN_FORCE_DETACH,2.5379e-03,8.6725e-02,4.6153e-01,2.6523e+00,-6.8164e-02,4.2604e-02,1.1344e-05,2.9271e-02,1.8919e-01,1.9669e-01,-1.2615e-02,1.7526e-03,-1.3186e-04,2.7447e-01,1.2737e-02
+18,1.1783e+01,DOWN_FORCE_DETACH,2.6859e-03,8.4554e-02,5.0730e-01,2.6416e+00,-7.1290e-02,4.2456e-02,3.5848e-05,2.7101e-02,2.3495e-01,1.8597e-01,-1.5742e-02,1.6050e-03,-1.0735e-04,3.0087e-01,1.5824e-02
+19,1.2350e+01,DOWN_FORCE_DETACH,2.8360e-03,8.1843e-02,5.2381e-01,2.6525e+00,-7.2299e-02,4.2235e-02,8.4810e-05,2.4389e-02,2.5147e-01,1.9682e-01,-1.6750e-02,1.3836e-03,-5.8392e-05,3.2026e-01,1.6807e-02
+20,1.2717e+01,DOWN_FORCE_DETACH,2.9919e-03,-1.5409e-01,5.5841e-01,2.6031e+00,-7.4964e-02,2.5654e-02,6.4354e-04,-2.1154e-01,2.8606e-01,1.4747e-01,-1.9415e-02,-1.5198e-02,5.0033e-04,3.8514e-01,2.4661e-02
+21,1.3017e+01,DOWN_FORCE_DETACH,3.1325e-03,3.5704e-02,5.0678e-01,2.6492e+00,-7.1062e-02,3.8875e-02,5.9622e-04,-2.1750e-02,2.3444e-01,1.9351e-01,-1.5513e-02,-1.9762e-03,4.5302e-04,3.0476e-01,1.5645e-02
+22,1.3667e+01,DOWN_FORCE_DETACH,3.2861e-03,6.1872e-02,5.6173e-01,2.7148e+00,-7.4838e-02,4.0710e-02,5.8455e-04,4.4188e-03,2.8939e-01,2.5916e-01,-1.9289e-02,-1.4142e-04,4.4134e-04,3.8850e-01,1.9295e-02
+23,1.4167e+01,DOWN_FORCE_DETACH,3.4318e-03,1.0000e-01,6.0023e-01,2.8266e+00,-7.6921e-02,4.3295e-02,5.0162e-04,4.2548e-02,3.2789e-01,3.7095e-01,-2.1372e-02,2.4437e-03,3.5842e-04,4.9692e-01,2.1514e-02
+24,1.4717e+01,DOWN_FORCE_DETACH,3.5812e-03,1.2260e-01,6.2491e-01,2.8382e+00,-7.8260e-02,4.4872e-02,3.3053e-04,6.5149e-02,3.5257e-01,3.8254e-01,-2.2711e-02,4.0206e-03,1.8733e-04,5.2430e-01,2.3065e-02
+25,1.5267e+01,DOWN_FORCE_DETACH,3.7268e-03,1.2707e-01,6.5388e-01,2.8882e+00,-7.9256e-02,4.5112e-02,2.9797e-04,6.9618e-02,3.8153e-01,4.3257e-01,-2.3707e-02,4.2601e-03,1.5477e-04,5.8097e-01,2.4087e-02
+26,1.5683e+01,DOWN_FORCE_DETACH,3.8603e-03,1.1195e-01,6.8333e-01,2.8816e+00,-8.0819e-02,4.3960e-02,2.0757e-04,5.4495e-02,4.1099e-01,4.2593e-01,-2.5270e-02,3.1087e-03,6.4364e-05,5.9439e-01,2.5460e-02
+27,1.5900e+01,DOWN_FORCE_DETACH,4.0307e-03,9.0276e-02,4.5417e-01,2.8992e+00,-6.4856e-02,4.2454e-02,-1.9571e-04,3.2823e-02,1.8183e-01,4.4356e-01,-9.3071e-03,1.6029e-03,-3.3892e-04,4.8050e-01,9.4502e-03
