Datasets:

BAAI
/

EventTouch

+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+2190,1792675448325198923,43988654000000,1792675448323367907,XJC_ZERO_HOLD_BEFORE_UP,6,0.045,0.04500136524438858,0.6760460461822597,-0.004553569486417427,0.09078684006618003,0.9999999817223603,9.98742732237585e-05,-0.00011572349368316823,6.805399386181154e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.0023841435835852062,-0.0031475910715811177,0.0009728127788210823,1.2941852668530655e-05,-1.1693442334538909e-05,8.513764299136924e-06,0.05559902091153171,0.025857914443993928,-0.009265122690275518,0.002155440924701817,-0.004094558973073318,-3.363912515397156e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7869781044544276,0.31559430539704686,1.8225751293184125,0.010908892628884686,-1.3089879485408527,0.048941850109275126,1.0863442572748523,0.0009728127788210823,-0.7362308720435602,0.0,0.0,0,0,0.0,0.0
+2206,1792675448458357421,43988787000000,1792675448451367246,XJC_ZERO_HOLD_BEFORE_UP,6,0.045,0.04500136524438858,0.6760462180450625,-0.0045568301290579835,0.09078752305494216,0.9999999822196372,9.423258029397558e-05,-0.00011541084543748455,6.931195622188428e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.0011681633009738082,-0.0033910072773570346,0.0014485191928304796,1.2873351541692942e-05,-1.1707911860284019e-05,7.98391665854583e-06,0.05438304062892031,0.02561449823821801,-0.00878941627626612,0.0021553724235749794,-0.004094573442599063,-3.416897279456265e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7231556123789378,0.29021810667726167,1.6600368062963047,0.014336887644117011,-1.1840230377516647,0.02884440819049003,1.0863442572748523,0.0014485191928304796,-0.5736925490214524,0.0,0.0,0,0,0.0,0.0
+2223,1792675448592394716,43988921000000,1792675448591366245,WAIT_W2,6,0.0375,0.04500136524438858,0.6760463646637956,-0.004550524576524044,0.09078621233084927,0.9999999813546278,0.00010307889772949012,-0.00011590873952116496,6.83630985818327e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,-0.004886628743143849,0.006479710154441976,-0.000516913239079481,1.4525521347667335e-05,-1.2280441926367826e-05,8.991069464578928e-06,0.048328248584802655,0.03548521567001702,-0.010754848708176081,0.0021570245933809538,-0.004095145972665147,-3.3161819988529554e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7578817301489765,0.27640751875979697,1.7769770303643582,0.020427041101438326,-1.2718363461980318,0.019914932265572338,1.0863442572748523,0.000516913239079481,-0.6906327730895059,0.0,0.0,0,0,0.0,0.0
+2235,1792675448692545831,43989021000000,1792675448691368056,WAIT_W2,6,0.0375,0.04500136524438858,0.6760463098851571,-0.004556474278500585,0.09078710942571284,0.9999999815887597,9.899917937560301e-05,-0.0001170638626417075,6.899680554983963e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.0023329157797797595,-0.003396900148994162,0.0012850584641835427,1.2854767708693569e-05,-1.1694483490516314e-05,8.153261842382854e-06,0.055547793107726263,0.025608605366580883,-0.008952877004913058,0.00215535383974198,-0.004094560014229295,-3.399962761072563e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7784209386719315,0.22871983419499156,1.78851151127146,0.036272828985405674,-1.2839773709381912,-0.008825289116209029,1.0863442572748523,0.0012850584641835427,-0.7021672539966077,0.0,0.0,0,0,0.0,0.0
+2251,1792675448826638351,43989155000000,1792675448819367997,WAIT_W2,6,0.0375,0.04500136524438858,0.676045414867564,-0.004553321659951298,0.09078566583330953,0.9999999814105198,0.00010093937410753964,-0.0001171894943328549,6.855428191391941e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,-0.00024127677373878692,-0.0012662363856175626,0.0014526926662356832,1.2958432300570755e-05,-1.1795887642390354e-05,7.813188363979797e-06,0.05297360055420772,0.027739269129957483,-0.008785242802860917,0.002155457504333857,-0.004094661418381169,-3.4339701089128685e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7609488799300436,0.24682420264346386,1.6581246054594603,0.016599518971621,-1.1968059998025802,-0.0015295272973175622,1.0863442572748523,0.0014526926662356832,-0.571780348184608,0.0,0.0,0,0,0.0,0.0
+2259,1792675448892681723,43989221000000,1792675448891367599,WAIT_W2,6,0.0375,0.04500136524438858,0.6760460258859381,-0.004555392217551176,0.09078662147801977,0.9999999821781544,9.522706631432582e-05,-0.00011570360282794811,6.805172587878633e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.0023516080420825924,0.004432718121435229,0.0014737226415236313,1.3979936643621071e-05,-1.2389603912038236e-05,8.11830445073597e-06,0.055566485370029096,0.033438223637010274,-0.008764212827572969,0.0021564790086769075,-0.004095255134650817,-3.403458500237251e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7603185622284607,0.1936230049026132,1.707717483385785,0.036408432543419654,-1.2273667927679508,-0.035419957688671094,1.0863442572748523,0.0014737226415236313,-0.6213732261109328,0.0,0.0,0,0,0.0,0.0
+2275,1792675449026782720,43989355000000,1792675449023367647,WAIT_W2,6,0.0375,0.04500136524438858,0.6760483658747816,-0.004554669663109607,0.09078836416601382,0.9999999820715797,9.80242341350528e-05,-0.00011336642021690409,6.956298614447352e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.00241183862502959,0.005613705094575348,-0.006339194350858545,1.5901994353252537e-05,-1.0501297451925504e-05,1.4435949817051704e-05,0.055626715952976094,0.03461921061015039,-0.016577129819955145,0.002158401066386539,-0.004093366828190705,-2.7716939636056778e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7617764493066106,0.25749486744608147,1.7538502309047248,0.014730828597735479,-1.26034641618809,0.00638470320470283,1.0863442572748523,0.006339194350858545,-0.6675059736298725,0.0,0.0,0,0,0.0,0.0
+2292,1792675449167864711,43989496000000,1792675449167367737,WAIT_W2,6,0.0375,0.04500136524438858,0.676047024361293,-0.004556205503762059,0.0907880909563073,0.9999999818960772,9.798914251567671e-05,-0.00011447206642234517,7.032057685434602e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.009455763543378383,0.006658198089637472,0.001513965973631022,1.529007344004251e-05,-1.3373766948268466e-05,8.961388803943621e-06,0.06267064087132489,0.03566370360521252,-0.008723969495465578,0.002157789145473329,-0.0040962392976870475,-3.319150064916486e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7583644898507813,0.25750011100052067,1.6874949242800967,0.018883358349905933,-1.212766867161763,0.006440904675275444,1.0863442572748523,0.001513965973631022,-0.6011506670052444,0.0,0.0,0,0,0.0,0.0
+2307,1792675449292944993,43989621000000,1792675449291367108,WAIT_W2,6,0.0375,0.04500136524438858,0.6760460639318612,-0.004555438318019438,0.09078715299685786,0.9999999815899017,9.94892760010943e-05,-0.0001153647672623196,7.110495944788987e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.020526835974722914,0.019157853888167074,0.001980953699624073,0.0010628500254869309,-0.0010459491510391924,5.736740375377177e-06,0.07374171330266942,0.04816335940374212,-0.008256981769472527,0.0032053490975202173,-0.0051288146817779715,-3.6416149077731305e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.761026551593057,0.15845826041164357,1.7934630031280903,0.058151391343192166,-1.283121590242356,-0.053180532516491366,1.0863442572748523,0.001980953699624073,-0.707118745853238,0.0,0.0,0,0,0.0,0.0
+2327,1792675449460071986,43989788000000,1792675449455368307,WAIT_W2,6,0.0375,0.04500136524438858,0.6760489921777184,-0.004556720220261095,0.09079065870327485,0.9999999820081984,9.992986945643146e-05,-0.00011181588674713381,7.026874046346145e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.022062992295393845,0.01950486387448515,0.0023442571126632093,0.001090552432567954,-0.0020584220992945065,-9.905422921034064e-06,0.07527786962334035,0.0485103693900602,-0.007893678356433391,0.0032330515046012404,-0.006141287630033286,-5.2058312374142546e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7676076125827427,0.23075346754975337,1.7999764074862041,0.039084585343282574,-1.2888640772161042,-0.00784000590632064,1.0863442572748523,0.0023442571126632093,-0.7136321502113518,0.0,0.0,0,0,0.0,0.0
+2335,1792675449527136812,43989855000000,1792675449523368050,WAIT_W2,6,0.0375,0.04500136524438858,0.6760485335796901,-0.004559846266737599,0.09078922028510272,0.9999999820799118,9.725271433554579e-05,-0.0001128198031775523,7.139076983971844e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.029510486960826095,0.03256079118364169,0.012495700669451678,0.002103159886797568,-0.0020812459378950704,-5.899327624121448e-06,0.0827253642887726,0.06156629669921674,0.0022577652003550777,0.004245658958830854,-0.0061641114686338495,-4.805221707722993e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.8081130276484559,0.23903540491487069,1.707474521987413,0.029316821236795066,-1.2398114957208257,-0.004117507755529298,1.0863442572748523,0.012495700669451678,-0.6211302647125607,0.0,0.0,0,0,0.0,0.0
+2347,1792675449627206580,43989955000000,1792675449623367563,WAIT_W2,6,0.0375,0.04500136524438858,0.6760449887428001,-0.004560065024369223,0.0907861874227613,0.9999999819090609,9.464150139431682e-05,-0.0001174178969060128,6.986247950158117e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.03824533129824962,0.03228067002140379,0.004598267796879295,0.0020809671142993326,-0.0020795418080525197,1.4941372671229574e-06,0.09146020862619612,0.061286175536978835,-0.005639667672217305,0.004223466186332619,-0.006162407338791299,-4.0658752185985524e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7627364875669791,0.29599752646699473,1.758264756757073,0.020605420526764718,-1.257470336104078,0.03437469651691108,1.0863442572748523,0.004598267796879295,-0.6719204994822208,0.0,0.0,0,0,0.0,0.0
+2359,1792675449727301955,43990055000000,1792675449727367479,WAIT_W2,6,0.0375,0.04500136524438858,0.6760466290235344,-0.00455804537607987,0.09078883769466697,0.9999999818442168,9.820098200611663e-05,-0.00011511958762932215,6.970278520664214e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.032007106561992606,0.02969924998121976,0.012110715910134236,0.0010890566223950289,-0.002061991897941212,-1.6762275577835386e-05,0.08522198388993911,0.058704755496794804,0.001872780441037637,0.0032315556944283153,-0.006144857428679991,-5.891516503094387e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7852799369264762,0.31623398489919297,1.8911486922418466,0.013548089646670093,-1.349399020541801,0.04880783596671573,1.0863442572748523,0.012110715910134236,-0.8048044349669943,0.0,0.0,0,0,0.0,0.0
+2367,1792675449793360226,43990121000000,1792675449791367381,WAIT_W2,6,0.0375,0.04500136524438858,0.6760479605501537,-0.004558708188813514,0.09079158781911728,0.9999999820952616,9.850677796922506e-05,-0.00011213893275768491,7.05238641283859e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.03006768164940949,0.017640138500960818,0.0120797756987362,0.0010896908130059802,-0.002059755169295365,-1.378873143146149e-05,0.083282558977356,0.04664564401653586,0.0018418402296396,0.0032321898850392666,-0.006142620700034144,-5.594162088456997e-05,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.7585256027038109,0.3097375603853716,1.690944410148343,0.005886441458813061,-1.2145367744933522,0.03951194568191296,1.0863442572748523,0.0120797756987362,-0.6046001528734908,0.0,0.0,0,0,0.0,0.0
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+2992,1792675454986045849,43995310000000,1792675454979367725,UP_SETTLE,6,0.0375,0.0375022329390049,0.6760650366493712,-0.004582264055316199,0.09087061489857606,0.9999999886434062,7.440705505571462e-05,-6.894185975925553e-05,6.218248920690144e-05,0.6761,-0.00453,0.09107986354726558,1.0,0.0,0.0,0.0,0.2668763798846036,0.23543180369494052,-0.36193383207119034,0.015902498510663,-0.018476239290987878,0.00022394015425495224,0.3200912572125501,0.26443730921051556,-0.37217176754028697,0.018044997582696284,-0.022559104821726655,0.00018178726480184377,0.053214877327946504,0.029005505515575045,-0.0102379354690966,0.0021424990720332864,-0.004082865530738779,-4.215288945310848e-05,1,-0.8516679273816534,0.4775130984769839,2.3211034061887483,-0.033781594907610304,-1.6292455761290916,0.1527337318134898,1.0863442572748523,0.36193383207119034,-1.234759148913896,0.36193383207119034,0.3177,0,0,1.1636886153272625e-05,-9.999999025923074e-05

Part2/Fixed/s2/ball_15A_12.5/press_depth_06/up/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/s2/ball_15A_12.5/press_depth_06/up/real_sim_motion_alignment.csv ADDED Viewed

