Upload Part2/Fixed/digit (part 53)

Part2/Fixed/digit/cylinder_0050_17.5/press_depth_02/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.6287e-02,6.1980e-02,2.4601e+00,-4.1175e-02,3.8661e-02,6.4956e-05,2.2372e-04,-4.0840e-05,-1.2016e-04,1.7881e-06,1.6160e-05,-4.1036e-08,2.5721e-04,1.6259e-05
+1,7.3333e-01,DOWN_FORCE_DETACH,1.7275e-04,3.3403e-02,6.0582e-02,2.4562e+00,-4.1115e-02,3.9176e-02,6.2336e-05,7.3400e-03,-1.4381e-03,-3.9730e-03,6.1914e-05,5.3200e-04,-2.6614e-06,8.4692e-03,5.3560e-04
+2,1.5667e+00,DOWN_FORCE_DETACH,3.4787e-04,3.7456e-02,5.9651e-02,2.4540e+00,-4.1077e-02,3.9472e-02,5.9012e-05,1.1393e-02,-2.3690e-03,-6.2261e-03,1.0068e-04,8.2761e-04,-5.9850e-06,1.3197e-02,8.3373e-04
+3,2.2667e+00,DOWN_FORCE_DETACH,5.1692e-04,2.5370e-02,6.8428e-02,2.4806e+00,-4.1678e-02,3.8574e-02,5.8853e-05,-6.9301e-04,6.4079e-03,2.0378e-02,-5.0113e-04,-7.0043e-05,-6.1439e-06,2.1373e-02,5.0603e-04
+4,3.0500e+00,DOWN_FORCE_DETACH,6.9248e-04,4.0497e-02,7.5529e-02,2.4966e+00,-4.2155e-02,3.9635e-02,5.7504e-05,1.4433e-02,1.3509e-02,3.6410e-02,-9.7756e-04,9.9018e-04,-7.4931e-06,4.1431e-02,1.3914e-03
+5,3.7333e+00,DOWN_FORCE_DETACH,8.6618e-04,4.2792e-02,8.2821e-02,2.4987e+00,-4.2647e-02,3.9795e-02,5.5058e-05,1.6729e-02,2.0801e-02,3.8526e-02,-1.4695e-03,1.1506e-03,-9.9397e-06,4.6869e-02,1.8664e-03
+6,4.4167e+00,DOWN_FORCE_DETACH,1.0344e-03,4.1492e-02,8.6593e-02,2.5148e+00,-4.2891e-02,3.9682e-02,5.2799e-05,1.5429e-02,2.4572e-02,5.4638e-02,-1.7134e-03,1.0377e-03,-1.2198e-05,6.1864e-02,2.0032e-03
+7,5.1667e+00,DOWN_FORCE_DETACH,1.2083e-03,4.0042e-02,8.5475e-02,2.5078e+00,-4.2805e-02,3.9584e-02,5.0856e-05,1.3979e-02,2.3455e-02,4.7579e-02,-1.6273e-03,9.3970e-04,-1.4141e-05,5.4857e-02,1.8792e-03
+8,5.8167e+00,DOWN_FORCE_DETACH,1.3820e-03,4.0967e-02,9.2332e-02,2.5228e+00,-4.3256e-02,3.9638e-02,5.0579e-05,1.4904e-02,3.0311e-02,6.2627e-02,-2.0788e-03,9.9337e-04,-1.4419e-05,7.1155e-02,2.3040e-03
+9,6.6000e+00,DOWN_FORCE_DETACH,1.5514e-03,4.1806e-02,1.0333e-01,2.5099e+00,-4.3999e-02,3.9709e-02,4.9694e-05,1.5743e-02,4.1313e-02,4.9710e-02,-2.8215e-03,1.0646e-03,-1.5304e-05,6.6526e-02,3.0157e-03
+10,7.1833e+00,DOWN_FORCE_DETACH,1.7226e-03,3.6411e-02,1.0848e-01,2.5260e+00,-4.4342e-02,3.9306e-02,4.9351e-05,1.0348e-02,4.6463e-02,6.5848e-02,-3.1651e-03,6.6138e-04,-1.5646e-05,8.1252e-02,3.2335e-03
+11,7.4333e+00,DOWN_FORCE_DETACH,1.8982e-03,8.5668e-03,1.0312e-01,2.4974e+00,-4.3997e-02,3.7346e-02,5.9202e-05,-1.7496e-02,4.1097e-02,3.7203e-02,-2.8199e-03,-1.2988e-03,-5.7950e-06,5.8130e-02,3.1046e-03
+12,7.8833e+00,DOWN_FORCE_DETACH,2.0706e-03,1.0329e-02,7.2582e-02,2.5180e+00,-4.1915e-02,3.7451e-02,6.0218e-05,-1.5734e-02,1.0561e-02,5.7800e-02,-7.3796e-04,-1.1939e-03,-4.7798e-06,6.0827e-02,1.4036e-03
+13,8.4500e+00,DOWN_FORCE_DETACH,2.2437e-03,1.7546e-02,7.8706e-02,2.5305e+00,-4.2312e-02,3.7943e-02,6.4638e-05,-8.5171e-03,1.6685e-02,7.0289e-02,-1.1349e-03,-7.0101e-04,-3.5902e-07,7.2742e-02,1.3339e-03
+14,9.1000e+00,DOWN_FORCE_DETACH,2.4148e-03,2.2997e-02,9.0420e-02,2.5458e+00,-4.3077e-02,3.8311e-02,6.9292e-05,-3.0667e-03,2.8400e-02,8.5604e-02,-1.9001e-03,-3.3396e-04,4.2951e-06,9.0244e-02,1.9292e-03
+15,9.8333e+00,DOWN_FORCE_DETACH,2.5875e-03,2.9284e-02,9.4810e-02,2.5491e+00,-4.3347e-02,3.8753e-02,6.9079e-05,3.2203e-03,3.2790e-02,8.8880e-02,-2.1695e-03,1.0853e-04,4.0820e-06,9.4790e-02,2.1722e-03
+16,1.0550e+01,DOWN_FORCE_DETACH,2.7623e-03,2.9938e-02,9.8486e-02,2.5380e+00,-4.3580e-02,3.8813e-02,6.5020e-05,3.8751e-03,3.6465e-02,7.7808e-02,-2.4032e-03,1.6841e-04,2.2235e-08,8.6016e-02,2.4091e-03
+17,1.1333e+01,DOWN_FORCE_DETACH,2.9362e-03,3.3602e-02,9.9653e-02,2.5168e+00,-4.3656e-02,3.9095e-02,5.7374e-05,7.5383e-03,3.7633e-02,5.6625e-02,-2.4786e-03,4.5057e-04,-7.6233e-06,6.8407e-02,2.5193e-03
+18,1.2017e+01,DOWN_FORCE_DETACH,3.1059e-03,3.4226e-02,1.0189e-01,2.5243e+00,-4.3808e-02,3.9129e-02,4.8537e-05,8.1631e-03,3.9874e-02,6.4099e-02,-2.6304e-03,4.8437e-04,-1.6461e-05,7.5929e-02,2.6747e-03
+19,1.2750e+01,DOWN_FORCE_DETACH,3.2808e-03,3.5966e-02,9.7885e-02,2.5118e+00,-4.3556e-02,3.9265e-02,3.6896e-05,9.9029e-03,3.5865e-02,5.1583e-02,-2.3792e-03,6.2063e-04,-2.8101e-05,6.3602e-02,2.4590e-03
+20,1.3350e+01,DOWN_FORCE_DETACH,3.4538e-03,3.5320e-02,1.0252e-01,2.5234e+00,-4.3877e-02,3.9203e-02,2.7486e-05,9.2563e-03,4.0496e-02,6.3256e-02,-2.6999e-03,5.5892e-04,-3.7511e-05,7.5676e-02,2.7574e-03
+21,1.4150e+01,DOWN_FORCE_DETACH,3.6259e-03,3.6004e-02,1.0638e-01,2.5313e+00,-4.4125e-02,3.9237e-02,1.5205e-05,9.9407e-03,4.4355e-02,7.1131e-02,-2.9479e-03,5.9222e-04,-4.9792e-05,8.4414e-02,3.0072e-03
+22,1.4850e+01,DOWN_FORCE_DETACH,3.7985e-03,3.6336e-02,1.0762e-01,2.5250e+00,-4.4194e-02,3.9261e-02,7.0487e-06,1.0273e-02,4.5601e-02,6.4792e-02,-3.0163e-03,6.1679e-04,-5.7949e-05,7.9894e-02,3.0793e-03
+23,1.5517e+01,DOWN_FORCE_DETACH,3.9685e-03,3.5822e-02,1.1200e-01,2.5402e+00,-4.4459e-02,3.9203e-02,3.5774e-06,9.7591e-03,4.9978e-02,8.0007e-02,-3.2818e-03,5.5809e-04,-6.1420e-05,9.4837e-02,3.3295e-03
+24,1.6333e+01,DOWN_FORCE_DETACH,4.1431e-03,3.2269e-02,1.2309e-01,2.5439e+00,-4.5190e-02,3.8946e-02,4.9761e-06,6.2057e-03,6.1069e-02,8.3679e-02,-4.0131e-03,3.0132e-04,-6.0021e-05,1.0378e-01,4.0249e-03
+25,1.7050e+01,DOWN_FORCE_DETACH,4.3175e-03,3.4034e-02,1.2657e-01,2.5474e+00,-4.5413e-02,3.9064e-02,6.7158e-06,7.9706e-03,6.4551e-02,8.7259e-02,-4.2353e-03,4.1968e-04,-5.8282e-05,1.0883e-01,4.2565e-03
+26,1.7767e+01,DOWN_FORCE_DETACH,4.4873e-03,3.2639e-02,1.2882e-01,2.5338e+00,-4.5562e-02,3.8980e-02,7.8767e-06,6.5761e-03,6.6804e-02,7.3608e-02,-4.3850e-03,3.3597e-04,-5.7121e-05,9.9620e-02,4.3982e-03
+27,1.8517e+01,DOWN_FORCE_DETACH,4.6609e-03,3.6011e-02,1.2948e-01,2.5392e+00,-4.5593e-02,3.9211e-02,7.7039e-06,9.9480e-03,6.7456e-02,7.9028e-02,-4.4160e-03,5.6664e-04,-5.7293e-05,1.0438e-01,4.4525e-03
+28,1.9233e+01,DOWN_FORCE_DETACH,4.8347e-03,3.6894e-02,1.3470e-01,2.5298e+00,-4.5957e-02,3.9282e-02,7.6955e-06,1.0831e-02,7.2683e-02,6.9636e-02,-4.7794e-03,6.3749e-04,-5.7302e-05,1.0124e-01,4.8221e-03
+29,1.9850e+01,DOWN_FORCE_DETACH,5.0039e-03,3.6093e-02,1.3645e-01,2.5305e+00,-4.6077e-02,3.9222e-02,8.0063e-06,1.0030e-02,7.4433e-02,7.0300e-02,-4.8998e-03,5.7719e-04,-5.6991e-05,1.0287e-01,4.9340e-03
+30,2.0450e+01,DOWN_FORCE_DETACH,5.1780e-03,3.3646e-02,1.3954e-01,2.5499e+00,-4.6269e-02,3.9029e-02,1.0927e-05,7.5827e-03,7.7524e-02,8.9720e-02,-5.0913e-03,3.8412e-04,-5.4070e-05,1.1882e-01,5.1061e-03
+31,2.1167e+01,DOWN_FORCE_DETACH,5.3513e-03,3.4514e-02,1.4608e-01,2.5353e+00,-4.6714e-02,3.9095e-02,1.6395e-05,8.4511e-03,8.4063e-02,7.5065e-02,-5.5370e-03,4.5086e-04,-4.8602e-05,1.1302e-01,5.5555e-03
+32,2.1817e+01,DOWN_FORCE_DETACH,5.5199e-03,3.3608e-02,1.4886e-01,2.5447e+00,-4.6881e-02,3.9015e-02,2.3360e-05,7.5448e-03,8.6841e-02,8.4471e-02,-5.7041e-03,3.7065e-04,-4.1637e-05,1.2138e-01,5.7163e-03
+33,2.2433e+01,DOWN_FORCE_DETACH,5.6960e-03,2.9339e-02,1.4671e-01,2.5528e+00,-4.6708e-02,3.8704e-02,3.2184e-05,3.2761e-03,8.4691e-02,9.2608e-02,-5.5309e-03,5.9824e-05,-3.2814e-05,1.2554e-01,5.5313e-03
+34,2.3100e+01,DOWN_FORCE_DETACH,5.8672e-03,3.0932e-02,1.6263e-01,2.5589e+00,-4.7749e-02,3.8801e-02,4.4755e-05,4.8683e-03,1.0061e-01,9.8738e-02,-6.5721e-03,1.5658e-04,-2.0242e-05,1.4105e-01,6.5740e-03
+35,2.3700e+01,DOWN_FORCE_DETACH,6.0440e-03,3.2735e-02,1.6126e-01,2.5509e+00,-4.7630e-02,3.8926e-02,4.9728e-05,6.6719e-03,9.9243e-02,9.0757e-02,-6.4526e-03,2.8168e-04,-1.5269e-05,1.3465e-01,6.4588e-03
+36,2.4350e+01,DOWN_FORCE_DETACH,6.2170e-03,3.0891e-02,1.6105e-01,2.5639e+00,-4.7579e-02,3.8779e-02,5.4126e-05,4.8274e-03,9.9028e-02,1.0367e-01,-6.4015e-03,1.3499e-04,-1.0871e-05,1.4345e-01,6.4029e-03
+37,2.5033e+01,DOWN_FORCE_DETACH,6.3872e-03,3.1231e-02,1.6852e-01,2.5555e+00,-4.8058e-02,3.8808e-02,5.5229e-05,5.1681e-03,1.0650e-01,9.5297e-02,-6.8806e-03,1.6336e-04,-9.7685e-06,1.4300e-01,6.8825e-03
+38,2.5733e+01,DOWN_FORCE_DETACH,6.5608e-03,3.4596e-02,1.6914e-01,2.5599e+00,-4.8057e-02,3.9037e-02,5.0382e-05,8.5332e-03,1.0711e-01,9.9701e-02,-6.8800e-03,3.9202e-04,-1.4615e-05,1.4658e-01,6.8912e-03
+39,2.6283e+01,DOWN_FORCE_DETACH,6.7332e-03,3.4367e-02,1.7347e-01,2.5659e+00,-4.8314e-02,3.9010e-02,4.8089e-05,8.3035e-03,1.1145e-01,1.0570e-01,-7.1371e-03,3.6521e-04,-1.6909e-05,1.5383e-01,7.1465e-03
+40,2.6933e+01,DOWN_FORCE_DETACH,6.9019e-03,3.7813e-02,1.7385e-01,2.5928e+00,-4.8284e-02,3.9214e-02,4.2814e-05,1.1750e-02,1.1183e-01,1.3264e-01,-7.1065e-03,5.6967e-04,-2.2184e-05,1.7389e-01,7.1293e-03
+41,2.7533e+01,DOWN_FORCE_DETACH,7.0767e-03,3.7308e-02,1.8308e-01,2.5942e+00,-4.8869e-02,3.9171e-02,3.7514e-05,1.1245e-02,1.2106e-01,1.3404e-01,-7.6915e-03,5.2641e-04,-2.7483e-05,1.8097e-01,7.7096e-03
+42,2.8067e+01,DOWN_FORCE_DETACH,7.2521e-03,3.7272e-02,1.7240e-01,2.5886e+00,-4.8112e-02,3.9164e-02,2.7828e-05,1.1209e-02,1.1038e-01,1.2840e-01,-6.9349e-03,5.1967e-04,-3.7169e-05,1.6969e-01,6.9545e-03
+43,2.8633e+01,DOWN_FORCE_DETACH,7.4244e-03,3.8817e-02,1.7880e-01,2.6051e+00,-4.8461e-02,3.9244e-02,2.3331e-05,1.2753e-02,1.1678e-01,1.4496e-01,-7.2835e-03,5.9980e-04,-4.1666e-05,1.8658e-01,7.3083e-03
+44,2.9167e+01,DOWN_FORCE_DETACH,7.5962e-03,3.8507e-02,1.9189e-01,2.6205e+00,-4.9248e-02,3.9210e-02,2.2220e-05,1.2443e-02,1.2987e-01,1.6036e-01,-8.0707e-03,5.6509e-04,-4.2777e-05,2.0673e-01,8.0905e-03
+45,2.9633e+01,DOWN_FORCE_DETACH,7.7688e-03,4.1605e-02,2.0156e-01,2.6388e+00,-4.9808e-02,3.9395e-02,2.6259e-05,1.5541e-02,1.3954e-01,1.7862e-01,-8.6303e-03,7.5066e-04,-3.8738e-05,2.2719e-01,8.6630e-03
+46,3.0117e+01,DOWN_FORCE_DETACH,7.9410e-03,4.5500e-02,1.9431e-01,2.6502e+00,-4.9253e-02,3.9649e-02,2.4910e-05,1.9437e-02,1.3229e-01,1.9005e-01,-8.0755e-03,1.0044e-03,-4.0087e-05,2.3237e-01,8.1378e-03
+47,3.0567e+01,DOWN_FORCE_DETACH,8.1172e-03,4.6384e-02,2.0359e-01,2.6532e+00,-4.9800e-02,3.9699e-02,2.4163e-05,2.0320e-02,1.4157e-01,1.9306e-01,-8.6232e-03,1.0549e-03,-4.0834e-05,2.4026e-01,8.6876e-03
+48,3.1050e+01,DOWN_FORCE_DETACH,8.2893e-03,4.1069e-02,2.1786e-01,2.6450e+00,-5.0670e-02,3.9332e-02,2.6066e-05,1.5006e-02,1.5584e-01,1.8484e-01,-9.4932e-03,6.8711e-04,-3.8931e-05,2.4223e-01,9.5181e-03
+49,3.1500e+01,DOWN_FORCE_DETACH,8.4565e-03,4.0972e-02,2.2441e-01,2.6531e+00,-5.1004e-02,3.9306e-02,2.9743e-05,1.4909e-02,1.6239e-01,1.9295e-01,-9.8269e-03,6.6139e-04,-3.5255e-05,2.5263e-01,9.8491e-03
+50,3.1967e+01,DOWN_FORCE_DETACH,8.6315e-03,4.4746e-02,2.3784e-01,2.6591e+00,-5.1783e-02,3.9540e-02,3.5625e-05,1.8682e-02,1.7582e-01,1.9888e-01,-1.0606e-02,8.9557e-04,-2.9372e-05,2.6611e-01,1.0644e-02
+51,3.2367e+01,DOWN_FORCE_DETACH,8.8053e-03,4.4985e-02,2.3413e-01,2.6784e+00,-5.1431e-02,3.9522e-02,3.9318e-05,1.8922e-02,1.7211e-01,2.1818e-01,-1.0254e-02,8.7780e-04,-2.5680e-05,2.7854e-01,1.0291e-02
+52,3.2800e+01,DOWN_FORCE_DETACH,8.9797e-03,4.0300e-02,2.4309e-01,2.6832e+00,-5.1922e-02,3.9182e-02,4.9957e-05,1.4237e-02,1.8107e-01,2.2302e-01,-1.0745e-02,5.3797e-04,-1.5041e-05,2.8763e-01,1.0759e-02
+53,3.3200e+01,DOWN_FORCE_DETACH,9.1511e-03,4.0864e-02,2.5470e-01,2.6868e+00,-5.2577e-02,3.9209e-02,5.5118e-05,1.4801e-02,1.9268e-01,2.2665e-01,-1.1400e-02,5.6462e-04,-9.8789e-06,2.9786e-01,1.1413e-02
+54,3.3567e+01,DOWN_FORCE_DETACH,9.3247e-03,4.6031e-02,2.6112e-01,2.7187e+00,-5.2833e-02,3.9512e-02,5.8292e-05,1.9968e-02,1.9910e-01,2.5853e-01,-1.1656e-02,8.6725e-04,-6.7049e-06,3.2692e-01,1.1688e-02
+55,3.3883e+01,DOWN_FORCE_DETACH,9.4961e-03,4.7071e-02,2.6237e-01,2.7297e+00,-5.2788e-02,3.9564e-02,5.5438e-05,2.1008e-02,2.0035e-01,2.6955e-01,-1.1611e-02,9.1922e-04,-9.5590e-06,3.3651e-01,1.1647e-02
+56,3.4217e+01,DOWN_FORCE_DETACH,9.6648e-03,5.3605e-02,2.7164e-01,2.7350e+00,-5.3238e-02,3.9987e-02,4.6527e-05,2.7541e-02,2.0962e-01,2.7485e-01,-1.2061e-02,1.3429e-03,-1.8470e-05,3.4676e-01,1.2136e-02
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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_02/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_02/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792824234580517820,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.270198724e-09,-2.266464343e-10,-6.556966081e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027450040e-01,-1.183521531e-04,8.303261515e-01
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+17,1.633333333e+00,UP_FORCE_RAMP,1792824236234539961,-2.909656864e-06,-3.815497427e-04,1.511418497e-05,-3.179722236e-07,-3.705550950e-04,1.546248104e-05,-7.815781100e-08,-3.740227154e-04,1.569819639e-05,7.019526882e-01,-4.035347973e-04,8.601585001e-01,7.019552799e-01,-3.925401496e-04,8.601588484e-01,7.027449246e-01,-4.923746418e-04,8.303418504e-01
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+21,2.533333333e+00,UP_FORCE_RAMP,1792824237135945041,-6.122735531e-06,-3.799738721e-04,1.213020236e-05,-3.179722236e-07,-3.705550950e-04,1.546248104e-05,-7.330207907e-08,-3.740562336e-04,1.564018607e-05,7.019494751e-01,-4.019589266e-04,8.601555161e-01,7.019552799e-01,-3.925401496e-04,8.601588484e-01,7.027449294e-01,-4.924081601e-04,8.303417924e-01
+22,2.733333333e+00,UP_FORCE_RAMP,1792824237331618283,-4.096481211e-06,-3.777693597e-04,1.718640347e-05,-3.179722236e-07,-3.705550950e-04,1.546248104e-05,-7.272900893e-08,-3.740611815e-04,1.562864221e-05,7.019515014e-01,-3.997544143e-04,8.601605723e-01,7.019552799e-01,-3.925401496e-04,8.601588484e-01,7.027449300e-01,-4.924131079e-04,8.303417808e-01
+23,2.983333333e+00,UP_FORCE_RAMP,1792824237577832836,-7.842173031e-06,-3.818521366e-04,2.516780028e-05,-3.179722236e-07,-3.705550950e-04,1.546248104e-05,-7.210398645e-08,-3.740666490e-04,1.561540130e-05,7.019477557e-01,-4.038371912e-04,8.601685537e-01,7.019552799e-01,-3.925401496e-04,8.601588484e-01,7.027449306e-01,-4.924185755e-04,8.303417676e-01
+24,3.183333333e+00,UP_FORCE_RAMP,1792824237774614407,-2.236166651e-05,-3.771538701e-04,3.298300455e-05,-8.000133772e-06,-3.783557758e-04,3.187594971e-05,-8.146290739e-06,-3.819803659e-04,3.197733142e-05,7.019332362e-01,-3.991389247e-04,8.601763689e-01,7.019475977e-01,-4.003408304e-04,8.601752619e-01,7.027368565e-01,-5.003322923e-04,8.303581295e-01
+25,3.400000000e+00,UP_FORCE_RAMP,1792824237990565372,-2.369042291e-05,-3.771029381e-04,4.058013070e-05,-8.000133772e-06,-3.783557758e-04,3.187594971e-05,-8.154836288e-06,-3.819872276e-04,3.198549218e-05,7.019319074e-01,-3.990879927e-04,8.601839660e-01,7.019475977e-01,-4.003408304e-04,8.601752619e-01,7.027368479e-01,-5.003391541e-04,8.303581377e-01