+28,1.6267e+01,DOWN_FORCE_DETACH,4.1799e-03,1.0034e-01,5.5359e-01,2.9254e+00,-7.2068e-02,4.3135e-02,-1.7537e-04,4.2884e-02,2.8125e-01,4.6974e-01,-1.6520e-02,2.2840e-03,-3.1858e-04,5.4918e-01,1.6680e-02
+29,1.6700e+01,DOWN_FORCE_DETACH,4.3286e-03,9.1039e-02,5.5044e-01,2.9702e+00,-7.1529e-02,4.2389e-02,-2.0057e-04,3.3585e-02,2.7810e-01,5.1452e-01,-1.5980e-02,1.5375e-03,-3.4377e-04,5.8583e-01,1.6057e-02
+30,1.7133e+01,DOWN_FORCE_DETACH,4.4781e-03,9.3447e-02,6.3316e-01,3.0060e+00,-7.7098e-02,4.2445e-02,-1.5760e-04,3.5993e-02,3.6082e-01,5.5034e-01,-2.1549e-02,1.5938e-03,-3.0081e-04,6.5906e-01,2.1610e-02
+31,1.7567e+01,DOWN_FORCE_DETACH,4.6233e-03,7.3108e-02,6.4208e-01,3.0337e+00,-7.7689e-02,4.0825e-02,3.5005e-04,1.5654e-02,3.6974e-01,5.7807e-01,-2.2140e-02,-2.6520e-05,2.0685e-04,6.8638e-01,2.2141e-02
+32,1.7950e+01,DOWN_FORCE_DETACH,4.7754e-03,9.9125e-02,6.4826e-01,3.0760e+00,-7.7842e-02,4.2707e-02,3.7804e-04,4.1671e-02,3.7591e-01,6.2036e-01,-2.2293e-02,1.8556e-03,2.3483e-04,7.2657e-01,2.2371e-02
+33,1.8317e+01,DOWN_FORCE_DETACH,4.9204e-03,9.3024e-02,6.4217e-01,3.0761e+00,-7.7279e-02,4.2364e-02,3.9971e-04,3.5571e-02,3.6983e-01,6.2042e-01,-2.1730e-02,1.5128e-03,2.5651e-04,7.2316e-01,2.1784e-02
+34,1.8700e+01,DOWN_FORCE_DETACH,5.0724e-03,1.0465e-01,6.4939e-01,3.0902e+00,-7.6933e-02,4.3185e-02,4.0613e-04,4.7193e-02,3.7705e-01,6.3452e-01,-2.1384e-02,2.3340e-03,2.6293e-04,7.3960e-01,2.1513e-02
+35,1.9033e+01,DOWN_FORCE_DETACH,5.2200e-03,1.1013e-01,6.6920e-01,3.1104e+00,-7.8016e-02,4.3552e-02,3.7188e-04,5.2682e-02,3.9686e-01,6.5471e-01,-2.2467e-02,2.7010e-03,2.2867e-04,7.6741e-01,2.2630e-02
+36,1.9400e+01,DOWN_FORCE_DETACH,5.3717e-03,1.1340e-01,6.7575e-01,3.1520e+00,-7.7710e-02,4.3757e-02,5.9017e-05,5.5945e-02,4.0341e-01,6.9632e-01,-2.2161e-02,2.9060e-03,-8.4185e-05,8.0668e-01,2.2351e-02
+37,1.9717e+01,DOWN_FORCE_DETACH,5.5202e-03,1.1348e-01,7.0395e-01,3.1736e+00,-7.9411e-02,4.3706e-02,8.8606e-06,5.6031e-02,4.3161e-01,7.1794e-01,-2.3862e-02,2.8548e-03,-1.3434e-04,8.3956e-01,2.4032e-02
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+41,2.0933e+01,DOWN_FORCE_DETACH,6.1185e-03,1.4358e-01,7.7168e-01,3.2511e+00,-8.3167e-02,4.5585e-02,-3.2749e-05,8.6124e-02,4.9934e-01,7.9549e-01,-2.7618e-02,4.7334e-03,-1.7595e-04,9.4317e-01,2.8021e-02