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

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792675448326040341,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.271724778e-09,3.577006399e-11,3.301879881e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292991e-01,1.756575760e-06,8.295726954e-01
+1,8.333333333e-02,XJC_ZERO_HOLD_BEFORE_UP,1792675448460016850,1.148755399e-06,2.302988715e-06,2.632159560e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.219094607e-08,2.099928582e-10,1.914518299e-08,7.015390202e-01,3.853950036e-06,8.407435733e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293340e-01,1.756749983e-06,8.295727112e-01
+2,1.500000000e-01,WAIT_W2,1792675448595392227,8.601018336e-07,-3.737360190e-07,7.669287152e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.847659495e-08,3.394257219e-10,3.104657798e-08,7.015387316e-01,1.177225302e-06,8.407417081e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293603e-01,1.756879416e-06,8.295727231e-01
+3,2.000000000e-01,WAIT_W2,1792675448694317401,9.880181918e-07,2.751788754e-06,2.002283524e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.726260092e-08,4.206029587e-10,3.955231365e-08,7.015388595e-01,4.302750075e-06,8.407429435e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293791e-01,1.756960593e-06,8.295727316e-01
+4,2.666666667e-01,WAIT_W2,1792675448826546920,1.262362644e-06,1.308156943e-06,1.985517660e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.111468546e-07,5.003248042e-10,5.035730544e-08,7.015391338e-01,2.859118265e-06,8.407429267e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294029e-01,1.757040315e-06,8.295727424e-01
+5,3.000000000e-01,WAIT_W2,1792675448894264204,-6.331723188e-07,-4.229501906e-06,-6.152230245e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.226052442e-07,5.461892900e-10,5.553421656e-08,7.015372383e-01,-2.678540585e-06,8.407403260e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294144e-01,1.757086179e-06,8.295727476e-01
+6,3.833333333e-01,WAIT_W2,1792675449026722402,2.319692522e-06,-1.100176692e-06,1.524099834e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.499269064e-07,6.451606610e-10,6.786138207e-08,7.015401912e-01,4.507846289e-07,8.407424653e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294417e-01,1.757185151e-06,8.295727599e-01
+7,4.500000000e-01,WAIT_W2,1792675449168087080,9.781790333e-07,-2.636017345e-06,1.250890127e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.704758021e-07,7.231558095e-10,7.711547101e-08,7.015388497e-01,-1.085056024e-06,8.407421921e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294623e-01,1.757263146e-06,8.295727692e-01
+8,5.166666667e-01,WAIT_W2,1792675449292688975,1.774960146e-08,-1.868831602e-06,3.129306778e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.899319586e-07,7.714101875e-10,8.586555955e-08,7.015378892e-01,-3.178702809e-07,8.407412541e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294817e-01,1.757311400e-06,8.295727779e-01
+9,6.000000000e-01,WAIT_W2,1792675449458778116,-9.286896110e-07,-1.863156655e-06,-2.793678761e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.128347347e-07,8.156408170e-10,9.612977014e-08,7.015369428e-01,-3.121953341e-07,8.407406618e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295046e-01,1.757355631e-06,8.295727882e-01
+10,6.333333333e-01,WAIT_W2,1792675449526865499,-1.776439354e-06,-7.072721983e-06,-3.652705106e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.215728632e-07,8.308484456e-10,1.000364882e-07,7.015360950e-01,-5.521760662e-06,8.407372885e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295134e-01,1.757370839e-06,8.295727921e-01
+11,7.000000000e-01,WAIT_W2,1792675449626789895,-6.035244959e-08,-8.642044232e-06,1.292566263e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.383621447e-07,8.614291433e-10,1.075238935e-07,7.015378111e-01,-7.091082911e-06,8.407422338e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295302e-01,1.757401419e-06,8.295727996e-01
+12,7.500000000e-01,WAIT_W2,1792675449724880707,9.009942502e-07,-8.508748251e-06,2.387809603e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.503623242e-07,8.759694081e-10,1.128691467e-07,7.015387725e-01,-6.957786930e-06,8.407433290e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295422e-01,1.757415960e-06,8.295728050e-01
+13,7.833333333e-01,WAIT_W2,1792675449792956429,1.914367894e-06,-5.138702396e-06,4.747752937e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.580950988e-07,8.851865560e-10,1.163082171e-07,7.015397858e-01,-3.587741075e-06,8.407456889e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295499e-01,1.757425177e-06,8.295728084e-01
+14,8.500000000e-01,WAIT_W2,1792675449925189211,1.967081433e-06,-2.057402765e-06,5.327337855e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.730605688e-07,8.977750036e-10,1.228854969e-07,7.015398386e-01,-5.064414443e-07,8.407462685e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295649e-01,1.757437765e-06,8.295728150e-01
+15,9.166666667e-01,WAIT_W2,1792675450059371549,1.426103839e-06,4.452604271e-06,1.474257586e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.871452875e-07,8.880072285e-10,1.291354719e-07,7.015392976e-01,6.003565592e-06,8.407424154e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295789e-01,1.757427997e-06,8.295728212e-01
+16,9.500000000e-01,WAIT_W2,1792675450125491277,-2.522717648e-06,7.401151371e-06,-3.246317308e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.939147181e-07,8.855276564e-10,1.321230028e-07,7.015353488e-01,8.952112692e-06,8.407376949e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295857e-01,1.757425518e-06,8.295728242e-01
+17,1.016666667e+00,WAIT_W2,1792675450241980051,1.417167264e-06,3.448191229e-06,4.043882075e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.068172882e-07,8.685224068e-10,1.378828113e-07,7.015392886e-01,4.999152550e-06,8.407413456e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295986e-01,1.757408513e-06,8.295728300e-01
+18,1.083333333e+00,WAIT_W2,1792675450360042759,-1.120558100e-06,1.174820218e-05,-2.130484994e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.191254214e-07,8.645637851e-10,1.432843679e-07,7.015367509e-01,1.329916350e-05,8.407388107e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296109e-01,1.757404554e-06,8.295728354e-01
+19,1.133333333e+00,WAIT_W2,1792675450459523957,2.126968639e-06,1.705592708e-05,3.924308710e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.279295914e-07,8.621850421e-10,1.471358186e-07,7.015399985e-01,1.860688840e-05,8.407413336e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296197e-01,1.757402175e-06,8.295728392e-01
+20,1.200000000e+00,WAIT_W2,1792675450591593909,-9.782987341e-07,2.002360888e-05,-1.744972169e-06,6.737150302e-07,2.257411249e-05,-3.542233168e-07,9.719536851e-07,2.256353363e-05,-2.304920539e-07,7.015368932e-01,2.157457020e-05,8.407391962e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017302638e-01,2.432007362e-05,8.295724616e-01
+21,1.283333333e+00,WAIT_W2,1792675450757989131,-1.272858754e-07,3.179010972e-05,-1.666027447e-06,6.737150302e-07,2.257411249e-05,-3.542233168e-07,9.861165716e-07,2.256812165e-05,-2.257503160e-07,7.015377442e-01,3.334107104e-05,8.407392752e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017302779e-01,2.432466164e-05,8.295724663e-01
+22,1.350000000e+00,WAIT_W2,1792675450873863691,-1.296236191e-06,3.609681183e-05,-3.061786438e-06,6.737150302e-07,2.257411249e-05,-3.542233168e-07,9.967117082e-07,2.256992830e-05,-2.220439127e-07,7.015365752e-01,3.764777315e-05,8.407378794e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017302885e-01,2.432646829e-05,8.295724700e-01
+23,1.400000000e+00,WAIT_W2,1792675450955886893,-2.987685102e-06,4.084807147e-05,-7.341579221e-06,6.737150302e-07,2.257411249e-05,-3.542233168e-07,1.004178592e-06,2.257063994e-05,-2.193636955e-07,7.015348838e-01,4.239903279e-05,8.407335996e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017302960e-01,2.432717993e-05,8.295724727e-01
+24,1.483333333e+00,WAIT_W2,1792675451124169213,-1.992526408e-06,3.769322277e-05,-4.118537276e-06,6.737150302e-07,2.257411249e-05,-3.542233168e-07,1.015881964e-06,2.257128454e-05,-2.151065663e-07,7.015358790e-01,3.924418409e-05,8.407368227e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017303077e-01,2.432782453e-05,8.295724770e-01
+25,1.550000000e+00,WAIT_W2,1792675451258330399,7.485234551e-07,2.892689668e-05,-7.029803458e-07,6.737150302e-07,2.257411249e-05,-3.542233168e-07,1.024662834e-06,2.257156670e-05,-2.118903022e-07,7.015386200e-01,3.047785800e-05,8.407402382e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017303165e-01,2.432810669e-05,8.295724802e-01
+26,1.583333333e+00,WAIT_W2,1792675451324254604,-2.140382404e-06,3.011417960e-05,-3.355045414e-06,6.737150302e-07,2.257411249e-05,-3.542233168e-07,1.028876805e-06,2.257166781e-05,-2.103441094e-07,7.015357311e-01,3.166514092e-05,8.407375861e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017303207e-01,2.432820780e-05,8.295724817e-01
+27,1.633333333e+00,WAIT_W2,1792675451424417910,-5.973988204e-08,2.497874216e-05,-1.704292869e-06,6.737150302e-07,2.257411249e-05,-3.542233168e-07,1.034988996e-06,2.257178812e-05,-2.081000376e-07,7.015378117e-01,2.652970348e-05,8.407392369e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017303268e-01,2.432832811e-05,8.295724840e-01
+28,1.683333333e+00,WAIT_W2,1792675451507193730,-2.353407187e-07,2.294652467e-05,-9.665033845e-07,6.737150302e-07,2.257411249e-05,-3.542233168e-07,1.040861111e-06,2.257188270e-05,-2.059435160e-07,7.015376361e-01,2.449748599e-05,8.407399747e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017303327e-01,2.432842269e-05,8.295724861e-01
+29,1.783333333e+00,WAIT_W2,1792675451690394374,7.904987931e-08,1.872038123e-05,2.851015158e-07,6.737150302e-07,2.257411249e-05,-3.542233168e-07,1.051926942e-06,2.257202550e-05,-2.018803137e-07,7.015379505e-01,2.027134255e-05,8.407412263e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017303437e-01,2.432856549e-05,8.295724902e-01
+30,1.833333333e+00,WAIT_W2,1792675451788375915,-8.245911156e-07,8.989498010e-06,3.743759730e-07,6.737150302e-07,2.257411249e-05,-3.542233168e-07,1.057139175e-06,2.257208239e-05,-1.999677270e-07,7.015370469e-01,1.054045933e-05,8.407413156e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017303489e-01,2.432862238e-05,8.295724921e-01
+31,1.883333333e+00,UP_FORCE_RAMP,1792675451890398528,-3.796767768e-06,4.257483940e-06,-3.370180307e-06,6.737150302e-07,2.257411249e-05,-3.542233168e-07,1.062148586e-06,2.257213307e-05,-1.981304103e-07,7.015340747e-01,5.808445262e-06,8.407375710e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017303540e-01,2.432867306e-05,8.295724940e-01
+32,1.950000000e+00,UP_FORCE_RAMP,1792675452022550393,-2.724500794e-06,3.804219270e-06,-3.122768038e-06,6.737150302e-07,2.257411249e-05,-3.542233168e-07,1.068526044e-06,2.257219336e-05,-1.957934195e-07,7.015351470e-01,5.355180591e-06,8.407378184e-01,7.015385452e-01,2.412507381e-05,8.407405870e-01,7.017303603e-01,2.432873335e-05,8.295724963e-01
+33,2.016666667e+00,UP_FORCE_RAMP,1792675452138748974,-5.959283155e-07,6.765436335e-06,1.587943865e-08,-2.440918207e-06,1.876705788e-06,-4.126961453e-06,-2.156314789e-06,1.918781528e-06,-3.939965307e-06,7.015372756e-01,8.316397656e-06,8.407409571e-01,7.015354306e-01,3.427667109e-06,8.407368142e-01,7.017271355e-01,3.675321519e-06,8.295687521e-01
+34,2.066666667e+00,UP_FORCE_RAMP,1792675452220639489,-2.526665912e-06,-9.405609179e-07,-9.484071887e-07,-2.440918207e-06,1.876705788e-06,-4.126961453e-06,-2.155028203e-06,1.916329935e-06,-3.941850323e-06,7.015353448e-01,6.104004032e-07,8.407399928e-01,7.015354306e-01,3.427667109e-06,8.407368142e-01,7.017271368e-01,3.672869925e-06,8.295687502e-01
+35,2.116666667e+00,UP_FORCE_RAMP,1792675452322850389,-6.092706865e-07,-2.106577305e-06,1.992620804e-06,-2.440918207e-06,1.876705788e-06,-4.126961453e-06,-2.153136371e-06,1.914252114e-06,-3.943047356e-06,7.015372622e-01,-5.556159834e-07,8.407429338e-01,7.015354306e-01,3.427667109e-06,8.407368142e-01,7.017271387e-01,3.670792104e-06,8.295687490e-01
+36,2.150000000e+00,UP_FORCE_RAMP,1792675452388813203,-3.331464320e-06,-7.503977721e-06,-4.316316366e-06,-2.440918207e-06,1.876705788e-06,-4.126961453e-06,-2.151682619e-06,1.913451356e-06,-3.943598570e-06,7.015345400e-01,-5.953016400e-06,8.407366249e-01,7.015354306e-01,3.427667109e-06,8.407368142e-01,7.017271401e-01,3.669991346e-06,8.295687485e-01
+37,2.233333333e+00,UP_FORCE_RAMP,1792675452557117196,-9.803428862e-07,-8.088742405e-06,-2.034922185e-06,-2.440918207e-06,1.876705788e-06,-4.126961453e-06,-2.147850074e-06,1.912380623e-06,-3.944571904e-06,7.015368911e-01,-6.537781084e-06,8.407389063e-01,7.015354306e-01,3.427667109e-06,8.407368142e-01,7.017271440e-01,3.668920613e-06,8.295687475e-01
+38,2.300000000e+00,UP_FORCE_RAMP,1792675452688959438,-3.275912548e-06,-6.592376560e-06,-3.308326791e-06,-2.440918207e-06,1.876705788e-06,-4.126961453e-06,-2.144798254e-06,1.911983334e-06,-3.945125832e-06,7.015345956e-01,-5.041415239e-06,8.407376329e-01,7.015354306e-01,3.427667109e-06,8.407368142e-01,7.017271470e-01,3.668523324e-06,8.295687470e-01
+39,2.383333333e+00,UP_FORCE_RAMP,1792675452821172735,-3.051457594e-06,-6.156159926e-06,-2.104756002e-06,-2.440918207e-06,1.876705788e-06,-4.126961453e-06,-2.141130941e-06,1.911721653e-06,-3.945670010e-06,7.015348200e-01,-4.605198605e-06,8.407388364e-01,7.015354306e-01,3.427667109e-06,8.407368142e-01,7.017271507e-01,3.668261643e-06,8.295687464e-01
+40,2.433333333e+00,UP_FORCE_RAMP,1792675452921453171,-1.671817882e-06,-1.492109738e-05,1.105936557e-06,-2.440918207e-06,1.876705788e-06,-4.126961453e-06,-2.139028459e-06,1.911626062e-06,-3.945945867e-06,7.015361997e-01,-1.337013606e-05,8.407420471e-01,7.015354306e-01,3.427667109e-06,8.407368142e-01,7.017271528e-01,3.668166053e-06,8.295687461e-01
+41,2.516666667e+00,UP_FORCE_RAMP,1792675453087364666,-5.131998169e-06,-1.527886398e-05,-4.617385957e-06,-2.440918207e-06,1.876705788e-06,-4.126961453e-06,-2.135693445e-06,1.911518273e-06,-3.946348020e-06,7.015327395e-01,-1.372790266e-05,8.407363238e-01,7.015354306e-01,3.427667109e-06,8.407368142e-01,7.017271561e-01,3.668058264e-06,8.295687457e-01
+42,2.583333333e+00,UP_FORCE_RAMP,1792675453221430252,-4.269110534e-06,-1.707579783e-05,-3.824008455e-06,-1.966005173e-06,-1.771075008e-05,4.676514374e-07,-1.558540838e-06,-1.770294393e-05,5.920223400e-07,7.015336024e-01,-1.552483651e-05,8.407371172e-01,7.015359055e-01,-1.615978876e-05,8.407414088e-01,7.017277333e-01,-1.594640394e-05,8.295732841e-01
+43,2.650000000e+00,UP_FORCE_RAMP,1792675453355559494,-3.098324503e-06,-1.810965659e-05,-2.653181497e-06,-1.966005173e-06,-1.771075008e-05,4.676514374e-07,-1.556075246e-06,-1.770697656e-05,5.975940189e-07,7.015347732e-01,-1.655869527e-05,8.407382880e-01,7.015359055e-01,-1.615978876e-05,8.407414088e-01,7.017277357e-01,-1.595043657e-05,8.295732897e-01
+44,2.683333333e+00,UP_FORCE_RAMP,1792675453421814902,-4.154431910e-06,-2.218993859e-05,-3.360847704e-06,-1.966005173e-06,-1.771075008e-05,4.676514374e-07,-1.554851753e-06,-1.770794881e-05,5.997040898e-07,7.015337170e-01,-2.063897727e-05,8.407375803e-01,7.015359055e-01,-1.615978876e-05,8.407414088e-01,7.017277370e-01,-1.595140881e-05,8.295732918e-01
+45,2.750000000e+00,UP_FORCE_RAMP,1792675453554721938,-2.177095108e-06,-2.155749756e-05,4.662454125e-06,-1.966005173e-06,-1.771075008e-05,4.676514374e-07,-1.552370486e-06,-1.770911977e-05,6.033376729e-07,7.015356944e-01,-2.000653624e-05,8.407456036e-01,7.015359055e-01,-1.615978876e-05,8.407414088e-01,7.017277394e-01,-1.595257978e-05,8.295732954e-01
+46,2.833333333e+00,UP_FORCE_RAMP,1792675453721967973,1.367674594e-06,-2.220279724e-05,1.375250949e-05,-1.966005173e-06,-1.771075008e-05,4.676514374e-07,-1.549423008e-06,-1.770986452e-05,6.072154269e-07,7.015392392e-01,-2.065183592e-05,8.407546937e-01,7.015359055e-01,-1.615978876e-05,8.407414088e-01,7.017277424e-01,-1.595332453e-05,8.295732993e-01
+47,2.900000000e+00,UP_FORCE_RAMP,1792675453855244439,2.067839927e-06,-2.152530719e-05,1.497850634e-05,-1.966005173e-06,-1.771075008e-05,4.676514374e-07,-1.547171912e-06,-1.771021058e-05,6.099867464e-07,7.015399393e-01,-1.997434587e-05,8.407559197e-01,7.015359055e-01,-1.615978876e-05,8.407414088e-01,7.017277446e-01,-1.595367059e-05,8.295733021e-01
+48,2.950000000e+00,UP_FORCE_RAMP,1792675453954175129,-1.031219087e-07,-2.403443247e-05,1.380123102e-05,-1.966005173e-06,-1.771075008e-05,4.676514374e-07,-1.545553715e-06,-1.771039528e-05,6.119168989e-07,7.015377684e-01,-2.248347115e-05,8.407547424e-01,7.015359055e-01,-1.615978876e-05,8.407414088e-01,7.017277462e-01,-1.595385529e-05,8.295733040e-01
+49,3.016666667e+00,UP_FORCE_RAMP,1792675454086112062,2.346886499e-06,-2.460068954e-05,2.034622446e-05,2.369661770e-06,-2.475301872e-05,2.022920431e-05,2.887691931e-06,-2.473985476e-05,2.013259491e-05,7.015402184e-01,-2.304972822e-05,8.407612874e-01,7.015402411e-01,-2.320205739e-05,8.407611704e-01,7.017321795e-01,-2.298331477e-05,8.295928247e-01
+50,3.083333333e+00,UP_FORCE_RAMP,1792675454229105997,3.238922562e-06,-2.709777097e-05,2.231468335e-05,2.369661770e-06,-2.475301872e-05,2.022920431e-05,2.895128424e-06,-2.474258088e-05,2.016985362e-05,7.015411104e-01,-2.554680965e-05,8.407632559e-01,7.015402411e-01,-2.320205739e-05,8.407611704e-01,7.017321869e-01,-2.298604089e-05,8.295928619e-01
+51,3.150000000e+00,UP_FORCE_RAMP,1792675454352295110,6.032176657e-06,-2.082644819e-05,4.058156988e-05,6.261209196e-06,-2.085971403e-05,4.076417122e-05,6.928139662e-06,-2.085336445e-05,4.050330333e-05,7.015439037e-01,-1.927548687e-05,8.407815228e-01,7.015441327e-01,-1.930875271e-05,8.407817054e-01,7.017362199e-01,-1.909682446e-05,8.296131954e-01
+52,3.150000000e+00,UP_FORCE_RAMP,1792675454352295110,6.032176657e-06,-2.082644819e-05,4.058156988e-05,6.261209196e-06,-2.085971403e-05,4.076417122e-05,6.928139662e-06,-2.085336445e-05,4.050330333e-05,7.015439037e-01,-1.927548687e-05,8.407815228e-01,7.015441327e-01,-1.930875271e-05,8.407817054e-01,7.017362199e-01,-1.909682446e-05,8.296131954e-01
+53,3.166666667e+00,UP_FORCE_HOLD,1792675454386295637,2.155106016e-05,-2.579393714e-05,7.875388700e-05,2.156015014e-05,-2.579671235e-05,7.841106838e-05,2.267812169e-05,-2.579544071e-05,7.769763863e-05,7.015594225e-01,-2.424297581e-05,8.408196951e-01,7.015594316e-01,-2.424575103e-05,8.408193523e-01,7.017519699e-01,-2.403890072e-05,8.296503897e-01
+54,3.166666667e+00,UP_FORCE_HOLD,1792675454386295637,2.155106016e-05,-2.579393714e-05,7.875388700e-05,2.156015014e-05,-2.579671235e-05,7.841106838e-05,2.267812169e-05,-2.579544071e-05,7.769763863e-05,7.015594225e-01,-2.424297581e-05,8.408196951e-01,7.015594316e-01,-2.424575103e-05,8.408193523e-01,7.017519699e-01,-2.403890072e-05,8.296503897e-01
+55,3.200000000e+00,UP_FORCE_HOLD,1792675454454399196,1.708321282e-05,-2.107168768e-05,7.946127008e-05,2.156015014e-05,-2.579671235e-05,7.841106838e-05,2.269581345e-05,-2.579535056e-05,7.776279952e-05,7.015549547e-01,-1.952072636e-05,8.408204025e-01,7.015594316e-01,-2.424575103e-05,8.408193523e-01,7.017519876e-01,-2.403881057e-05,8.296504549e-01
+56,3.250000000e+00,UP_FORCE_HOLD,1792675454552701706,2.121066202e-05,-2.550499665e-05,8.600596998e-05,2.156015014e-05,-2.579671235e-05,7.841106838e-05,2.271415265e-05,-2.579631983e-05,7.782906455e-05,7.015590821e-01,-2.395403533e-05,8.408269472e-01,7.015594316e-01,-2.424575103e-05,8.408193523e-01,7.017520060e-01,-2.403977984e-05,8.296505211e-01
+57,3.316666667e+00,UP_SETTLE,1792675454686563100,2.166944776e-05,-2.488685883e-05,8.721005960e-05,2.156015014e-05,-2.579671235e-05,7.841106838e-05,2.273307312e-05,-2.579704461e-05,7.789773389e-05,7.015595409e-01,-2.333589751e-05,8.408281512e-01,7.015594316e-01,-2.424575103e-05,8.408193523e-01,7.017520249e-01,-2.404050462e-05,8.296505898e-01
+58,3.400000000e+00,UP_SETTLE,1792675454850596615,1.870638035e-05,-2.994202199e-05,8.331283255e-05,2.156015014e-05,-2.579671235e-05,7.841106838e-05,2.275275139e-05,-2.579757962e-05,7.796882338e-05,7.015565779e-01,-2.839106067e-05,8.408242540e-01,7.015594316e-01,-2.424575103e-05,8.408193523e-01,7.017520446e-01,-2.404103963e-05,8.296506609e-01
+59,3.466666667e+00,UP_SETTLE,1792675454987067887,1.899046711e-05,-2.869456890e-05,8.377483240e-05,2.156015014e-05,-2.579671235e-05,7.841106838e-05,2.276703965e-05,-2.579786383e-05,7.801896939e-05,7.015568619e-01,-2.714360758e-05,8.408247160e-01,7.015594316e-01,-2.424575103e-05,8.408193523e-01,7.017520588e-01,-2.404132384e-05,8.296507111e-01

Part2/Fixed/s2/ball_15A_12.5/press_depth_06/up/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-7.4680e-03,8.0631e-04,2.4547e+00,-3.6851e-02,3.6254e-02,-3.4773e-05,3.3235e-04,-2.4107e-06,1.7071e-04,1.3039e-07,2.3283e-05,-2.7273e-07,3.7364e-04,2.3285e-05
+1,8.3333e-02,XJC_ZERO_HOLD_BEFORE_UP,1.6224e-05,-5.8720e-03,7.9503e-04,2.4555e+00,-3.6850e-02,3.6366e-02,-3.6107e-05,1.9284e-03,-1.3694e-05,9.8896e-04,7.0781e-07,1.3508e-04,-1.6064e-06,2.1672e-03,1.3509e-04
+2,1.5000e-01,WAIT_W2,3.4374e-05,-4.6715e-03,7.8775e-04,2.4561e+00,-3.6850e-02,3.6450e-02,-3.7123e-05,3.1288e-03,-2.0967e-05,1.6038e-03,1.0617e-06,2.1915e-04,-2.6226e-06,3.5160e-03,2.1917e-04
+3,2.0000e-01,WAIT_W2,4.9109e-05,-3.8129e-03,7.8123e-04,2.4566e+00,-3.6850e-02,3.6510e-02,-3.7876e-05,3.9874e-03,-2.7491e-05,2.0435e-03,1.4044e-06,2.7929e-04,-3.3759e-06,4.4807e-03,2.7931e-04
+4,2.6667e-01,WAIT_W2,6.1771e-05,-2.7225e-03,7.7293e-04,2.4571e+00,-3.6849e-02,3.6587e-02,-3.8856e-05,5.0779e-03,-3.5788e-05,2.6011e-03,1.8403e-06,3.5563e-04,-4.3558e-06,5.7054e-03,3.5566e-04
+5,3.0000e-01,WAIT_W2,7.9323e-05,-2.1987e-03,7.6874e-04,2.4574e+00,-3.6849e-02,3.6623e-02,-3.9337e-05,5.6016e-03,-3.9980e-05,2.8687e-03,2.0638e-06,3.9230e-04,-4.8368e-06,6.2936e-03,3.9234e-04
+6,3.8333e-01,WAIT_W2,9.6370e-05,-9.5018e-04,7.5824e-04,2.4580e+00,-3.6849e-02,3.6711e-02,-4.0514e-05,6.8502e-03,-5.0485e-05,3.5057e-03,2.6189e-06,4.7971e-04,-6.0137e-06,7.6953e-03,4.7975e-04
+7,4.5000e-01,WAIT_W2,1.1335e-04,-1.0431e-05,7.4939e-04,2.4585e+00,-3.6848e-02,3.6776e-02,-4.1434e-05,7.7899e-03,-5.9334e-05,3.9840e-03,3.0994e-06,5.4549e-04,-6.9337e-06,8.7498e-03,5.4554e-04
+8,5.1667e-01,WAIT_W2,1.2970e-04,8.7891e-04,7.4111e-04,2.4590e+00,-3.6848e-02,3.6839e-02,-4.2335e-05,8.6793e-03,-6.7615e-05,4.4365e-03,3.5539e-06,6.0774e-04,-7.8350e-06,9.7477e-03,6.0780e-04
+9,6.0000e-01,WAIT_W2,1.4676e-04,1.9236e-03,7.3166e-04,2.4595e+00,-3.6847e-02,3.6912e-02,-4.3440e-05,9.7240e-03,-7.7061e-05,4.9677e-03,4.0494e-06,6.8086e-04,-8.9394e-06,1.0920e-02,6.8093e-04
+10,6.3333e-01,WAIT_W2,1.5970e-04,2.3229e-03,7.2727e-04,2.4597e+00,-3.6847e-02,3.6940e-02,-4.3870e-05,1.0123e-02,-8.1449e-05,5.1694e-03,4.2990e-06,7.0880e-04,-9.3697e-06,1.1367e-02,7.0887e-04
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Part2/Fixed/s2/ball_15A_12.5/press_depth_07/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/s2/ball_15A_12.5/press_depth_07/down/fem_node.csv ADDED Viewed