+26,3.550000000e+00,UP_FORCE_RAMP,1792824238151019342,-2.074602026e-05,-3.767032017e-04,5.982329812e-05,-2.058721711e-05,-3.769674957e-04,4.998408893e-05,-2.150536342e-05,-3.805846667e-04,4.996571985e-05,7.019348518e-01,-3.986882563e-04,8.602032092e-01,7.019350106e-01,-3.989525502e-04,8.601933700e-01,7.027234974e-01,-4.989365931e-04,8.303761179e-01
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+28,3.900000000e+00,UP_FORCE_RAMP,1792824238511107344,-1.374752652e-05,-3.698065552e-04,1.021435736e-04,-1.483212931e-05,-3.725094006e-04,9.096189966e-05,-1.479212900e-05,-3.761133230e-04,9.086374531e-05,7.019418503e-01,-3.917916098e-04,8.602455295e-01,7.019407657e-01,-3.944944551e-04,8.602343478e-01,7.027302106e-01,-4.944652494e-04,8.304170159e-01
+29,4.100000000e+00,UP_FORCE_RAMP,1792824238707993783,-1.317378556e-05,-3.693014587e-04,1.174031618e-04,-1.242266534e-05,-3.742918541e-04,1.143718194e-04,-1.191257650e-05,-3.779144934e-04,1.142107575e-04,7.019424241e-01,-3.912865133e-04,8.602607891e-01,7.019431752e-01,-3.962769087e-04,8.602577577e-01,7.027330902e-01,-4.962664199e-04,8.304403629e-01
+30,4.300000000e+00,UP_FORCE_RAMP,1792824238904342634,-1.213678128e-05,-3.705535292e-04,1.316573478e-04,-8.393478382e-06,-3.696348014e-04,1.339750611e-04,-7.285493750e-06,-3.732318283e-04,1.338235182e-04,7.019434611e-01,-3.925385837e-04,8.602750433e-01,7.019472044e-01,-3.916198560e-04,8.602773610e-01,7.027377173e-01,-4.915837547e-04,8.304599757e-01
+31,4.533333333e+00,UP_FORCE_RAMP,1792824239134411066,-1.218974936e-05,-3.676466992e-04,1.440077703e-04,-8.393478382e-06,-3.696348014e-04,1.339750611e-04,-7.275715305e-06,-3.732368589e-04,1.338741947e-04,7.019434081e-01,-3.896317538e-04,8.602873937e-01,7.019472044e-01,-3.916198560e-04,8.602773610e-01,7.027377270e-01,-4.915887854e-04,8.304600264e-01
+32,4.766666667e+00,UP_FORCE_RAMP,1792824239362894278,-1.210616237e-05,-3.673782682e-04,1.542831068e-04,-9.333414774e-06,-3.725054984e-04,1.555682067e-04,-8.084361587e-06,-3.761488956e-04,1.554057856e-04,7.019434917e-01,-3.893633227e-04,8.602976690e-01,7.019462645e-01,-3.944905530e-04,8.602989541e-01,7.027369184e-01,-4.945008220e-04,8.304815580e-01
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+37,5.883333333e+00,UP_FORCE_RAMP,1792824240586003971,-2.066873692e-05,-3.669735734e-04,2.308202373e-04,-1.796535778e-05,-3.611734130e-04,2.179224542e-04,-1.656621986e-05,-3.647183989e-04,2.177177590e-04,7.019349291e-01,-3.889586279e-04,8.603742062e-01,7.019376325e-01,-3.831584675e-04,8.603613084e-01,7.027284365e-01,-4.830703254e-04,8.305438699e-01
+38,6.066666667e+00,UP_FORCE_RAMP,1792824240772635173,-2.098174800e-05,-3.604775431e-04,2.458527558e-04,-2.117607276e-05,-3.674898083e-04,2.384880632e-04,-1.976461912e-05,-3.710919128e-04,2.382731862e-04,7.019346161e-01,-3.824625976e-04,8.603892387e-01,7.019344218e-01,-3.894748628e-04,8.603818740e-01,7.027252381e-01,-4.894438392e-04,8.305644254e-01
+39,6.250000000e+00,UP_FORCE_RAMP,1792824240951984378,-2.163750317e-05,-3.623642136e-04,2.582346347e-04,-2.152783890e-05,-3.622888941e-04,2.579977209e-04,-1.993205478e-05,-3.658528499e-04,2.577277256e-04,7.019339604e-01,-3.843492682e-04,8.604016206e-01,7.019340700e-01,-3.842739486e-04,8.604013836e-01,7.027250707e-01,-4.842047763e-04,8.305838799e-01
+40,6.466666667e+00,UP_FORCE_RAMP,1792824241164791719,-2.393891912e-05,-3.613491912e-04,2.728946912e-04,-1.883239233e-05,-3.609517245e-04,2.793807728e-04,-1.676718431e-05,-3.644719091e-04,2.791045842e-04,7.019316589e-01,-3.833342458e-04,8.604162806e-01,7.019367655e-01,-3.829367791e-04,8.604227667e-01,7.027282356e-01,-4.828238355e-04,8.306052568e-01
+41,6.716666667e+00,UP_FORCE_RAMP,1792824241410612164,-2.518615681e-05,-3.565843062e-04,2.877313827e-04,-1.883239233e-05,-3.609517245e-04,2.793807728e-04,-1.676313319e-05,-3.644729148e-04,2.791770315e-04,7.019304117e-01,-3.785693608e-04,8.604311173e-01,7.019367655e-01,-3.829367791e-04,8.604227667e-01,7.027282396e-01,-4.828248412e-04,8.306053292e-01
+42,6.916666667e+00,UP_FORCE_RAMP,1792824241607849396,-2.541280247e-05,-3.541898906e-04,2.984017076e-04,-2.407326042e-05,-3.562247655e-04,2.996305033e-04,-2.220700007e-05,-3.597837511e-04,2.993876372e-04,7.019301851e-01,-3.761749452e-04,8.604417876e-01,7.019315246e-01,-3.782098201e-04,8.604430164e-01,7.027227957e-01,-4.781356775e-04,8.306255398e-01
+43,7.166666667e+00,UP_FORCE_RAMP,1792824241852951792,-2.750621242e-05,-3.565422934e-04,3.129524281e-04,-2.407326042e-05,-3.562247655e-04,2.996305033e-04,-2.221224564e-05,-3.597813718e-04,2.994446507e-04,7.019280917e-01,-3.785273480e-04,8.604563383e-01,7.019315246e-01,-3.782098201e-04,8.604430164e-01,7.027227905e-01,-4.781332982e-04,8.306255968e-01
+44,7.316666667e+00,UP_FORCE_RAMP,1792824242000681210,-3.137050755e-05,-3.577348853e-04,3.180495432e-04,-2.766379343e-05,-3.586932882e-04,3.206094614e-04,-2.571527630e-05,-3.622533272e-04,3.203653573e-04,7.019242274e-01,-3.797199399e-04,8.604614355e-01,7.019279341e-01,-3.806783428e-04,8.604639954e-01,7.027192875e-01,-4.806052536e-04,8.306465175e-01
+45,7.500000000e+00,UP_FORCE_RAMP,1792824242181151316,-3.035326985e-05,-3.597396097e-04,3.309070806e-04,-2.766379343e-05,-3.586932882e-04,3.206094614e-04,-2.571993413e-05,-3.622526710e-04,3.204112222e-04,7.019252446e-01,-3.817246643e-04,8.604742930e-01,7.019279341e-01,-3.806783428e-04,8.604639954e-01,7.027192828e-01,-4.806045974e-04,8.306465634e-01
+46,7.666666667e+00,UP_FORCE_RAMP,1792824242344424192,-3.401502643e-05,-3.782985711e-04,3.465461896e-04,-3.391852935e-05,-3.782985756e-04,3.465819908e-04,-3.210434788e-05,-3.820008018e-04,3.462882010e-04,7.019215828e-01,-4.002836257e-04,8.604899321e-01,7.019216793e-01,-4.002836301e-04,8.604899679e-01,7.027128984e-01,-5.003527283e-04,8.306724404e-01
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+48,8.016666667e+00,UP_FORCE_RAMP,1792824242704460113,-4.425795321e-05,-3.777370141e-04,3.728258759e-04,-3.430543159e-05,-3.736295104e-04,3.664499793e-04,-3.229768664e-05,-3.772922423e-04,3.662322905e-04,7.019113399e-01,-3.997220687e-04,8.605162118e-01,7.019212924e-01,-3.956145650e-04,8.605098359e-01,7.027127051e-01,-4.956441688e-04,8.306923845e-01
+49,8.050000000e+00,UP_FORCE_HOLD,1792824242737368238,-7.501740385e-05,-3.801257371e-04,3.431369001e-04,-8.078695197e-05,-3.755919588e-04,3.447474494e-04,-8.258903300e-05,-3.793041957e-04,3.444978739e-04,7.018805805e-01,-4.021107917e-04,8.604865228e-01,7.018748109e-01,-3.975770133e-04,8.604881334e-01,7.026624137e-01,-4.976561222e-04,8.306706500e-01
+50,8.100000000e+00,UP_FORCE_HOLD,1792824242786597835,-6.494472928e-05,-3.820641744e-04,3.664397341e-04,-6.826108970e-05,-3.853905251e-04,3.599366061e-04,-6.894557609e-05,-3.891755209e-04,3.596586883e-04,7.018906531e-01,-4.040492289e-04,8.605098256e-01,7.018873368e-01,-4.073755797e-04,8.605033225e-01,7.026760572e-01,-5.075274474e-04,8.306858109e-01
+51,8.183333333e+00,UP_FORCE_HOLD,1792824242868409841,-7.601363120e-05,-3.806924736e-04,3.583820904e-04,-6.826108970e-05,-3.853905251e-04,3.599366061e-04,-6.896813192e-05,-3.891741735e-04,3.596758946e-04,7.018795842e-01,-4.026775282e-04,8.605017680e-01,7.018873368e-01,-4.073755797e-04,8.605033225e-01,7.026760346e-01,-5.075261000e-04,8.306858281e-01
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+59,9.783333333e+00,UP_SETTLE,1792824244457711150,-8.342957555e-05,-3.751804041e-04,4.070181949e-04,-8.038986824e-05,-3.767929961e-04,3.915336480e-04,-8.172776440e-05,-3.804908521e-04,3.913713613e-04,7.018721683e-01,-3.971654587e-04,8.605504041e-01,7.018752080e-01,-3.987780507e-04,8.605349196e-01,7.026632750e-01,-4.988427785e-04,8.307175235e-01

Part2/Fixed/digit/cylinder_0050_17.5/press_depth_02/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+8,8.1667e-01,WAIT_W2,3.4238e-04,3.3632e-02,1.9839e-01,2.4486e+00,-5.0546e-02,3.9192e-02,8.7399e-05,7.5668e-03,1.3637e-01,-1.1545e-02,-9.3683e-03,5.4706e-04,2.2410e-05,1.3706e-01,9.3843e-03
+9,8.3333e-01,WAIT_W2,4.4125e-04,3.8065e-02,3.0550e-01,2.4549e+00,-5.7887e-02,3.9487e-02,1.0770e-04,1.1999e-02,2.4348e-01,-5.2996e-03,-1.6710e-02,8.4247e-04,4.2713e-05,2.4383e-01,1.6731e-02
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+13,9.5000e-01,WAIT_W2,6.2573e-04,4.8015e-02,5.6588e-01,2.4861e+00,-7.6023e-02,4.0153e-02,1.6569e-04,2.1950e-02,5.0386e-01,2.5904e-02,-3.4845e-02,1.5083e-03,1.0070e-04,5.0500e-01,3.4878e-02
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+17,1.6333e+00,UP_FORCE_RAMP,8.2386e-04,5.1654e-02,5.5221e-01,2.4949e+00,-7.5517e-02,4.0416e-02,1.6699e-04,2.5589e-02,4.9019e-01,3.4744e-02,-3.4340e-02,1.7714e-03,1.0200e-04,4.9208e-01,3.4386e-02
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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_03/down/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_03/down/franka_data.csv

@@ -0,0 +1,61 @@
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+15797,1792824305077843836,2984399000000,1792824305071892519,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6758894293956622,-0.004794428499577543,0.09958500744848735,0.9999999286906577,-1.569246705418266e-05,-0.0003132835408092163,0.00018886162536616493,0.6761,-0.0045,0.099828696850756,1.0,0.0,0.0,0.0,-0.03665887536845225,-0.05072036177481487,0.2567568673813002,-0.002342927673749773,0.0022105397820704614,-0.00019063632130073786,1.0783393972238056,0.7863767014803615,0.5056929338653353,0.07117429663553418,-0.07038247474960098,0.002660033643187255,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,0.48918862269669855,1.1036610934662692,1.0108033066643418,0.13875346000347777,-0.6103373684940067,0.6501101836953126,1.5873005668497482,-0.2567568673813002,0.5764972601854064,0.5764972601854064,0.562255912138194,0,0,-7.940339583481647e-05,9.999220482027055e-05
+15886,1792824305819939296,2985141000000,1792824305819893008,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6758872609692608,-0.0047966087677975,0.09954047952168626,0.9999999261782961,-1.600073183872401e-05,-0.00031624055688805663,0.00019703338184240074,0.6761,-0.0045,0.09977201612495509,1.0,0.0,0.0,0.0,-0.05421939701665157,-0.045503988562582864,0.32730856297036226,-0.00340257044210536,0.0032274545127449344,0.0003472524262086588,1.0607788755756062,0.7915930746925935,0.5762446294543974,0.07011465386717859,-0.0693655600189265,0.003197922390696652,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,0.566338346175738,1.120831024835242,0.921686408586687,0.15440831872784197,-0.535540583083814,0.6567385876014329,1.5873005668497482,-0.32730856297036226,0.6656141582630611,0.6656141582630611,0.6735559121381818,0,0,-7.096311469415172e-05,9.502970218922541e-05
+15976,1792824306569968244,2985891000000,1792824306563892522,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6758923328097751,-0.004801102824411291,0.0994982340430867,0.999999928304598,-1.61818425631289e-05,-0.0003023153951861236,0.00020779127296964762,0.6761,-0.0045,0.099718916306327,1.0,0.0,0.0,0.0,-0.05554906577248486,-0.0589681801834423,0.3978751365430322,-0.0034477015525680443,0.004224489600714074,0.0005994772828469244,1.059449206819773,0.7781288830717341,0.6468112030270673,0.07006952275671591,-0.06836852493095737,0.0034501472473349175,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,0.5036377049879908,1.1437788486939466,0.9411473163209654,0.15414567805286966,-0.5712999463065104,0.675741713839648,1.5873005668497482,-0.3978751365430322,0.6461532505287828,0.6461532505287828,0.7860559121381694,0,0,-7.232472617610253e-05,-8.750305621608163e-05
+16070,1792824307352966108,2986674000000,1792824307351893157,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6758960603478638,-0.004806665138069991,0.099452729988629,0.9999999298705237,-1.9201794881956834e-05,-0.0002919571670331058,0.0002146954028147917,0.6761,-0.0045,0.09965606651578088,1.0,0.0,0.0,0.0,-0.06833073135337497,-0.06683741512600705,0.4744270776468049,-0.003462729413999055,0.004208931383520673,0.0005380738229167248,1.0466675412388828,0.7702596481291694,0.72336314413084,0.0700544948952849,-0.06838408314815077,0.003388743787404718,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,0.5892008983334668,1.1686770607567198,0.8021591633753392,0.14284146809268544,-0.45811339521419636,0.6895908110717065,1.5873005668497482,-0.4744270776468049,0.785141403474409,0.785141403474409,0.9035059121381565,0,0,-8.921437531369947e-05,-9.951182519530306e-05
+16167,1792824308161930291,2987483000000,1792824308155892731,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6758953148809361,-0.004809559004107641,0.09938479467771004,0.9999999299487818,-3.12378334296746e-05,-0.00028878270327663817,0.0002171958655427677,0.6761,-0.0045,0.09958151517925376,1.0,0.0,0.0,0.0,-0.07643871071628783,-0.06342407936651406,0.5782090151910185,-0.0038835459060911487,0.0052068442646825,0.0004641975516360675,1.03855956187597,0.7736729838886623,0.8271450816750536,0.0696336784031928,-0.06738617026698894,0.0033148675161240606,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,0.6439968459540224,1.0359006646518085,0.5305032663817345,0.17708394522800405,-0.2696275438830414,0.5983608839904813,1.5873005668497482,-0.5782090151910185,1.0567973004680136,1.0567973004680136,1.0248559121381615,0,0,-9.564075680448957e-05,9.980468815141136e-05
+16289,1792824309177945091,2988499000000,1792824309171892823,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6759008274776155,-0.004812815483413406,0.09930583315597688,0.9999999320760794,-3.843135901058727e-05,-0.0002746090542844943,0.0002245074586755474,0.6761,-0.0045,0.09947951770659082,1.0,0.0,0.0,0.0,-0.09258398110894683,-0.07894960958791697,0.7078207213442869,-0.004583589127530541,0.00620515980260819,0.00036447068445010335,1.022414291483311,0.7581474536672594,0.956756787828322,0.06893363518175341,-0.06638785472906325,0.0032151406489380964,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,0.6485199611490926,1.1306423306146307,0.529215096817702,0.15051015662011005,-0.2700251972893132,0.663737300216513,1.5873005668497482,-0.7078207213442869,1.0580854700320463,1.0580854700320463,1.1772559121382575,0,0,-0.00010206414678279175,-9.955155730179683e-05