+42,2.1200e+01,DOWN_FORCE_DETACH,6.2701e-03,1.3831e-01,7.5911e-01,3.3180e+00,-8.1850e-02,4.5199e-02,-4.6520e-05,8.0852e-02,4.8676e-01,8.6233e-01,-2.6301e-02,4.3478e-03,-1.8972e-04,9.9353e-01,2.6658e-02
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+49,2.2967e+01,DOWN_FORCE_DETACH,7.3130e-03,1.5663e-01,7.1028e-01,3.3689e+00,-7.7257e-02,4.6300e-02,-1.9001e-04,9.9181e-02,4.3794e-01,9.1327e-01,-2.1708e-02,5.4485e-03,-3.3321e-04,1.0177e+00,2.2384e-02
+50,2.3200e+01,DOWN_FORCE_DETACH,7.4602e-03,1.5063e-01,7.1642e-01,3.3723e+00,-7.7526e-02,4.5918e-02,-2.3353e-04,9.3177e-02,4.4407e-01,9.1668e-01,-2.1977e-02,5.0662e-03,-3.7673e-04,1.0228e+00,2.2557e-02
+51,2.3417e+01,DOWN_FORCE_DETACH,7.6072e-03,1.4899e-01,7.3373e-01,3.3981e+00,-7.8531e-02,4.5806e-02,-2.6678e-04,9.1536e-02,4.6139e-01,9.4242e-01,-2.2982e-02,4.9542e-03,-4.0999e-04,1.0533e+00,2.3513e-02
+52,2.3583e+01,DOWN_FORCE_DETACH,7.7578e-03,1.6196e-01,7.5064e-01,3.4432e+00,-7.9365e-02,4.6603e-02,-2.7701e-04,1.0451e-01,4.7830e-01,9.8757e-01,-2.3816e-02,5.7517e-03,-4.2021e-04,1.1023e+00,2.4504e-02
+53,2.3783e+01,DOWN_FORCE_DETACH,7.9057e-03,1.5990e-01,7.9978e-01,3.4868e+00,-8.1882e-02,4.6413e-02,-2.7540e-04,1.0245e-01,5.2744e-01,1.0311e+00,-2.6333e-02,5.5619e-03,-4.1860e-04,1.1627e+00,2.6917e-02
+54,2.3983e+01,DOWN_FORCE_DETACH,8.0533e-03,1.5479e-01,8.1238e-01,3.4654e+00,-8.2154e-02,4.6069e-02,-2.7862e-04,9.7333e-02,5.4004e-01,1.0097e+00,-2.6605e-02,5.2176e-03,-4.2182e-04,1.1492e+00,2.7115e-02
+55,2.4200e+01,DOWN_FORCE_DETACH,8.2047e-03,1.4620e-01,7.8464e-01,3.4414e+00,-8.0235e-02,4.5515e-02,-2.8974e-04,8.8742e-02,5.1229e-01,9.8579e-01,-2.4686e-02,4.6640e-03,-4.3294e-04,1.1145e+00,2.5126e-02
+56,2.4383e+01,DOWN_FORCE_DETACH,8.3520e-03,1.4751e-01,7.8923e-01,3.4544e+00,-8.0440e-02,4.5582e-02,-3.0128e-04,9.0054e-02,5.1689e-01,9.9879e-01,-2.4891e-02,4.7308e-03,-4.4448e-04,1.1282e+00,2.5341e-02
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+58,2.4883e+01,DOWN_SETTLE,8.6536e-03,1.6038e-01,7.9058e-01,3.4034e+00,-8.0393e-02,4.6472e-02,-3.5853e-04,1.0293e-01,5.1824e-01,9.4774e-01,-2.4844e-02,5.6206e-03,-5.0173e-04,1.0851e+00,2.5477e-02
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