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

Part2/Fixed/s2/ball_15A_12.5/press_depth_07/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
+13407,1792675541668805282,44082001000000,1792675541663376826,XJC_ZERO_HOLD_BEFORE_DOWN,7,0.037,0.03700251132249832,0.6759876432720967,-0.004559112430442795,0.09084034381819461,0.9999999770831537,2.3581388496489726e-06,-0.000192446224719658,-1.534426606781475e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.058662357605385795,0.0555588443280034,-0.0051713122518674826,0.004874477104954197,-0.0040063378587513986,7.836450710687894e-06,0.33938662924463264,0.22367719953035223,-0.23243081747090533,0.015893500535407022,-0.024573631388686467,1.9071863242027947e-05,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,-0.24799764848402595,0.37558071038641766,1.7196225012870907,-0.21129245122080467,-1.0517816015391304,0.199531983421056,1.0863442572748523,0.0051713122518674826,-0.6332782440122384,0.0,0.0,0,0,0.0,0.0
+13567,1792675542994887033,44083327000000,1792675542987376420,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6759868361951968,-0.004573827825545686,0.09083361249432503,0.9999999768002278,-3.3375709512018422e-06,-0.0001943490185066793,-7.728402951162471e-06,0.6761,-0.00453,0.09097065065546457,1.0,0.0,0.0,0.0,0.09624460872473156,0.11050407223968614,0.002331359390694371,0.007118033713647179,-0.006185299523658226,-7.75113669911769e-06,0.3769688803639784,0.27862242744203497,-0.22492814582834347,0.018137057144100004,-0.026752593053593295,3.484275832222363e-06,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,-0.04886778891835856,0.40293186825559485,1.534047740745901,-0.2049241151954716,-0.8834046053723817,0.2195424081735658,1.0863442572748523,0.002331359390694371,-0.4477034834710487,-0.4477034834710487,0.07588000000000059,0,0,-5.419998968666929e-05,-9.999999025923074e-05
+13671,1792675543860931759,44084193000000,1792675543859375890,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760446001299902,-0.00459452126793548,0.09080574802420695,0.9999999937366966,-3.292097382031965e-06,-5.6556447653847874e-05,2.7568128533394954e-05,0.6761,-0.00453,0.09090498621805271,1.0,0.0,0.0,0.0,0.07250680393072301,0.12612679009097919,0.07663539165495303,0.009299907471263375,-0.005147414100416338,-2.379748155160794e-05,0.35323107556996985,0.294245145293328,-0.1506241135640848,0.0203189309017162,-0.025714707630351406,-1.2562069020267887e-05,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.02745419735104902,0.47813842204956036,1.3385507965937529,-0.16321898479150876,-0.776898464579966,0.27907939796231723,1.0863442572748523,0.07663539165495303,-0.2522065393189006,-0.2522065393189006,0.13649999999999884,0,0,-9.749998125116311e-05,-9.999999025923074e-05
+13774,1792675544720001132,44085052000000,1792675544719375514,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760180030258487,-0.004605195687970961,0.09072036057302275,0.9999999880131312,-4.54529121768316e-06,-0.000115630378058863,4.5006200127425186e-05,0.6761,-0.00453,0.09080876393241387,1.0,0.0,0.0,0.0,0.0542181565133687,0.1432088840322133,0.2659652121829739,0.011059755546908034,-0.0031725799643331186,-0.00012832008542474038,0.33494242815261555,0.3113272392345621,0.038705706963936076,0.02207877897736086,-0.023739873494268187,-0.00011708467289340032,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.2672819870028915,0.3360408550587801,1.0014468899636064,-0.016766431375816168,-0.5295684576782049,0.17661513558779474,1.0863442572748523,0.2659652121829739,0.08489736731124586,0.08489736731124586,0.19662999999998745,0,0,-0.0001125491223593914,9.032364719908088e-05
+13910,1792675545853145359,44086185000000,1792675545851375622,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760167309117815,-0.004612621269426474,0.09064249987379029,0.9999999867881938,7.540088147007331e-06,-0.00011586458027658254,6.621950458073345e-05,0.6761,-0.00453,0.09071047374424428,1.0,0.0,0.0,0.0,0.04601597718388367,0.13856465617775685,0.4591741941883262,0.010930037544608646,-0.0031683354864017257,0.0007400004866946781,0.3267402488231305,0.3066830113801057,0.23191468896928838,0.021949060975061472,-0.023735629016336794,0.0007512358992260182,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.27921957496911065,0.337589551882197,0.7154745014343407,0.08804426829867674,-0.36802138129407236,0.15267816650064187,1.0863442572748523,0.4591741941883262,0.37086975584051163,0.37086975584051163,0.2759399999999827,0,0,-5.859570509772626e-05,9.999999025923074e-05
+14066,1792675547153270420,44087485000000,1792675547151366150,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760191138914693,-0.004611309081199139,0.09061030523834328,0.9999999866450682,1.3213228524300435e-05,-0.00011151001537698996,7.44557246613689e-05,0.6761,-0.00453,0.09067548697833797,1.0,0.0,0.0,0.0,0.03994440757646861,0.14768214009316796,0.5391809835734236,0.010983363836818024,-0.0026244336066349357,0.0006855364180864427,0.32066867921571546,0.3158004952955168,0.3119214783543858,0.02200238726727085,-0.023191727136570004,0.0006967718306177828,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.2632023852574372,0.3557017429343264,0.5768195406786145,0.10451793346029034,-0.29048884642557626,0.15377048871537047,1.0863442572748523,0.5391809835734236,0.5095247165962378,0.5095247165962378,0.36694000000000154,0,0,-1.9744378294828113e-06,1.9943816459422337e-05
+14242,1792675548620339145,44088952000000,1792675548619366622,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760190855650466,-0.004617524906947808,0.09060715227390523,0.9999999865322553,9.26896439342041e-06,-0.00011204382906841048,7.575368277677947e-05,0.6761,-0.00453,0.09067273797757965,1.0,0.0,0.0,0.0,0.045866080883422033,0.14266722243640292,0.5441957542562262,0.010997525914653646,-0.0032367205699834894,0.0006780341720604401,0.3265903525226689,0.31078557763875175,0.31693624903718837,0.02201654934510647,-0.023804014099918558,0.0006892695845917802,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.2542271918463144,0.3236812170501777,0.5811989843661391,0.12753062405635,-0.29302588555495385,0.13347646863256726,1.0863442572748523,0.5441957542562262,0.5051452729087131,0.5051452729087131,0.4696300000000228,0,0,-4.947252085496512e-06,4.9972243287843554e-05
+14381,1792675549778529699,44090110000000,1792675549775367334,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760159786427015,-0.0046137019402837,0.09059191595945218,0.9999999857224483,1.5414655446309297e-05,-0.00011609445912376958,7.92617983804685e-05,0.6761,-0.00453,0.09065794369508672,1.0,0.0,0.0,0.0,0.03705721754542718,0.14134778812259882,0.5668774043776437,0.009964736577632687,-0.0022170963505050816,0.000656341166827052,0.317781489184674,0.30946614332494765,0.33961789915860585,0.020983760008085512,-0.02278438988044015,0.0006675765793583921,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.25794682533029567,0.3760496813181121,0.6225476850019578,0.11207752821533058,-0.3228590959604293,0.1652586606144945,1.0863442572748523,0.5668774043776437,0.4637965722728945,0.4637965722728945,0.5506900000000395,0,0,-2.051457675541902e-05,-9.999999025923074e-05
+14541,1792675551111688008,44091443000000,1792675551107377412,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760225256608353,-0.00462314872710551,0.09057567252511212,0.9999999868430607,8.777668786593331e-06,-0.00010256648468534029,8.461567149421169e-05,0.6761,-0.00453,0.09062237731591696,1.0,0.0,0.0,0.0,0.03724112945989766,0.14464767443781115,0.6196650925762331,0.01095754997389389,-0.002240492915030874,0.0006291579097896689,0.3179654010991445,0.31276602964016,0.3924055873571953,0.021976573404346715,-0.022807786444965943,0.000640393322321009,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.3026297480362232,0.3248841792711872,0.5287285894224293,0.14336474745259603,-0.255639071246006,0.1327099428990391,1.0863442572748523,0.6196650925762331,0.557615667852423,0.557615667852423,0.6440000000000589,0,0,-3.3220343652355606e-05,-9.52033549480646e-05
+14701,1792675552445865785,44092777000000,1792675552443376572,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760311236658432,-0.004617873362806346,0.0905420036137534,0.9999999880060004,1.0581503812545042e-05,-8.901896603181613e-05,8.599138787887595e-05,0.6761,-0.00453,0.0905713762429391,1.0,0.0,0.0,0.0,0.02486453914693426,0.15820885567953194,0.6901760667845197,0.011564815412192009,-0.001259557938510264,0.0005939254164449699,0.3055888107861811,0.32632721088188077,0.4629165615654819,0.022583838842644834,-0.021826851468445332,0.00060516082897631,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.3521628280140039,0.3315358800038431,0.4340871932685166,0.14411274954134023,-0.18526771375290252,0.13868318638739663,1.0863442572748523,0.6901760667845197,0.6522570640063357,0.6522570640063357,0.7373800000000782,0,0,-3.913362633531226e-05,-9.959328780973493e-05
+14801,1792675553278928602,44093610000000,1792675553275376504,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760597418510006,-0.004617676192638496,0.09053342627401471,0.9999999907458698,3.011003933001533e-06,-5.6862705419747144e-05,8.190660234377982e-05,0.6761,-0.00453,0.09052928943127615,1.0,0.0,0.0,0.0,5.569948281453074e-05,0.18697662047213096,0.7196374453222416,0.013918844564474554,0.0007196888397533255,0.0006212704754338773,0.2807799711220614,0.3550949756744798,0.49237794010320374,0.02493786799492738,-0.019847604690181743,0.0006325058879652174,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.4775146619485998,0.3747850287172899,0.3541417305724949,0.1338658083798568,-0.10986457570860854,0.1644359422474695,1.0863442572748523,0.7196374453222416,0.7322025267023574,0.7322025267023574,0.7956900000000903,0,0,-5.1523474878962706e-05,7.153781384393642e-05
+14944,1792675554471096049,44094802000000,1792675554467366382,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760587077251118,-0.004623038208843819,0.0904885072293402,0.9999999917215605,-2.6236865544148213e-05,-5.327572134864034e-05,6.688099720084624e-05,0.6761,-0.00453,0.09047964283779103,1.0,0.0,0.0,0.0,0.014456439699677248,0.19065123279760257,0.8313741226010682,0.01389908854437005,0.0006945241850772228,0.0005338709351716397,0.2951807113389241,0.3587695879999514,0.6041146173820304,0.024918111974822875,-0.019872769344857846,0.0005451063477029798,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.47403862935245134,0.3171715139996762,0.204084072672286,0.1478520468829838,-0.015409708018325323,0.13130012607271518,1.0863442572748523,0.8313741226010682,0.8822601846025663,0.8822601846025663,0.8791300000001075,0,0,-2.942307055356507e-05,9.999999025923074e-05
+15128,1792675556004410282,44096335000000,1792675556003365781,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760612158876362,-0.0046188631735510546,0.09045862630869034,0.9999999923128999,-1.7826354069775755e-05,-4.635703048268038e-05,6.595689099412329e-05,0.6761,-0.00453,0.09044403962229147,1.0,0.0,0.0,0.0,0.005490533698445099,0.18753182127116416,0.9115592009776704,0.01388536049588054,0.0006774438689110887,0.0004680202115360465,0.28621480533769195,0.355650176473513,0.6842996957586326,0.024904383926333366,-0.01988984966102398,0.0004792556240673865,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.4512508450745881,0.35837803145497754,0.1908834142975071,0.14026127392075677,-0.01280547535663572,0.15918565658575162,1.0863442572748523,0.9115592009776704,0.8954608429773452,0.8954608429773452,0.9864400000001298,0,0,-2.3920358079047805e-05,-9.999999025923074e-05
+15291,1792675557362609726,44097693000000,1792675557359375856,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760663027621308,-0.0046198539541721,0.09043046870513805,0.9999999920946484,3.657417155682371e-05,-3.4947735214778614e-05,6.851681176113454e-05,0.6761,-0.00453,0.09040768789028979,1.0,0.0,0.0,0.0,-0.0007134323062459869,0.18595793644168465,0.9718036957844027,0.014001717722146183,0.0006626803070154327,0.0004198247148922173,0.28001083933300086,0.3540762916440335,0.7445441905653649,0.02502074115259901,-0.019904613222919636,0.00043106012742355737,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.4422254225997086,0.3324982068398308,0.13826370596175908,0.1603350496223857,0.01289632026604877,0.15214373773876527,1.0863442572748523,0.9718036957844027,0.9480805513130932,0.9480805513130932,1.0815000000001493,0,0,-3.203388116854023e-05,-9.999944902550623e-05
+15439,1792675558596760046,44098927000000,1792675558591366568,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760736747978419,-0.004626759475334894,0.09040316580226006,0.9999999923921185,2.786968438029278e-05,-2.5120534229828896e-05,7.246286574568334e-05,0.6761,-0.00453,0.09036568405998754,1.0,0.0,0.0,0.0,-0.007397477875961345,0.20067922266185625,1.0323208367959507,0.014854086420089667,0.0016458855848636399,0.0003961145528541887,0.2733267937632855,0.3687975778642051,0.8050613315769128,0.025873109850542492,-0.01892140794507143,0.0004073499653855287,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.5058335828348838,0.307113408905873,0.07878725819840336,0.17050910935063704,0.06566706187084867,0.1352234664704596,1.0863442572748523,1.0323208367959507,1.007556999076449,1.007556999076449,1.1678800000001672,0,0,-3.645383765268762e-05,-9.990316493369562e-05
+15587,1792675559829975259,44100160000000,1792675559827366561,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760894580085043,-0.004624832568318533,0.0903733342382698,0.9999999921589178,3.024987978237456e-05,-7.802005361935879e-06,7.841621238942144e-05,0.6761,-0.00453,0.09031075527085415,1.0,0.0,0.0,0.0,-0.02529005342383589,0.22885121010522294,1.1018856418424443,0.016822769460936172,0.0036179451841779516,0.0003921722417560734,0.25543421821541096,0.39696956530757177,0.8746261366234064,0.027841792891388998,-0.016949348345757117,0.00040340765428741347,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.5875806662127292,0.35725223788315835,-0.09982782001903212,0.15352829239715376,0.19444313241429345,0.16847200273419605,1.0863442572748523,1.1018856418424443,1.1861720772938844,1.1861720772938844,1.254190000000185,0,0,-4.667387012119046e-05,-9.481573466868935e-06
+15739,1792675561097130947,44101427000000,1792675561091366696,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760944176330917,-0.004629046501708755,0.09033084100863102,0.9999999914299061,3.2002785447835125e-05,-8.311043524964883e-07,8.693781233272998e-05,0.6761,-0.00453,0.09025993424805419,1.0,0.0,0.0,0.0,-0.03447267707691323,0.22131384238553156,1.1837809084259772,0.016805424616672414,0.00359723602931164,0.000731015028350549,0.24625159456233361,0.3894321975878804,0.9565214032069393,0.02782444804712524,-0.01697005750062343,0.0007422504408818891,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.646281231920119,0.25122336785660704,-0.21352747371018285,0.18770376761427363,0.2801623948499305,0.09792067094521452,1.0863442572748523,1.1837809084259772,1.2998717309850352,1.2998717309850352,1.3428800000002035,0,0,-3.117998281388899e-05,1.0850449527991741e-05
+15894,1792675562388431835,44102718000000,1792675562387366909,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761040504061021,-0.004627798151678328,0.09030126844944927,0.9999999907020071,3.67587234055696e-05,1.1055969027670012e-05,9.254951208843311e-05,0.6761,-0.00453,0.09021897164553076,1.0,0.0,0.0,0.0,-0.04293873316138014,0.22779019489928667,1.2628001602968206,0.016843696045674462,0.004563399238894029,0.001302014136907497,0.2377855384778667,0.3959085501016355,1.0355406550777828,0.027862719476127288,-0.01600389429104104,0.0013132495494388371,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.6395938774223022,0.2778414050288869,-0.19019466201295485,0.1778964074965214,0.26078975276641764,0.11542253043359715,1.0863442572748523,1.2628001602968206,1.2765389192878072,1.2765389192878072,1.4332500000002222,0,0,-3.26890076493821e-05,-9.999521630022485e-05
+16066,1792675563822721453,44104152000000,1792675563819366828,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761115596877209,-0.0046311758855962755,0.09026920833571796,0.9999999901686526,3.478410415043248e-05,2.271508688247523e-05,9.68485943075201e-05,0.6761,-0.00453,0.09016821542160962,1.0,0.0,0.0,0.0,-0.05406444109355307,0.2380575302276988,1.314161311065448,0.017755872706870304,0.00544421378492225,0.0003097390454069254,0.22665983054569377,0.4061758854300476,1.0869018058464102,0.02877489613732313,-0.015123079745012818,0.00032097445793826545,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.6604371818025068,0.29970885895162963,-0.32631136545490735,0.16964161392585575,0.3498368073367873,0.12766742012448584,1.0863442572748523,1.314161311065448,1.4126556227297598,1.4126556227297598,1.533630000000243,0,0,-4.223105782716197e-05,-9.99899843742213e-05
+16230,1792675565188924928,44105518000000,1792675565187366904,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761202969732067,-0.004635997014132422,0.09022856837086962,0.9999999908786703,1.6142495939464513e-05,3.9655130707880966e-05,8.861384957870171e-05,0.6761,-0.00453,0.09010892328221783,1.0,0.0,0.0,0.0,-0.05493071242419423,0.24407293924080867,1.4051921036644737,0.01852333654760356,0.005539643909158879,0.001223721349701636,0.22579355921505262,0.4121912944431575,1.1779325984454359,0.029542359978056387,-0.01502764962077619,0.0012349567622329761,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.7085868019701728,0.3154616528960893,-0.5353256598556821,0.17951700798345005,0.49137410888160543,0.13806308532183006,1.0863442572748523,1.4051921036644737,1.6216699171305344,1.6216699171305344,1.6292500000002628,0,0,-4.0144305855889566e-05,9.899246286438341e-05
+16381,1792675566448118218,44106777000000,1792675566447366724,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761267510318402,-0.004628331464342942,0.09018402331945205,0.9999999923235495,-2.6379781949260682e-05,5.2074699996243176e-05,5.8207372652576196e-05,0.6761,-0.00453,0.09005635890452063,1.0,0.0,0.0,0.0,-0.055336574847051734,0.25844873825112047,1.4944561275447585,0.018859777705417566,0.005913232679403559,0.0011604388358793895,0.2253876967921951,0.4265670934534693,1.2671966223257207,0.02987880113587039,-0.01465406085053151,0.0011716742484107296,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.7123528441746838,0.3197393961463629,-0.6272355397009897,0.16226587785213786,0.5524605772960144,0.15221906390134948,1.0863442572748523,1.4944561275447585,1.713579796975842,1.713579796975842,1.717380000000281,0,0,-3.709094043427707e-05,9.999391178817092e-05
+16541,1792675567781369228,44108110000000,1792675567775367103,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.676131890872589,-0.0046341469421442,0.09014679886394245,0.9999999910709458,-2.1336120982301414e-05,6.303091008057936e-05,6.980578188450541e-05,0.6761,-0.00453,0.09000827341868559,1.0,0.0,0.0,0.0,-0.05660252904318541,0.2621303106890359,1.556581275701844,0.019714462191913428,0.006496256517398498,0.0011296482647964933,0.22412174259606144,0.4302486658913848,1.3293217704828062,0.030733485622366254,-0.01407103701253657,0.0011408836773278334,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.7152236921222687,0.3081181152703722,-0.6378835384982404,0.17490506127231892,0.5568576913023829,0.1395601297602069,1.0863442572748523,1.556581275701844,1.7242277957730927,1.7242277957730927,1.8106900000003003,0,0,-3.349082014078431e-05,-9.946819343043529e-05
+16716,1792675569239735728,44109568000000,1792675569239376353,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761355339024592,-0.00463761231658569,0.09010153908318047,0.9999999897676586,-1.8190728027949595e-05,6.834932147099055e-05,8.30964193098234e-05,0.6761,-0.00453,0.08995153253323976,1.0,0.0,0.0,0.0,-0.06565265566819367,0.26606355580858665,1.6464160743345428,0.019692086683014948,0.006476851789119831,0.0010563132311735505,0.21507161597105318,0.43418191101093545,1.419156569115505,0.030711110113467773,-0.014090441740815238,0.0010675486437048906,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.7902806294786212,0.33337487687119743,-0.8413848229931019,0.1624944650613795,0.7054048746504172,0.15577813883911348,1.0863442572748523,1.6464160743345428,1.9277290802679543,1.9277290802679543,1.9127500000003215,0,0,-3.835564355428455e-05,9.99443264523336e-05
+16864,1792675570473952124,44110802000000,1792675570471366413,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.676139026454966,-0.004638520334692754,0.09006559175533685,0.9999999889553417,-8.776429958234008e-06,7.135288104532765e-05,9.14544778009983e-05,0.6761,-0.00453,0.08990108843794146,1.0,0.0,0.0,0.0,-0.07445470344690147,0.26890813531025715,1.7165121027968337,0.01965811227034013,0.007474902275865685,0.0010143109622023463,0.20626956819234538,0.43702649051260595,1.489252597577796,0.030677135700792956,-0.013092391254069384,0.0010255463747336864,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.6963464037877755,0.26650130650756765,-0.801089552230771,0.19028642384442981,0.6510243267701425,0.11291594024809978,1.0863442572748523,1.7165121027968337,1.8874338095056233,1.8874338095056233,1.9991300000003394,0,0,-4.355273187514464e-05,-9.998486347052022e-05
+17024,1792675571807238997,44112135000000,1792675571807366888,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761463197580913,-0.004636908054250592,0.09001705515916061,0.9999999869391129,-8.909772619487953e-10,8.207223821651965e-05,0.0001040614545236232,0.6761,-0.00453,0.08983739277631846,1.0,0.0,0.0,0.0,-0.08428405071273523,0.25962243854987455,1.7964178721286208,0.01873573975776072,0.008457946614961784,0.00095395147959363,0.19644022092651162,0.4277407937522234,1.569158366909583,0.029754763188213545,-0.012109346914973285,0.0009651868921249701,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.8295617758646153,0.2728781289165824,-1.106842047423337,0.18697354938727945,0.8794399456359244,0.11347322869395216,1.0863442572748523,1.7964178721286208,2.193186304698189,2.193186304698189,2.0924400000003587,0,0,-4.427752420679975e-05,9.960125365993661e-05
+17172,1792675573040452893,44113368000000,1792675573035366458,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761506858299766,-0.004649302305022031,0.08997292901050098,0.9999999846996931,5.382734702886788e-07,9.022677593902125e-05,0.00011790808799473143,0.6761,-0.00453,0.08978269179675533,1.0,0.0,0.0,0.0,-0.08506183518476212,0.2647763711115707,1.8765248069431621,0.019599569137259784,0.008454200971751324,0.0008993597104627201,0.19566243645448472,0.4328947263139195,1.6492653017241243,0.03061859256771261,-0.012113092558183745,0.0009105951229940602,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.7874557059074215,0.3702318390295199,-1.031705229086953,0.1592605321496019,0.8153419166530496,0.17698202243994246,1.0863442572748523,1.8765248069431621,2.118049486361805,2.118049486361805,2.1787500000003766,0,0,-4.3357663307814116e-05,8.760644048627395e-06
+17315,1792675574232781719,44114560000000,1792675574227376080,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761595169436927,-0.004648339241573931,0.0899333424825042,0.9999999821540229,9.28043062020739e-06,0.00010446923468408872,0.00012702311261209565,0.6761,-0.00453,0.08972810619027866,1.0,0.0,0.0,0.0,-0.08858044243386151,0.26657816403399115,1.9271751558012853,0.01958526672729141,0.008575684408825827,0.0008537495157269518,0.19214382920538534,0.43469651923633995,1.6999156505822475,0.030604290157744237,-0.011991609121109241,0.0008649849282582919,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.8269562587602416,0.41409723693556905,-1.1018264300815799,0.14873433081811183,0.8687153045829572,0.20488919243988163,1.0863442572748523,1.9271751558012853,2.188170687356432,2.188170687356432,2.262190000000394,0,0,-4.723365036346871e-05,-4.626129785156017e-05
+17491,1792675575700097744,44116027000000,1792675575699366266,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761615790631206,-0.004650854524093392,0.08986710286593105,0.9999999720255529,0.00013284361992019715,0.00010352993438229462,0.00013793434309354775,0.6761,-0.00453,0.08965420697165574,1.0,0.0,0.0,0.0,-0.09364768884386646,0.27592849881820725,2.0174332401900408,0.019546924823851054,0.00943638161656266,0.0008003643340337134,0.1870765827953804,0.44404685402055605,1.790173734971003,0.03056594825430388,-0.01113091191337241,0.0008115997465650535,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.8616128993868557,0.4709026096155456,-1.2713827389782837,0.10935056726756144,0.9902563574267749,0.19477168566423886,1.0863442572748523,2.0174332401900408,2.357726996253136,2.357726996253136,2.364880000000415,0,0,-5.5982298786923283e-05,9.93509955123983e-05
+17630,1792675576858291808,44117185000000,1792675576855366154,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761762072985995,-0.004635023027425685,0.08980906330796885,0.9999999856180873,3.7216786689091624e-06,0.00013649306067029996,3.952825727226713e-05,0.6761,-0.00453,0.08957834553478534,1.0,0.0,0.0,0.0,-0.07038565243424169,0.31035704564234845,2.0991007964394384,0.022476859633387265,0.00834349127457955,0.0017705541094830256,0.21033861920500516,0.4784754008446973,1.8718412912204003,0.03349588306384009,-0.012223802255355519,0.0017817895220143657,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.8512112741382162,0.3920757673011948,-1.259814106414525,0.047066517695123336,0.99234747482654,0.2026339796338506,1.0863442572748523,2.0991007964394384,2.3461583636893772,2.3461583636893772,2.445940000000432,0,0,-8.043527476434142e-05,4.466140931936309e-05
+17774,1792675578058552115,44118385000000,1792675578051376333,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761801598620026,-0.004639034054643118,0.08973327511166809,0.9999999836945817,1.3679644471667666e-05,0.0001418091476390424,6.12922002493686e-05,0.6761,-0.00453,0.08949591962994602,1.0,0.0,0.0,0.0,-0.08659027959989421,0.30708835490736286,2.1892576651155258,0.021550316955547048,0.009337167182545845,0.0017121851821624897,0.19413399203935264,0.4752067101097117,1.961998159896488,0.03256934038599987,-0.011230126347389223,0.0017234205946938298,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.8408795752625059,0.33280102325073224,-1.3767515668606014,0.18017301887018997,1.0411005982879202,0.17115086345867336,1.0863442572748523,2.1892576651155258,2.4630958241354537,2.4630958241354537,2.5299400000004493,0,0,-5.314230597919187e-05,6.415538256257537e-05