+16383,1792824309961886008,2989283000000,1792824309955892722,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6759032489128143,-0.004820106818631642,0.09923897290413485,0.9999999310736937,-4.2298124098915674e-05,-0.0002684637044668336,0.00023544336994675804,0.6761,-0.0045,0.09940039250104249,1.0,0.0,0.0,0.0,-0.10341602414845008,-0.07749906083497393,0.8085414258824327,-0.004630010150432434,0.0071968197684330465,0.00029749977399793617,1.0115822484438077,0.7595980024202025,1.0574774923664678,0.06888721415885152,-0.0653961947632384,0.0031481697384859292,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,0.6523748060592758,1.0424353351604232,0.44916310286653427,0.17100276024066868,-0.2181408434597583,0.6046974481948371,1.5873005668497482,-0.8085414258824327,1.138137463983214,1.138137463983214,1.2948559121383316,0,0,-0.00010093563516530425,-9.997766089864796e-05
+16414,1792824310219970383,2989541000000,1792824310219892596,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6759631293043511,-0.004811554257702988,0.09926015224489508,0.9999999450024439,-3.365885635279681e-05,-0.00020705465973759892,0.0002396527129079021,0.6761,-0.0045,0.09937414870210706,1.0,0.0,0.0,0.0,-0.16330946961337645,0.03430534758928061,0.7031069884986184,0.003195331114528438,0.01210209677865566,0.0005460616672645583,0.9516888029788814,0.871402410844457,0.9520430549826535,0.07671255542381239,-0.06049091775301578,0.0033967316317525514,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,0.7325494146420859,1.0909763893489548,0.5613665833836384,0.15800724212095682,-0.2814683514006466,0.6413012624655698,1.5873005668497482,-0.7031069884986184,1.0259339834661096,1.0259339834661096,1.333555912138356,0,0,-0.00010475181077693042,-9.999999025923074e-05
+16489,1792824310844989478,2990166000000,1792824310843892461,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6759752410222033,-0.004815424370950221,0.09922028897442385,0.999999946751618,-3.1457794520475724e-05,-0.00018611100388596708,0.00024962517340731526,0.6761,-0.0045,0.09930024212310737,1.0,0.0,0.0,0.0,-0.16852581485538576,0.01056233893934122,0.840168823648071,0.001356414152957175,0.012138681464715508,0.00041161109527451537,0.946472457736872,0.8476594021945176,1.089104890132106,0.07487363846224113,-0.06045433306695593,0.0032622810597625084,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.0225039111295897,1.0802181813037541,0.2952202535170564,0.17451834388255713,-0.038277668474738104,0.6319205440579584,1.5873005668497482,-0.840168823648071,1.2920803133326917,1.2920803133326917,1.427305912138415,0,0,-0.00013114088065066388,-9.999999025923074e-05
+16548,1792824311336994230,2990658000000,1792824311331892792,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6759861207020237,-0.004789243613983259,0.09916693785214249,0.9999999579274602,-0.00020448263294919823,-0.00015606524368813796,9.704861923491599e-05,0.6761,-0.0045,0.09923096272641596,1.0,0.0,0.0,0.0,-0.11717288690387717,0.08720661651388939,0.9132087271831023,0.006533915145351718,0.008101238738234914,0.0003557377052832303,0.9978253856883806,0.9243036797690658,1.1621447936671374,0.08005113945463567,-0.06449177579343653,0.0032064076697712234,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.0120018904885775,1.2013627795745783,0.32223361282150914,-0.025968159943868422,-0.026876854909868894,0.7523747885044791,1.5873005668497482,-0.9132087271831023,1.265066954028239,1.265066954028239,1.5011059121384616,0,0,-0.0001525682625333743,-9.999999025923074e-05
+16640,1792824312102937029,2991424000000,1792824312095903153,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6759920334700136,-0.0048002426469711205,0.0990670523426552,0.9999999579008172,-0.00019650843299719536,-0.00014598402462072063,0.00012535680396199398,0.6761,-0.0045,0.09910740167183449,1.0,0.0,0.0,0.0,-0.137351044671164,0.06934908230548364,1.0571436473010996,0.005453840379060201,0.009984081967165298,0.0008736232523720248,0.9776472279210938,0.90644614556066,1.3060797137851348,0.07897106468834415,-0.06260893256450614,0.003724293216860018,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.0658865974054659,1.118137366073204,0.05778390864580023,0.11317502019474991,0.1340574169491675,0.673336828378945,1.5873005668497482,-1.0571436473010996,1.5295166582039479,1.5295166582039479,1.616005912138534,0,0,-0.00015997302516415767,9.687500387845489e-05
+16731,1792824312862009261,2992183000000,1792824312855901889,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6760010449189848,-0.004807531161427252,0.0989770390344155,0.9999999581236458,-0.00019082186879290321,-0.00013137246935575656,0.00014671012066370972,0.6761,-0.0045,0.09899816962687973,1.0,0.0,0.0,0.0,-0.16609742719095677,0.06385534406654858,1.192616014399188,0.005365937221187056,0.011978510407944835,0.0012002115780661172,0.948900845401301,0.900952407321725,1.4415520808832232,0.07888316153047101,-0.060614504123726605,0.00405088154255411,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.1152208135083128,1.1226437374149107,-0.11285844795945374,0.20371820355100326,0.2357274656277441,0.6559505436909535,1.5873005668497482,-1.192616014399188,1.7001590148092018,1.7001590148092018,1.7298559121386057,0,0,-0.00012583993146545047,9.999999025923074e-05
+16823,1792824313629001145,2992949000000,1792824313627892667,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6760105068821,-0.004808561003323385,0.09891503425490107,0.9999999585299801,-0.0001961325918584565,-0.0001149268145557166,0.00015068754418496582,0.6761,-0.0045,0.09891510203564184,1.0,0.0,0.0,0.0,-0.18454619684291895,0.06720282085336649,1.2839545103442467,0.005322009857460397,0.012972170672375723,0.001140347737917569,0.9304520757493389,0.9042998841085429,1.532890576828282,0.07883923416674435,-0.05962084385929572,0.003991017702405562,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.112979942146106,1.063196011993174,-0.14980538981560623,0.2253231781241504,0.25647173211831503,0.6143721624529063,1.5873005668497482,-1.2839545103442467,1.7371059566653544,1.7371059566653544,1.844755912138678,0,0,-9.188456792238864e-05,-9.687500387845489e-05
+16922,1792824314453014581,2993774000000,1792824314451893128,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6760164173263885,-0.004810017611631038,0.09886009483161247,0.9999999577086435,-0.00020675925986360285,-0.00010456321081967748,0.00014947480965129796,0.6761,-0.0045,0.0988494294374879,1.0,0.0,0.0,0.0,-0.1912445635479626,0.06940260365468764,1.3442606346004873,0.00528324420001787,0.013972317582894779,0.0011065267820573425,0.9237537090442952,0.906499666909864,1.5931967010845225,0.07880046850930182,-0.05862069694877666,0.003957196746545336,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.1992746814726571,1.1640771603273494,-0.35894873584442116,0.1970407145868455,0.4138372752254851,0.6796415577177386,1.5873005668497482,-1.3442606346004873,1.9462493026941694,1.9462493026941694,1.968505912138756,0,0,-7.25136485482406e-05,9.998246261322947e-05
+17014,1792824315220023646,2994541000000,1792824315215892636,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.676018958328868,-0.004812437026997172,0.09881106808716522,0.9999999565609622,-0.00021348468111941188,-9.93480176469777e-05,0.0001512454965501982,0.6761,-0.0045,0.0987932813951563,1.0,0.0,0.0,0.0,-0.20344076620459395,0.07164378511300273,1.4044552176075393,0.005283284416792308,0.01395927166532343,0.0010565461046205078,0.9115575063876639,0.9087408483681791,1.6533912840915745,0.07880050872607626,-0.05863374286634801,0.003907216069108501,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.2365102834487733,1.0134249121583283,-0.4180642639409401,0.24169115891835646,0.46127199210224695,0.5765038297282882,1.5873005668497482,-1.4044552176075393,2.0053648307906884,2.0053648307906884,2.0835559121388285,0,0,-7.771086246308035e-05,-9.999940739214281e-05
+17110,1792824316020030942,2995341000000,1792824316015902687,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6760277697926078,-0.004813099235699145,0.09876026332336388,0.9999999562896514,-0.0002212141344300183,-8.466820124201789e-05,0.00015086139885295673,0.6761,-0.0045,0.09872071645306098,1.0,0.0,0.0,0.0,-0.21368556772352731,0.08575088543485299,1.475009580189044,0.006250830073217223,0.014937194788165263,0.0010254150893736179,0.9013127048687305,0.9228479486900294,1.7239456466730791,0.07976805438250117,-0.05765581974350618,0.003876085053861611,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.2651614966412814,1.0931344322014318,-0.4370614041540086,0.2292991977118838,0.4759813159188378,0.6307682659080789,1.5873005668497482,-1.475009580189044,2.024361971003757,2.024361971003757,2.203555912138904,0,0,-0.0001015259154066569,-9.999999025923074e-05
+17201,1792824316778043252,2996099000000,1792824316775892922,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6760362278890737,-0.004816113339040893,0.09868668524406583,0.9999999545304405,-0.00023078754477232836,-7.108626594819182e-05,0.00015513166305711716,0.6761,-0.0045,0.09863681282171907,1.0,0.0,0.0,0.0,-0.22226778042047934,0.08096363697766651,1.5852758531393871,0.006203891820220464,0.015928036373668138,0.0009510000218826008,0.8927304921717785,0.9180607002328429,1.8342119196234223,0.07972111612950442,-0.0566649781580033,0.003801669986370594,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.3145800764154059,1.1146176104087184,-0.6051531728964995,0.2208890841975746,0.5958186102416019,0.6416823964764586,1.5873005668497482,-1.5852758531393871,2.192453739746248,2.192453739746248,2.3172559121389757,0,0,-0.00011797129259169393,-9.944701592624056e-05
+17293,1792824317545054548,2996866000000,1792824317539893428,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6760486484249486,-0.004817730705538925,0.0986173632231253,0.9999999530095192,-0.00024337080595290353,-5.104579946794644e-05,0.00015358645960221112,0.6761,-0.0045,0.09854456734399643,1.0,0.0,0.0,0.0,-0.23371572976351684,0.09741898874205501,1.6851327743665572,0.007179192257706718,0.01689994957667801,0.000896175457925395,0.881282542828741,0.9345160519972314,1.9340688408505924,0.08069641656699067,-0.05569306495499343,0.003746845422413388,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.3473184928560127,1.031403459222217,-0.7089480041918783,0.25793827158901667,0.6656044837228762,0.5889264237050785,1.5873005668497482,-1.6851327743665572,2.2962485710416267,2.2962485710416267,2.4323059121390482,0,0,-0.00012141455866673668,-9.990234614421496e-05
+17387,1792824318328016802,2997649000000,1792824318327892437,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6760537756653185,-0.00482535512447024,0.09853531447699751,0.9999999507056525,-0.00025160886352964753,-4.3490173638930036e-05,0.00015758534539424369,0.6761,-0.0045,0.09844956224178113,1.0,0.0,0.0,0.0,-0.24132573309425853,0.09562398195755584,1.7773267813990143,0.00813487741046022,0.01787559855505632,0.000844886679642907,0.8736725394979993,0.9327210452127322,2.0262628478830496,0.08165210171974417,-0.05471741597661512,0.0036955566441309,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.3813417977301072,1.1016561923950379,-0.825458429578962,0.24063993153504404,0.7471939398729095,0.6407458426265795,1.5873005668497482,-1.7773267813990143,2.4127589964287104,2.4127589964287104,2.5497559121391222,0,0,-0.00011974447183401982,-9.999951841444527e-05
+17460,1792824318936970154,2998258000000,1792824318935902553,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6760650545256846,-0.004825354896634804,0.09847615954767823,0.9999999517898319,-0.0002482946360322216,-2.716096531342172e-05,0.00015960969132071203,0.6761,-0.0045,0.09837658744529273,1.0,0.0,0.0,0.0,-0.2536593586159305,0.10705078337286777,1.8768332577727005,0.008107653342437154,0.018865560711275937,0.0011271766460644083,0.8613389139763273,0.9441478466280442,2.1257693242567357,0.0816248776517211,-0.0537274538203955,0.003977846610552401,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.4029291234317596,1.1341004094234013,-0.994174234729469,0.23488508164205246,0.8590926563445752,0.6629270187204547,1.5873005668497482,-1.8768332577727005,2.5814748015792173,2.5814748015792173,2.64110591213918,0,0,-0.00011980873392406088,8.750000310276391e-05
+17545,1792824319645054999,2998966000000,1792824319643902267,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6760735639152282,-0.004824293912301729,0.09840856701369889,0.9999999829474414,-2.0725472268400865e-05,-1.292542430459697e-05,0.00015796002528025221,0.6761,-0.0045,0.09829130715560523,1.0,0.0,0.0,0.0,-0.2717711881303222,0.1182195821057127,1.957402020534138,0.00806365316710557,0.01972122911498221,0.0016193991891197074,0.8432270844619356,0.9553166453608891,2.2063380870181732,0.08158087747638952,-0.05287178541668923,0.0044700691536077005,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.5077221390943072,1.0914332810234966,-1.0331108448730033,0.20622376168768758,0.91744549810708,0.5608929915822054,1.5873005668497482,-1.957402020534138,2.6204114117227517,2.6204114117227517,2.7473059121392467,0,0,-0.00012083304473250867,-7.501722440317877e-05
+17625,1792824320311972235,2999633000000,1792824320311892304,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6760792046471634,-0.0048276718786983,0.09833836645140526,0.9999999826375329,-4.2007327780275544e-05,-4.512847112700923e-06,0.000156149982712005,0.6761,-0.0045,0.09820878629039151,1.0,0.0,0.0,0.0,-0.2733020548192938,0.11562750933689714,2.0377328481375088,0.009069880918598575,0.01982503351554596,0.0009040837909309015,0.841696217772964,0.9527245725920735,2.286668914621544,0.08258710522788253,-0.05276798101612548,0.0037547537554188945,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.5460885055853613,1.25655047862641,-1.2145312890169067,0.17198730570486026,1.039801868067411,0.6817604292297592,1.5873005668497482,-2.0377328481375088,2.801831855866655,2.801831855866655,2.8473559121393097,0,0,-0.00012244652163454083,9.999965719232335e-05