+17970,1792675579691962697,44120018000000,1792675579687376562,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761842891224153,-0.004636414897672612,0.08966424612974022,0.9999999819427379,2.4935528093075516e-05,0.0001455094298358257,7.591188249961258e-05,0.6761,-0.00453,0.08941625607333573,1.0,0.0,0.0,0.0,-0.0767040696588353,0.30089168065424854,2.2286450829202598,0.02061196862905001,0.009368283305216765,0.0006621498625967032,0.20402020198041154,0.4690100358565974,2.001385577701222,0.03163099205950284,-0.011199010224718304,0.0006733852751280433,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.8394773487069892,0.3526236411355485,-1.433196717769339,0.20384574850575157,1.0674934652692882,0.17928903476447838,1.0863442572748523,2.2286450829202598,2.5195409750441913,2.5195409750441913,2.644250000000473,0,0,-5.58406889298021e-05,-9.999990699250389e-05
+18109,1792675580851289185,44121177000000,1792675580851366797,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.676189608698301,-0.0046449615650724805,0.08959987001344957,0.9999999799378421,2.7815942926925695e-05,0.0001500384861312046,9.100497810004141e-05,0.6761,-0.00453,0.08934318422646242,1.0,0.0,0.0,0.0,-0.07752103187657669,0.29384985230564187,2.288760578531884,0.02051940452233544,0.009357474145465035,0.0005987368145856966,0.20320323976267016,0.46196820750799067,2.0615010733128463,0.031538427952788266,-0.011209819384470033,0.0006099722271170367,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.868518595510134,0.30837205661429634,-1.5621496380703437,0.22907563366520775,1.156883620785021,0.1516935189408419,1.0863442572748523,2.288760578531884,2.648493895345196,2.648493895345196,2.7253800000004897,0,0,-6.719288248438626e-05,9.959151145289553e-05
+18265,1792675582151600877,44122477000000,1792675582151366176,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761960360184063,-0.004648980359706481,0.08952146496989845,0.9999999767762976,3.0564102866744136e-05,0.0001621310293826918,0.00010329391912436038,0.6761,-0.00453,0.08925354605742228,1.0,0.0,0.0,0.0,-0.08660247417185662,0.2838938314421008,2.34330085472928,0.020496515320837638,0.00934125806259479,0.0015595192890746127,0.19412179746739022,0.45201218664444964,2.116041349510242,0.03151553875129046,-0.011226035467340278,0.0015707547016059527,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.9214237597415391,0.33165879433763007,-1.6566881788881447,0.21920495202440665,1.2288316942491866,0.16696706481907123,1.0863442572748523,2.34330085472928,2.7430324361629967,2.7430324361629967,2.8163800000005086,0,0,-7.217954848118412e-05,9.99999347480795e-05
+18413,1792675583384800255,44123710000000,1792675583383376840,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762009894985509,-0.004652389142012856,0.08943398472547422,0.9999999757576402,1.9364822135747365e-05,0.000167453344059151,0.00010729382396648329,0.6761,-0.00453,0.08915860258237075,1.0,0.0,0.0,0.0,-0.07778478107422884,0.2922181718383563,2.4088145956242957,0.020482699802843982,0.009326466318087631,0.0015244369238726775,0.202939490565018,0.4603365270407051,2.181555090405258,0.03150172323329681,-0.011240827211847437,0.0015356723364040176,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.965825619370352,0.31763415238693155,-1.682717259104149,0.23781466504432797,1.2554453484754167,0.15393405464899795,1.0863442572748523,2.4088145956242957,2.7690615163790016,2.7690615163790016,2.9026900000005265,0,0,-7.959781326702243e-05,-9.999954617002089e-05
+18545,1792675584485125870,44124810000000,1792675584483366539,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762017563389444,-0.0046440003175552275,0.08934125521861763,0.9999999781461519,-2.523273136650743e-05,0.00017074703616701072,7.320737080947822e-05,0.6761,-0.00453,0.08906497888146939,1.0,0.0,0.0,0.0,-0.06713087479283442,0.29635100899199185,2.4435964791461413,0.020506582534432206,0.00830623227547733,0.001483690196522285,0.21359339684641243,0.4644693641943407,2.2163369739271035,0.03152560596488503,-0.012261061254457738,0.001494925609053625,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.9469038006490736,0.25563681022300794,-1.7502701400785552,0.2640412836813416,1.2903968278920237,0.1155581488424673,1.0863442572748523,2.4435964791461413,2.8366143973534075,2.8366143973534075,2.9796900000005424,0,0,-9.219233431809049e-05,-7.722294611956499e-05
+18668,1792675585510301019,44125835000000,1792675585507366887,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762014707921421,-0.004648659752866496,0.08924002607948549,0.9999999773759083,-5.68869663912407e-06,0.00016881809157956324,9.032794791602583e-05,0.6761,-0.00453,0.08896249392260905,1.0,0.0,0.0,0.0,-0.06815080871459431,0.27555731106394044,2.4694219961973407,0.01945157945015566,0.009331605685983414,0.0014655328310635765,0.21257346292465254,0.44367566626628924,2.242162490978303,0.030470602880608485,-0.011235687843951654,0.0014767682435949166,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.9329483404263886,0.3207580022741828,-1.8017370093315985,0.2529002861304346,1.3149953074022895,0.16615362431078978,1.0863442572748523,2.4694219961973407,2.888081266606451,2.888081266606451,3.0514400000005573,0,0,-0.00010534816114879243,-4.723665489170799e-05
+18792,1792675586543632934,44126868000000,1792675586543367093,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762005524202784,-0.004653282395206672,0.0891226164596145,0.9999999759329591,3.142419710110496e-05,0.00016357324266770828,0.00010878078723241657,0.6761,-0.00453,0.08884569755489802,1.0,0.0,0.0,0.0,-0.0677795802510115,0.2743834094459946,2.5190422827111116,0.018203494211353557,0.009341107216174632,0.0014124667632926585,0.21294469138823535,0.4425017646483434,2.291782777492074,0.029222517641806382,-0.011226186313760437,0.0014237021758239986,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.997609964175667,0.22218172730076224,-1.888711212183246,0.28316268976196196,1.3871484215339915,0.10454516566638172,1.0863442572748523,2.5190422827111116,2.9750554694580984,2.9750554694580984,3.1237500000005722,0,0,-0.00011787371075458607,9.999994862586731e-05
+18912,1792675587543816097,44127868000000,1792675587543376084,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762031166233164,-0.004660586144862686,0.08900253194974415,0.9999999724871117,4.9156650422150724e-05,0.00016865934300451567,0.00012492513774039403,0.6761,-0.00453,0.08871955603833606,1.0,0.0,0.0,0.0,-0.08480259641217999,0.25326090347315966,2.5383851554004564,0.017405752275150264,0.009345092858395822,0.00038748078489627693,0.19592167522706685,0.4213792586755085,2.3111256501814186,0.02842477570560309,-0.011222200671539246,0.000398716197427617,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,0.951281569432598,0.2738542382747527,-1.863803237545455,0.2857508853136255,1.3529605178532047,0.14272611787525008,1.0863442572748523,2.5383851554004564,2.9501474948203072,2.9501474948203072,3.1937500000005867,0,0,-0.00013475373430579663,-9.991786151098409e-05
+19040,1792675588611114263,44128935000000,1792675588603366837,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762052149282701,-0.004667506466291079,0.08885767662593018,0.999999973321854,2.864999256339382e-05,0.00017219370452085147,0.00011969821181918427,0.6761,-0.00453,0.08856352580963496,1.0,0.0,0.0,0.0,-0.05903618806204283,0.25322146964149583,2.558945556550225,0.017408061427992727,0.00842181739399602,0.001284722100622542,0.22168808357720401,0.4213398248438447,2.3316860513311872,0.028427084858445553,-0.012145476135939049,0.0012959575131538822,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.055260720101175,0.3165649988952952,-1.9003774514909153,0.2852148000469476,1.3985249435884688,0.16963708219710794,1.0863442572748523,2.558945556550225,2.9867217087657676,2.9867217087657676,3.268440000000602,0,0,-0.00015429367941219153,-9.999996250365512e-05
+19136,1792675589411316934,44129735000000,1792675589411367124,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762080585645716,-0.0046587223456005,0.08872502280246417,0.9999999763411167,-4.735585556644117e-05,0.00018001031452778238,6.414311999308982e-05,0.6761,-0.00453,0.08843614163119552,1.0,0.0,0.0,0.0,-0.04492230312283732,0.26477366273995717,2.5995439538674994,0.018246389447020967,0.007301241421130783,0.00131817439053143,0.23580196851640953,0.432892017942306,2.3722844486484616,0.029265412877473793,-0.013266052108804285,0.00132940980306277,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.0110576545188341,0.2775219777209502,-1.9216787207348454,0.24627866531443648,1.4107634765560588,0.15417411591279484,1.0863442572748523,2.5995439538674994,3.0080229780096976,3.0080229780096976,3.324440000000614,0,0,-0.00016843045391320833,-9.999999025923074e-05
+19235,1792675590236555569,44130560000000,1792675590231366828,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762126674285547,-0.004666703891802232,0.08858680624481924,0.9999999732310347,-2.657647487384277e-05,0.00018865688230996244,9.318297108327345e-05,0.6761,-0.00453,0.08829263735438449,1.0,0.0,0.0,0.0,-0.06683700052108066,0.25467905855062856,2.599103564935344,0.017411930873515145,0.008331016930527537,0.001322196557025552,0.2138872711181662,0.4227974137529774,2.371844059716306,0.02843095430396797,-0.012236276599407531,0.0013334319695568922,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.0261115076168545,0.2495458272656966,-2.0655004858048946,0.3337240696332611,1.4840953256412392,0.1278464298348393,1.0863442572748523,2.599103564935344,3.1518447430797467,3.1518447430797467,3.3821900000006258,0,0,-0.0001789378555369384,9.32947983020071e-05
+19327,1792675591003642860,44131327000000,1792675591003366141,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762111566322433,-0.00467298690177969,0.08844588168897792,0.9999999739539661,7.250015170433748e-06,0.00018018298000259918,0.00010495933752980725,0.6761,-0.00453,0.08814954733900689,1.0,0.0,0.0,0.0,-0.056347602487768156,0.2603792903843586,2.6192425796756513,0.01698772464960674,0.008332385048108286,0.0012995276322640247,0.2243766691514787,0.42849764558670744,2.3919830744566135,0.028006748080059565,-0.012234908481826783,0.0013107630447953648,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.1090764504343187,0.22459757475211145,-2.18067139967667,0.3527706342652226,1.5796002005110834,0.12021492430929243,1.0863442572748523,2.6192425796756513,3.2670156569515223,3.2670156569515223,3.435880000000637,0,0,-0.0001928690419219795,9.998117197896334e-05
+19415,1792675591736820937,44132060000000,1792675591731366981,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762114126763343,-0.004680814847099287,0.08830143381587202,0.9999999713380008,2.751424839071123e-05,0.00017898580387044836,0.0001263879358432161,0.6761,-0.00453,0.08800465719008926,1.0,0.0,0.0,0.0,-0.06590646108926779,0.22315016338911717,2.659287356326185,0.01535932949184016,0.0083578139171148,0.0012510503214702565,0.21481781054997906,0.391268518591466,2.432027851107147,0.026378352922292986,-0.012209479612820269,0.0012622857340015966,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.0773227006307278,0.28536888116810855,-2.1525801718820503,0.33625953311057627,1.5490306192106718,0.15915820885214732,1.0863442572748523,2.659287356326185,3.238924429156903,3.238924429156903,3.4871900000006475,0,0,-0.00020113656787748712,9.634043149209787e-05
+19495,1792675592404061131,44132727000000,1792675592399376491,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762091374533845,-0.004686433128591752,0.08816131094686713,0.9999999712737997,1.9668922682424085e-05,0.00017455997494632375,0.00013430269153098996,0.6761,-0.00453,0.08786727012431489,1.0,0.0,0.0,0.0,-0.06613657724275704,0.2225340396398082,2.680769009938984,0.015354280894309829,0.008352507410392961,0.0012332519863457675,0.2145876943964898,0.390652394842157,2.453509504719946,0.026373304324762654,-0.012214786119542107,0.0012444873988771076,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.1349557049036032,0.2135939451131237,-2.1549056904400263,0.37406654016755814,1.5613596811238448,0.10888574672304398,1.0863442572748523,2.680769009938984,3.241249947714879,3.241249947714879,3.533880000000657,0,0,-0.00021088613942338774,6.106164468023157e-05
+19583,1792675593137259740,44133460000000,1792675593135366974,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762073438879579,-0.004691507856330913,0.08799948122032834,0.9999999735560651,-1.0378966220525286e-05,0.0001715014090019728,0.00012169748338204663,0.6761,-0.00453,0.08770879853703316,1.0,0.0,0.0,0.0,-0.056744191537735994,0.22276697664981657,2.7008740487380147,0.015364608074502514,0.007736244312979625,0.0012146974142713757,0.22398008010151085,0.3908853318521654,2.473614543518977,0.02638363150495534,-0.012831049216955444,0.0012259328268027158,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.1564555275976474,0.18863527026852162,-2.2022663503128896,0.4105235690446908,1.5981565870686119,0.09725515724482145,1.0863442572748523,2.7008740487380147,3.288610607587742,3.288610607587742,3.585190000000668,0,0,-0.00022023207409541256,8.677587401273996e-05
+19655,1792675593737433923,44134060000000,1792675593731367039,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762083078386077,-0.004690975255090934,0.08786196892693965,0.9999999736549717,-1.335081721077559e-05,0.00017286542891309118,0.000118626385788693,0.6761,-0.00453,0.08757196470893011,1.0,0.0,0.0,0.0,-0.05609950696561039,0.21718188602496527,2.7560677443752244,0.014345231793514216,0.0073409239042390075,0.0011543894211699678,0.22462476467363646,0.3853002412273141,2.5288082391561866,0.02536425522396704,-0.013226369625696061,0.001165624833701308,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.1385180835714281,0.2009092121063183,-2.2164021088738775,0.4208167633000149,1.6006771579020986,0.10711408374527819,1.0863442572748523,2.7560677443752244,3.30274636614873,3.30274636614873,3.6271900000006765,0,0,-0.00023032883513163317,3.250799429566244e-05
+19730,1792675594362548237,44134685000000,1792675594355376351,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762096394219743,-0.004696978245594042,0.08772639838261996,0.9999999718808249,8.251263830037931e-06,0.0001794884370705252,0.00012408477502379398,0.6761,-0.00453,0.08742314756146788,1.0,0.0,0.0,0.0,-0.04760321102432019,0.2238405320058047,2.719273191646478,0.015370321280340497,0.007338697584611769,0.0011806551331285976,0.23312106061492666,0.39195888720815353,2.4920136864274403,0.026389344710793322,-0.0132285959453233,0.0011918905456599377,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.231591209971854,0.1259908932614302,-2.2631623572473836,0.4607575924374012,1.6507329476276105,0.06525759882641773,1.0863442572748523,2.719273191646478,3.3495066145222356,3.3495066145222356,3.6709400000006855,0,0,-0.000247823230357909,6.555364170791051e-05
+19806,1792675594995720735,44135318000000,1792675594995375928,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762116376150783,-0.004702032254163852,0.08757205600168519,0.9999999710185989,4.680148257228597e-06,0.00018131866884358094,0.00012848074710793204,0.6761,-0.00453,0.08726332531861776,1.0,0.0,0.0,0.0,-0.04711585838101687,0.214812920626428,2.7445528679863407,0.014347852745300368,0.007344628460480443,0.0011531925337458413,0.23360841325822998,0.38293127582877684,2.517293362767303,0.025366876175753193,-0.013222665069454626,0.0011644279462771814,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.2510890968382447,0.21565420587429465,-2.252271433204704,0.4419743714350372,1.6470220122558343,0.11785467229122971,1.0863442572748523,2.7445528679863407,3.338615690479556,3.338615690479556,3.7152500000006947,0,0,-0.00025856057628120273,-5.134788266256856e-05
+19882,1792675595629924922,44135952000000,1792675595627375984,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762103027388583,-0.004703559109789305,0.08741014150232188,0.9999999715091941,-8.974249840725617e-06,0.00017934140799676134,0.00012720297819129373,0.6761,-0.00453,0.0870963928553014,1.0,0.0,0.0,0.0,-0.055920170266124614,0.21207434716756265,2.758577890283332,0.014345238582838062,0.007342279202263024,0.0011444052174919281,0.22480410137312223,0.3801927023699115,2.531318385064294,0.025364262013290888,-0.013225014327672044,0.0011556406300232682,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.2543468102704427,0.1371942055435554,-2.260544129511815,0.48931716627369054,1.6549228396306404,0.07202481265957239,1.0863442572748523,2.758577890283332,3.3468883867866674,3.3468883867866674,3.759630000000704,0,0,-0.0002710996371655102,-7.685175692906938e-05
+19950,1792675596195974789,44136518000000,1792675596191376516,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762108361181427,-0.004705475807854384,0.08725800803830647,0.9999999704656594,-1.2908204733665101e-05,0.00018436072952588705,0.00012789075210456363,0.6761,-0.00453,0.08693984876896026,1.0,0.0,0.0,0.0,-0.05640836223371512,0.210653875737462,2.7785559930103765,0.014342017023208031,0.007338041796170126,0.001128215070185711,0.22431590940553173,0.37877223093981083,2.5512964877913387,0.025361040453660857,-0.013229251733764942,0.0011394504827170512,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.2650269305649728,0.11163385589309534,-2.2616108140726734,0.5111237166755901,1.6549218154496266,0.05605784115208823,1.0863442572748523,2.7785559930103765,3.347955071347526,3.347955071347526,3.799250000000712,0,0,-0.00028262069853432346,-9.999999025923074e-05
+20017,1792675596755192493,44137077000000,1792675596751367147,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762048158393448,-0.004713053207573397,0.08709624640184883,0.9999999726490564,-1.3397111530222356e-05,0.00017114060841604114,0.0001291362092911372,0.6761,-0.00453,0.08677881414224903,1.0,0.0,0.0,0.0,-0.04720243273404656,0.21311264317025944,2.788610660001398,0.014339391599229884,0.007335500787118037,0.0011212025626413746,0.23352183890520029,0.38123099837260827,2.56135115478236,0.02535841502968271,-0.013231792742817031,0.0011324379751727147,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.3755441680027143,0.08014342353124011,-2.4258511208298454,0.52899471539074,1.7962501535936666,0.03678446595740871,1.0863442572748523,2.788610660001398,3.512195378104698,3.512195378104698,3.83838000000072,0,0,-0.00029425305184541264,9.964068045509861e-05
+20078,1792675597263303346,44137585000000,1792675597263367142,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.676215195210469,-0.004716696245259877,0.08695126874115558,0.9999999689533123,-1.3064485878805508e-05,0.00019267832423302704,0.00012743869643682448,0.6761,-0.00453,0.08662690213030352,1.0,0.0,0.0,0.0,-0.056690043260700596,0.22372067810074023,2.8028734688902226,0.01453719158766869,0.008338696247502216,0.0011159666980130331,0.22403422837854625,0.39183903330308906,2.575613963671185,0.025556215018121515,-0.012228597282432852,0.0011272021105443732,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.4044645343554445,0.1344243942106438,-2.297133440803895,0.53982695736427,1.7250798594346624,0.07867990638967651,1.0863442572748523,2.8028734688902226,3.383477698078747,3.383477698078747,3.8739400000007276,0,0,-0.0003073207574075517,-9.764608152463267e-05
+20142,1792675597796384465,44138118000000,1792675597791366837,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762185111630699,-0.00471571915821043,0.08679250893180941,0.9999999692820394,-1.0068618285889832e-05,0.00019108413656482098,0.00012753141005074684,0.6761,-0.00453,0.08645895588036717,1.0,0.0,0.0,0.0,-0.05721272463380708,0.22114285572607498,2.8190154435846937,0.015345222041941622,0.00831650339296142,0.0011226198389734743,0.22351154700543976,0.3892612109284238,2.591755938365656,0.026364245472394448,-0.012250790136973649,0.0011338552515048144,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.450372768793429,0.16878303984238588,-2.3162513108515017,0.5356157090714092,1.7470750269381874,0.1012116010145246,1.0863442572748523,2.8190154435846937,3.4025955681263538,3.4025955681263538,3.9112500000007353,0,0,-0.00032116631420583817,-9.999999025923074e-05
+20197,1792675598255550797,44138577000000,1792675598255367303,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.676215231016267,-0.0047269964796584915,0.0866447363012602,0.9999999672432875,-2.2180247456823737e-05,0.00019274279348897085,0.00013897676211400634,0.6761,-0.00453,0.0863093965396896,1.0,0.0,0.0,0.0,-0.055931181627773885,0.22023054480492046,2.849186586830994,0.015348600767782838,0.007304316493721865,0.001082729147574006,0.22479309001147296,0.3883489000072693,2.621927081611956,0.026367624198235663,-0.013262977036213203,0.001093964560105346,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.460223335516031,0.0601787181391453,-2.349888873897888,0.5673776919619987,1.7781789992026131,0.024882458473390406,1.0863442572748523,2.849186586830994,3.43623313117274,3.43623313117274,3.943380000000742,0,0,-0.0003306210096629388,-9.998519653742761e-05
+20257,1792675598755646242,44139077000000,1792675598751367583,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762089594407855,-0.004728369015025883,0.08647520378034843,0.9999999687821504,-5.6439818324058574e-05,0.0001903956202014884,0.00012017744193319269,0.6761,-0.00453,0.08614137165763774,1.0,0.0,0.0,0.0,-0.04774899280836453,0.20945886224396457,2.8869836753413645,0.01536704902888136,0.006282638355005641,0.001037462018310804,0.23297527883088232,0.3775772174463134,2.6597241701223266,0.026386072459334185,-0.014284655174929427,0.0010486974308421442,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.4946616681388116,0.07454580432979772,-2.3910450503360186,0.5824274238590068,1.8160646985719142,0.038171000912949504,1.0863442572748523,2.8869836753413645,3.4773893076108706,3.4773893076108706,3.978380000000749,0,0,-0.0003389949122065402,-5.624211793365248e-05
+20313,1792675599221771378,44139543000000,1792675599219366796,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762008576323306,-0.004736720486370226,0.08631126950393311,0.9999999685426219,-3.778858155954748e-05,0.00018457917875518127,0.00013733233321310253,0.6761,-0.00453,0.08598172724723142,1.0,0.0,0.0,0.0,-0.046857327310224905,0.20286600794370005,2.908685099811614,0.013927029520431188,0.007101387089239184,0.0010110405427565393,0.23386694432902194,0.3709843631460489,2.681425594592576,0.024946052950884014,-0.013465906440695884,0.0010222759552878794,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.5185736935436114,0.05507443202179997,-2.4303292614850807,0.5952875494559706,1.8488662437519272,0.03463040755883091,1.0863442572748523,2.908685099811614,3.5166735187599327,3.5166735187599327,4.011000000000756,0,0,-0.00034540080524478176,-3.809212693833788e-06
+20365,1792675599655945107,44139977000000,1792675599651367140,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.676228884681844,-0.004733406253058151,0.08618258977821902,0.9999999612790791,-1.7405838665852436e-05,0.00021646109902659542,0.00014739855588394806,0.6761,-0.00453,0.0858295436404593,1.0,0.0,0.0,0.0,-0.06790961208971019,0.24510209174198253,2.8876222155316604,0.017343751535854247,0.008405667243370812,0.0010927750632173938,0.21281465954953666,0.41322044694433135,2.6603627103126226,0.028362774966307073,-0.012161626286564257,0.001104010475748734,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.6249881109450492,0.05219615647438162,-2.411056735252156,0.5995536898258923,1.8549528813826126,0.02831189464220743,1.0863442572748523,2.8876222155316604,3.497400992527008,3.497400992527008,4.041380000000762,0,0,-0.0003563354948568894,-8.90029536445624e-05
+20413,1792675600056001330,44140377000000,1792675600055375826,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762205418959705,-0.004733854214289427,0.08603487064597676,0.9999999649703984,-3.587430942227209e-05,0.00020626784241426852,0.00013292357792590994,0.6761,-0.00453,0.08568461627004971,1.0,0.0,0.0,0.0,-0.048628593275917786,0.23390652246490137,2.922037719610401,0.016356093514818183,0.007267838599861843,0.0010362839395423632,0.23209567836332906,0.4020248776672502,2.6947782143913632,0.02737511694527101,-0.013299454930073226,0.0010475193520737033,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.633742056990829,0.17109375666444268,-2.491742964228839,0.5781674808911275,1.917118119554361,0.10674736877051028,1.0863442572748523,2.922037719610401,3.578087221503691,3.578087221503691,4.069380000000768,0,0,-0.0003670909655181535,9.535453956844293e-05
+20467,1792675600506179350,44140827000000,1792675600499366849,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762121439500488,-0.004733105283533458,0.0858611332874844,0.9999999639109486,-2.1789391602385072e-05,0.0001998362175235488,0.0001523537806934113,0.6761,-0.00453,0.08551786968465956,1.0,0.0,0.0,0.0,-0.04427409619356046,0.2249284268890928,2.959555778995824,0.015581080736142047,0.0062725605045202484,0.0009813422846741383,0.2364501754456864,0.3930467820914416,2.732296273776786,0.026600104166594873,-0.01429473302541482,0.0009925776972054784,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.606936887565344,0.25749503939691326,-2.5114478707006476,0.5452259957129146,1.9299338490687334,0.16373498932428737,1.0863442572748523,2.959555778995824,3.5977921279754996,3.5977921279754996,4.100880000000775,0,0,-0.00037400262362510963,9.999768654645464e-05
+20578,1792675601423424894,44141744000000,1792675601419366844,DOWN_PEAK_HOLD,7,0.037,0.03700251132249832,0.6761952382082329,-0.004724815949881258,0.08575343710234379,0.9999999713917568,-5.192818942252469e-05,0.00017547966040050702,0.0001231653440893156,0.6761,-0.00453,0.08545194135962565,1.0,0.0,0.0,0.0,-0.007930452142919986,0.223493482969394,2.725635178651911,0.015545327817365898,0.003919126777021633,0.0011433765419425104,0.27279381949632686,0.39161183817174283,2.4983756734328733,0.026564351247818724,-0.016648166752913435,0.0011546119544738505,0.28072427163924685,0.16811835520234883,-0.22725950521903784,0.011019023430452825,-0.02056729352993507,1.1235412531340053e-05,1,1.4308881809525291,0.19994072961827797,-2.1754829359381067,0.5620185301871605,1.6850506719427119,0.11729287560470059,1.0863442572748523,2.725635178651911,3.2618271932129588,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/s2/ball_15A_12.5/press_depth_07/down/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/s2/ball_15A_12.5/press_depth_07/down/real_sim_motion_alignment.csv ADDED Viewed

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

+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792675541664632393,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.131864626e-09,7.699853428e-11,3.564524675e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292758e-01,1.748805262e-06,8.295726896e-01
+1,7.166666667e-01,DOWN_FORCE_DETACH,1792675542995716777,-5.424683691e-08,-1.693680633e-05,-4.915273685e-06,-1.748037376e-06,-1.961164830e-05,-3.348417835e-06,-1.554324041e-06,-1.958132328e-05,-3.208823829e-06,7.015378172e-01,-1.538584501e-05,8.407360259e-01,7.015361234e-01,-1.806068698e-05,8.407375928e-01,7.017277134e-01,-1.783259502e-05,8.295694772e-01
+2,1.166666667e+00,DOWN_FORCE_DETACH,1792675543859610488,5.797989210e-05,-3.720586907e-05,-3.223464560e-05,5.691693402e-05,-3.737020411e-05,-3.187375326e-05,5.810219136e-05,-3.733388606e-05,-3.136603451e-05,7.015958514e-01,-3.565490775e-05,8.407087065e-01,7.015947884e-01,-3.581924278e-05,8.407090674e-01,7.017873699e-01,-3.558515779e-05,8.295413200e-01
+3,1.616666667e+00,DOWN_FORCE_DETACH,1792675544723691747,3.291078414e-05,-4.064250775e-05,-1.181763271e-04,3.093094792e-05,-4.374104733e-05,-1.041041300e-04,3.163589466e-05,-4.369056273e-05,-1.030623655e-04,7.015707823e-01,-3.909154643e-05,8.406227649e-01,7.015688024e-01,-4.219008601e-05,8.406368371e-01,7.017609036e-01,-4.194183447e-05,8.294696237e-01
+4,2.183333333e+00,DOWN_FORCE_DETACH,1792675545855688600,3.151813801e-05,-5.676001364e-05,-1.952132575e-04,2.801266668e-05,-5.459396224e-05,-1.883302829e-04,2.853557645e-05,-5.454574544e-05,-1.869381635e-04,7.015693896e-01,-5.520905232e-05,8.405457279e-01,7.015658841e-01,-5.304300092e-05,8.405526109e-01,7.017578033e-01,-5.279701718e-05,8.293857479e-01
+5,2.833333333e+00,DOWN_FORCE_DETACH,1792675547154545924,3.189295230e-05,-5.304796094e-05,-2.259850298e-04,3.207978051e-05,-5.451265151e-05,-2.087076782e-04,3.269991176e-05,-5.445048953e-05,-2.078351710e-04,7.015697644e-01,-5.149699962e-05,8.405149562e-01,7.015699513e-01,-5.296169019e-05,8.405322335e-01,7.017619676e-01,-5.270176126e-05,8.293648509e-01
+6,3.583333333e+00,DOWN_FORCE_DETACH,1792675548616096123,3.376526867e-05,-6.216524549e-05,-2.303815746e-04,3.218936616e-05,-6.074254994e-05,-2.286270296e-04,3.282761219e-05,-6.066327686e-05,-2.280830204e-04,7.015716368e-01,-6.061428417e-05,8.405105596e-01,7.015700608e-01,-5.919158862e-05,8.405123142e-01,7.017620953e-01,-5.891454859e-05,8.293446030e-01
+7,4.200000000e+00,DOWN_FORCE_DETACH,1792675549782239943,3.177212535e-05,-5.399536053e-05,-2.426344895e-04,3.218936616e-05,-6.074254994e-05,-2.286270296e-04,3.287335034e-05,-6.065951006e-05,-2.283484602e-04,7.015696436e-01,-5.244439921e-05,8.404983067e-01,7.015700608e-01,-5.919158862e-05,8.405123142e-01,7.017621410e-01,-5.891078180e-05,8.293443376e-01
+8,4.900000000e+00,DOWN_FORCE_DETACH,1792675551112467166,3.563521880e-05,-6.625770789e-05,-2.628552429e-04,3.304465568e-05,-5.963779108e-05,-2.484831929e-04,3.369310306e-05,-5.956990436e-05,-2.481774968e-04,7.015735067e-01,-6.470674657e-05,8.404780859e-01,7.015709161e-01,-5.808682976e-05,8.404924580e-01,7.017629608e-01,-5.782117610e-05,8.293245086e-01
+9,5.600000000e+00,DOWN_FORCE_DETACH,1792675552442647522,4.492170752e-05,-6.370931689e-05,-2.949322075e-04,4.179970244e-05,-6.078155773e-05,-2.875059607e-04,4.248564332e-05,-6.069245221e-05,-2.870265596e-04,7.015827932e-01,-6.215835557e-05,8.404460090e-01,7.015796712e-01,-5.923059641e-05,8.404534352e-01,7.017717533e-01,-5.894372395e-05,8.292856595e-01
+10,6.033333333e+00,DOWN_FORCE_DETACH,1792675553275170444,7.203860098e-05,-5.935666315e-05,-3.063070975e-04,7.046319904e-05,-6.262004749e-05,-3.034713022e-04,7.171991962e-05,-6.250747013e-05,-3.029130298e-04,7.016099101e-01,-5.780570183e-05,8.404346341e-01,7.016083347e-01,-6.106908617e-05,8.404374699e-01,7.018009876e-01,-6.075874187e-05,8.292697730e-01
+11,6.633333333e+00,DOWN_FORCE_DETACH,1792675554472986895,7.036119098e-05,-6.451216037e-05,-3.541317380e-04,7.215300180e-05,-6.303219194e-05,-3.444367766e-04,7.341678959e-05,-6.292956884e-05,-3.437168790e-04,7.016082327e-01,-6.296119905e-05,8.403868094e-01,7.016100245e-01,-6.148123062e-05,8.403965044e-01,7.018026845e-01,-6.118084058e-05,8.292289692e-01
+12,7.400000000e+00,DOWN_FORCE_DETACH,1792675556003323801,7.304878128e-05,-6.089733151e-05,-3.803782689e-04,7.083227219e-05,-6.118865193e-05,-3.641835102e-04,7.208817895e-05,-6.109498682e-05,-3.637401507e-04,7.016109203e-01,-5.934637019e-05,8.403605629e-01,7.016087038e-01,-5.963769061e-05,8.403767577e-01,7.018013559e-01,-5.934625855e-05,8.292089459e-01
+13,8.116666667e+00,DOWN_FORCE_DETACH,1792675557365373854,7.655636588e-05,-6.320939144e-05,-4.097389671e-04,7.564400249e-05,-6.772864857e-05,-4.053130384e-04,7.687523813e-05,-6.765059714e-05,-4.047227897e-04,7.016144278e-01,-6.165843012e-05,8.403312022e-01,7.016135155e-01,-6.617768725e-05,8.403356281e-01,7.018061429e-01,-6.590186887e-05,8.291679633e-01
+14,8.766666667e+00,DOWN_FORCE_DETACH,1792675558597481573,8.704161036e-05,-7.005955248e-05,-4.348640507e-04,7.952626637e-05,-6.251110603e-05,-4.246176353e-04,8.076788980e-05,-6.241719876e-05,-4.240903949e-04,7.016249131e-01,-6.850859116e-05,8.403060771e-01,7.016173977e-01,-6.096014471e-05,8.403163236e-01,7.018100356e-01,-6.066847050e-05,8.291485957e-01
+15,9.416666667e+00,DOWN_FORCE_DETACH,1792675559829722099,1.057707230e-04,-6.453170508e-05,-4.623298444e-04,1.011639116e-04,-6.613151961e-05,-4.514706070e-04,1.028640298e-04,-6.606822926e-05,-4.509316997e-04,7.016436422e-01,-6.298074376e-05,8.402786113e-01,7.016390354e-01,-6.458055829e-05,8.402894706e-01,7.018321317e-01,-6.431950100e-05,8.291217544e-01
+16,1.008333333e+01,DOWN_FORCE_DETACH,1792675561094203457,1.101971921e-04,-7.267639143e-05,-5.033886839e-04,1.066372664e-04,-6.956422462e-05,-4.936698419e-04,1.083444635e-04,-6.952717988e-05,-4.930239420e-04,7.016480687e-01,-7.112543011e-05,8.402375525e-01,7.016445087e-01,-6.801326330e-05,8.402472713e-01,7.018376122e-01,-6.777845162e-05,8.290796621e-01
+17,1.073333333e+01,DOWN_FORCE_DETACH,1792675562390160948,1.135421780e-04,-7.431257141e-05,-5.412648644e-04,1.147203763e-04,-7.490687034e-05,-5.308470755e-04,1.165518701e-04,-7.485622933e-05,-5.301563361e-04,7.016514137e-01,-7.276161009e-05,8.401996763e-01,7.016525919e-01,-7.335590902e-05,8.402100941e-01,7.018458196e-01,-7.310750107e-05,8.290425297e-01
+18,1.145000000e+01,DOWN_FORCE_DETACH,1792675563822663984,1.252762200e-04,-7.686275697e-05,-5.706065907e-04,1.200248373e-04,-7.490851682e-05,-5.531864744e-04,1.219407119e-04,-7.486123291e-05,-5.526456406e-04,7.016631477e-01,-7.531179565e-05,8.401703346e-01,7.016578963e-01,-7.335755550e-05,8.401877547e-01,7.018512084e-01,-7.311250465e-05,8.290200404e-01
+19,1.215000000e+01,DOWN_FORCE_DETACH,1792675565186942966,1.310972115e-04,-7.543994595e-05,-6.133502689e-04,1.305744894e-04,-7.547414697e-05,-6.115239854e-04,1.325783733e-04,-7.542202527e-05,-6.106996501e-04,7.016689687e-01,-7.388898463e-05,8.401275909e-01,7.016684460e-01,-7.392318565e-05,8.401294172e-01,7.018618461e-01,-7.367329701e-05,8.289619864e-01
+20,1.281666667e+01,DOWN_FORCE_DETACH,1792675566450957228,1.360488410e-04,-6.846462036e-05,-6.598320792e-04,1.372476696e-04,-7.091502301e-05,-6.520469538e-04,1.393663869e-04,-7.082532776e-05,-6.512019353e-04,7.016739203e-01,-6.691365904e-05,8.400811091e-01,7.016751192e-01,-6.936406169e-05,8.400888942e-01,7.018686341e-01,-6.907659950e-05,8.289214841e-01
+21,1.351666667e+01,DOWN_FORCE_DETACH,1792675567780234577,1.421912001e-04,-7.681887953e-05,-6.964369919e-04,1.420513051e-04,-7.690394645e-05,-6.961578948e-04,1.441898416e-04,-7.682093529e-05,-6.952286954e-04,7.016800627e-01,-7.526791821e-05,8.400445042e-01,7.016799228e-01,-7.535298513e-05,8.400447833e-01,7.018734575e-01,-7.507220703e-05,8.288774574e-01
+22,1.430000000e+01,DOWN_FORCE_DETACH,1792675569243520077,1.490030480e-04,-8.120402852e-05,-7.377598906e-04,1.469200877e-04,-7.981229294e-05,-7.193947573e-04,1.491484956e-04,-7.971759093e-05,-7.187760943e-04,7.016868745e-01,-7.965306720e-05,8.400031813e-01,7.016847916e-01,-7.826133162e-05,8.400215464e-01,7.018784162e-01,-7.796886267e-05,8.288539100e-01
+23,1.491666667e+01,DOWN_FORCE_DETACH,1792675570476061834,1.517239442e-04,-8.117989974e-05,-7.729928277e-04,1.493602127e-04,-8.629285647e-05,-7.627418064e-04,1.515008958e-04,-8.619438502e-05,-7.621064082e-04,7.016895954e-01,-7.962893841e-05,8.399679484e-01,7.016872317e-01,-8.474189515e-05,8.399781994e-01,7.018807686e-01,-8.444565676e-05,8.288105796e-01
+24,1.558333333e+01,DOWN_FORCE_DETACH,1792675571804066907,1.578173709e-04,-8.535735643e-05,-8.229497587e-04,1.547450332e-04,-8.155232398e-05,-8.052385452e-04,1.569307696e-04,-8.147136595e-05,-8.045789074e-04,7.016956889e-01,-8.380639511e-05,8.399179914e-01,7.016926165e-01,-8.000136266e-05,8.399357026e-01,7.018861985e-01,-7.972263769e-05,8.287681071e-01
+25,1.620000000e+01,DOWN_FORCE_DETACH,1792675573043618407,1.645188072e-04,-8.745906029e-05,-8.658403897e-04,1.616881653e-04,-9.278650885e-05,-8.613866289e-04,1.638465018e-04,-9.269748981e-05,-8.605218866e-04,7.017023903e-01,-8.590809897e-05,8.398751008e-01,7.016995596e-01,-9.123554753e-05,8.398795546e-01,7.018931142e-01,-9.094876155e-05,8.287121642e-01
+26,1.683333333e+01,DOWN_FORCE_DETACH,1792675574236573528,1.689337372e-04,-9.052939413e-05,-9.113861830e-04,1.682506647e-04,-9.084816009e-05,-9.036400446e-04,1.704262766e-04,-9.076131466e-05,-9.028022982e-04,7.017068052e-01,-8.897843281e-05,8.398295550e-01,7.017061221e-01,-8.929719877e-05,8.398373011e-01,7.018996940e-01,-8.901258639e-05,8.286698838e-01
+27,1.761666667e+01,DOWN_FORCE_DETACH,1792675575696947776,1.770524927e-04,-9.497332468e-05,-9.693429615e-04,1.765828410e-04,-9.509705678e-05,-9.662220386e-04,1.788093159e-04,-9.504984586e-05,-9.652602519e-04,7.017149240e-01,-9.342236336e-05,8.397715982e-01,7.017144543e-01,-9.354609545e-05,8.397747191e-01,7.019080770e-01,-9.330111759e-05,8.286074258e-01
+28,1.821666667e+01,DOWN_FORCE_DETACH,1792675576861236441,1.854068528e-04,-7.313695319e-05,-1.035001580e-03,1.865258979e-04,-7.968516983e-05,-1.028856434e-03,1.887958051e-04,-7.960867498e-05,-1.027642868e-03,7.017232783e-01,-7.158599187e-05,8.397059396e-01,7.017243974e-01,-7.813420851e-05,8.397120848e-01,7.019180635e-01,-7.785994672e-05,8.285450432e-01
+29,1.885000000e+01,DOWN_FORCE_DETACH,1792675578061514379,1.935872330e-04,-8.183974965e-05,-1.103897286e-03,1.917473129e-04,-8.409346594e-05,-1.092646171e-03,1.939939362e-04,-8.401293270e-05,-1.091432295e-03,7.017314587e-01,-8.028878833e-05,8.396370439e-01,7.017296188e-01,-8.254250462e-05,8.396482950e-01,7.019232616e-01,-8.226420444e-05,8.284812538e-01
+30,1.966666667e+01,DOWN_FORCE_DETACH,1792675579691898000,1.973986804e-04,-7.952387846e-05,-1.174281638e-03,1.957122967e-04,-8.275095517e-05,-1.154951023e-03,1.978873884e-04,-8.266384761e-05,-1.153930057e-03,7.017352702e-01,-7.797291714e-05,8.395666595e-01,7.017335838e-01,-8.119999385e-05,8.395859902e-01,7.019271551e-01,-8.091511934e-05,8.284187560e-01
+31,2.025000000e+01,DOWN_FORCE_DETACH,1792675580854278220,2.042288259e-04,-8.040496220e-05,-1.234257123e-03,1.999757735e-04,-8.605033185e-05,-1.220116874e-03,2.020701992e-04,-8.598547247e-05,-1.218995827e-03,7.017421003e-01,-7.885400088e-05,8.395066841e-01,7.017378473e-01,-8.449937053e-05,8.395208243e-01,7.019313379e-01,-8.423674421e-05,8.283536902e-01
+32,2.093333333e+01,DOWN_FORCE_DETACH,1792675582152472680,2.091500899e-04,-9.200188810e-05,-1.317060653e-03,2.087175563e-04,-8.865491999e-05,-1.308640399e-03,2.107037441e-04,-8.856118173e-05,-1.307356842e-03,7.017470216e-01,-9.045092678e-05,8.394238805e-01,7.017465890e-01,-8.710395867e-05,8.394323008e-01,7.019399714e-01,-8.681245347e-05,8.282653292e-01
+33,2.158333333e+01,DOWN_FORCE_DETACH,1792675583382785179,2.116538595e-04,-9.851991640e-05,-1.405967709e-03,2.105441826e-04,-9.530073881e-05,-1.393619507e-03,2.123361323e-04,-9.519537367e-05,-1.392160056e-03,7.017495253e-01,-9.696895508e-05,8.393349735e-01,7.017484157e-01,-9.374977749e-05,8.393473217e-01,7.019416038e-01,-9.344664541e-05,8.281805260e-01
+34,2.215000000e+01,DOWN_FORCE_DETACH,1792675584483043858,2.142045072e-04,-8.924960069e-05,-1.496754458e-03,2.141092514e-04,-8.909955300e-05,-1.496600036e-03,2.156290130e-04,-8.898994872e-05,-1.494795632e-03,7.017520760e-01,-8.769863937e-05,8.392441867e-01,7.017519807e-01,-8.754859168e-05,8.392443412e-01,7.019448967e-01,-8.724122045e-05,8.280778904e-01
+35,2.270000000e+01,DOWN_FORCE_DETACH,1792675585513318227,2.179219289e-04,-9.248384499e-05,-1.596890968e-03,2.139387325e-04,-9.241958071e-05,-1.582542439e-03,2.152102592e-04,-9.231120315e-05,-1.580777735e-03,7.017557934e-01,-9.093288367e-05,8.391440502e-01,7.017518102e-01,-9.086861939e-05,8.391583987e-01,7.019444779e-01,-9.056247488e-05,8.279919083e-01
+36,2.323333333e+01,DOWN_FORCE_DETACH,1792675586545580051,2.159531525e-04,-9.338127878e-05,-1.713883039e-03,2.157805479e-04,-9.369602780e-05,-1.713920090e-03,2.165718920e-04,-9.358883083e-05,-1.711652648e-03,7.017538246e-01,-9.183031746e-05,8.390270581e-01,7.017536520e-01,-9.214506648e-05,8.390270211e-01,7.019458396e-01,-9.184010257e-05,8.278610334e-01
+37,2.373333333e+01,DOWN_FORCE_DETACH,1792675587544098593,2.162261813e-04,-1.036951257e-04,-1.835995818e-03,2.179301675e-04,-1.034027802e-04,-1.824719523e-03,2.184120448e-04,-1.032880730e-04,-1.822405442e-03,7.017540977e-01,-1.021441643e-04,8.389049454e-01,7.017558016e-01,-1.018518189e-04,8.389162217e-01,7.019476797e-01,-1.015393448e-04,8.277502806e-01
+38,2.426666667e+01,DOWN_FORCE_DETACH,1792675588608107044,2.196865076e-04,-1.062975119e-04,-1.979368240e-03,2.194808299e-04,-1.060797460e-04,-1.979417448e-03,2.194166900e-04,-1.059473523e-04,-1.976709100e-03,7.017575580e-01,-1.047465505e-04,8.387615729e-01,7.017573523e-01,-1.045287847e-04,8.387615237e-01,7.019486844e-01,-1.041986240e-04,8.275959770e-01
+39,2.466666667e+01,DOWN_FORCE_DETACH,1792675589414195618,2.184302384e-04,-9.890891712e-05,-2.116785639e-03,2.184827992e-04,-9.883496244e-05,-2.116533577e-03,2.178838996e-04,-9.870907691e-05,-2.113400354e-03,7.017563017e-01,-9.735795580e-05,8.386241555e-01,7.017563543e-01,-9.728400112e-05,8.386244076e-01,7.019471516e-01,-9.696034865e-05,8.274592857e-01
+40,2.510000000e+01,DOWN_FORCE_DETACH,1792675590238958968,2.258251233e-04,-1.084257269e-04,-2.252412199e-03,2.257765556e-04,-1.082449328e-04,-2.252059118e-03,2.248815906e-04,-1.081354923e-04,-2.248792920e-03,7.017636966e-01,-1.068747656e-04,8.384885290e-01,7.017636480e-01,-1.066939715e-04,8.384888821e-01,7.019541493e-01,-1.063867640e-04,8.273238931e-01
+41,2.551666667e+01,DOWN_FORCE_DETACH,1792675591005384510,2.241036418e-04,-1.158893788e-04,-2.393100400e-03,2.255657059e-04,-1.169203254e-04,-2.385592297e-03,2.241199043e-04,-1.167801764e-04,-2.382314732e-03,7.017619751e-01,-1.143384174e-04,8.383478408e-01,7.017634372e-01,-1.153693641e-04,8.383553489e-01,7.019533876e-01,-1.150314481e-04,8.271903713e-01
+42,2.590000000e+01,DOWN_FORCE_DETACH,1792675591734917041,2.254890518e-04,-1.233390203e-04,-2.534660903e-03,2.203424790e-04,-1.246203902e-04,-2.520818458e-03,2.183621229e-04,-1.244681831e-04,-2.517515618e-03,7.017633605e-01,-1.217880590e-04,8.382062803e-01,7.017582140e-01,-1.230694289e-04,8.382201227e-01,7.019476298e-01,-1.227194548e-04,8.270551704e-01
+43,2.625000000e+01,DOWN_FORCE_DETACH,1792675592401075781,2.230023898e-04,-1.283191764e-04,-2.676999039e-03,2.228876031e-04,-1.282508051e-04,-2.676701669e-03,2.203673250e-04,-1.280395300e-04,-2.673045351e-03,7.017608739e-01,-1.267682151e-04,8.380639421e-01,7.017607591e-01,-1.266998438e-04,8.380642395e-01,7.019496350e-01,-1.262908018e-04,8.268996407e-01
+44,2.663333333e+01,DOWN_FORCE_DETACH,1792675593133342869,2.201395125e-04,-1.376812126e-04,-2.840782904e-03,2.208395548e-04,-1.301054642e-04,-2.823005416e-03,2.177590168e-04,-1.298807629e-04,-2.819323116e-03,7.017580110e-01,-1.361302513e-04,8.379001583e-01,7.017587110e-01,-1.285545029e-04,8.379179358e-01,7.019470267e-01,-1.281320347e-04,8.267533629e-01
+45,2.695000000e+01,DOWN_FORCE_DETACH,1792675593733954491,2.202315438e-04,-1.327695788e-04,-2.976436464e-03,2.155508546e-04,-1.377987023e-04,-2.959422816e-03,2.118847501e-04,-1.375602953e-04,-2.955627049e-03,7.017581030e-01,-1.312186175e-04,8.377645047e-01,7.017534223e-01,-1.362477410e-04,8.377815184e-01,7.019411524e-01,-1.358115671e-04,8.266170590e-01
+46,2.728333333e+01,DOWN_FORCE_DETACH,1792675594365618358,2.241947922e-04,-1.422818638e-04,-3.109031297e-03,2.214285684e-04,-1.363596933e-04,-3.098531648e-03,2.173939538e-04,-1.361451411e-04,-3.094737788e-03,7.017620663e-01,-1.407309025e-04,8.376319099e-01,7.017593000e-01,-1.348087320e-04,8.376424095e-01,7.019466616e-01,-1.343964129e-04,8.264779483e-01
+47,2.760000000e+01,DOWN_FORCE_DETACH,1792675594996086793,2.247471730e-04,-1.451412350e-04,-3.266471766e-03,2.220112723e-04,-1.431247668e-04,-3.260625707e-03,2.173809321e-04,-1.428802191e-04,-3.256535264e-03,7.017626187e-01,-1.435902736e-04,8.374744694e-01,7.017598828e-01,-1.415738055e-04,8.374803155e-01,7.019466486e-01,-1.411314908e-04,8.263161508e-01
+48,2.791666667e+01,DOWN_FORCE_DETACH,1792675595629937288,2.233213815e-04,-1.458100083e-04,-3.429527488e-03,2.220062378e-04,-1.441465093e-04,-3.421946493e-03,2.167962747e-04,-1.438725501e-04,-3.417726494e-03,7.017611929e-01,-1.442590469e-04,8.373114137e-01,7.017598777e-01,-1.425955480e-04,8.373189947e-01,7.019460640e-01,-1.421238218e-04,8.261549596e-01
+49,2.820000000e+01,DOWN_FORCE_DETACH,1792675596194393244,2.238609074e-04,-1.508482231e-04,-3.582426166e-03,2.237664115e-04,-1.508149755e-04,-3.582482636e-03,2.180734835e-04,-1.504882048e-04,-3.578070416e-03,7.017617324e-01,-1.492972617e-04,8.371585150e-01,7.017616379e-01,-1.492640142e-04,8.371584586e-01,7.019473412e-01,-1.487394765e-04,8.259946156e-01
+50,2.848333333e+01,DOWN_FORCE_DETACH,1792675596758769838,2.172886167e-04,-1.581443893e-04,-3.744021429e-03,2.190530680e-04,-1.608220482e-04,-3.731717838e-03,2.126070368e-04,-1.605183647e-04,-3.727337706e-03,7.017551601e-01,-1.565934279e-04,8.369969198e-01,7.017569245e-01,-1.592710869e-04,8.370092233e-01,7.019418747e-01,-1.587696364e-04,8.258453483e-01
+51,2.873333333e+01,DOWN_FORCE_DETACH,1792675597260619051,2.256920000e-04,-1.589016355e-04,-3.891625192e-03,2.255952604e-04,-1.593621208e-04,-3.891814464e-03,2.187027520e-04,-1.590650996e-04,-3.887083248e-03,7.017635635e-01,-1.573506742e-04,8.368493160e-01,7.017634667e-01,-1.578111595e-04,8.368491267e-01,7.019479704e-01,-1.573163713e-04,8.256856028e-01
+52,2.900000000e+01,DOWN_FORCE_DETACH,1792675597793351036,2.310943218e-04,-1.616732819e-04,-4.045989526e-03,2.312019996e-04,-1.651932241e-04,-4.033784960e-03,2.239535439e-04,-1.648267101e-04,-4.029256303e-03,7.017689658e-01,-1.601223206e-04,8.366949517e-01,7.017690735e-01,-1.636422628e-04,8.367071562e-01,7.019532212e-01,-1.630779819e-04,8.255434297e-01
+53,2.925000000e+01,DOWN_FORCE_DETACH,1792675598258657842,2.271950702e-04,-1.701952675e-04,-4.195424994e-03,2.271011988e-04,-1.703268911e-04,-4.195718807e-03,2.192293707e-04,-1.699090169e-04,-4.191011628e-03,7.017650666e-01,-1.686443062e-04,8.365455162e-01,7.017649727e-01,-1.687759298e-04,8.365452224e-01,7.019484971e-01,-1.681602886e-04,8.253816744e-01
+54,2.951666667e+01,DOWN_FORCE_DETACH,1792675598755225881,2.229150642e-04,-1.685846033e-04,-4.362244060e-03,2.244653741e-04,-1.729420355e-04,-4.349296354e-03,2.160002502e-04,-1.725135042e-04,-4.344732427e-03,7.017607865e-01,-1.670336420e-04,8.363786971e-01,7.017623369e-01,-1.713910742e-04,8.363916448e-01,7.019452679e-01,-1.707647759e-04,8.252279536e-01
+55,2.975000000e+01,DOWN_FORCE_DETACH,1792675599223493404,2.154439931e-04,-1.769411479e-04,-4.524516687e-03,2.153876790e-04,-1.770117695e-04,-4.524729569e-03,2.061385977e-04,-1.765558005e-04,-4.519875426e-03,7.017533155e-01,-1.753901866e-04,8.362164245e-01,7.017532592e-01,-1.754608081e-04,8.362162116e-01,7.019354063e-01,-1.748070722e-04,8.250528106e-01
+56,2.998333333e+01,DOWN_FORCE_DETACH,1792675599655542533,2.436600632e-04,-1.759903177e-04,-4.652616822e-03,2.433893931e-04,-1.761579313e-04,-4.652403492e-03,2.341610035e-04,-1.757767816e-04,-4.647707915e-03,7.017815315e-01,-1.744393564e-04,8.360883244e-01,7.017812609e-01,-1.746069700e-04,8.360885377e-01,7.019634287e-01,-1.740280533e-04,8.249249781e-01
+57,3.020000000e+01,DOWN_FORCE_DETACH,1792675600054714792,2.308852476e-04,-1.782169559e-04,-4.806768779e-03,2.307788608e-04,-1.783472793e-04,-4.806502949e-03,2.208229721e-04,-1.778875891e-04,-4.801697453e-03,7.017687567e-01,-1.766659946e-04,8.359341724e-01,7.017686503e-01,-1.767963180e-04,8.359344382e-01,7.019500907e-01,-1.761388608e-04,8.247709886e-01
+58,3.041666667e+01,DOWN_FORCE_DETACH,1792675600506304228,2.262087556e-04,-1.812582134e-04,-4.974126648e-03,2.277278792e-04,-1.789512799e-04,-4.957217398e-03,2.171925395e-04,-1.784701424e-04,-4.952416529e-03,7.017640802e-01,-1.797072520e-04,8.357668145e-01,7.017655994e-01,-1.774003185e-04,8.357837238e-01,7.019464602e-01,-1.767214141e-04,8.246202695e-01
+59,3.091666667e+01,DOWN_PEAK_HOLD,1792675601420076350,2.082841606e-04,-1.625945641e-04,-5.087525509e-03,2.102788708e-04,-1.718500081e-04,-5.077879552e-03,1.987502402e-04,-1.714610538e-04,-5.075146406e-03,7.017461556e-01,-1.610436028e-04,8.356534157e-01,7.017481504e-01,-1.702990467e-04,8.356630616e-01,7.019280179e-01,-1.697123256e-04,8.244975396e-01