+17710,1792824321020066156,3000341000000,1792824321015902604,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6760901145137316,-0.004829603247318902,0.09827240844333121,0.9999999817634901,-6.195192970331512e-05,1.3420437631329689e-05,0.00015458892000146422,0.6761,-0.0045,0.0981223193995568,1.0,0.0,0.0,0.0,-0.2829421864325342,0.12635519506995774,2.1182720872288248,0.009021335588421081,0.02081577115123666,0.0016534200296095675,0.8320560861597236,0.9634522583251341,2.36720815371286,0.08253855989770503,-0.05177724338043478,0.0045040899940975605,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.5360281348685803,1.1824570467031377,-1.2687009492530434,0.21518270135089218,1.0646365488219902,0.6577287604931027,1.5873005668497482,-2.1182720872288248,2.8560015161027916,2.8560015161027916,2.9535559121393766,0,0,-0.00012282658170129223,4.067733236213229e-05
+17792,1792824321703074545,3001024000000,1792824321699903161,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6760994206058725,-0.004830436664304227,0.09820663415422666,0.9999999799658282,-8.226276724602605e-05,3.023724241333377e-05,0.0001543688892332758,0.6761,-0.0045,0.09803840333017959,1.0,0.0,0.0,0.0,-0.2872221160157281,0.1337733878112337,2.2037847797898906,0.009999085275173347,0.02179257185785126,0.0016144377248003532,0.8277761565765297,0.9708704510664101,2.452720846273926,0.0835163095844573,-0.05080044267382018,0.004465107689288346,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.5968093705096003,1.1238102647201882,-1.4535823049515475,0.2506645817983491,1.1971391469808095,0.6394979817108579,1.5873005668497482,-2.2037847797898906,3.040882871801296,3.040882871801296,3.056005912139441,0,0,-0.00012056710061295194,9.999994862586731e-05
+17881,1792824322445006034,3001766000000,1792824322443892667,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6761067176403444,-0.004828053502253139,0.09813319842993104,0.9999999785094388,-9.337225105575885e-05,4.2403696836501323e-05,0.0001546206187151918,0.6761,-0.0045,0.09794750694261883,1.0,0.0,0.0,0.0,-0.3099645929111703,0.13481769175160274,2.289107859948786,0.009961438680133244,0.022563352260483747,0.0015516134637453246,0.8050336796810875,0.9719147550067792,2.538043926432821,0.0834786629894172,-0.05002966227118769,0.004402283428233318,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.6402792111151168,1.0566122088303291,-1.5050768017303353,0.2860674944196336,1.237486458012382,0.6203077665651755,1.5873005668497482,-2.289107859948786,3.0923773685800837,3.0923773685800837,3.1673059121395113,0,0,-0.00012540274558073416,5.207438233257307e-05
+17976,1792824323237060485,3002558000000,1792824323235892975,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6761156988867277,-0.004834981852418319,0.09804975887549759,0.9999999750157612,-0.00011433611397540203,5.857480401732709e-05,0.00015782137572378468,0.6761,-0.0045,0.09784724773676806,1.0,0.0,0.0,0.0,-0.31258313336111887,0.13851336479167164,2.3894075980314815,0.009936313113049336,0.02276481986786167,0.0014737274429411536,0.8024151392311389,0.975610428046848,2.6383436645155167,0.08345353742233329,-0.04982819466380977,0.004324397407429147,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.6700888338997872,0.9212663081306657,-1.5635334166369919,0.34514416376029894,1.277716689537172,0.5477449845818858,1.5873005668497482,-2.3894075980314815,3.15083398348674,3.15083398348674,3.286105912139586,0,0,-0.0001244879398968043,-9.999999025923074e-05
+18064,1792824323970116751,3003291000000,1792824323967893152,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6761213550651927,-0.004835386194646634,0.09797334251751269,0.9999999727178719,-0.00012860340856813492,6.946287519193057e-05,0.00015698150298228995,0.6761,-0.0045,0.09775687950684121,1.0,0.0,0.0,0.0,-0.3261903784744573,0.14672677727027117,2.479977270439485,0.010894312239401654,0.0237399327845517,0.0014256640296924344,0.7888078941178005,0.9838238405254476,2.72891333692352,0.0844115365486856,-0.04885308174711974,0.0042763339941804274,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.6967193780382366,0.869588804854426,-1.7355251139678347,0.3674835089392364,1.3917890929592505,0.5136369021988773,1.5873005668497482,-2.479977270439485,3.3228256808175827,3.3228256808175827,3.3960559121396554,0,0,-0.00012231264212983627,9.687500387845489e-05
+18148,1792824324670070647,3003991000000,1792824324667902453,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6761304888738298,-0.004834038371352049,0.0979028081584285,0.9999999706212804,-0.00013312335640300042,8.353860552689838e-05,0.0001596864934898993,0.6761,-0.0045,0.09767156636580548,1.0,0.0,0.0,0.0,-0.33221118467882205,0.14977484373889716,2.5624009809070514,0.010852169202915887,0.024735144213407674,0.0013743015322301017,0.7827870879134358,0.9868719069940736,2.8113370473910866,0.08436939351219984,-0.047857870318263766,0.004224971496718095,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.7067344047294966,0.9715827227745124,-1.7266537654397145,0.35257449860099166,1.386892304922371,0.5830526849986233,1.5873005668497482,-2.5624009809070514,3.3139543322894625,3.3139543322894625,3.5010559121397216,0,0,-0.00012345469930649523,-9.999990699250389e-05
+18246,1792824325487079208,3004808000000,1792824325483902464,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6761377487076593,-0.004840355985219651,0.09781471414394313,0.9999999665161025,-0.00015298475673923415,9.703248498298186e-05,0.00015997193294595965,0.6761,-0.0045,0.09756612404980526,1.0,0.0,0.0,0.0,-0.34168974417540554,0.14629953888978808,2.660529149804244,0.010850324545082307,0.024724360248198206,0.0012942690616563023,0.7733085284168523,0.9833966021449645,2.9094652162882793,0.08436754885436626,-0.047868654283473235,0.004144939026144295,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.7477368238931745,0.9324918705555603,-1.8425496922933566,0.3718479023988573,1.4699907112128117,0.5562380723319864,1.5873005668497482,-2.660529149804244,3.429850259143105,3.429850259143105,3.6236059121397988,0,0,-0.00013196110385946114,-9.999999025923074e-05
+18337,1792824326245096877,3005566000000,1792824326239902344,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6761470737866714,-0.00484909398495451,0.09773359746226878,0.9999999614720804,-0.00016790712595046253,0.00011512094050369392,0.00016447816903301997,0.6761,-0.0045,0.09746501983750673,1.0,0.0,0.0,0.0,-0.35137030493004107,0.14643395267451698,2.7507290874088555,0.010796924902410798,0.025702852539967812,0.002256117651053779,0.7636279676622167,0.9835310159296934,2.9996651538928907,0.08431414921169475,-0.04689016199170363,0.005106787615541772,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.8112769019259185,0.9207952568055116,-2.05471570660512,0.38530676651630885,1.6224062782952489,0.5506607452696387,1.5873005668497482,-2.7507290874088555,3.6420162734548684,3.6420162734548684,3.7373059121398704,0,0,-0.00013799526986793686,9.968224442958302e-05
+18417,1792824326912061557,3006233000000,1792824326907902834,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6761544447452108,-0.0048520242520824815,0.09765240952108267,0.999999958480088,-0.0001761389211709766,0.00012613916985552962,0.00016597191531713128,0.6761,-0.0045,0.0973718919523943,1.0,0.0,0.0,0.0,-0.364700888449923,0.14967688192043138,2.836745789803752,0.010828883718219703,0.02670337661578734,0.0014795571031771806,0.7502973841423348,0.9867739451756078,3.085681856287787,0.08434610802750366,-0.0458896379158841,0.004330227067665174,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.8421231451423905,1.0621654364410469,-2.1384379781006864,0.34575700597819753,1.6826885349837994,0.6417373464055413,1.5873005668497482,-2.836745789803752,3.7257385449504348,3.7257385449504348,3.8373559121399334,0,0,-0.0001387827186417928,4.890785873125678e-05
+18510,1792824327687098736,3007008000000,1792824327679903194,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6761661905844984,-0.004850377319121998,0.0975651753153853,0.9999999571406349,-0.00017154041786853762,0.00014473155273290683,0.0001636711806384826,0.6761,-0.0045,0.097262187383822,1.0,0.0,0.0,0.0,-0.3712566301182082,0.1627733198849104,2.9219479820440792,0.011731716798285552,0.02767297035563853,0.002165106287759881,0.7437416424740496,0.9998703831400868,3.1708840485281145,0.0852489411075695,-0.04492004417603291,0.005015776252247874,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.8808410133268003,0.9092191977123949,-2.2475337191339055,0.39973001483877524,1.7618702093466727,0.543273055581282,1.5873005668497482,-2.9219479820440792,3.8348342859836535,3.8348342859836535,3.9536059121400067,0,0,-0.00014593629507688704,3.4447916053164155e-05
+18602,1792824328453065261,3007774000000,1792824328451903061,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6761759709169796,-0.004851933976240949,0.09746677423342111,0.9999999549636652,-0.00016698712602371656,0.00016123703484527494,0.00016623311994307428,0.6761,-0.0045,0.09714709214831681,1.0,0.0,0.0,0.0,-0.3816601497679377,0.16827508248449696,3.022261508815598,0.011685004740274299,0.028664620912117543,0.002098635649887005,0.7333381228243201,1.0053721457396734,3.271197575299633,0.08520222904955825,-0.0439283936195539,0.004949305614374998,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.8701339869299947,1.0071136137611632,-2.327321350623188,0.38102007001274885,1.8065232020806143,0.608550608530305,1.5873005668497482,-3.022261508815598,3.914621917472936,3.914621917472936,4.068505912139877,0,0,-0.00015423543906908777,-9.999976821462581e-05
+18685,1792824329146131593,3008466000000,1792824329143893396,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6761833925957589,-0.004852015451190149,0.09737133349542278,0.9999999536178892,-0.00016333522028033964,0.0001731307692004968,0.0001659952600216615,0.6761,-0.0045,0.09703768841282703,1.0,0.0,0.0,0.0,-0.3904192033179398,0.16191573132626902,3.1125315629677885,0.011667644682229819,0.02864556809008404,0.0020246431934233594,0.724579069274318,0.9990127945814454,3.3614676294518238,0.08518486899151377,-0.0439474464415874,0.0048753131579113524,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,1.9792148142688963,0.9212148109110633,-2.4033803366045015,0.4125197000483298,1.8844140178885112,0.5563263888382016,1.5873005668497482,-3.1125315629677885,3.9906809034542494,3.9906809034542494,4.172305912139635,0,0,-0.00015908256737892502,-9.999847758035969e-05
+18761,1792824329778138720,3009099000000,1792824329775902136,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6761877348153951,-0.004852236902704736,0.09728125189300219,0.9999999562621982,-0.0001399165686851967,0.00017928834897007077,0.00016491666901450992,0.6761,-0.0045,0.0969367229606593,1.0,0.0,0.0,0.0,-0.39090642395860586,0.16486046817560296,3.193794427918831,0.011625137102561675,0.029641323915407962,0.0019754933447015104,0.724091848633652,1.0019575314307794,3.4427304944028663,0.08514236141184563,-0.04295169061626348,0.0048261633091895035,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.0135470549882797,0.9047665351466893,-2.516538835136624,0.4383083222635186,1.9667329215560794,0.5543630143528545,1.5873005668497482,-3.193794427918831,4.103839401986372,4.103839401986372,4.267255912139413,0,0,-0.00015902609306758653,-9.999982372577704e-05
+18836,1792824330403068126,3009724000000,1792824330399893376,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6761972510705608,-0.00485081186074993,0.09720154071582589,0.9999999582023462,-9.773340174154833e-05,0.00019542584980589267,0.00016521225653370831,0.6761,-0.0045,0.09683667948311303,1.0,0.0,0.0,0.0,-0.39171473760875797,0.18009294961816424,3.264272553956184,0.01263353631403144,0.02960632926638393,0.0019293164327026519,0.7232835349834998,1.0171900128733407,3.5132086204402193,0.08615076062331539,-0.04298668526528751,0.004779986397190645,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.027231106298913,0.9852691598437571,-2.53118465010892,0.4197479542410225,1.9772535779577456,0.604075096438308,1.5873005668497482,-3.264272553956184,4.1184852169586685,4.1184852169586685,4.361005912139195,0,0,-0.00016258855358860925,-9.998779168374767e-05
+18915,1792824331062082570,3010383000000,1792824331059902704,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6762035672530915,-0.004851510456118758,0.09710125485732345,0.9999999539686626,-0.00010839597283015268,0.00020691223012595354,0.0001701269500568228,0.6761,-0.0045,0.09672670390551677,1.0,0.0,0.0,0.0,-0.3825374091592787,0.1862641254305315,3.362614063351921,0.012635470079553804,0.028934697583246585,0.0018416417356667313,0.7324608634329791,1.023361188685708,3.611550129835956,0.08615269438883776,-0.043658316948424855,0.004692311700154724,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.056667425265581,0.9985962756181114,-2.76681259481382,0.4262387421408038,2.136640915159151,0.6121738040741835,1.5873005668497482,-3.362614063351921,4.354113161663568,4.354113161663568,4.4598559121389645,0,0,-0.00017044082202957866,8.931868719497799e-05
+18991,1792824331695158137,3011016000000,1792824331687903463,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6762118625062123,-0.004850300217297448,0.09701018677815677,0.9999999487229997,-0.00012839178779003958,0.0002217296817106127,0.00016836971019317852,0.6761,-0.0045,0.09661654022370901,1.0,0.0,0.0,0.0,-0.38318670097221963,0.19930083957431322,3.4235897889599283,0.013625664969484932,0.029550941749753146,0.0018125730790392912,0.7318115716200382,1.0363979028294896,3.6725258554439635,0.08714288927876888,-0.043042072781918295,0.004663243043527284,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.111857058302267,0.9602731855908283,-2.7996625759232496,0.4487327566339669,2.172157389492301,0.585765597312732,1.5873005668497482,-3.4235897889599283,4.386963142772998,4.386963142772998,4.554805912138743,0,0,-0.00017927225094280098,-9.99766616979258e-05
+19068,1792824332337074190,3011658000000,1792824332331902580,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6762188829958221,-0.004851486154431392,0.09690558161153232,0.9999999438212618,-0.0001393423207235637,0.00023465151308253701,0.00017123878850232497,0.6761,-0.0045,0.09649827182766767,1.0,0.0,0.0,0.0,-0.39278812570246624,0.19141526177566015,3.4956052143398235,0.013610571171018243,0.02954056241702817,0.0017543947218393412,0.7222101468897916,1.0285123250308366,3.7445412808238587,0.0871277954803022,-0.04305245211464327,0.004605064686327334,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.1076975027268774,0.9417863271023217,-2.873579761038833,0.4542814975430355,2.2131155330497037,0.5734418448337669,1.5873005668497482,-3.4956052143398235,4.460880327888582,4.460880327888582,4.651105912138519,0,0,-0.0001880378857025119,-8.460713660086156e-05