Part2/Fixed/s2/ball_15A_12.5/press_depth_07/down/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-1.0384e-02,3.2562e-04,2.4539e+00,-3.6806e-02,3.6045e-02,-3.1459e-05,3.6975e-04,-2.4063e-06,1.8406e-04,3.0920e-07,2.5880e-05,-2.2459e-07,4.1304e-04,2.5882e-05
+1,7.1667e-01,DOWN_FORCE_DETACH,1.7089e-04,2.8732e-03,7.4318e-03,2.4623e+00,-3.7303e-02,3.6972e-02,-2.8284e-05,1.3627e-02,7.1037e-03,8.5337e-03,-4.9660e-04,9.5288e-04,2.9508e-06,1.7578e-02,1.0745e-03
+2,1.1667e+00,DOWN_FORCE_DETACH,3.3262e-04,8.6040e-03,9.1046e-03,2.4752e+00,-3.7420e-02,3.7366e-02,-3.1493e-05,1.9357e-02,8.7766e-03,2.1446e-02,-6.1312e-04,1.3474e-03,-2.5801e-07,3.0194e-02,1.4803e-03
+3,1.6167e+00,DOWN_FORCE_DETACH,5.2014e-04,-1.0154e-03,1.5593e-02,2.5079e+00,-3.7868e-02,3.6665e-02,-2.8880e-05,9.7380e-03,1.5265e-02,5.4169e-02,-1.0612e-03,6.4576e-04,2.3550e-06,5.7115e-02,1.2423e-03
+4,2.1833e+00,DOWN_FORCE_DETACH,6.9214e-04,7.5788e-03,1.9910e-02,2.5275e+00,-3.8157e-02,3.7262e-02,-3.7138e-05,1.8332e-02,1.9582e-02,7.3755e-02,-1.3502e-03,1.2432e-03,-5.9034e-06,7.8482e-02,1.8354e-03
+5,2.8333e+00,DOWN_FORCE_DETACH,8.6544e-04,1.1598e-02,2.0398e-02,2.5022e+00,-3.8180e-02,3.7570e-02,-5.3141e-05,2.2351e-02,2.0070e-02,4.8420e-02,-1.3735e-03,1.5512e-03,-2.1906e-05,5.6981e-02,2.0720e-03
+6,3.5833e+00,DOWN_FORCE_DETACH,1.0422e-03,1.6255e-02,2.3009e-02,2.4832e+00,-3.8357e-02,3.7914e-02,-5.5995e-05,2.7009e-02,2.2681e-02,2.9485e-02,-1.5498e-03,1.8955e-03,-2.4761e-05,4.5971e-02,2.4486e-03
+7,4.2000e+00,DOWN_FORCE_DETACH,1.2134e-03,1.8367e-02,2.3212e-02,2.4695e+00,-3.8371e-02,3.8073e-02,-5.4823e-05,2.9121e-02,2.2884e-02,1.5691e-02,-1.5644e-03,2.0543e-03,-2.3588e-05,4.0223e-02,2.5822e-03
+8,4.9000e+00,DOWN_FORCE_DETACH,1.3841e-03,1.9279e-02,2.3075e-02,2.4690e+00,-3.8361e-02,3.8137e-02,-5.0699e-05,3.0033e-02,2.2747e-02,1.5285e-02,-1.5547e-03,2.1183e-03,-1.9464e-05,4.0658e-02,2.6277e-03
+9,5.6000e+00,DOWN_FORCE_DETACH,1.5543e-03,1.5979e-02,2.3761e-02,2.4784e+00,-3.8410e-02,3.7897e-02,-4.1524e-05,2.6732e-02,2.3433e-02,2.4623e-02,-1.6030e-03,1.8777e-03,-1.0290e-05,4.3244e-02,2.4689e-03
+10,6.0333e+00,DOWN_FORCE_DETACH,1.7326e-03,5.3479e-03,2.4338e-02,2.4810e+00,-3.8452e-02,3.7145e-02,-3.3636e-05,1.6101e-02,2.4010e-02,2.7191e-02,-1.6451e-03,1.1261e-03,-2.4012e-06,3.9687e-02,1.9936e-03
+11,6.6333e+00,DOWN_FORCE_DETACH,1.9034e-03,9.4507e-03,2.4650e-02,2.4887e+00,-3.8475e-02,3.7427e-02,-2.5325e-05,2.0204e-02,2.4322e-02,3.4894e-02,-1.6684e-03,1.4080e-03,5.9096e-06,4.7089e-02,2.1832e-03
+12,7.4000e+00,DOWN_FORCE_DETACH,2.0796e-03,1.3478e-02,2.3836e-02,2.4783e+00,-3.8434e-02,3.7717e-02,-1.9154e-05,2.4231e-02,2.3508e-02,2.4580e-02,-1.6272e-03,1.6980e-03,1.2080e-05,4.1761e-02,2.3518e-03
+13,8.1167e+00,DOWN_FORCE_DETACH,2.2514e-03,1.2360e-02,2.5993e-02,2.4842e+00,-3.8605e-02,3.7633e-02,-9.9208e-06,2.3114e-02,2.5665e-02,3.0486e-02,-1.7979e-03,1.6144e-03,2.1314e-05,4.6069e-02,2.4164e-03
+14,8.7667e+00,DOWN_FORCE_DETACH,2.4236e-03,1.1809e-02,2.3967e-02,2.4795e+00,-3.8484e-02,3.7598e-02,-1.0996e-05,2.2563e-02,2.3639e-02,2.5731e-02,-1.6770e-03,1.5789e-03,2.0239e-05,4.1593e-02,2.3034e-03
+15,9.4167e+00,DOWN_FORCE_DETACH,2.5997e-03,5.0350e-03,2.5119e-02,2.4805e+00,-3.8583e-02,3.7120e-02,-6.6230e-06,1.5788e-02,2.4791e-02,2.6782e-02,-1.7763e-03,1.1007e-03,2.4612e-05,3.9764e-02,2.0898e-03
+16,1.0083e+01,DOWN_FORCE_DETACH,2.7689e-03,6.3238e-03,2.6162e-02,2.4859e+00,-3.8670e-02,3.7207e-02,-8.3120e-06,1.7077e-02,2.5834e-02,3.2187e-02,-1.8637e-03,1.1881e-03,2.2923e-05,4.4665e-02,2.2103e-03
+17,1.0733e+01,DOWN_FORCE_DETACH,2.9430e-03,6.5775e-03,2.7998e-02,2.4885e+00,-3.8811e-02,3.7223e-02,-1.0930e-05,1.7331e-02,2.7670e-02,3.4772e-02,-2.0038e-03,1.2041e-03,2.0305e-05,4.7698e-02,2.3379e-03
+18,1.1450e+01,DOWN_FORCE_DETACH,3.1179e-03,8.9409e-03,2.7867e-02,2.4809e+00,-3.8809e-02,3.7395e-02,-2.2099e-05,1.9694e-02,2.7539e-02,2.7148e-02,-2.0026e-03,1.3761e-03,9.1362e-06,4.3396e-02,2.4299e-03
+19,1.2150e+01,DOWN_FORCE_DETACH,3.2903e-03,8.3848e-03,2.8038e-02,2.4961e+00,-3.8814e-02,3.7345e-02,-3.3444e-05,1.9138e-02,2.7710e-02,4.2342e-02,-2.0077e-03,1.3264e-03,-2.2093e-06,5.4101e-02,2.4063e-03
+20,1.2817e+01,DOWN_FORCE_DETACH,3.4589e-03,1.0035e-02,2.6378e-02,2.4955e+00,-3.8683e-02,3.7462e-02,-5.0514e-05,2.0788e-02,2.6050e-02,4.1728e-02,-1.8767e-03,1.4426e-03,-1.9279e-05,5.3404e-02,2.3672e-03
+21,1.3517e+01,DOWN_FORCE_DETACH,3.6352e-03,1.2445e-02,2.6974e-02,2.4824e+00,-3.8711e-02,3.7642e-02,-6.8152e-05,2.3198e-02,2.6646e-02,2.8631e-02,-1.9038e-03,1.6229e-03,-3.6917e-05,4.5475e-02,2.5020e-03
+22,1.4300e+01,DOWN_FORCE_DETACH,3.8111e-03,1.3404e-02,2.9077e-02,2.4821e+00,-3.8832e-02,3.7711e-02,-8.6292e-05,2.4158e-02,2.8749e-02,2.8292e-02,-2.0253e-03,1.6916e-03,-5.5057e-05,4.7016e-02,2.6394e-03
+23,1.4917e+01,DOWN_FORCE_DETACH,3.9841e-03,1.5000e-02,3.1085e-02,2.4856e+00,-3.8953e-02,3.7820e-02,-9.8200e-05,2.5753e-02,3.0757e-02,3.1792e-02,-2.1463e-03,1.8012e-03,-6.6966e-05,5.1185e-02,2.8027e-03
+24,1.5583e+01,DOWN_FORCE_DETACH,4.1555e-03,1.4788e-02,2.9068e-02,2.4851e+00,-3.8794e-02,3.7805e-02,-1.1322e-04,2.5541e-02,2.8740e-02,3.1381e-02,-1.9875e-03,1.7858e-03,-8.1980e-05,4.9630e-02,2.6732e-03
+25,1.6200e+01,DOWN_FORCE_DETACH,4.3270e-03,1.4232e-02,3.2665e-02,2.4941e+00,-3.9029e-02,3.7758e-02,-1.1044e-04,2.4985e-02,3.2337e-02,4.0326e-02,-2.2221e-03,1.7389e-03,-7.9205e-05,5.7412e-02,2.8227e-03
+26,1.6833e+01,DOWN_FORCE_DETACH,4.5011e-03,1.4377e-02,3.1532e-02,2.4942e+00,-3.8939e-02,3.7766e-02,-1.1183e-04,2.5130e-02,3.1204e-02,4.0438e-02,-2.1319e-03,1.7475e-03,-8.0592e-05,5.6925e-02,2.7578e-03
+27,1.7617e+01,DOWN_FORCE_DETACH,4.6742e-03,1.4549e-02,3.2762e-02,2.5007e+00,-3.9013e-02,3.7771e-02,-1.0283e-04,2.5302e-02,3.2434e-02,4.6977e-02,-2.2061e-03,1.7519e-03,-7.1600e-05,6.2442e-02,2.8180e-03
+28,1.8217e+01,DOWN_FORCE_DETACH,4.8493e-03,1.3773e-02,2.7451e-02,2.5107e+00,-3.8636e-02,3.7708e-02,-1.0284e-04,2.4527e-02,2.7123e-02,5.6921e-02,-1.8297e-03,1.6887e-03,-7.1606e-05,6.7655e-02,2.4909e-03
+29,1.8850e+01,DOWN_FORCE_DETACH,5.0215e-03,1.6429e-02,2.9261e-02,2.5115e+00,-3.8755e-02,3.7890e-02,-8.6276e-05,2.7182e-02,2.8933e-02,5.7703e-02,-1.9481e-03,1.8714e-03,-5.5041e-05,7.0040e-02,2.7019e-03
+30,1.9667e+01,DOWN_FORCE_DETACH,5.1961e-03,1.8858e-02,2.9233e-02,2.5008e+00,-3.8751e-02,3.8068e-02,-7.8892e-05,2.9612e-02,2.8905e-02,4.7025e-02,-1.9446e-03,2.0492e-03,-4.7657e-05,6.2639e-02,2.8255e-03
+31,2.0250e+01,DOWN_FORCE_DETACH,5.3662e-03,1.9209e-02,3.0585e-02,2.5069e+00,-3.8845e-02,3.8088e-02,-7.9443e-05,2.9963e-02,3.0257e-02,5.3128e-02,-2.0378e-03,2.0692e-03,-4.8208e-05,6.8087e-02,2.9046e-03
+32,2.0933e+01,DOWN_FORCE_DETACH,5.5405e-03,1.7660e-02,3.1564e-02,2.5178e+00,-3.8915e-02,3.7970e-02,-9.0702e-05,2.8413e-02,3.1236e-02,6.4080e-02,-2.1078e-03,1.9512e-03,-5.9467e-05,7.6741e-02,2.8729e-03
+33,2.1583e+01,DOWN_FORCE_DETACH,5.7111e-03,2.0251e-02,3.3699e-02,2.5241e+00,-3.9070e-02,3.8147e-02,-1.0730e-04,3.1004e-02,3.3371e-02,7.0366e-02,-2.2636e-03,2.1285e-03,-7.6068e-05,8.3823e-02,3.1081e-03
+34,2.2150e+01,DOWN_FORCE_DETACH,5.8869e-03,2.2654e-02,3.0626e-02,2.5275e+00,-3.8877e-02,3.8316e-02,-1.3071e-04,3.3408e-02,3.0298e-02,7.3739e-02,-2.0703e-03,2.2971e-03,-9.9480e-05,8.6438e-02,3.0940e-03
+35,2.2700e+01,DOWN_FORCE_DETACH,6.0581e-03,2.4891e-02,3.3023e-02,2.5435e+00,-3.9054e-02,3.8461e-02,-1.3630e-04,3.5644e-02,3.2695e-02,8.9777e-02,-2.2471e-03,2.4425e-03,-1.0507e-04,1.0198e-01,3.3205e-03
+36,2.3233e+01,DOWN_FORCE_DETACH,6.2325e-03,2.5843e-02,3.3920e-02,2.5507e+00,-3.9101e-02,3.8519e-02,-1.3718e-04,3.6596e-02,3.3592e-02,9.6957e-02,-2.2945e-03,2.5000e-03,-1.0595e-04,1.0894e-01,3.3950e-03
+37,2.3733e+01,DOWN_FORCE_DETACH,6.4051e-03,2.5020e-02,3.7964e-02,2.5691e+00,-3.9343e-02,3.8440e-02,-1.2765e-04,3.5773e-02,3.7636e-02,1.1533e-01,-2.5359e-03,2.4207e-03,-9.6412e-05,1.2648e-01,3.5072e-03
+38,2.4267e+01,DOWN_FORCE_DETACH,6.5806e-03,2.4795e-02,3.8487e-02,2.5748e+00,-3.9348e-02,3.8419e-02,-1.1936e-04,3.5549e-02,3.8159e-02,1.2099e-01,-2.5417e-03,2.4000e-03,-8.8130e-05,1.3175e-01,3.4968e-03
+39,2.4667e+01,DOWN_FORCE_DETACH,6.7535e-03,2.4435e-02,3.6600e-02,2.5946e+00,-3.9214e-02,3.8383e-02,-1.2099e-04,3.5189e-02,3.6272e-02,1.4081e-01,-2.4071e-03,2.3636e-03,-8.9755e-05,1.4961e-01,3.3748e-03
+40,2.5100e+01,DOWN_FORCE_DETACH,6.9286e-03,2.1855e-02,3.9132e-02,2.6028e+00,-3.9396e-02,3.8200e-02,-1.1998e-04,3.2608e-02,3.8804e-02,1.4901e-01,-2.5895e-03,2.1811e-03,-8.8746e-05,1.5740e-01,3.3868e-03
+41,2.5517e+01,DOWN_FORCE_DETACH,7.1014e-03,2.1589e-02,4.2203e-02,2.6208e+00,-3.9579e-02,3.8169e-02,-1.1859e-04,3.2342e-02,4.1875e-02,1.6701e-01,-2.7724e-03,2.1497e-03,-8.7357e-05,1.7519e-01,3.5092e-03
+42,2.5900e+01,DOWN_FORCE_DETACH,7.2720e-03,2.4628e-02,4.6049e-02,2.6212e+00,-3.9794e-02,3.8376e-02,-1.0351e-04,3.5381e-02,4.5721e-02,1.6741e-01,-2.9872e-03,2.3566e-03,-7.2275e-05,1.7711e-01,3.8056e-03
+43,2.6250e+01,DOWN_FORCE_DETACH,7.4427e-03,2.5008e-02,5.0252e-02,2.6279e+00,-4.0048e-02,3.8395e-02,-7.7118e-05,3.5761e-02,4.9924e-02,1.7414e-01,-3.2409e-03,2.3761e-03,-4.5884e-05,1.8465e-01,4.0188e-03
+44,2.6633e+01,DOWN_FORCE_DETACH,7.6247e-03,2.7810e-02,4.9590e-02,2.6414e+00,-3.9977e-02,3.8576e-02,-6.4327e-05,3.8563e-02,4.9262e-02,1.8763e-01,-3.1703e-03,2.5568e-03,-3.3092e-05,1.9779e-01,4.0729e-03
+45,2.6950e+01,DOWN_FORCE_DETACH,7.7916e-03,3.1361e-02,5.2647e-02,2.6474e+00,-4.0171e-02,3.8819e-02,-5.7650e-05,4.2114e-02,5.2319e-02,1.9365e-01,-3.3642e-03,2.7999e-03,-2.6415e-05,2.0496e-01,4.3770e-03
+46,2.7283e+01,DOWN_FORCE_DETACH,7.9612e-03,2.8325e-02,5.2067e-02,2.6475e+00,-4.0140e-02,3.8609e-02,-5.9105e-05,3.9079e-02,5.1739e-02,1.9374e-01,-3.3331e-03,2.5901e-03,-2.7871e-05,2.0430e-01,4.2213e-03
+47,2.7600e+01,DOWN_FORCE_DETACH,8.1367e-03,2.9240e-02,5.3634e-02,2.6633e+00,-4.0230e-02,3.8662e-02,-6.2946e-05,3.9994e-02,5.3306e-02,2.0958e-01,-3.4233e-03,2.6434e-03,-3.1711e-05,2.1992e-01,4.3252e-03
+48,2.7917e+01,DOWN_FORCE_DETACH,8.3125e-03,2.9674e-02,5.5810e-02,2.6699e+00,-4.0324e-02,3.8679e-02,-6.2984e-05,4.0428e-02,5.5482e-02,2.1610e-01,-3.5172e-03,2.6602e-03,-3.1750e-05,2.2674e-01,4.4100e-03
+49,2.8200e+01,DOWN_FORCE_DETACH,8.4808e-03,2.6264e-02,6.0471e-02,2.6634e+00,-4.0615e-02,3.8437e-02,-5.6609e-05,3.7017e-02,6.0143e-02,2.0968e-01,-3.8083e-03,2.4182e-03,-2.5374e-05,2.2125e-01,4.5113e-03
+50,2.8483e+01,DOWN_FORCE_DETACH,8.6532e-03,2.9285e-02,6.2931e-02,2.6818e+00,-4.0771e-02,3.8639e-02,-6.5531e-05,4.0039e-02,6.2603e-02,2.2805e-01,-3.9642e-03,2.6199e-03,-3.4297e-05,2.3985e-01,4.7518e-03
+51,2.8733e+01,DOWN_FORCE_DETACH,8.8336e-03,2.4226e-02,6.0207e-02,2.6801e+00,-4.0580e-02,3.8293e-02,-6.7701e-05,3.4979e-02,5.9879e-02,2.2630e-01,-3.7737e-03,2.2736e-03,-3.6466e-05,2.3669e-01,4.4059e-03
+52,2.9000e+01,DOWN_FORCE_DETACH,9.0043e-03,2.3010e-02,6.5589e-02,2.6919e+00,-4.0928e-02,3.8200e-02,-5.1790e-05,3.3763e-02,6.5261e-02,2.3818e-01,-4.1208e-03,2.1812e-03,-2.0556e-05,2.4926e-01,4.6625e-03
+53,2.9250e+01,DOWN_FORCE_DETACH,9.1742e-03,2.5628e-02,6.7066e-02,2.6812e+00,-4.1010e-02,3.8381e-02,-3.9983e-05,3.6381e-02,6.6738e-02,2.2740e-01,-4.2034e-03,2.3620e-03,-8.7480e-06,2.3977e-01,4.8216e-03
+54,2.9517e+01,DOWN_FORCE_DETACH,9.3503e-03,3.0707e-02,7.0144e-02,2.6940e+00,-4.1172e-02,3.8717e-02,-2.8402e-05,4.1460e-02,6.9816e-02,2.4022e-01,-4.3650e-03,2.6977e-03,2.8331e-06,2.5357e-01,5.1314e-03
+55,2.9750e+01,DOWN_FORCE_DETACH,9.5240e-03,3.3685e-02,6.8944e-02,2.6929e+00,-4.1068e-02,3.8921e-02,-3.1216e-05,4.4439e-02,6.8616e-02,2.3915e-01,-4.2611e-03,2.9025e-03,1.8743e-08,2.5274e-01,5.1557e-03
+56,2.9983e+01,DOWN_FORCE_DETACH,9.7019e-03,1.8382e-02,7.0401e-02,2.6794e+00,-4.1152e-02,3.7876e-02,-3.0786e-05,2.9135e-02,7.0073e-02,2.2559e-01,-4.3452e-03,1.8568e-03,4.4826e-07,2.3802e-01,4.7253e-03
+57,3.0200e+01,DOWN_FORCE_DETACH,9.8658e-03,2.6007e-02,7.0467e-02,2.6841e+00,-4.1147e-02,3.8394e-02,-4.5586e-05,3.6761e-02,7.0139e-02,2.3039e-01,-4.3400e-03,2.3753e-03,-1.4351e-05,2.4362e-01,4.9475e-03
+58,3.0417e+01,DOWN_FORCE_DETACH,1.0040e-02,2.8982e-02,7.3739e-02,2.7051e+00,-4.1345e-02,3.8578e-02,-4.2203e-05,3.9735e-02,7.3411e-02,2.5139e-01,-4.5382e-03,2.5586e-03,-1.0968e-05,2.6489e-01,5.2097e-03
+59,3.0917e+01,DOWN_PEAK_HOLD,1.0215e-02,3.0628e-02,6.7415e-02,2.5971e+00,-4.1021e-02,3.8780e-02,-6.0843e-05,4.1381e-02,6.7087e-02,1.4336e-01,-4.2142e-03,2.7611e-03,-2.9608e-05,1.6360e-01,5.0383e-03

Part2/Fixed/s2/ball_15A_12.5/press_depth_07/up/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/s2/ball_15A_12.5/press_depth_07/up/fem_node.csv ADDED Viewed