+19149,1792824333012058707,3012333000000,1792824333007892750,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6762270255194935,-0.004853175536436273,0.0967953510943086,0.9999999387540555,-0.00014766449400766232,0.0002460751997359252,0.00017769902347542353,0.6761,-0.0045,0.09636983137471437,1.0,0.0,0.0,0.0,-0.4022710551822183,0.19458191866498464,3.574265288410164,0.013568431901301525,0.030532868411078024,0.0017046675683679959,0.7127272174100395,1.031678981920161,3.8232013548941994,0.08708565621058548,-0.04206014612059342,0.004555337532855989,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.1495557500006597,0.9061092119133807,-3.0085559501372168,0.47720046878905137,2.3098823096298746,0.5527114366159995,1.5873005668497482,-3.574265288410164,4.595856516986965,4.595856516986965,4.752355912138283,0,0,-0.0001930018765819178,1.092973197557991e-07
+19229,1792824333678171366,3012999000000,1792824333675893083,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6762353716517803,-0.004861281744813426,0.09667375161416931,0.9999999329178959,-0.0001448635741674021,0.00026092493478907996,0.00019115384178030467,0.6761,-0.0045,0.09623691286381002,1.0,0.0,0.0,0.0,-0.4073624202359124,0.19540135285647398,3.6527379591928466,0.013526222548192149,0.0315287267886026,0.001646436205501929,0.7076358523563454,1.0324984161116504,3.901674025676882,0.0870434468574761,-0.04106428774306884,0.004497106169989922,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.170982282174246,0.937759892865661,-3.1314309947359242,0.473802534189045,2.3934696424985518,0.5781963712411757,1.5873005668497482,-3.6527379591928466,4.718731561585672,4.718731561585672,4.85225591213805,0,0,-0.00020240840394450543,9.893281613238542e-05
+19314,1792824334387175155,3013708000000,1792824334383892521,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6762448856659299,-0.004854973229341077,0.09654499887041158,0.9999999256418042,-0.00019784922281005531,0.00028277825822548437,0.00014509097804410695,0.6761,-0.0045,0.09608865238857534,1.0,0.0,0.0,0.0,-0.3899510275671828,0.2225334432461803,3.72351355472647,0.014563207485433077,0.030479593654480913,0.001597544875614267,0.725047245025075,1.0596305065013567,3.9724496212105054,0.08808043179471703,-0.04211342087719053,0.00444821484010226,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.2482181598581485,0.9488616349846332,-3.2395810810242645,0.5044656949267087,2.479230172611858,0.5869653337132756,1.5873005668497482,-3.72351355472647,4.826881647874012,4.826881647874012,4.958605912137802,0,0,-0.00021618990335839505,9.376217443979868e-05
+19388,1792824335003181024,3014324000000,1792824334999892508,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6762465810731326,-0.004862243505240114,0.09641267138720339,0.9999999261314461,-0.00018356053327932585,0.00028192539797868005,0.00016125621561809762,0.6761,-0.0045,0.0959537235425064,1.0,0.0,0.0,0.0,-0.3847801277002202,0.1936729475285035,3.7947072513382945,0.012497752531118775,0.03087319779699315,0.0015223329697033952,0.7302181448920376,1.03077001078368,4.04364331782233,0.08601497684040273,-0.04171981673467829,0.004373002934191388,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.273007152531828,0.8632187672864738,-3.3200628243797725,0.527076479981665,2.541589899317993,0.534646660934553,1.5873005668497482,-3.7947072513382945,4.907363391229521,4.907363391229521,5.051005912137587,0,0,-0.00022414457784694785,9.995448499300891e-05
+19459,1792824335595184531,3014916000000,1792824335591892739,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6762502153433734,-0.00486624763587533,0.096280294698679,0.9999999269249953,-0.0001578692053582147,0.0002847135618972148,0.00017778742921030832,0.6761,-0.0045,0.09581872634685658,1.0,0.0,0.0,0.0,-0.3949449952786308,0.18862061360794247,3.8553610805763987,0.011657980170082072,0.03151531373760729,0.0024985911612767165,0.720053277313627,1.0257176768631189,4.104297147060434,0.08517520447936602,-0.04107770079406415,0.0053492611257647095,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.275785185577522,0.9330908226319969,-3.368818568058037,0.516828318385882,2.571904857373476,0.5890221286683262,1.5873005668497482,-3.8553610805763987,4.9561191349077856,4.9561191349077856,5.13980591213738,0,0,-0.00023350691682047652,5.975072800279975e-05
+19524,1792824336137199251,3015458000000,1792824336131902384,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6762543882281452,-0.004875852351939562,0.09615834025421553,0.9999999285413653,-0.00010786352120012552,0.00029232962593536216,0.0001930517529036144,0.6761,-0.0045,0.0956883553983161,1.0,0.0,0.0,0.0,-0.3992942159429663,0.1896024779997696,3.895436030482298,0.011411083794615196,0.03252631894120171,0.0014490279897536543,0.7157040566492915,1.026699541254946,4.144372096966333,0.08492830810389915,-0.04006669559046973,0.004299697954241647,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.256494077385934,0.8983857447133974,-3.3352375671492154,0.5278605585791767,2.5473419187929687,0.5632780245656277,1.5873005668497482,-3.895436030482298,4.922538133998963,4.922538133998963,5.22110591213719,0,0,-0.0002480608044211615,-9.998949865164803e-05
+19587,1792824336662176937,3015983000000,1792824336659893073,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6762603198638653,-0.00487775444757871,0.0960321031356322,0.9999999231946811,-0.00011656560322111696,0.00030075903718183703,0.00020250915508201824,0.6761,-0.0045,0.09555366772336003,1.0,0.0,0.0,0.0,-0.3964801096868342,0.17625014689465202,3.954736087529422,0.010379553525987323,0.03253469110918373,0.0014010747299158192,0.7185181629054236,1.0133472101498284,4.203672154013457,0.08389677783527127,-0.04005832342248771,0.004251744694403812,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.343585295920604,0.8539423831739235,-3.4254870283356937,0.558343856003032,2.626979142839079,0.5367142890188843,1.5873005668497482,-3.954736087529422,5.012787595185442,5.012787595185442,5.299855912137007,0,0,-0.0002643767083685119,-9.999999025923074e-05
+19656,1792824337237198634,3016558000000,1792824337235893513,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.676267850134846,-0.004876916337607354,0.09588836620909137,0.9999999172753826,-0.00015709250367531433,0.00031460772499994295,0.00018230747908984238,0.6761,-0.0045,0.09539567795281403,1.0,0.0,0.0,0.0,-0.387235805172368,0.1896274070805679,4.007037978175724,0.010363278003010942,0.03251712425519207,0.002274401566892863,0.7277624674198898,1.0267244703357443,4.255974044659759,0.0838805023122949,-0.04007589027647937,0.005125071531380856,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.3650609277377743,0.8406204419322525,-3.4955109809656197,0.5783956118443409,2.6779334558970413,0.5270007981887652,1.5873005668497482,-4.007037978175724,5.082811547815368,5.082811547815368,5.386105912136806,0,0,-0.0002851972022807888,-9.87036938556784e-05
+19717,1792824337745142351,3017066000000,1792824337743892745,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6762795272036201,-0.0048766577982924135,0.09574960005858561,0.9999999099695648,-0.00018149242261381992,0.0003289464064187354,0.00017423687532646553,0.6761,-0.0045,0.09524565604651992,1.0,0.0,0.0,0.0,-0.38210079461149127,0.18439549217511986,4.064238508181266,0.010351835110374949,0.032505121700572126,0.0023374643607011955,0.7328974779807665,1.0214925554302963,4.313174574665301,0.0838690594196589,-0.040087892831099314,0.005188134325189189,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.4165832639148017,0.8763938732808977,-3.6303916644117247,0.5755260808851161,2.781702051739428,0.5588650492976492,1.5873005668497482,-4.064238508181266,5.217692231261473,5.217692231261473,5.462305912136628,0,0,-0.00030557781976051226,6.872335619879095e-05
+19780,1792824338270198915,3017591000000,1792824338263902515,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.676278536511909,-0.004887681398185318,0.09558672441357079,0.9999999139757514,-0.00013874681138484213,0.0003307615249885649,0.00018664803775256876,0.6761,-0.0045,0.09508059088226667,1.0,0.0,0.0,0.0,-0.3735115329686125,0.1778554849392322,4.123674466519851,0.008303793833056072,0.032529264866466776,0.0020390047953923636,0.7414867396236453,1.0149525481944086,4.372610533003885,0.08182101814234002,-0.040063749665204665,0.004889674759880357,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.39617318177947,0.8885503779879564,-3.647762304140244,0.57273781638383,2.7963631973780734,0.5728152924406135,1.5873005668497482,-4.123674466519851,5.235062870989992,5.235062870989992,5.541055912136445,0,0,-0.0003255163745178021,-9.480807391793462e-05
+19835,1792824338728211915,3018049000000,1792824338727892771,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6762826956425361,-0.004891340986265931,0.09544189396462072,0.9999999077540824,-0.00014394156602469825,0.0003397446570118539,0.00019947201435569943,0.6761,-0.0045,0.09492694180935103,1.0,0.0,0.0,0.0,-0.37294304284668034,0.15495220865297932,4.164301205558516,0.007277013767596832,0.03254681077857997,0.0012122816057527257,0.7420552297455775,0.9920492719081557,4.413237272042551,0.08079423807688078,-0.040046203753091474,0.004062951570240719,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.415821504388981,0.8895523741259099,-3.6414080399033177,0.5857614609484874,2.8016259667661076,0.5782410973467075,1.5873005668497482,-4.164301205558516,5.228708606753066,5.228708606753066,5.6097559121362846,0,0,-0.00034544152340973264,-9.999980984798924e-05
+19888,1792824339170230063,3018491000000,1792824339167892698,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6762766503130769,-0.00489188918965194,0.09527679395554588,0.9999999053628165,-0.0002040665964574002,0.0003322884920192157,0.00016928793374170462,0.6761,-0.0045,0.09476984849171964,1.0,0.0,0.0,0.0,-0.32910470894669297,0.16021533704783375,4.222928716513402,0.0072816779572950074,0.030550508487242944,0.0021476930464197448,0.7858935636455648,0.9973124003030102,4.471864782997437,0.08079890226657896,-0.042042506044428496,0.004998363010907738,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.4009063353013254,0.8942364233201275,-3.685670962205864,0.6019279270964943,2.836919011494855,0.5785997372157633,1.5873005668497482,-4.222928716513402,5.272971529055612,5.272971529055612,5.67605591213613,0,0,-0.00036585690490617404,-9.999999025923074e-05
+19935,1792824339562216965,3018883000000,1792824339559892885,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6762983783901926,-0.0048927199616652026,0.09514285600378092,0.9999998943946516,-0.00019187750317296813,0.00035722378072696294,0.00019551916539760103,0.6761,-0.0045,0.094622847196546,1.0,0.0,0.0,0.0,-0.3552086409437283,0.1803134721961399,4.226197199794486,0.008054070796749704,0.03250157048143057,0.0021839414375522496,0.7597896316485295,1.0174105354513163,4.475133266278521,0.08157129510603366,-0.04009144405024087,0.005034611402040243,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.539125679231601,0.8376701517989149,-3.718097706133982,0.5960700147127079,2.8966551608653393,0.5462798947350878,1.5873005668497482,-4.226197199794486,5.30539827298373,5.30539827298373,5.734855912135993,0,0,-0.00038433417102609466,-9.999999025923074e-05
+19980,1792824339937221496,3019258000000,1792824339935902479,DOWN_FORCE_DETACH,3,0.069,0.06900253146886826,0.6762894522596347,-0.004898836224028539,0.09498552053000552,0.9999999078521485,-9.111573656235772e-05,0.00034360410282726164,0.0002221996893393722,0.6761,-0.0045,0.09447521563309794,1.0,0.0,0.0,0.0,-0.35372867253105045,0.15659416889391087,4.273047250039009,0.0052497706314440645,0.03255371428110226,0.002102726910096205,0.7612696000612074,0.9936912321490873,4.521983316523044,0.07876699494072802,-0.04003930025056918,0.004953396874584198,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.5045188377758807,0.8406445017031388,-3.784553814650834,0.6004333003517236,2.937094065545312,0.5583817344443964,1.5873005668497482,-4.273047250039009,5.371854381500582,5.371854381500582,5.791105912135862,0,0,-0.0004030841673733062,-9.999999025923074e-05
+20025,1792824340312140595,3019633000000,1792824340311892506,DOWN_FORCE_DETACH,3,0.069,0.06900187581777573,0.6763012328036718,-0.004887434371773789,0.09483922849936197,0.9999998994746884,-0.0001715737460793546,0.00036486240906037924,0.00017300678926235612,0.6761,-0.0045,0.09432055282101967,1.0,0.0,0.0,0.0,-0.30697227752072587,0.18336993541037727,4.285312879230105,0.007688007354710147,0.03010906806526864,0.001980283634814903,0.8080259950715319,1.0204669986655537,4.53424894571414,0.0812052316639941,-0.0424839464664028,0.004830953599302896,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.490887192217572,0.901854430686738,-3.7071263337308946,0.5550972463419815,2.899253644542251,0.6080773318229293,1.5873005668497482,-4.285312879230105,5.294426900580643,5.294426900580643,5.847355912135731,0,0,-0.0004218341637205177,-9.999999025923074e-05
+20073,1792824340706201292,3020027000000,1792824340703902410,DOWN_SETTLE,3,0.069,0.06900253146886826,0.6762965731746609,-0.004879586337537013,0.09467332416414435,0.9999998986253795,-0.00016408510544850156,0.00035740161115358204,0.0001988272148056239,0.6761,-0.0045,0.09416203086886395,1.0,0.0,0.0,0.0,-0.28121185571817264,0.18962529488786228,4.305402173366908,0.007356008410098522,0.02848487728348955,0.0020559299145605217,0.8337864168740852,1.0267223581430387,4.554338239850943,0.08087323271938247,-0.04410813724818189,0.004906599879048515,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.4860176782222143,0.9088013782599967,-3.7019175278517027,0.588182531558025,2.8947891242679114,0.6006392745570379,1.5873005668497482,-4.305402173366908,5.289218094701451,0.0,0.0,0,0,-0.00019873490998224385,0.0020074233331539783