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

Part2/Fixed/s2/ball_15A_12.5/press_depth_07/up/franka_data.csv ADDED Viewed

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

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+12233,1792675531916463465,44072249000000,1792675531915377496,UP_FORCE_RAMP,7,0.037,0.03700251132249832,0.6760355334136477,-0.004563415077761733,0.0907756945659702,0.9999999873038702,-4.001971202055777e-06,-0.0001296776303380341,1.679411494778593e-06,0.6761,-0.00453,0.09107459157386073,1.0,0.0,0.0,0.0,0.28853142410575755,0.19626324919462435,-0.1935761353750936,0.013587193913693446,-0.020946187039507683,7.204326778426427e-05,0.3583252464537873,0.2797691863960937,-0.3012040593384869,0.019145546244875362,-0.026640657555430203,8.146986271277916e-05,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.0895850696062295,0.4819543186513279,2.337990233271957,-0.33013700576128413,-1.6304059777446307,0.2575609510821256,1.0863442572748523,0.1935761353750936,-1.2516459759971046,0.1935761353750936,0.3177,0,0,5.962066089920394e-05,2.4659307204537886e-05
+12245,1792675532016512358,44072349000000,1792675532011376911,UP_FORCE_RAMP,7,0.037,0.03700251132249832,0.6760370113760663,-0.004563346696835097,0.09078267797501563,0.9999999877770795,-3.798424627353117e-06,-0.0001259888406455495,1.043670354762464e-06,0.6761,-0.00453,0.09108053424500807,1.0,0.0,0.0,0.0,0.28828470740156215,0.19502748925790486,-0.20390983917231087,0.013176397572947267,-0.01994985133843457,8.474187210754863e-05,0.3580785297495919,0.27853342645937423,-0.31153776313570414,0.018734749904129183,-0.02564432185435709,9.416846703606352e-05,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.0451315069816567,0.4772235834242738,2.3367537156569282,-0.32715830868312507,-1.6167558829343465,0.2540136361238031,1.0863442572748523,0.20390983917231087,-1.250409458382076,0.20390983917231087,0.3177,0,0,5.891476358907633e-05,-2.0400840153856324e-05
+12253,1792675532083552831,44072416000000,1792675532079377402,UP_FORCE_RAMP,7,0.037,0.03700251132249832,0.6760375810818168,-0.004568037146992391,0.0907862516557137,0.9999999879844911,-5.948234448688762e-06,-0.0001241795354345669,4.235998812784775e-06,0.6761,-0.00453,0.09108444542455126,1.0,0.0,0.0,0.0,0.29750727621000145,0.1955903743600526,-0.21255574584691622,0.013607820946902044,-0.02094734481403754,8.47946666542973e-05,0.3673010985580312,0.279096311561522,-0.3201836698103095,0.01916617327808396,-0.02664181532996006,9.422126158281219e-05,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.0834884279959431,0.5394157143468029,2.411670341737046,-0.3406672495524315,-1.6755781294260013,0.29466512689140983,1.0863442572748523,0.21255574584691622,-1.325326084462194,0.21255574584691622,0.3177,0,0,5.767344593823773e-05,-5.152847335046313e-05
+12259,1792675532133471343,44072466000000,1792675532131367604,UP_FORCE_RAMP,7,0.037,0.03700251132249832,0.6760378195341269,-0.004567165692886955,0.09078870352065176,0.9999999880185333,-5.753218932162326e-06,-0.00012394518596979643,3.207649581140251e-06,0.6761,-0.00453,0.09108729739140237,1.0,0.0,0.0,0.0,0.29190730492494843,0.1953167518744252,-0.22001573055699014,0.013582922755554143,-0.019966084583846383,9.567742413033927e-05,0.3617011272729782,0.2788226890758946,-0.3276436545203834,0.01914127508673606,-0.025660555099768903,0.00010510401905885416,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.0908982752924516,0.5280594114507111,2.422577222616716,-0.3407924664640177,-1.6826965158741067,0.28570359080321395,1.0863442572748523,0.22001573055699014,-1.3362329653418639,0.22001573055699014,0.3177,0,0,5.633019698327135e-05,-7.563699254309527e-05
+12269,1792675532216494874,44072549000000,1792675532215378094,UP_FORCE_RAMP,7,0.037,0.03700251132249832,0.6760353092863295,-0.004563702653687958,0.09078772036593025,0.99999998760163,-1.4811437290991454e-06,-0.00012739960963154708,2.598068296574363e-06,0.6761,-0.00453,0.09109183786797577,1.0,0.0,0.0,0.0,0.29541854241276577,0.20388162796583442,-0.2236977489135849,0.013584569342105566,-0.019953019362378015,0.0001089777506326239,0.36521236476079555,0.2873875651673038,-0.3313256728769782,0.01914292167328748,-0.025647489878300535,0.00011840434556113879,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.115832219176491,0.5588815239327395,2.457657570677917,-0.3480074940276499,-1.7144576681318993,0.30640640800508634,1.0863442572748523,0.2236977489135849,-1.3713133134030648,0.2236977489135849,0.3177,0,0,5.320400536936139e-05,-6.265535177933181e-05
+12285,1792675532350552546,44072683000000,1792675532347368514,UP_FORCE_RAMP,7,0.037,0.037001851946115494,0.6760363352265236,-0.004566777652875204,0.09079351462471327,0.999999987812921,-1.269033949555653e-06,-0.00012569481927225288,4.027941775606427e-06,0.6761,-0.00453,0.09109856848853273,1.0,0.0,0.0,0.0,0.2973159077080821,0.20526333940642483,-0.24767492768896254,0.01426215227610495,-0.020942046189162598,0.00011484736451811503,0.36710973005611186,0.2887692766078942,-0.3553028516523558,0.019820504607286866,-0.026636516705085118,0.0001242739594466299,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.0936371570605452,0.5178958277922403,2.5652021174788633,-0.33043935858077317,-1.777017062658267,0.2806208043350636,1.0863442572748523,0.24767492768896254,-1.478857860204011,0.24767492768896254,0.3177,0,0,4.6902008420086954e-05,-9.999999025923074e-05
+12302,1792675532486548409,44072819000000,1792675532483376660,UP_FORCE_HOLD,7,0.037,0.03700251132249832,0.6760374186553099,-0.004566410932919412,0.09080194677143578,0.9999999880435342,3.480465127875382e-06,-0.00012377639678023923,4.804773522338543e-06,0.6761,-0.00453,0.09110449154173299,1.0,0.0,0.0,0.0,0.28937584437263614,0.20446334967699775,-0.25593683970740333,0.013728556717840045,-0.020011569184908682,0.0001329227853322837,0.3591696667206659,0.2879692868784671,-0.3635647636707966,0.01928690904902196,-0.025706039700831202,0.0001423493802607986,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.114119784745661,0.5476376455216532,2.5068923177605607,-0.3465902619156695,-1.7468052898934892,0.29746683684102204,1.0863442572748523,0.25593683970740333,-1.4205480604857084,0.25593683970740333,0.3177,0,0,4.015023909196165e-05,-9.362281763296285e-05
+12314,1792675532586545343,44072919000000,1792675532579376897,UP_FORCE_HOLD,7,0.037,0.03700251132249832,0.6760385970608335,-0.004569387915889637,0.0908124611088352,0.9999999886462821,-3.522357079367938e-07,-0.00011886110463997786,4.713145817701739e-06,0.6761,-0.00453,0.09110826062255771,1.0,0.0,0.0,0.0,0.2969663456431519,0.2062912036860523,-0.2832258110359144,0.014618720351848627,-0.020076421713190237,0.00016775784353832923,0.36676016799118166,0.2897971408875217,-0.39085373499930764,0.020177072683030543,-0.025770892229112757,0.00017718443846684412,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.153082276997687,0.6217224966364492,2.6279962868321274,-0.3669806729175507,-1.8329568436914305,0.34393114304296063,1.0863442572748523,0.2832258110359144,-1.541652029557275,0.2832258110359144,0.3177,0,0,3.5166252441960804e-05,-9.999999025923074e-05
+12326,1792675532686552045,44073019000000,1792675532683371008,UP_FORCE_HOLD,7,0.037,0.03700251132249832,0.6760434628101721,-0.004565780793668934,0.0908333911455889,0.999999990104353,1.7710909811492473e-06,-0.00010597560632910222,4.3872371590773787e-07,0.6761,-0.00453,0.0911115297478511,1.0,0.0,0.0,0.0,0.28801670782887795,0.22201093656817722,-0.333028759420993,0.014629264893877487,-0.020013439553284683,0.0002077694962770698,0.3578105301769077,0.3055168737696466,-0.4406566833843863,0.020187617225059403,-0.025707910069207203,0.00021719609120558468,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.2046491520788525,0.6016165675021635,2.646679221275665,-0.3563131076778818,-1.8633438957010395,0.3287998845672369,1.0863442572748523,0.333028759420993,-1.5603349640008128,0.333028759420993,0.3177,0,0,3.016625341603773e-05,-9.999999025923074e-05
+12329,1792675532711514461,44073044000000,1792675532707372475,UP_FORCE_HOLD,7,0.037,0.03700251132249832,0.6760385269097124,-0.004564661252194788,0.09083322100794759,0.9999999895853222,1.8240248692687412e-06,-0.00011076503076409436,-3.092006049393322e-08,0.6761,-0.00453,0.09111226890418966,1.0,0.0,0.0,0.0,0.29626109474522994,0.22501143563742437,-0.3492638045511461,0.015044852099481603,-0.019939905206530047,0.00022257896254727018,0.3660549170932597,0.30851737283889374,-0.45689172851453935,0.02060320443066352,-0.025634375722452567,0.00023200555747578507,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.2297159741966308,0.4964323452057798,2.6980133931749934,-0.32537431835864666,-1.9040222121088288,0.2614921800820467,1.0863442572748523,0.3492638045511461,-1.6116691359001412,0.3492638045511461,0.3177,0,0,2.891625365955696e-05,-9.999999025923074e-05
+12333,1792675532745448844,44073078000000,1792675532743366285,UP_FORCE_HOLD,7,0.037,0.03700251132249832,0.6760115218967103,-0.004575728667207595,0.09081700501007846,0.9999999862321874,-5.507438271945473e-06,-0.00013764654121600043,1.2598808675564964e-06,0.6761,-0.00453,0.09111322400681988,1.0,0.0,0.0,0.0,0.29684439093795423,0.21973427443400734,-0.3629602047687772,0.01567342209413175,-0.02093878756658409,0.00022945378258641805,0.366638213285984,0.3032402116354767,-0.4705881287321705,0.021231774425313665,-0.02663325808250661,0.00023888037751493293,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.1905919101483562,0.5723895254991116,2.5357621608151213,-0.3542671300233614,-1.7885718904655716,0.30904375394535816,1.0863442572748523,0.3629602047687772,-1.449417903540269,0.3629602047687772,0.3177,0,0,2.7216253990743116e-05,-9.999999025923074e-05
+12335,1792675532761456578,44073094000000,1792675532755366512,UP_FORCE_HOLD,7,0.037,0.03700251132249832,0.676007031634646,-0.004572438544780167,0.09081180332030368,0.9999999853539532,-2.7366814570215104e-06,-0.0001439703447651084,9.122905896017195e-08,0.6761,-0.00453,0.09111365346688506,1.0,0.0,0.0,0.0,0.319650168257513,0.19220123034202152,-0.3479328675294317,0.01307115443938992,-0.02157306816614597,0.00016039588819569616,0.3894439906055428,0.2757071675434909,-0.45556079149282497,0.018629506770571836,-0.02726753868206849,0.00016982248312421105,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.1338112771414255,0.5546575188538707,2.4909684803481484,-0.3519082308073623,-1.73949040614906,0.2962884346026079,1.0863442572748523,0.3479328675294317,-1.4046242230732962,0.3479328675294317,0.3177,0,0,2.6416254146595424e-05,-9.999999025923074e-05
+12338,1792675532786530995,44073119000000,1792675532783366930,UP_FORCE_HOLD,7,0.037,0.03700251132249832,0.6760131651899547,-0.004572988304078457,0.09082384681872574,0.9999999869667331,-4.6945898457815355e-06,-0.00013223977761762972,1.342315258235669e-08,0.6761,-0.00453,0.09111429887324189,1.0,0.0,0.0,0.0,0.3269947653844926,0.17755478925799817,-0.2878056242345995,0.011677653757879039,-0.02286316086817237,9.521568672941436e-05,0.3967885877325224,0.26106072645946754,-0.39543354819799276,0.017236006089060955,-0.02855763138409489,0.00010464228165792924,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.0399251279678332,0.577497726566595,2.460112526996908,-0.3589534944458478,-1.6929694437696838,0.3123199644823115,1.0863442572748523,0.2878056242345995,-1.3737682697220557,0.2878056242345995,0.3177,0,0,2.5166254390114655e-05,-9.999999025923074e-05
+12358,1792675532950451393,44073283000000,1792675532947366566,UP_SETTLE,7,0.037,0.03700251132249832,0.676004261359708,-0.004576151439180968,0.0908179360800523,0.9999999853355795,-4.983410276214242e-06,-0.00014402484375113843,1.927514534245036e-06,0.6761,-0.00453,0.09111775783909366,1.0,0.0,0.0,0.0,0.34520937278710523,0.17638490846522542,-0.3052591434155474,0.011662710707401052,-0.023796288626815598,9.646975568945341e-05,0.415003195135135,0.2598908456666948,-0.41288706737894065,0.01722106303858297,-0.02949075914273812,0.0001058963506179683,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.1798513869538458,0.5460913966229588,2.513212457216573,-0.3468129132053399,-1.7633372817295558,0.28934129760596106,1.0863442572748523,0.3052591434155474,-1.4268681999417205,0.3052591434155474,0.3177,0,0,1.6966255987600813e-05,-9.999999025923074e-05
+12374,1792675533083466641,44073416000000,1792675533083366311,UP_SETTLE,7,0.037,0.037001851946115494,0.675999567291044,-0.004577084580134245,0.0908135912744519,0.9999999845628574,-6.3575666960070145e-06,-0.00014923601563191166,2.3113836209247566e-06,0.6761,-0.00453,0.09111957545122681,1.0,0.0,0.0,0.0,0.3450688309444077,0.1759429659660538,-0.3144159700738224,0.011667241239105215,-0.023930496397710124,0.00010267395749782275,0.4148626532924375,0.25944890316752317,-0.42204389403721565,0.01722559357028713,-0.029624966913632644,0.00011210055242633764,0.06979382234802979,0.08350593720146937,-0.10762792396339325,0.005558352331181916,-0.005694470515922521,9.426594928514883e-06,1,-1.2453011228866566,0.5617949427025382,2.573142478343933,-0.34734902191069833,-1.817681818394387,0.30093963588445216,1.0863442572748523,0.3144159700738224,-1.4867982210690809,0.3144159700738224,0.3177,0,0,1.0316257283123126e-05,-9.999999025923074e-05

Part2/Fixed/s2/ball_15A_12.5/press_depth_07/up/multimodal_aligned_data.csv ADDED Viewed

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

Part2/Fixed/s2/ball_15A_12.5/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
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792675525714180384,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.131483820e-09,7.682182494e-11,3.563691231e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292758e-01,1.748820429e-06,8.295726897e-01
+1,5.000000000e-02,XJC_ZERO_HOLD_BEFORE_UP,1792675525795692443,2.149980211e-06,-2.744272205e-06,7.364739704e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.191736608e-08,2.751847465e-10,1.399094229e-08,7.015400215e-01,-1.193310883e-06,8.407416777e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292996e-01,1.749018792e-06,8.295727001e-01
+2,1.000000000e-01,XJC_ZERO_HOLD_BEFORE_UP,1792675525897771617,1.095754529e-06,-1.761170067e-06,1.317431086e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.487993660e-08,4.917421401e-10,2.405463773e-08,7.015389672e-01,-2.102087464e-07,8.407422586e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293226e-01,1.749235349e-06,8.295727102e-01
+3,1.500000000e-01,WAIT_W2,1792675525995423290,1.825547557e-06,1.292772636e-06,8.314627552e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.703145888e-08,6.782274273e-10,3.375166824e-08,7.015396970e-01,2.843733957e-06,8.407417727e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293447e-01,1.749421834e-06,8.295727199e-01
+4,2.166666667e-01,WAIT_W2,1792675526131585277,4.611016266e-06,3.358328290e-06,5.378311392e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.053496759e-07,9.001033599e-10,4.613807914e-08,7.015424825e-01,4.909289611e-06,8.407463195e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293731e-01,1.749643710e-06,8.295727323e-01
+5,3.000000000e-01,WAIT_W2,1792675526295312635,1.839927112e-06,7.573676434e-07,2.581721680e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.388686848e-07,1.153633213e-09,6.078153003e-08,7.015397114e-01,2.308328964e-06,8.407435229e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294066e-01,1.749897240e-06,8.295727469e-01
+6,3.666666667e-01,WAIT_W2,1792675526395556588,5.720293399e-06,5.929142221e-06,6.126495611e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.642532953e-07,1.317053718e-09,7.186479201e-08,7.015435918e-01,7.480103542e-06,8.407470677e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294320e-01,1.750060661e-06,8.295727580e-01
+7,4.333333333e-01,WAIT_W2,1792675526529370013,3.339793295e-06,4.382407285e-06,3.257305105e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.884119825e-07,1.493465608e-09,8.236029136e-08,7.015412113e-01,5.933368606e-06,8.407441985e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294561e-01,1.750237073e-06,8.295727685e-01
+8,5.500000000e-01,WAIT_W2,1792675526763365905,2.496510463e-06,1.909195773e-06,2.990957323e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.279387484e-07,1.775791071e-09,9.950624802e-08,7.015403680e-01,3.460157094e-06,8.407439321e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294956e-01,1.750519398e-06,8.295727856e-01
+9,6.000000000e-01,WAIT_W2,1792675526861435902,2.721506687e-06,1.252660083e-06,4.404876501e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.438711070e-07,1.886782345e-09,1.063895945e-07,7.015405930e-01,2.803621404e-06,8.407453461e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295116e-01,1.750630389e-06,8.295727925e-01
+10,6.666666667e-01,WAIT_W2,1792675526977407003,1.046071238e-06,-1.552140257e-06,2.583098031e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.642376866e-07,2.022059707e-09,1.151805819e-07,7.015389176e-01,-1.178935865e-09,8.407435243e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295319e-01,1.750765667e-06,8.295728013e-01
+11,7.666666667e-01,WAIT_W2,1792675527161697680,5.142043213e-07,-1.338572559e-06,1.320553462e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.929982725e-07,2.205441243e-09,1.275008507e-07,7.015383857e-01,2.123887619e-07,8.407422617e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295607e-01,1.750949048e-06,8.295728136e-01
+12,8.500000000e-01,WAIT_W2,1792675527327535165,1.687940028e-07,1.121442818e-06,1.380807775e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.154290708e-07,2.336886280e-09,1.370481361e-07,7.015380403e-01,2.672404140e-06,8.407423220e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295831e-01,1.751080493e-06,8.295728232e-01
+13,9.500000000e-01,WAIT_W2,1792675527527627403,8.987991654e-07,1.013500948e-05,1.492255536e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.406217308e-07,2.480172411e-09,1.476987274e-07,7.015387703e-01,1.168597080e-05,8.407424334e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296083e-01,1.751223779e-06,8.295728338e-01
+14,1.050000000e+00,WAIT_W2,1792675527691611735,3.835330886e-06,1.408671999e-05,4.964042275e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.640553673e-07,2.614968434e-09,1.575163898e-07,7.015417068e-01,1.563768131e-05,8.407459052e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296318e-01,1.751358575e-06,8.295728436e-01
+15,1.100000000e+00,WAIT_W2,1792675527793558773,2.587382175e-06,3.225143097e-05,1.539335437e-06,3.069776874e-06,2.175851649e-05,3.115305500e-06,3.460969997e-06,2.177029218e-05,3.201036310e-06,7.015404589e-01,3.380239229e-05,8.407424805e-01,7.015409413e-01,2.330947781e-05,8.407440565e-01,7.017327287e-01,2.351903579e-05,8.295758872e-01
+16,1.166666667e+00,WAIT_W2,1792675527925914020,9.462754723e-07,3.687676656e-05,3.264737103e-07,3.069776874e-06,2.175851649e-05,3.115305500e-06,3.478019324e-06,2.177490776e-05,3.210155531e-06,7.015388178e-01,3.842772789e-05,8.407412677e-01,7.015409413e-01,2.330947781e-05,8.407440565e-01,7.017327457e-01,2.352365137e-05,8.295758963e-01
+17,1.233333333e+00,WAIT_W2,1792675528064237110,1.989160049e-06,4.745619278e-05,7.469848872e-07,1.653603571e-06,4.430520215e-05,8.424513119e-07,2.036376441e-06,4.428863491e-05,1.033729612e-06,7.015398606e-01,4.900715411e-05,8.407416882e-01,7.015395251e-01,4.585616347e-05,8.407417836e-01,7.017313041e-01,4.603737852e-05,8.295737198e-01
+18,1.283333333e+00,WAIT_W2,1792675528160154281,8.431232237e-07,5.376983731e-05,5.712455615e-07,1.653603571e-06,4.430520215e-05,8.424513119e-07,2.046644003e-06,4.429257353e-05,1.037313598e-06,7.015387146e-01,5.532079863e-05,8.407415124e-01,7.015395251e-01,4.585616347e-05,8.407417836e-01,7.017313144e-01,4.604131714e-05,8.295737234e-01
+19,1.350000000e+00,WAIT_W2,1792675528291448570,3.879430873e-07,5.662861358e-05,-3.336059547e-06,1.653603571e-06,4.430520215e-05,8.424513119e-07,2.059986975e-06,4.429535492e-05,1.042167719e-06,7.015382594e-01,5.817957490e-05,8.407376051e-01,7.015395251e-01,4.585616347e-05,8.407417836e-01,7.017313277e-01,4.604409853e-05,8.295737283e-01
+20,1.416666667e+00,WAIT_W2,1792675528423578018,1.484904317e-06,6.542527545e-05,-5.153547185e-07,4.712854524e-07,6.516359053e-05,-2.323515006e-06,8.496686673e-07,6.516474892e-05,-2.136820250e-06,7.015393564e-01,6.697623677e-05,8.407404258e-01,7.015383428e-01,6.671455185e-05,8.407386177e-01,7.017301174e-01,6.691349253e-05,8.295705493e-01
+21,1.483333333e+00,WAIT_W2,1792675528559487828,-4.021652635e-07,5.764914253e-05,-4.039068001e-06,4.712854524e-07,6.516359053e-05,-2.323515006e-06,8.606240555e-07,6.517007205e-05,-2.136160239e-06,7.015374693e-01,5.920010385e-05,8.407369021e-01,7.015383428e-01,6.671455185e-05,8.407386177e-01,7.017301283e-01,6.691881566e-05,8.295705500e-01
+22,1.566666667e+00,WAIT_W2,1792675528725323354,1.933380625e-06,5.289081214e-05,-6.846799345e-07,4.712854524e-07,6.516359053e-05,-2.323515006e-06,8.741097218e-07,6.517300922e-05,-2.134339641e-06,7.015398049e-01,5.444177346e-05,8.407402565e-01,7.015383428e-01,6.671455185e-05,8.407386177e-01,7.017301418e-01,6.692175283e-05,8.295705518e-01
+23,1.633333333e+00,WAIT_W2,1792675528857388379,1.252771870e-07,4.696469715e-05,-1.549076778e-06,3.157689938e-07,4.451733354e-05,-1.668547476e-06,7.236990138e-07,4.454903676e-05,-1.454759229e-06,7.015379968e-01,4.851565847e-05,8.407393921e-01,7.015381873e-01,4.606829486e-05,8.407392726e-01,7.017299914e-01,4.629778037e-05,8.295712314e-01
+24,1.700000000e+00,WAIT_W2,1792675528989688615,3.965048656e-06,3.895033004e-05,3.536510648e-06,3.157689938e-07,4.451733354e-05,-1.668547476e-06,7.332924478e-07,4.454549712e-05,-1.452038049e-06,7.015418365e-01,4.050129137e-05,8.407444777e-01,7.015381873e-01,4.606829486e-05,8.407392726e-01,7.017300010e-01,4.629424072e-05,8.295712341e-01
+25,1.800000000e+00,WAIT_W2,1792675529190309378,4.160634562e-07,3.000397210e-05,-1.801824043e-06,3.157689938e-07,4.451733354e-05,-1.668547476e-06,7.468031598e-07,4.454378056e-05,-1.448432423e-06,7.015382875e-01,3.155493342e-05,8.407391394e-01,7.015381873e-01,4.606829486e-05,8.407392726e-01,7.017300145e-01,4.629252417e-05,8.295712377e-01
+26,1.883333333e+00,WAIT_W2,1792675529355519409,-2.863209192e-08,2.140581875e-05,-1.992762295e-06,-2.464104188e-06,2.147924187e-05,-2.695798827e-06,-2.068709075e-06,2.149771870e-05,-2.511624213e-06,7.015378428e-01,2.295678007e-05,8.407389484e-01,7.015354074e-01,2.303020319e-05,8.407382454e-01,7.017271990e-01,2.324646231e-05,8.295701745e-01
+27,1.966666667e+00,UP_FORCE_RAMP,1792675529523389619,6.778398877e-07,1.030960485e-05,1.508305232e-06,-2.464104188e-06,2.147924187e-05,-2.695798827e-06,-2.061940948e-06,2.149199413e-05,-2.510109734e-06,7.015385493e-01,1.186056617e-05,8.407424495e-01,7.015354074e-01,2.303020319e-05,8.407382454e-01,7.017272058e-01,2.324073773e-05,8.295701760e-01
+28,2.033333333e+00,UP_FORCE_RAMP,1792675529655306816,2.427434920e-06,5.609227068e-06,4.411187887e-06,-2.464104188e-06,2.147924187e-05,-2.695798827e-06,-2.056305296e-06,2.149021744e-05,-2.508788426e-06,7.015402989e-01,7.160188389e-06,8.407453524e-01,7.015354074e-01,2.303020319e-05,8.407382454e-01,7.017272114e-01,2.323896105e-05,8.295701773e-01
+29,2.083333333e+00,UP_FORCE_RAMP,1792675529755226582,2.636345090e-07,3.113846083e-06,-1.049775423e-07,-2.464104188e-06,2.147924187e-05,-2.695798827e-06,-2.052110547e-06,2.148950330e-05,-2.507799127e-06,7.015381351e-01,4.664807404e-06,8.407408362e-01,7.015354074e-01,2.303020319e-05,8.407382454e-01,7.017272156e-01,2.323824691e-05,8.295701783e-01
+30,2.166666667e+00,UP_FORCE_RAMP,1792675529921229026,1.347174881e-06,-7.660915844e-06,3.422115890e-06,-1.471019343e-06,-2.063569625e-06,-2.333444966e-06,-9.781678655e-07,-2.056716610e-06,-2.119155191e-06,7.015392187e-01,-6.109954523e-06,8.407443633e-01,7.015364005e-01,-5.126083042e-07,8.407386077e-01,7.017282895e-01,-3.079730028e-07,8.295705670e-01
+31,2.216666667e+00,UP_FORCE_RAMP,1792675530023260318,2.191304126e-07,-5.173508934e-06,1.086811612e-06,-1.471019343e-06,-2.063569625e-06,-2.333444966e-06,-9.737429496e-07,-2.059519706e-06,-2.117763254e-06,7.015380906e-01,-3.622547613e-06,8.407420280e-01,7.015364005e-01,-5.126083042e-07,8.407386077e-01,7.017282940e-01,-3.107760989e-07,8.295705684e-01
+32,2.300000000e+00,UP_FORCE_RAMP,1792675530188118603,-1.700522820e-06,-1.884899452e-05,-1.412679232e-06,-1.471019343e-06,-2.063569625e-06,-2.333444966e-06,-9.668440424e-07,-2.061815729e-06,-2.115659487e-06,7.015361710e-01,-1.729803320e-05,8.407395285e-01,7.015364005e-01,-5.126083042e-07,8.407386077e-01,7.017283009e-01,-3.130721224e-07,8.295705705e-01
+33,2.350000000e+00,UP_FORCE_RAMP,1792675530287176538,-3.304325370e-07,-2.246920637e-05,3.174188210e-06,-2.911549776e-07,-2.259352833e-05,3.099543896e-06,1.711381749e-07,-2.256239416e-05,3.243440188e-06,7.015375410e-01,-2.091824505e-05,8.407441154e-01,7.015375803e-01,-2.104256701e-05,8.407440407e-01,7.017294388e-01,-2.081365055e-05,8.295759296e-01
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+35,2.466666667e+00,UP_FORCE_RAMP,1792675530521233481,-2.515554041e-06,-2.313007807e-05,-2.496750318e-08,-2.911549776e-07,-2.259352833e-05,3.099543896e-06,1.808416490e-07,-2.257549377e-05,3.258182762e-06,7.015353559e-01,-2.157911675e-05,8.407409162e-01,7.015375803e-01,-2.104256701e-05,8.407440407e-01,7.017294486e-01,-2.082675016e-05,8.295759443e-01
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+42,3.000000000e+00,UP_FORCE_RAMP,1792675531551151253,-5.338056310e-06,-5.863772545e-05,5.031719542e-06,-2.795793522e-06,-4.308393225e-05,9.404849791e-07,-2.327885702e-06,-4.306049618e-05,1.131578797e-06,7.015325334e-01,-5.708676413e-05,8.407459729e-01,7.015350757e-01,-4.153297093e-05,8.407418817e-01,7.017269398e-01,-4.131175257e-05,8.295738177e-01
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+44,3.100000000e+00,UP_FORCE_RAMP,1792675531751308126,-3.412126541e-06,-5.965596243e-05,1.250883395e-05,-8.845513844e-07,-6.129895538e-05,1.389212833e-05,-3.057720867e-07,-6.129209250e-05,1.395587056e-05,7.015344594e-01,-5.810500111e-05,8.407534500e-01,7.015369869e-01,-5.974799406e-05,8.407548333e-01,7.017289619e-01,-5.954334890e-05,8.295866420e-01
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+48,3.300000000e+00,UP_FORCE_RAMP,1792675532134338271,-3.144876215e-06,-6.157007560e-05,2.509091351e-05,-8.845513844e-07,-6.129895538e-05,1.389212833e-05,-2.960684982e-07,-6.129735965e-05,1.399285598e-05,7.015347266e-01,-6.001911428e-05,8.407660321e-01,7.015369869e-01,-5.974799406e-05,8.407548333e-01,7.017289716e-01,-5.954861604e-05,8.295866790e-01
+49,3.350000000e+00,UP_FORCE_RAMP,1792675532215293273,-4.854056785e-06,-6.237720682e-05,2.473875473e-05,-8.845513844e-07,-6.129895538e-05,1.389212833e-05,-2.939163092e-07,-6.129783993e-05,1.400016533e-05,7.015330174e-01,-6.082624550e-05,8.407656799e-01,7.015369869e-01,-5.974799406e-05,8.407548333e-01,7.017289738e-01,-5.954909632e-05,8.295866863e-01
+50,3.416666667e+00,UP_FORCE_RAMP,1792675532352402982,-3.059808386e-06,-6.938236411e-05,3.230576013e-05,-2.921275676e-06,-6.938944992e-05,3.183398247e-05,-2.319497940e-06,-6.939137415e-05,3.171010903e-05,7.015348117e-01,-6.783140279e-05,8.407732469e-01,7.015349502e-01,-6.783848859e-05,8.407727752e-01,7.017269482e-01,-6.764263055e-05,8.296043962e-01
+51,3.483333333e+00,UP_FORCE_HOLD,1792675532483365958,-7.775748112e-08,-6.508702305e-05,4.282330867e-05,-2.921275676e-06,-6.938944992e-05,3.183398247e-05,-2.320987646e-06,-6.939568709e-05,3.174746492e-05,7.015377937e-01,-6.353606172e-05,8.407837645e-01,7.015349502e-01,-6.783848859e-05,8.407727752e-01,7.017269467e-01,-6.764694349e-05,8.296044336e-01
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+53,3.583333333e+00,UP_FORCE_HOLD,1792675532683625162,4.595213323e-06,-6.624575799e-05,7.175229697e-05,2.622436945e-06,-6.818184621e-05,5.583593487e-05,3.463087390e-06,-6.814853461e-05,5.549854269e-05,7.015424667e-01,-6.469479666e-05,8.408126935e-01,7.015404939e-01,-6.663088489e-05,8.407967771e-01,7.017327308e-01,-6.639979100e-05,8.296281847e-01
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+59,3.800000000e+00,UP_SETTLE,1792675533081364773,-3.813085743e-05,-7.686830998e-05,5.481201879e-05,-2.781397911e-05,-7.589914538e-05,5.211211215e-05,-2.755959420e-05,-7.591111868e-05,5.194765264e-05,7.014997406e-01,-7.531734865e-05,8.407957532e-01,7.015100575e-01,-7.434818406e-05,8.407930533e-01,7.017017081e-01,-7.416237507e-05,8.296246338e-01

Part2/Fixed/s2/ball_15A_12.5/press_depth_07/up/simulation_data.csv ADDED Viewed

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

+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+8,5.5000e-01,WAIT_W2,1.4727e-04,-3.9255e-04,2.5166e-04,2.4589e+00,-3.6798e-02,3.6744e-02,-3.8409e-05,1.0360e-02,-7.6706e-05,5.1358e-03,8.7768e-06,7.2521e-04,-7.2286e-06,1.1563e-02,7.2530e-04
+9,6.0000e-01,WAIT_W2,1.6518e-04,3.3153e-04,2.4599e-04,2.4593e+00,-3.6797e-02,3.6795e-02,-3.8986e-05,1.1084e-02,-8.2375e-05,5.4913e-03,9.3430e-06,7.7590e-04,-7.8056e-06,1.2370e-02,7.7600e-04
+10,6.6667e-01,WAIT_W2,1.8330e-04,1.2579e-03,2.3788e-04,2.4597e+00,-3.6797e-02,3.6860e-02,-3.9747e-05,1.2010e-02,-9.0482e-05,5.9447e-03,1.0103e-05,8.4075e-04,-8.5665e-06,1.3401e-02,8.4086e-04
+11,7.6667e-01,WAIT_W2,2.0011e-04,2.5646e-03,2.2726e-04,2.4603e+00,-3.6796e-02,3.6951e-02,-4.0835e-05,1.3317e-02,-1.0110e-04,6.5806e-03,1.1068e-05,9.3224e-04,-9.6547e-06,1.4855e-02,9.3235e-04
+12,8.5000e-01,WAIT_W2,2.1911e-04,3.5838e-03,2.1898e-04,2.4608e+00,-3.6795e-02,3.7023e-02,-4.1707e-05,1.4336e-02,-1.0938e-04,7.0736e-03,1.1776e-05,1.0036e-03,-1.0527e-05,1.5987e-02,1.0037e-03
+13,9.5000e-01,WAIT_W2,2.3809e-04,4.7285e-03,2.0966e-04,2.4614e+00,-3.6794e-02,3.7103e-02,-4.2707e-05,1.5481e-02,-1.1870e-04,7.6237e-03,1.2524e-05,1.0837e-03,-1.1526e-05,1.7257e-02,1.0839e-03
+14,1.0500e+00,WAIT_W2,2.5781e-04,5.7931e-03,2.0230e-04,2.4619e+00,-3.6794e-02,3.7177e-02,-4.3653e-05,1.6546e-02,-1.2606e-04,8.1313e-03,1.3087e-05,1.1583e-03,-1.2472e-05,1.8436e-02,1.1584e-03
+15,1.1000e+00,WAIT_W2,2.7709e-04,4.5900e-03,-7.7953e-03,2.4601e+00,-3.6230e-02,3.7093e-02,-5.7780e-05,1.5342e-02,-8.1236e-03,6.3226e-03,5.7629e-04,1.0743e-03,-2.6599e-05,1.8476e-02,1.2194e-03
+16,1.1667e+00,WAIT_W2,2.9122e-04,5.4080e-03,-7.4769e-03,2.4606e+00,-3.6253e-02,3.7151e-02,-5.7985e-05,1.6161e-02,-7.8053e-03,6.8121e-03,5.5405e-04,1.1318e-03,-2.6804e-05,1.9196e-02,1.2604e-03
+17,1.2333e+00,WAIT_W2,3.1372e-04,6.9036e-03,-1.5475e-02,2.4623e+00,-3.5689e-02,3.7255e-02,-7.1734e-05,1.7656e-02,-1.5804e-02,8.5664e-03,1.1176e-03,1.2360e-03,-4.0554e-05,2.5197e-02,1.6668e-03
+18,1.2833e+00,WAIT_W2,3.2923e-04,7.3652e-03,-1.5210e-02,2.4625e+00,-3.5708e-02,3.7287e-02,-7.1204e-05,1.8118e-02,-1.5538e-02,8.7409e-03,1.0990e-03,1.2683e-03,-4.0024e-05,2.5418e-02,1.6787e-03
+19,1.3500e+00,WAIT_W2,3.4533e-04,7.9703e-03,-1.5036e-02,2.4627e+00,-3.5720e-02,3.7330e-02,-7.0659e-05,1.8723e-02,-1.5364e-02,8.9867e-03,1.0867e-03,1.3107e-03,-3.9478e-05,2.5833e-02,1.7031e-03
+20,1.4167e+00,WAIT_W2,3.7082e-04,9.1897e-03,-2.2591e-02,2.4651e+00,-3.5188e-02,3.7414e-02,-8.3571e-05,1.9942e-02,-2.2920e-02,1.1294e-02,1.6188e-03,1.3949e-03,-5.2390e-05,3.2412e-02,2.1375e-03
+21,1.4833e+00,WAIT_W2,3.8722e-04,9.6896e-03,-2.2220e-02,2.4651e+00,-3.5214e-02,3.7449e-02,-8.2473e-05,2.0442e-02,-2.2548e-02,1.1292e-02,1.5924e-03,1.4300e-03,-5.1292e-05,3.2462e-02,2.1409e-03
+22,1.5667e+00,WAIT_W2,4.0349e-04,1.0300e-02,-2.2040e-02,2.4651e+00,-3.5227e-02,3.7492e-02,-8.1328e-05,2.1052e-02,-2.2368e-02,1.1375e-02,1.5795e-03,1.4728e-03,-5.0147e-05,3.2756e-02,2.1602e-03
+23,1.6333e+00,WAIT_W2,4.2133e-04,1.0855e-02,-1.4405e-02,2.4648e+00,-3.5765e-02,3.7531e-02,-6.7537e-05,2.1607e-02,-1.4733e-02,1.1059e-02,1.0418e-03,1.5120e-03,-3.6357e-05,2.8395e-02,1.8365e-03
+24,1.7000e+00,WAIT_W2,4.4069e-04,1.1312e-02,-1.4683e-02,2.4650e+00,-3.5746e-02,3.7563e-02,-6.7403e-05,2.2064e-02,-1.5011e-02,1.1205e-02,1.0611e-03,1.5441e-03,-3.6222e-05,2.8943e-02,1.8739e-03
+25,1.8000e+00,WAIT_W2,4.5670e-04,1.1922e-02,-1.4810e-02,2.4652e+00,-3.5737e-02,3.7606e-02,-6.7235e-05,2.2674e-02,-1.5138e-02,1.1392e-02,1.0697e-03,1.5869e-03,-3.6055e-05,2.9548e-02,1.9141e-03
+26,1.8833e+00,WAIT_W2,4.7660e-04,1.3959e-02,-6.3816e-03,2.4660e+00,-3.6331e-02,3.7749e-02,-5.2383e-05,2.4712e-02,-6.7099e-03,1.2286e-02,4.7544e-04,1.7300e-03,-2.1202e-05,2.8402e-02,1.7943e-03
+27,1.9667e+00,UP_FORCE_RAMP,4.9465e-04,1.4259e-02,-6.7935e-03,2.4661e+00,-3.6303e-02,3.7770e-02,-5.2941e-05,2.5011e-02,-7.1218e-03,1.2356e-02,5.0417e-04,1.7511e-03,-2.1761e-05,2.8792e-02,1.8224e-03
+28,2.0333e+00,UP_FORCE_RAMP,5.1533e-04,1.4513e-02,-6.9140e-03,2.4662e+00,-3.6294e-02,3.7788e-02,-5.3340e-05,2.5265e-02,-7.2423e-03,1.2423e-02,5.1243e-04,1.7690e-03,-2.2159e-05,2.9071e-02,1.8418e-03
+29,2.0833e+00,UP_FORCE_RAMP,5.2939e-04,1.4702e-02,-6.9629e-03,2.4662e+00,-3.6291e-02,3.7801e-02,-5.3575e-05,2.5455e-02,-7.2913e-03,1.2473e-02,5.1575e-04,1.7823e-03,-2.2394e-05,2.9269e-02,1.8556e-03
+30,2.1667e+00,UP_FORCE_RAMP,5.5164e-04,1.4441e-02,1.4026e-03,2.4661e+00,-3.6880e-02,3.7783e-02,-3.9405e-05,2.5193e-02,1.0742e-03,1.2383e-02,-7.3664e-05,1.7639e-03,-8.2245e-06,2.8092e-02,1.7655e-03
+31,2.2167e+00,UP_FORCE_RAMP,5.6706e-04,1.4645e-02,1.2145e-03,2.4662e+00,-3.6867e-02,3.7797e-02,-4.0257e-05,2.5398e-02,8.8618e-04,1.2456e-02,-6.0569e-05,1.7783e-03,-9.0766e-06,2.8302e-02,1.7794e-03
+32,2.3000e+00,UP_FORCE_RAMP,5.8886e-04,1.4960e-02,1.0637e-03,2.4663e+00,-3.6857e-02,3.7820e-02,-4.1371e-05,2.5713e-02,7.3532e-04,1.2567e-02,-5.0128e-05,1.8005e-03,-1.0190e-05,2.8629e-02,1.8013e-03
+33,2.3500e+00,UP_FORCE_RAMP,6.0849e-04,1.5140e-02,1.0170e-03,2.4664e+00,-3.6854e-02,3.7832e-02,-4.1940e-05,2.5893e-02,6.8861e-04,1.2628e-02,-4.6916e-05,1.8132e-03,-1.0759e-05,2.8816e-02,1.8139e-03
+34,2.4000e+00,UP_FORCE_RAMP,6.2195e-04,1.4696e-02,8.3804e-03,2.4631e+00,-3.7372e-02,3.7803e-02,-2.9503e-05,2.5448e-02,8.0520e-03,9.3017e-03,-5.6572e-04,1.7841e-03,1.6781e-06,2.8266e-02,1.8717e-03
+35,2.4667e+00,UP_FORCE_RAMP,6.4273e-04,1.4959e-02,8.1186e-03,2.4635e+00,-3.7354e-02,3.7822e-02,-3.1083e-05,2.5712e-02,7.7902e-03,9.6993e-03,-5.4749e-04,1.8025e-03,9.7556e-08,2.8563e-02,1.8839e-03
+36,2.5167e+00,UP_FORCE_RAMP,6.5838e-04,1.5139e-02,8.0201e-03,2.4637e+00,-3.7347e-02,3.7834e-02,-3.2041e-05,2.5892e-02,7.6917e-03,9.9387e-03,-5.4066e-04,1.8152e-03,-8.5992e-07,2.8781e-02,1.8940e-03
+37,2.6500e+00,UP_FORCE_RAMP,6.7831e-04,1.5585e-02,7.8981e-03,2.4642e+00,-3.7339e-02,3.7865e-02,-3.4167e-05,2.6338e-02,7.5697e-03,1.0471e-02,-5.3223e-04,1.8463e-03,-2.9865e-06,2.9336e-02,1.9215e-03
+38,2.7167e+00,UP_FORCE_RAMP,6.9578e-04,1.7120e-02,1.5259e-02,2.4659e+00,-3.7858e-02,3.7972e-02,-2.2344e-05,2.7872e-02,1.4931e-02,1.2125e-02,-1.0508e-03,1.9535e-03,8.8365e-06,3.3865e-02,2.2182e-03
+39,2.7667e+00,UP_FORCE_RAMP,7.1546e-04,1.7185e-02,1.5052e-02,2.4660e+00,-3.7843e-02,3.7977e-02,-2.3682e-05,2.7938e-02,1.4723e-02,1.2201e-02,-1.0363e-03,1.9580e-03,7.4983e-06,3.3855e-02,2.2154e-03
+40,2.8333e+00,UP_FORCE_RAMP,7.3301e-04,1.7288e-02,1.4911e-02,2.4661e+00,-3.7833e-02,3.7984e-02,-2.5223e-05,2.8041e-02,1.4583e-02,1.2318e-02,-1.0265e-03,1.9652e-03,5.9573e-06,3.3922e-02,2.2172e-03
+41,2.9167e+00,UP_FORCE_RAMP,7.5245e-04,1.7426e-02,1.4822e-02,2.4662e+00,-3.7827e-02,3.7994e-02,-2.6944e-05,2.8178e-02,1.4494e-02,1.2467e-02,-1.0203e-03,1.9748e-03,4.2364e-06,3.4051e-02,2.2228e-03
+42,3.0000e+00,UP_FORCE_RAMP,7.7010e-04,1.7563e-02,1.4774e-02,2.4664e+00,-3.7824e-02,3.8003e-02,-2.8536e-05,2.8315e-02,1.4445e-02,1.2611e-02,-1.0169e-03,1.9844e-03,2.6445e-06,3.4197e-02,2.2298e-03
+43,3.0500e+00,UP_FORCE_RAMP,7.8804e-04,1.6573e-02,2.1194e-02,2.4579e+00,-3.8275e-02,3.7939e-02,-2.1052e-05,2.7326e-02,2.0866e-02,4.1456e-03,-1.4685e-03,1.9200e-03,1.0129e-05,3.4631e-02,2.4172e-03
+44,3.1000e+00,UP_FORCE_RAMP,8.0661e-04,1.6646e-02,2.1213e-02,2.4586e+00,-3.8279e-02,3.7944e-02,-1.9160e-05,2.7399e-02,2.0884e-02,4.8389e-03,-1.4721e-03,1.9251e-03,1.2021e-05,3.4789e-02,2.4235e-03
+45,3.1833e+00,UP_FORCE_RAMP,8.2659e-04,1.6850e-02,2.0997e-02,2.4596e+00,-3.8264e-02,3.7958e-02,-2.1546e-05,2.7603e-02,2.0669e-02,5.7943e-03,-1.4572e-03,1.9391e-03,9.6345e-06,3.4967e-02,2.4256e-03
+46,3.2333e+00,UP_FORCE_RAMP,8.4063e-04,1.6959e-02,2.0931e-02,2.4600e+00,-3.8259e-02,3.7965e-02,-2.2722e-05,2.7711e-02,2.0603e-02,6.2599e-03,-1.4526e-03,1.9464e-03,8.4591e-06,3.5094e-02,2.4287e-03
+47,3.2667e+00,UP_FORCE_RAMP,8.5935e-04,1.7027e-02,2.0899e-02,2.4603e+00,-3.8257e-02,3.7970e-02,-2.3446e-05,2.7780e-02,2.0571e-02,6.5453e-03,-1.4504e-03,1.9511e-03,7.7351e-06,3.5181e-02,2.4311e-03
+48,3.3000e+00,UP_FORCE_RAMP,8.8126e-04,1.7094e-02,2.0874e-02,2.4606e+00,-3.8255e-02,3.7975e-02,-2.4142e-05,2.7847e-02,2.0546e-02,6.8150e-03,-1.4487e-03,1.9556e-03,7.0389e-06,3.5270e-02,2.4337e-03
+49,3.3500e+00,UP_FORCE_RAMP,9.0186e-04,1.7191e-02,2.0844e-02,2.4610e+00,-3.8253e-02,3.7981e-02,-2.5146e-05,2.7944e-02,2.0516e-02,7.1969e-03,-1.4466e-03,1.9621e-03,6.0350e-06,3.5406e-02,2.4378e-03
+50,3.4167e+00,UP_FORCE_RAMP,9.1866e-04,1.7315e-02,2.0814e-02,2.4614e+00,-3.8251e-02,3.7990e-02,-2.6429e-05,2.8068e-02,2.0486e-02,7.6704e-03,-1.4446e-03,1.9705e-03,4.7513e-06,3.5585e-02,2.4433e-03
+51,3.4833e+00,UP_FORCE_HOLD,9.3740e-04,1.8519e-02,2.3634e-02,2.4508e+00,-3.8452e-02,3.8082e-02,-2.2927e-05,2.9272e-02,2.3306e-02,-2.9187e-03,-1.6451e-03,2.0627e-03,8.2540e-06,3.7530e-02,2.6383e-03
+52,3.5333e+00,UP_FORCE_HOLD,9.5185e-04,1.8537e-02,2.3554e-02,2.4519e+00,-3.8446e-02,3.8082e-02,-2.4223e-05,2.9289e-02,2.3225e-02,-1.8623e-03,-1.6398e-03,2.0634e-03,6.9575e-06,3.7426e-02,2.6356e-03
+53,3.5833e+00,UP_FORCE_HOLD,9.7617e-04,1.5432e-02,2.3014e-02,2.4371e+00,-3.8411e-02,3.7873e-02,-2.5612e-05,2.6185e-02,2.2686e-02,-1.6651e-02,-1.6044e-03,1.8543e-03,5.5686e-06,3.8439e-02,2.4520e-03
+54,3.6000e+00,UP_FORCE_HOLD,9.8449e-04,1.5532e-02,2.3001e-02,2.4379e+00,-3.8410e-02,3.7880e-02,-2.6123e-05,2.6285e-02,2.2673e-02,-1.5840e-02,-1.6038e-03,1.8609e-03,5.0577e-06,3.8156e-02,2.4566e-03
+55,3.6167e+00,UP_FORCE_HOLD,1.0178e-03,1.5609e-02,2.2988e-02,2.4386e+00,-3.8410e-02,3.7885e-02,-2.6559e-05,2.6362e-02,2.2660e-02,-1.5159e-02,-1.6031e-03,1.8660e-03,4.6218e-06,3.7924e-02,2.4601e-03
+56,3.6333e+00,UP_FORCE_HOLD,1.0285e-03,3.3000e-02,2.5693e-02,2.4416e+00,-3.8599e-02,3.9108e-02,-2.4843e-05,4.3752e-02,2.5365e-02,-1.2170e-02,-1.7926e-03,3.0890e-03,6.3378e-06,5.2017e-02,3.5714e-03
+57,3.6500e+00,UP_FORCE_HOLD,1.0438e-03,3.2945e-02,2.5750e-02,2.4421e+00,-3.8604e-02,3.9106e-02,-2.4210e-05,4.3698e-02,2.5422e-02,-1.1619e-02,-1.7974e-03,3.0866e-03,6.9706e-06,5.1872e-02,3.5717e-03
+58,3.7333e+00,UP_SETTLE,1.0650e-03,3.1362e-02,2.5571e-02,2.4444e+00,-3.8593e-02,3.8993e-02,-2.5847e-05,4.2114e-02,2.5242e-02,-9.3899e-03,-1.7861e-03,2.9739e-03,5.3336e-06,4.9990e-02,3.4691e-03
+59,3.8000e+00,UP_SETTLE,1.0827e-03,3.0602e-02,2.5492e-02,2.4460e+00,-3.8588e-02,3.8938e-02,-2.7244e-05,4.1355e-02,2.5163e-02,-7.7994e-03,-1.7811e-03,2.9194e-03,3.9368e-06,4.9033e-02,3.4198e-03

Part2/Fixed/s2/ball_15A_12.5/press_depth_08/down/camera_frames_60hz.tar ADDED Viewed

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Part2/Fixed/s2/ball_15A_12.5/press_depth_08/down/fem_node.csv ADDED Viewed

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