+20168,1792824341497141602,3020818000000,1792824341491892945,DOWN_PEAK_HOLD,3,0.069,0.06900253146886826,0.6762796073617815,-0.004879032423500324,0.09460489079620754,0.9999999087996312,-0.00016439834513633478,0.00032451495378651275,0.00020373223240894252,0.6761,-0.0045,0.09414323628137938,1.0,0.0,0.0,0.0,-0.24987262107125296,0.14904786496196742,4.04468749795663,0.0054521433562044475,0.025514733641078653,0.0011725101059896362,0.8651256515210048,0.9861449282171438,4.293623564440665,0.0789693676654884,-0.04707828089059279,0.004023180070477629,1.1149982725922578,0.8370970632551764,0.24893606648403513,0.07351722430928395,-0.07259301453167144,0.002850669964487993,1,2.316693654954658,0.8825675216485768,-3.4126590577686775,0.5921118590963254,2.6917802408209646,0.5805835903722294,1.5873005668497482,-4.04468749795663,4.999959624618426,0.0,0.0,0,0,0.0,0.0

Part2/Fixed/digit/cylinder_0050_17.5/press_depth_03/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792824301787912058,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.349063639e-09,-2.336581068e-10,-7.191389706e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027450424e-01,-1.183429910e-04,8.303261535e-01
+1,8.500000000e-01,DOWN_FORCE_DETACH,1792824302688883857,2.333731905e-06,-1.054362441e-06,3.755083006e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.061189423e-08,-9.129046505e-09,-2.726740789e-08,7.019579316e-01,-2.303941702e-05,8.601471410e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027450917e-01,-1.183518864e-04,8.303261270e-01
+2,1.733333333e+00,DOWN_FORCE_DETACH,1792824303556961099,3.020324124e-06,-4.636875296e-06,-2.062953771e-05,1.677084930e-06,4.923523396e-07,-2.123166685e-05,1.576296048e-06,5.170083435e-07,-2.120368999e-05,7.019586182e-01,-2.662192988e-05,8.601227564e-01,7.019572750e-01,-2.149270224e-05,8.601221542e-01,7.027466174e-01,-1.178257490e-04,8.303049506e-01
+3,2.350000000e+00,DOWN_FORCE_DETACH,1792824304293753040,1.313974436e-05,-8.745004908e-06,-6.904403937e-05,9.869351627e-06,-3.441233900e-06,-6.359876024e-05,9.866108424e-06,-3.488438403e-06,-6.337629366e-05,7.019687376e-01,-3.073005949e-05,8.600743419e-01,7.019654672e-01,-2.542628848e-05,8.600797872e-01,7.027549072e-01,-1.218311957e-04,8.302627780e-01
+4,3.100000000e+00,DOWN_FORCE_DETACH,1792824305081897080,5.006851735e-06,-1.210533980e-05,-1.305002988e-04,4.051746758e-06,-8.265342744e-06,-1.268360213e-04,2.836790940e-06,-8.323068307e-06,-1.265610655e-04,7.019606047e-01,-3.409039438e-05,8.600128856e-01,7.019596496e-01,-3.025039732e-05,8.600165499e-01,7.027478778e-01,-1.266658256e-04,8.301995932e-01
+5,3.800000000e+00,DOWN_FORCE_DETACH,1792824305820621457,1.896603845e-06,-2.019332187e-05,-1.753287622e-04,7.920153425e-07,-1.245075721e-05,-1.692867769e-04,-1.203396574e-06,-1.255383085e-05,-1.690383666e-04,7.019574945e-01,-4.217837645e-05,8.599680572e-01,7.019563899e-01,-3.443581179e-05,8.599740991e-01,7.027438377e-01,-1.308965881e-04,8.301571159e-01
+6,4.550000000e+00,DOWN_FORCE_DETACH,1792824306570784489,6.406010341e-06,-1.770582444e-05,-2.176655941e-04,5.725282886e-06,-1.953968569e-05,-2.110808597e-04,3.614826850e-06,-1.969475382e-05,-2.108086411e-04,7.019620039e-01,-3.969087902e-05,8.599257203e-01,7.019613231e-01,-4.152474027e-05,8.599323051e-01,7.027486559e-01,-1.380375111e-04,8.301153456e-01
+7,5.283333333e+00,DOWN_FORCE_DETACH,1792824307357327165,1.108850461e-05,-2.469860230e-05,-2.610831440e-04,8.467355899e-06,-2.514426816e-05,-2.493705028e-04,6.036914261e-06,-2.536183207e-05,-2.491389677e-04,7.019666864e-01,-4.668365688e-05,8.598823028e-01,7.019640652e-01,-4.712932274e-05,8.598940154e-01,7.027510780e-01,-1.437045894e-04,8.300770153e-01
+8,6.016666667e+00,DOWN_FORCE_DETACH,1792824308159619707,8.350896677e-06,-2.402291525e-05,-3.318657216e-04,8.471763416e-06,-2.529244910e-05,-3.135788694e-04,5.307816960e-06,-2.551210298e-05,-3.133123813e-04,7.019639488e-01,-4.600796983e-05,8.598115202e-01,7.019640696e-01,-4.727750368e-05,8.598298070e-01,7.027503489e-01,-1.438548603e-04,8.300128419e-01
+9,6.833333333e+00,DOWN_FORCE_DETACH,1792824309177195101,1.645833869e-05,-3.281150803e-05,-4.077233670e-04,1.284657088e-05,-3.215421195e-05,-3.893890172e-04,9.013204146e-06,-3.241741141e-05,-3.890451972e-04,7.019720562e-01,-5.479656261e-05,8.597356625e-01,7.019684444e-01,-5.413926653e-05,8.597539969e-01,7.027540543e-01,-1.507601687e-04,8.299371090e-01
+10,7.600000000e+00,DOWN_FORCE_DETACH,1792824309961867032,1.747910092e-05,-3.677288581e-05,-4.768158874e-04,1.745154512e-05,-3.346571103e-05,-4.572641981e-04,1.318988101e-05,-3.372061662e-05,-4.569563147e-04,7.019730770e-01,-5.875794038e-05,8.596665700e-01,7.019730494e-01,-5.545076561e-05,8.596861217e-01,7.027582309e-01,-1.520633739e-04,8.298691979e-01
+11,7.866666667e+00,DOWN_FORCE_DETACH,1792824310223896275,7.638508175e-05,-2.877860835e-05,-4.578219390e-04,7.647527946e-05,-2.887674494e-05,-4.574882941e-04,7.670146252e-05,-2.908894688e-05,-4.571478124e-04,7.020319829e-01,-5.076366293e-05,8.596855640e-01,7.020320731e-01,-5.086179952e-05,8.596858976e-01,7.028217425e-01,-1.474317042e-04,8.298690064e-01
+12,8.466666667e+00,DOWN_FORCE_DETACH,1792824310846940171,8.938487200e-05,-3.503837399e-05,-4.961983656e-04,8.736317676e-05,-3.778639062e-05,-4.938691960e-04,8.801886026e-05,-3.810050431e-05,-4.934960799e-04,7.020449827e-01,-5.702342857e-05,8.596471876e-01,7.020429610e-01,-5.977144520e-05,8.596495167e-01,7.028330599e-01,-1.564432616e-04,8.298326582e-01
+13,8.966666667e+00,DOWN_FORCE_DETACH,1792824311337460602,1.004712551e-04,-5.726639484e-06,-5.484676141e-04,9.523536043e-05,-9.079084853e-06,-5.373731721e-04,9.605305221e-05,-9.187648696e-06,-5.369719144e-04,7.020560691e-01,-2.771169406e-05,8.595949183e-01,7.020508332e-01,-3.106413943e-05,8.596060127e-01,7.028410941e-01,-1.275304060e-04,8.297891823e-01
+14,9.733333333e+00,DOWN_FORCE_DETACH,1792824312107249023,1.068841339e-04,-1.538881491e-05,-6.514255002e-04,1.069372273e-04,-1.833806038e-05,-6.414753207e-04,1.074523224e-04,-1.848570529e-05,-6.409015221e-04,7.020624820e-01,-3.737386949e-05,8.594919604e-01,7.020625351e-01,-4.032311496e-05,8.595019106e-01,7.028524934e-01,-1.368284626e-04,8.296852527e-01
+15,1.050000000e+01,DOWN_FORCE_DETACH,1792824312861159943,1.151181196e-04,-2.413416145e-05,-7.388606028e-04,1.105315552e-04,-2.215875642e-05,-7.236182134e-04,1.103148640e-04,-2.234146273e-05,-7.230561397e-04,7.020707160e-01,-4.611921603e-05,8.594045253e-01,7.020661294e-01,-4.414381100e-05,8.594197677e-01,7.028553559e-01,-1.406842200e-04,8.296030981e-01
+16,1.128333333e+01,DOWN_FORCE_DETACH,1792824313630583130,1.234723935e-04,-3.222479913e-05,-8.054944549e-04,1.211274599e-04,-2.558435898e-05,-8.058886955e-04,1.207223605e-04,-2.580032672e-05,-8.053576584e-04,7.020790703e-01,-5.420985371e-05,8.593378915e-01,7.020767253e-01,-4.756941356e-05,8.593374972e-01,7.028657634e-01,-1.441430840e-04,8.295207966e-01
+17,1.211666667e+01,DOWN_FORCE_DETACH,1792824314449650432,1.308365061e-04,-2.596495316e-05,-8.561159063e-04,1.264199182e-04,-2.764454665e-05,-8.485157604e-04,1.259862281e-04,-2.787286760e-05,-8.481524885e-04,7.020864344e-01,-4.795000774e-05,8.592872700e-01,7.020820178e-01,-4.962960123e-05,8.592948702e-01,7.028710273e-01,-1.462156249e-04,8.294780018e-01
+18,1.290000000e+01,DOWN_FORCE_DETACH,1792824315219814500,1.347441237e-04,-2.594072190e-05,-9.026681130e-04,1.327751237e-04,-2.836820940e-05,-8.923885170e-04,1.322655237e-04,-2.860298344e-05,-8.920504743e-04,7.020903420e-01,-4.792577648e-05,8.592407178e-01,7.020883730e-01,-5.035326398e-05,8.592509974e-01,7.028773066e-01,-1.469457407e-04,8.294341038e-01
+19,1.371666667e+01,DOWN_FORCE_DETACH,1792824316022716086,1.424885582e-04,-2.788449469e-05,-9.573351780e-04,1.393691925e-04,-3.146739712e-05,-9.548171783e-04,1.386015572e-04,-3.176983257e-05,-9.544094095e-04,7.020980864e-01,-4.986954927e-05,8.591860507e-01,7.020949671e-01,-5.345245170e-05,8.591885687e-01,7.028836426e-01,-1.501125899e-04,8.293717448e-01
+20,1.445000000e+01,DOWN_FORCE_DETACH,1792824316775638900,1.508030489e-04,-3.299030404e-05,-1.027325421e-03,1.457413821e-04,-3.145422898e-05,-1.017127812e-03,1.447209832e-04,-3.174050239e-05,-1.016749148e-03,7.021064009e-01,-5.497535862e-05,8.591160605e-01,7.021013392e-01,-5.343928356e-05,8.591262581e-01,7.028897620e-01,-1.500832597e-04,8.293094051e-01
+21,1.520000000e+01,DOWN_FORCE_DETACH,1792824317546389546,1.600006571e-04,-3.242527033e-05,-1.102800172e-03,1.598818140e-04,-3.275684856e-05,-1.102474972e-03,1.589443424e-04,-3.303295823e-05,-1.101961307e-03,7.021155985e-01,-5.441032491e-05,8.590405857e-01,7.021154797e-01,-5.474190314e-05,8.590409109e-01,7.029039854e-01,-1.513757155e-04,8.292241929e-01
+22,1.598333333e+01,DOWN_FORCE_DETACH,1792824318331711066,1.704577444e-04,-4.086514779e-05,-1.176683464e-03,1.666978472e-04,-3.534793567e-05,-1.165736940e-03,1.655736299e-04,-3.564548347e-05,-1.165300880e-03,7.021260556e-01,-6.285020237e-05,8.589667025e-01,7.021222957e-01,-5.733299025e-05,8.589776490e-01,7.029106147e-01,-1.539882408e-04,8.291608534e-01
+23,1.660000000e+01,DOWN_FORCE_DETACH,1792824318938856896,1.781184086e-04,-4.066807107e-05,-1.240725330e-03,1.754498268e-04,-3.960172657e-05,-1.233639410e-03,1.741583208e-04,-3.990933648e-05,-1.233178886e-03,7.021337163e-01,-6.265312565e-05,8.589026606e-01,7.021310477e-01,-6.158678115e-05,8.589097465e-01,7.029191994e-01,-1.582520938e-04,8.290929754e-01
+24,1.730000000e+01,DOWN_FORCE_DETACH,1792824319642400994,1.852196527e-04,-4.009218673e-05,-1.309032832e-03,1.844442957e-04,-3.937668907e-05,-1.296586798e-03,1.830549571e-04,-3.967577071e-05,-1.296145228e-03,7.021408175e-01,-6.207724131e-05,8.588343531e-01,7.021400422e-01,-6.136174365e-05,8.588467991e-01,7.029280960e-01,-1.580185280e-04,8.290300090e-01
+25,1.798333333e+01,DOWN_FORCE_DETACH,1792824320313718281,1.949537880e-04,-4.151338492e-05,-1.374578734e-03,1.911327539e-04,-4.455723028e-05,-1.360565747e-03,1.895142812e-04,-4.492975002e-05,-1.360103719e-03,7.021505517e-01,-6.349843950e-05,8.587688072e-01,7.021467306e-01,-6.654228485e-05,8.587828202e-01,7.029345553e-01,-1.632725073e-04,8.289660505e-01
+26,1.866666667e+01,DOWN_FORCE_DETACH,1792824321018263113,2.043336732e-04,-4.639257848e-05,-1.443705366e-03,2.025373915e-04,-4.474332782e-05,-1.424211959e-03,2.010561466e-04,-4.509558895e-05,-1.423770093e-03,7.021599315e-01,-6.837763306e-05,8.586996806e-01,7.021581353e-01,-6.672838240e-05,8.587191740e-01,7.029460972e-01,-1.634383463e-04,8.289023842e-01
+27,1.935000000e+01,DOWN_FORCE_DETACH,1792824321706491493,2.112948161e-04,-4.975031210e-05,-1.514344385e-03,2.096519180e-04,-4.795565752e-05,-1.506149020e-03,2.077369596e-04,-4.834811206e-05,-1.505664440e-03,7.021668927e-01,-7.173536668e-05,8.586290415e-01,7.021652498e-01,-6.994071210e-05,8.586372369e-01,7.029527780e-01,-1.666908694e-04,8.288204898e-01
+28,2.010000000e+01,DOWN_FORCE_DETACH,1792824322443163096,2.187895308e-04,-5.028488263e-05,-1.586290816e-03,2.156586427e-04,-4.642447663e-05,-1.568342239e-03,2.134529198e-04,-4.678434706e-05,-1.567906035e-03,7.021743874e-01,-7.226993721e-05,8.585570951e-01,7.021712565e-01,-6.840953121e-05,8.585750437e-01,7.029584940e-01,-1.651271044e-04,8.287582482e-01
+29,2.085000000e+01,DOWN_FORCE_DETACH,1792824323240089800,2.292747331e-04,-5.150825667e-05,-1.667227428e-03,2.256706381e-04,-5.154602375e-05,-1.651391885e-03,2.232040092e-04,-5.197079773e-05,-1.650943247e-03,7.021848726e-01,-7.349331125e-05,8.584761585e-01,7.021812685e-01,-7.353107833e-05,8.584919940e-01,7.029682451e-01,-1.703135550e-04,8.286752110e-01
+30,2.150000000e+01,DOWN_FORCE_DETACH,1792824323967177356,2.370334750e-04,-5.400240180e-05,-1.740546466e-03,2.338762237e-04,-5.190393562e-05,-1.736005999e-03,2.310283946e-04,-5.229973156e-05,-1.735518815e-03,7.021926313e-01,-7.598745638e-05,8.584028395e-01,7.021894741e-01,-7.388899020e-05,8.584073799e-01,7.029760695e-01,-1.706424889e-04,8.285906354e-01
+31,2.220000000e+01,DOWN_FORCE_DETACH,1792824324671652312,2.443587429e-04,-5.733769396e-05,-1.813362543e-03,2.397246472e-04,-6.003146668e-05,-1.799810900e-03,2.366099026e-04,-6.050944035e-05,-1.799372444e-03,7.021999566e-01,-7.932274854e-05,8.583300234e-01,7.021953225e-01,-8.201652126e-05,8.583435750e-01,7.029816510e-01,-1.788521977e-04,8.285267818e-01
+32,2.303333333e+01,DOWN_FORCE_DETACH,1792824325490070962,2.530316722e-04,-6.081593476e-05,-1.899686517e-03,2.502049007e-04,-6.045601111e-05,-1.883870981e-03,2.469020357e-04,-6.092356743e-05,-1.883438092e-03,7.022086295e-01,-8.280098934e-05,8.582436994e-01,7.022058028e-01,-8.244106569e-05,8.582595149e-01,7.029919431e-01,-1.792663247e-04,8.284427162e-01
+33,2.378333333e+01,DOWN_FORCE_DETACH,1792824326243272884,2.632916561e-04,-5.886405225e-05,-1.980568932e-03,2.598532833e-04,-6.370871295e-05,-1.964536614e-03,2.562835252e-04,-6.419535225e-05,-1.964153841e-03,7.022188895e-01,-8.084910683e-05,8.581628170e-01,7.022154512e-01,-8.569376753e-05,8.581788493e-01,7.030013246e-01,-1.825381096e-04,8.283620004e-01
+34,2.443333333e+01,DOWN_FORCE_DETACH,1792824326915794093,2.682412582e-04,-6.437394465e-05,-2.064044402e-03,2.675639017e-04,-6.343981271e-05,-2.046945771e-03,2.636144838e-04,-6.393331844e-05,-2.046504101e-03,7.022238391e-01,-8.635899923e-05,8.580793415e-01,7.022231618e-01,-8.542486729e-05,8.580964401e-01,7.030086555e-01,-1.822760757e-04,8.282796501e-01
+35,2.513333333e+01,DOWN_FORCE_DETACH,1792824327684843967,2.808279456e-04,-6.604503119e-05,-2.149601502e-03,2.806405594e-04,-6.624504924e-05,-2.150021940e-03,2.763942101e-04,-6.676328570e-05,-2.149509448e-03,7.022364258e-01,-8.803008577e-05,8.579937844e-01,7.022362384e-01,-8.823010382e-05,8.579933640e-01,7.030214353e-01,-1.851060430e-04,8.281766448e-01
+36,2.591666667e+01,DOWN_FORCE_DETACH,1792824328454696509,2.899328496e-04,-7.112564713e-05,-2.250468741e-03,2.857719885e-04,-6.720680479e-05,-2.235910499e-03,2.809783949e-04,-6.777977589e-05,-2.235470356e-03,7.022455307e-01,-9.311070171e-05,8.578929172e-01,7.022413699e-01,-8.919185937e-05,8.579074754e-01,7.030260195e-01,-1.861225332e-04,8.280906839e-01
+37,2.660000000e+01,DOWN_FORCE_DETACH,1792824329143657940,2.997855769e-04,-6.759164261e-05,-2.342382075e-03,2.997384287e-04,-6.756175939e-05,-2.342561516e-03,2.946961427e-04,-6.810054542e-05,-2.342010901e-03,7.022553834e-01,-8.957669719e-05,8.578010038e-01,7.022553363e-01,-8.954681397e-05,8.578008244e-01,7.030397372e-01,-1.864433027e-04,8.279841433e-01
+38,2.725000000e+01,DOWN_FORCE_DETACH,1792824329781774553,3.024874243e-04,-7.334232262e-05,-2.433944392e-03,3.015865233e-04,-7.079840404e-05,-2.423879347e-03,2.957538270e-04,-7.134995674e-05,-2.423367657e-03,7.022580853e-01,-9.532737720e-05,8.577094415e-01,7.022571844e-01,-9.278345862e-05,8.577195066e-01,7.030407949e-01,-1.896927140e-04,8.279027866e-01
+39,2.786666667e+01,DOWN_FORCE_DETACH,1792824330404854568,3.126131233e-04,-6.803190112e-05,-2.512645134e-03,3.104251429e-04,-6.954220015e-05,-2.508010835e-03,3.042592343e-04,-7.008168139e-05,-2.507483973e-03,7.022682110e-01,-9.001695570e-05,8.576307408e-01,7.022660230e-01,-9.152725473e-05,8.576353751e-01,7.030493003e-01,-1.884244387e-04,8.278186703e-01
+40,2.851666667e+01,DOWN_FORCE_DETACH,1792824331058222302,3.168464754e-04,-6.666520268e-05,-2.616236208e-03,3.160257989e-04,-6.689824035e-05,-2.611260102e-03,3.091044156e-04,-6.745472089e-05,-2.610675188e-03,7.022724443e-01,-8.865025726e-05,8.575271497e-01,7.022716237e-01,-8.888329493e-05,8.575321258e-01,7.030541455e-01,-1.857974782e-04,8.277154791e-01
+41,2.916666667e+01,DOWN_FORCE_DETACH,1792824331697772066,3.253100027e-04,-6.328521475e-05,-2.705716959e-03,3.237632242e-04,-6.565001028e-05,-2.699934735e-03,3.163054215e-04,-6.618082074e-05,-2.699424512e-03,7.022809079e-01,-8.527026933e-05,8.574376690e-01,7.022793611e-01,-8.763506486e-05,8.574434512e-01,7.030613465e-01,-1.845235780e-04,8.276267297e-01
+42,2.980000000e+01,DOWN_FORCE_DETACH,1792824332337582182,3.352270553e-04,-6.830409688e-05,-2.807798884e-03,3.344926145e-04,-7.118086526e-05,-2.788704670e-03,3.268344424e-04,-7.176223844e-05,-2.788239139e-03,7.022908249e-01,-9.028915146e-05,8.573355870e-01,7.022900905e-01,-9.316591984e-05,8.573546812e-01,7.030718755e-01,-1.901049957e-04,8.275379151e-01
+43,3.045000000e+01,DOWN_FORCE_DETACH,1792824333009020685,3.412492021e-04,-6.953188866e-05,-2.922218085e-03,3.410067468e-04,-6.942465338e-05,-2.922200931e-03,3.322560737e-04,-6.995989578e-05,-2.921565352e-03,7.022968471e-01,-9.151694324e-05,8.572211678e-01,7.022966046e-01,-9.140970796e-05,8.572211850e-01,7.030772971e-01,-1.883026531e-04,8.274045889e-01
+44,3.111666667e+01,DOWN_FORCE_DETACH,1792824333680080561,3.488262025e-04,-8.057160558e-05,-3.041131473e-03,3.510668038e-04,-7.457507745e-05,-3.028341107e-03,3.418149502e-04,-7.513805870e-05,-3.027695905e-03,7.023044241e-01,-1.025566602e-04,8.571022544e-01,7.023066647e-01,-9.656013203e-05,8.571150448e-01,7.030868560e-01,-1.934808160e-04,8.272984583e-01
+45,3.161666667e+01,DOWN_FORCE_DETACH,1792824334384161159,3.600077419e-04,-6.917577322e-05,-3.171703514e-03,3.567282439e-04,-6.573319179e-05,-3.170792514e-03,3.462001671e-04,-6.622746877e-05,-3.170022358e-03,7.023156056e-01,-9.116082779e-05,8.569716824e-01,7.023123261e-01,-8.771824637e-05,8.569725934e-01,7.030912412e-01,-1.845702261e-04,8.271561319e-01
+46,3.220000000e+01,DOWN_FORCE_DETACH,1792824335006797550,3.605571580e-04,-7.739018716e-05,-3.304872628e-03,3.602790391e-04,-7.762208690e-05,-3.304725091e-03,3.484598680e-04,-7.824093707e-05,-3.303933689e-03,7.023161550e-01,-9.937524174e-05,8.568385133e-01,7.023158769e-01,-9.960714148e-05,8.568386608e-01,7.030935009e-01,-1.965836944e-04,8.270222206e-01
+47,3.278333333e+01,DOWN_FORCE_DETACH,1792824335597186982,3.649982082e-04,-8.156414772e-05,-3.432354144e-03,3.658222320e-04,-8.413539598e-05,-3.415908763e-03,3.531006520e-04,-8.477659054e-05,-3.415246591e-03,7.023205961e-01,-1.035492023e-04,8.567110318e-01,7.023214201e-01,-1.061204506e-04,8.567274772e-01,7.030981417e-01,-2.031193478e-04,8.269109077e-01
+48,3.331666667e+01,DOWN_FORCE_DETACH,1792824336137301725,3.687349809e-04,-9.211344858e-05,-3.557598796e-03,3.686784497e-04,-9.108894541e-05,-3.551159650e-03,3.545850395e-04,-9.176059486e-05,-3.550445852e-03,7.023243328e-01,-1.140985032e-04,8.565857871e-01,7.023242763e-01,-1.130740000e-04,8.565922263e-01,7.030996261e-01,-2.101033522e-04,8.267757084e-01
+49,3.383333333e+01,DOWN_FORCE_DETACH,1792824336660925548,3.733446010e-04,-9.559230743e-05,-3.683626475e-03,3.725743395e-04,-9.430837710e-05,-3.679360872e-03,3.572454958e-04,-9.500582379e-05,-3.678672343e-03,7.023289425e-01,-1.175773620e-04,8.564597594e-01,7.023281722e-01,-1.162934317e-04,8.564640250e-01,7.031022866e-01,-2.133485811e-04,8.266474819e-01
+50,3.433333333e+01,DOWN_FORCE_DETACH,1792824337235103577,3.824897150e-04,-9.869987884e-05,-3.823562791e-03,3.802740543e-04,-9.386586271e-05,-3.814337104e-03,3.638929893e-04,-9.453676971e-05,-3.813603010e-03,7.023380876e-01,-1.206849334e-04,8.563198231e-01,7.023358719e-01,-1.158509173e-04,8.563290488e-01,7.031089340e-01,-2.128795270e-04,8.265125512e-01
+51,3.483333333e+01,DOWN_FORCE_DETACH,1792824337743530179,3.938821585e-04,-9.172736050e-05,-3.965737380e-03,3.921431394e-04,-9.224395211e-05,-3.953817072e-03,3.750274744e-04,-9.289191258e-05,-3.953072102e-03,7.023494800e-01,-1.137124151e-04,8.561776485e-01,7.023477410e-01,-1.142290067e-04,8.561895688e-01,7.031200685e-01,-2.112346699e-04,8.263730821e-01
+52,3.533333333e+01,DOWN_FORCE_DETACH,1792824338266461219,3.950898704e-04,-1.022790451e-04,-4.123231837e-03,3.935778773e-04,-1.032655281e-04,-4.114374669e-03,3.747292451e-04,-1.039978078e-04,-4.113528910e-03,7.023506877e-01,-1.242640996e-04,8.560201541e-01,7.023491757e-01,-1.252505827e-04,8.560290112e-01,7.031197703e-01,-2.223405651e-04,8.262126253e-01
+53,3.580000000e+01,DOWN_FORCE_DETACH,1792824338727004469,3.958973104e-04,-1.104027116e-04,-4.275423925e-03,3.958842546e-04,-1.105292230e-04,-4.274866797e-03,3.751988484e-04,-1.113495857e-04,-4.274017505e-03,7.023514952e-01,-1.323877662e-04,8.558679620e-01,7.023514821e-01,-1.325142776e-04,8.558685191e-01,7.031202399e-01,-2.296923430e-04,8.260521367e-01
+54,3.621666667e+01,DOWN_FORCE_DETACH,1792824339167605364,3.878423129e-04,-1.032830986e-04,-4.439977266e-03,3.876901920e-04,-1.033524728e-04,-4.440026877e-03,3.645775846e-04,-1.041171821e-04,-4.439054142e-03,7.023434402e-01,-1.252681532e-04,8.557034086e-01,7.023432881e-01,-1.253375274e-04,8.557033590e-01,7.031096186e-01,-2.224599394e-04,8.258871001e-01
+55,3.661666667e+01,DOWN_FORCE_DETACH,1792824339560893930,4.098253563e-04,-1.113555807e-04,-4.575082042e-03,4.095256995e-04,-1.113734395e-04,-4.574960347e-03,3.863605931e-04,-1.121558013e-04,-4.574005918e-03,7.023654232e-01,-1.333406352e-04,8.555683039e-01,7.023651236e-01,-1.333584941e-04,8.555684256e-01,7.031314017e-01,-2.304985586e-04,8.257521483e-01
+56,3.700000000e+01,DOWN_FORCE_DETACH,1792824339937764704,4.032432950e-04,-1.160923693e-04,-4.731152660e-03,4.054444759e-04,-1.195559791e-04,-4.714909652e-03,3.803430438e-04,-1.204264254e-04,-4.714001331e-03,7.023588412e-01,-1.380774238e-04,8.554122333e-01,7.023610423e-01,-1.415410337e-04,8.554284763e-01,7.031253841e-01,-2.387691827e-04,8.256121529e-01
+57,3.736666667e+01,DOWN_FORCE_DETACH,1792824340314451560,4.153060042e-04,-1.040373718e-04,-4.876671138e-03,4.129717803e-04,-1.042954125e-04,-4.858715583e-03,3.867418184e-04,-1.050470656e-04,-4.857804487e-03,7.023709039e-01,-1.260224264e-04,8.552667148e-01,7.023685696e-01,-1.262804671e-04,8.552846703e-01,7.031317829e-01,-2.233898229e-04,8.254683498e-01
+58,3.771666667e+01,DOWN_SETTLE,1792824340707621891,4.109627309e-04,-9.517104331e-05,-5.042015659e-03,4.104392500e-04,-1.027502400e-04,-5.036184620e-03,3.819610748e-04,-1.035023487e-04,-5.035129555e-03,7.023665606e-01,-1.171560979e-04,8.551013703e-01,7.023660371e-01,-1.247352946e-04,8.551072013e-01,7.031270021e-01,-2.218451060e-04,8.252910247e-01
+59,3.846666667e+01,DOWN_PEAK_HOLD,1792824341494217416,3.938241924e-04,-9.527717157e-05,-5.110984155e-03,3.979004242e-04,-9.584483377e-05,-5.101489659e-03,3.676803973e-04,-9.655908087e-05,-5.101235680e-03,7.023494221e-01,-1.172622261e-04,8.550324018e-01,7.023534983e-01,-1.178298883e-04,8.550418963e-01,7.031127215e-01,-2.149018382e-04,8.252249186e-01

Part2/Fixed/digit/cylinder_0050_17.5/press_depth_03/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.9020e-02,6.4085e-02,2.4620e+00,-4.1315e-02,3.8854e-02,6.9801e-05,2.3722e-04,-4.1865e-05,-1.3232e-04,1.8962e-06,1.7144e-05,-3.8475e-08,2.7484e-04,1.7248e-05
+1,8.5000e-01,DOWN_FORCE_DETACH,1.7808e-04,3.7692e-02,6.2449e-02,2.4572e+00,-4.1243e-02,3.9483e-02,6.6987e-05,8.9090e-03,-1.6779e-03,-4.9624e-03,7.4387e-05,6.4624e-04,-2.8533e-06,1.0335e-02,6.5052e-04
+2,1.7333e+00,DOWN_FORCE_DETACH,3.5695e-04,4.1477e-02,6.0864e-02,2.4724e+00,-4.1157e-02,3.9740e-02,6.3833e-05,1.2694e-02,-3.2624e-03,1.0215e-02,1.6036e-04,9.0331e-04,-6.0070e-06,1.6617e-02,9.1745e-04
+3,2.3500e+00,DOWN_FORCE_DETACH,5.3196e-04,3.8278e-02,6.6593e-02,2.4917e+00,-4.1549e-02,3.9486e-02,6.3466e-05,9.4945e-03,2.4658e-03,2.9516e-02,-2.3207e-04,6.4905e-04,-6.3740e-06,3.1104e-02,6.8932e-04
+4,3.1000e+00,DOWN_FORCE_DETACH,7.1212e-04,4.6494e-02,7.3998e-02,2.5118e+00,-4.2049e-02,4.0049e-02,6.1467e-05,1.7710e-02,9.8713e-03,4.9659e-02,-7.3198e-04,1.2124e-03,-8.3732e-06,5.3639e-02,1.4162e-03
+5,3.8000e+00,DOWN_FORCE_DETACH,8.8797e-04,4.9321e-02,8.0383e-02,2.5142e+00,-4.2480e-02,4.0247e-02,5.9150e-05,2.0538e-02,1.6256e-02,5.1974e-02,-1.1634e-03,1.4100e-03,-1.0690e-05,5.8201e-02,1.8280e-03
+6,4.5500e+00,DOWN_FORCE_DETACH,1.0705e-03,4.5520e-02,9.1176e-02,2.5125e+00,-4.3210e-02,3.9972e-02,5.8868e-05,1.6737e-02,2.7049e-02,5.0278e-02,-1.8929e-03,1.1356e-03,-1.0972e-05,5.9495e-02,2.2075e-03
+7,5.2833e+00,DOWN_FORCE_DETACH,1.2442e-03,4.5240e-02,9.9853e-02,2.5093e+00,-4.3797e-02,3.9954e-02,5.9610e-05,1.6456e-02,3.5726e-02,4.7081e-02,-2.4803e-03,1.1173e-03,-1.0229e-05,6.1349e-02,2.7204e-03
+8,6.0167e+00,DOWN_FORCE_DETACH,1.4237e-03,4.7693e-02,1.0100e-01,2.5229e+00,-4.3859e-02,4.0115e-02,5.8834e-05,1.8910e-02,3.6876e-02,6.0752e-02,-2.5416e-03,1.2778e-03,-1.1006e-05,7.3541e-02,2.8448e-03
+9,6.8333e+00,DOWN_FORCE_DETACH,1.5986e-03,4.6978e-02,1.1229e-01,2.5287e+00,-4.4605e-02,4.0056e-02,5.8826e-05,1.8195e-02,4.8163e-02,6.6476e-02,-3.2875e-03,1.2190e-03,-1.1014e-05,8.4082e-02,3.5062e-03
+10,7.6000e+00,DOWN_FORCE_DETACH,1.7813e-03,4.5955e-02,1.1430e-01,2.5307e+00,-4.4737e-02,3.9980e-02,5.6457e-05,1.7172e-02,5.0175e-02,6.8516e-02,-3.4196e-03,1.1429e-03,-1.3383e-05,8.6642e-02,3.6056e-03
+11,7.8667e+00,DOWN_FORCE_DETACH,1.9573e-03,-2.2156e-02,9.7116e-02,2.4836e+00,-4.3593e-02,3.5176e-02,6.2973e-05,-5.0940e-02,3.2990e-02,2.1407e-02,-2.2763e-03,-3.6610e-03,-6.8673e-06,6.4354e-02,4.3110e-03
+12,8.4667e+00,DOWN_FORCE_DETACH,2.1328e-03,1.2143e-02,1.1780e-01,2.5173e+00,-4.5000e-02,3.7574e-02,7.5826e-05,-1.6640e-02,5.3676e-02,5.5145e-02,-3.6832e-03,-1.2629e-03,5.9864e-06,7.8733e-02,3.8937e-03
+13,8.9667e+00,DOWN_FORCE_DETACH,2.3115e-03,1.8412e-02,7.4111e-02,2.5226e+00,-4.2015e-02,3.8018e-02,7.0506e-05,-1.0371e-02,9.9840e-03,6.0414e-02,-6.9759e-04,-8.1892e-04,6.6572e-07,6.2106e-02,1.0758e-03
+14,9.7333e+00,DOWN_FORCE_DETACH,2.4944e-03,2.6407e-02,8.8599e-02,2.5525e+00,-4.2965e-02,3.8547e-02,7.3643e-05,-2.3760e-03,2.4473e-02,9.0319e-02,-1.6476e-03,-2.8984e-04,3.8033e-06,9.3606e-02,1.6729e-03
+15,1.0500e+01,DOWN_FORCE_DETACH,2.6686e-03,3.5640e-02,9.5844e-02,2.5521e+00,-4.3420e-02,3.9200e-02,7.1956e-05,6.8567e-03,3.1717e-02,8.9937e-02,-2.1034e-03,3.6272e-04,2.1163e-06,9.5612e-02,2.1344e-03
+16,1.1283e+01,DOWN_FORCE_DETACH,2.8487e-03,3.6825e-02,1.0222e-01,2.5569e+00,-4.3823e-02,3.9282e-02,6.7374e-05,8.0416e-03,3.8091e-02,9.4687e-02,-2.5061e-03,4.4523e-04,-2.4656e-06,1.0238e-01,2.5453e-03
+17,1.2117e+01,DOWN_FORCE_DETACH,3.0287e-03,3.9489e-02,1.0544e-01,2.5308e+00,-4.4039e-02,3.9494e-02,5.7290e-05,1.0706e-02,4.1314e-02,6.8611e-02,-2.7224e-03,6.5739e-04,-1.2550e-05,8.0802e-02,2.8007e-03
+18,1.2900e+01,DOWN_FORCE_DETACH,3.2059e-03,4.0546e-02,1.0566e-01,2.5207e+00,-4.4078e-02,3.9580e-02,4.5445e-05,1.1763e-02,4.1530e-02,5.8509e-02,-2.7605e-03,7.4298e-04,-2.4395e-05,7.2708e-02,2.8589e-03
+19,1.3717e+01,DOWN_FORCE_DETACH,3.3839e-03,4.2367e-02,1.0970e-01,2.5270e+00,-4.4373e-02,3.9701e-02,3.2368e-05,1.3584e-02,4.5576e-02,6.4808e-02,-3.0559e-03,8.6379e-04,-3.7472e-05,8.0386e-02,3.1758e-03
+20,1.4450e+01,DOWN_FORCE_DETACH,3.5592e-03,4.3208e-02,1.0960e-01,2.5311e+00,-4.4364e-02,3.9750e-02,2.0524e-05,1.4425e-02,4.5475e-02,6.8966e-02,-3.0473e-03,9.1311e-04,-4.9315e-05,8.3859e-02,3.1815e-03
+21,1.5200e+01,DOWN_FORCE_DETACH,3.7395e-03,3.8708e-02,1.1177e-01,2.5310e+00,-4.4497e-02,3.9423e-02,1.2546e-05,9.9247e-03,4.7639e-02,6.8781e-02,-3.1795e-03,5.8625e-04,-5.7294e-05,8.4255e-02,3.2336e-03
+22,1.5983e+01,DOWN_FORCE_DETACH,3.9161e-03,4.0160e-02,1.1654e-01,2.5409e+00,-4.4789e-02,3.9509e-02,5.6314e-06,1.1377e-02,5.2410e-02,7.8686e-02,-3.4724e-03,6.7192e-04,-6.4208e-05,9.5224e-02,3.5373e-03
+23,1.6600e+01,DOWN_FORCE_DETACH,4.0954e-03,3.8732e-02,1.2379e-01,2.5500e+00,-4.5256e-02,3.9394e-02,3.4883e-06,9.9488e-03,5.9660e-02,8.7847e-02,-3.9391e-03,5.5763e-04,-6.6352e-05,1.0666e-01,3.9789e-03
+24,1.7300e+01,DOWN_FORCE_DETACH,4.2707e-03,3.8553e-02,1.2361e-01,2.5461e+00,-4.5233e-02,3.9383e-02,2.6701e-06,9.7702e-03,5.9484e-02,8.3966e-02,-3.9163e-03,5.4595e-04,-6.7170e-05,1.0336e-01,3.9548e-03
+25,1.7983e+01,DOWN_FORCE_DETACH,4.4478e-03,3.9921e-02,1.3128e-01,2.5435e+00,-4.5750e-02,3.9479e-02,4.1260e-06,1.1137e-02,6.7151e-02,8.1282e-02,-4.4334e-03,6.4270e-04,-6.5714e-05,1.0602e-01,4.4802e-03
+26,1.8667e+01,DOWN_FORCE_DETACH,4.6267e-03,3.8031e-02,1.3122e-01,2.5403e+00,-4.5740e-02,3.9350e-02,5.4378e-06,9.2483e-03,6.7090e-02,7.8085e-02,-4.4233e-03,5.1281e-04,-6.4402e-05,1.0336e-01,4.4534e-03
+27,1.9350e+01,DOWN_FORCE_DETACH,4.8034e-03,3.9771e-02,1.3661e-01,2.5516e+00,-4.6090e-02,3.9457e-02,6.5409e-06,1.0988e-02,7.2485e-02,8.9389e-02,-4.7733e-03,6.1977e-04,-6.3299e-05,1.1561e-01,4.8138e-03
+28,2.0100e+01,DOWN_FORCE_DETACH,4.9838e-03,4.1741e-02,1.3391e-01,2.5414e+00,-4.5916e-02,3.9604e-02,5.1304e-06,1.2958e-02,6.9784e-02,7.9272e-02,-4.5994e-03,7.6704e-04,-6.4709e-05,1.0640e-01,4.6634e-03
+29,2.0850e+01,DOWN_FORCE_DETACH,5.1644e-03,4.1131e-02,1.4117e-01,2.5479e+00,-4.6409e-02,3.9548e-02,6.8250e-06,1.2347e-02,7.7045e-02,8.5695e-02,-5.0924e-03,7.1125e-04,-6.3015e-05,1.1590e-01,5.1422e-03
+30,2.1500e+01,DOWN_FORCE_DETACH,5.3391e-03,4.0800e-02,1.4140e-01,2.5589e+00,-4.6410e-02,3.9508e-02,7.8692e-06,1.2017e-02,7.7269e-02,9.6695e-02,-5.0928e-03,6.7086e-04,-6.1971e-05,1.2436e-01,5.1371e-03
+31,2.2200e+01,DOWN_FORCE_DETACH,5.5179e-03,4.1179e-02,1.5403e-01,2.5483e+00,-4.7260e-02,3.9542e-02,1.3045e-05,1.2396e-02,8.9900e-02,8.6160e-02,-5.9430e-03,7.0544e-04,-5.6795e-05,1.2514e-01,5.9850e-03
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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_03/up/camera_frames_60hz.tar

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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_03/up/franka_data.csv

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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_03/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+33,4.100000000e+00,UP_FORCE_RAMP,1792824292648784948,-8.139956787e-06,-3.764520909e-04,1.281464378e-04,-1.003528458e-05,-3.784908160e-04,1.188049122e-04,-9.281155780e-06,-3.820413360e-04,1.186799774e-04,7.019474579e-01,-3.984371455e-04,8.602715324e-01,7.019455626e-01,-4.004758706e-04,8.602621908e-01,7.027357599e-01,-5.003840951e-04,8.304448342e-01
+34,4.283333333e+00,UP_FORCE_RAMP,1792824292844550737,-8.869532325e-06,-3.729724684e-04,1.380842909e-04,-8.911562745e-06,-3.731044037e-04,1.380287802e-04,-7.809330833e-06,-3.766009057e-04,1.378088586e-04,7.019467283e-01,-3.949575229e-04,8.602814702e-01,7.019466863e-01,-3.950894583e-04,8.602814147e-01,7.027372317e-01,-4.949436648e-04,8.304639631e-01
+35,4.466666667e+00,UP_FORCE_RAMP,1792824293024971344,-8.312870964e-06,-3.711194299e-04,1.496140279e-04,-8.911562745e-06,-3.731044037e-04,1.380287802e-04,-7.804028143e-06,-3.766052560e-04,1.378587820e-04,7.019472850e-01,-3.931044844e-04,8.602929999e-01,7.019466863e-01,-3.950894583e-04,8.602814147e-01,7.027372370e-01,-4.949480151e-04,8.304640130e-01
+36,4.683333333e+00,UP_FORCE_RAMP,1792824293237416080,-1.107208533e-05,-3.722339789e-04,1.568294373e-04,-8.911562745e-06,-3.731044037e-04,1.380287802e-04,-7.801415664e-06,-3.766084719e-04,1.378926413e-04,7.019445258e-01,-3.942190335e-04,8.603002154e-01,7.019466863e-01,-3.950894583e-04,8.602814147e-01,7.027372397e-01,-4.949512310e-04,8.304640469e-01
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+40,5.383333333e+00,UP_FORCE_RAMP,1792824293958472752,-1.785004757e-05,-3.657814835e-04,1.954743495e-04,-1.219850077e-05,-3.697305762e-04,1.828183809e-04,-1.082052188e-05,-3.732455469e-04,1.826727173e-04,7.019377478e-01,-3.877665381e-04,8.603388603e-01,7.019433994e-01,-3.917156308e-04,8.603262043e-01,7.027342205e-01,-4.915883060e-04,8.305088270e-01
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+51,7.483333333e+00,UP_FORCE_RAMP,1792824296121217379,-2.588713779e-05,-3.598524847e-04,3.350520408e-04,-2.169864458e-05,-3.636348171e-04,3.232202148e-04,-1.931678726e-05,-3.671018606e-04,3.229916571e-04,7.019297107e-01,-3.818375393e-04,8.604784380e-01,7.019338992e-01,-3.856198716e-04,8.604666061e-01,7.027257243e-01,-4.854446197e-04,8.306491459e-01
+52,7.616666667e+00,UP_FORCE_RAMP,1792824296267699101,-2.434219559e-05,-3.570871510e-04,3.480160116e-04,-2.535688842e-05,-3.557310581e-04,3.436606096e-04,-2.292515982e-05,-3.591795784e-04,3.433407646e-04,7.019312557e-01,-3.790722056e-04,8.604914019e-01,7.019302410e-01,-3.777161127e-04,8.604870465e-01,7.027221159e-01,-4.775223375e-04,8.306694950e-01
+53,7.783333333e+00,UP_FORCE_RAMP,1792824296431689080,-2.495235800e-05,-3.565658228e-04,3.593918398e-04,-2.535688842e-05,-3.557310581e-04,3.436606096e-04,-2.292723560e-05,-3.591786802e-04,3.433864236e-04,7.019306455e-01,-3.785508774e-04,8.605027778e-01,7.019302410e-01,-3.777161127e-04,8.604870465e-01,7.027221138e-01,-4.775214393e-04,8.306695407e-01
+54,7.966666667e+00,UP_FORCE_HOLD,1792824296628165644,-2.549201825e-05,-3.544609064e-04,3.699833888e-04,-2.373433932e-05,-3.592768227e-04,3.640806747e-04,-2.099418403e-05,-3.627331297e-04,3.638175461e-04,7.019301058e-01,-3.764459609e-04,8.605133693e-01,7.019318635e-01,-3.812618773e-04,8.605074666e-01,7.027240469e-01,-4.810758888e-04,8.306899718e-01
+55,8.150000000e+00,UP_FORCE_HOLD,1792824296808312792,-2.602109242e-05,-3.589611573e-04,3.790849567e-04,-2.373433932e-05,-3.592768227e-04,3.640806747e-04,-2.099309780e-05,-3.627328143e-04,3.638640665e-04,7.019295768e-01,-3.809462119e-04,8.605224709e-01,7.019318635e-01,-3.812618773e-04,8.605074666e-01,7.027240480e-01,-4.810755734e-04,8.306900183e-01
+56,8.333333333e+00,UP_FORCE_HOLD,1792824296988659218,-2.993604367e-05,-3.622115379e-04,3.818898354e-04,-2.373433932e-05,-3.592768227e-04,3.640806747e-04,-2.099237953e-05,-3.627310219e-04,3.638997963e-04,7.019256618e-01,-3.841965925e-04,8.605252758e-01,7.019318635e-01,-3.812618773e-04,8.605074666e-01,7.027240487e-01,-4.810737810e-04,8.306900540e-01
+57,8.550000000e+00,UP_SETTLE,1792824297202220706,-3.040742948e-05,-3.578271938e-04,3.888413435e-04,-2.835829715e-05,-3.572351315e-04,3.851718201e-04,-2.565548004e-05,-3.606875173e-04,3.849249921e-04,7.019251904e-01,-3.798122483e-04,8.605322273e-01,7.019272396e-01,-3.792201861e-04,8.605285577e-01,7.027193856e-01,-4.790302764e-04,8.307110792e-01
+58,8.766666667e+00,UP_SETTLE,1792824297414137150,-3.469176318e-05,-3.575768434e-04,3.906451871e-04,-2.835829715e-05,-3.572351315e-04,3.851718201e-04,-2.565812306e-05,-3.606851723e-04,3.849673236e-04,7.019209061e-01,-3.795618979e-04,8.605340311e-01,7.019272396e-01,-3.792201861e-04,8.605285577e-01,7.027193829e-01,-4.790279314e-04,8.307111216e-01
+59,8.966666667e+00,UP_SETTLE,1792824297610734732,-3.509314641e-05,-3.537702013e-04,3.963849885e-04,-2.835829715e-05,-3.572351315e-04,3.851718201e-04,-2.565978510e-05,-3.606820261e-04,3.849978505e-04,7.019205047e-01,-3.757552558e-04,8.605397709e-01,7.019272396e-01,-3.792201861e-04,8.605285577e-01,7.027193813e-01,-4.790247852e-04,8.307111521e-01

Part2/Fixed/digit/cylinder_0050_17.5/press_depth_03/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,2.9022e-02,6.4085e-02,2.4620e+00,-4.1315e-02,3.8854e-02,6.9821e-05,2.3720e-04,-4.1865e-05,-1.3232e-04,1.8962e-06,1.7140e-05,-3.8475e-08,2.7482e-04,1.7245e-05
+1,2.3333e-01,WAIT_W2,4.2726e-05,3.2017e-02,6.3546e-02,2.4604e+00,-4.1291e-02,3.9071e-02,6.9164e-05,3.2322e-03,-5.8059e-04,-1.8013e-03,2.6088e-05,2.3384e-04,-6.9552e-07,3.7455e-03,2.3529e-04
+2,4.5000e-01,WAIT_W2,8.6003e-05,3.4332e-02,6.3114e-02,2.4591e+00,-4.1272e-02,3.9239e-02,6.8441e-05,5.5469e-03,-1.0125e-03,-3.0928e-03,4.5203e-05,4.0172e-04,-1.4182e-06,6.4311e-03,4.0425e-04
+3,6.3333e-01,WAIT_W2,1.2923e-04,3.6005e-02,6.2787e-02,2.4582e+00,-4.1257e-02,3.9360e-02,6.7792e-05,7.2207e-03,-1.3398e-03,-4.0174e-03,5.9664e-05,5.2337e-04,-2.0671e-06,8.3710e-03,5.2677e-04
+4,7.1667e-01,WAIT_W2,1.5524e-04,3.6686e-02,6.2655e-02,2.4578e+00,-4.1252e-02,3.9410e-02,6.7488e-05,7.9011e-03,-1.4714e-03,-4.4045e-03,6.5316e-05,5.7285e-04,-2.3711e-06,9.1648e-03,5.7657e-04
+5,7.3333e-01,WAIT_W2,1.9540e-04,3.7701e-02,9.4144e-02,2.4566e+00,-4.3404e-02,3.9480e-02,7.2884e-05,8.9160e-03,3.0017e-02,-5.5518e-03,-2.0870e-03,6.4266e-04,3.0241e-06,3.1802e-02,2.1837e-03
+6,7.5000e-01,WAIT_W2,2.4449e-04,3.7051e-02,1.5415e-01,2.4537e+00,-4.7506e-02,3.9433e-02,8.3394e-05,8.2668e-03,9.0028e-02,-8.4383e-03,-6.1891e-03,5.9647e-04,1.3534e-05,9.0800e-02,6.2178e-03
+7,7.6667e-01,WAIT_W2,3.2110e-04,3.8382e-02,2.2728e-01,2.4526e+00,-5.2509e-02,3.9521e-02,9.6828e-05,9.5973e-03,1.6316e-01,-9.5918e-03,-1.1192e-02,6.8421e-04,2.6968e-05,1.6372e-01,1.1213e-02
+8,7.6667e-01,WAIT_W2,3.2110e-04,3.8382e-02,2.2728e-01,2.4526e+00,-5.2509e-02,3.9521e-02,9.6828e-05,9.5973e-03,1.6316e-01,-9.5918e-03,-1.1192e-02,6.8421e-04,2.6968e-05,1.6372e-01,1.1213e-02
+9,7.8333e-01,WAIT_W2,3.9558e-04,3.9560e-02,3.3965e-01,2.4542e+00,-6.0190e-02,3.9594e-02,1.1818e-04,1.0776e-02,2.7553e-01,-7.9734e-03,-1.8873e-02,7.5724e-04,4.8325e-05,2.7585e-01,1.8889e-02
+10,7.8333e-01,WAIT_W2,3.9558e-04,3.9560e-02,3.3965e-01,2.4542e+00,-6.0190e-02,3.9594e-02,1.1818e-04,1.0776e-02,2.7553e-01,-7.9734e-03,-1.8873e-02,7.5724e-04,4.8325e-05,2.7585e-01,1.8889e-02
+11,8.0000e-01,WAIT_W2,4.8494e-04,4.1064e-02,4.4641e-01,2.4536e+00,-6.7519e-02,3.9689e-02,1.3936e-04,1.2280e-02,3.8229e-01,-8.6060e-03,-2.6202e-02,8.5244e-04,6.9496e-05,3.8258e-01,2.6216e-02
+12,8.1667e-01,WAIT_W2,5.3303e-04,4.7746e-02,5.7326e-01,2.4613e+00,-7.6218e-02,4.0141e-02,1.6201e-04,1.8962e-02,5.0913e-01,-8.8239e-04,-3.4901e-02,1.3041e-03,9.2146e-05,5.0949e-01,3.4925e-02
+13,8.5000e-01,WAIT_W2,5.6536e-04,4.9294e-02,6.3832e-01,2.4730e+00,-8.0792e-02,4.0242e-02,1.8006e-04,2.0509e-02,5.7420e-01,1.0799e-02,-3.9475e-02,1.4051e-03,1.1020e-04,5.7466e-01,3.9500e-02
+14,9.0000e-01,WAIT_W2,5.9830e-04,5.1234e-02,5.9205e-01,2.4797e+00,-7.7698e-02,4.0380e-02,1.7308e-04,2.2449e-02,5.2792e-01,1.7552e-02,-3.6381e-02,1.5435e-03,1.0322e-04,5.2869e-01,3.6414e-02
+15,9.8333e-01,WAIT_W2,6.4760e-04,5.4142e-02,6.2587e-01,2.4865e+00,-8.0125e-02,4.0583e-02,1.8292e-04,2.5358e-02,5.6175e-01,2.4298e-02,-3.8808e-02,1.7463e-03,1.1306e-04,5.6284e-01,3.8847e-02
+16,1.1167e+00,WAIT_W2,6.9175e-04,5.5722e-02,6.2098e-01,2.4933e+00,-7.9931e-02,4.0694e-02,1.8642e-04,2.6937e-02,5.5686e-01,3.1140e-02,-3.8614e-02,1.8570e-03,1.1656e-04,5.5838e-01,3.8658e-02
+17,1.2833e+00,WAIT_W2,7.3315e-04,5.7007e-02,6.1685e-01,2.4972e+00,-7.9770e-02,4.0786e-02,1.8847e-04,2.8222e-02,5.5273e-01,3.5066e-02,-3.8453e-02,1.9494e-03,1.1861e-04,5.5456e-01,3.8502e-02
+18,1.4167e+00,UP_FORCE_RAMP,7.7805e-04,5.7733e-02,6.1425e-01,2.4984e+00,-7.9665e-02,4.0839e-02,1.8896e-04,2.8948e-02,5.5013e-01,3.6216e-02,-3.8348e-02,2.0024e-03,1.1910e-04,5.5208e-01,3.8401e-02
+19,1.5833e+00,UP_FORCE_RAMP,8.1960e-04,5.8384e-02,6.1169e-01,2.4984e+00,-7.9563e-02,4.0888e-02,1.8872e-04,2.9599e-02,5.4756e-01,3.6266e-02,-3.8246e-02,2.0512e-03,1.1886e-04,5.4956e-01,3.8301e-02
+20,1.7833e+00,UP_FORCE_RAMP,8.6304e-04,5.8921e-02,6.0927e-01,2.4973e+00,-7.9466e-02,4.0930e-02,1.8770e-04,3.0136e-02,5.4514e-01,3.5173e-02,-3.8149e-02,2.0927e-03,1.1784e-04,5.4711e-01,3.8207e-02
+21,1.9833e+00,UP_FORCE_RAMP,9.0685e-04,5.9289e-02,6.0732e-01,2.4956e+00,-7.9389e-02,4.0959e-02,1.8626e-04,3.0505e-02,5.4319e-01,3.3439e-02,-3.8072e-02,2.1222e-03,1.1640e-04,5.4507e-01,3.8131e-02
+22,2.1333e+00,UP_FORCE_RAMP,9.4783e-04,5.9493e-02,6.0607e-01,2.4941e+00,-7.9340e-02,4.0976e-02,1.8503e-04,3.0709e-02,5.4194e-01,3.1940e-02,-3.8023e-02,2.1392e-03,1.1517e-04,5.4375e-01,3.8083e-02
+23,2.3000e+00,UP_FORCE_RAMP,9.9085e-04,5.9670e-02,6.0484e-01,2.4924e+00,-7.9292e-02,4.0991e-02,1.8358e-04,3.0885e-02,5.4072e-01,3.0193e-02,-3.7975e-02,2.1544e-03,1.1372e-04,5.4244e-01,3.8036e-02
+24,2.5000e+00,UP_FORCE_RAMP,1.0347e-03,5.9830e-02,6.0354e-01,2.4903e+00,-7.9242e-02,4.1006e-02,1.8181e-04,3.1045e-02,5.3942e-01,2.8078e-02,-3.7924e-02,2.1687e-03,1.1195e-04,5.4104e-01,3.7987e-02
+25,2.6833e+00,UP_FORCE_RAMP,1.0781e-03,5.9944e-02,6.0248e-01,2.4884e+00,-7.9201e-02,4.1016e-02,1.8019e-04,3.1159e-02,5.3836e-01,2.6180e-02,-3.7883e-02,2.1794e-03,1.1033e-04,5.3989e-01,3.7946e-02
+26,2.9167e+00,UP_FORCE_RAMP,1.1200e-03,6.0058e-02,6.0128e-01,2.4860e+00,-7.9154e-02,4.1027e-02,1.7816e-04,3.1273e-02,5.3715e-01,2.3867e-02,-3.7837e-02,2.1905e-03,1.0830e-04,5.3859e-01,3.7901e-02
+27,3.1000e+00,UP_FORCE_RAMP,1.1637e-03,6.6922e-02,5.8713e-01,2.4732e+00,-7.8243e-02,4.1538e-02,1.6360e-04,3.8138e-02,5.2301e-01,1.1066e-02,-3.6926e-02,2.7010e-03,9.3740e-05,5.2451e-01,3.7025e-02
+28,3.2333e+00,UP_FORCE_RAMP,1.2084e-03,6.5507e-02,5.8648e-01,2.4738e+00,-7.8220e-02,4.1437e-02,1.5871e-04,3.6722e-02,5.2236e-01,1.1634e-02,-3.6903e-02,2.6000e-03,8.8848e-05,5.2378e-01,3.6995e-02
+29,3.4167e+00,UP_FORCE_RAMP,1.2511e-03,6.6203e-02,5.8085e-01,2.4611e+00,-7.7910e-02,4.1504e-02,1.4816e-04,3.7418e-02,5.1673e-01,-1.0278e-03,-3.6593e-02,2.6672e-03,7.8299e-05,5.1808e-01,3.6690e-02
+30,3.5833e+00,UP_FORCE_RAMP,1.2951e-03,6.4364e-02,5.7396e-01,2.4478e+00,-7.7509e-02,4.1390e-02,1.4238e-04,3.5579e-02,5.0984e-01,-1.4417e-02,-3.6192e-02,2.5529e-03,7.2517e-05,5.1128e-01,3.6282e-02
+31,3.7333e+00,UP_FORCE_RAMP,1.3348e-03,6.3639e-02,5.7303e-01,2.4520e+00,-7.7475e-02,4.1334e-02,1.3902e-04,3.4854e-02,5.0890e-01,-1.0179e-02,-3.6158e-02,2.4972e-03,6.9162e-05,5.1020e-01,3.6244e-02
+32,3.9333e+00,UP_FORCE_RAMP,1.3806e-03,6.0015e-02,5.6359e-01,2.4394e+00,-7.6922e-02,4.1091e-02,1.3973e-04,3.1231e-02,4.9946e-01,-2.2779e-02,-3.5605e-02,2.2546e-03,6.9870e-05,5.0096e-01,3.5676e-02
+33,4.1000e+00,UP_FORCE_RAMP,1.4233e-03,5.9106e-02,5.6414e-01,2.4287e+00,-7.7037e-02,4.1040e-02,1.4075e-04,3.0321e-02,5.0002e-01,-3.3454e-02,-3.5720e-02,2.2033e-03,7.0886e-05,5.0205e-01,3.5788e-02
+34,4.2833e+00,UP_FORCE_RAMP,1.4680e-03,5.9493e-02,5.6310e-01,2.4356e+00,-7.6998e-02,4.1062e-02,1.4025e-04,3.0708e-02,4.9898e-01,-2.6593e-02,-3.5681e-02,2.2251e-03,7.0393e-05,5.0063e-01,3.5750e-02
+35,4.4667e+00,UP_FORCE_RAMP,1.5078e-03,5.8388e-02,5.5321e-01,2.4277e+00,-7.6385e-02,4.0995e-02,1.3998e-04,2.9603e-02,4.8909e-01,-3.4510e-02,-3.5068e-02,2.1580e-03,7.0124e-05,4.9119e-01,3.5135e-02
+36,4.6833e+00,UP_FORCE_RAMP,1.5525e-03,5.8862e-02,5.5263e-01,2.4340e+00,-7.6363e-02,4.1023e-02,1.3968e-04,3.0078e-02,4.8851e-01,-2.8212e-02,-3.5046e-02,2.1863e-03,6.9824e-05,4.9025e-01,3.5114e-02
+37,4.8667e+00,UP_FORCE_RAMP,1.5957e-03,5.9982e-02,5.4820e-01,2.4227e+00,-7.6119e-02,4.1119e-02,1.3669e-04,3.1198e-02,4.8407e-01,-3.9443e-02,-3.4802e-02,2.2822e-03,6.6831e-05,4.8668e-01,3.4877e-02
+38,5.0167e+00,UP_FORCE_RAMP,1.6406e-03,5.9977e-02,5.4791e-01,2.4276e+00,-7.6108e-02,4.1114e-02,1.3559e-04,3.1192e-02,4.8379e-01,-3.4609e-02,-3.4791e-02,2.2773e-03,6.5732e-05,4.8603e-01,3.4865e-02
+39,5.2333e+00,UP_FORCE_RAMP,1.6827e-03,6.0201e-02,5.4372e-01,2.4176e+00,-7.5874e-02,4.1144e-02,1.3286e-04,3.1416e-02,4.7960e-01,-4.4588e-02,-3.4557e-02,2.3073e-03,6.3004e-05,4.8269e-01,3.4634e-02
+40,5.3833e+00,UP_FORCE_RAMP,1.7256e-03,6.0176e-02,5.4353e-01,2.4228e+00,-7.5866e-02,4.1137e-02,1.3170e-04,3.1391e-02,4.7941e-01,-3.9385e-02,-3.4549e-02,2.3006e-03,6.1840e-05,4.8204e-01,3.4626e-02
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Part2/Fixed/digit/cylinder_0050_17.5/press_depth_04/down/camera_frames_60hz.tar

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